diff --git "a/chunk_info/round_0015_J.jsonl" "b/chunk_info/round_0015_J.jsonl"
new file mode 100644--- /dev/null
+++ "b/chunk_info/round_0015_J.jsonl"
@@ -0,0 +1,19 @@
+{"round_num": 15, "anonymous_label": "J", "outcome": "failure", "num_steps": 105, "num_chunks": 18}
+{"chunk_ordinal": 0, "q_min_best": 0.3360098898410797, "q_min_mean": 0.24292728304862976, "q_min_std": 0.058433931320905685, "q_min_median": 0.25332537293434143, "chosen_vs_median_q_gap": 0.08268451690673828, "q1_best": 0.37120145559310913, "q2_best": 0.3360098898410797, "v_val": -0.0011495673097670078, "advantage": 0.3371594571508467, "best_idx": 6, "q_min_all": [0.2902160882949829, 0.2649095058441162, 0.25840678811073303, 0.16801708936691284, 0.26705044507980347, 0.210372194647789, 0.3360098898410797, 0.21043726801872253, 0.20074068009853363, 0.18126390874385834, 0.23933129012584686, 0.3140234053134918, 0.2559668719768524, 0.2095189094543457, 0.23775851726531982, 0.2607950270175934, 0.31462350487709045, 0.3346942961215973, 0.31040382385253906, 0.1886608749628067, 0.28106632828712463, 0.18900592625141144, 0.13664725422859192, 0.2701535224914551, 0.13085898756980896, 0.28521469235420227, 0.3018052577972412, 0.25332537293434143, 0.11791223287582397, 0.2915413975715637, 0.2321772575378418, 0.23076455295085907], "q1_all": [0.2902160882949829, 0.3137683868408203, 0.34408751130104065, 0.16801708936691284, 0.26705044507980347, 0.21120165288448334, 0.37120145559310913, 0.21043726801872253, 0.20074068009853363, 0.18126390874385834, 0.2542663812637329, 0.3140234053134918, 0.28473615646362305, 0.2095189094543457, 0.23775851726531982, 0.2976256310939789, 0.31462350487709045, 0.3366019129753113, 0.3309553265571594, 0.23859460651874542, 0.29017913341522217, 0.18900592625141144, 0.13664725422859192, 0.327330619096756, 0.13085898756980896, 0.3061225116252899, 0.358231782913208, 0.32791757583618164, 0.11791223287582397, 0.2915413975715637, 0.2321772575378418, 0.26376038789749146], "q2_all": [0.3364759087562561, 0.2649095058441162, 0.25840678811073303, 0.266033798456192, 0.2718025743961334, 0.210372194647789, 0.3360098898410797, 0.2744722366333008, 0.25305983424186707, 0.21191510558128357, 0.23933129012584686, 0.3669472932815552, 0.2559668719768524, 0.2791185677051544, 0.26476994156837463, 0.2607950270175934, 0.3174216151237488, 0.3346942961215973, 0.31040382385253906, 0.1886608749628067, 0.28106632828712463, 0.281085729598999, 0.19999848306179047, 0.2701535224914551, 0.25621581077575684, 0.28521469235420227, 0.3018052577972412, 0.25332537293434143, 0.2136511653661728, 0.308346152305603, 0.31587615609169006, 0.23076455295085907], "cand_trans_speed_all": [0.017993994057178497, 0.019228510558605194, 0.020996060222387314, 0.013194716535508633, 0.019671283662319183, 0.018378138542175293, 0.020885061472654343, 0.01580963097512722, 0.014799974858760834, 0.017152121290564537, 0.020291198045015335, 0.018017062917351723, 0.01954015903174877, 0.01585925929248333, 0.015318719670176506, 0.022269627079367638, 0.02001701295375824, 0.018708184361457825, 0.019783448427915573, 0.019900891929864883, 0.019800497218966484, 0.014378834515810013, 0.010136159136891365, 0.019321797415614128, 0.015302609652280807, 0.019380751997232437, 0.0194869264960289, 0.02090507373213768, 0.014685126952826977, 0.020872637629508972, 0.015662992373108864, 0.019441550597548485], "cand_cum_xyz_disp_all": [[0.0962805449962616, -0.00038930773735046387, 0.04587521404027939], [0.09504279494285583, 0.0019844919443130493, 0.0572773739695549], [0.1072055995464325, -0.003733992576599121, 0.06360117346048355], [0.07006573677062988, -0.00022585690021514893, 0.028839223086833954], [0.10168763995170593, -0.0005212128162384033, 0.055845774710178375], [0.09571453928947449, -0.0006016194820404053, 0.05219186097383499], [0.10518920421600342, -0.002285674214363098, 0.06210615485906601], [0.08551552891731262, -0.005031988024711609, 0.03752145916223526], [0.0774029791355133, -0.001083970069885254, 0.04086878150701523], [0.08418262004852295, -0.004824727773666382, 0.04370582848787308], [0.10091477632522583, 0.0019463151693344116, 0.06306188553571701], [0.092630535364151, 0.0025392919778823853, 0.05167337507009506], [0.09891924262046814, -0.0010277479887008667, 0.05578316003084183], [0.08344286680221558, 0.003690391778945923, 0.04058247059583664], [0.08062934875488281, -0.0037264227867126465, 0.040640391409397125], [0.11341816186904907, 0.001326143741607666, 0.06661821156740189], [0.10218086838722229, 0.003311559557914734, 0.059853918850421906], [0.09924250841140747, -0.00031560659408569336, 0.04568997770547867], [0.10125410556793213, -1.9416213035583496e-05, 0.05383030325174332], [0.09644785523414612, 0.0030680596828460693, 0.0674123540520668], [0.10199412703514099, -0.007158041000366211, 0.05253881961107254], [0.07667195796966553, 0.0008416175842285156, 0.03492916375398636], [0.054792627692222595, 0.0036040544509887695, 0.02474837750196457], [0.09777411818504333, 0.0020145028829574585, 0.06044536083936691], [0.07864803075790405, 0.0015236139297485352, 0.03843633085489273], [0.09714797139167786, 0.004178270697593689, 0.05911596864461899], [0.10085666179656982, 0.0013379007577896118, 0.057990945875644684], [0.103493332862854, -0.00453592836856842, 0.06579311937093735], [0.07899478077888489, -0.0012725144624710083, 0.037305139005184174], [0.10842257738113403, -0.0012796521186828613, 0.059221215546131134], [0.08347144722938538, 0.0009970813989639282, 0.03960730880498886], [0.10002094507217407, 0.0013124197721481323, 0.058503158390522]], "cand_final_gripper_all": [0.000595778226852417, 0.0, 0.0019013583660125732, 0.0006332099437713623, 0.0, 0.0, 0.0, 0.00013935565948486328, 0.0021136105060577393, 8.529424667358398e-05, 0.0, 0.0, 0.0, 0.0, 0.0, 0.00023189187049865723, 0.0006333589553833008, 0.0, 0.002436518669128418, 0.00193709135055542, 0.0, 0.0007672607898712158, 0.0, 0.0017819404602050781, 0.0007322430610656738, 0.0027105212211608887, 0.0008053183555603027, 0.0012389123439788818, 0.00027635693550109863, 0.002367854118347168, 0.0, 0.0018831491470336914], "eef_pos": [0.3698805570602417, 0.0046809958294034, 0.4838045537471771], "cand_action_std": 0.35063859820365906, "cand_pairwise_centroid_dist_mean": 2.914571523666382, "argmax_act_outlier": 1.0559436082839966, "time_encode_ms": 13.213134836405516, "time_diffusion_ms": 36.56237409450114, "time_q_score_ms": 9.572360897436738, "time_total_ms": 60.220520943403244, "num_action_samples_effective": 32, "q_aggregate": "pair_min"}
+{"chunk_ordinal": 1, "q_min_best": 0.24600492417812347, "q_min_mean": 0.15980088710784912, "q_min_std": 0.05328475311398506, "q_min_median": 0.16893284022808075, "chosen_vs_median_q_gap": 0.07707208395004272, "q1_best": 0.24814042448997498, "q2_best": 0.24600492417812347, "v_val": -0.006188920233398676, "advantage": 0.25219384441152215, "best_idx": 20, "q_min_all": [0.15818417072296143, 0.21392810344696045, 0.17017635703086853, 0.17497165501117706, 0.2303513139486313, 0.16893284022808075, 0.1923627406358719, 0.1669660210609436, 0.15745995938777924, 0.12000833451747894, 0.20613828301429749, 0.17622756958007812, 0.12759986519813538, 0.08619095385074615, 0.20546092092990875, 0.049516674131155014, 0.1463887244462967, 0.1883445829153061, 0.24010653793811798, 0.19433550536632538, 0.24600492417812347, 0.17216727137565613, 0.09148643910884857, 0.13685403764247894, 0.08631089329719543, 0.07764323055744171, 0.17619988322257996, 0.23010237514972687, 0.1020156592130661, 0.15744338929653168, 0.060509730130434036, 0.20323950052261353], "q1_all": [0.17367865145206451, 0.2198023796081543, 0.1965959668159485, 0.22879865765571594, 0.23201635479927063, 0.1864221692085266, 0.2735457420349121, 0.17987999320030212, 0.18038856983184814, 0.15374022722244263, 0.2200123518705368, 0.19431248307228088, 0.15602339804172516, 0.11096547544002533, 0.24589861929416656, 0.12081457674503326, 0.19487015902996063, 0.2120412439107895, 0.25130942463874817, 0.19433550536632538, 0.24814042448997498, 0.21045878529548645, 0.16519248485565186, 0.14996567368507385, 0.11851143836975098, 0.10177455842494965, 0.22538352012634277, 0.23251864314079285, 0.14865687489509583, 0.17782188951969147, 0.0940311998128891, 0.22385075688362122], "q2_all": [0.15818417072296143, 0.21392810344696045, 0.17017635703086853, 0.17497165501117706, 0.2303513139486313, 0.16893284022808075, 0.1923627406358719, 0.1669660210609436, 0.15745995938777924, 0.12000833451747894, 0.20613828301429749, 0.17622756958007812, 0.12759986519813538, 0.08619095385074615, 0.20546092092990875, 0.049516674131155014, 0.1463887244462967, 0.1883445829153061, 0.24010653793811798, 0.22316156327724457, 0.24600492417812347, 0.17216727137565613, 0.09148643910884857, 0.13685403764247894, 0.08631089329719543, 0.07764323055744171, 0.17619988322257996, 0.23010237514972687, 0.1020156592130661, 0.15744338929653168, 0.060509730130434036, 0.20323950052261353], "cand_trans_speed_all": [0.022764040157198906, 0.022249242290854454, 0.022316813468933105, 0.023812105879187584, 0.021412862464785576, 0.02057153359055519, 0.02183173969388008, 0.02182798832654953, 0.021747302263975143, 0.0217635165899992, 0.02236122451722622, 0.02204112708568573, 0.021771464496850967, 0.02249966934323311, 0.02178232930600643, 0.022672079503536224, 0.022576194256544113, 0.0225030817091465, 0.022855987772345543, 0.022660737857222557, 0.022170156240463257, 0.023148078471422195, 0.022716596722602844, 0.022187381982803345, 0.02127183973789215, 0.022233828902244568, 0.022013526409864426, 0.022324739024043083, 0.02188214287161827, 0.021816015243530273, 0.021631410345435143, 0.02390265092253685], "cand_cum_xyz_disp_all": [[0.1030893325805664, 0.00969482958316803, 0.08602995425462723], [0.09817999601364136, 0.012396067380905151, 0.0858500525355339], [0.09659817814826965, 0.018857017159461975, 0.08388546854257584], [0.10283631086349487, 0.012736678123474121, 0.094385527074337], [0.09671926498413086, 0.006524622440338135, 0.08050457388162613], [0.08975905179977417, 0.008085310459136963, 0.08053369075059891], [0.09575307369232178, 0.010409131646156311, 0.08647207170724869], [0.09573930501937866, 0.00796586275100708, 0.08666672557592392], [0.0958048403263092, 0.008991673588752747, 0.08610118180513382], [0.09284600615501404, 0.01207093894481659, 0.08672391623258591], [0.10345694422721863, 0.011366516351699829, 0.08247896283864975], [0.10063377022743225, 0.01082022488117218, 0.08232831209897995], [0.09543260931968689, 0.006844460964202881, 0.08607041090726852], [0.09806215763092041, 0.01012013852596283, 0.08764173835515976], [0.09415465593338013, 0.007494285702705383, 0.0868184044957161], [0.09653642773628235, 0.013422220945358276, 0.09142664819955826], [0.09633156657218933, 0.015376478433609009, 0.0903128907084465], [0.09778708219528198, 0.011338621377944946, 0.08946426957845688], [0.10165765881538391, 0.011445820331573486, 0.08862099796533585], [0.09896019101142883, 0.015372499823570251, 0.0857357457280159], [0.09915968775749207, 0.01084001362323761, 0.0827060416340828], [0.10128375887870789, 0.011306241154670715, 0.08819624036550522], [0.09488728642463684, 0.01345263421535492, 0.09205036610364914], [0.09749075770378113, 0.011911511421203613, 0.08493239432573318], [0.09236207604408264, 0.01055656373500824, 0.08369297534227371], [0.09887060523033142, 0.00990663468837738, 0.0850960835814476], [0.09502643346786499, 0.009536266326904297, 0.08683457225561142], [0.10078385472297668, 0.006914034485816956, 0.0857609435915947], [0.09306824207305908, 0.01047825813293457, 0.0876765176653862], [0.09912461042404175, 0.01536993682384491, 0.08132001012563705], [0.09423390030860901, 0.01617075502872467, 0.08573206514120102], [0.10207220911979675, 0.015088960528373718, 0.09027118235826492]], "cand_final_gripper_all": [0.0015059411525726318, 0.0014064311981201172, 0.0005733668804168701, 0.0, 0.0002879798412322998, 0.0011947154998779297, 0.0010120570659637451, 0.002459794282913208, 0.0014848709106445312, 0.0013056695461273193, 0.0, 0.0, 0.0004647672176361084, 0.000919729471206665, 0.0010989904403686523, 0.0013165175914764404, 0.0008523166179656982, 0.0009633004665374756, 0.0014165043830871582, 0.0, 0.0012078583240509033, 0.0015453994274139404, 8.246302604675293e-05, 0.0007710754871368408, 0.00045013427734375, 0.002443462610244751, 0.0008575320243835449, 0.0009584426879882812, 0.00015091896057128906, 0.00036281347274780273, 0.0008271932601928711, 0.0018899142742156982], "eef_pos": [0.42611372470855713, 0.01128584798425436, 0.4439556300640106], "cand_action_std": 0.11639636754989624, "cand_pairwise_centroid_dist_mean": 0.9474468231201172, "argmax_act_outlier": 1.0874582529067993, "time_encode_ms": 5.514656892046332, "time_diffusion_ms": 36.166164092719555, "time_q_score_ms": 8.631732081994414, "time_total_ms": 51.22478795237839, "num_action_samples_effective": 32, "q_aggregate": "pair_min"}
