Update I2V, FD, and ID examples for the converted checkpoint

assets/diffusers_outputs/edge_action_id_av_inverse_0_diffusers.json

@@ -1,671 +1,671 @@
 {
   "data": [
     [
-      0.00390625,
-      -0.00390625,
-      0.04296875,
-      1.0,
-      -0.0001220703125,
-      0.001953125,
-      -0.0029296875,
-      1.0078125,
-      -0.001953125
-    ],
-    [
-      -0.00390625,
-      -0.0048828125,
-      0.01953125,
-      1.0,
-      0.0013427734375,
-      -0.0029296875,
-      -0.00146484375,
-      1.0,
-      0.00048828125
-    ],
-    [
-      -0.001953125,
-      0.00390625,
-      0.0166015625,
-      1.0078125,
-      0.001953125,
-      -0.00048828125,
-      0.0009765625,
-      1.0078125,
-      0.001953125
-    ],
-    [
-      -0.0078125,
-      -0.0029296875,
-      0.0126953125,
-      1.0,
-      -0.00146484375,
-      0.00390625,
-      0.00048828125,
-      1.0,
-      0.0048828125
-    ],
-    [
-      -0.0009765625,
-      -0.00048828125,
-      0.00341796875,
-      1.0078125,
-      0.00146484375,
-      0.001953125,
-      0.0,
-      1.0078125,
-      0.001953125
-    ],
-    [
-      0.001953125,
-      -0.0029296875,
-      0.0087890625,
-      1.0,
-      -0.0010986328125,
-      0.0,
-      -0.00146484375,
-      1.0078125,
-      0.00048828125
-    ],
-    [
-      0.0,
-      -0.0078125,
-      0.0048828125,
-      1.0078125,
-      -0.00146484375,
-      -0.001953125,
-      0.00048828125,
-      1.0078125,
-      0.00390625
-    ],
-    [
-      -0.00341796875,
-      0.001953125,
-      0.0048828125,
-      1.0078125,
-      0.0,
-      0.0,
-      -0.00390625,
-      1.0078125,
-      -0.00048828125
-    ],
-    [
-      -0.0029296875,
-      -0.00146484375,
-      0.0,
-      1.0,
-      -0.0029296875,
-      0.0,
-      -0.005859375,
-      1.0078125,
-      -0.00042724609375
-    ],
-    [
-      -0.0048828125,
-      0.0,
-      0.0078125,
-      1.0,
-      -0.0009765625,
-      -0.0029296875,
-      -0.0029296875,
-      1.015625,
-      -0.00390625
-    ],
-    [
-      -0.0009765625,
-      -0.00390625,
-      0.00390625,
-      1.0,
-      -0.001953125,
-      -0.0009765625,
-      -0.00048828125,
-      1.0078125,
-      0.00390625
-    ],
-    [
-      -0.0009765625,
-      -0.001953125,
-      0.0048828125,
-      1.0078125,
-      -0.00018310546875,
-      -0.0009765625,
-      0.0009765625,
-      1.0078125,
-      -0.0009765625
-    ],
-    [
-      -0.00390625,
-      -0.000244140625,
-      0.009765625,
-      1.0,
-      -0.0009765625,
-      -0.0009765625,
-      -0.0003662109375,
-      1.0,
-      0.0009765625
-    ],
-    [
-      -0.001953125,
-      0.0,
-      0.0224609375,
-      1.0078125,
-      -0.00201416015625,
-      -0.00048828125,
-      0.0,
-      1.0078125,
-      0.001953125
-    ],
-    [
-      0.001953125,
-      -0.00390625,
-      0.021484375,
-      1.0,
-      0.00048828125,
-      -0.0008544921875,
-      0.001953125,
-      1.0,
-      -0.0009765625
-    ],
-    [
-      0.001953125,
-      -0.0029296875,
-      0.025390625,
-      1.0078125,
-      0.00390625,
-      -0.0009765625,
-      -0.0048828125,
-      1.0,
-      0.0
-    ],
-    [
-      -0.00390625,
-      0.001953125,
-      0.041015625,
-      1.0,
-      0.0,
-      -0.000732421875,
-      0.0,
-      1.0078125,
-      0.0
-    ],
-    [
-      0.00048828125,
-      0.001953125,
-      0.05078125,
-      1.0078125,
-      -0.005859375,
-      -0.00390625,
-      0.002685546875,
-      1.0078125,
-      0.005859375
-    ],
-    [
-      -0.0009765625,
-      0.001953125,
-      0.054931640625,
-      1.0,
-      -0.00390625,
-      -0.001953125,
-      0.00390625,
-      1.0078125,
-      0.00341796875
-    ],
-    [
-      -0.0078125,
-      -0.0018310546875,
-      0.064453125,
-      0.99609375,
-      -0.00390625,
-      0.0,
-      -0.001953125,
-      1.0078125,
-      0.0014495849609375
-    ],
-    [
-      -0.00146484375,
-      -0.00390625,
-      0.076171875,
-      1.0,
-      -0.0010986328125,
-      -0.0029296875,
-      0.0048828125,
-      1.0078125,
-      0.001953125
-    ],
-    [
-      -0.00048828125,
-      -0.001953125,
-      0.09033203125,
-      1.0,
-      0.00146484375,
-      -0.00146484375,
-      -0.00390625,
-      1.0078125,
-      -0.0054931640625
-    ],
-    [
-      -0.0009765625,
-      0.0,
-      0.103515625,
-      1.0,
-      0.00048828125,
-      0.0001220703125,
-      -0.0009765625,
-      1.015625,
-      -0.00146484375
-    ],
-    [
-      -0.00244140625,
-      -0.00390625,
-      0.111328125,
-      1.0,
-      -0.0078125,
-      -0.005859375,
-      -0.0013427734375,
-      1.0078125,
-      -0.0078125
-    ],
-    [
-      0.001953125,
-      0.00244140625,
-      0.119140625,
-      1.0,
-      -0.0009765625,
-      -0.0001220703125,
-      -0.001953125,
-      1.0078125,
-      0.0
-    ],
-    [
-      -0.001708984375,
-      0.0009765625,
-      0.12451171875,
-      1.0,
-      -0.001708984375,
-      0.00146484375,
-      0.0,
-      1.0,
-      0.0009765625
-    ],
-    [
-      0.0,
-      -0.0009765625,
-      0.1337890625,
-      0.9921875,
-      -0.00390625,
-      -0.00390625,
-      0.005859375,
-      1.015625,
-      0.0
-    ],
-    [
-      -0.0029296875,
-      0.00390625,
-      0.142578125,
-      1.0,
-      0.0009765625,
-      -0.0009765625,
-      -0.001953125,
-      1.0,
-      -0.0009765625
-    ],
-    [
-      -0.001953125,
-      0.0,
-      0.154296875,
-      1.0,
-      0.0,
-      0.0,
-      0.00341796875,
-      1.0078125,
-      0.000732421875
-    ],
-    [
-      0.0,
-      -0.0009765625,
-      0.1640625,
-      1.0,
-      0.0,
-      -0.0015869140625,
-      0.0,
-      1.0,
-      -0.001953125
-    ],
-    [
-      0.0009765625,
-      0.002593994140625,
-      0.173828125,
-      1.0078125,
-      -0.0009765625,
-      0.0,
-      0.0006103515625,
-      1.0078125,
-      0.0
-    ],
-    [
-      -0.001953125,
-      -0.001953125,
-      0.181640625,
-      1.0,
-      -0.0009765625,
-      0.0,
-      0.001953125,
-      1.0078125,
-      -0.001953125
-    ],
-    [
-      0.0,
-      0.00146484375,
-      0.189453125,
-      1.0,
-      -0.00048828125,
-      -0.0048828125,
-      -0.001953125,
-      1.0078125,
-      -0.0009765625
-    ],
-    [
-      0.00244140625,
-      0.00244140625,
-      0.1962890625,
-      1.0,
-      0.0,
-      -0.0006103515625,
-      0.0,
-      1.0078125,
-      0.0
-    ],
-    [
-      0.0,
-      0.001708984375,
-      0.19921875,
-      1.0,
-      0.0009765625,
-      -0.00390625,
-      0.001953125,
-      1.0078125,
-      -0.001953125
-    ],
-    [
-      0.005859375,
-      0.001953125,
-      0.21484375,
-      1.0078125,
-      0.0009765625,
-      -0.001953125,
-      0.001953125,
-      1.0078125,
-      -0.00390625
-    ],
-    [
-      0.0078125,
-      0.0029296875,
-      0.208984375,
-      1.0,
-      -0.0009765625,
-      -0.005859375,
-      0.00146484375,
-      1.0078125,
-      -0.001953125
-    ],
-    [
-      0.00872802734375,
-      0.001953125,
-      0.21875,
-      1.0,
-      0.0009765625,
-      -0.0045166015625,
-      0.0009765625,
-      1.0078125,
-      -0.0006103515625
-    ],
-    [
-      0.013671875,
-      0.0009765625,
-      0.22265625,
-      1.0,
-      -0.00139617919921875,
-      -0.0048828125,
-      0.00390625,
-      1.0,
-      -0.00170135498046875
-    ],
-    [
-      0.012451171875,
-      -0.000244140625,
-      0.232421875,
-      1.0,
-      0.000244140625,
-      -0.007568359375,
-      -0.0029296875,
-      1.0078125,
-      0.000244140625
-    ],
-    [
-      0.0126953125,
-      0.001953125,
-      0.2451171875,
-      1.0,
-      0.001953125,
-      -0.0078125,
-      0.0,
-      1.0078125,
-      0.001953125
-    ],
-    [
-      0.013671875,
-      0.0009765625,
-      0.259765625,
-      1.0078125,
-      0.00390625,
-      -0.0079345703125,
-      0.001953125,
-      1.0078125,
-      0.001953125
-    ],
-    [
-      0.013671875,
-      0.001953125,
-      0.265625,
-      1.0078125,
-      0.0,
-      -0.0078125,
-      0.003662109375,
-      1.0078125,
-      0.001953125
-    ],
-    [
-      0.017578125,
-      0.0029296875,
-      0.26953125,
-      1.0,
-      0.00103759765625,
-      -0.009765625,
-      0.00146484375,
-      1.0078125,
-      -0.000732421875
-    ],
-    [
-      0.015625,
-      0.005859375,
-      0.28125,
-      1.0,
-      0.0029296875,
-      -0.0048828125,
-      -0.00146484375,
-      1.0,
-      0.0
-    ],
-    [
-      0.015625,
-      0.00390625,
-      0.30078125,
-      1.0,
-      -0.00390625,
-      -0.009765625,
-      0.001953125,
-      1.0,
-      0.00390625
-    ],
-    [
-      0.01806640625,
-      0.0029296875,
-      0.30078125,
-      1.0,
-      0.0009765625,
-      -0.0078125,
-      -0.0009765625,
-      1.0078125,
-      0.00048828125
-    ],
-    [
-      0.015625,
-      0.0029296875,
-      0.314453125,
-      1.0,
-      -0.00048828125,
-      -0.0048828125,
-      0.0,
-      1.0,
-      0.001220703125
-    ],
-    [
-      0.015625,
-      0.0029296875,
-      0.32421875,
-      1.0,
-      0.0,
-      -0.009765625,
-      -0.00125885009765625,
-      1.0078125,
-      0.0009765625
-    ],
-    [
-      0.0146484375,
-      0.004150390625,
-      0.34375,
-      1.0,
-      -0.0001220703125,
-      -0.009765625,
-      -0.001953125,
-      1.0078125,
-      -0.00390625
-    ],
-    [
-      0.0167236328125,
-      0.0029296875,
-      0.3515625,
-      1.0,
-      0.001953125,
-      -0.0078125,
-      -0.00048828125,
-      1.0,
-      0.0009765625
-    ],
-    [
-      0.013671875,
-      0.00390625,
-      0.359375,
-      1.0,
-      0.0009765625,
-      -0.0087890625,
-      0.0,
-      1.0,
-      0.0
-    ],
-    [
-      0.013671875,
-      0.00341796875,
-      0.376953125,
-      1.0,
-      0.0,
-      -0.0052490234375,
-      0.00390625,
-      1.0078125,
-      0.0
-    ],
-    [
-      0.01953125,
-      0.00390625,
-      0.38671875,
-      1.0,
-      0.00390625,
-      -0.0078125,
-      0.0006103515625,
-      1.0078125,
-      -0.0009765625
-    ],
-    [
-      0.0126953125,
-      0.005859375,
-      0.40234375,
-      1.0,
-      0.0025634765625,
-      -0.00634765625,
-      0.0009765625,
-      1.0078125,
-      -0.00390625
-    ],
-    [
-      0.0162353515625,
-      0.005859375,
-      0.404296875,
-      1.0,
-      0.00341796875,
-      -0.0087890625,
-      -0.00146484375,
-      1.0,
-      -0.0010986328125
-    ],
-    [
-      0.017578125,
-      0.00439453125,
-      0.41796875,
-      1.0,
-      0.0029296875,
-      -0.005859375,
-      -0.001953125,
-      1.0,
-      -0.0029296875
-    ],
-    [
-      0.0185546875,
-      0.0054931640625,
-      0.421875,
-      1.0,
-      0.001953125,
-      -0.00341796875,
-      -0.000732421875,
-      1.0078125,
-      -0.001953125
-    ],
-    [
-      0.017578125,
-      0.00048828125,
-      0.42578125,
-      1.0,
-      0.001953125,
-      -0.0048828125,
-      0.0,
-      1.0078125,
-      -0.00390625
-    ],
-    [
-      0.013671875,
-      0.0078125,
-      0.45703125,
-      1.0,
-      0.00390625,
-      -0.0078125,
-      0.00146484375,
-      1.0078125,
-      -0.0009765625
+      -0.013148754835128784,
+      -0.007273353636264801,
+      0.008258908987045288,
+      0.9254555702209473,
+      -0.018639683723449707,
+      0.004321083426475525,
+      -0.00694487988948822,
+      0.9603041410446167,
+      0.007375245913863182
+    ],
+    [
+      0.0006928369402885437,
+      0.00114353746175766,
+      0.04833635687828064,
+      0.9550113677978516,
+      0.007736995816230774,
+      -0.0007977494969964027,
+      -0.001905590295791626,
+      0.9611708521842957,
+      -0.0071649253368377686
+    ],
+    [
+      0.00024224817752838135,
+      -0.00632748007774353,
+      0.01743471622467041,
+      0.9503518342971802,
+      0.006431609392166138,
+      -0.0021766857244074345,
+      0.004798382520675659,
+      0.9540749192237854,
+      -0.002829238772392273
+    ],
+    [
+      -0.003921394236385822,
+      0.008617669343948364,
+      -0.012175090610980988,
+      0.9608586430549622,
+      -0.008618205785751343,
+      -0.008708074688911438,
+      -0.013742625713348389,
+      0.9400895833969116,
+      0.006977975368499756
+    ],
+    [
+      0.005376532673835754,
+      0.003240346908569336,
+      0.018488049507141113,
+      0.9523720145225525,
+      0.01081898808479309,
+      -0.00035040080547332764,
+      0.00804641842842102,
+      0.9556390643119812,
+      0.012530684471130371
+    ],
+    [
+      0.005463764071464539,
+      0.0012700557708740234,
+      -0.012111283838748932,
+      0.9668004512786865,
+      0.009593963623046875,
+      0.0014052540063858032,
+      0.00772630050778389,
+      0.935010552406311,
+      0.011620238423347473
+    ],
+    [
+      -0.003778284415602684,
+      0.012686282396316528,
+      0.012819170951843262,
+      0.9748083353042603,
+      -0.015680819749832153,
+      -0.0014512911438941956,
+      -0.004034742712974548,
+      0.9654931426048279,
+      0.0029178932309150696
+    ],
+    [
+      0.009581685066223145,
+      -0.0018721558153629303,
+      0.015696480870246887,
+      0.9498556852340698,
+      -0.007028155028820038,
+      -0.003986746072769165,
+      -0.0010101348161697388,
+      0.9363378286361694,
+      0.0034978240728378296
+    ],
+    [
+      0.011020243167877197,
+      0.015359997749328613,
+      0.0042057037353515625,
+      0.9537041783332825,
+      -0.008601069450378418,
+      -0.0073888301849365234,
+      0.0013249143958091736,
+      0.94188392162323,
+      0.0001823045313358307
+    ],
+    [
+      0.008615091443061829,
+      0.005651026964187622,
+      -0.009945794939994812,
+      0.9452113509178162,
+      0.019210517406463623,
+      0.004503607749938965,
