iceGrey commited on
Commit
4ff8d75
·
verified ·
1 Parent(s): b0d8b51

Add files using upload-large-folder tool

Browse files
This view is limited to 50 files because it contains too many changes.   See raw diff
Files changed (50) hide show
  1. eval/YAM/V2/dp/spatula_handoff/data/round_0001/action/executed_action_dict.pkl +0 -0
  2. eval/YAM/V2/dp/spatula_handoff/data/round_0001/camera/metadata.json +59 -0
  3. eval/YAM/V2/dp/spatula_handoff/data/round_0001/camera/timestamp.pkl +0 -0
  4. eval/YAM/V2/dp/spatula_handoff/data/round_0001/debug/actions.jsonl +0 -0
  5. eval/YAM/V2/dp/spatula_handoff/data/round_0001/debug/validations/validation_0000.json +195 -0
  6. eval/YAM/V2/dp/spatula_handoff/data/round_0001/debug/validations/validation_0001.json +195 -0
  7. eval/YAM/V2/dp/spatula_handoff/data/round_0001/debug/validations/validation_0002.json +195 -0
  8. eval/YAM/V2/dp/spatula_handoff/data/round_0001/debug/validations/validation_0003.json +195 -0
  9. eval/YAM/V2/dp/spatula_handoff/data/round_0001/debug/validations/validation_0004.json +195 -0
  10. eval/YAM/V2/dp/spatula_handoff/data/round_0001/debug/validations/validation_0005.json +195 -0
  11. eval/YAM/V2/dp/spatula_handoff/data/round_0001/debug/validations/validation_0006.json +195 -0
  12. eval/YAM/V2/dp/spatula_handoff/data/round_0001/debug/validations/validation_0007.json +195 -0
  13. eval/YAM/V2/dp/spatula_handoff/data/round_0001/debug/validations/validation_0008.json +195 -0
  14. eval/YAM/V2/dp/spatula_handoff/data/round_0001/debug/validations/validation_0009.json +195 -0
  15. eval/YAM/V2/dp/spatula_handoff/data/round_0001/debug/validations/validation_0010.json +195 -0
  16. eval/YAM/V2/dp/spatula_handoff/data/round_0001/debug/validations/validation_0011.json +195 -0
  17. eval/YAM/V2/dp/spatula_handoff/data/round_0001/debug/validations/validation_0012.json +195 -0
  18. eval/YAM/V2/dp/spatula_handoff/data/round_0001/debug/validations/validation_0013.json +195 -0
  19. eval/YAM/V2/dp/spatula_handoff/data/round_0001/event/event_dict.pkl +0 -0
  20. eval/YAM/V2/dp/spatula_handoff/data/round_0001/manifests/action.json +29 -0
  21. eval/YAM/V2/dp/spatula_handoff/data/round_0001/manifests/camera.json +104 -0
  22. eval/YAM/V2/dp/spatula_handoff/data/round_0001/manifests/event.json +28 -0
  23. eval/YAM/V2/dp/spatula_handoff/data/round_0001/manifests/robot.json +37 -0
  24. eval/YAM/V2/dp/spatula_handoff/data/round_0001/manifests/tactile.json +1 -0
  25. eval/YAM/V2/dp/spatula_handoff/data/round_0001/workflow_manifest.json +607 -0
  26. eval/YAM/V2/dp/spatula_handoff/data/round_0002/action/executed_action_dict.pkl +0 -0
  27. eval/YAM/V2/dp/spatula_handoff/data/round_0002/camera/metadata.json +59 -0
  28. eval/YAM/V2/dp/spatula_handoff/data/round_0002/debug/actions.jsonl +0 -0
  29. eval/YAM/V2/dp/spatula_handoff/data/round_0002/debug/validations/validation_0000.json +195 -0
  30. eval/YAM/V2/dp/spatula_handoff/data/round_0002/debug/validations/validation_0001.json +195 -0
  31. eval/YAM/V2/dp/spatula_handoff/data/round_0002/debug/validations/validation_0002.json +195 -0
  32. eval/YAM/V2/dp/spatula_handoff/data/round_0002/debug/validations/validation_0003.json +195 -0
  33. eval/YAM/V2/dp/spatula_handoff/data/round_0002/debug/validations/validation_0004.json +195 -0
  34. eval/YAM/V2/dp/spatula_handoff/data/round_0002/debug/validations/validation_0005.json +195 -0
  35. eval/YAM/V2/dp/spatula_handoff/data/round_0002/debug/validations/validation_0006.json +195 -0
  36. eval/YAM/V2/dp/spatula_handoff/data/round_0002/debug/validations/validation_0007.json +195 -0
  37. eval/YAM/V2/dp/spatula_handoff/data/round_0002/debug/validations/validation_0008.json +195 -0
  38. eval/YAM/V2/dp/spatula_handoff/data/round_0002/debug/validations/validation_0009.json +195 -0
  39. eval/YAM/V2/dp/spatula_handoff/data/round_0002/debug/validations/validation_0010.json +195 -0
  40. eval/YAM/V2/dp/spatula_handoff/data/round_0002/debug/validations/validation_0011.json +195 -0
  41. eval/YAM/V2/dp/spatula_handoff/data/round_0002/debug/validations/validation_0012.json +195 -0
  42. eval/YAM/V2/dp/spatula_handoff/data/round_0002/debug/validations/validation_0013.json +195 -0
  43. eval/YAM/V2/dp/spatula_handoff/data/round_0002/debug/validations/validation_0014.json +195 -0
  44. eval/YAM/V2/dp/spatula_handoff/data/round_0002/debug/validations/validation_0015.json +195 -0
  45. eval/YAM/V2/dp/spatula_handoff/data/round_0002/debug/validations/validation_0016.json +195 -0
  46. eval/YAM/V2/dp/spatula_handoff/data/round_0002/debug/validations/validation_0017.json +195 -0
  47. eval/YAM/V2/dp/spatula_handoff/data/round_0002/debug/validations/validation_0018.json +195 -0
  48. eval/YAM/V2/dp/spatula_handoff/data/round_0002/manifests/action.json +28 -0
  49. eval/YAM/V2/dp/spatula_handoff/data/round_0002/manifests/camera.json +101 -0
  50. eval/YAM/V2/dp/spatula_handoff/data/round_0002/manifests/event.json +27 -0
eval/YAM/V2/dp/spatula_handoff/data/round_0001/action/executed_action_dict.pkl ADDED
Binary file (69.7 kB). View file
 
eval/YAM/V2/dp/spatula_handoff/data/round_0001/camera/metadata.json ADDED
@@ -0,0 +1,59 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "base_0_rgb": {
3
+ "codec": "h264",
4
+ "container": "mp4",
5
+ "encoder": "libx264",
6
+ "encoding": "bgr8",
7
+ "frames": 678,
8
+ "height": 480,
9
+ "lossless": false,
10
+ "pixel_format": "yuv420p",
11
+ "quality": {
12
+ "mode": "crf",
13
+ "value": 14
14
+ },
15
+ "timestamp_policy": "shared_by_complete_physical_camera_bundle",
16
+ "timestamps": "camera/timestamp.pkl::base_0",
17
+ "topic": "/prometheus/sensors/cameras/base_0/color/image_raw",
18
+ "video": "camera/base_0_rgb.mp4",
19
+ "width": 640
20
+ },
21
+ "left_wrist_0_rgb": {
22
+ "codec": "h264",
23
+ "container": "mp4",
24
+ "encoder": "libx264",
25
+ "encoding": "bgr8",
26
+ "frames": 680,
27
+ "height": 480,
28
+ "lossless": false,
29
+ "pixel_format": "yuv420p",
30
+ "quality": {
31
+ "mode": "crf",
32
+ "value": 14
33
+ },
34
+ "timestamp_policy": "shared_by_complete_physical_camera_bundle",
35
+ "timestamps": "camera/timestamp.pkl::left_wrist_0",
36
+ "topic": "/prometheus/sensors/cameras/left_wrist_0/color/image_raw",
37
+ "video": "camera/left_wrist_0_rgb.mp4",
38
+ "width": 640
39
+ },
40
+ "right_wrist_0_rgb": {
41
+ "codec": "h264",
42
+ "container": "mp4",
43
+ "encoder": "libx264",
44
+ "encoding": "bgr8",
45
+ "frames": 681,
46
+ "height": 480,
47
+ "lossless": false,
48
+ "pixel_format": "yuv420p",
49
+ "quality": {
50
+ "mode": "crf",
51
+ "value": 14
52
+ },
53
+ "timestamp_policy": "shared_by_complete_physical_camera_bundle",
54
+ "timestamps": "camera/timestamp.pkl::right_wrist_0",
55
+ "topic": "/prometheus/sensors/cameras/right_wrist_0/color/image_raw",
56
+ "video": "camera/right_wrist_0_rgb.mp4",
57
+ "width": 640
58
+ }
59
+ }
eval/YAM/V2/dp/spatula_handoff/data/round_0001/camera/timestamp.pkl ADDED
Binary file (16.4 kB). View file
 
eval/YAM/V2/dp/spatula_handoff/data/round_0001/debug/actions.jsonl ADDED
The diff for this file is too large to render. See raw diff
 
eval/YAM/V2/dp/spatula_handoff/data/round_0001/debug/validations/validation_0000.json ADDED
@@ -0,0 +1,195 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "command_velocity_limits": [
3
+ 7.326937734087213,
4
+ 7.492612143357643,
5
+ 9.039960411055707,
6
+ 10.989442599937178,
7
+ 11.822247140410347,
8
+ 21.729793477053846,
9
+ 4.549583926449072,
10
+ 9.542591565847905,
11
+ 16.49783855493206,
12
+ 19.18122166486826,
13
+ 20.271305218109156,
14
+ 13.274309575261345,
15
+ 14.009155302643812,
16
+ 4.764187300355128
17
+ ],
18
+ "current": [
19
+ -0.01277943083848676,
20
+ 0.005531395437552433,
21
+ 0.01163500419623098,
22
+ 0.004386968795300206,
23
+ 0.0001907377737087046,
24
+ -0.16498817425802592,
25
+ 0.09592362216114574,
26
+ 0.037956816968032214,
27
+ 0.0036240177004653873,
28
+ 0.0040054932478827965,
29
+ 0.015068284122987663,
30
+ -0.02040894178683139,
31
+ -0.08144502937361686,
32
+ 0.0958749004560921
33
+ ],
34
+ "current_velocity": [
35
+ -0.012210012210012167,
36
+ -0.0024420024420024333,
37
+ 0.0024420024420024333,
38
+ -0.0073260073260073,
39
+ 0.0073260073260073,
40
+ -0.0073260073260073,
41
+ 0.00040003369984564687,
42
+ -0.0073260073260073,
43
+ 0.0024420024420024333,
44
+ -0.0073260073260073,
45
+ -0.0073260073260073,
46
+ -0.0073260073260073,
47
+ -0.0219780219780219,
48
+ 0.0004004101885228345
49
+ ],
50
+ "first_target": [
51
+ -0.013277703896164894,
52
+ -0.005717520602047443,
53
+ -0.0016060620546340942,
54
+ 0.01787632331252098,
55
+ 0.006850176490843296,
56
+ -0.16671966016292572,
57
+ 0.09585274010896683,
58
+ 0.04681842029094696,
59
+ -0.015165401622653008,
60
+ -0.001846421044319868,
61
+ 0.023676879703998566,
62
+ -0.04467688873410225,
63
+ -0.0807042196393013,
64
+ 0.09570783376693726
65
+ ],
66
+ "first_transition_velocity": [
67
+ -0.014948191730344007,
68
+ -0.3374674811879963,
69
+ -0.39723198752595223,
70
+ 0.40468063551662325,
71
+ 0.19978316151403774,
72
+ -0.051944577146993964,
73
+ -0.002126461565367249,
74
+ 0.2658480996874424,
75
+ -0.5636825796935518,
76
+ -0.17555742876607994,
77
+ 0.2582578674303271,
78
+ -0.7280384084181257,
79
+ 0.022224292029466852,
80
+ -0.005012000674645134
81
+ ],
82
+ "observation_state": [
83
+ -0.012397955171763897,
84
+ 0.005912871100008488,
85
+ 0.011635004542768002,
86
+ 0.004386968910694122,
87
+ 0.00019073777366429567,
88
+ -0.164988175034523,
89
+ 0.09592362493276596,
90
+ 0.03833829239010811,
91
+ 0.0036240178160369396,
92
+ 0.004005493130534887,
93
+ 0.01506828423589468,
94
+ -0.020027466118335724,
95
+ -0.08144503086805344,
96
+ 0.09587489813566208
97
+ ],
98
+ "policy_metadata": {
99
+ "alignment_wait_ms": 5.146171009982936,
100
+ "checkpoint_path": "/home/romoya-1/openpi-workspace/checkpoints/yam-policies-release/yam_policies/xiangrun/20260916_v2_seven_tasks/dp/spatula_handoff/best-short.pt",
101
+ "first_action_minus_state": [
102
+ -0.0008797487244009972,
103
+ -0.011630391702055931,
104
+ -0.013241066597402096,
105
+ 0.013489354401826859,
106
+ 0.006659438833594322,
107
+ -0.00173148512840271,
108
+ -7.08848237991333e-05,
109
+ 0.008480127900838852,
110
+ -0.018789419904351234,
111
+ -0.005851914174854755,
112
+ 0.008608595468103886,
113
+ -0.024649422615766525,
114
+ 0.0007408112287521362,
115
+ -0.000167064368724823
116
+ ],
117
+ "history_anchor_offset": 1,
118
+ "history_interval_ms": 33.344957,
119
+ "history_sample_stamp_ns": {
120
+ "base_0_color": [
121
+ 1789572984225498113,
122
+ 1789572984258843070
123
+ ],
124
+ "left_wrist_0_color": [
125
+ 1789572984236906159,
126
+ 1789572984270406383
127
+ ],
128
+ "right_wrist_0_color": [
129
+ 1789572984213006540,
130
+ 1789572984246440631
131
+ ],
132
+ "robot_state": [
133
+ 1789572984216816353,
134
+ 1789572984257450307
135
+ ]
136
+ },
137
+ "history_stamp_ns": [
138
+ 1789572984225498113,
139
+ 1789572984258843070
140
+ ],
141
+ "model_seed": null,
142
+ "observation_age_at_response_ms": 131.354242,
143
+ "observation_stamp_ns": 1789572984258843070,
144
+ "prompt": "spatula_handoff",
145
+ "release_revision": "39c623bd78f638d06ce0db57631b66d3028db208",
146
+ "request_id": "03384a17d89c40f88b38792888188bc5",
147
+ "round_trip_ms": 88.0589360021986,
148
+ "server_metadata": {
149
+ "action_shape": [
150
+ 32,
151
+ 14
152
+ ],
153
+ "action_space": "abs_qpos",
154
+ "cameras": [
155
+ "base_0",
156
+ "left_wrist_0",
157
+ "right_wrist_0"
158
+ ],
159
+ "checkpoint_hashes": {
160
+ "dp/spatula_handoff/best-short.pt": "e940beeaf79e8ea99be7e46a2e6c3b9c162394ab2dd2a86b1439b61fec8dd0f2"
161
+ },
162
+ "checkpoint_path": "/home/romoya-1/openpi-workspace/checkpoints/yam-policies-release/yam_policies/xiangrun/20260916_v2_seven_tasks/dp/spatula_handoff/best-short.pt",
163
+ "fps": 30,
164
+ "gpu": "NVIDIA GeForce RTX 5090",
165
+ "gpu_peak_mib": 446.9287109375,
166
+ "model": "dp",
167
+ "observation_offsets": [
168
+ -1,
169
+ 0
170
+ ],
171
+ "protocol": "yam-v2-native-npz-v1",
172
+ "release_revision": "39c623bd78f638d06ce0db57631b66d3028db208",
173
+ "step": 20000,
174
+ "task": "spatula_handoff",
175
+ "tasks": [
176
+ "spatula_handoff"
177
+ ],
178
+ "warmup": {
179
+ "hardware_started": false,
180
+ "seconds": [
181
+ 0.2951951069990173,
182
+ 0.056270029002917,
183
+ 0.05475686999852769,
184
+ 0.05329998300294392
185
+ ],
186
+ "status": "passed"
187
+ }
188
+ },
189
+ "server_prediction_seconds": 0.0848208440002054,
190
+ "source": "yam_v2_dp_http",
191
+ "task": "spatula_handoff",
192
+ "wire_action_dtype": "float32"
193
+ },
194
+ "time_ns": 1789572984443358395
195
+ }
eval/YAM/V2/dp/spatula_handoff/data/round_0001/debug/validations/validation_0001.json ADDED
@@ -0,0 +1,195 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "command_velocity_limits": [
3
+ 7.326937734087213,
4
+ 7.492612143357643,
5
+ 9.039960411055707,
6
+ 10.989442599937178,
7
+ 11.822247140410347,
8
+ 21.729793477053846,
9
+ 4.549583926449072,
10
+ 9.542591565847905,
11
+ 16.49783855493206,
12
+ 19.18122166486826,
13
+ 20.271305218109156,
14
+ 13.274309575261345,
15
+ 14.009155302643812,
16
+ 4.764187300355128
17
+ ],
18
+ "current": [
19
+ -0.012397955291065799,
20
+ 0.007438773174639479,
21
+ 0.010872053101396162,
22
+ 0.008583199816891707,
23
+ 0.0040054932478827965,
24
+ -0.17719539177538302,
25
+ 0.0956111673658325,
26
+ 0.046730754558632626,
27
+ 1.1182955672541386,
28
+ 0.7066834515907523,
29
+ -0.5048828870069446,
30
+ -0.04215304798962016,
31
+ -0.32558937972075874,
32
+ 0.09554130167233765
33
+ ],
34
+ "current_velocity": [
35
+ 0.0219780219780219,
36
+ -0.0073260073260073,
37
+ 0.026862026862026767,
38
+ -0.0073260073260073,
39
+ -0.0073260073260073,
40
+ -0.0073260073260073,
41
+ 0.00013334456661521563,
42
+ -0.0219780219780219,
43
+ -0.012210012210012167,
44
+ 0.0073260073260073,
45
+ -0.0219780219780219,
46
+ 0.0219780219780219,
47
+ 0.0073260073260073,
48
+ 0.00013347006284094486
49
+ ],
50
+ "first_target": [
51
+ -0.010766171850264072,
52
+ -0.006529991514980793,
53
+ -0.006602674722671509,
54
+ 0.017000168561935425,
55
+ 0.016554975882172585,
56
+ -0.18000461161136627,
57
+ 0.0957549512386322,
58
+ 0.051416344940662384,
59
+ 1.205022931098938,
60
+ 0.8038499355316162,
61
+ -0.5429362058639526,
62
+ -0.027053600177168846,
63
+ -0.33983105421066284,
64
+ 0.09525918960571289
65
+ ],
66
+ "first_transition_velocity": [
67
+ 0.048953503224051786,
68
+ -0.41906294068860817,
69
+ -0.5242418347220301,
70
+ 0.25250906235131154,
71
+ 0.37648447902869364,
72
+ -0.0842765950794977,
73
+ 0.004313516183991062,
74
+ 0.14056771146089275,
75
+ 2.601820915343982,
76
+ 2.9149945182259174,
77
+ -1.1415995657102407,
78
+ 0.4529834343735395,
79
+ -0.427250234697123,
80
+ -0.008463361998742869
81
+ ],
82
+ "observation_state": [
83
+ -0.012397955171763897,
84
+ 0.007438773289322853,
85
+ 0.010872052982449532,
86
+ 0.00858320016413927,
87
+ 0.004005493130534887,
88
+ -0.17719538509845734,
89
+ 0.09561116993427277,
90
+ 0.046730753034353256,
91
+ 1.1182955503463745,
92
+ 0.7070649266242981,
93
+ -0.5045014023780823,
94
+ -0.042153049260377884,
95
+ -0.325970858335495,
96
+ 0.09554129838943481
97
+ ],
98
+ "policy_metadata": {
99
+ "alignment_wait_ms": 5.869921005796641,
100
+ "checkpoint_path": "/home/romoya-1/openpi-workspace/checkpoints/yam-policies-release/yam_policies/xiangrun/20260916_v2_seven_tasks/dp/spatula_handoff/best-short.pt",
101
+ "first_action_minus_state": [
102
+ 0.0016317833214998245,
103
+ -0.013968764804303646,
104
+ -0.01747472770512104,
105
+ 0.008416968397796154,
106
+ 0.01254948228597641,
107
+ -0.0028092265129089355,
108
+ 0.00014378130435943604,
109
+ 0.004685591906309128,
110
+ 0.08672738075256348,
111
+ 0.09678500890731812,
112
+ -0.03843480348587036,
113
+ 0.015099449083209038,
114
+ -0.013860195875167847,
115
+ -0.00028210878372192383
116
+ ],
117
+ "history_anchor_offset": 1,
118
+ "history_interval_ms": 33.323101,
119
+ "history_sample_stamp_ns": {
120
+ "base_0_color": [
121
+ 1789572985959262103,
122
+ 1789572985992585204
123
+ ],
124
+ "left_wrist_0_color": [
125
+ 1789572985970507878,
126
+ 1789572986003816516
127
+ ],
128
+ "right_wrist_0_color": [
129
+ 1789572985946808227,
130
+ 1789572985980047226
131
+ ],
132
+ "robot_state": [
133
+ 1789572985957531435,
134
+ 1789572985990829823
135
+ ]
136
+ },
137
+ "history_stamp_ns": [
138
+ 1789572985959262103,
139
+ 1789572985992585204
140
+ ],
141
+ "model_seed": null,
142
+ "observation_age_at_response_ms": 138.904101,
143
+ "observation_stamp_ns": 1789572985992585204,
144
+ "prompt": "spatula_handoff",
145
+ "release_revision": "39c623bd78f638d06ce0db57631b66d3028db208",
146
+ "request_id": "bb6266aa6e5e41de836e8d2ab919b4ae",
147
+ "round_trip_ms": 80.39897300477605,
148
+ "server_metadata": {
149
+ "action_shape": [
150
+ 32,
151
+ 14
152
+ ],
153
+ "action_space": "abs_qpos",
154
+ "cameras": [
155
+ "base_0",
156
+ "left_wrist_0",
157
+ "right_wrist_0"
158
+ ],
159
+ "checkpoint_hashes": {
160
+ "dp/spatula_handoff/best-short.pt": "e940beeaf79e8ea99be7e46a2e6c3b9c162394ab2dd2a86b1439b61fec8dd0f2"
161
+ },
162
+ "checkpoint_path": "/home/romoya-1/openpi-workspace/checkpoints/yam-policies-release/yam_policies/xiangrun/20260916_v2_seven_tasks/dp/spatula_handoff/best-short.pt",
163
+ "fps": 30,
164
+ "gpu": "NVIDIA GeForce RTX 5090",
165
+ "gpu_peak_mib": 446.9287109375,
166
+ "model": "dp",
167
+ "observation_offsets": [
168
+ -1,
169
+ 0
170
+ ],
171
+ "protocol": "yam-v2-native-npz-v1",
172
+ "release_revision": "39c623bd78f638d06ce0db57631b66d3028db208",
173
+ "step": 20000,
174
+ "task": "spatula_handoff",
175
+ "tasks": [
176
+ "spatula_handoff"
177
+ ],
178
+ "warmup": {
179
+ "hardware_started": false,
180
+ "seconds": [
181
+ 0.2951951069990173,
182
+ 0.056270029002917,
183
+ 0.05475686999852769,
184
+ 0.05329998300294392
185
+ ],
186
+ "status": "passed"
187
+ }
188
+ },
189
+ "server_prediction_seconds": 0.07668581100006122,
190
+ "source": "yam_v2_dp_http",
191
+ "task": "spatula_handoff",
192
+ "wire_action_dtype": "float32"
193
+ },
194
+ "time_ns": 1789572986166885526
195
+ }
eval/YAM/V2/dp/spatula_handoff/data/round_0001/debug/validations/validation_0002.json ADDED
@@ -0,0 +1,195 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "command_velocity_limits": [
3
+ 7.326937734087213,
4
+ 7.492612143357643,
5
+ 9.039960411055707,
6
+ 10.989442599937178,
7
+ 11.822247140410347,
8
+ 21.729793477053846,
9
+ 4.549583926449072,
10
+ 9.542591565847905,
11
+ 16.49783855493206,
12
+ 19.18122166486826,
13
+ 20.271305218109156,
14
+ 13.274309575261345,
15
+ 14.009155302643812,
16
+ 4.764187300355128
17
+ ],
18
+ "current": [
19
+ -0.012397955291065799,
20
+ 0.006294346532387252,
21
+ 0.010872053101396162,
22
+ 0.008583199816891707,
23
+ 0.01621271076523989,
24
+ -0.17605096513313434,
25
+ 0.09586807464197888,
26
+ 0.07305256733043386,
27
+ 1.5417334248874646,
28
+ 0.9699015793087664,
29
+ -0.6681544213015922,
30
+ -0.023079270618749703,
31
+ -0.3332188906691105,
32
+ 0.08849402736552524
33
+ ],
34
+ "current_velocity": [
35
+ 0.0024420024420024333,
36
+ -0.0024420024420024333,
37
+ 0.0024420024420024333,
38
+ -0.0219780219780219,
39
+ -0.0073260073260073,
40
+ -0.0219780219780219,
41
+ 0.00013334456661521563,
42
+ 0.0024420024420024333,
43
+ -0.0024420024420024333,
44
+ -0.0073260073260073,
45
+ -0.0073260073260073,
46
+ -0.0073260073260073,
47
+ 0.0073260073260073,
48
+ 0.00013347006284094486
49
+ ],
50
+ "first_target": [
51
+ -0.0030342992395162582,
52
+ -0.00013679638504981995,
53
+ -0.007854359224438667,
54
+ 0.011155852116644382,
55
+ 0.03391597419977188,
56
+ -0.18192502856254578,
57
+ 0.09600000083446503,
58
+ 0.07948734611272812,
59
+ 1.5794599056243896,
60
+ 0.9981523156166077,
61
+ -0.6698203086853027,
62
+ 0.007723849266767502,
63
+ -0.32917723059654236,
64
+ 0.08649815618991852
65
+ ],
66
+ "first_transition_velocity": [
67
+ 0.2809096815464862,
68
+ -0.19293428752311215,
69
+ -0.5617923697750449,
70
+ 0.07717956899258027,
71
+ 0.5310979030359597,
72
+ -0.17622190288234307,
73
+ 0.003957785774584277,
74
+ 0.19304336346882778,
75
+ 1.1317944221077525,
76
+ 0.8475220892352375,
77
+ -0.04997662151131621,
78
+ 0.9240935965655162,
79
+ 0.12124980217704362,
80
+ -0.0598761352682016
81
+ ],
82
+ "observation_state": [
83
+ -0.012397955171763897,
84
+ 0.006294346414506435,
85
+ 0.010872052982449532,
86
+ 0.00858320016413927,
87
+ 0.016212711110711098,
88
+ -0.17605096101760864,
89
+ 0.0958680734038353,
90
+ 0.07305257022380829,
91
+ 1.5417333841323853,
92
+ 0.9699015617370605,
93
+ -0.6677729487419128,
94
+ -0.023079270496964455,
95
+ -0.33321890234947205,
96
+ 0.08849402517080307
97
+ ],
98
+ "policy_metadata": {
99
+ "alignment_wait_ms": 4.917396989185363,
100
+ "checkpoint_path": "/home/romoya-1/openpi-workspace/checkpoints/yam-policies-release/yam_policies/xiangrun/20260916_v2_seven_tasks/dp/spatula_handoff/best-short.pt",
101
+ "first_action_minus_state": [
102
+ 0.009363655932247639,
103
+ -0.006431142799556255,
104
+ -0.0187264122068882,
105
+ 0.0025726519525051117,
106
+ 0.017703263089060783,
107
+ -0.005874067544937134,
108
+ 0.00013192743062973022,
109
+ 0.00643477588891983,
110
+ 0.037726521492004395,
111
+ 0.02825075387954712,
112
+ -0.0020473599433898926,
113
+ 0.030803119763731956,
114
+ 0.0040416717529296875,
115
+ -0.001995868980884552
116
+ ],
117
+ "history_anchor_offset": 1,
118
+ "history_interval_ms": 33.378051,
119
+ "history_sample_stamp_ns": {
120
+ "base_0_color": [
121
+ 1789572987526159974,
122
+ 1789572987559538025
123
+ ],
124
+ "left_wrist_0_color": [
125
+ 1789572987537540909,
126
+ 1789572987570939320
127
+ ],
128
+ "right_wrist_0_color": [
129
+ 1789572987513660654,
130
+ 1789572987547102175
131
+ ],
132
+ "robot_state": [
133
+ 1789572987523995886,
134
+ 1789572987557549255
135
+ ]
136
+ },
137
+ "history_stamp_ns": [
138
+ 1789572987526159974,
139
+ 1789572987559538025
140
+ ],
141
+ "model_seed": null,
142
+ "observation_age_at_response_ms": 119.972656,
143
+ "observation_stamp_ns": 1789572987559538025,
144
+ "prompt": "spatula_handoff",
145
+ "release_revision": "39c623bd78f638d06ce0db57631b66d3028db208",
146
+ "request_id": "47faf1e7eced4dbb880a40e97592fe4a",
147
+ "round_trip_ms": 78.93737200356554,
148
+ "server_metadata": {
149
+ "action_shape": [
150
+ 32,
151
+ 14
152
+ ],
153
+ "action_space": "abs_qpos",
154
+ "cameras": [
155
+ "base_0",
156
+ "left_wrist_0",
157
+ "right_wrist_0"
158
+ ],
159
+ "checkpoint_hashes": {
160
+ "dp/spatula_handoff/best-short.pt": "e940beeaf79e8ea99be7e46a2e6c3b9c162394ab2dd2a86b1439b61fec8dd0f2"
161
+ },
162
+ "checkpoint_path": "/home/romoya-1/openpi-workspace/checkpoints/yam-policies-release/yam_policies/xiangrun/20260916_v2_seven_tasks/dp/spatula_handoff/best-short.pt",
163
+ "fps": 30,
164
+ "gpu": "NVIDIA GeForce RTX 5090",
165
+ "gpu_peak_mib": 446.9287109375,
166
+ "model": "dp",
167
+ "observation_offsets": [
168
+ -1,
169
+ 0
170
+ ],
171
+ "protocol": "yam-v2-native-npz-v1",
172
+ "release_revision": "39c623bd78f638d06ce0db57631b66d3028db208",
173
+ "step": 20000,
174
+ "task": "spatula_handoff",
175
+ "tasks": [
176
+ "spatula_handoff"
177
+ ],
178
+ "warmup": {
179
+ "hardware_started": false,
180
+ "seconds": [
181
+ 0.2951951069990173,
182
+ 0.056270029002917,
183
+ 0.05475686999852769,
184
+ 0.05329998300294392
185
+ ],
186
+ "status": "passed"
187
+ }
188
+ },
189
+ "server_prediction_seconds": 0.07634290200076066,
190
+ "source": "yam_v2_dp_http",
191
+ "task": "spatula_handoff",
192
+ "wire_action_dtype": "float32"
193
+ },
194
+ "time_ns": 1789572987712540024
195
+ }
eval/YAM/V2/dp/spatula_handoff/data/round_0001/debug/validations/validation_0003.json ADDED
@@ -0,0 +1,195 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "command_velocity_limits": [
3
+ 7.326937734087213,
4
+ 7.492612143357643,
5
+ 9.039960411055707,
6
+ 10.989442599937178,
7
+ 11.822247140410347,
8
+ 21.729793477053846,
9
+ 4.549583926449072,
10
+ 9.542591565847905,
11
+ 16.49783855493206,
12
+ 19.18122166486826,
13
+ 20.271305218109156,
14
+ 13.274309575261345,
15
+ 14.009155302643812,
16
+ 4.764187300355128
17
+ ],
18
+ "current": [
19
+ -0.009727626459147487,
20
+ 0.006675822079804661,
21
+ 0.010490577553978753,
22
+ 0.007438773174639479,
23
+ 0.020027466239413982,
24
+ -0.18062867170214325,
25
+ 0.09562505424562419,
26
+ 0.07305256733043386,
27
+ 1.695086594949263,
28
+ 1.0503929198138398,
29
+ -0.6921873807888925,
30
+ 0.060845349813076766,
31
+ -0.3328374151216895,
32
+ 0.06526026207196121
33
+ ],
34
+ "current_velocity": [
35
+ 0.012210012210012167,
36
+ -0.0024420024420024333,
37
+ -0.0024420024420024333,
38
+ 0.0073260073260073,
39
+ -0.0073260073260073,
40
+ -0.0073260073260073,
41
+ 0.00040003369984564687,
42
+ 0.0024420024420024333,
43
+ -0.0024420024420024333,
44
+ 0.0073260073260073,
45
+ 0.0073260073260073,
46
+ -0.0073260073260073,
47
+ -0.0073260073260073,
48
+ -0.00013347006284094486
49
+ ],
50
+ "first_target": [
51
+ -0.007540875114500523,
52
+ -0.0023738997988402843,
53
+ -0.008778059855103493,
54
+ 0.020374853163957596,
55
+ 0.019499775022268295,
56
+ -0.20116834342479706,
57
+ 0.09582092612981796,
58
+ 0.06668052077293396,
59
+ 1.7296711206436157,
60
+ 1.0568945407867432,
61
+ -0.6922155022621155,
62
+ 0.08556526899337769,
63
+ -0.31746363639831543,
64
+ 0.0654267966747284
65
+ ],
66
+ "first_transition_velocity": [
67
+ 0.06560254033940893,
68
+ -0.27149165635934835,
69
+ -0.5780591222724674,
70
+ 0.3880823996795435,
71
+ -0.015830736514370614,
72
+ -0.6161901516796142,
73
+ 0.00587615652581322,
74
+ -0.191161396724997,
75
+ 1.03753577083058,
76
+ 0.1950486291871023,
77
+ -0.0008436441966885866,
78
+ 0.7415975754090276,
79
+ 0.4612133617012226,
80
+ 0.0049960380830153805
81
+ ],
82
+ "observation_state": [
83
+ -0.009727626107633114,
84
+ 0.00667582219466567,
85
+ 0.010872052982449532,
86
+ 0.0078202486038208,
87
+ 0.019645990803837776,
88
+ -0.1806286722421646,
89
+ 0.09562505781650543,
90
+ 0.07305257022380829,
91
+ 1.6950865983963013,
92
+ 1.0503928661346436,
93
+ -0.6921873688697815,
94
+ 0.06046387553215027,
95
+ -0.33283740282058716,
96
+ 0.06526026129722595
97
+ ],
98
+ "policy_metadata": {
99
+ "alignment_wait_ms": 5.478808991028927,
100
+ "checkpoint_path": "/home/romoya-1/openpi-workspace/checkpoints/yam-policies-release/yam_policies/xiangrun/20260916_v2_seven_tasks/dp/spatula_handoff/best-short.pt",
101
+ "first_action_minus_state": [
102
+ 0.0021867509931325912,
103
+ -0.009049721993505955,
104
+ -0.019650112837553024,
105
+ 0.012554604560136795,
106
+ -0.0001462157815694809,
107
+ -0.020539671182632446,
108
+ 0.00019586831331253052,
109
+ -0.006372049450874329,
110
+ 0.03458452224731445,
111
+ 0.006501674652099609,
112
+ -2.8133392333984375e-05,
113
+ 0.025101393461227417,
114
+ 0.015373766422271729,
115
+ 0.0001665353775024414
116
+ ],
117
+ "history_anchor_offset": 1,
118
+ "history_interval_ms": 33.419694,
119
+ "history_sample_stamp_ns": {
120
+ "base_0_color": [
121
+ 1789572989093213471,
122
+ 1789572989126633165
123
+ ],
124
+ "left_wrist_0_color": [
125
+ 1789572989104488231,
126
+ 1789572989137952559
