Add files using upload-large-folder tool

.gitattributes

@@ -2218,3 +2218,5 @@ teleoperation/V1/pick_and_place_bread/0089/action/executed_action_dict.pkl filte
 teleoperation/V1/pick_and_place_bread/0089/robot/robot_state_dict.pkl filter=lfs diff=lfs merge=lfs -text
 teleoperation/V1/pick_and_place_bread/0091/action/executed_action_dict.pkl filter=lfs diff=lfs merge=lfs -text
 teleoperation/V1/pick_and_place_bread/0091/robot/robot_state_dict.pkl filter=lfs diff=lfs merge=lfs -text
+eval/YAM/V2/dp/spatula_handoff/data/round_0006/robot/robot_state_dict.pkl filter=lfs diff=lfs merge=lfs -text
+eval/YAM/V2/dp/spatula_handoff/data/round_0006/action/executed_action_dict.pkl filter=lfs diff=lfs merge=lfs -text

eval/YAM/V2/dp/banana_pick/data/round_0001/camera/metadata.json

@@ -0,0 +1,59 @@
+{
+  "base_0_rgb": {
+    "codec": "h264",
+    "container": "mp4",
+    "encoder": "libx264",
+    "encoding": "bgr8",
+    "frames": 1424,
+    "height": 480,
+    "lossless": false,
+    "pixel_format": "yuv420p",
+    "quality": {
+      "mode": "crf",
+      "value": 14
+    },
+    "timestamp_policy": "shared_by_complete_physical_camera_bundle",
+    "timestamps": "camera/timestamp.pkl::base_0",
+    "topic": "/prometheus/sensors/cameras/base_0/color/image_raw",
+    "video": "camera/base_0_rgb.mp4",
+    "width": 640
+  },
+  "left_wrist_0_rgb": {
+    "codec": "h264",
+    "container": "mp4",
+    "encoder": "libx264",
+    "encoding": "bgr8",
+    "frames": 1427,
+    "height": 480,
+    "lossless": false,
+    "pixel_format": "yuv420p",
+    "quality": {
+      "mode": "crf",
+      "value": 14
+    },
+    "timestamp_policy": "shared_by_complete_physical_camera_bundle",
+    "timestamps": "camera/timestamp.pkl::left_wrist_0",
+    "topic": "/prometheus/sensors/cameras/left_wrist_0/color/image_raw",
+    "video": "camera/left_wrist_0_rgb.mp4",
+    "width": 640
+  },
+  "right_wrist_0_rgb": {
+    "codec": "h264",
+    "container": "mp4",
+    "encoder": "libx264",
+    "encoding": "bgr8",
+    "frames": 1421,
+    "height": 480,
+    "lossless": false,
+    "pixel_format": "yuv420p",
+    "quality": {
+      "mode": "crf",
+      "value": 14
+    },
+    "timestamp_policy": "shared_by_complete_physical_camera_bundle",
+    "timestamps": "camera/timestamp.pkl::right_wrist_0",
+    "topic": "/prometheus/sensors/cameras/right_wrist_0/color/image_raw",
+    "video": "camera/right_wrist_0_rgb.mp4",
+    "width": 640
+  }
+}

eval/YAM/V2/dp/banana_pick/data/round_0001/debug/validations/validation_0000.json

@@ -0,0 +1,194 @@
+{
+  "command_velocity_limits": [
+    7.326937734087213,
+    7.492612143357643,
+    9.039960411055707,
+    10.989442599937178,
+    11.822247140410347,
+    21.729793477053846,
+    4.549583926449072,
+    9.542591565847905,
+    16.49783855493206,
+    19.18122166486826,
+    20.271305218109156,
+    13.274309575261345,
+    14.009155302643812,
+    4.764187300355128
+  ],
+  "current": [
+    -0.0040054932478827965,
+    0.010490577553978753,
+    0.011253528648813571,
+    0.008201724269474298,
+    -0.02193484397650458,
+    -0.06504158083466827,
+    0.09592368287923689,
+    -0.007820248722056888,
+    0.000953688868543523,
+    0.0040054932478827965,
+    0.0165941863126573,
+    -0.02384222171358452,
+    -0.03757534142061125,
+    0.09576344397738797
+  ],
+  "current_velocity": [
+    -0.017094017094017033,
+    -0.0024420024420024333,
+    0.0024420024420024333,
+    -0.0073260073260073,
+    -0.0219780219780219,
+    -0.0219780219780219,
+    0.00013323856168403347,
+    -0.0073260073260073,
+    -0.012210012210012167,
+    0.0073260073260073,
+    -0.0219780219780219,
+    -0.0073260073260073,
+    -0.0073260073260073,
+    0.00040084548007435206
+  ],
+  "first_target": [
+    -0.004005493130534887,
+    0.010490577667951584,
+    0.01125352829694748,
+    0.008201723918318748,
+    -0.021553369238972664,
+    -0.06504157930612564,
+    0.09592368453741074,
+    -0.0051960330456495285,
+    -0.012024475261569023,
+    -0.008541183546185493,
+    0.025110669434070587,
+    -0.025572804734110832,
+    -0.04196535795927048,
+    0.09583506733179092
+  ],
+  "first_transition_velocity": [
+    3.5204372750285984e-09,
+    3.419184935182784e-09,
+    -1.0555982754567594e-08,
+    -1.0534666472494791e-08,
+    0.011444242125957516,
+    4.585627877418119e-08,
+    4.974521544687249e-08,
+    0.0787264702922208,
+    -0.3893449239033764,
+    -0.3764003038220487,
+    0.2554944936423986,
+    -0.05191749061578932,
+    -0.13170049615977675,
+    0.002148700632088746
+  ],
+  "observation_state": [
+    -0.004005493130534887,
+    0.010490577667951584,
+    0.01125352829694748,
+    0.008201723918318748,
+    -0.021553369238972664,
+    -0.06504157930612564,
+    0.09592368453741074,
+    -0.0078202486038208,
+    0.0009536888683214784,
+    0.004005493130534887,
+    0.016594186425209045,
+    -0.02384222112596035,
+    -0.037193864583969116,
+    0.0957634449005127
+  ],
+  "policy_metadata": {
+    "alignment_wait_ms": 263.36735900258645,
+    "checkpoint_path": "/home/romoya-1/openpi-workspace/checkpoints/yam-policies-release/yam_policies/xiangrun/20260916_v2_seven_tasks/dp/banana_pick/best-short.pt",
+    "first_action_minus_state": [
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.0026242155581712723,
+      -0.012978164479136467,
+      -0.012546677142381668,
+      0.008516483008861542,
+      -0.0017305836081504822,
+      -0.004771493375301361,
+      7.162243127822876e-05
+    ],
+    "history_anchor_offset": 1,
+    "history_interval_ms": 33.411326,
+    "history_sample_stamp_ns": {
+      "base_0_color": [
+        1789570616406990487,
+        1789570616440401813
+      ],
+      "left_wrist_0_color": [
+        1789570616414027596,
+        1789570616447462600
+      ],
+      "right_wrist_0_color": [
+        1789570616421965571,
+        1789570616455221000
+      ],
+      "robot_state": [
+        1789570616403221449,
+        1789570616436507396
+      ]
+    },
+    "history_stamp_ns": [
+      1789570616406990487,
+      1789570616440401813
+    ],
+    "model_seed": null,
+    "observation_age_at_response_ms": 275.465147,
+    "observation_stamp_ns": 1789570616440401813,
+    "prompt": "banana_pick",
+    "release_revision": "39c623bd78f638d06ce0db57631b66d3028db208",
+    "request_id": "d830153c46b04b558e995c9e3a42c65a",
+    "round_trip_ms": 83.45619999454357,
+    "server_metadata": {
+      "action_shape": [
+        32,
+        14
+      ],
+      "action_space": "abs_qpos",
+      "cameras": [
+        "base_0",
+        "right_wrist_0"
+      ],
+      "checkpoint_hashes": {
+        "dp/banana_pick/best-short.pt": "c65474448980475685df18bac931e834ec346ba38f27ec5a62ab8003bd6ac078"
+      },
+      "checkpoint_path": "/home/romoya-1/openpi-workspace/checkpoints/yam-policies-release/yam_policies/xiangrun/20260916_v2_seven_tasks/dp/banana_pick/best-short.pt",
+      "fps": 30,
+      "gpu": "NVIDIA GeForce RTX 5090",
+      "gpu_peak_mib": 389.01416015625,
+      "model": "dp",
+      "observation_offsets": [
+        -1,
+        0
+      ],
+      "protocol": "yam-v2-native-npz-v1",
+      "release_revision": "39c623bd78f638d06ce0db57631b66d3028db208",
+      "step": 13000,
+      "task": "banana_pick",
+      "tasks": [
+        "banana_pick"
+      ],
+      "warmup": {
+        "hardware_started": false,
+        "seconds": [
+          0.3053480860107811,
+          0.05467458399652969,
+          0.054366027005016804,
+          0.05456006299937144
+        ],
+        "status": "passed"
+      }
+    },
+    "server_prediction_seconds": 0.080981884006178,
+    "source": "yam_v2_dp_http",
+    "task": "banana_pick",
+    "wire_action_dtype": "float32"
+  },
+  "time_ns": 1789570616755494405
+}

eval/YAM/V2/dp/banana_pick/data/round_0001/debug/validations/validation_0001.json

@@ -0,0 +1,194 @@
+{
+  "command_velocity_limits": [
+    7.326937734087213,
+    7.492612143357643,
+    9.039960411055707,
+    10.989442599937178,
+    11.822247140410347,
+    21.729793477053846,
+    4.549583926449072,
+    9.542591565847905,
+    16.49783855493206,
+    19.18122166486826,
+    20.271305218109156,
+    13.274309575261345,
+    14.009155302643812,
+    4.764187300355128
+  ],
+  "current": [
+    -0.0040054932478827965,
+    0.010490577553978753,
+    0.011253528648813571,
+    0.008201724269474298,
+    -0.02155336842908362,
+    -0.06504158083466827,
+    0.09592368287923689,
+    -0.007438773174643032,
+    0.0005722133211261138,
+    0.0036240177004653873,
+    0.020027466239413982,
+    -0.024223697261005483,
+    -0.03757534142061125,
+    0.09551993042469917
+  ],
+  "current_velocity": [
+    -0.0219780219780219,
+    0.0024420024420024333,
+    -0.012210012210012167,
+    -0.0073260073260073,
+    0.0073260073260073,
+    -0.0219780219780219,
+    0.00013323856168403347,
+    0.0073260073260073,
+    -0.0073260073260073,
+    -0.026862026862026767,
+    -0.0073260073260073,
+    -0.0073260073260073,
+    -0.0219780219780219,
+    -0.00013361516002478402
+  ],
+  "first_target": [
+    -0.004005493130534887,
+    0.010109102353453636,
+    0.01125352829694748,
+    0.008201723918318748,
+    -0.021553369238972664,
+    -0.06504157930612564,
+    0.09592368453741074,
+    -0.004622310400009155,
+    -0.014790559187531471,
+    -0.009179268032312393,
+    0.028362713754177094,
+    -0.026760000735521317,
+    -0.04868844896554947,
+    0.09554289281368256
+  ],
+  "first_transition_velocity": [
+    3.5204372750285984e-09,
+    -0.011444256015753496,
+    -1.0555982754567594e-08,
+    -1.0534666472494791e-08,
+    -2.429667134151714e-08,
+    4.585627877418119e-08,
+    4.974521544687249e-08,
+    0.0844938832390163,
+    -0.46088317525972755,
+    -0.3840985719833334,
+    0.25005742544289333,
+    -0.07608910423547499,
+    -0.3333932263481465,
+    0.0006888716695016561
+  ],
+  "observation_state": [
+    -0.004005493130534887,
+    0.010109102353453636,
+    0.01125352829694748,
+    0.008201723918318748,
+    -0.021553369238972664,
+    -0.06504157930612564,
+    0.09592368453741074,
+    -0.007438773289322853,
+    0.000572213320992887,
+    0.0036240178160369396,
+    0.020027466118335724,
+    -0.024223696440458298,
+    -0.03757534176111221,
+    0.09582605957984924
+  ],
+  "policy_metadata": {
+    "alignment_wait_ms": 5.367488003685139,
+    "checkpoint_path": "/home/romoya-1/openpi-workspace/checkpoints/yam-policies-release/yam_policies/xiangrun/20260916_v2_seven_tasks/dp/banana_pick/best-short.pt",
+    "first_action_minus_state": [
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.002816462889313698,
+      -0.015362772159278393,
+      -0.01280328631401062,
+      0.00833524763584137,
+      -0.002536304295063019,
+      -0.011113107204437256,
+      -0.000283166766166687
+    ],
+    "history_anchor_offset": 2,
+    "history_interval_ms": 33.485198,
+    "history_sample_stamp_ns": {
+      "base_0_color": [
+        1789570617907453136,
+        1789570617940938334
+      ],
+      "left_wrist_0_color": [
+        1789570617914290158,
+        1789570617947622533
+      ],
+      "right_wrist_0_color": [
+        1789570617922005325,
+        1789570617955339390
+      ],
+      "robot_state": [
+        1789570617903206010,
+        1789570617944919874
+      ]
+    },
+    "history_stamp_ns": [
+      1789570617907453136,
+      1789570617940938334
+    ],
+    "model_seed": null,
+    "observation_age_at_response_ms": 315.78823,
+    "observation_stamp_ns": 1789570617940938334,
+    "prompt": "banana_pick",
+    "release_revision": "39c623bd78f638d06ce0db57631b66d3028db208",
+    "request_id": "7a92e3000aad42aca6dc9889cdcf9563",
+    "round_trip_ms": 79.02787601051386,
+    "server_metadata": {
+      "action_shape": [
+        32,
+        14
+      ],
+      "action_space": "abs_qpos",
+      "cameras": [
+        "base_0",
+        "right_wrist_0"
+      ],
+      "checkpoint_hashes": {
+        "dp/banana_pick/best-short.pt": "c65474448980475685df18bac931e834ec346ba38f27ec5a62ab8003bd6ac078"
+      },
+      "checkpoint_path": "/home/romoya-1/openpi-workspace/checkpoints/yam-policies-release/yam_policies/xiangrun/20260916_v2_seven_tasks/dp/banana_pick/best-short.pt",
+      "fps": 30,
+      "gpu": "NVIDIA GeForce RTX 5090",
+      "gpu_peak_mib": 389.01416015625,
+      "model": "dp",
+      "observation_offsets": [
+        -1,
+        0
+      ],
+      "protocol": "yam-v2-native-npz-v1",
+      "release_revision": "39c623bd78f638d06ce0db57631b66d3028db208",
+      "step": 13000,
+      "task": "banana_pick",
+      "tasks": [
+        "banana_pick"
+      ],
+      "warmup": {
+        "hardware_started": false,
+        "seconds": [
+          0.3053480860107811,
+          0.05467458399652969,
+          0.054366027005016804,
+          0.05456006299937144
+        ],
+        "status": "passed"
+      }
+    },
+    "server_prediction_seconds": 0.0754133250011364,
+    "source": "yam_v2_dp_http",
+    "task": "banana_pick",
+    "wire_action_dtype": "float32"
+  },
+  "time_ns": 1789570618271970931
+}

eval/YAM/V2/dp/banana_pick/data/round_0001/debug/validations/validation_0002.json

@@ -0,0 +1,194 @@
+{
+  "command_velocity_limits": [
+    7.326937734087213,
+    7.492612143357643,
+    9.039960411055707,
+    10.989442599937178,
+    11.822247140410347,
+    21.729793477053846,
+    4.549583926449072,
+    9.542591565847905,
+    16.49783855493206,
+    19.18122166486826,
+    20.271305218109156,
+    13.274309575261345,
+    14.009155302643812,
+    4.764187300355128
+  ],
+  "current": [
+    -0.0040054932478827965,
+    0.010109102006561344,
+    0.011253528648813571,
+    0.008201724269474298,
+    -0.02193484397650458,
+    -0.06504158083466827,
+    0.09592368287923689,
+    -0.007820248722056888,
+    0.000953688868543523,
+    0.0036240177004653873,
+    0.019264515144579164,
+    -0.024223697261005483,
+    -0.03757534142061125,
+    0.09568691114654292
+  ],
+  "current_velocity": [
+    0.0073260073260073,
+    -0.0073260073260073,
+    0.0024420024420024333,
+    -0.0073260073260073,
+    -0.0219780219780219,
+    -0.0073260073260073,
+    -0.00013323856168403347,
+    -0.0073260073260073,
+    -0.0073260073260073,
+    -0.0024420024420024333,
+    -0.0073260073260073,
+    -0.0073260073260073,
+    -0.0073260073260073,
+    0.00013361516002478402
+  ],
+  "first_target": [
+    -0.004005493130534887,
+    0.010490577667951584,
+    0.01125352829694748,
+    0.008201723918318748,
+    -0.021553369238972664,
+    -0.06504157930612564,
+    0.09592368453741074,
+    -0.0014071469195187092,
+    -0.010976468212902546,
+    -0.008106248453259468,
+    0.021782390773296356,
+    -0.03403206914663315,
+    -0.03188639134168625,
+    0.09600000083446503
+  ],
+  "first_transition_velocity": [
+    3.5204372750285984e-09,
+    0.01144426984170721,
+    -1.0555982754567594e-08,
+    -1.0534666472494791e-08,
+    0.011444242125957516,
+    4.585627877418119e-08,
+    4.974521544687249e-08,
+    0.19239305407614538,
+    -0.35790471244338207,
+    -0.35190798461174566,
+    0.07553626886151577,
+    -0.29425115656882994,
+    0.1706685023677501,
+    0.00939269063766332
+  ],
+  "observation_state": [
+    -0.004005493130534887,
+    0.010490577667951584,
+    0.01125352829694748,
+    0.008201723918318748,
+    -0.021553369238972664,
+    -0.06504157930612564,
+    0.09592368453741074,
+    -0.0078202486038208,
+    0.0009536888683214784,
+    0.0036240178160369396,
+    0.01926451548933983,
+    -0.024223696440458298,
+    -0.03757534176111221,
+    0.0956869125366211
+  ],
+  "policy_metadata": {
+    "alignment_wait_ms": 4.406102001667023,
+    "checkpoint_path": "/home/romoya-1/openpi-workspace/checkpoints/yam-policies-release/yam_policies/xiangrun/20260916_v2_seven_tasks/dp/banana_pick/best-short.pt",
+    "first_action_minus_state": [
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.006413101684302092,
+      -0.01193015743046999,
+      -0.011730266734957695,
+      0.0025178752839565277,
+      -0.00980837270617485,
+      0.005688950419425964,
+      0.0003130882978439331
+    ],
+    "history_anchor_offset": 0,
+    "history_interval_ms": 33.491412,
+    "history_sample_stamp_ns": {
+      "base_0_color": [
+        1789570619507781070,
+        1789570619541272482
+      ],
+      "left_wrist_0_color": [
+        1789570619514685060,
+        1789570619547970579
+      ],
+      "right_wrist_0_color": [
+        1789570619522432797,
+        1789570619555812944
+      ],
+      "robot_state": [
+        1789570619511600090,
+        1789570619544926375
+      ]
+    },
+    "history_stamp_ns": [
+      1789570619507781070,
+      1789570619541272482
+    ],
+    "model_seed": null,
+    "observation_age_at_response_ms": 214.292524,
+    "observation_stamp_ns": 1789570619541272482,
+    "prompt": "banana_pick",
+    "release_revision": "39c623bd78f638d06ce0db57631b66d3028db208",
+    "request_id": "6564d22d9c2a4946afc83cddf0370a7a",
+    "round_trip_ms": 78.23142800771166,
+    "server_metadata": {
+      "action_shape": [
+        32,
+        14
+      ],
+      "action_space": "abs_qpos",
+      "cameras": [
+        "base_0",
+        "right_wrist_0"
+      ],
+      "checkpoint_hashes": {
+        "dp/banana_pick/best-short.pt": "c65474448980475685df18bac931e834ec346ba38f27ec5a62ab8003bd6ac078"
+      },
+      "checkpoint_path": "/home/romoya-1/openpi-workspace/checkpoints/yam-policies-release/yam_policies/xiangrun/20260916_v2_seven_tasks/dp/banana_pick/best-short.pt",
+      "fps": 30,
+      "gpu": "NVIDIA GeForce RTX 5090",
+      "gpu_peak_mib": 389.01416015625,
+      "model": "dp",
+      "observation_offsets": [
+        -1,
+        0
+      ],
+      "protocol": "yam-v2-native-npz-v1",
+      "release_revision": "39c623bd78f638d06ce0db57631b66d3028db208",
+      "step": 13000,
+      "task": "banana_pick",
+      "tasks": [
+        "banana_pick"
+      ],
+      "warmup": {
+        "hardware_started": false,
+        "seconds": [
+          0.3053480860107811,
+          0.05467458399652969,
+          0.054366027005016804,
+          0.05456006299937144
+        ],
+        "status": "passed"
+      }
+    },
+    "server_prediction_seconds": 0.07570808500167914,
+    "source": "yam_v2_dp_http",
+    "task": "banana_pick",
+    "wire_action_dtype": "float32"
+  },
+  "time_ns": 1789570619774574668
+}

eval/YAM/V2/dp/banana_pick/data/round_0001/debug/validations/validation_0003.json

@@ -0,0 +1,194 @@
+{
+  "command_velocity_limits": [
+    7.326937734087213,
+    7.492612143357643,
+    9.039960411055707,
+    10.989442599937178,
+    11.822247140410347,
+    21.729793477053846,
+    4.549583926449072,
+    9.542591565847905,
+    16.49783855493206,
+    19.18122166486826,
+    20.271305218109156,
+    13.274309575261345,
+    14.009155302643812,
+    4.764187300355128
+  ],
+  "current": [
+    -0.0040054932478827965,
+    0.010490577553978753,
+    0.011253528648813571,
+    0.008201724269474298,
+    -0.02155336842908362,
+    -0.06504158083466827,
+    0.09592368287923689,
+    -0.007438773174643032,
+    0.000953688868543523,
+    0.0036240177004653873,
+    0.019264515144579164,
+    -0.024223697261005483,
+    -0.03757534142061125,
+    0.09575648644731113
+  ],
+  "current_velocity": [
+    -0.0024420024420024333,
+    0.0024420024420024333,
+    -0.017094017094017033,
+    -0.0073260073260073,
+    -0.0073260073260073,
+    -0.0073260073260073,
+    0.00013323856168403347,
+    -0.012210012210012167,
+    0.0073260073260073,
+    -0.017094017094017033,
+    0.0073260073260073,
+    -0.0073260073260073,
+    0.0073260073260073,
+    0.00013361516002478402
+  ],
+  "first_target": [
+    -0.004005493130534887,
+    0.010490577667951584,
+    0.01125352829694748,
+    0.008201723918318748,
+    -0.021553369238972664,
+    -0.06504157930612564,
+    0.09592368453741074,
+    -0.024853624403476715,
+    -0.052619948983192444,
+    -0.027531912550330162,
+    0.03135101497173309,
+    -0.03072405606508255,
+    -0.07154130935668945,
+    0.09578024595975876
+  ],
+  "first_transition_velocity": [
+    3.5204372750285984e-09,
+    3.419184935182784e-09,
+    -1.0555982754567594e-08,
+    -1.0534666472494791e-08,
+    -2.429667134151714e-08,
+    4.585627877418119e-08,
+    4.974521544687249e-08,
+    -0.5224455368650105,
+    -1.607209135552079,
+    -0.9346779075238665,
+    0.3625949948146179,
+    -0.195010764122312,
+    -1.018979038082346,
+    0.0007127853734287259
+  ],
+  "observation_state": [
+    -0.004005493130534887,
+    0.010490577667951584,
+    0.01125352829694748,
+    0.008201723918318748,
+    -0.021553369238972664,
+    -0.06504157930612564,
+    0.09592368453741074,
+    -0.007438773289322853,
+    0.0009536888683214784,
+    0.0036240178160369396,
+    0.01926451548933983,
+    -0.024223696440458298,
+    -0.03757534176111221,
+    0.09575648605823517
+  ],
+  "policy_metadata": {
+    "alignment_wait_ms": 4.386981992865913,
+    "checkpoint_path": "/home/romoya-1/openpi-workspace/checkpoints/yam-policies-release/yam_policies/xiangrun/20260916_v2_seven_tasks/dp/banana_pick/best-short.pt",
+    "first_action_minus_state": [
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      -0.017414851114153862,
+      -0.05357363820075989,
+      -0.03115593083202839,
+      0.012086499482393265,
+      -0.006500359624624252,
+      -0.03396596759557724,
+      2.3759901523590088e-05
+    ],
+    "history_anchor_offset": 0,
+    "history_interval_ms": 33.310127,
+    "history_sample_stamp_ns": {
+      "base_0_color": [
+        1789570620908349354,
+        1789570620941659481
+      ],
+      "left_wrist_0_color": [
+        1789570620914771320,
+        1789570620948324565
+      ],
+      "right_wrist_0_color": [
+        1789570620922908918,
+        1789570620956240585
+      ],
+      "robot_state": [
+        1789570620911708351,
+        1789570620944986934
+      ]
+    },
+    "history_stamp_ns": [
+      1789570620908349354,
+      1789570620941659481
+    ],
+    "model_seed": null,
+    "observation_age_at_response_ms": 327.861284,
+    "observation_stamp_ns": 1789570620941659481,
+    "prompt": "banana_pick",
+    "release_revision": "39c623bd78f638d06ce0db57631b66d3028db208",
+    "request_id": "e069dd88c9ea475c8e85f7c4d57ca15e",
+    "round_trip_ms": 76.89672299602535,
+    "server_metadata": {
+      "action_shape": [
+        32,
+        14
+      ],
+      "action_space": "abs_qpos",
+      "cameras": [
+        "base_0",
+        "right_wrist_0"
+      ],
+      "checkpoint_hashes": {
+        "dp/banana_pick/best-short.pt": "c65474448980475685df18bac931e834ec346ba38f27ec5a62ab8003bd6ac078"
+      },
+      "checkpoint_path": "/home/romoya-1/openpi-workspace/checkpoints/yam-policies-release/yam_policies/xiangrun/20260916_v2_seven_tasks/dp/banana_pick/best-short.pt",
+      "fps": 30,
+      "gpu": "NVIDIA GeForce RTX 5090",
+      "gpu_peak_mib": 389.01416015625,
+      "model": "dp",
+      "observation_offsets": [
+        -1,
+        0
+      ],
+      "protocol": "yam-v2-native-npz-v1",
+      "release_revision": "39c623bd78f638d06ce0db57631b66d3028db208",
+      "step": 13000,
+      "task": "banana_pick",
+      "tasks": [
+        "banana_pick"
+      ],
+      "warmup": {
+        "hardware_started": false,
+        "seconds": [
+          0.3053480860107811,
+          0.05467458399652969,
+          0.054366027005016804,
+          0.05456006299937144
+        ],
+        "status": "passed"
+      }
+    },
+    "server_prediction_seconds": 0.07475796199287288,
+    "source": "yam_v2_dp_http",
+    "task": "banana_pick",
+    "wire_action_dtype": "float32"
+  },
+  "time_ns": 1789570621286213100
+}

eval/YAM/V2/dp/banana_pick/data/round_0001/debug/validations/validation_0004.json

