| { |
| "name": "policy_preprocessor", |
| "steps": [ |
| { |
| "registry_name": "rename_observations_processor", |
| "config": { |
| "rename_map": {} |
| } |
| }, |
| { |
| "registry_name": "to_batch_processor", |
| "config": {} |
| }, |
| { |
| "registry_name": "groot_n1_7_pack_inputs_v1", |
| "config": { |
| "state_horizon": 1, |
| "action_horizon": 40, |
| "valid_action_horizon": 16, |
| "video_horizon": null, |
| "max_state_dim": 132, |
| "max_action_dim": 132, |
| "language_key": "task", |
| "formalize_language": true, |
| "embodiment_tag": "new_embodiment", |
| "embodiment_mapping": { |
| "oxe_droid_relative_eef_relative_joint": 24, |
| "xdof_relative_eef_relative_joint": 27, |
| "xdof_relative_eef_relative_joint_subtask": 27, |
| "real_g1_relative_eef_relative_joints": 25, |
| "real_r1_pro_sharpa_relative_eef": 26, |
| "real_r1_pro_sharpa_relative_eef_human": 26, |
| "real_r1_pro_sharpa_relative_eef_maxinsights": 26, |
| "real_r1_pro_sharpa_relative_eef_mecka": 26, |
| "unitree_g1_full_body_with_waist_height_nav_cmd": 25, |
| "simpler_env_google": 0, |
| "simpler_env_widowx": 1, |
| "libero_sim": 2, |
| "new_embodiment": 10 |
| }, |
| "normalize_min_max": true, |
| "state_dropout_prob": 0.0, |
| "clip_outliers": true, |
| "use_percentiles": true, |
| "video_modality_keys": [ |
| "top", |
| "wrist" |
| ], |
| "raw_stats": { |
| "state": { |
| "single_arm": { |
| "min": [ |
| -1.0704972743988037, |
| -1.4349632263183594, |
| -0.4864600598812103, |
| -3.038938045501709, |
| -0.8537593483924866, |
| 1.3975002765655518, |
| -2.861985206604004 |
| ], |
| "max": [ |
| 0.6723297834396362, |
| 1.0555121898651123, |
| 1.9354301691055298, |
| -0.4203089773654938, |
| 1.7037067413330078, |
| 3.1796493530273438, |
| 1.794968843460083 |
| ], |
| "mean": [ |
| -0.07274734228849411, |
| 0.11047476530075073, |
| 0.34034329652786255, |
| -2.338383674621582, |
| -0.09533030539751053, |
| 2.432927370071411, |
| -1.6969068050384521 |
| ], |
| "std": [ |
| 0.2295680046081543, |
| 0.34533560276031494, |
| 0.21959131956100464, |
| 0.3859018087387085, |
| 0.2532283365726471, |
| 0.37838253378868103, |
| 0.9132373929023743 |
| ], |
| "count": [ |
| 81268 |
| ], |
| "q01": [ |
| -0.37950411438941956, |
| -0.37101832032203674, |
| 0.10909007489681244, |
| -2.5777676105499268, |
| -0.4481166899204254, |
| 1.9114000797271729, |
| -2.348773241043091 |
| ], |
| "q10": [ |
| -0.37054234743118286, |
| -0.3507450520992279, |
| 0.1252956986427307, |
| -2.556441307067871, |
| -0.43180641531944275, |
| 1.9485939741134644, |
| -2.326432704925537 |
| ], |
| "q50": [ |
| -0.03478708490729332, |
| 0.12524233758449554, |
| 0.3654513657093048, |
| -2.415640354156494, |
| -0.041647572070360184, |
| 2.528043746948242, |
| -1.6916582584381104 |
| ], |
| "q90": [ |
| 0.12192574143409729, |
| 0.47059324383735657, |
| 0.501556932926178, |
| -1.917724847793579, |
| 0.1785588562488556, |
| 2.8274173736572266, |
| -1.2325464487075806 |
| ], |
| "q99": [ |
| 0.13683833181858063, |
| 0.4883854389190674, |
| 0.5289676785469055, |
| -1.8615949153900146, |
| 0.19240231812000275, |
| 2.845665454864502, |
| -1.2130093574523926 |
| ] |
| }, |
| "gripper": { |
| "min": [ |
| 0.023019827902317047 |
| ], |
| "max": [ |
| 0.03999999910593033 |
| ], |
| "mean": [ |
| 0.032509077340364456 |
| ], |
| "std": [ |
| 0.008398083969950676 |
| ], |
| "count": [ |
| 81268 |
| ], |
| "q01": [ |
| 0.023073233664035797 |
| ], |
| "q10": [ |
| 0.02329404279589653 |
| ], |
| "q50": [ |
| 0.0399177260696888 |
| ], |
| "q90": [ |
| 0.03999938443303108 |
| ], |
| "q99": [ |
| 0.039999935775995255 |
| ] |
| } |
| }, |
| "action": { |
| "single_arm": { |
| "min": [ |
| -1.0752856731414795, |
| -1.435696005821228, |
| -0.4864600598812103, |
| -3.03947377204895, |
| -0.857761800289154, |
| 1.394670844078064, |
| -2.8619725704193115 |
| ], |
| "max": [ |
| 0.6723557114601135, |
| 1.0571503639221191, |
| 1.9413561820983887, |
| -0.41690465807914734, |
| 1.7070194482803345, |
| 3.1837847232818604, |
| 1.7965277433395386 |
| ], |
| "mean": [ |
| -0.06703535467386246, |
| 0.10362342745065689, |
| 0.34503743052482605, |
| -2.341862201690674, |
| -0.09306526184082031, |
| 2.4322450160980225, |
| -1.6895028352737427 |
| ], |
| "std": [ |
| 0.22674734890460968, |
| 0.35059547424316406, |
| 0.21817095577716827, |
| 0.38308021426200867, |
| 0.2561630606651306, |
| 0.38082221150398254, |
| 0.9094286561012268 |
| ], |
| "count": [ |
| 81268 |
| ], |
| "q01": [ |
| -0.3795531690120697, |
| -0.3737037777900696, |
| 0.1084672063589096, |
| -2.5792438983917236, |
| -0.4507662057876587, |
| 1.9093748331069946, |
| -2.3487966060638428 |
| ], |
| "q10": [ |
| -0.3626464307308197, |
| -0.35925549268722534, |
| 0.13234883546829224, |
| -2.557328939437866, |
| -0.43400344252586365, |
| 1.9313901662826538, |
| -2.3124160766601562 |
| ], |
| "q50": [ |
| -0.03310219943523407, |
| 0.1215628832578659, |
| 0.36796310544013977, |
| -2.4142396450042725, |
| -0.040117546916007996, |
| 2.5305755138397217, |
| -1.6934785842895508 |
| ], |
| "q90": [ |
| 0.12365693598985672, |
| 0.47071096301078796, |
| 0.5025198459625244, |
| -1.9439817667007446, |
| 0.17917633056640625, |
| 2.8290212154388428, |
| -1.2330831289291382 |
| ], |
| "q99": [ |
| 0.1392185389995575, |
| 0.49104762077331543, |
| 0.5311679840087891, |
| -1.8602113723754883, |
| 0.19348619878292084, |
| 2.8474490642547607, |
| -1.2112503051757812 |
| ] |
| }, |
| "gripper": { |
| "min": [ |
| -1.0 |
| ], |
| "max": [ |
| 1.0 |
| ], |
| "mean": [ |
| 0.11382094025611877 |
| ], |
| "std": [ |
| 0.9935013055801392 |
| ], |
| "count": [ |
| 81268 |
| ], |
| "q01": [ |
| -1.0 |
| ], |
| "q10": [ |
| -0.9745827913284302 |
| ], |
| "q50": [ |
| 0.9901900887489319 |
| ], |
| "q90": [ |
| 0.9999276995658875 |
| ], |
| "q99": [ |
| 0.9999927878379822 |
| ] |
| } |
| }, |
| "relative_action": { |
| "single_arm": { |
| "min": [ |
| [ |
| -0.05427943915128708, |
| -0.09586009383201599, |
| -0.09656059741973877, |
| -0.0987398624420166, |
| -0.08939605951309204, |
| -0.09567427635192871, |
| -0.09765231609344482 |
| ], |
| [ |
| -0.0754610076546669, |
| -0.13374781608581543, |
| -0.13552463054656982, |
| -0.13757753372192383, |
| -0.12428393959999084, |
| -0.13437342643737793, |
| -0.1359856128692627 |
| ], |
| [ |
| -0.09654118865728378, |
| -0.17171311378479004, |
| -0.17448866367340088, |
| -0.17636919021606445, |
| -0.15830719470977783, |
| -0.17286324501037598, |
| -0.17431843280792236 |
| ], |
| [ |
| -0.1174403727054596, |
