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tool_hang_low_dim/_2025_12_30_15_49_12.log

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+Using robot0_eef_pos with dim 3 for observation
+Using robot0_eef_quat with dim 4 for observation
+Using robot0_gripper_qpos with dim 2 for observation
+Using object with dim 44 for observation
+Total low-dim observation dim: 53
+Original action dim: 7
+Final action dim: 7
+===== Basic stats =====
+Total transitions: 95962
+Total trajectories: 200
+Traj length mean/std: 479.81, 88.47046908432215
+Traj length min/max: 332, 744
+obs min: [-2.52127122e-01 -3.07641201e-01  0.00000000e+00  0.00000000e+00
+ -9.91649085e-02 -7.60016492e-01 -3.01106725e-01  0.00000000e+00
+ -4.17679508e-02 -8.04781282e-02 -9.76209898e-05  0.00000000e+00
+ -2.03777831e-02 -3.52264643e-02 -2.20292196e-01  0.00000000e+00
+ -7.16841553e-02 -2.52492655e-01 -1.11481197e-01 -9.99909639e-01
+ -7.98503578e-01 -7.42919326e-01  0.00000000e+00 -2.68730730e-01
+ -3.27619294e-01  0.00000000e+00 -4.11453307e-01 -7.15811133e-01
+ -7.27672637e-01  0.00000000e+00 -1.82675895e-01 -3.11966754e-01
+ -3.26691579e-01 -9.99954820e-01 -7.09664166e-01 -7.08980560e-01
+  0.00000000e+00 -2.46124441e-01 -2.33028617e-01  0.00000000e+00
+ -4.88239914e-01 -1.15251660e-01 -9.04773653e-01  0.00000000e+00
+ -2.20961330e-01 -1.44786243e-01 -2.26624309e-01 -6.41619921e-01
+ -9.99993920e-01 -7.50604928e-01  0.00000000e+00  0.00000000e+00
+  0.00000000e+00]
+obs max: [1.47632899e-01 1.26011762e-01 1.18004313e+00 9.99909619e-01
+ 8.00552734e-01 1.20881506e-01 4.54378396e-01 4.13186631e-02
+ 0.00000000e+00 0.00000000e+00 1.88628021e-02 8.25429750e-01
+ 1.47824243e-01 1.72425508e-02 7.36363363e-05 1.00000036e+00
+ 3.65600221e-01 2.08337948e-01 3.37257582e-01 9.99907792e-01
+ 8.00549448e-01 7.60016680e-01 4.54383522e-01 4.32860451e-03
+ 1.30913309e-01 1.21488420e+00 3.16708297e-01 6.25906646e-01
+ 8.86733294e-01 9.46352839e-01 2.78364920e-01 3.65295857e-01
+ 2.17046003e-01 9.99961853e-01 4.67488050e-01 2.55197793e-01
+ 6.43479943e-01 7.57403192e-02 1.24550600e-02 1.14192089e+00
+ 6.95465624e-01 6.72781169e-01 0.00000000e+00 8.45146418e-01
+ 3.62621336e-01 3.49493562e-01 2.44990615e-01 6.61285222e-01
+ 9.99998212e-01 7.17198074e-01 8.74303877e-01 1.00000000e+00
+ 1.00000000e+00]
+action min: [-1.         -1.         -1.         -0.35410371 -0.49649122 -0.72497994
+ -1.        ]
+action max: [1.         1.         1.         0.32611984 0.61583012 1.
+ 1.        ]
+Trajectory demo_0: cumulative reward = 1.0 (length: 681 -> 677)
+Trajectory demo_1: cumulative reward = 1.0 (length: 613 -> 609)
+Trajectory demo_2: cumulative reward = 1.0 (length: 737 -> 733)
+Trajectory demo_3: cumulative reward = 1.0 (length: 582 -> 578)
+Trajectory demo_4: cumulative reward = 1.0 (length: 552 -> 548)
+Trajectory demo_5: cumulative reward = 1.0 (length: 681 -> 677)
+Trajectory demo_6: cumulative reward = 1.0 (length: 587 -> 551)
+Trajectory demo_7: cumulative reward = 1.0 (length: 622 -> 618)
+Trajectory demo_8: cumulative reward = 1.0 (length: 514 -> 510)
+Trajectory demo_9: cumulative reward = 1.0 (length: 623 -> 619)
+Trajectory demo_10: cumulative reward = 1.0 (length: 497 -> 493)
+Trajectory demo_11: cumulative reward = 1.0 (length: 478 -> 474)
+Trajectory demo_12: cumulative reward = 1.0 (length: 496 -> 492)