+{"chunk_ordinal": 2, "q_min_best": 0.3570398688316345, "q_min_mean": 0.2632213234901428, "q_min_std": 0.045145466923713684, "q_min_median": 0.2521207928657532, "chosen_vs_median_q_gap": 0.10491907596588135, "q1_best": 0.3570398688316345, "q2_best": 0.3824048340320587, "v_val": -0.0052781072445213795, "advantage": 0.3623179760761559, "best_idx": 24, "q_min_all": [0.3045135736465454, 0.31278878450393677, 0.26269304752349854, 0.23808835446834564, 0.15649926662445068, 0.30154645442962646, 0.2470671832561493, 0.23135040700435638, 0.2316187620162964, 0.3145805895328522, 0.23759247362613678, 0.22530561685562134, 0.25527048110961914, 0.28911611437797546, 0.205777108669281, 0.24949288368225098, 0.30371415615081787, 0.21864400804042816, 0.338950514793396, 0.32321009039878845, 0.2521207928657532, 0.2600422501564026, 0.21325798332691193, 0.25630179047584534, 0.3570398688316345, 0.23602211475372314, 0.2129392921924591, 0.22876407206058502, 0.28554168343544006, 0.2503120005130768, 0.31799495220184326, 0.30492570996284485], "q1_all": [0.3045135736465454, 0.31278878450393677, 0.2631896436214447, 0.27493709325790405, 0.15649926662445068, 0.30154645442962646, 0.2470671832561493, 0.23344525694847107, 0.2316187620162964, 0.3145805895328522, 0.2633627653121948, 0.22530561685562134, 0.25527048110961914, 0.28911611437797546, 0.21879954636096954, 0.24949288368225098, 0.30371415615081787, 0.2223411351442337, 0.338950514793396, 0.32321009039878845, 0.2521207928657532, 0.2600422501564026, 0.21325798332691193, 0.2903037965297699, 0.3570398688316345, 0.23602211475372314, 0.21522587537765503, 0.24454821646213531, 0.28554168343544006, 0.2503120005130768, 0.31799495220184326, 0.30492570996284485], "q2_all": [0.34883758425712585, 0.35910695791244507, 0.26269304752349854, 0.23808835446834564, 0.1686631441116333, 0.30462461709976196, 0.2697734832763672, 0.23135040700435638, 0.2695496678352356, 0.4064381420612335, 0.23759247362613678, 0.23773537576198578, 0.26384004950523376, 0.34165555238723755, 0.205777108669281, 0.2890762686729431, 0.3758821189403534, 0.21864400804042816, 0.4252190589904785, 0.3827489912509918, 0.25779926776885986, 0.2981657385826111, 0.23239190876483917, 0.25630179047584534, 0.3824048340320587, 0.26054614782333374, 0.2129392921924591, 0.22876407206058502, 0.38647109270095825, 0.3279109597206116, 0.3695172667503357, 0.3354323208332062], "cand_trans_speed_all": [0.019251227378845215, 0.020419690757989883, 0.01971914991736412, 0.019602619111537933, 0.01932811364531517, 0.019930100068449974, 0.018952414393424988, 0.019602276384830475, 0.01933111809194088, 0.02104717120528221, 0.020684264600276947, 0.019546028226614, 0.01921725645661354, 0.020262233912944794, 0.019742969423532486, 0.02001868560910225, 0.020981520414352417, 0.01974005252122879, 0.020761141553521156, 0.0193929560482502, 0.019756317138671875, 0.019581638276576996, 0.019435685127973557, 0.02074621245265007, 0.020522020757198334, 0.019443944096565247, 0.020240239799022675, 0.01974382996559143, 0.020482739433646202, 0.019660767167806625, 0.0215517096221447, 0.020227547734975815], "cand_cum_xyz_disp_all": [[0.07406893372535706, 0.029852434992790222, 0.07791826874017715], [0.08368560671806335, 0.022453084588050842, 0.07967793196439743], [0.08018967509269714, 0.02530093491077423, 0.07659158855676651], [0.07984775304794312, 0.0245438814163208, 0.07671628147363663], [0.07425671815872192, 0.0263577401638031, 0.08096043020486832], [0.07972744107246399, 0.022252917289733887, 0.08011909574270248], [0.07902973890304565, 0.02688603103160858, 0.07223112136125565], [0.07453355193138123, 0.027998343110084534, 0.0786057785153389], [0.07415741682052612, 0.02917039394378662, 0.08079353719949722], [0.08746153116226196, 0.031109467148780823, 0.08111836761236191], [0.08197659254074097, 0.029516413807868958, 0.08197828382253647], [0.07558637857437134, 0.023439481854438782, 0.07759570330381393], [0.07662606239318848, 0.026353955268859863, 0.07673010975122452], [0.0827631950378418, 0.025728940963745117, 0.07780515402555466], [0.07498890161514282, 0.02497604489326477, 0.08148505538702011], [0.08011189103126526, 0.027119949460029602, 0.07958313077688217], [0.08130818605422974, 0.03392310440540314, 0.08400218933820724], [0.07944720983505249, 0.02161315083503723, 0.07692757993936539], [0.08656460046768188, 0.024318277835845947, 0.07902628928422928], [0.07672989368438721, 0.02891571819782257, 0.07545348256826401], [0.07774949073791504, 0.02148061990737915, 0.08027831465005875], [0.07174563407897949, 0.023315325379371643, 0.07982607930898666], [0.07919996976852417, 0.024996712803840637, 0.07707368582487106], [0.07981270551681519, 0.02617909014225006, 0.08360373228788376], [0.08348453044891357, 0.02644290030002594, 0.0782385990023613], [0.07819908857345581, 0.02912096679210663, 0.0778372511267662], [0.08044594526290894, 0.02387601137161255, 0.07968170195817947], [0.07979768514633179, 0.02310393750667572, 0.07937046140432358], [0.0819304883480072, 0.024098336696624756, 0.08116046339273453], [0.07589003443717957, 0.028822243213653564, 0.0800383910536766], [0.08818486332893372, 0.027984321117401123, 0.08416319638490677], [0.08189961314201355, 0.030140802264213562, 0.07932674139738083]], "cand_final_gripper_all": [0.0, 0.0, 0.0017324388027191162, 0.0017874538898468018, 0.0007831752300262451, 0.001399695873260498, 0.0013584792613983154, 0.00022614002227783203, 0.0020003020763397217, 0.0010965466499328613, 0.0015206336975097656, 0.0010507404804229736, 0.002709805965423584, 2.3543834686279297e-05, 0.0006922781467437744, 0.0014126598834991455, 0.00014865398406982422, 0.002167731523513794, 0.0023806989192962646, 0.0008056163787841797, 0.001000136137008667, 0.0010781288146972656, 0.0020651519298553467, 0.0012144148349761963, 0.0013986825942993164, 0.0004490017890930176, 0.0, 0.00011476874351501465, 0.0023199617862701416, 0.0012622475624084473, 0.0010468065738677979, 0.0], "eef_pos": [0.5079262256622314, 0.021719396114349365, 0.3734195828437805], "cand_action_std": 0.10868214815855026, "cand_pairwise_centroid_dist_mean": 0.9722214341163635, "argmax_act_outlier": 1.0358351469039917, "time_encode_ms": 5.866935010999441, "time_diffusion_ms": 602.0264031831175, "time_q_score_ms": 7.571950787678361, "time_total_ms": 616.5193689521402, "num_action_samples_effective": 32, "q_aggregate": "pair_min"}
+{"chunk_ordinal": 3, "q_min_best": 0.3951660394668579, "q_min_mean": 0.3238008916378021, "q_min_std": 0.03609220311045647, "q_min_median": 0.32821136713027954, "chosen_vs_median_q_gap": 0.06695467233657837, "q1_best": 0.48878031969070435, "q2_best": 0.3951660394668579, "v_val": -0.002025251742452383, "advantage": 0.3971912912093103, "best_idx": 17, "q_min_all": [0.3049178719520569, 0.2973249852657318, 0.2994353771209717, 0.35144564509391785, 0.31279030442237854, 0.31405019760131836, 0.2988283932209015, 0.3344113230705261, 0.26107919216156006, 0.3427501618862152, 0.3402514159679413, 0.3444010019302368, 0.37452852725982666, 0.3350842297077179, 0.3119736313819885, 0.2655905783176422, 0.2775961458683014, 0.3951660394668579, 0.3365733325481415, 0.2855481207370758, 0.35733532905578613, 0.32821136713027954, 0.34620895981788635, 0.33994001150131226, 0.3847161829471588, 0.32955828309059143, 0.3094235956668854, 0.39229607582092285, 0.2663677930831909, 0.33062899112701416, 0.2685897648334503, 0.3246055245399475], "q1_all": [0.44212448596954346, 0.42275017499923706, 0.42163944244384766, 0.4560605585575104, 0.43165120482444763, 0.48952266573905945, 0.42828792333602905, 0.451927125453949, 0.4497464895248413, 0.4592294692993164, 0.44867461919784546, 0.41879409551620483, 0.4333358705043793, 0.4591483175754547, 0.4928078055381775, 0.42937368154525757, 0.4693005383014679, 0.48878031969070435, 0.4595261812210083, 0.4542854428291321, 0.44041717052459717, 0.4551272392272949, 0.49810633063316345, 0.49249744415283203, 0.4595911502838135, 0.4059574604034424, 0.48626282811164856, 0.4804150462150574, 0.4266265034675598, 0.43103814125061035, 0.43814361095428467, 0.4812338054180145], "q2_all": [0.3049178719520569, 0.2973249852657318, 0.2994353771209717, 0.35144564509391785, 0.31279030442237854, 0.31405019760131836, 0.2988283932209015, 0.3344113230705261, 0.26107919216156006, 0.3427501618862152, 0.3402514159679413, 0.3444010019302368, 0.37452852725982666, 0.3350842297077179, 0.3119736313819885, 0.2655905783176422, 0.2775961458683014, 0.3951660394668579, 0.3365733325481415, 0.2855481207370758, 0.35733532905578613, 0.32821136713027954, 0.34620895981788635, 0.33994001150131226, 0.3847161829471588, 0.32955828309059143, 0.3094235956668854, 0.39229607582092285, 0.2663677930831909, 0.33062899112701416, 0.2685897648334503, 0.3246055245399475], "cand_trans_speed_all": [0.01613432541489601, 0.016384130343794823, 0.016068359836935997, 0.01605714112520218, 0.015697728842496872, 0.01677837409079075, 0.016443533822894096, 0.016190800815820694, 0.016420457512140274, 0.016690127551555634, 0.01598302647471428, 0.017518838867545128, 0.01604236103594303, 0.01638246513903141, 0.017030753195285797, 0.015125620178878307, 0.01671931892633438, 0.016475386917591095, 0.016386592760682106, 0.015672147274017334, 0.01670563779771328, 0.01685411110520363, 0.017090361565351486, 0.01627146452665329, 0.01683123968541622, 0.016050610691308975, 0.01613926701247692, 0.01712794415652752, 0.016396842896938324, 0.01630629599094391, 0.016900788992643356, 0.016270186752080917], "cand_cum_xyz_disp_all": [[0.06518805027008057, 0.01895114779472351, 0.06628481298685074], [0.06429582834243774, 0.018080830574035645, 0.06884317845106125], [0.06189417839050293, 0.018519550561904907, 0.06850961595773697], [0.06537282466888428, 0.017069682478904724, 0.06648417562246323], [0.05817696452140808, 0.016556426882743835, 0.06748396903276443], [0.06961670517921448, 0.0157671719789505, 0.06400389224290848], [0.06511566042900085, 0.016991302371025085, 0.06912560015916824], [0.06401395797729492, 0.019060522317886353, 0.06828074902296066], [0.06405532360076904, 0.01636601984500885, 0.067684106528759], [0.06726574897766113, 0.020398229360580444, 0.06814087182283401], [0.06337568163871765, 0.018490225076675415, 0.06601167470216751], [0.06996256113052368, 0.0169813334941864, 0.07259673625230789], [0.0631120502948761, 0.02036432921886444, 0.06680246442556381], [0.06878352165222168, 0.018799856305122375, 0.06472248584032059], [0.06963124871253967, 0.019782915711402893, 0.06610090285539627], [0.05954518914222717, 0.016867801547050476, 0.06120773404836655], [0.0649743378162384, 0.01816895604133606, 0.06794703751802444], [0.06382972002029419, 0.02088916301727295, 0.0703110471367836], [0.06267967820167542, 0.01674288511276245, 0.06916067749261856], [0.06272953748703003, 0.01685263216495514, 0.06271269172430038], [0.0656556785106659, 0.020748361945152283, 0.07018987089395523], [0.06644049286842346, 0.019065767526626587, 0.06966281682252884], [0.06870388984680176, 0.014413893222808838, 0.06827200204133987], [0.0637458860874176, 0.018647462129592896, 0.06822942942380905], [0.06910872459411621, 0.01862494647502899, 0.06877971440553665], [0.057986944913864136, 0.01915779709815979, 0.06974226981401443], [0.06666591763496399, 0.021854504942893982, 0.06434793025255203], [0.06978276371955872, 0.02252081036567688, 0.06895601004362106], [0.06679525971412659, 0.015630796551704407, 0.06567970663309097], [0.06580758094787598, 0.01708562672138214, 0.06556963175535202], [0.06684625148773193, 0.017888367176055908, 0.06998326629400253], [0.06520280241966248, 0.019431069493293762, 0.06736583262681961]], "cand_final_gripper_all": [0.0015982091426849365, 0.0010398030281066895, 3.784894943237305e-05, 0.001062929630279541, 0.0, 0.00011304020881652832, 0.0008678138256072998, 0.0024759769439697266, 0.0009109377861022949, 0.002891331911087036, 0.00023823976516723633, 0.0028542280197143555, 0.00131303071975708, 8.046627044677734e-05, 0.0011928081512451172, 0.0011752545833587646, 0.0, 0.0014184415340423584, 0.0004953145980834961, 0.0006129443645477295, 0.0020614266395568848, 0.0, 0.0027652978897094727, 0.0014017224311828613, 0.0022364556789398193, 0.0, 0.0, 0.0006823241710662842, 0.0012727081775665283, 0.001913696527481079, 0.0, 0.0017754137516021729], "eef_pos": [0.557188093662262, 0.033757634460926056, 0.32007691264152527], "cand_action_std": 0.08674666285514832, "cand_pairwise_centroid_dist_mean": 0.7952079772949219, "argmax_act_outlier": 1.0978093147277832, "time_encode_ms": 6.338886916637421, "time_diffusion_ms": 36.096011055633426, "time_q_score_ms": 7.844039937481284, "time_total_ms": 51.0598870459944, "num_action_samples_effective": 32, "q_aggregate": "pair_min"}
+{"chunk_ordinal": 4, "q_min_best": 0.3781979978084564, "q_min_mean": 0.2825288772583008, "q_min_std": 0.04340561479330063, "q_min_median": 0.28606706857681274, "chosen_vs_median_q_gap": 0.09213092923164368, "q1_best": 0.4855557382106781, "q2_best": 0.3781979978084564, "v_val": 0.04512405022978783, "advantage": 0.3330739475786686, "best_idx": 10, "q_min_all": [0.30890175700187683, 0.28678926825523376, 0.34585270285606384, 0.3215835988521576, 0.25847479701042175, 0.2521924078464508, 0.2140534669160843, 0.2539266347885132, 0.2075537145137787, 0.27419236302375793, 0.3781979978084564, 0.22990845143795013, 0.2322227656841278, 0.29145514965057373, 0.23492376506328583, 0.3218545913696289, 0.29886335134506226, 0.3121037185192108, 0.3307715952396393, 0.28606706857681274, 0.33684417605400085, 0.3425579369068146, 0.28543081879615784, 0.2578352391719818, 0.23431332409381866, 0.2166336625814438, 0.30643728375434875, 0.3182980418205261, 0.2868340313434601, 0.27490517497062683, 0.2985512912273407, 0.2423940747976303], "q1_all": [0.47739434242248535, 0.4887944459915161, 0.5193976163864136, 0.44011926651000977, 0.4444044232368469, 0.46319466829299927, 0.42653143405914307, 0.5037230849266052, 0.42308956384658813, 0.4773838222026825, 0.4855557382106781, 0.444436639547348, 0.41981402039527893, 0.45775261521339417, 0.46811336278915405, 0.46633070707321167, 0.502155065536499, 0.4773464798927307, 0.46924200654029846, 0.4438857436180115, 0.5241633653640747, 0.49183231592178345, 0.48361340165138245, 0.482913613319397, 0.45402973890304565, 0.4226257801055908, 0.5018669366836548, 0.4859498143196106, 0.44549399614334106, 0.4527784585952759, 0.47604355216026306, 0.45382052659988403], "q2_all": [0.30890175700187683, 0.28678926825523376, 0.34585270285606384, 0.3215835988521576, 0.25847479701042175, 0.2521924078464508, 0.2140534669160843, 0.2539266347885132, 0.2075537145137787, 0.27419236302375793, 0.3781979978084564, 0.22990845143795013, 0.2322227656841278, 0.29145514965057373, 0.23492376506328583, 0.3218545913696289, 0.29886335134506226, 0.3121037185192108, 0.3307715952396393, 0.28606706857681274, 0.33684417605400085, 0.3425579369068146, 0.28543081879615784, 0.2578352391719818, 0.23431332409381866, 0.2166336625814438, 0.30643728375434875, 0.3182980418205261, 0.2868340313434601, 0.27490517497062683, 0.2985512912273407, 0.2423940747976303], "cand_trans_speed_all": [0.011444605886936188, 0.011471024714410305, 0.011684272438287735, 0.012387300841510296, 0.014093436300754547, 0.01128416508436203, 0.015199835412204266, 0.012237539514899254, 0.012924598529934883, 0.01152812596410513, 0.011637525632977486, 0.012063595466315746, 0.01294173114001751, 0.014233718626201153, 0.011454464867711067, 0.012186987325549126, 0.013258918188512325, 0.011247005313634872, 0.012825584039092064, 0.011554306373000145, 