diff --git "a/chunk_info/round_0004_A.jsonl" "b/chunk_info/round_0004_A.jsonl" new file mode 100644--- /dev/null +++ "b/chunk_info/round_0004_A.jsonl" @@ -0,0 +1,109 @@ +{"round_num": 4, "anonymous_label": "A", "outcome": "timeout", "num_steps": 647, "num_chunks": 108} +{"chunk_ordinal": 0, "q_min_best": 0.31947576999664307, "q_min_mean": 0.23492953181266785, "q_min_std": 0.043790969997644424, "q_min_median": 0.22956770658493042, "chosen_vs_median_q_gap": 0.08990806341171265, "q1_best": 0.31947576999664307, "q2_best": 0.3227633237838745, "v_val": 0.394959032535553, "advantage": -0.07548326253890991, "best_idx": 23, "q_min_all": [0.29424482583999634, 0.30018866062164307, 0.25863170623779297, 0.242148756980896, 0.21111071109771729, 0.24898508191108704, 0.22956770658493042, 0.23905935883522034, 0.28534871339797974, 0.2819584608078003, 0.20886914432048798, 0.22542768716812134, 0.17216578125953674, 0.2147831916809082, 0.2291174829006195, 0.1753275990486145, 0.21337586641311646, 0.2972056567668915, 0.2763988971710205, 0.14621186256408691, 0.2495158612728119, 0.20667165517807007, 0.15417084097862244, 0.31947576999664307, 0.22938981652259827, 0.2292107194662094, 0.17568691074848175, 0.259752094745636, 0.18433158099651337, 0.24368178844451904, 0.2456580400466919, 0.2700729966163635], "q1_all": [0.32026395201683044, 0.3631899356842041, 0.3483254313468933, 0.3806785047054291, 0.35428324341773987, 0.38689008355140686, 0.3315768539905548, 0.3375527560710907, 0.33638325333595276, 0.31518012285232544, 0.3475477993488312, 0.3827703297138214, 0.1830630749464035, 0.35979825258255005, 0.26780715584754944, 0.1753275990486145, 0.385957807302475, 0.3219294548034668, 0.33861374855041504, 0.14621186256408691, 0.37120702862739563, 0.3206191658973694, 0.15417084097862244, 0.31947576999664307, 0.3555390536785126, 0.3110780119895935, 0.17568691074848175, 0.37439605593681335, 0.24774599075317383, 0.3703796863555908, 0.3890168368816376, 0.33122536540031433], "q2_all": [0.29424482583999634, 0.30018866062164307, 0.25863170623779297, 0.242148756980896, 0.21111071109771729, 0.24898508191108704, 0.22956770658493042, 0.23905935883522034, 0.28534871339797974, 0.2819584608078003, 0.20886914432048798, 0.22542768716812134, 0.17216578125953674, 0.2147831916809082, 0.2291174829006195, 0.2258598506450653, 0.21337586641311646, 0.2972056567668915, 0.2763988971710205, 0.18464508652687073, 0.2495158612728119, 0.20667165517807007, 0.2172907143831253, 0.3227633237838745, 0.22938981652259827, 0.2292107194662094, 0.20116305351257324, 0.259752094745636, 0.18433158099651337, 0.24368178844451904, 0.2456580400466919, 0.2700729966163635], "cand_trans_speed_all": [0.015359754674136639, 0.014046654105186462, 0.01237425021827221, 0.010893656872212887, 0.007963638752698898, 0.012245947495102882, 0.013416469097137451, 0.007261532358825207, 0.01417937409132719, 0.013301357626914978, 0.008723675273358822, 0.012722230516374111, 0.008000504225492477, 0.010994896292686462, 0.013843592256307602, 0.01172799151390791, 0.012604243122041225, 0.01444152556359768, 0.016364850103855133, 0.00993482768535614, 0.012053556740283966, 0.007469935342669487, 0.011635061353445053, 0.012965775094926357, 0.007910618558526039, 0.006158705800771713, 0.011760249733924866, 0.013183074072003365, 0.006232353858649731, 0.009270966053009033, 0.012493213638663292, 0.007743890397250652], "cand_cum_xyz_disp_all": [[0.07373188436031342, -0.018678858876228333, 0.042614199221134186], [0.06429244577884674, -0.016368091106414795, 0.04197103530168533], [0.053893521428108215, -0.019720301032066345, 0.028570495545864105], [0.052659451961517334, -0.018314436078071594, 0.025488175451755524], [0.03320793807506561, -0.012287959456443787, 0.015274129807949066], [0.05408911406993866, -0.013813525438308716, 0.027910955250263214], [0.06547488272190094, -0.023212000727653503, 0.03358841687440872], [0.022653207182884216, -0.0034092068672180176, 0.02051038295030594], [0.051373958587646484, -0.0143202543258667, 0.03114970773458481], [0.062281861901283264, -0.021195605397224426, 0.037473224103450775], [0.037465453147888184, -0.013515636324882507, 0.017330534756183624], [0.05527959764003754, -0.014969170093536377, 0.02533998340368271], [0.03274814784526825, -0.004191800951957703, 0.022907979786396027], [0.04945845901966095, -0.013554573059082031, 0.028931759297847748], [0.06735740602016449, -0.013977810740470886, 0.037154264748096466], [0.05399532616138458, -0.004165321588516235, 0.038227565586566925], [0.06281815469264984, -0.023785188794136047, 0.029408328235149384], [0.060009345412254333, -0.019807040691375732, 0.04873848706483841], [0.07072927057743073, -0.0206478089094162, 0.05558311194181442], [0.046378716826438904, 0.0033807605504989624, 0.03417959064245224], [0.056581780314445496, -0.01699642837047577, 0.029348649084568024], [0.028371259570121765, -0.009848877787590027, 0.012854985892772675], [0.045785605907440186, 0.003823190927505493, 0.045582421123981476], [0.05801694095134735, -0.019266068935394287, 0.04082296043634415], [0.0343499481678009, -0.008495956659317017, 0.021848775446414948], [0.018482670187950134, -0.003169998526573181, 0.010604523122310638], [0.0512978732585907, 0.006122514605522156, 0.04363977164030075], [0.06288762390613556, -0.019861802458763123, 0.038383178412914276], [0.021003693342208862, -0.003084123134613037, 0.01329406350851059], [0.041321441531181335, -0.01043015718460083, 0.02306979149580002], [0.05737997591495514, -0.015730679035186768, 0.030887015163898468], [0.03070564568042755, -0.014297768473625183, 0.015751086175441742]], "cand_final_gripper_all": [0.0007444918155670166, 0.0008916556835174561, 0.0027737319469451904, 0.0010988414287567139, 0.0017547905445098877, 0.002780050039291382, 0.0019351541996002197, 0.0008716881275177002, 0.0, 0.0, 0.0006068944931030273, 0.0002384185791015625, 0.0007332563400268555, 0.0024632811546325684, 0.014322608709335327, 0.01583722233772278, 0.0009429752826690674, 0.0, 0.0028230249881744385, 0.0, 0.0019828975200653076, 0.0007419884204864502, 0.0013512372970581055, 0.0007770955562591553, 0.000806272029876709, 0.0017861425876617432, 0.003564804792404175, 0.0, 0.0017515718936920166, 0.0, 0.0, 0.000951617956161499], "eef_pos": [0.3697904646396637, -0.0026082980912178755, 0.4844493865966797], "cand_action_std": 0.4769091010093689, "cand_pairwise_centroid_dist_mean": 4.208662986755371, "argmax_act_outlier": 1.2808377742767334, "time_encode_ms": 156.39291610568762, "time_diffusion_ms": 69.80847311206162, "time_q_score_ms": 83.31783511675894, "time_total_ms": 315.4448829591274, "num_action_samples_effective": 32, "q_aggregate": "pair_min"} +{"chunk_ordinal": 1, "q_min_best": 0.41862723231315613, "q_min_mean": 0.3841487169265747, "q_min_std": 0.02469918504357338, "q_min_median": 0.3895401358604431, "chosen_vs_median_q_gap": 0.029087096452713013, "q1_best": 0.42734256386756897, "q2_best": 0.41862723231315613, "v_val": 0.4251195788383484, "advantage": -0.006492346525192261, "best_idx": 31, "q_min_all": [0.403511643409729, 0.37365955114364624, 0.3327906131744385, 0.41126927733421326, 0.4179103672504425, 0.400968998670578, 0.3920774459838867, 0.3580872714519501, 0.3603239059448242, 0.4034777581691742, 0.390776664018631, 0.4029516577720642, 0.3730897307395935, 0.40150755643844604, 0.38226649165153503, 0.4021480083465576, 0.37726515531539917, 0.33549201488494873, 0.40293043851852417, 0.34292471408843994, 0.3895401358604431, 0.37300702929496765, 0.41133737564086914, 0.40324658155441284, 0.3601597249507904, 0.3772827088832855, 0.41225025057792664, 0.3590414822101593, 0.36321496963500977, 0.4059571623802185, 0.3536650240421295, 0.41862723231315613], "q1_all": [0.4263260066509247, 0.43083566427230835, 0.4350112974643707, 0.47715869545936584, 0.4322729706764221, 0.43926841020584106, 0.42736494541168213, 0.4115529954433441, 0.43305420875549316, 0.44413337111473083, 0.45155906677246094, 0.43697595596313477, 0.45270395278930664, 0.45894506573677063, 0.40778031945228577, 0.423625648021698, 0.4322163164615631, 0.4088391065597534, 0.44472143054008484, 0.4115937054157257, 0.45279744267463684, 0.42599475383758545, 0.41306260228157043, 0.40324658155441284, 0.4222489893436432, 0.442930668592453, 0.4736540913581848, 0.4356594979763031, 0.4020192623138428, 0.41225719451904297, 0.40897682309150696, 0.42734256386756897], "q2_all": [0.403511643409729, 0.37365955114364624, 0.3327906131744385, 0.41126927733421326, 0.4179103672504425, 0.400968998670578, 0.3920774459838867, 0.3580872714519501, 0.3603239059448242, 0.4034777581691742, 0.390776664018631, 0.4029516577720642, 0.3730897307395935, 0.40150755643844604, 0.38226649165153503, 0.4021480083465576, 0.37726515531539917, 0.33549201488494873, 0.40293043851852417, 0.34292471408843994, 0.3895401358604431, 0.37300702929496765, 0.41133737564086914, 0.4318380057811737, 0.3601597249507904, 0.3772827088832855, 0.41225025057792664, 0.3590414822101593, 0.36321496963500977, 0.4059571623802185, 0.3536650240421295, 0.41862723231315613], "cand_trans_speed_all": [0.022685501724481583, 0.021651720628142357, 0.020740000531077385, 0.02041495591402054, 0.020528702065348625, 0.021038232371211052, 0.020701581612229347, 0.020455367863178253, 0.021988701075315475, 0.021484375, 0.020397651940584183, 0.021745938807725906, 0.020239446312189102, 0.019956542178988457, 0.020818356424570084, 0.02132747322320938, 0.020205749198794365, 0.021590549498796463, 0.01998969167470932, 0.020793912932276726, 0.020894818007946014, 0.022465478628873825, 0.021351981908082962, 0.019905608147382736, 0.022832408547401428, 0.021389365196228027, 0.019873395562171936, 0.021170249208807945, 0.02092902921140194, 0.020371129736304283, 0.021623920649290085, 0.0202780868858099], "cand_cum_xyz_disp_all": [[0.0807061642408371, -0.004701182246208191, 0.09671903401613235], [0.0801653116941452, 0.0022286921739578247, 0.09531737118959427], [0.08685483038425446, -0.005263224244117737, 0.08380743116140366], [0.08078442513942719, -0.0012347698211669922, 0.08461805433034897], [0.0737638920545578, -0.0011912733316421509, 0.08688325434923172], [0.08137156069278717, -0.004287600517272949, 0.08986931294202805], [0.072787806391716, 0.001503586769104004, 0.09042204171419144], [0.07064561545848846, -0.002322852611541748, 0.0942896232008934], [0.07573170959949493, -0.004059985280036926, 0.0961867943406105], [0.08569230139255524, -0.0011147856712341309, 0.08999186009168625], [0.07404579222202301, 0.0015797466039657593, 0.09017283469438553], [0.08562080562114716, -0.0024200081825256348, 0.08947258442640305], [0.07394205033779144, -0.002379894256591797, 0.08811598271131516], [0.07645337283611298, -0.005351796746253967, 0.08715470880270004], [0.07646043598651886, 0.0030732303857803345, 0.0926525816321373], [0.08290387690067291, 0.0022711604833602905, 0.08820315450429916], [0.08444686233997345, -0.0010544657707214355, 0.08382198959589005], [0.08157087862491608, -0.000640869140625, 0.09513386338949203], [0.07667846977710724, -0.0058809369802474976, 0.0855051651597023], [0.0750797837972641, 0.0006985068321228027, 0.09094894677400589], [0.08032722771167755, -0.0018038898706436157, 0.08759649842977524], [0.08117328584194183, 0.0009342730045318604, 0.09984435886144638], [0.07721953094005585, -0.008272513747215271, 0.09248455613851547], [0.07674731314182281, -0.005355522036552429, 0.08339602500200272], [0.08394823968410492, -0.00321100652217865, 0.0978221669793129], [0.08040134608745575, -0.0059956759214401245, 0.09327083081007004], [0.07446743547916412, 0.0016296803951263428, 0.08341904729604721], [0.07904578745365143, -0.005939319729804993, 0.09026391059160233], [0.07247649133205414, 0.004386037588119507, 0.09557684510946274], [0.08244355022907257, -0.005853146314620972, 0.08503706008195877], [0.08281742036342621, 0.001093149185180664, 0.09594517201185226], [0.07433368265628815, 0.001298651099205017, 0.0895146057009697]], "cand_final_gripper_all": [0.001476377248764038, 0.00133436918258667, 0.0029980242252349854, 0.001731187105178833, 0.0027078092098236084, 0.0, 0.004052072763442993, 0.0036134719848632812, 0.0012215375900268555, 0.002432584762573242, 0.0025139451026916504, 0.0025117695331573486, 0.0016571879386901855, 0.0007420182228088379, 0.0024065375328063965, 0.0016810595989227295, 0.002131164073944092, 0.0027031004428863525, 0.0014880597591400146, 0.0027885138988494873, 0.0004985630512237549, 0.0005374252796173096, 0.002715170383453369, 0.002389758825302124, 0.0018667876720428467, 0.0004875659942626953, 0.0027379989624023438, 0.00012150406837463379, 0.003777414560317993, 0.0015204846858978271, 0.0016841888427734375, 0.0016483068466186523], "eef_pos": [0.3910767436027527, 0.01058872789144516, 0.46336257457733154], "cand_action_std": 0.16673435270786285, "cand_pairwise_centroid_dist_mean": 1.3775957822799683, "argmax_act_outlier": 1.0878052711486816, "time_encode_ms": 5.35396789200604, "time_diffusion_ms": 36.1332050524652, "time_q_score_ms": 8.058414096012712, "time_total_ms": 50.52059609442949, "num_action_samples_effective": 32, "q_aggregate": "pair_min"} +{"chunk_ordinal": 2, "q_min_best": 0.48880940675735474, "q_min_mean": 0.4372365474700928, "q_min_std": 0.0197959803044796, "q_min_median": 0.43502533435821533, "chosen_vs_median_q_gap": 0.053784072399139404, "q1_best": 0.48880940675735474, "q2_best": 0.4962330460548401, "v_val": 0.4514346122741699, "advantage": 0.037374794483184814, "best_idx": 19, "q_min_all": [0.4403859078884125, 0.4225746691226959, 0.43024060130119324, 0.4292912781238556, 0.4499374032020569, 0.42581456899642944, 0.44859248399734497, 0.41867905855178833, 0.4056677520275116, 0.4276202619075775, 0.43502533435821533, 0.41824963688850403, 0.44307437539100647, 0.4452292323112488, 0.4358389675617218, 0.4289267957210541, 0.465495765209198, 0.41923075914382935, 0.42426052689552307, 0.48880940675735474, 0.38902997970581055, 0.46114417910575867, 0.4374796748161316, 0.46217021346092224, 0.44696441292762756, 0.4235060513019562, 0.4399459660053253, 0.4244237542152405, 0.4603588879108429, 0.4440998136997223, 0.43235671520233154, 0.4671441912651062], "q1_all": [0.4403859078884125, 0.4225746691226959, 0.43024060130119324, 0.4292912781238556, 0.45092442631721497, 0.42581456899642944, 0.44859248399734497, 0.41867905855178833, 0.4056677520275116, 0.4276202619075775, 0.43502533435821533, 0.41824963688850403, 0.44307437539100647, 0.4452292323112488, 0.4358389675617218, 0.4289267957210541, 0.485211580991745, 0.41923075914382935, 0.42426052689552307, 0.48880940675735474, 0.4303017854690552, 0.46114417910575867, 0.4374796748161316, 0.46217021346092224, 0.44696441292762756, 0.4235060513019562, 0.4399459660053253, 0.4244237542152405, 0.4603588879108429, 0.4440998136997223, 0.43235671520233154, 0.4671441912651062], "q2_all": [0.47552409768104553, 0.45204707980155945, 0.4654143452644348, 0.4497273564338684, 0.4499374032020569, 0.4373473823070526, 0.49998903274536133, 0.43989241123199463, 0.42849916219711304, 0.46323442459106445, 0.45864778757095337, 0.45776182413101196, 0.47654491662979126, 0.4729643166065216, 0.4645933210849762, 0.4554018974304199, 0.465495765209198, 0.4551979601383209, 0.47278833389282227, 0.4962330460548401, 0.38902997970581055, 0.4946773648262024, 0.4755537807941437, 0.5019962787628174, 0.48622870445251465, 0.47970396280288696, 0.4674758315086365, 0.4695114493370056, 0.4770934581756592, 0.46871620416641235, 0.4560455083847046, 0.4899340271949768], "cand_trans_speed_all": [0.017729829996824265, 0.01813974790275097, 0.01808284968137741, 0.019441857933998108, 0.018001936376094818, 0.018526628613471985, 0.017633147537708282, 0.018738696351647377, 0.01845194399356842, 0.01794254779815674, 0.018827971071004868, 0.019314393401145935, 0.017230110242962837, 0.01875169388949871, 0.01778794825077057, 0.018893327564001083, 0.017869269475340843, 0.018687477335333824, 0.0180656835436821, 0.017635611817240715, 0.01906275562942028, 0.017602112144231796, 0.017723754048347473, 0.017840368673205376, 0.0181138776242733, 0.017785560339689255, 0.018770558759570122, 0.01788504049181938, 0.018548138439655304, 0.018055934458971024, 0.018293360248208046, 0.017904944717884064], "cand_cum_xyz_disp_all": [[0.05582360923290253, 0.0027875304222106934, 0.08720888942480087], [0.052909210324287415, 0.002622753381729126, 0.09093905240297318], [0.05539180338382721, 0.00664733350276947, 0.09112188965082169], [0.058470651507377625, 0.010234594345092773, 0.0966603085398674], [0.05377407371997833, 0.004958227276802063, 0.09211357682943344], [0.05676420032978058, -0.00043539702892303467, 0.09124880284070969], [0.05299057066440582, 0.005086988210678101, 0.0874633714556694], [0.05689777433872223, 0.00667320191860199, 0.0940241888165474], [0.05135969817638397, 0.006518438458442688, 0.0947771891951561], [0.05407129228115082, 0.004157274961471558, 0.08889877051115036], [0.057049646973609924, 0.009244337677955627, 0.09555833786725998], [0.05996964871883392, 0.008249789476394653, 0.09511450678110123], [0.05258627235889435, 0.0024199485778808594, 0.08588840812444687], [0.061255261301994324, 0.0074904561042785645, 0.09295252710580826], [0.05870996415615082, 0.0004239976406097412, 0.08654419332742691], [0.0607672780752182, 0.0019027143716812134, 0.09213859587907791], [0.05875386297702789, 0.0011226832866668701, 0.08614210039377213], [0.05920092761516571, 0.009961619973182678, 0.09347852319478989], [0.05799753963947296, 0.0027273893356323242, 0.09085769206285477], [0.057308122515678406, 0.005535125732421875, 0.08605372160673141], [0.0575268417596817, -0.00044889748096466064, 0.09377001971006393], [0.05416668951511383, 0.0070397257804870605, 0.08705621212720871], [0.05432140827178955, 0.003241121768951416, 0.08638536185026169], [0.059981659054756165, 0.005377247929573059, 0.08568388968706131], [0.060924723744392395, 0.0043286532163619995, 0.08654261380434036], [0.05471155047416687, 0.005507051944732666, 0.08902896195650101], [0.057452425360679626, 0.0062885582447052, 0.09377419203519821], [0.0506192147731781, 0.003475293517112732, 0.09077153354883194], [0.059094175696372986, 0.010587409138679504, 0.09181008487939835], [0.057412877678871155, 0.004661619663238525, 0.08909519761800766], [0.06179638206958771, 0.0011058151721954346, 0.08708570152521133], [0.06089361011981964, 0.004753932356834412, 0.08650771528482437]], "cand_final_gripper_all": [0.001664578914642334, 0.0012469589710235596, 0.001412510871887207, 0.0, 0.0009161829948425293, 0.0025100409984588623, 0.0028120577335357666, 0.001267164945602417, 0.0003553330898284912, 0.0013174116611480713, 0.0, 0.0, 0.0013322532176971436, 0.003743410110473633, 0.0020437240600585938, 0.0018179714679718018, 0.0016408562660217285, 0.0007780790328979492, 0.0, 0.0023476481437683105, 0.002527087926864624, 0.0, 0.0006760060787200928, 0.001601099967956543, 0.0, 0.0041734278202056885, 0.0, 0.0, 0.00036779046058654785, 0.00021004676818847656, 0.0010521113872528076, 0.0013272762298583984], "eef_pos": [0.4410865008831024, 0.02118147909641266, 0.39700645208358765], "cand_action_std": 0.10389813035726547, "cand_pairwise_centroid_dist_mean": 0.9720649719238281, "argmax_act_outlier": 1.3312312364578247, "time_encode_ms": 5.511910887435079, "time_diffusion_ms": 36.44068608991802, "time_q_score_ms": 8.468553889542818, "time_total_ms": 51.445771008729935, "num_action_samples_effective": 32, "q_aggregate": "pair_min"} +{"chunk_ordinal": 3, "q_min_best": 0.5923995971679688, "q_min_mean": 0.5635817050933838, "q_min_std": 0.019166721031069756, "q_min_median": 0.5669447779655457, "chosen_vs_median_q_gap": 0.025454819202423096, "q1_best": 0.5923995971679688, "q2_best": 0.6048861742019653, "v_val": 0.5158065557479858, "advantage": 0.07659304141998291, "best_idx": 3, "q_min_all": [0.5627579689025879, 0.5824479460716248, 0.551954984664917, 0.5923995971679688, 0.5870665907859802, 0.5535914897918701, 0.5332368612289429, 0.5491339564323425, 0.5889439582824707, 0.5851170420646667, 0.5909202694892883, 0.5629947781562805, 0.5318095088005066, 0.5352368950843811, 0.558695375919342, 0.5683448910713196, 0.578782856464386, 0.5670850276947021, 0.5670573115348816, 0.5717377662658691, 0.5735527873039246, 0.58149254322052, 0.5669447779655457, 0.5515552759170532, 0.5601946115493774, 0.5804367065429688, 0.5763648748397827, 0.5536980628967285, 0.5736109614372253, 0.5348536968231201, 0.5385667085647583, 0.524028480052948], "q1_all": [0.5729528069496155, 0.5957521796226501, 0.5974488854408264, 0.5923995971679688, 0.6067128777503967, 0.5790573954582214, 0.5332368612289429, 0.5491339564323425, 0.5940695405006409, 0.614384651184082, 0.59897381067276, 0.5966705679893494, 0.6021011471748352, 0.5352368950843811, 0.5590729713439941, 0.5683448910713196, 0.578782856464386, 0.5670850276947021, 0.5991212129592896, 0.5810062885284424, 0.5808107852935791, 0.5935559868812561, 0.5669447779655457, 0.5968072414398193, 0.6038333773612976, 0.5804367065429688, 0.5763648748397827, 0.6079880595207214, 0.5736109614372253, 0.6016594171524048, 0.6006972193717957, 0.524028480052948], "q2_all": [0.5627579689025879, 0.5824479460716248, 0.551954984664917, 0.6048861742019653, 0.5870665907859802, 0.5535914897918701, 0.5931521654129028, 0.5609265565872192, 0.5889439582824707, 0.5851170420646667, 0.5909202694892883, 0.5629947781562805, 0.5318095088005066, 0.5643825531005859, 0.558695375919342, 0.5686598420143127, 0.5798898935317993, 0.572272777557373, 0.5670573115348816, 0.5717377662658691, 0.5735527873039246, 0.58149254322052, 0.5828839540481567, 0.5515552759170532, 0.5601946115493774, 0.6196721792221069, 0.5807791948318481, 0.5536980628967285, 0.5904546976089478, 0.5348536968231201, 0.5385667085647583, 0.542364776134491], "cand_trans_speed_all": [0.017685092985630035, 0.018016356974840164, 0.0167885422706604, 0.018429022282361984, 0.01755053922533989, 0.01769741252064705, 0.017902638763189316, 0.017394516617059708, 0.018142476677894592, 0.01648547872900963, 0.017951644957065582, 0.01773471012711525, 0.017750946804881096, 0.01699679344892502, 0.017460795119404793, 0.017368096858263016, 0.01763739436864853, 0.01757906749844551, 0.017699439078569412, 0.016594160348176956, 0.017228413373231888, 0.01770544797182083, 0.016907712444663048, 0.016817573457956314, 0.01718698814511299, 0.018382705748081207, 0.01722784712910652, 0.016863567754626274, 0.016587145626544952, 0.017089415341615677, 0.01603539101779461, 0.017153769731521606], "cand_cum_xyz_disp_all": [[0.04850386083126068, 0.013723567128181458, 0.08914359658956528], [0.05605892837047577, 0.013523012399673462, 0.0854373350739479], [0.04992271959781647, 0.013434022665023804, 0.08316924422979355], [0.05782677233219147, 0.015059739351272583, 0.08484574407339096], [0.052306532859802246, 0.015133827924728394, 0.08663886040449142], [0.05742354691028595, 0.015540480613708496, 0.08580171316862106], [0.048118412494659424, 0.018353551626205444, 0.08950508385896683], [0.05580376088619232, 0.017989039421081543, 0.08377953618764877], [0.05939580500125885, 0.018311738967895508, 0.08639395982027054], [0.05262807011604309, 0.015017345547676086, 0.07871053367853165], [0.057735636830329895, 0.014207571744918823, 0.0853310152888298], [0.05596210062503815, 0.011740580201148987, 0.08510804921388626], [0.05593143403530121, 0.011963218450546265, 0.0861683115363121], [0.05044984817504883, 0.014838606119155884, 0.08454518765211105], [0.05087803304195404, 0.01346173882484436, 0.08663160353899002], [0.047653570771217346, 0.012594491243362427, 0.08655475825071335], [0.056417450308799744, 0.018628239631652832, 0.08524709194898605], [0.05261024832725525, 0.015652954578399658, 0.08682433515787125], [0.05578364431858063, 0.015158131718635559, 0.08456283062696457], [0.047349318861961365, 0.014477565884590149, 0.08221779018640518], [0.04844565689563751, 0.015468582510948181, 0.0851883515715599], [0.05484838783740997, 0.013622686266899109, 0.0856960192322731], [0.047909319400787354, 0.014376357197761536, 0.08278565853834152], [0.052110493183135986, 0.01255081593990326, 0.08264032751321793], [0.05383419990539551, 0.01294243335723877, 0.08208415657281876], [0.05054202675819397, 0.017600998282432556, 0.08985023945569992], [0.05031925439834595, 0.012164443731307983, 0.08319544047117233], [0.05471891164779663, 0.013419345021247864, 0.0798003152012825], [0.048021525144577026, 0.018688485026359558, 0.08112264424562454], [0.05559714138507843, 0.012963667511940002, 0.08128418773412704], [0.04360803961753845, 0.011931762099266052, 0.08118308335542679], [0.05434252321720123, 0.012783586978912354, 0.08498353511095047]], "cand_final_gripper_all": [0.0020863115787506104, 0.004149287939071655, 0.0015794038772583008, 0.00256425142288208, 0.0030024349689483643, 0.002145439386367798, 0.0, 0.0011421442031860352, 0.0009951591491699219, 0.002151966094970703, 0.004320412874221802, 0.002623051404953003, 0.0003357231616973877, 0.0031383931636810303, 0.002949446439743042, 0.0017536282539367676, 0.0027557313442230225, 0.0004943609237670898, 0.0014060139656066895, 0.001742541790008545, 0.0035715699195861816, 0.002722114324569702, 0.0010765492916107178, 0.003640890121459961, 0.002684652805328369, 0.0020773112773895264, 0.002030491828918457, 0.002056986093521118, 0.0019220411777496338, 0.0020129382610321045, 0.0016858279705047607, 0.004162788391113281], "eef_pos": [0.4729747772216797, 0.03419600799679756, 0.333011269569397], "cand_action_std": 0.12481004744768143, "cand_pairwise_centroid_dist_mean": 1.1805747747421265, "argmax_act_outlier": 0.6691655516624451, "time_encode_ms": 5.6231580674648285, "time_diffusion_ms": 36.1363310366869, "time_q_score_ms": 8.289040997624397, "time_total_ms": 50.74877804145217, "num_action_samples_effective": 32, "q_aggregate": "pair_min"} +{"chunk_ordinal": 4, "q_min_best": 0.48303350806236267, "q_min_mean": 0.4051361680030823, "q_min_std": 0.03625800460577011, "q_min_median": 0.3952282667160034, "chosen_vs_median_q_gap": 0.08780524134635925, "q1_best": 0.48303350806236267, "q2_best": 0.5515395998954773, "v_val": 0.4419531226158142, "advantage": 0.04108038544654846, "best_idx": 8, "q_min_all": [0.43946707248687744, 0.3950783312320709, 0.3637882173061371, 0.37162426114082336, 0.38078877329826355, 0.36389514803886414, 0.3674960136413574, 0.46032533049583435, 0.48303350806236267, 0.43924570083618164, 0.3776083290576935, 0.3890031576156616, 0.3976808488368988, 0.3733144700527191, 0.4412432610988617, 0.374502569437027, 0.35471615195274353, 0.41037970781326294, 0.425863653421402, 0.42559581995010376, 0.46947064995765686, 0.3980887234210968, 0.42264384031295776, 0.4502212405204773, 0.37741848826408386, 0.46584194898605347, 0.36528992652893066, 0.4213966727256775, 0.37108951807022095, 0.3952282667160034, 0.37823453545570374, 0.41478288173675537], "q1_all": [0.43946707248687744, 0.3950783312320709, 0.3637882173061371, 0.37162426114082336, 0.38078877329826355, 0.36389514803886414, 0.3674960136413574, 0.46032533049583435, 0.48303350806236267, 0.43924570083618164, 0.3776083290576935, 0.3890031576156616, 0.3976808488368988, 0.3733144700527191, 0.4412432610988617, 0.374502569437027, 0.35471615195274353, 0.41037970781326294, 0.425863653421402, 0.42559581995010376, 0.46947064995765686, 0.3980887234210968, 0.42264384031295776, 0.4502212405204773, 0.37741848826408386, 0.46584194898605347, 0.36528992652893066, 0.4213966727256775, 0.37108951807022095, 0.3952282667160034, 0.37823453545570374, 0.41478288173675537], "q2_all": [0.516167163848877, 0.48201924562454224, 0.46536585688591003, 0.39814990758895874, 0.4268726110458374, 0.48009878396987915, 0.44614309072494507, 0.5287487506866455, 0.5515395998954773, 0.5035133361816406, 0.45786893367767334, 0.46661829948425293, 0.49505025148391724, 0.4605309069156647, 0.5355265140533447, 0.43605732917785645, 0.4255049526691437, 0.4790020287036896, 0.5282435417175293, 0.5345139503479004, 0.5491213202476501, 0.5295240879058838, 0.51766037940979, 0.5757170915603638, 0.4632742404937744, 0.47255200147628784, 0.47486624121665955, 0.5248832702636719, 0.4345257878303528, 0.5442007780075073, 0.48889273405075073, 0.4966047406196594], "cand_trans_speed_all": [0.01611705869436264, 0.016541635617613792, 0.014243043959140778, 0.014311607927083969, 0.015315799973905087, 0.01586228609085083, 0.015908710658550262, 0.016575803980231285, 0.016494207084178925, 0.016573891043663025, 0.014648348093032837, 0.015521779656410217, 0.015827951952815056, 0.014769157394766808, 0.016727905720472336, 0.01521185040473938, 0.01672428473830223, 0.015295261517167091, 0.016515634953975677, 0.01554037630558014, 0.01633608154952526, 0.016186123713850975, 0.015083622187376022, 0.015657633543014526, 0.01568259298801422, 0.014727252535521984, 0.016838546842336655, 0.016943667083978653, 0.014705926179885864, 0.016119334846735, 0.015164978802204132, 0.01459329854696989], "cand_cum_xyz_disp_all": [[0.07939748466014862, -0.008449211716651917, 0.049408040940761566], [0.08654646575450897, -0.006202563643455505, 0.04726991802453995], [0.07287232577800751, -0.0035356134176254272, 0.04380246251821518], [0.06949986517429352, -0.008649170398712158, 0.04665716737508774], [0.0781235545873642, -0.0053366124629974365, 0.044523485004901886], [0.07960166037082672, -0.007589548826217651, 0.049383170902729034], [0.07834894955158234, -0.008446022868156433, 0.04970657080411911], [0.08521522581577301, -0.010566934943199158, 0.04785335808992386], [0.0843428522348404, -0.010578170418739319, 0.049238286912441254], [0.08522678911685944, -0.009061500430107117, 0.04767633229494095], [0.07241024076938629, -0.010968029499053955, 0.04357989877462387], [0.07902266085147858, -0.005384281277656555, 0.0481426939368248], [0.07881076633930206, -0.0043300241231918335, 0.048928119242191315], [0.07349024713039398, -0.006190940737724304, 0.04709316045045853], [0.08303485810756683, -0.009827151894569397, 0.05075947195291519], [0.07825265824794769, -0.008431971073150635, 0.04473953694105148], [0.08336798846721649, -0.003713458776473999, 0.05364654213190079], [0.0778035968542099, -0.008557125926017761, 0.04573359340429306], [0.08519242703914642, -0.00903230905532837, 0.04949376732110977], [0.07937566936016083, -0.0065832436084747314, 0.046226613223552704], [0.08411936461925507, -0.012533903121948242, 0.046309955418109894], [0.08025385439395905, -0.01193992793560028, 0.04990968853235245], [0.0786479264497757, -0.008160695433616638, 0.042161427438259125], [0.08014728128910065, -0.007890775799751282, 0.047449447214603424], [0.07774807512760162, -0.006742551922798157, 0.05110762268304825], [0.07239143550395966, -0.012497439980506897, 0.04584559053182602], [0.08685766160488129, -0.00501619279384613, 0.04889930039644241], [0.08757509291172028, -0.005383357405662537, 0.04911371320486069], [0.07232154905796051, -0.006813406944274902, 0.04799587279558182], [0.08085186779499054, -0.008876487612724304, 0.04781387001276016], [0.0773487240076065, -0.004698887467384338, 0.04629058390855789], [0.07360018789768219, -0.006103426218032837, 0.04518613964319229]], "cand_final_gripper_all": [0.0013545751571655273, 0.0, 0.0025472640991210938, 0.0, 0.0015065670013427734, 0.002158254384994507, 0.0016902685165405273, 0.0010162591934204102, 0.0, 0.0, 0.0, 0.000881195068359375, 0.0, 0.002997785806655884, 0.0004106462001800537, 0.001571357250213623, 0.0012260377407073975, 0.0014913976192474365, 0.0011922717094421387, 0.0, 0.002805173397064209, 0.0011557042598724365, 0.0031633377075195312, 0.0, 0.0015887916088104248, 0.0, 0.00011748075485229492, 0.0002474188804626465, 0.0034026801586151123, 0.020204663276672363, 0.002737760543823242, 0.0015276968479156494], "eef_pos": [0.5031853914260864, 0.05262204632163048, 0.2684454917907715], "cand_action_std": 0.13056126236915588, "cand_pairwise_centroid_dist_mean": 1.1514801979064941, "argmax_act_outlier": 1.0226205587387085, "time_encode_ms": 5.192047916352749, "time_diffusion_ms": 36.216791020706296, "time_q_score_ms": 7.614800939336419, "time_total_ms": 49.9308118596673, "num_action_samples_effective": 32, "q_aggregate": "pair_min"} +{"chunk_ordinal": 5, "q_min_best": 0.3957858979701996, "q_min_mean": 0.3152468502521515, "q_min_std": 0.03988616541028023, "q_min_median": 0.31761711835861206, "chosen_vs_median_q_gap": 0.07816877961158752, "q1_best": 0.3957858979701996, "q2_best": 0.43963155150413513, "v_val": 0.5795207023620605, "advantage": -0.18373480439186096, "best_idx": 20, "q_min_all": [0.3011475205421448, 0.3349834680557251, 0.3361450731754303, 0.3152911067008972, 0.31761711835861206, 0.32983800768852234, 0.33945971727371216, 0.25839611887931824, 0.2907637059688568, 0.3920617699623108, 0.3298848569393158, 0.26204991340637207, 0.3341619372367859, 0.23925571143627167, 0.284169465303421, 0.30798855423927307, 0.39384016394615173, 0.29233890771865845, 0.322498619556427, 0.27571791410446167, 0.3957858979701996, 0.2755630314350128, 0.3326236307621002, 0.3061418831348419, 0.2684982419013977, 0.32996198534965515, 0.2704791724681854, 0.27700039744377136, 0.32474541664123535, 0.3547907769680023, 0.37198856472969055, 0.3227105140686035], "q1_all": [0.3011475205421448, 0.3349834680557251, 0.3361450731754303, 0.3152911067008972, 0.31761711835861206, 0.32983800768852234, 0.33945971727371216, 0.25839611887931824, 0.2907637059688568, 0.40219151973724365, 0.3298848569393158, 0.26204991340637207, 0.3341619372367859, 0.23925571143627167, 0.284169465303421, 0.30798855423927307, 0.39384016394615173, 0.29233890771865845, 0.322498619556427, 0.27571791410446167, 0.3957858979701996, 0.2755630314350128, 0.3326236307621002, 0.3061418831348419, 0.2684982419013977, 0.32996198534965515, 0.2704791724681854, 0.27700039744377136, 0.32474541664123535, 0.3547907769680023, 0.4041201174259186, 0.3227105140686035], "q2_all": [0.4115632176399231, 0.4647270143032074, 0.49667251110076904, 0.46534398198127747, 0.45914575457572937, 0.43135005235671997, 0.4744641184806824, 0.3964018225669861, 0.439505934715271, 0.3920617699623108, 0.5200565457344055, 0.43864357471466064, 0.4558509290218353, 0.4403241276741028, 0.46990904211997986, 0.48561549186706543, 0.4217725396156311, 0.5236102342605591, 0.49594682455062866, 0.38494163751602173, 0.43963155150413513, 0.4073667824268341, 0.40854519605636597, 0.5066260695457458, 0.4774550497531891, 0.4361340403556824, 0.45944035053253174, 0.48164159059524536, 0.49438196420669556, 0.4149429500102997, 0.37198856472969055, 0.41633984446525574], "cand_trans_speed_all": [0.007779575418680906, 0.007304964121431112, 0.009553228504955769, 0.008691276423633099, 0.010494409129023552, 0.007171588949859142, 0.009108863770961761, 0.008159780874848366, 0.008078310638666153, 0.008794313296675682, 0.009085116907954216, 0.008952977135777473, 0.011286141350865364, 0.009732848964631557, 0.009685961529612541, 0.00859612226486206, 0.009270659647881985, 0.009313097223639488, 0.010227261111140251, 0.006956314202398062, 0.007122710347175598, 0.007159460335969925, 0.009726799093186855, 0.009954774752259254, 0.007497575134038925, 0.00865869875997305, 0.008274072781205177, 0.009444912895560265, 0.009248713031411171, 0.009081671014428139, 0.008393220603466034, 0.00763339176774025], "cand_cum_xyz_disp_all": [[0.024398967623710632, -0.000871017575263977, 0.021540455520153046], [0.023286908864974976, 0.00016774237155914307, 0.016807861626148224], [0.02851758897304535, 0.002253890037536621, 0.02891046553850174], [0.021401092410087585, 0.0021030306816101074, 0.026663802564144135], [0.023303955793380737, 0.003915861248970032, 0.027150414884090424], [0.030231773853302002, 0.006151929497718811, 0.024940691888332367], [0.029760807752609253, 0.000596463680267334, 0.0250743106007576], [0.026309117674827576, 0.003718957304954529, 0.020890332758426666], [0.027594715356826782, 0.0053904056549072266, 0.02765870839357376], [0.02294449508190155, 0.0011508762836456299, 0.025138922035694122], [0.024489358067512512, 0.00041843950748443604, 0.02702058106660843], [0.032926931977272034, 0.004150658845901489, 0.026007093489170074], [0.03281807899475098, 0.0014276504516601562, 0.02295764535665512], [0.03323569893836975, 0.0051262229681015015, 0.024770446121692657], [0.020781666040420532, 0.00256974995136261, 0.023932017385959625], [0.026320144534111023, 0.001883864402770996, 0.02620113641023636], [0.0255749374628067, 0.0009244531393051147, 0.023550070822238922], [0.030356526374816895, 0.001900792121887207, 0.027381934225559235], [0.02357734739780426, 0.0029210150241851807, 0.02486812323331833], [0.023088783025741577, 0.005808025598526001, 0.02324201911687851], [0.022811368107795715, 0.0036737173795700073, 0.027185119688510895], [0.02404513955116272, 0.0035774409770965576, 0.02083531767129898], [0.029558837413787842, 0.0056859999895095825, 0.028273828327655792], [0.0258064866065979, 0.0006906241178512573, 0.025030888617038727], [0.018576547503471375, -0.00012224912643432617, 0.026178009808063507], [0.023993849754333496, 0.0018599629402160645, 0.024544663727283478], [0.029231548309326172, 0.0033960193395614624, 0.02379792183637619], [0.026049107313156128, 0.0017171502113342285, 0.027819745242595673], [0.022389069199562073, 0.0019276142120361328, 0.024946428835392], [0.02205076813697815, 0.0014887601137161255, 0.02273852378129959], [0.024113714694976807, 0.003125593066215515, 0.025700204074382782], [0.027572885155677795, 0.004104509949684143, 0.02396843582391739]], "cand_final_gripper_all": [0.20436781644821167, 0.2709546387195587, 0.22752556204795837, 0.03824731707572937, 0.23377838730812073, 0.2025618851184845, 0.0981813371181488, 0.02492263913154602, 0.24219325184822083, 0.2530295252799988, 0.26401427388191223, 0.012750208377838135, 0.24091199040412903, 0.06084361672401428, 0.17627230286598206, 0.26248329877853394, 0.24410638213157654, 0.2522541284561157, 0.19797909259796143, 0.009561896324157715, 0.2550385594367981, 0.12811875343322754, 0.010013312101364136, 0.25977247953414917, 0.26145488023757935, 0.1847662627696991, 0.09137171506881714, 0.2681196630001068, 0.25310465693473816, 0.2401282787322998, 0.2555583715438843, 0.24792903661727905], "eef_pos": [0.5124922394752502, 0.11388000845909119, 0.2274387627840042], "cand_action_std": 0.1406709849834442, "cand_pairwise_centroid_dist_mean": 1.199742317199707, "argmax_act_outlier": 0.9183579087257385, "time_encode_ms": 4.8264311626553535, "time_diffusion_ms": 35.864315927028656, "time_q_score_ms": 8.059915853664279, "time_total_ms": 49.44635299034417, "num_action_samples_effective": 32, "q_aggregate": "pair_min"} +{"chunk_ordinal": 6, "q_min_best": 0.41714873909950256, "q_min_mean": 0.39708247780799866, "q_min_std": 0.0104832723736763, "q_min_median": 0.3974846303462982, "chosen_vs_median_q_gap": 0.019664108753204346, "q1_best": 0.5255041122436523, "q2_best": 0.41714873909950256, "v_val": 0.41686558723449707, "advantage": 0.00028315186500549316, "best_idx": 3, "q_min_all": [0.40094685554504395, 0.40459686517715454, 0.4068889319896698, 0.41714873909950256, 0.39030882716178894, 0.39270877838134766, 0.38778096437454224, 0.4008016586303711, 0.40271759033203125, 0.39409616589546204, 0.4109688401222229, 0.391324520111084, 0.40932226181030273, 0.36971616744995117, 0.38543838262557983, 0.40144574642181396, 0.4085274934768677, 0.4058493375778198, 0.40655285120010376, 0.4034976065158844, 0.39550021290779114, 0.37987220287323, 0.40272244811058044, 0.3850997984409332, 0.3883582055568695, 0.385790079832077, 0.3974846303462982, 0.4088470935821533, 0.3875829577445984, 0.39434394240379333, 0.38843685388565063, 0.4019625186920166], "q1_all": [0.49014708399772644, 0.4599560499191284, 0.5034738183021545, 0.5255041122436523, 0.5136850476264954, 0.5182473063468933, 0.49732527136802673, 0.4762859344482422, 0.5002909302711487, 0.5016697645187378, 0.5070633888244629, 0.5107325911521912, 0.4883330762386322, 0.48767533898353577, 0.4965003430843353, 0.5062586069107056, 0.5011284351348877, 0.5077563524246216, 0.5019410848617554, 0.503987729549408, 0.5208221077919006, 0.5076531767845154, 0.4940091073513031, 0.48603692650794983, 0.5059718489646912, 0.5241861343383789, 0.5197517275810242, 0.506878137588501, 0.4943219721317291, 0.4939477741718292, 0.5055114030838013, 0.48677903413772583], "q2_all": [0.40094685554504395, 0.40459686517715454, 0.4068889319896698, 0.41714873909950256, 0.39030882716178894, 0.39270877838134766, 0.38778096437454224, 0.4008016586303711, 0.40271759033203125, 0.39409616589546204, 0.4109688401222229, 0.391324520111084, 0.40932226181030273, 0.36971616744995117, 0.38543838262557983, 0.40144574642181396, 0.4085274934768677, 0.4058493375778198, 0.40655285120010376, 0.4034976065158844, 0.39550021290779114, 0.37987220287323, 0.40272244811058044, 0.3850997984409332, 0.3883582055568695, 0.385790079832077, 0.3974846303462982, 0.4088470935821533, 0.3875829577445984, 0.39434394240379333, 0.38843685388565063, 0.4019625186920166], "cand_trans_speed_all": [0.001831082976423204, 0.0025869235396385193, 0.0014287822414189577, 0.0019305562600493431, 0.0016200968530029058, 0.0019395834533497691, 0.0018704261165112257, 0.001514418050646782, 0.0015492768725380301, 0.001998766092583537, 0.0017279391176998615, 0.0018031902145594358, 0.0020650443620979786, 0.0024028837215155363, 0.001509465160779655, 0.0016835497226566076, 0.0013250319752842188, 0.0020130639895796776, 0.0015897061675786972, 0.0017821567598730326, 0.0022339471615850925, 0.0021890723146498203, 0.002164180390536785, 0.0017641454469412565, 0.00147924292832613, 0.0019017753656953573, 0.002104160375893116, 0.0019861236214637756, 0.0023787568788975477, 0.0015504107577726245, 0.001576293958351016, 0.0019660727120935917], "cand_cum_xyz_disp_all": [[0.0011420398950576782, 0.003913477063179016, -0.006411664187908173], [0.0007120072841644287, 0.004041895270347595, -0.00871625542640686], [0.0014188438653945923, 0.003293544054031372, -0.005398131906986237], [0.0018398165702819824, 0.0026870816946029663, -0.006511330604553223], [0.0024438947439193726, 0.00318850576877594, -0.006215982139110565], [0.0009252279996871948, 0.002552226185798645, -0.005541153252124786], [0.0005727559328079224, 0.0021002739667892456, -0.009837433695793152], [0.0015264302492141724, 0.004176884889602661, -0.006202079355716705], [0.00214366614818573, 0.0035662800073623657, -0.006852254271507263], [0.0026438385248184204, 0.0034084320068359375, -0.007532112300395966], [0.0007798373699188232, 0.002876102924346924, -0.008464224636554718], [0.0010270774364471436, 0.003695279359817505, -0.008407488465309143], [0.0004900544881820679, 0.004971593618392944, -0.006902948021888733], [0.003229200839996338, 0.005124583840370178, -0.0061963871121406555], [0.00260123610496521, 0.002679497003555298, -0.007181406021118164], [0.000835612416267395, 0.0025661885738372803, -0.007356889545917511], [0.002014756202697754, 0.0025274455547332764, -0.0053259506821632385], [0.003111913800239563, 0.003620162606239319, -0.006480574607849121], [0.0029418468475341797, 0.0025455504655838013, -0.005085743963718414], [0.0011567920446395874, 0.0028051137924194336, -0.0073305293917655945], [0.003395482897758484, 0.0038918256759643555, -0.006124146282672882], [0.005057156085968018, 0.0031298398971557617, -0.006085924804210663], [-0.0003574937582015991, 0.003390476107597351, -0.009249120950698853], [0.00238955020904541, 0.004242241382598877, -0.0061181411147117615], [0.002625510096549988, 0.0024227946996688843, -0.005734384059906006], [0.0012926161289215088, 0.0035450011491775513, -0.0065833330154418945], [0.003747418522834778, 0.0019684582948684692, -0.005409903824329376], [0.001247987151145935, 0.0025873184204101562, -0.005950555205345154], [0.0007087141275405884, 0.0033591389656066895, -0.008711941540241241], [0.0014368444681167603, 0.002978190779685974, -0.006499819457530975], [0.0018439292907714844, 0.0023808032274246216, -0.008106499910354614], [0.0009362250566482544, 0.0032022595405578613, -0.00900539755821228]], "cand_final_gripper_all": [0.7067440748214722, 0.7357777953147888, 0.7084664106369019, 0.7094980478286743, 0.7149743437767029, 0.7164536714553833, 0.6998008489608765, 0.7014400362968445, 0.7138445973396301, 0.6933160424232483, 0.6962660551071167, 0.69138503074646, 0.70261549949646, 0.7203292846679688, 0.7078750133514404, 0.7081555128097534, 0.6840403079986572, 0.7051178216934204, 0.7133123874664307, 0.6978071928024292, 0.6994543075561523, 0.7064542770385742, 0.7011706829071045, 0.7148677110671997, 0.6929343342781067, 0.691640317440033, 0.6974915266036987, 0.717181921005249, 0.7141451835632324, 0.7266620397567749, 0.7038735151290894, 0.7194861769676208], "eef_pos": [0.5162292718887329, 0.12979064881801605, 0.1930972933769226], "cand_action_std": 0.033570654690265656, "cand_pairwise_centroid_dist_mean": 0.29001274704933167, "argmax_act_outlier": 1.3344334363937378, "time_encode_ms": 4.938888130709529, "time_diffusion_ms": 36.033421056345105, "time_q_score_ms": 8.496466092765331, "time_total_ms": 50.34435912966728, "num_action_samples_effective": 32, "q_aggregate": "pair_min"} +{"chunk_ordinal": 7, "q_min_best": 0.49580761790275574, "q_min_mean": 0.4793919324874878, "q_min_std": 0.011583015322685242, "q_min_median": 0.4802083671092987, "chosen_vs_median_q_gap": 0.015599250793457031, "q1_best": 0.49580761790275574, "q2_best": 0.49668699502944946, "v_val": 0.3008561134338379, "advantage": 0.19495150446891785, "best_idx": 6, "q_min_all": [0.4794257581233978, 0.4845559597015381, 0.481118768453598, 0.4933009445667267, 0.49320507049560547, 0.4365018904209137, 0.49580761790275574, 0.4882659316062927, 0.4785570800304413, 0.4830169975757599, 0.4925238788127899, 0.4762173891067505, 0.4855005741119385, 0.4752565920352936, 0.4887876510620117, 0.4802083671092987, 0.48695945739746094, 0.4888426959514618, 0.4868527054786682, 0.48248931765556335, 0.47458282113075256, 0.4631815552711487, 0.4784364700317383, 0.46900853514671326, 0.4815734624862671, 0.4758743941783905, 0.4672278165817261, 0.4722302258014679, 0.48868462443351746, 0.4729841351509094, 0.47596192359924316, 0.4634014666080475], "q1_all": [0.4909115433692932, 0.4959864020347595, 0.481118768453598, 0.4933009445667267, 0.49320507049560547, 0.4365018904209137, 0.49580761790275574, 0.4903126657009125, 0.4785570800304413, 0.4830169975757599, 0.4925238788127899, 0.4860215485095978, 0.4925866723060608, 0.5055417418479919, 0.4887876510620117, 0.4802083671092987, 0.491123229265213, 0.4888426959514618, 0.4988609254360199, 0.5003288388252258, 0.5002848505973816, 0.47920387983322144, 0.4784364700317383, 0.46900853514671326, 0.4815734624862671, 0.4999645948410034, 0.47811752557754517, 0.4722302258014679, 0.48868462443351746, 0.4729841351509094, 0.49239492416381836, 0.4634014666080475], "q2_all": [0.4794257581233978, 0.4845559597015381, 0.4953218102455139, 0.4953159689903259, 0.5004713535308838, 0.48268431425094604, 0.49668699502944946, 0.4882659316062927, 0.4798322916030884, 0.49314558506011963, 0.5016045570373535, 0.4762173891067505, 0.4855005741119385, 0.4752565920352936, 0.5041699409484863, 0.4954279661178589, 0.48695945739746094, 0.49771469831466675, 0.4868527054786682, 0.48248931765556335, 0.47458282113075256, 0.4631815552711487, 0.48676156997680664, 0.4980301856994629, 0.49219655990600586, 0.4758743941783905, 0.4672278165817261, 0.4934697151184082, 0.49976837635040283, 0.48957687616348267, 0.47596192359924316, 0.4703913927078247], "cand_trans_speed_all": [0.0014048585435375571, 0.000909749767743051, 0.0008787477272562683, 0.0011903841514140368, 0.0017434100154787302, 0.0018064500764012337, 0.0009459780412726104, 0.0015474738320335746, 0.0023723819758743048, 0.0012106919893994927, 0.0010170293971896172, 0.000836659106425941, 0.000966525636613369, 0.001628779573366046, 0.0009949302766472101, 0.0015825019218027592, 0.0008385069668292999, 0.0011924480786547065, 0.0009185569360852242, 0.0013095559552311897, 0.0014427585992962122, 0.001164482906460762, 0.0012454874813556671, 0.0015821456909179688, 0.0007545397384092212, 0.001247568055987358, 0.0019788159988820553, 0.001095269457437098, 0.0008108901092782617, 0.0010983998654410243, 0.0014351343270391226, 0.002920150524005294], "cand_cum_xyz_disp_all": [[0.003106445074081421, 0.000514686107635498, -0.00402793288230896], [0.002973213791847229, 0.0008078664541244507, -0.0031767189502716064], [0.001992344856262207, 0.002027943730354309, -0.003000207245349884], [0.0019444972276687622, 0.0012730956077575684, -0.003015868365764618], [0.0032105445861816406, 0.0033472031354904175, -0.001705467700958252], [0.0025897175073623657, 0.0011225491762161255, -0.0024709701538085938], [0.002223402261734009, 0.00210784375667572, -0.0027085021138191223], [0.0029321610927581787, 0.0017275214195251465, -0.00245685875415802], [0.0022084563970565796, 0.001252591609954834, -0.0029499009251594543], [0.002034783363342285, 0.0009307861328125, -0.002308778464794159], [0.002252057194709778, 0.00238095223903656, -0.0036686360836029053], [0.0024621188640594482, 0.000491902232170105, -0.002471424639225006], [0.0017339140176773071, -1.424551010131836e-05, -0.003114067018032074], [0.0014397203922271729, 0.0010215044021606445, -0.0034199655055999756], [0.0014754682779312134, 0.002793818712234497, -0.0035233646631240845], [0.0028400421142578125, 0.001390218734741211, -0.0027939602732658386], [0.0018815696239471436, 0.0008770674467086792, -0.0024094507098197937], [0.0022575557231903076, 0.003520190715789795, -0.0026194006204605103], [0.0013955682516098022, 5.353987216949463e-05, -0.001993902027606964], [0.0023212581872940063, 0.0008583664894104004, -0.0016747117042541504], [0.0018375217914581299, -0.001805633306503296, -0.0027915388345718384], [0.0028072893619537354, -0.000517234206199646, -0.003143496811389923], [0.0023044943809509277, 0.0014923065900802612, -0.002736993134021759], [0.00175437331199646, 0.001554727554321289, -6.949901580810547e-05], [0.0021747946739196777, 0.0014688670635223389, -0.003336109220981598], [0.0029665231704711914, -0.0014502555131912231, -0.0020625218749046326], [0.002213001251220703, 0.0015810132026672363, -0.0025057122111320496], [0.0017722845077514648, 0.002486303448677063, -0.0024941489100456238], [0.0026870518922805786, 0.0013397037982940674, -0.001910671591758728], [0.002462521195411682, 0.0017317384481430054, -0.0016598179936408997], [0.0023397058248519897, 0.00035156309604644775, -0.0009524896740913391], [0.0023455023765563965, 0.0018886774778366089, -0.0034935176372528076]], "cand_final_gripper_all": [1.0, 0.9989803433418274, 1.0, 1.0, 0.9997154474258423, 1.0, 0.9980217218399048, 0.9984984397888184, 1.0, 1.0, 0.998023509979248, 1.0, 1.0, 1.0, 0.9991738796234131, 1.0, 1.0, 0.9997609257698059, 1.0, 1.0, 1.0, 0.9991353750228882, 1.0, 0.9990517497062683, 1.0, 0.9971306324005127, 1.0, 1.0, 0.9999182224273682, 0.9985089302062988, 1.0, 1.0], "eef_pos": [0.5203106999397278, 0.13403761386871338, 0.19884102046489716], "cand_action_std": 0.03529832884669304, "cand_pairwise_centroid_dist_mean": 0.32051384449005127, "argmax_act_outlier": 0.7714778184890747, "time_encode_ms": 5.283977836370468, "time_diffusion_ms": 36.405269987881184, "time_q_score_ms": 7.439895998686552, "time_total_ms": 49.90119719877839, "num_action_samples_effective": 32, "q_aggregate": "pair_min"} +{"chunk_ordinal": 8, "q_min_best": 0.5808210372924805, "q_min_mean": 0.5481380224227905, "q_min_std": 0.017379600554704666, "q_min_median": 0.5502122044563293, "chosen_vs_median_q_gap": 0.030608832836151123, "q1_best": 0.6214286684989929, "q2_best": 0.5808210372924805, "v_val": 0.6912184953689575, "advantage": -0.11039745807647705, "best_idx": 7, "q_min_all": [0.5436214804649353, 0.5570637583732605, 0.5499297976493835, 0.5624527335166931, 0.5242649912834167, 0.5519697070121765, 0.5565338730812073, 0.5808210372924805, 0.5220826268196106, 0.5415118932723999, 0.5043283700942993, 0.5291047096252441, 0.5466682314872742, 0.5624706745147705, 0.5566550493240356, 0.5302017331123352, 0.5688462257385254, 0.5748952627182007, 0.5623748302459717, 0.5601460933685303, 0.5358318090438843, 0.5498898029327393, 0.5608710646629333, 0.5463113784790039, 0.5603703260421753, 0.5163252949714661, 0.5537818074226379, 0.5511578321456909, 0.5606966614723206, 0.5502122044563293, 0.5250702500343323, 0.5439553260803223], "q1_all": [0.6140486001968384, 0.5570637583732605, 0.5499297976493835, 0.5643982887268066, 0.5270958542823792, 0.5519697070121765, 0.5565338730812073, 0.6214286684989929, 0.5220826268196106, 0.5415118932723999, 0.5043283700942993, 0.5640789866447449, 0.5629896521568298, 0.5802948474884033, 0.5881283283233643, 0.5302017331123352, 0.5688462257385254, 0.5841671824455261, 0.6125903725624084, 0.5601460933685303, 0.5358318090438843, 0.5933945178985596, 0.5608710646629333, 0.566982090473175, 0.5825018286705017, 0.5163252949714661, 0.5537818074226379, 0.6060588955879211, 0.5606966614723206, 0.5502122044563293, 0.5250702500343323, 0.5439553260803223], "q2_all": [0.5436214804649353, 0.5699645280838013, 0.5862440466880798, 0.5624527335166931, 0.5242649912834167, 0.5543683767318726, 0.5604472756385803, 0.5808210372924805, 0.5552988052368164, 0.5545271039009094, 0.5826057195663452, 0.5291047096252441, 0.5466682314872742, 0.5624706745147705, 0.5566550493240356, 0.5628552436828613, 0.5800870656967163, 0.5748952627182007, 0.5623748302459717, 0.5906155109405518, 0.5804585218429565, 0.5498898029327393, 0.5746691226959229, 0.5463113784790039, 0.5603703260421753, 0.6157370805740356, 0.5677543878555298, 0.5511578321456909, 0.5640376210212708, 0.5721004009246826, 0.615662693977356, 0.5633769631385803], "cand_trans_speed_all": [0.006638897582888603, 0.0067961192689836025, 0.006047999486327171, 0.006697348318994045, 0.007639558985829353, 0.004990292713046074, 0.0056984880939126015, 0.006446711253374815, 0.006404587998986244, 0.005940698087215424, 0.006318071391433477, 0.006873468868434429, 0.00615379773080349, 0.0064426991157233715, 0.006678084842860699, 0.006995551288127899, 0.005890646483749151, 0.00500407163053751, 0.006740935146808624, 0.006335675250738859, 0.006716374307870865, 0.0062035126611590385, 0.006907731294631958, 0.006839140318334103, 0.0063684238120913506, 0.006518909242004156, 0.006998797412961721, 0.007323635742068291, 0.006920120678842068, 0.006503065582364798, 0.00756097910925746, 0.0068384800106287], "cand_cum_xyz_disp_all": [[-0.0028447210788726807, 0.008006542921066284, -0.034190960228443146], [-0.003835529088973999, 0.007757008075714111, -0.03621947765350342], [-0.003318876028060913, 0.012059599161148071, -0.030087344348430634], [-0.005106925964355469, 0.008087322115898132, -0.036873772740364075], [-0.00598183274269104, 0.006054028868675232, -0.035933755338191986], [-0.005361348390579224, 0.008321002125740051, -0.026248320937156677], [-0.0045204758644104, 0.003971561789512634, -0.03129377216100693], [-0.0018406957387924194, 0.006555467844009399, -0.03427865356206894], [-0.005447804927825928, 0.009688541293144226, -0.03444403409957886], [-0.007023647427558899, 0.008819088339805603, -0.030967600643634796], [-0.005013182759284973, 0.009860888123512268, -0.031587809324264526], [-0.005401045083999634, 0.009364694356918335, -0.03579579293727875], [-0.005070805549621582, -0.0009797662496566772, -0.03109414130449295], [-0.0037388354539871216, 0.007878333330154419, -0.03450257331132889], [-0.004097476601600647, 0.0011296272277832031, -0.03694019466638565], [-0.00634060800075531, 0.016019105911254883, -0.03590993583202362], [-0.004164755344390869, 0.007279887795448303, -0.03343070298433304], [0.00026363134384155273, 0.008006438612937927, -0.027866289019584656], [-0.0006021708250045776, 0.010904014110565186, -0.03511606901884079], [-0.00600200891494751, 0.0053151994943618774, -0.032140523195266724], [-0.0029290616512298584, 0.011598095297813416, -0.03589706867933273], [-0.0031997114419937134, 0.004573747515678406, -0.03450816124677658], [-0.0022681355476379395, 0.0023157894611358643, -0.03337109833955765], [-0.0025769472122192383, 0.0013935118913650513, -0.035217225551605225], [0.0013308674097061157, 0.009397491812705994, -0.02932599186897278], [-0.0032989829778671265, 0.01709599792957306, -0.03157740831375122], [-0.006075561046600342, 0.009362444281578064, -0.03484850376844406], [-0.003064781427383423, 0.009001150727272034, -0.03650029003620148], [-0.00456508994102478, 0.009989619255065918, -0.03319898992776871], [-0.002943292260169983, 0.007455229759216309, -0.03495289385318756], [-0.0023330748081207275, 0.02302965521812439, -0.036408618092536926], [-0.006436049938201904, 0.002674490213394165, -0.03467964380979538]], "cand_final_gripper_all": [0.9974989891052246, 0.9995203018188477, 1.0, 0.9997206330299377, 0.9995955228805542, 0.9994181394577026, 0.9987136125564575, 0.9990296959877014, 0.9992165565490723, 0.999663770198822, 0.9994198679924011, 0.9955961108207703, 0.9997549057006836, 0.9982645511627197, 0.9992012977600098, 0.9992038011550903, 1.0, 0.9993526935577393, 0.9986608028411865, 0.998375415802002, 0.9994192123413086, 0.9990069270133972, 1.0, 0.9992213845252991, 0.9991036653518677, 0.9968245029449463, 0.9993802309036255, 0.9976938366889954, 1.0, 0.9994674324989319, 0.9994115829467773, 0.999885082244873], "eef_pos": [0.5190632343292236, 0.13797272741794586, 0.2017524540424347], "cand_action_std": 0.08014016598463058, "cand_pairwise_centroid_dist_mean": 0.8002724647521973, "argmax_act_outlier": 1.0223629474639893, "time_encode_ms": 4.844954004511237, "time_diffusion_ms": 36.16534499451518, "time_q_score_ms": 8.32818285562098, "time_total_ms": 50.03044591285288, "num_action_samples_effective": 32, "q_aggregate": "pair_min"} +{"chunk_ordinal": 9, "q_min_best": 0.6136660575866699, "q_min_mean": 0.5584487915039062, "q_min_std": 0.03422864153981209, "q_min_median": 0.5557900667190552, "chosen_vs_median_q_gap": 0.057875990867614746, "q1_best": 0.6364717483520508, "q2_best": 0.6136660575866699, "v_val": 0.713988184928894, "advantage": -0.10032212734222412, "best_idx": 12, "q_min_all": [0.5545842051506042, 0.5651063323020935, 0.5257031321525574, 0.5729853510856628, 0.5470495820045471, 0.567337691783905, 0.5377914309501648, 0.6053560376167297, 0.6081740260124207, 0.5297272205352783, 0.6085971593856812, 0.5876298546791077, 0.6136660575866699, 0.5504216551780701, 0.5826407670974731, 0.5956494808197021, 0.5853713154792786, 0.5530260801315308, 0.5377351641654968, 0.5385778546333313, 0.4914694130420685, 0.5083114504814148, 0.579105019569397, 0.5501777529716492, 0.5689899325370789, 0.5458452701568604, 0.5857133269309998, 0.5269564986228943, 0.566907525062561, 0.561577320098877, 0.46238818764686584, 0.5557900667190552], "q1_all": [0.5545842051506042, 0.5651063323020935, 0.5257031321525574, 0.5729853510856628, 0.5470495820045471, 0.567337691783905, 0.5377914309501648, 0.6334361433982849, 0.6081740260124207, 0.5297272205352783, 0.6500151753425598, 0.5876298546791077, 0.6364717483520508, 0.5504216551780701, 0.5826407670974731, 0.5969915986061096, 0.5853713154792786, 0.5530260801315308, 0.5377351641654968, 0.5385778546333313, 0.4914694130420685, 0.5083114504814148, 0.6092916131019592, 0.5501777529716492, 0.5689899325370789, 0.5458452701568604, 0.5857133269309998, 0.5269564986228943, 0.566907525062561, 0.561577320098877, 0.46238818764686584, 0.5641269087791443], "q2_all": [0.6182222366333008, 0.660229504108429, 0.6043395400047302, 0.5906558036804199, 0.5808709263801575, 0.5992234945297241, 0.5674475431442261, 0.6053560376167297, 0.6509535312652588, 0.5783552527427673, 0.6085971593856812, 0.6210634112358093, 0.6136660575866699, 0.652288019657135, 0.6361218690872192, 0.5956494808197021, 0.6092213988304138, 0.6309980750083923, 0.6082452535629272, 0.6474395990371704, 0.6255539059638977, 0.6069399118423462, 0.579105019569397, 0.5710179805755615, 0.6156302690505981, 0.5974748134613037, 0.586838960647583, 0.5950310230255127, 0.5782777667045593, 0.6190158128738403, 0.6086613535881042, 0.5557900667190552], "cand_trans_speed_all": [0.009382514283061028, 0.00914327148348093, 0.010197373107075691, 0.009462688118219376, 0.007867756299674511, 0.011451957747340202, 0.012470829300582409, 0.012856446206569672, 0.01061776839196682, 0.009450454264879227, 0.012069134041666985, 0.008444704115390778, 0.01084007229655981, 0.011242277920246124, 0.009191103279590607, 0.009691540151834488, 0.011737274006009102, 0.012030547484755516, 0.006868721451610327, 0.010931233875453472, 0.008888356387615204, 0.009077982977032661, 0.011465102434158325, 0.011070897802710533, 0.010127239860594273, 0.007789633236825466, 0.00965907797217369, 0.01129457913339138, 0.01048364769667387, 0.010300867259502411, 0.010096432641148567, 0.009618952870368958], "cand_cum_xyz_disp_all": [[-0.011358588933944702, 0.019655853509902954, -0.04116857051849365], [-0.018866226077079773, 0.025225043296813965, -0.037594422698020935], [-0.018138930201530457, 0.02992101013660431, -0.041783444583415985], [-0.013637080788612366, 0.02302613854408264, -0.043672315776348114], [-0.00844503939151764, 0.01367698609828949, -0.03953077644109726], [-0.01911623775959015, 0.041265398263931274, -0.04241059720516205], [-0.023891523480415344, 0.02657969295978546, -0.04578208923339844], [-0.026986107230186462, 0.041884228587150574, -0.05311591178178787], [-0.02515760064125061, 0.02757522463798523, -0.04531795531511307], [-0.015243709087371826, 0.021952524781227112, -0.04269545525312424], [-0.023059993982315063, 0.04032254219055176, -0.04959126561880112], [-0.015208497643470764, 0.022310003638267517, -0.03847344219684601], [-0.019527852535247803, 0.03195944428443909, -0.050202205777168274], [-0.02057044208049774, 0.0416744202375412, -0.04327847808599472], [-0.013217031955718994, 0.018077149987220764, -0.04118935763835907], [-0.016873404383659363, 0.025281667709350586, -0.04319768399000168], [-0.020618945360183716, 0.03841139376163483, -0.048626914620399475], [-0.021166130900382996, 0.038635969161987305, -0.04841596633195877], [-0.01065930724143982, 0.022496581077575684, -0.031391553580760956], [-0.013779804110527039, 0.03311389684677124, -0.04134337604045868], [-0.012704551219940186, 0.025699347257614136, -0.04093623906373978], [-0.013894006609916687, 0.022323384881019592, -0.036085791885852814], [-0.01797512173652649, 0.033680081367492676, -0.052299775183200836], [-0.015782102942466736, 0.036762088537216187, -0.045805275440216064], [-0.016701027750968933, 0.027291104197502136, -0.04714636504650116], [-0.01040889322757721, 0.012187018990516663, -0.03522741049528122], [-0.01407991349697113, 0.022917136549949646, -0.044086940586566925], [-0.010042533278465271, 0.032298922538757324, -0.04914169758558273], [-0.01927092671394348, 0.028747260570526123, -0.04580345004796982], [-0.015097036957740784, 0.032759711146354675, -0.04520314186811447], [-0.013158902525901794, 0.03339815139770508, -0.041202813386917114], [-0.01641431450843811, 0.010859489440917969, -0.04468581825494766]], "cand_final_gripper_all": [0.9991611838340759, 0.9996283054351807, 0.9982278943061829, 1.0, 0.9986335039138794, 0.9992216229438782, 0.9984184503555298, 0.999172568321228, 0.9996837377548218, 0.9998468160629272, 0.9987308979034424, 0.9989495277404785, 0.9969605803489685, 0.9992549419403076, 0.9984881281852722, 1.0, 0.9994689226150513, 0.9994068145751953, 1.0, 0.9993233680725098, 0.9994668960571289, 0.9998024702072144, 0.9996984004974365, 0.9996283054351807, 0.9993436336517334, 1.0, 0.9997540712356567, 0.9959061145782471, 0.9973849058151245, 0.9982550144195557, 0.9972097277641296, 0.9991284608840942], "eef_pos": [0.5225722193717957, 0.14401239156723022, 0.20739920437335968], "cand_action_std": 0.20754751563072205, "cand_pairwise_centroid_dist_mean": 1.8568172454833984, "argmax_act_outlier": 1.23652184009552, "time_encode_ms": 4.878195933997631, "time_diffusion_ms": 36.24740708619356, "time_q_score_ms": 7.6552159152925014, "time_total_ms": 49.49704697355628, "num_action_samples_effective": 32, "q_aggregate": "pair_min"} +{"chunk_ordinal": 10, "q_min_best": 0.7089667916297913, "q_min_mean": 0.6319143772125244, "q_min_std": 0.04133065044879913, "q_min_median": 0.6179578304290771, "chosen_vs_median_q_gap": 0.09100896120071411, "q1_best": 0.7379668354988098, "q2_best": 0.7089667916297913, "v_val": 0.36017435789108276, "advantage": 0.3487924337387085, "best_idx": 7, "q_min_all": [0.7013925909996033, 0.6421105861663818, 0.6080852150917053, 0.6925544738769531, 0.5980435609817505, 0.6519148945808411, 0.6629547476768494, 0.7089667916297913, 0.5679312348365784, 0.6216979026794434, 0.6152650713920593, 0.5882056951522827, 0.6115953922271729, 0.5455425977706909, 0.6269989013671875, 0.6776986718177795, 0.591326892375946, 0.6730093955993652, 0.6131657958030701, 0.6086965203285217, 0.6549756526947021, 0.6839926242828369, 0.6014610528945923, 0.676534116268158, 0.6361348628997803, 0.6921103596687317, 0.6171775460243225, 0.5780844688415527, 0.6179578304290771, 0.6019988656044006, 0.6086010336875916, 0.6450756192207336], "q1_all": [0.7013925909996033, 0.7692957520484924, 0.7832158207893372, 0.7393777966499329, 0.7545906901359558, 0.6519148945808411, 0.7321229577064514, 0.7379668354988098, 0.5679312348365784, 0.692602813243866, 0.6557567715644836, 0.7375268340110779, 0.7529600262641907, 0.7714108824729919, 0.7391489744186401, 0.6776986718177795, 0.6863334774971008, 0.7476419806480408, 0.7326493263244629, 0.7468029260635376, 0.7342616319656372, 0.7238724827766418, 0.7015910148620605, 0.7686263918876648, 0.787577211856842, 0.6921103596687317, 0.7872352600097656, 0.6702320575714111, 0.730189323425293, 0.6019988656044006, 0.6086010336875916, 0.7368095517158508], "q2_all": [0.7048465013504028, 0.6421105861663818, 0.6080852150917053, 0.6925544738769531, 0.5980435609817505, 0.7055888772010803, 0.6629547476768494, 0.7089667916297913, 0.6606523990631104, 0.6216979026794434, 0.6152650713920593, 0.5882056951522827, 0.6115953922271729, 0.5455425977706909, 0.6269989013671875, 0.717391848564148, 0.591326892375946, 0.6730093955993652, 0.6131657958030701, 0.6086965203285217, 0.6549756526947021, 0.6839926242828369, 0.6014610528945923, 0.676534116268158, 0.6361348628997803, 0.7099074125289917, 0.6171775460243225, 0.5780844688415527, 0.6179578304290771, 0.6387291550636292, 0.6568662524223328, 0.6450756192207336], "cand_trans_speed_all": [0.009830140508711338, 0.012585438787937164, 0.014337878674268723, 0.011778312735259533, 0.014445116743445396, 0.012709766626358032, 0.011374990455806255, 0.0107591412961483, 0.012268152087926865, 0.014544464647769928, 0.015092532150447369, 0.014736412093043327, 0.015165361575782299, 0.014401785098016262, 0.014099324122071266, 0.01169416680932045, 0.01499939989298582, 0.01174944918602705, 0.014062358066439629, 0.013189395889639854, 0.01328360941261053, 0.011922478675842285, 0.01397029124200344, 0.01058122143149376, 0.013873443007469177, 0.01060283463448286, 0.014729887247085571, 0.014912707731127739, 0.01380290649831295, 0.010636228136718273, 0.014513256959617138, 0.011259104125201702], "cand_cum_xyz_disp_all": [[-0.03222969174385071, 0.03708571195602417, -0.01657727360725403], [-0.041145533323287964, 0.056510522961616516, -0.014378540217876434], [-0.05488167703151703, 0.05766795575618744, -0.01537603884935379], [-0.041633784770965576, 0.048305049538612366, -0.013108357787132263], [-0.05450698733329773, 0.058720603585243225, -0.021307945251464844], [-0.04372137784957886, 0.055311545729637146, -0.017052248120307922], [-0.033734142780303955, 0.053140684962272644, -0.013638123869895935], [-0.037880733609199524, 0.04303602874279022, -0.013595446944236755], [-0.04433271288871765, 0.04134845733642578, -0.022291697561740875], [-0.051757752895355225, 0.05674484372138977, -0.012496277689933777], [-0.05491362512111664, 0.05780293047428131, -0.014442242681980133], [-0.054209813475608826, 0.06324997544288635, -0.015206843614578247], [-0.04571552574634552, 0.06656491756439209, -0.0192737877368927], [-0.05446058511734009, 0.05841033160686493, -0.014867939054965973], [-0.049410536885261536, 0.05811351537704468, -0.014378063380718231], [-0.0384073406457901, 0.050692155957221985, -0.016458742320537567], [-0.05202506482601166, 0.05818280577659607, -0.02196289598941803], [-0.04188309609889984, 0.04456600546836853, -0.01239784061908722], [-0.047101885080337524, 0.06482592225074768, -0.014446891844272614], [-0.04300208389759064, 0.0603240430355072, -0.018816135823726654], [-0.0388137549161911, 0.06481306254863739, -0.01650466024875641], [-0.042940378189086914, 0.051066622138023376, -0.01214587688446045], [-0.044880211353302, 0.06141853332519531, -0.016443580389022827], [-0.03686456382274628, 0.04461190104484558, -0.023197375237941742], [-0.05038061738014221, 0.05865558981895447, -0.016757585108280182], [-0.037137970328330994, 0.04090142250061035, -0.013648085296154022], [-0.05599170923233032, 0.06194929778575897, -0.017697349190711975], [-0.05199518799781799, 0.057990461587905884, -0.016668647527694702], [-0.04544362425804138, 0.0588865727186203, -0.024343684315681458], [-0.04188075661659241, 0.031457364559173584, -0.017421700060367584], [-0.05897518992424011, 0.05343802273273468, -0.01769028604030609], [-0.0366542786359787, 0.04254007339477539, -0.022667579352855682]], "cand_final_gripper_all": [1.0, 1.0, 0.9992433786392212, 0.9989645481109619, 0.9999072551727295, 0.9992154836654663, 1.0, 0.9992419481277466, 0.999578595161438, 0.9989444017410278, 0.9999946355819702, 0.9987945556640625, 0.9993629455566406, 0.9999978542327881, 0.9996391534805298, 0.9997304677963257, 1.0, 1.0, 0.999612033367157, 0.9988529086112976, 1.0, 0.9991755485534668, 1.0, 0.9997698068618774, 0.9990631937980652, 1.0, 0.9997578859329224, 0.9976344108581543, 0.9998851418495178, 1.0, 1.0, 0.9994006156921387], "eef_pos": [0.5438283681869507, 0.14865270256996155, 0.23438957333564758], "cand_action_std": 0.34789907932281494, "cand_pairwise_centroid_dist_mean": 2.9558377265930176, "argmax_act_outlier": 1.0430182218551636, "time_encode_ms": 6.44198595546186, "time_diffusion_ms": 36.016878904774785, "time_q_score_ms": 8.21202783845365, "time_total_ms": 51.419952884316444, "num_action_samples_effective": 32, "q_aggregate": "pair_min"} +{"chunk_ordinal": 11, "q_min_best": 0.7962520718574524, "q_min_mean": 0.665462851524353, "q_min_std": 0.052654966711997986, "q_min_median": 0.658789336681366, "chosen_vs_median_q_gap": 0.13746273517608643, "q1_best": 0.7962520718574524, "q2_best": 0.8775594830513, "v_val": 0.7716663479804993, "advantage": 0.024585723876953125, "best_idx": 27, "q_min_all": [0.6229339838027954, 0.6884266138076782, 0.6686513423919678, 0.6031559705734253, 0.6859994530677795, 0.650392472743988, 0.586664080619812, 0.5921883583068848, 0.6442846059799194, 0.6926052570343018, 0.6615283489227295, 0.6789851784706116, 0.7096983790397644, 0.6381353139877319, 0.658789336681366, 0.6969295144081116, 0.6537161469459534, 0.7477262616157532, 0.6318486332893372, 0.6429892778396606, 0.6704224348068237, 0.7156916260719299, 0.5601409077644348, 0.7260318398475647, 0.7664796710014343, 0.6230752468109131, 0.6231417655944824, 0.7962520718574524, 0.6099739074707031, 0.6994788646697998, 0.6493935585021973, 0.6990796327590942], "q1_all": [0.640579342842102, 0.6884266138076782, 0.6686513423919678, 0.6331616044044495, 0.6859994530677795, 0.650392472743988, 0.6340503096580505, 0.6855334639549255, 0.6442846059799194, 0.6926052570343018, 0.6615283489227295, 0.6789851784706116, 0.7096983790397644, 0.6381353139877319, 0.658789336681366, 0.6969295144081116, 0.6537161469459534, 0.7477262616157532, 0.662325382232666, 0.6796579360961914, 0.6704224348068237, 0.7156916260719299, 0.7200912833213806, 0.7260318398475647, 0.7664796710014343, 0.644953191280365, 0.6609324812889099, 0.7962520718574524, 0.6716950535774231, 0.6994788646697998, 0.6585059762001038, 0.6990796327590942], "q2_all": [0.6229339838027954, 0.7451196908950806, 0.7695701718330383, 0.6031559705734253, 0.7913447618484497, 0.6623148918151855, 0.586664080619812, 0.5921883583068848, 0.7306495904922485, 0.773768424987793, 0.782198429107666, 0.6845899224281311, 0.7290968298912048, 0.7539173364639282, 0.7595288157463074, 0.7570062875747681, 0.69683837890625, 0.8497886657714844, 0.6318486332893372, 0.6429892778396606, 0.803240180015564, 0.7856061458587646, 0.5601409077644348, 0.8372654318809509, 0.8694487810134888, 0.6230752468109131, 0.6231417655944824, 0.8775594830513, 0.6099739074707031, 0.7456921935081482, 0.6493935585021973, 0.7531293630599976], "cand_trans_speed_all": [0.011397353373467922, 0.010505825281143188, 0.011382294818758965, 0.011780239641666412, 0.01046714000403881, 0.010402491316199303, 0.012286685407161713, 