{ "name": "policy_postprocessor", "steps": [ { "registry_name": "groot_n1_7_action_decode_v1", "config": { "env_action_dim": 6, "raw_stats": { "state": { "single_arm": { "min": [ -90.40079498291016, -99.57805633544922, -90.84380340576172, -64.24870300292969, -47.741146087646484 ], "max": [ 39.83176803588867, 84.30379486083984, 100.0, 99.13644409179688, 97.31379699707031 ], "mean": [ -42.33046340942383, 3.2511484622955322, -0.4599246382713318, 79.29541015625, 2.2933876514434814 ], "std": [ 25.518476486206055, 44.71908187866211, 51.32939147949219, 21.303142547607422, 23.988933563232422 ], "count": [ 218964 ], "q01": [ -76.46783447265625, -98.11798095703125, -77.73953247070312, 23.605728149414062, -30.209518432617188 ], "q10": [ -70.81623077392578, -54.84445571899414, -60.4775390625, 53.26105499267578, -20.105579376220703 ], "q50": [ -43.34211349487305, 9.910650253295898, -3.793139934539795, 84.18889617919922, 1.0405137538909912 ], "q90": [ -14.07079792022705, 50.51268005371094, 64.70967864990234, 98.07373046875, 27.78529930114746 ], "q99": [ -1.667898416519165, 63.84724426269531, 99.40498352050781, 98.86653900146484, 38.54479217529297 ] }, "gripper": { "min": [ 1.3600000143051147 ], "max": [ 91.04000091552734 ], "mean": [ 14.337159156799316 ], "std": [ 12.81242847442627 ], "count": [ 218964 ], "q01": [ 1.4531744718551636 ], "q10": [ 2.2228989601135254 ], "q50": [ 12.2625732421875 ], "q90": [ 30.536924362182617 ], "q99": [ 40.05193328857422 ] } }, "action": { "single_arm": { "min": [ -90.96186065673828, -100.0, -99.91007232666016, -66.02645874023438, -88.47374725341797 ], "max": [ 40.29850769042969, 84.1402359008789, 100.0, 99.7439193725586, 97.94871520996094 ], "mean": [ -42.14096450805664, 1.9315794706344604, -2.2528281211853027, 79.0608901977539, 1.9652221202850342 ], "std": [ 25.53490447998047, 44.342132568359375, 52.22156524658203, 21.6169376373291, 24.81182098388672 ], "count": [ 218964 ], "q01": [ -76.54813385009766, -98.35307312011719, -82.78369903564453, 22.495052337646484, -35.85580825805664 ], "q10": [ -70.65172576904297, -55.55143737792969, -63.682064056396484, 52.554725646972656, -21.377399444580078 ], "q50": [ -43.136077880859375, 8.278311729431152, -5.506430149078369, 83.8434829711914, 1.006649374961853 ], "q90": [ -13.8626127243042, 48.90798568725586, 63.78935241699219, 98.3182144165039, 27.841928482055664 ], "q99": [ -1.3281569480895996, 63.12615966796875, 99.24508666992188, 99.16072082519531, 38.70712661743164 ] }, "gripper": { "min": [ 0.0 ], "max": [ 91.47410583496094 ], "mean": [ 11.878849983215332 ], "std": [ 14.212869644165039 ], "count": [ 218964 ], "q01": [ 0.6624836325645447 ], "q10": [ 0.7784132957458496 ], "q50": [ 8.113713264465332 ], "q90": [ 30.844385147094727 ], "q99": [ 40.54629898071289 ] } }, "relative_action": { "single_arm": { "min": [ [ -16.838411331176758, -29.686817169189453, -27.026853561401367, -40.66484069824219, -41.36751937866211 ], [ -20.155160903930664, -35.11252975463867, -32.715084075927734, -46.21328353881836, -41.36751937866211 ], [ -23.22294807434082, -41.79032516479492, -37.48126983642578, -52.52996826171875, -41.36751937866211 ], [ -26.139667510986328, -47.106781005859375, -42.4996452331543, -57.97038269042969, -41.36751937866211 ], [ -29.259565353393555, -52.254459381103516, -47.37335968017578, -62.63359832763672, -41.36751937866211 ], [ -32.57319641113281, -58.58357620239258, -51.682159423828125, -67.12409973144531, -41.95360565185547 ], [ -35.88994598388672, -63.34150314331055, -57.157920837402344, -71.39213562011719, -45.421241760253906 ], [ -38.5433464050293, -67.9324951171875, -61.01788330078125, -75.3187255859375, -49.76801300048828 ], [ -41.36258316040039, -72.53981018066406, -65.95504760742188, -77.56397247314453, -52.84493637084961 ], [ -43.73764419555664, -77.13079833984375, -69.64209747314453, -79.52726745605469, -56.94750213623047 ], [ -46.40958786010742, -80.59071350097656, -74.04856872558594, -80.9089584350586, -59.68254089355469 ], [ -48.982574462890625, -84.47257232666016, -77.28016662597656, -81.4211196899414, -62.31990051269531 ], [ -50.76387023925781, -87.51055145263672, -80.15269470214844, -81.4211196899414, -64.76190948486328 ], [ -53.435813903808594, -90.21096801757812, -83.65359497070312, -81.4211196899414, -67.4969482421875 ], [ -55.11814880371094, -93.83966064453125, -86.9555892944336, -81.4211196899414, -69.79242706298828 ], [ -56.80048370361328, -96.37130737304688, -90.8155517578125, -81.4211196899414, -72.23443603515625 ], [ -57.46383285522461, -99.91561126708984, -93.51339721679688, -81.4211196899414, -73.74847412109375 ], [ -57.95863723754883, -103.4513931274414, -96.5709457397461, -81.4211196899414, -75.5067138671875 ], [ -58.26323699951172, -108.35950469970703, -99.08441162109375, -81.4211196899414, -77.020751953125 ], [ -60.25328826904297, -112.54989624023438, -102.04670715332031, -81.4211196899414, -78.29059600830078 ], [ -62.326255798339844, -117.29105377197266, -103.93519592285156, -81.4211196899414, -78.92552185058594 ], [ -63.81879425048828, -121.24187469482422, -105.64382934570312, -81.4211196899414, -79.60928344726562 ], [ -65.49300384521484, -126.38955688476562, -107.80210876464844, -82.93373107910156, -79.95116424560547 ], [ -66.98554229736328, -130.22927856445312, -109.23837280273438, -84.04341125488281, -80.92796325683594 ], [ -68.22932434082031, -133.56256103515625, -111.12347412109375, -85.07968139648438, -82.29548645019531 ], [ -69.55602264404297, -137.40228271484375, -112.75041198730469, -85.77053833007812, -83.71184539794922 ], [ -70.34770965576172, -139.76515197753906, -115.80247497558594, -86.45342254638672, -84.44444274902344 ], [ -71.63420104980469, -141.87484741210938, -118.23052978515625, -86.96558380126953, -84.88400268554688 ], [ -72.3804702758789, -143.90017700195312, -121.10823059082031, -89.46824645996094, -85.81196594238281 ], [ -74.45155334472656, -145.5696258544922, -123.44636535644531, -91.97256469726562, -87.61904907226562 ], [ -76.23284912109375, -146.582275390625, -125.69456481933594, -94.04510498046875, -89.76800537109375 ], [ -78.01414489746094, -147.8480987548828, -127.57966613769531, -96.11764526367188, -91.28205108642578 ], [ -79.42376708984375, -149.0386962890625, -129.37095642089844, -97.91021728515625, -92.79609680175781 ], [ -80.58462524414062, -152.4986114501953, -132.31951904296875, -99.01990509033203, -93.91941833496094 ], [ -81.37631225585938, -154.86148071289062, -134.74758911132812, -99.88346099853516, -95.23809814453125 ], [ -82.03966522216797, -157.9838409423828, -137.62527465820312, -100.8333740234375, -95.92185974121094 ], [ -82.28842163085938, -159.92477416992188, -139.96340942382812, -101.7514419555664, -96.4102554321289 ], [ -82.48634338378906, -161.86569213867188, -142.45767211914062, -102.74613952636719, -96.75213623046875 ], [ -82.65217590332031, -163.63784790039062, -145.51522827148438, -103.95511627197266, -97.14285278320312 ], [ -82.73509979248047, -164.47256469726562, -147.9432830810547, -105.3368148803711, -97.33821868896484 ] ], "max": [ [ 17.589561462402344, 26.473236083984375, 45.856204986572266, 29.988122940063477, 53.919410705566406 ], [ 21.901336669921875, 32.46479797363281, 54.336082458496094, 35.02440643310547, 