127
+ ],
128
+ "right_wrist_0_color": [
129
+ 1789572989080785436,
130
+ 1789572989114117953
131
+ ],
132
+ "robot_state": [
133
+ 1789572989090840317,
134
+ 1789572989124007362
135
+ ]
136
+ },
137
+ "history_stamp_ns": [
138
+ 1789572989093213471,
139
+ 1789572989126633165
140
+ ],
141
+ "model_seed": null,
142
+ "observation_age_at_response_ms": 128.010516,
143
+ "observation_stamp_ns": 1789572989126633165,
144
+ "prompt": "spatula_handoff",
145
+ "release_revision": "39c623bd78f638d06ce0db57631b66d3028db208",
146
+ "request_id": "e999f1d9131b452ba2db23467f336bb1",
147
+ "round_trip_ms": 80.38019099330995,
148
+ "server_metadata": {
149
+ "action_shape": [
150
+ 32,
151
+ 14
152
+ ],
153
+ "action_space": "abs_qpos",
154
+ "cameras": [
155
+ "base_0",
156
+ "left_wrist_0",
157
+ "right_wrist_0"
158
+ ],
159
+ "checkpoint_hashes": {
160
+ "dp/spatula_handoff/best-short.pt": "e940beeaf79e8ea99be7e46a2e6c3b9c162394ab2dd2a86b1439b61fec8dd0f2"
161
+ },
162
+ "checkpoint_path": "/home/romoya-1/openpi-workspace/checkpoints/yam-policies-release/yam_policies/xiangrun/20260916_v2_seven_tasks/dp/spatula_handoff/best-short.pt",
163
+ "fps": 30,
164
+ "gpu": "NVIDIA GeForce RTX 5090",
165
+ "gpu_peak_mib": 446.9287109375,
166
+ "model": "dp",
167
+ "observation_offsets": [
168
+ -1,
169
+ 0
170
+ ],
171
+ "protocol": "yam-v2-native-npz-v1",
172
+ "release_revision": "39c623bd78f638d06ce0db57631b66d3028db208",
173
+ "step": 20000,
174
+ "task": "spatula_handoff",
175
+ "tasks": [
176
+ "spatula_handoff"
177
+ ],
178
+ "warmup": {
179
+ "hardware_started": false,
180
+ "seconds": [
181
+ 0.2951951069990173,
182
+ 0.056270029002917,
183
+ 0.05475686999852769,
184
+ 0.05329998300294392
185
+ ],
186
+ "status": "passed"
187
+ }
188
+ },
189
+ "server_prediction_seconds": 0.07712974899914116,
190
+ "source": "yam_v2_dp_http",
191
+ "task": "spatula_handoff",
192
+ "wire_action_dtype": "float32"
193
+ },
194
+ "time_ns": 1789572989293073646
195
+ }
eval/YAM/V2/dp/spatula_handoff/data/round_0001/debug/validations/validation_0004.json ADDED
@@ -0,0 +1,195 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "command_velocity_limits": [
3
+ 7.326937734087213,
4
+ 7.492612143357643,
5
+ 9.039960411055707,
6
+ 10.989442599937178,
7
+ 11.822247140410347,
8
+ 21.729793477053846,
9
+ 4.549583926449072,
10
+ 9.542591565847905,
11
+ 16.49783855493206,
12
+ 19.18122166486826,
13
+ 20.271305218109156,
14
+ 13.274309575261345,
15
+ 14.009155302643812,
16
+ 4.764187300355128
17
+ ],
18
+ "current": [
19
+ -0.009727626459147487,
20
+ 0.017738612954909527,
21
+ 0.008201724269474298,
22
+ 0.017738612954909527,
23
+ 0.019645990691996573,
24
+ -0.1989394979781789,
25
+ 0.09587501808187472,
26
+ 0.04940108339055449,
27
+ 1.7729076066224163,
28
+ 1.0641260395208665,
29
+ -0.7333867399099692,
30
+ 0.029182879377431803,
31
+ -0.3259708552681797,
32
+ 0.016276840657351774
33
+ ],
34
+ "current_velocity": [
35
+ 0.0024420024420024333,
36
+ 0.0024420024420024333,
37
+ -0.0024420024420024333,
38
+ -0.0219780219780219,
39
+ -0.0073260073260073,
40
+ -0.0073260073260073,
41
+ 0.00013334456661521563,
42
+ 0.0024420024420024333,
43
+ -0.0024420024420024333,
44
+ -0.0073260073260073,
45
+ 0.0073260073260073,
46
+ -0.0073260073260073,
47
+ -0.0073260073260073,
48
+ 0.0004004101885228345
49
+ ],
50
+ "first_target": [
51
+ -0.006771473679691553,
52
+ 0.006695636548101902,
53
+ -0.004223605617880821,
54
+ 0.02663496881723404,
55
+ 0.019494863227009773,
56
+ -0.20748278498649597,
57
+ 0.09600000083446503,
58
+ 0.051599323749542236,
59
+ 1.8274683952331543,
60
+ 1.0569716691970825,
61
+ -0.7471751570701599,
62
+ 0.02098221331834793,
63
+ -0.3312274217605591,
64
+ 0.0015459222486242652
65
+ ],
66
+ "first_transition_velocity": [
67
+ 0.08868458338367802,
68
+ -0.33128929220422876,
69
+ -0.37275989662065356,
70
+ 0.26689067586973536,
71
+ -0.004533823949603999,
72
+ -0.2562986102495124,
73
+ 0.0037494825777091567,
74
+ 0.06594721076963239,
75
+ 1.6368236583221396,
76
+ -0.21463110971351895,
77
+ -0.4136525148057224,
78
+ -0.24601998177251616,
79
+ -0.15769699477138133,
80
+ -0.4419275522618253
81
+ ],
82
+ "observation_state": [
83
+ -0.009727626107633114,
84
+ 0.01773861236870289,
85
+ 0.0078202486038208,
86
+ 0.01773861236870289,
87
+ 0.019645990803837776,
88
+ -0.1989395022392273,
89
+ 0.09587501734495163,
90
+ 0.04940108209848404,
91
+ 1.7725261449813843,
92
+ 1.0641260147094727,
93
+ -0.733386754989624,
94
+ 0.029182879254221916,
95
+ -0.325970858335495,
96
+ 0.01627684012055397
97
+ ],
98
+ "policy_metadata": {
99
+ "alignment_wait_ms": 4.877850995399058,
100
+ "checkpoint_path": "/home/romoya-1/openpi-workspace/checkpoints/yam-policies-release/yam_policies/xiangrun/20260916_v2_seven_tasks/dp/spatula_handoff/best-short.pt",
101
+ "first_action_minus_state": [
102
+ 0.0029561524279415607,
103
+ -0.011042975820600986,
104
+ -0.012043854221701622,
105
+ 0.00889635644853115,
106
+ -0.00015112757682800293,
107
+ -0.008543282747268677,
108
+ 0.00012498348951339722,
109
+ 0.002198241651058197,
110
+ 0.05494225025177002,
111
+ -0.007154345512390137,
112
+ -0.013788402080535889,
113
+ -0.008200665935873985,
114
+ -0.005256563425064087,
115
+ -0.01473091822117567
116
+ ],
117
+ "history_anchor_offset": 1,
118
+ "history_interval_ms": 33.252163,
119
+ "history_sample_stamp_ns": {
120
+ "base_0_color": [
121
+ 1789572990726937008,
122
+ 1789572990760189171
123
+ ],
124
+ "left_wrist_0_color": [
125
+ 1789572990738343737,
126
+ 1789572990771652931
127
+ ],
128
+ "right_wrist_0_color": [
129
+ 1789572990714484938,
130
+ 1789572990747835612
131
+ ],
132
+ "robot_state": [
133
+ 1789572990724415550,
134
+ 1789572990757401185
135
+ ]
136
+ },
137
+ "history_stamp_ns": [
138
+ 1789572990726937008,
139
+ 1789572990760189171
140
+ ],
141
+ "model_seed": null,
142
+ "observation_age_at_response_ms": 131.718666,
143
+ "observation_stamp_ns": 1789572990760189171,
144
+ "prompt": "spatula_handoff",
145
+ "release_revision": "39c623bd78f638d06ce0db57631b66d3028db208",
146
+ "request_id": "77dc1d40646e4f16af69227c604cb926",
147
+ "round_trip_ms": 79.4915709993802,
148
+ "server_metadata": {
149
+ "action_shape": [
150
+ 32,
151
+ 14
152
+ ],
153
+ "action_space": "abs_qpos",
154
+ "cameras": [
155
+ "base_0",
156
+ "left_wrist_0",
157
+ "right_wrist_0"
158
+ ],
159
+ "checkpoint_hashes": {
160
+ "dp/spatula_handoff/best-short.pt": "e940beeaf79e8ea99be7e46a2e6c3b9c162394ab2dd2a86b1439b61fec8dd0f2"
161
+ },
162
+ "checkpoint_path": "/home/romoya-1/openpi-workspace/checkpoints/yam-policies-release/yam_policies/xiangrun/20260916_v2_seven_tasks/dp/spatula_handoff/best-short.pt",
163
+ "fps": 30,
164
+ "gpu": "NVIDIA GeForce RTX 5090",
165
+ "gpu_peak_mib": 446.9287109375,
166
+ "model": "dp",
167
+ "observation_offsets": [
168
+ -1,
169
+ 0
170
+ ],
171
+ "protocol": "yam-v2-native-npz-v1",
172
+ "release_revision": "39c623bd78f638d06ce0db57631b66d3028db208",
173
+ "step": 20000,
174
+ "task": "spatula_handoff",
175
+ "tasks": [
176
+ "spatula_handoff"
177
+ ],
178
+ "warmup": {
179
+ "hardware_started": false,
180
+ "seconds": [
181
+ 0.2951951069990173,
182
+ 0.056270029002917,
183
+ 0.05475686999852769,
184
+ 0.05329998300294392
185
+ ],
186
+ "status": "passed"
187
+ }
188
+ },
189
+ "server_prediction_seconds": 0.0761712770035956,
190
+ "source": "yam_v2_dp_http",
191
+ "task": "spatula_handoff",
192
+ "wire_action_dtype": "float32"
193
+ },
194
+ "time_ns": 1789572990936113356
195
+ }
eval/YAM/V2/dp/spatula_handoff/data/round_0001/debug/validations/validation_0005.json ADDED
@@ -0,0 +1,195 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "command_velocity_limits": [
3
+ 7.326937734087213,
4
+ 7.492612143357643,
5
+ 9.039960411055707,
6
+ 10.989442599937178,
7
+ 11.822247140410347,
8
+ 21.729793477053846,
9
+ 4.549583926449072,
10
+ 9.542591565847905,
11
+ 16.49783855493206,
12
+ 19.18122166486826,
13
+ 20.271305218109156,
14
+ 13.274309575261345,
15
+ 14.009155302643812,
16
+ 4.764187300355128
17
+ ],
18
+ "current": [
19
+ -0.013542381933321579,
20
+ 0.0539787899595634,
21
+ 0.007438773174639479,
22
+ 0.1623178454261076,
23
+ 0.3755626764324411,
24
+ 0.42172121766994763,
25
+ 0.09587501808187472,
26
+ 0.1493476768139157,
27
+ 1.791218432898452,
28
+ 1.5867475394827188,
29
+ -1.2079423208972333,
30
+ -0.368696116578926,
31
+ -0.5014496070801879,
32
+ 0.0018973430826033377
33
+ ],
34
+ "current_velocity": [
35
+ -0.0024420024420024333,
36
+ -0.012210012210012167,
37
+ -0.0024420024420024333,
38
+ -0.0073260073260073,
39
+ -0.0073260073260073,
40
+ 0.0512820512820511,
41
+ 0.00013334456661521563,
42
+ -0.012210012210012167,
43
+ -0.0024420024420024333,
44
+ 0.0024420024420024333,
45
+ -0.0219780219780219,
46
+ -0.0219780219780219,
47
+ -0.0073260073260073,
48
+ 0.00013347006284094486
49
+ ],
50
+ "first_target": [
51
+ -0.012880067341029644,
52
+ 0.03650742769241333,
53
+ 0.008162688463926315,
54
+ 0.1913345605134964,
55
+ 0.5730405449867249,
56
+ 0.5724889636039734,
57
+ 0.09579736739397049,
58
+ 0.16880740225315094,
59
+ 1.7915942668914795,
60
+ 1.6435054540634155,
61
+ -1.207919955253601,
62
+ -0.3933470547199249,
63
+ -0.5004951357841492,
64
+ 0.014550495892763138
65
+ ],
66
+ "first_transition_velocity": [
67
+ 0.019869437768758047,
68
+ -0.5241408680145021,
69
+ 0.021717458678605084,
70
+ 0.8705014526216637,
71
+ 5.924336056628512,
72
+ 4.523032378020773,
73
+ -0.002329520637126964,
74
+ 0.5837917631770573,
75
+ 0.011275019790826235,
76
+ 1.7027374374209003,
77
+ 0.0006709693089668178,
78
+ -0.7395281442299684,
79
+ 0.02863413888116284,
80
+ 0.379594584304794
81
+ ],
82
+ "observation_state": [
83
+ -0.013542382046580315,
84
+ 0.05436026677489281,
85
+ 0.007438773289322853,
86
+ 0.16231784224510193,
87
+ 0.3755626678466797,
88
+ 0.41561761498451233,
89
+ 0.09587501734495163,
90
+ 0.1493476778268814,
91
+ 1.7912184000015259,
92
+ 1.5867475271224976,
93
+ -1.2071794271469116,
94
+ -0.368314653635025,
95
+ -0.5014495849609375,
96
+ 0.0018973430851474404
97
+ ],
98
+ "policy_metadata": {
99
+ "alignment_wait_ms": 4.804240990779363,
100
+ "checkpoint_path": "/home/romoya-1/openpi-workspace/checkpoints/yam-policies-release/yam_policies/xiangrun/20260916_v2_seven_tasks/dp/spatula_handoff/best-short.pt",
101
+ "first_action_minus_state": [
102
+ 0.0006623147055506706,
103
+ -0.017852839082479477,
104
+ 0.0007239151746034622,
105
+ 0.02901671826839447,
106
+ 0.19747787714004517,
107
+ 0.15687134861946106,
108
+ -7.764995098114014e-05,
109
+ 0.01945972442626953,
110
+ 0.0003758668899536133,
111
+ 0.05675792694091797,
112
+ -0.0007405281066894531,
113
+ -0.025032401084899902,
114
+ 0.0009544491767883301,
115
+ 0.012653152458369732
116
+ ],
117
+ "history_anchor_offset": 0,
118
+ "history_interval_ms": 33.237384,
119
+ "history_sample_stamp_ns": {
120
+ "base_0_color": [
121
+ 1789572992560844144,
122
+ 1789572992594081528
123
+ ],
124
+ "left_wrist_0_color": [
125
+ 1789572992572065802,
126
+ 1789572992605456425
127
+ ],
128
+ "right_wrist_0_color": [
129
+ 1789572992548349387,
130
+ 1789572992581599800
131
+ ],
132
+ "robot_state": [
133
+ 1789572992557308284,
134
+ 1789572992590772037
135
+ ]
136
+ },
137
+ "history_stamp_ns": [
138
+ 1789572992560844144,
139
+ 1789572992594081528
140
+ ],
141
+ "model_seed": null,
142
+ "observation_age_at_response_ms": 111.345426,
143
+ "observation_stamp_ns": 1789572992594081528,
144
+ "prompt": "spatula_handoff",
145
+ "release_revision": "39c623bd78f638d06ce0db57631b66d3028db208",
146
+ "request_id": "a50d0190fd914f06a34b2704864bd395",
147
+ "round_trip_ms": 79.30201500130352,
148
+ "server_metadata": {
149
+ "action_shape": [
150
+ 32,
151
+ 14
152
+ ],
153
+ "action_space": "abs_qpos",
154
+ "cameras": [
155
+ "base_0",
156
+ "left_wrist_0",
157
+ "right_wrist_0"
158
+ ],
159
+ "checkpoint_hashes": {
160
+ "dp/spatula_handoff/best-short.pt": "e940beeaf79e8ea99be7e46a2e6c3b9c162394ab2dd2a86b1439b61fec8dd0f2"
161
+ },
162
+ "checkpoint_path": "/home/romoya-1/openpi-workspace/checkpoints/yam-policies-release/yam_policies/xiangrun/20260916_v2_seven_tasks/dp/spatula_handoff/best-short.pt",
163
+ "fps": 30,
164
+ "gpu": "NVIDIA GeForce RTX 5090",
165
+ "gpu_peak_mib": 446.9287109375,
166
+ "model": "dp",
167
+ "observation_offsets": [
168
+ -1,
169
+ 0
170
+ ],
171
+ "protocol": "yam-v2-native-npz-v1",
172
+ "release_revision": "39c623bd78f638d06ce0db57631b66d3028db208",
173
+ "step": 20000,
174
+ "task": "spatula_handoff",
175
+ "tasks": [
176
+ "spatula_handoff"
177
+ ],
178
+ "warmup": {
179
+ "hardware_started": false,
180
+ "seconds": [
181
+ 0.2951951069990173,
182
+ 0.056270029002917,
183
+ 0.05475686999852769,
184
+ 0.05329998300294392
185
+ ],
186
+ "status": "passed"
187
+ }
188
+ },
189
+ "server_prediction_seconds": 0.07674855900404509,
190
+ "source": "yam_v2_dp_http",
191
+ "task": "spatula_handoff",
192
+ "wire_action_dtype": "float32"
193
+ },
194
+ "time_ns": 1789572992737049086
195
+ }
eval/YAM/V2/dp/spatula_handoff/data/round_0001/debug/validations/validation_0006.json ADDED
@@ -0,0 +1,195 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "command_velocity_limits": [
3
+ 7.326937734087213,
4
+ 7.492612143357643,
5
+ 9.039960411055707,
6
+ 10.989442599937178,
7
+ 11.822247140410347,
8
+ 21.729793477053846,
9
+ 4.549583926449072,
10
+ 9.542591565847905,
11
+ 16.49783855493206,
12
+ 19.18122166486826,
13
+ 20.271305218109156,
14
+ 13.274309575261345,
15
+ 14.009155302643812,
16
+ 4.764187300355128
17
+ ],
18
+ "current": [
19
+ 0.028801403830014394,
20
+ 0.552567330434119,
21
+ 0.007820248722056888,
22
+ 0.726901655603875,
23
+ 0.7684824902723744,
24
+ 0.8978027008468761,
25
+ 0.09400723274989152,
26
+ 0.26073853665980096,
27
+ 1.789311055161365,
28
+ 1.644731822690165,
29
+ -1.1705577172503272,
30
+ -0.38738841840237903,
31
+ -0.5003051804379357,
32
+ 0.009889813943386692
33
+ ],
34
+ "current_velocity": [
35
+ 0.0024420024420024333,
36
+ -0.0024420024420024333,
37
+ -0.012210012210012167,
38
+ -0.0073260073260073,
39
+ -0.0073260073260073,
40
+ -0.0219780219780219,
41
+ 0.00013334456661521563,
42
+ -0.0073260073260073,
43
+ 0.012210012210012167,
44
+ -0.0024420024420024333,
45
+ -0.0073260073260073,
46
+ -0.0073260073260073,
47
+ -0.0073260073260073,
48
+ 0.0004004101885228345
49
+ ],
50
+ "first_target": [
51
+ 0.021848756819963455,
52
+ 0.6141030192375183,
53
+ 0.02950156480073929,
54
+ 0.7736456990242004,
55
+ 0.840320348739624,
56
+ 0.9655471444129944,
57
+ 0.09599056839942932,
58
+ 0.26161786913871765,
59
+ 1.7727888822555542,
60
+ 1.6878113746643066,
61
+ -1.1654030084609985,
62
+ -0.38122910261154175,
63
+ -0.4962444305419922,
64
+ 0.008625887334346771
65
+ ],
66
+ "first_transition_velocity": [
67
+ -0.20857941030152816,
68
+ 1.8460706641019797,
69
+ 0.650439482360472,
70
+ 1.4023213026097636,
71
+ 2.15513575401749,
72
+ 2.032333306983549,
73
+ 0.05950006948613404,
74
+ 0.026379974367500836,
75
+ -0.4956651871743212,
76
+ 1.2923865592242478,
77
+ 0.15464126367985997,
78
+ 0.1847794737251185,
79
+ 0.12182249687830549,
80
+ -0.037917798271197636
81
+ ],
82
+ "observation_state": [
83
+ 0.02880140393972397,
84
+ 0.5521858334541321,
85
+ 0.0078202486038208,
86
+ 0.726901650428772,
87
+ 0.768482506275177,
88
+ 0.8978027105331421,
89
+ 0.0940072312951088,
90
+ 0.2607385218143463,
91
+ 1.7889295816421509,
92
+ 1.644731879234314,
93
+ -1.1705577373504639,
94
+ -0.3873884081840515,
95
+ -0.5006866455078125,
96
+ 0.00988981407135725
97
+ ],
98
+ "policy_metadata": {
99
+ "alignment_wait_ms": 5.223980988375843,
100
+ "checkpoint_path": "/home/romoya-1/openpi-workspace/checkpoints/yam-policies-release/yam_policies/xiangrun/20260916_v2_seven_tasks/dp/spatula_handoff/best-short.pt",
101
+ "first_action_minus_state": [
102
+ -0.006952647119760513,
103
+ 0.06191718578338623,
104
+ 0.021681316196918488,
105
+ 0.04674404859542847,
106
+ 0.07183784246444702,
107
+ 0.0677444338798523,
108
+ 0.001983337104320526,
109
+ 0.0008793473243713379,
110
+ -0.01614069938659668,
111
+ 0.043079495429992676,
112
+ 0.005154728889465332,
113
+ 0.006159305572509766,
114
+ 0.0044422149658203125,
115
+ -0.001263926737010479
116
+ ],
117
+ "history_anchor_offset": 1,
118
+ "history_interval_ms": 33.320228,
119
+ "history_sample_stamp_ns": {
120
+ "base_0_color": [
121
+ 1789572994261068259,
122
+ 1789572994294388487
123
+ ],
124
+ "left_wrist_0_color": [
125
+ 1789572994272407601,
126
+ 1789572994305873481
127
+ ],
128
+ "right_wrist_0_color": [
129
+ 1789572994248563616,
130
+ 1789572994281886560
131
+ ],
132
+ "robot_state": [
133
+ 1789572994257388878,
134
+ 1789572994290637904
135
+ ]
136
+ },
137
+ "history_stamp_ns": [
138
+ 1789572994261068259,
139
+ 1789572994294388487
140
+ ],
141
+ "model_seed": null,
142
+ "observation_age_at_response_ms": 128.802301,
143
+ "observation_stamp_ns": 1789572994294388487,
144
+ "prompt": "spatula_handoff",
145
+ "release_revision": "39c623bd78f638d06ce0db57631b66d3028db208",
146
+ "request_id": "fd726ce0fc824e5e8ec2595ec0f4c214",
147
+ "round_trip_ms": 80.65756600990426,
148
+ "server_metadata": {
149
+ "action_shape": [
150
+ 32,
151
+ 14
152
+ ],
153
+ "action_space": "abs_qpos",
154
+ "cameras": [
155
+ "base_0",
156
+ "left_wrist_0",
157
+ "right_wrist_0"
158
+ ],
159
+ "checkpoint_hashes": {
160
+ "dp/spatula_handoff/best-short.pt": "e940beeaf79e8ea99be7e46a2e6c3b9c162394ab2dd2a86b1439b61fec8dd0f2"
161
+ },
162
+ "checkpoint_path": "/home/romoya-1/openpi-workspace/checkpoints/yam-policies-release/yam_policies/xiangrun/20260916_v2_seven_tasks/dp/spatula_handoff/best-short.pt",
163
+ "fps": 30,
164
+ "gpu": "NVIDIA GeForce RTX 5090",
165
+ "gpu_peak_mib": 446.9287109375,
166
+ "model": "dp",
167
+ "observation_offsets": [
168
+ -1,
169
+ 0
170
+ ],
171
+ "protocol": "yam-v2-native-npz-v1",
172
+ "release_revision": "39c623bd78f638d06ce0db57631b66d3028db208",
173
+ "step": 20000,
174
+ "task": "spatula_handoff",
175
+ "tasks": [
176
+ "spatula_handoff"
177
+ ],
178
+ "warmup": {
179
+ "hardware_started": false,
180
+ "seconds": [
181
+ 0.2951951069990173,
182
+ 0.056270029002917,
183
+ 0.05475686999852769,
184
+ 0.05329998300294392
185
+ ],
186
+ "status": "passed"
187
+ }
188
+ },
189
+ "server_prediction_seconds": 0.07800900501024444,
190
+ "source": "yam_v2_dp_http",
191
+ "task": "spatula_handoff",
192
+ "wire_action_dtype": "float32"
193
+ },
194
+ "time_ns": 1789572994456707699
195
+ }
eval/YAM/V2/dp/spatula_handoff/data/round_0001/debug/validations/validation_0007.json ADDED
@@ -0,0 +1,195 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "command_velocity_limits": [
3
+ 7.326937734087213,
4
+ 7.492612143357643,
5
+ 9.039960411055707,
6
+ 10.989442599937178,
7
+ 11.822247140410347,
8
+ 21.729793477053846,
9
+ 4.549583926449072,
10
+ 9.542591565847905,
11
+ 16.49783855493206,
12
+ 19.18122166486826,
13
+ 20.271305218109156,
14
+ 13.274309575261345,
15
+ 14.009155302643812,
16
+ 4.764187300355128
17
+ ],
18
+ "current": [
19
+ -0.2874418249790178,
20
+ 1.4147020675974673,
21
+ 0.510605020218204,
22
+ 0.8916990920881975,
23
+ 0.6658655680170895,
24
+ 1.1530098420691228,
25
+ 0.09244495877332563,
26
+ 0.279430838483254,
27
+ 1.789311055161365,
28
+ 1.6542687113756003,
29
+ -1.1888685435263628,
30
+ -0.3908216983291357,
31
+ -0.5003051804379322,
32
+ 0.0073044233692898365
33
+ ],
34
+ "current_velocity": [
35
+ -0.0024420024420024333,
36
+ -0.012210012210012167,
37
+ 0.0024420024420024333,
38
+ 0.0073260073260073,
39
+ -0.0073260073260073,
40
+ -0.0073260073260073,
41
+ 0.00013334456661521563,
42
+ -0.017094017094017033,
43
+ -0.0024420024420024333,
44
+ 0.0219780219780219,
45
+ -0.0073260073260073,
46
+ -0.0219780219780219,
47
+ -0.0073260073260073,
48
+ 0.00013347006284094486
49
+ ],
50
+ "first_target": [
51
+ -0.2974550426006317,
52
+ 1.4421284198760986,
53
+ 0.5517624616622925,
54
+ 0.890243411064148,
55
+ 0.6102334856987,
56
+ 1.222877025604248,
57
+ 0.09405499696731567,
58
+ 0.2853778004646301,
59
+ 1.7873135805130005,
60
+ 1.683633804321289,
61
+ -1.198749303817749,
62
+ -0.41645997762680054,
63
+ -0.5021405220031738,
64
+ 0.011767756193876266
65
+ ],
66
+ "first_transition_velocity": [
67
+ -0.3003965286484167,
68
+ 0.8227905683589398,
69
+ 1.2347232433226552,
70
+ -0.04367043072148746,
71
+ -1.668962469551687,
72
+ 2.0960155060537566,
73
+ 0.04830114581970121,
74
+ 0.1784088594412836,
75
+ -0.059924239450932504,
76
+ 0.8809527883706636,
77
+ -0.29642280874158544,
78
+ -0.7691483789299447,
79
+ -0.055060246957250314,
80
+ 0.1338999847375929
81
+ ],
82
+ "observation_state": [
83
+ -0.28782328963279724,
84
+ 1.41470205783844,
85
+ 0.5106050372123718,
86
+ 0.8916990756988525,
87
+ 0.6685358881950378,
88
+ 1.1530098915100098,
89
+ 0.09243801236152649,
90
+ 0.2794308364391327,
91
+ 1.7893110513687134,
92
+ 1.654268741607666,
93
+ -1.188868522644043,
94
+ -0.3908216953277588,
95
+ -0.50030517578125,
96
+ 0.007304423488676548
97
+ ],
98
+ "policy_metadata": {
99
+ "alignment_wait_ms": 4.796733002876863,
100
+ "checkpoint_path": "/home/romoya-1/openpi-workspace/checkpoints/yam-policies-release/yam_policies/xiangrun/20260916_v2_seven_tasks/dp/spatula_handoff/best-short.pt",
101
+ "first_action_minus_state": [
102
+ -0.009631752967834473,
103
+ 0.02742636203765869,
104
+ 0.041157424449920654,
105
+ -0.0014556646347045898,
106
+ -0.05830240249633789,
107
+ 0.06986713409423828,
108
+ 0.0016169846057891846,
109
+ 0.0059469640254974365,
110
+ -0.0019974708557128906,
111
+ 0.029365062713623047,
112
+ -0.009880781173706055,
113
+ -0.025638282299041748,
114
+ -0.0018353462219238281,
115
+ 0.0044633327051997185
116
+ ],
117
+ "history_anchor_offset": 0,
118
+ "history_interval_ms": 33.477267,
119
+ "history_sample_stamp_ns": {
120
+ "base_0_color": [
121
+ 1789572995961628901,
122
+ 1789572995995106168
123
+ ],
124
+ "left_wrist_0_color": [
125
+ 1789572995973021126,
126
+ 1789572996006472081
127
+ ],
128
+ "right_wrist_0_color": [
129
+ 1789572995949150041,
130
+ 1789572995982543937
131
+ ],
132
+ "robot_state": [
133
+ 1789572995965629054,
134
+ 1789572995999185796
135
+ ]
136
+ },
137
+ "history_stamp_ns": [
138
+ 1789572995961628901,
139
+ 1789572995995106168
140
+ ],
141
+ "model_seed": null,
142
+ "observation_age_at_response_ms": 109.534972,
143
+ "observation_stamp_ns": 1789572995995106168,
144
+ "prompt": "spatula_handoff",
145
+ "release_revision": "39c623bd78f638d06ce0db57631b66d3028db208",
146
+ "request_id": "2baf0c69fc0f432f9bfbcf959d33f644",
147
+ "round_trip_ms": 79.28372899186797,
148
+ "server_metadata": {
149
+ "action_shape": [
150
+ 32,
151
+ 14
152
+ ],
153
+ "action_space": "abs_qpos",
154
+ "cameras": [
155
+ "base_0",
156
+ "left_wrist_0",
157
+ "right_wrist_0"
158
+ ],
159
+ "checkpoint_hashes": {
160
+ "dp/spatula_handoff/best-short.pt": "e940beeaf79e8ea99be7e46a2e6c3b9c162394ab2dd2a86b1439b61fec8dd0f2"
161
+ },
162
+ "checkpoint_path": "/home/romoya-1/openpi-workspace/checkpoints/yam-policies-release/yam_policies/xiangrun/20260916_v2_seven_tasks/dp/spatula_handoff/best-short.pt",
163
+ "fps": 30,
164
+ "gpu": "NVIDIA GeForce RTX 5090",
165
+ "gpu_peak_mib": 446.9287109375,
166
+ "model": "dp",
167
+ "observation_offsets": [
168
+ -1,
169
+ 0
170
+ ],
171
+ "protocol": "yam-v2-native-npz-v1",
172
+ "release_revision": "39c623bd78f638d06ce0db57631b66d3028db208",
173
+ "step": 20000,
174
+ "task": "spatula_handoff",
175
+ "tasks": [
176
+ "spatula_handoff"
177
+ ],
178
+ "warmup": {
179
+ "hardware_started": false,
180
+ "seconds": [
181
+ 0.2951951069990173,
182
+ 0.056270029002917,
183
+ 0.05475686999852769,
184
+ 0.05329998300294392
185
+ ],
186
+ "status": "passed"
187
+ }
188
+ },
189
+ "server_prediction_seconds": 0.07683254400035366,
190
+ "source": "yam_v2_dp_http",
191
+ "task": "spatula_handoff",
192
+ "wire_action_dtype": "float32"
193
+ },
194
+ "time_ns": 1789572996136373227
195
+ }
eval/YAM/V2/dp/spatula_handoff/data/round_0001/debug/validations/validation_0008.json ADDED
@@ -0,0 +1,195 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "command_velocity_limits": [
3
+ 7.326937734087213,
4
+ 7.492612143357643,
5
+ 9.039960411055707,
6
+ 10.989442599937178,
7
+ 11.822247140410347,
8
+ 21.729793477053846,
9
+ 4.549583926449072,
10
+ 9.542591565847905,
11
+ 16.49783855493206,
12
+ 19.18122166486826,
13
+ 20.271305218109156,
14
+ 13.274309575261345,
15
+ 14.009155302643812,
16
+ 4.764187300355128
17
+ ],
18
+ "current": [
19
+ -0.38128480964370404,
20
+ 1.59246967269398,
21
+ 0.69523918516823,
22
+ 0.8085374227512023,
23
+ 0.5235751888303959,
24
+ 1.2571526665140773,
25
+ 0.018170982207435266,
26
+ 0.2824826428625933,
27
+ 1.789311055161365,
28
+ 1.6542687113756003,
29
+ -1.1808575570305937,
30
+ -0.4175249866483579,
31
+ -0.5014496070801844,
32
+ 0.008451169188445701
33
+ ],
34
+ "current_velocity": [
35
+ -0.012210012210012167,
36
+ 0.0073260073260073,
37
+ -0.0024420024420024333,
38
+ 0.0073260073260073,
39
+ 0.0073260073260073,
40
+ -0.0073260073260073,
41
+ 0.00013334456661521563,
42
+ 0.0073260073260073,
43
+ -0.0073260073260073,
44
+ 0.0073260073260073,
45
+ -0.0219780219780219,
46
+ -0.0073260073260073,
47
+ -0.0073260073260073,
48
+ 0.00013347006284094486
49
+ ],
50
+ "first_target": [
51
+ -0.38753193616867065,
52
+ 1.5919454097747803,
53
+ 0.6806737780570984,
54
+ 0.8119198679924011,
55
+ 0.5303780436515808,
56
+ 1.2754685878753662,
57
+ 0.0005846471758559346,
58
+ 0.3004150390625,
59
+ 1.7830499410629272,
60
+ 1.680299997329712,
61
+ -1.179634928703308,
62
+ -0.4743271470069885,
63
+ -0.5523425936698914,
64
+ 0.016414515674114227
65
+ ],
66
+ "first_transition_velocity": [
67
+ -0.18741379574899852,
68
+ -0.015727887575991417,
69
+ -0.436962213333949,
70
+ 0.10147335723596385,
71
+ 0.20408564463554768,
72
+ 0.549477640838667,
73
+ -0.5275900509473799,
74
+ 0.5379718859972016,
75
+ -0.18783342295312977,
76
+ 0.7809385786233491,
77
+ 0.03667884981856773,
78
+ -1.7040648107589185,
79
+ -1.5267895976912094,
80
+ 0.23890039457005577
81
+ ],
82
+ "observation_state": [
83
+ -0.38128480315208435,
84
+ 1.5924696922302246,
85
+ 0.6952391862869263,
86
+ 0.8085374236106873,
87
+ 0.5239566564559937,
88
+ 1.2571526765823364,
89
+ 0.018170982599258423,
90
+ 0.2821011543273926,
91
+ 1.7893110513687134,
92
+ 1.654268741607666,
93
+ -1.1804760694503784,
94
+ -0.4175249934196472,
95
+ -0.5014495849609375,
96
+ 0.008458118885755539
97
+ ],
98
+ "policy_metadata": {
99
+ "alignment_wait_ms": 5.199911000090651,
100
+ "checkpoint_path": "/home/romoya-1/openpi-workspace/checkpoints/yam-policies-release/yam_policies/xiangrun/20260916_v2_seven_tasks/dp/spatula_handoff/best-short.pt",
101
+ "first_action_minus_state": [
102
+ -0.006247133016586304,
103
+ -0.0005242824554443359,
104
+ -0.01456540822982788,
105
+ 0.003382444381713867,
106
+ 0.006421387195587158,
107
+ 0.018315911293029785,
108
+ -0.01758633553981781,
109
+ 0.018313884735107422,
110
+ -0.006261110305786133,
111
+ 0.0260312557220459,
112
+ 0.0008411407470703125,
113
+ -0.05680215358734131,
114
+ -0.05089300870895386,
115
+ 0.007956396788358688
116
+ ],
117
+ "history_anchor_offset": 1,
118
+ "history_interval_ms": 33.493067,
119
+ "history_sample_stamp_ns": {
120
+ "base_0_color": [