| -0.20967918634414673, |
| -0.21345257759094238, |
| -0.21507799625396729, |
| -0.19172531366348267, |
| -0.21077394485473633, |
| -0.21265172958374023 |
| ], |
| [ |
| -0.13789813220500946, |
| -0.24764502048492432, |
| -0.2524164915084839, |
| -0.2536463737487793, |
| -0.22484901547431946, |
| -0.24956989288330078, |
| -0.25098466873168945 |
| ], |
| [ |
| -0.15802589058876038, |
| -0.2856099009513855, |
| -0.2913804054260254, |
| -0.2919727563858032, |
| -0.25703859329223633, |
| -0.28836584091186523, |
| -0.28931725025177 |
| ], |
| [ |
| -0.17788836359977722, |
| -0.32357257604599, |
| -0.3302415609359741, |
| -0.33049798011779785, |
| -0.2900654673576355, |
| -0.3271615505218506, |
| -0.3276498317718506 |
| ], |
| [ |
| -0.19701777398586273, |
| -0.3615300953388214, |
| -0.3686399459838867, |
| -0.3691976070404053, |
| -0.3227365016937256, |
| -0.36595749855041504, |
| -0.36598193645477295 |
| ], |
| [ |
| -0.21543759107589722, |
| -0.39947783946990967, |
| -0.4065976142883301, |
| -0.4078981876373291, |
| -0.35494643449783325, |
| -0.40454745292663574, |
| -0.40431368350982666 |
| ], |
| [ |
| -0.23367924988269806, |
| -0.4374081492424011, |
| -0.44410181045532227, |
| -0.4465818405151367, |
| -0.3874363899230957, |
| -0.4422004222869873, |
| -0.4426456689834595 |
| ], |
| [ |
| -0.2509094774723053, |
| -0.4753071069717407, |
| -0.48100602626800537, |
| -0.4852335453033447, |
| -0.4196644425392151, |
| -0.47876715660095215, |
| -0.4809774160385132 |
| ], |
| [ |
| -0.26742348074913025, |
| -0.5131497383117676, |
| -0.5169856548309326, |
| -0.5238337516784668, |
| -0.45138466358184814, |
| -0.5153181552886963, |
| -0.5193087458610535 |
| ], |
| [ |
| -0.28347381949424744, |
| -0.5509694814682007, |
| -0.5525484085083008, |
| -0.5623457431793213, |
| -0.4826838970184326, |
| -0.5506625175476074, |
| -0.5576398968696594 |
| ], |
| [ |
| -0.29823699593544006, |
| -0.5887113809585571, |
| -0.5867046117782593, |
| -0.6007070541381836, |
| -0.513563334941864, |
| -0.5858120918273926, |
| -0.595970869064331 |
| ], |
| [ |
| -0.3128422498703003, |
| -0.6262723803520203, |
| -0.6202679872512817, |
| -0.6388125419616699, |
| -0.5432006120681763, |
| -0.6198055744171143, |
| -0.6343016028404236 |
| ], |
| [ |
| -0.32614678144454956, |
| -0.6635099649429321, |
| -0.6525231599807739, |
| -0.6767797470092773, |
| -0.5724962949752808, |
| -0.6529738903045654, |
| -0.6726319789886475 |
| ], |
| [ |
| -0.33885133266448975, |
| -0.7006313800811768, |
| -0.6840629577636719, |
| -0.714451789855957, |
| -0.600426435470581, |
| -0.6853597164154053, |
| -0.7109622359275818 |
| ], |
| [ |
| -0.3506191372871399, |
| -0.7373095750808716, |
| -0.7141842842102051, |
| -0.7513926029205322, |
| -0.6277211904525757, |
| -0.7165391445159912, |
| -0.7492921948432922 |
| ], |
| [ |
| -0.36142081022262573, |
| -0.7735154628753662, |
| -0.7437019944190979, |
| -0.7891260385513306, |
| -0.6536624431610107, |
| -0.7470145225524902, |
| -0.7876220941543579 |
| ], |
| [ |
| -0.37164607644081116, |
| -0.8093312978744507, |
| -0.771948516368866, |
| -0.8265218734741211, |
| -0.6789550185203552, |
| -0.7761893272399902, |
| -0.8259516954421997 |
| ], |
| [ |
| -0.380548894405365, |
| -0.8445106744766235, |
| -0.7994463443756104, |
| -0.8631454706192017, |
| -0.7028865218162537, |
| -0.8046712875366211, |
| -0.8642807602882385 |
| ], |
| [ |
| -0.3891846537590027, |
| -0.8794028759002686, |
| -0.8254984617233276, |
| -0.899138331413269, |
| -0.7261658310890198, |
| -0.8318681716918945, |
| -0.9026094079017639 |
| ], |
| [ |
| -0.3962165117263794, |
| -0.9134554266929626, |
| -0.8509762287139893, |
| -0.9344925880432129, |
| -0.7480876445770264, |
| -0.8583664894104004, |
| -0.9409376382827759 |
| ], |
| [ |
| -0.40321141481399536, |
| -0.9474948048591614, |
| -0.8752013444900513, |
| -0.9685165882110596, |
| -0.7693586349487305, |
| -0.883573055267334, |
| -0.9792650938034058 |
| ], |
| [ |
| -0.4086604714393616, |
| -0.9807566404342651, |
| -0.8986607789993286, |
| -1.0020501613616943, |
| -0.7892724275588989, |
| -0.9080796241760254, |
| -1.0175888538360596 |
| ], |
| [ |
| -0.41373997926712036, |
| -1.0135942697525024, |
| -0.920653223991394, |
| -1.034329891204834, |
| -0.8085703253746033, |
| -0.9313316345214844, |
| -1.0559062957763672 |
| ], |
| [ |
| -0.4176543056964874, |
| -1.0461417436599731, |
| -0.9421094655990601, |
| -1.0661224126815796, |
| -0.8264803886413574, |
| -0.9538650512695312, |
| -1.0942131280899048 |
| ], |
| [ |
| -0.4208218455314636, |
| -1.0780256986618042, |
| -0.9622935056686401, |
| -1.0978676080703735, |
| -0.8438050746917725, |
| -0.9751551151275635, |
| -1.132502794265747 |
| ], |
| [ |
| -0.4233051538467407, |
| -1.1095728874206543, |
| -0.9817450642585754, |
| -1.1287320852279663, |
| -0.8597180843353271, |
| -0.9957365989685059, |
| -1.1707637310028076 |
| ], |
| [ |
| -0.4245820641517639, |
| -1.1408308744430542, |
| -0.9996890425682068, |
| -1.1585537195205688, |
| -0.8750851154327393, |
| -1.0151138305664062, |
| -1.208977460861206 |
| ], |
| [ |
| -0.4258342981338501, |
| -1.1714825630187988, |
| -1.017149567604065, |
| -1.1874853372573853, |
| -0.8890104293823242, |
| -1.0337239503860474, |
| -1.2471131086349487 |
| ], |
| [ |
| -0.42616504430770874, |
| -1.201676368713379, |
| -1.0332558155059814, |
| -1.2153829336166382, |
| -0.9024434089660645, |
| -1.0512112379074097, |
| -1.2852641344070435 |
| ], |
| [ |
| -0.42613518238067627, |
| -1.23171067237854, |
| -1.0487182140350342, |
| -1.242382287979126, |
| -0.9143949151039124, |
| -1.0678353309631348, |
| -1.3235753774642944 |
| ], |
| [ |
| -0.4261305332183838, |
| -1.2610678672790527, |
| -1.0626070499420166, |
| -1.268355131149292, |
| -0.9259471893310547, |
| -1.083500862121582, |
| -1.36188542842865 |
| ], |
| [ |
| -0.42612242698669434, |
| -1.2898585796356201, |
| -1.0760557651519775, |
| -1.2934213876724243, |
| -0.9359462857246399, |
| -1.0981264114379883, |
| -1.4001935720443726 |
| ], |
| [ |
| -0.42610830068588257, |
| -1.3184022903442383, |
| -1.088003158569336, |
| -1.317552924156189, |
| -0.945683479309082, |
| -1.1120502948760986, |
| -1.4384984970092773 |
| ], |
| [ |
| -0.426088809967041, |
| -1.3458800315856934, |
| -1.0994318723678589, |
| -1.3410351276397705, |
| -0.9537639021873474, |
| -1.125824213027954, |
| -1.4767986536026 |
| ], |
| [ |
| -0.42620962858200073, |
| -1.3732292652130127, |
| -1.1091753244400024, |
| -1.363323450088501, |
| -0.9617475867271423, |
| -1.1396652460098267, |
| -1.5150980949401855 |