0.010920035652816296, 0.011170478537678719, 0.011628581210970879, 0.010585537180304527, 0.011523744091391563, 0.009697014465928078, 0.011196717619895935, 0.011355176568031311, 0.009686753153800964, 0.01017795130610466, 0.008631876669824123, 0.009334989823400974, 0.010188858956098557, 0.009875761345028877, 0.009360811673104763, 0.010999473743140697, 0.008986222557723522, 0.008469878695905209, 0.010981294326484203, 0.010639065876603127, 0.008380402810871601, 0.00970732606947422, 0.009675107896327972, 0.010216882452368736, 0.009657952934503555], "cand_cum_xyz_disp_all": [[-0.009565144777297974, 0.06399227678775787, -0.01370018720626831], [-0.008002355694770813, 0.060204073786735535, -0.00941360741853714], [-0.002323716878890991, 0.06536136567592621, -0.008463546633720398], [-0.012275874614715576, 0.06683981418609619, -0.00818353146314621], [-0.005845308303833008, 0.057268574833869934, -0.006878398358821869], [-0.007929190993309021, 0.05546964704990387, -0.01542845368385315], [-0.009951159358024597, 0.06942686438560486, -0.010101117193698883], [-0.008941173553466797, 0.049280017614364624, -0.012247636914253235], [-0.010413303971290588, 0.06150151789188385, -0.00964353233575821], [-0.012459486722946167, 0.05809132754802704, -0.006272278726100922], [-0.011796772480010986, 0.057295605540275574, -0.0027542486786842346], [-0.011617481708526611, 0.06503757834434509, -0.01025090366601944], [-0.012337610125541687, 0.05448019504547119, -0.010453760623931885], [-0.016760483384132385, 0.05901423096656799, -0.008095711469650269], [-0.008722588419914246, 0.0643351674079895, -0.00841733068227768], [-0.009444788098335266, 0.052366480231285095, -0.01021682471036911], [-0.005459263920783997, 0.05804063379764557, -0.01501530408859253], [-0.0029372721910476685, 0.04950031638145447, -0.006536945700645447], [-0.006984114646911621, 0.04471637308597565, -0.011608518660068512], [-0.011523976922035217, 0.05666716396808624, -0.011583372950553894], [-0.014367714524269104, 0.05298224091529846, -0.005786478519439697], [-0.011465176939964294, 0.048100560903549194, -0.0107102170586586], [-0.015252575278282166, 0.05185452103614807, -0.011116646230220795], [-0.004521623253822327, 0.05057062208652496, -0.0064249783754348755], [-0.0011421740055084229, 0.048562631011009216, -0.004491463303565979], [-0.010064244270324707, 0.058420971035957336, -0.009715735912322998], [-0.008171066641807556, 0.06067080795764923, -0.009996339678764343], [-0.002872973680496216, 0.0457523912191391, -0.0037013590335845947], [-0.010028883814811707, 0.05477404594421387, -0.009462103247642517], [-0.008137524127960205, 0.0540795773267746, -0.009679175913333893], [-0.009595394134521484, 0.05683693289756775, -0.010256372392177582], [-0.008016496896743774, 0.05402404069900513, -0.008198827505111694]], "cand_final_gripper_all": [0.9995332956314087, 0.9992522597312927, 0.9987826347351074, 0.9994735717773438, 0.9987785816192627, 0.9995336532592773, 1.0, 0.9996874332427979, 0.9990580677986145, 0.9998130798339844, 1.0, 0.999711811542511, 1.0, 0.9987504482269287, 0.998894214630127, 1.0, 1.0, 0.9987396001815796, 0.9996496438980103, 0.9998764395713806, 0.9996875524520874, 0.999704122543335, 0.9972245693206787, 0.9995975494384766, 1.0, 0.998863935470581, 1.0, 1.0, 0.9988976716995239, 1.0, 0.9997036457061768, 1.0], "eef_pos": [0.5692323446273804, 0.13145874440670013, 0.2507777512073517], "cand_action_std": 0.2968009412288666, "cand_pairwise_centroid_dist_mean": 2.4927430152893066, "argmax_act_outlier": 1.6001919507980347, "time_encode_ms": 6.953594973310828, "time_diffusion_ms": 36.49634914472699, "time_q_score_ms": 7.964859949424863, "time_total_ms": 52.33785603195429, "num_action_samples_effective": 32, "q_aggregate": "pair_min"} +{"chunk_ordinal": 12, "q_min_best": 0.7289137244224548, "q_min_mean": 0.6780608892440796, "q_min_std": 0.03096376359462738, "q_min_median": 0.6859502792358398, "chosen_vs_median_q_gap": 0.04296344518661499, "q1_best": 0.7289137244224548, "q2_best": 0.7348312139511108, "v_val": 0.8434966206550598, "advantage": -0.11458289623260498, "best_idx": 15, "q_min_all": [0.7014111280441284, 0.649170994758606, 0.6888447999954224, 0.7057341933250427, 0.6967580318450928, 0.6950323581695557, 0.6517459750175476, 0.6668754816055298, 0.6929693818092346, 0.7019340991973877, 0.6425639390945435, 0.6726827621459961, 0.6887040138244629, 0.6555629968643188, 0.6022182703018188, 0.7289137244224548, 0.6990068554878235, 0.7012358903884888, 0.6023781895637512, 0.707207977771759, 0.6859502792358398, 0.6274167895317078, 0.6781367063522339, 0.6983891725540161, 0.724544107913971, 0.6855880618095398, 0.6733189821243286, 0.669577956199646, 0.6690019965171814, 0.6420494914054871, 0.6969634890556335, 0.6960604786872864], "q1_all": [0.7014111280441284, 0.649170994758606, 0.6888447999954224, 0.7057341933250427, 0.6967580318450928, 0.6950323581695557, 0.6517459750175476, 0.675881564617157, 0.7170892357826233, 0.7219815254211426, 0.6425639390945435, 0.6726827621459961, 0.6912656426429749, 0.6555629968643188, 0.6022182703018188, 0.7289137244224548, 0.6990068554878235, 0.7369059920310974, 0.6023781895637512, 0.707207977771759, 0.6859502792358398, 0.6274167895317078, 0.7258203029632568, 0.7054904103279114, 0.724544107913971, 0.696168065071106, 0.6733189821243286, 0.7076647877693176, 0.6690019965171814, 0.6420494914054871, 0.6969634890556335, 0.6960604786872864], "q2_all": [0.7052892446517944, 0.6599389314651489, 0.7281018495559692, 0.7159680724143982, 0.7599671483039856, 0.7043293118476868, 0.6770414710044861, 0.6668754816055298, 0.6929693818092346, 0.7019340991973877, 0.6978821754455566, 0.7164756059646606, 0.6887040138244629, 0.6779700517654419, 0.6988474130630493, 0.7348312139511108, 0.7348167300224304, 0.7012358903884888, 0.7400665283203125, 0.7138766646385193, 0.707149088382721, 0.7306155562400818, 0.6781367063522339, 0.6983891725540161, 0.7269574403762817, 0.6855880618095398, 0.7109570503234863, 0.669577956199646, 0.7404400110244751, 0.7074611783027649, 0.7227508425712585, 0.7421644926071167], "cand_trans_speed_all": [0.007762458175420761, 0.008213287219405174, 0.00770404189825058, 0.008871743455529213, 0.00783280935138464, 0.008136389777064323, 0.007044008933007717, 0.00866086594760418, 0.008750407956540585, 0.007998364046216011, 0.00882941298186779, 0.009226996451616287, 0.008655689656734467, 0.008792901411652565, 0.008082078769803047, 0.008676604367792606, 0.008018158376216888, 0.008112937211990356, 0.006315899547189474, 0.007801808416843414, 0.008220680058002472, 0.00788965355604887, 0.0077018700540065765, 0.007723979651927948, 0.008778469637036324, 0.007835684344172478, 0.007372015621513128, 0.008642343804240227, 0.010021176189184189, 0.007978960871696472, 0.00850584078580141, 0.007391601800918579], "cand_cum_xyz_disp_all": [[-0.0054014623165130615, 0.04379737377166748, -0.003755830228328705], [-0.002217024564743042, 0.04501284658908844, -0.008952677249908447], [-0.0073089152574539185, 0.04177531599998474, -0.005819655954837799], [0.0023572444915771484, 0.04972317814826965, -0.004984073340892792], [-0.004645749926567078, 0.04428298771381378, -0.00599370151758194], [-0.0039872825145721436, 0.046644121408462524, -0.005012728273868561], [-0.00551527738571167, 0.037508442997932434, -0.010813012719154358], [-0.0031282752752304077, 0.04547420144081116, -0.007390081882476807], [-0.0029634833335876465, 0.04927137494087219, -0.0016616061329841614], [-0.0074630677700042725, 0.04576392471790314, -0.0061756521463394165], [0.002466335892677307, 0.049468204379081726, -0.0022529438138008118], [-0.005310088396072388, 0.05331526696681976, -0.0076612383127212524], [-0.007567659020423889, 0.04695114493370056, -0.0046906620264053345], [-0.006369337439537048, 0.04985189437866211, -0.006885230541229248], [0.001698419451713562, 0.04493904113769531, -0.003473617136478424], [0.0006534606218338013, 0.04876084625720978, -0.002521693706512451], [-0.0062105655670166016, 0.04698769748210907, -0.006478622555732727], [-0.0024427175521850586, 0.04681992530822754, -0.003201022744178772], [-0.002023860812187195, 0.03400327265262604, -0.0026683956384658813], [-0.004734620451927185, 0.04168955981731415, -0.006147988140583038], [-0.004630759358406067, 0.04742075502872467, -0.00433020293712616], [0.0018909424543380737, 0.044945523142814636, -0.0028242021799087524], [-0.004409283399581909, 0.04342825710773468, -0.0034531205892562866], [-0.006168380379676819, 0.043950632214546204, -0.005200743675231934], [-0.0031818896532058716, 0.051156461238861084, -0.002790026366710663], [-0.0041487812995910645, 0.04091225564479828, -0.005597017705440521], [-0.004821911454200745, 0.042885735630989075, -0.004933640360832214], [-0.006497219204902649, 0.04638203978538513, -0.003760121762752533], [-0.006748884916305542, 0.051136523485183716, -0.0054067522287368774], [-0.005158185958862305, 0.04491136968135834, -0.0043531134724617004], [-0.004618331789970398, 0.04796212911605835, -0.004869282245635986], [-0.008980602025985718, 0.04104730486869812, -0.005697332322597504]], "cand_final_gripper_all": [0.9990185499191284, 1.0, 0.998832106590271, 0.9983365535736084, 0.9983240365982056, 0.9982855319976807, 0.9980456829071045, 0.9992199540138245, 0.9989551305770874, 0.9985659122467041, 0.9981174468994141, 0.9990221858024597, 0.997848391532898, 0.9986993074417114, 0.9985765814781189, 0.9976494312286377, 0.9991682767868042, 0.9996424317359924, 0.9993415474891663, 0.9982815980911255, 0.9991279244422913, 0.9984257221221924, 0.9981417655944824, 0.9974583983421326, 1.0, 0.9977050423622131, 0.9998373985290527, 0.998628556728363, 0.9993958473205566, 0.998286247253418, 0.9971798658370972, 0.9988518953323364], "eef_pos": [0.5961552858352661, 0.12739628553390503, 0.25371256470680237], "cand_action_std": 0.25608786940574646, "cand_pairwise_centroid_dist_mean": 2.0193569660186768, "argmax_act_outlier": 0.95978182554245, "time_encode_ms": 5.020419834181666, "time_diffusion_ms": 36.10076615586877, "time_q_score_ms": 7.841632002964616, "time_total_ms": 49.952141009271145, "num_action_samples_effective": 32, "q_aggregate": "pair_min"} +{"chunk_ordinal": 13, "q_min_best": 0.7515159249305725, "q_min_mean": 0.5948580503463745, "q_min_std": 0.05177183076739311, "q_min_median": 0.5798582434654236, "chosen_vs_median_q_gap": 0.17165768146514893, "q1_best": 0.7515159249305725, "q2_best": 0.7787715196609497, "v_val": 0.6883448362350464, "advantage": 0.06317108869552612, "best_idx": 1, "q_min_all": [0.5470259785652161, 0.7515159249305725, 0.6356900930404663, 0.666013777256012, 0.7315436005592346, 0.5732889771461487, 0.5983847975730896, 0.5798582434654236, 0.6185657978057861, 0.5741972923278809, 0.568058967590332, 0.5571317672729492, 0.5825793147087097, 0.5642824172973633, 0.5544949173927307, 0.5675644278526306, 0.6070774793624878, 0.5522305965423584, 0.6577512621879578, 0.5902879238128662, 0.6013681888580322, 0.5612350702285767, 0.5609392523765564, 0.5298748016357422, 0.6165439486503601, 0.6376405358314514, 0.5371370315551758, 0.5536728501319885, 0.589466392993927, 0.5411410927772522, 0.6196736693382263, 0.6092208623886108], "q1_all": [0.7530784010887146, 0.7515159249305725, 0.7870762348175049, 0.6823883652687073, 0.7315436005592346, 0.7652537226676941, 0.7697263360023499, 0.790057361125946, 0.7985353469848633, 0.7209606170654297, 0.7466897368431091, 0.7897138595581055, 0.7870244979858398, 0.7631409764289856, 0.7279557585716248, 0.7805130481719971, 0.783768355846405, 0.7858337759971619, 0.7254344820976257, 0.5902879238128662, 0.7762525081634521, 0.7622243762016296, 0.7416514754295349, 0.7357255816459656, 0.7727096080780029, 0.7344059944152832, 0.7745996117591858, 0.742085337638855, 0.7851611971855164, 0.7666701674461365, 0.7833673357963562, 0.7788457870483398], "q2_all": [0.5470259785652161, 0.7787715196609497, 0.6356900930404663, 0.666013777256012, 0.7401214838027954, 0.5732889771461487, 0.5983847975730896, 0.5798582434654236, 0.6185657978057861, 0.5741972923278809, 0.568058967590332, 0.5571317672729492, 0.5825793147087097, 0.5642824172973633, 0.5544949173927307, 0.5675644278526306, 0.6070774793624878, 0.5522305965423584, 0.6577512621879578, 0.675750732421875, 0.6013681888580322, 0.5612350702285767, 0.5609392523765564, 0.5298748016357422, 0.6165439486503601, 0.6376405358314514, 0.5371370315551758, 0.5536728501319885, 0.589466392993927, 0.5411410927772522, 0.6196736693382263, 0.6092208623886108], "cand_trans_speed_all": [0.0059100305661559105, 0.005764785222709179, 0.005157734267413616, 0.0029932563193142414, 0.005886971019208431, 0.004439263138920069, 0.0043837931007146835, 0.0046083964407444, 0.003483184613287449, 0.003923771902918816, 0.004732366651296616, 0.004305156879127026, 0.005480836611241102, 0.003760125022381544, 0.003891030792146921, 0.004604028537869453, 0.003574660047888756, 0.004297665320336819, 0.0059525929391384125, 0.004950521048158407, 0.005263224244117737, 0.005434041377156973, 0.004421556368470192, 0.004764836747199297, 0.004779179580509663, 0.005550046917051077, 0.004991347901523113, 0.0041234660893678665, 0.0037519983015954494, 0.003485900815576315, 0.004638258367776871, 0.0044981795363128185], "cand_cum_xyz_disp_all": [[-0.014641299843788147, 0.0024573951959609985, -0.0017223358154296875], [-0.007184207439422607, 0.031176283955574036, -0.0015765652060508728], [-0.01051175594329834, 0.0021329373121261597, -0.0038183853030204773], [-0.009513884782791138, 0.009558945894241333, -0.0009576007723808289], [-0.009439587593078613, 0.0293206125497818, -0.004432797431945801], [-0.01022474467754364, 0.008003994822502136, -0.0012314096093177795], [-0.016974613070487976, 0.011235520243644714, -0.0018535330891609192], [-0.01084686815738678, 0.008450180292129517, -0.0016772821545600891], [-0.01412290334701538, 0.013499915599822998, -0.0005040392279624939], [-0.015484139323234558, 0.013307437300682068, -0.007486850023269653], [-0.014764547348022461, 0.020345240831375122, -0.0014550015330314636], [-0.012274548411369324, 0.013672232627868652, -0.0035068094730377197], [-0.014286339282989502, 0.006751954555511475, -0.004574835300445557], [-0.011661261320114136, 0.009221151471138, -0.005379192531108856], [-0.012341439723968506, 0.011431396007537842, -0.003911562263965607], [-0.009074971079826355, 0.005427300930023193, -0.004130803048610687], [-0.012637108564376831, 0.012079477310180664, -0.005237028002738953], [-0.013801932334899902, 0.004458874464035034, -0.00266353040933609], [-0.003999918699264526, 0.0032950937747955322, -0.0008050426840782166], [-0.01259341835975647, 0.016244113445281982, -0.006025739014148712], [-0.012926220893859863, 0.014660194516181946, 0.0008946061134338379], [-0.011555001139640808, 0.003787130117416382, -0.00292186439037323], [-0.013123363256454468, 0.0074975937604904175, -0.003769710659980774], [-0.013179168105125427, 0.016714155673980713, -0.0012740641832351685], [-0.01095530390739441, 0.015729904174804688, -0.003222741186618805], [-0.009101182222366333, 0.0108252614736557, 0.0012134909629821777], [-0.008446499705314636, 0.009752154350280762, -0.002718418836593628], [-0.013668447732925415, 0.016062960028648376, -0.001402430236339569], [-0.008745253086090088, 0.00982142984867096, -0.002545274794101715], [-0.010557547211647034, 0.010344713926315308, -0.001108609139919281], [-0.017577916383743286, 0.006106838583946228, -0.003407195210456848], [-0.012335136532783508, 0.010397985577583313, -0.0010700598359107971]], "cand_final_gripper_all": [0.998599112033844, 0.9995324611663818, 0.9959633350372314, 0.9979504346847534, 0.9984439611434937, 0.999139666557312, 0.9973422884941101, 0.9967851638793945, 0.9883796572685242, 0.9991320967674255, 0.9977757930755615, 0.9975156188011169, 0.9976273775100708, 0.9967908263206482, 0.999579668045044, 1.0, 0.9983268976211548, 0.9968569278717041, 0.9983947277069092, 0.9984470009803772, 0.9973553419113159, 0.998673677444458, 0.9983375072479248, 0.999183177947998, 0.9981242418289185, 0.9969580173492432, 0.9970550537109375, 0.9977295398712158, 0.9989283084869385, 0.9985107183456421, 0.9985754489898682, 0.9971858263015747], "eef_pos": [0.626430869102478, 0.12792474031448364, 0.26407015323638916], "cand_action_std": 0.49743402004241943, "cand_pairwise_centroid_dist_mean": 3.5100479125976562, "argmax_act_outlier": 5.107663154602051, "time_encode_ms": 4.797455854713917, "time_diffusion_ms": 36.40957782045007, "time_q_score_ms": 7.832685019820929, "time_total_ms": 50.03110715188086, "num_action_samples_effective": 32, "q_aggregate": "pair_min"} +{"chunk_ordinal": 14, "q_min_best": 0.8000407814979553, "q_min_mean": 0.7745579481124878, "q_min_std": 0.01625879667699337, "q_min_median": 0.7762200236320496, "chosen_vs_median_q_gap": 0.02382075786590576, "q1_best": 0.8000407814979553, "q2_best": 0.9007141590118408, "v_val": 0.8535516262054443, "advantage": -0.053510844707489014, "best_idx": 30, "q_min_all": [0.7997867465019226, 0.7799994945526123, 0.7939586043357849, 0.7644426226615906, 0.7720317244529724, 0.776259183883667, 0.7525970935821533, 0.7787007093429565, 0.7762200236320496, 0.7720547318458557, 0.7667726874351501, 0.7825377583503723, 0.7932252883911133, 0.75721675157547, 0.7837027907371521, 0.7757871747016907, 0.7940616011619568, 0.7407757639884949, 0.7773835062980652, 0.7796295285224915, 0.786929190158844, 0.7640213370323181, 0.760955810546875, 0.7546564936637878, 0.7511012554168701, 0.7847139239311218, 0.7977897524833679, 0.7512440085411072, 0.7965362071990967, 0.7596601247787476, 0.8000407814979553, 0.7610604166984558], "q1_all": [0.7997867465019226, 0.7799994945526123, 0.7939586043357849, 0.7644426226615906, 0.7720317244529724, 0.776259183883667, 0.7525970935821533, 0.7787007093429565, 0.7762200236320496, 0.7720547318458557, 0.7667726874351501, 0.7825377583503723, 0.7932252883911133, 0.75721675157547, 0.7837027907371521, 0.7757871747016907, 0.7940616011619568, 0.7407757639884949, 0.7773835062980652, 0.7796295285224915, 0.786929190158844, 0.7640213370323181, 0.760955810546875, 0.7546564936637878, 0.7511012554168701, 0.7847139239311218, 0.7977897524833679, 0.7512440085411072, 0.7965362071990967, 0.7596601247787476, 0.8000407814979553, 0.7610604166984558], "q2_all": [0.9049168825149536, 0.8959203362464905, 0.8348464369773865, 0.8582730293273926, 0.8852283954620361, 0.8758790493011475, 0.8572208881378174, 0.8646195530891418, 0.8944529294967651, 0.877060055732727, 0.867949903011322, 0.888470470905304, 0.869836151599884, 0.8772875666618347, 0.8875304460525513, 0.8957492113113403, 0.8868054151535034, 0.854006826877594, 0.883235514163971, 0.8854008913040161, 0.8472595810890198, 0.8672909736633301, 0.8663753271102905, 0.8691433072090149, 0.8659433126449585, 0.8867225050926208, 0.9068886041641235, 0.8554308414459229, 0.8825767636299133, 0.8656132221221924, 0.9007141590118408, 0.870694637298584], "cand_trans_speed_all": [0.002203664742410183, 0.0016096357721835375, 0.0032408232800662518, 0.0026482203975319862, 0.0025293566286563873, 0.00264374865218997, 0.003655343083664775, 0.0036347347777336836, 0.002522371942177415, 0.0033688133116811514, 0.0025410521775484085, 0.0036897293757647276, 0.002793174237012863, 0.004197272472083569, 0.003257125150412321, 0.004450266249477863, 0.0037649001460522413, 0.0020047000143676996, 0.0023901707027107477, 0.0033568101935088634, 0.00411495054140687, 0.002680081408470869, 0.002767816884443164, 0.0026528360322117805, 0.0027604205533862114, 0.004786585457623005, 0.0027439245022833347, 0.0032696183770895004, 0.004304990172386169, 0.0036288313567638397, 0.0035129436291754246, 0.0033763591200113297], "cand_cum_xyz_disp_all": [[-0.004281461238861084, -0.006456613540649414, 0.00120534747838974], [-0.003854021430015564, 0.0007175356149673462, 0.0016998648643493652], [-0.004809826612472534, -0.005092307925224304, 0.004997119307518005], [-0.0036716461181640625, -0.0016009658575057983, 0.002481795847415924], [0.0001561492681503296, -0.004129841923713684, 0.002026014029979706], [-0.0028915703296661377, -0.005048379302024841, 0.0017156079411506653], [-0.0007957965135574341, -0.005151122808456421, 0.004759572446346283], [-0.003547757863998413, -0.005248710513114929, 0.002187192440032959], [-0.002150222659111023, -0.0018253028392791748, 0.0018243193626403809], [-0.00582846999168396, -0.00536973774433136, 0.005040392279624939], [-0.0010122209787368774, -0.003983750939369202, 0.0008247122168540955], [0.0015404373407363892, -0.0045244693756103516, 0.003923006355762482], [-0.00328613817691803, -0.007000729441642761, 0.0010808184742927551], [-0.0007380247116088867, -0.000553622841835022, 0.0035265758633613586], [-0.0047730952501297, -0.004273027181625366, 0.0018285363912582397], [-0.004881754517555237, -0.00824032723903656, 0.0012672320008277893], [-0.004117026925086975, -0.008473217487335205, 0.0038542747497558594], [-0.000738188624382019, -0.0008147507905960083, 0.0023183673620224], [0.00014312565326690674, -0.007031753659248352, 0.0004956945776939392], [-0.002872869372367859, -0.008894577622413635, -0.001965738832950592], [-0.00494346022605896, -0.003307640552520752, 0.004101753234863281], [-0.00455804169178009, -0.0008337646722793579, 0.0013474524021148682], [-0.004724651575088501, -0.004259511828422546, 0.0014855340123176575], [-0.00315798819065094, -0.00546051561832428, -0.0005646869540214539], [0.0007940232753753662, 0.00012190639972686768, 0.0030516833066940308], [-0.0075972676277160645, -0.009904846549034119, 0.0015570372343063354], [-0.006964758038520813, -0.005320638418197632, 0.0005750209093093872], [-0.00321844220161438, -0.004965081810951233, 0.0029840394854545593], [-0.00325031578540802, -0.009363263845443726, 0.0005627572536468506], [-0.0038965195417404175, -0.0047283172607421875, 0.0002397671341896057], [-0.00937904417514801, -0.005570903420448303, 0.002889081835746765], [-0.0019079148769378662, -0.004575327038764954, 0.002427421510219574]], "cand_final_gripper_all": [0.9997543096542358, 0.9977067708969116, 0.9996827244758606, 0.9993190765380859, 0.9990146160125732, 0.9990973472595215, 0.998395562171936, 0.9991428852081299, 1.0, 0.9996905326843262, 1.0, 0.9966460466384888, 0.9983797073364258, 0.9997453689575195, 0.9983652830123901, 1.0, 0.9988958835601807, 0.9998559951782227, 1.0, 1.0, 0.9984394311904907, 0.9993197917938232, 0.998534083366394, 0.998205304145813, 0.9979331493377686, 0.9995518922805786, 0.9990726709365845, 0.999164342880249, 0.999742865562439, 0.998763918876648, 1.0, 0.9987422227859497], "eef_pos": [0.6482077240943909, 0.12308108061552048, 0.26817622780799866], "cand_action_std": 0.1328830122947693, "cand_pairwise_centroid_dist_mean": 1.0078223943710327, "argmax_act_outlier": 0.8315796256065369, "time_encode_ms": 5.716891027987003, "time_diffusion_ms": 36.43336216919124, "time_q_score_ms": 7.702833972871304, "time_total_ms": 50.915968138724566, "num_action_samples_effective": 32, "q_aggregate": "pair_min"} +{"chunk_ordinal": 15, "q_min_best": 0.765540599822998, "q_min_mean": 0.7064659595489502, "q_min_std": 0.025213295593857765, "q_min_median": 0.7083026766777039, "chosen_vs_median_q_gap": 0.05723792314529419, "q1_best": 0.765540599822998, "q2_best": 0.8676680326461792, "v_val": 0.7651582956314087, "advantage": 0.00038230419158935547, "best_idx": 25, "q_min_all": [0.7142534255981445, 0.728695809841156, 0.7225057482719421, 0.7218738198280334, 0.7083026766777039, 0.7188845276832581, 0.705235481262207, 0.6912931203842163, 0.6721077561378479, 0.6968356966972351, 0.7138888835906982, 0.6868393421173096, 0.6818544864654541, 0.6691734194755554, 0.7096571922302246, 0.6964188814163208, 0.6778224110603333, 0.7358185648918152, 0.7125357985496521, 0.7233319282531738, 0.7078981995582581, 0.6863977313041687, 0.7490081191062927, 0.7252028584480286, 0.6550458073616028, 0.765540599822998, 0.6895895600318909, 0.6959958076477051, 0.6643628478050232, 0.7362745404243469, 0.732073962688446, 0.7121899724006653], "q1_all": [0.7142534255981445, 0.728695809841156, 0.7225057482719421, 0.7218738198280334, 0.7083026766777039, 0.7188845276832581, 0.705235481262207, 0.6912931203842163, 0.6721077561378479, 0.6968356966972351, 0.7138888835906982, 0.6868393421173096, 0.6818544864654541, 0.6691734194755554, 0.7096571922302246, 0.6964188814163208, 0.6778224110603333, 0.7358185648918152, 0.7125357985496521, 0.7233319282531738, 0.7078981995582581, 0.6863977313041687, 0.7490081191062927, 0.7252028584480286, 0.6550458073616028, 0.765540599822998, 0.6895895600318909, 0.6959958076477051, 0.6643628478050232, 0.7362745404243469, 0.732073962688446, 0.7121899724006653], "q2_all": [0.8485369682312012, 0.8486485481262207, 0.8677842020988464, 0.8684988617897034, 0.861912727355957, 0.8674600124359131, 0.8576668500900269, 0.8303526639938354, 0.8407332897186279, 0.8536884784698486, 0.8234843015670776, 0.8130065202713013, 0.850256085395813, 0.8073728680610657, 0.8599280714988708, 0.8520228266716003, 0.8176790475845337, 0.8517218828201294, 0.8792212009429932, 0.8440269231796265, 0.8318332433700562, 0.8284443616867065, 0.8919460773468018, 0.8575546741485596, 0.822024941444397, 0.8676680326461792, 0.8195953965187073, 0.8458619713783264, 0.8110050559043884, 0.853410542011261, 0.8473085165023804, 0.8393240571022034], "cand_trans_speed_all": [0.0024815425276756287, 0.003365789307281375, 0.0029305077623575926, 0.002412080764770508, 0.002697387244552374, 0.003602420911192894, 0.003060908755287528, 0.0028362125158309937, 0.0032049622386693954, 0.00313004432246089, 0.0032402719371020794, 0.0032559330575168133, 0.0033352277241647243, 0.0034207571297883987, 0.0028722190763801336, 0.0035668197087943554, 0.0028484403155744076, 0.0032674670219421387, 0.003175554797053337, 0.0028938837349414825, 0.0029099807143211365, 0.0032409965060651302, 0.003490304574370384, 0.002113946946337819, 0.0032293517142534256, 0.0028995326720178127, 0.0028698004316538572, 0.002945088781416416, 0.003054202301427722, 0.003776066703721881, 0.0034021835308521986, 0.002692180685698986], "cand_cum_xyz_disp_all": [[0.0014223307371139526, -0.010009437799453735, 0.010592453181743622], [0.0011284500360488892, -0.009281113743782043, 0.008575774729251862], [0.0010994821786880493, -0.006233975291252136, 0.010018549859523773], [0.0019580423831939697, -0.007836639881134033, 0.008535616099834442], [0.004211053252220154, -0.004252120852470398, 0.013179205358028412], [-0.0013643652200698853, -0.010124534368515015, 0.011368252336978912], [-0.002799808979034424, -0.006662264466285706, 0.010322250425815582], [0.006542682647705078, -0.004635229706764221, 0.009034715592861176], [0.0018246322870254517, -0.005081072449684143, 0.012372396886348724], [0.0001671314239501953, -0.005664199590682983, 0.013918228447437286], [0.0033472031354904175, -0.009591996669769287, 0.00814875215291977], [0.004528254270553589, -0.0029449909925460815, 0.01009327918291092], [-0.0015442073345184326, -0.0056188106536865234, 0.015287570655345917], [0.0034441351890563965, -0.010327190160751343, 0.0138850137591362], [0.003214225172996521, -0.004025906324386597, 0.010013855993747711], [-8.226931095123291e-05, -0.005407571792602539, 0.01261516660451889], [0.0013507157564163208, -0.008260980248451233, 0.00946468859910965], [0.0010852962732315063, -0.008330106735229492, 0.008556552231311798], [0.001175805926322937, -0.007935509085655212, 0.012427069246768951], [0.0009011924266815186, -0.0028640031814575195, 0.008886672556400299], [0.00286729633808136, -0.01044560968875885, 0.010097064077854156], [0.00452326238155365, -0.006810590624809265, 0.009667597711086273], [-0.00316600501537323, -0.006594419479370117, 0.01339653879404068], [0.0028517991304397583, -0.005549073219299316, 0.008509121835231781], [0.0015085488557815552, -0.007377013564109802, 0.012914873659610748], [-0.000980764627456665, -0.009176775813102722, 0.006301805377006531], [0.004569336771965027, -0.00480063259601593, 0.010481692850589752], [0.0001830756664276123, -0.0025754570960998535, 0.0112815722823143], [0.0017967969179153442, -0.009013280272483826, 0.010552935302257538], [-0.002481892704963684, -0.004559993743896484, 0.011533252894878387], [-0.0020403265953063965, -0.008988574147224426, 0.0073072537779808044], [0.0022298097610473633, -0.006072878837585449, 0.007443703711032867]], "cand_final_gripper_all": [0.9973957538604736, 0.9988906979560852, 0.9970276951789856, 0.9991176724433899, 0.99688720703125, 1.0, 0.9993337392807007, 0.9977341890335083, 0.9982876777648926, 0.9972939491271973, 0.9983989000320435, 0.9993062019348145, 0.9979252815246582, 0.9984705448150635, 0.997894287109375, 0.9991412162780762, 0.997465968132019, 0.9979871511459351, 0.9993219375610352, 0.997660219669342, 0.9975337982177734, 0.9971245527267456, 0.9983066916465759, 0.9981169104576111, 0.9973435997962952, 0.995844841003418, 0.9965389966964722, 0.9956358671188354, 0.9994980096817017, 1.0, 0.9969325065612793, 0.9993286728858948], "eef_pos": [0.650844931602478, 0.12326101958751678, 0.2680760324001312], "cand_action_std": 0.11907091736793518, "cand_pairwise_centroid_dist_mean": 0.9796801209449768, "argmax_act_outlier": 2.058110237121582, "time_encode_ms": 4.812163999304175, "time_diffusion_ms": 36.15984506905079, "time_q_score_ms": 8.013871032744646, "time_total_ms": 49.6894340030849, "num_action_samples_effective": 32, "q_aggregate": "pair_min"} +{"chunk_ordinal": 16, "q_min_best": 0.6638274788856506, "q_min_mean": 0.6281194686889648, "q_min_std": 0.01768784411251545, "q_min_median": 0.628876268863678, "chosen_vs_median_q_gap": 0.034951210021972656, "q1_best": 0.6638274788856506, "q2_best": 0.7287157773971558, "v_val": 0.9758464097976685, "advantage": -0.3120189309120178, "best_idx": 28, "q_min_all": [0.6418820023536682, 0.6037665009498596, 0.6311586499214172, 0.5976741909980774, 0.6299239993095398, 0.6191376447677612, 0.608970046043396, 0.6194329857826233, 0.6169484257698059, 0.6544250249862671, 0.6182165145874023, 0.6023818850517273, 0.6200768351554871, 0.6311997175216675, 0.6294337511062622, 0.5946506261825562, 0.6596145629882812, 0.656810462474823, 0.6199838519096375, 0.6401538252830505, 0.6217640042304993, 0.6265647411346436, 0.6315950751304626, 0.6591160297393799, 0.6312872767448425, 0.6207839846611023, 0.6414712071418762, 0.6319561004638672, 0.6638274788856506, 0.6289036870002747, 0.6178364157676697, 0.628876268863678], "q1_all": [0.6418820023536682, 0.6037665009498596, 0.6311586499214172, 0.5976741909980774, 0.6299239993095398, 0.6191376447677612, 0.608970046043396, 0.6194329857826233, 0.6169484257698059, 0.6544250249862671, 0.6182165145874023, 0.6023818850517273, 0.6200768351554871, 0.6311997175216675, 0.6294337511062622, 0.5946506261825562, 0.6596145629882812, 0.656810462474823, 0.6199838519096375, 0.6401538252830505, 0.6217640042304993, 0.6265647411346436, 0.6315950751304626, 0.6591160297393799, 0.6312872767448425, 0.6207839846611023, 0.6414712071418762, 0.6319561004638672, 0.6638274788856506, 0.6289036870002747, 0.6178364157676697, 0.628876268863678], "q2_all": [0.7082912921905518, 0.7517326474189758, 0.723150372505188, 0.7262499332427979, 0.7329951524734497, 0.7715994119644165, 0.7302270531654358, 0.7518012523651123, 0.756666898727417, 0.7633605003356934, 0.7542789578437805, 0.7555725574493408, 0.7279477119445801, 0.7527431845664978, 0.7576742172241211, 0.71696537733078, 0.7628780603408813, 0.803307294845581, 0.7288212180137634, 0.7823577523231506, 0.7330830693244934, 0.7328643798828125, 0.7790364027023315, 0.8072911500930786, 0.7312275767326355, 0.8033654093742371, 0.7646237015724182, 0.7612824440002441, 0.7287157773971558, 0.7380648851394653, 0.730636715888977, 0.704156219959259], "cand_trans_speed_all": [0.003086395561695099, 0.004039934370666742, 0.0037556844763457775, 0.0030808583833277225, 0.0045241136103868484, 0.0032820822671055794, 0.003821813967078924, 0.0032652083318680525, 0.0032364665530622005, 0.004245550837367773, 0.0032226289622485638, 0.0049173906445503235, 0.0038652296643704176, 0.005387119948863983, 0.0026400394272059202, 0.003196150064468384, 0.0036716561298817396, 0.0049912831746041775, 0.0038468176499009132, 0.0034540905617177486, 0.0032184808515012264, 0.004241878166794777, 0.0033334139734506607, 0.00537506677210331, 0.0034428879152983427, 0.0038594226352870464, 0.0031893434934318066, 0.0041665975004434586, 0.005400690715759993, 0.0030566039495170116, 0.004301192704588175, 0.0039457520470023155], "cand_cum_xyz_disp_all": [[0.007646024227142334, -0.005141928791999817, 0.014352895319461823], [0.012185633182525635, -0.0007208734750747681, 0.015339396893978119], [0.011030346155166626, -0.005225077271461487, 0.01465984433889389], [0.009806036949157715, -0.004371479153633118, 0.013203360140323639], [0.010807037353515625, -0.00481964647769928, 0.01743534952402115], [0.006081834435462952, -0.0031818002462387085, 0.01560065895318985], [0.010140955448150635, -0.0011909902095794678, 0.01424998790025711], [0.005070477724075317, -0.0006277114152908325, 0.014320038259029388], [0.006837025284767151, -0.004158049821853638, 0.014505721628665924], [0.00894707441329956, 0.003735572099685669, 0.01482924073934555], [0.0067364126443862915, -0.0061305612325668335, 0.0147414430975914], [0.009943127632141113, -0.0019885599613189697, 0.013365916907787323], [0.010724112391471863, -0.0018202662467956543, 0.01333654671907425], [0.01030026376247406, 0.002469852566719055, 0.016080103814601898], [0.0025843530893325806, -0.004178240895271301, 0.013015709817409515], [0.0061588287353515625, -0.003954529762268066, 0.01456248015165329], [0.005585953593254089, -0.004029780626296997, 0.01743078976869583], [0.010804533958435059, 0.002827972173690796, 0.014294363558292389], [0.007831722497940063, -0.0041006505489349365, 0.01345846801996231], [0.008583739399909973, -0.000905454158782959, 0.01684575527906418], [0.006404712796211243, -0.0030442774295806885, 0.012808002531528473], [0.006305679678916931, -0.005245864391326904, 0.01613479107618332], [0.007879480719566345, 0.00018471479415893555, 0.014670632779598236], [0.012841463088989258, 0.0064100176095962524, 0.015445537865161896], [0.011655136942863464, -0.002778574824333191, 0.013520173728466034], [0.003160819411277771, -0.008752688765525818, 0.01796054095029831], [0.007543683052062988, -0.0021203607320785522, 0.014679260551929474], [0.006380900740623474, -0.0018532127141952515, 0.01597844809293747], [0.007214173674583435, 0.0018977075815200806, 0.01616237312555313], [0.0018215775489807129, -0.006788820028305054, 0.013971857726573944], [0.013782083988189697, -0.009903594851493835, 0.013756997883319855], [0.006466299295425415, -0.002849787473678589, 0.01292920857667923]], "cand_final_gripper_all": [0.9993056058883667, 0.9994550943374634, 0.9980727434158325, 0.9987608194351196, 0.9992669820785522, 0.9990739226341248, 0.997887134552002, 0.999410092830658, 0.9995187520980835, 0.997818112373352, 0.9991992115974426, 0.9970561265945435, 0.9982302188873291, 0.9979941248893738, 1.0, 0.9993959665298462, 0.998259961605072, 0.9970759153366089, 0.9986171722412109, 0.999420166015625, 0.9976834654808044, 0.9994145631790161, 0.9993574619293213, 0.9972639083862305, 0.998623788356781, 0.9999033808708191, 0.9989433288574219, 0.9989640116691589, 0.9977917671203613, 0.9988194704055786, 0.9975471496582031, 0.9991198778152466], "eef_pos": [0.648154079914093, 0.12284624576568604, 0.2599358856678009], "cand_action_std": 0.18145714700222015, "cand_pairwise_centroid_dist_mean": 1.522830843925476, "argmax_act_outlier": 1.8307467699050903, "time_encode_ms": 6.052413024008274, "time_diffusion_ms": 36.69037809595466, "time_q_score_ms": 7.542637176811695, "time_total_ms": 51.1594801209867, "num_action_samples_effective": 32, "q_aggregate": "pair_min"} +{"chunk_ordinal": 17, "q_min_best": 0.7740145921707153, "q_min_mean": 0.7121042013168335, "q_min_std": 0.030638938769698143, "q_min_median": 0.7128901481628418, "chosen_vs_median_q_gap": 0.061124444007873535, "q1_best": 0.8289325833320618, "q2_best": 0.7740145921707153, "v_val": 0.9202680587768555, "advantage": -0.14625346660614014, "best_idx": 13, "q_min_all": [0.7283693552017212, 0.6981903314590454, 0.7128901481628418, 0.6846017837524414, 0.7209262847900391, 0.7558639049530029, 0.6779381036758423, 0.7437624931335449, 0.7211928963661194, 0.6959328651428223, 0.6882156729698181, 0.7297545075416565, 0.74957674741745, 0.7740145921707153, 0.6804221868515015, 0.6291940212249756, 0.690729022026062, 0.6951408386230469, 0.7227405905723572, 0.7014272212982178, 0.7365236282348633, 0.6886510848999023, 0.6959356665611267, 0.7092186212539673, 0.6687806248664856, 0.7615339756011963, 0.7313175797462463, 0.6784805655479431, 0.7247030138969421, 0.7282477021217346, 0.7320274114608765, 0.7310315370559692], "q1_all": [0.8014963865280151, 0.7614553570747375, 0.7907123565673828, 0.7855584025382996, 0.8142710328102112, 0.8152285814285278, 0.7719237208366394, 0.7981917262077332, 0.7966179847717285, 0.7869804501533508, 0.7731347680091858, 0.7849405407905579, 0.80930095911026, 0.8289325833320618, 0.751580536365509, 0.7426436543464661, 0.7779696583747864, 0.7668764591217041, 0.7888008952140808, 0.7783535122871399, 0.7716745734214783, 0.7567287683486938, 0.7794519066810608, 0.7873392701148987, 0.7343118786811829, 0.7987853288650513, 0.7936045527458191, 0.803189218044281, 0.7861290574073792, 0.798174262046814, 0.8159775137901306, 0.8130354285240173], "q2_all": [0.7283693552017212, 0.6981903314590454, 0.7128901481628418, 0.6846017837524414, 0.7209262847900391, 0.7558639049530029, 0.6779381036758423, 0.7437624931335449, 0.7211928963661194, 0.6959328651428223, 0.6882156729698181, 0.7297545075416565, 0.74957674741745, 0.7740145921707153, 0.6804221868515015, 0.6291940212249756, 0.690729022026062, 0.6951408386230469, 0.7227405905723572, 0.7014272212982178, 0.7365236282348633, 0.6886510848999023, 0.6959356665611267, 0.7092186212539673, 0.6687806248664856, 0.7615339756011963, 0.7313175797462463, 0.6784805655479431, 0.7247030138969421, 0.7282477021217346, 0.7320274114608765, 0.7310315370559692], "cand_trans_speed_all": [0.0023065349087119102, 0.0018944938201457262, 0.0023796437308192253, 0.0025675417855381966, 0.002213884610682726, 0.0030885764863342047, 0.0018210674170404673, 0.002906463574618101, 0.0023614210076630116, 0.003046472556889057, 0.0019472939893603325, 0.0018110366072505713, 0.0018606199882924557, 0.0029960176907479763, 0.0025114063173532486, 0.0019738925620913506, 0.0028594895265996456, 0.001956133870407939, 0.002643835498020053, 0.0023242533206939697, 0.0030311427544802427, 0.003057419788092375, 0.0027094129472970963, 0.0018815792864188552, 0.0018584312638267875, 0.003329274710267782, 0.001724395202472806, 0.001629366772249341, 0.0019813484977930784, 0.0023286635987460613, 0.0020077843219041824, 0.0019265584414824843], "cand_cum_xyz_disp_all": [[0.00045350193977355957, 0.007473289966583252, 0.004604674875736237], [0.002700313925743103, 0.006699204444885254, 0.005008719861507416], [-0.001191258430480957, 0.005952164530754089, 0.0035568401217460632], [0.0012095123529434204, 0.005918830633163452, 0.004983894526958466], [-0.00241832435131073, 0.007703512907028198, 0.005930744111537933], [0.0024115443229675293, 0.004678934812545776, 0.007705219089984894], [0.0011744648218154907, 0.006860285997390747, 0.005490414798259735], [1.8849968910217285e-05, 0.006255432963371277, 0.0035883039236068726], [0.0010104179382324219, 0.00865735113620758, 0.0055434927344322205], [-0.0008775293827056885, 0.009402722120285034, 0.005836911499500275], [0.0011134147644042969, 0.005484625697135925, 0.004976280033588409], [0.0015415400266647339, 0.007564663887023926, 0.005276001989841461], [0.0005946755409240723, 0.0066000670194625854, 0.0043265968561172485], [-0.0023318827152252197, 0.01342262327671051, 0.0058310627937316895], [0.002848505973815918, 0.00568370521068573, 0.0035667791962623596], [0.00011649727821350098, 0.006004929542541504, 0.005846872925758362], [0.0024696439504623413, 0.0067464858293533325, 0.007724650204181671], [0.0037601888179779053, 0.005238935351371765, 0.005005344748497009], [0.0003287792205810547, 0.0077661871910095215, 0.0042940303683280945], [-0.0006460994482040405, 0.008482947945594788, 0.005701601505279541], [0.0027678459882736206, 0.011238515377044678, 0.005235940217971802], [0.0013488978147506714, 0.006004467606544495, 0.00481782853603363], [-0.0020819753408432007, 0.01166890561580658, 0.005851022899150848], [0.002447843551635742, 0.007253557443618774, 0.00601574033498764], [0.004045799374580383, 0.005656406283378601, 0.002185150980949402], [0.0011542439460754395, 0.01208263635635376, 0.0058912113308906555], [0.002887338399887085, 0.005567044019699097, 0.0054047927260398865], [-0.002583906054496765, 0.003999471664428711, 0.005760259926319122], [-0.0036296099424362183, 0.009019583463668823, 0.0031681284308433533], [0.00045339763164520264, 0.008485719561576843, 0.006086103618144989], [-0.0007774084806442261, 0.008125349879264832, 0.005560427904129028], [-0.0011748522520065308, 0.007918253540992737, 0.004690259695053101]], "cand_final_gripper_all": [1.0, 0.9993211030960083, 0.9992427825927734, 0.9997096061706543, 0.9988659620285034, 1.0, 0.9985256195068359, 0.9996803998947144, 0.9991807341575623, 0.9997678399085999, 0.9993466138839722, 0.9994031190872192, 0.9992132782936096, 0.9989906549453735, 0.9994139671325684, 0.9997103214263916, 0.9992890357971191, 0.9991427659988403, 0.99913489818573, 0.9998469352722168, 0.9990407824516296, 0.9995138049125671, 0.9998061060905457, 0.9994096755981445, 0.998741865158081, 0.9991731643676758, 0.9992214441299438, 0.999764084815979, 0.9994695782661438, 0.998816967010498, 1.0, 0.9993340373039246], "eef_pos": [0.6438734531402588, 0.1236443892121315, 0.24349015951156616], "cand_action_std": 0.09326328337192535, "cand_pairwise_centroid_dist_mean": 0.7743468284606934, "argmax_act_outlier": 1.5435305833816528, "time_encode_ms": 4.917047917842865, "time_diffusion_ms": 36.18475096300244, "time_q_score_ms": 7.718452950939536, "time_total_ms": 49.49374101124704, "num_action_samples_effective": 32, "q_aggregate": "pair_min"} +{"chunk_ordinal": 18, "q_min_best": 0.8294919729232788, "q_min_mean": 0.8050332069396973, "q_min_std": 0.013051856309175491, "q_min_median": 0.8014999628067017, "chosen_vs_median_q_gap": 0.02799201011657715, "q1_best": 0.8462902903556824, "q2_best": 0.8294919729232788, "v_val": 0.8877787590026855, "advantage": -0.05828678607940674, "best_idx": 16, "q_min_all": [0.8094589710235596, 0.7892245650291443, 0.7682791948318481, 0.8033677935600281, 0.812085747718811, 0.8007935285568237, 0.8117753863334656, 0.8253223299980164, 0.7976729273796082, 0.8290193676948547, 0.8230584859848022, 0.7980470061302185, 0.7961069941520691, 0.803195595741272, 0.8028726577758789, 0.8070031404495239, 0.8294919729232788, 0.7916383743286133, 0.7984325885772705, 0.8108980655670166, 0.8115257024765015, 0.7996529340744019, 0.7920589447021484, 0.8134397864341736, 0.8210155963897705, 0.8000226020812988, 0.7989060878753662, 0.7936497330665588, 0.7975878119468689, 0.8005719780921936, 0.823387861251831, 0.8014999628067017], "q1_all": [0.8428849577903748, 0.8225827217102051, 0.8020278215408325, 0.820709764957428, 0.8301450610160828, 0.8211719393730164, 0.8459126949310303, 0.8502734303474426, 0.8468402624130249, 0.836622416973114, 0.839276909828186, 0.8188657760620117, 0.8390457034111023, 0.8304785490036011, 0.8397582769393921, 0.8287482857704163, 0.8462902903556824, 0.8299590349197388, 0.812836766242981, 0.8263497948646545, 0.8435304760932922, 0.8237127065658569, 0.7920589447021484, 0.8637527227401733, 0.8290689587593079, 0.8181238770484924, 0.8409765362739563, 0.7956991791725159, 0.8327003121376038, 0.837760329246521, 0.8237105011940002, 0.8447057008743286], "q2_all": [0.8094589710235596, 0.7892245650291443, 0.7682791948318481, 0.8033677935600281, 0.812085747718811, 0.8007935285568237, 0.8117753863334656, 0.8253223299980164, 0.7976729273796082, 0.8290193676948547, 0.8230584859848022, 0.7980470061302185, 0.7961069941520691, 0.803195595741272, 0.8028726577758789, 0.8070031404495239, 0.8294919729232788, 0.7916383743286133, 0.7984325885772705, 0.8108980655670166, 0.8115257024765015, 0.7996529340744019, 0.7994349598884583, 0.8134397864341736, 0.8210155963897705, 0.8000226020812988, 0.7989060878753662, 0.7936497330665588, 0.7975878119468689, 0.8005719780921936, 0.823387861251831, 0.8014999628067017], "cand_trans_speed_all": [0.0020896773785352707, 0.002001692308112979, 0.001793098053894937, 0.001820239587686956, 0.0025296532548964024, 0.002372363582253456, 0.0023800923954695463, 0.0022594965994358063, 0.00220762868411839, 0.002876540645956993, 0.002144558122381568, 0.0019082361832261086, 0.0018338272348046303, 0.00164978695102036, 0.0016462098574265838, 0.002115183975547552, 0.0026496518403291702, 0.0016212149057537317, 0.0026502939872443676, 0.0020607607439160347, 0.0022028451785445213, 0.0018887734040617943, 0.0019014901481568813, 0.0034484658390283585, 0.002202753908932209, 0.001860121265053749, 0.0020421133376657963, 0.003312705783173442, 0.001680722227320075, 0.0018121100729331374, 0.0028697680681943893, 0.001895896508358419], "cand_cum_xyz_disp_all": [[-0.001751139760017395, 0.003693118691444397, 0.006282374262809753], [-0.0033780932426452637, 0.007046043872833252, 0.0057249367237091064], [-0.0033917278051376343, 0.007382377982139587, 0.005872681736946106], [-0.001705855131149292, 0.0029497891664505005, 0.006006471812725067], [-0.0025555044412612915, 0.009450703859329224, 0.005823291838169098], [-0.003782108426094055, 0.008063048124313354, 0.003955766558647156], [-0.0028725266456604004, 0.005864530801773071, 0.0060346126556396484], [-0.002127349376678467, 0.011459335684776306, 0.005734883248806], [-0.001755937933921814, 0.00421278178691864, 0.006457112729549408], [-0.002445042133331299, 0.009114578366279602, 0.005259081721305847], [-0.0012064427137374878, 0.006959348917007446, 0.005938537418842316], [-0.001180410385131836, 0.0032989680767059326, 0.00292978435754776], [-0.0032891035079956055, 0.0060363709926605225, 0.00686163455247879], [-0.0025292783975601196, 0.006460651755332947, 0.005217038094997406], [-0.0006618350744247437, 0.0048233866691589355, 0.005106896162033081], [-0.004086911678314209, 0.007170051336288452, 0.006226405501365662], [-0.0003111511468887329, 0.009805992245674133, 0.005694180727005005], [-0.0011063367128372192, 0.00508195161819458, 0.006485551595687866], [-0.0020106136798858643, 0.0064468830823898315, 0.006018221378326416], [-0.004687994718551636, 0.0048188865184783936, 0.004875652492046356], [-0.0027933120727539062, 0.00830484926700592, 0.0050644055008888245], [-0.0007693618535995483, 0.0058803558349609375, 0.005740828812122345], [0.0013658851385116577, 0.005172476172447205, 0.004897318780422211], [-0.0017144829034805298, 0.004767283797264099, 0.006748311221599579], [-0.002680376172065735, 0.008692026138305664, 0.006975181400775909], [-0.0014136731624603271, 0.006306171417236328, 0.004639632999897003], [-0.0020586997270584106, 0.00664578378200531, 0.00512966513633728], [-0.0017896592617034912, 0.004807829856872559, 0.005157075822353363], [-0.0008487552404403687, 0.005439594388008118, 0.00569530576467514], [-0.002625972032546997, 0.004770293831825256, 0.006675161421298981], [-0.0022659003734588623, 0.006158411502838135, 0.005209870636463165], [-0.003037780523300171, 0.005135044455528259, 0.004941798746585846]], "cand_final_gripper_all": [0.9987994432449341, 0.999037504196167, 0.9989671111106873, 0.99918532371521, 0.9998601675033569, 0.9988116025924683, 0.9995192289352417, 0.9991856813430786, 1.0, 0.9990125894546509, 0.999005913734436, 0.9988890886306763, 0.9998948574066162, 0.9992555379867554, 0.9993604421615601, 0.9987069368362427, 0.9993189573287964, 0.9993075728416443, 0.9990383386611938, 0.9981541633605957, 0.9993284940719604, 0.9991487860679626, 0.9997334480285645, 0.9994910359382629, 0.9986009001731873, 0.9990098476409912, 0.9987787008285522, 0.9984861612319946, 0.9990421533584595, 0.9986856579780579, 0.9991806149482727, 0.9994852542877197], "eef_pos": [0.6489375233650208, 0.1272682547569275, 0.23755230009555817], "cand_action_std": 0.07589052617549896, "cand_pairwise_centroid_dist_mean": 0.6124248504638672, "argmax_act_outlier": 1.2681899070739746, "time_encode_ms": 5.726668983697891, "time_diffusion_ms": 36.14454693160951, "time_q_score_ms": 7.191164884716272, "time_total_ms": 49.97644596733153, "num_action_samples_effective": 32, "q_aggregate": "pair_min"} +{"chunk_ordinal": 19, "q_min_best": 0.8825605511665344, "q_min_mean": 0.843758225440979, "q_min_std": 0.027971506118774414, "q_min_median": 0.8473573923110962, "chosen_vs_median_q_gap": 0.03520315885543823, "q1_best": 0.9342038631439209, "q2_best": 0.8825605511665344, "v_val": 0.7895447015762329, "advantage": 0.09301584959030151, "best_idx": 29, "q_min_all": [0.8818680047988892, 0.8584468364715576, 0.8365512490272522, 0.8467890024185181, 0.8533280491828918, 0.853783369064331, 0.779470682144165, 0.8337969183921814, 0.8802393674850464, 0.8768709897994995, 0.8389543294906616, 0.8202986717224121, 0.8480169177055359, 0.8443984389305115, 0.7772546410560608, 0.8186915516853333, 0.8612385988235474, 0.8554995059967041, 0.8619221448898315, 0.8713189363479614, 0.8472777009010315, 0.8489952683448792, 0.8529167175292969, 0.8168606758117676, 0.8358113765716553, 0.826410174369812, 0.7772487998008728, 0.8319864869117737, 0.8748257160186768, 0.8825605511665344, 0.8473573923110962, 0.8592730164527893], "q1_all": [0.9628601670265198, 0.9384933114051819, 0.881028950214386, 0.942825198173523, 0.9669956564903259, 0.9221227765083313, 0.8755673766136169, 0.9212120175361633, 0.9395237565040588, 0.9481573700904846, 0.9232531785964966, 0.8932352662086487, 0.9256688952445984, 0.9543349146842957, 0.8825480341911316, 0.8818249106407166, 0.9191827178001404, 0.9547268748283386, 0.9710699915885925, 0.9431574940681458, 0.9171410799026489, 0.9116631150245667, 0.9210982918739319, 0.909112274646759, 0.9220879673957825, 0.9055693745613098, 0.8817177414894104, 0.8864408135414124, 0.9627444744110107, 0.9342038631439209, 0.9248630404472351, 0.9300302863121033], "q2_all": [0.8818680047988892, 0.8584468364715576, 0.8365512490272522, 0.8467890024185181, 0.8533280491828918, 0.853783369064331, 0.779470682144165, 0.8337969183921814, 0.8802393674850464, 0.8768709897994995, 0.8389543294906616, 0.8202986717224121, 0.8480169177055359, 0.8443984389305115, 0.7772546410560608, 0.8186915516853333, 0.8612385988235474, 0.8554995059967041, 0.8619221448898315, 0.8713189363479614, 0.8472777009010315, 0.8489952683448792, 0.8529167175292969, 0.8168606758117676, 0.8358113765716553, 0.826410174369812, 0.7772487998008728, 0.8319864869117737, 0.8748257160186768, 0.8825605511665344, 0.8473573923110962, 0.8592730164527893], "cand_trans_speed_all": [0.002617181045934558, 0.0027261371724307537, 0.0017473244806751609, 0.00178377830889076, 0.0019923404324799776, 0.002171725034713745, 0.001744051813147962, 0.0017462726682424545, 0.003263479797169566, 0.0020810826681554317, 0.002240634523332119, 0.0029646451584994793, 0.002447045873850584, 0.0024082292802631855, 0.0021114221308380365, 0.003150086384266615, 0.0029847468249499798, 0.002273605205118656, 0.002182419877499342, 0.003048524260520935, 0.0020201983861625195, 0.0023435025941580534, 0.0021318402141332626, 0.0019494624575600028, 0.0020906496793031693, 0.002113480120897293, 0.002010773401707411, 0.0032201651483774185, 0.0021061375737190247, 0.002787620760500431, 0.0019956142641603947, 0.001952559920027852], "cand_cum_xyz_disp_all": [[-0.004668891429901123, 0.0032039135694503784, 0.01165657490491867], [-0.000675693154335022, -0.0021730661392211914, 0.011098526418209076], [-0.001442238688468933, 0.0007484704256057739, 0.00987338274717331], [-0.0011582821607589722, 0.0034891366958618164, 0.007373727858066559], [0.00039474666118621826, -0.002007588744163513, 0.007667727768421173], [0.0013692378997802734, 0.0035902410745620728, 0.007153324782848358], [-0.0032980889081954956, -0.0009805560111999512, 0.007084228098392487], [-0.0022787898778915405, -0.002040371298789978, 0.009214289486408234], [-0.005520060658454895, 0.005218490958213806, 0.01230611652135849], [-0.0029665380716323853, 7.297098636627197e-05, 0.008101396262645721], [-0.005343228578567505, 0.002231508493423462, 0.008475936949253082], [-0.000241205096244812, -0.0014120042324066162, 0.004676192998886108], [0.0015881657600402832, -0.0014837831258773804, 0.008820079267024994], [0.0004917532205581665, 0.0012804418802261353, 0.008921928703784943], [-0.0038429945707321167, -0.0021792054176330566, 0.007684685289859772], [-0.0027246475219726562, -0.0011756420135498047, 0.008423112332820892], [-0.0014974325895309448, -0.0007834881544113159, 0.008440278470516205], [-0.0020886212587356567, -0.0008382350206375122, 0.009438253939151764], [-0.0019580423831939697, -2.0712614059448242e-05, 0.008536048233509064], [-0.0018036067485809326, -0.0013981163501739502, 0.009408347308635712], [0.0005891025066375732, -0.0006112754344940186, 0.010321535170078278], [-0.00015854835510253906, -0.000632941722869873, 0.010457701981067657], [-0.0052507370710372925, -0.0003660470247268677, 0.00795348733663559], [0.0018215775489807129, -9.132921695709229e-05, 0.008430562913417816], [-0.0027612894773483276, 0.0010819435119628906, 0.007912002503871918], [2.8312206268310547e-06, 0.0017133057117462158, 0.009168274700641632], [-0.004745811223983765, -0.0032104849815368652, 0.007744245231151581], [-0.0020025521516799927, -0.001607462763786316, 0.009923078119754791], [-0.0029757320880889893, -0.0016260594129562378, 0.008656390011310577], [-0.00610274076461792, 0.00022523105144500732, 0.010178126394748688], [-0.0011154860258102417, 0.0022292137145996094, 0.008887030184268951], [-0.002190813422203064, -0.0008748173713684082, 0.009802065789699554]], "cand_final_gripper_all": [1.0, 0.9975395202636719, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 0.9994779825210571, 1.0, 0.9999402165412903, 1.0, 1.0, 0.9997694492340088, 1.0, 1.0, 0.9998728036880493, 1.0, 0.9997131824493408, 1.0, 1.0, 1.0, 1.0, 1.0, 0.9998573660850525, 0.9999731779098511, 1.0, 1.0, 1.0], "eef_pos": [0.6522942185401917, 0.12955251336097717, 0.23030124604701996], "cand_action_std": 0.06689425557851791, "cand_pairwise_centroid_dist_mean": 0.5828899145126343, "argmax_act_outlier": 1.0199644565582275, "time_encode_ms": 5.752617958933115, "time_diffusion_ms": 36.08536603860557, "time_q_score_ms": 8.372516138479114, "time_total_ms": 50.92121800407767, "num_action_samples_effective": 32, "q_aggregate": "pair_min"} +{"chunk_ordinal": 20, "q_min_best": 0.975791335105896, "q_min_mean": 0.9437329769134521, "q_min_std": 0.015262966975569725, "q_min_median": 0.9400313496589661, "chosen_vs_median_q_gap": 0.03575998544692993, "q1_best": 0.975791335105896, "q2_best": 0.9797908067703247, "v_val": 0.8753279447555542, "advantage": 0.1004633903503418, "best_idx": 0, "q_min_all": [0.975791335105896, 0.9385616779327393, 0.9360453486442566, 0.9504215121269226, 0.9332666397094727, 0.9261664748191833, 0.9438733458518982, 0.9636812806129456, 0.922677755355835, 0.9523535370826721, 0.9256972074508667, 0.9318552017211914, 0.9362499117851257, 0.9492121338844299, 0.932162344455719, 0.9321849942207336, 0.9515788555145264, 0.9658921360969543, 0.9383446574211121, 0.9504867196083069, 0.9187756180763245, 0.9181762933731079, 0.9596682786941528, 0.9584393501281738, 0.9358749389648438, 0.9389100670814514, 0.9400313496589661, 0.941010057926178, 0.9710864424705505, 0.9479568600654602, 0.9435151219367981, 0.969508171081543], "q1_all": [0.975791335105896, 0.9385616779327393, 0.9360453486442566, 0.9504215121269226, 0.9481232762336731, 0.9261664748191833, 0.9438733458518982, 0.9636812806129456, 0.922677755355835, 0.9523535370826721, 0.9256972074508667, 0.9318552017211914, 0.9439099431037903, 0.9492121338844299, 0.932162344455719, 0.9329696297645569, 0.9515788555145264, 0.9658921360969543, 0.9383446574211121, 0.9504867196083069, 0.9187756180763245, 0.9181762933731079, 0.9596682786941528, 0.9584393501281738, 0.9358749389648438, 0.9389100670814514, 0.9400313496589661, 0.941010057926178, 0.9710864424705505, 0.9479568600654602, 0.9435151219367981, 0.969508171081543], "q2_all": [0.9797908067703247, 0.9837222099304199, 0.9660176634788513, 0.980679988861084, 0.9332666397094727, 0.9711472988128662, 0.9665209054946899, 1.0019806623458862, 0.9304239749908447, 0.9825454950332642, 0.93938809633255, 0.9848939776420593, 0.9362499117851257, 0.9497386813163757, 0.95383620262146, 0.9321849942207336, 0.9532901048660278, 1.0101799964904785, 0.9567143321037292, 0.9742573499679565, 0.9331964254379272, 0.9681925773620605, 0.9845171570777893, 0.975414514541626, 0.937156081199646, 0.9534474611282349, 0.9624974727630615, 0.9713158011436462, 0.9765597581863403, 0.9729632139205933, 0.9772893190383911, 1.027483582496643], "cand_trans_speed_all": [0.002522255526855588, 0.002545078517869115, 0.002525560325011611, 0.003562153084203601, 0.0023222966119647026, 0.0024412390775978565, 0.0031586072873324156, 0.003293487010523677, 0.0024433592334389687, 0.0026413321029394865, 0.0027826139703392982, 0.003026428632438183, 0.00252340966835618, 0.0029420051723718643, 0.0026585746090859175, 0.003785036038607359, 0.0037622980307787657, 0.0032303091138601303, 0.0025032730773091316, 0.0027343123219907284, 0.002933256793767214, 0.002601100830361247, 0.003460422856733203, 0.0026749009266495705, 0.0027114488184452057, 0.0024979859590530396, 0.0035406171809881926, 0.0029819393530488014, 0.0033543012104928493, 0.003189142793416977, 0.002726145787164569, 0.0030428944155573845], "cand_cum_xyz_disp_all": [[-0.0060853511095047, -0.001579180359840393, 0.011441580951213837], [-0.009457126259803772, 0.003262147307395935, 0.008902482688426971], [-0.008065328001976013, 0.002251043915748596, 0.011128656566143036], [-0.010649338364601135, 0.0017748624086380005, 0.01600184291601181], [-0.004541367292404175, 0.0002584606409072876, 0.009050391614437103], [-0.0054426491260528564, -0.0016149133443832397, 0.008089609444141388], [-0.009753957390785217, -0.0024677664041519165, 0.01106368750333786], [-0.007278189063072205, -0.0006446689367294312, 0.009417630732059479], [-0.005412548780441284, 0.005168363451957703, 0.00703052431344986], [-0.005433440208435059, -0.0016946643590927124, 0.011026345193386078], [-0.009722843766212463, -6.693601608276367e-05, 0.009748362004756927], [-0.008153066039085388, -0.0032790005207061768, 0.009480275213718414], [-0.005170300602912903, -0.0015997886657714844, 0.008351065218448639], [-0.004727482795715332, 0.0006275326013565063, 0.011858560144901276], [-0.004938110709190369, -0.0012545883655548096, 0.009899221360683441], [-0.011125952005386353, -0.0023158639669418335, 0.010978005826473236], [-0.008485153317451477, -0.0003545433282852173, 0.013199888169765472], [-0.009290695190429688, 0.0012429803609848022, 0.013267643749713898], [-0.007854476571083069, 0.0007065087556838989, 0.009156964719295502], [-0.008023485541343689, 0.0014434456825256348, 0.00914747267961502], [-0.009700089693069458, -0.004508525133132935, 0.010494984686374664], [-0.010785579681396484, -0.00020632147789001465, 0.007592432200908661], [-0.010990887880325317, 0.0008880794048309326, 0.012292586266994476], [-0.0009748190641403198, 0.00029775500297546387, 0.009468339383602142], [-0.004266515374183655, -0.0017737895250320435, 0.007896937429904938], [-0.006789937615394592, -0.0039559006690979, 0.00982300192117691], [-0.01045556366443634, -0.0010008811950683594, 0.010635115206241608], [-0.009952396154403687, 0.00034664571285247803, 0.009999372065067291], [-0.007599323987960815, -0.0012270361185073853, 0.011725135147571564], [-0.005805313587188721, -0.0014915913343429565, 0.0080496147274971], [-0.004324272274971008, -0.0029701292514801025, 0.008362703025341034], [-0.00997936725616455, -9.417533874511719e-06, 0.012530975043773651]], "cand_final_gripper_all": [1.0, 0.9987244606018066, 0.99968022108078, 1.0, 0.9999667406082153, 0.9998830556869507, 0.9999812245368958, 1.0, 0.999977171421051, 0.998916745185852, 0.9993993639945984, 0.9999103546142578, 0.9992188215255737, 0.9986089468002319, 0.9995908737182617, 1.0, 1.0, 1.0, 1.0, 0.9992861747741699, 0.999930739402771, 1.0, 0.9990506172180176, 0.9982725381851196, 1.0, 0.9999576807022095, 1.0, 1.0, 0.9998992681503296, 1.0, 1.0, 1.0], "eef_pos": [0.6522414088249207, 0.12930259108543396, 0.22678346931934357], "cand_action_std": 0.07368860393762589, "cand_pairwise_centroid_dist_mean": 0.7294905185699463, "argmax_act_outlier": 0.6605634093284607, "time_encode_ms": 5.595216061919928, "time_diffusion_ms": 36.142933182418346, "time_q_score_ms": 7.222162093967199, "time_total_ms": 49.74899394437671, "num_action_samples_effective": 32, "q_aggregate": "pair_min"} +{"chunk_ordinal": 21, "q_min_best": 1.0495409965515137, "q_min_mean": 1.020890235900879, "q_min_std": 0.016547204926609993, "q_min_median": 1.0207364559173584, "chosen_vs_median_q_gap": 0.028804540634155273, "q1_best": 1.0495409965515137, "q2_best": 1.0558865070343018, "v_val": 0.9122607707977295, "advantage": 0.13728022575378418, "best_idx": 16, "q_min_all": [1.0236153602600098, 1.017020344734192, 1.0474191904067993, 1.024582862854004, 0.9919519424438477, 1.005291223526001, 1.036414384841919, 1.0117396116256714, 0.9912483096122742, 1.0238010883331299, 1.0184850692749023, 1.04167902469635, 1.026572823524475, 1.0311243534088135, 1.006149411201477, 1.027327299118042, 1.0495409965515137, 1.0318999290466309, 1.0287706851959229, 1.0273653268814087, 1.0187098979949951, 1.0361531972885132, 1.015749454498291, 0.9948498010635376, 1.0117535591125488, 1.0419574975967407, 0.9878162145614624, 1.0442060232162476, 1.0207364559173584, 1.0147351026535034, 1.0001697540283203, 1.019649863243103], "q1_all": [1.0236153602600098, 1.037065029144287, 1.0474191904067993, 1.024582862854004, 0.9989223480224609, 1.0217719078063965, 1.0412529706954956, 1.0355467796325684, 0.9912483096122742, 1.0238010883331299, 1.0184850692749023, 1.04167902469635, 1.040468454360962, 1.0519288778305054, 1.0239536762237549, 1.027327299118042, 1.0495409965515137, 1.034844994544983, 1.0287706851959229, 1.0273653268814087, 1.0187098979949951, 1.0361531972885132, 1.031129240989685, 0.9976118803024292, 1.0312223434448242, 1.0419574975967407, 1.0067081451416016, 1.0467420816421509, 1.0370970964431763, 1.0147351026535034, 1.0410794019699097, 1.019649863243103], "q2_all": [1.0239014625549316, 1.017020344734192, 1.0699617862701416, 1.024658203125, 0.9919519424438477, 1.005291223526001, 1.036414384841919, 1.0117396116256714, 1.045008659362793, 1.0720620155334473, 1.0310266017913818, 1.085286021232605, 1.026572823524475, 1.0311243534088135, 1.006149411201477, 1.0343360900878906, 1.0558865070343018, 1.0318999290466309, 1.0627069473266602, 1.0440648794174194, 1.0511457920074463, 1.0406187772750854, 1.015749454498291, 0.9948498010635376, 1.0117535591125488, 1.0456465482711792, 0.9878162145614624, 1.0442060232162476, 1.0207364559173584, 1.0536874532699585, 1.0001697540283203, 1.0197265148162842], "cand_trans_speed_all": [0.0026355753652751446, 0.002393827773630619, 0.003000701544806361, 0.00413517514243722, 0.0025615617632865906, 0.0034422040916979313, 0.003134689060971141, 0.0020251241512596607, 0.004083104897290468, 0.0034266519360244274, 0.0026099667884409428, 0.0032163350842893124, 0.0025805458426475525, 0.003149633063003421, 0.002429851097986102, 0.002754918998107314, 0.002268322743475437, 0.0036784212570637465, 0.0035345619544386864, 0.0037872602697461843, 0.0031033277045935392, 0.00446065329015255, 0.002816053107380867, 0.004069929011166096, 0.0025923193898051977, 0.00302623282186687, 0.0026316873263567686, 0.003078251611441374, 0.0024292543530464172, 0.004332179203629494, 0.002788422629237175, 0.0029439241625368595], "cand_cum_xyz_disp_all": [[0.00010640919208526611, -0.003824278712272644, 0.004271738231182098], [-0.002406582236289978, -0.006282925605773926, 0.003285922110080719], [0.0003501623868942261, -0.002902805805206299, 0.003926105797290802], [-0.003276318311691284, -0.003252655267715454, 0.002971827983856201], [-0.004001259803771973, -0.0017503947019577026, 0.004683412611484528], [-0.003215968608856201, -0.007066637277603149, 0.004734925925731659], [-0.00029727816581726074, -0.0037358850240707397, 0.003363199532032013], [0.0022763460874557495, -0.004275336861610413, 0.003875225782394409], [0.0010790526866912842, -0.001646772027015686, 0.003614082932472229], [-0.000788763165473938, -0.003996297717094421, 0.004223808646202087], [0.0015496611595153809, -0.00133495032787323, 0.0035912692546844482], [-0.000194549560546875, -0.0019966065883636475, 0.0032284781336784363], [-0.0013863146305084229, -0.005773693323135376, 0.0034609436988830566], [-0.0016801059246063232, -0.0035053789615631104, 0.003949396312236786], [-0.004616826772689819, -0.0044422447681427, 0.0061953067779541016], [-0.004870221018791199, -0.005172818899154663, 0.007661499083042145], [0.0015923082828521729, -0.0009589791297912598, 0.0053635090589523315], [-0.0005807280540466309, -0.005568116903305054, 0.003422759473323822], [-0.005247488617897034, -0.002451851963996887, 0.008660860359668732], [-0.003273576498031616, -0.002423003315925598, 0.004751726984977722], [-0.0009987056255340576, -0.002555370330810547, 0.003514997661113739], [0.0011572390794754028, -0.0012643486261367798, 0.0035394281148910522], [-0.00317363440990448, -0.0022442489862442017, 0.00673193484544754], [0.0044067054986953735, -0.004904896020889282, 0.005251385271549225], [-0.004247561097145081, -0.0034494102001190186, 0.007273398339748383], [-0.004820570349693298, -0.004002124071121216, 0.006262153387069702], [-0.0019331425428390503, -0.006639465689659119, 0.008256770670413971], [0.0008763968944549561, -0.0053032636642456055, 0.00588582456111908], [0.000489845871925354, -0.008262008428573608, 0.003330811858177185], [-0.001543879508972168, -0.0025049149990081787, 0.0038709640502929688], [-0.0033080726861953735, -0.006895169615745544, 0.004737056791782379], [-0.004028603434562683, -0.004583284258842468, 0.006497904658317566]], "cand_final_gripper_all": [0.9599697589874268, 1.0, 0.8020246028900146, 0.8796932697296143, 1.0, 1.0, 0.937535285949707, 1.0, 0.6654989719390869, 0.6837279796600342, 0.6376652121543884, 0.6905781626701355, 0.988510251045227, 1.0, 0.999853253364563, 0.9993911981582642, 0.9996154308319092, 0.9607473611831665, 0.9238079786300659, 0.8730266690254211, 0.6695715188980103, 0.7888931035995483, 0.9999838471412659, 0.9968969821929932, 0.9967363476753235, 1.0, 1.0, 0.9143704175949097, 1.0, 0.670207142829895, 0.9999244213104248, 1.0], "eef_pos": [0.6547139883041382, 0.12896284461021423, 0.22392596304416656], "cand_action_std": 0.12680809199810028, "cand_pairwise_centroid_dist_mean": 1.0981043577194214, "argmax_act_outlier": 0.9082216024398804, "time_encode_ms": 4.815378924831748, "time_diffusion_ms": 36.18580219335854, "time_q_score_ms": 8.178916992619634, "time_total_ms": 50.08499696850777, "num_action_samples_effective": 32, "q_aggregate": "pair_min"} +{"chunk_ordinal": 22, "q_min_best": 1.0955846309661865, "q_min_mean": 1.0625033378601074, "q_min_std": 0.018506618216633797, "q_min_median": 1.0569430589675903, "chosen_vs_median_q_gap": 0.03864157199859619, "q1_best": 1.0955846309661865, "q2_best": 1.1085056066513062, "v_val": 1.1515953540802002, "advantage": -0.05601072311401367, "best_idx": 8, "q_min_all": [1.08561372756958, 1.0569430589675903, 1.0349395275115967, 1.0944479703903198, 1.04975426197052, 1.0702729225158691, 1.0422368049621582, 1.0442503690719604, 1.0955846309661865, 1.0470858812332153, 1.0483100414276123, 1.0449002981185913, 1.0317631959915161, 1.0638567209243774, 1.0629277229309082, 1.037649154663086, 1.067049264907837, 1.0517710447311401, 1.083083152770996, 1.0682804584503174, 1.0541666746139526, 1.0821053981781006, 1.0656088590621948, 1.0547382831573486, 1.056234359741211, 1.090117335319519, 1.089573621749878, 1.0868279933929443, 1.0453410148620605, 1.0788506269454956, 1.0528866052627563, 1.0629359483718872], "q1_all": [1.08561372756958, 1.0569430589675903, 1.0349395275115967, 1.0944479703903198, 1.04975426197052, 1.0702729225158691, 1.0422368049621582, 1.0442503690719604, 1.0955846309661865, 1.0470858812332153, 1.0483100414276123, 1.0449002981185913, 1.0317631959915161, 1.0638567209243774, 1.0629277229309082, 1.037649154663086, 1.067049264907837, 1.0517710447311401, 1.083083152770996, 1.0682804584503174, 1.0541666746139526, 1.0821053981781006, 1.0656088590621948, 1.0547382831573486, 1.056234359741211, 1.090117335319519, 1.089573621749878, 1.0868279933929443, 1.0453410148620605, 1.0788506269454956, 1.0528866052627563, 1.0629359483718872], "q2_all": [1.1134241819381714, 1.082619547843933, 1.1001341342926025, 1.10326087474823, 1.070474624633789, 1.101710319519043, 1.0908986330032349, 1.097531795501709, 1.1085056066513062, 1.0858243703842163, 1.091740608215332, 1.0971972942352295, 1.1077723503112793, 1.0751725435256958, 1.099315881729126, 1.0686960220336914, 1.0938507318496704, 1.0728381872177124, 1.097855806350708, 1.100043773651123, 1.0777560472488403, 1.1051933765411377, 1.0868844985961914, 1.1157879829406738, 1.0815577507019043, 1.091695785522461, 1.0937244892120361, 1.1021604537963867, 1.0872795581817627, 1.080931544303894, 1.151457667350769, 1.1031904220581055], "cand_trans_speed_all": [0.0053643351420760155, 0.003021018113940954, 0.0027715328615158796, 0.004807522054761648, 0.002586907707154751, 0.0034331686329096556, 0.004979623481631279, 0.0032792030833661556, 0.003904718440026045, 0.0025633168406784534, 0.0037708175368607044, 0.00282954890280962, 0.0033378549851477146, 0.0028015202842652798, 0.003255857853218913, 0.004212931729853153, 0.003262733109295368, 0.003829368157312274, 0.003701410023495555, 0.002636481774970889, 0.0034546623937785625, 0.004845498129725456, 0.003613364649936557, 0.003484979970380664, 0.0033016810193657875, 0.003806757740676403, 0.002319683087989688, 0.002951237140223384, 0.002239444525912404, 0.003390353638678789, 0.0025478885509073734, 0.0030451517086476088], "cand_cum_xyz_disp_all": [[-0.0014877468347549438, -0.0021719932556152344, 0.0055745989084243774], [-0.005755677819252014, -0.0037696659564971924, 0.004451878368854523], [-0.001050323247909546, -0.001990392804145813, 0.0029262378811836243], [-0.004283830523490906, -0.0042020827531814575, 0.005947194993495941], [-0.002572372555732727, -0.002434864640235901, 0.0036487728357315063], [-0.004252985119819641, -0.0037783384323120117, 0.012483902275562286], [-0.0030006766319274902, -0.0022775381803512573, 0.003560766577720642], [-0.0011486709117889404, -0.002089962363243103, 0.002582833170890808], [-0.002995625138282776, -0.003333672881126404, 0.005141839385032654], [-0.010542497038841248, -0.005526050925254822, 0.006308645009994507], [-0.001743227243423462, -0.0027737170457839966, 0.0032470375299453735], [-0.002075508236885071, -0.0028630048036575317, 0.0031377747654914856], [-0.002097606658935547, -0.0017848163843154907, 0.0034085437655448914], [-0.005608037114143372, -0.0047799646854400635, 0.004479944705963135], [-0.0011418014764785767, -0.003933504223823547, 0.004460714757442474], [-0.003991514444351196, -0.0031698793172836304, 0.0037673935294151306], [-0.0014459341764450073, -0.0029685646295547485, 0.00425584614276886], [-0.0015778690576553345, -0.0027613788843154907, 0.0027886107563972473], [-0.009966596961021423, -0.0038678646087646484, 0.010101787745952606], [-0.004328712821006775, -0.007107853889465332, 0.007329292595386505], [-0.003583863377571106, -0.0030056387186050415, 0.003950238227844238], [-0.0043679773807525635, -0.004654213786125183, 0.00907597690820694], [-0.0027962177991867065, -0.002989649772644043, 0.003767058253288269], [-0.0011425316333770752, -0.0010593235492706299, 0.002797149121761322], [-0.00235593318939209, -0.0025216639041900635, 0.003220759332180023], [-0.007712244987487793, -0.0056095123291015625, 0.007159195840358734], [-0.006378576159477234, -0.007568433880805969, 0.0068109408020973206], [-0.008197963237762451, -0.004507333040237427, 0.008603565394878387], [-0.002171352505683899, -0.002161949872970581, 0.003005795180797577], [-0.00406937301158905, -0.005856722593307495, 0.003642536699771881], [-0.0007656961679458618, -0.0030747950077056885, 0.0037965402007102966], [-0.0013049393892288208, -0.0007731318473815918, 0.0042868927121162415]], "cand_final_gripper_all": [0.6544209718704224, 