diff --git "a/chunk_info/round_0019_M.jsonl" "b/chunk_info/round_0019_M.jsonl"
new file mode 100644--- /dev/null
+++ "b/chunk_info/round_0019_M.jsonl"
@@ -0,0 +1,84 @@
+{"round_num": 19, "anonymous_label": "M", "outcome": "timeout", "num_steps": 496, "num_chunks": 83}
+{"chunk_ordinal": 0, "q_min_best": 0.6105697154998779, "q_min_mean": 0.5188521146774292, "q_min_std": 0.06400306522846222, "q_min_median": 0.5335396528244019, "chosen_vs_median_q_gap": 0.07703006267547607, "q1_best": 0.7069486379623413, "q2_best": 0.6105697154998779, "v_val": 0.5348809361457825, "advantage": 0.07568877935409546, "best_idx": 1, "q_min_all": [0.5393245220184326, 0.6105697154998779, 0.27023348212242126, 0.5211013555526733, 0.47847095131874084, 0.5356584191322327, 0.586506187915802, 0.4984525144100189, 0.5316097140312195, 0.46238043904304504, 0.5722643136978149, 0.536020040512085, 0.5087051391601562, 0.5335396528244019, 0.4938317835330963, 0.5513594150543213, 0.5462968945503235, 0.48405104875564575, 0.5309996008872986, 0.5756101012229919, 0.5401761531829834, 0.5609793066978455, 0.5398418307304382, 0.3603915572166443, 0.5057739019393921, 0.5005286335945129, 0.5816453099250793, 0.4886091649532318, 0.5337733030319214, 0.5626905560493469, 0.5278160572052002, 0.5340569019317627], "q1_all": [0.6985310912132263, 0.7069486379623413, 0.27023348212242126, 0.7077049612998962, 0.6011597514152527, 0.7105416655540466, 0.6917823553085327, 0.6773805618286133, 0.6928978562355042, 0.6395787000656128, 0.7299448251724243, 0.7072478532791138, 0.7051439881324768, 0.6943416595458984, 0.6850987672805786, 0.6698974967002869, 0.7137455344200134, 0.6703307628631592, 0.6224385499954224, 0.7082664966583252, 0.7179133892059326, 0.6841424703598022, 0.7108553051948547, 0.3832109868526459, 0.6841679811477661, 0.6833344101905823, 0.6800999641418457, 0.6799054741859436, 0.6932740211486816, 0.6429523229598999, 0.682140588760376, 0.682229220867157], "q2_all": [0.5393245220184326, 0.6105697154998779, 0.2835576832294464, 0.5211013555526733, 0.47847095131874084, 0.5356584191322327, 0.586506187915802, 0.4984525144100189, 0.5316097140312195, 0.46238043904304504, 0.5722643136978149, 0.536020040512085, 0.5087051391601562, 0.5335396528244019, 0.4938317835330963, 0.5513594150543213, 0.5462968945503235, 0.48405104875564575, 0.5309996008872986, 0.5756101012229919, 0.5401761531829834, 0.5609793066978455, 0.5398418307304382, 0.3603915572166443, 0.5057739019393921, 0.5005286335945129, 0.5816453099250793, 0.4886091649532318, 0.5337733030319214, 0.5626905560493469, 0.5278160572052002, 0.5340569019317627], "cand_trans_speed_all": [0.023685788735747337, 0.026501230895519257, 0.00987333059310913, 0.023205231875181198, 0.020276984199881554, 0.02300659567117691, 0.02111213468015194, 0.022709360346198082, 0.021010935306549072, 0.02322051301598549, 0.024236207827925682, 0.02374725602567196, 0.023302488029003143, 0.022078529000282288, 0.022267814725637436, 0.024251161143183708, 0.022756293416023254, 0.021958565339446068, 0.019676022231578827, 0.02157619595527649, 0.02314191870391369, 0.021271169185638428, 0.022683948278427124, 0.015261813998222351, 0.022955646738409996, 0.023847689852118492, 0.021887950599193573, 0.023066144436597824, 0.023491036146879196, 0.01984701119363308, 0.023076578974723816, 0.023013226687908173], "cand_cum_xyz_disp_all": [[0.13055479526519775, -0.017435222864151, 0.04860258847475052], [0.14015400409698486, -0.00610293447971344, 0.0663110688328743], [0.0524115115404129, -0.0031048953533172607, 0.013991229236125946], [0.12677037715911865, -0.017110511660575867, 0.051229096949100494], [0.11230838298797607, -0.010569646954536438, 0.03656367212533951], [0.12503570318222046, -0.020967453718185425, 0.051358871161937714], [0.11755558848381042, -0.012527510523796082, 0.04212828725576401], [0.12578919529914856, -0.016808152198791504, 0.04682948440313339], [0.1154119074344635, -0.012591511011123657, 0.0455884113907814], [0.12744122743606567, -0.02039220929145813, 0.04686429351568222], [0.1348339021205902, -0.010411664843559265, 0.05183566361665726], [0.13013076782226562, -0.016646042466163635, 0.05406751483678818], [0.12833932042121887, -0.015360608696937561, 0.049719326198101044], [0.12083986401557922, -0.01631598174571991, 0.04860534518957138], [0.12490743398666382, -0.01661469042301178, 0.04210241883993149], [0.13110023736953735, -0.018227294087409973, 0.054306454956531525], [0.12618017196655273, -0.012110039591789246, 0.048177070915699005], [0.12045061588287354, -0.021401524543762207, 0.04538283497095108], [0.1075887382030487, -0.006840184330940247, 0.04150184243917465], [0.11960560083389282, -0.014454931020736694, 0.04439283162355423], [0.12662404775619507, -0.01092018187046051, 0.05389254540205002], [0.11836481094360352, -0.016602560877799988, 0.04277794808149338], [0.12004333734512329, -0.02049778401851654, 0.0542660728096962], [0.08454585075378418, -0.010021016001701355, 0.026325903832912445], [0.12660285830497742, -0.015652626752853394, 0.04890475422143936], [0.13093966245651245, -0.013015687465667725, 0.05169334262609482], [0.12034028768539429, -0.015096873044967651, 0.04464075714349747], [0.12698164582252502, -0.01791892945766449, 0.05090228468179703], [0.1307375133037567, -0.017833858728408813, 0.04766475409269333], [0.11021670699119568, -0.011588871479034424, 0.037436343729496], [0.12415969371795654, -0.014539659023284912, 0.05511719733476639], [0.12938615679740906, -0.012369632720947266, 0.04514449089765549]], "cand_final_gripper_all": [0.0009298622608184814, 0.0013063549995422363, 0.0, 0.001317143440246582, 0.0002542734146118164, 0.0014303624629974365, 0.0016700029373168945, 0.0018211603164672852, 0.00048476457595825195, 0.0003489851951599121, 0.0009594559669494629, 0.0029748380184173584, 0.001042097806930542, 0.0049058496952056885, 0.0013373792171478271, 0.0012460947036743164, 0.0010047852993011475, 0.004790067672729492, 0.0023327767848968506, 0.0, 0.0, 0.0014334917068481445, 0.0, 0.0, 0.0022711753845214844, 0.0021356046199798584, 0.0033545196056365967, 0.0006648600101470947, 0.0, 0.0, 0.0, 0.0019304156303405762], "eef_pos": [0.36664485931396484, -0.004336514975875616, 0.4764721989631653], "cand_action_std": 0.3129252791404724, "cand_pairwise_centroid_dist_mean": 2.2240943908691406, "argmax_act_outlier": 1.8971751928329468, "time_encode_ms": 6.829981924965978, "time_diffusion_ms": 39.74291612394154, "time_q_score_ms": 16.626833006739616, "time_total_ms": 64.65721200220287, "num_action_samples_effective": 32, "q_aggregate": "pair_min"}
+{"chunk_ordinal": 1, "q_min_best": 0.7536357641220093, "q_min_mean": 0.7207351326942444, "q_min_std": 0.017314080148935318, "q_min_median": 0.7189504504203796, "chosen_vs_median_q_gap": 0.03468531370162964, "q1_best": 0.7536357641220093, "q2_best": 0.7771580219268799, "v_val": 0.5882754921913147, "advantage": 0.16536027193069458, "best_idx": 12, "q_min_all": [0.7357772588729858, 0.7114055156707764, 0.7210139632225037, 0.7149404883384705, 0.7334245443344116, 0.6904050707817078, 0.7447911500930786, 0.7360343933105469, 0.7104418277740479, 0.7346416711807251, 0.7122915983200073, 0.717494010925293, 0.7536357641220093, 0.7105318903923035, 0.7120984792709351, 0.7350722551345825, 0.6898955702781677, 0.6959882378578186, 0.7450798749923706, 0.6922644376754761, 0.7319744229316711, 0.7189504504203796, 0.6989284753799438, 0.7087732553482056, 0.7309670448303223, 0.7317103147506714, 0.7144597768783569, 0.7383095026016235, 0.6977414488792419, 0.7294946312904358, 0.7283487319946289, 0.7366393804550171], "q1_all": [0.7357772588729858, 0.7114055156707764, 0.7210139632225037, 0.7149404883384705, 0.7334245443344116, 0.6904050707817078, 0.7447911500930786, 0.7360343933105469, 0.7104418277740479, 0.7346416711807251, 0.7122915983200073, 0.717494010925293, 0.7536357641220093, 0.7105318903923035, 0.7120984792709351, 0.7350722551345825, 0.6898955702781677, 0.6959882378578186, 0.7450798749923706, 0.6922644376754761, 0.7319744229316711, 0.7189504504203796, 0.6989284753799438, 0.7087732553482056, 0.7309670448303223, 0.7317103147506714, 0.7144597768783569, 0.7383095026016235, 0.6977414488792419, 0.7294946312904358, 0.7283487319946289, 0.7366393804550171], "q2_all": [0.7828308343887329, 0.7621561288833618, 0.7814842462539673, 0.8155587911605835, 0.7741432785987854, 0.8004863262176514, 0.7547672986984253, 0.7656206488609314, 0.8101705312728882, 0.7929627895355225, 0.7941747307777405, 0.799280047416687, 0.7771580219268799, 0.8165611028671265, 0.7909141778945923, 0.7835739254951477, 0.8165515065193176, 0.7927247881889343, 0.7657827138900757, 0.816606879234314, 0.8008139729499817, 0.7997444272041321, 0.8125098347663879, 0.8067438006401062, 0.786613404750824, 0.7942345142364502, 0.7992640137672424, 0.7950961589813232, 0.7874097228050232, 0.783078134059906, 0.8042302131652832, 0.8005297183990479], "cand_trans_speed_all": [0.022975172847509384, 0.023948250338435173, 0.024694805964827538, 0.02230769768357277, 0.02291494980454445, 0.024041976779699326, 0.023914968594908714, 0.023757707327604294, 0.022767281159758568, 0.023224040865898132, 0.022672343999147415, 0.023434139788150787, 0.0246879905462265, 0.023357324302196503, 0.024145957082509995, 0.024393346160650253, 0.022868551313877106, 0.02401781640946865, 0.023522328585386276, 0.023556295782327652, 0.02327628992497921, 0.022857820615172386, 0.023255877196788788, 0.02309347689151764, 0.023800987750291824, 0.022965235635638237, 0.021761208772659302, 0.02411530911922455, 0.023751160129904747, 0.022712208330631256, 0.023038385435938835, 0.02227235957980156], "cand_cum_xyz_disp_all": [[0.11865735054016113, 0.013024970889091492, 0.06575136631727219], [0.12092944979667664, 0.015991926193237305, 0.07289139181375504], [0.12547007203102112, 0.02036234736442566, 0.07356307655572891], [0.11180409789085388, 0.012449398636817932, 0.0675957128405571], [0.11674052476882935, 0.009472385048866272, 0.06779219955205917], [0.12356093525886536, 0.01809448003768921, 0.07052630931138992], [0.12014719843864441, 0.017807558178901672, 0.07250890880823135], [0.12075799703598022, 0.01460447907447815, 0.071381114423275], [0.11399427056312561, 0.014616280794143677, 0.06874016672372818], [0.11904552578926086, 0.010402888059616089, 0.06758160144090652], [0.1146135926246643, 0.01393437385559082, 0.06875314563512802], [0.1205243170261383, 0.014270022511482239, 0.0674935057759285], [0.12721258401870728, 0.013177812099456787, 0.0712008997797966], [0.11938995122909546, 0.01660025119781494, 0.06767307966947556], [0.12151771783828735, 0.01492774486541748, 0.07457543164491653], [0.1266058087348938, 0.014126837253570557, 0.0691305473446846], [0.1133628785610199, 0.013997122645378113, 0.07086200267076492], [0.12341311573982239, 0.013341978192329407, 0.06868048757314682], [0.12099936604499817, 0.011101514101028442, 0.0686480775475502], [0.11647558212280273, 0.014336898922920227, 0.07365361601114273], [0.11835968494415283, 0.011712044477462769, 0.06869932264089584], [0.11898794770240784, 0.010784313082695007, 0.06385207921266556], [0.11872777342796326, 0.017385289072990417, 0.06787123531103134], [0.11691164970397949, 0.015121489763259888, 0.07033994048833847], [0.12136667966842651, 0.015239119529724121, 0.06954414397478104], [0.11651831865310669, 0.01111552119255066, 0.06736267358064651], [0.10954970121383667, 0.008423030376434326, 0.06581605225801468], [0.1256040632724762, 0.014217182993888855, 0.06675026565790176], [0.11729845404624939, 0.017063528299331665, 0.07407134026288986], [0.11498105525970459, 0.010667011141777039, 0.06803006678819656], [0.11540254950523376, 0.0099143385887146, 0.0695723369717598], [0.11452314257621765, 0.010040074586868286, 0.063152976334095]], "cand_final_gripper_all": [0.00015938282012939453, 0.001839756965637207, 0.001652747392654419, 0.0019704699516296387, 0.0028163790702819824, 0.0019908249378204346, 0.0022067129611968994, 0.0020941495895385742, 0.0011808574199676514, 0.0015319585800170898, 0.001973778009414673, 7.835030555725098e-05, 0.002065896987915039, 0.0027327239513397217, 0.0007298588752746582, 0.0020051896572113037, 0.0027397871017456055, 0.0013264119625091553, 0.001184225082397461, 0.0034827888011932373, 0.0011022984981536865, 0.002261430025100708, 0.001538097858428955, 0.001456916332244873, 0.0021156668663024902, 0.003053039312362671, 0.001327216625213623, 0.000974118709564209, 0.0038857758045196533, 0.0010288655757904053, 0.0015146136283874512, 0.002101331949234009], "eef_pos": [0.4280569851398468, 0.011192955076694489, 0.43820884823799133], "cand_action_std": 0.12129701673984528, "cand_pairwise_centroid_dist_mean": 0.9756816625595093, "argmax_act_outlier": 1.786203384399414, "time_encode_ms": 11.845398927107453, "time_diffusion_ms": 37.69399784505367, "time_q_score_ms": 11.42877689562738, "time_total_ms": 62.4058679677546, "num_action_samples_effective": 32, "q_aggregate": "pair_min"}
+{"chunk_ordinal": 2, "q_min_best": 0.6276399493217468, "q_min_mean": 0.5483645796775818, "q_min_std": 0.022944603115320206, "q_min_median": 0.540111780166626, "chosen_vs_median_q_gap": 0.08752816915512085, "q1_best": 0.719817042350769, "q2_best": 0.6276399493217468, "v_val": 0.6294674277305603, "advantage": -0.0018274784088134766, "best_idx": 22, "q_min_all": [0.5269442200660706, 0.5348964333534241, 0.53984534740448, 0.5600298047065735, 0.5863404273986816, 0.553547739982605, 0.5147383809089661, 0.5440804362297058, 0.5714595317840576, 0.540111780166626, 0.5256301760673523, 0.5602675080299377, 0.5383492112159729, 0.5261682868003845, 0.5337468981742859, 0.558713436126709, 0.5400652885437012, 0.5460767149925232, 0.5379876494407654, 0.576900839805603, 0.5360244512557983, 0.5277701020240784, 0.6276399493217468, 0.5759027004241943, 0.551535964012146, 0.521481454372406, 0.5515561699867249, 0.5403445363044739, 0.555392861366272, 0.5338881611824036, 0.5338256359100342, 0.5764052867889404], "q1_all": [0.6655272841453552, 0.7135176658630371, 0.7040731906890869, 0.721095860004425, 0.6948624849319458, 0.7037515640258789, 0.6798878312110901, 0.6814234852790833, 0.7459076642990112, 0.7131333947181702, 0.654461681842804, 0.7276784181594849, 0.673578143119812, 0.7060955166816711, 0.7083839774131775, 0.7372545599937439, 0.7272174954414368, 0.7119836211204529, 0.737525463104248, 0.7218173742294312, 0.754127562046051, 0.6795029044151306, 0.719817042350769, 0.6987988948822021, 0.7043249607086182, 0.7202671766281128, 0.7191997766494751, 0.712085485458374, 0.7372831106185913, 0.6893883943557739, 0.7070788145065308, 0.6988040208816528], "q2_all": [0.5269442200660706, 0.5348964333534241, 0.53984534740448, 0.5600298047065735, 0.5863404273986816, 0.553547739982605, 0.5147383809089661, 0.5440804362297058, 0.5714595317840576, 0.540111780166626, 0.5256301760673523, 0.5602675080299377, 0.5383492112159729, 0.5261682868003845, 0.5337468981742859, 0.558713436126709, 0.5400652885437012, 0.5460767149925232, 0.5379876494407654, 0.576900839805603, 0.5360244512557983, 0.5277701020240784, 0.6276399493217468, 0.5759027004241943, 0.551535964012146, 0.521481454372406, 0.5515561699867249, 0.5403445363044739, 0.555392861366272, 0.5338881611824036, 0.5338256359100342, 0.5764052867889404], "cand_trans_speed_all": [0.022631146013736725, 0.023835476487874985, 0.021708056330680847, 0.024488773196935654, 0.022987540811300278, 0.022571822628378868, 0.022599101066589355, 0.022923192009329796, 0.02354419231414795, 0.022934406995773315, 0.022158196195960045, 0.023367902263998985, 0.022723130881786346, 0.022642381489276886, 0.02347784861922264, 0.02335440367460251, 0.0226240586489439, 0.02275802753865719, 0.0234089232981205, 0.02290341630578041, 0.023277882486581802, 0.022590272128582, 0.022910740226507187, 0.022636158391833305, 0.022638823837041855, 0.02313295379281044, 0.02287517860531807, 0.023089539259672165, 0.02318616770207882, 0.023778259754180908, 0.023271918296813965, 0.022735944017767906], "cand_cum_xyz_disp_all": [[0.10753259062767029, 0.02249862253665924, 0.06702066212892532], [0.11414730548858643, 0.032689422369003296, 0.07301800698041916], [0.10483211278915405, 0.01653386652469635, 0.06407579034566879], [0.11877915263175964, 0.026968523859977722, 0.07250580936670303], [0.10899773240089417, 0.022387340664863586, 0.07032064348459244], [0.10579884052276611, 0.016670703887939453, 0.06822804361581802], [0.1070411205291748, 0.02422572672367096, 0.06741846352815628], [0.10805895924568176, 0.022990867495536804, 0.0709720030426979], [0.11429578065872192, 0.02065207064151764, 0.07050424069166183], [0.11214834451675415, 0.025510326027870178, 0.06745364516973495], [0.106840580701828, 0.021505504846572876, 0.0644303634762764], [0.11374527215957642, 0.024048134684562683, 0.06967001408338547], [0.11000275611877441, 0.02438175678253174, 0.06893410533666611], [0.11017265915870667, 0.024655312299728394, 0.07003850489854813], [0.10912621021270752, 0.0214880108833313, 0.07050435990095139], [0.11275085806846619, 0.019403770565986633, 0.06961943954229355], [0.10899201035499573, 0.01925085484981537, 0.06816334277391434], [0.10997918248176575, 0.021720096468925476, 0.0664471909403801], [0.11346134543418884, 0.022647231817245483, 0.06948991864919662], [0.11087259650230408, 0.018294021487236023, 0.06848030537366867], [0.11287283897399902, 0.01977066695690155, 0.07135338336229324], [0.10494616627693176, 0.022368833422660828, 0.06907369941473007], [0.10967719554901123, 0.01594458520412445, 0.0673108771443367], [0.11117780208587646, 0.023027926683425903, 0.06624450534582138], [0.11303147673606873, 0.023078396916389465, 0.06498720496892929], [0.11320754885673523, 0.025424346327781677, 0.07211408764123917], [0.11141401529312134, 0.022464454174041748, 0.06896490603685379], [0.10911387205123901, 0.019039228558540344, 0.0692463293671608], [0.11288216710090637, 0.020045384764671326, 0.07011810690164566], [0.11307817697525024, 0.024713993072509766, 0.07146962732076645], [0.11052212119102478, 0.0261906236410141, 0.07007864862680435], [0.1093100905418396, 0.017935261130332947, 0.0703481063246727]], "cand_final_gripper_all": [0.0017823576927185059, 0.002376377582550049, 0.003285229206085205, 0.00018322467803955078, 0.002277553081512451, 0.0026219189167022705, 0.0025924742221832275, 0.0018316209316253662, 0.002581954002380371, 0.000825047492980957, 0.002294391393661499, 0.002362370491027832, 0.0030714869499206543, 0.001672595739364624, 0.0021505653858184814, 0.0016779601573944092, 0.0029772520065307617, 0.0015330910682678223, 0.0017755329608917236, 0.0033490359783172607, 0.0021071135997772217, 0.0030056536197662354, 0.0029526352882385254, 0.00037401914596557617, 0.0005485415458679199, 0.0024892091751098633, 0.0030119121074676514, 0.0018520057201385498, 0.001356750726699829, 0.0011568665504455566, 0.0, 0.0006812810897827148], "eef_pos": [0.5174610614776611, 0.02216128632426262, 0.38096725940704346], "cand_action_std": 0.09426780790090561, "cand_pairwise_centroid_dist_mean": 0.8060284852981567, "argmax_act_outlier": 1.324044108390808, "time_encode_ms": 13.016019016504288, "time_diffusion_ms": 51.85230518691242, "time_q_score_ms": 16.024626092985272, "time_total_ms": 82.02811400406063, "num_action_samples_effective": 32, "q_aggregate": "pair_min"}
+{"chunk_ordinal": 3, "q_min_best": 0.6336023807525635, "q_min_mean": 0.5664167404174805, "q_min_std": 0.027160434052348137, "q_min_median": 0.5686443448066711, "chosen_vs_median_q_gap": 0.06495803594589233, "q1_best": 0.6815568208694458, "q2_best": 0.6336023807525635, "v_val": 0.7611565589904785, "advantage": -0.12755417823791504, "best_idx": 9, "q_min_all": [0.5715334415435791, 0.5893231630325317, 0.5436813235282898, 0.568955659866333, 0.5334946513175964, 0.6237615942955017, 0.5751162171363831, 0.5734201669692993, 0.5794432759284973, 0.6336023807525635, 0.5730814933776855, 0.5564031004905701, 0.5547902584075928, 0.5401297211647034, 0.5775269865989685, 0.5298692584037781, 0.5945355296134949, 0.5305286049842834, 0.5400373935699463, 0.5799914002418518, 0.5304575562477112, 0.5513301491737366, 0.5410137176513672, 0.5507599711418152, 0.5659768581390381, 0.5980573892593384, 0.5686443448066711, 0.5797091722488403, 0.5262393951416016, 0.5519317984580994, 0.6013264656066895, 0.5906634330749512], "q1_all": [0.637554943561554, 0.6112180948257446, 0.6242940425872803, 0.6297508478164673, 0.6084782481193542, 0.6746506094932556, 0.6375687122344971, 0.6456062197685242, 0.6539718508720398, 0.6815568208694458, 0.6292498111724854, 0.6278057098388672, 0.6368306875228882, 0.6286187171936035, 0.640377402305603, 0.6160988807678223, 0.6594833731651306, 0.6043756008148193, 0.6317894458770752, 0.6300818920135498, 0.6174983978271484, 0.6368288993835449, 0.6090086698532104, 0.6332865357398987, 0.6495120525360107, 0.6669595241546631, 0.6405709981918335, 0.6348801851272583, 0.6345218420028687, 0.6342984437942505, 0.6618400812149048, 0.6613602638244629], "q2_all": [0.5715334415435791, 0.5893231630325317, 0.5436813235282898, 0.568955659866333, 0.5334946513175964, 0.6237615942955017, 0.5751162171363831, 0.5734201669692993, 0.5794432759284973, 0.6336023807525635, 0.5730814933776855, 0.5564031004905701, 0.5547902584075928, 0.5401297211647034, 0.5775269865989685, 0.5298692584037781, 0.5945355296134949, 0.5305286049842834, 0.5400373935699463, 0.5799914002418518, 0.5304575562477112, 0.5513301491737366, 0.5410137176513672, 0.5507599711418152, 0.5659768581390381, 0.5980573892593384, 0.5686443448066711, 0.5797091722488403, 0.5262393951416016, 0.5519317984580994, 0.6013264656066895, 0.5906634330749512], "cand_trans_speed_all": [0.01842273585498333, 0.018185816705226898, 0.01867174729704857, 0.017728468403220177, 0.017556942999362946, 0.018895775079727173, 0.018596448004245758, 0.018455199897289276, 0.01882050931453705, 0.019295357167720795, 0.01824573054909706, 0.018242863938212395, 0.01807786338031292, 0.01836354099214077, 0.018419107422232628, 0.01784706674516201, 0.019003402441740036, 0.017924364656209946, 0.01844331994652748, 0.018084928393363953, 0.01814868673682213, 0.018207505345344543, 0.018280016258358955, 0.018004780635237694, 0.01825246587395668, 0.019075926393270493, 0.018000897020101547, 0.018153002485632896, 0.017820945009589195, 0.018184905871748924, 0.018689967691898346, 0.018617551773786545], "cand_cum_xyz_disp_all": [[0.08213263750076294, -0.0017398595809936523, 0.06772048026323318], [0.0757538378238678, -0.009460940957069397, 0.06932518631219864], [0.08117488026618958, -0.006140097975730896, 0.06987740844488144], [0.07445064187049866, -0.0090055912733078, 0.06831718236207962], [0.07986828684806824, -0.004787668585777283, 0.0646146759390831], [0.0834774374961853, -0.007880032062530518, 0.06726866215467453], [0.0839947760105133, -0.004606455564498901, 0.06815413385629654], [0.08481919765472412, -0.006233245134353638, 0.06558186560869217], [0.0850333571434021, -0.0022650957107543945, 0.06948114186525345], [0.08311665058135986, -0.010620087385177612, 0.06803848594427109], [0.08048263192176819, -0.006277695298194885, 0.06744558364152908], [0.08356589078903198, -0.0025357604026794434, 0.06476105004549026], [0.07965373992919922, -0.0069869160652160645, 0.0656963363289833], [0.08044770359992981, -0.004460647702217102, 0.06789214164018631], [0.08199185132980347, -0.005505070090293884, 0.06757461279630661], [0.07994401454925537, -0.003135383129119873, 0.06693562120199203], [0.08568945527076721, -0.00746995210647583, 0.06771443039178848], [0.07752835750579834, -0.004207804799079895, 0.06705866008996964], [0.08532780408859253, 0.0005643069744110107, 0.06704198569059372], [0.08015990257263184, -0.008404195308685303, 0.06483649462461472], [0.08339899778366089, -0.0019405484199523926, 0.06605290621519089], [0.0793604850769043, -0.005235344171524048, 0.06919889897108078], [0.08079078793525696, -0.005057483911514282, 0.0690973624587059], [0.08130455017089844, -0.0062948912382125854, 0.06587662547826767], [0.08238714933395386, -0.005172744393348694, 0.06873635202646255], [0.07999470829963684, -0.005982100963592529, 0.07418764382600784], [0.07919612526893616, -0.007784456014633179, 0.0650678500533104], [0.08072417974472046, -0.008133471012115479, 0.06778167933225632], [0.0798037052154541, -0.004248231649398804, 0.06704039126634598], [0.08217319846153259, -0.0042380839586257935, 0.0678533986210823], [0.0828140377998352, -0.007399231195449829, 0.06666965037584305], [0.08403024077415466, -0.007636651396751404, 0.0682440921664238]], "cand_final_gripper_all": [0.001923292875289917, 0.0024614930152893066, 0.000928044319152832, 0.0015965402126312256, 0.0014292895793914795, 0.0015977323055267334, 0.0026658177375793457, 0.0017827749252319336, 0.0016226470470428467, 0.002006024122238159, 0.0018201172351837158, 0.0031794309616088867, 0.00024363398551940918, 0.00226670503616333, 0.0018843412399291992, 0.0016456544399261475, 0.0011417567729949951, 0.0036610662937164307, 0.0016990602016448975, 0.0038028061389923096, 0.0018641948699951172, 0.0013156235218048096, 0.0005897581577301025, 0.004188507795333862, 0.0027773380279541016, 0.001330345869064331, 0.001699000597000122, 0.0019158124923706055, 0.0026427805423736572, 0.004459738731384277, 0.0026769638061523438, 0.0013599693775177002], "eef_pos": [0.5856797695159912, 0.038478702306747437, 0.33305373787879944], "cand_action_std": 0.08556750416755676, "cand_pairwise_centroid_dist_mean": 0.7606886625289917, "argmax_act_outlier": 1.4196386337280273, "time_encode_ms": 11.370148044079542, "time_diffusion_ms": 45.49006908200681, "time_q_score_ms": 9.188262978568673, "time_total_ms": 67.44062202051282, "num_action_samples_effective": 32, "q_aggregate": "pair_min"}
+{"chunk_ordinal": 4, "q_min_best": 0.5599316358566284, "q_min_mean": 0.4936443865299225, "q_min_std": 0.03150489553809166, "q_min_median": 0.49130818247795105, "chosen_vs_median_q_gap": 0.06862345337867737, "q1_best": 0.5707093477249146, "q2_best": 0.5599316358566284, "v_val": 0.17437678575515747, "advantage": 0.38555485010147095, "best_idx": 11, "q_min_all": [0.44863077998161316, 0.5360996723175049, 0.4414679706096649, 0.4732586741447449, 0.4724828004837036, 0.5197732448577881, 0.45700159668922424, 0.4364236891269684, 0.4929099380970001, 0.4863254129886627, 0.477037638425827, 0.5599316358566284, 0.46811676025390625, 0.5348836183547974, 0.510538637638092, 0.49130818247795105, 0.46794915199279785, 0.47501707077026367, 0.5424952507019043, 0.528828501701355, 0.5282195210456848, 0.45811986923217773, 0.5161193609237671, 0.5072534084320068, 0.4881744086742401, 0.5186883211135864, 0.5162323713302612, 0.5100697875022888, 0.45589086413383484, 0.49705401062965393, 0.49244654178619385, 0.48787161707878113], "q1_all": [0.4946341812610626, 0.5552190542221069, 0.5196853876113892, 0.5215985178947449, 0.5202954411506653, 0.5197732448577881, 0.4840559959411621, 0.460890531539917, 0.4929099380970001, 0.5022733211517334, 0.5371397733688354, 0.5707093477249146, 0.49027788639068604, 0.5348836183547974, 0.5498138666152954, 0.5060173869132996, 0.5291723012924194, 0.530562698841095, 0.5636661052703857, 0.5433050990104675, 0.5694645643234253, 0.4988100826740265, 0.5462651252746582, 0.540356457233429, 0.5212438106536865, 0.5292882919311523, 0.5162323713302612, 0.5317899584770203, 0.49974164366722107, 0.5273800492286682, 0.49244654178619385, 0.4933195412158966], "q2_all": [0.44863077998161316, 0.5360996723175049, 0.4414679706096649, 0.4732586741447449, 0.4724828004837036, 0.5432501435279846, 0.45700159668922424, 0.4364236891269684, 0.5145506262779236, 0.4863254129886627, 0.477037638425827, 0.5599316358566284, 0.46811676025390625, 0.5684995651245117, 0.510538637638092, 0.49130818247795105, 0.46794915199279785, 0.47501707077026367, 0.5424952507019043, 0.528828501701355, 0.5282195210456848, 0.45811986923217773, 0.5161193609237671, 0.5072534084320068, 0.4881744086742401, 0.5186883211135864, 0.5332773327827454, 0.5100697875022888, 0.45589086413383484, 0.49705401062965393, 0.4961278736591339, 0.48787161707878113], "cand_trans_speed_all": [0.012777041643857956, 0.01438467763364315, 0.013139856979250908, 0.013849924318492413, 0.013314131647348404, 0.01410231925547123, 0.013902798295021057, 0.013360081240534782, 0.01391953881829977, 0.01424782257527113, 0.013457956723868847, 0.014708410017192364, 0.014135904610157013, 0.013776205480098724, 0.014589304104447365, 0.013857578858733177, 0.013736764900386333, 0.013872405514121056, 0.014024278149008751, 0.013633138500154018, 0.014673351310193539, 0.014082301408052444, 0.01430625468492508, 0.013964741490781307, 0.01450811605900526, 0.013324404135346413, 0.013814295642077923, 0.013706237077713013, 0.014087776653468609, 0.013792778365314007, 0.013741990551352501, 0.01354658417403698], "cand_cum_xyz_disp_all": [[0.0552523136138916, -6.866455078125e-05, 0.050530098378658295], [0.060629576444625854, -0.007339745759963989, 0.04714139550924301], [0.05858604609966278, -0.004630342125892639, 0.04987496882677078], [0.06520625948905945, -0.0020164847373962402, 0.04885254055261612], [0.051796019077301025, -0.004672542214393616, 0.04633363336324692], [0.06499004364013672, -0.0003142505884170532, 0.050925008952617645], [0.060446858406066895, -0.0005662590265274048, 0.05294402688741684], [0.060519784688949585, -0.0024626702070236206, 0.04934725910425186], [0.0593351274728775, -0.0014652609825134277, 0.04847154766321182], [0.06524237990379333, 0.0030899643898010254, 0.05167197436094284], [0.06187787652015686, 0.0006346702575683594, 0.05052996426820755], [0.06921643018722534, -0.003546878695487976, 0.05100109428167343], [0.0672031044960022, 0.0018325597047805786, 0.04980895668268204], [0.06365025043487549, -0.0010954886674880981, 0.05045240372419357], [0.06690487265586853, 0.00039637088775634766, 0.0522461012005806], [0.06389549374580383, 0.001879960298538208, 0.05150287598371506], [0.06550237536430359, 0.0030863434076309204, 0.04684571176767349], [0.06409749388694763, -0.006206303834915161, 0.0483173206448555], [0.058219701051712036, -0.002864256501197815, 0.052605144679546356], [0.05895373225212097, -0.0010100007057189941, 0.0515810027718544], [0.06896290183067322, 0.0009888261556625366, 0.0532754585146904], [0.06643342971801758, -0.004667356610298157, 0.04994180053472519], [0.0632120668888092, -0.0030950605869293213, 0.05295843631029129], [0.06117650866508484, -0.002629488706588745, 0.050268836319446564], [0.06140542030334473, -0.00454026460647583, 0.0494641438126564], [0.05939723551273346, -0.002634778618812561, 0.04919188469648361], [0.056198909878730774, -0.0042806267738342285, 0.05015062540769577], [0.06155577301979065, -0.000676959753036499, 0.04919039458036423], [0.06586077809333801, 0.0005498528480529785, 0.050984226167201996], [0.06213560700416565, -0.0041109174489974976, 0.051288582384586334], [0.06183478236198425, 0.001984626054763794, 0.051221512258052826], [0.059515342116355896, -0.0019059181213378906, 0.05041172355413437]], "cand_final_gripper_all": [0.0024049878120422363, 0.0, 0.0018150508403778076, 0.0020083487033843994, 0.0, 0.0018131434917449951, 0.001058042049407959, 0.00038945674896240234, 0.002144366502761841, 0.0012979209423065186, 0.0024398863315582275, 0.0005265474319458008, 0.0, 0.0, 0.0, 0.0015395581722259521, 0.0, 0.0006928145885467529, 0.0, 0.0, 0.0, 0.0015893876552581787, 0.002371758222579956, 0.0024385154247283936, 0.0, 0.000496983528137207, 0.0017637014389038086, 0.0016489624977111816, 0.0011171996593475342, 0.0008268952369689941, 0.003434509038925171, 0.00323486328125], "eef_pos": [0.6213495135307312, 0.08283344656229019, 0.2771279513835907], "cand_action_std": 0.0978783443570137, "cand_pairwise_centroid_dist_mean": 0.8618435859680176, "argmax_act_outlier": 0.9486262202262878, "time_encode_ms": 13.05834692902863, "time_diffusion_ms": 45.25963286869228, "time_q_score_ms": 11.646961094811559, "time_total_ms": 71.06752600520849, "num_action_samples_effective": 32, "q_aggregate": "pair_min"}
+{"chunk_ordinal": 5, "q_min_best": 0.5196099877357483, "q_min_mean": 0.436681866645813, "q_min_std": 0.036439985036849976, "q_min_median": 0.42978307604789734, "chosen_vs_median_q_gap": 0.08982691168785095, "q1_best": 0.5196099877357483, "q2_best": 0.5297728776931763, "v_val": 0.6843051910400391, "advantage": -0.16469520330429077, "best_idx": 31, "q_min_all": [0.43756306171417236, 0.4220336675643921, 0.482342392206192, 0.4525507092475891, 0.4342288672924042, 0.42978307604789734, 0.4096282422542572, 0.41701143980026245, 0.479350209236145, 0.4165533483028412, 0.39328086376190186, 0.48480865359306335, 0.4456866681575775, 0.49940025806427, 0.37378260493278503, 0.40871649980545044, 0.40387728810310364, 0.4977875351905823, 0.41374751925468445, 0.4323192238807678, 0.4292477071285248, 0.37759271264076233, 0.4237928092479706, 0.43268221616744995, 0.40820804238319397, 0.3947259783744812, 0.4442838430404663, 0.489540159702301, 0.44049596786499023, 0.41903355717658997, 0.46015530824661255, 0.5196099877357483], "q1_all": [0.4535485804080963, 0.4882361590862274, 0.482342392206192, 0.4570314884185791, 0.45274630188941956, 0.4551160931587219, 0.45271462202072144, 0.428571879863739, 0.479350209236145, 0.45756083726882935, 0.4025513529777527, 0.5712135434150696, 0.46556586027145386, 0.49940025806427, 0.4475528597831726, 0.4742920398712158, 0.40387728810310364, 0.4977875351905823, 0.45438501238822937, 0.4323192238807678, 0.4586535692214966, 0.37759271264076233, 0.4308958053588867, 0.43268221616744995, 0.42851728200912476, 0.41351884603500366, 0.4442838430404663, 0.489540159702301, 0.4509906470775604, 0.44733861088752747, 0.46015530824661255, 0.5196099877357483], "q2_all": [0.43756306171417236, 0.4220336675643921, 0.50352942943573, 0.4525507092475891, 0.4342288672924042, 0.42978307604789734, 0.4096282422542572, 0.41701143980026245, 0.5079180598258972, 0.4165533483028412, 0.39328086376190186, 0.48480865359306335, 0.4456866681575775, 0.5606528520584106, 0.37378260493278503, 0.40871649980545044, 0.4146997630596161, 0.5246346592903137, 0.41374751925468445, 0.44494643807411194, 0.4292477071285248, 0.4082382619380951, 0.4237928092479706, 0.4608064591884613, 0.40820804238319397, 0.3947259783744812, 0.4669516682624817, 0.513181746006012, 0.44049596786499023, 0.41903355717658997, 0.49821779131889343, 0.5297728776931763], "cand_trans_speed_all": [0.007856767624616623, 0.008616432547569275, 0.008109601214528084, 0.007221573032438755, 0.006663523614406586, 0.00852908007800579, 0.007813879288733006, 0.0069391182623803616, 0.007693830877542496, 0.007109218277037144, 0.006334676407277584, 0.008959431201219559, 0.006730522029101849, 0.0066703082993626595, 0.007727916352450848, 0.006512642838060856, 0.006954977288842201, 0.007142653688788414, 0.0074439337477087975, 0.007730997633188963, 0.008068795315921307, 0.006865034811198711, 0.008428993634879589, 0.0065942611545324326, 0.007215609773993492, 0.007247114088386297, 0.007487586699426174, 0.008388913236558437, 0.006683277897536755, 0.007783391512930393, 0.00694319186732173, 0.007687104865908623], "cand_cum_xyz_disp_all": [[0.022721216082572937, -0.004325315356254578, 0.02026016265153885], [0.018913552165031433, -0.0024406611919403076, 0.022135548293590546], [0.022170305252075195, -0.0032408535480499268, 0.021960698068141937], [0.0194341242313385, -0.0023704320192337036, 0.021000586450099945], [0.02000764012336731, -0.0007736384868621826, 0.021930702030658722], [0.02400730550289154, 0.0011936575174331665, 0.01946941763162613], [0.01926378905773163, -0.0029653459787368774, 0.019171439111232758], [0.020783618092536926, -0.0034095048904418945, 0.01882026344537735], [0.020780742168426514, -4.298985004425049e-05, 0.020303480327129364], [0.017025887966156006, -0.002527892589569092, 0.021661020815372467], [0.021260395646095276, -0.0024008750915527344, 0.01944451779127121], [0.020027637481689453, -0.0032625794410705566, 0.02059303969144821], [0.01908603310585022, -0.0015935003757476807, 0.021457411348819733], [0.02275228500366211, -0.0008580982685089111, 0.021375559270381927], [0.021241724491119385, -0.0010729730129241943, 0.020667023956775665], [0.01903630793094635, -0.0028395652770996094, 0.01913411170244217], [0.02092863619327545, -0.0015881210565567017, 0.02087400108575821], [0.017755702137947083, -0.0016097277402877808, 0.020674876868724823], [0.02375614643096924, -0.002214387059211731, 0.01937852054834366], [0.019916027784347534, -0.002908274531364441, 0.0223563089966774], [0.020804911851882935, -0.0025051534175872803, 0.021647252142429352], [0.01815161108970642, -0.000789642333984375, 0.02092178910970688], [0.0181085467338562, -0.0013185739517211914, 0.019706420600414276], [0.022144347429275513, -0.001816675066947937, 0.021226339042186737], [0.023219212889671326, -0.0018743276596069336, 0.02303168922662735], [0.01851363480091095, -0.0032119303941726685, 0.020433910191059113], [0.022386863827705383, -0.0009473264217376709, 0.021349705755710602], [0.020888328552246094, -0.0027775466442108154, 0.02165421098470688], [0.01757855713367462, -0.002284228801727295, 0.02323853224515915], [0.02255210280418396, -0.003352612257003784, 0.021013252437114716], [0.02134212851524353, -0.0015697181224822998, 0.020376674830913544], [0.020106375217437744, -0.002361774444580078, 0.020104967057704926]], "cand_final_gripper_all": [0.3727283477783203, 0.35737964510917664, 0.331868052482605, 0.34178459644317627, 0.33182621002197266, 0.3502691984176636, 0.3513331413269043, 0.35947316884994507, 0.3288004398345947, 0.3287205696105957, 0.35887083411216736, 0.3802103102207184, 0.3241533041000366, 0.34820544719696045, 0.33222776651382446, 0.36974722146987915, 0.3635292053222656, 0.3420757055282593, 0.34289777278900146, 0.3070007562637329, 0.3448624610900879, 0.34350070357322693, 0.3091065287590027, 0.33442941308021545, 0.3449801206588745, 0.32484710216522217, 0.33579951524734497, 0.3391319513320923, 0.32812178134918213, 0.3465154767036438, 0.34017276763916016, 0.34950876235961914], "eef_pos": [0.6332995295524597, 0.12226328253746033, 0.22908012568950653], "cand_action_std": 0.09926233440637589, "cand_pairwise_centroid_dist_mean": 0.861892580986023, "argmax_act_outlier": 0.8331241011619568, "time_encode_ms": 8.174804039299488, "time_diffusion_ms": 43.192391050979495, "time_q_score_ms": 10.420728009194136, "time_total_ms": 63.451506895944476, "num_action_samples_effective": 32, "q_aggregate": "pair_min"}
+{"chunk_ordinal": 6, "q_min_best": 0.6392310261726379, "q_min_mean": 0.5658549070358276, "q_min_std": 0.04081181436777115, "q_min_median": 0.5727773904800415, "chosen_vs_median_q_gap": 0.06645363569259644, "q1_best": 0.6981229782104492, "q2_best": 0.6392310261726379, "v_val": 0.7480208277702332, "advantage": -0.10878980159759521, "best_idx": 18, "q_min_all": [0.555478572845459, 0.5882942080497742, 0.5929530262947083, 0.5704453587532043, 0.5664106011390686, 0.5536177158355713, 0.5774494409561157, 0.5894947052001953, 0.46238401532173157, 0.5806156396865845, 0.5581426620483398, 0.4916462004184723, 0.5930732488632202, 0.5964341163635254, 0.5350891947746277, 0.595817506313324, 0.5703389644622803, 0.5762263536453247, 0.6392310261726379, 0.5942465662956238, 0.4890521466732025, 0.5727773904800415, 0.6147810220718384, 0.5239142179489136, 0.5285246968269348, 0.5059352517127991, 0.5747185945510864, 0.5331067442893982, 0.6346405148506165, 0.5811631679534912, 0.5536975860595703, 0.6076569557189941], "q1_all": [0.6582568883895874, 0.647817850112915, 0.6268901824951172, 0.656944990158081, 0.6199984550476074, 0.650910496711731, 0.6401804089546204, 0.6249942779541016, 0.6332770586013794, 0.6324498653411865, 0.6640340089797974, 0.6455678343772888, 0.6638041734695435, 0.6007428169250488, 0.634360671043396, 0.6395295858383179, 0.6683560609817505, 0.5975146293640137, 0.6981229782104492, 0.6288930773735046, 0.6471593976020813, 0.631731390953064, 0.6147810220718384, 0.6799796223640442, 0.6060725450515747, 0.6724209189414978, 0.6473110914230347, 0.6247835159301758, 0.726089358329773, 0.6309677362442017, 0.6468342542648315, 0.6731778979301453], "q2_all": [0.555478572845459, 0.5882942080497742, 0.5929530262947083, 0.5704453587532043, 0.5664106011390686, 0.5536177158355713, 0.5774494409561157, 0.5894947052001953, 0.46238401532173157, 0.5806156396865845, 0.5581426620483398, 0.4916462004184723, 0.5930732488632202, 0.5964341163635254, 0.5350891947746277, 0.595817506313324, 0.5703389644622803, 0.5762263536453247, 0.6392310261726379, 0.5942465662956238, 0.4890521466732025, 0.5727773904800415, 0.6311604976654053, 0.5239142179489136, 0.5285246968269348, 0.5059352517127991, 0.5747185945510864, 0.5331067442893982, 0.6346405148506165, 0.5811631679534912, 0.5536975860595703, 0.6076569557189941], "cand_trans_speed_all": [0.0016840577591210604, 0.0018409432377666235, 0.0021602471824735403, 0.0017457387875765562, 0.0011885814601555467, 0.0016260500997304916, 0.0014980409760028124, 0.0033519729040563107, 0.0021218208130449057, 0.0014455034397542477, 0.0022897447925060987, 0.0024529211223125458, 0.0021943424362689257, 0.0031859902665019035, 0.001489023445174098, 0.001976028550416231, 0.001517595606856048, 0.0019235730869695544, 0.0019475434673950076, 0.0012598808389157057, 0.001501328544691205, 0.001733793644234538, 0.0025685117579996586, 0.0022342014126479626, 0.0014429246075451374, 0.0026336300652474165, 0.002401698613539338, 0.002464084653183818, 0.002508214209228754, 0.002125394996255636, 0.002483388176187873, 0.0020911931060254574], "cand_cum_xyz_disp_all": [[0.00385168194770813, 0.003292277455329895, 0.0041959285736083984], [0.002486109733581543, 0.004336163401603699, 0.002735033631324768], [0.0038061290979385376, 0.005347579717636108, 0.0021188706159591675], [0.004602327942848206, 0.0026485472917556763, 0.002375498414039612], [0.0034783482551574707, 0.0037331730127334595, 0.0019524022936820984], [0.0027422308921813965, 0.001576259732246399, 0.001934632658958435], [0.004614710807800293, 0.0039544254541397095, 0.0026667043566703796], [0.004151985049247742, 0.007781296968460083, 0.002735830843448639], [-0.00014804303646087646, 0.0033585578203201294, 0.0038940012454986572], [0.003926381468772888, 0.00314195454120636, 0.0021585673093795776], [0.0040149688720703125, 0.00226767361164093, 0.0023580193519592285], [0.002613157033920288, 0.003184378147125244, 0.00358649343252182], [0.0053882896900177, 0.003445446491241455, 9.215623140335083e-05], [0.0038861334323883057, 0.004364192485809326, 0.0010412037372589111], [0.00386887788772583, 0.0008674412965774536, 0.0024230852723121643], [0.004444018006324768, 0.003912001848220825, 0.0026495084166526794], [0.004453703761100769, 0.001079171895980835, 0.0012219995260238647], [0.0004437863826751709, 0.005861192941665649, 0.002255380153656006], [0.007996946573257446, 0.0029900670051574707, 0.001573130488395691], [0.0029651671648025513, 0.0024846047163009644, 0.0021376386284828186], [0.004688858985900879, 0.002987295389175415, 0.0027796849608421326], [0.003990456461906433, 0.004247650504112244, 0.0019282996654510498], [0.006113022565841675, 0.004626438021659851, 0.002912282943725586], [0.00491100549697876, 0.006011113524436951, 0.003087341785430908], [0.003226146101951599, 0.0016845017671585083, 0.0008933693170547485], [0.005273804068565369, 0.006086573004722595, 0.0038038641214370728], [0.004398614168167114, 0.0028552114963531494, 0.0011151134967803955], [0.003584235906600952, 0.0041390061378479, 0.0006251409649848938], [0.006079003214836121, 0.0025808215141296387, 0.002385951578617096], [0.00562267005443573, 0.0023668259382247925, 0.0022563636302948], [0.005519673228263855, 0.0027198046445846558, 0.003992944955825806], [0.0022695958614349365, 0.004117116332054138, 0.0029931291937828064]], "cand_final_gripper_all": [0.7190536260604858, 0.7163973450660706, 0.7291702628135681, 0.7308854460716248, 0.7271642684936523, 0.7270987033843994, 0.7271643877029419, 0.7247438430786133, 0.715520441532135, 0.7278661727905273, 0.7297818064689636, 0.722565233707428, 0.7375807166099548, 0.7208392024040222, 0.7236530184745789, 0.7118925452232361, 0.7310192584991455, 0.7174705266952515, 0.7214030027389526, 0.729320228099823, 0.7160506844520569, 0.7247174382209778, 0.7230230569839478, 0.732393205165863, 0.7164469361305237, 0.7282834649085999, 0.7160506248474121, 0.72427898645401, 0.7339150905609131, 0.7146732807159424, 0.707660973072052, 0.7340491414070129], "eef_pos": [0.6376296877861023, 0.13399095833301544, 0.20092137157917023], "cand_action_std": 0.04980017617344856, "cand_pairwise_centroid_dist_mean": 0.4546690583229065, "argmax_act_outlier": 0.9798527359962463, "time_encode_ms": 9.239858947694302, "time_diffusion_ms": 42.35564894042909, "time_q_score_ms": 14.751547016203403, "time_total_ms": 67.22338893450797, "num_action_samples_effective": 32, "q_aggregate": "pair_min"}
+{"chunk_ordinal": 7, "q_min_best": 0.7351229786872864, "q_min_mean": 0.6987836360931396, "q_min_std": 0.016188044100999832, "q_min_median": 0.6984266042709351, "chosen_vs_median_q_gap": 0.03669637441635132, "q1_best": 0.7351229786872864, "q2_best": 0.7601877450942993, "v_val": 0.7749871015548706, "advantage": -0.03986412286758423, "best_idx": 17, "q_min_all": [0.7071641683578491, 0.7042580842971802, 0.7026958465576172, 0.6918141841888428, 0.6807003021240234, 0.7063132524490356, 0.7037902474403381, 0.7100915312767029, 0.710694432258606, 0.7208078503608704, 0.7009013295173645, 0.6980212926864624, 0.6614401936531067, 0.7064597606658936, 0.6871591210365295, 0.6761538982391357, 0.6981767416000366, 0.7351229786872864, 0.6864811182022095, 0.6984266042709351, 0.691332995891571, 0.6997814178466797, 0.6664107441902161, 0.6837453842163086, 0.688576877117157, 0.7328150868415833, 0.7087082266807556, 0.6927563548088074, 0.7049322128295898, 0.7186188697814941, 0.6934671998023987, 0.6932588219642639], "q1_all": [0.7071641683578491, 0.7042580842971802, 0.7026958465576172, 0.6918141841888428, 0.6807003021240234, 0.7063132524490356, 0.7037902474403381, 0.7100915312767029, 0.710694432258606, 0.7208078503608704, 0.7009013295173645, 0.6980212926864624, 0.6614401936531067, 0.7064597606658936, 0.6871591210365295, 0.6761538982391357, 0.6981767416000366, 0.7351229786872864, 0.6864811182022095, 0.6984266042709351, 0.691332995891571, 0.6997814178466797, 0.6664107441902161, 0.6837453842163086, 0.688576877117157, 0.7328150868415833, 0.7087082266807556, 0.6927563548088074, 0.7049322128295898, 0.7186188697814941, 0.6934671998023987, 0.6932588219642639], "q2_all": [0.7446894645690918, 0.7463703155517578, 0.7391043901443481, 0.747480034828186, 0.7529996633529663, 0.7725997567176819, 0.7432540059089661, 0.7199060916900635, 0.7728754281997681, 0.7451725006103516, 0.7167930603027344, 0.7273638844490051, 0.7636313438415527, 0.7616064548492432, 0.7680982947349548, 0.7529823780059814, 0.786953330039978, 0.7601877450942993, 0.752914547920227, 0.7269755601882935, 0.7751260995864868, 0.7590891718864441, 0.7619565725326538, 0.7984541058540344, 0.7350457310676575, 0.7461912035942078, 0.7571379542350769, 0.7452149391174316, 0.7688959240913391, 0.7447618246078491, 0.7089702486991882, 0.7632571458816528], "cand_trans_speed_all": [0.0011941547272726893, 0.0011701269540935755, 0.0014521235134452581, 0.0021029566414654255, 0.0014773949515074492, 0.002141996519640088, 0.0022113481536507607, 0.0016451373230665922, 0.0017925522988662124, 0.001242215745151043, 0.0022548073902726173, 0.001284156576730311, 0.0013100405922159553, 0.001182790845632553, 0.0016008475795388222, 0.0005907387239858508, 0.0009127396042458713, 0.0028440263122320175, 0.0013888981193304062, 0.0022618842776864767, 0.0013330396031960845, 0.001974232494831085, 0.0020076450891792774, 0.0025913077406585217, 0.0018387663876637816, 0.0025151059962809086, 0.0017006208654493093, 0.001387931639328599, 0.001561521552503109, 0.001198383281007409, 0.0019208397716283798, 0.0012383369030430913], "cand_cum_xyz_disp_all": [[0.00025992095470428467, 0.0016996711492538452, 0.0002595633268356323], [0.002704039216041565, 0.0003449469804763794, -0.003055483102798462], [0.00031419098377227783, -0.0030963122844696045, -0.004469223320484161], [-0.00019729137420654297, -0.0004138052463531494, -0.005340203642845154], [-0.0006087571382522583, -0.0013352036476135254, -0.0039677694439888], [0.000898018479347229, -0.002467215061187744, -0.005639165639877319], [-0.0006131380796432495, 0.0005345642566680908, -0.005734801292419434], [0.003196626901626587, 6.295740604400635e-05, 0.0021832063794136047], [0.0021061599254608154, 0.0001453310251235962, -0.006047636270523071], [0.0004353821277618408, -0.0013526678085327148, 0.0003579258918762207], [0.005187615752220154, -0.0039917826652526855, 0.002981334924697876], [0.0032102614641189575, -0.0023076683282852173, -0.0012293830513954163], [-0.0009627193212509155, 0.0011518746614456177, -0.002442486584186554], [0.0005182772874832153, 0.0011234581470489502, -0.0036823973059654236], [0.0009035766124725342, 0.0022707581520080566, -0.0024532899260520935], [0.0018955767154693604, 0.0006104409694671631, -0.00039605051279067993], [-9.436905384063721e-05, 0.0010860711336135864, -0.0013765841722488403], [-0.001033201813697815, 0.0002953261137008667, -0.009392745792865753], [0.000966385006904602, 0.000835224986076355, -0.0006560832262039185], [-0.0004316568374633789, -0.001562654972076416, -0.004808932542800903], [0.0023342669010162354, -0.000969424843788147, -0.0007972791790962219], [-0.004164785146713257, -0.0005674809217453003, -0.005096398293972015], [-0.0005459189414978027, 0.0004352182149887085, -0.005133442580699921], [0.00024239718914031982, 0.0029425323009490967, -0.008543640375137329], [-0.000838547945022583, -0.0028086602687835693, -0.0054794251918792725], [0.0007860064506530762, -0.002724766731262207, -0.006044551730155945], [-0.002017766237258911, -0.0016788989305496216, -0.004832148551940918], [0.0019988268613815308, -0.0014152675867080688, -0.0003072768449783325], [-0.0003835707902908325, -0.0021295547485351562, -0.00361613929271698], [0.0004604458808898926, 0.0011114031076431274, 0.000644981861114502], [0.00025172531604766846, -0.00031335651874542236, -0.00323602557182312], [-0.0019540339708328247, 0.00027264654636383057, -0.004421956837177277]], "cand_final_gripper_all": [1.0, 0.9994542002677917, 0.9981478452682495, 1.0, 0.9999068975448608, 0.9991261959075928, 1.0, 0.9979006052017212, 0.9993104934692383, 1.0, 0.999524712562561, 0.997689962387085, 0.9987200498580933, 0.9974499940872192, 0.9999403953552246, 0.9998700022697449, 0.9981637597084045, 0.9977525472640991, 1.0, 0.9978123903274536, 0.9998435974121094, 0.9974405169487, 1.0, 0.9989168643951416, 0.9988465309143066, 1.0, 0.9985593557357788, 0.9992257356643677, 0.9982404708862305, 1.0, 0.9987660646438599, 0.999203622341156], "eef_pos": [0.6379770636558533, 0.13703230023384094, 0.19890904426574707], "cand_action_std": 0.03152666240930557, "cand_pairwise_centroid_dist_mean": 0.3193504810333252, "argmax_act_outlier": 1.5566588640213013, "time_encode_ms": 7.967149838805199, "time_diffusion_ms": 49.71244791522622, "time_q_score_ms": 15.234241029247642, "time_total_ms": 73.84996395558119, "num_action_samples_effective": 32, "q_aggregate": "pair_min"}
+{"chunk_ordinal": 8, "q_min_best": 0.662128210067749, "q_min_mean": 0.5728758573532104, "q_min_std": 0.03123566508293152, "q_min_median": 0.5638481378555298, "chosen_vs_median_q_gap": 0.09828007221221924, "q1_best": 0.6781343221664429, "q2_best": 0.662128210067749, "v_val": 0.7993929982185364, "advantage": -0.13726478815078735, "best_idx": 2, "q_min_all": [0.5232723951339722, 0.5620366334915161, 0.662128210067749, 0.5880224108695984, 0.5638481378555298, 0.5335298776626587, 0.5920822024345398, 0.5742552876472473, 0.5614615678787231, 0.5582614541053772, 0.6058149337768555, 0.6100957989692688, 0.6004696488380432, 0.5833327770233154, 0.6097255945205688, 0.5447348356246948, 0.6272602081298828, 0.5636736750602722, 0.5623102784156799, 0.5689719915390015, 0.5385400056838989, 0.5301380753517151, 0.6092749834060669, 0.5682664513587952, 0.5485275983810425, 0.599951982498169, 0.5659551620483398, 0.5554709434509277, 0.5838416814804077, 0.5412371158599854, 0.5424067974090576, 0.553129255771637], "q1_all": [0.5572702288627625, 0.6166509985923767, 0.6781343221664429, 0.6168271899223328, 0.5940420031547546, 0.5525442957878113, 0.5978472232818604, 0.5825201869010925, 0.599799394607544, 0.5929891467094421, 0.6605498194694519, 0.6100957989692688, 0.6004696488380432, 0.6094280481338501, 0.6097255945205688, 0.5962899923324585, 0.6272602081298828, 0.5911614894866943, 0.6140543818473816, 0.5893219709396362, 0.5595042705535889, 0.5369169116020203, 0.6155796051025391, 0.6140316724777222, 0.591103732585907, 0.599951982498169, 0.6110237240791321, 0.5817253589630127, 0.5838416814804077, 0.6231480836868286, 0.5424067974090576, 0.5636011362075806], "q2_all": [0.5232723951339722, 0.5620366334915161, 0.662128210067749, 0.5880224108695984, 0.5638481378555298, 0.5335298776626587, 0.5920822024345398, 0.5742552876472473, 0.5614615678787231, 0.5582614541053772, 0.6058149337768555, 0.6252784729003906, 0.6374223232269287, 0.5833327770233154, 0.6125730872154236, 0.5447348356246948, 0.652618408203125, 0.5636736750602722, 0.5623102784156799, 0.5689719915390015, 0.5385400056838989, 0.5301380753517151, 0.6092749834060669, 0.5682664513587952, 0.5485275983810425, 0.612723708152771, 0.5659551620483398, 0.5554709434509277, 0.5851614475250244, 0.5412371158599854, 0.543662428855896, 0.553129255771637], "cand_trans_speed_all": [0.01153242215514183, 0.010502927005290985, 0.01211062353104353, 0.0120625551789999, 0.010710543021559715, 0.00937566440552473, 0.011647089384496212, 0.010636928491294384, 0.010279135778546333, 0.010812791995704174, 0.011926278471946716, 0.011254805140197277, 0.01134621724486351, 0.010976165533065796, 0.010451293550431728, 0.010597577318549156, 0.010780617594718933, 0.010946851223707199, 0.010311547666788101, 0.009453123435378075, 0.01133271586149931, 0.01061531063169241, 0.009816027246415615, 0.011183628812432289, 0.01149340346455574, 0.011231224983930588, 0.01145719550549984, 0.011999521404504776, 0.01093242596834898, 0.010509900748729706, 0.010844087228178978, 0.011706719174981117], "cand_cum_xyz_disp_all": [[-0.017665013670921326, -0.03871867060661316, -0.04912189394235611], [-0.017050668597221375, -0.02475568652153015, -0.04989452660083771], [-0.011666804552078247, -0.029224365949630737, -0.056731633841991425], [-0.016712427139282227, -0.0319472998380661, -0.05864723026752472], [-0.015970826148986816, -0.029847770929336548, -0.04847867786884308], [-0.018716171383857727, -0.024476125836372375, -0.04415162652730942], [-0.01757054030895233, -0.02813093364238739, -0.05475344508886337], [-0.015068069100379944, -0.023870885372161865, -0.05060877650976181], [-0.008572414517402649, -0.027655839920043945, -0.04721459001302719], [-0.014624670147895813, -0.02473844587802887, -0.053057968616485596], [-0.01318313181400299, -0.024433299899101257, -0.0538976714015007], [-0.018546923995018005, -0.02543868124485016, -0.05725567042827606], [-0.016092240810394287, -0.03189472854137421, -0.05289192497730255], [-0.01858457922935486, -0.027844741940498352, -0.05197621136903763], [-0.016642913222312927, -0.02419091761112213, -0.05116632580757141], [-0.015361756086349487, -0.02603037655353546, -0.049213752150535583], [-0.014290481805801392, -0.02086058259010315, -0.0528760701417923], [-0.01477918028831482, -0.026162222027778625, -0.051227107644081116], [-0.01611003279685974, -0.0208369642496109, -0.04908759146928787], [-0.013310983777046204, -0.021223321557044983, -0.049299560487270355], [-0.017917022109031677, -0.03331783413887024, -0.05376286804676056], [-0.018441736698150635, -0.026816710829734802, -0.04691243916749954], [-0.01252785325050354, -0.029513299465179443, -0.04528973996639252], [-0.017919912934303284, -0.02749253809452057, -0.05116960406303406], [-0.01841197907924652, -0.03111666440963745, -0.052500464022159576], [-0.0176611989736557, -0.027552634477615356, -0.052012085914611816], [-0.01665709912776947, -0.0320422500371933, -0.05332547426223755], [-0.017698854207992554, -0.03223051130771637, -0.05671507492661476], [-0.018759191036224365, -0.028253555297851562, -0.0536508709192276], [-0.013507544994354248, -0.026975616812705994, -0.0486336275935173], [-0.016103476285934448, -0.03174355626106262, -0.049553342163562775], [-0.021975800395011902, -0.03401057422161102, -0.05292680114507675]], "cand_final_gripper_all": [0.9994534254074097, 1.0, 1.0, 0.9984540939331055, 0.9995217323303223, 0.9995071887969971, 0.9990532398223877, 0.9986369609832764, 0.9976459741592407, 0.9991036653518677, 0.9988733530044556, 0.9995930790901184, 0.9992520809173584, 0.9989821910858154, 0.9979407787322998, 0.9989903569221497, 0.9978207945823669, 1.0, 0.9991492033004761, 0.999390721321106, 0.9993330240249634, 0.9996783137321472, 0.9995578527450562, 0.9987975358963013, 0.9991031885147095, 0.9993194341659546, 0.9994813799858093, 0.9997107982635498, 0.997846245765686, 0.9987826347351074, 0.9995592832565308, 0.998981237411499], "eef_pos": [0.6386367678642273, 0.13785798847675323, 0.20011158287525177], "cand_action_std": 0.13779255747795105, "cand_pairwise_centroid_dist_mean": 1.1513547897338867, "argmax_act_outlier": 1.8965729475021362, "time_encode_ms": 11.610624147579074, "time_diffusion_ms": 46.19424510747194, "time_q_score_ms": 13.666664948686957, "time_total_ms": 72.86799303255975, "num_action_samples_effective": 32, "q_aggregate": "pair_min"}
+{"chunk_ordinal": 9, "q_min_best": 0.7952266335487366, "q_min_mean": 0.7220909595489502, "q_min_std": 0.03618708625435829, "q_min_median": 0.7187258005142212, "chosen_vs_median_q_gap": 0.07650083303451538, "q1_best": 0.7952266335487366, "q2_best": 0.8164850473403931, "v_val": 0.794512152671814, "advantage": 0.0007144808769226074, "best_idx": 22, "q_min_all": [0.7197461128234863, 0.7894213795661926, 0.7431004643440247, 0.6285122632980347, 0.7187258005142212, 0.7271865010261536, 0.7245779633522034, 0.7109264731407166, 0.7171806693077087, 0.721900224685669, 0.6947890520095825, 0.7648433446884155, 0.7061752080917358, 0.6800890564918518, 0.7183977365493774, 0.7428231239318848, 0.7136126756668091, 0.7493613958358765, 0.6745458841323853, 0.7613697052001953, 0.7007472515106201, 0.698347806930542, 0.7952266335487366, 0.7330490350723267, 0.7014158964157104, 0.7575082778930664, 0.7374526858329773, 0.7366036176681519, 0.7748799324035645, 0.7007879018783569, 0.7126975059509277, 0.6509097814559937], "q1_all": [0.770186185836792, 0.7894213795661926, 0.7558906078338623, 0.7532241344451904, 0.7187258005142212, 0.7606807947158813, 0.7629417181015015, 0.7620623111724854, 0.7370609045028687, 0.721900224685669, 0.7742681503295898, 0.7933275699615479, 0.7434406876564026, 0.7349405288696289, 0.7554385662078857, 0.762820839881897, 0.7860702276229858, 0.7955646514892578, 0.7186060547828674, 0.7980782985687256, 0.7710164785385132, 0.7579723000526428, 0.7952266335487366, 0.7591702342033386, 0.7758039832115173, 0.7710912227630615, 0.7374526858329773, 0.7366036176681519, 0.7748799324035645, 0.7542539834976196, 0.7126975059509277, 0.7761754393577576], "q2_all": [0.7197461128234863, 0.8518543839454651, 0.7431004643440247, 0.6285122632980347, 0.7880139350891113, 0.7271865010261536, 0.7245779633522034, 0.7109264731407166, 0.7171806693077087, 0.7647918462753296, 0.6947890520095825, 0.7648433446884155, 0.7061752080917358, 0.6800890564918518, 0.7183977365493774, 0.7428231239318848, 0.7136126756668091, 0.7493613958358765, 0.6745458841323853, 0.7613697052001953, 0.7007472515106201, 0.698347806930542, 0.8164850473403931, 0.7330490350723267, 0.7014158964157104, 0.7575082778930664, 0.7580811381340027, 0.7721161246299744, 0.8025197982788086, 0.7007879018783569, 0.713754415512085, 0.6509097814559937], "cand_trans_speed_all": [0.014713644981384277, 0.01554444432258606, 0.015714749693870544, 0.014282558113336563, 0.01467820256948471, 0.014825180172920227, 0.015588520094752312, 0.01561899296939373, 0.015555582009255886, 0.015678144991397858, 0.014820577576756477, 0.016653886064887047, 0.016064556315541267, 0.015313724987208843, 0.015035701915621758, 0.01501215249300003, 0.017236946150660515, 0.01496793981641531, 0.014183038845658302, 0.016160693019628525, 0.014481606893241405, 0.013991370797157288, 0.015062719583511353, 0.01596374809741974, 0.016259243711829185, 0.016028519719839096, 0.015620349906384945, 0.01472613774240017, 0.015393204987049103, 0.0154475849121809, 0.01582634449005127, 0.015182418748736382], "cand_cum_xyz_disp_all": [[0.01697927713394165, -0.06575053185224533, -0.044418513774871826], [0.011188000440597534, -0.06391310691833496, -0.05026967078447342], [0.022086888551712036, -0.06930581480264664, -0.0447738841176033], [0.016420692205429077, -0.05974628031253815, -0.04565614461898804], [0.01601789891719818, -0.06220193952322006, -0.04304301738739014], [0.01663103699684143, -0.0663459300994873, -0.04488372057676315], [0.018490344285964966, -0.0636262595653534, -0.04879732429981232], [0.02145889401435852, -0.07004766166210175, -0.045930810272693634], [0.019610300660133362, -0.06631815433502197, -0.0498453751206398], [0.010639846324920654, -0.06863460689783096, -0.04664123058319092], [0.02053917944431305, -0.05868076533079147, -0.04728490114212036], [0.02482287585735321, -0.0690593421459198, -0.04908610135316849], [0.01952841877937317, -0.06785223633050919, -0.04547787457704544], [0.017812490463256836, -0.06339405477046967, -0.04578342288732529], [0.01702466607093811, -0.0679888129234314, -0.049268171191215515], [0.018596842885017395, -0.06333110481500626, -0.05141778290271759], [0.03368167579174042, -0.0652475580573082, -0.04730375111103058], [0.021717965602874756, -0.06459032744169235, -0.047687120735645294], [0.01582026481628418, -0.06143788993358612, -0.04933222383260727], [0.0233936607837677, -0.0692618265748024, -0.05212557315826416], [0.018168777227401733, -0.06483252346515656, -0.048611558973789215], [0.017620950937271118, -0.06093559414148331, -0.04441090673208237], [0.017942845821380615, -0.06523250043392181, -0.04744237661361694], [0.018585652112960815, -0.07129769027233124, -0.045035772025585175], [0.027529150247573853, -0.06657317280769348, -0.04879852384328842], [0.021818161010742188, -0.06339910626411438, -0.05136343091726303], [0.010804563760757446, -0.06727192550897598, -0.05033043026924133], [0.010285377502441406, -0.06071566790342331, -0.044544920325279236], [0.012443691492080688, -0.06662320345640182, -0.05176938325166702], [0.023930475115776062, -0.06688714027404785, -0.04855963587760925], [0.013695448637008667, -0.07254266738891602, -0.050192393362522125], [0.022547200322151184, -0.06312081217765808, -0.04638385772705078]], "cand_final_gripper_all": [0.9998676776885986, 0.9989738464355469, 0.9991479516029358, 0.9993503093719482, 1.0, 1.0, 0.9996365308761597, 0.9999531507492065, 0.9986723065376282, 0.9993277788162231, 0.9992088079452515, 1.0, 0.9995278120040894, 0.9993875026702881, 0.9996676445007324, 0.9997710585594177, 0.9990726709365845, 1.0, 0.9995682239532471, 0.9995425939559937, 0.9995549917221069, 0.9990261793136597, 0.9997526407241821, 0.9993714094161987, 0.999080240726471, 0.9991035461425781, 0.99894779920578, 0.9989844560623169, 0.9993867874145508, 0.9995396137237549, 0.9994423389434814, 0.9995813369750977], "eef_pos": [0.6355999112129211, 0.14651113748550415, 0.23229964077472687], "cand_action_std": 0.13378344476222992, "cand_pairwise_centroid_dist_mean": 1.0773048400878906, "argmax_act_outlier": 1.1883554458618164, "time_encode_ms": 10.303399991244078, "time_diffusion_ms": 45.58766004629433, "time_q_score_ms": 14.63636290282011, "time_total_ms": 71.46153599023819, "num_action_samples_effective": 32, "q_aggregate": "pair_min"}
