{ "name": "policy_postprocessor", "steps": [ { "registry_name": "groot_n1_7_action_decode_v1", "config": { "env_action_dim": 8, "raw_stats": { "state": { "single_arm": { "min": [ 1.016392469406128, 0.9842260479927063, 0.38041195273399353, -1.2119566202163696, -2.0123820304870605, 0.7702138423919678, -1.114113450050354 ], "max": [ 2.213618516921997, 2.222292900085449, 1.1262784004211426, 1.399178147315979, -1.0658725500106812, 1.8290003538131714, 1.0053969621658325 ], "mean": [ 1.6580995321273804, 1.5800426006317139, 0.7463675141334534, 0.023621203377842903, -1.613761067390442, 1.433997631072998, 0.04037246108055115 ], "std": [ 0.14867353439331055, 0.1350315809249878, 0.05833665654063225, 0.2807048261165619, 0.059966955333948135, 0.1698194295167923, 0.2097092866897583 ], "count": [ 258894 ], "q01": [ 1.3223137855529785, 1.2973556518554688, 0.5804441571235657, -0.8257002234458923, -1.7528353929519653, 1.0035817623138428, -0.546689510345459 ], "q10": [ 1.4372786283493042, 1.4320076704025269, 0.6849893927574158, -0.16233307123184204, -1.6759873628616333, 1.2015022039413452, -0.2001718133687973 ], "q50": [ 1.675097107887268, 1.561039924621582, 0.7440513372421265, -0.0022165682166814804, -1.6188278198242188, 1.4551856517791748, 0.04029965400695801 ], "q90": [ 1.8263822793960571, 1.770346760749817, 0.8153828978538513, 0.3146549463272095, -1.5442323684692383, 1.638550043106079, 0.27619311213493347 ], "q99": [ 2.018822431564331, 1.9452043771743774, 0.9074863791465759, 1.0252985954284668, -1.422756314277649, 1.7129533290863037, 0.6166134476661682 ] }, "gripper_gripper_0": { "min": [ 0.0 ], "max": [ 1.0 ], "mean": [ 0.48771095275878906 ], "std": [ 0.46820545196533203 ], "count": [ 258894 ], "q01": [ 0.0 ], "q10": [ 0.0 ], "q50": [ 0.4380185008049011 ], "q90": [ 1.0 ], "q99": [ 1.0 ] } }, "action": { "single_arm": { "min": [ 1.0262781381607056, 0.9926483631134033, 0.38462716341018677, -1.1972355842590332, -1.9884840250015259, 0.774806559085846, -1.096129298210144 ], "max": [ 2.1998207569122314, 2.214378595352173, 1.1137241125106812, 1.3853943347930908, -1.0769785642623901, 1.8152267932891846, 0.9834529757499695 ], "mean": [ 1.6584863662719727, 1.5781891345977783, 0.7467601299285889, 0.023641077801585197, -1.6133406162261963, 1.4363056421279907, 0.04031013324856758 ], "std": [ 0.14701244235038757, 0.133366659283638, 0.057230815291404724, 0.2790282070636749, 0.05870342254638672, 0.16623620688915253, 0.20781156420707703 ], "count": [ 258894 ], "q01": [ 1.3263022899627686, 1.2993669509887695, 0.5819317698478699, -0.822272002696991, -1.748929738998413, 1.0114978551864624, -0.5433981418609619 ], "q10": [ 1.4411848783493042, 1.43186616897583, 0.6865300536155701, -0.1610078513622284, -1.6744840145111084, 1.2083922624588013, -0.19851002097129822 ], "q50": [ 1.674325704574585, 1.5588316917419434, 0.7445263862609863, -0.0018843482248485088, -1.618126630783081, 1.4587756395339966, 0.04065634310245514 ], "q90": [ 1.8251564502716064, 1.7645845413208008, 0.8143959045410156, 0.31321096420288086, -1.5455574989318848, 1.6359782218933105, 0.2739392817020416 ], "q99": [ 2.0174179077148438, 1.9415194988250732, 0.9044344425201416, 1.0167129039764404, -1.4254958629608154, 1.7061858177185059, 0.6102249026298523 ] }, "gripper_gripper_0": { "min": [ 0.0 ], "max": [ 1.0 ], "mean": [ 0.4877465069293976 ], "std": [ 0.4702344238758087 ], "count": [ 258894 ], "q01": [ 0.0 ], "q10": [ 0.0 ], "q50": [ 0.4405372142791748 ], "q90": [ 1.0 ], "q99": [ 1.0 ] } }, "relative_action": { "single_arm": { "min": [ [ -0.10270833969116211, -0.16423320770263672, -0.10136181116104126, -0.2946327328681946, -0.1807703971862793, -0.130875825881958, -0.2058502733707428 ], [ -0.11777448654174805, -0.17663609981536865, -0.10906118154525757, -0.33389759063720703, -0.20538318157196045, -0.14529836177825928, -0.23377293348312378 ], [ -0.12871992588043213, -0.18227887153625488, -0.12019634246826172, -0.37182360887527466, -0.21538305282592773, -0.16060101985931396, -0.26043352484703064 ], [ -0.13965344429016113, -0.20233654975891113, -0.12796378135681152, -0.40269792079925537, -0.2277597188949585, -0.17272734642028809, -0.28421294689178467 ], [ -0.15024018287658691, -0.22636449337005615, -0.1394822597503662, -0.4378754198551178, -0.24182868003845215, -0.18313705921173096, -0.31087353825569153 ], [ -0.16065752506256104, -0.24577069282531738, -0.14646846055984497, -0.47426939010620117, -0.2533532381057739, -0.19843971729278564, -0.33467042446136475 ], [ -0.16833078861236572, -0.2604367733001709, -0.1555914282798767, -0.5089839696884155, -0.2609860897064209, -0.21056604385375977, -0.3613310158252716 ], [ -0.17668640613555908, -0.27970170974731445, -0.16575437784194946, -0.5465783476829529, -0.2686702013015747, -0.21815919876098633, -0.3782074451446533 ], [ -0.18774354457855225, -0.28636109828948975, -0.1705085039138794, -0.5798792243003845, -0.28273916244506836, -0.2281627655029297, -0.4031095504760742 ], [ -0.1957021951675415, -0.2970935106277466, -0.17694199085235596, -0.6172468066215515, -0.29426372051239014, -0.240997314453125, -0.4286649227142334 ], [ -0.2043243646621704, -0.31953465938568115, -0.1816961169242859, -0.6494531035423279, -0.30671966075897217, -0.25663530826568604, -0.4535670280456543 ], [ -0.21495819091796875, -0.32381439208984375, -0.18583911657333374, -0.6870474815368652, -0.3174712657928467, -0.2704583406448364, -0.4736860394477844 ], [ -0.2250230312347412, -0.34689271450042725, -0.19069010019302368, -0.7203483581542969, -0.331817626953125, -0.28014492988586426, -0.4965397119522095 ], [ -0.23446524143218994, -0.3499034643173218, -0.19428539276123047, -0.7577159404754639, -0.3454486131668091, -0.2928280830383301, -0.5170921087265015 ], [ -0.24457788467407227, -0.3617976903915405, -0.19725877046585083, -0.7885902523994446, -0.3542745113372803, -0.30142366886138916, -0.5255945324897766 ], [ -0.254020094871521, -0.37726151943206787, -0.19982272386550903, -0.8237677812576294, -0.36470961570739746, -0.31524670124053955, -0.5466964840888977 ], [ -0.2628687620162964, -0.38574373722076416, -0.20188993215560913, -0.8476290106773376, -0.3711686134338379, -0.3249332904815674, -0.558334231376648 ], [ -0.2726253271102905, -0.3957096338272095, -0.20290225744247437, -0.8775526285171509, -0.378637433052063, -0.3364989757537842, -0.5750894546508789 ], [ -0.2814739942550659, -0.404660701751709, -0.2045602798461914, -0.9053530693054199, -0.38664841651916504, -0.35032200813293457, -0.5932059288024902 ], [ -0.28641319274902344, -0.4131429195404053, -0.20560753345489502, -0.9277979135513306, -0.39310741424560547, -0.3600085973739624, -0.6071162223815918 ], [ -0.29495203495025635, -0.4231088161468506, -0.20656538009643555, -0.9546203017234802, -0.39844810962677, -0.3721749782562256, -0.6234176158905029 ], [ -0.29989123344421387, -0.42926979064941406, -0.20705407857894897, -0.977086067199707, -0.3996778726577759, -0.3818615674972534, -0.6371183395385742 ], [ -0.30788493156433105, -0.43445324897766113, -0.20714133977890015, -0.9986942410469055, -0.4067033529281616, -0.39548349380493164, -0.6530219316482544 ], [ -0.3132779598236084, -0.4396543502807617, -0.20714133977890015, -1.0263532400131226, -0.41204404830932617, -0.405489444732666, -0.6667227149009705 ], [ -0.3194913864135742, -0.44527721405029297, -0.2070714831352234, -1.043874979019165, -0.41624152660369873, -0.4193124771118164, -0.6805108785629272 ], [ -0.32258105278015137, -0.4530513286590576, -0.2070714831352234, -1.064307451248169, -0.41938316822052, -0.4350011348724365, -0.6955032348632812 ], [ -0.3271503448486328, -0.4592123031616211, -0.20693188905715942, -1.0792526006698608, -0.4215816259384155, -0.45063912868499756, -0.7061846852302551 ], [ -0.33088159561157227, -0.46439576148986816, -0.20675736665725708, -1.097782850265503, -0.42456674575805664, -0.46446216106414795, -0.7214388251304626 ], [ -0.3341735601425171, -0.47112178802490234, -0.20675736665725708, -1.1127279996871948, -0.4277280569076538, -0.4741487503051758, -0.7320865392684937 ], [ -0.3342325687408447, -0.4772827625274658, -0.20724987983703613, -1.125399112701416, -0.4311816692352295, -0.4776580333709717, -0.7379159331321716 ], [ -0.33770573139190674, -0.4824662208557129, -0.211048424243927, -1.1401662826538086, -0.43381261825561523, -0.4944643974304199, -0.7478817701339722 ], [ -0.3413360118865967, -0.4878779649734497, -0.21356737613677979, -1.1528373956680298, -0.43677055835723877, -0.4997348189353943, -0.7543394565582275 ], [ -0.3446279764175415, -0.4930614233016968, -0.21689528226852417, -1.1654611825942993, -0.43930351734161377, -0.5094214081764221, -0.7634395956993103 ], [ -0.3481781482696533, -0.49826252460479736, -0.2206858992576599, -1.1781322956085205, -0.4413849115371704, -0.5153734683990479, -0.7696589231491089 ], [ -0.3504225015640259, -0.5020531415939331, -0.22307658195495605, -1.188580870628357, -0.44556665420532227, -0.5297370553016663, -0.7792765498161316 ], [ -0.35536015033721924, -0.5059804916381836, -0.2306731939315796, -1.195090889930725, -0.4473123550415039, -0.5352702140808105, -0.7866838574409485 ], [ -0.3566654920578003, -0.5110796689987183, -0.23131024837493896, -1.2073392868041992, -0.4521815776824951, -0.5465799570083618, -0.7950717806816101 ], [ -0.3598743677139282, -0.5185471773147583, -0.23440927267074585, -1.2140214443206787, -0.4527324438095093, -0.5506461262702942, -0.802479088306427 ], [ -0.36158180236816406, -0.5294381380081177, -0.23915106058120728, -1.2205314636230469, -0.45543932914733887, -0.5622002482414246, -0.8089367747306824 ], [ -0.3648737668991089, -0.5372570753097534, -0.24346143007278442, -1.2269402742385864, -0.4571603536605835, -0.5705428719520569, -0.8142077326774597 ] ], "max": [ [ 0.10294318199157715, 0.14503753185272217, 0.13492870330810547, 0.2446710765361786, 0.20180940628051758, 0.2769676446914673, 0.21751359105110168 ], [ 0.11457586288452148, 0.16301298141479492, 0.14328008890151978, 0.26164209842681885, 0.20792949199676514, 0.28321945667266846, 0.23692864179611206 ], [ 0.1215595006942749, 0.17909348011016846, 0.15102064609527588, 0.31001928448677063, 0.21403145790100098, 0.2959117889404297, 0.24347364902496338 ], [ 0.13566231727600098, 0.19532537460327148, 0.15102064609527588, 0.3199261426925659, 0.21403145790100098, 0.30573511123657227, 0.2624278664588928 ], [ 0.14330410957336426, 0.21129930019378662, 0.15132302045822144, 0.34718820452690125, 0.21403145790100098, 0.305874228477478, 