0.663792610168457, 0.6269489526748657, 0.9967039823532104, 0.6584356427192688, 1.0, 0.67401522397995, 0.6306650638580322, 0.6635737419128418, 1.0, 0.6640584468841553, 0.6691190004348755, 0.6460758447647095, 0.6593819856643677, 0.6468110680580139, 0.6620765924453735, 0.654228925704956, 0.6760545969009399, 1.0, 0.9581121206283569, 0.6686644554138184, 0.939888596534729, 0.6642372608184814, 0.6281095743179321, 0.6627680063247681, 1.0, 0.9655368328094482, 1.0, 0.6345771551132202, 0.7716068625450134, 0.5962609052658081, 0.6639955639839172], "eef_pos": [0.6566538214683533, 0.12479992210865021, 0.2235916554927826], "cand_action_std": 0.12816619873046875, "cand_pairwise_centroid_dist_mean": 1.2343885898590088, "argmax_act_outlier": 0.9496942758560181, "time_encode_ms": 5.53062604740262, "time_diffusion_ms": 36.577890161424875, "time_q_score_ms": 7.877968950197101, "time_total_ms": 50.92525505460799, "num_action_samples_effective": 32, "q_aggregate": "pair_min"} +{"chunk_ordinal": 23, "q_min_best": 1.0896018743515015, "q_min_mean": 1.0563994646072388, "q_min_std": 0.014081490226089954, "q_min_median": 1.0530610084533691, "chosen_vs_median_q_gap": 0.036540865898132324, "q1_best": 1.0896018743515015, "q2_best": 1.1338939666748047, "v_val": 1.160387635231018, "advantage": -0.0707857608795166, "best_idx": 11, "q_min_all": [1.0586166381835938, 1.0459399223327637, 1.0530610084533691, 1.0655457973480225, 1.0843299627304077, 1.0568889379501343, 1.0480256080627441, 1.0605556964874268, 1.0391672849655151, 1.0508856773376465, 1.033387541770935, 1.0896018743515015, 1.0611108541488647, 1.0526096820831299, 1.0610275268554688, 1.051405668258667, 1.0361442565917969, 1.0623135566711426, 1.0436420440673828, 1.067710280418396, 1.044695258140564, 1.079409122467041, 1.0382225513458252, 1.065229892730713, 1.0692209005355835, 1.0559639930725098, 1.0513626337051392, 1.0442075729370117, 1.0457911491394043, 1.0680420398712158, 1.077646017074585, 1.043020248413086], "q1_all": [1.0586166381835938, 1.0459399223327637, 1.0530610084533691, 1.0655457973480225, 1.0843299627304077, 1.0734925270080566, 1.0480256080627441, 1.0605556964874268, 1.0391672849655151, 1.0508856773376465, 1.033387541770935, 1.0896018743515015, 1.0897046327590942, 1.0526096820831299, 1.0610275268554688, 1.051405668258667, 1.0361442565917969, 1.086256980895996, 1.0436420440673828, 1.0789233446121216, 1.044695258140564, 1.079409122467041, 1.0382225513458252, 1.0872853994369507, 1.0790421962738037, 1.0559639930725098, 1.0513626337051392, 1.0442075729370117, 1.0457911491394043, 1.0680420398712158, 1.077646017074585, 1.043020248413086], "q2_all": [1.1326563358306885, 1.1070129871368408, 1.0888450145721436, 1.0900808572769165, 1.1346626281738281, 1.0568889379501343, 1.0803970098495483, 1.1179988384246826, 1.0832611322402954, 1.0885002613067627, 1.0962309837341309, 1.1338939666748047, 1.0611108541488647, 1.087315559387207, 1.1116598844528198, 1.122473120689392, 1.1151655912399292, 1.0623135566711426, 1.0874066352844238, 1.067710280418396, 1.1001296043395996, 1.1146891117095947, 1.0952200889587402, 1.065229892730713, 1.0692209005355835, 1.1108644008636475, 1.107710361480713, 1.1151597499847412, 1.0858545303344727, 1.091062068939209, 1.0867979526519775, 1.0998966693878174], "cand_trans_speed_all": [0.0036506380420178175, 0.003601429983973503, 0.0028146072290837765, 0.0020225620828568935, 0.0030248675029724836, 0.002808893797919154, 0.00376712903380394, 0.003358060261234641, 0.003969950135797262, 0.003327146638184786, 0.0030213017016649246, 0.004455143120139837, 0.0029719467274844646, 0.002699925098568201, 0.003207715228199959, 0.004792641848325729, 0.004684744402766228, 0.0030746362172067165, 0.0034492127597332, 0.0026596668176352978, 0.002296412829309702, 0.003125524614006281, 0.0031855604611337185, 0.0031949521508067846, 0.0032908187713474035, 0.003682004287838936, 0.002832129132002592, 0.003062669886276126, 0.0035750484094023705, 0.003390617435798049, 0.0034276319202035666, 0.0033832069020718336], "cand_cum_xyz_disp_all": [[-0.0027478039264678955, -0.0007716715335845947, 0.004134945571422577], [-0.00261746346950531, -0.0007963329553604126, 0.0035160109400749207], [-0.003641292452812195, -0.0011421442031860352, 0.003091387450695038], [-0.0024554282426834106, -0.0009299665689468384, 0.004054270684719086], [-0.0027786195278167725, -0.000509604811668396, 0.00364694744348526], [-0.0014099031686782837, -0.001841619610786438, 0.0033575594425201416], [-0.00920817255973816, -0.0037002861499786377, 0.0064067542552948], [-0.003970280289649963, -0.000807151198387146, 0.004728376865386963], [-0.0026942044496536255, -3.351271152496338e-05, 0.0031364262104034424], [-0.0035118162631988525, -0.0023819059133529663, 0.0018504485487937927], [-0.003136545419692993, -0.0009283572435379028, 0.003102824091911316], [-0.0031069815158843994, -0.001968696713447571, 0.003938369452953339], [-0.002205297350883484, -0.0004382282495498657, 0.0028379932045936584], [-0.0026263445615768433, -0.0009467750787734985, 0.002933494746685028], [-0.0031751543283462524, -0.00016540288925170898, 0.0036735162138938904], [-0.002853021025657654, -0.0005625635385513306, 0.0032279565930366516], [-0.008654952049255371, -0.001485377550125122, 0.0031552091240882874], [-0.0018586218357086182, -0.0009780824184417725, 0.002717219293117523], [-0.011876806616783142, -0.0019156932830810547, 0.004706256091594696], [-0.002049565315246582, -0.000547453761100769, 0.002232067286968231], [-0.0034229308366775513, -0.0010325312614440918, 0.0031621158123016357], [-0.0029224902391433716, -0.0023091286420822144, 0.00409872829914093], [-0.0032521188259124756, -0.0011085271835327148, 0.0024031102657318115], [-0.0014267563819885254, -0.0017268359661102295, 0.003257744014263153], [-0.001630052924156189, -0.0012140721082687378, 0.0033977627754211426], [-0.004072606563568115, -0.0001179724931716919, 0.0035074278712272644], [-0.0023267269134521484, -0.0008842498064041138, 0.002916112542152405], [-0.0018288642168045044, -0.0006553232669830322, 0.0032783374190330505], [-0.006114542484283447, -0.0007387995719909668, 0.0058344826102256775], [-0.0033626407384872437, -0.0006011724472045898, 0.002752147614955902], [-0.002237260341644287, -0.00037297606468200684, 0.0027724355459213257], [-0.002370864152908325, -0.0010320991277694702, 0.0035317689180374146]], "cand_final_gripper_all": [0.6589431166648865, 0.6741083264350891, 0.6469894051551819, 0.6560499668121338, 0.6590265035629272, 0.6440697312355042, 0.9893800020217896, 0.7249054312705994, 0.6557154059410095, 0.6660807728767395, 0.6565486192703247, 0.694083571434021, 0.6339010000228882, 0.6459618806838989, 0.685009241104126, 0.639548659324646, 0.831873893737793, 0.791946530342102, 0.9961690902709961, 0.6298120617866516, 0.6607404351234436, 0.6571687459945679, 0.6618972420692444, 0.6079210638999939, 0.6141341924667358, 0.6593005061149597, 0.6652753949165344, 0.6670454740524292, 1.0, 0.6376125812530518, 0.6352107524871826, 0.6594088673591614], "eef_pos": [0.6582985520362854, 0.11886240541934967, 0.22334884107112885], "cand_action_std": 0.09060173481702805, "cand_pairwise_centroid_dist_mean": 0.9376347064971924, "argmax_act_outlier": 1.1772277355194092, "time_encode_ms": 6.968763191252947, "time_diffusion_ms": 36.108929896727204, "time_q_score_ms": 7.9212188720703125, "time_total_ms": 52.146399859339, "num_action_samples_effective": 32, "q_aggregate": "pair_min"} +{"chunk_ordinal": 24, "q_min_best": 1.1151177883148193, "q_min_mean": 1.0599253177642822, "q_min_std": 0.027367668226361275, "q_min_median": 1.0602521896362305, "chosen_vs_median_q_gap": 0.05486559867858887, "q1_best": 1.1151177883148193, "q2_best": 1.120145559310913, "v_val": 1.234359622001648, "advantage": -0.11924183368682861, "best_idx": 26, "q_min_all": [1.0980908870697021, 1.0913918018341064, 1.0885274410247803, 1.0297832489013672, 1.0602521896362305, 1.065262794494629, 1.0800344944000244, 1.0873314142227173, 1.043159008026123, 1.0996545553207397, 1.0950841903686523, 1.0608266592025757, 1.0627570152282715, 1.0651099681854248, 1.0791373252868652, 1.1003246307373047, 1.0399177074432373, 1.069267988204956, 1.0306357145309448, 1.038695216178894, 1.0259310007095337, 1.0510435104370117, 1.0433768033981323, 1.0212862491607666, 1.0349165201187134, 1.0699748992919922, 1.1151177883148193, 1.0223448276519775, 1.0232303142547607, 1.0571284294128418, 1.029090166091919, 1.0389251708984375], "q1_all": [1.0980908870697021, 1.0913918018341064, 1.0885274410247803, 1.0297832489013672, 1.0602521896362305, 1.065262794494629, 1.0800344944000244, 1.0873314142227173, 1.043159008026123, 1.0996545553207397, 1.0950841903686523, 1.0608266592025757, 1.0627570152282715, 1.0651099681854248, 1.0791373252868652, 1.1003246307373047, 1.0399177074432373, 1.069267988204956, 1.0306357145309448, 1.038695216178894, 1.0259310007095337, 1.0510435104370117, 1.0433768033981323, 1.0212862491607666, 1.0349165201187134, 1.0699748992919922, 1.1151177883148193, 1.0223448276519775, 1.0232303142547607, 1.0571284294128418, 1.029090166091919, 1.0389251708984375], "q2_all": [1.1162595748901367, 1.14699387550354, 1.0891920328140259, 1.1460458040237427, 1.149845838546753, 1.1387970447540283, 1.098414421081543, 1.1161315441131592, 1.1686649322509766, 1.1723177433013916, 1.1392099857330322, 1.110032558441162, 1.0880298614501953, 1.1561479568481445, 1.1466994285583496, 1.1878948211669922, 1.1284815073013306, 1.1638851165771484, 1.1285663843154907, 1.157951831817627, 1.150725245475769, 1.153620719909668, 1.124672770500183, 1.1420269012451172, 1.1635795831680298, 1.1784355640411377, 1.120145559310913, 1.1223770380020142, 1.1454288959503174, 1.1955437660217285, 1.152496337890625, 1.1706128120422363], "cand_trans_speed_all": [0.003875880502164364, 0.005271436180919409, 0.004074465483427048, 0.004641757812350988, 0.004711265210062265, 0.004647438880056143, 0.004035101737827063, 0.00409625843167305, 0.0051097567193210125, 0.003466174704954028, 0.0043513355776667595, 0.0036002914421260357, 0.0035285092890262604, 0.004610813222825527, 0.004702746868133545, 0.0053963428363204, 0.004077809862792492, 0.004602061118930578, 0.004822982475161552, 0.004958433099091053, 0.006050240248441696, 0.00501631386578083, 0.004321296699345112, 0.004454391542822123, 0.004576905630528927, 0.004881120752543211, 0.005696586333215237, 0.0035209800116717815, 0.005155809223651886, 0.005282494705170393, 0.0052565475925803185, 0.006435553543269634], "cand_cum_xyz_disp_all": [[-0.02101123332977295, -0.0039036571979522705, 0.0007852017879486084], [-0.02227005362510681, -0.002747267484664917, -0.00016826391220092773], [-0.023164570331573486, -0.0019033849239349365, -0.0013336166739463806], [-0.012042418122291565, -0.0024366825819015503, 0.0003713071346282959], [-0.010898172855377197, -0.002026662230491638, 0.0005801916122436523], [-0.014917254447937012, -0.002113029360771179, -0.0006637200713157654], [-0.019795864820480347, -0.0031604915857315063, 2.440810203552246e-05], [-0.018533900380134583, -0.0022750049829483032, 0.00021649152040481567], [-0.013380765914916992, -0.003482133150100708, -0.0004261434078216553], [-0.008383557200431824, -0.002390742301940918, -0.0003495067358016968], [-0.022254541516304016, -0.0032357126474380493, -3.170967102050781e-05], [-0.007517725229263306, -0.0017281770706176758, -0.0004547014832496643], [-0.016052156686782837, -0.0016963928937911987, -0.0012442544102668762], [-0.014604702591896057, -0.002526804804801941, 0.00022748857736587524], [-0.01917123794555664, -0.002639174461364746, -0.000515863299369812], [-0.014416366815567017, -0.0020914226770401, -0.0009043440222740173], [-0.01269809901714325, -0.0019812434911727905, -0.00043738633394241333], [-0.011430427432060242, -0.0030627548694610596, -0.0013610422611236572], [-0.009986206889152527, -0.0016776472330093384, -0.0014593079686164856], [-0.010134115815162659, -0.0017271339893341064, 0.0002852603793144226], [-0.009114593267440796, -0.001831844449043274, -0.0006796941161155701], [-0.011005714535713196, -0.001993820071220398, 0.0001515597105026245], [-0.009429886937141418, -0.003804624080657959, -0.0002939775586128235], [-0.009586021304130554, -0.0019651949405670166, -0.0009044334292411804], [-0.01226736605167389, -0.0017513185739517212, -0.0001243501901626587], [-0.009320437908172607, -0.0016473829746246338, -2.3894011974334717e-05], [-0.025384172797203064, -0.008120805025100708, -0.0023629963397979736], [-0.01071542501449585, -0.0013055354356765747, -4.349648952484131e-05], [-0.007679864764213562, -0.0017138570547103882, -0.00024410337209701538], [-0.009684950113296509, -0.0014424920082092285, -0.0008557364344596863], [-0.008439481258392334, -0.0026079416275024414, -0.0005042478442192078], [-0.00930030643939972, -0.0033387690782546997, -0.0004841908812522888]], "cand_final_gripper_all": [0.9989138841629028, 1.0, 0.9988729953765869, 0.7026467323303223, 0.695970356464386, 0.9814802408218384, 1.0, 1.0, 0.6937332153320312, 0.6284964680671692, 1.0, 0.6258912086486816, 1.0, 0.8719307780265808, 1.0, 1.0, 0.668828010559082, 0.7756189107894897, 0.6462258696556091, 0.6564422845840454, 0.6631876230239868, 0.671525776386261, 0.6637645959854126, 0.6738656759262085, 0.6928853988647461, 0.6246009469032288, 0.9971324801445007, 0.6819262504577637, 0.6481896042823792, 0.6532896757125854, 0.6673836708068848, 0.652634859085083], "eef_pos": [0.6596418023109436, 0.11685087531805038, 0.21644985675811768], "cand_action_std": 0.11451573669910431, "cand_pairwise_centroid_dist_mean": 1.1632275581359863, "argmax_act_outlier": 2.070110559463501, "time_encode_ms": 6.250750971958041, "time_diffusion_ms": 36.119760014116764, "time_q_score_ms": 7.602977799251676, "time_total_ms": 50.732266856357455, "num_action_samples_effective": 32, "q_aggregate": "pair_min"} +{"chunk_ordinal": 25, "q_min_best": 1.1519402265548706, "q_min_mean": 1.131759524345398, "q_min_std": 0.012283037416636944, "q_min_median": 1.1292340755462646, "chosen_vs_median_q_gap": 0.022706151008605957, "q1_best": 1.1519402265548706, "q2_best": 1.1638941764831543, "v_val": 1.2181644439697266, "advantage": -0.06622421741485596, "best_idx": 9, "q_min_all": [1.1292340755462646, 1.1258957386016846, 1.131537914276123, 1.1514919996261597, 1.133568286895752, 1.1286506652832031, 1.1280105113983154, 1.1294666528701782, 1.149703860282898, 1.1519402265548706, 1.113264560699463, 1.1441419124603271, 1.1153169870376587, 1.144336223602295, 1.128815770149231, 1.1425986289978027, 1.1432058811187744, 1.1429986953735352, 1.127774953842163, 1.1085484027862549, 1.1407362222671509, 1.13949453830719, 1.1438833475112915, 1.1252137422561646, 1.1290602684020996, 1.1227467060089111, 1.131184697151184, 1.1043999195098877, 1.1195592880249023, 1.1437164545059204, 1.1210315227508545, 1.1247752904891968], "q1_all": [1.1292340755462646, 1.1258957386016846, 1.131537914276123, 1.1514919996261597, 1.133568286895752, 1.139681339263916, 1.1280105113983154, 1.1294666528701782, 1.149703860282898, 1.1519402265548706, 1.113264560699463, 1.1441419124603271, 1.1153169870376587, 1.144336223602295, 1.128815770149231, 1.1425986289978027, 1.1432058811187744, 1.1429986953735352, 1.127774953842163, 1.1085484027862549, 1.1407362222671509, 1.13949453830719, 1.1438833475112915, 1.1252137422561646, 1.1290602684020996, 1.1227467060089111, 1.131184697151184, 1.1043999195098877, 1.1195592880249023, 1.1437164545059204, 1.1210315227508545, 1.1247752904891968], "q2_all": [1.1433918476104736, 1.1811015605926514, 1.1594302654266357, 1.1812894344329834, 1.1809945106506348, 1.1286506652832031, 1.1428258419036865, 1.1601864099502563, 1.1612586975097656, 1.1638941764831543, 1.128682017326355, 1.1483052968978882, 1.1484298706054688, 1.1733365058898926, 1.1685059070587158, 1.153910756111145, 1.147124171257019, 1.1542394161224365, 1.1491814851760864, 1.1705312728881836, 1.1968073844909668, 1.1965019702911377, 1.1476824283599854, 1.154932975769043, 1.156531810760498, 1.1593576669692993, 1.1547878980636597, 1.1343258619308472, 1.142538070678711, 1.186584711074829, 1.1827608346939087, 1.1546831130981445], "cand_trans_speed_all": [0.0027312161400914192, 0.005194717086851597, 0.004040323197841644, 0.0037825405597686768, 0.0052248649299144745, 0.0047590890899300575, 0.0025160592049360275, 0.005939580500125885, 0.0037972633726894855, 0.0042837923392653465, 0.0025908933021128178, 0.0049820877611637115, 0.00551803782582283, 0.00664322916418314, 0.005985982716083527, 0.006521325558423996, 0.004255622625350952, 0.003964661620557308, 0.00547810411080718, 0.0054169087670743465, 0.005127801094204187, 0.004518063738942146, 0.0037987902760505676, 0.005152024794369936, 0.0034757996909320354, 0.005083858501166105, 0.005031880922615528, 0.004233153071254492, 0.0036708652041852474, 0.005769127048552036, 0.005302983336150646, 0.005931857042014599], "cand_cum_xyz_disp_all": [[-0.004776313900947571, -0.002115771174430847, 0.0009722486138343811], [-0.006587788462638855, -0.0025315135717391968, 0.0017424225807189941], [-0.0032394081354141235, -0.001845136284828186, 0.0018414556980133057], [-0.0028587281703948975, -0.0038628578186035156, 0.0012189298868179321], [-0.005058512091636658, -0.004408940672874451, 0.0016941428184509277], [-0.012525230646133423, -0.003534376621246338, 0.0028803497552871704], [-0.00423140823841095, -0.0023028403520584106, 0.002616971731185913], [-0.004021838307380676, -0.0033060014247894287, 0.0006271824240684509], [-0.003681570291519165, -0.0030472874641418457, 0.0013322532176971436], [-0.004551485180854797, -0.0026245862245559692, 0.003209143877029419], [-0.00447496771812439, -0.003443211317062378, 0.0013992637395858765], [-0.013190001249313354, -0.001808449625968933, 0.0009405240416526794], [-0.003961771726608276, -0.0005980432033538818, 0.0022867247462272644], [-0.00537891685962677, -0.002336934208869934, 0.0012016445398330688], [-0.009136483073234558, -0.001391872763633728, 0.0025398433208465576], [-0.003471747040748596, -0.002467438578605652, 0.0010246634483337402], [-0.004191532731056213, -0.0028194934129714966, 0.0010090619325637817], [-0.004123389720916748, -0.004971608519554138, 0.0024200379848480225], [-0.00574098527431488, -0.0045159608125686646, 0.0011379048228263855], [-0.004266709089279175, -0.002034291625022888, 0.0012900382280349731], [-0.008891776204109192, -0.0037283003330230713, -0.0005548745393753052], [-0.009599000215530396, -0.0020411908626556396, 0.002318143844604492], [-0.005089089274406433, -0.002595856785774231, 0.0006687194108963013], [-0.009142771363258362, -0.0009988844394683838, 0.0037028416991233826], [-0.004676759243011475, -0.0020857900381088257, 0.001696176826953888], [-0.006405547261238098, -0.002753153443336487, 0.0015035942196846008], [-0.004307061433792114, -0.0021094530820846558, 0.0009117200970649719], [-0.0027019083499908447, -0.0010016560554504395, 0.001370258629322052], [-0.003003224730491638, -0.0023091137409210205, 0.0015127882361412048], [-0.004200667142868042, -0.0023821741342544556, 0.0016577094793319702], [-0.004713505506515503, -0.0012443959712982178, 0.0017983466386795044], [-0.0015749186277389526, -0.002379179000854492, 0.00043886899948120117]], "cand_final_gripper_all": [0.6309947967529297, 0.6519705653190613, 0.5799860954284668, 0.6090908050537109, 0.7860486507415771, 0.997124195098877, 0.6681005358695984, 0.6268599033355713, 0.6167665719985962, 0.7489354610443115, 0.6623634099960327, 1.0, 0.6525014638900757, 0.6420978307723999, 0.9978550672531128, 0.6674949526786804, 0.6553248167037964, 0.9762098789215088, 0.6591365933418274, 0.6595766544342041, 0.6906136870384216, 0.7477172613143921, 0.6317073702812195, 0.9926636815071106, 0.6587992906570435, 0.6809307336807251, 0.6484484672546387, 0.6554399132728577, 0.6437761187553406, 0.7051494121551514, 0.6779527068138123, 0.5897457599639893], "eef_pos": [0.6643540859222412, 0.10188616812229156, 0.217815563082695], "cand_action_std": 0.13001246750354767, "cand_pairwise_centroid_dist_mean": 1.3047590255737305, "argmax_act_outlier": 0.7895138263702393, "time_encode_ms": 4.963513929396868, "time_diffusion_ms": 35.987976007163525, "time_q_score_ms": 7.955912966281176, "time_total_ms": 49.76777802221477, "num_action_samples_effective": 32, "q_aggregate": "pair_min"} +{"chunk_ordinal": 26, "q_min_best": 1.1480865478515625, "q_min_mean": 1.123786449432373, "q_min_std": 0.01819128915667534, "q_min_median": 1.1255344152450562, "chosen_vs_median_q_gap": 0.022552132606506348, "q1_best": 1.1480865478515625, "q2_best": 1.1588990688323975, "v_val": 1.2412059307098389, "advantage": -0.09311938285827637, "best_idx": 1, "q_min_all": [1.1002748012542725, 1.1480865478515625, 1.1266412734985352, 1.0905942916870117, 1.093794584274292, 1.1209689378738403, 1.1363410949707031, 1.1393858194351196, 1.1394519805908203, 1.0936131477355957, 1.1197751760482788, 1.1210640668869019, 1.1042178869247437, 1.1321971416473389, 1.1100772619247437, 1.1402390003204346, 1.1467361450195312, 1.1275882720947266, 1.0985727310180664, 1.1352407932281494, 1.1437358856201172, 1.136041283607483, 1.1399530172348022, 1.1456284523010254, 1.1463466882705688, 1.098589539527893, 1.1128371953964233, 1.1195114850997925, 1.1255344152450562, 1.1155478954315186, 1.1083272695541382, 1.144251823425293], "q1_all": [1.1002748012542725, 1.1480865478515625, 1.156572937965393, 1.0905942916870117, 1.093794584274292, 1.1209689378738403, 1.1368365287780762, 1.1393858194351196, 1.1394519805908203, 1.0936131477355957, 1.1197751760482788, 1.1210640668869019, 1.1377358436584473, 1.1321971416473389, 1.1100772619247437, 1.1402390003204346, 1.1467361450195312, 1.1275882720947266, 1.1211985349655151, 1.1352407932281494, 1.1437358856201172, 1.1463181972503662, 1.1399530172348022, 1.1456284523010254, 1.1463466882705688, 1.1295961141586304, 1.1389881372451782, 1.1195114850997925, 1.1255344152450562, 1.1155478954315186, 1.1083272695541382, 1.144251823425293], "q2_all": [1.2692375183105469, 1.1588990688323975, 1.1266412734985352, 1.2634918689727783, 1.2713255882263184, 1.1513386964797974, 1.1363410949707031, 1.1468230485916138, 1.1731821298599243, 1.2670342922210693, 1.1792283058166504, 1.1742844581604004, 1.1042178869247437, 1.1813137531280518, 1.1535272598266602, 1.1540762186050415, 1.160413146018982, 1.1480915546417236, 1.0985727310180664, 1.157858967781067, 1.163514494895935, 1.136041283607483, 1.157930850982666, 1.1554245948791504, 1.156976580619812, 1.098589539527893, 1.1128371953964233, 1.1478114128112793, 1.1631801128387451, 1.165640950202942, 1.1525113582611084, 1.1586666107177734], "cand_trans_speed_all": [0.003338370006531477, 0.00319189066067338, 0.0031151294242590666, 0.0010049947304651141, 0.000670874840579927, 0.0015394006622955203, 0.0028865160420536995, 0.003607260761782527, 0.004679235629737377, 0.0007436731830239296, 0.002430347492918372, 0.0027735799085348845, 0.002185884863138199, 0.0026082508265972137, 0.0017164129531010985, 0.0029829523991793394, 0.0034036338329315186, 0.002689097775146365, 0.0023443447425961494, 0.0015540558379143476, 0.002939800499007106, 0.0029610234778374434, 0.0027556749992072582, 0.002971627516672015, 0.003700351109728217, 0.002791584935039282, 0.0036584155168384314, 0.0017160846618935466, 0.0013290243223309517, 0.0013183953706175089, 0.002198990434408188, 0.0033811405301094055], "cand_cum_xyz_disp_all": [[-0.0012373477220535278, -0.0010724365711212158, 0.00301244854927063], [0.00013044476509094238, -0.0006775110960006714, 0.0015272200107574463], [-0.0003122389316558838, -0.0006812959909439087, 0.0010259300470352173], [0.0016614049673080444, -0.0009069591760635376, 0.002069130539894104], [0.00023639202117919922, -0.00014935433864593506, 6.966292858123779e-05], [-0.0006095916032791138, -0.0016328692436218262, 0.0023937970399856567], [-0.0012034177780151367, 7.744133472442627e-05, 0.00093088299036026], [-0.0022261589765548706, -0.0006248950958251953, 0.0016112476587295532], [-0.000754818320274353, -0.00010992586612701416, 0.001763664186000824], [0.001127481460571289, 2.3752450942993164e-05, 0.002736985683441162], [-0.00026883184909820557, -0.0004640519618988037, 0.0013618320226669312], [0.0005067437887191772, -0.0011075735092163086, 0.002010338008403778], [-0.0016982406377792358, -0.0009129941463470459, 0.0006743520498275757], [-0.0011568069458007812, -0.00020788609981536865, 0.001441769301891327], [0.0005967617034912109, -0.00097636878490448, 0.0011192038655281067], [-0.0004285871982574463, -0.0009425580501556396, 0.0013969391584396362], [-0.00013849139213562012, -0.0008594989776611328, 0.0005306228995323181], [-0.0011476725339889526, 0.0019567161798477173, 0.00014103204011917114], [-0.0017410814762115479, -0.00020803511142730713, 0.000376775860786438], [-0.00012922286987304688, -0.001307457685470581, 0.001437850296497345], [-0.00035563111305236816, -0.0010091811418533325, 0.0015643313527107239], [-0.0001004338264465332, 0.0009474307298660278, 0.0016600564122200012], [-0.0015979558229446411, -1.6137957572937012e-05, 0.0012149810791015625], [-0.0011020302772521973, 0.00044067203998565674, 0.0008547529578208923], [-0.0008873641490936279, -0.000573575496673584, 0.0009149909019470215], [-0.0007391422986984253, -0.0011600255966186523, 0.0012337565422058105], [-0.0012307018041610718, -2.8625130653381348e-05, 0.000372372567653656], [-0.000292360782623291, -0.0006420910358428955, 0.0008945614099502563], [-7.992982864379883e-05, -0.00013810396194458008, 0.0013850629329681396], [0.0007890313863754272, -0.0003131777048110962, 0.002929471433162689], [0.0001642853021621704, 0.0005399882793426514, 0.0021796971559524536], [-0.0010892301797866821, -0.0011108964681625366, 0.001504547894001007]], "cand_final_gripper_all": [0.43116727471351624, 0.5834261775016785, 0.6016690135002136, 0.4600163698196411, 0.4910016655921936, 0.5065749883651733, 0.5729771852493286, 0.5761065483093262, 0.5489313006401062, 0.4340899586677551, 0.4974663257598877, 0.49359554052352905, 0.607254147529602, 0.5241026878356934, 0.4706445336341858, 0.5634180307388306, 0.5613855719566345, 0.5585323572158813, 0.6176914572715759, 0.5508744120597839, 0.5467799305915833, 0.6002368330955505, 0.5506527423858643, 0.5732438564300537, 0.5513806939125061, 0.5887513160705566, 0.6097760796546936, 0.507370114326477, 0.5464807748794556, 0.4952688217163086, 0.4789012372493744, 0.5661409497261047], "eef_pos": [0.6669774055480957, 0.09750697016716003, 0.2159343808889389], "cand_action_std": 0.07879337668418884, "cand_pairwise_centroid_dist_mean": 0.8628435134887695, "argmax_act_outlier": 0.6735888719558716, "time_encode_ms": 5.992653081193566, "time_diffusion_ms": 36.16767888888717, "time_q_score_ms": 8.345786016434431, "time_total_ms": 51.264224108308554, "num_action_samples_effective": 32, "q_aggregate": "pair_min"} +{"chunk_ordinal": 27, "q_min_best": 1.096569299697876, "q_min_mean": 1.0629792213439941, "q_min_std": 0.013624598272144794, "q_min_median": 1.0632739067077637, "chosen_vs_median_q_gap": 0.033295392990112305, "q1_best": 1.096569299697876, "q2_best": 1.1281518936157227, "v_val": 1.0467857122421265, "advantage": 0.04978358745574951, "best_idx": 28, "q_min_all": [1.0231225490570068, 1.0660773515701294, 1.0555747747421265, 1.07053542137146, 1.0668128728866577, 1.0504252910614014, 1.074776530265808, 1.0571640729904175, 1.054733395576477, 1.0651360750198364, 1.0632739067077637, 1.0597505569458008, 1.0447293519973755, 1.060207486152649, 1.0725466012954712, 1.0645899772644043, 1.0598087310791016, 1.0699185132980347, 1.0730869770050049, 1.062342882156372, 1.0608030557632446, 1.0571300983428955, 1.067260503768921, 1.05790376663208, 1.075329303741455, 1.0777195692062378, 1.0704224109649658, 1.0700751543045044, 1.096569299697876, 1.0430389642715454, 1.0838534832000732, 1.0406157970428467], "q1_all": [1.0231225490570068, 1.0660773515701294, 1.0555747747421265, 1.07053542137146, 1.0668128728866577, 1.0504252910614014, 1.074776530265808, 1.0571640729904175, 1.054733395576477, 1.0651360750198364, 1.0632739067077637, 1.0597505569458008, 1.0447293519973755, 1.060207486152649, 1.0725466012954712, 1.0645899772644043, 1.0598087310791016, 1.0699185132980347, 1.0730869770050049, 1.062342882156372, 1.0608030557632446, 1.0571300983428955, 1.067260503768921, 1.05790376663208, 1.075329303741455, 1.0777195692062378, 1.0704224109649658, 1.0700751543045044, 1.096569299697876, 1.0430389642715454, 1.0838534832000732, 1.0406157970428467], "q2_all": [1.1273612976074219, 1.1362736225128174, 1.139305591583252, 1.1413217782974243, 1.1280620098114014, 1.120145320892334, 1.1305797100067139, 1.1373012065887451, 1.1358394622802734, 1.1383719444274902, 1.1371800899505615, 1.1445741653442383, 1.1218159198760986, 1.1402943134307861, 1.1346129179000854, 1.1271436214447021, 1.134239673614502, 1.142578363418579, 1.1429133415222168, 1.1441504955291748, 1.1393601894378662, 1.1383836269378662, 1.1479759216308594, 1.142907977104187, 1.1485786437988281, 1.1409893035888672, 1.129854679107666, 1.1286144256591797, 1.1281518936157227, 1.1405742168426514, 1.1330111026763916, 1.1373106241226196], "cand_trans_speed_all": [0.0014647364150732756, 0.0007710030768066645, 0.0005852331523783505, 0.0009251890587620437, 0.0008253406267613173, 0.0008821544470265508, 0.0009067868813872337, 0.0009475803817622364, 0.0009372127242386341, 0.0008607872296124697, 0.000985924620181322, 0.0009808297036215663, 0.000809802208095789, 0.0010615019127726555, 0.0009008246706798673, 0.0009033195674419403, 0.0008650998352095485, 0.0012274556793272495, 0.001255424227565527, 0.0010463116923347116, 0.0011422650422900915, 0.0010427789529785514, 0.0011309876572340727, 0.0008660351159051061, 0.00114000728353858, 0.0009370764601044357, 0.0009535215212963521, 0.001118165673688054, 0.0014581646537408233, 0.0012974258279427886, 0.001149224815890193, 0.0007002153433859348], "cand_cum_xyz_disp_all": [[0.001849740743637085, 0.00020469725131988525, 0.004090659320354462], [0.002023473381996155, -0.00020036101341247559, 0.0038425996899604797], [0.0015096664428710938, -0.00018969178199768066, 0.003042936325073242], [0.0007703304290771484, -6.979703903198242e-05, 0.004962891340255737], [0.0017658770084381104, -0.00029109418392181396, 0.003557272255420685], [0.0012746751308441162, 0.0006626546382904053, 0.004382170736789703], [0.0018244385719299316, -0.0008550286293029785, 0.004773326218128204], [0.002300649881362915, -0.0007881373167037964, 0.0036840736865997314], [0.001748114824295044, -1.996755599975586e-06, 0.004004716873168945], [0.0015522390604019165, -0.0006745010614395142, 0.004464693367481232], [0.0020821988582611084, 0.00023330748081207275, 0.005104474723339081], [0.002863079309463501, 0.0007840096950531006, 0.0027653276920318604], [0.0014043450355529785, -0.0004445314407348633, 0.002909421920776367], [0.0017672926187515259, -0.0005252212285995483, 0.0049708932638168335], [0.001685813069343567, -0.00032395124435424805, 0.004502616822719574], [0.001001119613647461, -0.00026257336139678955, 0.00480864942073822], [0.00180014967918396, -0.00024080276489257812, 0.001405477523803711], [0.00244005024433136, -0.0008208602666854858, 0.005713962018489838], [0.0010639876127243042, -0.00026547908782958984, 0.005257569253444672], [0.0022612810134887695, -0.0013468563556671143, 0.0041473135352134705], [0.0028224587440490723, 6.809830665588379e-05, 0.0058060213923454285], [0.001410067081451416, -0.00010335445404052734, 0.0018368139863014221], [0.0034240037202835083, 0.00011815130710601807, 0.00522826611995697], [0.0026292502880096436, -0.001065373420715332, 0.0036521106958389282], [0.0016874372959136963, -0.00044579803943634033, 0.005954161286354065], [0.003017798066139221, 6.370246410369873e-05, 0.004241123795509338], [0.0020469874143600464, -0.0010891705751419067, 0.004975892603397369], [0.0018547624349594116, -0.0006310790777206421, 0.00502564013004303], [0.00017462670803070068, -0.0007056444883346558, 0.0074045732617378235], [0.001644432544708252, -0.0003088712692260742, 0.005929522216320038], [0.0018798410892486572, -0.0004089623689651489, 0.006250545382499695], [0.001286923885345459, -0.0007191002368927002, 0.0013422966003417969]], "cand_final_gripper_all": [0.2787668704986572, 0.16155457496643066, 0.14841726422309875, 0.15568512678146362, 0.19140946865081787, 0.21530279517173767, 0.12381699681282043, 0.17468571662902832, 0.17063525319099426, 0.15062853693962097, 0.1736697554588318, 0.1361236870288849, 0.26455509662628174, 0.1689305305480957, 0.14272519946098328, 0.20552024245262146, 0.1300143003463745, 0.1449493169784546, 0.149175226688385, 0.15954363346099854, 0.17916497588157654, 0.1588485836982727, 0.12332552671432495, 0.153364896774292, 0.12585702538490295, 0.1279984414577484, 0.1411714255809784, 0.17405390739440918, 0.1733723282814026, 0.195095956325531, 0.1420924961566925, 0.1524604856967926], "eef_pos": [0.66659015417099, 0.09847130626440048, 0.21285273134708405], "cand_action_std": 0.0252334326505661, "cand_pairwise_centroid_dist_mean": 0.23201395571231842, "argmax_act_outlier": 1.339726209640503, "time_encode_ms": 6.035601953044534, "time_diffusion_ms": 36.19383787736297, "time_q_score_ms": 8.427758002653718, "time_total_ms": 51.418178947642446, "num_action_samples_effective": 32, "q_aggregate": "pair_min"} +{"chunk_ordinal": 28, "q_min_best": 0.45963284373283386, "q_min_mean": 0.3573117256164551, "q_min_std": 0.035972710698843, "q_min_median": 0.3573208749294281, "chosen_vs_median_q_gap": 0.10231196880340576, "q1_best": 0.45963284373283386, "q2_best": 0.8159701824188232, "v_val": 1.0905704498291016, "advantage": -0.6309376060962677, "best_idx": 13, "q_min_all": [0.39695116877555847, 0.3090076446533203, 0.3719092607498169, 0.39361175894737244, 0.3641883432865143, 0.3314080238342285, 0.3720710873603821, 0.3051244914531708, 0.3590858578681946, 0.34428027272224426, 0.36184147000312805, 0.37160733342170715, 0.3472825586795807, 0.45963284373283386, 0.3609156608581543, 0.32655540108680725, 0.32080313563346863, 0.4351726770401001, 0.37524470686912537, 0.347163587808609, 0.317426860332489, 0.33950063586235046, 0.39505288004875183, 0.3573208749294281, 0.35790711641311646, 0.3048022985458374, 0.3657757341861725, 0.3387039005756378, 0.4004977345466614, 0.34709396958351135, 0.3512527048587799, 0.3047827184200287], "q1_all": [0.39695116877555847, 0.3090076446533203, 0.3719092607498169, 0.39361175894737244, 0.3641883432865143, 0.3314080238342285, 0.3720710873603821, 0.3051244914531708, 0.3590858578681946, 0.34428027272224426, 0.36184147000312805, 0.37160733342170715, 0.3472825586795807, 0.45963284373283386, 0.3609156608581543, 0.32655540108680725, 0.32080313563346863, 0.4351726770401001, 0.37524470686912537, 0.347163587808609, 0.317426860332489, 0.33950063586235046, 0.39505288004875183, 0.3573208749294281, 0.35790711641311646, 0.3048022985458374, 0.3657757341861725, 0.3387039005756378, 0.4004977345466614, 0.34709396958351135, 0.3512527048587799, 0.3047827184200287], "q2_all": [0.6099181175231934, 0.4715226888656616, 0.6283539533615112, 0.4700344204902649, 0.5772446990013123, 0.4497668147087097, 0.6235638856887817, 0.457622230052948, 0.47891902923583984, 0.47575825452804565, 0.4475635886192322, 0.4987204074859619, 0.6348053216934204, 0.8159701824188232, 0.5318523049354553, 0.47036516666412354, 0.435445100069046, 0.527707040309906, 0.5534207820892334, 0.551681399345398, 0.4306378960609436, 0.4183436334133148, 0.6466904282569885, 0.5321909189224243, 0.5670114159584045, 0.4082310199737549, 0.49984270334243774, 0.4528382122516632, 0.5351336002349854, 0.4668583869934082, 0.5339483618736267, 0.371801495552063], "cand_trans_speed_all": [0.0030924007296562195, 0.0053980350494384766, 0.002226033015176654, 0.005119681358337402, 0.002956101205199957, 0.004601177293807268, 0.003055316163226962, 0.0055492110550403595, 0.003951444290578365, 0.0032709704246371984, 0.006447851657867432, 0.005229236092418432, 0.0030181370675563812, 0.0015622794162482023, 0.0027467363979667425, 0.00531366653740406, 0.003880192991346121, 0.005195120349526405, 0.0022461283951997757, 0.0023567709140479565, 0.0052683292888104916, 0.004725274164229631, 0.0022965138778090477, 0.0042857881635427475, 0.003528231754899025, 0.00499830162152648, 0.002491303253918886, 0.005997171625494957, 0.004069071263074875, 0.0036399043165147305, 0.00438310531899333, 0.005302466452121735], "cand_cum_xyz_disp_all": [[-0.004931211471557617, -0.0036850273609161377, -0.012726575136184692], [-0.006212607026100159, -0.009204521775245667, -0.027127206325531006], [-0.005312874913215637, -0.004683405160903931, -0.007072135806083679], [-0.009983301162719727, -0.009582385420799255, -0.025673434138298035], [-0.004130542278289795, -0.0025812536478042603, -0.014193661510944366], [-0.004959240555763245, -0.008129894733428955, -0.022099889814853668], [-0.006648600101470947, -0.005347341299057007, -0.01322832703590393], [-0.007951512932777405, -0.009778439998626709, -0.024922609329223633], [-0.009377926588058472, -0.01010526716709137, -0.013728223741054535], [-0.0023358911275863647, -0.006024286150932312, -0.0139799565076828], [-0.014051496982574463, -0.007857516407966614, -0.030214637517929077], [-0.008157730102539062, -0.0046340227127075195, -0.022664837539196014], [-0.00415918231010437, -0.007840082049369812, -0.008448384702205658], [-0.0015701502561569214, -0.003478527069091797, 0.0020379945635795593], [-0.004466921091079712, -0.004495874047279358, -0.011407949030399323], [-0.007511898875236511, -0.007927566766738892, -0.02010636031627655], [-0.005589321255683899, -0.008940443396568298, -0.014039739966392517], [-0.006548061966896057, -0.005384668707847595, -0.01481812447309494], [-0.005662322044372559, -0.002890974283218384, -0.006055004894733429], [-0.004861995577812195, -0.0043998658657073975, -0.00663495808839798], [-0.007427394390106201, -0.013855397701263428, -0.02492634952068329], [-0.009226709604263306, -0.004391685128211975, -0.01924671232700348], [-0.002498254179954529, -0.00704878568649292, -0.0063446685671806335], [-0.00806453824043274, -0.005574345588684082, -0.014103442430496216], [-0.008697539567947388, -0.003648325800895691, -0.01673860102891922], [-0.006786853075027466, -0.006360366940498352, -0.025678090751171112], [-0.003998100757598877, -0.00396960973739624, -0.011485673487186432], [-0.005407616496086121, -0.004236161708831787, -0.017375513911247253], [-0.008930474519729614, -0.0071779340505599976, -0.015015184879302979], [-0.006444454193115234, -0.006783917546272278, -0.015540197491645813], [-0.005046248435974121, -0.014355644583702087, -0.017384164035320282], [-0.00804002583026886, -0.007666304707527161, -0.025976285338401794]], "cand_final_gripper_all": [0.003823578357696533, 0.002588421106338501, 0.008429855108261108, 0.0009337663650512695, 0.02463829517364502, 0.002994626760482788, 0.005602627992630005, 0.006654173135757446, 0.009554445743560791, 0.0030834972858428955, 0.0010783970355987549, 0.0028786957263946533, 0.0066980719566345215, 0.016236335039138794, 0.005903840065002441, 0.0011660754680633545, 0.0033635497093200684, 0.0, 0.004850596189498901, 0.0024829208850860596, 0.0, 0.007395714521408081, 0.008406847715377808, 0.009567499160766602, 0.0070191919803619385, 0.0008276998996734619, 0.0031624138355255127, 0.020345538854599, 0.0011709034442901611, 0.0015797615051269531, 0.004566073417663574, 0.0], "eef_pos": [0.6656461954116821, 0.10040024667978287, 0.20607827603816986], "cand_action_std": 0.06011595204472542, "cand_pairwise_centroid_dist_mean": 0.7323309779167175, "argmax_act_outlier": 1.8758405447006226, "time_encode_ms": 5.832805996760726, "time_diffusion_ms": 36.16105695255101, "time_q_score_ms": 8.578176843002439, "time_total_ms": 51.421165000647306, "num_action_samples_effective": 32, "q_aggregate": "pair_min"} +{"chunk_ordinal": 29, "q_min_best": 0.43213433027267456, "q_min_mean": 0.3865004777908325, "q_min_std": 0.028644254431128502, "q_min_median": 0.3912540376186371, "chosen_vs_median_q_gap": 0.040880292654037476, "q1_best": 0.43213433027267456, "q2_best": 0.4570681154727936, "v_val": 0.0542265959084034, "advantage": 0.37790773436427116, "best_idx": 15, "q_min_all": [0.33307191729545593, 0.3581679165363312, 0.4180675446987152, 0.38623979687690735, 0.3912540376186371, 0.3674960434436798, 0.352401465177536, 0.4097995460033417, 0.3924734592437744, 0.4149850606918335, 0.4011918306350708, 0.40268608927726746, 0.4133535623550415, 0.35624003410339355, 0.32080116868019104, 0.43213433027267456, 0.4110085964202881, 0.372437447309494, 0.3531823754310608, 0.3763349652290344, 0.4116245210170746, 0.3496187925338745, 0.4270670711994171, 0.4181126058101654, 0.3946523368358612, 0.38404807448387146, 0.3934840261936188, 0.38987109065055847, 0.41245797276496887, 0.40157046914100647, 0.374478280544281, 0.34770306944847107], "q1_all": [0.33307191729545593, 0.3581679165363312, 0.4180675446987152, 0.38623979687690735, 0.3912540376186371, 0.3674960434436798, 0.352401465177536, 0.4097995460033417, 0.3924734592437744, 0.4149850606918335, 0.4011918306350708, 0.40268608927726746, 0.4133535623550415, 0.35624003410339355, 0.32080116868019104, 0.43213433027267456, 0.4131772220134735, 0.372437447309494, 0.3775204122066498, 0.3763349652290344, 0.4116245210170746, 0.3496187925338745, 0.44992971420288086, 0.4181126058101654, 0.3946523368358612, 0.38404807448387146, 0.41507574915885925, 0.38987109065055847, 0.41245797276496887, 0.40157046914100647, 0.4050178825855255, 0.34770306944847107], "q2_all": [0.41148558259010315, 0.433032363653183, 0.49315154552459717, 0.41062164306640625, 0.41890889406204224, 0.3802648186683655, 0.44095689058303833, 0.4537372589111328, 0.40529966354370117, 0.4501640796661377, 0.4377319812774658, 0.4552994966506958, 0.49130308628082275, 0.46645867824554443, 0.41684219241142273, 0.4570681154727936, 0.4110085964202881, 0.3789597451686859, 0.3531823754310608, 0.40989717841148376, 0.45550960302352905, 0.4279322624206543, 0.4270670711994171, 0.41947662830352783, 0.5047941207885742, 0.39802566170692444, 0.3934840261936188, 0.47151675820350647, 0.4652595520019531, 0.4251655042171478, 0.374478280544281, 0.3920815587043762], "cand_trans_speed_all": [0.0059426650404930115, 0.007188044488430023, 0.007660933770239353, 0.007117517292499542, 0.007002716418355703, 0.0061384811997413635, 0.007086586207151413, 0.007558045443147421, 0.006758834235370159, 0.007194967474788427, 0.007419244851917028, 0.00838896632194519, 0.008140992373228073, 0.0069064004346728325, 0.006114622112363577, 0.0075426846742630005, 0.007296241819858551, 0.0074682775884866714, 0.00637521967291832, 0.00758544635027647, 0.00838138721883297, 0.007160702720284462, 0.0064904275350272655, 0.008023429661989212, 0.008222552947700024, 0.0066238935105502605, 0.006321113556623459, 0.007169510703533888, 0.007976963184773922, 0.007874072529375553, 0.00693579763174057, 0.005371268838644028], "cand_cum_xyz_disp_all": [[-0.007320418953895569, -0.007085040211677551, -0.032590240240097046], [-0.013571307063102722, -0.007120862603187561, -0.03673141449689865], [-0.01651349663734436, -0.009145349264144897, -0.03810647130012512], [-0.014203965663909912, -0.005841866135597229, -0.03728797286748886], [-0.012973308563232422, -0.007949426770210266, -0.03288939595222473], [-0.010250449180603027, -0.006943449378013611, -0.03295415639877319], [-0.01055079698562622, -0.007818520069122314, -0.03017706423997879], [-0.011062875390052795, -0.006996080279350281, -0.037438079714775085], [-0.009738549590110779, -0.0020231902599334717, -0.03385376185178757], [-0.011987999081611633, -0.004799768328666687, -0.039479225873947144], [-0.013071522116661072, -0.007981359958648682, -0.040135473012924194], [-0.01646214723587036, -0.009313181042671204, -0.030545882880687714], [-0.016331538558006287, -0.008546113967895508, -0.036574289202690125], [-0.011938914656639099, -0.008309826254844666, -0.035550475120544434], [-0.008381694555282593, -0.008166998624801636, -0.03390926122665405], [-0.014522433280944824, -0.00864468514919281, -0.03510119765996933], [-0.015584290027618408, -0.0053467899560928345, -0.034152671694755554], [-0.011956393718719482, -0.00639478862285614, -0.038988687098026276], [-0.016080468893051147, -0.007359147071838379, -0.030644021928310394], [-0.01575125753879547, -0.004151865839958191, -0.030629314482212067], [-0.01743069291114807, -0.010475561022758484, -0.04217696934938431], [-0.015305951237678528, -0.006798803806304932, -0.03596208244562149], [-0.010089308023452759, -0.00505635142326355, -0.034894078969955444], [-0.01977357268333435, -0.0077225565910339355, -0.03735680133104324], [-0.015692010521888733, -0.007330402731895447, -0.04148460179567337], [-0.012507408857345581, -0.005924507975578308, -0.032175056636333466], [-0.007583141326904297, -0.006815552711486816, -0.03434302657842636], [-0.012651443481445312, -0.006171226501464844, -0.03618324548006058], [-0.01583494246006012, -0.00672660768032074, -0.03577818721532822], [-0.014138907194137573, -0.007921397686004639, -0.038487277925014496], [-0.01316891610622406, -0.0056677162647247314, -0.036466993391513824], [-0.009964555501937866, -0.006231188774108887, -0.026916392147541046]], "cand_final_gripper_all": [0.00517919659614563, 0.003155738115310669, 0.006619244813919067, 0.0042732954025268555, 0.00598493218421936, 0.016983091831207275, 0.0031042098999023438, 0.00149497389793396, 0.009399622678756714, 0.0023865997791290283, 0.000195235013961792, 0.005863547325134277, 0.002577275037765503, 0.0017020106315612793, 0.0059867799282073975, 0.0021501481533050537, 0.00215110182762146, 0.016329407691955566, 0.005385458469390869, 0.009427100419998169, 0.003129422664642334, 0.0037872791290283203, 0.008633911609649658, 0.004096686840057373, 0.0039536356925964355, 0.012605011463165283, 0.00320550799369812, 0.004655361175537109, 0.0011540055274963379, 0.0031749308109283447, 0.005652308464050293, 0.003404468297958374], "eef_pos": [0.6647156476974487, 0.10050644725561142, 0.2018279880285263], "cand_action_std": 0.07286380231380463, "cand_pairwise_centroid_dist_mean": 0.7461822032928467, "argmax_act_outlier": 0.7788064479827881, "time_encode_ms": 4.999261116608977, "time_diffusion_ms": 36.01398388855159, "time_q_score_ms": 8.339815074577928, "time_total_ms": 50.220689037814736, "num_action_samples_effective": 32, "q_aggregate": "pair_min"} +{"chunk_ordinal": 30, "q_min_best": 0.34526702761650085, "q_min_mean": 0.3046621084213257, "q_min_std": 0.020986486226320267, "q_min_median": 0.3053395748138428, "chosen_vs_median_q_gap": 0.03992745280265808, "q1_best": 0.34526702761650085, "q2_best": 0.40456622838974, "v_val": 0.5906628370285034, "advantage": -0.24539580941200256, "best_idx": 19, "q_min_all": [0.31155142188072205, 0.28746166825294495, 0.3187699615955353, 0.29594728350639343, 0.3115469515323639, 0.29956451058387756, 0.3250179588794708, 0.2935245931148529, 0.3119066655635834, 0.30119356513023376, 0.3024260401725769, 0.28580406308174133, 0.2664259076118469, 0.265391081571579, 0.3123016357421875, 0.34339502453804016, 0.32077935338020325, 0.32681915163993835, 0.32109707593917847, 0.34526702761650085, 0.28164759278297424, 0.3126507103443146, 0.33025312423706055, 0.2836301624774933, 0.32483232021331787, 0.27605533599853516, 0.3053395748138428, 0.27699795365333557, 0.28347456455230713, 0.29146263003349304, 0.32494229078292847, 0.31171053647994995], "q1_all": [0.31155142188072205, 0.29625266790390015, 0.3187699615955353, 0.3081042468547821, 0.3115469515323639, 0.29956451058387756, 0.3250179588794708, 0.30289557576179504, 0.3119066655635834, 0.30119356513023376, 0.3156314194202423, 0.28580406308174133, 0.3371041715145111, 0.265391081571579, 0.33075782656669617, 0.34339502453804016, 0.32077935338020325, 0.32681915163993835, 0.32695406675338745, 0.34526702761650085, 0.2827266454696655, 0.3126507103443146, 0.33025312423706055, 0.2999509871006012, 0.32483232021331787, 0.2998678982257843, 0.3096529543399811, 0.30411460995674133, 0.31776371598243713, 0.29146263003349304, 0.32494229078292847, 0.31171053647994995], "q2_all": [0.3345141112804413, 0.28746166825294495, 0.3730723261833191, 0.29594728350639343, 0.3251837193965912, 0.3021602928638458, 0.3538253605365753, 0.2935245931148529, 0.37841564416885376, 0.3258872628211975, 0.3024260401725769, 0.29220545291900635, 0.2664259076118469, 0.2845277488231659, 0.3123016357421875, 0.3470161557197571, 0.3303849697113037, 0.34158897399902344, 0.32109707593917847, 0.40456622838974, 0.28164759278297424, 0.34849342703819275, 0.33956146240234375, 0.2836301624774933, 0.3576228618621826, 0.27605533599853516, 0.3053395748138428, 0.27699795365333557, 0.28347456455230713, 0.3221856653690338, 0.3695053458213806, 0.33311861753463745], "cand_trans_speed_all": [0.003937287721782923, 0.00593309011310339, 0.00438225083053112, 0.003924367018043995, 0.004073556512594223, 0.0039185285568237305, 0.003263049526140094, 0.004631597548723221, 0.004403736442327499, 0.0040426780469715595, 0.005160436034202576, 0.00549743976444006, 0.005645393393933773, 0.005103735718876123, 0.004205312114208937, 0.005246429704129696, 0.0046258051879704, 0.004048765171319246, 0.004844341427087784, 0.0024978462606668472, 0.004165222868323326, 0.003681547474116087, 0.003410089761018753, 0.004502979107201099, 0.003768498543649912, 0.005324153229594231, 0.004565739072859287, 0.005164388567209244, 0.005356886424124241, 0.0041592116467654705, 0.0030639010947197676, 0.004006518051028252], "cand_cum_xyz_disp_all": [[-0.006168827414512634, -0.0035569369792938232, -0.015583842992782593], [-0.012202709913253784, -0.0030723363161087036, -0.02131827175617218], [-0.006622985005378723, -0.0037354230880737305, -0.016099072992801666], [-0.009544700384140015, -0.0005851984024047852, -0.019021570682525635], [-0.008323192596435547, -0.0001315772533416748, -0.01975715160369873], [-0.010329201817512512, -0.003183215856552124, -0.014811411499977112], [-0.008072510361671448, -0.005086719989776611, -0.013509117066860199], [-0.010262206196784973, -0.00372333824634552, -0.023358911275863647], [-0.008441716432571411, -0.0014184415340423584, -0.011941738426685333], [-0.010038286447525024, -0.0029795169830322266, -0.016711436212062836], [-0.00914609432220459, -0.005696296691894531, -0.019557885825634003], [-0.01038224995136261, -0.001424938440322876, -0.023456037044525146], [-0.0072562843561172485, -0.004288136959075928, -0.030219167470932007], [-0.015260934829711914, -0.0024201273918151855, -0.019688837230205536], [-0.010742142796516418, -0.004055827856063843, -0.014101855456829071], [-0.004976972937583923, 0.0006240010261535645, -0.011714883148670197], [-0.006454870104789734, -0.005305260419845581, -0.021106071770191193], [-0.0061066895723342896, -0.00486639142036438, -0.010420724749565125], [-0.007351279258728027, -0.007337301969528198, -0.018219850957393646], [-0.004153385758399963, -9.986758232116699e-05, -0.005098521709442139], [-0.012219995260238647, -0.006105214357376099, -0.018069177865982056], [-0.007818296551704407, -0.00039981305599212646, -0.012354180216789246], [-0.0037191808223724365, -0.0007694512605667114, -0.01662919670343399], [-0.011401429772377014, -0.0033294707536697388, -0.01635342836380005], [-0.005606532096862793, -0.005341827869415283, -0.015400826930999756], [-0.011884823441505432, -0.005035862326622009, -0.023421280086040497], [-0.007208332419395447, -0.001121416687965393, -0.021199531853199005], [-0.01233692467212677, -0.004403352737426758, -0.02427591383457184], [-0.012237980961799622, -0.0068447887897491455, -0.022976301610469818], [-0.008478760719299316, -0.002347901463508606, -0.02176664024591446], [-0.006571277976036072, -0.004433274269104004, -0.012756101787090302], [-0.004886806011199951, -0.0047962963581085205, -0.02021157741546631]], "cand_final_gripper_all": [0.00133475661277771, 0.0033052563667297363, 0.00535506010055542, 0.0031633377075195312, 0.0016750097274780273, 0.0032834410667419434, 0.0026919543743133545, 0.01005101203918457, 0.0034634768962860107, 0.0033729076385498047, 0.005105793476104736, 0.002782374620437622, 0.0015870630741119385, 0.0035041868686676025, 0.006370425224304199, 0.005125194787979126, 0.00011780858039855957, 0.007880091667175293, 0.00012820959091186523, 0.004303038120269775, 0.004109293222427368, 0.010878652334213257, 0.001615077257156372, 0.00216713547706604, 0.00699278712272644, 0.0021029412746429443, 0.00626903772354126, 0.003247201442718506, 0.002760648727416992, 0.0029641389846801758, 0.0016078054904937744, 0.0038661956787109375], "eef_pos": [0.6684241890907288, 0.09612654894590378, 0.22026827931404114], "cand_action_std": 0.08580636978149414, "cand_pairwise_centroid_dist_mean": 0.8494580388069153, "argmax_act_outlier": 1.5414485931396484, "time_encode_ms": 5.1555209793150425, "time_diffusion_ms": 36.07634990476072, "time_q_score_ms": 7.629707921296358, "time_total_ms": 49.86662184819579, "num_action_samples_effective": 32, "q_aggregate": "pair_min"} +{"chunk_ordinal": 31, "q_min_best": 0.3424849212169647, "q_min_mean": 0.30142030119895935, "q_min_std": 0.019393835216760635, "q_min_median": 0.3011540472507477, "chosen_vs_median_q_gap": 0.04133087396621704, "q1_best": 0.3424849212169647, "q2_best": 0.3809084892272949, "v_val": 0.5504350662231445, "advantage": -0.2079501450061798, "best_idx": 2, "q_min_all": [0.30936914682388306, 0.29143834114074707, 0.3424849212169647, 0.3201969563961029, 0.2996392846107483, 0.3011540472507477, 0.32685551047325134, 0.2850317358970642, 0.3109569847583771, 0.28095582127571106, 0.3164553940296173, 0.26596224308013916, 0.2752325236797333, 0.31606557965278625, 0.30336111783981323, 0.2998192012310028, 0.3207559287548065, 0.31746503710746765, 0.29794371128082275, 0.2669239044189453, 0.3139241635799408, 0.29568424820899963, 0.305692195892334, 0.3067370355129242, 0.27965879440307617, 0.3255143165588379, 0.28627118468284607, 0.29078173637390137, 0.2866836488246918, 0.2699366509914398, 0.30412742495536804, 0.3323712944984436], "q1_all": [0.30936914682388306, 0.29290375113487244, 0.3424849212169647, 0.3201969563961029, 0.3406042754650116, 0.32459756731987, 0.32685551047325134, 0.31077298521995544, 0.3109569847583771, 0.28095582127571106, 0.31928643584251404, 0.2960781157016754, 0.28088095784187317, 0.31606557965278625, 0.3095528781414032, 0.2998192012310028, 0.3207559287548065, 0.31746503710746765, 0.3083746135234833, 0.29392728209495544, 0.3139241635799408, 0.2959060072898865, 0.3126121163368225, 0.3125542402267456, 0.3002699911594391, 0.3255143165588379, 0.3124068081378937, 0.34298932552337646, 0.28771263360977173, 0.2810586094856262, 0.30412742495536804, 0.3323712944984436], "q2_all": [0.351494699716568, 0.29143834114074707, 0.3809084892272949, 0.3386680483818054, 0.2996392846107483, 0.3011540472507477, 0.3831925392150879, 0.2850317358970642, 0.3350873291492462, 0.2848513424396515, 0.3164553940296173, 0.26596224308013916, 0.2752325236797333, 0.3193628489971161, 0.30336111783981323, 0.35864725708961487, 0.3215755820274353, 0.3279435634613037, 0.29794371128082275, 0.2669239044189453, 0.34415462613105774, 0.29568424820899963, 0.305692195892334, 0.3067370355129242, 0.27965879440307617, 0.35054418444633484, 0.28627118468284607, 0.29078173637390137, 0.2866836488246918, 0.2699366509914398, 0.33104407787323, 0.33520758152008057], "cand_trans_speed_all": [0.004250441677868366, 0.005697483196854591, 0.003996157553046942, 0.004827795550227165, 0.006135828793048859, 0.005131924524903297, 0.0034057244192808867, 0.005861257668584585, 0.005911949090659618, 0.006578502710908651, 0.0050150747410953045, 0.006139382719993591, 0.006127774715423584, 0.00400375435128808, 0.0058503663167357445, 0.004885201808065176, 0.004938425496220589, 0.003888605860993266, 0.00591935683041811, 0.004668164532631636, 0.0049615465104579926, 0.0046925353817641735, 0.006080173887312412, 0.005099588073790073, 0.0054161506704986095, 0.005151372402906418, 0.006489332299679518, 0.005917719565331936, 0.005102860741317272, 0.005195757374167442, 0.004318439867347479, 0.004630709532648325], "cand_cum_xyz_disp_all": [[-0.0037003308534622192, -0.0037667006254196167, -0.020462483167648315], [-0.013663947582244873, -0.0027127116918563843, -0.02664870023727417], [-0.0052467286586761475, -0.0035486072301864624, -0.007797703146934509], [-0.00758613646030426, 0.003795415163040161, -0.015049733221530914], [-0.01086561381816864, 0.000843539834022522, -0.02491891384124756], [-0.009488150477409363, -0.00045652687549591064, -0.02457307279109955], [-0.006716296076774597, -0.00538182258605957, -0.010928161442279816], [-0.01186266541481018, -0.003843531012535095, -0.026353783905506134], [-0.006867736577987671, -0.00791989266872406, -0.017096884548664093], [-0.012941345572471619, -0.00851951539516449, -0.023136764764785767], [-0.010070279240608215, -0.003507465124130249, -0.017521753907203674], [-0.0188787579536438, -0.009132921695709229, -0.024690553545951843], [-0.013714909553527832, -0.002156659960746765, -0.028536520898342133], [-0.00842350721359253, -0.004970818758010864, -0.017511144280433655], [-0.006532192230224609, -0.01207810640335083, -0.027384333312511444], [-0.006374910473823547, 0.003244072198867798, -0.014056369662284851], [-0.006910726428031921, -0.00524081289768219, -0.024688586592674255], [-0.007641151547431946, -0.003414168953895569, -0.020145811140537262], [-0.007552817463874817, -0.007069721817970276, -0.026952050626277924], [-0.010796725749969482, -0.004508554935455322, -0.02326243370771408], [-0.011041685938835144, -0.0038933157920837402, -0.011452987790107727], [-0.01167355477809906, -0.0035577118396759033, -0.020748570561408997], [-0.008941635489463806, 7.489323616027832e-05, -0.022952236235141754], [-0.008879110217094421, -0.006190493702888489, -0.02476063370704651], [-0.009877607226371765, -0.0031379908323287964, -0.028875499963760376], [-0.008330106735229492, -0.0028105229139328003, -0.017237424850463867], [-0.012924060225486755, -0.0028974413871765137, -0.02675940841436386], [-0.0018139779567718506, -0.004363015294075012, -0.03121533989906311], [-0.01033104956150055, -0.004034698009490967, -0.022239021956920624], [-0.014703810214996338, -0.0018544793128967285, -0.02570270001888275], [-0.007056072354316711, -0.006604522466659546, -0.020550206303596497], [-0.005684897303581238, -0.0020511746406555176, -0.01311582326889038]], "cand_final_gripper_all": [0.004497885704040527, 0.0033927857875823975, 0.005823105573654175, 0.004432976245880127, 0.004245102405548096, 0.005606532096862793, 0.005982041358947754, 0.002224266529083252, 0.0024460256099700928, 0.002442777156829834, 0.004794776439666748, 0.004736423492431641, 0.002850443124771118, 0.0037772655487060547, 0.0024817585945129395, 0.0049607157707214355, 0.0021005868911743164, 0.0039948225021362305, 0.0030352771282196045, 0.0016873478889465332, 0.005003005266189575, 0.003272026777267456, 0.004586160182952881, 0.005764871835708618, 0.0019242465496063232, 0.005966693162918091, 0.001037299633026123, 0.005493134260177612, 0.005135655403137207, 0.00547364354133606, 0.0031682848930358887, 0.0037534236907958984], "eef_pos": [0.6680343747138977, 0.09548323601484299, 0.21962401270866394], "cand_action_std": 0.09974084049463272, "cand_pairwise_centroid_dist_mean": 1.0353803634643555, "argmax_act_outlier": 1.258319616317749, "time_encode_ms": 4.8120839055627584, "time_diffusion_ms": 36.22868191450834, "time_q_score_ms": 8.014842867851257, "time_total_ms": 49.975823843851686, "num_action_samples_effective": 32, "q_aggregate": "pair_min"} +{"chunk_ordinal": 32, "q_min_best": 0.3442403972148895, "q_min_mean": 0.30445408821105957, "q_min_std": 0.019571809098124504, "q_min_median": 0.30004748702049255, "chosen_vs_median_q_gap": 0.04419291019439697, "q1_best": 0.3442403972148895, "q2_best": 0.37301257252693176, "v_val": 0.5445080399513245, "advantage": -0.20026764273643494, "best_idx": 11, "q_min_all": [0.32080507278442383, 0.2927955090999603, 0.3232772648334503, 0.3294115364551544, 0.3314938545227051, 0.2798515260219574, 0.265168160200119, 0.26157596707344055, 0.2884264588356018, 0.29511213302612305, 0.300680547952652, 0.3442403972148895, 0.2951028347015381, 0.3323521316051483, 0.29732757806777954, 0.2937779426574707, 0.28708288073539734, 0.3198164701461792, 0.3025522530078888, 0.29595091938972473, 0.31591036915779114, 0.3146161139011383, 0.292603999376297, 0.29689937829971313, 0.301861971616745, 0.3152145445346832, 0.32618656754493713, 0.28407666087150574, 0.3200846016407013, 0.3239656686782837, 0.30004748702049255, 0.2942620515823364], "q1_all": [0.32080507278442383, 0.2927955090999603, 0.3253139555454254, 0.3294115364551544, 0.3314938545227051, 0.2798515260219574, 0.265168160200119, 0.26157596707344055, 0.2884264588356018, 0.29511213302612305, 0.300680547952652, 0.3442403972148895, 0.2951028347015381, 0.3323521316051483, 0.29732757806777954, 0.2937779426574707, 0.28708288073539734, 0.3198164701461792, 0.3025522530078888, 0.29595091938972473, 0.31591036915779114, 0.3146161139011383, 0.292603999376297, 0.29689937829971313, 0.301861971616745, 0.3152145445346832, 0.32618656754493713, 0.28407666087150574, 0.3200846016407013, 0.3239656686782837, 0.30004748702049255, 0.2942620515823364], "q2_all": [0.3892631232738495, 0.3519017696380615, 0.3232772648334503, 0.3685946762561798, 0.3754340410232544, 0.3093964159488678, 0.2786734998226166, 0.2890206575393677, 0.34790050983428955, 0.30436423420906067, 0.3026964068412781, 0.37301257252693176, 0.32433292269706726, 0.4112519323825836, 0.30869901180267334, 0.3051060736179352, 0.315139502286911, 0.3406054973602295, 0.3340498208999634, 0.32695382833480835, 0.33083218336105347, 0.3463917672634125, 0.3615961968898773, 0.35487911105155945, 0.3776471018791199, 0.3674642741680145, 0.3759489357471466, 0.3243263065814972, 0.36763995885849, 0.37550196051597595, 0.3077501058578491, 0.29947206377983093], "cand_trans_speed_all": [0.003375419182702899, 0.0037747162859886885, 0.005220403429120779, 0.003979038912802935, 0.0030063798185437918, 0.004066979046911001, 0.004715545568615198, 0.0048456937074661255, 0.005206296686083078, 0.005253017880022526, 0.006349167786538601, 0.003960808273404837, 0.004164921119809151, 0.0031537446193397045, 0.005079000722616911, 0.006112142466008663, 0.004135915078222752, 0.004765751771628857, 0.006125095300376415, 0.004339608363807201, 0.005532340612262487, 0.004235550761222839, 0.004556913394480944, 0.0038841399364173412, 0.003787518944591284, 0.006064753979444504, 0.004561759531497955, 0.005412647034972906, 0.005451376549899578, 0.006635288707911968, 0.005092868581414223, 0.00549649354070425], "cand_cum_xyz_disp_all": [[-0.0038654059171676636, -0.002015620470046997, -0.013063110411167145], [-0.008448794484138489, -0.008999884128570557, -0.01529894769191742], [-0.004387661814689636, -0.009183287620544434, -0.022831052541732788], [-0.005942091345787048, -0.003764018416404724, -0.009751394391059875], [-0.0037623345851898193, -0.0063005536794662476, -0.011198364198207855], [-0.010646998882293701, -0.005763158202171326, -0.016781210899353027], [-0.01605483889579773, -0.00764213502407074, -0.017405569553375244], [-0.010182276368141174, -0.0009013563394546509, -0.02209288626909256], [-0.011493116617202759, 4.501640796661377e-05, -0.012270227074623108], [-0.01037183403968811, -0.012805446982383728, -0.019741788506507874], [-0.008740663528442383, -0.0005527585744857788, -0.02441789209842682], [-0.0038997381925582886, -0.0024084150791168213, -0.0034996792674064636], [-0.010240301489830017, -0.004994615912437439, -0.0193093940615654], [-0.003856375813484192, -0.00015363097190856934, -0.009628526866436005], [-0.010223537683486938, -0.009099677205085754, -0.02026224136352539], [-0.009091988205909729, -0.011844471096992493, -0.025684714317321777], [-0.012718677520751953, -0.0027541816234588623, -0.01745731383562088], [-0.007916614413261414, -0.006714463233947754, -0.015937432646751404], [-0.007629707455635071, -0.008280262351036072, -0.02533882111310959], [-0.008206397294998169, -0.005344077944755554, -0.02172442525625229], [-0.009445369243621826, -0.0053178369998931885, -0.011839210987091064], [-0.008720144629478455, -0.004076540470123291, -0.017560236155986786], [-0.009882688522338867, -0.005724579095840454, -0.015840522944927216], [-0.006045088171958923, -0.006079912185668945, -0.019593268632888794], [-0.006693899631500244, -0.0010362863540649414, -0.01911810040473938], [-0.004474267363548279, 0.001419857144355774, -0.01793908327817917], [-0.0065955668687820435, -0.00507412850856781, -0.014513909816741943], [-0.00494752824306488, -0.008545279502868652, -0.02528408169746399], [-0.004223659634590149, -0.007916554808616638, -0.021486185491085052], [-0.004539310932159424, -0.0034600794315338135, -0.01786654442548752], [-0.006658434867858887, -0.006732776761054993, -0.02562887966632843], [-0.0061394572257995605, -0.008088141679763794, -0.026851989328861237]], "cand_final_gripper_all": [0.0030808746814727783, 0.0008051395416259766, 0.003320932388305664, 0.004060834646224976, 0.0032828152179718018, 0.006692022085189819, 0.007021456956863403, 0.003999888896942139, 0.006010383367538452, 0.0013091564178466797, 0.004224002361297607, 0.003716975450515747, 0.004540562629699707, 0.007434427738189697, 0.004522740840911865, 0.0028624236583709717, 0.0038749873638153076, 0.003033578395843506, 0.004472553730010986, 0.0026970207691192627, 0.0012208521366119385, 0.003366231918334961, 0.0045625269412994385, 0.002118349075317383, 0.0006446540355682373, 0.01197400689125061, 0.012284189462661743, 0.005241841077804565, 0.00592312216758728, 0.00274088978767395, 0.0045607686042785645, 0.001986682415008545], "eef_pos": [0.6685025691986084, 0.09403491020202637, 0.22040535509586334], "cand_action_std": 0.09277570992708206, "cand_pairwise_centroid_dist_mean": 0.9216642379760742, "argmax_act_outlier": 1.667665958404541, "time_encode_ms": 4.821039969101548, "time_diffusion_ms": 36.40061104670167, "time_q_score_ms": 7.749479962512851, "time_total_ms": 49.852394964545965, "num_action_samples_effective": 32, "q_aggregate": "pair_min"} +{"chunk_ordinal": 33, "q_min_best": 0.2744418978691101, "q_min_mean": 0.2486155480146408, "q_min_std": 0.017442215234041214, "q_min_median": 0.25106337666511536, "chosen_vs_median_q_gap": 0.02337852120399475, "q1_best": 0.2744418978691101, "q2_best": 0.35441479086875916, "v_val": 0.8223220109939575, "advantage": -0.5478801131248474, "best_idx": 24, "q_min_all": [0.2585615813732147, 0.2305392026901245, 0.24345090985298157, 0.2606210708618164, 0.22296357154846191, 0.23587730526924133, 0.27126988768577576, 0.2658025324344635, 0.23741614818572998, 0.2381836175918579, 0.26812267303466797, 0.23459598422050476, 0.25242146849632263, 0.22133281826972961, 0.22284503281116486, 0.2643349766731262, 0.2370685636997223, 0.268953800201416, 0.2349926233291626, 0.25106337666511536, 0.25545963644981384, 0.2579570412635803, 0.21880796551704407, 0.2557505667209625, 0.2744418978691101, 0.2170703262090683, 0.2723696529865265, 0.2436508983373642, 0.25843900442123413, 0.26534560322761536, 0.25061094760894775, 0.2653772830963135], "q1_all": [0.2585615813732147, 0.2305392026901245, 0.24345090985298157, 0.2606210708618164, 0.22296357154846191, 0.23587730526924133, 0.27126988768577576, 0.2658025324344635, 0.23741614818572998, 0.2381836175918579, 0.26812267303466797, 0.23459598422050476, 0.25242146849632263, 0.22133281826972961, 0.22284503281116486, 0.2643349766731262, 0.2370685636997223, 0.268953800201416, 0.2349926233291626, 0.25106337666511536, 0.25545963644981384, 0.2579570412635803, 0.21880796551704407, 0.2557505667209625, 0.2744418978691101, 0.2170703262090683, 0.2723696529865265, 0.2436508983373642, 0.25843900442123413, 0.26534560322761536, 0.25061094760894775, 0.2653772830963135], "q2_all": [0.27799901366233826, 0.2935202121734619, 0.3078741431236267, 0.3427642583847046, 0.25726619362831116, 0.2888526916503906, 0.36487799882888794, 0.3506311774253845, 0.2607218623161316, 0.27305692434310913, 0.3179072141647339, 0.28482306003570557, 0.29206734895706177, 0.2623450458049774, 0.3120694160461426, 0.35884928703308105, 0.27805083990097046, 0.36062219738960266, 0.2820810377597809, 0.3228231966495514, 0.2895098328590393, 0.30322033166885376, 0.26531097292900085, 0.30632543563842773, 0.35441479086875916, 0.26841625571250916, 0.40559062361717224, 0.28674668073654175, 0.30051276087760925, 0.2862255871295929, 0.32805588841438293, 0.3355885446071625], "cand_trans_speed_all": [0.004750844556838274, 0.0047959513030946255, 0.004152743145823479, 0.004762112628668547, 0.006378437392413616, 0.004802053794264793, 0.0029455411713570356, 0.005536486394703388, 0.006526240613311529, 0.006723675411194563, 0.005254973657429218, 0.005367686506360769, 0.00411639828234911, 0.005556992255151272, 0.004542254842817783, 0.004061480518430471, 0.004785025492310524, 0.005206172354519367, 0.006477069109678268, 0.004581396467983723, 0.005873996764421463, 0.004585195332765579, 0.005282412748783827, 0.005467347800731659, 0.004760322161018848, 0.005347663536667824, 0.0034378650598227978, 0.004918110556900501, 0.005032653454691172, 0.005742927547544241, 0.004516882356256247, 0.005957207642495632], "cand_cum_xyz_disp_all": [[-0.012461110949516296, 0.0035301893949508667, -0.020416811108589172], [-0.009806081652641296, -0.001961261034011841, -0.024249054491519928], [-0.007980003952980042, -0.0031247884035110474, -0.020053096115589142], [-0.009728938341140747, -0.0037447214126586914, -0.018430188298225403], [-0.012379318475723267, -0.003964364528656006, -0.027165181934833527], [-0.009651541709899902, -0.000912204384803772, -0.024328209459781647], [-0.0059568434953689575, 0.00043304264545440674, -0.012608163058757782], [-0.008045539259910583, 0.00048604607582092285, -0.020988307893276215], [-0.016256287693977356, -0.008649766445159912, -0.027208037674427032], [-0.012224972248077393, -0.004175692796707153, -0.02823404222726822], [-0.006615832448005676, -0.0024529099464416504, -0.023533441126346588], [-0.015154585242271423, 0.0012042373418807983, -0.018944263458251953], [-0.011896699666976929, -0.0009604990482330322, -0.01898365467786789], [-0.014996439218521118, -0.004547730088233948, -0.02536521852016449], [-0.011694163084030151, 0.0019385069608688354, -0.020428791642189026], [-0.006174847483634949, -0.0023857206106185913, -0.017672285437583923], [-0.010799318552017212, -0.004265099763870239, -0.024728700518608093], [-0.007021591067314148, 0.0005374699831008911, -0.018340423703193665], [-0.015600979328155518, -0.006906434893608093, -0.027556292712688446], [-0.008164584636688232, -0.0034762322902679443, -0.021000102162361145], [-0.006786912679672241, -0.001468569040298462, -0.02725599706172943], [-0.011131003499031067, -0.0025377273559570312, -0.015410006046295166], [-0.014104261994361877, -0.003569573163986206, -0.026349633932113647], [-0.01062685251235962, -0.005092158913612366, -0.025254741311073303], [-0.00621485710144043, -0.0046048760414123535, -0.019867055118083954], [-0.010805398225784302, -2.251565456390381e-05, -0.02873418480157852], [-0.005709782242774963, 0.001306384801864624, -0.011153168976306915], [-0.012467741966247559, 0.0004717707633972168, -0.024915948510169983], [-0.009430661797523499, -0.0022814571857452393, -0.0156468003988266], [-0.007583886384963989, -0.0013255923986434937, -0.028832733631134033], [-0.004386037588119507, -0.0038540661334991455, -0.02328576147556305], [-0.01053975522518158, -0.009387075901031494, -0.0230230912566185]], "cand_final_gripper_all": [0.00197795033454895, 0.00851452350616455, 0.0034794509410858154, 0.004763126373291016, 0.0019807815551757812, 0.006122291088104248, 0.003892451524734497, 0.002377629280090332, 0.004638314247131348, 0.006643474102020264, 0.003201395273208618, 0.0034680962562561035, 0.001039743423461914, 0.003927111625671387, 0.011111140251159668, 0.004670143127441406, 0.004150062799453735, 0.006391406059265137, 0.0014077425003051758, 0.005917549133300781, 0.006959974765777588, 0.006369590759277344, 0.0037422776222229004, 0.0027786195278167725, 0.003980666399002075, 0.006370484828948975, 0.0036005377769470215, 0.010742485523223877, 0.005201011896133423, 0.0032369792461395264, 0.005011081695556641, 0.0020516514778137207], "eef_pos": [0.6687793731689453, 0.09214694797992706, 0.22029082477092743], "cand_action_std": 0.08323156833648682, "cand_pairwise_centroid_dist_mean": 0.8656041622161865, "argmax_act_outlier": 1.2796097993850708, "time_encode_ms": 5.668360972777009, "time_diffusion_ms": 