{ "base_config": "parallelvla_clean_pcd", "camera_validation": { "episode": 44, "fovy_deg": { "left": 90.0, "right": 90.0 }, "frames": 165, "head_unique_frame_ratio": 0.9515151515151515, "main_camera_policy": "native_dynamic", "maximum_mount_distance_error_m": 4.684298317292335e-08, "maximum_wrist_consecutive_dark_frames": 0, "maximum_wrist_dark_frame_fraction": 0.0, "minimum_wrist_median_luminance": 201.3218185763889, "parallel_head_unique_frame_ratio": 0.9534883720930233, "preset": { "calibration_manifest_sha256": "bd7a9d918a775f3d59b70ca04d1a9f4151c9602557487947e2ee49d8a461b0e5", "fovx_deg": 106.26020470831195, "fovy_deg": 90.0, "gripper_to_camera_matrix": [ [ 0.9886695961968883, -1.5244567471983168e-06, 0.15010833103640953, 0.06999997201749193 ], [ 1.567728436833223e-06, 1.0000000058018184, 6.430025196775677e-08, 2.011452240730468e-09 ], [ -0.15010829523993077, 1.6325174712825714e-07, 0.988669555703279, 0.06500000893891618 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "height": 240, "name": "centered_fovy90", "overrides_robotwin_default": true, "width": 320 }, "status": "passed", "wrist_consecutive_dark_frames": { "left": 0, "right": 0 }, "wrist_dark_frame_fraction": { "left": 0.0, "right": 0.0 }, "wrist_median_luminance": { "left": 214.71667534722224, "right": 201.3218185763889 } }, "collision_summary": { "contact_step_indices": [], "first_risk_step": null, "interarm_contact_steps": 0, "minimum_capsule_distance_m": 0.1835670460090759, "moves": { "object_place": { "contact_step_indices": [], "interarm_contact_steps": 0, "minimum_capsule_distance_m": 0.3343638381561028 }, "scanner_align": { "contact_step_indices": [], "interarm_contact_steps": 0, "minimum_capsule_distance_m": 0.1835670460090759 }, "scanner_grasp+object_grasp": { "contact_step_indices": [], "interarm_contact_steps": 0, "minimum_capsule_distance_m": 0.28584141319673584 }, "scanner_lift+object_lift": { "contact_step_indices": [], "interarm_contact_steps": 0, "minimum_capsule_distance_m": 0.32377260072288194 } }, "physics_steps_checked": 2179 }, "episode_index": 44, "motion_cross_check": { "object_place": { "active_union_frames": 38, "first_motion_frame": [ 87, null ], "frames": 44, "left_motion_frames": 38, "overlap_frames": 0, "overlap_ratio_active": 0.0, "overlap_ratio_all": 0.0, "right_motion_frames": 0 }, "scanner_align": { "active_union_frames": 31, "first_motion_frame": [ null, 131 ], "frames": 35, "left_motion_frames": 0, "overlap_frames": 0, "overlap_ratio_active": 0.0, "overlap_ratio_all": 0.0, "right_motion_frames": 31 }, "scanner_grasp+object_grasp": { "active_union_frames": 54, "first_motion_frame": [ 3, 2 ], "frames": 68, "left_motion_frames": 53, "overlap_frames": 53, "overlap_ratio_active": 0.9814814814814815, "overlap_ratio_all": 0.7794117647058824, "right_motion_frames": 54 }, "scanner_lift+object_lift": { "active_union_frames": 16, "first_motion_frame": [ 69, 69 ], "frames": 18, "left_motion_frames": 16, "overlap_frames": 16, "overlap_ratio_active": 1.0, "overlap_ratio_all": 0.8888888888888888, "right_motion_frames": 16 } }, "moves": [ { "active_arms": [ "right", "left" ], "avoidable_idle_seconds": 0.0, "end_frame": 68, "end_physics_step": 911, "held_objects": [ "scanner", "object" ], "move_index": 0, "name": "scanner_grasp+object_grasp", "node_ids": [ "scanner_grasp", "object_grasp" ], "predecessors": [], "resources": [ "left_arm", "right_arm", "scanner", "object" ], "semantic_phase": "dual_grasp", "start_frame": 0, "start_physics_step": 0, "true_dependency_wait_arms": [], "true_dependency_wait_seconds": 0.0 }, { "active_arms": [ "right", "left" ], "avoidable_idle_seconds": 0.0, "end_frame": 86, "end_physics_step": 1141, "held_objects": [ "scanner", "object" ], "move_index": 1, "name": "scanner_lift+object_lift", "node_ids": [ "scanner_lift", "object_lift" ], "predecessors": [ "scanner_grasp", "object_grasp" ], "resources": [ "left_arm", "right_arm", "scanner", "object" ], "semantic_phase": "dual_lift", "start_frame": 68, "start_physics_step": 911, "true_dependency_wait_arms": [], "true_dependency_wait_seconds": 0.0 }, { "active_arms": [ "left" ], "avoidable_idle_seconds": 2.352, "end_frame": 130, "end_physics_step": 1729, "held_objects": [ "object" ], "move_index": 2, "name": "object_place", "node_ids": [ "object_place" ], "predecessors": [ "object_lift" ], "resources": [ "left_arm", "object" ], "semantic_phase": "object_place", "start_frame": 86, "start_physics_step": 1141, "true_dependency_wait_arms": [], "true_dependency_wait_seconds": 0.0 }, { "active_arms": [ "right" ], "avoidable_idle_seconds": 0.0, "end_frame": 165, "end_physics_step": 2179, "held_objects": [ "scanner" ], "move_index": 3, "name": "scanner_align", "node_ids": [ "scanner_align" ], "predecessors": [ "scanner_lift", "object_place" ], "resources": [ "right_arm", "scanner" ], "semantic_phase": "scanner_align", "start_frame": 130, "start_physics_step": 1729, "true_dependency_wait_arms": [], "true_dependency_wait_seconds": 0.0 } ], "parallelvla_commit": "1e5e612947040fc88ef308e93098a8fbadc7663a", "renderer_validation": { "camera_shader": "rt", "episode": 44, "ray_tracing_denoiser": "optix", "status": "passed" }, "robotwin_commit": "74df8dde653c62dbd454ec59909119e5534dfe4a", "robotwin_worktree_diff_sha256": "8b17ad457a27d8256ca1f3b2300e60c9853326ac4362e909cdb8bcc66b76c040", "robotwin_worktree_status": [ " M assets/objects/122_metal-spacer-sleeve/asset_spec.json", " M assets/objects/122_metal-spacer-sleeve/collision/base0.glb", " M assets/objects/122_metal-spacer-sleeve/model_data0.json", " M assets/objects/122_metal-spacer-sleeve/points_info.json", " M envs/_base_task.py", " M envs/insert_bolt_sleeve.py", " M envs/utils/pkl2hdf5.py", " M envs/utils/transforms.py", " M scripts/generate_m10_flange_bolt_and_sleeve_assets.py", "?? \"-p 3540590 -o pid,etime,pcpu,pmem,stat,cmd\"", "?? .tmp_search_head_pivot.py", "?? .tmp_search_horizontal_regrasp.py", "?? .tmp_search_vertical_roll.py", "?? env_cfg/task_config/insert_bolt_sleeve_air_physical_50.yml", "?? env_cfg/task_config/insert_bolt_sleeve_physical_review_4.yml", "?? env_cfg/task_config/insert_bolt_sleeve_physical_smoke.yml", "?? env_cfg/task_config/insert_bolt_sleeve_physical_smoke.yml.orig", "?? env_cfg/task_config/insert_bolt_sleeve_upper_camera_50.yml", "?? envs/_base_task.py.orig", "?? envs/insert_bolt_sleeve.py.orig", "?? policy/", "?? scripts/generate_m10_flange_bolt_and_sleeve_assets.py.orig", "?? task_config/official_aloha_agilex_clean_50.yml", "?? task_config/official_aloha_agilex_clean_50_retimed_v1.yml", "?? task_config/parallelvla_async_grasp_render.yml", "?? task_config/parallelvla_async_render.yml", "?? task_config/parallelvla_clean_pcd.yml", "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed421_preview3_native_v1.yml", "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed427_preview3_native_v1.yml", "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed427_preview3_native_v2.yml", "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed87431_full50_native_v2.yml", "?? task_config/parallelvla_clean_pcd_retimed_finish_v1.yml", "?? task_config/parallelvla_clean_pcd_retimed_qwen_v2.yml", "?? task_config/parallelvla_clean_pcd_retimed_qwen_v6_native.yml", "?? task_config/parallelvla_clean_pcd_retimed_qwen_v6_native_v2.yml", "?? task_config/parallelvla_clean_pcd_verified_v2.yml", "?? task_config/parallelvla_dependency_aware_overlap_centered_fovy90_verified_v2.yml", "?? task_config/parallelvla_dependency_aware_overlap_original_verified_v2.yml", "?? task_config/parallelvla_dependency_aware_overlap_verified_v1.yml", "?? task_config