+Trajectory demo_13: cumulative reward = 1.0 (length: 514 -> 510)
+Trajectory demo_14: cumulative reward = 1.0 (length: 708 -> 704)
+Trajectory demo_15: cumulative reward = 1.0 (length: 510 -> 505)
+DEBUG Trajectory 16 (demo_16): Original length=676, non-zero rewards=10
+DEBUG Trajectory 16 (demo_16): Reward sum=10.0, unique rewards=[0. 1.]
+DEBUG Trajectory 16 (demo_16): Last 20 rewards: [0. 0. 0. 0. 0. 0. 0. 0. 1. 1. 1. 1. 1. 0. 0. 1. 1. 1. 1. 1.]
+DEBUG Trajectory 16 (demo_16): Truncating at index 665, cumsum at that point = 1.0
+Trajectory demo_16: cumulative reward = 1.0 (length: 676 -> 665)
+Trajectory demo_17: cumulative reward = 1.0 (length: 677 -> 668)
+Trajectory demo_18: cumulative reward = 1.0 (length: 632 -> 605)
+Trajectory demo_19: cumulative reward = 1.0 (length: 569 -> 565)
+Trajectory demo_20: cumulative reward = 1.0 (length: 565 -> 561)
+Trajectory demo_21: cumulative reward = 1.0 (length: 575 -> 572)
+Trajectory demo_22: cumulative reward = 1.0 (length: 711 -> 707)
+Trajectory demo_23: cumulative reward = 1.0 (length: 742 -> 738)
+Trajectory demo_24: cumulative reward = 1.0 (length: 537 -> 533)
+Trajectory demo_25: cumulative reward = 1.0 (length: 480 -> 475)
+Trajectory demo_26: cumulative reward = 1.0 (length: 429 -> 425)
+Trajectory demo_27: cumulative reward = 1.0 (length: 469 -> 465)
+Trajectory demo_28: cumulative reward = 1.0 (length: 512 -> 505)
+Trajectory demo_29: cumulative reward = 1.0 (length: 532 -> 526)
+Trajectory demo_30: cumulative reward = 1.0 (length: 409 -> 405)
+Trajectory demo_31: cumulative reward = 1.0 (length: 476 -> 458)
+Trajectory demo_32: cumulative reward = 1.0 (length: 473 -> 467)
+Trajectory demo_33: cumulative reward = 1.0 (length: 398 -> 394)
+Trajectory demo_34: cumulative reward = 1.0 (length: 574 -> 570)
+Trajectory demo_35: cumulative reward = 1.0 (length: 589 -> 585)
+Trajectory demo_36: cumulative reward = 1.0 (length: 532 -> 528)
+Trajectory demo_37: cumulative reward = 1.0 (length: 567 -> 563)
+Trajectory demo_38: cumulative reward = 1.0 (length: 471 -> 466)
+Trajectory demo_39: cumulative reward = 1.0 (length: 485 -> 481)
+Trajectory demo_40: cumulative reward = 1.0 (length: 649 -> 645)
+Trajectory demo_41: cumulative reward = 1.0 (length: 538 -> 534)
+Trajectory demo_42: cumulative reward = 1.0 (length: 580 -> 576)
+Trajectory demo_43: cumulative reward = 1.0 (length: 495 -> 491)
+Trajectory demo_44: cumulative reward = 1.0 (length: 523 -> 516)
+Trajectory demo_45: cumulative reward = 1.0 (length: 627 -> 623)
+Trajectory demo_46: cumulative reward = 1.0 (length: 450 -> 446)
+Trajectory demo_47: cumulative reward = 1.0 (length: 539 -> 535)
+Trajectory demo_48: cumulative reward = 1.0 (length: 508 -> 504)
+Trajectory demo_49: cumulative reward = 1.0 (length: 555 -> 551)
+Trajectory demo_50: cumulative reward = 1.0 (length: 509 -> 432)
+Trajectory demo_51: cumulative reward = 1.0 (length: 502 -> 498)
+Trajectory demo_52: cumulative reward = 1.0 (length: 577 -> 573)
+Trajectory demo_53: cumulative reward = 1.0 (length: 457 -> 453)
+Trajectory demo_54: cumulative reward = 1.0 (length: 489 -> 485)
+Trajectory demo_55: cumulative reward = 1.0 (length: 521 -> 517)
+Trajectory demo_56: cumulative reward = 1.0 (length: 469 -> 465)