36.13304509781301, "time_q_score_ms": 8.300501853227615, "time_total_ms": 51.10190296545625, "num_action_samples_effective": 32, "q_aggregate": "pair_min"} +{"chunk_ordinal": 34, "q_min_best": 0.2716922461986542, "q_min_mean": 0.2294573187828064, "q_min_std": 0.01998605579137802, "q_min_median": 0.22699622809886932, "chosen_vs_median_q_gap": 0.04469601809978485, "q1_best": 0.2716922461986542, "q2_best": 0.3432798385620117, "v_val": 0.2858562469482422, "advantage": -0.014164000749588013, "best_idx": 29, "q_min_all": [0.25757765769958496, 0.2158818244934082, 0.21199747920036316, 0.21128839254379272, 0.2605167329311371, 0.227560356259346, 0.2509440779685974, 0.23674429953098297, 0.2211199551820755, 0.22699622809886932, 0.2340407371520996, 0.23306071758270264, 0.24333542585372925, 0.2205893099308014, 0.26740962266921997, 0.2095060646533966, 0.18987011909484863, 0.2238786369562149, 0.22204777598381042, 0.2161445915699005, 0.22919689118862152, 0.24628446996212006, 0.23131482303142548, 0.24404054880142212, 0.2558964192867279, 0.23426920175552368, 0.20340409874916077, 0.20956309139728546, 0.21072033047676086, 0.2716922461986542, 0.22424793243408203, 0.20149411261081696], "q1_all": [0.25757765769958496, 0.2158818244934082, 0.2298235148191452, 0.21128839254379272, 0.2605167329311371, 0.227560356259346, 0.2509440779685974, 0.23674429953098297, 0.2211199551820755, 0.22699622809886932, 0.2340407371520996, 0.23306071758270264, 0.24333542585372925, 0.2205893099308014, 0.2705829441547394, 0.220523864030838, 0.18987011909484863, 0.238534614443779, 0.2433142364025116, 0.2161445915699005, 0.22982294857501984, 0.24628446996212006, 0.2440192699432373, 0.24404054880142212, 0.2558964192867279, 0.23426920175552368, 0.20340409874916077, 0.20956309139728546, 0.21072033047676086, 0.2716922461986542, 0.22424793243408203, 0.20149411261081696], "q2_all": [0.30856794118881226, 0.2545919418334961, 0.21199747920036316, 0.2383895218372345, 0.34030747413635254, 0.2778816223144531, 0.3105732202529907, 0.28992119431495667, 0.2332095205783844, 0.2766861319541931, 0.24407294392585754, 0.27668070793151855, 0.25483930110931396, 0.2743678390979767, 0.26740962266921997, 0.2095060646533966, 0.2207612693309784, 0.2238786369562149, 0.22204777598381042, 0.23104622960090637, 0.22919689118862152, 0.254304438829422, 0.23131482303142548, 0.2762982249259949, 0.2772306799888611, 0.26286840438842773, 0.2540045976638794, 0.23945802450180054, 0.21904927492141724, 0.3432798385620117, 0.26564109325408936, 0.20946279168128967], "cand_trans_speed_all": [0.004624019376933575, 0.0044991010800004005, 0.0060992552898824215, 0.005855197086930275, 0.006209650542587042, 0.005118127446621656, 0.003911284729838371, 0.004374902695417404, 0.005430698394775391, 0.004689175635576248, 0.00458094198256731, 0.005419290624558926, 0.004461278673261404, 0.004082011058926582, 0.004733317531645298, 0.006166224367916584, 0.0051054032519459724, 0.006006715353578329, 0.005754777230322361, 0.005252001341432333, 0.004884258843958378, 0.006088688969612122, 0.006186542566865683, 0.004325341433286667, 0.003860652446746826, 0.0046227481216192245, 0.004380781669169664, 0.0048347776755690575, 0.006953496485948563, 0.003503548912703991, 0.005274319555610418, 0.0062094940803945065], "cand_cum_xyz_disp_all": [[-0.0045928508043289185, -0.00418505072593689, -0.02014954388141632], [-0.012453719973564148, -0.002128198742866516, -0.020229831337928772], [-0.01092308759689331, -0.00853678584098816, -0.02997947484254837], [-0.013424918055534363, 0.0004122108221054077, -0.023437276482582092], [-0.0021776407957077026, -0.0036049187183380127, -0.01279633492231369], [-0.006651595234870911, -0.00411580502986908, -0.027111083269119263], [-0.008995965123176575, -0.004043668508529663, -0.013405241072177887], [-0.009624570608139038, -0.001811385154724121, -0.018242910504341125], [-0.013492688536643982, -0.005165189504623413, -0.018009111285209656], [-0.010169118642807007, -0.0011825412511825562, -0.017952971160411835], [-0.010143756866455078, -0.003795027732849121, -0.023995019495487213], [-0.007196933031082153, -0.005497872829437256, -0.02289595454931259], [-0.007694944739341736, -0.006861165165901184, -0.02325543761253357], [-0.009752005338668823, 6.0617923736572266e-05, -0.020137429237365723], [-0.007213503122329712, -0.002451658248901367, -0.025306470692157745], [-0.016455814242362976, -0.0026213377714157104, -0.029167301952838898], [-0.016270726919174194, -0.0041828453540802, -0.023521512746810913], [-0.010056748986244202, -0.002178475260734558, -0.025691889226436615], [-0.010335266590118408, -0.0059185028076171875, -0.025869891047477722], [-0.011742234230041504, -0.00024108588695526123, -0.02619931846857071], [-0.014796391129493713, -0.006472662091255188, -0.019665725529193878], [-0.010390594601631165, -0.004724040627479553, -0.023991800844669342], [-0.01672765612602234, -0.004836514592170715, -0.029645860195159912], [-0.011666819453239441, -0.003919348120689392, -0.01942656934261322], [-0.008939266204833984, -0.006997719407081604, -0.015683643519878387], [-0.012235000729560852, -0.0013999193906784058, -0.02249855548143387], [-0.011132195591926575, -0.004945293068885803, -0.021370969712734222], [-0.012027159333229065, -0.0021527856588363647, -0.022881358861923218], [-0.008595362305641174, -0.007514834403991699, -0.03263092041015625], [-0.006138831377029419, -0.0027426332235336304, -0.008550435304641724], [-0.008974507451057434, 0.0004907697439193726, -0.02199169248342514], [-0.015635758638381958, -0.004973262548446655, -0.03190302103757858]], "cand_final_gripper_all": [0.009995639324188232, 0.007915914058685303, 0.003149688243865967, 0.006715834140777588, 0.003264814615249634, 0.0034821927547454834, 0.0021011829376220703, 0.0038932859897613525, 0.0035290122032165527, 0.008665382862091064, 0.004362046718597412, 0.0030285120010375977, 0.00403141975402832, 0.005768537521362305, 0.007191836833953857, 0.0027269721031188965, 0.007061094045639038, 0.007575720548629761, 0.004432618618011475, 0.006214737892150879, 0.00662502646446228, 0.005154013633728027, 0.010969698429107666, 0.002523452043533325, 0.0021037161350250244, 0.003687351942062378, 0.004021763801574707, 0.0025955140590667725, 0.0055866539478302, 0.00341951847076416, 0.00773504376411438, 0.0029757320880889893], "eef_pos": [0.6684615015983582, 0.09102477133274078, 0.2174181044101715], "cand_action_std": 0.08181852102279663, "cand_pairwise_centroid_dist_mean": 0.8330625891685486, "argmax_act_outlier": 1.3724007606506348, "time_encode_ms": 4.9622319638729095, "time_diffusion_ms": 36.50692803785205, "time_q_score_ms": 8.846584940329194, "time_total_ms": 51.091223023831844, "num_action_samples_effective": 32, "q_aggregate": "pair_min"} +{"chunk_ordinal": 35, "q_min_best": 0.36163464188575745, "q_min_mean": 0.316063791513443, "q_min_std": 0.02222638763487339, "q_min_median": 0.3145703971385956, "chosen_vs_median_q_gap": 0.047064244747161865, "q1_best": 0.36300548911094666, "q2_best": 0.36163464188575745, "v_val": 0.8976645469665527, "advantage": -0.5360299050807953, "best_idx": 21, "q_min_all": [0.2831488847732544, 0.3394221365451813, 0.3295334279537201, 0.3367810845375061, 0.315140038728714, 0.35324475169181824, 0.3537651598453522, 0.2838962972164154, 0.29142439365386963, 0.3095327317714691, 0.29925045371055603, 0.32740700244903564, 0.30591723322868347, 0.3079576790332794, 0.3155381381511688, 0.2978271245956421, 0.3145703971385956, 0.3077757656574249, 0.3213628828525543, 0.32905155420303345, 0.3070203363895416, 0.36163464188575745, 0.2987232804298401, 0.3302173316478729, 0.30695512890815735, 0.321602463722229, 0.2994867265224457, 0.2613838016986847, 0.3164029121398926, 0.35028576850891113, 0.30940622091293335, 0.3283759653568268], "q1_all": [0.2873799502849579, 0.3394221365451813, 0.3295334279537201, 0.3367810845375061, 0.315140038728714, 0.35324475169181824, 0.3537651598453522, 0.2838962972164154, 0.29142439365386963, 0.3095327317714691, 0.29925045371055603, 0.32740700244903564, 0.30591723322868347, 0.31507375836372375, 0.3155381381511688, 0.3115122318267822, 0.3145703971385956, 0.3164525628089905, 0.3213628828525543, 0.350435346364975, 0.3070203363895416, 0.36300548911094666, 0.2987232804298401, 0.3302173316478729, 0.30695512890815735, 0.321602463722229, 0.30650341510772705, 0.2774411141872406, 0.3164029121398926, 0.35028576850891113, 0.30940622091293335, 0.3283759653568268], "q2_all": [0.2831488847732544, 0.38031941652297974, 0.38512298464775085, 0.3694763779640198, 0.33518511056900024, 0.4284488558769226, 0.36363470554351807, 0.34383055567741394, 0.3237583041191101, 0.36901986598968506, 0.3359799087047577, 0.4183897376060486, 0.3958607614040375, 0.3079576790332794, 0.3192492127418518, 0.2978271245956421, 0.3821660876274109, 0.3077757656574249, 0.3487264811992645, 0.32905155420303345, 0.40025022625923157, 0.36163464188575745, 0.33005619049072266, 0.3351978063583374, 0.3315638303756714, 0.3363605737686157, 0.2994867265224457, 0.2613838016986847, 0.34114527702331543, 0.3658824861049652, 0.3563062250614166, 0.37757816910743713], "cand_trans_speed_all": [0.005923000164330006, 0.004023062530905008, 0.0034000396262854338, 0.0034634601324796677, 0.00511570880189538, 0.002304431051015854, 0.003495899960398674, 0.004234884399920702, 0.004163601901382208, 0.0035463767126202583, 0.003965502139180899, 0.005621776916086674, 0.004537544678896666, 0.005882280878722668, 0.005144945345818996, 0.005861559417098761, 0.003734622849151492, 0.004558331333100796, 0.006656324490904808, 0.005674166604876518, 0.004004059825092554, 0.004425024148076773, 0.004704926162958145, 0.005542508326470852, 0.0042870729230344296, 0.004516242071986198, 0.005924913100898266, 0.0054176440462470055, 0.004293283447623253, 0.004433979280292988, 0.0050209262408316135, 0.0048212092369794846], "cand_cum_xyz_disp_all": [[-0.008331269025802612, -0.0024086833000183105, -0.02385488897562027], [-0.0043777525424957275, -0.0009287446737289429, -0.013964653015136719], [-0.005443945527076721, -0.0007663816213607788, -0.01284404844045639], [-0.007293522357940674, -0.001044154167175293, -0.014648079872131348], [-0.006672784686088562, 0.0010683238506317139, -0.02205447107553482], [-0.0017393380403518677, 0.0009716451168060303, -0.005619466304779053], [-0.0044095516204833984, -0.0021579116582870483, -0.012316077947616577], [-0.006192833185195923, -0.00488695502281189, -0.019267112016677856], [-0.00861513614654541, -0.003846108913421631, -0.01833488792181015], [-0.004622906446456909, -0.004019126296043396, -0.013864539563655853], [-0.0054091960191726685, -0.0020499229431152344, -0.01790165901184082], [-0.00037698447704315186, -0.004854083061218262, -0.018253080546855927], [-0.003979504108428955, -0.004683107137680054, -0.0170290470123291], [-0.009510844945907593, -0.001867637038230896, -0.024312928318977356], [-0.004385784268379211, -0.001385509967803955, -0.022285431623458862], [-0.01119321584701538, -0.003102704882621765, -0.025315649807453156], [-0.004941865801811218, -0.007704585790634155, -0.01282469928264618], [-0.006099924445152283, -0.002906903624534607, -0.022767849266529083], [-0.0008265376091003418, -0.004651054739952087, -0.029440544545650482], [-0.0021959692239761353, -0.0016430765390396118, -0.029603347182273865], [-0.004006743431091309, -0.0029251277446746826, -0.01459655910730362], [-0.007841229438781738, -0.0005803555250167847, -0.013349108397960663], [-0.010516852140426636, -0.003810092806816101, -0.019912615418434143], [-0.0058443546295166016, -0.00232890248298645, -0.02228522300720215], [-0.00389707088470459, -0.005444720387458801, -0.021251410245895386], [-0.005693748593330383, -0.0019726306200027466, -0.02299901843070984], [-0.007186859846115112, -0.000969231128692627, -0.024387620389461517], [-0.012617155909538269, -0.007319062948226929, -0.02251238375902176], [-0.0072670578956604, -0.002850443124771118, -0.017139114439487457], [-0.007112547755241394, -0.0038105249404907227, -0.01648975908756256], [-0.005606010556221008, -0.0017930269241333008, -0.024059511721134186], [-0.0007326900959014893, -0.0009809285402297974, -0.020090915262699127]], "cand_final_gripper_all": [0.01091158390045166, 0.008584678173065186, 0.006716489791870117, 0.003567725419998169, 0.002694427967071533, 0.009652376174926758, 0.01103144884109497, 0.003369450569152832, 0.0038299560546875, 0.001390606164932251, 0.004823833703994751, 0.002621859312057495, 0.0036830902099609375, 0.002306908369064331, 0.008109420537948608, 0.004081070423126221, 0.005808115005493164, 0.007822781801223755, 0.00412401556968689, 0.004820466041564941, 0.003984659910202026, 0.004414469003677368, 0.0016053617000579834, 0.0049096643924713135, 0.0016655027866363525, 0.002222031354904175, 0.004775643348693848, 0.0015016496181488037, 0.003478795289993286, 0.00632709264755249, 0.008981376886367798, 0.0034947991371154785], "eef_pos": [0.6697524189949036, 0.08996853977441788, 0.2211715131998062], "cand_action_std": 0.08274129033088684, "cand_pairwise_centroid_dist_mean": 0.8273786306381226, "argmax_act_outlier": 1.411745309829712, "time_encode_ms": 5.491934018209577, "time_diffusion_ms": 36.18073300458491, "time_q_score_ms": 8.547179866582155, "time_total_ms": 51.01547297090292, "num_action_samples_effective": 32, "q_aggregate": "pair_min"} +{"chunk_ordinal": 36, "q_min_best": 0.39850419759750366, "q_min_mean": 0.30453723669052124, "q_min_std": 0.028544282540678978, "q_min_median": 0.3026543855667114, "chosen_vs_median_q_gap": 0.09584981203079224, "q1_best": 0.39850419759750366, "q2_best": 0.4521719217300415, "v_val": 0.8533075451850891, "advantage": -0.45480334758758545, "best_idx": 15, "q_min_all": [0.3299895226955414, 0.3113801181316376, 0.32616883516311646, 0.3056950271129608, 0.30407267808914185, 0.27027860283851624, 0.30073282122612, 0.3080809414386749, 0.270230770111084, 0.34137409925460815, 0.2569500505924225, 0.3206670582294464, 0.2695024609565735, 0.28577879071235657, 0.30518513917922974, 0.39850419759750366, 0.3006994128227234, 0.29017123579978943, 0.29970070719718933, 0.301222562789917, 0.3037501275539398, 0.3026543855667114, 0.28316518664360046, 0.2860066592693329, 0.33147677779197693, 0.26897895336151123, 0.3183601200580597, 0.3174581825733185, 0.26907411217689514, 0.29078763723373413, 0.3272091746330261, 0.34988564252853394], "q1_all": [0.3299895226955414, 0.3113801181316376, 0.32616883516311646, 0.3056950271129608, 0.30407267808914185, 0.28418150544166565, 0.30073282122612, 0.3080809414386749, 0.270230770111084, 0.34137409925460815, 0.27840620279312134, 0.3206670582294464, 0.2695024609565735, 0.28577879071235657, 0.30518513917922974, 0.39850419759750366, 0.3006994128227234, 0.29017123579978943, 0.29970070719718933, 0.301222562789917, 0.316527783870697, 0.3026543855667114, 0.28316518664360046, 0.2860066592693329, 0.33147677779197693, 0.26897895336151123, 0.3183601200580597, 0.33328622579574585, 0.26907411217689514, 0.3003126382827759, 0.3272091746330261, 0.34988564252853394], "q2_all": [0.4368346333503723, 0.34630101919174194, 0.3328710198402405, 0.32705575227737427, 0.35785165429115295, 0.27027860283851624, 0.3860718607902527, 0.32865723967552185, 0.3492211699485779, 0.40860557556152344, 0.2569500505924225, 0.3233402371406555, 0.3119920790195465, 0.3332892656326294, 0.35625016689300537, 0.4521719217300415, 0.37427860498428345, 0.32574597001075745, 0.3358948230743408, 0.32604098320007324, 0.3037501275539398, 0.30825990438461304, 0.3175375461578369, 0.33478739857673645, 0.37059906125068665, 0.34177395701408386, 0.3568885326385498, 0.3174581825733185, 0.2707073986530304, 0.29078763723373413, 0.38013580441474915, 0.3895638585090637], "cand_trans_speed_all": [0.0028927037492394447, 0.004730903077870607, 0.004512874409556389, 0.005813206546008587, 0.0037425037007778883, 0.0064196400344371796, 0.003721875138580799, 0.003718579886481166, 0.00697477487847209, 0.003714614547789097, 0.006728082429617643, 0.005583874881267548, 0.005737653933465481, 0.005739912390708923, 0.004691869951784611, 0.0024280990473926067, 0.005246335174888372, 0.004489205777645111, 0.005315653048455715, 0.004825619515031576, 0.004900830797851086, 0.004046369809657335, 0.00516142975538969, 0.006434108130633831, 0.003777063451707363, 0.005499890074133873, 0.004330565221607685, 0.0045303767547011375, 0.007108744233846664, 0.0044505540281534195, 0.0049142250791192055, 0.004479758441448212], "cand_cum_xyz_disp_all": [[-0.006641507148742676, -0.007107466459274292, -0.005676016211509705], [-0.0034335851669311523, -0.005982249975204468, -0.020358674228191376], [-0.0075966715812683105, -0.0030670464038848877, -0.018814295530319214], [-0.008449077606201172, -0.01104031503200531, -0.021423324942588806], [-0.005304262042045593, -0.00506003201007843, -0.01438971608877182], [-0.010263249278068542, -0.00929597020149231, -0.028565578162670135], [-0.007997661828994751, -0.004421532154083252, -0.015595585107803345], [-0.007935091853141785, -0.003461867570877075, -0.016514666378498077], [-0.006825000047683716, -0.006154537200927734, -0.025011993944644928], [-0.004846975207328796, 0.0016214996576309204, -0.01641351729631424], [-0.01078718900680542, -0.008906900882720947, -0.030026644468307495], [-0.00898142158985138, -0.0053997039794921875, -0.026644133031368256], [-0.011435374617576599, -0.005095675587654114, -0.022534489631652832], [-0.0070556700229644775, -0.009988084435462952, -0.021549418568611145], [-0.008947864174842834, -0.004703596234321594, -0.016302376985549927], [-0.001958012580871582, -0.003963172435760498, -0.0056405216455459595], [-0.0064451247453689575, -0.008612066507339478, -0.01837226003408432], [-0.011274054646492004, -0.009683161973953247, -0.018234893679618835], [-0.005055025219917297, -0.0036171376705169678, -0.023313850164413452], [-0.007992193102836609, -0.0031130313873291016, -0.024486348032951355], [-0.005975127220153809, -0.003665626049041748, -0.017809607088565826], [-0.008216381072998047, -0.006559938192367554, -0.0207429900765419], [-0.010799974203109741, -0.005660548806190491, -0.02090519666671753], [-0.009695157408714294, -0.009228944778442383, -0.027582384645938873], [-0.006309568881988525, -0.0023626238107681274, -0.016305722296237946], [-0.008432731032371521, -0.006466671824455261, -0.02369581162929535], [-0.007275477051734924, -0.0036063939332962036, -0.015917234122753143], [-0.011883452534675598, -0.0004072636365890503, -0.01582479476928711], [-0.017760038375854492, -0.007591724395751953, -0.028935104608535767], [-0.00868050754070282, -0.005154728889465332, -0.02284351736307144], [-0.004314899444580078, -0.0027476102113723755, -0.019841648638248444], [-0.005712062120437622, -0.003967404365539551, -0.015727385878562927]], "cand_final_gripper_all": [0.006759077310562134, 0.00341874361038208, 0.00253412127494812, 0.0021641552448272705, 0.0027976036071777344, 0.0020362436771392822, 0.006664633750915527, 0.013138800859451294, 0.002625077962875366, 0.0037007927894592285, 0.0031133294105529785, 0.0023257434368133545, 0.003198772668838501, 0.00016802549362182617, 0.006705552339553833, 0.02041563391685486, 0.0018807649612426758, 0.0021400749683380127, 0.002551734447479248, 0.0031382739543914795, 0.007199496030807495, 0.0004768967628479004, 0.003245443105697632, 0.002276211977005005, 0.0039051175117492676, 0.0024535655975341797, 0.005456209182739258, 0.0012397468090057373, 0.0013633966445922852, 0.0, 0.004862546920776367, 0.0021335482597351074], "eef_pos": [0.6711570620536804, 0.08934538811445236, 0.22372910380363464], "cand_action_std": 0.08824700862169266, "cand_pairwise_centroid_dist_mean": 0.9014469385147095, "argmax_act_outlier": 1.4202845096588135, "time_encode_ms": 5.560501012951136, "time_diffusion_ms": 36.282542161643505, "time_q_score_ms": 7.868852000683546, "time_total_ms": 50.46299798414111, "num_action_samples_effective": 32, "q_aggregate": "pair_min"} +{"chunk_ordinal": 37, "q_min_best": 0.34966543316841125, "q_min_mean": 0.2927020192146301, "q_min_std": 0.02614438906311989, "q_min_median": 0.2955792248249054, "chosen_vs_median_q_gap": 0.05408620834350586, "q1_best": 0.34966543316841125, "q2_best": 0.38353094458580017, "v_val": 0.41467565298080444, "advantage": -0.06501021981239319, "best_idx": 19, "q_min_all": [0.26670047640800476, 0.29693588614463806, 0.28746581077575684, 0.21580909192562103, 0.2749602496623993, 0.2876792252063751, 0.2766345143318176, 0.3202313482761383, 0.3215115964412689, 0.30281639099121094, 0.30490079522132874, 0.2955792248249054, 0.283199280500412, 0.3000815808773041, 0.2729245722293854, 0.3092469274997711, 0.26276543736457825, 0.3337081968784332, 0.28300240635871887, 0.34966543316841125, 0.3271666467189789, 0.2966999113559723, 0.25705575942993164, 0.29377368092536926, 0.29767540097236633, 0.2690134048461914, 0.2968134582042694, 0.30537205934524536, 0.29708585143089294, 0.3309069573879242, 0.27274808287620544, 0.2763351798057556], "q1_all": [0.26670047640800476, 0.29693588614463806, 0.28746581077575684, 0.25086385011672974, 0.2749602496623993, 0.2876792252063751, 0.2766345143318176, 0.3202313482761383, 0.3215115964412689, 0.3051586449146271, 0.30490079522132874, 0.3074896037578583, 0.283199280500412, 0.3000815808773041, 0.2729245722293854, 0.3092469274997711, 0.26276543736457825, 0.3337081968784332, 0.28300240635871887, 0.34966543316841125, 0.3271666467189789, 0.2966999113559723, 0.2811104953289032, 0.29377368092536926, 0.29767540097236633, 0.2982144057750702, 0.2968134582042694, 0.30537205934524536, 0.3067476451396942, 0.3309069573879242, 0.30755993723869324, 0.2767188549041748], "q2_all": [0.27167215943336487, 0.3667290508747101, 0.3365668058395386, 0.21580909192562103, 0.284760057926178, 0.31206822395324707, 0.3161731958389282, 0.38940849900245667, 0.41840216517448425, 0.30281639099121094, 0.351899653673172, 0.2955792248249054, 0.3278469443321228, 0.33490729331970215, 0.31386151909828186, 0.3805767297744751, 0.30698102712631226, 0.3492516279220581, 0.2986690104007721, 0.38353094458580017, 0.3713051974773407, 0.31619027256965637, 0.25705575942993164, 0.29792386293411255, 0.3543212115764618, 0.2690134048461914, 0.3351122736930847, 0.31344226002693176, 0.29708585143089294, 0.3945993483066559, 0.27274808287620544, 0.2763351798057556], "cand_trans_speed_all": [0.005537306424230337, 0.004312895238399506, 0.005474248435348272, 0.006898933555930853, 0.0054762158542871475, 0.006377051584422588, 0.004784409422427416, 0.0040672533214092255, 0.003985952585935593, 0.006205906625837088, 0.0040480634197592735, 0.005424122326076031, 0.006096541881561279, 0.005714212544262409, 0.004620509222149849, 0.004343417473137379, 0.006563590373843908, 0.005065481644123793, 0.006318162195384502, 0.005994671024382114, 0.006040635984390974, 0.004710144363343716, 0.006809216924011707, 0.005379823502153158, 0.004480341449379921, 0.0061347391456365585, 0.004087560344487429, 0.005151730962097645, 0.0080376286059618, 0.0032033189199864864, 0.005809761118143797, 0.005660594906657934], "cand_cum_xyz_disp_all": [[-0.015601173043251038, -0.006709963083267212, -0.021838173270225525], [-0.005992710590362549, -0.00664927065372467, -0.0214504674077034], [-0.005882188677787781, -0.006144121289253235, -0.024775758385658264], [-0.023065268993377686, -0.007145121693611145, -0.026216737926006317], [-0.013175487518310547, -0.003002956509590149, -0.026585400104522705], [-0.013361483812332153, -0.007071316242218018, -0.02636527270078659], [-0.006576791405677795, -0.008280366659164429, -0.02405644953250885], [-0.008225366473197937, -0.002519473433494568, -0.017277158796787262], [-0.003403782844543457, -0.004481002688407898, -0.013290315866470337], [-0.010323762893676758, -0.0036994367837905884, -0.029355555772781372], [-0.007265359163284302, -0.003640308976173401, -0.01604035496711731], [-0.007885351777076721, -0.012679696083068848, -0.027270935475826263], [-0.006418600678443909, -0.003760233521461487, -0.03088913857936859], [-0.00561407208442688, -0.006933331489562988, -0.026190191507339478], [-0.009889230132102966, -0.006661415100097656, -0.022506214678287506], [-0.004575461149215698, -0.005519047379493713, -0.022308439016342163], [-0.0080547034740448, -0.0037195533514022827, -0.026604607701301575], [-0.0057634711265563965, -0.005884572863578796, -0.020413994789123535], [-0.0073862820863723755, -0.003940030932426453, -0.027636833488941193], [-0.005393669009208679, -0.001908913254737854, -0.014229707419872284], [-0.00581108033657074, -0.008207514882087708, -0.02079298347234726], [-0.00743432343006134, -0.005324959754943848, -0.02332761138677597], [-0.015176087617874146, -0.011097058653831482, -0.025362685322761536], [-0.011477723717689514, -0.004933804273605347, -0.025770418345928192], [-0.0046845972537994385, -0.007785320281982422, -0.02016681432723999], [-0.010603561997413635, -0.005113095045089722, -0.03063197433948517], [-0.010604634881019592, -0.006041035056114197, -0.019440993666648865], [-0.006063729524612427, -0.009803101420402527, -0.02543337643146515], [-0.01305130124092102, -0.007309854030609131, -0.03352239727973938], [-0.007233753800392151, -0.004801228642463684, -0.009833931922912598], [-0.010043039917945862, -0.005350366234779358, -0.029645532369613647], [-0.01223340630531311, -0.005323484539985657, -0.028524160385131836]], "cand_final_gripper_all": [0.0032847821712493896, 0.004500746726989746, 0.006649225950241089, 0.004198551177978516, 0.0036537349224090576, 0.00269511342048645, 0.0037705302238464355, 0.002972632646560669, 0.007407516241073608, 0.005107522010803223, 0.004400134086608887, 0.004557222127914429, 0.0031775236129760742, 0.0010908246040344238, 0.0025139451026916504, 0.008595705032348633, 0.002456098794937134, 0.0051381587982177734, 0.0015092194080352783, 0.004105925559997559, 0.0030962228775024414, 0.0027653872966766357, 0.0011410117149353027, 0.0006996989250183105, 0.004805803298950195, 0.005677312612533569, 0.00816461443901062, 0.008372962474822998, 0.0036024153232574463, 0.005841284990310669, 0.0029435455799102783, 0.0024372339248657227], "eef_pos": [0.6717379093170166, 0.08999668061733246, 0.22287611663341522], "cand_action_std": 0.09491897374391556, "cand_pairwise_centroid_dist_mean": 0.943450391292572, "argmax_act_outlier": 1.407822608947754, "time_encode_ms": 5.175007041543722, "time_diffusion_ms": 35.9945478849113, "time_q_score_ms": 7.756123086437583, "time_total_ms": 49.82979316264391, "num_action_samples_effective": 32, "q_aggregate": "pair_min"} +{"chunk_ordinal": 38, "q_min_best": 0.3621048629283905, "q_min_mean": 0.3023083508014679, "q_min_std": 0.02917993813753128, "q_min_median": 0.3034512996673584, "chosen_vs_median_q_gap": 0.058653563261032104, "q1_best": 0.3621048629283905, "q2_best": 0.44203439354896545, "v_val": 0.6143138408660889, "advantage": -0.25220897793769836, "best_idx": 27, "q_min_all": [0.25093644857406616, 0.30465251207351685, 0.3141117990016937, 0.32825788855552673, 0.2993813157081604, 0.28541263937950134, 0.292304128408432, 0.2853265106678009, 0.3238402307033539, 0.26996681094169617, 0.3451436161994934, 0.22435058653354645, 0.32259875535964966, 0.30959847569465637, 0.29583123326301575, 0.3190048038959503, 0.30401310324668884, 0.3408733904361725, 0.3034512996673584, 0.3377327620983124, 0.3377867639064789, 0.2888108193874359, 0.2687385082244873, 0.26233190298080444, 0.31655994057655334, 0.3062659502029419, 0.30272984504699707, 0.3621048629283905, 0.2685549855232239, 0.29156407713890076, 0.30024293065071106, 0.3113881051540375], "q1_all": [0.25093644857406616, 0.32089266180992126, 0.3141117990016937, 0.32825788855552673, 0.3060864508152008, 0.2997256815433502, 0.292304128408432, 0.2853265106678009, 0.3238402307033539, 0.26996681094169617, 0.3451436161994934, 0.2577974498271942, 0.32259875535964966, 0.30959847569465637, 0.29583123326301575, 0.3190048038959503, 0.30401310324668884, 0.3408733904361725, 0.3034512996673584, 0.3377327620983124, 0.3377867639064789, 0.2888108193874359, 0.2687385082244873, 0.26233190298080444, 0.31655994057655334, 0.3062659502029419, 0.30272984504699707, 0.3621048629283905, 0.2685549855232239, 0.29156407713890076, 0.30024293065071106, 0.3113881051540375], "q2_all": [0.2711743414402008, 0.30465251207351685, 0.3945293426513672, 0.37315458059310913, 0.2993813157081604, 0.28541263937950134, 0.3596506118774414, 0.30219611525535583, 0.36797666549682617, 0.28252890706062317, 0.4307430386543274, 0.22435058653354645, 0.3987978398799896, 0.3241449296474457, 0.37695369124412537, 0.39677807688713074, 0.41123491525650024, 0.4368111193180084, 0.3677545189857483, 0.4098833203315735, 0.3896676301956177, 0.3499729633331299, 0.2779909372329712, 0.2695760726928711, 0.3412765562534332, 0.3748524785041809, 0.3604969084262848, 0.44203439354896545, 0.2909545302391052, 0.38274288177490234, 0.3329738974571228, 0.3468977212905884], "cand_trans_speed_all": [0.005987781565636396, 0.004649666137993336, 0.007558896671980619, 0.0043298713862895966, 0.005153396632522345, 0.006120065227150917, 0.005248705856502056, 0.004863903857767582, 0.006786249577999115, 0.0051946877501904964, 0.0030673500150442123, 0.007204472087323666, 0.003957878332585096, 0.004226693417876959, 0.004178280010819435, 0.00391006376594305, 0.004766813479363918, 0.004635327961295843, 0.005923241376876831, 0.003821222111582756, 0.004177848808467388, 0.007791256532073021, 0.005055206827819347, 0.005392653401941061, 0.005682829767465591, 0.005061537493020296, 0.0056006647646427155, 0.003687006188556552, 0.005830639507621527, 0.0065824477933347225, 0.005899351090192795, 0.003913611173629761], "cand_cum_xyz_disp_all": [[-0.01600484549999237, -0.004510566592216492, -0.022717267274856567], [-0.005332082509994507, -0.006876736879348755, -0.022062763571739197], [-0.012501031160354614, -0.00958174467086792, -0.007396899163722992], [-0.005032256245613098, -0.001571163535118103, -0.015505112707614899], [-0.009400293231010437, -0.006551459431648254, -0.025011852383613586], [-0.01039402186870575, -0.006547853350639343, -0.02840450406074524], [-0.00447140634059906, -0.005665227770805359, -0.022553838789463043], [-0.008912548422813416, -0.00500120222568512, -0.023141197860240936], [-0.0016082674264907837, -0.005355209112167358, -0.028211914002895355], [-0.016462594270706177, -0.005946561694145203, -0.020852237939834595], [-0.004559904336929321, -0.007239863276481628, -0.011019721627235413], [-0.01847854256629944, -0.00446850061416626, -0.02540617436170578], [-0.0035218149423599243, -0.0036367326974868774, -0.01603800058364868], [-0.003327876329421997, -0.001370742917060852, -0.02191014587879181], [-0.006709843873977661, 0.00116632878780365, -0.018022648990154266], [-0.00877980887889862, -0.00367128849029541, -0.00953482836484909], [-0.0040474534034729, -0.007075682282447815, -0.021378174424171448], [-0.0003935098648071289, -0.007207080721855164, -0.017131343483924866], [-0.006381303071975708, -0.005435049533843994, -0.022535279393196106], [-0.004071682691574097, -0.004339247941970825, -0.012431077659130096], [-0.0072294920682907104, -0.008498907089233398, -0.013212695717811584], [-0.005152210593223572, -0.00631849467754364, -0.027562953531742096], [-0.010833501815795898, -0.005666360259056091, -0.02553185075521469], [-0.012329787015914917, -0.005885034799575806, -0.021784432232379913], [-0.007756263017654419, -0.004807278513908386, -0.01690673828125], [-0.005811333656311035, -0.006248578429222107, -0.02034234255552292], [-0.003651633858680725, -0.003477245569229126, -0.02179376780986786], [-0.0006070882081985474, -0.005000188946723938, -0.009742163121700287], [-0.012361839413642883, -0.00813835859298706, -0.022061288356781006], [-0.0032794922590255737, -0.005842417478561401, -0.023821786046028137], [-0.0059118568897247314, -0.00615963339805603, -0.01849709451198578], [-0.008842766284942627, -0.005537480115890503, -0.017439834773540497]], "cand_final_gripper_all": [0.002233445644378662, 0.002483755350112915, 0.0032403171062469482, 0.015062600374221802, 0.0037064850330352783, 0.001639336347579956, 0.003106027841567993, 0.00129014253616333, 0.0012030303478240967, 0.0019792914390563965, 0.005679666996002197, 0.0022128522396087646, 0.007292121648788452, 0.003161311149597168, 0.013912439346313477, 0.003930121660232544, 0.0019080042839050293, 0.005836129188537598, 0.006371885538101196, 0.0036639273166656494, 0.0, 0.006571263074874878, 0.0042861104011535645, 0.0005826652050018311, 0.0025105178356170654, 0.004016906023025513, 0.004085034132003784, 0.0015251636505126953, 0.006728321313858032, 0.005721837282180786, 0.004954010248184204, 0.0026819705963134766], "eef_pos": [0.6719820499420166, 0.08995849639177322, 0.22382807731628418], "cand_action_std": 0.08826494216918945, "cand_pairwise_centroid_dist_mean": 0.8943501710891724, "argmax_act_outlier": 1.3320811986923218, "time_encode_ms": 4.815809894353151, "time_diffusion_ms": 35.83237691782415, "time_q_score_ms": 7.972293999046087, "time_total_ms": 49.37288700602949, "num_action_samples_effective": 32, "q_aggregate": "pair_min"} +{"chunk_ordinal": 39, "q_min_best": 0.3460986018180847, "q_min_mean": 0.30050837993621826, "q_min_std": 0.025486977770924568, "q_min_median": 0.2934534251689911, "chosen_vs_median_q_gap": 0.05264517664909363, "q1_best": 0.3460986018180847, "q2_best": 0.3523501753807068, "v_val": 0.2903319001197815, "advantage": 0.05576670169830322, "best_idx": 1, "q_min_all": [0.2777542173862457, 0.3460986018180847, 0.33282986283302307, 0.25060296058654785, 0.2918298542499542, 0.3266043961048126, 0.27133411169052124, 0.3075532913208008, 0.28702083230018616, 0.3418491780757904, 0.3406659960746765, 0.2931213676929474, 0.2717178165912628, 0.2776166796684265, 0.29267844557762146, 0.3330366611480713, 0.2934534251689911, 0.2959156036376953, 0.30717629194259644, 0.28807613253593445, 0.291790246963501, 0.2602292001247406, 0.2846781313419342, 0.30331605672836304, 0.32809770107269287, 0.29874858260154724, 0.3171263039112091, 0.31440916657447815, 0.27373823523521423, 0.31403353810310364, 0.3328540325164795, 0.2703111171722412], "q1_all": [0.2777542173862457, 0.3460986018180847, 0.33282986283302307, 0.27350565791130066, 0.29226136207580566, 0.3266043961048126, 0.27133411169052124, 0.3075532913208008, 0.28702083230018616, 0.3418491780757904, 0.34368327260017395, 0.2931213676929474, 0.2717178165912628, 0.2776166796684265, 0.29267844557762146, 0.3330366611480713, 0.2934534251689911, 0.2959156036376953, 0.30717629194259644, 0.28807613253593445, 0.291790246963501, 0.2602292001247406, 0.2846781313419342, 0.30331605672836304, 0.32809770107269287, 0.29874858260154724, 0.3171263039112091, 0.31440916657447815, 0.29523965716362, 0.31403353810310364, 0.3328540325164795, 0.2703111171722412], "q2_all": [0.3000819981098175, 0.3523501753807068, 0.3531135320663452, 0.25060296058654785, 0.2918298542499542, 0.3495158553123474, 0.30349862575531006, 0.36144304275512695, 0.33055001497268677, 0.40199899673461914, 0.3406659960746765, 0.3761179745197296, 0.294626921415329, 0.3452819883823395, 0.3610542416572571, 0.37548959255218506, 0.3180795907974243, 0.2990381419658661, 0.40546876192092896, 0.30804169178009033, 0.3176639974117279, 0.30715206265449524, 0.3289776146411896, 0.334187388420105, 0.37314867973327637, 0.3430570960044861, 0.3698122203350067, 0.33869320154190063, 0.27373823523521423, 0.3645991086959839, 0.3808940649032593, 0.2793647050857544], "cand_trans_speed_all": [0.005879813339561224, 0.0056783705949783325, 0.0042075952515006065, 0.005194216966629028, 0.005000612698495388, 0.004318935330957174, 0.0054918983951210976, 0.005063923075795174, 0.004776675719767809, 0.005289974622428417, 0.0052946507930755615, 0.006357777863740921, 0.005987662822008133, 0.005031647626310587, 0.0047187283635139465, 0.004357593599706888, 0.004412154667079449, 0.006200085859745741, 0.004649896174669266, 0.004895008634775877, 0.00563735282048583, 0.006508493330329657, 0.005688082426786423, 0.0035685356706380844, 0.002247935626655817, 0.00565225537866354, 0.004790307953953743, 0.0039199599996209145, 0.006944749038666487, 0.004187113605439663, 0.004777356516569853, 0.004267587326467037], "cand_cum_xyz_disp_all": [[-0.012257352471351624, -0.009418860077857971, -0.020371966063976288], [-0.005574926733970642, -0.00848492980003357, -0.02116524428129196], [-0.008112356066703796, -0.0015938133001327515, -0.009346112608909607], [-0.012590795755386353, -0.00781702995300293, -0.023991525173187256], [-0.010035648941993713, -0.005744144320487976, -0.02012864500284195], [-0.008815869688987732, -0.0013317465782165527, -0.003815382719039917], [-0.012298732995986938, -0.002279996871948242, -0.02032291144132614], [-0.007379636168479919, 0.0016043782234191895, -0.016800008714199066], [-0.007271677255630493, -0.0026650279760360718, -0.022489629685878754], [0.0022573620080947876, -0.007894754409790039, -0.022424764931201935], [-0.0021637380123138428, -0.002532854676246643, -0.01599116623401642], [-0.005329534411430359, -0.0058493465185165405, -0.02127206325531006], [-0.010060638189315796, -0.0038628578186035156, -0.024112753570079803], [-0.006640255451202393, -0.004636317491531372, -0.02372763305902481], [-0.006716638803482056, -0.007421165704727173, -0.014423675835132599], [-0.004049524664878845, -0.006029367446899414, -0.014520883560180664], [-0.0064140260219573975, -0.0022457391023635864, -0.016583584249019623], [-0.006725475192070007, -0.00715579092502594, -0.018208198249340057], [-0.002046555280685425, -0.002055615186691284, -0.01957123726606369], [-0.00844690203666687, -0.007609516382217407, -0.019010670483112335], [-0.011361181735992432, 0.0002965182065963745, -0.01553294062614441], [-0.011690333485603333, -0.004738762974739075, -0.022579215466976166], [-0.006169527769088745, -0.005304396152496338, -0.023175522685050964], [-0.011982053518295288, -0.00583253800868988, -0.01616145670413971], [-0.003685310482978821, -0.001104205846786499, -0.010371305048465729], [-0.01363399624824524, -0.003971874713897705, -0.016685299575328827], [-0.00578734278678894, -0.006789460778236389, -0.013649947941303253], [-0.005344986915588379, -0.008411094546318054, -0.015888594090938568], [-0.010243535041809082, -0.008780181407928467, -0.028493322432041168], [-0.000721171498298645, -0.005736991763114929, -0.015864402055740356], [-0.006942376494407654, -0.003220602869987488, -0.008793056011199951], [-0.01234571635723114, -0.005827978253364563, -0.020055755972862244]], "cand_final_gripper_all": [0.009362757205963135, 0.0032230615615844727, 0.004995763301849365, 0.0018703639507293701, 0.004670083522796631, 0.003085583448410034, 0.0061373114585876465, 0.0045435428619384766, 0.005668759346008301, 0.0013693273067474365, 0.0031780898571014404, 0.001939922571182251, 0.032355546951293945, 0.003960460424423218, 0.003902524709701538, 0.0010024011135101318, 0.0061833858489990234, 0.002313762903213501, 0.004484832286834717, 0.004567772150039673, 0.002531200647354126, 0.002222985029220581, 0.0019462406635284424, 0.004199951887130737, 0.002148538827896118, 0.00203627347946167, 0.0, 0.0033833980560302734, 0.003284275531768799, 0.005164206027984619, 0.006646484136581421, 0.0007871687412261963], "eef_pos": [0.6721747517585754, 0.09089461714029312, 0.22428864240646362], "cand_action_std": 0.09044380486011505, "cand_pairwise_centroid_dist_mean": 0.9058060050010681, "argmax_act_outlier": 1.125856637954712, "time_encode_ms": 5.635920912027359, "time_diffusion_ms": 36.07599902898073, "time_q_score_ms": 7.532558869570494, "time_total_ms": 50.340781919658184, "num_action_samples_effective": 32, "q_aggregate": "pair_min"} +{"chunk_ordinal": 40, "q_min_best": 0.3955717384815216, "q_min_mean": 0.3581434488296509, "q_min_std": 0.029395025223493576, "q_min_median": 0.3647494614124298, "chosen_vs_median_q_gap": 0.030822277069091797, "q1_best": 0.3955717384815216, "q2_best": 0.4470798969268799, "v_val": 0.7625027894973755, "advantage": -0.3669310510158539, "best_idx": 18, "q_min_all": [0.38810470700263977, 0.34604308009147644, 0.3864651620388031, 0.32174167037010193, 0.31611523032188416, 0.378145307302475, 0.3474491536617279, 0.33642610907554626, 0.38794347643852234, 0.3579595685005188, 0.34023839235305786, 0.3288255035877228, 0.3932194411754608, 0.34780967235565186, 0.33001261949539185, 0.3682333827018738, 0.39035964012145996, 0.3708442151546478, 0.3955717384815216, 0.368862122297287, 0.32561415433883667, 0.3880409896373749, 0.37213072180747986, 0.2682257294654846, 0.3647494614124298, 0.3863905966281891, 0.32522162795066833, 0.3750417232513428, 0.37664151191711426, 0.3544608950614929, 0.3844551742076874, 0.3392477035522461], "q1_all": [0.38810470700263977, 0.34604308009147644, 0.3864651620388031, 0.33976683020591736, 0.31611523032188416, 0.378145307302475, 0.3474491536617279, 0.33642610907554626, 0.38794347643852234, 0.3579595685005188, 0.38518548011779785, 0.3288255035877228, 0.3932194411754608, 0.35231006145477295, 0.33001261949539185, 0.3682333827018738, 0.39035964012145996, 0.3708442151546478, 0.3955717384815216, 0.368862122297287, 0.33825770020484924, 0.3880409896373749, 0.37213072180747986, 0.32581284642219543, 0.3647494614124298, 0.3863905966281891, 0.35660120844841003, 0.3750417232513428, 0.37664151191711426, 0.3544608950614929, 0.3844551742076874, 0.36846691370010376], "q2_all": [0.40211576223373413, 0.364425927400589, 0.4383188486099243, 0.32174167037010193, 0.3341156244277954, 0.40948590636253357, 0.3949783742427826, 0.4110555052757263, 0.4079200029373169, 0.42145591974258423, 0.34023839235305786, 0.3348706066608429, 0.4827708899974823, 0.34780967235565186, 0.3324768543243408, 0.37925484776496887, 0.4243890941143036, 0.38649627566337585, 0.4470798969268799, 0.419703871011734, 0.32561415433883667, 0.44323229789733887, 0.4004889130592346, 0.2682257294654846, 0.3795725703239441, 0.41653674840927124, 0.32522162795066833, 0.3918039798736572, 0.39539897441864014, 0.39421963691711426, 0.45293787121772766, 0.3392477035522461], "cand_trans_speed_all": [0.005213990807533264, 0.004425132181495428, 0.006084901746362448, 0.004778148606419563, 0.004796857945621014, 0.002419424708932638, 0.005900773219764233, 0.0060509974136948586, 0.003969973884522915, 0.005649713333696127, 0.0044087860733270645, 0.005348707549273968, 0.004589293152093887, 0.004117714241147041, 0.004508314188569784, 0.006193486507982016, 0.003688161028549075, 0.005573839880526066, 0.003362444695085287, 0.004178766161203384, 0.004299916326999664, 0.0033802371472120285, 0.004957379773259163, 0.005252234637737274, 0.0037033911794424057, 0.004359046928584576, 0.004926352761685848, 0.004859905689954758, 0.0028831723611801863, 0.006238387431949377, 0.002598531311377883, 0.00497227068990469], "cand_cum_xyz_disp_all": [[0.0007236897945404053, -0.0026542693376541138, -0.01909661293029785], [-0.007530674338340759, -0.0029971301555633545, -0.017685703933238983], [-0.008410438895225525, -0.0032761991024017334, -0.00408434122800827], [-0.013132169842720032, -0.004624620079994202, -0.01650078594684601], [-0.009663864970207214, -0.0032455772161483765, -0.023620255291461945], [-0.0056549906730651855, -0.004846394062042236, -0.005921520292758942], [-0.003195345401763916, -0.006209567189216614, -0.01855526864528656], [-0.010825932025909424, -0.007912784814834595, -0.016160570085048676], [-0.005404531955718994, -0.00466841459274292, -0.005972839891910553], [-0.003244653344154358, -0.007636457681655884, -0.017061129212379456], [-0.004801720380783081, -0.005994558334350586, -0.0191219300031662], [-0.006757602095603943, -0.005885183811187744, -0.02228979766368866], [-0.0012808740139007568, -0.0029407888650894165, 0.004024393856525421], [-0.012626156210899353, -0.005922973155975342, -0.012750297784805298], [-0.009041950106620789, -0.006004542112350464, -0.01809673011302948], [-0.0062086135149002075, -0.010331794619560242, -0.020271234214305878], [-0.007436022162437439, -0.006870836019515991, -0.007155880331993103], [-0.0022409260272979736, -0.00622422993183136, -0.015472277998924255], [-0.004995390772819519, -0.006695389747619629, -0.0025648176670074463], [-0.004774227738380432, -0.006295114755630493, -0.015402279794216156], [-0.01005128026008606, -0.009575724601745605, -0.011214539408683777], [-0.001417890191078186, -0.008814200758934021, -0.010290466248989105], [-0.0034345686435699463, -0.003977790474891663, -0.01795767992734909], [-0.011388182640075684, -0.008556455373764038, -0.023738794028759003], [-0.00893084704875946, -0.005236029624938965, -0.012722894549369812], [0.0002744942903518677, -0.005561605095863342, -0.010219082236289978], [-0.006023406982421875, -0.0031898915767669678, -0.019145429134368896], [-0.0032464712858200073, -0.006156519055366516, -0.010301902890205383], [-0.00426638126373291, -0.004736736416816711, -0.013139188289642334], [-0.011585012078285217, -0.0054167211055755615, -0.01321341097354889], [-0.0027292072772979736, -0.005538001656532288, -0.0035586804151535034], [-0.003472641110420227, -0.004675030708312988, -0.022332780063152313]], "cand_final_gripper_all": [0.007704257965087891, 0.0027486979961395264, 0.003201037645339966, 0.004532665014266968, 0.002813369035720825, 0.005533665418624878, 0.006841689348220825, 0.004038453102111816, 0.0024473369121551514, 0.0031401515007019043, 0.0052776038646698, 0.005661308765411377, 0.003908336162567139, 0.0050382912158966064, 0.004521667957305908, 0.010523319244384766, 0.001482933759689331, 0.005709856748580933, 0.0016893446445465088, 0.0013430118560791016, 0.003943145275115967, 0.009476333856582642, 0.004816561937332153, 0.0021378695964813232, 0.0053091347217559814, 0.009707063436508179, 0.006379812955856323, 0.007103532552719116, 0.007223337888717651, 0.0048237144947052, 0.011802107095718384, 0.0038716793060302734], "eef_pos": [0.6727783679962158, 0.08907481282949448, 0.22745321691036224], "cand_action_std": 0.08946602791547775, "cand_pairwise_centroid_dist_mean": 0.8914587497711182, "argmax_act_outlier": 1.1552913188934326, "time_encode_ms": 5.49361715093255, "time_diffusion_ms": 35.99258395843208, "time_q_score_ms": 8.871040074154735, "time_total_ms": 51.24444700777531, "num_action_samples_effective": 32, "q_aggregate": "pair_min"} +{"chunk_ordinal": 41, "q_min_best": 0.3285551071166992, "q_min_mean": 0.2830296754837036, "q_min_std": 0.02743503451347351, "q_min_median": 0.2802072763442993, "chosen_vs_median_q_gap": 0.0483478307723999, "q1_best": 0.35499143600463867, "q2_best": 0.3285551071166992, "v_val": 0.7067057490348816, "advantage": -0.3781506419181824, "best_idx": 26, "q_min_all": [0.30836212635040283, 0.2542591094970703, 0.24992915987968445, 0.2149413377046585, 0.25475698709487915, 0.2759719491004944, 0.29668885469436646, 0.2699769139289856, 0.25372785329818726, 0.286592572927475, 0.2734981179237366, 0.3161567151546478, 0.32561394572257996, 0.26776114106178284, 0.2802072763442993, 0.3057844638824463, 0.2729174792766571, 0.2615213990211487, 0.31906193494796753, 0.2890964150428772, 0.30266544222831726, 0.25226113200187683, 0.2880554497241974, 0.30756959319114685, 0.2674156129360199, 0.2445572018623352, 0.3285551071166992, 0.31425267457962036, 0.2713931202888489, 0.2848149836063385, 0.30077919363975525, 0.3178044259548187], "q1_all": [0.30836212635040283, 0.2722649574279785, 0.24992915987968445, 0.2743763029575348, 0.2807808816432953, 0.28576475381851196, 0.30644720792770386, 0.28989988565444946, 0.29228201508522034, 0.286592572927475, 0.3037346303462982, 0.3161567151546478, 0.32561394572257996, 0.26776114106178284, 0.2851238250732422, 0.3127342164516449, 0.2729174792766571, 0.28994354605674744, 0.31906193494796753, 0.2890964150428772, 0.30266544222831726, 0.28912124037742615, 0.2880554497241974, 0.30756959319114685, 0.2674156129360199, 0.2533682882785797, 0.35499143600463867, 0.31958064436912537, 0.28267133235931396, 0.31680378317832947, 0.30077919363975525, 0.3178044259548187], "q2_all": [0.36982566118240356, 0.2542591094970703, 0.26025986671447754, 0.2149413377046585, 0.25475698709487915, 0.2759719491004944, 0.29668885469436646, 0.2699769139289856, 0.25372785329818726, 0.32278379797935486, 0.2734981179237366, 0.3376152217388153, 0.3490997850894928, 0.2700793743133545, 0.2802072763442993, 0.3057844638824463, 0.2767397463321686, 0.2615213990211487, 0.33027952909469604, 0.3125160336494446, 0.3286368250846863, 0.25226113200187683, 0.3506050109863281, 0.3541242480278015, 0.26931264996528625, 0.2445572018623352, 0.3285551071166992, 0.31425267457962036, 0.2713931202888489, 0.2848149836063385, 0.3500879406929016, 0.32873573899269104], "cand_trans_speed_all": [0.0065407296642661095, 0.006246987264603376, 0.006514478474855423, 0.006599754095077515, 0.005654049571603537, 0.005222934298217297, 0.005693761631846428, 0.005658896639943123, 0.0062003652565181255, 0.005705587565898895, 0.005430929362773895, 0.0066192722879350185, 0.0066575463861227036, 0.006498279049992561, 0.006948412861675024, 0.006301133893430233, 0.005799068138003349, 0.007570944726467133, 0.005036776419728994, 0.004265804775059223, 0.006082668900489807, 0.006631609983742237, 0.005410516634583473, 0.005562271922826767, 0.006579271983355284, 0.006238927133381367, 0.006530731916427612, 0.006654083263128996, 0.006116766482591629, 0.0058966889046132565, 0.00398470601066947, 0.005712447222322226], "cand_cum_xyz_disp_all": [[-0.008259415626525879, -0.006737023591995239, -0.01967231184244156], [-0.016256392002105713, -0.007899537682533264, -0.025049172341823578], [-0.014610931277275085, -0.008294343948364258, -0.02604570984840393], [-0.01580674946308136, -0.006568834185600281, -0.02437351644039154], [-0.012941673398017883, -0.005779668688774109, -0.02323475480079651], [-0.01629789173603058, -0.0057779401540756226, -0.01895848661661148], [-0.011860072612762451, -0.013563409447669983, -0.022677145898342133], [-0.014233052730560303, -0.006226107478141785, -0.022464603185653687], [-0.014943331480026245, -0.012294381856918335, -0.02503453940153122], [-0.007992863655090332, -0.008595138788223267, -0.021573662757873535], [-0.010500013828277588, -0.009359315037727356, -0.023284830152988434], [-0.008060455322265625, -0.01015441119670868, -0.02471957355737686], [-0.009132146835327148, -0.008037284016609192, -0.017659462988376617], [-0.01649615168571472, -0.008802995085716248, -0.02240651100873947], [-0.01018911600112915, -0.009571671485900879, -0.03170821815729141], [-0.007616788148880005, -0.010051429271697998, -0.028280332684516907], [-0.00896047055721283, -0.004919677972793579, -0.031741537153720856], [-0.012973874807357788, -0.00885707139968872, -0.032365582883358], [-0.0073675960302352905, -0.010920032858848572, -0.02255363017320633], [-0.013338878750801086, -0.006105586886405945, -0.01640327274799347], [-0.013676360249519348, -0.005026698112487793, -0.023040957748889923], [-0.015705153346061707, -0.008845299482345581, -0.026222586631774902], [-0.006797045469284058, -0.006894111633300781, -0.021202698349952698], [-0.00633201003074646, -0.006582960486412048, -0.01807645708322525], [-0.013059839606285095, -0.004748925566673279, -0.026272691786289215], [-0.01589721441268921, -0.004759475588798523, -0.0259549543261528], [-0.005054488778114319, -0.004213467240333557, -0.009023182094097137], [-0.01527947187423706, -0.007488220930099487, -0.015847600996494293], [-0.014676883816719055, -0.003314986824989319, -0.0220487043261528], [-0.009509727358818054, -0.008117347955703735, -0.028604477643966675], [-0.012733638286590576, -0.0014329254627227783, -0.01376284658908844], [-0.010165244340896606, -0.014462336897850037, -0.01763540506362915]], "cand_final_gripper_all": [0.011748552322387695, 0.003245800733566284, 0.002888411283493042, 0.003661811351776123, 0.003357917070388794, 0.005089908838272095, 0.0061325132846832275, 0.003545045852661133, 0.0003193318843841553, 0.0012471377849578857, 0.00044414401054382324, 0.0029012858867645264, 0.005821019411087036, 0.0012921392917633057, 0.005130678415298462, 0.005680710077285767, 0.010029107332229614, 0.004446446895599365, 0.0036211013793945312, 0.003497868776321411, 0.0010657310485839844, 0.003891080617904663, 0.001819014549255371, 0.006010562181472778, 0.0017288923263549805, 0.002926439046859741, 0.0033804774284362793, 0.003375411033630371, 0.0023290812969207764, 0.0026578009128570557, 0.0026890933513641357, 0.005335628986358643], "eef_pos": [0.6729082465171814, 0.08772572129964828, 0.22488437592983246], "cand_action_std": 0.08834248036146164, "cand_pairwise_centroid_dist_mean": 0.8983790874481201, "argmax_act_outlier": 1.5482443571090698, "time_encode_ms": 5.2456180565059185, "time_diffusion_ms": 36.03608510456979, "time_q_score_ms": 7.734732935205102, "time_total_ms": 49.93068100884557, "num_action_samples_effective": 32, "q_aggregate": "pair_min"} +{"chunk_ordinal": 42, "q_min_best": 0.47240811586380005, "q_min_mean": 0.4178799092769623, "q_min_std": 0.028068970888853073, "q_min_median": 0.4114759564399719, "chosen_vs_median_q_gap": 0.060932159423828125, "q1_best": 0.47240811586380005, "q2_best": 0.4858798384666443, "v_val": 0.5402781963348389, "advantage": -0.06787008047103882, "best_idx": 23, "q_min_all": [0.4540692865848541, 0.4312369227409363, 0.44950324296951294, 0.44767943024635315, 0.4114759564399719, 0.3791548013687134, 0.42799675464630127, 0.37160050868988037, 0.40126609802246094, 0.46111157536506653, 0.40911611914634705, 0.392666220664978, 0.40792664885520935, 0.4488092064857483, 0.45175525546073914, 0.4039376378059387, 0.37866973876953125, 0.4203471541404724, 0.4207932651042938, 0.4249272644519806, 0.391324907541275, 0.39736998081207275, 0.39436185359954834, 0.47240811586380005, 0.3642556965351105, 0.40659797191619873, 0.4179176092147827, 0.4127001166343689, 0.40685707330703735, 0.4449876546859741, 0.409128874540329, 0.4602039158344269], "q1_all": [0.4540692865848541, 0.4594380557537079, 0.4508860409259796, 0.5063874125480652, 0.44545814394950867, 0.4153521955013275, 0.4709344804286957, 0.43523889780044556, 0.44935283064842224, 0.4786466658115387, 0.41590651869773865, 0.43044909834861755, 0.40792664885520935, 0.484967440366745, 0.4594421088695526, 0.4361594319343567, 0.423405259847641, 0.43072929978370667, 0.4574827253818512, 0.4249272644519806, 0.41690024733543396, 0.44679316878318787, 0.4482272267341614, 0.47240811586380005, 0.420276015996933, 0.47240814566612244, 0.4431935250759125, 0.44049301743507385, 0.43710532784461975, 0.45903661847114563, 0.42489978671073914, 0.4602039158344269], "q2_all": [0.4645220637321472, 0.4312369227409363, 0.44950324296951294, 0.44767943024635315, 0.4114759564399719, 0.3791548013687134, 0.42799675464630127, 0.37160050868988037, 0.40126609802246094, 0.46111157536506653, 0.40911611914634705, 0.392666220664978, 0.40898704528808594, 0.4488092064857483, 0.45175525546073914, 0.4039376378059387, 0.37866973876953125, 0.4203471541404724, 0.4207932651042938, 0.43158334493637085, 0.391324907541275, 0.39736998081207275, 0.39436185359954834, 0.4858798384666443, 0.3642556965351105, 0.40659797191619873, 0.4179176092147827, 0.4127001166343689, 0.40685707330703735, 0.4449876546859741, 0.409128874540329, 0.4716101884841919], "cand_trans_speed_all": [0.004679859150201082, 0.003836166113615036, 0.004333467688411474, 0.005976965185254812, 0.004136835690587759, 0.004137776792049408, 0.004668242763727903, 0.0042495764791965485, 0.004362938459962606, 0.002457129769027233, 0.0051370710134506226, 0.0036753793247044086, 0.0038439473137259483, 0.002670082962140441, 0.004040465224534273, 0.00393276009708643, 0.0048167286440730095, 0.004627337213605642, 0.0056051104329526424, 0.004442392848432064, 0.005169371608644724, 0.004414351191371679, 0.004531591199338436, 0.004692476242780685, 0.006001654081046581, 0.005870738532394171, 0.003391742240637541, 0.004547981545329094, 0.00458013778552413, 0.004348612390458584, 0.004135418683290482, 0.0025602728128433228], "cand_cum_xyz_disp_all": [[-0.0032309740781784058, -0.002525821328163147, -0.009202592074871063], [-0.008822396397590637, -0.0042356401681900024, -0.015211306512355804], [-0.0055940598249435425, -0.00932362675666809, -0.010834261775016785], [-0.0075828880071640015, -0.0030137747526168823, -0.008783206343650818], [-0.01232774555683136, -0.004798039793968201, -0.01819133758544922], [-0.009793296456336975, 0.0021980255842208862, -0.01573491096496582], [-0.007913976907730103, -0.004101112484931946, -0.00520402193069458], [-0.009270161390304565, -0.004814475774765015, -0.018147483468055725], [-0.010503530502319336, -0.005252167582511902, -0.014789767563343048], [-0.0038939565420150757, -0.0009716451168060303, -0.007889285683631897], [-0.011026769876480103, -0.006024479866027832, -0.010872215032577515], [-0.009713143110275269, -0.0022389590740203857, -0.01297052949666977], [-0.009827479720115662, -0.0024326443672180176, -0.016388684511184692], [-0.005897507071495056, -0.0024923235177993774, 0.002671085298061371], [-0.006450459361076355, -0.006632357835769653, -0.016467951238155365], [-0.009031802415847778, -0.002332642674446106, -0.007849715650081635], [-0.01038600504398346, -0.0037906020879745483, -0.01727430522441864], [-0.007409647107124329, -0.004342973232269287, -0.014069996774196625], [-0.010718747973442078, -0.008370563387870789, -0.0037335678935050964], [-0.009653925895690918, -0.010257676243782043, -0.015985608100891113], [-0.007758468389511108, -0.0029825419187545776, -0.023201823234558105], [-0.011772021651268005, -0.0034948885440826416, -0.010643243789672852], [-0.012021318078041077, -0.007769554853439331, -0.012776605784893036], [-0.00290071964263916, -0.0008954703807830811, -0.01088976114988327], [-0.0156937837600708, -0.00782795250415802, -0.017557479441165924], [-0.006369411945343018, -0.00580105185508728, -0.006376244127750397], [-0.005955323576927185, -0.0030453652143478394, -0.010738082230091095], [-0.01077638566493988, -0.004274904727935791, -0.012260228395462036], [-0.009801790118217468, -0.004818767309188843, -0.013146854937076569], [-0.005948618054389954, -0.003972113132476807, -0.01582254469394684], [-0.00991848111152649, -0.005758404731750488, -0.011740408837795258], [-0.0013828426599502563, -0.0028456002473831177, -0.005550369620323181]], "cand_final_gripper_all": [0.00031363964080810547, 0.005428284406661987, 0.0025713741779327393, 0.0030261576175689697, 0.0016209781169891357, 0.0, 0.0018383562564849854, 0.0037011802196502686, 0.003222733736038208, 0.0031142234802246094, 0.0005208253860473633, 0.0028001368045806885, 0.0015974044799804688, 0.006633758544921875, 0.0038810372352600098, 0.003994405269622803, 0.0020694732666015625, 0.0013460814952850342, 0.0010780394077301025, 0.001766800880432129, 0.0005509853363037109, 0.020049840211868286, 0.006633639335632324, 0.0008223652839660645, 0.0011306703090667725, 0.003185480833053589, 0.0006431937217712402, 0.001782447099685669, 0.0021331310272216797, 0.0013202428817749023, 0.003066539764404297, 0.0016715824604034424], "eef_pos": [0.6745450496673584, 0.08533711731433868, 0.2313850224018097], "cand_action_std": 0.08814392983913422, "cand_pairwise_centroid_dist_mean": 0.8604468703269958, "argmax_act_outlier": 1.202630639076233, "time_encode_ms": 5.705961026251316, "time_diffusion_ms": 36.54448711313307, "time_q_score_ms": 8.373758057132363, "time_total_ms": 51.59568786621094, "num_action_samples_effective": 32, "q_aggregate": "pair_min"} +{"chunk_ordinal": 43, "q_min_best": 0.404706209897995, "q_min_mean": 0.35280805826187134, "q_min_std": 0.028082773089408875, "q_min_median": 0.3533400297164917, "chosen_vs_median_q_gap": 0.051366180181503296, "q1_best": 0.4084385335445404, "q2_best": 0.404706209897995, "v_val": 0.7534356117248535, "advantage": -0.3487294018268585, "best_idx": 1, "q_min_all": [0.32679685950279236, 0.404706209897995, 0.3646557927131653, 0.3277999460697174, 0.3588157594203949, 0.33744537830352783, 0.31622421741485596, 0.3533400297164917, 0.3550337553024292, 0.3488340973854065, 0.35439231991767883, 0.35071781277656555, 0.3382403254508972, 0.37091872096061707, 0.3568846881389618, 0.31111153960227966, 0.38999268412590027, 0.3796214759349823, 0.3830942213535309, 0.39456987380981445, 0.31941407918930054, 0.3432820737361908, 0.3263528347015381, 0.3127322793006897, 0.40277615189552307, 0.36222556233406067, 0.3054182529449463, 0.32831746339797974, 0.33355170488357544, 0.3817240595817566, 0.3605736196041107, 0.39029377698898315], "q1_all": [0.33919578790664673, 0.4084385335445404, 0.39682695269584656, 0.3467181324958801, 0.3588157594203949, 0.33744537830352783, 0.3240223228931427, 0.3533400297164917, 0.3550337553024292, 0.3488340973854065, 0.35439231991767883, 0.35071781277656555, 0.3724706172943115, 0.37091872096061707, 0.3568846881389618, 0.32377341389656067, 0.38999268412590027, 0.3796214759349823, 0.3830942213535309, 0.4160937964916229, 0.3415495455265045, 0.3432820737361908, 0.37033605575561523, 0.35378244519233704, 0.40277615189552307, 0.36222556233406067, 0.3054182529449463, 0.32831746339797974, 0.33937591314315796, 0.3817240595817566, 0.3605736196041107, 0.4078208804130554], "q2_all": [0.32679685950279236, 0.404706209897995, 0.3646557927131653, 0.3277999460697174, 0.3900819420814514, 0.3568613529205322, 0.31622421741485596, 0.35493218898773193, 0.3819914758205414, 0.3587898313999176, 0.36528703570365906, 0.36924195289611816, 0.3382403254508972, 0.41475266218185425, 0.39902010560035706, 0.31111153960227966, 0.4360923767089844, 0.3963763415813446, 0.41097381711006165, 0.39456987380981445, 0.31941407918930054, 0.3884550929069519, 0.3263528347015381, 0.3127322793006897, 0.42018935084342957, 0.36865293979644775, 0.32121890783309937, 0.3451231122016907, 0.33355170488357544, 0.4452480673789978, 0.3980039358139038, 0.39029377698898315], "cand_trans_speed_all": [0.0060033537447452545, 0.006259000860154629, 0.004327596165239811, 0.006599221378564835, 0.0039545688778162, 0.004863163456320763, 0.005335377063602209, 0.004649573937058449, 0.003789101494476199, 0.005070875398814678, 0.004513578023761511, 0.0036382945254445076, 0.007989170961081982, 0.004537943750619888, 0.003997515887022018, 0.005129668395966291, 0.004925454966723919, 0.004123973660171032, 0.004664645530283451, 0.005171093624085188, 0.005240064114332199, 0.006374618038535118, 0.005646365694701672, 0.004976786673069, 0.006361547391861677, 0.003902418538928032, 0.005209320690482855, 0.005522849969565868, 0.0060881031677126884, 0.004633922129869461, 0.00347399665042758, 0.004375507589429617], "cand_cum_xyz_disp_all": [[-0.01106947660446167, -0.006845593452453613, -0.023055046796798706], [-0.005978435277938843, -0.012450098991394043, -0.020547524094581604], [-0.008798614144325256, -0.004385441541671753, -0.015824824571609497], [-0.012235209345817566, -0.005841091275215149, -0.021176792681217194], [-0.01008637249469757, -0.006541267037391663, -0.008473791182041168], [-0.00893615186214447, -0.0062940120697021484, -0.01601707935333252], [-0.009043991565704346, -0.003736436367034912, -0.022575601935386658], [-0.007969588041305542, -0.0038001835346221924, -0.02174285799264908], [-0.008943900465965271, -0.003555193543434143, -0.01601254940032959], [-0.008540377020835876, -0.0011343508958816528, -0.017245344817638397], [-0.009613573551177979, -0.007009044289588928, -0.016475379467010498], [-0.008086040616035461, -0.0021829754114151, -0.016130104660987854], [-0.014207050204277039, -0.002642616629600525, -0.01659366488456726], [-0.008671879768371582, -0.009527087211608887, -0.014419995248317719], [-0.007388204336166382, -0.002994820475578308, -0.00893324613571167], [-0.012870848178863525, -0.003327682614326477, -0.019434764981269836], [-0.000657498836517334, -0.004215747117996216, -0.01779831200838089], [-0.009032443165779114, -0.005675837397575378, -0.012235544621944427], [-0.005989789962768555, -0.008118763566017151, -0.014491923153400421], [-0.006382107734680176, -0.008691355586051941, -0.023084014654159546], [-0.011718198657035828, -0.00653742253780365, -0.020025119185447693], [-0.00468270480632782, -0.004808589816093445, -0.021632961928844452], [-0.009238436818122864, -0.006732717156410217, -0.018498867750167847], [-0.014117226004600525, -0.004636973142623901, -0.01582270860671997], [-0.00017227232456207275, -0.011620298027992249, -0.023730330169200897], [-0.009500369429588318, -0.009014323353767395, -0.017239302396774292], [-0.011125996708869934, -0.0044081807136535645, -0.01991225779056549], [-0.008291944861412048, -0.007364526391029358, -0.024478375911712646], [-0.010367542505264282, -0.008428201079368591, -0.024383053183555603], [-0.001406833529472351, -0.008066967129707336, -0.013044394552707672], [-0.00532078742980957, -0.005316257476806641, -0.011197127401828766], [-0.008531525731086731, -0.0052793025970458984, -0.016129285097122192]], "cand_final_gripper_all": [0.0019459128379821777, 0.0029446780681610107, 0.004674643278121948, 0.0030377209186553955, 0.0019600093364715576, 0.004814624786376953, 0.004128694534301758, 0.0005964040756225586, 0.002061128616333008, 0.008463233709335327, 0.002657979726791382, 0.008906424045562744, 0.005476206541061401, 0.006000548601150513, 0.004640311002731323, 0.00719723105430603, 0.005355745553970337, 0.008095771074295044, 0.0016362369060516357, 0.00286218523979187, 0.0022931694984436035, 0.0048111677169799805, 0.0033157169818878174, 0.0016090869903564453, 0.005111992359161377, 0.004494696855545044, 0.0019926130771636963, 0.002479076385498047, 0.0017615258693695068, 0.005952805280685425, 0.003404557704925537, 0.007300972938537598], "eef_pos": [0.6738632321357727, 0.08707579970359802, 0.22895926237106323], "cand_action_std": 0.09440626204013824, "cand_pairwise_centroid_dist_mean": 0.9159130454063416, "argmax_act_outlier": 1.3965909481048584, "time_encode_ms": 4.914764082059264, "time_diffusion_ms": 35.84377816878259, "time_q_score_ms": 7.811965886503458, "time_total_ms": 49.55619596876204, "num_action_samples_effective": 32, "q_aggregate": "pair_min"} +{"chunk_ordinal": 44, "q_min_best": 0.4833606481552124, "q_min_mean": 0.4131543040275574, "q_min_std": 0.04194282740354538, "q_min_median": 0.41752004623413086, "chosen_vs_median_q_gap": 0.06584060192108154, "q1_best": 0.4912848174571991, "q2_best": 0.4833606481552124, "v_val": 0.5721133947372437, "advantage": -0.08875274658203125, "best_idx": 31, "q_min_all": [0.39944884181022644, 0.4309108555316925, 0.4228043556213379, 0.327293336391449, 0.40231096744537354, 0.3958926796913147, 0.4176000952720642, 0.45927146077156067, 0.41752004623413086, 0.3511374294757843, 0.47159522771835327, 0.3889881670475006, 0.4339889585971832, 0.43295055627822876, 0.47527480125427246, 0.3815106153488159, 0.47866401076316833, 0.39916056394577026, 0.4622096121311188, 0.419023722410202, 0.40039366483688354, 0.38271743059158325, 0.3200932443141937, 0.41028106212615967, 0.41860103607177734, 0.4441782832145691, 0.43413063883781433, 0.44912853837013245, 0.35622677206993103, 0.38890644907951355, 0.36536312103271484, 0.4833606481552124], "q1_all": [0.4640161395072937, 0.45374104380607605, 0.4513687491416931, 0.40345752239227295, 0.44214266538619995, 0.3996889293193817, 0.42101815342903137, 0.45927146077156067, 0.41752004623413086, 0.3543402850627899, 0.4859052896499634, 0.424966424703598, 0.4714161455631256, 0.45062926411628723, 0.4862721860408783, 0.4091733396053314, 0.47866401076316833, 0.4251932203769684, 0.4811069667339325, 0.4233306348323822, 0.4440191686153412, 0.44098591804504395, 0.35071098804473877, 0.43552544713020325, 0.42666807770729065, 0.47098103165626526, 0.43413063883781433, 0.4620297849178314, 0.4172961413860321, 0.4143405854701996, 0.44045984745025635, 0.4912848174571991], "q2_all": [0.39944884181022644, 0.4309108555316925, 0.4228043556213379, 0.327293336391449, 0.40231096744537354, 0.3958926796913147, 0.4176000952720642, 0.49199748039245605, 0.42975878715515137, 0.3511374294757843, 0.47159522771835327, 0.3889881670475006, 0.4339889585971832, 0.43295055627822876, 0.47527480125427246, 0.3815106153488159, 0.4864655137062073, 0.39916056394577026, 0.4622096121311188, 0.419023722410202, 0.40039366483688354, 0.38271743059158325, 0.3200932443141937, 0.41028106212615967, 0.41860103607177734, 0.4441782832145691, 0.44254159927368164, 0.44912853837013245, 0.35622677206993103, 0.38890644907951355, 0.36536312103271484, 0.4833606481552124], "cand_trans_speed_all": [0.0036010926123708487, 0.0042132046073675156, 0.004962886217981577, 0.00329037569463253, 0.004215641878545284, 0.004625518340617418, 0.005215741693973541, 0.002905281726270914, 0.004188302904367447, 0.007199087645858526, 0.004915575962513685, 0.0046507827937603, 0.004828357603400946, 0.00279676984064281, 0.00370521517470479, 0.0037992249708622694, 0.003877145703881979, 0.004847690463066101, 0.0029396573081612587, 0.003067436395213008, 0.00575909111648798, 0.005262724589556456, 0.00606704642996192, 0.0051943520084023476, 0.006465960294008255, 0.003320392221212387, 0.005018999800086021, 0.005556168034672737, 0.004959183745086193, 0.005105515941977501, 0.003518110141158104, 0.0030329858418554068], "cand_cum_xyz_disp_all": [[-0.005791455507278442, -0.0004744976758956909, -0.013372205197811127], [-0.008709117770195007, -0.0030124634504318237, -0.014001496136188507], [-0.005678921937942505, -0.004635795950889587, -0.01332876831293106], [-0.008956804871559143, -0.002958357334136963, -0.015050746500492096], [-0.010821312665939331, -0.003992035984992981, -0.013094909489154816], [-0.01186072826385498, -0.004235506057739258, -0.013850197196006775], [-0.004722848534584045, -0.003005877137184143, -0.013888068497180939], [-0.0016233474016189575, -0.006138801574707031, -0.00907646119594574], [-0.008745446801185608, -0.0060759782791137695, -0.014676444232463837], [-0.013075098395347595, -0.006382763385772705, -0.0240500345826149], [-0.005658552050590515, -0.002506926655769348, -0.005227513611316681], [-0.013848796486854553, -0.00701180100440979, -0.011544190347194672], [-0.0042304545640945435, 0.0025442391633987427, -0.011163249611854553], [-0.006609499454498291, -0.003487706184387207, -0.010763213038444519], [-0.005369320511817932, -0.00186842679977417, -0.007881775498390198], [-0.014575526118278503, -0.007128164172172546, -0.010737769305706024], [-0.007323428988456726, -0.004889622330665588, -0.005920000374317169], [-0.008937478065490723, -0.001962125301361084, -0.02002681791782379], [-0.005552962422370911, -0.0019331872463226318, -0.010943017899990082], [-0.008025646209716797, -0.001816391944885254, -0.005966417491436005], [-0.008712530136108398, -0.0005163997411727905, -0.009559392929077148], [-0.011707380414009094, -0.006541699171066284, -0.01789034903049469], [-0.022033199667930603, -0.004032015800476074, -0.016060881316661835], [-0.011303365230560303, -0.00812426209449768, -0.015308797359466553], [-0.006884589791297913, -0.0012181103229522705, -0.015699103474617004], [-0.008982300758361816, -0.002224370837211609, -0.008185572922229767], [-0.0093153715133667, -0.006059706211090088, -0.021888889372348785], [-0.00815264880657196, 0.0005082935094833374, -0.009254179894924164], [-0.01376141607761383, -0.0030660033226013184, -0.018456079065799713], [-0.011963963508605957, -0.006656348705291748, -0.017243504524230957], [-0.007199093699455261, -0.0004037618637084961, -0.014619976282119751], [-0.004778638482093811, -0.001929953694343567, -0.0021348893642425537]], "cand_final_gripper_all": [0.0032860934734344482, 0.0020257234573364258, 0.002085357904434204, 0.0026297569274902344, 0.00011995434761047363, 0.0016064643859863281, 0.0077443718910217285, 0.002248317003250122, 0.005223900079727173, 0.005110800266265869, 0.0026300251483917236, 0.0017703473567962646, 0.012048333883285522, 0.0026913881301879883, 0.005070596933364868, 0.005466073751449585, 0.001672118902206421, 0.008125394582748413, 0.003696620464324951, 0.003843635320663452, 0.0016274452209472656, 0.007835060358047485, 0.0029765963554382324, 0.003332674503326416, 0.0037862062454223633, 0.004585593938827515, 0.0047020018100738525, 0.006190568208694458, 0.0029675066471099854, 0.0029380321502685547, 0.0015993714332580566, 0.00022792816162109375], "eef_pos": [0.6754931211471558, 0.08648946136236191, 0.233284592628479], "cand_action_std": 0.09174426645040512, "cand_pairwise_centroid_dist_mean": 0.8729556798934937, "argmax_act_outlier": 1.2049921751022339, "time_encode_ms": 4.917659098282456, "time_diffusion_ms": 35.806589061394334, "time_q_score_ms": 8.10448918491602, "time_total_ms": 49.74904307164252, "num_action_samples_effective": 32, "q_aggregate": "pair_min"} +{"chunk_ordinal": 