{ "name": "policy_postprocessor", "steps": [ { "registry_name": "groot_n1_7_action_decode_v1", "config": { "env_action_dim": 6, "raw_stats": { "state": { "single_arm": { "min": [ -63.25274658203125, -102.4175796508789, -66.02198028564453, -100.04395294189453, -115.82417297363281 ], "max": [ 71.25274658203125, 77.0988998413086, 96.87911987304688, 84.74725341796875, -49.18681335449219 ], "mean": [ -5.895233631134033, -11.684861183166504, 43.93213653564453, -2.9278483390808105, -84.40383911132812 ], "std": [ 25.1289119720459, 37.54911422729492, 30.41010856628418, 45.583106994628906, 8.07081413269043 ], "count": [ 52304 ], "q01": [ -42.820438385009766, -99.6275863647461, -24.157855987548828, -86.61698913574219, -96.2379150390625 ], "q10": [ -37.35314178466797, -60.627349853515625, 1.8217066526412964, -73.250732421875, -93.12344360351562 ], "q50": [ -6.417273044586182, -8.08084774017334, 48.88793182373047, 12.88592529296875, -84.7616958618164 ], "q90": [ 28.723997116088867, 32.15158462524414, 76.10317993164062, 44.915592193603516, -75.10478210449219 ], "q99": [ 37.953834533691406, 52.94851303100586, 90.09220886230469, 63.880027770996094, -69.3387451171875 ] }, "gripper": { "min": [ 2.6850032806396484 ], "max": [ 48.19908142089844 ], "mean": [ 23.17803955078125 ], "std": [ 10.33686351776123 ], "count": [ 52304 ], "q01": [ 11.036966323852539 ], "q10": [ 12.134784698486328 ], "q50": [ 23.93593978881836 ], "q90": [ 36.779266357421875 ], "q99": [ 39.439151763916016 ] } }, "action": { "single_arm": { "min": [ -63.47252655029297, -105.0988998413086, -69.53845977783203, -100.52747344970703, -116.17582702636719 ], "max": [ 71.38461303710938, 77.05494689941406, 97.31867980957031, 84.0, -48.74725341796875 ], "mean": [ -5.831366062164307, -12.880621910095215, 42.33171844482422, -3.434662103652954, -84.39186096191406 ], "std": [ 25.08074188232422, 37.23467254638672, 30.623920440673828, 45.615840911865234, 8.080364227294922 ], "count": [ 52304 ], "q01": [ -42.8783073425293, -100.6488265991211, -26.00429916381836, -87.42145538330078, -96.47991180419922 ], "q10": [ -37.14521789550781, -61.32703399658203, -0.09512121975421906, -73.90604400634766, -93.13179016113281 ], "q50": [ -6.301194667816162, -9.567073822021484, 47.21167755126953, 12.432136535644531, -84.71963500976562 ], "q90": [ 28.661067962646484, 30.60915184020996, 74.74908447265625, 44.542240142822266, -75.1277084350586 ], "q99": [ 38.02041244506836, 52.54386901855469, 89.40943145751953, 63.39891815185547, -69.14493560791016 ] }, "gripper": { "min": [ 0.30983734130859375 ], "max": [ 48.56700134277344 ], "mean": [ 19.44764518737793 ], "std": [ 14.310379028320312 ], "count": [ 52304 ], "q01": [ 2.2427945137023926 ], "q10": [ 2.6635289192199707 ], "q50": [ 23.823928833007812 ], "q90": [ 36.900386810302734 ], "q99": [ 39.6510009765625 ] } }, "relative_action": { "single_arm": { "min": [ [ -11.20879077911377, -16.21977996826172, -13.890109062194824, -18.85714340209961, -7.8241729736328125 ], [ -14.021978378295898, -19.824176788330078, -16.5274715423584, -22.54945182800293, -10.02197265625 ], [ -16.83516502380371, -23.164836883544922, -19.076923370361328, -26.681320190429688, -11.956039428710938 ], [ -19.648351669311523, -26.417583465576172, -21.450550079345703, -30.725276947021484, -13.802192687988281 ], [ -22.461538314819336, -29.670330047607422, -23.560440063476562, -34.06593704223633, -15.648345947265625 ], [ -25.186813354492188, -32.74725341796875, -25.58241844177246, -37.406593322753906, -17.23076629638672 ], [ -27.824174880981445, -35.82417297363281, -27.428571701049805, -40.57142639160156, -18.813186645507812 ], [ -30.461538314819336, -38.63736343383789, -29.186813354492188, -43.64834976196289, -20.04395294189453 ], [ -32.835166931152344, -41.4505500793457, -31.64834976196289, -46.725276947021484, -21.186813354492188 ], [ -35.29670333862305, -44.263736724853516, -34.021976470947266, -49.89011001586914, -21.802200317382812 ], [ -37.67033004760742, -46.637359619140625, -36.39560317993164, -52.96703338623047, -22.329673767089844 ], [ -39.9560432434082, -48.92307662963867, -38.68131637573242, -56.21977996826172, -22.417587280273438 ], [ -42.153846740722656, -51.03296661376953, -40.87911605834961, -59.38461685180664, -22.417587280273438 ], [ -44.263736724853516, -53.67033004760742, -42.98900604248047, -62.5494499206543, -22.417587280273438 ], [ -46.28571319580078, -56.483516693115234, -45.010986328125, -65.18681335449219, -22.417587280273438 ], [ -48.30769348144531, -59.47252655029297, -46.857139587402344, -68.0, -23.03296661376953 ], [ -50.24176025390625, -62.373626708984375, -48.61538314819336, -71.69230651855469, -23.560440063476562 ], [ -52.087913513183594, -65.27472686767578, -50.37362289428711, -75.38461303710938, -23.912086486816406 ], [ -53.93406677246094, -68.0879135131836, -51.95603942871094, -78.989013671875, -24.26373291015625 ], [ -55.604393005371094, -70.72527313232422, -53.45054626464844, -82.32967376708984, -24.52747344970703 ], [ -57.27472686767578, -73.27472686767578, -54.857139587402344, -85.4945068359375, -24.791213989257812 ], [ -58.76923370361328, -75.73626708984375, -56.087913513183594, -88.65933990478516, -24.96703338623047 ], [ -60.26374053955078, -78.19779968261719, -57.406593322753906, -91.47252655029297, -25.406593322753906 ], [ -61.846153259277344, -80.65933990478516, -58.637359619140625, -94.1098861694336, -25.75823974609375 ], [ -63.340660095214844, -82.94505310058594, -60.131866455078125, -96.65933990478516, -26.197799682617188 ], [ -64.83515930175781, -85.14285278320312, -61.97801971435547, -98.94505310058594, -26.637359619140625 ], [ -66.15384674072266, -87.34066009521484, -63.56044006347656, -101.14285278320312, -26.901092529296875 ], [ -67.38461303710938, -89.45054626464844, -65.05494689941406, -103.07691955566406, -26.901092529296875 ], [ -68.70329284667969, -91.4725341796875, -66.46154022216797, -105.18681335449219, -26.901092529296875 ], [ -69.84615325927734, -93.4945068359375, -67.86813354492188, -107.29670715332031, -26.901092529296875 ], [ -70.989013671875, -95.42857360839844, -69.18681335449219, -109.14286041259766, -26.901092529296875 ], [ -71.95603942871094, -97.18681335449219, -70.68132019042969, -110.81318664550781, -26.901092529296875 ], [ -72.83516693115234, -98.85714721679688, -72.17581939697266, -112.48351287841797, -26.901092529296875 ], [ -73.71428680419922, -100.52747344970703, -74.37361907958984, -113.89010620117188, -26.901092529296875 ], [ -74.5054931640625, -102.19779968261719, -76.48351287841797, -115.20878601074219, -26.901092529296875 ], [ -75.20879364013672, -103.78022003173828, -78.5054931640625, -116.96703338623047, -26.901092529296875 ], [ -75.9120864868164, -105.45054626464844, -80.43955993652344, -118.9011001586914, -26.901092529296875 ], [ -76.52747344970703, -107.12088012695312, -82.28571319580078, -120.83516693115234, -26.901092529296875 ], [ -77.05494689941406, -108.87911987304688, -84.13186645507812, -122.59341430664062, -26.901092529296875 ], [ -77.58241271972656, -110.54945373535156, -85.97801971435547, -124.17582702636719, -26.813186645507812 ] ], "max": [ [ 13.230769157409668, 17.626373291015625, 14.329669952392578, 19.648351669311523, 