0.27664539217948914 ], [ 0.14869999885559082, 0.2297428846359253, 0.15942150354385376, 0.3948705196380615, 0.221482515335083, 0.3075622320175171, 0.2960604429244995 ], [ 0.16439056396484375, 0.24499714374542236, 0.16025346517562866, 0.40031489729881287, 0.23052966594696045, 0.3334084749221802, 0.3098485469818115 ], [ 0.17268598079681396, 0.2619093656539917, 0.16025346517562866, 0.42963916063308716, 0.24017071723937988, 0.3453068733215332, 0.32328760623931885 ], [ 0.1807161569595337, 0.2771984338760376, 0.16055583953857422, 0.4599987864494324, 0.24362504482269287, 0.366754412651062, 0.3389431834220886 ], [ 0.1919724941253662, 0.2962050437927246, 0.16865432262420654, 0.47580230236053467, 0.25069499015808105, 0.3850424289703369, 0.3474777936935425 ], [ 0.20298314094543457, 0.30760204792022705, 0.16865432262420654, 0.5149821639060974, 0.25800108909606934, 0.3975493907928467, 0.3568677306175232 ], [ 0.2115401029586792, 0.3187427520751953, 0.16958141326904297, 0.5367430448532104, 0.26764214038848877, 0.41089820861816406, 0.3710365295410156 ], [ 0.22269189357757568, 0.33142757415771484, 0.17354828119277954, 0.553354024887085, 0.27109646797180176, 0.43222904205322266, 0.3799932599067688 ], [ 0.23025941848754883, 0.3479156494140625, 0.18318533897399902, 0.570993185043335, 0.2754427194595337, 0.4528414011001587, 0.3933974504470825 ], [ 0.2320239543914795, 0.35931265354156494, 0.18780207633972168, 0.5930976271629333, 0.2756948471069336, 0.4677068591117859, 0.401523619890213 ], [ 0.25059473514556885, 0.3693748712539673, 0.19209027290344238, 0.6089011430740356, 0.2775207757949829, 0.4897202253341675, 0.41323351860046387 ], [ 0.2564659118652344, 0.38285720348358154, 0.20350217819213867, 0.6480810046195984, 0.2809751033782959, 0.5124495625495911, 0.4261235296726227 ], [ 0.26481497287750244, 0.3929194211959839, 0.21182721853256226, 0.6698418855667114, 0.28532135486602783, 0.5250781178474426, 0.4386201500892639 ], [ 0.27133405208587646, 0.40370821952819824, 0.214028000831604, 0.6864528656005859, 0.29219603538513184, 0.5413541793823242, 0.4471547603607178 ], [ 0.2776695489883423, 0.4108220338821411, 0.2202441692352295, 0.7040920257568359, 0.3033177852630615, 0.557533323764801, 0.4683268666267395 ], [ 0.2787896394729614, 0.42098426818847656, 0.22349774837493896, 0.7196674942970276, 0.31660962104797363, 0.5695926547050476, 0.4778457581996918 ], [ 0.28610801696777344, 0.42950236797332764, 0.22635281085968018, 0.7324420213699341, 0.3248685598373413, 0.5860694050788879, 0.49286556243896484 ], [ 0.29295623302459717, 0.4361337423324585, 0.23012274503707886, 0.744468629360199, 0.3268392086029053, 0.6009745001792908, 0.5065105557441711 ], [ 0.2989625930786133, 0.4449690580368042, 0.23437684774398804, 0.7572431564331055, 0.33303678035736084, 0.6130338311195374, 0.514014720916748 ], [ 0.30376577377319336, 0.45118248462677, 0.23868435621261597, 0.7773474454879761, 0.3379397392272949, 0.6220397353172302, 0.5210002660751343 ], [ 0.30954885482788086, 0.46011853218078613, 0.24279379844665527, 0.793561577796936, 0.33888041973114014, 0.6308258175849915, 0.5346452593803406 ], [ 0.31424927711486816, 0.4659613370895386, 0.24604737758636475, 0.8162333965301514, 0.33888041973114014, 0.6410817503929138, 0.5459550619125366 ], [ 0.3196287155151367, 0.4713221788406372, 0.2473534345626831, 0.8286775350570679, 0.34721338748931885, 0.6528744101524353, 0.5572918653488159 ], [ 0.32505881786346436, 0.4762613773345947, 0.2515155076980591, 0.8463578224182129, 0.3551546335220337, 0.6630086302757263, 0.5678019523620605 ], [ 0.33084189891815186, 0.4798901081085205, 0.25430065393447876, 0.8577373027801514, 0.35916876792907715, 0.6720145344734192, 0.5902000069618225 ], [ 0.33441162109375, 0.4848588705062866, 0.2549813389778137, 0.8749542236328125, 0.36363697052001953, 0.6780030131340027, 0.594336211681366 ], [ 0.33984172344207764, 0.48979806900024414, 0.25660449266433716, 0.886333703994751, 0.36623549461364746, 0.6851628422737122, 0.6026442646980286 ], [ 0.34562480449676514, 0.4918893575668335, 0.25885599851608276, 0.8981146812438965, 0.370120644569397, 0.6898655295372009, 0.6183347105979919 ], [ 0.34860968589782715, 0.49565649032592773, 0.26053154468536377, 0.9122273325920105, 0.37378787994384766, 0.6955211758613586, 0.629644513130188 ], [ 0.3527299165725708, 0.49893343448638916, 0.2625560760498047, 0.923606812953949, 0.3752405643463135, 0.6999337077140808, 0.6354040503501892 ], [ 0.35677170753479004, 0.5000156164169312, 0.2645108103752136, 0.937111496925354, 0.3800562620162964, 0.7097597718238831, 0.6439911127090454 ], [ 0.35677170753479004, 0.5046027898788452, 0.2677989602088928, 0.9484909772872925, 0.38407039642333984, 0.7187656760215759, 0.6498030424118042 ], [ 0.3619832992553711, 0.5063831806182861, 0.278156578540802, 0.960271954536438, 0.3885385990142822, 0.7268642783164978, 0.6542181372642517 ], [ 0.3635610342025757, 0.5074653625488281, 0.28250938653945923, 0.9675499200820923, 0.3900846242904663, 0.7388197779655457, 0.6599776744842529 ], [ 0.36779582500457764, 0.5104451179504395, 0.28929173946380615, 0.9790167808532715, 0.3940821886062622, 0.7478256821632385, 0.6685647368431091 ] ], "mean": [ [ 0.00038854507147334516, -0.002006127731874585, 