59.877899169921875 ], [ 24.969127655029297, 37.13925552368164, 64.25836181640625, 40.402122497558594, 64.22466278076172 ], [ 29.026519775390625, 41.52497863769531, 71.52945709228516, 44.978981018066406, 69.84127044677734 ], [ 32.011592864990234, 45.744384765625, 81.04471588134766, 48.95134735107422, 74.04151916503906 ], [ 35.458984375, 51.2296142578125, 88.23896026611328, 53.52820587158203, 78.77899932861328 ], [ 38.44405746459961, 55.236289978027344, 97.59147644042969, 56.34510803222656, 82.63735961914062 ], [ 41.09745788574219, 58.949371337890625, 104.24615478515625, 59.05497360229492, 86.15384674072266 ], [ 43.57377624511719, 63.166175842285156, 110.88887786865234, 61.87187576293945, 89.76801300048828 ], [ 46.5588493347168, 66.87925720214844, 118.32756042480469, 64.1766128540039, 93.28450012207031 ], [ 49.212249755859375, 70.17039489746094, 124.98223876953125, 65.85530090332031, 96.5079345703125 ], [ 51.092506408691406, 73.96786499023438, 131.02130126953125, 68.50148010253906, 98.998779296875 ], [ 53.467567443847656, 76.80592346191406, 138.74124145507812, 70.77758026123047, 101.39193725585938 ], [ 54.46259307861328, 79.8109359741211, 144.0469970703125, 73.42375946044922, 104.56654357910156 ], [ 55.45220184326172, 82.20677185058594, 149.89230346679688, 75.91867065429688, 107.008544921875 ], [ 56.34284973144531, 85.21178436279297, 154.8294677734375, 79.28655242919922, 109.93894958496094 ], [ 57.08911895751953, 86.89954376220703, 160.5745391845703, 81.27273559570312, 111.55067443847656 ], [ 57.25495529174805, 90.21646881103516, 164.80116271972656, 83.8634033203125, 113.55311584472656 ], [ 57.35391616821289, 92.97105407714844, 169.02777099609375, 85.84959411621094, 115.06715393066406 ], [ 57.35391616821289, 96.30995178222656, 172.61843872070312, 88.52661895751953, 116.04395294189453 ], [ 57.35391616821289, 98.73065185546875, 176.2091064453125, 90.1673812866211, 116.9230728149414 ], [ 57.613712310791016, 101.65219116210938, 180.15884399414062, 91.46271514892578, 117.26495361328125 ], [ 58.00955581665039, 103.93067169189453, 182.85183715820312, 92.67169952392578, 117.26495361328125 ], [ 58.00955581665039, 106.66053771972656, 185.6345977783203, 93.35458374023438, 117.26495361328125 ], [ 58.00955581665039, 108.93901824951172, 187.16062927246094, 94.73572540283203, 117.26495361328125 ], [ 58.09247589111328, 111.47066497802734, 188.32760620117188, 96.9551010131836, 117.26495361328125 ], [ 58.416847229003906, 113.39053344726562, 189.67684936523438, 98.74767303466797, 117.4114761352539 ], [ 59.246036529541016, 114.97650909423828, 190.66427612304688, 100.96704864501953, 117.5091552734375 ], [ 59.740840911865234, 116.89637756347656, 190.84381103515625, 102.41818237304688, 117.55799865722656 ], [ 60.532527923583984, 118.39888000488281, 190.84381103515625, 104.38147735595703, 117.6068344116211 ], [ 61.0273323059082, 120.7361068725586, 190.84381103515625, 105.74724578857422, 117.65567779541016 ], [ 61.42317581176758, 122.23861694335938, 190.84381103515625, 107.23121643066406, 117.65567779541016 ], [ 61.9179801940918, 123.6732177734375, 190.84381103515625, 108.59698486328125, 117.65567779541016 ], [ 62.1667366027832, 125.74445343017578, 190.84381103515625, 109.96275329589844, 117.70451354980469 ], [ 62.249656677246094, 127.49737548828125, 190.84381103515625, 110.9870834350586, 117.70451354980469 ], [ 62.66445541381836, 129.50071716308594, 190.84381103515625, 111.58460998535156, 117.70451354980469 ], [ 63.41072463989258, 130.93531799316406, 190.84381103515625, 112.10274505615234, 117.70451354980469 ], [ 64.23991394042969, 132.36990356445312, 