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square_low_dim/_2025_12_31_17_38_53.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 14 for observation
+Total low-dim observation dim: 23
+Original action dim: 7
+Final action dim: 7
+===== Basic stats =====
+Total transitions: 30154
+Total trajectories: 200
+Traj length mean/std: 150.77, 20.31765488436104
+Traj length min/max: 107, 236
+obs min: [-0.21917232 -0.04869477  0.          0.         -0.74314939 -0.13437093
+ -0.12024449 -0.00132913 -0.04164234 -0.13853475  0.          0.
+ -0.50633821 -0.25425125 -0.99980872 -0.99994538 -0.14878118 -0.24626347
+ -0.05728711 -0.99999732 -0.99996454 -0.28367242  0.        ]
+obs max: [0.26955168 0.31146888 1.08664924 0.99999989 0.74583464 0.18068227
+ 0.13211839 0.04187732 0.         0.26977406 0.2468017  1.06947778
+ 0.21079789 0.49256304 0.99999865 0.99977963 0.14990348 0.18911523
+ 0.21308565 0.99999809 0.99999315 0.25840759 0.75748754]
+action min: [-1.         -1.         -1.         -0.30129695 -1.         -1.
+ -1.        ]
+action max: [1.         1.         1.         0.25129211 0.39740705 1.
+ 1.        ]
+Trajectory demo_0: cumulative reward = 1.0 (length: 127 -> 123)
+Trajectory demo_1: cumulative reward = 1.0 (length: 123 -> 119)
+Trajectory demo_2: cumulative reward = 1.0 (length: 124 -> 120)
+Trajectory demo_3: cumulative reward = 1.0 (length: 149 -> 145)
+Trajectory demo_4: cumulative reward = 1.0 (length: 154 -> 150)
+Trajectory demo_5: cumulative reward = 1.0 (length: 144 -> 140)
+Trajectory demo_6: cumulative reward = 1.0 (length: 144 -> 140)
+Trajectory demo_7: cumulative reward = 1.0 (length: 150 -> 146)
+Trajectory demo_8: cumulative reward = 1.0 (length: 160 -> 156)
+Trajectory demo_9: cumulative reward = 1.0 (length: 152 -> 148)
+Trajectory demo_10: cumulative reward = 1.0 (length: 134 -> 130)
+Trajectory demo_11: cumulative reward = 1.0 (length: 156 -> 152)
+Trajectory demo_12: cumulative reward = 1.0 (length: 133 -> 129)
+Trajectory demo_13: cumulative reward = 1.0 (length: 153 -> 149)
+Trajectory demo_14: cumulative reward = 1.0 (length: 152 -> 148)
+Trajectory demo_15: cumulative reward = 1.0 (length: 141 -> 137)
+DEBUG Trajectory 16 (demo_16): Original length=174, non-zero rewards=5
+DEBUG Trajectory 16 (demo_16): Reward sum=5.0, unique rewards=[0. 1.]
+DEBUG Trajectory 16 (demo_16): Last 20 rewards: [0. 0. 0. 0. 0. 0. 0. 0. 0. 0. 0. 0. 0. 0. 0. 1. 1. 1. 1. 1.]
+DEBUG Trajectory 16 (demo_16): Truncating at index 170, cumsum at that point = 1.0
+Trajectory demo_16: cumulative reward = 1.0 (length: 174 -> 170)
+Trajectory demo_17: cumulative reward = 1.0 (length: 174 -> 170)
+Trajectory demo_18: cumulative reward = 1.0 (length: 127 -> 123)
+Trajectory demo_19: cumulative reward = 1.0 (length: 165 -> 161)
+Trajectory demo_20: cumulative reward = 1.0 (length: 145 -> 141)
+Trajectory demo_21: cumulative reward = 1.0 (length: 179 -> 175)
+Trajectory demo_22: cumulative reward = 1.0 (length: 130 -> 126)
+Trajectory demo_23: cumulative reward = 1.0 (length: 176 -> 172)
+Trajectory demo_24: cumulative reward = 1.0 (length: 155 -> 151)
+Trajectory demo_25: cumulative reward = 1.0 (length: 158 -> 154)
+Trajectory demo_26: cumulative reward = 1.0 (length: 182 -> 178)
+Trajectory demo_27: cumulative reward = 1.0 (length: 180 -> 176)
+Trajectory demo_28: cumulative reward = 1.0 (length: 136 -> 132)
+Trajectory demo_29: cumulative reward = 1.0 (length: 183 -> 179)
+Trajectory demo_30: cumulative reward = 1.0 (length: 134 -> 130)
+Trajectory demo_31: cumulative reward = 1.0 (length: 139 -> 135)
+Trajectory demo_32: cumulative reward = 1.0 (length: 142 -> 138)
+Trajectory demo_33: cumulative reward = 1.0 (length: 120 -> 116)
+Trajectory demo_34: cumulative reward = 1.0 (length: 129 -> 125)
+Trajectory demo_35: cumulative reward = 1.0 (length: 174 -> 170)
+Trajectory demo_36: cumulative reward = 1.0 (length: 147 -> 143)
+Trajectory demo_37: cumulative reward = 1.0 (length: 160 -> 156)
+Trajectory demo_38: cumulative reward = 1.0 (length: 114 -> 110)
+Trajectory demo_39: cumulative reward = 1.0 (length: 128 -> 124)
+Trajectory demo_40: cumulative reward = 1.0 (length: 140 -> 136)
+Trajectory demo_41: cumulative reward = 1.0 (length: 134 -> 130)
+Trajectory demo_42: cumulative reward = 1.0 (length: 186 -> 182)
