iceGrey commited on
Commit
6c472c9
·
verified ·
1 Parent(s): d6a4fa9

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/banana_handoff/data/round_0002/camera/metadata.json +59 -0
  2. eval/YAM/V2/dp/banana_handoff/data/round_0002/camera/timestamp.pkl +0 -0
  3. eval/YAM/V2/dp/banana_handoff/data/round_0002/debug/actions.jsonl +0 -0
  4. eval/YAM/V2/dp/banana_handoff/data/round_0002/debug/async_events.jsonl +105 -0
  5. eval/YAM/V2/dp/banana_handoff/data/round_0002/event/event_dict.pkl +0 -0
  6. eval/YAM/V2/dp/banana_handoff/data/round_0002/manifests/action.json +29 -0
  7. eval/YAM/V2/dp/banana_handoff/data/round_0002/manifests/camera.json +104 -0
  8. eval/YAM/V2/dp/banana_handoff/data/round_0002/manifests/event.json +28 -0
  9. eval/YAM/V2/dp/banana_handoff/data/round_0002/manifests/robot.json +37 -0
  10. eval/YAM/V2/dp/banana_handoff/data/round_0002/manifests/tactile.json +1 -0
  11. eval/YAM/V2/dp/banana_handoff/data/round_0003/camera/metadata.json +59 -0
  12. eval/YAM/V2/dp/banana_handoff/data/round_0003/camera/timestamp.pkl +0 -0
  13. eval/YAM/V2/dp/banana_handoff/data/round_0003/debug/actions.jsonl +0 -0
  14. eval/YAM/V2/dp/banana_handoff/data/round_0003/debug/async_events.jsonl +98 -0
  15. eval/YAM/V2/dp/banana_handoff/data/round_0003/event/event_dict.pkl +0 -0
  16. eval/YAM/V2/dp/banana_handoff/data/round_0003/manifests/action.json +28 -0
  17. eval/YAM/V2/dp/banana_handoff/data/round_0003/manifests/camera.json +101 -0
  18. eval/YAM/V2/dp/banana_handoff/data/round_0003/manifests/event.json +27 -0
  19. eval/YAM/V2/dp/banana_handoff/data/round_0003/manifests/robot.json +36 -0
  20. eval/YAM/V2/dp/banana_handoff/data/round_0003/manifests/tactile.json +1 -0
  21. eval/YAM/V2/dp/banana_handoff/data/round_0004/camera/metadata.json +59 -0
  22. eval/YAM/V2/dp/banana_handoff/data/round_0004/camera/timestamp.pkl +0 -0
  23. eval/YAM/V2/dp/banana_handoff/data/round_0004/debug/actions.jsonl +0 -0
  24. eval/YAM/V2/dp/banana_handoff/data/round_0004/debug/validations/validation_0000.json +176 -0
  25. eval/YAM/V2/dp/banana_handoff/data/round_0004/debug/validations/validation_0001.json +176 -0
  26. eval/YAM/V2/dp/banana_handoff/data/round_0004/debug/validations/validation_0002.json +176 -0
  27. eval/YAM/V2/dp/banana_handoff/data/round_0004/debug/validations/validation_0003.json +176 -0
  28. eval/YAM/V2/dp/banana_handoff/data/round_0004/debug/validations/validation_0004.json +176 -0
  29. eval/YAM/V2/dp/banana_handoff/data/round_0004/debug/validations/validation_0005.json +176 -0
  30. eval/YAM/V2/dp/banana_handoff/data/round_0004/debug/validations/validation_0006.json +176 -0
  31. eval/YAM/V2/dp/banana_handoff/data/round_0004/debug/validations/validation_0007.json +176 -0
  32. eval/YAM/V2/dp/banana_handoff/data/round_0004/debug/validations/validation_0008.json +176 -0
  33. eval/YAM/V2/dp/banana_handoff/data/round_0004/debug/validations/validation_0009.json +176 -0
  34. eval/YAM/V2/dp/banana_handoff/data/round_0004/debug/validations/validation_0010.json +176 -0
  35. eval/YAM/V2/dp/banana_handoff/data/round_0004/debug/validations/validation_0011.json +176 -0
  36. eval/YAM/V2/dp/banana_handoff/data/round_0004/debug/validations/validation_0012.json +176 -0
  37. eval/YAM/V2/dp/banana_handoff/data/round_0004/debug/validations/validation_0013.json +176 -0
  38. eval/YAM/V2/dp/banana_handoff/data/round_0004/debug/validations/validation_0014.json +176 -0
  39. eval/YAM/V2/dp/banana_handoff/data/round_0004/debug/validations/validation_0015.json +176 -0
  40. eval/YAM/V2/dp/banana_handoff/data/round_0004/debug/validations/validation_0016.json +176 -0
  41. eval/YAM/V2/dp/banana_handoff/data/round_0004/debug/validations/validation_0017.json +176 -0
  42. eval/YAM/V2/dp/banana_handoff/data/round_0004/debug/validations/validation_0018.json +176 -0
  43. eval/YAM/V2/dp/banana_handoff/data/round_0004/debug/validations/validation_0019.json +176 -0
  44. eval/YAM/V2/dp/banana_handoff/data/round_0004/debug/validations/validation_0020.json +176 -0
  45. eval/YAM/V2/dp/banana_handoff/data/round_0004/debug/validations/validation_0021.json +176 -0
  46. eval/YAM/V2/dp/banana_handoff/data/round_0004/debug/validations/validation_0022.json +176 -0
  47. eval/YAM/V2/dp/banana_handoff/data/round_0004/debug/validations/validation_0023.json +176 -0
  48. eval/YAM/V2/dp/banana_handoff/data/round_0004/debug/validations/validation_0024.json +176 -0
  49. eval/YAM/V2/dp/banana_handoff/data/round_0004/debug/validations/validation_0025.json +176 -0
  50. eval/YAM/V2/dp/banana_handoff/data/round_0004/debug/validations/validation_0026.json +176 -0
eval/YAM/V2/dp/banana_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": 993,
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": 994,
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": 994,
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/banana_handoff/data/round_0002/camera/timestamp.pkl ADDED
Binary file (23.9 kB). View file
 
eval/YAM/V2/dp/banana_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/banana_handoff/data/round_0002/debug/async_events.jsonl ADDED
@@ -0,0 +1,105 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {"event": "prediction_requested", "time_ns": 1789564625681697342, "actions_sent": 0, "prediction": 0, "queue_remaining": 0}
2
+ {"event": "plan_adopted", "time_ns": 1789564625796424464, "actions_sent": 0, "prediction": 0, "queue_remaining": 32, "skipped_prefix": 0, "observation_age_ms": 138.52059800410643, "blended_steps": 0}
3
+ {"event": "prediction_requested", "time_ns": 1789564626480672643, "actions_sent": 20, "prediction": 1, "queue_remaining": 12}
4
+ {"event": "plan_adopted", "time_ns": 1789564626618937380, "actions_sent": 24, "prediction": 1, "queue_remaining": 26, "skipped_prefix": 6, "observation_age_ms": 167.13606400298886, "blended_steps": 5}
5
+ {"event": "prediction_requested", "time_ns": 1789564627099556837, "actions_sent": 38, "prediction": 2, "queue_remaining": 12}
6
+ {"event": "plan_adopted", "time_ns": 1789564627239564150, "actions_sent": 42, "prediction": 2, "queue_remaining": 27, "skipped_prefix": 5, "observation_age_ms": 153.64784200210124, "blended_steps": 5}
7
+ {"event": "prediction_requested", "time_ns": 1789564627759636288, "actions_sent": 57, "prediction": 3, "queue_remaining": 12}
8
+ {"event": "plan_adopted", "time_ns": 1789564627905213288, "actions_sent": 61, "prediction": 3, "queue_remaining": 27, "skipped_prefix": 5, "observation_age_ms": 149.7494669893058, "blended_steps": 5}
9
+ {"event": "prediction_requested", "time_ns": 1789564628415652740, "actions_sent": 76, "prediction": 4, "queue_remaining": 12}
10
+ {"event": "plan_adopted", "time_ns": 1789564628518559134, "actions_sent": 79, "prediction": 4, "queue_remaining": 27, "skipped_prefix": 5, "observation_age_ms": 135.50514899543487, "blended_steps": 5}
11
+ {"event": "prediction_requested", "time_ns": 1789564629023021482, "actions_sent": 94, "prediction": 5, "queue_remaining": 12}
12
+ {"event": "plan_adopted", "time_ns": 1789564629159706957, "actions_sent": 98, "prediction": 5, "queue_remaining": 27, "skipped_prefix": 5, "observation_age_ms": 141.2775359931402, "blended_steps": 5}
13
+ {"event": "prediction_requested", "time_ns": 1789564629676052474, "actions_sent": 113, "prediction": 6, "queue_remaining": 12}
14
+ {"event": "plan_adopted", "time_ns": 1789564629815206477, "actions_sent": 117, "prediction": 6, "queue_remaining": 27, "skipped_prefix": 5, "observation_age_ms": 161.0756979935104, "blended_steps": 5}
15
+ {"event": "prediction_requested", "time_ns": 1789564630322538938, "actions_sent": 132, "prediction": 7, "queue_remaining": 12}
16
+ {"event": "plan_adopted", "time_ns": 1789564630433097843, "actions_sent": 135, "prediction": 7, "queue_remaining": 27, "skipped_prefix": 5, "observation_age_ms": 142.86062600149307, "blended_steps": 5}
17
+ {"event": "prediction_requested", "time_ns": 1789564630948261332, "actions_sent": 150, "prediction": 8, "queue_remaining": 12}
18
+ {"event": "plan_adopted", "time_ns": 1789564631055019201, "actions_sent": 153, "prediction": 8, "queue_remaining": 27, "skipped_prefix": 5, "observation_age_ms": 133.94367099681403, "blended_steps": 5}
19
+ {"event": "prediction_requested", "time_ns": 1789564631564768330, "actions_sent": 168, "prediction": 9, "queue_remaining": 12}
20
+ {"event": "plan_adopted", "time_ns": 1789564631703654908, "actions_sent": 172, "prediction": 9, "queue_remaining": 27, "skipped_prefix": 5, "observation_age_ms": 149.66851999633946, "blended_steps": 5}
21
+ {"event": "prediction_requested", "time_ns": 1789564632208569746, "actions_sent": 187, "prediction": 10, "queue_remaining": 12}
22
+ {"event": "plan_adopted", "time_ns": 1789564632350654021, "actions_sent": 191, "prediction": 10, "queue_remaining": 27, "skipped_prefix": 5, "observation_age_ms": 164.26225600298494, "blended_steps": 5}
23
+ {"event": "prediction_requested", "time_ns": 1789564632865398717, "actions_sent": 206, "prediction": 11, "queue_remaining": 12}
24
+ {"event": "plan_adopted", "time_ns": 1789564633004647514, "actions_sent": 210, "prediction": 11, "queue_remaining": 27, "skipped_prefix": 5, "observation_age_ms": 150.5274959927192, "blended_steps": 5}
25
+ {"event": "prediction_requested", "time_ns": 1789564633509597278, "actions_sent": 225, "prediction": 12, "queue_remaining": 12}
26
+ {"event": "plan_adopted", "time_ns": 1789564633651670418, "actions_sent": 229, "prediction": 12, "queue_remaining": 27, "skipped_prefix": 5, "observation_age_ms": 165.02840799512342, "blended_steps": 5}
27
+ {"event": "prediction_requested", "time_ns": 1789564634156568139, "actions_sent": 244, "prediction": 13, "queue_remaining": 12}
28
+ {"event": "plan_adopted", "time_ns": 1789564634291890898, "actions_sent": 248, "prediction": 13, "queue_remaining": 26, "skipped_prefix": 6, "observation_age_ms": 173.74908999772742, "blended_steps": 5}
29
+ {"event": "prediction_requested", "time_ns": 1789564634771025046, "actions_sent": 262, "prediction": 14, "queue_remaining": 12}
30
+ {"event": "plan_adopted", "time_ns": 1789564634873702930, "actions_sent": 265, "prediction": 14, "queue_remaining": 28, "skipped_prefix": 4, "observation_age_ms": 120.61717599863186, "blended_steps": 5}
31
+ {"event": "prediction_requested", "time_ns": 1789564635415539748, "actions_sent": 281, "prediction": 15, "queue_remaining": 12}
32
+ {"event": "plan_adopted", "time_ns": 1789564635550698035, "actions_sent": 285, "prediction": 15, "queue_remaining": 27, "skipped_prefix": 5, "observation_age_ms": 165.18515700590797, "blended_steps": 5}
33
+ {"event": "prediction_requested", "time_ns": 1789564636056911475, "actions_sent": 300, "prediction": 16, "queue_remaining": 12}
34
+ {"event": "plan_adopted", "time_ns": 1789564636198866541, "actions_sent": 304, "prediction": 16, "queue_remaining": 27, "skipped_prefix": 5, "observation_age_ms": 141.6944369993871, "blended_steps": 5}
35
+ {"event": "prediction_requested", "time_ns": 1789564636707759404, "actions_sent": 319, "prediction": 17, "queue_remaining": 12}
36
+ {"event": "plan_adopted", "time_ns": 1789564636848683790, "actions_sent": 323, "prediction": 17, "queue_remaining": 27, "skipped_prefix": 5, "observation_age_ms": 160.8660859928932, "blended_steps": 5}
37
+ {"event": "prediction_requested", "time_ns": 1789564637355783783, "actions_sent": 338, "prediction": 18, "queue_remaining": 12}
38
+ {"event": "plan_adopted", "time_ns": 1789564637530568668, "actions_sent": 343, "prediction": 18, "queue_remaining": 26, "skipped_prefix": 6, "observation_age_ms": 174.41017799137626, "blended_steps": 5}
39
+ {"event": "prediction_requested", "time_ns": 1789564638004335083, "actions_sent": 357, "prediction": 19, "queue_remaining": 12}
40
+ {"event": "plan_adopted", "time_ns": 1789564638139210825, "actions_sent": 361, "prediction": 19, "queue_remaining": 27, "skipped_prefix": 5, "observation_age_ms": 153.45882800465915, "blended_steps": 5}
41
+ {"event": "prediction_requested", "time_ns": 1789564638643075718, "actions_sent": 376, "prediction": 20, "queue_remaining": 12}
42
+ {"event": "plan_adopted", "time_ns": 1789564638781987126, "actions_sent": 380, "prediction": 20, "queue_remaining": 27, "skipped_prefix": 5, "observation_age_ms": 158.66307100804988, "blended_steps": 5}
43
+ {"event": "prediction_requested", "time_ns": 1789564639284870429, "actions_sent": 395, "prediction": 21, "queue_remaining": 12}
44
+ {"event": "plan_adopted", "time_ns": 1789564639387907950, "actions_sent": 398, "prediction": 21, "queue_remaining": 28, "skipped_prefix": 4, "observation_age_ms": 133.22293599776458, "blended_steps": 5}
45
+ {"event": "prediction_requested", "time_ns": 1789564639926343356, "actions_sent": 414, "prediction": 22, "queue_remaining": 12}
46
+ {"event": "plan_adopted", "time_ns": 1789564640076813780, "actions_sent": 418, "prediction": 22, "queue_remaining": 26, "skipped_prefix": 6, "observation_age_ms": 182.45170400768984, "blended_steps": 5}
47
+ {"event": "prediction_requested", "time_ns": 1789564640554456976, "actions_sent": 432, "prediction": 23, "queue_remaining": 12}
48
+ {"event": "plan_adopted", "time_ns": 1789564640660624389, "actions_sent": 435, "prediction": 23, "queue_remaining": 27, "skipped_prefix": 5, "observation_age_ms": 138.20640799531247, "blended_steps": 5}
49
+ {"event": "prediction_requested", "time_ns": 1789564641171787962, "actions_sent": 450, "prediction": 24, "queue_remaining": 12}
50
+ {"event": "plan_adopted", "time_ns": 1789564641313899755, "actions_sent": 454, "prediction": 24, "queue_remaining": 27, "skipped_prefix": 5, "observation_age_ms": 153.96471999702044, "blended_steps": 5}
51
+ {"event": "prediction_requested", "time_ns": 1789564641822558407, "actions_sent": 469, "prediction": 25, "queue_remaining": 12}
52
+ {"event": "plan_adopted", "time_ns": 1789564641924904328, "actions_sent": 472, "prediction": 25, "queue_remaining": 27, "skipped_prefix": 5, "observation_age_ms": 137.12311099516228, "blended_steps": 5}
53
+ {"event": "prediction_requested", "time_ns": 1789564642427548460, "actions_sent": 487, "prediction": 26, "queue_remaining": 12}
54
+ {"event": "plan_adopted", "time_ns": 1789564642530941472, "actions_sent": 490, "prediction": 26, "queue_remaining": 27, "skipped_prefix": 5, "observation_age_ms": 141.93020500533748, "blended_steps": 5}
55
+ {"event": "prediction_requested", "time_ns": 1789564643039556687, "actions_sent": 505, "prediction": 27, "queue_remaining": 12}
56
+ {"event": "plan_adopted", "time_ns": 1789564643143149796, "actions_sent": 508, "prediction": 27, "queue_remaining": 28, "skipped_prefix": 4, "observation_age_ms": 120.61564999748953, "blended_steps": 5}
57
+ {"event": "prediction_requested", "time_ns": 1789564643694148340, "actions_sent": 524, "prediction": 28, "queue_remaining": 12}
58
+ {"event": "plan_adopted", "time_ns": 1789564643809572815, "actions_sent": 527, "prediction": 28, "queue_remaining": 27, "skipped_prefix": 5, "observation_age_ms": 149.90946200850885, "blended_steps": 5}
59
+ {"event": "prediction_requested", "time_ns": 1789564644318476764, "actions_sent": 542, "prediction": 29, "queue_remaining": 12}
60
+ {"event": "plan_adopted", "time_ns": 1789564644422798236, "actions_sent": 545, "prediction": 29, "queue_remaining": 27, "skipped_prefix": 5, "observation_age_ms": 134.69145499402657, "blended_steps": 5}
61
+ {"event": "prediction_requested", "time_ns": 1789564644935973066, "actions_sent": 560, "prediction": 30, "queue_remaining": 12}
62
+ {"event": "plan_adopted", "time_ns": 1789564645074393986, "actions_sent": 564, "prediction": 30, "queue_remaining": 27, "skipped_prefix": 5, "observation_age_ms": 152.663708984619, "blended_steps": 5}
63
+ {"event": "prediction_requested", "time_ns": 1789564645583508635, "actions_sent": 579, "prediction": 31, "queue_remaining": 12}
64
+ {"event": "plan_adopted", "time_ns": 1789564645719183222, "actions_sent": 583, "prediction": 31, "queue_remaining": 27, "skipped_prefix": 5, "observation_age_ms": 163.8099000119837, "blended_steps": 5}
65
+ {"event": "prediction_requested", "time_ns": 1789564646226389143, "actions_sent": 598, "prediction": 32, "queue_remaining": 12}
66
+ {"event": "plan_adopted", "time_ns": 1789564646334077484, "actions_sent": 601, "prediction": 32, "queue_remaining": 27, "skipped_prefix": 5, "observation_age_ms": 142.17265701154247, "blended_steps": 5}
67
+ {"event": "prediction_requested", "time_ns": 1789564646841355478, "actions_sent": 616, "prediction": 33, "queue_remaining": 12}
68
+ {"event": "plan_adopted", "time_ns": 1789564646978055816, "actions_sent": 620, "prediction": 33, "queue_remaining": 27, "skipped_prefix": 5, "observation_age_ms": 155.33607300312724, "blended_steps": 5}
69
+ {"event": "prediction_requested", "time_ns": 1789564647484579399, "actions_sent": 635, "prediction": 34, "queue_remaining": 12}
70
+ {"event": "plan_adopted", "time_ns": 1789564647591308651, "actions_sent": 638, "prediction": 34, "queue_remaining": 27, "skipped_prefix": 5, "observation_age_ms": 134.2929629900027, "blended_steps": 5}
71
+ {"event": "prediction_requested", "time_ns": 1789564648095934643, "actions_sent": 653, "prediction": 35, "queue_remaining": 12}
72
+ {"event": "plan_adopted", "time_ns": 1789564648233641178, "actions_sent": 657, "prediction": 35, "queue_remaining": 26, "skipped_prefix": 6, "observation_age_ms": 175.69277598522604, "blended_steps": 5}
73
+ {"event": "prediction_requested", "time_ns": 1789564648710234559, "actions_sent": 671, "prediction": 36, "queue_remaining": 12}
74
+ {"event": "plan_adopted", "time_ns": 1789564648850350264, "actions_sent": 675, "prediction": 36, "queue_remaining": 27, "skipped_prefix": 5, "observation_age_ms": 158.40533199661877, "blended_steps": 5}
75
+ {"event": "prediction_requested", "time_ns": 1789564649363419268, "actions_sent": 690, "prediction": 37, "queue_remaining": 12}
76
+ {"event": "plan_adopted", "time_ns": 1789564649504721028, "actions_sent": 694, "prediction": 37, "queue_remaining": 26, "skipped_prefix": 6, "observation_age_ms": 179.74721601058263, "blended_steps": 5}
77
+ {"event": "prediction_requested", "time_ns": 1789564649975742233, "actions_sent": 708, "prediction": 38, "queue_remaining": 12}
78
+ {"event": "plan_adopted", "time_ns": 1789564650113154106, "actions_sent": 712, "prediction": 38, "queue_remaining": 27, "skipped_prefix": 5, "observation_age_ms": 154.66266899602488, "blended_steps": 5}
79
+ {"event": "prediction_requested", "time_ns": 1789564650622520877, "actions_sent": 727, "prediction": 39, "queue_remaining": 12}
80
+ {"event": "plan_adopted", "time_ns": 1789564650759725370, "actions_sent": 731, "prediction": 39, "queue_remaining": 26, "skipped_prefix": 6, "observation_age_ms": 168.68849100137595, "blended_steps": 5}
81
+ {"event": "prediction_requested", "time_ns": 1789564651233707065, "actions_sent": 745, "prediction": 40, "queue_remaining": 12}
82
+ {"event": "plan_adopted", "time_ns": 1789564651339977594, "actions_sent": 748, "prediction": 40, "queue_remaining": 27, "skipped_prefix": 5, "observation_age_ms": 147.25878700846806, "blended_steps": 5}
83
+ {"event": "prediction_requested", "time_ns": 1789564651842827762, "actions_sent": 763, "prediction": 41, "queue_remaining": 12}
84
+ {"event": "plan_adopted", "time_ns": 1789564651982610239, "actions_sent": 767, "prediction": 41, "queue_remaining": 27, "skipped_prefix": 5, "observation_age_ms": 155.00671800691634, "blended_steps": 5}
85
+ {"event": "prediction_requested", "time_ns": 1789564652493035582, "actions_sent": 782, "prediction": 42, "queue_remaining": 12}
86
+ {"event": "plan_adopted", "time_ns": 1789564652630487800, "actions_sent": 786, "prediction": 42, "queue_remaining": 26, "skipped_prefix": 6, "observation_age_ms": 171.660737003549, "blended_steps": 5}
87
+ {"event": "prediction_requested", "time_ns": 1789564653108139854, "actions_sent": 800, "prediction": 43, "queue_remaining": 12}
88
+ {"event": "plan_adopted", "time_ns": 1789564653217032299, "actions_sent": 803, "prediction": 43, "queue_remaining": 28, "skipped_prefix": 4, "observation_age_ms": 127.16085600550286, "blended_steps": 5}
89
+ {"event": "prediction_requested", "time_ns": 1789564653759020647, "actions_sent": 819, "prediction": 44, "queue_remaining": 12}
90
+ {"event": "plan_adopted", "time_ns": 1789564653862621812, "actions_sent": 822, "prediction": 44, "queue_remaining": 27, "skipped_prefix": 5, "observation_age_ms": 137.39345800422598, "blended_steps": 5}
91
+ {"event": "prediction_requested", "time_ns": 1789564654373024535, "actions_sent": 837, "prediction": 45, "queue_remaining": 12}
92
+ {"event": "plan_adopted", "time_ns": 1789564654516499712, "actions_sent": 841, "prediction": 45, "queue_remaining": 27, "skipped_prefix": 5, "observation_age_ms": 152.9533800057834, "blended_steps": 5}
93
+ {"event": "prediction_requested", "time_ns": 1789564655033666546, "actions_sent": 856, "prediction": 46, "queue_remaining": 12}
94
+ {"event": "plan_adopted", "time_ns": 1789564655141036409, "actions_sent": 859, "prediction": 46, "queue_remaining": 27, "skipped_prefix": 5, "observation_age_ms": 146.3606650067959, "blended_steps": 5}
95
+ {"event": "prediction_requested", "time_ns": 1789564655649641403, "actions_sent": 874, "prediction": 47, "queue_remaining": 12}
96
+ {"event": "plan_adopted", "time_ns": 1789564655793665655, "actions_sent": 878, "prediction": 47, "queue_remaining": 26, "skipped_prefix": 6, "observation_age_ms": 166.68982300325297, "blended_steps": 5}
97
+ {"event": "prediction_requested", "time_ns": 1789564656265035235, "actions_sent": 892, "prediction": 48, "queue_remaining": 12}
98
+ {"event": "plan_adopted", "time_ns": 1789564656404032295, "actions_sent": 896, "prediction": 48, "queue_remaining": 26, "skipped_prefix": 6, "observation_age_ms": 175.9035189897986, "blended_steps": 5}
99
+ {"event": "prediction_requested", "time_ns": 1789564656877179950, "actions_sent": 910, "prediction": 49, "queue_remaining": 12}
100
+ {"event": "plan_adopted", "time_ns": 1789564656982169697, "actions_sent": 913, "prediction": 49, "queue_remaining": 28, "skipped_prefix": 4, "observation_age_ms": 124.45793399820104, "blended_steps": 5}
101