190.5745086669922, 112.27346801757812, 117.70451354980469 ], [ 64.83367919921875, 133.45504760742188, 190.5745086669922, 112.35982513427734, 117.70451354980469 ], [ 65.6253662109375, 134.77505493164062, 190.5745086669922, 112.35982513427734, 117.70451354980469 ] ], "mean": [ [ 0.18948481976985931, -1.3445595502853394, -1.8579596281051636, -0.26889312267303467, -0.33857232332229614 ], [ 0.18988364934921265, -1.344483733177185, -1.862043023109436, -0.27462905645370483, -0.3386784493923187 ], [ 0.19029182195663452, -1.3445008993148804, -1.865695595741272, -0.27996909618377686, -0.3387669026851654 ], [ 0.19071389734745026, -1.3445868492126465, -1.8689947128295898, -0.2849591076374054, -0.33883699774742126 ], [ 0.19116128981113434, -1.3446921110153198, -1.871951699256897, -0.2895998954772949, -0.3388884961605072 ], [ 0.19162915647029877, -1.3448123931884766, -1.8746273517608643, -0.2938963770866394, -0.3389386832714081 ], [ 0.19210931658744812, -1.3449386358261108, -1.8770266771316528, -0.29791584610939026, -0.33898112177848816 ], [ 0.19259078800678253, -1.3450666666030884, -1.8791790008544922, -0.30165690183639526, -0.3390332758426666 ], [ 0.19309066236019135, -1.3452240228652954, -1.88107430934906, -0.3051510453224182, -0.3390846252441406 ], [ 0.19361183047294617, -1.3453916311264038, -1.8827351331710815, -0.3083777129650116, -0.33915287256240845 ], [ 0.1941472887992859, -1.3455804586410522, -1.884149193763733, -0.31133970618247986, -0.33922314643859863 ], [ 0.19467802345752716, -1.3458056449890137, -1.88538658618927, -0.3140396773815155, -0.3392951190471649 ], [ 0.19520433247089386, -1.3460475206375122, -1.8864175081253052, -0.3165140151977539, -0.3393805921077728 ], [ 0.19572870433330536, -1.3463143110275269, -1.8872302770614624, -0.3187257647514343, -0.33945995569229126 ], [ 0.1962592452764511, -1.3466060161590576, -1.8878097534179688, -0.32068583369255066, -0.3395455777645111 ], [ 0.19679665565490723, -1.3469077348709106, -1.888110637664795, -0.32235202193260193, -0.3396349549293518 ], [ 0.19732946157455444, -1.347223162651062, -1.8880865573883057, -0.32373496890068054, -0.33972325921058655 ], [ 0.19784529507160187, -1.3475933074951172, -1.8877663612365723, -0.32481351494789124, -0.33982059359550476 ], [ 0.19835519790649414, -1.347965955734253, -1.8870370388031006, -0.3255895972251892, -0.33992835879325867 ], [ 0.19885282218456268, -1.3483912944793701, -1.8858977556228638, -0.32609879970550537, -0.3400561809539795 ], [ 0.1993413120508194, -1.3488376140594482, -1.8843035697937012, -0.32635313272476196, -0.3402044475078583 ], [ 0.19981883466243744, -1.3493319749832153, -1.882213830947876, -0.3263636529445648, -0.34037989377975464 ], [ 0.20028285682201385, -1.3498761653900146, -1.8796160221099854, -0.3262020945549011, -0.3405611515045166 ], [ 0.20073288679122925, -1.3504873514175415, -1.876511812210083, -0.32593634724617004, -0.3407691419124603 ], [ 0.2011510282754898, -1.3511862754821777, -1.8729113340377808, -0.3256039619445801, -0.3409908711910248 ], [ 0.20153731107711792, -1.3520033359527588, -1.8688188791275024, -0.32526591420173645, -0.34122124314308167 ], [ 0.20188207924365997, -1.3529161214828491, -1.8642042875289917, -0.3249644935131073, -0.341463178396225 ], [ 0.20218873023986816, -1.3539862632751465, -1.8590970039367676, -0.32469505071640015, -0.34171220660209656 ], [ 0.2024632841348648, -1.3552396297454834, -1.85346519947052, -0.32444241642951965, -0.34198370575904846 ], [ 0.2026974856853485, -1.3567441701889038, -1.8472598791122437, -0.3242095112800598, -0.3422892689704895 ], [ 