+      0.015948235988616943,
+      0.9488579630851746,
+      0.008347108960151672
+    ],
+    [
+      0.001062244176864624,
+      -0.01891157031059265,
+      -0.0280563086271286,
+      0.9730226993560791,
+      0.011333107948303223,
+      -0.000612400472164154,
+      -0.004964202642440796,
+      0.9605361819267273,
+      0.00998196005821228
+    ],
+    [
+      0.0016751736402511597,
+      -0.024208784103393555,
+      -0.024219349026679993,
+      0.9559570550918579,
+      -0.009602159261703491,
+      -0.004984036087989807,
+      0.0061578452587127686,
+      0.950946033000946,
+      0.008079171180725098
+    ],
+    [
+      -0.011940449476242065,
+      -0.0034200847148895264,
+      0.0017094612121582031,
+      0.9588748812675476,
+      0.006712079048156738,
+      -0.004783693701028824,
+      -0.00014981627464294434,
+      0.9792852997779846,
+      -0.00029080547392368317
+    ],
+    [
+      0.0016713226214051247,
+      -0.0047683920711278915,
+      0.0011281678453087807,
+      0.9475633502006531,
+      0.007233217358589172,
+      -9.954720735549927e-05,
+      -0.0002157837152481079,
+      0.9581102132797241,
+      -0.001299828290939331
+    ],
+    [
+      0.006934747099876404,
+      0.008136779069900513,
+      -0.039625704288482666,
+      0.9607610106468201,
+      0.010957300662994385,
+      0.0001928955316543579,
+      0.004511512815952301,
+      0.9533595442771912,
+      0.011611387133598328
+    ],
+    [
+      0.007694117724895477,
+      -0.01480981707572937,
+      0.01341133564710617,
+      0.9478503465652466,
+      0.0021869465708732605,
+      -0.0011091921478509903,
+      0.003402979113161564,
+      0.9389904737472534,
+      -0.0016643255949020386
+    ],
+    [
+      -0.006875067949295044,
+      0.0049460530281066895,
+      0.0421476811170578,
+      0.9672802090644836,
+      -0.01006162166595459,
+      0.0008940547704696655,
+      0.007537230849266052,
+      0.9556049704551697,
+      0.0027959682047367096
+    ],
+    [
+      -0.0024900436401367188,
+      -0.005135815590620041,
+      0.05198696255683899,
+      0.9647979140281677,
+      0.01649463176727295,
+      0.003368660807609558,
+      -0.019760966300964355,
+      0.9663780331611633,
+      -0.004725992679595947
+    ],
+    [
+      -0.0026149116456508636,
+      -0.007602095603942871,
+      0.03872739523649216,
+      0.9427680969238281,
+      -0.0020749270915985107,
+      -0.004558362066745758,
+      -0.011337906122207642,
+      0.9802517890930176,
+      0.0020113736391067505
+    ],
+    [
+      -0.0024757981300354004,
+      -0.007645174860954285,
+      0.07559360563755035,
+      0.9630593061447144,
+      -0.0025666803121566772,
+      -0.00292031466960907,
+      -0.012108653783798218,
+      0.9655929803848267,
+      0.0013676062226295471
+    ],
+    [
+      0.0007936935871839523,
+      0.0024557560682296753,
+      0.036987900733947754,
+      0.9483445882797241,
+      0.006975963711738586,
+      0.0030634403228759766,
+      -0.0004689544439315796,
+      0.9642810225486755,
+      -0.001054992899298668
+    ],
+    [
+      -0.003186628222465515,
+      0.00013031065464019775,
+      0.06438089907169342,
+      0.967340350151062,
+      -0.008410289883613586,
+      -0.007106497883796692,
+      0.010625198483467102,
+      0.9285515546798706,
+      -0.0012674331665039062
+    ],
+    [
+      -0.02860349416732788,
+      -8.131563663482666e-05,
+      0.08170737326145172,
+      0.9743189811706543,
+      0.004199020564556122,
+      0.006051763892173767,
+      0.004216104745864868,
+      0.9849252700805664,
+      -0.01118806004524231
+    ],
+    [
+      0.00029268115758895874,
+      -0.0008304938673973083,
+      0.08716102689504623,
+      0.9572217464447021,
+      0.00250987708568573,
+      -0.0032331272959709167,
+      -0.004110082983970642,
+      0.9600695371627808,
+      -0.0021736174821853638
+    ],
+    [
+      0.016955643892288208,
+      0.0030432939529418945,
+      0.04992994666099548,
+      0.9569373726844788,
+      -0.011746704578399658,
+      -0.0003188829869031906,
+      -0.007667466998100281,
+      0.9866983890533447,
+      0.004928670823574066
+    ],
+    [
+      -0.0039969682693481445,
+      0.00038054585456848145,
+      0.12631714344024658,
+      0.9718866348266602,
+      0.018440932035446167,
+      -0.005601778626441956,
+      -0.009917289018630981,
+      0.9650411605834961,
+      0.005232140421867371
+    ],
+    [
+      -0.0012138709425926208,
+      -0.011934876441955566,
+      0.11297653615474701,
+      0.9682045578956604,
+      0.0012573739513754845,
+      0.0006018783897161484,
+      0.009243190288543701,
+      0.9470562934875488,
+      0.012865453958511353
+    ],
+    [
+      -0.009654894471168518,
+      0.004492349922657013,
+      0.14582459628582,
+      0.941580057144165,
+      -0.027970850467681885,
+      -0.01605433225631714,
+      -0.003179602324962616,
+      0.9500089883804321,
+      -0.005389504134654999
+    ],
+    [
+      0.014612823724746704,
+      -0.004633047617971897,
+      0.14664553105831146,
+      0.9637702703475952,
+      -0.0011444943957030773,
+      -0.0005822107195854187,
+      0.005188122391700745,
+      0.9636419415473938,
+      -0.007603704929351807
+    ],
+    [
+      -0.014512777328491211,
+      -0.00830838829278946,
+      0.14723633229732513,
+      0.9575201272964478,
+      0.009052962064743042,
+      0.002744898200035095,
+      0.00654207170009613,
+      0.9790866374969482,
+      -0.006706550717353821
+    ],
+    [
+      -0.01381877064704895,
+      0.013246327638626099,
+      0.1438756138086319,
+      0.9541648626327515,
+      0.0031017810106277466,
+      -0.010317087173461914,
+      0.004141256213188171,
+      0.9406745433807373,
+      -0.0032720565795898438
+    ],
+    [
+      0.0049401819705963135,
+      0.016335099935531616,
+      0.1370936781167984,
+      0.9569792747497559,
+      0.009543389081954956,
+      -0.0038724213372915983,
+      -0.011453330516815186,
+      0.9742096066474915,
+      -0.013819366693496704
+    ],
+    [
+      0.016965091228485107,
+      -0.014787629246711731,
+      0.18282562494277954,
+      0.952957034111023,
+      0.00769689679145813,
+      -0.006391674280166626,
+      0.00217418372631073,
+      0.9660205841064453,
+      0.006829023361206055
+    ],
+    [
+      0.00011231936514377594,
+      0.022837340831756592,
+      0.21823179721832275,
+      0.9779958128929138,
+      0.0016702637076377869,
+      -0.01641136407852173,
+      0.008365646004676819,
+      0.9648821949958801,
+      -0.015010237693786621
+    ],
+    [
+      -0.003881126642227173,
+      0.008091509342193604,
+      0.16629643738269806,
+      0.9440470933914185,
+      0.017186373472213745,
+      -0.0032056421041488647,
+      0.015325725078582764,
+      0.9715288877487183,
+      0.005628049373626709
+    ],
+    [
+      0.015618979930877686,
+      -0.016067102551460266,
+      0.1358950436115265,
+      0.9455870985984802,
+      0.015390992164611816,
+      0.0032478421926498413,
+      0.007700107991695404,
+      0.949781060218811,
+      0.00139538012444973
+    ],
+    [
+      0.003707513213157654,
+      0.0012879809364676476,
+      0.18519513309001923,
+      0.9606454968452454,
+      -0.016481131315231323,
+      -0.0009821802377700806,
+      -0.0053266435861587524,
+      0.9794431924819946,
+      0.002626672387123108
+    ],
+    [
+      0.016481012105941772,
+      -0.017973721027374268,
+      0.14953568577766418,
+      0.9501946568489075,
+      0.013054758310317993,
+      -0.0001233518123626709,
+      0.002798639237880707,
+      0.963482141494751,
+      0.0029630735516548157
+    ],
+    [
+      0.027081698179244995,
+      -0.008018411695957184,
+      0.19762511551380157,
+      0.9853548407554626,
+      0.007277920842170715,
+      0.0018384754657745361,
+      -0.0006946176290512085,
+      0.9530956149101257,
+      -0.00409291684627533
+    ],
+    [
+      0.009928137063980103,
+      -0.01654413342475891,
+      0.18209686875343323,
+      0.9711376428604126,
+      0.01371067762374878,
+      -0.01334737241268158,
+      -0.011193245649337769,
+      0.9716130495071411,
+      0.005922876298427582
+    ],
+    [
+      0.012314438819885254,
+      -0.0027115456759929657,
+      0.18243494629859924,
+      0.9741570949554443,
+      0.008049450814723969,
+      -0.004693128168582916,
+      -0.003039032220840454,
+      0.9581626057624817,
+      0.012616187334060669
+    ],
+    [
+      0.0076538920402526855,
+      -0.003307037055492401,
+      0.20810538530349731,
+      0.948331892490387,
+      -0.015447914600372314,
+      -0.01176406443119049,
+      -0.0022220220416784286,
+      0.9713965058326721,
+      -0.0014124363660812378
+    ],
+    [
+      0.022586889564990997,
+      -0.008036494255065918,
+      0.21718934178352356,
+      0.9554579257965088,
+      0.028451621532440186,
+      -0.008404174819588661,
+      -0.0012748166918754578,
+      0.9658167362213135,
+      -0.0026244521141052246
+    ],
+    [
+      0.015891581773757935,
+      0.0012519285082817078,
+      0.2355501353740692,
+      0.9612299799919128,
+      -0.005295991897583008,
+      0.00039255619049072266,
+      -0.00497812032699585,
+      0.9328453540802002,
+      -0.002513475716114044
+    ],
+    [
+      0.024546697735786438,
+      0.004739120602607727,
+      0.24198676645755768,
+      0.9556739926338196,
+      0.001108948141336441,
+      -0.010602131485939026,
+      -0.0015903003513813019,
+      0.9675569534301758,
+      0.004108220338821411
+    ],
+    [
+      0.02232934534549713,
+      0.018866419792175293,
+      0.24329781532287598,
+      0.9607975482940674,
+      -0.008478760719299316,
+      -0.00401577353477478,
+      0.005954533815383911,
+      0.961711585521698,
+      -0.008179426193237305
+    ],
+    [
+      0.014459583908319473,
+      0.013193011283874512,
+      0.2807546854019165,
+      0.9628647565841675,
+      0.02138429880142212,
+      -0.009663410484790802,
+      0.012736231088638306,
+      0.9604622721672058,
+      0.004635050892829895
+    ],
+    [
+      0.03173169493675232,
+      -0.008499197661876678,
+      0.2548338770866394,
+      0.9557382464408875,
+      0.0049033742398023605,
+      0.006540834903717041,
+      0.013527542352676392,
+      0.9523492455482483,
+      0.0032977014780044556
+    ],
+    [
+      0.03362193703651428,
+      0.005373731255531311,
+      0.28878676891326904,
+      0.9541832804679871,
+      0.00421798974275589,
+      -0.022053956985473633,
+      -0.007141679525375366,
+      0.9740029573440552,
+      0.002051055431365967
+    ],
+    [
+      0.0156448632478714,
+      0.007966414093971252,
+      0.26515382528305054,
+      0.9523801803588867,
+      0.0037920400500297546,
+      -0.011845819652080536,
+      -0.005416005849838257,
+      0.9764019846916199,
+      0.0025727003812789917
+    ],
+    [
+      0.025211334228515625,
+      -0.0038858801126480103,
+      0.3200596272945404,
+      0.9874192476272583,
+      0.01006472110748291,
+      -0.005867555737495422,
+      0.0030220672488212585,
+      0.950593113899231,
+      -0.002622779458761215
+    ],
+    [
+      0.016667742282152176,
+      0.016612201929092407,
+      0.3063710629940033,
+      0.9813263416290283,
+      0.010637477040290833,
+      -0.0004864633083343506,
+      0.009502381086349487,
+      0.9399935007095337,
+      -0.0036408603191375732
+    ],
+    [
+      0.03205466270446777,
+      -0.005740225315093994,
+      0.3219253718852997,
+      0.9442741870880127,
+      -0.0003297049552202225,
+      -0.007991593331098557,
+      -0.012274682521820068,
+      0.9457107782363892,
+      0.001197025179862976
+    ],
+    [
+      0.019879944622516632,
+      -0.00796326994895935,
+      0.34765785932540894,
+      0.9492185711860657,
+      0.008849918842315674,
+      -0.003306932747364044,
+      0.005508631467819214,
+      0.9591333866119385,
+      0.008243441581726074
+    ],
+    [
+      0.015053778886795044,
+      -0.00721488893032074,
+      0.3408358097076416,
+      0.9282618761062622,
+      0.002898307517170906,
+      -0.00362338125705719,
+      0.027731001377105713,
+      0.9604060053825378,
+      -0.00824989378452301
+    ],
+    [
+      0.015081822872161865,
+      -0.006049111485481262,
+      0.35627633333206177,
+      0.9522294998168945,
+      0.014767050743103027,
+      -0.013559997081756592,
+      -0.0005444735288619995,
+      0.9336357116699219,
+      -0.008866548538208008
+    ],
+    [
+      0.012881480157375336,
+      -0.008715510368347168,
+      0.35815778374671936,
+      0.9767504334449768,
+      0.011995196342468262,
+      -0.0015369206666946411,
+      -0.00036385655403137207,
+      0.9670126438140869,
+      0.006960272789001465
+    ],
+    [
+      0.022443406283855438,
+      -0.002777688205242157,
+      0.3705684542655945,
+      0.9601130485534668,
+      -0.010128200054168701,
+      -0.00759703665971756,
+      0.0009619146585464478,
+      0.968835711479187,
+      -0.006335556507110596
+    ],
+    [
+      0.0191623717546463,
+      -0.003963552415370941,
+      0.3500891327857971,
+      0.9584890007972717,
+      -0.0029276683926582336,
+      -0.015166878700256348,
+      -0.002148374915122986,
+      0.9575344920158386,
+      0.010722845792770386
+    ],
+    [
+      0.006769150495529175,
+      -0.0050390660762786865,
+      0.4090595245361328,
+      0.9641549587249756,
+      -0.002060607075691223,
+      -0.015374422073364258,
+      0.005776405334472656,
+      0.9640921354293823,
+      0.0018393322825431824
     ]
   ],
   "shape": [
     60,
     9
   ],
-  "dtype": "torch.bfloat16",
+  "dtype": "torch.float32",
   "raw_action_dim": 9,
   "action_mode": "inverse_dynamics",
   "domain_id": 1