121
+ 1789572997595222487,
122
+ 1789572997628715554
123
+ ],
124
+ "left_wrist_0_color": [
125
+ 1789572997606679246,
126
+ 1789572997640009858
127
+ ],
128
+ "right_wrist_0_color": [
129
+ 1789572997582701621,
130
+ 1789572997616070251
131
+ ],
132
+ "robot_state": [
133
+ 1789572997598952045,
134
+ 1789572997632349002
135
+ ]
136
+ },
137
+ "history_stamp_ns": [
138
+ 1789572997595222487,
139
+ 1789572997628715554
140
+ ],
141
+ "model_seed": null,
142
+ "observation_age_at_response_ms": 128.292468,
143
+ "observation_stamp_ns": 1789572997628715554,
144
+ "prompt": "spatula_handoff",
145
+ "release_revision": "39c623bd78f638d06ce0db57631b66d3028db208",
146
+ "request_id": "13787cbd6359497dbdb6dffcec0da139",
147
+ "round_trip_ms": 78.87214599759318,
148
+ "server_metadata": {
149
+ "action_shape": [
150
+ 32,
151
+ 14
152
+ ],
153
+ "action_space": "abs_qpos",
154
+ "cameras": [
155
+ "base_0",
156
+ "left_wrist_0",
157
+ "right_wrist_0"
158
+ ],
159
+ "checkpoint_hashes": {
160
+ "dp/spatula_handoff/best-short.pt": "e940beeaf79e8ea99be7e46a2e6c3b9c162394ab2dd2a86b1439b61fec8dd0f2"
161
+ },
162
+ "checkpoint_path": "/home/romoya-1/openpi-workspace/checkpoints/yam-policies-release/yam_policies/xiangrun/20260916_v2_seven_tasks/dp/spatula_handoff/best-short.pt",
163
+ "fps": 30,
164
+ "gpu": "NVIDIA GeForce RTX 5090",
165
+ "gpu_peak_mib": 446.9287109375,
166
+ "model": "dp",
167
+ "observation_offsets": [
168
+ -1,
169
+ 0
170
+ ],
171
+ "protocol": "yam-v2-native-npz-v1",
172
+ "release_revision": "39c623bd78f638d06ce0db57631b66d3028db208",
173
+ "step": 20000,
174
+ "task": "spatula_handoff",
175
+ "tasks": [
176
+ "spatula_handoff"
177
+ ],
178
+ "warmup": {
179
+ "hardware_started": false,
180
+ "seconds": [
181
+ 0.2951951069990173,
182
+ 0.056270029002917,
183
+ 0.05475686999852769,
184
+ 0.05329998300294392
185
+ ],
186
+ "status": "passed"
187
+ }
188
+ },
189
+ "server_prediction_seconds": 0.07574322499567643,
190
+ "source": "yam_v2_dp_http",
191
+ "task": "spatula_handoff",
192
+ "wire_action_dtype": "float32"
193
+ },
194
+ "time_ns": 1789572997794403960
195
+ }
eval/YAM/V2/dp/spatula_handoff/data/round_0001/debug/validations/validation_0009.json ADDED
@@ -0,0 +1,195 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "command_velocity_limits": [
3
+ 7.326937734087213,
4
+ 7.492612143357643,
5
+ 9.039960411055707,
6
+ 10.989442599937178,
7
+ 11.822247140410347,
8
+ 21.729793477053846,
9
+ 4.549583926449072,
10
+ 9.542591565847905,
11
+ 16.49783855493206,
12
+ 19.18122166486826,
13
+ 20.271305218109156,
14
+ 13.274309575261345,
15
+ 14.009155302643812,
16
+ 4.764187300355128
17
+ ],
18
+ "current": [
19
+ -0.20122835126268335,
20
+ 1.5676737621118484,
21
+ 0.6727321278706029,
22
+ 0.6982909895475693,
23
+ 0.3133821622034034,
24
+ 1.28767071030747,
25
+ 0.0033328511500072206,
26
+ 0.29354543373769815,
27
+ 1.8076218814374005,
28
+ 1.6580834668497744,
29
+ -1.1835278858625191,
30
+ -0.4434653238727382,
31
+ -0.5308232242313284,
32
+ 0.07576862376022589
33
+ ],
34
+ "current_velocity": [
35
+ -0.0219780219780219,
36
+ -0.012210012210012167,
37
+ -0.0024420024420024333,
38
+ -0.0073260073260073,
39
+ -0.0073260073260073,
40
+ -0.0219780219780219,
41
+ 0.00040003369984564687,
42
+ -0.0073260073260073,
43
+ -0.0073260073260073,
44
+ -0.0073260073260073,
45
+ 0.0073260073260073,
46
+ -0.0073260073260073,
47
+ -0.0073260073260073,
48
+ 0.0004004101885228345
49
+ ],
50
+ "first_target": [
51
+ -0.17088182270526886,
52
+ 1.5554778575897217,
53
+ 0.6980608105659485,
54
+ 0.7133374214172363,
55
+ 0.3404162526130676,
56
+ 1.3057591915130615,
57
+ 0.004685351625084877,
58
+ 0.29617029428482056,
59
+ 1.7737376689910889,
60
+ 1.6752262115478516,
61
+ -1.165459394454956,
62
+ -0.444791704416275,
63
+ -0.5140409469604492,
64
+ 0.07641031593084335
65
+ ],
66
+ "first_transition_velocity": [
67
+ 0.9103958567224346,
68
+ -0.3658771356638013,
69
+ 0.7598604808603682,
70
+ 0.45139295609001095,
71
+ 0.8110227122899261,
72
+ 0.5426544361677443,
73
+ 0.04057501425232969,
74
+ 0.07874581641367229,
75
+ -1.0165263733893504,
76
+ 0.5142823409423158,
77
+ 0.5420547422268918,
78
+ -0.039791416306105276,
79
+ 0.5034683181263766,
80
+ 0.019250765118523916
81
+ ],
82
+ "observation_state": [
83
+ -0.20160982012748718,
84
+ 1.5676738023757935,
85
+ 0.6727321147918701,
86
+ 0.698291003704071,
87
+ 0.3133821487426758,
88
+ 1.2876707315444946,
89
+ 0.0033259077463299036,
90
+ 0.2935454249382019,
91
+ 1.8076218366622925,
92
+ 1.658083438873291,
93
+ -1.1839094161987305,
94
+ -0.44346532225608826,
95
+ -0.5308232307434082,
96
+ 0.07576862722635269
97
+ ],
98
+ "policy_metadata": {
99
+ "alignment_wait_ms": 4.96387601015158,
100
+ "checkpoint_path": "/home/romoya-1/openpi-workspace/checkpoints/yam-policies-release/yam_policies/xiangrun/20260916_v2_seven_tasks/dp/spatula_handoff/best-short.pt",
101
+ "first_action_minus_state": [
102
+ 0.030727997422218323,
103
+ -0.012195944786071777,
104
+ 0.02532869577407837,
105
+ 0.015046417713165283,
106
+ 0.027034103870391846,
107
+ 0.018088459968566895,
108
+ 0.0013594438787549734,
109
+ 0.0026248693466186523,
110
+ -0.03388416767120361,
111
+ 0.017142772674560547,
112
+ 0.018450021743774414,
113
+ -0.0013263821601867676,
114
+ 0.016782283782958984,
115
+ 0.0006416887044906616
116
+ ],
117
+ "history_anchor_offset": 1,
118
+ "history_interval_ms": 33.362481,
119
+ "history_sample_stamp_ns": {
120
+ "base_0_color": [
121
+ 1789572999262280703,
122
+ 1789572999295643184
123
+ ],
124
+ "left_wrist_0_color": [
125
+ 1789572999273767129,
126
+ 1789572999306993884
127
+ ],
128
+ "right_wrist_0_color": [
129
+ 1789572999249896052,
130
+ 1789572999283252519
131
+ ],
132
+ "robot_state": [
133
+ 1789572999265652774,
134
+ 1789572999298966725
135
+ ]
136
+ },
137
+ "history_stamp_ns": [
138
+ 1789572999262280703,
139
+ 1789572999295643184
140
+ ],
141
+ "model_seed": null,
142
+ "observation_age_at_response_ms": 141.670986,
143
+ "observation_stamp_ns": 1789572999295643184,
144
+ "prompt": "spatula_handoff",
145
+ "release_revision": "39c623bd78f638d06ce0db57631b66d3028db208",
146
+ "request_id": "b55e809a9ae1404dbb07542541a5f405",
147
+ "round_trip_ms": 79.26165399840102,
148
+ "server_metadata": {
149
+ "action_shape": [
150
+ 32,
151
+ 14
152
+ ],
153
+ "action_space": "abs_qpos",
154
+ "cameras": [
155
+ "base_0",
156
+ "left_wrist_0",
157
+ "right_wrist_0"
158
+ ],
159
+ "checkpoint_hashes": {
160
+ "dp/spatula_handoff/best-short.pt": "e940beeaf79e8ea99be7e46a2e6c3b9c162394ab2dd2a86b1439b61fec8dd0f2"
161
+ },
162
+ "checkpoint_path": "/home/romoya-1/openpi-workspace/checkpoints/yam-policies-release/yam_policies/xiangrun/20260916_v2_seven_tasks/dp/spatula_handoff/best-short.pt",
163
+ "fps": 30,
164
+ "gpu": "NVIDIA GeForce RTX 5090",
165
+ "gpu_peak_mib": 446.9287109375,
166
+ "model": "dp",
167
+ "observation_offsets": [
168
+ -1,
169
+ 0
170
+ ],
171
+ "protocol": "yam-v2-native-npz-v1",
172
+ "release_revision": "39c623bd78f638d06ce0db57631b66d3028db208",
173
+ "step": 20000,
174
+ "task": "spatula_handoff",
175
+ "tasks": [
176
+ "spatula_handoff"
177
+ ],
178
+ "warmup": {
179
+ "hardware_started": false,
180
+ "seconds": [
181
+ 0.2951951069990173,
182
+ 0.056270029002917,
183
+ 0.05475686999852769,
184
+ 0.05329998300294392
185
+ ],
186
+ "status": "passed"
187
+ }
188
+ },
189
+ "server_prediction_seconds": 0.07628949500212912,
190
+ "source": "yam_v2_dp_http",
191
+ "task": "spatula_handoff",
192
+ "wire_action_dtype": "float32"
193
+ },
194
+ "time_ns": 1789572999471041455
195
+ }
eval/YAM/V2/dp/spatula_handoff/data/round_0001/debug/validations/validation_0010.json ADDED
@@ -0,0 +1,195 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "command_velocity_limits": [
3
+ 7.326937734087213,
4
+ 7.492612143357643,
5
+ 9.039960411055707,
6
+ 10.989442599937178,
7
+ 11.822247140410347,
8
+ 21.729793477053846,
9
+ 4.549583926449072,
10
+ 9.542591565847905,
11
+ 16.49783855493206,
12
+ 19.18122166486826,
13
+ 20.271305218109156,
14
+ 13.274309575261345,
15
+ 14.009155302643812,
16
+ 4.764187300355128
17
+ ],
18
+ "current": [
19
+ -0.1688029297322,
20
+ 1.5745403219653618,
21
+ 0.6803616388189511,
22
+ 0.5834668497749291,
23
+ 0.30231937132829856,
24
+ 1.3017853055619142,
25
+ 0.06871228120931579,
26
+ 0.29354543373769815,
27
+ 1.8064774547951483,
28
+ 1.6573205157549395,
29
+ -1.2003128099488851,
30
+ -0.41180285343709677,
31
+ -0.4964904249637616,
32
+ 0.07836791428364584
33
+ ],
34
+ "current_velocity": [
35
+ -0.017094017094017033,
36
+ -0.0024420024420024333,
37
+ -0.0024420024420024333,
38
+ -0.0073260073260073,
39
+ -0.0219780219780219,
40
+ -0.0073260073260073,
41
+ 0.00013334456661521563,
42
+ 0.0024420024420024333,
43
+ 0.0073260073260073,
44
+ -0.012210012210012167,
45
+ -0.0073260073260073,
46
+ 0.0073260073260073,
47
+ -0.0073260073260073,
48
+ -0.00013347006284094486
49
+ ],
50
+ "first_target": [
51
+ -0.16532178223133087,
52
+ 1.5311635732650757,
53
+ 0.6710784435272217,
54
+ 0.5870485901832581,
55
+ 0.3357223570346832,
56
+ 1.2757213115692139,
57
+ 0.07912293821573257,
58
+ 0.2969445586204529,
59
+ 1.8098993301391602,
60
+ 1.685556411743164,
61
+ -1.218862771987915,
62
+ -0.3232303261756897,
63
+ -0.42053085565567017,
64
+ 0.07974181324243546
65
+ ],
66
+ "first_transition_velocity": [
67
+ 0.10443442502607425,
68
+ -1.3013024610085822,
69
+ -0.27849585875188154,
70
+ 0.10745221224986778,
71
+ 1.00208957119154,
72
+ -0.7819198197810096,
73
+ 0.3123197101925036,
74
+ 0.10197374648264201,
75
+ 0.10265626032035513,
76
+ 0.8470768796467354,
77
+ -0.5564988611708976,
78
+ 2.6571758178422122,
79
+ 2.2787870792427434,
80
+ 0.041216968763688466
81
+ ],
82
+ "observation_state": [
83
+ -0.16880293190479279,
84
+ 1.574540376663208,
85
+ 0.6803616285324097,
86
+ 0.5838482975959778,
87
+ 0.30231937766075134,
88
+ 1.3010224103927612,
89
+ 0.0687122792005539,
90
+ 0.2935454249382019,
91
+ 1.8060959577560425,
92
+ 1.657320499420166,
93
+ -1.200312852859497,
94
+ -0.41180285811424255,
95
+ -0.4964904189109802,
96
+ 0.07836791127920151
97
+ ],
98
+ "policy_metadata": {
99
+ "alignment_wait_ms": 8.002673988812603,
100
+ "checkpoint_path": "/home/romoya-1/openpi-workspace/checkpoints/yam-policies-release/yam_policies/xiangrun/20260916_v2_seven_tasks/dp/spatula_handoff/best-short.pt",
101
+ "first_action_minus_state": [
102
+ 0.003481149673461914,
103
+ -0.043376803398132324,
104
+ -0.009283185005187988,
105
+ 0.0032002925872802734,
106
+ 0.033402979373931885,
107
+ -0.025301098823547363,
108
+ 0.01041065901517868,
109
+ 0.0033991336822509766,
110
+ 0.0038033723831176758,
111
+ 0.028235912322998047,
112
+ -0.01854991912841797,
113
+ 0.08857253193855286,
114
+ 0.07595956325531006,
115
+ 0.0013739019632339478
116
+ ],
117
+ "history_anchor_offset": 0,
118
+ "history_interval_ms": 33.257375,
119
+ "history_sample_stamp_ns": {
120
+ "base_0_color": [
121
+ 1789573000896128867,
122
+ 1789573000929386242
123
+ ],
124
+ "left_wrist_0_color": [
125
+ 1789573000907438021,
126
+ 1789573000940855611
127
+ ],
128
+ "right_wrist_0_color": [
129
+ 1789573000883533024,
130
+ 1789573000916858236
131
+ ],
132
+ "robot_state": [
133
+ 1789573000898989433,
134
+ 1789573000932293394
135
+ ]
136
+ },
137
+ "history_stamp_ns": [
138
+ 1789573000896128867,
139
+ 1789573000929386242
140
+ ],
141
+ "model_seed": null,
142
+ "observation_age_at_response_ms": 132.015383,
143
+ "observation_stamp_ns": 1789573000929386242,
144
+ "prompt": "spatula_handoff",
145
+ "release_revision": "39c623bd78f638d06ce0db57631b66d3028db208",
146
+ "request_id": "10abfe6318a0470cbf805309eadcbe43",
147
+ "round_trip_ms": 80.62431700818706,
148
+ "server_metadata": {
149
+ "action_shape": [
150
+ 32,
151
+ 14
152
+ ],
153
+ "action_space": "abs_qpos",
154
+ "cameras": [
155
+ "base_0",
156
+ "left_wrist_0",
157
+ "right_wrist_0"
158
+ ],
159
+ "checkpoint_hashes": {
160
+ "dp/spatula_handoff/best-short.pt": "e940beeaf79e8ea99be7e46a2e6c3b9c162394ab2dd2a86b1439b61fec8dd0f2"
161
+ },
162
+ "checkpoint_path": "/home/romoya-1/openpi-workspace/checkpoints/yam-policies-release/yam_policies/xiangrun/20260916_v2_seven_tasks/dp/spatula_handoff/best-short.pt",
163
+ "fps": 30,
164
+ "gpu": "NVIDIA GeForce RTX 5090",
165
+ "gpu_peak_mib": 446.9287109375,
166
+ "model": "dp",
167
+ "observation_offsets": [
168
+ -1,
169
+ 0
170
+ ],
171
+ "protocol": "yam-v2-native-npz-v1",
172
+ "release_revision": "39c623bd78f638d06ce0db57631b66d3028db208",
173
+ "step": 20000,
174
+ "task": "spatula_handoff",
175
+ "tasks": [
176
+ "spatula_handoff"
177
+ ],
178
+ "warmup": {
179
+ "hardware_started": false,
180
+ "seconds": [
181
+ 0.2951951069990173,
182
+ 0.056270029002917,
183
+ 0.05475686999852769,
184
+ 0.05329998300294392
185
+ ],
186
+ "status": "passed"
187
+ }
188
+ },
189
+ "server_prediction_seconds": 0.07746201699774247,
190
+ "source": "yam_v2_dp_http",
191
+ "task": "spatula_handoff",
192
+ "wire_action_dtype": "float32"
193
+ },
194
+ "time_ns": 1789573001100608706
195
+ }
eval/YAM/V2/dp/spatula_handoff/data/round_0001/debug/validations/validation_0011.json ADDED
@@ -0,0 +1,195 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "command_velocity_limits": [
3
+ 7.326937734087213,
4
+ 7.492612143357643,
5
+ 9.039960411055707,
6
+ 10.989442599937178,
7
+ 11.822247140410347,
8
+ 21.729793477053846,
9
+ 4.549583926449072,
10
+ 9.542591565847905,
11
+ 16.49783855493206,
12
+ 19.18122166486826,
13
+ 20.271305218109156,
14
+ 13.274309575261345,
15
+ 14.009155302643812,
16
+ 4.764187300355128
17
+ ],
18
+ "current": [
19
+ -0.18253604943922674,
20
+ 0.5907148851758599,
21
+ 0.6605249103532458,
22
+ 0.4030289158464946,
23
+ -0.004386968795303758,
24
+ 0.5338750286106659,
25
+ 0.09498625777520614,
26
+ 0.28095674067292364,
27
+ 1.3265812161440458,
28
+ 1.6668574044403748,
29
+ -1.0313191424429693,
30
+ 0.21686884870679712,
31
+ -0.0707637140459294,
32
+ 0.08082820531383479
33
+ ],
34
+ "current_velocity": [
35
+ -0.0073260073260073,
36
+ -0.017094017094017033,
37
+ -0.0073260073260073,
38
+ -0.0219780219780219,
39
+ -0.0219780219780219,
40
+ -0.0219780219780219,
41
+ 0.00040003369984564687,
42
+ -0.0024420024420024333,
43
+ -0.012210012210012167,
44
+ -0.017094017094017033,
45
+ -0.0073260073260073,
46
+ -0.0219780219780219,
47
+ -0.0219780219780219,
48
+ -0.00013347006284094486
49
+ ],
50
+ "first_target": [
51
+ -0.1834801286458969,
52
+ 0.5036556124687195,
53
+ 0.6555516123771667,
54
+ 0.36405739188194275,
55
+ -0.09683308005332947,
56
+ 0.46746042370796204,
57
+ 0.09567955136299133,
58
+ 0.27927476167678833,
59
+ 1.2618097066879272,
60
+ 1.6772081851959229,
61
+ -1.027421236038208,
62
+ 0.2968987226486206,
63
+ -0.04596799239516258,
64
+ 0.08118534088134766
65
+ ],
66
+ "first_transition_velocity": [
67
+ -0.028322376200105026,
68
+ -2.6117781812142127,
69
+ -0.14919893928237116,
70
+ -1.169145718936555,
71
+ -2.7733833377407713,
72
+ -1.992438147081117,
73
+ 0.020798807633555794,
74
+ -0.05045936988405941,
75
+ -1.943145283683556,
76
+ 0.3105234226664422,
77
+ 0.1169371921428386,
78
+ 2.4008962182547045,
79
+ 0.7438716495230047,
80
+ 0.010714067025385937
81
+ ],
82
+ "observation_state": [
83
+ -0.1825360506772995,
84
+ 0.5907148718833923,
85
+ 0.6609063744544983,
86
+ 0.4030289053916931,
87
+ -0.004386968910694122,
88
+ 0.54112309217453,
89
+ 0.09498625993728638,
90
+ 0.2809567451477051,
91
+ 1.3265812397003174,
92
+ 1.6664758920669556,
93
+ -1.0313191413879395,
94
+ 0.21686884760856628,
95
+ -0.0707637146115303,
96
+ 0.08082820475101471
97
+ ],
98
+ "policy_metadata": {
99
+ "alignment_wait_ms": 7.9630120017100126,
100
+ "checkpoint_path": "/home/romoya-1/openpi-workspace/checkpoints/yam-policies-release/yam_policies/xiangrun/20260916_v2_seven_tasks/dp/spatula_handoff/best-short.pt",
101
+ "first_action_minus_state": [
102
+ -0.0009440779685974121,
103
+ -0.08705925941467285,
104
+ -0.005354762077331543,
105
+ -0.038971513509750366,
106
+ -0.09244611114263535,
107
+ -0.073662668466568,
108
+ 0.0006932914257049561,
109
+ -0.001681983470916748,
110
+ -0.06477153301239014,
111
+ 0.010732293128967285,
112
+ 0.0038979053497314453,
113
+ 0.08002987504005432,
114
+ 0.02479572221636772,
115
+ 0.0003571361303329468
116
+ ],
117
+ "history_anchor_offset": 0,
118
+ "history_interval_ms": 33.131618,
119
+ "history_sample_stamp_ns": {
120
+ "base_0_color": [
121
+ 1789573002729979164,
122
+ 1789573002763110782
123
+ ],
124
+ "left_wrist_0_color": [
125
+ 1789573002741163855,
126
+ 1789573002774519245
127
+ ],
128
+ "right_wrist_0_color": [
129
+ 1789573002717366998,
130
+ 1789573002750620829
131
+ ],
132
+ "robot_state": [
133
+ 1789573002732374623,
134
+ 1789573002765651615
135
+ ]
136
+ },
137
+ "history_stamp_ns": [
138
+ 1789573002729979164,
139
+ 1789573002763110782
140
+ ],
141
+ "model_seed": null,
142
+ "observation_age_at_response_ms": 126.732014,
143
+ "observation_stamp_ns": 1789573002763110782,
144
+ "prompt": "spatula_handoff",
145
+ "release_revision": "39c623bd78f638d06ce0db57631b66d3028db208",
146
+ "request_id": "3168422e8d28436dbac4e709dd30d426",
147
+ "round_trip_ms": 79.49304000067059,
148
+ "server_metadata": {
149
+ "action_shape": [
150
+ 32,
151
+ 14
152
+ ],
153
+ "action_space": "abs_qpos",
154
+ "cameras": [
155
+ "base_0",
156
+ "left_wrist_0",
157
+ "right_wrist_0"
158
+ ],
159
+ "checkpoint_hashes": {
160
+ "dp/spatula_handoff/best-short.pt": "e940beeaf79e8ea99be7e46a2e6c3b9c162394ab2dd2a86b1439b61fec8dd0f2"
161
+ },
162
+ "checkpoint_path": "/home/romoya-1/openpi-workspace/checkpoints/yam-policies-release/yam_policies/xiangrun/20260916_v2_seven_tasks/dp/spatula_handoff/best-short.pt",
163
+ "fps": 30,
164
+ "gpu": "NVIDIA GeForce RTX 5090",
165
+ "gpu_peak_mib": 446.9287109375,
166
+ "model": "dp",
167
+ "observation_offsets": [
168
+ -1,
169
+ 0
170
+ ],
171
+ "protocol": "yam-v2-native-npz-v1",
172
+ "release_revision": "39c623bd78f638d06ce0db57631b66d3028db208",
173
+ "step": 20000,
174
+ "task": "spatula_handoff",
175
+ "tasks": [
176
+ "spatula_handoff"
177
+ ],
178
+ "warmup": {
179
+ "hardware_started": false,
180
+ "seconds": [
181
+ 0.2951951069990173,
182
+ 0.056270029002917,
183
+ 0.05475686999852769,
184
+ 0.05329998300294392
185
+ ],
186
+ "status": "passed"
187
+ }
188
+ },
189
+ "server_prediction_seconds": 0.07653021901205648,
190
+ "source": "yam_v2_dp_http",
191
+ "task": "spatula_handoff",
192
+ "wire_action_dtype": "float32"
193
+ },
194
+ "time_ns": 1789573002917900990
195
+ }
eval/YAM/V2/dp/spatula_handoff/data/round_0001/debug/validations/validation_0012.json ADDED
@@ -0,0 +1,195 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "command_velocity_limits": [
3
+ 7.326937734087213,
4
+ 7.492612143357643,
5
+ 9.039960411055707,
6
+ 10.989442599937178,
7
+ 11.822247140410347,
8
+ 21.729793477053846,
9
+ 4.549583926449072,
10
+ 9.542591565847905,
11
+ 16.49783855493206,
12
+ 19.18122166486826,
13
+ 20.271305218109156,
14
+ 13.274309575261345,
15
+ 14.009155302643812,
16
+ 4.764187300355128
17
+ ],
18
+ "current": [
19
+ 0.20847638666361412,
20
+ 0.08564126039520836,
21
+ 0.6578545815213239,
22
+ -0.3156710154879061,
23
+ 0.12951094834821042,
24
+ -0.01621271076523989,
25
+ 0.09588890496166637,
26
+ -0.013542381933321579,
27
+ 0.6166552224002437,
28
+ 0.9145876249332421,
29
+ -0.780689707789735,
30
+ 0.1329442282749671,
31
+ -0.010490577553978753,
32
+ 0.08169000217186707
33
+ ],
34
+ "current_velocity": [
35
+ 0.0024420024420024333,
36
+ 0.0073260073260073,
37
+ -0.0024420024420024333,
38
+ 0.0073260073260073,
39
+ -0.0073260073260073,
40
+ -0.0073260073260073,
41
+ 0.00040003369984564687,
42
+ 0.0024420024420024333,
43
+ 0.0024420024420024333,
44
+ -0.0073260073260073,
45
+ -0.0073260073260073,
46
+ -0.0219780219780219,
47
+ 0.0073260073260073,
48
+ 0.00013347006284094486
49
+ ],
50
+ "first_target": [
51
+ 0.21584148705005646,
52
+ 0.07896070182323456,
53
+ 0.6008414030075073,
54
+ -0.29291102290153503,
55
+ 0.1361388862133026,
56
+ 0.0025809630751609802,
57
+ 0.09599056839942932,
58
+ -0.019834354519844055,
59
+ 0.5856186151504517,
60
+ 0.8662236332893372,
61
+ -0.7728390693664551,
62
+ 0.06965714693069458,
63
+ -0.06146371737122536,
64
+ 0.083220474421978
65
+ ],
66
+ "first_transition_velocity": [
67
+ 0.22095301159327008,
68
+ -0.20041675715921414,
69
+ -1.710395355414498,
70
+ 0.6827997775911321,
71
+ 0.19883813595276578,
72
+ 0.5638102152120261,
73
+ 0.0030499031328885817,
74
+ -0.1887591775956743,
75
+ -0.9310982174937621,
76
+ -1.4509197493171477,
77
+ 0.23551915269839796,
78
+ -1.8986124403281757,
79
+ -1.5291941945173981,
80
+ 0.04591416750332769
81
+ ],
82
+ "observation_state": [
83
+ 0.20847637951374054,
84
+ 0.08564125746488571,
85
+ 0.6578545570373535,
86
+ -0.31567102670669556,
87
+ 0.12951095402240753,
88
+ -0.01583123579621315,
89
+ 0.0958889052271843,
90
+ -0.013542382046580315,
91
+ 0.6166552305221558,
92
+ 0.9145876169204712,
93
+ -0.7806897163391113,
94
+ 0.1329442262649536,
95
+ -0.010490577667951584,
96
+ 0.0816899985074997
97
+ ],
98
+ "policy_metadata": {
99
+ "alignment_wait_ms": 5.8342100091977045,
100
+ "checkpoint_path": "/home/romoya-1/openpi-workspace/checkpoints/yam-policies-release/yam_policies/xiangrun/20260916_v2_seven_tasks/dp/spatula_handoff/best-short.pt",
101
+ "first_action_minus_state": [
102
+ 0.007365107536315918,
103
+ -0.0066805556416511536,
104
+ -0.05701315402984619,
105
+ 0.022760003805160522,
106
+ 0.006627932190895081,
107
+ 0.01841219887137413,
108
+ 0.00010166317224502563,
109
+ -0.0062919724732637405,
110
+ -0.0310366153717041,
111
+ -0.04836398363113403,
112
+ 0.00785064697265625,
113
+ -0.06328707933425903,
114
+ -0.05097313970327377,
115
+ 0.001530475914478302
116
+ ],
117
+ "history_anchor_offset": 1,
118
+ "history_interval_ms": 33.359395,
119
+ "history_sample_stamp_ns": {
120
+ "base_0_color": [
121
+ 1789573004663858062,
122
+ 1789573004697217457
123
+ ],
124
+ "left_wrist_0_color": [
125
+ 1789573004675179196,
126
+ 1789573004708436681
127
+ ],
128
+ "right_wrist_0_color": [
129
+ 1789573004651196432,
130
+ 1789573004684510513
131
+ ],
132
+ "robot_state": [
133
+ 1789573004665622946,
134
+ 1789573004698976446
135
+ ]
136
+ },
137
+ "history_stamp_ns": [
138
+ 1789573004663858062,
139
+ 1789573004697217457
140
+ ],
141
+ "model_seed": null,
142
+ "observation_age_at_response_ms": 141.498905,
143
+ "observation_stamp_ns": 1789573004697217457,
144
+ "prompt": "spatula_handoff",
145
+ "release_revision": "39c623bd78f638d06ce0db57631b66d3028db208",
146
+ "request_id": "37d33f1a40c34fb5920866a600ead2cf",
147
+ "round_trip_ms": 79.2342600034317,
148
+ "server_metadata": {
149
+ "action_shape": [
150
+ 32,
151
+ 14
152
+ ],
153
+ "action_space": "abs_qpos",
154
+ "cameras": [
155
+ "base_0",
156
+ "left_wrist_0",
157
+ "right_wrist_0"
158
+ ],
159
+ "checkpoint_hashes": {
160
+ "dp/spatula_handoff/best-short.pt": "e940beeaf79e8ea99be7e46a2e6c3b9c162394ab2dd2a86b1439b61fec8dd0f2"
161
+ },
162
+ "checkpoint_path": "/home/romoya-1/openpi-workspace/checkpoints/yam-policies-release/yam_policies/xiangrun/20260916_v2_seven_tasks/dp/spatula_handoff/best-short.pt",
163
+ "fps": 30,
164
+ "gpu": "NVIDIA GeForce RTX 5090",
165
+ "gpu_peak_mib": 446.9287109375,
166
+ "model": "dp",
167
+ "observation_offsets": [
168
+ -1,
169
+ 0
170
+ ],
171
+ "protocol": "yam-v2-native-npz-v1",
172
+ "release_revision": "39c623bd78f638d06ce0db57631b66d3028db208",
173
+ "step": 20000,
174
+ "task": "spatula_handoff",
175
+ "tasks": [
176
+ "spatula_handoff"
177
+ ],
178
+ "warmup": {
179
+ "hardware_started": false,
180
+ "seconds": [
181
+ 0.2951951069990173,
182
+ 0.056270029002917,
183
+ 0.05475686999852769,
184
+ 0.05329998300294392
185
+ ],
186
+ "status": "passed"
187
+ }
188
+ },
189
+ "server_prediction_seconds": 0.0761478220083518,
190
+ "source": "yam_v2_dp_http",
191
+ "task": "spatula_handoff",
192
+ "wire_action_dtype": "float32"
193
+ },
194
+ "time_ns": 1789573004886000923
195
+ }
eval/YAM/V2/dp/spatula_handoff/data/round_0001/debug/validations/validation_0013.json ADDED
@@ -0,0 +1,195 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "command_velocity_limits": [
3
+ 7.326937734087213,
4
+ 7.492612143357643,
5
+ 9.039960411055707,
6
+ 10.989442599937178,
7
+ 11.822247140410347,
8
+ 21.729793477053846,
9
+ 4.549583926449072,
10
+ 9.542591565847905,
11
+ 16.49783855493206,
12
+ 19.18122166486826,
13
+ 20.271305218109156,
14
+ 13.274309575261345,
15
+ 14.009155302643812,
16
+ 4.764187300355128
17
+ ],
18
+ "current": [
19
+ 0.27752346074616696,
20
+ 0.08411535820553873,
21
+ 0.14438849469748938,
22
+ 0.11501487754634887,
23
+ 0.2115281910429534,
24
+ -0.12073701075760646,
25
+ 0.09546535512801967,
26
+ -0.11043717097734351,
27
+ 0.2660791943236447,
28
+ 0.3915846494239723,
29
+ -0.517853055619133,
30
+ 0.08030060273136463,
31
+ -0.1081483176928355,
32
+ 0.08436574241656412
33
+ ],
34
+ "current_velocity": [
35
+ -0.0073260073260073,
36
+ -0.0024420024420024333,
37
+ -0.0024420024420024333,
38
+ -0.0073260073260073,
39
+ -0.0219780219780219,
40
+ -0.0073260073260073,
41
+ 0.00013334456661521563,
42
+ -0.0073260073260073,
43
+ -0.0024420024420024333,
44
+ -0.026862026862026767,
45
+ -0.0073260073260073,
46
+ 0.0073260073260073,
47
+ -0.0219780219780219,
48
+ 0.00013347006284094486
49
+ ],
50
+ "first_target": [
51
+ 0.3085445463657379,
52
+ 0.0702655166387558,
53
+ 0.11863759160041809,
54
+ 0.12951377034187317,
55
+ 0.3364737033843994,
56
+ -0.1535535752773285,
57
+ 0.09595228731632233,
58
+ -0.11069682240486145,
59
+ 0.2592722177505493,
60
+ 0.36989980936050415,
61
+ -0.4846261739730835,
62
+ 0.06985358148813248,
63
+ -0.11443857848644257,
64
+ 0.08548814803361893
65
+ ],
66
+ "first_transition_velocity": [
67
+ 0.9306325685871286,
68
+ -0.41549524700348783,
69
+ -0.7725270929121386,
70
+ 0.43496678386572896,
71
+ 3.7483653702433806,
72
+ -0.9844969355916611,
73
+ 0.014607965649079818,
74
+ -0.0077895428255381205,
75
+ -0.20420929719286107,
76
+ -0.6505452019040447,
77
+ 0.9968064493814843,
78
+ -0.3134106372969647,
79
+ -0.18870782380821183,
80
+ 0.03367216851164409
81
+ ],
82
+ "observation_state": [
83
+ 0.2775234580039978,
84
+ 0.08411535620689392,
85
+ 0.14438849687576294,
86
+ 0.11501488089561462,
87
+ 0.20542457699775696,
88
+ -0.12073700875043869,
89
+ 0.09546535462141037,
90
+ -0.11043716967105865,
91
+ 0.2660791873931885,
92
+ 0.3915846347808838,
93
+ -0.5178530812263489,
94
+ 0.08030059933662415,
95
+ -0.10814831405878067,
96
+ 0.08436574041843414
97
+ ],
98
+ "policy_metadata": {
99
+ "alignment_wait_ms": 4.754677007440478,
100
+ "checkpoint_path": "/home/romoya-1/openpi-workspace/checkpoints/yam-policies-release/yam_policies/xiangrun/20260916_v2_seven_tasks/dp/spatula_handoff/best-short.pt",
101
+ "first_action_minus_state": [
102
+ 0.031021088361740112,
103
+ -0.013849839568138123,
104
+ -0.02575090527534485,
105
+ 0.014498889446258545,
106
+ 0.13104912638664246,
107
+ -0.0328165665268898,
108
+ 0.0004869326949119568,
109
+ -0.0002596527338027954,
110
+ -0.00680696964263916,
111
+ -0.02168482542037964,
112
+ 0.03322690725326538,
113
+ -0.010447017848491669,
114
+ -0.006290264427661896,
115