+{"chunk_ordinal": 10, "q_min_best": 0.9523029923439026, "q_min_mean": 0.9248472452163696, "q_min_std": 0.01648816093802452, "q_min_median": 0.9272294044494629, "chosen_vs_median_q_gap": 0.025073587894439697, "q1_best": 0.9523029923439026, "q2_best": 0.9650012850761414, "v_val": 0.8331055045127869, "advantage": 0.11919748783111572, "best_idx": 17, "q_min_all": [0.8898269534111023, 0.9286637306213379, 0.9139866828918457, 0.9420576095581055, 0.9207954406738281, 0.9438602924346924, 0.9073289036750793, 0.9272294044494629, 0.9357151985168457, 0.932565450668335, 0.9222511053085327, 0.9125930070877075, 0.9309769868850708, 0.9115748405456543, 0.8908106088638306, 0.9141998887062073, 0.8916345834732056, 0.9523029923439026, 0.9291257858276367, 0.9476549029350281, 0.9411392211914062, 0.9323365092277527, 0.941902756690979, 0.9036205410957336, 0.9184080958366394, 0.9388468265533447, 0.9259843826293945, 0.9205625057220459, 0.934276819229126, 0.9435425996780396, 0.9173243641853333, 0.9320129156112671], "q1_all": [0.8898269534111023, 0.9378798007965088, 0.9628068804740906, 0.9420576095581055, 0.9207954406738281, 0.9438602924346924, 0.9073289036750793, 0.9272294044494629, 0.9357151985168457, 0.932565450668335, 0.9222511053085327, 0.9125930070877075, 0.946155846118927, 0.9524084329605103, 0.8908106088638306, 0.948661208152771, 0.9401388764381409, 0.9523029923439026, 0.9291257858276367, 0.9476549029350281, 0.9519596099853516, 0.9323365092277527, 0.941902756690979, 0.9036205410957336, 0.9184080958366394, 0.9388468265533447, 0.9259843826293945, 0.9742845892906189, 0.934276819229126, 0.9435425996780396, 0.9180399179458618, 0.9320129156112671], "q2_all": [1.0123239755630493, 0.9286637306213379, 0.9139866828918457, 0.9596835970878601, 0.9625285863876343, 0.9519612789154053, 0.9830439686775208, 0.9680430889129639, 0.970355749130249, 0.9381605386734009, 0.9789140224456787, 0.9860097765922546, 0.9309769868850708, 0.9115748405456543, 0.9341552257537842, 0.9141998887062073, 0.8916345834732056, 0.9650012850761414, 0.992253303527832, 0.9478855729103088, 0.9411392211914062, 0.959563136100769, 0.9769667387008667, 0.9491280317306519, 0.9941741228103638, 0.9916214942932129, 0.9688460230827332, 0.9205625057220459, 0.9934351444244385, 1.0267517566680908, 0.9173243641853333, 0.9799332618713379], "cand_trans_speed_all": [0.01642829179763794, 0.014566871337592602, 0.016217660158872604, 0.016167353838682175, 0.01622195914387703, 0.015836892649531364, 0.0163949616253376, 0.016385933384299278, 0.01614568941295147, 0.015629339963197708, 0.0162091925740242, 0.015826312825083733, 0.015714634209871292, 0.01606544852256775, 0.01559990830719471, 0.01601598784327507, 0.015210894867777824, 0.016537228599190712, 0.01674419641494751, 0.01568973809480667, 0.015388320200145245, 0.015549163334071636, 0.01716037094593048, 0.01752953603863716, 0.015915287658572197, 0.017417676746845245, 0.01555483229458332, 0.017149237915873528, 0.016835711896419525, 0.01873782090842724, 0.015926096588373184, 0.015101758763194084], "cand_cum_xyz_disp_all": [[0.02721397578716278, -0.07582711428403854, -0.030148401856422424], [0.027801617980003357, -0.06770763546228409, -0.026754871010780334], [0.03446042537689209, -0.07284890115261078, -0.028317570686340332], [0.03151775896549225, -0.07775559276342392, -0.02892225980758667], [0.03318946063518524, -0.07258067280054092, -0.03105880320072174], [0.031242460012435913, -0.07702052593231201, -0.029162771999835968], [0.027513310313224792, -0.07891334593296051, -0.03174588829278946], [0.0364995151758194, -0.07565780729055405, -0.02737380564212799], [0.03042694926261902, -0.08173748850822449, -0.030773326754570007], [0.03037586808204651, -0.06776796281337738, -0.02913486957550049], [0.027265280485153198, -0.07693973928689957, -0.027030661702156067], [0.023016542196273804, -0.07391148805618286, -0.03151005506515503], [0.026650935411453247, -0.0756550133228302, -0.03127092123031616], [0.03018251061439514, -0.07733070850372314, -0.02810438722372055], [0.03213329613208771, -0.06969083845615387, -0.028589151799678802], [0.03613962233066559, -0.07271957397460938, -0.033303678035736084], [0.026065602898597717, -0.06846818327903748, -0.03423707187175751], [0.028989046812057495, -0.08078396320343018, -0.03136032819747925], [0.029255792498588562, -0.08117800205945969, -0.03314013034105301], [0.029335051774978638, -0.07461630553007126, -0.029900185763835907], [0.028886526823043823, -0.07244791835546494, -0.030392251908779144], [0.029085561633110046, -0.07657671719789505, -0.028028853237628937], [0.033545464277267456, -0.07770342379808426, -0.029787160456180573], [0.02955441176891327, -0.0790523961186409, -0.026895485818386078], [0.025562867522239685, -0.07942084968090057, -0.029276318848133087], [0.03131963312625885, -0.07729735970497131, -0.027525879442691803], [0.022988319396972656, -0.07213647663593292, -0.026664704084396362], [0.03414952754974365, -0.08090716600418091, -0.03409639745950699], [0.03175683319568634, -0.07699977606534958, -0.029947713017463684], [0.02955058217048645, -0.0802154392004013, -0.034530386328697205], [0.0355156809091568, -0.07574210315942764, -0.030604250729084015], [0.025694608688354492, -0.07455474883317947, -0.02548457682132721]], "cand_final_gripper_all": [0.9999635219573975, 0.9991581439971924, 0.9999068975448608, 0.9995337724685669, 0.99949711561203, 0.9997435808181763, 0.999247670173645, 0.9999066591262817, 0.9991049766540527, 0.9999310374259949, 1.0, 0.9997358322143555, 1.0, 0.9992657899856567, 1.0, 0.9994866251945496, 0.9992591142654419, 0.998920202255249, 0.9991527795791626, 1.0, 0.999430775642395, 0.9992377161979675, 0.9991989731788635, 0.9990743398666382, 1.0, 0.999983012676239, 0.9997934103012085, 0.9996242523193359, 0.9994525909423828, 0.999811053276062, 0.9988855123519897, 0.9998536705970764], "eef_pos": [0.5977137684822083, 0.16763298213481903, 0.2516113519668579], "cand_action_std": 0.1257820427417755, "cand_pairwise_centroid_dist_mean": 1.0141552686691284, "argmax_act_outlier": 1.0357025861740112, "time_encode_ms": 12.066659051924944, "time_diffusion_ms": 39.620860014110804, "time_q_score_ms": 10.805972153320909, "time_total_ms": 63.92970308661461, "num_action_samples_effective": 32, "q_aggregate": "pair_min"}
+{"chunk_ordinal": 11, "q_min_best": 0.7038952112197876, "q_min_mean": 0.6393919587135315, "q_min_std": 0.03646348416805267, "q_min_median": 0.6397335529327393, "chosen_vs_median_q_gap": 0.06416165828704834, "q1_best": 0.7233044505119324, "q2_best": 0.7038952112197876, "v_val": 0.9085068106651306, "advantage": -0.20461159944534302, "best_idx": 5, "q_min_all": [0.5776541233062744, 0.5452386736869812, 0.6959071755409241, 0.6614083051681519, 0.6771974563598633, 0.7038952112197876, 0.6510883569717407, 0.5996379256248474, 0.6212260723114014, 0.6507723927497864, 0.6928269863128662, 0.5913248062133789, 0.6088244915008545, 0.6149336099624634, 0.6645718812942505, 0.6382519006729126, 0.6397335529327393, 0.6728212833404541, 0.627934992313385, 0.6449720859527588, 0.6272626519203186, 0.6185652017593384, 0.6169725656509399, 0.6162827610969543, 0.6800293326377869, 0.675765872001648, 0.5926283597946167, 0.6334532499313354, 0.6617713570594788, 0.6732790470123291, 0.6408937573432922, 0.6434167623519897], "q1_all": [0.7371904850006104, 0.6445211172103882, 0.759881854057312, 0.711063027381897, 0.7160364389419556, 0.7233044505119324, 0.6867400407791138, 0.5996379256248474, 0.6212260723114014, 0.6703863143920898, 0.7492913007736206, 0.6296085119247437, 0.6469729542732239, 0.6465392112731934, 0.7182039022445679, 0.7087808847427368, 0.6734529137611389, 0.6750234365463257, 0.7011991143226624, 0.7133042216300964, 0.7189664840698242, 0.6579054594039917, 0.7024490237236023, 0.6765420436859131, 0.7071329951286316, 0.7351880669593811, 0.6267174482345581, 0.6987272500991821, 0.7185774445533752, 0.6780566573143005, 0.6851541996002197, 0.6804692149162292], "q2_all": [0.5776541233062744, 0.5452386736869812, 0.6959071755409241, 0.6614083051681519, 0.6771974563598633, 0.7038952112197876, 0.6510883569717407, 0.6252769827842712, 0.6264047622680664, 0.6507723927497864, 0.6928269863128662, 0.5913248062133789, 0.6088244915008545, 0.6149336099624634, 0.6645718812942505, 0.6382519006729126, 0.6397335529327393, 0.6728212833404541, 0.627934992313385, 0.6449720859527588, 0.6272626519203186, 0.6185652017593384, 0.6169725656509399, 0.6162827610969543, 0.6800293326377869, 0.675765872001648, 0.5926283597946167, 0.6334532499313354, 0.6617713570594788, 0.6732790470123291, 0.6408937573432922, 0.6434167623519897], "cand_trans_speed_all": [0.017009353265166283, 0.016605276614427567, 0.017756842076778412, 0.01692422851920128, 0.017784912139177322, 0.01747462898492813, 0.01775900088250637, 0.016610661521553993, 0.015568161383271217, 0.016361799091100693, 0.017342738807201385, 0.017237957566976547, 0.017291713505983353, 0.016408130526542664, 0.017079651355743408, 0.017379160970449448, 0.017917685210704803, 0.017139166593551636, 0.015780018642544746, 0.016081925481557846, 0.017182426527142525, 0.016923867166042328, 0.017075126990675926, 0.016176240518689156, 0.016910649836063385, 0.016604701057076454, 0.016827400773763657, 0.017113901674747467, 0.016234202310442924, 0.01753467693924904, 0.017612267285585403, 0.016850383952260017], "cand_cum_xyz_disp_all": [[0.02471129596233368, -0.09233811497688293, -0.00013466179370880127], [0.011946871876716614, -0.0920453891158104, -0.0033080950379371643], [0.026375845074653625, -0.09899187833070755, -0.006795912981033325], [0.02108997106552124, -0.09495806694030762, -0.005476206541061401], [0.022286027669906616, -0.09654515236616135, -0.004638202488422394], [0.02034682035446167, -0.09820897877216339, -0.006757363677024841], [0.0212811678647995, -0.09709175676107407, -0.002078734338283539], [0.011386051774024963, -0.09534787386655807, -0.004581712186336517], [0.015758097171783447, -0.08850108087062836, -0.0009742975234985352], [0.021892070770263672, -0.08801159262657166, -0.00030744075775146484], [0.025453686714172363, -0.09467943012714386, -0.0058221518993377686], [0.013012424111366272, -0.09964978694915771, -0.0018613338470458984], [0.014905065298080444, -0.09854239970445633, 0.0018263980746269226], [0.019217759370803833, -0.09173669666051865, 0.0006723776459693909], [0.022429943084716797, -0.09099891036748886, -0.006303168833255768], [0.019410550594329834, -0.09499657899141312, -0.00701412558555603], [0.012896552681922913, -0.10148008167743683, -0.004980720579624176], [0.016807645559310913, -0.09752160310745239, -0.001993238925933838], [0.021310672163963318, -0.0857795923948288, -0.0029406994581222534], [0.019826099276542664, -0.09041470289230347, -0.005394585430622101], [0.019754663109779358, -0.09448035806417465, 0.001444391906261444], [0.015763461589813232, -0.09596560895442963, -0.0023526549339294434], [0.013206914067268372, -0.09906727820634842, -0.004851825535297394], [0.016598179936408997, -0.09360066801309586, -0.003263339400291443], [0.020889341831207275, -0.09475154429674149, -0.00609181821346283], [0.024724990129470825, -0.09327682107686996, -0.006752006709575653], [0.01084090769290924, -0.09692732244729996, -0.005173139274120331], [0.016693517565727234, -0.09872180968523026, -0.003234274685382843], [0.019372686743736267, -0.09113440662622452, -0.0018199309706687927], [0.02016502618789673, -0.09823469817638397, -0.0006472542881965637], [0.01702621579170227, -0.09930192679166794, -0.0046190544962882996], [0.015285566449165344, -0.0960579589009285, -0.003983795642852783]], "cand_final_gripper_all": [1.0, 0.9999709129333496, 0.9989442825317383, 0.999994695186615, 0.9993233680725098, 0.9992368221282959, 0.9998596906661987, 0.9999152421951294, 1.0, 1.0, 0.9990289211273193, 0.99965500831604, 0.9989267587661743, 0.9991329908370972, 0.9996376037597656, 0.9992456436157227, 1.0, 0.9990854263305664, 1.0, 0.9992139339447021, 1.0, 0.9998050928115845, 0.9991496801376343, 0.9999943375587463, 1.0, 0.9995381832122803, 0.9995425343513489, 0.9990063905715942, 0.999409556388855, 1.0, 1.0, 0.9996455907821655], "eef_pos": [0.5435421466827393, 0.18775084614753723, 0.2552535831928253], "cand_action_std": 0.11269593983888626, "cand_pairwise_centroid_dist_mean": 0.9255496263504028, "argmax_act_outlier": 0.8419495224952698, "time_encode_ms": 10.004666866734624, "time_diffusion_ms": 49.43976202048361, "time_q_score_ms": 10.309922974556684, "time_total_ms": 70.66622213460505, "num_action_samples_effective": 32, "q_aggregate": "pair_min"}
+{"chunk_ordinal": 12, "q_min_best": 0.6396126747131348, "q_min_mean": 0.5668783783912659, "q_min_std": 0.047851189970970154, "q_min_median": 0.5643889904022217, "chosen_vs_median_q_gap": 0.07522368431091309, "q1_best": 0.7139104604721069, "q2_best": 0.6396126747131348, "v_val": 0.9976209402084351, "advantage": -0.3580082654953003, "best_idx": 11, "q_min_all": [0.6119140386581421, 0.5507329106330872, 0.6383155584335327, 0.617699146270752, 0.5621767044067383, 0.5053749084472656, 0.48937687277793884, 0.5638819932937622, 0.597756564617157, 0.6006506681442261, 0.5791286826133728, 0.6396126747131348, 0.5087904334068298, 0.6303757429122925, 0.5932978391647339, 0.5775728225708008, 0.591245710849762, 0.5529627799987793, 0.5643889904022217, 0.5192185044288635, 0.5995572209358215, 0.5729318261146545, 0.4704805314540863, 0.5793570280075073, 0.6086412668228149, 0.6335781812667847, 0.5321774482727051, 0.5524252653121948, 0.4568103551864624, 0.5543941259384155, 0.5230944156646729, 0.5621867179870605], "q1_all": [0.6764800548553467, 0.7138231992721558, 0.6635512113571167, 0.6813111305236816, 0.6686437726020813, 0.6023919582366943, 0.6548436880111694, 0.6796513795852661, 0.6734308004379272, 0.6950740218162537, 0.6839519143104553, 0.7139104604721069, 0.640838623046875, 0.6303757429122925, 0.693763256072998, 0.7132522463798523, 0.6295051574707031, 0.6920660734176636, 0.676166832447052, 0.6936569213867188, 0.6992031335830688, 0.7028400897979736, 0.5913722515106201, 0.6455723643302917, 0.6328852772712708, 0.6728713512420654, 0.667912483215332, 0.6556507349014282, 0.688379168510437, 0.691108226776123, 0.6596907377243042, 0.6165159344673157], "q2_all": [0.6119140386581421, 0.5507329106330872, 0.6383155584335327, 0.617699146270752, 0.5621767044067383, 0.5053749084472656, 0.48937687277793884, 0.5638819932937622, 0.597756564617157, 0.6006506681442261, 0.5791286826133728, 0.6396126747131348, 0.5087904334068298, 0.6552284955978394, 0.5932978391647339, 0.5775728225708008, 0.591245710849762, 0.5529627799987793, 0.5643889904022217, 0.5192185044288635, 0.5995572209358215, 0.5729318261146545, 0.4704805314540863, 0.5793570280075073, 0.6086412668228149, 0.6335781812667847, 0.5321774482727051, 0.5524252653121948, 0.4568103551864624, 0.5543941259384155, 0.5230944156646729, 0.5621867179870605], "cand_trans_speed_all": [0.01543406955897808, 0.016108959913253784, 0.01636248268187046, 0.016318678855895996, 0.016694167628884315, 0.01614515855908394, 0.01660119742155075, 0.014278018847107887, 0.016238048672676086, 0.016254786401987076, 0.015328969806432724, 0.015395967289805412, 0.01555244904011488, 0.015496589243412018, 0.01627757027745247, 0.01424550823867321, 0.01519812922924757, 0.016821257770061493, 0.015967734158039093, 0.015861276537179947, 0.01480012945830822, 0.014904925599694252, 0.01662089116871357, 0.016700295731425285, 0.01527064573019743, 0.015807799994945526, 0.01612662337720394, 0.016121529042720795, 0.01644313894212246, 0.014818179421126842, 0.015619747340679169, 0.017157739028334618], "cand_cum_xyz_disp_all": [[0.009911388158798218, -0.08310028910636902, 0.001647859811782837], [0.007211416959762573, -0.0945361852645874, 0.002687700092792511], [0.0051682740449905396, -0.09510338306427002, 0.0033458173274993896], [0.005188018083572388, -0.0968395471572876, 0.004109926521778107], [0.005913108587265015, -0.09663207828998566, 0.0019881799817085266], [0.004902154207229614, -0.09250341355800629, 0.0018016993999481201], [0.003720000386238098, -0.09495871514081955, 0.006304606795310974], [0.0072488486766815186, -0.08159712702035904, 0.003377392888069153], [0.001971334218978882, -0.09287592768669128, 0.00477677583694458], [0.008138984441757202, -0.09384626895189285, 0.0032223686575889587], [0.007370263338088989, -0.08872882276773453, 0.002041839063167572], [0.009295910596847534, -0.08720321953296661, 0.001875944435596466], [-0.001650393009185791, -0.08808324486017227, 0.007294736802577972], [0.003811448812484741, -0.08950993418693542, 0.0011239349842071533], [0.008506163954734802, -0.0940520390868187, 0.0012885108590126038], [0.008334174752235413, -0.08340708166360855, 0.0017998963594436646], [0.0006973296403884888, -0.08828067034482956, 0.002139836549758911], [0.011689603328704834, -0.09702575206756592, -0.0016449540853500366], [0.005549117922782898, -0.09278009086847305, 0.005474910140037537], [0.007742211222648621, -0.09150054305791855, 0.0010908618569374084], [0.003932371735572815, -0.08529060333967209, 0.00500120222568512], [0.00559544563293457, -0.08632039278745651, 0.0010233893990516663], [0.0030831098556518555, -0.09512586146593094, 0.0043454840779304504], [0.0031073838472366333, -0.09770228713750839, 0.0016160085797309875], [0.0024304836988449097, -0.0904044657945633, 0.00109148770570755], [0.008052363991737366, -0.0925297737121582, -0.0013675764203071594], [-0.003116235136985779, -0.09027093648910522, 0.005673408508300781], [0.0009488165378570557, -0.09186696261167526, 0.004771798849105835], [0.007016733288764954, -0.09516055136919022, 0.0040326789021492004], [0.006192430853843689, -0.08223442733287811, 0.005229003727436066], [0.003257066011428833, -0.09113411605358124, 0.002114817500114441], [-0.001743018627166748, -0.098088838160038, 0.0074606165289878845]], "cand_final_gripper_all": [0.9985624551773071, 1.0, 0.9987469911575317, 1.0, 0.9989058971405029, 0.9995870590209961, 0.9997069835662842, 1.0, 1.0, 0.9987653493881226, 1.0, 0.999401330947876, 1.0, 0.9990166425704956, 0.9992088079452515, 0.9994808435440063, 0.9997621774673462, 0.9994873404502869, 0.9999657869338989, 0.9991409778594971, 1.0, 0.9995243549346924, 0.9990171194076538, 0.9992089867591858, 1.0, 0.9985162615776062, 0.9987705945968628, 0.9987238049507141, 1.0, 1.0, 1.0, 1.0], "eef_pos": [0.4774680733680725, 0.19106779992580414, 0.2476540356874466], "cand_action_std": 0.11239055544137955, "cand_pairwise_centroid_dist_mean": 0.9623031616210938, "argmax_act_outlier": 1.0759471654891968, "time_encode_ms": 8.51091812364757, "time_diffusion_ms": 48.30929706804454, "time_q_score_ms": 13.475561048835516, "time_total_ms": 72.25767197087407, "num_action_samples_effective": 32, "q_aggregate": "pair_min"}
+{"chunk_ordinal": 13, "q_min_best": 0.6690816879272461, "q_min_mean": 0.5748869180679321, "q_min_std": 0.045805495232343674, "q_min_median": 0.5545510053634644, "chosen_vs_median_q_gap": 0.11453068256378174, "q1_best": 0.7467426657676697, "q2_best": 0.6690816879272461, "v_val": 0.9705765247344971, "advantage": -0.301494836807251, "best_idx": 3, "q_min_all": [0.565986156463623, 0.6385272145271301, 0.5218064785003662, 0.6690816879272461, 0.5539769530296326, 0.5377721190452576, 0.6288342475891113, 0.5515756607055664, 0.6435814499855042, 0.5887683629989624, 0.5183740258216858, 0.5123923420906067, 0.6238254308700562, 0.5459094643592834, 0.5458296537399292, 0.6398060321807861, 0.6392808556556702, 0.5730001330375671, 0.5445820689201355, 0.6096183061599731, 0.5140148997306824, 0.5540051460266113, 0.5404099822044373, 0.5709158778190613, 0.5545510053634644, 0.5498231649398804, 0.5450352430343628, 0.5069684982299805, 0.6228306293487549, 0.5968803763389587, 0.6254712343215942, 0.562946617603302], "q1_all": [0.6083674430847168, 0.6519187092781067, 0.6459923982620239, 0.7467426657676697, 0.6267638206481934, 0.6175037622451782, 0.6823628544807434, 0.5995442271232605, 0.7144334316253662, 0.6379485726356506, 0.6122742891311646, 0.685767412185669, 0.7002550959587097, 0.6382178664207458, 0.661666214466095, 0.6653032302856445, 0.6576353311538696, 0.6609183549880981, 0.5630791187286377, 0.6722346544265747, 0.71533203125, 0.6276357173919678, 0.55913245677948, 0.676429033279419, 0.6142898797988892, 0.6408924460411072, 0.6076110601425171, 0.5648688077926636, 0.6484308242797852, 0.6531585454940796, 0.6824100613594055, 0.6445564031600952], "q2_all": [0.565986156463623, 0.6385272145271301, 0.5218064785003662, 0.6690816879272461, 0.5539769530296326, 0.5377721190452576, 0.6288342475891113, 0.5515756607055664, 0.6435814499855042, 0.5887683629989624, 0.5183740258216858, 0.5123923420906067, 0.6238254308700562, 0.5459094643592834, 0.5458296537399292, 0.6398060321807861, 0.6392808556556702, 0.5730001330375671, 0.5445820689201355, 0.6096183061599731, 0.5140148997306824, 0.5540051460266113, 0.5404099822044373, 0.5709158778190613, 0.5545510053634644, 0.5498231649398804, 0.5450352430343628, 0.5069684982299805, 0.6228306293487549, 0.5968803763389587, 0.6254712343215942, 0.562946617603302], "cand_trans_speed_all": [0.006109606474637985, 0.007289401721209288, 0.007227495312690735, 0.007948935963213444, 0.0052134012803435326, 0.008205551654100418, 0.007251457776874304, 0.008548375219106674, 0.007664088159799576, 0.006422532256692648, 0.00723061989992857, 0.008140191435813904, 0.006488492246717215, 0.008913409896194935, 0.007508053444325924, 0.007193983532488346, 0.010468034073710442, 0.008230982348322868, 0.007631067186594009, 0.005820471793413162, 0.006899427622556686, 0.007075409404933453, 0.010329319164156914, 0.007964779622852802, 0.00712664145976305, 0.008030807599425316, 0.007849164307117462, 0.008982047438621521, 0.007644607685506344, 0.008045054972171783, 0.006677824072539806, 0.006714958697557449], "cand_cum_xyz_disp_all": [[-0.012345358729362488, -0.02547307312488556, 0.004274681210517883], [-0.007463827729225159, -0.021232977509498596, -0.0025882646441459656], [-0.013545796275138855, -0.028862550854682922, 0.0019069984555244446], [-0.011130452156066895, -0.03550827503204346, -0.00015030056238174438], [-0.011913493275642395, -0.017803043127059937, 0.002568162977695465], [-0.01626594364643097, -0.027832701802253723, 0.002604953944683075], [-0.005977407097816467, -0.02597774565219879, 0.0026582106947898865], [-0.016348659992218018, -0.027808979153633118, 0.0021952763199806213], [-0.004337087273597717, -0.025306716561317444, -0.00443558394908905], [-0.012063190340995789, -0.026371479034423828, 0.00673723965883255], [-0.012121975421905518, -0.025010526180267334, 0.000910639762878418], [-0.007734611630439758, -0.023397937417030334, 0.001631312072277069], [-0.008211925625801086, -0.024668589234352112, -0.003342278301715851], [-0.014957249164581299, -0.02863842248916626, 0.006538107991218567], [-0.016561642289161682, -0.0374058336019516, -0.002160973846912384], [-0.010473355650901794, -0.023036405444145203, 0.0025028958916664124], [-0.00872744619846344, -0.029614999890327454, -0.0007362216711044312], [-0.011769086122512817, -0.02647995948791504, 0.0010961070656776428], [-0.009531095623970032, -0.02424459159374237, 0.004651196300983429], [-0.011541441082954407, -0.02098776400089264, 0.0007541477680206299], [-0.013859793543815613, -0.03544968366622925, 0.002757526934146881], [-0.018307149410247803, -0.028336182236671448, 0.0030150339007377625], [-0.01712721586227417, -0.027836203575134277, 0.00430317223072052], [-0.017468303442001343, -0.032521024346351624, 0.0045747458934783936], [-0.018082380294799805, -0.03016825020313263, 0.0053519606590271], [-0.013281404972076416, -0.029704749584197998, 0.0007008686661720276], [-0.014707803726196289, -0.021881118416786194, 0.00293722003698349], [-0.013481393456459045, -0.023816660046577454, 0.004543870687484741], [-0.015584036707878113, -0.03379617631435394, 0.0007188916206359863], [-0.011319950222969055, -0.032734066247940063, 0.0025868788361549377], [-0.01209135353565216, -0.032452091574668884, -0.0009003803133964539], [-0.012623459100723267, -0.03217010200023651, -0.0004390701651573181]], "cand_final_gripper_all": [0.9995570182800293, 0.999200701713562, 0.9996103048324585, 0.9993040561676025, 0.9989124536514282, 0.998921275138855, 1.0, 1.0, 0.9993240237236023, 1.0, 0.9998898506164551, 0.9998244643211365, 0.9994790554046631, 0.9993373155593872, 0.9989426136016846, 0.9999198317527771, 0.9988693594932556, 0.9994323253631592, 0.9991356134414673, 0.9989092350006104, 0.999478280544281, 0.9995737075805664, 0.9984920024871826, 0.9990721940994263, 0.9988566637039185, 0.9995286464691162, 0.9994076490402222, 0.999732255935669, 0.999549388885498, 0.9992161393165588, 0.9993425607681274, 0.9997148513793945], "eef_pos": [0.4224320650100708, 0.17993943393230438, 0.24396255612373352], "cand_action_std": 0.1471429020166397, "cand_pairwise_centroid_dist_mean": 1.2051596641540527, "argmax_act_outlier": 1.2321577072143555, "time_encode_ms": 11.14501990377903, "time_diffusion_ms": 39.38846895471215, "time_q_score_ms": 11.10764080658555, "time_total_ms": 62.93835490942001, "num_action_samples_effective": 32, "q_aggregate": "pair_min"}
+{"chunk_ordinal": 14, "q_min_best": 0.7030321955680847, "q_min_mean": 0.628375232219696, "q_min_std": 0.03322914242744446, "q_min_median": 0.6293874979019165, "chosen_vs_median_q_gap": 0.07364469766616821, "q1_best": 0.8387175798416138, "q2_best": 0.7030321955680847, "v_val": 0.930690586566925, "advantage": -0.22765839099884033, "best_idx": 5, "q_min_all": [0.6012136340141296, 0.678316593170166, 0.6440919637680054, 0.6117427349090576, 0.605337917804718, 0.7030321955680847, 0.6293874979019165, 0.6788327097892761, 0.6756243109703064, 0.6460275650024414, 0.5967719554901123, 0.6323577165603638, 0.5985631346702576, 0.6411724090576172, 0.6086556911468506, 0.6551132798194885, 0.6383695602416992, 0.6434946656227112, 0.6178704500198364, 0.6309125423431396, 0.6718409061431885, 0.5742051601409912, 0.6394103169441223, 0.6327872276306152, 0.663133978843689, 0.6081750392913818, 0.6147297620773315, 0.5755265951156616, 0.5655957460403442, 0.6233232617378235, 0.6193307638168335, 0.5830610990524292], "q1_all": [0.8253517150878906, 0.8717049360275269, 0.857469916343689, 0.8188340663909912, 0.8013840913772583, 0.8387175798416138, 0.7895665168762207, 0.8353074789047241, 0.8285708427429199, 0.7938189506530762, 0.882568895816803, 0.8402209281921387, 0.8322374820709229, 0.838830292224884, 0.8387794494628906, 0.8578391671180725, 0.7998998165130615, 0.8374761343002319, 0.8360298275947571, 0.8402853608131409, 0.8630452156066895, 0.8107237219810486, 0.8130488395690918, 0.8316728472709656, 0.8370894193649292, 0.8424677848815918, 0.8624230623245239, 0.7786657214164734, 0.8388251066207886, 0.8650782108306885, 0.8118528723716736, 0.8435090780258179], "q2_all": [0.6012136340141296, 0.678316593170166, 0.6440919637680054, 0.6117427349090576, 0.605337917804718, 0.7030321955680847, 0.6293874979019165, 0.6788327097892761, 0.6756243109703064, 0.6460275650024414, 0.5967719554901123, 0.6323577165603638, 0.5985631346702576, 0.6411724090576172, 0.6086556911468506, 0.6551132798194885, 0.6383695602416992, 0.6434946656227112, 0.6178704500198364, 0.6309125423431396, 0.6718409061431885, 0.5742051601409912, 0.6394103169441223, 0.6327872276306152, 0.663133978843689, 0.6081750392913818, 0.6147297620773315, 0.5755265951156616, 0.5655957460403442, 0.6233232617378235, 0.6193307638168335, 0.5830610990524292], "cand_trans_speed_all": [0.006335654761642218, 0.006836368702352047, 0.006583273410797119, 0.007304839789867401, 0.007501996587961912, 0.007972832769155502, 0.0075281113386154175, 0.00652090972289443, 0.007692991755902767, 0.007215782999992371, 0.006167031358927488, 0.007748679723590612, 0.006395743694156408, 0.006770753301680088, 0.006353191565722227, 0.008537979796528816, 0.006866614334285259, 0.007704354822635651, 0.00792523194104433, 0.006138316821306944, 0.007733949925750494, 0.005849634762853384, 0.007734211161732674, 0.0065712593495845795, 0.007542367093265057, 0.007182737346738577, 0.006674911826848984, 0.00734115531668067, 0.005490985698997974, 0.006060424260795116, 0.0065372115932404995, 0.006793782114982605], "cand_cum_xyz_disp_all": [[-0.022184103727340698, -0.01888030767440796, 0.011613495647907257], [-0.029604509472846985, -0.02311721444129944, 0.0078071728348731995], [-0.022570878267288208, -0.021655336022377014, 0.007450945675373077], [-0.028216034173965454, -0.025960296392440796, 0.011955268681049347], [-0.02410396933555603, -0.026953324675559998, 0.014132015407085419], [-0.033447831869125366, -0.02486833930015564, 0.01140863448381424], [-0.02854067087173462, -0.024427831172943115, 0.012949801981449127], [-0.02630336582660675, -0.02404358983039856, 0.009215094149112701], [-0.028926655650138855, -0.026555612683296204, 0.011503569781780243], [-0.026506707072257996, -0.020902901887893677, 0.011621467769145966], [-0.01978510618209839, -0.019198819994926453, 0.009177081286907196], [-0.024693042039871216, -0.016607671976089478, 0.01008584350347519], [-0.020186811685562134, -0.02459438145160675, 0.010350488126277924], [-0.02319788932800293, -0.021297842264175415, 0.008694075047969818], [-0.018856778740882874, -0.027603790163993835, 0.005978159606456757], [-0.02595430612564087, -0.019802600145339966, 0.011840693652629852], [-0.028294071555137634, -0.02124801278114319, 0.008487321436405182], [-0.022091984748840332, -0.01283515989780426, 0.006957404315471649], [-0.026178434491157532, -0.024685367941856384, 0.009108580648899078], [-0.024126529693603516, -0.02278667688369751, 0.008797518908977509], [-0.023958250880241394, -0.02598068118095398, 0.009717680513858795], [-0.02240017056465149, -0.013872683048248291, 0.009305216372013092], [-0.02537757158279419, -0.01935507357120514, 0.011189065873622894], [-0.0244104266166687, -0.025766700506210327, 0.009482152760028839], [-0.030780509114265442, -0.023320183157920837, 0.0122237429022789], [-0.025539755821228027, -0.021055161952972412, 0.011194370687007904], [-0.02356863021850586, -0.01764647662639618, 0.013054423034191132], [-0.025444909930229187, -0.015428438782691956, 0.012448541820049286], [-0.017580270767211914, -0.019622385501861572, 0.006380945444107056], [-0.019953757524490356, -0.013341337442398071, 0.006287112832069397], [-0.022753044962882996, -0.026144489645957947, 0.010832302272319794], [-0.021232977509498596, -0.021518230438232422, 0.01123753935098648]], "cand_final_gripper_all": [0.9994038939476013, 0.9997024536132812, 0.9997837543487549, 1.0, 0.9998005628585815, 0.9996623992919922, 1.0, 1.0, 0.9996143579483032, 0.9999814033508301, 0.9998881220817566, 0.9999948740005493, 1.0, 0.9987607002258301, 0.9980721473693848, 1.0, 1.0, 1.0, 1.0, 0.9989834427833557, 1.0, 0.9996623992919922, 1.0, 0.999659538269043, 0.9990209341049194, 0.9994899034500122, 1.0, 1.0, 0.9998223781585693, 0.9987531900405884, 0.9997357130050659, 0.999862551689148], "eef_pos": [0.4093858599662781, 0.16529737412929535, 0.24380739033222198], "cand_action_std": 0.10671815276145935, "cand_pairwise_centroid_dist_mean": 0.88719642162323, "argmax_act_outlier": 1.004534125328064, "time_encode_ms": 11.33571402169764, "time_diffusion_ms": 38.965574000030756, "time_q_score_ms": 13.320573139935732, "time_total_ms": 64.593754010275, "num_action_samples_effective": 32, "q_aggregate": "pair_min"}
+{"chunk_ordinal": 15, "q_min_best": 0.7052096724510193, "q_min_mean": 0.6536617279052734, "q_min_std": 0.025666406378149986, "q_min_median": 0.652808427810669, "chosen_vs_median_q_gap": 0.05240124464035034, "q1_best": 0.7280231714248657, "q2_best": 0.7052096724510193, "v_val": 0.7342543601989746, "advantage": -0.029044687747955322, "best_idx": 11, "q_min_all": [0.658467173576355, 0.652808427810669, 0.6693448424339294, 0.6533615589141846, 0.6722815036773682, 0.6638062000274658, 0.576287567615509, 0.6671808958053589, 0.6424440741539001, 0.6305664777755737, 0.6192018985748291, 0.7052096724510193, 0.6628734469413757, 0.6528000831604004, 0.6851338148117065, 0.6814157962799072, 0.638086199760437, 0.6321279406547546, 0.6628021001815796, 0.636982798576355, 0.6416471600532532, 0.6894456744194031, 0.6975860595703125, 0.6409991979598999, 0.6322529315948486, 0.6748113632202148, 0.6575813293457031, 0.6254714131355286, 0.6362495422363281, 0.671007513999939, 0.6374555826187134, 0.6494836807250977], "q1_all": [0.7137147188186646, 0.7169743180274963, 0.707813560962677, 0.7065609693527222, 0.7087491154670715, 0.7680823802947998, 0.6559948325157166, 0.7252962589263916, 0.7251618504524231, 0.7019506692886353, 0.6925879716873169, 0.7280231714248657, 0.7368592619895935, 0.7037143111228943, 0.7468563914299011, 0.7786810398101807, 0.7246065139770508, 0.6853317022323608, 0.7206274271011353, 0.6767231822013855, 0.7212729454040527, 0.7406467795372009, 0.732019305229187, 0.6958664655685425, 0.6669633388519287, 0.7867676615715027, 0.7720049023628235, 0.6950526237487793, 0.7075807452201843, 0.7090261578559875, 0.7194902300834656, 0.6908917427062988], "q2_all": [0.658467173576355, 0.652808427810669, 0.6693448424339294, 0.6533615589141846, 0.6722815036773682, 0.6638062000274658, 0.576287567615509, 0.6671808958053589, 0.6424440741539001, 0.6305664777755737, 0.6192018985748291, 0.7052096724510193, 0.6628734469413757, 0.6528000831604004, 0.6851338148117065, 0.6814157962799072, 0.638086199760437, 0.6321279406547546, 0.6628021001815796, 0.636982798576355, 0.6416471600532532, 0.6894456744194031, 0.6975860595703125, 0.6409991979598999, 0.6322529315948486, 0.6748113632202148, 0.6575813293457031, 0.6254714131355286, 0.6362495422363281, 0.671007513999939, 0.6374555826187134, 0.6494836807250977], "cand_trans_speed_all": [0.010316685773432255, 0.0109395831823349, 0.009184245020151138, 0.009985222481191158, 0.009760567918419838, 0.011016681790351868, 0.008514253422617912, 0.009117807261645794, 0.009934416972100735, 0.009698767215013504, 0.00908303540199995, 0.01177025493234396, 0.010138405486941338, 0.009792441502213478, 0.010691690258681774, 0.011311378329992294, 0.010778211057186127, 0.009890884160995483, 0.010214408859610558, 0.01017957367002964, 0.00945923663675785, 0.011593654751777649, 0.011021852493286133, 0.009544115513563156, 0.009910371154546738, 0.011136839166283607, 0.01081834640353918, 0.010153277777135372, 0.009194497019052505, 0.00988541916012764, 0.009238896891474724, 0.010442822240293026], "cand_cum_xyz_disp_all": [[-0.043228358030319214, -0.032662808895111084, 0.01905646175146103], [-0.04938335716724396, -0.03165251016616821, 0.021534420549869537], [-0.03387969732284546, -0.02940891683101654, 0.01597016304731369], [-0.04274006187915802, -0.03169219195842743, 0.018991895020008087], [-0.04261021316051483, -0.0325755774974823, 0.013105221092700958], [-0.050856366753578186, -0.032679229974746704, 0.015698067843914032], [-0.03285336494445801, -0.025617092847824097, 0.016230665147304535], [-0.04156966507434845, -0.02809658646583557, 0.012433700263500214], [-0.04289659857749939, -0.032753944396972656, 0.018016643822193146], [-0.03921523690223694, -0.030523836612701416, 0.017464809119701385], [-0.03762216866016388, -0.02465835213661194, 0.015804432332515717], [-0.046719029545784, -0.038748666644096375, 0.018786244094371796], [-0.044030383229255676, -0.03305833041667938, 0.01634349673986435], [-0.04250161349773407, -0.031030163168907166, 0.01612546294927597], [-0.043340593576431274, -0.034617260098457336, 0.01640143245458603], [-0.04697014391422272, -0.02821671962738037, 0.017794154584407806], [-0.05225084722042084, -0.022899329662322998, 0.018405862152576447], [-0.04165293276309967, -0.031031697988510132, 0.015353851020336151], [-0.04248742759227753, -0.03259068727493286, 0.01867549866437912], [-0.044414222240448, -0.03158332407474518, 0.01806209236383438], [-0.045795738697052, -0.025003209710121155, 0.016437135636806488], [-0.047066643834114075, -0.03431934118270874, 0.017909683287143707], [-0.04431360960006714, -0.033071935176849365, 0.01679603010416031], [-0.041598036885261536, -0.027336999773979187, 0.015450097620487213], [-0.03977593779563904, -0.02207741141319275, 0.018093504011631012], [-0.046499818563461304, -0.035939887166023254, 0.018186815083026886], [-0.04663439095020294, -0.03687521815299988, 0.017919011414051056], [-0.043942660093307495, -0.026784315705299377, 0.01867549866437912], [-0.041978076100349426, -0.028705492615699768, 0.014961563050746918], [-0.041396722197532654, -0.032206371426582336, 0.013044334948062897], [-0.037953466176986694, -0.025726601481437683, 0.016741611063480377], [-0.04494817554950714, -0.03296780586242676, 0.01713041216135025]], "cand_final_gripper_all": [0.999610424041748, 0.9996446371078491, 0.9994385838508606, 0.9997362494468689, 0.9988334774971008, 0.9999312162399292, 0.9993820190429688, 1.0, 0.9977579712867737, 0.9999669790267944, 1.0, 0.999441385269165, 0.9989283084869385, 1.0, 0.9995356798171997, 0.9991989135742188, 0.9993088245391846, 1.0, 1.0, 0.9999741315841675, 0.9989267587661743, 0.9997637271881104, 0.9998142719268799, 0.9997503757476807, 1.0, 1.0, 0.998661994934082, 0.9987249374389648, 0.9993281364440918, 0.9999970197677612, 1.0, 0.9989911317825317], "eef_pos": [0.40816277265548706, 0.14388182759284973, 0.2376125603914261], "cand_action_std": 0.10393010079860687, "cand_pairwise_centroid_dist_mean": 0.9120998382568359, "argmax_act_outlier": 1.7225489616394043, "time_encode_ms": 11.46177900955081, "time_diffusion_ms": 40.57386587373912, "time_q_score_ms": 14.960442902520299, "time_total_ms": 67.9647030774504, "num_action_samples_effective": 32, "q_aggregate": "pair_min"}
+{"chunk_ordinal": 16, "q_min_best": 0.5844426155090332, "q_min_mean": 0.5276658535003662, "q_min_std": 0.02535969205200672, "q_min_median": 0.524144172668457, "chosen_vs_median_q_gap": 0.06029844284057617, "q1_best": 0.8419696688652039, "q2_best": 0.5844426155090332, "v_val": 0.4796968698501587, "advantage": 0.10474574565887451, "best_idx": 18, "q_min_all": [0.5608731508255005, 0.5456934571266174, 0.5375773310661316, 0.5377330780029297, 0.5340436697006226, 0.5695016980171204, 0.5538152456283569, 0.5324411988258362, 0.5214080214500427, 0.5108015537261963, 0.5195751190185547, 0.5128044486045837, 0.5360769033432007, 0.5136040449142456, 0.5166512727737427, 0.4802708923816681, 0.5228586792945862, 0.5537611842155457, 0.5844426155090332, 0.5175471305847168, 0.5384508967399597, 0.5123010873794556, 0.538602352142334, 0.5445199012756348, 0.5241427421569824, 0.5006530284881592, 0.524144172668457, 0.5360532402992249, 0.545157253742218, 0.5048654079437256, 0.45413073897361755, 0.5008042454719543], "q1_all": [0.8381535410881042, 0.8125110268592834, 0.7925856113433838, 0.8159329295158386, 0.8051120042800903, 0.8535937070846558, 0.8304015398025513, 0.6916555762290955, 0.7786323428153992, 0.8202416896820068, 0.7806519865989685, 0.8236266374588013, 0.7254964113235474, 0.7915655374526978, 0.8164000511169434, 0.8057800531387329, 0.7306876182556152, 0.8268314599990845, 0.8419696688652039, 0.6927632689476013, 0.8308042287826538, 0.7906059622764587, 0.7680303454399109, 0.7625647783279419, 0.8145294189453125, 0.7631262540817261, 0.7459807395935059, 0.7672117948532104, 0.8178526163101196, 0.7843730449676514, 0.6863019466400146, 0.7343482971191406], "q2_all": [0.5608731508255005, 0.5456934571266174, 0.5375773310661316, 0.5377330780029297, 0.5340436697006226, 0.5695016980171204, 0.5538152456283569, 0.5324411988258362, 0.5214080214500427, 0.5108015537261963, 0.5195751190185547, 0.5128044486045837, 0.5360769033432007, 0.5136040449142456, 0.5166512727737427, 0.4802708923816681, 0.5228586792945862, 0.5537611842155457, 0.5844426155090332, 0.5175471305847168, 0.5384508967399597, 0.5123010873794556, 0.538602352142334, 0.5445199012756348, 0.5241427421569824, 0.5006530284881592, 0.524144172668457, 0.5360532402992249, 0.545157253742218, 0.5048654079437256, 0.45413073897361755, 0.5008042454719543], "cand_trans_speed_all": [0.008403010666370392, 0.008788561448454857, 0.008313748054206371, 0.009197399020195007, 0.00885332003235817, 0.008907638490200043, 0.009583273902535439, 0.009015707299113274, 0.008809828199446201, 0.009170294739305973, 0.008514354936778545, 0.008956588804721832, 0.007177403196692467, 0.00896843895316124, 0.007745122071355581, 0.00824208464473486, 0.00821282435208559, 0.00952884927392006, 0.009621730074286461, 0.007926639169454575, 0.008901029825210571, 0.009769540280103683, 0.008533046580851078, 0.009989871643483639, 0.008863121271133423, 0.0076256683096289635, 0.008016835898160934, 0.009432192891836166, 0.00961549673229456, 0.007729399483650923, 0.006716230418533087, 0.00778558012098074], "cand_cum_xyz_disp_all": [[-0.03184525668621063, -0.021132811903953552, 0.011270157992839813], [-0.03838925063610077, -0.02555060386657715, 0.01123560220003128], [-0.033436402678489685, -0.02710665762424469, 0.009099729359149933], [-0.03861965239048004, -0.025639057159423828, 0.011897020041942596], [-0.0328749418258667, -0.029164031147956848, 0.014588899910449982], [-0.03583541512489319, -0.029893115162849426, 0.013391800224781036], [-0.03524467349052429, -0.03397902846336365, 0.011579208076000214], [-0.043363019824028015, -0.027563154697418213, 0.007976613938808441], [-0.03309719264507294, -0.025489896535873413, 0.012065820395946503], [-0.03558650612831116, -0.02736462652683258, 0.013373352587223053], [-0.03730130195617676, -0.021081194281578064, 0.01500692218542099], [-0.03399612009525299, -0.02992790937423706, 0.015402071177959442], [-0.028593599796295166, -0.019673630595207214, 0.00926210731267929], [-0.03406618535518646, -0.03128620982170105, 0.012958981096744537], [-0.03138834238052368, -0.019601717591285706, 0.013732872903347015], [-0.03387436270713806, -0.02569662034511566, 0.015750296413898468], [-0.032136499881744385, -0.03014729917049408, 0.011758841574192047], [-0.03486067056655884, -0.03274746239185333, 0.011074937880039215], [-0.032762810587882996, -0.03181234002113342, 0.01063574105501175], [-0.028136134147644043, -0.02714209258556366, 0.007283322513103485], [-0.029329851269721985, -0.02201847732067108, 0.012303926050662994], [-0.042375415563583374, -0.02738898992538452, 0.016377292573451996], [-0.03220534324645996, -0.026968777179718018, 0.01090405136346817], [-0.04211433231830597, -0.03076031804084778, 0.012215830385684967], [-0.03885453939437866, -0.023790910840034485, 0.013354890048503876], [-0.03376123309135437, -0.018752753734588623, 0.012321420013904572], [-0.032355353236198425, -0.029600635170936584, 0.008731000125408173], [-0.03943715989589691, -0.02461501955986023, 0.013109765946865082], [-0.031321629881858826, -0.02172592282295227, 0.0119967982172966], [-0.027073785662651062, -0.028220251202583313, 0.009564794600009918], [-0.029173940420150757, -0.02325935661792755, 0.008859805762767792], [-0.036106422543525696, -0.0218963623046875, 0.013179458677768707]], "cand_final_gripper_all": [0.9995776414871216, 1.0, 0.9982393980026245, 1.0, 1.0, 0.999897301197052, 1.0, 0.9995559453964233, 1.0, 0.9999937415122986, 1.0, 1.0, 1.0, 0.9989228248596191, 1.0, 1.0, 1.0, 1.0, 0.9999479055404663, 1.0, 0.9995944499969482, 0.9995783567428589, 0.9999788999557495, 1.0, 0.9997809529304504, 1.0, 0.9989886283874512, 0.9993858337402344, 1.0, 0.9998469352722168, 0.9992682933807373, 1.0], "eef_pos": [0.40710946917533875, 0.10674205422401428, 0.23329484462738037], "cand_action_std": 0.09060406684875488, "cand_pairwise_centroid_dist_mean": 0.8620142936706543, "argmax_act_outlier": 1.3112411499023438, "time_encode_ms": 8.263878989964724, "time_diffusion_ms": 43.7815620098263, "time_q_score_ms": 14.041900867596269, "time_total_ms": 67.76100606657565, "num_action_samples_effective": 32, "q_aggregate": "pair_min"}
+{"chunk_ordinal": 17, "q_min_best": 0.6769635677337646, "q_min_mean": 0.5879831910133362, "q_min_std": 0.04603205621242523, "q_min_median": 0.5948266983032227, "chosen_vs_median_q_gap": 0.08213686943054199, "q1_best": 0.7346335649490356, "q2_best": 0.6769635677337646, "v_val": 0.3976913392543793, "advantage": 0.2792722284793854, "best_idx": 26, "q_min_all": [0.5860377550125122, 0.5875282287597656, 0.49835672974586487, 0.5412293672561646, 0.523541271686554, 0.5526449084281921, 0.6196996569633484, 0.5948266983032227, 0.6052303314208984, 0.6024560928344727, 0.5812673568725586, 0.6595185995101929, 0.595481276512146, 0.6377787590026855, 0.5361843109130859, 0.5125662088394165, 0.6213246583938599, 0.6610105037689209, 0.600246250629425, 0.5729855895042419, 0.6055728793144226, 0.5022218823432922, 0.5450041890144348, 0.6175358295440674, 0.6368699073791504, 0.567638099193573, 0.6769635677337646, 0.6335024833679199, 0.5940769910812378, 0.5991835594177246, 0.5430481433868408, 0.6039300560951233], "q1_all": [0.5860377550125122, 0.6620147824287415, 0.6297211050987244, 0.5847475528717041, 0.581040620803833, 0.6483194828033447, 0.6196996569633484, 0.64670729637146, 0.6630223989486694, 0.650084376335144, 0.6036425232887268, 0.6595185995101929, 0.6000727415084839, 0.6377787590026855, 0.6246448755264282, 0.5882271528244019, 0.7014625072479248, 0.6610105037689209, 0.6547040343284607, 0.5729855895042419, 0.6055728793144226, 0.6357685327529907, 0.6008836030960083, 0.6175358295440674, 0.6406643986701965, 0.5981817841529846, 0.7346335649490356, 0.6438068747520447, 0.6118589639663696, 0.5991835594177246, 0.6569956541061401, 0.6039300560951233], "q2_all": [0.6297487020492554, 0.5875282287597656, 0.49835672974586487, 0.5412293672561646, 0.523541271686554, 0.5526449084281921, 0.6680688261985779, 0.5948266983032227, 0.6052303314208984, 0.6024560928344727, 0.5812673568725586, 0.6805342435836792, 0.595481276512146, 0.6540383696556091, 0.5361843109130859, 0.5125662088394165, 0.6213246583938599, 0.6875072121620178, 0.600246250629425, 0.6615474820137024, 0.6262463927268982, 0.5022218823432922, 0.5450041890144348, 0.6386111378669739, 0.6368699073791504, 0.567638099193573, 0.6769635677337646, 0.6335024833679199, 0.5940769910812378, 0.6133193969726562, 0.5430481433868408, 0.603968620300293], "cand_trans_speed_all": [0.007583800237625837, 0.007583928760141134, 0.007469736970961094, 0.007903596386313438, 0.007378596346825361, 0.007527178153395653, 0.007406505756080151, 0.009057930670678616, 0.007600218057632446, 0.008129970170557499, 0.0075095160864293575, 0.0071786148473620415, 0.0071901073679327965, 0.007109408266842365, 0.008133990690112114, 0.00837898813188076, 0.009634481742978096, 0.008957991376519203, 0.008860263042151928, 0.007810797542333603, 0.007740933448076248, 0.007977496832609177, 0.007221529260277748, 0.007321513257920742, 0.008056696504354477, 0.008789368905127048, 0.008604200556874275, 0.007529862225055695, 0.007073925342410803, 0.006556238979101181, 0.008666959591209888, 0.006922402884811163], "cand_cum_xyz_disp_all": [[-0.014631867408752441, -0.028392866253852844, 0.01641204208135605], [-0.015046298503875732, -0.021606072783470154, 0.0178789421916008], [-0.01705041527748108, -0.024599924683570862, 0.01802278310060501], [-0.0165540874004364, -0.03405344486236572, 0.017322607338428497], [-0.013840481638908386, -0.030937284231185913, 0.015786804258823395], [-0.017155274748802185, -0.025268301367759705, 0.01787925511598587], [-0.01701641082763672, -0.02479839324951172, 0.014354623854160309], [-0.018212899565696716, -0.030412882566452026, 0.016034014523029327], [-0.01566910743713379, -0.02228696644306183, 0.015231691300868988], [-0.014841482043266296, -0.022244438529014587, 0.016267456114292145], [-0.016831114888191223, -0.030417948961257935, 0.01768948882818222], [-0.01330481469631195, -0.026094987988471985, 0.01441550999879837], [-0.013553038239479065, -0.028440281748771667, 0.015898816287517548], [-0.018586039543151855, -0.02378736436367035, 0.014017559587955475], [-0.013554871082305908, -0.033745139837265015, 0.017024151980876923], [-0.018672287464141846, -0.028788164258003235, 0.01904360204935074], [-0.01934128999710083, -0.020791903138160706, 0.01838747411966324], [-0.01402197778224945, -0.01927909255027771, 0.016277439892292023], [-0.009683892130851746, -0.02513369917869568, 0.01782085746526718], [-0.014125138521194458, -0.032321274280548096, 0.012317247688770294], [-0.016000449657440186, -0.02790731191635132, 0.01612076908349991], [-0.019574344158172607, -0.026261866092681885, 0.01951860636472702], [-0.012561455368995667, -0.022387072443962097, 0.014215134084224701], [-0.013667047023773193, -0.018424659967422485, 0.011609219014644623], [-0.013329550623893738, -0.03473632037639618, 0.018907703459262848], [-0.012272268533706665, -0.029382646083831787, 0.017607204616069794], [-0.018644019961357117, -0.03291350603103638, 0.019141890108585358], [-0.021121487021446228, -0.022306367754936218, 0.01746978610754013], [-0.014671429991722107, -0.026424095034599304, 0.01583806425333023], [-0.01743297278881073, -0.024451881647109985, 0.013239003717899323], [-0.012832805514335632, -0.02841632068157196, 0.01789838820695877], [-0.018677592277526855, -0.032536670565605164, 0.012266285717487335]], "cand_final_gripper_all": [0.999502420425415, 1.0, 0.9991815090179443, 0.9995816946029663, 0.9986320734024048, 0.9984613656997681, 0.9989606738090515, 0.9988466501235962, 0.9992541074752808, 0.9996951818466187, 1.0, 1.0, 0.9991333484649658, 0.9993679523468018, 0.9991334676742554, 1.0, 1.0, 0.9985536336898804, 0.9991517066955566, 0.9993922710418701, 1.0, 0.9988067746162415, 0.9994169473648071, 1.0, 0.9996156096458435, 0.9993686676025391, 0.9980412721633911, 1.0, 1.0, 0.999125063419342, 0.9997559785842896, 0.9997272491455078], "eef_pos": [0.4116683304309845, 0.06795956194400787, 0.2329808622598648], "cand_action_std": 0.14711473882198334, "cand_pairwise_centroid_dist_mean": 1.1846634149551392, "argmax_act_outlier": 1.6687637567520142, "time_encode_ms": 17.582274042069912, "time_diffusion_ms": 43.780620908364654, "time_q_score_ms": 18.203404964879155, "time_total_ms": 81.11171494238079, "num_action_samples_effective": 32, "q_aggregate": "pair_min"}
+{"chunk_ordinal": 18, "q_min_best": 0.15739651024341583, "q_min_mean": 0.10096164047718048, "q_min_std": 0.028155984356999397, "q_min_median": 0.10435009002685547, "chosen_vs_median_q_gap": 0.053046420216560364, "q1_best": 0.16110610961914062, "q2_best": 0.15739651024341583, "v_val": 0.005905181169509888, "advantage": 0.15149132907390594, "best_idx": 29, "q_min_all": [0.11690378189086914, 0.02367054671049118, 0.08834642171859741, 0.11241941154003143, 0.07405626773834229, 0.09267987310886383, 0.10189242660999298, 0.09577976167201996, 0.023320291191339493, 0.11944395303726196, 0.11228922009468079, 0.11993330717086792, 0.10213042795658112, 0.10283003747463226, 0.10435009002685547, 0.118852898478508, 0.06266798079013824, 0.08619491755962372, 0.14314362406730652, 0.12031912803649902, 0.12437452375888824, 0.07580068707466125, 0.10528171062469482, 0.11033354699611664, 0.10096317529678345, 0.10511282086372375, 0.08826807141304016, 0.13073620200157166, 0.11655443906784058, 0.15739651024341583, 0.11145871877670288, 0.08326774835586548], "q1_all": [0.11690378189086914, 0.06371970474720001, 0.21158592402935028, 0.11241941154003143, 0.18208622932434082, 0.09267987310886383, 0.10189242660999298, 0.09577976167201996, 0.25559547543525696, 0.11944395303726196, 0.11228922009468079, 0.12872713804244995, 0.10213042795658112, 0.10283003747463226, 0.11909647285938263, 0.118852898478508, 0.21742795407772064, 0.14728227257728577, 0.14314362406730652, 0.12031912803649902, 0.12437452375888824, 0.1128402054309845, 0.10691778361797333, 0.12255798280239105, 0.10697770118713379, 0.10511282086372375, 0.12124226987361908, 0.13073620200157166, 0.11655443906784058, 0.16110610961914062, 0.11145871877670288, 0.09855841100215912], "q2_all": [0.16618673503398895, 0.02367054671049118, 0.08834642171859741, 0.15785560011863708, 0.07405626773834229, 0.13237187266349792, 0.16375155746936798, 0.16739894449710846, 0.023320291191339493, 0.2355784922838211, 0.14223963022232056, 0.11993330717086792, 0.18374240398406982, 0.14490878582000732, 0.10435009002685547, 0.13568872213363647, 0.06266798079013824, 0.08619491755962372, 0.18528912961483002, 0.12178067862987518, 0.18076163530349731, 0.07580068707466125, 0.10528171062469482, 0.11033354699611664, 0.10096317529678345, 0.13528497517108917, 0.08826807141304016, 0.14270024001598358, 0.12232068181037903, 0.15739651024341583, 0.14280791580677032, 0.08326774835586548], "cand_trans_speed_all": [0.004523994401097298, 0.003635354107245803, 0.004940487444400787, 0.0046783266589045525, 0.004263044334948063, 0.00504768593236804, 0.0052786036394536495, 0.004102163948118687, 0.006332981400191784, 0.005487185902893543, 0.005506892688572407, 0.0046104490756988525, 0.00586358830332756, 0.004691909998655319, 0.004422371741384268, 0.005811899900436401, 0.004523748066276312, 0.004640106111764908, 0.006016549654304981, 0.004173625726252794, 0.005566778592765331, 0.004805718548595905, 0.005072718486189842, 0.004071399569511414, 0.005861777812242508, 0.004191563464701176, 0.00452096201479435, 0.0046914126724004745, 0.005516598001122475, 0.006449077278375626, 0.006354287266731262, 0.004940560087561607], "cand_cum_xyz_disp_all": [[-0.0007948577404022217, -0.019195973873138428, 0.0014809519052505493], [0.0011359453201293945, -0.010671943426132202, -0.0017815977334976196], [0.003882110118865967, -0.016380801796913147, -0.0005285367369651794], [0.001721605658531189, -0.017116442322731018, 0.0024777278304100037], [0.002504497766494751, -0.01811489462852478, 0.0022949054837226868], [-0.0023551732301712036, -0.011276274919509888, 0.0005420073866844177], [0.001975908875465393, -0.018883809447288513, 0.005657464265823364], [0.000463828444480896, -0.015173956751823425, -0.00021269172430038452], [-0.001144304871559143, -0.012672662734985352, -2.422928810119629e-05], [0.0010945051908493042, -0.014913588762283325, 0.0029471516609191895], [0.0030141323804855347, -0.016582056879997253, -0.00353240966796875], [0.0036634057760238647, -0.014918044209480286, 0.004101164638996124], [0.0012350976467132568, -0.013502746820449829, -0.0018089860677719116], [0.0008438825607299805, -0.018311411142349243, 0.003933064639568329], [0.0035376548767089844, -0.017908975481987, 0.004501819610595703], [0.0016596168279647827, -0.016533806920051575, 0.0012260526418685913], [0.0011503249406814575, -0.014780193567276001, 0.0029540210962295532], [0.0008766651153564453, -0.02130730450153351, 0.0011701211333274841], [-0.002984657883644104, -0.018009871244430542, 0.006599649786949158], [0.0014260411262512207, -0.016805127263069153, 0.0013003721833229065], [0.0022541582584381104, -0.022153198719024658, 0.006028994917869568], [0.0021986067295074463, -0.016135305166244507, 0.002281986176967621], [0.0027925819158554077, -0.014636233448982239, 0.002857893705368042], [-0.0006288141012191772, -0.018039405345916748, 0.0031364858150482178], [0.004103034734725952, -0.015825778245925903, -0.0017177462577819824], [0.0003202706575393677, -0.0135582834482193, 0.006040103733539581], [0.0034225434064865112, -0.022387325763702393, 0.003690168261528015], [-0.0023296326398849487, -0.01879402995109558, 0.0028059929609298706], [0.0012996494770050049, -0.01937989890575409, 0.004260599613189697], [0.0017279982566833496, -0.018883541226387024, 0.0008807554841041565], [0.00018855929374694824, -0.016477733850479126, 0.005023017525672913], [0.0036230385303497314, -0.011392012238502502, -0.00033014267683029175]], "cand_final_gripper_all": [0.9990373849868774, 0.99886155128479, 0.99912428855896, 0.99901282787323, 0.9984986782073975, 0.9981254935264587, 0.9992882013320923, 0.9991580247879028, 0.9993879795074463, 0.9987077713012695, 0.9985536336898804, 0.9988943338394165, 0.9979327917098999, 0.9991773366928101, 0.9992707371711731, 0.9989917278289795, 0.9996142387390137, 0.9991236329078674, 1.0, 0.9971026182174683, 0.9984750151634216, 0.9994233846664429, 0.9999027252197266, 0.9992417097091675, 0.9997774958610535, 0.9987607002258301, 0.9996572732925415, 0.9991112351417542, 0.9996562004089355, 0.99846351146698, 0.9978611469268799, 0.9997090101242065], "eef_pos": [0.4055560231208801, 0.04147474467754364, 0.22558379173278809], "cand_action_std": 0.17292138934135437, "cand_pairwise_centroid_dist_mean": 1.3417434692382812, "argmax_act_outlier": 1.6266252994537354, "time_encode_ms": 10.85386099293828, "time_diffusion_ms": 44.40205288119614, "time_q_score_ms": 14.835552079603076, "time_total_ms": 71.08383602462709, "num_action_samples_effective": 32, "q_aggregate": "pair_min"}
+{"chunk_ordinal": 19, "q_min_best": 0.2542145848274231, "q_min_mean": 0.058501601219177246, "q_min_std": 0.06107290834188461, "q_min_median": 0.040617700666189194, "chosen_vs_median_q_gap": 0.2135968804359436, "q1_best": 0.2766016125679016, "q2_best": 0.2542145848274231, "v_val": 0.0035507655702531338, "advantage": 0.25066381925716996, "best_idx": 4, "q_min_all": [0.011039812117815018, 0.039707060903310776, 0.02056783065199852, 0.04156261682510376, 0.2542145848274231, 0.1566890925168991, 0.01673765853047371, 0.025147881358861923, 0.17592985928058624, 0.012972082942724228, 0.016034286469221115, 0.02844558283686638, 0.01497039943933487, 0.04318876564502716, 0.1920500099658966, 0.0627095103263855, 0.04821598529815674, 0.12940144538879395, 0.04217923805117607, 0.0050748176872730255, 0.005514178425073624, 0.05827200785279274, 0.031724266707897186, 0.05054568126797676, 0.04788479581475258, 0.038021255284547806, 0.006640885025262833, 0.040617700666189194, 0.10998532176017761, 0.04593703895807266, 0.09250716865062714, 0.007562462240457535], "q1_all": [0.011039812117815018, 0.039707060903310776, 0.03143986687064171, 0.057371508330106735, 0.2766016125679016, 0.17424818873405457, 0.01673765853047371, 0.02795601636171341, 0.25853458046913147, 0.012972082942724228, 0.016034286469221115, 0.02844558283686638, 0.01497039943933487, 0.04944858327507973, 0.33055439591407776, 0.13728581368923187, 0.04821598529815674, 0.12940144538879395, 0.04217923805117607, 0.0050748176872730255, 0.005514178425073624, 0.05827200785279274, 0.031724266707897186, 0.05054568126797676, 0.04788479581475258, 0.038021255284547806, 0.006640885025262833, 0.08069650828838348, 0.15285280346870422, 0.04694671183824539, 0.09343411028385162, 0.007562462240457535], "q2_all": [0.019008826464414597, 0.051208045333623886, 0.02056783065199852, 0.04156261682510376, 0.2542145848274231, 0.1566890925168991, 0.03224829584360123, 0.025147881358861923, 0.17592985928058624, 0.01527496799826622, 0.02415497973561287, 0.043164245784282684, 0.02173488214612007, 0.04318876564502716, 0.1920500099658966, 0.0627095103263855, 0.08283135294914246, 0.17176900804042816, 0.0633087009191513, 0.01353643462061882, 0.014699149876832962, 0.08411405980587006, 0.04089970514178276, 0.16282789409160614, 0.14040178060531616, 0.07079528272151947, 0.017998624593019485, 0.040617700666189194, 0.10998532176017761, 0.04593703895807266, 0.09250716865062714, 0.014330197125673294], "cand_trans_speed_all": [0.0036507039330899715, 0.005754346027970314, 0.005326244048774242, 0.005216758698225021, 0.006260403431952, 0.005201438441872597, 0.004396750126034021, 0.006089457776397467, 0.006531109567731619, 0.004322576802223921, 0.003921344876289368, 0.005449962802231312, 0.004456708673387766, 0.006265738513320684, 0.007801629137247801, 0.006187743507325649, 0.004960682243108749, 0.007162436842918396, 0.006039851810783148, 0.0036453180946409702, 0.00544207077473402, 0.005745974835008383, 0.004706099629402161, 0.004425964318215847, 0.005494132172316313, 0.004992975853383541, 0.005892648361623287, 0.004836810752749443, 0.007603435777127743, 0.004739521071314812, 0.005271315574645996, 0.004996913485229015], "cand_cum_xyz_disp_all": [[-0.001038864254951477, -0.021058648824691772, 0.0013657882809638977], [0.001051202416419983, -0.01833200454711914, 0.0033207908272743225], [0.00024944543838500977, -0.019681677222251892, 0.0010712146759033203], [-0.0026149898767471313, -0.025916799902915955, 0.0019396096467971802], [-0.003122970461845398, -0.03394244611263275, -0.0002300068736076355], [-0.002437084913253784, -0.02530643343925476, 0.0008870959281921387], [-0.0026373565196990967, -0.020242616534233093, 0.003464922308921814], [-0.002435728907585144, -0.019146576523780823, -0.0017291754484176636], [-0.0033154189586639404, -0.031090781092643738, 0.002789825201034546], [-0.003048434853553772, -0.02254144847393036, -9.828060865402222e-05], [-0.002969488501548767, -0.01830253005027771, 0.001252390444278717], [-0.004054471850395203, -0.027656272053718567, 0.004786930978298187], [-0.0031543076038360596, -0.019858792424201965, -0.00038295239210128784], [-0.0037637799978256226, -0.020479440689086914, -0.0011772960424423218], [-0.005400314927101135, -0.029454931616783142, -2.7604401111602783e-05], [-0.004524171352386475, -0.025593653321266174, -0.0006761476397514343], [-0.002381429076194763, -0.023399263620376587, 0.0015777647495269775], [-0.004208266735076904, -0.02133689820766449, 0.004180535674095154], [-0.0027900487184524536, -0.02467764914035797, 0.0038981661200523376], [-0.002585664391517639, -0.018926605582237244, 0.003662392497062683], [-0.0019291043281555176, -0.016226768493652344, 0.0007920116186141968], [-0.00498083233833313, -0.024706020951271057, 0.0005577877163887024], [-0.004176527261734009, -0.016496777534484863, 0.0008847340941429138], [0.0005205273628234863, -0.02505868673324585, 0.0023930296301841736], [-0.0031771808862686157, -0.027173101902008057, 0.00393395870923996], [-0.0017100423574447632, -0.029249578714370728, 0.0029095038771629333], [0.0011419057846069336, -0.016729146242141724, 0.0022904574871063232], [-0.004063040018081665, -0.024618223309516907, -0.0017667338252067566], [-0.0018229186534881592, -0.019192487001419067, -0.0016719773411750793], [-0.002976328134536743, -0.020650938153266907, 0.0025224611163139343], [-0.006753519177436829, -0.02437479794025421, 0.0017390623688697815], [-0.001988351345062256, -0.013766631484031677, 0.0019994452595710754]], "cand_final_gripper_all": [0.9983886480331421, 0.9993128776550293, 1.0, 0.9980977773666382, 0.9978201389312744, 0.9968527555465698, 0.9973791837692261, 1.0, 0.9979294538497925, 0.9992824792861938, 0.9990378022193909, 0.9982881546020508, 1.0, 0.9997079372406006, 0.9977222084999084, 0.9986739158630371, 0.9977660179138184, 0.9985775947570801, 0.9991709589958191, 0.9987874627113342, 1.0, 0.9986649751663208, 0.9990702867507935, 0.9985686540603638, 0.9992280006408691, 1.0, 0.9998205900192261, 1.0, 0.9988511204719543, 0.998992919921875, 0.998210072517395, 0.9998365044593811], "eef_pos": [0.3975849449634552, 0.03948632627725601, 0.22066040337085724], "cand_action_std": 0.24228043854236603, "cand_pairwise_centroid_dist_mean": 2.0251784324645996, "argmax_act_outlier": 1.3814332485198975, "time_encode_ms": 170.79768609255552, "time_diffusion_ms": 905.1530680153519, "time_q_score_ms": 228.90081792138517, "time_total_ms": 1318.8018028158695, "num_action_samples_effective": 32, "q_aggregate": "pair_min"}