7.8241729736328125 ], [ 14.813187599182129, 20.175827026367188, 18.373626708984375, 24.395605087280273, 9.670333862304688 ], [ 17.71428680419922, 22.549453735351562, 22.153846740722656, 29.14285659790039, 11.340660095214844 ], [ 20.35165023803711, 24.74725341796875, 25.934066772460938, 33.626373291015625, 12.923080444335938 ], [ 22.901100158691406, 26.945053100585938, 29.9780216217041, 38.28571319580078, 14.329669952392578 ], [ 25.098901748657227, 29.23076629638672, 33.846153259277344, 42.76923370361328, 15.912090301513672 ], [ 27.296703338623047, 32.21977996826172, 37.71428680419922, 47.16483688354492, 17.494503021240234 ], [ 29.934066772460938, 35.120880126953125, 41.67033004760742, 51.29670715332031, 18.54944610595703 ], [ 32.57143020629883, 38.021976470947266, 45.4505500793457, 55.25274658203125, 19.5164794921875 ], [ 35.20879364013672, 40.92307662963867, 49.406593322753906, 59.56044006347656, 20.395606994628906 ], [ 37.67033004760742, 43.64834976196289, 53.27472686767578, 63.78022003173828, 21.71428680419922 ], [ 39.9560432434082, 46.19779968261719, 56.96703338623047, 68.0, 23.03296661376953 ], [ 42.41758346557617, 48.659339904785156, 60.659339904785156, 72.04395294189453, 24.26373291015625 ], [ 44.96703338623047, 51.12087631225586, 64.26374053955078, 75.9120864868164, 25.406593322753906 ], [ 47.340660095214844, 53.494503021240234, 67.86813354492188, 79.78022003173828, 26.549449920654297 ], [ 49.626373291015625, 55.78022003173828, 71.20878601074219, 83.47252655029297, 27.60439682006836 ], [ 51.82417678833008, 58.32966995239258, 74.63735961914062, 87.07691955566406, 28.659339904785156 ], [ 53.93406677246094, 61.14285659790039, 77.89010620117188, 90.41758728027344, 29.538463592529297 ], [ 55.78022003173828, 63.868133544921875, 80.96703338623047, 93.58241271972656, 30.153850555419922 ], [ 57.626373291015625, 66.5054931640625, 84.04395294189453, 96.4835205078125, 30.681324005126953 ], [ 59.29670715332031, 68.96703338623047, 87.12088012695312, 99.38461303710938, 30.945056915283203 ], [ 60.79120635986328, 71.42857360839844, 90.02197265625, 102.10989379882812, 31.03296661376953 ], [ 62.19779968261719, 73.80220031738281, 92.83515930175781, 104.74725341796875, 31.03296661376953 ], [ 63.51648712158203, 76.0879135131836, 95.56044006347656, 107.38461303710938, 31.03296661376953 ], [ 64.74725341796875, 78.46154022216797, 98.28572082519531, 109.84615325927734, 31.03296661376953 ], [ 66.41758728027344, 80.65933990478516, 100.74725341796875, 112.30769348144531, 31.03296661376953 ], [ 68.0879135131836, 82.85713958740234, 103.20879364013672, 114.76922607421875, 31.03296661376953 ], [ 69.67033386230469, 84.96703338623047, 105.5824203491211, 117.67033386230469, 31.03296661376953 ], [ 71.25274658203125, 86.98900604248047, 107.86813354492188, 120.65933990478516, 31.03296661376953 ], [ 72.74725341796875, 88.9230728149414, 110.15384674072266, 123.56044006347656, 31.03296661376953 ], [ 74.15384674072266, 90.76922607421875, 112.35165405273438, 126.37362670898438, 31.03296661376953 ], [ 75.47252655029297, 92.52747344970703, 114.63735961914062, 129.010986328125, 31.03296661376953 ], [ 76.70329284667969, 94.19780731201172, 116.83516693115234, 131.20880126953125, 31.03296661376953 ], [ 77.84615325927734, 95.86813354492188, 119.03297424316406, 133.3186798095703, 31.03296661376953 ], [ 78.9011001586914, 97.45055389404297, 121.23077392578125, 135.42857360839844, 31.03296661376953 ], [ 79.95603942871094, 99.12088012695312, 123.42857360839844, 137.45054626464844, 31.03296661376953 ], [ 80.92308044433594, 100.70330047607422, 125.62637329101562, 139.38461303710938, 