0.00043062877375632524, 6.71368661642191e-06, 0.00045981581206433475, 0.002588451374322176, -6.828163895988837e-05 ], [ 0.00026443053502589464, -0.0020908776205033064, 0.00045526030589826405, 0.00011990886559942737, 0.0005015743081457913, 0.002591722412034869, -6.973451672820374e-05 ], [ 0.0001403691858286038, -0.0021755904890596867, 0.00047977041685953736, 0.00023281823087017983, 0.0005432571051642299, 0.0025950237177312374, -7.119408837752417e-05 ], [ 1.6412537661381066e-05, -0.0022602363023906946, 0.0005040700198151171, 0.0003453512326814234, 0.0005847960710525513, 0.0025983855593949556, -7.26492507965304e-05 ], [ -0.0001073828389053233, -0.0023448863066732883, 0.0005282341735437512, 0.0004574361664708704, 0.0006262569804675877, 0.002601721789687872, -7.435223960783333e-05 ], [ -0.00023104657884687185, -0.0024296091869473457, 0.0005522691644728184, 0.0005695514264516532, 0.0006676386692561209, 0.0026050840970128775, -7.632589404238388e-05 ], [ -0.0003542214399203658, -0.0025144717656075954, 0.0005761565989814699, 0.0006815322558395565, 0.0007089118589647114, 0.0026085651479661465, -7.898933108663186e-05 ], [ -0.0004768010403495282, -0.0025997210759669542, 0.000600018713157624, 0.0007939800270833075, 0.0007502265507355332, 0.002612329786643386, -8.242988405982032e-05 ], [ -0.0005985031602904201, -0.002685395535081625, 0.0006239954964257777, 0.0009067414212040603, 0.0007917882176116109, 0.002616517711430788, -8.734353468753397e-05 ], [ -0.0007191593758761883, -0.002771602012217045, 0.0006481684395112097, 0.0010202201083302498, 0.0008335878956131637, 0.0026217445265501738, -9.356412920169532e-05 ], [ -0.0008385038236156106, -0.002858260413631797, 0.0006725441198796034, 0.001134499441832304, 0.0008756394381634891, 0.0026282554026693106, -0.00010130449663847685 ], [ -0.0009563686326146126, -0.002945502055808902, 0.0006971087423153222, 0.0012492509558796883, 0.0009179012267850339, 0.002636206103488803, -0.00011025126877939329 ], [ -0.0010725060710683465, -0.0030334603507071733, 0.0007220429251901805, 0.0013647018931806087, 0.0009605768718756735, 0.0026462185196578503, -0.00012038814747938886 ], [ -0.0011866939021274447, -0.0031222051475197077, 0.0007472984143532813, 0.0014806693652644753, 0.0010035436134785414, 0.0026585992891341448, -0.0001315283589065075 ], [ -0.0012988572707399726, -0.0032117473892867565, 0.0007729940698482096, 0.0015970290405675769, 0.0010469252010807395, 0.002673374954611063, -0.000143771234434098 ], [ -0.0014087206218391657, -0.0033021108247339725, 0.0007990251760929823, 0.0017140699783340096, 0.0010905961971729994, 0.0026910030283033848, -0.000156957539729774 ], [ -0.0015161138726398349, -0.003393263090401888, 0.000825443712528795, 0.0018315885681658983, 0.0011346472892910242, 0.0027119440492242575, -0.00017129952902905643 ], [ -0.0016211027977988124, -0.0034853285178542137, 0.0008523411815986037, 0.001949785160832107, 0.001179152401164174, 0.002736159600317478, -0.00018688601267058402 ], [ -0.00172326248139143, -0.0035783168859779835, 0.0008797361515462399, 0.002068693982437253, 0.001224049599841237, 0.002763906493782997, -0.00020408780255820602 ], [ -0.0018224481027573347, -0.003672173945233226, 0.0009073629626072943, 0.0021882345899939537, 0.00126919976901263, 0.002795293927192688, -0.00022263074060902 ], [ -0.0019185702549293637, -0.0037669185549020767, 0.0009352891938760877, 0.002308469032868743, 0.0013146360870450735, 0.00283038173802197, -0.00024274439783766866 ], [ -0.0020112907513976097, -0.003862421726807952, 0.0009634028538130224, 0.002429458312690258, 0.0013602003455162048, 0.002869655843824148, -0.0002645717468112707 ], [ -0.002100503770634532, -0.003958872519433498, 0.0009914730908349156, 0.002551305340602994, 0.001405701506882906, 0.002913043135777116, -0.0002878594386857003 ], [ -0.002186155878007412, -0.004056024365127087, 0.0010195579379796982, 0.0026736499276012182, 0.0014511131448671222, 0.0029607845935970545, -0.00031274333014152944 ], [ -0.0022680675610899925, -0.0041540623642504215, 0.0010477405739948153, 0.0027965714689344168, 0.0014965938171371818, 0.0030134404078125954, -0.0003393687366042286 ], [ -0.0023461475502699614, -0.004253066144883633, 0.0010760319419205189, 0.002919888123869896, 0.0015421529533341527, 0.0030711323488503695, -0.00036782267852686346 ], [ -0.0024204528890550137, -0.004352981224656105, 0.0011044004932045937, 0.0030438308604061604, 0.0015877331607043743, 0.003133677178993821, -0.00039818952791392803 ], [ -0.0024907561019062996, -0.004453736357390881, 0.001132799545302987, 0.003168412484228611, 0.0016332595841959119, 0.0032014059834182262, -0.00043064579949714243 ], [ -0.0025569177232682705, -0.004555566236376762, 0.0011611790396273136, 0.0032933223992586136, 0.0016786985797807574, 0.003274402115494013, -0.000464736542198807 ], [ -0.0026190360076725483, -0.0046583255752921104, 0.0011894822819158435, 0.0034185312688350677, 0.0017240132438018918, 0.0033524958416819572, -0.000500521797221154 ], [ -0.002676913281902671, -0.0047620446421206, 0.0012178504839539528, 0.0035438279155641794, 0.0017693527042865753, 0.003436120692640543, -0.0005384038086049259 ], [ -0.002730540232732892, -0.004866668023169041, 0.0012461908627301455, 0.003669371362775564, 