+{"chunk_ordinal": 20, "q_min_best": 0.3234466314315796, "q_min_mean": 0.16581225395202637, "q_min_std": 0.05951381474733353, "q_min_median": 0.14833097159862518, "chosen_vs_median_q_gap": 0.1751156598329544, "q1_best": 0.5535897016525269, "q2_best": 0.3234466314315796, "v_val": 0.11979798972606659, "advantage": 0.203648641705513, "best_idx": 8, "q_min_all": [0.17814193665981293, 0.13109153509140015, 0.14431148767471313, 0.13598911464214325, 0.16402174532413483, 0.14154185354709625, 0.1327981799840927, 0.2085256278514862, 0.3234466314315796, 0.18545883893966675, 0.26337727904319763, 0.15540190041065216, 0.08306458592414856, 0.19453372061252594, 0.11438615620136261, 0.1304377168416977, 0.06800122559070587, 0.18549540638923645, 0.11444127559661865, 0.09476825594902039, 0.23985840380191803, 0.2009771466255188, 0.11326000094413757, 0.08171771466732025, 0.14833097159862518, 0.12030941247940063, 0.13353011012077332, 0.20480525493621826, 0.25046399235725403, 0.18795916438102722, 0.23970843851566315, 0.23583672940731049], "q1_all": [0.44415709376335144, 0.47794589400291443, 0.40874773263931274, 0.43957218527793884, 0.5483500957489014, 0.47603148221969604, 0.48988842964172363, 0.5423500537872314, 0.5535897016525269, 0.4626697301864624, 0.5389806032180786, 0.42855969071388245, 0.4543088674545288, 0.4968893229961395, 0.38960200548171997, 0.41988837718963623, 0.3889841139316559, 0.43535566329956055, 0.4411744475364685, 0.44740551710128784, 0.5160191655158997, 0.41107043623924255, 0.44444096088409424, 0.42194250226020813, 0.44132715463638306, 0.40386635065078735, 0.43790534138679504, 0.48805201053619385, 0.4812278151512146, 0.43010374903678894, 0.5483027100563049, 0.4925423264503479], "q2_all": [0.17814193665981293, 0.13109153509140015, 0.14431148767471313, 0.13598911464214325, 0.16402174532413483, 0.14154185354709625, 0.1327981799840927, 0.2085256278514862, 0.3234466314315796, 0.18545883893966675, 0.26337727904319763, 0.15540190041065216, 0.08306458592414856, 0.19453372061252594, 0.11438615620136261, 0.1304377168416977, 0.06800122559070587, 0.18549540638923645, 0.11444127559661865, 0.09476825594902039, 0.23985840380191803, 0.2009771466255188, 0.11326000094413757, 0.08171771466732025, 0.14833097159862518, 0.12030941247940063, 0.13353011012077332, 0.20480525493621826, 0.25046399235725403, 0.18795916438102722, 0.23970843851566315, 0.23583672940731049], "cand_trans_speed_all": [0.00426018750295043, 0.0038823867216706276, 0.0043635587207973, 0.0036825246643275023, 0.004927695728838444, 0.004114639945328236, 0.00323499902151525, 0.004563227295875549, 0.005694987252354622, 0.004053875338286161, 0.005384355783462524, 0.004064252600073814, 0.004029421601444483, 0.004323954693973064, 0.0033588181249797344, 0.003906345926225185, 0.0037086314987391233, 0.003998878877609968, 0.00449331384152174, 0.003829703666269779, 0.004562324844300747, 0.004059497267007828, 0.0036152433604002, 0.0027330792509019375, 0.004834973718971014, 0.004105136264115572, 0.003798256628215313, 0.004810955375432968, 0.005110977217555046, 0.004400464240461588, 0.0060586389154195786, 0.005551198031753302], "cand_cum_xyz_disp_all": [[-0.010567635297775269, -0.019902989268302917, -0.006762906908988953], [-0.005171030759811401, -0.014759629964828491, -0.00263020396232605], [-0.009956300258636475, -0.018355637788772583, 0.00048141926527023315], [-0.00668683648109436, -0.01882338523864746, -0.0020854920148849487], [-0.009521439671516418, -0.0235537588596344, -0.005815513432025909], [-0.005001068115234375, -0.015122830867767334, -0.0016731619834899902], [-0.005162402987480164, -0.013586163520812988, -0.0028262585401535034], [-0.0070460885763168335, -0.022294074296951294, -0.0021294131875038147], [-0.009632006287574768, -0.021464183926582336, -0.003967873752117157], [-0.007572472095489502, -0.01945193111896515, -0.004558078944683075], [-0.012239441275596619, -0.021254703402519226, -0.006979592144489288], [-0.00948786735534668, -0.01851937174797058, -0.0010124966502189636], [-0.004992872476577759, -0.01963016390800476, -0.0059165358543396], [-0.007120892405509949, -0.02086213231086731, -0.004332877695560455], [-0.006988540291786194, -0.014609292149543762, -0.007651880383491516], [-0.007948845624923706, -0.018529772758483887, -0.002871297299861908], [-0.007684782147407532, -0.018164873123168945, -0.002190805971622467], [-0.0110836923122406, -0.01759377121925354, 0.0010169968008995056], [-0.009187012910842896, -0.021210119128227234, -0.008088044822216034], [-0.007307037711143494, -0.013966292142868042, -0.00043275952339172363], [-0.011856615543365479, -0.021876975893974304, -0.0033869966864585876], [-0.00984695553779602, -0.015671253204345703, -0.0036421045660972595], [-0.00814366340637207, -0.01373852789402008, -0.005848892033100128], [-0.005907908082008362, -0.010316163301467896, 0.00027858465909957886], [-0.01276695728302002, -0.016917288303375244, -0.002854280173778534], [-0.007647812366485596, -0.013978838920593262, -0.004324473440647125], [-0.00735899806022644, -0.01594722270965576, 0.00261823832988739], [-0.008201926946640015, -0.024336278438568115, -0.0038372427225112915], [-0.011476173996925354, -0.02448543906211853, -0.005005136132240295], [-0.0111551433801651, -0.014832451939582825, -0.005520947277545929], [-0.009585022926330566, -0.025923341512680054, -0.007449835538864136], [-0.00704599916934967, -0.019088268280029297, -0.003179095685482025]], "cand_final_gripper_all": [0.9996020793914795, 0.9999492764472961, 0.9999933838844299, 0.9999032020568848, 0.9992732405662537, 0.9996123313903809, 0.999998927116394, 0.9995100498199463, 0.9995510578155518, 1.0, 0.9996835589408875, 0.999292254447937, 0.9995038509368896, 0.9998836517333984, 0.9994522929191589, 1.0, 0.9995460510253906, 1.0, 1.0, 0.9993242621421814, 0.999685525894165, 0.9983465075492859, 0.9987938404083252, 1.0, 1.0, 0.9994498491287231, 1.0, 0.9993984699249268, 0.999151349067688, 1.0, 0.9974805116653442, 1.0], "eef_pos": [0.39120179414749146, 0.03391743451356888, 0.215814471244812], "cand_action_std": 0.07888813316822052, "cand_pairwise_centroid_dist_mean": 0.7277876138687134, "argmax_act_outlier": 1.1286625862121582, "time_encode_ms": 5.700487876310945, "time_diffusion_ms": 36.31269605830312, "time_q_score_ms": 8.872407954186201, "time_total_ms": 51.631374983116984, "num_action_samples_effective": 32, "q_aggregate": "pair_min"}
+{"chunk_ordinal": 21, "q_min_best": 0.5006412863731384, "q_min_mean": 0.25250887870788574, "q_min_std": 0.1125447079539299, "q_min_median": 0.2282559722661972, "chosen_vs_median_q_gap": 0.27238529920578003, "q1_best": 0.5006412863731384, "q2_best": 0.6032330989837646, "v_val": 0.6156904697418213, "advantage": -0.11504918336868286, "best_idx": 4, "q_min_all": [0.3998355269432068, 0.19007593393325806, 0.25222957134246826, 0.41590529680252075, 0.5006412863731384, 0.08020791411399841, 0.2140227109193802, 0.15924398601055145, 0.28400689363479614, 0.10622785985469818, 0.36134660243988037, 0.3326895534992218, 0.2282559722661972, 0.12164385616779327, 0.17790241539478302, 0.3976523280143738, 0.2922573983669281, 0.3191094696521759, 0.151681050658226, 0.09624932706356049, 0.35268715023994446, 0.21771953999996185, 0.3759225606918335, 0.3067542314529419, 0.1508948653936386, 0.2772601246833801, 0.16191475093364716, 0.3910290002822876, 0.0906343013048172, 0.21389608085155487, 0.32201969623565674, 0.1383674144744873], "q1_all": [0.3998355269432068, 0.2837592661380768, 0.2531682252883911, 0.45252084732055664, 0.5006412863731384, 0.28386878967285156, 0.2140227109193802, 0.267370343208313, 0.28400689363479614, 0.28293925523757935, 0.36134660243988037, 0.3394031822681427, 0.31885939836502075, 0.30872708559036255, 0.2659861445426941, 0.3976523280143738, 0.3665846586227417, 0.6407482624053955, 0.3662922978401184, 0.20639318227767944, 0.35268715023994446, 0.3355589210987091, 0.38531285524368286, 0.3067542314529419, 0.2362569272518158, 0.2772601246833801, 0.31436845660209656, 0.3910290002822876, 0.3196939527988434, 0.2743578851222992, 0.32201969623565674, 0.2675158679485321], "q2_all": [0.5335924029350281, 0.19007593393325806, 0.25222957134246826, 0.41590529680252075, 0.6032330989837646, 0.08020791411399841, 0.22618772089481354, 0.15924398601055145, 0.31508806347846985, 0.10622785985469818, 0.37282058596611023, 0.3326895534992218, 0.2282559722661972, 0.12164385616779327, 0.17790241539478302, 0.4629688858985901, 0.2922573983669281, 0.3191094696521759, 0.151681050658226, 0.09624932706356049, 0.38210439682006836, 0.21771953999996185, 0.3759225606918335, 0.3927915096282959, 0.1508948653936386, 0.2989695370197296, 0.16191475093364716, 0.4465617835521698, 0.0906343013048172, 0.21389608085155487, 0.37137550115585327, 0.1383674144744873], "cand_trans_speed_all": [0.006351998075842857, 0.004104822874069214, 0.005785170942544937, 0.004010086413472891, 0.004818362649530172, 0.0029454834293574095, 0.0042447494342923164, 0.0027288151904940605, 0.004326691851019859, 0.003866448998451233, 0.004941040650010109, 0.004552970640361309, 0.005111875478178263, 0.0034661972895264626, 0.004836701788008213, 0.004237567074596882, 0.005043094512075186, 0.0045574805699288845, 0.003950744401663542, 0.002892379416152835, 0.0044395048171281815, 0.004872385412454605, 0.0037483039777725935, 0.0059306262992322445, 0.0032097536604851484, 0.0041332971304655075, 0.003506207372993231, 0.004457147791981697, 0.003874994581565261, 0.004063006490468979, 0.003747690934687853, 0.004213490057736635], "cand_cum_xyz_disp_all": [[-0.017452776432037354, -0.0203569233417511, -0.0038135945796966553], [-0.008500486612319946, -0.016825228929519653, -0.007714256644248962], [-0.013739928603172302, -0.01722748577594757, -0.011041611433029175], [-0.011653617024421692, -0.015109360218048096, -0.0038138628005981445], [-0.013449221849441528, -0.016683340072631836, -0.0026313886046409607], [-0.004726290702819824, -0.007902577519416809, -0.008070692420005798], [-0.010773733258247375, -0.01705138385295868, -0.009914189577102661], [-0.005119740962982178, -0.009569987654685974, -0.0038047879934310913], [-0.012067675590515137, -0.013977006077766418, -0.007287517189979553], [-0.005905449390411377, -0.015876099467277527, -0.005696706473827362], [-0.012254878878593445, -0.01383882761001587, -0.0071735680103302], [-0.011957481503486633, -0.014871448278427124, -0.00995200127363205], [-0.011534079909324646, -0.015046030282974243, -0.010772466659545898], [-0.005907565355300903, -0.011789113283157349, -0.007174603641033173], [-0.013735160231590271, -0.0151328444480896, -0.010617479681968689], [-0.013380125164985657, -0.014427870512008667, -0.0033191442489624023], [-0.01273256540298462, -0.020572945475578308, -0.00775407999753952], [-0.00818033516407013, -0.02315300703048706, -0.0046951547265052795], [-0.007443711161613464, -0.014240041375160217, -0.0060429200530052185], [-0.010259345173835754, -0.010552763938903809, -0.0076491087675094604], [-0.009170666337013245, -0.01766015589237213, -0.0066933780908584595], [-0.01426379382610321, -0.015861675143241882, -0.011338390409946442], [-0.009481608867645264, -0.012804880738258362, -0.0009351074695587158], [-0.014216691255569458, -0.01614166796207428, -0.007901884615421295], [-0.0070092082023620605, -0.01256231963634491, -0.006116509437561035], [-0.014417991042137146, -0.015642866492271423, -0.009461119771003723], [-0.008197605609893799, -0.013142481446266174, -0.003900691866874695], [-0.013044759631156921, -0.0163009911775589, -0.004876762628555298], [-0.005711391568183899, -0.018924444913864136, -0.004602186381816864], [-0.012431085109710693, -0.01400730013847351, -0.00981951504945755], [-0.012772470712661743, -0.014693498611450195, -0.003559887409210205], [-0.011356115341186523, -0.017084389925003052, -0.004568062722682953]], "cand_final_gripper_all": [0.999707818031311, 1.0, 1.0, 1.0, 0.9988434910774231, 0.9988642930984497, 1.0, 1.0, 1.0, 0.99909508228302, 0.9998223781585693, 0.9993292093276978, 0.9982684850692749, 1.0, 1.0, 0.9988307952880859, 0.9983449578285217, 1.0, 0.9996340274810791, 0.9997676014900208, 1.0, 0.9992035031318665, 0.9976744651794434, 0.9990025758743286, 1.0, 0.9993542432785034, 1.0, 0.99880450963974, 1.0, 0.9991010427474976, 1.0, 0.9997249841690063], "eef_pos": [0.38978081941604614, 0.02493097074329853, 0.2154209464788437], "cand_action_std": 0.1807631254196167, "cand_pairwise_centroid_dist_mean": 1.491690993309021, "argmax_act_outlier": 2.4817633628845215, "time_encode_ms": 5.959087051451206, "time_diffusion_ms": 36.16413101553917, "time_q_score_ms": 8.222203003242612, "time_total_ms": 51.08386999927461, "num_action_samples_effective": 32, "q_aggregate": "pair_min"}
+{"chunk_ordinal": 22, "q_min_best": 0.45642948150634766, "q_min_mean": 0.08112038671970367, "q_min_std": 0.1210702583193779, "q_min_median": 0.01694737747311592, "chosen_vs_median_q_gap": 0.43948209285736084, "q1_best": 0.45642948150634766, "q2_best": 0.5753173828125, "v_val": 0.7984086275100708, "advantage": -0.34197914600372314, "best_idx": 13, "q_min_all": [0.018894869834184647, 0.44406530261039734, 0.008991379290819168, 0.00628078356385231, 0.0007061250507831573, 0.0367557518184185, 0.2618182599544525, 0.09066358208656311, 0.011863570660352707, 0.06581363081932068, 0.007548876106739044, 0.1507994532585144, 0.007968027144670486, 0.45642948150634766, 0.035609904676675797, 0.014689937233924866, 0.0544351302087307, 0.004950087517499924, 0.1579720675945282, 0.001863427460193634, 0.007118310779333115, 0.0055993832647800446, 0.010215569287538528, 0.009723607450723648, 0.15306982398033142, 0.19136439263820648, 0.01694737747311592, 0.0067435093224048615, 0.23744873702526093, 0.03435656800866127, 0.07604417204856873, 0.009101476520299911], "q1_all": [0.11388297379016876, 0.44406530261039734, 0.011521801352500916, 0.12857496738433838, 0.0007061250507831573, 0.13650426268577576, 0.2618182599544525, 0.2983001470565796, 0.07657085359096527, 0.09047812223434448, 0.024017754942178726, 0.1507994532585144, 0.025114353746175766, 0.45642948150634766, 0.0658489465713501, 0.06036004051566124, 0.0544351302087307, 0.059759046882390976, 0.2800103724002838, 0.130388543009758, 0.09642104804515839, 0.10490624606609344, 0.043652620166540146, 0.04720026254653931, 0.23233512043952942, 0.3150438070297241, 0.0495387427508831, 0.013340171426534653, 0.24696671962738037, 0.04260048270225525, 0.14128786325454712, 0.010341785848140717], "q2_all": [0.018894869834184647, 0.45912447571754456, 0.008991379290819168, 0.00628078356385231, 0.007419932633638382, 0.0367557518184185, 0.33726707100868225, 0.09066358208656311, 0.011863570660352707, 0.06581363081932068, 0.007548876106739044, 0.16590367257595062, 0.007968027144670486, 0.5753173828125, 0.035609904676675797, 0.014689937233924866, 0.06486731767654419, 0.004950087517499924, 0.1579720675945282, 0.001863427460193634, 0.007118310779333115, 0.0055993832647800446, 0.010215569287538528, 0.009723607450723648, 0.15306982398033142, 0.19136439263820648, 0.01694737747311592, 0.0067435093224048615, 0.23744873702526093, 0.03435656800866127, 0.07604417204856873, 0.009101476520299911], "cand_trans_speed_all": [0.005923291202634573, 0.007621936034411192, 0.005528008099645376, 0.004996336065232754, 0.0059308554045856, 0.004871667362749577, 0.005513797979801893, 0.005262037273496389, 0.004021954722702503, 0.006383442785590887, 0.005127882584929466, 0.005820408463478088, 0.0039773848839104176, 0.006275580730289221, 0.005707491189241409, 0.006026343442499638, 0.005259727593511343, 0.0038953821640461683, 0.005260862410068512, 0.006421925034373999, 0.0046304333955049515, 0.0043759336695075035, 0.0040336428210139275, 0.005329587962478399, 0.0057164630852639675, 0.004358558915555477, 0.004348093643784523, 0.00400214409455657, 0.005750346928834915, 0.005776733160018921, 0.006037702318280935, 0.0046070646494627], "cand_cum_xyz_disp_all": [[-0.011704578995704651, -0.022319450974464417, -0.0021629855036735535], [-0.014540150761604309, -0.0362631231546402, 0.0007615461945533752], [-0.008090868592262268, -0.011542156338691711, -0.0002818852663040161], [-0.0090751051902771, -0.021082192659378052, -1.8872320652008057e-05], [-0.013182833790779114, -0.02135145664215088, -0.002383202314376831], [-0.009298592805862427, -0.024221032857894897, -0.0001302585005760193], [-0.011737793684005737, -0.023521512746810913, 0.004549160599708557], [-0.00716400146484375, -0.027000397443771362, 0.0033055469393730164], [-0.009997591376304626, -0.016368120908737183, 0.0012894123792648315], [-0.012443915009498596, -0.01754947006702423, 0.0020071789622306824], [-0.009336188435554504, -0.02076876163482666, -0.004604823887348175], [-0.009641960263252258, -0.019411101937294006, 0.0011329203844070435], [-0.00949510931968689, -0.014240995049476624, -5.5886805057525635e-05], [-0.013170003890991211, -0.016045525670051575, 0.0027667805552482605], [-0.010974347591400146, -0.02177777886390686, 0.00011759251356124878], [-0.011084526777267456, -0.021977663040161133, -0.0036075040698051453], [-0.012392595410346985, -0.021093711256980896, 0.0032284408807754517], [-0.005780771374702454, -0.01613582670688629, 0.0011396408081054688], [-0.008082553744316101, -0.020357295870780945, 0.0013483911752700806], [-0.011330842971801758, -0.019222259521484375, -0.0012652501463890076], [-0.006836101412773132, -0.017941728234291077, -6.002187728881836e-05], [-0.003998562693595886, -0.02319386601448059, 0.00014909356832504272], [-0.007479384541511536, -0.014927953481674194, 0.0012561455368995667], [-0.00981120765209198, -0.01756627857685089, -0.0012668594717979431], [-0.012098059058189392, -0.02643708884716034, 0.0023756474256515503], [-0.009494662284851074, -0.020305216312408447, -0.0012290775775909424], [-0.010704874992370605, -0.018309205770492554, 0.00035550445318222046], [-0.007779717445373535, -0.018576353788375854, -0.0001084357500076294], [-0.013971850275993347, -0.01980048418045044, 0.00029171258211135864], [-0.010702475905418396, -0.02141369879245758, -0.0024212002754211426], [-0.012163504958152771, -0.02256527543067932, 0.0018674284219741821], [-0.003861933946609497, -0.019188106060028076, -0.0027663782238960266]], "cand_final_gripper_all": [0.9980597496032715, 0.9964988231658936, 0.9982258081436157, 1.0, 1.0, 1.0, 1.0, 1.0, 0.9980050325393677, 0.9982719421386719, 0.9989890456199646, 0.9992262125015259, 1.0, 0.9992078542709351, 0.9983645081520081, 0.9992215633392334, 1.0, 1.0, 1.0, 0.9997916221618652, 0.9992871284484863, 0.9996049404144287, 1.0, 1.0, 0.9990202188491821, 0.9981785416603088, 0.9970684051513672, 1.0, 1.0, 0.998637318611145, 0.9994828701019287, 1.0], "eef_pos": [0.3927844762802124, 0.014502028003334999, 0.21897031366825104], "cand_action_std": 0.30772852897644043, "cand_pairwise_centroid_dist_mean": 2.5777688026428223, "argmax_act_outlier": 2.3632211685180664, "time_encode_ms": 146.27503603696823, "time_diffusion_ms": 201.22589403763413, "time_q_score_ms": 14.965393114835024, "time_total_ms": 365.007353015244, "num_action_samples_effective": 32, "q_aggregate": "pair_min"}
+{"chunk_ordinal": 23, "q_min_best": 0.20301726460456848, "q_min_mean": 0.04013071209192276, "q_min_std": 0.031852882355451584, "q_min_median": 0.03474711254239082, "chosen_vs_median_q_gap": 0.16827015578746796, "q1_best": 0.20301726460456848, "q2_best": 0.3273232877254486, "v_val": 0.007182377390563488, "advantage": 0.195834887214005, "best_idx": 12, "q_min_all": [0.03610467538237572, 0.039374399930238724, 0.03706555813550949, 0.027252834290266037, 0.05050269141793251, 0.030072975903749466, 0.03619140759110451, 0.03730731084942818, 0.059179503470659256, 0.01289413496851921, 0.04707995429635048, 0.04764620214700699, 0.20301726460456848, 0.06548021733760834, 0.029456455260515213, 0.03200496360659599, 0.0142345130443573, 0.05258660390973091, 0.034848395735025406, 0.03491269424557686, 0.03242198005318642, 0.0361844040453434, 0.02826753631234169, 0.030551757663488388, 0.02961842343211174, 0.02193586900830269, 0.03387055546045303, 0.03474711254239082, 0.02597915008664131, 0.028111081570386887, 0.020236413925886154, 0.03504570946097374], "q1_all": [0.03610467538237572, 0.039374399930238724, 0.03706555813550949, 0.027252834290266037, 0.05050269141793251, 0.030072975903749466, 0.03619140759110451, 0.03730731084942818, 0.059179503470659256, 0.01289413496851921, 0.04707995429635048, 0.04764620214700699, 0.20301726460456848, 0.06548021733760834, 0.029456455260515213, 0.03200496360659599, 0.0142345130443573, 0.05258660390973091, 0.034848395735025406, 0.03491269424557686, 0.03242198005318642, 0.0361844040453434, 0.02826753631234169, 0.030551757663488388, 0.02961842343211174, 0.02193586900830269, 0.03387055546045303, 0.03474711254239082, 0.02597915008664131, 0.028111081570386887, 0.020236413925886154, 0.03504570946097374], "q2_all": [0.21851739287376404, 0.2682628333568573, 0.1481112390756607, 0.19990818202495575, 0.07724684476852417, 0.2045695036649704, 0.27725979685783386, 0.20013386011123657, 0.15531907975673676, 0.02829894796013832, 0.14832669496536255, 0.27373555302619934, 0.3273232877254486, 0.12796829640865326, 0.3150283992290497, 0.0865611582994461, 0.019716747105121613, 0.3158707320690155, 0.043397173285484314, 0.24436722695827484, 0.035367202013731, 0.19991837441921234, 0.24370847642421722, 0.16286316514015198, 0.13967643678188324, 0.03294725343585014, 0.11914363503456116, 0.17900381982326508, 0.1657329797744751, 0.1693170964717865, 0.025236763060092926, 0.30112817883491516], "cand_trans_speed_all": [0.005529956892132759, 0.005361431743949652, 0.004885857459157705, 0.00474962405860424, 0.00786949135363102, 0.003692557569593191, 0.006190522573888302, 0.006189784966409206, 0.006905791815370321, 0.0071763694286346436, 0.006422677543014288, 0.0059301042929291725, 0.004949821159243584, 0.007315075956285, 0.004564969334751368, 0.005343403667211533, 0.006808205507695675, 0.005055243149399757, 0.0059373751282691956, 0.005205060821026564, 0.004936381243169308, 0.0065565817058086395, 0.0047139013186097145, 0.005082771182060242, 0.003946184646338224, 0.005887596867978573, 0.005782080814242363, 0.005360610783100128, 0.0038046929985284805, 0.0036036137025803328, 0.0063500190153717995, 0.004877115599811077], "cand_cum_xyz_disp_all": [[-0.0061912983655929565, -0.011344566941261292, -0.00019793212413787842], [-0.0031756162643432617, -0.009074389934539795, 0.0026740580797195435], [-0.0011536777019500732, -0.010427579283714294, 0.0021013692021369934], [-0.0035390853881835938, -0.009555205702781677, 0.002011016011238098], [-0.002775520086288452, -0.005893394351005554, 0.0016972795128822327], [-0.003699749708175659, -0.011301040649414062, 0.001897081732749939], [-0.004302978515625, -0.012078315019607544, -0.004766911268234253], [-0.002162337303161621, -0.00587114691734314, 0.0006018504500389099], [-0.003941386938095093, -0.009430840611457825, -0.0007103830575942993], [-0.0037800073623657227, -0.0030417144298553467, 0.0023068636655807495], [-0.0037794262170791626, -0.006953507661819458, -0.0006194859743118286], [-0.0067038387060165405, -0.013607054948806763, 0.0003630593419075012], [-0.007536247372627258, -0.015368714928627014, 0.001844152808189392], [-0.005804598331451416, -0.009298592805862427, 0.002470940351486206], [-0.005319610238075256, -0.013532832264900208, 0.00014484673738479614], [-0.0059168338775634766, -0.008275434374809265, 0.001086905598640442], [-0.005426660180091858, -0.0027521103620529175, 0.0033575445413589478], [-0.002762913703918457, -0.013812944293022156, 0.0018654242157936096], [-0.0028598904609680176, -0.011885404586791992, -0.002535395324230194], [-0.003607615828514099, -0.015391066670417786, -0.0019416064023971558], [-0.005432263016700745, -0.00924713909626007, 0.004176720976829529], [-0.0031066983938217163, -0.00895322859287262, -0.001991458237171173], [-0.0008737742900848389, -0.011682555079460144, -0.0012609884142875671], [-0.008931010961532593, -0.0084952712059021, 0.0015084967017173767], [-0.0026220083236694336, -0.014221295714378357, 0.002605713903903961], [-0.00816260278224945, -0.009740740060806274, 0.0022201761603355408], [-0.009369075298309326, -0.014091849327087402, 0.002367563545703888], [-0.0062189847230911255, -0.0072052329778671265, 0.0036834999918937683], [-0.005228489637374878, -0.009811073541641235, 0.0022407248616218567], [-0.0038217008113861084, -0.014240041375160217, 0.002676136791706085], [-0.0025387555360794067, -0.004791662096977234, 0.002135038375854492], [-0.007980436086654663, -0.010031208395957947, 0.0015829801559448242]], "cand_final_gripper_all": [0.9983521699905396, 0.9999603033065796, 0.9994107484817505, 0.9991281032562256, 0.9986827373504639, 0.9989177584648132, 1.0, 0.9986571073532104, 0.9979403018951416, 0.998970091342926, 0.9986883401870728, 0.999630331993103, 0.9994126558303833, 0.9995733499526978, 1.0, 1.0, 1.0, 1.0, 0.9999781250953674, 0.9991858601570129, 0.9994936585426331, 0.9997830390930176, 0.9983866810798645, 0.9988564252853394, 0.9988689422607422, 0.9998446702957153, 0.9986854195594788, 1.0, 0.9989715814590454, 0.9997018575668335, 0.9996225833892822, 0.9993731379508972], "eef_pos": [0.39390829205513, -6.783348362660035e-05, 0.22040463984012604], "cand_action_std": 0.20153236389160156, "cand_pairwise_centroid_dist_mean": 1.6957900524139404, "argmax_act_outlier": 1.1699984073638916, "time_encode_ms": 5.1772380247712135, "time_diffusion_ms": 36.304039880633354, "time_q_score_ms": 8.022101130336523, "time_total_ms": 50.210169050842524, "num_action_samples_effective": 32, "q_aggregate": "pair_min"}
+{"chunk_ordinal": 24, "q_min_best": 0.22186681628227234, "q_min_mean": 0.042611829936504364, "q_min_std": 0.057612545788288116, "q_min_median": 0.013542436063289642, "chosen_vs_median_q_gap": 0.2083243727684021, "q1_best": 0.22474807500839233, "q2_best": 0.22186681628227234, "v_val": 0.006778501905500889, "advantage": 0.21508831437677145, "best_idx": 16, "q_min_all": [0.00020660832524299622, 0.013542436063289642, 0.0006250329315662384, 0.03176523745059967, 0.09259946644306183, -0.0010180957615375519, 0.0044991634786129, -0.00025264546275138855, 0.02617107331752777, 0.016012374311685562, -0.002163354307413101, 0.003228459507226944, 0.0021018199622631073, 0.01949416473507881, 0.15351136028766632, 0.0028276927769184113, 0.22186681628227234, 0.08630943298339844, 0.0007512234151363373, 0.0029319487512111664, 0.09184743463993073, 0.003040943294763565, -9.35085117816925e-05, 0.11243876814842224, 0.05766681954264641, 0.15485627949237823, 0.08368754386901855, 0.020370975136756897, 0.00012406334280967712, 0.005313333123922348, 0.10291644930839539, 0.05639927461743355], "q1_all": [0.06797149777412415, 0.09604440629482269, 0.029493112117052078, 0.15563802421092987, 0.09259946644306183, 0.03541681170463562, 0.034649137407541275, 0.03233304247260094, 0.046127524226903915, 0.05353571102023125, 0.08748754858970642, 0.05678938329219818, 0.02284977212548256, 0.13386189937591553, 0.1864425539970398, 0.010373566299676895, 0.22474807500839233, 0.08630943298339844, 0.01379505917429924, 0.03568099066615105, 0.11118796467781067, 0.012394946068525314, 0.014541227370500565, 0.19570693373680115, 0.0939987450838089, 0.18261903524398804, 0.08643049001693726, 0.029390845447778702, 0.0136621855199337, 0.0742664635181427, 0.10291644930839539, 0.13623541593551636], "q2_all": [0.00020660832524299622, 0.013542436063289642, 0.0006250329315662384, 0.03176523745059967, 0.1089940071105957, -0.0010180957615375519, 0.0044991634786129, -0.00025264546275138855, 0.02617107331752777, 0.016012374311685562, -0.002163354307413101, 0.003228459507226944, 0.0021018199622631073, 0.01949416473507881, 0.15351136028766632, 0.0028276927769184113, 0.22186681628227234, 0.09220181405544281, 0.0007512234151363373, 0.0029319487512111664, 0.09184743463993073, 0.003040943294763565, -9.35085117816925e-05, 0.11243876814842224, 0.05766681954264641, 0.15485627949237823, 0.08368754386901855, 0.020370975136756897, 0.00012406334280967712, 0.005313333123922348, 0.12374615669250488, 0.05639927461743355], "cand_trans_speed_all": [0.006623742636293173, 0.006647161208093166, 0.0053801154717803, 0.009787932969629765, 0.00779087096452713, 0.008247049525380135, 0.005618228577077389, 0.007925612851977348, 0.004880786407738924, 0.007323435973376036, 0.00957658514380455, 0.005162839312106371, 0.005102846305817366, 0.006649407558143139, 0.00780458515509963, 0.005070109851658344, 0.009225331246852875, 0.008635949343442917, 0.006239851005375385, 0.007510678377002478, 0.010865076445043087, 0.00489834975451231, 0.007755856961011887, 0.005925589241087437, 0.007477286271750927, 0.010736888274550438, 0.0070746224373579025, 0.009494993835687637, 0.005917934700846672, 0.007710570003837347, 0.007123642601072788, 0.008252386003732681], "cand_cum_xyz_disp_all": [[-0.009875267744064331, -0.02257390320301056, 0.0017306879162788391], [-0.00424174964427948, -0.025632396340370178, -0.00014086812734603882], [-0.005055740475654602, -0.018186837434768677, 0.0037984922528266907], [-0.01180066168308258, -0.021421387791633606, 0.0010364949703216553], [-0.011974126100540161, -0.030197516083717346, 0.0011366009712219238], [-0.0036077946424484253, -0.013630330562591553, -0.0002529248595237732], [-0.006121844053268433, -0.02194558084011078, -0.0008570551872253418], [-0.006513074040412903, -0.009097695350646973, 7.591396570205688e-05], [-0.008091971278190613, -0.02118217945098877, 0.0013950690627098083], [-0.011159226298332214, -0.019883006811141968, 0.0009599030017852783], [-0.008190229535102844, -0.010317489504814148, -0.002896338701248169], [-0.006299316883087158, -0.023122012615203857, 0.0009310096502304077], [-0.004041358828544617, -0.014985844492912292, -0.0007491633296012878], [-0.007485091686248779, -0.025312155485153198, 0.0005624070763587952], [-0.008470892906188965, -0.030115410685539246, -0.000926673412322998], [-0.013154193758964539, -0.01598791778087616, -0.00438961386680603], [-0.01107671856880188, -0.024336397647857666, -0.0016419216990470886], [-0.009821563959121704, -0.02586732804775238, -0.0009059309959411621], [-0.009159937500953674, -0.01325465738773346, -0.0007436051964759827], [-0.008480221033096313, -0.020192623138427734, -0.0049290284514427185], [-0.008088335394859314, -0.0208875834941864, 0.0003218352794647217], [-0.0065137892961502075, -0.015266463160514832, -0.0011726543307304382], [-0.005217298865318298, -0.008127778768539429, 0.003138132393360138], [-0.009467080235481262, -0.02822008728981018, 0.0010098665952682495], [-0.008310630917549133, -0.025111213326454163, 0.0021915361285209656], [-0.010900720953941345, -0.023624464869499207, -0.003073178231716156], [-0.009804442524909973, -0.02457307279109955, 0.0019450411200523376], [-0.005985483527183533, -0.009015724062919617, -0.0019258111715316772], [-0.005531236529350281, -0.01369023323059082, -0.0032509714365005493], [-0.007872164249420166, -0.018079519271850586, -0.0036770999431610107], [-0.004336893558502197, -0.026659920811653137, -0.0005126446485519409], [-0.010925471782684326, -0.02015770971775055, 0.002644166350364685]], "cand_final_gripper_all": [1.0, 0.9986116290092468, 0.9980751872062683, 1.0, 0.9995591640472412, 0.9995737075805664, 1.0, 1.0, 1.0, 0.9991405606269836, 0.9998003244400024, 0.9974944591522217, 1.0, 0.9985488057136536, 0.9995399117469788, 1.0, 0.9980986714363098, 0.9991610050201416, 1.0, 0.999826967716217, 0.9986680150032043, 0.9995031952857971, 1.0, 0.9987834692001343, 0.9988324046134949, 0.9987143278121948, 1.0, 1.0, 0.9990523457527161, 0.9985465407371521, 0.9988210201263428, 0.9979298114776611], "eef_pos": [0.3936789333820343, -0.004486119374632835, 0.2192731499671936], "cand_action_std": 0.2733071744441986, "cand_pairwise_centroid_dist_mean": 2.3727433681488037, "argmax_act_outlier": 1.8941348791122437, "time_encode_ms": 5.802766885608435, "time_diffusion_ms": 36.10044298693538, "time_q_score_ms": 8.452237816527486, "time_total_ms": 51.04381497949362, "num_action_samples_effective": 32, "q_aggregate": "pair_min"}
+{"chunk_ordinal": 25, "q_min_best": 0.4874799847602844, "q_min_mean": 0.2560928761959076, "q_min_std": 0.14433564245700836, "q_min_median": 0.2625621259212494, "chosen_vs_median_q_gap": 0.22491785883903503, "q1_best": 0.4874799847602844, "q2_best": 0.5332415699958801, "v_val": 0.0026793943252414465, "advantage": 0.484800590435043, "best_idx": 6, "q_min_all": [0.36724066734313965, 0.1495637446641922, 0.19360589981079102, 0.3056740164756775, 0.053564656525850296, 0.3808872401714325, 0.4874799847602844, 0.43724146485328674, 0.3687320947647095, 0.03860219195485115, 0.48233962059020996, 0.0262007899582386, 0.23033516108989716, 0.08957600593566895, 0.13170753419399261, 0.057386938482522964, 0.3724154233932495, 0.4142317771911621, 0.3094463348388672, 0.09222051501274109, 0.43491485714912415, 0.1578989028930664, 0.01245562732219696, 0.17004060745239258, 0.22999243438243866, 0.284607470035553, 0.38062721490859985, 0.2625621259212494, 0.4104963541030884, 0.23218482732772827, 0.3280670940876007, 0.30267244577407837], "q1_all": [0.36724066734313965, 0.2522146701812744, 0.19360589981079102, 0.3056740164756775, 0.1839507818222046, 0.3808872401714325, 0.4874799847602844, 0.43724146485328674, 0.3687320947647095, 0.08434583246707916, 0.48233962059020996, 0.09762111306190491, 0.23033516108989716, 0.1990041732788086, 0.1851280927658081, 0.18762999773025513, 0.3724154233932495, 0.4142317771911621, 0.37282493710517883, 0.18284232914447784, 0.43491485714912415, 0.19740742444992065, 0.1789047122001648, 0.17004060745239258, 0.269132524728775, 0.284607470035553, 0.38062721490859985, 0.3349660336971283, 0.4104963541030884, 0.23218482732772827, 0.35187822580337524, 0.30267244577407837], "q2_all": [0.43067172169685364, 0.1495637446641922, 0.23166514933109283, 0.3570398986339569, 0.053564656525850296, 0.47847989201545715, 0.5332415699958801, 0.519646406173706, 0.397121787071228, 0.03860219195485115, 0.5149737000465393, 0.0262007899582386, 0.23709426820278168, 0.08957600593566895, 0.13170753419399261, 0.057386938482522964, 0.41099753975868225, 0.4296283721923828, 0.3094463348388672, 0.09222051501274109, 0.49572524428367615, 0.1578989028930664, 0.01245562732219696, 0.21599136292934418, 0.22999243438243866, 0.29045554995536804, 0.4900704324245453, 0.2625621259212494, 0.46132373809814453, 0.24546654522418976, 0.3280670940876007, 0.385649174451828], "cand_trans_speed_all": [0.005510501563549042, 0.005935719236731529, 0.00567404180765152, 0.0057961898855865, 0.004670954309403896, 0.007675460539758205, 0.006097207777202129, 0.005424076225608587, 0.007144727744162083, 0.006703072227537632, 0.006127776112407446, 0.004355216398835182, 0.0062909978441894054, 0.005012284964323044, 0.005064431577920914, 0.005679084919393063, 0.007126852869987488, 0.006298260297626257, 0.004251631908118725, 0.005071032326668501, 0.007155050989240408, 0.005619416944682598, 0.004852553363889456, 0.00574024161323905, 0.005601405631750822, 0.00662677688524127, 0.005641126073896885, 0.006393901072442532, 0.006812994834035635, 0.005232286639511585, 0.005076059140264988, 0.0059366412460803986], "cand_cum_xyz_disp_all": [[-0.01160353422164917, -0.01880502700805664, -0.007952757179737091], [-0.010392770171165466, -0.016039595007896423, -0.0068724751472473145], [-0.010911256074905396, -0.022127822041511536, -0.009356379508972168], [-0.0101412832736969, -0.016662999987602234, -0.005476117134094238], [-0.007592439651489258, -0.017269521951675415, -0.005898609757423401], [-0.01160779595375061, -0.017384812235832214, -0.00689697265625], [-0.011487603187561035, -0.012577369809150696, -0.010042011737823486], [-0.012150704860687256, -0.01694566011428833, -0.008349031209945679], [-0.01247665286064148, -0.01573382318019867, -0.007093220949172974], [-0.0062188804149627686, -0.019539639353752136, -0.006143853068351746], [-0.011678650975227356, -0.021796107292175293, -0.009051494300365448], [-0.006020709872245789, -0.015720084309577942, -0.003644287586212158], [-0.009548470377922058, -0.0166110098361969, -0.004650384187698364], [-0.009553343057632446, -0.015480607748031616, -0.004471279680728912], [-0.00843694806098938, -0.016036823391914368, -0.0080476775765419], [-0.009779959917068481, -0.019791528582572937, -0.005909398198127747], [-0.012561067938804626, -0.02061474323272705, -0.009807862341403961], [-0.009682506322860718, -0.018427640199661255, -0.00784280151128769], [-0.009056851267814636, -0.012679263949394226, -0.007255859673023224], [-0.00939224660396576, -0.014241769909858704, -0.008503444492816925], [-0.015324324369430542, -0.01910705864429474, -0.00751158595085144], [-0.010868072509765625, -0.017887502908706665, -0.006166830658912659], [-0.006606251001358032, -0.021166369318962097, -0.007603153586387634], [-0.01329776644706726, -0.018541261553764343, -0.0074892789125442505], [-0.008980512619018555, -0.015498295426368713, -0.008875317871570587], [-0.0096062570810318, -0.01845419406890869, -0.0050325095653533936], [-0.008510425686836243, -0.016835927963256836, -0.007493816316127777], [-0.009398534893989563, -0.019811168313026428, -0.011225514113903046], [-0.01014263927936554, -0.012449383735656738, -0.007502943277359009], [-0.009666651487350464, -0.02101774513721466, -0.005976036190986633], [-0.006538093090057373, -0.018051475286483765, -0.0032619014382362366], [-0.01187579333782196, -0.020622998476028442, -0.007869429886341095]], "cand_final_gripper_all": [1.0, 0.9983587265014648, 0.9978169202804565, 0.9996746778488159, 0.9988868832588196, 0.9978761076927185, 0.9987592697143555, 0.9997577667236328, 0.9985823035240173, 0.9974068403244019, 0.9989092350006104, 0.9982268810272217, 0.9997773766517639, 0.9992380738258362, 0.9974433779716492, 0.9967729449272156, 0.9982194900512695, 0.9981144666671753, 0.9986315369606018, 0.9991863965988159, 0.9993994235992432, 0.9985895156860352, 0.9994299411773682, 0.9973956346511841, 0.9989578723907471, 0.9987707138061523, 0.9974991083145142, 1.0, 0.9989756345748901, 1.0, 0.9990705251693726, 0.9993566274642944], "eef_pos": [0.39215242862701416, -0.016309794038534164, 0.21968616545200348], "cand_action_std": 0.26739683747291565, "cand_pairwise_centroid_dist_mean": 2.201564311981201, "argmax_act_outlier": 1.7715789079666138, "time_encode_ms": 5.226790206506848, "time_diffusion_ms": 36.41023696400225, "time_q_score_ms": 8.003577124327421, "time_total_ms": 50.33105402253568, "num_action_samples_effective": 32, "q_aggregate": "pair_min"}
+{"chunk_ordinal": 26, "q_min_best": 0.04131728410720825, "q_min_mean": 0.00823510903865099, "q_min_std": 0.007673358079046011, "q_min_median": 0.007219027727842331, "chosen_vs_median_q_gap": 0.03409825637936592, "q1_best": 0.30021584033966064, "q2_best": 0.04131728410720825, "v_val": 0.006634829565882683, "advantage": 0.03468245454132557, "best_idx": 30, "q_min_all": [0.006720948964357376, 0.012547444552183151, 0.01228984072804451, 0.0017502978444099426, 0.005830366164445877, 0.007800314575433731, 0.0023059137165546417, -0.0008790753781795502, 0.011833716183900833, 0.003977682441473007, 0.006297711282968521, 0.005464348942041397, 0.008159976452589035, 0.00973515585064888, 0.008233647793531418, 0.008014809340238571, 0.004428211599588394, 0.01591626927256584, 0.00857829675078392, -0.0003340914845466614, 0.004034493118524551, 0.00039910897612571716, 0.007219027727842331, 0.004669863730669022, 0.010470699518918991, 0.007374223321676254, 0.009732108563184738, 0.004599045962095261, 0.003769051283597946, 0.008850138634443283, 0.04131728410720825, 0.022416647523641586], "q1_all": [0.006720948964357376, 0.012547444552183151, 0.020705390721559525, 0.0017502978444099426, 0.005830366164445877, 0.01443139836192131, 0.0023059137165546417, -0.0008790753781795502, 0.0223432295024395, 0.003977682441473007, 0.006297711282968521, 0.005464348942041397, 0.008159976452589035, 0.00973515585064888, 0.11887407302856445, 0.12561824917793274, 0.004428211599588394, 0.2404850721359253, 0.06461887806653976, -0.0003340914845466614, 0.004034493118524551, 0.00039910897612571716, 0.03265846520662308, 0.004669863730669022, 0.02706240862607956, 0.21109212934970856, 0.009732108563184738, 0.004599045962095261, 0.003769051283597946, 0.043070364743471146, 0.30021584033966064, 0.22784364223480225], "q2_all": [0.01343134418129921, 0.017007004469633102, 0.01228984072804451, 0.016433294862508774, 0.013514753431081772, 0.007800314575433731, 0.01381862536072731, 0.012759272009134293, 0.011833716183900833, 0.011465329676866531, 0.014192547649145126, 0.01375499740242958, 0.012562628835439682, 0.011402826756238937, 0.008233647793531418, 0.008014809340238571, 0.011866945773363113, 0.01591626927256584, 0.00857829675078392, 0.015010397881269455, 0.010816674679517746, 0.014365922659635544, 0.007219027727842331, 0.012148503214120865, 0.010470699518918991, 0.007374223321676254, 0.01634795591235161, 0.01162051036953926, 0.013368364423513412, 0.008850138634443283, 0.04131728410720825, 0.022416647523641586], "cand_trans_speed_all": [0.00374546623788774, 0.007842449471354485, 0.0047260457649827, 0.008372340351343155, 0.0036175865679979324, 0.008247561752796173, 0.004303724970668554, 0.004095842596143484, 0.0050162458792328835, 0.005624008364975452, 0.004483363591134548, 0.005162683315575123, 0.005122489761561155, 0.004205690696835518, 0.0066612036898732185, 0.008131813257932663, 0.0034968077670782804, 0.007894855923950672, 0.00748776039108634, 0.0048720259219408035, 0.0066162897273898125, 0.004571946337819099, 0.007289384491741657, 0.004390183370560408, 0.006834750063717365, 0.009610041975975037, 0.005989432334899902, 0.004796335007995367, 0.00459665060043335, 0.007742678746581078, 0.007910571992397308, 0.007594780530780554], "cand_cum_xyz_disp_all": [[-0.0034589767456054688, -0.009913191199302673, -0.0023404881358146667], [-0.008471786975860596, -0.00804087519645691, -0.004236765205860138], [-0.001406356692314148, -0.02599070966243744, -0.00029481202363967896], [-0.004962146282196045, -0.009897425770759583, -0.0050331950187683105], [-0.0022217929363250732, -0.013700306415557861, -0.0023036599159240723], [-0.006350293755531311, -0.008220061659812927, -0.004191018640995026], [-0.006667777895927429, -0.013631045818328857, -0.0036123916506767273], [-0.0054992735385894775, -0.013945147395133972, -0.0006709694862365723], [-0.005069270730018616, -0.015459924936294556, -0.005173295736312866], [-0.004632994532585144, -0.009428068995475769, -0.002431310713291168], [-0.0037759244441986084, -0.022239312529563904, -0.0017365515232086182], [-0.0008675903081893921, -0.016727760434150696, -0.004564695060253143], [-0.007744207978248596, -0.009099632501602173, -0.004702024161815643], [-0.00512106716632843, -0.012907952070236206, -0.0027435272932052612], [-0.0033180266618728638, -0.014045342803001404, -0.0019323080778121948], [-0.0031303763389587402, -0.01653425395488739, -0.007555030286312103], [-0.0030624419450759888, -0.0015494376420974731, -0.0022682547569274902], [0.0008141994476318359, -0.02045464515686035, -0.009326130151748657], [-0.006648197770118713, -0.008021965622901917, -0.003867998719215393], [-0.007776707410812378, -0.010705143213272095, -0.004107549786567688], [-0.00918780267238617, -0.009840697050094604, -0.0042985305190086365], [-0.005024239420890808, -0.011439248919487, -0.006287500262260437], [-0.008965373039245605, -0.01756468415260315, -0.0037225261330604553], [-0.0021836161613464355, -0.007274165749549866, -0.0019383355975151062], [-0.007995471358299255, -0.008543804287910461, -0.004549652338027954], [-0.008178681135177612, -0.012752369046211243, -0.005461461842060089], [-0.007581114768981934, -0.006916046142578125, -0.005738437175750732], [-0.006132036447525024, -0.009138524532318115, -0.003241322934627533], [-0.00119076669216156, -0.011623874306678772, -0.0027916282415390015], [-0.0011135637760162354, -0.014390647411346436, -0.006474517285823822], [-0.0041983723640441895, -0.021549060940742493, -0.006608419120311737], [-0.012010470032691956, -0.013805344700813293, -0.005346067249774933]], "cand_final_gripper_all": [0.9966683387756348, 0.9984323978424072, 1.0, 0.997189998626709, 0.9993162155151367, 0.998288631439209, 0.9973537921905518, 0.9981468915939331, 1.0, 0.9983408451080322, 0.9995105266571045, 1.0, 0.9998583197593689, 0.9982930421829224, 0.9994838833808899, 1.0, 1.0, 0.9987258911132812, 0.9997909069061279, 0.9973745346069336, 0.998974084854126, 0.998512864112854, 1.0, 0.999215841293335, 1.0, 0.9986545443534851, 0.9978562593460083, 0.9989871978759766, 1.0, 0.9983566999435425, 0.9973336458206177, 0.9981793165206909], "eef_pos": [0.3970274329185486, -0.025912638753652573, 0.22367754578590393], "cand_action_std": 0.3608172535896301, "cand_pairwise_centroid_dist_mean": 3.3778810501098633, "argmax_act_outlier": 2.351637363433838, "time_encode_ms": 4.971715854480863, "time_diffusion_ms": 36.11581097356975, "time_q_score_ms": 8.437851909548044, "time_total_ms": 50.30691879801452, "num_action_samples_effective": 32, "q_aggregate": "pair_min"}
+{"chunk_ordinal": 27, "q_min_best": 0.10108329355716705, "q_min_mean": 0.04441388323903084, "q_min_std": 0.022877899929881096, "q_min_median": 0.04395577684044838, "chosen_vs_median_q_gap": 0.057127516716718674, "q1_best": 0.35168397426605225, "q2_best": 0.10108329355716705, "v_val": 0.003401231486350298, "advantage": 0.09768206207081676, "best_idx": 0, "q_min_all": [0.10108329355716705, 0.07741522789001465, 0.0511789433658123, 0.07653479278087616, 0.02691829577088356, 0.07942061126232147, 0.013496767729520798, 0.03615674749016762, 0.012893486768007278, 0.07551050186157227, 0.03725733980536461, 0.04586118087172508, 0.04395577684044838, 0.058133725076913834, 0.024827171117067337, 0.07365404069423676, 0.031140420585870743, 0.07137075066566467, 0.048637907952070236, 0.01630472019314766, 0.05225440487265587, 0.045582253485918045, 0.024196382611989975, 0.032644275575876236, 0.02096012607216835, 0.02906252071261406, 0.047325972467660904, 0.02190425619482994, 0.022047918289899826, 0.02085346356034279, 0.057572972029447556, 0.04508797451853752], "q1_all": [0.35168397426605225, 0.2929963767528534, 0.25666821002960205, 0.29825103282928467, 0.18855145573616028, 0.32129400968551636, 0.14843793213367462, 0.19259852170944214, 0.12043599784374237, 0.2768925428390503, 0.1561783105134964, 0.1607772409915924, 0.21835088729858398, 0.25955358147621155, 0.1606511026620865, 0.29942989349365234, 0.18960276246070862, 0.2790680527687073, 0.22124367952346802, 0.06367620825767517, 0.22085845470428467, 0.2131853550672531, 0.18374796211719513, 0.196659654378891, 0.20795294642448425, 0.15435874462127686, 0.18631687760353088, 0.160145103931427, 0.1426604688167572, 0.17469468712806702, 0.23418784141540527, 0.16988393664360046], "q2_all": [0.10108329355716705, 0.07741522789001465, 0.0511789433658123, 0.07653479278087616, 0.02691829577088356, 0.07942061126232147, 0.013496767729520798, 0.03615674749016762, 0.012893486768007278, 0.07551050186157227, 0.03725733980536461, 0.04586118087172508, 0.04395577684044838, 0.058133725076913834, 0.024827171117067337, 0.07365404069423676, 0.031140420585870743, 0.07137075066566467, 0.048637907952070236, 0.01630472019314766, 0.05225440487265587, 0.045582253485918045, 0.024196382611989975, 0.032644275575876236, 0.02096012607216835, 0.02906252071261406, 0.047325972467660904, 0.02190425619482994, 0.022047918289899826, 0.02085346356034279, 0.057572972029447556, 0.04508797451853752], "cand_trans_speed_all": [0.00504631083458662, 0.003995960112661123, 0.0053666322492063046, 0.005678917281329632, 0.004508230835199356, 0.005624628625810146, 0.0052115037105977535, 0.007072053849697113, 0.0044866763055324554, 0.005218924023211002, 0.004472851287573576, 0.004732967354357243, 0.003983277827501297, 0.004344073124229908, 0.005561738274991512, 0.005200237967073917, 0.00523863872513175, 0.004647335037589073, 0.004178862553089857, 0.004935711622238159, 0.00496502174064517, 0.006142791360616684, 0.0030022235587239265, 0.0038977868389338255, 0.004367486573755741, 0.00670807808637619, 0.003732557175680995, 0.006130002439022064, 0.004955729003995657, 0.006161748897284269, 0.004614904522895813, 0.0053609637543559074], "cand_cum_xyz_disp_all": [[-0.008683770895004272, -0.00731031596660614, -0.010691434144973755], [-0.00993676483631134, -0.009890541434288025, -0.007169164717197418], [-0.006609201431274414, -0.004286780953407288, -0.00969928503036499], [-0.007928237318992615, -0.006270051002502441, -0.009251445531845093], [-0.007906705141067505, -0.011114120483398438, -0.005669109523296356], [-0.004276633262634277, -0.003431543707847595, -0.009797543287277222], [-0.007519453763961792, -0.007570013403892517, -0.009282328188419342], [-0.0007629990577697754, -0.00634215772151947, -0.00794057548046112], [-0.0062897950410842896, -0.010717630386352539, -0.01008613407611847], [-0.008992448449134827, -0.007865265011787415, -0.011643722653388977], [-0.0054642558097839355, -0.005440816283226013, -0.0075712502002716064], [-0.00860103964805603, -0.0105791836977005, -0.010137714445590973], [-0.0007076859474182129, -0.009552568197250366, -0.0033926665782928467], [-0.0031322985887527466, -0.004643455147743225, -0.010809041559696198], [-0.006685584783554077, -0.00371667742729187, -0.009396985173225403], [-0.007332295179367065, -0.0050556957721710205, -0.006581500172615051], [-0.007165014743804932, -0.008683785796165466, -0.009311340749263763], [-0.007633030414581299, -0.006597235798835754, -0.00705680251121521], [-0.006667599081993103, -0.008010074496269226, -0.008390568196773529], [-0.005178332328796387, -0.013059377670288086, -0.012493029236793518], [-0.007222965359687805, -0.005418866872787476, -0.0034863650798797607], [-0.007772132754325867, -0.006630629301071167, -0.009494893252849579], [-0.005869731307029724, -0.003964170813560486, -0.007957786321640015], [-0.00876423716545105, -0.007614806294441223, -0.004841744899749756], [-0.006740286946296692, -0.007477298378944397, -0.005516320466995239], [-0.006662458181381226, -0.0019112229347229004, -0.009196817874908447], [-0.0066640377044677734, -0.007102400064468384, -0.007027283310890198], [-0.008928105235099792, -0.008620724081993103, -0.008854910731315613], [-0.003215610980987549, -0.007413342595100403, -0.008914165198802948], [-0.0004355907440185547, -0.007917329668998718, -0.004162944853305817], [-0.0076059699058532715, -0.007227987051010132, -0.00910612940788269], [-0.00800374150276184, -0.002929478883743286, -0.006454363465309143]], "cand_final_gripper_all": [1.0, 0.9990034103393555, 0.99851393699646, 0.9998823404312134, 0.9990515112876892, 0.999536395072937, 0.9988031387329102, 0.9986182451248169, 0.9986850023269653, 0.9995893239974976, 0.9994027614593506, 1.0, 0.9997074604034424, 0.9989672303199768, 0.9977786540985107, 0.9998266696929932, 0.9994884133338928, 1.0, 0.9991943836212158, 0.9971728920936584, 0.9999122023582458, 0.9984934329986572, 0.998558759689331, 1.0, 0.9999631643295288, 0.9985506534576416, 1.0, 0.999293327331543, 0.9991207122802734, 0.998497486114502, 0.9994708895683289, 0.9994890093803406], "eef_pos": [0.3964805603027344, -0.034496746957302094, 0.22528737783432007], "cand_action_std": 0.23454423248767853, "cand_pairwise_centroid_dist_mean": 1.9154421091079712, "argmax_act_outlier": 1.7656234502792358, "time_encode_ms": 5.0313270185142756, "time_diffusion_ms": 36.445182049646974, "time_q_score_ms": 7.815217832103372, "time_total_ms": 50.009717931970954, "num_action_samples_effective": 32, "q_aggregate": "pair_min"}
+{"chunk_ordinal": 28, "q_min_best": 0.20915059745311737, "q_min_mean": 0.03556767478585243, "q_min_std": 0.04701673984527588, "q_min_median": 0.012391973286867142, "chosen_vs_median_q_gap": 0.19675862789154053, "q1_best": 0.2955470085144043, "q2_best": 0.20915059745311737, "v_val": 0.0061174919828772545, "advantage": 0.20303310547024012, "best_idx": 23, "q_min_all": [0.03138050064444542, 0.0833117663860321, 0.02789892628788948, 0.01839286834001541, 0.008048605173826218, 0.009220514446496964, 0.01585417613387108, 0.011611279100179672, 0.016088411211967468, 0.014099616557359695, 0.010070089250802994, 0.010948661714792252, 0.01083090528845787, 0.013500701636075974, 0.009268224239349365, 0.004855494946241379, 0.011167656630277634, 0.006328064948320389, 0.01113470271229744, 0.011247839778661728, 0.11133797466754913, 0.05792925879359245, 0.0801502913236618, 0.20915059745311737, 0.05704137310385704, 0.009294558316469193, 0.006910111755132675, 0.09906817972660065, 0.014072906225919724, 0.010087862610816956, 0.012391973286867142, 0.13547156751155853], "q1_all": [0.19927535951137543, 0.2008207142353058, 0.17096272110939026, 0.20495593547821045, 0.1749461591243744, 0.08558385074138641, 0.26558876037597656, 0.15191957354545593, 0.21361342072486877, 0.17404860258102417, 0.14892688393592834, 0.16272592544555664, 0.21808849275112152, 0.1547098308801651, 0.1766977608203888, 0.07996176183223724, 0.10118024051189423, 0.1686503291130066, 0.16859841346740723, 0.16171064972877502, 0.20564432442188263, 0.19659081101417542, 0.19444197416305542, 0.2955470085144043, 0.21072472631931305, 0.13039995729923248, 0.1921738237142563, 0.23392432928085327, 0.13642844557762146, 0.1248854249715805, 0.18041257560253143, 0.25494399666786194], "q2_all": [0.03138050064444542, 0.0833117663860321, 0.02789892628788948, 0.01839286834001541, 0.008048605173826218, 0.009220514446496964, 0.01585417613387108, 0.011611279100179672, 0.016088411211967468, 0.014099616557359695, 0.010070089250802994, 0.010948661714792252, 0.01083090528845787, 0.013500701636075974, 0.009268224239349365, 0.004855494946241379, 0.011167656630277634, 0.006328064948320389, 0.01113470271229744, 0.011247839778661728, 0.11133797466754913, 0.05792925879359245, 0.0801502913236618, 0.20915059745311737, 0.05704137310385704, 0.009294558316469193, 0.006910111755132675, 0.09906817972660065, 0.014072906225919724, 0.010087862610816956, 0.012391973286867142, 0.13547156751155853], "cand_trans_speed_all": [0.004855280742049217, 0.008568077348172665, 0.00471506267786026, 0.004257011227309704, 0.004110448062419891, 0.0032673690002411604, 0.004274068400263786, 0.003347497433423996, 0.0052968463860452175, 0.0044954391196370125, 0.0045113591477274895, 0.00423520989716053, 0.004587013274431229, 0.003050572704523802, 0.005251703318208456, 0.00509328069165349, 0.00577356806024909, 0.005128869321197271, 0.0035269614309072495, 0.004507775884121656, 0.0052560679614543915, 0.00402514124289155, 0.004569481126964092, 0.005276901181787252, 0.005117332097142935, 0.006239971145987511, 0.004384519066661596, 0.004901062231510878, 0.0037864972837269306, 0.003168967319652438, 0.003535342402756214, 0.004139534663408995], "cand_cum_xyz_disp_all": [[0.004347071051597595, -0.0035242438316345215, -0.01115506887435913], [0.003724336624145508, 0.0005895942449569702, -0.009441010653972626], [-0.00042460858821868896, -0.002121344208717346, -0.011814184486865997], [0.0038585513830184937, -0.006504714488983154, -0.010942064225673676], [0.00364135205745697, -0.0062723904848098755, -0.010398037731647491], [0.0027637630701065063, -0.008705735206604004, -0.006968557834625244], [0.0036227554082870483, -0.010498076677322388, -0.0150102898478508], [0.0032364875078201294, -0.005954176187515259, -0.009243197739124298], [0.003441855311393738, -0.007770553231239319, -0.009019516408443451], [0.002346038818359375, -0.007828384637832642, -0.010507442057132721], [0.004801243543624878, -0.0032561570405960083, -0.007792837917804718], [0.004869446158409119, -0.006976798176765442, -0.008079193532466888], [0.0022322237491607666, -0.005888506770133972, -0.01200944185256958], [0.0032320767641067505, -0.0034298747777938843, -0.006654493510723114], [0.0013218671083450317, -0.008310332894325256, -0.011502385139465332], [0.004078909754753113, -0.003405824303627014, -0.008022703230381012], [0.000374719500541687, -0.0005536973476409912, -0.008195452392101288], [-0.0007684081792831421, -0.005521103739738464, -0.008343033492565155], [0.003322213888168335, -0.0052797794342041016, -0.009598597884178162], [0.0013843327760696411, -0.004149317741394043, -0.00937490165233612], [0.00041621923446655273, -0.002846330404281616, -0.007992960512638092], [0.0034176260232925415, -0.003975242376327515, -0.009384483098983765], [0.00663129985332489, -0.0024386197328567505, -0.008129298686981201], [0.0014180988073349, -0.0002818554639816284, -0.01179870218038559], [-0.001150563359260559, -0.002734959125518799, -0.012115254998207092], [0.0015095025300979614, 1.958012580871582e-05, -0.012938238680362701], [0.0007649213075637817, -0.005833074450492859, -0.008361347019672394], [0.003173932433128357, -0.004118040204048157, -0.009299017488956451], [0.0010685473680496216, -0.0026359856128692627, -0.007289573550224304], [0.001834481954574585, -0.004868924617767334, -0.009734682738780975], [0.004555746912956238, -0.005205690860748291, -0.009370788931846619], [0.0017917007207870483, -0.004465281963348389, -0.011074528098106384]], "cand_final_gripper_all": [0.9980795979499817, 0.9985748529434204, 0.9996292591094971, 0.9997259378433228, 0.9999908208847046, 0.9989814758300781, 0.9983210563659668, 0.9994088411331177, 0.9994250535964966, 0.9994581937789917, 0.9979250431060791, 0.9975400567054749, 0.9986801147460938, 1.0, 0.9985338449478149, 0.9988129138946533, 0.9990972876548767, 0.9970077276229858, 0.9989820718765259, 0.9987500905990601, 0.9994294047355652, 0.998556911945343, 0.9986304044723511, 1.0, 0.9994542002677917, 0.9981213808059692, 0.997795581817627, 0.9973785281181335, 1.0, 0.9984301328659058, 0.9988600015640259, 0.999052882194519], "eef_pos": [0.3993323743343353, -0.04179266467690468, 0.22780655324459076], "cand_action_std": 0.22920113801956177, "cand_pairwise_centroid_dist_mean": 1.9468944072723389, "argmax_act_outlier": 2.2158284187316895, "time_encode_ms": 5.008855136111379, "time_diffusion_ms": 36.148021928966045, "time_q_score_ms": 8.195684058591723, "time_total_ms": 50.12254812754691, "num_action_samples_effective": 32, "q_aggregate": "pair_min"}
+{"chunk_ordinal": 29, "q_min_best": 0.18705697357654572, "q_min_mean": 0.06663517653942108, "q_min_std": 0.04229553043842316, "q_min_median": 0.05931850150227547, "chosen_vs_median_q_gap": 0.12773847579956055, "q1_best": 0.5376803874969482, "q2_best": 0.18705697357654572, "v_val": 0.009438872337341309, "advantage": 0.1776181012392044, "best_idx": 17, "q_min_all": [0.08334724605083466, 0.11026503145694733, 0.054683100432157516, 0.0302361398935318, 0.025060106068849564, 0.05991562828421593, 0.08118607103824615, 0.08939824998378754, 0.06478796899318695, 0.05931850150227547, 0.047011133283376694, 0.18570680916309357, 0.08172173798084259, 0.031819187104701996, 0.017963100224733353, 0.05085885152220726, 0.028538204729557037, 0.18705697357654572, 0.08505603671073914, 0.06341671943664551, 0.07596565783023834, 0.01666848547756672, 0.0156562440097332, 0.06778089702129364, 0.032130640000104904, 0.04807668924331665, 0.09262058138847351, 0.045182906091213226, 0.01842166855931282, 0.10873901844024658, 0.1147213727235794, 0.059014495462179184], "q1_all": [0.10780459642410278, 0.11833734810352325, 0.12573860585689545, 0.04114393889904022, 0.05888758972287178, 0.0732191950082779, 0.08631560206413269, 0.08939824998378754, 0.09465137124061584, 0.05931850150227547, 0.047011133283376694, 0.373087614774704, 0.0936174988746643, 0.031819187104701996, 0.017963100224733353, 0.05085885152220726, 0.028538204729557037, 0.5376803874969482, 0.12191478908061981, 0.06341671943664551, 0.12937188148498535, 0.01666848547756672, 0.0156562440097332, 0.09419092535972595, 0.032130640000104904, 0.06396540999412537, 0.11687298119068146, 0.04863928630948067, 0.01842166855931282, 0.17434948682785034, 0.1703914850950241, 0.13171052932739258], "q2_all": [0.08334724605083466, 0.11026503145694733, 0.054683100432157516, 0.0302361398935318, 0.025060106068849564, 0.05991562828421593, 0.08118607103824615, 0.12392576038837433, 0.06478796899318695, 0.08797410130500793, 0.060925159603357315, 0.18570680916309357, 0.08172173798084259, 0.11770182847976685, 0.06025027856230736, 0.07434038817882538, 0.07993248105049133, 0.18705697357654572, 0.08505603671073914, 0.0735255777835846, 0.07596565783023834, 0.05234920606017113, 0.19448411464691162, 0.06778089702129364, 0.16616949439048767, 0.04807668924331665, 0.09262058138847351, 0.045182906091213226, 0.062059346586465836, 0.10873901844024658, 0.1147213727235794, 0.059014495462179184], "cand_trans_speed_all": [0.0029317145235836506, 0.004081414546817541, 0.0032345696818083525, 0.004052630625665188, 0.004229883197695017, 0.004483650904148817, 0.004112007096409798, 0.0037955334410071373, 0.0035155597142875195, 0.0034240558743476868, 0.0032095881178975105, 0.002448448445647955, 0.003706953953951597, 0.0024299458600580692, 0.0027394983917474747, 0.0038375812582671642, 0.005662278737872839, 0.003858021227642894, 0.0031311726197600365, 0.002964447718113661, 0.0033229095861315727, 0.003981733229011297, 0.004265519790351391, 0.0028919640462845564, 0.004744347184896469, 0.002018133644014597, 0.0031966636888682842, 0.0031189224682748318, 0.0027706287801265717, 0.003017646027728915, 0.003971418831497431, 0.004237397573888302], "cand_cum_xyz_disp_all": [[-0.0023054778575897217, 0.0014404207468032837, -0.013948708772659302], [0.002204492688179016, -0.0037474334239959717, -0.013204686343669891], [-0.0013968944549560547, -0.00048322975635528564, -0.013006828725337982], [0.0012501776218414307, 7.039308547973633e-05, -0.01040678471326828], [0.002672165632247925, 0.0009306818246841431, -0.010795645415782928], [0.003344818949699402, -0.00430026650428772, -0.010010339319705963], [0.001913711428642273, 0.0006966739892959595, -0.012043334543704987], [0.002110883593559265, 0.0035667121410369873, -0.015078231692314148], [0.002856612205505371, 0.0007549077272415161, -0.013268448412418365], [0.004998013377189636, 0.0017066895961761475, -0.01037856936454773], [0.0032108724117279053, -0.0031256675720214844, -0.012624062597751617], [0.0022919178009033203, -0.005394935607910156, -0.009764708578586578], [3.978610038757324e-05, 0.0019894689321517944, -0.0119238942861557], [0.005154460668563843, -0.007564514875411987, -0.008103631436824799], [0.0014409124851226807, -0.0023855119943618774, -0.007929034531116486], [-2.2903084754943848e-05, 0.0014516115188598633, -0.012547850608825684], [0.0007431358098983765, -0.0015656352043151855, -0.011135727167129517], [0.00035068392753601074, -0.0072631388902664185, -0.013359978795051575], [0.001509442925453186, 0.0023967474699020386, -0.012952178716659546], [-0.00027985870838165283, -0.00011968612670898438, -0.010800078511238098], [0.0032534152269363403, 0.001537218689918518, -0.010787032544612885], [0.004873454570770264, -0.0007534325122833252, -0.010817937552928925], [0.001123175024986267, 0.006562590599060059, -0.011894434690475464], [0.0042349547147750854, 0.003236234188079834, -0.01172935962677002], [0.001711919903755188, 0.004933223128318787, -0.014845579862594604], [-0.00011181831359863281, -0.0006060004234313965, -0.006881505250930786], [0.0012162178754806519, -0.0009928494691848755, -0.01264672726392746], [0.004381239414215088, -0.005805864930152893, -0.011859878897666931], [0.002253919839859009, -0.00010357797145843506, -0.004656143486499786], [0.004221081733703613, -0.004357263445854187, -0.009832270443439484], [0.0013111233711242676, 0.0010994821786880493, -0.011302292346954346], [0.0012452155351638794, 0.000545695424079895, -0.016054905951023102]], "cand_final_gripper_all": [0.9992907643318176, 0.9990783333778381, 0.9989537000656128, 0.9987167119979858, 0.9989704489707947, 1.0, 0.9990688562393188, 0.9965883493423462, 0.9981989860534668, 0.998326301574707, 1.0, 0.9998634457588196, 0.9984431266784668, 1.0, 1.0, 0.9979346990585327, 0.9989970922470093, 0.9985880851745605, 1.0, 0.9986268281936646, 0.9984531402587891, 0.9999384880065918, 0.998045802116394, 1.0, 1.0, 0.9978924989700317, 0.9991501569747925, 0.9993921518325806, 1.0, 1.0, 1.0, 1.0], "eef_pos": [0.3995742201805115, -0.045046329498291016, 0.2282543182373047], "cand_action_std": 0.22260282933712006, "cand_pairwise_centroid_dist_mean": 1.9029302597045898, "argmax_act_outlier": 2.5380468368530273, "time_encode_ms": 5.093803163617849, "time_diffusion_ms": 35.98894597962499, "time_q_score_ms": 8.385344874113798, "time_total_ms": 50.15540891326964, "num_action_samples_effective": 32, "q_aggregate": "pair_min"}
