File size: 19,147 Bytes
4a2a6e4
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
368
369
370
371
372
373
374
375
376
377
378
379
380
381
382
383
384
385
386
387
388
389
390
391
392
393
394
395
396
397
398
399
400
401
402
403
404
405
406
407
408
409
410
411
412
413
414
415
416
417
418
419
420
421
422
423
424
425
426
427
428
429
430
431
432
433
434
435
436
437
438
439
440
441
442
443
444
445
446
447
448
449
450
451
452
453
454
455
456
457
458
459
460
461
462
463
464
465
466
467
468
469
470
471
472
473
474
475
476
477
478
479
480
481
482
483
484
485
486
487
488
489
490
{
  "human": {
    "logged_steps": 600,
    "buckets": {
      "0-999": {
        "action_loss": 0.1082325,
        "action_loss_base_vel_x": 0.07398249999999999,
        "action_loss_base_vel_y": 0.0799825,
        "action_loss_base_vel_z": 0.0744975,
        "action_loss_left_arm_0": 0.0868675,
        "action_loss_left_arm_1": 0.2425725,
        "action_loss_left_arm_2": 0.15153,
        "action_loss_left_arm_3": 0.2040175,
        "action_loss_left_arm_4": 0.159375,
        "action_loss_left_arm_5": 0.1781025,
        "action_loss_left_arm_6": 0.1438,
        "action_loss_left_gripper": 0.01184,
        "action_loss_right_arm_0": 0.1466175,
        "action_loss_right_arm_1": 0.314385,
        "action_loss_right_arm_2": 0.27235,
        "action_loss_right_arm_3": 0.2551575,
        "action_loss_right_arm_4": 0.2247725,
        "action_loss_right_arm_5": 0.25983,
        "action_loss_right_arm_6": 0.31967,
        "action_loss_right_gripper": 0.021845,
        "action_loss_trunk_0": 0.076695,
        "action_loss_trunk_1": 0.078505,
        "action_loss_trunk_2": 0.0842675,
        "action_loss_trunk_3": 0.0003975,
        "fast_accuracy": 0.86624,
        "fast_loss": 0.4313225,
        "grad_norm": 0.706615,
        "loss": 0.13772,
        "param_norm": 1892.94481,
        "subtask_accuracy": 0.973385,
        "subtask_loss": 0.0793225,
        "total_loss": 0.13772
      },
      "4000-4999": {
        "action_loss": 0.065385,
        "action_loss_base_vel_x": 0.043745,
        "action_loss_base_vel_y": 0.048255,
        "action_loss_base_vel_z": 0.04326,
        "action_loss_left_arm_0": 0.0505975,
        "action_loss_left_arm_1": 0.148045,
        "action_loss_left_arm_2": 0.092095,
        "action_loss_left_arm_3": 0.12465,
        "action_loss_left_arm_4": 0.0930625,
        "action_loss_left_arm_5": 0.1075275,
        "action_loss_left_arm_6": 0.084905,
        "action_loss_left_gripper": 0.006965,
        "action_loss_right_arm_0": 0.0882,
        "action_loss_right_arm_1": 0.1909875,
        "action_loss_right_arm_2": 0.1641225,
        "action_loss_right_arm_3": 0.16509000000000001,
        "action_loss_right_arm_4": 0.1358775,
        "action_loss_right_arm_5": 0.1631175,
        "action_loss_right_arm_6": 0.2011525,
        "action_loss_right_gripper": 0.0150425,
        "action_loss_trunk_0": 0.03853,
        "action_loss_trunk_1": 0.03953,
        "action_loss_trunk_2": 0.044095,
        "action_loss_trunk_3": 0.00047,
        "fast_accuracy": 0.8758,
        "fast_loss": 0.3785275,
        "grad_norm": 0.24324,
        "loss": 0.0876825,
        "param_norm": 1898.56009,
        "subtask_accuracy": 0.989575,
        "subtask_loss": 0.0337425,