/parallelvla_eval_pcd.yml", "?? task_config/parallelvla_linearized_reference_centered_fovy90_verified_v2.yml", "?? task_config/parallelvla_linearized_reference_original_verified_v2.yml", "?? task_config/parallelvla_nfov_h60d50_smoke_20260723.yml", "?? task_config/parallelvla_nfov_h60d50_smoke_v2_20260723.yml", "?? task_config/parallelvla_non_overlapping_reference_verified_v1.yml", "?? task_config/parallelvla_official_concurrent_verified_v1.yml", "?? task_config/parallelvla_putcab_delay_replacement_ep29_drawer30_20260813.yml", "?? task_config/parallelvla_putcab_delay_replacement_ep29_drawer_seed87437_20260813.yml", "?? task_config/parallelvla_putcab_delay_replacement_ep29_seed87437_20260812.yml", "?? task_config/parallelvla_putcab_delay_replacement_ep31_seed87456_20260813.yml", "?? task_config/parallelvla_putcab_delay_replacement_ep32_drawer_seed87492_20260813.yml", "?? task_config/parallelvla_putcab_delay_replacement_ep32_object_seed87510_20260813.yml", "?? task_config/parallelvla_putcab_delay_replacement_ep32_seed87492_20260813.yml", "?? task_config/parallelvla_putcab_delay_replacement_ep35_drawer_seed87438_20260813.yml", "?? task_config/parallelvla_putcab_delay_replacement_ep35_seed87438_20260813.yml", "?? task_config/parallelvla_putcab_delay_replacement_ep36_drawer30_seed87532_20260813.yml", "?? task_config/parallelvla_putcab_delay_replacement_ep36_drawer_seed87442_20260813.yml", "?? task_config/parallelvla_putcab_delay_replacement_ep46_drawer30_seed87585_20260813.yml", "?? task_config/parallelvla_putcab_delay_replacement_ep46_drawer_seed87449_20260813.yml", "?? task_config/parallelvla_putcab_heldout5_parallel_sync0_20260813.yml", "?? task_config/parallelvla_putcab_heldout5_serial_expert_20260813.yml", "?? task_config/parallelvla_retimed_render.yml", "?? task_config/parallelvla_smoke.yml", "?? task_config/parallelvla_temporal_bias_verified_v1.yml" ], "sampled_frames": 165, "scene_identity": { "left_object_target_pose": [ -0.03, -0.02, 0.95, 0.707, 0, -0.707, 0 ], "object_id": 4, "object_pose": [ -0.20804086327552795, -0.13922396302223206, 0.74069744348526, 0.1545155793428421, 0.15456171333789825, 0.6901112198829651, 0.6899145841598511 ], "right_object_target_pose": [ 0.03, -0.02, 0.95, 0.707, 0, 0.707, 0 ], "scanner_id": 0, "scanner_pose": [ 0.2434569150209427, -0.08748108893632889, 0.738023579120636, -0.1141439899802208, -0.06712733209133148, 0.6745224595069885, 0.7262815237045288 ] }, "schedule_mode": "dependency_aware_overlap", "schedule_plan": null, "schedule_search": null, "schedule_strategy": "beam_dp", "schema_version": 5, "seed": 200, "seed_policy": "independent", "source_commits": { "parallelvla": "1e5e612947040fc88ef308e93098a8fbadc7663a", "robotwin": "74df8dde653c62dbd454ec59909119e5534dfe4a", "robotwin_worktree_diff_sha256": "8b17ad457a27d8256ca1f3b2300e60c9853326ac4362e909cdb8bcc66b76c040" }, "source_files_sha256": { "RoboTwin/envs/_base_task.py": "8599e7e6826a0f813364d6833b622d77f30b28ce3be2776806246845c3269a11", "RoboTwin/envs/blocks_ranking_rgb.py": "0e632df38d9024e7952c0df7a1f59e3d011b537724e6e6588455dee4d4e6074b", "RoboTwin/envs/pick_dual_bottles.py": "422f23510f3662405dcb5518d1ebe8a0270935849a4b02a2585615ff7bffc4ef", "RoboTwin/envs/place_dual_shoes.py": "f35c4a133e1de567b274cbd15f158f585eb05e32aeb05be88839d249d0d7ab9e", "RoboTwin/envs/put_bottles_dustbin.py": "1c03a4b227daa7d285fa366944f1f75773e32dc6a7b73ab693217a13fcd42795", "RoboTwin/envs/scan_object.py": "860dfe2cc86d180096089bc87502c7904f7ce2efb64fb32620c1720ca0178c2b", "RoboTwin/scripts/collect_data.py": "101664a3d5313242cd30b3d013a08376d2930a5b3e1a8ce044362a200871a5e3", "RoboTwin/task_config/parallelvla_clean_pcd.yml": "25ce6b1167c77ddea7af43db4afa9210b726f5c9974922d682d3ce128eb13427", "RoboTwin/task_config/parallelvla_dependency_aware_overlap_centered_fovy90_verified_v2.yml": "af90de9fa9344faa0c0b0c6d6b21a24890d9d27d23f59fae3663fd6f0ef20ff1", "RoboTwin/task_config/parallelvla_linearized_reference_centered_fovy90_verified_v2.yml": "af90de9fa9344faa0c0b0c6d6b21a24890d9d27d23f59fae3663fd6f0ef20ff1", "robotwin_retime_gen/scripts/robotwin_collect_timing_pairs.py": "1c23c3e2af85c701771e269506ed50d4eb9cfec44ebd248a230f2b4459e20daf", "robotwin_retime_gen/scripts/robotwin_collection_benchmark.py": "015f09b4ec8c3e9407dc5d84bc62328418dba3c5f37e8b03823891b2123d608e", "robotwin_retime_gen/scripts/robotwin_schedule_diagnostics.py": "477bcbe9f3660d2816477010c9a208759d0f4f92e9282a92d7c2b6c527b6c5ba", "robotwin_retime_gen/scripts/robotwin_timing_runtime.py": "a945f132d6a22cfada1182987e70cebf2fccda2a7403c70eee5286aacf430ea9", "robotwin_retime_gen/scripts/robotwin_timing_tasks.py": "4ad8ff1f7efc85e5838da557f07574b3df48f11daca537b554c69c60da6394dd", "robotwin_retime_gen/src/parallel_vla/collection_summaries.py": "76408ba77279d8e120b43830e15fd78ea6e8ab8acecbefdeaceff3a725207058", "robotwin_retime_gen/src/parallel_vla/put_bottles_scheduler.py": "68153aca27946e58fcefaffd20aef61a755dc8f84695e1d8e53967124aab00db", "robotwin_retime_gen/src/parallel_vla/robotwin_camera_validation.py": "f9385140f592a3a425d85aa6e16f498d93cc49144b382dc141975a3915289874", "robotwin_retime_gen/src/parallel_vla/robotwin_collection_worker.py": "c600984195dd304a053789ad7e44c09cb4bc7c173cf5cbea9d6a5c129cfdfff5", "robotwin_retime_gen/src/parallel_vla/robotwin_renderer.py": "4a86c09dc44b785177bec69f78690ba781ed345b87563eda1af5f4a5c2cd688f", "robotwin_retime_gen/src/parallel_vla/robotwin_training_conversion.py": "eb29130a39be4d083b91296aee440102b51267daac8d4b5b496df6c36495f57b", "robotwin_retime_gen/src/parallel_vla/robotwin_wrist_camera.py": "6c0776ad416baf4e580d1eccb7f17d4859abe83b13105eccf8342e9a870a8538", "robotwin_retime_gen/src/parallel_vla/timing_pair_validation.py": "6f987c6c820f746dc0bf620f381624c257c2f4da273f470c12314049b56f0405", "robotwin_retime_gen/src/parallel_vla/timing_pairs.py": "64c7a900c0c09968768eecf6e8a3408db515b2d1aadcfc470565d82c2e14af6d", "robotwin_retime_gen/src/parallel_vla/training_actions.py": "e4ce6e376be0e227032415f708c7984b520fba9babd468e81dec003cb40a0292" }, "task_config": "parallelvla_dependency_aware_overlap_centered_fovy90_verified_v2", "task_name": "scan_object", "task_specific_final_state": { "grippers": [ 0.0, 0.0 ], "object_position": [ -0.03072969987988472, -0.019744306802749634, 0.9505329728126526 ], "scanner_functional_point": [ 0.018937154985793823, -0.006652325646427926, 0.9558456579954197, 0.3642032217297909, 0.6058781560085399, -0.364760656000638, -0.6059846014440601 ] }, "timing_summary": { "active_left_frames": 107, "active_right_frames": 101, "active_union_frames": 139, "avoidable_idle_seconds": 2.352, "frames": 165, "overlap_frames": 69, "overlap_ratio_active": 0.49640287769784175, "overlap_ratio_all": 0.41818181818181815, "overlap_seconds": 2.3, "seconds": 5.5, "true_dependency_wait_seconds": 0.0 }, "training_action_collision_safe": true, "training_action_count": 164, "training_action_execution_intervals": [ { "action_index": 0, "end_physics_step": 50, "physics_steps": 50, "start_physics_step": 0 }, { "action_index": 1, "end_physics_step": 63, "physics_steps": 13, "start_physics_step": 50 }, { "action_index": 2, "end_physics_step": 114, "physics_steps": 51, "start_physics_step": 63 }, { "action_index": 3, "end_physics_step": 187, "physics_steps": 73, "start_physics_step": 114 }, { "action_index": 4, "end_physics_step": 276, "physics_steps": 89, "start_physics_step": 187 }, { "action_index": 5, "end_physics_step": 379, "physics_steps": 103, "start_physics_step": 276 }, { "action_index": 6, "end_physics_step": 494, "physics_steps": 115, "start_physics_step": 379 }, { "action_index": 7, "end_physics_step": 619, "physics_steps": 125, "start_physics_step": 494 }, { "action_index": 8, "end_physics_step": 753, "physics_steps": 134, "start_physics_step": 619 }, { "action_index": 9, "end_physics_step": 894, "physics_steps": 141, "start_physics_step": 753 }, { "action_index": 10, "end_physics_step": 1041, "physics_steps": 147, "start_physics_step": 894 }, { "action_index": 11, "end_physics_step": 1192, "physics_steps": 151, "start_physics_step": 1041 }, { "action_index": 12, "end_physics_step": 1347, "physics_steps": 155, "start_physics_step": 1192 }, { "action_index": 13, "end_physics_step": 1504, "physics_steps": 157, "start_physics_step": 1347 }, { "action_index": 14, "end_physics_step": 1662, "physics_steps": 158, "start_physics_step": 1504 }, { "action_index": 15, "end_physics_step": 1820, "physics_steps": 158, "start_physics_step": 1662 }, { "action_index": 16, "end_physics_step": 1976, "physics_steps": 156, "start_physics_step": 1820 }, { "action_index": 17, "end_physics_step": 2130, "physics_steps": 154, "start_physics_step": 1976 }, { "action_index": 18, "end_physics_step": 2281, "physics_steps": 151, "start_physics_step": 2130 }, { "action_index": 19, "end_physics_step": 2427, "physics_steps": 146, "start_physics_step": 2281 }, { "action_index": 20, "end_physics_step": 2567, "physics_steps": 140, "start_physics_step": 2427 }, { "action_index": 21, "end_physics_step": 2700, "physics_steps": 133, "start_physics_step": 2567 }, { "action_index": 22, "end_physics_step": 2823, "physics_steps": 123, "start_physics_step": 2700 }, { "action_index": 23, "end_physics_step": 2935, "physics_steps": 112, "start_physics_step": 2823 }, { "action_index": 24, "end_physics_step": 3035, "physics_steps": 100, "start_physics_step": 2935 }, { "action_index": 25, "end_physics_step": 3120, "physics_steps": 85, "start_physics_step": 3035 }, { "action_index": 26, "end_physics_step": 3187, "physics_steps": 67, "start_physics_step": 3120 }, { "action_index": 27, "end_physics_step": 3230, "physics_steps": 43, "start_physics_step": 3187 }, { "action_index": 28, "end_physics_step": 3280, "physics_steps": 50, "start_physics_step": 3230 }, { "action_index": 29, "end_physics_step": 3330, "physics_steps": 50, "start_physics_step": 3280 }, { "action_index": 30, "end_physics_step": 3380, "physics_steps": 50, "start_physics_step": 3330 }, { "action_index": 31, "end_physics_step": 3416, "physics_steps": 36, "start_physics_step": 3380 }, { "action_index": 32, "end_physics_step": 3444, "physics_steps": 28, "start_physics_step": 3416 }, { "action_index": 33, "end_physics_step": 3500, "physics_steps": 56, "start_physics_step": 3444 }, { "action_index": 34, "end_physics_step": 3576, "physics_steps": 76, "start_physics_step": 3500 }, { "action_index": 35, "end_physics_step": 3668, "physics_steps": 92, "start_physics_step": 3576 }, { "action_index": 36, "end_physics_step": 3772, "physics_steps": 104, "start_physics_step": 3668 }, { "action_index": 37, "end_physics_step": 3883, "physics_steps": 111, "start_physics_step": 3772 }, { "action_index": 38, "end_physics_step": 3993, "physics_steps": 110, "start_physics_step": 3883 }, { "action_index": 39, "end_physics_step": 4095, "physics_steps": 102, "start_physics_step": 3993 }, { "action_index": 40, "end_physics_step": 4184, "physics_steps": 89, "start_physics_step": 4095 }, { "action_index": 41, "end_physics_step": 4256, "physics_steps": 72, "start_physics_step": 4184 }, { "action_index": 42, "end_physics_step": 4306, "physics_steps": 50, "start_physics_step": 4256 }, { "action_index": 43, "end_physics_step": 4322, "physics_steps": 16, "start_physics_step": 4306 }, { "action_index": 44, "end_physics_step": 4372, "physics_steps": 50, "start_physics_step": 4322 }, { "action_index": 