0.20289357006549835, -1.3585010766983032, -1.840565800666809, -0.32401400804519653, -0.34261518716812134 ], [ 0.2030579298734665, -1.3605961799621582, -1.8333483934402466, -0.3238545060157776, -0.3429739475250244 ], [ 0.20319175720214844, -1.3630709648132324, -1.8256093263626099, -0.3237459659576416, -0.3433747887611389 ], [ 0.20329774916172028, -1.3659647703170776, -1.8173539638519287, -0.32369375228881836, -0.34380093216896057 ], [ 0.20336522161960602, -1.3693630695343018, -1.8085137605667114, -0.3236858546733856, -0.3442557752132416 ], [ 0.2033936232328415, -1.3732763528823853, -1.799119234085083, -0.3237189054489136, -0.3447471261024475 ], [ 0.20338015258312225, -1.3777897357940674, -1.7891130447387695, -0.3237770199775696, -0.34526973962783813 ], [ 0.20332443714141846, -1.3829277753829956, -1.7784849405288696, -0.32386457920074463, -0.34583422541618347 ], [ 0.20321400463581085, -1.3887594938278198, -1.7672016620635986, -0.3239729404449463, -0.34643125534057617 ], [ 0.20304057002067566, -1.395351767539978, -1.7551958560943604, -0.3240950405597687, -0.34706610441207886 ] ], "std": [ [ 2.042182207107544, 3.9052844047546387, 4.912871360778809, 3.1586191654205322, 3.155423164367676 ], [ 2.4839723110198975, 4.7103271484375, 5.890531539916992, 3.8416976928710938, 3.4597811698913574 ], [ 2.9170069694519043, 5.512831211090088, 6.865982532501221, 4.503024101257324, 3.7815165519714355 ], [ 3.3411240577697754, 6.308872699737549, 7.832836627960205, 5.141139984130859, 4.111817359924316 ], [ 3.7559328079223633, 7.094577312469482, 8.786151885986328, 5.755372047424316, 4.44459867477417 ], [ 4.161613464355469, 7.868627071380615, 9.724091529846191, 6.345378398895264, 4.776300430297852 ], [ 4.55881404876709, 8.630474090576172, 10.645392417907715, 6.911746501922607, 5.104581356048584 ], [ 4.947441577911377, 9.379007339477539, 11.549389839172363, 7.455275058746338, 5.427791595458984 ], [ 5.32828950881958, 10.114632606506348, 12.435969352722168, 7.9778265953063965, 5.745329856872559 ], [ 5.701362133026123, 10.836958885192871, 13.304616928100586, 8.47998332977295, 6.056565761566162 ], [ 6.0671892166137695, 11.546348571777344, 14.156413078308105, 8.962783813476562, 6.361186504364014 ], [ 6.426030158996582, 12.2432222366333, 14.990812301635742, 9.42719554901123, 6.65877103805542 ], [ 6.778116703033447, 12.927249908447266, 15.808650970458984, 9.874576568603516, 6.949827671051025 ], [ 7.123989105224609, 13.599493026733398, 16.610490798950195, 10.305800437927246, 7.235061168670654 ], [ 7.463751792907715, 14.260102272033691, 17.39630699157715, 10.721550941467285, 7.513984203338623 ], [ 7.7978668212890625, 14.909663200378418, 18.166540145874023, 11.123221397399902, 7.786930561065674 ], [ 8.126486778259277, 15.547945976257324, 18.92176055908203, 11.511316299438477, 8.054101943969727 ], [ 8.449872016906738, 16.17656898498535, 19.662242889404297, 11.886675834655762, 8.315617561340332 ], [ 8.76831340789795, 16.79513168334961, 20.38872528076172, 12.250165939331055, 8.571746826171875 ], [ 9.081881523132324, 17.403841018676758, 21.101573944091797, 12.602264404296875, 8.822609901428223 ], [ 9.390792846679688, 18.00300407409668, 21.80142593383789, 12.943400382995605, 9.06849193572998 ], [ 9.695344924926758, 18.592985153198242, 22.488208770751953, 13.274728775024414, 9.309563636779785 ], [ 9.995599746704102, 19.17405128479004, 23.162769317626953, 13.596329689025879, 9.545955657958984 ], [ 10.291747093200684, 19.746530532836914, 23.825214385986328, 13.908952713012695, 9.777767181396484 ], [ 10.583736419677734, 20.310684204101562, 24.47582244873047, 14.212736129760742, 10.005199432373047 ], [ 10.871841430664062, 