45, "q_min_best": 0.5014560222625732, "q_min_mean": 0.4218648672103882, "q_min_std": 0.05058074742555618, "q_min_median": 0.4243418574333191, "chosen_vs_median_q_gap": 0.07711416482925415, "q1_best": 0.5014560222625732, "q2_best": 0.5039939880371094, "v_val": 0.5296245813369751, "advantage": -0.028168559074401855, "best_idx": 9, "q_min_all": [0.40194541215896606, 0.4876536428928375, 0.33616653084754944, 0.36520296335220337, 0.37739241123199463, 0.47608518600463867, 0.3929002583026886, 0.36779528856277466, 0.4391028583049774, 0.5014560222625732, 0.4658415913581848, 0.45922914147377014, 0.4151582717895508, 0.4174957573413849, 0.44662538170814514, 0.49179261922836304, 0.430970162153244, 0.4117891788482666, 0.34768974781036377, 0.4718277156352997, 0.47130727767944336, 0.36797288060188293, 0.3968833088874817, 0.42899709939956665, 0.4243418574333191, 0.48567235469818115, 0.4582519829273224, 0.4642995297908783, 0.36205554008483887, 0.44353723526000977, 0.30809658765792847, 0.38414061069488525], "q1_all": [0.4244612157344818, 0.4876536428928375, 0.39324045181274414, 0.4044005572795868, 0.40464475750923157, 0.49164584279060364, 0.4169102609157562, 0.4099784195423126, 0.45192739367485046, 0.5014560222625732, 0.4658415913581848, 0.45922914147377014, 0.4369482398033142, 0.4562746584415436, 0.44662538170814514, 0.499987930059433, 0.45020362734794617, 0.43357259035110474, 0.3751187026500702, 0.4718277156352997, 0.476288378238678, 0.42800167202949524, 0.44591325521469116, 0.45331743359565735, 0.4256819784641266, 0.4909556210041046, 0.4582519829273224, 0.4642995297908783, 0.4188344180583954, 0.446501761674881, 0.33611413836479187, 0.4145738184452057], "q2_all": [0.40194541215896606, 0.49306339025497437, 0.33616653084754944, 0.36520296335220337, 0.37739241123199463, 0.47608518600463867, 0.3929002583026886, 0.36779528856277466, 0.4391028583049774, 0.5039939880371094, 0.4668915867805481, 0.46872299909591675, 0.4151582717895508, 0.4174957573413849, 0.47113221883773804, 0.49179261922836304, 0.430970162153244, 0.4117891788482666, 0.34768974781036377, 0.5086857676506042, 0.47130727767944336, 0.36797288060188293, 0.3968833088874817, 0.42899709939956665, 0.4243418574333191, 0.48567235469818115, 0.46326422691345215, 0.4714609980583191, 0.36205554008483887, 0.44353723526000977, 0.30809658765792847, 0.38414061069488525], "cand_trans_speed_all": [0.0059242527931928635, 0.005213416647166014, 0.004684868734329939, 0.005635853391140699, 0.00478643923997879, 0.0048218946903944016, 0.005399254150688648, 0.005307817365974188, 0.0031866468489170074, 0.0038588556926697493, 0.0033941282890737057, 0.004921597428619862, 0.0042745862156152725, 0.0036122500896453857, 0.004369801376014948, 0.002879176288843155, 0.004119257442653179, 0.005936219356954098, 0.005289969500154257, 0.005515956785529852, 0.004242283292114735, 0.004653950221836567, 0.00361074460670352, 0.004227759316563606, 0.005130584351718426, 0.003384978976100683, 0.0030439412221312523, 0.0034843417815864086, 0.004396386444568634, 0.0038869804702699184, 0.008085506968200207, 0.004532256163656712], "cand_cum_xyz_disp_all": [[-0.011953383684158325, -0.006066307425498962, -0.005932576954364777], [-0.00635954737663269, -0.0012548565864562988, -0.00045201927423477173], [-0.013373777270317078, 0.000629916787147522, -0.017155848443508148], [-0.0037497878074645996, 0.0011853724718093872, -0.022407442331314087], [-0.008120030164718628, -0.0038254857063293457, -0.022781170904636383], [-0.000769391655921936, -0.006481260061264038, -0.014342136681079865], [-0.011659681797027588, -0.0044512152671813965, -0.00780920684337616], [-0.0007960200309753418, -0.004210144281387329, -0.026380904018878937], [-0.0031648725271224976, -9.919703006744385e-05, -0.011580333113670349], [0.0005269497632980347, 0.0034237951040267944, -0.003298260271549225], [-0.0033005326986312866, -0.0035811662673950195, -0.01189829409122467], [-0.007886156439781189, -0.006338253617286682, -0.008200548589229584], [-0.005104139447212219, -0.002708613872528076, -0.019364044070243835], [-0.007985800504684448, -0.0021179169416427612, -0.012449786067008972], [-0.003602549433708191, 0.0003392845392227173, -0.014337420463562012], [-0.0001997053623199463, -0.005931645631790161, -0.0062708258628845215], [-0.0037909746170043945, -0.001855015754699707, -0.017326638102531433], [-0.004404500126838684, -0.002387121319770813, -0.018412061035633087], [-0.011342734098434448, -0.003253638744354248, -0.023665033280849457], [-0.0017510652542114258, -0.004618838429450989, -0.009530775249004364], [-0.004574567079544067, -0.0019825994968414307, -0.011766314506530762], [-0.009215682744979858, -0.0028011053800582886, -0.02080986648797989], [-0.00787895917892456, 0.0008268654346466064, -0.01390964537858963], [-0.005437940359115601, -0.002394750714302063, -0.015840791165828705], [-0.010472491383552551, -0.001797005534172058, -0.010051578283309937], [-0.002512142062187195, -0.00038786232471466064, -0.006493277847766876], [-0.001056969165802002, -0.006780549883842468, -0.01081126183271408], [-0.006279394030570984, -0.0036408305168151855, -0.008593492209911346], [-0.011767715215682983, -0.00394672155380249, -0.015329986810684204], [-0.007163390517234802, -0.005085393786430359, -0.013636738061904907], [-0.009747028350830078, -0.006094455718994141, -0.028053447604179382], [-0.00799359381198883, -0.0019118934869766235, -0.015969179570674896]], "cand_final_gripper_all": [0.0041582584381103516, 0.0061845481395721436, 0.0033375322818756104, 0.004802078008651733, 0.003711700439453125, 0.008823812007904053, 0.0026443004608154297, 0.0013745129108428955, 0.003092348575592041, 0.001944422721862793, 0.006234526634216309, 0.0057350993156433105, 0.006030231714248657, 0.003285437822341919, 0.003420501947402954, 0.004475682973861694, 0.0023657679557800293, 0.0032337307929992676, 0.008107244968414307, 0.006632357835769653, 0.0040520429611206055, 0.004340320825576782, 0.004367798566818237, 0.004238545894622803, 0.008377283811569214, 0.005978375673294067, 0.003984600305557251, 0.0024197399616241455, 0.0021189451217651367, 0.00254783034324646, 0.001998037099838257, 0.010281890630722046], "eef_pos": [0.6750900149345398, 0.08705403655767441, 0.23107825219631195], "cand_action_std": 0.09394968301057816, "cand_pairwise_centroid_dist_mean": 0.9458593130111694, "argmax_act_outlier": 1.1626163721084595, "time_encode_ms": 5.806176923215389, "time_diffusion_ms": 36.28694894723594, "time_q_score_ms": 7.765860995277762, "time_total_ms": 50.88005098514259, "num_action_samples_effective": 32, "q_aggregate": "pair_min"} +{"chunk_ordinal": 46, "q_min_best": 0.4509362280368805, "q_min_mean": 0.3729536831378937, "q_min_std": 0.040432292968034744, "q_min_median": 0.36981114745140076, "chosen_vs_median_q_gap": 0.08112508058547974, "q1_best": 0.4509362280368805, "q2_best": 0.45618295669555664, "v_val": 0.7212727069854736, "advantage": -0.27033647894859314, "best_idx": 28, "q_min_all": [0.3989960551261902, 0.398209810256958, 0.42088863253593445, 0.3652174770832062, 0.3965468406677246, 0.2848775386810303, 0.3998022675514221, 0.35865336656570435, 0.41075384616851807, 0.33567994832992554, 0.28807955980300903, 0.3285858631134033, 0.32191213965415955, 0.30691277980804443, 0.36936765909194946, 0.44319024682044983, 0.36981114745140076, 0.3922894597053528, 0.3855375647544861, 0.34950652718544006, 0.36008426547050476, 0.3825400173664093, 0.393649160861969, 0.3524969816207886, 0.357976496219635, 0.3830234408378601, 0.3625992238521576, 0.35159921646118164, 0.4509362280368805, 0.37251967191696167, 0.42623209953308105, 0.41604235768318176], "q1_all": [0.40553322434425354, 0.43816208839416504, 0.4340275824069977, 0.4036194384098053, 0.40969225764274597, 0.3823392689228058, 0.41283750534057617, 0.38919538259506226, 0.41075384616851807, 0.3591913878917694, 0.32832640409469604, 0.36513155698776245, 0.367643803358078, 0.3294275403022766, 0.36936765909194946, 0.4665006697177887, 0.4018450975418091, 0.4417172372341156, 0.4060622453689575, 0.4082671105861664, 0.36008426547050476, 0.43547314405441284, 0.41479188203811646, 0.40368887782096863, 0.4121537208557129, 0.4123648405075073, 0.40183237195014954, 0.4109678268432617, 0.4509362280368805, 0.3910169303417206, 0.4329741299152374, 0.41604235768318176], "q2_all": [0.3989960551261902, 0.398209810256958, 0.42088863253593445, 0.3652174770832062, 0.3965468406677246, 0.2848775386810303, 0.3998022675514221, 0.35865336656570435, 0.4138100743293762, 0.33567994832992554, 0.28807955980300903, 0.3285858631134033, 0.32191213965415955, 0.30691277980804443, 0.3907371759414673, 0.44319024682044983, 0.36981114745140076, 0.3922894597053528, 0.3855375647544861, 0.34950652718544006, 0.3637096881866455, 0.3825400173664093, 0.393649160861969, 0.3524969816207886, 0.357976496219635, 0.3830234408378601, 0.3625992238521576, 0.35159921646118164, 0.45618295669555664, 0.37251967191696167, 0.42623209953308105, 0.42818140983581543], "cand_trans_speed_all": [0.005668888799846172, 0.006544158793985844, 0.003984380513429642, 0.005098073743283749, 0.0027516630943864584, 0.005139386281371117, 0.004243317060172558, 0.004443109966814518, 0.00360067724250257, 0.006116393953561783, 0.006294938735663891, 0.006093503441661596, 0.005610216408967972, 0.006088200956583023, 0.007683408912271261, 0.004721163772046566, 0.005682413466274738, 0.0065918900072574615, 0.004280413500964642, 0.005464652553200722, 0.005467780865728855, 0.004381773993372917, 0.005310134496539831, 0.006210837047547102, 0.00526818260550499, 0.004149303771555424, 0.005666929297149181, 0.004516510292887688, 0.0039018287789076567, 0.0066793388687074184, 0.0031750283669680357, 0.0042769997380673885], "cand_cum_xyz_disp_all": [[-0.003014862537384033, 0.001124739646911621, -0.013466395437717438], [-0.011920854449272156, -0.01145695149898529, -0.014030985534191132], [0.00039818882942199707, -3.78340482711792e-05, -0.01427297294139862], [-0.005521625280380249, -0.0014216899871826172, -0.018470264971256256], [-0.009871289134025574, -0.003006488084793091, -0.006030470132827759], [-0.010408386588096619, 0.0011164098978042603, -0.024372369050979614], [-0.006671503186225891, -0.0036170929670333862, -0.015186026692390442], [-0.007405996322631836, -0.0038021057844161987, -0.01995529979467392], [-0.00632081925868988, -0.0035801976919174194, -0.012372314929962158], [-0.008134841918945312, -0.0034612566232681274, -0.02311152219772339], [-0.013306140899658203, -0.0017550736665725708, -0.028053633868694305], [-0.013512805104255676, -0.006390050053596497, -0.02039637416601181], [-0.012890130281448364, -0.0030962079763412476, -0.026926539838314056], [-0.012277856469154358, -0.00303688645362854, -0.02536219358444214], [-0.006940633058547974, -0.012561991810798645, -0.023193031549453735], [-0.0028560012578964233, -0.0017709881067276, -0.012973681092262268], [-0.008129805326461792, -0.00478951632976532, -0.015378735959529877], [-0.0020354539155960083, 0.0003851652145385742, -0.017581172287464142], [-0.007318750023841858, -0.007437527179718018, -0.01929132640361786], [-0.009857505559921265, -0.0009756535291671753, -0.01176954060792923], [-0.006271660327911377, -0.0015504658222198486, -0.02056243270635605], [-0.00468270480632782, -0.0021195560693740845, -0.012595601379871368], [-0.0049285888671875, -0.004760235548019409, -0.02017425000667572], [-0.01216055452823639, -0.002465769648551941, -0.021141715347766876], [-0.00860711932182312, -0.002793237566947937, -0.013736017048358917], [-0.0067213475704193115, -0.0031473934650421143, -0.0210183784365654], [-0.010130345821380615, -0.010458648204803467, -0.024174407124519348], [-0.005500525236129761, -0.0035084784030914307, -0.023740045726299286], [0.0002736598253250122, -0.002662092447280884, -0.011974088847637177], [-0.007535010576248169, -0.004551991820335388, -0.021610580384731293], [-0.005633130669593811, 0.0013520866632461548, -0.0053796470165252686], [-0.008160755038261414, -0.00013718008995056152, -0.01146908849477768]], "cand_final_gripper_all": [0.004377812147140503, 0.002027958631515503, 0.007211744785308838, 0.0028757452964782715, 0.00035899877548217773, 0.004445850849151611, 0.005067974328994751, 0.005784898996353149, 0.004264324903488159, 0.004347264766693115, 0.009456396102905273, 0.001303642988204956, 0.006137251853942871, 0.0035077929496765137, 0.0020453035831451416, 0.016109317541122437, 0.002760648727416992, 0.003260105848312378, 0.005766183137893677, 0.005607008934020996, 0.002222508192062378, 0.0022061169147491455, 0.004263967275619507, 0.0, 0.006485611200332642, 0.0011493563652038574, 0.003984928131103516, 0.007189750671386719, 0.00976485013961792, 0.004735291004180908, 0.010984987020492554, 0.0], "eef_pos": [0.6749396920204163, 0.0887811928987503, 0.23015272617340088], "cand_action_std": 0.09650619328022003, "cand_pairwise_centroid_dist_mean": 0.9440439343452454, "argmax_act_outlier": 1.0710699558258057, "time_encode_ms": 5.461127031594515, "time_diffusion_ms": 36.460951901972294, "time_q_score_ms": 7.723401999101043, "time_total_ms": 50.51351082511246, "num_action_samples_effective": 32, "q_aggregate": "pair_min"} +{"chunk_ordinal": 47, "q_min_best": 0.39505136013031006, "q_min_mean": 0.33829638361930847, "q_min_std": 0.023788221180438995, "q_min_median": 0.34029561281204224, "chosen_vs_median_q_gap": 0.05475574731826782, "q1_best": 0.39505136013031006, "q2_best": 0.48854219913482666, "v_val": 0.5502007603645325, "advantage": -0.1551494002342224, "best_idx": 30, "q_min_all": [0.29395684599876404, 0.2986423671245575, 0.34029561281204224, 0.33188822865486145, 0.3006655275821686, 0.3446696400642395, 0.34840208292007446, 0.35976094007492065, 0.3539292812347412, 0.3610225021839142, 0.32571151852607727, 0.3197309672832489, 0.3588513135910034, 0.3081125319004059, 0.349934846162796, 0.34532079100608826, 0.29742470383644104, 0.32175710797309875, 0.36395642161369324, 0.35388270020484924, 0.3562339246273041, 0.37287673354148865, 0.34782567620277405, 0.320822536945343, 0.344902366399765, 0.3330650329589844, 0.33378586173057556, 0.3132231831550598, 0.359200656414032, 0.3343910872936249, 0.39505136013031006, 0.33619001507759094], "q1_all": [0.29395684599876404, 0.2986423671245575, 0.34029561281204224, 0.33188822865486145, 0.3006655275821686, 0.3446696400642395, 0.34840208292007446, 0.35976094007492065, 0.3539292812347412, 0.3610225021839142, 0.32571151852607727, 0.3197309672832489, 0.3588513135910034, 0.3081125319004059, 0.349934846162796, 0.34532079100608826, 0.29742470383644104, 0.32175710797309875, 0.36395642161369324, 0.35388270020484924, 0.3562339246273041, 0.37287673354148865, 0.34782567620277405, 0.3254813849925995, 0.344902366399765, 0.3330650329589844, 0.33378586173057556, 0.3132231831550598, 0.359200656414032, 0.3343910872936249, 0.39505136013031006, 0.33619001507759094], "q2_all": [0.3275378346443176, 0.32688504457473755, 0.3603616952896118, 0.3796469569206238, 0.32956308126449585, 0.3705841302871704, 0.38902705907821655, 0.405559241771698, 0.3695582151412964, 0.4026109576225281, 0.3356333374977112, 0.34416019916534424, 0.3705090880393982, 0.35795795917510986, 0.3973829746246338, 0.3740103244781494, 0.3142806887626648, 0.3558514714241028, 0.3971042335033417, 0.3955042362213135, 0.4114902913570404, 0.4114930033683777, 0.3792968988418579, 0.320822536945343, 0.4002305865287781, 0.3452545702457428, 0.36559629440307617, 0.3640320301055908, 0.3942602872848511, 0.3367462754249573, 0.48854219913482666, 0.35725682973861694], "cand_trans_speed_all": [0.006267131306231022, 0.006355058401823044, 0.004742542747408152, 0.004952210932970047, 0.007309544365853071, 0.00500385882332921, 0.004311826080083847, 0.004139536526054144, 0.004653788171708584, 0.007024197839200497, 0.005852861329913139, 0.006339035928249359, 0.004718398675322533, 0.005835974123328924, 0.007933849468827248, 0.005879660602658987, 0.006419646553695202, 0.005097224377095699, 0.0036422107368707657, 0.004014728590846062, 0.005305736791342497, 0.004834502469748259, 0.0060531701892614365, 0.006210490595549345, 0.004423723556101322, 0.006718832068145275, 0.0036775327753275633, 0.00535410363227129, 0.004127338528633118, 0.004706564359366894, 0.004335097502917051, 0.005147680640220642], "cand_cum_xyz_disp_all": [[-0.01411689817905426, -0.008596867322921753, -0.02782023698091507], [-0.014152050018310547, -0.008842691779136658, -0.02365516871213913], [-0.008319199085235596, -0.002354726195335388, -0.014015302062034607], [-0.008445993065834045, -0.0013629645109176636, -0.015307098627090454], [-0.01410779356956482, -0.012731656432151794, -0.029702752828598022], [-0.006892040371894836, -0.004713132977485657, -0.01987333595752716], [-0.00735136866569519, -0.005178898572921753, -0.00986461341381073], [-0.005562245845794678, -0.00787585973739624, -0.01704162359237671], [-0.007230982184410095, -0.00020599365234375, -0.017118431627750397], [-0.005043104290962219, -0.002970084547996521, -0.017869718372821808], [-0.01170337200164795, -0.007501289248466492, -0.019137345254421234], [-0.010155737400054932, -0.007066816091537476, -0.027775540947914124], [-0.006323918700218201, -0.0036234259605407715, -0.020195983350276947], [-0.012221485376358032, -0.011561334133148193, -0.024201981723308563], [-0.008117109537124634, -0.00274580717086792, -0.020137757062911987], [-0.010527238249778748, -0.006054013967514038, -0.010848969221115112], [-0.013582229614257812, -0.008882850408554077, -0.02737399935722351], [-0.007236704230308533, -0.0058279335498809814, -0.02399042248725891], [-0.005163416266441345, -0.003191053867340088, -0.01305358111858368], [-0.0026791393756866455, -0.004162386059761047, -0.020003817975521088], [-0.00035884976387023926, -0.004988998174667358, -0.020191825926303864], [-0.0008175820112228394, -0.002828642725944519, -0.018547862768173218], [-0.004394888877868652, -0.003424331545829773, -0.0235939621925354], [-0.0138949453830719, -0.008402705192565918, -0.01585114747285843], [-0.003940612077713013, -0.00940731167793274, -0.01783955842256546], [-0.008165806531906128, -0.0031296461820602417, -0.020281031727790833], [-0.007090404629707336, -0.006205543875694275, -0.010770037770271301], [-0.009610459208488464, -0.007898986339569092, -0.024758100509643555], [-0.008555382490158081, -0.003862723708152771, -0.012049168348312378], [-0.011184915900230408, -0.004768788814544678, -0.021204225718975067], [0.00012977421283721924, -0.004232168197631836, -0.005067937076091766], [-0.006714552640914917, -0.008975595235824585, -0.02523753046989441]], "cand_final_gripper_all": [0.0024477243423461914, 0.004967391490936279, 0.012561529874801636, 0.0027018487453460693, 0.003284960985183716, 0.0058431923389434814, 0.004862993955612183, 0.005383193492889404, 0.00311887264251709, 0.01277834177017212, 0.0, 0.0019765496253967285, 0.004100173711776733, 0.00317460298538208, 0.0027025341987609863, 0.003221273422241211, 0.001790463924407959, 0.005493968725204468, 0.009215980768203735, 0.006012260913848877, 0.0028929710388183594, 0.006632298231124878, 0.007213950157165527, 0.002127408981323242, 0.003124922513961792, 0.002110689878463745, 0.0073950886726379395, 0.0066697001457214355, 0.000659555196762085, 0.0021453499794006348, 0.003856569528579712, 0.0017464160919189453], "eef_pos": [0.6742274165153503, 0.0914706140756607, 0.22901125252246857], "cand_action_std": 0.09900061041116714, "cand_pairwise_centroid_dist_mean": 0.9864100217819214, "argmax_act_outlier": 1.7871710062026978, "time_encode_ms": 7.044122088700533, "time_diffusion_ms": 35.948592936620116, "time_q_score_ms": 8.141356986016035, "time_total_ms": 51.91409797407687, "num_action_samples_effective": 32, "q_aggregate": "pair_min"} +{"chunk_ordinal": 48, "q_min_best": 0.39896997809410095, "q_min_mean": 0.31639087200164795, "q_min_std": 0.03409626707434654, "q_min_median": 0.3224468529224396, "chosen_vs_median_q_gap": 0.07652312517166138, "q1_best": 0.39896997809410095, "q2_best": 0.447224885225296, "v_val": 0.4908252954483032, "advantage": -0.09185531735420227, "best_idx": 22, "q_min_all": [0.3391385078430176, 0.33219823241233826, 0.3230840563774109, 0.3316933512687683, 0.3689752519130707, 0.32435548305511475, 0.3314835727214813, 0.30787357687950134, 0.29885804653167725, 0.30706509947776794, 0.2734226584434509, 0.28232458233833313, 0.30222371220588684, 0.325317919254303, 0.31565219163894653, 0.35886868834495544, 0.2565630376338959, 0.3408236801624298, 0.34211984276771545, 0.3224468529224396, 0.32977429032325745, 0.3082786798477173, 0.39896997809410095, 0.32431843876838684, 0.2086106538772583, 0.3110370635986328, 0.29193371534347534, 0.28649237751960754, 0.3016238510608673, 0.34690773487091064, 0.3093802332878113, 0.32269302010536194], "q1_all": [0.3391385078430176, 0.33219823241233826, 0.3230840563774109, 0.3316933512687683, 0.3689752519130707, 0.32435548305511475, 0.3314835727214813, 0.30787357687950134, 0.3235032856464386, 0.31461283564567566, 0.3014945685863495, 0.29588428139686584, 0.30222371220588684, 0.325317919254303, 0.3219894766807556, 0.35886868834495544, 0.2807362973690033, 0.3408236801624298, 0.34211984276771545, 0.3224468529224396, 0.32977429032325745, 0.3082786798477173, 0.39896997809410095, 0.3649233877658844, 0.26728355884552, 0.3110370635986328, 0.2941829264163971, 0.28649237751960754, 0.3016238510608673, 0.34690773487091064, 0.31960180401802063, 0.32269302010536194], "q2_all": [0.38686299324035645, 0.38653552532196045, 0.3529125154018402, 0.34792059659957886, 0.4019632935523987, 0.3518144488334656, 0.3437039852142334, 0.37369826436042786, 0.29885804653167725, 0.30706509947776794, 0.2734226584434509, 0.28232458233833313, 0.31190651655197144, 0.3719358444213867, 0.31565219163894653, 0.4083917737007141, 0.2565630376338959, 0.4021102786064148, 0.39104294776916504, 0.32762429118156433, 0.3299446702003479, 0.33588433265686035, 0.447224885225296, 0.32431843876838684, 0.2086106538772583, 0.3114969730377197, 0.29193371534347534, 0.29593560099601746, 0.34350553154945374, 0.3717793822288513, 0.3093802332878113, 0.32948964834213257], "cand_trans_speed_all": [0.004154271446168423, 0.004493324086070061, 0.005226772278547287, 0.0057862987741827965, 0.005437531974166632, 0.005214116536080837, 0.004151212051510811, 0.005373295396566391, 0.00483564892783761, 0.00541229173541069, 0.007033105939626694, 0.005654163658618927, 0.004392226226627827, 0.003921904135495424, 0.0054671503603458405, 0.0039250198751688, 0.005181752145290375, 0.005511418916285038, 0.003732300829142332, 0.0038585104048252106, 0.004394493065774441, 0.005697410553693771, 0.005171575583517551, 0.008214212022721767, 0.0058584995567798615, 0.005761425010859966, 0.006032714154571295, 0.005916611757129431, 0.005441521760076284, 0.0045249005779623985, 0.005466030444949865, 0.00392353069037199], "cand_cum_xyz_disp_all": [[-0.0019524991512298584, -0.0069236308336257935, -0.019076772034168243], [-0.0037655234336853027, -0.00568312406539917, -0.017417684197425842], [-0.005285367369651794, -0.0034512579441070557, -0.01701674610376358], [-0.008549079298973083, -0.010459274053573608, -0.02559923380613327], [-0.0033744126558303833, -0.005123645067214966, -0.013217337429523468], [-0.0011464208364486694, -0.005260244011878967, -0.02457500994205475], [-0.004500210285186768, -0.0034086406230926514, -0.01917940378189087], [-0.005686625838279724, 0.0007680505514144897, -0.019418947398662567], [-0.00423315167427063, -0.007580205798149109, -0.02658509463071823], [-0.008105933666229248, -0.007995754480361938, -0.02057395875453949], [-0.008788257837295532, -0.006147027015686035, -0.027308717370033264], [-0.008202672004699707, -0.006700247526168823, -0.02809128165245056], [-0.008741423487663269, 0.00035196542739868164, -0.017481207847595215], [-0.0075447410345077515, -0.006181776523590088, -0.015724726021289825], [-0.008698850870132446, -0.0037452280521392822, -0.017475254833698273], [-0.0008576065301895142, -0.004498183727264404, -0.012873061001300812], [-0.0170910507440567, -0.006103798747062683, -0.019222788512706757], [-0.0008613169193267822, -0.008153960108757019, -0.02013111114501953], [0.0028773099184036255, -0.0041227638721466064, -0.0198318213224411], [-0.005412399768829346, -0.005366697907447815, -0.01623789221048355], [-0.005808904767036438, -0.0011455714702606201, -0.01943393051624298], [-0.008912786841392517, -0.006063133478164673, -0.023717403411865234], [0.0070400238037109375, 0.0020977258682250977, -0.0135122612118721], [-0.004229038953781128, -0.01407979428768158, -0.031197570264339447], [-0.013990789651870728, -0.005041331052780151, -0.024659886956214905], [-0.00993327796459198, -0.007110893726348877, -0.025623515248298645], [-0.008646726608276367, -0.007090210914611816, -0.03139128535985947], [-0.009285017848014832, -0.004290327429771423, -0.02962648868560791], [-0.006942972540855408, -0.0039243996143341064, -0.024845845997333527], [-0.0018649101257324219, -0.00730036199092865, -0.01716652512550354], [-0.007764667272567749, -0.0018032193183898926, -0.016714930534362793], [-0.007935523986816406, -0.0039974600076675415, -0.018773555755615234]], "cand_final_gripper_all": [0.0056555867195129395, 0.0033227205276489258, 0.003359586000442505, 0.0009905695915222168, 0.005327671766281128, 0.005227327346801758, 0.003550410270690918, 0.002247035503387451, 0.005829721689224243, 0.0, 0.0044078826904296875, 0.007239103317260742, 0.00604364275932312, 5.257129669189453e-05, 0.004264563322067261, 0.01115366816520691, 0.0027201175689697266, 0.00704723596572876, 0.005750089883804321, 0.001911073923110962, 0.004554718732833862, 0.005021870136260986, 0.01196908950805664, 0.0013794302940368652, 0.0033994317054748535, 0.0030934512615203857, 0.004867494106292725, 4.112720489501953e-06, 0.0004311203956604004, 0.0006196200847625732, 0.0061286091804504395, 0.004154980182647705], "eef_pos": [0.6733382344245911, 0.09090019017457962, 0.22492823004722595], "cand_action_std": 0.09561741352081299, "cand_pairwise_centroid_dist_mean": 0.9355964064598083, "argmax_act_outlier": 1.6322321891784668, "time_encode_ms": 5.543089006096125, "time_diffusion_ms": 35.97434004768729, "time_q_score_ms": 8.984620915725827, "time_total_ms": 51.439828937873244, "num_action_samples_effective": 32, "q_aggregate": "pair_min"} +{"chunk_ordinal": 49, "q_min_best": 0.38996824622154236, "q_min_mean": 0.329693078994751, "q_min_std": 0.03223607316613197, "q_min_median": 0.32766854763031006, "chosen_vs_median_q_gap": 0.0622996985912323, "q1_best": 0.38996824622154236, "q2_best": 0.3986782431602478, "v_val": 0.6363844871520996, "advantage": -0.24641624093055725, "best_idx": 12, "q_min_all": [0.3738010823726654, 0.2975471615791321, 0.349631667137146, 0.2985137701034546, 0.3107832968235016, 0.3261992335319519, 0.32766854763031006, 0.32754001021385193, 0.2948347330093384, 0.3419475257396698, 0.2997649013996124, 0.3683019280433655, 0.38996824622154236, 0.37104424834251404, 0.3414509892463684, 0.2826266288757324, 0.3570689857006073, 0.33931997418403625, 0.37675532698631287, 0.27282556891441345, 0.2799542248249054, 0.30458199977874756, 0.3535628318786621, 0.34935879707336426, 0.33366772532463074, 0.3180917501449585, 0.33220648765563965, 0.3441235423088074, 0.3774961829185486, 0.31528928875923157, 0.2783087491989136, 0.31594300270080566], "q1_all": [0.3738010823726654, 0.30108821392059326, 0.36214932799339294, 0.3477993309497833, 0.368135541677475, 0.35306888818740845, 0.3402727544307709, 0.32836586236953735, 0.31347373127937317, 0.3538372218608856, 0.30679556727409363, 0.3738539516925812, 0.38996824622154236, 0.38583430647850037, 0.3414509892463684, 0.3195651173591614, 0.36153021454811096, 0.3740473687648773, 0.37675532698631287, 0.3159313499927521, 0.31574398279190063, 0.3346801698207855, 0.3749900162220001, 0.3603633940219879, 0.33366772532463074, 0.3313726484775543, 0.34581640362739563, 0.3647257387638092, 0.3774961829185486, 0.31528928875923157, 0.3289978802204132, 0.3381083309650421], "q2_all": [0.39743366837501526, 0.2975471615791321, 0.349631667137146, 0.2985137701034546, 0.3107832968235016, 0.3261992335319519, 0.32766854763031006, 0.32754001021385193, 0.2948347330093384, 0.3419475257396698, 0.2997649013996124, 0.3683019280433655, 0.3986782431602478, 0.37104424834251404, 0.35265499353408813, 0.2826266288757324, 0.3570689857006073, 0.33931997418403625, 0.39150235056877136, 0.27282556891441345, 0.2799542248249054, 0.30458199977874756, 0.3535628318786621, 0.34935879707336426, 0.35767608880996704, 0.3180917501449585, 0.33220648765563965, 0.3441235423088074, 0.3923012614250183, 0.32036760449409485, 0.2783087491989136, 0.31594300270080566], "cand_trans_speed_all": [0.004213427193462849, 0.005465227644890547, 0.004350933246314526, 0.0064374222420156, 0.0068945507518947124, 0.00420956639572978, 0.005020844750106335, 0.0032993806526064873, 0.005414918065071106, 0.00388145400211215, 0.004201223608106375, 0.0035687792114913464, 0.002999547403305769, 0.004123123828321695, 0.00395951559767127, 0.005247681867331266, 0.004194376524537802, 0.008493657223880291, 0.0039823828265070915, 0.0055725183337926865, 0.005662878509610891, 0.004163682460784912, 0.004732400178909302, 0.00599282793700695, 0.005025207996368408, 0.0058915987610816956, 0.0033818045631051064, 0.003161017317324877, 0.005554082803428173, 0.004601866472512484, 0.005640368442982435, 0.004295933526009321], "cand_cum_xyz_disp_all": [[-0.0055856406688690186, -0.00555574893951416, -0.012590400874614716], [-0.01044057309627533, -0.007209643721580505, -0.022656038403511047], [-0.007337465882301331, -0.0017985254526138306, -0.014952428638935089], [-0.004875063896179199, -0.006699651479721069, -0.020395785570144653], [-0.005558192729949951, -0.009733781218528748, -0.025386497378349304], [-0.007072970271110535, -0.005784705281257629, -0.013637222349643707], [-0.011855795979499817, -0.006015568971633911, -0.017463311553001404], [-0.0077635496854782104, -0.0022650808095932007, -0.01586850732564926], [-0.011710107326507568, -0.010552629828453064, -0.023201346397399902], [-0.006475880742073059, -0.003566756844520569, -0.016071662306785583], [-0.011725276708602905, -0.00386984646320343, -0.017192304134368896], [-0.003481820225715637, -0.004778549075126648, -0.008546002209186554], [-0.002912566065788269, -0.00538209080696106, -0.00863426923751831], [-0.004896402359008789, -0.0008018463850021362, -0.01277931034564972], [-0.0043794214725494385, -0.0015009939670562744, -0.01861725002527237], [-0.013702243566513062, -0.009584888815879822, -0.019484035670757294], [-0.0035606324672698975, -0.008176162838935852, -0.019086815416812897], [-0.0027608871459960938, -0.004062637686729431, -0.020438894629478455], [-0.0023585110902786255, -0.003945663571357727, -0.013280414044857025], [-0.015000805258750916, -0.007055461406707764, -0.01847507804632187], [-0.013327881693840027, -0.0097312331199646, -0.021412648260593414], [-0.009291291236877441, -0.005464240908622742, -0.018145941197872162], [-0.006579369306564331, -0.00036613643169403076, -0.0076676830649375916], [-0.007306680083274841, -0.003591209650039673, -0.018168047070503235], [-0.006073802709579468, -0.00805211067199707, -0.019249826669692993], [-0.004256218671798706, -0.004255145788192749, -0.02539251744747162], [-0.006436437368392944, -0.0016344636678695679, -0.015011079609394073], [-0.005759194493293762, 0.0007125437259674072, -0.008475564420223236], [-0.009854704141616821, -0.002299860119819641, -0.007310308516025543], [-0.0062916576862335205, -0.002529054880142212, -0.020421646535396576], [-0.013086706399917603, -0.009155318140983582, -0.017648473381996155], [-0.011024296283721924, -0.0064424872398376465, -0.014492705464363098]], "cand_final_gripper_all": [0.00614205002784729, 0.00276753306388855, 0.004019558429718018, 0.008548915386199951, 0.0033989548683166504, 0.0035763680934906006, 0.004935950040817261, 0.00558316707611084, 0.0015830397605895996, 0.007699936628341675, 0.0017864704132080078, 0.02429419755935669, 0.0017343759536743164, 0.006304115056991577, 0.009241491556167603, 4.708766937255859e-06, 0.0024468302726745605, 0.0008036196231842041, 0.004424691200256348, 0.0014653205871582031, 0.005135834217071533, 0.0022605955600738525, 0.004005014896392822, 0.004461079835891724, 0.005757123231887817, 0.004248708486557007, 0.0031027793884277344, 0.00696641206741333, 0.002570897340774536, 0.0013311505317687988, 0.006225377321243286, 0.002159684896469116], "eef_pos": [0.6719927787780762, 0.09722836315631866, 0.22465234994888306], "cand_action_std": 0.09089150279760361, "cand_pairwise_centroid_dist_mean": 0.9000927805900574, "argmax_act_outlier": 1.5448946952819824, "time_encode_ms": 6.097497185692191, "time_diffusion_ms": 36.20086098089814, "time_q_score_ms": 7.925676880404353, "time_total_ms": 50.95643294043839, "num_action_samples_effective": 32, "q_aggregate": "pair_min"} +{"chunk_ordinal": 50, "q_min_best": 0.34589990973472595, "q_min_mean": 0.28243449330329895, "q_min_std": 0.03766349330544472, "q_min_median": 0.2876017093658447, "chosen_vs_median_q_gap": 0.058298200368881226, "q1_best": 0.3838883340358734, "q2_best": 0.34589990973472595, "v_val": 0.557152509689331, "advantage": -0.2112525999546051, "best_idx": 29, "q_min_all": [0.25108802318573, 0.2876017093658447, 0.3145814836025238, 0.2604611814022064, 0.297128826379776, 0.28992199897766113, 0.29884958267211914, 0.22034814953804016, 0.31024113297462463, 0.3071279525756836, 0.2932814955711365, 0.28919661045074463, 0.27674755454063416, 0.23120459914207458, 0.19826404750347137, 0.2611570358276367, 0.26128822565078735, 0.31575876474380493, 0.30107685923576355, 0.2667277455329895, 0.32730206847190857, 0.33191266655921936, 0.21698808670043945, 0.20933318138122559, 0.28735804557800293, 0.32320135831832886, 0.27382925152778625, 0.30300307273864746, 0.2848333418369293, 0.34589990973472595, 0.2682400941848755, 0.3339501619338989], "q1_all": [0.2911459505558014, 0.2876017093658447, 0.3145814836025238, 0.3307678699493408, 0.297128826379776, 0.3023032248020172, 0.29884958267211914, 0.32876428961753845, 0.31024113297462463, 0.3071279525756836, 0.2953408360481262, 0.3288431763648987, 0.3137679398059845, 0.26319563388824463, 0.27627038955688477, 0.29258599877357483, 0.27220773696899414, 0.31575876474380493, 0.30107685923576355, 0.28636088967323303, 0.32730206847190857, 0.33191266655921936, 0.25129491090774536, 0.2742348611354828, 0.28735804557800293, 0.3374808430671692, 0.30384519696235657, 0.3070594370365143, 0.2848333418369293, 0.3838883340358734, 0.32098275423049927, 0.36718782782554626], "q2_all": [0.25108802318573, 0.3247290253639221, 0.31698140501976013, 0.2604611814022064, 0.30775731801986694, 0.28992199897766113, 0.3058847188949585, 0.22034814953804016, 0.32008352875709534, 0.3129723072052002, 0.2932814955711365, 0.28919661045074463, 0.27674755454063416, 0.23120459914207458, 0.19826404750347137, 0.2611570358276367, 0.26128822565078735, 0.3262863755226135, 0.30844977498054504, 0.2667277455329895, 0.33233922719955444, 0.3659287691116333, 0.21698808670043945, 0.20933318138122559, 0.301066130399704, 0.32320135831832886, 0.27382925152778625, 0.30300307273864746, 0.32234349846839905, 0.34589990973472595, 0.2682400941848755, 0.3339501619338989], "cand_trans_speed_all": [0.007019332610070705, 0.004664822481572628, 0.004416320472955704, 0.005636764224618673, 0.004915961995720863, 0.005262620747089386, 0.005855146795511246, 0.006036847364157438, 0.004307831637561321, 0.004579113330692053, 0.005774443969130516, 0.004752277862280607, 0.004714367911219597, 0.00635863933712244, 0.006051951553672552, 0.005131160840392113, 0.005722833331674337, 0.004786127712577581, 0.0041124834679067135, 0.005406646057963371, 0.004315000958740711, 0.004041661508381367, 0.005337615497410297, 0.005156622268259525, 0.004902476444840431, 0.005032931920140982, 0.0049554998986423016, 0.00568464957177639, 0.003658585948869586, 0.006334857549518347, 0.0059137046337127686, 0.005668840371072292], "cand_cum_xyz_disp_all": [[-0.009710386395454407, -0.0064499229192733765, -0.030941911041736603], [-0.0059528350830078125, -0.0036547333002090454, -0.019506730139255524], [-0.0048124343156814575, -0.006848961114883423, -0.0211276113986969], [-0.006930992007255554, -0.0050929635763168335, -0.02714294195175171], [-0.009272500872612, 0.0003651827573776245, -0.019771218299865723], [-0.011817455291748047, 0.00026382505893707275, -0.02128744125366211], [-0.006511256098747253, -0.0054768770933151245, -0.0265684574842453], [-0.00775417685508728, -0.0061730146408081055, -0.029624126851558685], [-0.004365980625152588, -0.0029828697443008423, -0.02395624667406082], [-0.011021271347999573, -0.004773378372192383, -0.01872614026069641], [-0.005586415529251099, -0.002173781394958496, -0.02639494091272354], [-0.008236050605773926, -0.008891388773918152, -0.02250351756811142], [-0.008137226104736328, -0.0050111860036849976, -0.020987480878829956], [-0.011020764708518982, -0.0060022324323654175, -0.0302056223154068], [-0.013252034783363342, -0.009998828172683716, -0.028815247118473053], [-0.011325865983963013, -0.005071714520454407, -0.025016069412231445], [-0.009738236665725708, -0.0030578523874282837, -0.025805361568927765], [-0.0033192038536071777, -0.005437895655632019, -0.021559327840805054], [-0.009490743279457092, -0.007625654339790344, -0.0196908637881279], [-0.010422825813293457, -0.005004182457923889, -0.02706732600927353], [-0.005887210369110107, -0.004747852683067322, -0.019797906279563904], [-0.003646343946456909, 9.301304817199707e-05, -0.02212606370449066], [-0.01145334541797638, -0.004647880792617798, -0.027046479284763336], [-0.010393396019935608, -0.005210518836975098, -0.026534833014011383], [-0.008638367056846619, -0.002695828676223755, -0.023132599890232086], [-0.005496606230735779, -0.0019247233867645264, -0.02079680562019348], [-0.008592456579208374, -0.001087188720703125, -0.025174580514431], [-0.008831784129142761, 0.0010012984275817871, -0.017557457089424133], [-0.008129894733428955, -0.0006181895732879639, -0.015525206923484802], [-0.004277214407920837, -0.006387844681739807, -0.023081369698047638], [-0.01004202663898468, -0.006005629897117615, -0.027921997010707855], [-0.0026187151670455933, -0.00868004560470581, -0.027013428509235382]], "cand_final_gripper_all": [0.0004780292510986328, 0.0018835663795471191, 0.0037049055099487305, 0.002309262752532959, 0.0038274824619293213, 0.004383951425552368, 0.005994915962219238, 0.0024230778217315674, 0.009591758251190186, 0.006741613149642944, 0.010429561138153076, 0.0037374496459960938, 0.0038170218467712402, 0.00321197509765625, 0.003949612379074097, 0.0021792948246002197, 0.004001498222351074, 0.008550822734832764, 0.004957675933837891, 0.0, 0.007190674543380737, 0.0067987143993377686, 0.004910558462142944, 0.002481788396835327, 0.007373213768005371, 0.0082683265209198, 0.0028260350227355957, 0.002856135368347168, 0.007436186075210571, 0.004893630743026733, 0.006664395332336426, 0.0042836666107177734], "eef_pos": [0.6718276143074036, 0.09610498696565628, 0.2216348946094513], "cand_action_std": 0.08393208682537079, "cand_pairwise_centroid_dist_mean": 0.8835923671722412, "argmax_act_outlier": 1.725765347480774, "time_encode_ms": 4.924380918964744, "time_diffusion_ms": 36.24655492603779, "time_q_score_ms": 8.351285941898823, "time_total_ms": 50.19691400229931, "num_action_samples_effective": 32, "q_aggregate": "pair_min"} +{"chunk_ordinal": 51, "q_min_best": 0.5101635456085205, "q_min_mean": 0.4230523109436035, "q_min_std": 0.03425867110490799, "q_min_median": 0.42059382796287537, "chosen_vs_median_q_gap": 0.08956971764564514, "q1_best": 0.5101635456085205, "q2_best": 0.5366895198822021, "v_val": 0.5579718947410583, "advantage": -0.04780834913253784, "best_idx": 4, "q_min_all": [0.38072869181632996, 0.4080840051174164, 0.43924304842948914, 0.4056435525417328, 0.5101635456085205, 0.4191301167011261, 0.42059382796287537, 0.44436198472976685, 0.4056570529937744, 0.44247105717658997, 0.4233405292034149, 0.45911094546318054, 0.42985931038856506, 0.47036343812942505, 0.43254801630973816, 0.40044596791267395, 0.4240272045135498, 0.3824097514152527, 0.4698212742805481, 0.41377919912338257, 0.39484673738479614, 0.48667266964912415, 0.39759257435798645, 0.4223026633262634, 0.4065399467945099, 0.4091729521751404, 0.42302995920181274, 0.350186824798584, 0.4063683748245239, 0.46200597286224365, 0.4352430999279022, 0.36192914843559265], "q1_all": [0.38072869181632996, 0.4080840051174164, 0.43924304842948914, 0.4056435525417328, 0.5101635456085205, 0.4191301167011261, 0.42059382796287537, 0.44436198472976685, 0.4056570529937744, 0.44247105717658997, 0.4233405292034149, 0.45911094546318054, 0.42985931038856506, 0.47036343812942505, 0.43254801630973816, 0.40044596791267395, 0.4240272045135498, 0.3824097514152527, 0.4698212742805481, 0.41377919912338257, 0.39484673738479614, 0.48667266964912415, 0.39759257435798645, 0.4223026633262634, 0.4065399467945099, 0.4091729521751404, 0.42302995920181274, 0.350186824798584, 0.4063683748245239, 0.46200597286224365, 0.4352430999279022, 0.36192914843559265], "q2_all": [0.4292343258857727, 0.47792303562164307, 0.5128445029258728, 0.46099159121513367, 0.5366895198822021, 0.5412776470184326, 0.5187313556671143, 0.5445742607116699, 0.43355506658554077, 0.5581022500991821, 0.46299052238464355, 0.5116103887557983, 0.5596883296966553, 0.5370291471481323, 0.5585198402404785, 0.4873083829879761, 0.46621617674827576, 0.4321633577346802, 0.5235758423805237, 0.49475014209747314, 0.44074487686157227, 0.5659287571907043, 0.4372085928916931, 0.4772011637687683, 0.4636979103088379, 0.4766096770763397, 0.45443183183670044, 0.39462810754776, 0.48919737339019775, 0.5654686689376831, 0.5076598525047302, 0.4552401304244995], "cand_trans_speed_all": [0.004900734405964613, 0.004051649942994118, 0.004894099198281765, 0.00449016410857439, 0.0033439851831644773, 0.0041177826933562756, 0.00417568814009428, 0.003849006025120616, 0.004845963791012764, 0.0033603906631469727, 0.005562053993344307, 0.00351414131000638, 0.004076304845511913, 0.006129374727606773, 0.005248215049505234, 0.005968745332211256, 0.004165424033999443, 0.005238176789134741, 0.004192809108644724, 0.005969870835542679, 0.0052589476108551025, 0.002109501976519823, 0.00479450449347496, 0.0036270073615014553, 0.004586090333759785, 0.0035483164247125387, 0.005219871178269386, 0.006887947209179401, 0.0045740059576928616, 0.004895755089819431, 0.003378509311005473, 0.005702161230146885], "cand_cum_xyz_disp_all": [[-0.007189586758613586, -0.0022720247507095337, -0.00940590351819992], [-0.0051279813051223755, -0.006430715322494507, -0.016116701066493988], [-0.008109807968139648, -0.005306139588356018, -0.008580729365348816], [-0.00863543152809143, -0.005094259977340698, -0.011997461318969727], [-0.0009471774101257324, -0.001817941665649414, -0.009729817509651184], [-0.0028201043605804443, -0.010238707065582275, -0.01278010755777359], [-0.004742488265037537, -0.008409321308135986, -0.01736404001712799], [-0.006474897265434265, -0.006556034088134766, -0.0038551315665245056], [-0.008679628372192383, -0.005235835909843445, -0.010367847979068756], [-0.00020956993103027344, -0.0054985880851745605, -0.004811987280845642], [-0.0049661993980407715, -0.010703787207603455, -0.01736132800579071], [-0.004599571228027344, -0.007398560643196106, -0.0071456655859947205], [6.681680679321289e-05, -0.009976983070373535, -0.01197565346956253], [-0.0019045472145080566, -0.00699344277381897, -0.011183016002178192], [-0.0004193633794784546, -0.013370946049690247, -0.014503836631774902], [-0.0075630247592926025, -0.010575786232948303, -0.013375252485275269], [-0.008210629224777222, -0.011443257331848145, -0.009833462536334991], [-0.010394349694252014, -0.010458678007125854, -0.01033870130777359], [-0.004918932914733887, -0.008985921740531921, -0.004862681031227112], [-0.007747426629066467, -0.007866978645324707, -0.012872546911239624], [-0.01115022599697113, -0.006567239761352539, -0.009032920002937317], [-0.0031300485134124756, -0.004804268479347229, -0.0016883164644241333], [-0.013758644461631775, -0.010359212756156921, -0.009694300591945648], [-0.006276920437812805, -0.0030842125415802, -0.01098615676164627], [-0.006566628813743591, -0.006096184253692627, -0.01643625646829605], [-0.0044068992137908936, -0.009359464049339294, -0.015156395733356476], [-0.005826190114021301, -0.005071297287940979, -0.012706197798252106], [-0.008286505937576294, -0.00703662633895874, -0.02085910737514496], [-0.005069106817245483, -0.007103979587554932, -0.0165751650929451], [-0.005303114652633667, -0.005141019821166992, -0.004438899457454681], [-0.0040237754583358765, -0.006404861807823181, -0.014168888330459595], [-0.008159756660461426, -0.01347358524799347, -0.0226617231965065]], "cand_final_gripper_all": [0.0027910172939300537, 0.004090636968612671, 0.002675950527191162, 0.00144919753074646, 0.0033642947673797607, 0.032470762729644775, 0.004854768514633179, 0.011222034692764282, 0.003901958465576172, 0.005590915679931641, 0.006930738687515259, 0.002827078104019165, 0.002687305212020874, 0.0039431750774383545, 0.003759443759918213, 0.0033369362354278564, 0.0028176605701446533, 0.003782600164413452, 0.004461020231246948, 0.00864797830581665, 0.0038056671619415283, 0.0024309754371643066, 0.005102813243865967, 0.0017616450786590576, 0.0016866624355316162, 0.00673520565032959, 0.0042195916175842285, 0.0012398362159729004, 0.002209693193435669, 0.005167365074157715, 0.004101097583770752, 0.0006483793258666992], "eef_pos": [0.6744506359100342, 0.09409607201814651, 0.2332645207643509], "cand_action_std": 0.09836283326148987, "cand_pairwise_centroid_dist_mean": 0.9377999305725098, "argmax_act_outlier": 1.2476484775543213, "time_encode_ms": 6.5623989794403315, "time_diffusion_ms": 36.2201661337167, "time_q_score_ms": 7.485400186851621, "time_total_ms": 51.069402135908604, "num_action_samples_effective": 32, "q_aggregate": "pair_min"} +{"chunk_ordinal": 52, "q_min_best": 0.46134504675865173, "q_min_mean": 0.3926018178462982, "q_min_std": 0.03104761615395546, "q_min_median": 0.385762482881546, "chosen_vs_median_q_gap": 0.07558256387710571, "q1_best": 0.46134504675865173, "q2_best": 0.47642841935157776, "v_val": 0.6685572862625122, "advantage": -0.20721223950386047, "best_idx": 7, "q_min_all": [0.3814737796783447, 0.4209216833114624, 0.3670896589756012, 0.3618314266204834, 0.3636486232280731, 0.3856329023838043, 0.396791011095047, 0.46134504675865173, 0.34576672315597534, 0.388737291097641, 0.37627509236335754, 0.4349132180213928, 0.3881005346775055, 0.3990239202976227, 0.3686436414718628, 0.4286642372608185, 0.359861820936203, 0.34362703561782837, 0.3801843822002411, 0.3669995069503784, 0.42318737506866455, 0.43208205699920654, 0.4011233150959015, 0.401000440120697, 0.4399168789386749, 0.3697960674762726, 0.4421463906764984, 0.3826303780078888, 0.39579513669013977, 0.34558820724487305, 0.385762482881546, 0.4246978461742401], "q1_all": [0.4039574861526489, 0.4267939031124115, 0.3670896589756012, 0.41955825686454773, 0.3636486232280731, 0.3856329023838043, 0.4032078981399536, 0.46134504675865173, 0.39280104637145996, 0.388737291097641, 0.37627509236335754, 0.4349132180213928, 0.3881005346775055, 0.3990239202976227, 0.3686436414718628, 0.4286642372608185, 0.40332621335983276, 0.37726446986198425, 0.3801843822002411, 0.40368449687957764, 0.4694017469882965, 0.43208205699920654, 0.4011233150959015, 0.41050174832344055, 0.4399168789386749, 0.3697960674762726, 0.4421463906764984, 0.3826303780078888, 0.39579513669013977, 0.385094553232193, 0.385762482881546, 0.4246978461742401], "q2_all": [0.3814737796783447, 0.4209216833114624, 0.43088024854660034, 0.3618314266204834, 0.4216451942920685, 0.4162753224372864, 0.396791011095047, 0.47642841935157776, 0.34576672315597534, 0.41039133071899414, 0.393541157245636, 0.4644954800605774, 0.45246750116348267, 0.43935760855674744, 0.4082208573818207, 0.45504114031791687, 0.359861820936203, 0.34362703561782837, 0.3934571444988251, 0.3669995069503784, 0.42318737506866455, 0.432582288980484, 0.4064808487892151, 0.401000440120697, 0.469783753156662, 0.381679892539978, 0.5154023170471191, 0.4143770933151245, 0.4356722831726074, 0.34558820724487305, 0.4136141538619995, 0.4443380832672119], "cand_trans_speed_all": [0.004471564199775457, 0.0036538864951580763, 0.0038704792968928814, 0.0028190165758132935, 0.005515982396900654, 0.004325162153691053, 0.004271187819540501, 0.005128605291247368, 0.005113319493830204, 0.004768810234963894, 0.0048087602481245995, 0.003727855160832405, 0.003973441198468208, 0.004212686792016029, 0.005416239611804485, 0.00493104662746191, 0.00425774184986949, 0.006591767072677612, 0.005546458065509796, 0.0045973388478159904, 0.005410225596278906, 0.003079898189753294, 0.00419874582439661, 0.005241125822067261, 0.0037314780056476593, 0.00444892980158329, 0.0029398759361356497, 0.004016774706542492, 0.00469075096771121, 0.004964378196746111, 0.004022344946861267, 0.003649699268862605], "cand_cum_xyz_disp_all": [[-0.008056402206420898, -0.006254151463508606, -0.014389291405677795], [-0.0043385326862335205, -0.0032053738832473755, -0.009829133749008179], [-0.0010988563299179077, -0.006341487169265747, -0.01944659650325775], [-0.005323648452758789, -0.0024542659521102905, -0.011582814157009125], [-0.010142534971237183, -0.011864960193634033, -0.018241994082927704], [-0.00959990918636322, -0.005804851651191711, -0.01228392869234085], [-0.006609737873077393, -0.003044500946998596, -0.01658865064382553], [0.0013164728879928589, -0.004804059863090515, -0.011006370186805725], [-0.011758148670196533, -0.003129437565803528, -0.017852783203125], [-0.009669452905654907, -0.0033692270517349243, -0.013066284358501434], [-0.007373988628387451, -0.005725160241127014, -0.023214854300022125], [-0.0019065886735916138, -0.0036819130182266235, -0.010775096714496613], [-0.006800949573516846, -0.008655712008476257, -0.015571758151054382], [-0.008883163332939148, -0.0059487223625183105, 0.001458488404750824], [-0.005651071667671204, -0.007779031991958618, -0.019841395318508148], [-0.003191843628883362, -0.0045068711042404175, -0.01860952377319336], [-0.009843230247497559, -0.0058669596910476685, -0.011348649859428406], [-0.013539254665374756, -0.004167541861534119, -0.017092503607273102], [-0.008195072412490845, -0.002569720149040222, -0.012374147772789001], [-0.0054159015417099, -0.0029574185609817505, -0.017360784113407135], [-0.008349686861038208, 0.003082275390625, 0.0029362738132476807], [-0.004149198532104492, 0.0006147325038909912, -0.012197375297546387], [-0.005937844514846802, -0.0016962885856628418, -0.011862948536872864], [-0.007240325212478638, -0.003211989998817444, -0.010884642601013184], [-0.004766941070556641, -0.0030001550912857056, -0.00901108980178833], [-0.009700462222099304, -0.0037051886320114136, -0.019990041851997375], [-0.0023272037506103516, -0.004877045750617981, -0.008670762181282043], [-0.007447525858879089, -0.00700870156288147, -0.01922033727169037], [-0.005810782313346863, -0.005804732441902161, -0.017966240644454956], [-0.009898900985717773, -0.00771196186542511, -0.018507786095142365], [-0.005515605211257935, -0.005274638533592224, -0.013441786170005798], [-0.004305422306060791, -0.004296496510505676, -0.009932160377502441]], "cand_final_gripper_all": [0.0011995136737823486, 0.0021297335624694824, 0.0013598203659057617, 0.001841038465499878, 0.0016349554061889648, 0.003925949335098267, 0.002158552408218384, 0.0016435682773590088, 0.0008739829063415527, 0.002720564603805542, 0.0026255548000335693, 0.0062965452671051025, 0.007109701633453369, 0.0031107962131500244, 0.0018199384212493896, 0.008611232042312622, 0.007717609405517578, 0.004142433404922485, 0.002323448657989502, 0.0027549564838409424, 0.008653342723846436, 0.004124879837036133, 0.003739088773727417, 0.002566605806350708, 0.0031509697437286377, 0.002378910779953003, 0.00642886757850647, 0.0003732442855834961, 0.0072529613971710205, 0.0016309916973114014, 0.005252242088317871, 0.0033496320247650146], "eef_pos": [0.6745967864990234, 0.09360818564891815, 0.23341943323612213], "cand_action_std": 0.09197747707366943, "cand_pairwise_centroid_dist_mean": 0.9063313603401184, "argmax_act_outlier": 0.9727831482887268, "time_encode_ms": 7.253059884533286, "time_diffusion_ms": 36.05215484276414, "time_q_score_ms": 7.878690026700497, "time_total_ms": 52.1559570915997, "num_action_samples_effective": 32, "q_aggregate": "pair_min"} +{"chunk_ordinal": 53, "q_min_best": 0.4691431522369385, "q_min_mean": 0.3849523067474365, "q_min_std": 0.029907874763011932, "q_min_median": 0.38506045937538147, "chosen_vs_median_q_gap": 0.084082692861557, "q1_best": 0.4691431522369385, "q2_best": 0.5008131265640259, "v_val": 0.675122082233429, "advantage": -0.20597892999649048, "best_idx": 25, "q_min_all": [0.3736248314380646, 0.3489725589752197, 0.38545820116996765, 0.36944931745529175, 0.3978349268436432, 0.4063936471939087, 0.3214744031429291, 0.38053104281425476, 0.3718295395374298, 0.4052657186985016, 0.3834857642650604, 0.3633633553981781, 0.3758021593093872, 0.38506045937538147, 0.3930637240409851, 0.40288907289505005, 0.3923216760158539, 0.39778783917427063, 0.39417046308517456, 0.37095826864242554, 0.40258142352104187, 0.38610729575157166, 0.39476749300956726, 0.46123194694519043, 0.4086553752422333, 0.4691431522369385, 0.36054670810699463, 0.36602839827537537, 0.3672140836715698, 0.4010934829711914, 0.34522393345832825, 0.33614325523376465], "q1_all": [0.3736248314380646, 0.3489725589752197, 0.38545820116996765, 0.36944931745529175, 0.3978349268436432, 0.4063936471939087, 0.3214744031429291, 0.38053104281425476, 0.3718295395374298, 0.4052657186985016, 0.3834857642650604, 0.3633633553981781, 0.3758021593093872, 0.38506045937538147, 0.3930637240409851, 0.44140034914016724, 0.3923216760158539, 0.39778783917427063, 0.43884727358818054, 0.39620229601860046, 0.40258142352104187, 0.40393829345703125, 0.39576295018196106, 0.46123194694519043, 0.4086553752422333, 0.4691431522369385, 0.36054670810699463, 0.36602839827537537, 0.38628247380256653, 0.4010934829711914, 0.34522393345832825, 0.3475000262260437], "q2_all": [0.39994141459465027, 0.3547159433364868, 0.4789879620075226, 0.38570117950439453, 0.45117464661598206, 0.43506431579589844, 0.34060415625572205, 0.40357446670532227, 0.4191003441810608, 0.4087011516094208, 0.44246596097946167, 0.4254457950592041, 0.40525513887405396, 0.4576978087425232, 0.4214945137500763, 0.40288907289505005, 0.4158187210559845, 0.434928297996521, 0.39417046308517456, 0.37095826864242554, 0.4244806170463562, 0.38610729575157166, 0.39476749300956726, 0.47804832458496094, 0.45289403200149536, 0.5008131265640259, 0.43010351061820984, 0.44975748658180237, 0.3672140836715698, 0.4251979887485504, 0.3638877272605896, 0.33614325523376465], "cand_trans_speed_all": [0.0055357348173856735, 0.004976063966751099, 0.005105601157993078, 0.004907567054033279, 0.0028392933309078217, 0.005853711627423763, 0.0053712716326117516, 0.005274872295558453, 0.0057580373249948025, 0.0036571044474840164, 0.003753229510039091, 0.003919013775885105, 0.0038849576376378536, 0.005242589395493269, 0.003970649093389511, 0.005273818504065275, 0.003960574045777321, 0.004641914740204811, 0.0061806803569197655, 0.004697112366557121, 0.004928083624690771, 0.003972851671278477, 0.005315930582582951, 0.003505627391859889, 0.0046096439473330975, 0.0027877595275640488, 0.005010909400880337, 0.004881377797573805, 0.006044710986316204, 0.003954410552978516, 0.004782076925039291, 0.00426827697083354], "cand_cum_xyz_disp_all": [[-0.012283548712730408, -0.0025976747274398804, -0.01261807233095169], [-0.015537217259407043, -0.004336535930633545, -0.019046783447265625], [-0.0032781660556793213, -0.0035921037197113037, -0.0139303058385849], [-0.007855445146560669, -0.0028920769691467285, -0.021279357373714447], [-0.0099409818649292, -0.0058443546295166016, -0.008747391402721405], [-0.007874593138694763, -0.00389765202999115, -0.013000242412090302], [-0.01527947187423706, -0.005607709288597107, -0.019615083932876587], [-0.012032076716423035, -0.00689445436000824, -0.016537435352802277], [-0.007940948009490967, -0.005828499794006348, -0.021537184715270996], [-0.009121835231781006, -0.001664087176322937, -0.009365230798721313], [-0.01019352674484253, -0.003987208008766174, -0.012676261365413666], [-0.009554103016853333, -0.0056550949811935425, -0.015331760048866272], [-0.011913985013961792, -0.0024792850017547607, -0.013306625187397003], [-0.003896579146385193, -0.0054246485233306885, -0.017617009580135345], [-0.008785456418991089, -0.0056207627058029175, -0.013196207582950592], [-0.011139079928398132, 0.0030246227979660034, -0.006309203803539276], [-0.009185224771499634, -0.0028737932443618774, -0.00726473331451416], [-0.007156059145927429, -0.004555746912956238, -0.01768205314874649], [-0.005413129925727844, 0.0015044063329696655, -0.01845362037420273], [-0.014856383204460144, -0.004345536231994629, -0.010817177593708038], [-0.007416218519210815, -0.0034060031175613403, -0.01763838529586792], [-0.00917421281337738, -0.0009987503290176392, -0.018116414546966553], [-0.00903715193271637, -0.0026634037494659424, -0.021554186940193176], [-0.004764124751091003, -0.006084263324737549, -0.008353732526302338], [-0.006926774978637695, -0.005834922194480896, -0.017125576734542847], [-0.0019717365503311157, -0.004961967468261719, -0.008395589888095856], [-0.00834152102470398, -0.00877264142036438, -0.01883290708065033], [-0.006408587098121643, -0.010257929563522339, -0.018056809902191162], [-0.009429052472114563, -0.002578034996986389, -0.01954800635576248], [-0.009771212935447693, -0.0034639984369277954, -0.013955526053905487], [-0.010215714573860168, -0.00182323157787323, -0.020613014698028564], [-0.01057809591293335, -0.0028275251388549805, -0.016581572592258453]], "cand_final_gripper_all": [0.0007966756820678711, 0.0009552240371704102, 4.738569259643555e-05, 0.0027622878551483154, 0.008567899465560913, 0.007227271795272827, 0.00430712103843689, 0.011222690343856812, 0.00458371639251709, 0.0020300745964050293, 0.002668440341949463, 0.00483936071395874, 0.004088997840881348, 0.011034667491912842, 0.007571667432785034, 0.008706808090209961, 0.0081959068775177, 0.0025970041751861572, 0.004296779632568359, 0.0040746331214904785, 0.001960963010787964, 0.008059531450271606, 0.0018458664417266846, 0.003083556890487671, 0.0015039145946502686, 0.0023503005504608154, 0.0010946393013000488, 0.0, 0.0029386281967163086, 0.006445974111557007, 0.001645505428314209, 0.001744389533996582], "eef_pos": [0.6745550036430359, 0.09324934333562851, 0.23282882571220398], "cand_action_std": 0.0942273959517479, "cand_pairwise_centroid_dist_mean": 0.8989486694335938, "argmax_act_outlier": 1.0810712575912476, "time_encode_ms": 5.026580998674035, "time_diffusion_ms": 35.994237987324595, "time_q_score_ms": 7.747376803308725, "time_total_ms": 49.47823192924261, "num_action_samples_effective": 32, "q_aggregate": "pair_min"} +{"chunk_ordinal": 54, "q_min_best": 0.40235960483551025, "q_min_mean": 0.34339460730552673, "q_min_std": 0.03660110384225845, "q_min_median": 0.3485530614852905, "chosen_vs_median_q_gap": 0.05380654335021973, "q1_best": 0.40235960483551025, "q2_best": 0.4134436845779419, "v_val": 0.7079042196273804, "advantage": -0.3055446147918701, "best_idx": 17, "q_min_all": [0.37626391649246216, 0.34904125332832336, 0.3862936794757843, 0.3394976556301117, 0.3994269371032715, 0.362849622964859, 0.28873708844184875, 0.3729102909564972, 0.3485530614852905, 0.3653004467487335, 0.34379732608795166, 0.3497956693172455, 0.3861732482910156, 0.3266686201095581, 0.3530481159687042, 0.30642780661582947, 0.3562159836292267, 0.40235960483551025, 0.31288403272628784, 0.3786131739616394, 0.2927471101284027, 0.3842010200023651, 0.29341140389442444, 0.3756575584411621, 0.324453204870224, 0.28417786955833435, 0.3746185004711151, 0.32781049609184265, 0.2607969343662262, 0.33311471343040466, 0.31917381286621094, 0.313607394695282], "q1_all": [0.37626391649246216, 0.34904125332832336, 0.3862936794757843, 0.3394976556301117, 0.3994269371032715, 0.362849622964859, 0.28873708844184875, 0.3729102909564972, 0.3485530614852905, 0.3653004467487335, 0.34379732608795166, 0.3497956693172455, 0.3861732482910156, 0.3266686201095581, 0.3530481159687042, 0.30642780661582947, 0.3562159836292267, 0.40235960483551025, 0.31288403272628784, 0.3786131739616394, 0.2927471101284027, 0.3842010200023651, 0.3443582057952881, 0.3756575584411621, 0.324453204870224, 0.28417786955833435, 0.3746185004711151, 0.32781049609184265, 0.2607969343662262, 0.33311471343040466, 0.31917381286621094, 0.35800138115882874], "q2_all": [0.38800716400146484, 0.38583049178123474, 0.431617796421051, 0.4303887188434601, 0.43857961893081665, 0.42602306604385376, 0.2994172275066376, 0.3824886679649353, 0.40019091963768005, 0.4197820723056793, 0.408804714679718, 0.358268141746521, 0.40727660059928894, 0.3605297803878784, 0.3810276687145233, 0.35319286584854126, 0.3778129518032074, 0.4134436845779419, 0.3523310124874115, 0.44067659974098206, 0.36665937304496765, 0.4272642135620117, 0.29341140389442444, 0.4335235059261322, 0.33305203914642334, 0.293893963098526, 0.4122713804244995, 0.39469778537750244, 0.26435694098472595, 0.37642520666122437, 0.33329054713249207, 0.313607394695282], "cand_trans_speed_all": [0.004817506298422813, 0.004391235299408436, 0.0031346692703664303, 0.00477092107757926, 0.0030898447148501873, 0.003487715497612953, 0.005929920356720686, 0.0034027043730020523, 0.0048303501680493355, 0.004468261729925871, 0.003834796603769064, 0.005516739562153816, 0.005939282011240721, 0.004490852355957031, 0.00488313427194953, 0.006440568715333939, 0.004115349613130093, 0.004628587514162064, 0.005608664359897375, 0.0043084099888801575, 0.005021116696298122, 0.004368714056909084, 0.0053160786628723145, 0.005146421492099762, 0.004860264714807272, 0.005464079789817333, 0.00534276757389307, 0.004931969102472067, 0.006654340773820877, 0.007045668549835682, 0.0060797156766057014, 0.005176051985472441], "cand_cum_xyz_disp_all": [[0.0001739710569381714, 0.003505989909172058, -0.0203862264752388], [-0.0076028406620025635, -0.0022166967391967773, -0.02352362871170044], [-0.005063563585281372, -0.004336044192314148, -0.013039074838161469], [-0.0058815330266952515, -0.008662611246109009, -0.01749788224697113], [-0.0031564682722091675, -0.002940550446510315, -0.010068945586681366], [-0.005951493978500366, -0.006472930312156677, -0.0141378715634346], [-0.011987820267677307, -0.004149824380874634, -0.02712152898311615], [-0.009313300251960754, -0.0019065141677856445, -0.01381499320268631], [-0.0032581984996795654, 0.0004667341709136963, -0.0193207785487175], [-0.0016748309135437012, -0.003245249390602112, -0.019641466438770294], [-0.010669693350791931, -0.0035992562770843506, -0.011166736483573914], [-0.009399279952049255, -0.0048936158418655396, -0.02224969118833542], [-0.007937714457511902, -0.00445246696472168, -0.011780835688114166], [-0.010704666376113892, -0.00822022557258606, -0.014584176242351532], [-0.007426619529724121, -0.00580674409866333, -0.01877216249704361], [-0.009126707911491394, -0.007977381348609924, -0.028296224772930145], [-0.007537320256233215, -0.0029461681842803955, -0.017861217260360718], [-0.0058639198541641235, -0.004187420010566711, -0.013773664832115173], [-0.009581252932548523, -0.002588242292404175, -0.02364782989025116], [-0.0057245343923568726, -0.006733506917953491, -0.014380216598510742], [-0.008489400148391724, -0.003775462508201599, -0.025444112718105316], [-0.0021698474884033203, -0.0031171292066574097, -0.01273229718208313], [-0.013749644160270691, -0.004363536834716797, -0.024498477578163147], [-0.011675596237182617, -0.0066616833209991455, -0.009452320635318756], [-0.016046836972236633, -0.008989349007606506, -0.013836711645126343], [-0.019841492176055908, -0.007503420114517212, -0.018738240003585815], [-0.007922619581222534, -0.004807010293006897, -0.012730717658996582], [-0.014271259307861328, -0.006267860531806946, -0.015114367008209229], [-0.019759714603424072, -0.00803607702255249, -0.026583120226860046], [-0.0077553391456604, -0.006680577993392944, -0.022827185690402985], [-0.00752963125705719, -0.004374593496322632, -0.023152343928813934], [-0.010490864515304565, -0.003348052501678467, -0.025242656469345093]], "cand_final_gripper_all": [0.003065049648284912, 0.0038024485111236572, 0.0044377148151397705, 0.0033821165561676025, 0.0, 0.0032728910446166992, 0.0073413848876953125, 0.004082322120666504, 0.004816979169845581, 0.005206018686294556, 0.0036238431930541992, 0.003731280565261841, 0.0028780102729797363, 0.0037482380867004395, 0.005163788795471191, 0.003616511821746826, 0.005454123020172119, 0.008068591356277466, 0.002376735210418701, 0.006785601377487183, 0.0022454559803009033, 0.0055755674839019775, 0.005949348211288452, 0.0021510720252990723, 0.004112750291824341, 0.0018739402294158936, 0.0037299692630767822, 0.003896355628967285, 0.0029729902744293213, 0.00424686074256897, 0.00688481330871582, 0.00135117769241333], "eef_pos": [0.6740776896476746, 0.09311701357364655, 0.2297738641500473], "cand_action_std": 0.096145398914814, "cand_pairwise_centroid_dist_mean": 0.9368551969528198, "argmax_act_outlier": 0.8297944664955139, "time_encode_ms": 5.72145008482039, "time_diffusion_ms": 36.175081972032785, "time_q_score_ms": 7.927530910819769, "time_total_ms": 50.570287043228745, "num_action_samples_effective": 32, "q_aggregate": "pair_min"} +{"chunk_ordinal": 55, "q_min_best": 0.4272281527519226, "q_min_mean": 0.36665263772010803, "q_min_std": 0.03484400361776352, "q_min_median": 0.3711111843585968, "chosen_vs_median_q_gap": 0.056116968393325806, "q1_best": 0.4272281527519226, "q2_best": 0.49954187870025635, "v_val": 0.5878424048423767, "advantage": -0.1606142520904541, "best_idx": 26, "q_min_all": [0.3964172303676605, 0.3033575117588043, 0.31319957971572876, 0.3540765345096588, 0.3374224007129669, 0.37135300040245056, 0.34952786564826965, 0.39902225136756897, 0.3333447277545929, 0.40366971492767334, 0.39136388897895813, 0.379770427942276, 0.31060782074928284, 0.4258221685886383, 0.3254413306713104, 0.3711111843585968, 0.3528814911842346, 0.37948060035705566, 0.38649484515190125, 0.33671966195106506, 0.3799588680267334, 0.3932807743549347, 0.4086579382419586, 0.39947232604026794, 0.36414700746536255, 0.4109356701374054, 0.4272281527519226, 0.3769901692867279, 0.30787011981010437, 0.3353257477283478, 0.35676613450050354, 0.351167768239975], "q1_all": [0.3964172303676605, 0.3033575117588043, 0.31319957971572876, 0.3540765345096588, 0.3374224007129669, 0.37135300040245056, 0.34952786564826965, 0.39902225136756897, 0.3333447277545929, 0.40366971492767334, 0.39136388897895813, 0.379770427942276, 0.31060782074928284, 0.44372642040252686, 0.3254413306713104, 0.3711111843585968, 0.3528814911842346, 0.4033162295818329, 0.38649484515190125, 0.33671966195106506, 0.3799588680267334, 0.3932807743549347, 0.4086579382419586, 0.39947232604026794, 0.36414700746536255, 0.4109356701374054, 0.4272281527519226, 0.3769901692867279, 0.30787011981010437, 0.3353257477283478, 0.35676613450050354, 0.351167768239975], "q2_all": [0.45470666885375977, 0.3411911129951477, 0.3750497102737427, 0.3649853467941284, 0.35999923944473267, 0.433996319770813, 0.38016659021377563, 0.4366925358772278, 0.38087061047554016, 0.44206327199935913, 0.45719465613365173, 0.41335007548332214, 0.3426385521888733, 0.4258221685886383, 0.32551971077919006, 0.38935720920562744, 0.37646371126174927, 0.37948060035705566, 0.4427180290222168, 0.36122220754623413, 0.41251155734062195, 0.4467940032482147, 0.44076967239379883, 0.4403528869152069, 0.40229880809783936, 0.4558069109916687, 0.49954187870025635, 0.4460347890853882, 0.35632002353668213, 0.38036927580833435, 0.3819392919540405, 0.41867437958717346], "cand_trans_speed_all": [0.004377089440822601, 0.005829957779496908, 0.006975254043936729, 0.0050354297272861, 0.005741523113101721, 0.006487497594207525, 0.00403979467228055, 0.003662149189040065, 0.00544376065954566, 0.003483511507511139, 0.005167881026864052, 0.0031742937862873077, 0.005962635390460491, 0.004812338389456272, 0.006306118331849575, 0.006016172468662262, 0.006743534468114376, 0.005285297986119986, 0.0047732163220644, 0.0062179709784686565, 0.004981898702681065, 0.003904260229319334, 0.004944173619151115, 0.00436130166053772, 0.004740928299725056, 0.004506873898208141, 0.0033872746862471104, 0.004765800666064024, 0.006167577113956213, 0.005404844880104065, 0.004894503392279148, 0.005033634137362242], "cand_cum_xyz_disp_all": [[-0.0023589879274368286, -0.0029278546571731567, -0.018550187349319458], [-0.014510482549667358, -0.009192928671836853, -0.02233199030160904], [-0.015805035829544067, -0.004646316170692444, -0.0241667702794075], [-0.01414819061756134, -0.004739731550216675, -0.012101493775844574], [-0.011624962091445923, -0.0017696619033813477, -0.022374004125595093], [-0.003314301371574402, -0.003238782286643982, -0.0240408256649971], [-0.005528181791305542, -0.005560681223869324, -0.021265164017677307], [-0.004984214901924133, -0.0034175068140029907, -0.015511281788349152], [-0.011376649141311646, -0.0010407716035842896, -0.017712712287902832], [-0.0037060528993606567, -0.004717469215393066, -0.014026239514350891], [-0.0036464333534240723, -0.007601678371429443, -0.020096763968467712], [-0.005278751254081726, -0.0018511861562728882, -0.014817222952842712], [-0.011690974235534668, -0.0033530890941619873, -0.02383219450712204], [-0.0007245689630508423, 0.0035366415977478027, -0.01464582234621048], [-0.010010093450546265, -0.00041450560092926025, -0.025764092803001404], [-0.007969066500663757, -0.002240791916847229, -0.021338768303394318], [-0.008597344160079956, -0.003132164478302002, -0.024686209857463837], [-0.006284967064857483, 0.0019139796495437622, -0.017979145050048828], [-0.007123634219169617, -0.0072377026081085205, -0.021961919963359833], [-0.010446280241012573, -0.004700809717178345, -0.02024374157190323], [-0.007544159889221191, -0.0041182637214660645, -0.018313325941562653], [-0.0034298449754714966, -0.003922954201698303, -0.01602892577648163], [-0.005859807133674622, -0.0028749555349349976, -0.016162395477294922], [-0.0035766810178756714, -0.0029224902391433716, -0.017899885773658752], [-0.007434666156768799, -0.0075302571058273315, -0.02194371074438095], [-0.004117816686630249, -0.0030080080032348633, -0.014571882784366608], [-0.004914641380310059, -0.007085263729095459, -0.010673686861991882], [-0.005105659365653992, -0.004279598593711853, -0.019644737243652344], [-0.015795260667800903, -0.0065729618072509766, -0.026008240878582], [-0.008890926837921143, -0.004568442702293396, -0.02635587751865387], [-0.006911337375640869, -0.0032453536987304688, -0.019837960600852966], [-0.010836362838745117, -0.0055273473262786865, -0.01737874001264572]], "cand_final_gripper_all": [0.0025380849838256836, 0.0018090009689331055, 0.000649869441986084, 0.001033782958984375, 0.005668550729751587, 0.003988057374954224, 0.001805722713470459, 0.0043769776821136475, 0.023583024740219116, 0.003599703311920166, 0.0028245151042938232, 0.008340239524841309, 0.0015670359134674072, 0.0030902326107025146, 0.0022071897983551025, 0.009265214204788208, 0.0027340352535247803, 0.005952715873718262, 0.00064125657081604, 0.003481954336166382, 0.001072615385055542, 0.007361024618148804, 0.006011337041854858, 0.002791851758956909, 0.004242688417434692, 0.002518594264984131, 0.002728193998336792, 0.007553786039352417, 0.0031502246856689453, 0.001119166612625122, 0.001846611499786377, 0.004674047231674194], "eef_pos": [0.6745746731758118, 0.09283066540956497, 0.23001544177532196], "cand_action_std": 0.09387043863534927, "cand_pairwise_centroid_dist_mean": 0.9236071705818176, "argmax_act_outlier": 1.096801996231079, "time_encode_ms": 4.931063856929541, "time_diffusion_ms": 36.02270991541445, "time_q_score_ms": 9.078224888071418, "time_total_ms": 50.69704190827906, "num_action_samples_effective": 32, "q_aggregate": "pair_min"} +{"chunk_ordinal": 56, "q_min_best": 0.5217599272727966, "q_min_mean": 0.40936198830604553, "q_min_std": 0.031602151691913605, "q_min_median": 0.40407994389533997, "chosen_vs_median_q_gap": 0.11767998337745667, "q1_best": 0.5217599272727966, "q2_best": 