45, "end_physics_step": 4422, "physics_steps": 50, "start_physics_step": 4372 }, { "action_index": 46, "end_physics_step": 4472, "physics_steps": 50, "start_physics_step": 4422 }, { "action_index": 47, "end_physics_step": 4522, "physics_steps": 50, "start_physics_step": 4472 }, { "action_index": 48, "end_physics_step": 4572, "physics_steps": 50, "start_physics_step": 4522 }, { "action_index": 49, "end_physics_step": 4622, "physics_steps": 50, "start_physics_step": 4572 }, { "action_index": 50, "end_physics_step": 4672, "physics_steps": 50, "start_physics_step": 4622 }, { "action_index": 51, "end_physics_step": 4722, "physics_steps": 50, "start_physics_step": 4672 }, { "action_index": 52, "end_physics_step": 4772, "physics_steps": 50, "start_physics_step": 4722 }, { "action_index": 53, "end_physics_step": 4822, "physics_steps": 50, "start_physics_step": 4772 }, { "action_index": 54, "end_physics_step": 4872, "physics_steps": 50, "start_physics_step": 4822 }, { "action_index": 55, "end_physics_step": 4922, "physics_steps": 50, "start_physics_step": 4872 }, { "action_index": 56, "end_physics_step": 4972, "physics_steps": 50, "start_physics_step": 4922 }, { "action_index": 57, "end_physics_step": 5022, "physics_steps": 50, "start_physics_step": 4972 }, { "action_index": 58, "end_physics_step": 5072, "physics_steps": 50, "start_physics_step": 5022 }, { "action_index": 59, "end_physics_step": 5122, "physics_steps": 50, "start_physics_step": 5072 }, { "action_index": 60, "end_physics_step": 5172, "physics_steps": 50, "start_physics_step": 5122 }, { "action_index": 61, "end_physics_step": 5222, "physics_steps": 50, "start_physics_step": 5172 }, { "action_index": 62, "end_physics_step": 5272, "physics_steps": 50, "start_physics_step": 5222 }, { "action_index": 63, "end_physics_step": 5322, "physics_steps": 50, "start_physics_step": 5272 }, { "action_index": 64, "end_physics_step": 5372, "physics_steps": 50, "start_physics_step": 5322 }, { "action_index": 65, "end_physics_step": 5422, "physics_steps": 50, "start_physics_step": 5372 }, { "action_index": 66, "end_physics_step": 5472, "physics_steps": 50, "start_physics_step": 5422 }, { "action_index": 67, "end_physics_step": 5522, "physics_steps": 50, "start_physics_step": 5472 }, { "action_index": 68, "end_physics_step": 5543, "physics_steps": 21, "start_physics_step": 5522 }, { "action_index": 69, "end_physics_step": 5568, "physics_steps": 25, "start_physics_step": 5543 }, { "action_index": 70, "end_physics_step": 5625, "physics_steps": 57, "start_physics_step": 5568 }, { "action_index": 71, "end_physics_step": 5702, "physics_steps": 77, "start_physics_step": 5625 }, { "action_index": 72, "end_physics_step": 5794, "physics_steps": 92, "start_physics_step": 5702 }, { "action_index": 73, "end_physics_step": 5900, "physics_steps": 106, "start_physics_step": 5794 }, { "action_index": 74, "end_physics_step": 6017, "physics_steps": 117, "start_physics_step": 5900 }, { "action_index": 75, "end_physics_step": 6144, "physics_steps": 127, "start_physics_step": 6017 }, { "action_index": 76, "end_physics_step": 6269, "physics_steps": 125, "start_physics_step": 6144 }, { "action_index": 77, "end_physics_step": 6394, "physics_steps": 125, "start_physics_step": 6269 }, { "action_index": 78, "end_physics_step": 6509, "physics_steps": 115, "start_physics_step": 6394 }, { "action_index": 79, "end_physics_step": 6613, "physics_steps": 104, "start_physics_step": 6509 }, { "action_index": 80, "end_physics_step": 6703, "physics_steps": 90, "start_physics_step": 6613 }, { "action_index": 81, "end_physics_step": 6777, "physics_steps": 74, "start_physics_step": 6703 }, { "action_index": 82, "end_physics_step": 6829, "physics_steps": 52, "start_physics_step": 6777 }, { "action_index": 83, "end_physics_step": 6849, "physics_steps": 