assets/diffusers_outputs/edge_action_id_av_inverse_1_diffusers.json

@@ -1,671 +1,671 @@
 {
   "data": [
     [
-      0.05859375,
-      0.0029296875,
-      1.125,
-      1.015625,
-      0.001220703125,
-      -0.02001953125,
-      -0.00390625,
-      1.0078125,
-      0.0009765625
-    ],
-    [
-      0.072265625,
-      -0.0029296875,
-      1.1171875,
-      1.0078125,
-      0.002197265625,
-      -0.0234375,
-      0.00244140625,
-      1.015625,
-      0.0009765625
-    ],
-    [
-      0.0712890625,
-      -0.01171875,
-      1.078125,
-      1.0,
-      -0.005859375,
-      -0.0234375,
-      -0.0009765625,
-      1.015625,
-      0.0078125
-    ],
-    [
-      0.08984375,
-      -0.017578125,
-      1.0625,
-      1.015625,
-      -0.00341796875,
-      -0.03515625,
-      0.00244140625,
-      1.015625,
-      0.007080078125
-    ],
-    [
-      0.08935546875,
-      -0.015625,
-      1.046875,
-      1.0078125,
-      0.0,
-      -0.0302734375,
-      0.0,
-      1.0078125,
-      0.009765625
-    ],
-    [
-      0.09375,
-      -0.0087890625,
-      1.03125,
-      1.0078125,
-      -0.001953125,
-      -0.0341796875,
-      -0.00048828125,
-      1.0078125,
-      0.00390625
-    ],
-    [
-      0.099609375,
-      0.0,
-      1.015625,
-      1.0078125,
-      -0.000732421875,
-      -0.037109375,
-      0.0029296875,
-      1.0078125,
-      -0.005859375
-    ],
-    [
-      0.11181640625,
-      0.017578125,
-      1.0078125,
-      1.0078125,
-      0.00390625,
-      -0.033203125,
-      -0.005859375,
-      1.0078125,
-      -0.00390625
-    ],
-    [
-      0.1220703125,
-      0.01904296875,
-      1.015625,
-      1.0078125,
-      0.0009765625,
-      -0.0400390625,
-      -0.0048828125,
-      1.0078125,
-      -0.00439453125
-    ],
-    [
-      0.125,
-      0.017578125,
-      1.0,
-      1.0,
-      0.00341796875,
-      -0.041015625,
-      -0.001953125,
-      1.0078125,
-      -0.0078125
-    ],
-    [
-      0.12451171875,
-      0.0107421875,
-      0.98828125,
-      1.0,
-      0.000244140625,
-      -0.04443359375,
-      0.001953125,
-      1.0078125,
-      0.0
-    ],
-    [
-      0.126953125,
-      0.005859375,
-      0.9921875,
-      1.0078125,
-      -0.00115966796875,
-      -0.04296875,
-      0.001953125,
-      1.0078125,
-      0.001953125
-    ],
-    [
-      0.12890625,
-      0.010986328125,
-      0.984375,
-      1.0,
-      0.0029296875,
-      -0.044189453125,
-      -0.00091552734375,
-      1.0078125,
-      0.001953125
-    ],
-    [
-      0.1337890625,
-      0.013671875,
-      0.98828125,
-      1.0078125,
-      0.003387451171875,
-      -0.046875,
-      -0.00390625,
-      1.0,
-      0.001953125
-    ],
-    [
-      0.1328125,
-      0.01171875,
-      0.98828125,
-      1.0078125,
-      0.00244140625,
-      -0.044189453125,
-      0.0,
-      1.0078125,
-      -0.00341796875
-    ],
-    [
-      0.123046875,
-      0.0078125,
-      0.984375,
-      1.0078125,
-      0.001953125,
-      -0.041015625,
-      -0.0009765625,
-      1.0,
-      -0.003173828125
-    ],
-    [
-      0.126953125,
-      0.013671875,
-      1.0,
-      1.0078125,
-      0.001953125,
-      -0.041015625,
-      0.0009765625,
-      1.0,
-      0.0
-    ],
-    [
-      0.125,
-      0.01171875,
-      1.015625,
-      1.0078125,
-      -0.001953125,
-      -0.04443359375,
-      0.001220703125,
-      1.0078125,
-      0.005859375
-    ],
-    [
-      0.12890625,
-      0.013671875,
-      1.0234375,
-      1.0078125,
-      0.00390625,
-      -0.04052734375,
-      -0.001953125,
-      1.0078125,
-      0.00244140625
-    ],
-    [
-      0.12109375,
-      0.02099609375,
-      1.03125,
-      1.0078125,
-      0.0029296875,
-      -0.0419921875,
-      0.0,
-      1.0078125,
-      0.001800537109375
-    ],
-    [
-      0.1220703125,
-      0.021484375,
-      1.0546875,
-      1.0078125,
-      0.0030059814453125,
-      -0.037841796875,
-      0.00390625,
-      1.0078125,
-      0.0
-    ],
-    [
-      0.1259765625,
-      0.017578125,
-      1.0703125,
-      1.0,
-      0.004638671875,
-      -0.0361328125,
-      -0.00390625,
-      1.0078125,
-      -0.0048828125
-    ],
-    [
-      0.1220703125,
-      0.0224609375,
-      1.09375,
-      1.0,
-      0.0029296875,
-      -0.036376953125,
-      -0.0048828125,
-      1.0078125,
-      -0.00048828125
-    ],
-    [
-      0.1162109375,
-      0.0205078125,
-      1.1015625,
-      1.0078125,
-      0.0,
-      -0.0390625,
-      -0.00445556640625,
-      1.0078125,
-      -0.005859375
-    ],
-    [
-      0.11279296875,
-      0.02001953125,
-      1.125,
-      1.0,
-      0.0029296875,
-      -0.03466796875,
-      -0.00390625,
-      1.0078125,
-      -0.001953125
-    ],
-    [
-      0.107421875,
-      0.0205078125,
-      1.1328125,
-      1.0078125,
-      -0.0009765625,
-      -0.033203125,
-      -0.001953125,
-      1.0078125,
-      -0.0009765625
-    ],
-    [
-      0.10546875,
-      0.0185546875,
-      1.140625,
-      1.0,
-      -0.0009765625,
-      -0.03125,
-      0.0048828125,
-      1.0078125,
-      -0.001953125
-    ],
-    [
-      0.1025390625,
-      0.021484375,
-      1.171875,
-      1.0078125,
-      0.0,
-      -0.03076171875,
-      -0.001953125,
-      1.0,
-      0.0
-    ],
-    [
-      0.09765625,
-      0.01904296875,
-      1.1875,
-      1.0078125,
-      -0.001953125,
-      -0.03125,
-      -0.00146484375,
-      1.015625,
-      0.004638671875
-    ],
-    [
-      0.087890625,
-      0.021484375,
-      1.21875,
-      1.0078125,
-      0.00390625,
-      -0.03076171875,
-      -0.001953125,
-      1.0,
-      0.001953125
-    ],
-    [
-      0.08447265625,
-      0.0155029296875,
-      1.234375,
-      1.0078125,
-      -0.00244140625,
-      -0.029296875,
-      -0.0009765625,
-      1.0078125,
-      -0.001953125
-    ],
-    [
-      0.07421875,
-      0.01171875,
-      1.265625,
-      1.0,
-      -0.00439453125,
-      -0.025390625,
-      -0.001953125,
-      1.0078125,
-      0.0
-    ],
-    [
-      0.06640625,
-      0.01318359375,
-      1.2734375,
-      1.0078125,
-      0.001708984375,
-      -0.025390625,
-      -0.001953125,
-      1.0,
-      0.0025634765625
-    ],
-    [
-      0.0654296875,
-      0.0126953125,
-      1.3046875,
-      1.0078125,
-      0.0,
-      -0.0198974609375,
-      0.001953125,
-      1.0078125,
-      0.0029296875
-    ],
-    [
-      0.0625,
-      0.013671875,
-      1.3359375,
-      1.015625,
-      0.0009765625,
-      -0.0205078125,
-      0.00390625,
-      1.0,
-      0.00146484375
-    ],
-    [
-      0.0625,
-      0.013671875,
-      1.34375,
-      1.0078125,
-      0.0,
-      -0.013671875,
-      0.00390625,
-      1.015625,
-      0.0
-    ],
-    [
-      0.048828125,
-      0.0244140625,
-      1.3828125,
-      1.0078125,
-      -0.0009765625,
-      -0.0166015625,
-      0.00146484375,
-      1.0078125,
-      0.0
-    ],
-    [
-      0.04736328125,
-      0.01953125,
-      1.390625,
-      1.0078125,
-      0.001953125,
-      -0.013427734375,
-      -0.0009765625,
-      1.0078125,
-      0.001708984375
-    ],
-    [
-      0.04296875,
-      0.0224609375,
-      1.4140625,
-      1.0078125,
-      0.002532958984375,
-      -0.01220703125,
-      0.0,
-      1.0078125,
-      0.00286865234375
-    ],
-    [
-      0.03515625,
-      0.019287109375,
-      1.4375,
-      1.0078125,
-      0.001708984375,
-      -0.010009765625,
-      -0.0048828125,
-      1.0078125,
-      0.003662109375
-    ],
-    [
-      0.02685546875,
-      0.015625,
-      1.46875,
-      1.015625,
-      0.0,
-      -0.0078125,
-      0.0,
-      1.0078125,
-      0.0048828125
-    ],
-    [
-      0.017578125,
-      0.01025390625,
-      1.484375,
-      1.0078125,
-      0.0,
-      -0.0057373046875,
-      0.001953125,
-      1.0078125,
-      0.00439453125
-    ],
-    [
-      0.0166015625,
-      0.0078125,
-      1.5,
-      1.0078125,
-      -0.001953125,
-      -0.001953125,
-      0.002685546875,
-      1.0078125,
-      0.00390625
-    ],
-    [
-      0.015625,
-      0.01171875,
-      1.5390625,
-      1.0078125,
-      0.00384521484375,
-      -0.00390625,
-      0.0032958984375,
-      1.0078125,
-      0.00341796875
-    ],
-    [
-      0.01171875,
-      0.01513671875,
-      1.5703125,
-      1.015625,
-      -0.0009765625,
-      0.001953125,
-      -0.00439453125,
-      1.015625,
-      0.001953125
-    ],
-    [
-      0.001953125,
-      0.01171875,
-      1.5859375,
-      1.015625,
-      0.001953125,
-      -0.005859375,
-      -0.00390625,
-      1.0078125,
-      0.0
-    ],
-    [
-      0.00341796875,
-      0.0205078125,
-      1.609375,
-      1.0078125,
-      0.001953125,
-      0.001953125,
-      0.001953125,
-      1.0078125,
-      0.0006103515625
-    ],
-    [
-      0.00390625,
-      0.021484375,
-      1.640625,
-      1.0078125,
-      0.001953125,
-      -0.0009765625,
-      0.0,
-      1.0078125,
-      0.0009765625
-    ],
-    [
-      0.00146484375,
-      0.019287109375,
-      1.6640625,
-      1.015625,
-      0.0,
-      0.005859375,
-      -0.00115966796875,
-      1.0078125,
-      0.0029296875
-    ],
-    [
-      0.0,
-      0.01904296875,
-      1.6796875,
-      1.015625,
-      0.0,
-      0.0,
-      0.0,
-      1.015625,
-      0.0
-    ],
-    [
-      -0.001953125,
-      0.017578125,
-      1.7109375,
-      1.0078125,
-      0.00048828125,
-      0.001953125,
-      0.0029296875,
-      1.0078125,
-      0.0009765625
-    ],
-    [
-      0.0,
-      0.015625,
-      1.7265625,
-      1.0078125,
-      -0.00048828125,
-      0.0009765625,
-      0.001953125,
-      1.0078125,
-      0.00244140625
-    ],
-    [
-      0.0,
-      0.021240234375,
-      1.7421875,
-      1.0,
-      -0.001953125,
-      0.0,
-      0.00390625,
-      1.0078125,
-      -0.0009765625
-    ],
-    [
-      0.0,
-      0.0205078125,
-      1.765625,
-      1.015625,
-      -0.000732421875,
-      0.001953125,
-      0.0013427734375,
-      1.015625,
-      0.00390625
-    ],
-    [
-      -0.0048828125,
-      0.0224609375,
-      1.78125,
-      1.015625,
-      -0.000518798828125,
-      0.00244140625,
-      0.0078125,
-      1.015625,
-      -0.001953125
-    ],
-    [
-      0.00311279296875,
-      0.021484375,
-      1.8046875,
-      1.015625,
-      0.00146484375,
-      -0.0009765625,
-      0.0,
-      1.015625,
-      -0.0006103515625
-    ],
-    [
-      0.001953125,
-      0.021240234375,
-      1.828125,
-      1.0078125,
-      0.001953125,
-      0.0,
-      0.0,
-      1.015625,
-      0.000732421875
-    ],
-    [
-      0.00390625,
-      0.021728515625,
-      1.8359375,
-      1.0078125,
-      -0.0009765625,
-      0.00146484375,
-      0.0009765625,
-      1.015625,
-      -0.00390625
-    ],
-    [
-      0.0029296875,
-      0.01953125,
-      1.84375,
-      1.0078125,
-      0.0078125,
-      -0.001953125,
-      -0.0029296875,
-      1.0078125,
-      -0.0078125
-    ],
-    [
-      0.001953125,
-      0.01953125,
-      1.8515625,
-      1.0,
-      0.001953125,
-      0.0029296875,
-      0.005859375,
-      1.015625,
-      -0.0009765625
+      0.059141844511032104,
+      -0.003840334713459015,
+      1.0373594760894775,
+      0.9279366731643677,
+      -0.01645451784133911,
+      -0.020578712224960327,
+      -0.010958120226860046,
+      0.9640744924545288,
+      0.0024261921644210815
+    ],
+    [
+      0.07163303345441818,
+      0.002209894359111786,
+      1.0704994201660156,
+      0.9624326229095459,
+      0.011429950594902039,
+      -0.02556397207081318,
+      -0.005203992128372192,
+      0.968371570110321,
+      -0.005390077829360962
+    ],
+    [
+      0.06948350369930267,
+      -0.014859065413475037,
+      1.0249040126800537,
+      0.9573811292648315,
+      0.007525742053985596,
+      -0.027830475941300392,
+      0.006637901067733765,
+      0.9581300616264343,
+      0.00023680925369262695
+    ],
+    [
+      0.07753375917673111,
+      0.004523158073425293,
+      0.9877839684486389,
+      0.9649670124053955,
+      -0.006604701280593872,
+      -0.037096068263053894,
+      -0.021954774856567383,
+      0.9435235261917114,
+      0.013597071170806885
+    ],
+    [
+      0.09455021470785141,
+      -0.0016047954559326172,
+      1.0100252628326416,
+      0.9584341645240784,
+      0.014761030673980713,
+      -0.029446259140968323,
+      0.00870533287525177,
+      0.968270480632782,
+      0.0247458815574646
+    ],
+    [
+      0.10178711265325546,
+      -0.0029810070991516113,
+      0.9616026878356934,
+      0.9771547913551331,
+      0.01504051685333252,
+      -0.031167365610599518,
+      0.0053897276520729065,
+      0.9344217777252197,
+      0.012324824929237366
+    ],
+    [
+      0.10360411554574966,
+      0.01793801784515381,
+      0.9839838743209839,
+      0.986229658126831,
+      -0.011833727359771729,
+      -0.038624923676252365,
+      -0.007526323199272156,
+      0.9758810997009277,
+      0.005369395017623901
+    ],
+    [
+      0.12239452451467514,
+      0.010958259925246239,
+      0.9665457010269165,
+      0.9559676647186279,
+      -0.0019251927733421326,
+      -0.039464741945266724,
+      -0.005040377378463745,
+      0.9393422603607178,
+      0.00036060065031051636
+    ],
+    [
+      0.13781818747520447,
+      0.04306331276893616,
+      0.9548782110214233,
+      0.9634062051773071,
+      -0.0013715922832489014,
+      -0.045522540807724,
+      -0.0034839287400245667,
+      0.9445981979370117,
+      -0.0009270161390304565
+    ],
+    [
+      0.13575460016727448,
+      0.026487261056900024,
+      0.9226974844932556,
+      0.9517682790756226,