31.03296661376953 ], [ 81.71428680419922, 102.28572082519531, 127.64835357666016, 140.967041015625, 31.03296661376953 ], [ 82.41758728027344, 103.86813354492188, 129.6703338623047, 142.4615478515625, 31.03296661376953 ], [ 83.12088012695312, 105.45055389404297, 131.6923065185547, 143.6923065185547, 31.03296661376953 ] ], "mean": [ [ -0.018726438283920288, -1.0302668809890747, -1.6075918674468994, -0.7480959892272949, -0.005265509709715843 ], [ -0.039198651909828186, -0.9708397388458252, -1.6201127767562866, -0.82773756980896, -0.0033274462912231684 ], [ -0.05908317118883133, -0.9132692217826843, -1.6327027082443237, -0.9048510789871216, -0.0012952529359608889 ], [ -0.07832687348127365, -0.8575944304466248, -1.6453174352645874, -0.9794418811798096, 0.0008224695920944214 ], [ -0.09694531559944153, -0.8037601709365845, -1.6579358577728271, -1.051614761352539, 0.003025739686563611 ], [ -0.11495403200387955, -0.751740038394928, -1.6705410480499268, -1.1214019060134888, 0.005307664163410664 ], [ -0.13229985535144806, -0.7015122771263123, -1.6831207275390625, -1.188816785812378, 0.007683776319026947 ], [ -0.14896491169929504, -0.6530783176422119, -1.6956806182861328, -1.2539135217666626, 0.010117381811141968 ], [ -0.16497769951820374, -0.6064571142196655, -1.7082003355026245, -1.3166965246200562, 0.012633202597498894 ], [ -0.1803194284439087, -0.5616413950920105, -1.7206525802612305, -1.3772141933441162, 0.015248538926243782 ], [ -0.19502805173397064, -0.5185959339141846, -1.7330478429794312, -1.4354349374771118, 0.017940707504749298 ], [ -0.20911432802677155, -0.4773705005645752, -1.7453839778900146, -1.4913257360458374, 0.020720357075333595 ], [ -0.22260065376758575, -0.43795424699783325, -1.7576463222503662, -1.5448962450027466, 0.023623662069439888 ], [ -0.23553507030010223, -0.40039169788360596, -1.7697864770889282, -1.5961896181106567, 0.02668781951069832 ], [ -0.2479289174079895, -0.36467403173446655, -1.7817682027816772, -1.6451822519302368, 0.029902011156082153 ], [ -0.2597927749156952, -0.3308218717575073, -1.7935088872909546, -1.6919182538986206, 0.03324521332979202 ], [ -0.27113544940948486, -0.2988242506980896, -1.804911494255066, -1.736474871635437, 0.0366935171186924 ], [ -0.28196802735328674, -0.268706738948822, -1.8159228563308716, -1.7788249254226685, 0.04020777344703674 ], [ -0.29232123494148254, -0.24047470092773438, -1.8264377117156982, -1.8190709352493286, 0.0437677763402462 ], [ -0.30221524834632874, -0.2141483575105667, -1.8363802433013916, -1.8573024272918701, 0.04736257344484329 ], [ -0.31173115968704224, -0.1897415667772293, -1.845684289932251, -1.8935567140579224, 0.05099721997976303 ], [ -0.3209451735019684, -0.16733418405056, -1.8543035984039307, -1.9279096126556396, 0.0546666756272316 ], [ -0.3299332559108734, -0.14693476259708405, -1.8622530698776245, -1.9604737758636475, 0.058359045535326004 ], [ -0.3387414813041687, -0.12863872945308685, -1.869462013244629, -1.9913173913955688, 0.06208966672420502 ], [ -0.3473791778087616, -0.11251325160264969, -1.8758621215820312, -2.020477771759033, 0.06581515818834305 ], [ -0.3559236526489258, -0.09860960394144058, -1.8814606666564941, -2.0479726791381836, 0.06951655447483063 ], [ -0.36442136764526367, -0.08693709224462509, -1.8861953020095825, -2.073847770690918, 0.07316531240940094 ], [ -0.37288036942481995, -0.07753455638885498, -1.8900485038757324, -2.0981085300445557, 0.07674252986907959 ], [ -0.3812832534313202, -0.07045861333608627, -1.8929651975631714, -2.1208388805389404, 0.08026405423879623 ], [ -0.38965359330177307, -0.06573434174060822, -1.8948700428009033, -2.142106771469116, 