+ {"event": "prediction_requested", "time_ns": 1789564657523812602, "actions_sent": 929, "prediction": 50, "queue_remaining": 12}
102
+ {"event": "plan_adopted", "time_ns": 1789564657658649244, "actions_sent": 933, "prediction": 50, "queue_remaining": 26, "skipped_prefix": 6, "observation_age_ms": 167.64093599340413, "blended_steps": 5}
103
+ {"event": "prediction_requested", "time_ns": 1789564658130218070, "actions_sent": 947, "prediction": 51, "queue_remaining": 12}
104
+ {"event": "plan_adopted", "time_ns": 1789564658272455442, "actions_sent": 951, "prediction": 51, "queue_remaining": 9, "skipped_prefix": 6, "observation_age_ms": 177.00451500422787, "blended_steps": 5}
105
+ {"event": "completed", "time_ns": 1789564658574290415, "actions_sent": 960, "predictions_requested": 52}
eval/YAM/V2/dp/banana_handoff/data/round_0002/event/event_dict.pkl ADDED
Binary file (103 Bytes). View file
 
eval/YAM/V2/dp/banana_handoff/data/round_0002/manifests/action.json ADDED
@@ -0,0 +1,29 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "prometheus_action_recorder": {
3
+ "counts": {
4
+ "action.executed": 960,
5
+ "camera.base_0_rgb": 993,
6
+ "camera.left_wrist_0_rgb": 994,
7
+ "camera.right_wrist_0_rgb": 994,
8
+ "dropped": 0,
9
+ "event.workflow": 1,
10
+ "items": 8028,
11
+ "robot.robot_state": 4086
12
+ },
13
+ "episode_dir": "/home/romoya-1/openpi-workspace/PrometheusV2/outputs/yam_v2/dp/best-short/banana_handoff/data/round_0002",
14
+ "executed_actions": 960,
15
+ "failure": "",
16
+ "metadata": {
17
+ "purpose": "continuous cameras and robot state; retain failed/interrupted runs",
18
+ "round_number": 2,
19
+ "run_id": "20260916_211658_536302_round_0002",
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": 1789564658.7314265
28
+ }
29
+ }
eval/YAM/V2/dp/banana_handoff/data/round_0002/manifests/camera.json ADDED
@@ -0,0 +1,104 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "prometheus_camera_base_0_recorder": {
3
+ "camera_frames": {
4
+ "base_0_rgb": 993
5
+ },
6
+ "camera_timestamp_samples": 993,
7
+ "complete_sensor_bundles": 993,
8
+ "counts": {
9
+ "action.executed": 960,
10
+ "camera.base_0_rgb": 993,
11
+ "camera.left_wrist_0_rgb": 994,
12
+ "camera.right_wrist_0_rgb": 994,
13
+ "dropped": 0,
14
+ "event.workflow": 1,
15
+ "items": 8028,
16
+ "robot.robot_state": 4086
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/banana_handoff/data/round_0002",
21
+ "failure": "",
22
+ "metadata": {
23
+ "purpose": "continuous cameras and robot state; retain failed/interrupted runs",
24
+ "round_number": 2,
25
+ "run_id": "20260916_211658_536302_round_0002",
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": 1789564658.7314265
35
+ },
36
+ "prometheus_camera_left_wrist_0_recorder": {
37
+ "camera_frames": {
38
+ "left_wrist_0_rgb": 994
39
+ },
40
+ "camera_timestamp_samples": 994,
41
+ "complete_sensor_bundles": 994,
42
+ "counts": {
43
+ "action.executed": 960,
44
+ "camera.base_0_rgb": 993,
45
+ "camera.left_wrist_0_rgb": 994,
46
+ "camera.right_wrist_0_rgb": 994,
47
+ "dropped": 0,
48
+ "event.workflow": 1,
49
+ "items": 8028,
50
+ "robot.robot_state": 4086
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/banana_handoff/data/round_0002",
55
+ "failure": "",
56
+ "metadata": {
57
+ "purpose": "continuous cameras and robot state; retain failed/interrupted runs",
58
+ "round_number": 2,
59
+ "run_id": "20260916_211658_536302_round_0002",
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": 1789564658.7314265
69
+ },
70
+ "prometheus_camera_right_wrist_0_recorder": {
71
+ "camera_frames": {
72
+ "right_wrist_0_rgb": 994
73
+ },
74
+ "camera_timestamp_samples": 994,
75
+ "complete_sensor_bundles": 994,
76
+ "counts": {
77
+ "action.executed": 960,
78
+ "camera.base_0_rgb": 993,
79
+ "camera.left_wrist_0_rgb": 994,
80
+ "camera.right_wrist_0_rgb": 994,
81
+ "dropped": 0,
82
+ "event.workflow": 1,
83
+ "items": 8028,
84
+ "robot.robot_state": 4086
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/banana_handoff/data/round_0002",
89
+ "failure": "",
90
+ "metadata": {
91
+ "purpose": "continuous cameras and robot state; retain failed/interrupted runs",
92
+ "round_number": 2,
93
+ "run_id": "20260916_211658_536302_round_0002",
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": 1789564658.7314265
103
+ }
104
+ }
eval/YAM/V2/dp/banana_handoff/data/round_0002/manifests/event.json ADDED
@@ -0,0 +1,28 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "prometheus_event_recorder": {
3
+ "counts": {
4
+ "action.executed": 960,
5
+ "camera.base_0_rgb": 993,
6
+ "camera.left_wrist_0_rgb": 994,
7
+ "camera.right_wrist_0_rgb": 994,
8
+ "dropped": 0,
9
+ "event.workflow": 1,
10
+ "items": 8028,
11
+ "robot.robot_state": 4086
12
+ },
13
+ "episode_dir": "/home/romoya-1/openpi-workspace/PrometheusV2/outputs/yam_v2/dp/best-short/banana_handoff/data/round_0002",
14
+ "event_samples": 1,
15
+ "failure": "",
16
+ "metadata": {
17
+ "purpose": "continuous cameras and robot state; retain failed/interrupted runs",
18
+ "round_number": 2,
19
+ "run_id": "20260916_211658_536302_round_0002",
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": 1789564658.7314265
27
+ }
28
+ }
eval/YAM/V2/dp/banana_handoff/data/round_0002/manifests/robot.json ADDED
@@ -0,0 +1,37 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "prometheus_robot_recorder": {
3
+ "counts": {
4
+ "action.executed": 960,
5
+ "camera.base_0_rgb": 993,
6
+ "camera.left_wrist_0_rgb": 994,
7
+ "camera.right_wrist_0_rgb": 994,
8
+ "dropped": 0,
9
+ "event.workflow": 1,
10
+ "items": 8028,
11
+ "robot.robot_state": 4086
12
+ },
13
+ "episode_dir": "/home/romoya-1/openpi-workspace/PrometheusV2/outputs/yam_v2/dp/best-short/banana_handoff/data/round_0002",
14
+ "failure": "",
15
+ "incomplete_robot_samples": {
16
+ "left": 4086,
17
+ "right": 4086
18
+ },
19
+ "metadata": {
20
+ "purpose": "continuous cameras and robot state; retain failed/interrupted runs",
21
+ "round_number": 2,
22
+ "run_id": "20260916_211658_536302_round_0002",
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": 4086,
31
+ "right": 4086
32
+ },
33
+ "schema": "prometheus_raw_episode_v1",
34
+ "status": "saved",
35
+ "updated_at_unix": 1789564658.7314265
36
+ }
37
+ }
eval/YAM/V2/dp/banana_handoff/data/round_0002/manifests/tactile.json ADDED
@@ -0,0 +1 @@
 
 
1
+ {}
eval/YAM/V2/dp/banana_handoff/data/round_0003/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": 935,
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": 935,
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": 935,
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/banana_handoff/data/round_0003/camera/timestamp.pkl ADDED
Binary file (22.5 kB). View file
 
eval/YAM/V2/dp/banana_handoff/data/round_0003/debug/actions.jsonl ADDED
The diff for this file is too large to render. See raw diff
 
eval/YAM/V2/dp/banana_handoff/data/round_0003/debug/async_events.jsonl ADDED
@@ -0,0 +1,98 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {"event": "prediction_requested", "time_ns": 1789564776487795854, "actions_sent": 0, "prediction": 0, "queue_remaining": 0}
2
+ {"event": "plan_adopted", "time_ns": 1789564776696400343, "actions_sent": 0, "prediction": 0, "queue_remaining": 32, "skipped_prefix": 0, "observation_age_ms": 137.57122900278773, "blended_steps": 0}
3
+ {"event": "prediction_requested", "time_ns": 1789564777370213987, "actions_sent": 20, "prediction": 1, "queue_remaining": 12}
4
+ {"event": "plan_adopted", "time_ns": 1789564777481115924, "actions_sent": 23, "prediction": 1, "queue_remaining": 28, "skipped_prefix": 4, "observation_age_ms": 128.07966901164036, "blended_steps": 5}
5
+ {"event": "prediction_requested", "time_ns": 1789564778024776415, "actions_sent": 39, "prediction": 2, "queue_remaining": 12}
6
+ {"event": "plan_adopted", "time_ns": 1789564778164879426, "actions_sent": 43, "prediction": 2, "queue_remaining": 26, "skipped_prefix": 6, "observation_age_ms": 182.8093229996739, "blended_steps": 5}
7
+ {"event": "prediction_requested", "time_ns": 1789564778634677162, "actions_sent": 57, "prediction": 3, "queue_remaining": 12}
8
+ {"event": "plan_adopted", "time_ns": 1789564778740840445, "actions_sent": 60, "prediction": 3, "queue_remaining": 28, "skipped_prefix": 4, "observation_age_ms": 125.2537310065236, "blended_steps": 5}
9
+ {"event": "prediction_requested", "time_ns": 1789564779281794618, "actions_sent": 76, "prediction": 4, "queue_remaining": 12}
10
+ {"event": "plan_adopted", "time_ns": 1789564779424317402, "actions_sent": 80, "prediction": 4, "queue_remaining": 26, "skipped_prefix": 6, "observation_age_ms": 171.60570799023844, "blended_steps": 5}
11
+ {"event": "prediction_requested", "time_ns": 1789564779897547257, "actions_sent": 94, "prediction": 5, "queue_remaining": 12}
12
+ {"event": "plan_adopted", "time_ns": 1789564780040463793, "actions_sent": 98, "prediction": 5, "queue_remaining": 27, "skipped_prefix": 5, "observation_age_ms": 151.06834698235616, "blended_steps": 5}
13
+ {"event": "prediction_requested", "time_ns": 1789564780547529158, "actions_sent": 113, "prediction": 6, "queue_remaining": 12}
14
+ {"event": "plan_adopted", "time_ns": 1789564780649244723, "actions_sent": 116, "prediction": 6, "queue_remaining": 28, "skipped_prefix": 4, "observation_age_ms": 132.7687290031463, "blended_steps": 5}
15
+ {"event": "prediction_requested", "time_ns": 1789564781190306944, "actions_sent": 132, "prediction": 7, "queue_remaining": 12}
16
+ {"event": "plan_adopted", "time_ns": 1789564781330078624, "actions_sent": 136, "prediction": 7, "queue_remaining": 26, "skipped_prefix": 6, "observation_age_ms": 175.73955199623015, "blended_steps": 5}
17
+ {"event": "prediction_requested", "time_ns": 1789564781801139147, "actions_sent": 150, "prediction": 8, "queue_remaining": 12}
18
+ {"event": "plan_adopted", "time_ns": 1789564781937330326, "actions_sent": 154, "prediction": 8, "queue_remaining": 27, "skipped_prefix": 5, "observation_age_ms": 153.09718599019106, "blended_steps": 5}
19
+ {"event": "prediction_requested", "time_ns": 1789564782445291479, "actions_sent": 169, "prediction": 9, "queue_remaining": 12}
20
+ {"event": "plan_adopted", "time_ns": 1789564782585019159, "actions_sent": 173, "prediction": 9, "queue_remaining": 27, "skipped_prefix": 5, "observation_age_ms": 165.6716590077849, "blended_steps": 5}
21
+ {"event": "prediction_requested", "time_ns": 1789564783090608687, "actions_sent": 188, "prediction": 10, "queue_remaining": 12}
22
+ {"event": "plan_adopted", "time_ns": 1789564783196045277, "actions_sent": 191, "prediction": 10, "queue_remaining": 27, "skipped_prefix": 5, "observation_age_ms": 144.05119299772196, "blended_steps": 5}
23
+ {"event": "prediction_requested", "time_ns": 1789564783699372421, "actions_sent": 206, "prediction": 11, "queue_remaining": 12}
24
+ {"event": "plan_adopted", "time_ns": 1789564783801503739, "actions_sent": 209, "prediction": 11, "queue_remaining": 28, "skipped_prefix": 4, "observation_age_ms": 117.27668998355512, "blended_steps": 5}
25
+ {"event": "prediction_requested", "time_ns": 1789564784342058888, "actions_sent": 225, "prediction": 12, "queue_remaining": 12}
26
+ {"event": "plan_adopted", "time_ns": 1789564784449340335, "actions_sent": 228, "prediction": 12, "queue_remaining": 28, "skipped_prefix": 4, "observation_age_ms": 127.62389701674692, "blended_steps": 5}
27
+ {"event": "prediction_requested", "time_ns": 1789564784989838351, "actions_sent": 244, "prediction": 13, "queue_remaining": 12}
28
+ {"event": "plan_adopted", "time_ns": 1789564785130207477, "actions_sent": 248, "prediction": 13, "queue_remaining": 26, "skipped_prefix": 6, "observation_age_ms": 175.94911500054877, "blended_steps": 5}
29
+ {"event": "prediction_requested", "time_ns": 1789564785612285306, "actions_sent": 262, "prediction": 14, "queue_remaining": 12}
30
+ {"event": "plan_adopted", "time_ns": 1789564785750194104, "actions_sent": 266, "prediction": 14, "queue_remaining": 27, "skipped_prefix": 5, "observation_age_ms": 164.69186800532043, "blended_steps": 5}
31
+ {"event": "prediction_requested", "time_ns": 1789564786255659368, "actions_sent": 281, "prediction": 15, "queue_remaining": 12}
32
+ {"event": "plan_adopted", "time_ns": 1789564786390779703, "actions_sent": 285, "prediction": 15, "queue_remaining": 26, "skipped_prefix": 6, "observation_age_ms": 172.94478400435764, "blended_steps": 5}
33
+ {"event": "prediction_requested", "time_ns": 1789564786865718420, "actions_sent": 299, "prediction": 16, "queue_remaining": 12}
34
+ {"event": "plan_adopted", "time_ns": 1789564786975747322, "actions_sent": 302, "prediction": 16, "queue_remaining": 28, "skipped_prefix": 4, "observation_age_ms": 115.66677299560979, "blended_steps": 5}
35
+ {"event": "prediction_requested", "time_ns": 1789564787515042715, "actions_sent": 318, "prediction": 17, "queue_remaining": 12}
36
+ {"event": "plan_adopted", "time_ns": 1789564787653570497, "actions_sent": 322, "prediction": 17, "queue_remaining": 27, "skipped_prefix": 5, "observation_age_ms": 165.41522899933625, "blended_steps": 5}
37
+ {"event": "prediction_requested", "time_ns": 1789564788166372573, "actions_sent": 337, "prediction": 18, "queue_remaining": 12}
38
+ {"event": "plan_adopted", "time_ns": 1789564788302359375, "actions_sent": 341, "prediction": 18, "queue_remaining": 27, "skipped_prefix": 5, "observation_age_ms": 149.935324996477, "blended_steps": 5}
39
+ {"event": "prediction_requested", "time_ns": 1789564788814023954, "actions_sent": 356, "prediction": 19, "queue_remaining": 12}
40
+ {"event": "plan_adopted", "time_ns": 1789564788918443609, "actions_sent": 359, "prediction": 19, "queue_remaining": 28, "skipped_prefix": 4, "observation_age_ms": 132.57437100401148, "blended_steps": 5}
41
+ {"event": "prediction_requested", "time_ns": 1789564789465486633, "actions_sent": 375, "prediction": 20, "queue_remaining": 12}
42
+ {"event": "plan_adopted", "time_ns": 1789564789576943385, "actions_sent": 378, "prediction": 20, "queue_remaining": 28, "skipped_prefix": 4, "observation_age_ms": 119.2824999889126, "blended_steps": 5}
43
+ {"event": "prediction_requested", "time_ns": 1789564790116489642, "actions_sent": 394, "prediction": 21, "queue_remaining": 12}
44
+ {"event": "plan_adopted", "time_ns": 1789564790257057536, "actions_sent": 398, "prediction": 21, "queue_remaining": 26, "skipped_prefix": 6, "observation_age_ms": 167.55199299950618, "blended_steps": 5}
45
+ {"event": "prediction_requested", "time_ns": 1789564790728530656, "actions_sent": 412, "prediction": 22, "queue_remaining": 12}
46
+ {"event": "plan_adopted", "time_ns": 1789564790868208304, "actions_sent": 416, "prediction": 22, "queue_remaining": 27, "skipped_prefix": 5, "observation_age_ms": 148.93167999980506, "blended_steps": 5}
47
+ {"event": "prediction_requested", "time_ns": 1789564791373353468, "actions_sent": 431, "prediction": 23, "queue_remaining": 12}
48
+ {"event": "plan_adopted", "time_ns": 1789564791512277321, "actions_sent": 435, "prediction": 23, "queue_remaining": 27, "skipped_prefix": 5, "observation_age_ms": 157.5736179947853, "blended_steps": 5}
49
+ {"event": "prediction_requested", "time_ns": 1789564792024516190, "actions_sent": 450, "prediction": 24, "queue_remaining": 12}
50
+ {"event": "plan_adopted", "time_ns": 1789564792160223040, "actions_sent": 454, "prediction": 24, "queue_remaining": 26, "skipped_prefix": 6, "observation_age_ms": 173.8130490120966, "blended_steps": 5}
51
+ {"event": "prediction_requested", "time_ns": 1789564792635328505, "actions_sent": 468, "prediction": 25, "queue_remaining": 12}
52
+ {"event": "plan_adopted", "time_ns": 1789564792776510596, "actions_sent": 472, "prediction": 25, "queue_remaining": 27, "skipped_prefix": 5, "observation_age_ms": 153.26325299974997, "blended_steps": 5}
53
+ {"event": "prediction_requested", "time_ns": 1789564793279958193, "actions_sent": 487, "prediction": 26, "queue_remaining": 12}
54
+ {"event": "plan_adopted", "time_ns": 1789564793384213636, "actions_sent": 490, "prediction": 26, "queue_remaining": 28, "skipped_prefix": 4, "observation_age_ms": 128.6665789957624, "blended_steps": 5}
55
+ {"event": "prediction_requested", "time_ns": 1789564793927379304, "actions_sent": 506, "prediction": 27, "queue_remaining": 12}
56
+ {"event": "plan_adopted", "time_ns": 1789564794038155120, "actions_sent": 509, "prediction": 27, "queue_remaining": 27, "skipped_prefix": 5, "observation_age_ms": 147.50583498971537, "blended_steps": 5}
57
+ {"event": "prediction_requested", "time_ns": 1789564794542788494, "actions_sent": 524, "prediction": 28, "queue_remaining": 12}
58
+ {"event": "plan_adopted", "time_ns": 1789564794647757380, "actions_sent": 527, "prediction": 28, "queue_remaining": 28, "skipped_prefix": 4, "observation_age_ms": 125.85675698937848, "blended_steps": 5}
59
+ {"event": "prediction_requested", "time_ns": 1789564795184264313, "actions_sent": 543, "prediction": 29, "queue_remaining": 12}
60
+ {"event": "plan_adopted", "time_ns": 1789564795287928412, "actions_sent": 546, "prediction": 29, "queue_remaining": 28, "skipped_prefix": 4, "observation_age_ms": 132.3112780082738, "blended_steps": 5}
61
+ {"event": "prediction_requested", "time_ns": 1789564795824321574, "actions_sent": 562, "prediction": 30, "queue_remaining": 12}
62
+ {"event": "plan_adopted", "time_ns": 1789564795928474290, "actions_sent": 565, "prediction": 30, "queue_remaining": 27, "skipped_prefix": 5, "observation_age_ms": 138.88278800004628, "blended_steps": 5}
63
+ {"event": "prediction_requested", "time_ns": 1789564796436127558, "actions_sent": 580, "prediction": 31, "queue_remaining": 12}
64
+ {"event": "plan_adopted", "time_ns": 1789564796580272967, "actions_sent": 584, "prediction": 31, "queue_remaining": 27, "skipped_prefix": 5, "observation_age_ms": 154.15041499363724, "blended_steps": 5}
65
+ {"event": "prediction_requested", "time_ns": 1789564797096190365, "actions_sent": 599, "prediction": 32, "queue_remaining": 12}
66
+ {"event": "plan_adopted", "time_ns": 1789564797237438784, "actions_sent": 603, "prediction": 32, "queue_remaining": 26, "skipped_prefix": 6, "observation_age_ms": 177.7315610088408, "blended_steps": 5}
67
+ {"event": "prediction_requested", "time_ns": 1789564797707293420, "actions_sent": 617, "prediction": 33, "queue_remaining": 12}
68
+ {"event": "plan_adopted", "time_ns": 1789564797848603366, "actions_sent": 621, "prediction": 33, "queue_remaining": 27, "skipped_prefix": 5, "observation_age_ms": 158.29176300030667, "blended_steps": 5}
69
+ {"event": "prediction_requested", "time_ns": 1789564798357395513, "actions_sent": 636, "prediction": 34, "queue_remaining": 12}
70
+ {"event": "plan_adopted", "time_ns": 1789564798496396899, "actions_sent": 640, "prediction": 34, "queue_remaining": 27, "skipped_prefix": 5, "observation_age_ms": 139.8886249953648, "blended_steps": 5}
71
+ {"event": "prediction_requested", "time_ns": 1789564799008054805, "actions_sent": 655, "prediction": 35, "queue_remaining": 12}
72
+ {"event": "plan_adopted", "time_ns": 1789564799111743321, "actions_sent": 658, "prediction": 35, "queue_remaining": 28, "skipped_prefix": 4, "observation_age_ms": 121.90601498878095, "blended_steps": 5}
73
+ {"event": "prediction_requested", "time_ns": 1789564799653652851, "actions_sent": 674, "prediction": 36, "queue_remaining": 12}
74
+ {"event": "plan_adopted", "time_ns": 1789564799756775949, "actions_sent": 677, "prediction": 36, "queue_remaining": 27, "skipped_prefix": 5, "observation_age_ms": 135.2417919988511, "blended_steps": 5}
75
+ {"event": "prediction_requested", "time_ns": 1789564800271216910, "actions_sent": 692, "prediction": 37, "queue_remaining": 12}
76
+ {"event": "plan_adopted", "time_ns": 1789564800412722145, "actions_sent": 696, "prediction": 37, "queue_remaining": 27, "skipped_prefix": 5, "observation_age_ms": 152.63543599576224, "blended_steps": 5}
77
+ {"event": "prediction_requested", "time_ns": 1789564800918644369, "actions_sent": 711, "prediction": 38, "queue_remaining": 12}
78
+ {"event": "plan_adopted", "time_ns": 1789564801029973269, "actions_sent": 714, "prediction": 38, "queue_remaining": 27, "skipped_prefix": 5, "observation_age_ms": 138.15259998955298, "blended_steps": 5}
79
+ {"event": "prediction_requested", "time_ns": 1789564801539387719, "actions_sent": 729, "prediction": 39, "queue_remaining": 12}
80
+ {"event": "plan_adopted", "time_ns": 1789564801648396605, "actions_sent": 732, "prediction": 39, "queue_remaining": 28, "skipped_prefix": 4, "observation_age_ms": 123.85928101139143, "blended_steps": 5}
81
+ {"event": "prediction_requested", "time_ns": 1789564802187100319, "actions_sent": 748, "prediction": 40, "queue_remaining": 12}
82
+ {"event": "plan_adopted", "time_ns": 1789564802288448022, "actions_sent": 751, "prediction": 40, "queue_remaining": 28, "skipped_prefix": 4, "observation_age_ms": 133.0371189833386, "blended_steps": 5}
83
+ {"event": "prediction_requested", "time_ns": 1789564802826499936, "actions_sent": 767, "prediction": 41, "queue_remaining": 12}
84
+ {"event": "plan_adopted", "time_ns": 1789564802937041982, "actions_sent": 770, "prediction": 41, "queue_remaining": 27, "skipped_prefix": 5, "observation_age_ms": 143.88704099110328, "blended_steps": 5}
85
+ {"event": "prediction_requested", "time_ns": 1789564803453335599, "actions_sent": 785, "prediction": 42, "queue_remaining": 12}
86
+ {"event": "plan_adopted", "time_ns": 1789564803556817732, "actions_sent": 788, "prediction": 42, "queue_remaining": 28, "skipped_prefix": 4, "observation_age_ms": 132.85613199695945, "blended_steps": 5}
87
+ {"event": "prediction_requested", "time_ns": 1789564804099090988, "actions_sent": 804, "prediction": 43, "queue_remaining": 12}
88
+ {"event": "plan_adopted", "time_ns": 1789564804241152578, "actions_sent": 808, "prediction": 43, "queue_remaining": 27, "skipped_prefix": 5, "observation_age_ms": 148.81098398473114, "blended_steps": 5}
89
+ {"event": "prediction_requested", "time_ns": 1789564804743870308, "actions_sent": 823, "prediction": 44, "queue_remaining": 12}
90
+ {"event": "plan_adopted", "time_ns": 1789564804882833032, "actions_sent": 827, "prediction": 44, "queue_remaining": 27, "skipped_prefix": 5, "observation_age_ms": 158.1040529999882, "blended_steps": 5}
91