20, "start_physics_step": 6829 }, { "action_index": 84, "end_physics_step": 6899, "physics_steps": 50, "start_physics_step": 6849 }, { "action_index": 85, "end_physics_step": 6949, "physics_steps": 50, "start_physics_step": 6899 }, { "action_index": 86, "end_physics_step": 6999, "physics_steps": 50, "start_physics_step": 6949 }, { "action_index": 87, "end_physics_step": 7049, "physics_steps": 50, "start_physics_step": 6999 }, { "action_index": 88, "end_physics_step": 7099, "physics_steps": 50, "start_physics_step": 7049 }, { "action_index": 89, "end_physics_step": 7168, "physics_steps": 69, "start_physics_step": 7099 }, { "action_index": 90, "end_physics_step": 7253, "physics_steps": 85, "start_physics_step": 7168 }, { "action_index": 91, "end_physics_step": 7351, "physics_steps": 98, "start_physics_step": 7253 }, { "action_index": 92, "end_physics_step": 7459, "physics_steps": 108, "start_physics_step": 7351 }, { "action_index": 93, "end_physics_step": 7576, "physics_steps": 117, "start_physics_step": 7459 }, { "action_index": 94, "end_physics_step": 7701, "physics_steps": 125, "start_physics_step": 7576 }, { "action_index": 95, "end_physics_step": 7834, "physics_steps": 133, "start_physics_step": 7701 }, { "action_index": 96, "end_physics_step": 7974, "physics_steps": 140, "start_physics_step": 7834 }, { "action_index": 97, "end_physics_step": 8119, "physics_steps": 145, "start_physics_step": 7974 }, { "action_index": 98, "end_physics_step": 8266, "physics_steps": 147, "start_physics_step": 8119 }, { "action_index": 99, "end_physics_step": 8414, "physics_steps": 148, "start_physics_step": 8266 }, { "action_index": 100, "end_physics_step": 8563, "physics_steps": 149, "start_physics_step": 8414 }, { "action_index": 101, "end_physics_step": 8714, "physics_steps": 151, "start_physics_step": 8563 }, { "action_index": 102, "end_physics_step": 8867, "physics_steps": 153, "start_physics_step": 8714 }, { "action_index": 103, "end_physics_step": 9023, "physics_steps": 156, "start_physics_step": 8867 }, { "action_index": 104, "end_physics_step": 9182, "physics_steps": 159, "start_physics_step": 9023 }, { "action_index": 105, "end_physics_step": 9343, "physics_steps": 161, "start_physics_step": 9182 }, { "action_index": 106, "end_physics_step": 9505, "physics_steps": 162, "start_physics_step": 9343 }, { "action_index": 107, "end_physics_step": 9668, "physics_steps": 163, "start_physics_step": 9505 }, { "action_index": 108, "end_physics_step": 9829, "physics_steps": 161, "start_physics_step": 9668 }, { "action_index": 109, "end_physics_step": 9986, "physics_steps": 157, "start_physics_step": 9829 }, { "action_index": 110, "end_physics_step": 10137, "physics_steps": 151, "start_physics_step": 9986 }, { "action_index": 111, "end_physics_step": 10281, "physics_steps": 144, "start_physics_step": 10137 }, { "action_index": 112, "end_physics_step": 10416, "physics_steps": 135, "start_physics_step": 10281 }, { "action_index": 113, "end_physics_step": 10541, "physics_steps": 125, "start_physics_step": 10416 }, { "action_index": 114, "end_physics_step": 10656, "physics_steps": 115, "start_physics_step": 10541 }, { "action_index": 115, "end_physics_step": 10759, "physics_steps": 103, "start_physics_step": 10656 }, { "action_index": 116, "end_physics_step": 10848, "physics_steps": 89, "start_physics_step": 10759 }, { "action_index": 117, "end_physics_step": 10921, "physics_steps": 73, "start_physics_step": 10848 }, { "action_index": 118, "end_physics_step": 10973, "physics_steps": 52, "start_physics_step": 10921 }, { "action_index": 119, "end_physics_step": 11023, "physics_steps": 50, "start_physics_step": 10973 }, { "action_index": 120, "end_physics_step": 11073, "physics_steps": 50, "start_physics_step": 11023 }, { "action_index": 