0.01264893263578415, 0.013637634925544262, 0.011708304286003113, 0.01173641812056303, 0.011443441733717918, 0.013329247012734413, 0.011373593471944332, 0.012102462351322174, 0.011412277817726135, 0.012257397174835205, 0.012071339413523674, 0.012527651153504848], "cand_cum_xyz_disp_all": [[0.040544092655181885, -0.002356588840484619, 0.04301454871892929], [0.044775888323783875, 0.006716623902320862, 0.04232317954301834], [0.03890906274318695, -0.0013904422521591187, 0.041327886283397675], [0.03832311928272247, -0.0015961378812789917, 0.042451538145542145], [0.037943094968795776, 0.001901388168334961, 0.04292691498994827], [0.04360303282737732, 0.0025425851345062256, 0.038803987205028534], [0.04458494484424591, -0.004619032144546509, 0.04418850690126419], [0.03943502902984619, 0.0019830316305160522, 0.038858331739902496], [0.04195702075958252, 0.003308132290840149, 0.039600200951099396], [0.040350109338760376, 0.0025076568126678467, 0.04231574386358261], [0.038744375109672546, -0.002111092209815979, 0.043294452130794525], [0.04029332101345062, -0.00019009411334991455, 0.04169482737779617], [0.0369851291179657, 0.004521086812019348, 0.03815408796072006], [0.0414443165063858, 0.0007320046424865723, 0.043021731078624725], [0.04215681552886963, 0.003538459539413452, 0.04215846210718155], [0.039455488324165344, -0.000436633825302124, 0.0427323654294014], [0.030488088726997375, 0.0014041364192962646, 0.035965390503406525], [0.039081498980522156, 0.0007828325033187866, 0.040636442601680756], [0.04354424774646759, -0.0008279383182525635, 0.042754389345645905], [0.04191112518310547, 0.00804854929447174, 0.04567582160234451], [0.03503561019897461, -0.002232179045677185, 0.04061295837163925], [0.037400469183921814, -0.002197548747062683, 0.04147022217512131], [0.040422648191452026, -0.001122698187828064, 0.04257046431303024], [0.038817405700683594, 0.0053936392068862915, 0.03955177217721939], [0.045791059732437134, 0.004126757383346558, 0.04396330565214157], [0.0434468537569046, 0.0005621016025543213, 0.04018325358629227], [0.04205195605754852, 0.0034532397985458374, 0.04677587002515793], [0.04350849986076355, 0.005090087652206421, 0.042783670127391815], [0.04075378179550171, 0.00026689469814300537, 0.04273473471403122], [0.04309013485908508, -0.0017501264810562134, 0.04222717136144638], [0.04251068830490112, 0.000454828143119812, 0.03993653506040573], [0.04088205099105835, 0.002025693655014038, 0.03668833523988724]], "cand_final_gripper_all": [0.24629813432693481, 0.006787925958633423, 0.24844002723693848, 0.012026071548461914, 0.2413884401321411, 0.0003580152988433838, 0.22073712944984436, 0.03192189335823059, 0.007404297590255737, 0.012804478406906128, 0.2298329770565033, 0.0014550387859344482, 0.013148099184036255, 0.2422080636024475, 0.0014214515686035156, 0.2400253415107727, 0.007411837577819824, 0.01436007022857666, 0.23755565285682678, 0.013697594404220581, 0.2418259084224701, 0.23830059170722961, 0.10332947969436646, 0.0026814639568328857, 0.15409407019615173, 0.03036382794380188, 0.1546381413936615, 0.005672723054885864, 0.24355578422546387, 0.2452217936515808, 0.0001690387725830078, 0.002059757709503174], "eef_pos": [0.590800404548645, 0.05539632588624954, 0.26231828331947327], "cand_action_std": 0.1567739099264145, "cand_pairwise_centroid_dist_mean": 1.3690904378890991, "argmax_act_outlier": 1.2932567596435547, "time_encode_ms": 5.1981748547405005, "time_diffusion_ms": 35.87193205021322, "time_q_score_ms": 8.009388810023665, "time_total_ms": 49.80796598829329, "num_action_samples_effective": 32, "q_aggregate": "pair_min"}
+{"chunk_ordinal": 5, "q_min_best": 0.5318825244903564, "q_min_mean": 0.46519312262535095, "q_min_std": 0.03728121519088745, "q_min_median": 0.45822349190711975, "chosen_vs_median_q_gap": 0.0736590325832367, "q1_best": 0.5337218046188354, "q2_best": 0.5318825244903564, "v_val": 0.042327236384153366, "advantage": 0.4895552881062031, "best_idx": 22, "q_min_all": [0.49120306968688965, 0.4132307469844818, 0.4575124979019165, 0.410028874874115, 0.4384802579879761, 0.431254506111145, 0.41121596097946167, 0.4706462323665619, 0.49712350964546204, 0.507369339466095, 0.46618202328681946, 0.5015109181404114, 0.42106136679649353, 0.469637393951416, 0.4339549243450165, 0.4181842803955078, 0.5312820076942444, 0.4661833643913269, 0.5122942328453064, 0.47499629855155945, 0.45761463046073914, 0.45322737097740173, 0.5318825244903564, 0.5126329660415649, 0.49687033891677856, 0.5151349306106567, 0.45709434151649475, 0.45822349190711975, 0.4357047975063324, 0.4133613407611847, 0.49535444378852844, 0.4357271194458008], "q1_all": [0.49120306968688965, 0.4132307469844818, 0.47869372367858887, 0.410028874874115, 0.4384802579879761, 0.431254506111145, 0.41121596097946167, 0.4706462323665619, 0.5094586610794067, 0.507369339466095, 0.4854941666126251, 0.5015109181404114, 0.42106136679649353, 0.469637393951416, 0.4339549243450165, 0.4181842803955078, 0.5312820076942444, 0.4661833643913269, 0.5122942328453064, 0.47499629855155945, 0.464812695980072, 0.45322737097740173, 0.5337218046188354, 0.5126329660415649, 0.49687033891677856, 0.5151349306106567, 0.45709434151649475, 0.45822349190711975, 0.4357047975063324, 0.41578006744384766, 0.5144106149673462, 0.4448894262313843], "q2_all": [0.50657719373703, 0.4418187141418457, 0.4575124979019165, 0.42048338055610657, 0.43951117992401123, 0.4666285216808319, 0.41881707310676575, 0.5047004222869873, 0.49712350964546204, 0.5165601372718811, 0.46618202328681946, 0.5073797106742859, 0.46688225865364075, 0.5400909781455994, 0.4553799033164978, 0.47222834825515747, 0.571751594543457, 0.5484297275543213, 0.5836704969406128, 0.48812201619148254, 0.45761463046073914, 0.5025872588157654, 0.5318825244903564, 0.5580259561538696, 0.5278732776641846, 0.5537804961204529, 0.5562159419059753, 0.5216308832168579, 0.44139429926872253, 0.4133613407611847, 0.49535444378852844, 0.4357271194458008], "cand_trans_speed_all": [0.00399390421807766, 0.0033289152197539806, 0.0033847398590296507, 0.0034914733842015266, 0.0035788132809102535, 0.003631019964814186, 0.0029829945415258408, 0.004077407065778971, 0.0039939871057868, 0.003641498275101185, 0.004160311073064804, 0.0039065382443368435, 0.0037763076834380627, 0.0033526658080518246, 0.0030868686735630035, 0.003912671934813261, 0.004563616588711739, 0.004113940056413412, 0.00430497620254755, 0.003394301747903228, 0.003304902231320739, 0.0036600506864488125, 0.0043703485280275345, 0.003924593795090914, 0.004187449812889099, 0.003332854248583317, 0.004114655777812004, 0.004323478322476149, 0.0031429301016032696, 0.003531700698658824, 0.00457385927438736, 0.0030076932162046432], "cand_cum_xyz_disp_all": [[0.008316680788993835, 0.004321113228797913, 0.016036950051784515], [0.008502483367919922, 0.0027915239334106445, 0.011816225945949554], [0.009881436824798584, 0.004948064684867859, 0.014972187578678131], [0.009918853640556335, 0.004725530743598938, 0.011176548898220062], [0.00810326635837555, 0.004840239882469177, 0.011460833251476288], [0.007589191198348999, 0.0024896711111068726, 0.015947364270687103], [0.007190480828285217, 0.0018939822912216187, 0.011983104050159454], [0.010147929191589355, 0.005806475877761841, 0.014776907861232758], [0.009902089834213257, 0.0037433207035064697, 0.014445938169956207], [0.009403571486473083, 0.006312668323516846, 0.014506109058856964], [0.012684717774391174, 0.0037528127431869507, 0.011100567877292633], [0.004500910639762878, 0.0020016878843307495, 0.015125922858715057], [0.011386081576347351, 0.007493734359741211, 0.01100098341703415], [0.008221596479415894, 0.005085498094558716, 0.013000749051570892], [0.010593131184577942, 0.005636990070343018, 0.010317720472812653], [0.007948324084281921, 0.004639357328414917, 0.013916544616222382], [0.006582051515579224, 0.00668981671333313, 0.014724157750606537], [0.010308921337127686, 0.003333151340484619, 0.015761278569698334], [0.006740480661392212, -7.741153240203857e-05, 0.01403314620256424], [0.007255151867866516, 0.0032503753900527954, 0.013372384011745453], [0.007374301552772522, 0.004434376955032349, 0.010832034051418304], [0.010039284825325012, 0.008315503597259521, 0.012688033282756805], [0.008544579148292542, 0.0024423301219940186, 0.013321690261363983], [0.009862199425697327, 0.0064107924699783325, 0.012241043150424957], [0.006959021091461182, 0.005886897444725037, 0.014688409864902496], [0.006551802158355713, 0.003947421908378601, 0.014102838933467865], [0.012102484703063965, 0.005470305681228638, 0.013419665396213531], [0.010422080755233765, 0.006820887327194214, 0.011499039828777313], [0.010605946183204651, 0.0037697702646255493, 0.00928708165884018], [0.011257171630859375, 0.003678560256958008, 0.014538221061229706], [0.00929538905620575, 0.005102813243865967, 0.015090875327587128], [0.008515626192092896, 0.0037625133991241455, 0.012212492525577545]], "cand_final_gripper_all": [0.5757200121879578, 0.5802767276763916, 0.5598987936973572, 0.5713749527931213, 0.5908069610595703, 0.5757662057876587, 0.573699951171875, 0.5570287108421326, 0.5940840244293213, 0.5878385901451111, 0.568766176700592, 0.550167441368103, 0.571002721786499, 0.5801035165786743, 0.5390873551368713, 0.5739963054656982, 0.5233578085899353, 0.6106239557266235, 0.5571733713150024, 0.5635191202163696, 0.5355539917945862, 0.5850086212158203, 0.5467930436134338, 0.5737629532814026, 0.5723005533218384, 0.5539695620536804, 0.5474286675453186, 0.5661084651947021, 0.5619320273399353, 0.5420596599578857, 0.5669139623641968, 0.5313687324523926], "eef_pos": [0.6011227965354919, 0.08401801437139511, 0.217128723859787], "cand_action_std": 0.058757372200489044, "cand_pairwise_centroid_dist_mean": 0.532812774181366, "argmax_act_outlier": 1.1799678802490234, "time_encode_ms": 5.436589941382408, "time_diffusion_ms": 36.07407887466252, "time_q_score_ms": 8.318225853145123, "time_total_ms": 50.55225687101483, "num_action_samples_effective": 32, "q_aggregate": "pair_min"}
+{"chunk_ordinal": 6, "q_min_best": 0.4219887852668762, "q_min_mean": 0.35827505588531494, "q_min_std": 0.030473578721284866, "q_min_median": 0.35845401883125305, "chosen_vs_median_q_gap": 0.06353476643562317, "q1_best": 0.5361585021018982, "q2_best": 0.4219887852668762, "v_val": 0.06017760932445526, "advantage": 0.36181117594242096, "best_idx": 16, "q_min_all": [0.2887074053287506, 0.35393354296684265, 0.3864806592464447, 0.36562782526016235, 0.4021903872489929, 0.3870941698551178, 0.31563618779182434, 0.3241482079029083, 0.3795008063316345, 0.35908591747283936, 0.36938419938087463, 0.3912370502948761, 0.37345245480537415, 0.37157154083251953, 0.35845401883125305, 0.3276677131652832, 0.4219887852668762, 0.40380755066871643, 0.3800627291202545, 0.3635235130786896, 0.3312112092971802, 0.3539818525314331, 0.3391447365283966, 0.35835033655166626, 0.33624452352523804, 0.3514035642147064, 0.34519821405410767, 0.33121737837791443, 0.37229058146476746, 0.3232281804084778, 0.391714870929718, 0.30726125836372375], "q1_all": [0.5315449833869934, 0.52663254737854, 0.523980975151062, 0.521217405796051, 0.5378822088241577, 0.538925051689148, 0.5542612671852112, 0.5474207401275635, 0.5342007875442505, 0.5355210304260254, 0.5230886936187744, 0.5292075276374817, 0.5402668714523315, 0.5227690935134888, 0.5294890999794006, 0.5396029353141785, 0.5361585021018982, 0.5134274363517761, 0.5108432173728943, 0.531309962272644, 0.5362610220909119, 0.537378191947937, 0.520565390586853, 0.5440964102745056, 0.5202206969261169, 0.5116604566574097, 0.5134630799293518, 0.5425064563751221, 0.5215216875076294, 0.5266584157943726, 0.5466645956039429, 0.5339303016662598], "q2_all": [0.2887074053287506, 0.35393354296684265, 0.3864806592464447, 0.36562782526016235, 0.4021903872489929, 0.3870941698551178, 0.31563618779182434, 0.3241482079029083, 0.3795008063316345, 0.35908591747283936, 0.36938419938087463, 0.3912370502948761, 0.37345245480537415, 0.37157154083251953, 0.35845401883125305, 0.3276677131652832, 0.4219887852668762, 0.40380755066871643, 0.3800627291202545, 0.3635235130786896, 0.3312112092971802, 0.3539818525314331, 0.3391447365283966, 0.35835033655166626, 0.33624452352523804, 0.3514035642147064, 0.34519821405410767, 0.33121737837791443, 0.37229058146476746, 0.3232281804084778, 0.391714870929718, 0.30726125836372375], "cand_trans_speed_all": [0.001153001794591546, 0.0015764649724587798, 0.001477156183682382, 0.0025732689537107944, 0.0018555691931396723, 0.003164531197398901, 0.0016002770280465484, 0.0012702420353889465, 0.00174038577824831, 0.0017032250761985779, 0.0020496416836977005, 0.0029356065206229687, 0.0017305109649896622, 0.001667188829742372, 0.002407315419986844, 0.0015777815133333206, 0.002322041429579258, 0.001619041315279901, 0.002647711429744959, 0.0022312141954898834, 0.0016677025705575943, 0.0010619694367051125, 0.0018119148444384336, 0.0015279322396963835, 0.0013559459475800395, 0.0019636722281575203, 0.002662853104993701, 0.0012194749433547258, 0.0022878204472362995, 0.002007103059440851, 0.002725549740716815, 0.0017058281227946281], "cand_cum_xyz_disp_all": [[0.002275213599205017, 0.0021212100982666016, 0.0015353187918663025], [0.0023813247680664062, 0.0021751075983047485, 0.0015746206045150757], [0.003638714551925659, 0.0022312402725219727, 0.00131911039352417], [0.002254188060760498, 0.003010764718055725, 0.000542953610420227], [0.003822892904281616, 0.0037941932678222656, 0.0009120479226112366], [0.0033547431230545044, 0.002352893352508545, 0.001389823853969574], [0.003613680601119995, 0.002034291625022888, 0.00017808377742767334], [0.0033363401889801025, 0.002445906400680542, 0.00038930028676986694], [0.002964019775390625, 0.003404766321182251, 0.0022339150309562683], [0.003644987940788269, 0.0022980570793151855, 0.0009958967566490173], [0.003210410475730896, 0.002296075224876404, 0.0011345148086547852], [0.003634825348854065, 0.0029374659061431885, 0.001197710633277893], [0.00296156108379364, 0.003192692995071411, 0.001005411148071289], [0.0031867027282714844, 0.002450093626976013, 0.001201622188091278], [0.0028950273990631104, 0.0021627992391586304, 