        "total_loss": 0.0876825
      },
      "9000-9999": {
        "action_loss": 0.031555,
        "action_loss_base_vel_x": 0.020625,
        "action_loss_base_vel_y": 0.02342,
        "action_loss_base_vel_z": 0.0196375,
        "action_loss_left_arm_0": 0.025135,
        "action_loss_left_arm_1": 0.07386,
        "action_loss_left_arm_2": 0.0453125,
        "action_loss_left_arm_3": 0.0613375,
        "action_loss_left_arm_4": 0.045337499999999996,
        "action_loss_left_arm_5": 0.0534725,
        "action_loss_left_arm_6": 0.041435,
        "action_loss_left_gripper": 0.00361,
        "action_loss_right_arm_0": 0.043845,
        "action_loss_right_arm_1": 0.0918875,
        "action_loss_right_arm_2": 0.0800975,
        "action_loss_right_arm_3": 0.0804975,
        "action_loss_right_arm_4": 0.067285,
        "action_loss_right_arm_5": 0.0820825,
        "action_loss_right_arm_6": 0.09612,
        "action_loss_right_gripper": 0.00705,
        "action_loss_trunk_0": 0.014075,
        "action_loss_trunk_1": 0.01448,
        "action_loss_trunk_2": 0.0170425,
        "action_loss_trunk_3": 0.00029499999999999996,
        "fast_accuracy": 0.89859,
        "fast_loss": 0.2885925,
        "grad_norm": 0.1458,
        "loss": 0.0470625,
        "param_norm": 1901.9710625,
        "subtask_accuracy": 0.9962725,
        "subtask_loss": 0.0107825,
        "total_loss": 0.0470625
      },
      "14000-14999": {
        "action_loss": 0.0174775,
        "action_loss_base_vel_x": 0.0112875,
        "action_loss_base_vel_y": 0.01275,
        "action_loss_base_vel_z": 0.011075,
        "action_loss_left_arm_0": 0.01485,
        "action_loss_left_arm_1": 0.0420375,
        "action_loss_left_arm_2": 0.0249875,
        "action_loss_left_arm_3": 0.034775,
        "action_loss_left_arm_4": 0.0263925,
        "action_loss_left_arm_5": 0.03048,
        "action_loss_left_arm_6": 0.02358,
        "action_loss_left_gripper": 0.0020075,
        "action_loss_right_arm_0": 0.024535,
        "action_loss_right_arm_1": 0.0503675,
        "action_loss_right_arm_2": 0.042975,
        "action_loss_right_arm_3": 0.0445775,
        "action_loss_right_arm_4": 0.0378775,
        "action_loss_right_arm_5": 0.0456275,
        "action_loss_right_arm_6": 0.050865,
        "action_loss_right_gripper": 0.0040775,
        "action_loss_trunk_0": 0.0067,
        "action_loss_trunk_1": 0.0069299999999999995,
        "action_loss_trunk_2": 0.00904,
        "action_loss_trunk_3": 0.00020250000000000002,
        "fast_accuracy": 0.92227,
        "fast_loss": 0.2181,
        "grad_norm": 0.098475,
        "loss": 0.02863,
        "param_norm": 1902.2960125,
        "subtask_accuracy": 0.999,
        "subtask_loss": 0.002505,
        "total_loss": 0.02863
      }
    }
  },
  "codegen_success": {
    "logged_steps": 600,
    "buckets": {
      "0-999": {
        "action_loss": 0.2357725,
        "action_loss_base_vel_x": 0.169,
        "action_loss_base_vel_y": 0.2696675,
        "action_loss_base_vel_z": 1.14272,
        "action_loss_left_arm_0": 0.6859025,
        "action_loss_left_arm_1": 0.159265,
        "action_loss_left_arm_2": 0.5240375,
        "action_loss_left_arm_3": 0.1275775,
        "action_loss_left_arm_4": 0.8737575,
        "action_loss_left_arm_5": 0.435975,
