━━ ISR --d-target 12.0 --lambda-acc 0.002 --baseline 3 --gripper-threshold 2.0 ━━
  ep0: 270 -> 90 frames (33% kept, 39 gripper-forced)
  ep1: 278 -> 100 frames (36% kept, 39 gripper-forced)
  ep10: 241 -> 84 frames (35% kept, 37 gripper-forced)
  ep11: 253 -> 106 frames (42% kept, 66 gripper-forced)
  ep12: 304 -> 78 frames (26% kept, 24 gripper-forced)
  ep13: 282 -> 88 frames (31% kept, 44 gripper-forced)
  ep14: 272 -> 94 frames (35% kept, 46 gripper-forced)
  ep15: 257 -> 90 frames (35% kept, 46 gripper-forced)
  ep16: 255 -> 94 frames (37% kept, 41 gripper-forced)
  ep17: 304 -> 89 frames (29% kept, 34 gripper-forced)
  ep18: 317 -> 90 frames (28% kept, 29 gripper-forced)
  ep19: 314 -> 92 frames (29% kept, 39 gripper-forced)
  ep2: 300 -> 102 frames (34% kept, 39 gripper-forced)
  ep20: 297 -> 87 frames (29% kept, 27 gripper-forced)
  ep21: 281 -> 95 frames (34% kept, 45 gripper-forced)
  ep22: 255 -> 95 frames (37% kept, 42 gripper-forced)
  ep23: 278 -> 101 frames (36% kept, 44 gripper-forced)
  ep24: 251 -> 93 frames (37% kept, 40 gripper-forced)
  ep25: 266 -> 99 frames (37% kept, 48 gripper-forced)
  ep26: 238 -> 105 frames (44% kept, 63 gripper-forced)
  ep27: 262 -> 87 frames (33% kept, 36 gripper-forced)
  ep28: 308 -> 90 frames (29% kept, 37 gripper-forced)
  ep29: 270 -> 97 frames (36% kept, 40 gripper-forced)
  ep3: 291 -> 88 frames (30% kept, 33 gripper-forced)
  ep30: 275 -> 96 frames (35% kept, 40 gripper-forced)
  ep31: 278 -> 87 frames (31% kept, 36 gripper-forced)
  ep32: 273 -> 93 frames (34% kept, 42 gripper-forced)
  ep33: 291 -> 109 frames (37% kept, 65 gripper-forced)
  ep34: 266 -> 103 frames (39% kept, 60 gripper-forced)
  ep35: 290 -> 87 frames (30% kept, 39 gripper-forced)
  ep36: 282 -> 89 frames (32% kept, 42 gripper-forced)
  ep37: 283 -> 82 frames (29% kept, 39 gripper-forced)
  ep38: 286 -> 107 frames (37% kept, 68 gripper-forced)
  ep39: 276 -> 94 frames (34% kept, 47 gripper-forced)
  ep4: 292 -> 87 frames (30% kept, 35 gripper-forced)
  ep40: 305 -> 92 frames (30% kept, 45 gripper-forced)
  ep41: 286 -> 103 frames (36% kept, 62 gripper-forced)
  ep42: 276 -> 96 frames (35% kept, 49 gripper-forced)
  ep43: 270 -> 95 frames (35% kept, 43 gripper-forced)
  ep44: 268 -> 88 frames (33% kept, 35 gripper-forced)
  ep45: 274 -> 96 frames (35% kept, 46 gripper-forced)
  ep46: 264 -> 86 frames (33% kept, 40 gripper-forced)
  ep47: 260 -> 87 frames (33% kept, 39 gripper-forced)
  ep48: 238 -> 90 frames (38% kept, 53 gripper-forced)
  ep49: 246 -> 99 frames (40% kept, 46 gripper-forced)
  ep5: 337 -> 87 frames (26% kept, 37 gripper-forced)
  ep50: 352 -> 99 frames (28% kept, 40 gripper-forced)
  ep51: 292 -> 107 frames (37% kept, 51 gripper-forced)
  ep52: 301 -> 114 frames (38% kept, 62 gripper-forced)
  ep53: 284 -> 99 frames (35% kept, 50 gripper-forced)
  ep54: 279 -> 96 frames (34% kept, 43 gripper-forced)
  ep55: 293 -> 92 frames (31% kept, 36 gripper-forced)
  ep56: 288 -> 99 frames (34% kept, 54 gripper-forced)
  ep57: 333 -> 108 frames (32% kept, 46 gripper-forced)
  ep58: 272 -> 99 frames (36% kept, 46 gripper-forced)
  ep59: 289 -> 96 frames (33% kept, 42 gripper-forced)
  ep6: 254 -> 93 frames (37% kept, 45 gripper-forced)
  ep60: 303 -> 97 frames (32% kept, 40 gripper-forced)
  ep61: 275 -> 92 frames (33% kept, 41 gripper-forced)
  ep62: 277 -> 103 frames (37% kept, 51 gripper-forced)
  ep63: 278 -> 114 frames (41% kept, 66 gripper-forced)
  ep64: 305 -> 107 frames (35% kept, 57 gripper-forced)
  ep65: 309 -> 110 frames (36% kept, 53 gripper-forced)
  ep66: 292 -> 98 frames (34% kept, 40 gripper-forced)
  ep67: 285 -> 117 frames (41% kept, 67 gripper-forced)
  ep68: 284 -> 97 frames (34% kept, 43 gripper-forced)
  ep69: 255 -> 102 frames (40% kept, 62 gripper-forced)
  ep7: 284 -> 88 frames (31% kept, 40 gripper-forced)
  ep70: 285 -> 91 frames (32% kept, 36 gripper-forced)
  ep71: 327 -> 93 frames (28% kept, 42 gripper-forced)
  ep72: 338 -> 91 frames (27% kept, 35 gripper-forced)
  ep73: 346 -> 93 frames (27% kept, 35 gripper-forced)
  ep74: 363 -> 91 frames (25% kept, 21 gripper-forced)
  ep75: 326 -> 106 frames (33% kept, 47 gripper-forced)
  ep76: 328 -> 107 frames (33% kept, 40 gripper-forced)
  ep77: 319 -> 93 frames (29% kept, 35 gripper-forced)
  ep78: 349 -> 93 frames (27% kept, 35 gripper-forced)
  ep79: 331 -> 96 frames (29% kept, 30 gripper-forced)
  ep8: 318 -> 89 frames (28% kept, 36 gripper-forced)
  ep80: 319 -> 97 frames (30% kept, 34 gripper-forced)
  ep81: 307 -> 101 frames (33% kept, 38 gripper-forced)
  ep82: 302 -> 88 frames (29% kept, 35 gripper-forced)
  ep83: 328 -> 85 frames (26% kept, 29 gripper-forced)
  ep84: 304 -> 84 frames (28% kept, 35 gripper-forced)
  ep85: 299 -> 103 frames (34% kept, 45 gripper-forced)
  ep86: 261 -> 103 frames (39% kept, 61 gripper-forced)
  ep87: 258 -> 90 frames (35% kept, 41 gripper-forced)
  ep88: 283 -> 80 frames (28% kept, 25 gripper-forced)
  ep89: 307 -> 87 frames (28% kept, 33 gripper-forced)
  ep9: 263 -> 100 frames (38% kept, 47 gripper-forced)
  ep90: 327 -> 98 frames (30% kept, 38 gripper-forced)
  ep91: 302 -> 95 frames (31% kept, 35 gripper-forced)
  ep92: 279 -> 89 frames (32% kept, 39 gripper-forced)
  ep93: 278 -> 91 frames (33% kept, 38 gripper-forced)
  ep94: 308 -> 89 frames (29% kept, 33 gripper-forced)
  ep95: 295 -> 89 frames (30% kept, 37 gripper-forced)
  ep96: 328 -> 93 frames (28% kept, 35 gripper-forced)
  ep97: 293 -> 100 frames (34% kept, 40 gripper-forced)
  ep98: 258 -> 87 frames (34% kept, 34 gripper-forced)
  ep99: 275 -> 94 frames (34% kept, 37 gripper-forced)
wrote /workspace/std_mm_teleop/out/isr/stats.json

━━ score raw --input raw --eps 0.5 ━━
input=raw eps=0.5
  ep0: score=86.81147 (270/270 points in clusters)
  ep1: score=85.446293 (278/278 points in clusters)
  ep10: score=76.033035 (241/241 points in clusters)
  ep11: score=94.371065 (253/253 points in clusters)
  ep12: score=58.410363 (304/304 points in clusters)
  ep13: score=84.338649 (282/282 points in clusters)
  ep14: score=92.641715 (272/272 points in clusters)
  ep15: score=98.101925 (257/257 points in clusters)
  ep16: score=88.488101 (255/255 points in clusters)
  ep17: score=88.48014 (304/304 points in clusters)
  ep18: score=79.093761 (317/317 points in clusters)
  ep19: score=72.769215 (314/314 points in clusters)
  ep2: score=103.406071 (300/300 points in clusters)
  ep20: score=79.103303 (297/297 points in clusters)
  ep21: score=73.820294 (281/281 points in clusters)
  ep22: score=81.775026 (255/255 points in clusters)
  ep23: score=80.356488 (278/278 points in clusters)
  ep24: score=83.348766 (251/251 points in clusters)
  ep25: score=95.220908 (266/266 points in clusters)