121, "end_physics_step": 11123, "physics_steps": 50, "start_physics_step": 11073 }, { "action_index": 122, "end_physics_step": 11173, "physics_steps": 50, "start_physics_step": 11123 }, { "action_index": 123, "end_physics_step": 11223, "physics_steps": 50, "start_physics_step": 11173 }, { "action_index": 124, "end_physics_step": 11273, "physics_steps": 50, "start_physics_step": 11223 }, { "action_index": 125, "end_physics_step": 11323, "physics_steps": 50, "start_physics_step": 11273 }, { "action_index": 126, "end_physics_step": 11373, "physics_steps": 50, "start_physics_step": 11323 }, { "action_index": 127, "end_physics_step": 11423, "physics_steps": 50, "start_physics_step": 11373 }, { "action_index": 128, "end_physics_step": 11473, "physics_steps": 50, "start_physics_step": 11423 }, { "action_index": 129, "end_physics_step": 11523, "physics_steps": 50, "start_physics_step": 11473 }, { "action_index": 130, "end_physics_step": 11573, "physics_steps": 50, "start_physics_step": 11523 }, { "action_index": 131, "end_physics_step": 11623, "physics_steps": 50, "start_physics_step": 11573 }, { "action_index": 132, "end_physics_step": 11676, "physics_steps": 53, "start_physics_step": 11623 }, { "action_index": 133, "end_physics_step": 11749, "physics_steps": 73, "start_physics_step": 11676 }, { "action_index": 134, "end_physics_step": 11838, "physics_steps": 89, "start_physics_step": 11749 }, { "action_index": 135, "end_physics_step": 11942, "physics_steps": 104, "start_physics_step": 11838 }, { "action_index": 136, "end_physics_step": 12058, "physics_steps": 116, "start_physics_step": 11942 }, { "action_index": 137, "end_physics_step": 12184, "physics_steps": 126, "start_physics_step": 12058 }, { "action_index": 138, "end_physics_step": 12318, "physics_steps": 134, "start_physics_step": 12184 }, { "action_index": 139, "end_physics_step": 12460, "physics_steps": 142, "start_physics_step": 12318 }, { "action_index": 140, "end_physics_step": 12607, "physics_steps": 147, "start_physics_step": 12460 }, { "action_index": 141, "end_physics_step": 12758, "physics_steps": 151, "start_physics_step": 12607 }, { "action_index": 142, "end_physics_step": 12912, "physics_steps": 154, "start_physics_step": 12758 }, { "action_index": 143, "end_physics_step": 13066, "physics_steps": 154, "start_physics_step": 12912 }, { "action_index": 144, "end_physics_step": 13219, "physics_steps": 153, "start_physics_step": 13066 }, { "action_index": 145, "end_physics_step": 13368, "physics_steps": 149, "start_physics_step": 13219 }, { "action_index": 146, "end_physics_step": 13511, "physics_steps": 143, "start_physics_step": 13368 }, { "action_index": 147, "end_physics_step": 13646, "physics_steps": 135, "start_physics_step": 13511 }, { "action_index": 148, "end_physics_step": 13766, "physics_steps": 120, "start_physics_step": 13646 } ], "training_action_executor": "robotwin_take_action_qpos_topp_250hz_v1", "training_action_final_state": { "grippers": [ 0.0, 0.0 ], "object_position": [ -0.03052424266934395, -0.019907034933567047, 0.9506813287734985 ], "scanner_functional_point": [ 0.03402998703966062, -0.022873570734770962, 0.9362837131878792, 0.35553088455686116, 0.664859432010392, -0.3810370324850699, -0.5351359693274287 ] }, "training_action_input_frames": 165, "training_action_interarm_contact_steps": 0, "training_action_minimum_capsule_distance_m": 0.20011566020533067, "training_action_preprocessor": "robotwin_next_sample_joint_target_v2", "training_action_preprocessor_version": 2, "training_action_replay_profile": "shared_dp3_pi05_qpos_topp_per_target_v1", "training_action_replay_success": true, "training_action_total_physics_steps": 13766, "training_actions_executed": 149, "validate_synchronized_training_replay": true, "wrist_camera_preset": "centered_fovy90" }