@@ -0,0 +1,194 @@
+{
+  "command_velocity_limits": [
+    7.326937734087213,
+    7.492612143357643,
+    9.039960411055707,
+    10.989442599937178,
+    11.822247140410347,
+    21.729793477053846,
+    4.549583926449072,
+    9.542591565847905,
+    16.49783855493206,
+    19.18122166486826,
+    20.271305218109156,
+    13.274309575261345,
+    14.009155302643812,
+    4.764187300355128
+  ],
+  "current": [
+    -0.004386968795303758,
+    0.010490577553978753,
+    0.011253528648813571,
+    0.008201724269474298,
+    -0.02155336842908362,
+    -0.06504158083466827,
+    0.09592368287923689,
+    -0.010490577553982305,
+    -0.0028610666056341216,
+    0.002861066605630569,
+    0.03452353704127553,
+    -0.024223697261005483,
+    -0.046349279011215216,
+    0.09553384548485282
+  ],
+  "current_velocity": [
+    0.0024420024420024333,
+    -0.0073260073260073,
+    0.0073260073260073,
+    -0.0073260073260073,
+    -0.0219780219780219,
+    -0.0073260073260073,
+    0.0003997156850521004,
+    -0.0073260073260073,
+    0.0219780219780219,
+    -0.0024420024420024333,
+    -0.0219780219780219,
+    -0.0073260073260073,
+    0.0073260073260073,
+    0.00013361516002478402
+  ],
+  "first_target": [
+    -0.004005493130534887,
+    0.010109102353453636,
+    0.01125352829694748,
+    0.008201723918318748,
+    -0.021553369238972664,
+    -0.06504157930612564,
+    0.09592368453741074,
+    -0.011199637316167355,
+    -0.022909462451934814,
+    -0.014477024786174297,
+    0.044483620673418045,
+    -0.03077372908592224,
+    -0.05230237543582916,
+    0.09571018069982529
+  ],
+  "first_transition_velocity": [
+    0.011444269943066132,
+    -0.011444256015753496,
+    -1.0555982754567594e-08,
+    -1.0534666472494791e-08,
+    -2.429667134151714e-08,
+    4.585627877418119e-08,
+    4.974521544687249e-08,
+    -0.021271792865551475,
+    -0.6014518753890208,
+    -0.520142741754146,
+    0.2988025089642754,
+    -0.19650095474750273,
+    -0.17859289273841839,
+    0.005290056449174102
+  ],
+  "observation_state": [
+    -0.004005493130534887,
+    0.010109102353453636,
+    0.01125352829694748,
+    0.008201723918318748,
+    -0.021553369238972664,
+    -0.06504157930612564,
+    0.09592368453741074,
+    -0.010490577667951584,
+    -0.002861066721379757,
+    0.002861066721379757,
+    0.03452353551983833,
+    -0.024223696440458298,
+    -0.04596780240535736,
+    0.09553384780883789
+  ],
+  "policy_metadata": {
+    "alignment_wait_ms": 5.09604399849195,
+    "checkpoint_path": "/home/romoya-1/openpi-workspace/checkpoints/yam-policies-release/yam_policies/xiangrun/20260916_v2_seven_tasks/dp/banana_pick/best-short.pt",
+    "first_action_minus_state": [
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      -0.0007090596482157707,
+      -0.020048394799232483,
+      -0.017338091507554054,
+      0.009960085153579712,
+      -0.0065500326454639435,
+      -0.006334573030471802,
+      0.00017633289098739624
+    ],
+    "history_anchor_offset": 0,
+    "history_interval_ms": 33.457809,
+    "history_sample_stamp_ns": {
+      "base_0_color": [
+        1789570622475479553,
+        1789570622508937362
+      ],
+      "left_wrist_0_color": [
+        1789570622482140383,
+        1789570622515362865
+      ],
+      "right_wrist_0_color": [
+        1789570622489866998,
+        1789570622523255276
+      ],
+      "robot_state": [
+        1789570622478295605,
+        1789570622511783140
+      ]
+    },
+    "history_stamp_ns": [
+      1789570622475479553,
+      1789570622508937362
+    ],
+    "model_seed": null,
+    "observation_age_at_response_ms": 267.864258,
+    "observation_stamp_ns": 1789570622508937362,
+    "prompt": "banana_pick",
+    "release_revision": "39c623bd78f638d06ce0db57631b66d3028db208",
+    "request_id": "8cd3ac8c6b8e4218a48e989b20d5655e",
+    "round_trip_ms": 78.63212599477265,
+    "server_metadata": {
+      "action_shape": [
+        32,
+        14
+      ],
+      "action_space": "abs_qpos",
+      "cameras": [
+        "base_0",
+        "right_wrist_0"
+      ],
+      "checkpoint_hashes": {
+        "dp/banana_pick/best-short.pt": "c65474448980475685df18bac931e834ec346ba38f27ec5a62ab8003bd6ac078"
+      },
+      "checkpoint_path": "/home/romoya-1/openpi-workspace/checkpoints/yam-policies-release/yam_policies/xiangrun/20260916_v2_seven_tasks/dp/banana_pick/best-short.pt",
+      "fps": 30,
+      "gpu": "NVIDIA GeForce RTX 5090",
+      "gpu_peak_mib": 389.01416015625,
+      "model": "dp",
+      "observation_offsets": [
+        -1,
+        0
+      ],
+      "protocol": "yam-v2-native-npz-v1",
+      "release_revision": "39c623bd78f638d06ce0db57631b66d3028db208",
+      "step": 13000,
+      "task": "banana_pick",
+      "tasks": [
+        "banana_pick"
+      ],
+      "warmup": {
+        "hardware_started": false,
+        "seconds": [
+          0.3053480860107811,
+          0.05467458399652969,
+          0.054366027005016804,
+          0.05456006299937144
+        ],
+        "status": "passed"
+      }
+    },
+    "server_prediction_seconds": 0.07476170700101648,
+    "source": "yam_v2_dp_http",
+    "task": "banana_pick",
+    "wire_action_dtype": "float32"
+  },
+  "time_ns": 1789570622791199749
+}

eval/YAM/V2/dp/banana_pick/data/round_0001/debug/validations/validation_0005.json

@@ -0,0 +1,194 @@
+{
+  "command_velocity_limits": [
+    7.326937734087213,
+    7.492612143357643,
+    9.039960411055707,
+    10.989442599937178,
+    11.822247140410347,
+    21.729793477053846,
+    4.549583926449072,
+    9.542591565847905,
+    16.49783855493206,
+    19.18122166486826,
+    20.271305218109156,
+    13.274309575261345,
+    14.009155302643812,
+    4.764187300355128
+  ],
+  "current": [
+    -0.0040054932478827965,
+    0.010490577553978753,
+    0.011253528648813571,
+    0.008201724269474298,
+    -0.02193484397650458,
+    -0.06504158083466827,
+    0.09592368287923689,
+    -0.010490577553982305,
+    -0.000953688868543523,
+    0.002861066605630569,
+    0.037575341420614805,
+    -0.024986648355840302,
+    -0.04901960784313353,
+    0.09568691114654292
+  ],
+  "current_velocity": [
+    0.0024420024420024333,
+    -0.017094017094017033,
+    0.0024420024420024333,
+    -0.0073260073260073,
+    -0.0073260073260073,
+    0.0073260073260073,
+    0.00013323856168403347,
+    -0.0073260073260073,
+    -0.0219780219780219,
+    -0.017094017094017033,
+    0.0073260073260073,
+    -0.0073260073260073,
+    -0.0073260073260073,
+    -0.00013361516002478402
+  ],
+  "first_target": [
+    -0.004005493130534887,
+    0.010490577667951584,
+    0.01125352829694748,
+    0.008201723918318748,
+    -0.021553369238972664,
+    -0.06504157930612564,
+    0.09592368453741074,
+    -0.009825041517615318,
+    -0.022358551621437073,
+    -0.013836720027029514,
+    0.04758226126432419,
+    -0.042793624103069305,
+    -0.06045731157064438,
+    0.09600000083446503
+  ],
+  "first_transition_velocity": [
+    3.5204372750285984e-09,
+    3.419184935182784e-09,
+    -1.0555982754567594e-08,
+    -1.0534666472494791e-08,
+    0.011444242125957516,
+    4.585627877418119e-08,
+    4.974521544687249e-08,
+    0.019966081091009613,
+    -0.6421458825868065,
+    -0.5009335989798025,
+    0.3002075953112815,
+    -0.5342092724168701,
+    -0.3431311118253255,
+    0.00939269063766332
+  ],
+  "observation_state": [
+    -0.004005493130534887,
+    0.010490577667951584,
+    0.01125352829694748,
+    0.008201723918318748,
+    -0.021553369238972664,
+    -0.06504157930612564,
+    0.09592368453741074,
+    -0.010490577667951584,
+    -0.0009536888683214784,
+    0.002861066721379757,
+    0.03757534176111221,
+    -0.024986648932099342,
+    -0.04901960864663124,
+    0.0956869125366211
+  ],
+  "policy_metadata": {
+    "alignment_wait_ms": 4.571076002321206,
+    "checkpoint_path": "/home/romoya-1/openpi-workspace/checkpoints/yam-policies-release/yam_policies/xiangrun/20260916_v2_seven_tasks/dp/banana_pick/best-short.pt",
+    "first_action_minus_state": [
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.0006655361503362656,
+      -0.02140486240386963,
+      -0.01669778674840927,
+      0.010006919503211975,
+      -0.017806975170969963,
+      -0.011437702924013138,
+      0.0003130882978439331
+    ],
+    "history_anchor_offset": 3,
+    "history_interval_ms": 33.346589,
+    "history_sample_stamp_ns": {
+      "base_0_color": [
+        1789570624075547307,
+        1789570624108893896
+      ],
+      "left_wrist_0_color": [
+        1789570624082410541,
+        1789570624115765218
+      ],
+      "right_wrist_0_color": [
+        1789570624090280102,
+        1789570624123651262
+      ],
+      "robot_state": [
+        1789570624078221933,
+        1789570624111657830
+      ]
+    },
+    "history_stamp_ns": [
+      1789570624075547307,
+      1789570624108893896
+    ],
+    "model_seed": null,
+    "observation_age_at_response_ms": 188.097822,
+    "observation_stamp_ns": 1789570624108893896,
+    "prompt": "banana_pick",
+    "release_revision": "39c623bd78f638d06ce0db57631b66d3028db208",
+    "request_id": "289fbe083f194ab99734cb5c5f31760f",
+    "round_trip_ms": 78.38059100322425,
+    "server_metadata": {
+      "action_shape": [
+        32,
+        14
+      ],
+      "action_space": "abs_qpos",
+      "cameras": [
+        "base_0",
+        "right_wrist_0"
+      ],
+      "checkpoint_hashes": {
+        "dp/banana_pick/best-short.pt": "c65474448980475685df18bac931e834ec346ba38f27ec5a62ab8003bd6ac078"
+      },
+      "checkpoint_path": "/home/romoya-1/openpi-workspace/checkpoints/yam-policies-release/yam_policies/xiangrun/20260916_v2_seven_tasks/dp/banana_pick/best-short.pt",
+      "fps": 30,
+      "gpu": "NVIDIA GeForce RTX 5090",
+      "gpu_peak_mib": 389.01416015625,
+      "model": "dp",
+      "observation_offsets": [
+        -1,
+        0
+      ],
+      "protocol": "yam-v2-native-npz-v1",
+      "release_revision": "39c623bd78f638d06ce0db57631b66d3028db208",
+      "step": 13000,
+      "task": "banana_pick",
+      "tasks": [
+        "banana_pick"
+      ],
+      "warmup": {
+        "hardware_started": false,
+        "seconds": [
+          0.3053480860107811,
+          0.05467458399652969,
+          0.054366027005016804,
+          0.05456006299937144
+        ],
+        "status": "passed"
+      }
+    },
+    "server_prediction_seconds": 0.07591112601221539,
+    "source": "yam_v2_dp_http",
+    "task": "banana_pick",
+    "wire_action_dtype": "float32"
+  },
+  "time_ns": 1789570624314491275
+}

eval/YAM/V2/dp/banana_pick/data/round_0001/debug/validations/validation_0006.json

@@ -0,0 +1,194 @@
+{
+  "command_velocity_limits": [
+    7.326937734087213,
+    7.492612143357643,
+    9.039960411055707,
+    10.989442599937178,
+    11.822247140410347,
+    21.729793477053846,
+    4.549583926449072,
+    9.542591565847905,
+    16.49783855493206,
+    19.18122166486826,
+    20.271305218109156,
+    13.274309575261345,
+    14.009155302643812,
+    4.764187300355128
+  ],
+  "current": [
+    -0.0040054932478827965,
+    0.010490577553978753,
+    0.011253528648813571,
+    0.008201724269474298,
+    -0.02155336842908362,
+    -0.06504158083466827,
+    0.09592368287923689,
+    -0.010490577553982305,
+    -0.000953688868543523,
+    0.002861066605630569,
+    0.041771572442206306,
+    -0.04787518120088485,
+    -0.056267643244067855,
+    0.09577040150746478
+  ],
+  "current_velocity": [
+    -0.0024420024420024333,
+    0.0073260073260073,
+    -0.017094017094017033,
+    -0.0073260073260073,
+    -0.0073260073260073,
+    0.0073260073260073,
+    0.00013323856168403347,
+    -0.0024420024420024333,
+    -0.0024420024420024333,
+    -0.0073260073260073,
+    -0.0073260073260073,
+    -0.0073260073260073,
+    0.0073260073260073,
+    0.00040084548007435206
+  ],
+  "first_target": [
+    -0.004005493130534887,
+    0.010490577667951584,
+    0.01125352829694748,
+    0.008201723918318748,
+    -0.021553369238972664,
+    -0.06504157930612564,
+    0.09593062102794647,
+    -0.009244510903954506,
+    -0.01225237175822258,
+    -0.0051358360797166824,
+    0.04975728690624237,
+    -0.04739546775817871,
+    -0.07689569145441055,
+    0.09561828523874283
+  ],
+  "first_transition_velocity": [
+    3.5204372750285984e-09,
+    3.419184935182784e-09,
+    -1.0555982754567594e-08,
+    -1.0534666472494791e-08,
+    -2.429667134151714e-08,
+    4.585627877418119e-08,
+    0.0002081444612875294,
+    0.037381999500833984,
+    -0.3389604866903717,
+    -0.23990708056041754,
+    0.23957143392108193,
+    0.014391403281184267,
+    -0.6188414463102809,
+    -0.004563488061658655
+  ],
+  "observation_state": [
+    -0.004005493130534887,
+    0.010490577667951584,
+    0.01125352829694748,
+    0.008201723918318748,
+    -0.021553369238972664,
+    -0.06504157930612564,
+    0.09593062102794647,
+    -0.010490577667951584,
+    -0.0009536888683214784,
+    0.002861066721379757,
+    0.04177157208323479,
+    -0.04100862145423889,
+    -0.056267641484737396,
+    0.0957634449005127
+  ],
+  "policy_metadata": {
+    "alignment_wait_ms": 5.052078005974181,
+    "checkpoint_path": "/home/romoya-1/openpi-workspace/checkpoints/yam-policies-release/yam_policies/xiangrun/20260916_v2_seven_tasks/dp/banana_pick/best-short.pt",
+    "first_action_minus_state": [
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.001246066763997078,
+      -0.011298682540655136,
+      -0.00799690280109644,
+      0.007985714823007584,
+      -0.006386846303939819,
+      -0.020628049969673157,
+      -0.00014515966176986694
+    ],
+    "history_anchor_offset": 4,
+    "history_interval_ms": 33.262889,
+    "history_sample_stamp_ns": {
+      "base_0_color": [
+        1789570625642809400,
+        1789570625676072289
+      ],
+      "left_wrist_0_color": [
+        1789570625649384313,
+        1789570625682761322
+      ],
+      "right_wrist_0_color": [
+        1789570625657384271,
+        1789570625690641935
+      ],
+      "robot_state": [
+        1789570625645232754,
+        1789570625678206979
+      ]
+    },
+    "history_stamp_ns": [
+      1789570625642809400,
+      1789570625676072289
+    ],
+    "model_seed": null,
+    "observation_age_at_response_ms": 345.818302,
+    "observation_stamp_ns": 1789570625676072289,
+    "prompt": "banana_pick",
+    "release_revision": "39c623bd78f638d06ce0db57631b66d3028db208",
+    "request_id": "f8de79469fa74a5886efaba980817b8d",
+    "round_trip_ms": 78.96600798994768,
+    "server_metadata": {
+      "action_shape": [
+        32,
+        14
+      ],
+      "action_space": "abs_qpos",
+      "cameras": [
+        "base_0",
+        "right_wrist_0"
+      ],
+      "checkpoint_hashes": {
+        "dp/banana_pick/best-short.pt": "c65474448980475685df18bac931e834ec346ba38f27ec5a62ab8003bd6ac078"
+      },
+      "checkpoint_path": "/home/romoya-1/openpi-workspace/checkpoints/yam-policies-release/yam_policies/xiangrun/20260916_v2_seven_tasks/dp/banana_pick/best-short.pt",
+      "fps": 30,
+      "gpu": "NVIDIA GeForce RTX 5090",
+      "gpu_peak_mib": 389.01416015625,
+      "model": "dp",
+      "observation_offsets": [
+        -1,
+        0
+      ],
+      "protocol": "yam-v2-native-npz-v1",
+      "release_revision": "39c623bd78f638d06ce0db57631b66d3028db208",
+      "step": 13000,
+      "task": "banana_pick",
+      "tasks": [
+        "banana_pick"
+      ],
+      "warmup": {
+        "hardware_started": false,
+        "seconds": [
+          0.3053480860107811,
+          0.05467458399652969,
+          0.054366027005016804,
+          0.05456006299937144
+        ],
+        "status": "passed"
+      }
+    },
+    "server_prediction_seconds": 0.07537029399827588,
+    "source": "yam_v2_dp_http",
+    "task": "banana_pick",
+    "wire_action_dtype": "float32"
+  },
+  "time_ns": 1789570626054380285
+}

eval/YAM/V2/dp/banana_pick/data/round_0001/debug/validations/validation_0007.json

@@ -0,0 +1,194 @@
+{
+  "command_velocity_limits": [
+    7.326937734087213,
+    7.492612143357643,
+    9.039960411055707,
+    10.989442599937178,
+    11.822247140410347,
+    21.729793477053846,
+    4.549583926449072,
+    9.542591565847905,
+    16.49783855493206,
+    19.18122166486826,
+    20.271305218109156,
+    13.274309575261345,
+    14.009155302643812,
+    4.764187300355128
+  ],
+  "current": [
+    -0.0040054932478827965,
+    0.010109102006561344,
+    0.011253528648813571,
+    0.008201724269474298,
+    -0.02155336842908362,
+    -0.06504158083466827,
+    0.09592368287923689,
+    -0.010490577553982305,
+    -0.000953688868543523,
+    0.002861066605630569,
+    0.04100862134737149,
+    -0.04749370565346389,
+    -0.07495994506751735,
+    0.0955616756051601
+  ],
+  "current_velocity": [
+    -0.0073260073260073,
+    0.0024420024420024333,
+    -0.0073260073260073,
+    -0.0073260073260073,
+    -0.0073260073260073,
+    -0.0073260073260073,
+    0.0003997156850521004,
+    0.0073260073260073,
+    -0.017094017094017033,
+    -0.0073260073260073,
+    0.0073260073260073,
+    -0.0073260073260073,
+    -0.0219780219780219,
+    0.00040084548007435206
+  ],
+  "first_target": [
+    -0.004005493130534887,
+    0.010109102353453636,
+    0.01125352829694748,
+    0.008201723918318748,
+    -0.02193484455347061,
+    -0.06466010212898254,
+    0.09593062102794647,
+    -0.00680032093077898,
+    -0.004865976516157389,
+    -0.006617882288992405,
+    0.039379846304655075,
+    -0.04263882339000702,
+    -0.08224126696586609,
+    0.09546463191509247
+  ],
+  "first_transition_velocity": [
+    3.5204372750285984e-09,
+    1.0406768780057973e-08,
+    -1.0555982754567594e-08,
+    -1.0534666472494791e-08,
+    -0.011444283731609772,
+    0.011444361170571682,
+    0.0002081444612875294,
+    0.11070769869609975,
+    -0.11736862942841597,
+    -0.2843684668386892,
+    -0.04886325128149238,
+    0.14564646790370617,
+    -0.21843965695046208,
+    -0.0029113107020289908
+  ],
+  "observation_state": [
+    -0.004005493130534887,
+    0.010109102353453636,
+    0.01125352829694748,
+    0.008201723918318748,
+    -0.02193484455347061,
+    -0.06466010212898254,
+    0.09593062102794647,
+    -0.010490577667951584,
+    -0.0009536888683214784,
+    0.002861066721379757,
+    0.04100862145423889,
+    -0.04749370738863945,
+    -0.07495994865894318,
+    0.0955616757273674
+  ],
+  "policy_metadata": {
+    "alignment_wait_ms": 5.437423998955637,
+    "checkpoint_path": "/home/romoya-1/openpi-workspace/checkpoints/yam-policies-release/yam_policies/xiangrun/20260916_v2_seven_tasks/dp/banana_pick/best-short.pt",
+    "first_action_minus_state": [
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.0036902567371726036,
+      -0.003912287764251232,
+      -0.009478949010372162,
+      -0.0016287751495838165,
+      0.004854883998632431,
+      -0.007281318306922913,
+      -9.704381227493286e-05
+    ],
+    "history_anchor_offset": 0,
+    "history_interval_ms": 33.227023,
+    "history_sample_stamp_ns": {
+      "base_0_color": [
+        1789570627309830987,
+        1789570627343058010
+      ],
+      "left_wrist_0_color": [
+        1789570627316562257,
+        1789570627349857899
+      ],
+      "right_wrist_0_color": [
+        1789570627324364348,
+        1789570627357875946
+      ],
+      "robot_state": [
+        1789570627311915101,
+        1789570627344852480
+      ]
+    },
+    "history_stamp_ns": [
+      1789570627309830987,
+      1789570627343058010
+    ],
+    "model_seed": null,
+    "observation_age_at_response_ms": 251.45873,
+    "observation_stamp_ns": 1789570627343058010,
+    "prompt": "banana_pick",
+    "release_revision": "39c623bd78f638d06ce0db57631b66d3028db208",
+    "request_id": "0f3b91d2e4ca47df86425a4a953fb5d1",
+    "round_trip_ms": 78.72485999541823,
+    "server_metadata": {
+      "action_shape": [
+        32,
+        14
+      ],
+      "action_space": "abs_qpos",
+      "cameras": [
+        "base_0",
+        "right_wrist_0"
+      ],
+      "checkpoint_hashes": {
+        "dp/banana_pick/best-short.pt": "c65474448980475685df18bac931e834ec346ba38f27ec5a62ab8003bd6ac078"
+      },
+      "checkpoint_path": "/home/romoya-1/openpi-workspace/checkpoints/yam-policies-release/yam_policies/xiangrun/20260916_v2_seven_tasks/dp/banana_pick/best-short.pt",
+      "fps": 30,
+      "gpu": "NVIDIA GeForce RTX 5090",
+      "gpu_peak_mib": 389.01416015625,
+      "model": "dp",
+      "observation_offsets": [
+        -1,
+        0
+      ],
+      "protocol": "yam-v2-native-npz-v1",
+      "release_revision": "39c623bd78f638d06ce0db57631b66d3028db208",
+      "step": 13000,
+      "task": "banana_pick",
+      "tasks": [
+        "banana_pick"
+      ],
+      "warmup": {
+        "hardware_started": false,
+        "seconds": [
+          0.3053480860107811,
+          0.05467458399652969,
+          0.054366027005016804,
+          0.05456006299937144
+        ],
+        "status": "passed"
+      }
+    },
+    "server_prediction_seconds": 0.07584108100854792,
+    "source": "yam_v2_dp_http",
+    "task": "banana_pick",
+    "wire_action_dtype": "float32"
+  },
+  "time_ns": 1789570627635026726
+}

eval/YAM/V2/dp/banana_pick/data/round_0001/debug/validations/validation_0008.json

@@ -0,0 +1,194 @@
+{
+  "command_velocity_limits": [
+    7.326937734087213,
+    7.492612143357643,
+    9.039960411055707,
+    10.989442599937178,
+    11.822247140410347,
+    21.729793477053846,
+    4.549583926449072,
+    9.542591565847905,
+    16.49783855493206,
+    19.18122166486826,
+    20.271305218109156,
+    13.274309575261345,
+    14.009155302643812,
+    4.764187300355128
+  ],
+  "current": [
+    -0.0040054932478827965,
+    0.010109102006561344,
+    0.011253528648813571,
+    0.007820248722056888,
+    -0.02193484397650458,
+    -0.06504158083466827,
+    0.09592368287923689,
+    -0.05359731441214599,
+    0.3694590676737626,
+    0.3404669260700395,
+    -0.26760509651331255,
+    -0.07724879835202181,
+    -0.29201953154802673,
+    0.0954990578344687
+  ],
+  "current_velocity": [
+    -0.012210012210012167,
+    -0.012210012210012167,
+    -0.026862026862026767,
+    -0.0073260073260073,
+    -0.0073260073260073,
+    0.0073260073260073,
+    -0.00013323856168403347,
+    -0.0219780219780219,
+    -0.017094017094017033,
+    0.0024420024420024333,
+    -0.0073260073260073,
+    -0.0219780219780219,
+    -0.0219780219780219,
+    0.00013361516002478402
+  ],
+  "first_target": [
+    -0.004005493130534887,
+    0.010490577667951584,
+    0.01125352829694748,
+    0.008201723918318748,
+    -0.021553369238972664,
+    -0.06504157930612564,
+    0.09592368453741074,
+    -0.06740902364253998,
+    0.46916207671165466,
+    0.4454989433288574,
+    -0.26711052656173706,
+    -0.06786435097455978,
+    -0.35681426525115967,
+    0.09584388881921768
+  ],
+  "first_transition_velocity": [
+    3.5204372750285984e-09,
+    0.01144426984170721,
+    -1.0555982754567594e-08,
+    0.011444255887855803,
+    0.011444242125957516,
+    4.585627877418119e-08,
+    4.974521544687249e-08,
+    -0.4143512769118196,
+    2.9910902711367626,
+    3.1509605177645383,
+    0.01483709854726456,
+    0.2815334213238607,
+    -1.943842011093988,
+    0.010344929542469433
+  ],
+  "observation_state": [
+    -0.004005493130534887,
+    0.010490577667951584,
+    0.01125352829694748,
+    0.008201723918318748,
+    -0.021553369238972664,
+    -0.06504157930612564,
+    0.09592368453741074,
+    -0.05359731614589691,
+    0.36602577567100525,
+    0.33627068996429443,
+    -0.2592126429080963,
+    -0.07724879682064056,
+    -0.2779049277305603,
+    0.09549906104803085
+  ],
+  "policy_metadata": {
+    "alignment_wait_ms": 4.72034901031293,
+    "checkpoint_path": "/home/romoya-1/openpi-workspace/checkpoints/yam-policies-release/yam_policies/xiangrun/20260916_v2_seven_tasks/dp/banana_pick/best-short.pt",
+    "first_action_minus_state": [
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      -0.013811707496643066,
+      0.10313630104064941,
+      0.10922825336456299,
+      -0.007897883653640747,
+      0.00938444584608078,
+      -0.07890933752059937,
+      0.0003448277711868286
+    ],
+    "history_anchor_offset": 4,
+    "history_interval_ms": 33.411083,
+    "history_sample_stamp_ns": {
+      "base_0_color": [
+        1789570628876750568,
+        1789570628910161651
+      ],
+      "left_wrist_0_color": [
+        1789570628883478233,
+        1789570628917025354
+      ],
+      "right_wrist_0_color": [
+        1789570628891511313,
+        1789570628924807576
+      ],
+      "robot_state": [
+        1789570628878183500,
+        1789570628911558198
+      ]
+    },
+    "history_stamp_ns": [
+      1789570628876750568,
+      1789570628910161651
+    ],
+    "model_seed": null,
+    "observation_age_at_response_ms": 429.674951,
+    "observation_stamp_ns": 1789570628910161651,
+    "prompt": "banana_pick",
+    "release_revision": "39c623bd78f638d06ce0db57631b66d3028db208",
+    "request_id": "60dfa3a2252a43f4aab3a7608b4cc5ce",
+    "round_trip_ms": 79.08403599867597,
+    "server_metadata": {
+      "action_shape": [
+        32,
+        14
+      ],
+      "action_space": "abs_qpos",
+      "cameras": [
+        "base_0",
+        "right_wrist_0"
+      ],
+      "checkpoint_hashes": {
+        "dp/banana_pick/best-short.pt": "c65474448980475685df18bac931e834ec346ba38f27ec5a62ab8003bd6ac078"
+      },
+      "checkpoint_path": "/home/romoya-1/openpi-workspace/checkpoints/yam-policies-release/yam_policies/xiangrun/20260916_v2_seven_tasks/dp/banana_pick/best-short.pt",
+      "fps": 30,
+      "gpu": "NVIDIA GeForce RTX 5090",
+      "gpu_peak_mib": 389.01416015625,
+      "model": "dp",
+      "observation_offsets": [
+        -1,
+        0
+      ],
+      "protocol": "yam-v2-native-npz-v1",
+      "release_revision": "39c623bd78f638d06ce0db57631b66d3028db208",
+      "step": 13000,
+      "task": "banana_pick",
+      "tasks": [
+        "banana_pick"
+      ],
+      "warmup": {
+        "hardware_started": false,
+        "seconds": [
+          0.3053480860107811,
+          0.05467458399652969,
+          0.054366027005016804,
+          0.05456006299937144
+        ],
+        "status": "passed"
+      }
+    },
+    "server_prediction_seconds": 0.07570814799692016,
+    "source": "yam_v2_dp_http",
+    "task": "banana_pick",
+    "wire_action_dtype": "float32"
+  },
+  "time_ns": 1789570629355378719
+}

eval/YAM/V2/dp/banana_pick/data/round_0001/debug/validations/validation_0009.json