  ep26: score=96.067244 (238/238 points in clusters)
  ep27: score=100.979283 (262/262 points in clusters)
  ep28: score=89.230335 (308/308 points in clusters)
  ep29: score=83.641057 (270/270 points in clusters)
  ep3: score=91.383367 (291/291 points in clusters)
  ep30: score=86.083411 (275/275 points in clusters)
  ep31: score=84.795859 (278/278 points in clusters)
  ep32: score=100.813031 (273/273 points in clusters)
  ep33: score=85.617808 (291/291 points in clusters)
  ep34: score=84.7752 (266/266 points in clusters)
  ep35: score=86.533757 (290/290 points in clusters)
  ep36: score=99.057732 (282/282 points in clusters)
  ep37: score=84.864746 (283/283 points in clusters)
  ep38: score=87.533476 (286/286 points in clusters)
  ep39: score=86.861407 (276/276 points in clusters)
  ep4: score=101.581291 (292/292 points in clusters)
  ep40: score=82.75667 (305/305 points in clusters)
  ep41: score=80.468435 (286/286 points in clusters)
  ep42: score=100.257944 (276/276 points in clusters)
  ep43: score=90.650397 (270/270 points in clusters)
  ep44: score=82.375681 (268/268 points in clusters)
  ep45: score=91.643396 (274/274 points in clusters)
  ep46: score=74.41267 (264/264 points in clusters)
  ep47: score=87.068898 (260/260 points in clusters)
  ep48: score=83.635761 (238/238 points in clusters)
  ep49: score=89.245707 (246/246 points in clusters)
  ep5: score=84.583691 (337/337 points in clusters)
  ep50: score=65.718189 (352/352 points in clusters)
  ep51: score=84.047885 (292/292 points in clusters)
  ep52: score=81.087957 (301/301 points in clusters)
  ep53: score=104.002432 (284/284 points in clusters)
  ep54: score=98.453033 (279/279 points in clusters)
  ep55: score=76.302381 (293/293 points in clusters)
  ep56: score=97.036988 (288/288 points in clusters)
  ep57: score=83.140093 (333/333 points in clusters)
  ep58: score=82.231979 (272/272 points in clusters)
  ep59: score=100.386918 (289/289 points in clusters)
  ep6: score=78.056289 (254/254 points in clusters)
  ep60: score=78.676556 (303/303 points in clusters)
  ep61: score=108.671679 (275/275 points in clusters)
  ep62: score=93.260802 (277/277 points in clusters)
  ep63: score=97.635294 (278/278 points in clusters)
  ep64: score=93.758359 (305/305 points in clusters)
  ep65: score=106.038346 (309/309 points in clusters)
  ep66: score=98.792953 (292/292 points in clusters)
  ep67: score=84.51903 (285/285 points in clusters)
  ep68: score=93.874001 (284/284 points in clusters)
  ep69: score=98.908828 (255/255 points in clusters)
  ep7: score=89.834963 (284/284 points in clusters)
  ep70: score=80.958281 (285/285 points in clusters)
  ep71: score=106.877959 (327/327 points in clusters)
  ep72: score=80.027406 (338/338 points in clusters)
  ep73: score=94.253971 (346/346 points in clusters)
  ep74: score=73.597519 (363/363 points in clusters)
  ep75: score=106.982201 (326/326 points in clusters)
  ep76: score=100.992822 (328/328 points in clusters)
  ep77: score=87.040534 (319/319 points in clusters)
  ep78: score=86.257002 (349/349 points in clusters)
  ep79: score=80.210512 (331/331 points in clusters)
  ep8: score=92.908468 (318/318 points in clusters)
  ep80: score=94.248841 (319/319 points in clusters)
  ep81: score=93.176061 (307/307 points in clusters)
  ep82: score=97.04768 (302/302 points in clusters)
  ep83: score=108.40709 (328/328 points in clusters)