+Trajectory demo_43: cumulative reward = 1.0 (length: 122 -> 118)
+Trajectory demo_44: cumulative reward = 1.0 (length: 125 -> 121)
+Trajectory demo_45: cumulative reward = 1.0 (length: 180 -> 176)
+Trajectory demo_46: cumulative reward = 1.0 (length: 132 -> 128)
+Trajectory demo_47: cumulative reward = 1.0 (length: 148 -> 144)
+Trajectory demo_48: cumulative reward = 1.0 (length: 170 -> 166)
+Trajectory demo_49: cumulative reward = 1.0 (length: 167 -> 163)
+Trajectory demo_50: cumulative reward = 1.0 (length: 171 -> 167)
+Trajectory demo_51: cumulative reward = 1.0 (length: 127 -> 123)
+Trajectory demo_52: cumulative reward = 1.0 (length: 111 -> 107)
+Trajectory demo_53: cumulative reward = 1.0 (length: 170 -> 166)
+Trajectory demo_54: cumulative reward = 1.0 (length: 219 -> 215)
+Trajectory demo_55: cumulative reward = 1.0 (length: 158 -> 154)
+Trajectory demo_56: cumulative reward = 1.0 (length: 129 -> 125)
+Trajectory demo_57: cumulative reward = 1.0 (length: 114 -> 110)
+Trajectory demo_58: cumulative reward = 1.0 (length: 161 -> 157)
+Trajectory demo_59: cumulative reward = 1.0 (length: 148 -> 144)
+Trajectory demo_60: cumulative reward = 1.0 (length: 133 -> 129)
+Trajectory demo_61: cumulative reward = 1.0 (length: 152 -> 148)
+Trajectory demo_62: cumulative reward = 1.0 (length: 154 -> 150)
+Trajectory demo_63: cumulative reward = 1.0 (length: 150 -> 146)
+Trajectory demo_64: cumulative reward = 1.0 (length: 171 -> 166)
+Trajectory demo_65: cumulative reward = 1.0 (length: 155 -> 151)
+Trajectory demo_66: cumulative reward = 1.0 (length: 137 -> 133)
+Trajectory demo_67: cumulative reward = 1.0 (length: 153 -> 149)
+Trajectory demo_68: cumulative reward = 1.0 (length: 158 -> 154)
+Trajectory demo_69: cumulative reward = 1.0 (length: 184 -> 180)
+Trajectory demo_70: cumulative reward = 1.0 (length: 172 -> 168)
+Trajectory demo_71: cumulative reward = 1.0 (length: 136 -> 132)
+Trajectory demo_72: cumulative reward = 1.0 (length: 149 -> 145)
+Trajectory demo_73: cumulative reward = 1.0 (length: 159 -> 155)
+Trajectory demo_74: cumulative reward = 1.0 (length: 129 -> 125)
+Trajectory demo_75: cumulative reward = 1.0 (length: 151 -> 147)
+Trajectory demo_76: cumulative reward = 1.0 (length: 162 -> 158)
+Trajectory demo_77: cumulative reward = 1.0 (length: 236 -> 232)
+Trajectory demo_78: cumulative reward = 1.0 (length: 170 -> 166)
+Trajectory demo_79: cumulative reward = 1.0 (length: 150 -> 146)
+Trajectory demo_80: cumulative reward = 1.0 (length: 167 -> 163)
+Trajectory demo_81: cumulative reward = 1.0 (length: 140 -> 136)
+Trajectory demo_82: cumulative reward = 1.0 (length: 136 -> 132)
+Trajectory demo_83: cumulative reward = 1.0 (length: 171 -> 167)
+Trajectory demo_84: cumulative reward = 1.0 (length: 142 -> 138)
+Trajectory demo_85: cumulative reward = 1.0 (length: 134 -> 130)
+Trajectory demo_86: cumulative reward = 1.0 (length: 160 -> 156)
+Trajectory demo_87: cumulative reward = 1.0 (length: 177 -> 173)
+Trajectory demo_88: cumulative reward = 1.0 (length: 165 -> 161)
+Trajectory demo_89: cumulative reward = 1.0 (length: 159 -> 155)
+Trajectory demo_90: cumulative reward = 1.0 (length: 127 -> 123)
+Trajectory demo_91: cumulative reward = 1.0 (length: 107 -> 103)
+Trajectory demo_92: cumulative reward = 1.0 (length: 162 -> 158)
+Trajectory demo_93: cumulative reward = 1.0 (length: 171 -> 166)
+Trajectory demo_94: cumulative reward = 1.0 (length: 148 -> 144)
+Trajectory demo_95: cumulative reward = 1.0 (length: 142 -> 138)
+Trajectory demo_96: cumulative reward = 1.0 (length: 145 -> 141)
+Trajectory demo_97: cumulative reward = 1.0 (length: 158 -> 154)
+Trajectory demo_98: cumulative reward = 1.0 (length: 129 -> 125)
+Trajectory demo_99: cumulative reward = 1.0 (length: 162 -> 158)
+===== Truncation Statistics =====
+Original total steps: 30154
+Truncated total steps: 29348
+Reduction: 806 steps (2.7%)
+Train - Trajectories: 200, Transitions: 29348
+Val - Trajectories: 0, Transitions: 0.0

square_low_dim/normalization.npz

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+size 1136

square_low_dim/train.npz

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+oid sha256:5a2f472fba0c67af0065a10e6ec9ca07897e6274e5f1f7dc79c5906befce3f22
+size 5777820

square_low_dim/val.npz

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+size 964