0.0018145351205021143, 0.003525059437379241, -0.0005779126076959074 ], [ -0.0027799163945019245, -0.004972198512405157, 0.001274332869797945, 0.0037948868703097105, 0.0018593919230625033, 0.003619647119194269, -0.0006191669963300228 ], [ -0.00282483734190464, -0.005078553222119808, 0.0013022423954680562, 0.003920583985745907, 0.0019040195038542151, 0.003719557775184512, -0.0006620854255743325 ], [ -0.002865320537239313, -0.005185929127037525, 0.0013299891725182533, 0.004046143498271704, 0.0019484300864860415, 0.003824930638074875, -0.0007067297701723874 ], [ -0.0029012877494096756, -0.005294039845466614, 0.0013573456089943647, 0.004171620588749647, 0.001992463367059827, 0.0039357407949864864, -0.0007531416486017406 ], [ -0.0029327375814318657, -0.005402982700616121, 0.001384500996209681, 0.004296864848583937, 0.0020362399518489838, 0.004052179399877787, -0.0008011891040951014 ], [ -0.0029594681691378355, -0.005512766540050507, 0.0014113973593339324, 0.004421740770339966, 0.002079768106341362, 0.004174606408923864, -0.0008510772604495287 ], [ -0.0029817360918968916, -0.005623298231512308, 0.001437907456420362, 0.004546359181404114, 0.0021227924153208733, 0.004302338697016239, -0.0009023312013596296 ], [ -0.002999194199219346, -0.005734285805374384, 0.0014637362910434604, 0.004670300986617804, 0.0021651305723935366, 0.004435584414750338, -0.0009548352682031691 ] ], "std": [ [ 0.014774487353861332, 0.017870206385850906, 0.010348417796194553, 0.023207690566778183, 0.011800556443631649, 0.026824593544006348, 0.02011195383965969 ], [ 0.01678120344877243, 0.020047510042786598, 0.011429942212998867, 0.026616137474775314, 0.012978000566363335, 0.030005931854248047, 0.02273121476173401 ], [ 0.018797265365719795, 0.02222592383623123, 0.012499031610786915, 0.03001413494348526, 0.014143234118819237, 0.03320295736193657, 0.02534944750368595 ], [ 0.0208167415112257, 0.024400245398283005, 0.013553190976381302, 0.033407844603061676, 0.015293681994080544, 0.036403726786375046, 0.02796495519578457 ], [ 0.02283662185072899, 0.026567768305540085, 0.014589793980121613, 0.036805473268032074, 0.01642637699842453, 0.03959997743368149, 0.03057851828634739 ], [ 0.024849891662597656, 0.02872094325721264, 0.015607924200594425, 0.0401909276843071, 0.01754014566540718, 0.04278206080198288, 0.03317956253886223 ], [ 0.02685384452342987, 0.030857324600219727, 0.016606800258159637, 0.04356161132454872, 0.018634658306837082, 0.04594479873776436, 0.03576505556702614 ], [ 0.028847012668848038, 0.03297502174973488, 0.017585983499884605, 0.04692045971751213, 0.019709188491106033, 0.04908192902803421, 0.038334768265485764 ], [ 0.03082713484764099, 0.035070959478616714, 0.018545690923929214, 0.050261490046978, 0.020764008164405823, 0.05219496786594391, 0.0408860519528389 ], [ 0.03279268369078636, 0.0371444970369339, 0.01948619820177555, 0.0535830594599247, 0.021799389272928238, 0.055281322449445724, 0.043416425585746765 ], [ 0.0347428172826767, 0.03919539973139763, 0.020407292991876602, 0.05688777565956116, 0.022815223783254623, 0.05833891034126282, 0.045926183462142944 ], [ 0.036676328629255295, 0.04122134670615196, 0.02130962535738945, 0.06017081066966057, 0.023811904713511467, 0.06136553734540939, 0.04841296374797821 ], [ 0.038593143224716187, 0.043221767991781235, 0.02219369076192379, 0.06342998892068863, 0.02478976920247078, 0.06436086446046829, 0.050876084715127945 ], [ 0.040491800755262375, 0.04519711434841156, 0.023060103878378868, 0.06666702032089233, 0.02574939653277397, 0.06732092797756195, 0.05331668257713318 ], [ 0.04237298294901848, 0.047146160155534744, 0.023909207433462143, 0.06987987458705902, 0.02669169194996357, 0.0702495351433754, 0.05573318526148796 ], [ 0.044234953820705414, 0.04906797781586647, 0.024741627275943756, 0.07306645065546036, 0.02761603519320488, 0.07314663380384445, 0.05812542140483856 ], [ 0.04607902839779854, 0.05096447840332985, 0.025558194145560265, 0.07622875273227692, 0.028524190187454224, 0.07600779831409454, 0.060494229197502136 ], [ 0.04790354520082474, 0.05283430963754654, 0.026359327137470245, 0.07936729490756989, 0.029416173696517944, 0.07883567363023758, 0.06283877044916153 ], [ 0.04970850795507431, 0.0546778105199337, 0.02714546211063862, 0.0824778750538826, 0.030292872339487076, 0.08162858337163925, 0.06515854597091675 ], [ 0.051494400948286057, 0.05649563670158386, 0.027917180210351944, 0.08556462079286575, 0.031154194846749306, 0.08438576757907867, 0.06745503097772598 ], [ 0.053260866552591324, 0.05828672647476196, 0.028675315901637077, 0.08862464129924774, 0.032000474631786346, 0.08710718899965286, 0.06972766667604446 ], [ 0.05500727519392967, 0.06005226448178291, 0.029419448226690292, 0.09165703505277634, 0.03283195197582245, 0.08979392796754837, 0.07197576016187668 ], [ 0.05673399567604065, 0.06179177388548851, 0.030150651931762695, 0.09466478228569031, 0.033649343997240067, 0.09244447201490402, 0.07420147955417633 ], [ 0.058440856635570526, 0.06350468844175339, 0.03086869977414608, 0.0976439118385315, 0.034452684223651886, 0.09505640715360641, 0.07640388607978821 ], [ 0.06012740358710289, 0.06519215553998947, 0.03157421946525574, 0.10059621930122375, 0.03524249047040939, 0.0976366251707077, 