+{"chunk_ordinal": 30, "q_min_best": 0.3610740602016449, "q_min_mean": 0.11106491833925247, "q_min_std": 0.06749586015939713, "q_min_median": 0.09694132208824158, "chosen_vs_median_q_gap": 0.2641327381134033, "q1_best": 0.6664919853210449, "q2_best": 0.3610740602016449, "v_val": 0.10126421600580215, "advantage": 0.25980984419584274, "best_idx": 19, "q_min_all": [0.05880802497267723, 0.20651131868362427, 0.16494014859199524, 0.09348036348819733, 0.07940056920051575, 0.2296524941921234, 0.2156100869178772, 0.04689604416489601, 0.029824843630194664, 0.12167458236217499, 0.09938660264015198, 0.11271825432777405, 0.027985937893390656, 0.13639596104621887, 0.09694132208824158, 0.06620195508003235, 0.1201162338256836, 0.08695599436759949, 0.10921555757522583, 0.3610740602016449, 0.11796249449253082, 0.12096743285655975, 0.08114184439182281, 0.027796773239970207, 0.047209661453962326, 0.13672445714473724, 0.07627816498279572, 0.07795058190822601, 0.08429457247257233, 0.11242267489433289, 0.08893637359142303, 0.11860191822052002], "q1_all": [0.05880802497267723, 0.2065812051296234, 0.16494014859199524, 0.09348036348819733, 0.07940056920051575, 0.2996577024459839, 0.3072858452796936, 0.04689604416489601, 0.029824843630194664, 0.12167458236217499, 0.09938660264015198, 0.11271825432777405, 0.027985937893390656, 0.13639596104621887, 0.09694132208824158, 0.06620195508003235, 0.1201162338256836, 0.08695599436759949, 0.10921555757522583, 0.6664919853210449, 0.11796249449253082, 0.5034492015838623, 0.08114184439182281, 0.027796773239970207, 0.047209661453962326, 0.3270249366760254, 0.07627816498279572, 0.07795058190822601, 0.08429457247257233, 0.5204074382781982, 0.08893637359142303, 0.11860191822052002], "q2_all": [0.3139215111732483, 0.20651131868362427, 0.35688596963882446, 0.3423544466495514, 0.30073854327201843, 0.2296524941921234, 0.2156100869178772, 0.4084118902683258, 0.17731747031211853, 0.31972476840019226, 0.3887859880924225, 0.33394965529441833, 0.21013902127742767, 0.33313581347465515, 0.33630168437957764, 0.2954575717449188, 0.21262226998806, 0.3813759982585907, 0.16651740670204163, 0.3610740602016449, 0.334958553314209, 0.12096743285655975, 0.1978405863046646, 0.20708079636096954, 0.38881194591522217, 0.13672445714473724, 0.3244585692882538, 0.22132223844528198, 0.3210475742816925, 0.11242267489433289, 0.28780919313430786, 0.3291042149066925], "cand_trans_speed_all": [0.0033213708084076643, 0.0031464879866689444, 0.0041471789591014385, 0.003519071266055107, 0.0028966511599719524, 0.0051285321824252605, 0.003589994739741087, 0.0045096054673194885, 0.0035496014170348644, 0.0029847808182239532, 0.004130934830754995, 0.005721870344132185, 0.002865999937057495, 0.004761139862239361, 0.004179119598120451, 0.0023643490858376026, 0.003955941181629896, 0.004787653684616089, 0.0033900681883096695, 0.0043027084320783615, 0.004139833617955446, 0.004313180223107338, 0.0036026600282639265, 0.003568884450942278, 0.005381854251027107, 0.0032627542968839407, 0.0031552116852253675, 0.003299511969089508, 0.0035253826063126326, 0.00402413634583354, 0.005163086112588644, 0.003362595569342375], "cand_cum_xyz_disp_all": [[0.0015976577997207642, -0.004228219389915466, -0.011288002133369446], [0.005701988935470581, -0.006201714277267456, -0.009348995983600616], [0.0033231228590011597, -0.006364509463310242, -0.010983906686306], [0.004422664642333984, -0.0034547746181488037, -0.013457581400871277], [0.003665223717689514, -0.001513168215751648, -0.008385539054870605], [0.009856164455413818, -0.006073400378227234, -0.01255633682012558], [0.00010019540786743164, -0.0077359676361083984, -0.013593524694442749], [0.001396089792251587, 0.00020101666450500488, -0.010405480861663818], [0.00193825364112854, -0.0016678273677825928, -0.008535362780094147], [9.784102439880371e-05, 0.0011872798204421997, -0.01355801522731781], [0.0014274567365646362, 0.0010900497436523438, -0.009436406195163727], [0.0015729665756225586, 0.005640089511871338, -0.01643890142440796], [0.006211757659912109, 0.0007085353136062622, -0.005887731909751892], [-0.0036590248346328735, -0.0010928362607955933, -0.014812484383583069], [0.0018267929553985596, -0.002207517623901367, -0.012363746762275696], [0.0017714053392410278, -0.004464685916900635, -0.010201282799243927], [0.003569468855857849, -0.0002959519624710083, -0.008974023163318634], [-0.0017325431108474731, 0.0013938844203948975, -0.010693587362766266], [0.002983376383781433, -3.178417682647705e-05, -0.012156680226325989], [0.0037627965211868286, -0.006513848900794983, -0.012586645781993866], [-0.001390501856803894, 0.0004935115575790405, -0.014415942132472992], [0.0025480985641479492, -0.008580625057220459, -0.009877108037471771], [0.004673823714256287, 0.001218363642692566, -0.010449200868606567], [0.002526596188545227, -0.0019524544477462769, -0.008245594799518585], [0.0016649812459945679, 0.0001967102289199829, -0.010798610746860504], [0.00404810905456543, -0.010550394654273987, -0.011722981929779053], [0.002963021397590637, -0.0013055652379989624, -0.009148083627223969], [0.0021627098321914673, -0.003202110528945923, -0.01413901150226593], [0.0026846975088119507, 0.0008427947759628296, -0.008252531290054321], [0.00600317120552063, -0.009011656045913696, -0.010403558611869812], [0.0022849589586257935, -0.00045005977153778076, -0.012962758541107178], [0.0024925917387008667, -0.0013336986303329468, -0.01276308298110962]], "cand_final_gripper_all": [1.0, 1.0, 0.9978594779968262, 0.9976636171340942, 0.9978304505348206, 0.9981764554977417, 1.0, 0.9966078996658325, 1.0, 0.9996106028556824, 0.9982000589370728, 0.9989060163497925, 0.9993292689323425, 0.9998971223831177, 0.9979666471481323, 0.9989498257637024, 0.9974188804626465, 0.9958723783493042, 0.9995822906494141, 1.0, 0.9965039491653442, 0.9973615407943726, 0.9993258118629456, 1.0, 0.9969490766525269, 1.0, 0.9988545179367065, 0.9989298582077026, 0.9987947940826416, 0.9982424974441528, 0.9991021156311035, 0.9972851276397705], "eef_pos": [0.399963915348053, -0.04285328462719917, 0.22835633158683777], "cand_action_std": 0.35590237379074097, "cand_pairwise_centroid_dist_mean": 3.472670078277588, "argmax_act_outlier": 2.03987979888916, "time_encode_ms": 5.80717483535409, "time_diffusion_ms": 36.20988596230745, "time_q_score_ms": 8.14754399470985, "time_total_ms": 51.416466012597084, "num_action_samples_effective": 32, "q_aggregate": "pair_min"}
+{"chunk_ordinal": 31, "q_min_best": 0.13018590211868286, "q_min_mean": 0.06935948133468628, "q_min_std": 0.03443881496787071, "q_min_median": 0.05985498055815697, "chosen_vs_median_q_gap": 0.0703309178352356, "q1_best": 0.13018590211868286, "q2_best": 0.18974445760250092, "v_val": 0.004514129366725683, "advantage": 0.12567177275195718, "best_idx": 3, "q_min_all": [0.018241990357637405, 0.021910473704338074, 0.10563860833644867, 0.13018590211868286, 0.10700218379497528, 0.058049172163009644, 0.0997215062379837, 0.053662870079278946, 0.10507920384407043, 0.026536379009485245, 0.03458796814084053, 0.04038040712475777, 0.05288343504071236, 0.06379925459623337, 0.10450077056884766, 0.033440183848142624, 0.0748351514339447, 0.02138202264904976, 0.0899246335029602, 0.031144510954618454, 0.07861955463886261, 0.05842983350157738, 0.12346425652503967, 0.034684788435697556, 0.04672829806804657, 0.1273857206106186, 0.08039513230323792, 0.05985498055815697, 0.05186310037970543, 0.06690822541713715, 0.10320235788822174, 0.11506044864654541], "q1_all": [0.02493717148900032, 0.029317587614059448, 0.10563860833644867, 0.13018590211868286, 0.10700218379497528, 0.058049172163009644, 0.0997215062379837, 0.053662870079278946, 0.10507920384407043, 0.026536379009485245, 0.03458796814084053, 0.05592268705368042, 0.05288343504071236, 0.06379925459623337, 0.10450077056884766, 0.033440183848142624, 0.0748351514339447, 0.03107917681336403, 0.0899246335029602, 0.031144510954618454, 0.07861955463886261, 0.05842983350157738, 0.12346425652503967, 0.04561030864715576, 0.04672829806804657, 0.1273857206106186, 0.08039513230323792, 0.09081746637821198, 0.06450249999761581, 0.06690822541713715, 0.10320235788822174, 0.11506044864654541], "q2_all": [0.018241990357637405, 0.021910473704338074, 0.3309191167354584, 0.18974445760250092, 0.30431655049324036, 0.17089220881462097, 0.21152108907699585, 0.15688848495483398, 0.18329055607318878, 0.05067579075694084, 0.0418354831635952, 0.04038040712475777, 0.07595410943031311, 0.14362138509750366, 0.2748833894729614, 0.07816676795482635, 0.13609714806079865, 0.02138202264904976, 0.18073327839374542, 0.04791160672903061, 0.1790257841348648, 0.15284371376037598, 0.40956130623817444, 0.034684788435697556, 0.10579977929592133, 0.23774166405200958, 0.2727733254432678, 0.05985498055815697, 0.05186310037970543, 0.19830502569675446, 0.2699353098869324, 0.14384815096855164], "cand_trans_speed_all": [0.003951911814510822, 0.003035450354218483, 0.004829893354326487, 0.005733709316700697, 0.00641271099448204, 0.005026914179325104, 0.007094634231179953, 0.005213474854826927, 0.006577519234269857, 0.006705319508910179, 0.003985163755714893, 0.004252173006534576, 0.004300919361412525, 0.005790822207927704, 0.0031956438906490803, 0.006172805093228817, 0.004946720786392689, 0.0037052794359624386, 0.0032192938961088657, 0.005665650125592947, 0.005992411635816097, 0.00459199259057641, 0.0065100183710455894, 0.003888925304636359, 0.004465053789317608, 0.006889265030622482, 0.006297471933066845, 0.005006573162972927, 0.005456851329654455, 0.004917190410196781, 0.008399413898587227, 0.005528153385967016], "cand_cum_xyz_disp_all": [[0.004490986466407776, -0.01256723701953888, -0.012252256274223328], [-0.001142844557762146, -0.004766538739204407, -0.010854050517082214], [-0.002041846513748169, -0.0047660768032073975, -0.011935248970985413], [-0.00013172626495361328, -0.005794838070869446, -0.013180673122406006], [0.0029746145009994507, -0.007861942052841187, -0.010626845061779022], [0.00292380154132843, -0.0076973289251327515, -0.014070935547351837], [-0.002727910876274109, -0.00425487756729126, -0.013270542025566101], [0.0010618865489959717, -0.008387193083763123, -0.012546069920063019], [-4.926323890686035e-05, -0.005197808146476746, -0.019584275782108307], [0.0019892603158950806, -0.004172906279563904, -0.005948908627033234], [0.0031239986419677734, -0.013920843601226807, -0.011871837079524994], [0.0017954111099243164, -0.01065431535243988, -0.011514559388160706], [-0.0028371214866638184, -0.007133066654205322, -0.011851109564304352], [-0.0008198022842407227, -0.0036819279193878174, -0.012003734707832336], [0.0027442872524261475, -0.005642324686050415, -0.012135826051235199], [0.0006816983222961426, -0.0066544413566589355, -0.010023504495620728], [0.004347816109657288, -0.00935576856136322, -0.013753235340118408], [0.0018128156661987305, -0.006770804524421692, -0.01274050772190094], [0.0030221492052078247, -0.008808761835098267, -0.011439777910709381], [0.00018458068370819092, -0.008977159857749939, -0.009887538850307465], [0.001318231225013733, -0.006594434380531311, -0.015097096562385559], [-0.0040090084075927734, -0.012460321187973022, -0.012773826718330383], [0.0028430968523025513, -0.002397105097770691, -0.013185806572437286], [0.0009475648403167725, -0.015051454305648804, -0.011146396398544312], [-0.0028077661991119385, -0.008085116744041443, -0.011951573193073273], [0.002621382474899292, -0.0016434788703918457, -0.01213131844997406], [0.0015207231044769287, -0.004402577877044678, -0.009387068450450897], [-0.002381443977355957, -0.0028266161680221558, -0.016480565071105957], [-0.0017369985580444336, -0.00452171266078949, -0.011978574097156525], [0.0008179247379302979, -0.004644900560379028, -0.014607280492782593], [0.0017220228910446167, -0.007866829633712769, -0.01239670068025589], [0.0032148659229278564, -0.006575688719749451, -0.013965003192424774]], "cand_final_gripper_all": [0.9997659921646118, 0.997727632522583, 0.9986749887466431, 0.9993983507156372, 0.9989374279975891, 0.9986059069633484, 1.0, 0.9959128499031067, 0.9990372657775879, 1.0, 1.0, 1.0, 0.998086154460907, 0.9982508420944214, 0.9989042282104492, 1.0, 1.0, 0.9974193572998047, 0.9983158111572266, 0.9984558820724487, 0.9991096258163452, 0.9994469881057739, 1.0, 0.99855637550354, 0.9988861083984375, 0.9984491467475891, 0.9987224340438843, 0.9985024929046631, 0.9992284774780273, 0.9996709227561951, 1.0, 0.9980930089950562], "eef_pos": [0.40016019344329834, -0.042662519961595535, 0.22958451509475708], "cand_action_std": 0.22919508814811707, "cand_pairwise_centroid_dist_mean": 1.942259669303894, "argmax_act_outlier": 0.7373993396759033, "time_encode_ms": 5.771479103714228, "time_diffusion_ms": 36.68043785728514, "time_q_score_ms": 8.663690881803632, "time_total_ms": 51.83657491579652, "num_action_samples_effective": 32, "q_aggregate": "pair_min"}
+{"chunk_ordinal": 32, "q_min_best": 0.3744768500328064, "q_min_mean": 0.11534073948860168, "q_min_std": 0.08932747691869736, "q_min_median": 0.08896927535533905, "chosen_vs_median_q_gap": 0.28550755977630615, "q1_best": 0.45110049843788147, "q2_best": 0.3744768500328064, "v_val": 0.3045080304145813, "advantage": 0.0699688196182251, "best_idx": 4, "q_min_all": [0.18502555787563324, 0.30238276720046997, 0.023313084617257118, 0.12930184602737427, 0.3744768500328064, 0.08966138958930969, 0.18003393709659576, 0.06582428514957428, 0.20748212933540344, 0.07172556221485138, 0.0807066261768341, 0.15796256065368652, 0.02247135527431965, 0.16867151856422424, 0.0666181892156601, 0.02588113769888878, 0.08896927535533905, 0.04556402191519737, 0.2123611718416214, 0.02369757369160652, 0.13943827152252197, 0.02281305193901062, 0.01693219318985939, 0.0991387814283371, 0.2622907757759094, 0.07348600029945374, 0.20107786357402802, 0.031608887016773224, 0.0760938823223114, 0.11665645241737366, 0.03074902668595314, 0.09848758578300476], "q1_all": [0.1960896998643875, 0.30238276720046997, 0.023313084617257118, 0.40991872549057007, 0.45110049843788147, 0.08966138958930969, 0.18003393709659576, 0.11524920165538788, 0.20748212933540344, 0.07172556221485138, 0.0807066261768341, 0.15796256065368652, 0.02247135527431965, 0.16867151856422424, 0.0666181892156601, 0.02588113769888878, 0.5668447613716125, 0.04556402191519737, 0.25544703006744385, 0.02369757369160652, 0.13943827152252197, 0.04580484703183174, 0.025266200304031372, 0.5748586654663086, 0.2622907757759094, 0.16547760367393494, 0.6178209781646729, 0.031608887016773224, 0.0760938823223114, 0.11665645241737366, 0.03074902668595314, 0.5635323524475098], "q2_all": [0.18502555787563324, 0.3829183876514435, 0.11221306025981903, 0.12930184602737427, 0.3744768500328064, 0.10368363559246063, 0.18566279113292694, 0.06582428514957428, 0.21492637693881989, 0.10863731801509857, 0.15536268055438995, 0.1994796246290207, 0.10375773906707764, 0.2450774759054184, 0.07150694727897644, 0.12265144288539886, 0.08896927535533905, 0.1165817528963089, 0.2123611718416214, 0.032814063131809235, 0.2964577078819275, 0.02281305193901062, 0.01693219318985939, 0.0991387814283371, 0.28035876154899597, 0.07348600029945374, 0.20107786357402802, 0.09124726057052612, 0.16196894645690918, 0.158233642578125, 0.0614464245736599, 0.09848758578300476], "cand_trans_speed_all": [0.005166316404938698, 0.0045088245533406734, 0.003649900434538722, 0.004204710014164448, 0.004727897234261036, 0.005297952797263861, 0.004986179526895285, 0.004217815585434437, 0.0041759200394153595, 0.0040900977328419685, 0.004957182332873344, 0.004748753271996975, 0.0030795279890298843, 0.005780854728072882, 0.0044253114610910416, 0.0028251521289348602, 0.0055432310327887535, 0.003995430655777454, 0.005431508179754019, 0.002849032636731863, 0.005157670937478542, 0.003584473393857479, 0.0044240220449864864, 0.004940725397318602, 0.0048036156222224236, 0.0030674270819872618, 0.0052318330854177475, 0.004049701150506735, 0.004919793456792831, 0.00413493812084198, 0.002356322016566992, 0.007358489092439413], "cand_cum_xyz_disp_all": [[0.007509887218475342, 0.003009006381034851, -0.016964003443717957], [0.009143456816673279, 0.0047678351402282715, -0.014894329011440277], [0.008182257413864136, 0.002309635281562805, -0.013899639248847961], [0.004642188549041748, -0.004709452390670776, -0.014134034514427185], [0.004218623042106628, 0.005061507225036621, -0.01866564154624939], [0.004604056477546692, -0.0027784258127212524, -0.019556276500225067], [0.005470767617225647, 0.003615334630012512, -0.015121318399906158], [0.005756780505180359, 0.0008908957242965698, -0.014994129538536072], [0.0062171220779418945, 0.00453244149684906, -0.01728806644678116], [0.008361831307411194, -0.00517021119594574, -0.01453389972448349], [0.004889458417892456, 0.0021126866340637207, -0.011152118444442749], [0.0057909488677978516, -0.00030499696731567383, -0.017818056046962738], [0.00724443793296814, -0.0030891597270965576, -0.013587094843387604], [0.00645330548286438, 0.000485345721244812, -0.02091735601425171], [0.008326515555381775, 0.0009942799806594849, -0.012105748057365417], [0.0066753774881362915, 0.00010949373245239258, -0.010448895394802094], [0.01017722487449646, -0.0076553672552108765, -0.02036769688129425], [0.003629162907600403, -0.00019840896129608154, -0.013583824038505554], [0.007823795080184937, 0.005237489938735962, -0.013876989483833313], [0.004744097590446472, 0.00018902122974395752, -0.011742599308490753], [0.0063207149505615234, -0.0012113600969314575, -0.017222337424755096], [0.0034168362617492676, -0.004936277866363525, -0.013473361730575562], [0.007736921310424805, 0.0025764405727386475, -0.013894647359848022], [0.006850332021713257, -0.0084981769323349, -0.017387308180332184], [0.008357569575309753, 0.003323003649711609, -0.014158062636852264], [0.004715666174888611, -0.0004905164241790771, -0.012780047953128815], [0.011591196060180664, -0.008238330483436584, -0.01633964478969574], [0.0066944509744644165, 9.37432050704956e-05, -0.012417428195476532], [0.0028090476989746094, 0.006512284278869629, -0.017447367310523987], [0.0037751197814941406, -0.0021001845598220825, -0.01567424088716507], [0.004736661911010742, -0.00146465003490448, -0.011753588914871216], [0.008807361125946045, -0.00515572726726532, -0.016761496663093567]], "cand_final_gripper_all": [0.9992261528968811, 0.996340811252594, 0.9989474415779114, 0.9994277358055115, 0.9985527396202087, 1.0, 0.9963349103927612, 0.9987387657165527, 0.9964418411254883, 0.9984058141708374, 0.9990763664245605, 0.9979162216186523, 0.998892068862915, 0.9972397685050964, 0.9983751773834229, 0.9993453025817871, 0.9985615015029907, 0.997585654258728, 0.9984238147735596, 1.0, 0.9973019957542419, 0.9985672235488892, 0.9997411370277405, 0.9994843602180481, 0.9972586631774902, 0.9989604949951172, 0.9983886480331421, 1.0, 0.9969747066497803, 0.9970599412918091, 1.0, 0.9985897541046143], "eef_pos": [0.3996899425983429, -0.04802585393190384, 0.23176072537899017], "cand_action_std": 0.4300599694252014, "cand_pairwise_centroid_dist_mean": 3.9626495838165283, "argmax_act_outlier": 1.6307514905929565, "time_encode_ms": 5.590734072029591, "time_diffusion_ms": 36.056822864338756, "time_q_score_ms": 7.560355821624398, "time_total_ms": 50.11502397246659, "num_action_samples_effective": 32, "q_aggregate": "pair_min"}
+{"chunk_ordinal": 33, "q_min_best": 0.7221381664276123, "q_min_mean": 0.6196383237838745, "q_min_std": 0.09336493909358978, "q_min_median": 0.6458059549331665, "chosen_vs_median_q_gap": 0.0763322114944458, "q1_best": 0.7461690902709961, "q2_best": 0.7221381664276123, "v_val": 0.012989111244678497, "advantage": 0.7091490551829338, "best_idx": 1, "q_min_all": [0.6476569175720215, 0.7221381664276123, 0.5415316820144653, 0.23140349984169006, 0.630165696144104, 0.5746103525161743, 0.6982066035270691, 0.6735057234764099, 0.629646897315979, 0.6699715852737427, 0.648171603679657, 0.5980415344238281, 0.6812441945075989, 0.6258886456489563, 0.6847593188285828, 0.583026111125946, 0.6458059549331665, 0.5325067043304443, 0.6245238780975342, 0.41196194291114807, 0.6751894354820251, 0.6617201566696167, 0.6224464178085327, 0.5772887468338013, 0.69810950756073, 0.6555322408676147, 0.6610460877418518, 0.5886471271514893, 0.6612775325775146, 0.680328369140625, 0.610355794429779, 0.6817178726196289], "q1_all": [0.6488078832626343, 0.7461690902709961, 0.5798535346984863, 0.322234570980072, 0.6320021152496338, 0.5746103525161743, 0.7446302771568298, 0.7295269966125488, 0.7152353525161743, 0.7195828557014465, 0.7081923484802246, 0.6778444051742554, 0.7149045467376709, 0.6769939661026001, 0.7430698871612549, 0.6486137509346008, 0.6802125573158264, 0.5325067043304443, 0.7162930369377136, 0.46777307987213135, 0.7289289236068726, 0.6799049377441406, 0.6224464178085327, 0.6649810075759888, 0.7020369172096252, 0.7011932134628296, 0.6758745908737183, 0.5886471271514893, 0.766168475151062, 0.726714015007019, 0.6838934421539307, 0.7353605031967163], "q2_all": [0.6476569175720215, 0.7221381664276123, 0.5415316820144653, 0.23140349984169006, 0.630165696144104, 0.6336406469345093, 0.6982066035270691, 0.6735057234764099, 0.629646897315979, 0.6699715852737427, 0.648171603679657, 0.5980415344238281, 0.6812441945075989, 0.6258886456489563, 0.6847593188285828, 0.583026111125946, 0.6458059549331665, 0.5978372097015381, 0.6245238780975342, 0.41196194291114807, 0.6751894354820251, 0.6617201566696167, 0.6503368020057678, 0.5772887468338013, 0.69810950756073, 0.6555322408676147, 0.6610460877418518, 0.6860089302062988, 0.6612775325775146, 0.680328369140625, 0.610355794429779, 0.6817178726196289], "cand_trans_speed_all": [0.004313590470701456, 0.004841149318963289, 0.004744810983538628, 0.003247253131121397, 0.004682053811848164, 0.004512885585427284, 0.005259395577013493, 0.0047025056555867195, 0.004289488773792982, 0.005221401806920767, 0.004455262795090675, 0.00405891053378582, 0.005138573236763477, 0.005008564796298742, 0.005026169121265411, 0.005016446113586426, 0.004976166877895594, 0.0037671856116503477, 0.003963382449001074, 0.00484512047842145, 0.005004910286515951, 0.004120204597711563, 0.00404019933193922, 0.003786839544773102, 0.0036252073477953672, 0.004856148734688759, 0.004574085585772991, 0.00589511264115572, 0.004515176173299551, 0.00478160148486495, 0.003374887630343437, 0.004572034813463688], "cand_cum_xyz_disp_all": [[0.011663198471069336, -0.012418016791343689, -0.009636551141738892], [0.012095361948013306, -0.010872438549995422, -0.011815011501312256], [0.009635567665100098, -0.009249210357666016, -0.008052922785282135], [0.007145360112190247, -0.007501721382141113, -0.008891753852367401], [0.012051433324813843, -0.014978229999542236, -0.008722439408302307], [0.010987401008605957, -0.016292229294776917, -0.009068287909030914], [0.013787269592285156, -0.015046849846839905, -0.01266390085220337], [0.011743679642677307, -0.011626139283180237, -0.008085571229457855], [0.009815171360969543, -0.012300431728363037, -0.009608305990695953], [0.008996978402137756, -0.007191583514213562, -0.011694446206092834], [0.010210394859313965, -0.012424886226654053, -0.010438784956932068], [0.008936554193496704, -0.016700059175491333, -0.007886365056037903], [0.012967303395271301, -0.015712738037109375, -0.013048365712165833], [0.010956227779388428, -0.01110522449016571, -0.012352466583251953], [0.012373208999633789, -0.017020538449287415, -0.011437863111495972], [0.009096547961235046, -0.009922504425048828, -0.009505636990070343], [0.010313928127288818, -0.006307944655418396, -0.012174196541309357], [0.009791135787963867, -0.00575999915599823, -0.00944623351097107], [0.011481791734695435, -0.011380687355995178, -0.012729048728942871], [0.014048799872398376, -0.0105256587266922, -0.008206844329833984], [0.014012441039085388, -0.010819673538208008, -0.010612927377223969], [0.013369664549827576, -0.013835638761520386, -0.009050346910953522], [0.013159409165382385, -0.009197801351547241, -0.009459443390369415], [0.013555541634559631, -0.014331519603729248, -0.009098261594772339], [0.010561421513557434, -0.012185707688331604, -0.009756691753864288], [0.009118348360061646, -0.007839083671569824, -0.01183929294347763], [0.010748684406280518, -0.008042499423027039, -0.008433662354946136], [0.008601471781730652, -0.004786550998687744, -0.007611922919750214], [0.012477636337280273, -0.014762967824935913, -0.006783485412597656], [0.016024351119995117, -0.017179161310195923, -0.012151449918746948], [0.010946139693260193, -0.011007174849510193, -0.008971847593784332], [0.00989869236946106, -0.009066417813301086, -0.013164043426513672]], "cand_final_gripper_all": [0.9961600303649902, 0.9977697134017944, 0.9994708895683289, 1.0, 0.9975221157073975, 0.996407151222229, 0.9984588027000427, 0.9983565211296082, 0.9992103576660156, 0.9993314743041992, 0.9975206851959229, 0.9970463514328003, 0.998036801815033, 0.9985026121139526, 0.999093770980835, 0.9983031153678894, 0.9977521300315857, 0.9976205229759216, 0.998595118522644, 1.0, 0.9986046552658081, 0.9966095685958862, 0.9967594146728516, 0.9973303079605103, 0.9960207343101501, 0.9978411197662354, 0.9994847774505615, 0.9986186027526855, 0.9982231855392456, 0.9968482255935669, 0.9963479042053223, 0.9983099699020386], "eef_pos": [0.4017437696456909, -0.04705512523651123, 0.23371124267578125], "cand_action_std": 0.23656466603279114, "cand_pairwise_centroid_dist_mean": 2.0714271068573, "argmax_act_outlier": 0.8861608505249023, "time_encode_ms": 5.56140998378396, "time_diffusion_ms": 36.46671213209629, "time_q_score_ms": 8.30484600737691, "time_total_ms": 51.068520871922374, "num_action_samples_effective": 32, "q_aggregate": "pair_min"}
+{"chunk_ordinal": 34, "q_min_best": 0.3737637400627136, "q_min_mean": 0.25245800614356995, "q_min_std": 0.05860872566699982, "q_min_median": 0.2568209767341614, "chosen_vs_median_q_gap": 0.11694276332855225, "q1_best": 0.3737637400627136, "q2_best": 0.5694091320037842, "v_val": 0.0051086535677313805, "advantage": 0.36865508649498224, "best_idx": 28, "q_min_all": [0.1634562909603119, 0.29571348428726196, 0.2676374316215515, 0.2629590928554535, 0.22771857678890228, 0.26149412989616394, 0.30958351492881775, 0.30744361877441406, 0.2568209767341614, 0.24721932411193848, 0.28668412566185, 0.2770729660987854, 0.2354567050933838, 0.2175142467021942, 0.3425784111022949, 0.3513069748878479, 0.24884074926376343, 0.16797441244125366, 0.16211667656898499, 0.2048340141773224, 0.29014766216278076, 0.2292759120464325, 0.2930114269256592, 0.23320633172988892, 0.2619484066963196, 0.162850484251976, 0.19826722145080566, 0.16211089491844177, 0.3737637400627136, 0.17038622498512268, 0.3200787305831909, 0.2891835868358612], "q1_all": [0.1634562909603119, 0.29571348428726196, 0.2676374316215515, 0.2629590928554535, 0.22771857678890228, 0.26149412989616394, 0.30958351492881775, 0.30744361877441406, 0.2568209767341614, 0.24721932411193848, 0.28668412566185, 0.2770729660987854, 0.2354567050933838, 0.2175142467021942, 0.3425784111022949, 0.3513069748878479, 0.24884074926376343, 0.16797441244125366, 0.16211667656898499, 0.2048340141773224, 0.29014766216278076, 0.2292759120464325, 0.2930114269256592, 0.23320633172988892, 0.2619484066963196, 0.162850484251976, 0.19826722145080566, 0.16211089491844177, 0.3737637400627136, 0.17038622498512268, 0.3200787305831909, 0.2891835868358612], "q2_all": [0.29449769854545593, 0.4674377143383026, 0.5235699415206909, 0.4374469816684723, 0.365479439496994, 0.5370593070983887, 0.6127704977989197, 0.5121901631355286, 0.34903448820114136, 0.42718705534935, 0.5620037317276001, 0.5219480395317078, 0.3881465196609497, 0.4368920624256134, 0.6818243861198425, 0.6500437259674072, 0.47908803820610046, 0.2808142304420471, 0.3031289279460907, 0.5585978031158447, 0.5796990394592285, 0.4824323356151581, 0.45085614919662476, 0.41564956307411194, 0.3446683883666992, 0.2702348530292511, 0.28299811482429504, 0.43975529074668884, 0.5694091320037842, 0.3138468265533447, 0.6088807582855225, 0.5111451745033264], "cand_trans_speed_all": [0.005589351058006287, 0.0057380469515919685, 0.005907346960157156, 0.00420408183708787, 0.004981308244168758, 0.007133652456104755, 0.007256872020661831, 0.005721692927181721, 0.0044141244143247604, 0.005371184088289738, 0.005772495176643133, 0.006924563553184271, 0.007259596139192581, 0.006267836317420006, 0.006081221159547567, 0.006782497279345989, 0.007429180201143026, 0.00697659607976675, 0.004456248600035906, 0.0060371700674295425, 0.005961703136563301, 0.006771820597350597, 0.0037316512316465378, 0.004770919680595398, 0.004270399920642376, 0.0031323502771556377, 0.004671349190175533, 0.006288629025220871, 0.004452706780284643, 0.005025554448366165, 0.00549702625721693, 0.008525235578417778], "cand_cum_xyz_disp_all": [[0.0004163980484008789, -0.0033139437437057495, -0.01203281432390213], [0.008480757474899292, -0.0001675635576248169, -0.014237657189369202], [0.007120639085769653, 0.002888008952140808, -0.010527335107326508], [0.006813913583755493, 0.0014172494411468506, -0.012266464531421661], [0.004962831735610962, -0.0006688088178634644, -0.014051958918571472], [0.003201022744178772, 0.00722774863243103, -0.009504348039627075], [0.006824657320976257, 0.004797771573066711, -0.009581796824932098], [0.005740806460380554, 0.0032424181699752808, -0.013858787715435028], [0.006779879331588745, -0.0011728852987289429, -0.010189875960350037], [0.005500659346580505, -0.0005853474140167236, -0.013024009764194489], [0.004978090524673462, 0.0008269846439361572, -0.013856112957000732], [0.006028205156326294, 0.004546239972114563, -0.012609302997589111], [0.005459308624267578, 0.00332486629486084, -0.0084405317902565], [0.007498055696487427, -4.172325134277344e-06, -0.009558193385601044], [0.005070209503173828, 0.006308108568191528, -0.010344088077545166], [0.004337280988693237, 0.006228744983673096, -0.013990171253681183], [0.003187224268913269, 0.00485248863697052, -0.011485829949378967], [0.0079118013381958, -0.0013284534215927124, -0.010904975235462189], [0.005703926086425781, 0.0014764070510864258, -0.011409834027290344], [0.003998368978500366, 0.0035294443368911743, -0.013379566371440887], [0.0030374079942703247, 0.004031628370285034, -0.011280454695224762], [0.0029851049184799194, 0.0033110380172729492, -0.012473978102207184], [0.008146554231643677, -0.0048224180936813354, -0.01354176551103592], [0.001209348440170288, -0.001155853271484375, -0.012578941881656647], [0.0041559189558029175, -0.004570990800857544, -0.015634015202522278], [0.00222817063331604, -0.004658162593841553, -0.01142176240682602], [0.004130244255065918, -0.0009151101112365723, -0.012571647763252258], [0.0052480995655059814, 0.004455894231796265, -0.011172264814376831], [0.0077620744705200195, 0.0034351646900177, -0.01457657665014267], [0.00543445348739624, -0.002720862627029419, -0.011212289333343506], [0.007912755012512207, 0.0022238492965698242, -0.012112274765968323], [0.003242895007133484, 0.008784860372543335, -0.011665478348731995]], "cand_final_gripper_all": [0.9984592795372009, 1.0, 1.0, 1.0, 0.9992684125900269, 0.9956529140472412, 0.9992166757583618, 0.9996771812438965, 0.9979565143585205, 0.9984095692634583, 1.0, 0.999688982963562, 0.9993505477905273, 1.0, 0.9999799728393555, 1.0, 1.0, 0.9981603622436523, 0.9988422393798828, 1.0, 1.0, 0.9994775056838989, 0.9996433258056641, 1.0, 0.9995625019073486, 0.9983010292053223, 0.9995039105415344, 1.0, 1.0, 0.999588668346405, 0.9999411106109619, 1.0], "eef_pos": [0.4012943506240845, -0.03965780884027481, 0.23554350435733795], "cand_action_std": 0.22072958946228027, "cand_pairwise_centroid_dist_mean": 1.8640576601028442, "argmax_act_outlier": 0.705333411693573, "time_encode_ms": 5.599180003628135, "time_diffusion_ms": 36.037766840308905, "time_q_score_ms": 8.538679219782352, "time_total_ms": 51.2135901954025, "num_action_samples_effective": 32, "q_aggregate": "pair_min"}
+{"chunk_ordinal": 35, "q_min_best": 0.6473224759101868, "q_min_mean": 0.22169043123722076, "q_min_std": 0.13530752062797546, "q_min_median": 0.22658658027648926, "chosen_vs_median_q_gap": 0.4207358956336975, "q1_best": 0.6630865335464478, "q2_best": 0.6473224759101868, "v_val": 0.7939085364341736, "advantage": -0.14658606052398682, "best_idx": 12, "q_min_all": [0.2685268521308899, 0.05132880434393883, 0.37845367193222046, 0.026223577558994293, 0.28717634081840515, 0.1769835352897644, 0.24795126914978027, 0.16838665306568146, 0.22658658027648926, 0.20148174464702606, 0.03450613468885422, 0.027239305898547173, 0.6473224759101868, 0.2897648215293884, 0.34149253368377686, 0.19018597900867462, 0.05687709525227547, 0.2475535273551941, 0.23884612321853638, 0.2421567440032959, 0.15678900480270386, 0.526724100112915, 0.11899678409099579, 0.23863348364830017, 0.07827681303024292, 0.1960744857788086, 0.23195993900299072, 0.2604714035987854, 0.238107830286026, 0.18858888745307922, 0.1406940221786499, 0.3697333037853241], "q1_all": [0.2685268521308899, 0.05132880434393883, 0.37845367193222046, 0.026223577558994293, 0.3007362186908722, 0.1769835352897644, 0.24795126914978027, 0.16838665306568146, 0.22658658027648926, 0.20148174464702606, 0.03450613468885422, 0.027239305898547173, 0.6630865335464478, 0.2897648215293884, 0.34149253368377686, 0.19018597900867462, 0.05687709525227547, 0.2475535273551941, 0.23884612321853638, 0.2421567440032959, 0.15678900480270386, 0.5851325392723083, 0.11899678409099579, 0.23863348364830017, 0.07827681303024292, 0.1960744857788086, 0.23195993900299072, 0.2604714035987854, 0.238107830286026, 0.18858888745307922, 0.1406940221786499, 0.3697333037853241], "q2_all": [0.4177650213241577, 0.30360811948776245, 0.49097689986228943, 0.18230371177196503, 0.28717634081840515, 0.27490660548210144, 0.26975592970848083, 0.334486186504364, 0.36321449279785156, 0.2923771142959595, 0.20015086233615875, 0.17989715933799744, 0.6473224759101868, 0.4131055772304535, 0.4229638874530792, 0.3491676151752472, 0.1497519314289093, 0.25970280170440674, 0.29497861862182617, 0.26716071367263794, 0.322677344083786, 0.526724100112915, 0.2103671282529831, 0.2854418456554413, 0.1765098124742508, 0.3297876715660095, 0.3022449016571045, 0.4301953613758087, 0.305144339799881, 0.35898831486701965, 0.356964111328125, 0.5146855711936951], "cand_trans_speed_all": [0.0051794881001114845, 0.004476743284612894, 0.004865724593400955, 0.004290923476219177, 0.0031676534563302994, 0.003027378348633647, 0.003720119595527649, 0.0038369535468518734, 0.005197857040911913, 0.003172498196363449, 0.0029446426779031754, 0.004295485094189644, 0.005579792894423008, 0.0043578920885920525, 0.004666109569370747, 0.003929289989173412, 0.0025052125565707684, 0.002793325809761882, 0.004015590995550156, 0.0034327812027186155, 0.005195191130042076, 0.004324227571487427, 0.005019946023821831, 0.004502202849835157, 0.0023723726626485586, 0.004470513202250004, 0.00403493782505393, 0.0040868306532502174, 0.004692099988460541, 0.004258875735104084, 0.00398595817387104, 0.004922789521515369], "cand_cum_xyz_disp_all": [[0.011173442006111145, -0.00241069495677948, -0.007871806621551514], [0.0029058456420898438, 0.005934223532676697, -0.007449515163898468], [0.013713181018829346, -0.006857320666313171, -0.009411260485649109], [0.006560206413269043, 0.0008822977542877197, -0.005122363567352295], [0.011165529489517212, -0.005445152521133423, -0.007780604064464569], [0.00860866904258728, -0.006428927183151245, -0.007066980004310608], [0.008980408310890198, -0.0018111765384674072, -0.007752567529678345], [0.004585683345794678, 0.0005865395069122314, -0.009247057139873505], [0.009054630994796753, -0.0043679773807525635, -0.009005658328533173], [0.01025150716304779, 0.001089721918106079, -0.007521241903305054], [0.0059644728899002075, 0.002753719687461853, -0.005964137613773346], [0.008454367518424988, 0.0011721402406692505, -0.007844716310501099], [0.001172780990600586, 0.010686725378036499, -0.00780332088470459], [0.013705864548683167, -0.008541882038116455, -0.009971417486667633], [0.011258348822593689, -0.0044222623109817505, -0.00885801762342453], [0.009745970368385315, -0.007477626204490662, -0.009106211364269257], [0.00905349850654602, 0.0007712692022323608, -0.006901837885379791], [0.008162170648574829, -0.0029087066650390625, -0.006942689418792725], [0.008318409323692322, -0.003771468997001648, -0.009062521159648895], [0.009898766875267029, -0.00417172908782959, -0.009053461253643036], [0.007389664649963379, -0.0019747018814086914, -0.0071670860052108765], [0.013256505131721497, -0.007803201675415039, -0.011052779853343964], [0.005217507481575012, 0.005259692668914795, -0.005682334303855896], [0.013116493821144104, -0.0039802491664886475, -0.009211733937263489], [0.00819280743598938, 8.790194988250732e-05, -0.005264773964881897], [0.009072497487068176, -0.00476190447807312, -0.006257444620132446], [0.012185916304588318, -0.0009541213512420654, -0.009719938039779663], [0.014138668775558472, -0.0064152926206588745, -0.008763179183006287], [0.012400761246681213, -0.0029197335243225098, -0.01348983496427536], [0.01401035487651825, -0.002974092960357666, -0.007291965186595917], [0.00988730788230896, -0.004615724086761475, -0.011165879666805267], [0.014993101358413696, -0.005469992756843567, -0.007098980247974396]], "cand_final_gripper_all": [0.998442530632019, 0.9987897872924805, 0.9993082284927368, 1.0, 0.9976146817207336, 0.9975373148918152, 1.0, 0.99658203125, 0.9988713264465332, 1.0, 1.0, 1.0, 0.9987166523933411, 0.9983945488929749, 0.9988776445388794, 0.9979230165481567, 1.0, 1.0, 0.9990801215171814, 0.9998018741607666, 0.9971207976341248, 0.9982655644416809, 0.9991499185562134, 0.9985725283622742, 1.0, 0.9994140863418579, 0.9992135167121887, 0.9996727705001831, 0.9973313212394714, 0.9992996454238892, 0.9978160858154297, 0.997393012046814], "eef_pos": [0.4001673460006714, -0.039098143577575684, 0.2364242672920227], "cand_action_std": 0.42357903718948364, "cand_pairwise_centroid_dist_mean": 3.699523448944092, "argmax_act_outlier": 3.153505563735962, "time_encode_ms": 6.767485989257693, "time_diffusion_ms": 36.0510409809649, "time_q_score_ms": 7.901408011093736, "time_total_ms": 51.76284909248352, "num_action_samples_effective": 32, "q_aggregate": "pair_min"}
+{"chunk_ordinal": 36, "q_min_best": 0.5931581854820251, "q_min_mean": 0.14440561830997467, "q_min_std": 0.16022542119026184, "q_min_median": 0.06264962255954742, "chosen_vs_median_q_gap": 0.5305085778236389, "q1_best": 0.5931581854820251, "q2_best": 0.6998078227043152, "v_val": 0.7743575572967529, "advantage": -0.18119937181472778, "best_idx": 30, "q_min_all": [0.03521228954195976, 0.029296718537807465, 0.1490950882434845, 0.2235005497932434, 0.5843729376792908, 0.2603227496147156, 0.03355005010962486, 0.032450441271066666, 0.17741744220256805, 0.04686848819255829, 0.10706198215484619, 0.293058305978775, 0.05204304680228233, 0.03652323782444, 0.14830094575881958, 0.547772228717804, 0.03461979702115059, 0.03752130642533302, 0.14690743386745453, 0.08956374228000641, 0.028750963509082794, 0.033872783184051514, 0.22771033644676208, 0.04162861034274101, 0.0392991341650486, 0.03093082085251808, 0.2064497023820877, 0.06264962255954742, 0.055706482380628586, 0.13831420242786407, 0.5931581854820251, 0.09705030918121338], "q1_all": [0.03521228954195976, 0.029296718537807465, 0.2739175260066986, 0.3705756366252899, 0.5843729376792908, 0.2603227496147156, 0.03355005010962486, 0.032450441271066666, 0.32959872484207153, 0.04686848819255829, 0.1611160784959793, 0.47519052028656006, 0.05204304680228233, 0.03652323782444, 0.3126627206802368, 0.547772228717804, 0.03461979702115059, 0.03752130642533302, 0.1857978254556656, 0.10682977735996246, 0.028750963509082794, 0.033872783184051514, 0.22771033644676208, 0.04162861034274101, 0.0392991341650486, 0.03093082085251808, 0.35123297572135925, 0.06264962255954742, 0.055706482380628586, 0.29207348823547363, 0.5931581854820251, 0.09705030918121338], "q2_all": [0.09661079943180084, 0.0763026624917984, 0.1490950882434845, 0.2235005497932434, 0.6866564750671387, 0.3655339181423187, 0.15015019476413727, 0.10904677212238312, 0.17741744220256805, 0.1745585948228836, 0.10706198215484619, 0.293058305978775, 0.11795972287654877, 0.30439862608909607, 0.14830094575881958, 0.6668472290039062, 0.08988504111766815, 0.09029337763786316, 0.14690743386745453, 0.08956374228000641, 0.0790538638830185, 0.08820629119873047, 0.5417579412460327, 0.2699145972728729, 0.10057352483272552, 0.07093353569507599, 0.2064497023820877, 0.24121405184268951, 0.12108780443668365, 0.13831420242786407, 0.6998078227043152, 0.23681162297725677], "cand_trans_speed_all": [0.00253823003731668, 0.0025099306367337704, 0.003415454877540469, 0.004011279437690973, 0.0050070760771632195, 0.004023725166916847, 0.0027136970311403275, 0.0030702173244208097, 0.003535756841301918, 0.005440352018922567, 0.003314897185191512, 0.003553396789357066, 0.004378898534923792, 0.0032315817661583424, 0.0033364694099873304, 0.0047292993403971195, 0.0023165603633970022, 0.0044645401649177074, 0.0029917729552835226, 0.003744440618902445, 0.0029399017803370953, 0.0031965947709977627, 0.0030480879358947277, 0.005258326884359121, 0.0023785214871168137, 0.00344678177498281, 0.0036047473549842834, 0.0048468708992004395, 0.002881457097828388, 0.0036623291671276093, 0.005147110670804977, 0.0048797884956002235], "cand_cum_xyz_disp_all": [[0.005593165755271912, -0.004189804196357727, -0.005668960511684418], [0.004155829548835754, -0.001484304666519165, -0.004001736640930176], [0.006073787808418274, -0.007579609751701355, -0.006354302167892456], [0.009724259376525879, -0.007184222340583801, -0.004693515598773956], [-0.0024378299713134766, 0.00138150155544281, -0.007513836026191711], [0.004066944122314453, -0.005934461951255798, -0.0036861151456832886], [0.007039755582809448, -0.0027909576892852783, -0.003524966537952423], [0.0034165233373641968, 0.00104522705078125, -0.0036055520176887512], [0.006876945495605469, -0.01013973355293274, -0.006356485188007355], [0.00556693971157074, 0.003537386655807495, -0.004917651414871216], [0.005470335483551025, -0.01040959358215332, -0.006495364010334015], [0.00838451087474823, -0.011377260088920593, -0.0063139647245407104], [0.005850449204444885, -0.005513608455657959, -0.0074473172426223755], [-6.674230098724365e-05, -0.0057714879512786865, -0.005015380680561066], [0.005494117736816406, -0.01412898302078247, -0.007494613528251648], [-0.0031837522983551025, -0.0002542436122894287, -0.00497252494096756], [0.004239693284034729, -7.128715515136719e-05, -0.005121782422065735], [0.0033156871795654297, -0.0032061636447906494, -0.00574878603219986], [0.009000107645988464, -0.006692245602607727, -0.004733473062515259], [0.006566092371940613, -0.003766193985939026, -0.008630573749542236], [0.00534135103225708, -0.0004731118679046631, -0.0027602165937423706], [0.007444202899932861, -0.004233688116073608, -0.004482977092266083], [-0.0008583217859268188, -0.00556434690952301, -0.005561351776123047], [0.0015133470296859741, 7.082521915435791e-05, -0.0028698891401290894], [0.008714407682418823, -0.0033533573150634766, -0.00429951399564743], [0.004623711109161377, -0.002560332417488098, -0.0025878027081489563], [0.007570803165435791, -0.006963267922401428, -0.00695125013589859], [0.002362564206123352, -0.004564926028251648, -0.004104264080524445], [0.004569754004478455, -0.0023193061351776123, -0.005174450576305389], [0.005793258547782898, -0.0116356760263443, -0.006804138422012329], [-0.006567716598510742, 0.0018369853496551514, -0.012076005339622498], [0.005995050072669983, -0.004099294543266296, -0.005371876060962677]], "cand_final_gripper_all": [1.0, 0.9989590048789978, 0.9995872974395752, 0.9989938735961914, 0.996163010597229, 1.0, 0.9986462593078613, 1.0, 0.9974176287651062, 1.0, 0.999521017074585, 0.9999487400054932, 0.9988499879837036, 0.9995287656784058, 0.997362494468689, 0.9993684887886047, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 0.9975768327713013, 0.9995335340499878, 1.0, 1.0, 0.9990131855010986, 1.0, 1.0, 0.9991466999053955, 0.9988938570022583, 1.0], "eef_pos": [0.4016607701778412, -0.036169253289699554, 0.23758743703365326], "cand_action_std": 0.3869195580482483, "cand_pairwise_centroid_dist_mean": 3.438938617706299, "argmax_act_outlier": 2.659144878387451, "time_encode_ms": 5.827033193781972, "time_diffusion_ms": 36.13807284273207, "time_q_score_ms": 7.904713973402977, "time_total_ms": 50.65314099192619, "num_action_samples_effective": 32, "q_aggregate": "pair_min"}
+{"chunk_ordinal": 37, "q_min_best": 0.7535254955291748, "q_min_mean": 0.6150376200675964, "q_min_std": 0.11172164231538773, "q_min_median": 0.633579432964325, "chosen_vs_median_q_gap": 0.11994606256484985, "q1_best": 0.7626184225082397, "q2_best": 0.7535254955291748, "v_val": 0.77388596534729, "advantage": -0.020360469818115234, "best_idx": 7, "q_min_all": [0.6888841390609741, 0.5600706934928894, 0.743118405342102, 0.710494875907898, 0.5904725790023804, 0.3877558410167694, 0.5978339314460754, 0.7535254955291748, 0.4796319901943207, 0.7397031784057617, 0.7108107805252075, 0.7424655556678772, 0.5338914394378662, 0.4397978186607361, 0.7128326296806335, 0.5452984571456909, 0.47355395555496216, 0.5122555494308472, 0.7277815341949463, 0.7073173522949219, 0.623908281326294, 0.5432713627815247, 0.7084674835205078, 0.639045000076294, 0.5615863800048828, 0.715592622756958, 0.633579432964325, 0.5217368006706238, 0.3508584499359131, 0.7012835144996643, 0.671224057674408, 0.6531548500061035], "q1_all": [0.6888841390609741, 0.6305744647979736, 0.7662895321846008, 0.710494875907898, 0.5904725790023804, 0.44419723749160767, 0.633570671081543, 0.7626184225082397, 0.5355597734451294, 0.7397031784057617, 0.7108107805252075, 0.7424655556678772, 0.5338914394378662, 0.4397978186607361, 0.7128326296806335, 0.5452984571456909, 0.47355395555496216, 0.5837569236755371, 0.7277815341949463, 0.7073173522949219, 0.623908281326294, 0.6275873184204102, 0.7084674835205078, 0.639045000076294, 0.6644402742385864, 0.715592622756958, 0.633579432964325, 0.5217368006706238, 0.4667036533355713, 0.7012835144996643, 0.671224057674408, 0.6531548500061035], "q2_all": [0.7047686576843262, 0.5600706934928894, 0.743118405342102, 0.7535096406936646, 0.6940239667892456, 0.3877558410167694, 0.5978339314460754, 0.7535254955291748, 0.4796319901943207, 0.770310640335083, 0.7390296459197998, 0.7620493173599243, 0.5648273825645447, 0.522571325302124, 0.7544717192649841, 0.6236423850059509, 0.4840145409107208, 0.5122555494308472, 0.749823808670044, 0.7211698293685913, 0.7169913649559021, 0.5432713627815247, 0.7590623497962952, 0.6701255440711975, 0.5615863800048828, 0.7414979934692383, 0.6677653193473816, 0.6099976301193237, 0.3508584499359131, 0.7384302616119385, 0.7439217567443848, 0.7062641978263855], "cand_trans_speed_all": [0.0038532502949237823, 0.0028463201597332954, 0.0038523755501955748, 0.003592883935198188, 0.003172074444591999, 0.003910765051841736, 0.003129858523607254, 0.00596174132078886, 0.0022201454266905785, 0.0051622288301587105, 0.0029672912787646055, 0.003793575568124652, 0.005085513927042484, 0.002323722466826439, 0.0030746012926101685, 0.0063880570232868195, 0.00351412920281291, 0.003039378672838211, 0.0030250772833824158, 0.005263423081487417, 0.002698989585042, 0.0028682358097285032, 0.0037527091335505247, 0.0030483852606266737, 0.00239742873236537, 0.0028941608034074306, 0.003392571583390236, 0.004444120917469263, 0.0019748518243432045, 0.004099398851394653, 0.003063031006604433, 0.00413618516176939], "cand_cum_xyz_disp_all": [[-0.00252397358417511, 0.001209363341331482, -0.0068114325404167175], [0.004714518785476685, 0.0001903921365737915, -0.008034653961658478], [-0.0046994686126708984, 0.0023200809955596924, -0.005189351737499237], [-0.008708417415618896, -0.00303669273853302, -0.006770044565200806], [-0.007934123277664185, -0.003452613949775696, -0.00517059862613678], [0.001978665590286255, -0.006775975227355957, -0.011960305273532867], [-0.0009330511093139648, -0.0031881630420684814, -0.005830906331539154], [-0.006564795970916748, 0.0033472031354904175, -0.007946416735649109], [-0.003379255533218384, -0.0018569976091384888, -0.008496612310409546], [-0.003761783242225647, 0.004224076867103577, -0.007992304861545563], [-0.004993319511413574, 0.0018789023160934448, -0.007298633456230164], [-0.003855079412460327, 0.0015010684728622437, -0.00840441882610321], [-0.001441851258277893, -0.00019328296184539795, -0.007429696619510651], [-0.003754928708076477, -0.002663537859916687, -0.006152257323265076], [-0.006776198744773865, 0.00044773519039154053, -0.007182545959949493], [-0.0018035918474197388, 0.003340423107147217, -0.0036270245909690857], [0.001672118902206421, 0.001958802342414856, -0.0036347731947898865], [-0.0017175227403640747, -0.003061443567276001, -0.005606643855571747], [-0.006744444370269775, -0.001141369342803955, -0.008421406149864197], [-0.00475427508354187, 0.006100818514823914, -0.006796322762966156], [-0.003994956612586975, -0.001505151391029358, -0.009032197296619415], [-0.005017593502998352, -0.002526000142097473, -0.00609782338142395], [-0.006501093506813049, -0.0018368065357208252, -0.006182625889778137], [-0.004591450095176697, 9.764730930328369e-05, -0.006266966462135315], [-0.0006992816925048828, 0.0008891820907592773, -0.006254136562347412], [-0.004622042179107666, -0.0010285228490829468, -0.005746342241764069], [-0.005906850099563599, -0.0008630305528640747, -0.00558161735534668], [-0.00027877092361450195, 0.0034785866737365723, -0.0066442787647247314], [0.0013333112001419067, -0.0004973709583282471, -0.0051064565777778625], [-0.0031963884830474854, 0.0008495151996612549, -0.006039433181285858], [-0.005866825580596924, -0.005642622709274292, -0.007849454879760742], [-0.002402976155281067, -0.000729680061340332, -0.0068512484431266785]], "cand_final_gripper_all": [1.0, 0.9983096122741699, 0.9978020787239075, 0.9982079267501831, 0.9999189376831055, 0.9968241453170776, 0.9980890154838562, 0.9998565912246704, 0.9979144334793091, 1.0, 0.9977695941925049, 1.0, 0.996940016746521, 0.9975785613059998, 1.0, 0.9994984865188599, 0.9977477192878723, 0.9979580640792847, 0.9985398054122925, 1.0, 0.9992748498916626, 0.9985940456390381, 1.0, 0.9975252151489258, 0.998843789100647, 0.9999392032623291, 0.9960768222808838, 0.9986314177513123, 0.9990824460983276, 1.0, 0.9990540742874146, 0.9968948364257812], "eef_pos": [0.4026168882846832, -0.038392215967178345, 0.23900733888149261], "cand_action_std": 0.35021308064460754, "cand_pairwise_centroid_dist_mean": 3.1825928688049316, "argmax_act_outlier": 0.8554158210754395, "time_encode_ms": 5.178889958187938, "time_diffusion_ms": 36.10337898135185, "time_q_score_ms": 7.960136979818344, "time_total_ms": 50.16091815195978, "num_action_samples_effective": 32, "q_aggregate": "pair_min"}
+{"chunk_ordinal": 38, "q_min_best": 0.7458385229110718, "q_min_mean": 0.7205197811126709, "q_min_std": 0.01452548336237669, "q_min_median": 0.717422604560852, "chosen_vs_median_q_gap": 0.028415918350219727, "q1_best": 0.7458385229110718, "q2_best": 0.7623083591461182, "v_val": 0.7360976934432983, "advantage": 0.009740829467773438, "best_idx": 10, "q_min_all": [0.7089971899986267, 0.7312533855438232, 0.7061276435852051, 0.7201514840126038, 0.7127400636672974, 0.7173352241516113, 0.7344639301300049, 0.7304344177246094, 0.7371087670326233, 0.7308286428451538, 0.7458385229110718, 0.7303196787834167, 0.7131667733192444, 0.717422604560852, 0.703450083732605, 0.7071132659912109, 0.7450090646743774, 0.7118043899536133, 0.7058206796646118, 0.7232706546783447, 0.7056623101234436, 0.7049387693405151, 0.7004263401031494, 0.7362843751907349, 0.7297978401184082, 0.7381811141967773, 0.6923164129257202, 0.7240685820579529, 0.7320499420166016, 0.7033758759498596, 0.7162865996360779, 0.74058997631073], "q1_all": [0.7089971899986267, 0.7312533855438232, 0.7061276435852051, 0.7201514840126038, 0.7127400636672974, 0.7173352241516113, 0.7344639301300049, 0.7304344177246094, 0.7402787208557129, 0.7308286428451538, 0.7458385229110718, 0.7303196787834167, 0.7131667733192444, 0.717422604560852, 0.703450083732605, 0.7071132659912109, 0.7450090646743774, 0.7118043899536133, 0.7058206796646118, 0.7232706546783447, 0.7056623101234436, 0.7049387693405151, 0.7641997337341309, 0.7362843751907349, 0.7297978401184082, 0.7381811141967773, 0.7308378219604492, 0.7240685820579529, 0.7320499420166016, 0.7033758759498596, 0.7162865996360779, 0.74058997631073], "q2_all": [0.7450363039970398, 0.7728978991508484, 0.7621619701385498, 0.7786743640899658, 0.7293763160705566, 0.7618762850761414, 0.7784938216209412, 0.7518635988235474, 0.7371087670326233, 0.7587974071502686, 0.7623083591461182, 0.7377712726593018, 0.7685922980308533, 0.7452654838562012, 0.7469189167022705, 0.737896203994751, 0.7668119668960571, 0.7385486960411072, 0.764503538608551, 0.767402708530426, 0.770588755607605, 0.754282534122467, 0.7004263401031494, 0.763113796710968, 0.7558721899986267, 0.7660275101661682, 0.6923164129257202, 0.7545157074928284, 0.7340887784957886, 0.7587076425552368, 0.7597922086715698, 0.7606239318847656], "cand_trans_speed_all": [0.002404226455837488, 0.0022644612472504377, 0.0021203248761594296, 0.002582521177828312, 0.0016992253949865699, 0.003140617860481143, 0.0015993457054719329, 0.001268200809136033, 0.002527718199416995, 0.0018091103993356228, 0.002802658826112747, 0.002411582972854376, 0.0012768296292051673, 0.002236421685665846, 0.001386376447044313, 0.002230644691735506, 0.004032375290989876, 0.0024433578364551067, 0.0019128512358292937, 0.0016753901727497578, 0.002797511173412204, 0.0019820488523691893, 0.0027212384156882763, 0.0013719642302021384, 0.002974365372210741, 0.0025249358732253313, 0.003573209745809436, 0.002439728006720543, 0.0016692632343620062, 0.002345737535506487, 0.0023772548884153366, 0.003678225912153721], "cand_cum_xyz_disp_all": [[0.0025140494108200073, -0.0006406903266906738, 0.005138061940670013], [0.00020770728588104248, -0.0003001093864440918, 0.004021629691123962], [-4.112720489501953e-06, -0.0013387203216552734, 0.0048984140157699585], [0.00014798343181610107, 0.002673625946044922, 0.004653438925743103], [0.001002386212348938, -0.002470865845680237, 0.00478169322013855], [0.0023726671934127808, -0.0019953101873397827, 0.0022542551159858704], [-0.0014428496360778809, 0.0005618482828140259, 0.005320250988006592], [0.002896338701248169, -0.000974118709564209, 0.0023312196135520935], [-0.000781714916229248, -0.0024124830961227417, 0.002983890473842621], [-0.0012762993574142456, -0.0015265047550201416, 0.004724666476249695], [0.0028529763221740723, 0.002231970429420471, 0.002775348722934723], [0.0009784549474716187, -0.002794891595840454, 0.0050344318151474], [-0.003383651375770569, 9.164214134216309e-05, 0.0024524331092834473], [0.00289839506149292, -0.003139093518257141, 0.00358688086271286], [-0.00026319921016693115, -0.001900210976600647, 0.004882290959358215], [0.0010306686162948608, -0.003794074058532715, 0.005728892982006073], [0.00010000169277191162, 0.0010043531656265259, 0.003907196223735809], [-0.0002063661813735962, -0.001971706748008728, 0.004732988774776459], [0.00037898123264312744, 0.0013272017240524292, 0.003618799149990082], [-0.0005792677402496338, 0.00031942129135131836, 0.00431649386882782], [0.0014138966798782349, -0.000520065426826477, 0.0038803666830062866], [0.00124436616897583, -0.0015386193990707397, 0.002111867070198059], [0.0015075653791427612, -0.005876272916793823, 0.0051847174763679504], [8.83340835571289e-05, -0.0018948465585708618, 0.004902392625808716], [-0.0018927603960037231, 0.0006040632724761963, 0.001344345510005951], [-0.002307802438735962, 0.002329304814338684, 0.0034624189138412476], [0.0007725507020950317, -0.005387812852859497, 0.005426153540611267], [0.0010263025760650635, 0.0001582801342010498, 0.006214149296283722], [0.0011335760354995728, -0.004293978214263916, 0.0010481774806976318], [0.0005023479461669922, -0.0008745491504669189, 0.003769390285015106], [0.00020419061183929443, -0.000261843204498291, 0.005745552480220795], [0.001887783408164978, 0.0006319880485534668, 0.002864748239517212]], "cand_final_gripper_all": [1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 0.9999704360961914, 1.0, 1.0, 0.9992726445198059, 1.0, 1.0, 1.0, 0.9999055862426758, 1.0, 1.0, 1.0, 1.0, 1.0, 0.9987869262695312, 1.0, 0.9996029138565063, 0.9994934797286987, 1.0, 1.0, 1.0], "eef_pos": [0.40043315291404724, -0.04132203012704849, 0.23974700272083282], "cand_action_std": 0.10294149816036224, "cand_pairwise_centroid_dist_mean": 0.7974725365638733, "argmax_act_outlier": 0.9992578029632568, "time_encode_ms": 5.544308805838227, "time_diffusion_ms": 35.91054095886648, "time_q_score_ms": 7.664617849513888, "time_total_ms": 49.84392086043954, "num_action_samples_effective": 32, "q_aggregate": "pair_min"}
+{"chunk_ordinal": 39, "q_min_best": 0.7579269409179688, "q_min_mean": 0.7291709184646606, "q_min_std": 0.013577300123870373, "q_min_median": 0.7279071807861328, "chosen_vs_median_q_gap": 0.030019760131835938, "q1_best": 0.7579269409179688, "q2_best": 0.8405665159225464, "v_val": 0.7091273069381714, "advantage": 0.04879963397979736, "best_idx": 29, "q_min_all": [0.7302875518798828, 0.7234195470809937, 0.7262077927589417, 0.7069586515426636, 0.7389578819274902, 0.7137922048568726, 0.7365608811378479, 0.7302921414375305, 0.7251312732696533, 0.7324721813201904, 0.7147112488746643, 0.7304273247718811, 0.7216585874557495, 0.7193084359169006, 0.7327141761779785, 0.7279071807861328, 0.7225428819656372, 0.7506942749023438, 0.7205925583839417, 0.7263323068618774, 0.7376151084899902, 0.7280901670455933, 0.7260513305664062, 0.7345794439315796, 0.7552727460861206, 0.7493524551391602, 0.7275285124778748, 0.737002968788147, 0.7413018941879272, 0.7579269409179688, 0.6920794248580933, 0.7156995534896851], "q1_all": [0.7302875518798828, 0.7234195470809937, 0.7262077927589417, 0.7069586515426636, 0.7389578819274902, 0.7137922048568726, 0.7365608811378479, 0.7302921414375305, 0.7251312732696533, 0.7324721813201904, 0.7147112488746643, 0.7304273247718811, 0.7216585874557495, 0.7193084359169006, 0.7327141761779785, 0.7279071807861328, 0.7225428819656372, 0.7506942749023438, 0.7205925583839417, 0.7263323068618774, 0.7376151084899902, 0.7280901670455933, 0.7260513305664062, 0.7345794439315796, 0.7552727460861206, 0.7493524551391602, 0.7275285124778748, 0.737002968788147, 0.7413018941879272, 0.7579269409179688, 0.6920794248580933, 0.7156995534896851], "q2_all": [0.8114448189735413, 0.8001205325126648, 0.806696891784668, 0.8004254102706909, 0.8229174017906189, 0.7940751314163208, 0.8037914037704468, 0.8327811360359192, 0.8157265782356262, 0.7966206073760986, 0.8161795735359192, 0.8168448805809021, 0.7838312387466431, 0.8066574335098267, 0.8178026080131531, 0.8156392574310303, 0.8053129315376282, 0.825896143913269, 0.821523129940033, 0.7912454009056091, 0.8270043134689331, 0.7967153787612915, 0.8179628252983093, 0.8053305149078369, 0.8159145712852478, 0.8476734757423401, 0.8040428161621094, 0.7872463464736938, 0.8275277614593506, 0.8405665159225464, 0.7838521003723145, 0.8101502656936646], "cand_trans_speed_all": [0.0019697078969329596, 0.0021088900975883007, 0.0029379099141806364, 0.0022569638676941395, 0.00219541578553617, 0.0018175047589465976, 0.0016535938484594226, 0.0029304285999387503, 0.003017356153577566, 0.003912420477718115, 0.002389683621004224, 0.0018643541261553764, 0.0024910680949687958, 0.0022232607007026672, 0.004015838261693716, 0.0026040358934551477, 0.003493278054520488, 0.0027397514786571264, 0.0026061944663524628, 0.0028309007175266743, 0.0016717638354748487, 0.002185968216508627, 0.0016729410272091627, 0.002598533872514963, 0.002468370832502842, 0.004199285060167313, 0.002137727802619338, 0.002712441375479102, 0.0038414830341935158, 0.003373297629877925, 0.0026557024102658033, 0.001879529794678092], "cand_cum_xyz_disp_all": [[-0.0006737560033798218, 0.0011643171310424805, 0.0029702112078666687], [-0.005718261003494263, -0.0017238259315490723, 0.0038600489497184753], [-0.005651295185089111, -0.0017061829566955566, 0.005480803549289703], [-0.0004724264144897461, -0.00034540891647338867, 0.0026701688766479492], [-0.0014105886220932007, 0.0025594383478164673, 0.005454599857330322], [-0.003152117133140564, -0.002217695116996765, 0.0046499744057655334], [-0.001172572374343872, -0.0009449869394302368, 0.0019777119159698486], [-0.003884613513946533, 0.0013661086559295654, 0.003914065659046173], [-0.00042529404163360596, -0.0021108239889144897, 0.004976317286491394], [-0.0011123418807983398, 0.0003309696912765503, 0.0038720592856407166], [-0.0042769163846969604, -0.0013319551944732666, 0.00419297069311142], [-0.0030974894762039185, -0.0005939453840255737, 0.003540031611919403], [-0.0018756985664367676, 0.0005205124616622925, 0.004819713532924652], [-0.0037183761596679688, -0.0012176036834716797, 0.0036527514457702637], [-0.003185093402862549, -0.0010447502136230469, 0.0030669420957565308], [-0.0042580366134643555, 0.0014306604862213135, 0.004226356744766235], [-0.0013686716556549072, 0.0010478794574737549, 0.005633838474750519], [-0.00020144879817962646, 0.0004878789186477661, 0.0030106008052825928], [-0.003218352794647217, -0.0011425316333770752, 0.006830133497714996], [-0.004433959722518921, -0.00015054643154144287, 0.005534693598747253], [-0.005451560020446777, 0.0012775212526321411, 0.003919236361980438], [-0.0014252960681915283, 0.0008315742015838623, 0.0041132643818855286], [-0.004642888903617859, -0.0011319071054458618, 0.005204834043979645], [-0.00172501802444458, 0.0008405596017837524, 0.004550039768218994], [-0.0023463815450668335, -0.000986933708190918, 0.003226451575756073], [-0.003739774227142334, 0.0016598403453826904, 0.0029013827443122864], [-0.005426347255706787, -0.0007235705852508545, 0.005586452782154083], [-0.004340499639511108, 0.0016620159149169922, 0.0032141506671905518], [-0.0023305416107177734, 0.0007266253232955933, 0.004531152546405792], [-0.0018982887268066406, 0.0019691288471221924, 0.004756413400173187], [-0.0018557459115982056, -0.0009018182754516602, 0.005795560777187347], [-0.0035377144813537598, 8.90195369720459e-05, 0.0038735195994377136]], "cand_final_gripper_all": [1.0, 0.9995273947715759, 1.0, 1.0, 0.9996365308761597, 1.0, 0.999853253364563, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 0.9995694756507874, 1.0, 0.9998061656951904, 1.0, 0.9998475909233093, 0.9997898936271667, 1.0, 0.9985997676849365, 0.9993076324462891, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 0.9998039603233337, 1.0], "eef_pos": [0.40108010172843933, -0.039392147213220596, 0.2357100248336792], "cand_action_std": 0.07872099429368973, "cand_pairwise_centroid_dist_mean": 0.6740305423736572, "argmax_act_outlier": 1.1062508821487427, "time_encode_ms": 5.732276942580938, "time_diffusion_ms": 36.269175820052624, "time_q_score_ms": 8.398798992857337, "time_total_ms": 51.26201012171805, "num_action_samples_effective": 32, "q_aggregate": "pair_min"}
+{"chunk_ordinal": 40, "q_min_best": 0.772344708442688, "q_min_mean": 0.7574304938316345, "q_min_std": 0.009410243481397629, "q_min_median": 0.7593469023704529, "chosen_vs_median_q_gap": 0.012997806072235107, "q1_best": 0.772344708442688, "q2_best": 0.8416445255279541, "v_val": 0.7117537260055542, "advantage": 0.06059098243713379, "best_idx": 11, "q_min_all": [0.762614905834198, 0.7625119686126709, 0.7469474077224731, 0.7355039119720459, 0.7563357353210449, 0.7624143958091736, 0.7536802291870117, 0.7593469023704529, 0.7688370943069458, 0.7681219577789307, 0.7624715566635132, 0.772344708442688, 0.7489525079727173, 0.7529288530349731, 0.7653287649154663, 0.7561600208282471, 0.7608213424682617, 0.7373536825180054, 0.7417460680007935, 0.7616419792175293, 0.7630658149719238, 0.752088189125061, 0.771719753742218, 0.7563565373420715, 0.755731463432312, 0.7648696899414062, 0.7562539577484131, 0.7404989004135132, 0.7536525726318359, 0.7667034268379211, 0.759485125541687, 0.7612864971160889], "q1_all": [0.762614905834198, 0.7625119686126709, 0.7469474077224731, 0.7355039119720459, 0.7563357353210449, 0.7624143958091736, 0.7536802291870117, 0.7593469023704529, 0.7688370943069458, 0.7681219577789307, 0.7624715566635132, 0.772344708442688, 0.7489525079727173, 0.7529288530349731, 0.7653287649154663, 0.7561600208282471, 0.7608213424682617, 0.7373536825180054, 0.7417460680007935, 0.7616419792175293, 0.7630658149719238, 0.752088189125061, 0.771719753742218, 0.7563565373420715, 0.755731463432312, 0.7648696899414062, 0.7562539577484131, 0.7404989004135132, 0.7536525726318359, 0.7667034268379211, 0.759485125541687, 0.7612864971160889], "q2_all": [0.8209731578826904, 0.8305907249450684, 0.804815948009491, 0.8092181086540222, 0.826622486114502, 0.8425345420837402, 0.843368411064148, 0.8231297731399536, 0.8508957624435425, 0.8156075477600098, 0.8229414224624634, 0.8416445255279541, 0.8302544951438904, 0.8314683437347412, 0.8111645579338074, 0.8161890506744385, 0.826108992099762, 0.8324282765388489, 0.8146315813064575, 0.8257944583892822, 0.8369669914245605, 0.8222944736480713, 0.8419543504714966, 0.8213250041007996, 0.8220625519752502, 0.8227909803390503, 0.8331372737884521, 0.8142455816268921, 0.7974286079406738, 0.8598091006278992, 0.834272563457489, 0.8237452507019043], "cand_trans_speed_all": [0.0018944240873679519, 0.0032042793463915586, 0.0028093892615288496, 0.0025298260152339935, 0.0026803805958479643, 0.0033259191550314426, 0.0032005147077143192, 0.002247708849608898, 0.002906308975070715, 0.003930875565856695, 0.00314775831066072, 0.0027989873196929693, 0.0018853163346648216, 0.0024396723601967096, 0.004379879683256149, 0.003108033910393715, 0.002838707296177745, 0.002235131338238716, 0.0020227553322911263, 0.0022223179694265127, 0.0034321348648518324, 0.0028157210908830166, 0.0027725715190172195, 0.0025280844420194626, 0.002275291830301285, 0.0023798509500920773, 0.003091430990025401, 0.002358241705223918, 0.0021151918917894363, 0.0030778413638472557, 0.0032126642763614655, 0.0028802859596908092], "cand_cum_xyz_disp_all": [[-0.004769995808601379, 0.0002762824296951294, 0.0048092082142829895], [-0.006476119160652161, -0.0007573068141937256, 0.006271794438362122], [-0.005352333188056946, -0.002530127763748169, 0.0032853633165359497], [-0.003048136830329895, -0.0017641633749008179, 0.005586609244346619], [-0.007092475891113281, -0.005686149001121521, 0.006471402943134308], [-0.005121052265167236, 0.002895176410675049, 0.004098325967788696], [-0.00553932785987854, -0.001080244779586792, 0.005028396844863892], [-0.004095256328582764, 0.000800788402557373, 0.0032647699117660522], [-0.009449109435081482, -0.0008522719144821167, 0.0063463374972343445], [-0.0030587315559387207, 0.00010573863983154297, 0.006380416452884674], [-0.005788728594779968, -0.00022870302200317383, 0.005108438432216644], [-0.005428686738014221, 0.000718429684638977, 0.0053030624985694885], [-0.006443142890930176, -0.000607714056968689, 0.0035562440752983093], [-0.007557526230812073, -0.0015654265880584717, 0.005231894552707672], [-0.002797052264213562, 0.0018298923969268799, 0.006224095821380615], [-0.007385566830635071, 0.00013881921768188477, 0.005742199718952179], [-0.004718974232673645, 6.593763828277588e-05, 0.0058042556047439575], [-0.00488455593585968, -0.003474891185760498, 0.0042236000299453735], [-0.004909440875053406, -0.002758026123046875, 0.004507251083850861], [-0.004379689693450928, -0.0007750540971755981, 0.004034854471683502], [-0.006307721138000488, -0.0021418631076812744, 0.007321782410144806], [-0.004517212510108948, -0.0022157281637191772, 0.005208820104598999], [-0.004079267382621765, -0.0009823888540267944, 0.004514321684837341], [-0.006770461797714233, -0.0020688623189926147, 0.007072575390338898], [-0.003605261445045471, 0.0005624294281005859, 0.005576334893703461], [-0.005126059055328369, 0.000509798526763916, 0.00507693737745285], [-0.005272164940834045, -0.0020456910133361816, 0.006939016282558441], [-0.006206780672073364, -0.002043887972831726, 0.00567404180765152], [-0.003642559051513672, -0.0038668662309646606, 0.00557757169008255], [-0.009606078267097473, -0.0019954144954681396, 0.006474517285823822], [-0.005142480134963989, 0.0009084939956665039, 0.004854097962379456], [-0.0050979554653167725, -0.001030460000038147, 0.005482576787471771]], "cand_final_gripper_all": [1.0, 1.0, 0.999393880367279, 1.0, 1.0, 1.0, 1.0, 1.0, 0.9998805522918701, 0.9999893307685852, 0.9997415542602539, 0.9996667504310608, 0.9994082450866699, 1.0, 1.0, 0.9994392395019531, 0.9998575448989868, 1.0, 1.0, 1.0, 0.9999996423721313, 0.9992872476577759, 0.999494194984436, 1.0, 0.9999530911445618, 1.0, 0.9997448921203613, 0.9997519850730896, 0.9991801381111145, 0.9997392892837524, 1.0, 0.9997091293334961], "eef_pos": [0.40135446190834045, -0.039051979780197144, 0.23347333073616028], "cand_action_std": 0.05666491016745567, "cand_pairwise_centroid_dist_mean": 0.4982747435569763, "argmax_act_outlier": 0.9220268726348877, "time_encode_ms": 5.059088813140988, "time_diffusion_ms": 36.19598993100226, "time_q_score_ms": 8.356541162356734, "time_total_ms": 50.5870480556041, "num_action_samples_effective": 32, "q_aggregate": "pair_min"}