| ], |
| [ |
| -0.4260982275009155, |
| -1.399263620376587, |
| -1.1185976266860962, |
| -1.3848894834518433, |
| -0.9680500626564026, |
| -1.1527074575424194, |
| -1.5533885955810547 |
| ], |
| [ |
| -0.42720115184783936, |
| -1.4251434803009033, |
| -1.1261239051818848, |
| -1.4053984880447388, |
| -0.9742655754089355, |
| -1.164735198020935, |
| -1.5916645526885986 |
| ] |
| ], |
| "max": [ |
| [ |
| 0.05949220061302185, |
| 0.09646690636873245, |
| 0.09493601322174072, |
| 0.09401923418045044, |
| 0.09316855669021606, |
| 0.09789156913757324, |
| 0.09828794002532959 |
| ], |
| [ |
| 0.08295888453722, |
| 0.13451088964939117, |
| 0.13244414329528809, |
| 0.13094019889831543, |
| 0.12961676716804504, |
| 0.1360006332397461, |
| 0.13673031330108643 |
| ], |
| [ |
| 0.1061406135559082, |
| 0.17217515408992767, |
| 0.16928720474243164, |
| 0.16744816303253174, |
| 0.16611039638519287, |
| 0.17408442497253418, |
| 0.17499268054962158 |
| ], |
| [ |
| 0.1289675086736679, |
| 0.2096760869026184, |
| 0.20542621612548828, |
| 0.20326924324035645, |
| 0.20234164595603943, |
| 0.2116999626159668, |
| 0.21321237087249756 |
| ], |
| [ |
| 0.15143243968486786, |
| 0.2469077706336975, |
| 0.24133050441741943, |
| 0.2387939691543579, |
| 0.2384120225906372, |
| 0.2485036849975586, |
| 0.2510634660720825 |
| ], |
| [ |
| 0.17345952987670898, |
| 0.28358379006385803, |
| 0.27593719959259033, |
| 0.27350008487701416, |
| 0.2743927836418152, |
| 0.2846510410308838, |
| 0.2883073091506958 |
| ], |
| [ |
| 0.19509923458099365, |
| 0.31969255208969116, |
| 0.3105278015136719, |
| 0.30723023414611816, |
| 0.3102315664291382, |
| 0.32035279273986816, |
| 0.3249744772911072 |
| ], |
| [ |
| 0.21633484959602356, |
| 0.35552120208740234, |
| 0.34342634677886963, |
| 0.3402301073074341, |
| 0.34593409299850464, |
| 0.35482168197631836, |
| 0.362993061542511 |
| ], |
| [ |
| 0.23698356747627258, |
| 0.39004504680633545, |
| 0.37630414962768555, |
| 0.37214916944503784, |
| 0.38147634267807007, |
| 0.3889634609222412, |
| 0.40101152658462524 |
| ], |
| [ |
| 0.25746023654937744, |
| 0.42437607049942017, |
| 0.4073230028152466, |
| 0.4032972455024719, |
| 0.41710224747657776, |
| 0.4220576286315918, |
| 0.4390298128128052 |
| ], |
| [ |
| 0.27722370624542236, |
| 0.4571196734905243, |
| 0.4381965398788452, |
| 0.43330925703048706, |
| 0.45278802514076233, |
| 0.454193115234375, |
| 0.47704803943634033 |
| ], |
| [ |
| 0.2966892123222351, |
| 0.48947641253471375, |
| 0.4672015905380249, |
| 0.46260493993759155, |
| 0.4884321689605713, |
| 0.4857492446899414, |
| 0.5150659084320068 |
| ], |
| [ |
| 0.31579461693763733, |
| 0.5202435255050659, |
| 0.4960498809814453, |
| 0.49090486764907837, |
| 0.5242239236831665, |
| 0.5158793926239014, |
| 0.5530838966369629 |
| ], |
| [ |
| 0.33430618047714233, |
| 0.5506135821342468, |
| 0.5230299234390259, |
| 0.5183483958244324, |
| 0.5602459907531738, |
| 0.5457236766815186, |
| 0.5911014676094055 |
| ], |
| [ |
| 0.35252201557159424, |
| 0.5793999433517456, |
| 0.5498529076576233, |
| 0.5449656248092651, |
| 0.5963163375854492, |
| 0.5738492012023926, |
| 0.6291189193725586 |
| ], |
| [ |
| 0.3705161511898041, |
| 0.6077787280082703, |
| 0.5748181939125061, |
| 0.5705596208572388, |
| 0.6315001249313354, |
| 0.6018145084381104, |
| 0.6671359539031982 |
| ], |
| [ |
| 0.38807228207588196, |
| 0.634584903717041, |
| 0.5996167063713074, |
| 0.5958493947982788, |
| 0.6665095686912537, |
| 0.6279375553131104, |
| 0.7051527500152588 |
| ], |
| [ |
| 0.40526148676872253, |
| 0.6609846949577332, |
| 0.6225625872612, |
| 0.6198086142539978, |
| 0.6998201012611389, |
| 0.6539134979248047, |
| 0.7431693077087402 |
| ], |
| [ |
| 0.42224109172821045, |
| 0.6858127117156982, |
| 0.6453385949134827, |
| 0.6435522437095642, |
| 0.7330591678619385, |
| 0.6780314445495605, |
| 0.7811855673789978 |
| ], |
| [ |
| 0.43911269307136536, |
| 0.7102483510971069, |
| 0.6662904620170593, |
| 0.6659326553344727, |
| 0.7644723653793335, |
| 0.7019972801208496, |
| 0.8192014098167419 |
| ], |
| [ |
| 0.45566996932029724, |
| 0.7331024408340454, |
| 0.6870468258857727, |
| 0.6878299713134766, |
| 0.7958126664161682, |
| 0.7241060733795166, |
| 0.857217013835907 |
| ], |
| [ |
| 0.4718382656574249, |
| 0.7555662989616394, |
| 0.7060160040855408, |
| 0.708591103553772, |
| 0.8253331184387207, |
| 0.7460622787475586, |
| 0.8952322006225586 |
| ], |
| [ |
| 0.4874498248100281, |
| 0.776451826095581, |
| 0.7247573733329773, |
| 0.7287378311157227, |
| 0.8547768592834473, |
| 0.7661635875701904, |
| 0.9332466125488281 |
| ], |
| [ |
| 0.503002941608429, |
| 0.7969780564308167, |
| 0.7417197823524475, |
| 0.7487879991531372, |
| 0.8824011087417603, |
| 0.7861120700836182, |
| 0.9712603092193604 |
| ], |
| [ |
| 0.517816960811615, |
| 0.8159023523330688, |
| 0.7584511041641235, |
| 0.7685734033584595, |
| 0.9099452495574951, |
| 0.8042082786560059, |
| 1.0092726945877075 |
| ], |
| [ |
| 0.5318186283111572, |
| 0.8344806432723999, |
| 0.7733867168426514, |
| 0.7868276238441467, |
| 0.9356558322906494, |
| 0.822152853012085, |
| 1.0472854375839233 |
| ], |
| [ |
| 0.5456250905990601, |
| 0.8514546751976013, |
| 0.7881172299385071, |
| 0.8050364851951599, |
| 0.9612984657287598, |
| 0.8382465839385986, |
| 1.085298776626587 |
| ], |
| [ |
| 0.5583528876304626, |
| 0.8680622577667236, |
| 0.8010223507881165, |
| 0.8217952251434326, |
| 0.9850971102714539, |
| 0.854194164276123, |
| 1.1233124732971191 |
| ], |
| [ |
| 0.570592999458313, |
| 0.8831044435501099, |
| 0.8137649297714233, |
| 0.8381650447845459, |
| 1.008845567703247, |
| 0.868297815322876, |
| 1.1613258123397827 |
| ], |
| [ |
| 0.5822358727455139, |
| 0.897724449634552, |
| 0.824649453163147, |
| 0.8536221981048584, |
| 1.0307319164276123, |
| 0.882257342338562, |
| 1.1993396282196045 |
| ], |
| [ |
| 0.5927879810333252, |
| 0.9108672142028809, |
| 0.8354274034500122, |
| 0.8681553602218628, |
| 1.052577257156372, |
| 0.8944357633590698, |
| 1.2373545169830322 |
| ], |
| [ |
| 0.603204607963562, |
| 0.9235008358955383, |
| 0.8443014621734619, |
| 0.8824050426483154, |
| 1.0725536346435547, |
| 0.9064199924468994, |
| 1.2753701210021973 |
| ], |
| [ |
| 0.6126604080200195, |
| 0.9348036646842957, |
| 0.8531523942947388, |
| 0.8951168060302734, |
| 1.0932607650756836, |
| 0.9167191982269287, |
| 1.31338632106781 |
| ], |
| [ |
| 0.6212441921234131, |
| 0.9454601407051086, |
| 0.8601417541503906, |
| 0.9077825546264648, |
| 1.1139633655548096, |