+ 0.001122407615184784
116
+ ],
117
+ "history_anchor_offset": 0,
118
+ "history_interval_ms": 33.352178,
119
+ "history_sample_stamp_ns": {
120
+ "base_0_color": [
121
+ 1789573006430786030,
122
+ 1789573006464138208
123
+ ],
124
+ "left_wrist_0_color": [
125
+ 1789573006442086229,
126
+ 1789573006475463430
127
+ ],
128
+ "right_wrist_0_color": [
129
+ 1789573006418286659,
130
+ 1789573006451706918
131
+ ],
132
+ "robot_state": [
133
+ 1789573006432450272,
134
+ 1789573006465781799
135
+ ]
136
+ },
137
+ "history_stamp_ns": [
138
+ 1789573006430786030,
139
+ 1789573006464138208
140
+ ],
141
+ "model_seed": null,
142
+ "observation_age_at_response_ms": 121.560738,
143
+ "observation_stamp_ns": 1789573006464138208,
144
+ "prompt": "spatula_handoff",
145
+ "release_revision": "39c623bd78f638d06ce0db57631b66d3028db208",
146
+ "request_id": "732974e4e8644cdea75bfc042a584074",
147
+ "round_trip_ms": 79.13562400790397,
148
+ "server_metadata": {
149
+ "action_shape": [
150
+ 32,
151
+ 14
152
+ ],
153
+ "action_space": "abs_qpos",
154
+ "cameras": [
155
+ "base_0",
156
+ "left_wrist_0",
157
+ "right_wrist_0"
158
+ ],
159
+ "checkpoint_hashes": {
160
+ "dp/spatula_handoff/best-short.pt": "e940beeaf79e8ea99be7e46a2e6c3b9c162394ab2dd2a86b1439b61fec8dd0f2"
161
+ },
162
+ "checkpoint_path": "/home/romoya-1/openpi-workspace/checkpoints/yam-policies-release/yam_policies/xiangrun/20260916_v2_seven_tasks/dp/spatula_handoff/best-short.pt",
163
+ "fps": 30,
164
+ "gpu": "NVIDIA GeForce RTX 5090",
165
+ "gpu_peak_mib": 446.9287109375,
166
+ "model": "dp",
167
+ "observation_offsets": [
168
+ -1,
169
+ 0
170
+ ],
171
+ "protocol": "yam-v2-native-npz-v1",
172
+ "release_revision": "39c623bd78f638d06ce0db57631b66d3028db208",
173
+ "step": 20000,
174
+ "task": "spatula_handoff",
175
+ "tasks": [
176
+ "spatula_handoff"
177
+ ],
178
+ "warmup": {
179
+ "hardware_started": false,
180
+ "seconds": [
181
+ 0.2951951069990173,
182
+ 0.056270029002917,
183
+ 0.05475686999852769,
184
+ 0.05329998300294392
185
+ ],
186
+ "status": "passed"
187
+ }
188
+ },
189
+ "server_prediction_seconds": 0.07641131700074766,
190
+ "source": "yam_v2_dp_http",
191
+ "task": "spatula_handoff",
192
+ "wire_action_dtype": "float32"
193
+ },
194
+ "time_ns": 1789573006629353183
195
+ }
eval/YAM/V2/dp/spatula_handoff/data/round_0001/event/event_dict.pkl ADDED
Binary file (109 Bytes). View file
 
eval/YAM/V2/dp/spatula_handoff/data/round_0001/manifests/action.json ADDED
@@ -0,0 +1,29 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "prometheus_action_recorder": {
3
+ "counts": {
4
+ "action.executed": 418,
5
+ "camera.base_0_rgb": 678,
6
+ "camera.left_wrist_0_rgb": 680,
7
+ "camera.right_wrist_0_rgb": 681,
8
+ "dropped": 0,
9
+ "event.workflow": 1,
10
+ "items": 5285,
11
+ "robot.robot_state": 2827
12
+ },
13
+ "episode_dir": "/home/romoya-1/openpi-workspace/PrometheusV2/outputs/yam_v2/dp/best-short/spatula_handoff/data/round_0001",
14
+ "executed_actions": 418,
15
+ "failure": "",
16
+ "metadata": {
17
+ "purpose": "continuous cameras and robot state; retain failed/interrupted runs",
18
+ "round_number": 1,
19
+ "run_id": "20260916_233617_093819_round_0001",
20
+ "workflow": "openpi_rollout"
21
+ },
22
+ "policy_action_chunks": 0,
23
+ "record_id": "prometheus_action_recorder",
24
+ "record_mode": "action",
25
+ "schema": "prometheus_raw_episode_v1",
26
+ "status": "saved",
27
+ "updated_at_unix": 1789573006.8163462
28
+ }
29
+ }
eval/YAM/V2/dp/spatula_handoff/data/round_0001/manifests/camera.json ADDED
@@ -0,0 +1,104 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "prometheus_camera_base_0_recorder": {
3
+ "camera_frames": {
4
+ "base_0_rgb": 678
5
+ },
6
+ "camera_timestamp_samples": 678,
7
+ "complete_sensor_bundles": 678,
8
+ "counts": {
9
+ "action.executed": 418,
10
+ "camera.base_0_rgb": 678,
11
+ "camera.left_wrist_0_rgb": 680,
12
+ "camera.right_wrist_0_rgb": 681,
13
+ "dropped": 0,
14
+ "event.workflow": 1,
15
+ "items": 5285,
16
+ "robot.robot_state": 2827
17
+ },
18
+ "dropped_incomplete_sensor_bundles": 0,
19
+ "duplicate_sensor_messages": 0,
20
+ "episode_dir": "/home/romoya-1/openpi-workspace/PrometheusV2/outputs/yam_v2/dp/best-short/spatula_handoff/data/round_0001",
21
+ "failure": "",
22
+ "metadata": {
23
+ "purpose": "continuous cameras and robot state; retain failed/interrupted runs",
24
+ "round_number": 1,
25
+ "run_id": "20260916_233617_093819_round_0001",
26
+ "workflow": "openpi_rollout"
27
+ },
28
+ "record_id": "prometheus_camera_base_0_recorder",
29
+ "record_mode": "sensor",
30
+ "schema": "prometheus_raw_episode_v1",
31
+ "sensor_kind": "camera",
32
+ "sensor_name": "base_0",
33
+ "status": "saved",
34
+ "updated_at_unix": 1789573006.8163462
35
+ },
36
+ "prometheus_camera_left_wrist_0_recorder": {
37
+ "camera_frames": {
38
+ "left_wrist_0_rgb": 680
39
+ },
40
+ "camera_timestamp_samples": 680,
41
+ "complete_sensor_bundles": 680,
42
+ "counts": {
43
+ "action.executed": 418,
44
+ "camera.base_0_rgb": 678,
45
+ "camera.left_wrist_0_rgb": 680,
46
+ "camera.right_wrist_0_rgb": 681,
47
+ "dropped": 0,
48
+ "event.workflow": 1,
49
+ "items": 5285,
50
+ "robot.robot_state": 2827
51
+ },
52
+ "dropped_incomplete_sensor_bundles": 0,
53
+ "duplicate_sensor_messages": 0,
54
+ "episode_dir": "/home/romoya-1/openpi-workspace/PrometheusV2/outputs/yam_v2/dp/best-short/spatula_handoff/data/round_0001",
55
+ "failure": "",
56
+ "metadata": {
57
+ "purpose": "continuous cameras and robot state; retain failed/interrupted runs",
58
+ "round_number": 1,
59
+ "run_id": "20260916_233617_093819_round_0001",
60
+ "workflow": "openpi_rollout"
61
+ },
62
+ "record_id": "prometheus_camera_left_wrist_0_recorder",
63
+ "record_mode": "sensor",
64
+ "schema": "prometheus_raw_episode_v1",
65
+ "sensor_kind": "camera",
66
+ "sensor_name": "left_wrist_0",
67
+ "status": "saved",
68
+ "updated_at_unix": 1789573006.8163462
69
+ },
70
+ "prometheus_camera_right_wrist_0_recorder": {
71
+ "camera_frames": {
72
+ "right_wrist_0_rgb": 681
73
+ },
74
+ "camera_timestamp_samples": 681,
75
+ "complete_sensor_bundles": 681,
76
+ "counts": {
77
+ "action.executed": 418,
78
+ "camera.base_0_rgb": 678,
79
+ "camera.left_wrist_0_rgb": 680,
80
+ "camera.right_wrist_0_rgb": 681,
81
+ "dropped": 0,
82
+ "event.workflow": 1,
83
+ "items": 5285,
84
+ "robot.robot_state": 2827
85
+ },
86
+ "dropped_incomplete_sensor_bundles": 0,
87
+ "duplicate_sensor_messages": 0,
88
+ "episode_dir": "/home/romoya-1/openpi-workspace/PrometheusV2/outputs/yam_v2/dp/best-short/spatula_handoff/data/round_0001",
89
+ "failure": "",
90
+ "metadata": {
91
+ "purpose": "continuous cameras and robot state; retain failed/interrupted runs",
92
+ "round_number": 1,
93
+ "run_id": "20260916_233617_093819_round_0001",
94
+ "workflow": "openpi_rollout"
95
+ },
96
+ "record_id": "prometheus_camera_right_wrist_0_recorder",
97
+ "record_mode": "sensor",
98
+ "schema": "prometheus_raw_episode_v1",
99
+ "sensor_kind": "camera",
100
+ "sensor_name": "right_wrist_0",
101
+ "status": "saved",
102
+ "updated_at_unix": 1789573006.8163462
103
+ }
104
+ }
eval/YAM/V2/dp/spatula_handoff/data/round_0001/manifests/event.json ADDED
@@ -0,0 +1,28 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "prometheus_event_recorder": {
3
+ "counts": {
4
+ "action.executed": 418,
5
+ "camera.base_0_rgb": 678,
6
+ "camera.left_wrist_0_rgb": 680,
7
+ "camera.right_wrist_0_rgb": 681,
8
+ "dropped": 0,
9
+ "event.workflow": 1,
10
+ "items": 5285,
11
+ "robot.robot_state": 2827
12
+ },
13
+ "episode_dir": "/home/romoya-1/openpi-workspace/PrometheusV2/outputs/yam_v2/dp/best-short/spatula_handoff/data/round_0001",
14
+ "event_samples": 1,
15
+ "failure": "",
16
+ "metadata": {
17
+ "purpose": "continuous cameras and robot state; retain failed/interrupted runs",
18
+ "round_number": 1,
19
+ "run_id": "20260916_233617_093819_round_0001",
20
+ "workflow": "openpi_rollout"
21
+ },
22
+ "record_id": "prometheus_event_recorder",
23
+ "record_mode": "event",
24
+ "schema": "prometheus_raw_episode_v1",
25
+ "status": "saved",
26
+ "updated_at_unix": 1789573006.8163462
27
+ }
28
+ }
eval/YAM/V2/dp/spatula_handoff/data/round_0001/manifests/robot.json ADDED
@@ -0,0 +1,37 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "prometheus_robot_recorder": {
3
+ "counts": {
4
+ "action.executed": 418,
5
+ "camera.base_0_rgb": 678,
6
+ "camera.left_wrist_0_rgb": 680,
7
+ "camera.right_wrist_0_rgb": 681,
8
+ "dropped": 0,
9
+ "event.workflow": 1,
10
+ "items": 5285,
11
+ "robot.robot_state": 2827
12
+ },
13
+ "episode_dir": "/home/romoya-1/openpi-workspace/PrometheusV2/outputs/yam_v2/dp/best-short/spatula_handoff/data/round_0001",
14
+ "failure": "",
15
+ "incomplete_robot_samples": {
16
+ "left": 2827,
17
+ "right": 2827
18
+ },
19
+ "metadata": {
20
+ "purpose": "continuous cameras and robot state; retain failed/interrupted runs",
21
+ "round_number": 1,
22
+ "run_id": "20260916_233617_093819_round_0001",
23
+ "workflow": "openpi_rollout"
24
+ },
25
+ "pending_robot_samples": 0,
26
+ "plot_outputs": [],
27
+ "record_id": "prometheus_robot_recorder",
28
+ "record_mode": "robot",
29
+ "robot_samples": {
30
+ "left": 2827,
31
+ "right": 2827
32
+ },
33
+ "schema": "prometheus_raw_episode_v1",
34
+ "status": "saved",
35
+ "updated_at_unix": 1789573006.8163462
36
+ }
37
+ }
eval/YAM/V2/dp/spatula_handoff/data/round_0001/manifests/tactile.json ADDED
@@ -0,0 +1 @@
 
 
1
+ {}
eval/YAM/V2/dp/spatula_handoff/data/round_0001/workflow_manifest.json ADDED
@@ -0,0 +1,607 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "acceleration_limits": [
3
+ 178.113964503,
4
+ 247.518197236,
5
+ 201.062710341,
6
+ 412.295997642,
7
+ 292.886498339,
8
+ 681.801119417,
9
+ 164.113917278,
10
+ 267.740085544,
11
+ 714.966739645,
12
+ 836.862131179,
13
+ 880.771530315,
14
+ 543.256770374,
15
+ 313.320489803,
16
+ 313.35155152
17
+ ],
18
+ "actions_sent": 418,
19
+ "chunks": 13,
20
+ "command_velocity_limits": [
21
+ 7.326937734087213,
22
+ 7.492612143357643,
23
+ 9.039960411055707,
24
+ 10.989442599937178,
25
+ 11.822247140410347,
26
+ 21.729793477053846,
27
+ 4.549583926449072,
28
+ 9.542591565847905,
29
+ 16.49783855493206,
30
+ 19.18122166486826,
31
+ 20.271305218109156,
32
+ 13.274309575261345,
33
+ 14.009155302643812,
34
+ 4.764187300355128
35
+ ],
36
+ "config": {
37
+ "async_inference": {
38
+ "blend_steps": 5,
39
+ "enabled": false,
40
+ "prefetch_steps": 12
41
+ },
42
+ "data": {
43
+ "bridge": {
44
+ "enabled": true,
45
+ "name": "openpi_observe_20260916_233617_093819",
46
+ "qos_depth": 10,
47
+ "sensor_qos": "reliable",
48
+ "stamp_source": "header",
49
+ "wait_all_streams": true
50
+ },
51
+ "history": 64,
52
+ "mode": "owned",
53
+ "name": "openpi_data",
54
+ "numpy": {
55
+ "enabled": true
56
+ },
57
+ "recording": {
58
+ "camera_encoder": "libx264",
59
+ "default_event_value": null,
60
+ "enable_plots": false,
61
+ "enabled": true,
62
+ "fps": 30.0,
63
+ "output_dir": "/home/romoya-1/openpi-workspace/PrometheusV2/outputs/yam_v2/dp/best-short/spatula_handoff/data",
64
+ "queue_size": 4096
65
+ },
66
+ "streams": {
67
+ "base_0_color": {
68
+ "domain": "sensor",
69
+ "msg_type": "sensor_msgs.msg.Image",
70
+ "ros_domain_id": 22,
71
+ "topic": "/prometheus/sensors/cameras/base_0/color/image_raw"
72
+ },
73
+ "left_wrist_0_color": {
74
+ "domain": "sensor",
75
+ "msg_type": "sensor_msgs.msg.Image",
76
+ "ros_domain_id": 22,
77
+ "topic": "/prometheus/sensors/cameras/left_wrist_0/color/image_raw"
78
+ },
79
+ "right_wrist_0_color": {
80
+ "domain": "sensor",
81
+ "msg_type": "sensor_msgs.msg.Image",
82
+ "ros_domain_id": 22,
83
+ "topic": "/prometheus/sensors/cameras/right_wrist_0/color/image_raw"
84
+ },
85
+ "robot_state": {
86
+ "domain": "robot",
87
+ "msg_type": "sensor_msgs.msg.JointState",
88
+ "ros_domain_id": 21,
89
+ "topic": "/prometheus/robots/yam/state"
90
+ }
91
+ }
92
+ },
93
+ "execute": true,
94
+ "execution": {
95
+ "command_ack_timeout_s": 0.1,
96
+ "hold_settle_s": 0.2,
97
+ "hold_settle_timeout_s": 5.0,
98
+ "max_prediction_age_s": 1.5,
99
+ "max_schedule_lateness_s": 0.105,
100
+ "sync_wait_after_ack": true
101
+ },
102
+ "hardware": {
103
+ "mode": "owned",
104
+ "name": "openpi_hardware",
105
+ "sensors": "auto",
106
+ "streams": "auto"
107
+ },
108
+ "policy": {
109
+ "action_hz": 30.0,
110
+ "connect_timeout_s": 10.0,
111
+ "expected_checkpoint_path": "/home/romoya-1/openpi-workspace/checkpoints/yam-policies-release/yam_policies/xiangrun/20260916_v2_seven_tasks/dp/spatula_handoff/best-short.pt",
112
+ "history_tolerance_s": 0.015,
113
+ "host": "127.0.0.1",
114
+ "max_observation_age_s": 0.5,
115
+ "model": "dp",
116
+ "observation_wait_timeout_s": 1.0,
117
+ "port": 9016,
118
+ "prompt": "spatula_handoff",
119
+ "response_timeout_s": 5.0,
120
+ "slop_ms": 20.0,
121
+ "task": "spatula_handoff"
122
+ },
123
+ "preview": {
124
+ "enabled": true,
125
+ "fps": 20.0,
126
+ "height": 720,
127
+ "host": "127.0.0.1",
128
+ "mode": "local",
129
+ "port": 7860,
130
+ "refresh_ms": 100,
131
+ "stale_timeout_s": 1.0,
132
+ "ui_mode": "openpi",
133
+ "width": 1280,
134
+ "window": "YAM V2 dp spatula_handoff - sync"
135
+ },
136
+ "robot": {
137
+ "_target_": "prometheus.nodes.robots.yam.resolve_robot",
138
+ "cameras": {
139
+ "camera_info": false,
140
+ "capture_height": 480,
141
+ "capture_hz": 30,
142
+ "capture_width": 640,
143
+ "collect_ir": false,
144
+ "ir": false,
145
+ "prepub_resize": 1.0,
146
+ "publish_hz": 30,
147
+ "qos": "reliable",
148
+ "serial_no": {
149
+ "base_0": "260322272085",
150
+ "left_wrist_0": "260422275825",
151
+ "right_wrist_0": "260322279382"
152
+ }
153
+ },
154
+ "collection_input_source": "pedal,tty",
155
+ "collection_pedal": {
156
+ "confirm_presses": 2,
157
+ "confirm_window_s": 1.0,
158
+ "debounce_s": 0.05,
159
+ "devices": [
160
+ "/dev/input/prometheus-pedal",
161
+ "/dev/input/prometheus-pedal-aux"
162
+ ],
163
+ "exclusive": true,
164
+ "pedal_map": {
165
+ "2": 0,
166
+ "3": 1,
167
+ "4": 2,
168
+ "5": 3,
169
+ "30": 0,
170
+ "32": 3,
171
+ "46": 2,
172
+ "48": 1
173
+ }
174
+ },
175
+ "control_domain_id": 21,
176
+ "id": "yam",
177
+ "robot": {
178
+ "action_space": "abs_qpos",
179
+ "alignment_duration_s": 3.0,
180
+ "bilateral_kp": 0.0,
181
+ "collection_mode": "policy",
182
+ "control_hz": 120,
183
+ "enable_auto_recovery": false,
184
+ "follower_arm": "yam_ultra",
185
+ "follower_can": {
186
+ "left": "can_follower_l",
187
+ "right": "can_follower_r"
188
+ },
189
+ "follower_gripper": "linear_4310",
190
+ "gripper_width_m": 0.096,
191
+ "home_return": {
192
+ "enabled": false,
193
+ "feedback_timeout_s": 0.5,
194
+ "kp_scale": 1.0,
195
+ "max_velocity": 0.3,
196
+ "min_duration_s": 3.0,
197
+ "position_tolerance": 0.05,
198
+ "settle_s": 0.3,
199
+ "timeout_s": 25.0,
200
+ "tracking_error_limit": 0.35,
201
+ "velocity_tolerance": 0.1
202
+ },
203
+ "leader_arm": "yam",
204
+ "leader_can": null,
205
+ "leader_gripper": "yam_teaching_handle",
206
+ "policy_control": {
207
+ "acceleration_limits": [
208
+ 178.113964503,
209
+ 247.518197236,
210
+ 201.062710341,
211
+ 412.295997642,
212
+ 292.886498339,
213
+ 681.801119417,
214
+ 164.113917278,
215
+ 267.740085544,
216
+ 714.966739645,
217
+ 836.862131179,
218
+ 880.771530315,
219
+ 543.256770374,
220
+ 313.320489803,
221
+ 313.35155152
222
+ ],
223
+ "command_timeout_s": 0.25,
224
+ "command_velocity_limits": [
225
+ 7.326937734087213,
226
+ 7.492612143357643,
227
+ 9.039960411055707,
228
+ 10.989442599937178,
229
+ 11.822247140410347,
230
+ 21.729793477053846,
231
+ 4.549583926449072,
232
+ 9.542591565847905,
233
+ 16.49783855493206,
234
+ 19.18122166486826,
235
+ 20.271305218109156,
236
+ 13.274309575261345,
237
+ 14.009155302643812,
238
+ 4.764187300355128
239
+ ],
240
+ "feedback_timeout_s": 0.2,
241
+ "hz": 30.0,
242
+ "stationary_velocity_limits": [
243
+ 0.09619047798216343,
244
+ 0.09619047798216343,
245
+ 0.09125763334333897,
246
+ 0.09619047798216343,
247
+ 0.11098901189863682,
248
+ 0.18498168900609016,
249
+ 0.014679903751239181,
250
+ 0.10112332262098789,
251
+ 0.11098901189863682,
252
+ 0.10112332262098789,
253
+ 0.11098901189863682,
254
+ 0.14058608725667,
255
+ 0.2885714414715767,
256
+ 0.014345181323587895
257
+ ],
258
+ "stop_file": "/tmp/prometheus_openpi/STOP",
259
+ "tracking_error_limits": [
260
+ 0.20073625504970552,
261
+ 0.309388148188591,
262
+ 0.29782940477132797,
263
+ 0.22655070275068284,
264
+ 0.5001068050414323,
265
+ 0.7771305423974991,
266
+ 0.06952205713838339,
267
+ 0.268162048868835,
268
+ 0.3556229412555695,
269
+ 0.4542571985721588,
270
+ 0.3109293460845947,
271
+ 1.0653276860713958,
272
+ 0.45733958966098726,
273
+ 0.07211417473852634
274
+ ],
275
+ "urdf": "/home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/arm/yam_ultra/v1/yam_ultra.urdf",
276
+ "velocity_limits": [
277
+ 6.503956017494202,
278
+ 7.554651925563812,
279
+ 9.670842275619506,
280
+ 10.588351378440857,
281
+ 8.72373610496521,
282
+ 13.252087483406067,
283
+ 1.2993822544813156,
284
+ 8.664541969299316,
285
+ 10.73633671760559,
286
+ 14.77633719921112,
287
+ 17.380879168510436,
288
+ 20.799341225624083,
289
+ 7.747032866477967,
290
+ 1.3316887146234513
291
+ ]
292
+ },
293
+ "require_enable_button": false,
294
+ "sim": false,
295
+ "state_publish_hz": 120,
296
+ "teleoperation_enabled": false
297
+ },
298
+ "sensor_domain_id": 22
299
+ },
300
+ "ros": {
301
+ "localhost_only": true
302
+ },
303
+ "run": {
304
+ "action_steps": 32,
305
+ "id": "20260916_233617_093819_round_0001",
306
+ "output_dir": "/home/romoya-1/openpi-workspace/PrometheusV2/outputs/yam_v2/dp/best-short/spatula_handoff/data/round_0001",
307
+ "prediction_horizon": 32,
308
+ "runtime_dir": "/home/romoya-1/openpi-workspace/PrometheusV2/outputs/yam_v2/dp/best-short/spatula_handoff/metadata/runtime",
309
+ "steps": 30,
310
+ "wait_ready_timeout_s": 30.0
311
+ }
312
+ },
313
+ "episode_dir": "/home/romoya-1/openpi-workspace/PrometheusV2/outputs/yam_v2/dp/best-short/spatula_handoff/data/round_0001",
314
+ "next_round_confirmed": true,
315
+ "operator_command_file": "/home/romoya-1/openpi-workspace/PrometheusV2/outputs/yam_v2/dp/best-short/spatula_handoff/metadata/runtime/operator_command",
316
+ "operator_drag_verified": true,
317
+ "operator_result": "failure",
318
+ "operator_stopped": true,
319
+ "policy_control_limits": {
320
+ "acceleration_limits": [
321
+ 178.113964503,
322
+ 247.518197236,
323
+ 201.062710341,
324
+ 412.295997642,
325
+ 292.886498339,
326
+ 681.801119417,
327
+ 164.113917278,
328
+ 267.740085544,
329
+ 714.966739645,
330
+ 836.862131179,
331
+ 880.771530315,
332
+ 543.256770374,
333
+ 313.320489803,
334
+ 313.35155152
335
+ ],
336
+ "armed": false,
337
+ "command_guard_failure": null,
338
+ "command_velocity_limits": [
339
+ 7.326937734087213,
340
+ 7.492612143357643,
341
+ 9.039960411055707,
342
+ 10.989442599937178,
343
+ 11.822247140410347,
344
+ 21.729793477053846,
345
+ 4.549583926449072,
346
+ 9.542591565847905,
347
+ 16.49783855493206,
348
+ 19.18122166486826,
349
+ 20.271305218109156,
350
+ 13.274309575261345,
351
+ 14.009155302643812,
352
+ 4.764187300355128
353
+ ],
354
+ "dragging": false,
355
+ "fault": null,
356
+ "holding": false,
357
+ "policy_finished": false,
358
+ "position_guard_failure": null,
359
+ "position_limit_source": "sdk",
360
+ "position_limits": [
361
+ [
362
+ -2.7679899999999997,
363
+ 3.29159
364
+ ],
365
+ [
366
+ -0.15,
367
+ 3.81519
368
+ ],
369
+ [
370
+ -0.15,
371
+ 3.29159
372
+ ],
373
+ [
374
+ -1.84297,
375
+ 1.7207999999999999
376
+ ],
377
+ [
378
+ -1.7207999999999999,
379
+ 1.7207999999999999
380
+ ],
381
+ [
382
+ -2.2443999999999997,
383
+ 2.2443999999999997
384
+ ],
385
+ [
386
+ 0.0,
387
+ 0.096
388
+ ],
389
+ [
390
+ -2.7679899999999997,
391
+ 3.29159
392
+ ],
393
+ [
394
+ -0.15,
395
+ 3.81519
396
+ ],
397
+ [
398
+ -0.15,
399
+ 3.29159
400
+ ],
401
+ [
402
+ -1.84297,
403
+ 1.7207999999999999
404
+ ],
405
+ [
406
+ -1.7207999999999999,
407
+ 1.7207999999999999
408
+ ],
409
+ [
410
+ -2.2443999999999997,
411
+ 2.2443999999999997
412
+ ],
413
+ [
414
+ 0.0,
415
+ 0.096
416
+ ]
417
+ ],
418
+ "stationary_velocity_limits": [
419
+ 0.09619047798216343,
420
+ 0.09619047798216343,
421
+ 0.09125763334333897,
422
+ 0.09619047798216343,
423
+ 0.11098901189863682,
424
+ 0.18498168900609016,
425
+ 0.014679903751239181,
426
+ 0.10112332262098789,
427
+ 0.11098901189863682,
428
+ 0.10112332262098789,
429
+ 0.11098901189863682,
430
+ 0.14058608725667,
431
+ 0.2885714414715767,
432
+ 0.014345181323587895
433
+ ],
434
+ "stop_file": "/tmp/prometheus_openpi/STOP",
435
+ "tracking_error_limits": [
436
+ 0.20073625504970552,
437
+ 0.309388148188591,
438
+ 0.29782940477132797,
439
+ 0.22655070275068284,
440
+ 0.5001068050414323,
441
+ 0.7771305423974991,
442
+ 0.06952205713838339,
443
+ 0.268162048868835,
444
+ 0.3556229412555695,
445
+ 0.4542571985721588,
446
+ 0.3109293460845947,
447
+ 1.0653276860713958,
448
+ 0.45733958966098726,
449
+ 0.07211417473852634
450
+ ],
451
+ "velocity_limits": [
452
+ 6.503956017494202,
453
+ 7.554651925563812,
454
+ 9.670842275619506,
455
+ 10.588351378440857,
456
+ 8.72373610496521,
457
+ 13.252087483406067,
458
+ 1.2993822544813156,
459
+ 8.664541969299316,
460
+ 10.73633671760559,
461
+ 14.77633719921112,
462
+ 17.380879168510436,
463
+ 20.799341225624083,
464
+ 7.747032866477967,
465
+ 1.3316887146234513
466
+ ]
467
+ },
468
+ "policy_entry_retries": 0,
469
+ "position_limit_source": "sdk",
470
+ "position_limits": [
471
+ [
472
+ -2.7679899999999997,
473
+ 3.29159
474
+ ],
475
+ [
476
+ -0.15,
477
+ 3.81519
478
+ ],
479
+ [
480
+ -0.15,
481
+ 3.29159
482
+ ],
483
+ [
484
+ -1.84297,
485
+ 1.7207999999999999
486
+ ],
487
+ [
488
+ -1.7207999999999999,
489
+ 1.7207999999999999
490
+ ],
491
+ [
492
+ -2.2443999999999997,
493
+ 2.2443999999999997
494
+ ],
495
+ [
496
+ 0.0,
497
+ 0.096
498
+ ],
499
+ [
500
+ -2.7679899999999997,
501
+ 3.29159
502
+ ],
503
+ [
504
+ -0.15,
505
+ 3.81519
506
+ ],
507
+ [
508
+ -0.15,
509
+ 3.29159
510
+ ],
511
+ [
512
+ -1.84297,
513
+ 1.7207999999999999
514
+ ],
515
+ [
516
+ -1.7207999999999999,
517
+ 1.7207999999999999
518
+ ],
519
+ [
520
+ -2.2443999999999997,
521
+ 2.2443999999999997
522
+ ],
523
+ [
524
+ 0.0,
525
+ 0.096
526
+ ]
527
+ ],
528
+ "recording": {
529
+ "episode_dir": "/home/romoya-1/openpi-workspace/PrometheusV2/outputs/yam_v2/dp/best-short/spatula_handoff/data/round_0001",
530
+ "failure": "",
531
+ "paused": false,
532
+ "queue_size": 0,
533
+ "queues": {
534
+ "action": 0,
535
+ "camera:base_0": 0,
536
+ "camera:left_wrist_0": 0,
537
+ "camera:right_wrist_0": 0,
538
+ "event": 0,
539
+ "robot": 0
540
+ },
541
+ "record_counts": {
542
+ "action.executed": 418,
543
+ "camera.base_0_rgb": 678,
544
+ "camera.left_wrist_0_rgb": 680,
545
+ "camera.right_wrist_0_rgb": 681,
546
+ "dropped": 0,
547
+ "event.workflow": 1,
548
+ "items": 5285,
549
+ "robot.robot_state": 2827
550
+ },
551
+ "recording": false,
552
+ "recording_enabled": true
553
+ },
554
+ "reviewed_at_ns": 1789573006684148738,
555
+ "round_number": 1,
556
+ "stationary_velocity_limits": [
557
+ 0.09619047798216343,
558
+ 0.09619047798216343,
559
+ 0.09125763334333897,
560
+ 0.09619047798216343,
561
+ 0.11098901189863682,
562
+ 0.18498168900609016,
563
+ 0.014679903751239181,
564
+ 0.10112332262098789,
565
+ 0.11098901189863682,
566
+ 0.10112332262098789,
567
+ 0.11098901189863682,
568
+ 0.14058608725667,
569
+ 0.2885714414715767,
570
+ 0.014345181323587895
571
+ ],
572
+ "status": "completed",
573
+ "task_success": false,
574
+ "termination_reason": "operator_review",
575
+ "tracking_error_limits": [
576
+ 0.20073625504970552,
577
+ 0.309388148188591,
578
+ 0.29782940477132797,
579
+ 0.22655070275068284,
580
+ 0.5001068050414323,
581
+ 0.7771305423974991,
582
+ 0.06952205713838339,
583
+ 0.268162048868835,
584
+ 0.3556229412555695,
585
+ 0.4542571985721588,
586
+ 0.3109293460845947,
587
+ 1.0653276860713958,
588
+ 0.45733958966098726,
589
+ 0.07211417473852634
590
+ ],
591
+ "velocity_limits": [
592
+ 6.503956017494202,
593
+ 7.554651925563812,
594
+ 9.670842275619506,
595
+ 10.588351378440857,
596
+ 8.72373610496521,
597
+ 13.252087483406067,
598
+ 1.2993822544813156,
599
+ 8.664541969299316,
600
+ 10.73633671760559,
601
+ 14.77633719921112,
602
+ 17.380879168510436,
603
+ 20.799341225624083,
604
+ 7.747032866477967,
605
+ 1.3316887146234513
606
+ ]
607
+ }
eval/YAM/V2/dp/spatula_handoff/data/round_0002/action/executed_action_dict.pkl ADDED
Binary file (96.2 kB). View file
 
eval/YAM/V2/dp/spatula_handoff/data/round_0002/camera/metadata.json ADDED
@@ -0,0 +1,59 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "base_0_rgb": {
3
+ "codec": "h264",
4
+ "container": "mp4",
5
+ "encoder": "libx264",
6
+ "encoding": "bgr8",
7
+ "frames": 910,
8
+ "height": 480,
9
+ "lossless": false,
10
+ "pixel_format": "yuv420p",
11
+ "quality": {
12
+ "mode": "crf",
13
+ "value": 14
14
+ },
15
+ "timestamp_policy": "shared_by_complete_physical_camera_bundle",
16
+ "timestamps": "camera/timestamp.pkl::base_0",
17
+ "topic": "/prometheus/sensors/cameras/base_0/color/image_raw",
18
+ "video": "camera/base_0_rgb.mp4",
19
+ "width": 640
20
+ },
21
+ "left_wrist_0_rgb": {
22
+ "codec": "h264",
23
+ "container": "mp4",
24
+ "encoder": "libx264",
25
+ "encoding": "bgr8",
26
+ "frames": 910,
27
+ "height": 480,
28
+ "lossless": false,
29
+ "pixel_format": "yuv420p",
30
+ "quality": {
31
+ "mode": "crf",
32
+ "value": 14
33
+ },
34
+ "timestamp_policy": "shared_by_complete_physical_camera_bundle",
35
+ "timestamps": "camera/timestamp.pkl::left_wrist_0",
36
+ "topic": "/prometheus/sensors/cameras/left_wrist_0/color/image_raw",
37
+ "video": "camera/left_wrist_0_rgb.mp4",
38
+ "width": 640
39
+ },
40
+ "right_wrist_0_rgb": {
41
+ "codec": "h264",
42
+ "container": "mp4",
43
+ "encoder": "libx264",
44
+ "encoding": "bgr8",
45
+ "frames": 909,
46
+ "height": 480,
47
+ "lossless": false,
48
+ "pixel_format": "yuv420p",
49
+ "quality": {
50
+ "mode": "crf",
51
+ "value": 14
52
+ },
53
+ "timestamp_policy": "shared_by_complete_physical_camera_bundle",
54
+ "timestamps": "camera/timestamp.pkl::right_wrist_0",
55
+ "topic": "/prometheus/sensors/cameras/right_wrist_0/color/image_raw",
56
+ "video": "camera/right_wrist_0_rgb.mp4",
57
+ "width": 640
58
+ }
59
+ }
eval/YAM/V2/dp/spatula_handoff/data/round_0002/debug/actions.jsonl ADDED
The diff for this file is too large to render. See raw diff
 
eval/YAM/V2/dp/spatula_handoff/data/round_0002/debug/validations/validation_0000.json ADDED
@@ -0,0 +1,195 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "command_velocity_limits": [
3
+ 7.326937734087213,
4
+ 7.492612143357643,
5
+ 9.039960411055707,
6
+ 10.989442599937178,
7
+ 11.822247140410347,
8
+ 21.729793477053846,
9
+ 4.549583926449072,
10
+ 9.542591565847905,
11
+ 16.49783855493206,
12
+ 19.18122166486826,
13
+ 20.271305218109156,
14
+ 13.274309575261345,
15
+ 14.009155302643812,
16
+ 4.764187300355128
17
+ ],
18
+ "current": [
19
+ 0.009727626459143934,
20
+ 0.0036240177004653873,
21
+ 0.007438773174639479,
22
+ 0.01583123521782248,
23
+ 0.018501564049744346,
24