  ep84: score=90.165784 (304/304 points in clusters)
  ep85: score=79.984541 (299/299 points in clusters)
  ep86: score=103.039802 (261/261 points in clusters)
  ep87: score=103.799795 (258/258 points in clusters)
  ep88: score=87.321289 (283/283 points in clusters)
  ep89: score=89.804597 (307/307 points in clusters)
  ep9: score=91.266832 (263/263 points in clusters)
  ep90: score=102.714733 (327/327 points in clusters)
  ep91: score=83.262167 (302/302 points in clusters)
  ep92: score=99.753066 (279/279 points in clusters)
  ep93: score=91.043398 (278/278 points in clusters)
  ep94: score=107.888382 (308/308 points in clusters)
  ep95: score=93.411284 (295/295 points in clusters)
  ep96: score=102.163276 (328/328 points in clusters)
  ep97: score=90.055705 (293/293 points in clusters)
  ep98: score=93.219958 (258/258 points in clusters)
  ep99: score=100.646563 (275/275 points in clusters)
  dataset: 89.807142
wrote /workspace/std_mm_teleop/out/scores_raw.json

━━ score isr --input isr --eps 0.5 ━━
input=isr eps=0.5
  ep0: score=95.00202 (90/90 points in clusters)
  ep1: score=98.542921 (100/100 points in clusters)
  ep10: score=86.822551 (84/84 points in clusters)
  ep11: score=109.425817 (106/106 points in clusters)
  ep12: score=74.25414 (76/78 points in clusters)
  ep13: score=96.884807 (88/88 points in clusters)
  ep14: score=94.266214 (94/94 points in clusters)
  ep15: score=107.531641 (90/90 points in clusters)
  ep16: score=88.997119 (94/94 points in clusters)
  ep17: score=96.073974 (89/89 points in clusters)
  ep18: score=85.056971 (90/90 points in clusters)
  ep19: score=76.398572 (91/92 points in clusters)
  ep2: score=97.759605 (102/102 points in clusters)
  ep20: score=90.003539 (87/87 points in clusters)
  ep21: score=82.76177 (95/95 points in clusters)
  ep22: score=86.214835 (95/95 points in clusters)
  ep23: score=80.652655 (101/101 points in clusters)
  ep24: score=86.160269 (93/93 points in clusters)
  ep25: score=97.3509 (99/99 points in clusters)
  ep26: score=98.255658 (105/105 points in clusters)
  ep27: score=101.469679 (87/87 points in clusters)
  ep28: score=90.517707 (88/90 points in clusters)
  ep29: score=90.704959 (97/97 points in clusters)
  ep3: score=95.036447 (88/88 points in clusters)
  ep30: score=87.941692 (96/96 points in clusters)
  ep31: score=84.305406 (87/87 points in clusters)
  ep32: score=102.471456 (93/93 points in clusters)
  ep33: score=100.84569 (107/109 points in clusters)
  ep34: score=93.637763 (103/103 points in clusters)
  ep35: score=85.282699 (87/87 points in clusters)
  ep36: score=103.030825 (89/89 points in clusters)
  ep37: score=102.886738 (82/82 points in clusters)
  ep38: score=100.675921 (107/107 points in clusters)
  ep39: score=95.803346 (94/94 points in clusters)
  ep4: score=103.048067 (86/87 points in clusters)
  ep40: score=94.477745 (92/92 points in clusters)
  ep41: score=87.429431 (103/103 points in clusters)
  ep42: score=106.57331 (96/96 points in clusters)
  ep43: score=96.033853 (95/95 points in clusters)
  ep44: score=91.420635 (88/88 points in clusters)
  ep45: score=89.344375 (96/96 points in clusters)
  ep46: score=83.684195 (86/86 points in clusters)
  ep47: score=88.379073 (87/87 points in clusters)
  ep48: score=96.227835 (90/90 points in clusters)
  ep49: score=86.935652 (99/99 points in clusters)