0.0837244838476181 ], [ -0.39806920289993286, -0.06335785984992981, -1.8957085609436035, -2.161968231201172, 0.0871257558465004 ], [ -0.4065609574317932, -0.06334546953439713, -1.8954776525497437, -2.1804726123809814, 0.09048708528280258 ], [ -0.4151499271392822, -0.06569387018680573, -1.894158124923706, -2.1976895332336426, 0.09379762411117554 ], [ -0.42386236786842346, -0.07036769390106201, -1.8917158842086792, -2.2137351036071777, 0.09704173356294632 ], [ -0.4327189326286316, -0.07729082554578781, -1.8881746530532837, -2.2287039756774902, 0.10023698955774307 ], [ -0.44175657629966736, -0.08639895915985107, -1.8835387229919434, -2.24263334274292, 0.10337459295988083 ], [ -0.4510308802127838, -0.09766939282417297, -1.8778692483901978, -2.2556023597717285, 0.10648207366466522 ], [ -0.4606249928474426, -0.1110578253865242, -1.871155858039856, -2.26768159866333, 0.10959457606077194 ], [ -0.4705352485179901, -0.12653537094593048, -1.863394021987915, -2.278911828994751, 0.11267933994531631 ], [ -0.48078545928001404, -0.14404554665088654, -1.8546591997146606, -2.289292573928833, 0.11573107540607452 ] ], "std": [ [ 2.291571617126465, 4.665075302124023, 3.250023365020752, 4.60390043258667, 0.9213994145393372 ], [ 2.910444974899292, 5.861839771270752, 4.016632080078125, 5.865848541259766, 1.1299285888671875 ], [ 3.527968406677246, 7.056619167327881, 4.784005641937256, 7.116894721984863, 1.3311996459960938 ], [ 4.142650604248047, 8.246419906616211, 5.547224998474121, 8.355831146240234, 1.5244011878967285 ], [ 4.753630638122559, 9.429224014282227, 6.303829669952393, 9.581007957458496, 1.7100414037704468 ], [ 5.360313892364502, 10.604208946228027, 7.052299499511719, 10.792424201965332, 1.8893028497695923 ], [ 5.962521076202393, 11.770100593566895, 7.79159688949585, 11.99016284942627, 2.0628106594085693 ], [ 6.559598922729492, 12.92690658569336, 8.521368026733398, 13.173978805541992, 2.2310330867767334 ], [ 7.151641368865967, 14.073768615722656, 9.241596221923828, 14.344609260559082, 2.394681692123413 ], [ 7.73817777633667, 15.21055793762207, 9.951626777648926, 15.502958297729492, 2.5539417266845703 ], [ 8.31862735748291, 16.336200714111328, 10.651529312133789, 16.647727966308594, 2.7089126110076904 ], [ 8.8933687210083, 17.451303482055664, 11.341435432434082, 17.780920028686523, 2.8596277236938477 ], [ 9.461950302124023, 18.554561614990234, 12.021029472351074, 18.902292251586914, 3.0062711238861084 ], [ 10.023826599121094, 19.645967483520508, 12.690646171569824, 20.01101303100586, 3.148791790008545 ], [ 10.579157829284668, 20.725439071655273, 13.349764823913574, 21.108789443969727, 3.2877259254455566 ], [ 11.127828598022461, 21.79220199584961, 13.998934745788574, 22.19526481628418, 3.422837257385254 ], [ 11.669764518737793, 22.845897674560547, 14.638261795043945, 23.26990509033203, 3.5544228553771973 ], [ 12.205401420593262, 23.886802673339844, 15.267681121826172, 24.33378028869629, 3.6824331283569336 ], [ 12.734057426452637, 24.9143009185791, 15.887383460998535, 25.385927200317383, 3.807215690612793 ], [ 13.256031036376953, 25.92770767211914, 16.49751091003418, 26.42719841003418, 3.9282262325286865 ], [ 13.7713623046875, 26.927616119384766, 17.098125457763672, 27.456571578979492, 4.046286106109619 ], [ 14.280101776123047, 27.91269874572754, 17.689260482788086, 28.475078582763672, 4.161296367645264 ], [ 14.782118797302246, 28.8834285736084, 18.270858764648438, 29.481739044189453, 4.273310661315918 ], [ 15.277552604675293, 29.83903694152832, 18.843366622924805, 30.476850509643555, 4.382570743560791 ], [ 15.766500473022461, 