+ -0.02536812390325416,
25
+ 0.09589584840156228,
26
+ -0.030327306019687583,
27
+ 0.0036240177004653873,
28
+ 0.003242542153047978,
29
+ 0.023842221713588074,
30
+ -0.07648584725719054,
31
+ 0.08602273594262577,
32
+ 0.0852553391732426
33
+ ],
34
+ "current_velocity": [
35
+ 0.0024420024420024333,
36
+ 0.0024420024420024333,
37
+ -0.0024420024420024333,
38
+ 0.0073260073260073,
39
+ -0.0073260073260073,
40
+ -0.0073260073260073,
41
+ -0.00013334456661521563,
42
+ -0.0073260073260073,
43
+ -0.012210012210012167,
44
+ -0.0073260073260073,
45
+ -0.0073260073260073,
46
+ 0.0073260073260073,
47
+ -0.0073260073260073,
48
+ 0.0004004101885228345
49
+ ],
50
+ "first_target": [
51
+ -0.002070298418402672,
52
+ -0.0008269841782748699,
53
+ -0.009495746344327927,
54
+ 0.023031383752822876,
55
+ 0.00501640047878027,
56
+ -0.034703560173511505,
57
+ 0.0958152562379837,
58
+ -0.025037478655576706,
59
+ 0.002665650798007846,
60
+ -0.011184723116457462,
61
+ 0.03172355890274048,
62
+ -0.06634528189897537,
63
+ 0.069835364818573,
64
+ 0.08429189026355743
65
+ ],
66
+ "first_transition_velocity": [
67
+ -0.3539377463263982,
68
+ -0.13353005636220772,
69
+ -0.5080355855690222,
70
+ 0.21600445605001184,
71
+ -0.4045549071289223,
72
+ -0.2800630881077204,
73
+ -0.0024177649073571506,
74
+ 0.15869482092332632,
75
+ -0.028751007073726242,
76
+ -0.4328179580851632,
77
+ 0.23644011567457213,
78
+ 0.3042169607464551,
79
+ -0.4856211337215832,
80
+ -0.028903467290554985
81
+ ],
82
+ "observation_state": [
83
+ 0.009727626107633114,
84
+ 0.0036240178160369396,
85
+ 0.007438773289322853,
86
+ 0.01583123579621315,
87
+ 0.018501564860343933,
88
+ -0.025749599561095238,
89
+ 0.09589584916830063,
90
+ -0.02994582988321781,
91
+ 0.0036240178160369396,
92
+ 0.0032425422687083483,
93
+ 0.02384222112596035,
94
+ -0.07648584991693497,
95
+ 0.08602273464202881,
96
+ 0.08524838835000992
97
+ ],
98
+ "policy_metadata": {
99
+ "alignment_wait_ms": 94.22500799701083,
100
+ "checkpoint_path": "/home/romoya-1/openpi-workspace/checkpoints/yam-policies-release/yam_policies/xiangrun/20260916_v2_seven_tasks/dp/spatula_handoff/best-short.pt",
101
+ "first_action_minus_state": [
102
+ -0.011797924526035786,
103
+ -0.0044510019943118095,
104
+ -0.01693451963365078,
105
+ 0.007200147956609726,
106
+ -0.013485164381563663,
107
+ -0.008953960612416267,
108
+ -8.059293031692505e-05,
109
+ 0.004908351227641106,
110
+ -0.0009583670180290937,
111
+ -0.014427265152335167,
112
+ 0.007881337776780128,
113
+ 0.010140568017959595,
114
+ -0.01618736982345581,
115
+ -0.0009564980864524841
116
+ ],
117
+ "history_anchor_offset": 0,
118
+ "history_interval_ms": 33.335523,
119
+ "history_sample_stamp_ns": {
120
+ "base_0_color": [
121
+ 1789573026802367473,
122
+ 1789573026835702996
123
+ ],
124
+ "left_wrist_0_color": [
125
+ 1789573026813597147,
126
+ 1789573026847104213
127
+ ],
128
+ "right_wrist_0_color": [
129
+ 1789573026789808684,
130
+ 1789573026823030924
131
+ ],
132
+ "robot_state": [
133
+ 1789573026798989814,
134
+ 1789573026832297818
135
+ ]
136
+ },
137
+ "history_stamp_ns": [
138
+ 1789573026802367473,
139
+ 1789573026835702996
140
+ ],
141
+ "model_seed": null,
142
+ "observation_age_at_response_ms": 108.448428,
143
+ "observation_stamp_ns": 1789573026835702996,
144
+ "prompt": "spatula_handoff",
145
+ "release_revision": "39c623bd78f638d06ce0db57631b66d3028db208",
146
+ "request_id": "96952634b390473386e1d7083af93a1d",
147
+ "round_trip_ms": 82.99273600277957,
148
+ "server_metadata": {
149
+ "action_shape": [
150
+ 32,
151
+ 14
152
+ ],
153
+ "action_space": "abs_qpos",
154
+ "cameras": [
155
+ "base_0",
156
+ "left_wrist_0",
157
+ "right_wrist_0"
158
+ ],
159
+ "checkpoint_hashes": {
160
+ "dp/spatula_handoff/best-short.pt": "e940beeaf79e8ea99be7e46a2e6c3b9c162394ab2dd2a86b1439b61fec8dd0f2"
161
+ },
162
+ "checkpoint_path": "/home/romoya-1/openpi-workspace/checkpoints/yam-policies-release/yam_policies/xiangrun/20260916_v2_seven_tasks/dp/spatula_handoff/best-short.pt",
163
+ "fps": 30,
164
+ "gpu": "NVIDIA GeForce RTX 5090",
165
+ "gpu_peak_mib": 446.9287109375,
166
+ "model": "dp",
167
+ "observation_offsets": [
168
+ -1,
169
+ 0
170
+ ],
171
+ "protocol": "yam-v2-native-npz-v1",
172
+ "release_revision": "39c623bd78f638d06ce0db57631b66d3028db208",
173
+ "step": 20000,
174
+ "task": "spatula_handoff",
175
+ "tasks": [
176
+ "spatula_handoff"
177
+ ],
178
+ "warmup": {
179
+ "hardware_started": false,
180
+ "seconds": [
181
+ 0.2951951069990173,
182
+ 0.056270029002917,
183
+ 0.05475686999852769,
184
+ 0.05329998300294392
185
+ ],
186
+ "status": "passed"
187
+ }
188
+ },
189
+ "server_prediction_seconds": 0.08033265901030973,
190
+ "source": "yam_v2_dp_http",
191
+ "task": "spatula_handoff",
192
+ "wire_action_dtype": "float32"
193
+ },
194
+ "time_ns": 1789573026987801506
195
+ }
eval/YAM/V2/dp/spatula_handoff/data/round_0002/debug/validations/validation_0001.json ADDED
@@ -0,0 +1,195 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "command_velocity_limits": [
3
+ 7.326937734087213,
4
+ 7.492612143357643,
5
+ 9.039960411055707,
6
+ 10.989442599937178,
7
+ 11.822247140410347,
8
+ 21.729793477053846,
9
+ 4.549583926449072,
10
+ 9.542591565847905,
11
+ 16.49783855493206,
12
+ 19.18122166486826,
13
+ 20.271305218109156,
14
+ 13.274309575261345,
15
+ 14.009155302643812,
16
+ 4.764187300355128
17
+ ],
18
+ "current": [
19
+ 0.0017166399633783413,
20
+ 0.0036240177004653873,
21
+ 0.00705729762722207,
22
+ 0.024223697261005483,
23
+ 0.014305333028152845,
24
+ -0.04215304798962016,
25
+ 0.09572920584406192,
26
+ -0.009346150911726525,
27
+ 0.8478294041351955,
28
+ 0.5197604333562218,
29
+ -0.42210269321736327,
30
+ -0.11692225528343592,
31
+ -0.3263523308155971,
32
+ 0.08505378990805763
33
+ ],
34
+ "current_velocity": [
35
+ 0.0024420024420024333,
36
+ -0.0024420024420024333,
37
+ -0.0219780219780219,
38
+ -0.0219780219780219,
39
+ -0.0073260073260073,
40
+ 0.0073260073260073,
41
+ 0.00040003369984564687,
42
+ 0.0024420024420024333,
43
+ -0.0024420024420024333,
44
+ -0.0073260073260073,
45
+ 0.0073260073260073,
46
+ -0.0073260073260073,
47
+ -0.0073260073260073,
48
+ 0.00013347006284094486
49
+ ],
50
+ "first_target": [
51
+ -0.01284346729516983,
52
+ -0.004905359353870153,
53
+ -0.007398320361971855,
54
+ 0.03129199147224426,
55
+ 0.005524219013750553,
56
+ -0.05068059638142586,
57
+ 0.09583506733179092,
58
+ -0.005598359741270542,
59
+ 0.9575378894805908,
60
+ 0.624893307685852,
61
+ -0.4718860387802124,
62
+ -0.11175042390823364,
63
+ -0.37292754650115967,
64
+ 0.08535178005695343
65
+ ],
66
+ "first_transition_velocity": [
67
+ -0.43680321775644515,
68
+ -0.2558813116300662,
69
+ -0.43366853967581775,
70
+ 0.21204882633716338,
71
+ -0.26343342043206874,
72
+ -0.25582645175417085,
73
+ 0.0031758446318702616,
74
+ 0.11243373511367949,
75
+ 3.2912545603618604,
76
+ 3.1539862298889076,
77
+ -1.493500366885474,
78
+ 0.1551549412560682,
79
+ -1.3972564705668766,
80
+ 0.008939704466873893
81
+ ],
82
+ "observation_state": [
83
+ 0.0013351644156500697,
84
+ 0.0036240178160369396,
85
+ 0.007438773289322853,
86
+ 0.02384222112596035,
87
+ 0.01430533267557621,
88
+ -0.04177157208323479,
89
+ 0.0957222655415535,
90
+ -0.009346150793135166,
91
+ 0.8478294014930725,
92
+ 0.5197604298591614,
93
+ -0.421339750289917,
94
+ -0.11768520623445511,
95
+ -0.3236820101737976,
96
+ 0.08505378663539886
97
+ ],
98
+ "policy_metadata": {
99
+ "alignment_wait_ms": 5.760129002737813,
100
+ "checkpoint_path": "/home/romoya-1/openpi-workspace/checkpoints/yam-policies-release/yam_policies/xiangrun/20260916_v2_seven_tasks/dp/spatula_handoff/best-short.pt",
101
+ "first_action_minus_state": [
102
+ -0.014178631827235222,
103
+ -0.008529377169907093,
104
+ -0.014837093651294708,
105
+ 0.007449770346283913,
106
+ -0.008781113661825657,
107
+ -0.00890902429819107,
108
+ 0.00011280179023742676,
109
+ 0.003747791051864624,
110
+ 0.10970848798751831,
111
+ 0.10513287782669067,
112
+ -0.05054628849029541,
113
+ 0.005934782326221466,
114
+ -0.04924553632736206,
115
+ 0.00029799342155456543
116
+ ],
117
+ "history_anchor_offset": 1,
118
+ "history_interval_ms": 33.470477,
119
+ "history_sample_stamp_ns": {
120
+ "base_0_color": [
121
+ 1789573028436126982,
122
+ 1789573028469597459
123
+ ],
124
+ "left_wrist_0_color": [
125
+ 1789573028447282966,
126
+ 1789573028480653337
127
+ ],
128
+ "right_wrist_0_color": [
129
+ 1789573028423623797,
130
+ 1789573028456752438
131
+ ],
132
+ "robot_state": [
133
+ 1789573028432545842,
134
+ 1789573028465670519
135
+ ]
136
+ },
137
+ "history_stamp_ns": [
138
+ 1789573028436126982,
139
+ 1789573028469597459
140
+ ],
141
+ "model_seed": null,
142
+ "observation_age_at_response_ms": 128.230897,
143
+ "observation_stamp_ns": 1789573028469597459,
144
+ "prompt": "spatula_handoff",
145
+ "release_revision": "39c623bd78f638d06ce0db57631b66d3028db208",
146
+ "request_id": "3155a6165db848beafb872901a26ac5f",
147
+ "round_trip_ms": 78.77320899569895,
148
+ "server_metadata": {
149
+ "action_shape": [
150
+ 32,
151
+ 14
152
+ ],
153
+ "action_space": "abs_qpos",
154
+ "cameras": [
155
+ "base_0",
156
+ "left_wrist_0",
157
+ "right_wrist_0"
158
+ ],
159
+ "checkpoint_hashes": {
160
+ "dp/spatula_handoff/best-short.pt": "e940beeaf79e8ea99be7e46a2e6c3b9c162394ab2dd2a86b1439b61fec8dd0f2"
161
+ },
162
+ "checkpoint_path": "/home/romoya-1/openpi-workspace/checkpoints/yam-policies-release/yam_policies/xiangrun/20260916_v2_seven_tasks/dp/spatula_handoff/best-short.pt",
163
+ "fps": 30,
164
+ "gpu": "NVIDIA GeForce RTX 5090",
165
+ "gpu_peak_mib": 446.9287109375,
166
+ "model": "dp",
167
+ "observation_offsets": [
168
+ -1,
169
+ 0
170
+ ],
171
+ "protocol": "yam-v2-native-npz-v1",
172
+ "release_revision": "39c623bd78f638d06ce0db57631b66d3028db208",
173
+ "step": 20000,
174
+ "task": "spatula_handoff",
175
+ "tasks": [
176
+ "spatula_handoff"
177
+ ],
178
+ "warmup": {
179
+ "hardware_started": false,
180
+ "seconds": [
181
+ 0.2951951069990173,
182
+ 0.056270029002917,
183
+ 0.05475686999852769,
184
+ 0.05329998300294392
185
+ ],
186
+ "status": "passed"
187
+ }
188
+ },
189
+ "server_prediction_seconds": 0.07600847400317434,
190
+ "source": "yam_v2_dp_http",
191
+ "task": "spatula_handoff",
192
+ "wire_action_dtype": "float32"
193
+ },
194
+ "time_ns": 1789573028630957136
195
+ }
eval/YAM/V2/dp/spatula_handoff/data/round_0002/debug/validations/validation_0002.json ADDED
@@ -0,0 +1,195 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "command_velocity_limits": [
3
+ 7.326937734087213,
4
+ 7.492612143357643,
5
+ 9.039960411055707,
6
+ 10.989442599937178,
7
+ 11.822247140410347,
8
+ 21.729793477053846,
9
+ 4.549583926449072,
10
+ 9.542591565847905,
11
+ 16.49783855493206,
12
+ 19.18122166486826,
13
+ 20.271305218109156,
14
+ 13.274309575261345,
15
+ 14.009155302643812,
16
+ 4.764187300355128
17
+ ],
18
+ "current": [
19
+ -0.0024795910582131597,
20
+ 0.0036240177004653873,
21
+ 0.00705729762722207,
22
+ 0.03833829251544962,
23
+ 0.014305333028152845,
24
+ -0.04787518120088485,
25
+ 0.09551395920729061,
26
+ 0.02994583047226662,
27
+ 1.634431982909895,
28
+ 1.0091935606927596,
29
+ -0.6654840924696703,
30
+ -0.048638132295723224,
31
+ -0.3671702143892599,
32
+ 0.082635198725838
33
+ ],
34
+ "current_velocity": [
35
+ 0.017094017094017033,
36
+ -0.0024420024420024333,
37
+ -0.0073260073260073,
38
+ -0.0073260073260073,
39
+ -0.0073260073260073,
40
+ -0.0073260073260073,
41
+ 0.00013334456661521563,
42
+ 0.0073260073260073,
43
+ -0.0024420024420024333,
44
+ 0.0073260073260073,
45
+ -0.0073260073260073,
46
+ -0.0073260073260073,
47
+ -0.0073260073260073,
48
+ 0.00013347006284094486
49
+ ],
50
+ "first_target": [
51
+ -0.010348811745643616,
52
+ -0.02584298513829708,
53
+ -0.00895630568265915,
54
+ 0.04778729006648064,
55
+ 0.004252844490110874,
56
+ -0.07394588738679886,
57
+ 0.09582799673080444,
58
+ 0.021921370178461075,
59
+ 1.6865941286087036,
60
+ 1.0491325855255127,
61
+ -0.6957154273986816,
62
+ -0.00920708104968071,
63
+ -0.36843186616897583,
64
+ 0.08256115764379501
65
+ ],
66
+ "first_transition_velocity": [
67
+ -0.23607662062291368,
68
+ -0.884010085162874,
69
+ -0.4804080992964366,
70
+ 0.2834699265309304,
71
+ -0.3015746561412591,
72
+ -0.7821211855774202,
73
+ 0.009421125705414979,
74
+ -0.2407338088141664,
75
+ 1.5648643709642585,
76
+ 1.198170744982594,
77
+ -0.9069400478703393,
78
+ 1.1829315373812754,
79
+ -0.037849553391478,
80
+ -0.002221232461289413
81
+ ],
82
+ "observation_state": [
83
+ -0.0024795911740511656,
84
+ 0.0036240178160369396,
85
+ 0.007438773289322853,
86
+ 0.03833829239010811,
87
+ 0.01430533267557621,
88
+ -0.04787518084049225,
89
+ 0.0955139622092247,
90
+ 0.02994582988321781,
91
+ 1.6344319581985474,
92
+ 1.0091935396194458,
93
+ -0.6658655405044556,
94
+ -0.048638131469488144,
95
+ -0.36717021465301514,
96
+ 0.08264214545488358
97
+ ],
98
+ "policy_metadata": {
99
+ "alignment_wait_ms": 4.943166000884958,
100
+ "checkpoint_path": "/home/romoya-1/openpi-workspace/checkpoints/yam-policies-release/yam_policies/xiangrun/20260916_v2_seven_tasks/dp/spatula_handoff/best-short.pt",
101
+ "first_action_minus_state": [
102
+ -0.007869220338761806,
103
+ -0.029467003419995308,
104
+ -0.016395078971982002,
105
+ 0.009448997676372528,
106
+ -0.010052488185465336,
107
+ -0.02607070654630661,
108
+ 0.00031403452157974243,
109
+ -0.008024459704756737,
110
+ 0.05216217041015625,
111
+ 0.039939045906066895,
112
+ -0.029849886894226074,
113
+ 0.039431050419807434,
114
+ -0.0012616515159606934,
115
+ -8.098781108856201e-05
116
+ ],
117
+ "history_anchor_offset": 0,
118
+ "history_interval_ms": 33.424741,
119
+ "history_sample_stamp_ns": {
120
+ "base_0_color": [
121
+ 1789573030069856720,
122
+ 1789573030103281461
123
+ ],
124
+ "left_wrist_0_color": [
125
+ 1789573030081029083,
126
+ 1789573030114415545
127
+ ],
128
+ "right_wrist_0_color": [
129
+ 1789573030057154150,
130
+ 1789573030090647377
131
+ ],
132
+ "robot_state": [
133
+ 1789573030073986919,
134
+ 1789573030107301615
135
+ ]
136
+ },
137
+ "history_stamp_ns": [
138
+ 1789573030069856720,
139
+ 1789573030103281461
140
+ ],
141
+ "model_seed": null,
142
+ "observation_age_at_response_ms": 115.008039,
143
+ "observation_stamp_ns": 1789573030103281461,
144
+ "prompt": "spatula_handoff",
145
+ "release_revision": "39c623bd78f638d06ce0db57631b66d3028db208",
146
+ "request_id": "ef2d6f2113744ed997a9a7db71341041",
147
+ "round_trip_ms": 79.92479800304864,
148
+ "server_metadata": {
149
+ "action_shape": [
150
+ 32,
151
+ 14
152
+ ],
153
+ "action_space": "abs_qpos",
154
+ "cameras": [
155
+ "base_0",
156
+ "left_wrist_0",
157
+ "right_wrist_0"
158
+ ],
159
+ "checkpoint_hashes": {
160
+ "dp/spatula_handoff/best-short.pt": "e940beeaf79e8ea99be7e46a2e6c3b9c162394ab2dd2a86b1439b61fec8dd0f2"
161
+ },
162
+ "checkpoint_path": "/home/romoya-1/openpi-workspace/checkpoints/yam-policies-release/yam_policies/xiangrun/20260916_v2_seven_tasks/dp/spatula_handoff/best-short.pt",
163
+ "fps": 30,
164
+ "gpu": "NVIDIA GeForce RTX 5090",
165
+ "gpu_peak_mib": 446.9287109375,
166
+ "model": "dp",
167
+ "observation_offsets": [
168
+ -1,
169
+ 0
170
+ ],
171
+ "protocol": "yam-v2-native-npz-v1",
172
+ "release_revision": "39c623bd78f638d06ce0db57631b66d3028db208",
173
+ "step": 20000,
174
+ "task": "spatula_handoff",
175
+ "tasks": [
176
+ "spatula_handoff"
177
+ ],
178
+ "warmup": {
179
+ "hardware_started": false,
180
+ "seconds": [
181
+ 0.2951951069990173,
182
+ 0.056270029002917,
183
+ 0.05475686999852769,
184
+ 0.05329998300294392
185
+ ],
186
+ "status": "passed"
187
+ }
188
+ },
189
+ "server_prediction_seconds": 0.07724401900486555,
190
+ "source": "yam_v2_dp_http",
191
+ "task": "spatula_handoff",
192
+ "wire_action_dtype": "float32"
193
+ },
194
+ "time_ns": 1789573030255032053
195
+ }
eval/YAM/V2/dp/spatula_handoff/data/round_0002/debug/validations/validation_0003.json ADDED
@@ -0,0 +1,195 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "command_velocity_limits": [
3
+ 7.326937734087213,
4
+ 7.492612143357643,
5
+ 9.039960411055707,
6
+ 10.989442599937178,
7
+ 11.822247140410347,
8
+ 21.729793477053846,
9
+ 4.549583926449072,
10
+ 9.542591565847905,
11
+ 16.49783855493206,
12
+ 19.18122166486826,
13
+ 20.271305218109156,
14
+ 13.274309575261345,
15
+ 14.009155302643812,
16
+ 4.764187300355128
17
+ ],
18
+ "current": [
19
+ -0.01163500419623098,
20
+ 0.0020981155107957505,
21
+ 0.007438773174639479,
22
+ 0.03833829251544962,
23
+ 0.003242542153047978,
24
+ -0.06771190966659013,
25
+ 0.09504180529437292,
26
+ 0.03185320820935367,
27
+ 1.7961776150148783,
28
+ 1.0950255588616766,
29
+ -0.790989547569998,
30
+ -0.025749599450678673,
31
+ -0.41981383993286236,
32
+ 0.06833215087236662
33
+ ],
34
+ "current_velocity": [
35
+ 0.012210012210012167,
36
+ 0.0024420024420024333,
37
+ 0.0024420024420024333,
38
+ -0.0073260073260073,
39
+ -0.0073260073260073,
40
+ -0.0219780219780219,
41
+ 0.00013334456661521563,
42
+ -0.0024420024420024333,
43
+ -0.0219780219780219,
44
+ -0.0219780219780219,
45
+ -0.0219780219780219,
46
+ -0.0073260073260073,
47
+ 0.0073260073260073,
48
+ 0.0004004101885228345
49
+ ],
50
+ "first_target": [
51
+ -0.026072023436427116,
52
+ -0.007590124383568764,
53
+ -0.009844399988651276,
54
+ 0.050419025123119354,
55
+ 0.0007850676774978638,
56
+ -0.06081347540020943,
57
+ 0.09553346782922745,
58
+ 0.02963043563067913,
59
+ 1.8435081243515015,
60
+ 1.1049665212631226,
61
+ -0.8009122014045715,
62
+ 0.018924681469798088,
63
+ -0.4348345398902893,
64
+ 0.06276965886354446
65
+ ],
66
+ "first_transition_velocity": [
67
+ -0.4331105772058841,
68
+ -0.29064719683093543,
69
+ -0.5184951948987226,
70
+ 0.3624219782300919,
71
+ -0.07372423426650343,
72
+ 0.20695302799142112,
73
+ 0.014749876045635768,
74
+ -0.0666831773602361,
75
+ 1.4199152800986958,
76
+ 0.2982288720433779,
77
+ -0.2976796150372074,
78
+ 1.3402284276143028,
79
+ -0.45062099872280825,
80
+ -0.1668747602646646
81
+ ],
82
+ "observation_state": [
83
+ -0.011635004542768002,
84
+ 0.001716639962978661,
85
+ 0.007057297509163618,
86
+ 0.03833829239010811,
87
+ 0.0032425422687083483,
88
+ -0.06733043491840363,
89
+ 0.09504180401563644,
90
+ 0.03185320645570755,
91
+ 1.796177625656128,
92
+ 1.0950255393981934,
93
+ -0.7906080484390259,
94
+ -0.025749599561095238,
95
+ -0.41676202416419983,
96
+ 0.06833215057849884
97
+ ],
98
+ "policy_metadata": {
99
+ "alignment_wait_ms": 4.997643001843244,
100
+ "checkpoint_path": "/home/romoya-1/openpi-workspace/checkpoints/yam-policies-release/yam_policies/xiangrun/20260916_v2_seven_tasks/dp/spatula_handoff/best-short.pt",
101
+ "first_action_minus_state": [
102
+ -0.014437018893659115,
103
+ -0.009306764230132103,
104
+ -0.01690169796347618,
105
+ 0.012080732733011246,
106
+ -0.0024574745912104845,
107
+ 0.006516959518194199,
108
+ 0.0004916638135910034,
109
+ -0.0022227708250284195,
110
+ 0.047330498695373535,
111
+ 0.0099409818649292,
112
+ -0.010304152965545654,
113
+ 0.044674281030893326,
114
+ -0.018072515726089478,
115
+ -0.005562491714954376
116
+ ],
117
+ "history_anchor_offset": 0,
118
+ "history_interval_ms": 33.423344,
119
+ "history_sample_stamp_ns": {
120
+ "base_0_color": [
121
+ 1789573031736892495,
122
+ 1789573031770315839
123
+ ],
124
+ "left_wrist_0_color": [
125
+ 1789573031748170975,
126
+ 1789573031781544757
127
+ ],
128
+ "right_wrist_0_color": [
129
+ 1789573031724352654,
130
+ 1789573031757715069
131
+ ],
132
+ "robot_state": [
133
+ 1789573031740631206,
134
+ 1789573031774224033
135
+ ]
136
+ },
137
+ "history_stamp_ns": [
138
+ 1789573031736892495,
139
+ 1789573031770315839
140
+ ],
141
+ "model_seed": null,
142
+ "observation_age_at_response_ms": 100.60881,
143
+ "observation_stamp_ns": 1789573031770315839,
144
+ "prompt": "spatula_handoff",
145
+ "release_revision": "39c623bd78f638d06ce0db57631b66d3028db208",
146
+ "request_id": "15439224e6234eedbe9d64e7a792e237",
147
+ "round_trip_ms": 80.50305600045249,
148
+ "server_metadata": {
149
+ "action_shape": [
150
+ 32,
151
+ 14
152
+ ],
153
+ "action_space": "abs_qpos",
154
+ "cameras": [
155
+ "base_0",
156
+ "left_wrist_0",
157
+ "right_wrist_0"
158
+ ],
159
+ "checkpoint_hashes": {
160
+ "dp/spatula_handoff/best-short.pt": "e940beeaf79e8ea99be7e46a2e6c3b9c162394ab2dd2a86b1439b61fec8dd0f2"
161
+ },
162
+ "checkpoint_path": "/home/romoya-1/openpi-workspace/checkpoints/yam-policies-release/yam_policies/xiangrun/20260916_v2_seven_tasks/dp/spatula_handoff/best-short.pt",
163
+ "fps": 30,
164
+ "gpu": "NVIDIA GeForce RTX 5090",
165
+ "gpu_peak_mib": 446.9287109375,
166
+ "model": "dp",
167
+ "observation_offsets": [
168
+ -1,
169
+ 0
170
+ ],
171
+ "protocol": "yam-v2-native-npz-v1",
172
+ "release_revision": "39c623bd78f638d06ce0db57631b66d3028db208",
173
+ "step": 20000,
174
+ "task": "spatula_handoff",
175
+ "tasks": [
176
+ "spatula_handoff"
177
+ ],
178
+ "warmup": {
179
+ "hardware_started": false,
180
+ "seconds": [
181
+ 0.2951951069990173,
182
+ 0.056270029002917,
183
+ 0.05475686999852769,
184
+ 0.05329998300294392
185
+ ],
186
+ "status": "passed"
187
+ }
188
+ },
189
+ "server_prediction_seconds": 0.07588442400447093,
190
+ "source": "yam_v2_dp_http",
191
+ "task": "spatula_handoff",
192
+ "wire_action_dtype": "float32"
193
+ },
194
+ "time_ns": 1789573031906147005
195
+ }
eval/YAM/V2/dp/spatula_handoff/data/round_0002/debug/validations/validation_0004.json ADDED
@@ -0,0 +1,195 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "command_velocity_limits": [
3
+ 7.326937734087213,
4
+ 7.492612143357643,
5
+ 9.039960411055707,
6
+ 10.989442599937178,
7
+ 11.822247140410347,
8
+ 21.729793477053846,
9
+ 4.549583926449072,
10
+ 9.542591565847905,
11
+ 16.49783855493206,
12
+ 19.18122166486826,
13
+ 20.271305218109156,
14
+ 13.274309575261345,
15
+ 14.009155302643812,
16
+ 4.764187300355128
17
+ ],
18
+ "current": [
19
+ -0.013542381933321579,
20
+ 0.0017166399633783413,
21
+ 0.00705729762722207,
22
+ 0.046730754558632626,
23
+ 0.0040054932478827965,
24
+ -0.06351567864499508,
25
+ 0.09547229856791553,
26
+ 0.02613107499809253,
27
+ 1.8568322270542463,
28
+ 1.173609521629663,
29
+ -0.9542610818646491,
30
+ -0.1226443884947006,
31
+ -0.5273899443045682,
32
+ 0.02008542677188155
33
+ ],
34
+ "current_velocity": [
35
+ 0.017094017094017033,
36
+ -0.0024420024420024333,
37
+ -0.0024420024420024333,
38
+ -0.0073260073260073,
39
+ -0.0073260073260073,
40
+ -0.0073260073260073,
41
+ 0.00013334456661521563,
42
+ -0.0024420024420024333,
43
+ 0.0073260073260073,
44
+ 0.012210012210012167,
45
+ 0.0073260073260073,
46
+ -0.0073260073260073,
47
+ -0.0219780219780219,
48
+ 0.00013347006284094486
49
+ ],
50
+ "first_target": [
51
+ -0.029877157881855965,
52
+ -0.0048151770606637,
53
+ -0.008726716041564941,
54
+ 0.056593287736177444,
55
+ -0.00043648481369018555,
56
+ -0.059836648404598236,
57
+ 0.09577851742506027,
58
+ 0.025324854999780655,
59
+ 1.912821888923645,
60
+ 1.1820521354675293,
61
+ -0.9580336809158325,
62
+ -0.10704568028450012,
63
+ -0.5159699320793152,
64
+ 0.010383756831288338
65
+ ],
66
+ "first_transition_velocity": [
67
+ -0.4900432784560316,
68
+ -0.19595451072126124,
69
+ -0.47352041006361034,
70
+ 0.29587599532634457,
71
+ -0.13325934184718946,
72
+ 0.11037090721190523,
73
+ 0.009186565714342232,
74
+ -0.024186599949356236,
75
+ 1.6796898560819606,
76
+ 0.25327841513599125,
77
+ -0.11317797153550302,
78
+ 0.46796124630601454,
79
+ 0.34260036675759054,
80
+ -0.2910500982177964
81
+ ],
82
+ "observation_state": [
83
+ -0.013542382046580315,
84
+ 0.001716639962978661,
85
+ 0.007057297509163618,
86
+ 0.046730753034353256,
87
+ 0.004386968910694122,
88
+ -0.06351567804813385,
89
+ 0.0954722985625267,
90
+ 0.026131074875593185,
91
+ 1.8568322658538818,
92
+ 1.1736094951629639,
93
+ -0.954261064529419,
94
+ -0.11959258466959,
95
+ -0.5251010656356812,
96
+ 0.020085426047444344
97
+ ],
98
+ "policy_metadata": {
99
+ "alignment_wait_ms": 4.385149004519917,
100
+ "checkpoint_path": "/home/romoya-1/openpi-workspace/checkpoints/yam-policies-release/yam_policies/xiangrun/20260916_v2_seven_tasks/dp/spatula_handoff/best-short.pt",
101
+ "first_action_minus_state": [
102
+ -0.01633477583527565,
103
+ -0.006531816907227039,
104
+ -0.015784014016389847,
105
+ 0.009862534701824188,
106
+ -0.004823453724384308,
107
+ 0.003679029643535614,
108
+ 0.00030621886253356934,
109
+ -0.0008062198758125305,
110
+ 0.055989623069763184,
111
+ 0.00844264030456543,
112
+ -0.0037726163864135742,
113
+ 0.012546904385089874,
114
+ 0.009131133556365967,
115
+ -0.009701669216156006
116
+ ],
117
+ "history_anchor_offset": 0,
118
+ "history_interval_ms": 33.551971,
119
+ "history_sample_stamp_ns": {
120
+ "base_0_color": [
121
+ 1789573033403990686,
122
+ 1789573033437542657
123
+ ],
124
+ "left_wrist_0_color": [
125
+ 1789573033415246671,
126
+ 1789573033448646535
127
+ ],
128
+ "right_wrist_0_color": [
129
+ 1789573033391266366,
130
+ 1789573033424604387
131
+ ],
132
+ "robot_state": [
133
+ 1789573033407680070,
134
+ 1789573033440666130
135
+ ]
136
+ },
137
+ "history_stamp_ns": [
138
+ 1789573033403990686,
139
+ 1789573033437542657
140
+ ],
141
+ "model_seed": null,
142
+ "observation_age_at_response_ms": 108.763412,
143
+ "observation_stamp_ns": 1789573033437542657,
144
+ "prompt": "spatula_handoff",
145
+ "release_revision": "39c623bd78f638d06ce0db57631b66d3028db208",
146
+ "request_id": "bc341f30384a42a3bde8003220602e1d",
147
+ "round_trip_ms": 80.85599899641238,
148
+ "server_metadata": {
149
+ "action_shape": [
150
+ 32,
151
+ 14
152
+ ],
153
+ "action_space": "abs_qpos",
154
+ "cameras": [
155
+ "base_0",
156
+ "left_wrist_0",
157
+ "right_wrist_0"
158
+ ],
159
+ "checkpoint_hashes": {
160
+ "dp/spatula_handoff/best-short.pt": "e940beeaf79e8ea99be7e46a2e6c3b9c162394ab2dd2a86b1439b61fec8dd0f2"
161
+ },
162
+ "checkpoint_path": "/home/romoya-1/openpi-workspace/checkpoints/yam-policies-release/yam_policies/xiangrun/20260916_v2_seven_tasks/dp/spatula_handoff/best-short.pt",
163
+ "fps": 30,
164
+ "gpu": "NVIDIA GeForce RTX 5090",
165
+ "gpu_peak_mib": 446.9287109375,
166
+ "model": "dp",
167
+ "observation_offsets": [
168
+ -1,
169
+ 0
170
+ ],
171
+ "protocol": "yam-v2-native-npz-v1",
172
+ "release_revision": "39c623bd78f638d06ce0db57631b66d3028db208",
173
+ "step": 20000,
174
+ "task": "spatula_handoff",
175
+ "tasks": [
176
+ "spatula_handoff"
177
+ ],
178
+ "warmup": {
179
+ "hardware_started": false,
180
+ "seconds": [
181
+ 0.2951951069990173,
182
+ 0.056270029002917,
183
+ 0.05475686999852769,
184
+ 0.05329998300294392
185
+ ],
186
+ "status": "passed"
187
+ }
188
+ },
189
+ "server_prediction_seconds": 0.07681396199041046,
190
+ "source": "yam_v2_dp_http",
191
+ "task": "spatula_handoff",
192
+ "wire_action_dtype": "float32"
193
+ },
194
+ "time_ns": 1789573033571114544
195
+ }
eval/YAM/V2/dp/spatula_handoff/data/round_0002/debug/validations/validation_0005.json ADDED
@@ -0,0 +1,195 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "command_velocity_limits": [
3
+ 7.326937734087213,
4
+ 7.492612143357643,
5
+ 9.039960411055707,
6
+ 10.989442599937178,
7
+ 11.822247140410347,
8