+Trajectory demo_57: cumulative reward = 1.0 (length: 476 -> 472)
+Trajectory demo_58: cumulative reward = 1.0 (length: 433 -> 429)
+Trajectory demo_59: cumulative reward = 1.0 (length: 404 -> 379)
+Trajectory demo_60: cumulative reward = 1.0 (length: 477 -> 451)
+Trajectory demo_61: cumulative reward = 1.0 (length: 541 -> 537)
+Trajectory demo_62: cumulative reward = 1.0 (length: 490 -> 486)
+Trajectory demo_63: cumulative reward = 1.0 (length: 495 -> 487)
+Trajectory demo_64: cumulative reward = 1.0 (length: 508 -> 504)
+Trajectory demo_65: cumulative reward = 1.0 (length: 399 -> 395)
+Trajectory demo_66: cumulative reward = 1.0 (length: 461 -> 458)
+Trajectory demo_67: cumulative reward = 1.0 (length: 474 -> 470)
+Trajectory demo_68: cumulative reward = 1.0 (length: 419 -> 415)
+Trajectory demo_69: cumulative reward = 1.0 (length: 542 -> 538)
+Trajectory demo_70: cumulative reward = 1.0 (length: 421 -> 417)
+Trajectory demo_71: cumulative reward = 1.0 (length: 562 -> 555)
+Trajectory demo_72: cumulative reward = 1.0 (length: 416 -> 412)
+Trajectory demo_73: cumulative reward = 1.0 (length: 432 -> 428)
+Trajectory demo_74: cumulative reward = 1.0 (length: 470 -> 466)
+Trajectory demo_75: cumulative reward = 1.0 (length: 407 -> 403)
+Trajectory demo_76: cumulative reward = 1.0 (length: 439 -> 412)
+Trajectory demo_77: cumulative reward = 1.0 (length: 429 -> 425)
+Trajectory demo_78: cumulative reward = 1.0 (length: 452 -> 448)
+Trajectory demo_79: cumulative reward = 1.0 (length: 414 -> 410)
+Trajectory demo_80: cumulative reward = 1.0 (length: 537 -> 533)
+Trajectory demo_81: cumulative reward = 1.0 (length: 363 -> 359)
+Trajectory demo_82: cumulative reward = 1.0 (length: 422 -> 416)
+Trajectory demo_83: cumulative reward = 1.0 (length: 440 -> 408)
+Trajectory demo_84: cumulative reward = 1.0 (length: 430 -> 426)
+Trajectory demo_85: cumulative reward = 1.0 (length: 488 -> 484)
+Trajectory demo_86: cumulative reward = 1.0 (length: 479 -> 475)
+Trajectory demo_87: cumulative reward = 1.0 (length: 443 -> 438)
+Trajectory demo_88: cumulative reward = 1.0 (length: 433 -> 429)
+Trajectory demo_89: cumulative reward = 1.0 (length: 444 -> 439)
+Trajectory demo_90: cumulative reward = 1.0 (length: 410 -> 406)
+Trajectory demo_91: cumulative reward = 1.0 (length: 446 -> 421)
+Trajectory demo_92: cumulative reward = 1.0 (length: 369 -> 365)
+Trajectory demo_93: cumulative reward = 1.0 (length: 378 -> 374)
+Trajectory demo_94: cumulative reward = 1.0 (length: 399 -> 395)
+Trajectory demo_95: cumulative reward = 1.0 (length: 496 -> 490)
+Trajectory demo_96: cumulative reward = 1.0 (length: 523 -> 515)
+Trajectory demo_97: cumulative reward = 1.0 (length: 608 -> 601)
+Trajectory demo_98: cumulative reward = 1.0 (length: 394 -> 390)
+Trajectory demo_99: cumulative reward = 1.0 (length: 425 -> 421)
+===== Truncation Statistics =====
+Original total steps: 95962
+Truncated total steps: 94576
+Reduction: 1386 steps (1.4%)
+Train - Trajectories: 200, Transitions: 94576
+Val - Trajectories: 0, Transitions: 0.0

tool_hang_low_dim/normalization.npz

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+size 1451

tool_hang_low_dim/train.npz

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+size 34520267

tool_hang_low_dim/val.npz

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