| 0.9267489910125732, |
| 1.351402759552002 |
| ], |
| [ |
| 0.6295970678329468, |
| 0.9550208449363708, |
| 0.8670165538787842, |
| 0.9186948537826538, |
| 1.1334877014160156, |
| 0.9353477954864502, |
| 1.3894191980361938 |
| ], |
| [ |
| 0.6368457078933716, |
| 0.9637103080749512, |
| 0.8722544312477112, |
| 0.9295947551727295, |
| 1.152327060699463, |
| 0.9434570074081421, |
| 1.4274349212646484 |
| ], |
| [ |
| 0.6435830593109131, |
| 0.9716556072235107, |
| 0.8771409392356873, |
| 0.9387057423591614, |
| 1.1699306964874268, |
| 0.9507676362991333, |
| 1.4654490947723389 |
| ], |
| [ |
| 0.6497390866279602, |
| 0.978388249874115, |
| 0.8807864189147949, |
| 0.947804868221283, |
| 1.1868468523025513, |
| 0.9570180177688599, |
| 1.503461241722107 |
| ], |
| [ |
| 0.6548303365707397, |
| 0.9848384857177734, |
| 0.8836942911148071, |
| 0.9551439881324768, |
| 1.2025271654129028, |
| 0.9632611274719238, |
| 1.5414677858352661 |
| ], |
| [ |
| 0.6597257256507874, |
| 0.989902138710022, |
| 0.8859390020370483, |
| 0.9624249339103699, |
| 1.2175990343093872, |
| 0.968559980392456, |
| 1.5794647932052612 |
| ] |
| ], |
| "mean": [ |
| [ |
| 0.007831018418073654, |
| 0.0006669245194643736, |
| 0.006829619873315096, |
| -0.01042694877833128, |
| -0.000693388981744647, |
| 0.012259206734597683, |
| 0.012829053215682507 |
| ], |
| [ |
| 0.010913984850049019, |
| 0.0005940623814240098, |
| 0.009581881575286388, |
| -0.014674132689833641, |
| -0.0005863759433850646, |
| 0.01647394336760044, |
| 0.017614195123314857 |
| ], |
| [ |
| 0.013987211510539055, |
| 0.0002876149956136942, |
| 0.012353803962469101, |
| -0.01889776438474655, |
| -0.0003477720601949841, |
| 0.020448574796319008, |
| 0.0223036240786314 |
| ], |
| [ |
| 0.01705232448875904, |
| -0.0002533376682549715, |
| 0.01513960026204586, |
| -0.02308763936161995, |
| 1.6705258531146683e-05, |
| 0.024172674864530563, |
| 0.026900827884674072 |
| ], |
| [ |
| 0.020111342892050743, |
| -0.0010271788341924548, |
| 0.017932895570993423, |
| -0.027233272790908813, |
| 0.0005000362289138138, |
| 0.027636755257844925, |
| 0.03141041472554207 |
| ], |
| [ |
| 0.02316604182124138, |
| -0.0020298133604228497, |
| 0.020727666094899178, |
| -0.03132341429591179, |
| 0.0010940852807834744, |
| 0.030833814293146133, |
| 0.0358375683426857 |
| ], |
| [ |
| 0.02621755748987198, |
| -0.003254930255934596, |
| 0.023518571630120277, |
| -0.0353475883603096, |
| 0.0017898759106174111, |
| 0.03375912830233574, |
| 0.04018792882561684 |
| ], |
| [ |
| 0.029267262667417526, |
| -0.004693775903433561, |
| 0.026299459859728813, |
| -0.039294395595788956, |
| 0.0025775288231670856, |
| 0.03640913963317871, |
| 0.044467564672231674 |
| ], |
| [ |
| 0.032315146178007126, |
| -0.006332657765597105, |
| 0.029063841328024864, |
| -0.04314660280942917, |
| 0.0034461114555597305, |
| 0.03877958282828331, |
| 0.04868003726005554 |
| ], |
| [ |
| 0.03535781055688858, |
| -0.008153836242854595, |
| 0.03180403262376785, |
| -0.046880222856998444, |
| 0.0043840063735842705, |
| 0.04086214676499367, |
| 0.05282679572701454 |
| ], |
| [ |
| 0.038392361253499985, |
| -0.01013871282339096, |
| 0.03451276198029518, |
| -0.0504726804792881, |
| 0.005380126181989908, |
| 0.04265228286385536, |
| 0.05690824240446091 |
| ], |
| [ |
| 0.04141591861844063, |
| -0.012267736718058586, |
| 0.03718431293964386, |
| -0.05390390753746033, |
| 0.006423789542168379, |
| 0.04414677247405052, |
| 0.06092377007007599 |
| ], |
| [ |
| 0.04442422464489937, |
| -0.0145221296697855, |
| 0.03981347754597664, |
| -0.05715474858880043, |
| 0.007505292538553476, |
| 0.045345038175582886, |
| 0.0648738294839859 |
| ], |
| [ |
| 0.04741325229406357, |
| -0.01688256859779358, |
| 0.042396288365125656, |
| -0.06020799279212952, |
| 0.008615564554929733, |
| 0.04624650627374649, |
| 0.06875590234994888 |
| ], |
| [ |
| 0.05037897452712059, |
| -0.019331147894263268, |
| 0.04492689296603203, |
| -0.06304991245269775, |
| 0.009746960364282131, |
| 0.04685423895716667, |
| 0.07256944477558136 |
| ], |
| [ |
| 0.0533168688416481, |
| -0.021850375458598137, |
| 0.0474037304520607, |
| -0.06566634029150009, |
| 0.010892285034060478, |
| 0.04717038944363594, |
| 0.0763096734881401 |
| ], |
| [ |
| 0.05622228980064392, |
| -0.024425145238637924, |
| 0.049821872264146805, |
| -0.06804852932691574, |
| 0.012045611627399921, |
| 0.04719996824860573, |
| 0.0799749344587326 |
| ], |
| [ |
| 0.059090882539749146, |
| -0.027041932567954063, |
| 0.05217820778489113, |
| -0.07018597424030304, |
| 0.013201936148107052, |
| 0.046945009380578995, |
| 0.08355879038572311 |
| ], |
| [ |
| 0.061917245388031006, |
| -0.029689563438296318, |
| 0.054469335824251175, |
| -0.07207346707582474, |
| 0.014357108622789383, |
| 0.04641042277216911, |
| 0.08705414831638336 |
| ], |
| [ |
| 0.06469670683145523, |
| -0.03235906735062599, |
| 0.056691307574510574, |
| -0.07370635867118835, |
| 0.015508394688367844, |
| 0.04559929296374321, |
| 0.09045693278312683 |
| ], |
| [ |
| 0.06742364168167114, |
| -0.035044170916080475, |
| 0.05884087085723877, |
| -0.0750826895236969, |
| 0.016653267666697502, |
| 0.044515591114759445, |
| 0.09375634044408798 |
| ], |
| [ |
| 0.0700928196310997, |
| -0.03774024918675423, |
| 0.06091470271348953, |
| -0.07620289921760559, |
| 0.017790742218494415, |
| 0.04316396266222, |
| 0.09694614261388779 |
| ], |
| [ |
| 0.07269904017448425, |
| -0.04044351726770401, |
| 0.06290879845619202, |
| -0.07706935703754425, |
| 0.018919847905635834, |
| 0.04154932126402855, |
| 0.10001712292432785 |
| ], |
| [ |
| 0.07523779571056366, |
| -0.04315251484513283, |
| 0.06482047587633133, |
| -0.07768785953521729, |
| 0.020040586590766907, |
| 0.03967834636569023, |
| 0.10295972973108292 |
| ], |
| [ |
| 0.07770203799009323, |
| -0.045867595821619034, |
| 0.06664688885211945, |
| -0.07806310802698135, |
| 0.02115372009575367, |
| 0.037557125091552734, |
| 0.10576672106981277 |
| ], |
| [ |
| 0.08008898794651031, |
| -0.04858959838747978, |
| 0.06838680803775787, |
| -0.07820812612771988, |
| 0.022260447964072227, |
| 0.035194702446460724, |
| 0.1084277480840683 |
| ], |
| [ |
| 0.0823943018913269, |
| -0.05132165178656578, |
| 0.07003860175609589, |
| -0.07813471555709839, |
| 0.023363212123513222, |
| 0.03260204568505287, |
| 0.11093809455633163 |
| ], |
| [ |
| 0.0846138671040535, |
| -0.054067905992269516, |
| 0.07160235941410065, |
| -0.0778592973947525, |
| 0.024465152993798256, |
| 0.029790103435516357, |