+ {"event": "prediction_requested", "time_ns": 1789564805390531835, "actions_sent": 842, "prediction": 45, "queue_remaining": 12}
92
+ {"event": "plan_adopted", "time_ns": 1789564805495172450, "actions_sent": 845, "prediction": 45, "queue_remaining": 27, "skipped_prefix": 5, "observation_age_ms": 136.03653300378937, "blended_steps": 5}
93
+ {"event": "prediction_requested", "time_ns": 1789564806003408126, "actions_sent": 860, "prediction": 46, "queue_remaining": 12}
94
+ {"event": "plan_adopted", "time_ns": 1789564806144106586, "actions_sent": 864, "prediction": 46, "queue_remaining": 27, "skipped_prefix": 5, "observation_age_ms": 153.33169799123425, "blended_steps": 5}
95
+ {"event": "prediction_requested", "time_ns": 1789564806651377241, "actions_sent": 879, "prediction": 47, "queue_remaining": 12}
96
+ {"event": "plan_adopted", "time_ns": 1789564806788778349, "actions_sent": 883, "prediction": 47, "queue_remaining": 27, "skipped_prefix": 5, "observation_age_ms": 165.16096000850666, "blended_steps": 5}
97
+ {"event": "prediction_requested", "time_ns": 1789564807291486313, "actions_sent": 898, "prediction": 48, "queue_remaining": 12}
98
+ {"event": "failed", "time_ns": 1789564807429126586, "actions_sent": 902, "error": "ValueError: position limit exceeded at indices [1]"}
eval/YAM/V2/dp/banana_handoff/data/round_0003/event/event_dict.pkl ADDED
Binary file (162 Bytes). View file
 
eval/YAM/V2/dp/banana_handoff/data/round_0003/manifests/action.json ADDED
@@ -0,0 +1,28 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "prometheus_action_recorder": {
3
+ "counts": {
4
+ "action.executed": 902,
5
+ "camera.base_0_rgb": 935,
6
+ "camera.left_wrist_0_rgb": 935,
7
+ "camera.right_wrist_0_rgb": 935,
8
+ "dropped": 0,
9
+ "event.workflow": 1,
10
+ "items": 7450,
11
+ "robot.robot_state": 3742
12
+ },
13
+ "episode_dir": "/home/romoya-1/openpi-workspace/PrometheusV2/outputs/yam_v2/dp/best-short/banana_handoff/data/round_0003",
14
+ "executed_actions": 902,
15
+ "failure": "",
16
+ "metadata": {
17
+ "round_number": 3,
18
+ "run_id": "20260916_211822_986435_round_0003",
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": 1789564807.5587626
27
+ }
28
+ }
eval/YAM/V2/dp/banana_handoff/data/round_0003/manifests/camera.json ADDED
@@ -0,0 +1,101 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "prometheus_camera_base_0_recorder": {
3
+ "camera_frames": {
4
+ "base_0_rgb": 935
5
+ },
6
+ "camera_timestamp_samples": 935,
7
+ "complete_sensor_bundles": 935,
8
+ "counts": {
9
+ "action.executed": 902,
10
+ "camera.base_0_rgb": 935,
11
+ "camera.left_wrist_0_rgb": 935,
12
+ "camera.right_wrist_0_rgb": 935,
13
+ "dropped": 0,
14
+ "event.workflow": 1,
15
+ "items": 7450,
16
+ "robot.robot_state": 3742
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/banana_handoff/data/round_0003",
21
+ "failure": "",
22
+ "metadata": {
23
+ "round_number": 3,
24
+ "run_id": "20260916_211822_986435_round_0003",
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": 1789564807.5587626
34
+ },
35
+ "prometheus_camera_left_wrist_0_recorder": {
36
+ "camera_frames": {
37
+ "left_wrist_0_rgb": 935
38
+ },
39
+ "camera_timestamp_samples": 935,
40
+ "complete_sensor_bundles": 935,
41
+ "counts": {
42
+ "action.executed": 902,
43
+ "camera.base_0_rgb": 935,
44
+ "camera.left_wrist_0_rgb": 935,
45
+ "camera.right_wrist_0_rgb": 935,
46
+ "dropped": 0,
47
+ "event.workflow": 1,
48
+ "items": 7450,
49
+ "robot.robot_state": 3742
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/banana_handoff/data/round_0003",
54
+ "failure": "",
55
+ "metadata": {
56
+ "round_number": 3,
57
+ "run_id": "20260916_211822_986435_round_0003",
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": 1789564807.5587626
67
+ },
68
+ "prometheus_camera_right_wrist_0_recorder": {
69
+ "camera_frames": {
70
+ "right_wrist_0_rgb": 935
71
+ },
72
+ "camera_timestamp_samples": 935,
73
+ "complete_sensor_bundles": 935,
74
+ "counts": {
75
+ "action.executed": 902,
76
+ "camera.base_0_rgb": 935,
77
+ "camera.left_wrist_0_rgb": 935,
78
+ "camera.right_wrist_0_rgb": 935,
79
+ "dropped": 0,
80
+ "event.workflow": 1,
81
+ "items": 7450,
82
+ "robot.robot_state": 3742
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/banana_handoff/data/round_0003",
87
+ "failure": "",
88
+ "metadata": {
89
+ "round_number": 3,
90
+ "run_id": "20260916_211822_986435_round_0003",
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": 1789564807.5587626
100
+ }
101
+ }
eval/YAM/V2/dp/banana_handoff/data/round_0003/manifests/event.json ADDED
@@ -0,0 +1,27 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "prometheus_event_recorder": {
3
+ "counts": {
4
+ "action.executed": 902,
5
+ "camera.base_0_rgb": 935,
6
+ "camera.left_wrist_0_rgb": 935,
7
+ "camera.right_wrist_0_rgb": 935,
8
+ "dropped": 0,
9
+ "event.workflow": 1,
10
+ "items": 7450,
11
+ "robot.robot_state": 3742
12
+ },
13
+ "episode_dir": "/home/romoya-1/openpi-workspace/PrometheusV2/outputs/yam_v2/dp/best-short/banana_handoff/data/round_0003",
14
+ "event_samples": 1,
15
+ "failure": "",
16
+ "metadata": {
17
+ "round_number": 3,
18
+ "run_id": "20260916_211822_986435_round_0003",
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": 1789564807.5587626
26
+ }
27
+ }
eval/YAM/V2/dp/banana_handoff/data/round_0003/manifests/robot.json ADDED
@@ -0,0 +1,36 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "prometheus_robot_recorder": {
3
+ "counts": {
4
+ "action.executed": 902,
5
+ "camera.base_0_rgb": 935,
6
+ "camera.left_wrist_0_rgb": 935,
7
+ "camera.right_wrist_0_rgb": 935,
8
+ "dropped": 0,
9
+ "event.workflow": 1,
10
+ "items": 7450,
11
+ "robot.robot_state": 3742
12
+ },
13
+ "episode_dir": "/home/romoya-1/openpi-workspace/PrometheusV2/outputs/yam_v2/dp/best-short/banana_handoff/data/round_0003",
14
+ "failure": "",
15
+ "incomplete_robot_samples": {
16
+ "left": 3742,
17
+ "right": 3742
18
+ },
19
+ "metadata": {
20
+ "round_number": 3,
21
+ "run_id": "20260916_211822_986435_round_0003",
22
+ "workflow": "openpi_rollout"
23
+ },
24
+ "pending_robot_samples": 0,
25
+ "plot_outputs": [],
26
+ "record_id": "prometheus_robot_recorder",
27
+ "record_mode": "robot",
28
+ "robot_samples": {
29
+ "left": 3742,
30
+ "right": 3742
31
+ },
32
+ "schema": "prometheus_raw_episode_v1",
33
+ "status": "saved",
34
+ "updated_at_unix": 1789564807.5587626
35
+ }
36
+ }
eval/YAM/V2/dp/banana_handoff/data/round_0003/manifests/tactile.json ADDED
@@ -0,0 +1 @@
 
 
1
+ {}
eval/YAM/V2/dp/banana_handoff/data/round_0004/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": 1321,
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": 1323,
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": 1324,
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/banana_handoff/data/round_0004/camera/timestamp.pkl ADDED
Binary file (31.8 kB). View file
 
eval/YAM/V2/dp/banana_handoff/data/round_0004/debug/actions.jsonl ADDED
The diff for this file is too large to render. See raw diff
 
eval/YAM/V2/dp/banana_handoff/data/round_0004/debug/validations/validation_0000.json ADDED
@@ -0,0 +1,176 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
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
+ -0.018883039597165308,
20
+ 0.007438773174639479,
21
+ 0.010872053101396162,
22
+ 0.006294346532387252,
23
+ 0.008964675364309116,
24
+ -0.04825665674829871,
25
+ 0.09591669077234596,
26
+ 0.0024795910582131597,
27
+ 0.002861066605630569,
28
+ 0.004768444342717615,
29
+ 0.013923857480735435,
30
+ -0.023842221713588074,
31
+ 0.0829709315632865,
32
+ 0.0958747553816047
33
+ ],
34
+ "current_velocity": [
35
+ 0.0073260073260073,
36
+ -0.0073260073260073,
37
+ 0.0024420024420024333,
38
+ -0.0073260073260073,
39
+ 0.0073260073260073,
40
+ -0.0219780219780219,
41
+ 0.00013332528044706184,
42
+ -0.0073260073260073,
43
+ -0.0024420024420024333,
44
+ 0.012210012210012167,
45
+ -0.0219780219780219,
46
+ -0.0073260073260073,
47
+ -0.0073260073260073,
48
+ -0.0001336248443880533
49
+ ],
50
+ "first_target": [
51
+ -0.017437754198908806,
52
+ -0.012227362021803856,
53
+ -0.005695991218090057,
54
+ 0.015396183356642723,
55
+ 0.015039840713143349,
56
+ -0.03011099249124527,
57
+ 0.09600000083446503,
58
+ -0.0006145676597952843,
59
+ 1.553143374621868e-05,
60
+ -0.0013108276762068272,
61
+ 0.026528097689151764,
62
+ -0.041390642523765564,
63
+ 0.0934014767408371,
64
+ 0.09600000083446503
65
+ ],
66
+ "first_transition_velocity": [
67
+ 0.04335856194769505,
68
+ -0.5899840558933,
69
+ -0.4970413295845866,
70
+ 0.27305510472766414,
71
+ 0.18225496046502698,
72
+ 0.5443699277116032,
73
+ 0.00249930186357189,
74
+ -0.09282476154025332,
75
+ -0.08536605515653051,
76
+ -0.18237816056773326,
77
+ 0.37812720625248986,
78
+ -0.5264526243053247,
79
+ 0.31291635532651796,
80
+ 0.0037573635858098586
81
+ ],
82
+ "observation_state": [
83
+ -0.01926451548933983,
84
+ 0.007438773289322853,
85
+ 0.010872052982449532,
86
+ 0.006294346414506435,
87
+ 0.008964675478637218,
88
+ -0.048256658017635345,
89
+ 0.09591668844223022,
90
+ 0.0024795911740511656,
91
+ 0.002861066721379757,
92
+ 0.004386968910694122,
93
+ 0.013923857361078262,
94
+ -0.02384222112596035,
95
+ 0.08297093212604523,
96
+ 0.09587475657463074
97
+ ],
98
+ "policy_metadata": {
99
+ "alignment_wait_ms": 9.048165011336096,
100
+ "checkpoint_path": "/home/romoya-1/openpi-workspace/checkpoints/yam-policies-release/yam_policies/xiangrun/20260916_v2_seven_tasks/dp/banana_handoff/best-short.pt",
101
+ "first_action_minus_state": [
102
+ 0.0018267612904310226,
103
+ -0.01966613531112671,
104
+ -0.01656804420053959,
105
+ 0.009101836942136288,
106
+ 0.00607516523450613,
107
+ 0.018145665526390076,
108
+ 8.331239223480225e-05,
109
+ -0.00309415883384645,
110
+ -0.0028455352876335382,
111
+ -0.0056977965869009495,
112
+ 0.012604240328073502,
113
+ -0.017548421397805214,
114
+ 0.01043054461479187,
115
+ 0.00012524425983428955
116
+ ],
117
+ "history_interval_ms": 33.311158,
118
+ "history_stamp_ns": [
119
+ 1789565031074486230,
120
+ 1789565031107797388
121
+ ],
122
+ "model_seed": null,
123
+ "observation_age_at_response_ms": 138.686761,
124
+ "observation_stamp_ns": 1789565031107797388,
125
+ "prompt": "banana_handoff",
126
+ "release_revision": "39c623bd78f638d06ce0db57631b66d3028db208",
127
+ "request_id": "509a0fc4535c434ab756725dd5fa35a1",
128
+ "round_trip_ms": 96.08496500004549,
129
+ "server_metadata": {
130
+ "action_shape": [
131
+ 32,
132
+ 14
133
+ ],
134
+ "action_space": "abs_qpos",
135
+ "cameras": [
136
+ "base_0",
137
+ "left_wrist_0",
138
+ "right_wrist_0"
139
+ ],
140
+ "checkpoint_hashes": {
141
+ "dp/banana_handoff/best-short.pt": "83b1d9e63b1218ab6524f276843d8d0c74aed4d1579041a96983365319772f4d"
142
+ },
143
+ "checkpoint_path": "/home/romoya-1/openpi-workspace/checkpoints/yam-policies-release/yam_policies/xiangrun/20260916_v2_seven_tasks/dp/banana_handoff/best-short.pt",
144
+ "fps": 30,
145
+ "gpu": "NVIDIA GeForce RTX 5090",
146
+ "gpu_peak_mib": 446.9287109375,
147
+ "model": "dp",
148
+ "observation_offsets": [
149
+ -1,
150
+ 0
151
+ ],
152
+ "protocol": "yam-v2-native-npz-v1",
153
+ "release_revision": "39c623bd78f638d06ce0db57631b66d3028db208",
154
+ "step": 20000,
155
+ "task": "banana_handoff",
156
+ "tasks": [
157
+ "banana_handoff"
158
+ ],
159
+ "warmup": {
160
+ "hardware_started": false,
161
+ "seconds": [
162
+ 0.29395764200307894,
163
+ 0.056222653001896106,
164
+ 0.05553507500735577,
165
+ 0.05494091000582557
166
+ ],
167
+ "status": "passed"
168
+ }
169
+ },
170
+ "server_prediction_seconds": 0.09262358100386336,
171
+ "source": "yam_v2_dp_http",
172
+ "task": "banana_handoff",
173
+ "wire_action_dtype": "float32"
174
+ },
175
+ "time_ns": 1789565031270696978
176
+ }
eval/YAM/V2/dp/banana_handoff/data/round_0004/debug/validations/validation_0001.json ADDED
@@ -0,0 +1,176 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
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
+ -0.01697566186007471,
20
+ -0.0001907377737087046,
21
+ 0.008964675364309116,
22
+ 0.02536812390325771,
23
+ 0.008583199816891707,
24
+ 0.019645990691996573,
25
+ 0.09591669077234603,
26
+ 0.005531395437552433,
27
+ 1.3807507438773179,
28
+ 0.9977492942702373,
29
+ -0.8840695811398493,
30
+ 0.029564354924849212,
31
+ -0.6219958800640892,
32
+ 0.09533202870189172
33
+ ],
34
+ "current_velocity": [
35
+ -0.012210012210012167,
36
+ 0.0073260073260073,
37
+ -0.0073260073260073,
38
+ -0.0219780219780219,
39
+ -0.0073260073260073,
40
+ -0.0073260073260073,
41
+ 0.00013332528044706184,
42
+ -0.017094017094017033,
43
+ 0.0024420024420024333,
44
+ -0.0073260073260073,
45
+ -0.0219780219780219,
46
+ -0.0073260073260073,
47
+ -0.0219780219780219,
48
+ 0.0001336248443880533
49
+ ],
50
+ "first_target": [
51
+ -0.010469784960150719,
52
+ -0.020575081929564476,
53
+ -0.014543971978127956,
54
+ 0.03470171242952347,
55
+ 0.011019201017916203,
56
+ 0.060574762523174286,
57
+ 0.09589632600545883,
58
+ 0.0009340601973235607,
59
+ 1.4345003366470337,
60
+ 1.0592879056930542,
61
+ -0.8971325159072876,
62
+ 0.01252775453031063,
63
+ -0.6436406373977661,
64
+ 0.0951605960726738
65
+ ],
66
+ "first_transition_velocity": [
67
+ 0.1951763069977197,
68
+ -0.6115303246756731,
69
+ -0.7052594202731122,
70
+ 0.2800076557879727,
71
+ 0.07308003603073487,
72
+ 1.2278631549353314,
73
+ -0.0006109430066160437,
74
+ -0.13792005720686618,
75
+ 1.6124877830914741,
76
+ 1.8461583426845074,
77
+ -0.3918880430231475,
78
+ -0.5110980118361574,
79
+ -0.6493427200103064,
80
+ -0.005142978876537807
81
+ ],
82
+ "observation_state": [
83
+ -0.016975661739706993,
84
+ -0.00019073777366429567,
85
+ 0.00858320016413927,
86
+ 0.02536812424659729,
87
+ 0.00858320016413927,
88
+ 0.01773861236870289,
89
+ 0.09591668844223022,
90
+ 0.005531395319849253,
91
+ 1.3807507753372192,
92
+ 0.9977492690086365,
93
+ -0.8836880922317505,
94
+ 0.029564354568719864,
95
+ -0.6177996397018433,
96
+ 0.09533202648162842
97
+ ],
98
+ "policy_metadata": {
99
+ "alignment_wait_ms": 10.111014009453356,
100
+ "checkpoint_path": "/home/romoya-1/openpi-workspace/checkpoints/yam-policies-release/yam_policies/xiangrun/20260916_v2_seven_tasks/dp/banana_handoff/best-short.pt",
101
+ "first_action_minus_state": [
102
+ 0.006505876779556274,
103
+ -0.020384343340992928,
104
+ -0.023127172142267227,
105
+ 0.009333588182926178,
106
+ 0.0024360008537769318,
107
+ 0.04283615201711655,
108
+ -2.0362436771392822e-05,
109
+ -0.004597335122525692,
110
+ 0.05374956130981445,
111
+ 0.061538636684417725,
112
+ -0.01344442367553711,
113
+ -0.017036600038409233,
114
+ -0.02584099769592285,
115
+ -0.00017143040895462036
116
+ ],
117
+ "history_interval_ms": 33.348665,
118
+ "history_stamp_ns": [
119
+ 1789565032841564984,
120
+ 1789565032874913649
121
+ ],
122
+ "model_seed": null,
123
+ "observation_age_at_response_ms": 109.323443,
124
+ "observation_stamp_ns": 1789565032874913649,
125
+ "prompt": "banana_handoff",
126
+ "release_revision": "39c623bd78f638d06ce0db57631b66d3028db208",
127
+ "request_id": "50895e0b176d460b93dfc6822198280f",
128
+ "round_trip_ms": 80.72023300337605,
129
+ "server_metadata": {
130
+ "action_shape": [
131
+ 32,
132
+ 14
133
+ ],
134
+ "action_space": "abs_qpos",
135
+ "cameras": [
136
+ "base_0",
137
+ "left_wrist_0",
138
+ "right_wrist_0"
139
+ ],
140
+ "checkpoint_hashes": {
141
+ "dp/banana_handoff/best-short.pt": "83b1d9e63b1218ab6524f276843d8d0c74aed4d1579041a96983365319772f4d"
142
+ },
143
+ "checkpoint_path": "/home/romoya-1/openpi-workspace/checkpoints/yam-policies-release/yam_policies/xiangrun/20260916_v2_seven_tasks/dp/banana_handoff/best-short.pt",
144
+ "fps": 30,
145
+ "gpu": "NVIDIA GeForce RTX 5090",
146
+ "gpu_peak_mib": 446.9287109375,
147
+ "model": "dp",
148
+ "observation_offsets": [
149
+ -1,
150
+ 0
151
+ ],
152
+ "protocol": "yam-v2-native-npz-v1",
153
+ "release_revision": "39c623bd78f638d06ce0db57631b66d3028db208",
154
+ "step": 20000,
155
+ "task": "banana_handoff",
156
+ "tasks": [
157
+ "banana_handoff"
158
+ ],
159
+ "warmup": {
160
+ "hardware_started": false,
161
+ "seconds": [
162
+ 0.29395764200307894,
163
+ 0.056222653001896106,
164
+ 0.05553507500735577,
165
+ 0.05494091000582557
166
+ ],
167
+ "status": "passed"
168
+ }
169
+ },
170
+ "server_prediction_seconds": 0.0770586159924278,
171
+ "source": "yam_v2_dp_http",
172
+ "task": "banana_handoff",
173
+ "wire_action_dtype": "float32"
174
+ },
175
+ "time_ns": 1789565033010270397
176
+ }
eval/YAM/V2/dp/banana_handoff/data/round_0004/debug/validations/validation_0002.json ADDED
@@ -0,0 +1,176 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
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
+ -0.01621271076523989,
20
+ -0.004768444342717615,
21
+ 0.006675822079804661,
22
+ 0.02651255054550994,
23
+ -0.0066758220798082135,
24
+ 0.06389715419241604,
25
+ 0.0959236332079838,
26
+ -0.007820248722056888,
27
+ 1.6824979018844886,
28
+ 1.1842908369573504,
29
+ -0.7516975661860119,
30
+ 0.052071412222476354,
31
+ -0.628862439917599,
32
+ 0.09588867145031522
33
+ ],
34
+ "current_velocity": [
35
+ 0.0024420024420024333,
36
+ 0.0024420024420024333,
37
+ 0.0024420024420024333,
38
+ -0.0219780219780219,
39
+ -0.0073260073260073,
40
+ -0.0073260073260073,
41
+ 0.0003999758413411856,
42
+ 0.0024420024420024333,
43
+ -0.0024420024420024333,
44
+ 0.0024420024420024333,
45
+ -0.0219780219780219,
46
+ -0.0219780219780219,
47
+ -0.0073260073260073,
48
+ 0.0001336248443880533
49
+ ],
50
+ "first_target": [
51
+ -0.008685437962412834,
52
+ -0.034622788429260254,
53
+ -0.0056441412307322025,
54
+ 0.022561293095350266,
55
+ -0.018976425752043724,
56
+ 0.14105337858200073,
57
+ 0.09600000083446503,
58
+ -0.004450408276170492,
59
+ 1.6733108758926392,
60
+ 1.2327306270599365,
61
+ -0.7586789131164551,
62
+ 0.024637864902615547,
63
+ -0.6567357182502747,
64
+ 0.0956418588757515
65
+ ],
66
+ "first_transition_velocity": [
67
+ 0.2258181840848117,
68
+ -0.8956303225962792,
69
+ -0.3695988993161059,
70
+ -0.1185377235047902,
71
+ -0.3690181101670653,
72
+ 2.314686731687541,
73
+ 0.002291028794436656,
74
+ 0.10109521337659189,
75
+ -0.27561077975548187,
76
+ 1.4531937030775843,
77
+ -0.209440407913295,
78
+ -0.8230064195958242,
79
+ -0.8361983499802683,
80
+ -0.007404377236911869
81
+ ],
82
+ "observation_state": [
83
+ -0.016212711110711098,
84
+ -0.00476844422519207,
85
+ 0.00667582219466567,
86
+ 0.026512550190091133,
87
+ -0.00667582219466567,
88
+ 0.06427863240242004,
89
+ 0.09592363238334656,
90
+ -0.0078202486038208,
91
+ 1.6824978590011597,
92
+ 1.184290885925293,
93
+ -0.7516975402832031,
94
+ 0.05207141116261482,
95
+ -0.6288624405860901,
96
+ 0.09588867425918579
97
+ ],
98
+ "policy_metadata": {
99
+ "alignment_wait_ms": 10.368336996180005,
100
+ "checkpoint_path": "/home/romoya-1/openpi-workspace/checkpoints/yam-policies-release/yam_policies/xiangrun/20260916_v2_seven_tasks/dp/banana_handoff/best-short.pt",
101
+ "first_action_minus_state": [
102
+ 0.0075272731482982635,
103
+ -0.029854344204068184,
104
+ -0.012319963425397873,
105
+ -0.003951257094740868,
106
+ -0.012300603091716766,
107
+ 0.07677474617958069,
108
+ 7.636845111846924e-05,
109
+ 0.0033698403276503086,
110
+ -0.009186983108520508,
111
+ 0.048439741134643555,
112
+ -0.006981372833251953,
113
+ -0.027433546259999275,
114
+ -0.02787327766418457,
115
+ -0.00024681538343429565
116
+ ],
117
+ "history_interval_ms": 33.354154,
118
+ "history_stamp_ns": [
119
+ 1789565034441891957,
120
+ 1789565034475246111
121
+ ],
122
+ "model_seed": null,
123
+ "observation_age_at_response_ms": 103.737762,
124
+ "observation_stamp_ns": 1789565034475246111,
125
+ "prompt": "banana_handoff",
126
+ "release_revision": "39c623bd78f638d06ce0db57631b66d3028db208",
127
+ "request_id": "17ef2c95c01c4a33bc9a2790c18d217d",
128
+ "round_trip_ms": 83.13519800140057,
129
+ "server_metadata": {
130
+ "action_shape": [
131
+ 32,
132
+ 14
133
+ ],
134
+ "action_space": "abs_qpos",
135
+ "cameras": [
136
+ "base_0",
137
+ "left_wrist_0",
138
+ "right_wrist_0"
139
+ ],
140
+ "checkpoint_hashes": {
141
+ "dp/banana_handoff/best-short.pt": "83b1d9e63b1218ab6524f276843d8d0c74aed4d1579041a96983365319772f4d"
142
+ },
143
+ "checkpoint_path": "/home/romoya-1/openpi-workspace/checkpoints/yam-policies-release/yam_policies/xiangrun/20260916_v2_seven_tasks/dp/banana_handoff/best-short.pt",
144
+ "fps": 30,
145
+ "gpu": "NVIDIA GeForce RTX 5090",
146
+ "gpu_peak_mib": 446.9287109375,
147
+ "model": "dp",
148
+ "observation_offsets": [
149
+ -1,
150
+ 0
151
+ ],
152
+ "protocol": "yam-v2-native-npz-v1",
153
+ "release_revision": "39c623bd78f638d06ce0db57631b66d3028db208",
154
+ "step": 20000,
155
+ "task": "banana_handoff",
156
+ "tasks": [
157
+ "banana_handoff"
158
+ ],
159
+ "warmup": {
160
+ "hardware_started": false,
161
+ "seconds": [
162
+ 0.29395764200307894,
163
+ 0.056222653001896106,
164
+ 0.05553507500735577,
165
+ 0.05494091000582557
166
+ ],
167
+ "status": "passed"
168
+ }
169
+ },
170
+ "server_prediction_seconds": 0.07756853599858005,
171
+ "source": "yam_v2_dp_http",
172
+ "task": "banana_handoff",
173
+ "wire_action_dtype": "float32"
174
+ },
175
+ "time_ns": 1789565034606518312
176
+ }
eval/YAM/V2/dp/banana_handoff/data/round_0004/debug/validations/validation_0003.json ADDED
@@ -0,0 +1,176 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
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
+ -0.011253528648817124,
20
+ -0.005531395437552433,
21
+ 0.00705729762722207,
22
+ 0.022697795071335847,
23
+ -0.005912870984973395,
24
+ 0.11310749980926182,
25
+ 0.09584726641596761,
26
+ -0.000953688868543523,
27
+ 1.8907835507743957,
28
+ 1.3979171435111013,
29
+ -0.7616159304188646,
30
+ 0.06389715419241604,
31
+ -0.6513694972152262,
32
+ 0.09545727332028701
33
+ ],
34
+ "current_velocity": [
35
+ -0.0219780219780219,
36
+ -0.0024420024420024333,
37
+ 0.0024420024420024333,
38
+ -0.0073260073260073,
39
+ -0.0219780219780219,
40
+ 0.0073260073260073,
41
+ 0.00013332528044706184,
42
+ 0.012210012210012167,
43
+ 0.012210012210012167,
44
+ 0.012210012210012167,
45
+ -0.0219780219780219,
46
+ -0.0219780219780219,
47
+ -0.0073260073260073,
48
+ -0.0001336248443880533
49
+ ],
50
+ "first_target": [
51
+ -0.00942322239279747,
52
+ -0.02621512860059738,
53
+ -0.010588215664029121,
54