0.0009198486804962158], [0.0029126405715942383, 0.0017813295125961304, -9.165704250335693e-05], [0.003734484314918518, 0.002404123544692993, 0.002384983003139496], [0.002288714051246643, 0.002171248197555542, 0.0018763095140457153], [0.003728210926055908, 0.0032265037298202515, 0.0020083189010620117], [0.002060025930404663, 0.0024221092462539673, 0.0014288797974586487], [0.0032030493021011353, 0.0022412091493606567, 0.0014707446098327637], [0.0026254504919052124, 0.002798795700073242, 0.00040083378553390503], [0.0031498968601226807, 0.002301916480064392, 0.0019947215914726257], [0.003035619854927063, 0.0025539249181747437, 0.0018500909209251404], [0.003279447555541992, 0.0019862204790115356, 0.000858210027217865], [0.002728596329689026, 0.002302825450897217, 0.0015431717038154602], [0.004580467939376831, 0.0021456629037857056, 0.0008251741528511047], [0.0030017197132110596, 0.002951189875602722, 0.0008353739976882935], [0.00250069797039032, 0.002855837345123291, 0.0015547499060630798], [0.004824221134185791, 0.002533242106437683, 0.001116134226322174], [0.0037657320499420166, 0.0024834126234054565, 0.0015377551317214966], [0.0033416152000427246, 0.0019531697034835815, 0.0014343112707138062]], "cand_final_gripper_all": [0.9318145513534546, 0.9279217720031738, 0.9258443117141724, 0.9292488098144531, 0.9354277849197388, 0.9224817752838135, 0.9307893514633179, 0.9225429892539978, 0.9284714460372925, 0.9264651536941528, 0.9199627041816711, 0.9249550104141235, 0.9321513175964355, 0.9273564219474792, 0.9284733533859253, 0.9226562976837158, 0.9283558130264282, 0.9292612075805664, 0.9275290369987488, 0.9267040491104126, 0.9278972744941711, 0.9292988777160645, 0.9344372749328613, 0.9257068634033203, 0.9294809103012085, 0.9244155883789062, 0.9296814799308777, 0.9239096641540527, 0.9333033561706543, 0.9251078367233276, 0.9255963563919067, 0.9366416931152344], "eef_pos": [0.6000576019287109, 0.08770022541284561, 0.20291830599308014], "cand_action_std": 0.039840057492256165, "cand_pairwise_centroid_dist_mean": 0.3961559236049652, "argmax_act_outlier": 1.8486241102218628, "time_encode_ms": 5.64436917193234, "time_diffusion_ms": 35.92823492363095, "time_q_score_ms": 8.151545189321041, "time_total_ms": 50.54786801338196, "num_action_samples_effective": 32, "q_aggregate": "pair_min"}
+{"chunk_ordinal": 7, "q_min_best": 0.5187357068061829, "q_min_mean": 0.4825998842716217, "q_min_std": 0.01471235603094101, "q_min_median": 0.48082801699638367, "chosen_vs_median_q_gap": 0.037907689809799194, "q1_best": 0.5268317461013794, "q2_best": 0.5187357068061829, "v_val": 0.7301971912384033, "advantage": -0.21146148443222046, "best_idx": 7, "q_min_all": [0.47481977939605713, 0.46509185433387756, 0.48082801699638367, 0.4934196174144745, 0.4810079038143158, 0.47762781381607056, 0.4786961078643799, 0.5187357068061829, 0.4972018301486969, 0.4752870500087738, 0.48066213726997375, 0.48986056447029114, 0.4765377342700958, 0.49733564257621765, 0.48140349984169006, 0.49266335368156433, 0.4715321958065033, 0.4395653307437897, 0.4741418659687042, 0.47976353764533997, 0.4792087972164154, 0.4885309636592865, 0.4805978238582611, 0.4941613972187042, 0.5028185844421387, 0.47872641682624817, 0.44818416237831116, 0.4991999566555023, 0.4895271360874176, 0.48636099696159363, 0.4844748079776764, 0.4852237105369568], "q1_all": [0.5578879117965698, 0.5376944541931152, 0.5248959064483643, 0.5064082145690918, 0.5200795531272888, 0.5381619930267334, 0.5491503477096558, 0.5268317461013794, 0.5119442939758301, 0.5463626384735107, 0.5235991477966309, 0.5497097373008728, 0.545485258102417, 0.5574287176132202, 0.5300342440605164, 0.5432234406471252, 0.5322864055633545, 0.5266416072845459, 0.5524583458900452, 0.5542766451835632, 0.5508490800857544, 0.5404130816459656, 0.5424758195877075, 0.5517271757125854, 0.5245444774627686, 0.5371016263961792, 0.5199673771858215, 0.5306382775306702, 0.530071496963501, 0.5293034911155701, 0.5434461832046509, 0.5552997589111328], "q2_all": [0.47481977939605713, 0.46509185433387756, 0.48082801699638367, 0.4934196174144745, 0.4810079038143158, 0.47762781381607056, 0.4786961078643799, 0.5187357068061829, 0.4972018301486969, 0.4752870500087738, 0.48066213726997375, 0.48986056447029114, 0.4765377342700958, 0.49733564257621765, 0.48140349984169006, 0.49266335368156433, 0.4715321958065033, 0.4395653307437897, 0.4741418659687042, 0.47976353764533997, 0.4792087972164154, 0.4885309636592865, 0.4805978238582611, 0.4941613972187042, 0.5028185844421387, 0.47872641682624817, 0.44818416237831116, 0.4991999566555023, 0.4895271360874176, 0.48636099696159363, 0.4844748079776764, 0.4852237105369568], "cand_trans_speed_all": [0.006464752368628979, 0.006007002200931311, 0.006017085164785385, 0.0063436441123485565, 0.005630791187286377, 0.00629127724096179, 0.006379667669534683, 0.005174610298126936, 0.006830390077084303, 0.006281271111220121, 0.005076808389276266, 0.006291434168815613, 0.006329800467938185, 0.005462258122861385, 0.006273472681641579, 0.0063128117471933365, 0.007296095602214336, 0.006879237946122885, 0.007999161258339882, 0.006446812301874161, 0.006577095948159695, 0.006690980400890112, 0.006176504772156477, 0.006240778602659702, 0.006738151889294386, 0.00587310828268528, 0.006497632712125778, 0.006102893501520157, 0.005542870610952377, 0.007297348231077194, 0.00577378598973155, 0.006582466419786215], "cand_cum_xyz_disp_all": [[-0.014920219779014587, -0.010129645466804504, -0.02488873153924942], [-0.011664718389511108, -0.008052602410316467, -0.02819518744945526], [-0.010051950812339783, -0.009520724415779114, -0.027425378561019897], [-0.009113818407058716, -0.010459840297698975, -0.029163144528865814], [-0.011784180998802185, -0.00349348783493042, -0.026270590722560883], [-0.012876972556114197, -0.009793221950531006, -0.024826370179653168], [-0.00971493124961853, -0.008237063884735107, -0.026889793574810028], [-0.005801081657409668, -0.007574021816253662, -0.023654259741306305], [-0.010084494948387146, -0.007333099842071533, -0.02951391041278839], [-0.015689298510551453, -0.010146543383598328, -0.028384432196617126], [-0.010549917817115784, -0.006971031427383423, -0.02328088879585266], [-0.012721911072731018, -0.012738481163978577, -0.028002247214317322], [-0.012526154518127441, -0.012751162052154541, -0.0286082923412323], [-0.009414896368980408, -0.00962403416633606, -0.023963265120983124], [-0.009749636054039001, -0.01122373342514038, -0.029091112315654755], [-0.010779842734336853, -0.008128166198730469, -0.025982514023780823], [-0.009307637810707092, -0.011409923434257507, -0.029072046279907227], [-0.012412354350090027, -0.010763883590698242, -0.029060110449790955], [-0.014107182621955872, -0.010298997163772583, -0.034332841634750366], [-0.011846914887428284, -0.007628768682479858, -0.028625167906284332], [-0.013096615672111511, -0.010676383972167969, -0.02897132933139801], [-0.007743120193481445, -0.005945682525634766, -0.0291132852435112], [-0.010171905159950256, -0.005737826228141785, -0.029720894992351532], [-0.011071771383285522, -0.008635073900222778, -0.026244699954986572], [-0.01626478135585785, -0.013914346694946289, -0.027988426387310028], [-0.008186012506484985, -0.006906583905220032, -0.02820689231157303], [-0.010803848505020142, -0.00874665379524231, -0.029979489743709564], [-0.008551552891731262, -0.004243746399879456, -0.026525460183620453], [-0.01099887490272522, -0.006184995174407959, -0.02538193017244339], [-0.012704059481620789, -0.010632440447807312, -0.03098899871110916], [-0.008848682045936584, -0.005587339401245117, -0.028463996946811676], [-0.01485423743724823, -0.010671332478523254, -0.028983838856220245]], "cand_final_gripper_all": [1.0, 1.0, 1.0, 1.0, 1.0, 0.9999653100967407, 1.0, 0.9995616674423218, 0.9993717670440674, 0.9987748861312866, 1.0, 1.0, 0.9997732639312744, 1.0, 0.9993854761123657, 1.0, 1.0, 1.0, 1.0, 0.9997758865356445, 1.0, 0.9980785846710205, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 0.9977245330810547, 0.9996261596679688, 1.0, 1.0], "eef_pos": [0.6033286452293396, 0.08928318321704865, 0.20081821084022522], "cand_action_std": 0.0511460080742836, "cand_pairwise_centroid_dist_mean": 0.5207157135009766, "argmax_act_outlier": 1.0940848588943481, "time_encode_ms": 5.851235007867217, "time_diffusion_ms": 36.28193587064743, "time_q_score_ms": 8.140472928062081, "time_total_ms": 51.11273308284581, "num_action_samples_effective": 32, "q_aggregate": "pair_min"}
+{"chunk_ordinal": 8, "q_min_best": 0.45721662044525146, "q_min_mean": 0.40885430574417114, "q_min_std": 0.027619294822216034, "q_min_median": 0.4113514721393585, "chosen_vs_median_q_gap": 0.045865148305892944, "q1_best": 0.45721662044525146, "q2_best": 0.49136385321617126, "v_val": 0.7449831962585449, "advantage": -0.28776657581329346, "best_idx": 24, "q_min_all": [0.42818886041641235, 0.4301042854785919, 0.40651434659957886, 0.40583163499832153, 0.4056127071380615, 0.43602800369262695, 0.37210798263549805, 0.44515305757522583, 0.3670499920845032, 0.44193896651268005, 0.41440433263778687, 0.43133625388145447, 0.4203614890575409, 0.39546510577201843, 0.3970649838447571, 0.41021645069122314, 0.3622661828994751, 0.3940121531486511, 0.3996736705303192, 0.41496413946151733, 0.41867008805274963, 0.41495147347450256, 0.43003174662590027, 0.4162829518318176, 0.45721662044525146, 0.4113514721393585, 0.34904420375823975, 0.3398832678794861, 0.4484158158302307, 0.41631683707237244, 0.40122607350349426, 0.40165242552757263], "q1_all": [0.42818886041641235, 0.4301042854785919, 0.40651434659957886, 0.40583163499832153, 0.4056127071380615, 0.43602800369262695, 0.37210798263549805, 0.4524630308151245, 0.3670499920845032, 0.4510403871536255, 0.41440433263778687, 0.4651331305503845, 0.4203614890575409, 0.39546510577201843, 0.40868839621543884, 0.41021645069122314, 0.3622661828994751, 0.3940121531486511, 0.3996736705303192, 0.41496413946151733, 0.41867008805274963, 0.41495147347450256, 0.4322848320007324, 0.4162829518318176, 0.45721662044525146, 0.44843369722366333, 0.34904420375823975, 0.3398832678794861, 0.46787598729133606, 0.4411482810974121, 0.40122607350349426, 0.40165242552757263], "q2_all": [0.4582548439502716, 0.4774927794933319, 0.45954573154449463, 0.47494542598724365, 0.4605533182621002, 0.4667087495326996, 0.4840333163738251, 0.44515305757522583, 0.4331943392753601, 0.44193896651268005, 0.4899319112300873, 0.43133625388145447, 0.43921688199043274, 0.4147481918334961, 0.3970649838447571, 0.43797168135643005, 0.44782719016075134, 0.44435620307922363, 0.44432464241981506, 0.4408896863460541, 0.43693795800209045, 0.45480844378471375, 0.43003174662590027, 0.44867566227912903, 0.49136385321617126, 0.4113514721393585, 0.47176915407180786, 0.45300614833831787, 0.4484158158302307, 0.41631683707237244, 0.4407995343208313, 0.45001015067100525], "cand_trans_speed_all": [0.01074595283716917, 0.012225253507494926, 0.011447611264884472, 0.012594480067491531, 0.011749448254704475, 0.011121775023639202, 0.01133486907929182, 0.01195080578327179, 0.011969856917858124, 0.010231822729110718, 0.012234136462211609, 0.011513079516589642, 0.011552798561751842, 0.011757135391235352, 0.011157920584082603, 0.01139957457780838, 0.012433914467692375, 0.010094200260937214, 0.011960862204432487, 0.011954372748732567, 0.012133496813476086, 0.0125438142567873, 0.011037356220185757, 0.01127677969634533, 0.011654987931251526, 0.010564200580120087, 0.01117679849267006, 0.011892165057361126, 0.01166789885610342, 0.011515310034155846, 0.011682046577334404, 0.012275840155780315], "cand_cum_xyz_disp_all": [[-0.0244036465883255, -0.01895897090435028, -0.05466090887784958], [-0.024892792105674744, -0.0315479040145874, -0.05877034366130829], [-0.024775221943855286, -0.018873795866966248, -0.05904284119606018], [-0.026677921414375305, -0.02935197949409485, -0.06219475716352463], [-0.02347777783870697, -0.022548258304595947, -0.059575628489255905], [-0.0228569358587265, -0.02318131923675537, -0.056752122938632965], [-0.02464929223060608, -0.018003195524215698, -0.057972561568021774], [-0.02621917426586151, -0.023159295320510864, -0.05922463536262512], [-0.02564576268196106, -0.01776762306690216, -0.062071722000837326], [-0.022347405552864075, -0.017590507864952087, -0.05229288339614868], [-0.027924537658691406, -0.020566225051879883, -0.05973389744758606], [-0.024881377816200256, -0.02146114408969879, -0.05862234905362129], [-0.024850130081176758, -0.026283517479896545, -0.057071175426244736], [-0.03252938389778137, -0.020951151847839355, -0.05406249314546585], [-0.03093545138835907, -0.02154141664505005, -0.05366649478673935], [-0.028452351689338684, -0.024043262004852295, -0.054728470742702484], [-0.03193087875843048, -0.02178514003753662, -0.06166780740022659], [-0.025703459978103638, -0.013972029089927673, -0.051456257700920105], [-0.02815552055835724, -0.024063512682914734, -0.05546721816062927], [-0.03098030388355255, -0.020916670560836792, -0.05949058383703232], [-0.02460762858390808, -0.023837953805923462, -0.06001054495573044], [-0.026403769850730896, -0.025852516293525696, -0.06092076748609543], [-0.021241679787635803, -0.025134071707725525, -0.056106869131326675], [-0.02303159236907959, -0.025149479508399963, -0.05718132480978966], [-0.023841992020606995, -0.026600167155265808, -0.05836612358689308], [-0.022121787071228027, -0.018999874591827393, -0.05525442212820053], [-0.02612505853176117, -0.015455484390258789, -0.05650978907942772], [-0.029987752437591553, -0.0181272029876709, -0.057141080498695374], [-0.022990748286247253, -0.024211883544921875, -0.056768957525491714], [-0.02849791944026947, -0.01783008873462677, -0.05958469212055206], [-0.026097849011421204, -0.022809073328971863, -0.060004331171512604], [-0.027663111686706543, -0.023885458707809448, -0.062028128653764725]], "cand_final_gripper_all": [0.9993419647216797, 0.9991828799247742, 0.9990084171295166, 0.9995296597480774, 1.0, 0.9991124868392944, 0.9994076490402222, 0.9999164342880249, 0.9993095397949219, 0.9994175434112549, 0.9985631108283997, 0.9984883666038513, 0.9994857311248779, 1.0, 0.9998564720153809, 0.9998095631599426, 1.0, 0.9992009997367859, 1.0, 0.9997966289520264, 0.9988998770713806, 0.9989511966705322, 0.9994508028030396, 0.9996688365936279, 1.0, 1.0, 0.9993529319763184, 0.998729407787323, 0.9987940788269043, 0.9997990131378174, 0.9999996423721313, 0.9996016025543213], "eef_pos": [0.6037200689315796, 0.08976195752620697, 0.2013561725616455], "cand_action_std": 0.1015392616391182, "cand_pairwise_centroid_dist_mean": 0.883541464805603, "argmax_act_outlier": 1.2617948055267334, "time_encode_ms": 5.151056917384267, "time_diffusion_ms": 36.04220785200596, "time_q_score_ms": 7.807991933077574, "time_total_ms": 49.77158596739173, "num_action_samples_effective": 32, "q_aggregate": "pair_min"}