0.5532927513122559, "v_val": 0.5763424634933472, "advantage": -0.05458253622055054, "best_idx": 24, "q_min_all": [0.3668200373649597, 0.4106495976448059, 0.42179232835769653, 0.43180033564567566, 0.3718646466732025, 0.4035661220550537, 0.35126346349716187, 0.3966743052005768, 0.44268661737442017, 0.39965930581092834, 0.4276733100414276, 0.43724486231803894, 0.40407994389533997, 0.421345978975296, 0.42291805148124695, 0.4345581531524658, 0.3878174126148224, 0.4359278082847595, 0.39713671803474426, 0.42801690101623535, 0.40051063895225525, 0.3967161178588867, 0.3933846652507782, 0.4033306837081909, 0.5217599272727966, 0.4196837246417999, 0.4053382873535156, 0.39277660846710205, 0.43718165159225464, 0.40432456135749817, 0.35253769159317017, 0.3785434365272522], "q1_all": [0.3668200373649597, 0.4183048903942108, 0.4740089178085327, 0.43180033564567566, 0.381224125623703, 0.4267357885837555, 0.3752732574939728, 0.4579530358314514, 0.4436389207839966, 0.4260340929031372, 0.44741931557655334, 0.43724486231803894, 0.40407994389533997, 0.44728878140449524, 0.4290352165699005, 0.44837889075279236, 0.4148801863193512, 0.4359278082847595, 0.42141956090927124, 0.44949570298194885, 0.40051063895225525, 0.42515429854393005, 0.44145169854164124, 0.42646270990371704, 0.5217599272727966, 0.4316355288028717, 0.46251562237739563, 0.39277660846710205, 0.43718165159225464, 0.40432456135749817, 0.36771807074546814, 0.4137555658817291], "q2_all": [0.38496890664100647, 0.4106495976448059, 0.42179232835769653, 0.4414219260215759, 0.3718646466732025, 0.4035661220550537, 0.35126346349716187, 0.3966743052005768, 0.44268661737442017, 0.39965930581092834, 0.4276733100414276, 0.4572378695011139, 0.4042014479637146, 0.421345978975296, 0.42291805148124695, 0.4345581531524658, 0.3878174126148224, 0.44545844197273254, 0.39713671803474426, 0.42801690101623535, 0.4134894609451294, 0.3967161178588867, 0.3933846652507782, 0.4033306837081909, 0.5532927513122559, 0.4196837246417999, 0.4053382873535156, 0.4112481474876404, 0.43879348039627075, 0.40504151582717896, 0.35253769159317017, 0.3785434365272522], "cand_trans_speed_all": [0.006290614604949951, 0.00516964215785265, 0.004626860376447439, 0.004045124165713787, 0.006470571272075176, 0.003571879817172885, 0.004992646165192127, 0.0046472689136862755, 0.004175485111773014, 0.005289467051625252, 0.00391811691224575, 0.0046477485448122025, 0.005247074645012617, 0.00425188522785902, 0.005976404063403606, 0.00431838259100914, 0.0038309998344630003, 0.003996239975094795, 0.004480544477701187, 0.0036362025421112776, 0.00421373825520277, 0.005186538677662611, 0.004619182553142309, 0.00515384366735816, 0.006437171250581741, 0.006390625145286322, 0.005974579136818647, 0.005223359912633896, 0.002761555602774024, 0.004728859290480614, 0.006203505210578442, 0.005302920006215572], "cand_cum_xyz_disp_all": [[-0.010225445032119751, -0.003969982266426086, -0.025710292160511017], [-0.003425687551498413, -0.00492490828037262, -0.023364923894405365], [-0.0030565261840820312, -0.0036099106073379517, -0.018679603934288025], [-0.0050048828125, -0.0017670243978500366, -0.016321532428264618], [-0.01381547749042511, -0.008354291319847107, -0.01800849288702011], [-0.0059592872858047485, 0.0012010037899017334, -0.016068316996097565], [-0.011921077966690063, -0.0028869211673736572, -0.02440182864665985], [-0.00389823317527771, 0.003206402063369751, -0.019662588834762573], [-0.0025788992643356323, -0.004272565245628357, -0.014300636947154999], [-0.008906036615371704, -0.001111939549446106, -0.012810274958610535], [-0.002972900867462158, -0.002164795994758606, -0.018257558345794678], [-0.004196882247924805, -0.005287349224090576, -0.016710951924324036], [-0.009203553199768066, 0.002582639455795288, -0.01939985156059265], [-0.008728250861167908, -0.0009048134088516235, -0.012965336441993713], [-0.004535019397735596, -0.000154152512550354, -0.021399550139904022], [-0.005060017108917236, -0.001171797513961792, -0.009830035269260406], [-0.006468161940574646, -0.004098296165466309, -0.019261516630649567], [-0.005275323987007141, -0.002500012516975403, -0.013303488492965698], [-0.010152369737625122, -0.002244323492050171, -0.01586329936981201], [-0.00342385470867157, -0.0012868642807006836, -0.017475977540016174], [-0.012157976627349854, -0.006826505064964294, -0.015977337956428528], [-0.010409042239189148, -0.0007053762674331665, -0.01362898200750351], [-0.008571863174438477, -0.0015875846147537231, -0.017532609403133392], [-0.006188750267028809, -0.0017928779125213623, -0.01971999555826187], [-0.002145424485206604, -0.0014377087354660034, -0.0037711039185523987], [-0.000586971640586853, -0.0015346109867095947, -0.017791107296943665], [-0.006478339433670044, -0.002401009202003479, -0.015166260302066803], [-0.011748015880584717, -0.00417722761631012, -0.012976415455341339], [-0.0037729889154434204, -0.0023770034313201904, -0.012319378554821014], [-0.007977291941642761, -0.0038869231939315796, -0.02315273880958557], [-0.011554524302482605, -0.005894333124160767, -0.023134306073188782], [-0.010600268840789795, -0.0016680508852005005, -0.02348490059375763]], "cand_final_gripper_all": [0.003663986921310425, 0.0009202063083648682, 0.004072040319442749, 0.0021444857120513916, 0.004237055778503418, 0.004387557506561279, 0.002237260341644287, 0.007046252489089966, 0.003337174654006958, 0.0015478432178497314, 0.005440264940261841, 0.004065573215484619, 0.005235493183135986, 0.0019426047801971436, 0.004381746053695679, 0.003140658140182495, 0.0021223127841949463, 0.00553816556930542, 0.0, 0.01074710488319397, 0.0023971498012542725, 0.0032909512519836426, 0.005624502897262573, 0.0011911988258361816, 0.0027795135974884033, 0.003787130117416382, 0.003077954053878784, 0.003574937582015991, 0.004361987113952637, 0.0038505196571350098, 0.003012627363204956, 0.0030173957347869873], "eef_pos": [0.6749988198280334, 0.09230762720108032, 0.23005567491054535], "cand_action_std": 0.08825211226940155, "cand_pairwise_centroid_dist_mean": 0.8496749401092529, "argmax_act_outlier": 1.7164148092269897, "time_encode_ms": 5.352715961635113, "time_diffusion_ms": 36.16123599931598, "time_q_score_ms": 8.189365966245532, "time_total_ms": 51.114175003021955, "num_action_samples_effective": 32, "q_aggregate": "pair_min"} +{"chunk_ordinal": 57, "q_min_best": 0.47046172618865967, "q_min_mean": 0.4199453592300415, "q_min_std": 0.02700410783290863, "q_min_median": 0.4204291105270386, "chosen_vs_median_q_gap": 0.050032615661621094, "q1_best": 0.47046172618865967, "q2_best": 0.5065679550170898, "v_val": 0.5512752532958984, "advantage": -0.08081352710723877, "best_idx": 20, "q_min_all": [0.40557029843330383, 0.39120233058929443, 0.36944976449012756, 0.4210411608219147, 0.3805251717567444, 0.40509718656539917, 0.3987726867198944, 0.40022894740104675, 0.4437079429626465, 0.4081987142562866, 0.35621732473373413, 0.4204291105270386, 0.42935675382614136, 0.4372422695159912, 0.40176156163215637, 0.4146186411380768, 0.4208824038505554, 0.43926289677619934, 0.45729774236679077, 0.43971124291419983, 0.47046172618865967, 0.46861740946769714, 0.4264049232006073, 0.4490009546279907, 0.4410860240459442, 0.41492053866386414, 0.4459597170352936, 0.43353894352912903, 0.4411388039588928, 0.406442791223526, 0.40944233536720276, 0.3906633257865906], "q1_all": [0.40557029843330383, 0.39120233058929443, 0.36944976449012756, 0.4210411608219147, 0.3805251717567444, 0.40509718656539917, 0.3987726867198944, 0.40022894740104675, 0.4437079429626465, 0.4081987142562866, 0.35621732473373413, 0.4337153434753418, 0.42935675382614136, 0.4372422695159912, 0.40176156163215637, 0.4146186411380768, 0.4208824038505554, 0.43926289677619934, 0.45729774236679077, 0.43971124291419983, 0.47046172618865967, 0.46861740946769714, 0.4264049232006073, 0.4577166438102722, 0.4410860240459442, 0.41492053866386414, 0.46545878052711487, 0.43353894352912903, 0.4423764646053314, 0.406442791223526, 0.40944233536720276, 0.3920983374118805], "q2_all": [0.4653624892234802, 0.4176020622253418, 0.41094064712524414, 0.4548000991344452, 0.4281591773033142, 0.4636037051677704, 0.42493247985839844, 0.4324312210083008, 0.46997982263565063, 0.45356202125549316, 0.39366838335990906, 0.4204291105270386, 0.48127806186676025, 0.47851455211639404, 0.44181588292121887, 0.4479691982269287, 0.4550825357437134, 0.4811708927154541, 0.515281617641449, 0.4611591696739197, 0.5065679550170898, 0.4984675645828247, 0.4343808889389038, 0.4490009546279907, 0.45118770003318787, 0.46567219495773315, 0.4459597170352936, 0.45729658007621765, 0.4411388039588928, 0.43556320667266846, 0.42540502548217773, 0.3906633257865906], "cand_trans_speed_all": [0.004180338233709335, 0.0038197541143745184, 0.004892406519502401, 0.005703089293092489, 0.0026386489626020193, 0.005368429236114025, 0.003548799781128764, 0.005997797008603811, 0.005007538478821516, 0.003193075302988291, 0.005308043211698532, 0.0074930936098098755, 0.004429441876709461, 0.0038089705631136894, 0.0029524671845138073, 0.004978851415216923, 0.0032365787774324417, 0.003640798619017005, 0.004556865897029638, 0.0053275576792657375, 0.004969583824276924, 0.0036138929426670074, 0.004701224155724049, 0.0039260005578398705, 0.004046374000608921, 0.0055898441933095455, 0.0033555328845977783, 0.0027104374021291733, 0.0033437281381338835, 0.004408055450767279, 0.0032321622129529715, 0.005078690126538277], "cand_cum_xyz_disp_all": [[-0.0025151968002319336, -0.007875010371208191, -0.010270483791828156], [-0.005009442567825317, -0.005078405141830444, -0.017611995339393616], [-0.008080542087554932, -0.01371292769908905, -0.019613586366176605], [-0.008420437574386597, -0.005363985896110535, -0.012484289705753326], [-0.005026295781135559, -0.0032702982425689697, -0.010338962078094482], [-0.0038760900497436523, -0.007548227906227112, -0.01106274127960205], [-0.00753040611743927, -0.009330645203590393, -0.014200262725353241], [-0.004568547010421753, -0.0047228336334228516, -0.023295611143112183], [0.00041629374027252197, -0.0004114806652069092, -0.015313997864723206], [-0.004623010754585266, -0.004128843545913696, -0.014442339539527893], [-0.008670076727867126, -0.009634524583816528, -0.022161446511745453], [-0.003090903162956238, 0.006398022174835205, -0.009329870343208313], [-0.0031238198280334473, -0.010391727089881897, -0.014500133693218231], [-0.00170174241065979, -0.004527390003204346, -0.006604202091693878], [-0.002650216221809387, -0.003603816032409668, -0.010182686150074005], [-0.004004374146461487, -0.0054187774658203125, -0.014522165060043335], [-0.0050608813762664795, -0.005532175302505493, -0.012428142130374908], [-0.00594659149646759, -0.0056817978620529175, -0.008472338318824768], [-0.0005778670310974121, -0.002268776297569275, -0.009177640080451965], [-0.0023963898420333862, -0.00352303683757782, -0.018898293375968933], [0.002969592809677124, -0.003251895308494568, -0.011982128024101257], [0.0018230825662612915, -0.0012895017862319946, -0.01184062659740448], [-0.003354862332344055, -0.003969818353652954, -0.017998576164245605], [-0.0045101940631866455, -0.0021344125270843506, -0.011415861546993256], [-0.0016618967056274414, -0.0031089186668395996, -0.010881282389163971], [-0.0013731271028518677, -0.006848260760307312, -0.021393001079559326], [0.0007576197385787964, -0.00047582387924194336, -0.013565130531787872], [0.0007974058389663696, -0.0030410587787628174, -0.010048389434814453], [-0.003775566816329956, -0.00035819411277770996, -0.011958129703998566], [-0.004164859652519226, -0.007700711488723755, -0.01305929571390152], [-0.005600035190582275, -0.0015296638011932373, -0.009955212473869324], [-0.00564342737197876, -0.002361014485359192, -0.02149759978055954]], "cand_final_gripper_all": [0.004739254713058472, 0.0020283758640289307, 0.003598421812057495, 0.003128737211227417, 0.0024148225784301758, 0.004813015460968018, 0.0034416615962982178, 0.009040266275405884, 0.009073972702026367, 0.006716012954711914, 0.013278454542160034, 0.001546233892440796, 0.004128873348236084, 0.008208274841308594, 0.0, 0.009035170078277588, 0.002665013074874878, 0.001505136489868164, 0.009457170963287354, 0.007020771503448486, 0.010953396558761597, 0.002669095993041992, 0.0015751123428344727, 0.008041948080062866, 0.005556285381317139, 0.00443914532661438, 0.002034217119216919, 0.0035834908485412598, 0.003480881452560425, 0.0088997483253479, 0.006020277738571167, 0.010756194591522217], "eef_pos": [0.6742727160453796, 0.09519511461257935, 0.22904551029205322], "cand_action_std": 0.09719500690698624, "cand_pairwise_centroid_dist_mean": 0.9252416491508484, "argmax_act_outlier": 0.8676028251647949, "time_encode_ms": 5.321128061041236, "time_diffusion_ms": 36.11560212448239, "time_q_score_ms": 8.348952047526836, "time_total_ms": 50.756851909682155, "num_action_samples_effective": 32, "q_aggregate": "pair_min"} +{"chunk_ordinal": 58, "q_min_best": 0.40145745873451233, "q_min_mean": 0.3328395485877991, "q_min_std": 0.032667066901922226, "q_min_median": 0.3291226625442505, "chosen_vs_median_q_gap": 0.07233479619026184, "q1_best": 0.40145745873451233, "q2_best": 0.4111557602882385, "v_val": 0.6307500600814819, "advantage": -0.2292926013469696, "best_idx": 9, "q_min_all": [0.32741376757621765, 0.33475711941719055, 0.3112581670284271, 0.3164496421813965, 0.3267230987548828, 0.3779623210430145, 0.3651832044124603, 0.28893524408340454, 0.3629803955554962, 0.40145745873451233, 0.3200737535953522, 0.3291226625442505, 0.32853275537490845, 0.32202547788619995, 0.283344566822052, 0.3379603922367096, 0.35468119382858276, 0.2895951569080353, 0.33398255705833435, 0.33530786633491516, 0.3259989619255066, 0.36540985107421875, 0.3328635096549988, 0.3481096029281616, 0.28849220275878906, 0.2784602642059326, 0.3859897255897522, 0.26987776160240173, 0.3439815938472748, 0.35016390681266785, 0.38748371601104736, 0.3262879252433777], "q1_all": [0.32741376757621765, 0.33475711941719055, 0.3112581670284271, 0.3252756893634796, 0.3465214669704437, 0.3779623210430145, 0.3651832044124603, 0.28893524408340454, 0.3629803955554962, 0.40145745873451233, 0.3200737535953522, 0.3358171880245209, 0.3536529839038849, 0.32202547788619995, 0.29820147156715393, 0.34820491075515747, 0.35468119382858276, 0.2895951569080353, 0.34508445858955383, 0.33530786633491516, 0.3259989619255066, 0.36540985107421875, 0.33380264043807983, 0.39470168948173523, 0.28849220275878906, 0.2919427752494812, 0.3859897255897522, 0.293608695268631, 0.3439815938472748, 0.35016390681266785, 0.38748371601104736, 0.33799001574516296], "q2_all": [0.3525552749633789, 0.3415934145450592, 0.32242774963378906, 0.3164496421813965, 0.3267230987548828, 0.3883427679538727, 0.38453054428100586, 0.29220151901245117, 0.40503180027008057, 0.4111557602882385, 0.3484799861907959, 0.3291226625442505, 0.32853275537490845, 0.32425573468208313, 0.283344566822052, 0.3379603922367096, 0.3626956343650818, 0.31024491786956787, 0.33398255705833435, 0.3598182201385498, 0.3298398554325104, 0.4073678255081177, 0.3328635096549988, 0.3481096029281616, 0.3025587797164917, 0.2784602642059326, 0.3885473906993866, 0.26987776160240173, 0.3645646870136261, 0.35241734981536865, 0.4012548625469208, 0.3262879252433777], "cand_trans_speed_all": [0.005103520583361387, 0.004241224378347397, 0.004653635434806347, 0.004831524565815926, 0.00384210841730237, 0.0029502306133508682, 0.0027139484882354736, 0.004819422960281372, 0.003446984803304076, 0.0028807471971958876, 0.004738965071737766, 0.0034781876020133495, 0.004942556843161583, 0.0038709123618900776, 0.005526461638510227, 0.005468630697578192, 0.0060384636744856834, 0.005121762864291668, 0.004394798539578915, 0.004142003133893013, 0.0046264114789664745, 0.00609482591971755, 0.004225955810397863, 0.005726878996938467, 0.004980079364031553, 0.004568044096231461, 0.0044477698393166065, 0.005406572483479977, 0.003904096782207489, 0.00376079767011106, 0.00471120560541749, 0.0032206091564148664], "cand_cum_xyz_disp_all": [[-0.008449509739875793, -0.0027491599321365356, -0.021704040467739105], [-0.00930754840373993, -0.005037680268287659, -0.014353007078170776], [-0.013937845826148987, -0.0023400187492370605, -0.020588859915733337], [-0.011377140879631042, -0.004533752799034119, -0.019648052752017975], [-0.010395735502243042, -0.0014730989933013916, -0.007499612867832184], [-0.0021441131830215454, 0.0004353821277618408, -0.013424687087535858], [-0.006230443716049194, -0.001720324158668518, -0.011098265647888184], [-0.012624189257621765, -0.001740291714668274, -0.02019450068473816], [-0.006344333291053772, -0.0043035149574279785, -0.008738145232200623], [-0.002932518720626831, -0.002027660608291626, -0.0076444149017333984], [-0.010048314929008484, -0.007055029273033142, -0.020699352025985718], [-0.006240427494049072, -0.003615453839302063, -0.01642005890607834], [-0.008998885750770569, -0.0028915703296661377, -0.011875487864017487], [-0.009595751762390137, -0.0032802075147628784, -0.018290184438228607], [-0.015075653791427612, -0.0023767948150634766, -0.015352107584476471], [-0.007417246699333191, -0.0019443780183792114, -0.017555296421051025], [-0.00584740936756134, -0.006675794720649719, -0.013745084404945374], [-0.014332443475723267, -0.0032709091901779175, -0.02414199709892273], [-0.00874379277229309, 0.0015151649713516235, -0.01843138039112091], [-0.008480027318000793, -0.005807995796203613, -0.013109833002090454], [-0.00690324604511261, -0.006275966763496399, -0.0235690176486969], [0.0005316883325576782, -0.002819567918777466, -0.014560498297214508], [-0.009074971079826355, -0.005527466535568237, -0.012149959802627563], [-0.0074304938316345215, 0.0017750859260559082, -0.010538056492805481], [-0.013845711946487427, -0.006339624524116516, -0.020230725407600403], [-0.014515668153762817, -0.004910066723823547, -0.019309110939502716], [-0.003238588571548462, 0.00018550455570220947, -0.007447518408298492], [-0.01387825608253479, -0.006595179438591003, -0.024492166936397552], [-0.005361244082450867, -0.004353418946266174, -0.014141276478767395], [-0.008713677525520325, -0.003998935222625732, -0.011908039450645447], [-0.004902824759483337, 0.0006562471389770508, -0.007121466100215912], [-0.011896118521690369, -0.0025591105222702026, -0.008361011743545532]], "cand_final_gripper_all": [0.0031716525554656982, 0.0007624030113220215, 0.0049908459186553955, 0.003049492835998535, 0.0020292997360229492, 0.0058789849281311035, 0.00034561753273010254, 0.003443419933319092, 0.007025331258773804, 0.014690965414047241, 0.0008158385753631592, 0.00801849365234375, 0.007478773593902588, 0.002155393362045288, 0.005169808864593506, 0.0, 0.004137188196182251, 0.006526142358779907, 0.000588834285736084, 0.014304965734481812, 0.018346965312957764, 0.004766017198562622, 0.0038823187351226807, 0.00732538104057312, 0.002249419689178467, 0.007339596748352051, 0.004614204168319702, 0.0051743388175964355, 0.004481583833694458, 0.00526583194732666, 0.0067746639251708984, 0.004438281059265137], "eef_pos": [0.6726417541503906, 0.09865892678499222, 0.226767897605896], "cand_action_std": 0.09625090658664703, "cand_pairwise_centroid_dist_mean": 0.9506973028182983, "argmax_act_outlier": 1.3744888305664062, "time_encode_ms": 6.372656906023622, "time_diffusion_ms": 36.171315936371684, "time_q_score_ms": 7.9243050422519445, "time_total_ms": 51.310339011251926, "num_action_samples_effective": 32, "q_aggregate": "pair_min"} +{"chunk_ordinal": 59, "q_min_best": 0.39723241329193115, "q_min_mean": 0.3154321014881134, "q_min_std": 0.035998664796352386, "q_min_median": 0.3130488991737366, "chosen_vs_median_q_gap": 0.08418351411819458, "q1_best": 0.4056608974933624, "q2_best": 0.39723241329193115, "v_val": 0.5907741785049438, "advantage": -0.1935417652130127, "best_idx": 21, "q_min_all": [0.32310599088668823, 0.29314470291137695, 0.36250758171081543, 0.2971445620059967, 0.32660987973213196, 0.25010979175567627, 0.2737426459789276, 0.3408409059047699, 0.34849026799201965, 0.3072894513607025, 0.3087868094444275, 0.38730335235595703, 0.28113314509391785, 0.37140852212905884, 0.3323005735874176, 0.311615526676178, 0.2603845000267029, 0.314419686794281, 0.30618518590927124, 0.3130488991737366, 0.325869083404541, 0.39723241329193115, 0.3566518723964691, 0.2989601492881775, 0.29145902395248413, 0.2942347228527069, 0.24317693710327148, 0.3271919786930084, 0.33120834827423096, 0.2874876856803894, 0.3134364187717438, 0.3173466920852661], "q1_all": [0.36416083574295044, 0.3732147514820099, 0.4169575572013855, 0.33789828419685364, 0.37486615777015686, 0.31406012177467346, 0.33501777052879333, 0.4051848351955414, 0.39351245760917664, 0.36376526951789856, 0.3704253137111664, 0.41310614347457886, 0.3500780165195465, 0.3796524107456207, 0.3899601995944977, 0.36224058270454407, 0.3349525034427643, 0.38306573033332825, 0.35772573947906494, 0.3600434958934784, 0.3862355053424835, 0.4056608974933624, 0.39319920539855957, 0.34678003191947937, 0.3476473391056061, 0.3669099807739258, 0.31723156571388245, 0.37751439213752747, 0.38328051567077637, 0.36505821347236633, 0.3661234676837921, 0.3718101680278778], "q2_all": [0.32310599088668823, 0.29314470291137695, 0.36250758171081543, 0.2971445620059967, 0.32660987973213196, 0.25010979175567627, 0.2737426459789276, 0.3408409059047699, 0.34849026799201965, 0.3072894513607025, 0.3087868094444275, 0.38730335235595703, 0.28113314509391785, 0.37140852212905884, 0.3323005735874176, 0.311615526676178, 0.2603845000267029, 0.314419686794281, 0.30618518590927124, 0.3130488991737366, 0.325869083404541, 0.39723241329193115, 0.3566518723964691, 0.2989601492881775, 0.29145902395248413, 0.2942347228527069, 0.24317693710327148, 0.3271919786930084, 0.33120834827423096, 0.2874876856803894, 0.3134364187717438, 0.3173466920852661], "cand_trans_speed_all": [0.003946525976061821, 0.004624103661626577, 0.004960760474205017, 0.005334326531738043, 0.004384930711239576, 0.005431313067674637, 0.00463001849129796, 0.003106866031885147, 0.0034799030981957912, 0.003081493778154254, 0.0030555427074432373, 0.002592997858300805, 0.003966753836721182, 0.0050827329978346825, 0.003480303566902876, 0.004080763086676598, 0.005817744880914688, 0.005905983038246632, 0.004262756090611219, 0.0036875922232866287, 0.003943182528018951, 0.007197135593742132, 0.0026258211582899094, 0.004801219794899225, 0.004215242341160774, 0.0048030661419034, 0.006848753429949284, 0.003489856142550707, 0.004182633012533188, 0.004533544182777405, 0.004156842827796936, 0.004109035711735487], "cand_cum_xyz_disp_all": [[-0.007510393857955933, -0.00615827739238739, -0.016308099031448364], [-0.009528815746307373, -0.0031644105911254883, -0.017443522810935974], [-0.007493078708648682, -0.003144204616546631, -0.007012315094470978], [-0.00897902250289917, -0.004125148057937622, -0.02310437709093094], [-0.0038530081510543823, -0.0019893497228622437, -0.02303290367126465], [-0.011326462030410767, -0.005355909466743469, -0.02800741046667099], [-0.009490251541137695, -0.007016032934188843, -0.024240456521511078], [-0.004806503653526306, -0.0018716156482696533, -0.005966790020465851], [-0.0030428320169448853, -0.001626729965209961, -0.012844257056713104], [-0.007864341139793396, -0.002313777804374695, -0.014291323721408844], [-0.009851053357124329, -0.006264805793762207, -0.01105644553899765], [-0.0024264156818389893, -0.0029742568731307983, -0.005562581121921539], [-0.010509401559829712, -0.006037533283233643, -0.017080433666706085], [-0.004362881183624268, -0.004564821720123291, -0.013902321457862854], [-0.004674270749092102, -0.0041785091161727905, -0.014775097370147705], [-0.007971182465553284, -0.006778642535209656, -0.01927603781223297], [-0.010402053594589233, -0.0038399100303649902, -0.028753027319908142], [-0.007580846548080444, -0.0030001550912857056, -0.022733762860298157], [-0.006641462445259094, -0.0032999813556671143, -0.02027226984500885], [-0.012157037854194641, -0.004696905612945557, -0.008664615452289581], [-0.0045359134674072266, -0.0031246542930603027, -0.017460621893405914], [-0.00807526707649231, -0.004215836524963379, -0.005809612572193146], [-0.005356386303901672, -0.003592878580093384, -0.00919022411108017], [-0.009680449962615967, -0.0018093883991241455, -0.022192031145095825], [-0.00943988561630249, -0.005865335464477539, -0.017594754695892334], [-0.007756128907203674, 0.0004934221506118774, -0.019451595842838287], [-0.01912921667098999, -0.0030086636543273926, -0.02098274976015091], [-0.0053821951150894165, -0.001913309097290039, -0.016930893063545227], [-0.008243158459663391, -0.004039272665977478, -0.012018956243991852], [-0.01033790409564972, 0.0005897879600524902, -0.015593461692333221], [-0.006819993257522583, -0.007303863763809204, -0.019410058856010437], [-0.008170738816261292, -0.005891203880310059, -0.019260399043560028]], "cand_final_gripper_all": [0.003634542226791382, 0.0021525323390960693, 0.004538506269454956, 0.002989053726196289, 0.003003358840942383, 0.004162907600402832, 0.0010631382465362549, 0.007710009813308716, 0.005847513675689697, 0.0028975605964660645, 0.004133552312850952, 0.0033940374851226807, 0.0026604533195495605, 0.0038503706455230713, 0.0051555335521698, 0.004258900880813599, 0.0031662285327911377, 0.0064799487590789795, 0.0019028782844543457, 0.0011382997035980225, 0.0, 0.006504625082015991, 0.0035386979579925537, 0.003127068281173706, 0.007774978876113892, 0.00585058331489563, 0.0014156103134155273, 0.003104597330093384, 0.002936333417892456, 0.005418956279754639, 0.0015680491924285889, 0.002095460891723633], "eef_pos": [0.6722020506858826, 0.09902546554803848, 0.22296102344989777], "cand_action_std": 0.08009900152683258, "cand_pairwise_centroid_dist_mean": 0.8176928758621216, "argmax_act_outlier": 1.689244270324707, "time_encode_ms": 5.590446060523391, "time_diffusion_ms": 36.1668870318681, "time_q_score_ms": 8.313425816595554, "time_total_ms": 50.8467189501971, "num_action_samples_effective": 32, "q_aggregate": "pair_min"} +{"chunk_ordinal": 60, "q_min_best": 0.4019063711166382, "q_min_mean": 0.3404920995235443, "q_min_std": 0.03673133626580238, "q_min_median": 0.3440285325050354, "chosen_vs_median_q_gap": 0.05787783861160278, "q1_best": 0.42644938826560974, "q2_best": 0.4019063711166382, "v_val": 0.6660888195037842, "advantage": -0.264182448387146, "best_idx": 21, "q_min_all": [0.3123623728752136, 0.34193527698516846, 0.3115341365337372, 0.31461426615715027, 0.378836452960968, 0.39248794317245483, 0.3019235134124756, 0.3370605409145355, 0.32463976740837097, 0.38739633560180664, 0.35608547925949097, 0.2757476568222046, 0.3670594096183777, 0.3158448040485382, 0.3590421676635742, 0.2933196425437927, 0.365092009305954, 0.34278547763824463, 0.2988778054714203, 0.3705165386199951, 0.3376106917858124, 0.4019063711166382, 0.3537638187408447, 0.36931344866752625, 0.36794471740722656, 0.35647228360176086, 0.3629571199417114, 0.3440285325050354, 0.22825440764427185, 0.35837846994400024, 0.317815363407135, 0.35014039278030396], "q1_all": [0.33318892121315, 0.39051923155784607, 0.35504719614982605, 0.3473353981971741, 0.40377557277679443, 0.3958834707736969, 0.34473446011543274, 0.37404125928878784, 0.32463976740837097, 0.40002697706222534, 0.38157564401626587, 0.318311482667923, 0.3861600458621979, 0.36033743619918823, 0.38985204696655273, 0.3116337060928345, 0.365092009305954, 0.3829733431339264, 0.34296563267707825, 0.39820125699043274, 0.38549527525901794, 0.42644938826560974, 0.3917502462863922, 0.4318365156650543, 0.3847614824771881, 0.39945557713508606, 0.4185388386249542, 0.3557153642177582, 0.2622956335544586, 0.38472214341163635, 0.3642425537109375, 0.39612624049186707], "q2_all": [0.3123623728752136, 0.34193527698516846, 0.3115341365337372, 0.31461426615715027, 0.378836452960968, 0.39248794317245483, 0.3019235134124756, 0.3370605409145355, 0.3312456011772156, 0.38739633560180664, 0.35608547925949097, 0.2757476568222046, 0.3670594096183777, 0.3158448040485382, 0.3590421676635742, 0.2933196425437927, 0.3979419469833374, 0.34278547763824463, 0.2988778054714203, 0.3705165386199951, 0.3376106917858124, 0.4019063711166382, 0.3537638187408447, 0.36931344866752625, 0.36794471740722656, 0.35647228360176086, 0.3629571199417114, 0.3440285325050354, 0.22825440764427185, 0.35837846994400024, 0.317815363407135, 0.35014039278030396], "cand_trans_speed_all": [0.005123376380652189, 0.004095668904483318, 0.004652208648622036, 0.006223905831575394, 0.0040107048116624355, 0.004982487764209509, 0.005438912659883499, 0.003923714626580477, 0.004426749423146248, 0.004418610595166683, 0.003549095243215561, 0.006045423448085785, 0.004367560148239136, 0.005203442648053169, 0.003915560897439718, 0.006125491112470627, 0.005181385204195976, 0.003660766175016761, 0.005496020428836346, 0.004839190281927586, 0.004357730969786644, 0.0037491782568395138, 0.0058140079490840435, 0.0044468301348388195, 0.0034876565914601088, 0.004606740083545446, 0.004383054096251726, 0.005870654247701168, 0.0061469366773962975, 0.0035568110179156065, 0.004629551898688078, 0.004491308704018593], "cand_cum_xyz_disp_all": [[-0.013948395848274231, -0.0014469176530838013, -0.00948362797498703], [-0.006745085120201111, -0.00822758674621582, -0.013279497623443604], [-0.010578751564025879, -0.0007926225662231445, -0.021165043115615845], [-0.004543468356132507, -0.007007122039794922, -0.021793201565742493], [-0.004071399569511414, -0.004094555974006653, -0.01246894896030426], [-0.0011107176542282104, -0.0033156871795654297, -0.019971273839473724], [-0.010311111807823181, -0.003387242555618286, -0.021831713616847992], [-0.006328552961349487, -0.002509668469429016, -0.018176354467868805], [-0.010538488626480103, -0.008871734142303467, -0.015693753957748413], [-0.007270395755767822, -0.00449739396572113, -0.009914249181747437], [-0.0042776912450790405, 0.0006536692380905151, -0.01596449315547943], [-0.012033417820930481, -0.009684309363365173, -0.027487516403198242], [-0.0007604807615280151, -0.0029876679182052612, -0.015875473618507385], [-0.005715534090995789, -0.0075690001249313354, -0.026164807379245758], [-0.004664316773414612, -0.003547683358192444, -0.014691874384880066], [-0.013446912169456482, -0.005622297525405884, -0.024277374148368835], [-0.006909102201461792, -0.008793175220489502, -0.013778932392597198], [-0.007540419697761536, -0.0033015161752700806, -0.013302497565746307], [-0.006577029824256897, -0.006111025810241699, -0.02169811725616455], [-0.00197581946849823, -0.00027045607566833496, -0.019435733556747437], [-0.008085519075393677, -0.002349182963371277, -0.012704290449619293], [-0.0037408918142318726, -0.001659780740737915, -0.0078207328915596], [-0.006164848804473877, -0.0033483654260635376, -0.01681474596261978], [-0.0065012127161026, -0.002153843641281128, -0.010820306837558746], [-0.006772682070732117, -0.006101876497268677, -0.011116422712802887], [-0.006356433033943176, -0.001668095588684082, -0.015232399106025696], [-0.008073776960372925, 0.0009107291698455811, -0.015568330883979797], [-0.006132543087005615, -0.003585219383239746, -0.02279362827539444], [-0.021328583359718323, -0.004754424095153809, -0.026409171521663666], [-0.0051171183586120605, 0.000543445348739624, -0.012274622917175293], [-0.010017365217208862, -0.0018752068281173706, -0.021575920283794403], [-0.005413681268692017, -0.005778595805168152, -0.017318755388259888]], "cand_final_gripper_all": [0.006125718355178833, 0.0026186704635620117, 0.0030770599842071533, 0.002062290906906128, 0.009339869022369385, 0.0026187002658843994, 0.004336506128311157, 0.009221285581588745, 0.002213716506958008, 0.0007297694683074951, 0.004475206136703491, 0.004817485809326172, 0.004042506217956543, 0.0006498098373413086, 0.002085953950881958, 0.003437936305999756, 0.0019915401935577393, 0.007372349500656128, 0.006060898303985596, 0.002358734607696533, 0.001838386058807373, 0.0060503482818603516, 0.01837986707687378, 0.003215789794921875, 0.00789731740951538, 0.004590481519699097, 0.006832748651504517, 0.0023121237754821777, 0.0022843778133392334, 0.00982588529586792, 0.003142058849334717, 0.002769768238067627], "eef_pos": [0.672352135181427, 0.09872206300497055, 0.22221589088439941], "cand_action_std": 0.09879368543624878, "cand_pairwise_centroid_dist_mean": 1.0074543952941895, "argmax_act_outlier": 1.1313953399658203, "time_encode_ms": 4.8548930790275335, "time_diffusion_ms": 35.879754927009344, "time_q_score_ms": 7.852362003177404, "time_total_ms": 49.374750116840005, "num_action_samples_effective": 32, "q_aggregate": "pair_min"} +{"chunk_ordinal": 61, "q_min_best": 0.385146826505661, "q_min_mean": 0.31905362010002136, "q_min_std": 0.04180918261408806, "q_min_median": 0.32656508684158325, "chosen_vs_median_q_gap": 0.05858173966407776, "q1_best": 0.4055921733379364, "q2_best": 0.385146826505661, "v_val": 0.705771267414093, "advantage": -0.320624440908432, "best_idx": 23, "q_min_all": [0.32931360602378845, 0.3739924132823944, 0.2512372136116028, 0.3508132994174957, 0.2969319820404053, 0.3670407235622406, 0.297833651304245, 0.323114275932312, 0.3208107352256775, 0.3431145250797272, 0.3792586922645569, 0.3421507477760315, 0.3570880889892578, 0.2714253067970276, 0.32656508684158325, 0.3382287323474884, 0.2833182215690613, 0.3066144585609436, 0.30085062980651855, 0.2835421562194824, 0.23440894484519958, 0.34745335578918457, 0.3609462380409241, 0.385146826505661, 0.3284301459789276, 0.28267693519592285, 0.2640424370765686, 0.33074623346328735, 0.3740232288837433, 0.33374249935150146, 0.2938551902770996, 0.23099972307682037], "q1_all": [0.3516356348991394, 0.3739924132823944, 0.30431079864501953, 0.37389132380485535, 0.32598528265953064, 0.3670407235622406, 0.31559881567955017, 0.35909172892570496, 0.33880338072776794, 0.3431145250797272, 0.3792586922645569, 0.36187878251075745, 0.36498841643333435, 0.31705358624458313, 0.3544754981994629, 0.36254647374153137, 0.30253344774246216, 0.3397137224674225, 0.332834929227829, 0.3220960795879364, 0.28522810339927673, 0.3603896200656891, 0.3609462380409241, 0.4055921733379364, 0.33875513076782227, 0.32466039061546326, 0.3095742464065552, 0.34487539529800415, 0.3824520409107208, 0.3459565043449402, 0.34666094183921814, 0.29167863726615906], "q2_all": [0.32931360602378845, 0.38841351866722107, 0.2512372136116028, 0.3508132994174957, 0.2969319820404053, 0.37776172161102295, 0.297833651304245, 0.323114275932312, 0.3208107352256775, 0.35316669940948486, 0.3872784376144409, 0.3421507477760315, 0.3570880889892578, 0.2714253067970276, 0.32656508684158325, 0.3382287323474884, 0.2833182215690613, 0.3066144585609436, 0.30085062980651855, 0.2835421562194824, 0.23440894484519958, 0.34745335578918457, 0.3881659507751465, 0.385146826505661, 0.3284301459789276, 0.28267693519592285, 0.2640424370765686, 0.33074623346328735, 0.3740232288837433, 0.33374249935150146, 0.2938551902770996, 0.23099972307682037], "cand_trans_speed_all": [0.0037636447232216597, 0.004293996375054121, 0.005676829256117344, 0.0040939487516880035, 0.004262387286871672, 0.004500478506088257, 0.004456142894923687, 0.003992080222815275, 0.004357585683465004, 0.0049356273375451565, 0.0029211072251200676, 0.003930442035198212, 0.0038601902779191732, 0.005768102593719959, 0.004540774971246719, 0.003786231391131878, 0.005644071847200394, 0.006216544657945633, 0.005808599293231964, 0.005780381616204977, 0.006456457078456879, 0.004932140465825796, 0.004812068305909634, 0.006120962556451559, 0.003994967322796583, 0.005934110842645168, 0.005280079320073128, 0.003587559564039111, 0.003066266654059291, 0.0040662153623998165, 0.004917609505355358, 0.0071175917983055115], "cand_cum_xyz_disp_all": [[-0.007253140211105347, -0.0021025091409683228, -0.017772749066352844], [-0.0038990378379821777, -0.0070989131927490234, -0.016707435250282288], [-0.015697985887527466, -0.0077207088470458984, -0.023393861949443817], [-0.008617550134658813, -0.0028900355100631714, -0.016251787543296814], [-0.010321512818336487, -0.004697844386100769, -0.017785221338272095], [-0.00427284836769104, -0.006497547030448914, -0.02262192964553833], [-0.010775819420814514, 0.0011956840753555298, -0.014318831264972687], [-0.010468915104866028, -0.002604544162750244, -0.017420731484889984], [-0.007382124662399292, -0.004326343536376953, -0.02014627307653427], [-0.01010759174823761, -0.007761523127555847, -0.019423067569732666], [-0.00574907660484314, -0.003967016935348511, -0.013417467474937439], [-0.006471648812294006, -0.007089346647262573, -0.01547512412071228], [-0.0067940205335617065, -0.01001468300819397, -0.014221139252185822], [-0.015933096408843994, -0.008001253008842468, -0.020609885454177856], [-0.00794440507888794, -0.0053434818983078, -0.019182883203029633], [-0.00896531343460083, -0.0020445138216018677, -0.012496545910835266], [-0.012717649340629578, -0.008724749088287354, -0.02512294054031372], [-0.011652439832687378, -0.008260965347290039, -0.024749018251895905], [-0.010212808847427368, -0.011123239994049072, -0.028266310691833496], [-0.011405020952224731, -0.00879204273223877, -0.02468552440404892], [-0.020444542169570923, -0.005915164947509766, -0.02627822756767273], [-0.005107223987579346, -0.0016719996929168701, -0.021176867187023163], [-0.006504327058792114, -0.004377126693725586, -0.01939690113067627], [-0.004432812333106995, -0.0034521818161010742, -0.02263902872800827], [-0.008757039904594421, -0.001960545778274536, -0.0181313157081604], [-0.014987990260124207, -0.006220981478691101, -0.019142769277095795], [-0.012946903705596924, -0.006387040019035339, -0.022174209356307983], [-0.008843272924423218, -0.003169044852256775, -0.01573636382818222], [-0.008657991886138916, -0.0032303184270858765, -0.007616877555847168], [-0.007505372166633606, -0.0028503090143203735, -0.02012639492750168], [-0.009047597646713257, -0.006955578923225403, -0.01817978173494339], [-0.02119678258895874, -0.009206563234329224, -0.018341489136219025]], "cand_final_gripper_all": [0.004185914993286133, 0.0036245882511138916, 0.0025634765625, 0.0019372403621673584, 0.005974799394607544, 0.0034834742546081543, 0.0016744434833526611, 0.005125880241394043, 0.0015212297439575195, 0.004682064056396484, 0.006404221057891846, 0.0020264089107513428, 0.004736602306365967, 0.0010851919651031494, 0.001741647720336914, 0.0030255913734436035, 0.007214725017547607, 0.002885192632675171, 0.004345744848251343, 0.0014151334762573242, 0.0018110871315002441, 0.008543699979782104, 0.004273593425750732, 0.0064844489097595215, 0.003864854574203491, 0.0035701096057891846, 0.0038028061389923096, 0.010056674480438232, 0.005166232585906982, 0.005314528942108154, 0.008669763803482056, 0.0011394321918487549], "eef_pos": [0.6723120808601379, 0.1008237898349762, 0.2223380208015442], "cand_action_std": 0.09355520457029343, "cand_pairwise_centroid_dist_mean": 0.9238734245300293, "argmax_act_outlier": 1.3170610666275024, "time_encode_ms": 5.429218057543039, "time_diffusion_ms": 36.215417087078094, "time_q_score_ms": 7.445337017998099, "time_total_ms": 49.92864700034261, "num_action_samples_effective": 32, "q_aggregate": "pair_min"} +{"chunk_ordinal": 62, "q_min_best": 0.382784366607666, "q_min_mean": 0.3181638717651367, "q_min_std": 0.03143502026796341, "q_min_median": 0.3127793073654175, "chosen_vs_median_q_gap": 0.07000505924224854, "q1_best": 0.4721771776676178, "q2_best": 0.382784366607666, "v_val": 0.6362725496292114, "advantage": -0.2534881830215454, "best_idx": 12, "q_min_all": [0.310840368270874, 0.30257049202919006, 0.306399941444397, 0.28164079785346985, 0.3210519552230835, 0.28977134823799133, 0.3726844787597656, 0.3126322031021118, 0.3310561180114746, 0.29654568433761597, 0.3570791780948639, 0.3239883780479431, 0.382784366607666, 0.3151184320449829, 0.2950916588306427, 0.35292428731918335, 0.3199492394924164, 0.3232775628566742, 0.3187655806541443, 0.3564608693122864, 0.26163244247436523, 0.364341139793396, 0.37346774339675903, 0.25156691670417786, 0.29777848720550537, 0.3089269995689392, 0.30694350600242615, 0.33785611391067505, 0.28955990076065063, 0.3149532675743103, 0.3127793073654175, 0.2908055782318115], "q1_all": [0.4313310384750366, 0.4354467988014221, 0.4232851564884186, 0.4041692912578583, 0.4309092164039612, 0.44177567958831787, 0.446301132440567, 0.44740939140319824, 0.4429834187030792, 0.44962430000305176, 0.47675424814224243, 0.4471431076526642, 0.4721771776676178, 0.40469440817832947, 0.44038593769073486, 0.46213498711586, 0.48831406235694885, 0.41678890585899353, 0.4180709421634674, 0.4495552182197571, 0.4056854546070099, 0.45924851298332214, 0.4697380065917969, 0.39646846055984497, 0.44603145122528076, 0.43413278460502625, 0.46531832218170166, 0.45793208479881287, 0.45383891463279724, 0.4531683921813965, 0.4425191283226013, 0.3895169198513031], "q2_all": [0.310840368270874, 0.30257049202919006, 0.306399941444397, 0.28164079785346985, 0.3210519552230835, 0.28977134823799133, 0.3726844787597656, 0.3126322031021118, 0.3310561180114746, 0.29654568433761597, 0.3570791780948639, 0.3239883780479431, 0.382784366607666, 0.3151184320449829, 0.2950916588306427, 0.35292428731918335, 0.3199492394924164, 0.3232775628566742, 0.3187655806541443, 0.3564608693122864, 0.26163244247436523, 0.364341139793396, 0.37346774339675903, 0.25156691670417786, 0.29777848720550537, 0.3089269995689392, 0.30694350600242615, 0.33785611391067505, 0.28955990076065063, 0.3149532675743103, 0.3127793073654175, 0.2908055782318115], "cand_trans_speed_all": [0.0053715831600129604, 0.0037174790631979704, 0.0037523414939641953, 0.00490492582321167, 0.0033695639576762915, 0.0031236771028488874, 0.003631923347711563, 0.003403852228075266, 0.0027344347909092903, 0.0036583382170647383, 0.002901975065469742, 0.0036847121082246304, 0.003483488690108061, 0.004106435459107161, 0.003610001876950264, 0.0016193264164030552, 0.0026961227413266897, 0.0033942870795726776, 0.005670933984220028, 0.0032206177711486816, 0.0037356100510805845, 0.0029193393420428038, 0.004019130952656269, 0.0044645569287240505, 0.0029892115853726864, 0.00354556692764163, 0.0026416550390422344, 0.004809855949133635, 0.0033795502968132496, 0.002746227663010359, 0.0036869726609438658, 0.004302759654819965], "cand_cum_xyz_disp_all": [[-0.013958200812339783, -0.005096927285194397, -0.0013872161507606506], [-0.013642370700836182, -0.0033845752477645874, -0.005333058536052704], [-0.01266835629940033, -0.008390828967094421, -0.005498699843883514], [-0.014752835035324097, -0.009444251656532288, -0.014853499829769135], [-0.008640080690383911, -0.007433801889419556, -0.007249414920806885], [-0.009975776076316833, -0.005033761262893677, -0.007250659167766571], [-0.006870836019515991, -0.006912633776664734, -0.005646668374538422], [-0.00991356372833252, -0.0062422603368759155, -0.0022776946425437927], [-0.008621126413345337, -0.009863629937171936, -0.0036093518137931824], [-0.01069195568561554, -0.008905231952667236, -0.0024950355291366577], [-0.005944117903709412, -0.005664631724357605, 0.0031278282403945923], [-0.009285539388656616, -0.008283466100692749, -0.009569652378559113], [-0.006228432059288025, -0.003501787781715393, -0.0022327154874801636], [-0.01152084767818451, -0.007998377084732056, -0.01544760912656784], [-0.011785253882408142, -0.006504267454147339, -0.004452168941497803], [-0.005037382245063782, -0.004640430212020874, -0.003247074782848358], [-0.008233621716499329, -0.004712462425231934, 0.0007700175046920776], [-0.010022416710853577, -0.006255969405174255, -0.011360205709934235], [-0.014157027006149292, -0.005098268389701843, -0.003086656332015991], [-0.007786810398101807, -0.006099805235862732, -0.0056955814361572266], [-0.015370041131973267, -0.004416957497596741, -0.00398370623588562], [-0.006993681192398071, -0.0042372047901153564, -0.005273744463920593], [-0.006555885076522827, -0.005605921149253845, -0.0014970004558563232], [-0.018234431743621826, -0.011434808373451233, -0.006757758557796478], [-0.011797517538070679, -0.0053438544273376465, 0.00022493302822113037], [-0.011766135692596436, -0.009473517537117004, -0.008712731301784515], [-0.010735616087913513, -0.005201384425163269, -0.002759397029876709], [-0.010151222348213196, -0.010292991995811462, -0.003881193697452545], [-0.011888653039932251, -0.009560957551002502, 0.001367710530757904], [-0.01013559103012085, -0.008906856179237366, -0.00017002224922180176], [-0.011997997760772705, -0.005808785557746887, -0.0017427653074264526], [-0.012510061264038086, -0.005826964974403381, -0.011546656489372253]], "cand_final_gripper_all": [0.002828538417816162, 0.00018268823623657227, 0.0020791590213775635, 0.0, 0.0, 0.0, 0.003432363271713257, 0.005839884281158447, 0.007206231355667114, 0.0007492601871490479, 0.0016642212867736816, 0.0, 0.0029265880584716797, 0.0027111470699310303, 0.004067361354827881, 0.0, 0.0032153725624084473, 0.004190593957901001, 0.005473494529724121, 0.0017766952514648438, 0.0038934648036956787, 0.00444871187210083, 0.020263075828552246, 0.0059181153774261475, 0.0052110254764556885, 0.0034084320068359375, 0.00042617321014404297, 0.0021951496601104736, 0.0, 0.0, 0.0031470656394958496, 0.0014095902442932129], "eef_pos": [0.6729137897491455, 0.10373902320861816, 0.22701561450958252], "cand_action_std": 0.08479991555213928, "cand_pairwise_centroid_dist_mean": 0.7997273206710815, "argmax_act_outlier": 0.8457059264183044, "time_encode_ms": 4.871543031185865, "time_diffusion_ms": 36.453037057071924, "time_q_score_ms": 8.521723095327616, "time_total_ms": 50.71078706532717, "num_action_samples_effective": 32, "q_aggregate": "pair_min"} +{"chunk_ordinal": 63, "q_min_best": 0.36498433351516724, "q_min_mean": 0.32377028465270996, "q_min_std": 0.023821434006094933, "q_min_median": 0.33035802841186523, "chosen_vs_median_q_gap": 0.034626305103302, "q1_best": 0.46344420313835144, "q2_best": 0.36498433351516724, "v_val": 0.7189568281173706, "advantage": -0.35397249460220337, "best_idx": 1, "q_min_all": [0.3309841752052307, 0.36498433351516724, 0.3348751664161682, 0.34841370582580566, 0.32394295930862427, 0.2648422122001648, 0.32879799604415894, 0.33319807052612305, 0.2957901060581207, 0.3374626040458679, 0.3393244743347168, 0.3108642101287842, 0.28739434480667114, 0.3075336813926697, 0.32692790031433105, 0.33735090494155884, 0.33371105790138245, 0.27131253480911255, 0.30666667222976685, 0.3290465474128723, 0.33058714866638184, 0.33056309819221497, 0.33035802841186523, 0.28660884499549866, 0.30109935998916626, 0.33702316880226135, 0.33595213294029236, 0.35869085788726807, 0.35037654638290405, 0.3254920542240143, 0.3099480867385864, 0.35052570700645447], "q1_all": [0.4620390236377716, 0.46344420313835144, 0.4504046142101288, 0.4855630099773407, 0.4468647539615631, 0.4256362020969391, 0.47170954942703247, 0.45272812247276306, 0.402892142534256, 0.495685338973999, 0.5053158402442932, 0.4627850353717804, 0.4403262436389923, 0.461676687002182, 0.4558083117008209, 0.49430808424949646, 0.4670729339122772, 0.41134846210479736, 0.48079901933670044, 0.4953635632991791, 0.45176076889038086, 0.5018847584724426, 0.4549655020236969, 0.46237513422966003, 0.4754946529865265, 0.46408218145370483, 0.4713272154331207, 0.4867842495441437, 0.524236261844635, 0.48249712586402893, 0.46857747435569763, 0.47681400179862976], "q2_all": [0.3309841752052307, 0.36498433351516724, 0.3348751664161682, 0.34841370582580566, 0.32394295930862427, 0.2648422122001648, 0.32879799604415894, 0.33319807052612305, 0.2957901060581207, 0.3374626040458679, 0.3393244743347168, 0.3108642101287842, 0.28739434480667114, 0.3075336813926697, 0.32692790031433105, 0.33735090494155884, 0.33371105790138245, 0.27131253480911255, 0.30666667222976685, 0.3290465474128723, 0.33058714866638184, 0.33056309819221497, 0.33035802841186523, 0.28660884499549866, 0.30109935998916626, 0.33702316880226135, 0.33595213294029236, 0.35869085788726807, 0.35037654638290405, 0.3254920542240143, 0.3099480867385864, 0.35052570700645447], "cand_trans_speed_all": [0.004477200098335743, 0.004177992232143879, 0.004027430899441242, 0.004053629003465176, 0.0031788526102900505, 0.005597514566034079, 0.0042753079906105995, 0.004215838387608528, 0.005497802048921585, 0.0037150252610445023, 0.0021751325111836195, 0.0029975692741572857, 0.003751511452719569, 0.0029940232634544373, 0.0042555141262710094, 0.004581356421113014, 0.004339863546192646, 0.0054482510313391685, 0.003968469798564911, 0.003991466015577316, 0.003321956843137741, 0.0019475420704111457, 0.004068699665367603, 0.00416663009673357, 0.0031364760361611843, 0.0045278072357177734, 0.003042781725525856, 0.004471360705792904, 0.0024987913202494383, 0.0029751758556813, 0.0038547394797205925, 0.003856889670714736], "cand_cum_xyz_disp_all": [[-0.012161314487457275, -0.0002375096082687378, -0.0021265000104904175], [-0.006912410259246826, -0.004590213298797607, 0.000528976321220398], [-0.01009969413280487, -0.005510121583938599, -0.006369553506374359], [-0.010149925947189331, -0.005195900797843933, 0.0023632049560546875], [-0.008419394493103027, -0.004652261734008789, -0.010253123939037323], [-0.014955118298530579, -0.00571894645690918, -0.007424511015415192], [-0.008681222796440125, -0.00550331175327301, -0.006767064332962036], [-0.009744212031364441, -0.005911096930503845, -0.0046476274728775024], [-0.018641397356987, -0.003987103700637817, -0.004542678594589233], [-0.007820799946784973, -0.004003837704658508, -0.00367775559425354], [-0.0074438005685806274, -0.004142820835113525, -0.001978650689125061], [-0.010997965931892395, -0.004115551710128784, -0.0032955631613731384], [-0.015945062041282654, -0.0033943504095077515, -0.004358150064945221], [-0.012268424034118652, -0.0015078186988830566, -0.00027133524417877197], [-0.011017754673957825, -0.00397801399230957, 0.0034722015261650085], [-0.0048509687185287476, -0.00320492684841156, -0.010319605469703674], [-0.007120311260223389, -0.0055695027112960815, -0.005370080471038818], [-0.01700994372367859, -0.008027419447898865, -0.01652105152606964], [-0.011138558387756348, 0.001997619867324829, -0.003099583089351654], [-0.010191604495048523, -0.0019133836030960083, 0.004040569067001343], [-0.008676335215568542, -0.004498124122619629, -0.005539074540138245], [-0.008379742503166199, -0.006548836827278137, -0.0008098483085632324], [-0.009504765272140503, -0.005297079682350159, 0.0035745054483413696], [-0.011484518647193909, -0.004490867257118225, -0.008965842425823212], [-0.011295944452285767, -0.008635997772216797, -0.004148490726947784], [-0.006913095712661743, -0.0070083290338516235, -0.010870598256587982], [-0.0067467838525772095, -0.004405871033668518, -0.003329530358314514], [-0.006058916449546814, -0.0026736855506896973, 0.003908596932888031], [-0.005069568753242493, -0.006587028503417969, -0.004451863467693329], [-0.00952070951461792, -0.002591639757156372, -0.001255042850971222], [-0.009498164057731628, -0.0044374018907547, -0.008369490504264832], [-0.00820624828338623, 0.0007514357566833496, -0.004495806992053986]], "cand_final_gripper_all": [0.0, 0.0, 0.0005067884922027588, 0.0, 0.001034080982208252, 6.0498714447021484e-05, 0.0, 0.0005270242691040039, 0.0011485517024993896, 0.0020671188831329346, 0.001431882381439209, 0.0, 0.0024525821208953857, 0.00029081106185913086, 0.003460496664047241, 0.0017153918743133545, 0.004320800304412842, 0.0019259154796600342, 0.0005841255187988281, 0.002587646245956421, 0.005157679319381714, 0.003367871046066284, 0.002087801694869995, 0.004620164632797241, 0.0, 0.005763143301010132, 0.01588648557662964, 0.00609135627746582, 0.005081504583358765, 0.014624536037445068, 0.002292424440383911, 0.003006964921951294], "eef_pos": [0.6726793050765991, 0.10246758162975311, 0.2254703789949417], "cand_action_std": 0.08986128121614456, "cand_pairwise_centroid_dist_mean": 0.8811063766479492, "argmax_act_outlier": 0.7473511099815369, "time_encode_ms": 5.354899913072586, "time_diffusion_ms": 36.239561857655644, "time_q_score_ms": 7.981861010193825, "time_total_ms": 50.304463133215904, "num_action_samples_effective": 32, "q_aggregate": "pair_min"} +{"chunk_ordinal": 64, "q_min_best": 0.44069549441337585, "q_min_mean": 0.3830024302005768, "q_min_std": 0.023346511647105217, "q_min_median": 0.3747081458568573, "chosen_vs_median_q_gap": 0.06598734855651855, "q1_best": 0.4456900358200073, "q2_best": 0.44069549441337585, "v_val": 0.5299241542816162, "advantage": -0.08922865986824036, "best_idx": 20, "q_min_all": [0.3512771427631378, 0.3708884119987488, 0.3717217445373535, 0.36865928769111633, 0.3677688241004944, 0.3731783330440521, 0.3747081458568573, 0.3991735577583313, 0.3633330166339874, 0.3538682162761688, 0.4209853410720825, 0.3985256254673004, 0.36399126052856445, 0.39043208956718445, 0.38866132497787476, 0.37287890911102295, 0.3911944329738617, 0.36650732159614563, 0.37867164611816406, 0.42800676822662354, 0.44069549441337585, 0.37341076135635376, 0.3798503875732422, 0.3583681285381317, 0.3796253800392151, 0.39713913202285767, 0.3515270948410034, 0.41284531354904175, 0.36309659481048584, 0.38760140538215637, 0.3860989511013031, 0.4313875138759613], "q1_all": [0.3694945275783539, 0.40539464354515076, 0.37826186418533325, 0.36865928769111633, 0.3823321759700775, 0.3906078040599823, 0.3814946413040161, 0.4162951707839966, 0.3697800636291504, 0.3772377669811249, 0.42711588740348816, 0.3985256254673004, 0.36399126052856445, 0.39043208956718445, 0.3970172107219696, 0.38902533054351807, 0.39810386300086975, 0.36650732159614563, 0.41795065999031067, 0.4309786558151245, 0.4456900358200073, 0.38758155703544617, 0.38922318816185, 0.3583681285381317, 0.3972146809101105, 0.39713913202285767, 0.3586476743221283, 0.418485164642334, 0.373494416475296, 0.41796666383743286, 0.3860989511013031, 0.4313875138759613], "q2_all": [0.3512771427631378, 0.3708884119987488, 0.3717217445373535, 0.3728873133659363, 0.3677688241004944, 0.3731783330440521, 0.3747081458568573, 0.3991735577583313, 0.3633330166339874, 0.3538682162761688, 0.4209853410720825, 0.41755178570747375, 0.371158242225647, 0.39841824769973755, 0.38866132497787476, 0.37287890911102295, 0.3911944329738617, 0.3944188058376312, 0.37867164611816406, 0.42800676822662354, 0.44069549441337585, 0.37341076135635376, 0.3798503875732422, 0.4092482030391693, 0.3796253800392151, 0.39895936846733093, 0.3515270948410034, 0.41284531354904175, 0.36309659481048584, 0.38760140538215637, 0.3888716399669647, 0.4451839327812195], "cand_trans_speed_all": [0.005212222691625357, 0.004139912314713001, 0.00505004171282053, 0.005354065448045731, 0.0056112403981387615, 0.005847323220223188, 0.0051242816261947155, 0.0032783346250653267, 0.004259858280420303, 0.004209451377391815, 0.004678263794630766, 0.003551302244886756, 0.00603379076346755, 0.0051249368116259575, 0.004440988413989544, 0.004005623050034046, 0.004222013521939516, 0.006092233117669821, 0.0033492734655737877, 0.004163775593042374, 0.004299000836908817, 0.0048897298984229565, 0.004853635095059872, 0.005058816634118557, 0.006138796918094158, 0.004182260483503342, 0.004822828806936741, 0.0028541290666908026, 0.005793401971459389, 0.0038240174762904644, 0.004760970361530781, 0.002828467171639204], "cand_cum_xyz_disp_all": [[-0.007253333926200867, -0.0071907490491867065, -0.019564740359783173], [-0.007382571697235107, -0.0005004703998565674, -0.009864889085292816], [-0.008429914712905884, -0.002724379301071167, -0.0232120081782341], [-0.0076274573802948, -0.008482396602630615, -0.021283820271492004], [-0.007635384798049927, -0.004066795110702515, -0.01861537992954254], [-0.008625254034996033, -0.009380370378494263, -0.021533124148845673], [-0.0025268495082855225, -0.008931711316108704, -0.022508010268211365], [-0.005373656749725342, -0.006959512829780579, -0.012385979294776917], [-0.006095334887504578, -0.004159808158874512, -0.01828330010175705], [-0.007223561406135559, -0.004381954669952393, -0.02141398936510086], [-0.004419431090354919, -0.005296245217323303, -0.01500082015991211], [-0.006583884358406067, -0.007098540663719177, -0.0115257129073143], [-0.006011635065078735, -0.007853209972381592, -0.022478200495243073], [-0.009371504187583923, -0.008387163281440735, -0.017280377447605133], [-0.007306218147277832, -0.0039017200469970703, -0.018368415534496307], [-0.007214859127998352, -0.006672456860542297, -0.019547849893569946], [-0.00748482346534729, -0.00755058228969574, -0.018976382911205292], [-0.008821561932563782, -0.00949050486087799, -0.024309255182743073], [-0.004992932081222534, -0.0032480210065841675, -0.015810146927833557], [-0.0028187334537506104, -0.004720479249954224, -0.01505955308675766], [0.0014190673828125, -0.0003311336040496826, -0.016291357576847076], [-0.007664158940315247, -0.004545494914054871, -0.01543494313955307], [-0.006344422698020935, -0.005822807550430298, -0.0209820494055748], [-0.007241100072860718, -0.006039097905158997, -0.02025981992483139], [-0.006032288074493408, -0.00962357223033905, -0.017672568559646606], [-0.007826492190361023, -0.0027073174715042114, -0.015436030924320221], [-0.005659818649291992, -0.00391794741153717, -0.022152379155158997], [-0.005842030048370361, -0.007546454668045044, -0.011465221643447876], [-0.010560393333435059, -0.0033073872327804565, -0.02652115374803543], [-0.0030871927738189697, -0.001351878046989441, -0.017303578555583954], [-0.004015684127807617, -0.006004780530929565, -0.020876243710517883], [-0.0021457672119140625, -0.002655044198036194, -0.010756157338619232]], "cand_final_gripper_all": [0.008085280656814575, 0.00576356053352356, 0.004411160945892334, 0.003191649913787842, 0.0005569756031036377, 0.010274350643157959, 0.0, 0.0010159611701965332, 0.0032840967178344727, 0.0051715075969696045, 0.003966271877288818, 0.0031836330890655518, 0.0013460516929626465, 0.0023872852325439453, 0.0032866597175598145, 0.0023197531700134277, 0.004038423299789429, 0.00482138991355896, 0.004535883665084839, 0.002909064292907715, 0.004797130823135376, 0.00888797640800476, 0.001691579818725586, 0.0022168755531311035, 0.003911882638931274, 0.00332564115524292, 0.00208282470703125, 0.0032816529273986816, 0.0024126768112182617, 0.0038556456565856934, 0.005883842706680298, 0.011537998914718628], "eef_pos": [0.6732377409934998, 0.09991776943206787, 0.22521880269050598], "cand_action_std": 0.09180177003145218, "cand_pairwise_centroid_dist_mean": 0.8932921886444092, "argmax_act_outlier": 1.1731500625610352, "time_encode_ms": 5.679151974618435, "time_diffusion_ms": 36.23353107832372, "time_q_score_ms": 8.132349932566285, "time_total_ms": 50.985726062208414, "num_action_samples_effective": 32, "q_aggregate": "pair_min"} +{"chunk_ordinal": 65, "q_min_best": 0.37453562021255493, "q_min_mean": 0.3011282682418823, "q_min_std": 0.03134777024388313, "q_min_median": 0.3050892949104309, "chosen_vs_median_q_gap": 0.06944632530212402, "q1_best": 0.554076611995697, "q2_best": 0.37453562021255493, "v_val": 0.740627646446228, "advantage": -0.3660920262336731, "best_idx": 31, "q_min_all": [0.22801175713539124, 0.2917811870574951, 0.3050892949104309, 0.30857932567596436, 0.3353191316127777, 0.28775134682655334, 0.33270981907844543, 0.32816627621650696, 0.32780611515045166, 0.3078629672527313, 0.29610615968704224, 0.26679152250289917, 0.2875080406665802, 0.3191511034965515, 0.3222385048866272, 0.26662635803222656, 0.24665707349777222, 0.2807047963142395, 0.30720967054367065, 0.34130585193634033, 0.2428802251815796, 0.30021145939826965, 0.2722558379173279, 0.3200901448726654, 0.3084399700164795, 0.30116698145866394, 0.28981542587280273, 0.27241650223731995, 0.3059542775154114, 0.3328590989112854, 0.3281027674674988, 0.37453562021255493], "q1_all": [0.4027079641819, 0.47180190682411194, 0.48705974221229553, 0.47185632586479187, 0.5194908380508423, 0.47529661655426025, 0.5121751427650452, 0.5096766352653503, 0.5016099810600281, 0.44205042719841003, 0.4075618386268616, 0.46319398283958435, 0.45803385972976685, 0.5019984245300293, 0.5110753178596497, 0.4526173174381256, 0.4023772180080414, 0.4199539124965668, 0.4301067292690277, 0.5149785876274109, 0.40353265404701233, 0.4451307952404022, 0.46451178193092346, 0.4260118007659912, 0.4698774218559265, 0.4608211815357208, 0.4823402464389801, 0.4452653229236603, 0.4801191985607147, 0.48550134897232056, 0.5226178765296936, 0.554076611995697], "q2_all": [0.22801175713539124, 0.2917811870574951, 0.3050892949104309, 0.30857932567596436, 0.3353191316127777, 0.28775134682655334, 0.33270981907844543, 0.32816627621650696, 0.32780611515045166, 0.3078629672527313, 0.29610615968704224, 0.26679152250289917, 0.2875080406665802, 0.3191511034965515, 0.3222385048866272, 0.26662635803222656, 0.24665707349777222, 0.2807047963142395, 0.30720967054367065, 0.34130585193634033, 0.2428802251815796, 0.30021145939826965, 0.2722558379173279, 0.3200901448726654, 0.3084399700164795, 0.30116698145866394, 0.28981542587280273, 0.27241650223731995, 0.3059542775154114, 0.3328590989112854, 0.3281027674674988, 0.37453562021255493], "cand_trans_speed_all": [0.005137722473591566, 0.002865409944206476, 0.0031219867523759604, 0.0033867373131215572, 0.0028892538975924253, 0.002509609330445528, 0.003735970240086317, 0.0021111902315169573, 0.002304366324096918, 0.0056237345561385155, 0.005642353557050228, 0.00399086344987154, 0.003002792363986373, 0.0035160300321877003, 0.0023319697938859463, 0.005226839333772659, 0.004356684163212776, 0.004093308933079243, 0.004148747306317091, 0.002719603478908539, 0.0036734603345394135, 0.0027814474888145924, 0.004610302858054638, 0.0052669961005449295, 0.0031587618868798018, 0.0036351773887872696, 0.003181322943419218, 0.0032545174472033978, 0.0025671643670648336, 0.003412234364077449, 0.0031259935349226, 0.002502197865396738], "cand_cum_xyz_disp_all": [[-0.017643362283706665, -0.0039489418268203735, -0.004062384366989136], [-0.008155077695846558, -0.004908233880996704, -0.00695907324552536], [-0.007498010993003845, -0.002421155571937561, 0.004489898681640625], [-0.010898828506469727, -0.0007335692644119263, 0.0002252832055091858], [-0.006470248103141785, -0.004360318183898926, -0.0017152950167655945], [-0.008331090211868286, -0.0035947859287261963, -0.003864392638206482], [-0.0058591365814208984, -0.004502773284912109, 0.00010558962821960449], [-0.005494892597198486, -0.002532750368118286, 0.0003327801823616028], [-0.006252110004425049, -0.0027931630611419678, -0.0004463493824005127], [-0.01100189983844757, -0.0032721757888793945, -0.0002502724528312683], [-0.013537541031837463, -0.007349088788032532, -0.010914109647274017], [-0.01418672502040863, -0.0038852542638778687, -0.0007657706737518311], [-0.009128496050834656, -0.0023355185985565186, -0.003643125295639038], [-0.006630003452301025, -0.006103217601776123, 0.002846643328666687], [-0.005307003855705261, -0.0021640509366989136, 0.0002631843090057373], [-0.014611601829528809, 0.0019319504499435425, -0.0017399415373802185], [-0.015879392623901367, -0.008781611919403076, -0.01007196307182312], [-0.013580381870269775, -0.003882288932800293, -0.003197409212589264], [-0.01090705394744873, -0.00776827335357666, -0.0014796480536460876], [-0.004423424601554871, -0.006668508052825928, -0.0016359910368919373], [-0.017079055309295654, -0.00476643443107605, -0.001363500952720642], [-0.010205090045928955, -0.005194380879402161, -0.00019527971744537354], [-0.011017471551895142, -0.005206555128097534, -0.0037526190280914307], [-0.008038699626922607, -0.005231410264968872, -0.007747985422611237], [-0.008208200335502625, -0.002314135432243347, -0.004717864096164703], [-0.009832024574279785, -0.001881033182144165, -0.00039815157651901245], [-0.009377598762512207, 0.0003234595060348511, -0.002274632453918457], [-0.012914523482322693, -0.0045025646686553955, -0.0025732889771461487], [-0.006753906607627869, -0.005342021584510803, -0.004880242049694061], [-0.005934029817581177, -0.004396721720695496, -0.002067282795906067], [-0.010444223880767822, -0.004295721650123596, 0.008583582937717438], [-0.0008685290813446045, -0.0006173253059387207, 0.0007978975772857666]], "cand_final_gripper_all": [0.0015131235122680664, 0.002446681261062622, 0.008318930864334106, 0.0, 0.007505267858505249, 0.0, 0.0, 0.003932774066925049, 0.0010236501693725586, 0.005574136972427368, 0.0, 0.0, 0.0010983943939208984, 0.0, 0.00377771258354187, 0.003909289836883545, 0.0007073879241943359, 0.0012361705303192139, 0.0, 0.0017992854118347168, 0.0, 0.0017640292644500732, 0.005239814519882202, 0.0025828778743743896, 0.0, 0.0, 0.0, 0.0, 0.003788977861404419, 0.00228118896484375, 0.0020016729831695557, 0.010519087314605713], "eef_pos": [0.6729875206947327, 0.10332414507865906, 0.22746841609477997], "cand_action_std": 0.08496458828449249, "cand_pairwise_centroid_dist_mean": 0.8033409118652344, "argmax_act_outlier": 1.7381194829940796, "time_encode_ms": 5.438886117190123, "time_diffusion_ms": 35.99634114652872, "time_q_score_ms": 7.693236926570535, "time_total_ms": 49.846824957057834, "num_action_samples_effective": 32, "q_aggregate": "pair_min"} +{"chunk_ordinal": 66, "q_min_best": 0.38005757331848145, "q_min_mean": 0.3134716749191284, "q_min_std": 0.031317826360464096, "q_min_median": 0.31258028745651245, "chosen_vs_median_q_gap": 0.067477285861969, "q1_best": 0.5366121530532837, "q2_best": 0.38005757331848145, "v_val": 0.6576019525527954, "advantage": -0.27754437923431396, "best_idx": 27, "q_min_all": [0.37218451499938965, 0.25450271368026733, 0.32909098267555237, 0.31258028745651245, 0.31412574648857117, 0.2846735119819641, 0.29755446314811707, 0.3243604302406311, 0.2976057827472687, 0.29483717679977417, 0.31363528966903687, 0.2965978980064392, 0.3452742397785187, 0.29195690155029297, 0.29175424575805664, 0.26998478174209595, 0.3416217863559723, 0.31268778443336487, 0.3232787847518921, 0.30773812532424927, 0.3273674249649048, 0.35040733218193054, 0.30154281854629517, 0.2721318006515503, 0.3708152770996094, 0.2895682752132416, 0.3497966527938843, 0.38005757331848145, 0.276988685131073, 0.3181965947151184, 0.34053540229797363, 0.2776399254798889], "q1_all": [0.5046390891075134, 0.4448322653770447, 0.4886684715747833, 0.531489372253418, 0.531593918800354, 0.46476733684539795, 0.4666651785373688, 0.5047211647033691, 0.45943036675453186, 0.4971309304237366, 0.5144233107566833, 0.43402063846588135, 0.5230275988578796, 0.4783957898616791, 0.4260975420475006, 0.451046884059906, 0.5030034780502319, 0.5252917408943176, 0.5182475447654724, 0.49432137608528137, 0.5278202891349792, 0.5077217221260071, 0.4961210787296295, 0.45205774903297424, 0.4771946668624878, 0.49058225750923157, 0.5137695670127869, 0.5366121530532837, 0.4723692238330841, 0.4917188584804535, 0.5055890679359436, 0.493852823972702], "q2_all": [0.37218451499938965, 0.25450271368026733, 0.32909098267555237, 0.31258028745651245, 0.31412574648857117, 0.2846735119819641, 0.29755446314811707, 0.3243604302406311, 0.2976057827472687, 0.29483717679977417, 0.31363528966903687, 0.2965978980064392, 0.3452742397785187, 0.29195690155029297, 0.29175424575805664, 0.26998478174209595, 0.3416217863559723, 0.31268778443336487, 0.3232787847518921, 0.30773812532424927, 0.3273674249649048, 0.35040733218193054, 0.30154281854629517, 0.2721318006515503, 0.3708152770996094, 0.2895682752132416, 0.3497966527938843, 0.38005757331848145, 0.276988685131073, 0.3181965947151184, 0.34053540229797363, 0.2776399254798889], "cand_trans_speed_all": [0.0026057965587824583, 0.00368666835129261, 0.0034179911017417908, 0.0038112648762762547, 0.0027114914264529943, 0.0024486100301146507, 0.0033220667392015457, 0.00331786647439003, 0.0032424433156847954, 0.0024908948689699173, 0.003554395865648985, 0.0053015537559986115, 0.0024380208924412727, 0.0035734018310904503, 0.003324522404000163, 0.0032979189418256283, 0.0024562827311456203, 0.002628069370985031, 0.0025687150191515684, 0.0037294067442417145, 0.0028050956316292286, 0.0030774613842368126, 0.002483610762283206, 0.003695898689329624, 0.006032675504684448, 0.0031734928488731384, 0.005168830510228872, 0.004472638014703989, 0.0034810486249625683, 0.004587534815073013, 0.0041528488509356976, 0.0028697531670331955], "cand_cum_xyz_disp_all": [[-0.00023758411407470703, -0.004519939422607422, 0.00044405460357666016], [-0.01276262104511261, -0.0010968595743179321, -0.006305232644081116], [-0.007197394967079163, -0.00446571409702301, -0.007934235036373138], [-0.005669042468070984, -0.005668178200721741, -0.008488684892654419], [-0.004861786961555481, -0.006000742316246033, -0.0033714473247528076], [-0.006162077188491821, -0.004150941967964172, -0.006178557872772217], [-0.007824331521987915, -0.0014017969369888306, -0.009500585496425629], [-0.007755592465400696, -0.0019742995500564575, -0.0016434937715530396], [-0.005770504474639893, 0.00010922551155090332, -0.009759575128555298], [-0.008222594857215881, -0.002138972282409668, -0.006119243800640106], [-0.006123974919319153, -0.0021345168352127075, -0.005950748920440674], [-0.00920248031616211, -0.007114842534065247, -0.01449577510356903], [-0.002510383725166321, -0.0027159154415130615, -0.0011671558022499084], [-0.00605088472366333, -0.008775323629379272, -0.015012815594673157], [-0.006308719515800476, -0.005051106214523315, -0.0023459717631340027], [-0.012075647711753845, -0.001010984182357788, -0.0070243701338768005], [-0.0016071200370788574, -0.002598583698272705, -0.007606931030750275], [-0.0052247196435928345, -0.003093138337135315, -0.0068847909569740295], [-0.005450621247291565, -0.003945484757423401, -0.002301737666130066], [-0.006954878568649292, -0.0057733505964279175, -0.004100494086742401], [-0.00782063603401184, -0.005575194954872131, -0.0005077719688415527], [-0.0023825466632843018, -0.006117910146713257, -0.003803849220275879], [-0.006091028451919556, -0.0038732290267944336, -0.007832318544387817], [-0.009794428944587708, -0.0025290101766586304, -0.007833540439605713], [0.0009920597076416016, -0.0018803775310516357, 0.0005839839577674866], [-0.005294829607009888, -0.002129495143890381, -0.0012331455945968628], [-0.00456644594669342, -0.0013592690229415894, -0.0058688148856163025], [-0.00020623207092285156, -0.009164586663246155, -0.003715105354785919], [-0.01295819878578186, -0.0005235671997070312, -0.0023920759558677673], [-0.006735548377037048, -0.004761889576911926, -0.011112689971923828], [-0.004179075360298157, -0.00021360814571380615, -0.005267582833766937], [-0.00948379933834076, -0.002094089984893799, -0.0064576491713523865]], "cand_final_gripper_all": [0.24194034934043884, 0.007650464773178101, 0.002040386199951172, 0.05670011043548584, 0.04906868934631348, 0.05361011624336243, 0.007403373718261719, 0.0019240081310272217, 0.0012861192226409912, 0.0014257729053497314, 0.0011009275913238525, 0.04977843165397644, 0.0, 0.002259582281112671, 0.22777199745178223, 0.003228694200515747, 0.001000910997390747, 0.0036182403564453125, 0.011368870735168457, 0.0, 0.0, 0.004379302263259888, 0.0, 0.0, 0.24432039260864258, 0.0, 0.004674643278121948, 0.0026331543922424316, 0.00219881534576416, 0.0013869106769561768, 0.0, 0.0005893707275390625], "eef_pos": [0.6721558570861816, 0.10373400896787643, 0.22117434442043304], "cand_action_std": 0.08869911730289459, "cand_pairwise_centroid_dist_mean": 0.8330252170562744, "argmax_act_outlier": 1.0624603033065796, "time_encode_ms": 5.886346101760864, "time_diffusion_ms": 36.05214389972389, "time_q_score_ms": 7.649264996871352, "time_total_ms": 50.36751995794475, "num_action_samples_effective": 32, "q_aggregate": "pair_min"} +{"chunk_ordinal": 67, "q_min_best": 0.37422698736190796, "q_min_mean": 0.309085488319397, "q_min_std": 0.032872140407562256, "q_min_median": 0.30803239345550537, "chosen_vs_median_q_gap": 0.06619459390640259, "q1_best": 0.520910382270813, "q2_best": 0.37422698736190796, "v_val": 0.7831608057022095, "advantage": -0.4089338183403015, "best_idx": 22, "q_min_all": [0.21028068661689758, 0.25920653343200684, 0.2900676727294922, 0.3212866187095642, 0.3246031403541565, 0.3241006135940552, 0.3005622625350952, 0.275469034910202, 0.3005673885345459, 0.34292328357696533, 0.3033813238143921, 0.3491978645324707, 0.33810800313949585, 0.2863425612449646, 0.26837947964668274, 0.30803239345550537, 0.27485600113868713, 0.27237337827682495, 0.2998669147491455, 0.31036847829818726, 0.33504194021224976, 0.346103698015213, 0.37422698736190796, 0.2988981604576111, 