+{"chunk_ordinal": 41, "q_min_best": 0.7754649519920349, "q_min_mean": 0.760387122631073, "q_min_std": 0.006858869921416044, "q_min_median": 0.7606682181358337, "chosen_vs_median_q_gap": 0.014796733856201172, "q1_best": 0.7806444764137268, "q2_best": 0.7754649519920349, "v_val": 0.7023218870162964, "advantage": 0.07314306497573853, "best_idx": 14, "q_min_all": [0.7618988752365112, 0.7694748044013977, 0.7587960958480835, 0.7544347643852234, 0.7593741416931152, 0.7606682181358337, 0.7618702054023743, 0.7574100494384766, 0.7611440420150757, 0.7619865536689758, 0.7659227848052979, 0.7534794807434082, 0.7511526346206665, 0.7648090720176697, 0.7754649519920349, 0.7688896656036377, 0.7576607465744019, 0.7608491778373718, 0.7445149421691895, 0.7598878741264343, 0.7596679925918579, 0.7727483510971069, 0.7663178443908691, 0.761591374874115, 0.7487578988075256, 0.7667980194091797, 0.7533960938453674, 0.7526576519012451, 0.7523747682571411, 0.7655980587005615, 0.7635525465011597, 0.7592381834983826], "q1_all": [0.7618988752365112, 0.7694748044013977, 0.7587960958480835, 0.7610624432563782, 0.7635710835456848, 0.7681230306625366, 0.7618702054023743, 0.7574100494384766, 0.7651898860931396, 0.7619865536689758, 0.7659227848052979, 0.7534794807434082, 0.7530481815338135, 0.7667782306671143, 0.7806444764137268, 0.7703407406806946, 0.7576607465744019, 0.7608491778373718, 0.7659275531768799, 0.7598878741264343, 0.7757103443145752, 0.7727483510971069, 0.7819430232048035, 0.7785288691520691, 0.7684203386306763, 0.7667980194091797, 0.7667602300643921, 0.7562116384506226, 0.7523747682571411, 0.7813127636909485, 0.7635525465011597, 0.7592381834983826], "q2_all": [0.7662630677223206, 0.7721945643424988, 0.7759191989898682, 0.7544347643852234, 0.7593741416931152, 0.7606682181358337, 0.7681888341903687, 0.7648892998695374, 0.7611440420150757, 0.7703614830970764, 0.7816193103790283, 0.7556579113006592, 0.7511526346206665, 0.7648090720176697, 0.7754649519920349, 0.7688896656036377, 0.7650625705718994, 0.7685669660568237, 0.7445149421691895, 0.7760726809501648, 0.7596679925918579, 0.7892516851425171, 0.7663178443908691, 0.761591374874115, 0.7487578988075256, 0.769512414932251, 0.7533960938453674, 0.7526576519012451, 0.774390459060669, 0.7655980587005615, 0.7796022891998291, 0.76613849401474], "cand_trans_speed_all": [0.0016592990141361952, 0.0025688502937555313, 0.002751479856669903, 0.0021574916318058968, 0.001855775248259306, 0.002403142862021923, 0.0024122698232531548, 0.0036044500302523375, 0.0021551658865064383, 0.0023706660140305758, 0.002340915147215128, 0.002853845711797476, 0.002110367175191641, 0.0025011105462908745, 0.0024702735245227814, 0.0019161822274327278, 0.003712583100423217, 0.0027749426662921906, 0.0025460212491452694, 0.0019452603301033378, 0.0019288914045318961, 0.0020311602856963873, 0.0033792078029364347, 0.002745568286627531, 0.0025719262193888426, 0.0020165094174444675, 0.002688727341592312, 0.002367695327848196, 0.0025757423136383295, 0.0021105301566421986, 0.001966571668162942, 0.0020539499819278717], "cand_cum_xyz_disp_all": [[-0.0043510496616363525, -0.0032252520322799683, 0.004957385361194611], [-0.0033514052629470825, -0.002905234694480896, 0.004082776606082916], [-0.004416242241859436, -0.0006187558174133301, 0.0033503472805023193], [-0.00592920184135437, -0.001995101571083069, 0.006037995219230652], [-0.004053264856338501, -0.0030060261487960815, 0.005045928061008453], [-0.00769023597240448, -0.0019031912088394165, 0.005483672022819519], [-0.005737513303756714, -0.0006391257047653198, 0.004462450742721558], [-0.005763515830039978, -0.0006447136402130127, 0.0032146647572517395], [-0.0056046247482299805, -0.0008117258548736572, 0.004864498972892761], [-0.0062492042779922485, -0.0009409934282302856, 0.0054454803466796875], [-0.007846087217330933, 0.002749606966972351, 0.0046434178948402405], [-0.004224419593811035, -0.0027024149894714355, 0.00503210723400116], [-0.0054638683795928955, -0.00256936252117157, 0.005534999072551727], [-0.006192654371261597, 0.0001020282506942749, 0.005349099636077881], [-0.007899075746536255, -0.0006131529808044434, 0.00585077702999115], [-0.0028315484523773193, -0.001732662320137024, 0.004245229065418243], [-0.0028306394815444946, -0.0017531812191009521, 0.0045755356550216675], [-0.0010564029216766357, 0.0004321932792663574, 0.0043678879737854], [-0.004270538687705994, -0.0034935027360916138, 0.004778929054737091], [-0.00319458544254303, -0.0015430301427841187, 0.0044979676604270935], [-0.00351598858833313, -0.001490280032157898, 0.00565405935049057], [-0.004978641867637634, -0.00045062601566314697, 0.006098151206970215], [-0.006698235869407654, 0.00044681131839752197, 0.0038960352540016174], [-0.003906413912773132, -0.0011000484228134155, 0.005719535052776337], [-0.0046041011810302734, -0.0038777142763137817, 0.0034623518586158752], [-0.007837444543838501, -0.0021685659885406494, 0.004973798990249634], [-0.00624479353427887, -0.003226935863494873, 0.004110932350158691], [-0.004226326942443848, -0.005020275712013245, 0.0037318766117095947], [-0.005638688802719116, -0.0028162598609924316, 0.005600467324256897], [-0.00835329294204712, -0.001882895827293396, 0.006083637475967407], [-0.005129948258399963, -0.0012684762477874756, 0.004496432840824127], [-0.0054366737604141235, -0.0009968280792236328, 0.005560867488384247]], "cand_final_gripper_all": [0.9997755289077759, 1.0, 0.9990038275718689, 1.0, 1.0, 0.9992185831069946, 1.0, 1.0, 0.9998752474784851, 1.0, 0.9995479583740234, 1.0, 1.0, 1.0, 0.9998087882995605, 0.9991335868835449, 0.9999231100082397, 1.0, 0.9998495578765869, 1.0, 1.0, 1.0, 1.0, 0.9989462494850159, 1.0, 1.0, 0.9999140501022339, 0.9987751841545105, 0.9999158382415771, 1.0, 1.0, 0.9997586011886597], "eef_pos": [0.40054693818092346, -0.0401628315448761, 0.2318791002035141], "cand_action_std": 0.05133596807718277, "cand_pairwise_centroid_dist_mean": 0.4615291953086853, "argmax_act_outlier": 0.9913047552108765, "time_encode_ms": 5.033632041886449, "time_diffusion_ms": 36.79078305140138, "time_q_score_ms": 7.731011137366295, "time_total_ms": 50.26018200442195, "num_action_samples_effective": 32, "q_aggregate": "pair_min"}
+{"chunk_ordinal": 42, "q_min_best": 0.7915158271789551, "q_min_mean": 0.7752293944358826, "q_min_std": 0.009427380748093128, "q_min_median": 0.7739003896713257, "chosen_vs_median_q_gap": 0.017615437507629395, "q1_best": 0.7915158271789551, "q2_best": 0.7952724695205688, "v_val": 0.5471566915512085, "advantage": 0.24435913562774658, "best_idx": 2, "q_min_all": [0.7775975465774536, 0.7738479375839233, 0.7915158271789551, 0.7673383951187134, 0.7794601321220398, 0.7845653295516968, 0.7739003896713257, 0.7818354368209839, 0.7852085828781128, 0.7776508331298828, 0.7680127620697021, 0.7897976040840149, 0.7576189041137695, 0.7675302028656006, 0.7700099945068359, 0.7825999855995178, 0.7743625640869141, 0.7761180996894836, 0.7791078090667725, 0.7660113573074341, 0.7860760688781738, 0.7877547144889832, 0.7901105284690857, 0.7706999182701111, 0.7713649272918701, 0.7686030864715576, 0.7529014945030212, 0.7626181244850159, 0.7734162211418152, 0.7678547501564026, 0.7812072038650513, 0.7706437706947327], "q1_all": [0.7934294939041138, 0.7936118841171265, 0.7915158271789551, 0.780221164226532, 0.7948715686798096, 0.8028925061225891, 0.7845427989959717, 0.7927418351173401, 0.7908766269683838, 0.7860145568847656, 0.7845502495765686, 0.7910081148147583, 0.7782151699066162, 0.786048173904419, 0.7923474311828613, 0.78508460521698, 0.794445276260376, 0.7952116131782532, 0.7949408888816833, 0.7880847454071045, 0.7905865907669067, 0.7936030626296997, 0.7926244139671326, 0.7877342700958252, 0.7815648913383484, 0.7917559146881104, 0.7773175239562988, 0.7939687967300415, 0.7845544815063477, 0.7827553749084473, 0.795261800289154, 0.7918808460235596], "q2_all": [0.7775975465774536, 0.7738479375839233, 0.7952724695205688, 0.7673383951187134, 0.7794601321220398, 0.7845653295516968, 0.7739003896713257, 0.7818354368209839, 0.7852085828781128, 0.7776508331298828, 0.7680127620697021, 0.7897976040840149, 0.7576189041137695, 0.7675302028656006, 0.7700099945068359, 0.7825999855995178, 0.7743625640869141, 0.7761180996894836, 0.7791078090667725, 0.7660113573074341, 0.7860760688781738, 0.7877547144889832, 0.7901105284690857, 0.7706999182701111, 0.7713649272918701, 0.7686030864715576, 0.7529014945030212, 0.7626181244850159, 0.7734162211418152, 0.7678547501564026, 0.7812072038650513, 0.7706437706947327], "cand_trans_speed_all": [0.0015210059937089682, 0.0020250165835022926, 0.0022149146534502506, 0.002064606174826622, 0.0019954086747020483, 0.0018068321514874697, 0.0023232256062328815, 0.0016494190786033869, 0.002159327268600464, 0.0029109313618391752, 0.0022682631388306618, 0.0020650094375014305, 0.0017818098422139883, 0.0020755850709974766, 0.0020423843525350094, 0.0018899852875620127, 0.0015297909267246723, 0.0014630708610638976, 0.0022890279069542885, 0.002057050121948123, 0.002068310510367155, 0.002482660347595811, 0.002275841310620308, 0.0022131861187517643, 0.0014948798343539238, 0.0012769266031682491, 0.002891316544264555, 0.0027269187849014997, 0.0017866452690213919, 0.0013808145886287093, 0.0019962217193096876, 0.0024590627290308475], "cand_cum_xyz_disp_all": [[-0.001305609941482544, 0.002553209662437439, 0.004906103014945984], [-0.007197842001914978, 3.546476364135742e-06, 0.005664825439453125], [-0.0066136568784713745, 0.0035564452409744263, 0.004241392016410828], [-0.00232088565826416, 0.0009953826665878296, 0.004745937883853912], [-0.005999282002449036, 0.0022493451833724976, 0.006221197545528412], [-0.004370898008346558, 0.0004236549139022827, 0.004898108541965485], [-0.008716180920600891, 0.0038889050483703613, 0.004205472767353058], [-0.0030962079763412476, 0.0018540918827056885, 0.00435948371887207], [-0.005087539553642273, 0.005772680044174194, 0.004470370709896088], [-0.00759182870388031, 0.0021927356719970703, 0.004657134413719177], [-0.004757046699523926, 0.0011677742004394531, 0.005574867129325867], [-0.003163740038871765, 0.0022670477628707886, 0.003308206796646118], [-0.0054495930671691895, 0.0014267116785049438, 0.005154646933078766], [-0.005608946084976196, 1.3753771781921387e-05, 0.004671439528465271], [-0.0038695484399795532, 0.000561445951461792, 0.004265837371349335], [-0.005732327699661255, 0.003609761595726013, 0.004021443426609039], [-0.0042504072189331055, 0.0003078728914260864, 0.005094282329082489], [-0.003940790891647339, 0.0022773444652557373, 0.005522705614566803], [-0.004692554473876953, 0.0007347911596298218, 0.005577340722084045], [-0.0023111850023269653, 0.0019389688968658447, 0.005129978060722351], [-0.004789963364601135, 0.0033950507640838623, 0.005515553057193756], [-0.0033761709928512573, 0.0041444748640060425, 0.005572393536567688], [-0.005434185266494751, 0.0032231956720352173, 0.004753313958644867], [-0.002064451575279236, 0.0019454360008239746, 0.004349455237388611], [-0.0009866505861282349, 0.0025653988122940063, 0.003766849637031555], [-0.004596292972564697, 0.0001802891492843628, 0.0049409568309783936], [-0.002371653914451599, 0.0008378326892852783, 0.004382982850074768], [-0.0020801573991775513, 0.0009042024612426758, 0.004416152834892273], [-0.0028400570154190063, 0.004434943199157715, 0.004066526889801025], [-0.002865627408027649, 0.0013470500707626343, 0.0033850744366645813], [-0.00271761417388916, 0.004266694188117981, 0.003962129354476929], [-0.004887208342552185, 0.002721533179283142, 0.005256928503513336]], "cand_final_gripper_all": [0.9999359846115112, 1.0, 1.0, 0.9995533227920532, 1.0, 1.0, 0.9998831748962402, 0.9998824596405029, 1.0, 1.0, 1.0, 0.9996318817138672, 1.0, 0.9989055395126343, 0.9995710849761963, 0.9997474551200867, 0.9992648363113403, 1.0, 0.9996828436851501, 1.0, 1.0, 1.0, 0.9999890327453613, 1.0, 1.0, 0.9999399185180664, 1.0, 1.0, 1.0, 1.0, 1.0, 0.9999032020568848], "eef_pos": [0.3995972275733948, -0.041656218469142914, 0.22948390245437622], "cand_action_std": 0.052947916090488434, "cand_pairwise_centroid_dist_mean": 0.47368937730789185, "argmax_act_outlier": 1.3095300197601318, "time_encode_ms": 5.179431987926364, "time_diffusion_ms": 36.10688494518399, "time_q_score_ms": 8.280049078166485, "time_total_ms": 50.33950903452933, "num_action_samples_effective": 32, "q_aggregate": "pair_min"}
+{"chunk_ordinal": 43, "q_min_best": 0.7930783033370972, "q_min_mean": 0.7702354788780212, "q_min_std": 0.008240562863647938, "q_min_median": 0.7686135768890381, "chosen_vs_median_q_gap": 0.024464726448059082, "q1_best": 0.7930783033370972, "q2_best": 0.809917688369751, "v_val": 0.650213360786438, "advantage": 0.14286494255065918, "best_idx": 15, "q_min_all": [0.7648690938949585, 0.7618984580039978, 0.7783017158508301, 0.775601327419281, 0.7609358429908752, 0.7677368521690369, 0.7588810324668884, 0.767578125, 0.7644389867782593, 0.763744056224823, 0.7750234603881836, 0.7775357961654663, 0.7593153715133667, 0.7696636915206909, 0.774840235710144, 0.7930783033370972, 0.764898419380188, 0.769815981388092, 0.7686135768890381, 0.7660317420959473, 0.7861783504486084, 0.7646840810775757, 0.7588506937026978, 0.772858738899231, 0.7656504511833191, 0.7712984085083008, 0.7720028758049011, 0.7802971601486206, 0.7743208408355713, 0.7611936330795288, 0.7826383113861084, 0.7747600078582764], "q1_all": [0.7648690938949585, 0.7635131478309631, 0.7783017158508301, 0.775601327419281, 0.7609358429908752, 0.7677368521690369, 0.7588810324668884, 0.767578125, 0.7644389867782593, 0.763744056224823, 0.777316153049469, 0.7775357961654663, 0.7593153715133667, 0.7696636915206909, 0.774840235710144, 0.7930783033370972, 0.764898419380188, 0.769815981388092, 0.7686135768890381, 0.7660317420959473, 0.7861783504486084, 0.7646840810775757, 0.7588506937026978, 0.7732585668563843, 0.7656504511833191, 0.7712984085083008, 0.7720028758049011, 0.7824916243553162, 0.7743208408355713, 0.7611936330795288, 0.7826383113861084, 0.7747600078582764], "q2_all": [0.7716492414474487, 0.7618984580039978, 0.7836982011795044, 0.7793450355529785, 0.7739772796630859, 0.7688537836074829, 0.7696256637573242, 0.7724776268005371, 0.7796816229820251, 0.7726372480392456, 0.7750234603881836, 0.7823549509048462, 0.7651973366737366, 0.7807673215866089, 0.7771280407905579, 0.809917688369751, 0.7787051200866699, 0.779542088508606, 0.7778751850128174, 0.7819204926490784, 0.7866203784942627, 0.7770204544067383, 0.7626281976699829, 0.772858738899231, 0.7727138996124268, 0.7744936347007751, 0.7731128931045532, 0.7802971601486206, 0.7745200395584106, 0.7706177234649658, 0.7839850783348083, 0.7897154092788696], "cand_trans_speed_all": [0.0017761260969564319, 0.0017138164257630706, 0.0020046185236424208, 0.0020029884763062, 0.002124500460922718, 0.0022673550993204117, 0.0026500364765524864, 0.0019171752501279116, 0.0012966727372258902, 0.001580753130838275, 0.002169075421988964, 0.0017431447049602866, 0.0012004522141069174, 0.0018877399852499366, 0.002026630099862814, 0.003129794728010893, 0.002231781603768468, 0.002350474474951625, 0.0017960306722670794, 0.0018747837748378515, 0.002579284831881523, 0.001146296039223671, 0.0018779513193294406, 0.0018211656715720892, 0.0015739029040560126, 0.0018580997129902244, 0.0027313679456710815, 0.0018206931417807937, 0.002166618127375841, 0.0015122881159186363, 0.0016604848206043243, 0.0016137352213263512], "cand_cum_xyz_disp_all": [[-0.003250405192375183, 0.0032163113355636597, 0.005732610821723938], [-0.006198197603225708, -0.0003245025873184204, 0.005521707236766815], [-0.0017349421977996826, 0.002835586667060852, 0.005777075886726379], [-0.005201190710067749, 0.0049941688776016235, 0.004338577389717102], [-0.007163688540458679, 0.0006939619779586792, 0.0037762224674224854], [-0.005894377827644348, 0.002609953284263611, 0.005738258361816406], [-0.0007703155279159546, 0.003689184784889221, 0.0035070255398750305], [-0.0018649250268936157, 0.003429204225540161, 0.0053891390562057495], [-0.003787904977798462, 0.0009198933839797974, 0.00405854731798172], [-0.0050896406173706055, 0.0024639666080474854, 0.005307652056217194], [-0.005478769540786743, 0.00171564519405365, 0.005186311900615692], [-0.005271777510643005, 0.003070041537284851, 0.006078533828258514], [-0.003624752163887024, 0.0013845711946487427, 0.0044618770480155945], [-0.005559578537940979, 0.0003268718719482422, 0.005125582218170166], [-0.006166234612464905, 0.0010562241077423096, 0.004452928900718689], [-0.0012834817171096802, 0.004993364214897156, 0.004253119230270386], [-0.005942806601524353, 0.005003541707992554, 0.00032939761877059937], [-0.0021875500679016113, 0.00435754656791687, 0.003709554672241211], [-0.005054637789726257, 0.0009012073278427124, 0.003023214638233185], [-0.004584446549415588, -0.000922277569770813, 0.004858441650867462], [-0.0049782246351242065, 0.0018447190523147583, 0.00584440678358078], [-0.002576977014541626, 0.0029839128255844116, 0.004311375319957733], [-0.001933753490447998, 0.0022996217012405396, 0.0027888119220733643], [-0.004033133387565613, 0.0013336241245269775, 0.0055511221289634705], [-0.0048318952322006226, 0.0027421563863754272, 0.0041957274079322815], [-0.0033752024173736572, 0.0020632147789001465, 0.006786875426769257], [-0.006058841943740845, 0.003635793924331665, 0.005487821996212006], [-0.0035768449306488037, 0.0026224106550216675, 0.004129044711589813], [-0.00600355863571167, 0.001970455050468445, 0.004861846566200256], [-0.005621656775474548, 0.002034693956375122, 0.005008965730667114], [-0.006577327847480774, 0.0013595521450042725, 0.0062188878655433655], [-0.005136922001838684, 0.0026606321334838867, 0.005508072674274445]], "cand_final_gripper_all": [1.0, 1.0, 1.0, 0.9998838901519775, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 0.998191237449646, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 0.9998261332511902, 0.9998359084129333, 1.0, 1.0, 1.0, 0.9990602135658264, 1.0, 1.0, 1.0, 1.0, 0.9996252059936523, 1.0], "eef_pos": [0.40011653304100037, -0.04187812656164169, 0.22894468903541565], "cand_action_std": 0.05128411948680878, "cand_pairwise_centroid_dist_mean": 0.45764538645744324, "argmax_act_outlier": 1.7473914623260498, "time_encode_ms": 5.657819099724293, "time_diffusion_ms": 36.103017861023545, "time_q_score_ms": 7.5268440414220095, "time_total_ms": 50.077544059604406, "num_action_samples_effective": 32, "q_aggregate": "pair_min"}
+{"chunk_ordinal": 44, "q_min_best": 0.7979660034179688, "q_min_mean": 0.7813667058944702, "q_min_std": 0.007203360553830862, "q_min_median": 0.7795711755752563, "chosen_vs_median_q_gap": 0.018394827842712402, "q1_best": 0.79851233959198, "q2_best": 0.7979660034179688, "v_val": 0.7407845258712769, "advantage": 0.057181477546691895, "best_idx": 16, "q_min_all": [0.7750672101974487, 0.791211724281311, 0.7775564193725586, 0.7719376683235168, 0.778688371181488, 0.7834449410438538, 0.7729215621948242, 0.7855972051620483, 0.778279185295105, 0.7662867307662964, 0.7888842225074768, 0.7918515205383301, 0.7782502770423889, 0.7760032415390015, 0.7746521830558777, 0.7742159962654114, 0.7979660034179688, 0.7829653024673462, 0.7756852507591248, 0.7839241027832031, 0.7898792028427124, 0.7795711755752563, 0.7829768061637878, 0.781627357006073, 0.7858078479766846, 0.7963724136352539, 0.7808319330215454, 0.7779397964477539, 0.7775355577468872, 0.7756304740905762, 0.7861537933349609, 0.7840195894241333], "q1_all": [0.776063084602356, 0.7993054389953613, 0.7853995561599731, 0.7875938415527344, 0.7870938777923584, 0.7920840382575989, 0.7833091020584106, 0.7952975034713745, 0.7959545850753784, 0.7787486910820007, 0.8059768676757812, 0.7977344393730164, 0.785416841506958, 0.7825260162353516, 0.7946609258651733, 0.7857792377471924, 0.79851233959198, 0.7926863431930542, 0.7804514765739441, 0.7905944585800171, 0.8001335859298706, 0.7869455218315125, 0.7890675663948059, 0.7933131456375122, 0.7993636727333069, 0.8038438558578491, 0.7904505729675293, 0.778639554977417, 0.7932818531990051, 0.7878853678703308, 0.7861537933349609, 0.7876827120780945], "q2_all": [0.7750672101974487, 0.791211724281311, 0.7775564193725586, 0.7719376683235168, 0.778688371181488, 0.7834449410438538, 0.7729215621948242, 0.7855972051620483, 0.778279185295105, 0.7662867307662964, 0.7888842225074768, 0.7918515205383301, 0.7782502770423889, 0.7760032415390015, 0.7746521830558777, 0.7742159962654114, 0.7979660034179688, 0.7829653024673462, 0.7756852507591248, 0.7839241027832031, 0.7898792028427124, 0.7795711755752563, 0.7829768061637878, 0.781627357006073, 0.7858078479766846, 0.7963724136352539, 0.7808319330215454, 0.7779397964477539, 0.7775355577468872, 0.7756304740905762, 0.7869486212730408, 0.7840195894241333], "cand_trans_speed_all": [0.0027447096072137356, 0.0021540778689086437, 0.0017476821085438132, 0.0026286018546670675, 0.0017643766477704048, 0.001682872767560184, 0.0021612411364912987, 0.0016482778592035174, 0.00212863739579916, 0.002353249117732048, 0.002427304396405816, 0.001664821058511734, 0.0019193156622350216, 0.001706166542135179, 0.0019077900797128677, 0.0017208398785442114, 0.00204709405079484, 0.001796220662072301, 0.0018230967689305544, 0.0023369917180389166, 0.0019254889339208603, 0.0018261796794831753, 0.002505859825760126, 0.0017315922304987907, 0.0020829401910305023, 0.0023619092535227537, 0.001503661973401904, 0.001320426701568067, 0.001562020042911172, 0.002365382155403495, 0.0015388533938676119, 0.002413963433355093], "cand_cum_xyz_disp_all": [[-0.007757395505905151, 0.0007987767457962036, 0.0032665058970451355], [-0.002418801188468933, 0.005681678652763367, 0.001508966088294983], [-0.005020558834075928, 0.0035189837217330933, 0.0057396963238716125], [-0.0013656914234161377, 0.0024492740631103516, 0.004375532269477844], [-0.0009590685367584229, 0.003996610641479492, 0.001917324960231781], [-0.0028515011072158813, 0.003853738307952881, 0.004425421357154846], [-0.005229443311691284, 0.002151891589164734, 0.0048179104924201965], [-0.0038545429706573486, 0.0026947110891342163, 0.004052028059959412], [-0.005704537034034729, 0.004585191607475281, 0.0040986016392707825], [-0.006338596343994141, 0.0008199065923690796, 0.002154931426048279], [-0.00492626428604126, 0.0014014840126037598, 0.0035819485783576965], [-0.0034073740243911743, 0.004194974899291992, 0.00449274480342865], [-0.0057643502950668335, 0.0021367520093917847, 0.004167407751083374], [-0.0017835497856140137, 0.0027122944593429565, 0.003022916615009308], [-0.0027844905853271484, 0.0035950839519500732, 0.003844611346721649], [-0.002351030707359314, 0.0012347549200057983, 0.0029123276472091675], [-0.005150392651557922, 0.00585271418094635, 0.004432640969753265], [-0.005661264061927795, 0.0033166706562042236, 0.0038166269659996033], [-0.002919033169746399, 0.004436567425727844, 0.003840319812297821], [-0.005467802286148071, 0.005809515714645386, 0.003729678690433502], [-0.00033101439476013184, 0.004702448844909668, 0.004516668617725372], [-0.0035891979932785034, 0.002621009945869446, 0.0038274526596069336], [-0.0037672072649002075, 0.0037572532892227173, 0.0052269697189331055], [-0.007469430565834045, 0.003399208188056946, 0.004208236932754517], [-0.00280626118183136, 0.002329036593437195, 0.0043854862451553345], [-0.0022187083959579468, 0.0035652518272399902, 0.003589831292629242], [-0.003956586122512817, 0.0010547488927841187, 0.0028941556811332703], [-0.0038184523582458496, 0.0036969035863876343, 0.004297018051147461], [-0.00480632483959198, 0.00253237783908844, 0.0037061646580696106], [-0.002541765570640564, 0.0028777718544006348, 0.003896467387676239], [-0.0023639947175979614, 0.002814352512359619, 0.0015609562397003174], [-0.003168150782585144, 0.006448343396186829, 0.0019859522581100464]], "cand_final_gripper_all": [1.0, 1.0, 0.9997141361236572, 0.999337375164032, 1.0, 1.0, 0.9998599290847778, 1.0, 0.999778151512146, 0.9994016885757446, 0.9995876550674438, 1.0, 0.9998264312744141, 1.0, 0.9986352324485779, 1.0, 1.0, 0.999786913394928, 1.0, 1.0, 0.9996594190597534, 1.0, 0.999600887298584, 1.0, 1.0, 0.9996585845947266, 1.0, 1.0, 1.0, 1.0, 1.0, 0.9995223879814148], "eef_pos": [0.4016108512878418, -0.04149102419614792, 0.22833549976348877], "cand_action_std": 0.04662071168422699, "cand_pairwise_centroid_dist_mean": 0.43655848503112793, "argmax_act_outlier": 0.9918033480644226, "time_encode_ms": 5.2149968687444925, "time_diffusion_ms": 35.88372189551592, "time_q_score_ms": 8.553165942430496, "time_total_ms": 50.33421982079744, "num_action_samples_effective": 32, "q_aggregate": "pair_min"}
+{"chunk_ordinal": 45, "q_min_best": 0.7914285063743591, "q_min_mean": 0.770003080368042, "q_min_std": 0.009616557508707047, "q_min_median": 0.7698875069618225, "chosen_vs_median_q_gap": 0.02154099941253662, "q1_best": 0.7981445789337158, "q2_best": 0.7914285063743591, "v_val": 0.7194037437438965, "advantage": 0.07202476263046265, "best_idx": 2, "q_min_all": [0.7758165597915649, 0.7671247720718384, 0.7914285063743591, 0.7686274647712708, 0.7517173290252686, 0.7755183577537537, 0.7822802662849426, 0.7784389853477478, 0.7697123885154724, 0.7841377854347229, 0.7615010738372803, 0.7678470015525818, 0.7789230346679688, 0.7540810704231262, 0.7622053027153015, 0.7584536671638489, 0.7597665786743164, 0.7753693461418152, 0.7600456476211548, 0.7750974297523499, 0.782505452632904, 0.782294750213623, 0.7707427144050598, 0.7747016549110413, 0.7700225710868835, 0.7729613780975342, 0.7698875069618225, 0.752701997756958, 0.7635652422904968, 0.7657055258750916, 0.766054630279541, 0.7708644866943359], "q1_all": [0.7881515622138977, 0.7852228879928589, 0.7981445789337158, 0.7941097617149353, 0.7764118313789368, 0.8022751808166504, 0.7946841716766357, 0.7898282408714294, 0.7976428270339966, 0.8020796775817871, 0.7916797399520874, 0.7933293581008911, 0.8000015020370483, 0.7767125368118286, 0.782344400882721, 0.7780420780181885, 0.7793777585029602, 0.791092038154602, 0.7760829925537109, 0.7999469637870789, 0.795828104019165, 0.7940038442611694, 0.7905235886573792, 0.8014967441558838, 0.7901933193206787, 0.7944464087486267, 0.7862972021102905, 0.7802859544754028, 0.7967502474784851, 0.7869239449501038, 0.7858880162239075, 0.7845057845115662], "q2_all": [0.7758165597915649, 0.7671247720718384, 0.7914285063743591, 0.7686274647712708, 0.7517173290252686, 0.7755183577537537, 0.7822802662849426, 0.7784389853477478, 0.7697123885154724, 0.7841377854347229, 0.7615010738372803, 0.7678470015525818, 0.7789230346679688, 0.7540810704231262, 0.7622053027153015, 0.7584536671638489, 0.7597665786743164, 0.7753693461418152, 0.7600456476211548, 0.7750974297523499, 0.782505452632904, 0.782294750213623, 0.7707427144050598, 0.7747016549110413, 0.7700225710868835, 0.7729613780975342, 0.7698875069618225, 0.752701997756958, 0.7635652422904968, 0.7657055258750916, 0.766054630279541, 0.7708644866943359], "cand_trans_speed_all": [0.00303709227591753, 0.0014296176377683878, 0.002122060861438513, 0.0019073905423283577, 0.0016075819730758667, 0.0020430004224181175, 0.0017284679925069213, 0.002019746694713831, 0.002643828745931387, 0.0029217670671641827, 0.0029809530824422836, 0.002061655279248953, 0.0019257599487900734, 0.00195938628166914, 0.0014400910586118698, 0.0017994865775108337, 0.0022116817999631166, 0.002655015094205737, 0.0017995367525145411, 0.0022754278033971786, 0.002284401562064886, 0.0030911217909306288, 0.001733573037199676, 0.0021639459300786257, 0.0017905760323628783, 0.002540276385843754, 0.0019953055307269096, 0.0015368489548563957, 0.0015401709824800491, 0.00246245414018631, 0.0023289467208087444, 0.0022574346512556076], "cand_cum_xyz_disp_all": [[-0.006726667284965515, 0.0012005418539047241, 0.0036932900547981262], [-0.0042269229888916016, 0.001033872365951538, 0.003907091915607452], [-0.005966410040855408, 0.005179405212402344, 0.0053228959441185], [-0.00595758855342865, 0.0015256702899932861, 0.005427591502666473], [0.0004679262638092041, 0.0013712942600250244, 0.004249259829521179], [-0.003727152943611145, 0.003810569643974304, 0.003893539309501648], [7.0035457611083984e-06, 0.0032981187105178833, 0.003035403788089752], [-0.0027340352535247803, 0.002003490924835205, 0.0049269795417785645], [-0.0005137026309967041, 0.002925857901573181, 0.004537671804428101], [-0.003345966339111328, 0.002221211791038513, 0.0018830373883247375], [-0.005865439772605896, 0.005474492907524109, 0.0054418668150901794], [-0.004520133137702942, 0.0016692429780960083, 0.005427666008472443], [-0.007680043578147888, 0.004764273762702942, 0.004811957478523254], [-0.004118233919143677, 0.005038067698478699, 0.0013232529163360596], [-0.002927049994468689, 0.0034847110509872437, 0.004487961530685425], [-0.0033755898475646973, 0.005514860153198242, 0.0032513365149497986], [-0.00435185432434082, 0.0018570572137832642, 0.0038989707827568054], [-0.0035395175218582153, 0.0016736984252929688, 0.006150782108306885], [-0.002221822738647461, 0.0033752024173736572, 0.0035613328218460083], [-0.0036121606826782227, 0.0036944448947906494, 0.005641326308250427], [-0.002262115478515625, 0.002967268228530884, 0.004571206867694855], [-0.003140866756439209, 0.00745527446269989, 0.004093259572982788], [-0.002714186906814575, 0.0026030689477920532, 0.004036173224449158], [-0.004069209098815918, 0.002599656581878662, 0.007835887372493744], [-0.004069656133651733, 6.347894668579102e-05, 0.004828028380870819], [-0.0028010159730911255, 0.004162386059761047, 0.004571788012981415], [-0.005256637930870056, -3.5315752029418945e-05, 0.0035118386149406433], [-0.0031676292419433594, 0.0006033331155776978, 0.003456205129623413], [-0.002716079354286194, 0.003975078463554382, 0.005613476037979126], [-0.003840819001197815, 0.004444479942321777, 0.0049446746706962585], [-0.0031745880842208862, 0.004036650061607361, 0.004402279853820801], [-0.0049583762884140015, 0.004105597734451294, 0.0046814605593681335]], "cand_final_gripper_all": [1.0, 1.0, 1.0, 0.9999583959579468, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 0.9985541105270386, 1.0, 0.9990053772926331, 0.9998078346252441, 0.9998221397399902, 1.0, 1.0, 0.9995405077934265, 0.9997172355651855, 1.0, 1.0, 0.999643087387085, 0.9995690584182739, 0.9994723796844482, 1.0, 1.0, 0.9989267587661743, 1.0, 1.0], "eef_pos": [0.4020978510379791, -0.04145708680152893, 0.22765260934829712], "cand_action_std": 0.048833563923835754, "cand_pairwise_centroid_dist_mean": 0.46247604489326477, "argmax_act_outlier": 1.3022722005844116, "time_encode_ms": 7.077008951455355, "time_diffusion_ms": 35.99495813250542, "time_q_score_ms": 8.968176087364554, "time_total_ms": 52.79453098773956, "num_action_samples_effective": 32, "q_aggregate": "pair_min"}
+{"chunk_ordinal": 46, "q_min_best": 0.778548538684845, "q_min_mean": 0.7626999020576477, "q_min_std": 0.006298078689724207, "q_min_median": 0.7614778280258179, "chosen_vs_median_q_gap": 0.0170707106590271, "q1_best": 0.7826143503189087, "q2_best": 0.778548538684845, "v_val": 0.6493790149688721, "advantage": 0.1291695237159729, "best_idx": 3, "q_min_all": [0.7604131102561951, 0.7637540698051453, 0.7457228899002075, 0.778548538684845, 0.7610572576522827, 0.7629202008247375, 0.755790114402771, 0.7599858045578003, 0.7596162557601929, 0.7655012607574463, 0.765251100063324, 0.769162654876709, 0.7614778280258179, 0.7645379900932312, 0.7760828733444214, 0.7627630233764648, 0.7582788467407227, 0.7650061845779419, 0.757685661315918, 0.7549898624420166, 0.7666692137718201, 0.7598486542701721, 0.7607400417327881, 0.7625522613525391, 0.7590547800064087, 0.7726777791976929, 0.758275032043457, 0.760299801826477, 0.757524847984314, 0.7626224756240845, 0.768828272819519, 0.7687578201293945], "q1_all": [0.7604131102561951, 0.7637540698051453, 0.7457228899002075, 0.7826143503189087, 0.7635462284088135, 0.7629202008247375, 0.755790114402771, 0.7599858045578003, 0.7596162557601929, 0.7655012607574463, 0.765251100063324, 0.769162654876709, 0.7614778280258179, 0.7645379900932312, 0.7760828733444214, 0.7627630233764648, 0.7592652440071106, 0.7650061845779419, 0.757685661315918, 0.7549898624420166, 0.7666692137718201, 0.7610383033752441, 0.7607400417327881, 0.7625522613525391, 0.7623146772384644, 0.7726777791976929, 0.758275032043457, 0.760299801826477, 0.757524847984314, 0.7626224756240845, 0.768828272819519, 0.7687578201293945], "q2_all": [0.765049397945404, 0.781373918056488, 0.7510308623313904, 0.778548538684845, 0.7610572576522827, 0.7766265869140625, 0.7563316822052002, 0.7626362442970276, 0.7652671933174133, 0.7726220488548279, 0.7664687633514404, 0.779525637626648, 0.7676849365234375, 0.7765717506408691, 0.7761324048042297, 0.7661136984825134, 0.7582788467407227, 0.7787526845932007, 0.7588127851486206, 0.7607684135437012, 0.7760521173477173, 0.7598486542701721, 0.7645078897476196, 0.7833380699157715, 0.7590547800064087, 0.7760471105575562, 0.7634874582290649, 0.7608789205551147, 0.7590026259422302, 0.7711450457572937, 0.7867950201034546, 0.7724171876907349], "cand_trans_speed_all": [0.0014340905472636223, 0.003757399506866932, 0.0015375660732388496, 0.0020556263625621796, 0.002211092971265316, 0.0018421229906380177, 0.0029038568027317524, 0.0022827323991805315, 0.0022672233171761036, 0.001512967050075531, 0.002105249557644129, 0.0013184979325160384, 0.0011095668887719512, 0.0012780849356204271, 0.0022046142257750034, 0.0015558020677417517, 0.002589965471997857, 0.0018515221308916807, 0.002253451384603977, 0.001682813512161374, 0.0021882113069295883, 0.0025791849475353956, 0.0012112667318433523, 0.002036231802776456, 0.002758932067081332, 0.001732352189719677, 0.0019370544468984008, 0.001977733336389065, 0.00141824537422508, 0.002180403098464012, 0.002302494365721941, 0.0016425387002527714], "cand_cum_xyz_disp_all": [[-0.005275443196296692, 0.002047523856163025, 0.002026095986366272], [-0.00013723969459533691, 0.0046682655811309814, 0.004092685878276825], [-0.0003374069929122925, 0.003912374377250671, 0.004518717527389526], [-0.00248892605304718, 0.0020997077226638794, 0.004553355276584625], [-0.002924993634223938, 0.0003987550735473633, 0.0037948712706565857], [-0.003072798252105713, 0.00345534086227417, 0.004356816411018372], [-0.0019006580114364624, 0.0025528371334075928, 0.0039133355021476746], [-0.0021452903747558594, 0.0015065371990203857, 0.003893740475177765], [-0.0022828131914138794, 0.0028535574674606323, 0.005823113024234772], [-0.003542482852935791, 0.0028013139963150024, 0.004524819552898407], [-0.0025178343057632446, 0.0030556023120880127, 0.003348305821418762], [-0.0027090907096862793, 0.001245737075805664, 0.003471262753009796], [-0.0028643906116485596, 0.0029202699661254883, 0.00410924106836319], [-0.0025819987058639526, 0.004135042428970337, 0.0028366148471832275], [-0.0057981908321380615, 0.0006556957960128784, 0.005815178155899048], [-0.0008119046688079834, 0.0022731125354766846, 0.006308592855930328], [-0.001624077558517456, 0.0016940385103225708, 0.002807632088661194], [-0.0013333112001419067, 0.0018980801105499268, 0.003740280866622925], [-0.0018479228019714355, 0.0025836676359176636, 0.002711765468120575], [-0.004085898399353027, 0.004126757383346558, 0.003704480826854706], [-0.006543248891830444, 0.002562016248703003, 0.0036926046013832092], [-0.001956045627593994, 0.004933953285217285, 0.0030887573957443237], [-0.0014643371105194092, 0.001635327935218811, 0.003458663821220398], [-0.001798778772354126, 0.006429687142372131, 0.002895556390285492], [-0.002080366015434265, 0.00379064679145813, 0.002587832510471344], [-0.00434422492980957, 0.00012968480587005615, 0.004045039415359497], [0.0004934221506118774, 0.0011823922395706177, 0.0024803727865219116], [-0.005940735340118408, 0.001905292272567749, 0.0036199092864990234], [-0.0014255344867706299, 0.003928959369659424, 0.0017322823405265808], [-0.005988195538520813, 0.0029434412717819214, 0.0038740932941436768], [-0.003238096833229065, 0.001533016562461853, 0.004312954843044281], [-0.003471970558166504, 0.0022101253271102905, 0.0037519261240959167]], "cand_final_gripper_all": [1.0, 1.0, 0.9995117783546448, 1.0, 1.0, 0.9998699426651001, 0.9999700784683228, 1.0, 1.0, 0.9998018145561218, 1.0, 1.0, 0.9994223117828369, 1.0, 1.0, 0.9988158345222473, 1.0, 0.9997879266738892, 1.0, 1.0, 1.0, 1.0, 1.0, 0.9999662637710571, 1.0, 0.9998668432235718, 1.0, 1.0, 1.0, 0.9997867345809937, 1.0, 1.0], "eef_pos": [0.4023681879043579, -0.04163628816604614, 0.22743813693523407], "cand_action_std": 0.0512985922396183, "cand_pairwise_centroid_dist_mean": 0.48157840967178345, "argmax_act_outlier": 1.4895641803741455, "time_encode_ms": 5.146019859239459, "time_diffusion_ms": 36.54284286312759, "time_q_score_ms": 7.974873064085841, "time_total_ms": 50.344638992100954, "num_action_samples_effective": 32, "q_aggregate": "pair_min"}
+{"chunk_ordinal": 47, "q_min_best": 0.7964136004447937, "q_min_mean": 0.7715457677841187, "q_min_std": 0.01230715587735176, "q_min_median": 0.7690290212631226, "chosen_vs_median_q_gap": 0.027384579181671143, "q1_best": 0.802230715751648, "q2_best": 0.7964136004447937, "v_val": 0.6926167011260986, "advantage": 0.10379689931869507, "best_idx": 5, "q_min_all": [0.7803440093994141, 0.7777717113494873, 0.7887227535247803, 0.7796035408973694, 0.7947563529014587, 0.7964136004447937, 0.7567424774169922, 0.7606468796730042, 0.765510082244873, 0.7872856855392456, 0.7710901498794556, 0.7667840719223022, 0.7611279487609863, 0.752750813961029, 0.7421383261680603, 0.7801710963249207, 0.7764447331428528, 0.7680656909942627, 0.7618815898895264, 0.7662405967712402, 0.7705793976783752, 0.7675579786300659, 0.7854006886482239, 0.7736748456954956, 0.7690290212631226, 0.7868351936340332, 0.7714354991912842, 0.764135479927063, 0.7643954157829285, 0.7592005729675293, 0.7628018856048584, 0.7799254059791565], "q1_all": [0.7913782000541687, 0.7837322354316711, 0.796188235282898, 0.7904378175735474, 0.7947563529014587, 0.802230715751648, 0.7581865787506104, 0.7716657519340515, 0.7694850564002991, 0.7872856855392456, 0.7810333371162415, 0.7769039869308472, 0.7719234228134155, 0.7613806128501892, 0.7465956211090088, 0.7885881662368774, 0.7902997136116028, 0.7827746868133545, 0.7666406631469727, 0.7792237997055054, 0.7783278226852417, 0.7800970077514648, 0.8028404712677002, 0.7941789627075195, 0.7826316952705383, 0.7894651889801025, 0.7831583023071289, 0.7813969850540161, 0.7732139825820923, 0.7722697854042053, 0.7701597213745117, 0.7878338098526001], "q2_all": [0.7803440093994141, 0.7777717113494873, 0.7887227535247803, 0.7796035408973694, 0.8057271838188171, 0.7964136004447937, 0.7567424774169922, 0.7606468796730042, 0.765510082244873, 0.790178656578064, 0.7710901498794556, 0.7667840719223022, 0.7611279487609863, 0.752750813961029, 0.7421383261680603, 0.7801710963249207, 0.7764447331428528, 0.7680656909942627, 0.7618815898895264, 0.7662405967712402, 0.7705793976783752, 0.7675579786300659, 0.7854006886482239, 0.7736748456954956, 0.7690290212631226, 0.7868351936340332, 0.7714354991912842, 0.764135479927063, 0.7643954157829285, 0.7592005729675293, 0.7628018856048584, 0.7799254059791565], "cand_trans_speed_all": [0.0020360471680760384, 0.001601631985977292, 0.002261169720441103, 0.002160921460017562, 0.0019974217284470797, 0.0021286900155246258, 0.002127526793628931, 0.002033512108027935, 0.0026016421616077423, 0.002320860978215933, 0.003211798844859004, 0.0026233436074107885, 0.0023113968782126904, 0.0024128074292093515, 0.0017407260602340102, 0.002769342390820384, 0.0020337156020104885, 0.002256992505863309, 0.001727547263726592, 0.001572462497279048, 0.00179109291639179, 0.0026761130429804325, 0.0022163724061101675, 0.0022515645250678062, 0.0017229074146598577, 0.002548497635871172, 0.0023933588527143, 0.0021919601131230593, 0.0014521186240017414, 0.0015309711452573538, 0.002829331671819091, 0.0013277353718876839], "cand_cum_xyz_disp_all": [[-0.005405008792877197, 0.002065211534500122, 0.0054328665137290955], [-0.004409387707710266, 0.002459198236465454, 0.003865346312522888], [-0.007359817624092102, 0.0027917176485061646, 0.004273273050785065], [-0.004844367504119873, 0.003857716917991638, 0.005001083016395569], [-0.004942193627357483, 0.004324287176132202, 0.0038500577211380005], [-0.007762908935546875, 0.004805520176887512, 0.001977890729904175], [-0.0043329596519470215, 0.0026239752769470215, 0.0028865262866020203], [-0.004249215126037598, 0.003508657217025757, 0.0031000077724456787], [-0.0017772912979125977, 0.004001334309577942, 0.0030469372868537903], [-0.005916506052017212, 0.003016948699951172, 0.004483804106712341], [-0.006499126553535461, 0.002225026488304138, 0.005338229238986969], [-0.004521310329437256, 0.005714282393455505, 0.0035136714577674866], [-0.004516318440437317, 0.0019631683826446533, 0.0026498883962631226], [-0.005980581045150757, 0.002632617950439453, 0.004334256052970886], [9.162724018096924e-05, 0.0028746426105499268, 0.0036156848073005676], [-0.0034085214138031006, 0.00314880907535553, 0.003951862454414368], [-0.0057343989610672, 0.0017400532960891724, 0.0030512213706970215], [-0.003655269742012024, 0.0027707964181900024, 0.0036003515124320984], [-0.0049093663692474365, 0.0012581944465637207, 0.003745928406715393], [-0.0037735402584075928, 0.0029697418212890625, 0.003894120454788208], [-0.0035831332206726074, 0.0019868016242980957, 0.0061423033475875854], [-0.0029913485050201416, 0.003877192735671997, 0.004799537360668182], [-0.004007622599601746, 0.0018868446350097656, 0.004878893494606018], [-0.006023988127708435, 0.0013328194618225098, 0.00570264458656311], [-0.003925487399101257, 0.0023993700742721558, 0.004545025527477264], [-0.008038103580474854, 0.0035609006881713867, 0.00530523806810379], [-0.005187734961509705, 0.004140213131904602, 0.003821425139904022], [-0.002812698483467102, 0.0039112865924835205, 0.0044636353850364685], [-0.0041853636503219604, -3.212690353393555e-05, 0.004050604999065399], [-0.002600044012069702, -0.00018167495727539062, 0.002586081624031067], [-0.0025274306535720825, 0.0038788318634033203, 0.0027898699045181274], [-0.0015907734632492065, 0.004744470119476318, 0.0038149505853652954]], "cand_final_gripper_all": [0.9998303651809692, 1.0, 0.9996261596679688, 0.9997729659080505, 0.9995194673538208, 0.999632716178894, 1.0, 1.0, 1.0, 1.0, 1.0, 0.9992531538009644, 0.9999852180480957, 0.9996293783187866, 1.0, 0.9999133348464966, 1.0, 0.9994370341300964, 1.0, 1.0, 1.0, 1.0, 1.0, 0.9997503757476807, 0.9992966651916504, 1.0, 0.9993302822113037, 1.0, 1.0, 1.0, 0.9999140501022339, 0.9992369413375854], "eef_pos": [0.4024350345134735, -0.04169469326734543, 0.22732675075531006], "cand_action_std": 0.052394669502973557, "cand_pairwise_centroid_dist_mean": 0.4943457841873169, "argmax_act_outlier": 1.034604787826538, "time_encode_ms": 5.552853923290968, "time_diffusion_ms": 35.940496949478984, "time_q_score_ms": 8.257276844233274, "time_total_ms": 50.65336194820702, "num_action_samples_effective": 32, "q_aggregate": "pair_min"}
+{"chunk_ordinal": 48, "q_min_best": 0.7893514037132263, "q_min_mean": 0.7707754373550415, "q_min_std": 0.008285057730972767, "q_min_median": 0.7716763019561768, "chosen_vs_median_q_gap": 0.01767510175704956, "q1_best": 0.7893514037132263, "q2_best": 0.7912495136260986, "v_val": 0.638293981552124, "advantage": 0.1510574221611023, "best_idx": 11, "q_min_all": [0.774138867855072, 0.7783564329147339, 0.7676218748092651, 0.7771852016448975, 0.7549630403518677, 0.7795426249504089, 0.7670276761054993, 0.7640780806541443, 0.7802215814590454, 0.7719230055809021, 0.7626876831054688, 0.7893514037132263, 0.7736849188804626, 0.7591398358345032, 0.7688705921173096, 0.7716763019561768, 0.7835952043533325, 0.7682948708534241, 0.7711082100868225, 0.7740907669067383, 0.7739367485046387, 0.7757096886634827, 0.7748599052429199, 0.765116274356842, 0.7496010065078735, 0.7721662521362305, 0.7793712019920349, 0.763918399810791, 0.7646223306655884, 0.7761797308921814, 0.762549877166748, 0.7692248821258545], "q1_all": [0.7831109762191772, 0.7783564329147339, 0.768830418586731, 0.7975324988365173, 0.76582932472229, 0.7865314483642578, 0.7761631608009338, 0.7746997475624084, 0.7841888666152954, 0.7796962261199951, 0.7655189633369446, 0.7893514037132263, 0.7753915786743164, 0.7644778490066528, 0.774071216583252, 0.7785622477531433, 0.7835952043533325, 0.7701330184936523, 0.7711082100868225, 0.7835074663162231, 0.7739367485046387, 0.7757096886634827, 0.783932626247406, 0.765116274356842, 0.7550630569458008, 0.7804365158081055, 0.7906677722930908, 0.7670157551765442, 0.7647247314453125, 0.785502552986145, 0.7739117741584778, 0.7773828506469727], "q2_all": [0.774138867855072, 0.7844418287277222, 0.7676218748092651, 0.7771852016448975, 0.7549630403518677, 0.7795426249504089, 0.7670276761054993, 0.7640780806541443, 0.7802215814590454, 0.7719230055809021, 0.7626876831054688, 0.7912495136260986, 0.7736849188804626, 0.7591398358345032, 0.7688705921173096, 0.7716763019561768, 0.7879581451416016, 0.7682948708534241, 0.7755742073059082, 0.7740907669067383, 0.7851859331130981, 0.7775058746337891, 0.7748599052429199, 0.7716687321662903, 0.7496010065078735, 0.7721662521362305, 0.7793712019920349, 0.763918399810791, 0.7646223306655884, 0.7761797308921814, 0.762549877166748, 0.7692248821258545], "cand_trans_speed_all": [0.001753196120262146, 0.0026651546359062195, 0.0033103867899626493, 0.003464548382908106, 0.0014386012917384505, 0.001912429230287671, 0.001688301912508905, 0.0015266221016645432, 0.002296687103807926, 0.002966423286125064, 0.002397542353719473, 0.002286975970491767, 0.0027006282471120358, 0.001766057452186942, 0.0030347085557878017, 0.0013507995754480362, 0.0022890567779541016, 0.0019769626669585705, 0.0017515606014057994, 0.0019370901864022017, 0.0030167957302182913, 0.002977382391691208, 0.002246044110506773, 0.0016193602932617068, 0.0027253783773630857, 0.0023582042194902897, 0.0020600794814527035, 0.0016428999369964004, 0.001964092720299959, 0.002112979767844081, 0.0021582143381237984, 0.0017938035307452083], "cand_cum_xyz_disp_all": [[-0.005583122372627258, 0.0029967427253723145, 0.0024618878960609436], [-0.004277750849723816, 0.00482313334941864, 0.006279177963733673], [-0.006770089268684387, 0.003604590892791748, 0.003100275993347168], [-0.004202216863632202, 0.0041348934173583984, 0.008228056132793427], [-0.0021133720874786377, 0.00226534903049469, 0.0022373348474502563], [-0.006430789828300476, 0.002038136124610901, 0.004290595650672913], [-0.0007849782705307007, 0.0019210726022720337, 0.004480913281440735], [-0.003450453281402588, 0.0008368641138076782, 0.004617638885974884], [-0.004403054714202881, 0.0029065757989883423, 0.0038716495037078857], [-0.009729072451591492, 0.004688531160354614, 0.005977898836135864], [-0.0034494102001190186, 0.0016034245491027832, 0.003386586904525757], [-0.009791731834411621, 0.003406152129173279, 0.005360104143619537], [-0.005380496382713318, 0.0032818764448165894, 0.002871312201023102], [-0.008320286870002747, 0.0014563649892807007, 0.0017001703381538391], [-0.004805430769920349, 0.0008651465177536011, 0.004625216126441956], [-0.004597008228302002, 0.0025624632835388184, 0.003330416977405548], [-0.003855466842651367, 0.005011811852455139, 0.004952341318130493], [-0.005067750811576843, 0.002651616930961609, 0.006521932780742645], [-0.004108503460884094, 0.0014068931341171265, 0.005432635545730591], [-0.0017882287502288818, 0.005747318267822266, 0.0036138296127319336], [-0.005897119641304016, 4.719197750091553e-05, 0.005521222949028015], [-0.0051302313804626465, 0.006939440965652466, 0.0020363330841064453], [-0.008506625890731812, 0.0029983222484588623, 0.006065063178539276], [-0.0052854567766189575, 0.0019552409648895264, 0.0029888227581977844], [-0.004079923033714294, 0.001736477017402649, 0.00039689987897872925], [-0.00847005844116211, 0.0022955238819122314, 0.004644967615604401], [-0.004083603620529175, 0.0032750964164733887, 0.00439772754907608], [-0.0026635676622390747, 0.003952831029891968, 0.002710901200771332], [-0.0038834959268569946, 0.002745881676673889, 0.003359854221343994], [-0.0059324949979782104, 0.0018701404333114624, 0.005184076726436615], [-0.0023588985204696655, 0.001153603196144104, 0.004478268325328827], [-0.0053077638149261475, 0.0033341199159622192, 0.0020137056708335876]], "cand_final_gripper_all": [0.9982235431671143, 0.9995409250259399, 0.9998695850372314, 0.999984860420227, 0.999940037727356, 0.999990701675415, 0.9996974468231201, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 0.9996041059494019, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 0.9998941421508789, 0.9993723630905151, 1.0, 0.9996161460876465, 0.9999055862426758, 1.0, 1.0, 1.0], "eef_pos": [0.4024224281311035, -0.041774533689022064, 0.22730162739753723], "cand_action_std": 0.055732741951942444, "cand_pairwise_centroid_dist_mean": 0.5089514255523682, "argmax_act_outlier": 1.2158331871032715, "time_encode_ms": 6.003940012305975, "time_diffusion_ms": 36.623412976041436, "time_q_score_ms": 7.452614838257432, "time_total_ms": 51.08135403133929, "num_action_samples_effective": 32, "q_aggregate": "pair_min"}
+{"chunk_ordinal": 49, "q_min_best": 0.7810454368591309, "q_min_mean": 0.7648468017578125, "q_min_std": 0.0076554762199521065, "q_min_median": 0.7641938924789429, "chosen_vs_median_q_gap": 0.01685154438018799, "q1_best": 0.7810454368591309, "q2_best": 0.7929761409759521, "v_val": 0.768611490726471, "advantage": 0.012433946132659912, "best_idx": 27, "q_min_all": [0.7520430088043213, 0.7645035982131958, 0.7700857520103455, 0.7640570998191833, 0.7621325254440308, 0.7688307166099548, 0.7779859900474548, 0.7591730356216431, 0.7558130621910095, 0.7639228701591492, 0.7516891956329346, 0.7679840326309204, 0.7648595571517944, 0.7572029829025269, 0.7656635046005249, 0.7744326591491699, 0.771712064743042, 0.7594912052154541, 0.7724444270133972, 0.7641534209251404, 0.7686251997947693, 0.7551182508468628, 0.7761861085891724, 0.7706040143966675, 0.7629700899124146, 0.7713521122932434, 0.7692171931266785, 0.7810454368591309, 0.7574824094772339, 0.7641938924789429, 0.754061222076416, 0.7560604810714722], "q1_all": [0.757438063621521, 0.7673542499542236, 0.7700857520103455, 0.7685093283653259, 0.7651399374008179, 0.76994788646698, 0.7779859900474548, 0.7591730356216431, 0.771501362323761, 0.772022008895874, 0.7547926306724548, 0.7780410051345825, 0.7773450613021851, 0.7660022377967834, 0.7664501667022705, 0.7744326591491699, 0.771712064743042, 0.7594912052154541, 0.7724444270133972, 0.767177164554596, 0.7807148694992065, 0.7577030658721924, 0.7770581245422363, 0.7706040143966675, 0.7774381637573242, 0.7755140066146851, 0.7692171931266785, 0.7810454368591309, 0.7574824094772339, 0.764479398727417, 0.7596051692962646, 0.7560604810714722], "q2_all": [0.7520430088043213, 0.7645035982131958, 0.773744523525238, 0.7640570998191833, 0.7621325254440308, 0.7688307166099548, 0.7796106338500977, 0.7640098929405212, 0.7558130621910095, 0.7639228701591492, 0.7516891956329346, 0.7679840326309204, 0.7648595571517944, 0.7572029829025269, 0.7656635046005249, 0.7872241735458374, 0.7753522992134094, 0.7629068493843079, 0.7778196334838867, 0.7641534209251404, 0.7686251997947693, 0.7551182508468628, 0.7761861085891724, 0.7757259607315063, 0.7629700899124146, 0.7713521122932434, 0.771923840045929, 0.7929761409759521, 0.7579383850097656, 0.7641938924789429, 0.754061222076416, 0.7637752890586853], "cand_trans_speed_all": [0.0023003057576715946, 0.0017602614825591445, 0.0016509646084159613, 0.0015932810492813587, 0.0014081753324717283, 0.0022457633167505264, 0.0017663149628788233, 0.0024551558308303356, 0.0025458973832428455, 0.0016095194732770324, 0.0017099677352234721, 0.0013921845238655806, 0.001987570896744728, 0.0032401098869740963, 0.0013016534503549337, 0.0029481544625014067, 0.0022883033379912376, 0.0019423057092353702, 0.002009449526667595, 0.0028266680892556906, 0.0014483798295259476, 0.002487415447831154, 0.0017546657472848892, 0.0024520421866327524, 0.002231419086456299, 0.001827022060751915, 0.002193086314946413, 0.002124685561284423, 0.0029766708612442017, 0.002374624367803335, 0.0021322653628885746, 0.0018576700240373611], "cand_cum_xyz_disp_all": [[-0.0011060833930969238, 0.0034131407737731934, 0.004418894648551941], [-0.0033324360847473145, 0.00027757883071899414, 0.004510767757892609], [-0.0035318732261657715, 0.003762155771255493, 0.00512336939573288], [-0.0025973469018936157, 0.002163901925086975, 0.005210705101490021], [-0.0033714622259140015, 0.0001930147409439087, 0.0031107068061828613], [-0.003303825855255127, 0.0019393861293792725, 0.004025809466838837], [-0.002596423029899597, 0.0031831711530685425, 0.0031220391392707825], [-0.0030571818351745605, 0.0006185173988342285, 0.0028007924556732178], [-0.0010265856981277466, 0.003979921340942383, 0.006591446697711945], [-0.00588814914226532, 0.001070365309715271, 0.005045443773269653], [-0.0030686259269714355, 0.0014495998620986938, 0.004138238728046417], [-0.001394897699356079, 0.00021477043628692627, 0.006215304136276245], [-0.004052266478538513, 0.00249500572681427, 0.0051686763763427734], [-0.001294359564781189, 0.005869224667549133, 0.0037182793021202087], [-0.0027111172676086426, 0.0019462257623672485, 0.003756798803806305], [-0.002537086606025696, 0.0029687583446502686, 0.0032125338912010193], [-0.004458397626876831, 0.005047515034675598, 0.004276096820831299], [-0.0031565576791763306, 0.0037525594234466553, 0.0036126822233200073], [-0.0033730417490005493, 0.004159212112426758, 0.00375288724899292], [-0.0033989548683166504, 0.00387023389339447, 0.003904372453689575], [-0.0013153553009033203, 0.002094551920890808, 0.004096023738384247], [-0.0066077858209609985, 0.0024217069149017334, 0.004513643682003021], [-0.0022882819175720215, 0.002829253673553467, 0.003884635865688324], [-0.002224966883659363, 0.002843201160430908, 0.004252709448337555], [-0.0006952285766601562, 0.003810986876487732, 0.004138246178627014], [-0.0019225776195526123, 0.0006661117076873779, 0.0036651864647865295], [-0.0008042603731155396, 0.004322811961174011, 0.00525578111410141], [-0.0030792653560638428, 0.002847045660018921, 0.0058839693665504456], [-0.001543283462524414, 0.004598677158355713, 0.004310972988605499], [-0.005584314465522766, 0.003581687808036804, 0.0028800666332244873], [-0.004321634769439697, 0.0005185902118682861, 0.0033248215913772583], [-0.0021332651376724243, -0.0006215423345565796, 0.0027590692043304443]], "cand_final_gripper_all": [1.0, 0.9994367361068726, 1.0, 1.0, 0.999629020690918, 0.9997982978820801, 0.999138593673706, 0.9997905492782593, 1.0, 1.0, 1.0, 1.0, 0.9998103380203247, 1.0, 1.0, 0.9997066259384155, 0.9998112916946411, 0.9995784759521484, 1.0, 0.9995213747024536, 1.0, 1.0, 1.0, 1.0, 1.0, 0.9995362758636475, 0.9988199472427368, 1.0, 1.0, 0.9999059438705444, 0.999987006187439, 1.0], "eef_pos": [0.4026186168193817, -0.04217929020524025, 0.22739176452159882], "cand_action_std": 0.051416050642728806, "cand_pairwise_centroid_dist_mean": 0.4772060513496399, "argmax_act_outlier": 1.0514076948165894, "time_encode_ms": 5.144817056134343, "time_diffusion_ms": 35.94574588350952, "time_q_score_ms": 8.174864808097482, "time_total_ms": 49.96935394592583, "num_action_samples_effective": 32, "q_aggregate": "pair_min"}
+{"chunk_ordinal": 50, "q_min_best": 0.7751040458679199, "q_min_mean": 0.7624980211257935, "q_min_std": 0.00776989571750164, "q_min_median": 0.7647326588630676, "chosen_vs_median_q_gap": 0.010371387004852295, "q1_best": 0.7808268666267395, "q2_best": 0.7751040458679199, "v_val": 0.7026269435882568, "advantage": 0.07247710227966309, "best_idx": 19, "q_min_all": [0.7676849365234375, 0.7668863534927368, 0.7653427124023438, 0.7643120288848877, 0.7718262076377869, 0.7585930228233337, 0.7647326588630676, 0.7534410953521729, 0.7588562369346619, 0.7665883302688599, 0.774864137172699, 0.7412192821502686, 0.7672059535980225, 0.7712153792381287, 0.7514844536781311, 0.7655327320098877, 0.7587108612060547, 0.7590376138687134, 0.7497210502624512, 0.7751040458679199, 0.7652885913848877, 0.7733271718025208, 0.754173219203949, 0.7672305107116699, 0.7651783227920532, 0.7529972791671753, 0.7619362473487854, 0.7606028914451599, 0.7656738758087158, 0.7540844678878784, 0.7612330317497253, 0.7658520340919495], "q1_all": [0.7680334448814392, 0.7668863534927368, 0.7653427124023438, 0.7673769593238831, 0.7718262076377869, 0.7633180618286133, 0.7647326588630676, 0.7534410953521729, 0.7684165239334106, 0.7665883302688599, 0.7796236276626587, 0.7412192821502686, 0.7672059535980225, 0.7712153792381287, 0.7514844536781311, 0.7714779376983643, 0.760453999042511, 0.762832522392273, 0.7534369826316833, 0.7808268666267395, 0.7652885913848877, 0.775997519493103, 0.7625828981399536, 0.7672305107116699, 0.7651783227920532, 0.7529972791671753, 0.7661615610122681, 0.7666248083114624, 0.7711737155914307, 0.7585285305976868, 0.7653555274009705, 0.7660042643547058], "q2_all": [0.7676849365234375, 0.7718383073806763, 0.7753949165344238, 0.7643120288848877, 0.7723945379257202, 0.7585930228233337, 0.7661252021789551, 0.7591396570205688, 0.7588562369346619, 0.7710955739021301, 0.774864137172699, 0.7532172203063965, 0.7703288793563843, 0.7831939458847046, 0.7610141038894653, 0.7655327320098877, 0.7587108612060547, 0.7590376138687134, 0.7497210502624512, 0.7751040458679199, 0.7700127959251404, 0.7733271718025208, 0.754173219203949, 0.776370108127594, 0.7660099267959595, 0.7555515170097351, 0.7619362473487854, 0.7606028914451599, 0.7656738758087158, 0.7540844678878784, 0.7612330317497253, 0.7658520340919495], "cand_trans_speed_all": [0.002210616832599044, 0.0018403192516416311, 0.0024908999912440777, 0.0022554206661880016, 0.002048022113740444, 0.0020161778666079044, 0.001730108866468072, 0.002247850177809596, 0.0023743491619825363, 0.0020030075684189796, 0.0022225864231586456, 0.002141407458111644, 0.003929621540009975, 0.0035001859068870544, 0.0026018237695097923, 0.0021003398578613997, 0.0018718251958489418, 0.001531725050881505, 0.0019233315251767635, 0.0025581088848412037, 0.0036433213390409946, 0.001906140591017902, 0.002188177313655615, 0.0020383193623274565, 0.0016381100285798311, 0.0017418554052710533, 0.0019577944185584784, 0.0023987225722521544, 0.0019569555297493935, 0.001677773892879486, 0.0014426917769014835, 0.001961678732186556], "cand_cum_xyz_disp_all": [[-0.008427754044532776, 0.002921774983406067, 0.004491701722145081], [-0.0031400173902511597, 0.0006363093852996826, 0.0052015334367752075], [-0.0045480877161026, 0.005095168948173523, 0.0018237978219985962], [-0.0034543871879577637, -0.000547453761100769, 0.0022745877504348755], [-0.005270123481750488, 0.00144137442111969, 0.0018158704042434692], [-0.002583041787147522, 0.002981513738632202, 0.00446387380361557], [-0.005743622779846191, 0.0026102662086486816, 0.004552781581878662], [-0.00334031879901886, 0.0011251270771026611, 0.0033877864480018616], [-0.006418243050575256, 0.0009488165378570557, 0.004523478448390961], [-0.006971925497055054, 0.0001564621925354004, 0.004131712019443512], [-0.008056938648223877, 0.003465622663497925, 0.004799365997314453], [-0.0008305907249450684, -0.0006067454814910889, 0.0009491592645645142], [-0.004572227597236633, 0.002667039632797241, 0.002639882266521454], [-0.006862208247184753, 0.0060874223709106445, 0.0015584900975227356], [-0.004021883010864258, -0.00030328333377838135, 0.0012402534484863281], [-0.005427807569503784, 0.0014214515686035156, 0.004262164235115051], [-0.003750145435333252, 0.0020476579666137695, 0.003811880946159363], [-0.0040255337953567505, 0.002187281847000122, 0.005108878016471863], [-0.0038727372884750366, 0.001453593373298645, 0.005935661494731903], [-0.005364179611206055, 0.0018880516290664673, 0.003653198480606079], [-0.002761527895927429, 0.007554411888122559, 0.003692738711833954], [-0.005349546670913696, 0.003604397177696228, 0.005053140223026276], [-0.001033097505569458, 0.0019398927688598633, 0.003918416798114777], [-0.004600062966346741, 0.0023453235626220703, 0.0030972734093666077], [-0.0032678693532943726, 0.0011108815670013428, 0.004624761641025543], [-0.004169046878814697, 0.00021792948246002197, 0.003255285322666168], [-0.006238773465156555, 0.003258258104324341, 0.003473050892353058], [-0.0033691376447677612, 0.0034652352333068848, 0.00296822190284729], [-0.0051118433475494385, 0.002051711082458496, 0.00276368111371994], [-0.005652293562889099, 0.0006888210773468018, 0.0036728978157043457], [-0.005780816078186035, 0.0017827749252319336, 0.0029760971665382385], [-0.0031728744506835938, 0.0004938840866088867, 0.00460553914308548]], "cand_final_gripper_all": [1.0, 0.9995244145393372, 0.9997848272323608, 0.9996672868728638, 1.0, 0.999904453754425, 0.9994386434555054, 1.0, 1.0, 1.0, 1.0, 0.9995085597038269, 1.0, 1.0, 0.999458909034729, 1.0, 1.0, 1.0, 1.0, 0.9990944862365723, 1.0, 1.0, 1.0, 0.9997659921646118, 1.0, 1.0, 0.9996616840362549, 1.0, 1.0, 0.9998259544372559, 0.9998467564582825, 1.0], "eef_pos": [0.40276896953582764, -0.04173556715250015, 0.22718878090381622], "cand_action_std": 0.05341201275587082, "cand_pairwise_centroid_dist_mean": 0.4961588382720947, "argmax_act_outlier": 1.0241957902908325, "time_encode_ms": 5.182767985388637, "time_diffusion_ms": 36.19512915611267, "time_q_score_ms": 7.802003063261509, "time_total_ms": 50.03947298973799, "num_action_samples_effective": 32, "q_aggregate": "pair_min"}
