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can_low_dim/_2026_01_06_23_34_52.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: 23207
+Total trajectories: 200
+Traj length mean/std: 116.035, 13.685896938089225
+Traj length min/max: 82, 151
+obs min: [-0.07376085 -0.42253869  0.          0.         -0.73516192 -0.22861566
+ -0.34267776  0.         -0.0403102  -0.04001666 -0.41950386  0.
+ -0.60131852 -0.55893041 -0.77678055 -0.99984988 -0.12209211 -0.10018459
+  0.         -0.99995351 -0.99995863 -0.79737371  0.        ]
+obs max: [0.29611527 0.41260722 1.22413338 0.99997648 0.47231822 0.13808564
+ 0.08067435 0.04106108 0.         0.28709319 0.4541125  1.21502806
+ 0.64036898 0.70398297 0.99988429 0.99991152 0.27907834 0.34339995
+ 0.35659635 0.99983454 0.99994522 0.59665596 0.83187222]
+action min: [-1.         -1.         -1.         -0.55634028 -1.         -1.
+ -1.        ]
+action max: [1.         1.         1.         0.72973686 0.45003703 0.74534029
+ 1.        ]
+Trajectory demo_0: cumulative reward = 1.0 (length: 118 -> 113)
+Trajectory demo_1: cumulative reward = 1.0 (length: 118 -> 114)
+Trajectory demo_2: cumulative reward = 1.0 (length: 113 -> 109)
+Trajectory demo_3: cumulative reward = 1.0 (length: 98 -> 94)
+Trajectory demo_4: cumulative reward = 1.0 (length: 102 -> 98)
+Trajectory demo_5: cumulative reward = 1.0 (length: 134 -> 130)
+Trajectory demo_6: cumulative reward = 1.0 (length: 115 -> 111)
+Trajectory demo_7: cumulative reward = 1.0 (length: 115 -> 111)
+Trajectory demo_8: cumulative reward = 1.0 (length: 127 -> 123)
+Trajectory demo_9: cumulative reward = 1.0 (length: 120 -> 116)
+Trajectory demo_10: cumulative reward = 1.0 (length: 129 -> 125)
+Trajectory demo_11: cumulative reward = 1.0 (length: 94 -> 90)
+Trajectory demo_12: cumulative reward = 1.0 (length: 115 -> 111)
+Trajectory demo_13: cumulative reward = 1.0 (length: 129 -> 125)
+Trajectory demo_14: cumulative reward = 1.0 (length: 113 -> 109)
+Trajectory demo_15: cumulative reward = 1.0 (length: 95 -> 91)
+DEBUG Trajectory 16 (demo_16): Original length=136, 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 132, cumsum at that point = 1.0
+Trajectory demo_16: cumulative reward = 1.0 (length: 136 -> 132)
+Trajectory demo_17: cumulative reward = 1.0 (length: 108 -> 104)
+Trajectory demo_18: cumulative reward = 1.0 (length: 94 -> 90)
+Trajectory demo_19: cumulative reward = 1.0 (length: 111 -> 107)
+Trajectory demo_20: cumulative reward = 1.0 (length: 92 -> 88)
+Trajectory demo_21: cumulative reward = 1.0 (length: 100 -> 96)
+Trajectory demo_22: cumulative reward = 1.0 (length: 102 -> 98)
+Trajectory demo_23: cumulative reward = 1.0 (length: 142 -> 138)
+Trajectory demo_24: cumulative reward = 1.0 (length: 108 -> 104)
+Trajectory demo_25: cumulative reward = 1.0 (length: 131 -> 127)
+Trajectory demo_26: cumulative reward = 1.0 (length: 112 -> 108)
+Trajectory demo_27: cumulative reward = 1.0 (length: 124 -> 120)
+Trajectory demo_28: cumulative reward = 1.0 (length: 141 -> 137)
+Trajectory demo_29: cumulative reward = 1.0 (length: 107 -> 103)
+Trajectory demo_30: cumulative reward = 1.0 (length: 127 -> 123)
+Trajectory demo_31: cumulative reward = 1.0 (length: 96 -> 92)
+Trajectory demo_32: cumulative reward = 1.0 (length: 110 -> 106)
+Trajectory demo_33: cumulative reward = 1.0 (length: 115 -> 111)
+Trajectory demo_34: cumulative reward = 1.0 (length: 106 -> 102)
+Trajectory demo_35: cumulative reward = 1.0 (length: 111 -> 107)
+Trajectory demo_36: cumulative reward = 1.0 (length: 103 -> 99)
+Trajectory demo_37: cumulative reward = 1.0 (length: 116 -> 112)
+Trajectory demo_38: cumulative reward = 1.0 (length: 107 -> 103)
+Trajectory demo_39: cumulative reward = 1.0 (length: 113 -> 109)
+Trajectory demo_40: cumulative reward = 1.0 (length: 117 -> 113)
+Trajectory demo_41: cumulative reward = 1.0 (length: 136 -> 132)
+Trajectory demo_42: cumulative reward = 1.0 (length: 117 -> 113)
+Trajectory demo_43: cumulative reward = 1.0 (length: 106 -> 102)
+Trajectory demo_44: cumulative reward = 1.0 (length: 121 -> 117)
+Trajectory demo_45: cumulative reward = 1.0 (length: 127 -> 123)
+Trajectory demo_46: cumulative reward = 1.0 (length: 106 -> 102)