  ep5: score=84.137088 (86/87 points in clusters)
  ep50: score=70.985933 (99/99 points in clusters)
  ep51: score=87.512979 (105/107 points in clusters)
  ep52: score=89.514193 (114/114 points in clusters)
  ep53: score=101.537133 (99/99 points in clusters)
  ep54: score=98.882785 (96/96 points in clusters)
  ep55: score=83.593586 (91/92 points in clusters)
  ep56: score=102.347671 (99/99 points in clusters)
  ep57: score=96.379595 (108/108 points in clusters)
  ep58: score=87.259524 (99/99 points in clusters)
  ep59: score=98.66277 (96/96 points in clusters)
  ep6: score=84.755776 (93/93 points in clusters)
  ep60: score=91.115015 (97/97 points in clusters)
  ep61: score=109.233537 (92/92 points in clusters)
  ep62: score=98.924431 (103/103 points in clusters)
  ep63: score=95.020739 (114/114 points in clusters)
  ep64: score=93.329454 (107/107 points in clusters)
  ep65: score=101.546281 (110/110 points in clusters)
  ep66: score=102.983509 (98/98 points in clusters)
  ep67: score=79.559885 (116/117 points in clusters)
  ep68: score=96.681559 (97/97 points in clusters)
  ep69: score=98.446122 (102/102 points in clusters)
  ep7: score=107.264314 (88/88 points in clusters)
  ep70: score=82.662634 (91/91 points in clusters)
  ep71: score=112.835864 (93/93 points in clusters)
  ep72: score=83.324836 (85/91 points in clusters)
  ep73: score=90.955617 (92/93 points in clusters)
  ep74: score=89.567266 (87/91 points in clusters)
  ep75: score=101.71279 (106/106 points in clusters)
  ep76: score=93.253093 (107/107 points in clusters)
  ep77: score=83.533969 (93/93 points in clusters)
  ep78: score=81.473739 (90/93 points in clusters)
  ep79: score=84.682553 (95/96 points in clusters)
  ep8: score=101.788392 (89/89 points in clusters)
  ep80: score=92.940747 (97/97 points in clusters)
  ep81: score=96.430211 (101/101 points in clusters)
  ep82: score=99.165432 (86/88 points in clusters)
  ep83: score=115.130011 (85/85 points in clusters)
  ep84: score=103.389355 (84/84 points in clusters)
  ep85: score=92.724798 (103/103 points in clusters)
  ep86: score=108.47794 (103/103 points in clusters)
  ep87: score=106.220467 (90/90 points in clusters)
  ep88: score=90.151166 (79/80 points in clusters)
  ep89: score=94.817476 (87/87 points in clusters)
  ep9: score=90.439405 (100/100 points in clusters)
  ep90: score=102.974245 (95/98 points in clusters)
  ep91: score=88.066799 (95/95 points in clusters)
  ep92: score=109.730327 (89/89 points in clusters)
  ep93: score=95.470476 (91/91 points in clusters)
  ep94: score=106.047394 (89/89 points in clusters)
  ep95: score=102.336455 (88/89 points in clusters)
  ep96: score=95.454522 (93/93 points in clusters)
  ep97: score=89.351045 (100/100 points in clusters)
  ep98: score=102.596286 (87/87 points in clusters)
  ep99: score=96.958528 (94/94 points in clusters)
  dataset: 94.331717
wrote /workspace/std_mm_teleop/out/scores_isr.json

━━ bucket  ━━
  ep0: TRAIN      (score 95.00202 ≤ train threshold 95.01138)
  ep1: REVIEW     (score 98.542921 between thresholds)
  ep10: TRAIN      (score 86.822551 ≤ train threshold 95.01138)
  ep11: QUARANTINE (score 109.425817 ≥ quarantine threshold 106.064701)
  ep12: TRAIN      (score 74.25414 ≤ train threshold 95.01138)
  ep13: REVIEW     (score 96.884807 between thresholds)
  ep14: TRAIN      (score 94.266214 ≤ train threshold 95.01138)