+ 0.023434652015566826,
55
+ -0.018226362764835358,
56
+ 0.14839766919612885,
57
+ 0.09600000083446503,
58
+ 0.00016055372543632984,
59
+ 1.91188383102417,
60
+ 1.4244027137756348,
61
+ -0.7727982401847839,
62
+ 0.0666506290435791,
63
+ -0.7222706079483032,
64
+ 0.09570518136024475
65
+ ],
66
+ "first_transition_velocity": [
67
+ 0.05490918768058961,
68
+ -0.6205119948913485,
69
+ -0.5293653987375357,
70
+ 0.022105708326929374,
71
+ -0.3694047533958589,
72
+ 1.0587050816060106,
73
+ 0.004582032554922566,
74
+ 0.033427277819395584,
75
+ 0.6330084074932252,
76
+ 0.7945671079360039,
77
+ -0.33546929297758155,
78
+ 0.08260424553489187,
79
+ -2.127033321992311,
80
+ 0.0074372411987320974
81
+ ],
82
+ "observation_state": [
83
+ -0.01125352829694748,
84
+ -0.005531395319849253,
85
+ 0.007057297509163618,
86
+ 0.022697795182466507,
87
+ -0.005912871100008488,
88
+ 0.11310750246047974,
89
+ 0.09584726393222809,
90
+ -0.0009536888683214784,
91
+ 1.89040207862854,
92
+ 1.3979171514511108,
93
+ -0.7616159319877625,
94
+ 0.06427863240242004,
95
+ -0.6513695120811462,
96
+ 0.09545727074146271
97
+ ],
98
+ "policy_metadata": {
99
+ "alignment_wait_ms": 9.780736989341676,
100
+ "checkpoint_path": "/home/romoya-1/openpi-workspace/checkpoints/yam-policies-release/yam_policies/xiangrun/20260916_v2_seven_tasks/dp/banana_handoff/best-short.pt",
101
+ "first_action_minus_state": [
102
+ 0.0018303059041500092,
103
+ -0.020683733746409416,
104
+ -0.017645513638854027,
105
+ 0.0007368568331003189,
106
+ -0.01231349166482687,
107
+ 0.03529016673564911,
108
+ 0.00015273690223693848,
109
+ 0.0011142425937578082,
110
+ 0.021481752395629883,
111
+ 0.026485562324523926,
112
+ -0.011182308197021484,
113
+ 0.0023719966411590576,
114
+ -0.07090109586715698,
115
+ 0.00024791061878204346
116
+ ],
117
+ "history_interval_ms": 33.354598,
118
+ "history_stamp_ns": [
119
+ 1789565036075819559,
120
+ 1789565036109174157
121
+ ],
122
+ "model_seed": null,
123
+ "observation_age_at_response_ms": 115.728022,
124
+ "observation_stamp_ns": 1789565036109174157,
125
+ "prompt": "banana_handoff",
126
+ "release_revision": "39c623bd78f638d06ce0db57631b66d3028db208",
127
+ "request_id": "23372c44422f4fde8d92249fdd86d1fd",
128
+ "round_trip_ms": 82.34166399051901,
129
+ "server_metadata": {
130
+ "action_shape": [
131
+ 32,
132
+ 14
133
+ ],
134
+ "action_space": "abs_qpos",
135
+ "cameras": [
136
+ "base_0",
137
+ "left_wrist_0",
138
+ "right_wrist_0"
139
+ ],
140
+ "checkpoint_hashes": {
141
+ "dp/banana_handoff/best-short.pt": "83b1d9e63b1218ab6524f276843d8d0c74aed4d1579041a96983365319772f4d"
142
+ },
143
+ "checkpoint_path": "/home/romoya-1/openpi-workspace/checkpoints/yam-policies-release/yam_policies/xiangrun/20260916_v2_seven_tasks/dp/banana_handoff/best-short.pt",
144
+ "fps": 30,
145
+ "gpu": "NVIDIA GeForce RTX 5090",
146
+ "gpu_peak_mib": 446.9287109375,
147
+ "model": "dp",
148
+ "observation_offsets": [
149
+ -1,
150
+ 0
151
+ ],
152
+ "protocol": "yam-v2-native-npz-v1",
153
+ "release_revision": "39c623bd78f638d06ce0db57631b66d3028db208",
154
+ "step": 20000,
155
+ "task": "banana_handoff",
156
+ "tasks": [
157
+ "banana_handoff"
158
+ ],
159
+ "warmup": {
160
+ "hardware_started": false,
161
+ "seconds": [
162
+ 0.29395764200307894,
163
+ 0.056222653001896106,
164
+ 0.05553507500735577,
165
+ 0.05494091000582557
166
+ ],
167
+ "status": "passed"
168
+ }
169
+ },
170
+ "server_prediction_seconds": 0.07960795699909795,
171
+ "source": "yam_v2_dp_http",
172
+ "task": "banana_handoff",
173
+ "wire_action_dtype": "float32"
174
+ },
175
+ "time_ns": 1789565036246983077
176
+ }
eval/YAM/V2/dp/banana_handoff/data/round_0004/debug/validations/validation_0004.json ADDED
@@ -0,0 +1,176 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
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
+ -0.005912870984973395,
21
+ 0.00705729762722207,
22
+ 0.007820248722056888,
23
+ -0.010109102006561344,
24
+ 0.13561455710688897,
25
+ 0.09590974833670812,
26
+ 0.01583123521782248,
27
+ 2.022392614633402,
28
+ 1.4765011062790876,
29
+ -0.788700694285497,
30
+ 0.0829709315632865,
31
+ -0.7101167315175072,
32
+ 0.09499804305283757
33
+ ],
34
+ "current_velocity": [
35
+ -0.012210012210012167,
36
+ 0.0073260073260073,
37
+ -0.0073260073260073,
38
+ -0.0073260073260073,
39
+ 0.0073260073260073,
40
+ -0.0073260073260073,
41
+ 0.0003999758413411856,
42
+ -0.0024420024420024333,
43
+ -0.0219780219780219,
44
+ 0.0024420024420024333,
45
+ -0.0219780219780219,
46
+ 0.0073260073260073,
47
+ 0.0073260073260073,
48
+ -0.0001336248443880533
49
+ ],
50
+ "first_target": [
51
+ -0.012550550512969494,
52
+ -0.03145919367671013,
53
+ -0.00966934859752655,
54
+ 0.006832078564912081,
55
+ -0.04018267244100571,
56
+ 0.16048698127269745,
57
+ 0.09596230089664459,
58
+ 0.039125777781009674,
59
+ 2.0221760272979736,
60
+ 1.491398811340332,
61
+ -0.7891383767127991,
62
+ 0.08323445916175842,
63
+ -0.7094441652297974,
64
+ 0.09472396224737167
65
+ ],
66
+ "first_transition_velocity": [
67
+ -0.02746638950215541,
68
+ -0.766389680752102,
69
+ -0.5017993867424586,
70
+ -0.029645104714344228,
71
+ -0.9022071130333309,
72
+ 0.7461727249742545,
73
+ 0.001576576798094087,
74
+ 0.6988362768956158,
75
+ -0.006497620062848597,
76
+ 0.4469311518373331,
77
+ -0.013130472819060657,
78
+ 0.00790582795415773,
79
+ 0.020176988631295245,
80
+ -0.008222424163976949
81
+ ],
82
+ "observation_state": [
83
+ -0.011635004542768002,
84
+ -0.005912871100008488,
85
+ 0.007438773289322853,
86
+ 0.0078202486038208,
87
+ -0.010109102353453636,
88
+ 0.1356145590543747,
89
+ 0.09590280801057816,
90
+ 0.01583123579621315,
91
+ 2.022392511367798,
92
+ 1.4765011072158813,
93
+ -0.7887006998062134,
94
+ 0.08297093212604523,
95
+ -0.7104982137680054,
96
+ 0.09499804675579071
97
+ ],
98
+ "policy_metadata": {
99
+ "alignment_wait_ms": 11.290720998658799,
100
+ "checkpoint_path": "/home/romoya-1/openpi-workspace/checkpoints/yam-policies-release/yam_policies/xiangrun/20260916_v2_seven_tasks/dp/banana_handoff/best-short.pt",
101
+ "first_action_minus_state": [
102
+ -0.0009155459702014923,
103
+ -0.025546323508024216,
104
+ -0.017108121886849403,
105
+ -0.00098817003890872,
106
+ -0.03007357008755207,
107
+ 0.024872422218322754,
108
+ 5.949288606643677e-05,
109
+ 0.023294541984796524,
110
+ -0.00021648406982421875,
111
+ 0.014897704124450684,
112
+ -0.00043767690658569336,
113
+ 0.0002635270357131958,
114
+ 0.0010540485382080078,
115
+ -0.00027408450841903687
116
+ ],
117
+ "history_interval_ms": 33.50287,
118
+ "history_stamp_ns": [
119
+ 1789565037642746410,
120
+ 1789565037676249280
121
+ ],
122
+ "model_seed": null,
123
+ "observation_age_at_response_ms": 89.323968,
124
+ "observation_stamp_ns": 1789565037676249280,
125
+ "prompt": "banana_handoff",
126
+ "release_revision": "39c623bd78f638d06ce0db57631b66d3028db208",
127
+ "request_id": "877f1b08b72441c788016eb6f0a59724",
128
+ "round_trip_ms": 58.66105400491506,
129
+ "server_metadata": {
130
+ "action_shape": [
131
+ 32,
132
+ 14
133
+ ],
134
+ "action_space": "abs_qpos",
135
+ "cameras": [
136
+ "base_0",
137
+ "left_wrist_0",
138
+ "right_wrist_0"
139
+ ],
140
+ "checkpoint_hashes": {
141
+ "dp/banana_handoff/best-short.pt": "83b1d9e63b1218ab6524f276843d8d0c74aed4d1579041a96983365319772f4d"
142
+ },
143
+ "checkpoint_path": "/home/romoya-1/openpi-workspace/checkpoints/yam-policies-release/yam_policies/xiangrun/20260916_v2_seven_tasks/dp/banana_handoff/best-short.pt",
144
+ "fps": 30,
145
+ "gpu": "NVIDIA GeForce RTX 5090",
146
+ "gpu_peak_mib": 446.9287109375,
147
+ "model": "dp",
148
+ "observation_offsets": [
149
+ -1,
150
+ 0
151
+ ],
152
+ "protocol": "yam-v2-native-npz-v1",
153
+ "release_revision": "39c623bd78f638d06ce0db57631b66d3028db208",
154
+ "step": 20000,
155
+ "task": "banana_handoff",
156
+ "tasks": [
157
+ "banana_handoff"
158
+ ],
159
+ "warmup": {
160
+ "hardware_started": false,
161
+ "seconds": [
162
+ 0.29395764200307894,
163
+ 0.056222653001896106,
164
+ 0.05553507500735577,
165
+ 0.05494091000582557
166
+ ],
167
+ "status": "passed"
168
+ }
169
+ },
170
+ "server_prediction_seconds": 0.05578753699955996,
171
+ "source": "yam_v2_dp_http",
172
+ "task": "banana_handoff",
173
+ "wire_action_dtype": "float32"
174
+ },
175
+ "time_ns": 1789565037792632561
176
+ }
eval/YAM/V2/dp/banana_handoff/data/round_0004/debug/validations/validation_0005.json ADDED
@@ -0,0 +1,176 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
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
+ -0.005912870984973395,
21
+ 0.00705729762722207,
22
+ 0.019645990691996573,
23
+ -0.028419928282596985,
24
+ 0.17605096513313434,
25
+ 0.09557651142609198,
26
+ 0.04825665674830226,
27
+ 2.022392614633402,
28
+ 1.4784084840161746,
29
+ -0.780308232242314,
30
+ 0.078774700541695,
31
+ -0.6811245899137877,
32
+ 0.012225266362252685
33
+ ],
34
+ "current_velocity": [
35
+ 0.017094017094017033,
36
+ 0.0024420024420024333,
37
+ 0.0073260073260073,
38
+ 0.0073260073260073,
39
+ -0.0073260073260073,
40
+ -0.0073260073260073,
41
+ 0.0006666264022353092,
42
+ -0.0024420024420024333,
43
+ 0.0219780219780219,
44
+ -0.0024420024420024333,
45
+ 0.0073260073260073,
46
+ -0.0073260073260073,
47
+ -0.0073260073260073,
48
+ 0.0001336248443880533
49
+ ],
50
+ "first_target": [
51
+ -0.011151127517223358,
52
+ -0.026464588940143585,
53
+ 0.0032006388064473867,
54
+ 0.03312939405441284,
55
+ -0.05319501459598541,
56
+ 0.20498749613761902,
57
+ 0.09600000083446503,
58
+ 0.07434143126010895,
59
+ 2.065105438232422,
60
+ 1.5554425716400146,
61
+ -0.8023117184638977,
62
+ 0.06045319885015488,
63
+ -0.6349367499351501,
64
+ 0.002777343848720193
65
+ ],
66
+ "first_transition_velocity": [
67
+ 0.014516300370228663,
68
+ -0.6165515386551057,
69
+ -0.1156997646232405,
70
+ 0.40450210087248806,
71
+ -0.7432525894016528,
72
+ 0.8680959301345403,
73
+ 0.012704682251191285,
74
+ 0.7825432353542006,
75
+ 1.2813847079705987,
76
+ 2.3110226287152003,
77
+ -0.6601045866475097,
78
+ -0.5496450507462036,
79
+ 1.3856351993591254,
80
+ -0.28343767540597475
81
+ ],
82
+ "observation_state": [
83
+ -0.011635004542768002,
84
+ -0.005912871100008488,
85
+ 0.007057297509163618,
86
+ 0.019645990803837776,
87
+ -0.02841992862522602,
88
+ 0.17566949129104614,
89
+ 0.09557650983333588,
90
+ 0.048256658017635345,
91
+ 2.022392511367798,
92
+ 1.4784084558486938,
93
+ -0.7803082466125488,
94
+ 0.07877469807863235,
95
+ -0.6807430982589722,
96
+ 0.012336594983935356
97
+ ],
98
+ "policy_metadata": {
99
+ "alignment_wait_ms": 5.109796999022365,
100
+ "checkpoint_path": "/home/romoya-1/openpi-workspace/checkpoints/yam-policies-release/yam_policies/xiangrun/20260916_v2_seven_tasks/dp/banana_handoff/best-short.pt",
101
+ "first_action_minus_state": [
102
+ 0.0004838770255446434,
103
+ -0.020551718771457672,
104
+ -0.0038566587027162313,
105
+ 0.013483403250575066,
106
+ -0.024775085970759392,
107
+ 0.029318004846572876,
108
+ 0.0004234910011291504,
109
+ 0.026084773242473602,
110
+ 0.04271292686462402,
111
+ 0.0770341157913208,
112
+ -0.022003471851348877,
113
+ -0.018321499228477478,
114
+ 0.04580634832382202,
115
+ -0.009559251368045807
116
+ ],
117
+ "history_interval_ms": 33.233683,
118
+ "history_stamp_ns": [
119
+ 1789565039176889695,
120
+ 1789565039210123378
121
+ ],
122
+ "model_seed": null,
123
+ "observation_age_at_response_ms": 113.976562,
124
+ "observation_stamp_ns": 1789565039210123378,
125
+ "prompt": "banana_handoff",
126
+ "release_revision": "39c623bd78f638d06ce0db57631b66d3028db208",
127
+ "request_id": "4596ce271c684179a15c3a14fabe8266",
128
+ "round_trip_ms": 81.37074600381311,
129
+ "server_metadata": {
130
+ "action_shape": [
131
+ 32,
132
+ 14
133
+ ],
134
+ "action_space": "abs_qpos",
135
+ "cameras": [
136
+ "base_0",
137
+ "left_wrist_0",
138
+ "right_wrist_0"
139
+ ],
140
+ "checkpoint_hashes": {
141
+ "dp/banana_handoff/best-short.pt": "83b1d9e63b1218ab6524f276843d8d0c74aed4d1579041a96983365319772f4d"
142
+ },
143
+ "checkpoint_path": "/home/romoya-1/openpi-workspace/checkpoints/yam-policies-release/yam_policies/xiangrun/20260916_v2_seven_tasks/dp/banana_handoff/best-short.pt",
144
+ "fps": 30,
145
+ "gpu": "NVIDIA GeForce RTX 5090",
146
+ "gpu_peak_mib": 446.9287109375,
147
+ "model": "dp",
148
+ "observation_offsets": [
149
+ -1,
150
+ 0
151
+ ],
152
+ "protocol": "yam-v2-native-npz-v1",
153
+ "release_revision": "39c623bd78f638d06ce0db57631b66d3028db208",
154
+ "step": 20000,
155
+ "task": "banana_handoff",
156
+ "tasks": [
157
+ "banana_handoff"
158
+ ],
159
+ "warmup": {
160
+ "hardware_started": false,
161
+ "seconds": [
162
+ 0.29395764200307894,
163
+ 0.056222653001896106,
164
+ 0.05553507500735577,
165
+ 0.05494091000582557
166
+ ],
167
+ "status": "passed"
168
+ }
169
+ },
170
+ "server_prediction_seconds": 0.07775858099921606,
171
+ "source": "yam_v2_dp_http",
172
+ "task": "banana_handoff",
173
+ "wire_action_dtype": "float32"
174
+ },
175
+ "time_ns": 1789565039349883323
176
+ }
eval/YAM/V2/dp/banana_handoff/data/round_0004/debug/validations/validation_0006.json ADDED
@@ -0,0 +1,176 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
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
+ 0.20923933775844894,
21
+ 0.25577935454337464,
22
+ 0.15659571221484647,
23
+ 0.06809338521400754,
24
+ -0.9054322117952243,
25
+ 0.09591669077234603,
26
+ 0.23823147936217204,
27
+ 2.055199511711299,
28
+ 1.8625543602655075,
29
+ -1.1789501792935102,
30
+ -0.10013733119706991,
31
+ -0.5407415884641775,
32
+ 0.01173820395738206
33
+ ],
34
+ "current_velocity": [
35
+ 0.012210012210012167,
36
+ 0.0024420024420024333,
37
+ -0.0073260073260073,
38
+ -0.0073260073260073,
39
+ -0.0073260073260073,
40
+ 0.0073260073260073,
41
+ 0.00013332528044706184,
42
+ -0.0073260073260073,
43
+ 0.0073260073260073,
44
+ -0.0219780219780219,
45
+ -0.0073260073260073,
46
+ 0.0073260073260073,
47
+ -0.0073260073260073,
48
+ 0.0001336248443880533
49
+ ],
50
+ "first_target": [
51
+ -0.02986641228199005,
52
+ 0.3275788426399231,
53
+ 0.35592395067214966,
54
+ 0.04987586289644241,
55
+ 0.07299771904945374,
56
+ -0.9945333003997803,
57
+ 0.09600000083446503,
58
+ 0.2410079836845398,
59
+ 2.037468433380127,
60
+ 1.9230256080627441,
61
+ -1.1777663230895996,
62
+ -0.12697094678878784,
63
+ -0.5231804847717285,
64
+ 0.0017027378780767322
65
+ ],
66
+ "first_transition_velocity": [
67
+ -0.3180569141223266,
68
+ 3.5501851464442247,
69
+ 3.0043378838632506,
70
+ -3.2015954795521218,
71
+ 0.14713001506338586,
72
+ -2.6730326581366803,
73
+ 0.0024993018635698083,
74
+ 0.0832951296710327,
75
+ -0.5319323499351647,
76
+ 1.8141374339171001,
77
+ 0.03551568611731781,
78
+ -0.8050084677515379,
79
+ 0.5268331107734703,
80
+ -0.3010639823791598
81
+ ],
82
+ "observation_state": [
83
+ -0.01926451548933983,
84
+ 0.20923933386802673,
85
+ 0.25577935576438904,
86
+ 0.15659570693969727,
87
+ 0.06809338182210922,
88
+ -0.9050507545471191,
89
+ 0.09591668844223022,
90
+ 0.23823148012161255,
91
+ 2.05519962310791,
92
+ 1.8625543117523193,
93
+ -1.1789501905441284,
94
+ -0.10013733059167862,
95
+ -0.5407415628433228,
96
+ 0.011738204397261143
97
+ ],
98
+ "policy_metadata": {
99
+ "alignment_wait_ms": 4.965537998941727,
100
+ "checkpoint_path": "/home/romoya-1/openpi-workspace/checkpoints/yam-policies-release/yam_policies/xiangrun/20260916_v2_seven_tasks/dp/banana_handoff/best-short.pt",
101
+ "first_action_minus_state": [
102
+ -0.010601896792650223,
103
+ 0.11833950877189636,
104
+ 0.10014459490776062,
105
+ -0.10671984404325485,
106
+ 0.004904337227344513,
107
+ -0.08948254585266113,
108
+ 8.331239223480225e-05,
109
+ 0.002776503562927246,
110
+ -0.017731189727783203,
111
+ 0.060471296310424805,
112
+ 0.0011838674545288086,
113
+ -0.026833616197109222,
114
+ 0.01756107807159424,
115
+ -0.010035466402769089
116
+ ],
117
+ "history_interval_ms": 33.401267,
118
+ "history_stamp_ns": [
119
+ 1789565040910329131,
120
+ 1789565040943730398
121
+ ],
122
+ "model_seed": null,
123
+ "observation_age_at_response_ms": 114.667905,
124
+ "observation_stamp_ns": 1789565040943730398,
125
+ "prompt": "banana_handoff",
126
+ "release_revision": "39c623bd78f638d06ce0db57631b66d3028db208",
127
+ "request_id": "e264db4a51ea42c7952e842c40399ab8",
128
+ "round_trip_ms": 79.31996299885213,
129
+ "server_metadata": {
130
+ "action_shape": [
131
+ 32,
132
+ 14
133
+ ],
134
+ "action_space": "abs_qpos",
135
+ "cameras": [
136
+ "base_0",
137
+ "left_wrist_0",
138
+ "right_wrist_0"
139
+ ],
140
+ "checkpoint_hashes": {
141
+ "dp/banana_handoff/best-short.pt": "83b1d9e63b1218ab6524f276843d8d0c74aed4d1579041a96983365319772f4d"
142
+ },
143
+ "checkpoint_path": "/home/romoya-1/openpi-workspace/checkpoints/yam-policies-release/yam_policies/xiangrun/20260916_v2_seven_tasks/dp/banana_handoff/best-short.pt",
144
+ "fps": 30,
145
+ "gpu": "NVIDIA GeForce RTX 5090",
146
+ "gpu_peak_mib": 446.9287109375,
147
+ "model": "dp",
148
+ "observation_offsets": [
149
+ -1,
150
+ 0
151
+ ],
152
+ "protocol": "yam-v2-native-npz-v1",
153
+ "release_revision": "39c623bd78f638d06ce0db57631b66d3028db208",
154
+ "step": 20000,
155
+ "task": "banana_handoff",
156
+ "tasks": [
157
+ "banana_handoff"
158
+ ],
159
+ "warmup": {
160
+ "hardware_started": false,
161
+ "seconds": [
162
+ 0.29395764200307894,
163
+ 0.056222653001896106,
164
+ 0.05553507500735577,
165
+ 0.05494091000582557
166
+ ],
167
+ "status": "passed"
168
+ }
169
+ },
170
+ "server_prediction_seconds": 0.07643999900028575,
171
+ "source": "yam_v2_dp_http",
172
+ "task": "banana_handoff",
173
+ "wire_action_dtype": "float32"
174
+ },
175
+ "time_ns": 1789565041088081332
176
+ }
eval/YAM/V2/dp/banana_handoff/data/round_0004/debug/validations/validation_0007.json ADDED
@@ -0,0 +1,176 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
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
+ -0.3000305180437923,
20
+ 1.1846723125047678,
21
+ 0.6620508125429154,
22
+ 0.28171969176775846,
23
+ 0.33474479285877834,
24
+ -1.471160448615242,
25
+ 0.09579866936650275,
26
+ 0.29621576256962,
27
+ 2.053292133974212,
28
+ 1.87247272449836,
29
+ -1.255626764324406,
30
+ -0.17452506294346826,
31
+ -0.5800335698481742,
32
+ 0.011466840617525571
33
+ ],
34
+ "current_velocity": [
35
+ -0.0073260073260073,
36
+ -0.017094017094017033,
37
+ 0.0073260073260073,
38
+ 0.0073260073260073,
39
+ 0.0073260073260073,
40
+ -0.0073260073260073,
41
+ -0.00013332528044706184,
42
+ 0.0073260073260073,
43
+ -0.0073260073260073,
44
+ -0.0073260073260073,
45
+ 0.0073260073260073,
46
+ -0.0073260073260073,
47
+ -0.0219780219780219,
48
+ 0.00040087453316415986
49
+ ],
50
+ "first_target": [
51
+ -0.30188533663749695,
52
+ 1.180280327796936,
53
+ 0.6620070338249207,
54
+ 0.27810588479042053,
55
+ 0.3861669898033142,
56
+ -1.5338548421859741,
57
+ 0.09588351845741272,
58
+ 0.30481985211372375,
59
+ 2.0706965923309326,
60
+ 1.9072141647338867,
61
+ -1.2624757289886475,
62
+ -0.18710294365882874,
63
+ -0.5808904767036438,
64
+ 0.0020033998880535364
65
+ ],
66
+ "first_transition_velocity": [
67
+ -0.05564455781113864,
68
+ -0.1317595412349526,
69
+ -0.001313361539843072,
70
+ -0.1084142093201379,
71
+ 1.542665908336076,
72
+ -1.880831807121961,
73
+ 0.0025454727272991584,
74
+ 0.2581226863231123,
75
+ 0.5221337507016166,
76
+ 1.0422432070657983,
77
+ -0.2054689399272469,
78
+ -0.37733642146081436,
79
+ -0.02570720566408724,
80
+ -0.28390322188416106
81
+ ],
82
+ "observation_state": [
83
+ -0.29964902997016907,
84
+ 1.1846723556518555,
85
+ 0.6620507836341858,
86
+ 0.2817196846008301,
87
+ 0.33207446336746216,
88
+ -1.4711604118347168,
89
+ 0.09579867124557495,
90
+ 0.2962157726287842,
91
+ 2.0532920360565186,
92
+ 1.8724727630615234,
93
+ -1.2556267976760864,
94
+ -0.17452506721019745,
95
+ -0.580033540725708,
96
+ 0.01147379819303751
97
+ ],
98
+ "policy_metadata": {
99
+ "alignment_wait_ms": 15.99182200152427,
100
+ "checkpoint_path": "/home/romoya-1/openpi-workspace/checkpoints/yam-policies-release/yam_policies/xiangrun/20260916_v2_seven_tasks/dp/banana_handoff/best-short.pt",
101
+ "first_action_minus_state": [
102
+ -0.002236306667327881,
103
+ -0.004392027854919434,
104
+ -4.374980926513672e-05,
105
+ -0.003613799810409546,
106
+ 0.05409252643585205,
107
+ -0.06269443035125732,
108
+ 8.484721183776855e-05,
109
+ 0.008604079484939575,
110
+ 0.017404556274414062,
111
+ 0.03474140167236328,
112
+ -0.006848931312561035,
113
+ -0.012577876448631287,
114
+ -0.000856935977935791,
115
+ -0.009470398537814617
116
+ ],
117
+ "history_interval_ms": 33.304051,
118
+ "history_stamp_ns": [
119
+ 1789565042677364304,
120
+ 1789565042710668355
121
+ ],
122
+ "model_seed": null,
123
+ "observation_age_at_response_ms": 112.899986,
124
+ "observation_stamp_ns": 1789565042710668355,
125
+ "prompt": "banana_handoff",
126
+ "release_revision": "39c623bd78f638d06ce0db57631b66d3028db208",
127
+ "request_id": "513b9b52afca42d3a68d4130ae7d46d0",
128
+ "round_trip_ms": 83.22965299885254,
129
+ "server_metadata": {
130
+ "action_shape": [
131
+ 32,
132
+ 14
133
+ ],
134
+ "action_space": "abs_qpos",
135
+ "cameras": [
136
+ "base_0",
137
+ "left_wrist_0",
138
+ "right_wrist_0"
139
+ ],
140
+ "checkpoint_hashes": {
141
+ "dp/banana_handoff/best-short.pt": "83b1d9e63b1218ab6524f276843d8d0c74aed4d1579041a96983365319772f4d"
142
+ },
143
+ "checkpoint_path": "/home/romoya-1/openpi-workspace/checkpoints/yam-policies-release/yam_policies/xiangrun/20260916_v2_seven_tasks/dp/banana_handoff/best-short.pt",
144
+ "fps": 30,
145
+ "gpu": "NVIDIA GeForce RTX 5090",
146
+ "gpu_peak_mib": 446.9287109375,
147
+ "model": "dp",
148
+ "observation_offsets": [
149
+ -1,
150
+ 0
151
+ ],
152
+ "protocol": "yam-v2-native-npz-v1",
153
+ "release_revision": "39c623bd78f638d06ce0db57631b66d3028db208",
154
+ "step": 20000,
155
+ "task": "banana_handoff",
156
+ "tasks": [
157
+ "banana_handoff"
158
+ ],
159
+ "warmup": {
160
+ "hardware_started": false,
161
+ "seconds": [
162
+ 0.29395764200307894,
163
+ 0.056222653001896106,
164
+ 0.05553507500735577,
165
+ 0.05494091000582557
166
+ ],
167
+ "status": "passed"
168
+ }
169
+ },
170
+ "server_prediction_seconds": 0.07800661800138187,
171
+ "source": "yam_v2_dp_http",
172
+ "task": "banana_handoff",
173
+ "wire_action_dtype": "float32"
174
+ },
175
+ "time_ns": 1789565042853705420