        "action_loss_left_arm_6": 0.6781825,
        "action_loss_left_gripper": 0.02059,
        "action_loss_right_arm_0": 0.0622175,
        "action_loss_right_arm_1": 0.0590225,
        "action_loss_right_arm_2": 0.1866875,
        "action_loss_right_arm_3": 0.107915,
        "action_loss_right_arm_4": 0.045975,
        "action_loss_right_arm_5": 0.0820925,
        "action_loss_right_arm_6": 0.0984925,
        "action_loss_right_gripper": 0.026505,
        "action_loss_trunk_0": 0.3969325,
        "action_loss_trunk_1": 0.1856525,
        "action_loss_trunk_2": 0.13783,
        "action_loss_trunk_3": 1.05599,
        "fast_accuracy": 0.8775225,
        "fast_loss": 0.403675,
        "grad_norm": 1.57003,
        "loss": 0.3224675,
        "param_norm": 1892.936555,
        "subtask_accuracy": 0.84673,
        "subtask_loss": 0.6651675,
        "total_loss": 0.3224675
      },
      "4000-4999": {
        "action_loss": 0.014745,
        "action_loss_base_vel_x": 0.0335275,
        "action_loss_base_vel_y": 0.05346,
        "action_loss_base_vel_z": 0.0982675,
        "action_loss_left_arm_0": 0.041315,
        "action_loss_left_arm_1": 0.01053,
        "action_loss_left_arm_2": 0.03335,
        "action_loss_left_arm_3": 0.009705,
        "action_loss_left_arm_4": 0.0408775,
        "action_loss_left_arm_5": 0.02838,
        "action_loss_left_arm_6": 0.03648,
        "action_loss_left_gripper": 0.0044925,
        "action_loss_right_arm_0": 0.003485,
        "action_loss_right_arm_1": 0.0031875,
        "action_loss_right_arm_2": 0.0114725,
        "action_loss_right_arm_3": 0.00581,
        "action_loss_right_arm_4": 0.0042775,
        "action_loss_right_arm_5": 0.004015,
        "action_loss_right_arm_6": 0.0050925,
        "action_loss_right_gripper": 0.00346,
        "action_loss_trunk_0": 0.0227275,
        "action_loss_trunk_1": 0.005275,
        "action_loss_trunk_2": 0.0056725000000000005,
        "action_loss_trunk_3": 0.00467,
        "fast_accuracy": 0.9630475000000001,
        "fast_loss": 0.0957025,
        "grad_norm": 0.226265,
        "loss": 0.02418,
        "param_norm": 1897.7734275,
        "subtask_accuracy": 0.984645,
        "subtask_loss": 0.0464525,
        "total_loss": 0.02418
      },
      "9000-9999": {
        "action_loss": 0.0055175,
        "action_loss_base_vel_x": 0.01549,
        "action_loss_base_vel_y": 0.0238875,
        "action_loss_base_vel_z": 0.028175,
        "action_loss_left_arm_0": 0.01642,
        "action_loss_left_arm_1": 0.003675,
        "action_loss_left_arm_2": 0.01215,
        "action_loss_left_arm_3": 0.0033175,
        "action_loss_left_arm_4": 0.0152,
        "action_loss_left_arm_5": 0.0106975,
        "action_loss_left_arm_6": 0.0137825,
        "action_loss_left_gripper": 0.001785,
        "action_loss_right_arm_0": 0.00137,
        "action_loss_right_arm_1": 0.0012799999999999999,
        "action_loss_right_arm_2": 0.00391,
        "action_loss_right_arm_3": 0.0019725,
        "action_loss_right_arm_4": 0.00149,
        "action_loss_right_arm_5": 0.0014874999999999999,
        "action_loss_right_arm_6": 0.0019,
        "action_loss_right_gripper": 0.0011575,
        "action_loss_trunk_0": 0.00989,
        "action_loss_trunk_1": 0.00215,