+      0.024003714323043823,
+      -0.03737533092498779,
+      0.013349950313568115,
+      0.9547375440597534,
+      0.00824420154094696
+    ],
+    [
+      0.12451967597007751,
+      -0.0071739256381988525,
+      0.9000017642974854,
+      0.9793621301651001,
+      0.011195510625839233,
+      -0.04407672584056854,
+      -0.00877419114112854,
+      0.9616803526878357,
+      0.011973768472671509
+    ],
+    [
+      0.12706036865711212,
+      -0.014932453632354736,
+      0.9002858400344849,
+      0.9622393250465393,
+      -0.00951644778251648,
+      -0.04734916239976883,
+      0.003892853856086731,
+      0.9567041397094727,
+      0.013047799468040466
+    ],
+    [
+      0.11344760656356812,
+      0.01170305535197258,
+      0.9190186858177185,
+      0.9637442231178284,
+      0.011624082922935486,
+      -0.04697572439908981,
+      -0.0024839788675308228,
+      0.9862824082374573,
+      0.0046536242589354515
+    ],
+    [
+      0.1317308247089386,
+      0.01151534914970398,
+      0.9060279726982117,
+      0.950132429599762,
+      0.013150960206985474,
+      -0.042732544243335724,
+      -0.006613433361053467,
+      0.9610092043876648,
+      0.0009927898645401
+    ],
+    [
+      0.13878925144672394,
+      0.027730464935302734,
+      0.8691807985305786,
+      0.9631220698356628,
+      0.016683101654052734,
+      -0.038141220808029175,
+      -0.002742782235145569,
+      0.9560869932174683,
+      0.009326145052909851
+    ],
+    [
+      0.13446137309074402,
+      0.0007270127534866333,
+      0.9065344333648682,
+      0.9507459402084351,
+      0.007336311042308807,
+      -0.04232313856482506,
+      -0.001765731256455183,
+      0.9377214908599854,
+      -0.004297852516174316
+    ],
+    [
+      0.11476296186447144,
+      0.02131199836730957,
+      0.9385601878166199,
+      0.9792501926422119,
+      -0.0066051185131073,
+      -0.04161176085472107,
+      0.0019875168800354004,
+      0.9670274257659912,
+      0.005515553057193756
+    ],
+    [
+      0.12210288643836975,
+      0.014036169275641441,
+      0.9407962560653687,
+      0.9701698422431946,
+      0.020105689764022827,
+      -0.040228381752967834,
+      -0.020383119583129883,
+      0.9672138094902039,
+      0.0005619972944259644
+    ],
+    [
+      0.12542369961738586,
+      0.012022823095321655,
+      0.9342747926712036,
+      0.9483041763305664,
+      0.0013997424393892288,
+      -0.046562936156988144,
+      -0.02045336365699768,
+      0.9865255355834961,
+      0.00695318728685379
+    ],
+    [
+      0.11753255128860474,
+      0.016480877995491028,
+      0.977397084236145,
+      0.9714816212654114,
+      0.0014084279537200928,
+      -0.04178629815578461,
+      -0.01719522476196289,
+      0.9729042649269104,
+      0.004064872860908508
+    ],
+    [
+      0.12327518314123154,
+      0.026617400348186493,
+      0.9441711902618408,
+      0.9547913670539856,
+      0.009748861193656921,
+      -0.03178030252456665,
+      -0.005975648760795593,
+      0.9724594950675964,
+      0.0015931297093629837
+    ],
+    [
+      0.11693878471851349,
+      0.021891258656978607,
+      0.9779582023620605,
+      0.9773543477058411,
+      -0.0021515488624572754,
+      -0.043881744146347046,
+      0.005668759346008301,
+      0.9312025308609009,
+      -0.0018804669380187988
+    ],
+    [
+      0.09713619947433472,
+      0.022913970053195953,
+      0.9865879416465759,
+      0.984277606010437,
+      0.008582152426242828,
+      -0.035678133368492126,
+      -0.003005385398864746,
+      0.9906625747680664,
+      -0.010433465242385864
+    ],
+    [
+      0.11487491428852081,
+      0.02062314748764038,
+      1.004561185836792,
+      0.9658318161964417,
+      0.00811738520860672,
+      -0.0393141433596611,
+      -0.008064255118370056,
+      0.9643077850341797,
+      -0.00047591328620910645
+    ],
+    [
+      0.12689977884292603,
+      0.02446255087852478,
+      0.9813741445541382,
+      0.9599205255508423,
+      -0.007350906729698181,
+      -0.03434314206242561,
+      -0.0102815181016922,
+      0.99027019739151,
+      0.002850934863090515
+    ],
+    [
+      0.10348488390445709,
+      0.01788690686225891,
+      1.0414836406707764,
+      0.9772853851318359,
+      0.019330114126205444,
+      -0.041947878897190094,
+      -0.013509660959243774,
+      0.9699065089225769,
+      0.005952954292297363
+    ],
+    [
+      0.10493399202823639,
+      0.010198116302490234,
+      1.0407824516296387,
+      0.9719204902648926,
+      0.0058035897091031075,
+      -0.03458989039063454,
+      0.003740936517715454,
+      0.9522305130958557,
+      0.012766420841217041
+    ],
+    [
+      0.09770180284976959,
+      0.024997010827064514,
+      1.0794150829315186,
+      0.9405001401901245,
+      -0.02436143159866333,
+      -0.04618346691131592,
+      -0.008885281160473824,
+      0.9424073696136475,
+      -0.0033924728631973267
+    ],
+    [
+      0.11438962817192078,
+      0.01623646914958954,
+      1.0927131175994873,
+      0.9766831398010254,
+      0.0005866186693310738,
+      -0.030141858384013176,
+      0.0021623969078063965,
+      0.9683176875114441,
+      -0.0047433823347091675
+    ],
+    [
+      0.07521477341651917,
+      0.008214041590690613,
+      1.098933219909668,
+      0.9660043120384216,
+      0.007547542452812195,
+      -0.025479033589363098,
+      0.004106804728507996,
+      0.9826686978340149,
+      -0.001127287745475769
+    ],
+    [
+      0.07278415560722351,
+      0.0321023166179657,
+      1.1175589561462402,
+      0.9674540758132935,
+      0.005659177899360657,
+      -0.038438498973846436,
+      -0.0007940381765365601,
+      0.9435781240463257,
+      -0.0032588541507720947
+    ],
+    [
+      0.08530683070421219,
+      0.02760574221611023,
+      1.123960018157959,
+      0.9651504158973694,
+      0.010333657264709473,
+      -0.02847376838326454,
+      -0.014152109622955322,
+      0.9765793681144714,
+      -0.007708162069320679
+    ],
+    [
+      0.08623477816581726,
+      -2.8833746910095215e-05,
+      1.1860765218734741,
+      0.9632298350334167,
+      0.009518980979919434,
+      -0.028353288769721985,
+      0.0003351382911205292,
+      0.9702121019363403,
+      0.011311382055282593
+    ],
+    [
+      0.06764379888772964,
+      0.028459995985031128,
+      1.228102207183838,
+      0.9854918718338013,
+      0.004853567108511925,
+      -0.030850589275360107,
+      0.005490615963935852,
+      0.9692810773849487,
+      -0.004521816968917847
+    ],
+    [
+      0.05355161428451538,
+      0.020747363567352295,
+      1.2010810375213623,
+      0.951269805431366,
+      0.016863375902175903,
+      -0.017977416515350342,
+      0.01373264193534851,
+      0.9801374077796936,
+      0.014254122972488403
+    ],
+    [
+      0.07317647337913513,
+      0.0030185580253601074,
+      1.18898344039917,
+      0.9577667713165283,
+      0.01679345965385437,
+      -0.010508865118026733,
+      0.006877075880765915,
+      0.9590687155723572,
+      0.005443556234240532
+    ],
+    [
+      0.04951860010623932,
+      0.01835135743021965,
+      1.2524373531341553,
+      0.9677692651748657,
+      -0.012610375881195068,
+      -0.01456555724143982,
+      -0.005562201142311096,
+      0.9804211854934692,
+      0.005360782146453857
+    ],
+    [
+      0.057762667536735535,
+      -0.0012004673480987549,
+      1.2260611057281494,
+      0.9578285217285156,
+      0.0164794921875,
+      -0.00892224907875061,
+      -0.002040460705757141,
+      0.9750438332557678,
+      0.010551542043685913
+    ],
+    [
+      0.0635719895362854,
+      0.009304247796535492,
+      1.2985970973968506,
+      0.997957170009613,
+      0.005984649062156677,
+      -0.006568968296051025,
+      -0.005957365036010742,
+      0.9624383449554443,
+      0.0034569650888442993
+    ],
+    [
+      0.030685484409332275,
+      -0.0031789839267730713,
+      1.2745897769927979,
+      0.9833477735519409,
+      0.015771299600601196,
+      -0.02075822651386261,
+      -0.018386155366897583,
+      0.9756336212158203,
+      0.011255372315645218
+    ],
+    [
+      0.023339152336120605,
+      0.010662931948900223,
+      1.300084114074707,
+      0.989835262298584,
+      0.006620235741138458,
+      -0.0073957666754722595,
+      -0.006816834211349487,
+      0.9638521075248718,
+      0.01855221390724182
+    ],
+    [
+      0.012639999389648438,
+      0.007987678050994873,
+      1.3306738138198853,
+      0.9491333961486816,
+      -0.020535647869110107,
+      -0.01028469204902649,
+      -0.002563953399658203,
+      0.9858134388923645,
+      0.0020048022270202637
+    ],
+    [
+      0.02348978817462921,
+      -0.0019411742687225342,
+      1.3654818534851074,
+      0.969693124294281,
+      0.027309060096740723,
+      -0.004834961146116257,
+      -0.0036605969071388245,
+      0.9743373990058899,
+      0.003153502941131592
+    ],
+    [
+      0.013904020190238953,
+      0.013629376888275146,
+      1.394413948059082,
+      0.972601592540741,
+      -0.00408954918384552,
+      0.004027083516120911,
+      -0.008378058671951294,
+      0.9446616172790527,
+      0.0034879446029663086
+    ],
+    [
+      0.02238820493221283,
+      0.01910078525543213,
+      1.4235327243804932,
+      0.968029797077179,
+      0.004553822800517082,
+      -0.0062204450368881226,
+      -0.003272419795393944,
+      0.977702260017395,
+      0.00832560658454895
+    ],
+    [
+      0.02112443745136261,
+      0.04720121622085571,
+      1.4362165927886963,
+      0.9765746593475342,
+      -0.013532817363739014,
+      0.001711629331111908,
+      0.007163316011428833,
+      0.9686256647109985,
+      -0.010016411542892456
+    ],
+    [
+      0.007742851972579956,
+      0.03149166703224182,
+      1.4930720329284668,
+      0.9732664823532104,
+      0.01966017484664917,
+      -0.0022897571325302124,
+      0.011702001094818115,
+      0.96928870677948,
+      0.006121553480625153
+    ],
+    [
+      0.022700637578964233,
+      0.010335221886634827,
+      1.4739594459533691,
+      0.9702088832855225,
+      0.0024269153364002705,
+      0.01349705457687378,
+      0.013742953538894653,
+      0.9670001864433289,
+      0.006703421473503113
+    ],
+    [
+      0.02724406123161316,
+      0.02931670844554901,
+      1.5207319259643555,
+      0.9660757184028625,
+      0.004963122308254242,
+      -0.017152994871139526,
+      -0.009395450353622437,
+      0.9865334630012512,
+      0.009139366447925568
+    ],
+    [
+      0.008380383253097534,
+      0.024726346135139465,
+      1.4987715482711792,
+      0.9654471278190613,
+      0.0028583072125911713,
+      -0.005337700247764587,
+      -0.0050354450941085815,
+      0.9871041774749756,
+      0.006967529654502869
+    ],
+    [
+      0.01739254593849182,
+      0.012995205819606781,
+      1.5692707300186157,
+      1.0089263916015625,
+      0.013926923274993896,
+      0.0009343177080154419,
+      0.004500538110733032,
+      0.9502257108688354,
+      0.006055116653442383
+    ],
+    [
+      0.009858133271336555,
+      0.03461769223213196,
+      1.5677274465560913,
+      0.9968569278717041,
+      0.011664733290672302,
+      0.004488259553909302,
+      0.00662684440612793,
+      0.9470456838607788,
+      0.0005231946706771851
+    ],
+    [
+      0.02299785614013672,
+      0.009481832385063171,
+      1.5700998306274414,
+      0.9577478766441345,
+      0.00069449283182621,
+      -0.0011343881487846375,
+      -0.016278564929962158,
+      0.958492636680603,
+      0.006463430821895599
+    ],
+    [
+      0.005318776238709688,
+      0.008516699075698853,
+      1.615574836730957,
+      0.9617098569869995,
+      0.007522448897361755,
+      0.0025394558906555176,
+      0.005760625004768372,
+      0.9720036387443542,
+      0.015061944723129272
+    ],
+    [
+      0.007067561149597168,
+      0.0065644532442092896,
+      1.6096922159194946,
+      0.9413715600967407,
+      -0.0019346103072166443,
+      0.002095624804496765,
+      0.02600991725921631,
+      0.974121630191803,
+      -0.006266683340072632
+    ],
+    [
+      0.007169589400291443,
+      0.009554922580718994,
+      1.6439979076385498,
+      0.964790403842926,
+      0.014039307832717896,
+      -0.006732136011123657,
+      0.00041218847036361694,
+      0.9473226070404053,
+      -0.01044127345085144
+    ],
+    [
+      0.007147058844566345,
+      0.00785742700099945,
+      1.644051194190979,
+      0.985714852809906,
+      0.0075702965259552,
+      0.0006187558174133301,
+      -0.000648103654384613,
+      0.9734295010566711,
+      0.009049922227859497
+    ],
+    [
+      0.015374734997749329,
+      0.014419212937355042,
+      1.6574026346206665,
+      0.9712061285972595,
+      -0.01914668083190918,
+      -0.0018936395645141602,
+      -0.0007403641939163208,
+      0.9860180616378784,
+      -0.006495922803878784
+    ],
+    [
+      0.013697490096092224,
+      0.013768978416919708,
+      1.642235517501831,
+      0.9747515916824341,
+      -0.002270542085170746,
+      -0.011506795883178711,
+      -0.006279811263084412,
+      0.9668055772781372,
+      0.013116374611854553
+    ],
+    [
+      -0.0011235475540161133,
+      0.013980269432067871,
+      1.7224175930023193,
+      0.9761761426925659,
+      -0.0001882612705230713,
+      -0.008678078651428223,
+      0.002798914909362793,
+      0.9733132719993591,
+      0.00561833381652832
     ]
   ],
   "shape": [
     60,
     9
   ],
-  "dtype": "torch.bfloat16",
+  "dtype": "torch.float32",
   "raw_action_dim": 9,
   "action_mode": "inverse_dynamics",
   "domain_id": 1