  ep15: QUARANTINE (score 107.531641 ≥ quarantine threshold 106.064701)
  ep16: TRAIN      (score 88.997119 ≤ train threshold 95.01138)
  ep17: REVIEW     (score 96.073974 between thresholds)
  ep18: TRAIN      (score 85.056971 ≤ train threshold 95.01138)
  ep19: TRAIN      (score 76.398572 ≤ train threshold 95.01138)
  ep2: REVIEW     (score 97.759605 between thresholds)
  ep20: TRAIN      (score 90.003539 ≤ train threshold 95.01138)
  ep21: TRAIN      (score 82.76177 ≤ train threshold 95.01138)
  ep22: TRAIN      (score 86.214835 ≤ train threshold 95.01138)
  ep23: TRAIN      (score 80.652655 ≤ train threshold 95.01138)
  ep24: TRAIN      (score 86.160269 ≤ train threshold 95.01138)
  ep25: REVIEW     (score 97.3509 between thresholds)
  ep26: REVIEW     (score 98.255658 between thresholds)
  ep27: REVIEW     (score 101.469679 between thresholds)
  ep28: TRAIN      (score 90.517707 ≤ train threshold 95.01138)
  ep29: TRAIN      (score 90.704959 ≤ train threshold 95.01138)
  ep3: REVIEW     (score 95.036447 between thresholds)
  ep30: TRAIN      (score 87.941692 ≤ train threshold 95.01138)
  ep31: TRAIN      (score 84.305406 ≤ train threshold 95.01138)
  ep32: REVIEW     (score 102.471456 between thresholds)
  ep33: REVIEW     (score 100.84569 between thresholds)
  ep34: TRAIN      (score 93.637763 ≤ train threshold 95.01138)
  ep35: TRAIN      (score 85.282699 ≤ train threshold 95.01138)
  ep36: REVIEW     (score 103.030825 between thresholds)
  ep37: REVIEW     (score 102.886738 between thresholds)
  ep38: REVIEW     (score 100.675921 between thresholds)
  ep39: REVIEW     (score 95.803346 between thresholds)
  ep4: REVIEW     (score 103.048067 between thresholds)
  ep40: TRAIN      (score 94.477745 ≤ train threshold 95.01138)
  ep41: TRAIN      (score 87.429431 ≤ train threshold 95.01138)
  ep42: QUARANTINE (score 106.57331 ≥ quarantine threshold 106.064701)
  ep43: REVIEW     (score 96.033853 between thresholds)
  ep44: TRAIN      (score 91.420635 ≤ train threshold 95.01138)
  ep45: TRAIN      (score 89.344375 ≤ train threshold 95.01138)
  ep46: TRAIN      (score 83.684195 ≤ train threshold 95.01138)
  ep47: TRAIN      (score 88.379073 ≤ train threshold 95.01138)
  ep48: REVIEW     (score 96.227835 between thresholds)
  ep49: TRAIN      (score 86.935652 ≤ train threshold 95.01138)
  ep5: TRAIN      (score 84.137088 ≤ train threshold 95.01138)
  ep50: TRAIN      (score 70.985933 ≤ train threshold 95.01138)
  ep51: TRAIN      (score 87.512979 ≤ train threshold 95.01138)
  ep52: TRAIN      (score 89.514193 ≤ train threshold 95.01138)
  ep53: REVIEW     (score 101.537133 between thresholds)
  ep54: REVIEW     (score 98.882785 between thresholds)
  ep55: TRAIN      (score 83.593586 ≤ train threshold 95.01138)
  ep56: REVIEW     (score 102.347671 between thresholds)
  ep57: REVIEW     (score 96.379595 between thresholds)
  ep58: TRAIN      (score 87.259524 ≤ train threshold 95.01138)
  ep59: REVIEW     (score 98.66277 between thresholds)
  ep6: TRAIN      (score 84.755776 ≤ train threshold 95.01138)
  ep60: TRAIN      (score 91.115015 ≤ train threshold 95.01138)
  ep61: QUARANTINE (score 109.233537 ≥ quarantine threshold 106.064701)
  ep62: REVIEW     (score 98.924431 between thresholds)
  ep63: REVIEW     (score 95.020739 between thresholds)
  ep64: TRAIN      (score 93.329454 ≤ train threshold 95.01138)