@@ -0,0 +1,194 @@
+{
+  "command_velocity_limits": [
+    7.326937734087213,
+    7.492612143357643,
+    9.039960411055707,
+    10.989442599937178,
+    11.822247140410347,
+    21.729793477053846,
+    4.549583926449072,
+    9.542591565847905,
+    16.49783855493206,
+    19.18122166486826,
+    20.271305218109156,
+    13.274309575261345,
+    14.009155302643812,
+    4.764187300355128
+  ],
+  "current": [
+    -0.0040054932478827965,
+    0.010109102006561344,
+    0.011253528648813571,
+    0.008201724269474298,
+    -0.02193484397650458,
+    -0.06504158083466827,
+    0.09592368287923689,
+    -0.0749599450675209,
+    1.2285420004577698,
+    1.0667963683527883,
+    -0.6258106355382598,
+    -0.0997558556496525,
+    -0.5540932326237904,
+    0.09437193796202342
+  ],
+  "current_velocity": [
+    0.0024420024420024333,
+    0.0073260073260073,
+    -0.012210012210012167,
+    -0.0073260073260073,
+    -0.0073260073260073,
+    0.0073260073260073,
+    0.0003997156850521004,
+    -0.0073260073260073,
+    0.0024420024420024333,
+    -0.0073260073260073,
+    0.0073260073260073,
+    0.0073260073260073,
+    -0.0073260073260073,
+    0.00040084548007435206
+  ],
+  "first_target": [
+    -0.004005493130534887,
+    0.010490577667951584,
+    0.01125352829694748,
+    0.008201723918318748,
+    -0.021553369238972664,
+    -0.06504157930612564,
+    0.09592368453741074,
+    -0.08718635886907578,
+    1.2820903062820435,
+    1.0642324686050415,
+    -0.6040570735931396,
+    -0.07308879494667053,
+    -0.6299001574516296,
+    0.0952976867556572
+  ],
+  "first_transition_velocity": [
+    3.5204372750285984e-09,
+    0.01144426984170721,
+    -1.0555982754567594e-08,
+    -1.0534666472494791e-08,
+    0.011444242125957516,
+    4.585627877418119e-08,
+    4.974521544687249e-08,
+    -0.3667924140466461,
+    1.6064491747282084,
+    -0.07691699243240535,
+    0.6526068583536038,
+    0.8000118210894591,
+    -2.274207744835177,
+    0.027772463809013215
+  ],
+  "observation_state": [
+    -0.004005493130534887,
+    0.010490577667951584,
+    0.01125352829694748,
+    0.008201723918318748,
+    -0.021553369238972664,
+    -0.06504157930612564,
+    0.09592368453741074,
+    -0.07381551712751389,
+    1.188105583190918,
+    1.0130083560943604,
+    -0.5933852195739746,
+    -0.08182650804519653,
+    -0.5544747114181519,
+    0.09569387137889862
+  ],
+  "policy_metadata": {
+    "alignment_wait_ms": 4.550031997496262,
+    "checkpoint_path": "/home/romoya-1/openpi-workspace/checkpoints/yam-policies-release/yam_policies/xiangrun/20260916_v2_seven_tasks/dp/banana_pick/best-short.pt",
+    "first_action_minus_state": [
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      -0.01337084174156189,
+      0.09398472309112549,
+      0.05122411251068115,
+      -0.010671854019165039,
+      0.008737713098526001,
+      -0.07542544603347778,
+      -0.00039618462324142456
+    ],
+    "history_anchor_offset": 0,
+    "history_interval_ms": 33.190511,
+    "history_sample_stamp_ns": {
+      "base_0_color": [
+        1789570630510655218,
+        1789570630543845729
+      ],
+      "left_wrist_0_color": [
+        1789570630517365384,
+        1789570630550686270
+      ],
+      "right_wrist_0_color": [
+        1789570630525171565,
+        1789570630558615502
+      ],
+      "robot_state": [
+        1789570630511584483,
+        1789570630544963840
+      ]
+    },
+    "history_stamp_ns": [
+      1789570630510655218,
+      1789570630543845729
+    ],
+    "model_seed": null,
+    "observation_age_at_response_ms": 463.527844,
+    "observation_stamp_ns": 1789570630543845729,
+    "prompt": "banana_pick",
+    "release_revision": "39c623bd78f638d06ce0db57631b66d3028db208",
+    "request_id": "233ed8d15a2149818de221c8b3b23fb6",
+    "round_trip_ms": 80.405275002704,
+    "server_metadata": {
+      "action_shape": [
+        32,
+        14
+      ],
+      "action_space": "abs_qpos",
+      "cameras": [
+        "base_0",
+        "right_wrist_0"
+      ],
+      "checkpoint_hashes": {
+        "dp/banana_pick/best-short.pt": "c65474448980475685df18bac931e834ec346ba38f27ec5a62ab8003bd6ac078"
+      },
+      "checkpoint_path": "/home/romoya-1/openpi-workspace/checkpoints/yam-policies-release/yam_policies/xiangrun/20260916_v2_seven_tasks/dp/banana_pick/best-short.pt",
+      "fps": 30,
+      "gpu": "NVIDIA GeForce RTX 5090",
+      "gpu_peak_mib": 389.01416015625,
+      "model": "dp",
+      "observation_offsets": [
+        -1,
+        0
+      ],
+      "protocol": "yam-v2-native-npz-v1",
+      "release_revision": "39c623bd78f638d06ce0db57631b66d3028db208",
+      "step": 13000,
+      "task": "banana_pick",
+      "tasks": [
+        "banana_pick"
+      ],
+      "warmup": {
+        "hardware_started": false,
+        "seconds": [
+          0.3053480860107811,
+          0.05467458399652969,
+          0.054366027005016804,
+          0.05456006299937144
+        ],
+        "status": "passed"
+      }
+    },
+    "server_prediction_seconds": 0.07697711599757895,
+    "source": "yam_v2_dp_http",
+    "task": "banana_pick",
+    "wire_action_dtype": "float32"
+  },
+  "time_ns": 1789570631030316505
+}

eval/YAM/V2/dp/banana_pick/data/round_0001/debug/validations/validation_0010.json

@@ -0,0 +1,194 @@
+{
+  "command_velocity_limits": [
+    7.326937734087213,
+    7.492612143357643,
+    9.039960411055707,
+    10.989442599937178,
+    11.822247140410347,
+    21.729793477053846,
+    4.549583926449072,
+    9.542591565847905,
+    16.49783855493206,
+    19.18122166486826,
+    20.271305218109156,
+    13.274309575261345,
+    14.009155302643812,
+    4.764187300355128
+  ],
+  "current": [
+    -0.0040054932478827965,
+    0.010109102006561344,
+    0.011253528648813571,
+    0.008201724269474298,
+    -0.02155336842908362,
+    -0.06504158083466827,
+    0.09592368287923689,
+    -0.0806820782787856,
+    1.5501258869306476,
+    1.19611657892729,
+    -0.5792706187533359,
+    -0.06923781185625977,
+    -0.789082169832918,
+    0.09540860994347
+  ],
+  "current_velocity": [
+    -0.0024420024420024333,
+    -0.012210012210012167,
+    0.012210012210012167,
+    -0.0219780219780219,
+    -0.0073260073260073,
+    -0.0219780219780219,
+    0.00013323856168403347,
+    -0.012210012210012167,
+    -0.0219780219780219,
+    0.0073260073260073,
+    0.0073260073260073,
+    -0.0073260073260073,
+    -0.0073260073260073,
+    -0.00013361516002478402
+  ],
+  "first_target": [
+    -0.004005493130534887,
+    0.010109102353453636,
+    0.01125352829694748,
+    0.008201723918318748,
+    -0.02193484455347061,
+    -0.06504157930612564,
+    0.09593062102794647,
+    -0.0942712277173996,
+    1.5763847827911377,
+    1.2927470207214355,
+    -0.6010597944259644,
+    -0.06516923755407333,
+    -0.812595009803772,
+    0.09586283564567566
+  ],
+  "first_transition_velocity": [
+    3.5204372750285984e-09,
+    1.0406768780057973e-08,
+    -1.0555982754567594e-08,
+    -1.0534666472494791e-08,
+    -0.011444283731609772,
+    4.585627877418119e-08,
+    0.0002081444612875294,
+    -0.40767448315842003,
+    0.7877668758147038,
+    2.8989132538243645,
+    -0.6536752701788551,
+    0.12205722906559302,
+    -0.7053851991256188,
+    0.013626771066169718
+  ],
+  "observation_state": [
+    -0.004005493130534887,
+    0.010109102353453636,
+    0.01125352829694748,
+    0.008201723918318748,
+    -0.02193484455347061,
+    -0.06504157930612564,
+    0.09593062102794647,
+    -0.08068207651376724,
+    1.5352483987808228,
+    1.1957350969314575,
+    -0.5853742361068726,
+    -0.06885633617639542,
+    -0.7715343236923218,
+    0.09522075951099396
+  ],
+  "policy_metadata": {
+    "alignment_wait_ms": 5.416161991888657,
+    "checkpoint_path": "/home/romoya-1/openpi-workspace/checkpoints/yam-policies-release/yam_policies/xiangrun/20260916_v2_seven_tasks/dp/banana_pick/best-short.pt",
+    "first_action_minus_state": [
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      -0.013589151203632355,
+      0.04113638401031494,
+      0.09701192378997803,
+      -0.015685558319091797,
+      0.0036870986223220825,
+      -0.041060686111450195,
+      0.0006420761346817017
+    ],
+    "history_anchor_offset": 8,
+    "history_interval_ms": 33.228349,
+    "history_sample_stamp_ns": {
+      "base_0_color": [
+        1789570632144545974,
+        1789570632177774323
+      ],
+      "left_wrist_0_color": [
+        1789570632151001459,
+        1789570632184375942
+      ],
+      "right_wrist_0_color": [
+        1789570632158975247,
+        1789570632192239915
+      ],
+      "robot_state": [
+        1789570632144962217,
+        1789570632178188931
+      ]
+    },
+    "history_stamp_ns": [
+      1789570632144545974,
+      1789570632177774323
+    ],
+    "model_seed": null,
+    "observation_age_at_response_ms": 391.855534,
+    "observation_stamp_ns": 1789570632177774323,
+    "prompt": "banana_pick",
+    "release_revision": "39c623bd78f638d06ce0db57631b66d3028db208",
+    "request_id": "724764e7d1b641fead10603864256201",
+    "round_trip_ms": 79.12616699468344,
+    "server_metadata": {
+      "action_shape": [
+        32,
+        14
+      ],
+      "action_space": "abs_qpos",
+      "cameras": [
+        "base_0",
+        "right_wrist_0"
+      ],
+      "checkpoint_hashes": {
+        "dp/banana_pick/best-short.pt": "c65474448980475685df18bac931e834ec346ba38f27ec5a62ab8003bd6ac078"
+      },
+      "checkpoint_path": "/home/romoya-1/openpi-workspace/checkpoints/yam-policies-release/yam_policies/xiangrun/20260916_v2_seven_tasks/dp/banana_pick/best-short.pt",
+      "fps": 30,
+      "gpu": "NVIDIA GeForce RTX 5090",
+      "gpu_peak_mib": 389.01416015625,
+      "model": "dp",
+      "observation_offsets": [
+        -1,
+        0
+      ],
+      "protocol": "yam-v2-native-npz-v1",
+      "release_revision": "39c623bd78f638d06ce0db57631b66d3028db208",
+      "step": 13000,
+      "task": "banana_pick",
+      "tasks": [
+        "banana_pick"
+      ],
+      "warmup": {
+        "hardware_started": false,
+        "seconds": [
+          0.3053480860107811,
+          0.05467458399652969,
+          0.054366027005016804,
+          0.05456006299937144
+        ],
+        "status": "passed"
+      }
+    },
+    "server_prediction_seconds": 0.07679125599679537,
+    "source": "yam_v2_dp_http",
+    "task": "banana_pick",
+    "wire_action_dtype": "float32"
+  },
+  "time_ns": 1789570632611090762
+}

eval/YAM/V2/dp/banana_pick/data/round_0001/debug/validations/validation_0011.json

@@ -0,0 +1,194 @@
+{
+  "command_velocity_limits": [
+    7.326937734087213,
+    7.492612143357643,
+    9.039960411055707,
+    10.989442599937178,
+    11.822247140410347,
+    21.729793477053846,
+    4.549583926449072,
+    9.542591565847905,
+    16.49783855493206,
+    19.18122166486826,
+    20.271305218109156,
+    13.274309575261345,
+    14.009155302643812,
+    4.764187300355128
+  ],
+  "current": [
+    -0.004386968795303758,
+    0.010490577553978753,
+    0.011253528648813571,
+    0.007820248722056888,
+    -0.02193484397650458,
+    -0.06504158083466827,
+    0.09592368287923689,
+    -0.11959258411536133,
+    1.8007553215838872,
+    1.3769359884031438,
+    -0.595292591744867,
+    -0.07724879835202181,
+    -0.9729533836881092,
+    0.09583997680823302
+  ],
+  "current_velocity": [
+    -0.017094017094017033,
+    0.0073260073260073,
+    0.0024420024420024333,
+    -0.0219780219780219,
+    -0.0073260073260073,
+    -0.0073260073260073,
+    0.00013323856168403347,
+    -0.0024420024420024333,
+    -0.026862026862026767,
+    -0.0024420024420024333,
+    -0.0073260073260073,
+    -0.0073260073260073,
+    0.0073260073260073,
+    0.00013361516002478402
+  ],
+  "first_target": [
+    -0.004005493130534887,
+    0.010109102353453636,
+    0.01125352829694748,
+    0.008201723918318748,
+    -0.021553369238972664,
+    -0.06504157930612564,
+    0.09593062102794647,
+    -0.11147592961788177,
+    1.7881134748458862,
+    1.4106576442718506,
+    -0.6119726300239563,
+    -0.09791506081819534,
+    -0.9679750800132751,
+    0.0955425351858139
+  ],
+  "first_transition_velocity": [
+    0.011444269943066132,
+    -0.011444256015753496,
+    -1.0555982754567594e-08,
+    0.011444255887855803,
+    0.011444242125957516,
+    4.585627877418119e-08,
+    0.0002081444612875294,
+    0.24349963492438675,
+    -0.3792554021400285,
+    1.0116496760612037,
+    -0.5004011483726778,
+    -0.619987873985206,
+    0.14934911024502284,
+    -0.008923248672573353
+  ],
+  "observation_state": [
+    -0.004005493130534887,
+    0.010109102353453636,
+    0.01125352829694748,
+    0.008201723918318748,
+    -0.021553369238972664,
+    -0.06504157930612564,
+    0.09593062102794647,
+    -0.11959258466959,
+    1.7713817358016968,
+    1.3765544891357422,
+    -0.6010147333145142,
+    -0.07724879682064056,
+    -0.962272047996521,
+    0.0958399772644043
+  ],
+  "policy_metadata": {
+    "alignment_wait_ms": 6.005107003147714,
+    "checkpoint_path": "/home/romoya-1/openpi-workspace/checkpoints/yam-policies-release/yam_policies/xiangrun/20260916_v2_seven_tasks/dp/banana_pick/best-short.pt",
+    "first_action_minus_state": [
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.008116655051708221,
+      0.016731739044189453,
+      0.0341031551361084,
+      -0.010957896709442139,
+      -0.02066626399755478,
+      -0.00570303201675415,
+      -0.00029744207859039307
+    ],
+    "history_anchor_offset": 5,
+    "history_interval_ms": 33.361866,
+    "history_sample_stamp_ns": {
+      "base_0_color": [
+        1789570633778129326,
+        1789570633811491192
+      ],
+      "left_wrist_0_color": [
+        1789570633784917123,
+        1789570633818048143
+      ],
+      "right_wrist_0_color": [
+        1789570633792645458,
+        1789570633826030333
+      ],
+      "robot_state": [
+        1789570633778191647,
+        1789570633811665147
+      ]
+    },
+    "history_stamp_ns": [
+      1789570633778129326,
+      1789570633811491192
+    ],
+    "model_seed": null,
+    "observation_age_at_response_ms": 442.253893,
+    "observation_stamp_ns": 1789570633811491192,
+    "prompt": "banana_pick",
+    "release_revision": "39c623bd78f638d06ce0db57631b66d3028db208",
+    "request_id": "f30caa809a1043bf89d88c791d20d41a",
+    "round_trip_ms": 78.6026810092153,
+    "server_metadata": {
+      "action_shape": [
+        32,
+        14
+      ],
+      "action_space": "abs_qpos",
+      "cameras": [
+        "base_0",
+        "right_wrist_0"
+      ],
+      "checkpoint_hashes": {
+        "dp/banana_pick/best-short.pt": "c65474448980475685df18bac931e834ec346ba38f27ec5a62ab8003bd6ac078"
+      },
+      "checkpoint_path": "/home/romoya-1/openpi-workspace/checkpoints/yam-policies-release/yam_policies/xiangrun/20260916_v2_seven_tasks/dp/banana_pick/best-short.pt",
+      "fps": 30,
+      "gpu": "NVIDIA GeForce RTX 5090",
+      "gpu_peak_mib": 389.01416015625,
+      "model": "dp",
+      "observation_offsets": [
+        -1,
+        0
+      ],
+      "protocol": "yam-v2-native-npz-v1",
+      "release_revision": "39c623bd78f638d06ce0db57631b66d3028db208",
+      "step": 13000,
+      "task": "banana_pick",
+      "tasks": [
+        "banana_pick"
+      ],
+      "warmup": {
+        "hardware_started": false,
+        "seconds": [
+          0.3053480860107811,
+          0.05467458399652969,
+          0.054366027005016804,
+          0.05456006299937144
+        ],
+        "status": "passed"
+      }
+    },
+    "server_prediction_seconds": 0.07582307599659543,
+    "source": "yam_v2_dp_http",
+    "task": "banana_pick",
+    "wire_action_dtype": "float32"
+  },
+  "time_ns": 1789570634330602995
+}

eval/YAM/V2/dp/banana_pick/data/round_0001/debug/validations/validation_0012.json

@@ -0,0 +1,194 @@
+{
+  "command_velocity_limits": [
+    7.326937734087213,
+    7.492612143357643,
+    9.039960411055707,
+    10.989442599937178,
+    11.822247140410347,
+    21.729793477053846,
+    4.549583926449072,
+    9.542591565847905,
+    16.49783855493206,
+    19.18122166486826,
+    20.271305218109156,
+    13.274309575261345,
+    14.009155302643812,
+    4.764187300355128
+  ],
+  "current": [
+    -0.0040054932478827965,
+    0.010109102006561344,
+    0.011253528648813571,
+    0.008201724269474298,
+    -0.02155336842908362,
+    -0.06504158083466827,
+    0.09593062079930621,
+    -0.11158159761959219,
+    1.8968871595330743,
+    1.4951934081025406,
+    -0.6700617990386828,
+    -0.0726710917830129,
+    -0.9962233920805676,
+    0.0956799536164661
+  ],
+  "current_velocity": [
+    0.0024420024420024333,
+    -0.0073260073260073,
+    -0.0073260073260073,
+    -0.0073260073260073,
+    -0.0073260073260073,
+    0.0073260073260073,
+    0.00013323856168403347,
+    -0.0024420024420024333,
+    -0.0024420024420024333,
+    -0.0073260073260073,
+    -0.0219780219780219,
+    -0.0219780219780219,
+    -0.0073260073260073,
+    0.00040084548007435206
+  ],
+  "first_target": [
+    -0.004386968910694122,
+    0.010490577667951584,
+    0.01125352829694748,
+    0.008201723918318748,
+    -0.021553369238972664,
+    -0.06504157930612564,
+    0.09592368453741074,
+    -0.11148637533187866,
+    1.9017516374588013,
+    1.511768102645874,
+    -0.6628668308258057,
+    -0.08510646969079971,
+    -1.0041416883468628,
+    0.09570814669132233
+  ],
+  "first_transition_velocity": [
+    -0.011444269884339775,
+    0.01144426984170721,
+    -1.0555982754567594e-08,
+    -1.0534666472494791e-08,
+    -2.429667134151714e-08,
+    4.585627877418119e-08,
+    -0.00020808785686429743,
+    0.0028566686314057677,
+    0.1459343377718092,
+    0.4972408363000014,
+    0.21584904638631386,
+    -0.37306133723360446,
+    -0.23754888798885432,
+    0.0008457922456868439
+  ],
+  "observation_state": [
+    -0.004386968910694122,
+    0.010490577667951584,
+    0.01125352829694748,
+    0.008201723918318748,
+    -0.021553369238972664,
+    -0.06504157930612564,
+    0.09592368453741074,
+    -0.11120012402534485,
+    1.892690896987915,
+    1.495193362236023,
+    -0.6631952524185181,
+    -0.07610437273979187,
+    -0.995841920375824,
+    0.09575648605823517
+  ],
+  "policy_metadata": {
+    "alignment_wait_ms": 4.857079999055713,
+    "checkpoint_path": "/home/romoya-1/openpi-workspace/checkpoints/yam-policies-release/yam_policies/xiangrun/20260916_v2_seven_tasks/dp/banana_pick/best-short.pt",
+    "first_action_minus_state": [
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      -0.0002862513065338135,
+      0.00906074047088623,
+      0.016574740409851074,
+      0.00032842159271240234,
+      -0.009002096951007843,
+      -0.008299767971038818,
+      -4.83393669128418e-05
+    ],
+    "history_anchor_offset": 4,
+    "history_interval_ms": 33.401262,
+    "history_sample_stamp_ns": {
+      "base_0_color": [
+        1789570635345290944,
+        1789570635378692206
+      ],
+      "left_wrist_0_color": [
+        1789570635351920030,
+        1789570635385237131
+      ],
+      "right_wrist_0_color": [
+        1789570635359703515,
+        1789570635393074447
+      ],
+      "robot_state": [
+        1789570635345057796,
+        1789570635379472329
+      ]
+    },
+    "history_stamp_ns": [
+      1789570635345290944,
+      1789570635378692206
+    ],
+    "model_seed": null,
+    "observation_age_at_response_ms": 427.116716,
+    "observation_stamp_ns": 1789570635378692206,
+    "prompt": "banana_pick",
+    "release_revision": "39c623bd78f638d06ce0db57631b66d3028db208",
+    "request_id": "4a6a0a38fd364f898960e9cc8b696fee",
+    "round_trip_ms": 58.326701997430064,
+    "server_metadata": {
+      "action_shape": [
+        32,
+        14
+      ],
+      "action_space": "abs_qpos",
+      "cameras": [
+        "base_0",
+        "right_wrist_0"
+      ],
+      "checkpoint_hashes": {
+        "dp/banana_pick/best-short.pt": "c65474448980475685df18bac931e834ec346ba38f27ec5a62ab8003bd6ac078"
+      },
+      "checkpoint_path": "/home/romoya-1/openpi-workspace/checkpoints/yam-policies-release/yam_policies/xiangrun/20260916_v2_seven_tasks/dp/banana_pick/best-short.pt",
+      "fps": 30,
+      "gpu": "NVIDIA GeForce RTX 5090",
+      "gpu_peak_mib": 389.01416015625,
+      "model": "dp",
+      "observation_offsets": [
+        -1,
+        0
+      ],
+      "protocol": "yam-v2-native-npz-v1",
+      "release_revision": "39c623bd78f638d06ce0db57631b66d3028db208",
+      "step": 13000,
+      "task": "banana_pick",
+      "tasks": [
+        "banana_pick"
+      ],
+      "warmup": {
+        "hardware_started": false,
+        "seconds": [
+          0.3053480860107811,
+          0.05467458399652969,
+          0.054366027005016804,
+          0.05456006299937144
+        ],
+        "status": "passed"
+      }
+    },
+    "server_prediction_seconds": 0.05575941099959891,
+    "source": "yam_v2_dp_http",
+    "task": "banana_pick",
+    "wire_action_dtype": "float32"
+  },
+  "time_ns": 1789570635822862246
+}

eval/YAM/V2/dp/banana_pick/data/round_0001/debug/validations/validation_0013.json

@@ -0,0 +1,194 @@
+{
+  "command_velocity_limits": [
+    7.326937734087213,
+    7.492612143357643,
+    9.039960411055707,
+    10.989442599937178,
+    11.822247140410347,
+    21.729793477053846,
+    4.549583926449072,
+    9.542591565847905,
+    16.49783855493206,
+    19.18122166486826,
+    20.271305218109156,
+    13.274309575261345,
+    14.009155302643812,
+    4.764187300355128
+  ],
+  "current": [
+    -0.0040054932478827965,
+    0.010490577553978753,
+    0.011253528648813571,
+    0.008201724269474298,
+    -0.02155336842908362,
+    -0.06504158083466827,
+    0.09592368287923689,
+    -0.10280766002899533,
+    1.9232089723048755,
+    1.4948119325551232,
+    -0.6319142442969419,
+    -0.07648584725718699,
+    -1.0252155336842907,
+    0.09583301927815625
+  ],
+  "current_velocity": [
+    0.0073260073260073,
+    0.0073260073260073,
+    -0.017094017094017033,
+    0.0073260073260073,
+    -0.0073260073260073,
+    -0.0073260073260073,
+    0.0003997156850521004,
+    -0.0073260073260073,
+    -0.0073260073260073,
+    -0.012210012210012167,
+    -0.0073260073260073,
+    -0.0073260073260073,
+    -0.0073260073260073,
+    -0.00013361516002478402
+  ],
+  "first_target": [
+    -0.004005493130534887,
+    0.010109102353453636,
+    0.01125352829694748,
+    0.008201723918318748,
+    -0.021553369238972664,
+    -0.06466010212898254,
+    0.09592368453741074,
+    -0.10283724963665009,
+    1.926101803779602,
+    1.5223084688186646,
+    -0.6390575766563416,
+    -0.0833575427532196,
+    -1.0518310070037842,
+    0.09600000083446503
+  ],
+  "first_transition_velocity": [
+    3.5204372750285984e-09,
+    -0.011444256015753496,
+    -1.0555982754567594e-08,
+    -1.0534666472494791e-08,
+    -2.429667134151714e-08,
+    0.011444361170571682,
+    4.974521544687249e-08,
+    -0.0008876882296426913,
+    0.08678494424179561,
+    0.8248960879062395,
+    -0.21429997078199037,
+    -0.20615086488097845,
+    -0.798464199584803,
+    0.005009446689263203
+  ],
+  "observation_state": [
+    -0.004005493130534887,
+    0.010109102353453636,
+    0.01125352829694748,
+    0.008201723918318748,
+    -0.021553369238972664,
+    -0.06466010212898254,
+    0.09592368453741074,
+    -0.1028076633810997,
+    1.9224460124969482,
+    1.4948118925094604,
+    -0.6315327882766724,
+    -0.07648584991693497,
+    -1.02521550655365,
+    0.09582605957984924
+  ],
+  "policy_metadata": {
+    "alignment_wait_ms": 4.523718991549686,
+    "checkpoint_path": "/home/romoya-1/openpi-workspace/checkpoints/yam-policies-release/yam_policies/xiangrun/20260916_v2_seven_tasks/dp/banana_pick/best-short.pt",
+    "first_action_minus_state": [
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      -2.958625555038452e-05,
+      0.0036557912826538086,
+      0.0274965763092041,
+      -0.0075247883796691895,
+      -0.0068716928362846375,
+      -0.026615500450134277,
+      0.0001739412546157837
+    ],
+    "history_anchor_offset": 1,
+    "history_interval_ms": 33.367089,
+    "history_sample_stamp_ns": {
+      "base_0_color": [
+        1789570636878985470,
+        1789570636912352559
+      ],
+      "left_wrist_0_color": [
+        1789570636885402289,
+        1789570636918820330
+      ],
+      "right_wrist_0_color": [
+        1789570636893417257,
+        1789570636926944959
+      ],
+      "robot_state": [
+        1789570636878184639,
+        1789570636911520760
+      ]
+    },
+    "history_stamp_ns": [
+      1789570636878985470,
+      1789570636912352559
+    ],
+    "model_seed": null,
+    "observation_age_at_response_ms": 405.197853,
+    "observation_stamp_ns": 1789570636912352559,
+    "prompt": "banana_pick",
+    "release_revision": "39c623bd78f638d06ce0db57631b66d3028db208",
+    "request_id": "643594900a2e4833aa53fa09ec004522",
+    "round_trip_ms": 81.11934299813583,
+    "server_metadata": {
+      "action_shape": [
+        32,
+        14
+      ],
+      "action_space": "abs_qpos",
+      "cameras": [
+        "base_0",
+        "right_wrist_0"
+      ],
+      "checkpoint_hashes": {
+        "dp/banana_pick/best-short.pt": "c65474448980475685df18bac931e834ec346ba38f27ec5a62ab8003bd6ac078"
+      },
+      "checkpoint_path": "/home/romoya-1/openpi-workspace/checkpoints/yam-policies-release/yam_policies/xiangrun/20260916_v2_seven_tasks/dp/banana_pick/best-short.pt",
+      "fps": 30,
+      "gpu": "NVIDIA GeForce RTX 5090",
+      "gpu_peak_mib": 389.01416015625,
+      "model": "dp",
+      "observation_offsets": [
+        -1,
+        0
+      ],
+      "protocol": "yam-v2-native-npz-v1",
+      "release_revision": "39c623bd78f638d06ce0db57631b66d3028db208",
+      "step": 13000,
+      "task": "banana_pick",
+      "tasks": [
+        "banana_pick"
+      ],
+      "warmup": {
+        "hardware_started": false,
+        "seconds": [
+          0.3053480860107811,
+          0.05467458399652969,
+          0.054366027005016804,
+          0.05456006299937144
+        ],
+        "status": "passed"
+      }
+    },
+    "server_prediction_seconds": 0.07643103400187101,
+    "source": "yam_v2_dp_http",
+    "task": "banana_pick",
+    "wire_action_dtype": "float32"
+  },
+  "time_ns": 1789570637346525607
+}

eval/YAM/V2/dp/banana_pick/data/round_0001/debug/validations/validation_0014.json