+ 21.729793477053846,
9
+ 4.549583926449072,
10
+ 9.542591565847905,
11
+ 16.49783855493206,
12
+ 19.18122166486826,
13
+ 20.271305218109156,
14
+ 13.274309575261345,
15
+ 14.009155302643812,
16
+ 4.764187300355128
17
+ ],
18
+ "current": [
19
+ -0.019264515144579164,
20
+ 0.0017166399633783413,
21
+ 0.00705729762722207,
22
+ 0.04520485236896299,
23
+ 0.0036240177004653873,
24
+ -0.06733043411916917,
25
+ 0.09580558368291625,
26
+ 0.02994583047226662,
27
+ 1.8972686350804917,
28
+ 1.4765011062790876,
29
+ -1.2304493781948533,
30
+ -0.33093003738460247,
31
+ -0.5804150453955916,
32
+ 0.01994642727865054
33
+ ],
34
+ "current_velocity": [
35
+ -0.0024420024420024333,
36
+ -0.0024420024420024333,
37
+ -0.0024420024420024333,
38
+ -0.0073260073260073,
39
+ -0.0073260073260073,
40
+ -0.0073260073260073,
41
+ -0.00013334456661521563,
42
+ -0.0073260073260073,
43
+ -0.0073260073260073,
44
+ -0.0024420024420024333,
45
+ -0.0219780219780219,
46
+ -0.1538461538461533,
47
+ -0.0073260073260073,
48
+ -0.00013347006284094486
49
+ ],
50
+ "first_target": [
51
+ -0.03391050174832344,
52
+ -0.007840915583074093,
53
+ -0.011715305969119072,
54
+ 0.042116716504096985,
55
+ -0.00530783599242568,
56
+ -0.08309923112392426,
57
+ 0.09529780596494675,
58
+ 0.030451994389295578,
59
+ 1.9260473251342773,
60
+ 1.5005871057510376,
61
+ -1.247624397277832,
62
+ -0.34307047724723816,
63
+ -0.5906736254692078,
64
+ 0.004391873255372047
65
+ ],
66
+ "first_transition_velocity": [
67
+ -0.4393795981123283,
68
+ -0.286726666393573,
69
+ -0.5631781078902343,
70
+ -0.09264407594598012,
71
+ -0.267955610786732,
72
+ -0.4730639101426526,
73
+ -0.015233331539085126,
74
+ 0.0151849175108687,
75
+ 0.8633607016135691,
76
+ 0.7225799841585001,
77
+ -0.5152505724893608,
78
+ -0.36421319587907064,
79
+ -0.3077574022084839,
80
+ -0.46663662069835476
81
+ ],
82
+ "observation_state": [
83
+ -0.01926451548933983,
84
+ 0.001716639962978661,
85
+ 0.007057297509163618,
86
+ 0.04558632895350456,
87
+ 0.0036240178160369396,
88
+ -0.06733043491840363,
89
+ 0.0958055853843689,
90
+ 0.02994582988321781,
91
+ 1.8972686529159546,
92
+ 1.4765011072158813,
93
+ -1.2300678491592407,
94
+ -0.3236820101737976,
95
+ -0.5804150700569153,
96
+ 0.019946428015828133
97
+ ],
98
+ "policy_metadata": {
99
+ "alignment_wait_ms": 6.707872002152726,
100
+ "checkpoint_path": "/home/romoya-1/openpi-workspace/checkpoints/yam-policies-release/yam_policies/xiangrun/20260916_v2_seven_tasks/dp/spatula_handoff/best-short.pt",
101
+ "first_action_minus_state": [
102
+ -0.014645986258983612,
103
+ -0.009557555429637432,
104
+ -0.018772603943943977,
105
+ -0.0034696124494075775,
106
+ -0.00893185380846262,
107
+ -0.01576879620552063,
108
+ -0.0005077794194221497,
109
+ 0.0005061645060777664,
110
+ 0.028778672218322754,
111
+ 0.02408599853515625,
112
+ -0.01755654811859131,
113
+ -0.019388467073440552,
114
+ -0.01025855541229248,
115
+ -0.015554554760456085
116
+ ],
117
+ "history_anchor_offset": 0,
118
+ "history_interval_ms": 33.456793,
119
+ "history_sample_stamp_ns": {
120
+ "base_0_color": [
121
+ 1789573035037721821,
122
+ 1789573035071178614
123
+ ],
124
+ "left_wrist_0_color": [
125
+ 1789573035048938097,
126
+ 1789573035082385876
127
+ ],
128
+ "right_wrist_0_color": [
129
+ 1789573035025308640,
130
+ 1789573035058320810
131
+ ],
132
+ "robot_state": [
133
+ 1789573035040667293,
134
+ 1789573035074291591
135
+ ]
136
+ },
137
+ "history_stamp_ns": [
138
+ 1789573035037721821,
139
+ 1789573035071178614
140
+ ],
141
+ "model_seed": null,
142
+ "observation_age_at_response_ms": 129.722175,
143
+ "observation_stamp_ns": 1789573035071178614,
144
+ "prompt": "spatula_handoff",
145
+ "release_revision": "39c623bd78f638d06ce0db57631b66d3028db208",
146
+ "request_id": "5ee3af0f0b9746ae8cab63ad4f932199",
147
+ "round_trip_ms": 78.89748600427993,
148
+ "server_metadata": {
149
+ "action_shape": [
150
+ 32,
151
+ 14
152
+ ],
153
+ "action_space": "abs_qpos",
154
+ "cameras": [
155
+ "base_0",
156
+ "left_wrist_0",
157
+ "right_wrist_0"
158
+ ],
159
+ "checkpoint_hashes": {
160
+ "dp/spatula_handoff/best-short.pt": "e940beeaf79e8ea99be7e46a2e6c3b9c162394ab2dd2a86b1439b61fec8dd0f2"
161
+ },
162
+ "checkpoint_path": "/home/romoya-1/openpi-workspace/checkpoints/yam-policies-release/yam_policies/xiangrun/20260916_v2_seven_tasks/dp/spatula_handoff/best-short.pt",
163
+ "fps": 30,
164
+ "gpu": "NVIDIA GeForce RTX 5090",
165
+ "gpu_peak_mib": 446.9287109375,
166
+ "model": "dp",
167
+ "observation_offsets": [
168
+ -1,
169
+ 0
170
+ ],
171
+ "protocol": "yam-v2-native-npz-v1",
172
+ "release_revision": "39c623bd78f638d06ce0db57631b66d3028db208",
173
+ "step": 20000,
174
+ "task": "spatula_handoff",
175
+ "tasks": [
176
+ "spatula_handoff"
177
+ ],
178
+ "warmup": {
179
+ "hardware_started": false,
180
+ "seconds": [
181
+ 0.2951951069990173,
182
+ 0.056270029002917,
183
+ 0.05475686999852769,
184
+ 0.05329998300294392
185
+ ],
186
+ "status": "passed"
187
+ }
188
+ },
189
+ "server_prediction_seconds": 0.07615673998952843,
190
+ "source": "yam_v2_dp_http",
191
+ "task": "spatula_handoff",
192
+ "wire_action_dtype": "float32"
193
+ },
194
+ "time_ns": 1789573035226879952
195
+ }
eval/YAM/V2/dp/spatula_handoff/data/round_0002/debug/validations/validation_0006.json ADDED
@@ -0,0 +1,195 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "command_velocity_limits": [
3
+ 7.326937734087213,
4
+ 7.492612143357643,
5
+ 9.039960411055707,
6
+ 10.989442599937178,
7
+ 11.822247140410347,
8
+ 21.729793477053846,
9
+ 4.549583926449072,
10
+ 9.542591565847905,
11
+ 16.49783855493206,
12
+ 19.18122166486826,
13
+ 20.271305218109156,
14
+ 13.274309575261345,
15
+ 14.009155302643812,
16
+ 4.764187300355128
17
+ ],
18
+ "current": [
19
+ -0.024605172808422893,
20
+ 0.004768444342717615,
21
+ 0.00705729762722207,
22
+ 0.04596780346379781,
23
+ 0.008583199816891707,
24
+ -0.07114518959334326,
25
+ 0.09588196152177059,
26
+ 0.1447699702449068,
27
+ 1.913290608072023,
28
+ 1.5867475394827188,
29
+ -1.3769359884031456,
30
+ -0.4629205767910296,
31
+ -0.7337682154573866,
32
+ 0.019821327734742624
33
+ ],
34
+ "current_velocity": [
35
+ -0.017094017094017033,
36
+ -0.0073260073260073,
37
+ 0.0073260073260073,
38
+ -0.0219780219780219,
39
+ -0.0073260073260073,
40
+ -0.0073260073260073,
41
+ -0.00013334456661521563,
42
+ 0.0073260073260073,
43
+ -0.0073260073260073,
44
+ -0.0024420024420024333,
45
+ -0.0073260073260073,
46
+ -0.0073260073260073,
47
+ -0.0073260073260073,
48
+ 0.00013347006284094486
49
+ ],
50
+ "first_target": [
51
+ -0.02280125580728054,
52
+ -0.0004915627650916576,
53
+ -0.005108493845909834,
54
+ 0.08064627647399902,
55
+ 0.06301816552877426,
56
+ -0.09693694859743118,
57
+ 0.09552286565303802,
58
+ 0.16089804470539093,
59
+ 1.9348338842391968,
60
+ 1.6133018732070923,
61
+ -1.3850587606430054,
62
+ -0.4810335636138916,
63
+ -0.7359570860862732,
64
+ 0.014826556667685509
65
+ ],
66
+ "first_transition_velocity": [
67
+ 0.054117510034270566,
68
+ -0.15780021323427817,
69
+ -0.3649737441939571,
70
+ 1.0403541903060365,
71
+ 1.6330489713564766,
72
+ -0.7737527701226377,
73
+ -0.010772876061976855,
74
+ 0.4838422338145243,
75
+ 0.6462982850152166,
76
+ 0.7966300117312031,
77
+ -0.24368316719579397,
78
+ -0.54338960468586,
79
+ -0.06566611886659857,
80
+ -0.14984313201171345
81
+ ],
82
+ "observation_state": [
83
+ -0.024605173617601395,
84
+ 0.00476844422519207,
85
+ 0.007057297509163618,
86
+ 0.04596780240535736,
87
+ 0.00858320016413927,
88
+ -0.0711451917886734,
89
+ 0.0958889052271843,
90
+ 0.14476996660232544,
91
+ 1.9132906198501587,
92
+ 1.5867475271224976,
93
+ -1.3769359588623047,
94
+ -0.46025025844573975,
95
+ -0.7295719981193542,
96
+ 0.019821327179670334
97
+ ],
98
+ "policy_metadata": {
99
+ "alignment_wait_ms": 6.598581996513531,
100
+ "checkpoint_path": "/home/romoya-1/openpi-workspace/checkpoints/yam-policies-release/yam_policies/xiangrun/20260916_v2_seven_tasks/dp/spatula_handoff/best-short.pt",
101
+ "first_action_minus_state": [
102
+ 0.0018039178103208542,
103
+ -0.005260006990283728,
104
+ -0.012165791355073452,
105
+ 0.03467847406864166,
106
+ 0.054434966295957565,
107
+ -0.025791756808757782,
108
+ -0.00036603957414627075,
109
+ 0.01612807810306549,
110
+ 0.021543264389038086,
111
+ 0.026554346084594727,
112
+ -0.008122801780700684,
113
+ -0.020783305168151855,
114
+ -0.006385087966918945,
115
+ -0.004994770511984825
116
+ ],
117
+ "history_anchor_offset": 0,
118
+ "history_interval_ms": 33.340991,
119
+ "history_sample_stamp_ns": {
120
+ "base_0_color": [
121
+ 1789573036671599586,
122
+ 1789573036704940577
123
+ ],
124
+ "left_wrist_0_color": [
125
+ 1789573036682758646,
126
+ 1789573036715969622
127
+ ],
128
+ "right_wrist_0_color": [
129
+ 1789573036658801881,
130
+ 1789573036692201696
131
+ ],
132
+ "robot_state": [
133
+ 1789573036674512998,
134
+ 1789573036707328376
135
+ ]
136
+ },
137
+ "history_stamp_ns": [
138
+ 1789573036671599586,
139
+ 1789573036704940577
140
+ ],
141
+ "model_seed": null,
142
+ "observation_age_at_response_ms": 127.309167,
143
+ "observation_stamp_ns": 1789573036704940577,
144
+ "prompt": "spatula_handoff",
145
+ "release_revision": "39c623bd78f638d06ce0db57631b66d3028db208",
146
+ "request_id": "7f1d90df0dfe4256aabba2da00d7c236",
147
+ "round_trip_ms": 79.58533200144302,
148
+ "server_metadata": {
149
+ "action_shape": [
150
+ 32,
151
+ 14
152
+ ],
153
+ "action_space": "abs_qpos",
154
+ "cameras": [
155
+ "base_0",
156
+ "left_wrist_0",
157
+ "right_wrist_0"
158
+ ],
159
+ "checkpoint_hashes": {
160
+ "dp/spatula_handoff/best-short.pt": "e940beeaf79e8ea99be7e46a2e6c3b9c162394ab2dd2a86b1439b61fec8dd0f2"
161
+ },
162
+ "checkpoint_path": "/home/romoya-1/openpi-workspace/checkpoints/yam-policies-release/yam_policies/xiangrun/20260916_v2_seven_tasks/dp/spatula_handoff/best-short.pt",
163
+ "fps": 30,
164
+ "gpu": "NVIDIA GeForce RTX 5090",
165
+ "gpu_peak_mib": 446.9287109375,
166
+ "model": "dp",
167
+ "observation_offsets": [
168
+ -1,
169
+ 0
170
+ ],
171
+ "protocol": "yam-v2-native-npz-v1",
172
+ "release_revision": "39c623bd78f638d06ce0db57631b66d3028db208",
173
+ "step": 20000,
174
+ "task": "spatula_handoff",
175
+ "tasks": [
176
+ "spatula_handoff"
177
+ ],
178
+ "warmup": {
179
+ "hardware_started": false,
180
+ "seconds": [
181
+ 0.2951951069990173,
182
+ 0.056270029002917,
183
+ 0.05475686999852769,
184
+ 0.05329998300294392
185
+ ],
186
+ "status": "passed"
187
+ }
188
+ },
189
+ "server_prediction_seconds": 0.07653589599067345,
190
+ "source": "yam_v2_dp_http",
191
+ "task": "spatula_handoff",
192
+ "wire_action_dtype": "float32"
193
+ },
194
+ "time_ns": 1789573036877845920
195
+ }
eval/YAM/V2/dp/spatula_handoff/data/round_0002/debug/validations/validation_0007.json ADDED
@@ -0,0 +1,195 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "command_velocity_limits": [
3
+ 7.326937734087213,
4
+ 7.492612143357643,
5
+ 9.039960411055707,
6
+ 10.989442599937178,
7
+ 11.822247140410347,
8
+ 21.729793477053846,
9
+ 4.549583926449072,
10
+ 9.542591565847905,
11
+ 16.49783855493206,
12
+ 19.18122166486826,
13
+ 20.271305218109156,
14
+ 13.274309575261345,
15
+ 14.009155302643812,
16
+ 4.764187300355128
17
+ ],
18
+ "current": [
19
+ -0.024605172808422893,
20
+ 0.2035172045471878,
21
+ 0.00705729762722207,
22
+ 0.3416113527122917,
23
+ 0.6712062256809332,
24
+ 0.7673380636301221,
25
+ 0.09588890496166642,
26
+ 0.2038986800946052,
27
+ 1.913290608072023,
28
+ 1.605439841306172,
29
+ -1.3719768062867193,
30
+ -0.4663538567177863,
31
+ -0.7330052643625553,
32
+ 0.019821327734742624
33
+ ],
34
+ "current_velocity": [
35
+ -0.012210012210012167,
36
+ -0.0073260073260073,
37
+ -0.0024420024420024333,
38
+ 0.0073260073260073,
39
+ 0.0073260073260073,
40
+ 0.0073260073260073,
41
+ -0.00013334456661521563,
42
+ -0.0024420024420024333,
43
+ 0.0073260073260073,
44
+ 0.0073260073260073,
45
+ -0.0073260073260073,
46
+ -0.0219780219780219,
47
+ -0.0073260073260073,
48
+ -0.00013347006284094486
49
+ ],
50
+ "first_target": [
51
+ -0.01636803150177002,
52
+ 0.19015932083129883,
53
+ -0.009281313046813011,
54
+ 0.34692567586898804,
55
+ 0.7622064352035522,
56
+ 0.8395600318908691,
57
+ 0.09596466273069382,
58
+ 0.21168409287929535,
59
+ 1.928011417388916,
60
+ 1.6364667415618896,
61
+ -1.3813341856002808,
62
+ -0.4926944077014923,
63
+ -0.7468406558036804,
64
+ 0.02148793824017048
65
+ ],
66
+ "first_transition_velocity": [
67
+ 0.2471142391995862,
68
+ -0.4007365114766692,
69
+ -0.49015832022105243,
70
+ 0.15942969470088997,
71
+ 2.73000628567857,
72
+ 2.16665904782241,
73
+ 0.002272733070821792,
74
+ 0.23356238354070413,
75
+ 0.4416242795067937,
76
+ 0.9308070076715325,
77
+ -0.2807213794068453,
78
+ -0.7902165295111807,
79
+ -0.41506174323375333,
80
+ 0.04999831516283564
81
+ ],
82
+ "observation_state": [
83
+ -0.024605173617601395,
84
+ 0.20351719856262207,
85
+ 0.007057297509163618,
86
+ 0.3416113555431366,
87
+ 0.6712062358856201,
88
+ 0.763523280620575,
89
+ 0.09589584916830063,
90
+ 0.20389868319034576,
91
+ 1.9132906198501587,
92
+ 1.6054397821426392,
93
+ -1.3723583221435547,
94
+ -0.4663538634777069,
95
+ -0.7330052852630615,
96
+ 0.019821327179670334
97
+ ],
98
+ "policy_metadata": {
99
+ "alignment_wait_ms": 4.662997991545126,
100
+ "checkpoint_path": "/home/romoya-1/openpi-workspace/checkpoints/yam-policies-release/yam_policies/xiangrun/20260916_v2_seven_tasks/dp/spatula_handoff/best-short.pt",
101
+ "first_action_minus_state": [
102
+ 0.008237142115831375,
103
+ -0.013357877731323242,
104
+ -0.016338611021637917,
105
+ 0.00531432032585144,
106
+ 0.09100019931793213,
107
+ 0.07603675127029419,
108
+ 6.881356239318848e-05,
109
+ 0.007785409688949585,
110
+ 0.014720797538757324,
111
+ 0.03102695941925049,
112
+ -0.008975863456726074,
113
+ -0.0263405442237854,
114
+ -0.013835370540618896,
115
+ 0.001666611060500145
116
+ ],
117
+ "history_anchor_offset": 0,
118
+ "history_interval_ms": 33.352342,
119
+ "history_sample_stamp_ns": {
120
+ "base_0_color": [
121
+ 1789573038372015847,
122
+ 1789573038405368189
123
+ ],
124
+ "left_wrist_0_color": [
125
+ 1789573038383004499,
126
+ 1789573038416395980
127
+ ],
128
+ "right_wrist_0_color": [
129
+ 1789573038359180227,
130
+ 1789573038392604082
131
+ ],
132
+ "robot_state": [
133
+ 1789573038374009041,
134
+ 1789573038407567556
135
+ ]
136
+ },
137
+ "history_stamp_ns": [
138
+ 1789573038372015847,
139
+ 1789573038405368189
140
+ ],
141
+ "model_seed": null,
142
+ "observation_age_at_response_ms": 126.570218,
143
+ "observation_stamp_ns": 1789573038405368189,
144
+ "prompt": "spatula_handoff",
145
+ "release_revision": "39c623bd78f638d06ce0db57631b66d3028db208",
146
+ "request_id": "32c907f023ce4c2f95cafcc38b13bce5",
147
+ "round_trip_ms": 84.57229699706659,
148
+ "server_metadata": {
149
+ "action_shape": [
150
+ 32,
151
+ 14
152
+ ],
153
+ "action_space": "abs_qpos",
154
+ "cameras": [
155
+ "base_0",
156
+ "left_wrist_0",
157
+ "right_wrist_0"
158
+ ],
159
+ "checkpoint_hashes": {
160
+ "dp/spatula_handoff/best-short.pt": "e940beeaf79e8ea99be7e46a2e6c3b9c162394ab2dd2a86b1439b61fec8dd0f2"
161
+ },
162
+ "checkpoint_path": "/home/romoya-1/openpi-workspace/checkpoints/yam-policies-release/yam_policies/xiangrun/20260916_v2_seven_tasks/dp/spatula_handoff/best-short.pt",
163
+ "fps": 30,
164
+ "gpu": "NVIDIA GeForce RTX 5090",
165
+ "gpu_peak_mib": 446.9287109375,
166
+ "model": "dp",
167
+ "observation_offsets": [
168
+ -1,
169
+ 0
170
+ ],
171
+ "protocol": "yam-v2-native-npz-v1",
172
+ "release_revision": "39c623bd78f638d06ce0db57631b66d3028db208",
173
+ "step": 20000,
174
+ "task": "spatula_handoff",
175
+ "tasks": [
176
+ "spatula_handoff"
177
+ ],
178
+ "warmup": {
179
+ "hardware_started": false,
180
+ "seconds": [
181
+ 0.2951951069990173,
182
+ 0.056270029002917,
183
+ 0.05475686999852769,
184
+ 0.05329998300294392
185
+ ],
186
+ "status": "passed"
187
+ }
188
+ },
189
+ "server_prediction_seconds": 0.08153360000869725,
190
+ "source": "yam_v2_dp_http",
191
+ "task": "spatula_handoff",
192
+ "wire_action_dtype": "float32"
193
+ },
194
+ "time_ns": 1789573038583578359
195
+ }
eval/YAM/V2/dp/spatula_handoff/data/round_0002/debug/validations/validation_0008.json ADDED
@@ -0,0 +1,195 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "command_velocity_limits": [
3
+ 7.326937734087213,
4
+ 7.492612143357643,
5
+ 9.039960411055707,
6
+ 10.989442599937178,
7
+ 11.822247140410347,
8
+ 21.729793477053846,
9
+ 4.549583926449072,
10
+ 9.542591565847905,
11
+ 16.49783855493206,
12
+ 19.18122166486826,
13
+ 20.271305218109156,
14
+ 13.274309575261345,
15
+ 14.009155302643812,
16
+ 4.764187300355128
17
+ ],
18
+ "current": [
19
+ -0.20428015564202617,
20
+ 1.1842908369573504,
21
+ 0.2618829633020532,
22
+ 0.9184023804074162,
23
+ 0.710116731517509,
24
+ 1.0633630884260317,
25
+ 0.09483350209749747,
26
+ 0.21496147096971008,
27
+ 1.9140535591668577,
28
+ 1.627946898603799,
29
+ -1.358243686579689,
30
+ -0.43507286182955873,
31
+ -0.7333867399099727,
32
+ 0.01994642727865054
33
+ ],
34
+ "current_velocity": [
35
+ 0.0024420024420024333,
36
+ -0.012210012210012167,
37
+ -0.017094017094017033,
38
+ -0.0073260073260073,
39
+ -0.0073260073260073,
40
+ -0.0366300366300365,
41
+ 0.00013334456661521563,
42
+ 0.0073260073260073,
43
+ -0.017094017094017033,
44
+ -0.0024420024420024333,
45
+ -0.0073260073260073,
46
+ -0.0073260073260073,
47
+ -0.0219780219780219,
48
+ 0.00013347006284094486
49
+ ],
50
+ "first_target": [
51
+ -0.2535911500453949,
52
+ 1.2319068908691406,
53
+ 0.31566122174263,
54
+ 0.920552134513855,
55
+ 0.6905945539474487,
56
+ 1.1328681707382202,
57
+ 0.09516111761331558,
58
+ 0.21676556766033173,
59
+ 1.9317262172698975,
60
+ 1.6545286178588867,
61
+ -1.3667365312576294,
62
+ -0.4656147360801697,
63
+ -0.7289265394210815,
64
+ 0.009078314527869225
65
+ ],
66
+ "first_transition_velocity": [
67
+ -1.4793298321010617,
68
+ 1.4284816173537074,
69
+ 1.6133477532173046,
70
+ 0.06449262319316418,
71
+ -0.5856653271018075,
72
+ 2.0851524693656565,
73
+ 0.009828465474543413,
74
+ 0.05412290071864945,
75
+ 0.5301797430911925,
76
+ 0.7974515776526303,
77
+ -0.25478534033821276,
78
+ -0.9162562275183284,
79
+ 0.13380601466673525,
80
+ -0.32604338252343945
81
+ ],
82
+ "observation_state": [
83
+ -0.20428015291690826,
84
+ 1.184290885925293,
85
+ 0.2618829607963562,
86
+ 0.918402373790741,
87
+ 0.7101167440414429,
88
+ 1.0633630752563477,
89
+ 0.09483350068330765,
90
+ 0.2149614691734314,
91
+ 1.9140535593032837,
92
+ 1.6279468536376953,
93
+ -1.358243703842163,
94
+ -0.4350728690624237,
95
+ -0.733386754989624,
96
+ 0.019946428015828133
97
+ ],
98
+ "policy_metadata": {
99
+ "alignment_wait_ms": 5.022192010073923,
100
+ "checkpoint_path": "/home/romoya-1/openpi-workspace/checkpoints/yam-policies-release/yam_policies/xiangrun/20260916_v2_seven_tasks/dp/spatula_handoff/best-short.pt",
101
+ "first_action_minus_state": [
102
+ -0.04931099712848663,
103
+ 0.047616004943847656,
104
+ 0.053778260946273804,
105
+ 0.0021497607231140137,
106
+ -0.01952219009399414,
107
+ 0.06950509548187256,
108
+ 0.00032761693000793457,
109
+ 0.0018040984869003296,
110
+ 0.01767265796661377,
111
+ 0.026581764221191406,
112
+ -0.008492827415466309,
113
+ -0.03054186701774597,
114
+ 0.0044602155685424805,
115
+ -0.010868113487958908
116
+ ],
117
+ "history_anchor_offset": 0,
118
+ "history_interval_ms": 33.32483,
119
+ "history_sample_stamp_ns": {
120
+ "base_0_color": [
121
+ 1789573040072441737,
122
+ 1789573040105766567
123
+ ],
124
+ "left_wrist_0_color": [
125
+ 1789573040083559045,
126
+ 1789573040116966311
127
+ ],
128
+ "right_wrist_0_color": [
129
+ 1789573040059588475,
130
+ 1789573040092881280
131
+ ],
132
+ "robot_state": [
133
+ 1789573040074027901,
134
+ 1789573040107575216
135
+ ]
136
+ },
137
+ "history_stamp_ns": [
138
+ 1789573040072441737,
139
+ 1789573040105766567
140
+ ],
141
+ "model_seed": null,
142
+ "observation_age_at_response_ms": 118.109645,
143
+ "observation_stamp_ns": 1789573040105766567,
144
+ "prompt": "spatula_handoff",
145
+ "release_revision": "39c623bd78f638d06ce0db57631b66d3028db208",
146
+ "request_id": "e1f5bb0dabd64b918f326d4233fae042",
147
+ "round_trip_ms": 80.67165099782869,
148
+ "server_metadata": {
149
+ "action_shape": [
150
+ 32,
151
+ 14
152
+ ],
153
+ "action_space": "abs_qpos",
154
+ "cameras": [
155
+ "base_0",
156
+ "left_wrist_0",
157
+ "right_wrist_0"
158
+ ],
159
+ "checkpoint_hashes": {
160
+ "dp/spatula_handoff/best-short.pt": "e940beeaf79e8ea99be7e46a2e6c3b9c162394ab2dd2a86b1439b61fec8dd0f2"
161
+ },
162
+ "checkpoint_path": "/home/romoya-1/openpi-workspace/checkpoints/yam-policies-release/yam_policies/xiangrun/20260916_v2_seven_tasks/dp/spatula_handoff/best-short.pt",
163
+ "fps": 30,
164
+ "gpu": "NVIDIA GeForce RTX 5090",
165
+ "gpu_peak_mib": 446.9287109375,
166
+ "model": "dp",
167
+ "observation_offsets": [
168
+ -1,
169
+ 0
170
+ ],
171
+ "protocol": "yam-v2-native-npz-v1",
172
+ "release_revision": "39c623bd78f638d06ce0db57631b66d3028db208",
173
+ "step": 20000,
174
+ "task": "spatula_handoff",
175
+ "tasks": [
176
+ "spatula_handoff"
177
+ ],
178
+ "warmup": {
179
+ "hardware_started": false,
180
+ "seconds": [
181
+ 0.2951951069990173,
182
+ 0.056270029002917,
183
+ 0.05475686999852769,
184
+ 0.05329998300294392
185
+ ],
186
+ "status": "passed"
187
+ }
188
+ },
189
+ "server_prediction_seconds": 0.07732625700009521,
190
+ "source": "yam_v2_dp_http",
191
+ "task": "spatula_handoff",
192
+ "wire_action_dtype": "float32"
193
+ },
194
+ "time_ns": 1789573040268508019
195
+ }
eval/YAM/V2/dp/spatula_handoff/data/round_0002/debug/validations/validation_0009.json ADDED
@@ -0,0 +1,195 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "command_velocity_limits": [
3
+ 7.326937734087213,
4
+ 7.492612143357643,
5
+ 9.039960411055707,
6
+ 10.989442599937178,
7
+ 11.822247140410347,
8
+ 21.729793477053846,
9
+ 4.549583926449072,
10
+ 9.542591565847905,
11
+ 16.49783855493206,
12
+ 19.18122166486826,
13
+ 20.271305218109156,
14
+ 13.274309575261345,
15
+ 14.009155302643812,
16
+ 4.764187300355128
17
+ ],
18
+ "current": [
19
+ -0.39234760051880535,
20
+ 1.5352483405813686,
21
+ 0.5647745479514761,
22
+ 0.8196002136263072,
23
+ 0.5144197756923781,
24
+ 1.198023956664377,
25
+ 0.08591812527122812,
26
+ 0.2153429465171275,
27
+ 1.9148165102616925,
28
+ 1.627946898603799,
29
+ -1.3681620508125416,
30
+ -0.43659876401922837,
31
+ -0.7333867399099692,
32
+ 0.01994642727865054
33
+ ],
34
+ "current_velocity": [
35
+ -0.0024420024420024333,
36
+ -0.0073260073260073,
37
+ -0.0024420024420024333,
38
+ 0.0073260073260073,
39
+ -0.0073260073260073,
40
+ -0.0366300366300365,
41
+ -0.00013334456661521563,
42
+ -0.012210012210012167,
43
+ 0.0024420024420024333,
44
+ -0.0073260073260073,
45
+ -0.0073260073260073,
46
+ -0.0073260073260073,
47
+ -0.0073260073260073,
48
+ -0.00013347006284094486
49
+ ],
50
+ "first_target": [
51
+ -0.40365415811538696,
52
+ 1.5528936386108398,
53
+ 0.6070412397384644,
54
+ 0.8128436803817749,
55
+ 0.48537012934684753,
56
+ 1.2112846374511719,
57
+ 0.08904414623975754,
58
+ 0.21456721425056458,
59
+ 1.9139423370361328,
60
+ 1.6483217477798462,
61
+ -1.3737671375274658,
62
+ -0.43439415097236633,
63
+ -0.7183370590209961,
64
+ 0.0089164013043046
65
+ ],
66
+ "first_transition_velocity": [
67
+ -0.33919672789744837,
68
+ 0.529358940884137,
69
+ 1.2680007536096483,
70
+ -0.20269599733596877,
71
+ -0.871489390365916,
72
+ 0.39782042360384295,
73
+ 0.0937806290558825,
74
+ -0.023271967996887355,
75
+ -0.02622519676679147,
76
+ 0.6112454752814145,
77
+ -0.16815260144772637,
78
+ 0.06613839140586109,
79
+ 0.45149042666919215,
80
+ -0.3309007792303782
81
+ ],
82
+ "observation_state": [
83
+ -0.3923476040363312,
84
+ 1.5352483987808228,
85
+ 0.5647745728492737,
86
+ 0.8196002244949341,
87
+ 0.5148012638092041,
88
+ 1.1980239152908325,
89
+ 0.085918128490448,
90
+ 0.2153429538011551,
91
+ 1.9148164987564087,
92
+ 1.6279468536376953,
93
+ -1.3681620359420776,
94
+ -0.4365987777709961,
95
+ -0.733386754989624,
96
+ 0.019946428015828133
97
+ ],
98
+ "policy_metadata": {
99
+ "alignment_wait_ms": 4.863559996010736,
100
+ "checkpoint_path": "/home/romoya-1/openpi-workspace/checkpoints/yam-policies-release/yam_policies/xiangrun/20260916_v2_seven_tasks/dp/spatula_handoff/best-short.pt",
101
+ "first_action_minus_state": [
102
+ -0.011306554079055786,
103
+ 0.01764523983001709,
104
+ 0.042266666889190674,
105
+ -0.00675654411315918,
106
+ -0.029431134462356567,
107
+ 0.013260722160339355,
108
+ 0.00312601774930954,
109
+ -0.0007757395505905151,
110
+ -0.0008741617202758789,
111
+ 0.02037489414215088,
112
+ -0.005605101585388184,
113
+ 0.0022046267986297607,
114
+ 0.01504969596862793,
115
+ -0.011030026711523533
116
+ ],
117
+ "history_anchor_offset": 0,
118
+ "history_interval_ms": 33.410535,
119
+ "history_sample_stamp_ns": {
120
+ "base_0_color": [
121
+ 1789573041639345171,
122
+ 1789573041672755706
123
+ ],
124
+ "left_wrist_0_color": [
125
+ 1789573041650685437,
126
+ 1789573041684062777
127
+ ],
128
+ "right_wrist_0_color": [
129
+ 1789573041626583387,
130
+ 1789573041660077505
131
+ ],
132
+ "robot_state": [
133
+ 1789573041641046752,
134
+ 1789573041674283943
135
+ ]
136
+ },
137
+ "history_stamp_ns": [
138
+ 1789573041639345171,
139
+ 1789573041672755706
140
+ ],
141
+ "model_seed": null,
142
+ "observation_age_at_response_ms": 120.755195,
143
+ "observation_stamp_ns": 1789573041672755706,
144
+ "prompt": "spatula_handoff",
145
+ "release_revision": "39c623bd78f638d06ce0db57631b66d3028db208",
146
+ "request_id": "02c77312c05d4521a39ea4e04623a0b0",
147
+ "round_trip_ms": 79.099523005425,
148
+ "server_metadata": {
149
+ "action_shape": [
150
+ 32,
151
+ 14
152
+ ],
153
+ "action_space": "abs_qpos",
154
+ "cameras": [
155
+ "base_0",
156
+ "left_wrist_0",
157
+ "right_wrist_0"
158
+ ],
159
+ "checkpoint_hashes": {
160
+ "dp/spatula_handoff/best-short.pt": "e940beeaf79e8ea99be7e46a2e6c3b9c162394ab2dd2a86b1439b61fec8dd0f2"
161
+ },
162
+ "checkpoint_path": "/home/romoya-1/openpi-workspace/checkpoints/yam-policies-release/yam_policies/xiangrun/20260916_v2_seven_tasks/dp/spatula_handoff/best-short.pt",
163
+ "fps": 30,
164
+ "gpu": "NVIDIA GeForce RTX 5090",
165
+ "gpu_peak_mib": 446.9287109375,
166
+ "model": "dp",
167
+ "observation_offsets": [
168
+ -1,
169
+ 0
170
+ ],
171
+ "protocol": "yam-v2-native-npz-v1",
172
+ "release_revision": "39c623bd78f638d06ce0db57631b66d3028db208",
173
+ "step": 20000,
174
+ "task": "spatula_handoff",
175
+ "tasks": [
176
+ "spatula_handoff"
177
+ ],
178
+ "warmup": {
179
+ "hardware_started": false,
180
+ "seconds": [
181
+ 0.2951951069990173,
182
+ 0.056270029002917,
183
+ 0.05475686999852769,
184
+ 0.05329998300294392
185
+ ],
186
+ "status": "passed"
187
+ }
188
+ },
189
+ "server_prediction_seconds": 0.07660767300694715,
190
+ "source": "yam_v2_dp_http",
191
+ "task": "spatula_handoff",
192
+ "wire_action_dtype": "float32"
193
+ },
194
+ "time_ns": 1789573041820496867
195
+ }
eval/YAM/V2/dp/spatula_handoff/data/round_0002/debug/validations/validation_0010.json ADDED