assets/diffusers_outputs/edge_i2v_diffusers.mp4

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:10022822f1742388c79eb8403aab7658321d73bd5194788ff41a13bcdff9eef8
-size 24163347
+oid sha256:2fe93251039d8640625f660f42514d8fddd0812ae6918a4ea3cf5fc2363e4a16
+size 1278049

assets/edge_action_fd_umi_2chunk_output.mp4

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:f192544ff903b6bc88801845068e3cd1600703e7f1149264ac2db0ab5a97fd29
-size 31154
+oid sha256:10037bf0c2a20c46f24e616d7b822932babb45f72113833f320e2bb524c8c57b
+size 32755

assets/edge_action_id_av_0_output.json

@@ -1,664 +1,664 @@
 {
   "data": [
     [
-      0.0009765625,
-      -0.00244140625,
-      0.04296875,
-      1.0,
-      -0.000732421875,
+      0.0107421875,
+      -0.00048828125,
+      0.0859375,
+      0.95703125,
+      0.0025634765625,
+      0.00390625,
+      0.0087890625,
+      0.9609375,
+      0.00390625
+    ],
+    [
+      -0.004638671875,
+      0.005859375,
+      -0.0146484375,
+      0.96875,
+      0.01171875,
       -0.0009765625,
-      0.0009765625,
-      1.0,
-      -0.001953125
+      -0.0029296875,
+      0.9609375,
+      0.0068359375
     ],
     [
-      -0.005035400390625,
-      0.0,
       0.0078125,
-      1.0,
-      0.001953125,
-      0.000244140625,
-      -0.0009765625,
-      1.0,
-      0.0
+      0.0009765625,
+      0.0048828125,
+      0.921875,
+      0.015625,
+      -0.013671875,
+      0.0234375,
+      0.9765625,
+      -0.00341796875
     ],
     [
-      -0.001953125,
-      -0.0009765625,
-      -0.00390625,
-      0.9921875,
+      -0.003173828125,
       0.005859375,
-      -0.009765625,
       0.0078125,
-      1.015625,
-      -0.0009765625
+      0.9609375,
+      -0.0029296875,
+      -0.000244140625,
+      0.009765625,
+      0.9609375,
+      0.0029296875
     ],
     [
-      -0.00439453125,
-      -0.001953125,
+      -0.005615234375,
+      -0.01953125,
+      -0.00927734375,
+      0.9609375,
+      0.005859375,
       -0.009765625,
-      1.0,
-      -0.00048828125,
-      0.00146484375,
-      0.001953125,
-      1.0078125,
-      0.0009765625
+      -0.0087890625,
+      0.9609375,
+      -0.001953125
     ],
     [
-      -0.0048828125,
-      -0.0078125,
-      -0.0166015625,
-      1.0,
-      -0.00390625,
+      -0.013671875,
+      -0.01953125,
+      -0.012939453125,
+      0.9453125,
       -0.001953125,
-      -0.00390625,
-      1.0,
-      0.0
-    ],
-    [
-      -0.0078125,
-      -0.009765625,
-      -0.016845703125,
-      0.9921875,
-      -0.000732421875,
       0.001953125,
       -0.0029296875,
-      0.9921875,
-      0.001953125
+      0.92578125,
+      -0.001953125
     ],
     [
-      -0.001220703125,
-      -0.00390625,
-      -0.013671875,
-      0.99609375,
-      -0.00146484375,
-      0.001953125,
-      0.0,
-      0.99609375,
-      -0.0009765625
+      0.00341796875,
+      -0.0086669921875,
+      0.0078125,
+      0.9609375,
+      0.00244140625,
+      0.0048828125,
+      0.009765625,
+      0.9453125,
+      0.00146484375
     ],
     [
-      -0.005859375,
-      -0.001953125,
       -0.015625,
-      1.0,
-      -0.001953125,
-      -0.001953125,
-      0.0,
-      1.0,
-      0.0013427734375
+      0.00390625,
+      -0.02734375,
+      0.94140625,
+      -0.0048828125,
+      -0.0029296875,
+      -0.0078125,
+      0.96484375,
+      0.0028076171875
     ],
     [
-      0.0,
-      0.00146484375,
-      -0.0244140625,
-      1.0,
-      0.001953125,
-      0.001953125,
-      -0.0078125,
-      1.0,
-      -0.001953125
+      0.013671875,
+      0.0009765625,
+      -0.0390625,
+      0.9453125,
+      0.0078125,
+      0.005859375,
+      -0.01953125,
+      0.921875,
+      -0.009765625
     ],
     [
+      0.005859375,
+      0.005859375,
+      -0.006591796875,
+      0.9765625,
+      -0.0029296875,
+      -0.00244140625,
       -0.0009765625,
-      -0.00390625,
-      -0.01220703125,
-      1.0,
-      -0.0009765625,
-      -0.000732421875,
-      0.0,
-      1.0,
-      0.001953125
+      0.96875,
+      0.015625
     ],
     [
-      -0.00390625,
-      -0.0068359375,
-      -0.0093994140625,
-      1.0,
-      -0.0029296875,
-      0.0032958984375,
-      -0.005859375,
-      1.0,
-      -0.001953125
+      -0.013671875,
+      -0.013671875,
+      -0.0078125,
+      0.96875,
+      -0.0009765625,
+      0.002197265625,
+      -0.015625,
+      0.95703125,
+      -0.01171875
     ],
     [
-      0.0009765625,
+      0.001708984375,
+      0.01953125,
       -0.0078125,
-      -0.0142822265625,
-      1.0078125,
-      -0.0048828125,
-      -0.001953125,
-      -0.001953125,
-      1.0,
-      0.0
+      0.9453125,
+      -0.0087890625,
+      0.005859375,
+      0.0126953125,
+      0.9375,
+      0.013671875
     ],
     [
-      -0.001953125,
-      -0.001953125,
-      -0.0150146484375,
-      1.0,
-      -0.00390625,
-      -0.001220703125,
-      0.0009765625,
-      1.0,
-      0.001708984375
+      0.005859375,
+      -0.0009765625,
+      -0.0111083984375,
+      0.94921875,
+      -0.013671875,
+      -0.001708984375,
+      0.009765625,
+      0.953125,
+      0.002197265625
     ],
     [
       -0.0009765625,
-      -0.009765625,
-      -0.001953125,
-      1.0,
-      -0.005859375,
-      -0.00390625,
+      -0.021484375,
+      0.021484375,
+      0.96484375,
+      -0.0087890625,
+      -0.0078125,
+      0.00341796875,
+      0.953125,
+      -0.005859375
+    ],
+    [
+      0.02734375,
+      -0.01953125,
+      0.0068359375,
+      0.95703125,
+      0.009765625,
       0.00244140625,
-      1.0,
-      -0.001953125
+      -0.0078125,
+      0.953125,
+      0.013671875
     ],
     [
-      0.00390625,
-      -0.005859375,
-      0.00390625,
-      1.0,
+      0.017578125,
+      -0.00927734375,
+      0.046875,
+      0.95703125,
+      0.0087890625,
       0.001953125,
-      0.0010986328125,
-      -0.00390625,
-      1.0,
-      0.0078125
+      -0.009765625,
+      0.9453125,
+      0.01171875
     ],
     [
+      0.01171875,
       0.0087890625,
-      -0.006591796875,
-      0.015625,
-      1.0,
-      0.001953125,
-      0.00146484375,
-      -0.00390625,
-      1.0,
-      0.00390625
+      0.01611328125,
+      0.9453125,
+      -0.004638671875,
+      -0.0087890625,
+      0.00537109375,
+      0.953125,
+      -0.01171875
     ],
     [
-      0.001953125,
-      0.0009765625,
-      0.01123046875,
-      1.0,
-      -0.001220703125,
-      -0.0048828125,
+      0.001220703125,
       0.00390625,
-      1.0,
-      -0.001953125
+      0.0458984375,
+      0.9609375,
+      0.0078125,
+      0.0029296875,
+      0.0087890625,
+      0.94921875,
+      0.0048828125
     ],
     [
-      0.0001220703125,
-      0.0,
-      0.0234375,
-      1.0,
-      0.0009765625,
+      -0.005859375,
       0.001953125,
-      0.0009765625,
-      1.0,
-      0.0009765625
+      0.02392578125,
+      0.98046875,
+      0.01953125,
+      0.005859375,
+      0.00634765625,
+      0.95703125,
+      0.005859375
     ],
     [
-      -0.0009765625,
-      0.0009765625,
-      0.03125,
-      1.0,
-      -0.00390625,
-      0.0009765625,
-      0.002197265625,
-      1.0,
-      0.0
+      -0.0068359375,
+      -0.003662109375,
+      0.0634765625,
+      0.9296875,
+      -0.0068359375,
+      0.0001220703125,
+      0.015625,
+      0.94921875,
+      0.000244140625
     ],
     [
-      -0.0068359375,
-      -0.002227783203125,
-      0.044921875,
-      0.99609375,
-      -0.00341796875,
-      0.0020751953125,
-      0.001953125,
-      1.0078125,
-      0.00103759765625
+      0.0068359375,
+      0.005859375,
+      0.06591796875,
+      0.9296875,
+      -0.01171875,
+      0.0029296875,
+      0.013671875,
+      0.953125,
+      -0.00390625
     ],
     [
-      -0.0048828125,
-      -0.00390625,
-      0.0556640625,
-      1.0,
-      0.0,
-      -0.0009765625,
-      0.00390625,
-      1.0078125,
+      0.01171875,
+      -0.02734375,
+      0.07421875,
+      0.9609375,
+      0.0078125,
+      0.0078125,
+      0.013671875,
+      0.9765625,
       0.00390625
     ],
     [
-      0.0,
-      -0.0078125,
-      0.064453125,
-      1.0,
-      -0.001953125,
-      -0.001953125,
-      0.00390625,
-      1.0078125,
-      -0.001953125
+      -0.0018310546875,
+      0.013671875,
+      0.0888671875,
+      0.95703125,
+      -0.015625,
+      0.001953125,
+      0.009765625,
+      0.96875,
+      0.0078125
     ],
     [
-      -0.0018310546875,
-      0.0,
-      0.0732421875,
-      1.0,
-      -0.00390625,
-      0.0,
-      0.0029296875,
-      1.0,
-      0.0
+      0.015625,
+      -0.025390625,
+      0.08251953125,
+      0.94921875,
+      0.0068359375,
+      -0.013671875,
+      -0.002197265625,
+      0.96875,
+      0.001953125
     ],
     [
-      0.0,
-      -0.0078125,
-      0.08203125,
-      1.0,
-      -0.001953125,
-      -0.005859375,
+      0.017578125,
       0.00146484375,
-      1.0078125,
-      -0.00146484375
+      0.09619140625,
+      0.94140625,
+      0.0029296875,
+      0.01171875,
+      0.0067138671875,
+      0.9296875,
+      0.0029296875
     ],
     [
-      0.0,
-      -0.00048828125,
-      0.087890625,
-      1.0,
-      -0.0009765625,
+      -0.0001220703125,
+      -0.025390625,
+      0.111328125,
+      0.96875,
       0.00390625,
-      0.0028076171875,
-      1.0,
-      0.001953125
+      -0.001220703125,
+      0.0006103515625,
+      0.94140625,
+      0.00048828125
     ],
     [
-      -0.002197265625,
-      -0.0078125,
-      0.103515625,
-      1.0,
-      0.0,
-      -0.000732421875,
-      0.0009765625,
-      0.99609375,
-      -0.0009765625
+      0.00146484375,
+      0.0078125,
+      0.08935546875,
+      0.94921875,
+      -0.00238037109375,
+      -0.0087890625,
+      -0.005859375,
+      0.95703125,
+      0.0029296875
     ],
     [
-      -0.00341796875,
-      0.0009765625,
-      0.103515625,
-      1.0,
-      -0.00018310546875,
       -0.00390625,
-      0.0,
-      1.0,
-      0.00048828125
+      0.0078125,
+      0.10302734375,
+      0.9609375,
+      0.005859375,
+      0.0078125,
+      0.0068359375,
+      0.9453125,
+      -0.0009765625
     ],
     [
-      -0.00390625,
-      0.001953125,
-      0.1142578125,
-      1.0,
-      -0.0009765625,
-      0.001953125,
-      0.00146484375,
-      1.0,
-      0.001220703125
+      -0.0087890625,
+      0.0029296875,
+      0.10986328125,
+      0.9765625,
+      0.00048828125,
+      -0.0078125,
+      0.017578125,
+      0.95703125,
+      -0.0087890625
     ],
     [
-      -0.00439453125,
-      0.0009765625,
-      0.126953125,
-      1.0,
-      -0.00048828125,
-      -0.0029296875,
-      0.001953125,
-      1.0,
-      -0.001953125
+      -0.00665283203125,
+      0.0078125,
+      0.1064453125,