| 0.1132902204990387 |
| ], |
| [ |
| 0.08674509823322296, |
| -0.05683613941073418, |
| 0.07307750731706619, |
| -0.07739753276109695, |
| 0.025570081546902657, |
| 0.02676861174404621, |
| 0.11547867953777313 |
| ], |
| [ |
| 0.08878490328788757, |
| -0.05963665619492531, |
| 0.07446787506341934, |
| -0.07676573097705841, |
| 0.026682913303375244, |
| 0.023542964830994606, |
| 0.11749773472547531 |
| ], |
| [ |
| 0.09073321521282196, |
| -0.06245825067162514, |
| 0.07577742636203766, |
| -0.07601641118526459, |
| 0.027809511870145798, |
| 0.02013203874230385, |
| 0.11934477835893631 |
| ], |
| [ |
| 0.09258650988340378, |
| -0.06533113867044449, |
| 0.07700305432081223, |
| -0.07512196153402328, |
| 0.028953805565834045, |
| 0.016522400081157684, |
| 0.12101441621780396 |
| ], |
| [ |
| 0.09434252232313156, |
| -0.06826671212911606, |
| 0.07814642041921616, |
| -0.07409224659204483, |
| 0.03012150526046753, |
| 0.012718177400529385, |
| 0.12250145524740219 |
| ], |
| [ |
| 0.09600037336349487, |
| -0.07127097994089127, |
| 0.07920955866575241, |
| -0.07294090837240219, |
| 0.03131679818034172, |
| 0.0087230009958148, |
| 0.12380530685186386 |
| ], |
| [ |
| 0.09755720943212509, |
| -0.07435183972120285, |
| 0.08019589632749557, |
| -0.07167794555425644, |
| 0.032545458525419235, |
| 0.004542077425867319, |
| 0.12492098659276962 |
| ], |
| [ |
| 0.0990159809589386, |
| -0.07751742750406265, |
| 0.08110907673835754, |
| -0.07031556963920593, |
| 0.03381170332431793, |
| 0.00018068916688207537, |
| 0.12584809958934784 |
| ], |
| [ |
| 0.1003720834851265, |
| -0.08077109605073929, |
| 0.08195167034864426, |
| -0.06886332482099533, |
| 0.03512055054306984, |
| -0.004355257842689753, |
| 0.12658719718456268 |
| ], |
| [ |
| 0.10162986069917679, |
| -0.08411846309900284, |
| 0.08272777497768402, |
| -0.06733299791812897, |
| 0.036476895213127136, |
| -0.009059238247573376, |
| 0.1271362453699112 |
| ], |
| [ |
| 0.10278717428445816, |
| -0.08756210654973984, |
| 0.08344212174415588, |
| -0.0657333955168724, |
| 0.037884730845689774, |
| -0.01392420008778572, |
| 0.12749849259853363 |
| ], |
| [ |
| 0.10384704917669296, |
| -0.09110517054796219, |
| 0.08409824222326279, |
| -0.06407461315393448, |
| 0.03934815526008606, |
| -0.018942702561616898, |
| 0.12767454981803894 |
| ] |
| ], |
| "std": [ |
| [ |
| 0.01833331026136875, |
| 0.030268969014286995, |
| 0.021275632083415985, |
| 0.027710599824786186, |
| 0.030223984271287918, |
| 0.03022654913365841, |
| 0.03694069758057594 |
| ], |
| [ |
| 0.025663647800683975, |
| 0.04259505867958069, |
| 0.02964850328862667, |
| 0.03856533393263817, |
| 0.04242847114801407, |
| 0.042937006801366806, |
| 0.05163205787539482 |
| ], |
| [ |
| 0.03295615687966347, |
| 0.0551028735935688, |
| 0.03797467425465584, |
| 0.049365315586328506, |
| 0.05467148870229721, |
| 0.055947523564100266, |
| 0.06634686887264252 |
| ], |
| [ |
| 0.04018425568938255, |
| 0.06776448339223862, |
| 0.04622618481516838, |
| 0.06008722633123398, |
| 0.0669182762503624, |
| 0.06925907731056213, |
| 0.08105549961328506 |
| ], |
| [ |
| 0.04732751101255417, |
| 0.08055087178945541, |
| 0.05437963455915451, |
| 0.0707152932882309, |
| 0.07913712412118912, |
| 0.08286593109369278, |
| 0.09573627263307571 |
| ], |
| [ |
| 0.05436498299241066, |
| 0.09343334287405014, |
| 0.0624142624437809, |
| 0.08123795688152313, |
| 0.09129966050386429, |
| 0.09675897657871246, |
| 0.110372394323349 |
| ], |
| [ |
| 0.0612819530069828, |
| 0.10638263076543808, |
| 0.07031051814556122, |
| 0.09164909273386002, |
| 0.10337670892477036, |
| 0.11092663556337357, |
| 0.12494026869535446 |
| ], |
| [ |
| 0.06806310266256332, |
| 0.119366854429245, |
| 0.07805336266756058, |
| 0.10193811357021332, |
| 0.1153450608253479, |
| 0.12535469233989716, |
| 0.13942445814609528 |
| ], |
| [ |
| 0.07469774782657623, |
| 0.1323544830083847, |
| 0.0856287032365799, |
| 0.11210707575082779, |
| 0.12718035280704498, |
| 0.14002308249473572, |
| 0.15380646288394928 |
| ], |
| [ |
| 0.08117862045764923, |
| 0.14531342685222626, |
| 0.09302699565887451, |
| 0.12215854227542877, |
| 0.13885904848575592, |
| 0.15491077303886414, |
| 0.168073371052742 |
| ], |
| [ |
| 0.08750016242265701, |
| 0.15821197628974915, |
| 0.10023926198482513, |
| 0.13209444284439087, |
| 0.15036733448505402, |
| 0.16998854279518127, |
| 0.18221236765384674 |
| ], |
| [ |
| 0.09365914762020111, |
| 0.17102301120758057, |
| 0.10725921392440796, |
| 0.14191532135009766, |
| 0.161688894033432, |
| 0.18522398173809052, |
| 0.19621366262435913 |
| ], |
| [ |
| 0.09965517371892929, |
| 0.18371859192848206, |
| 0.11408283561468124, |
| 0.1516241431236267, |
| 0.1728076934814453, |
| 0.20058496296405792, |
| 0.2100653052330017 |
| ], |
| [ |
| 0.10548820346593857, |
| 0.1962735503911972, |
| 0.12070640921592712, |
| 0.16121819615364075, |
| 0.18371759355068207, |
| 0.21603406965732574, |
| 0.2237628549337387 |
| ], |
| [ |
| 0.11115963757038116, |
| 0.20866549015045166, |
| 0.12712618708610535, |
| 0.17069320380687714, |
| 0.19441354274749756, |
| 0.2315312772989273, |
| 0.23729699850082397 |
| ], |
| [ |
| 0.11667262017726898, |
| 0.22087447345256805, |
| 0.13334093987941742, |
| 0.18004219233989716, |
| 0.2048872858285904, |
| 0.24703861773014069, |
| 0.2506629526615143 |
| ], |
| [ |
| 0.12202969938516617, |
| 0.23288311064243317, |
| 0.1393478661775589, |
| 0.18925437331199646, |
| 0.21513858437538147, |
| 0.2625153958797455, |
| 0.26385465264320374 |
| ], |
| [ |
| 0.12723369896411896, |
| 0.24467824399471283, |
| 0.14514575898647308, |
| 0.19831807911396027, |
| 0.22516728937625885, |
| 0.27792155742645264, |
| 0.27686867117881775 |
| ], |
| [ |
| 0.13228845596313477, |
| 0.25624677538871765, |
| 0.15073291957378387, |
| 0.20721590518951416, |
| 0.23497486114501953, |
| 0.2932218015193939, |
| 0.2897043228149414 |
| ], |
| [ |
| 0.1371970921754837, |
| 0.26757991313934326, |
| 0.15610651671886444, |
| 0.21593137085437775, |
| 0.2445654273033142, |
| 0.3083808720111847, |
| 0.30235612392425537 |
| ], |
| [ |
| 0.14196161925792694, |
| 0.27867311239242554, |
| 0.16126452386379242, |
| 0.2244403213262558, |
| 0.25393569469451904, |
| 0.3233634829521179, |
| 0.3148248791694641 |
| ], |
| [ |
| 0.1465855985879898, |
| 0.28951767086982727, |
| 0.16620394587516785, |
| 0.23272167146205902, |
| 0.26309269666671753, |
| 0.33813488483428955, |
| 0.3271023631095886 |
| ], |
| [ |
| 0.15106992423534393, |
| 0.30010896921157837, |
| 0.17092040181159973, |