@@ -0,0 +1,195 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "command_velocity_limits": [
3
+ 7.326937734087213,
4
+ 7.492612143357643,
5
+ 9.039960411055707,
6
+ 10.989442599937178,
7
+ 11.822247140410347,
8
+ 21.729793477053846,
9
+ 4.549583926449072,
10
+ 9.542591565847905,
11
+ 16.49783855493206,
12
+ 19.18122166486826,
13
+ 20.271305218109156,
14
+ 13.274309575261345,
15
+ 14.009155302643812,
16
+ 4.764187300355128
17
+ ],
18
+ "current": [
19
+ -0.47550926985580055,
20
+ 1.4978637369344625,
21
+ 0.6437399862668798,
22
+ 0.6311512932021053,
23
+ 0.41828793774319095,
24
+ 1.247234302281223,
25
+ 0.048798495588022586,
26
+ 0.21496147096971008,
27
+ 1.9148165102616925,
28
+ 1.6336690318150602,
29
+ -1.3677805752651278,
30
+ -0.43545433737697614,
31
+ -0.7070649271381715,
32
+ 0.019814377760081076
33
+ ],
34
+ "current_velocity": [
35
+ 0.0073260073260073,
36
+ -0.0024420024420024333,
37
+ -0.0024420024420024333,
38
+ -0.0073260073260073,
39
+ -0.0073260073260073,
40
+ 0.0073260073260073,
41
+ 0.00013334456661521563,
42
+ -0.0073260073260073,
43
+ -0.026862026862026767,
44
+ -0.017094017094017033,
45
+ -0.0073260073260073,
46
+ 0.0073260073260073,
47
+ -0.0073260073260073,
48
+ -0.00013347006284094486
49
+ ],
50
+ "first_target": [
51
+ -0.47689613699913025,
52
+ 1.506800889968872,
53
+ 0.6442825794219971,
54
+ 0.6212601065635681,
55
+ 0.4548851251602173,
56
+ 1.253293514251709,
57
+ 0.03661372512578964,
58
+ 0.21562941372394562,
59
+ 1.9239182472229004,
60
+ 1.650094985961914,
61
+ -1.3681750297546387,
62
+ -0.47008273005485535,
63
+ -0.7107098698616028,
64
+ 0.008937692269682884
65
+ ],
66
+ "first_transition_velocity": [
67
+ -0.04160601429989086,
68
+ 0.26811459103228685,
69
+ 0.01627779465351864,
70
+ -0.2967355991561149,
71
+ 1.09791562251079,
72
+ 0.18177635911458268,
73
+ -0.36554311386698835,
74
+ 0.020038282627066195,
75
+ 0.2730521088362359,
76
+ 0.4927786244056165,
77
+ -0.01183363468532761,
78
+ -1.0388517803363762,
79
+ -0.10934828170293898,
80
+ -0.32630056471194574
81
+ ],
82
+ "observation_state": [
83
+ -0.47550925612449646,
84
+ 1.49786376953125,
85
+ 0.6437399983406067,
86
+ 0.6315327882766724,
87
+ 0.4201953113079071,
88
+ 1.2472343444824219,
89
+ 0.048798494040966034,
90
+ 0.2149614691734314,
91
+ 1.9148164987564087,
92
+ 1.6336690187454224,
93
+ -1.3677805662155151,
94
+ -0.4354543387889862,
95
+ -0.7074463963508606,
96
+ 0.019821327179670334
97
+ ],
98
+ "policy_metadata": {
99
+ "alignment_wait_ms": 4.910869000013918,
100
+ "checkpoint_path": "/home/romoya-1/openpi-workspace/checkpoints/yam-policies-release/yam_policies/xiangrun/20260916_v2_seven_tasks/dp/spatula_handoff/best-short.pt",
101
+ "first_action_minus_state": [
102
+ -0.001386880874633789,
103
+ 0.00893712043762207,
104
+ 0.0005425810813903809,
105
+ -0.010272681713104248,
106
+ 0.03468981385231018,
107
+ 0.006059169769287109,
108
+ -0.012184768915176392,
109
+ 0.0006679445505142212,
110
+ 0.0091017484664917,
111
+ 0.0164259672164917,
112
+ -0.00039446353912353516,
113
+ -0.03462839126586914,
114
+ -0.0032634735107421875,
115
+ -0.01088363490998745
116
+ ],
117
+ "history_anchor_offset": 1,
118
+ "history_interval_ms": 33.411185,
119
+ "history_sample_stamp_ns": {
120
+ "base_0_color": [
121
+ 1789573043239756219,
122
+ 1789573043273167404
123
+ ],
124
+ "left_wrist_0_color": [
125
+ 1789573043250886526,
126
+ 1789573043284401070
127
+ ],
128
+ "right_wrist_0_color": [
129
+ 1789573043227064367,
130
+ 1789573043260440602
131
+ ],
132
+ "robot_state": [
133
+ 1789573043241261273,
134
+ 1789573043274045192
135
+ ]
136
+ },
137
+ "history_stamp_ns": [
138
+ 1789573043239756219,
139
+ 1789573043273167404
140
+ ],
141
+ "model_seed": null,
142
+ "observation_age_at_response_ms": 123.007705,
143
+ "observation_stamp_ns": 1789573043273167404,
144
+ "prompt": "spatula_handoff",
145
+ "release_revision": "39c623bd78f638d06ce0db57631b66d3028db208",
146
+ "request_id": "a6b45f9d2ba442718120ff0b0c605281",
147
+ "round_trip_ms": 78.49248101410922,
148
+ "server_metadata": {
149
+ "action_shape": [
150
+ 32,
151
+ 14
152
+ ],
153
+ "action_space": "abs_qpos",
154
+ "cameras": [
155
+ "base_0",
156
+ "left_wrist_0",
157
+ "right_wrist_0"
158
+ ],
159
+ "checkpoint_hashes": {
160
+ "dp/spatula_handoff/best-short.pt": "e940beeaf79e8ea99be7e46a2e6c3b9c162394ab2dd2a86b1439b61fec8dd0f2"
161
+ },
162
+ "checkpoint_path": "/home/romoya-1/openpi-workspace/checkpoints/yam-policies-release/yam_policies/xiangrun/20260916_v2_seven_tasks/dp/spatula_handoff/best-short.pt",
163
+ "fps": 30,
164
+ "gpu": "NVIDIA GeForce RTX 5090",
165
+ "gpu_peak_mib": 446.9287109375,
166
+ "model": "dp",
167
+ "observation_offsets": [
168
+ -1,
169
+ 0
170
+ ],
171
+ "protocol": "yam-v2-native-npz-v1",
172
+ "release_revision": "39c623bd78f638d06ce0db57631b66d3028db208",
173
+ "step": 20000,
174
+ "task": "spatula_handoff",
175
+ "tasks": [
176
+ "spatula_handoff"
177
+ ],
178
+ "warmup": {
179
+ "hardware_started": false,
180
+ "seconds": [
181
+ 0.2951951069990173,
182
+ 0.056270029002917,
183
+ 0.05475686999852769,
184
+ 0.05329998300294392
185
+ ],
186
+ "status": "passed"
187
+ }
188
+ },
189
+ "server_prediction_seconds": 0.07567761400423478,
190
+ "source": "yam_v2_dp_http",
191
+ "task": "spatula_handoff",
192
+ "wire_action_dtype": "float32"
193
+ },
194
+ "time_ns": 1789573043426977409
195
+ }
eval/YAM/V2/dp/spatula_handoff/data/round_0002/debug/validations/validation_0011.json ADDED
@@ -0,0 +1,195 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "command_velocity_limits": [
3
+ 7.326937734087213,
4
+ 7.492612143357643,
5
+ 9.039960411055707,
6
+ 10.989442599937178,
7
+ 11.822247140410347,
8
+ 21.729793477053846,
9
+ 4.549583926449072,
10
+ 9.542591565847905,
11
+ 16.49783855493206,
12
+ 19.18122166486826,
13
+ 20.271305218109156,
14
+ 13.274309575261345,
15
+ 14.009155302643812,
16
+ 4.764187300355128
17
+ ],
18
+ "current": [
19
+ -0.444228274967573,
20
+ 1.431105516136416,
21
+ 0.6437399862668798,
22
+ 0.5323491264209963,
23
+ 0.26836804760814914,
24
+ 1.2266346227206828,
25
+ 0.006901779256473351,
26
+ 0.21496147096971008,
27
+ 1.9148165102616925,
28
+ 1.6432059205004954,
29
+ -1.406309605554286,
30
+ -0.43469138628213777,
31
+ -0.7021057450217452,
32
+ 0.06670585680156375
33
+ ],
34
+ "current_velocity": [
35
+ 0.0073260073260073,
36
+ -0.0073260073260073,
37
+ -0.0024420024420024333,
38
+ -0.0073260073260073,
39
+ -0.0073260073260073,
40
+ -0.0073260073260073,
41
+ 0.00013334456661521563,
42
+ -0.0073260073260073,
43
+ -0.0073260073260073,
44
+ -0.012210012210012167,
45
+ -0.0073260073260073,
46
+ 0.0073260073260073,
47
+ -0.0219780219780219,
48
+ 0.00013347006284094486
49
+ ],
50
+ "first_target": [
51
+ -0.3984946012496948,
52
+ 1.4347922801971436,
53
+ 0.6522030234336853,
54
+ 0.5577359199523926,
55
+ 0.21914756298065186,
56
+ 1.206861138343811,
57
+ 0.0008794584427960217,
58
+ 0.22390295565128326,
59
+ 1.8971364498138428,
60
+ 1.6758097410202026,
61
+ -1.4376213550567627,
62
+ -0.4623148441314697,
63
+ -0.6811038255691528,
64
+ 0.06816401332616806
65
+ ],
66
+ "first_transition_velocity": [
67
+ 1.3720102115363453,
68
+ 0.11060292182182963,
69
+ 0.2538911150041656,
70
+ 0.7616038059418884,
71
+ -1.4766145388249186,
72
+ -0.5932045313061529,
73
+ -0.18066962441031986,
74
+ 0.2682445404471956,
75
+ -0.5304018134354926,
76
+ 0.9781146155912168,
77
+ -0.9393524850742985,
78
+ -0.8287037354799587,
79
+ 0.63005758357777,
80
+ 0.0437446957381292
81
+ ],
82
+ "observation_state": [
83
+ -0.44422826170921326,
84
+ 1.4311054944992065,
85
+ 0.6437399983406067,
86
+ 0.5323491096496582,
87
+ 0.26874953508377075,
88
+ 1.2266346216201782,
89
+ 0.0069017792120575905,
90
+ 0.2149614691734314,
91
+ 1.9148164987564087,
92
+ 1.6432058811187744,
93
+ -1.4063096046447754,
94
+ -0.4350728690624237,
95
+ -0.7021057605743408,
96
+ 0.0667058601975441
97
+ ],
98
+ "policy_metadata": {
99
+ "alignment_wait_ms": 5.027503008022904,
100
+ "checkpoint_path": "/home/romoya-1/openpi-workspace/checkpoints/yam-policies-release/yam_policies/xiangrun/20260916_v2_seven_tasks/dp/spatula_handoff/best-short.pt",
101
+ "first_action_minus_state": [
102
+ 0.04573366045951843,
103
+ 0.0036867856979370117,
104
+ 0.008463025093078613,
105
+ 0.025386810302734375,
106
+ -0.049601972103118896,
107
+ -0.019773483276367188,
108
+ -0.006022320594638586,
109
+ 0.008941486477851868,
110
+ -0.017680048942565918,
111
+ 0.03260385990142822,
112
+ -0.031311750411987305,
113
+ -0.02724197506904602,
114
+ 0.02100193500518799,
115
+ 0.0014581531286239624
116
+ ],
117
+ "history_anchor_offset": 1,
118
+ "history_interval_ms": 33.410554,
119
+ "history_sample_stamp_ns": {
120
+ "base_0_color": [
121
+ 1789573044907053954,
122
+ 1789573044940464508
123
+ ],
124
+ "left_wrist_0_color": [
125
+ 1789573044918053706,
126
+ 1789573044951490450
127
+ ],
128
+ "right_wrist_0_color": [
129
+ 1789573044894140323,
130
+ 1789573044927533621
131
+ ],
132
+ "robot_state": [
133
+ 1789573044907419771,
134
+ 1789573044941560916
135
+ ]
136
+ },
137
+ "history_stamp_ns": [
138
+ 1789573044907053954,
139
+ 1789573044940464508
140
+ ],
141
+ "model_seed": null,
142
+ "observation_age_at_response_ms": 110.320089,
143
+ "observation_stamp_ns": 1789573044940464508,
144
+ "prompt": "spatula_handoff",
145
+ "release_revision": "39c623bd78f638d06ce0db57631b66d3028db208",
146
+ "request_id": "f14187c0750a41938c199f92b5bd8f70",
147
+ "round_trip_ms": 60.47922800644301,
148
+ "server_metadata": {
149
+ "action_shape": [
150
+ 32,
151
+ 14
152
+ ],
153
+ "action_space": "abs_qpos",
154
+ "cameras": [
155
+ "base_0",
156
+ "left_wrist_0",
157
+ "right_wrist_0"
158
+ ],
159
+ "checkpoint_hashes": {
160
+ "dp/spatula_handoff/best-short.pt": "e940beeaf79e8ea99be7e46a2e6c3b9c162394ab2dd2a86b1439b61fec8dd0f2"
161
+ },
162
+ "checkpoint_path": "/home/romoya-1/openpi-workspace/checkpoints/yam-policies-release/yam_policies/xiangrun/20260916_v2_seven_tasks/dp/spatula_handoff/best-short.pt",
163
+ "fps": 30,
164
+ "gpu": "NVIDIA GeForce RTX 5090",
165
+ "gpu_peak_mib": 446.9287109375,
166
+ "model": "dp",
167
+ "observation_offsets": [
168
+ -1,
169
+ 0
170
+ ],
171
+ "protocol": "yam-v2-native-npz-v1",
172
+ "release_revision": "39c623bd78f638d06ce0db57631b66d3028db208",
173
+ "step": 20000,
174
+ "task": "spatula_handoff",
175
+ "tasks": [
176
+ "spatula_handoff"
177
+ ],
178
+ "warmup": {
179
+ "hardware_started": false,
180
+ "seconds": [
181
+ 0.2951951069990173,
182
+ 0.056270029002917,
183
+ 0.05475686999852769,
184
+ 0.05329998300294392
185
+ ],
186
+ "status": "passed"
187
+ }
188
+ },
189
+ "server_prediction_seconds": 0.05516781999904197,
190
+ "source": "yam_v2_dp_http",
191
+ "task": "spatula_handoff",
192
+ "wire_action_dtype": "float32"
193
+ },
194
+ "time_ns": 1789573045102425422
195
+ }
eval/YAM/V2/dp/spatula_handoff/data/round_0002/debug/validations/validation_0012.json ADDED
@@ -0,0 +1,195 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "command_velocity_limits": [
3
+ 7.326937734087213,
4
+ 7.492612143357643,
5
+ 9.039960411055707,
6
+ 10.989442599937178,
7
+ 11.822247140410347,
8
+ 21.729793477053846,
9
+ 4.549583926449072,
10
+ 9.542591565847905,
11
+ 16.49783855493206,
12
+ 19.18122166486826,
13
+ 20.271305218109156,
14
+ 13.274309575261345,
15
+ 14.009155302643812,
16
+ 4.764187300355128
17
+ ],
18
+ "current": [
19
+ -0.24624246585793763,
20
+ 1.4986266880292973,
21
+ 0.6696803234912636,
22
+ 0.5804150453955899,
23
+ 0.25158312352178314,
24
+ 1.1099031052109556,
25
+ 0.003561984666570217,
26
+ 0.2161058976119623,
27
+ 1.9148165102616925,
28
+ 1.6691462577248792,
29
+ -1.4326314183260873,
30
+ -0.45071335927366896,
31
+ -0.6277180132753468,
32
+ 0.06993759501918483
33
+ ],
34
+ "current_velocity": [
35
+ -0.026862026862026767,
36
+ 0.0024420024420024333,
37
+ 0.0024420024420024333,
38
+ 0.0073260073260073,
39
+ -0.0073260073260073,
40
+ -0.0073260073260073,
41
+ 0.00013334456661521563,
42
+ 0.0073260073260073,
43
+ -0.0024420024420024333,
44
+ -0.026862026862026767,
45
+ -0.0073260073260073,
46
+ 0.0073260073260073,
47
+ -0.0219780219780219,
48
+ 0.00013347006284094486
49
+ ],
50
+ "first_target": [
51
+ -0.2035214900970459,
52
+ 1.4972808361053467,
53
+ 0.6932939887046814,
54
+ 0.5766748785972595,
55
+ 0.26065120100975037,
56
+ 1.1087464094161987,
57
+ 0.007351472973823547,
58
+ 0.2273343801498413,
59
+ 1.9074409008026123,
60
+ 1.6994043588638306,
61
+ -1.4461132287979126,
62
+ -0.4742528796195984,
63
+ -0.6011972427368164,
64
+ 0.07134769856929779
65
+ ],
66
+ "first_transition_velocity": [
67
+ 1.281629272826752,
68
+ -0.04037555771851942,
69
+ 0.7084099564025337,
70
+ -0.11220500394991006,
71
+ 0.2720423246390169,
72
+ -0.034700873842705704,
73
+ 0.11368464921759992,
74
+ 0.3368544761363701,
75
+ -0.2212682837724067,
76
+ 0.90774303416854,
77
+ -0.4044543141547585,
78
+ -0.706185610377883,
79
+ 0.7956231161559124,
80
+ 0.04230310650338895
81
+ ],
82
+ "observation_state": [
83
+ -0.2462424635887146,
84
+ 1.4982452392578125,
85
+ 0.6700618267059326,
86
+ 0.5804150700569153,
87
+ 0.25158312916755676,
88
+ 1.114099383354187,
89
+ 0.003561984747648239,
90
+ 0.2161058932542801,
91
+ 1.9148164987564087,
92
+ 1.6691462993621826,
93
+ -1.4326313734054565,
94
+ -0.4507133662700653,
95
+ -0.6277180314064026,
96
+ 0.06993759423494339
97
+ ],
98
+ "policy_metadata": {
99
+ "alignment_wait_ms": 5.273122995276935,
100
+ "checkpoint_path": "/home/romoya-1/openpi-workspace/checkpoints/yam-policies-release/yam_policies/xiangrun/20260916_v2_seven_tasks/dp/spatula_handoff/best-short.pt",
101
+ "first_action_minus_state": [
102
+ 0.0427209734916687,
103
+ -0.0009644031524658203,
104
+ 0.02323216199874878,
105
+ -0.0037401914596557617,
106
+ 0.009068071842193604,
107
+ -0.005352973937988281,
108
+ 0.0037894882261753082,
109
+ 0.011228486895561218,
110
+ -0.007375597953796387,
111
+ 0.03025805950164795,
112
+ -0.013481855392456055,
113
+ -0.02353951334953308,
114
+ 0.02652078866958618,
115
+ 0.0014101043343544006
116
+ ],
117
+ "history_anchor_offset": 0,
118
+ "history_interval_ms": 33.194568,
119
+ "history_sample_stamp_ns": {
120
+ "base_0_color": [
121
+ 1789573046540681631,
122
+ 1789573046573876199
123
+ ],
124
+ "left_wrist_0_color": [
125
+ 1789573046551710714,
126
+ 1789573046585186842
127
+ ],
128
+ "right_wrist_0_color": [
129
+ 1789573046527986020,
130
+ 1789573046561303537
131
+ ],
132
+ "robot_state": [
133
+ 1789573046541086421,
134
+ 1789573046574075148
135
+ ]
136
+ },
137
+ "history_stamp_ns": [
138
+ 1789573046540681631,
139
+ 1789573046573876199
140
+ ],
141
+ "model_seed": null,
142
+ "observation_age_at_response_ms": 104.013634,
143
+ "observation_stamp_ns": 1789573046573876199,
144
+ "prompt": "spatula_handoff",
145
+ "release_revision": "39c623bd78f638d06ce0db57631b66d3028db208",
146
+ "request_id": "1c32b908cb2a47168697eae91dfa2d6e",
147
+ "round_trip_ms": 57.91961899376474,
148
+ "server_metadata": {
149
+ "action_shape": [
150
+ 32,
151
+ 14
152
+ ],
153
+ "action_space": "abs_qpos",
154
+ "cameras": [
155
+ "base_0",
156
+ "left_wrist_0",
157
+ "right_wrist_0"
158
+ ],
159
+ "checkpoint_hashes": {
160
+ "dp/spatula_handoff/best-short.pt": "e940beeaf79e8ea99be7e46a2e6c3b9c162394ab2dd2a86b1439b61fec8dd0f2"
161
+ },
162
+ "checkpoint_path": "/home/romoya-1/openpi-workspace/checkpoints/yam-policies-release/yam_policies/xiangrun/20260916_v2_seven_tasks/dp/spatula_handoff/best-short.pt",
163
+ "fps": 30,
164
+ "gpu": "NVIDIA GeForce RTX 5090",
165
+ "gpu_peak_mib": 446.9287109375,
166
+ "model": "dp",
167
+ "observation_offsets": [
168
+ -1,
169
+ 0
170
+ ],
171
+ "protocol": "yam-v2-native-npz-v1",
172
+ "release_revision": "39c623bd78f638d06ce0db57631b66d3028db208",
173
+ "step": 20000,
174
+ "task": "spatula_handoff",
175
+ "tasks": [
176
+ "spatula_handoff"
177
+ ],
178
+ "warmup": {
179
+ "hardware_started": false,
180
+ "seconds": [
181
+ 0.2951951069990173,
182
+ 0.056270029002917,
183
+ 0.05475686999852769,
184
+ 0.05329998300294392
185
+ ],
186
+ "status": "passed"
187
+ }
188
+ },
189
+ "server_prediction_seconds": 0.05539451399818063,
190
+ "source": "yam_v2_dp_http",
191
+ "task": "spatula_handoff",
192
+ "wire_action_dtype": "float32"
193
+ },
194
+ "time_ns": 1789573046729729230
195
+ }
eval/YAM/V2/dp/spatula_handoff/data/round_0002/debug/validations/validation_0013.json ADDED
@@ -0,0 +1,195 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "command_velocity_limits": [
3
+ 7.326937734087213,
4
+ 7.492612143357643,
5
+ 9.039960411055707,
6
+ 10.989442599937178,
7
+ 11.822247140410347,
8
+ 21.729793477053846,
9
+ 4.549583926449072,
10
+ 9.542591565847905,
11
+ 16.49783855493206,
12
+ 19.18122166486826,
13
+ 20.271305218109156,
14
+ 13.274309575261345,
15
+ 14.009155302643812,
16
+ 4.764187300355128
17
+ ],
18
+ "current": [
19
+ -0.16193636987868665,
20
+ 1.4978637369344625,
21
+ 0.6841763942931252,
22
+ 0.4125658045319298,
23
+ 0.3156710154879079,
24
+ 1.1072327763790337,
25
+ 0.032037031679444536,
26
+ 0.22220950637064085,
27
+ 1.9148165102616925,
28
+ 1.6729610131990533,
29
+ -1.4326314183260838,
30
+ -0.4499504081788377,
31
+ -0.5861371786068528,
32
+ 0.07232143632809672
33
+ ],
34
+ "current_velocity": [
35
+ -0.0073260073260073,
36
+ 0.0024420024420024333,
37
+ 0.012210012210012167,
38
+ -0.0219780219780219,
39
+ -0.0073260073260073,
40
+ -0.0073260073260073,
41
+ 0.0006667228330760782,
42
+ -0.012210012210012167,
43
+ 0.0073260073260073,
44
+ -0.012210012210012167,
45
+ -0.0219780219780219,
46
+ 0.0073260073260073,
47
+ -0.0219780219780219,
48
+ 0.00013347006284094486
49
+ ],
50
+ "first_target": [
51
+ -0.14017391204833984,
52
+ 1.4941115379333496,
53
+ 0.6964190006256104,
54
+ 0.40960991382598877,
55
+ 0.35122305154800415,
56
+ 1.1046473979949951,
57
+ 0.012812754139304161,
58
+ 0.22943517565727234,
59
+ 1.9276044368743896,
60
+ 1.701691746711731,
61
+ -1.4477578401565552,
62
+ -0.4713456630706787,
63
+ -0.5772355794906616,
64
+ 0.07267069071531296
65
+ ],
66
+ "first_transition_velocity": [
67
+ 0.6528737349104041,
68
+ -0.11256597003338698,
69
+ 0.36727818997455586,
70
+ -0.08867672117823133,
71
+ 1.0665610818028881,
72
+ -0.07756135152115817,
73
+ -0.5767283262042112,
74
+ 0.2167700785989446,
75
+ 0.3836377983809136,
76
+ 0.8619220053803289,
77
+ -0.45379265491414245,
78
+ -0.6418576467552306,
79
+ 0.2670479734857345,
80
+ 0.010477631616487154
81
+ ],
82
+ "observation_state": [
83
+ -0.16346226632595062,
84
+ 1.49786376953125,
85
+ 0.6841763854026794,
86
+ 0.41447317600250244,
87
+ 0.31528952717781067,
88
+ 1.1072328090667725,
89
+ 0.03203703090548515,
90
+ 0.22220951318740845,
91
+ 1.9148164987564087,
92
+ 1.6729609966278076,
93
+ -1.4326313734054565,
94
+ -0.4499503970146179,
95
+ -0.5861371755599976,
96
+ 0.07232143729925156
97
+ ],
98
+ "policy_metadata": {
99
+ "alignment_wait_ms": 6.906278009410016,
100
+ "checkpoint_path": "/home/romoya-1/openpi-workspace/checkpoints/yam-policies-release/yam_policies/xiangrun/20260916_v2_seven_tasks/dp/spatula_handoff/best-short.pt",
101
+ "first_action_minus_state": [
102
+ 0.02328835427761078,
103
+ -0.0037522315979003906,
104
+ 0.012242615222930908,
105
+ -0.004863262176513672,
106
+ 0.03593352437019348,
107
+ -0.0025854110717773438,
108
+ -0.019224276766180992,
109
+ 0.007225662469863892,
110
+ 0.012787938117980957,
111
+ 0.02873075008392334,
112
+ -0.015126466751098633,
113
+ -0.02139526605606079,
114
+ 0.008901596069335938,
115
+ 0.00034925341606140137
116
+ ],
117
+ "history_anchor_offset": 0,
118
+ "history_interval_ms": 33.359427,
119
+ "history_sample_stamp_ns": {
120
+ "base_0_color": [
121
+ 1789573048107625365,
122
+ 1789573048140984792
123
+ ],
124
+ "left_wrist_0_color": [
125
+ 1789573048118857193,
126
+ 1789573048152119009
127
+ ],
128
+ "right_wrist_0_color": [
129
+ 1789573048094793855,
130
+ 1789573048128254935
131
+ ],
132
+ "robot_state": [
133
+ 1789573048107379085,
134
+ 1789573048141195986
135
+ ]
136
+ },
137
+ "history_stamp_ns": [
138
+ 1789573048107625365,
139
+ 1789573048140984792
140
+ ],
141
+ "model_seed": null,
142
+ "observation_age_at_response_ms": 124.387722,
143
+ "observation_stamp_ns": 1789573048140984792,
144
+ "prompt": "spatula_handoff",
145
+ "release_revision": "39c623bd78f638d06ce0db57631b66d3028db208",
146
+ "request_id": "b09fd49c515148ac8d1303bb1dc39339",
147
+ "round_trip_ms": 81.11001300858334,
148
+ "server_metadata": {
149
+ "action_shape": [
150
+ 32,
151
+ 14
152
+ ],
153
+ "action_space": "abs_qpos",
154
+ "cameras": [
155
+ "base_0",
156
+ "left_wrist_0",
157
+ "right_wrist_0"
158
+ ],
159
+ "checkpoint_hashes": {
160
+ "dp/spatula_handoff/best-short.pt": "e940beeaf79e8ea99be7e46a2e6c3b9c162394ab2dd2a86b1439b61fec8dd0f2"
161
+ },
162
+ "checkpoint_path": "/home/romoya-1/openpi-workspace/checkpoints/yam-policies-release/yam_policies/xiangrun/20260916_v2_seven_tasks/dp/spatula_handoff/best-short.pt",
163
+ "fps": 30,
164
+ "gpu": "NVIDIA GeForce RTX 5090",
165
+ "gpu_peak_mib": 446.9287109375,
166
+ "model": "dp",
167
+ "observation_offsets": [
168
+ -1,
169
+ 0
170
+ ],
171
+ "protocol": "yam-v2-native-npz-v1",
172
+ "release_revision": "39c623bd78f638d06ce0db57631b66d3028db208",
173
+ "step": 20000,
174
+ "task": "spatula_handoff",
175
+ "tasks": [
176
+ "spatula_handoff"
177
+ ],
178
+ "warmup": {
179
+ "hardware_started": false,
180
+ "seconds": [
181
+ 0.2951951069990173,
182
+ 0.056270029002917,
183
+ 0.05475686999852769,
184
+ 0.05329998300294392
185
+ ],
186
+ "status": "passed"
187
+ }
188
+ },
189
+ "server_prediction_seconds": 0.07570901900180615,
190
+ "source": "yam_v2_dp_http",
191
+ "task": "spatula_handoff",
192
+ "wire_action_dtype": "float32"
193
+ },
194
+ "time_ns": 1789573048305665776
195
+ }
eval/YAM/V2/dp/spatula_handoff/data/round_0002/debug/validations/validation_0014.json ADDED
@@ -0,0 +1,195 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "command_velocity_limits": [
3
+ 7.326937734087213,
4
+ 7.492612143357643,
5
+ 9.039960411055707,
6
+ 10.989442599937178,
7
+ 11.822247140410347,
8
+ 21.729793477053846,
9
+ 4.549583926449072,
10
+ 9.542591565847905,
11
+ 16.49783855493206,
12
+ 19.18122166486826,
13
+ 20.271305218109156,
14
+ 13.274309575261345,
15
+ 14.009155302643812,
16
+ 4.764187300355128
17
+ ],
18
+ "current": [
19
+ -0.12836652170595464,
20
+ 1.418135347524224,
21
+ 0.6845578698405426,
22
+ 0.2882047760738544,
23
+ 0.35610742351415325,
24
+ 1.0687037460898754,
25
+ 0.07599594966006076,
26
+ 0.22259098191805826,
27
+ 1.9342717631799804,
28
+ 1.6943236438544282,
29
+ -1.4513237201495368,
30
+ -0.43888761730372927,
31
+ -0.5491340505073605,
32
+ 0.07313458336349817
33
+ ],
34
+ "current_velocity": [
35
+ -0.0024420024420024333,
36
+ -0.0024420024420024333,
37
+ -0.0073260073260073,
38
+ -0.0073260073260073,
39
+ -0.0073260073260073,
40
+ -0.0219780219780219,
41
+ 0.00013334456661521563,
42
+ -0.0073260073260073,
43
+ -0.017094017094017033,
44
+ -0.0024420024420024333,
45
+ -0.0073260073260073,
46
+ -0.0219780219780219,
47
+ -0.0073260073260073,
48
+ 0.00013347006284094486
49
+ ],
50
+ "first_target": [
51
+ -0.1077020913362503,
52
+ 1.3787699937820435,
53
+ 0.6803789138793945,
54
+ 0.28216761350631714,
55
+ 0.3845459222793579,
56
+ 1.005112886428833,
57
+ 0.08804123848676682,
58
+ 0.22633543610572815,
59
+ 1.9322201013565063,
60
+ 1.715940237045288,
61
+ -1.450727105140686,
62
+ -0.4247664213180542,
63
+ -0.5344908237457275,
64
+ 0.07362016290426254
65
+ ],
66
+ "first_transition_velocity": [
67
+ 0.61993291109113,
68
+ -1.180960612265416,
69
+ -0.12536867883444103,
70
+ -0.1811148770261184,
71
+ 0.8531549629561397,
72
+ -1.9077257898312716,
73
+ 0.36135866480118156,
74
+ 0.11233362563009663,
75
+ -0.061549854704221474,
76
+ 0.6484977957257954,
77
+ 0.01789845026552328,
78
+ 0.42363587957025217,
79
+ 0.43929680284898964,
80
+ 0.014567386222931328
81
+ ],
82
+ "observation_state": [
83
+ -0.12836651504039764,
84
+ 1.4185168743133545,
85
+ 0.6845578551292419,
86
+ 0.28820478916168213,
87
+ 0.3557259440422058,
88
+ 1.0687037706375122,
89
+ 0.07599595189094543,
90
+ 0.22259098291397095,
91
+ 1.9346532821655273,
92
+ 1.6943236589431763,
93
+ -1.4513237476348877,
94
+ -0.4388876259326935,
95
+ -0.5491340756416321,
96
+ 0.0731276348233223
97
+ ],
98
+ "policy_metadata": {
99
+ "alignment_wait_ms": 4.673875999287702,
100
+ "checkpoint_path": "/home/romoya-1/openpi-workspace/checkpoints/yam-policies-release/yam_policies/xiangrun/20260916_v2_seven_tasks/dp/spatula_handoff/best-short.pt",
101
+ "first_action_minus_state": [
102
+ 0.02066442370414734,
103
+ -0.039746880531311035,
104
+ -0.004178941249847412,
105
+ -0.00603717565536499,
106
+ 0.0288199782371521,
107
+ -0.0635908842086792,
108
+ 0.01204528659582138,
109
+ 0.003744453191757202,
110
+ -0.002433180809020996,
111
+ 0.021616578102111816,
112
+ 0.0005966424942016602,
113
+ 0.014121204614639282,
114
+ 0.014643251895904541,
115
+ 0.0004925280809402466
116
+ ],
117
+ "history_anchor_offset": 1,
118
+ "history_interval_ms": 33.381126,
119
+ "history_sample_stamp_ns": {
120
+ "base_0_color": [
121
+ 1789573049708130914,
122
+ 1789573049741512040
123
+ ],
124
+ "left_wrist_0_color": [
125
+ 1789573049719280692,
126
+ 1789573049752552004
127
+ ],
128
+ "right_wrist_0_color": [
129
+ 1789573049695283965,
130
+ 1789573049728632369
131
+ ],
132
+ "robot_state": [
133
+ 1789573049707633989,
134
+ 1789573049741636335
135
+ ]
136
+ },
137
+ "history_stamp_ns": [
138
+ 1789573049708130914,
139
+ 1789573049741512040
140
+ ],
141
+ "model_seed": null,
142
+ "observation_age_at_response_ms": 132.380437,
143
+ "observation_stamp_ns": 1789573049741512040,
144
+ "prompt": "spatula_handoff",
145
+ "release_revision": "39c623bd78f638d06ce0db57631b66d3028db208",
146
+ "request_id": "67ee94b2afec48a492e683f7e161a739",
147
+ "round_trip_ms": 79.74619399465155,
148
+ "server_metadata": {
149
+ "action_shape": [
150
+ 32,
151
+ 14
152
+ ],
153
+ "action_space": "abs_qpos",
154
+ "cameras": [
155
+ "base_0",
156
+ "left_wrist_0",
157
+ "right_wrist_0"
158
+ ],
159
+ "checkpoint_hashes": {
160
+ "dp/spatula_handoff/best-short.pt": "e940beeaf79e8ea99be7e46a2e6c3b9c162394ab2dd2a86b1439b61fec8dd0f2"
161
+ },
162
+ "checkpoint_path": "/home/romoya-1/openpi-workspace/checkpoints/yam-policies-release/yam_policies/xiangrun/20260916_v2_seven_tasks/dp/spatula_handoff/best-short.pt",
163
+ "fps": 30,
164
+ "gpu": "NVIDIA GeForce RTX 5090",
165
+ "gpu_peak_mib": 446.9287109375,
166
+ "model": "dp",
167
+ "observation_offsets": [
168
+ -1,
169
+ 0
170
+ ],
171
+ "protocol": "yam-v2-native-npz-v1",
172
+ "release_revision": "39c623bd78f638d06ce0db57631b66d3028db208",
173
+ "step": 20000,
174
+ "task": "spatula_handoff",
175
+ "tasks": [
176
+ "spatula_handoff"
177
+ ],
178
+ "warmup": {
179
+ "hardware_started": false,
180
+ "seconds": [
181
+ 0.2951951069990173,
182
+ 0.056270029002917,
183
+ 0.05475686999852769,
184
+ 0.05329998300294392
185
+ ],
186
+ "status": "passed"
187
+ }
188
+ },
189
+ "server_prediction_seconds": 0.07714636700984556,
190
+ "source": "yam_v2_dp_http",
191
+ "task": "spatula_handoff",
192
+ "wire_action_dtype": "float32"
193
+ },
194
+ "time_ns": 1789573049921917719
195
+ }