+{"chunk_ordinal": 51, "q_min_best": 0.7813922166824341, "q_min_mean": 0.7654935121536255, "q_min_std": 0.009278697893023491, "q_min_median": 0.7655077576637268, "chosen_vs_median_q_gap": 0.015884459018707275, "q1_best": 0.7836949825286865, "q2_best": 0.7813922166824341, "v_val": 0.7200478911399841, "advantage": 0.06134432554244995, "best_idx": 13, "q_min_all": [0.776210606098175, 0.7733736038208008, 0.7554947137832642, 0.7813823223114014, 0.7778446674346924, 0.7641647458076477, 0.7723894119262695, 0.7592315673828125, 0.7720540761947632, 0.7681699395179749, 0.7726455330848694, 0.7655077576637268, 0.7505154609680176, 0.7813922166824341, 0.765113353729248, 0.7465348243713379, 0.7691605091094971, 0.7718753814697266, 0.7559791803359985, 0.7639471888542175, 0.7734214067459106, 0.7527964115142822, 0.7593799829483032, 0.7655976414680481, 0.7589762210845947, 0.7617817521095276, 0.7519043684005737, 0.7671837210655212, 0.7702115774154663, 0.7641611695289612, 0.7519146203994751, 0.7754771709442139], "q1_all": [0.776210606098175, 0.7740461230278015, 0.768663763999939, 0.7813823223114014, 0.7778446674346924, 0.772020697593689, 0.7723894119262695, 0.7592315673828125, 0.7720540761947632, 0.7696049809455872, 0.7726455330848694, 0.7722796201705933, 0.7505154609680176, 0.7836949825286865, 0.7666180729866028, 0.7465348243713379, 0.7691605091094971, 0.7734038233757019, 0.7563879489898682, 0.7639471888542175, 0.7734214067459106, 0.756316065788269, 0.7593799829483032, 0.7655976414680481, 0.768724262714386, 0.7617817521095276, 0.7609977722167969, 0.7673623561859131, 0.7759453058242798, 0.7641611695289612, 0.7519146203994751, 0.7754771709442139], "q2_all": [0.7770127058029175, 0.7733736038208008, 0.7554947137832642, 0.794731616973877, 0.7853347659111023, 0.7641647458076477, 0.7859281301498413, 0.7741386294364929, 0.7777065634727478, 0.7681699395179749, 0.7733896970748901, 0.7655077576637268, 0.756507396697998, 0.7813922166824341, 0.765113353729248, 0.7619650363922119, 0.779129683971405, 0.7718753814697266, 0.7559791803359985, 0.7696987390518188, 0.7835710644721985, 0.7527964115142822, 0.7649859189987183, 0.7713347673416138, 0.7589762210845947, 0.7731573581695557, 0.7519043684005737, 0.7671837210655212, 0.7702115774154663, 0.7701389193534851, 0.7638009190559387, 0.7898312211036682], "cand_trans_speed_all": [0.0013969637220725417, 0.0013441676273941994, 0.0011108567705377936, 0.0015787103911861777, 0.0019243808928877115, 0.002261330373585224, 0.0018667946569621563, 0.0018256822368130088, 0.0022360929287970066, 0.0016761354636400938, 0.001871722750365734, 0.0024176978040486574, 0.0020204009488224983, 0.001743396744132042, 0.0015157245798036456, 0.0016201743856072426, 0.0016337441047653556, 0.002632389310747385, 0.0015590315451845527, 0.001966130454093218, 0.0024118609726428986, 0.0019709141924977303, 0.0016210414469242096, 0.0018952609971165657, 0.0018367599695920944, 0.0027334883343428373, 0.001836448791436851, 0.001595143461599946, 0.0010406570509076118, 0.0013012017589062452, 0.0014269383391365409, 0.0017443153774365783], "cand_cum_xyz_disp_all": [[-0.002388477325439453, 0.0017743706703186035, 0.004033610224723816], [-0.0018318891525268555, 0.0006554573774337769, 0.006462305784225464], [-0.0022771060466766357, 0.002117857336997986, 0.001040630042552948], [-0.006707087159156799, 0.003908291459083557, 0.003695853054523468], [-0.0009000301361083984, 0.002237945795059204, 0.003931105136871338], [-0.0018788427114486694, 0.0038201063871383667, 0.004468411207199097], [-0.0037310123443603516, 0.0015237033367156982, 0.0046555399894714355], [-0.0025538653135299683, 0.001835256814956665, 0.003928773105144501], [-0.002810165286064148, 0.003911122679710388, 0.0035510361194610596], [-0.005705058574676514, 0.0029545724391937256, 0.004002399742603302], [-0.0017681717872619629, 0.0019468814134597778, 0.0032700076699256897], [-0.0012220591306686401, 0.002263307571411133, 0.0035720691084861755], [-0.000370025634765625, 0.0023675113916397095, 0.0019555091857910156], [-0.0017682313919067383, 0.0010005980730056763, 0.0027233436703681946], [-0.0034450143575668335, 0.0024256855249404907, 0.0030704662203788757], [-0.0057074278593063354, 0.0014174878597259521, 0.003951109945774078], [-0.00482410192489624, 0.0008607655763626099, 0.004657216370105743], [-0.006265103816986084, 0.003359779715538025, 0.005009666085243225], [-0.00525858998298645, 0.0007278323173522949, 0.0027597546577453613], [-0.003118351101875305, 0.0028111040592193604, 0.00547250360250473], [-0.004895150661468506, 0.0036806613206863403, 0.003753259778022766], [-0.0018179118633270264, 0.003350168466567993, 0.0033283233642578125], [-0.0034693628549575806, 0.003836706280708313, 0.003451205790042877], [-0.0016535669565200806, 0.002691403031349182, 0.003817811608314514], [-0.003407791256904602, 0.0036092400550842285, 0.004211127758026123], [-0.001973256468772888, 0.004089429974555969, 0.005628183484077454], [-0.002331376075744629, 0.00219118595123291, 0.003001585602760315], [-0.00516115128993988, -0.0010971128940582275, 0.005020573735237122], [-0.0014996826648712158, 0.001389235258102417, 0.003015652298927307], [-0.005601942539215088, 0.0016162991523742676, 0.003371976315975189], [-0.004076778888702393, 0.0034006088972091675, 0.0036937743425369263], [-0.004842892289161682, 0.0027442723512649536, 0.0056920647621154785]], "cand_final_gripper_all": [1.0, 1.0, 1.0, 1.0, 0.999080240726471, 1.0, 1.0, 0.9998397827148438, 1.0, 1.0, 0.9995908737182617, 1.0, 0.9996808171272278, 0.9992798566818237, 0.9996910691261292, 0.998664140701294, 1.0, 0.9998413324356079, 1.0, 1.0, 1.0, 1.0, 1.0, 0.9997689723968506, 0.9990849494934082, 0.9983277916908264, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0], "eef_pos": [0.40270641446113586, -0.0422310046851635, 0.22711724042892456], "cand_action_std": 0.05224284902215004, "cand_pairwise_centroid_dist_mean": 0.4970525801181793, "argmax_act_outlier": 1.3298081159591675, "time_encode_ms": 5.778892897069454, "time_diffusion_ms": 36.15827998146415, "time_q_score_ms": 8.387528825551271, "time_total_ms": 51.320808939635754, "num_action_samples_effective": 32, "q_aggregate": "pair_min"}
+{"chunk_ordinal": 52, "q_min_best": 0.7661682367324829, "q_min_mean": 0.7536941766738892, "q_min_std": 0.0068862950429320335, "q_min_median": 0.754163384437561, "chosen_vs_median_q_gap": 0.012004852294921875, "q1_best": 0.7661682367324829, "q2_best": 0.7727834582328796, "v_val": 0.6954892873764038, "advantage": 0.0706789493560791, "best_idx": 7, "q_min_all": [0.7607882022857666, 0.75110924243927, 0.7522507905960083, 0.754163384437561, 0.7470524311065674, 0.7551037073135376, 0.7434238195419312, 0.7661682367324829, 0.7645447254180908, 0.7574856281280518, 0.7592549324035645, 0.7523108124732971, 0.74776291847229, 0.7497743368148804, 0.7506636381149292, 0.7571948766708374, 0.7372553944587708, 0.7541894316673279, 0.7592774629592896, 0.7605928778648376, 0.7448680996894836, 0.7551009058952332, 0.7609727382659912, 0.7555996179580688, 0.748680591583252, 0.7534389495849609, 0.7510373592376709, 0.7489887475967407, 0.7631164789199829, 0.7403745651245117, 0.7614415884017944, 0.7542271614074707], "q1_all": [0.7607882022857666, 0.75110924243927, 0.7550128102302551, 0.754163384437561, 0.7470524311065674, 0.7602269053459167, 0.7434238195419312, 0.7661682367324829, 0.7645447254180908, 0.7574856281280518, 0.7592549324035645, 0.7584837675094604, 0.74776291847229, 0.7497743368148804, 0.7506636381149292, 0.7571948766708374, 0.7475662231445312, 0.7541894316673279, 0.7592774629592896, 0.7605928778648376, 0.7448680996894836, 0.7551009058952332, 0.7609727382659912, 0.7607812285423279, 0.748680591583252, 0.7615737915039062, 0.7518881559371948, 0.7489887475967407, 0.7631164789199829, 0.7403745651245117, 0.7614415884017944, 0.7566400766372681], "q2_all": [0.7629967927932739, 0.7545973062515259, 0.7522507905960083, 0.7584338784217834, 0.7557461857795715, 0.7551037073135376, 0.7562100887298584, 0.7727834582328796, 0.7645653486251831, 0.7629390358924866, 0.7649948000907898, 0.7523108124732971, 0.7582833170890808, 0.7545154094696045, 0.7610045671463013, 0.7720041871070862, 0.7372553944587708, 0.7553499937057495, 0.7610230445861816, 0.7664031982421875, 0.7492545247077942, 0.7600230574607849, 0.7650448083877563, 0.7555996179580688, 0.7527608871459961, 0.7534389495849609, 0.7510373592376709, 0.7563908100128174, 0.7633768320083618, 0.7607360482215881, 0.7694070935249329, 0.7542271614074707], "cand_trans_speed_all": [0.0019122989615425467, 0.0013565702829509974, 0.0021027540788054466, 0.0014352956786751747, 0.002069744048640132, 0.0014493943890556693, 0.004558295477181673, 0.0018207496032118797, 0.0016268931794911623, 0.002429491840302944, 0.001881081028841436, 0.0019663088023662567, 0.0016451978590339422, 0.002192508429288864, 0.002311479998752475, 0.0018729413859546185, 0.0021880012936890125, 0.0019526723772287369, 0.001633521169424057, 0.0017822568770498037, 0.0018888420891016722, 0.0018448568880558014, 0.002079002559185028, 0.001909490441903472, 0.0015293257310986519, 0.002838442102074623, 0.0018835625378414989, 0.002925227163359523, 0.002062764950096607, 0.0013332320377230644, 0.0028518997132778168, 0.001374789047986269], "cand_cum_xyz_disp_all": [[-0.00921003520488739, 0.0003770589828491211, 0.004025019705295563], [-0.003921195864677429, -9.751319885253906e-05, 0.003687545657157898], [-0.005665302276611328, 0.0010519027709960938, 0.0038507431745529175], [-0.004989653825759888, 0.0016722828149795532, 0.0020725950598716736], [-0.005735233426094055, 0.0029858797788619995, 0.0037020742893218994], [-0.002053290605545044, -1.9490718841552734e-05, 0.0028893649578094482], [-0.0038682669401168823, 0.004931718111038208, 0.0033295974135398865], [-0.0075827836990356445, 0.0022048205137252808, 0.0038832426071166992], [-0.006743922829627991, 0.0022560954093933105, 0.004155836999416351], [-0.011148124933242798, -5.361437797546387e-05, 0.003977552056312561], [-0.006185844540596008, 0.0003453195095062256, 0.00479549914598465], [-0.005725860595703125, 0.003379836678504944, 0.0030917301774024963], [-0.0021964311599731445, 0.0056451112031936646, 0.002962365746498108], [-0.005835339426994324, -0.0010010600090026855, 0.004977777600288391], [-0.00466446578502655, 0.0005945563316345215, 0.004297040402889252], [-0.00648634135723114, 0.001054033637046814, 0.003603234887123108], [-0.0021921545267105103, 0.0019742995500564575, 0.0020050033926963806], [-0.00588873028755188, 0.001608923077583313, 0.004816122353076935], [-0.0052512288093566895, 0.001344427466392517, 0.0033537447452545166], [-0.0033702850341796875, 0.004473060369491577, 0.003543563187122345], [-0.002365007996559143, 0.0030182451009750366, 0.002714976668357849], [-0.0024714767932891846, 0.0015703141689300537, 0.003237016499042511], [-0.004979461431503296, 0.0024759769439697266, 0.0035458728671073914], [-0.004331842064857483, 0.0018437504768371582, 0.004576548933982849], [-0.0066724419593811035, -4.963576793670654e-05, 0.004646360874176025], [-0.002798706293106079, 0.0032894909381866455, 0.0039450377225875854], [-0.004158094525337219, -0.0003030151128768921, 0.0035082995891571045], [-0.0034414678812026978, 0.004759117960929871, 0.0023805201053619385], [-0.004104644060134888, 0.003168344497680664, 0.004659481346607208], [-0.002287924289703369, 0.0014764666557312012, 0.00436236709356308], [-0.006797567009925842, 0.0006848275661468506, 0.004587136209011078], [-0.00027908384799957275, 0.002006739377975464, 0.003721103072166443]], "cand_final_gripper_all": [0.9987224340438843, 0.9991591572761536, 1.0, 1.0, 0.999238908290863, 0.999352216720581, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 0.9999796152114868, 1.0, 1.0, 0.9993889331817627, 0.9993906617164612, 1.0, 1.0, 0.9999680519104004, 1.0, 1.0, 0.9998282194137573, 1.0, 1.0, 1.0, 1.0, 0.9995901584625244, 1.0, 0.9996761679649353, 1.0, 0.9995100498199463], "eef_pos": [0.4027172923088074, -0.041993722319602966, 0.22708548605442047], "cand_action_std": 0.04704340919852257, "cand_pairwise_centroid_dist_mean": 0.44199126958847046, "argmax_act_outlier": 1.041061520576477, "time_encode_ms": 5.286800907924771, "time_diffusion_ms": 36.02691716514528, "time_q_score_ms": 7.50091508962214, "time_total_ms": 49.55783998593688, "num_action_samples_effective": 32, "q_aggregate": "pair_min"}
+{"chunk_ordinal": 53, "q_min_best": 0.7846090793609619, "q_min_mean": 0.7646898031234741, "q_min_std": 0.011385798454284668, "q_min_median": 0.7656398415565491, "chosen_vs_median_q_gap": 0.018969237804412842, "q1_best": 0.7846090793609619, "q2_best": 0.7892768383026123, "v_val": 0.7003835439682007, "advantage": 0.08422553539276123, "best_idx": 0, "q_min_all": [0.7846090793609619, 0.7749507427215576, 0.7716520428657532, 0.7526800632476807, 0.7633752822875977, 0.7642175555229187, 0.7816066145896912, 0.7693356275558472, 0.7683373689651489, 0.7656398415565491, 0.7722417116165161, 0.7606202363967896, 0.7598193883895874, 0.7668864130973816, 0.7560086846351624, 0.7716478109359741, 0.7742811441421509, 0.7747033834457397, 0.7618684768676758, 0.7605977058410645, 0.7675190567970276, 0.7550343871116638, 0.7780500650405884, 0.7372850775718689, 0.7544335126876831, 0.7551411986351013, 0.7645506858825684, 0.7733325958251953, 0.7709051370620728, 0.7484875321388245, 0.7747642397880554, 0.7354889512062073], "q1_all": [0.7846090793609619, 0.7749507427215576, 0.7763485312461853, 0.7639963626861572, 0.7722439765930176, 0.7747613191604614, 0.7816066145896912, 0.7693356275558472, 0.7683373689651489, 0.7747001647949219, 0.7722417116165161, 0.7606202363967896, 0.7601087093353271, 0.7702698707580566, 0.7616670727729797, 0.7716478109359741, 0.7742811441421509, 0.7754793167114258, 0.765823483467102, 0.7646267414093018, 0.7675190567970276, 0.7550343871116638, 0.7780500650405884, 0.7577184438705444, 0.7585340738296509, 0.7659311890602112, 0.7648537755012512, 0.7733325958251953, 0.7821138501167297, 0.7603827714920044, 0.7785719037055969, 0.7502696514129639], "q2_all": [0.7892768383026123, 0.7761474847793579, 0.7716520428657532, 0.7526800632476807, 0.7633752822875977, 0.7642175555229187, 0.7825339436531067, 0.7752282619476318, 0.7694756388664246, 0.7656398415565491, 0.7730420827865601, 0.7651767730712891, 0.7598193883895874, 0.7668864130973816, 0.7560086846351624, 0.7742528319358826, 0.7862909436225891, 0.7747033834457397, 0.7618684768676758, 0.7605977058410645, 0.7794560194015503, 0.7579390406608582, 0.778168797492981, 0.7372850775718689, 0.7544335126876831, 0.7551411986351013, 0.7645506858825684, 0.7778551578521729, 0.7709051370620728, 0.7484875321388245, 0.7747642397880554, 0.7354889512062073], "cand_trans_speed_all": [0.0022923480719327927, 0.001844904851168394, 0.0014985490124672651, 0.0018683670787140727, 0.002023276872932911, 0.0020284815691411495, 0.0017388820415362716, 0.0023461366072297096, 0.002994867041707039, 0.0023127389140427113, 0.0020384229719638824, 0.0012330065947026014, 0.003091283841058612, 0.0020171813666820526, 0.0023160993587225676, 0.002247590571641922, 0.0017854919424280524, 0.0023771696723997593, 0.0017658309079706669, 0.0024277386255562305, 0.0015240622451528907, 0.0016784867038950324, 0.00154007482342422, 0.0021426849998533726, 0.002315422985702753, 0.001877910690382123, 0.0021315976046025753, 0.0019716040696948767, 0.0014734193682670593, 0.002288799500092864, 0.002862257417291403, 0.0025357850827276707], "cand_cum_xyz_disp_all": [[-0.00987975299358368, 0.0036165714263916016, 0.0007979720830917358], [-0.006546184420585632, 0.0011427998542785645, 0.0029019787907600403], [-0.005749493837356567, 0.0009543746709823608, 0.0040901824831962585], [-0.005705922842025757, -0.0010108798742294312, 0.0026514604687690735], [-0.0026289820671081543, 0.002842262387275696, 0.0030396953225135803], [-0.005851954221725464, 0.0012425631284713745, 0.0051268115639686584], [-0.005110889673233032, 0.0019154399633407593, 0.004257120192050934], [-0.0034687966108322144, 0.0028071850538253784, 0.003925487399101257], [-0.0033067017793655396, 0.0020113587379455566, 0.0030115246772766113], [-0.005015760660171509, 0.0001462399959564209, 0.002882733941078186], [-0.009268000721931458, 0.00036832690238952637, 0.003023490309715271], [-0.0037881284952163696, 0.0003830939531326294, 0.0020427405834198], [-0.006794288754463196, 0.00104619562625885, 0.001760236918926239], [-0.00800970196723938, 0.0011010318994522095, 0.006077907979488373], [-0.004509955644607544, -0.00125141441822052, 0.001596800982952118], [-0.007179513573646545, 0.001545146107673645, 0.004959329962730408], [-0.005764976143836975, 0.002979472279548645, 0.004593051970005035], [-0.004285246133804321, 0.0025836676359176636, 0.003952793776988983], [-0.0007695555686950684, 0.0017046928405761719, 0.0013335570693016052], [-0.002188563346862793, 0.002754881978034973, 0.004327274858951569], [-0.002683684229850769, 0.002270236611366272, 0.003916159272193909], [-0.003560185432434082, 0.0012764781713485718, 0.003965616226196289], [-0.005315512418746948, 0.0017138868570327759, 0.005174644291400909], [-0.006819441914558411, -0.0012014210224151611, 0.0029936954379081726], [-0.005588233470916748, 0.0014331191778182983, 0.004952467978000641], [-0.004527971148490906, 0.0008729994297027588, 0.003654465079307556], [-0.004471883177757263, 0.0007548034191131592, 0.0026194751262664795], [-0.0077082812786102295, 0.0012037158012390137, 0.0052718594670295715], [-0.005214855074882507, 0.0003283172845840454, 0.004216834902763367], [-0.007008105516433716, 0.000850975513458252, 0.0030875131487846375], [-0.004569351673126221, 0.00500093400478363, 0.0028157010674476624], [-0.005166858434677124, 0.0015195459127426147, 0.003567531704902649]], "cand_final_gripper_all": [0.999565839767456, 0.998768150806427, 1.0, 1.0, 1.0, 1.0, 0.9997305870056152, 1.0, 1.0, 1.0, 0.9997021555900574, 1.0, 1.0, 1.0, 1.0, 1.0, 0.9999892711639404, 0.9996145963668823, 1.0, 1.0, 1.0, 0.9995861649513245, 1.0, 0.999350905418396, 0.9996535778045654, 1.0, 1.0, 1.0, 1.0, 0.9999312162399292, 0.9998036026954651, 1.0], "eef_pos": [0.40270575881004333, -0.04211872071027756, 0.2270866185426712], "cand_action_std": 0.05346094071865082, "cand_pairwise_centroid_dist_mean": 0.49295487999916077, "argmax_act_outlier": 1.349484920501709, "time_encode_ms": 4.976365016773343, "time_diffusion_ms": 36.060980055481195, "time_q_score_ms": 8.147153072059155, "time_total_ms": 49.88027806393802, "num_action_samples_effective": 32, "q_aggregate": "pair_min"}
+{"chunk_ordinal": 54, "q_min_best": 0.7457295656204224, "q_min_mean": 0.7329832315444946, "q_min_std": 0.006179310847073793, "q_min_median": 0.7334100008010864, "chosen_vs_median_q_gap": 0.012319564819335938, "q1_best": 0.7457295656204224, "q2_best": 0.7576568722724915, "v_val": 0.7482199668884277, "advantage": -0.002490401268005371, "best_idx": 31, "q_min_all": [0.7273686528205872, 0.7383993864059448, 0.7303519248962402, 0.7308163046836853, 0.7394313812255859, 0.7374455332756042, 0.7376810312271118, 0.7229828238487244, 0.7306764125823975, 0.7322878837585449, 0.7344377636909485, 0.7234787940979004, 0.7384530305862427, 0.7341960668563843, 0.7250722646713257, 0.73983234167099, 0.7349141240119934, 0.7260184288024902, 0.7377924919128418, 0.7343109250068665, 0.7386873960494995, 0.7305675745010376, 0.732213020324707, 0.7364799380302429, 0.7423195838928223, 0.7279260754585266, 0.7271869778633118, 0.7334100008010864, 0.7325924038887024, 0.7172835469245911, 0.7351213693618774, 0.7457295656204224], "q1_all": [0.7273686528205872, 0.7383993864059448, 0.7303519248962402, 0.7308163046836853, 0.7394313812255859, 0.7374455332756042, 0.7389028668403625, 0.7229828238487244, 0.7306764125823975, 0.7322878837585449, 0.7344377636909485, 0.7234787940979004, 0.7384530305862427, 0.7341960668563843, 0.7250722646713257, 0.73983234167099, 0.7349141240119934, 0.7260184288024902, 0.7377924919128418, 0.7343109250068665, 0.7386873960494995, 0.7305675745010376, 0.732213020324707, 0.7364799380302429, 0.7423195838928223, 0.7279260754585266, 0.7271869778633118, 0.7334100008010864, 0.7325924038887024, 0.7172835469245911, 0.7351213693618774, 0.7457295656204224], "q2_all": [0.7625584006309509, 0.7541937828063965, 0.7476937770843506, 0.7494653463363647, 0.745895266532898, 0.7515461444854736, 0.7376810312271118, 0.7377052307128906, 0.7458947896957397, 0.7606369853019714, 0.7541475296020508, 0.7537380456924438, 0.7596626877784729, 0.7545946836471558, 0.748604416847229, 0.7612184882164001, 0.761795163154602, 0.7397109270095825, 0.7483345866203308, 0.7619531750679016, 0.7564395070075989, 0.7504147887229919, 0.752263069152832, 0.7385080456733704, 0.7675330638885498, 0.7530800104141235, 0.7628711462020874, 0.7554406523704529, 0.7393491864204407, 0.7428218126296997, 0.7549973726272583, 0.7576568722724915], "cand_trans_speed_all": [0.002197161316871643, 0.001457643462345004, 0.0013354852562770247, 0.0020331069827079773, 0.0017516461666673422, 0.0023694061674177647, 0.0023230556398630142, 0.002753049833700061, 0.0014351934660226107, 0.001822835998609662, 0.001588343526236713, 0.0020737294107675552, 0.002307591959834099, 0.0018597980961203575, 0.0018910662038251758, 0.0015389327891170979, 0.002016759943217039, 0.002713669091463089, 0.0025198711082339287, 0.002070824848487973, 0.0024669882841408253, 0.001637479173950851, 0.001356430584564805, 0.00185275892727077, 0.0011689732782542706, 0.001847447594627738, 0.0013797659194096923, 0.0030865489970892668, 0.0019596137572079897, 0.0026743831112980843, 0.0018727397546172142, 0.0018685944378376007], "cand_cum_xyz_disp_all": [[-0.0009440481662750244, 0.0023558586835861206, 0.0023230090737342834], [-0.004983261227607727, 0.0014333128929138184, 0.0018356665968894958], [-0.004098176956176758, 0.002136245369911194, 0.0026940926909446716], [-0.0039030462503433228, 0.0019160360097885132, 0.003998957574367523], [-0.005192860960960388, 0.001611262559890747, 0.002503320574760437], [-0.0010534971952438354, 0.0017141848802566528, 0.0033721476793289185], [-0.001700758934020996, 0.00020080804824829102, 0.004038326442241669], [0.0008341372013092041, -0.0020177513360977173, 0.0025930255651474], [-0.0007596611976623535, 0.0033502131700515747, 0.0024854764342308044], [-0.004132062196731567, 0.0027032047510147095, 0.003948576748371124], [-0.0033383965492248535, 0.003298327326774597, 0.004124723374843597], [-0.004508897662162781, 0.0036886930465698242, 0.0025335848331451416], [-0.005769714713096619, 0.002945616841316223, 0.002474278211593628], [-0.004199102520942688, 0.0025302618741989136, 0.004772648215293884], [3.933906555175781e-06, 0.0022209733724594116, 0.0017022714018821716], [-0.005930721759796143, 0.0010554790496826172, 0.0030424073338508606], [-0.00403827428817749, 0.0036388933658599854, 0.003519870340824127], [-0.0019884854555130005, 0.00153312087059021, 0.004601657390594482], [-0.0018376260995864868, 0.0013968944549560547, 0.005517534911632538], [-0.0026488006114959717, 0.002520442008972168, 0.004687540233135223], [-0.004768118262290955, 0.002838417887687683, 0.00538218766450882], [-0.0020062923431396484, 0.002222791314125061, 0.003905877470970154], [-0.0026271045207977295, 0.002740904688835144, 0.0023372098803520203], [-0.004784077405929565, 0.0009964704513549805, 0.003463238477706909], [-0.0024334490299224854, 0.0008205175399780273, 0.0023001059889793396], [-0.003397420048713684, 0.0019228458404541016, 0.0026898756623268127], [-0.0037760883569717407, 0.003196209669113159, 0.0012388601899147034], [-0.0059588998556137085, -9.715557098388672e-06, 0.00017227977514266968], [0.00023503601551055908, 0.0024390816688537598, 0.0037228837609291077], [-0.003048613667488098, 0.0033819377422332764, 0.0035407692193984985], [-0.006619498133659363, 0.0014247149229049683, 0.004338711500167847], [-0.007218062877655029, -0.0008101314306259155, 0.002971731126308441]], "cand_final_gripper_all": [1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 0.9996993541717529, 1.0, 1.0, 0.9995064735412598, 1.0, 1.0, 0.9999804496765137, 0.9990259408950806, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 0.9995392560958862, 0.9997794032096863, 1.0, 1.0], "eef_pos": [0.4029609262943268, -0.042777806520462036, 0.22732463479042053], "cand_action_std": 0.0503636933863163, "cand_pairwise_centroid_dist_mean": 0.45721179246902466, "argmax_act_outlier": 0.9452576637268066, "time_encode_ms": 5.999561864882708, "time_diffusion_ms": 36.23078507371247, "time_q_score_ms": 7.88659998215735, "time_total_ms": 50.886844052001834, "num_action_samples_effective": 32, "q_aggregate": "pair_min"}
+{"chunk_ordinal": 55, "q_min_best": 0.7588229179382324, "q_min_mean": 0.7359826564788818, "q_min_std": 0.008689472451806068, "q_min_median": 0.7355877757072449, "chosen_vs_median_q_gap": 0.02323514223098755, "q1_best": 0.7588229179382324, "q2_best": 0.7791375517845154, "v_val": 0.7977137565612793, "advantage": -0.038890838623046875, "best_idx": 31, "q_min_all": [0.7251837849617004, 0.7356789112091064, 0.7427346706390381, 0.715519905090332, 0.7210760116577148, 0.7344192266464233, 0.7358982563018799, 0.7331065535545349, 0.728226900100708, 0.7379584312438965, 0.7498086094856262, 0.7275437116622925, 0.7229413390159607, 0.7374261617660522, 0.7395386099815369, 0.7363229990005493, 0.7349091172218323, 0.7285690903663635, 0.7442087531089783, 0.7465632557868958, 0.7339567542076111, 0.7303848266601562, 0.7352979183197021, 0.7468913793563843, 0.7402071952819824, 0.7355877757072449, 0.7352325916290283, 0.7379366159439087, 0.7408449053764343, 0.7434916496276855, 0.7351550459861755, 0.7588229179382324], "q1_all": [0.7251837849617004, 0.7356789112091064, 0.7427346706390381, 0.715519905090332, 0.7210760116577148, 0.7344192266464233, 0.7358982563018799, 0.7331065535545349, 0.728226900100708, 0.7379584312438965, 0.7498086094856262, 0.7275437116622925, 0.7229413390159607, 0.7374261617660522, 0.7395386099815369, 0.7363229990005493, 0.7349091172218323, 0.7285690903663635, 0.7442087531089783, 0.7465632557868958, 0.7339567542076111, 0.7303848266601562, 0.7352979183197021, 0.7468913793563843, 0.7402071952819824, 0.7355877757072449, 0.7352325916290283, 0.7379366159439087, 0.7408449053764343, 0.7434916496276855, 0.7351550459861755, 0.7588229179382324], "q2_all": [0.7532566785812378, 0.7509837746620178, 0.7621810436248779, 0.7562369704246521, 0.7630426287651062, 0.7538182139396667, 0.7846951484680176, 0.7396575212478638, 0.7665313482284546, 0.7656888365745544, 0.7741310000419617, 0.7603073716163635, 0.7545010447502136, 0.7592988610267639, 0.7579987049102783, 0.7622367143630981, 0.753455400466919, 0.7444950342178345, 0.7725995779037476, 0.7813180088996887, 0.7576584815979004, 0.7424957752227783, 0.7684377431869507, 0.7735750675201416, 0.7518659830093384, 0.7710952162742615, 0.7681928873062134, 0.7680553197860718, 0.7607862949371338, 0.7640976309776306, 0.7530617713928223, 0.7791375517845154], "cand_trans_speed_all": [0.002976343035697937, 0.003210256574675441, 0.0022683723364025354, 0.001258371863514185, 0.0020152516663074493, 0.0023653157986700535, 0.0018092140089720488, 0.0027704581152647734, 0.0014386181719601154, 0.0017703799530863762, 0.001646827207878232, 0.0023008533753454685, 0.0030148797668516636, 0.0018156170845031738, 0.0018976465798914433, 0.002851577475667, 0.0017296781297773123, 0.0020242591854184866, 0.0030180567409843206, 0.0018172370037063956, 0.0016595827182754874, 0.0022312176879495382, 0.0017332438146695495, 0.0020167657639831305, 0.002111020963639021, 0.0019476882880553603, 0.0019970275461673737, 0.0020487424917519093, 0.0015909610083326697, 0.0032145425211638212, 0.001347087323665619, 0.002074744552373886], "cand_cum_xyz_disp_all": [[-0.0011378824710845947, 0.002886638045310974, 0.0029479190707206726], [-0.0040260255336761475, 0.002578526735305786, 0.005287535488605499], [-0.003950625658035278, 0.0027622580528259277, 0.0027781352400779724], [-0.002956673502922058, 0.000814586877822876, 0.0020071789622306824], [-0.0026939809322357178, 0.0038745105266571045, 0.0029295384883880615], [-0.0033361613750457764, 0.003354176878929138, 0.0031388550996780396], [-0.003918245434761047, 0.001795455813407898, 0.0027967989444732666], [-0.003916338086128235, 0.002646118402481079, 0.0031149983406066895], [-0.0019825994968414307, 0.0030493736267089844, 0.0029983967542648315], [-0.003410443663597107, 0.0032797157764434814, 0.004072360694408417], [-0.0027896612882614136, 0.0029584169387817383, 0.004776448011398315], [-0.0034074634313583374, 0.0023176074028015137, 0.0030514076352119446], [-0.0027093589305877686, 0.0038470327854156494, 0.004692040383815765], [-0.0025274455547332764, 0.0013698935508728027, 0.0059753283858299255], [-0.005010709166526794, -0.001657247543334961, 0.0032048299908638], [-0.00550512969493866, 0.005608975887298584, 0.003627955913543701], [-0.0036263763904571533, 0.002062886953353882, 0.00340859591960907], [-3.8295984268188477e-05, 0.00236433744430542, 0.0030484572052955627], [-0.0004175901412963867, 0.005175948143005371, 0.005055934190750122], [-0.003016248345375061, 0.005179613828659058, 0.005055524408817291], [-0.0005863755941390991, 0.0016479045152664185, 0.0036273151636123657], [-0.003921836614608765, -0.00023336708545684814, 0.004956796765327454], [-0.0035506635904312134, 0.002368748188018799, 0.004605621099472046], [-0.008074522018432617, 0.0029468834400177, 0.003426849842071533], [-0.0027577877044677734, -0.0010967999696731567, 0.005879595875740051], [-0.005000501871109009, 0.0032258331775665283, 0.003136448562145233], [-0.003012612462043762, 0.004106834530830383, 0.004990279674530029], [-0.004613980650901794, 0.0029922425746917725, 0.002995431423187256], [-0.004804655909538269, 0.002216532826423645, 0.004396557807922363], [-0.0064539313316345215, 0.001442745327949524, 0.005891330540180206], [-0.00420437753200531, 0.0018723607063293457, 0.003085218369960785], [-0.002465978264808655, 0.0025137662887573242, 0.004792392253875732]], "cand_final_gripper_all": [0.9995608329772949, 1.0, 1.0, 0.9997500777244568, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 0.9997701048851013, 1.0, 1.0, 1.0, 0.9989533424377441, 1.0, 0.9998266696929932, 1.0, 1.0, 1.0, 0.9996592998504639, 1.0, 1.0, 1.0, 1.0, 0.9995384812355042, 1.0, 0.9998689889907837, 1.0, 0.9990990161895752, 0.9992996454238892, 0.9995172023773193], "eef_pos": [0.40299299359321594, -0.043272968381643295, 0.2273484170436859], "cand_action_std": 0.05394378677010536, "cand_pairwise_centroid_dist_mean": 0.49438410997390747, "argmax_act_outlier": 1.3856370449066162, "time_encode_ms": 4.941419931128621, "time_diffusion_ms": 36.12776380032301, "time_q_score_ms": 8.122347993776202, "time_total_ms": 49.98228815384209, "num_action_samples_effective": 32, "q_aggregate": "pair_min"}
+{"chunk_ordinal": 56, "q_min_best": 0.764854907989502, "q_min_mean": 0.7477172017097473, "q_min_std": 0.008606292307376862, "q_min_median": 0.7458621263504028, "chosen_vs_median_q_gap": 0.01899278163909912, "q1_best": 0.764854907989502, "q2_best": 0.7654026746749878, "v_val": 0.8161765336990356, "advantage": -0.05132162570953369, "best_idx": 13, "q_min_all": [0.738921582698822, 0.745405912399292, 0.7627042531967163, 0.7418010234832764, 0.7518434524536133, 0.7394180297851562, 0.7567702531814575, 0.7511661648750305, 0.7394061088562012, 0.7453107833862305, 0.7419521808624268, 0.7438769340515137, 0.747153639793396, 0.764854907989502, 0.7459591627120972, 0.7370362281799316, 0.7356597781181335, 0.744815468788147, 0.7643673419952393, 0.7432887554168701, 0.7295317053794861, 0.7617039680480957, 0.7481679320335388, 0.7586400508880615, 0.7443075776100159, 0.7458621263504028, 0.7459232807159424, 0.7500797510147095, 0.756645917892456, 0.752425491809845, 0.7483922839164734, 0.7435582280158997], "q1_all": [0.738921582698822, 0.745405912399292, 0.7627042531967163, 0.7418010234832764, 0.7518434524536133, 0.7394180297851562, 0.7567702531814575, 0.7511661648750305, 0.7394061088562012, 0.7453107833862305, 0.7419521808624268, 0.7438769340515137, 0.747153639793396, 0.764854907989502, 0.7459591627120972, 0.7370362281799316, 0.7356597781181335, 0.744815468788147, 0.7643673419952393, 0.7432887554168701, 0.7295317053794861, 0.7617039680480957, 0.7481679320335388, 0.7586400508880615, 0.7443075776100159, 0.7458621263504028, 0.7459232807159424, 0.7500797510147095, 0.7573881149291992, 0.752425491809845, 0.7483922839164734, 0.7435582280158997], "q2_all": [0.7620658278465271, 0.7570176124572754, 0.7648893594741821, 0.7681705951690674, 0.7726994156837463, 0.7568659782409668, 0.7702124118804932, 0.7757941484451294, 0.7598938345909119, 0.7598705291748047, 0.767221212387085, 0.7544978857040405, 0.7782758474349976, 0.7654026746749878, 0.7676595449447632, 0.7642639875411987, 0.7521962523460388, 0.7618421316146851, 0.7657210826873779, 0.7637700438499451, 0.7532063722610474, 0.7753509283065796, 0.7733334302902222, 0.7768747210502625, 0.7599532604217529, 0.7523787617683411, 0.7582674026489258, 0.7751220464706421, 0.756645917892456, 0.7694165706634521, 0.7635451555252075, 0.7631381154060364], "cand_trans_speed_all": [0.0018061927985399961, 0.0018346698489040136, 0.001993064070120454, 0.0014823849778622389, 0.0017644421895965934, 0.0017716819420456886, 0.0017837397754192352, 0.0016494592418894172, 0.0013019673060625792, 0.0018888110062107444, 0.0014685731148347259, 0.0020772390998899937, 0.0016422438202425838, 0.0020890366286039352, 0.001721821492537856, 0.00199451157823205, 0.002228897763416171, 0.0014517470262944698, 0.0015821435954421759, 0.002330223796889186, 0.0028533756267279387, 0.0022890486288815737, 0.0031304946169257164, 0.0017231928650289774, 0.0016217527445405722, 0.0017276415601372719, 0.001226381165906787, 0.0012571949046105146, 0.0016756290569901466, 0.001477327081374824, 0.0018818732351064682, 0.0013361219316720963], "cand_cum_xyz_disp_all": [[-0.0047539472579956055, 0.0014055222272872925, 0.0049484968185424805], [-0.004011929035186768, 0.003014311194419861, 0.003927744925022125], [-0.0002894401550292969, 0.005531340837478638, 0.0028895586729049683], [-0.00022824108600616455, 0.0019134581089019775, 0.003982752561569214], [-0.004045933485031128, 0.0012582242488861084, 0.004518918693065643], [-0.002117440104484558, 0.00228746235370636, 0.002053461968898773], [-0.005246520042419434, 0.0011580288410186768, 0.0029704496264457703], [-0.0052925050258636475, 0.0032775402069091797, 0.0028218403458595276], [-0.003640696406364441, 0.0012830495834350586, 0.0014188438653945923], [-0.004727721214294434, 0.0012878179550170898, 0.0030409395694732666], [-0.003185093402862549, 0.0044453442096710205, 0.0034088939428329468], [-0.00341014564037323, 0.0018671751022338867, 0.0019401684403419495], [-0.005318060517311096, 0.0032625049352645874, 0.0048101916909217834], [-0.002785906195640564, -9.179115295410156e-05, 0.006053134799003601], [-0.0030528008937835693, 0.0019567012786865234, 0.0037337616086006165], [-0.004251807928085327, -2.562999725341797e-05, 0.0022873952984809875], [-0.002973392605781555, -0.0011738091707229614, 0.0031132102012634277], [-0.0015560537576675415, 0.001012176275253296, 0.0028639882802963257], [-0.005392923951148987, 0.0024154186248779297, 0.004627704620361328], [-0.0040006935596466064, 0.0024501383304595947, 0.002858556807041168], [-0.0031313300132751465, 0.0033193081617355347, 0.0025209635496139526], [-0.0038312822580337524, 0.0032532066106796265, 0.005971938371658325], [-0.0009679645299911499, 0.005412116646766663, 0.0033308714628219604], [-0.005133450031280518, 0.002210080623626709, 0.00468059629201889], [-0.0013095587491989136, 0.003400668501853943, 0.0024996623396873474], [-0.0028106719255447388, 0.0018658339977264404, 0.0037593841552734375], [-0.001422494649887085, 0.0017923563718795776, 0.004042096436023712], [-0.002981916069984436, 0.0022171586751937866, 0.005356244742870331], [-0.004454463720321655, 0.000815659761428833, 0.0029279589653015137], [-0.003921762108802795, 0.0020859092473983765, 0.003461107611656189], [-0.003153696656227112, 0.0007630139589309692, 0.003084227442741394], [-0.0034813880920410156, 0.003670915961265564, 0.003967113792896271]], "cand_final_gripper_all": [0.999953031539917, 1.0, 1.0, 1.0, 1.0, 0.9999866485595703, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 0.9995057582855225, 1.0, 1.0, 1.0, 0.9990338087081909, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0], "eef_pos": [0.4029729664325714, -0.04321665316820145, 0.22723571956157684], "cand_action_std": 0.050622474402189255, "cand_pairwise_centroid_dist_mean": 0.4780578017234802, "argmax_act_outlier": 1.359501838684082, "time_encode_ms": 5.86192705668509, "time_diffusion_ms": 36.253205966204405, "time_q_score_ms": 7.409456185996532, "time_total_ms": 50.31395307742059, "num_action_samples_effective": 32, "q_aggregate": "pair_min"}
+{"chunk_ordinal": 57, "q_min_best": 0.754133939743042, "q_min_mean": 0.7436859607696533, "q_min_std": 0.0060304501093924046, "q_min_median": 0.7428632378578186, "chosen_vs_median_q_gap": 0.011270701885223389, "q1_best": 0.754133939743042, "q2_best": 0.7666234374046326, "v_val": 0.7403094172477722, "advantage": 0.013824522495269775, "best_idx": 18, "q_min_all": [0.7500910758972168, 0.74196857213974, 0.736717939376831, 0.745712399482727, 0.7450270652770996, 0.7528210878372192, 0.7530620694160461, 0.7285463809967041, 0.7417722940444946, 0.7338762283325195, 0.7428632378578186, 0.7452578544616699, 0.7417466640472412, 0.74007648229599, 0.7516472935676575, 0.7335878610610962, 0.7432477474212646, 0.7418744564056396, 0.754133939743042, 0.7403974533081055, 0.739647388458252, 0.7496422529220581, 0.7417382597923279, 0.7505694627761841, 0.749303936958313, 0.7441906929016113, 0.7407733798027039, 0.7465210556983948, 0.7400975823402405, 0.7490277290344238, 0.7435194849967957, 0.7384916543960571], "q1_all": [0.7500910758972168, 0.7562346458435059, 0.736717939376831, 0.745712399482727, 0.7450270652770996, 0.7528210878372192, 0.7530620694160461, 0.7285463809967041, 0.7417722940444946, 0.7338762283325195, 0.7428632378578186, 0.7452578544616699, 0.741908609867096, 0.74007648229599, 0.7516472935676575, 0.7335878610610962, 0.7432477474212646, 0.7418744564056396, 0.754133939743042, 0.7403974533081055, 0.739647388458252, 0.7496422529220581, 0.7417382597923279, 0.7505694627761841, 0.749303936958313, 0.7441906929016113, 0.7407733798027039, 0.7465210556983948, 0.7400975823402405, 0.7490277290344238, 0.7435194849967957, 0.7384916543960571], "q2_all": [0.7635440230369568, 0.74196857213974, 0.7753687500953674, 0.7634494304656982, 0.7525039911270142, 0.7626614570617676, 0.7722024917602539, 0.757042646408081, 0.752869725227356, 0.752516508102417, 0.7585464119911194, 0.7504081726074219, 0.7417466640472412, 0.7512001991271973, 0.7586797475814819, 0.7558568716049194, 0.7631654739379883, 0.7774242162704468, 0.7666234374046326, 0.7540991306304932, 0.7560989856719971, 0.7824168801307678, 0.7576475143432617, 0.7555168867111206, 0.7634483575820923, 0.7738907933235168, 0.7524555921554565, 0.7601214647293091, 0.7653777599334717, 0.7668687105178833, 0.762927234172821, 0.7532830238342285], "cand_trans_speed_all": [0.001796614727936685, 0.002350911032408476, 0.002827764954417944, 0.002173308515921235, 0.002102502388879657, 0.002465026220306754, 0.0016590645536780357, 0.001986805349588394, 0.0018454024102538824, 0.0011933606583625078, 0.00168616883456707, 0.0017770999111235142, 0.0016313057858496904, 0.001449631410650909, 0.0016031361883506179, 0.0017050383612513542, 0.0016169336158782244, 0.0019746399484574795, 0.0023681744933128357, 0.001779177924618125, 0.002161273965612054, 0.0019096394535154104, 0.0032343463972210884, 0.0030679013580083847, 0.001550789806060493, 0.0027007129974663258, 0.0016904015792533755, 0.0015350067988038063, 0.003000577911734581, 0.0017048580339178443, 0.00183659209869802, 0.002627583220601082], "cand_cum_xyz_disp_all": [[-0.00501665472984314, -0.0006061941385269165, 0.003691844642162323], [-0.009836584329605103, -0.0013579726219177246, 0.004445582628250122], [-0.0051752179861068726, 0.0034254491329193115, 0.0030589476227760315], [-0.009344935417175293, 0.0013662278652191162, 0.004292197525501251], [-0.005802243947982788, 0.0024972259998321533, 0.0033512935042381287], [-0.005413264036178589, 0.0006723105907440186, 0.005288399755954742], [-0.004869803786277771, 0.001361563801765442, 0.004603058099746704], [-0.004302024841308594, 0.0008982270956039429, 0.0029961466789245605], [-0.006393656134605408, 0.0013792365789413452, 0.0027324557304382324], [-0.0036524683237075806, -0.0016391873359680176, 0.0019309446215629578], [-0.005880102515220642, 0.0013018399477005005, 0.00221465528011322], [-0.009447544813156128, -1.399219036102295e-05, 0.0036127492785453796], [-0.002903580665588379, 0.0009331107139587402, 0.003364376723766327], [-0.004549771547317505, 0.0018000602722167969, 0.0035497844219207764], [-0.006736248731613159, 0.001166313886642456, 0.004038125276565552], [-0.0036984682083129883, 0.00121307373046875, 0.0034556612372398376], [-0.00508272647857666, 0.0018505007028579712, 0.001577816903591156], [-0.002746373414993286, 0.005432009696960449, 0.002833053469657898], [-0.0077141523361206055, 0.002695232629776001, 0.004797518253326416], [-0.005257755517959595, 0.0009361803531646729, 0.003216750919818878], [-0.007948249578475952, 0.0019748806953430176, 0.0025603249669075012], [-0.003067314624786377, 0.003808721899986267, 0.00348459929227829], [-0.0038501769304275513, 0.0038770586252212524, 0.005394741892814636], [-0.008376121520996094, 0.0038314759731292725, 0.0033067986369132996], [-0.0017108023166656494, 0.0017694532871246338, 0.0055546388030052185], [-0.0058409422636032104, 0.006980910897254944, 0.002816341817378998], [-0.004043892025947571, 0.0006028115749359131, 0.004091225564479828], [-0.005220100283622742, 0.0004425346851348877, 0.003923594951629639], [-0.005053281784057617, 0.003563821315765381, 0.00320424884557724], [-0.004960641264915466, 0.0022117793560028076, 0.005476944148540497], [-0.0036266446113586426, 0.0026001185178756714, 0.0036760643124580383], [-0.0020769834518432617, 0.000379711389541626, 0.002963230013847351]], "cand_final_gripper_all": [1.0, 1.0, 0.9997903108596802, 1.0, 0.9999943375587463, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 0.9997409582138062, 0.9998077154159546, 1.0, 1.0, 0.999873161315918, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 0.9996899366378784, 1.0, 0.9992237091064453, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0], "eef_pos": [0.40294593572616577, -0.043019361793994904, 0.22719058394432068], "cand_action_std": 0.05108385905623436, "cand_pairwise_centroid_dist_mean": 0.46852684020996094, "argmax_act_outlier": 1.0333895683288574, "time_encode_ms": 5.071812076494098, "time_diffusion_ms": 35.93399398960173, "time_q_score_ms": 7.989339996129274, "time_total_ms": 49.680487951263785, "num_action_samples_effective": 32, "q_aggregate": "pair_min"}
+{"chunk_ordinal": 58, "q_min_best": 0.7674068212509155, "q_min_mean": 0.749022901058197, "q_min_std": 0.007271249778568745, "q_min_median": 0.7492972612380981, "chosen_vs_median_q_gap": 0.018109560012817383, "q1_best": 0.7680652737617493, "q2_best": 0.7674068212509155, "v_val": 0.7623410820960999, "advantage": 0.005065739154815674, "best_idx": 21, "q_min_all": [0.7490420341491699, 0.7515621781349182, 0.7496973276138306, 0.7510672807693481, 0.7541628479957581, 0.7348582148551941, 0.7613498568534851, 0.7389917373657227, 0.7470042705535889, 0.7549377679824829, 0.7412947416305542, 0.7538903951644897, 0.748022735118866, 0.7407855987548828, 0.7443665862083435, 0.7458771467208862, 0.740349292755127, 0.7472484111785889, 0.7494444847106934, 0.7504830360412598, 0.751133918762207, 0.7674068212509155, 0.7595040798187256, 0.756597101688385, 0.7492972612380981, 0.7370285987854004, 0.7509514093399048, 0.7470507025718689, 0.7562732696533203, 0.7524099349975586, 0.7381042838096619, 0.748539388179779], "q1_all": [0.7490420341491699, 0.7515621781349182, 0.7496973276138306, 0.7510672807693481, 0.7541628479957581, 0.7348582148551941, 0.7613498568534851, 0.7389917373657227, 0.7556145191192627, 0.7549377679824829, 0.7412947416305542, 0.7538903951644897, 0.748022735118866, 0.7407855987548828, 0.7443665862083435, 0.7458771467208862, 0.740349292755127, 0.7472484111785889, 0.7494444847106934, 0.7504830360412598, 0.751133918762207, 0.7680652737617493, 0.7595040798187256, 0.756597101688385, 0.7492972612380981, 0.7370285987854004, 0.7509514093399048, 0.7470507025718689, 0.7562732696533203, 0.7524099349975586, 0.7381042838096619, 0.748539388179779], "q2_all": [0.7506948113441467, 0.763419508934021, 0.776134729385376, 0.7622200846672058, 0.7610557675361633, 0.7591284513473511, 0.7680579423904419, 0.7633538842201233, 0.7470042705535889, 0.7560895681381226, 0.7485908269882202, 0.7636312246322632, 0.7527961134910583, 0.754970908164978, 0.7553486227989197, 0.7525342106819153, 0.7415095567703247, 0.7555634379386902, 0.7674568891525269, 0.7696478962898254, 0.7633821964263916, 0.7674068212509155, 0.7696282863616943, 0.7603504657745361, 0.7522581815719604, 0.7599912881851196, 0.7553576231002808, 0.770764172077179, 0.7599648237228394, 0.7556195259094238, 0.7441468834877014, 0.7569556832313538], "cand_trans_speed_all": [0.0016262693097814918, 0.0021578953601419926, 0.002063873689621687, 0.0019083234947174788, 0.0014864024706184864, 0.0017355586169287562, 0.0019070811104029417, 0.0020980103872716427, 0.0030994233675301075, 0.002354574389755726, 0.0014879986410960555, 0.0021102442406117916, 0.0016334097599610686, 0.0011612644884735346, 0.003168918192386627, 0.0019555483013391495, 0.0022736061364412308, 0.0027012599166482687, 0.00254254718311131, 0.002200943185016513, 0.0014752940041944385, 0.0018931727390736341, 0.002591379452496767, 0.0016754379030317068, 0.0019311539363116026, 0.0013224392896518111, 0.002205133903771639, 0.0024264866951853037, 0.0017125316662713885, 0.0013494975864887238, 0.0025217467918992043, 0.0022028665989637375], "cand_cum_xyz_disp_all": [[-0.002101197838783264, 0.001163393259048462, 0.0027054697275161743], [-0.004473388195037842, 0.0024784058332443237, 0.0012517869472503662], [-0.002542734146118164, 0.0010103434324264526, 0.0029010996222496033], [-0.005025431513786316, 0.0025850236415863037, 0.003934457898139954], [-0.004403620958328247, 0.001065284013748169, 0.002998135983943939], [-0.0015609115362167358, 0.002227216958999634, 0.0024873390793800354], [-0.006708592176437378, 0.0022215843200683594, 0.003828078508377075], [-0.0020290762186050415, 0.0016427785158157349, 0.003895603120326996], [-0.004171624779701233, 0.003579854965209961, 0.003972113132476807], [-0.008014693856239319, 0.0056466758251190186, 0.003463655710220337], [-0.005926653742790222, 0.001388832926750183, 0.0026997849345207214], [-0.005757153034210205, 0.0013272613286972046, 0.00416778028011322], [-0.005277201533317566, 0.00023706257343292236, 0.0033824369311332703], [-0.004050955176353455, 0.0009820610284805298, 0.004330135881900787], [-0.007535085082054138, 0.0017850995063781738, 0.0013782382011413574], [-0.007122263312339783, 0.0007742047309875488, 0.0012298524379730225], [-0.0033401399850845337, 0.001513361930847168, 0.0032228603959083557], [-0.004908367991447449, 0.002003893256187439, 0.002191193401813507], [-0.011673375964164734, 0.0003437548875808716, 0.003968127071857452], [-0.004057407379150391, 0.004147887229919434, 0.003853410482406616], [-0.005486413836479187, 0.0015094131231307983, 0.002784818410873413], [-0.007883921265602112, 0.0016976147890090942, 0.004861094057559967], [-0.009714335203170776, 0.0035047978162765503, 0.002771325409412384], [-0.006443902850151062, 0.0011454671621322632, 0.0021926313638687134], [-0.008042022585868835, -0.00034114718437194824, 0.0027283132076263428], [-0.004791945219039917, 0.003351733088493347, 0.0034788399934768677], [-0.005621686577796936, 0.003136247396469116, 0.004933871328830719], [-0.007061019539833069, 0.0021440088748931885, 0.0036223381757736206], [-0.007254675030708313, -4.979968070983887e-05, 0.002950616180896759], [-0.006305217742919922, 0.001678556203842163, 0.0025063753128051758], [-0.002284035086631775, 0.0029577910900115967, 0.0017601922154426575], [-0.0036246925592422485, 0.0015456825494766235, 0.003743782639503479]], "cand_final_gripper_all": [1.0, 1.0, 1.0, 1.0, 0.9998159408569336, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 0.9986026287078857, 1.0, 0.9983872175216675, 0.9991430044174194, 0.9999123811721802, 0.9998644590377808, 1.0, 0.9996543526649475, 1.0, 1.0, 1.0, 1.0], "eef_pos": [0.40294867753982544, -0.04326300695538521, 0.22720065712928772], "cand_action_std": 0.055933330208063126, "cand_pairwise_centroid_dist_mean": 0.51780104637146, "argmax_act_outlier": 1.172443151473999, "time_encode_ms": 5.245334003120661, "time_diffusion_ms": 35.95728799700737, "time_q_score_ms": 7.847938919439912, "time_total_ms": 50.004529068246484, "num_action_samples_effective": 32, "q_aggregate": "pair_min"}
+{"chunk_ordinal": 59, "q_min_best": 0.7649475336074829, "q_min_mean": 0.7477869987487793, "q_min_std": 0.007214750628918409, "q_min_median": 0.747978150844574, "chosen_vs_median_q_gap": 0.016969382762908936, "q1_best": 0.7649475336074829, "q2_best": 0.7757818698883057, "v_val": 0.8056939840316772, "advantage": -0.040746450424194336, "best_idx": 16, "q_min_all": [0.7430787086486816, 0.73807692527771, 0.7469797730445862, 0.749535322189331, 0.747978150844574, 0.756494402885437, 0.7588663101196289, 0.7417633533477783, 0.74854576587677, 0.74605393409729, 0.744924008846283, 0.7564455270767212, 0.7395036220550537, 0.7524411678314209, 0.7508478164672852, 0.7524750232696533, 0.7649475336074829, 0.7376883625984192, 0.7387171983718872, 0.7503430843353271, 0.7452363967895508, 0.7541275024414062, 0.7521299123764038, 0.7523934841156006, 0.747643232345581, 0.7484439611434937, 0.7474749684333801, 0.7527000904083252, 0.7301158905029297, 0.7510174512863159, 0.7456419467926025, 0.7365545630455017], "q1_all": [0.7430787086486816, 0.73807692527771, 0.7469797730445862, 0.749535322189331, 0.747978150844574, 0.756494402885437, 0.7588663101196289, 0.7417633533477783, 0.74854576587677, 0.74605393409729, 0.744924008846283, 0.7564455270767212, 0.7395036220550537, 0.7524411678314209, 0.7508478164672852, 0.7524750232696533, 0.7649475336074829, 0.7376883625984192, 0.7387171983718872, 0.7503430843353271, 0.7452363967895508, 0.7541275024414062, 0.7521299123764038, 0.7523934841156006, 0.747643232345581, 0.7484439611434937, 0.7474749684333801, 0.7556667327880859, 0.7301158905029297, 0.7510174512863159, 0.7456419467926025, 0.7365545630455017], "q2_all": [0.7504584193229675, 0.7626433968544006, 0.7563453316688538, 0.7632970213890076, 0.7692796587944031, 0.7764098048210144, 0.7733534574508667, 0.7620773911476135, 0.7496473789215088, 0.7692762613296509, 0.7509128451347351, 0.7799530029296875, 0.7520804405212402, 0.77496337890625, 0.7722513675689697, 0.7616087198257446, 0.7757818698883057, 0.7558408975601196, 0.7586308121681213, 0.7622544169425964, 0.7637907862663269, 0.7650352120399475, 0.7612209320068359, 0.7583751678466797, 0.7608276605606079, 0.7508016228675842, 0.7608205080032349, 0.7527000904083252, 0.7522784471511841, 0.7667431235313416, 0.7559617757797241, 0.7455414533615112], "cand_trans_speed_all": [0.0020219488069415092, 0.001716737519018352, 0.0019323749002069235, 0.002321128500625491, 0.0018227859400212765, 0.0032777346204966307, 0.0015800574328750372, 0.0018376363441348076, 0.003312989603728056, 0.0032923079561442137, 0.0023811068385839462, 0.0015166172524914145, 0.0017867217538878322, 0.0015510227531194687, 0.0013225977309048176, 0.0018626110395416617, 0.0019813915714621544, 0.0013943429803475738, 0.0017457453068345785, 0.0019222733099013567, 0.001242615981027484, 0.0015500811859965324, 0.0015756883658468723, 0.002168074017390609, 0.0018598195165395737, 0.002161851152777672, 0.0017085156869143248, 0.0025272881612181664, 0.001832905225455761, 0.0017916805809363723, 0.0018662810325622559, 0.001144033158197999], "cand_cum_xyz_disp_all": [[-0.0041733235120773315, 0.0006541311740875244, 0.0029095858335494995], [-0.006283015012741089, 0.00325833261013031, 0.0033199936151504517], [-0.005271732807159424, 0.0023134201765060425, 0.00454142689704895], [-0.007261186838150024, 0.001201927661895752, 0.004011973738670349], [-0.0064283013343811035, 0.0019030123949050903, 0.002854354679584503], [-0.001092657446861267, 0.002315804362297058, 0.004026986658573151], [-0.004999712109565735, 0.001498594880104065, 0.004494324326515198], [-0.00048413872718811035, 0.0016610771417617798, 0.0012517422437667847], [-0.0069170743227005005, 0.001094728708267212, 0.003985293209552765], [-0.002436220645904541, 0.0036074668169021606, 0.005551852285861969], [-0.0028931647539138794, 0.0030878037214279175, 0.0030375197529792786], [-0.0031135380268096924, 0.0035401731729507446, 0.003747411072254181], [-0.004102110862731934, 0.0017803609371185303, 0.001562170684337616], [-0.005727648735046387, 0.0025637447834014893, 0.004379883408546448], [-0.002913549542427063, 0.002654626965522766, 0.0027762651443481445], [-0.008273184299468994, 0.00020563602447509766, 0.0034720152616500854], [-0.006458967924118042, 0.0027443021535873413, 0.004269786179065704], [-0.003416880965232849, 0.0008926689624786377, 0.0022544413805007935], [-0.003450065851211548, 0.0016018152236938477, 0.0034570395946502686], [-0.005219504237174988, 0.0025633275508880615, 0.0038124844431877136], [-0.00605696439743042, 0.0010848194360733032, 0.0025059208273887634], [-0.003074273467063904, 0.0013075023889541626, 0.0029934197664260864], [-0.003344893455505371, 0.0013724565505981445, 0.004480920732021332], [-0.006953626871109009, 0.0012539029121398926, 0.002546951174736023], [-0.006113305687904358, 0.0022503137588500977, 0.00415339320898056], [-0.006681591272354126, -0.00012792646884918213, 0.0012529268860816956], [-0.006985381245613098, 0.0003105849027633667, 0.00421074777841568], [-0.004720449447631836, 0.0027081668376922607, 0.0030726268887519836], [-0.004283636808395386, -0.0010476261377334595, 0.0023815855383872986], [-0.0062776654958724976, 0.003268912434577942, 0.0026883482933044434], [-0.006648451089859009, 0.0016297996044158936, 0.0022812485694885254], [-0.0035673975944519043, 0.0001396387815475464, 0.002418801188468933]], "cand_final_gripper_all": [1.0, 0.999747633934021, 1.0, 1.0, 0.9994490146636963, 0.9990553855895996, 1.0, 1.0, 0.9993099570274353, 0.9997730851173401, 0.9997119307518005, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 0.9982648491859436, 0.9996058940887451, 1.0, 1.0, 0.9994526505470276, 1.0, 0.9997831583023071, 1.0, 0.9993146657943726, 0.9995315074920654, 0.9989240169525146, 1.0, 1.0, 1.0, 1.0], "eef_pos": [0.4029258191585541, -0.04342574626207352, 0.22715607285499573], "cand_action_std": 0.047497306019067764, "cand_pairwise_centroid_dist_mean": 0.44288450479507446, "argmax_act_outlier": 0.8270462155342102, "time_encode_ms": 5.263977916911244, "time_diffusion_ms": 35.98239389248192, "time_q_score_ms": 7.750558201223612, "time_total_ms": 49.74578903056681, "num_action_samples_effective": 32, "q_aggregate": "pair_min"}
+{"chunk_ordinal": 60, "q_min_best": 0.7678037881851196, "q_min_mean": 0.7542498111724854, "q_min_std": 0.007071430794894695, "q_min_median": 0.7540744543075562, "chosen_vs_median_q_gap": 0.013729333877563477, "q1_best": 0.7678037881851196, "q2_best": 0.7805212140083313, "v_val": 0.7502459287643433, "advantage": 0.017557859420776367, "best_idx": 7, "q_min_all": [0.7628992795944214, 0.7455011010169983, 0.751466691493988, 0.7556554079055786, 0.7569200992584229, 0.7517170906066895, 0.7492941617965698, 0.7678037881851196, 0.7502068877220154, 0.7617728114128113, 0.7476440072059631, 0.7449710965156555, 0.7603568434715271, 0.7505731582641602, 0.7480607032775879, 0.7394567728042603, 0.7613222002983093, 0.7579036951065063, 0.7607618570327759, 0.7631151676177979, 0.7477401494979858, 0.7554738521575928, 0.7558876276016235, 0.7632278203964233, 0.7469785213470459, 0.7542585134506226, 0.7449511289596558, 0.74684077501297, 0.7603908777236938, 0.7540744543075562, 0.7538866400718689, 0.7648804187774658], "q1_all": [0.7811565399169922, 0.7455011010169983, 0.751466691493988, 0.7556554079055786, 0.7569200992584229, 0.7517170906066895, 0.7492941617965698, 0.7678037881851196, 0.7502068877220154, 0.7617728114128113, 0.7476440072059631, 0.7449710965156555, 0.7603568434715271, 0.7505731582641602, 0.7480607032775879, 0.7394567728042603, 0.7613222002983093, 0.7579036951065063, 0.7607618570327759, 0.7631151676177979, 0.7477401494979858, 0.7554738521575928, 0.7558876276016235, 0.7632278203964233, 0.7469785213470459, 0.7542585134506226, 0.7449511289596558, 0.74684077501297, 0.7603908777236938, 0.7540744543075562, 0.7538866400718689, 0.7648804187774658], "q2_all": [0.7628992795944214, 0.7605120539665222, 0.7663388848304749, 0.7608457803726196, 0.7771037817001343, 0.7593479156494141, 0.7579200267791748, 0.7805212140083313, 0.7735841274261475, 0.7807060480117798, 0.764309287071228, 0.7577413320541382, 0.778093159198761, 0.762986421585083, 0.7705188989639282, 0.7657188177108765, 0.7722110748291016, 0.7711936235427856, 0.7639870643615723, 0.7831730842590332, 0.7570393085479736, 0.7776134014129639, 0.7776792645454407, 0.7755627632141113, 0.7674168348312378, 0.7714823484420776, 0.7665624022483826, 0.7720624804496765, 0.7788966298103333, 0.7556726336479187, 0.7674400210380554, 0.7765296697616577], "cand_trans_speed_all": [0.0033518436830490828, 0.002017824910581112, 0.001655680127441883, 0.0016137202037498355, 0.0016960275825113058, 0.001515133772045374, 0.0012279537040740252, 0.0020727491937577724, 0.001748881652019918, 0.002418053336441517, 0.00142939412035048, 0.0013372632674872875, 0.0016991103766486049, 0.0018539067823439837, 0.0013637533411383629, 0.0011391055304557085, 0.00142715685069561, 0.0023507634177803993, 0.0016401296015828848, 0.002497917739674449, 0.0020594813395291567, 0.0019300838466733694, 0.0015335530042648315, 0.002240006346255541, 0.0017924223793670535, 0.0015066334744915366, 0.0017548005562275648, 0.001896540867164731, 0.001346286735497415, 0.0022326787002384663, 0.0023700427263975143, 0.001561255194246769], "cand_cum_xyz_disp_all": [[-0.008734285831451416, -0.0015908628702163696, 0.004262574017047882], [-0.002804487943649292, 0.002592042088508606, 0.0034181252121925354], [-0.004279226064682007, 0.001347556710243225, 0.0029015764594078064], [-0.005838111042976379, 0.0023369789123535156, 0.001590438187122345], [-0.00403459370136261, 0.004638001322746277, 0.0012330785393714905], [-0.004359319806098938, 0.0024995803833007812, 0.0016462579369544983], [-0.002205595374107361, 0.0018269121646881104, 0.0012057498097419739], [-0.005258321762084961, 0.0030131489038467407, 0.003510087728500366], [-0.0030713677406311035, 0.001985400915145874, 0.0029677599668502808], [-0.005880832672119141, 0.0004958957433700562, 0.003054015338420868], [-0.002879902720451355, 0.002995505928993225, 0.0029516369104385376], [-0.0025132447481155396, 0.0019559860229492188, 0.0036385059356689453], [-0.0023344308137893677, 0.0017117410898208618, 0.0036889314651489258], [-0.005428522825241089, 0.0017128437757492065, 0.0022169575095176697], [-0.0030590593814849854, 0.002205103635787964, 0.003853544592857361], [-0.002413645386695862, 0.002282187342643738, 0.0010263100266456604], [-0.0035912394523620605, 0.0026955604553222656, 0.0030525177717208862], [-0.005841746926307678, 0.0019194930791854858, 0.00518905371427536], [-0.007671266794204712, 0.0026291608810424805, 0.0026011690497398376], [-0.009861007332801819, -0.004261389374732971, 0.00213535875082016], [-0.006845027208328247, 0.0012284964323043823, 0.0031695887446403503], [-0.004048928618431091, 0.00192241370677948, 0.004144713282585144], [-0.007351726293563843, 0.002457544207572937, 0.0032565444707870483], [-0.005684003233909607, 0.0006527453660964966, 0.004490666091442108], [-0.0023884177207946777, 0.003490760922431946, 0.0026441365480422974], [-0.00521203875541687, 0.0035062283277511597, 0.002848483622074127], [-0.005951642990112305, 0.0015444755554199219, 0.0009686872363090515], [-0.0028357207775115967, 0.002522885799407959, 0.0026656314730644226], [-0.003984794020652771, 0.0028385519981384277, 0.004089288413524628], [-0.006891041994094849, 0.0016043782234191895, 0.002674877643585205], [-0.007026746869087219, 0.002456873655319214, 0.0016281232237815857], [-0.0035770833492279053, 0.0019137859344482422, 0.004186458885669708]], "cand_final_gripper_all": [0.9997564554214478, 1.0, 0.9995497465133667, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 0.9996123313903809, 1.0, 0.999963641166687, 0.9999931454658508, 1.0, 1.0, 1.0, 0.9994739294052124, 1.0, 0.9992413520812988, 1.0, 1.0, 0.999963641166687, 1.0, 1.0, 0.9997665882110596, 1.0, 0.9996605515480042, 1.0, 0.9990394115447998], "eef_pos": [0.40292686223983765, -0.043445441871881485, 0.22715991735458374], "cand_action_std": 0.05155235528945923, "cand_pairwise_centroid_dist_mean": 0.47112107276916504, "argmax_act_outlier": 1.233284592628479, "time_encode_ms": 5.987619981169701, "time_diffusion_ms": 36.116252886131406, "time_q_score_ms": 7.722965907305479, "time_total_ms": 50.64806109294295, "num_action_samples_effective": 32, "q_aggregate": "pair_min"}
+{"chunk_ordinal": 61, "q_min_best": 0.7679625749588013, "q_min_mean": 0.7529459595680237, "q_min_std": 0.007528752088546753, "q_min_median": 0.7523791790008545, "chosen_vs_median_q_gap": 0.015583395957946777, "q1_best": 0.7679625749588013, "q2_best": 0.7929024696350098, "v_val": 0.7787859439849854, "advantage": -0.010823369026184082, "best_idx": 29, "q_min_all": [0.7615501880645752, 0.7470722198486328, 0.74535071849823, 0.7551494836807251, 0.7589924335479736, 0.7579795122146606, 0.7425866723060608, 0.7617381811141968, 0.7417539954185486, 0.7510405778884888, 0.7663305997848511, 0.7525187730789185, 0.7478795647621155, 0.763120174407959, 0.7543227672576904, 0.7616469860076904, 0.7455539703369141, 0.7600828409194946, 0.7523791790008545, 0.7345348596572876, 0.7499580979347229, 0.7497038841247559, 0.7513925433158875, 0.746332049369812, 0.7563852667808533, 0.7542908787727356, 0.75226891040802, 0.7525985240936279, 0.7486051917076111, 0.7679625749588013, 0.7465022206306458, 0.7566882371902466], "q1_all": [0.7615501880645752, 0.7470722198486328, 0.74535071849823, 0.7595857381820679, 0.7589924335479736, 0.763530969619751, 0.7425866723060608, 0.7617381811141968, 0.7417539954185486, 0.7510405778884888, 0.7663305997848511, 0.7525187730789185, 0.7521861791610718, 0.763120174407959, 0.7543227672576904, 0.7643253207206726, 0.7455539703369141, 0.7600828409194946, 0.7523791790008545, 0.7345348596572876, 0.7602860927581787, 0.7497038841247559, 0.7513925433158875, 0.746332049369812, 0.7563852667808533, 0.7542908787727356, 0.75226891040802, 0.7525985240936279, 0.7486051917076111, 0.7679625749588013, 0.7465022206306458, 0.7566882371902466], "q2_all": [0.7618281841278076, 0.7553194761276245, 0.7655513286590576, 0.7551494836807251, 0.7628693580627441, 0.7579795122146606, 0.7552351951599121, 0.7730234861373901, 0.7609071731567383, 0.7625808119773865, 0.7728642821311951, 0.7709301710128784, 0.7478795647621155, 0.7707165479660034, 0.7726764678955078, 0.7616469860076904, 0.7491199970245361, 0.7637039422988892, 0.769719660282135, 0.7714278697967529, 0.7499580979347229, 0.7638211846351624, 0.7709502577781677, 0.7567501068115234, 0.778859555721283, 0.7567451000213623, 0.758182942867279, 0.7737676501274109, 0.7636539340019226, 0.7929024696350098, 0.7638972997665405, 0.76640784740448], "cand_trans_speed_all": [0.0021216487511992455, 0.002103762701153755, 0.001928612357005477, 0.0018314728513360023, 0.0018494788091629744, 0.0017914779018610716, 0.0010550515726208687, 0.002286452567204833, 0.0016586845740675926, 0.0021045375615358353, 0.0017467959551140666, 0.001799049787223339, 0.001976660918444395, 0.002487196121364832, 0.001438441569916904, 0.0018837058451026678, 0.002015705918893218, 0.0018105367198586464, 0.0021741108503192663, 0.002175882225856185, 0.0016910466365516186, 0.0017073587514460087, 0.002505507320165634, 0.002077870536595583, 0.002212061546742916, 0.0018850145861506462, 0.0018593482673168182, 0.0015082485042512417, 0.0021837595850229263, 0.002880475949496031, 0.002445851918309927, 0.0017480358947068453], "cand_cum_xyz_disp_all": [[-0.005444943904876709, 0.001579776406288147, 0.0035610124468803406], [-0.0026240944862365723, 0.002267882227897644, 0.002567976713180542], [-0.007642269134521484, 0.0015577971935272217, 0.004717610776424408], [-0.007034733891487122, 0.0018008500337600708, 0.003083936870098114], [-0.0056879520416259766, 0.0022857189178466797, 0.0009045228362083435], [-0.0065780580043792725, 0.0021589994430541992, 0.0036093443632125854], [-0.003133445978164673, 0.001003161072731018, -0.00044102221727371216], [-0.005802914500236511, 0.0012878179550170898, 0.003357917070388794], [-0.004617378115653992, 0.0017310380935668945, 0.0010808706283569336], [-0.006132856011390686, 0.0016766190528869629, 0.0038148686289787292], [-0.004092231392860413, 0.0025244951248168945, 0.0044765472412109375], [-0.005024448037147522, 0.0031338632106781006, 0.002203434705734253], [-0.00433756411075592, -0.0002709031105041504, 0.0013505741953849792], [-0.006431683897972107, 0.004149794578552246, 0.0029392018914222717], [-0.0046431273221969604, 0.0023743808269500732, 0.003164626657962799], [-0.007601633667945862, 0.000519976019859314, 0.001248091459274292], [-0.0015819817781448364, 0.0021717995405197144, 0.0031804069876670837], [-0.004098758101463318, 0.0021954774856567383, 0.0036899223923683167], [-0.005859673023223877, 0.0027251839637756348, 0.0020351409912109375], [-0.005877405405044556, 0.0043586790561676025, 0.0020522326231002808], [-0.0064713358879089355, 0.00012829899787902832, 0.002561323344707489], [-0.004505664110183716, 0.003319978713989258, 0.0014775991439819336], [-0.004063650965690613, 0.003712296485900879, 0.002587750554084778], [-0.005838677287101746, 0.0009758174419403076, 0.0023956969380378723], [-0.002656295895576477, 0.004022717475891113, 0.0031718388199806213], [-0.005963578820228577, 0.002257734537124634, 0.0033745169639587402], [-0.008858546614646912, -0.0016497671604156494, 0.00322868674993515], [-0.0040977150201797485, 0.003305390477180481, 0.0016198381781578064], [-0.003650575876235962, 0.0023505091667175293, 0.0031902939081192017], [-0.009276986122131348, 0.004813745617866516, 0.0033423006534576416], [-0.002239540219306946, 0.004768475890159607, 0.0023367181420326233], [-0.005679607391357422, 0.0017668157815933228, 0.0042479634284973145]], "cand_final_gripper_all": [1.0, 0.9994308352470398, 1.0, 0.9985442757606506, 1.0, 1.0, 1.0, 1.0, 0.9994094371795654, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 0.9991722702980042, 1.0, 0.9999337196350098, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 0.9998936057090759, 1.0, 1.0, 1.0, 0.9999853372573853, 1.0, 0.9991652965545654, 0.9985522627830505], "eef_pos": [0.4029276669025421, -0.04347161576151848, 0.22715650498867035], "cand_action_std": 0.05030222237110138, "cand_pairwise_centroid_dist_mean": 0.45716238021850586, "argmax_act_outlier": 2.236175298690796, "time_encode_ms": 4.997344920411706, "time_diffusion_ms": 36.239781184121966, "time_q_score_ms": 8.102149935439229, "time_total_ms": 50.306818913668394, "num_action_samples_effective": 32, "q_aggregate": "pair_min"}