@@ -0,0 +1,194 @@
+{
+  "command_velocity_limits": [
+    7.326937734087213,
+    7.492612143357643,
+    9.039960411055707,
+    10.989442599937178,
+    11.822247140410347,
+    21.729793477053846,
+    4.549583926449072,
+    9.542591565847905,
+    16.49783855493206,
+    19.18122166486826,
+    20.271305218109156,
+    13.274309575261345,
+    14.009155302643812,
+    4.764187300355128
+  ],
+  "current": [
+    -0.0040054932478827965,
+    0.010490577553978753,
+    0.011253528648813571,
+    0.008201724269474298,
+    -0.02155336842908362,
+    -0.06504158083466827,
+    0.09592368287923689,
+    -0.0600823987182455,
+    1.9560158693827727,
+    1.4951934081025406,
+    -0.6391622796978691,
+    -0.07648584725718699,
+    -1.0511558709086746,
+    0.09553384548485282
+  ],
+  "current_velocity": [
+    -0.0024420024420024333,
+    0.012210012210012167,
+    -0.0024420024420024333,
+    -0.0073260073260073,
+    -0.0073260073260073,
+    -0.0073260073260073,
+    0.00013323856168403347,
+    -0.017094017094017033,
+    -0.0073260073260073,
+    0.0073260073260073,
+    -0.0219780219780219,
+    -0.0073260073260073,
+    -0.0073260073260073,
+    -0.00013361516002478402
+  ],
+  "first_target": [
+    -0.004005493130534887,
+    0.010109102353453636,
+    0.01125352829694748,
+    0.0078202486038208,
+    -0.021553369238972664,
+    -0.06466010212898254,
+    0.09592368453741074,
+    -0.06158363074064255,
+    1.9800305366516113,
+    1.5356734991073608,
+    -0.6412814259529114,
+    -0.08776460587978363,
+    -1.0688010454177856,
+    0.09579780697822571
+  ],
+  "first_transition_velocity": [
+    3.5204372750285984e-09,
+    -0.011444256015753496,
+    -1.0555982754567594e-08,
+    -0.011444269969604903,
+    -2.429667134151714e-08,
+    0.011444361170571682,
+    4.974521544687249e-08,
+    -0.04503696067191143,
+    0.7204400180651582,
+    1.2144027301446059,
+    -0.06357438765126844,
+    -0.3383627586778992,
+    -0.5293552352733322,
+    0.007918844801186736
+  ],
+  "observation_state": [
+    -0.004005493130534887,
+    0.010109102353453636,
+    0.01125352829694748,
+    0.0078202486038208,
+    -0.021553369238972664,
+    -0.06466010212898254,
+    0.09592368453741074,
+    -0.07305257022380829,
+    1.9552528858184814,
+    1.495193362236023,
+    -0.6399252414703369,
+    -0.07648584991693497,
+    -1.050774335861206,
+    0.09581910073757172
+  ],
+  "policy_metadata": {
+    "alignment_wait_ms": 5.655664994264953,
+    "checkpoint_path": "/home/romoya-1/openpi-workspace/checkpoints/yam-policies-release/yam_policies/xiangrun/20260916_v2_seven_tasks/dp/banana_pick/best-short.pt",
+    "first_action_minus_state": [
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.011468939483165741,
+      0.024777650833129883,
+      0.04048013687133789,
+      -0.0013561844825744629,
+      -0.011278755962848663,
+      -0.01802670955657959,
+      -2.12937593460083e-05
+    ],
+    "history_anchor_offset": 0,
+    "history_interval_ms": 33.247198,
+    "history_sample_stamp_ns": {
+      "base_0_color": [
+        1789570638412691134,
+        1789570638445938332
+      ],
+      "left_wrist_0_color": [
+        1789570638419285572,
+        1789570638452699789
+      ],
+      "right_wrist_0_color": [
+        1789570638427207811,
+        1789570638460538586
+      ],
+      "robot_state": [
+        1789570638411786631,
+        1789570638444833476
+      ]
+    },
+    "history_stamp_ns": [
+      1789570638412691134,
+      1789570638445938332
+    ],
+    "model_seed": null,
+    "observation_age_at_response_ms": 397.620075,
+    "observation_stamp_ns": 1789570638445938332,
+    "prompt": "banana_pick",
+    "release_revision": "39c623bd78f638d06ce0db57631b66d3028db208",
+    "request_id": "8e9b5890b96949439cecc870fe463120",
+    "round_trip_ms": 79.87352900090627,
+    "server_metadata": {
+      "action_shape": [
+        32,
+        14
+      ],
+      "action_space": "abs_qpos",
+      "cameras": [
+        "base_0",
+        "right_wrist_0"
+      ],
+      "checkpoint_hashes": {
+        "dp/banana_pick/best-short.pt": "c65474448980475685df18bac931e834ec346ba38f27ec5a62ab8003bd6ac078"
+      },
+      "checkpoint_path": "/home/romoya-1/openpi-workspace/checkpoints/yam-policies-release/yam_policies/xiangrun/20260916_v2_seven_tasks/dp/banana_pick/best-short.pt",
+      "fps": 30,
+      "gpu": "NVIDIA GeForce RTX 5090",
+      "gpu_peak_mib": 389.01416015625,
+      "model": "dp",
+      "observation_offsets": [
+        -1,
+        0
+      ],
+      "protocol": "yam-v2-native-npz-v1",
+      "release_revision": "39c623bd78f638d06ce0db57631b66d3028db208",
+      "step": 13000,
+      "task": "banana_pick",
+      "tasks": [
+        "banana_pick"
+      ],
+      "warmup": {
+        "hardware_started": false,
+        "seconds": [
+          0.3053480860107811,
+          0.05467458399652969,
+          0.054366027005016804,
+          0.05456006299937144
+        ],
+        "status": "passed"
+      }
+    },
+    "server_prediction_seconds": 0.07664085199940018,
+    "source": "yam_v2_dp_http",
+    "task": "banana_pick",
+    "wire_action_dtype": "float32"
+  },
+  "time_ns": 1789570638864755524
+}

eval/YAM/V2/dp/banana_pick/data/round_0001/debug/validations/validation_0015.json

@@ -0,0 +1,194 @@
+{
+  "command_velocity_limits": [
+    7.326937734087213,
+    7.492612143357643,
+    9.039960411055707,
+    10.989442599937178,
+    11.822247140410347,
+    21.729793477053846,
+    4.549583926449072,
+    9.542591565847905,
+    16.49783855493206,
+    19.18122166486826,
+    20.271305218109156,
+    13.274309575261345,
+    14.009155302643812,
+    4.764187300355128
+  ],
+  "current": [
+    -0.0040054932478827965,
+    0.010109102006561344,
+    0.011253528648813571,
+    0.008201724269474298,
+    -0.02155336842908362,
+    -0.06504158083466827,
+    0.09592368287923689,
+    -0.05359731441214599,
+    2.0311665522240023,
+    1.5119783321889066,
+    -0.641832608529791,
+    -0.07610437170977313,
+    -1.0851071946288275,
+    0.09570082620669657
+  ],
+  "current_velocity": [
+    0.0024420024420024333,
+    0.0073260073260073,
+    0.0073260073260073,
+    -0.0219780219780219,
+    -0.0073260073260073,
+    -0.0073260073260073,
+    0.00013323856168403347,
+    -0.0024420024420024333,
+    -0.0073260073260073,
+    0.0073260073260073,
+    -0.0073260073260073,
+    0.0073260073260073,
+    -0.0219780219780219,
+    0.00013361516002478402
+  ],
+  "first_target": [
+    -0.004005493130534887,
+    0.010109102353453636,
+    0.01125352829694748,
+    0.0078202486038208,
+    -0.02193484455347061,
+    -0.06504157930612564,
+    0.09592368453741074,
+    -0.05879747122526169,
+    2.0348634719848633,
+    1.5500035285949707,
+    -0.6501668691635132,
+    -0.07422174513339996,
+    -1.114256501197815,
+    0.09553761035203934
+  ],
+  "first_transition_velocity": [
+    3.5204372750285984e-09,
+    1.0406768780057973e-08,
+    -1.0555982754567594e-08,
+    -0.011444269969604903,
+    -0.011444283731609772,
+    4.585627877418119e-08,
+    4.974521544687249e-08,
+    -0.15600470439347092,
+    0.11090759282582852,
+    1.1407558921819216,
+    -0.2500278190116667,
+    0.05647879729119509,
+    -0.874479197069622,
+    -0.004896475639716846
+  ],
+  "observation_state": [
+    -0.004005493130534887,
+    0.010109102353453636,
+    0.01125352829694748,
+    0.0078202486038208,
+    -0.02193484455347061,
+    -0.06504157930612564,
+    0.09592368453741074,
+    -0.056267641484737396,
+    2.029259204864502,
+    1.5119783878326416,
+    -0.6460288166999817,
+    -0.07648584991693497,
+    -1.0851072072982788,
+    0.09569387137889862
+  ],
+  "policy_metadata": {
+    "alignment_wait_ms": 5.630412997561507,
+    "checkpoint_path": "/home/romoya-1/openpi-workspace/checkpoints/yam-policies-release/yam_policies/xiangrun/20260916_v2_seven_tasks/dp/banana_pick/best-short.pt",
+    "first_action_minus_state": [
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      -0.002529829740524292,
+      0.005604267120361328,
+      0.0380251407623291,
+      -0.004138052463531494,
+      0.0022641047835350037,
+      -0.029149293899536133,
+      -0.00015626102685928345
+    ],
+    "history_anchor_offset": 0,
+    "history_interval_ms": 33.131575,
+    "history_sample_stamp_ns": {
+      "base_0_color": [
+        1789570639979911110,
+        1789570640013042685
+      ],
+      "left_wrist_0_color": [
+        1789570639986407435,
+        1789570640019762004
+      ],
+      "right_wrist_0_color": [
+        1789570639994221451,
+        1789570640027590973
+      ],
+      "robot_state": [
+        1789570639978180287,
+        1789570640011647145
+      ]
+    },
+    "history_stamp_ns": [
+      1789570639979911110,
+      1789570640013042685
+    ],
+    "model_seed": null,
+    "observation_age_at_response_ms": 343.481588,
+    "observation_stamp_ns": 1789570640013042685,
+    "prompt": "banana_pick",
+    "release_revision": "39c623bd78f638d06ce0db57631b66d3028db208",
+    "request_id": "90eb9337da084dfc802fe022de1b5c4d",
+    "round_trip_ms": 77.27596300537698,
+    "server_metadata": {
+      "action_shape": [
+        32,
+        14
+      ],
+      "action_space": "abs_qpos",
+      "cameras": [
+        "base_0",
+        "right_wrist_0"
+      ],
+      "checkpoint_hashes": {
+        "dp/banana_pick/best-short.pt": "c65474448980475685df18bac931e834ec346ba38f27ec5a62ab8003bd6ac078"
+      },
+      "checkpoint_path": "/home/romoya-1/openpi-workspace/checkpoints/yam-policies-release/yam_policies/xiangrun/20260916_v2_seven_tasks/dp/banana_pick/best-short.pt",
+      "fps": 30,
+      "gpu": "NVIDIA GeForce RTX 5090",
+      "gpu_peak_mib": 389.01416015625,
+      "model": "dp",
+      "observation_offsets": [
+        -1,
+        0
+      ],
+      "protocol": "yam-v2-native-npz-v1",
+      "release_revision": "39c623bd78f638d06ce0db57631b66d3028db208",
+      "step": 13000,
+      "task": "banana_pick",
+      "tasks": [
+        "banana_pick"
+      ],
+      "warmup": {
+        "hardware_started": false,
+        "seconds": [
+          0.3053480860107811,
+          0.05467458399652969,
+          0.054366027005016804,
+          0.05456006299937144
+        ],
+        "status": "passed"
+      }
+    },
+    "server_prediction_seconds": 0.07480575599765871,
+    "source": "yam_v2_dp_http",
+    "task": "banana_pick",
+    "wire_action_dtype": "float32"
+  },
+  "time_ns": 1789570640391636074
+}

eval/YAM/V2/dp/banana_pick/data/round_0001/debug/validations/validation_0016.json

@@ -0,0 +1,194 @@
+{
+  "command_velocity_limits": [
+    7.326937734087213,
+    7.492612143357643,
+    9.039960411055707,
+    10.989442599937178,
+    11.822247140410347,
+    21.729793477053846,
+    4.549583926449072,
+    9.542591565847905,
+    16.49783855493206,
+    19.18122166486826,
+    20.271305218109156,
+    13.274309575261345,
+    14.009155302643812,
+    4.764187300355128
+  ],
+  "current": [
+    -0.0040054932478827965,
+    0.010490577553978753,
+    0.011253528648813571,
+    0.008201724269474298,
+    -0.02193484397650458,
+    -0.06504158083466827,
+    0.09592368287923689,
+    -0.05550469214923659,
+    2.059014267185473,
+    1.552414740215152,
+    -0.6776913099870274,
+    -0.07572289616235217,
+    -1.099603265430689,
+    0.09576344397738797
+  ],
+  "current_velocity": [
+    0.0073260073260073,
+    -0.0073260073260073,
+    -0.0024420024420024333,
+    0.0073260073260073,
+    -0.0219780219780219,
+    -0.0073260073260073,
+    -0.00013323856168403347,
+    0.012210012210012167,
+    0.0024420024420024333,
+    0.012210012210012167,
+    -0.0073260073260073,
+    0.0073260073260073,
+    -0.0073260073260073,
+    0.00013361516002478402
+  ],
+  "first_target": [
+    -0.004386968910694122,
+    0.010109102353453636,
+    0.01125352829694748,
+    0.008201723918318748,
+    -0.021553369238972664,
+    -0.06504157930612564,
+    0.09592368453741074,
+    -0.05129024013876915,
+    2.0753707885742188,
+    1.5896962881088257,
+    -0.6809571981430054,
+    -0.07812679558992386,
+    -1.1124117374420166,
+    0.09559562802314758
+  ],
+  "first_transition_velocity": [
+    -0.011444269884339775,
+    -0.011444256015753496,
+    -1.0555982754567594e-08,
+    -1.0534666472494791e-08,
+    0.011444242125957516,
+    4.585627877418119e-08,
+    4.974521544687249e-08,
+    0.1264335603140232,
+    0.49069564166236646,
+    1.1184464368102098,
+    -0.09797664467933842,
+    -0.07211698282715062,
+    -0.3842541603398253,
+    -0.005034478627211486
+  ],
+  "observation_state": [
+    -0.004386968910694122,
+    0.010109102353453636,
+    0.01125352829694748,
+    0.008201723918318748,
+    -0.021553369238972664,
+    -0.06504157930612564,
+    0.09592368453741074,
+    -0.0555046908557415,
+    2.059014320373535,
+    1.5524147748947144,
+    -0.6776912808418274,
+    -0.07572289556264877,
+    -1.0999847650527954,
+    0.09572169929742813
+  ],
+  "policy_metadata": {
+    "alignment_wait_ms": 4.868046991759911,
+    "checkpoint_path": "/home/romoya-1/openpi-workspace/checkpoints/yam-policies-release/yam_policies/xiangrun/20260916_v2_seven_tasks/dp/banana_pick/best-short.pt",
+    "first_action_minus_state": [
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.004214450716972351,
+      0.016356468200683594,
+      0.03728151321411133,
+      -0.0032659173011779785,
+      -0.0024039000272750854,
+      -0.012426972389221191,
+      -0.0001260712742805481
+    ],
+    "history_anchor_offset": 0,
+    "history_interval_ms": 33.252315,
+    "history_sample_stamp_ns": {
+      "base_0_color": [
+        1789570641580065276,
+        1789570641613317591
+      ],
+      "left_wrist_0_color": [
+        1789570641586742056,
+        1789570641620003892
+      ],
+      "right_wrist_0_color": [
+        1789570641594422533,
+        1789570641627907965
+      ],
+      "robot_state": [
+        1789570641578223723,
+        1789570641613157820
+      ]
+    },
+    "history_stamp_ns": [
+      1789570641580065276,
+      1789570641613317591
+    ],
+    "model_seed": null,
+    "observation_age_at_response_ms": 272.872328,
+    "observation_stamp_ns": 1789570641613317591,
+    "prompt": "banana_pick",
+    "release_revision": "39c623bd78f638d06ce0db57631b66d3028db208",
+    "request_id": "5f498ba2394d499db131ed65cec274dc",
+    "round_trip_ms": 79.62176699948031,
+    "server_metadata": {
+      "action_shape": [
+        32,
+        14
+      ],
+      "action_space": "abs_qpos",
+      "cameras": [
+        "base_0",
+        "right_wrist_0"
+      ],
+      "checkpoint_hashes": {
+        "dp/banana_pick/best-short.pt": "c65474448980475685df18bac931e834ec346ba38f27ec5a62ab8003bd6ac078"
+      },
+      "checkpoint_path": "/home/romoya-1/openpi-workspace/checkpoints/yam-policies-release/yam_policies/xiangrun/20260916_v2_seven_tasks/dp/banana_pick/best-short.pt",
+      "fps": 30,
+      "gpu": "NVIDIA GeForce RTX 5090",
+      "gpu_peak_mib": 389.01416015625,
+      "model": "dp",
+      "observation_offsets": [
+        -1,
+        0
+      ],
+      "protocol": "yam-v2-native-npz-v1",
+      "release_revision": "39c623bd78f638d06ce0db57631b66d3028db208",
+      "step": 13000,
+      "task": "banana_pick",
+      "tasks": [
+        "banana_pick"
+      ],
+      "warmup": {
+        "hardware_started": false,
+        "seconds": [
+          0.3053480860107811,
+          0.05467458399652969,
+          0.054366027005016804,
+          0.05456006299937144
+        ],
+        "status": "passed"
+      }
+    },
+    "server_prediction_seconds": 0.0768708429968683,
+    "source": "yam_v2_dp_http",
+    "task": "banana_pick",
+    "wire_action_dtype": "float32"
+  },
+  "time_ns": 1789570641901245574
+}

eval/YAM/V2/dp/banana_pick/data/round_0001/debug/validations/validation_0017.json

@@ -0,0 +1,194 @@
+{
+  "command_velocity_limits": [
+    7.326937734087213,
+    7.492612143357643,
+    9.039960411055707,
+    10.989442599937178,
+    11.822247140410347,
+    21.729793477053846,
+    4.549583926449072,
+    9.542591565847905,
+    16.49783855493206,
+    19.18122166486826,
+    20.271305218109156,
+    13.274309575261345,
+    14.009155302643812,
+    4.764187300355128
+  ],
+  "current": [
+    -0.0040054932478827965,
+    0.010490577553978753,
+    0.011253528648813571,
+    0.008201724269474298,
+    -0.02155336842908362,
+    -0.06504158083466827,
+    0.09592368287923689,
+    -0.05359731441214599,
+    2.088769359884031,
+    1.562714579995422,
+    -0.6235217822537589,
+    -0.04215304798962016,
+    -1.1110475318532114,
+    0.09583997680823295
+  ],
+  "current_velocity": [
+    0.0073260073260073,
+    -0.0073260073260073,
+    -0.012210012210012167,
+    -0.0073260073260073,
+    -0.0219780219780219,
+    0.0073260073260073,
+    -0.00013323856168403347,
+    0.0024420024420024333,
+    0.017094017094017033,
+    0.0073260073260073,
+    -0.0073260073260073,
+    -0.0073260073260073,
+    -0.0073260073260073,
+    -0.00013361516002478402
+  ],
+  "first_target": [
+    -0.004005493130534887,
+    0.010490577667951584,
+    0.01125352829694748,
+    0.008201723918318748,
+    -0.021553369238972664,
+    -0.06504157930612564,
+    0.09592368453741074,
+    -0.05040114000439644,
+    2.090649127960205,
+    1.5836529731750488,
+    -0.6284584403038025,
+    -0.042401205748319626,
+    -1.1258366107940674,
+    0.09569460153579712
+  ],
+  "first_transition_velocity": [
+    3.5204372750285984e-09,
+    3.419184935182784e-09,
+    -1.0555982754567594e-08,
+    -1.0534666472494791e-08,
+    -2.429667134151714e-08,
+    4.585627877418119e-08,
+    4.974521544687249e-08,
+    0.09588523223248657,
+    0.0563930422852188,
+    0.6281517953888027,
+    -0.14809974150130856,
+    -0.0074447327609838965,
+    -0.44367236822568046,
+    -0.004361258173074811
+  ],
+  "observation_state": [
+    -0.004005493130534887,
+    0.010490577667951584,
+    0.01125352829694748,
+    0.008201723918318748,
+    -0.021553369238972664,
+    -0.06504157930612564,
+    0.09592368453741074,
+    -0.05359731614589691,
+    2.088387966156006,
+    1.5627145767211914,
+    -0.6235218048095703,
+    -0.042153049260377884,
+    -1.1110475063323975,
+    0.0958399772644043
+  ],
+  "policy_metadata": {
+    "alignment_wait_ms": 6.236069995793514,
+    "checkpoint_path": "/home/romoya-1/openpi-workspace/checkpoints/yam-policies-release/yam_policies/xiangrun/20260916_v2_seven_tasks/dp/banana_pick/best-short.pt",
+    "first_action_minus_state": [
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.003196176141500473,
+      0.0022611618041992188,
+      0.020938396453857422,
+      -0.004936635494232178,
+      -0.00024815648794174194,
+      -0.014789104461669922,
+      -0.00014537572860717773
+    ],
+    "history_anchor_offset": 1,
+    "history_interval_ms": 33.308707,
+    "history_sample_stamp_ns": {
+      "base_0_color": [
+        1789570643247023922,
+        1789570643280332629
+      ],
+      "left_wrist_0_color": [
+        1789570643253641854,
+        1789570643287340038
+      ],
+      "right_wrist_0_color": [
+        1789570643261491895,
+        1789570643294891518
+      ],
+      "robot_state": [
+        1789570643244911737,
+        1789570643278258380
+      ]
+    },
+    "history_stamp_ns": [
+      1789570643247023922,
+      1789570643280332629
+    ],
+    "model_seed": null,
+    "observation_age_at_response_ms": 130.300228,
+    "observation_stamp_ns": 1789570643280332629,
+    "prompt": "banana_pick",
+    "release_revision": "39c623bd78f638d06ce0db57631b66d3028db208",
+    "request_id": "775773e1be5c45e39edc19ebc783c3ec",
+    "round_trip_ms": 78.62174199544825,
+    "server_metadata": {
+      "action_shape": [
+        32,
+        14
+      ],
+      "action_space": "abs_qpos",
+      "cameras": [
+        "base_0",
+        "right_wrist_0"
+      ],
+      "checkpoint_hashes": {
+        "dp/banana_pick/best-short.pt": "c65474448980475685df18bac931e834ec346ba38f27ec5a62ab8003bd6ac078"
+      },
+      "checkpoint_path": "/home/romoya-1/openpi-workspace/checkpoints/yam-policies-release/yam_policies/xiangrun/20260916_v2_seven_tasks/dp/banana_pick/best-short.pt",
+      "fps": 30,
+      "gpu": "NVIDIA GeForce RTX 5090",
+      "gpu_peak_mib": 389.01416015625,
+      "model": "dp",
+      "observation_offsets": [
+        -1,
+        0
+      ],
+      "protocol": "yam-v2-native-npz-v1",
+      "release_revision": "39c623bd78f638d06ce0db57631b66d3028db208",
+      "step": 13000,
+      "task": "banana_pick",
+      "tasks": [
+        "banana_pick"
+      ],
+      "warmup": {
+        "hardware_started": false,
+        "seconds": [
+          0.3053480860107811,
+          0.05467458399652969,
+          0.054366027005016804,
+          0.05456006299937144
+        ],
+        "status": "passed"
+      }
+    },
+    "server_prediction_seconds": 0.07593185799487401,
+    "source": "yam_v2_dp_http",
+    "task": "banana_pick",
+    "wire_action_dtype": "float32"
+  },
+  "time_ns": 1789570643424510474
+}

eval/YAM/V2/dp/banana_pick/data/round_0001/debug/validations/validation_0018.json

@@ -0,0 +1,194 @@
+{
+  "command_velocity_limits": [
+    7.326937734087213,
+    7.492612143357643,
+    9.039960411055707,
+    10.989442599937178,
+    11.822247140410347,
+    21.729793477053846,
+    4.549583926449072,
+    9.542591565847905,
+    16.49783855493206,
+    19.18122166486826,
+    20.271305218109156,
+    13.274309575261345,
+    14.009155302643812,
+    4.764187300355128
+  ],
+  "current": [
+    -0.0040054932478827965,
+    0.010490577553978753,
+    0.011253528648813571,
+    0.008201724269474298,
+    -0.02155336842908362,
+    -0.06504158083466827,
+    0.09592368287923689,
+    -0.02613107499809253,
+    2.0944914930952923,
+    1.5661478599221788,
+    -0.6200885023269986,
+    -0.04291599908445498,
+    -1.1179140917067247,
+    0.09577040150746478
+  ],
+  "current_velocity": [
+    -0.012210012210012167,
+    0.0024420024420024333,
+    -0.0024420024420024333,
+    0.0073260073260073,
+    -0.0073260073260073,
+    -0.0073260073260073,
+    -0.00013323856168403347,
+    -0.012210012210012167,
+    -0.0024420024420024333,
+    -0.012210012210012167,
+    -0.0073260073260073,
+    -0.0073260073260073,
+    0.0073260073260073,
+    0.00013361516002478402
+  ],
+  "first_target": [
+    -0.004005493130534887,
+    0.010490577667951584,
+    0.01125352829694748,
+    0.008201723918318748,
+    -0.021553369238972664,
+    -0.06504157930612564,
+    0.09592368453741074,
+    -0.019534628838300705,
+    2.0945093631744385,
+    1.5881508588790894,
+    -0.6209161877632141,
+    -0.03863552212715149,
+    -1.1352556943893433,
+    0.095522940158844
+  ],
+  "first_transition_velocity": [
+    3.5204372750285984e-09,
+    3.419184935182784e-09,
+    -1.0555982754567594e-08,
+    -1.0534666472494791e-08,
+    -2.429667134151714e-08,
+    4.585627877418119e-08,
+    4.974521544687249e-08,
+    0.19789338479375473,
+    0.0005361023743866156,
+    0.6600899687073181,
+    -0.024830563086464252,
+    0.12841430871910475,
+    -0.5202480804785559,
+    -0.007423840458623682
+  ],
+  "observation_state": [
+    -0.004005493130534887,
+    0.010490577667951584,
+    0.01125352829694748,
+    0.008201723918318748,
+    -0.021553369238972664,
+    -0.06504157930612564,
+    0.09592368453741074,
+    -0.026131074875593185,
+    2.094491481781006,
+    1.566147804260254,
+    -0.6254291534423828,
+    -0.04291599988937378,
+    -1.120965838432312,
+    0.09569387137889862
+  ],
+  "policy_metadata": {
+    "alignment_wait_ms": 7.200148000265472,
+    "checkpoint_path": "/home/romoya-1/openpi-workspace/checkpoints/yam-policies-release/yam_policies/xiangrun/20260916_v2_seven_tasks/dp/banana_pick/best-short.pt",
+    "first_action_minus_state": [
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.0065964460372924805,
+      1.7881393432617188e-05,
+      0.02200305461883545,
+      0.004512965679168701,
+      0.00428047776222229,
+      -0.01428985595703125,
+      -0.00017093122005462646
+    ],
+    "history_anchor_offset": 10,
+    "history_interval_ms": 33.221223,
+    "history_sample_stamp_ns": {
+      "base_0_color": [
+        1789570644480820828,
+        1789570644514042051
+      ],
+      "left_wrist_0_color": [
+        1789570644487401160,
+        1789570644520898521
+      ],
+      "right_wrist_0_color": [
+        1789570644495184562,
+        1789570644528666726
+      ],
+      "robot_state": [
+        1789570644478303869,
+        1789570644512046821
+      ]
+    },
+    "history_stamp_ns": [
+      1789570644480820828,
+      1789570644514042051
+    ],
+    "model_seed": null,
+    "observation_age_at_response_ms": 417.699955,
+    "observation_stamp_ns": 1789570644514042051,
+    "prompt": "banana_pick",
+    "release_revision": "39c623bd78f638d06ce0db57631b66d3028db208",
+    "request_id": "31d4d30d6e4a4ca99e14dd77d4109692",
+    "round_trip_ms": 58.909430998028256,
+    "server_metadata": {
+      "action_shape": [
+        32,
+        14
+      ],
+      "action_space": "abs_qpos",
+      "cameras": [
+        "base_0",
+        "right_wrist_0"
+      ],
+      "checkpoint_hashes": {
+        "dp/banana_pick/best-short.pt": "c65474448980475685df18bac931e834ec346ba38f27ec5a62ab8003bd6ac078"
+      },
+      "checkpoint_path": "/home/romoya-1/openpi-workspace/checkpoints/yam-policies-release/yam_policies/xiangrun/20260916_v2_seven_tasks/dp/banana_pick/best-short.pt",
+      "fps": 30,
+      "gpu": "NVIDIA GeForce RTX 5090",
+      "gpu_peak_mib": 389.01416015625,
+      "model": "dp",
+      "observation_offsets": [
+        -1,
+        0
+      ],
+      "protocol": "yam-v2-native-npz-v1",
+      "release_revision": "39c623bd78f638d06ce0db57631b66d3028db208",
+      "step": 13000,
+      "task": "banana_pick",
+      "tasks": [
+        "banana_pick"
+      ],
+      "warmup": {
+        "hardware_started": false,
+        "seconds": [
+          0.3053480860107811,
+          0.05467458399652969,
+          0.054366027005016804,
+          0.05456006299937144
+        ],
+        "status": "passed"
+      }
+    },
+    "server_prediction_seconds": 0.05547698099690024,
+    "source": "yam_v2_dp_http",
+    "task": "banana_pick",
+    "wire_action_dtype": "float32"
+  },
+  "time_ns": 1789570644948415679
+}

eval/YAM/V2/dp/banana_pick/data/round_0001/debug/validations/validation_0019.json