20.866785049438477, 25.114973068237305, 14.50790786743164, 10.228302955627441 ], [ 11.155974388122559, 21.414817810058594, 25.743453979492188, 14.794981002807617, 10.447397232055664 ], [ 11.436328887939453, 21.955286026000977, 26.361061096191406, 15.07413101196289, 10.662493705749512 ], [ 11.7129487991333, 22.488122940063477, 26.968177795410156, 15.345582962036133, 10.873637199401855 ], [ 11.985983848571777, 23.01364517211914, 27.565296173095703, 15.609593391418457, 11.081168174743652 ], [ 12.25537395477295, 23.53196907043457, 28.152782440185547, 15.866497039794922, 11.2849760055542 ], [ 12.521203994750977, 24.043197631835938, 28.73017120361328, 16.116315841674805, 11.485210418701172 ], [ 12.783553123474121, 24.547531127929688, 29.29837417602539, 16.359464645385742, 11.68206787109375 ], [ 13.042425155639648, 25.045108795166016, 29.857702255249023, 16.59597396850586, 11.875530242919922 ], [ 13.297882080078125, 25.535839080810547, 30.407764434814453, 16.82609748840332, 12.065789222717285 ], [ 13.549931526184082, 26.01995277404785, 30.94917106628418, 17.04991912841797, 12.253015518188477 ], [ 13.798717498779297, 26.497180938720703, 31.48200225830078, 17.267852783203125, 12.43710708618164 ], [ 14.044026374816895, 26.96793556213379, 32.00612258911133, 17.479780197143555, 12.618346214294434 ], [ 14.286172866821289, 27.4321231842041, 32.52180862426758, 17.686132431030273, 12.796449661254883 ], [ 14.525010108947754, 27.889760971069336, 33.02961349487305, 17.88689613342285, 12.971999168395996 ] ], "q01": [ [ -5.887143611907959, -13.78400707244873, -13.505678176879883, -10.39387035369873, -12.94261360168457 ], [ -7.324902057647705, -16.68735694885254, -16.18330955505371, -12.658297538757324, -14.700855255126953 ], [ -8.694334030151367, -19.570528030395508, -18.849836349487305, -14.815808296203613, -16.117218017578125 ], [ -10.003189086914062, -22.475893020629883, -21.407012939453125, -16.911996841430664, -17.387054443359375 ], [ -11.28681468963623, -25.331623077392578, -23.943740844726562, -18.939952850341797, -18.070817947387695 ], [ -12.566814422607422, -28.144800186157227, -26.371196746826172, -20.862430572509766, -19.340660095214844 ], [ -13.7662353515625, -30.909969329833984, -28.746204376220703, -22.726394653320312, -19.829059600830078 ], [ -14.929635047912598, -33.6500244140625, -31.01612663269043, -24.46519660949707, -20.610504150390625 ], [ -16.10546875, -36.33032989501953, -33.28252410888672, -26.19544792175293, -21.782665252685547 ], [ -17.219684600830078, -38.98826217651367, -35.48277282714844, -27.866168975830078, -22.85714340209961 ], [ -18.356670379638672, -41.46448516845703, -37.531681060791016, -29.34733772277832, -23.980464935302734 ], [ -19.4022216796875, -44.09777069091797, -39.536155700683594, -30.973846435546875, -24.371185302734375 ], [ -20.48821258544922, -46.510074615478516, -41.509273529052734, -32.570716857910156, -24.46886444091797 ], [ -21.621688842773438, -48.93018341064453, -43.51487731933594, -33.890380859375, -24.908424377441406 ], [ -22.667537689208984, -51.33414840698242, -45.35048294067383, -35.258155822753906, -25.59218978881836 ], [ -23.631446838378906, -53.75190353393555, -47.22588348388672, -36.579750061035156, -25.88522720336914 ], [ -24.631237030029297, -56.08552932739258, -48.87034606933594, -37.72834014892578, -26.47130584716797 ], [ -25.51848030090332, -58.316646575927734, -50.614524841308594, -38.90011215209961, -27.25274658203125 ], [ -26.4685115814209, -60.60763168334961, -52.28425979614258, -40.006378173828125, -28.083026885986328 ], [ -27.440013885498047, -62.832637786865234, -53.8089599609375, -40.874813079833984, -28.815628051757812 ], [ -28.31903076171875, -65.07038879394531, -55.4100227355957, -41.895145416259766, -29.304027557373047 ], [ -29.171232223510742, -67.17904663085938, -56.900882720947266, -42.722023010253906, -30.08547019958496 ], [ -29.977346420288086, -69.47423553466797, -58.47737121582031, -43.68773651123047, -30.720394134521484 ], [ -30.89378547668457, -71.63052368164062, -59.99298095703125, -44.4888916015625, -31.648353576660156 ], [ -31.642484664916992, -73.84718322753906, -61.462799072265625, -45.24199676513672, -32.42979431152344 ], [ -32.32075500488281, -75.95257568359375, -63.03707504272461, -46.06254196166992, -33.21123504638672 ], [ -33.15451431274414, -78.04641723632812, -64.5099868774414, -46.876800537109375, -33.99267578125 ], [ -33.88447189331055, -80.07185363769531, -66.01005554199219, -47.53181457519531, -34.871795654296875 ], [ -34.59284973144531, -81.86064147949219, -67.54684448242188, -48.13046646118164, -35.59804916381836 ], [ -35.31484603881836, -83.87776184082031, -68.91935729980469, -48.88631820678711, -35.897438049316406 ], [ -36.01363754272461, -85.80473327636719, -70.41465759277344, -49.496238708496094, -36.630035400390625 ], [ -36.74613952636719, -87.62489318847656, -71.75092315673828, -50.178218841552734, -37.21611785888672 ], [ -37.3576774597168, -89.5080337524414, -72.93238067626953, -50.769615173339844, -37.851036071777344 ], [ -37.9183349609375, -91.5005111694336, -74.01881408691406, -51.26813888549805, -38.4796142578125 ], [ -38.57676315307617, -93.14763641357422, -75.094482421875, -51.724945068359375, -39.07204055786133 ], [ -39.17542266845703, -94.83879089355469, -76.21751403808594, -52.22864532470703, -39.60927963256836 ], [ -39.685115814208984, -96.44297790527344, -77.37602233886719, -52.647098541259766, -40.097679138183594 ], [ -40.29050064086914, -98.11600494384766, -78.4340591430664, -53.11336135864258, -40.78144073486328 ], [ -40.87446594238281, -99.60729217529297, -79.6773681640625, -53.50818634033203, -41.41636276245117 ], [ -41.43830871582031, -101.26556396484375, -80.94036102294922, -53.90514373779297, -42.00244140625 ] ], "q99": [ [ 6.128378868103027, 10.289406776428223, 14.488224983215332, 9.513591766357422, 6.300366401672363 ], [ 7.492611885070801, 12.916463851928711, 18.261327743530273, 11.770153045654297, 7.765567779541016 ], [ 8.82264518737793, 15.527196884155273, 21.893203735351562, 13.947880744934082, 9.13309097290039 ], [ 10.162949562072754, 18.12816619873047, 25.5660457611084, 16.030603408813477, 10.5006103515625 ], [ 11.455141067504883, 20.626684188842773, 29.078506469726562, 17.972827911376953, 11.770452499389648 ], [ 12.710607528686523, 23.10492706298828, 32.47298812866211, 19.829174041748047, 12.991453170776367 ], [ 13.935029029846191, 25.495014190673828, 35.914817810058594, 21.616676330566406, 14.212453842163086 ], [ 15.161338806152344, 27.87274742126465, 39.309661865234375, 23.311927795410156, 15.384614944458008 ], [ 16.390304565429688, 30.143884658813477, 42.558837890625, 24.848243713378906, 16.507936477661133 ], [ 17.56639862060547, 32.36625671386719, 45.7029914855957, 26.368701934814453, 17.631258010864258 ], [ 18.679981231689453, 34.61441421508789, 48.86473846435547, 27.73015594482422, 18.754579544067383 ], [ 19.80518341064453, 36.84672164916992, 51.92863082885742, 29.040287017822266, 19.877901077270508 ], [ 20.981136322021484, 38.88751983642578, 55.04997634887695, 30.271268844604492, 21.001220703125 ], [ 22.071640014648438, 40.851314544677734, 58.03287887573242, 31.667404174804688, 21.929183959960938 ], [ 23.117652893066406, 