0.07858066260814667 ], [ 0.061794351786375046, 0.06685413420200348, 0.03226742893457413, 0.10352332890033722, 0.03601839020848274, 0.10018236935138702, 0.08073551207780838 ], [ 0.06344140321016312, 0.06849146634340286, 0.03294842690229416, 0.10642330348491669, 0.03678174689412117, 0.1026943176984787, 0.08286728709936142 ], [ 0.06506775319576263, 0.07010377198457718, 0.03361773490905762, 0.10929648578166962, 0.037532202899456024, 0.10517114400863647, 0.08497583121061325 ], [ 0.0666746124625206, 0.07169144600629807, 0.0342753604054451, 0.11214437335729599, 0.038270097225904465, 0.10761398077011108, 0.08706323802471161 ], [ 0.06826083362102509, 0.07325521856546402, 0.034921880811452866, 0.11496575176715851, 0.038996294140815735, 0.11002327501773834, 0.08912637829780579 ], [ 0.06982710212469101, 0.07479455322027206, 0.035557474941015244, 0.11776012182235718, 0.03971029445528984, 0.11239908635616302, 0.09116815030574799 ], [ 0.07137280702590942, 0.07631048560142517, 0.036182187497615814, 0.12052857130765915, 0.04041271284222603, 0.11474163085222244, 0.09318851679563522 ], [ 0.07289960980415344, 0.07780317962169647, 0.03679601848125458, 0.12327136099338531, 0.041103463619947433, 0.1170504093170166, 0.09518657624721527 ], [ 0.07440511137247086, 0.07927126437425613, 0.03739941865205765, 0.12598752975463867, 0.04178263619542122, 0.11932659149169922, 0.09716379642486572 ], [ 0.0758911520242691, 0.08071774244308472, 0.03799176961183548, 0.12867936491966248, 0.042451027780771255, 0.12157045304775238, 0.09911894053220749 ], [ 0.0773572325706482, 0.08214046061038971, 0.038574375212192535, 0.1313457190990448, 0.04310805723071098, 0.12378090620040894, 0.10105327516794205 ], [ 0.07880298048257828, 0.08354087173938751, 0.03914602845907211, 0.13398602604866028, 0.043753501027822495, 0.12595891952514648, 0.10296570509672165 ], [ 0.08022858947515488, 0.08491887897253036, 0.039707425981760025, 0.1366017460823059, 0.04438851401209831, 0.1281057447195053, 0.10485868155956268 ], [ 0.08163370937108994, 0.08627425879240036, 0.04025860130786896, 0.13919271528720856, 0.045012060552835464, 0.13021843135356903, 0.10673096776008606 ], [ 0.08301902562379837, 0.0876077339053154, 0.040799643844366074, 0.1417587846517563, 0.04562511667609215, 0.13229912519454956, 0.10858175903558731 ] ], "q01": [ [ -0.03863115236163139, -0.06262006610631943, -0.028668036684393883, -0.09493029862642288, -0.03239348530769348, -0.05764250457286835, -0.06610693037509918 ], [ -0.044174693524837494, -0.06897956132888794, -0.031709279865026474, -0.10864775627851486, -0.03565904498100281, -0.06537242978811264, -0.07470518350601196 ], [ -0.04975593090057373, -0.07511202245950699, -0.034769508987665176, -0.12281860411167145, -0.03894978389143944, -0.07317816466093063, -0.08326602727174759 ], [ -0.05526727810502052, -0.08106469362974167, -0.03775589168071747, -0.13648506999015808, -0.042152583599090576, -0.0807264894247055, -0.09173507988452911 ], [ -0.060965243726968765, -0.08724451810121536, -0.04084304720163345, -0.15049411356449127, -0.045443929731845856, -0.08876120299100876, -0.10039072483778 ], [ -0.06656508892774582, -0.09310996532440186, -0.043901413679122925, -0.16498219966888428, -0.048695094883441925, -0.09671514481306076, -0.10853948444128036 ], [ -0.0722256600856781, -0.09921950846910477, -0.046984076499938965, -0.17824067175388336, -0.05194181576371193, -0.10449941456317902, -0.1172795444726944 ], [ -0.07790981233119965, -0.10521557927131653, -0.04985295981168747, -0.19216059148311615, -0.055089712142944336, -0.11217740178108215, -0.12586189806461334 ], [ -0.08352528512477875, -0.11105134338140488, -0.05248844251036644, -0.20565365254878998, -0.05807054787874222, -0.12015822529792786, -0.13461923599243164 ], [ -0.08890791982412338, -0.11688898503780365, -0.05517110973596573, -0.21931622922420502, -0.06102466583251953, -0.12805446982383728, -0.1432882696390152 ], [ -0.09429199248552322, -0.12275141477584839, -0.05782134458422661, -0.23310858011245728, -0.06387341767549515, -0.1356511265039444, -0.15148024260997772 ], [ -0.09982527047395706, -0.1283445954322815, -0.060477178543806076, -0.24652336537837982, -0.06681028753519058, -0.14339056611061096, -0.15966270864009857 ], [ -0.10504589229822159, -0.1336134672164917, -0.06305018067359924, -0.25910305976867676, -0.06942006945610046, -0.1508975476026535, -0.16794456541538239 ], [ -0.11025539040565491, -0.13911472260951996, -0.06579063087701797, -0.27281653881073, -0.07201877236366272, -0.15846005082130432, -0.17617255449295044 ], [ -0.1152750700712204, -0.14415815472602844, -0.06819690018892288, -0.286184698343277, -0.07456643879413605, -0.1657969057559967, -0.18425458669662476 ], [ -0.12018648535013199, -0.14935842156410217, -0.07054159790277481, -0.29915666580200195, -0.07721469551324844, -0.17345497012138367, -0.19198834896087646 ], [ -0.12535478174686432, -0.1542864888906479, -0.07309015095233917, -0.31218984723091125, -0.08002102375030518, -0.1809966266155243, -0.20001482963562012 ], [ -0.13029207289218903, -0.1590692400932312, -0.07534747570753098, -0.3257322609424591, -0.08251739293336868, -0.18893307447433472, -0.20728005468845367 ], [ -0.13551177084445953, -0.16393108665943146, -0.07767805457115173, -0.3386281132698059, -0.08499022573232651, -0.19620345532894135, -0.21477140486240387 ], [ -0.14034701883792877, -0.16877314448356628, -0.08022981882095337, -0.3510666489601135, -0.08740489184856415, -0.20345133543014526, -0.2223120629787445 ], [ -0.1452123075723648, -0.17364327609539032, -0.08241927623748779, -0.36385688185691833, -0.08964748680591583, -0.21061015129089355, -0.22971606254577637 ], [ -0.15010422468185425, -0.17840710282325745, -0.08468026667833328, -0.37577536702156067, -0.09180367738008499, -0.21755367517471313, -0.23715804517269135 ], [ -0.1548936665058136, -0.18302547931671143, -0.08673585951328278, -0.38974544405937195, -0.09404972195625305, -0.22445045411586761, -0.2444194108247757 ], [ -0.15960997343063354, -0.18723133206367493, -0.08877477049827576, -0.4015028774738312, -0.09625063091516495, -0.23110723495483398, -0.2520532011985779 ], [ -0.1641375720500946, -0.191420316696167, -0.09067102521657944, -0.41331595182418823, -0.09833329170942307, -0.23773179948329926, -0.25952935218811035 ], [ -0.16880901157855988, -0.19551070034503937, -0.09247929602861404, -0.4258154332637787, -0.10052726417779922, -0.24471569061279297, -0.26702120900154114 ], [ -0.17362774908542633, -0.19981655478477478, -0.09436235576868057, -0.4366314113140106, -0.10255827009677887, -0.2510318458080292, -0.27444514632225037 ], [ -0.17827348411083221, -0.20377476513385773, -0.09611053019762039, -0.44809940457344055, -0.10463576018810272, -0.25751906633377075, -0.2815207839012146 ], [ -0.18288937211036682, -0.2076471745967865, -0.097837895154953, -0.4583328664302826, -0.10688374936580658, -0.26376235485076904, -0.28855302929878235 ], [ -0.18723587691783905, -0.21151714026927948, -0.09947127103805542, -0.4693966209888458, -0.10915729403495789, -0.27036023139953613, -0.2950958013534546 ], [ -0.19169500470161438, -0.2153474986553192, -0.10092107951641083, -0.4804222285747528, -0.11131440103054047, -0.2766615152359009, -0.3021012544631958 ], [ -0.19567809998989105, -0.21922652423381805, -0.10238906741142273, -0.49156707525253296, -0.11318502575159073, -0.28272300958633423, -0.30867359042167664 ], [ -0.19999831914901733, -0.22264398634433746, -0.1038285344839096, -0.5025575160980225, -0.11519283801317215, -0.2890782654285431, -0.3151205778121948 ], [ -0.2040901780128479, -0.22637690603733063, -0.10558675974607468, -0.5132771730422974, -0.1170894205570221, -0.29516851902008057, -0.3216889500617981 ], [ -0.20864786207675934, -0.22964954376220703, -0.10693422704935074, -0.5246436595916748, -0.11872588843107224, -0.3008406162261963, -0.32762375473976135 ], [ -0.21259728074073792, -0.2333904206752777, -0.10820074379444122, -0.5355867743492126, -0.12024389952421188, -0.3063580393791199, -0.33345529437065125 ], [ -0.21672941744327545, -0.236509308218956, -0.10932661592960358, -0.5450868606567383, -0.12190347909927368, -0.31175050139427185, -0.3392455279827118 ], [ -0.22084999084472656, -0.23975500464439392, -0.11085671186447144, -0.5552263259887695, -0.12355665862560272, -0.3174484372138977, -0.3454102575778961 ], [ -0.2249019891023636, -0.24265144765377045, -0.11239262670278549, -0.5648426413536072, -0.12502527236938477, -0.32261574268341064, -0.3506673276424408 ], [ -0.2288944572210312, -0.24625922739505768, -0.1137106865644455, -0.5742166042327881, -0.1265522837638855, -0.32786425948143005, -0.35642144083976746 ] ], "q99": [ [ 0.04596281051635742, 0.04209522902965546, 0.03290864825248718, 0.05874345079064369, 0.036594271659851074, 0.10783809423446655, 0.05485571175813675 ], [ 0.05095316097140312, 0.047617942094802856, 0.036115359514951706, 0.0679728239774704, 0.0399228073656559, 0.119185671210289, 0.062451574951410294 ], [ 0.05579478293657303, 0.053026098757982254, 0.039132945239543915, 0.07775037735700607, 0.04323900490999222, 0.13021910190582275, 0.06962134689092636 ], [ 0.06070063263177872, 0.0582011342048645, 0.042187631130218506, 0.0867244228720665, 0.046806931495666504, 0.1414022296667099, 0.07702620327472687 ], [ 0.06552505493164062, 0.06357482075691223, 0.0453505702316761, 0.09602800011634827, 0.05003423988819122, 0.15221533179283142, 0.08421943336725235 ], [ 0.07051204144954681, 0.06896393746137619, 0.048400215804576874, 0.10528753697872162, 0.053749579936265945, 0.1631038933992386, 0.09151826053857803 ], [ 0.07538551092147827, 0.07407160103321075, 0.05141492933034897, 0.1145612895488739, 0.05720558762550354, 0.17316186428070068, 0.0988801047205925 ], [ 0.0799703449010849, 0.07927574217319489, 0.054359979927539825, 0.12393729388713837, 0.06027629226446152, 0.18348285555839539, 0.10575921833515167 ], [ 0.08473202586174011, 0.08433360606431961, 0.057421740144491196, 0.13262994587421417, 0.06351648271083832, 0.1938212811946869, 0.11335798352956772 ], [ 0.08939243853092194, 0.0892762839794159, 0.060278527438640594, 0.14178819954395294, 0.06656405329704285, 0.20346681773662567, 0.12046346813440323 ], [ 0.09407992660999298, 0.09425795823335648, 0.06312073022127151, 0.15061748027801514, 0.0699395090341568, 0.21339744329452515, 0.12716194987297058 ], [ 0.09866680204868317, 0.09933845698833466, 0.0659802258014679, 0.15975520014762878, 0.0732523575425148, 0.22326959669589996, 0.13381105661392212 ], [ 