+{"chunk_ordinal": 9, "q_min_best": 0.6998889446258545, "q_min_mean": 0.6009494066238403, "q_min_std": 0.03579096123576164, "q_min_median": 0.6000736355781555, "chosen_vs_median_q_gap": 0.09981530904769897, "q1_best": 0.6998889446258545, "q2_best": 0.7037945985794067, "v_val": 0.12385546416044235, "advantage": 0.5760334804654121, "best_idx": 4, "q_min_all": [0.6055313348770142, 0.6095454692840576, 0.5429577827453613, 0.5662683248519897, 0.6998889446258545, 0.6339825391769409, 0.6000736355781555, 0.49770089983940125, 0.5980043411254883, 0.5971391201019287, 0.6134928464889526, 0.5748552680015564, 0.6382700204849243, 0.6087068915367126, 0.6494821310043335, 0.5827728509902954, 0.6440575122833252, 0.5667727589607239, 0.6317774057388306, 0.6243442893028259, 0.5728344917297363, 0.6104199886322021, 0.5913832187652588, 0.6011092066764832, 0.5892513990402222, 0.5826617479324341, 0.5675324201583862, 0.6212354302406311, 0.6225760579109192, 0.5954766273498535, 0.6101068258285522, 0.5801683664321899], "q1_all": [0.6694636940956116, 0.6693412065505981, 0.6286176443099976, 0.6225518584251404, 0.6998889446258545, 0.6949875354766846, 0.6532992720603943, 0.6072494983673096, 0.644818902015686, 0.6194032430648804, 0.6134928464889526, 0.5748552680015564, 0.6382700204849243, 0.641067385673523, 0.6494821310043335, 0.6613612771034241, 0.6825833320617676, 0.6874446868896484, 0.6437198519706726, 0.6983932852745056, 0.6469623446464539, 0.6104199886322021, 0.644792377948761, 0.6311997175216675, 0.5892513990402222, 0.5826617479324341, 0.5757477283477783, 0.6575447916984558, 0.6225760579109192, 0.6960822939872742, 0.6501665115356445, 0.636211633682251], "q2_all": [0.6055313348770142, 0.6095454692840576, 0.5429577827453613, 0.5662683248519897, 0.7037945985794067, 0.6339825391769409, 0.6000736355781555, 0.49770089983940125, 0.5980043411254883, 0.5971391201019287, 0.6204010844230652, 0.6113284826278687, 0.6399011611938477, 0.6087068915367126, 0.6645147800445557, 0.5827728509902954, 0.6440575122833252, 0.5667727589607239, 0.6317774057388306, 0.6243442893028259, 0.5728344917297363, 0.6377536654472351, 0.5913832187652588, 0.6011092066764832, 0.6154104471206665, 0.6331804394721985, 0.5675324201583862, 0.6212354302406311, 0.6415576934814453, 0.5954766273498535, 0.6101068258285522, 0.5801683664321899], "cand_trans_speed_all": [0.015443168580532074, 0.016107872128486633, 0.015083098784089088, 0.0137320626527071, 0.01510341465473175, 0.015931859612464905, 0.014014999382197857, 0.01452083420008421, 0.014997406862676144, 0.016439266502857208, 0.016084913164377213, 0.013757075183093548, 0.015396570786833763, 0.01547508966177702, 0.015648819506168365, 0.014571556821465492, 0.015784986317157745, 0.015011264011263847, 0.015353444032371044, 0.014819948934018612, 0.016213294118642807, 0.014653485268354416, 0.01648106426000595, 0.014511419460177422, 0.015411952510476112, 0.014637577347457409, 0.014415621757507324, 0.013878770172595978, 0.014711241237819195, 0.014646771363914013, 0.015595249831676483, 0.015917561948299408], "cand_cum_xyz_disp_all": [[-0.006579294800758362, -0.07278664410114288, -0.04749128222465515], [-0.0013300031423568726, -0.07461739331483841, -0.045556917786598206], [-0.008406117558479309, -0.06798386573791504, -0.04543501138687134], [-0.0065355002880096436, -0.06041298061609268, -0.04929244518280029], [0.003291204571723938, -0.07004878669977188, -0.04873427748680115], [-0.003869280219078064, -0.07772713154554367, -0.0485336035490036], [-0.00025272369384765625, -0.06384159624576569, -0.04722757637500763], [-0.013752251863479614, -0.06526453793048859, -0.04609609395265579], [-0.010310709476470947, -0.06568234413862228, -0.05181463807821274], [-0.008038118481636047, -0.08153483271598816, -0.04549366235733032], [-0.00793352723121643, -0.0768752321600914, -0.04552073031663895], [-0.0017710775136947632, -0.06402072310447693, -0.04602726548910141], [-0.00408935546875, -0.07184430956840515, -0.04784059524536133], [-0.009145334362983704, -0.07347734272480011, -0.047306373715400696], [-0.005453556776046753, -0.0739632099866867, -0.052331581711769104], [-0.005884572863578796, -0.06787421554327011, -0.047067224979400635], [-0.0029183775186538696, -0.07510781288146973, -0.045239344239234924], [-0.008880257606506348, -0.06929660588502884, -0.04802561551332474], [-0.002115488052368164, -0.07364997267723083, -0.04443654417991638], [-0.005918785929679871, -0.06904154270887375, -0.05032234638929367], [-0.007733941078186035, -0.07650084048509598, -0.04406362026929855], [0.0005045533180236816, -0.06796280294656754, -0.04779943823814392], [-0.012486770749092102, -0.07917267084121704, -0.047713205218315125], [-0.0012817233800888062, -0.06771792471408844, -0.046255700290203094], [4.70578670501709e-05, -0.07417523860931396, -0.048193320631980896], [-0.0028939098119735718, -0.06735426932573318, -0.0456986129283905], [-0.006306454539299011, -0.0689721331000328, -0.043789736926555634], [0.0009756684303283691, -0.06306790560483932, -0.043615423142910004], [-0.006392195820808411, -0.06890257447957993, -0.04854702204465866], [-0.003269761800765991, -0.06457033008337021, -0.04954938590526581], [-0.005967959761619568, -0.07405393570661545, -0.04928962141275406], [-0.0075713396072387695, -0.07734464854001999, -0.04378374665975571]], "cand_final_gripper_all": [0.9990549087524414, 1.0, 0.9993070363998413, 0.9995419979095459, 0.9991022348403931, 0.9992431402206421, 0.9998071193695068, 0.9984331727027893, 0.9984363317489624, 1.0, 0.999287486076355, 0.9989027976989746, 1.0, 0.9991979002952576, 0.9992477893829346, 0.9989688992500305, 0.9997802972793579, 0.999497652053833, 0.9987131357192993, 0.9996850490570068, 1.0, 0.9996620416641235, 0.9994579553604126, 0.9994681477546692, 0.9998525381088257, 0.9987823963165283, 0.9997645616531372, 0.9993396997451782, 1.0, 0.9986960887908936, 1.0, 0.999610185623169], "eef_pos": [0.6024751663208008, 0.09272404760122299, 0.22927643358707428], "cand_action_std": 0.1104387491941452, "cand_pairwise_centroid_dist_mean": 0.9725932478904724, "argmax_act_outlier": 0.9380518198013306, "time_encode_ms": 5.442099878564477, "time_diffusion_ms": 36.09636798501015, "time_q_score_ms": 7.6273540034890175, "time_total_ms": 49.93660398758948, "num_action_samples_effective": 32, "q_aggregate": "pair_min"}
+{"chunk_ordinal": 10, "q_min_best": 0.5476508140563965, "q_min_mean": 0.2562287747859955, "q_min_std": 0.13151268661022186, "q_min_median": 0.23087191581726074, "chosen_vs_median_q_gap": 0.31677889823913574, "q1_best": 0.5476508140563965, "q2_best": 0.6281917691230774, "v_val": -0.009505330584943295, "advantage": 0.5571561446413398, "best_idx": 0, "q_min_all": [0.5476508140563965, 0.24233093857765198, 0.2096557915210724, 0.2025715410709381, 0.23366886377334595, 0.4634789824485779, 0.2214890718460083, 0.4635181128978729, 0.25917643308639526, 0.2797081768512726, 0.25909003615379333, 0.11597850918769836, 0.18903601169586182, 0.10649943351745605, 0.08939336240291595, 0.17722046375274658, 0.23087191581726074, 0.10404179990291595, 0.1468159556388855, 0.11485262215137482, 0.27391278743743896, 0.3874550759792328, 0.3931106925010681, 0.31652846932411194, 0.3798421621322632, 0.20488640666007996, 0.0844072550535202, 0.3836076855659485, 0.19221264123916626, 0.5350604057312012, 0.3151777982711792, 0.07607084512710571], "q1_all": [0.5476508140563965, 0.24233093857765198, 0.2096557915210724, 0.2025715410709381, 0.23366886377334595, 0.4634789824485779, 0.2214890718460083, 0.4635181128978729, 0.25917643308639526, 0.2797081768512726, 0.25909003615379333, 0.11597850918769836, 0.18903601169586182, 0.10649943351745605, 0.08939336240291595, 0.17722046375274658, 0.23087191581726074, 0.10404179990291595, 0.1468159556388855, 0.11485262215137482, 0.27391278743743896, 0.3874550759792328, 0.3931106925010681, 0.31652846932411194, 0.3798421621322632, 0.20488640666007996, 0.0844072550535202, 0.3836076855659485, 0.19221264123916626, 0.5350604057312012, 0.3151777982711792, 0.07607084512710571], "q2_all": [0.6281917691230774, 0.42559805512428284, 0.5243196487426758, 0.44821158051490784, 0.49658796191215515, 0.5610454678535461, 0.4533993899822235, 0.6042851209640503, 0.5513885021209717, 0.547297477722168, 0.47971463203430176, 0.524458110332489, 0.37252044677734375, 0.4654557704925537, 0.4267444610595703, 0.44258439540863037, 0.5041067004203796, 0.4515218138694763, 0.474519819021225, 0.45792654156684875, 0.5288682579994202, 0.3900795578956604, 0.5021990537643433, 0.510460615158081, 0.5350998640060425, 0.5074995160102844, 0.41166195273399353, 0.5845828056335449, 0.4371740221977234, 0.593376100063324, 0.5203253030776978, 0.40161845088005066], "cand_trans_speed_all": [0.015660110861063004, 0.013559105806052685, 0.0149362338706851, 0.0145011767745018, 0.016272734850645065, 0.014847204089164734, 0.013269218616187572, 0.015289603732526302, 0.015716291964054108, 0.014755814336240292, 0.013948830775916576, 0.014945103786885738, 0.013109512627124786, 0.014803420752286911, 0.013355150818824768, 0.013791291043162346, 0.01566406898200512, 0.014218936674296856, 0.014937052503228188, 0.014452561736106873, 0.015118105337023735, 0.0128548014909029, 0.013918175362050533, 0.015866316854953766, 0.015147803351283073, 0.015269327908754349, 0.013407407328486443, 0.014061741530895233, 0.014144743792712688, 0.01537892036139965, 0.014551667496562004, 0.013946814462542534], "cand_cum_xyz_disp_all": [[0.03274163603782654, -0.06642857193946838, -0.03195226192474365], [0.02771143615245819, -0.05324459820985794, -0.03630106896162033], [0.028494209051132202, -0.06012893468141556, -0.039265796542167664], [0.029509827494621277, -0.0571572482585907, -0.03698591887950897], [0.03536294400691986, -0.055046312510967255, -0.0320197269320488], [0.02604709565639496, -0.059201695024967194, -0.037241511046886444], [0.031320154666900635, -0.04970250278711319, -0.032984815537929535], [0.024021267890930176, -0.05835137516260147, -0.04337538033723831], [0.027302846312522888, -0.06591695547103882, -0.03996601700782776], [0.03241908550262451, -0.05889087915420532, -0.03941008448600769], [0.028065457940101624, -0.053639642894268036, -0.04081272333860397], [0.0345289409160614, -0.062219083309173584, -0.034226275980472565], [0.028135374188423157, -0.04663216322660446, -0.03382082283496857], [0.03665190935134888, -0.053120702505111694, -0.03326617181301117], [0.031271666288375854, -0.051845766603946686, -0.03614794462919235], [0.02862970530986786, -0.048549436032772064, -0.03568919003009796], [0.03458186984062195, -0.0546199232339859, -0.03297574073076248], [0.030253484845161438, -0.056523799896240234, -0.03295323997735977], [0.0315772145986557, -0.061441875994205475, -0.037730567157268524], [0.027786925435066223, -0.05709328502416611, -0.0390726700425148], [0.03349998593330383, -0.06198328733444214, -0.03716178983449936], [0.023422077298164368, -0.04454287141561508, -0.036815449595451355], [0.03160305321216583, -0.05123370885848999, -0.035286903381347656], [0.029179483652114868, -0.059998586773872375, -0.03894859552383423], [0.029159069061279297, -0.058716781437397, -0.03387529402971268], [0.030142247676849365, -0.059184446930885315, -0.03752461075782776], [0.03153827786445618, -0.05398983508348465, -0.03562328964471817], [0.031179562211036682, -0.060995377600193024, -0.03422972559928894], [0.034567639231681824, -0.05328952521085739, -0.03835047781467438], [0.025703057646751404, -0.06547288596630096, -0.037649139761924744], [0.029285386204719543, -0.05978485196828842, -0.03584153205156326], [0.02898237109184265, -0.05304174870252609, -0.03585775941610336]], "cand_final_gripper_all": [0.999822735786438, 0.998516857624054, 0.9985873103141785, 1.0, 0.9998584985733032, 1.0, 0.9992183446884155, 1.0, 0.9994500875473022, 0.999594509601593, 0.9992813467979431, 1.0, 1.0, 0.9985913038253784, 0.9996382594108582, 1.0, 1.0, 0.9994670152664185, 0.9987161159515381, 1.0, 0.9997581243515015, 1.0, 0.9999953508377075, 0.9996283054351807, 0.999082088470459, 1.0, 1.0, 0.9992026090621948, 0.9986948370933533, 1.0, 0.9992302060127258, 1.0], "eef_pos": [0.5662868618965149, 0.10559417307376862, 0.25962376594543457], "cand_action_std": 0.14856475591659546, "cand_pairwise_centroid_dist_mean": 1.2233866453170776, "argmax_act_outlier": 1.5257329940795898, "time_encode_ms": 5.99946198053658, "time_diffusion_ms": 36.45997797138989, "time_q_score_ms": 7.5674219988286495, "time_total_ms": 50.82966201007366, "num_action_samples_effective": 32, "q_aggregate": "pair_min"}