42.727500915527344, 60.873565673828125, 32.8896369934082, 23.05250358581543 ], [ 24.16513442993164, 44.56582260131836, 63.828216552734375, 34.137939453125, 23.931621551513672 ], [ 25.14303207397461, 46.3560905456543, 66.50749206542969, 35.40883255004883, 24.85958480834961 ], [ 26.122455596923828, 48.08670425415039, 69.22280883789062, 36.5308723449707, 25.64102554321289 ], [ 27.07941436767578, 49.805580139160156, 71.77546691894531, 37.6611328125, 26.47130584716797 ], [ 27.979169845581055, 51.39652633666992, 74.44969940185547, 38.72303771972656, 27.301589965820312 ], [ 28.904905319213867, 53.05278778076172, 76.89393615722656, 39.708675384521484, 28.229549407958984 ], [ 29.775569915771484, 54.648719787597656, 79.33346557617188, 40.73342514038086, 29.102561950683594 ], [ 30.691621780395508, 56.07014083862305, 81.77703857421875, 41.66946029663086, 29.841270446777344 ], [ 31.570072174072266, 57.417030334472656, 84.20545959472656, 42.70597839355469, 30.567764282226562 ], [ 32.547271728515625, 58.912628173828125, 86.61663818359375, 43.534263610839844, 31.452991485595703 ], [ 33.437557220458984, 60.42032241821289, 88.86241912841797, 44.31521987915039, 32.13675308227539 ], [ 34.23238754272461, 61.761375427246094, 90.81718444824219, 45.091888427734375, 32.96703338623047 ], [ 35.152854919433594, 62.84285354614258, 92.93502044677734, 45.953121185302734, 33.650794982910156 ], [ 35.96889114379883, 64.0966567993164, 95.07939147949219, 46.572994232177734, 34.43223571777344 ], [ 36.815853118896484, 65.39662170410156, 97.21588897705078, 47.33292007446289, 34.871795654296875 ], [ 37.495758056640625, 66.75669860839844, 99.34015655517578, 48.0313720703125, 35.409034729003906 ], [ 38.28343963623047, 68.15771484375, 101.28203582763672, 48.628257751464844, 36.0439567565918 ], [ 39.04008865356445, 69.35176086425781, 103.0531997680664, 49.13092803955078, 36.874237060546875 ], [ 39.817684173583984, 70.6734619140625, 105.1889877319336, 49.43215560913086, 37.36263656616211 ], [ 40.569786071777344, 71.93669128417969, 107.05569458007812, 49.969329833984375, 38.089134216308594 ], [ 41.336063385009766, 73.0798110961914, 108.99440002441406, 50.612648010253906, 38.68132019042969 ], [ 42.09616470336914, 74.24652099609375, 111.03352355957031, 50.959739685058594, 39.21855926513672 ], [ 42.86429977416992, 75.44100189208984, 112.84746551513672, 51.48240661621094, 39.755802154541016 ], [ 43.56884765625, 76.55343627929688, 114.62862396240234, 51.822425842285156, 40.19535827636719 ], [ 44.23533630371094, 77.5366439819336, 116.2396011352539, 52.33100891113281, 40.68376159667969 ] ], "count": [ 213114, 213114, 213114, 213114, 213114, 213114, 213114, 213114, 213114, 213114, 213114, 213114, 213114, 213114, 213114, 213114, 213114, 213114, 213114, 213114, 213114, 213114, 213114, 213114, 213114, 213114, 213114, 213114, 213114, 213114, 213114, 213114, 213114, 213114, 213114, 213114, 213114, 213114, 213114, 213114 ] } } }, "modality_config": { "state": { "modality_keys": [ "single_arm", "gripper" ] }, "action": { "modality_keys": [ "single_arm", "gripper" ], "action_configs": [ { "rep": "RELATIVE", "type": "NON_EEF", "format": "DEFAULT", "state_key": null }, { "rep": "ABSOLUTE", "type": "NON_EEF", "format": "DEFAULT", "state_key": null } ], "delta_indices": [ 0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39 ] }, "video": { "modality_keys": [ "gripper", "newtop", "newside" ], "delta_indices": [ 0 ] } }, "use_percentiles": true, "use_relative_action": true, "action_decode_transform": null } }, { "registry_name": "device_processor", "config": { "device": "cpu", "float_dtype": null } } ] }