        "action_loss_trunk_2": 0.0022825,
        "action_loss_trunk_3": 0.0017649999999999999,
        "fast_accuracy": 0.9860875,
        "fast_loss": 0.03635,
        "grad_norm": 0.12801,
        "loss": 0.0081375,
        "param_norm": 1900.858515,
        "subtask_accuracy": 0.99735,
        "subtask_loss": 0.008085,
        "total_loss": 0.0081375
      },
      "14000-14999": {
        "action_loss": 0.0020975,
        "action_loss_base_vel_x": 0.0046825,
        "action_loss_base_vel_y": 0.00752,
        "action_loss_base_vel_z": 0.006895,
        "action_loss_left_arm_0": 0.00779,
        "action_loss_left_arm_1": 0.0015675,
        "action_loss_left_arm_2": 0.0051,
        "action_loss_left_arm_3": 0.0014475,
        "action_loss_left_arm_4": 0.0060225,
        "action_loss_left_arm_5": 0.00458,
        "action_loss_left_arm_6": 0.0056475,
        "action_loss_left_gripper": 0.000715,
        "action_loss_right_arm_0": 0.00062,
        "action_loss_right_arm_1": 0.000565,
        "action_loss_right_arm_2": 0.0015075,
        "action_loss_right_arm_3": 0.0008425,
        "action_loss_right_arm_4": 0.0006275,
        "action_loss_right_arm_5": 0.0006525,
        "action_loss_right_arm_6": 0.000795,
        "action_loss_right_gripper": 0.000415,
        "action_loss_trunk_0": 0.0048775,
        "action_loss_trunk_1": 0.0010925,
        "action_loss_trunk_2": 0.0011375,
        "action_loss_trunk_3": 0.0010475,
        "fast_accuracy": 0.9977199999999999,
        "fast_loss": 0.0104275,
        "grad_norm": 0.073205,
        "loss": 0.0027475,
        "param_norm": 1901.1657424999999,
        "subtask_accuracy": 0.999345,
        "subtask_loss": 0.00123,
        "total_loss": 0.0027475
      }
    }
  },
  "mix_h50_c50": {
    "logged_steps": 600,
    "buckets": {
      "0-999": {
        "action_loss": 0.209345,
        "action_loss_base_vel_x": 0.1386075,
        "action_loss_base_vel_y": 0.2022675,
        "action_loss_base_vel_z": 0.66814,
        "action_loss_left_arm_0": 0.4114175,
        "action_loss_left_arm_1": 0.2295225,
        "action_loss_left_arm_2": 0.400275,
        "action_loss_left_arm_3": 0.1886425,
        "action_loss_left_arm_4": 0.6527000000000001,
        "action_loss_left_arm_5": 0.373365,
        "action_loss_left_arm_6": 0.4859375,
        "action_loss_left_gripper": 0.021005,
        "action_loss_right_arm_0": 0.12129,
        "action_loss_right_arm_1": 0.20944,
        "action_loss_right_arm_2": 0.2790475,
        "action_loss_right_arm_3": 0.2116625,
        "action_loss_right_arm_4": 0.1515425,
        "action_loss_right_arm_5": 0.191445,
        "action_loss_right_arm_6": 0.2348725,
        "action_loss_right_gripper": 0.030445,
        "action_loss_trunk_0": 0.270395,
        "action_loss_trunk_1": 0.1540025,
        "action_loss_trunk_2": 0.13409000000000001,
        "action_loss_trunk_3": 0.928295,
        "codegen_action_loss": 0.2890225,
        "codegen_fast_accuracy": 0.8621,
        "codegen_fast_loss": 0.46012,
        "codegen_loss": 0.39064,
        "codegen_sample_count": 64.0,
        "codegen_subtask_accuracy": 0.8052575,
        "codegen_subtask_loss": 0.7860025,
        "fast_accuracy": 0.86199,
        "fast_loss": 0.45658,
        "grad_norm": 1.265245,
        "human_action_loss": 0.12966,
