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openarm_g_decoder_amortized_ik_cot_20260810

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openarm_g_decoder_amortized_ik_cot_20260810
File size: 2,806 Bytes
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{
  "g_ro": {
    "summary": {
      "rows": 7328,
      "groups": 208,
      "horizon": 16,
      "shards": 6,
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    "shapes": {
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      ],
      "q0": [
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      ],
      "joints": [
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      ],
      "q_true": [
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        16,
        13
      ],
      "has_ik": [
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      ],
      "is_human": [
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      ]
    },
    "dtypes": {
      "intent": "torch.float32",
      "q0": "torch.float32",
      "joints": "torch.float32",
      "q_true": "torch.float32",
      "has_ik": "torch.float32",
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    "episode_groups": {
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    "masks": {
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      "is_human_mean": 0.0,
      "human_rows_with_ik": 0,
      "robot_rows_without_ik": 0
    },
    "anchor_step_invariant": {
      "dpos0_absmax": 3.312994323323437e-11,
      "drot6d0_max_dev_from_I": 5.371230527018156e-07,
      "q_true0_eq_q0_maxabs": 0.0
    },
    "nonfinite": {
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      "joints": 0,
      "q_true": 0
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  "g_cot": {
    "summary": {
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      "groups": 687,
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      "robot_train": 6326,
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      "human_train": 7110,
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      ],
      "q0": [
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      "joints": [
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      ],
      "q_true": [
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      "has_ik": [
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    "dtypes": {
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      "q0": "torch.float32",
      "joints": "torch.float32",
      "q_true": "torch.float32",
      "has_ik": "torch.float32",
      "is_human": "torch.float32"
    },
    "episode_groups": {
      "train": 611,
      "val": 76,
      "overlap": 0
    },
    "masks": {
      "has_ik_mean": 0.48175662755966187,
      "is_human_mean": 0.5182433724403381,
      "human_rows_with_ik": 0,
      "robot_rows_without_ik": 0
    },
    "human_q0_is_robot_sourced": true,
    "human_joints_all_zero": true,
    "anchor_step_invariant": {
      "dpos0_absmax": 3.312994323323437e-11,
      "drot6d0_max_dev_from_I": 5.957811666235102e-07,
      "q_true0_eq_q0_maxabs": 0.0
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    "nonfinite": {
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      "joints": 0,
      "q_true": 0
    },
    "robot_val_episodes": 29
  },
  "robot_split_identical_across_arms": {
    "identical": true,
    "only_in_g_ro": 0,
    "only_in_g_cot": 0
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}