  ep65: REVIEW     (score 101.546281 between thresholds)
  ep66: REVIEW     (score 102.983509 between thresholds)
  ep67: TRAIN      (score 79.559885 ≤ train threshold 95.01138)
  ep68: REVIEW     (score 96.681559 between thresholds)
  ep69: REVIEW     (score 98.446122 between thresholds)
  ep7: QUARANTINE (score 107.264314 ≥ quarantine threshold 106.064701)
  ep70: TRAIN      (score 82.662634 ≤ train threshold 95.01138)
  ep71: QUARANTINE (score 112.835864 ≥ quarantine threshold 106.064701)
  ep72: TRAIN      (score 83.324836 ≤ train threshold 95.01138)
  ep73: TRAIN      (score 90.955617 ≤ train threshold 95.01138)
  ep74: TRAIN      (score 89.567266 ≤ train threshold 95.01138)
  ep75: REVIEW     (score 101.71279 between thresholds)
  ep76: TRAIN      (score 93.253093 ≤ train threshold 95.01138)
  ep77: TRAIN      (score 83.533969 ≤ train threshold 95.01138)
  ep78: TRAIN      (score 81.473739 ≤ train threshold 95.01138)
  ep79: TRAIN      (score 84.682553 ≤ train threshold 95.01138)
  ep8: REVIEW     (score 101.788392 between thresholds)
  ep80: TRAIN      (score 92.940747 ≤ train threshold 95.01138)
  ep81: REVIEW     (score 96.430211 between thresholds)
  ep82: REVIEW     (score 99.165432 between thresholds)
  ep83: QUARANTINE (score 115.130011 ≥ quarantine threshold 106.064701)
  ep84: REVIEW     (score 103.389355 between thresholds)
  ep85: TRAIN      (score 92.724798 ≤ train threshold 95.01138)
  ep86: QUARANTINE (score 108.47794 ≥ quarantine threshold 106.064701)
  ep87: QUARANTINE (score 106.220467 ≥ quarantine threshold 106.064701)
  ep88: TRAIN      (score 90.151166 ≤ train threshold 95.01138)
  ep89: TRAIN      (score 94.817476 ≤ train threshold 95.01138)
  ep9: TRAIN      (score 90.439405 ≤ train threshold 95.01138)
  ep90: REVIEW     (score 102.974245 between thresholds)
  ep91: TRAIN      (score 88.066799 ≤ train threshold 95.01138)
  ep92: QUARANTINE (score 109.730327 ≥ quarantine threshold 106.064701)
  ep93: REVIEW     (score 95.470476 between thresholds)
  ep94: REVIEW     (score 106.047394 between thresholds)
  ep95: REVIEW     (score 102.336455 between thresholds)
  ep96: REVIEW     (score 95.454522 between thresholds)
  ep97: TRAIN      (score 89.351045 ≤ train threshold 95.01138)
  ep98: REVIEW     (score 102.596286 between thresholds)
  ep99: REVIEW     (score 96.958528 between thresholds)
counts: {'train': 50, 'review': 40, 'quarantine': 10}
wrote /workspace/std_mm_teleop/out/report.json

━━ viz --max-episode-figs 12 ━━
Traceback (most recent call last):
  File "/workspace/teleop_std_poc/viz.py", line 243, in <module>
    ap = argparse.ArgumentParser(description="plots for the teleop standardization pipeline")
NameError: name 'argparse' is not defined
Traceback (most recent call last):
  File "/workspace/teleop_std_poc/run_all.py", line 47, in <module>
    step("viz", ["viz.py", "--max-episode-figs", str(a.max_episode_figs)])
  File "/workspace/teleop_std_poc/run_all.py", line 21, in step
    subprocess.run([sys.executable, str(HERE / args[0]), *args[1:]], check=True)
  File "/usr/lib/python3.10/subprocess.py", line 526, in run
    raise CalledProcessError(retcode, process.args,
subprocess.CalledProcessError: Command '['/workspace/.venv-tsp/bin/python', '/workspace/teleop_std_poc/viz.py', '--max-episode-figs', '12']' returned non-zero exit status 1.