eval/YAM/V2/dp/spatula_handoff/data/round_0002/debug/validations/validation_0015.json ADDED
@@ -0,0 +1,195 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "command_velocity_limits": [
3
+ 7.326937734087213,
4
+ 7.492612143357643,
5
+ 9.039960411055707,
6
+ 10.989442599937178,
7
+ 11.822247140410347,
8
+ 21.729793477053846,
9
+ 4.549583926449072,
10
+ 9.542591565847905,
11
+ 16.49783855493206,
12
+ 19.18122166486826,
13
+ 20.271305218109156,
14
+ 13.274309575261345,
15
+ 14.009155302643812,
16
+ 4.764187300355128
17
+ ],
18
+ "current": [
19
+ -0.049782558937968346,
20
+ 0.6853208209353774,
21
+ 0.6815060654612033,
22
+ 0.11997405966277519,
23
+ 0.4045548180361642,
24
+ 0.4625391012436104,
25
+ 0.09463214234051787,
26
+ 0.19245441367208294,
27
+ 1.791218432898452,
28
+ 1.7130159456778813,
29
+ -1.3719768062867157,
30
+ -0.20275425345235298,
31
+ -0.41714351110093695,
32
+ 0.07461492796640846
33
+ ],
34
+ "current_velocity": [
35
+ -0.0024420024420024333,
36
+ -0.0024420024420024333,
37
+ -0.017094017094017033,
38
+ 0.0073260073260073,
39
+ -0.0073260073260073,
40
+ -0.0073260073260073,
41
+ 0.00013334456661521563,
42
+ -0.0073260073260073,
43
+ -0.0073260073260073,
44
+ 0.012210012210012167,
45
+ -0.0073260073260073,
46
+ -0.0073260073260073,
47
+ 0.0073260073260073,
48
+ 0.00013347006284094486
49
+ ],
50
+ "first_target": [
51
+ -0.02860955521464348,
52
+ 0.5799083709716797,
53
+ 0.6942329406738281,
54
+ 0.11228686571121216,
55
+ 0.40002524852752686,
56
+ 0.34500792622566223,
57
+ 0.09519652277231216,
58
+ 0.1949903815984726,
59
+ 1.7050634622573853,
60
+ 1.7373017072677612,
61
+ -1.3715089559555054,
62
+ -0.052138686180114746,
63
+ -0.3446056544780731,
64
+ 0.07319388538599014
65
+ ],
66
+ "first_transition_velocity": [
67
+ 0.635190111699746,
68
+ -3.162373498910931,
69
+ 0.381806256378745,
70
+ -0.23061581854689095,
71
+ -0.13588708525912097,
72
+ -3.5259352505384456,
73
+ 0.01693141295382894,
74
+ 0.07607903779168979,
75
+ -2.584649119232001,
76
+ 0.7285728476963982,
77
+ 0.014035509936309865,
78
+ 4.518467018167147,
79
+ 2.176135698685915,
80
+ -0.042631277412549656
81
+ ],
82
+ "observation_state": [
83
+ -0.049782559275627136,
84
+ 0.6853207945823669,
85
+ 0.6815060377120972,
86
+ 0.1199740618467331,
87
+ 0.4045548141002655,
88
+ 0.4655908942222595,
89
+ 0.09463214129209518,
90
+ 0.19245441257953644,
91
+ 1.7912184000015259,
92
+ 1.7130159139633179,
93
+ -1.3719768524169922,
94
+ -0.20428015291690826,
95
+ -0.4171435236930847,
96
+ 0.07461492717266083
97
+ ],
98
+ "policy_metadata": {
99
+ "alignment_wait_ms": 5.836240001372062,
100
+ "checkpoint_path": "/home/romoya-1/openpi-workspace/checkpoints/yam-policies-release/yam_policies/xiangrun/20260916_v2_seven_tasks/dp/spatula_handoff/best-short.pt",
101
+ "first_action_minus_state": [
102
+ 0.021173004060983658,
103
+ -0.10541242361068726,
104
+ 0.012726902961730957,
105
+ -0.007687196135520935,
106
+ -0.0045295655727386475,
107
+ -0.12058296799659729,
108
+ 0.00056438148021698,
109
+ 0.0025359690189361572,
110
+ -0.08615493774414062,
111
+ 0.02428579330444336,
112
+ 0.0004678964614868164,
113
+ 0.15214146673679352,
114
+ 0.0725378692150116,
115
+ -0.0014210417866706848
116
+ ],
117
+ "history_anchor_offset": 1,
118
+ "history_interval_ms": 33.454097,
119
+ "history_sample_stamp_ns": {
120
+ "base_0_color": [
121
+ 1789573051541958598,
122
+ 1789573051575412695
123
+ ],
124
+ "left_wrist_0_color": [
125
+ 1789573051553113082,
126
+ 1789573051586240569
127
+ ],
128
+ "right_wrist_0_color": [
129
+ 1789573051528966277,
130
+ 1789573051562459454
131
+ ],
132
+ "robot_state": [
133
+ 1789573051540680150,
134
+ 1789573051574041160
135
+ ]
136
+ },
137
+ "history_stamp_ns": [
138
+ 1789573051541958598,
139
+ 1789573051575412695
140
+ ],
141
+ "model_seed": null,
142
+ "observation_age_at_response_ms": 140.318275,
143
+ "observation_stamp_ns": 1789573051575412695,
144
+ "prompt": "spatula_handoff",
145
+ "release_revision": "39c623bd78f638d06ce0db57631b66d3028db208",
146
+ "request_id": "890edbba3b5a4b07a849cc5261596cb4",
147
+ "round_trip_ms": 80.57834100327455,
148
+ "server_metadata": {
149
+ "action_shape": [
150
+ 32,
151
+ 14
152
+ ],
153
+ "action_space": "abs_qpos",
154
+ "cameras": [
155
+ "base_0",
156
+ "left_wrist_0",
157
+ "right_wrist_0"
158
+ ],
159
+ "checkpoint_hashes": {
160
+ "dp/spatula_handoff/best-short.pt": "e940beeaf79e8ea99be7e46a2e6c3b9c162394ab2dd2a86b1439b61fec8dd0f2"
161
+ },
162
+ "checkpoint_path": "/home/romoya-1/openpi-workspace/checkpoints/yam-policies-release/yam_policies/xiangrun/20260916_v2_seven_tasks/dp/spatula_handoff/best-short.pt",
163
+ "fps": 30,
164
+ "gpu": "NVIDIA GeForce RTX 5090",
165
+ "gpu_peak_mib": 446.9287109375,
166
+ "model": "dp",
167
+ "observation_offsets": [
168
+ -1,
169
+ 0
170
+ ],
171
+ "protocol": "yam-v2-native-npz-v1",
172
+ "release_revision": "39c623bd78f638d06ce0db57631b66d3028db208",
173
+ "step": 20000,
174
+ "task": "spatula_handoff",
175
+ "tasks": [
176
+ "spatula_handoff"
177
+ ],
178
+ "warmup": {
179
+ "hardware_started": false,
180
+ "seconds": [
181
+ 0.2951951069990173,
182
+ 0.056270029002917,
183
+ 0.05475686999852769,
184
+ 0.05329998300294392
185
+ ],
186
+ "status": "passed"
187
+ }
188
+ },
189
+ "server_prediction_seconds": 0.07691042999795172,
190
+ "source": "yam_v2_dp_http",
191
+ "task": "spatula_handoff",
192
+ "wire_action_dtype": "float32"
193
+ },
194
+ "time_ns": 1789573051753420758
195
+ }
eval/YAM/V2/dp/spatula_handoff/data/round_0002/debug/validations/validation_0016.json ADDED
@@ -0,0 +1,195 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "command_velocity_limits": [
3
+ 7.326937734087213,
4
+ 7.492612143357643,
5
+ 9.039960411055707,
6
+ 10.989442599937178,
7
+ 11.822247140410347,
8
+ 21.729793477053846,
9
+ 4.549583926449072,
10
+ 9.542591565847905,
11
+ 16.49783855493206,
12
+ 19.18122166486826,
13
+ 20.271305218109156,
14
+ 13.274309575261345,
15
+ 14.009155302643812,
16
+ 4.764187300355128
17
+ ],
18
+ "current": [
19
+ 0.2531090257114528,
20
+ 0.19359884031433516,
21
+ 0.6574731059739065,
22
+ -0.33245593957427566,
23
+ 0.3339818417639435,
24
+ 0.12226291294727964,
25
+ 0.09581947056270794,
26
+ 0.16803997863736875,
27
+ 0.8928435187304498,
28
+ 1.3048371099412535,
29
+ -1.2739375906004415,
30
+ 0.1573586633096813,
31
+ -0.26798657206072996,
32
+ 0.07285658437703611
33
+ ],
34
+ "current_velocity": [
35
+ -0.0024420024420024333,
36
+ 0.0073260073260073,
37
+ -0.012210012210012167,
38
+ -0.0219780219780219,
39
+ -0.0073260073260073,
40
+ 0.0073260073260073,
41
+ 0.00040003369984564687,
42
+ 0.0024420024420024333,
43
+ -0.017094017094017033,
44
+ 0.0024420024420024333,
45
+ -0.0073260073260073,
46
+ -0.0219780219780219,
47
+ -0.0073260073260073,
48
+ 0.00013347006284094486
49
+ ],
50
+ "first_target": [
51
+ 0.26271143555641174,
52
+ 0.16168208420276642,
53
+ 0.6328717470169067,
54
+ -0.3510148823261261,
55
+ 0.3657466471195221,
56
+ 0.12204939872026443,
57
+ 0.09524926543235779,
58
+ 0.13130751252174377,
59
+ 0.8292964100837708,
60
+ 1.213912010192871,
61
+ -1.2312557697296143,
62
+ 0.11714674532413483,
63
+ -0.2591095268726349,
64
+ 0.07313743978738785
65
+ ],
66
+ "first_transition_velocity": [
67
+ 0.2880722953487691,
68
+ -0.9575026833470623,
69
+ -0.7380407687099932,
70
+ -0.5567682825555131,
71
+ 0.9529441606673572,
72
+ -0.006405426810456305,
73
+ -0.017106153910504546,
74
+ -1.1019739834687492,
75
+ -1.9064132594003702,
76
+ -2.727752992451471,
77
+ 1.2804546261248184,
78
+ -1.206357539566394,
79
+ 0.266311355642852,
80
+ 0.008425662310552057
81
+ ],
82
+ "observation_state": [
83
+ 0.25310903787612915,
84
+ 0.19359883666038513,
85
+ 0.657473087310791,
86
+ -0.33207446336746216,
87
+ 0.33398184180259705,
88
+ 0.12264438718557358,
89
+ 0.09581947326660156,
90
+ 0.1680399775505066,
91
+ 0.8928435444831848,
92
+ 1.3048371076583862,
93
+ -1.274319052696228,
94
+ 0.15659570693969727,
95
+ -0.26798656582832336,
96
+ 0.07285658270120621
97
+ ],
98
+ "policy_metadata": {
99
+ "alignment_wait_ms": 5.844486004207283,
100
+ "checkpoint_path": "/home/romoya-1/openpi-workspace/checkpoints/yam-policies-release/yam_policies/xiangrun/20260916_v2_seven_tasks/dp/spatula_handoff/best-short.pt",
101
+ "first_action_minus_state": [
102
+ 0.009602397680282593,
103
+ -0.03191675245761871,
104
+ -0.024601340293884277,
105
+ -0.01894041895866394,
106
+ 0.03176480531692505,
107
+ -0.0005949884653091431,
108
+ -0.0005702078342437744,
109
+ -0.03673246502876282,
110
+ -0.06354713439941406,
111
+ -0.09092509746551514,
112
+ 0.04306328296661377,
113
+ -0.03944896161556244,
114
+ 0.008877038955688477,
115
+ 0.0002808570861816406
116
+ ],
117
+ "history_anchor_offset": 0,
118
+ "history_interval_ms": 33.316819,
119
+ "history_sample_stamp_ns": {
120
+ "base_0_color": [
121
+ 1789573053275550961,
122
+ 1789573053308867780
123
+ ],
124
+ "left_wrist_0_color": [
125
+ 1789573053286735739,
126
+ 1789573053320144018
127
+ ],
128
+ "right_wrist_0_color": [
129
+ 1789573053262686602,
130
+ 1789573053296075157
131
+ ],
132
+ "robot_state": [
133
+ 1789573053274107794,
134
+ 1789573053307323717
135
+ ]
136
+ },
137
+ "history_stamp_ns": [
138
+ 1789573053275550961,
139
+ 1789573053308867780
140
+ ],
141
+ "model_seed": null,
142
+ "observation_age_at_response_ms": 123.702825,
143
+ "observation_stamp_ns": 1789573053308867780,
144
+ "prompt": "spatula_handoff",
145
+ "release_revision": "39c623bd78f638d06ce0db57631b66d3028db208",
146
+ "request_id": "10fb750c027c4406b2386d98c8783f2a",
147
+ "round_trip_ms": 79.7821330052102,
148
+ "server_metadata": {
149
+ "action_shape": [
150
+ 32,
151
+ 14
152
+ ],
153
+ "action_space": "abs_qpos",
154
+ "cameras": [
155
+ "base_0",
156
+ "left_wrist_0",
157
+ "right_wrist_0"
158
+ ],
159
+ "checkpoint_hashes": {
160
+ "dp/spatula_handoff/best-short.pt": "e940beeaf79e8ea99be7e46a2e6c3b9c162394ab2dd2a86b1439b61fec8dd0f2"
161
+ },
162
+ "checkpoint_path": "/home/romoya-1/openpi-workspace/checkpoints/yam-policies-release/yam_policies/xiangrun/20260916_v2_seven_tasks/dp/spatula_handoff/best-short.pt",
163
+ "fps": 30,
164
+ "gpu": "NVIDIA GeForce RTX 5090",
165
+ "gpu_peak_mib": 446.9287109375,
166
+ "model": "dp",
167
+ "observation_offsets": [
168
+ -1,
169
+ 0
170
+ ],
171
+ "protocol": "yam-v2-native-npz-v1",
172
+ "release_revision": "39c623bd78f638d06ce0db57631b66d3028db208",
173
+ "step": 20000,
174
+ "task": "spatula_handoff",
175
+ "tasks": [
176
+ "spatula_handoff"
177
+ ],
178
+ "warmup": {
179
+ "hardware_started": false,
180
+ "seconds": [
181
+ 0.2951951069990173,
182
+ 0.056270029002917,
183
+ 0.05475686999852769,
184
+ 0.05329998300294392
185
+ ],
186
+ "status": "passed"
187
+ }
188
+ },
189
+ "server_prediction_seconds": 0.07641035999404266,
190
+ "source": "yam_v2_dp_http",
191
+ "task": "spatula_handoff",
192
+ "wire_action_dtype": "float32"
193
+ },
194
+ "time_ns": 1789573053467812697
195
+ }
eval/YAM/V2/dp/spatula_handoff/data/round_0002/debug/validations/validation_0017.json ADDED
@@ -0,0 +1,195 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "command_velocity_limits": [
3
+ 7.326937734087213,
4
+ 7.492612143357643,
5
+ 9.039960411055707,
6
+ 10.989442599937178,
7
+ 11.822247140410347,
8
+ 21.729793477053846,
9
+ 4.549583926449072,
10
+ 9.542591565847905,
11
+ 16.49783855493206,
12
+ 19.18122166486826,
13
+ 20.271305218109156,
14
+ 13.274309575261345,
15
+ 14.009155302643812,
16
+ 4.764187300355128
17
+ ],
18
+ "current": [
19
+ 0.23403524834058054,
20
+ 0.17338063630121248,
21
+ 0.25234607461661795,
22
+ -0.10395208667124045,
23
+ 0.321393148699169,
24
+ 0.046730754558632626,
25
+ 0.09546535512801967,
26
+ -0.07419699397268253,
27
+ 0.4907682917524987,
28
+ 0.6689173723964288,
29
+ -0.9336614023041125,
30
+ 0.0207904173342488,
31
+ -0.20771343556877575,
32
+ 0.07667907044088902
33
+ ],
34
+ "current_velocity": [
35
+ -0.012210012210012167,
36
+ -0.017094017094017033,
37
+ -0.0073260073260073,
38
+ -0.0073260073260073,
39
+ -0.0073260073260073,
40
+ -0.0219780219780219,
41
+ 0.00013334456661521563,
42
+ -0.012210012210012167,
43
+ 0.0024420024420024333,
44
+ 0.0073260073260073,
45
+ -0.0219780219780219,
46
+ -0.0219780219780219,
47
+ 0.0073260073260073,
48
+ 0.00013347006284094486
49
+ ],
50
+ "first_target": [
51
+ 0.24180898070335388,
52
+ 0.16845662891864777,
53
+ 0.23620712757110596,
54
+ -0.09103067964315414,
55
+ 0.33771488070487976,
56
+ 0.025586068630218506,
57
+ 0.0957549512386322,
58
+ -0.08073407411575317,
59
+ 0.469453901052475,
60
+ 0.6168750524520874,
61
+ -0.9066671133041382,
62
+ -0.002587040886282921,
63
+ -0.19007980823516846,
64
+ 0.07808340340852737
65
+ ],
66
+ "first_transition_velocity": [
67
+ 0.23321197088320034,
68
+ -0.1477202214769413,
69
+ -0.48416841136535993,
70
+ 0.3876422108425892,
71
+ 0.4896519601713223,
72
+ -0.6343405778524236,
73
+ 0.008687883318376083,
74
+ -0.19611240429211918,
75
+ -0.6394317210007117,
76
+ -1.5612695983302416,
77
+ 0.8098286699992308,
78
+ -0.7013237466159516,
79
+ 0.5290088200082188,
80
+ 0.04212998902915058
81
+ ],
82
+ "observation_state": [
83
+ 0.23403525352478027,
84
+ 0.17338064312934875,
85
+ 0.25234606862068176,
86
+ -0.1039520874619484,
87
+ 0.3213931620121002,
88
+ 0.05130846053361893,
89
+ 0.09546535462141037,
90
+ -0.07419699430465698,
91
+ 0.49076828360557556,
92
+ 0.6689173579216003,
93
+ -0.9332799315452576,
94
+ 0.02079041674733162,
95
+ -0.20771344006061554,
96
+ 0.07667907327413559
97
+ ],
98
+ "policy_metadata": {
99
+ "alignment_wait_ms": 5.880140990484506,
100
+ "checkpoint_path": "/home/romoya-1/openpi-workspace/checkpoints/yam-policies-release/yam_policies/xiangrun/20260916_v2_seven_tasks/dp/spatula_handoff/best-short.pt",
101
+ "first_action_minus_state": [
102
+ 0.007773727178573608,
103
+ -0.004924014210700989,
104
+ -0.016138941049575806,
105
+ 0.01292140781879425,
106
+ 0.01632171869277954,
107
+ -0.02572239190340042,
108
+ 0.0002895966172218323,
109
+ -0.006537079811096191,
110
+ -0.021314382553100586,
111
+ -0.05204230546951294,
112
+ 0.026612818241119385,
113
+ -0.02337745763361454,
114
+ 0.017633631825447083,
115
+ 0.0014043301343917847
116
+ ],
117
+ "history_anchor_offset": 0,
118
+ "history_interval_ms": 33.37207,
119
+ "history_sample_stamp_ns": {
120
+ "base_0_color": [
121
+ 1789573054976071600,
122
+ 1789573055009443670
123
+ ],
124
+ "left_wrist_0_color": [
125
+ 1789573054987072066,
126
+ 1789573055020567154
127
+ ],
128
+ "right_wrist_0_color": [
129
+ 1789573054963228206,
130
+ 1789573054996529550
131
+ ],
132
+ "robot_state": [
133
+ 1789573054974018084,
134
+ 1789573055007308425
135
+ ]
136
+ },
137
+ "history_stamp_ns": [
138
+ 1789573054976071600,
139
+ 1789573055009443670
140
+ ],
141
+ "model_seed": null,
142
+ "observation_age_at_response_ms": 116.253611,
143
+ "observation_stamp_ns": 1789573055009443670,
144
+ "prompt": "spatula_handoff",
145
+ "release_revision": "39c623bd78f638d06ce0db57631b66d3028db208",
146
+ "request_id": "575b6a5fa86c43a09a6490e1c1a911b8",
147
+ "round_trip_ms": 79.61819499905687,
148
+ "server_metadata": {
149
+ "action_shape": [
150
+ 32,
151
+ 14
152
+ ],
153
+ "action_space": "abs_qpos",
154
+ "cameras": [
155
+ "base_0",
156
+ "left_wrist_0",
157
+ "right_wrist_0"
158
+ ],
159
+ "checkpoint_hashes": {
160
+ "dp/spatula_handoff/best-short.pt": "e940beeaf79e8ea99be7e46a2e6c3b9c162394ab2dd2a86b1439b61fec8dd0f2"
161
+ },
162
+ "checkpoint_path": "/home/romoya-1/openpi-workspace/checkpoints/yam-policies-release/yam_policies/xiangrun/20260916_v2_seven_tasks/dp/spatula_handoff/best-short.pt",
163
+ "fps": 30,
164
+ "gpu": "NVIDIA GeForce RTX 5090",
165
+ "gpu_peak_mib": 446.9287109375,
166
+ "model": "dp",
167
+ "observation_offsets": [
168
+ -1,
169
+ 0
170
+ ],
171
+ "protocol": "yam-v2-native-npz-v1",
172
+ "release_revision": "39c623bd78f638d06ce0db57631b66d3028db208",
173
+ "step": 20000,
174
+ "task": "spatula_handoff",
175
+ "tasks": [
176
+ "spatula_handoff"
177
+ ],
178
+ "warmup": {
179
+ "hardware_started": false,
180
+ "seconds": [
181
+ 0.2951951069990173,
182
+ 0.056270029002917,
183
+ 0.05475686999852769,
184
+ 0.05329998300294392
185
+ ],
186
+ "status": "passed"
187
+ }
188
+ },
189
+ "server_prediction_seconds": 0.07589004100009333,
190
+ "source": "yam_v2_dp_http",
191
+ "task": "spatula_handoff",
192
+ "wire_action_dtype": "float32"
193
+ },
194
+ "time_ns": 1789573055163212283
195
+ }
eval/YAM/V2/dp/spatula_handoff/data/round_0002/debug/validations/validation_0018.json ADDED
@@ -0,0 +1,195 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "command_velocity_limits": [
3
+ 7.326937734087213,
4
+ 7.492612143357643,
5
+ 9.039960411055707,
6
+ 10.989442599937178,
7
+ 11.822247140410347,
8
+ 21.729793477053846,
9
+ 4.549583926449072,
10
+ 9.542591565847905,
11
+ 16.49783855493206,
12
+ 19.18122166486826,
13
+ 20.271305218109156,
14
+ 13.274309575261345,
15
+ 14.009155302643812,
16
+ 4.764187300355128
17
+ ],
18
+ "current": [
19
+ 0.2454795147631028,
20
+ 0.17566948958571693,
21
+ 0.13904783703364565,
22
+ 0.000953688868543523,
23
+ 0.23823147936217204,
24
+ -0.04901960784313708,
25
+ 0.09504180529437292,
26
+ -0.09403372243838781,
27
+ 0.46826123445487156,
28
+ 0.44270237277790514,
29
+ -0.6643396658274181,
30
+ -0.0024795910582131597,
31
+ -0.20847638666361057,
32
+ 0.07858336349815391
33
+ ],
34
+ "current_velocity": [
35
+ -0.017094017094017033,
36
+ -0.0024420024420024333,
37
+ 0.0024420024420024333,
38
+ -0.0219780219780219,
39
+ -0.0073260073260073,
40
+ -0.0219780219780219,
41
+ 0.00013334456661521563,
42
+ 0.012210012210012167,
43
+ -0.0073260073260073,
44
+ -0.012210012210012167,
45
+ -0.0073260073260073,
46
+ 0.0073260073260073,
47
+ -0.0073260073260073,
48
+ -0.00013347006284094486
49
+ ],
50
+ "first_target": [
51
+ 0.25532597303390503,
52
+ 0.16590845584869385,
53
+ 0.1257907748222351,
54
+ 0.0059011587873101234,
55
+ 0.2708660960197449,
56
+ -0.002768930047750473,
57
+ 0.09521963447332382,
58
+ -0.07727408409118652,
59
+ 0.4840003252029419,
60
+ 0.40063345432281494,
61
+ -0.6250466108322144,
62
+ 0.037043776363134384,
63
+ -0.19375784695148468,
64
+ 0.07910361140966415
65
+ ],
66
+ "first_transition_velocity": [
67
+ 0.2953937481240665,
68
+ -0.2928310121106925,
69
+ -0.39771186634231626,
70
+ 0.14842409756299801,
71
+ 0.979038499727185,
72
+ 1.3875203338615982,
73
+ 0.005334875368527003,
74
+ 0.5027891504160387,
75
+ 0.47217272244211017,
76
+ -1.262067553652706,
77
+ 1.1787916498561124,
78
+ 1.1857010226404263,
79
+ 0.44155619136377666,
80
+ 0.015607437345307312
81
+ ],
82
+ "observation_state": [
83
+ 0.2454795092344284,
84
+ 0.17566949129104614,
85
+ 0.13904783129692078,
86
+ 0.0009536888683214784,
87
+ 0.23823148012161255,
88
+ -0.04901960864663124,
89
+ 0.09504180401563644,
90
+ -0.09365224838256836,
91
+ 0.4682612419128418,
92
+ 0.44270238280296326,
93
+ -0.6643396615982056,
94
+ -0.0024795911740511656,
95
+ -0.20847637951374054,
96
+ 0.07858336716890335
97
+ ],
98
+ "policy_metadata": {
99
+ "alignment_wait_ms": 6.183224992128089,
100
+ "checkpoint_path": "/home/romoya-1/openpi-workspace/checkpoints/yam-policies-release/yam_policies/xiangrun/20260916_v2_seven_tasks/dp/spatula_handoff/best-short.pt",
101
+ "first_action_minus_state": [
102
+ 0.009846463799476624,
103
+ -0.009761035442352295,
104
+ -0.013257056474685669,
105
+ 0.004947470035403967,
106
+ 0.032634615898132324,
107
+ 0.04625067859888077,
108
+ 0.00017783045768737793,
109
+ 0.016378164291381836,
110
+ 0.015739083290100098,
111
+ -0.042068928480148315,
112
+ 0.03929305076599121,
113
+ 0.03952336683869362,
114
+ 0.01471853256225586,
115
+ 0.0005202442407608032
116
+ ],
117
+ "history_anchor_offset": 0,
118
+ "history_interval_ms": 33.313803,
119
+ "history_sample_stamp_ns": {
120
+ "base_0_color": [
121
+ 1789573056609853246,
122
+ 1789573056643167049
123
+ ],
124
+ "left_wrist_0_color": [
125
+ 1789573056620913515,
126
+ 1789573056654195318
127
+ ],
128
+ "right_wrist_0_color": [
129
+ 1789573056597053084,
130
+ 1789573056630425257
131
+ ],
132
+ "robot_state": [
133
+ 1789573056607306786,
134
+ 1789573056640722609
135
+ ]
136
+ },
137
+ "history_stamp_ns": [
138
+ 1789573056609853246,
139
+ 1789573056643167049
140
+ ],
141
+ "model_seed": null,
142
+ "observation_age_at_response_ms": 128.808028,
143
+ "observation_stamp_ns": 1789573056643167049,
144
+ "prompt": "spatula_handoff",
145
+ "release_revision": "39c623bd78f638d06ce0db57631b66d3028db208",
146
+ "request_id": "86d84938aaf84b0eb238749002c99f32",
147
+ "round_trip_ms": 79.26011401286814,
148
+ "server_metadata": {
149
+ "action_shape": [
150
+ 32,
151
+ 14
152
+ ],
153
+ "action_space": "abs_qpos",
154
+ "cameras": [
155
+ "base_0",
156
+ "left_wrist_0",
157
+ "right_wrist_0"
158
+ ],
159
+ "checkpoint_hashes": {
160
+ "dp/spatula_handoff/best-short.pt": "e940beeaf79e8ea99be7e46a2e6c3b9c162394ab2dd2a86b1439b61fec8dd0f2"
161
+ },
162
+ "checkpoint_path": "/home/romoya-1/openpi-workspace/checkpoints/yam-policies-release/yam_policies/xiangrun/20260916_v2_seven_tasks/dp/spatula_handoff/best-short.pt",
163
+ "fps": 30,
164
+ "gpu": "NVIDIA GeForce RTX 5090",
165
+ "gpu_peak_mib": 446.9287109375,
166
+ "model": "dp",
167
+ "observation_offsets": [
168
+ -1,
169
+ 0
170
+ ],
171
+ "protocol": "yam-v2-native-npz-v1",
172
+ "release_revision": "39c623bd78f638d06ce0db57631b66d3028db208",
173
+ "step": 20000,
174
+ "task": "spatula_handoff",
175
+ "tasks": [
176
+ "spatula_handoff"
177
+ ],
178
+ "warmup": {
179
+ "hardware_started": false,
180
+ "seconds": [
181
+ 0.2951951069990173,
182
+ 0.056270029002917,
183
+ 0.05475686999852769,
184
+ 0.05329998300294392
185
+ ],
186
+ "status": "passed"
187
+ }
188
+ },
189
+ "server_prediction_seconds": 0.07652952100033872,
190
+ "source": "yam_v2_dp_http",
191
+ "task": "spatula_handoff",
192
+ "wire_action_dtype": "float32"
193
+ },
194
+ "time_ns": 1789573056799693824
195
+ }
eval/YAM/V2/dp/spatula_handoff/data/round_0002/manifests/action.json ADDED
@@ -0,0 +1,28 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "prometheus_action_recorder": {
3
+ "counts": {
4
+ "action.executed": 578,
5
+ "camera.base_0_rgb": 910,
6
+ "camera.left_wrist_0_rgb": 910,
7
+ "camera.right_wrist_0_rgb": 909,
8
+ "dropped": 0,
9
+ "event.workflow": 1,
10
+ "items": 6949,
11
+ "robot.robot_state": 3641
12
+ },
13
+ "episode_dir": "/home/romoya-1/openpi-workspace/PrometheusV2/outputs/yam_v2/dp/best-short/spatula_handoff/data/round_0002",
14
+ "executed_actions": 578,
15
+ "failure": "",
16
+ "metadata": {
17
+ "round_number": 2,
18
+ "run_id": "20260916_233617_093819_round_0002",
19
+ "workflow": "openpi_rollout"
20
+ },
21
+ "policy_action_chunks": 0,
22
+ "record_id": "prometheus_action_recorder",
23
+ "record_mode": "action",
24
+ "schema": "prometheus_raw_episode_v1",
25
+ "status": "saved",
26
+ "updated_at_unix": 1789573057.0179303
27
+ }
28
+ }
eval/YAM/V2/dp/spatula_handoff/data/round_0002/manifests/camera.json ADDED
@@ -0,0 +1,101 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "prometheus_camera_base_0_recorder": {
3
+ "camera_frames": {
4
+ "base_0_rgb": 910
5
+ },
6
+ "camera_timestamp_samples": 910,
7
+ "complete_sensor_bundles": 910,
8
+ "counts": {
9
+ "action.executed": 578,
10
+ "camera.base_0_rgb": 910,
11
+ "camera.left_wrist_0_rgb": 910,
12
+ "camera.right_wrist_0_rgb": 909,
13
+ "dropped": 0,
14
+ "event.workflow": 1,
15
+ "items": 6949,
16
+ "robot.robot_state": 3641
17
+ },
18
+ "dropped_incomplete_sensor_bundles": 0,
19
+ "duplicate_sensor_messages": 0,
20
+ "episode_dir": "/home/romoya-1/openpi-workspace/PrometheusV2/outputs/yam_v2/dp/best-short/spatula_handoff/data/round_0002",
21
+ "failure": "",
22
+ "metadata": {
23
+ "round_number": 2,
24
+ "run_id": "20260916_233617_093819_round_0002",
25
+ "workflow": "openpi_rollout"
26
+ },
27
+ "record_id": "prometheus_camera_base_0_recorder",
28
+ "record_mode": "sensor",
29
+ "schema": "prometheus_raw_episode_v1",
30
+ "sensor_kind": "camera",
31
+ "sensor_name": "base_0",
32
+ "status": "saved",
33
+ "updated_at_unix": 1789573057.0179303
34
+ },
35
+ "prometheus_camera_left_wrist_0_recorder": {
36
+ "camera_frames": {
37
+ "left_wrist_0_rgb": 910
38
+ },
39
+ "camera_timestamp_samples": 910,
40
+ "complete_sensor_bundles": 910,
41
+ "counts": {
42
+ "action.executed": 578,
43
+ "camera.base_0_rgb": 910,
44
+ "camera.left_wrist_0_rgb": 910,
45
+ "camera.right_wrist_0_rgb": 909,
46
+ "dropped": 0,
47
+ "event.workflow": 1,
48
+ "items": 6949,
49
+ "robot.robot_state": 3641
50
+ },
51
+ "dropped_incomplete_sensor_bundles": 0,
52
+ "duplicate_sensor_messages": 0,
53
+ "episode_dir": "/home/romoya-1/openpi-workspace/PrometheusV2/outputs/yam_v2/dp/best-short/spatula_handoff/data/round_0002",
54
+ "failure": "",
55
+ "metadata": {
56
+ "round_number": 2,
57
+ "run_id": "20260916_233617_093819_round_0002",
58
+ "workflow": "openpi_rollout"
59
+ },
60
+ "record_id": "prometheus_camera_left_wrist_0_recorder",
61
+ "record_mode": "sensor",
62
+ "schema": "prometheus_raw_episode_v1",
63
+ "sensor_kind": "camera",
64
+ "sensor_name": "left_wrist_0",
65
+ "status": "saved",
66
+ "updated_at_unix": 1789573057.0179303
67
+ },
68
+ "prometheus_camera_right_wrist_0_recorder": {
69
+ "camera_frames": {
70
+ "right_wrist_0_rgb": 909
71
+ },
72
+ "camera_timestamp_samples": 909,
73
+ "complete_sensor_bundles": 909,
74
+ "counts": {
75
+ "action.executed": 578,
76
+ "camera.base_0_rgb": 910,
77
+ "camera.left_wrist_0_rgb": 910,
78
+ "camera.right_wrist_0_rgb": 909,
79
+ "dropped": 0,
80
+ "event.workflow": 1,
81
+ "items": 6949,
82
+ "robot.robot_state": 3641
83
+ },
84
+ "dropped_incomplete_sensor_bundles": 0,
85
+ "duplicate_sensor_messages": 0,
86
+ "episode_dir": "/home/romoya-1/openpi-workspace/PrometheusV2/outputs/yam_v2/dp/best-short/spatula_handoff/data/round_0002",
87
+ "failure": "",
88
+ "metadata": {
89
+ "round_number": 2,
90
+ "run_id": "20260916_233617_093819_round_0002",
91
+ "workflow": "openpi_rollout"
92
+ },
93
+ "record_id": "prometheus_camera_right_wrist_0_recorder",
94
+ "record_mode": "sensor",
95
+ "schema": "prometheus_raw_episode_v1",
96
+ "sensor_kind": "camera",
97
+ "sensor_name": "right_wrist_0",
98
+ "status": "saved",
99
+ "updated_at_unix": 1789573057.0179303
100
+ }
101
+ }
eval/YAM/V2/dp/spatula_handoff/data/round_0002/manifests/event.json ADDED
@@ -0,0 +1,27 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "prometheus_event_recorder": {
3
+ "counts": {
4
+ "action.executed": 578,
5
+ "camera.base_0_rgb": 910,
6
+ "camera.left_wrist_0_rgb": 910,
7
+ "camera.right_wrist_0_rgb": 909,
8
+ "dropped": 0,
9
+ "event.workflow": 1,
10
+ "items": 6949,
11
+ "robot.robot_state": 3641
12
+ },
13
+ "episode_dir": "/home/romoya-1/openpi-workspace/PrometheusV2/outputs/yam_v2/dp/best-short/spatula_handoff/data/round_0002",
14
+ "event_samples": 1,
15
+ "failure": "",
16
+ "metadata": {
17
+ "round_number": 2,
18
+ "run_id": "20260916_233617_093819_round_0002",
19
+ "workflow": "openpi_rollout"
20
+ },
21
+ "record_id": "prometheus_event_recorder",
22
+ "record_mode": "event",
23
+ "schema": "prometheus_raw_episode_v1",
24
+ "status": "saved",
25
+ "updated_at_unix": 1789573057.0179303
26
+ }
27
+ }