30.77951431274414, 19.406904220581055, 31.46036148071289, 4.489189624786377 ], [ 16.248886108398438, 31.704513549804688, 19.961458206176758, 32.4322624206543, 4.593367576599121 ], [ 16.724925994873047, 32.61383056640625, 20.50713539123535, 33.393009185791016, 4.695070266723633 ], [ 17.194711685180664, 33.50742721557617, 21.043874740600586, 34.34147262573242, 4.794522285461426 ], [ 17.65827751159668, 34.384803771972656, 21.5721492767334, 35.27885055541992, 4.891684532165527 ], [ 18.11585807800293, 35.245967864990234, 22.091957092285156, 36.20470428466797, 4.9867377281188965 ], [ 18.56694984436035, 36.09067916870117, 22.60327911376953, 37.11898422241211, 5.079493999481201 ], [ 19.01228141784668, 36.91889953613281, 23.10641098022461, 38.02072525024414, 5.170266151428223 ], [ 19.45180320739746, 37.730342864990234, 23.601499557495117, 38.911231994628906, 5.258923053741455 ], [ 19.88538932800293, 38.524620056152344, 24.08856964111328, 39.790000915527344, 5.345334529876709 ], [ 20.31327247619629, 39.30160903930664, 24.567657470703125, 40.65703201293945, 5.429959774017334 ], [ 20.73567008972168, 40.061485290527344, 25.039030075073242, 41.51185989379883, 5.512416839599609 ], [ 21.152502059936523, 40.80364990234375, 25.502532958984375, 42.35511016845703, 5.593233108520508 ], [ 21.56402587890625, 41.528160095214844, 25.958328247070312, 43.186153411865234, 5.672044277191162 ], [ 21.96992301940918, 42.234561920166016, 26.406513214111328, 44.0049934387207, 5.749248504638672 ], [ 22.370424270629883, 42.923439025878906, 26.847352981567383, 44.8118782043457, 5.82472562789917 ] ], "q01": [ [ -5.758241653442383, -11.296703338623047, -8.703300476074219, -11.560439109802246, -2.9011001586914062 ], [ -7.340660095214844, -13.758241653442383, -10.549449920654297, -14.549449920654297, -3.604400634765625 ], [ -9.01098918914795, -16.21977996826172, -12.307693481445312, -17.450550079345703, -4.3076934814453125 ], [ -10.681318283081055, -18.681320190429688, -14.107253074645996, -20.263736724853516, -4.9643964767456055 ], [ -12.351648330688477, -21.14285659790039, -15.824176788330078, -23.164833068847656, -5.538459777832031 ], [ -13.934065818786621, -23.604393005371094, -17.582416534423828, -25.755603790283203, -6.153839111328125 ], [ -15.516483306884766, -25.978023529052734, -19.340656280517578, -28.439559936523438, -6.6813201904296875 ], [ -17.098899841308594, -28.351648330688477, -20.923076629638672, -30.989009857177734, -7.120880126953125 ], [ -18.593406677246094, -30.72527313232422, -22.593406677246094, -33.4505500793457, -7.736259460449219 ], [ -20.129230499267578, -33.098899841308594, -24.17582130432129, -36.0, -8.175819396972656 ], [ -21.670330047607422, -35.3380241394043, -25.75823974609375, -38.32703399658203, -8.615386962890625 ], [ -23.076923370361328, -37.58241653442383, -27.25274658203125, -40.835166931152344, -9.054946899414062 ], [ -24.571428298950195, -39.78022003173828, -28.747251510620117, -43.20878982543945, -9.4945068359375 ], [ -25.9780216217041, -42.01934051513672, -30.241756439208984, -45.582420349121094, -9.846158981323242 ], [ -27.47252655029297, -44.17582321166992, -31.73626136779785, -47.95603942871094, -10.285713195800781 ], [ -28.83252716064453, -46.28571319580078, -33.23076629638672, -50.24176025390625, -10.637367248535156 ], [ -30.197803497314453, -48.39560317993164, -34.63736343383789, -52.61538314819336, -10.989013671875 ], [ -31.604394912719727, -50.505496978759766, -36.0439567565918, -54.94241714477539, -11.340660095214844 ], [ -32.92307662963867, -52.52747344970703, -37.53845977783203, -57.36263656616211, -11.692306518554688 ], [ -34.19516372680664, -54.63736343383789, -38.85714340209961, -59.56044006347656, -12.219779968261719 ], [ -35.51384735107422, -56.659339904785156, -40.17582321166992, -61.75823974609375, -12.4835205078125 ], [ -36.70329666137695, -58.593406677246094, -41.494503021240234, -63.69230651855469, -12.835159301757812 ], [ -38.02198028564453, -60.43955993652344, -42.63736343383789, -65.80220031738281, -13.186813354492188 ], [ -39.25274658203125, -62.28571319580078, -43.868133544921875, -67.82418060302734, -13.538459777832031 ], [ -40.483516693115234, -64.04395294189453, -45.09890365600586, -69.75823974609375, -13.714286804199219 ], [ -41.626373291015625, -65.75560760498047, -46.32966995239258, -71.69230651855469, -13.978023529052734 ], [ -42.769229888916016, -67.47252655029297, -47.51384735107422, -73.62637329101562, -14.241756439208984 ], [ -43.82417678833008, -69.00834655761719, -48.61538314819336, -75.42593383789062, -14.593406677246094 ], [ -44.96703338623047, -70.54945373535156, -49.846153259277344, -77.23076629638672, -14.76922607421875 ], [ -46.063297271728516, -72.13186645507812, -50.989009857177734, -78.94241333007812, -15.032966613769531 ], [ -47.07692337036133, -73.71428680419922, -52.21977996826172, -80.57142639160156, -15.38461685180664 ], [ -48.131866455078125, -75.29670715332031, -53.27472686767578, -82.24176025390625, -15.824172973632812 ], [ -49.098899841308594, -76.79121398925781, -54.41758346557617, -83.82417297363281, -16.0 ], [ -49.97801971435547, -78.37362670898438, -55.47252655029297, -85.31867980957031, -16.175827026367188 ], [ -50.94505310058594, -79.60440063476562, -56.61538314819336, -86.85450744628906, -16.26374053955078 ], [ -51.912086486816406, -81.0988998413086, -57.670326232910156, -88.34900665283203, -16.52747344970703 ], [ -52.879119873046875, -82.41758728027344, -58.72527313232422, -89.84351348876953, -16.79121208190918 ], [ -53.799560546875, -83.77758026123047, -59.69231033325195, -91.16219329833984, -16.879119873046875 ], [ -54.72527313232422, -85.23077392578125, -60.65933609008789, -92.35164642333984, -17.054946899414062 ], [ -55.604393005371094, -86.54944610595703, -61.57978057861328, -93.5824203491211, -17.230772018432617 ] ], "q99": [ [ 6.461538314819336, 7.780217170715332, 7.648349761962891, 13.054946899414062, 2.989013671875 ], [ 8.219779968261719, 10.153844833374023, 10.197800636291504, 16.659339904785156, 3.7802200317382812 ], [ 10.065933227539062, 12.527469635009766, 12.74725341796875, 20.175823211669922, 4.4835205078125 ], [ 11.824175834655762, 14.813186645507812, 15.208791732788086, 23.692306518554688, 5.1868133544921875 ], [ 13.582417488098145, 17.186809539794922, 17.758241653442383, 27.120880126953125, 5.80219841003418 ], [ 15.340658187866211, 19.47252655029297, 20.043956756591797, 30.461536407470703, 6.4175872802734375 ], [ 17.010990142822266, 21.670330047607422, 22.593406677246094, 33.80220031738281, 7.032966613769531 ], [ 18.681320190429688, 23.956043243408203, 24.83241844177246, 37.05494689941406, 7.5604400634765625 ], [ 20.439559936523438, 26.153844833374023, 27.25274658203125, 40.21977996826172, 8.175823211669922 ], [ 22.063186645507812, 28.351648330688477, 29.45054817199707, 43.33790969848633, 8.703292846679688 ], [ 23.692306518554688, 30.461538314819336, 31.824174880981445, 46.373626708984375, 9.142860412597656 ], [ 25.36263656616211, 32.483516693115234, 33.93406677246094, 49.36263656616211, 9.670331954956055 ], [ 26.857141494750977, 34.68131637573242, 36.21977996826172, 52.39285659790039, 10.197799682617188 ], [ 28.439559936523438, 36.615386962890625, 38.19505310058594, 