+      0.953125,
+      0.00244140625,
+      -0.015625,
+      0.000244140625,
+      0.96875,
+      0.00146484375
     ],
     [
-      -0.00335693359375,
-      -0.00390625,
-      0.130859375,
-      1.0,
-      0.0,
-      -0.00390625,
-      0.004150390625,
-      1.0,
-      -0.0009765625
+      -0.00146484375,
+      -0.00384521484375,
+      0.15625,
+      0.9609375,
+      -0.01171875,
+      0.01171875,
+      0.013671875,
+      0.95703125,
+      -0.0029296875
     ],
     [
-      -0.00439453125,
-      -0.00213623046875,
-      0.140625,
-      0.9921875,
-      -0.00390625,
-      0.001953125,
-      0.001953125,
-      1.0,
-      0.0009765625
+      0.0048828125,
+      0.013671875,
+      0.1318359375,
+      0.94921875,
+      0.00439453125,
+      -0.005859375,
+      0.003662109375,
+      0.96875,
+      -0.00244140625
     ],
     [
-      -0.0048828125,
-      -0.001953125,
-      0.1416015625,
-      1.0,
-      0.0,
-      -0.0029296875,
+      -0.01171875,
+      0.01171875,
+      0.138671875,
+      0.953125,
+      -0.0078125,
+      0.0009765625,
+      0.009765625,
+      0.953125,
+      0.0078125
+    ],
+    [
+      -0.00390625,
+      -0.006103515625,
+      0.138671875,
+      0.97265625,
       0.002197265625,
-      1.0,
-      0.000335693359375
+      0.0009765625,
+      0.0048828125,
+      0.9453125,
+      0.00341796875
     ],
     [
+      0.0009765625,
+      -0.0028076171875,
+      0.17578125,
+      0.953125,
+      0.00048828125,
       0.0,
-      -0.001953125,
-      0.154296875,
-      1.0,
-      -0.001953125,
-      -0.0009765625,
-      0.0,
-      1.0,
-      0.0
+      0.005859375,
+      0.96875,
+      0.0009765625
     ],
     [
-      -0.001953125,
+      0.0078125,
+      -0.00439453125,
+      0.150390625,
+      0.953125,
+      -0.0068359375,
       0.0,
-      0.1640625,
-      1.0,
-      -0.00048828125,
-      -0.001953125,
+      -0.0078125,
+      0.95703125,
+      0.0029296875
+    ],
+    [
       -0.0009765625,
-      1.0,
-      -0.00048828125
+      0.0048828125,
+      0.15234375,
+      0.9453125,
+      -0.0068359375,
+      -0.005859375,
+      0.00390625,
+      0.92578125,
+      0.0078125
     ],
     [
-      0.0009765625,
-      -0.000244140625,
-      0.1650390625,
-      1.0,
-      0.000244140625,
-      -0.00146484375,
+      0.00341796875,
       0.001953125,
-      1.0,
+      0.14453125,
+      0.96484375,
+      0.0009765625,
+      -0.017578125,
+      -0.001953125,
+      0.96875,
       0.00146484375
     ],
     [
-      0.00244140625,
-      0.0009765625,
-      0.1748046875,
-      1.0,
-      -0.0029296875,
+      0.009765625,
+      0.0,
+      0.197265625,
+      0.9609375,
+      0.00341796875,
       -0.00390625,
-      0.00390625,
-      1.0,
-      0.0
+      0.005859375,
+      0.96484375,
+      0.00390625
     ],
     [
-      0.001953125,
-      0.001953125,
-      0.1787109375,
-      0.99609375,
-      -0.0029296875,
-      -0.0048828125,
-      0.0009765625,
-      0.9921875,
-      0.00390625
+      0.0087890625,
+      -0.0015869140625,
+      0.1826171875,
+      0.97265625,
+      0.0054931640625,
+      -0.00390625,
+      0.00048828125,
+      0.9765625,
+      0.009765625
     ],
     [
-      0.00830078125,
-      -0.0009765625,
-      0.189453125,
-      1.0,
-      -0.0009765625,
-      -0.009765625,
-      0.001953125,
-      1.0,
-      -0.00048828125
+      0.00390625,
+      0.0001220703125,
+      0.19921875,
+      0.9609375,
+      0.015625,
+      -0.0126953125,
+      -0.0078125,
+      0.984375,
+      0.015625
     ],
     [
-      0.013671875,
-      -0.00048828125,
-      0.1923828125,
-      1.0,
+      0.0205078125,
+      0.005859375,
+      0.21875,
+      0.9609375,
+      0.01953125,
+      -0.01025390625,
       -0.0029296875,
-      -0.00439453125,
-      0.0009765625,
-      1.0,
-      -0.001953125
+      0.96875,
+      0.00390625
     ],
     [
-      0.01171875,
-      0.00164794921875,
-      0.203125,
-      1.0078125,
-      0.000244140625,
-      -0.0078125,
-      0.0029296875,
-      1.0078125,
-      0.001953125
+      0.029296875,
+      -0.00927734375,
+      0.22265625,
+      0.9609375,
+      0.00341796875,
+      -0.001953125,
+      0.00390625,
+      0.96484375,
+      -0.00390625
     ],
     [
-      0.015625,
-      0.001708984375,
-      0.2119140625,
-      1.0078125,
-      0.001953125,
-      -0.0068359375,
-      0.001953125,
-      1.0078125,
-      0.0
+      0.021484375,
+      -0.004638671875,
+      0.1875,
+      0.9765625,
+      0.004638671875,
+      -0.0126953125,
+      -0.003173828125,
+      0.97265625,
+      0.001708984375
     ],
     [
-      0.0146484375,
-      0.00390625,
-      0.224609375,
-      1.0,
-      0.00390625,
+      0.01239013671875,
+      0.0068359375,
+      0.236328125,
+      0.96875,
       -0.009765625,
-      0.0,
-      1.0078125,
-      0.00439453125
+      -0.013671875,
+      0.01953125,
+      0.953125,
+      0.0068359375
     ],
     [
-      0.017578125,
-      -0.00390625,
-      0.2265625,
-      1.0,
-      0.00048828125,
-      -0.005859375,
-      0.00244140625,
-      1.0,
-      0.0
+      0.025390625,
+      -0.017578125,
+      0.244140625,
+      0.95703125,
+      -0.01953125,
+      -0.0087890625,
+      0.01171875,
+      0.95703125,
+      0.01953125
     ],
     [
-      0.017578125,
-      -0.002197265625,
-      0.240234375,
-      1.0,
-      0.0009765625,
-      -0.009765625,
+      0.0194091796875,
+      0.0078125,
+      0.251953125,
+      0.953125,
       -0.00048828125,
-      1.0078125,
-      0.000244140625
+      0.001953125,
+      0.00152587890625,
+      0.95703125,
+      -0.0078125
     ],
     [
-      0.0159912109375,
-      0.0,
-      0.25390625,
-      1.0,
-      -0.005859375,
-      -0.0078125,
-      0.0078125,
-      1.0,
-      0.001953125
+      0.0166015625,
+      -0.0068359375,
+      0.2265625,
+      0.9453125,
+      0.000732421875,
+      -0.01953125,
+      0.00390625,
+      0.9453125,
+      -0.00341796875
     ],
     [
-      0.01953125,
+      0.016845703125,
+      0.00341796875,
+      0.26171875,
+      0.9453125,
       -0.001953125,
-      0.26953125,
-      1.0,
-      -0.0078125,
-      -0.011962890625,
-      0.0078125,
-      1.0,
-      0.0078125
-    ],
-    [
-      0.014404296875,
-      0.001953125,
-      0.275390625,
-      0.99609375,
-      0.00244140625,
       -0.005859375,
-      0.00048828125,
-      1.0,
+      0.00390625,
+      0.9375,
       0.00390625
     ],
     [
-      0.0155029296875,
-      0.0,
-      0.279296875,
-      0.99609375,
-      0.001708984375,
-      -0.009765625,
-      -0.0009765625,
-      1.0,
-      0.00048828125
+      0.014892578125,
+      0.0087890625,
+      0.298828125,
+      0.953125,
+      0.005859375,
+      -0.009033203125,
+      0.0009765625,
+      0.953125,
+      -0.0029296875
     ],
     [
-      0.01519775390625,
-      0.00244140625,
-      0.294921875,
-      1.0,
-      0.001953125,
-      -0.0087890625,
-      -0.00390625,
-      1.0,
-      -0.0009765625
+      0.0224609375,
+      -0.0234375,
+      0.30078125,
+      0.9609375,
+      0.005859375,
+      -0.0048828125,
+      -0.0003662109375,
+      0.9609375,
+      0.009765625
     ],
     [
-      0.01513671875,
-      0.0048828125,
-      0.3046875,
-      1.0,
-      0.0009765625,
+      0.017822265625,
+      0.005859375,
+      0.322265625,
+      0.9609375,
+      -0.0029296875,
       -0.00634765625,
-      0.0,
-      1.0,
-      0.00146484375
+      -0.001220703125,
+      0.96875,
+      0.0029296875
     ],
     [
-      0.0166015625,
+      0.02392578125,
       -0.00390625,
-      0.31640625,
-      1.0,
-      -0.001953125,
-      -0.0078125,
-      0.0010986328125,
-      1.0,
-      0.0
+      0.30078125,
+      0.9375,
+      0.0006103515625,
+      0.00390625,
+      -0.005859375,
+      0.93359375,
+      0.003662109375
     ],
     [
-      0.015380859375,
-      0.001953125,
+      0.0185546875,
+      -0.0020751953125,
       0.333984375,
-      1.0,
-      -0.0009765625,
-      -0.00732421875,
+      0.94921875,
       0.001220703125,
-      1.0,
-      0.0009765625
+      -0.015625,
+      -0.00048828125,
+      0.96875,
+      0.0048828125
     ],
     [
-      0.0146484375,
-      0.00390625,
-      0.341796875,
-      1.0,
-      0.001220703125,
-      -0.0078125,
-      0.001953125,
-      1.0,
-      0.003662109375
+      0.0185546875,
+      0.01171875,
+      0.326171875,
+      0.9453125,
+      0.0023193359375,
+      -0.008056640625,
+      0.00146484375,
+      0.95703125,
+      -0.0068359375
     ],
     [
-      0.01708984375,
-      0.000732421875,
+      0.0162353515625,
+      0.015625,
       0.35546875,
-      1.0,
-      0.0,
-      -0.0078125,
-      0.000244140625,
-      1.0,
+      0.953125,
+      0.009765625,
+      -0.0068359375,
+      0.01171875,
+      0.96875,
       0.0
     ],
     [
-      0.013427734375,
-      0.00390625,
-      0.369140625,
-      0.99609375,
-      0.00225830078125,
-      -0.0078125,
-      -0.001953125,
-      1.0,
-      0.0029296875
-    ],
-    [
-      0.01507568359375,
-      0.001953125,
-      0.37890625,
-      1.0,
+      0.02099609375,
+      0.000244140625,
+      0.375,
+      0.95703125,
+      -0.0009765625,
       -0.0029296875,
-      -0.0107421875,
-      0.0,
-      1.0,
-      -0.00390625
+      -0.0009765625,
+      0.96484375,
+      0.00390625
     ],
     [
-      0.01513671875,
-      0.00146484375,
-      0.390625,
-      1.0,
-      0.0,
-      -0.0078125,
-      0.0009765625,
-      1.0,
-      0.0
+      0.0145263671875,
+      -0.015625,
+      0.369140625,
+      0.96484375,
+      0.00164794921875,
+      -0.01171875,
+      -0.00537109375,
+      0.953125,
+      -0.0009765625
     ],
     [
-      0.0164794921875,
-      0.0,
-      0.404296875,
-      1.0,
+      0.021484375,
+      0.00390625,
+      0.37109375,
+      0.953125,
       0.00048828125,
-      -0.0078125,
-      -0.0009765625,
-      1.0,
-      0.0009765625
-    ],
-    [
-      0.017578125,
-      0.0009765625,
-      0.4140625,
-      1.0,
-      -0.000244140625,
-      -0.005859375,
-      0.0009765625,
-      1.0,
-      -0.0009765625
+      -0.013671875,
+      0.0048828125,
+      0.95703125,
+      0.001953125
     ],
     [
-      0.0167236328125,
-      0.0,
-      0.43359375,
-      1.0,
-      0.0,
-      -0.00439453125,
-      0.0,
-      1.0,
-      0.0009765625
+      0.018798828125,
+      -0.0078125,
+      0.41015625,
+      0.95703125,
+      -0.01171875,
+      -0.00390625,
+      -0.0068359375,
+      0.9609375,
+      0.005859375
     ]
   ],
   "shape": [
@@ -669,4 +669,4 @@
   "raw_action_dim": 9,
   "action_mode": "inverse_dynamics",
   "domain_id": 1
-}
+}