+{"chunk_ordinal": 11, "q_min_best": 0.4703826308250427, "q_min_mean": 0.3505847454071045, "q_min_std": 0.062127478420734406, "q_min_median": 0.3482782542705536, "chosen_vs_median_q_gap": 0.12210437655448914, "q1_best": 0.47899168729782104, "q2_best": 0.4703826308250427, "v_val": 0.8259986042976379, "advantage": -0.3556159734725952, "best_idx": 13, "q_min_all": [0.3482782542705536, 0.3175187110900879, 0.24030160903930664, 0.3780330419540405, 0.39422503113746643, 0.37390032410621643, 0.3233799338340759, 0.36126670241355896, 0.3460283577442169, 0.3743385076522827, 0.2637740671634674, 0.33869561553001404, 0.29306095838546753, 0.4703826308250427, 0.3273012638092041, 0.3735748529434204, 0.35364699363708496, 0.4280790388584137, 0.3889913558959961, 0.36419132351875305, 0.32823610305786133, 0.441175639629364, 0.34719714522361755, 0.40949034690856934, 0.41545674204826355, 0.3244379162788391, 0.3468347191810608, 0.41322991251945496, 0.18915261328220367, 0.24711965024471283, 0.4189867079257965, 0.27842527627944946], "q1_all": [0.3482782542705536, 0.3175187110900879, 0.24030160903930664, 0.3780330419540405, 0.43261101841926575, 0.39719516038894653, 0.3233799338340759, 0.39910048246383667, 0.3460283577442169, 0.3743385076522827, 0.2637740671634674, 0.35551825165748596, 0.29306095838546753, 0.47899168729782104, 0.3508622944355011, 0.3735748529434204, 0.3829006254673004, 0.43381404876708984, 0.3889913558959961, 0.36419132351875305, 0.32823610305786133, 0.4645572304725647, 0.385187029838562, 0.4095310866832733, 0.41545674204826355, 0.3244379162788391, 0.43070924282073975, 0.5431511402130127, 0.18915261328220367, 0.24711965024471283, 0.5142854452133179, 0.27842527627944946], "q2_all": [0.4299045503139496, 0.41180047392845154, 0.45252466201782227, 0.40426164865493774, 0.39422503113746643, 0.37390032410621643, 0.38040152192115784, 0.36126670241355896, 0.4311557412147522, 0.4203137457370758, 0.45893779397010803, 0.33869561553001404, 0.41464507579803467, 0.4703826308250427, 0.3273012638092041, 0.46363091468811035, 0.35364699363708496, 0.4280790388584137, 0.4567182958126068, 0.4287608563899994, 0.37675750255584717, 0.441175639629364, 0.34719714522361755, 0.40949034690856934, 0.4359383285045624, 0.41185083985328674, 0.3468347191810608, 0.41322991251945496, 0.3380778729915619, 0.4162331223487854, 0.4189867079257965, 0.4228913486003876], "cand_trans_speed_all": [0.012046493589878082, 0.010597987100481987, 0.0117391562089324, 0.010340581648051739, 0.010217699222266674, 0.01103837601840496, 0.010399874299764633, 0.011199145577847958, 0.010926364921033382, 0.011057661846280098, 0.012458826415240765, 0.010017954744398594, 0.011288794688880444, 0.012127220630645752, 0.009649683721363544, 0.012467287480831146, 0.011599703691899776, 0.010665860027074814, 0.011283631436526775, 0.011011429131031036, 0.0109647735953331, 0.011930150911211967, 0.010444261133670807, 0.012117918580770493, 0.011600397527217865, 0.011092606000602245, 0.009824199602007866, 0.010028280317783356, 0.009289439767599106, 0.011117301881313324, 0.012035926803946495, 0.01101287268102169], "cand_cum_xyz_disp_all": [[0.051345303654670715, -0.02183517813682556, -0.017477281391620636], [0.05016809701919556, -0.01393146812915802, -0.01670076698064804], [0.053094640374183655, -0.008569583296775818, -0.014364480972290039], [0.0461433082818985, -0.01599995791912079, -0.017735779285430908], [0.04553432762622833, -0.007829129695892334, -0.01669352501630783], [0.04214052855968475, -0.024622976779937744, -0.010310634970664978], [0.04758419096469879, -0.017500057816505432, -0.016779467463493347], [0.05153323709964752, -0.010733842849731445, -0.014346703886985779], [0.049950629472732544, -0.02595740556716919, -0.020002655684947968], [0.05178685486316681, -0.022114664316177368, -0.01688915491104126], [0.049475520849227905, -0.026453137397766113, -0.019685082137584686], [0.04925961792469025, -0.017232537269592285, -0.016218818724155426], [0.05246339738368988, -0.014718905091285706, -0.01958063244819641], [0.05459471046924591, -0.02115894854068756, -0.019613981246948242], [0.04522906243801117, -0.01668870449066162, -0.01933716982603073], [0.05829882621765137, -0.022154539823532104, -0.017506204545497894], [0.05181287229061127, -0.016320258378982544, -0.017604023218154907], [0.047694265842437744, -0.021502912044525146, -0.019340038299560547], [0.05178585648536682, -0.026101216673851013, -0.01740257441997528], [0.04577849805355072, -0.02693191170692444, -0.01517660915851593], [0.048625022172927856, -0.01760464906692505, -0.018348924815654755], [0.054769426584243774, -0.015744417905807495, -0.019333064556121826], [0.03868313133716583, -0.017058774828910828, -0.011505752801895142], [0.054581716656684875, -0.007349967956542969, -0.015533305704593658], [0.05292670428752899, -0.020609840750694275, -0.017154425382614136], [0.0464920699596405, -0.0257270485162735, -0.01755101978778839], [0.045046672224998474, -0.007083579897880554, -0.01467026025056839], [0.046645864844322205, -0.015707001090049744, -0.01609765738248825], [0.038312554359436035, -0.02774423360824585, -0.013937488198280334], [0.049925774335861206, -0.029768243432044983, -0.02042745053768158], [0.05444246530532837, -0.019855409860610962, -0.010922156274318695], [0.05384719371795654, -0.019393712282180786, -0.02044600248336792]], "cand_final_gripper_all": [0.9989429712295532, 0.9985498189926147, 0.9975733757019043, 0.9976339340209961, 0.9984564781188965, 1.0, 0.9983128309249878, 0.9983780384063721, 0.9985238909721375, 0.9984402656555176, 0.9987235069274902, 0.9996613264083862, 1.0, 0.9994171857833862, 0.9984946250915527, 0.9987932443618774, 0.9995280504226685, 0.9988420009613037, 0.9986329078674316, 0.9989876747131348, 0.9999628663063049, 0.9974534511566162, 0.9991768598556519, 0.997939944267273, 0.9988883137702942, 0.9988162517547607, 0.9993048906326294, 0.999190092086792, 0.9993417263031006, 0.998503565788269, 0.9989641904830933, 0.9977056980133057], "eef_pos": [0.529873788356781, 0.12789002060890198, 0.2742845118045807], "cand_action_std": 0.2105863094329834, "cand_pairwise_centroid_dist_mean": 1.645032525062561, "argmax_act_outlier": 0.8539670705795288, "time_encode_ms": 5.498985992744565, "time_diffusion_ms": 36.093682050704956, "time_q_score_ms": 8.142756996676326, "time_total_ms": 50.674531143158674, "num_action_samples_effective": 32, "q_aggregate": "pair_min"}
+{"chunk_ordinal": 12, "q_min_best": 0.5036450028419495, "q_min_mean": 0.325216144323349, "q_min_std": 0.07133456319570541, "q_min_median": 0.30711236596107483, "chosen_vs_median_q_gap": 0.19653263688087463, "q1_best": 0.620604395866394, "q2_best": 0.5036450028419495, "v_val": 0.9848530292510986, "advantage": -0.48120802640914917, "best_idx": 25, "q_min_all": [0.3247818946838379, 0.2631295621395111, 0.26882022619247437, 0.27143019437789917, 0.47410497069358826, 0.30711236596107483, 0.2868505120277405, 0.42639145255088806, 0.3367999792098999, 0.23059609532356262, 0.2985050082206726, 0.2961220443248749, 0.3299984037876129, 0.29577913880348206, 0.33784136176109314, 0.2695101201534271, 0.28632622957229614, 0.3725684583187103, 0.2922089397907257, 0.3147684335708618, 0.2837088108062744, 0.3789408802986145, 0.40630629658699036, 0.23783893883228302, 0.3103019595146179, 0.5036450028419495, 0.3667433559894562, 0.46068599820137024, 0.17979072034358978, 0.3258934020996094, 0.30662062764167786, 0.3627956211566925], "q1_all": [0.473435640335083, 0.5190256834030151, 0.49221324920654297, 0.3277527391910553, 0.6166703701019287, 0.49096429347991943, 0.4497906565666199, 0.4747792184352875, 0.3367999792098999, 0.23059609532356262, 0.47978919744491577, 0.5657786130905151, 0.48573142290115356, 0.3951842784881592, 0.5020797848701477, 0.305458664894104, 0.28632622957229614, 0.5280466079711914, 0.3301975727081299, 0.5991476774215698, 0.5282679796218872, 0.41847026348114014, 0.5556087493896484, 0.23783893883228302, 0.332964152097702, 0.620604395866394, 0.39593449234962463, 0.4963657557964325, 0.17979072034358978, 0.3497453033924103, 0.5842361450195312, 0.3627956211566925], "q2_all": [0.3247818946838379, 0.2631295621395111, 0.26882022619247437, 0.27143019437789917, 0.47410497069358826, 0.30711236596107483, 0.2868505120277405, 0.42639145255088806, 0.40156713128089905, 0.275594025850296, 0.2985050082206726, 0.2961220443248749, 0.3299984037876129, 0.29577913880348206, 0.33784136176109314, 0.2695101201534271, 0.35275015234947205, 0.3725684583187103, 0.2922089397907257, 0.3147684335708618, 0.2837088108062744, 0.3789408802986145, 0.40630629658699036, 0.3178251087665558, 0.3103019595146179, 0.5036450028419495, 0.3667433559894562, 0.46068599820137024, 0.319158673286438, 0.3258934020996094, 0.30662062764167786, 0.43725767731666565], "cand_trans_speed_all": [0.009561470709741116, 0.012671480886638165, 0.010412681847810745, 0.010259518399834633, 0.010525120422244072, 0.010071752592921257, 0.01039063185453415, 0.00967466365545988, 0.008801745250821114, 0.010930675081908703, 0.011396743357181549, 0.01095601450651884, 0.011084548197686672, 0.009743420407176018, 0.01053811889141798, 0.010602131485939026, 0.009912535548210144, 0.010666869580745697, 0.0114829046651721, 0.011867951601743698, 0.011585516855120659, 0.009393426589667797, 0.01078459620475769, 0.010066235437989235, 0.009647829458117485, 0.009533848613500595, 0.009149441495537758, 0.009566226974129677, 0.00967466365545988, 0.010774936527013779, 0.011928621679544449, 0.00834134966135025], "cand_cum_xyz_disp_all": [[0.04226270318031311, -0.028631582856178284, -0.0018081143498420715], [0.0550348162651062, -0.04841228574514389, -0.006453767418861389], [0.047212645411491394, -0.03430205583572388, -0.004998922348022461], [0.044711142778396606, -0.03730909526348114, -0.008109420537948608], [0.043671369552612305, -0.03388594090938568, -0.00287541002035141], [0.047678858041763306, -0.03246389329433441, -0.00617729127407074], [0.0507383793592453, -0.030504897236824036, -0.008253149688243866], [0.0391821414232254, -0.02851758897304535, -0.004537053406238556], [0.03439745306968689, -0.030190587043762207, -0.0030271783471107483], [0.04443863034248352, -0.035326361656188965, -0.004096992313861847], [0.0489303320646286, -0.029969289898872375, -0.005588747560977936], [0.052360355854034424, -0.034875184297561646, -0.008343033492565155], [0.04647605121135712, -0.04130537807941437, -0.004456505179405212], [0.04291549324989319, -0.028166890144348145, -0.0026815757155418396], [0.0457741916179657, -0.03676652908325195, -0.0037718787789344788], [0.04848094284534454, -0.03376375138759613, -0.005709193646907806], [0.04688873887062073, -0.025183528661727905, -0.003239050507545471], [0.045601457357406616, -0.03907376527786255, -0.005115076899528503], [0.04226820170879364, -0.03811125457286835, -0.0035231485962867737], [0.05246201157569885, -0.035796210169792175, -0.0063812509179115295], [0.05207560956478119, -0.03735782206058502, -0.005602620542049408], [0.031287431716918945, -0.04084813594818115, -0.0035750269889831543], [0.05048514902591705, -0.028066590428352356, -0.003541514277458191], [0.045436859130859375, -0.030581504106521606, -0.006074465811252594], [0.04260183870792389, -0.03108792006969452, -0.005364872515201569], [0.039030373096466064, -0.03480397164821625, -0.0025427788496017456], [0.040505409240722656, -0.030955791473388672, -0.007749058306217194], [0.04209171235561371, -0.025157630443572998, -0.0011500045657157898], [0.04393176734447479, -0.024743571877479553, -0.0036606565117836], [0.048441410064697266, -0.027656689286231995, -0.006407193839550018], [0.052512168884277344, -0.04150684177875519, -0.005099102854728699], [0.03280751407146454, -0.02543354034423828, -0.0024696141481399536]], "cand_final_gripper_all": [1.0, 0.9998496770858765, 1.0, 0.9994716644287109, 0.9981324672698975, 0.9985198378562927, 0.9998732805252075, 0.9996154308319092, 0.9991583824157715, 0.9999680519104004, 0.998877763748169, 0.9994030594825745, 0.9991965293884277, 0.9994560480117798, 0.9994010329246521, 1.0, 0.9995824694633484, 0.9986497759819031, 1.0, 0.999077320098877, 0.9994729161262512, 0.9997230172157288, 0.9989519119262695, 0.9993788003921509, 1.0, 1.0, 0.9999461770057678, 1.0, 0.9992882013320923, 0.9989216327667236, 0.9999392032623291, 1.0], "eef_pos": [0.506505012512207, 0.1672326922416687, 0.27403590083122253], "cand_action_std": 0.23031216859817505, "cand_pairwise_centroid_dist_mean": 1.8610103130340576, "argmax_act_outlier": 2.098397970199585, "time_encode_ms": 5.689993966370821, "time_diffusion_ms": 36.25223902054131, "time_q_score_ms": 7.959204958751798, "time_total_ms": 50.643363036215305, "num_action_samples_effective": 32, "q_aggregate": "pair_min"}
+{"chunk_ordinal": 13, "q_min_best": 0.36286601424217224, "q_min_mean": 0.3035926818847656, "q_min_std": 0.03040163591504097, "q_min_median": 0.30762365460395813, "chosen_vs_median_q_gap": 0.05524235963821411, "q1_best": 0.471841961145401, "q2_best": 0.36286601424217224, "v_val": 0.8997138142585754, "advantage": -0.5368478000164032, "best_idx": 22, "q_min_all": [0.3116532862186432, 0.32355809211730957, 0.290000319480896, 0.32416191697120667, 0.2759210765361786, 0.2880209684371948, 0.2950020134449005, 0.31282415986061096, 0.3299945592880249, 0.2744504511356354, 0.2755894064903259, 0.298889696598053, 0.30762365460395813, 0.3371519446372986, 0.28505831956863403, 0.31343403458595276, 0.2958889901638031, 0.31863126158714294, 0.29630985856056213, 0.3278731107711792, 0.20850996673107147, 0.2909347414970398, 0.36286601424217224, 0.3504595160484314, 0.3077087104320526, 0.31039610505104065, 0.29138532280921936, 0.3158961832523346, 0.3267879784107208, 0.2528930604457855, 0.2679494321346283, 0.3471415936946869], "q1_all": [0.5164148807525635, 0.4923899173736572, 0.5549090504646301, 0.46504247188568115, 0.504023551940918, 0.5085681676864624, 0.4814797043800354, 0.5012402534484863, 0.5133079886436462, 0.42719048261642456, 0.4425135850906372, 0.5258300304412842, 0.5299479365348816, 0.5401713252067566, 0.44804811477661133, 0.5196084380149841, 0.5566752552986145, 0.477835476398468, 0.5266491174697876, 0.435729444026947, 0.3278670310974121, 0.5035458207130432, 0.471841961145401, 0.506867527961731, 0.5223910212516785, 0.48265770077705383, 0.42009568214416504, 0.5554962158203125, 0.5105254650115967, 0.46238720417022705, 0.5145219564437866, 0.5337903499603271], "q2_all": [0.3116532862186432, 0.32355809211730957, 0.290000319480896, 0.32416191697120667, 0.2759210765361786, 0.2880209684371948, 0.2950020134449005, 0.31282415986061096, 0.3299945592880249, 0.2744504511356354, 0.2755894064903259, 0.298889696598053, 0.30762365460395813, 0.3371519446372986, 0.28505831956863403, 0.31343403458595276, 0.2958889901638031, 0.31863126158714294, 0.29630985856056213, 0.3278731107711792, 0.20850996673107147, 0.2909347414970398, 0.36286601424217224, 0.3504595160484314, 0.3077087104320526, 0.31039610505104065, 0.29138532280921936, 0.3158961832523346, 0.3267879784107208, 0.2528930604457855, 0.2679494321346283, 0.3471415936946869], "cand_trans_speed_all": [0.012487564235925674, 0.010948175564408302, 0.012689413502812386, 0.010907217860221863, 0.011991395615041256, 0.011852076277136803, 