55.164833068847656, 10.590660095214844 ], [ 29.934064865112305, 38.72527313232422, 40.39285659790039, 57.89011001586914, 11.164833068847656 ], [ 31.428571701049805, 40.659339904785156, 42.4615364074707, 60.52747344970703, 11.516487121582031 ], [ 32.876373291015625, 42.593406677246094, 44.48351287841797, 63.2060432434082, 11.99725341796875 ], [ 34.24176025390625, 44.61538314819336, 46.45878982543945, 65.89010620117188, 12.395606994628906 ], [ 35.648353576660156, 46.54945373535156, 48.43955993652344, 68.52747344970703, 12.876373291015625 ], [ 36.96703338623047, 48.395606994628906, 50.373626708984375, 71.11813354492188, 13.098899841308594 ], [ 38.373626708984375, 50.32966995239258, 52.30769348144531, 73.53845977783203, 13.450546264648438 ], [ 39.69230651855469, 52.17582702636719, 54.241756439208984, 75.73626708984375, 13.89011001586914 ], [ 41.010990142822266, 53.97527313232422, 56.0, 78.10989379882812, 14.24176025390625 ], [ 42.32966995239258, 55.78022003173828, 57.758243560791016, 80.3956069946289, 14.417585372924805 ], [ 43.56044006347656, 57.53845977783203, 59.604393005371094, 82.54669952392578, 14.769233703613281 ], [ 44.79120635986328, 59.29670333862305, 61.362640380859375, 84.61538696289062, 15.20878791809082 ], [ 46.10988998413086, 61.05494689941406, 63.07417678833008, 86.72527313232422, 15.472528457641602 ], [ 47.25274658203125, 62.90109634399414, 64.61538696289062, 88.74725341796875, 15.953300476074219 ], [ 48.39560317993164, 64.57142639160156, 66.28571319580078, 90.85713958740234, 16.26373291015625 ], [ 49.45054626464844, 66.28296661376953, 67.69230651855469, 93.05494689941406, 16.527469635009766 ], [ 50.41758346557617, 67.82417297363281, 69.05220031738281, 94.9011001586914, 16.79120635986328 ], [ 51.47252655029297, 69.31867980957031, 70.54669952392578, 96.78845977783203, 17.054946899414062 ], [ 52.43955993652344, 70.989013671875, 72.0, 98.68132019042969, 17.359891891479492 ], [ 53.406593322753906, 72.57142639160156, 73.23076629638672, 100.43955993652344, 17.670333862304688 ], [ 54.414833068847656, 74.15384674072266, 74.46154022216797, 102.19779968261719, 18.02198028564453 ], [ 55.25274658203125, 75.64835357666016, 75.86813354492188, 103.82142639160156, 18.197805404663086 ], [ 56.21977996826172, 77.31867980957031, 77.18681335449219, 105.45054626464844, 18.373626708984375 ], [ 57.010990142822266, 78.81318664550781, 78.37088012695312, 107.1620864868164, 18.549453735351562 ], [ 57.89011001586914, 80.21977996826172, 79.60164642333984, 108.7445068359375, 18.637359619140625 ], [ 58.68132019042969, 81.62637329101562, 80.52747344970703, 110.28572082519531, 18.72527313232422 ] ], "count": [ 50354, 50354, 50354, 50354, 50354, 50354, 50354, 50354, 50354, 50354, 50354, 50354, 50354, 50354, 50354, 50354, 50354, 50354, 50354, 50354, 50354, 50354, 50354, 50354, 50354, 50354, 50354, 50354, 50354, 50354, 50354, 50354, 50354, 50354, 50354, 50354, 50354, 50354, 50354, 50354 ] } } }, "modality_config": { "state": { "modality_keys": [ "single_arm", "gripper" ] }, "action": { "modality_keys": [ "single_arm", "gripper" ], "action_configs": [ { "rep": "RELATIVE", "type": "NON_EEF", "format": "DEFAULT", "state_key": null }, { "rep": "ABSOLUTE", "type": "NON_EEF", "format": "DEFAULT", "state_key": null } ], "delta_indices": [ 0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39 ] }, "video": { "modality_keys": [ "wrist", "front" ], "delta_indices": [ 0 ] } }, "use_percentiles": true, "use_relative_action": true, "action_decode_transform": null } }, { "registry_name": "device_processor", "config": { "device": "cpu", "float_dtype": null } } ] }