assets/edge_action_id_av_1_output.json

@@ -1,664 +1,664 @@
 {
   "data": [
     [
-      0.0654296875,
-      -0.00634765625,
+      0.076171875,
+      0.0,
       1.0859375,
-      1.0078125,
-      -0.0003662109375,
-      -0.01953125,
-      0.001953125,
-      1.0078125,
-      0.0
+      0.96875,
+      0.004150390625,
+      -0.017578125,
+      0.005859375,
+      0.9765625,
+      0.0078125
     ],
     [
       0.0654296875,
-      -0.0078125,
-      1.046875,
-      1.0078125,
-      0.0,
-      -0.024169921875,
-      -0.001953125,
-      1.0,
-      0.00390625
+      0.00390625,
+      0.9921875,
+      0.9765625,
+      0.0107421875,
+      -0.02490234375,
+      -0.0048828125,
+      0.96875,
+      0.0107421875
     ],
     [
-      0.0791015625,
-      -0.015625,
-      1.03125,
+      0.087890625,
+      -0.0068359375,
       1.0,
-      0.001953125,
-      -0.02734375,
-      0.00390625,
-      1.0078125,
+      0.9375,
+      0.013671875,
+      -0.037109375,
+      0.01953125,
+      0.984375,
+      0.00146484375
+    ],
+    [
+      0.08203125,
+      -0.001953125,
+      0.984375,
+      0.97265625,
+      -0.0029296875,
+      -0.027099609375,
+      0.009765625,
+      0.97265625,
+      0.0126953125
+    ],
+    [
+      0.0849609375,
+      -0.0322265625,
+      0.95703125,
+      0.97265625,
+      0.009765625,
+      -0.04296875,
+      -0.0126953125,
+      0.96875,
       0.00537109375
     ],
     [
       0.080078125,
-      -0.017578125,
-      1.0,
-      1.0,
-      -0.001953125,
-      -0.02490234375,
-      0.0,
-      1.0078125,
-      0.00927734375
+      -0.021484375,
+      0.9375,
+      0.953125,
+      0.000732421875,
+      -0.03271484375,
+      -0.0068359375,
+      0.93359375,
+      -0.0009765625
     ],
     [
-      0.0888671875,
-      -0.01953125,
-      0.984375,
-      1.0078125,
-      -0.001953125,
-      -0.03125,
-      -0.00390625,
-      1.0,
-      0.00732421875
+      0.1015625,
+      -0.0042724609375,
+      0.9453125,
+      0.97265625,
+      0.00244140625,
+      -0.03173828125,
+      0.0078125,
+      0.953125,
+      0.00244140625
     ],
     [
-      0.091796875,
-      -0.0146484375,
+      0.09375,
+      0.0224609375,
+      0.91015625,
+      0.9453125,
+      -0.001953125,
+      -0.0361328125,
+      -0.015625,
       0.96875,
-      1.0,
-      -0.000244140625,
-      -0.03173828125,
-      -0.0029296875,
-      0.99609375,
-      0.005859375
+      0.0018310546875
     ],
     [
-      0.1044921875,
-      -0.003662109375,
-      0.9609375,
-      1.0,
-      -0.00390625,
-      -0.03466796875,
-      0.00390625,
-      1.0,
-      -0.00146484375
+      0.1318359375,
+      0.017578125,
+      0.90625,
+      0.95703125,
+      0.0107421875,
+      -0.0322265625,
+      -0.0234375,
+      0.93359375,
+      -0.017578125
+    ],
+    [
+      0.130859375,
+      0.025390625,
+      0.91796875,
+      0.984375,
+      0.0009765625,
+      -0.04345703125,
+      -0.0078125,
+      0.9765625,
+      0.017578125
     ],
     [
       0.107421875,
-      0.009765625,
-      0.9609375,
-      1.0,
-      -0.0009765625,
-      -0.037109375,
-      -0.00390625,
-      1.0,
-      0.0006103515625
+      -0.001953125,
+      0.90234375,
+      0.9765625,
+      0.002685546875,
+      -0.04443359375,
+      -0.017578125,
+      0.95703125,
+      -0.009765625
     ],
     [
       0.1220703125,
-      0.0107421875,
-      0.95703125,
-      1.0,
-      0.00390625,
+      0.03125,
+      0.90234375,
+      0.94921875,
+      -0.0078125,
       -0.037109375,
-      -0.00390625,
-      1.0,
-      -0.0078125
+      0.0087890625,
+      0.9453125,
+      0.017578125
     ],
     [
-      0.12890625,
+      0.130859375,
       0.009765625,
-      0.94921875,
-      1.0,
-      -0.0009765625,
-      -0.043212890625,
-      -0.0029296875,
-      1.0,
-      0.00390625
+      0.88671875,
+      0.953125,
+      -0.009765625,
+      -0.040283203125,
+      0.0029296875,
+      0.953125,
+      0.005126953125
     ],
     [
-      0.125,
-      0.0009765625,
-      0.94140625,
-      1.0,
-      -0.00048828125,
-      -0.0400390625,
-      -0.00390625,
-      1.0,
-      0.0
+      0.12353515625,
+      -0.0078125,
+      0.91015625,
+      0.96875,
+      0.0029296875,
+      -0.0478515625,
+      -0.00537109375,
+      0.95703125,
+      -0.0029296875
     ],
     [
-      0.125,
-      0.0,
-      0.93359375,
-      1.0,
-      -0.0048828125,
-      -0.044921875,
+      0.15625,
+      -0.001953125,
+      0.8828125,
+      0.96484375,
+      0.0126953125,
+      -0.038330078125,
+      -0.01171875,
+      0.953125,
+      0.01171875
+    ],
+    [
+      0.1328125,
+      0.005859375,
+      0.9140625,
+      0.96875,
+      0.0087890625,
+      -0.03955078125,
+      -0.013671875,
+      0.953125,
+      0.013671875
+    ],
+    [
+      0.1318359375,
+      0.0205078125,
+      0.8984375,
+      0.953125,
       0.0,
-      1.0,
-      0.00390625
+      -0.0458984375,
+      0.0009765625,
+      0.95703125,
+      -0.0078125
     ],
     [
-      0.1279296875,
-      0.00390625,
+      0.119140625,
+      0.013671875,
       0.921875,
-      1.0,
+      0.96875,
+      0.0087890625,
+      -0.037109375,
       0.001953125,
-      -0.038818359375,
-      -0.0009765625,
-      1.0,
-      0.004150390625
+      0.95703125,
+      0.0068359375
     ],
     [
-      0.12890625,
-      0.00390625,
-      0.91796875,
-      1.0,
-      0.00390625,
-      -0.0419921875,
-      -0.005859375,
-      1.0,
-      0.001953125
+      0.115234375,
+      0.015625,
+      0.91015625,
+      0.984375,
+      0.01953125,
+      -0.0361328125,
+      -0.000732421875,
+      0.9609375,
+      0.0078125
     ],
     [
-      0.1328125,
+      0.1103515625,
+      0.01312255859375,
+      0.9453125,
+      0.9375,
+      -0.00244140625,
+      -0.038330078125,
       0.005859375,
-      0.9140625,
-      1.0078125,
-      0.00390625,
-      -0.04052734375,
-      -0.001953125,
-      1.0,
-      0.001953125
+      0.953125,
+      -0.001068115234375
     ],
     [
-      0.12890625,
-      0.005126953125,
-      0.921875,
-      1.0,
-      0.0,
-      -0.04150390625,
+      0.1220703125,
+      0.0244140625,
+      0.953125,
+      0.9375,
+      -0.005859375,
+      -0.033203125,
+      0.005859375,
+      0.95703125,
+      -0.00390625
+    ],
+    [
+      0.1279296875,
       -0.00390625,
-      1.0,
-      0.001953125
+      0.96875,
+      0.96875,
+      0.0087890625,
+      -0.029296875,
+      0.00390625,
+      0.98046875,
+      0.0048828125
     ],
     [
-      0.1259765625,
-      0.0078125,
-      0.9296875,
-      1.0,
-      0.001708984375,
-      -0.0400390625,
-      -0.00048828125,
-      1.0,
-      0.001953125
+      0.11572265625,
+      0.033203125,
+      0.984375,
+      0.9609375,
+      -0.0078125,
+      -0.0341796875,
+      0.0029296875,
+      0.97265625,
+      0.009765625
     ],
     [
-      0.12158203125,
-      0.005859375,
-      0.9375,
-      1.0,
-      -0.0009765625,
-      -0.0400390625,
-      -0.0029296875,
-      1.0,
-      0.001953125
+      0.126953125,
+      -0.00390625,
+      0.9765625,
+      0.9609375,
+      0.0087890625,
+      -0.044921875,
+      -0.00390625,
+      0.9765625,
+      0.00244140625
     ],
     [
-      0.125,
-      0.0068359375,
+      0.12109375,
+      0.01953125,
+      0.9921875,
       0.953125,
-      1.0,
+      0.0048828125,
+      -0.0234375,
+      0.0010986328125,
+      0.9375,
+      0.0029296875
+    ],
+    [
+      0.10546875,
       -0.0078125,
-      -0.0419921875,
-      -0.003173828125,
-      1.0,
-      0.0
+      1.015625,
+      0.9765625,
+      0.0078125,
+      -0.03466796875,
+      -0.0035400390625,
+      0.94921875,
+      0.0029296875
     ],
     [
-      0.1201171875,
-      0.013671875,
+      0.1064453125,
+      0.0263671875,
+      1.0078125,
+      0.94921875,
+      0.00042724609375,
+      -0.0400390625,
+      -0.013671875,
       0.9609375,
-      0.99609375,
-      0.00244140625,
-      -0.035400390625,
-      -0.005859375,
-      1.0,
-      -0.00177001953125
+      0.005859375
     ],
     [
-      0.11572265625,
-      0.013671875,
-      0.98046875,
-      1.0,
-      0.00390625,
-      -0.0361328125,
-      0.0,
-      1.0078125,
-      0.001953125
-    ],
-    [
-      0.1201171875,
-      0.015625,
-      0.9921875,
-      1.0,
-      -0.0029296875,
-      -0.0390625,
-      -0.001953125,
-      1.0,
-      -0.0029296875
+      0.095703125,
+      0.0244140625,
+      1.03125,
+      0.96875,
+      0.0068359375,
+      -0.0234375,
+      0.00048828125,
+      0.953125,
+      0.002197265625
     ],
     [
-      0.11865234375,
-      0.01171875,
-      1.0078125,
-      1.0,
-      0.0078125,
-      -0.037109375,
-      -0.0029296875,
-      1.0,
-      -0.00390625
+      0.08837890625,
+      0.02099609375,
+      1.0390625,
+      0.984375,
+      0.0052490234375,
+      -0.03515625,
+      0.009765625,
+      0.96484375,
+      -0.0048828125
     ],
     [
-      0.115234375,
-      0.013671875,
-      1.0078125,
-      1.0078125,
-      -0.0009765625,
-      -0.03515625,
-      0.00244140625,
-      1.0,
-      -0.00146484375
+      0.08154296875,
+      0.029296875,
+      1.0625,
+      0.953125,
+      0.0048828125,
+      -0.04296875,
+      -0.005615234375,
+      0.96875,
+      0.00634765625
     ],
     [
-      0.109375,
-      0.01611328125,
-      1.0234375,
-      1.0,
-      0.0,
-      -0.03125,
-      -0.0003662109375,
-      1.0,
-      0.0
+      0.0849609375,
+      0.00823974609375,
+      1.109375,
+      0.96875,
+      -0.0078125,
+      -0.01953125,
+      0.00390625,
+      0.96484375,
+      0.00146484375
     ],
     [
-      0.1064453125,
-      0.013671875,
-      1.0390625,
-      1.0,
+      0.08203125,
+      0.029296875,
+      1.1171875,
+      0.95703125,
+      0.0048828125,
+      -0.02734375,
       0.0,
-      -0.03369140625,
-      -0.0006103515625,
-      1.0,
-      -0.001708984375
+      0.97265625,
+      0.004852294921875
     ],
     [
-      0.1025390625,
-      0.013671875,
-      1.0546875,
-      1.0,
-      -0.00091552734375,
-      -0.033203125,
-      -0.001953125,
-      1.0,
-      0.00244140625
+      0.056640625,
+      0.021484375,
+      1.1328125,
+      0.9609375,
+      -0.005859375,
+      -0.02001953125,
+      0.0078125,
+      0.9609375,
+      0.015625
     ],
     [
-      0.09765625,
-      0.013671875,
-      1.078125,
-      1.0,
-      -0.0029296875,
-      -0.03125,
-      -0.00146484375,
-      1.0,
-      0.003173828125
+      0.060546875,
+      0.001220703125,
+      1.140625,
+      0.984375,
+      0.0029296875,
+      -0.017578125,
+      0.001953125,
+      0.94921875,
+      0.009765625
     ],
     [
-      0.09228515625,
-      0.0146484375,
-      1.0859375,
-      1.0,
-      0.001708984375,
-      -0.029296875,
-      -0.001953125,
-      1.0,
-      0.001953125
+      0.060546875,
+      0.007568359375,
+      1.1875,
+      0.96484375,
+      -0.000732421875,
+      -0.0166015625,
+      0.0029296875,
+      0.96875,
+      0.005615234375
     ],
     [
-      0.083984375,
-      0.009765625,
-      1.1171875,
-      1.0,
-      0.00048828125,
-      -0.02734375,
-      -0.00048828125,
-      1.0,
-      0.00341796875
+      0.060302734375,
+      0.01123046875,
+      1.1875,
+      0.9609375,
+      -0.0087890625,
+      -0.0166015625,
+      -0.01171875,
+      0.9609375,
+      0.0078125
     ],
     [
-      0.083984375,
-      0.007171630859375,
-      1.125,
-      0.9921875,
-      0.001953125,
-      -0.03125,
-      -0.00390625,
-      1.0,
-      0.0068359375
+      0.046875,
+      0.01953125,
+      1.2109375,
+      0.953125,
+      -0.0048828125,
+      -0.0184326171875,
+      0.0029296875,
+      0.9296875,
+      0.009765625
     ],
     [
-      0.07421875,
+      0.04248046875,
+      0.01953125,
+      1.2109375,
+      0.97265625,
       0.005859375,
-      1.15625,
-      1.0,
-      -0.0009765625,
-      -0.0234375,
-      0.0009765625,
-      1.0,
-      0.00579833984375
-    ],
-    [
-      0.0703125,
-      0.00390625,
-      1.1796875,
-      1.0,
-      0.0,
-      -0.021484375,
-      0.0,
-      1.0,
-      0.00390625
-    ],
-    [
-      0.064453125,
-      0.005126953125,
-      1.203125,
-      1.0,
-      -0.0029296875,
-      -0.021484375,
-      -0.0009765625,
-      1.0,
-      0.0029296875
+      -0.029296875,
+      -0.0068359375,
+      0.9765625,
+      0.0078125
     ],
     [
-      0.0615234375,
-      0.009033203125,
-      1.21875,
-      1.0,
-      -0.002197265625,
-      -0.017578125,
+      0.041015625,
+      0.01611328125,
+      1.2734375,
+      0.96875,
+      0.0048828125,
+      -0.00927734375,
       0.0009765625,
-      1.0,
-      0.004150390625
+      0.97265625,
+      0.0087890625
     ],
     [
-      0.05615234375,
-      0.01220703125,
-      1.2421875,
-      1.0,
+      0.0302734375,
+      0.009521484375,
+      1.265625,
+      0.984375,
+      0.004638671875,
       -0.005859375,
-      -0.017578125,
-      0.001953125,
-      1.0,
-      0.00390625
+      -0.00537109375,
+      0.98046875,
+      0.013671875
     ],
     [
-      0.0498046875,
+      0.015625,
+      0.0086669921875,
+      1.296875,
+      0.96875,
       0.013671875,
-      1.265625,
-      1.0,
-      -0.001953125,
-      -0.0177001953125,
-      0.001953125,
-      0.99609375,
-      0.001953125
-    ],
-    [
-      0.0458984375,
-      0.01318359375,
-      1.28125,
-      1.0,
-      0.0009765625,
+      -0.013671875,
       -0.015625,
-      -0.001953125,
-      1.0078125,
-      0.00341796875
+      0.984375,
+      0.0234375
     ],
     [
-      0.04296875,
-      0.01318359375,
-      1.3046875,
-      1.0078125,
-      -0.00244140625,
-      -0.0087890625,
-      -0.001953125,
-      1.0,
-      0.001953125
+      0.0283203125,
+      0.0146484375,
+      1.3359375,
+      0.96875,
+      0.01953125,
+      -0.0068359375,
+      -0.0078125,
+      0.9765625,
+      0.01318359375
     ],
     [
-      0.0322265625,
-      0.009033203125,
-      1.328125,
-      1.0078125,
-      -0.00146484375,
-      -0.01171875,
+      0.033203125,
       0.0,
-      1.0,
-      0.001953125
-    ],
-    [
-      0.02734375,
-      0.0067138671875,
       1.34375,
-      1.0078125,
-      -0.001953125,
-      -0.005859375,
-      0.0,
-      1.0,
-      0.00390625
-    ],
-    [
-      0.0166015625,
-      0.0048828125,
-      1.375,
-      1.0078125,
-      -0.00390625,
-      -0.00390625,
-      0.0,
-      1.0078125,
-      0.00830078125
-    ],
-    [
-      0.015625,
+      0.97265625,
       0.00146484375,
-      1.390625,
-      1.0078125,
-      -0.00341796875,
-      -0.0009765625,
+      0.00390625,
       0.001953125,
-      1.0,
-      0.00732421875
+      0.97265625,
+      0.005615234375
     ],
     [
-      0.013671875,
-      0.00244140625,
-      1.4140625,
-      1.0078125,
-      -0.00146484375,
-      -0.001953125,
-      0.00048828125,
-      1.0078125,
-      0.0068359375
-    ],
-    [
-      0.007568359375,
+      0.0234375,
       0.0048828125,
-      1.453125,
-      1.0078125,
-      -0.00390625,
-      0.0,
-      0.0078125,
-      1.0,
-      0.0068359375
+      1.328125,
+      0.9921875,
+      0.00439453125,
+      -0.0078125,
+      -0.003662109375,
+      0.98046875,
+      0.010009765625
     ],
     [
-      0.009765625,
-      -0.00390625,
-      1.46875,
-      1.0,
+      0.009033203125,
+      0.0166015625,
+      1.3984375,
+      0.984375,
       -0.01171875,
-      -0.004150390625,
-      0.009765625,
-      1.0,
+      -0.009765625,
+      0.0234375,
+      0.96484375,
       0.01171875
     ],
     [
-      0.006103515625,
+      0.021484375,
+      -0.01171875,
+      1.40625,
+      0.96875,
+      -0.01953125,
+      -0.0048828125,
       0.01171875,
-      1.5,
-      1.0,
+      0.96484375,
+      0.0234375
+    ],
+    [
+      0.0155029296875,
+      0.021484375,
+      1.4375,
+      0.9609375,
       -0.00341796875,
-      0.001953125,
-      0.001220703125,
-      1.0,
-      0.00390625
+      0.009765625,
+      0.0006103515625,
+      0.96484375,
+      -0.00390625
     ],
     [
-      0.006103515625,
-      0.00732421875,
-      1.515625,
-      1.0,
-      -0.001708984375,
-      0.0,
-      0.001953125,
-      1.0078125,
-      0.0009765625
+      0.0108642578125,
+      0.005859375,
+      1.421875,
+      0.953125,
+      -0.002685546875,
+      -0.013671875,
+      0.0068359375,
+      0.953125,
+      -0.00048828125
     ],
     [
-      0.00390625,
-      0.0078125,
-      1.546875,
-      1.0,
-      -0.00146484375,
-      -0.0009765625,
-      0.0,
-      1.0,
-      0.001953125
+      0.01068115234375,
+      0.01171875,
+      1.46875,
+      0.953125,
+      -0.00341796875,
+      -0.00048828125,
+      0.005859375,
+      0.9453125,
+      0.009765625
     ],
     [
-      0.003173828125,
-      0.0107421875,
-      1.5625,
-      1.0,
-      -0.001953125,
-      0.004150390625,
+      0.00830078125,
+      0.0224609375,
+      1.515625,
+      0.96875,
+      0.005859375,
       0.00048828125,
-      1.0,
-      0.00537109375
+      0.0009765625,
+      0.96484375,
+      0.001953125
     ],
     [
-      0.0,
-      0.00390625,
-      1.578125,
-      1.0,
-      -0.005859375,
-      0.0,
-      0.00390625,
-      1.0,
-      0.0
+      0.01171875,
+      -0.015625,
+      1.515625,
+      0.9765625,
+      0.0029296875,
+      0.001953125,
+      -0.001220703125,
+      0.96875,
+      0.01171875
     ],
     [
+      0.010986328125,
+      0.0185546875,
+      1.546875,
+      0.97265625,
+      -0.00390625,
       0.00244140625,
-      0.0087890625,
-      1.609375,
-      1.0,
-      -0.001953125,
-      0.0029296875,
-      0.001953125,
-      1.0,
-      0.0029296875
+      -0.00390625,
+      0.984375,
+      0.0078125
     ],
     [
-      0.001953125,
-      0.0107421875,
-      1.625,
-      1.0,
-      0.00146484375,
-      0.0078125,
-      -0.001953125,
-      1.0078125,
-      0.00341796875
+      0.01318359375,
+      0.0087890625,
+      1.5390625,
+      0.94921875,
+      0.0,
+      0.015625,
+      -0.0078125,
+      0.953125,
+      0.005859375
     ],
     [
-      0.00244140625,
-      0.01019287109375,
-      1.6484375,
-      1.0,
-      -0.0010986328125,
-      0.001953125,
-      0.0029296875,
-      1.0078125,
-      0.001953125
+      0.00830078125,
+      0.01165771484375,
+      1.578125,
+      0.953125,
+      0.0003662109375,
+      -0.009765625,
+      0.0,
+      0.9765625,
+      0.0087890625
     ],
     [
+      0.011962890625,
+      0.025390625,
+      1.5703125,
+      0.953125,
+      -0.00164794921875,
+      -0.000244140625,
       0.001953125,
-      0.01171875,
-      1.65625,
-      1.0,
-      -0.0023193359375,
-      0.001220703125,
-      0.0009765625,
-      1.0078125,
-      0.0029296875
+      0.96875,
+      -0.0068359375
     ],
     [
-      0.0035400390625,
+      0.00970458984375,
+      0.025390625,
+      1.6171875,
+      0.9609375,
+      0.0068359375,
+      0.0009765625,
       0.0078125,
-      1.6875,
-      1.0078125,
-      -0.0048828125,
-      -0.001953125,
-      0.0,
-      1.0,
-      -0.00390625
+      0.984375,
+      0.0048828125
     ],
     [
-      0.00244140625,
-      0.0107421875,
-      1.703125,
-      1.0,
+      0.01220703125,
+      0.014892578125,
+      1.640625,
+      0.96875,
+      -0.00390625,
+      0.0,
       -0.0048828125,
-      -0.0029296875,
-      0.001953125,
-      1.0,
-      -0.005859375
+      0.97265625,
+      0.0078125
     ],
     [
-      0.001220703125,
-      0.01171875,
-      1.71875,
-      1.0,
-      0.0001220703125,
-      0.0029296875,
-      0.00146484375,
-      1.0078125,
-      0.001953125
+      0.006103515625,
+      -0.001953125,
+      1.640625,
+      0.9765625,
+      0.002471923828125,
+      -0.001953125,
+      -0.00537109375,
+      0.96875,
+      0.00341796875
     ],
     [
+      0.0166015625,
+      0.017578125,
+      1.640625,
+      0.96875,
+      0.00146484375,
+      -0.009765625,
       0.0048828125,
-      0.0087890625,
-      1.734375,
-      1.0,
-      -0.000244140625,
-      0.00390625,
-      0.0,
-      1.0078125,
-      0.0
+      0.96484375,
+      0.0087890625
     ],
     [
-      0.0008544921875,
-      0.01171875,
-      1.7578125,
-      1.0,
-      0.001953125,
-      -0.00048828125,
-      0.00390625,
-      1.0,
-      -0.0009765625
+      0.005126953125,
+      0.0087890625,
+      1.6796875,
+      0.9609375,
+      -0.005859375,
+      -0.00146484375,
+      -0.005859375,
+      0.96875,
+      0.0068359375
     ]
   ],
   "shape": [
@@ -669,4 +669,4 @@
   "raw_action_dim": 9,
   "action_mode": "inverse_dynamics",
   "domain_id": 1
-}
+}