176
+ }
eval/YAM/V2/dp/banana_handoff/data/round_0004/debug/validations/validation_0008.json ADDED
@@ -0,0 +1,176 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
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
+ -0.29964904249637847,
20
+ 1.246471351186388,
21
+ 0.6635767147325851,
22
+ 0.21038376440070117,
23
+ 0.40074006256199013,
24
+ -1.5302891584649405,
25
+ 0.0953682383569569,
26
+ 0.3217746242465864,
27
+ 2.053292133974212,
28
+ 1.8804837109941257,
29
+ -1.2750820172426938,
30
+ -0.1863508049134044,
31
+ -0.5800335698481707,
32
+ 0.011466840617525571
33
+ ],
34
+ "current_velocity": [
35
+ -0.012210012210012167,
36
+ -0.0073260073260073,
37
+ -0.0073260073260073,
38
+ -0.0219780219780219,
39
+ -0.0073260073260073,
40
+ -0.0366300366300365,
41
+ 0.00013332528044706184,
42
+ 0.0073260073260073,
43
+ -0.0073260073260073,
44
+ -0.0024420024420024333,
45
+ -0.0073260073260073,
46
+ -0.0073260073260073,
47
+ 0.0073260073260073,
48
+ 0.0001336248443880533
49
+ ],
50
+ "first_target": [
51
+ -0.3000694811344147,
52
+ 1.2590852975845337,
53
+ 0.6645975708961487,
54
+ 0.200741708278656,
55
+ 0.4424179792404175,
56
+ -1.5418071746826172,
57
+ 0.09578794240951538,
58
+ 0.32304999232292175,
59
+ 2.0736513137817383,
60
+ 1.9110500812530518,
61
+ -1.2838702201843262,
62
+ -0.20758986473083496,
63
+ -0.5770124197006226,
64
+ 0.002094978466629982
65
+ ],
66
+ "first_transition_velocity": [
67
+ -0.012613159141086072,
68
+ 0.37841839194436844,
69
+ 0.030625684906908646,
70
+ -0.28926168366135485,
71
+ 1.2503375003528205,
72
+ -0.34554048653030023,
73
+ 0.01259112157675435,
74
+ 0.03826104229005978,
75
+ 0.6107753942257865,
76
+ 0.9169911077677817,
77
+ -0.2636460882489722,
78
+ -0.6371717945229172,
79
+ 0.09063450442644339,
80
+ -0.2811558645268677
81
+ ],
82
+ "observation_state": [
83
+ -0.29964902997016907,
84
+ 1.2457083463668823,
85
+ 0.6635767221450806,
86
+ 0.21076524257659912,
87
+ 0.4007400572299957,
88
+ -1.5302891731262207,
89
+ 0.09536823630332947,
90
+ 0.31986725330352783,
91
+ 2.0532920360565186,
92
+ 1.8804837465286255,
93
+ -1.275081992149353,
94
+ -0.18596932291984558,
95
+ -0.580033540725708,
96
+ 0.011466840282082558
97
+ ],
98
+ "policy_metadata": {
99
+ "alignment_wait_ms": 5.366818004404195,
100
+ "checkpoint_path": "/home/romoya-1/openpi-workspace/checkpoints/yam-policies-release/yam_policies/xiangrun/20260916_v2_seven_tasks/dp/banana_handoff/best-short.pt",
101
+ "first_action_minus_state": [
102
+ -0.00042045116424560547,
103
+ 0.013376951217651367,
104
+ 0.0010208487510681152,
105
+ -0.010023534297943115,
106
+ 0.04167792201042175,
107
+ -0.011518001556396484,
108
+ 0.0004197061061859131,
109
+ 0.003182739019393921,
110
+ 0.020359277725219727,
111
+ 0.03056633472442627,
112
+ -0.008788228034973145,
113
+ -0.02162054181098938,
114
+ 0.0030211210250854492,
115
+ -0.009371861815452576
116
+ ],
117
+ "history_interval_ms": 33.282118,
118
+ "history_stamp_ns": [
119
+ 1789565044211272373,
120
+ 1789565044244554491
121
+ ],
122
+ "model_seed": null,
123
+ "observation_age_at_response_ms": 117.26543,
124
+ "observation_stamp_ns": 1789565044244554491,
125
+ "prompt": "banana_handoff",
126
+ "release_revision": "39c623bd78f638d06ce0db57631b66d3028db208",
127
+ "request_id": "91c70d32b9484e7ba41f9447afa1d1b0",
128
+ "round_trip_ms": 79.29717100341804,
129
+ "server_metadata": {
130
+ "action_shape": [
131
+ 32,
132
+ 14
133
+ ],
134
+ "action_space": "abs_qpos",
135
+ "cameras": [
136
+ "base_0",
137
+ "left_wrist_0",
138
+ "right_wrist_0"
139
+ ],
140
+ "checkpoint_hashes": {
141
+ "dp/banana_handoff/best-short.pt": "83b1d9e63b1218ab6524f276843d8d0c74aed4d1579041a96983365319772f4d"
142
+ },
143
+ "checkpoint_path": "/home/romoya-1/openpi-workspace/checkpoints/yam-policies-release/yam_policies/xiangrun/20260916_v2_seven_tasks/dp/banana_handoff/best-short.pt",
144
+ "fps": 30,
145
+ "gpu": "NVIDIA GeForce RTX 5090",
146
+ "gpu_peak_mib": 446.9287109375,
147
+ "model": "dp",
148
+ "observation_offsets": [
149
+ -1,
150
+ 0
151
+ ],
152
+ "protocol": "yam-v2-native-npz-v1",
153
+ "release_revision": "39c623bd78f638d06ce0db57631b66d3028db208",
154
+ "step": 20000,
155
+ "task": "banana_handoff",
156
+ "tasks": [
157
+ "banana_handoff"
158
+ ],
159
+ "warmup": {
160
+ "hardware_started": false,
161
+ "seconds": [
162
+ 0.29395764200307894,
163
+ 0.056222653001896106,
164
+ 0.05553507500735577,
165
+ 0.05494091000582557
166
+ ],
167
+ "status": "passed"
168
+ }
169
+ },
170
+ "server_prediction_seconds": 0.07657244498841465,
171
+ "source": "yam_v2_dp_http",
172
+ "task": "banana_handoff",
173
+ "wire_action_dtype": "float32"
174
+ },
175
+ "time_ns": 1789565044409993616
176
+ }
eval/YAM/V2/dp/banana_handoff/data/round_0004/debug/validations/validation_0009.json ADDED
@@ -0,0 +1,176 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
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
+ -0.29964904249637847,
20
+ 1.285763332570383,
21
+ 0.6635767147325851,
22
+ 0.21000228885328376,
23
+ 0.4659723811703671,
24
+ -1.534485389486532,
25
+ 0.09589586346543245,
26
+ 0.33932249942778725,
27
+ 2.059014267185473,
28
+ 1.9010833905546658,
29
+ -1.2937743190661504,
30
+ -0.18940260929274366,
31
+ -0.5792706187533394,
32
+ 0.011466840617525571
33
+ ],
34
+ "current_velocity": [
35
+ 0.0024420024420024333,
36
+ -0.012210012210012167,
37
+ 0.0024420024420024333,
38
+ -0.0073260073260073,
39
+ -0.0073260073260073,
40
+ -0.0219780219780219,
41
+ 0.00013332528044706184,
42
+ -0.0024420024420024333,
43
+ -0.0073260073260073,
44
+ -0.0073260073260073,
45
+ -0.0073260073260073,
46
+ 0.0073260073260073,
47
+ -0.0073260073260073,
48
+ 0.0001336248443880533
49
+ ],
50
+ "first_target": [
51
+ -0.2934606671333313,
52
+ 1.2943923473358154,
53
+ 0.65977543592453,
54
+ 0.2225549817085266,
55
+ 0.5081295967102051,
56
+ -1.5355956554412842,
57
+ 0.09600000083446503,
58
+ 0.34507033228874207,
59
+ 2.0827419757843018,
60
+ 1.9348829984664917,
61
+ -1.3098360300064087,
62
+ -0.21690359711647034,
63
+ -0.5897257328033447,
64
+ 0.0014315242879092693
65
+ ],
66
+ "first_transition_velocity": [
67
+ 0.18565126089141515,
68
+ 0.2588704429629729,
69
+ -0.11403836424165092,
70
+ 0.3765807856572856,
71
+ 1.2647164661951393,
72
+ -0.03330797864256496,
73
+ 0.003124121070977176,
74
+ 0.17243498582864447,
75
+ 0.7118312579648567,
76
+ 1.013988237354777,
77
+ -0.4818513282077497,
78
+ -0.8250296347118002,
79
+ -0.3136534215001596,
80
+ -0.3010594898884891
81
+ ],
82
+ "observation_state": [
83
+ -0.29964902997016907,
84
+ 1.2857633829116821,
85
+ 0.6635767221450806,
86
+ 0.21000228822231293,
87
+ 0.465209424495697,
88
+ -1.5344853401184082,
89
+ 0.09589586406946182,
90
+ 0.3393225073814392,
91
+ 2.059014320373535,
92
+ 1.9010833501815796,
93
+ -1.2941558361053467,
94
+ -0.18940261006355286,
95
+ -0.579270601272583,
96
+ 0.011466840282082558
97
+ ],
98
+ "policy_metadata": {
99
+ "alignment_wait_ms": 5.31295700056944,
100
+ "checkpoint_path": "/home/romoya-1/openpi-workspace/checkpoints/yam-policies-release/yam_policies/xiangrun/20260916_v2_seven_tasks/dp/banana_handoff/best-short.pt",
101
+ "first_action_minus_state": [
102
+ 0.0061883628368377686,
103
+ 0.0086289644241333,
104
+ -0.003801286220550537,
105
+ 0.012552693486213684,
106
+ 0.04292017221450806,
107
+ -0.0011103153228759766,
108
+ 0.00010413676500320435,
109
+ 0.0057478249073028564,
110
+ 0.0237276554107666,
111
+ 0.03379964828491211,
112
+ -0.01568019390106201,
113
+ -0.02750098705291748,
114
+ -0.010455131530761719,
115
+ -0.010035315528512001
116
+ ],
117
+ "history_interval_ms": 33.474542,
118
+ "history_stamp_ns": [
119
+ 1789565045778277702,
120
+ 1789565045811752244
121
+ ],
122
+ "model_seed": null,
123
+ "observation_age_at_response_ms": 89.739639,
124
+ "observation_stamp_ns": 1789565045811752244,
125
+ "prompt": "banana_handoff",
126
+ "release_revision": "39c623bd78f638d06ce0db57631b66d3028db208",
127
+ "request_id": "37119f7b04304b349f7d260de35b413e",
128
+ "round_trip_ms": 58.73967701336369,
129
+ "server_metadata": {
130
+ "action_shape": [
131
+ 32,
132
+ 14
133
+ ],
134
+ "action_space": "abs_qpos",
135
+ "cameras": [
136
+ "base_0",
137
+ "left_wrist_0",
138
+ "right_wrist_0"
139
+ ],
140
+ "checkpoint_hashes": {
141
+ "dp/banana_handoff/best-short.pt": "83b1d9e63b1218ab6524f276843d8d0c74aed4d1579041a96983365319772f4d"
142
+ },
143
+ "checkpoint_path": "/home/romoya-1/openpi-workspace/checkpoints/yam-policies-release/yam_policies/xiangrun/20260916_v2_seven_tasks/dp/banana_handoff/best-short.pt",
144
+ "fps": 30,
145
+ "gpu": "NVIDIA GeForce RTX 5090",
146
+ "gpu_peak_mib": 446.9287109375,
147
+ "model": "dp",
148
+ "observation_offsets": [
149
+ -1,
150
+ 0
151
+ ],
152
+ "protocol": "yam-v2-native-npz-v1",
153
+ "release_revision": "39c623bd78f638d06ce0db57631b66d3028db208",
154
+ "step": 20000,
155
+ "task": "banana_handoff",
156
+ "tasks": [
157
+ "banana_handoff"
158
+ ],
159
+ "warmup": {
160
+ "hardware_started": false,
161
+ "seconds": [
162
+ 0.29395764200307894,
163
+ 0.056222653001896106,
164
+ 0.05553507500735577,
165
+ 0.05494091000582557
166
+ ],
167
+ "status": "passed"
168
+ }
169
+ },
170
+ "server_prediction_seconds": 0.056137759995181113,
171
+ "source": "yam_v2_dp_http",
172
+ "task": "banana_handoff",
173
+ "wire_action_dtype": "float32"
174
+ },
175
+ "time_ns": 1789565045947758811
176
+ }
eval/YAM/V2/dp/banana_handoff/data/round_0004/debug/validations/validation_0010.json ADDED
@@ -0,0 +1,176 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
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
+ -0.2977416647592914,
20
+ 1.306363012130923,
21
+ 0.6635767147325851,
22
+ 0.24319066147859836,
23
+ 0.4911497672999161,
24
+ -1.5302891584649405,
25
+ 0.09588892102979468,
26
+ 0.34771496147097025,
27
+ 2.059014267185473,
28
+ 1.9129091325246055,
29
+ -1.3094148165102606,
30
+ -0.20733196002136545,
31
+ -0.5792706187533359,
32
+ 0.011459882583170277
33
+ ],
34
+ "current_velocity": [
35
+ -0.012210012210012167,
36
+ -0.0073260073260073,
37
+ -0.0073260073260073,
38
+ -0.0073260073260073,
39
+ -0.0073260073260073,
40
+ -0.0073260073260073,
41
+ 0.00013332528044706184,
42
+ -0.0073260073260073,
43
+ -0.0024420024420024333,
44
+ 0.0073260073260073,
45
+ -0.0073260073260073,
46
+ 0.0073260073260073,
47
+ -0.0219780219780219,
48
+ 0.0001336248443880533
49
+ ],
50
+ "first_target": [
51
+ -0.29506534337997437,
52
+ 1.3031275272369385,
53
+ 0.6601648330688477,
54
+ 0.24648189544677734,
55
+ 0.5077808499336243,
56
+ -1.539815068244934,
57
+ 0.09598115086555481,
58
+ 0.3543061316013336,
59
+ 2.0840766429901123,
60
+ 1.942405104637146,
61
+ -1.322180986404419,
62
+ -0.23436841368675232,
63
+ -0.5963319540023804,
64
+ 0.0020216761622577906
65
+ ],
66
+ "first_transition_velocity": [
67
+ 0.08028964137951178,
68
+ -0.09706454681953858,
69
+ -0.10235644991212212,
70
+ 0.09873701904536958,
71
+ 0.4989324790112448,
72
+ -0.28577729339980706,
73
+ 0.00276689507280381,
74
+ 0.197735103910901,
75
+ 0.7518712741391731,
76
+ 0.8848791633762154,
77
+ -0.38298509682475057,
78
+ -0.8110936099616062,
79
+ -0.5118400574713355,
80
+ -0.2831461926273746
81
+ ],
82
+ "observation_state": [
83
+ -0.2977416515350342,
84
+ 1.3059815168380737,
85
+ 0.6635767221450806,
86
+ 0.24319066107273102,
87
+ 0.49153125286102295,
88
+ -1.5302891731262207,
89
+ 0.09588892012834549,
90
+ 0.34771496057510376,
91
+ 2.059014320373535,
92
+ 1.9129091501235962,
93
+ -1.3094148635864258,
94
+ -0.20733195543289185,
95
+ -0.579270601272583,
96
+ 0.011459882371127605
97
+ ],
98
+ "policy_metadata": {
99
+ "alignment_wait_ms": 5.839935998665169,
100
+ "checkpoint_path": "/home/romoya-1/openpi-workspace/checkpoints/yam-policies-release/yam_policies/xiangrun/20260916_v2_seven_tasks/dp/banana_handoff/best-short.pt",
101
+ "first_action_minus_state": [
102
+ 0.0026763081550598145,
103
+ -0.002853989601135254,
104
+ -0.00341188907623291,
105
+ 0.0032912343740463257,
106
+ 0.01624959707260132,
107
+ -0.009525895118713379,
108
+ 9.223073720932007e-05,
109
+ 0.006591171026229858,
110
+ 0.02506232261657715,
111
+ 0.029495954513549805,
112
+ -0.012766122817993164,
113
+ -0.027036458253860474,
114
+ -0.017061352729797363,
115
+ -0.009438206441700459
116
+ ],
117
+ "history_interval_ms": 33.344274,
118
+ "history_stamp_ns": [
119
+ 1789565047278782779,
120
+ 1789565047312127053
121
+ ],
122
+ "model_seed": null,
123
+ "observation_age_at_response_ms": 123.864496,
124
+ "observation_stamp_ns": 1789565047312127053,
125
+ "prompt": "banana_handoff",
126
+ "release_revision": "39c623bd78f638d06ce0db57631b66d3028db208",
127
+ "request_id": "5042710b685e478a9c826614895cb048",
128
+ "round_trip_ms": 81.61688799737021,
129
+ "server_metadata": {
130
+ "action_shape": [
131
+ 32,
132
+ 14
133
+ ],
134
+ "action_space": "abs_qpos",
135
+ "cameras": [
136
+ "base_0",
137
+ "left_wrist_0",
138
+ "right_wrist_0"
139
+ ],
140
+ "checkpoint_hashes": {
141
+ "dp/banana_handoff/best-short.pt": "83b1d9e63b1218ab6524f276843d8d0c74aed4d1579041a96983365319772f4d"
142
+ },
143
+ "checkpoint_path": "/home/romoya-1/openpi-workspace/checkpoints/yam-policies-release/yam_policies/xiangrun/20260916_v2_seven_tasks/dp/banana_handoff/best-short.pt",
144
+ "fps": 30,
145
+ "gpu": "NVIDIA GeForce RTX 5090",
146
+ "gpu_peak_mib": 446.9287109375,
147
+ "model": "dp",
148
+ "observation_offsets": [
149
+ -1,
150
+ 0
151
+ ],
152
+ "protocol": "yam-v2-native-npz-v1",
153
+ "release_revision": "39c623bd78f638d06ce0db57631b66d3028db208",
154
+ "step": 20000,
155
+ "task": "banana_handoff",
156
+ "tasks": [
157
+ "banana_handoff"
158
+ ],
159
+ "warmup": {
160
+ "hardware_started": false,
161
+ "seconds": [
162
+ 0.29395764200307894,
163
+ 0.056222653001896106,
164
+ 0.05553507500735577,
165
+ 0.05494091000582557
166
+ ],
167
+ "status": "passed"
168
+ }
169
+ },
170
+ "server_prediction_seconds": 0.07813346599868964,
171
+ "source": "yam_v2_dp_http",
172
+ "task": "banana_handoff",
173
+ "wire_action_dtype": "float32"
174
+ },
175
+ "time_ns": 1789565047456260731
176
+ }
eval/YAM/V2/dp/banana_handoff/data/round_0004/debug/validations/validation_0011.json ADDED
@@ -0,0 +1,176 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
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
+ -0.2927824826428651,
20
+ 1.3395513847562377,
21
+ 0.6639581902800025,
22
+ 0.2706569008926536,
23
+ 0.5323491264209963,
24
+ -1.5154116121156616,
25
+ 0.09588892102979463,
26
+ 0.3671702143892581,
27
+ 2.059014267185473,
28
+ 1.9140535591668577,
29
+ -1.322003509575035,
30
+ -0.21114671549553954,
31
+ -0.5872816052491014,
32
+ 0.011459882583170277
33
+ ],
34
+ "current_velocity": [
35
+ 0.0073260073260073,
36
+ -0.0073260073260073,
37
+ 0.017094017094017033,
38
+ -0.0073260073260073,
39
+ -0.0073260073260073,
40
+ -0.0073260073260073,
41
+ 0.00013332528044706184,
42
+ -0.017094017094017033,
43
+ -0.0073260073260073,
44
+ -0.0073260073260073,
45
+ -0.0073260073260073,
46
+ 0.0073260073260073,
47
+ -0.0073260073260073,
48
+ 0.0001336248443880533
49
+ ],
50
+ "first_target": [
51
+ -0.2884844243526459,
52
+ 1.3370063304901123,
53
+ 0.6595929265022278,
54
+ 0.27766698598861694,
55
+ 0.5624099969863892,
56
+ -1.5018997192382812,
57
+ 0.09600000083446503,
58
+ 0.37314993143081665,
59
+ 2.076428174972534,
60
+ 1.9506943225860596,
61
+ -1.3381617069244385,
62
+ -0.24102194607257843,
63
+ -0.6116740703582764,
64
+ 0.0026476536877453327
65
+ ],
66
+ "first_transition_velocity": [
67
+ 0.12894174870657693,
68
+ -0.07635162798376172,
69
+ -0.13095791333324058,
70
+ 0.21030255287890043,
71
+ 0.9018261169617858,
72
+ 0.40535678632140915,
73
+ 0.003332394140111994,
74
+ 0.1793915112467559,
75
+ 0.5224172336118293,
76
+ 1.0992229025760558,
77
+ -0.4847459204821014,
78
+ -0.8962569173111667,
79
+ -0.7317739532752476,
80
+ -0.26436686686274835
81
+ ],
82
+ "observation_state": [
83
+ -0.2927824854850769,
84
+ 1.339551329612732,
85
+ 0.6639581918716431,
86
+ 0.27065691351890564,
87
+ 0.5292973518371582,
88
+ -1.515411615371704,
89
+ 0.09588892012834549,
90
+ 0.36717021465301514,
91
+ 2.059014320373535,
92
+ 1.9140535593032837,
93
+ -1.3220034837722778,
94
+ -0.21114671230316162,
95
+ -0.5872815847396851,
96
+ 0.011459882371127605
97
+ ],
98
+ "policy_metadata": {
99
+ "alignment_wait_ms": 5.843803999596275,
100
+ "checkpoint_path": "/home/romoya-1/openpi-workspace/checkpoints/yam-policies-release/yam_policies/xiangrun/20260916_v2_seven_tasks/dp/banana_handoff/best-short.pt",
101
+ "first_action_minus_state": [
102
+ 0.00429806113243103,
103
+ -0.002544999122619629,
104
+ -0.004365265369415283,
105
+ 0.007010072469711304,
106
+ 0.03311264514923096,
107
+ 0.013511896133422852,
108
+ 0.00011108070611953735,
109
+ 0.005979716777801514,
110
+ 0.017413854598999023,
111
+ 0.03664076328277588,
112
+ -0.016158223152160645,
113
+ -0.02987523376941681,
114
+ -0.02439248561859131,
115
+ -0.008812228217720985
116
+ ],
117
+ "history_interval_ms": 33.302648,
118
+ "history_stamp_ns": [
119
+ 1789565048879294871,
120
+ 1789565048912597519
121
+ ],
122
+ "model_seed": null,
123
+ "observation_age_at_response_ms": 109.07007,
124
+ "observation_stamp_ns": 1789565048912597519,
125
+ "prompt": "banana_handoff",
126
+ "release_revision": "39c623bd78f638d06ce0db57631b66d3028db208",
127
+ "request_id": "db1cc2bc1f91473593c28e8aee220f51",
128
+ "round_trip_ms": 59.19905500195455,
129
+ "server_metadata": {
130
+ "action_shape": [
131
+ 32,
132
+ 14
133
+ ],
134
+ "action_space": "abs_qpos",
135
+ "cameras": [
136
+ "base_0",
137
+ "left_wrist_0",
138
+ "right_wrist_0"
139
+ ],
140
+ "checkpoint_hashes": {
141
+ "dp/banana_handoff/best-short.pt": "83b1d9e63b1218ab6524f276843d8d0c74aed4d1579041a96983365319772f4d"
142
+ },
143
+ "checkpoint_path": "/home/romoya-1/openpi-workspace/checkpoints/yam-policies-release/yam_policies/xiangrun/20260916_v2_seven_tasks/dp/banana_handoff/best-short.pt",
144
+ "fps": 30,
145
+ "gpu": "NVIDIA GeForce RTX 5090",
146
+ "gpu_peak_mib": 446.9287109375,
147
+ "model": "dp",
148
+ "observation_offsets": [
149
+ -1,
150
+ 0
151
+ ],
152
+ "protocol": "yam-v2-native-npz-v1",
153
+ "release_revision": "39c623bd78f638d06ce0db57631b66d3028db208",
154
+ "step": 20000,
155
+ "task": "banana_handoff",
156
+ "tasks": [
157
+ "banana_handoff"
158
+ ],
159
+ "warmup": {
160
+ "hardware_started": false,
161
+ "seconds": [
162
+ 0.29395764200307894,
163
+ 0.056222653001896106,
164
+ 0.05553507500735577,
165
+ 0.05494091000582557
166
+ ],
167
+ "status": "passed"
168
+ }
169
+ },
170
+ "server_prediction_seconds": 0.05663455699686892,
171
+ "source": "yam_v2_dp_http",
172
+ "task": "banana_handoff",
173
+ "wire_action_dtype": "float32"
174
+ },
175
+ "time_ns": 1789565049056162389
176
+ }
eval/YAM/V2/dp/banana_handoff/data/round_0004/debug/validations/validation_0012.json ADDED
@@ -0,0 +1,176 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
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
+ -0.2656977187762255,
20
+ 1.3395513847562377,
21
+ 0.6635767147325851,
22
+ 0.2244983596551453,
23
+ 0.5514229037918668,
24
+ -1.43224994277867,
25
+ 0.09590280590107035,
26
+ 0.37212939650568444,
27
+ 2.059014267185473,
28
+ 1.9197756923781188,
29
+ -1.3403143358510743,
30
+ -0.23060196841382385,
31
+ -0.602159151598384,
32
+ 0.011258099586866735
33
+ ],
34
+ "current_velocity": [
35
+ -0.0073260073260073,
36
+ 0.0073260073260073,
37
+ -0.0073260073260073,
38
+ -0.0073260073260073,
39
+ -0.0219780219780219,
40
+ -0.0073260073260073,
41
+ -0.0003999758413411856,
42
+ -0.012210012210012167,
43
+ 0.0073260073260073,
44
+ -0.0024420024420024333,
45
+ -0.0073260073260073,
46
+ -0.0366300366300365,
47
+ -0.0073260073260073,
48
+ -0.0001336248443880533
49
+ ],
50
+ "first_target": [
51
+ -0.259843647480011,
52
+ 1.347267985343933,
53
+ 0.6677183508872986,
54
+ 0.22845251858234406,
55
+ 0.6083332300186157,
56
+ -1.449739694595337,
57
+ 0.09593233466148376,
58
+ 0.3861214220523834,
59
+ 2.082594871520996,
60
+ 1.9623806476593018,
61
+ -1.35635507106781,
62
+ -0.25344178080558777,
63
+ -0.6223804354667664,
64
+ 0.0016443271888419986
65
+ ],
66
+ "first_transition_velocity": [
67
+ 0.1756221388864354,
68
+ 0.2314980176308623,
69
+ 0.12424908464140572,
70
+ 0.11862476781596243,
71
+ 1.707309786802469,
72
+ -0.5246925545000103,
73
+ 0.0008858628124024104,
74
+ 0.4197607664009695,
75
+ 0.7074181300656868,
76
+ 1.2781486584354873,
77
+ -0.48122205650207306,
78
+ -0.6851943717529174,
79
+ -0.606638516051472,
80
+ -0.28841317194074206
81
+ ],
82
+ "observation_state": [
83
+ -0.265697717666626,
84
+ 1.339551329612732,
85
+ 0.6635767221450806,
86
+ 0.22449836134910583,
87
+ 0.5518043637275696,
88
+ -1.434920310974121,
89
+ 0.09590280801057816,
90
+ 0.3721294105052948,
91
+ 2.059014320373535,
92
+ 1.9197757244110107,
93
+ -1.340695858001709,
94
+ -0.230601966381073,
95
+ -0.6021591424942017,
96
+ 0.011258099228143692
97
+ ],
98
+ "policy_metadata": {
99
+ "alignment_wait_ms": 5.667969991918653,
100
+ "checkpoint_path": "/home/romoya-1/openpi-workspace/checkpoints/yam-policies-release/yam_policies/xiangrun/20260916_v2_seven_tasks/dp/banana_handoff/best-short.pt",
101
+ "first_action_minus_state": [
102
+ 0.00585407018661499,
103
+ 0.007716655731201172,
104
+ 0.004141628742218018,
105
+ 0.00395415723323822,
106
+ 0.05652886629104614,
107
+ -0.01481938362121582,
108
+ 2.952665090560913e-05,
109
+ 0.013992011547088623,
110
+ 0.023580551147460938,
111
+ 0.042604923248291016,
112
+ -0.015659213066101074,
113
+ -0.02283981442451477,
114
+ -0.020221292972564697,
115
+ -0.009613771922886372
116
+ ],
117
+ "history_interval_ms": 33.344668,
118
+ "history_stamp_ns": [
119
+ 1789565050412791803,
120
+ 1789565050446136471
121
+ ],
122
+ "model_seed": null,
123
+ "observation_age_at_response_ms": 103.505003,
124
+ "observation_stamp_ns": 1789565050446136471,
125
+ "prompt": "banana_handoff",
126
+ "release_revision": "39c623bd78f638d06ce0db57631b66d3028db208",
127
+ "request_id": "87b22a5fd3e54954bf6da15cf72b89a0",
128
+ "round_trip_ms": 82.02578299096785,
129
+ "server_metadata": {
130
+ "action_shape": [
131
+ 32,
132
+ 14
133
+ ],
134
+ "action_space": "abs_qpos",
135
+ "cameras": [
136
+ "base_0",
137
+ "left_wrist_0",
138
+ "right_wrist_0"
139
+ ],
140
+ "checkpoint_hashes": {
141