        "human_fast_accuracy": 0.8618675,
        "human_fast_loss": 0.4530425,
        "human_loss": 0.16199,
        "human_sample_count": 64.0,
        "human_subtask_accuracy": 0.9658075,
        "human_subtask_loss": 0.0968875,
        "loss": 0.2763175,
        "param_norm": 1892.951065,
        "subtask_accuracy": 0.88554,
        "subtask_accuracy_per_sample": 0.88554,
        "subtask_loss": 0.44145,
        "subtask_loss_per_sample": 0.44145,
        "total_loss": 0.2763175
      },
      "4000-4999": {
        "action_loss": 0.057245,
        "action_loss_base_vel_x": 0.0537825,
        "action_loss_base_vel_y": 0.07044,
        "action_loss_base_vel_z": 0.09771,
        "action_loss_left_arm_0": 0.076645,
        "action_loss_left_arm_1": 0.11127,
        "action_loss_left_arm_2": 0.0907,
        "action_loss_left_arm_3": 0.0931075,
        "action_loss_left_arm_4": 0.100355,
        "action_loss_left_arm_5": 0.0955275,
        "action_loss_left_arm_6": 0.090665,
        "action_loss_left_gripper": 0.00847,
        "action_loss_right_arm_0": 0.06447,
        "action_loss_right_arm_1": 0.1344725,
        "action_loss_right_arm_2": 0.127075,
        "action_loss_right_arm_3": 0.11569,
        "action_loss_right_arm_4": 0.0974475,
        "action_loss_right_arm_5": 0.115325,
        "action_loss_right_arm_6": 0.14335,
        "action_loss_right_gripper": 0.01268,
        "action_loss_trunk_0": 0.0493225,
        "action_loss_trunk_1": 0.0361075,
        "action_loss_trunk_2": 0.0385625,
        "action_loss_trunk_3": 0.0058375,
        "codegen_action_loss": 0.0234,
        "codegen_fast_accuracy": 0.948195,
        "codegen_fast_loss": 0.13734,
        "codegen_loss": 0.03822,
        "codegen_sample_count": 64.0,
        "codegen_subtask_accuracy": 0.97159,
        "codegen_subtask_loss": 0.07955,
        "fast_accuracy": 0.9076775,
        "fast_loss": 0.2791675,
        "grad_norm": 0.297905,
        "human_action_loss": 0.0911,
        "human_fast_accuracy": 0.8671575,
        "human_fast_loss": 0.4209925,
        "human_loss": 0.11740249999999999,
        "human_sample_count": 64.0,
        "human_subtask_accuracy": 0.982515,
        "human_subtask_loss": 0.0525275,
        "loss": 0.077815,
        "param_norm": 1898.5074775,
        "subtask_accuracy": 0.977055,
        "subtask_accuracy_per_sample": 0.977055,
        "subtask_loss": 0.0660375,
        "subtask_loss_per_sample": 0.0660375,
        "total_loss": 0.077815
      },
      "9000-9999": {
        "action_loss": 0.02879,
        "action_loss_base_vel_x": 0.0287,
        "action_loss_base_vel_y": 0.037692500000000004,
        "action_loss_base_vel_z": 0.055385000000000004,
        "action_loss_left_arm_0": 0.032175,
        "action_loss_left_arm_1": 0.0574375,
        "action_loss_left_arm_2": 0.044085,
        "action_loss_left_arm_3": 0.0487075,
        "action_loss_left_arm_4": 0.046665,
        "action_loss_left_arm_5": 0.0488325,
        "action_loss_left_arm_6": 0.0423,
        "action_loss_left_gripper": 0.003975,
        "action_loss_right_arm_0": 0.0321725,
        "action_loss_right_arm_1": 0.06993,
        "action_loss_right_arm_2": 0.06343,
        "action_loss_right_arm_3": 0.0600425,
        "action_loss_right_arm_4": 0.0534925,