0.3306691348552704, 0.30869629979133606, 0.2973191738128662, 0.3058617115020752, 0.3558838367462158, 0.32725778222084045, 0.3091769516468048, 0.3416253924369812], "q1_all": [0.3540342152118683, 0.4198162257671356, 0.4369025230407715, 0.457834929227829, 0.46163830161094666, 0.4667218327522278, 0.4335993826389313, 0.4380251169204712, 0.4209783971309662, 0.4278315603733063, 0.39291587471961975, 0.4746122360229492, 0.4828830361366272, 0.4330419600009918, 0.4019223749637604, 0.4037729799747467, 0.4019206464290619, 0.42967092990875244, 0.43309614062309265, 0.39436766505241394, 0.4668494760990143, 0.46091875433921814, 0.520910382270813, 0.45741376280784607, 0.4501005709171295, 0.4516473114490509, 0.43497347831726074, 0.44326546788215637, 0.46724870800971985, 0.45998910069465637, 0.457419753074646, 0.477209210395813], "q2_all": [0.21028068661689758, 0.25920653343200684, 0.2900676727294922, 0.3212866187095642, 0.3246031403541565, 0.3241006135940552, 0.3005622625350952, 0.275469034910202, 0.3005673885345459, 0.34292328357696533, 0.3033813238143921, 0.3491978645324707, 0.33810800313949585, 0.2863425612449646, 0.26837947964668274, 0.30803239345550537, 0.27485600113868713, 0.27237337827682495, 0.2998669147491455, 0.31036847829818726, 0.33504194021224976, 0.346103698015213, 0.37422698736190796, 0.2988981604576111, 0.3306691348552704, 0.30869629979133606, 0.2973191738128662, 0.3058617115020752, 0.3558838367462158, 0.32725778222084045, 0.3091769516468048, 0.3416253924369812], "cand_trans_speed_all": [0.00521892961114645, 0.0052795796655118465, 0.0036639701575040817, 0.0027342154644429684, 0.0027228067629039288, 0.0034524183720350266, 0.005656924098730087, 0.0034945961087942123, 0.003365522949025035, 0.005677828099578619, 0.0049477992579340935, 0.002228853292763233, 0.004338693805038929, 0.003710867604240775, 0.0032547670416533947, 0.0039771972224116325, 0.0038915458135306835, 0.003266607876867056, 0.0039695557206869125, 0.005066170357167721, 0.003896468784660101, 0.0056892987340688705, 0.0037311255000531673, 0.00345537974499166, 0.0037278924137353897, 0.004410490859299898, 0.004144579637795687, 0.0035417117178440094, 0.004479325842112303, 0.0037538367323577404, 0.003144098911434412, 0.002738366601988673], "cand_cum_xyz_disp_all": [[-0.019718676805496216, -0.004590228199958801, -0.014227055013179779], [-0.010143548250198364, -0.006420612335205078, -0.01875770092010498], [-0.00922374427318573, -0.004920870065689087, -0.012579299509525299], [-0.006114557385444641, -0.0032298266887664795, -0.009669005870819092], [-0.006636559963226318, -0.005071952939033508, -0.009108826518058777], [-0.0045339614152908325, -0.0011553168296813965, -0.008399911224842072], [-0.010239556431770325, -0.00637306272983551, -0.014699772000312805], [-0.010164856910705566, -0.005905851721763611, -0.011533528566360474], [-0.010086342692375183, -0.005990833044052124, -0.014766640961170197], [-0.004366517066955566, -0.00598984956741333, -0.016191214323043823], [-0.012473195791244507, -0.002856418490409851, -0.01398942619562149], [-0.003192394971847534, -0.0038209110498428345, -0.009078092873096466], [-0.0030778348445892334, -0.002943366765975952, -0.010786101222038269], [-0.009160265326499939, -0.004190817475318909, -0.011571913957595825], [-0.009742826223373413, -0.0058489590883255005, -0.010277323424816132], [-0.009443148970603943, -0.005256533622741699, -0.013639211654663086], [-0.01164361834526062, -0.0025176703929901123, -0.012709975242614746], [-0.007665708661079407, -0.0029206275939941406, -0.015592783689498901], [-0.008227482438087463, -0.005955174565315247, -0.0127006396651268], [-0.01089988648891449, -0.011011078953742981, -0.018759332597255707], [-0.0067159682512283325, 0.001303747296333313, -0.00554414838552475], [-0.007722094655036926, -0.003171786665916443, -0.001865677535533905], [-0.0035456568002700806, 0.0028500407934188843, -0.006616026163101196], [-0.0046426355838775635, -0.0030691325664520264, -0.01399170607328415], [-0.006214156746864319, -0.0034237802028656006, -0.008250199258327484], [-0.006373539566993713, -0.003878086805343628, -0.012922175228595734], [-0.011754631996154785, -0.007566913962364197, -0.012117035686969757], [-0.007827773690223694, -0.004620552062988281, -0.011677667498588562], [-0.004922941327095032, -0.0035131871700286865, -0.0011339634656906128], [-0.009233832359313965, -0.0051713138818740845, -0.011535778641700745], [-0.006320580840110779, -0.0028844475746154785, -0.010084956884384155], [-0.0050878822803497314, -0.0012950003147125244, -0.0018341317772865295]], "cand_final_gripper_all": [0.0023008882999420166, 0.012009382247924805, 0.004460066556930542, 0.004017293453216553, 0.0013853013515472412, 0.0020092129707336426, 0.012140661478042603, 0.0020083487033843994, 0.004847198724746704, 0.0006211996078491211, 0.0046234130859375, 0.0004616975784301758, 0.00449526309967041, 0.005988121032714844, 0.0033230185508728027, 0.0014263391494750977, 0.017349928617477417, 0.0031741857528686523, 0.004290670156478882, 0.003848254680633545, 0.0, 0.003111511468887329, 0.007026463747024536, 0.0019715726375579834, 0.0007995963096618652, 0.006042122840881348, 0.006651490926742554, 0.00488436222076416, 0.004736036062240601, 0.0032538175582885742, 0.010854959487915039, 0.003447294235229492], "eef_pos": [0.6722859144210815, 0.1022431030869484, 0.22111713886260986], "cand_action_std": 0.08971954137086868, "cand_pairwise_centroid_dist_mean": 0.8540046811103821, "argmax_act_outlier": 1.4728398323059082, "time_encode_ms": 6.794719956815243, "time_diffusion_ms": 36.60135297104716, "time_q_score_ms": 8.083339082077146, "time_total_ms": 52.179821068421006, "num_action_samples_effective": 32, "q_aggregate": "pair_min"} +{"chunk_ordinal": 68, "q_min_best": 0.32626378536224365, "q_min_mean": 0.259236216545105, "q_min_std": 0.03102738782763481, "q_min_median": 0.2641005218029022, "chosen_vs_median_q_gap": 0.06216326355934143, "q1_best": 0.4817374646663666, "q2_best": 0.32626378536224365, "v_val": 0.6952576637268066, "advantage": -0.368993878364563, "best_idx": 24, "q_min_all": [0.24349147081375122, 0.24758991599082947, 0.26805824041366577, 0.2644504904747009, 0.3058830201625824, 0.3036673665046692, 0.21894901990890503, 0.1732901930809021, 0.2608949542045593, 0.2645975947380066, 0.3052986264228821, 0.27016681432724, 0.27550679445266724, 0.2641005218029022, 0.2529316544532776, 0.2677234411239624, 0.26612263917922974, 0.28107374906539917, 0.2727540135383606, 0.2526860535144806, 0.24254682660102844, 0.28291505575180054, 0.24345117807388306, 0.23542295396327972, 0.32626378536224365, 0.26736944913864136, 0.23378980159759521, 0.22337493300437927, 0.23402440547943115, 0.21065516769886017, 0.24117890000343323, 0.2953302562236786], "q1_all": [0.46797171235084534, 0.46816396713256836, 0.461550235748291, 0.46293526887893677, 0.49223965406417847, 0.5272212028503418, 0.44411060214042664, 0.432149738073349, 0.46632763743400574, 0.4893316626548767, 0.5028457641601562, 0.49785807728767395, 0.4960080087184906, 0.4869192838668823, 0.4630923271179199, 0.4857763648033142, 0.5035931468009949, 0.49522995948791504, 0.4682198762893677, 0.465104341506958, 0.4618488848209381, 0.46934327483177185, 0.4671405851840973, 0.454036146402359, 0.4817374646663666, 0.5042548179626465, 0.4602978825569153, 0.45778849720954895, 0.4540095329284668, 0.45942366123199463, 0.46697789430618286, 0.48393937945365906], "q2_all": [0.24349147081375122, 0.24758991599082947, 0.26805824041366577, 0.2644504904747009, 0.3058830201625824, 0.3036673665046692, 0.21894901990890503, 0.1732901930809021, 0.2608949542045593, 0.2645975947380066, 0.3052986264228821, 0.27016681432724, 0.27550679445266724, 0.2641005218029022, 0.2529316544532776, 0.2677234411239624, 0.26612263917922974, 0.28107374906539917, 0.2727540135383606, 0.2526860535144806, 0.24254682660102844, 0.28291505575180054, 0.24345117807388306, 0.23542295396327972, 0.32626378536224365, 0.26736944913864136, 0.23378980159759521, 0.22337493300437927, 0.23402440547943115, 0.21065516769886017, 0.24117890000343323, 0.2953302562236786], "cand_trans_speed_all": [0.0028233143966645002, 0.0027191441040486097, 0.0031121298670768738, 0.003172163385897875, 0.002180127426981926, 0.0024344674311578274, 0.003737260354682803, 0.003745848312973976, 0.0031043458729982376, 0.002803125185891986, 0.0021969845984131098, 0.002590058371424675, 0.0033198462333530188, 0.0023390043061226606, 0.006613701581954956, 0.0020264536142349243, 0.002829497680068016, 0.0027854747604578733, 0.0025422126054763794, 0.0032732493709772825, 0.0037061921320855618, 0.003773774951696396, 0.003507663495838642, 0.002885294845327735, 0.003248009365051985, 0.003616798436269164, 0.003498781006783247, 0.0023965828586369753, 0.004115184303373098, 0.002881924621760845, 0.003086143173277378, 0.003298511728644371], "cand_cum_xyz_disp_all": [[-0.011967867612838745, -0.005526095628738403, 4.881620407104492e-05], [-0.010576695203781128, -0.004547908902168274, 0.0007286742329597473], [-0.01145772635936737, -0.004018083214759827, -0.00047463178634643555], [-0.010903269052505493, -0.003963008522987366, -0.0023057684302330017], [-0.006176024675369263, -0.0031442195177078247, 0.0035525932908058167], [-0.00769960880279541, -0.007677733898162842, 0.0027107596397399902], [-0.015639305114746094, -0.004752352833747864, 0.001594632863998413], [-0.01837402582168579, -0.003990381956100464, 0.0011153146624565125], [-0.008732005953788757, -0.004721462726593018, 0.0032731592655181885], [-0.011868417263031006, -0.005001842975616455, 0.003877416253089905], [-0.0070499032735824585, -0.0028265267610549927, 0.006495527923107147], [-0.006120041012763977, -0.0034673362970352173, 0.0007467567920684814], [-0.009167298674583435, -0.0028956085443496704, 0.0030459612607955933], [-0.009881019592285156, -0.004468142986297607, 0.001957640051841736], [-0.01302492618560791, -0.003706693649291992, 0.005792446434497833], [-0.008067995309829712, -0.002962052822113037, 0.0003460347652435303], [-0.008494779467582703, -0.004381686449050903, 0.0028181225061416626], [-0.007014647126197815, -0.0043580979108810425, -0.006279908120632172], [-0.009383425116539001, -0.006569221615791321, -0.0018568187952041626], [-0.011244446039199829, -0.00344829261302948, 0.0018391162157058716], [-0.014149501919746399, -0.0052178651094436646, 0.0015991255640983582], [-0.010869279503822327, -0.004645541310310364, 0.0032076090574264526], [-0.012636914849281311, -0.0036690086126327515, 0.0019309669733047485], [-0.012569069862365723, -0.004440024495124817, 0.0009331703186035156], [-0.0038840025663375854, -0.00018492341041564941, -0.003780171275138855], [-0.008837535977363586, -0.006908610463142395, -0.0024616941809654236], [-0.014133602380752563, -0.0039693862199783325, 0.0010918453335762024], [-0.01275421679019928, -0.004568055272102356, -0.000206679105758667], [-0.013924241065979004, -0.004781290888786316, 0.002560853958129883], [-0.015508905053138733, -0.004227623343467712, 0.002412766218185425], [-0.012936681509017944, -0.00559563934803009, 0.0003901869058609009], [-0.00833052396774292, -0.002597510814666748, 0.000873073935508728]], "cand_final_gripper_all": [0.0, 0.0009573996067047119, 0.0, 0.0005573630332946777, 0.1978301703929901, 0.0037933290004730225, 0.00868728756904602, 0.0, 0.1589522659778595, 0.0012549757957458496, 0.18140259385108948, 0.0, 0.011369198560714722, 0.002095133066177368, 0.0, 0.12289726734161377, 0.12579846382141113, 0.0, 0.0, 0.0008150935173034668, 0.0007877051830291748, 0.002619534730911255, 0.009622275829315186, 0.00013568997383117676, 0.005906522274017334, 0.003153175115585327, 0.0, 0.0026223361492156982, 0.002186805009841919, 0.08171921968460083, 0.0007382333278656006, 0.0], "eef_pos": [0.6730431318283081, 0.10624821484088898, 0.2232055515050888], "cand_action_std": 0.06836576014757156, "cand_pairwise_centroid_dist_mean": 0.623651921749115, "argmax_act_outlier": 1.4285353422164917, "time_encode_ms": 5.837814882397652, "time_diffusion_ms": 36.08320094645023, "time_q_score_ms": 8.6157969199121, "time_total_ms": 51.23543902300298, "num_action_samples_effective": 32, "q_aggregate": "pair_min"} +{"chunk_ordinal": 69, "q_min_best": 0.3192199468612671, "q_min_mean": 0.27239713072776794, "q_min_std": 0.024226270616054535, "q_min_median": 0.2762281596660614, "chosen_vs_median_q_gap": 0.04299178719520569, "q1_best": 0.4550286829471588, "q2_best": 0.3192199468612671, "v_val": 0.6296970844268799, "advantage": -0.3104771375656128, "best_idx": 22, "q_min_all": [0.29684901237487793, 0.2663840651512146, 0.2471827268600464, 0.2795483469963074, 0.27504706382751465, 0.290766179561615, 0.28711819648742676, 0.26533037424087524, 0.27416181564331055, 0.24632731080055237, 0.2741464376449585, 0.2845228314399719, 0.29289329051971436, 0.26564258337020874, 0.27826690673828125, 0.301718533039093, 0.2669289708137512, 0.24611777067184448, 0.2806257903575897, 0.29903578758239746, 0.2627766728401184, 0.2934143543243408, 0.3192199468612671, 0.27763986587524414, 0.2868141531944275, 0.29029422998428345, 0.2762281596660614, 0.276947021484375, 0.23839163780212402, 0.21544881165027618, 0.2563152611255646, 0.20460441708564758], "q1_all": [0.48281216621398926, 0.4131995737552643, 0.4432865083217621, 0.4780765175819397, 0.46187272667884827, 0.49665147066116333, 0.4525536000728607, 0.42642682790756226, 0.4685268700122833, 0.4507963955402374, 0.481364905834198, 0.47453898191452026, 0.47947612404823303, 0.4210085868835449, 0.44940319657325745, 0.48984792828559875, 0.43728217482566833, 0.4314592778682709, 0.4934864938259125, 0.46666643023490906, 0.4137665033340454, 0.48382458090782166, 0.4550286829471588, 0.45617398619651794, 0.46371379494667053, 0.4370415210723877, 0.45494213700294495, 0.4818277359008789, 0.4232429563999176, 0.4098840653896332, 0.43914303183555603, 0.395857036113739], "q2_all": [0.29684901237487793, 0.2663840651512146, 0.2471827268600464, 0.2795483469963074, 0.27504706382751465, 0.290766179561615, 0.28711819648742676, 0.26533037424087524, 0.27416181564331055, 0.24632731080055237, 0.2741464376449585, 0.2845228314399719, 0.29289329051971436, 0.26564258337020874, 0.27826690673828125, 0.301718533039093, 0.2669289708137512, 0.24611777067184448, 0.2806257903575897, 0.29903578758239746, 0.2627766728401184, 0.2934143543243408, 0.3192199468612671, 0.27763986587524414, 0.2868141531944275, 0.29029422998428345, 0.2762281596660614, 0.276947021484375, 0.23839163780212402, 0.21544881165027618, 0.2563152611255646, 0.20460441708564758], "cand_trans_speed_all": [0.00267433887347579, 0.004151075147092342, 0.0037470893003046513, 0.0033247284591197968, 0.002783305710181594, 0.0034130821004509926, 0.002515573753044009, 0.003196506295353174, 0.002528697717934847, 0.002791003789752722, 0.0031735904049128294, 0.0031014808919280767, 0.002358151599764824, 0.003558162599802017, 0.004298937041312456, 0.003211426315829158, 0.0034132208675146103, 0.0027901646681129932, 0.003911234438419342, 0.0030415505170822144, 0.003920394461601973, 0.0036863700952380896, 0.003533916547894478, 0.0033156978897750378, 0.0035103417467325926, 0.0031905430369079113, 0.0029390740673989058, 0.002656159456819296, 0.004600553773343563, 0.0034243238624185324, 0.0026330151595175266, 0.003737823572009802], "cand_cum_xyz_disp_all": [[-0.006710797548294067, -0.006643176078796387, -0.007277347147464752], [-0.011476904153823853, -0.0016041994094848633, -0.003520689904689789], [-0.01296207308769226, -0.0036941170692443848, -0.007781624794006348], [-0.010954558849334717, -0.0024999529123306274, -0.0019637271761894226], [-0.008912667632102966, -0.0031178295612335205, -0.006432078778743744], [-0.00783604383468628, -0.005080878734588623, -0.004830159246921539], [-0.009008049964904785, -0.0024768859148025513, -0.001553274691104889], [-0.01163308322429657, -0.004629358649253845, -0.0067781731486320496], [-0.010540395975112915, -0.0037944167852401733, -0.0016961246728897095], [-0.012157037854194641, -0.003132164478302002, -0.004836931824684143], [-0.006342336535453796, -0.0013179928064346313, -0.009852893650531769], [-0.008493736386299133, -0.0021426528692245483, -0.0009627565741539001], [-0.00851026177406311, -0.006294846534729004, -0.0032833144068717957], [-0.012270316481590271, -0.0038073062896728516, -0.007497131824493408], [-0.01007474958896637, -0.001300320029258728, 0.002188451588153839], [-0.007646322250366211, -0.002655342221260071, -0.0021894946694374084], [-0.010219946503639221, -0.00337374210357666, -0.011788971722126007], [-0.012724652886390686, -0.0023375898599624634, -0.005009301006793976], [-0.009967595338821411, -0.005939409136772156, -0.007241785526275635], [-0.004829660058021545, -0.0020803064107894897, -0.00764542818069458], [-0.012703582644462585, -0.004181668162345886, -0.01002715528011322], [-0.008175551891326904, -0.004290103912353516, -0.004500187933444977], [-0.004917770624160767, -0.004052639007568359, -0.009067155420780182], [-0.010823488235473633, -0.0028769969940185547, -0.001033000648021698], [-0.008282184600830078, -0.003980323672294617, -0.00453813374042511], [-0.008222103118896484, -0.004939526319503784, -0.0089968740940094], [-0.00888030230998993, -0.00011450052261352539, -0.0029475465416908264], [-0.010250583291053772, -0.005206093192100525, -6.336718797683716e-05], [-0.012455448508262634, -0.0024945586919784546, -0.009003698825836182], [-0.016187146306037903, -0.0036142170429229736, -0.00400562584400177], [-0.011933788657188416, -0.0055962055921554565, -0.004708200693130493], [-0.017770439386367798, -0.008671820163726807, -0.005887195467948914]], "cand_final_gripper_all": [0.002233058214187622, 0.0, 0.0, 0.00478246808052063, 0.0020244717597961426, 0.0, 0.0, 0.0009599030017852783, 0.0007096827030181885, 0.0, 0.0, 0.05589070916175842, 0.0, 0.0001506805419921875, 0.0, 0.0033300817012786865, 0.0006788372993469238, 0.0015216469764709473, 0.0, 0.010846465826034546, 0.0, 0.0015923380851745605, 0.0, 0.009480029344558716, 0.0014095008373260498, 0.0, 0.0, 0.00021255016326904297, 0.002963632345199585, 0.016445279121398926, 0.0, 0.0], "eef_pos": [0.6728214621543884, 0.10407038033008575, 0.22206641733646393], "cand_action_std": 0.07911697030067444, "cand_pairwise_centroid_dist_mean": 0.7581803202629089, "argmax_act_outlier": 1.2594846487045288, "time_encode_ms": 5.166830960661173, "time_diffusion_ms": 36.19663207791746, "time_q_score_ms": 7.927530910819769, "time_total_ms": 50.51005491986871, "num_action_samples_effective": 32, "q_aggregate": "pair_min"} +{"chunk_ordinal": 70, "q_min_best": 0.3643398880958557, "q_min_mean": 0.30537158250808716, "q_min_std": 0.025703497231006622, "q_min_median": 0.30100345611572266, "chosen_vs_median_q_gap": 0.06333643198013306, "q1_best": 0.5668016076087952, "q2_best": 0.3643398880958557, "v_val": 0.7847434282302856, "advantage": -0.42040354013442993, "best_idx": 11, "q_min_all": [0.298554390668869, 0.32209664583206177, 0.35117772221565247, 0.3391663730144501, 0.2831144332885742, 0.34425634145736694, 0.2547803521156311, 0.31358733773231506, 0.30883002281188965, 0.26957404613494873, 0.26683491468429565, 0.3643398880958557, 0.30553877353668213, 0.2892625629901886, 0.31024298071861267, 0.3379467725753784, 0.3145327568054199, 0.30100345611572266, 0.30002936720848083, 0.291409969329834, 0.28291040658950806, 0.3358771502971649, 0.299153596162796, 0.32932248711586, 0.2899513244628906, 0.3028866648674011, 0.3136579394340515, 0.3086841404438019, 0.26885712146759033, 0.28726837038993835, 0.28902924060821533, 0.2980124354362488], "q1_all": [0.4977456033229828, 0.5103647112846375, 0.5383222103118896, 0.5535658597946167, 0.47149524092674255, 0.5257006883621216, 0.47339481115341187, 0.5089920163154602, 0.5115450620651245, 0.49681857228279114, 0.5059434771537781, 0.5668016076087952, 0.5115182995796204, 0.47794485092163086, 0.46031391620635986, 0.5094183087348938, 0.49068930745124817, 0.5183035135269165, 0.5115965604782104, 0.5057884454727173, 0.4648761749267578, 0.5261082053184509, 0.4763636887073517, 0.4948532283306122, 0.46599769592285156, 0.49615219235420227, 0.46312081813812256, 0.49815985560417175, 0.42190948128700256, 0.48326414823532104, 0.4937443435192108, 0.49468040466308594], "q2_all": [0.298554390668869, 0.32209664583206177, 0.35117772221565247, 0.3391663730144501, 0.2831144332885742, 0.34425634145736694, 0.2547803521156311, 0.31358733773231506, 0.30883002281188965, 0.26957404613494873, 0.26683491468429565, 0.3643398880958557, 0.30553877353668213, 0.2892625629901886, 0.31024298071861267, 0.3379467725753784, 0.3145327568054199, 0.30100345611572266, 0.30002936720848083, 0.291409969329834, 0.28291040658950806, 0.3358771502971649, 0.299153596162796, 0.32932248711586, 0.2899513244628906, 0.3028866648674011, 0.3136579394340515, 0.3086841404438019, 0.26885712146759033, 0.28726837038993835, 0.28902924060821533, 0.2980124354362488], "cand_trans_speed_all": [0.002228052355349064, 0.0040310341864824295, 0.002743612742051482, 0.00291104381904006, 0.004015201237052679, 0.002748208586126566, 0.0035887076519429684, 0.0021365531720221043, 0.0029378056060522795, 0.0026550651527941227, 0.0048523107543587685, 0.0022476445883512497, 0.002830974757671356, 0.002689231187105179, 0.0031172707676887512, 0.00405150605365634, 0.0030031404457986355, 0.002716689370572567, 0.0037330719642341137, 0.0034155144821852446, 0.003371228463947773, 0.003024943871423602, 0.003224611049517989, 0.005272896494716406, 0.0034270479809492826, 0.004105913918465376, 0.004008771851658821, 0.0027806730940937996, 0.004947798792272806, 0.0035924259573221207, 0.0032099969685077667, 0.0038687975611537695], "cand_cum_xyz_disp_all": [[-0.009897634387016296, -0.004525765776634216, -0.00021854043006896973], [-0.0068982988595962524, -0.0028431713581085205, -0.008137412369251251], [-0.00638560950756073, -0.0027566105127334595, -0.003105632960796356], [-0.00783585011959076, -0.0034881532192230225, -0.0030407607555389404], [-0.010264113545417786, -0.0055764466524124146, -0.010958664119243622], [-0.00562557578086853, -0.0037426650524139404, -0.00780826061964035], [-0.01204061508178711, -0.0011170357465744019, -0.010066188871860504], [-0.006898805499076843, -0.002406567335128784, -0.005222119390964508], [-0.00874657928943634, -0.002849563956260681, -0.008085042238235474], [-0.012877166271209717, -0.0022659599781036377, -0.005170449614524841], [-0.010620072484016418, -0.0031392723321914673, -0.001240260899066925], [-0.004243806004524231, -0.004317909479141235, 0.0002907589077949524], [-0.009227901697158813, -0.0013200491666793823, -0.0032190904021263123], [-0.010266110301017761, -0.005349963903427124, -0.005047805607318878], [-0.006177440285682678, -0.005258917808532715, -0.005903847515583038], [-0.007568970322608948, -0.004871994256973267, -0.003016449511051178], [-0.009071126580238342, -0.006197541952133179, -0.008579596877098083], [-0.007990673184394836, -0.003257155418395996, -0.005599193274974823], [-0.009404018521308899, -0.003926187753677368, -0.006731830537319183], [-0.009904548525810242, -0.002212241291999817, -0.010053716599941254], [-0.011800751090049744, -0.004036799073219299, -0.011073879897594452], [-0.005470305681228638, -0.005676969885826111, -0.007266707718372345], [-0.011135861277580261, -0.00464235246181488, -0.004076316952705383], [-0.009695753455162048, -0.004265576601028442, 0.0012112781405448914], [-0.011229678988456726, -0.004040047526359558, -0.01034410297870636], [-0.011204183101654053, -0.002556025981903076, -0.004449792206287384], [-0.009094104170799255, -0.007525622844696045, -0.010242938995361328], [-0.009191229939460754, -0.008593425154685974, -0.007076077163219452], [-0.01395377516746521, -0.0092867910861969, -0.017161302268505096], [-0.011866495013237, -0.0037530511617660522, -0.0047478824853897095], [-0.011715114116668701, -0.005709826946258545, -0.004509292542934418], [-0.01016169786453247, -0.00708945095539093, -0.0046126991510391235]], "cand_final_gripper_all": [0.0846722424030304, 0.0, 0.0036552250385284424, 0.0, 0.0031708478927612305, 0.0, 0.0022221803665161133, 0.0003434717655181885, 0.0027750730514526367, 0.0016672015190124512, 0.009193062782287598, 0.09753519296646118, 0.0, 0.0, 0.20246252417564392, 0.06293219327926636, 0.0037659406661987305, 0.00010985136032104492, 0.0016230344772338867, 0.03085300326347351, 0.0, 0.005785763263702393, 0.0, 0.04328519105911255, 0.0026754140853881836, 0.004661828279495239, 0.00470733642578125, 0.004556089639663696, 0.0019904375076293945, 0.0, 0.0, 0.0], "eef_pos": [0.6733100414276123, 0.10335998982191086, 0.223190039396286], "cand_action_std": 0.07313695549964905, "cand_pairwise_centroid_dist_mean": 0.6821709871292114, "argmax_act_outlier": 1.4490140676498413, "time_encode_ms": 5.832255119457841, "time_diffusion_ms": 36.322424886748195, "time_q_score_ms": 8.298278087750077, "time_total_ms": 51.401027012616396, "num_action_samples_effective": 32, "q_aggregate": "pair_min"} +{"chunk_ordinal": 71, "q_min_best": 0.40022432804107666, "q_min_mean": 0.3400699198246002, "q_min_std": 0.02385803684592247, "q_min_median": 0.3371724784374237, "chosen_vs_median_q_gap": 0.06305184960365295, "q1_best": 0.519221842288971, "q2_best": 0.40022432804107666, "v_val": 0.7388910055160522, "advantage": -0.3386666774749756, "best_idx": 10, "q_min_all": [0.3465261161327362, 0.36066752672195435, 0.34139713644981384, 0.30933859944343567, 0.3307496905326843, 0.33723777532577515, 0.3516590893268585, 0.36922821402549744, 0.3313991129398346, 0.34455713629722595, 0.40022432804107666, 0.3506588637828827, 0.3343049883842468, 0.3857607841491699, 0.2946498990058899, 0.3203756511211395, 0.3039688766002655, 0.3322240114212036, 0.33484888076782227, 0.3237645626068115, 0.3386498987674713, 0.32166674733161926, 0.36705368757247925, 0.3073188364505768, 0.3386349678039551, 0.34983211755752563, 0.3198018968105316, 0.36763226985931396, 0.32580119371414185, 0.3371724784374237, 0.3284355700016022, 0.3766968250274658], "q1_all": [0.4715011417865753, 0.46712726354599, 0.4596722722053528, 0.45122724771499634, 0.4734995663166046, 0.4851033687591553, 0.48451170325279236, 0.5103411078453064, 0.4547242224216461, 0.4498162865638733, 0.519221842288971, 0.4915837049484253, 0.46775344014167786, 0.4785046875476837, 0.4203968942165375, 0.4358770549297333, 0.4149497151374817, 0.47878503799438477, 0.4660279452800751, 0.44800201058387756, 0.48032572865486145, 0.46284881234169006, 0.5163006782531738, 0.43974700570106506, 0.47044771909713745, 0.4889189600944519, 0.4731511175632477, 0.4333440959453583, 0.493034690618515, 0.4777185916900635, 0.4499158561229706, 0.5063449740409851], "q2_all": [0.3465261161327362, 0.36066752672195435, 0.34139713644981384, 0.30933859944343567, 0.3307496905326843, 0.33723777532577515, 0.3516590893268585, 0.36922821402549744, 0.3313991129398346, 0.34455713629722595, 0.40022432804107666, 0.3506588637828827, 0.3343049883842468, 0.3857607841491699, 0.2946498990058899, 0.3203756511211395, 0.3039688766002655, 0.3322240114212036, 0.33484888076782227, 0.3237645626068115, 0.3386498987674713, 0.32166674733161926, 0.36705368757247925, 0.3073188364505768, 0.3386349678039551, 0.34983211755752563, 0.3198018968105316, 0.36763226985931396, 0.32580119371414185, 0.3371724784374237, 0.3284355700016022, 0.3766968250274658], "cand_trans_speed_all": [0.004282870329916477, 0.004535166546702385, 0.00447283498942852, 0.007577713578939438, 0.0030547641217708588, 0.0026668242644518614, 0.003475890262052417, 0.0031854729168117046, 0.0041181668639183044, 0.004034394398331642, 0.0033629629760980606, 0.003044422250241041, 0.0038873914163559675, 0.0032856352627277374, 0.0059097521007061005, 0.0037671818863600492, 0.0048454198986291885, 0.0032851118594408035, 0.003133753314614296, 0.004203347489237785, 0.003710872959345579, 0.0037626835983246565, 0.004408850800246, 0.004240760579705238, 0.0036979434080421925, 0.003066588658839464, 0.0038164490833878517, 0.00446347426623106, 0.004964289255440235, 0.004049279727041721, 0.0036321121733635664, 0.003656934481114149], "cand_cum_xyz_disp_all": [[-0.007704421877861023, -0.004074081778526306, -0.016808591783046722], [-0.005746170878410339, 0.00038214027881622314, -0.012678295373916626], [-0.006376534700393677, -0.004338651895523071, -0.014319352805614471], [-0.00810667872428894, -0.0021335184574127197, -0.010731816291809082], [-0.007408991456031799, -0.001154974102973938, -0.012902572751045227], [-0.008329898118972778, 0.0008823424577713013, -0.004609465599060059], [-0.00442938506603241, 0.0008093565702438354, -0.007827416062355042], [-0.0004400312900543213, 7.887184619903564e-05, -0.0046764761209487915], [-0.009345605969429016, -9.94652509689331e-05, -0.008617542684078217], [-0.004742830991744995, -0.007568880915641785, -0.01543010026216507], [4.550814628601074e-05, -0.00040459632873535156, -0.007682435214519501], [-0.003012046217918396, -0.0018514245748519897, -0.011935122311115265], [-0.006815031170845032, -0.002868965268135071, -0.005258984863758087], [-0.004472255706787109, -0.005711406469345093, -0.008680447936058044], [-0.011729702353477478, -0.004647895693778992, -0.018395110964775085], [-0.006578370928764343, -0.0024855732917785645, -0.018056929111480713], [-0.008606255054473877, -0.00021162629127502441, -0.01678472012281418], [-0.005325615406036377, -0.00417327880859375, -0.013232320547103882], [-0.008069440722465515, -0.003929942846298218, -0.008097529411315918], [-0.010579660534858704, -0.00330999493598938, -0.009538844227790833], [-0.0063386112451553345, -0.001661539077758789, -0.010417059063911438], [-0.008130460977554321, -0.002776399254798889, -0.01557738333940506], [0.0007711052894592285, -0.0053691565990448, -0.01774284988641739], [-0.011200979351997375, 0.0011482387781143188, -0.015290133655071259], [-0.007669389247894287, -0.0027581453323364258, -0.01663064956665039], [-0.003913700580596924, -0.0009967535734176636, -0.010937348008155823], [-0.0047448426485061646, -0.003123357892036438, -0.015039421617984772], [-0.003070652484893799, -0.0027308762073516846, -0.014155812561511993], [-0.0029413998126983643, -0.0030381977558135986, -0.015690669417381287], [-0.008252650499343872, 0.0004511922597885132, -0.004188805818557739], [-0.009599074721336365, -0.002476617693901062, -0.015199430286884308], [-0.0032764673233032227, -0.0016563236713409424, -0.008444331586360931]], "cand_final_gripper_all": [0.0004942119121551514, 0.001472771167755127, 0.0029003024101257324, 0.007840126752853394, 0.004461109638214111, 0.0018589496612548828, 0.04974997043609619, 0.0, 0.005394965410232544, 0.0015032589435577393, 0.0075841546058654785, 0.00721326470375061, 0.006254971027374268, 0.002064526081085205, 0.0010419785976409912, 0.00585627555847168, 0.003374457359313965, 0.002581179141998291, 0.0005190074443817139, 0.0028528571128845215, 0.00015693902969360352, 0.003138989210128784, 0.005242258310317993, 0.001696258783340454, 0.0016074776649475098, 0.005566716194152832, 5.704164505004883e-05, 0.10973027348518372, 0.003361523151397705, 0.02980843186378479, 0.0007267594337463379, 0.004763215780258179], "eef_pos": [0.6731939911842346, 0.10243409126996994, 0.2205893099308014], "cand_action_std": 0.08445148169994354, "cand_pairwise_centroid_dist_mean": 0.7931936383247375, "argmax_act_outlier": 0.8520593047142029, "time_encode_ms": 5.108993966132402, "time_diffusion_ms": 36.32477018982172, "time_q_score_ms": 7.972753839567304, "time_total_ms": 50.11476087383926, "num_action_samples_effective": 32, "q_aggregate": "pair_min"} +{"chunk_ordinal": 72, "q_min_best": 0.36068952083587646, "q_min_mean": 0.30449432134628296, "q_min_std": 0.025960730388760567, "q_min_median": 0.298900842666626, "chosen_vs_median_q_gap": 0.06178867816925049, "q1_best": 0.499867707490921, "q2_best": 0.36068952083587646, "v_val": 0.6562678813934326, "advantage": -0.29557836055755615, "best_idx": 3, "q_min_all": [0.27536845207214355, 0.27343010902404785, 0.282654732465744, 0.36068952083587646, 0.31432652473449707, 0.2675105631351471, 0.2758846879005432, 0.29309332370758057, 0.2928164005279541, 0.2960014045238495, 0.3172116279602051, 0.3152143359184265, 0.3023397922515869, 0.298900842666626, 0.2864474654197693, 0.29881125688552856, 0.3488730788230896, 0.28358814120292664, 0.31049734354019165, 0.34264713525772095, 0.32067468762397766, 0.287240594625473, 0.33640140295028687, 0.33642643690109253, 0.332472562789917, 0.29716554284095764, 0.33622634410858154, 0.31881779432296753, 0.28489094972610474, 0.24788063764572144, 0.3077459931373596, 0.30156755447387695], "q1_all": [0.4540691375732422, 0.4723376929759979, 0.4403737485408783, 0.499867707490921, 0.48121657967567444, 0.4300096333026886, 0.41221755743026733, 0.41240814328193665, 0.48453816771507263, 0.4617398679256439, 0.4936548173427582, 0.5063582062721252, 0.4711362421512604, 0.4575856328010559, 0.4703653156757355, 0.47422605752944946, 0.5002452731132507, 0.47225257754325867, 0.49460092186927795, 0.46314361691474915, 0.44604188203811646, 0.44507721066474915, 0.5047631859779358, 0.5123849511146545, 0.5045919418334961, 0.44045302271842957, 0.509468138217926, 0.5013832449913025, 0.47303155064582825, 0.43483808636665344, 0.46209782361984253, 0.4782467782497406], "q2_all": [0.27536845207214355, 0.27343010902404785, 0.282654732465744, 0.36068952083587646, 0.31432652473449707, 0.2675105631351471, 0.2758846879005432, 0.29309332370758057, 0.2928164005279541, 0.2960014045238495, 0.3172116279602051, 0.3152143359184265, 0.3023397922515869, 0.298900842666626, 0.2864474654197693, 0.29881125688552856, 0.3488730788230896, 0.28358814120292664, 0.31049734354019165, 0.34264713525772095, 0.32067468762397766, 0.287240594625473, 0.33640140295028687, 0.33642643690109253, 0.332472562789917, 0.29716554284095764, 0.33622634410858154, 0.31881779432296753, 0.28489094972610474, 0.24788063764572144, 0.3077459931373596, 0.30156755447387695], "cand_trans_speed_all": [0.0033012365456670523, 0.0030028994660824537, 0.0034789503552019596, 0.0031201932579278946, 0.003913146443665028, 0.004846989642828703, 0.003747721901163459, 0.004788907244801521, 0.003995436243712902, 0.002642245963215828, 0.0023950613103806973, 0.003954294137656689, 0.0023655840195715427, 0.003819006262347102, 0.003485074732452631, 0.004662733990699053, 0.003456555074080825, 0.002973460592329502, 0.00281884684227407, 0.003795479889959097, 0.0035013025626540184, 0.004466927610337734, 0.003144504502415657, 0.0028153597377240658, 0.0022924444638192654, 0.004128649365156889, 0.00247032567858696, 0.004169435705989599, 0.00313771003857255, 0.0027814731001853943, 0.003626501187682152, 0.0032739518210291862], "cand_cum_xyz_disp_all": [[-0.00886140763759613, -0.0068335384130477905, -0.012999497354030609], [-0.008323222398757935, -0.005795866250991821, -0.010025247931480408], [-0.0102347731590271, -0.007593318819999695, -0.010413013398647308], [-0.0042184144258499146, -0.004473507404327393, -0.004007935523986816], [-0.00427362322807312, -0.0036329180002212524, -0.009418383240699768], [-0.011794686317443848, -0.00414121150970459, -0.012012191116809845], [-0.010891512036323547, -0.0030494481325149536, -0.01680036634206772], [-0.011015430092811584, -0.007516801357269287, -0.016878746449947357], [-0.009716987609863281, -0.004305392503738403, -0.008624449372291565], [-0.008967593312263489, -0.006659001111984253, -0.007138602435588837], [-0.006746575236320496, -0.006103485822677612, -0.008884429931640625], [-0.011782616376876831, -0.007082492113113403, -0.005558095872402191], [-0.00893053412437439, -0.0034189373254776, -0.004764482378959656], [-0.00655992329120636, -0.004572376608848572, -0.01483822613954544], [-0.00700908899307251, -0.004980847239494324, -0.00466553121805191], [-0.005623489618301392, -0.008968546986579895, -0.013736121356487274], [-0.004083037376403809, -0.005044668912887573, -0.008867599070072174], [-0.009450912475585938, -0.0035293996334075928, -0.01017896831035614], [-0.008795037865638733, -0.004775434732437134, -0.0033906400203704834], [-0.00576019287109375, -0.005968168377876282, -0.0102313831448555], [-0.006833568215370178, -0.003827393054962158, -0.00521281361579895], [-0.00713859498500824, -0.00928470492362976, -0.015589430928230286], [-0.006923362612724304, -0.0042716264724731445, -0.00842234492301941], [-0.005083948373794556, -0.004843279719352722, -0.008239895105361938], [-0.005420908331871033, -0.003882795572280884, -0.004648804664611816], [-0.01182892918586731, -0.006544128060340881, -0.009460993111133575], [-0.0020367950201034546, -0.00377635657787323, -0.0077543482184410095], [-0.004528477787971497, -0.008485257625579834, -0.01185966283082962], [-0.01185879111289978, -0.002637729048728943, -0.003681562840938568], [-0.014213934540748596, -0.0008697956800460815, -0.002809189260005951], [-0.007224276661872864, -0.00258481502532959, -0.00967070460319519], [-0.009470582008361816, -0.0032432228326797485, -0.0038484707474708557]], "cand_final_gripper_all": [0.011957675218582153, 0.003046751022338867, 0.0, 0.0031690597534179688, 0.0, 0.0, 0.0, 0.0, 0.0030218958854675293, 0.0019152462482452393, 0.00567975640296936, 0.0020612478256225586, 0.0012294948101043701, 0.0006874203681945801, 0.00021782517433166504, 0.0026220083236694336, 0.0020371079444885254, 0.005648136138916016, 0.006012648344039917, 0.005921453237533569, 0.001753091812133789, 0.0024890005588531494, 0.007427334785461426, 0.010447919368743896, 0.005635738372802734, 0.0, 0.011705785989761353, 0.015626221895217896, 0.00926092267036438, 0.012471795082092285, 0.008456975221633911, 0.0], "eef_pos": [0.6729707717895508, 0.1044863760471344, 0.2206137478351593], "cand_action_std": 0.07588803023099899, "cand_pairwise_centroid_dist_mean": 0.745812714099884, "argmax_act_outlier": 1.094840407371521, "time_encode_ms": 4.85453219152987, "time_diffusion_ms": 35.96914000809193, "time_q_score_ms": 7.964297896251082, "time_total_ms": 49.47788990102708, "num_action_samples_effective": 32, "q_aggregate": "pair_min"} +{"chunk_ordinal": 73, "q_min_best": 0.3415047228336334, "q_min_mean": 0.2807028293609619, "q_min_std": 0.03433309867978096, "q_min_median": 0.2691214084625244, "chosen_vs_median_q_gap": 0.07238331437110901, "q1_best": 0.5098435878753662, "q2_best": 0.3415047228336334, "v_val": 0.6171300411224365, "advantage": -0.2756253182888031, "best_idx": 6, "q_min_all": [0.25463682413101196, 0.2691214084625244, 0.26382532715797424, 0.2588239312171936, 0.26807793974876404, 0.29226669669151306, 0.3415047228336334, 0.2384495735168457, 0.3182663321495056, 0.23685795068740845, 0.26783278584480286, 0.2915538549423218, 0.3004534840583801, 0.3192090690135956, 0.2599143981933594, 0.26270896196365356, 0.1907024085521698, 0.3180563449859619, 0.29998579621315, 0.23374760150909424, 0.3212295472621918, 0.3136492371559143, 0.26608407497406006, 0.30166929960250854, 0.2712123990058899, 0.3212038278579712, 0.2972465753555298, 0.32585400342941284, 0.24610531330108643, 0.2496873140335083, 0.31435489654541016, 0.2681984305381775], "q1_all": [0.45151910185813904, 0.4766419529914856, 0.42251285910606384, 0.4465559124946594, 0.4474898874759674, 0.4636939764022827, 0.5098435878753662, 0.4420086443424225, 0.5052632689476013, 0.4414842426776886, 0.4690835773944855, 0.48160526156425476, 0.4833848774433136, 0.5069383382797241, 0.4366552531719208, 0.4710151255130768, 0.40163907408714294, 0.48108503222465515, 0.5079002976417542, 0.4113143980503082, 0.5164148211479187, 0.5137385129928589, 0.45004820823669434, 0.4832824766635895, 0.478755384683609, 0.4663606584072113, 0.4814976155757904, 0.49153146147727966, 0.44068387150764465, 0.4457530677318573, 0.4700678884983063, 0.41631415486335754], "q2_all": [0.25463682413101196, 0.2691214084625244, 0.26382532715797424, 0.2588239312171936, 0.26807793974876404, 0.29226669669151306, 0.3415047228336334, 0.2384495735168457, 0.3182663321495056, 0.23685795068740845, 0.26783278584480286, 0.2915538549423218, 0.3004534840583801, 0.3192090690135956, 0.2599143981933594, 0.26270896196365356, 0.1907024085521698, 0.3180563449859619, 0.29998579621315, 0.23374760150909424, 0.3212295472621918, 0.3136492371559143, 0.26608407497406006, 0.30166929960250854, 0.2712123990058899, 0.3212038278579712, 0.2972465753555298, 0.32585400342941284, 0.24610531330108643, 0.2496873140335083, 0.31435489654541016, 0.2681984305381775], "cand_trans_speed_all": [0.0033501535654067993, 0.0030493303202092648, 0.005139089189469814, 0.0035724786575883627, 0.003263013204559684, 0.004010784439742565, 0.003942171577364206, 0.0037958556786179543, 0.003780457191169262, 0.0033167710062116385, 0.0037508595269173384, 0.005034003872424364, 0.003894014284014702, 0.0030353483743965626, 0.0051315780729055405, 0.0032409566920250654, 0.005599615629762411, 0.004444008227437735, 0.003199201077222824, 0.003207547590136528, 0.00370740401558578, 0.004111155867576599, 0.004541619680821896, 0.0032831206917762756, 0.003360080998390913, 0.0053179459646344185, 0.0033300966024398804, 0.0037210832815617323, 0.003410510253161192, 0.0038633551448583603, 0.0043131522834300995, 0.004484138917177916], "cand_cum_xyz_disp_all": [[-0.009837046265602112, -0.0021068453788757324, -0.011448487639427185], [-0.010056018829345703, -0.004764467477798462, -0.009112820029258728], [-0.01033705472946167, -0.006491124629974365, -0.012965552508831024], [-0.01006665825843811, -0.004309028387069702, -0.01232803612947464], [-0.008330017328262329, 0.001254439353942871, -0.007492616772651672], [-0.009192302823066711, -0.0037884116172790527, -0.01719345897436142], [-0.00480574369430542, -0.0036243200302124023, -0.0018489435315132141], [-0.011149853467941284, -0.003226742148399353, -0.012863680720329285], [-0.007128998637199402, -0.0029605627059936523, -0.009411528706550598], [-0.009307578206062317, -0.004429802298545837, -0.011859804391860962], [-0.013295948505401611, -0.0014810711145401, -0.007986113429069519], [-0.007773786783218384, -0.0022850334644317627, -0.007995158433914185], [-0.00881795585155487, -0.004815205931663513, -0.007692568004131317], [-0.004422798752784729, -0.0051640719175338745, -0.008488044142723083], [-0.008438870310783386, -0.005632251501083374, -0.014738790690898895], [-0.010045617818832397, -0.0038233399391174316, -0.01148911565542221], [-0.018933460116386414, -0.007838979363441467, -0.014185160398483276], [-0.007660910487174988, -0.005293846130371094, -0.007712014019489288], [-0.004227101802825928, -0.005753964185714722, -0.009019136428833008], [-0.011998534202575684, -0.002981439232826233, -0.010546647012233734], [-0.008321136236190796, -0.006972372531890869, -0.006685912609100342], [-0.0036377012729644775, -0.00525057315826416, -0.006465345621109009], [-0.013389423489570618, -0.004169270396232605, -0.010157682001590729], [-0.006408855319023132, -0.001293569803237915, -0.013181976974010468], [-0.009514153003692627, -0.0022261738777160645, -0.009457774460315704], [-0.007583156228065491, 0.0005012750625610352, -0.010394111275672913], [-0.009278684854507446, -0.0068477243185043335, -0.008675366640090942], [-0.006314784288406372, -0.002505883574485779, -0.010091714560985565], [-0.013165995478630066, -0.0004345923662185669, -0.010984525084495544], [-0.011235624551773071, -0.0008460283279418945, -0.012687161564826965], [-0.007368519902229309, -0.001150473952293396, -0.012243568897247314], [-0.012995436787605286, -0.0068589746952056885, -0.012943893671035767]], "cand_final_gripper_all": [0.07015722990036011, 0.0008272528648376465, 0.0, 0.0009123086929321289, 0.0010738670825958252, 0.0, 0.0, 0.0012678205966949463, 0.001718759536743164, 0.0, 0.009017527103424072, 0.0051972270011901855, 0.0033563971519470215, 0.0014621317386627197, 0.00041356682777404785, 0.006148546934127808, 0.0, 0.0020036399364471436, 0.015608340501785278, 0.0007551014423370361, 0.0017009377479553223, 0.0007083714008331299, 0.00024297833442687988, 0.019539445638656616, 0.0, 0.017661333084106445, 0.0017073750495910645, 0.0037064850330352783, 0.0008798837661743164, 0.013394325971603394, 0.010676950216293335, 0.0002626776695251465], "eef_pos": [0.6730791926383972, 0.10363425314426422, 0.21915853023529053], "cand_action_std": 0.07870665937662125, "cand_pairwise_centroid_dist_mean": 0.7571989893913269, "argmax_act_outlier": 0.9322742223739624, "time_encode_ms": 6.000616820529103, "time_diffusion_ms": 36.178237991407514, "time_q_score_ms": 8.34326189942658, "time_total_ms": 51.72613891772926, "num_action_samples_effective": 32, "q_aggregate": "pair_min"} +{"chunk_ordinal": 74, "q_min_best": 0.3633180856704712, "q_min_mean": 0.3137856423854828, "q_min_std": 0.03097626566886902, "q_min_median": 0.31349509954452515, "chosen_vs_median_q_gap": 0.049822986125946045, "q1_best": 0.49720239639282227, "q2_best": 0.3633180856704712, "v_val": 0.6651337146759033, "advantage": -0.30181562900543213, "best_idx": 19, "q_min_all": [0.320229709148407, 0.32997918128967285, 0.3106831908226013, 0.2920621633529663, 0.33796000480651855, 0.3626366853713989, 0.338543176651001, 0.305658221244812, 0.27518582344055176, 0.3349305987358093, 0.2998657822608948, 0.3630061447620392, 0.2852291166782379, 0.3296290338039398, 0.34524911642074585, 0.3360925614833832, 0.26243358850479126, 0.2939976751804352, 0.3314399719238281, 0.3633180856704712, 0.3242000937461853, 0.332858681678772, 0.26282376050949097, 0.2879066467285156, 0.24483513832092285, 0.2881120443344116, 0.30352941155433655, 0.34020766615867615, 0.34047168493270874, 0.3124915659427643, 0.31349509954452515, 0.2720790207386017], "q1_all": [0.4024806618690491, 0.4428868591785431, 0.4436471164226532, 0.4060249328613281, 0.4615922272205353, 0.4842236042022705, 0.4314066469669342, 0.3736436367034912, 0.38218745589256287, 0.45522788166999817, 0.41545358300209045, 0.49133798480033875, 0.429460346698761, 0.40050968527793884, 0.4369223713874817, 0.48636093735694885, 0.3786126971244812, 0.4037749469280243, 0.43768832087516785, 0.49720239639282227, 0.4350133538246155, 0.46605148911476135, 0.3948635756969452, 0.41563674807548523, 0.3752090036869049, 0.4273539185523987, 0.4213877022266388, 0.44146862626075745, 0.46991845965385437, 0.4327337145805359, 0.45445773005485535, 0.38950419425964355], "q2_all": [0.320229709148407, 0.32997918128967285, 0.3106831908226013, 0.2920621633529663, 0.33796000480651855, 0.3626366853713989, 0.338543176651001, 0.305658221244812, 0.27518582344055176, 0.3349305987358093, 0.2998657822608948, 0.3630061447620392, 0.2852291166782379, 0.3296290338039398, 0.34524911642074585, 0.3360925614833832, 0.26243358850479126, 0.2939976751804352, 0.3314399719238281, 0.3633180856704712, 0.3242000937461853, 0.332858681678772, 0.26282376050949097, 0.2879066467285156, 0.24483513832092285, 0.2881120443344116, 0.30352941155433655, 0.34020766615867615, 0.34047168493270874, 0.3124915659427643, 0.31349509954452515, 0.2720790207386017], "cand_trans_speed_all": [0.007225878536701202, 0.0055249216966331005, 0.0036076968535780907, 0.0050092414021492004, 0.004824070725589991, 0.0032151243649423122, 0.004951063077896833, 0.004772992804646492, 0.00431800214573741, 0.0037215976044535637, 0.00491334218531847, 0.0034214637707918882, 0.005054478999227285, 0.005337247159332037, 0.004950664006173611, 0.004215436987578869, 0.0066949049942195415, 0.004523484967648983, 0.003744063898921013, 0.002357902005314827, 0.0044888402335345745, 0.003689786419272423, 0.004173023626208305, 0.003604445606470108, 0.005435077007859945, 0.0038734893314540386, 0.004863346461206675, 0.004605053458362818, 0.0030073996167629957, 0.004800411406904459, 0.004731242544949055, 0.0051106796599924564], "cand_cum_xyz_disp_all": [[-0.016081780195236206, -0.0015472322702407837, -0.016497962176799774], [-0.00909489393234253, -0.0010920315980911255, -0.021003559231758118], [-0.00710645318031311, -0.004339098930358887, -0.016301393508911133], [-0.011119082570075989, -0.0026257336139678955, -0.013459227979183197], [-0.005661725997924805, -0.004249796271324158, -0.019309982657432556], [-0.003146529197692871, -0.006137490272521973, -0.012956924736499786], [-0.004514634609222412, -0.005006015300750732, -0.021874606609344482], [-0.008866563439369202, -0.008533239364624023, -0.022462502121925354], [-0.009294956922531128, -0.00202140212059021, -0.020679280161857605], [-0.006016179919242859, -0.006039634346961975, -0.015848733484745026], [-0.010634034872055054, -0.002322152256965637, -0.020427249372005463], [-0.007486164569854736, -0.0033068209886550903, -0.005925185978412628], [-0.008179977536201477, -0.003788486123085022, -0.02156095951795578], [-0.006033182144165039, -0.005163282155990601, -0.02154459059238434], [-0.008293166756629944, -0.00220373272895813, -0.012361213564872742], [-0.0037940293550491333, -0.003187820315361023, -0.01165064424276352], [-0.016052305698394775, -0.010242506861686707, -0.02005738765001297], [-0.011640071868896484, -0.0019434839487075806, -0.013817079365253448], [-0.008366063237190247, -0.0013238787651062012, -0.018374353647232056], [-0.006967112421989441, -0.0032730549573898315, -0.006365165114402771], [-0.008653178811073303, -0.006085053086280823, -0.017602145671844482], [-0.0038385391235351562, -0.0009094178676605225, -0.015669099986553192], [-0.013532862067222595, -0.0031968802213668823, -0.015134058892726898], [-0.009672373533248901, -0.0034215599298477173, -0.017316073179244995], [-0.01821976900100708, -0.0027130097150802612, -0.01592893898487091], [-0.012945547699928284, -0.006600528955459595, -0.013765119016170502], [-0.011497408151626587, -0.0046773552894592285, -0.017512880265712738], [-0.006538450717926025, -0.0058659762144088745, -0.018455475568771362], [-0.006217464804649353, -0.004563823342323303, -0.011903718113899231], [-0.007473379373550415, -0.006210535764694214, -0.02422483265399933], [-0.00967399775981903, -0.003343924880027771, -0.016977086663246155], [-0.012047380208969116, -0.008616358041763306, -0.019674204289913177]], "cand_final_gripper_all": [0.004108786582946777, 0.00718042254447937, 0.005482792854309082, 0.004160940647125244, 0.011035501956939697, 0.0026003122329711914, 0.0031659305095672607, 0.0012535154819488525, 0.001917511224746704, 0.0038426220417022705, 0.012165158987045288, 0.005982488393783569, 0.0019268393516540527, 0.005681097507476807, 0.004035353660583496, 0.006700009107589722, 0.0026899874210357666, 0.005524039268493652, 0.004623681306838989, 0.0005159676074981689, 0.003369152545928955, 0.0030361711978912354, 0.0016870498657226562, 0.007444858551025391, 0.005050539970397949, 0.001634836196899414, 0.00416913628578186, 0.0034275054931640625, 0.003382474184036255, 0.0020720362663269043, 0.006121128797531128, 0.009697556495666504], "eef_pos": [0.6732622385025024, 0.10244681686162949, 0.2187487930059433], "cand_action_std": 0.08455124497413635, "cand_pairwise_centroid_dist_mean": 0.8325368165969849, "argmax_act_outlier": 1.4557477235794067, "time_encode_ms": 4.836248932406306, "time_diffusion_ms": 35.92404699884355, "time_q_score_ms": 7.87306996062398, "time_total_ms": 49.33110810816288, "num_action_samples_effective": 32, "q_aggregate": "pair_min"} +{"chunk_ordinal": 75, "q_min_best": 0.3250425457954407, "q_min_mean": 0.26826927065849304, "q_min_std": 0.029159095138311386, "q_min_median": 0.26586952805519104, "chosen_vs_median_q_gap": 0.059173017740249634, "q1_best": 0.44536036252975464, "q2_best": 0.3250425457954407, "v_val": 0.4123042821884155, "advantage": -0.08726173639297485, "best_idx": 18, "q_min_all": [0.2709665596485138, 0.27266302704811096, 0.27885550260543823, 0.25914931297302246, 0.26027366518974304, 0.233643040060997, 0.2808552086353302, 0.26586952805519104, 0.24898725748062134, 0.22618359327316284, 0.21837306022644043, 0.2960732877254486, 0.3111630082130432, 0.30150002241134644, 0.23218488693237305, 0.2521323263645172, 0.25108474493026733, 0.3116642236709595, 0.3250425457954407, 0.2345414012670517, 0.2618439197540283, 0.2778964340686798, 0.2567518353462219, 0.2589801549911499, 0.2737479507923126, 0.3218085765838623, 0.2723274230957031, 0.30051952600479126, 0.3013588488101959, 0.2309533655643463, 0.26720136404037476, 0.2300209105014801], "q1_all": [0.3692460358142853, 0.41943448781967163, 0.38474223017692566, 0.35025325417518616, 0.39200761914253235, 0.3744964301586151, 0.3828250467777252, 0.3798389136791229, 0.37186023592948914, 0.33965572714805603, 0.3402118980884552, 0.39539557695388794, 0.41414234042167664, 0.4116978943347931, 0.3330914080142975, 0.3776411712169647, 0.35949942469596863, 0.4388009011745453, 0.44536036252975464, 0.36915919184684753, 0.35429656505584717, 0.39772483706474304, 0.3789201080799103, 0.36944136023521423, 0.39427193999290466, 0.437438040971756, 0.3869740664958954, 0.4109141528606415, 0.38528481125831604, 0.37373805046081543, 0.4018052816390991, 0.33361467719078064], "q2_all": [0.2709665596485138, 0.27266302704811096, 0.27885550260543823, 0.25914931297302246, 0.26027366518974304, 0.233643040060997, 0.2808552086353302, 0.26586952805519104, 0.24898725748062134, 0.22618359327316284, 0.21837306022644043, 0.2960732877254486, 0.3111630082130432, 0.30150002241134644, 0.23218488693237305, 0.2521323263645172, 0.25108474493026733, 0.3116642236709595, 0.3250425457954407, 0.2345414012670517, 0.2618439197540283, 0.2778964340686798, 0.2567518353462219, 0.2589801549911499, 0.2737479507923126, 0.3218085765838623, 0.2723274230957031, 0.30051952600479126, 0.3013588488101959, 0.2309533655643463, 0.26720136404037476, 0.2300209105014801], "cand_trans_speed_all": [0.004960291087627411, 0.003666441887617111, 0.006545840762555599, 0.005495260935276747, 0.003964228555560112, 0.006255888845771551, 0.004311432596296072, 0.004797639325261116, 0.004312917124480009, 0.005025450140237808, 0.005141722038388252, 0.00499129481613636, 0.003089672653004527, 0.00505705364048481, 0.004942229483276606, 0.004249292891472578, 0.004939005710184574, 0.005094541702419519, 0.004784081596881151, 0.005830398760735989, 0.005463735666126013, 0.003638860769569874, 0.006419162265956402, 0.005664526484906673, 0.004745037294924259, 0.004591021221131086, 0.005157709587365389, 0.004642055369913578, 0.004722180776298046, 0.0054644010961055756, 0.004566706717014313, 0.006054697558283806], "cand_cum_xyz_disp_all": [[-0.009764611721038818, -0.008358731865882874, -0.02003069967031479], [-0.006396755576133728, -0.002391725778579712, -0.017580434679985046], [-0.011353462934494019, -0.002570122480392456, -0.018253400921821594], [-0.015087857842445374, 0.0001512765884399414, -0.011276252567768097], [-0.012243837118148804, -0.001973167061805725, -0.013836666941642761], [-0.014382630586624146, -0.005855739116668701, -0.020090259611606598], [-0.011057540774345398, -0.0008441060781478882, -0.015145428478717804], [-0.008330345153808594, -0.004416704177856445, -0.01977088302373886], [-0.012892067432403564, -0.0021079331636428833, -0.016979984939098358], [-0.017006784677505493, -0.002437308430671692, -0.014226451516151428], [-0.017052337527275085, -0.005734160542488098, -0.017479799687862396], [-0.009519621729850769, -0.0028104931116104126, -0.020266704261302948], [-0.00566042959690094, -0.006676346063613892, -0.011284269392490387], [-0.008639007806777954, -0.0017636269330978394, -0.014585234224796295], [-0.015129640698432922, -0.006758645176887512, -0.01298292726278305], [-0.012760624289512634, -0.001285746693611145, -0.017438486218452454], [-0.01246073842048645, -0.006024956703186035, -0.02392324060201645], [-0.007031574845314026, -0.0008030533790588379, -0.015175901353359222], [-0.0029966384172439575, -0.003511101007461548, -0.019851811230182648], [-0.01334451138973236, -0.00149594247341156, -0.021967671811580658], [-0.015027225017547607, -0.0010921657085418701, -0.016852006316184998], [-0.007608950138092041, 0.00021907687187194824, -0.01810857653617859], [-0.011773943901062012, -0.0018385052680969238, -0.021639235317707062], [-0.012249037623405457, -0.0027803778648376465, -0.024531960487365723], [-0.008970782160758972, -0.0027575641870498657, -0.020706623792648315], [-0.004082798957824707, -0.0004774332046508789, -0.01912470906972885], [-0.011350944638252258, -0.0016638636589050293, -0.023258216679096222], [-0.008991807699203491, -0.00024253129959106445, -0.018483012914657593], [-0.010624334216117859, -0.0006719529628753662, -0.018664635717868805], [-0.016109034419059753, -0.004050791263580322, -0.022606171667575836], [-0.011897429823875427, -0.0023351162672042847, -0.006879463791847229], [-0.018022269010543823, -0.00033095479011535645, -0.02215002477169037]], "cand_final_gripper_all": [0.004820466041564941, 0.0, 0.0021173059940338135, 0.005849212408065796, 0.0047852396965026855, 0.006096243858337402, 0.005122244358062744, 6.332993507385254e-05, 0.003096640110015869, 0.003914773464202881, 0.004381448030471802, 0.003236144781112671, 0.0038360655307769775, 0.005693793296813965, 0.0026168227195739746, 0.004333943128585815, 0.003627777099609375, 0.006419479846954346, 0.0019825398921966553, 0.001720815896987915, 0.0044013261795043945, 0.006517142057418823, 0.0013267695903778076, 0.007004648447036743, 0.01577821373939514, 0.005351722240447998, 0.006728857755661011, 0.004412978887557983, 0.011918067932128906, 0.002236485481262207, 0.013353288173675537, 0.004364579916000366], "eef_pos": [0.6731702089309692, 0.101979099214077, 0.21800102293491364], "cand_action_std": 0.08886145055294037, "cand_pairwise_centroid_dist_mean": 0.8709357380867004, "argmax_act_outlier": 1.1254793405532837, "time_encode_ms": 5.622145952656865, "time_diffusion_ms": 36.22101806104183, "time_q_score_ms": 7.50547694042325, "time_total_ms": 50.344245973974466, "num_action_samples_effective": 32, "q_aggregate": "pair_min"} +{"chunk_ordinal": 76, "q_min_best": 0.3542717397212982, "q_min_mean": 0.29193857312202454, "q_min_std": 0.02674674615263939, "q_min_median": 0.2884743809700012, "chosen_vs_median_q_gap": 0.065797358751297, "q1_best": 0.5292008519172668, "q2_best": 0.3542717397212982, "v_val": 0.6626726388931274, "advantage": -0.3084008991718292, "best_idx": 25, "q_min_all": [0.2884743809700012, 0.2565566897392273, 0.29081642627716064, 0.31225842237472534, 0.28050917387008667, 0.3064512610435486, 0.26635339856147766, 0.27891790866851807, 0.29276788234710693, 0.2588402330875397, 0.2825435400009155, 0.3449041545391083, 0.3024272620677948, 0.3096242845058441, 0.24747562408447266, 0.2684471309185028, 0.30621689558029175, 0.29072991013526917, 0.2740040719509125, 0.25434762239456177, 0.2876845598220825, 0.3002890646457672, 0.3366137444972992, 0.31892603635787964, 0.25987952947616577, 0.3542717397212982, 0.2847500443458557, 0.3335109055042267, 0.2856978178024292, 0.29864051938056946, 0.26513540744781494, 0.3039683699607849], "q1_all": [0.4913548529148102, 0.4717501699924469, 0.48363667726516724, 0.4426284730434418, 0.4510708451271057, 0.4889666438102722, 0.49347227811813354, 0.4329136610031128, 0.45660829544067383, 0.4785456955432892, 0.46143391728401184, 0.5230698585510254, 0.4755995273590088, 0.5061110854148865, 0.47187185287475586, 0.46782392263412476, 0.4968760907649994, 0.4578341543674469, 0.47068777680397034, 0.47266706824302673, 0.48046788573265076, 0.5000877976417542, 0.5246331691741943, 0.5064095854759216, 0.4300192892551422, 0.5292008519172668, 0.4763950705528259, 0.5117519497871399, 0.4775943458080292, 0.4915769100189209, 0.47980383038520813, 0.49966728687286377], "q2_all": [0.2884743809700012, 0.2565566897392273, 0.29081642627716064, 0.31225842237472534, 0.28050917387008667, 0.3064512610435486, 0.26635339856147766, 0.27891790866851807, 0.29276788234710693, 0.2588402330875397, 0.2825435400009155, 0.3449041545391083, 0.3024272620677948, 0.3096242845058441, 0.24747562408447266, 0.2684471309185028, 0.30621689558029175, 0.29072991013526917, 0.2740040719509125, 0.25434762239456177, 0.2876845598220825, 0.3002890646457672, 0.3366137444972992, 0.31892603635787964, 0.25987952947616577, 0.3542717397212982, 0.2847500443458557, 0.3335109055042267, 0.2856978178024292, 0.29864051938056946, 0.26513540744781494, 0.3039683699607849], "cand_trans_speed_all": [0.0035808305256068707, 0.003052608808502555, 0.004371075890958309, 0.004741857293993235, 0.0038464448880404234, 0.003306458704173565, 0.0027228305116295815, 0.0059175337664783, 0.003937556874006987, 0.0030993628315627575, 0.003747838083654642, 0.002467128913849592, 0.00354474107734859, 0.0028894401621073484, 0.0035751829855144024, 0.0038253641687333584, 0.004511198494583368, 0.00469448184594512, 0.0036932488437741995, 0.003584161400794983, 0.004168128594756126, 0.0025661205872893333, 0.0021011782810091972, 0.0034172104205936193, 0.004738955292850733, 0.0027250887360423803, 0.0031010699458420277, 0.002430887892842293, 0.003643991891294718, 0.003870167536661029, 0.002636583521962166, 0.0029174797236919403], "cand_cum_xyz_disp_all": [[-0.00967000424861908, 0.0006036609411239624, -0.011221170425415039], [-0.009657114744186401, 8.533895015716553e-05, -0.010115467011928558], [-0.006445020437240601, -0.0035236775875091553, -0.01740894466638565], [-0.009823426604270935, -0.007048100233078003, -0.019651181995868683], [-0.010015055537223816, -0.003132358193397522, -0.014454677700996399], [-0.0062501877546310425, -0.0004497319459915161, -0.00982443243265152], [-0.011018633842468262, -0.0018869638442993164, -0.008338294923305511], [-0.014611110091209412, -0.007208496332168579, -0.01052664965391159], [-0.009905487298965454, -0.0072503238916397095, -0.013695850968360901], [-0.0097646564245224, -0.0010366588830947876, -0.012231551110744476], [-0.009677112102508545, -0.004509374499320984, -0.014714136719703674], [-0.0042106956243515015, -0.005315020680427551, -0.009710580110549927], [-0.008279085159301758, -0.005725756287574768, -0.009746059775352478], [-0.004982814192771912, -0.0020840615034103394, -0.011040307581424713], [-0.010513097047805786, -0.004401221871376038, -0.008490495383739471], [-0.010889932513237, -0.003563612699508667, -0.014681130647659302], [-0.00887162983417511, -0.004056334495544434, -0.007498130202293396], [-0.010292425751686096, -0.0024536699056625366, -0.015348471701145172], [-0.010275319218635559, -0.0023538023233413696, -0.010585352778434753], [-0.01043131947517395, -0.003918766975402832, -0.009140938520431519], [-0.008667513728141785, -0.006220132112503052, -0.016635023057460785], [-0.006524503231048584, -0.0020638108253479004, -0.007783517241477966], [-0.0036303848028182983, -0.0007564723491668701, -0.004804864525794983], [-0.007798627018928528, -0.0002484917640686035, -0.007394574582576752], [-0.015783458948135376, -0.0021703392267227173, -0.012778930366039276], [-0.00419163703918457, -0.0019180476665496826, -0.00380784273147583], [-0.006819605827331543, -0.0006678551435470581, -0.010567888617515564], [-0.005373269319534302, -0.005100041627883911, -0.009815864264965057], [-0.007709428668022156, -0.0030959993600845337, -0.011977940797805786], [-0.007224813103675842, -0.004153788089752197, -0.014551550149917603], [-0.007856398820877075, -0.0014840960502624512, -0.008876509964466095], [-0.006795570254325867, 0.0018882155418395996, -0.008483946323394775]], "cand_final_gripper_all": [0.0018229782581329346, 0.0, 0.0034747719764709473, 0.00041294097900390625, 0.0, 0.0, 0.0029574930667877197, 0.0019920766353607178, 0.0065920352935791016, 0.0053141117095947266, 6.976723670959473e-05, 0.0017424225807189941, 0.0, 0.0010001659393310547, 0.002050071954727173, 0.0024899542331695557, 0.0063648521900177, 0.000919729471206665, 0.007722198963165283, 0.0, 0.007050186395645142, 0.001424938440322876, 0.004855215549468994, 0.0, 0.0027768313884735107, 0.0, 0.0035995543003082275, 0.00036093592643737793, 0.004346579313278198, 0.0016285479068756104, 0.09736084938049316, 0.004146754741668701], "eef_pos": [0.6739791631698608, 0.10363485664129257, 0.21988460421562195], "cand_action_std": 0.07437004148960114, "cand_pairwise_centroid_dist_mean": 0.7288767695426941, "argmax_act_outlier": 1.1015633344650269, "time_encode_ms": 5.575800081714988, "time_diffusion_ms": 36.670831963419914, "time_q_score_ms": 7.822727086022496, "time_total_ms": 50.98190996795893, "num_action_samples_effective": 32, "q_aggregate": "pair_min"} +{"chunk_ordinal": 77, "q_min_best": 0.36063671112060547, "q_min_mean": 0.2942427396774292, "q_min_std": 0.02616310492157936, "q_min_median": 0.29351624846458435, "chosen_vs_median_q_gap": 0.06712046265602112, "q1_best": 0.5449251532554626, "q2_best": 0.36063671112060547, "v_val": 0.38417527079582214, "advantage": -0.023538559675216675, "best_idx": 3, "q_min_all": [0.23665934801101685, 0.3017272353172302, 0.33655881881713867, 0.36063671112060547, 0.30290505290031433, 0.29382193088531494, 0.2863673269748688, 0.2852499485015869, 0.3108553886413574, 0.29351624846458435, 0.2890235185623169, 0.28087037801742554, 0.2996789813041687, 0.3338020443916321, 0.3130190372467041, 0.30520328879356384, 0.2740742564201355, 0.32019802927970886, 0.30582642555236816, 0.2614891231060028, 0.3205909729003906, 0.27869805693626404, 0.32035648822784424, 0.26397401094436646, 0.2791578769683838, 0.26493602991104126, 0.28908571600914, 0.28492271900177, 0.2521536350250244, 0.26402974128723145, 0.30597442388534546, 0.30040454864501953], "q1_all": [0.4441177546977997, 0.49659237265586853, 0.48132357001304626, 0.5449251532554626, 0.4742468297481537, 0.47815707325935364, 0.4801422655582428, 0.4820041358470917, 0.4824100434780121, 0.4911363124847412, 0.4915717542171478, 0.4093465507030487, 0.46934208273887634, 0.5183447003364563, 0.4984932839870453, 0.494502454996109, 0.4690984785556793, 0.505685031414032, 0.4755935072898865, 0.4754485785961151, 0.5023894309997559, 0.4778714179992676, 0.487408310174942, 0.4579487442970276, 0.48233383893966675, 0.46279898285865784, 0.48160824179649353, 0.4754711985588074, 0.48236915469169617, 0.4539801776409149, 0.48198384046554565, 0.49473050236701965], "q2_all": [0.23665934801101685, 0.3017272353172302, 0.33655881881713867, 0.36063671112060547, 0.30290505290031433, 0.29382193088531494, 0.2863673269748688, 0.2852499485015869, 0.3108553886413574, 0.29351624846458435, 0.2890235185623169, 0.28087037801742554, 0.2996789813041687, 0.3338020443916321, 0.3130190372467041, 0.30520328879356384, 0.2740742564201355, 0.32019802927970886, 0.30582642555236816, 0.2614891231060028, 0.3205909729003906, 0.27869805693626404, 0.32035648822784424, 0.26397401094436646, 0.2791578769683838, 0.26493602991104126, 0.28908571600914, 0.28492271900177, 0.2521536350250244, 0.26402974128723145, 0.30597442388534546, 0.30040454864501953], "cand_trans_speed_all": [0.003671725746244192, 0.0035520638339221478, 0.005189437884837389, 0.0027077007107436657, 0.0036911058705300093, 0.003563016653060913, 0.0048024835996329784, 0.004277561791241169, 0.0039057170506566763, 0.003102470189332962, 0.0042453911155462265, 0.0049874745309352875, 0.004407771863043308, 0.0026565752923488617, 0.0033402375411242247, 0.003159928834065795, 0.003503038315102458, 0.003237012308090925, 0.00299887266010046, 0.003294968046247959, 0.0029546802397817373, 0.004703510086983442, 0.004276280291378498, 0.003913195803761482, 0.0032291996758431196, 0.003147911047562957, 0.0034165240358561277, 0.00362340547144413, 0.0036186871584504843, 0.004438815172761679, 0.0029820757918059826, 0.004157933406531811], "cand_cum_xyz_disp_all": [[-0.013566315174102783, -0.003720387816429138, -0.014792576432228088], [-0.007676437497138977, -0.0019409358501434326, -0.010461479425430298], [-0.007553309202194214, 0.0020003020763397217, -0.009578697383403778], [-0.004139915108680725, -0.0035655349493026733, -0.005436047911643982], [-0.007012113928794861, -0.0027923882007598877, -0.016334421932697296], [-0.00909733772277832, -0.00473475456237793, -0.013333052396774292], [-0.007775336503982544, -0.005286470055580139, -0.01427362859249115], [-0.010527878999710083, -0.004574418067932129, -0.01709415763616562], [-0.010873809456825256, -0.0016851872205734253, -0.013308815658092499], [-0.008701637387275696, -0.002678021788597107, -0.009399592876434326], [-0.0052318572998046875, -0.003172248601913452, -0.01954861730337143], [-0.013609141111373901, -0.0055227130651474, -0.017475157976150513], [-0.008742377161979675, -0.004686310887336731, -0.016266219317913055], [-0.003494054079055786, -0.0014840662479400635, -0.01125343143939972], [-0.008556023240089417, 0.00015141069889068604, -0.00794597715139389], [-0.007975339889526367, -0.0048227012157440186, -0.011672161519527435], [-0.01030278205871582, -0.0064111799001693726, -0.012924596667289734], [-0.00812472403049469, -0.0013243407011032104, -0.006496436893939972], [-0.007529854774475098, -0.0038526803255081177, -0.011777125298976898], [-0.011126607656478882, -0.005087628960609436, -0.01228291541337967], [-0.007828637957572937, 0.00010292232036590576, -0.0063567981123924255], [-0.011016502976417542, -0.004501774907112122, -0.007875405251979828], [-0.006279930472373962, -0.005225315690040588, -0.011878035962581635], [-0.014884322881698608, -0.0012755095958709717, -0.007142893970012665], [-0.008785605430603027, -0.0052162110805511475, -0.013136498630046844], [-0.010549739003181458, -0.0016978085041046143, -0.009526409208774567], [-0.010561108589172363, -0.004672348499298096, -0.00977722555398941], [-0.008839786052703857, 0.0002069026231765747, -0.007278867065906525], [-0.010628953576087952, -0.0035362988710403442, -0.012184947729110718], [-0.012092098593711853, -0.005073130130767822, -0.013468705117702484], [-0.01016053557395935, -0.0009762346744537354, -0.009106665849685669], [-0.008572116494178772, -0.0013698786497116089, -0.004950925707817078]], "cand_final_gripper_all": [0.0021584630012512207, 0.00043779611587524414, 0.004373311996459961, 0.005454748868942261, 0.0, 0.0013673901557922363, 0.001774519681930542, 0.0035891830921173096, 0.0074214935302734375, 0.0019080638885498047, 0.0003714263439178467, 0.0033065974712371826, 0.0016105473041534424, 0.005630016326904297, 0.0007786750793457031, 0.003203362226486206, 0.002600044012069702, 0.011990964412689209, 0.002009838819503784, 0.0, 0.002918034791946411, 0.0, 0.003962337970733643, 0.0017803609371185303, 0.0012211203575134277, 0.000558704137802124, 0.0, 0.0033441781997680664, 0.0009829998016357422, 0.0025263428688049316, 0.006806761026382446, 0.002220243215560913], "eef_pos": [0.6742197871208191, 0.10404768586158752, 0.2191496193408966], "cand_action_std": 0.07157179713249207, "cand_pairwise_centroid_dist_mean": 0.6817971467971802, "argmax_act_outlier": 1.5163661241531372, "time_encode_ms": 5.869224201887846, "time_diffusion_ms": 35.97865696065128, "time_q_score_ms": 8.011836791411042, "time_total_ms": 50.60872691683471, "num_action_samples_effective": 32, "q_aggregate": "pair_min"} +{"chunk_ordinal": 78, "q_min_best": 0.3183908760547638, "q_min_mean": 0.2505421042442322, "q_min_std": 0.0291774682700634, "q_min_median": 0.25267577171325684, "chosen_vs_median_q_gap": 0.06571510434150696, "q1_best": 0.4083349406719208, "q2_best": 0.3183908760547638, "v_val": 0.46539032459259033, "advantage": -0.14699944853782654, "best_idx": 4, "q_min_all": [0.2637590169906616, 0.24600067734718323, 0.19450315833091736, 0.25267577171325684, 0.3183908760547638, 0.2653101086616516, 0.23272880911827087, 0.26537054777145386, 0.19901490211486816, 0.2689145803451538, 0.30002355575561523, 0.2168988436460495, 0.25003939867019653, 0.26878994703292847, 0.24362358450889587, 0.2567574381828308, 0.24874341487884521, 0.26972830295562744, 0.26272398233413696, 0.29039323329925537, 0.2561916410923004, 0.2779233157634735, 0.2581673562526703, 0.23299053311347961, 0.24043011665344238, 0.2878532409667969, 0.23305563628673553, 0.21692252159118652, 0.20568180084228516, 0.2599009871482849, 0.20818912982940674, 0.2256515771150589], "q1_all": [0.38634809851646423, 0.33615005016326904, 0.32822567224502563, 0.3717436194419861, 0.4083349406719208, 0.37993505597114563, 0.3487805128097534, 0.352645605802536, 0.28546538949012756, 0.38237085938453674, 0.396728515625, 0.3126892149448395, 0.32963040471076965, 0.3585968017578125, 0.36679673194885254, 0.3730948567390442, 0.36176493763923645, 0.37796539068222046, 0.36541494727134705, 0.3929085433483124, 0.3487146496772766, 0.36359021067619324, 0.3707853853702545, 0.33851107954978943, 0.3454152047634125, 0.4013998210430145, 0.32783380150794983, 0.31867486238479614, 0.3377310037612915, 0.3721858859062195, 0.33057352900505066, 0.35617539286613464], "q2_all": [0.2637590169906616, 0.24600067734718323, 0.19450315833091736, 0.25267577171325684, 0.3183908760547638, 0.2653101086616516, 0.23272880911827087, 0.26537054777145386, 0.19901490211486816, 