+ "dp/banana_handoff/best-short.pt": "83b1d9e63b1218ab6524f276843d8d0c74aed4d1579041a96983365319772f4d"
142
+ },
143
+ "checkpoint_path": "/home/romoya-1/openpi-workspace/checkpoints/yam-policies-release/yam_policies/xiangrun/20260916_v2_seven_tasks/dp/banana_handoff/best-short.pt",
144
+ "fps": 30,
145
+ "gpu": "NVIDIA GeForce RTX 5090",
146
+ "gpu_peak_mib": 446.9287109375,
147
+ "model": "dp",
148
+ "observation_offsets": [
149
+ -1,
150
+ 0
151
+ ],
152
+ "protocol": "yam-v2-native-npz-v1",
153
+ "release_revision": "39c623bd78f638d06ce0db57631b66d3028db208",
154
+ "step": 20000,
155
+ "task": "banana_handoff",
156
+ "tasks": [
157
+ "banana_handoff"
158
+ ],
159
+ "warmup": {
160
+ "hardware_started": false,
161
+ "seconds": [
162
+ 0.29395764200307894,
163
+ 0.056222653001896106,
164
+ 0.05553507500735577,
165
+ 0.05494091000582557
166
+ ],
167
+ "status": "passed"
168
+ }
169
+ },
170
+ "server_prediction_seconds": 0.07951545999094378,
171
+ "source": "yam_v2_dp_http",
172
+ "task": "banana_handoff",
173
+ "wire_action_dtype": "float32"
174
+ },
175
+ "time_ns": 1789565050577520513
176
+ }
eval/YAM/V2/dp/banana_handoff/data/round_0004/debug/validations/validation_0013.json ADDED
@@ -0,0 +1,176 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
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
+ -0.25539787899595545,
20
+ 1.3395513847562377,
21
+ 0.6639581902800025,
22
+ 0.20580605783169226,
23
+ 0.5582894636453801,
24
+ -1.3712138551918809,
25
+ 0.09502805901070292,
26
+ 0.3839551384756241,
27
+ 2.059014267185473,
28
+ 1.9354161898222326,
29
+ -1.3662546730754581,
30
+ -0.23785000381475818,
31
+ -0.6136034180209062,
32
+ 0.01113285496847143
33
+ ],
34
+ "current_velocity": [
35
+ -0.0073260073260073,
36
+ -0.0024420024420024333,
37
+ -0.0073260073260073,
38
+ -0.0073260073260073,
39
+ -0.0073260073260073,
40
+ -0.0073260073260073,
41
+ 0.00013332528044706184,
42
+ 0.0024420024420024333,
43
+ -0.0024420024420024333,
44
+ 0.0024420024420024333,
45
+ -0.0073260073260073,
46
+ -0.0073260073260073,
47
+ -0.0219780219780219,
48
+ 0.00040087453316415986
49
+ ],
50
+ "first_target": [
51
+ -0.25638970732688904,
52
+ 1.3364920616149902,
53
+ 0.6564420461654663,
54
+ 0.1891356110572815,
55
+ 0.5440537929534912,
56
+ -1.3789082765579224,
57
+ 0.09523681551218033,
58
+ 0.39587271213531494,
59
+ 2.086677074432373,
60
+ 1.9906995296478271,
61
+ -1.3943202495574951,
62
+ -0.2604638636112213,
63
+ -0.6355043649673462,
64
+ 0.002700330689549446
65
+ ],
66
+ "first_transition_velocity": [
67
+ -0.029754849928007587,
68
+ -0.09177969423742383,
69
+ -0.22548432343608482,
70
+ -0.5001134032323229,
71
+ -0.4270701207566674,
72
+ -0.23083264098124445,
73
+ 0.00626269504432217,
74
+ 0.3575272097907245,
75
+ 0.8298842174069954,
76
+ 1.6585001947678357,
77
+ -0.8419672944611101,
78
+ -0.678415793893894,
79
+ -0.6570284083931988,
80
+ -0.2529757283676595
81
+ ],
82
+ "observation_state": [
83
+ -0.25539788603782654,
84
+ 1.339551329612732,
85
+ 0.6639581918716431,
86
+ 0.20580606162548065,
87
+ 0.5579079985618591,
88
+ -1.3715953826904297,
89
+ 0.09502805769443512,
90
+ 0.3839551508426666,
91
+ 2.059014320373535,
92
+ 1.9354162216186523,
93
+ -1.3662546873092651,
94
+ -0.23785001039505005,
95
+ -0.613603413105011,
96
+ 0.011132854968309402
97
+ ],
98
+ "policy_metadata": {
99
+ "alignment_wait_ms": 4.9655430048005655,
100
+ "checkpoint_path": "/home/romoya-1/openpi-workspace/checkpoints/yam-policies-release/yam_policies/xiangrun/20260916_v2_seven_tasks/dp/banana_handoff/best-short.pt",
101
+ "first_action_minus_state": [
102
+ -0.0009918212890625,
103
+ -0.0030592679977416992,
104
+ -0.007516145706176758,
105
+ -0.016670450568199158,
106
+ -0.01385420560836792,
107
+ -0.007312893867492676,
108
+ 0.00020875781774520874,
109
+ 0.011917561292648315,
110
+ 0.02766275405883789,
111
+ 0.055283308029174805,
112
+ -0.02806556224822998,
113
+ -0.022613853216171265,
114
+ -0.021900951862335205,
115
+ -0.008432524278759956
116
+ ],
117
+ "history_interval_ms": 33.305512,
118
+ "history_stamp_ns": [
119
+ 1789565052013293223,
120
+ 1789565052046598735
121
+ ],
122
+ "model_seed": null,
123
+ "observation_age_at_response_ms": 116.588135,
124
+ "observation_stamp_ns": 1789565052046598735,
125
+ "prompt": "banana_handoff",
126
+ "release_revision": "39c623bd78f638d06ce0db57631b66d3028db208",
127
+ "request_id": "c128c5e306b04a719156a8c3f738ec04",
128
+ "round_trip_ms": 78.89176999742631,
129
+ "server_metadata": {
130
+ "action_shape": [
131
+ 32,
132
+ 14
133
+ ],
134
+ "action_space": "abs_qpos",
135
+ "cameras": [
136
+ "base_0",
137
+ "left_wrist_0",
138
+ "right_wrist_0"
139
+ ],
140
+ "checkpoint_hashes": {
141
+ "dp/banana_handoff/best-short.pt": "83b1d9e63b1218ab6524f276843d8d0c74aed4d1579041a96983365319772f4d"
142
+ },
143
+ "checkpoint_path": "/home/romoya-1/openpi-workspace/checkpoints/yam-policies-release/yam_policies/xiangrun/20260916_v2_seven_tasks/dp/banana_handoff/best-short.pt",
144
+ "fps": 30,
145
+ "gpu": "NVIDIA GeForce RTX 5090",
146
+ "gpu_peak_mib": 446.9287109375,
147
+ "model": "dp",
148
+ "observation_offsets": [
149
+ -1,
150
+ 0
151
+ ],
152
+ "protocol": "yam-v2-native-npz-v1",
153
+ "release_revision": "39c623bd78f638d06ce0db57631b66d3028db208",
154
+ "step": 20000,
155
+ "task": "banana_handoff",
156
+ "tasks": [
157
+ "banana_handoff"
158
+ ],
159
+ "warmup": {
160
+ "hardware_started": false,
161
+ "seconds": [
162
+ 0.29395764200307894,
163
+ 0.056222653001896106,
164
+ 0.05553507500735577,
165
+ 0.05494091000582557
166
+ ],
167
+ "status": "passed"
168
+ }
169
+ },
170
+ "server_prediction_seconds": 0.07647992699639872,
171
+ "source": "yam_v2_dp_http",
172
+ "task": "banana_handoff",
173
+ "wire_action_dtype": "float32"
174
+ },
175
+ "time_ns": 1789565052200065497
176
+ }
eval/YAM/V2/dp/banana_handoff/data/round_0004/debug/validations/validation_0014.json ADDED
@@ -0,0 +1,176 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
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
+ -0.25997558556496436,
20
+ 1.352903028915847,
21
+ 0.6673914702067592,
22
+ 0.22259098191805826,
23
+ 0.5659189745937283,
24
+ -1.4021133745326946,
25
+ 0.004991611223604327,
26
+ 0.38891432059205044,
27
+ 2.0628290226596473,
28
+ 1.955252918287938,
29
+ -1.3830395971618206,
30
+ -0.25616083009079027,
31
+ -0.6174181734950768,
32
+ 0.011125896934116137
33
+ ],
34
+ "current_velocity": [
35
+ -0.017094017094017033,
36
+ 0.0024420024420024333,
37
+ -0.0073260073260073,
38
+ -0.0073260073260073,
39
+ 0.0073260073260073,
40
+ -0.0073260073260073,
41
+ 0.00013332528044706184,
42
+ -0.0024420024420024333,
43
+ -0.0073260073260073,
44
+ 0.012210012210012167,
45
+ -0.0073260073260073,
46
+ -0.0073260073260073,
47
+ 0.0073260073260073,
48
+ 0.0001336248443880533
49
+ ],
50
+ "first_target": [
51
+ -0.26873183250427246,
52
+ 1.3713115453720093,
53
+ 0.6674031615257263,
54
+ 0.24011866748332977,
55
+ 0.6019197702407837,
56
+ -1.4282753467559814,
57
+ 0.001409428659826517,
58
+ 0.3949778378009796,
59
+ 2.0747265815734863,
60
+ 1.9769601821899414,
61
+ -1.389222264289856,
62
+ -0.278811514377594,
63
+ -0.6320179104804993,
64
+ 0.005047210957854986
65
+ ],
66
+ "first_transition_velocity": [
67
+ -0.26268740817924296,
68
+ 0.5522554936848678,
69
+ 0.0003507395690149906,
70
+ 0.5258305669581453,
71
+ 1.0800238694116615,
72
+ -0.784859166698606,
73
+ -0.10746547691333429,
74
+ 0.1819055162678751,
75
+ 0.35692676741517104,
76
+ 0.6512179170601051,
77
+ -0.18548001384106172,
78
+ -0.6795205286041117,
79
+ -0.43799210956267487,
80
+ -0.1823605792878345
81
+ ],
82
+ "observation_state": [
83
+ -0.2599755823612213,
84
+ 1.3529030084609985,
85
+ 0.6673914790153503,
86
+ 0.22259098291397095,
87
+ 0.5659189820289612,
88
+ -1.4017318487167358,
89
+ 0.004991611000150442,
90
+ 0.3889143168926239,
91
+ 2.06282901763916,
92
+ 1.9552528858184814,
93
+ -1.3834210634231567,
94
+ -0.25616082549095154,
95
+ -0.6174181699752808,
96
+ 0.01112589705735445
97
+ ],
98
+ "policy_metadata": {
99
+ "alignment_wait_ms": 25.114048999967054,
100
+ "checkpoint_path": "/home/romoya-1/openpi-workspace/checkpoints/yam-policies-release/yam_policies/xiangrun/20260916_v2_seven_tasks/dp/banana_handoff/best-short.pt",
101
+ "first_action_minus_state": [
102
+ -0.008756250143051147,
103
+ 0.018408536911010742,
104
+ 1.1682510375976562e-05,
105
+ 0.017527684569358826,
106
+ 0.03600078821182251,
107
+ -0.026543498039245605,
108
+ -0.003582182340323925,
109
+ 0.006063520908355713,
110
+ 0.011897563934326172,
111
+ 0.02170729637145996,
112
+ -0.005801200866699219,
113
+ -0.022650688886642456,
114
+ -0.014599740505218506,
115
+ -0.006078686099499464
116
+ ],
117
+ "history_interval_ms": 33.472778,
118
+ "history_stamp_ns": [
119
+ 1789565053613752329,
120
+ 1789565053647225107
121
+ ],
122
+ "model_seed": null,
123
+ "observation_age_at_response_ms": 108.757709,
124
+ "observation_stamp_ns": 1789565053647225107,
125
+ "prompt": "banana_handoff",
126
+ "release_revision": "39c623bd78f638d06ce0db57631b66d3028db208",
127
+ "request_id": "078cb80108a94c7f86575989ad12a818",
128
+ "round_trip_ms": 80.25072899181396,
129
+ "server_metadata": {
130
+ "action_shape": [
131
+ 32,
132
+ 14
133
+ ],
134
+ "action_space": "abs_qpos",
135
+ "cameras": [
136
+ "base_0",
137
+ "left_wrist_0",
138
+ "right_wrist_0"
139
+ ],
140
+ "checkpoint_hashes": {
141
+ "dp/banana_handoff/best-short.pt": "83b1d9e63b1218ab6524f276843d8d0c74aed4d1579041a96983365319772f4d"
142
+ },
143
+ "checkpoint_path": "/home/romoya-1/openpi-workspace/checkpoints/yam-policies-release/yam_policies/xiangrun/20260916_v2_seven_tasks/dp/banana_handoff/best-short.pt",
144
+ "fps": 30,
145
+ "gpu": "NVIDIA GeForce RTX 5090",
146
+ "gpu_peak_mib": 446.9287109375,
147
+ "model": "dp",
148
+ "observation_offsets": [
149
+ -1,
150
+ 0
151
+ ],
152
+ "protocol": "yam-v2-native-npz-v1",
153
+ "release_revision": "39c623bd78f638d06ce0db57631b66d3028db208",
154
+ "step": 20000,
155
+ "task": "banana_handoff",
156
+ "tasks": [
157
+ "banana_handoff"
158
+ ],
159
+ "warmup": {
160
+ "hardware_started": false,
161
+ "seconds": [
162
+ 0.29395764200307894,
163
+ 0.056222653001896106,
164
+ 0.05553507500735577,
165
+ 0.05494091000582557
166
+ ],
167
+ "status": "passed"
168
+ }
169
+ },
170
+ "server_prediction_seconds": 0.07737554599589203,
171
+ "source": "yam_v2_dp_http",
172
+ "task": "banana_handoff",
173
+ "wire_action_dtype": "float32"
174
+ },
175
+ "time_ns": 1789565053781921014
176
+ }
eval/YAM/V2/dp/banana_handoff/data/round_0004/debug/validations/validation_0015.json ADDED
@@ -0,0 +1,176 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
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
+ 0.017738612954909527,
20
+ 1.367780575265126,
21
+ 0.7085908293278393,
22
+ -0.0600823987182455,
23
+ 0.45490959029526223,
24
+ -1.4860379949645246,
25
+ 0.004984668787966491,
26
+ 0.3839551384756241,
27
+ 2.064354924849317,
28
+ 2.1311131456473635,
29
+ -1.481841763942933,
30
+ -0.2706569008926518,
31
+ -0.6326771953917731,
32
+ 0.08249445531637314
33
+ ],
34
+ "current_velocity": [
35
+ -0.0073260073260073,
36
+ 0.0024420024420024333,
37
+ -0.0073260073260073,
38
+ 0.0073260073260073,
39
+ -0.0219780219780219,
40
+ -0.0073260073260073,
41
+ 0.00013332528044706184,
42
+ -0.017094017094017033,
43
+ -0.012210012210012167,
44
+ 0.0024420024420024333,
45
+ -0.0073260073260073,
46
+ -0.0219780219780219,
47
+ 0.0073260073260073,
48
+ 0.00040087453316415986
49
+ ],
50
+ "first_target": [
51
+ 0.03845655918121338,
52
+ 1.401128888130188,
53
+ 0.7234364748001099,
54
+ -0.033398643136024475,
55
+ 0.4686874747276306,
56
+ -1.4789800643920898,
57
+ 0.002614188240841031,
58
+ 0.3910661041736603,
59
+ 2.080789089202881,
60
+ 2.159468412399292,
61
+ -1.506698489189148,
62
+ -0.2867092788219452,
63
+ -0.6338890194892883,
64
+ 0.08354001492261887
65
+ ],
66
+ "first_transition_velocity": [
67
+ 0.6215383867891155,
68
+ 1.0004493859518604,
69
+ 0.44536936416811557,
70
+ 0.8005126674666307,
71
+ 0.41333653297105144,
72
+ 0.2117379171730427,
73
+ -0.0711144164137638,
74
+ 0.2133289709410846,
75
+ 0.4930249306069179,
76
+ 0.8506580025578536,
77
+ -0.7457017573864455,
78
+ -0.48157133787880113,
79
+ -0.03635472292545572,
80
+ 0.03136678818737165
81
+ ],
82
+ "observation_state": [
83
+ 0.01773861236870289,
84
+ 1.3677805662155151,
85
+ 0.7085908055305481,
86
+ -0.06008239835500717,
87
+ 0.4549095928668976,
88
+ -1.4860379695892334,
89
+ 0.004984668921679258,
90
+ 0.3839551508426666,
91
+ 2.06435489654541,
92
+ 2.131113052368164,
93
+ -1.481841802597046,
94
+ -0.27065691351890564,
95
+ -0.6326771974563599,
96
+ 0.08249445259571075
97
+ ],
98
+ "policy_metadata": {
99
+ "alignment_wait_ms": 5.070102997706272,
100
+ "checkpoint_path": "/home/romoya-1/openpi-workspace/checkpoints/yam-policies-release/yam_policies/xiangrun/20260916_v2_seven_tasks/dp/banana_handoff/best-short.pt",
101
+ "first_action_minus_state": [
102
+ 0.02071794681251049,
103
+ 0.03334832191467285,
104
+ 0.014845669269561768,
105
+ 0.026683755218982697,
106
+ 0.013777881860733032,
107
+ 0.007057905197143555,
108
+ -0.0023704806808382273,
109
+ 0.007110953330993652,
110
+ 0.016434192657470703,
111
+ 0.02835536003112793,
112
+ -0.02485668659210205,
113
+ -0.01605236530303955,
114
+ -0.0012118220329284668,
115
+ 0.0010455623269081116
116
+ ],
117
+ "history_interval_ms": 33.291089,
118
+ "history_stamp_ns": [
119
+ 1789565055214269583,
120
+ 1789565055247560672
121
+ ],
122
+ "model_seed": null,
123
+ "observation_age_at_response_ms": 111.438756,
124
+ "observation_stamp_ns": 1789565055247560672,
125
+ "prompt": "banana_handoff",
126
+ "release_revision": "39c623bd78f638d06ce0db57631b66d3028db208",
127
+ "request_id": "6c79980819ce40c087c30e945eb7f7b4",
128
+ "round_trip_ms": 80.36591700511053,
129
+ "server_metadata": {
130
+ "action_shape": [
131
+ 32,
132
+ 14
133
+ ],
134
+ "action_space": "abs_qpos",
135
+ "cameras": [
136
+ "base_0",
137
+ "left_wrist_0",
138
+ "right_wrist_0"
139
+ ],
140
+ "checkpoint_hashes": {
141
+ "dp/banana_handoff/best-short.pt": "83b1d9e63b1218ab6524f276843d8d0c74aed4d1579041a96983365319772f4d"
142
+ },
143
+ "checkpoint_path": "/home/romoya-1/openpi-workspace/checkpoints/yam-policies-release/yam_policies/xiangrun/20260916_v2_seven_tasks/dp/banana_handoff/best-short.pt",
144
+ "fps": 30,
145
+ "gpu": "NVIDIA GeForce RTX 5090",
146
+ "gpu_peak_mib": 446.9287109375,
147
+ "model": "dp",
148
+ "observation_offsets": [
149
+ -1,
150
+ 0
151
+ ],
152
+ "protocol": "yam-v2-native-npz-v1",
153
+ "release_revision": "39c623bd78f638d06ce0db57631b66d3028db208",
154
+ "step": 20000,
155
+ "task": "banana_handoff",
156
+ "tasks": [
157
+ "banana_handoff"
158
+ ],
159
+ "warmup": {
160
+ "hardware_started": false,
161
+ "seconds": [
162
+ 0.29395764200307894,
163
+ 0.056222653001896106,
164
+ 0.05553507500735577,
165
+ 0.05494091000582557
166
+ ],
167
+ "status": "passed"
168
+ }
169
+ },
170
+ "server_prediction_seconds": 0.07776233099866658,
171
+ "source": "yam_v2_dp_http",
172
+ "task": "banana_handoff",
173
+ "wire_action_dtype": "float32"
174
+ },
175
+ "time_ns": 1789565055383920612
176
+ }
eval/YAM/V2/dp/banana_handoff/data/round_0004/debug/validations/validation_0016.json ADDED
@@ -0,0 +1,176 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
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
+ 0.03032730601968403,
20
+ 1.634431982909895,
21
+ 0.7516975661860084,
22
+ 0.15087357900358533,
23
+ 0.46368352788586265,
24
+ -1.484512092774855,
25
+ 0.010392826149840929,
26
+ 0.3984512092774857,
27
+ 2.065499351491569,
28
+ 2.1562905317769125,
29
+ -1.5154116121156616,
30
+ -0.2862973983367656,
31
+ -0.6322957198443593,
32
+ 0.0842270058708415
33
+ ],
34
+ "current_velocity": [
35
+ -0.0024420024420024333,
36
+ -0.0073260073260073,
37
+ 0.012210012210012167,
38
+ 0.0073260073260073,
39
+ -0.0219780219780219,
40
+ -0.0219780219780219,
41
+ 0.0003999758413411856,
42
+ 0.0073260073260073,
43
+ -0.017094017094017033,
44
+ 0.0073260073260073,
45
+ -0.0073260073260073,
46
+ -0.0073260073260073,
47
+ -0.0073260073260073,
48
+ 0.00040087453316415986
49
+ ],
50
+ "first_target": [
51
+ 0.03690479323267937,
52
+ 1.6430840492248535,
53
+ 0.7577919363975525,
54
+ 0.15776188671588898,
55
+ 0.46706369519233704,
56
+ -1.4901888370513916,
57
+ 0.0015552291879430413,
58
+ 0.40412530303001404,
59
+ 2.0726478099823,
60
+ 2.194868803024292,
61
+ -1.5306646823883057,
62
+ -0.2859107255935669,
63
+ -0.6414846777915955,
64
+ 0.08467362076044083
65
+ ],
66
+ "first_transition_velocity": [
67
+ 0.1973246163898601,
68
+ 0.2595619894487555,
69
+ 0.18283110634632393,
70
+ 0.2066492313691093,
71
+ 0.10140501919423173,
72
+ -0.17030232829609915,
73
+ -0.2651279088569366,
74
+ 0.17022281257585092,
75
+ 0.2144537547219194,
76
+ 1.1573481374213834,
77
+ -0.4575921081793233,
78
+ 0.011600182295961048,
79
+ -0.2756687384170853,
80
+ 0.013398446687979682
81
+ ],
82
+ "observation_state": [
83
+ 0.03032730519771576,
84
+ 1.6344319581985474,
85
+ 0.7516975402832031,
86
+ 0.1508735716342926,
87
+ 0.46368351578712463,
88
+ -1.4845120906829834,
89
+ 0.01033728662878275,
90
+ 0.39845120906829834,
91
+ 2.0654993057250977,
92
+ 2.1562905311584473,
93
+ -1.5150301456451416,
94
+ -0.28629741072654724,
95
+ -0.6322957277297974,
96
+ 0.08422700315713882
97
+ ],
98
+ "policy_metadata": {
99
+ "alignment_wait_ms": 16.237812000326812,
100
+ "checkpoint_path": "/home/romoya-1/openpi-workspace/checkpoints/yam-policies-release/yam_policies/xiangrun/20260916_v2_seven_tasks/dp/banana_handoff/best-short.pt",
101
+ "first_action_minus_state": [
102
+ 0.006577488034963608,
103
+ 0.008652091026306152,
104
+ 0.006094396114349365,
105
+ 0.0068883150815963745,
106
+ 0.0033801794052124023,
107
+ -0.005676746368408203,
108
+ -0.008782057091593742,
109
+ 0.005674093961715698,
110
+ 0.0071485042572021484,
111
+ 0.03857827186584473,
112
+ -0.015634536743164062,
113
+ 0.0003866851329803467,
114
+ -0.009188950061798096,
115
+ 0.00044661760330200195
116
+ ],
117
+ "history_interval_ms": 33.326331,
118
+ "history_stamp_ns": [
119
+ 1789565056847999624,
120
+ 1789565056881325955
121
+ ],
122
+ "model_seed": null,
123
+ "observation_age_at_response_ms": 112.707128,
124
+ "observation_stamp_ns": 1789565056881325955,
125
+ "prompt": "banana_handoff",
126
+ "release_revision": "39c623bd78f638d06ce0db57631b66d3028db208",
127
+ "request_id": "ce1c4a5c6e1b4183aff47f04451e8d84",
128
+ "round_trip_ms": 81.75152099283878,
129
+ "server_metadata": {
130
+ "action_shape": [
131
+ 32,
132
+ 14
133
+ ],
134
+ "action_space": "abs_qpos",
135
+ "cameras": [
136
+ "base_0",
137
+ "left_wrist_0",
138
+ "right_wrist_0"
139
+ ],
140
+ "checkpoint_hashes": {
141
+ "dp/banana_handoff/best-short.pt": "83b1d9e63b1218ab6524f276843d8d0c74aed4d1579041a96983365319772f4d"
142
+ },
143
+ "checkpoint_path": "/home/romoya-1/openpi-workspace/checkpoints/yam-policies-release/yam_policies/xiangrun/20260916_v2_seven_tasks/dp/banana_handoff/best-short.pt",
144
+ "fps": 30,
145
+ "gpu": "NVIDIA GeForce RTX 5090",
146
+ "gpu_peak_mib": 446.9287109375,
147
+ "model": "dp",
148
+ "observation_offsets": [
149
+ -1,
150
+ 0
151
+ ],
152
+ "protocol": "yam-v2-native-npz-v1",
153
+ "release_revision": "39c623bd78f638d06ce0db57631b66d3028db208",
154
+ "step": 20000,
155
+ "task": "banana_handoff",
156
+ "tasks": [
157
+ "banana_handoff"
158
+ ],
159
+ "warmup": {
160
+ "hardware_started": false,
161
+ "seconds": [
162
+ 0.29395764200307894,
163
+ 0.056222653001896106,
164
+ 0.05553507500735577,
165
+ 0.05494091000582557
166
+ ],
167
+ "status": "passed"
168
+ }
169
+ },
170
+ "server_prediction_seconds": 0.07751764899876434,
171
+ "source": "yam_v2_dp_http",
172
+ "task": "banana_handoff",
173
+ "wire_action_dtype": "float32"
174
+ },
175
+ "time_ns": 1789565057024466030
176
+ }
eval/YAM/V2/dp/banana_handoff/data/round_0004/debug/validations/validation_0017.json ADDED
@@ -0,0 +1,176 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
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
+ 0.04367895017929335,
20
+ 1.634431982909895,
21
+ 0.7555123216601825,
22
+ 0.15049210345616792,
23
+ 0.502212558175021,
24
+ -1.4131761654077994,
25
+ 0.09509748336708129,
26
+ 0.4003585870145727,
27
+ 2.0731288624399173,
28
+ 2.1749828336003656,
29
+ -1.5257114518959316,
30
+ -0.28629739833676915,
31
+ -0.631151293202107,
32
+ 0.08483235485975213
33
+ ],
34
+ "current_velocity": [
35
+ 0.012210012210012167,
36
+ -0.0073260073260073,
37
+ 0.0024420024420024333,
38
+ -0.0073260073260073,
39
+ -0.0073260073260073,
40
+ 0.0073260073260073,
41
+ -0.00013332528044706184,
42
+ 0.0024420024420024333,
43
+ 0.0024420024420024333,
44
+ -0.0024420024420024333,
45
+ -0.0219780219780219,
46
+ -0.0073260073260073,
47
+ -0.0073260073260073,
48
+ -0.0001336248443880533
49
+ ],
50
+ "first_target": [
51
+ 0.04378895461559296,
52
+ 1.5956511497497559,
53
+ 0.760500967502594,
54
+ 0.14776530861854553,
55
+ 0.5695674419403076,
56
+ -1.3728148937225342,
57
+ 0.09600000083446503,
58
+ 0.40366503596305847,
59
+ 2.0871849060058594,
60
+ 2.2046167850494385,
61
+ -1.5361346006393433,
62
+ -0.27997758984565735,
63
+ -0.6304239630699158,
64
+ 0.08526882529258728
65
+ ],
66
+ "first_transition_velocity": [
67
+ 0.003300133088988133,
68
+ -1.1634249948041742,
69
+ 0.1496593752723463,
70
+ -0.08180384512867178,
71
+ 2.0206465129585993,
72
+ 1.210838150557958,
73
+ 0.027075524021512032,
74
+ 0.09919346845457255,
75
+ 0.421681306978261,
76
+ 0.8890185434721865,
77
+ -0.31269446230234976,
78
+ 0.189594254733354,
79
+ 0.02181990396573852,
80
+ 0.013094112985054529
81
+ ],
82
+ "observation_state": [
83
+ 0.043678950518369675,
84
+ 1.6344319581985474,
85
+ 0.7555122971534729,
86
+ 0.1504921019077301,
87
+ 0.4987792670726776,
88
+ -1.4158464670181274,
89
+ 0.09509748220443726,
90
+ 0.3999771177768707,
91
+ 2.0731289386749268,
92
+ 2.174982786178589,
93
+ -1.5257114171981812,
94
+ -0.28629741072654724,
95
+ -0.6315327882766724,
96
+ 0.08483235538005829
97
+ ],
98
+ "policy_metadata": {
99
+ "alignment_wait_ms": 15.881867002462968,
100
+ "checkpoint_path": "/home/romoya-1/openpi-workspace/checkpoints/yam-policies-release/yam_policies/xiangrun/20260916_v2_seven_tasks/dp/banana_handoff/best-short.pt",
101
+ "first_action_minus_state": [
102