+Trajectory demo_47: cumulative reward = 1.0 (length: 129 -> 125)
+Trajectory demo_48: cumulative reward = 1.0 (length: 113 -> 109)
+Trajectory demo_49: cumulative reward = 1.0 (length: 106 -> 102)
+Trajectory demo_50: cumulative reward = 1.0 (length: 112 -> 108)
+Trajectory demo_51: cumulative reward = 1.0 (length: 115 -> 111)
+Trajectory demo_52: cumulative reward = 1.0 (length: 119 -> 115)
+Trajectory demo_53: cumulative reward = 1.0 (length: 115 -> 111)
+Trajectory demo_54: cumulative reward = 1.0 (length: 109 -> 105)
+Trajectory demo_55: cumulative reward = 1.0 (length: 101 -> 97)
+Trajectory demo_56: cumulative reward = 1.0 (length: 101 -> 97)
+Trajectory demo_57: cumulative reward = 1.0 (length: 119 -> 115)
+Trajectory demo_58: cumulative reward = 1.0 (length: 125 -> 121)
+Trajectory demo_59: cumulative reward = 1.0 (length: 113 -> 109)
+Trajectory demo_60: cumulative reward = 1.0 (length: 97 -> 93)
+Trajectory demo_61: cumulative reward = 1.0 (length: 113 -> 109)
+Trajectory demo_62: cumulative reward = 1.0 (length: 121 -> 116)
+Trajectory demo_63: cumulative reward = 1.0 (length: 130 -> 126)
+Trajectory demo_64: cumulative reward = 1.0 (length: 103 -> 99)
+Trajectory demo_65: cumulative reward = 1.0 (length: 112 -> 108)
+Trajectory demo_66: cumulative reward = 1.0 (length: 131 -> 127)
+Trajectory demo_67: cumulative reward = 1.0 (length: 133 -> 129)
+Trajectory demo_68: cumulative reward = 1.0 (length: 103 -> 99)
+Trajectory demo_69: cumulative reward = 1.0 (length: 125 -> 120)
+Trajectory demo_70: cumulative reward = 1.0 (length: 101 -> 97)
+Trajectory demo_71: cumulative reward = 1.0 (length: 109 -> 105)
+Trajectory demo_72: cumulative reward = 1.0 (length: 92 -> 88)
+Trajectory demo_73: cumulative reward = 1.0 (length: 119 -> 115)
+Trajectory demo_74: cumulative reward = 1.0 (length: 114 -> 110)
+Trajectory demo_75: cumulative reward = 1.0 (length: 103 -> 99)
+Trajectory demo_76: cumulative reward = 1.0 (length: 100 -> 96)
+Trajectory demo_77: cumulative reward = 1.0 (length: 121 -> 117)
+Trajectory demo_78: cumulative reward = 1.0 (length: 99 -> 95)
+Trajectory demo_79: cumulative reward = 1.0 (length: 93 -> 89)
+Trajectory demo_80: cumulative reward = 1.0 (length: 110 -> 106)
+Trajectory demo_81: cumulative reward = 1.0 (length: 150 -> 146)
+Trajectory demo_82: cumulative reward = 1.0 (length: 94 -> 90)
+Trajectory demo_83: cumulative reward = 1.0 (length: 108 -> 104)
+Trajectory demo_84: cumulative reward = 1.0 (length: 105 -> 101)
+Trajectory demo_85: cumulative reward = 1.0 (length: 115 -> 111)
+Trajectory demo_86: cumulative reward = 1.0 (length: 126 -> 122)
+Trajectory demo_87: cumulative reward = 1.0 (length: 88 -> 84)
+Trajectory demo_88: cumulative reward = 1.0 (length: 115 -> 111)
+Trajectory demo_89: cumulative reward = 1.0 (length: 115 -> 111)
+Trajectory demo_90: cumulative reward = 1.0 (length: 131 -> 127)
+Trajectory demo_91: cumulative reward = 1.0 (length: 114 -> 110)
+Trajectory demo_92: cumulative reward = 1.0 (length: 109 -> 105)
+Trajectory demo_93: cumulative reward = 1.0 (length: 96 -> 92)
+Trajectory demo_94: cumulative reward = 1.0 (length: 127 -> 123)
+Trajectory demo_95: cumulative reward = 1.0 (length: 121 -> 117)
+Trajectory demo_96: cumulative reward = 1.0 (length: 140 -> 136)
+Trajectory demo_97: cumulative reward = 1.0 (length: 104 -> 99)
+Trajectory demo_98: cumulative reward = 1.0 (length: 110 -> 106)
+Trajectory demo_99: cumulative reward = 1.0 (length: 113 -> 108)
+===== Truncation Statistics =====
+Original total steps: 23207
+Truncated total steps: 22400
+Reduction: 807 steps (3.5%)
+Train - Trajectories: 200, Transitions: 22400
+Val - Trajectories: 0, Transitions: 0.0

can_low_dim/normalization.npz

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+oid sha256:fb81411e83124a3072efaba223d23428f8c692a8f4f2699f2156aef8d8605473
+size 1133

can_low_dim/train.npz

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+version https://git-lfs.github.com/spec/v1
+oid sha256:9631a1df9f4b5eb135bfb75685cd7110872921652d9037b66352e2a0362c63b9
+size 4665227

can_low_dim/val.npz

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+version https://git-lfs.github.com/spec/v1
+oid sha256:ef423294119533dd4d99cd9e9c6d933cd3cedf7ddf9070a66d603c05a24cffc2
+size 964