0.011902621015906334, 0.013452038168907166, 0.012229805812239647, 0.011704778298735619, 0.012656114995479584, 0.01195939164608717, 0.011972447857260704, 0.012311568483710289, 0.011757820844650269, 0.011988721787929535, 0.012224629521369934, 0.011564626358449459, 0.012393184006214142, 0.01103955041617155, 0.01228395290672779, 0.011722587049007416, 0.010305766947567463, 0.011020489037036896, 0.011629769578576088, 0.012618659064173698, 0.011514909565448761, 0.012750419788062572, 0.011236652731895447, 0.011538717895746231, 0.011159088462591171, 0.012469718232750893], "cand_cum_xyz_disp_all": [[0.06424850225448608, -0.0264834463596344, -0.003988243639469147], [0.052455201745033264, -0.027886003255844116, -0.0003243684768676758], [0.05797697603702545, -0.03350013494491577, -0.00245831161737442], [0.05480903387069702, -0.023881226778030396, -0.0034302175045013428], [0.05621606111526489, -0.024211302399635315, -0.0031770169734954834], [0.053636759519577026, -0.03405719995498657, 0.0002941712737083435], [0.06012037396430969, -0.02468867599964142, 0.0006688833236694336], [0.06491294503211975, -0.031764015555381775, -0.003151334822177887], [0.05567289888858795, -0.03228278458118439, -0.0006166249513626099], [0.055307745933532715, -0.031783074140548706, -0.00424397736787796], [0.0619584321975708, -0.03590349853038788, -0.0057567209005355835], [0.05584271252155304, -0.03357262909412384, 0.00022721290588378906], [0.05491320788860321, -0.03152596950531006, -0.002350538969039917], [0.059651196002960205, -0.029698491096496582, 0.0006845444440841675], [0.06102019548416138, -0.028304874897003174, -0.005541026592254639], [0.05752062797546387, -0.028517067432403564, -0.0014219284057617188], [0.05705918371677399, -0.029815927147865295, -0.0005696266889572144], [0.057723596692085266, -0.02968403697013855, -0.001517273485660553], [0.05721504986286163, -0.03709656000137329, -0.000562809407711029], [0.05630192160606384, -0.03021623194217682, -0.0028779134154319763], [0.05184997618198395, -0.04206450283527374, -0.0026337802410125732], [0.056227341294288635, -0.027974292635917664, -0.00016400963068008423], [0.04714486002922058, -0.02383999526500702, 0.0019487366080284119], [0.037961870431900024, -0.009872347116470337, 0.0020374953746795654], [0.05623355507850647, -0.025010094046592712, -0.001375444233417511], [0.0613631010055542, -0.03094625473022461, -0.007022671401500702], [0.04856942594051361, -0.020180299878120422, -6.085634231567383e-05], [0.061209142208099365, -0.03383590281009674, -0.001040130853652954], [0.05354727804660797, -0.026041224598884583, 0.001421228051185608], [0.058009073138237, -0.027888134121894836, -0.0012993738055229187], [0.05416296422481537, -0.03239704668521881, -0.0005962997674942017], [0.06156584620475769, -0.02887532114982605, -0.005305245518684387]], "cand_final_gripper_all": [0.9992173910140991, 0.9993157386779785, 1.0, 0.9999382495880127, 1.0, 1.0, 0.9992978572845459, 1.0, 1.0, 0.9995205402374268, 0.9988764524459839, 1.0, 0.9997423887252808, 0.9994537830352783, 0.9996808767318726, 0.9999655485153198, 0.9988690614700317, 0.99932861328125, 0.9996820688247681, 0.9995536804199219, 1.0, 0.9986141920089722, 1.0, 0.9986042976379395, 0.9991526007652283, 0.9996534585952759, 1.0, 0.9998656511306763, 0.9983851909637451, 0.9992727041244507, 0.9996384382247925, 0.9987746477127075], "eef_pos": [0.481604665517807, 0.187442809343338, 0.261771023273468], "cand_action_std": 0.263537734746933, "cand_pairwise_centroid_dist_mean": 1.8577442169189453, "argmax_act_outlier": 2.469740629196167, "time_encode_ms": 5.700001958757639, "time_diffusion_ms": 36.27025196328759, "time_q_score_ms": 8.105617016553879, "time_total_ms": 50.78938393853605, "num_action_samples_effective": 32, "q_aggregate": "pair_min"}
+{"chunk_ordinal": 14, "q_min_best": 0.33125266432762146, "q_min_mean": 0.25423169136047363, "q_min_std": 0.03009897470474243, "q_min_median": 0.25081655383110046, "chosen_vs_median_q_gap": 0.080436110496521, "q1_best": 0.33125266432762146, "q2_best": 0.4937678873538971, "v_val": -0.00598195381462574, "advantage": 0.3372346181422472, "best_idx": 5, "q_min_all": [0.2592824101448059, 0.2312699854373932, 0.2371324598789215, 0.26624447107315063, 0.23487213253974915, 0.33125266432762146, 0.25772589445114136, 0.26695430278778076, 0.22484372556209564, 0.20778119564056396, 0.1917618215084076, 0.2557525932788849, 0.23969043791294098, 0.23519453406333923, 0.2388860136270523, 0.23159626126289368, 0.28909921646118164, 0.2367500364780426, 0.23322941362857819, 0.27215808629989624, 0.272402286529541, 0.28428250551223755, 0.2555391788482666, 0.3099645972251892, 0.2796088457107544, 0.271009624004364, 0.23666681349277496, 0.2776799201965332, 0.2259087860584259, 0.25081655383110046, 0.22688239812850952, 0.3031753897666931], "q1_all": [0.2592824101448059, 0.2312699854373932, 0.2371324598789215, 0.26624447107315063, 0.23487213253974915, 0.33125266432762146, 0.25772589445114136, 0.26695430278778076, 0.22484372556209564, 0.20778119564056396, 0.1917618215084076, 0.2557525932788849, 0.23969043791294098, 0.23519453406333923, 0.2388860136270523, 0.23159626126289368, 0.28909921646118164, 0.2367500364780426, 0.23322941362857819, 0.27215808629989624, 0.272402286529541, 0.28428250551223755, 0.2555391788482666, 0.3099645972251892, 0.2796088457107544, 0.271009624004364, 0.23666681349277496, 0.2776799201965332, 0.2259087860584259, 0.25081655383110046, 0.22688239812850952, 0.3031753897666931], "q2_all": [0.39335373044013977, 0.4388992190361023, 0.3338955342769623, 0.358748197555542, 0.38737770915031433, 0.4937678873538971, 0.42058709263801575, 0.3842530846595764, 0.3507629930973053, 0.36208441853523254, 0.265831857919693, 0.405813604593277, 0.32206991314888, 0.39844316244125366, 0.3718400001525879, 0.38840195536613464, 0.39223048090934753, 0.3310639560222626, 0.2857845723628998, 0.3685437738895416, 0.3671172857284546, 0.39471033215522766, 0.3885205090045929, 0.4433712661266327, 0.42414477467536926, 0.44086673855781555, 0.3134399950504303, 0.4165472090244293, 0.3542383015155792, 0.3460613787174225, 0.4102940261363983, 0.482320100069046], "cand_trans_speed_all": [0.011226280592381954, 0.011227317154407501, 0.010547012090682983, 0.01026177778840065, 0.011000050231814384, 0.012499100528657436, 0.011495038866996765, 0.012870716862380505, 0.010160809382796288, 0.011188777163624763, 0.010019594803452492, 0.010805530473589897, 0.011395037174224854, 0.010713858529925346, 0.011347860097885132, 0.011098900809884071, 0.011457624845206738, 0.010399839840829372, 0.011010873131453991, 0.010477205738425255, 0.010361510328948498, 0.010276710614562035, 0.011862188577651978, 0.011594101786613464, 0.010950974188745022, 0.01047825999557972, 0.010875938460230827, 0.011056861840188503, 0.010260023176670074, 0.011272626928985119, 0.0111128780990839, 0.012897998094558716], "cand_cum_xyz_disp_all": [[0.05138835310935974, -0.028567910194396973, -0.004998750984668732], [0.04891364276409149, -0.03821568191051483, -0.010345228016376495], [0.05097496509552002, -0.01995784044265747, -0.009361319243907928], [0.04932847619056702, -0.02707439661026001, -0.007629223167896271], [0.053497135639190674, -0.02534659206867218, -0.009522542357444763], [0.056272462010383606, -0.030392944812774658, -0.00679180771112442], [0.05078856647014618, -0.031781524419784546, -0.007891684770584106], [0.05505448579788208, -0.024975091218948364, -0.009005248546600342], [0.04394751787185669, -0.03138911724090576, -0.007970638573169708], [0.051156818866729736, -0.03144963085651398, -0.008864074945449829], [0.03641170263290405, -0.03087422251701355, -0.004979528486728668], [0.051667407155036926, -0.029295459389686584, -0.012863583862781525], [0.05592411756515503, -0.030284881591796875, -0.008291825652122498], [0.05095021426677704, -0.02803082764148712, -0.009948737919330597], [0.05326274037361145, -0.028697654604911804, -0.010494545102119446], [0.05071637034416199, -0.027923613786697388, -0.010492183268070221], [0.04941675066947937, -0.026159897446632385, -0.007367715239524841], [0.049054861068725586, -0.02965560555458069, -0.009764306247234344], [0.04499092698097229, -0.02623981237411499, -0.005249790847301483], [0.04935717582702637, -0.024535492062568665, -0.007825426757335663], [0.04624004662036896, -0.03422822058200836, -0.0107225701212883], [0.046940550208091736, -0.02684958279132843, -0.00975421816110611], [0.0529465526342392, -0.035045549273490906, -0.01095859706401825], [0.05324573814868927, -0.029545888304710388, -0.009257115423679352], [0.05100686848163605, -0.026910454034805298, -0.00978977233171463], [0.043150126934051514, -0.03186313807964325, -0.010078683495521545], [0.05005507171154022, -0.02852649986743927, -0.0063215866684913635], [0.05288408696651459, -0.029951274394989014, -0.010722674429416656], [0.04952910542488098, -0.027654975652694702, -0.010704964399337769], [0.054399341344833374, -0.033241137862205505, -0.00777202844619751], [0.044616058468818665, -0.02550816535949707, -0.008283451199531555], [0.05641445517539978, -0.0330064594745636, -0.006609566509723663]], "cand_final_gripper_all": [0.9997755289077759, 0.9997681379318237, 0.9995274543762207, 0.9993606209754944, 1.0, 0.999305009841919, 1.0, 0.9999184608459473, 0.9994140863418579, 0.9998676776885986, 1.0, 0.9996569156646729, 1.0, 0.9989277720451355, 1.0, 0.9989625215530396, 1.0, 0.9985760450363159, 1.0, 0.9994429349899292, 0.9997802972793579, 0.9998523592948914, 1.0, 0.9994218945503235, 1.0, 1.0, 0.9992051720619202, 0.9996939897537231, 0.9993956089019775, 0.9996390342712402, 1.0, 1.0], "eef_pos": [0.4518221318721771, 0.21320952475070953, 0.24629056453704834], "cand_action_std": 0.11495167016983032, "cand_pairwise_centroid_dist_mean": 0.948668360710144, "argmax_act_outlier": 1.4645055532455444, "time_encode_ms": 5.761537002399564, "time_diffusion_ms": 36.073935218155384, "time_q_score_ms": 8.169868029654026, "time_total_ms": 50.76091084629297, "num_action_samples_effective": 32, "q_aggregate": "pair_min"}
+{"chunk_ordinal": 15, "q_min_best": 0.6498987674713135, "q_min_mean": 0.5653582811355591, "q_min_std": 0.04346007481217384, "q_min_median": 0.5710430145263672, "chosen_vs_median_q_gap": 0.07885575294494629, "q1_best": 0.7937148213386536, "q2_best": 0.6498987674713135, "v_val": 0.9791914820671082, "advantage": -0.3292927145957947, "best_idx": 26, "q_min_all": [0.5941473245620728, 0.5528126955032349, 0.6341298818588257, 0.5777546167373657, 0.590817928314209, 0.5741497874259949, 0.4766938388347626, 0.5410687923431396, 0.5753536224365234, 0.5919753909111023, 0.4957955777645111, 0.5946272611618042, 0.5561530590057373, 0.5012983083724976, 0.47664278745651245, 0.5686494708061218, 0.6070045828819275, 0.598493218421936, 0.5781958699226379, 0.5441177487373352, 0.5636621713638306, 0.5958684086799622, 0.48733386397361755, 0.5273938179016113, 0.5295403599739075, 0.5996686816215515, 0.6498987674713135, 0.5602118968963623, 0.5654370784759521, 0.6124716401100159, 0.5990524291992188, 0.5710430145263672], "q1_all": [0.7147473096847534, 0.6326454877853394, 0.7117685675621033, 0.6703077554702759, 0.6566349864006042, 0.6718921661376953, 0.6311214566230774, 0.6356690526008606, 0.683639645576477, 0.7131205201148987, 0.5066670179367065, 0.7451920509338379, 0.7211905717849731, 0.6138684749603271, 0.5624693632125854, 0.7147513628005981, 0.6727622747421265, 0.715646505355835, 0.6900945901870728, 0.6072931885719299, 0.7631841897964478, 0.7048724889755249, 0.6031221151351929, 0.7233256101608276, 0.7011623382568359, 0.6800063252449036, 0.7937148213386536, 0.6378519535064697, 0.6408621072769165, 0.7457813024520874, 0.6313487887382507, 0.7217544913291931], "q2_all": [0.5941473245620728, 0.5528126955032349, 0.6341298818588257, 0.5777546167373657, 0.590817928314209, 0.5741497874259949, 0.4766938388347626, 0.5410687923431396, 0.5753536224365234, 0.5919753909111023, 0.4957955777645111, 0.5946272611618042, 0.5561530590057373, 0.5012983083724976, 0.47664278745651245, 0.5686494708061218, 0.6070045828819275, 0.598493218421936, 0.5781958699226379, 0.5441177487373352, 0.5636621713638306, 0.5958684086799622, 0.48733386397361755, 0.5273938179016113, 0.5295403599739075, 0.5996686816215515, 0.6498987674713135, 0.5602118968963623, 0.5654370784759521, 0.6124716401100159, 0.5990524291992188, 0.5710430145263672], "cand_trans_speed_all": [0.008677774108946323, 0.009114265441894531, 0.009408027864992619, 0.00910336896777153, 0.00911895651370287, 0.009044484235346317, 0.00850297138094902, 0.008575422689318657, 0.009656576439738274, 0.009537927806377411, 0.008763221092522144, 0.00880864541977644, 0.009190171957015991, 0.007960868999361992, 0.00868530385196209, 0.009442174807190895, 0.010498575866222382, 0.010301790200173855, 0.008567376993596554, 0.00945636909455061, 0.009344260208308697, 0.008553448133170605, 0.009113575331866741, 0.00915750302374363, 0.008814485743641853, 0.010753023438155651, 0.009460349567234516, 0.010106300935149193, 0.009548082947731018, 0.010155852884054184, 0.00949791818857193, 0.00918048620223999], "cand_cum_xyz_disp_all": [[0.04449927806854248, -0.01441885530948639, -0.014156311750411987], [0.04374261200428009, -0.017227724194526672, -0.010731831192970276], [0.046763479709625244, -0.012400537729263306, -0.006694130599498749], [0.04749882221221924, -0.018183737993240356, -0.009921558201313019], [0.04379624128341675, -0.010693579912185669, -0.01029738038778305], [0.04656285047531128, -0.012540221214294434, -0.01228678971529007], [0.04100942611694336, -0.011718407273292542, -0.008934758603572845], [0.04372836649417877, -0.01385393738746643, -0.01146458089351654], [0.04183976352214813, -0.00963360071182251, -0.012381769716739655], [0.046421587467193604, -0.010361716151237488, -0.011367954313755035], [0.039730727672576904, -0.01718677580356598, -0.00851307064294815], [0.04460577666759491, -0.01282571256160736, -0.011154375970363617], [0.04670502245426178, -0.01175476610660553, -0.013392604887485504], [0.03946918249130249, -0.015771105885505676, -0.008812680840492249], [0.038296446204185486, -0.014409556984901428, -0.011501334607601166], [0.04842519760131836, -0.00965435802936554, -0.01339973509311676], [0.04677954316139221, -0.006111621856689453, -0.0115579292178154], [0.05007016658782959, -0.017034858465194702, -0.009027935564517975], [0.04162581264972687, -0.012485191226005554, -0.012619651854038239], [0.049776121973991394, -0.01882140338420868, -0.01130664348602295], [0.045845091342926025, -0.009796097874641418, -0.010656334459781647], [0.04246756434440613, -0.013154163956642151, -0.011204920709133148], [0.04520043730735779, -0.016430169343948364, -0.013574227690696716], [0.04691892862319946, -0.01711362600326538, -0.010851860046386719], [0.04226893186569214, -0.01902744174003601, -0.008560806512832642], [0.049605101346969604, -0.013098612427711487, -0.007257148623466492], [0.04480607807636261, -0.009592175483703613, -0.010455109179019928], [0.04793989658355713, -0.01336205005645752, -0.007158257067203522], [0.04793687164783478, -0.015458226203918457, -0.013292163610458374], [0.04877786338329315, -0.011022374033927917, -0.010252825915813446], [0.04354323446750641, -0.009451165795326233, -0.023226171731948853], [0.04457847774028778, -0.008404716849327087, -0.009360767900943756]], "cand_final_gripper_all": [0.9993160963058472, 1.0, 1.0, 0.9993965029716492, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 0.9994467496871948, 1.0, 1.0, 1.0, 0.9999123811721802, 0.999755322933197, 0.9998277425765991, 0.999457597732544, 1.0, 1.0, 1.0, 1.0, 0.9998689889907837, 1.0, 1.0, 0.9997804164886475, 0.9997097253799438, 0.9983875155448914, 0.9991270303726196, 1.0], "eef_pos": [0.41137638688087463, 0.236461341381073, 0.2368282526731491], "cand_action_std": 0.14566248655319214, "cand_pairwise_centroid_dist_mean": 1.1507220268249512, "argmax_act_outlier": 0.9019684791564941, "time_encode_ms": 5.6658179964870214, "time_diffusion_ms": 36.22420411556959, "time_q_score_ms": 7.452887017279863, "time_total_ms": 50.128918839618564, "num_action_samples_effective": 32, "q_aggregate": "pair_min"}