@@ -0,0 +1,194 @@
+{
+  "command_velocity_limits": [
+    7.326937734087213,
+    7.492612143357643,
+    9.039960411055707,
+    10.989442599937178,
+    11.822247140410347,
+    21.729793477053846,
+    4.549583926449072,
+    9.542591565847905,
+    16.49783855493206,
+    19.18122166486826,
+    20.271305218109156,
+    13.274309575261345,
+    14.009155302643812,
+    4.764187300355128
+  ],
+  "current": [
+    -0.0040054932478827965,
+    0.010490577553978753,
+    0.011253528648813571,
+    0.008201724269474298,
+    -0.02155336842908362,
+    -0.06504158083466827,
+    0.09593062079930621,
+    -0.0028610666056341216,
+    2.0944914930952923,
+    1.5661478599221788,
+    -0.6124589913786505,
+    -0.041771572442206306,
+    -1.129358358129247,
+    0.09471285693578774
+  ],
+  "current_velocity": [
+    -0.0024420024420024333,
+    0.0024420024420024333,
+    -0.0024420024420024333,
+    -0.0073260073260073,
+    -0.0073260073260073,
+    -0.0073260073260073,
+    0.00013323856168403347,
+    -0.0024420024420024333,
+    0.0073260073260073,
+    0.0024420024420024333,
+    0.0219780219780219,
+    -0.0219780219780219,
+    -0.0073260073260073,
+    -0.00013361516002478402
+  ],
+  "first_target": [
+    -0.004005493130534887,
+    0.010109102353453636,
+    0.01125352829694748,
+    0.008201723918318748,
+    -0.021553369238972664,
+    -0.06504157930612564,
+    0.09592368453741074,
+    -0.00030045234598219395,
+    2.1035444736480713,
+    1.5951170921325684,
+    -0.6150134801864624,
+    -0.04319789633154869,
+    -1.1351778507232666,
+    0.09577380120754242
+  ],
+  "first_transition_velocity": [
+    3.5204372750285984e-09,
+    -0.011444256015753496,
+    -1.0555982754567594e-08,
+    -1.0534666472494791e-08,
+    -2.429667134151714e-08,
+    4.585627877418119e-08,
+    -0.00020808785686429743,
+    0.07681842778955783,
+    0.271589416583371,
+    0.8690769663116882,
+    -0.0766346642343585,
+    -0.04278971668027154,
+    -0.1745847778205878,
+    0.03182832815264047
+  ],
+  "observation_state": [
+    -0.004005493130534887,
+    0.010109102353453636,
+    0.01125352829694748,
+    0.008201723918318748,
+    -0.021553369238972664,
+    -0.06504157930612564,
+    0.09592368453741074,
+    -0.002861066721379757,
+    2.094491481781006,
+    1.566147804260254,
+    -0.6155108213424683,
+    -0.04253452271223068,
+    -1.1270694732666016,
+    0.0955616757273674
+  ],
+  "policy_metadata": {
+    "alignment_wait_ms": 5.752565004513599,
+    "checkpoint_path": "/home/romoya-1/openpi-workspace/checkpoints/yam-policies-release/yam_policies/xiangrun/20260916_v2_seven_tasks/dp/banana_pick/best-short.pt",
+    "first_action_minus_state": [
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.002560614375397563,
+      0.00905299186706543,
+      0.028969287872314453,
+      0.0004973411560058594,
+      -0.0006633736193180084,
+      -0.008108377456665039,
+      0.0002121254801750183
+    ],
+    "history_anchor_offset": 6,
+    "history_interval_ms": 33.439203,
+    "history_sample_stamp_ns": {
+      "base_0_color": [
+        1789570646047836216,
+        1789570646081275419
+      ],
+      "left_wrist_0_color": [
+        1789570646054465047,
+        1789570646087894920
+      ],
+      "right_wrist_0_color": [
+        1789570646062200145,
+        1789570646095516813
+      ],
+      "robot_state": [
+        1789570646045234497,
+        1789570646078236463
+      ]
+    },
+    "history_stamp_ns": [
+      1789570646047836216,
+      1789570646081275419
+    ],
+    "model_seed": null,
+    "observation_age_at_response_ms": 351.949627,
+    "observation_stamp_ns": 1789570646081275419,
+    "prompt": "banana_pick",
+    "release_revision": "39c623bd78f638d06ce0db57631b66d3028db208",
+    "request_id": "8f09cff5b4834a6c86ff7a73d42ad88b",
+    "round_trip_ms": 57.60626800474711,
+    "server_metadata": {
+      "action_shape": [
+        32,
+        14
+      ],
+      "action_space": "abs_qpos",
+      "cameras": [
+        "base_0",
+        "right_wrist_0"
+      ],
+      "checkpoint_hashes": {
+        "dp/banana_pick/best-short.pt": "c65474448980475685df18bac931e834ec346ba38f27ec5a62ab8003bd6ac078"
+      },
+      "checkpoint_path": "/home/romoya-1/openpi-workspace/checkpoints/yam-policies-release/yam_policies/xiangrun/20260916_v2_seven_tasks/dp/banana_pick/best-short.pt",
+      "fps": 30,
+      "gpu": "NVIDIA GeForce RTX 5090",
+      "gpu_peak_mib": 389.01416015625,
+      "model": "dp",
+      "observation_offsets": [
+        -1,
+        0
+      ],
+      "protocol": "yam-v2-native-npz-v1",
+      "release_revision": "39c623bd78f638d06ce0db57631b66d3028db208",
+      "step": 13000,
+      "task": "banana_pick",
+      "tasks": [
+        "banana_pick"
+      ],
+      "warmup": {
+        "hardware_started": false,
+        "seconds": [
+          0.3053480860107811,
+          0.05467458399652969,
+          0.054366027005016804,
+          0.05456006299937144
+        ],
+        "status": "passed"
+      }
+    },
+    "server_prediction_seconds": 0.0551776280044578,
+    "source": "yam_v2_dp_http",
+    "task": "banana_pick",
+    "wire_action_dtype": "float32"
+  },
+  "time_ns": 1789570646459988961
+}

eval/YAM/V2/dp/banana_pick/data/round_0001/debug/validations/validation_0020.json

@@ -0,0 +1,194 @@
+{
+  "command_velocity_limits": [
+    7.326937734087213,
+    7.492612143357643,
+    9.039960411055707,
+    10.989442599937178,
+    11.822247140410347,
+    21.729793477053846,
+    4.549583926449072,
+    9.542591565847905,
+    16.49783855493206,
+    19.18122166486826,
+    20.271305218109156,
+    13.274309575261345,
+    14.009155302643812,
+    4.764187300355128
+  ],
+  "current": [
+    -0.0040054932478827965,
+    0.010109102006561344,
+    0.011253528648813571,
+    0.008201724269474298,
+    -0.02193484397650458,
+    -0.06504158083466827,
+    0.09592368287923689,
+    0.024986648355840302,
+    2.0963988708323793,
+    1.58216983291371,
+    -0.595292591744867,
+    -0.01583123521782248,
+    -1.129358358129247,
+    0.007402812001739414
+  ],
+  "current_velocity": [
+    0.0073260073260073,
+    0.0073260073260073,
+    -0.012210012210012167,
+    -0.0073260073260073,
+    -0.0073260073260073,
+    -0.0073260073260073,
+    0.00013323856168403347,
+    0.0024420024420024333,
+    0.0024420024420024333,
+    -0.0073260073260073,
+    -0.0219780219780219,
+    0.0073260073260073,
+    -0.0073260073260073,
+    0.00013361516002478402
+  ],
+  "first_target": [
+    -0.004005493130534887,
+    0.010109102353453636,
+    0.01125352829694748,
+    0.008201723918318748,
+    -0.021553369238972664,
+    -0.06504157930612564,
+    0.09593062102794647,
+    0.053643599152565,
+    2.0536937713623047,
+    1.650949239730835,
+    -0.5778514742851257,
+    -0.02299511805176735,
+    -1.115692138671875,
+    0.006397570483386517
+  ],
+  "first_transition_velocity": [
+    3.5204372750285984e-09,
+    1.0406768780057973e-08,
+    -1.0555982754567594e-08,
+    -1.0534666472494791e-08,
+    0.011444242125957516,
+    4.585627877418119e-08,
+    0.0002081444612875294,
+    0.859708523901741,
+    -1.2811529841022384,
+    2.0633822045137507,
+    0.5232335237922392,
+    -0.21491648501834604,
+    0.40998658372116026,
+    -0.030157245550586926
+  ],
+  "observation_state": [
+    -0.004005493130534887,
+    0.010109102353453636,
+    0.01125352829694748,
+    0.008201723918318748,
+    -0.021553369238972664,
+    -0.06504157930612564,
+    0.09593062102794647,
+    0.02536812424659729,
+    2.0963988304138184,
+    1.5794994831085205,
+    -0.5960555672645569,
+    -0.015449759550392628,
+    -1.1293584108352661,
+    0.007827221415936947
+  ],
+  "policy_metadata": {
+    "alignment_wait_ms": 4.518229005043395,
+    "checkpoint_path": "/home/romoya-1/openpi-workspace/checkpoints/yam-policies-release/yam_policies/xiangrun/20260916_v2_seven_tasks/dp/banana_pick/best-short.pt",
+    "first_action_minus_state": [
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.028275474905967712,
+      -0.04270505905151367,
+      0.07144975662231445,
+      0.018204092979431152,
+      -0.0075453585013747215,
+      0.013666272163391113,
+      -0.0014296509325504303
+    ],
+    "history_anchor_offset": 0,
+    "history_interval_ms": 33.363059,
+    "history_sample_stamp_ns": {
+      "base_0_color": [
+        1789570647781543806,
+        1789570647814906865
+      ],
+      "left_wrist_0_color": [
+        1789570647788284035,
+        1789570647821455270
+      ],
+      "right_wrist_0_color": [
+        1789570647795930382,
+        1789570647829395133
+      ],
+      "robot_state": [
+        1789570647778399691,
+        1789570647811544285
+      ]
+    },
+    "history_stamp_ns": [
+      1789570647781543806,
+      1789570647814906865
+    ],
+    "model_seed": null,
+    "observation_age_at_response_ms": 325.428216,
+    "observation_stamp_ns": 1789570647814906865,
+    "prompt": "banana_pick",
+    "release_revision": "39c623bd78f638d06ce0db57631b66d3028db208",
+    "request_id": "35b763d56f9c4ec9b0ac127eb682c8e9",
+    "round_trip_ms": 77.7986800094368,
+    "server_metadata": {
+      "action_shape": [
+        32,
+        14
+      ],
+      "action_space": "abs_qpos",
+      "cameras": [
+        "base_0",
+        "right_wrist_0"
+      ],
+      "checkpoint_hashes": {
+        "dp/banana_pick/best-short.pt": "c65474448980475685df18bac931e834ec346ba38f27ec5a62ab8003bd6ac078"
+      },
+      "checkpoint_path": "/home/romoya-1/openpi-workspace/checkpoints/yam-policies-release/yam_policies/xiangrun/20260916_v2_seven_tasks/dp/banana_pick/best-short.pt",
+      "fps": 30,
+      "gpu": "NVIDIA GeForce RTX 5090",
+      "gpu_peak_mib": 389.01416015625,
+      "model": "dp",
+      "observation_offsets": [
+        -1,
+        0
+      ],
+      "protocol": "yam-v2-native-npz-v1",
+      "release_revision": "39c623bd78f638d06ce0db57631b66d3028db208",
+      "step": 13000,
+      "task": "banana_pick",
+      "tasks": [
+        "banana_pick"
+      ],
+      "warmup": {
+        "hardware_started": false,
+        "seconds": [
+          0.3053480860107811,
+          0.05467458399652969,
+          0.054366027005016804,
+          0.05456006299937144
+        ],
+        "status": "passed"
+      }
+    },
+    "server_prediction_seconds": 0.07529946300201118,
+    "source": "yam_v2_dp_http",
+    "task": "banana_pick",
+    "wire_action_dtype": "float32"
+  },
+  "time_ns": 1789570648166199042
+}

eval/YAM/V2/dp/banana_pick/data/round_0001/debug/validations/validation_0021.json

@@ -0,0 +1,194 @@
+{
+  "command_velocity_limits": [
+    7.326937734087213,
+    7.492612143357643,
+    9.039960411055707,
+    10.989442599937178,
+    11.822247140410347,
+    21.729793477053846,
+    4.549583926449072,
+    9.542591565847905,
+    16.49783855493206,
+    19.18122166486826,
+    20.271305218109156,
+    13.274309575261345,
+    14.009155302643812,
+    4.764187300355128
+  ],
+  "current": [
+    -0.0040054932478827965,
+    0.010109102006561344,
+    0.011253528648813571,
+    0.007820248722056888,
+    -0.02193484397650458,
+    -0.06504158083466827,
+    0.09592368287923689,
+    0.45109483482108814,
+    2.0059891660944533,
+    1.6187914854657812,
+    -0.5636301213092221,
+    0.037193865873197396,
+    -0.9744792858777789,
+    0.005065081895926989
+  ],
+  "current_velocity": [
+    0.0073260073260073,
+    -0.0024420024420024333,
+    0.0024420024420024333,
+    -0.0073260073260073,
+    -0.0073260073260073,
+    0.0073260073260073,
+    -0.00013323856168403347,
+    0.0024420024420024333,
+    0.012210012210012167,
+    -0.0024420024420024333,
+    -0.0073260073260073,
+    -0.0219780219780219,
+    0.0073260073260073,
+    0.00013361516002478402
+  ],
+  "first_target": [
+    -0.004005493130534887,
+    0.010109102353453636,
+    0.01125352829694748,
+    0.008201723918318748,
+    -0.02193484455347061,
+    -0.06504157930612564,
+    0.09592368453741074,
+    0.4693343937397003,
+    2.002149820327759,
+    1.6427569389343262,
+    -0.5640813708305359,
+    0.0611591637134552,
+    -0.9764120578765869,
+    0.030160320922732353
+  ],
+  "first_transition_velocity": [
+    3.5204372750285984e-09,
+    1.0406768780057973e-08,
+    -1.0555982754567594e-08,
+    0.011444255887855803,
+    -1.7308980915231587e-08,
+    4.585627877418119e-08,
+    4.974521544687249e-08,
+    0.5471867675583653,
+    -0.11518037300083606,
+    0.7189636040563485,
+    -0.01353748563941437,
+    0.7189589352077341,
+    -0.05798315996424108,
+    0.7528571708041609
+  ],
+  "observation_state": [
+    -0.004005493130534887,
+    0.010109102353453636,
+    0.01125352829694748,
+    0.008201723918318748,
+    -0.02193484455347061,
+    -0.06504157930612564,
+    0.09592368453741074,
+    0.45757991075515747,
+    2.0071334838867188,
+    1.6187914609909058,
+    -0.5640115737915039,
+    0.03376058489084244,
+    -0.9779125452041626,
+    0.005065082106739283
+  ],
+  "policy_metadata": {
+    "alignment_wait_ms": 4.724765996797942,
+    "checkpoint_path": "/home/romoya-1/openpi-workspace/checkpoints/yam-policies-release/yam_policies/xiangrun/20260916_v2_seven_tasks/dp/banana_pick/best-short.pt",
+    "first_action_minus_state": [
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.011754482984542847,
+      -0.004983663558959961,
+      0.02396547794342041,
+      -6.979703903198242e-05,
+      0.027398578822612762,
+      0.0015004873275756836,
+      0.025095239281654358
+    ],
+    "history_anchor_offset": 6,
+    "history_interval_ms": 33.301329,
+    "history_sample_stamp_ns": {
+      "base_0_color": [
+        1789570649548739013,
+        1789570649582040342
+      ],
+      "left_wrist_0_color": [
+        1789570649555339395,
+        1789570649588738189
+      ],
+      "right_wrist_0_color": [
+        1789570649563141481,
+        1789570649596521671
+      ],
+      "robot_state": [
+        1789570649544917281,
+        1789570649578232784
+      ]
+    },
+    "history_stamp_ns": [
+      1789570649548739013,
+      1789570649582040342
+    ],
+    "model_seed": null,
+    "observation_age_at_response_ms": 393.053036,
+    "observation_stamp_ns": 1789570649582040342,
+    "prompt": "banana_pick",
+    "release_revision": "39c623bd78f638d06ce0db57631b66d3028db208",
+    "request_id": "3fe02498a7ce4aaebd0cdd004370d5ad",
+    "round_trip_ms": 80.32989999628626,
+    "server_metadata": {
+      "action_shape": [
+        32,
+        14
+      ],
+      "action_space": "abs_qpos",
+      "cameras": [
+        "base_0",
+        "right_wrist_0"
+      ],
+      "checkpoint_hashes": {
+        "dp/banana_pick/best-short.pt": "c65474448980475685df18bac931e834ec346ba38f27ec5a62ab8003bd6ac078"
+      },
+      "checkpoint_path": "/home/romoya-1/openpi-workspace/checkpoints/yam-policies-release/yam_policies/xiangrun/20260916_v2_seven_tasks/dp/banana_pick/best-short.pt",
+      "fps": 30,
+      "gpu": "NVIDIA GeForce RTX 5090",
+      "gpu_peak_mib": 389.01416015625,
+      "model": "dp",
+      "observation_offsets": [
+        -1,
+        0
+      ],
+      "protocol": "yam-v2-native-npz-v1",
+      "release_revision": "39c623bd78f638d06ce0db57631b66d3028db208",
+      "step": 13000,
+      "task": "banana_pick",
+      "tasks": [
+        "banana_pick"
+      ],
+      "warmup": {
+        "hardware_started": false,
+        "seconds": [
+          0.3053480860107811,
+          0.05467458399652969,
+          0.054366027005016804,
+          0.05456006299937144
+        ],
+        "status": "passed"
+      }
+    },
+    "server_prediction_seconds": 0.07584261101146694,
+    "source": "yam_v2_dp_http",
+    "task": "banana_pick",
+    "wire_action_dtype": "float32"
+  },
+  "time_ns": 1789570650010058004
+}

eval/YAM/V2/dp/banana_pick/data/round_0001/debug/validations/validation_0022.json

@@ -0,0 +1,194 @@
+{
+  "command_velocity_limits": [
+    7.326937734087213,
+    7.492612143357643,
+    9.039960411055707,
+    10.989442599937178,
+    11.822247140410347,
+    21.729793477053846,
+    4.549583926449072,
+    9.542591565847905,
+    16.49783855493206,
+    19.18122166486826,
+    20.271305218109156,
+    13.274309575261345,
+    14.009155302643812,
+    4.764187300355128
+  ],
+  "current": [
+    -0.0040054932478827965,
+    0.010490577553978753,
+    0.011253528648813571,
+    0.007820248722056888,
+    -0.02155336842908362,
+    -0.06466010528725441,
+    0.09592368287923689,
+    0.5254825665674829,
+    2.0632104982070647,
+    1.7175936522468902,
+    -0.5663004501411439,
+    0.05931944762340713,
+    -0.9786755168993668,
+    0.02375300768227282
+  ],
+  "current_velocity": [
+    0.012210012210012167,
+    0.0024420024420024333,
+    0.0073260073260073,
+    -0.0219780219780219,
+    -0.0073260073260073,
+    -0.0073260073260073,
+    0.00013323856168403347,
+    0.0024420024420024333,
+    -0.012210012210012167,
+    -0.0024420024420024333,
+    -0.0073260073260073,
+    -0.0073260073260073,
+    -0.0073260073260073,
+    -0.00040084548007435206
+  ],
+  "first_target": [
+    -0.004005493130534887,
+    0.010109102353453636,
+    0.01125352829694748,
+    0.008201723918318748,
+    -0.021553369238972664,
+    -0.06504157930612564,
+    0.09592368453741074,
+    0.5359326601028442,
+    2.095480442047119,
+    1.7587116956710815,
+    -0.5818138122558594,
+    0.09030051529407501,
+    -0.9571665525436401,
+    0.025021620094776154
+  ],
+  "first_transition_velocity": [
+    3.5204372750285984e-09,
+    -0.011444256015753496,
+    -1.0555982754567594e-08,
+    0.011444255887855803,
+    -2.429667134151714e-08,
+    -0.01144422056613692,
+    4.974521544687249e-08,
+    0.31350280606083913,
+    0.9680983152016331,
+    1.2335413027257403,
+    -0.46540086344146303,
+    0.9294320301200365,
+    0.6452689306718007,
+    0.03805837237509997
+  ],
+  "observation_state": [
+    -0.004005493130534887,
+    0.010109102353453636,
+    0.01125352829694748,
+    0.008201723918318748,
+    -0.021553369238972664,
+    -0.06504157930612564,
+    0.09592368453741074,
+    0.5254825949668884,
+    2.0632104873657227,
+    1.7175936698913574,
+    -0.5663004517555237,
+    0.059319447726011276,
+    -0.9786755442619324,
+    0.023753007873892784
+  ],
+  "policy_metadata": {
+    "alignment_wait_ms": 4.790468999999575,
+    "checkpoint_path": "/home/romoya-1/openpi-workspace/checkpoints/yam-policies-release/yam_policies/xiangrun/20260916_v2_seven_tasks/dp/banana_pick/best-short.pt",
+    "first_action_minus_state": [
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.01045006513595581,
+      0.032269954681396484,
+      0.04111802577972412,
+      -0.015513360500335693,
+      0.030981067568063736,
+      0.021508991718292236,
+      0.0012686122208833694
+    ],
+    "history_anchor_offset": 3,
+    "history_interval_ms": 33.353327,
+    "history_sample_stamp_ns": {
+      "base_0_color": [
+        1789570651415920405,
+        1789570651449273732
+      ],
+      "left_wrist_0_color": [
+        1789570651422586896,
+        1789570651456003237
+      ],
+      "right_wrist_0_color": [
+        1789570651430507112,
+        1789570651463765139
+      ],
+      "robot_state": [
+        1789570651411648452,
+        1789570651453178598
+      ]
+    },
+    "history_stamp_ns": [
+      1789570651415920405,
+      1789570651449273732
+    ],
+    "model_seed": null,
+    "observation_age_at_response_ms": 207.874126,
+    "observation_stamp_ns": 1789570651449273732,
+    "prompt": "banana_pick",
+    "release_revision": "39c623bd78f638d06ce0db57631b66d3028db208",
+    "request_id": "45bc2b83a3b845938ce464c0ed6d5a33",
+    "round_trip_ms": 77.17682600195985,
+    "server_metadata": {
+      "action_shape": [
+        32,
+        14
+      ],
+      "action_space": "abs_qpos",
+      "cameras": [
+        "base_0",
+        "right_wrist_0"
+      ],
+      "checkpoint_hashes": {
+        "dp/banana_pick/best-short.pt": "c65474448980475685df18bac931e834ec346ba38f27ec5a62ab8003bd6ac078"
+      },
+      "checkpoint_path": "/home/romoya-1/openpi-workspace/checkpoints/yam-policies-release/yam_policies/xiangrun/20260916_v2_seven_tasks/dp/banana_pick/best-short.pt",
+      "fps": 30,
+      "gpu": "NVIDIA GeForce RTX 5090",
+      "gpu_peak_mib": 389.01416015625,
+      "model": "dp",
+      "observation_offsets": [
+        -1,
+        0
+      ],
+      "protocol": "yam-v2-native-npz-v1",
+      "release_revision": "39c623bd78f638d06ce0db57631b66d3028db208",
+      "step": 13000,
+      "task": "banana_pick",
+      "tasks": [
+        "banana_pick"
+      ],
+      "warmup": {
+        "hardware_started": false,
+        "seconds": [
+          0.3053480860107811,
+          0.05467458399652969,
+          0.054366027005016804,
+          0.05456006299937144
+        ],
+        "status": "passed"
+      }
+    },
+    "server_prediction_seconds": 0.07479179900838062,
+    "source": "yam_v2_dp_http",
+    "task": "banana_pick",
+    "wire_action_dtype": "float32"
+  },
+  "time_ns": 1789570651690657834
+}

eval/YAM/V2/dp/banana_pick/data/round_0001/debug/validations/validation_0023.json

@@ -0,0 +1,194 @@
+{
+  "command_velocity_limits": [
+    7.326937734087213,
+    7.492612143357643,
+    9.039960411055707,
+    10.989442599937178,
+    11.822247140410347,
+    21.729793477053846,
+    4.549583926449072,
+    9.542591565847905,
+    16.49783855493206,
+    19.18122166486826,
+    20.271305218109156,
+    13.274309575261345,
+    14.009155302643812,
+    4.764187300355128
+  ],
+  "current": [
+    -0.0040054932478827965,
+    0.010109102006561344,
+    0.011253528648813571,
+    0.008201724269474298,
+    -0.02155336842908362,
+    -0.06504158083466827,
+    0.09592368287923689,
+    0.594529640650034,
+    2.08304722667277,
+    1.7473487449454481,
+    -0.5560006103608739,
+    0.05970092317082454,
+    -0.9679942015716794,
+    0.021025655892158258
+  ],
+  "current_velocity": [
+    0.0024420024420024333,
+    -0.0024420024420024333,
+    -0.0073260073260073,
+    -0.0073260073260073,
+    0.0073260073260073,
+    -0.0219780219780219,
+    -0.00013323856168403347,
+    0.012210012210012167,
+    0.012210012210012167,
+    0.0024420024420024333,
+    -0.0073260073260073,
+    0.0073260073260073,
+    -0.0073260073260073,
+    0.00013361516002478402
+  ],
+  "first_target": [
+    -0.004005493130534887,
+    0.010490577667951584,
+    0.01125352829694748,
+    0.008201723918318748,
+    -0.021553369238972664,
+    -0.06504157930612564,
+    0.09592368453741074,
+    0.6086815595626831,
+    2.0955567359924316,
+    1.7652422189712524,
+    -0.5626361966133118,
+    0.0881979912519455,
+    -0.9670531153678894,
+    0.015927031636238098
+  ],
+  "first_transition_velocity": [
+    3.5204372750285984e-09,
+    0.01144426984170721,
+    -1.0555982754567594e-08,
+    -1.0534666472494791e-08,
+    -2.429667134151714e-08,
+    4.585627877418119e-08,
+    4.974521544687249e-08,
+    0.42455756737947326,
+    0.3752852795898498,
+    0.5368042207741297,
+    -0.19906758757313625,
+    0.8549120424336287,
+    0.028232586113698943,
+    -0.1529587276776048
+  ],
+  "observation_state": [
+    -0.004005493130534887,
+    0.010490577667951584,
+    0.01125352829694748,
+    0.008201723918318748,
+    -0.021553369238972664,
+    -0.06504157930612564,
+    0.09592368453741074,
+    0.5918593406677246,
+    2.0826656818389893,
+    1.7381932735443115,
+    -0.5674448609352112,
+    0.05970092490315437,
+    -0.967994213104248,
+    0.02117176353931427
+  ],
+  "policy_metadata": {
+    "alignment_wait_ms": 5.041283002356067,
+    "checkpoint_path": "/home/romoya-1/openpi-workspace/checkpoints/yam-policies-release/yam_policies/xiangrun/20260916_v2_seven_tasks/dp/banana_pick/best-short.pt",
+    "first_action_minus_state": [
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.016822218894958496,
+      0.012891054153442383,
+      0.027048945426940918,
+      0.004808664321899414,
+      0.028497066348791122,
+      0.0009410977363586426,
+      -0.005244731903076172
+    ],
+    "history_anchor_offset": 6,
+    "history_interval_ms": 33.140939,
+    "history_sample_stamp_ns": {
+      "base_0_color": [
+        1789570652849605669,
+        1789570652882746608
+      ],
+      "left_wrist_0_color": [
+        1789570652856200295,
+        1789570652889443270
+      ],
+      "right_wrist_0_color": [
+        1789570652864156215,
+        1789570652897296382
+      ],
+      "robot_state": [
+        1789570652848106254,
+        1789570652886691893
+      ]
+    },
+    "history_stamp_ns": [
+      1789570652849605669,
+      1789570652882746608
+    ],
+    "model_seed": null,
+    "observation_age_at_response_ms": 340.591618,
+    "observation_stamp_ns": 1789570652882746608,
+    "prompt": "banana_pick",
+    "release_revision": "39c623bd78f638d06ce0db57631b66d3028db208",
+    "request_id": "2ae48af063af472e9ebd07c1b73a4505",
+    "round_trip_ms": 79.95074399514124,
+    "server_metadata": {
+      "action_shape": [
+        32,
+        14
+      ],
+      "action_space": "abs_qpos",
+      "cameras": [
+        "base_0",
+        "right_wrist_0"
+      ],
+      "checkpoint_hashes": {
+        "dp/banana_pick/best-short.pt": "c65474448980475685df18bac931e834ec346ba38f27ec5a62ab8003bd6ac078"
+      },
+      "checkpoint_path": "/home/romoya-1/openpi-workspace/checkpoints/yam-policies-release/yam_policies/xiangrun/20260916_v2_seven_tasks/dp/banana_pick/best-short.pt",
+      "fps": 30,
+      "gpu": "NVIDIA GeForce RTX 5090",
+      "gpu_peak_mib": 389.01416015625,
+      "model": "dp",
+      "observation_offsets": [
+        -1,
+        0
+      ],
+      "protocol": "yam-v2-native-npz-v1",
+      "release_revision": "39c623bd78f638d06ce0db57631b66d3028db208",
+      "step": 13000,
+      "task": "banana_pick",
+      "tasks": [
+        "banana_pick"
+      ],
+      "warmup": {
+        "hardware_started": false,
+        "seconds": [
+          0.3053480860107811,
+          0.05467458399652969,
+          0.054366027005016804,
+          0.05456006299937144
+        ],
+        "status": "passed"
+      }
+    },
+    "server_prediction_seconds": 0.0758768189989496,
+    "source": "yam_v2_dp_http",
+    "task": "banana_pick",
+    "wire_action_dtype": "float32"
+  },
+  "time_ns": 1789570653243562649
+}

eval/YAM/V2/dp/banana_pick/data/round_0001/debug/validations/validation_0024.json