+ 0.00011000409722328186,
103
+ -0.038780808448791504,
104
+ 0.004988670349121094,
105
+ -0.0027267932891845703,
106
+ 0.07078817486763,
107
+ 0.04303157329559326,
108
+ 0.000902518630027771,
109
+ 0.003687918186187744,
110
+ 0.014055967330932617,
111
+ 0.02963399887084961,
112
+ -0.01042318344116211,
113
+ 0.006319820880889893,
114
+ 0.0011088252067565918,
115
+ 0.0004364699125289917
116
+ ],
117
+ "history_interval_ms": 33.292202,
118
+ "history_stamp_ns": [
119
+ 1789565058481881115,
120
+ 1789565058515173317
121
+ ],
122
+ "model_seed": null,
123
+ "observation_age_at_response_ms": 111.577846,
124
+ "observation_stamp_ns": 1789565058515173317,
125
+ "prompt": "banana_handoff",
126
+ "release_revision": "39c623bd78f638d06ce0db57631b66d3028db208",
127
+ "request_id": "9926f9f76ead4acd8abd66f0f451b996",
128
+ "round_trip_ms": 80.62715400592424,
129
+ "server_metadata": {
130
+ "action_shape": [
131
+ 32,
132
+ 14
133
+ ],
134
+ "action_space": "abs_qpos",
135
+ "cameras": [
136
+ "base_0",
137
+ "left_wrist_0",
138
+ "right_wrist_0"
139
+ ],
140
+ "checkpoint_hashes": {
141
+ "dp/banana_handoff/best-short.pt": "83b1d9e63b1218ab6524f276843d8d0c74aed4d1579041a96983365319772f4d"
142
+ },
143
+ "checkpoint_path": "/home/romoya-1/openpi-workspace/checkpoints/yam-policies-release/yam_policies/xiangrun/20260916_v2_seven_tasks/dp/banana_handoff/best-short.pt",
144
+ "fps": 30,
145
+ "gpu": "NVIDIA GeForce RTX 5090",
146
+ "gpu_peak_mib": 446.9287109375,
147
+ "model": "dp",
148
+ "observation_offsets": [
149
+ -1,
150
+ 0
151
+ ],
152
+ "protocol": "yam-v2-native-npz-v1",
153
+ "release_revision": "39c623bd78f638d06ce0db57631b66d3028db208",
154
+ "step": 20000,
155
+ "task": "banana_handoff",
156
+ "tasks": [
157
+ "banana_handoff"
158
+ ],
159
+ "warmup": {
160
+ "hardware_started": false,
161
+ "seconds": [
162
+ 0.29395764200307894,
163
+ 0.056222653001896106,
164
+ 0.05553507500735577,
165
+ 0.05494091000582557
166
+ ],
167
+ "status": "passed"
168
+ }
169
+ },
170
+ "server_prediction_seconds": 0.07789983499969821,
171
+ "source": "yam_v2_dp_http",
172
+ "task": "banana_handoff",
173
+ "wire_action_dtype": "float32"
174
+ },
175
+ "time_ns": 1789565058658251362
176
+ }
eval/YAM/V2/dp/banana_handoff/data/round_0004/debug/validations/validation_0018.json ADDED
@@ -0,0 +1,176 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
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
+ 0.04329747463187594,
20
+ 0.8649958037689789,
21
+ 0.7574196993972695,
22
+ -0.42973220416571145,
23
+ 0.07381551842526868,
24
+ -0.33588921950103234,
25
+ 0.09586809372288112,
26
+ 0.36831464103151035,
27
+ 1.5867475394827188,
28
+ 2.080376897840848,
29
+ -1.3632028686961188,
30
+ -0.25158312352178136,
31
+ -0.5151827267872111,
32
+ 0.08518721461187216
33
+ ],
34
+ "current_velocity": [
35
+ -0.012210012210012167,
36
+ 0.0024420024420024333,
37
+ -0.0073260073260073,
38
+ -0.0073260073260073,
39
+ -0.0073260073260073,
40
+ 0.0073260073260073,
41
+ 0.00013332528044706184,
42
+ 0.0073260073260073,
43
+ 0.0073260073260073,
44
+ -0.0024420024420024333,
45
+ 0.0073260073260073,
46
+ -0.0073260073260073,
47
+ 0.0073260073260073,
48
+ -0.0001336248443880533
49
+ ],
50
+ "first_target": [
51
+ 0.03580111265182495,
52
+ 0.8241538405418396,
53
+ 0.7433792352676392,
54
+ -0.4276752769947052,
55
+ -0.04094338417053223,
56
+ -0.24815791845321655,
57
+ 0.09536965191364288,
58
+ 0.3890252113342285,
59
+ 1.486270785331726,
60
+ 2.035325765609741,
61
+ -1.3572678565979004,
62
+ -0.22884421050548553,
63
+ -0.47655394673347473,
64
+ 0.08498801290988922
65
+ ],
66
+ "first_transition_velocity": [
67
+ -0.22489085940152975,
68
+ -1.2252588968141787,
69
+ -0.4212139238889101,
70
+ 0.06170781513018753,
71
+ -3.442767077874027,
72
+ 2.6319390314344737,
73
+ -0.014953254277147027,
74
+ 0.621317109081545,
75
+ -3.0143026245297833,
76
+ -1.3515339669332072,
77
+ 0.17805036294655352,
78
+ 0.6821673904888748,
79
+ 1.1588634016120913,
80
+ -0.005976051059488202
81
+ ],
82
+ "observation_state": [
83
+ 0.04329747334122658,
84
+ 0.8649957776069641,
85
+ 0.7574197053909302,
86
+ -0.42973220348358154,
87
+ 0.07381551712751389,
88
+ -0.33588922023773193,
89
+ 0.09586809575557709,
90
+ 0.368314653635025,
91
+ 1.5867475271224976,
92
+ 2.0803768634796143,
93
+ -1.3632028102874756,
94
+ -0.25158312916755676,
95
+ -0.5151827335357666,
96
+ 0.0851941704750061
97
+ ],
98
+ "policy_metadata": {
99
+ "alignment_wait_ms": 5.414129002019763,
100
+ "checkpoint_path": "/home/romoya-1/openpi-workspace/checkpoints/yam-policies-release/yam_policies/xiangrun/20260916_v2_seven_tasks/dp/banana_handoff/best-short.pt",
101
+ "first_action_minus_state": [
102
+ -0.007496360689401627,
103
+ -0.04084193706512451,
104
+ -0.014040470123291016,
105
+ 0.0020569264888763428,
106
+ -0.11475890129804611,
107
+ 0.08773130178451538,
108
+ -0.0004984438419342041,
109
+ 0.02071055769920349,
110
+ -0.10047674179077148,
111
+ -0.04505109786987305,
112
+ 0.005934953689575195,
113
+ 0.022738918662071228,
114
+ 0.03862878680229187,
115
+ -0.00020615756511688232
116
+ ],
117
+ "history_interval_ms": 33.381639,
118
+ "history_stamp_ns": [
119
+ 1789565060448970213,
120
+ 1789565060482351852
121
+ ],
122
+ "model_seed": null,
123
+ "observation_age_at_response_ms": 119.52622,
124
+ "observation_stamp_ns": 1789565060482351852,
125
+ "prompt": "banana_handoff",
126
+ "release_revision": "39c623bd78f638d06ce0db57631b66d3028db208",
127
+ "request_id": "ea05a650d54d4b08bb9280830b24b016",
128
+ "round_trip_ms": 79.66730500629637,
129
+ "server_metadata": {
130
+ "action_shape": [
131
+ 32,
132
+ 14
133
+ ],
134
+ "action_space": "abs_qpos",
135
+ "cameras": [
136
+ "base_0",
137
+ "left_wrist_0",
138
+ "right_wrist_0"
139
+ ],
140
+ "checkpoint_hashes": {
141
+ "dp/banana_handoff/best-short.pt": "83b1d9e63b1218ab6524f276843d8d0c74aed4d1579041a96983365319772f4d"
142
+ },
143
+ "checkpoint_path": "/home/romoya-1/openpi-workspace/checkpoints/yam-policies-release/yam_policies/xiangrun/20260916_v2_seven_tasks/dp/banana_handoff/best-short.pt",
144
+ "fps": 30,
145
+ "gpu": "NVIDIA GeForce RTX 5090",
146
+ "gpu_peak_mib": 446.9287109375,
147
+ "model": "dp",
148
+ "observation_offsets": [
149
+ -1,
150
+ 0
151
+ ],
152
+ "protocol": "yam-v2-native-npz-v1",
153
+ "release_revision": "39c623bd78f638d06ce0db57631b66d3028db208",
154
+ "step": 20000,
155
+ "task": "banana_handoff",
156
+ "tasks": [
157
+ "banana_handoff"
158
+ ],
159
+ "warmup": {
160
+ "hardware_started": false,
161
+ "seconds": [
162
+ 0.29395764200307894,
163
+ 0.056222653001896106,
164
+ 0.05553507500735577,
165
+ 0.05494091000582557
166
+ ],
167
+ "status": "passed"
168
+ }
169
+ },
170
+ "server_prediction_seconds": 0.07658084099239204,
171
+ "source": "yam_v2_dp_http",
172
+ "task": "banana_handoff",
173
+ "wire_action_dtype": "float32"
174
+ },
175
+ "time_ns": 1789565060632821152
176
+ }
eval/YAM/V2/dp/banana_handoff/data/round_0004/debug/validations/validation_0019.json ADDED
@@ -0,0 +1,176 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
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
+ 0.020027466239413982,
20
+ 0.701724269474326,
21
+ 0.6795986877241162,
22
+ -0.3583962767986595,
23
+ -0.030327306019687583,
24
+ -0.22831311512931585,
25
+ 0.09530575643621637,
26
+ 0.18139162279697807,
27
+ 0.5327306019684137,
28
+ 0.7402532997634843,
29
+ -0.6979095140001537,
30
+ 0.0036240177004653873,
31
+ -0.36526283665217285,
32
+ 0.08614046531854752
33
+ ],
34
+ "current_velocity": [
35
+ -0.0073260073260073,
36
+ 0.0024420024420024333,
37
+ -0.0219780219780219,
38
+ -0.0219780219780219,
39
+ -0.0073260073260073,
40
+ 0.0073260073260073,
41
+ 0.00013332528044706184,
42
+ 0.0024420024420024333,
43
+ -0.0024420024420024333,
44
+ 0.0073260073260073,
45
+ -0.0073260073260073,
46
+ -0.0073260073260073,
47
+ -0.0073260073260073,
48
+ 0.0001336248443880533
49
+ ],
50
+ "first_target": [
51
+ 0.017361918464303017,
52
+ 0.633297324180603,
53
+ 0.625718355178833,
54
+ -0.3281095623970032,
55
+ -0.04291122406721115,
56
+ -0.2132013440132141,
57
+ 0.09585807472467422,
58
+ 0.10756546258926392,
59
+ 0.5039368867874146,
60
+ 0.6540186405181885,
61
+ -0.6338910460472107,
62
+ -0.029317647218704224,
63
+ -0.35630857944488525,
64
+ 0.08649892359972
65
+ ],
66
+ "first_transition_velocity": [
67
+ -0.07996643325332897,
68
+ -2.0528083588116885,
69
+ -1.6164099763584971,
70
+ 0.9086014320496894,
71
+ -0.37751754142570704,
72
+ 0.45335313348305206,
73
+ 0.016569548653735527,
74
+ -2.2147848062314246,
75
+ -0.8638114554299747,
76
+ -2.587039777358875,
77
+ 1.920554038588289,
78
+ -0.9882499475750883,
79
+ 0.2686277162186279,
80
+ 0.010753748435174404
81
+ ],
82
+ "observation_state": [
83
+ 0.020027466118335724,
84
+ 0.7017242908477783,
85
+ 0.6795986890792847,
86
+ -0.3583962619304657,
87
+ -0.03032730519771576,
88
+ -0.2283131182193756,
89
+ 0.09530575573444366,
90
+ 0.1810101419687271,
91
+ 0.5327305793762207,
92
+ 0.7402533292770386,
93
+ -0.698291003704071,
94
+ 0.0036240178160369396,
95
+ -0.36526283621788025,
96
+ 0.0861404687166214
97
+ ],
98
+ "policy_metadata": {
99
+ "alignment_wait_ms": 4.72330600314308,
100
+ "checkpoint_path": "/home/romoya-1/openpi-workspace/checkpoints/yam-policies-release/yam_policies/xiangrun/20260916_v2_seven_tasks/dp/banana_handoff/best-short.pt",
101
+ "first_action_minus_state": [
102
+ -0.002665547654032707,
103
+ -0.06842696666717529,
104
+ -0.05388033390045166,
105
+ 0.030286699533462524,
106
+ -0.012583918869495392,
107
+ 0.015111774206161499,
108
+ 0.0005523189902305603,
109
+ -0.0734446793794632,
110
+ -0.028793692588806152,
111
+ -0.0862346887588501,
112
+ 0.06439995765686035,
113
+ -0.03294166550040245,
114
+ 0.008954256772994995,
115
+ 0.0003584548830986023
116
+ ],
117
+ "history_interval_ms": 33.359046,
118
+ "history_stamp_ns": [
119
+ 1789565062149422180,
120
+ 1789565062182781226
121
+ ],
122
+ "model_seed": null,
123
+ "observation_age_at_response_ms": 123.563489,
124
+ "observation_stamp_ns": 1789565062182781226,
125
+ "prompt": "banana_handoff",
126
+ "release_revision": "39c623bd78f638d06ce0db57631b66d3028db208",
127
+ "request_id": "f5a3cc1cb08f4c93b39da19de4feeb5f",
128
+ "round_trip_ms": 81.01910300320014,
129
+ "server_metadata": {
130
+ "action_shape": [
131
+ 32,
132
+ 14
133
+ ],
134
+ "action_space": "abs_qpos",
135
+ "cameras": [
136
+ "base_0",
137
+ "left_wrist_0",
138
+ "right_wrist_0"
139
+ ],
140
+ "checkpoint_hashes": {
141
+ "dp/banana_handoff/best-short.pt": "83b1d9e63b1218ab6524f276843d8d0c74aed4d1579041a96983365319772f4d"
142
+ },
143
+ "checkpoint_path": "/home/romoya-1/openpi-workspace/checkpoints/yam-policies-release/yam_policies/xiangrun/20260916_v2_seven_tasks/dp/banana_handoff/best-short.pt",
144
+ "fps": 30,
145
+ "gpu": "NVIDIA GeForce RTX 5090",
146
+ "gpu_peak_mib": 446.9287109375,
147
+ "model": "dp",
148
+ "observation_offsets": [
149
+ -1,
150
+ 0
151
+ ],
152
+ "protocol": "yam-v2-native-npz-v1",
153
+ "release_revision": "39c623bd78f638d06ce0db57631b66d3028db208",
154
+ "step": 20000,
155
+ "task": "banana_handoff",
156
+ "tasks": [
157
+ "banana_handoff"
158
+ ],
159
+ "warmup": {
160
+ "hardware_started": false,
161
+ "seconds": [
162
+ 0.29395764200307894,
163
+ 0.056222653001896106,
164
+ 0.05553507500735577,
165
+ 0.05494091000582557
166
+ ],
167
+ "status": "passed"
168
+ }
169
+ },
170
+ "server_prediction_seconds": 0.0781584750075126,
171
+ "source": "yam_v2_dp_http",
172
+ "task": "banana_handoff",
173
+ "wire_action_dtype": "float32"
174
+ },
175
+ "time_ns": 1789565062329466983
176
+ }
eval/YAM/V2/dp/banana_handoff/data/round_0004/debug/validations/validation_0020.json ADDED
@@ -0,0 +1,176 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
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
+ 0.020027466239413982,
20
+ 0.18787670710307403,
21
+ 0.09899290455481768,
22
+ 0.05970092317082454,
23
+ -0.00705729762722207,
24
+ 0.1829175249866477,
25
+ 0.09530575643621637,
26
+ -0.1871137560082392,
27
+ 0.0745784695201035,
28
+ 0.09708552681773064,
29
+ -0.2351796749828292,
30
+ -0.25272755016403714,
31
+ -0.3496223392080591,
32
+ 0.08630050010871929
33
+ ],
34
+ "current_velocity": [
35
+ -0.012210012210012167,
36
+ 0.0024420024420024333,
37
+ 0.0073260073260073,
38
+ 0.0366300366300365,
39
+ -0.0219780219780219,
40
+ 0.0073260073260073,
41
+ -0.00013332528044706184,
42
+ -0.0024420024420024333,
43
+ -0.0073260073260073,
44
+ -0.0024420024420024333,
45
+ -0.0073260073260073,
46
+ -0.0219780219780219,
47
+ -0.0073260073260073,
48
+ 0.0001336248443880533
49
+ ],
50
+ "first_target": [
51
+ 0.02003858983516693,
52
+ 0.13609911501407623,
53
+ 0.062479421496391296,
54
+ 0.0863695740699768,
55
+ -0.026842622086405754,
56
+ 0.21346279978752136,
57
+ 0.09594345837831497,
58
+ -0.15495078265666962,
59
+ 0.04152974486351013,
60
+ 0.05013306066393852,
61
+ -0.1981918215751648,
62
+ -0.26914528012275696,
63
+ -0.3352355659008026,
64
+ 0.08676126599311829
65
+ ],
66
+ "first_transition_velocity": [
67
+ 0.00033370787258846235,
68
+ -1.5533277626699338,
69
+ -1.0954044917527916,
70
+ 0.8000595269745681,
71
+ -0.5935597337755105,
72
+ 0.9163582440262097,
73
+ 0.01913105826295794,
74
+ 0.9648892005470877,
75
+ -0.9914617396978009,
76
+ -1.4085739846137635,
77
+ 1.1096356022299325,
78
+ -0.49253189876159453,
79
+ 0.43160319921769386,
80
+ 0.01382297653197001
81
+ ],
82
+ "observation_state": [
83
+ 0.020027466118335724,
84
+ 0.18787670135498047,
85
+ 0.09899290651082993,
86
+ 0.05664911866188049,
87
+ -0.007057297509163618,
88
+ 0.182917520403862,
89
+ 0.09529881179332733,
90
+ -0.18711376190185547,
91
+ 0.07457847148180008,
92
+ 0.09708552807569504,
93
+ -0.23556114733219147,
94
+ -0.25272753834724426,
95
+ -0.34962233901023865,
96
+ 0.08630049973726273
97
+ ],
98
+ "policy_metadata": {
99
+ "alignment_wait_ms": 15.714981011115015,
100
+ "checkpoint_path": "/home/romoya-1/openpi-workspace/checkpoints/yam-policies-release/yam_policies/xiangrun/20260916_v2_seven_tasks/dp/banana_handoff/best-short.pt",
101
+ "first_action_minus_state": [
102
+ 1.1123716831207275e-05,
103
+ -0.051777586340904236,
104
+ -0.03651348501443863,
105
+ 0.029720455408096313,
106
+ -0.01978532411158085,
107
+ 0.030545279383659363,
108
+ 0.0006446465849876404,
109
+ 0.03216297924518585,
110
+ -0.03304872661828995,
111
+ -0.046952467411756516,
112
+ 0.03736932575702667,
113
+ -0.016417741775512695,
114
+ 0.014386773109436035,
115
+ 0.0004607662558555603
116
+ ],
117
+ "history_interval_ms": 33.3161,
118
+ "history_stamp_ns": [
119
+ 1789565063749929020,
120
+ 1789565063783245120
121
+ ],
122
+ "model_seed": null,
123
+ "observation_age_at_response_ms": 114.539432,
124
+ "observation_stamp_ns": 1789565063783245120,
125
+ "prompt": "banana_handoff",
126
+ "release_revision": "39c623bd78f638d06ce0db57631b66d3028db208",
127
+ "request_id": "0ee7180e7a574b28a328ae64d47b7120",
128
+ "round_trip_ms": 82.19306699174922,
129
+ "server_metadata": {
130
+ "action_shape": [
131
+ 32,
132
+ 14
133
+ ],
134
+ "action_space": "abs_qpos",
135
+ "cameras": [
136
+ "base_0",
137
+ "left_wrist_0",
138
+ "right_wrist_0"
139
+ ],
140
+ "checkpoint_hashes": {
141
+ "dp/banana_handoff/best-short.pt": "83b1d9e63b1218ab6524f276843d8d0c74aed4d1579041a96983365319772f4d"
142
+ },
143
+ "checkpoint_path": "/home/romoya-1/openpi-workspace/checkpoints/yam-policies-release/yam_policies/xiangrun/20260916_v2_seven_tasks/dp/banana_handoff/best-short.pt",
144
+ "fps": 30,
145
+ "gpu": "NVIDIA GeForce RTX 5090",
146
+ "gpu_peak_mib": 446.9287109375,
147
+ "model": "dp",
148
+ "observation_offsets": [
149
+ -1,
150
+ 0
151
+ ],
152
+ "protocol": "yam-v2-native-npz-v1",
153
+ "release_revision": "39c623bd78f638d06ce0db57631b66d3028db208",
154
+ "step": 20000,
155
+ "task": "banana_handoff",
156
+ "tasks": [
157
+ "banana_handoff"
158
+ ],
159
+ "warmup": {
160
+ "hardware_started": false,
161
+ "seconds": [
162
+ 0.29395764200307894,
163
+ 0.056222653001896106,
164
+ 0.05553507500735577,
165
+ 0.05494091000582557
166
+ ],
167
+ "status": "passed"
168
+ }
169
+ },
170
+ "server_prediction_seconds": 0.07694036699831486,
171
+ "source": "yam_v2_dp_http",
172
+ "task": "banana_handoff",
173
+ "wire_action_dtype": "float32"
174
+ },
175
+ "time_ns": 1789565063923702068
176
+ }
eval/YAM/V2/dp/banana_handoff/data/round_0004/debug/validations/validation_0021.json ADDED
@@ -0,0 +1,176 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
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
+ 0.006675822079804661,
20
+ 0.0707637140459294,
21
+ 0.027656977187762166,
22
+ 0.15201800564583756,
23
+ -0.014305333028156397,
24
+ 0.20237277790493557,
25
+ 0.09586809372288112,
26
+ -0.04482337682154913,
27
+ -0.0013351644159644849,
28
+ 0.000953688868543523,
29
+ 0.07801174944686018,
30
+ -0.2565423056382077,
31
+ -0.3469520103761372,
32
+ 0.08728854098717112
33
+ ],
34
+ "current_velocity": [
35
+ -0.0219780219780219,
36
+ -0.012210012210012167,
37
+ -0.0024420024420024333,
38
+ -0.0073260073260073,
39
+ 0.0073260073260073,
40
+ -0.0073260073260073,
41
+ 0.0003999758413411856,
42
+ -0.0073260073260073,
43
+ -0.0073260073260073,
44
+ -0.0024420024420024333,
45
+ 0.0073260073260073,
46
+ -0.0073260073260073,
47
+ -0.0073260073260073,
48
+ 0.0001336248443880533
49
+ ],
50
+ "first_target": [
51
+ -0.004883504938334227,
52
+ 0.04274442046880722,
53
+ -0.0007783379405736923,
54
+ 0.16397790610790253,
55
+ -0.035196706652641296,
56
+ 0.2393486201763153,
57
+ 0.09600000083446503,
58
+ -0.03204137086868286,
59
+ -0.009479140862822533,
60
+ -0.03322497010231018,
61
+ 0.10700949281454086,
62
+ -0.27057570219039917,
63
+ -0.33952459692955017,
64
+ 0.0889335349202156
65
+ ],
66
+ "first_transition_velocity": [
67
+ -0.3467798105441666,
68
+ -0.8405788073136655,
69
+ -0.8530594538500758,
70
+ 0.35879701386194895,
71
+ -0.626741208734547,
72
+ 1.109275268141392,
73
+ 0.00395721334751728,
74
+ 0.38346017858598813,
75
+ -0.24431929340574143,
76
+ -1.025359769125611,
77
+ 0.8699323010304205,
78
+ -0.4210018965657447,
79
+ 0.22282240339761117,
80
+ 0.04934981799133459
81
+ ],
82
+ "observation_state": [
83
+ 0.007057297509163618,
84
+ 0.0707637146115303,
85
+ 0.027656977996230125,
86
+ 0.1520180106163025,
87
+ -0.01430533267557621,
88
+ 0.20237277448177338,
89
+ 0.09586809575557709,
90
+ -0.04482337832450867,
91
+ -0.0013351644156500697,
92
+ 0.0009536888683214784,
93
+ 0.07801175117492676,
94
+ -0.25654229521751404,
95
+ -0.34695202112197876,
96
+ 0.08728854358196259
97
+ ],
98
+ "policy_metadata": {
99
+ "alignment_wait_ms": 5.635908994008787,
100
+ "checkpoint_path": "/home/romoya-1/openpi-workspace/checkpoints/yam-policies-release/yam_policies/xiangrun/20260916_v2_seven_tasks/dp/banana_handoff/best-short.pt",
101
+ "first_action_minus_state": [
102
+ -0.011940802447497845,
103
+ -0.028019294142723083,
104
+ -0.028435315936803818,
105
+ 0.011959895491600037,
106
+ -0.020891373977065086,
107
+ 0.03697584569454193,
108
+ 0.00013190507888793945,
109
+ 0.012782007455825806,
110
+ -0.008143976330757141,
111
+ -0.034178659319877625,
112
+ 0.028997741639614105,
113
+ -0.014033406972885132,
114
+ 0.007427424192428589,
115
+ 0.0016449913382530212
116
+ ],
117
+ "history_interval_ms": 33.321052,
118
+ "history_stamp_ns": [
119
+ 1789565065283458145,
120
+ 1789565065316779197
121
+ ],
122
+ "model_seed": null,
123
+ "observation_age_at_response_ms": 121.770021,
124
+ "observation_stamp_ns": 1789565065316779197,
125
+ "prompt": "banana_handoff",
126
+ "release_revision": "39c623bd78f638d06ce0db57631b66d3028db208",
127
+ "request_id": "16b61867cd2e4666910e04b685ac4077",
128
+ "round_trip_ms": 84.0236840012949,
129
+ "server_metadata": {
130
+ "action_shape": [
131
+ 32,
132
+ 14
133
+ ],
134
+ "action_space": "abs_qpos",
135
+ "cameras": [
136
+ "base_0",
137
+ "left_wrist_0",
138
+ "right_wrist_0"
139
+ ],
140
+ "checkpoint_hashes": {
141
+ "dp/banana_handoff/best-short.pt": "83b1d9e63b1218ab6524f276843d8d0c74aed4d1579041a96983365319772f4d"
142
+ },
143
+ "checkpoint_path": "/home/romoya-1/openpi-workspace/checkpoints/yam-policies-release/yam_policies/xiangrun/20260916_v2_seven_tasks/dp/banana_handoff/best-short.pt",
144
+ "fps": 30,
145
+ "gpu": "NVIDIA GeForce RTX 5090",
146
+ "gpu_peak_mib": 446.9287109375,
147
+ "model": "dp",
148
+ "observation_offsets": [
149
+ -1,
150
+ 0
151
+ ],
152
+ "protocol": "yam-v2-native-npz-v1",
153
+ "release_revision": "39c623bd78f638d06ce0db57631b66d3028db208",
154
+ "step": 20000,
155
+ "task": "banana_handoff",
156
+ "tasks": [
157
+ "banana_handoff"
158
+ ],
159
+ "warmup": {
160
+ "hardware_started": false,
161
+ "seconds": [
162
+ 0.29395764200307894,
163
+ 0.056222653001896106,
164
+ 0.05553507500735577,
165
+ 0.05494091000582557
166
+ ],
167
+ "status": "passed"
168
+ }
169
+ },
170
+ "server_prediction_seconds": 0.07908061900525354,
171
+ "source": "yam_v2_dp_http",
172
+ "task": "banana_handoff",
173
+ "wire_action_dtype": "float32"
174
+ },
175
+ "time_ns": 1789565065479772908
176
+ }
eval/YAM/V2/dp/banana_handoff/data/round_0004/debug/validations/validation_0022.json ADDED
@@ -0,0 +1,176 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
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
+ 0.0013351644159609322,
20
+ 0.03604943923094517,
21
+ 0.020027466239413982,
22
+ 0.15430685893034202,
23
+ -0.047493705653467444,
24
+ 0.2241168841077279,
25
+ 0.09586115128724328,
26
+ -0.02613107499809253,
27
+ 0.0001907377737087046,
28
+ 0.0024795910582131597,
29
+ 0.09822995345998287,
30
+ -0.2599755855649679,
31
+ -0.3397039749752029,
32
+ 0.08892367906066535
33
+ ],
34
+ "current_velocity": [
35
+ -0.012210012210012167,
36
+ 0.012210012210012167,
37
+ 0.0024420024420024333,
38
+ -0.0073260073260073,
39
+ -0.0512820512820511,
40
+ 0.0073260073260073,
41
+ 0.0003999758413411856,
42
+ -0.017094017094017033,
43
+ 0.0073260073260073,
44
+ 0.0073260073260073,
45
+ -0.0219780219780219,
46
+ 0.0073260073260073,
47
+ -0.0073260073260073,
48
+ 0.0001336248443880533
49
+ ],
50
+ "first_target": [
51
+ -0.009099719114601612,
52
+ 0.015887217596173286,
53
+ -0.0024230144917964935,
54
+ 0.17078512907028198,
55
+ -0.059354495257139206,
56
+ 0.25902971625328064,
57
+ 0.09600000083446503,
58
+ -0.01808873936533928,
59
+ -0.007717384956777096,
60