        "action_loss_right_arm_5": 0.06121,
        "action_loss_right_arm_6": 0.07298,
        "action_loss_right_gripper": 0.006005,
        "action_loss_trunk_0": 0.0208075,
        "action_loss_trunk_1": 0.0145975,
        "action_loss_trunk_2": 0.0164925,
        "action_loss_trunk_3": 0.0024925,
        "codegen_action_loss": 0.010624999999999999,
        "codegen_fast_accuracy": 0.9701475,
        "codegen_fast_loss": 0.0773225,
        "codegen_loss": 0.0165025,
        "codegen_sample_count": 64.0,
        "codegen_subtask_accuracy": 0.992895,
        "codegen_subtask_loss": 0.0201375,
        "fast_accuracy": 0.9265325,
        "fast_loss": 0.2120225,
        "grad_norm": 0.1734175,
        "human_action_loss": 0.0469575,
        "human_fast_accuracy": 0.8829225,
        "human_fast_loss": 0.3467325,
        "human_loss": 0.0660475,
        "human_sample_count": 64.0,
        "human_subtask_accuracy": 0.994465,
        "human_subtask_loss": 0.0175175,
        "loss": 0.04128,
        "param_norm": 1901.9056275,
        "subtask_accuracy": 0.99369,
        "subtask_accuracy_per_sample": 0.99369,
        "subtask_loss": 0.0188275,
        "subtask_loss_per_sample": 0.0188275,
        "total_loss": 0.04128
      },
      "14000-14999": {
        "action_loss": 0.0161675,
        "action_loss_base_vel_x": 0.01662,
        "action_loss_base_vel_y": 0.021505,
        "action_loss_base_vel_z": 0.024195,
        "action_loss_left_arm_0": 0.0187025,
        "action_loss_left_arm_1": 0.0340125,
        "action_loss_left_arm_2": 0.02476,
        "action_loss_left_arm_3": 0.0281875,
        "action_loss_left_arm_4": 0.0265825,
        "action_loss_left_arm_5": 0.027674999999999998,
        "action_loss_left_arm_6": 0.024615,
        "action_loss_left_gripper": 0.002065,
        "action_loss_right_arm_0": 0.0191575,
        "action_loss_right_arm_1": 0.0395125,
        "action_loss_right_arm_2": 0.035205,
        "action_loss_right_arm_3": 0.034755,
        "action_loss_right_arm_4": 0.03009,
        "action_loss_right_arm_5": 0.035715,
        "action_loss_right_arm_6": 0.040995000000000004,
        "action_loss_right_gripper": 0.003185,
        "action_loss_trunk_0": 0.01106,
        "action_loss_trunk_1": 0.00707,
        "action_loss_trunk_2": 0.0087475,
        "action_loss_trunk_3": 0.0016325,
        "codegen_action_loss": 0.0052225,
        "codegen_fast_accuracy": 0.9825325,
        "codegen_fast_loss": 0.0501375,
        "codegen_loss": 0.008095,
        "codegen_sample_count": 64.0,
        "codegen_subtask_accuracy": 0.998445,
        "codegen_subtask_loss": 0.003635,
        "fast_accuracy": 0.94087,
        "fast_loss": 0.1693325,
        "grad_norm": 0.114835,
        "human_action_loss": 0.0271125,
        "human_fast_accuracy": 0.899215,
        "human_fast_loss": 0.288535,
        "human_loss": 0.0420225,
        "human_sample_count": 64.0,
        "human_subtask_accuracy": 0.9981025,
        "human_subtask_loss": 0.0048575,
        "loss": 0.02506,
        "param_norm": 1902.2299875,
        "subtask_accuracy": 0.998275,
        "subtask_accuracy_per_sample": 0.998275,
        "subtask_loss": 0.0042474999999999995,
        "subtask_loss_per_sample": 0.0042474999999999995,
        "total_loss": 0.02506
      }
    }
  }
}