@@ -0,0 +1,194 @@
+{
+  "command_velocity_limits": [
+    7.326937734087213,
+    7.492612143357643,
+    9.039960411055707,
+    10.989442599937178,
+    11.822247140410347,
+    21.729793477053846,
+    4.549583926449072,
+    9.542591565847905,
+    16.49783855493206,
+    19.18122166486826,
+    20.271305218109156,
+    13.274309575261345,
+    14.009155302643812,
+    4.764187300355128
+  ],
+  "current": [
+    -0.0040054932478827965,
+    0.010109102006561344,
+    0.011253528648813571,
+    0.008201724269474298,
+    -0.02155336842908362,
+    -0.06504158083466827,
+    0.09592368287923689,
+    0.62161440451667,
+    2.141031509880216,
+    1.7813000686655993,
+    -0.6395437552452865,
+    0.08220798046845168,
+    -0.9714274814984396,
+    0.015640527612697488
+  ],
+  "current_velocity": [
+    -0.0073260073260073,
+    -0.012210012210012167,
+    -0.0073260073260073,
+    -0.0073260073260073,
+    -0.0073260073260073,
+    -0.0073260073260073,
+    -0.00013323856168403347,
+    -0.0024420024420024333,
+    -0.017094017094017033,
+    0.012210012210012167,
+    -0.0073260073260073,
+    -0.0219780219780219,
+    0.0219780219780219,
+    0.00040084548007435206
+  ],
+  "first_target": [
+    -0.004005493130534887,
+    0.010490577667951584,
+    0.01125352829694748,
+    0.0078202486038208,
+    -0.02193484455347061,
+    -0.06466010212898254,
+    0.09592368453741074,
+    0.6294754147529602,
+    2.159497022628784,
+    1.8237979412078857,
+    -0.6360313892364502,
+    0.09657874703407288,
+    -0.9747344255447388,
+    0.003686722833663225
+  ],
+  "first_transition_velocity": [
+    3.5204372750285984e-09,
+    0.01144426984170721,
+    -1.0555982754567594e-08,
+    -0.011444269969604903,
+    -0.011444283731609772,
+    0.011444361170571682,
+    4.974521544687249e-08,
+    0.23583030708870467,
+    0.5539653824570401,
+    1.274936176268593,
+    0.10537098026508929,
+    0.4311229969686359,
+    -0.09920832138897495,
+    -0.35861414337102787
+  ],
+  "observation_state": [
+    -0.004005493130534887,
+    0.010490577667951584,
+    0.01125352829694748,
+    0.0078202486038208,
+    -0.02193484455347061,
+    -0.06466010212898254,
+    0.09592368453741074,
+    0.621614396572113,
+    2.141031503677368,
+    1.7801556587219238,
+    -0.6349660754203796,
+    0.07953765243291855,
+    -0.9714275002479553,
+    0.016002319753170013
+  ],
+  "policy_metadata": {
+    "alignment_wait_ms": 4.855398990912363,
+    "checkpoint_path": "/home/romoya-1/openpi-workspace/checkpoints/yam-policies-release/yam_policies/xiangrun/20260916_v2_seven_tasks/dp/banana_pick/best-short.pt",
+    "first_action_minus_state": [
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.007861018180847168,
+      0.018465518951416016,
+      0.043642282485961914,
+      -0.0010653138160705566,
+      0.017041094601154327,
+      -0.0033069252967834473,
+      -0.012315597385168076
+    ],
+    "history_anchor_offset": 7,
+    "history_interval_ms": 33.301024,
+    "history_sample_stamp_ns": {
+      "base_0_color": [
+        1789570654383264815,
+        1789570654416565839
+      ],
+      "left_wrist_0_color": [
+        1789570654389786626,
+        1789570654423142373
+      ],
+      "right_wrist_0_color": [
+        1789570654397822872,
+        1789570654431102933
+      ],
+      "robot_state": [
+        1789570654386622154,
+        1789570654419947113
+      ]
+    },
+    "history_stamp_ns": [
+      1789570654383264815,
+      1789570654416565839
+    ],
+    "model_seed": null,
+    "observation_age_at_response_ms": 342.494568,
+    "observation_stamp_ns": 1789570654416565839,
+    "prompt": "banana_pick",
+    "release_revision": "39c623bd78f638d06ce0db57631b66d3028db208",
+    "request_id": "68fe9ab8a16a45a9ad2d0de7d76f4b78",
+    "round_trip_ms": 78.32068399875425,
+    "server_metadata": {
+      "action_shape": [
+        32,
+        14
+      ],
+      "action_space": "abs_qpos",
+      "cameras": [
+        "base_0",
+        "right_wrist_0"
+      ],
+      "checkpoint_hashes": {
+        "dp/banana_pick/best-short.pt": "c65474448980475685df18bac931e834ec346ba38f27ec5a62ab8003bd6ac078"
+      },
+      "checkpoint_path": "/home/romoya-1/openpi-workspace/checkpoints/yam-policies-release/yam_policies/xiangrun/20260916_v2_seven_tasks/dp/banana_pick/best-short.pt",
+      "fps": 30,
+      "gpu": "NVIDIA GeForce RTX 5090",
+      "gpu_peak_mib": 389.01416015625,
+      "model": "dp",
+      "observation_offsets": [
+        -1,
+        0
+      ],
+      "protocol": "yam-v2-native-npz-v1",
+      "release_revision": "39c623bd78f638d06ce0db57631b66d3028db208",
+      "step": 13000,
+      "task": "banana_pick",
+      "tasks": [
+        "banana_pick"
+      ],
+      "warmup": {
+        "hardware_started": false,
+        "seconds": [
+          0.3053480860107811,
+          0.05467458399652969,
+          0.054366027005016804,
+          0.05456006299937144
+        ],
+        "status": "passed"
+      }
+    },
+    "server_prediction_seconds": 0.07574329400085844,
+    "source": "yam_v2_dp_http",
+    "task": "banana_pick",
+    "wire_action_dtype": "float32"
+  },
+  "time_ns": 1789570654782654047
+}

eval/YAM/V2/dp/banana_pick/data/round_0001/debug/validations/validation_0025.json

@@ -0,0 +1,194 @@
+{
+  "command_velocity_limits": [
+    7.326937734087213,
+    7.492612143357643,
+    9.039960411055707,
+    10.989442599937178,
+    11.822247140410347,
+    21.729793477053846,
+    4.549583926449072,
+    9.542591565847905,
+    16.49783855493206,
+    19.18122166486826,
+    20.271305218109156,
+    13.274309575261345,
+    14.009155302643812,
+    4.764187300355128
+  ],
+  "current": [
+    -0.0040054932478827965,
+    0.010490577553978753,
+    0.011253528648813571,
+    0.007820248722056888,
+    -0.02193484397650458,
+    -0.06504158083466827,
+    0.09592368287923689,
+    0.6471732661936365,
+    2.1597238117036692,
+    1.7854962996871908,
+    -0.6235217822537589,
+    0.08640421149004318,
+    -0.9908827344167239,
+    0.0036457457602550934
+  ],
+  "current_velocity": [
+    -0.017094017094017033,
+    -0.0024420024420024333,
+    0.0024420024420024333,
+    -0.0073260073260073,
+    -0.0073260073260073,
+    0.0073260073260073,
+    0.00013323856168403347,
+    -0.0024420024420024333,
+    0.0073260073260073,
+    -0.0073260073260073,
+    -0.0219780219780219,
+    0.0073260073260073,
+    -0.0219780219780219,
+    0.00013361516002478402
+  ],
+  "first_target": [
+    -0.004005493130534887,
+    0.010109102353453636,
+    0.01125352829694748,
+    0.008201723918318748,
+    -0.021553369238972664,
+    -0.06504157930612564,
+    0.09592368453741074,
+    0.6295651793479919,
+    2.198455572128296,
+    1.8243062496185303,
+    -0.6289740800857544,
+    0.10050639510154724,
+    -1.0160572528839111,
+    0.026830976828932762
+  ],
+  "first_transition_velocity": [
+    3.5204372750285984e-09,
+    -0.011444256015753496,
+    -1.0555982754567594e-08,
+    0.011444255887855803,
+    0.011444242125957516,
+    4.585627877418119e-08,
+    4.974521544687249e-08,
+    -0.5282426053693356,
+    1.1619528127388001,
+    1.1642984979401838,
+    -0.16356893495986569,
+    0.4230655083451218,
+    -0.7552355540156164,
+    0.6955569320603301
+  ],
+  "observation_state": [
+    -0.004005493130534887,
+    0.010109102353453636,
+    0.01125352829694748,
+    0.008201723918318748,
+    -0.021553369238972664,
+    -0.06504157930612564,
+    0.09592368453741074,
+    0.6342030763626099,
+    2.1551461219787598,
+    1.7858778238296509,
+    -0.6239032745361328,
+    0.08564125746488571,
+    -0.9840161800384521,
+    0.0038544717244803905
+  ],
+  "policy_metadata": {
+    "alignment_wait_ms": 4.946267988998443,
+    "checkpoint_path": "/home/romoya-1/openpi-workspace/checkpoints/yam-policies-release/yam_policies/xiangrun/20260916_v2_seven_tasks/dp/banana_pick/best-short.pt",
+    "first_action_minus_state": [
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      -0.00463789701461792,
+      0.04330945014953613,
+      0.038428425788879395,
+      -0.005070805549621582,
+      0.01486513763666153,
+      -0.032041072845458984,
+      0.022976504638791084
+    ],
+    "history_anchor_offset": 0,
+    "history_interval_ms": 33.279749,
+    "history_sample_stamp_ns": {
+      "base_0_color": [
+        1789570655816868103,
+        1789570655850147852
+      ],
+      "left_wrist_0_color": [
+        1789570655823555843,
+        1789570655856927452
+      ],
+      "right_wrist_0_color": [
+        1789570655831264849,
+        1789570655864626000
+      ],
+      "robot_state": [
+        1789570655820497602,
+        1789570655853955710
+      ]
+    },
+    "history_stamp_ns": [
+      1789570655816868103,
+      1789570655850147852
+    ],
+    "model_seed": null,
+    "observation_age_at_response_ms": 421.097794,
+    "observation_stamp_ns": 1789570655850147852,
+    "prompt": "banana_pick",
+    "release_revision": "39c623bd78f638d06ce0db57631b66d3028db208",
+    "request_id": "e2209bc805534a239840ed7c4437bd2f",
+    "round_trip_ms": 77.68096200015862,
+    "server_metadata": {
+      "action_shape": [
+        32,
+        14
+      ],
+      "action_space": "abs_qpos",
+      "cameras": [
+        "base_0",
+        "right_wrist_0"
+      ],
+      "checkpoint_hashes": {
+        "dp/banana_pick/best-short.pt": "c65474448980475685df18bac931e834ec346ba38f27ec5a62ab8003bd6ac078"
+      },
+      "checkpoint_path": "/home/romoya-1/openpi-workspace/checkpoints/yam-policies-release/yam_policies/xiangrun/20260916_v2_seven_tasks/dp/banana_pick/best-short.pt",
+      "fps": 30,
+      "gpu": "NVIDIA GeForce RTX 5090",
+      "gpu_peak_mib": 389.01416015625,
+      "model": "dp",
+      "observation_offsets": [
+        -1,
+        0
+      ],
+      "protocol": "yam-v2-native-npz-v1",
+      "release_revision": "39c623bd78f638d06ce0db57631b66d3028db208",
+      "step": 13000,
+      "task": "banana_pick",
+      "tasks": [
+        "banana_pick"
+      ],
+      "warmup": {
+        "hardware_started": false,
+        "seconds": [
+          0.3053480860107811,
+          0.05467458399652969,
+          0.054366027005016804,
+          0.05456006299937144
+        ],
+        "status": "passed"
+      }
+    },
+    "server_prediction_seconds": 0.07522051999694668,
+    "source": "yam_v2_dp_http",
+    "task": "banana_pick",
+    "wire_action_dtype": "float32"
+  },
+  "time_ns": 1789570656298550238
+}

eval/YAM/V2/dp/banana_pick/data/round_0001/debug/validations/validation_0026.json

@@ -0,0 +1,194 @@
+{
+  "command_velocity_limits": [
+    7.326937734087213,
+    7.492612143357643,
+    9.039960411055707,
+    10.989442599937178,
+    11.822247140410347,
+    21.729793477053846,
+    4.549583926449072,
+    9.542591565847905,
+    16.49783855493206,
+    19.18122166486826,
+    20.271305218109156,
+    13.274309575261345,
+    14.009155302643812,
+    4.764187300355128
+  ],
+  "current": [
+    -0.0040054932478827965,
+    0.010109102006561344,
+    0.011253528648813571,
+    0.008201724269474298,
+    -0.02155336842908362,
+    -0.06504158083466827,
+    0.09592368287923689,
+    0.617799649042496,
+    2.20969710841535,
+    1.7946517128252086,
+    -0.6319142442969419,
+    0.09021896696421727,
+    -1.023689631494621,
+    0.07564922452529348
+  ],
+  "current_velocity": [
+    0.012210012210012167,
+    -0.0073260073260073,
+    -0.0024420024420024333,
+    -0.0073260073260073,
+    0.0073260073260073,
+    -0.0073260073260073,
+    0.00013323856168403347,
+    -0.0024420024420024333,
+    0.012210012210012167,
+    -0.0073260073260073,
+    -0.0073260073260073,
+    0.0073260073260073,
+    -0.0073260073260073,
+    0.00013361516002478402
+  ],
+  "first_target": [
+    -0.004005493130534887,
+    0.010490577667951584,
+    0.01125352829694748,
+    0.008201723918318748,
+    -0.021553369238972664,
+    -0.06504157930612564,
+    0.09592368453741074,
+    0.6034379601478577,
+    2.204774856567383,
+    1.8043323755264282,
+    -0.6184007525444031,
+    0.11605047434568405,
+    -1.0206953287124634,
+    0.035956066101789474
+  ],
+  "first_transition_velocity": [
+    3.5204372750285984e-09,
+    0.01144426984170721,
+    -1.0555982754567594e-08,
+    -1.0534666472494791e-08,
+    -2.429667134151714e-08,
+    4.585627877418119e-08,
+    4.974521544687249e-08,
+    -0.43085066683914874,
+    -0.14766755543901056,
+    0.29041988103658767,
+    0.40540475257616393,
+    0.7749452214440034,
+    0.08982908346473195,
+    -1.1907947527051201
+  ],
+  "observation_state": [
+    -0.004005493130534887,
+    0.010490577667951584,
+    0.01125352829694748,
+    0.008201723918318748,
+    -0.021553369238972664,
+    -0.06504157930612564,
+    0.09592368453741074,
+    0.6181811094284058,
+    2.2096970081329346,
+    1.794651746749878,
+    -0.6319142580032349,
+    0.08945601433515549,
+    -1.022926688194275,
+    0.04330366849899292
+  ],
+  "policy_metadata": {
+    "alignment_wait_ms": 4.610657997545786,
+    "checkpoint_path": "/home/romoya-1/openpi-workspace/checkpoints/yam-policies-release/yam_policies/xiangrun/20260916_v2_seven_tasks/dp/banana_pick/best-short.pt",
+    "first_action_minus_state": [
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      -0.014743149280548096,
+      -0.004922151565551758,
+      0.009680628776550293,
+      0.013513505458831787,
+      0.026594460010528564,
+      0.0022313594818115234,
+      -0.0073476023972034454
+    ],
+    "history_anchor_offset": 2,
+    "history_interval_ms": 33.435751,
+    "history_sample_stamp_ns": {
+      "base_0_color": [
+        1789570657450577398,
+        1789570657484013149
+      ],
+      "left_wrist_0_color": [
+        1789570657457376631,
+        1789570657490649774
+      ],
+      "right_wrist_0_color": [
+        1789570657465183976,
+        1789570657498475930
+      ],
+      "robot_state": [
+        1789570657453215042,
+        1789570657486533953
+      ]
+    },
+    "history_stamp_ns": [
+      1789570657450577398,
+      1789570657484013149
+    ],
+    "model_seed": null,
+    "observation_age_at_response_ms": 425.629861,
+    "observation_stamp_ns": 1789570657484013149,
+    "prompt": "banana_pick",
+    "release_revision": "39c623bd78f638d06ce0db57631b66d3028db208",
+    "request_id": "69e0f62703034e678ef9599a5dad709f",
+    "round_trip_ms": 57.81372399360407,
+    "server_metadata": {
+      "action_shape": [
+        32,
+        14
+      ],
+      "action_space": "abs_qpos",
+      "cameras": [
+        "base_0",
+        "right_wrist_0"
+      ],
+      "checkpoint_hashes": {
+        "dp/banana_pick/best-short.pt": "c65474448980475685df18bac931e834ec346ba38f27ec5a62ab8003bd6ac078"
+      },
+      "checkpoint_path": "/home/romoya-1/openpi-workspace/checkpoints/yam-policies-release/yam_policies/xiangrun/20260916_v2_seven_tasks/dp/banana_pick/best-short.pt",
+      "fps": 30,
+      "gpu": "NVIDIA GeForce RTX 5090",
+      "gpu_peak_mib": 389.01416015625,
+      "model": "dp",
+      "observation_offsets": [
+        -1,
+        0
+      ],
+      "protocol": "yam-v2-native-npz-v1",
+      "release_revision": "39c623bd78f638d06ce0db57631b66d3028db208",
+      "step": 13000,
+      "task": "banana_pick",
+      "tasks": [
+        "banana_pick"
+      ],
+      "warmup": {
+        "hardware_started": false,
+        "seconds": [
+          0.3053480860107811,
+          0.05467458399652969,
+          0.054366027005016804,
+          0.05456006299937144
+        ],
+        "status": "passed"
+      }
+    },
+    "server_prediction_seconds": 0.05562187200121116,
+    "source": "yam_v2_dp_http",
+    "task": "banana_pick",
+    "wire_action_dtype": "float32"
+  },
+  "time_ns": 1789570657926503110
+}

eval/YAM/V2/dp/banana_pick/data/round_0001/debug/validations/validation_0027.json

@@ -0,0 +1,194 @@
+{
+  "command_velocity_limits": [
+    7.326937734087213,
+    7.492612143357643,
+    9.039960411055707,
+    10.989442599937178,
+    11.822247140410347,
+    21.729793477053846,
+    4.549583926449072,
+    9.542591565847905,
+    16.49783855493206,
+    19.18122166486826,
+    20.271305218109156,
+    13.274309575261345,
+    14.009155302643812,
+    4.764187300355128
+  ],
+  "current": [
+    -0.0040054932478827965,
+    0.010109102006561344,
+    0.011253528648813571,
+    0.008201724269474298,
+    -0.02193484397650458,
+    -0.06504158083466827,
+    0.09592368287923689,
+    0.5552376592660409,
+    2.1555275806820777,
+    1.7961776150148783,
+    -0.608262760357059,
+    0.13447013046463674,
+    -0.9260318913557644,
+    0.09485896506740102
+  ],
+  "current_velocity": [
+    -0.012210012210012167,
+    -0.0073260073260073,
+    -0.017094017094017033,
+    -0.0073260073260073,
+    -0.0219780219780219,
+    -0.0073260073260073,
+    0.0003997156850521004,
+    -0.017094017094017033,
+    0.0073260073260073,
+    -0.0024420024420024333,
+    0.0219780219780219,
+    -0.0219780219780219,
+    -0.0073260073260073,
+    0.00013361516002478402
+  ],
+  "first_target": [
+    -0.004005493130534887,
+    0.010490577667951584,
+    0.01125352829694748,
+    0.008201723918318748,
+    -0.02193484455347061,
+    -0.06504157930612564,
+    0.09592368453741074,
+    0.5549715161323547,
+    2.092602014541626,
+    1.8349497318267822,
+    -0.6330446600914001,
+    0.13185976445674896,
+    -0.9463115930557251,
+    0.0939776822924614
+  ],
+  "first_transition_velocity": [
+    3.5204372750285984e-09,
+    0.01144426984170721,
+    -1.0555982754567594e-08,
+    -1.0534666472494791e-08,
+    -1.7308980915231587e-08,
+    4.585627877418119e-08,
+    4.974521544687249e-08,
+    -0.007984294010583426,
+    -1.8877669842135525,
+    1.1631635043571187,
+    -0.7434569920302359,
+    -0.0783109802366333,
+    -0.6083910509988222,
+    -0.026438483248188704
+  ],
+  "observation_state": [
+    -0.004005493130534887,
+    0.010490577667951584,
+    0.01125352829694748,
+    0.008201723918318748,
+    -0.02193484455347061,
+    -0.06504157930612564,
+    0.09592368453741074,
+    0.5571450591087341,
+    2.180323600769043,
+    1.796177625656128,
+    -0.612077534198761,
+    0.1348516047000885,
+    -0.9367132186889648,
+    0.09485896676778793
+  ],
+  "policy_metadata": {
+    "alignment_wait_ms": 4.817387001821771,
+    "checkpoint_path": "/home/romoya-1/openpi-workspace/checkpoints/yam-policies-release/yam_policies/xiangrun/20260916_v2_seven_tasks/dp/banana_pick/best-short.pt",
+    "first_action_minus_state": [
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      -0.0021735429763793945,
+      -0.08772158622741699,
+      0.0387721061706543,
+      -0.02096712589263916,
+      -0.0029918402433395386,
+      -0.009598374366760254,
+      -0.0008812844753265381
+    ],
+    "history_anchor_offset": 9,
+    "history_interval_ms": 33.314955,
+    "history_sample_stamp_ns": {
+      "base_0_color": [
+        1789570659251165964,
+        1789570659284480919
+      ],
+      "left_wrist_0_color": [
+        1789570659257817989,
+        1789570659291191777
+      ],
+      "right_wrist_0_color": [
+        1789570659265388027,
+        1789570659298785646
+      ],
+      "robot_state": [
+        1789570659253198287,
+        1789570659286662096
+      ]
+    },
+    "history_stamp_ns": [
+      1789570659251165964,
+      1789570659284480919
+    ],
+    "model_seed": null,
+    "observation_age_at_response_ms": 406.471783,
+    "observation_stamp_ns": 1789570659284480919,
+    "prompt": "banana_pick",
+    "release_revision": "39c623bd78f638d06ce0db57631b66d3028db208",
+    "request_id": "6734d38971ca459aa76c8e3873ed5dc4",
+    "round_trip_ms": 78.09456199174747,
+    "server_metadata": {
+      "action_shape": [
+        32,
+        14
+      ],
+      "action_space": "abs_qpos",
+      "cameras": [
+        "base_0",
+        "right_wrist_0"
+      ],
+      "checkpoint_hashes": {
+        "dp/banana_pick/best-short.pt": "c65474448980475685df18bac931e834ec346ba38f27ec5a62ab8003bd6ac078"
+      },
+      "checkpoint_path": "/home/romoya-1/openpi-workspace/checkpoints/yam-policies-release/yam_policies/xiangrun/20260916_v2_seven_tasks/dp/banana_pick/best-short.pt",
+      "fps": 30,
+      "gpu": "NVIDIA GeForce RTX 5090",
+      "gpu_peak_mib": 389.01416015625,
+      "model": "dp",
+      "observation_offsets": [
+        -1,
+        0
+      ],
+      "protocol": "yam-v2-native-npz-v1",
+      "release_revision": "39c623bd78f638d06ce0db57631b66d3028db208",
+      "step": 13000,
+      "task": "banana_pick",
+      "tasks": [
+        "banana_pick"
+      ],
+      "warmup": {
+        "hardware_started": false,
+        "seconds": [
+          0.3053480860107811,
+          0.05467458399652969,
+          0.054366027005016804,
+          0.05456006299937144
+        ],
+        "status": "passed"
+      }
+    },
+    "server_prediction_seconds": 0.07568076900497545,
+    "source": "yam_v2_dp_http",
+    "task": "banana_pick",
+    "wire_action_dtype": "float32"
+  },
+  "time_ns": 1789570659719080552
+}

eval/YAM/V2/dp/banana_pick/data/round_0001/debug/validations/validation_0028.json

@@ -0,0 +1,194 @@
+{
+  "command_velocity_limits": [
+    7.326937734087213,
+    7.492612143357643,
+    9.039960411055707,
+    10.989442599937178,
+    11.822247140410347,
+    21.729793477053846,
+    4.549583926449072,
+    9.542591565847905,
+    16.49783855493206,
+    19.18122166486826,
+    20.271305218109156,
+    13.274309575261345,
+    14.009155302643812,
+    4.764187300355128
+  ],
+  "current": [
+    -0.0040054932478827965,
+    0.010490577553978753,
+    0.011253528648813571,
+    0.007820248722056888,
+    -0.02193484397650458,
+    -0.06504158083466827,
+    0.09592368287923689,
+    0.24776836804760727,
+    1.7648966201266507,
+    1.4593347066453042,
+    -0.3908216983291357,
+    0.10433356221866141,
+    -0.8470664530403642,
+    0.09327264820988544
+  ],
+  "current_velocity": [
+    -0.0024420024420024333,
+    0.0024420024420024333,
+    -0.0073260073260073,
+    -0.0219780219780219,
+    -0.0073260073260073,
+    -0.0219780219780219,
+    0.0003997156850521004,
+    -0.026862026862026767,
+    0.017094017094017033,
+    -0.0073260073260073,
+    -0.0073260073260073,
+    -0.0073260073260073,
+    -0.0073260073260073,
+    -0.00013361516002478402
+  ],
+  "first_target": [
+    -0.004005493130534887,
+    0.010109102353453636,
+    0.01125352829694748,
+    0.0078202486038208,
+    -0.021553369238972664,
+    -0.06504157930612564,
+    0.09592368453741074,
+    0.21205304563045502,
+    1.735994577407837,
+    1.4564896821975708,
+    -0.38983863592147827,
+    0.12596580386161804,
+    -0.838635265827179,
+    0.0950031727552414
+  ],
+  "first_transition_velocity": [
+    3.5204372750285984e-09,
+    -0.011444256015753496,
+    -1.0555982754567594e-08,
+    -3.547082627619602e-09,
+    0.011444242125957516,
+    4.585627877418119e-08,
+    4.974521544687249e-08,
+    -1.0714596725145675,
+    -0.8670612815644141,
+    -0.08535073343200139,
+    0.02949187222972327,
+    0.6489672492886989,
+    0.2529356163955576,
+    0.05191573636067856
+  ],
+  "observation_state": [
+    -0.004005493130534887,
+    0.010109102353453636,
+    0.01125352829694748,
+    0.0078202486038208,
+    -0.021553369238972664,
+    -0.06504157930612564,
+    0.09592368453741074,
+    0.2443350851535797,
+    1.7648966312408447,
+    1.4600976705551147,
+    -0.3931105434894562,
+    0.10738536715507507,
+    -0.8470664620399475,
+    0.09327264875173569
+  ],
+  "policy_metadata": {
+    "alignment_wait_ms": 4.444111997145228,
+    "checkpoint_path": "/home/romoya-1/openpi-workspace/checkpoints/yam-policies-release/yam_policies/xiangrun/20260916_v2_seven_tasks/dp/banana_pick/best-short.pt",
+    "first_action_minus_state": [
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      -0.032282039523124695,
+      -0.028902053833007812,
+      -0.0036079883575439453,
+      0.0032719075679779053,
+      0.01858043670654297,
+      0.008431196212768555,
+      0.0017305240035057068
+    ],
+    "history_anchor_offset": 0,
+    "history_interval_ms": 33.353584,
+    "history_sample_stamp_ns": {
+      "base_0_color": [
+        1789570661084932183,
+        1789570661118285767
+      ],
+      "left_wrist_0_color": [
+        1789570661091524026,
+        1789570661124733623
+      ],
+      "right_wrist_0_color": [
+        1789570661099389667,
+        1789570661132695008
+      ],
+      "robot_state": [
+        1789570661086638048,
+        1789570661120362298
+      ]
+    },
+    "history_stamp_ns": [
+      1789570661084932183,
+      1789570661118285767
+    ],
+    "model_seed": null,
+    "observation_age_at_response_ms": 322.26201,
+    "observation_stamp_ns": 1789570661118285767,
+    "prompt": "banana_pick",
+    "release_revision": "39c623bd78f638d06ce0db57631b66d3028db208",
+    "request_id": "b26dea7bafa44d0b91778319d76062a8",
+    "round_trip_ms": 77.2587450046558,
+    "server_metadata": {
+      "action_shape": [
+        32,
+        14
+      ],
+      "action_space": "abs_qpos",
+      "cameras": [
+        "base_0",
+        "right_wrist_0"
+      ],
+      "checkpoint_hashes": {
+        "dp/banana_pick/best-short.pt": "c65474448980475685df18bac931e834ec346ba38f27ec5a62ab8003bd6ac078"
+      },
+      "checkpoint_path": "/home/romoya-1/openpi-workspace/checkpoints/yam-policies-release/yam_policies/xiangrun/20260916_v2_seven_tasks/dp/banana_pick/best-short.pt",
+      "fps": 30,
+      "gpu": "NVIDIA GeForce RTX 5090",
+      "gpu_peak_mib": 389.01416015625,
+      "model": "dp",
+      "observation_offsets": [
+        -1,
+        0
+      ],
+      "protocol": "yam-v2-native-npz-v1",
+      "release_revision": "39c623bd78f638d06ce0db57631b66d3028db208",
+      "step": 13000,
+      "task": "banana_pick",
+      "tasks": [
+        "banana_pick"
+      ],
+      "warmup": {
+        "hardware_started": false,
+        "seconds": [
+          0.3053480860107811,
+          0.05467458399652969,
+          0.054366027005016804,
+          0.05456006299937144
+        ],
+        "status": "passed"
+      }
+    },
+    "server_prediction_seconds": 0.07482951499696355,
+    "source": "yam_v2_dp_http",
+    "task": "banana_pick",
+    "wire_action_dtype": "float32"
+  },
+  "time_ns": 1789570661473303515
+}

eval/YAM/V2/dp/banana_pick/data/round_0001/debug/validations/validation_0029.json