+{"chunk_ordinal": 62, "q_min_best": 0.7540008425712585, "q_min_mean": 0.7381751537322998, "q_min_std": 0.007689199410378933, "q_min_median": 0.7364392876625061, "chosen_vs_median_q_gap": 0.01756155490875244, "q1_best": 0.7540008425712585, "q2_best": 0.7660377621650696, "v_val": 0.7600444555282593, "advantage": -0.006043612957000732, "best_idx": 17, "q_min_all": [0.7354140281677246, 0.7356574535369873, 0.7388358116149902, 0.7457287907600403, 0.733369767665863, 0.7423919439315796, 0.7364392876625061, 0.7399681806564331, 0.7323686480522156, 0.7442069053649902, 0.7481977939605713, 0.7499625086784363, 0.7455953359603882, 0.7451207041740417, 0.7420653104782104, 0.7357879281044006, 0.7337907552719116, 0.7540008425712585, 0.7255452871322632, 0.729813814163208, 0.7297661304473877, 0.7505890130996704, 0.7300135493278503, 0.7345730662345886, 0.7397251129150391, 0.7394882440567017, 0.7213079929351807, 0.7345556020736694, 0.7447011470794678, 0.7396888732910156, 0.7359723448753357, 0.7269638776779175], "q1_all": [0.7354140281677246, 0.7356574535369873, 0.7388358116149902, 0.7457287907600403, 0.733369767665863, 0.7423919439315796, 0.7364392876625061, 0.7399681806564331, 0.7323686480522156, 0.7442069053649902, 0.7481977939605713, 0.7499625086784363, 0.7455953359603882, 0.7451207041740417, 0.7420653104782104, 0.7357879281044006, 0.7337907552719116, 0.7540008425712585, 0.7255452871322632, 0.729813814163208, 0.7297661304473877, 0.7505890130996704, 0.7300135493278503, 0.7345730662345886, 0.7397251129150391, 0.7394882440567017, 0.7213079929351807, 0.7345556020736694, 0.7447011470794678, 0.7396888732910156, 0.7359723448753357, 0.7269638776779175], "q2_all": [0.7613750696182251, 0.7513141632080078, 0.7548685073852539, 0.7589746713638306, 0.75493323802948, 0.7706475257873535, 0.7708884477615356, 0.7516362071037292, 0.7458981275558472, 0.7592238783836365, 0.7591260671615601, 0.7649380564689636, 0.7733246088027954, 0.7593734264373779, 0.7525462508201599, 0.752719521522522, 0.7627164125442505, 0.7660377621650696, 0.7424482703208923, 0.7662657499313354, 0.7520325183868408, 0.7572437524795532, 0.762500524520874, 0.7534065246582031, 0.7618066072463989, 0.7634351253509521, 0.7445518970489502, 0.7587484121322632, 0.7771731019020081, 0.7461248636245728, 0.7554302215576172, 0.7292877435684204], "cand_trans_speed_all": [0.0018365330761298537, 0.002395955380052328, 0.0017841588705778122, 0.0014238122384995222, 0.0019686908926814795, 0.0012422652216628194, 0.002510867780074477, 0.0017202006420120597, 0.002219046466052532, 0.0017344568623229861, 0.0015107551589608192, 0.0022793172392994165, 0.001994056161493063, 0.0011111791245639324, 0.001717884442768991, 0.002090008929371834, 0.0024660727940499783, 0.0015362915582954884, 0.0017426920821890235, 0.0017731355037540197, 0.0014082896523177624, 0.001808062894269824, 0.001682827016338706, 0.0013661780394613743, 0.0028273649513721466, 0.0021166549995541573, 0.002538743894547224, 0.002288371091708541, 0.0016914540901780128, 0.0028143860399723053, 0.0021637387108057737, 0.0027702567167580128], "cand_cum_xyz_disp_all": [[-0.006015405058860779, 0.002344682812690735, 0.0019393563270568848], [-0.005374044179916382, 0.0016992241144180298, 0.0020133182406425476], [-0.0050321221351623535, 0.0010539740324020386, 0.0023294612765312195], [-0.00594310462474823, 0.0016571134328842163, 0.0016226470470428467], [-0.005007937550544739, 0.0019027143716812134, 0.0038386955857276917], [-0.0046539306640625, 0.0012899190187454224, 0.003030627965927124], [-0.004704087972640991, 0.0035150647163391113, 0.0034964457154273987], [-0.0022593438625335693, 0.00018109381198883057, 0.002455413341522217], [-0.007343843579292297, 0.0006649941205978394, 0.0038740113377571106], [-0.008204787969589233, 0.002392485737800598, 0.003671318292617798], [-0.005340203642845154, -0.0019290149211883545, 0.002924792468547821], [-0.005782216787338257, 0.00379297137260437, 0.005657784640789032], [-0.006557077169418335, 0.0023865848779678345, 0.006186574697494507], [-0.004246622323989868, 0.002653777599334717, 0.0026976987719535828], [-0.005282953381538391, 0.0012812167406082153, 0.0036515817046165466], [-0.003785073757171631, 0.0022252947092056274, 0.003347933292388916], [-0.007339790463447571, 0.0010956674814224243, 0.0037129446864128113], [-0.006551533937454224, 0.000393599271774292, 0.0031441375613212585], [-0.004233524203300476, -4.073977470397949e-05, 0.000332854688167572], [-0.005570322275161743, 0.002110809087753296, 0.002406977117061615], [-0.0055809468030929565, 0.000605270266532898, 0.003684699535369873], [-0.004494830965995789, 0.0017787963151931763, 0.003148026764392853], [-0.003787890076637268, 0.004310548305511475, 0.0014932677149772644], [-0.0020480751991271973, 0.0017112791538238525, 0.0020680949091911316], [-0.005729079246520996, 0.0014566034078598022, 0.0010280609130859375], [-0.0026126056909561157, 0.003480374813079834, 0.004189878702163696], [-0.004688233137130737, 0.005381345748901367, 0.0005292296409606934], [-0.006195202469825745, 0.002295196056365967, 0.0035803988575935364], [-0.00451776385307312, 0.004549890756607056, 0.002191215753555298], [-0.005770161747932434, 0.0032769441604614258, 0.00531267374753952], [-0.0061501264572143555, 0.0014037489891052246, 0.003502950072288513], [-0.003966823220252991, 0.0036918967962265015, 0.0018435567617416382]], "cand_final_gripper_all": [0.9998443126678467, 1.0, 1.0, 1.0, 1.0, 1.0, 0.9995808601379395, 1.0, 1.0, 1.0, 1.0, 0.9999181032180786, 0.9992008209228516, 1.0, 0.9998650550842285, 1.0, 0.9997462630271912, 1.0, 1.0, 0.9988721609115601, 1.0, 0.999767005443573, 0.9993245005607605, 1.0, 0.998927116394043, 1.0, 1.0, 1.0, 1.0, 1.0, 0.9993453025817871, 1.0], "eef_pos": [0.4030925929546356, -0.043715182691812515, 0.22728006541728973], "cand_action_std": 0.050394657999277115, "cand_pairwise_centroid_dist_mean": 0.45898622274398804, "argmax_act_outlier": 1.2746471166610718, "time_encode_ms": 5.395543063059449, "time_diffusion_ms": 36.07063787057996, "time_q_score_ms": 7.783900015056133, "time_total_ms": 49.945378908887506, "num_action_samples_effective": 32, "q_aggregate": "pair_min"}
+{"chunk_ordinal": 63, "q_min_best": 0.7762616872787476, "q_min_mean": 0.7524557113647461, "q_min_std": 0.009555112570524216, "q_min_median": 0.7501702308654785, "chosen_vs_median_q_gap": 0.026091456413269043, "q1_best": 0.7762616872787476, "q2_best": 0.7901242971420288, "v_val": 0.760331928730011, "advantage": 0.015929758548736572, "best_idx": 25, "q_min_all": [0.7437672019004822, 0.754289448261261, 0.7448261976242065, 0.7509130835533142, 0.7534040808677673, 0.7477396726608276, 0.7501327395439148, 0.7557379603385925, 0.7601550817489624, 0.7501702308654785, 0.7451393604278564, 0.7643759250640869, 0.747321367263794, 0.7418116927146912, 0.7751737236976624, 0.7480911016464233, 0.76764976978302, 0.7537325620651245, 0.7635769844055176, 0.7508057355880737, 0.7490665912628174, 0.749839186668396, 0.7368276715278625, 0.7595882415771484, 0.7606567144393921, 0.7762616872787476, 0.7512881755828857, 0.7411388754844666, 0.7431460618972778, 0.7420501112937927, 0.7438952922821045, 0.7560105919837952], "q1_all": [0.7437672019004822, 0.754289448261261, 0.7448261976242065, 0.7509130835533142, 0.7534040808677673, 0.7477396726608276, 0.7501327395439148, 0.7557379603385925, 0.7601550817489624, 0.7501702308654785, 0.7451393604278564, 0.7643759250640869, 0.747321367263794, 0.7418116927146912, 0.7751737236976624, 0.7480911016464233, 0.76764976978302, 0.7537325620651245, 0.7635769844055176, 0.7508057355880737, 0.7490665912628174, 0.749839186668396, 0.7368276715278625, 0.7595882415771484, 0.7606567144393921, 0.7762616872787476, 0.7512881755828857, 0.7411388754844666, 0.7431460618972778, 0.7420501112937927, 0.7438952922821045, 0.7560105919837952], "q2_all": [0.7738269567489624, 0.7751027345657349, 0.7732607126235962, 0.7714885473251343, 0.7708870768547058, 0.7812625169754028, 0.7682412266731262, 0.7783859372138977, 0.7695965766906738, 0.7812994718551636, 0.7673163414001465, 0.7665547728538513, 0.777607798576355, 0.7666565179824829, 0.798772394657135, 0.7576165199279785, 0.7884904146194458, 0.7676241993904114, 0.7713052034378052, 0.7663089036941528, 0.7696186304092407, 0.7799054384231567, 0.7437037229537964, 0.7814062833786011, 0.7841481566429138, 0.7901242971420288, 0.7695333957672119, 0.758156418800354, 0.7696821093559265, 0.7519551515579224, 0.7641689777374268, 0.7730859518051147], "cand_trans_speed_all": [0.0017688635271042585, 0.0018499598372727633, 0.0022415274288505316, 0.0017860778607428074, 0.0020879493094980717, 0.0016072755679488182, 0.0016924947267398238, 0.0020318012684583664, 0.0029581584967672825, 0.0020400516223162413, 0.0024193793069571257, 0.0015634306473657489, 0.0014033366460353136, 0.002091701840981841, 0.002590011805295944, 0.0011292443377897143, 0.0014419736107811332, 0.002030026400461793, 0.0018549225060269237, 0.0015732956817373633, 0.0014582970179617405, 0.0016038657631725073, 0.0027887672185897827, 0.001476929523050785, 0.0020224943291395903, 0.0021516061387956142, 0.0013859238242730498, 0.0018955781124532223, 0.0038662347942590714, 0.0026522648986428976, 0.0018195004668086767, 0.0025842152535915375], "cand_cum_xyz_disp_all": [[-0.0040445476770401, 0.0020561814308166504, 0.0013358071446418762], [-0.0044557154178619385, 0.004481688141822815, 0.002645522356033325], [-0.0056259483098983765, 7.899105548858643e-05, 0.0038619711995124817], [-0.0032206177711486816, 0.002025097608566284, 0.0018389970064163208], [-0.003696814179420471, 0.003699392080307007, 0.002316683530807495], [-0.00211527943611145, 0.0015409886837005615, 0.001916341483592987], [-0.0030442625284194946, 0.0010032802820205688, 0.0037734434008598328], [-0.005547687411308289, 0.00046819448471069336, 0.003157392144203186], [-0.0097493976354599, 0.0021465569734573364, 0.0021880194544792175], [-0.004079163074493408, 0.003574267029762268, 0.0019456297159194946], [-0.005018338561058044, 0.0010734349489212036, 0.003285713493824005], [-0.003764510154724121, 0.001918405294418335, 0.003466285765171051], [-0.004701301455497742, 0.0015737712383270264, 0.0020011886954307556], [-0.004103943705558777, 0.0029013901948928833, 0.0006504133343696594], [-0.008099228143692017, 0.00324191153049469, 0.0042169466614723206], [-0.0047114938497543335, 0.0015389323234558105, 0.0026278719305992126], [-0.006023094058036804, 0.0026786327362060547, 0.0016430392861366272], [-0.005924627184867859, 0.0021766871213912964, 0.001237340271472931], [-0.006254523992538452, 7.450580596923828e-07, 0.003645092248916626], [-0.004596441984176636, 4.9740076065063477e-05, 0.0030222460627555847], [-0.003782615065574646, -0.00021913647651672363, 0.0012715011835098267], [-0.0038152188062667847, -0.0013131499290466309, 0.000814490020275116], [-0.003503143787384033, 0.0035367757081985474, 0.00011160224676132202], [-0.0063101500272750854, -0.0009944289922714233, 0.001249164342880249], [-0.008905738592147827, -0.0009300112724304199, 0.0020632073283195496], [-0.007992461323738098, 0.0023784488439559937, 0.004945568740367889], [-0.0016338825225830078, 0.00021027028560638428, 0.0025866925716400146], [-0.003627002239227295, 0.004443839192390442, 0.00018563121557235718], [-0.002938315272331238, 0.0015276521444320679, 0.0029608160257339478], [-0.0033607035875320435, 0.003932461142539978, 0.0018297135829925537], [-0.002527490258216858, 0.0030671805143356323, 0.003229781985282898], [-0.006899416446685791, 0.0019429922103881836, 0.003409244120121002]], "cand_final_gripper_all": [1.0, 1.0, 0.9999434947967529, 1.0, 1.0, 1.0, 0.9999451637268066, 1.0, 1.0, 1.0, 1.0, 0.9996484518051147, 1.0, 1.0, 0.9999589920043945, 1.0, 1.0, 0.9999597072601318, 1.0, 0.9999721050262451, 1.0, 1.0, 0.9991570711135864, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0], "eef_pos": [0.40319156646728516, -0.04487325996160507, 0.22745251655578613], "cand_action_std": 0.05244887247681618, "cand_pairwise_centroid_dist_mean": 0.5045007467269897, "argmax_act_outlier": 1.3847087621688843, "time_encode_ms": 4.961648024618626, "time_diffusion_ms": 36.17347893305123, "time_q_score_ms": 7.88519810885191, "time_total_ms": 49.827451119199395, "num_action_samples_effective": 32, "q_aggregate": "pair_min"}
+{"chunk_ordinal": 64, "q_min_best": 0.7572132349014282, "q_min_mean": 0.7390846014022827, "q_min_std": 0.008327006362378597, "q_min_median": 0.7360621690750122, "chosen_vs_median_q_gap": 0.021151065826416016, "q1_best": 0.7572132349014282, "q2_best": 0.7797489762306213, "v_val": 0.7470489144325256, "advantage": 0.010164320468902588, "best_idx": 17, "q_min_all": [0.7360533475875854, 0.740532398223877, 0.7489699721336365, 0.7431083917617798, 0.7537604570388794, 0.7416864633560181, 0.7341670989990234, 0.7333746552467346, 0.7296197414398193, 0.7390773296356201, 0.7225407958030701, 0.732516348361969, 0.7360621690750122, 0.7336546778678894, 0.73369300365448, 0.731753945350647, 0.754352867603302, 0.7572132349014282, 0.7324061393737793, 0.7404108047485352, 0.7337290048599243, 0.7339670658111572, 0.7462517619132996, 0.7475483417510986, 0.7426593899726868, 0.7318843603134155, 0.7286959886550903, 0.7471818923950195, 0.7303361892700195, 0.7465073466300964, 0.7401139736175537, 0.7468768954277039], "q1_all": [0.7360533475875854, 0.740532398223877, 0.7489699721336365, 0.7431083917617798, 0.7537604570388794, 0.7416864633560181, 0.7341670989990234, 0.7333746552467346, 0.7296197414398193, 0.7390773296356201, 0.7225407958030701, 0.732516348361969, 0.7360621690750122, 0.7336546778678894, 0.73369300365448, 0.731753945350647, 0.754352867603302, 0.7572132349014282, 0.7324061393737793, 0.7404108047485352, 0.7337290048599243, 0.7339670658111572, 0.7462517619132996, 0.7475483417510986, 0.7426593899726868, 0.7318843603134155, 0.7286959886550903, 0.7471818923950195, 0.7303361892700195, 0.7465073466300964, 0.7401139736175537, 0.7468768954277039], "q2_all": [0.7820246815681458, 0.7780718803405762, 0.766014814376831, 0.77120441198349, 0.7838835716247559, 0.7753500938415527, 0.7688424587249756, 0.763161838054657, 0.775826632976532, 0.7769906520843506, 0.7654343843460083, 0.7684589624404907, 0.7771639227867126, 0.7660231590270996, 0.7810723781585693, 0.7595266103744507, 0.7850935459136963, 0.7797489762306213, 0.7657411098480225, 0.7765359282493591, 0.7778165340423584, 0.7699916958808899, 0.7685582637786865, 0.7846173644065857, 0.7780529260635376, 0.7604163885116577, 0.7776471972465515, 0.7706108093261719, 0.7654831409454346, 0.7785992622375488, 0.7815929055213928, 0.772002100944519], "cand_trans_speed_all": [0.001827580388635397, 0.0035341798793524504, 0.0021963566541671753, 0.0017950147157534957, 0.002143723424524069, 0.0016780270962044597, 0.0012830011546611786, 0.0014750685077160597, 0.0028719452675431967, 0.0017507472075521946, 0.00230505783110857, 0.002611591247841716, 0.001976385246962309, 0.0019660484977066517, 0.002100412268191576, 0.002303434070199728, 0.0017982770223170519, 0.0016608521109446883, 0.0015667788684368134, 0.0023698564618825912, 0.0014886766439303756, 0.0016551483422517776, 0.002055924152955413, 0.0016794856637716293, 0.0020120497792959213, 0.0010948500130325556, 0.002868461888283491, 0.0017957076197490096, 0.001601525815203786, 0.00195379089564085, 0.002965463325381279, 0.0022637788206338882], "cand_cum_xyz_disp_all": [[-0.0046736449003219604, 0.0026921331882476807, 0.002758242189884186], [-0.006044745445251465, 0.004731222987174988, 0.0023239925503730774], [-0.004973188042640686, 0.0011352449655532837, 0.0018577054142951965], [-0.004647776484489441, 0.0007676631212234497, 0.003780864179134369], [-0.008216947317123413, 0.004031583666801453, 0.0036313682794570923], [-0.004920989274978638, 0.00125904381275177, 0.002390630543231964], [-0.003963351249694824, -0.0007279068231582642, 0.002713151276111603], [-0.004707738757133484, 9.103119373321533e-05, 0.0008217319846153259], [-0.0045569539070129395, 0.0027009397745132446, 0.0029654130339622498], [-0.005343958735466003, 0.0018355995416641235, 0.0035511553287506104], [-0.0034598857164382935, 0.002266228199005127, 0.0023840367794036865], [-0.003168433904647827, 0.0029915273189544678, 0.0037525296211242676], [-0.004263252019882202, 0.0008355528116226196, 0.0005018860101699829], [-0.001645416021347046, 0.00386202335357666, 0.004996038973331451], [-0.00703035295009613, 0.0019243359565734863, 0.002536170184612274], [-0.005194336175918579, 0.001787334680557251, 0.0037097036838531494], [-0.007613509893417358, 0.000817909836769104, 0.0021940693259239197], [-0.005854696035385132, 0.0012463480234146118, 0.003425091505050659], [-0.004101023077964783, 0.00021927058696746826, 0.002661406993865967], [-0.005158409476280212, 0.0012434124946594238, 0.0034395381808280945], [-0.003756389021873474, 0.0021798163652420044, 0.001954197883605957], [-0.003749936819076538, 0.0015452653169631958, 0.001894243061542511], [-0.007925212383270264, 0.0014199316501617432, 0.0020539984107017517], [-0.00589500367641449, 0.002949744462966919, 0.002652280032634735], [-0.005561217665672302, 0.0020853281021118164, 0.0042144134640693665], [-0.0023763179779052734, 0.0007006078958511353, 0.0024447888135910034], [-0.004843488335609436, 0.004547834396362305, 0.0022726505994796753], [-0.007881194353103638, -0.0014398247003555298, 0.00400678813457489], [-0.005254775285720825, 0.0013559460639953613, 0.0035691484808921814], [-0.007600352168083191, -0.0017866045236587524, 0.003001853823661804], [-0.004232689738273621, 0.004108697175979614, 0.002243511378765106], [-0.0059477537870407104, 0.0039010047912597656, 0.0035467445850372314]], "cand_final_gripper_all": [0.9996887445449829, 0.9991048574447632, 1.0, 1.0, 1.0, 1.0, 1.0, 0.9996369481086731, 0.9994779825210571, 1.0, 1.0, 0.9994995594024658, 0.9999454021453857, 1.0, 0.9992578625679016, 0.9998430013656616, 0.9997913241386414, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 0.9999526739120483, 0.998631477355957, 0.9989867210388184, 1.0, 1.0, 1.0], "eef_pos": [0.4031601548194885, -0.04515352472662926, 0.22745196521282196], "cand_action_std": 0.0503983348608017, "cand_pairwise_centroid_dist_mean": 0.47293856739997864, "argmax_act_outlier": 1.5581834316253662, "time_encode_ms": 5.70076797157526, "time_diffusion_ms": 36.107315914705396, "time_q_score_ms": 7.4260360561311245, "time_total_ms": 50.16647814773023, "num_action_samples_effective": 32, "q_aggregate": "pair_min"}
+{"chunk_ordinal": 65, "q_min_best": 0.7583827972412109, "q_min_mean": 0.733706533908844, "q_min_std": 0.008210353553295135, "q_min_median": 0.7321715354919434, "chosen_vs_median_q_gap": 0.026211261749267578, "q1_best": 0.7583827972412109, "q2_best": 0.7875272035598755, "v_val": 0.7252552509307861, "advantage": 0.033127546310424805, "best_idx": 23, "q_min_all": [0.7231948375701904, 0.7385872602462769, 0.7324094772338867, 0.7470266819000244, 0.7282795310020447, 0.7298405170440674, 0.7355494499206543, 0.7299542427062988, 0.7194725275039673, 0.7317178249359131, 0.7244983911514282, 0.734940230846405, 0.7441710233688354, 0.7417716383934021, 0.7312012910842896, 0.7358611822128296, 0.7295852899551392, 0.7370055913925171, 0.7387849688529968, 0.7380741834640503, 0.7342263460159302, 0.7264770269393921, 0.7238172292709351, 0.7583827972412109, 0.7298942804336548, 0.7320271730422974, 0.736275315284729, 0.741081714630127, 0.7299258708953857, 0.7433783411979675, 0.7321715354919434, 0.7190256714820862], "q1_all": [0.7231948375701904, 0.7385872602462769, 0.7324094772338867, 0.7470266819000244, 0.7282795310020447, 0.7298405170440674, 0.7355494499206543, 0.7299542427062988, 0.7194725275039673, 0.7317178249359131, 0.7244983911514282, 0.734940230846405, 0.7441710233688354, 0.7417716383934021, 0.7312012910842896, 0.7358611822128296, 0.7295852899551392, 0.7370055913925171, 0.7387849688529968, 0.7380741834640503, 0.7342263460159302, 0.7264770269393921, 0.7238172292709351, 0.7583827972412109, 0.7298942804336548, 0.7320271730422974, 0.736275315284729, 0.741081714630127, 0.7299258708953857, 0.7433783411979675, 0.7321715354919434, 0.7190256714820862], "q2_all": [0.7764214277267456, 0.7845498919487, 0.7781826853752136, 0.7919921875, 0.7734886407852173, 0.7722693681716919, 0.7651302814483643, 0.780195951461792, 0.7758607864379883, 0.7803559303283691, 0.772240161895752, 0.7878844738006592, 0.7872194647789001, 0.7840808629989624, 0.7888456583023071, 0.771858811378479, 0.783404529094696, 0.7768193483352661, 0.775880753993988, 0.7847023010253906, 0.772642195224762, 0.7641181349754333, 0.7794198393821716, 0.7875272035598755, 0.7723352909088135, 0.7781044840812683, 0.7758069038391113, 0.7717552185058594, 0.765521764755249, 0.7699447870254517, 0.7811452150344849, 0.7812314033508301], "cand_trans_speed_all": [0.0018966225907206535, 0.002355326432734728, 0.0011712732957676053, 0.0022750524803996086, 0.0022348924539983273, 0.0015990252140909433, 0.0023131754714995623, 0.0015001313295215368, 0.0015570791438221931, 0.00144519517198205, 0.0022021043114364147, 0.002062235027551651, 0.002280217595398426, 0.001957226311787963, 0.0023110746406018734, 0.0014249298255890608, 0.0012634232407435775, 0.0013528128620237112, 0.001983515452593565, 0.0016339084831997752, 0.0020770845003426075, 0.0024027745239436626, 0.0026211391668766737, 0.0021997285075485706, 0.0015104500344023108, 0.0018154687713831663, 0.0016800601733848453, 0.0017623300664126873, 0.0021823816932737827, 0.002320076571777463, 0.001520919962786138, 0.002040039747953415], "cand_cum_xyz_disp_all": [[-0.002038121223449707, 0.0013079941272735596, 0.002070993185043335], [-0.00828234851360321, 0.0007635056972503662, 0.002992764115333557], [-0.002266496419906616, -0.0007856041193008423, 0.0036242976784706116], [-0.007353365421295166, 0.0014070123434066772, 0.003382168710231781], [-0.004832372069358826, 0.00040869414806365967, 0.0014368221163749695], [-0.00346316397190094, 0.003037974238395691, 0.0010760799050331116], [-0.005185231566429138, -0.0002018660306930542, 0.00409766286611557], [-0.003997728228569031, 0.00027620792388916016, 0.000711493194103241], [-0.002674296498298645, 0.001199081540107727, 0.002080492675304413], [-0.0029947757720947266, 0.0016182512044906616, 0.002364642918109894], [-0.00514569878578186, 0.0016808658838272095, 0.0015209093689918518], [-0.0049249231815338135, -0.0009482055902481079, 0.003180868923664093], [-0.007982075214385986, 0.0018868446350097656, 0.004179507493972778], [-0.007077649235725403, 0.0005423426628112793, 0.0032452940940856934], [-0.005999922752380371, -0.00038473308086395264, 0.0030718594789505005], [-0.0024153143167495728, 0.0015475749969482422, 0.0032707005739212036], [-0.0032467544078826904, 0.0011458247900009155, -0.0009492784738540649], [-0.004921227693557739, 0.0014012306928634644, 0.002693571150302887], [-0.003611654043197632, 0.0022384673357009888, 0.0030651241540908813], [-0.005335941910743713, 0.001536056399345398, 0.0023594051599502563], [-0.005174189805984497, 0.002461254596710205, 0.004142768681049347], [-0.0019487738609313965, 0.0005608946084976196, 0.0010738670825958252], [-0.004805266857147217, -3.834068775177002e-05, 0.0013565868139266968], [-0.009519129991531372, -0.00030159950256347656, 0.0045118629932403564], [-0.0056833624839782715, 0.00132732093334198, 0.000888921320438385], [-0.003970205783843994, -0.0003740042448043823, 0.003572240471839905], [-0.005145475268363953, 0.0014753490686416626, 0.0016794055700302124], [-0.0036914050579071045, -3.5896897315979004e-05, 0.004193760454654694], [-0.0037765204906463623, 0.002631828188896179, 0.0026897937059402466], [-0.009762674570083618, 0.0011397749185562134, 0.0035056695342063904], [-0.005695655941963196, -0.0008826255798339844, 0.0020406395196914673], [-0.0037491917610168457, -0.00017321109771728516, 0.0006786584854125977]], "cand_final_gripper_all": [1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 0.9996998310089111, 1.0, 1.0, 1.0, 1.0, 0.9993128180503845, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 0.9998022317886353, 0.9996697902679443, 1.0, 0.999487578868866, 1.0, 1.0], "eef_pos": [0.4031403064727783, -0.04521799087524414, 0.22743260860443115], "cand_action_std": 0.05041433498263359, "cand_pairwise_centroid_dist_mean": 0.4663923978805542, "argmax_act_outlier": 1.2383533716201782, "time_encode_ms": 5.077071953564882, "time_diffusion_ms": 36.20117995887995, "time_q_score_ms": 7.971358019858599, "time_total_ms": 49.99985988251865, "num_action_samples_effective": 32, "q_aggregate": "pair_min"}
+{"chunk_ordinal": 66, "q_min_best": 0.7591283321380615, "q_min_mean": 0.7388467788696289, "q_min_std": 0.008445813320577145, "q_min_median": 0.7372127771377563, "chosen_vs_median_q_gap": 0.021915555000305176, "q1_best": 0.7591283321380615, "q2_best": 0.7933679223060608, "v_val": 0.76199871301651, "advantage": -0.0028703808784484863, "best_idx": 5, "q_min_all": [0.7308050394058228, 0.7466065883636475, 0.7334994077682495, 0.7329530715942383, 0.7462655305862427, 0.7591283321380615, 0.7429728507995605, 0.747350811958313, 0.740026593208313, 0.7346152663230896, 0.7282980680465698, 0.7543233633041382, 0.734809160232544, 0.7359206676483154, 0.7258440256118774, 0.7248760461807251, 0.7362157106399536, 0.723837673664093, 0.7372127771377563, 0.7300947308540344, 0.7453126907348633, 0.7492570877075195, 0.7453175783157349, 0.7463235855102539, 0.7307358980178833, 0.7400420904159546, 0.7429541349411011, 0.7416266798973083, 0.7361807823181152, 0.7449183464050293, 0.7353055477142334, 0.7394672632217407], "q1_all": [0.7308050394058228, 0.7466065883636475, 0.7334994077682495, 0.7329530715942383, 0.7462655305862427, 0.7591283321380615, 0.7429728507995605, 0.747350811958313, 0.740026593208313, 0.7346152663230896, 0.7282980680465698, 0.7543233633041382, 0.734809160232544, 0.7359206676483154, 0.7258440256118774, 0.7248760461807251, 0.7362157106399536, 0.723837673664093, 0.7372127771377563, 0.7300947308540344, 0.7453126907348633, 0.7492570877075195, 0.7453175783157349, 0.7463235855102539, 0.7307358980178833, 0.7400420904159546, 0.7429541349411011, 0.7416266798973083, 0.7361807823181152, 0.7449183464050293, 0.7353055477142334, 0.7394672632217407], "q2_all": [0.7835390567779541, 0.7855281829833984, 0.7815546989440918, 0.7806202173233032, 0.7835291624069214, 0.7933679223060608, 0.7668392062187195, 0.7931014895439148, 0.7781735062599182, 0.7895961999893188, 0.7738902568817139, 0.811119019985199, 0.7789416909217834, 0.7840603590011597, 0.773205041885376, 0.7694665193557739, 0.7809572815895081, 0.7749101519584656, 0.7765800356864929, 0.7710390090942383, 0.7946258783340454, 0.7886186242103577, 0.7902997136116028, 0.7903408408164978, 0.7772601842880249, 0.7825185060501099, 0.795563280582428, 0.7904642224311829, 0.7720801830291748, 0.7901957035064697, 0.8092997670173645, 0.7840540409088135], "cand_trans_speed_all": [0.001541252015158534, 0.0010919221676886082, 0.0017676943680271506, 0.00233265059068799, 0.0015207593096420169, 0.0021301263477653265, 0.0023619395215064287, 0.0016995485639199615, 0.0019066197564825416, 0.002357910852879286, 0.0013110339641571045, 0.0012975828722119331, 0.0025492773856967688, 0.0016078681219369173, 0.0015990217216312885, 0.001514109200797975, 0.0019264414440840483, 0.0015286665875464678, 0.0013929996639490128, 0.0017399664502590895, 0.0017680088058114052, 0.0017180365975946188, 0.001445471658371389, 0.0011290980037301779, 0.001462113461457193, 0.0020675293635576963, 0.0027290750294923782, 0.001954025123268366, 0.0021884150337427855, 0.0017296045552939177, 0.0028300732374191284, 0.0013970315922051668], "cand_cum_xyz_disp_all": [[-0.003071993589401245, 0.0004855543375015259, 0.004193902015686035], [-0.002517208456993103, 0.0011375844478607178, 0.002832084894180298], [-0.005117863416671753, 0.0017465651035308838, 0.0024858787655830383], [-0.0028297007083892822, 0.0034172385931015015, 0.0023810192942619324], [-0.005738303065299988, 0.001091599464416504, 0.00305880606174469], [-0.009280681610107422, -0.0010316520929336548, 0.0036075934767723083], [-0.003074467182159424, 0.0035694539546966553, 0.003811471164226532], [-0.006062820553779602, 0.0012936294078826904, 0.002795971930027008], [-0.0035135895013809204, 0.004265874624252319, 0.0017488598823547363], [-0.002099066972732544, -0.0016914308071136475, 0.002436608076095581], [-0.0049888938665390015, 0.0016530156135559082, 0.0008941292762756348], [-0.005434289574623108, 0.00264681875705719, 0.0020801499485969543], [-0.004118099808692932, 0.0012909173965454102, 0.0033117756247520447], [-0.004184916615486145, -0.001087874174118042, 0.001828111708164215], [-0.0034581273794174194, 0.0014774948358535767, 0.0023275986313819885], [-0.003630906343460083, 0.001283109188079834, 0.0026287809014320374], [-0.006771460175514221, 0.0004536658525466919, 0.003664851188659668], [-0.003927573561668396, 0.00037448108196258545, 0.003651231527328491], [-0.0042992085218429565, 0.001760050654411316, 0.003787212073802948], [-0.004157856106758118, 0.0017657577991485596, 0.0030059069395065308], [-0.004544705152511597, 0.002142980694770813, 0.003951050341129303], [-0.008108928799629211, 0.001315191388130188, 0.0033299028873443604], [-0.005704149603843689, 0.0011780112981796265, 0.002450093626976013], [-0.003634139895439148, 0.0005969405174255371, 0.002900533378124237], [-0.003619357943534851, -0.000889018177986145, 0.003705158829689026], [-0.0052194297313690186, 0.0010638386011123657, 0.0032781660556793213], [-0.004073485732078552, 0.0030714422464370728, 0.002295948565006256], [-0.006515488028526306, 0.00016686320304870605, 0.001780778169631958], [-0.0033873766660690308, 0.0020806342363357544, 0.004091568291187286], [-0.005568772554397583, 0.0010457634925842285, 0.0036894306540489197], [-0.005235686898231506, 0.004921525716781616, 0.0024148523807525635], [-0.002924516797065735, 0.00269906222820282, 0.0023631006479263306]], "cand_final_gripper_all": [1.0, 1.0, 0.9998537302017212, 1.0, 0.9998629093170166, 1.0, 1.0, 1.0, 1.0, 0.999517560005188, 0.9989639520645142, 1.0, 1.0, 1.0, 1.0, 0.9997402429580688, 0.9992668032646179, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 0.9999642968177795, 1.0, 1.0, 0.9996908903121948, 1.0], "eef_pos": [0.40302687883377075, -0.046340249478816986, 0.2274463176727295], "cand_action_std": 0.048866864293813705, "cand_pairwise_centroid_dist_mean": 0.446161687374115, "argmax_act_outlier": 1.4493404626846313, "time_encode_ms": 5.544338142499328, "time_diffusion_ms": 35.99671111442149, "time_q_score_ms": 7.218783022835851, "time_total_ms": 49.75970508530736, "num_action_samples_effective": 32, "q_aggregate": "pair_min"}
+{"chunk_ordinal": 67, "q_min_best": 0.7717231512069702, "q_min_mean": 0.7497512698173523, "q_min_std": 0.008806991390883923, "q_min_median": 0.7490351796150208, "chosen_vs_median_q_gap": 0.022687971591949463, "q1_best": 0.7717231512069702, "q2_best": 0.8167891502380371, "v_val": 0.8030698299407959, "advantage": -0.031346678733825684, "best_idx": 7, "q_min_all": [0.7535789608955383, 0.7476553320884705, 0.7399631142616272, 0.7554926872253418, 0.7483084201812744, 0.7428967356681824, 0.7453132271766663, 0.7717231512069702, 0.7415324449539185, 0.7490351796150208, 0.7368947267532349, 0.7489004135131836, 0.7621623277664185, 0.7525486350059509, 0.7438259124755859, 0.7510523796081543, 0.7327317595481873, 0.7613934874534607, 0.7465951442718506, 0.7498127222061157, 0.7536865472793579, 0.7679280042648315, 0.7503434419631958, 0.7579190731048584, 0.7465458512306213, 0.7376976609230042, 0.7443841695785522, 0.7492653131484985, 0.7556723356246948, 0.7385879755020142, 0.7586930394172668, 0.7499002814292908], "q1_all": [0.7535789608955383, 0.7476553320884705, 0.7399631142616272, 0.7554926872253418, 0.7483084201812744, 0.7428967356681824, 0.7453132271766663, 0.7717231512069702, 0.7415324449539185, 0.7490351796150208, 0.7368947267532349, 0.7489004135131836, 0.7621623277664185, 0.7525486350059509, 0.7438259124755859, 0.7510523796081543, 0.7327317595481873, 0.7613934874534607, 0.7465951442718506, 0.7498127222061157, 0.7536865472793579, 0.7679280042648315, 0.7503434419631958, 0.7579190731048584, 0.7465458512306213, 0.7376976609230042, 0.7443841695785522, 0.7492653131484985, 0.7556723356246948, 0.7385879755020142, 0.7586930394172668, 0.7499002814292908], "q2_all": [0.7952204942703247, 0.7954496741294861, 0.7973188757896423, 0.8135353326797485, 0.8063352108001709, 0.801847517490387, 0.8073366284370422, 0.8167891502380371, 0.8015871644020081, 0.7944931387901306, 0.7852643132209778, 0.787384569644928, 0.8095555305480957, 0.8083268404006958, 0.7996945381164551, 0.8043310642242432, 0.7964988350868225, 0.8124737739562988, 0.7949173450469971, 0.8129408359527588, 0.7926298975944519, 0.80360347032547, 0.8047028183937073, 0.8033545613288879, 0.8040996193885803, 0.7699635028839111, 0.7914767861366272, 0.8016026020050049, 0.800225019454956, 0.7975743412971497, 0.8107958436012268, 0.8070588707923889], "cand_trans_speed_all": [0.00207505258731544, 0.00198743911460042, 0.0021598876919597387, 0.0014658700674772263, 0.0016999769723042846, 0.0010591852478682995, 0.00178425048943609, 0.0021634644363075495, 0.0016357472632080317, 0.001344858086667955, 0.001189500791952014, 0.0025046137161552906, 0.0020265874918550253, 0.0014515407383441925, 0.001592214684933424, 0.0017758657922968268, 0.002190976170822978, 0.0019806181080639362, 0.002379003446549177, 0.0012207661056891084, 0.001929819118231535, 0.0014541515847668052, 0.001592816668562591, 0.0019705495797097683, 0.001470569521188736, 0.0034014014527201653, 0.0020820205099880695, 0.0011765309609472752, 0.0026434944011271, 0.0018908388447016478, 0.0013386657228693366, 0.001893911394290626], "cand_cum_xyz_disp_all": [[-0.0041760653257369995, 0.0034649521112442017, 0.0034523755311965942], [-0.0037600845098495483, 0.0023107826709747314, 0.003434576094150543], [-0.003081962466239929, 0.001478731632232666, 0.0021393150091171265], [-0.0037604570388793945, 0.003002449870109558, 0.004198409616947174], [-0.004060521721839905, 0.0008552223443984985, 0.0030884742736816406], [-0.0035146623849868774, 0.0028873831033706665, 0.003189466893672943], [-0.0029034316539764404, 0.0024512410163879395, 0.001425720751285553], [-0.006524235010147095, 0.0013152658939361572, 0.0050501152873039246], [-0.005069077014923096, 0.00264894962310791, 0.0031739920377731323], [-0.0021477043628692627, 0.0019737035036087036, 0.002364151179790497], [-0.0034409016370773315, 0.0016200393438339233, 0.0023684725165367126], [-0.0026397109031677246, 0.00012987852096557617, 0.004534900188446045], [-0.0023733526468276978, 0.003137260675430298, 0.004098996520042419], [-0.00515410304069519, 0.0031174272298812866, 0.0033462494611740112], [-0.001348838210105896, 0.0013636648654937744, 0.0028292685747146606], [-0.005211636424064636, 0.0025459378957748413, 0.003908075392246246], [-0.004042372107505798, 0.0031958967447280884, 0.004844941198825836], [-0.003777816891670227, 0.003860577940940857, 0.006278693675994873], [-0.003498181700706482, 0.005235806107521057, 0.0038932859897613525], [-0.0019358247518539429, 0.002503693103790283, 0.0014652535319328308], [-0.006155416369438171, 0.0027012377977371216, 0.0039383769035339355], [-0.003689214587211609, 0.0006896704435348511, 0.0046549513936042786], [-0.004202857613563538, 0.0015182197093963623, 0.003749057650566101], [-0.004119396209716797, 0.00305137038230896, 0.003025658428668976], [-0.0032145828008651733, 0.0031110942363739014, 0.003939434885978699], [-0.0029274672269821167, 0.0029080361127853394, 0.0035302340984344482], [-0.004104942083358765, 0.0017466694116592407, 0.0041956305503845215], [-0.0019521713256835938, 0.0024779587984085083, 0.0035175979137420654], [-0.006291046738624573, 0.004249587655067444, 0.003783121705055237], [-0.0008992701768875122, 0.0034507960081100464, 0.002610601484775543], [-0.001978471875190735, 0.0039419978857040405, 0.004283003509044647], [-0.002950012683868408, 0.0009552985429763794, 0.003307819366455078]], "cand_final_gripper_all": [1.0, 1.0, 1.0, 0.9997425675392151, 1.0, 0.9987693428993225, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 0.9992582201957703, 1.0, 1.0, 1.0, 0.9999908208847046, 0.9987918138504028, 0.9998171329498291, 0.9999656677246094, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 0.9999685883522034, 0.9996433258056641, 1.0], "eef_pos": [0.40300890803337097, -0.04671255499124527, 0.22746507823467255], "cand_action_std": 0.04594806209206581, "cand_pairwise_centroid_dist_mean": 0.4316542148590088, "argmax_act_outlier": 1.4438717365264893, "time_encode_ms": 4.932834999635816, "time_diffusion_ms": 35.967016126960516, "time_q_score_ms": 7.993789156898856, "time_total_ms": 49.57961104810238, "num_action_samples_effective": 32, "q_aggregate": "pair_min"}
+{"chunk_ordinal": 68, "q_min_best": 0.7642249464988708, "q_min_mean": 0.7450406551361084, "q_min_std": 0.008167825639247894, "q_min_median": 0.7445017099380493, "chosen_vs_median_q_gap": 0.019723236560821533, "q1_best": 0.7642249464988708, "q2_best": 0.8129424452781677, "v_val": 0.8182920217514038, "advantage": -0.05406707525253296, "best_idx": 20, "q_min_all": [0.7517285346984863, 0.746207594871521, 0.7565563321113586, 0.7380458116531372, 0.7531821727752686, 0.7445017099380493, 0.7444701790809631, 0.7353861927986145, 0.7406913042068481, 0.7371621131896973, 0.7555856704711914, 0.7497754693031311, 0.7446779012680054, 0.7436516880989075, 0.7324892282485962, 0.7345985770225525, 0.727415919303894, 0.7416224479675293, 0.7366755604743958, 0.7438697814941406, 0.7642249464988708, 0.7450361847877502, 0.7501360774040222, 0.7487847805023193, 0.7403883934020996, 0.7356971502304077, 0.7544305324554443, 0.742986261844635, 0.7574930191040039, 0.7450603246688843, 0.7501956224441528, 0.7485742568969727], "q1_all": [0.7517285346984863, 0.746207594871521, 0.7565563321113586, 0.7380458116531372, 0.7531821727752686, 0.7445017099380493, 0.7444701790809631, 0.7353861927986145, 0.7406913042068481, 0.7371621131896973, 0.7555856704711914, 0.7497754693031311, 0.7446779012680054, 0.7436516880989075, 0.7324892282485962, 0.7345985770225525, 0.727415919303894, 0.7416224479675293, 0.7366755604743958, 0.7438697814941406, 0.7642249464988708, 0.7450361847877502, 0.7501360774040222, 0.7487847805023193, 0.7403883934020996, 0.7356971502304077, 0.7544305324554443, 0.742986261844635, 0.7574930191040039, 0.7450603246688843, 0.7501956224441528, 0.7485742568969727], "q2_all": [0.8206678032875061, 0.8167173266410828, 0.8104815483093262, 0.8119734525680542, 0.816723644733429, 0.7960032820701599, 0.824873685836792, 0.8148295879364014, 0.8299671411514282, 0.8038763999938965, 0.7993866801261902, 0.8200335502624512, 0.7993432879447937, 0.7915308475494385, 0.7965705990791321, 0.7982407212257385, 0.7967917919158936, 0.7909724712371826, 0.7816799879074097, 0.8153882622718811, 0.8129424452781677, 0.8065570592880249, 0.814014732837677, 0.7973850965499878, 0.7885981202125549, 0.8132225275039673, 0.8096213340759277, 0.7954922914505005, 0.8144733309745789, 0.8009514212608337, 0.8123552799224854, 0.8058458566665649], "cand_trans_speed_all": [0.0012667806586250663, 0.002631870564073324, 0.0017498842207714915, 0.0013419331517070532, 0.001752744778059423, 0.002049154369160533, 0.0016757405828684568, 0.0020696111023426056, 0.0018751074094325304, 0.0018207168905064464, 0.0012439279817044735, 0.0019452206324785948, 0.0015282764798030257, 0.0026881180237978697, 0.0021579964086413383, 0.002724268240854144, 0.0019547324627637863, 0.0013988892314955592, 0.0020839842036366463, 0.0015391058987006545, 0.001435713260434568, 0.0022707509342581034, 0.0016183097613975406, 0.0020293991547077894, 0.0014713252894580364, 0.001833637012168765, 0.0025273729115724564, 0.0013690299820154905, 0.0021742782555520535, 0.0016954224556684494, 0.0011811088770627975, 0.001494705444201827], "cand_cum_xyz_disp_all": [[-0.0035527050495147705, 0.003361061215400696, 0.0032846108078956604], [-0.0021637678146362305, 0.0030738115310668945, 0.00406058132648468], [-0.002883598208427429, 0.004112273454666138, 0.002717934548854828], [-0.002719566226005554, 0.0013932585716247559, 0.0028432458639144897], [-0.0033877044916152954, 0.004526808857917786, 0.0038145780563354492], [-0.00408540666103363, 0.00439019501209259, 0.004682436585426331], [-0.0029144287109375, 0.002538323402404785, 0.003500111401081085], [-0.0020058751106262207, 0.00225163996219635, 0.0030961930751800537], [-0.006927385926246643, 0.0052816420793533325, 0.002013176679611206], [-0.002368330955505371, 0.0023334622383117676, 0.0014108195900917053], [-0.0036505460739135742, 0.002173498272895813, 0.004347756505012512], [-0.0052473098039627075, 0.005562886595726013, 0.0050492361187934875], [-0.002294883131980896, 0.002195790410041809, 0.0038343891501426697], [-0.0017635971307754517, 0.00032611191272735596, 0.0041161999106407166], [-0.001431778073310852, 0.0003803670406341553, 0.0035282373428344727], [-0.003904014825820923, 0.004214107990264893, 0.0023371130228042603], [-0.003230854868888855, 0.005960240960121155, 0.0018989071249961853], [-0.003517434000968933, 0.0015330314636230469, 0.00261601060628891], [-0.002856522798538208, 0.0026274174451828003, 0.004284299910068512], [-0.0047961026430130005, 0.0018630623817443848, 0.00360165536403656], [-0.005045950412750244, 0.0038417577743530273, 0.004614770412445068], [-0.005919069051742554, 0.004639074206352234, 0.0018316879868507385], [-0.005628377199172974, 0.0034315884113311768, 0.002424485981464386], [-0.004637271165847778, 0.004582151770591736, 0.004272595047950745], [-0.0044562965631484985, 0.00026629865169525146, 0.00422503799200058], [-0.002949044108390808, 0.003056049346923828, 0.002816319465637207], [-0.006857946515083313, 0.002964809536933899, 0.003117308020591736], [-0.002861425280570984, 0.0020365118980407715, 0.0026711001992225647], [-0.00696796178817749, 0.001644328236579895, 0.0014075860381126404], [-0.002541854977607727, 0.0004493594169616699, 0.0023462027311325073], [-0.0040149986743927, 0.0021546632051467896, 0.003258250653743744], [-0.005315631628036499, 1.4886260032653809e-05, 0.003526248037815094]], "cand_final_gripper_all": [0.9997360706329346, 1.0, 0.9995193481445312, 1.0, 1.0, 1.0, 1.0, 1.0, 0.9998010993003845, 0.9997979402542114, 1.0, 1.0, 1.0, 0.9998055696487427, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 0.9986978769302368, 1.0, 1.0, 1.0, 1.0], "eef_pos": [0.40297767519950867, -0.04702059552073479, 0.22746674716472626], "cand_action_std": 0.050928086042404175, "cand_pairwise_centroid_dist_mean": 0.46561235189437866, "argmax_act_outlier": 0.8852502703666687, "time_encode_ms": 5.487913964316249, "time_diffusion_ms": 35.973697900772095, "time_q_score_ms": 7.965046213939786, "time_total_ms": 50.33858818933368, "num_action_samples_effective": 32, "q_aggregate": "pair_min"}
+{"chunk_ordinal": 69, "q_min_best": 0.7613645792007446, "q_min_mean": 0.7419415712356567, "q_min_std": 0.009820755571126938, "q_min_median": 0.7412127256393433, "chosen_vs_median_q_gap": 0.020151853561401367, "q1_best": 0.7613645792007446, "q2_best": 0.7961944341659546, "v_val": 0.7864477634429932, "advantage": -0.025083184242248535, "best_idx": 20, "q_min_all": [0.7217748165130615, 0.741258978843689, 0.7386792898178101, 0.7372220754623413, 0.7357407808303833, 0.7412127256393433, 0.748282790184021, 0.7349268198013306, 0.7413265109062195, 0.7370873689651489, 0.7392858266830444, 0.7496675848960876, 0.7437605261802673, 0.7307956218719482, 0.7236085534095764, 0.7417460680007935, 0.7488501071929932, 0.7305096983909607, 0.7304958701133728, 0.7386062741279602, 0.7613645792007446, 0.7399097084999084, 0.7454681396484375, 0.7372324466705322, 0.761152982711792, 0.7513831257820129, 0.7543964385986328, 0.755774736404419, 0.7492012977600098, 0.7325193881988525, 0.7434548139572144, 0.7554324865341187], "q1_all": [0.7217748165130615, 0.741258978843689, 0.7386792898178101, 0.7372220754623413, 0.7357407808303833, 0.7412127256393433, 0.748282790184021, 0.7349268198013306, 0.7413265109062195, 0.7370873689651489, 0.7392858266830444, 0.7496675848960876, 0.7437605261802673, 0.7307956218719482, 0.7236085534095764, 0.7417460680007935, 0.7488501071929932, 0.7305096983909607, 0.7304958701133728, 0.7386062741279602, 0.7613645792007446, 0.7399097084999084, 0.7454681396484375, 0.7372324466705322, 0.761152982711792, 0.7513831257820129, 0.7543964385986328, 0.755774736404419, 0.7492012977600098, 0.7325193881988525, 0.7434548139572144, 0.7554324865341187], "q2_all": [0.7790165543556213, 0.7810792922973633, 0.7843701839447021, 0.7826626300811768, 0.8041510581970215, 0.8021319508552551, 0.8087266683578491, 0.7799934148788452, 0.7806166410446167, 0.7974631786346436, 0.7957425713539124, 0.8015428185462952, 0.7932038307189941, 0.7816897630691528, 0.7848662734031677, 0.779847264289856, 0.8096870183944702, 0.7903518676757812, 0.7872394919395447, 0.8030523657798767, 0.7961944341659546, 0.7996089458465576, 0.7908527851104736, 0.7953025698661804, 0.8099495768547058, 0.7874042987823486, 0.7849380970001221, 0.7956032752990723, 0.7992216348648071, 0.7891845703125, 0.7855812311172485, 0.803960382938385], "cand_trans_speed_all": [0.0013797904830425978, 0.0016503140795975924, 0.002028818940743804, 0.0013038016622886062, 0.0017776256427168846, 0.002854687627404928, 0.0016095837345346808, 0.0019729253835976124, 0.0019852821715176105, 0.0015081355813890696, 0.0014866286655887961, 0.0020665456540882587, 0.0022975041065365076, 0.0011901933467015624, 0.0018446327885612845, 0.001849726540967822, 0.002360918093472719, 0.0023467522114515305, 0.0017920455429702997, 0.0022094417363405228, 0.0016768695786595345, 0.002559909364208579, 0.001634840271435678, 0.0015528465155512094, 0.0014141637366265059, 0.0026134359650313854, 0.0013897534226998687, 0.0019993341993540525, 0.0018629373516887426, 0.0014284886419773102, 0.0021858555264770985, 0.0020486945286393166], "cand_cum_xyz_disp_all": [[-0.0014962255954742432, 0.0015360116958618164, 0.0020101815462112427], [-0.004919469356536865, -0.0017177462577819824, 0.004199214279651642], [-0.0045952945947647095, 0.0018372684717178345, 0.004676327109336853], [-0.0003536641597747803, -0.0004729926586151123, 0.005123794078826904], [-0.003180786967277527, 0.002164900302886963, 0.0020972639322280884], [-0.0053474754095077515, 0.0033167749643325806, 0.0024752765893936157], [-0.005602926015853882, 0.0009556561708450317, 0.0018238946795463562], [-0.0027849525213241577, 0.00185374915599823, 0.003157094120979309], [-0.004306823015213013, 0.002252042293548584, 0.003416389226913452], [-0.005775332450866699, 0.0005538314580917358, 0.003945358097553253], [-0.004298180341720581, 6.110966205596924e-05, 0.0032624080777168274], [-0.006708979606628418, 0.002244040369987488, 0.0016335025429725647], [-0.006299152970314026, 0.002312272787094116, 0.002781495451927185], [-0.004393145442008972, 0.002673402428627014, 0.0035047903656959534], [-0.0007101744413375854, 2.7760863304138184e-05, 0.002040855586528778], [-0.0075534433126449585, 0.003662481904029846, 0.0029212385416030884], [-0.004366770386695862, 0.0012585818767547607, 0.004384048283100128], [-0.002307981252670288, 1.0982155799865723e-05, 0.002926260232925415], [-0.0030115991830825806, 1.65402889251709e-05, 0.002415664494037628], [-0.002252623438835144, 0.002460658550262451, 0.0030220001935958862], [-0.007480934262275696, 0.0001049339771270752, 0.002893306314945221], [-0.0011999458074569702, 0.0024465620517730713, 0.004625461995601654], [-0.004439488053321838, 0.002016723155975342, 0.0031676068902015686], [-0.003746911883354187, 0.00045806169509887695, 0.0029322654008865356], [-0.005637705326080322, 0.00013944506645202637, 0.004554428160190582], [-0.006899446249008179, 0.0008629411458969116, 0.0026149675250053406], [-0.006524264812469482, 0.0007592439651489258, 0.003132246434688568], [-0.006276935338973999, 0.0011085569858551025, 0.004435300827026367], [-0.0055299848318099976, 0.0022107362747192383, 0.0030940845608711243], [-0.004272297024726868, 0.002060815691947937, 0.0015520751476287842], [-0.004734888672828674, 0.00440707802772522, 0.003889434039592743], [-0.008338749408721924, 0.0014123469591140747, 0.005161911249160767]], "cand_final_gripper_all": [0.999117374420166, 1.0, 0.9999603629112244, 1.0, 1.0, 1.0, 0.9992513060569763, 1.0, 0.9999688267707825, 0.9995040893554688, 1.0, 1.0, 0.9999145269393921, 1.0, 1.0, 1.0, 0.999483048915863, 1.0, 0.9997410774230957, 1.0, 0.9996992349624634, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 0.9999887943267822, 1.0, 1.0, 1.0, 0.9994992017745972], "eef_pos": [0.4030628502368927, -0.04615519940853119, 0.2274235039949417], "cand_action_std": 0.05059639364480972, "cand_pairwise_centroid_dist_mean": 0.4764460027217865, "argmax_act_outlier": 1.4127843379974365, "time_encode_ms": 5.319240968674421, "time_diffusion_ms": 36.200548987835646, "time_q_score_ms": 8.102250052616, "time_total_ms": 50.43266201391816, "num_action_samples_effective": 32, "q_aggregate": "pair_min"}
+{"chunk_ordinal": 70, "q_min_best": 0.7724465131759644, "q_min_mean": 0.7516065835952759, "q_min_std": 0.007773613091558218, "q_min_median": 0.7503036260604858, "chosen_vs_median_q_gap": 0.022142887115478516, "q1_best": 0.7724465131759644, "q2_best": 0.818379819393158, "v_val": 0.8024803400039673, "advantage": -0.03003382682800293, "best_idx": 1, "q_min_all": [0.766002893447876, 0.7724465131759644, 0.7490947842597961, 0.7472022771835327, 0.7579077482223511, 0.75507652759552, 0.7470499277114868, 0.7486220598220825, 0.7398383617401123, 0.7557553052902222, 0.7539150714874268, 0.7395341396331787, 0.7498458623886108, 0.752114474773407, 0.7503036260604858, 0.7485047578811646, 0.7532148957252502, 0.7501131892204285, 0.7480473518371582, 0.7355073094367981, 0.7534457445144653, 0.7489070892333984, 0.7427331209182739, 0.756150484085083, 0.7596689462661743, 0.7581658363342285, 0.7570903301239014, 0.7571440935134888, 0.7455732226371765, 0.7517349720001221, 0.7605500221252441, 0.7401489019393921], "q1_all": [0.766002893447876, 0.7724465131759644, 0.7490947842597961, 0.7472022771835327, 0.7579077482223511, 0.75507652759552, 0.7470499277114868, 0.7486220598220825, 0.7398383617401123, 0.7557553052902222, 0.7539150714874268, 0.7395341396331787, 0.7498458623886108, 0.752114474773407, 0.7503036260604858, 0.7485047578811646, 0.7532148957252502, 0.7501131892204285, 0.7480473518371582, 0.7355073094367981, 0.7534457445144653, 0.7489070892333984, 0.7427331209182739, 0.756150484085083, 0.7596689462661743, 0.7581658363342285, 0.7570903301239014, 0.7571440935134888, 0.7455732226371765, 0.7517349720001221, 0.7605500221252441, 0.7401489019393921], "q2_all": [0.8058229684829712, 0.818379819393158, 0.7857844829559326, 0.7919812202453613, 0.7821959257125854, 0.7950721979141235, 0.7950029373168945, 0.7795949578285217, 0.7773971557617188, 0.804520845413208, 0.7857075929641724, 0.7827807664871216, 0.786510705947876, 0.7952956557273865, 0.796560525894165, 0.7927445769309998, 0.800618588924408, 0.7916197776794434, 0.7906441688537598, 0.7813028693199158, 0.7976062297821045, 0.7869628071784973, 0.7896565198898315, 0.7975100874900818, 0.7942590117454529, 0.786529541015625, 0.7911945581436157, 0.788105309009552, 0.7971985936164856, 0.7871730327606201, 0.7956183552742004, 0.7841979265213013], "cand_trans_speed_all": [0.002297018188983202, 0.003301643766462803, 0.0016367873176932335, 0.0013682710705325007, 0.0023566079325973988, 0.002436489798128605, 0.0015429970808327198, 0.0018305128905922174, 0.0021694437600672245, 0.002029383322224021, 0.002777158748358488, 0.002161801792681217, 0.0022972857113927603, 0.001427811337634921, 0.001601311843842268, 0.0012917498825117946, 0.0014613454695791006, 0.001559005118906498, 0.0014807959087193012, 0.002400347962975502, 0.0017955237999558449, 0.0020389966666698456, 0.003027332480996847, 0.0010244033765047789, 0.0016023054486140609, 0.0015523263718932867, 0.001772994059138, 0.0015817987732589245, 0.0013627959415316582, 0.0017821112414821982, 0.0013882254716008902, 0.0021566010545939207], "cand_cum_xyz_disp_all": [[-0.008804485201835632, 0.0019716471433639526, 0.004974834620952606], [-0.008002042770385742, 0.002458125352859497, 0.004208996891975403], [-0.004828453063964844, 0.0007691085338592529, 0.005542047321796417], [-0.0033662766218185425, 0.0009318739175796509, 0.00427236407995224], [-0.006780341267585754, 0.0009777992963790894, 0.0026308223605155945], [-0.005596071481704712, 0.001778244972229004, 0.004436761140823364], [-0.003691732883453369, 0.0005574673414230347, 0.003434881567955017], [-0.0053239017724990845, 0.0008864998817443848, 0.004584565758705139], [-0.0024067461490631104, 0.0019323676824569702, 0.0010546445846557617], [-0.003935202956199646, 0.0034836232662200928, 0.00359392911195755], [-0.006350398063659668, 0.0014726966619491577, 0.003653101623058319], [-0.0034928321838378906, 0.0030370205640792847, 0.003813810646533966], [-0.0024362504482269287, 0.0018020421266555786, 0.006644614040851593], [-0.0020637959241867065, 0.0018330365419387817, 0.0035512521862983704], [-0.0031058192253112793, 0.0018561631441116333, 0.004697620868682861], [-0.0034736543893814087, 0.000810578465461731, 0.004346072673797607], [-0.0036654770374298096, 0.0014690905809402466, 0.00145663321018219], [-0.0027809739112854004, 0.0016955733299255371, 0.0027328133583068848], [-0.0025767534971237183, 0.0012640058994293213, 0.003215596079826355], [-0.002056211233139038, 0.0012405365705490112, 0.003858596086502075], [-0.006203323602676392, 0.00038936734199523926, 0.0037975385785102844], [-0.006142258644104004, 0.001970931887626648, 0.005504898726940155], [-0.00514356791973114, 0.0029922276735305786, 0.003044925630092621], [-0.004215538501739502, 0.0010173320770263672, 0.00252581387758255], [0.00010836124420166016, 0.0012428909540176392, 0.004805929958820343], [-0.00532945990562439, 0.001956835389137268, 0.0029008835554122925], [-0.005440503358840942, 0.002970784902572632, 0.002463318407535553], [-0.0012768059968948364, -0.0008285790681838989, 0.003875933587551117], [-0.0023337453603744507, 0.0010700523853302002, 0.003941543400287628], [-0.005175366997718811, 0.0025929510593414307, 0.003233201801776886], [-0.004735872149467468, 0.0011171847581863403, 0.003806464374065399], [-0.0028615444898605347, 0.002021417021751404, 0.00189952552318573]], "cand_final_gripper_all": [1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 0.9990331530570984, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 0.999862551689148, 1.0], "eef_pos": [0.40303510427474976, -0.046328067779541016, 0.22737982869148254], "cand_action_std": 0.04897525534033775, "cand_pairwise_centroid_dist_mean": 0.44597095251083374, "argmax_act_outlier": 1.5814019441604614, "time_encode_ms": 5.6080559734255075, "time_diffusion_ms": 36.569844000041485, "time_q_score_ms": 7.574531016871333, "time_total_ms": 50.61512999236584, "num_action_samples_effective": 32, "q_aggregate": "pair_min"}
+{"chunk_ordinal": 71, "q_min_best": 0.7582508325576782, "q_min_mean": 0.7372738122940063, "q_min_std": 0.010654138401150703, "q_min_median": 0.7357956171035767, "chosen_vs_median_q_gap": 0.022455215454101562, "q1_best": 0.7582508325576782, "q2_best": 0.7955807447433472, "v_val": 0.7401691675186157, "advantage": 0.0180816650390625, "best_idx": 13, "q_min_all": [0.7440569996833801, 0.7297242879867554, 0.7409498691558838, 0.7320955395698547, 0.7357956171035767, 0.7533344030380249, 0.7447430491447449, 0.7495890259742737, 0.7454659938812256, 0.7510584592819214, 0.7279243469238281, 0.7473023533821106, 0.7294515371322632, 0.7582508325576782, 0.7332836389541626, 0.7297892570495605, 0.74074387550354, 0.7338542938232422, 0.717155933380127, 0.7318487167358398, 0.7559167146682739, 0.7191224098205566, 0.7412104606628418, 0.7379329204559326, 0.7295817136764526, 0.7307764291763306, 0.7296420335769653, 0.7435676455497742, 0.7190070152282715, 0.7410742044448853, 0.7435628175735474, 0.7249501347541809], "q1_all": [0.7440569996833801, 0.7297242879867554, 0.7409498691558838, 0.7320955395698547, 0.7357956171035767, 0.7533344030380249, 0.7447430491447449, 0.7495890259742737, 0.7454659938812256, 0.7510584592819214, 0.7279243469238281, 0.7473023533821106, 0.7294515371322632, 0.7582508325576782, 0.7332836389541626, 0.7297892570495605, 0.74074387550354, 0.7338542938232422, 0.717155933380127, 0.7318487167358398, 0.7559167146682739, 0.7191224098205566, 0.7412104606628418, 0.7379329204559326, 0.7295817136764526, 0.7307764291763306, 0.7296420335769653, 0.7435676455497742, 0.7190070152282715, 0.7410742044448853, 0.7435628175735474, 0.7249501347541809], "q2_all": [0.7906625866889954, 0.7818390130996704, 0.7821965217590332, 0.7923446893692017, 0.7859700918197632, 0.7758399844169617, 0.7850297689437866, 0.7917944192886353, 0.7894243001937866, 0.7971614599227905, 0.782834529876709, 0.7809112071990967, 0.7890040874481201, 0.7955807447433472, 0.7744501829147339, 0.7745516300201416, 0.785363495349884, 0.7769956588745117, 0.7639239430427551, 0.7688795924186707, 0.7811738848686218, 0.7880539894104004, 0.7893823981285095, 0.7920652627944946, 0.7818028330802917, 0.787641167640686, 0.785596489906311, 0.7794555425643921, 0.7795778512954712, 0.7903724908828735, 0.7984265089035034, 0.7735394239425659], "cand_trans_speed_all": [0.0026424869429320097, 0.0016189513262361288, 0.0014155758544802666, 0.002115948824211955, 0.0021399084944278, 0.0023872973397374153, 0.003126957919448614, 0.002727399580180645, 0.0019012268166989088, 0.001771939336322248, 0.0018629621481522918, 0.0021443520672619343, 0.0018309367587789893, 0.0028812314849346876, 0.002147021936252713, 0.003213830990716815, 0.0016536827897652984, 0.002321988809853792, 0.0016235787188634276, 0.00186934694647789, 0.002333433832973242, 0.002354415599256754, 0.0027131931856274605, 0.0017188298515975475, 0.001403828151524067, 0.0022877156734466553, 0.0019832898396998644, 0.0017915464704856277, 0.00245983200147748, 0.0015741547103971243, 0.001781368162482977, 0.0019513930892571807], "cand_cum_xyz_disp_all": [[-0.007576122879981995, 0.0027260631322860718, 0.0029813051223754883], [-0.0026950091123580933, 0.0022984594106674194, 0.003577880561351776], [-0.006607949733734131, -0.00030504167079925537, 0.0028851330280303955], [-0.004093572497367859, 0.00017820298671722412, 0.0034717395901679993], [-0.0038230568170547485, 0.0015806108713150024, 0.004566192626953125], [-0.006344407796859741, -0.0008580982685089111, 0.0030896738171577454], [-0.008510008454322815, 0.0022859275341033936, 0.004073880612850189], [-0.006069868803024292, -0.0002006739377975464, 0.005890056490898132], [-0.006167799234390259, 0.0006625205278396606, 0.004904694855213165], [-0.007939234375953674, 0.0013776421546936035, 0.004355780780315399], [-0.003092244267463684, 0.0017457455396652222, 0.002648979425430298], [-0.006805822253227234, 0.0022744834423065186, 0.0034101754426956177], [-0.0019855350255966187, 0.0018166452646255493, 0.002753227949142456], [-0.006434902548789978, 0.003914818167686462, 0.004079177975654602], [-0.00498807430267334, -0.0018474012613296509, 0.00477958470582962], [-0.006620615720748901, 0.0006578564643859863, 0.0021155327558517456], [-0.0044583529233932495, -0.0004664957523345947, 0.0028297603130340576], [-0.0051863789558410645, 0.00037439167499542236, 0.004012055695056915], [-0.002718612551689148, -0.0005329996347427368, 0.0031798407435417175], [-0.004621356725692749, -0.00038342177867889404, 0.006290137767791748], [-0.007893279194831848, 0.002358481287956238, 0.0027261674404144287], [-0.002340465784072876, 0.0017255395650863647, 0.0024476349353790283], [-0.006554692983627319, 0.0019042491912841797, 0.002637527883052826], [-0.003077089786529541, 0.0005606412887573242, 0.003683730959892273], [-0.0006092190742492676, -0.0003149360418319702, 0.003977037966251373], [-0.00617651641368866, -0.0010205060243606567, 0.003460317850112915], [-0.003286883234977722, 0.0007249563932418823, 0.002983182668685913], [-0.008011341094970703, -0.0002092123031616211, 0.0027208104729652405], [-0.003126278519630432, 0.005005195736885071, 0.003193803131580353], [-0.00670035183429718, 0.0013274997472763062, 0.002950221300125122], [-0.0058453381061553955, 0.0011089295148849487, 0.002746790647506714], [-0.004431471228599548, 0.0023611485958099365, 0.0033286362886428833]], "cand_final_gripper_all": [1.0, 1.0, 0.99866783618927, 1.0, 0.9994782209396362, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 0.9991708397865295, 0.9991121292114258, 0.9999604225158691, 1.0, 0.9999064803123474, 0.9995608329772949, 1.0, 1.0, 1.0, 1.0, 1.0, 0.9995404481887817, 1.0, 1.0, 1.0, 1.0, 0.9996544122695923, 0.9998713731765747], "eef_pos": [0.4030638635158539, -0.045864854007959366, 0.22735586762428284], "cand_action_std": 0.054533425718545914, "cand_pairwise_centroid_dist_mean": 0.483211874961853, "argmax_act_outlier": 1.1222695112228394, "time_encode_ms": 5.042768083512783, "time_diffusion_ms": 36.1721059307456, "time_q_score_ms": 7.90385203436017, "time_total_ms": 49.847387010231614, "num_action_samples_effective": 32, "q_aggregate": "pair_min"}