| 0.2407514601945877, |
| 0.27203863859176636, |
| 0.3526587188243866, |
| 0.3391890227794647 |
| ], |
| [ |
| 0.15541666746139526, |
| 0.3104422986507416, |
| 0.1754096895456314, |
| 0.2485034316778183, |
| 0.280776709318161, |
| 0.3669079542160034, |
| 0.3510810434818268 |
| ], |
| [ |
| 0.15962713956832886, |
| 0.3205132782459259, |
| 0.1796678602695465, |
| 0.2559543550014496, |
| 0.2893090844154358, |
| 0.38084718585014343, |
| 0.3627724051475525 |
| ], |
| [ |
| 0.16370141506195068, |
| 0.3303155303001404, |
| 0.18368911743164062, |
| 0.2630818486213684, |
| 0.29763516783714294, |
| 0.39445000886917114, |
| 0.3742593228816986 |
| ], |
| [ |
| 0.16764047741889954, |
| 0.3398474454879761, |
| 0.18746834993362427, |
| 0.26986441016197205, |
| 0.30575671792030334, |
| 0.4076964855194092, |
| 0.3855361044406891 |
| ], |
| [ |
| 0.17144370079040527, |
| 0.34910181164741516, |
| 0.1910018026828766, |
| 0.2762840986251831, |
| 0.3136735260486603, |
| 0.4205518364906311, |
| 0.3965986967086792 |
| ], |
| [ |
| 0.17511224746704102, |
| 0.3580819070339203, |
| 0.1942843347787857, |
| 0.28233563899993896, |
| 0.3213855028152466, |
| 0.43301111459732056, |
| 0.40744197368621826 |
| ], |
| [ |
| 0.17864586412906647, |
| 0.3667865991592407, |
| 0.19731459021568298, |
| 0.2880212068557739, |
| 0.32889360189437866, |
| 0.4450736939907074, |
| 0.4180612862110138 |
| ], |
| [ |
| 0.18204587697982788, |
| 0.37519288063049316, |
| 0.20008720457553864, |
| 0.29330307245254517, |
| 0.33619576692581177, |
| 0.4567181169986725, |
| 0.4284505844116211 |
| ], |
| [ |
| 0.1853117197751999, |
| 0.38332855701446533, |
| 0.20260481536388397, |
| 0.29823583364486694, |
| 0.34329408407211304, |
| 0.4679759740829468, |
| 0.43860331177711487 |
| ], |
| [ |
| 0.18844470381736755, |
| 0.39119642972946167, |
| 0.20487013459205627, |
| 0.3028278946876526, |
| 0.350187748670578, |
| 0.4788548946380615, |
| 0.44852346181869507 |
| ], |
| [ |
| 0.19144675135612488, |
| 0.39879414439201355, |
| 0.20688338577747345, |
| 0.3070935010910034, |
| 0.3568698465824127, |
| 0.489362895488739, |
| 0.4582001864910126 |
| ], |
| [ |
| 0.19431841373443604, |
| 0.4061250388622284, |
| 0.20864546298980713, |
| 0.31104323267936707, |
| 0.36334553360939026, |
| 0.49950742721557617, |
| 0.4676300585269928 |
| ], |
| [ |
| 0.19706250727176666, |
| 0.4131931960582733, |
| 0.21015992760658264, |
| 0.3146909177303314, |
| 0.3696163296699524, |
| 0.509294867515564, |
| 0.4768109917640686 |
| ], |
| [ |
| 0.1996801793575287, |
| 0.4199984073638916, |
| 0.211432084441185, |
| 0.31804847717285156, |
| 0.37567269802093506, |
| 0.5187336206436157, |
| 0.48574167490005493 |
| ], |
| [ |
| 0.20217348635196686, |
| 0.4265389144420624, |
| 0.21246400475502014, |
| 0.32113197445869446, |
| 0.38151973485946655, |
| 0.5278272032737732, |
| 0.49441906809806824 |
| ], |
| [ |
| 0.2045460343360901, |
| 0.4328237473964691, |
| 0.21326260268688202, |
| 0.3239520490169525, |
| 0.3871595561504364, |
| 0.536594808101654, |
| 0.5028414726257324 |
| ], |
| [ |
| 0.20680107176303864, |
| 0.43885260820388794, |
| 0.2138334959745407, |
| 0.3265310227870941, |
| 0.39259037375450134, |
| 0.5450335741043091, |
| 0.5110086798667908 |
| ] |
| ], |
| "q01": [ |
| [ |
| -0.04071392863988876, |
| -0.07169336825609207, |
| -0.050970420241355896, |
| -0.09615238755941391, |
| -0.06836871057748795, |
| -0.06229878216981888, |
| -0.08479642868041992 |
| ], |
| [ |
| -0.05653882399201393, |
| -0.10079274326562881, |
| -0.07081644237041473, |
| -0.13394953310489655, |
| -0.0951322540640831, |
| -0.0914570540189743, |
| -0.11848960816860199 |
| ], |
| [ |
| -0.07239560782909393, |
| -0.13052810728549957, |
| -0.0903339684009552, |
| -0.17148400843143463, |
| -0.12143723666667938, |
| -0.1222110167145729, |
| -0.15148533880710602 |
| ], |
| [ |
| -0.08788327872753143, |
| -0.16056133806705475, |
| -0.1098165437579155, |
| -0.20855766534805298, |
| -0.1475352793931961, |
| -0.15436184406280518, |
| -0.18484480679035187 |
| ], |
| [ |
| -0.10281727463006973, |
| -0.19024059176445007, |
| -0.1282290518283844, |
| -0.24561670422554016, |
| -0.1729363203048706, |
| -0.1880018711090088, |
| -0.2179710566997528 |
| ], |
| [ |
| -0.11781870573759079, |
| -0.21972441673278809, |
| -0.14650516211986542, |
| -0.2819044888019562, |
| -0.19798704981803894, |
| -0.2226073145866394, |
| -0.25074416399002075 |
| ], |
| [ |
| -0.1319900006055832, |
| -0.24861302971839905, |
| -0.1643853783607483, |
| -0.3179669678211212, |
| -0.2227487713098526, |
| -0.258606880903244, |
| -0.28384527564048767 |
| ], |
| [ |
| -0.14620764553546906, |
| -0.27704113721847534, |
| -0.18116982281208038, |
| -0.3533431589603424, |
| -0.2464999556541443, |
| -0.29492512345314026, |
| -0.316412091255188 |
| ], |
| [ |
| -0.15972091257572174, |
| -0.3043200671672821, |
| -0.1980922669172287, |
| -0.3877377510070801, |
| -0.2708328068256378, |
| -0.33083322644233704, |
| -0.34877124428749084 |
| ], |
| [ |
| -0.17268106341362, |
| -0.33062443137168884, |
| -0.2131159007549286, |
| -0.4221217632293701, |
| -0.29344549775123596, |
| -0.3660455346107483, |
| -0.38121670484542847 |
| ], |
| [ |
| -0.18472817540168762, |
| -0.35625091195106506, |
| -0.22839760780334473, |
| -0.45529261231422424, |
| -0.3153877258300781, |
| -0.4002206027507782, |
| -0.4114426374435425 |
| ], |
| [ |
| -0.196087047457695, |
| -0.3804990351200104, |
| -0.24291282892227173, |
| -0.4886305630207062, |
| -0.33661872148513794, |
| -0.4323963522911072, |
| -0.44443562626838684 |
| ], |
| [ |
| -0.20754094421863556, |
| -0.40406736731529236, |
| -0.25591516494750977, |
| -0.5200870037078857, |
| -0.35699641704559326, |
| -0.46493205428123474, |
| -0.4752610921859741 |
| ], |
| [ |
| -0.21783670783042908, |
| -0.4270036518573761, |
| -0.2693955898284912, |
| -0.5523506999015808, |
| -0.3770398497581482, |
| -0.49619781970977783, |
| -0.5057689547538757 |
| ], |
| [ |
| -0.22789263725280762, |
| -0.4487009048461914, |
| -0.2817341387271881, |
| -0.582881510257721, |
| -0.39591753482818604, |
| -0.5261765122413635, |
| -0.537896990776062 |
| ], |
| [ |
| -0.23713022470474243, |
| -0.4703439772129059, |
| -0.29313668608665466, |
| -0.6138148903846741, |
| -0.4144068956375122, |
| -0.553464412689209, |
| -0.5679793953895569 |
| ], |
| [ |
| -0.2450227588415146, |
| -0.4907558858394623, |
| -0.3041560649871826, |
| -0.6430442929267883, |
| -0.43116557598114014, |
| -0.5812606811523438, |
| -0.5977261066436768 |
| ], |
| [ |
| -0.253167986869812, |