+{"chunk_ordinal": 16, "q_min_best": 0.8054550886154175, "q_min_mean": 0.7688610553741455, "q_min_std": 0.020686984062194824, "q_min_median": 0.762069821357727, "chosen_vs_median_q_gap": 0.04338526725769043, "q1_best": 0.8229756355285645, "q2_best": 0.8054550886154175, "v_val": 1.1970946788787842, "advantage": -0.3916395902633667, "best_idx": 4, "q_min_all": [0.7412739992141724, 0.7600255608558655, 0.7623107433319092, 0.7974605560302734, 0.8054550886154175, 0.7620354294776917, 0.7695911526679993, 0.7471243739128113, 0.7704896926879883, 0.7474837303161621, 0.7415428161621094, 0.7600646018981934, 0.7868337035179138, 0.7371149063110352, 0.7263007760047913, 0.7571653723716736, 0.7910947799682617, 0.762069821357727, 0.8050664067268372, 0.7923375368118286, 0.7836247086524963, 0.7609175443649292, 0.7783176302909851, 0.7628777027130127, 0.7809907793998718, 0.7914364337921143, 0.7614575624465942, 0.8015730381011963, 0.7595752477645874, 0.7580373287200928, 0.7840473055839539, 0.7578561305999756], "q1_all": [0.8293222188949585, 0.8495154976844788, 0.8251577019691467, 0.8379420042037964, 0.8229756355285645, 0.8292281031608582, 0.8454042077064514, 0.8153710961341858, 0.8119149804115295, 0.8090189695358276, 0.80522221326828, 0.8163343667984009, 0.861248791217804, 0.7975602149963379, 0.7804474830627441, 0.802693247795105, 0.8519483804702759, 0.8261221647262573, 0.8386937975883484, 0.8166916966438293, 0.8288697004318237, 0.7945864200592041, 0.8042140603065491, 0.787247359752655, 0.8545569181442261, 0.8370020389556885, 0.7904649972915649, 0.8351960182189941, 0.8494778275489807, 0.8315553665161133, 0.8618456721305847, 0.8014761209487915], "q2_all": [0.7412739992141724, 0.7600255608558655, 0.7623107433319092, 0.7974605560302734, 0.8054550886154175, 0.7620354294776917, 0.7695911526679993, 0.7471243739128113, 0.7704896926879883, 0.7474837303161621, 0.7415428161621094, 0.7600646018981934, 0.7868337035179138, 0.7371149063110352, 0.7263007760047913, 0.7571653723716736, 0.7910947799682617, 0.762069821357727, 0.8050664067268372, 0.7923375368118286, 0.7836247086524963, 0.7609175443649292, 0.7783176302909851, 0.7628777027130127, 0.7809907793998718, 0.7914364337921143, 0.7614575624465942, 0.8015730381011963, 0.7595752477645874, 0.7580373287200928, 0.7840473055839539, 0.7578561305999756], "cand_trans_speed_all": [0.008619541302323341, 0.009472847916185856, 0.008648226968944073, 0.008624369278550148, 0.009496393613517284, 0.009645212441682816, 0.009349009953439236, 0.009064802899956703, 0.010268396697938442, 0.008887384086847305, 0.008624587208032608, 0.008665632456541061, 0.00938485749065876, 0.009513607248663902, 0.009209024719893932, 0.00871189683675766, 0.009895083494484425, 0.008981911465525627, 0.010564163327217102, 0.009777398779988289, 0.009109346196055412, 0.009044766426086426, 0.009841306135058403, 0.009581491351127625, 0.00923081673681736, 0.008315809071063995, 0.008953874930739403, 0.00914059579372406, 0.009338603354990482, 0.009349117055535316, 0.009482813999056816, 0.009148525074124336], "cand_cum_xyz_disp_all": [[0.03906698524951935, 0.005867019295692444, -0.030152209103107452], [0.03976023197174072, 0.0050843507051467896, -0.024610936641693115], [0.037424683570861816, 0.0020457953214645386, -0.026881583034992218], [0.036747679114341736, 0.004548996686935425, -0.026351459324359894], [0.0372503399848938, -0.0013113617897033691, -0.029397301375865936], [0.040800005197525024, 0.004899501800537109, -0.026896163821220398], [0.03894589841365814, 0.008988037705421448, -0.029897548258304596], [0.03927329182624817, -0.001962900161743164, -0.02963770180940628], [0.04036988317966461, 0.004138633608818054, -0.02772599458694458], [0.039937928318977356, 0.007206350564956665, -0.024824947118759155], [0.040241390466690063, 0.0037902146577835083, -0.023642398416996002], [0.036122292280197144, 0.006049051880836487, -0.028671376407146454], [0.03648903965950012, 0.004254534840583801, -0.02812179923057556], [0.04112391173839569, 0.0015110969543457031, -0.020488254725933075], [0.03851386904716492, 0.0023944079875946045, -0.02439872920513153], [0.03411145508289337, 0.005847945809364319, -0.027433015406131744], [0.04271842539310455, 0.00735868513584137, -0.025630362331867218], [0.033381327986717224, 0.004846394062042236, -0.02394905686378479], [0.039129480719566345, 0.008868426084518433, -0.023142710328102112], [0.03616930544376373, 0.008581385016441345, -0.025589898228645325], [0.03563454747200012, 0.008964106440544128, -0.02740480750799179], [0.031318485736846924, -0.001299247145652771, -0.03001745045185089], [0.041446685791015625, 0.005567222833633423, -0.026548169553279877], [0.03924654424190521, 0.0002772808074951172, -0.026426583528518677], [0.035132214426994324, 0.006340816617012024, -0.03151940554380417], [0.03254014253616333, 0.005506604909896851, -0.026917867362499237], [0.03439109027385712, 0.002712070941925049, -0.02885119616985321], [0.03678472340106964, 0.0016244202852249146, -0.027873247861862183], [0.041472092270851135, 0.006337553262710571, -0.024437449872493744], [0.04053719341754913, 0.007683888077735901, -0.027660474181175232], [0.03481212258338928, 0.005475044250488281, -0.029614195227622986], [0.037009090185165405, 0.0034755468368530273, -0.02800377458333969]], "cand_final_gripper_all": [0.999931812286377, 1.0, 0.9992547035217285, 1.0, 0.9999175667762756, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 0.9991270303726196, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 0.999632716178894, 0.999826967716217, 1.0, 1.0, 1.0, 1.0, 0.999640703201294, 0.9998581409454346, 0.9994019269943237, 1.0, 0.9997868537902832], "eef_pos": [0.38543185591697693, 0.259092777967453, 0.23119819164276123], "cand_action_std": 0.129780575633049, "cand_pairwise_centroid_dist_mean": 1.1051177978515625, "argmax_act_outlier": 1.1728270053863525, "time_encode_ms": 6.014338927343488, "time_diffusion_ms": 36.227349890396, "time_q_score_ms": 8.370252093300223, "time_total_ms": 51.37745104730129, "num_action_samples_effective": 32, "q_aggregate": "pair_min"}
+{"chunk_ordinal": 17, "q_min_best": 0.7512928247451782, "q_min_mean": 0.6663533449172974, "q_min_std": 0.060937680304050446, "q_min_median": 0.6758028268814087, "chosen_vs_median_q_gap": 0.07548999786376953, "q1_best": 0.8688793182373047, "q2_best": 0.7512928247451782, "v_val": 0.004786788485944271, "advantage": 0.746506036259234, "best_idx": 18, "q_min_all": [0.5803757309913635, 0.7136712074279785, 0.6904548406600952, 0.7271773815155029, 0.7450276613235474, 0.7161992788314819, 0.651314377784729, 0.7002558708190918, 0.6616708040237427, 0.6759582757949829, 0.6620241403579712, 0.6843035221099854, 0.7231073379516602, 0.5032292008399963, 0.663857102394104, 0.6758028268814087, 0.5560356974601746, 0.6058658361434937, 0.7512928247451782, 0.6621978878974915, 0.7318118810653687, 0.7072179317474365, 0.7159742116928101, 0.6716946959495544, 0.6519653797149658, 0.6825836300849915, 0.5039445161819458, 0.6242461204528809, 0.651822566986084, 0.6838505268096924, 0.6759966611862183, 0.6723774671554565], "q1_all": [0.8255218863487244, 0.8395837545394897, 0.8494784832000732, 0.8665812015533447, 0.8653439879417419, 0.8646903038024902, 0.8501373529434204, 0.856264054775238, 0.8490506410598755, 0.8486216068267822, 0.8562310934066772, 0.8493857979774475, 0.8524484634399414, 0.8199117183685303, 0.8468501567840576, 0.8288527131080627, 0.8395535349845886, 0.8129419088363647, 0.8688793182373047, 0.8302189707756042, 0.8684269189834595, 0.8731932044029236, 0.8490553498268127, 0.8344012498855591, 0.8559449911117554, 0.8425877690315247, 0.8036948442459106, 0.8326433897018433, 0.8500200510025024, 0.8528475761413574, 0.844387948513031, 0.8453429937362671], "q2_all": [0.5803757309913635, 0.7136712074279785, 0.6904548406600952, 0.7271773815155029, 0.7450276613235474, 0.7161992788314819, 0.651314377784729, 0.7002558708190918, 0.6616708040237427, 0.6759582757949829, 0.6620241403579712, 0.6843035221099854, 0.7231073379516602, 0.5032292008399963, 0.663857102394104, 0.6758028268814087, 0.5560356974601746, 0.6058658361434937, 0.7512928247451782, 0.6621978878974915, 0.7318118810653687, 0.7072179317474365, 0.7159742116928101, 0.6716946959495544, 0.6519653797149658, 0.6825836300849915, 0.5039445161819458, 0.6242461204528809, 0.651822566986084, 0.6838505268096924, 0.6759966611862183, 0.6723774671554565], "cand_trans_speed_all": [0.008383414708077908, 0.009315002709627151, 0.009012673981487751, 0.00955807976424694, 0.011098431423306465, 0.00959007441997528, 0.010573601350188255, 0.008812949992716312, 0.008138078264892101, 0.009062114171683788, 0.008204473182559013, 0.009735096246004105, 0.009488705545663834, 0.007238123565912247, 0.008493385277688503, 0.008966010995209217, 0.007746881805360317, 0.008153216913342476, 0.009792743250727654, 0.00804832112044096, 0.010070283897221088, 0.010374385863542557, 0.0101346205919981, 0.008363294415175915, 0.008376777172088623, 0.009145303629338741, 0.008095147088170052, 0.009252941235899925, 0.008674959652125835, 0.008893582969903946, 0.009058348834514618, 0.009248455986380577], "cand_cum_xyz_disp_all": [[0.03949613869190216, -0.02047426998615265, -0.012869909405708313], [0.0401744544506073, -0.020155921578407288, -0.01631607860326767], [0.04137371480464935, -0.019595429301261902, -0.013700522482395172], [0.041501134634017944, -0.01546342670917511, -0.013992488384246826], [0.047080039978027344, -0.012392893433570862, -0.013141833245754242], [0.036618173122406006, -0.013621389865875244, -0.015329733490943909], [0.04207824170589447, -0.01575164496898651, -0.0146583691239357], [0.039260134100914, -0.017156749963760376, -0.012588545680046082], [0.0374729186296463, -0.01483529806137085, -0.013869963586330414], [0.03927794098854065, -0.021718278527259827, -0.014928743243217468], [0.03561663627624512, -0.023138046264648438, -0.01479850709438324], [0.036233797669410706, -0.014560624957084656, -0.012434504926204681], [0.04079170525074005, -0.017316848039627075, -0.014496102929115295], [0.032569751143455505, -0.014988094568252563, -0.013359084725379944], [0.036811038851737976, -0.022924646735191345, -0.012885473668575287], [0.031638532876968384, -0.02305905520915985, -0.011841580271720886], [0.03608168661594391, -0.014238804578781128, -0.011501871049404144], [0.03840175271034241, -0.01504090428352356, -0.011427916586399078], [0.04007144272327423, -0.017625704407691956, -0.01606212556362152], [0.03575539588928223, -0.022281914949417114, -0.01730015128850937], [0.03407678008079529, -0.017500266432762146, -0.011135011911392212], [0.042196065187454224, -0.015014559030532837, -0.012949645519256592], [0.044603824615478516, -0.02124781906604767, -0.018860921263694763], [0.035468146204948425, -0.016727566719055176, -0.01326356828212738], [0.03770682215690613, -0.016070812940597534, -0.014206349849700928], [0.03794325888156891, -0.020067736506462097, -0.016185574233531952], [0.03551630675792694, -0.01323409378528595, -0.010465458035469055], [0.030942976474761963, -0.016778990626335144, -0.013438761234283447], [0.032245174050331116, -0.021456032991409302, -0.008933961391448975], [0.04010997712612152, -0.019635632634162903, -0.015285342931747437], [0.04111146926879883, -0.01093435287475586, -0.014478124678134918], [0.03818260133266449, -0.011267930269241333, -0.012584082782268524]], "cand_final_gripper_all": [0.9997225999832153, 0.9995089173316956, 0.9988518357276917, 0.9989681243896484, 0.999847412109375, 0.9997336864471436, 1.0, 0.9993828535079956, 1.0, 1.0, 1.0, 0.9997906684875488, 0.9988647699356079, 0.9996904134750366, 0.9996072053909302, 0.9994074106216431, 1.0, 1.0, 0.999132513999939, 0.9996026754379272, 0.9991562962532043, 1.0, 1.0, 1.0, 0.9990171194076538, 0.9995630979537964, 0.9989396929740906, 1.0, 1.0, 1.0, 0.9978938102722168, 0.9999450445175171], "eef_pos": [0.3659345805644989, 0.28555479645729065, 0.23863568902015686], "cand_action_std": 0.0963309183716774, "cand_pairwise_centroid_dist_mean": 0.8354654312133789, "argmax_act_outlier": 1.1981053352355957, "time_encode_ms": 5.2555210422724485, "time_diffusion_ms": 35.860695177689195, "time_q_score_ms": 7.925231009721756, "time_total_ms": 49.760970985516906, "num_action_samples_effective": 32, "q_aggregate": "pair_min"}