+{"chunk_ordinal": 72, "q_min_best": 0.7685099244117737, "q_min_mean": 0.7471041679382324, "q_min_std": 0.008809763938188553, "q_min_median": 0.7461323142051697, "chosen_vs_median_q_gap": 0.022377610206604004, "q1_best": 0.7685099244117737, "q2_best": 0.7914245128631592, "v_val": 0.7726559042930603, "advantage": -0.004145979881286621, "best_idx": 1, "q_min_all": [0.7366076111793518, 0.7685099244117737, 0.7453890442848206, 0.7464195489883423, 0.7461323142051697, 0.7534853219985962, 0.7535521388053894, 0.7448785305023193, 0.743281364440918, 0.750863790512085, 0.741044819355011, 0.7306674122810364, 0.7453699111938477, 0.7445842027664185, 0.7487196326255798, 0.7575339078903198, 0.7633658647537231, 0.7461999654769897, 0.746196985244751, 0.7411931157112122, 0.7437556982040405, 0.7654337286949158, 0.7550526857376099, 0.7476259469985962, 0.7457934617996216, 0.7273800373077393, 0.7470629215240479, 0.7427157163619995, 0.7357795238494873, 0.749748945236206, 0.7424992322921753, 0.7504919767379761], "q1_all": [0.7366076111793518, 0.7685099244117737, 0.7453890442848206, 0.7464195489883423, 0.7461323142051697, 0.7534853219985962, 0.7535521388053894, 0.7448785305023193, 0.743281364440918, 0.750863790512085, 0.741044819355011, 0.7306674122810364, 0.7453699111938477, 0.7445842027664185, 0.7487196326255798, 0.7575339078903198, 0.7633658647537231, 0.7461999654769897, 0.746196985244751, 0.7411931157112122, 0.7437556982040405, 0.7654337286949158, 0.7550526857376099, 0.7476259469985962, 0.7457934617996216, 0.7273800373077393, 0.7470629215240479, 0.7427157163619995, 0.7357795238494873, 0.749748945236206, 0.7424992322921753, 0.7504919767379761], "q2_all": [0.7914668321609497, 0.7914245128631592, 0.7899516224861145, 0.8054255247116089, 0.7841757535934448, 0.7928168773651123, 0.7902306914329529, 0.7888730764389038, 0.7951717376708984, 0.7807044982910156, 0.7889270782470703, 0.7784063220024109, 0.793267011642456, 0.7765591144561768, 0.787577211856842, 0.8115586042404175, 0.8018399477005005, 0.7801456451416016, 0.7964749336242676, 0.7989033460617065, 0.7948253154754639, 0.8045947551727295, 0.786584734916687, 0.7997872829437256, 0.7770430445671082, 0.785955548286438, 0.7841842174530029, 0.790142297744751, 0.7735179662704468, 0.7778172492980957, 0.7919198274612427, 0.7831097841262817], "cand_trans_speed_all": [0.0015061873709782958, 0.0018420381238684058, 0.0012240780051797628, 0.0017846593400463462, 0.002212983090430498, 0.0017030676826834679, 0.002438897965475917, 0.0022118694614619017, 0.0017831315053626895, 0.0014261789619922638, 0.002380601828917861, 0.002505582757294178, 0.0016602290561422706, 0.002692895010113716, 0.001515197567641735, 0.0026903206016868353, 0.0012387537863105536, 0.0016568561550229788, 0.0014339089393615723, 0.0014313682913780212, 0.0016285572201013565, 0.001992179313674569, 0.002678272780030966, 0.002118312520906329, 0.002325622132048011, 0.0018325283890590072, 0.0018702659290283918, 0.0019365338375791907, 0.0021494689863175154, 0.0016497144242748618, 0.0013638203963637352, 0.0017338364850729704], "cand_cum_xyz_disp_all": [[-0.004419147968292236, 0.002214759588241577, 0.003004901111125946], [-0.002045363187789917, 0.0019094794988632202, 0.0024862661957740784], [-0.0024005919694900513, 0.003511786460876465, 0.000835716724395752], [-0.0030587762594223022, 0.0014020651578903198, 0.0032760947942733765], [-0.004140526056289673, 0.003937527537345886, 0.0034394338726997375], [-0.004408344626426697, 0.001539960503578186, 0.0034835413098335266], [-0.0038104355335235596, 0.0009992420673370361, 0.005563877522945404], [-0.002984970808029175, 0.0027922242879867554, 0.0033210068941116333], [-0.0034427493810653687, 0.002382427453994751, 0.001857474446296692], [-0.0024408847093582153, 0.0016901195049285889, 0.0029203221201896667], [-0.0034728199243545532, 0.0024599432945251465, 0.002644173800945282], [-0.0011743009090423584, 0.0019060224294662476, 0.002522192895412445], [-0.003689125180244446, 0.0022857189178466797, 0.002055227756500244], [-0.002193540334701538, 0.0033032596111297607, 0.0027822405099868774], [-0.0024255961179733276, 0.0014836937189102173, 0.0020003393292427063], [-0.007563352584838867, 0.004308626055717468, 0.003010660409927368], [-0.005560770630836487, 0.0028743743896484375, 0.002326875925064087], [-0.003917381167411804, 0.0010397285223007202, 0.0002092421054840088], [-0.0037248581647872925, 0.001748785376548767, 0.0033536404371261597], [-0.004448428750038147, 0.0026810914278030396, 0.0029367059469223022], [-0.0013443082571029663, 0.0025252699851989746, 0.0031144991517066956], [-0.008550509810447693, 0.0012058168649673462, 0.0042334869503974915], [-0.004916027188301086, 0.0026234686374664307, 0.0030292868614196777], [-0.004761993885040283, 0.0019135326147079468, 0.0039742812514305115], [-0.005952119827270508, 0.0004084855318069458, 0.003942891955375671], [-0.0016452968120574951, 0.0003966391086578369, -0.0001260712742805481], [-0.0026106834411621094, 0.0004021972417831421, 0.0024327635765075684], [-0.0006749778985977173, 0.000744551420211792, 0.0036813467741012573], [0.0011898279190063477, 0.001753494143486023, 0.0009400844573974609], [-0.004449561238288879, 0.002820834517478943, 0.003174513578414917], [-0.00391542911529541, 0.0012302398681640625, 0.001342572271823883], [-0.0050508975982666016, 0.0031534135341644287, 0.002290189266204834]], "cand_final_gripper_all": [0.9999536275863647, 1.0, 1.0, 1.0, 0.9987329244613647, 1.0, 0.9996428489685059, 1.0, 0.9995457530021667, 1.0, 1.0, 1.0, 0.9999651908874512, 1.0, 1.0, 0.9999948740005493, 1.0, 0.9996352791786194, 1.0, 1.0, 0.9998975396156311, 0.9999741315841675, 1.0, 1.0, 1.0, 0.9995995163917542, 1.0, 0.9993209838867188, 1.0, 1.0, 1.0, 1.0], "eef_pos": [0.4029579758644104, -0.046815175563097, 0.22735890746116638], "cand_action_std": 0.04854597523808479, "cand_pairwise_centroid_dist_mean": 0.44723623991012573, "argmax_act_outlier": 1.6473602056503296, "time_encode_ms": 4.96000493876636, "time_diffusion_ms": 36.48353391326964, "time_q_score_ms": 7.45552103035152, "time_total_ms": 49.82674913480878, "num_action_samples_effective": 32, "q_aggregate": "pair_min"}
+{"chunk_ordinal": 73, "q_min_best": 0.7636975049972534, "q_min_mean": 0.7456531524658203, "q_min_std": 0.00630092341452837, "q_min_median": 0.7443057894706726, "chosen_vs_median_q_gap": 0.01939171552658081, "q1_best": 0.7636975049972534, "q2_best": 0.7879797220230103, "v_val": 0.7324364185333252, "advantage": 0.03126108646392822, "best_idx": 13, "q_min_all": [0.7581852674484253, 0.7428253293037415, 0.7470224499702454, 0.7411311864852905, 0.754866361618042, 0.7352777123451233, 0.7522309422492981, 0.7380660772323608, 0.7458061575889587, 0.756604790687561, 0.7442725896835327, 0.7423619031906128, 0.7443057894706726, 0.7636975049972534, 0.7444034218788147, 0.7431138753890991, 0.7398721575737, 0.7404476404190063, 0.750001072883606, 0.7541235089302063, 0.7436137199401855, 0.7399979829788208, 0.7447320222854614, 0.7479037046432495, 0.7397743463516235, 0.7441998720169067, 0.7405590415000916, 0.7456270456314087, 0.7449076175689697, 0.7444515228271484, 0.7457672953605652, 0.7407512068748474], "q1_all": [0.7581852674484253, 0.7428253293037415, 0.7470224499702454, 0.7411311864852905, 0.754866361618042, 0.7352777123451233, 0.7522309422492981, 0.7380660772323608, 0.7458061575889587, 0.756604790687561, 0.7442725896835327, 0.7423619031906128, 0.7443057894706726, 0.7636975049972534, 0.7444034218788147, 0.7431138753890991, 0.7398721575737, 0.7404476404190063, 0.750001072883606, 0.7541235089302063, 0.7436137199401855, 0.7399979829788208, 0.7447320222854614, 0.7479037046432495, 0.7397743463516235, 0.7441998720169067, 0.7405590415000916, 0.7456270456314087, 0.7449076175689697, 0.7444515228271484, 0.7457672953605652, 0.7407512068748474], "q2_all": [0.7862012386322021, 0.7882028818130493, 0.7764904499053955, 0.7910753488540649, 0.786611795425415, 0.7792692184448242, 0.7825731039047241, 0.7849831581115723, 0.7863906621932983, 0.7946404218673706, 0.7959325313568115, 0.781190037727356, 0.7658311128616333, 0.7879797220230103, 0.7901017665863037, 0.7918944954872131, 0.7784698009490967, 0.7776445150375366, 0.7990753650665283, 0.7769445180892944, 0.7768436670303345, 0.7814006209373474, 0.789405882358551, 0.7990034222602844, 0.771248459815979, 0.7816161513328552, 0.7921814322471619, 0.7861125469207764, 0.7610805034637451, 0.7830211520195007, 0.7888133525848389, 0.7760913968086243], "cand_trans_speed_all": [0.0019787128549069166, 0.0018381290137767792, 0.002167336642742157, 0.0014702135231345892, 0.0018610204569995403, 0.001715571852400899, 0.001776733435690403, 0.0020343714859336615, 0.002466694451868534, 0.0018149239476770163, 0.0024420227855443954, 0.001821613870561123, 0.0019579920917749405, 0.002266461029648781, 0.0017259189626201987, 0.0020467527210712433, 0.001483679050579667, 0.002366844564676285, 0.0015931612579151988, 0.0027623954229056835, 0.0024488766212016344, 0.00104826083406806, 0.0015988913364708424, 0.002328560221940279, 0.0019582603126764297, 0.0015991771360859275, 0.001381051610223949, 0.0017618469428271055, 0.002135704969987273, 0.002039792714640498, 0.0018890092615038157, 0.0021310627926141024], "cand_cum_xyz_disp_all": [[-0.006088420748710632, 0.00042290985584259033, 0.00490155816078186], [-0.005307644605636597, 0.0007714629173278809, 0.002017401158809662], [-0.008486241102218628, 1.576542854309082e-05, 0.0033520981669425964], [-0.005113482475280762, 0.0011051744222640991, 0.0025930702686309814], [-0.0067536234855651855, 0.0016765743494033813, 0.0035303235054016113], [-0.003307133913040161, 0.002299979329109192, 0.002891063690185547], [-0.007976755499839783, 1.9341707229614258e-05, 0.002247929573059082], [-0.006439626216888428, -0.00046400725841522217, 0.0013581588864326477], [-0.005202040076255798, 0.0022157132625579834, 0.0024536550045013428], [-0.0037844330072402954, 0.00028409063816070557, 0.0049933940172195435], [-0.005040034651756287, 0.0022035837173461914, 0.003748498857021332], [-0.006960943341255188, 0.0011348724365234375, 0.00324133038520813], [-0.005505278706550598, 0.0002895444631576538, 0.003037884831428528], [-0.009556710720062256, -0.003446906805038452, 0.0028866827487945557], [-0.002064064145088196, -5.145370960235596e-05, 0.0026443451642990112], [-0.0013614296913146973, 0.0005931556224822998, 0.002727918326854706], [-0.0016602575778961182, -0.00041390955448150635, 0.003551796078681946], [-0.006236955523490906, 0.003846973180770874, 0.004454493522644043], [-0.006201699376106262, -0.0003214925527572632, 0.002947673201560974], [-0.009613856673240662, 0.002614438533782959, 0.003835536539554596], [-0.00772877037525177, 0.002809464931488037, 0.0036572888493537903], [-0.005064547061920166, 0.0010348856449127197, 0.00164061039686203], [-0.004594191908836365, 0.0005660653114318848, 0.0029726028442382812], [-0.008692830801010132, -0.001393541693687439, 0.0011494308710098267], [-0.0028903186321258545, -0.0017727017402648926, 0.0018682032823562622], [-0.003733888268470764, 0.0016125291585922241, 0.0038015618920326233], [-0.004314705729484558, 0.0005457401275634766, 0.0021456778049468994], [-0.005018800497055054, -0.0006150752305984497, 0.003003455698490143], [-0.005202829837799072, -0.0004955679178237915, 0.004001535475254059], [-0.0041008442640304565, 0.0010396987199783325, 0.003781519830226898], [-0.005887672305107117, 0.0020193904638290405, 0.0020186901092529297], [-0.005609437823295593, 0.0019666701555252075, 0.0036545321345329285]], "cand_final_gripper_all": [1.0, 1.0, 1.0, 1.0, 0.9993926882743835, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 0.9998300075531006, 1.0, 1.0, 1.0, 1.0, 1.0, 0.9999794960021973, 1.0, 1.0, 1.0, 0.9995934367179871, 1.0, 0.999320387840271, 1.0, 0.9994040727615356, 1.0, 1.0, 0.9999068975448608, 1.0, 1.0, 1.0], "eef_pos": [0.4030132591724396, -0.04596057906746864, 0.22733360528945923], "cand_action_std": 0.05347414314746857, "cand_pairwise_centroid_dist_mean": 0.49977874755859375, "argmax_act_outlier": 1.3241881132125854, "time_encode_ms": 5.422411952167749, "time_diffusion_ms": 36.17526195012033, "time_q_score_ms": 7.698141038417816, "time_total_ms": 50.05178600549698, "num_action_samples_effective": 32, "q_aggregate": "pair_min"}
+{"chunk_ordinal": 74, "q_min_best": 0.7542688846588135, "q_min_mean": 0.7369261384010315, "q_min_std": 0.008183500729501247, "q_min_median": 0.7366143465042114, "chosen_vs_median_q_gap": 0.01765453815460205, "q1_best": 0.7542688846588135, "q2_best": 0.8086745738983154, "v_val": 0.7430843114852905, "advantage": 0.01118457317352295, "best_idx": 1, "q_min_all": [0.7375347018241882, 0.7542688846588135, 0.7405233383178711, 0.7286559343338013, 0.741892397403717, 0.7298685312271118, 0.7322203516960144, 0.7398275136947632, 0.7418562769889832, 0.7359143495559692, 0.7335009574890137, 0.7282058000564575, 0.7278320789337158, 0.739028811454773, 0.7269426584243774, 0.7421674132347107, 0.7302471399307251, 0.739663302898407, 0.7441060543060303, 0.7361152172088623, 0.7534757852554321, 0.736198902130127, 0.7388443350791931, 0.7303787469863892, 0.7366143465042114, 0.7473297715187073, 0.7336097955703735, 0.7190871834754944, 0.7240408658981323, 0.7423136234283447, 0.7382487058639526, 0.751122236251831], "q1_all": [0.7375347018241882, 0.7542688846588135, 0.7405233383178711, 0.7286559343338013, 0.741892397403717, 0.7298685312271118, 0.7322203516960144, 0.7398275136947632, 0.7418562769889832, 0.7359143495559692, 0.7335009574890137, 0.7282058000564575, 0.7278320789337158, 0.739028811454773, 0.7269426584243774, 0.7421674132347107, 0.7302471399307251, 0.739663302898407, 0.7441060543060303, 0.7361152172088623, 0.7534757852554321, 0.736198902130127, 0.7388443350791931, 0.7303787469863892, 0.7366143465042114, 0.7473297715187073, 0.7336097955703735, 0.7190871834754944, 0.7240408658981323, 0.7423136234283447, 0.7382487058639526, 0.751122236251831], "q2_all": [0.7870615720748901, 0.8086745738983154, 0.7928242683410645, 0.7850980758666992, 0.7940933108329773, 0.7823241353034973, 0.7728004455566406, 0.791619598865509, 0.7879244685173035, 0.7960952520370483, 0.7865185737609863, 0.7862138152122498, 0.7880350351333618, 0.7766714096069336, 0.7863485813140869, 0.7936132550239563, 0.7866548299789429, 0.7941508293151855, 0.7989071607589722, 0.7877547144889832, 0.7928638458251953, 0.7935424447059631, 0.788215160369873, 0.7850615978240967, 0.7817303538322449, 0.7855239510536194, 0.7956546545028687, 0.7888206243515015, 0.7805385589599609, 0.7966976761817932, 0.7801201939582825, 0.7992939949035645], "cand_trans_speed_all": [0.0017182858427986503, 0.0024080497678369284, 0.0019753258675336838, 0.0021109171211719513, 0.0019006619695574045, 0.0014993662480264902, 0.0027519119903445244, 0.002113700844347477, 0.0019930079579353333, 0.0018662152579054236, 0.0018583917990326881, 0.0018941046437248588, 0.001767372596077621, 0.0019465949153527617, 0.0016588482540100813, 0.0016485124360769987, 0.0018403443973511457, 0.0020644625183194876, 0.0022556826006621122, 0.0019886214286088943, 0.0020787857938557863, 0.002239033579826355, 0.0023831299040466547, 0.0019844090566039085, 0.0023186400067061186, 0.0018682749941945076, 0.0023674736730754375, 0.001920494600199163, 0.002146390499547124, 0.003139553591609001, 0.0032734419219195843, 0.001977968029677868], "cand_cum_xyz_disp_all": [[-0.00450664758682251, 8.514523506164551e-05, 0.004289314150810242], [-0.007846757769584656, 0.00197485089302063, 0.004948422312736511], [-0.007367193698883057, 9.833276271820068e-05, 0.00292804092168808], [-0.003432944416999817, 0.0008294880390167236, 0.0015178471803665161], [-0.0069177597761154175, 0.0012913644313812256, 0.0020661205053329468], [-0.005834147334098816, 0.00039102137088775635, 0.002362087368965149], [-0.005870699882507324, 0.0023670941591262817, 0.0021653547883033752], [-0.007252037525177002, 0.001601681113243103, 0.0017596334218978882], [-0.006682798266410828, 0.000640869140625, 0.003361612558364868], [-0.005464985966682434, 0.0005463510751724243, 0.0032503679394721985], [-0.008088260889053345, 0.0013798028230667114, 0.002549372613430023], [-0.004165917634963989, 0.0007299184799194336, 0.0026824772357940674], [-0.00469188392162323, 0.0013082027435302734, 0.0018756911158561707], [-0.0065257251262664795, -0.0011531412601470947, 0.0037369504570961], [-0.004890456795692444, 0.0023318231105804443, 0.0026351213455200195], [-0.0063105374574661255, 0.0007727146148681641, 0.003566265106201172], [-0.006915956735610962, 0.001703500747680664, 0.0009532645344734192], [-0.00795014202594757, 0.0010167509317398071, 0.004332482814788818], [-0.005348816514015198, 0.0007593035697937012, 0.006311379373073578], [-0.006747335195541382, 0.0021314620971679688, 0.002595469355583191], [-0.008735761046409607, 0.0009586215019226074, 0.003740943968296051], [-0.005181461572647095, 0.002454906702041626, 0.004023648798465729], [-0.008793935179710388, 0.0004364103078842163, 0.0038539916276931763], [-0.0043457746505737305, -0.0013736635446548462, 0.0038731321692466736], [-0.006447494029998779, 0.0015218406915664673, 0.0056732818484306335], [-0.007450848817825317, 0.0004345029592514038, 0.0029678568243980408], [-0.004686504602432251, 0.0012210458517074585, 0.002463825047016144], [-0.004084527492523193, 0.0018627196550369263, 0.0023109763860702515], [-0.0038843154907226562, 0.0003110170364379883, 0.0033081695437431335], [-0.007764339447021484, 0.0002754032611846924, 0.002838902175426483], [-0.006868675351142883, 0.0001958310604095459, 0.004701733589172363], [-0.007020443677902222, 6.29425048828125e-05, 0.002566002309322357]], "cand_final_gripper_all": [0.9996123313903809, 1.0, 0.9996620416641235, 1.0, 1.0, 0.9997971057891846, 1.0, 1.0, 0.9995211362838745, 1.0, 1.0, 1.0, 1.0, 0.9997721910476685, 1.0, 1.0, 1.0, 0.9998153448104858, 1.0, 0.9995119571685791, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 0.9998800754547119, 1.0, 1.0, 1.0, 1.0, 1.0], "eef_pos": [0.40293046832084656, -0.04655804857611656, 0.22732384502887726], "cand_action_std": 0.04767625406384468, "cand_pairwise_centroid_dist_mean": 0.44049733877182007, "argmax_act_outlier": 1.310782551765442, "time_encode_ms": 5.332364933565259, "time_diffusion_ms": 36.26713203266263, "time_q_score_ms": 7.607423001900315, "time_total_ms": 49.905564868822694, "num_action_samples_effective": 32, "q_aggregate": "pair_min"}
+{"chunk_ordinal": 75, "q_min_best": 0.7558276057243347, "q_min_mean": 0.7444518804550171, "q_min_std": 0.006846797652542591, "q_min_median": 0.7436448931694031, "chosen_vs_median_q_gap": 0.01218271255493164, "q1_best": 0.7558276057243347, "q2_best": 0.7967907786369324, "v_val": 0.7683323621749878, "advantage": -0.012504756450653076, "best_idx": 27, "q_min_all": [0.7453119158744812, 0.7477288842201233, 0.7425373196601868, 0.7427240014076233, 0.7413550615310669, 0.7462042570114136, 0.7515467405319214, 0.7292827367782593, 0.7360056042671204, 0.7491070628166199, 0.7436448931694031, 0.7376878261566162, 0.7416704893112183, 0.7479379773139954, 0.7410655617713928, 0.7458351254463196, 0.755648672580719, 0.7547385692596436, 0.7382168769836426, 0.7510082721710205, 0.7450193762779236, 0.738676905632019, 0.7477620244026184, 0.7332116365432739, 0.7434698343276978, 0.7538343667984009, 0.7531377673149109, 0.7558276057243347, 0.7418868541717529, 0.7487950325012207, 0.738618016242981, 0.7329634428024292], "q1_all": [0.7453119158744812, 0.7477288842201233, 0.7425373196601868, 0.7427240014076233, 0.7413550615310669, 0.7462042570114136, 0.7515467405319214, 0.7292827367782593, 0.7360056042671204, 0.7491070628166199, 0.7436448931694031, 0.7376878261566162, 0.7416704893112183, 0.7479379773139954, 0.7410655617713928, 0.7458351254463196, 0.755648672580719, 0.7547385692596436, 0.7382168769836426, 0.7510082721710205, 0.7450193762779236, 0.738676905632019, 0.7477620244026184, 0.7332116365432739, 0.7434698343276978, 0.7538343667984009, 0.7531377673149109, 0.7558276057243347, 0.7418868541717529, 0.7487950325012207, 0.738618016242981, 0.7329634428024292], "q2_all": [0.7833285927772522, 0.7862923741340637, 0.8001011610031128, 0.8045874834060669, 0.7910047769546509, 0.7792372703552246, 0.7884950041770935, 0.781662106513977, 0.7840631008148193, 0.7916064262390137, 0.7807589769363403, 0.7867171764373779, 0.7738558650016785, 0.7963667511940002, 0.789387583732605, 0.7820404767990112, 0.8029288053512573, 0.7919273972511292, 0.7857788801193237, 0.7894792556762695, 0.7935874462127686, 0.7892018556594849, 0.7918332815170288, 0.7910444140434265, 0.7915096879005432, 0.783302366733551, 0.7839275002479553, 0.7967907786369324, 0.7785295248031616, 0.7910656929016113, 0.7914574146270752, 0.784618616104126], "cand_trans_speed_all": [0.0017502272967249155, 0.0018515045521780849, 0.001663705101236701, 0.0032958067022264004, 0.0023221299052238464, 0.001685363589785993, 0.0017389031127095222, 0.0023576412349939346, 0.0014221786987036467, 0.002418969292193651, 0.0017229863442480564, 0.0018569787498563528, 0.0015240636421367526, 0.0018178945174440742, 0.0021082558669149876, 0.002296763937920332, 0.0019809461664408445, 0.0016821096651256084, 0.0020743838977068663, 0.0019098061602562666, 0.001524056657217443, 0.0018444857560098171, 0.0014679020969197154, 0.0017510252073407173, 0.00150936224963516, 0.0019175851484760642, 0.0015349097084254026, 0.0023987484164536, 0.0014994461089372635, 0.001268664374947548, 0.002924438565969467, 0.0014800227945670485], "cand_cum_xyz_disp_all": [[-0.004150420427322388, 0.002376452088356018, 0.0039035454392433167], [-0.006178125739097595, 0.0025007426738739014, 0.0024815797805786133], [-0.00723835825920105, 0.0033330917358398438, 0.002520531415939331], [-0.005665704607963562, 0.00304432213306427, 0.004467889666557312], [-0.004822477698326111, 0.000967860221862793, 0.0022990182042121887], [-0.004313722252845764, 0.001430213451385498, 0.004291899502277374], [-0.0071443915367126465, 0.00016869604587554932, 0.003801189363002777], [-0.003514513373374939, 0.001162409782409668, 0.0021958649158477783], [-0.003473058342933655, 0.0017136931419372559, 0.0037741735577583313], [-0.007116779685020447, 0.0024599581956863403, 0.004868172109127045], [-0.004427433013916016, 0.0026375800371170044, 0.004301398992538452], [-0.005142003297805786, 0.000533372163772583, 0.0026869997382164], [-0.00468800961971283, 0.0008505880832672119, 0.0029071643948554993], [-0.0072994232177734375, 0.003336191177368164, 0.0031152665615081787], [-0.002948254346847534, 0.0019728541374206543, 0.0026344135403633118], [-0.003243684768676758, 0.004218339920043945, 0.004026196897029877], [-0.00776103138923645, 0.0009652972221374512, 0.003590986132621765], [-0.00803367793560028, -2.2992491722106934e-05, 0.003567151725292206], [-0.005695313215255737, 0.0017873793840408325, 0.0034294873476028442], [-0.006269693374633789, 0.0015407800674438477, 0.003976717591285706], [-0.006308019161224365, 0.0013810396194458008, 0.001755744218826294], [-0.004168659448623657, 0.001973256468772888, 0.0034122392535209656], [-0.006890997290611267, 0.0018730908632278442, 0.002307422459125519], [-0.0027394145727157593, 0.002699732780456543, 0.0029217228293418884], [-0.005069896578788757, 0.0019368976354599, 0.004728697240352631], [-0.0071522146463394165, 0.0009161084890365601, 0.0017771720886230469], [-0.005808472633361816, 0.0013900995254516602, 0.002106808125972748], [-0.004737049341201782, 0.002032250165939331, 0.0035636872053146362], [-0.004905715584754944, 0.0009426027536392212, 0.0035048872232437134], [-0.005156680941581726, 0.000461384654045105, 0.003262072801589966], [-0.0035020112991333008, 0.0057909488677978516, 0.0028024911880493164], [-0.001418963074684143, 0.0037706494331359863, 0.0032615289092063904]], "cand_final_gripper_all": [1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 0.9995089769363403, 1.0, 1.0, 1.0, 1.0, 1.0, 0.9999257326126099, 1.0, 1.0, 1.0, 0.9990991353988647, 0.9997565746307373, 0.9997808933258057, 1.0, 1.0, 1.0, 0.999988853931427, 1.0, 0.9995282292366028, 1.0, 1.0, 1.0, 1.0, 1.0, 0.99989914894104, 0.9993534088134766], "eef_pos": [0.40290653705596924, -0.04724445194005966, 0.22736696898937225], "cand_action_std": 0.04691778123378754, "cand_pairwise_centroid_dist_mean": 0.4374297559261322, "argmax_act_outlier": 1.1663442850112915, "time_encode_ms": 5.986818810924888, "time_diffusion_ms": 36.10883792862296, "time_q_score_ms": 7.17742508277297, "time_total_ms": 50.35172216594219, "num_action_samples_effective": 32, "q_aggregate": "pair_min"}
+{"chunk_ordinal": 76, "q_min_best": 0.7699127197265625, "q_min_mean": 0.7457886934280396, "q_min_std": 0.008433470502495766, "q_min_median": 0.7447956800460815, "chosen_vs_median_q_gap": 0.025117039680480957, "q1_best": 0.7699127197265625, "q2_best": 0.8001185655593872, "v_val": 0.7454578280448914, "advantage": 0.024454891681671143, "best_idx": 13, "q_min_all": [0.7427046298980713, 0.7561017274856567, 0.735715925693512, 0.7576012015342712, 0.7512557506561279, 0.7379249334335327, 0.7459421753883362, 0.7377028465270996, 0.7438774108886719, 0.730820894241333, 0.7365660667419434, 0.7470083236694336, 0.745390772819519, 0.7699127197265625, 0.7414978742599487, 0.7485754489898682, 0.7438181638717651, 0.7514508366584778, 0.756157398223877, 0.733905553817749, 0.7423439025878906, 0.7443899512290955, 0.7338379621505737, 0.746658444404602, 0.7528220415115356, 0.7430281639099121, 0.7483059167861938, 0.7447956800460815, 0.7546806931495667, 0.7480394840240479, 0.7367863655090332, 0.7556195259094238], "q1_all": [0.7427046298980713, 0.7561017274856567, 0.735715925693512, 0.7576012015342712, 0.7512557506561279, 0.7379249334335327, 0.7459421753883362, 0.7377028465270996, 0.7438774108886719, 0.730820894241333, 0.7365660667419434, 0.7470083236694336, 0.745390772819519, 0.7699127197265625, 0.7414978742599487, 0.7485754489898682, 0.7438181638717651, 0.7514508366584778, 0.756157398223877, 0.733905553817749, 0.7423439025878906, 0.7443899512290955, 0.7338379621505737, 0.746658444404602, 0.7528220415115356, 0.7430281639099121, 0.7483059167861938, 0.7447956800460815, 0.7546806931495667, 0.7480394840240479, 0.7367863655090332, 0.7556195259094238], "q2_all": [0.8096762895584106, 0.7910687327384949, 0.7920637130737305, 0.7835449576377869, 0.7799857258796692, 0.7891608476638794, 0.7870208024978638, 0.7711933851242065, 0.7829571962356567, 0.7849108576774597, 0.7793924808502197, 0.7912335991859436, 0.7942395210266113, 0.8001185655593872, 0.7728846669197083, 0.8015207052230835, 0.7711026668548584, 0.7889659404754639, 0.7962111234664917, 0.7741280794143677, 0.7814717888832092, 0.7936079502105713, 0.782319188117981, 0.7796748876571655, 0.7980017066001892, 0.7948359847068787, 0.7837295532226562, 0.776322603225708, 0.8002616167068481, 0.7787246108055115, 0.7931238412857056, 0.791951596736908], "cand_trans_speed_all": [0.002389972098171711, 0.0015395729569718242, 0.0018676964100450277, 0.0017652474343776703, 0.0014704962959513068, 0.0017695700516924262, 0.0012266453122720122, 0.0012739684898406267, 0.0020009272266179323, 0.002478279871866107, 0.0014179784338921309, 0.0020568626932799816, 0.0019204601412639022, 0.0019616782665252686, 0.002685654442757368, 0.002194742439314723, 0.001992663834244013, 0.0029194268863648176, 0.0026978456880897284, 0.003152883378788829, 0.002020177897065878, 0.0018064952455461025, 0.0019159180810675025, 0.0018477176781743765, 0.002689181827008724, 0.0017431506421416998, 0.002033870667219162, 0.0016298270784318447, 0.0018797144293785095, 0.00204638484865427, 0.00163936335593462, 0.0028817940037697554], "cand_cum_xyz_disp_all": [[-0.004378914833068848, 0.00048397481441497803, 0.0031451135873794556], [-0.006099596619606018, -0.0024101734161376953, 0.0029250308871269226], [-0.0026676803827285767, 0.0011650621891021729, 0.0025040432810783386], [-0.008090943098068237, 5.9738755226135254e-05, 0.0025957301259040833], [-0.004850342869758606, -0.0002942979335784912, 0.0032151564955711365], [-0.00272543728351593, -0.0009649544954299927, 0.00327155739068985], [-0.005613729357719421, 0.002399429678916931, 0.0017745345830917358], [-0.0037576407194137573, 0.002720773220062256, 0.002458035945892334], [-0.006067514419555664, 0.00040055811405181885, 0.0038853585720062256], [-0.004071235656738281, 0.003771752119064331, 0.004965558648109436], [-0.004919454455375671, -7.893145084381104e-05, 0.0030266791582107544], [-0.0035070180892944336, 0.002880275249481201, 0.004607781767845154], [-0.006584718823432922, -0.00016255676746368408, 0.0026963725686073303], [-0.005936965346336365, -0.0003498643636703491, 0.004731364548206329], [-0.010235130786895752, 0.0008359849452972412, 0.0017298758029937744], [-0.0067003220319747925, 0.0027759969234466553, 0.002306602895259857], [-0.0072888582944869995, 0.0001926124095916748, 0.003460399806499481], [-0.007236406207084656, 0.0006912052631378174, 0.004550948739051819], [-0.007219687104225159, 0.0007799416780471802, 0.004476703703403473], [-0.005640879273414612, 0.0019411295652389526, 0.0031174346804618835], [-0.005427643656730652, 0.002709314227104187, 0.00219128280878067], [-0.004884600639343262, -0.00019280612468719482, 0.004165023565292358], [-3.8042664527893066e-05, 0.0022896677255630493, 0.0038473308086395264], [-0.004252403974533081, 0.001337587833404541, 0.00398620218038559], [-0.008489206433296204, 0.003268122673034668, 0.0032017752528190613], [-0.005183741450309753, 0.0007150769233703613, 0.0029953867197036743], [-0.004696354269981384, 0.0011567920446395874, 0.0028943419456481934], [-0.004056885838508606, 0.0013155490159988403, 0.0031735002994537354], [-0.007189616560935974, 0.0006117075681686401, 0.004115447402000427], [-0.005437344312667847, 0.0019043833017349243, 0.0027985870838165283], [-0.004340812563896179, 0.003337174654006958, 0.0026668906211853027], [-0.009839043021202087, 0.002543032169342041, 0.004466988146305084]], "cand_final_gripper_all": [1.0, 1.0, 0.9996695518493652, 1.0, 0.9996633529663086, 1.0, 0.99934321641922, 0.9999350309371948, 1.0, 1.0, 1.0, 0.9988433122634888, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 0.9999361038208008, 1.0, 1.0, 1.0, 1.0, 1.0, 0.9998648166656494, 1.0, 1.0, 1.0, 1.0], "eef_pos": [0.4030124843120575, -0.046130191534757614, 0.2273479402065277], "cand_action_std": 0.049261439591646194, "cand_pairwise_centroid_dist_mean": 0.45158618688583374, "argmax_act_outlier": 1.0386892557144165, "time_encode_ms": 5.071321036666632, "time_diffusion_ms": 35.98288493230939, "time_q_score_ms": 8.391826879233122, "time_total_ms": 50.14466890133917, "num_action_samples_effective": 32, "q_aggregate": "pair_min"}
+{"chunk_ordinal": 77, "q_min_best": 0.7510719299316406, "q_min_mean": 0.7331055402755737, "q_min_std": 0.007213734555989504, "q_min_median": 0.7327908277511597, "chosen_vs_median_q_gap": 0.018281102180480957, "q1_best": 0.7510719299316406, "q2_best": 0.79716956615448, "v_val": 0.7320927977561951, "advantage": 0.018979132175445557, "best_idx": 12, "q_min_all": [0.7283551096916199, 0.7257066965103149, 0.738249659538269, 0.7377784252166748, 0.7233763933181763, 0.7363078594207764, 0.7342145442962646, 0.7420613169670105, 0.7327908277511597, 0.7336241006851196, 0.7193503379821777, 0.7318787574768066, 0.7510719299316406, 0.7232359051704407, 0.7304235100746155, 0.7271363735198975, 0.7348151206970215, 0.7418257594108582, 0.7228649854660034, 0.7338435649871826, 0.7287049293518066, 0.7265233993530273, 0.7343409061431885, 0.7284114360809326, 0.7437906861305237, 0.7325412631034851, 0.7342658042907715, 0.7359388470649719, 0.7319880127906799, 0.7469791173934937, 0.7389034032821655, 0.7280770540237427], "q1_all": [0.7283551096916199, 0.7257066965103149, 0.738249659538269, 0.7377784252166748, 0.7233763933181763, 0.7363078594207764, 0.7342145442962646, 0.7420613169670105, 0.7327908277511597, 0.7336241006851196, 0.7193503379821777, 0.7318787574768066, 0.7510719299316406, 0.7232359051704407, 0.7304235100746155, 0.7271363735198975, 0.7348151206970215, 0.7418257594108582, 0.7228649854660034, 0.7338435649871826, 0.7287049293518066, 0.7265233993530273, 0.7343409061431885, 0.7284114360809326, 0.7437906861305237, 0.7325412631034851, 0.7342658042907715, 0.7359388470649719, 0.7319880127906799, 0.7469791173934937, 0.7389034032821655, 0.7280770540237427], "q2_all": [0.7846588492393494, 0.7862938642501831, 0.7859553098678589, 0.7967574596405029, 0.790290355682373, 0.8007518649101257, 0.7721364498138428, 0.7664012908935547, 0.7920863628387451, 0.7986354231834412, 0.7894104719161987, 0.7958413362503052, 0.79716956615448, 0.7879283428192139, 0.7849786281585693, 0.7894690036773682, 0.7908055186271667, 0.7960155010223389, 0.7944567203521729, 0.7917457818984985, 0.7724747657775879, 0.786949872970581, 0.7849528789520264, 0.7948284149169922, 0.800938069820404, 0.7928991317749023, 0.7678897976875305, 0.7994213104248047, 0.7858073711395264, 0.7807764410972595, 0.7905314564704895, 0.7948961853981018], "cand_trans_speed_all": [0.0018320379313081503, 0.002917785197496414, 0.0015710893785580993, 0.0021344448905438185, 0.0012787451269105077, 0.0022315257228910923, 0.0016669532051309943, 0.003234420670196414, 0.0017860967200249434, 0.002921115141361952, 0.0030060510616749525, 0.0022771095391362906, 0.0024985899217426777, 0.0021139374002814293, 0.0016370387747883797, 0.0019786651246249676, 0.0014849844155833125, 0.001959683373570442, 0.002186005702242255, 0.002408099127933383, 0.00294359284453094, 0.0012162765488028526, 0.00204851315356791, 0.0019173396285623312, 0.002041058847680688, 0.002051702467724681, 0.002739943331107497, 0.001761317951604724, 0.0017775933956727386, 0.002267946023494005, 0.0020856414921581745, 0.002023729495704174], "cand_cum_xyz_disp_all": [[-0.004924029111862183, 0.0007483810186386108, 0.003009490668773651], [-0.005164727568626404, 0.0023000389337539673, 0.001704193651676178], [-0.005321115255355835, -5.513429641723633e-06, 0.002656497061252594], [-0.00893731415271759, 0.001534685492515564, 0.004431091248989105], [-0.0036752521991729736, 0.002257600426673889, 0.0027662962675094604], [-0.008126124739646912, 0.002604380249977112, 0.003450922667980194], [-0.003799930214881897, 0.0002002716064453125, 0.004612885415554047], [-0.009877979755401611, 0.0024141818284988403, 0.004276499152183533], [-0.005463719367980957, 0.0005221068859100342, 0.002635546028614044], [-0.005341574549674988, 0.0027650147676467896, 0.0017985552549362183], [-0.005599960684776306, 0.0023683011531829834, 0.003981232643127441], [-0.005264803767204285, 0.004019394516944885, 0.0014578849077224731], [-0.009564235806465149, -0.0004975646734237671, 0.004677250981330872], [-0.004722476005554199, 0.00012664496898651123, -0.00011862069368362427], [-0.006741747260093689, 0.0014083832502365112, 0.0022751465439796448], [-0.004162654280662537, 0.0013712048530578613, 0.004485338926315308], [-0.003859579563140869, 0.003698483109474182, 0.0012326091527938843], [-0.0068382322788238525, 8.830428123474121e-05, 0.002179078757762909], [-0.006461650133132935, 0.0034718364477157593, 0.002945028245449066], [-0.007260948419570923, 0.002427339553833008, 0.004728980362415314], [-0.0035316646099090576, 0.0011579543352127075, 0.0032522156834602356], [-0.004371702671051025, 0.0009697824716567993, 0.0018363595008850098], [-0.009122028946876526, 0.0017487406730651855, 0.0024286285042762756], [-0.005695030093193054, 0.003031328320503235, 0.0027268454432487488], [-0.008084133267402649, 0.0009141862392425537, 0.003188319504261017], [-0.005330905318260193, 0.0022207945585250854, 0.0032465383410453796], [-0.009436815977096558, 0.0029180049896240234, 0.0022957175970077515], [-0.0072805434465408325, 0.0010293275117874146, 0.002966158092021942], [-0.005597278475761414, -0.00022423267364501953, 0.0012591853737831116], [-0.008865073323249817, 0.0018139481544494629, 0.002352096140384674], [-0.006593659520149231, 0.000545695424079895, 0.0036542341113090515], [-0.0037313252687454224, 0.0019591450691223145, 0.0018028318881988525]], "cand_final_gripper_all": [1.0, 1.0, 1.0, 1.0, 0.999823272228241, 1.0, 1.0, 1.0, 1.0, 1.0, 0.9991326928138733, 1.0, 1.0, 0.9997460246086121, 1.0, 0.9998629093170166, 1.0, 1.0, 0.9992853999137878, 0.9997586011886597, 1.0, 0.999665379524231, 0.9993909597396851, 1.0, 1.0, 0.9998816251754761, 0.9996601343154907, 1.0, 1.0, 1.0, 1.0, 1.0], "eef_pos": [0.4029383361339569, -0.046771302819252014, 0.2273463010787964], "cand_action_std": 0.047560371458530426, "cand_pairwise_centroid_dist_mean": 0.43331125378608704, "argmax_act_outlier": 1.2652106285095215, "time_encode_ms": 5.809869850054383, "time_diffusion_ms": 36.31396894343197, "time_q_score_ms": 8.017153013497591, "time_total_ms": 50.88042304851115, "num_action_samples_effective": 32, "q_aggregate": "pair_min"}
+{"chunk_ordinal": 78, "q_min_best": 0.7566368579864502, "q_min_mean": 0.73871910572052, "q_min_std": 0.008759182877838612, "q_min_median": 0.7372318506240845, "chosen_vs_median_q_gap": 0.019405007362365723, "q1_best": 0.7566368579864502, "q2_best": 0.8165596723556519, "v_val": 0.7789455652236938, "advantage": -0.022308707237243652, "best_idx": 21, "q_min_all": [0.7426609992980957, 0.7295573353767395, 0.7561154961585999, 0.7436172962188721, 0.7370883822441101, 0.7372318506240845, 0.7431122064590454, 0.7370977401733398, 0.7469242811203003, 0.7328173518180847, 0.7230509519577026, 0.7252734899520874, 0.7438998818397522, 0.7316371202468872, 0.7297461032867432, 0.7339192628860474, 0.7468374371528625, 0.7358042001724243, 0.7391749620437622, 0.7459465265274048, 0.7465003728866577, 0.7566368579864502, 0.7382217049598694, 0.7259196043014526, 0.7347580194473267, 0.7473546266555786, 0.7515184879302979, 0.7286696434020996, 0.7448667287826538, 0.7399069666862488, 0.7364541292190552, 0.7266936302185059], "q1_all": [0.7426609992980957, 0.7295573353767395, 0.7561154961585999, 0.7436172962188721, 0.7370883822441101, 0.7372318506240845, 0.7431122064590454, 0.7370977401733398, 0.7469242811203003, 0.7328173518180847, 0.7230509519577026, 0.7252734899520874, 0.7438998818397522, 0.7316371202468872, 0.7297461032867432, 0.7339192628860474, 0.7468374371528625, 0.7358042001724243, 0.7391749620437622, 0.7459465265274048, 0.7465003728866577, 0.7566368579864502, 0.7382217049598694, 0.7259196043014526, 0.7347580194473267, 0.7473546266555786, 0.7515184879302979, 0.7286696434020996, 0.7448667287826538, 0.7399069666862488, 0.7364541292190552, 0.7266936302185059], "q2_all": [0.8007044792175293, 0.7938347458839417, 0.7957472205162048, 0.816152811050415, 0.7851513028144836, 0.8010032773017883, 0.7997773289680481, 0.7885192632675171, 0.8035683035850525, 0.7938769459724426, 0.7883716821670532, 0.7916392087936401, 0.8077795505523682, 0.7993005514144897, 0.7822989821434021, 0.795185387134552, 0.8113735914230347, 0.8201955556869507, 0.7987251877784729, 0.8082428574562073, 0.8040858507156372, 0.8165596723556519, 0.8121782541275024, 0.8067039251327515, 0.8095929622650146, 0.8050239086151123, 0.803469717502594, 0.8078113794326782, 0.7988208532333374, 0.806965172290802, 0.7988086342811584, 0.8159148693084717], "cand_trans_speed_all": [0.0016173552721738815, 0.003122967202216387, 0.0026870346628129482, 0.0014495104551315308, 0.0011997080873697996, 0.001223220257088542, 0.0012293815379962325, 0.0020422516390681267, 0.002041879575699568, 0.001899553812108934, 0.0011664533521980047, 0.0018481668084859848, 0.001555291935801506, 0.00165279908105731, 0.0030739351641386747, 0.0013176057254895568, 0.002019596751779318, 0.0019092669244855642, 0.0018687316915020347, 0.00165368034504354, 0.00205482030287385, 0.0020153799559921026, 0.0014653843827545643, 0.001735498895868659, 0.001982244197279215, 0.002024766756221652, 0.0016911349957808852, 0.0021159613970667124, 0.003018135903403163, 0.0013681603595614433, 0.002354032127186656, 0.002525819232687354], "cand_cum_xyz_disp_all": [[-0.0050527602434158325, 0.001202404499053955, 0.0026221275329589844], [-0.003222540020942688, 0.003050968050956726, 0.0032883062958717346], [-0.006198585033416748, 0.003280356526374817, 0.003900773823261261], [-0.0051609426736831665, 0.0037393718957901, 0.001863136887550354], [-0.003303706645965576, 0.00039070844650268555, 0.0026153400540351868], [-0.0034857094287872314, 0.0017466992139816284, 0.003524377942085266], [-0.004891812801361084, 0.0003548860549926758, 0.0021309182047843933], [-0.004224509000778198, 0.0020677149295806885, 0.003119364380836487], [-0.005709126591682434, 0.0013279765844345093, 0.003842473030090332], [-0.0029211491346359253, 0.002052411437034607, 0.0018918365240097046], [-0.0040304213762283325, 0.00043819844722747803, 0.0026139840483665466], [-0.004398643970489502, 0.002232372760772705, 0.0023984163999557495], [-0.0063416361808776855, 0.0018905550241470337, 0.004120402038097382], [-0.003665044903755188, 0.0005860179662704468, 0.001818634569644928], [-0.004453986883163452, 0.0017854571342468262, 0.0015822872519493103], [-0.0015576332807540894, 0.0013304799795150757, 0.0034970641136169434], [-0.006277024745941162, 0.0025660693645477295, 0.0034734681248664856], [-0.005479082465171814, 0.0017059743404388428, 0.003057032823562622], [-0.004615306854248047, 0.0028638243675231934, 0.0038453713059425354], [-0.006422474980354309, 0.0006611347198486328, 0.0025378838181495667], [-0.005495935678482056, 0.0006063282489776611, 0.003461778163909912], [-0.008568063378334045, 0.0035995841026306152, 0.005022995173931122], [-0.005868270993232727, 0.002270802855491638, 0.003641277551651001], [-0.005084127187728882, 0.0003534257411956787, 0.001162804663181305], [-0.004218533635139465, 0.001944616436958313, 0.004272982478141785], [-0.0049911439418792725, 0.0006692260503768921, 0.003797583281993866], [-0.006986603140830994, 0.00044305622577667236, 0.0020696744322776794], [-0.0009433925151824951, 0.001734122633934021, 0.004015408456325531], [-0.005820736289024353, 0.002261728048324585, 0.00290815532207489], [-0.006210297346115112, 0.0010008364915847778, 0.0035055726766586304], [-0.0074529945850372314, 0.005081996321678162, 0.002971567213535309], [-0.004862278699874878, 0.0038961470127105713, 0.0023653507232666016]], "cand_final_gripper_all": [0.9996321201324463, 1.0, 1.0, 1.0, 0.9991962909698486, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 0.9998745918273926, 0.9999234676361084, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0], "eef_pos": [0.4028996527194977, -0.04727376252412796, 0.22740012407302856], "cand_action_std": 0.048879992216825485, "cand_pairwise_centroid_dist_mean": 0.44415658712387085, "argmax_act_outlier": 1.2433909177780151, "time_encode_ms": 4.963981918990612, "time_diffusion_ms": 36.10610403120518, "time_q_score_ms": 8.35463684052229, "time_total_ms": 50.284547032788396, "num_action_samples_effective": 32, "q_aggregate": "pair_min"}
+{"chunk_ordinal": 79, "q_min_best": 0.7627329230308533, "q_min_mean": 0.7437495589256287, "q_min_std": 0.008997184224426746, "q_min_median": 0.7418431043624878, "chosen_vs_median_q_gap": 0.02088981866836548, "q1_best": 0.7627329230308533, "q2_best": 0.8214869499206543, "v_val": 0.7544214129447937, "advantage": 0.00831151008605957, "best_idx": 28, "q_min_all": [0.7402791380882263, 0.7551742792129517, 0.7418431043624878, 0.7617255449295044, 0.7421255111694336, 0.7398543953895569, 0.7623814940452576, 0.7350942492485046, 0.7367955446243286, 0.744165301322937, 0.7452733516693115, 0.7275680899620056, 0.7346771955490112, 0.7300494909286499, 0.7542295455932617, 0.7413033246994019, 0.7327037453651428, 0.7396023273468018, 0.7429813146591187, 0.7500171065330505, 0.7409274578094482, 0.7422546148300171, 0.7341916561126709, 0.7479287385940552, 0.7411143779754639, 0.7500669956207275, 0.7512674927711487, 0.7457866072654724, 0.7627329230308533, 0.7410376667976379, 0.7345168590545654, 0.7503166198730469], "q1_all": [0.7402791380882263, 0.7551742792129517, 0.7418431043624878, 0.7617255449295044, 0.7421255111694336, 0.7398543953895569, 0.7623814940452576, 0.7350942492485046, 0.7367955446243286, 0.744165301322937, 0.7452733516693115, 0.7275680899620056, 0.7346771955490112, 0.7300494909286499, 0.7542295455932617, 0.7413033246994019, 0.7327037453651428, 0.7396023273468018, 0.7429813146591187, 0.7500171065330505, 0.7409274578094482, 0.7422546148300171, 0.7341916561126709, 0.7479287385940552, 0.7411143779754639, 0.7500669956207275, 0.7512674927711487, 0.7457866072654724, 0.7627329230308533, 0.7410376667976379, 0.7345168590545654, 0.7503166198730469], "q2_all": [0.7992808222770691, 0.8016841411590576, 0.7890404462814331, 0.7869975566864014, 0.7844745516777039, 0.7822441458702087, 0.7898387908935547, 0.7903414964675903, 0.7786779999732971, 0.7887037396430969, 0.7821190357208252, 0.7724426984786987, 0.781559944152832, 0.7849863767623901, 0.7993643283843994, 0.7890433073043823, 0.7803324460983276, 0.7857761979103088, 0.7729012966156006, 0.7964939475059509, 0.7819056510925293, 0.7911514639854431, 0.7883063554763794, 0.7849975824356079, 0.7833048701286316, 0.8060066103935242, 0.8000776767730713, 0.7845181822776794, 0.8214869499206543, 0.8004248142242432, 0.778156042098999, 0.7866132259368896], "cand_trans_speed_all": [0.001802818733267486, 0.0019496527966111898, 0.0023915807250887156, 0.002329221460968256, 0.002830700483173132, 0.0014488057931885123, 0.0021753604523837566, 0.001415075035765767, 0.0014878325164318085, 0.0018123671179637313, 0.002287105191498995, 0.0027923218440264463, 0.0018991383258253336, 0.0017155124805867672, 0.001286607701331377, 0.0017340867780148983, 0.0010834757704287767, 0.00216644536703825, 0.0019470307743176818, 0.0023009823635220528, 0.0012160148471593857, 0.001522514969110489, 0.0015043674502521753, 0.0018095846753567457, 0.001695577404461801, 0.001720113679766655, 0.0017835864564403892, 0.001461832202039659, 0.0031542573124170303, 0.001693504280410707, 0.0019053863361477852, 0.0021943028550595045], "cand_cum_xyz_disp_all": [[-0.004777804017066956, 0.00315740704536438, 0.0025521069765090942], [-0.007639303803443909, 0.0022099167108535767, 0.003577284514904022], [-0.0028885453939437866, 0.0013481974601745605, 0.0040806010365486145], [-0.011312395334243774, -0.00017856061458587646, 0.0024396702647209167], [-0.00570949912071228, 0.0002926141023635864, 0.0035792142152786255], [-0.005336955189704895, 0.0021353960037231445, 0.001719050109386444], [-0.009779319167137146, 0.0019364506006240845, 0.003353886306285858], [-0.0027391910552978516, 0.0022367537021636963, 0.0009684860706329346], [-0.004592373967170715, 0.0004378855228424072, 0.003036290407180786], [-0.003899797797203064, 0.0005481839179992676, 0.0036429911851882935], [-0.003063306212425232, 0.0014172196388244629, 0.002759084105491638], [-0.00425325334072113, 0.0016426444053649902, 0.0014717206358909607], [-0.004252433776855469, 0.0016988664865493774, 0.004750445485115051], [-0.001692444086074829, 0.002457544207572937, 0.002822771668434143], [-0.005227044224739075, 0.0011280626058578491, 0.004046700894832611], [-0.0067065805196762085, 0.0031655877828598022, 0.0029122456908226013], [-0.005070433020591736, 0.0028011053800582886, 0.0017747655510902405], [-0.003505721688270569, 0.002340346574783325, 0.002882912755012512], [-0.003009110689163208, 0.0012473613023757935, 0.00272485613822937], [-0.005959033966064453, 0.0030307024717330933, 0.005148164927959442], [-0.005377456545829773, -0.00038777291774749756, 0.003350481390953064], [-0.005990549921989441, 0.0024715662002563477, 0.002887047827243805], [-0.003250807523727417, 0.0007658004760742188, 0.0015118718147277832], [-0.006768256425857544, 2.230703830718994e-05, 0.004474341869354248], [-0.007405921816825867, 0.0011681467294692993, 0.0009791478514671326], [-0.005037590861320496, 0.0030741840600967407, 0.00385940819978714], [-0.006760269403457642, 0.003124147653579712, 0.0026324987411499023], [-0.006844639778137207, 0.0016081780195236206, 0.0025406405329704285], [-0.00814501941204071, 0.002668902277946472, 0.003348894417285919], [-0.005677282810211182, 0.0032556354999542236, 0.002708248794078827], [-0.0027553588151931763, 0.00235159695148468, 0.0030734166502952576], [-0.003964588046073914, 0.004557967185974121, 0.003184981644153595]], "cand_final_gripper_all": [1.0, 0.9997756481170654, 1.0, 0.9998160600662231, 0.9987941980361938, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 0.9998422861099243, 1.0, 1.0, 0.999732494354248, 0.9998592138290405, 1.0, 1.0, 1.0, 0.9998531937599182, 1.0, 0.999883770942688, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0], "eef_pos": [0.4029102921485901, -0.047051139175891876, 0.22735373675823212], "cand_action_std": 0.04760052636265755, "cand_pairwise_centroid_dist_mean": 0.4508510231971741, "argmax_act_outlier": 1.67153799533844, "time_encode_ms": 5.170395132154226, "time_diffusion_ms": 36.529238102957606, "time_q_score_ms": 7.582606980577111, "time_total_ms": 49.98358013108373, "num_action_samples_effective": 32, "q_aggregate": "pair_min"}
+{"chunk_ordinal": 80, "q_min_best": 0.758841872215271, "q_min_mean": 0.7418007850646973, "q_min_std": 0.008926314301788807, "q_min_median": 0.7379668354988098, "chosen_vs_median_q_gap": 0.02087503671646118, "q1_best": 0.758841872215271, "q2_best": 0.7976511716842651, "v_val": 0.758122444152832, "advantage": 0.0007194280624389648, "best_idx": 13, "q_min_all": [0.7379668354988098, 0.7452215552330017, 0.7584749460220337, 0.733305037021637, 0.7333292365074158, 0.7407959699630737, 0.7544662356376648, 0.7345163226127625, 0.7374881505966187, 0.7509029507637024, 0.7536444664001465, 0.7529602646827698, 0.7440871000289917, 0.758841872215271, 0.7357707023620605, 0.7452385425567627, 0.7342407703399658, 0.7303661108016968, 0.7472449541091919, 0.7338762879371643, 0.7270187139511108, 0.7351565361022949, 0.7374563217163086, 0.7504482865333557, 0.7523894309997559, 0.742124080657959, 0.7315835952758789, 0.7400978207588196, 0.7522871494293213, 0.7329246401786804, 0.7370023727416992, 0.7363981008529663], "q1_all": [0.7379668354988098, 0.7452215552330017, 0.7584749460220337, 0.733305037021637, 0.7333292365074158, 0.7407959699630737, 0.7544662356376648, 0.7345163226127625, 0.7374881505966187, 0.7509029507637024, 0.7536444664001465, 0.7529602646827698, 0.7440871000289917, 0.758841872215271, 0.7357707023620605, 0.7452385425567627, 0.7342407703399658, 0.7303661108016968, 0.7472449541091919, 0.7338762879371643, 0.7270187139511108, 0.7351565361022949, 0.7374563217163086, 0.7504482865333557, 0.7523894309997559, 0.742124080657959, 0.7315835952758789, 0.7400978207588196, 0.7522871494293213, 0.7329246401786804, 0.7370023727416992, 0.7363981008529663], "q2_all": [0.7846670150756836, 0.787581205368042, 0.8082200884819031, 0.7740660905838013, 0.7812608480453491, 0.7772554159164429, 0.8073312640190125, 0.7797266244888306, 0.7884043455123901, 0.781154453754425, 0.8011021614074707, 0.8052501678466797, 0.7851927280426025, 0.7976511716842651, 0.7920387983322144, 0.7937429547309875, 0.778295636177063, 0.7803659439086914, 0.8028285503387451, 0.778549075126648, 0.7813112735748291, 0.7971622943878174, 0.7864319086074829, 0.7909443378448486, 0.7967318296432495, 0.7996817827224731, 0.7656482458114624, 0.7768239378929138, 0.8016519546508789, 0.7737604379653931, 0.7902582883834839, 0.7975904941558838], "cand_trans_speed_all": [0.0013819520827382803, 0.00167012435849756, 0.0018523603212088346, 0.002157809678465128, 0.0013521832879632711, 0.00195225584320724, 0.001549732405692339, 0.003076131222769618, 0.002695951145142317, 0.0020669817458838224, 0.0019625937566161156, 0.002890160772949457, 0.001407114788889885, 0.002047900576144457, 0.0023419708013534546, 0.0026251624803990126, 0.0025805910117924213, 0.0013554685283452272, 0.0018913596868515015, 0.0016641169786453247, 0.0022898372262716293, 0.0015613639261573553, 0.0016849888488650322, 0.0023185070604085922, 0.0017973603680729866, 0.0018765325658023357, 0.002028851304203272, 0.00227004149928689, 0.0019540651701390743, 0.001308756647631526, 0.0023003534879535437, 0.0014853505417704582], "cand_cum_xyz_disp_all": [[-0.00280076265335083, 0.0015271306037902832, 0.0030926093459129333], [-0.003507643938064575, 0.0011569112539291382, 0.003576800227165222], [-0.007724463939666748, 0.0031120330095291138, 0.003262937068939209], [-0.004548624157905579, 0.0014782845973968506, 0.003410421311855316], [-0.006274908781051636, -0.0003301352262496948, 0.002044886350631714], [-0.0025453269481658936, 0.0021235495805740356, 0.002729669213294983], [-0.006916537880897522, 0.0019207894802093506, 0.0018186494708061218], [-0.0028697550296783447, 0.0017570555210113525, 0.003972567617893219], [-0.004079490900039673, 0.0038804858922958374, 0.004244402050971985], [-0.004807204008102417, -0.0013235658407211304, 0.002142392098903656], [-0.006637141108512878, 0.0009233355522155762, 0.005553975701332092], [-0.005630046129226685, 0.0039013922214508057, 0.005461186170578003], [-0.005235046148300171, -0.0007987469434738159, 0.004277639091014862], [-0.008351251482963562, 0.0015943199396133423, 0.004238136112689972], [-0.00404021143913269, 0.003023996949195862, 0.004194088280200958], [-0.00832320749759674, -0.002418309450149536, 0.0027021467685699463], [-0.005692541599273682, 0.002504304051399231, 0.002126723527908325], [-0.004955857992172241, 0.003010094165802002, 0.0030237510800361633], [-0.0024093538522720337, 0.0028506219387054443, 0.00368306040763855], [-0.0014199763536453247, 0.001305803656578064, 0.002425670623779297], [-0.0015921145677566528, 0.0032145678997039795, 0.004080556333065033], [-0.004778921604156494, 0.0015152394771575928, 0.002813965082168579], [-0.006378918886184692, 0.001727759838104248, 0.004963725805282593], [-0.006532207131385803, 4.416704177856445e-05, 0.0038954392075538635], [-0.008396372199058533, 0.0022732168436050415, 0.0019035562872886658], [-0.005851089954376221, 0.0012539476156234741, 0.00583852082490921], [-0.0068163275718688965, 0.0004556924104690552, 0.0035165101289749146], [-0.00568331778049469, 0.0020628124475479126, 0.0019921138882637024], [-0.007867977023124695, 0.0011269599199295044, 0.004155799746513367], [-0.0035408437252044678, 0.001124948263168335, 0.0019622594118118286], [-0.003220871090888977, 0.0017323791980743408, 0.0022229179739952087], [-0.005696192383766174, -0.0005934238433837891, 0.0026408955454826355]], "cand_final_gripper_all": [1.0, 0.9993915557861328, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 0.9997406005859375, 1.0, 1.0, 0.9995359778404236, 1.0, 1.0, 0.9998291730880737, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0], "eef_pos": [0.40304261445999146, -0.04708053544163704, 0.2273944765329361], "cand_action_std": 0.055368807166814804, "cand_pairwise_centroid_dist_mean": 0.5213603377342224, "argmax_act_outlier": 0.7920088768005371, "time_encode_ms": 5.183910019695759, "time_diffusion_ms": 36.089763045310974, "time_q_score_ms": 8.085329085588455, "time_total_ms": 50.559367053210735, "num_action_samples_effective": 32, "q_aggregate": "pair_min"}
+{"chunk_ordinal": 81, "q_min_best": 0.7664374113082886, "q_min_mean": 0.7434111833572388, "q_min_std": 0.009849798865616322, "q_min_median": 0.7431877851486206, "chosen_vs_median_q_gap": 0.02324962615966797, "q1_best": 0.7664374113082886, "q2_best": 0.8129526972770691, "v_val": 0.753257155418396, "advantage": 0.013180255889892578, "best_idx": 20, "q_min_all": [0.7498250007629395, 0.7248905897140503, 0.7403992414474487, 0.747033953666687, 0.7291642427444458, 0.7390626668930054, 0.7391990423202515, 0.7448387145996094, 0.749894380569458, 0.7509981393814087, 0.7351214289665222, 0.753208577632904, 0.738919734954834, 0.7332733273506165, 0.7308156490325928, 0.7345030903816223, 0.7431877851486206, 0.7553504705429077, 0.7497372031211853, 0.7620407342910767, 0.7664374113082886, 0.7460001707077026, 0.7422665953636169, 0.7381033897399902, 0.7409796714782715, 0.7504033446311951, 0.7501470446586609, 0.728838324546814, 0.7290153503417969, 0.7516649961471558, 0.7433323264122009, 0.7505056262016296], "q1_all": [0.7498250007629395, 0.7248905897140503, 0.7403992414474487, 0.747033953666687, 0.7291642427444458, 0.7390626668930054, 0.7391990423202515, 0.7448387145996094, 0.749894380569458, 0.7509981393814087, 0.7351214289665222, 0.753208577632904, 0.738919734954834, 0.7332733273506165, 0.7308156490325928, 0.7345030903816223, 0.7431877851486206, 0.7553504705429077, 0.7497372031211853, 0.7620407342910767, 0.7664374113082886, 0.7460001707077026, 0.7422665953636169, 0.7381033897399902, 0.7409796714782715, 0.7504033446311951, 0.7501470446586609, 0.728838324546814, 0.7290153503417969, 0.7516649961471558, 0.7433323264122009, 0.7505056262016296], "q2_all": [0.8031408786773682, 0.8049468398094177, 0.7930663228034973, 0.8065348863601685, 0.8002525568008423, 0.8070628046989441, 0.7873454093933105, 0.7989850044250488, 0.7905663251876831, 0.7963150143623352, 0.8034194111824036, 0.810222327709198, 0.8047972917556763, 0.797221839427948, 0.7918292880058289, 0.7970271110534668, 0.7979966402053833, 0.8050997257232666, 0.8029199242591858, 0.8033401966094971, 0.8129526972770691, 0.8066827654838562, 0.793893575668335, 0.7874603271484375, 0.8001112937927246, 0.8063336610794067, 0.8053016662597656, 0.7898796796798706, 0.7944597005844116, 0.813624382019043, 0.7991818189620972, 0.7901444435119629], "cand_trans_speed_all": [0.0014108385657891631, 0.0018710264703258872, 0.00301915779709816, 0.0012837180402129889, 0.0026087358128279448, 0.0021671452559530735, 0.002258367370814085, 0.0017842719098553061, 0.002791576087474823, 0.0018843216821551323, 0.0020934368949383497, 0.001820758800022304, 0.0020711275283247232, 0.001858449773862958, 0.0017070842441171408, 0.0019979551434516907, 0.0019583734683692455, 0.0014214895199984312, 0.0016073629958555102, 0.0022487659007310867, 0.0023268829099833965, 0.0013547091512009501, 0.0012307551223784685, 0.002626345492899418, 0.002204058924689889, 0.00209253141656518, 0.001926874159835279, 0.0018724583787843585, 0.002313051838427782, 0.001819446450099349, 0.0011667206417769194, 0.0018958470318466425], "cand_cum_xyz_disp_all": [[-0.0064962804317474365, 0.001922503113746643, 0.002094678580760956], [-0.0018411725759506226, 0.002972438931465149, 0.0024409517645835876], [-0.006803423166275024, 0.0004385411739349365, 0.0003192499279975891], [-0.0031326264142990112, 0.0028947144746780396, 0.002025201916694641], [-0.006729736924171448, 0.0007862746715545654, 0.0018509626388549805], [-0.005908861756324768, 0.0037164390087127686, 0.003096938133239746], [-0.004845425486564636, 0.0023005008697509766, 0.0023570656776428223], [-0.007538363337516785, 0.0006793737411499023, 0.0011703148484230042], [-0.006346374750137329, 0.0031416118144989014, 0.0015992224216461182], [-0.008233368396759033, -0.0007657855749130249, 0.0054301917552948], [-0.0059313178062438965, 0.0008227378129959106, 0.002175860106945038], [-0.0058614760637283325, 0.002122431993484497, 0.004298686981201172], [-0.0035316944122314453, 0.003590911626815796, 0.004638954997062683], [-0.003756195306777954, 0.002420753240585327, 0.004118576645851135], [-0.0005949735641479492, 0.001558065414428711, 0.0019670575857162476], [-0.004500776529312134, 0.0029124021530151367, 0.003732345998287201], [-0.0067357271909713745, 0.002009868621826172, 0.0035389959812164307], [-0.006714135408401489, 0.0011743009090423584, 0.001285061240196228], [-0.007452353835105896, 0.0018617361783981323, 0.003484584391117096], [-0.009662032127380371, 0.0024503320455551147, 0.0042137205600738525], [-0.01111099123954773, 0.002258792519569397, 0.004193790256977081], [-0.004016593098640442, 0.0004470348358154297, 0.002879023551940918], [-0.004395410418510437, -0.0004621744155883789, 0.003043144941329956], [-0.00776459276676178, -0.00041550397872924805, 0.003295227885246277], [-0.0043922364711761475, 0.0013553202152252197, 0.0014960691332817078], [-0.007873103022575378, 0.0015521198511123657, 0.0018123090267181396], [-0.008301109075546265, 0.0035924017429351807, 0.003432825207710266], [-0.005726829171180725, 0.0012859255075454712, 0.002741999924182892], [-0.0034556537866592407, 0.0012763440608978271, 0.002318926155567169], [-0.007549300789833069, 0.0016887933015823364, 0.003470867872238159], [-0.005056336522102356, 0.0017396807670593262, 0.003348827362060547], [-0.0074926018714904785, 0.0016957670450210571, 0.0033960863947868347]], "cand_final_gripper_all": [1.0, 1.0, 1.0, 0.9997138381004333, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 0.9996405243873596, 0.9992711544036865, 1.0, 1.0, 1.0, 0.9997087717056274, 1.0, 1.0, 0.9998601078987122, 0.999122142791748, 1.0, 1.0, 1.0, 0.9995714426040649, 1.0, 1.0, 1.0, 1.0, 1.0, 0.9998950958251953, 0.9993444681167603, 1.0], "eef_pos": [0.403055876493454, -0.04692641645669937, 0.22738812863826752], "cand_action_std": 0.04996536672115326, "cand_pairwise_centroid_dist_mean": 0.4685758352279663, "argmax_act_outlier": 0.9832587242126465, "time_encode_ms": 4.8651190008968115, "time_diffusion_ms": 36.20003699325025, "time_q_score_ms": 8.009338052943349, "time_total_ms": 49.779983004555106, "num_action_samples_effective": 32, "q_aggregate": "pair_min"}
+{"chunk_ordinal": 82, "q_min_best": 0.76978600025177, "q_min_mean": 0.7455514669418335, "q_min_std": 0.009047983214259148, "q_min_median": 0.7444807291030884, "chosen_vs_median_q_gap": 0.02530527114868164, "q1_best": 0.76978600025177, "q2_best": 0.8054485321044922, "v_val": 0.7806453704833984, "advantage": -0.010859370231628418, "best_idx": 3, "q_min_all": [0.7403581142425537, 0.745856761932373, 0.7462173104286194, 0.76978600025177, 0.7525858283042908, 0.7502914667129517, 0.7513784170150757, 0.7487666606903076, 0.749954879283905, 0.7308231592178345, 0.7299577593803406, 0.7681229114532471, 0.7431995868682861, 0.7328388094902039, 0.7383677959442139, 0.7550931572914124, 0.7463008165359497, 0.7517089247703552, 0.7439075708389282, 0.7509016990661621, 0.7360891103744507, 0.7462406754493713, 0.7421355247497559, 0.7555627226829529, 0.7444807291030884, 0.7413822412490845, 0.738455057144165, 0.7483970522880554, 0.7377328276634216, 0.7408452033996582, 0.7425443530082703, 0.7373641133308411], "q1_all": [0.7403581142425537, 0.745856761932373, 0.7462173104286194, 0.76978600025177, 0.7525858283042908, 0.7502914667129517, 0.7513784170150757, 0.7487666606903076, 0.749954879283905, 0.7308231592178345, 0.7299577593803406, 0.7681229114532471, 0.7431995868682861, 0.7328388094902039, 0.7383677959442139, 0.7550931572914124, 0.7463008165359497, 0.7517089247703552, 0.7439075708389282, 0.7509016990661621, 0.7360891103744507, 0.7462406754493713, 0.7421355247497559, 0.7555627226829529, 0.7444807291030884, 0.7413822412490845, 0.738455057144165, 0.7483970522880554, 0.7377328276634216, 0.7408452033996582, 0.7425443530082703, 0.7373641133308411], "q2_all": [0.7918579578399658, 0.7840607762336731, 0.799153745174408, 0.8054485321044922, 0.8041138648986816, 0.8027999401092529, 0.8041800856590271, 0.7927936911582947, 0.7986239790916443, 0.7897111177444458, 0.790749192237854, 0.8089439868927002, 0.7926243543624878, 0.796384334564209, 0.7953652143478394, 0.8056926131248474, 0.7987236380577087, 0.7952579259872437, 0.7925708293914795, 0.8016116619110107, 0.7865567803382874, 0.802642822265625, 0.7885122895240784, 0.7902562618255615, 0.8012350797653198, 0.8057186603546143, 0.7936850786209106, 0.7983830571174622, 0.787477970123291, 0.7937677502632141, 0.7927125692367554, 0.806136965751648], "cand_trans_speed_all": [0.0016460460610687733, 0.0020710823591798544, 0.0011548710754141212, 0.00223214877769351, 0.0018061818554997444, 0.0010812774999067187, 0.002097219927236438, 0.0022880486212670803, 0.0014427229762077332, 0.0012647041585296392, 0.002203360665589571, 0.0028131301514804363, 0.0013199220411479473, 0.0016843940829858184, 0.0022686421871185303, 0.0018654335290193558, 0.0011950151529163122, 0.0028691987972706556, 0.0018128905212506652, 0.002047023270279169, 0.003244830993935466, 0.0018075726693496108, 0.0018468037014827132, 0.002169734565541148, 0.0023400001227855682, 0.0022169346921145916, 0.0013465204974636436, 0.0026400964707136154, 0.002064264379441738, 0.0012763214763253927, 0.0018353795167058706, 0.002432079752907157], "cand_cum_xyz_disp_all": [[-0.0016433298587799072, 0.0028269141912460327, 0.0016647204756736755], [-0.006994947791099548, 0.0006662160158157349, 0.001197725534439087], [-0.0028541237115859985, 0.0022349506616592407, 0.0025580748915672302], [-0.010520443320274353, -0.0005413591861724854, 0.003602065145969391], [-0.008826106786727905, 0.00025901198387145996, 0.0016583725810050964], [-0.0029906034469604492, 0.0012639611959457397, 0.0019046217203140259], [-0.0034829676151275635, 0.003349483013153076, -0.0007360577583312988], [-0.0064881592988967896, 0.0022295862436294556, 0.002086266875267029], [-0.0068703144788742065, 0.0003654062747955322, 0.0031813904643058777], [-0.0013508051633834839, -0.00028631091117858887, 0.0011178553104400635], [-0.003966867923736572, 0.0016225874423980713, 0.00270959734916687], [-0.01240810751914978, 0.0019737184047698975, 0.004359766840934753], [-0.004304990172386169, 0.0012877285480499268, 0.0009426698088645935], [-0.002254769206047058, 0.0017204433679580688, 0.0023005232214927673], [-0.004781872034072876, 0.0030305832624435425, 0.002745233476161957], [-0.007917538285255432, 0.0011374354362487793, 0.0040473490953445435], [-0.003455236554145813, 0.001864612102508545, 0.003373578190803528], [-0.004789367318153381, 0.004338756203651428, 0.0038161948323249817], [-0.004570499062538147, 0.0035579949617385864, 0.0031586065888404846], [0.00018523633480072021, 0.004600703716278076, 0.003554724156856537], [-0.004765212535858154, 0.0035529285669326782, 0.004435926675796509], [-0.00875939428806305, 0.0029213428497314453, 0.001946777105331421], [-0.0063481926918029785, 0.0017265528440475464, 0.0027402788400650024], [-0.004831373691558838, 0.0022412389516830444, 0.001930631697177887], [-0.005417764186859131, 0.0012472867965698242, 0.0012595057487487793], [-0.0035628527402877808, 0.0012517720460891724, 0.003214806318283081], [-0.00204680860042572, 0.004064202308654785, 0.003432072699069977], [-0.0018384605646133423, 0.0062032341957092285, 0.003936603665351868], [-0.00730469822883606, 0.0015603303909301758, 0.0037922263145446777], [-0.002119109034538269, 0.0013387203216552734, 0.002522110939025879], [-0.0048434436321258545, 0.002188935875892639, 0.0038641318678855896], [-0.0033700019121170044, 0.003552183508872986, 0.003765091300010681]], "cand_final_gripper_all": [1.0, 1.0, 0.9999751448631287, 1.0, 1.0, 1.0, 1.0, 1.0, 0.9996984004974365, 1.0, 1.0, 1.0, 0.9999154806137085, 0.9998829364776611, 1.0, 1.0, 0.9997919797897339, 1.0, 1.0, 0.9996089935302734, 1.0, 0.9991734027862549, 1.0, 1.0, 1.0, 0.9994674921035767, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0], "eef_pos": [0.40299540758132935, -0.0475408174097538, 0.22739584743976593], "cand_action_std": 0.0533553883433342, "cand_pairwise_centroid_dist_mean": 0.5007658004760742, "argmax_act_outlier": 1.1627556085586548, "time_encode_ms": 5.835467949509621, "time_diffusion_ms": 36.235012114048004, "time_q_score_ms": 8.104333886876702, "time_total_ms": 50.89074093848467, "num_action_samples_effective": 32, "q_aggregate": "pair_min"}