| -0.5109587907791138, |
| -0.3149665892124176, |
| -0.6711833477020264, |
| -0.447959303855896, |
| -0.6077980399131775, |
| -0.6278752684593201 |
| ], |
| [ |
| -0.2598073184490204, |
| -0.5301631689071655, |
| -0.3246253728866577, |
| -0.6999356746673584, |
| -0.46298885345458984, |
| -0.6328873634338379, |
| -0.6586939096450806 |
| ], |
| [ |
| -0.2662319242954254, |
| -0.5488396883010864, |
| -0.3340033292770386, |
| -0.7257198691368103, |
| -0.4776667356491089, |
| -0.6572679281234741, |
| -0.6890558004379272 |
| ], |
| [ |
| -0.27157852053642273, |
| -0.5672665238380432, |
| -0.34148988127708435, |
| -0.7530762553215027, |
| -0.49096640944480896, |
| -0.6815019845962524, |
| -0.7180184125900269 |
| ], |
| [ |
| -0.2765890955924988, |
| -0.584902822971344, |
| -0.35213080048561096, |
| -0.7782225012779236, |
| -0.5042815804481506, |
| -0.7041551470756531, |
| -0.7478557229042053 |
| ], |
| [ |
| -0.2807888984680176, |
| -0.6023879647254944, |
| -0.35963520407676697, |
| -0.8031136393547058, |
| -0.5160548686981201, |
| -0.726670503616333, |
| -0.7777432799339294 |
| ], |
| [ |
| -0.28478676080703735, |
| -0.6192811727523804, |
| -0.3685051500797272, |
| -0.8276007175445557, |
| -0.5275983810424805, |
| -0.7468087673187256, |
| -0.8059573769569397 |
| ], |
| [ |
| -0.28809991478919983, |
| -0.6349669098854065, |
| -0.3745344877243042, |
| -0.8513126373291016, |
| -0.5384494662284851, |
| -0.7666541337966919, |
| -0.8366127610206604 |
| ], |
| [ |
| -0.29055482149124146, |
| -0.6504111886024475, |
| -0.38237079977989197, |
| -0.8729118704795837, |
| -0.5478241443634033, |
| -0.7858318090438843, |
| -0.8668655753135681 |
| ], |
| [ |
| -0.2931506037712097, |
| -0.6657307147979736, |
| -0.38952216506004333, |
| -0.8943421244621277, |
| -0.5575303435325623, |
| -0.8036868572235107, |
| -0.8947228789329529 |
| ], |
| [ |
| -0.2948271930217743, |
| -0.6807686686515808, |
| -0.39668866991996765, |
| -0.9154506921768188, |
| -0.5658943057060242, |
| -0.8208587169647217, |
| -0.9255923628807068 |
| ], |
| [ |
| -0.2971445918083191, |
| -0.6951773762702942, |
| -0.40277907252311707, |
| -0.9343796372413635, |
| -0.5743268132209778, |
| -0.8374603986740112, |
| -0.9533501863479614 |
| ], |
| [ |
| -0.2992275059223175, |
| -0.7093497514724731, |
| -0.4079630970954895, |
| -0.9530637860298157, |
| -0.582981288433075, |
| -0.8529658317565918, |
| -0.9774839878082275 |
| ], |
| [ |
| -0.29968971014022827, |
| -0.7230281829833984, |
| -0.4145693778991699, |
| -0.9708030819892883, |
| -0.5901823043823242, |
| -0.8686615228652954, |
| -1.0059198141098022 |
| ], |
| [ |
| -0.30057603120803833, |
| -0.7364816665649414, |
| -0.42024657130241394, |
| -0.988076388835907, |
| -0.5997264981269836, |
| -0.8825650811195374, |
| -1.0338596105575562 |
| ], |
| [ |
| -0.30015048384666443, |
| -0.7491956949234009, |
| -0.42530128359794617, |
| -1.0037318468093872, |
| -0.6085692644119263, |
| -0.8970025777816772, |
| -1.0580319166183472 |
| ], |
| [ |
| -0.2995418608188629, |
| -0.7622405290603638, |
| -0.4293420910835266, |
| -1.0199365615844727, |
| -0.6164478659629822, |
| -0.9104225039482117, |
| -1.084842562675476 |
| ], |
| [ |
| -0.29843756556510925, |
| -0.774696409702301, |
| -0.43381354212760925, |
| -1.0346755981445312, |
| -0.6253606081008911, |
| -0.9237903356552124, |
| -1.108617901802063 |
| ], |
| [ |
| -0.2961439788341522, |
| -0.7869112491607666, |
| -0.4371086657047272, |
| -1.0480026006698608, |
| -0.6363568305969238, |
| -0.9361781477928162, |
| -1.1334047317504883 |
| ], |
| [ |
| -0.29340606927871704, |
| -0.7988916635513306, |
| -0.44140729308128357, |
| -1.0622755289077759, |
| -0.6471944451332092, |
| -0.9483484029769897, |
| -1.1578888893127441 |
| ], |
| [ |
| -0.290905624628067, |
| -0.8110979795455933, |
| -0.44439223408699036, |
| -1.0741385221481323, |
| -0.6620154976844788, |
| -0.9591151475906372, |
| -1.179902195930481 |
| ], |
| [ |
| -0.2868397831916809, |
| -0.8228502869606018, |
| -0.4458030164241791, |
| -1.0856512784957886, |
| -0.6748505234718323, |
| -0.9700223207473755, |
| -1.2032604217529297 |
| ], |
| [ |
| -0.28396472334861755, |
| -0.8341512680053711, |
| -0.44881245493888855, |
| -1.0981488227844238, |
| -0.6859056949615479, |
| -0.980888843536377, |
| -1.2253018617630005 |
| ] |
| ], |
| "q99": [ |
| [ |
| 0.046110451221466064, |
| 0.06645670533180237, |
| 0.056860845535993576, |
| 0.033358220010995865, |
| 0.08722074329853058, |
| 0.07495075464248657, |
| 0.0871945172548294 |
| ], |
| [ |
| 0.0644989013671875, |
| 0.0928451344370842, |
| 0.07885532826185226, |
| 0.04639007896184921, |
| 0.12154222279787064, |
| 0.10417844355106354, |
| 0.12142222374677658 |
| ], |
| [ |
| 0.08265184611082077, |
| 0.11899107694625854, |
| 0.1006045714020729, |
| 0.05941704660654068, |
| 0.1557970941066742, |
| 0.13333134353160858, |
| 0.15519993007183075 |
| ], |
| [ |
| 0.10053178668022156, |
| 0.14486026763916016, |
| 0.12219289690256119, |
| 0.07210756838321686, |
| 0.18985623121261597, |
| 0.16226746141910553, |
| 0.1888931393623352 |
| ], |
| [ |
| 0.11845538020133972, |
| 0.17046786844730377, |
| 0.14326710999011993, |
| 0.0845639556646347, |
| 0.22367791831493378, |
| 0.190715491771698, |
| 0.22204382717609406 |
| ], |
| [ |
| 0.13581378757953644, |
| 0.1954406052827835, |
| 0.1639726161956787, |
| 0.09700049459934235, |
| 0.2572439908981323, |
| 0.21914124488830566, |
| 0.25479334592819214 |
| ], |
| [ |
| 0.1528863161802292, |
| 0.22040097415447235, |
| 0.1843535155057907, |
| 0.10909298062324524, |
| 0.2903944253921509, |
| 0.2467878758907318, |
| 0.2871517539024353 |
| ], |
| [ |
| 0.1695716381072998, |
| 0.2446587234735489, |
| 0.20398876070976257, |
| 0.12114828824996948, |
| 0.323432981967926, |
| 0.27420541644096375, |
| 0.31931552290916443 |
| ], |
| [ |
| 0.18607819080352783, |
| 0.2690690755844116, |
| 0.22333744168281555, |
| 0.132429301738739, |
| 0.35547101497650146, |
| 0.3012829124927521, |
| 0.35070595145225525 |
| ], |
| [ |
| 0.20197267830371857, |
| 0.29265937209129333, |
| 0.2419983297586441, |
| 0.14395463466644287, |
| 0.3872944414615631, |
| 0.3276430368423462, |
| 0.3815069794654846 |
| ], |
| [ |
| 0.21768812835216522, |
| 0.31571292877197266, |
| 0.2605789303779602, |
| 0.1548963487148285, |
| 0.4189662039279938, |
| 0.3537442982196808, |
| 0.412140816450119 |
| ], |
| [ |
| 0.23346200585365295, |
| 0.33780696988105774, |
| 0.27817070484161377, |
| 0.16594666242599487, |
| 0.44933947920799255, |
| 0.37910768389701843, |