+ -0.019635913893580437,
61
+ 0.1190350130200386,
62
+ -0.2778865098953247,
63
+ -0.33600324392318726,
64
+ 0.09038345515727997
65
+ ],
66
+ "first_transition_velocity": [
67
+ -0.3130465059168763,
68
+ -0.6048666490431565,
69
+ -0.6735144219363143,
70
+ 0.49434810419819897,
71
+ -0.35582368811015286,
72
+ 1.0473849643665822,
73
+ 0.004165486416652514,
74
+ 0.2412700689825975,
75
+ -0.237243681914574,
76
+ -0.6634651485538079,
77
+ 0.6241517868016722,
78
+ -0.5373277299107038,
79
+ 0.1110219315604688,
80
+ 0.04379328289843845
81
+ ],
82
+ "observation_state": [
83
+ 0.0013351644156500697,
84
+ 0.03604944050312042,
85
+ 0.020027466118335724,
86
+ 0.15392538905143738,
87
+ -0.04596780240535736,
88
+ 0.22411687672138214,
89
+ 0.09585420787334442,
90
+ -0.026131074875593185,
91
+ 0.00019073777366429567,
92
+ 0.0024795911740511656,
93
+ 0.09822995215654373,
94
+ -0.2603570520877838,
95
+ -0.3397039771080017,
96
+ 0.08892367780208588
97
+ ],
98
+ "policy_metadata": {
99
+ "alignment_wait_ms": 5.372568004531786,
100
+ "checkpoint_path": "/home/romoya-1/openpi-workspace/checkpoints/yam-policies-release/yam_policies/xiangrun/20260916_v2_seven_tasks/dp/banana_handoff/best-short.pt",
101
+ "first_action_minus_state": [
102
+ -0.010434883646667004,
103
+ -0.020162222906947136,
104
+ -0.022450480610132217,
105
+ 0.016859740018844604,
106
+ -0.013386692851781845,
107
+ 0.0349128395318985,
108
+ 0.00014579296112060547,
109
+ 0.008042335510253906,
110
+ -0.00790812261402607,
111
+ -0.02211550436913967,
112
+ 0.020805060863494873,
113
+ -0.017529457807540894,
114
+ 0.003700733184814453,
115
+ 0.0014597773551940918
116
+ ],
117
+ "history_interval_ms": 33.438789,
118
+ "history_stamp_ns": [
119
+ 1789565066817201544,
120
+ 1789565066850640333
121
+ ],
122
+ "model_seed": null,
123
+ "observation_age_at_response_ms": 121.682631,
124
+ "observation_stamp_ns": 1789565066850640333,
125
+ "prompt": "banana_handoff",
126
+ "release_revision": "39c623bd78f638d06ce0db57631b66d3028db208",
127
+ "request_id": "a84fa232aa9f498fb982a1ed63734be5",
128
+ "round_trip_ms": 85.73256799718365,
129
+ "server_metadata": {
130
+ "action_shape": [
131
+ 32,
132
+ 14
133
+ ],
134
+ "action_space": "abs_qpos",
135
+ "cameras": [
136
+ "base_0",
137
+ "left_wrist_0",
138
+ "right_wrist_0"
139
+ ],
140
+ "checkpoint_hashes": {
141
+ "dp/banana_handoff/best-short.pt": "83b1d9e63b1218ab6524f276843d8d0c74aed4d1579041a96983365319772f4d"
142
+ },
143
+ "checkpoint_path": "/home/romoya-1/openpi-workspace/checkpoints/yam-policies-release/yam_policies/xiangrun/20260916_v2_seven_tasks/dp/banana_handoff/best-short.pt",
144
+ "fps": 30,
145
+ "gpu": "NVIDIA GeForce RTX 5090",
146
+ "gpu_peak_mib": 446.9287109375,
147
+ "model": "dp",
148
+ "observation_offsets": [
149
+ -1,
150
+ 0
151
+ ],
152
+ "protocol": "yam-v2-native-npz-v1",
153
+ "release_revision": "39c623bd78f638d06ce0db57631b66d3028db208",
154
+ "step": 20000,
155
+ "task": "banana_handoff",
156
+ "tasks": [
157
+ "banana_handoff"
158
+ ],
159
+ "warmup": {
160
+ "hardware_started": false,
161
+ "seconds": [
162
+ 0.29395764200307894,
163
+ 0.056222653001896106,
164
+ 0.05553507500735577,
165
+ 0.05494091000582557
166
+ ],
167
+ "status": "passed"
168
+ }
169
+ },
170
+ "server_prediction_seconds": 0.0813064849935472,
171
+ "source": "yam_v2_dp_http",
172
+ "task": "banana_handoff",
173
+ "wire_action_dtype": "float32"
174
+ },
175
+ "time_ns": 1789565066999276138
176
+ }
eval/YAM/V2/dp/banana_handoff/data/round_0004/debug/validations/validation_0023.json ADDED
@@ -0,0 +1,176 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
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
+ -0.010872053101396162,
20
+ 0.004386968795300206,
21
+ 0.010490577553978753,
22
+ 0.15468833447775943,
23
+ -0.0600823987182455,
24
+ 0.24700541695277245,
25
+ 0.09586809372288112,
26
+ -0.000953688868543523,
27
+ -0.005912870984973395,
28
+ 0.0024795910582131597,
29
+ 0.10013733119706991,
30
+ -0.2607385366597992,
31
+ -0.3236820019836717,
32
+ 0.08961252446183952
33
+ ],
34
+ "current_velocity": [
35
+ 0.0073260073260073,
36
+ -0.0024420024420024333,
37
+ -0.017094017094017033,
38
+ -0.0219780219780219,
39
+ -0.0073260073260073,
40
+ -0.0073260073260073,
41
+ -0.00013332528044706184,
42
+ 0.0073260073260073,
43
+ 0.0024420024420024333,
44
+ -0.012210012210012167,
45
+ -0.0073260073260073,
46
+ -0.0073260073260073,
47
+ -0.0073260073260073,
48
+ 0.00040087453316415986
49
+ ],
50
+ "first_target": [
51
+ -0.01513285469263792,
52
+ -0.012709492817521095,
53
+ -0.010629048570990562,
54
+ 0.16825124621391296,
55
+ -0.07784683257341385,
56
+ 0.27177730202674866,
57
+ 0.09593381732702255,
58
+ 0.0025698025710880756,
59
+ -0.02130933851003647,
60
+ -0.018970763310790062,
61
+ 0.10659431666135788,
62
+ -0.2786698639392853,
63
+ -0.3173134922981262,
64
+ 0.09126092493534088
65
+ ],
66
+ "first_transition_velocity": [
67
+ -0.12782404773725276,
68
+ -0.512893848384639,
69
+ -0.6335887837490795,
70
+ 0.40688735208460614,
71
+ -0.5329330156550505,
72
+ 0.7431565522192862,
73
+ 0.001971708124243049,
74
+ 0.10570474318894796,
75
+ -0.4618940257518922,
76
+ -0.6435106310700967,
77
+ 0.19370956392863903,
78
+ -0.5379398183845829,
79
+ 0.19105529056636428,
80
+ 0.04945201420504072
81
+ ],
82
+ "observation_state": [
83
+ -0.010872052982449532,
84
+ 0.004005493130534887,
85
+ 0.010490577667951584,
86
+ 0.15468832850456238,
87
+ -0.06008239835500717,
88
+ 0.2470054179430008,
89
+ 0.09586809575557709,
90
+ -0.0009536888683214784,
91
+ -0.005912871100008488,
92
+ 0.0024795911740511656,
93
+ 0.09975585341453552,
94
+ -0.2607385218143463,
95
+ -0.32520791888237,
96
+ 0.08961252123117447
97
+ ],
98
+ "policy_metadata": {
99
+ "alignment_wait_ms": 4.988000000594184,
100
+ "checkpoint_path": "/home/romoya-1/openpi-workspace/checkpoints/yam-policies-release/yam_policies/xiangrun/20260916_v2_seven_tasks/dp/banana_handoff/best-short.pt",
101
+ "first_action_minus_state": [
102
+ -0.004260801710188389,
103
+ -0.01671498641371727,
104
+ -0.021119626238942146,
105
+ 0.013562917709350586,
106
+ -0.017764434218406677,
107
+ 0.024771884083747864,
108
+ 6.572157144546509e-05,
109
+ 0.003523491322994232,
110
+ -0.01539646741002798,
111
+ -0.021450353786349297,
112
+ 0.006838463246822357,
113
+ -0.017931342124938965,
114
+ 0.007894426584243774,
115
+ 0.0016484037041664124
116
+ ],
117
+ "history_interval_ms": 33.339819,
118
+ "history_stamp_ns": [
119
+ 1789565068351159280,
120
+ 1789565068384499099
121
+ ],
122
+ "model_seed": null,
123
+ "observation_age_at_response_ms": 104.561028,
124
+ "observation_stamp_ns": 1789565068384499099,
125
+ "prompt": "banana_handoff",
126
+ "release_revision": "39c623bd78f638d06ce0db57631b66d3028db208",
127
+ "request_id": "7719e4a428f7490d9803b396b74c80de",
128
+ "round_trip_ms": 79.01347101142164,
129
+ "server_metadata": {
130
+ "action_shape": [
131
+ 32,
132
+ 14
133
+ ],
134
+ "action_space": "abs_qpos",
135
+ "cameras": [
136
+ "base_0",
137
+ "left_wrist_0",
138
+ "right_wrist_0"
139
+ ],
140
+ "checkpoint_hashes": {
141
+ "dp/banana_handoff/best-short.pt": "83b1d9e63b1218ab6524f276843d8d0c74aed4d1579041a96983365319772f4d"
142
+ },
143
+ "checkpoint_path": "/home/romoya-1/openpi-workspace/checkpoints/yam-policies-release/yam_policies/xiangrun/20260916_v2_seven_tasks/dp/banana_handoff/best-short.pt",
144
+ "fps": 30,
145
+ "gpu": "NVIDIA GeForce RTX 5090",
146
+ "gpu_peak_mib": 446.9287109375,
147
+ "model": "dp",
148
+ "observation_offsets": [
149
+ -1,
150
+ 0
151
+ ],
152
+ "protocol": "yam-v2-native-npz-v1",
153
+ "release_revision": "39c623bd78f638d06ce0db57631b66d3028db208",
154
+ "step": 20000,
155
+ "task": "banana_handoff",
156
+ "tasks": [
157
+ "banana_handoff"
158
+ ],
159
+ "warmup": {
160
+ "hardware_started": false,
161
+ "seconds": [
162
+ 0.29395764200307894,
163
+ 0.056222653001896106,
164
+ 0.05553507500735577,
165
+ 0.05494091000582557
166
+ ],
167
+ "status": "passed"
168
+ }
169
+ },
170
+ "server_prediction_seconds": 0.076400873993407,
171
+ "source": "yam_v2_dp_http",
172
+ "task": "banana_handoff",
173
+ "wire_action_dtype": "float32"
174
+ },
175
+ "time_ns": 1789565068514252563
176
+ }
eval/YAM/V2/dp/banana_handoff/data/round_0004/debug/validations/validation_0024.json ADDED
@@ -0,0 +1,176 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
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
+ -0.01735713740749567,
20
+ -0.0028610666056341216,
21
+ 0.00705729762722207,
22
+ 0.1745250629434647,
23
+ -0.07610437170977669,
24
+ 0.24319066147859836,
25
+ 0.09587503615851901,
26
+ 0.012397955291065799,
27
+ -0.0020981155107993033,
28
+ 0.0020981155107957505,
29
+ 0.10471503776607882,
30
+ -0.2595941100175505,
31
+ -0.3133821622034052,
32
+ 0.0904126984126984
33
+ ],
34
+ "current_velocity": [
35
+ 0.0219780219780219,
36
+ -0.012210012210012167,
37
+ 0.0024420024420024333,
38
+ -0.0073260073260073,
39
+ -0.0219780219780219,
40
+ 0.0073260073260073,
41
+ -0.00013332528044706184,
42
+ 0.012210012210012167,
43
+ -0.012210012210012167,
44
+ 0.0073260073260073,
45
+ -0.0073260073260073,
46
+ -0.0073260073260073,
47
+ 0.0073260073260073,
48
+ 0.0001336248443880533
49
+ ],
50
+ "first_target": [
51
+ -0.023671330884099007,
52
+ -0.028339385986328125,
53
+ -0.02537146955728531,
54
+ 0.19383582472801208,
55
+ -0.0811978131532669,
56
+ 0.26939132809638977,
57
+ 0.09579265862703323,
58
+ 0.02273101732134819,
59
+ -0.018930302932858467,
60
+ -0.02218759059906006,
61
+ 0.12517058849334717,
62
+ -0.26722368597984314,
63
+ -0.3141907751560211,
64
+ 0.09206683933734894
65
+ ],
66
+ "first_transition_velocity": [
67
+ -0.18942580429810008,
68
+ -0.7643495814208201,
69
+ -0.9728630155352214,
70
+ 0.5793228535364214,
71
+ -0.15280324330470663,
72
+ 0.7860199985337424,
73
+ -0.002471325944573416,
74
+ 0.30999186090847175,
75
+ -0.5049656226617749,
76
+ -0.7285711832956743,
77
+ 0.6136665218180504,
78
+ -0.22888727886877902,
79
+ -0.024258388578477508,
80
+ 0.04962422773951605
81
+ ],
82
+ "observation_state": [
83
+ -0.01735713705420494,
84
+ -0.002861066721379757,
85
+ 0.007057297509163618,
86
+ 0.17452506721019745,
87
+ -0.07610437273979187,
88
+ 0.2450980395078659,
89
+ 0.09587503969669342,
90
+ 0.012397955171763897,
91
+ -0.0020981156267225742,
92
+ 0.0020981156267225742,
93
+ 0.10433356463909149,
94
+ -0.2595941126346588,
95
+ -0.31643396615982056,
96
+ 0.0904126986861229
97
+ ],
98
+ "policy_metadata": {
99
+ "alignment_wait_ms": 17.450315004680306,
100
+ "checkpoint_path": "/home/romoya-1/openpi-workspace/checkpoints/yam-policies-release/yam_policies/xiangrun/20260916_v2_seven_tasks/dp/banana_handoff/best-short.pt",
101
+ "first_action_minus_state": [
102
+ -0.006314193829894066,
103
+ -0.025478318333625793,
104
+ -0.032428767532110214,
105
+ 0.019310757517814636,
106
+ -0.005093440413475037,
107
+ 0.024293288588523865,
108
+ -8.238106966018677e-05,
109
+ 0.010333062149584293,
110
+ -0.01683218777179718,
111
+ -0.024285705760121346,
112
+ 0.020837023854255676,
113
+ -0.007629573345184326,
114
+ 0.0022431910037994385,
115
+ 0.0016541406512260437
116
+ ],
117
+ "history_interval_ms": 33.311973,
118
+ "history_stamp_ns": [
119
+ 1789565069951415483,
120
+ 1789565069984727456
121
+ ],
122
+ "model_seed": null,
123
+ "observation_age_at_response_ms": 113.003218,
124
+ "observation_stamp_ns": 1789565069984727456,
125
+ "prompt": "banana_handoff",
126
+ "release_revision": "39c623bd78f638d06ce0db57631b66d3028db208",
127
+ "request_id": "8f4caccafbcd43dd88a95b8f3836f8da",
128
+ "round_trip_ms": 80.25025400274899,
129
+ "server_metadata": {
130
+ "action_shape": [
131
+ 32,
132
+ 14
133
+ ],
134
+ "action_space": "abs_qpos",
135
+ "cameras": [
136
+ "base_0",
137
+ "left_wrist_0",
138
+ "right_wrist_0"
139
+ ],
140
+ "checkpoint_hashes": {
141
+ "dp/banana_handoff/best-short.pt": "83b1d9e63b1218ab6524f276843d8d0c74aed4d1579041a96983365319772f4d"
142
+ },
143
+ "checkpoint_path": "/home/romoya-1/openpi-workspace/checkpoints/yam-policies-release/yam_policies/xiangrun/20260916_v2_seven_tasks/dp/banana_handoff/best-short.pt",
144
+ "fps": 30,
145
+ "gpu": "NVIDIA GeForce RTX 5090",
146
+ "gpu_peak_mib": 446.9287109375,
147
+ "model": "dp",
148
+ "observation_offsets": [
149
+ -1,
150
+ 0
151
+ ],
152
+ "protocol": "yam-v2-native-npz-v1",
153
+ "release_revision": "39c623bd78f638d06ce0db57631b66d3028db208",
154
+ "step": 20000,
155
+ "task": "banana_handoff",
156
+ "tasks": [
157
+ "banana_handoff"
158
+ ],
159
+ "warmup": {
160
+ "hardware_started": false,
161
+ "seconds": [
162
+ 0.29395764200307894,
163
+ 0.056222653001896106,
164
+ 0.05553507500735577,
165
+ 0.05494091000582557
166
+ ],
167
+ "status": "passed"
168
+ }
169
+ },
170
+ "server_prediction_seconds": 0.07624055199266877,
171
+ "source": "yam_v2_dp_http",
172
+ "task": "banana_handoff",
173
+ "wire_action_dtype": "float32"
174
+ },
175
+ "time_ns": 1789565070166389856
176
+ }
eval/YAM/V2/dp/banana_handoff/data/round_0004/debug/validations/validation_0025.json ADDED
@@ -0,0 +1,176 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
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
+ -0.007438773174643032,
21
+ 0.006294346532387252,
22
+ 0.18329900053406512,
23
+ -0.0974670023651516,
24
+ 0.2500572213321135,
25
+ 0.09586809372288112,
26
+ 0.03833829251544962,
27
+ -0.00705729762722207,
28
+ 0.0020981155107957505,
29
+ 0.11654077973601851,
30
+ -0.2599755855649679,
31
+ -0.31338216220340165,
32
+ 0.09179734724940206
33
+ ],
34
+ "current_velocity": [
35
+ -0.0073260073260073,
36
+ 0.0024420024420024333,
37
+ -0.0024420024420024333,
38
+ -0.0073260073260073,
39
+ -0.0073260073260073,
40
+ -0.0073260073260073,
41
+ 0.0003999758413411856,
42
+ 0.0073260073260073,
43
+ -0.0024420024420024333,
44
+ 0.0073260073260073,
45
+ -0.0073260073260073,
46
+ -0.0219780219780219,
47
+ -0.0073260073260073,
48
+ 0.00040087453316415986
49
+ ],
50
+ "first_target": [
51
+ -0.023856986314058304,
52
+ -0.034778885543346405,
53
+ -0.017561476677656174,
54
+ 0.19526825845241547,
55
+ -0.10813319683074951,
56
+ 0.26946863532066345,
57
+ 0.0959104597568512,
58
+ 0.04501948133111,
59
+ -0.020389189943671227,
60
+ -0.016142165288329124,
61
+ 0.1372014731168747,
62
+ -0.2646995186805725,
63
+ -0.31144118309020996,
64
+ 0.09226655215024948
65
+ ],
66
+ "first_transition_velocity": [
67
+ -0.1377741350843742,
68
+ -0.8202033710611012,
69
+ -0.7156746963013028,
70
+ 0.35907773755051053,
71
+ -0.31998583396793734,
72
+ 0.5823424196564986,
73
+ 0.001270981019102363,
74
+ 0.20043566446981131,
75
+ -0.3999567694934747,
76
+ -0.5472084239737462,
77
+ 0.6198208014256856,
78
+ -0.14171799346813785,
79
+ 0.05822937339575063,
80
+ 0.014076147025422758
81
+ ],
82
+ "observation_state": [
83
+ -0.01926451548933983,
84
+ -0.007438773289322853,
85
+ 0.006294346414506435,
86
+ 0.1832990050315857,
87
+ -0.09746700525283813,
88
+ 0.2500572204589844,
89
+ 0.09586809575557709,
90
+ 0.03833829239010811,
91
+ -0.00667582219466567,
92
+ 0.0020981156267225742,
93
+ 0.11654078215360641,
94
+ -0.2599755823612213,
95
+ -0.3133821487426758,
96
+ 0.0917973443865776
97
+ ],
98
+ "policy_metadata": {
99
+ "alignment_wait_ms": 4.4352859986247495,
100
+ "checkpoint_path": "/home/romoya-1/openpi-workspace/checkpoints/yam-policies-release/yam_policies/xiangrun/20260916_v2_seven_tasks/dp/banana_handoff/best-short.pt",
101
+ "first_action_minus_state": [
102
+ -0.004592470824718475,
103
+ -0.027340112254023552,
104
+ -0.023855824023485184,
105
+ 0.011969253420829773,
106
+ -0.010666191577911377,
107
+ 0.019411414861679077,
108
+ 4.236400127410889e-05,
109
+ 0.006681188941001892,
110
+ -0.013713367283344269,
111
+ -0.01824028044939041,
112
+ 0.02066069096326828,
113
+ -0.004723936319351196,
114
+ 0.0019409656524658203,
115
+ 0.000469207763671875
116
+ ],
117
+ "history_interval_ms": 33.235886,
118
+ "history_stamp_ns": [
119
+ 1789565071685295941,
120
+ 1789565071718531827
121
+ ],
122
+ "model_seed": null,
123
+ "observation_age_at_response_ms": 112.055263,
124
+ "observation_stamp_ns": 1789565071718531827,
125
+ "prompt": "banana_handoff",
126
+ "release_revision": "39c623bd78f638d06ce0db57631b66d3028db208",
127
+ "request_id": "f8ee42f896f241f2a4969c4b3f2f97f7",
128
+ "round_trip_ms": 82.92201400035992,
129
+ "server_metadata": {
130
+ "action_shape": [
131
+ 32,
132
+ 14
133
+ ],
134
+ "action_space": "abs_qpos",
135
+ "cameras": [
136
+ "base_0",
137
+ "left_wrist_0",
138
+ "right_wrist_0"
139
+ ],
140
+ "checkpoint_hashes": {
141
+ "dp/banana_handoff/best-short.pt": "83b1d9e63b1218ab6524f276843d8d0c74aed4d1579041a96983365319772f4d"
142
+ },
143
+ "checkpoint_path": "/home/romoya-1/openpi-workspace/checkpoints/yam-policies-release/yam_policies/xiangrun/20260916_v2_seven_tasks/dp/banana_handoff/best-short.pt",
144
+ "fps": 30,
145
+ "gpu": "NVIDIA GeForce RTX 5090",
146
+ "gpu_peak_mib": 446.9287109375,
147
+ "model": "dp",
148
+ "observation_offsets": [
149
+ -1,
150
+ 0
151
+ ],
152
+ "protocol": "yam-v2-native-npz-v1",
153
+ "release_revision": "39c623bd78f638d06ce0db57631b66d3028db208",
154
+ "step": 20000,
155
+ "task": "banana_handoff",
156
+ "tasks": [
157
+ "banana_handoff"
158
+ ],
159
+ "warmup": {
160
+ "hardware_started": false,
161
+ "seconds": [
162
+ 0.29395764200307894,
163
+ 0.056222653001896106,
164
+ 0.05553507500735577,
165
+ 0.05494091000582557
166
+ ],
167
+ "status": "passed"
168
+ }
169
+ },
170
+ "server_prediction_seconds": 0.07805037999060005,
171
+ "source": "yam_v2_dp_http",
172
+ "task": "banana_handoff",
173
+ "wire_action_dtype": "float32"
174
+ },
175
+ "time_ns": 1789565071863358177
176
+ }
eval/YAM/V2/dp/banana_handoff/data/round_0004/debug/validations/validation_0026.json ADDED
@@ -0,0 +1,176 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
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
+ -0.007438773174643032,
21
+ 0.006294346532387252,
22
+ 0.1779583428702214,
23
+ -0.10509651331349978,
24
+ 0.24204623483634613,
25
+ 0.09587503615851894,
26
+ 0.0497825589379719,
27
+ -0.008583199816891707,
28
+ 0.0020981155107957505,
29
+ 0.11272602426184442,
30
+ -0.2561608300907938,
31
+ -0.3126192111085704,
32
+ 0.0922565775168515
33
+ ],
34
+ "current_velocity": [
35
+ 0.0073260073260073,
36
+ 0.0024420024420024333,
37
+ -0.0073260073260073,
38
+ -0.0219780219780219,
39
+ -0.0073260073260073,
40
+ -0.0219780219780219,
41
+ -0.00013332528044706184,
42
+ 0.0024420024420024333,
43
+ 0.0073260073260073,
44
+ -0.012210012210012167,
45
+ -0.0073260073260073,
46
+ -0.0073260073260073,
47
+ -0.0073260073260073,
48
+ 0.0001336248443880533
49
+ ],
50
+ "first_target": [
51
+ -0.025665929540991783,
52
+ -0.02725730650126934,
53
+ -0.015409606508910656,
54
+ 0.18786625564098358,
55
+ -0.1132235899567604,
56
+ 0.2608417272567749,
57
+ 0.09595287591218948,
58
+ 0.05286536365747452,
59
+ -0.02917489781975746,
60
+ -0.020321788266301155,
61
+ 0.1270538717508316,
62
+ -0.2629716098308563,
63
+ -0.304818719625473,
64
+ 0.09329309314489365
65
+ ],
66
+ "first_transition_velocity": [
67
+ -0.19204243189237857,
68
+ -0.5945559997987893,
69
+ -0.6511185912389372,
70
+ 0.29723738312286585,
71
+ -0.24381229929781867,
72
+ 0.5638647726128632,
73
+ 0.0023351926101161657,
74
+ 0.09248414158507856,
75
+ -0.6177509400859726,
76
+ -0.6725971133129072,
77
+ 0.42983542466961566,
78
+ -0.204323392201875,
79
+ 0.2340147444929208,
80
+ 0.031095468841264434
81
+ ],
82
+ "observation_state": [
83
+ -0.01926451548933983,
84
+ -0.007438773289322853,
85
+ 0.006294346414506435,
86
+ 0.17795833945274353,
87
+ -0.10509651154279709,
88
+ 0.24242770671844482,
89
+ 0.09587503969669342,
90
+ 0.049782559275627136,
91
+ -0.00858320016413927,
92
+ 0.0024795911740511656,
93
+ 0.11310750246047974,
94
+ -0.2584496736526489,
95
+ -0.3126192092895508,
96
+ 0.0922565758228302
97
+ ],
98
+ "policy_metadata": {
99
+ "alignment_wait_ms": 4.4815059954999015,
100
+ "checkpoint_path": "/home/romoya-1/openpi-workspace/checkpoints/yam-policies-release/yam_policies/xiangrun/20260916_v2_seven_tasks/dp/banana_handoff/best-short.pt",
101
+ "first_action_minus_state": [
102
+ -0.006401414051651955,
103
+ -0.019818533211946487,
104
+ -0.02170395292341709,
105
+ 0.009907916188240051,
106
+ -0.008127078413963318,
107
+ 0.018414020538330078,
108
+ 7.783621549606323e-05,
109
+ 0.0030828043818473816,
110
+ -0.020591698586940765,
111
+ -0.02280137874186039,
112
+ 0.013946369290351868,
113
+ -0.0045219361782073975,
114
+ 0.007800489664077759,
115
+ 0.001036517322063446
116
+ ],
117
+ "history_interval_ms": 33.248046,
118
+ "history_stamp_ns": [
119
+ 1789565073185557533,
120
+ 1789565073218805579
121
+ ],
122
+ "model_seed": null,
123
+ "observation_age_at_response_ms": 110.490801,
124
+ "observation_stamp_ns": 1789565073218805579,
125
+ "prompt": "banana_handoff",
126
+ "release_revision": "39c623bd78f638d06ce0db57631b66d3028db208",
127
+ "request_id": "e7cd855733474538b82806622ed8650b",
128
+ "round_trip_ms": 81.08694199472666,
129
+ "server_metadata": {
130
+ "action_shape": [
131
+ 32,
132
+ 14
133
+ ],
134
+ "action_space": "abs_qpos",
135
+ "cameras": [
136
+ "base_0",
137
+ "left_wrist_0",
138
+ "right_wrist_0"
139
+ ],
140
+ "checkpoint_hashes": {
141
+ "dp/banana_handoff/best-short.pt": "83b1d9e63b1218ab6524f276843d8d0c74aed4d1579041a96983365319772f4d"
142
+ },
143
+ "checkpoint_path": "/home/romoya-1/openpi-workspace/checkpoints/yam-policies-release/yam_policies/xiangrun/20260916_v2_seven_tasks/dp/banana_handoff/best-short.pt",
144
+ "fps": 30,
145
+ "gpu": "NVIDIA GeForce RTX 5090",
146
+ "gpu_peak_mib": 446.9287109375,
147
+ "model": "dp",
148
+ "observation_offsets": [
149
+ -1,
150
+ 0
151
+ ],
152
+ "protocol": "yam-v2-native-npz-v1",
153
+ "release_revision": "39c623bd78f638d06ce0db57631b66d3028db208",
154
+ "step": 20000,
155
+ "task": "banana_handoff",
156
+ "tasks": [
157
+ "banana_handoff"
158
+ ],
159
+ "warmup": {
160
+ "hardware_started": false,
161
+ "seconds": [
162
+ 0.29395764200307894,
163
+ 0.056222653001896106,
164
+ 0.05553507500735577,
165
+ 0.05494091000582557
166
+ ],
167
+ "status": "passed"
168
+ }
169
+ },
170
+ "server_prediction_seconds": 0.07731347199296579,
171
+ "source": "yam_v2_dp_http",
172
+ "task": "banana_handoff",
173
+ "wire_action_dtype": "float32"
174
+ },
175
+ "time_ns": 1789565073360123687
176
+ }