@@ -0,0 +1,194 @@
+{
+  "command_velocity_limits": [
+    7.326937734087213,
+    7.492612143357643,
+    9.039960411055707,
+    10.989442599937178,
+    11.822247140410347,
+    21.729793477053846,
+    4.549583926449072,
+    9.542591565847905,
+    16.49783855493206,
+    19.18122166486826,
+    20.271305218109156,
+    13.274309575261345,
+    14.009155302643812,
+    4.764187300355128
+  ],
+  "current": [
+    -0.004386968795303758,
+    0.010109102006561344,
+    0.011253528648813571,
+    0.007820248722056888,
+    -0.02155336842908362,
+    -0.06504158083466827,
+    0.09593062079930621,
+    0.04444190127412817,
+    1.2563897154192425,
+    0.9721904325932709,
+    -0.14591439688715546,
+    0.14209964141298492,
+    -0.5224307621881419,
+    0.0951929265110885
+  ],
+  "current_velocity": [
+    -0.0024420024420024333,
+    -0.0024420024420024333,
+    -0.0219780219780219,
+    -0.0073260073260073,
+    0.0073260073260073,
+    -0.0073260073260073,
+    0.00013323856168403347,
+    0.0073260073260073,
+    0.0073260073260073,
+    0.0073260073260073,
+    0.0073260073260073,
+    -0.0073260073260073,
+    -0.0219780219780219,
+    -0.00013361516002478402
+  ],
+  "first_target": [
+    -0.004005493130534887,
+    0.010109102353453636,
+    0.01125352829694748,
+    0.0078202486038208,
+    -0.021553369238972664,
+    -0.06504157930612564,
+    0.09592368453741074,
+    0.033691391348838806,
+    1.2273277044296265,
+    0.9680005311965942,
+    -0.14870445430278778,
+    0.1464768350124359,
+    -0.525701642036438,
+    0.09541565924882889
+  ],
+  "first_transition_velocity": [
+    0.011444269943066132,
+    1.0406768780057973e-08,
+    -1.0555982754567594e-08,
+    -3.547082627619602e-09,
+    -2.429667134151714e-08,
+    4.585627877418119e-08,
+    -0.00020808785686429743,
+    -0.32251529775868093,
+    -0.8718603296884808,
+    -0.12569704190029896,
+    -0.08370172246896956,
+    0.1313158079835297,
+    -0.09812639544888313,
+    0.006681982132211578
+  ],
+  "observation_state": [
+    -0.004005493130534887,
+    0.010109102353453636,
+    0.01125352829694748,
+    0.0078202486038208,
+    -0.021553369238972664,
+    -0.06504157930612564,
+    0.09592368453741074,
+    0.04444190114736557,
+    1.2563897371292114,
+    0.9721904397010803,
+    -0.14705882966518402,
+    0.14209964871406555,
+    -0.5224307775497437,
+    0.09519292414188385
+  ],
+  "policy_metadata": {
+    "alignment_wait_ms": 5.461164997541346,
+    "checkpoint_path": "/home/romoya-1/openpi-workspace/checkpoints/yam-policies-release/yam_policies/xiangrun/20260916_v2_seven_tasks/dp/banana_pick/best-short.pt",
+    "first_action_minus_state": [
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      -0.010750509798526764,
+      -0.02906203269958496,
+      -0.004189908504486084,
+      -0.0016456246376037598,
+      0.004377186298370361,
+      -0.003270864486694336,
+      0.00022273510694503784
+    ],
+    "history_anchor_offset": 0,
+    "history_interval_ms": 33.440541,
+    "history_sample_stamp_ns": {
+      "base_0_color": [
+        1789570662918742615,
+        1789570662952183156
+      ],
+      "left_wrist_0_color": [
+        1789570662925484541,
+        1789570662958589392
+      ],
+      "right_wrist_0_color": [
+        1789570662933116390,
+        1789570662966633453
+      ],
+      "robot_state": [
+        1789570662920364776,
+        1789570662954605042
+      ]
+    },
+    "history_stamp_ns": [
+      1789570662918742615,
+      1789570662952183156
+    ],
+    "model_seed": null,
+    "observation_age_at_response_ms": 188.288097,
+    "observation_stamp_ns": 1789570662952183156,
+    "prompt": "banana_pick",
+    "release_revision": "39c623bd78f638d06ce0db57631b66d3028db208",
+    "request_id": "40dc0cb6a2644a5eabdb07d7ef94c7dd",
+    "round_trip_ms": 77.86453800508752,
+    "server_metadata": {
+      "action_shape": [
+        32,
+        14
+      ],
+      "action_space": "abs_qpos",
+      "cameras": [
+        "base_0",
+        "right_wrist_0"
+      ],
+      "checkpoint_hashes": {
+        "dp/banana_pick/best-short.pt": "c65474448980475685df18bac931e834ec346ba38f27ec5a62ab8003bd6ac078"
+      },
+      "checkpoint_path": "/home/romoya-1/openpi-workspace/checkpoints/yam-policies-release/yam_policies/xiangrun/20260916_v2_seven_tasks/dp/banana_pick/best-short.pt",
+      "fps": 30,
+      "gpu": "NVIDIA GeForce RTX 5090",
+      "gpu_peak_mib": 389.01416015625,
+      "model": "dp",
+      "observation_offsets": [
+        -1,
+        0
+      ],
+      "protocol": "yam-v2-native-npz-v1",
+      "release_revision": "39c623bd78f638d06ce0db57631b66d3028db208",
+      "step": 13000,
+      "task": "banana_pick",
+      "tasks": [
+        "banana_pick"
+      ],
+      "warmup": {
+        "hardware_started": false,
+        "seconds": [
+          0.3053480860107811,
+          0.05467458399652969,
+          0.054366027005016804,
+          0.05456006299937144
+        ],
+        "status": "passed"
+      }
+    },
+    "server_prediction_seconds": 0.07524311200540978,
+    "source": "yam_v2_dp_http",
+    "task": "banana_pick",
+    "wire_action_dtype": "float32"
+  },
+  "time_ns": 1789570663156111372
+}

eval/YAM/V2/dp/banana_pick/data/round_0001/manifests/action.json

@@ -0,0 +1,28 @@
+{
+  "prometheus_action_recorder": {
+    "counts": {
+      "action.executed": 960,
+      "camera.base_0_rgb": 1424,
+      "camera.left_wrist_0_rgb": 1427,
+      "camera.right_wrist_0_rgb": 1421,
+      "dropped": 0,
+      "event.workflow": 1,
+      "items": 11018,
+      "robot.robot_state": 5785
+    },
+    "episode_dir": "/home/romoya-1/openpi-workspace/PrometheusV2/outputs/yam_v2/dp/best-short/banana_pick/data/round_0001",
+    "executed_actions": 960,
+    "failure": "",
+    "metadata": {
+      "round_number": 1,
+      "run_id": "20260916_225203_445629_round_0001",
+      "workflow": "openpi_rollout"
+    },
+    "policy_action_chunks": 0,
+    "record_id": "prometheus_action_recorder",
+    "record_mode": "action",
+    "schema": "prometheus_raw_episode_v1",
+    "status": "saved",
+    "updated_at_unix": 1789570664.5975082
+  }
+}

eval/YAM/V2/dp/banana_pick/data/round_0001/manifests/camera.json

@@ -0,0 +1,101 @@
+{
+  "prometheus_camera_base_0_recorder": {
+    "camera_frames": {
+      "base_0_rgb": 1424
+    },
+    "camera_timestamp_samples": 1424,
+    "complete_sensor_bundles": 1424,
+    "counts": {
+      "action.executed": 960,
+      "camera.base_0_rgb": 1424,
+      "camera.left_wrist_0_rgb": 1427,
+      "camera.right_wrist_0_rgb": 1421,
+      "dropped": 0,
+      "event.workflow": 1,
+      "items": 11018,
+      "robot.robot_state": 5785
+    },
+    "dropped_incomplete_sensor_bundles": 0,
+    "duplicate_sensor_messages": 0,
+    "episode_dir": "/home/romoya-1/openpi-workspace/PrometheusV2/outputs/yam_v2/dp/best-short/banana_pick/data/round_0001",
+    "failure": "",
+    "metadata": {
+      "round_number": 1,
+      "run_id": "20260916_225203_445629_round_0001",
+      "workflow": "openpi_rollout"
+    },
+    "record_id": "prometheus_camera_base_0_recorder",
+    "record_mode": "sensor",
+    "schema": "prometheus_raw_episode_v1",
+    "sensor_kind": "camera",
+    "sensor_name": "base_0",
+    "status": "saved",
+    "updated_at_unix": 1789570664.5975082
+  },
+  "prometheus_camera_left_wrist_0_recorder": {
+    "camera_frames": {
+      "left_wrist_0_rgb": 1427
+    },
+    "camera_timestamp_samples": 1427,
+    "complete_sensor_bundles": 1427,
+    "counts": {
+      "action.executed": 960,
+      "camera.base_0_rgb": 1424,
+      "camera.left_wrist_0_rgb": 1427,
+      "camera.right_wrist_0_rgb": 1421,
+      "dropped": 0,
+      "event.workflow": 1,
+      "items": 11018,
+      "robot.robot_state": 5785
+    },
+    "dropped_incomplete_sensor_bundles": 0,
+    "duplicate_sensor_messages": 0,
+    "episode_dir": "/home/romoya-1/openpi-workspace/PrometheusV2/outputs/yam_v2/dp/best-short/banana_pick/data/round_0001",
+    "failure": "",
+    "metadata": {
+      "round_number": 1,
+      "run_id": "20260916_225203_445629_round_0001",
+      "workflow": "openpi_rollout"
+    },
+    "record_id": "prometheus_camera_left_wrist_0_recorder",
+    "record_mode": "sensor",
+    "schema": "prometheus_raw_episode_v1",
+    "sensor_kind": "camera",
+    "sensor_name": "left_wrist_0",
+    "status": "saved",
+    "updated_at_unix": 1789570664.5975082
+  },
+  "prometheus_camera_right_wrist_0_recorder": {
+    "camera_frames": {
+      "right_wrist_0_rgb": 1421
+    },
+    "camera_timestamp_samples": 1421,
+    "complete_sensor_bundles": 1421,
+    "counts": {
+      "action.executed": 960,
+      "camera.base_0_rgb": 1424,
+      "camera.left_wrist_0_rgb": 1427,
+      "camera.right_wrist_0_rgb": 1421,
+      "dropped": 0,
+      "event.workflow": 1,
+      "items": 11018,
+      "robot.robot_state": 5785
+    },
+    "dropped_incomplete_sensor_bundles": 0,
+    "duplicate_sensor_messages": 0,
+    "episode_dir": "/home/romoya-1/openpi-workspace/PrometheusV2/outputs/yam_v2/dp/best-short/banana_pick/data/round_0001",
+    "failure": "",
+    "metadata": {
+      "round_number": 1,
+      "run_id": "20260916_225203_445629_round_0001",
+      "workflow": "openpi_rollout"
+    },
+    "record_id": "prometheus_camera_right_wrist_0_recorder",
+    "record_mode": "sensor",
+    "schema": "prometheus_raw_episode_v1",
+    "sensor_kind": "camera",
+    "sensor_name": "right_wrist_0",
+    "status": "saved",
+    "updated_at_unix": 1789570664.5975082
+  }
+}

eval/YAM/V2/dp/banana_pick/data/round_0001/manifests/event.json

@@ -0,0 +1,27 @@
+{
+  "prometheus_event_recorder": {
+    "counts": {
+      "action.executed": 960,
+      "camera.base_0_rgb": 1424,
+      "camera.left_wrist_0_rgb": 1427,
+      "camera.right_wrist_0_rgb": 1421,
+      "dropped": 0,
+      "event.workflow": 1,
+      "items": 11018,
+      "robot.robot_state": 5785
+    },
+    "episode_dir": "/home/romoya-1/openpi-workspace/PrometheusV2/outputs/yam_v2/dp/best-short/banana_pick/data/round_0001",
+    "event_samples": 1,
+    "failure": "",
+    "metadata": {
+      "round_number": 1,
+      "run_id": "20260916_225203_445629_round_0001",
+      "workflow": "openpi_rollout"
+    },
+    "record_id": "prometheus_event_recorder",
+    "record_mode": "event",
+    "schema": "prometheus_raw_episode_v1",
+    "status": "saved",
+    "updated_at_unix": 1789570664.5975082
+  }
+}

eval/YAM/V2/dp/banana_pick/data/round_0001/manifests/robot.json

@@ -0,0 +1,36 @@
+{
+  "prometheus_robot_recorder": {
+    "counts": {
+      "action.executed": 960,
+      "camera.base_0_rgb": 1424,
+      "camera.left_wrist_0_rgb": 1427,
+      "camera.right_wrist_0_rgb": 1421,
+      "dropped": 0,
+      "event.workflow": 1,
+      "items": 11018,
+      "robot.robot_state": 5785
+    },
+    "episode_dir": "/home/romoya-1/openpi-workspace/PrometheusV2/outputs/yam_v2/dp/best-short/banana_pick/data/round_0001",
+    "failure": "",
+    "incomplete_robot_samples": {
+      "left": 5785,
+      "right": 5785
+    },
+    "metadata": {
+      "round_number": 1,
+      "run_id": "20260916_225203_445629_round_0001",
+      "workflow": "openpi_rollout"
+    },
+    "pending_robot_samples": 0,
+    "plot_outputs": [],
+    "record_id": "prometheus_robot_recorder",
+    "record_mode": "robot",
+    "robot_samples": {
+      "left": 5785,
+      "right": 5785
+    },
+    "schema": "prometheus_raw_episode_v1",
+    "status": "saved",
+    "updated_at_unix": 1789570664.5975082
+  }
+}

eval/YAM/V2/dp/banana_pick/data/round_0001/manifests/tactile.json

@@ -0,0 +1 @@
+{}

eval/YAM/V2/dp/banana_pick/data/round_0002/camera/metadata.json

@@ -0,0 +1,59 @@
+{
+  "base_0_rgb": {
+    "codec": "h264",
+    "container": "mp4",
+    "encoder": "libx264",
+    "encoding": "bgr8",
+    "frames": 1190,
+    "height": 480,
+    "lossless": false,
+    "pixel_format": "yuv420p",
+    "quality": {
+      "mode": "crf",
+      "value": 14
+    },
+    "timestamp_policy": "shared_by_complete_physical_camera_bundle",
+    "timestamps": "camera/timestamp.pkl::base_0",
+    "topic": "/prometheus/sensors/cameras/base_0/color/image_raw",
+    "video": "camera/base_0_rgb.mp4",
+    "width": 640
+  },
+  "left_wrist_0_rgb": {
+    "codec": "h264",
+    "container": "mp4",
+    "encoder": "libx264",
+    "encoding": "bgr8",
+    "frames": 1189,
+    "height": 480,
+    "lossless": false,
+    "pixel_format": "yuv420p",
+    "quality": {
+      "mode": "crf",
+      "value": 14
+    },
+    "timestamp_policy": "shared_by_complete_physical_camera_bundle",
+    "timestamps": "camera/timestamp.pkl::left_wrist_0",
+    "topic": "/prometheus/sensors/cameras/left_wrist_0/color/image_raw",
+    "video": "camera/left_wrist_0_rgb.mp4",
+    "width": 640
+  },
+  "right_wrist_0_rgb": {
+    "codec": "h264",
+    "container": "mp4",
+    "encoder": "libx264",
+    "encoding": "bgr8",
+    "frames": 1195,
+    "height": 480,
+    "lossless": false,
+    "pixel_format": "yuv420p",
+    "quality": {
+      "mode": "crf",
+      "value": 14
+    },
+    "timestamp_policy": "shared_by_complete_physical_camera_bundle",
+    "timestamps": "camera/timestamp.pkl::right_wrist_0",
+    "topic": "/prometheus/sensors/cameras/right_wrist_0/color/image_raw",
+    "video": "camera/right_wrist_0_rgb.mp4",
+    "width": 640
+  }
+}

eval/YAM/V2/dp/banana_pick/data/round_0002/debug/validations/validation_0000.json

@@ -0,0 +1,194 @@
+{
+  "command_velocity_limits": [
+    7.326937734087213,
+    7.492612143357643,
+    9.039960411055707,
+    10.989442599937178,
+    11.822247140410347,
+    21.729793477053846,
+    4.549583926449072,
+    9.542591565847905,
+    16.49783855493206,
+    19.18122166486826,
+    20.271305218109156,
+    13.274309575261345,
+    14.009155302643812,
+    4.764187300355128
+  ],
+  "current": [
+    -0.0040054932478827965,
+    0.010490577553978753,
+    0.011253528648813571,
+    0.008201724269474298,
+    -0.02155336842908362,
+    -0.06466010528725441,
+    0.09592368287923689,
+    0.03147173266193626,
+    0.000953688868543523,
+    0.0036240177004653873,
+    0.023460746166170665,
+    -0.07610437170977669,
+    0.08678568703746059,
+    0.09541556747354683
+  ],
+  "current_velocity": [
+    0.0024420024420024333,
+    -0.0073260073260073,
+    -0.0073260073260073,
+    -0.0073260073260073,
+    -0.0219780219780219,
+    -0.0073260073260073,
+    0.0003997156850521004,
+    0.0024420024420024333,
+    0.0024420024420024333,
+    0.0073260073260073,
+    -0.0073260073260073,
+    -0.0073260073260073,
+    -0.0073260073260073,
+    -0.00013361516002478402
+  ],
+  "first_target": [
+    -0.004005493130534887,
+    0.010490577667951584,
+    0.01125352829694748,
+    0.008201723918318748,
+    -0.021553369238972664,
+    -0.06466010212898254,
+    0.09592368453741074,
+    0.018243983387947083,
+    -0.021707599982619286,
+    -0.0007873852737247944,
+    0.02841867506504059,
+    -0.08950240910053253,
+    0.08109499514102936,
+    0.09552168846130371
+  ],
+  "first_transition_velocity": [
+    3.5204372750285984e-09,
+    3.419184935182784e-09,
+    -1.0555982754567594e-08,
+    -1.0534666472494791e-08,
+    -2.429667134151714e-08,
+    9.474815598764508e-08,
+    4.974521544687249e-08,
+    -0.39683247821967527,
+    -0.6798386655348843,
+    -0.13234208922570545,
+    0.1487378669660977,
+    -0.4019411217226754,
+    -0.17072075689293698,
+    0.003183629632706325
+  ],
+  "observation_state": [
+    -0.004005493130534887,
+    0.010490577667951584,
+    0.01125352829694748,
+    0.008201723918318748,
+    -0.021553369238972664,
+    -0.06466010212898254,
+    0.09592368453741074,
+    0.03147173300385475,
+    0.0009536888683214784,
+    0.0036240178160369396,
+    0.023460745811462402,
+    -0.07610437273979187,
+    0.086785688996315,
+    0.09541556984186172
+  ],
+  "policy_metadata": {
+    "alignment_wait_ms": 193.49685701308772,
+    "checkpoint_path": "/home/romoya-1/openpi-workspace/checkpoints/yam-policies-release/yam_policies/xiangrun/20260916_v2_seven_tasks/dp/banana_pick/best-short.pt",
+    "first_action_minus_state": [
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      -0.013227749615907669,
+      -0.02266128920018673,
+      -0.004411403089761734,
+      0.004957929253578186,
+      -0.013398036360740662,
+      -0.0056906938552856445,
+      0.00010611861944198608
+    ],
+    "history_anchor_offset": 1,
+    "history_interval_ms": 33.361805,
+    "history_sample_stamp_ns": {
+      "base_0_color": [
+        1789570676688692968,
+        1789570676722054773
+      ],
+      "left_wrist_0_color": [
+        1789570676695465331,
+        1789570676728757918
+      ],
+      "right_wrist_0_color": [
+        1789570676703002912,
+        1789570676736453892
+      ],
+      "robot_state": [
+        1789570676686607216,
+        1789570676719878466
+      ]
+    },
+    "history_stamp_ns": [
+      1789570676688692968,
+      1789570676722054773
+    ],
+    "model_seed": null,
+    "observation_age_at_response_ms": 233.177614,
+    "observation_stamp_ns": 1789570676722054773,
+    "prompt": "banana_pick",
+    "release_revision": "39c623bd78f638d06ce0db57631b66d3028db208",
+    "request_id": "00e16606737e4c15a32ba5566eed5708",
+    "round_trip_ms": 78.33228399977088,
+    "server_metadata": {
+      "action_shape": [
+        32,
+        14
+      ],
+      "action_space": "abs_qpos",
+      "cameras": [
+        "base_0",
+        "right_wrist_0"
+      ],
+      "checkpoint_hashes": {
+        "dp/banana_pick/best-short.pt": "c65474448980475685df18bac931e834ec346ba38f27ec5a62ab8003bd6ac078"
+      },
+      "checkpoint_path": "/home/romoya-1/openpi-workspace/checkpoints/yam-policies-release/yam_policies/xiangrun/20260916_v2_seven_tasks/dp/banana_pick/best-short.pt",
+      "fps": 30,
+      "gpu": "NVIDIA GeForce RTX 5090",
+      "gpu_peak_mib": 389.01416015625,
+      "model": "dp",
+      "observation_offsets": [
+        -1,
+        0
+      ],
+      "protocol": "yam-v2-native-npz-v1",
+      "release_revision": "39c623bd78f638d06ce0db57631b66d3028db208",
+      "step": 13000,
+      "task": "banana_pick",
+      "tasks": [
+        "banana_pick"
+      ],
+      "warmup": {
+        "hardware_started": false,
+        "seconds": [
+          0.3053480860107811,
+          0.05467458399652969,
+          0.054366027005016804,
+          0.05456006299937144
+        ],
+        "status": "passed"
+      }
+    },
+    "server_prediction_seconds": 0.0756510619976325,
+    "source": "yam_v2_dp_http",
+    "task": "banana_pick",
+    "wire_action_dtype": "float32"
+  },
+  "time_ns": 1789570676974012488
+}

eval/YAM/V2/dp/banana_pick/data/round_0002/debug/validations/validation_0001.json

@@ -0,0 +1,194 @@
+{
+  "command_velocity_limits": [
+    7.326937734087213,
+    7.492612143357643,
+    9.039960411055707,
+    10.989442599937178,
+    11.822247140410347,
+    21.729793477053846,
+    4.549583926449072,
+    9.542591565847905,
+    16.49783855493206,
+    19.18122166486826,
+    20.271305218109156,
+    13.274309575261345,
+    14.009155302643812,
+    4.764187300355128
+  ],
+  "current": [
+    -0.0040054932478827965,
+    0.010490577553978753,
+    0.011253528648813571,
+    0.008201724269474298,
+    -0.02155336842908362,
+    -0.06504158083466827,
+    0.09592368287923689,
+    0.004386968795300206,
+    0.2504386968795309,
+    0.12645914396887115,
+    -0.13179980163271843,
+    -0.09594110017548196,
+    -0.2325093461509109,
+    0.09554080301492963
+  ],
+  "current_velocity": [
+    0.012210012210012167,
+    0.0024420024420024333,
+    0.0024420024420024333,
+    -0.0073260073260073,
+    0.0073260073260073,
+    -0.0073260073260073,
+    0.00013323856168403347,
+    0.0024420024420024333,
+    0.0073260073260073,
+    0.0024420024420024333,
+    0.0073260073260073,
+    -0.0219780219780219,
+    -0.0073260073260073,
+    0.00013361516002478402
+  ],
+  "first_target": [
+    -0.004005493130534887,
+    0.010109102353453636,
+    0.01125352829694748,
+    0.008201723918318748,
+    -0.02193484455347061,
+    -0.06504157930612564,
+    0.09592368453741074,
+    -0.002796318382024765,
+    0.3305489718914032,
+    0.26449793577194214,
+    -0.18417400121688843,
+    -0.10542556643486023,
+    -0.3022477328777313,
+    0.0957222580909729
+  ],
+  "first_transition_velocity": [
+    3.5204372750285984e-09,
+    -0.011444256015753496,
+    -1.0555982754567594e-08,
+    -1.0534666472494791e-08,
+    -0.011444283731609772,
+    4.585627877418119e-08,
+    4.974521544687249e-08,
+    -0.21549861531974912,
+    2.4033082503561687,
+    4.14116375409213,
+    -1.5712259875251,
+    -0.284533987781348,
+    -2.0921516018046127,
+    0.005443652281297978
+  ],
+  "observation_state": [
+    -0.004005493130534887,
+    0.010109102353453636,
+    0.01125352829694748,
+    0.008201723918318748,
+    -0.02193484455347061,
+    -0.06504157930612564,
+    0.09592368453741074,
+    0.004386968910694122,
+    0.2504386901855469,
+    0.12645913660526276,
+    -0.13218127191066742,
+    -0.09594109654426575,
+    -0.2317463904619217,
+    0.09554775804281235
+  ],
+  "policy_metadata": {
+    "alignment_wait_ms": 4.4993479968979955,
+    "checkpoint_path": "/home/romoya-1/openpi-workspace/checkpoints/yam-policies-release/yam_policies/xiangrun/20260916_v2_seven_tasks/dp/banana_pick/best-short.pt",
+    "first_action_minus_state": [
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      -0.007183287292718887,
+      0.08011028170585632,
+      0.13803879916667938,
+      -0.05199272930622101,
+      -0.009484469890594482,
+      -0.07050134241580963,
+      0.00017450004816055298
+    ],
+    "history_anchor_offset": 0,
+    "history_interval_ms": 33.234837,
+    "history_sample_stamp_ns": {
+      "base_0_color": [
+        1789570678422604747,
+        1789570678455839584
+      ],
+      "left_wrist_0_color": [
+        1789570678429150957,
+        1789570678462344924
+      ],
+      "right_wrist_0_color": [
+        1789570678436875216,
+        1789570678470537806
+      ],
+      "robot_state": [
+        1789570678419857921,
+        1789570678453193041
+      ]
+    },
+    "history_stamp_ns": [
+      1789570678422604747,
+      1789570678455839584
+    ],
+    "model_seed": null,
+    "observation_age_at_response_ms": 125.977513,
+    "observation_stamp_ns": 1789570678455839584,
+    "prompt": "banana_pick",
+    "release_revision": "39c623bd78f638d06ce0db57631b66d3028db208",
+    "request_id": "9d6ee8946dc9479e840bbb0e60a28f60",
+    "round_trip_ms": 78.73666999512352,
+    "server_metadata": {
+      "action_shape": [
+        32,
+        14
+      ],
+      "action_space": "abs_qpos",
+      "cameras": [
+        "base_0",
+        "right_wrist_0"
+      ],
+      "checkpoint_hashes": {
+        "dp/banana_pick/best-short.pt": "c65474448980475685df18bac931e834ec346ba38f27ec5a62ab8003bd6ac078"
+      },
+      "checkpoint_path": "/home/romoya-1/openpi-workspace/checkpoints/yam-policies-release/yam_policies/xiangrun/20260916_v2_seven_tasks/dp/banana_pick/best-short.pt",
+      "fps": 30,
+      "gpu": "NVIDIA GeForce RTX 5090",
+      "gpu_peak_mib": 389.01416015625,
+      "model": "dp",
+      "observation_offsets": [
+        -1,
+        0
+      ],
+      "protocol": "yam-v2-native-npz-v1",
+      "release_revision": "39c623bd78f638d06ce0db57631b66d3028db208",
+      "step": 13000,
+      "task": "banana_pick",
+      "tasks": [
+        "banana_pick"
+      ],
+      "warmup": {
+        "hardware_started": false,
+        "seconds": [
+          0.3053480860107811,
+          0.05467458399652969,
+          0.054366027005016804,
+          0.05456006299937144
+        ],
+        "status": "passed"
+      }
+    },
+    "server_prediction_seconds": 0.07507590799650643,
+    "source": "yam_v2_dp_http",
+    "task": "banana_pick",
+    "wire_action_dtype": "float32"
+  },
+  "time_ns": 1789570678618455603
+}

eval/YAM/V2/dp/banana_pick/data/round_0002/debug/validations/validation_0002.json