| 0.44224536418914795 |
| ], |
| [ |
| 0.24851404130458832, |
| 0.359264612197876, |
| 0.29526597261428833, |
| 0.1765359342098236, |
| 0.4797739088535309, |
| 0.40398910641670227, |
| 0.4711816906929016 |
| ], |
| [ |
| 0.2636622190475464, |
| 0.38096901774406433, |
| 0.31198182702064514, |
| 0.18715494871139526, |
| 0.5088880062103271, |
| 0.42830467224121094, |
| 0.4999394714832306 |
| ], |
| [ |
| 0.2783597707748413, |
| 0.4006284773349762, |
| 0.3278113007545471, |
| 0.19674253463745117, |
| 0.5378918647766113, |
| 0.4523802697658539, |
| 0.5286756157875061 |
| ], |
| [ |
| 0.29249605536460876, |
| 0.42033976316452026, |
| 0.343767374753952, |
| 0.20655086636543274, |
| 0.5656169056892395, |
| 0.47580084204673767, |
| 0.5562705993652344 |
| ], |
| [ |
| 0.30614495277404785, |
| 0.439657986164093, |
| 0.35819974541664124, |
| 0.21648894250392914, |
| 0.5929989218711853, |
| 0.49841737747192383, |
| 0.5829221606254578 |
| ], |
| [ |
| 0.3193989396095276, |
| 0.4570791721343994, |
| 0.37255945801734924, |
| 0.22620056569576263, |
| 0.6192862391471863, |
| 0.5202101469039917, |
| 0.6099490523338318 |
| ], |
| [ |
| 0.3323386013507843, |
| 0.4760620594024658, |
| 0.38575881719589233, |
| 0.2364719957113266, |
| 0.6454651951789856, |
| 0.5417219400405884, |
| 0.6366853713989258 |
| ], |
| [ |
| 0.3449787497520447, |
| 0.49214833974838257, |
| 0.3993164300918579, |
| 0.2452542930841446, |
| 0.6707499623298645, |
| 0.5623698234558105, |
| 0.6618741154670715 |
| ], |
| [ |
| 0.3575359284877777, |
| 0.5086204409599304, |
| 0.41166186332702637, |
| 0.25418901443481445, |
| 0.6956717371940613, |
| 0.5823415517807007, |
| 0.6869192719459534 |
| ], |
| [ |
| 0.36935189366340637, |
| 0.5244712829589844, |
| 0.42376136779785156, |
| 0.26245245337486267, |
| 0.718599796295166, |
| 0.601524293422699, |
| 0.7119247913360596 |
| ], |
| [ |
| 0.38134196400642395, |
| 0.5384936928749084, |
| 0.43471041321754456, |
| 0.27045977115631104, |
| 0.7419836521148682, |
| 0.6204352378845215, |
| 0.7355146408081055 |
| ], |
| [ |
| 0.3924676775932312, |
| 0.5527670979499817, |
| 0.4450860917568207, |
| 0.27705883979797363, |
| 0.7636847496032715, |
| 0.6379700303077698, |
| 0.759403645992279 |
| ], |
| [ |
| 0.4031509459018707, |
| 0.5662750005722046, |
| 0.4550849199295044, |
| 0.2844058573246002, |
| 0.7848978042602539, |
| 0.6558123826980591, |
| 0.7829921245574951 |
| ], |
| [ |
| 0.4131999611854553, |
| 0.5798700451850891, |
| 0.4645824134349823, |
| 0.29095470905303955, |
| 0.8051483035087585, |
| 0.672610342502594, |
| 0.805921733379364 |
| ], |
| [ |
| 0.42434078454971313, |
| 0.592426598072052, |
| 0.47432073950767517, |
| 0.2967070937156677, |
| 0.8243750333786011, |
| 0.688168466091156, |
| 0.827680230140686 |
| ], |
| [ |
| 0.43353012204170227, |
| 0.6032022833824158, |
| 0.4824242889881134, |
| 0.3013301491737366, |
| 0.8429344892501831, |
| 0.7039971947669983, |
| 0.8496230840682983 |
| ], |
| [ |
| 0.4429236650466919, |
| 0.6148213148117065, |
| 0.4895994961261749, |
| 0.305573433637619, |
| 0.8605815768241882, |
| 0.71843022108078, |
| 0.8707432150840759 |
| ], |
| [ |
| 0.4520924687385559, |
| 0.6246622204780579, |
| 0.49678292870521545, |
| 0.3088575005531311, |
| 0.8782898783683777, |
| 0.732230007648468, |
| 0.8893605470657349 |
| ], |
| [ |
| 0.4599577784538269, |
| 0.6353678107261658, |
| 0.5038828253746033, |
| 0.311261385679245, |
| 0.8942967057228088, |
| 0.7461625933647156, |
| 0.9089184403419495 |
| ], |
| [ |
| 0.4682781994342804, |
| 0.6457983255386353, |
| 0.5109403133392334, |
| 0.31277069449424744, |
| 0.9085660576820374, |
| 0.7583375573158264, |
| 0.9263941645622253 |
| ], |
| [ |
| 0.47572633624076843, |
| 0.6549390554428101, |
| 0.5158092379570007, |
| 0.3145766854286194, |
| 0.9231234788894653, |
| 0.7710933089256287, |
| 0.9454582333564758 |
| ], |
| [ |
| 0.4835453927516937, |
| 0.6641467213630676, |
| 0.520589292049408, |
| 0.3158649206161499, |
| 0.936630368232727, |
| 0.7827450633049011, |
| 0.9615491628646851 |
| ], |
| [ |
| 0.49087879061698914, |
| 0.6736345887184143, |
| 0.5256668329238892, |
| 0.31666117906570435, |
| 0.9495474100112915, |
| 0.79404616355896, |
| 0.9785261750221252 |
| ], |
| [ |
| 0.49731186032295227, |
| 0.6830675005912781, |
| 0.5296798348426819, |
| 0.3174189329147339, |
| 0.960809051990509, |
| 0.8040677309036255, |
| 0.9965335130691528 |
| ], |
| [ |
| 0.5038154125213623, |
| 0.6918169260025024, |
| 0.5338423848152161, |
| 0.31921884417533875, |
| 0.9718978404998779, |
| 0.814274787902832, |
| 1.0114917755126953 |
| ], |
| [ |
| 0.509674608707428, |
| 0.7013934254646301, |
| 0.5389319658279419, |
| 0.3208004832267761, |
| 0.982171893119812, |
| 0.823616623878479, |
| 1.026930332183838 |
| ], |
| [ |
| 0.5156171917915344, |
| 0.7095592021942139, |
| 0.5427846312522888, |
| 0.32163164019584656, |
| 0.9928155541419983, |
| 0.8333043456077576, |
| 1.0420643091201782 |
| ], |
| [ |
| 0.5218510627746582, |
| 0.720234751701355, |
| 0.5459689497947693, |
| 0.32241290807724, |
| 1.0017248392105103, |
| 0.8413918018341064, |
| 1.0565482378005981 |
| ] |
| ], |
| "count": [ |
| 61300, |
| 61300, |
| 61300, |
| 61300, |
| 61300, |
| 61300, |
| 61300, |
| 61300, |
| 61300, |
| 61300, |
| 61300, |
| 61300, |
| 61300, |
| 61300, |
| 61300, |
| 61300, |
| 61300, |
| 61300, |
| 61300, |
| 61300, |
| 61300, |
| 61300, |
| 61300, |
| 61300, |
| 61300, |
| 61300, |
| 61300, |
| 61300, |
| 61300, |
| 61300, |
| 61300, |
| 61300, |
| 61300, |
| 61300, |
| 61300, |
| 61300, |
| 61300, |
| 61300, |
| 61300, |
| 61300 |
| ] |
| } |
| } |
| }, |
| "modality_config": { |
| "state": { |
| "modality_keys": [ |
| "single_arm", |
| "gripper" |
| ] |
| }, |
| "action": { |
| "modality_keys": [ |
| "single_arm", |
| "gripper" |
| ], |
| "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": [ |
| "top", |
| "wrist" |
| ], |
| "delta_indices": [ |
| 0 |
| ] |
| } |
| } |
| }, |
| "state_file": "policy_preprocessor_step_2_groot_n1_7_pack_inputs_v1.safetensors" |
| }, |
| { |
| "registry_name": "groot_n1_7_vlm_encode_v1", |
| "config": { |
| "model_name": "nvidia/Cosmos-Reason2-2B", |
| "image_crop_size": [ |
| 230, |
| 230 |
| ], |
| "image_target_size": [ |
| 256, |
| 256 |
| ], |
| "shortest_image_edge": null, |
| "crop_fraction": null, |
| "use_albumentations": false, |
| "letter_box_transform": false, |
| "device": "cuda" |
| } |
| }, |
| { |
| "registry_name": "device_processor", |
| "config": { |
| "device": "cuda", |
| "float_dtype": null |
| } |
| } |
| ] |
| } |