assets/edge_i2v_output.mp4

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:10022822f1742388c79eb8403aab7658321d73bd5194788ff41a13bcdff9eef8
-size 24163347
+oid sha256:d4e87cbc2efe25f40ac31d91a11a872f7b51d262ce764cfd0dde53a7be762998
+size 8053812

assets/example_i2v_prompt.json

@@ -67,15 +67,15 @@
     "context": "Dashcam footage capturing a dangerous landslide event on a coastal mountain highway, requiring emergency driving maneuver",
     "actions": [
       {
-        "time": "0:00-0:03",
+        "time": "0:00-0:02",
         "description": "The car drives fast along the winding coastal mountain road, approaching the left curve with the road rushing beneath"
       },
       {
-        "time": "0:03-0:05",
+        "time": "0:02-0:04",
         "description": "Rocks begin to dislodge from the steep cliff face ahead, tumbling down with increasing intensity as a landslide develops, dust rising from impacts"
       },
       {
-        "time": "0:05-0:07",
+        "time": "0:04-0:05",
         "description": "The car makes a sudden emergency stop, the camera lurching forward from the deceleration as rocks and debris continue falling onto the road ahead"
       }
     ],
@@ -91,34 +91,34 @@
     "segments": [
       {
         "segment_index": 0,
-        "time_range": "0:00-0:03",
+        "time_range": "0:00-0:02",
         "description": "The car speeds along the scenic coastal mountain highway, navigating the curve. The road surface rushes beneath, white lines blur slightly from speed, and the mountain looms ahead.",
         "key_changes": "Road perspective shifts as car navigates the curve, passing the warning sign, guardrail moves in peripheral view",
         "camera": "Forward-moving dashcam with slight road vibration, steady forward momentum"
       },
       {
         "segment_index": 1,
-        "time_range": "0:03-0:05",
+        "time_range": "0:02-0:04",
         "description": "Rocks begin breaking loose from the cliff face ahead. Small stones first, then larger boulders cascade down the mountainside creating a growing dust cloud and debris field on and near the road.",
         "key_changes": "Mountain transitions from static backdrop to active hazard, dust cloud forms, debris appears on road surface ahead",
         "camera": "Still moving forward but beginning to slow, slight camera shake increases"
       },
       {
         "segment_index": 2,
-        "time_range": "0:05-0:07",
+        "time_range": "0:04-0:05",
         "description": "The car performs an emergency stop. The camera pitches forward from sudden braking force. The vehicle comes to a complete halt with the landslide debris visible on the road ahead, dust still settling.",
         "key_changes": "Rapid deceleration, camera lurches forward then settles, motion stops completely, dust and small rocks still visible falling",
         "camera": "Abrupt forward pitch from braking, then stabilizes to static as vehicle stops"
       }
     ],
     "transitions": [],
-    "temporal_caption": "The video begins with a dashcam view of a car driving fast along a scenic coastal mountain road, the asphalt rushing beneath and a sharp left curve sign visible on the left. The car navigates the curve at speed with the steep rocky cliff towering above and the ocean visible to the right. Around the 3-second mark, small rocks begin to dislodge from the cliff face ahead, quickly escalating into a significant rockfall with larger boulders tumbling down the mountainside and a dust cloud forming. By second 5, the driver reacts with emergency braking - the camera lurches forward dramatically from the sudden deceleration. The car comes to a complete stop by second 6-7, with the road ahead partially blocked by fallen rocks and debris, dust still settling in the air around the landslide zone.",
-    "audio_description": "Initially the sound of a car engine at moderate-high RPM and tire noise on asphalt with wind passing over the vehicle. Around second 3, the rumbling and cracking sounds of rocks breaking loose begin, growing louder with impacts of stones hitting the road surface and each other. Loud thuds and crashes as larger rocks land. At second 5, the sharp screech of tires braking hard on asphalt, followed by the settling sounds of smaller pebbles and dust, with distant rumbling of the remaining rockfall subsiding.",
+    "temporal_caption": "The video begins with a dashcam view of a car driving fast along a scenic coastal mountain road, the asphalt rushing beneath and a sharp left curve sign visible on the left. The car navigates the curve at speed with the steep rocky cliff towering above and the ocean visible to the right. Around the 2-second mark, small rocks begin to dislodge from the cliff face ahead, quickly escalating into a significant rockfall with larger boulders tumbling down the mountainside and a dust cloud forming. By second 4, the driver reacts with emergency braking - the camera lurches forward dramatically from the sudden deceleration. The car comes to a complete stop between seconds 4 and 5, with the road ahead partially blocked by fallen rocks and debris, dust still settling in the air around the landslide zone.",
+    "audio_description": "Initially the sound of a car engine at moderate-high RPM and tire noise on asphalt with wind passing over the vehicle. Around second 2, the rumbling and cracking sounds of rocks breaking loose begin, growing louder with impacts of stones hitting the road surface and each other. Loud thuds and crashes as larger rocks land. At second 4, the sharp screech of tires braking hard on asphalt, followed by the settling sounds of smaller pebbles and dust, with distant rumbling of the remaining rockfall subsiding.",
     "resolution": {
       "W": 1280,
       "H": 720
     },
     "aspect_ratio": "16,9",
-    "duration": "7s",
+    "duration": "5s",
     "fps": 24
   }