@@ -0,0 +1,194 @@
+{
+  "command_velocity_limits": [
+    7.326937734087213,
+    7.492612143357643,
+    9.039960411055707,
+    10.989442599937178,
+    11.822247140410347,
+    21.729793477053846,
+    4.549583926449072,
+    9.542591565847905,
+    16.49783855493206,
+    19.18122166486826,
+    20.271305218109156,
+    13.274309575261345,
+    14.009155302643812,
+    4.764187300355128
+  ],
+  "current": [
+    -0.0040054932478827965,
+    0.010490577553978753,
+    0.011253528648813571,
+    0.007820248722056888,
+    -0.02193484397650458,
+    -0.06504158083466827,
+    0.09593062079930621,
+    -0.027656977187762166,
+    1.1827649347676807,
+    0.9153505760280769,
+    -0.6013962005035456,
+    -0.04596780346379781,
+    -0.6834134431982886,
+    0.09569386867661973
+  ],
+  "current_velocity": [
+    -0.0073260073260073,
+    -0.0024420024420024333,
+    -0.0219780219780219,
+    -0.0219780219780219,
+    -0.0073260073260073,
+    -0.0073260073260073,
+    0.0003997156850521004,
+    -0.0073260073260073,
+    -0.017094017094017033,
+    -0.017094017094017033,
+    -0.0073260073260073,
+    -0.0073260073260073,
+    -0.0366300366300365,
+    0.00013361516002478402
+  ],
+  "first_target": [
+    -0.004005493130534887,
+    0.010490577667951584,
+    0.01125352829694748,
+    0.008201723918318748,
+    -0.02193484455347061,
+    -0.06504157930612564,
+    0.09592368453741074,
+    -0.030836645513772964,
+    1.2463394403457642,
+    0.9816081523895264,
+    -0.609353244304657,
+    -0.013274461030960083,
+    -0.7361767292022705,
+    0.095583975315094
+  ],
+  "first_transition_velocity": [
+    3.5204372750285984e-09,
+    3.419184935182784e-09,
+    -1.0555982754567594e-08,
+    0.011444255887855803,
+    -1.7308980915231587e-08,
+    4.585627877418119e-08,
+    -0.00020808785686429743,
+    -0.09539004978032395,
+    1.9072351673425025,
+    1.987727290843484,
+    -0.2387113140333419,
+    0.9808002729851317,
+    -1.5828985801194584,
+    -0.003296800845772191
+  ],
+  "observation_state": [
+    -0.004005493130534887,
+    0.010490577667951584,
+    0.01125352829694748,
+    0.008201723918318748,
+    -0.02193484455347061,
+    -0.06504157930612564,
+    0.09592368453741074,
+    -0.027656977996230125,
+    1.1774243116378784,
+    0.9126802682876587,
+    -0.5945296287536621,
+    -0.046730753034353256,
+    -0.6673914790153503,
+    0.09569387137889862
+  ],
+  "policy_metadata": {
+    "alignment_wait_ms": 4.714312992291525,
+    "checkpoint_path": "/home/romoya-1/openpi-workspace/checkpoints/yam-policies-release/yam_policies/xiangrun/20260916_v2_seven_tasks/dp/banana_pick/best-short.pt",
+    "first_action_minus_state": [
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      -0.003179667517542839,
+      0.06891512870788574,
+      0.06892788410186768,
+      -0.014823615550994873,
+      0.03345629200339317,
+      -0.06878525018692017,
+      -0.00010989606380462646
+    ],
+    "history_anchor_offset": 7,
+    "history_interval_ms": 33.34966,
+    "history_sample_stamp_ns": {
+      "base_0_color": [
+        1789570679856285413,
+        1789570679889635073
+      ],
+      "left_wrist_0_color": [
+        1789570679862652184,
+        1789570679896018984
+      ],
+      "right_wrist_0_color": [
+        1789570679870593190,
+        1789570679903950608
+      ],
+      "robot_state": [
+        1789570679853238670,
+        1789570679886561364
+      ]
+    },
+    "history_stamp_ns": [
+      1789570679856285413,
+      1789570679889635073
+    ],
+    "model_seed": null,
+    "observation_age_at_response_ms": 333.932579,
+    "observation_stamp_ns": 1789570679889635073,
+    "prompt": "banana_pick",
+    "release_revision": "39c623bd78f638d06ce0db57631b66d3028db208",
+    "request_id": "788b9c5dc15a42c4a79692fe13b540da",
+    "round_trip_ms": 78.97521299310029,
+    "server_metadata": {
+      "action_shape": [
+        32,
+        14
+      ],
+      "action_space": "abs_qpos",
+      "cameras": [
+        "base_0",
+        "right_wrist_0"
+      ],
+      "checkpoint_hashes": {
+        "dp/banana_pick/best-short.pt": "c65474448980475685df18bac931e834ec346ba38f27ec5a62ab8003bd6ac078"
+      },
+      "checkpoint_path": "/home/romoya-1/openpi-workspace/checkpoints/yam-policies-release/yam_policies/xiangrun/20260916_v2_seven_tasks/dp/banana_pick/best-short.pt",
+      "fps": 30,
+      "gpu": "NVIDIA GeForce RTX 5090",
+      "gpu_peak_mib": 389.01416015625,
+      "model": "dp",
+      "observation_offsets": [
+        -1,
+        0
+      ],
+      "protocol": "yam-v2-native-npz-v1",
+      "release_revision": "39c623bd78f638d06ce0db57631b66d3028db208",
+      "step": 13000,
+      "task": "banana_pick",
+      "tasks": [
+        "banana_pick"
+      ],
+      "warmup": {
+        "hardware_started": false,
+        "seconds": [
+          0.3053480860107811,
+          0.05467458399652969,
+          0.054366027005016804,
+          0.05456006299937144
+        ],
+        "status": "passed"
+      }
+    },
+    "server_prediction_seconds": 0.0760042180045275,
+    "source": "yam_v2_dp_http",
+    "task": "banana_pick",
+    "wire_action_dtype": "float32"
+  },
+  "time_ns": 1789570680252569033
+}

eval/YAM/V2/dp/banana_pick/data/round_0002/debug/validations/validation_0003.json

@@ -0,0 +1,194 @@
+{
+  "command_velocity_limits": [
+    7.326937734087213,
+    7.492612143357643,
+    9.039960411055707,
+    10.989442599937178,
+    11.822247140410347,
+    21.729793477053846,
+    4.549583926449072,
+    9.542591565847905,
+    16.49783855493206,
+    19.18122166486826,
+    20.271305218109156,
+    13.274309575261345,
+    14.009155302643812,
+    4.764187300355128
+  ],
+  "current": [
+    -0.0040054932478827965,
+    0.010490577553978753,
+    0.011253528648813571,
+    0.008201724269474298,
+    -0.02193484397650458,
+    -0.06504158083466827,
+    0.09592368287923689,
+    -0.06313420309758477,
+    1.701571679255359,
+    1.2911039902342267,
+    -0.7089723048752585,
+    -0.042915999084458534,
+    -0.9206912336919171,
+    0.09583997680823302
+  ],
+  "current_velocity": [
+    0.0024420024420024333,
+    0.0024420024420024333,
+    0.0073260073260073,
+    -0.0073260073260073,
+    -0.0219780219780219,
+    -0.0073260073260073,
+    0.0003997156850521004,
+    -0.0073260073260073,
+    -0.0024420024420024333,
+    0.0024420024420024333,
+    -0.0073260073260073,
+    -0.0073260073260073,
+    0.0073260073260073,
+    -0.00013361516002478402
+  ],
+  "first_target": [
+    -0.004005493130534887,
+    0.010490577667951584,
+    0.01125352829694748,
+    0.008201723918318748,
+    -0.02193484455347061,
+    -0.06504157930612564,
+    0.09592368453741074,
+    -0.0726427212357521,
+    1.7441551685333252,
+    1.3747025728225708,
+    -0.7214507460594177,
+    -0.04046996682882309,
+    -0.9724606871604919,
+    0.09595287591218948
+  ],
+  "first_transition_velocity": [
+    3.5204372750285984e-09,
+    3.419184935182784e-09,
+    -1.0555982754567594e-08,
+    -1.0534666472494791e-08,
+    -1.7308980915231587e-08,
+    4.585627877418119e-08,
+    4.974521544687249e-08,
+    -0.28525554414501997,
+    1.2775046783389854,
+    2.507957477650322,
+    -0.37435323552477584,
+    0.07338096766906332,
+    -1.553083604057246,
+    0.003386973118694042
+  ],
+  "observation_state": [
+    -0.004005493130534887,
+    0.010490577667951584,
+    0.01125352829694748,
+    0.008201723918318748,
+    -0.02193484455347061,
+    -0.06504157930612564,
+    0.09592368453741074,
+    -0.05970092490315437,
+    1.6844053268432617,
+    1.2869077920913696,
+    -0.7089722752571106,
+    -0.04291599988937378,
+    -0.9107728600502014,
+    0.09583301842212677
+  ],
+  "policy_metadata": {
+    "alignment_wait_ms": 5.304720005369745,
+    "checkpoint_path": "/home/romoya-1/openpi-workspace/checkpoints/yam-policies-release/yam_policies/xiangrun/20260916_v2_seven_tasks/dp/banana_pick/best-short.pt",
+    "first_action_minus_state": [
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      -0.012941796332597733,
+      0.05974984169006348,
+      0.08779478073120117,
+      -0.012478470802307129,
+      0.0024460330605506897,
+      -0.06168782711029053,
+      0.00011985749006271362
+    ],
+    "history_anchor_offset": 9,
+    "history_interval_ms": 33.366336,
+    "history_sample_stamp_ns": {
+      "base_0_color": [
+        1789570681390024162,
+        1789570681423390498
+      ],
+      "left_wrist_0_color": [
+        1789570681396560420,
+        1789570681429946219
+      ],
+      "right_wrist_0_color": [
+        1789570681404454681,
+        1789570681437628007
+      ],
+      "robot_state": [
+        1789570681390733151,
+        1789570681420029887
+      ]
+    },
+    "history_stamp_ns": [
+      1789570681390024162,
+      1789570681423390498
+    ],
+    "model_seed": null,
+    "observation_age_at_response_ms": 406.69584,
+    "observation_stamp_ns": 1789570681423390498,
+    "prompt": "banana_pick",
+    "release_revision": "39c623bd78f638d06ce0db57631b66d3028db208",
+    "request_id": "ab37d6ee141342f6981f3a4906b8ca13",
+    "round_trip_ms": 80.00095600436907,
+    "server_metadata": {
+      "action_shape": [
+        32,
+        14
+      ],
+      "action_space": "abs_qpos",
+      "cameras": [
+        "base_0",
+        "right_wrist_0"
+      ],
+      "checkpoint_hashes": {
+        "dp/banana_pick/best-short.pt": "c65474448980475685df18bac931e834ec346ba38f27ec5a62ab8003bd6ac078"
+      },
+      "checkpoint_path": "/home/romoya-1/openpi-workspace/checkpoints/yam-policies-release/yam_policies/xiangrun/20260916_v2_seven_tasks/dp/banana_pick/best-short.pt",
+      "fps": 30,
+      "gpu": "NVIDIA GeForce RTX 5090",
+      "gpu_peak_mib": 389.01416015625,
+      "model": "dp",
+      "observation_offsets": [
+        -1,
+        0
+      ],
+      "protocol": "yam-v2-native-npz-v1",
+      "release_revision": "39c623bd78f638d06ce0db57631b66d3028db208",
+      "step": 13000,
+      "task": "banana_pick",
+      "tasks": [
+        "banana_pick"
+      ],
+      "warmup": {
+        "hardware_started": false,
+        "seconds": [
+          0.3053480860107811,
+          0.05467458399652969,
+          0.054366027005016804,
+          0.05456006299937144
+        ],
+        "status": "passed"
+      }
+    },
+    "server_prediction_seconds": 0.07728989201132208,
+    "source": "yam_v2_dp_http",
+    "task": "banana_pick",
+    "wire_action_dtype": "float32"
+  },
+  "time_ns": 1789570681854758665
+}

eval/YAM/V2/dp/banana_pick/data/round_0002/debug/validations/validation_0004.json

@@ -0,0 +1,194 @@
+{
+  "command_velocity_limits": [
+    7.326937734087213,
+    7.492612143357643,
+    9.039960411055707,
+    10.989442599937178,
+    11.822247140410347,
+    21.729793477053846,
+    4.549583926449072,
+    9.542591565847905,
+    16.49783855493206,
+    19.18122166486826,
+    20.271305218109156,
+    13.274309575261345,
+    14.009155302643812,
+    4.764187300355128
+  ],
+  "current": [
+    -0.0040054932478827965,
+    0.010490577553978753,
+    0.011253528648813571,
+    0.008201724269474298,
+    -0.02155336842908362,
+    -0.06504158083466827,
+    0.09592368287923689,
+    -0.1077668421454181,
+    1.9426642252231634,
+    1.4669642175936524,
+    -0.7326237888151379,
+    -0.05397878995956695,
+    -1.0332265201800563,
+    0.09583997680823302
+  ],
+  "current_velocity": [
+    0.0024420024420024333,
+    -0.0024420024420024333,
+    0.0073260073260073,
+    -0.0073260073260073,
+    0.0073260073260073,
+    -0.0073260073260073,
+    0.00013323856168403347,
+    -0.0073260073260073,
+    -0.0073260073260073,
+    -0.0073260073260073,
+    0.0073260073260073,
+    0.0073260073260073,
+    0.0073260073260073,
+    0.00013361516002478402
+  ],
+  "first_target": [
+    -0.004005493130534887,
+    0.010109102353453636,
+    0.01125352829694748,
+    0.008201723918318748,
+    -0.021553369238972664,
+    -0.06504157930612564,
+    0.09592368453741074,
+    -0.11748061329126358,
+    1.990975260734558,
+    1.523573875427246,
+    -0.741581380367279,
+    -0.06745176762342453,
+    -1.0732187032699585,
+    0.09600000083446503
+  ],
+  "first_transition_velocity": [
+    3.5204372750285984e-09,
+    -0.011444256015753496,
+    -1.0555982754567594e-08,
+    -1.0534666472494791e-08,
+    -2.429667134151714e-08,
+    4.585627877418119e-08,
+    4.974521544687249e-08,
+    -0.29141313437536454,
+    1.4493310653418412,
+    1.6982897350078119,
+    -0.2687277465642346,
+    -0.4041893299157273,
+    -1.1997654926970647,
+    0.0048007207869603385
+  ],
+  "observation_state": [
+    -0.004005493130534887,
+    0.010109102353453636,
+    0.01125352829694748,
+    0.008201723918318748,
+    -0.021553369238972664,
+    -0.06504157930612564,
+    0.09592368453741074,
+    -0.10776684433221817,
+    1.9426642656326294,
+    1.4669642448425293,
+    -0.7330052852630615,
+    -0.05397878959774971,
+    -1.033226490020752,
+    0.0958399772644043
+  ],
+  "policy_metadata": {
+    "alignment_wait_ms": 4.593689998728223,
+    "checkpoint_path": "/home/romoya-1/openpi-workspace/checkpoints/yam-policies-release/yam_policies/xiangrun/20260916_v2_seven_tasks/dp/banana_pick/best-short.pt",
+    "first_action_minus_state": [
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      -0.00971376895904541,
+      0.04831099510192871,
+      0.0566096305847168,
+      -0.00857609510421753,
+      -0.01347297802567482,
+      -0.03999221324920654,
+      0.00016002357006072998
+    ],
+    "history_anchor_offset": 0,
+    "history_interval_ms": 33.393795,
+    "history_sample_stamp_ns": {
+      "base_0_color": [
+        1789570683223787305,
+        1789570683257181100
+      ],
+      "left_wrist_0_color": [
+        1789570683230408878,
+        1789570683263623341
+      ],
+      "right_wrist_0_color": [
+        1789570683238126596,
+        1789570683271425743
+      ],
+      "robot_state": [
+        1789570683219995474,
+        1789570683253203746
+      ]
+    },
+    "history_stamp_ns": [
+      1789570683223787305,
+      1789570683257181100
+    ],
+    "model_seed": null,
+    "observation_age_at_response_ms": 126.231706,
+    "observation_stamp_ns": 1789570683257181100,
+    "prompt": "banana_pick",
+    "release_revision": "39c623bd78f638d06ce0db57631b66d3028db208",
+    "request_id": "185597e32cf34e7d9e0c2782cb06c724",
+    "round_trip_ms": 82.14330200280529,
+    "server_metadata": {
+      "action_shape": [
+        32,
+        14
+      ],
+      "action_space": "abs_qpos",
+      "cameras": [
+        "base_0",
+        "right_wrist_0"
+      ],
+      "checkpoint_hashes": {
+        "dp/banana_pick/best-short.pt": "c65474448980475685df18bac931e834ec346ba38f27ec5a62ab8003bd6ac078"
+      },
+      "checkpoint_path": "/home/romoya-1/openpi-workspace/checkpoints/yam-policies-release/yam_policies/xiangrun/20260916_v2_seven_tasks/dp/banana_pick/best-short.pt",
+      "fps": 30,
+      "gpu": "NVIDIA GeForce RTX 5090",
+      "gpu_peak_mib": 389.01416015625,
+      "model": "dp",
+      "observation_offsets": [
+        -1,
+        0
+      ],
+      "protocol": "yam-v2-native-npz-v1",
+      "release_revision": "39c623bd78f638d06ce0db57631b66d3028db208",
+      "step": 13000,
+      "task": "banana_pick",
+      "tasks": [
+        "banana_pick"
+      ],
+      "warmup": {
+        "hardware_started": false,
+        "seconds": [
+          0.3053480860107811,
+          0.05467458399652969,
+          0.054366027005016804,
+          0.05456006299937144
+        ],
+        "status": "passed"
+      }
+    },
+    "server_prediction_seconds": 0.07670588500332087,
+    "source": "yam_v2_dp_http",
+    "task": "banana_pick",
+    "wire_action_dtype": "float32"
+  },
+  "time_ns": 1789570683410826361
+}

eval/YAM/V2/dp/banana_pick/data/round_0002/debug/validations/validation_0005.json

@@ -0,0 +1,194 @@
+{
+  "command_velocity_limits": [
+    7.326937734087213,
+    7.492612143357643,
+    9.039960411055707,
+    10.989442599937178,
+    11.822247140410347,
+    21.729793477053846,
+    4.549583926449072,
+    9.542591565847905,
+    16.49783855493206,
+    19.18122166486826,
+    20.271305218109156,
+    13.274309575261345,
+    14.009155302643812,
+    4.764187300355128
+  ],
+  "current": [
+    -0.0040054932478827965,
+    0.010109102006561344,
+    0.011253528648813571,
+    0.008201724269474298,
+    -0.02155336842908362,
+    -0.06504158083466827,
+    0.09592368287923689,
+    -0.11730373083085688,
+    2.0815213244831003,
+    1.5211337453269245,
+    -0.6578545815213221,
+    -0.07610437170977669,
+    -1.0614557106889446,
+    0.09581910421800262
+  ],
+  "current_velocity": [
+    -0.0073260073260073,
+    -0.0073260073260073,
+    -0.012210012210012167,
+    -0.0073260073260073,
+    -0.0073260073260073,
+    -0.0219780219780219,
+    0.00013323856168403347,
+    -0.0024420024420024333,
+    0.012210012210012167,
+    -0.017094017094017033,
+    0.0073260073260073,
+    -0.0073260073260073,
+    -0.0073260073260073,
+    0.00013361516002478402
+  ],
+  "first_target": [
+    -0.004005493130534887,
+    0.010490577667951584,
+    0.01125352829694748,
+    0.008201723918318748,
+    -0.021553369238972664,
+    -0.06504157930612564,
+    0.09592368453741074,
+    -0.1209263876080513,
+    2.1039607524871826,
+    1.5684951543807983,
+    -0.6549720764160156,
+    -0.07722429931163788,
+    -1.0651888847351074,
+    0.09587452560663223
+  ],
+  "first_transition_velocity": [
+    3.5204372750285984e-09,
+    0.01144426984170721,
+    -1.0555982754567594e-08,
+    -1.0534666472494791e-08,
+    -2.429667134151714e-08,
+    4.585627877418119e-08,
+    4.974521544687249e-08,
+    -0.10867970331583265,
+    0.6731828401224682,
+    1.4208422716162161,
+    0.08647515315919563,
+    -0.03359782805583578,
+    -0.11199522138488405,
+    0.0016626416588884363
+  ],
+  "observation_state": [
+    -0.004005493130534887,
+    0.010490577667951584,
+    0.01125352829694748,
+    0.008201723918318748,
+    -0.021553369238972664,
+    -0.06504157930612564,
+    0.09592368453741074,
+    -0.11730372905731201,
+    2.0815212726593018,
+    1.5211337804794312,
+    -0.6578545570373535,
+    -0.07610437273979187,
+    -1.0614557266235352,
+    0.09581910073757172
+  ],
+  "policy_metadata": {
+    "alignment_wait_ms": 4.543779999949038,
+    "checkpoint_path": "/home/romoya-1/openpi-workspace/checkpoints/yam-policies-release/yam_policies/xiangrun/20260916_v2_seven_tasks/dp/banana_pick/best-short.pt",
+    "first_action_minus_state": [
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      -0.0036226585507392883,
+      0.02243947982788086,
+      0.04736137390136719,
+      0.0028824806213378906,
+      -0.0011199265718460083,
+      -0.0037331581115722656,
+      5.542486906051636e-05
+    ],
+    "history_anchor_offset": 0,
+    "history_interval_ms": 33.332759,
+    "history_sample_stamp_ns": {
+      "base_0_color": [
+        1789570684824289492,
+        1789570684857622251
+      ],
+      "left_wrist_0_color": [
+        1789570684830854798,
+        1789570684864039829
+      ],
+      "right_wrist_0_color": [
+        1789570684838491501,
+        1789570684872003894
+      ],
+      "robot_state": [
+        1789570684828206008,
+        1789570684861527277
+      ]
+    },
+    "history_stamp_ns": [
+      1789570684824289492,
+      1789570684857622251
+    ],
+    "model_seed": null,
+    "observation_age_at_response_ms": 119.567741,
+    "observation_stamp_ns": 1789570684857622251,
+    "prompt": "banana_pick",
+    "release_revision": "39c623bd78f638d06ce0db57631b66d3028db208",
+    "request_id": "ed9707ae0d1940e9b0f802ed3b365c5b",
+    "round_trip_ms": 84.53213999746367,
+    "server_metadata": {
+      "action_shape": [
+        32,
+        14
+      ],
+      "action_space": "abs_qpos",
+      "cameras": [
+        "base_0",
+        "right_wrist_0"
+      ],
+      "checkpoint_hashes": {
+        "dp/banana_pick/best-short.pt": "c65474448980475685df18bac931e834ec346ba38f27ec5a62ab8003bd6ac078"
+      },
+      "checkpoint_path": "/home/romoya-1/openpi-workspace/checkpoints/yam-policies-release/yam_policies/xiangrun/20260916_v2_seven_tasks/dp/banana_pick/best-short.pt",
+      "fps": 30,
+      "gpu": "NVIDIA GeForce RTX 5090",
+      "gpu_peak_mib": 389.01416015625,
+      "model": "dp",
+      "observation_offsets": [
+        -1,
+        0
+      ],
+      "protocol": "yam-v2-native-npz-v1",
+      "release_revision": "39c623bd78f638d06ce0db57631b66d3028db208",
+      "step": 13000,
+      "task": "banana_pick",
+      "tasks": [
+        "banana_pick"
+      ],
+      "warmup": {
+        "hardware_started": false,
+        "seconds": [
+          0.3053480860107811,
+          0.05467458399652969,
+          0.054366027005016804,
+          0.05456006299937144
+        ],
+        "status": "passed"
+      }
+    },
+    "server_prediction_seconds": 0.0813114519987721,
+    "source": "yam_v2_dp_http",
+    "task": "banana_pick",
+    "wire_action_dtype": "float32"
+  },
+  "time_ns": 1789570684993578860
+}

eval/YAM/V2/dp/banana_pick/data/round_0002/debug/validations/validation_0006.json

@@ -0,0 +1,194 @@
+{
+  "command_velocity_limits": [
+    7.326937734087213,
+    7.492612143357643,
+    9.039960411055707,
+    10.989442599937178,
+    11.822247140410347,
+    21.729793477053846,
+    4.549583926449072,
+    9.542591565847905,
+    16.49783855493206,
+    19.18122166486826,
+    20.271305218109156,
+    13.274309575261345,
+    14.009155302643812,
+    4.764187300355128
+  ],
+  "current": [
+    -0.0040054932478827965,
+    0.010490577553978753,
+    0.011253528648813571,
+    0.008201724269474298,
+    -0.02193484397650458,
+    -0.06504158083466827,
+    0.09592368287923689,
+    -0.11921110856794037,
+    2.104409857328145,
+    1.53944457160296,
+    -0.6307698176546861,
+    -0.07572289616235572,
+    -1.0622186617837794,
+    0.09583997680823302
+  ],
+  "current_velocity": [
+    -0.0024420024420024333,
+    -0.0024420024420024333,
+    -0.0024420024420024333,
+    -0.0073260073260073,
+    -0.0073260073260073,
+    -0.0219780219780219,
+    0.00013323856168403347,
+    -0.0024420024420024333,
+    0.012210012210012167,
+    -0.012210012210012167,
+    -0.0219780219780219,
+    -0.0073260073260073,
+    0.0073260073260073,
+    0.00013361516002478402
+  ],
+  "first_target": [
+    -0.004005493130534887,
+    0.010109102353453636,
+    0.01125352829694748,
+    0.008201723918318748,
+    -0.021553369238972664,
+    -0.06504157930612564,
+    0.09592368453741074,
+    -0.11572062969207764,
+    2.1237900257110596,
+    1.5718644857406616,
+    -0.6261990666389465,
+    -0.06823353469371796,
+    -1.0736892223358154,
+    0.09508103132247925
+  ],
+  "first_transition_velocity": [
+    3.5204372750285984e-09,
+    -0.011444256015753496,
+    -1.0555982754567594e-08,
+    -1.0534666472494791e-08,
+    0.011444242125957516,
+    4.585627877418119e-08,
+    4.974521544687249e-08,
+    0.10471436627588204,
+    0.5814050514874403,
+    0.9725974241310453,
+    0.1371225304721868,
+    0.22468084405913302,
+    -0.34411681656107973,
+    -0.022768364572613026
+  ],
+  "observation_state": [
+    -0.004005493130534887,
+    0.010109102353453636,
+    0.01125352829694748,
+    0.008201723918318748,
+    -0.021553369238972664,
+    -0.06504157930612564,
+    0.09592368453741074,
+    -0.1188296303153038,
+    2.10440993309021,
+    1.5394445657730103,
+    -0.6303883194923401,
+    -0.07572289556264877,
+    -1.0622186660766602,
+    0.0958399772644043
+  ],
+  "policy_metadata": {
+    "alignment_wait_ms": 4.598608997184783,
+    "checkpoint_path": "/home/romoya-1/openpi-workspace/checkpoints/yam-policies-release/yam_policies/xiangrun/20260916_v2_seven_tasks/dp/banana_pick/best-short.pt",
+    "first_action_minus_state": [
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.0031090006232261658,
+      0.01938009262084961,
+      0.03241991996765137,
+      0.004189252853393555,
+      0.007489360868930817,
+      -0.011470556259155273,
+      -0.0007589459419250488
+    ],
+    "history_anchor_offset": 1,
+    "history_interval_ms": 33.324644,
+    "history_sample_stamp_ns": {
+      "base_0_color": [
+        1789570686324696827,
+        1789570686358021471
+      ],
+      "left_wrist_0_color": [
+        1789570686331091206,
+        1789570686364316672
+      ],
+      "right_wrist_0_color": [
+        1789570686338688521,
+        1789570686372198368
+      ],
+      "robot_state": [
+        1789570686328195399,
+        1789570686361577626
+      ]
+    },
+    "history_stamp_ns": [
+      1789570686324696827,
+      1789570686358021471
+    ],
+    "model_seed": null,
+    "observation_age_at_response_ms": 132.801214,
+    "observation_stamp_ns": 1789570686358021471,
+    "prompt": "banana_pick",
+    "release_revision": "39c623bd78f638d06ce0db57631b66d3028db208",
+    "request_id": "d549927bd2244a8b9b3827b2281fd1f4",
+    "round_trip_ms": 79.70066700363532,
+    "server_metadata": {
+      "action_shape": [
+        32,
+        14
+      ],
+      "action_space": "abs_qpos",
+      "cameras": [
+        "base_0",
+        "right_wrist_0"
+      ],
+      "checkpoint_hashes": {
+        "dp/banana_pick/best-short.pt": "c65474448980475685df18bac931e834ec346ba38f27ec5a62ab8003bd6ac078"
+      },
+      "checkpoint_path": "/home/romoya-1/openpi-workspace/checkpoints/yam-policies-release/yam_policies/xiangrun/20260916_v2_seven_tasks/dp/banana_pick/best-short.pt",
+      "fps": 30,
+      "gpu": "NVIDIA GeForce RTX 5090",
+      "gpu_peak_mib": 389.01416015625,
+      "model": "dp",
+      "observation_offsets": [
+        -1,
+        0
+      ],
+      "protocol": "yam-v2-native-npz-v1",
+      "release_revision": "39c623bd78f638d06ce0db57631b66d3028db208",
+      "step": 13000,
+      "task": "banana_pick",
+      "tasks": [
+        "banana_pick"
+      ],
+      "warmup": {
+        "hardware_started": false,
+        "seconds": [
+          0.3053480860107811,
+          0.05467458399652969,
+          0.054366027005016804,
+          0.05456006299937144
+        ],
+        "status": "passed"
+      }
+    },
+    "server_prediction_seconds": 0.07621692398970481,
+    "source": "yam_v2_dp_http",
+    "task": "banana_pick",
+    "wire_action_dtype": "float32"
+  },
+  "time_ns": 1789570686558595715
+}