0.10331498831510544, 0.10417713224887848, 0.06883396953344345, 0.16841721534729004, 0.07677328586578369, 0.23290492594242096, 0.140384241938591 ], [ 0.10770095139741898, 0.10896134376525879, 0.071696937084198, 0.17709258198738098, 0.07988369464874268, 0.24191930890083313, 0.14672240614891052 ], [ 0.11239416152238846, 0.11366406828165054, 0.07453076541423798, 0.18602779507637024, 0.08317247033119202, 0.2516290843486786, 0.15277695655822754 ], [ 0.11672300845384598, 0.11808142066001892, 0.07729580998420715, 0.1951928734779358, 0.0862567201256752, 0.26100659370422363, 0.15931886434555054 ], [ 0.12110306322574615, 0.12271282076835632, 0.07997705787420273, 0.2039947211742401, 0.08931557089090347, 0.2697543203830719, 0.16556406021118164 ], [ 0.12530925869941711, 0.12729670107364655, 0.08264479041099548, 0.21284013986587524, 0.09245605021715164, 0.27827906608581543, 0.17206691205501556 ], [ 0.12943676114082336, 0.13165539503097534, 0.08527322858572006, 0.22174975275993347, 0.09521320462226868, 0.28653135895729065, 0.1782234013080597 ], [ 0.1334500014781952, 0.13589394092559814, 0.08769185841083527, 0.2304983288049698, 0.09810738265514374, 0.2943468689918518, 0.1844993382692337 ], [ 0.13741017878055573, 0.14009824395179749, 0.09043563902378082, 0.23907870054244995, 0.1008797287940979, 0.3022795617580414, 0.1907757818698883 ], [ 0.14144426584243774, 0.14420413970947266, 0.09304441511631012, 0.24746596813201904, 0.1038004457950592, 0.30966615676879883, 0.19673314690589905 ], [ 0.14536631107330322, 0.14825226366519928, 0.09538453072309494, 0.2556830942630768, 0.10641182214021683, 0.31728774309158325, 0.20270803570747375 ], [ 0.1493244618177414, 0.15241196751594543, 0.09780322015285492, 0.2644612789154053, 0.1091412827372551, 0.3251802325248718, 0.20812103152275085 ], [ 0.15316632390022278, 0.15645183622837067, 0.09998446702957153, 0.2722216844558716, 0.11185725033283234, 0.3325347900390625, 0.21371543407440186 ], [ 0.15676018595695496, 0.16058644652366638, 0.10229692608118057, 0.28084614872932434, 0.11459323018789291, 0.33966439962387085, 0.21960175037384033 ], [ 0.1602841019630432, 0.16443409025669098, 0.10455644875764847, 0.28876420855522156, 0.11716097593307495, 0.34759214520454407, 0.22522306442260742 ], [ 0.16403251886367798, 0.168315127491951, 0.10675755888223648, 0.29764124751091003, 0.11958387494087219, 0.3545856475830078, 0.23073364794254303 ], [ 0.16762620210647583, 0.1721898317337036, 0.10877083241939545, 0.30606043338775635, 0.12188437581062317, 0.3610290288925171, 0.2365090399980545 ], [ 0.1710837036371231, 0.1759447157382965, 0.11077585816383362, 0.31439465284347534, 0.1240352988243103, 0.36795657873153687, 0.24172554910182953 ], [ 0.17464841902256012, 0.17951148748397827, 0.11257606744766235, 0.3224301338195801, 0.12616907060146332, 0.37448105216026306, 0.24735303223133087 ], [ 0.17833258211612701, 0.1830478310585022, 0.1148192286491394, 0.3307165801525116, 0.12838652729988098, 0.3808506429195404, 0.25246840715408325 ], [ 0.18165256083011627, 0.18664108216762543, 0.116409070789814, 0.33821624517440796, 0.13051648437976837, 0.38770976662635803, 0.2581543028354645 ], [ 0.18502716720104218, 0.1901663839817047, 0.11827357858419418, 0.3462565541267395, 0.1326732337474823, 0.3935307562351227, 0.2635170817375183 ], [ 0.1884191483259201, 0.1935369372367859, 0.12015661597251892, 0.3551799952983856, 0.13457272946834564, 0.40033069252967834, 0.268839567899704 ], [ 0.19175013899803162, 0.19685225188732147, 0.12185434252023697, 0.36289823055267334, 0.1366698294878006, 0.4055146872997284, 0.27393820881843567 ], [ 0.19517123699188232, 0.20023460686206818, 0.12341409921646118, 0.37019720673561096, 0.1386459469795227, 0.412332683801651, 0.278726190328598 ], [ 0.1982405036687851, 0.20344115793704987, 0.12472552061080933, 0.37846609950065613, 0.140260711312294, 0.4186052680015564, 0.28408071398735046 ], [ 0.20144276320934296, 0.20672956109046936, 0.12633508443832397, 0.3860318660736084, 0.14214590191841125, 0.4254072904586792, 0.2887914180755615 ], [ 0.20456445217132568, 0.20977605879306793, 0.1278366893529892, 0.3942532539367676, 0.14397543668746948, 0.4314677119255066, 0.29329562187194824 ] ], "count": [ 243294, 243294, 243294, 243294, 243294, 243294, 243294, 243294, 243294, 243294, 243294, 243294, 243294, 243294, 243294, 243294, 243294, 243294, 243294, 243294, 243294, 243294, 243294, 243294, 243294, 243294, 243294, 243294, 243294, 243294, 243294, 243294, 243294, 243294, 243294, 243294, 243294, 243294, 243294, 243294 ] } } }, "modality_config": { "state": { "modality_keys": [ "single_arm", "gripper_gripper_0" ] }, "action": { "modality_keys": [ "single_arm", "gripper_gripper_0" ], "action_configs": [ { "rep": "RELATIVE", "type": "NON_EEF", "format": "DEFAULT", "state_key": null }, { "rep": "ABSOLUTE", "type": "NON_EEF", "format": "DEFAULT", "state_key": null } ], "delta_indices": [ 0, 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 ] }, "video": { "modality_keys": [ "camera_head", "camera_right" ], "delta_indices": [ 0 ] } }, "use_percentiles": true, "use_relative_action": true, "action_decode_transform": null } }, { "registry_name": "device_processor", "config": { "device": "cpu", "float_dtype": null } } ] }