0.2689145803451538, 0.30002355575561523, 0.2168988436460495, 0.25003939867019653, 0.26878994703292847, 0.24362358450889587, 0.2567574381828308, 0.24874341487884521, 0.26972830295562744, 0.26272398233413696, 0.29039323329925537, 0.2561916410923004, 0.2779233157634735, 0.2581673562526703, 0.23299053311347961, 0.24043011665344238, 0.2878532409667969, 0.23305563628673553, 0.21692252159118652, 0.20568180084228516, 0.2599009871482849, 0.20818912982940674, 0.2256515771150589], "cand_trans_speed_all": [0.006034523248672485, 0.0060616908594965935, 0.004292319528758526, 0.005096009932458401, 0.004736246541142464, 0.004294482059776783, 0.004922368098050356, 0.005534695461392403, 0.0066627152264118195, 0.005074918270111084, 0.0051770503632724285, 0.005433768033981323, 0.006751219742000103, 0.0058169118128716946, 0.004094820469617844, 0.004374593961983919, 0.004847116302698851, 0.004451076500117779, 0.005095822736620903, 0.004756234586238861, 0.005503391847014427, 0.005216335877776146, 0.0057412064634263515, 0.005947320722043514, 0.005821668542921543, 0.003581991419196129, 0.007176578044891357, 0.00583608215674758, 0.00464384350925684, 0.004151596687734127, 0.005451695062220097, 0.004844983574002981], "cand_cum_xyz_disp_all": [[-0.011615678668022156, -0.006356000900268555, -0.02475842833518982], [-0.011338204145431519, -0.002530798316001892, -0.02756243199110031], [-0.015331417322158813, -0.0007473081350326538, -0.018029317259788513], [-0.011834338307380676, -0.005548596382141113, -0.023153051733970642], [-0.008046001195907593, -0.002789899706840515, -0.02185695618391037], [-0.011078402400016785, -0.003071829676628113, -0.019549109041690826], [-0.014448478817939758, -0.0022177696228027344, -0.019655928015708923], [-0.013517230749130249, -0.0020729750394821167, -0.01785222440958023], [-0.021805331110954285, -0.004733175039291382, -0.02435101568698883], [-0.009735718369483948, -0.005533203482627869, -0.024161584675312042], [-0.011384367942810059, -0.004128307104110718, -0.01743454486131668], [-0.01969015598297119, -0.0015390664339065552, -0.01805035024881363], [-0.013636171817779541, -0.005283907055854797, -0.02461005002260208], [-0.00944770872592926, -0.004111975431442261, -0.02754412591457367], [-0.011649519205093384, -0.0017736852169036865, -0.01927763968706131], [-0.01106560230255127, -0.0025912821292877197, -0.018342435359954834], [-0.01009608805179596, -0.003497079014778137, -0.020797252655029297], [-0.01066674292087555, -0.0033418387174606323, -0.018075890839099884], [-0.01146283745765686, 0.0009828507900238037, -0.02426633983850479], [-0.00916522741317749, 0.0012022703886032104, -0.02047661691904068], [-0.012257412075996399, -0.007271960377693176, -0.024847492575645447], [-0.00859212875366211, -0.0034994035959243774, -0.024965360760688782], [-0.015134796500205994, -0.002400621771812439, -0.012548290193080902], [-0.01473584771156311, -0.0012824684381484985, -0.025705702602863312], [-0.015099763870239258, -0.0036625266075134277, -0.02593463659286499], [-0.006246194243431091, 0.0007175356149673462, -0.016021080315113068], [-0.017004862427711487, -0.004686817526817322, -0.018214769661426544], [-0.014072060585021973, -0.001843079924583435, -0.028950490057468414], [-0.012274697422981262, -0.0018227696418762207, -0.023071497678756714], [-0.009388521313667297, -0.004938170313835144, -0.019663281738758087], [-0.01758347451686859, -0.0030645430088043213, -0.01883530616760254], [-0.011462852358818054, -0.001986205577850342, -0.024426832795143127]], "cand_final_gripper_all": [0.00216558575630188, 0.004997074604034424, 0.009110033512115479, 0.006432771682739258, 0.002212703227996826, 0.00952175259590149, 0.0034257173538208008, 0.0035016536712646484, 0.0014429986476898193, 0.00666007399559021, 0.007702946662902832, 0.008159726858139038, 0.0033279359340667725, 0.0036819875240325928, 0.005644887685775757, 0.003861725330352783, 0.003010869026184082, 0.0036211013793945312, 0.0028552114963531494, 0.006721705198287964, 0.006936371326446533, 0.0683743953704834, 0.002490013837814331, 0.008292555809020996, 0.0036376118659973145, 0.00364530086517334, 0.003122955560684204, 0.004238218069076538, 0.00819060206413269, 0.0023609697818756104, 0.003102511167526245, 0.004927009344100952], "eef_pos": [0.6739528179168701, 0.10250172019004822, 0.21576085686683655], "cand_action_std": 0.08486921340227127, "cand_pairwise_centroid_dist_mean": 0.8498299717903137, "argmax_act_outlier": 0.9374827742576599, "time_encode_ms": 5.076603032648563, "time_diffusion_ms": 36.17574297823012, "time_q_score_ms": 7.5704180635511875, "time_total_ms": 49.9699420761317, "num_action_samples_effective": 32, "q_aggregate": "pair_min"} +{"chunk_ordinal": 79, "q_min_best": 0.2948402166366577, "q_min_mean": 0.243135467171669, "q_min_std": 0.021388519555330276, "q_min_median": 0.24348872900009155, "chosen_vs_median_q_gap": 0.05135148763656616, "q1_best": 0.5243314504623413, "q2_best": 0.2948402166366577, "v_val": 0.3908792734146118, "advantage": -0.0960390567779541, "best_idx": 6, "q_min_all": [0.25649672746658325, 0.2479100227355957, 0.2261408120393753, 0.2646902799606323, 0.25199607014656067, 0.24396443367004395, 0.2948402166366577, 0.23173470795154572, 0.262124240398407, 0.24260598421096802, 0.23820745944976807, 0.20639830827713013, 0.18558822572231293, 0.2712743282318115, 0.24348872900009155, 0.2700210213661194, 0.24749070405960083, 0.22400808334350586, 0.2354707270860672, 0.24546658992767334, 0.21667128801345825, 0.2571372389793396, 0.24531731009483337, 0.2535364627838135, 0.27472108602523804, 0.24931323528289795, 0.2428865134716034, 0.2392483949661255, 0.2275884449481964, 0.22832195460796356, 0.21471336483955383, 0.2409619688987732], "q1_all": [0.49461129307746887, 0.469115287065506, 0.4543660283088684, 0.450329452753067, 0.49286481738090515, 0.4813767075538635, 0.5243314504623413, 0.4299303889274597, 0.48890310525894165, 0.46295276284217834, 0.4732305407524109, 0.4367031753063202, 0.4284155070781708, 0.5033657550811768, 0.44866764545440674, 0.5025798678398132, 0.463130384683609, 0.4891819655895233, 0.4450714886188507, 0.4823479950428009, 0.459546834230423, 0.435895711183548, 0.46847590804100037, 0.47393760085105896, 0.5296035408973694, 0.47596269845962524, 0.43826916813850403, 0.44982007145881653, 0.47662070393562317, 0.4720310866832733, 0.4523520767688751, 0.47837576270103455], "q2_all": [0.25649672746658325, 0.2479100227355957, 0.2261408120393753, 0.2646902799606323, 0.25199607014656067, 0.24396443367004395, 0.2948402166366577, 0.23173470795154572, 0.262124240398407, 0.24260598421096802, 0.23820745944976807, 0.20639830827713013, 0.18558822572231293, 0.2712743282318115, 0.24348872900009155, 0.2700210213661194, 0.24749070405960083, 0.22400808334350586, 0.2354707270860672, 0.24546658992767334, 0.21667128801345825, 0.2571372389793396, 0.24531731009483337, 0.2535364627838135, 0.27472108602523804, 0.24931323528289795, 0.2428865134716034, 0.2392483949661255, 0.2275884449481964, 0.22832195460796356, 0.21471336483955383, 0.2409619688987732], "cand_trans_speed_all": [0.004960129037499428, 0.0034034624695777893, 0.004509704653173685, 0.006434680428355932, 0.003787761554121971, 0.0037137214094400406, 0.0026451237499713898, 0.004539565183222294, 0.0030435016378760338, 0.0037954957224428654, 0.0037090876139700413, 0.003864989383146167, 0.00462145172059536, 0.002364124171435833, 0.00366717716678977, 0.0030714343301951885, 0.0029736533761024475, 0.004700307734310627, 0.003965867683291435, 0.0036390647292137146, 0.003753599477931857, 0.004931969102472067, 0.00394872110337019, 0.0034474271815270185, 0.0025444026105105877, 0.002806957345455885, 0.0039617097936570644, 0.004443844314664602, 0.004369259811937809, 0.0039048176258802414, 0.003959359135478735, 0.0032731532119214535], "cand_cum_xyz_disp_all": [[-0.012749731540679932, -0.004612475633621216, -0.007515989243984222], [-0.01492057740688324, -0.005003988742828369, -0.009174339473247528], [-0.015591815114021301, -0.004023045301437378, -0.009389407932758331], [-0.016550302505493164, -0.0001980215311050415, -0.0006538704037666321], [-0.012139111757278442, -0.003566160798072815, -0.012046054005622864], [-0.012776196002960205, -0.002911478281021118, -0.006622225046157837], [-0.008893102407455444, -0.0025380700826644897, -0.0028545036911964417], [-0.015189200639724731, -0.003305286169052124, -0.01178094744682312], [-0.011975482106208801, 9.864568710327148e-06, -0.002184346318244934], [-0.00925147533416748, -0.004142671823501587, -0.01466120034456253], [-0.012316375970840454, -0.006584540009498596, -0.00961187481880188], [-0.016491740942001343, -0.0011418908834457397, -0.012272745370864868], [-0.02321477234363556, -0.00335104763507843, -0.004721604287624359], [-0.009096026420593262, -0.0040868669748306274, -0.005769252777099609], [-0.013773173093795776, -0.001042395830154419, -0.011845111846923828], [-0.010806441307067871, -0.004263818264007568, -0.008554384112358093], [-0.014301732182502747, 0.0010795295238494873, -0.005474619567394257], [-0.016069114208221436, -0.0022732317447662354, -0.004737958312034607], [-0.015069663524627686, -0.002391427755355835, -0.00660000741481781], [-0.014393463730812073, -0.0005224943161010742, -0.004563085734844208], [-0.01646178960800171, -0.003964230418205261, -0.008314207196235657], [-0.015235483646392822, -0.008096560835838318, -0.015165358781814575], [-0.014474540948867798, -0.003361746668815613, -0.008786894381046295], [-0.013905242085456848, -0.0031838566064834595, -0.008410647511482239], [-0.008809015154838562, -0.0009868443012237549, -0.004086986184120178], [-0.010400339961051941, -0.0008787810802459717, -0.008789420127868652], [-0.015647664666175842, -0.002500385046005249, -0.013102345168590546], [-0.01353655755519867, -0.002173289656639099, -0.00536712259054184], [-0.014925763010978699, -0.002735435962677002, -0.009467199444770813], [-0.01598455011844635, -0.0035942047834396362, 0.000623755156993866], [-0.01413300633430481, -0.0014273077249526978, -0.011755257844924927], [-0.012184619903564453, -0.002416089177131653, -0.006495200097560883]], "cand_final_gripper_all": [0.0032909810543060303, 0.004072010517120361, 0.0027274787425994873, 0.0027607083320617676, 0.0024352669715881348, 0.0, 0.002364933490753174, 0.000733494758605957, 0.0009449124336242676, 0.0009220540523529053, 0.002184450626373291, 0.003968983888626099, 0.001379549503326416, 0.0035241246223449707, 0.004744976758956909, 0.003367900848388672, 0.004725217819213867, 0.006280004978179932, 0.0, 0.0, 0.0, 0.002743154764175415, 0.0025911331176757812, 0.0015763640403747559, 0.0014161169528961182, 0.0, 0.002761632204055786, 0.0011921525001525879, 0.0019483566284179688, 0.006067991256713867, 0.002527594566345215, 0.002550870180130005], "eef_pos": [0.6760879755020142, 0.10401071608066559, 0.22016200423240662], "cand_action_std": 0.0755733847618103, "cand_pairwise_centroid_dist_mean": 0.7008540034294128, "argmax_act_outlier": 0.8863138556480408, "time_encode_ms": 5.570078967139125, "time_diffusion_ms": 36.070869071409106, "time_q_score_ms": 8.337931940332055, "time_total_ms": 50.68912706337869, "num_action_samples_effective": 32, "q_aggregate": "pair_min"} +{"chunk_ordinal": 80, "q_min_best": 0.3895253837108612, "q_min_mean": 0.34004759788513184, "q_min_std": 0.029478389769792557, "q_min_median": 0.3361673951148987, "chosen_vs_median_q_gap": 0.053357988595962524, "q1_best": 0.4148519039154053, "q2_best": 0.3895253837108612, "v_val": 0.5612216591835022, "advantage": -0.171696275472641, "best_idx": 25, "q_min_all": [0.26336345076560974, 0.3604247570037842, 0.2746010720729828, 0.3358553946018219, 0.321245014667511, 0.3508651852607727, 0.34455177187919617, 0.325534850358963, 0.3182413876056671, 0.3244786262512207, 0.3773762583732605, 0.33964863419532776, 0.37970882654190063, 0.35511845350265503, 0.3227631747722626, 0.3788900375366211, 0.3732360005378723, 0.3232308626174927, 0.31094810366630554, 0.3467960059642792, 0.36113280057907104, 0.3302076458930969, 0.3361673951148987, 0.3796117305755615, 0.37363603711128235, 0.3895253837108612, 0.3505552411079407, 0.3123632073402405, 0.31072717905044556, 0.3305007815361023, 0.3478177785873413, 0.3324004113674164], "q1_all": [0.3286716639995575, 0.4348506033420563, 0.3563153147697449, 0.3623022735118866, 0.3803562819957733, 0.4223729372024536, 0.37968412041664124, 0.38629379868507385, 0.35492607951164246, 0.3677263557910919, 0.42785683274269104, 0.38778769969940186, 0.4313178062438965, 0.3977605998516083, 0.37465259432792664, 0.43763506412506104, 0.44816145300865173, 0.3691466152667999, 0.39123067259788513, 0.4087584912776947, 0.4216860234737396, 0.3942299783229828, 0.38604775071144104, 0.3897852897644043, 0.39943602681159973, 0.4148519039154053, 0.42161187529563904, 0.3824924826622009, 0.3744821846485138, 0.44339728355407715, 0.3884659707546234, 0.36141106486320496], "q2_all": [0.26336345076560974, 0.3604247570037842, 0.2746010720729828, 0.3358553946018219, 0.321245014667511, 0.3508651852607727, 0.34455177187919617, 0.325534850358963, 0.3182413876056671, 0.3244786262512207, 0.3773762583732605, 0.33964863419532776, 0.37970882654190063, 0.35511845350265503, 0.3227631747722626, 0.3788900375366211, 0.3732360005378723, 0.3232308626174927, 0.31094810366630554, 0.3467960059642792, 0.36113280057907104, 0.3302076458930969, 0.3361673951148987, 0.3796117305755615, 0.37363603711128235, 0.3895253837108612, 0.3505552411079407, 0.3123632073402405, 0.31072717905044556, 0.3305007815361023, 0.3478177785873413, 0.3324004113674164], "cand_trans_speed_all": [0.005879111588001251, 0.005022580735385418, 0.0061379969120025635, 0.004926211200654507, 0.005367211066186428, 0.0038413982838392258, 0.005410350859165192, 0.005092806648463011, 0.005306422710418701, 0.004778469912707806, 0.004247903358191252, 0.005348576232790947, 0.006203053053468466, 0.0040348246693611145, 0.0044574071653187275, 0.007469558622688055, 0.0033090475481003523, 0.005079782567918301, 0.005438699387013912, 0.003910296596586704, 0.0045493063516914845, 0.005076083820313215, 0.004564459435641766, 0.005276394542306662, 0.004391356371343136, 0.006913670804351568, 0.003497310448437929, 0.004428439773619175, 0.004745971877127886, 0.00551223661750555, 0.005437807645648718, 0.005011382512748241], "cand_cum_xyz_disp_all": [[-0.013036265969276428, -0.0035651475191116333, -0.029643751680850983], [-0.006562292575836182, 0.00031222403049468994, -0.016741842031478882], [-0.014412224292755127, -0.002755492925643921, -0.03025144338607788], [-0.0066132694482803345, -0.005567207932472229, -0.02658499777317047], [-0.00503113865852356, -0.004056751728057861, -0.025341980159282684], [-0.0038406699895858765, -0.0015163570642471313, -0.01964433491230011], [-0.004105761647224426, -0.0017847567796707153, -0.02793727070093155], [-0.009719163179397583, -0.004328891634941101, -0.018156342208385468], [-0.01110847294330597, -0.00515979528427124, -0.026638150215148926], [-0.010447591543197632, -0.0009445399045944214, -0.018892057240009308], [-0.005744025111198425, -0.0022226572036743164, -0.01452607661485672], [-0.004138663411140442, -0.003580421209335327, -0.024382323026657104], [-0.0004995912313461304, -0.006013542413711548, -0.027594581246376038], [-0.005182832479476929, -0.004813298583030701, -0.02071554958820343], [-0.009200170636177063, -0.00487951934337616, -0.019016079604625702], [-0.005857333540916443, 0.0021717846393585205, -0.015915200114250183], [-0.0022154152393341064, -0.0024160444736480713, -0.01410837471485138], [-0.008852183818817139, -0.003950893878936768, -0.027512311935424805], [-0.008626461029052734, 0.0011530518531799316, -0.026671797037124634], [-0.005009979009628296, -0.0028056800365448, -0.018440812826156616], [-0.005062952637672424, -0.0018856078386306763, -0.017890259623527527], [-0.005873352289199829, -0.00484272837638855, -0.026688382029533386], [-0.007538944482803345, -0.0030925124883651733, -0.022624880075454712], [-0.007636129856109619, -0.007332473993301392, -0.021771185100078583], [-0.005019515752792358, -0.004949808120727539, -0.023081757128238678], [-0.0075900256633758545, -0.005559980869293213, -0.023497343063354492], [-0.005767643451690674, -0.0018925964832305908, -0.014709718525409698], [-0.009546324610710144, -0.0011167675256729126, -0.023177996277809143], [-0.010641679167747498, -0.0009692758321762085, -0.02294979989528656], [-0.009883806109428406, 0.002803012728691101, -0.009097620844841003], [-0.007428571581840515, -0.002484753727912903, -0.02576223760843277], [-0.007636427879333496, -0.0030228793621063232, -0.02484387904405594]], "cand_final_gripper_all": [0.00442156195640564, 0.004891246557235718, 0.002317875623703003, 0.0005038678646087646, 0.0026452243328094482, 0.003002345561981201, 0.007937997579574585, 0.004077523946762085, 5.5789947509765625e-05, 0.0043528079986572266, 0.001873403787612915, 0.005524188280105591, 0.003458946943283081, 0.0024644136428833008, 0.004297375679016113, 0.008437246084213257, 0.0019328594207763672, 0.012217611074447632, 0.005294054746627808, 0.007202178239822388, 0.006143897771835327, 0.002057492733001709, 0.006584286689758301, 0.007090777158737183, 0.002489626407623291, 0.0025421082973480225, 0.006865650415420532, 0.0033274590969085693, 0.00261002779006958, 0.005818158388137817, 0.0022689402103424072, 0.003949075937271118], "eef_pos": [0.6779682040214539, 0.10123173892498016, 0.2195400446653366], "cand_action_std": 0.08822112530469894, "cand_pairwise_centroid_dist_mean": 0.9004325866699219, "argmax_act_outlier": 1.5988209247589111, "time_encode_ms": 5.831243935972452, "time_diffusion_ms": 35.97255703061819, "time_q_score_ms": 7.796546909958124, "time_total_ms": 50.42966501787305, "num_action_samples_effective": 32, "q_aggregate": "pair_min"} +{"chunk_ordinal": 81, "q_min_best": 0.3738837242126465, "q_min_mean": 0.333127498626709, "q_min_std": 0.023462705314159393, "q_min_median": 0.33528488874435425, "chosen_vs_median_q_gap": 0.038598835468292236, "q1_best": 0.47545358538627625, "q2_best": 0.3738837242126465, "v_val": 0.6508556604385376, "advantage": -0.2769719362258911, "best_idx": 11, "q_min_all": [0.3354092240333557, 0.36765652894973755, 0.2946722209453583, 0.34649211168289185, 0.31380438804626465, 0.3301179111003876, 0.34848788380622864, 0.35468071699142456, 0.3652845621109009, 0.3358215093612671, 0.34299236536026, 0.3738837242126465, 0.28222161531448364, 0.3310055732727051, 0.338894784450531, 0.32875657081604004, 0.2837640643119812, 0.3328999876976013, 0.30468010902404785, 0.3600596785545349, 0.33528488874435425, 0.32355791330337524, 0.32754749059677124, 0.35519006848335266, 0.30698737502098083, 0.3324916362762451, 0.3233821392059326, 0.3436357378959656, 0.2958329916000366, 0.34148818254470825, 0.34582066535949707, 0.3572753071784973], "q1_all": [0.4545857012271881, 0.48990872502326965, 0.4019205868244171, 0.45901718735694885, 0.41959333419799805, 0.46665123105049133, 0.46444395184516907, 0.478589802980423, 0.5063560605049133, 0.4343952238559723, 0.44537216424942017, 0.47545358538627625, 0.4147425591945648, 0.4577154219150543, 0.4222528636455536, 0.4456780254840851, 0.400174081325531, 0.4364042580127716, 0.41256555914878845, 0.4923059940338135, 0.44207027554512024, 0.41914889216423035, 0.4500958025455475, 0.4617249667644501, 0.4285790026187897, 0.46852102875709534, 0.4209003448486328, 0.4628417491912842, 0.44039666652679443, 0.46474871039390564, 0.4657929837703705, 0.4625736176967621], "q2_all": [0.3354092240333557, 0.36765652894973755, 0.2946722209453583, 0.34649211168289185, 0.31380438804626465, 0.3301179111003876, 0.34848788380622864, 0.35468071699142456, 0.3652845621109009, 0.3358215093612671, 0.34299236536026, 0.3738837242126465, 0.28222161531448364, 0.3310055732727051, 0.338894784450531, 0.32875657081604004, 0.2837640643119812, 0.3328999876976013, 0.30468010902404785, 0.3600596785545349, 0.33528488874435425, 0.32355791330337524, 0.32754749059677124, 0.35519006848335266, 0.30698737502098083, 0.3324916362762451, 0.3233821392059326, 0.3436357378959656, 0.2958329916000366, 0.34148818254470825, 0.34582066535949707, 0.3572753071784973], "cand_trans_speed_all": [0.003129269927740097, 0.0025207013823091984, 0.0032759378664195538, 0.003103672992438078, 0.0049464087933301926, 0.0035202871076762676, 0.003491849172860384, 0.001946194563060999, 0.00236311461776495, 0.003963664639741182, 0.0032785355579108, 0.002632640302181244, 0.0034228432923555374, 0.0036542152520269156, 0.0021411527413874865, 0.004625966306775808, 0.0034986918326467276, 0.002164752222597599, 0.0041013676673173904, 0.003410131437703967, 0.0025320795830339193, 0.003872924018651247, 0.0033310360740870237, 0.003942624665796757, 0.004174533765763044, 0.0029852313455194235, 0.004173732362687588, 0.0030462692957371473, 0.0037482052575796843, 0.00288684805855155, 0.003063819371163845, 0.0028565633110702038], "cand_cum_xyz_disp_all": [[-0.008634373545646667, -0.005192264914512634, 0.004305794835090637], [-0.009929731488227844, -0.007243812084197998, 0.002593979239463806], [-0.013432428240776062, -0.007145419716835022, -0.0032021403312683105], [-0.007993802428245544, -0.008995532989501953, 0.004169143736362457], [-0.012891203165054321, -0.005732446908950806, 0.0036838874220848083], [-0.010549202561378479, -0.006103873252868652, -0.0008512735366821289], [-0.01030394434928894, -0.005837574601173401, 0.0018733665347099304], [-0.005432337522506714, -0.007273271679878235, 0.003928534686565399], [-0.006946071982383728, -0.008571073412895203, 0.003851659595966339], [-0.010078206658363342, -0.011726737022399902, 0.0001519620418548584], [-0.010365322232246399, -0.008933886885643005, 0.00249423086643219], [-0.005565732717514038, -0.008301883935928345, 0.002108179032802582], [-0.015132293105125427, -0.007091343402862549, -0.0012459829449653625], [-0.010755717754364014, -0.012465104460716248, -0.00016500800848007202], [-0.007067158818244934, -0.007142767310142517, 0.00018769502639770508], [-0.010365307331085205, -0.010151922702789307, 0.003908470273017883], [-0.016064584255218506, -0.006585508584976196, -0.005274862051010132], [-0.009569674730300903, -0.006804361939430237, -0.0033506378531455994], [-0.016249701380729675, -0.008049577474594116, -0.00038918107748031616], [-0.010511696338653564, -0.009540975093841553, 0.003672666847705841], [-0.008527979254722595, -0.008827462792396545, -0.0022440105676651], [-0.011951252818107605, -0.0108766108751297, -0.007309585809707642], [-0.012462794780731201, -0.006866455078125, 0.00221339613199234], [-0.012950584292411804, -0.00948604941368103, 0.0021451711654663086], [-0.012140542268753052, -0.0048857927322387695, -0.004918217658996582], [-0.011357530951499939, -0.004417493939399719, 0.005844958126544952], [-0.01201021671295166, -0.011665642261505127, -0.0022995546460151672], [-0.008278384804725647, -0.00950409471988678, -0.0013394653797149658], [-0.014247223734855652, -0.012279093265533447, 0.0008145570755004883], [-0.009658649563789368, -0.009155914187431335, 0.0028383806347846985], [-0.010798022150993347, -0.006224974989891052, 0.0008821114897727966], [-0.007639005780220032, -0.006451845169067383, 0.0020887181162834167]], "cand_final_gripper_all": [0.006372243165969849, 0.0016170144081115723, 0.0005270540714263916, 0.006104826927185059, 0.0026384592056274414, 0.0044567883014678955, 0.0072062015533447266, 0.0012547671794891357, 0.0, 0.004655301570892334, 0.0030412673950195312, 0.0011976063251495361, 0.0022596418857574463, 0.0026509761810302734, 0.0035954713821411133, 0.003716200590133667, 0.005061626434326172, 0.0028241872787475586, 0.002862215042114258, 0.0019294023513793945, 2.9861927032470703e-05, 0.005170702934265137, 0.0010892748832702637, 0.00037723779678344727, 0.0014413893222808838, 0.0, 0.002620488405227661, 0.00420340895652771, 0.004473686218261719, 0.008638471364974976, 0.0008500814437866211, 0.0049127936363220215], "eef_pos": [0.6797261238098145, 0.10414378345012665, 0.22947034239768982], "cand_action_std": 0.07885399460792542, "cand_pairwise_centroid_dist_mean": 0.7239611148834229, "argmax_act_outlier": 1.0886502265930176, "time_encode_ms": 4.8536499962210655, "time_diffusion_ms": 36.047596018761396, "time_q_score_ms": 7.758656982332468, "time_total_ms": 49.33973401784897, "num_action_samples_effective": 32, "q_aggregate": "pair_min"} +{"chunk_ordinal": 82, "q_min_best": 0.4637780785560608, "q_min_mean": 0.41162872314453125, "q_min_std": 0.026195840910077095, "q_min_median": 0.41116416454315186, "chosen_vs_median_q_gap": 0.052613914012908936, "q1_best": 0.48438313603401184, "q2_best": 0.4637780785560608, "v_val": 0.5286487340927124, "advantage": -0.06487065553665161, "best_idx": 5, "q_min_all": [0.4218215346336365, 0.4067539572715759, 0.3774508833885193, 0.3718993365764618, 0.40808069705963135, 0.4637780785560608, 0.34832900762557983, 0.4105154871940613, 0.41116416454315186, 0.419927716255188, 0.4336462616920471, 0.39789247512817383, 0.3959018886089325, 0.4306950569152832, 0.3775646984577179, 0.42115291953086853, 0.41755637526512146, 0.39897626638412476, 0.381856232881546, 0.42138269543647766, 0.3974665403366089, 0.4352402687072754, 0.4418119192123413, 0.42993462085723877, 0.45525655150413513, 0.4048481583595276, 0.43155431747436523, 0.43331536650657654, 0.4035976827144623, 0.3633406460285187, 0.4315287470817566, 0.427878201007843], "q1_all": [0.42535004019737244, 0.4067539572715759, 0.41243183612823486, 0.4086849093437195, 0.4227616488933563, 0.48438313603401184, 0.4072900116443634, 0.4345760643482208, 0.4523465633392334, 0.44586047530174255, 0.4633466899394989, 0.41454365849494934, 0.43637099862098694, 0.4508477747440338, 0.41471612453460693, 0.43993663787841797, 0.43456366658210754, 0.4029598832130432, 0.4192406237125397, 0.42138269543647766, 0.3974665403366089, 0.45155608654022217, 0.4557002782821655, 0.4609452188014984, 0.4655762016773224, 0.4129513204097748, 0.4551253616809845, 0.43937137722969055, 0.42266032099723816, 0.3976973593235016, 0.4617446959018707, 0.45886218547821045], "q2_all": [0.4218215346336365, 0.4332318902015686, 0.3774508833885193, 0.3718993365764618, 0.40808069705963135, 0.4637780785560608, 0.34832900762557983, 0.4105154871940613, 0.41116416454315186, 0.419927716255188, 0.4336462616920471, 0.39789247512817383, 0.3959018886089325, 0.4306950569152832, 0.3775646984577179, 0.42115291953086853, 0.41755637526512146, 0.39897626638412476, 0.381856232881546, 0.4427773356437683, 0.428243488073349, 0.4352402687072754, 0.4418119192123413, 0.42993462085723877, 0.45525655150413513, 0.4048481583595276, 0.43155431747436523, 0.43331536650657654, 0.4035976827144623, 0.3633406460285187, 0.4315287470817566, 0.427878201007843], "cand_trans_speed_all": [0.004233145155012608, 0.004475730471313, 0.0034879720769822598, 0.004093449097126722, 0.0028029426466673613, 0.003078136593103409, 0.005172057077288628, 0.0034262738190591335, 0.0034868631046265364, 0.0027521178126335144, 0.003901911433786154, 0.0033819943200796843, 0.004061242565512657, 0.003391540376469493, 0.004839547909796238, 0.0036888509057462215, 0.0032863342203199863, 0.004930281080305576, 0.00473668472841382, 0.00473599461838603, 0.005029215943068266, 0.002563574817031622, 0.0024437103420495987, 0.004390897694975138, 0.002966690808534622, 0.004348020069301128, 0.004616770893335342, 0.0036450945772230625, 0.004702819511294365, 0.005594730377197266, 0.0038349926471710205, 0.004532242193818092], "cand_cum_xyz_disp_all": [[-0.008332833647727966, -0.0076864659786224365, -0.010801255702972412], [-0.007432565093040466, -0.008043795824050903, -0.018350735306739807], [-0.006717205047607422, -0.0049177855253219604, -0.016244642436504364], [-0.00894223153591156, -0.001977011561393738, -0.009140022099018097], [-0.007296755909919739, -0.0020675212144851685, -0.010185986757278442], [-0.0015994906425476074, -0.005683958530426025, -0.007679544389247894], [-0.008759945631027222, -0.0046759843826293945, -0.019937336444854736], [-0.007509633898735046, -0.004641994833946228, -0.010866649448871613], [-0.004343926906585693, -0.0040693581104278564, -0.013939321041107178], [-0.004040971398353577, -0.004778042435646057, -0.014004334807395935], [-0.0030148476362228394, -0.006861403584480286, -0.0163862407207489], [-0.007394641637802124, -0.00242026150226593, -0.013983756303787231], [-0.007775440812110901, -0.009750917553901672, -0.014711275696754456], [-0.001981392502784729, -0.004532158374786377, -0.016481302678585052], [-0.010930746793746948, -0.008194789290428162, -0.018364764750003815], [-0.005098327994346619, -0.0053857117891311646, -0.017429888248443604], [-0.005046948790550232, -0.005346193909645081, -0.01528880000114441], [-0.01030014455318451, -0.006325379014015198, -0.016599811613559723], [-0.008230403065681458, -0.005682393908500671, -0.019169703125953674], [-0.006426632404327393, -0.006943926215171814, -0.012892045080661774], [-0.0068721771240234375, -0.009062603116035461, -0.019305147230625153], [-0.003637149930000305, -0.0053711384534835815, -0.012196213006973267], [-0.002921953797340393, -0.005468025803565979, -0.009672842919826508], [-0.003114476799964905, -0.0069545358419418335, -0.014969371259212494], [-0.0049074143171310425, -0.0005779862403869629, -0.006235912442207336], [-0.00684693455696106, -0.006429821252822876, -0.01840246468782425], [-0.0038329511880874634, -0.00537477433681488, -0.017333373427391052], [-0.0032174885272979736, -0.004883915185928345, -0.016556181013584137], [-0.00509314239025116, -0.008136749267578125, -0.020623311400413513], [-0.012736409902572632, -0.004646971821784973, -0.01842673122882843], [-0.004434943199157715, -0.005767256021499634, -0.010300487279891968], [-0.00557352602481842, -0.008252054452896118, -0.01299382746219635]], "cand_final_gripper_all": [0.004808276891708374, 0.002552539110183716, 0.0031499862670898438, 0.0030488967895507812, 0.004701822996139526, 0.006534397602081299, 0.009628236293792725, 0.0015613734722137451, 0.005663752555847168, 0.0034518837928771973, 0.00500863790512085, 0.0046780407428741455, 0.002747565507888794, 0.003115028142929077, 0.0025493502616882324, 0.0031402409076690674, 0.003931492567062378, 0.002717912197113037, 0.0066776275634765625, 0.0035355985164642334, 0.0019207894802093506, 0.008990973234176636, 0.0018825232982635498, 0.0028511881828308105, 0.007721066474914551, 0.001697838306427002, 0.0007974803447723389, 0.004370272159576416, 0.002923130989074707, 0.0030805766582489014, 0.0009016096591949463, 0.0030718445777893066], "eef_pos": [0.6798228025436401, 0.10100621730089188, 0.22535552084445953], "cand_action_std": 0.07807336002588272, "cand_pairwise_centroid_dist_mean": 0.7772238254547119, "argmax_act_outlier": 1.20065438747406, "time_encode_ms": 5.251017166301608, "time_diffusion_ms": 36.10688587650657, "time_q_score_ms": 7.496370933949947, "time_total_ms": 49.62224792689085, "num_action_samples_effective": 32, "q_aggregate": "pair_min"} +{"chunk_ordinal": 83, "q_min_best": 0.4874947965145111, "q_min_mean": 0.4181639850139618, "q_min_std": 0.03163596987724304, "q_min_median": 0.4050029516220093, "chosen_vs_median_q_gap": 0.08249184489250183, "q1_best": 0.4874947965145111, "q2_best": 0.4903108477592468, "v_val": 0.4961155354976654, "advantage": -0.008620738983154297, "best_idx": 4, "q_min_all": [0.4050029516220093, 0.36577171087265015, 0.45470374822616577, 0.4325321912765503, 0.4874947965145111, 0.4414600729942322, 0.39363110065460205, 0.4329628646373749, 0.4035509526729584, 0.43336021900177, 0.4207668900489807, 0.4836843013763428, 0.41679900884628296, 0.40403255820274353, 0.4260289669036865, 0.36691761016845703, 0.4510831832885742, 0.44493547081947327, 0.39016836881637573, 0.39491063356399536, 0.4123072326183319, 0.45168575644493103, 0.3863154351711273, 0.3999660909175873, 0.4666414260864258, 0.4015849530696869, 0.40465599298477173, 0.40039485692977905, 0.379736989736557, 0.44763973355293274, 0.38291633129119873, 0.3976053297519684], "q1_all": [0.4050029516220093, 0.42417851090431213, 0.47410663962364197, 0.4325321912765503, 0.4874947965145111, 0.4573521912097931, 0.40711525082588196, 0.4329628646373749, 0.4035509526729584, 0.44106724858283997, 0.42879238724708557, 0.5019499659538269, 0.4246506094932556, 0.40403255820274353, 0.44930359721183777, 0.37838423252105713, 0.4667811095714569, 0.44493547081947327, 0.3957658112049103, 0.3966740667819977, 0.4123072326183319, 0.46318212151527405, 0.3863154351711273, 0.4012471139431, 0.4747277796268463, 0.4015849530696869, 0.40625694394111633, 0.40039485692977905, 0.379736989736557, 0.44763973355293274, 0.4111546576023102, 0.41001978516578674], "q2_all": [0.4567131996154785, 0.36577171087265015, 0.45470374822616577, 0.45014625787734985, 0.4903108477592468, 0.4414600729942322, 0.39363110065460205, 0.4334315061569214, 0.407317191362381, 0.43336021900177, 0.4207668900489807, 0.4836843013763428, 0.41679900884628296, 0.41226494312286377, 0.4260289669036865, 0.36691761016845703, 0.4510831832885742, 0.4601249396800995, 0.39016836881637573, 0.39491063356399536, 0.42921555042266846, 0.45168575644493103, 0.402191162109375, 0.3999660909175873, 0.4666414260864258, 0.44435232877731323, 0.40465599298477173, 0.43403831124305725, 0.3817383050918579, 0.4480026066303253, 0.38291633129119873, 0.3976053297519684], "cand_trans_speed_all": [0.004152289591729641, 0.004508621525019407, 0.0042544021271169186, 0.005389831028878689, 0.003098786575719714, 0.003350348211824894, 0.005140824243426323, 0.0034224186092615128, 0.0040868958458304405, 0.0037531997077167034, 0.00442195450887084, 0.004883835092186928, 0.004562496207654476, 0.004451241344213486, 0.003373024519532919, 0.00439986540004611, 0.003736720187589526, 0.004683858249336481, 0.004367535002529621, 0.004872987046837807, 0.004647631198167801, 0.004148097708821297, 0.005483848508447409, 0.0042712269350886345, 0.0036421678960323334, 0.004809355363249779, 0.004094898700714111, 0.004480659496039152, 0.005364784970879555, 0.0033183216582983732, 0.005068466067314148, 0.003886427730321884], "cand_cum_xyz_disp_all": [[-0.004532188177108765, -0.008392542600631714, -0.018904805183410645], [-0.013206884264945984, -0.003720685839653015, -0.013992421329021454], [-0.005791842937469482, 0.0007089227437973022, -0.012198954820632935], [-0.005906268954277039, -0.0060834139585494995, -0.021312236785888672], [0.0004403740167617798, -0.005473047494888306, -0.014025405049324036], [-0.0033270716667175293, -0.004893943667411804, -0.015987619757652283], [-0.008903592824935913, -0.003996744751930237, -0.016403846442699432], [-0.008027687668800354, -0.006372421979904175, -0.013000115752220154], [-0.008116021752357483, -0.007334291934967041, -0.019377656280994415], [-0.005600661039352417, -0.006997525691986084, -0.0159212127327919], [-0.007552295923233032, -0.007972970604896545, -0.018977008759975433], [-0.005875244736671448, -0.006171390414237976, -0.0016577839851379395], [-0.0059184730052948, -0.006308168172836304, -0.023552417755126953], [-0.007619842886924744, -0.005241066217422485, -0.02217651903629303], [-0.005904674530029297, -0.0023555904626846313, -0.013768166303634644], [-0.010528847575187683, -0.006604209542274475, -0.017010346055030823], [-0.001799657940864563, -0.0018698275089263916, -0.012229345738887787], [-0.004384621977806091, -0.011298567056655884, -0.022146843373775482], [-0.008227109909057617, -0.006279706954956055, -0.02029643952846527], [-0.008373886346817017, -0.006249770522117615, -0.02008587121963501], [-0.005629315972328186, -0.005574077367782593, -0.01771363615989685], [-0.003920018672943115, -0.00936947762966156, -0.017306886613368988], [-0.010644987225532532, -0.005512118339538574, -0.019486352801322937], [-0.009046763181686401, -0.008696049451828003, -0.013464264571666718], [-0.0031077712774276733, -0.007326796650886536, -0.01415194571018219], [-0.007775619626045227, -0.009660512208938599, -0.024898484349250793], [-0.007176816463470459, -0.004552021622657776, -0.015611164271831512], [-0.009084537625312805, -0.005930021405220032, -0.015323720872402191], [-0.010900616645812988, -0.010579392313957214, -0.015811078250408173], [-0.005460813641548157, -0.005466833710670471, -0.014226049184799194], [-0.009615600109100342, -0.0034792572259902954, -0.015584416687488556], [-0.005234941840171814, -0.005890563130378723, -0.02048341929912567]], "cand_final_gripper_all": [0.002065688371658325, 0.007972687482833862, 0.0028831660747528076, 0.003918349742889404, 0.01374325156211853, 0.0021232664585113525, 0.006563067436218262, 0.002693086862564087, 0.0007571280002593994, 0.0013473331928253174, 0.005304664373397827, 0.00408366322517395, 0.005237013101577759, 0.0030879974365234375, 0.002188563346862793, 0.0032772421836853027, 0.006201118230819702, 0.003740549087524414, 0.0026367604732513428, 0.003443092107772827, 0.0032697319984436035, 0.003412216901779175, 0.00043648481369018555, 0.0012755990028381348, 0.0040985047817230225, 0.0015926361083984375, 0.0033555924892425537, 0.001464247703552246, 0.0006839931011199951, 0.0015840232372283936, 0.006117105484008789, 0.0025625526905059814], "eef_pos": [0.6795827746391296, 0.10125858336687088, 0.22354264557361603], "cand_action_std": 0.09247665852308273, "cand_pairwise_centroid_dist_mean": 0.8618990182876587, "argmax_act_outlier": 1.360177993774414, "time_encode_ms": 5.359458038583398, "time_diffusion_ms": 36.0102360136807, "time_q_score_ms": 7.638463983312249, "time_total_ms": 49.89284905605018, "num_action_samples_effective": 32, "q_aggregate": "pair_min"} +{"chunk_ordinal": 84, "q_min_best": 0.43072617053985596, "q_min_mean": 0.38411015272140503, "q_min_std": 0.02982586808502674, "q_min_median": 0.3845594823360443, "chosen_vs_median_q_gap": 0.046166688203811646, "q1_best": 0.43072617053985596, "q2_best": 0.44084084033966064, "v_val": 0.5630919933319092, "advantage": -0.13236582279205322, "best_idx": 23, "q_min_all": [0.39766550064086914, 0.3836126923561096, 0.32499974966049194, 0.34267932176589966, 0.39410656690597534, 0.33885079622268677, 0.3797932267189026, 0.3317028284072876, 0.4207335114479065, 0.3845594823360443, 0.4179146885871887, 0.3585064709186554, 0.38376668095588684, 0.33920419216156006, 0.4261413514614105, 0.3640815317630768, 0.36522403359413147, 0.40059369802474976, 0.4084513783454895, 0.39692163467407227, 0.37052273750305176, 0.4189876616001129, 0.41795775294303894, 0.43072617053985596, 0.42661744356155396, 0.3969614505767822, 0.3544003367424011, 0.38484787940979004, 0.3646647334098816, 0.40311846137046814, 0.3923938274383545, 0.3708168864250183], "q1_all": [0.4179108440876007, 0.40575388073921204, 0.3636424243450165, 0.3747977018356323, 0.4108685553073883, 0.36924004554748535, 0.4349179267883301, 0.3690621554851532, 0.48722967505455017, 0.40214839577674866, 0.4378814399242401, 0.40813112258911133, 0.4138815999031067, 0.3864165246486664, 0.4261413514614105, 0.4052129089832306, 0.3981618285179138, 0.43336743116378784, 0.4084513783454895, 0.41181519627571106, 0.4150938093662262, 0.43959763646125793, 0.41795775294303894, 0.43072617053985596, 0.4378195106983185, 0.41808244585990906, 0.35753217339515686, 0.40607497096061707, 0.4047149121761322, 0.4205354154109955, 0.39552628993988037, 0.3876982033252716], "q2_all": [0.39766550064086914, 0.3836126923561096, 0.32499974966049194, 0.34267932176589966, 0.39410656690597534, 0.33885079622268677, 0.3797932267189026, 0.3317028284072876, 0.4207335114479065, 0.3845594823360443, 0.4179146885871887, 0.3585064709186554, 0.38376668095588684, 0.33920419216156006, 0.43366914987564087, 0.3640815317630768, 0.36522403359413147, 0.40059369802474976, 0.40982121229171753, 0.39692163467407227, 0.37052273750305176, 0.4189876616001129, 0.4306679666042328, 0.44084084033966064, 0.42661744356155396, 0.3969614505767822, 0.3544003367424011, 0.38484787940979004, 0.3646647334098816, 0.40311846137046814, 0.3923938274383545, 0.3708168864250183], "cand_trans_speed_all": [0.004043295979499817, 0.003998713567852974, 0.006682637147605419, 0.005258972756564617, 0.004554159939289093, 0.0047346604987978935, 0.004563676193356514, 0.005956146400421858, 0.0033220683690160513, 0.004977432079613209, 0.003248549997806549, 0.005229778587818146, 0.0037337359972298145, 0.0059701926074922085, 0.0042193285189569, 0.004068675450980663, 0.006681365426629782, 0.005891852080821991, 0.004988095723092556, 0.003777241799980402, 0.004280976019799709, 0.0035851765424013138, 0.005972656421363354, 0.005141661502420902, 0.003959991037845612, 0.0037903818301856518, 0.006863429211080074, 0.004571244120597839, 0.005080217495560646, 0.0047249505296349525, 0.004877654369920492, 0.004645917564630508], "cand_cum_xyz_disp_all": [[-0.005901902914047241, -0.003092825412750244, -0.019351772964000702], [-0.008672446012496948, -0.00464320182800293, -0.014271937310695648], [-0.012028336524963379, -0.006656721234321594, -0.027883082628250122], [-0.009931415319442749, -0.006115898489952087, -0.024572670459747314], [-0.006208285689353943, -0.004217237234115601, -0.018302299082279205], [-0.01345852017402649, -0.006851881742477417, -0.01660342514514923], [-0.0041429996490478516, -0.005212381482124329, -0.019693270325660706], [-0.01033078134059906, -0.008139222860336304, -0.02272627502679825], [-0.0009001046419143677, -0.0032820552587509155, -0.01010703295469284], [-0.007600709795951843, -0.00523829460144043, -0.025611095130443573], [-0.0033811330795288086, -0.0018384605646133423, -0.013041548430919647], [-0.007615998387336731, -0.004937008023262024, -0.020568296313285828], [-0.007772356271743774, -0.005985274910926819, -0.015979334712028503], [-0.008757635951042175, -0.005744561553001404, -0.025285787880420685], [-0.004731312394142151, -0.009218662977218628, -0.017552994191646576], [-0.0081959068775177, -0.006341204047203064, -0.014271281659603119], [-0.010874807834625244, -0.005092009902000427, -0.01663583517074585], [-0.005111858248710632, -0.014339059591293335, -0.022007957100868225], [-0.011052191257476807, -0.007310092449188232, -0.018670983612537384], [-0.005704104900360107, -0.004990369081497192, -0.01611638069152832], [-0.01070202887058258, -0.0031581521034240723, -0.01582438498735428], [-0.0039703696966171265, -0.007097989320755005, -0.014101013541221619], [-0.0075210630893707275, -0.005235806107521057, -0.013030707836151123], [-0.007560372352600098, -0.0053646862506866455, -0.013134315609931946], [-0.0017807632684707642, -0.007154971361160278, -0.01927199214696884], [-0.008493468165397644, -0.009375929832458496, -0.012974992394447327], [-0.01281195878982544, -0.012241959571838379, -0.02633240818977356], [-0.00791698694229126, -0.004752829670906067, -0.016376197338104248], [-0.008235543966293335, -0.0033643245697021484, -0.022971518337726593], [-0.0091143399477005, -0.005401119589805603, -0.015493147075176239], [-0.010194763541221619, -0.004395321011543274, -0.017949096858501434], [-0.008787065744400024, -0.008625075221061707, -0.02017846703529358]], "cand_final_gripper_all": [0.00479048490524292, 0.006315648555755615, 0.0029879212379455566, 0.006999999284744263, 0.0014668703079223633, 0.00814858078956604, 0.009035259485244751, 0.001354515552520752, 0.0014709234237670898, 0.0035322606563568115, 0.00997316837310791, 0.002225041389465332, 0.004828453063964844, 0.00016161799430847168, 0.003816545009613037, 0.0013616085052490234, 0.0058785080909729, 0.0006625354290008545, 0.0028734207153320312, 0.0032160580158233643, 0.003581315279006958, 0.0032516121864318848, 0.00458952784538269, 0.002079784870147705, 0.0015606284141540527, 0.008318454027175903, 0.0015408694744110107, 0.0035781264305114746, 0.0020818710327148438, 0.003934919834136963, 0.0013402700424194336, 0.0038269758224487305], "eef_pos": [0.6791618466377258, 0.10127123445272446, 0.22162370383739471], "cand_action_std": 0.07832507789134979, "cand_pairwise_centroid_dist_mean": 0.8295271396636963, "argmax_act_outlier": 1.1059731245040894, "time_encode_ms": 5.1726719830185175, "time_diffusion_ms": 36.099471151828766, "time_q_score_ms": 7.617396069690585, "time_total_ms": 49.64567092247307, "num_action_samples_effective": 32, "q_aggregate": "pair_min"} +{"chunk_ordinal": 85, "q_min_best": 0.4599159061908722, "q_min_mean": 0.4047778248786926, "q_min_std": 0.023161446675658226, "q_min_median": 0.40312278270721436, "chosen_vs_median_q_gap": 0.05679312348365784, "q1_best": 0.4599159061908722, "q2_best": 0.46376508474349976, "v_val": 0.5312966108322144, "advantage": -0.07138070464134216, "best_idx": 12, "q_min_all": [0.36475807428359985, 0.39365848898887634, 0.3818380832672119, 0.4031125009059906, 0.3952658474445343, 0.45025384426116943, 0.3912176787853241, 0.4208862781524658, 0.41050592064857483, 0.40312278270721436, 0.3952944576740265, 0.42364686727523804, 0.4599159061908722, 0.3824705183506012, 0.41462334990501404, 0.43328818678855896, 0.41783833503723145, 0.4131087362766266, 0.4075981676578522, 0.4059096574783325, 0.3780052661895752, 0.395659863948822, 0.3935176134109497, 0.43964722752571106, 0.34986844658851624, 0.38494250178337097, 0.40855687856674194, 0.3946845233440399, 0.416472852230072, 0.4180160164833069, 0.4200224280357361, 0.385183721780777], "q1_all": [0.36475807428359985, 0.39365848898887634, 0.4044458568096161, 0.4031125009059906, 0.3952658474445343, 0.45025384426116943, 0.3912176787853241, 0.4208862781524658, 0.41050592064857483, 0.4187840521335602, 0.3952944576740265, 0.42364686727523804, 0.4599159061908722, 0.41054126620292664, 0.41462334990501404, 0.43328818678855896, 0.418378621339798, 0.42081543803215027, 0.4075981676578522, 0.41680121421813965, 0.38197171688079834, 0.4035781919956207, 0.3966221809387207, 0.43964722752571106, 0.36893779039382935, 0.38963791728019714, 0.40855687856674194, 0.41945308446884155, 0.416472852230072, 0.42234566807746887, 0.4391465187072754, 0.385183721780777], "q2_all": [0.38060814142227173, 0.40611302852630615, 0.3818380832672119, 0.43074318766593933, 0.42195892333984375, 0.46051156520843506, 0.4163767099380493, 0.4401909112930298, 0.42902469635009766, 0.40312278270721436, 0.4117284417152405, 0.441589891910553, 0.46376508474349976, 0.3824705183506012, 0.42631930112838745, 0.4531407356262207, 0.41783833503723145, 0.4131087362766266, 0.4239756464958191, 0.4059096574783325, 0.3780052661895752, 0.395659863948822, 0.3935176134109497, 0.4421687722206116, 0.34986844658851624, 0.38494250178337097, 0.4161350131034851, 0.3946845233440399, 0.44795361161231995, 0.4180160164833069, 0.4200224280357361, 0.3928433656692505], "cand_trans_speed_all": [0.004873334430158138, 0.004389389418065548, 0.004141440615057945, 0.0041063688695430756, 0.006158567499369383, 0.0047707571648061275, 0.0053231799975037575, 0.0032016062177717686, 0.004945675376802683, 0.004121618811041117, 0.004521495662629604, 0.005171388387680054, 0.0037633280735462904, 0.004999774973839521, 0.004428414162248373, 0.004986432380974293, 0.0037940661422908306, 0.002802495611831546, 0.0031079507898539305, 0.004385495558381081, 0.004751695320010185, 0.004203497432172298, 0.004251439124345779, 0.003896009176969528, 0.005712605081498623, 0.004306434653699398, 0.00426843948662281, 0.004344494082033634, 0.005318683572113514, 0.004388988949358463, 0.004059907514601946, 0.005353916436433792], "cand_cum_xyz_disp_all": [[-0.00802825391292572, -0.0051475465297698975, -0.020617954432964325], [-0.004911094903945923, -0.006530255079269409, -0.019599661231040955], [-0.010072991251945496, -0.00363922119140625, -0.019261300563812256], [-0.0026677101850509644, -0.004019066691398621, -0.01736610382795334], [-0.008537054061889648, -0.008513092994689941, -0.021324358880519867], [-0.0013928413391113281, -0.007427036762237549, -0.015504121780395508], [-0.006373569369316101, -0.009562194347381592, -0.02388652414083481], [-0.00463162362575531, -0.004497721791267395, -0.011220574378967285], [-0.006423443555831909, -0.00464986264705658, -0.017992980778217316], [-0.007305964827537537, -0.004301905632019043, -0.014120139181613922], [-0.005698040127754211, -0.007012650370597839, -0.021517284214496613], [-0.0012958794832229614, -0.006631329655647278, -0.012402206659317017], [-0.0021176189184188843, -0.003084138035774231, -0.013136826455593109], [-0.008785456418991089, -0.004408285021781921, -0.0191340371966362], [-0.0014702528715133667, -0.004944860935211182, -0.024107322096824646], [-0.005408555269241333, -0.005347758531570435, -0.01663823425769806], [-0.0045241862535476685, -0.007545381784439087, -0.011318370699882507], [-0.002718985080718994, -0.000901639461517334, -0.010832250118255615], [-0.00610719621181488, -0.004127427935600281, -0.013394705951213837], [-0.00524553656578064, -0.0005377382040023804, -0.022227175533771515], [-0.008385494351387024, -0.005734950304031372, -0.022080883383750916], [-0.009577035903930664, -0.006645709276199341, -0.013729341328144073], [-0.00577855110168457, -0.00699596107006073, -0.020167164504528046], [-0.0030885934829711914, -0.003318607807159424, -0.0151691734790802], [-0.012445762753486633, -0.0033600330352783203, -0.023502111434936523], [-0.011838451027870178, -0.006292760372161865, -0.018275581300258636], [-0.00481143593788147, -0.0015429556369781494, -0.01944354921579361], [-0.007537826895713806, -0.004757031798362732, -0.014980241656303406], [-0.004872336983680725, -0.0046846866607666016, -0.017977766692638397], [-0.005136027932167053, -0.00580461323261261, -0.020463667809963226], [-0.003369659185409546, -0.002757728099822998, -0.020900696516036987], [-0.007566481828689575, -0.008115336298942566, -0.01787230372428894]], "cand_final_gripper_all": [0.0034473538398742676, 0.001398324966430664, 0.005995005369186401, 0.002988457679748535, 0.001821964979171753, 0.003405153751373291, 0.0030840039253234863, 0.0018418431282043457, 0.005219012498855591, 0.003173261880874634, 0.0033939778804779053, 0.021351337432861328, 0.0027641654014587402, 0.005050152540206909, 0.0037889182567596436, 0.00866052508354187, 0.0021541714668273926, 0.005002051591873169, 0.0028379857540130615, 0.003192126750946045, 0.0012180209159851074, 0.0017882287502288818, 0.000979989767074585, 0.0026886165142059326, 0.0028958916664123535, 0.006086468696594238, 0.0038994252681732178, 0.0031829774379730225, 0.00018721818923950195, 0.0015408992767333984, 0.006625562906265259, 0.0017339587211608887], "eef_pos": [0.680046796798706, 0.09905651211738586, 0.2242213636636734], "cand_action_std": 0.08375506848096848, "cand_pairwise_centroid_dist_mean": 0.817419171333313, "argmax_act_outlier": 0.7722206115722656, "time_encode_ms": 5.087394034489989, "time_diffusion_ms": 36.02835885249078, "time_q_score_ms": 8.064924972131848, "time_total_ms": 50.10234797373414, "num_action_samples_effective": 32, "q_aggregate": "pair_min"} +{"chunk_ordinal": 86, "q_min_best": 0.506796658039093, "q_min_mean": 0.4106677770614624, "q_min_std": 0.03888596221804619, "q_min_median": 0.40984395146369934, "chosen_vs_median_q_gap": 0.09695270657539368, "q1_best": 0.506796658039093, "q2_best": 0.5096738934516907, "v_val": 0.5406792759895325, "advantage": -0.03388261795043945, "best_idx": 20, "q_min_all": [0.42876410484313965, 0.40832453966140747, 0.395139217376709, 0.40104204416275024, 0.4105824828147888, 0.34784242510795593, 0.42660149931907654, 0.4507358968257904, 0.3425135016441345, 0.43656855821609497, 0.3722496032714844, 0.4425887167453766, 0.4035909175872803, 0.4219728708267212, 0.45593804121017456, 0.35872262716293335, 0.3412456214427948, 0.45221492648124695, 0.4292564392089844, 0.37885528802871704, 0.506796658039093, 0.41518932580947876, 0.4119354784488678, 0.37663352489471436, 0.43970805406570435, 0.4019280672073364, 0.39343345165252686, 0.3614800274372101, 0.4552507698535919, 0.3948656916618347, 0.40984395146369934, 0.4695546627044678], "q1_all": [0.47997477650642395, 0.42735326290130615, 0.4458265006542206, 0.4230786859989166, 0.46684297919273376, 0.3908291757106781, 0.4668768048286438, 0.47045251727104187, 0.40317749977111816, 0.44267532229423523, 0.42136767506599426, 0.4958406984806061, 0.42604050040245056, 0.458533376455307, 0.474202424287796, 0.4186568558216095, 0.39437106251716614, 0.475263386964798, 0.4760117828845978, 0.4181060492992401, 0.506796658039093, 0.47092366218566895, 0.4441070258617401, 0.42858052253723145, 0.46201327443122864, 0.43555939197540283, 0.42582377791404724, 0.41947469115257263, 0.48754122853279114, 0.4407854974269867, 0.4518788158893585, 0.4831988513469696], "q2_all": [0.42876410484313965, 0.40832453966140747, 0.395139217376709, 0.40104204416275024, 0.4105824828147888, 0.34784242510795593, 0.42660149931907654, 0.4507358968257904, 0.3425135016441345, 0.43656855821609497, 0.3722496032714844, 0.4425887167453766, 0.4035909175872803, 0.4219728708267212, 0.45593804121017456, 0.35872262716293335, 0.3412456214427948, 0.45221492648124695, 0.4292564392089844, 0.37885528802871704, 0.5096738934516907, 0.41518932580947876, 0.4119354784488678, 0.37663352489471436, 0.43970805406570435, 0.4019280672073364, 0.39343345165252686, 0.3614800274372101, 0.4552507698535919, 0.3948656916618347, 0.40984395146369934, 0.4695546627044678], "cand_trans_speed_all": [0.0027209478430449963, 0.004252184182405472, 0.002724957186728716, 0.004187335725873709, 0.003141045570373535, 0.005293139722198248, 0.004878311417996883, 0.004748035687953234, 0.005119252484291792, 0.005015254952013493, 0.005129364784806967, 0.001844583312049508, 0.004041191190481186, 0.0033738124184310436, 0.005159022752195597, 0.0046466258354485035, 0.004438419826328754, 0.00260966457426548, 0.0027182037010788918, 0.005269196815788746, 0.006428729742765427, 0.003518096636980772, 0.003209009300917387, 0.003381886286661029, 0.00287279998883605, 0.00402437336742878, 0.005188314244151115, 0.0038295271806418896, 0.0032187316101044416, 0.004193991422653198, 0.004967247135937214, 0.003240936202928424], "cand_cum_xyz_disp_all": [[-0.003139212727546692, -0.0043939948081970215, -0.012852109968662262], [-0.0022769421339035034, -0.0020124465227127075, -0.014095954596996307], [-0.004545971751213074, -0.002092897891998291, -0.010744608938694], [-0.008913636207580566, -0.00772722065448761, -0.013979554176330566], [-0.0036603957414627075, -0.004375338554382324, -0.014281146228313446], [-0.010113060474395752, -0.0050252825021743774, -0.013468332588672638], [-0.004712536931037903, -0.009458959102630615, -0.016696959733963013], [-0.0021173059940338135, -0.0031007081270217896, -0.008233673870563507], [-0.008997306227684021, -0.0034681707620620728, -0.019434034824371338], [-0.0025528520345687866, -0.006175175309181213, -0.01979919523000717], [-0.009514063596725464, -0.006568849086761475, -0.02028452605009079], [-0.002038523554801941, -0.004727765917778015, -0.004542097449302673], [-0.005244746804237366, -0.0045146942138671875, -0.0158882737159729], [-0.0018675923347473145, -0.0027472227811813354, -0.014780916273593903], [-0.00476992130279541, -0.003989294171333313, -0.010991498827934265], [-0.007235974073410034, -0.00544363260269165, -0.017602749168872833], [-0.010485917329788208, -0.0034168362617492676, -0.019794322550296783], [-0.0029395967721939087, -0.006928294897079468, -0.006866328418254852], [-0.0004640817642211914, -0.00488048791885376, -0.013803094625473022], [-0.007306307554244995, -0.006778433918952942, -0.021522440016269684], [3.758072853088379e-05, -0.0053374022245407104, -0.012282319366931915], [-0.0030614733695983887, 0.000995531678199768, -0.01439976692199707], [-0.002517521381378174, -0.0027488023042678833, -0.014453142881393433], [-0.005036160349845886, -0.002551332116127014, -0.01676841825246811], [-0.0028834939002990723, -0.007859915494918823, -0.012512214481830597], [-0.007946401834487915, -0.008937790989875793, -0.012616313993930817], [-0.00801202654838562, -0.004394069314002991, -0.020096860826015472], [-0.00991600751876831, -0.0038116276264190674, -0.011557050049304962], [-0.00012490153312683105, -0.00461462140083313, -0.014769643545150757], [-0.0078047215938568115, -0.00370199978351593, -0.013046696782112122], [-0.006543874740600586, -0.005971536040306091, -0.014830633997917175], [-0.0010611861944198608, -0.0049865394830703735, -0.012914381921291351]], "cand_final_gripper_all": [0.002440541982650757, 0.008471697568893433, 0.0013780593872070312, 0.00645717978477478, 0.0017887651920318604, 0.00494992733001709, 0.0024858713150024414, 0.0033224523067474365, 0.0023290812969207764, 0.006276577711105347, 0.0, 0.004034250974655151, 0.012761056423187256, 0.0030501484870910645, 0.0035103559494018555, 0.0, 0.004745036363601685, 0.006534069776535034, 0.0026903748512268066, 0.004821985960006714, 0.003552675247192383, 0.003258049488067627, 0.010062336921691895, 0.002947479486465454, 0.009646832942962646, 0.002905428409576416, 0.0, 0.0012867450714111328, 0.003940552473068237, 0.00338098406791687, 0.00270196795463562, 0.003141433000564575], "eef_pos": [0.680073618888855, 0.09957391023635864, 0.2245122194290161], "cand_action_std": 0.07976866513490677, "cand_pairwise_centroid_dist_mean": 0.7620400190353394, "argmax_act_outlier": 1.4514381885528564, "time_encode_ms": 5.972295068204403, "time_diffusion_ms": 36.36419307440519, "time_q_score_ms": 8.19252198562026, "time_total_ms": 51.413950975984335, "num_action_samples_effective": 32, "q_aggregate": "pair_min"} +{"chunk_ordinal": 87, "q_min_best": 0.4770492613315582, "q_min_mean": 0.41321617364883423, "q_min_std": 0.028205784037709236, "q_min_median": 0.41363638639450073, "chosen_vs_median_q_gap": 0.0634128749370575, "q1_best": 0.4770492613315582, "q2_best": 0.4779715836048126, "v_val": 0.5028400421142578, "advantage": -0.025790780782699585, "best_idx": 3, "q_min_all": [0.4251326620578766, 0.38431620597839355, 0.4375995397567749, 0.4770492613315582, 0.4234161078929901, 0.42454275488853455, 0.4284900724887848, 0.40300625562667847, 0.3749902844429016, 0.36471524834632874, 0.41363638639450073, 0.4136885404586792, 0.41845038533210754, 0.40966370701789856, 0.38315659761428833, 0.42393332719802856, 0.38732805848121643, 0.39739441871643066, 0.3876243531703949, 0.3993965983390808, 0.40071895718574524, 0.4457303285598755, 0.3963218033313751, 0.44212105870246887, 0.46931642293930054, 0.4483081102371216, 0.42762428522109985, 0.44301605224609375, 0.40090492367744446, 0.40573471784591675, 0.4139440059661865, 0.35164692997932434], "q1_all": [0.4251326620578766, 0.4225766360759735, 0.4375995397567749, 0.4770492613315582, 0.4286994934082031, 0.4247766137123108, 0.4284900724887848, 0.40300625562667847, 0.3760983645915985, 0.41090789437294006, 0.42896416783332825, 0.43022647500038147, 0.4484418034553528, 0.40966370701789856, 0.40023237466812134, 0.4786522686481476, 0.38732805848121643, 0.42061707377433777, 0.3876243531703949, 0.4332188069820404, 0.4296904504299164, 0.4457303285598755, 0.3963218033313751, 0.46912065148353577, 0.47976505756378174, 0.4483081102371216, 0.42762428522109985, 0.4586491882801056, 0.44063717126846313, 0.4396853744983673, 0.4194567799568176, 0.3863891661167145], "q2_all": [0.4269612431526184, 0.38431620597839355, 0.44974884390830994, 0.4779715836048126, 0.4234161078929901, 0.42454275488853455, 0.4311470091342926, 0.4050697088241577, 0.3749902844429016, 0.36471524834632874, 0.41363638639450073, 0.4136885404586792, 0.41845038533210754, 0.4110187590122223, 0.38315659761428833, 0.42393332719802856, 0.39491111040115356, 0.39739441871643066, 0.392158567905426, 0.3993965983390808, 0.40071895718574524, 0.4536387324333191, 0.4026153087615967, 0.44212105870246887, 0.46931642293930054, 0.4603118598461151, 0.4482054114341736, 0.44301605224609375, 0.40090492367744446, 0.40573471784591675, 0.4139440059661865, 0.35164692997932434], "cand_trans_speed_all": [0.00420639431104064, 0.004327636212110519, 0.0031275523360818624, 0.004271205980330706, 0.003888295032083988, 0.0035331430844962597, 0.005341771990060806, 0.005058719776570797, 0.004754002671688795, 0.004193271975964308, 0.004102084785699844, 0.003580339951440692, 0.0040942588821053505, 0.0054804603569209576, 0.004192844033241272, 0.0039124758914113045, 0.005041204392910004, 0.004083286505192518, 0.005370675586163998, 0.0038085763808339834, 0.0045077065005898476, 0.005968584679067135, 0.00443099532276392, 0.0038047018460929394, 0.0041177230887115, 0.0046330951154232025, 0.004371029324829578, 0.004401706159114838, 0.003504775930196047, 0.003557529766112566, 0.0034496085718274117, 0.004227808676660061], "cand_cum_xyz_disp_all": [[-0.0080689936876297, -0.004330694675445557, -0.017825059592723846], [-0.006664350628852844, -0.0029312223196029663, -0.022033989429473877], [-0.004036515951156616, -0.006392315030097961, -0.013459280133247375], [-0.0008926987648010254, -0.0075850337743759155, -0.012825049459934235], [-0.003185763955116272, -0.007032677531242371, -0.020157448947429657], [-0.00427679717540741, -0.0037673264741897583, -0.016615889966487885], [-0.010144233703613281, -0.004586219787597656, -0.01484730839729309], [-0.0038095712661743164, -0.007938697934150696, -0.024290800094604492], [-0.004978254437446594, -0.0062647610902786255, -0.02202717214822769], [-0.008990287780761719, -0.0008479803800582886, -0.01247493177652359], [-0.00454239547252655, -0.0036993026733398438, -0.013249613344669342], [-0.006682977080345154, -0.003827914595603943, -0.015894435346126556], [-0.004537373781204224, -0.003972500562667847, -0.016752466559410095], [-0.011114835739135742, -0.008634805679321289, -0.011124178767204285], [-0.009455963969230652, -0.0035747885704040527, -0.015819989144802094], [-0.0028723180294036865, -0.005338788032531738, -0.015623502433300018], [-0.010434180498123169, -0.009658277034759521, -0.0229976624250412], [-0.0061637163162231445, -0.0010105222463607788, -0.014399878680706024], [-0.011110976338386536, -0.004448100924491882, -0.017850860953330994], [-0.006952822208404541, -0.001926511526107788, -0.015991702675819397], [-0.003450840711593628, -0.0030536502599716187, -0.01796002686023712], [-0.004608914256095886, -0.0033171772956848145, -0.013124756515026093], [-0.009490221738815308, -0.005972832441329956, -0.02053048461675644], [-0.004871875047683716, -0.004392579197883606, -0.00968877226114273], [-0.0019176304340362549, -0.00388413667678833, -0.011342473328113556], [-0.005084142088890076, -0.009853973984718323, -0.01488138735294342], [-0.005974769592285156, -0.004794791340827942, -0.011014588177204132], [-0.0026799291372299194, -0.003373563289642334, -0.018438003957271576], [-0.0032879412174224854, -0.00305156409740448, -0.014129608869552612], [-0.005013167858123779, -0.005447596311569214, -0.018121376633644104], [-0.007197484374046326, -0.004990667104721069, -0.015345089137554169], [-0.00937439501285553, -0.0027222484350204468, -0.019428804516792297]], "cand_final_gripper_all": [0.0027931630611419678, 0.0029251277446746826, 0.003157883882522583, 0.0036891698837280273, 0.0029566287994384766, 0.0040375590324401855, 0.001082092523574829, 0.0031043589115142822, 0.004141360521316528, 0.002566784620285034, 0.004879623651504517, 0.0025797784328460693, 0.004069000482559204, 0.007500737905502319, 0.00438043475151062, 0.0031162798404693604, 0.004884213209152222, 0.004134565591812134, 0.0036527514457702637, 0.004521280527114868, 0.00370219349861145, 0.006434381008148193, 0.0017283856868743896, 0.005533993244171143, 0.003363192081451416, 0.006969720125198364, 0.004757612943649292, 0.012478440999984741, 0.0037956833839416504, 0.00303572416305542, 0.001711726188659668, 0.002348959445953369], "eef_pos": [0.679543137550354, 0.10116787254810333, 0.22243374586105347], "cand_action_std": 0.08245613425970078, "cand_pairwise_centroid_dist_mean": 0.8323805332183838, "argmax_act_outlier": 1.1815706491470337, "time_encode_ms": 5.628716899082065, "time_diffusion_ms": 36.20354412123561, "time_q_score_ms": 8.54939385317266, "time_total_ms": 51.594524877145886, "num_action_samples_effective": 32, "q_aggregate": "pair_min"} +{"chunk_ordinal": 88, "q_min_best": 0.47287216782569885, "q_min_mean": 0.39540988206863403, "q_min_std": 0.028859732672572136, "q_min_median": 0.3977082371711731, "chosen_vs_median_q_gap": 0.07516393065452576, "q1_best": 0.5156070590019226, "q2_best": 0.47287216782569885, "v_val": 0.522270679473877, "advantage": -0.0493985116481781, "best_idx": 23, "q_min_all": [0.4083712100982666, 0.410719633102417, 0.4097018539905548, 0.3833557367324829, 0.3767659366130829, 0.36792629957199097, 0.4373721182346344, 0.39788931608200073, 0.4468022584915161, 0.39887985587120056, 0.3590080440044403, 0.3792645037174225, 0.34242507815361023, 0.3977082371711731, 0.4126227796077728, 0.3998485207557678, 0.3970588743686676, 0.3398965299129486, 0.39975982904434204, 0.4129140377044678, 0.3762384355068207, 0.35284340381622314, 0.41130387783050537, 0.47287216782569885, 0.3889920711517334, 0.4306288957595825, 0.38091540336608887, 0.39104577898979187, 0.4034462869167328, 0.3624364137649536, 0.4129348695278168, 0.3911679685115814], "q1_all": [0.4083712100982666, 0.42317137122154236, 0.44718852639198303, 0.42620614171028137, 0.3767659366130829, 0.41157296299934387, 0.4373721182346344, 0.41120293736457825, 0.4848931133747101, 0.45735806226730347, 0.41087302565574646, 0.4214536249637604, 0.42002418637275696, 0.43381381034851074, 0.4304903447628021, 0.4409152865409851, 0.430446594953537, 0.4068826735019684, 0.44892382621765137, 0.4474485218524933, 0.38766416907310486, 0.3848065733909607, 0.4207935929298401, 0.5156070590019226, 0.4000750482082367, 0.4347386062145233, 0.3982768952846527, 0.41139861941337585, 0.4034462869167328, 0.39067980647087097, 0.4744100272655487, 0.3911679685115814], "q2_all": [0.4184640944004059, 0.410719633102417, 0.4097018539905548, 0.3833557367324829, 0.38396260142326355, 0.36792629957199097, 0.4617297649383545, 0.39788931608200073, 0.4468022584915161, 0.39887985587120056, 0.3590080440044403, 0.3792645037174225, 0.34242507815361023, 0.3977082371711731, 0.4126227796077728, 0.3998485207557678, 0.3970588743686676, 0.3398965299129486, 0.39975982904434204, 0.4129140377044678, 0.3762384355068207, 0.35284340381622314, 0.41130387783050537, 0.47287216782569885, 0.3889920711517334, 0.4306288957595825, 0.38091540336608887, 0.39104577898979187, 0.4421827793121338, 0.3624364137649536, 0.4129348695278168, 0.39763978123664856], "cand_trans_speed_all": [0.00440176110714674, 0.004463811405003071, 0.0035453569144010544, 0.003918707370758057, 0.00544645544141531, 0.004373915493488312, 0.004923485219478607, 0.004762886092066765, 0.006293697282671928, 0.003013466950505972, 0.005611122585833073, 0.00478783156722784, 0.004835763014853001, 0.004107908345758915, 0.003687861142680049, 0.004306141287088394, 0.004545566160231829, 0.005690637975931168, 0.0032941035460680723, 0.0031174453906714916, 0.005427671130746603, 0.006376923993229866, 0.005650876089930534, 0.0052398680709302425, 0.004878184758126736, 0.004397415090352297, 0.004012636840343475, 0.004243000876158476, 0.005808461457490921, 0.00529783358797431, 0.003184102475643158, 0.003769216826185584], "cand_cum_xyz_disp_all": [[-0.007022738456726074, -0.007441610097885132, -0.015860632061958313], [-0.006632402539253235, -0.004561722278594971, -0.012117229402065277], [-0.0037384331226348877, -0.0029499679803848267, -0.01660066843032837], [-0.004515498876571655, -0.0014881640672683716, -0.019760943949222565], [-0.015236243605613708, -0.003225952386856079, -0.012825839221477509], [-0.008849024772644043, -0.004335522651672363, -0.02300214022397995], [-0.0045052021741867065, -0.012180313467979431, -0.02009519189596176], [-0.009443864226341248, -0.0036117732524871826, -0.020950868725776672], [-0.004934623837471008, 0.00029847025871276855, -0.008800655603408813], [-0.0036122500896453857, -0.0025273263454437256, -0.014298953115940094], [-0.009338364005088806, -0.004011631011962891, -0.02098006010055542], [-0.006265625357627869, -0.003332376480102539, -0.018726937472820282], [-0.006414338946342468, -0.003280341625213623, -0.023985102772712708], [-0.005935385823249817, -0.004044100642204285, -0.020154528319835663], [-0.006492018699645996, -0.003140091896057129, -0.013438060879707336], [-0.004845917224884033, -0.002189263701438904, -0.019480295479297638], [-0.006367906928062439, -0.004687666893005371, -0.022688627243041992], [-0.007825851440429688, -0.0019192397594451904, -0.023413754999637604], [-0.005852222442626953, 0.00012116134166717529, -0.01299075037240982], [-0.004651665687561035, -0.005195677280426025, -0.014729954302310944], [-0.006434142589569092, -0.005033209919929504, -0.023026801645755768], [-0.011909455060958862, -0.004027277231216431, -0.0234784334897995], [-0.007764905691146851, -0.004999518394470215, -0.01746421307325363], [-0.00042863190174102783, -0.0033463388681411743, -0.005168847739696503], [-0.00815504789352417, -0.0025504976511001587, -0.014230266213417053], [-0.002229556441307068, -0.004564613103866577, -0.022781148552894592], [-0.006588920950889587, -0.00575314462184906, -0.020362377166748047], [-0.00803382694721222, -0.003710150718688965, -0.019424088299274445], [-0.00846603512763977, -0.009430274367332458, -0.015534080564975739], [-0.007070630788803101, -0.0039178431034088135, -0.028650231659412384], [-0.00041134655475616455, -0.002776414155960083, -0.013298548758029938], [-0.007257714867591858, -0.0069640278816223145, -0.014861121773719788]], "cand_final_gripper_all": [0.00322037935256958, 0.001342684030532837, 0.0031400322914123535, 0.007924020290374756, 0.0008271634578704834, 0.007095247507095337, 0.007885754108428955, 0.0008304119110107422, 0.0037296414375305176, 0.0038969814777374268, 0.008808523416519165, 0.0017291903495788574, 0.004017233848571777, 0.006352126598358154, 0.0036139488220214844, 0.008197784423828125, 0.005471140146255493, 0.008861780166625977, 0.009923070669174194, 0.0014874041080474854, 0.002317756414413452, 0.002370595932006836, 0.0016255676746368408, 0.0016398131847381592, 0.0028149783611297607, 0.0023032426834106445, 0.0016296803951263428, 0.0036131441593170166, 0.0028925836086273193, 0.0031485557556152344, 0.007565557956695557, 0.0038983523845672607], "eef_pos": [0.6790961623191833, 0.10114457458257675, 0.2207774668931961], "cand_action_std": 0.08740632236003876, "cand_pairwise_centroid_dist_mean": 0.8530529737472534, "argmax_act_outlier": 1.805881142616272, "time_encode_ms": 4.940971964970231, "time_diffusion_ms": 36.567929899320006, "time_q_score_ms": 8.011756930500269, "time_total_ms": 50.25203595869243, "num_action_samples_effective": 32, "q_aggregate": "pair_min"} +{"chunk_ordinal": 89, "q_min_best": 0.34635448455810547, "q_min_mean": 0.28939521312713623, "q_min_std": 0.029678013175725937, "q_min_median": 0.28386467695236206, "chosen_vs_median_q_gap": 0.06248980760574341, "q1_best": 0.5281920433044434, "q2_best": 0.34635448455810547, "v_val": 0.5130209922790527, "advantage": -0.16666650772094727, "best_idx": 25, "q_min_all": [0.26566988229751587, 0.33006227016448975, 0.30323293805122375, 0.28386467695236206, 0.33896008133888245, 0.3151341676712036, 0.2574121952056885, 0.2552754878997803, 0.27752000093460083, 0.2688963711261749, 0.325287401676178, 0.3352896571159363, 0.3249839246273041, 0.29643672704696655, 0.2821204364299774, 0.28536927700042725, 0.24568766355514526, 0.2734071910381317, 0.27540892362594604, 0.28341078758239746, 0.2523696720600128, 0.32305699586868286, 0.2950842082500458, 0.31381720304489136, 0.29801973700523376, 0.34635448455810547, 0.2657396197319031, 0.2857268452644348, 0.2456534504890442, 0.2983916401863098, 0.2743624150753021, 0.2386406660079956], "q1_all": [0.4457800090312958, 0.53617262840271, 0.498041570186615, 0.4596460163593292, 0.5369272232055664, 0.5071796178817749, 0.42675814032554626, 0.45787301659584045, 0.44696107506752014, 0.42376622557640076, 0.5318552255630493, 0.5400609970092773, 0.47139790654182434, 0.49603188037872314, 0.4800846576690674, 0.4797850251197815, 0.4562797248363495, 0.47606325149536133, 0.4864672124385834, 0.4784041941165924, 0.4692079424858093, 0.498750239610672, 0.48772338032722473, 0.45757460594177246, 0.4871128797531128, 0.5281920433044434, 0.4504285752773285, 0.4852941632270813, 0.3987793028354645, 0.46354082226753235, 0.4859637916088104, 0.4730345904827118], "q2_all": [0.26566988229751587, 0.33006227016448975, 0.30323293805122375, 0.28386467695236206, 0.33896008133888245, 0.3151341676712036, 0.2574121952056885, 0.2552754878997803, 0.27752000093460083, 0.2688963711261749, 0.325287401676178, 0.3352896571159363, 0.3249839246273041, 0.29643672704696655, 0.2821204364299774, 0.28536927700042725, 0.24568766355514526, 0.2734071910381317, 0.27540892362594604, 0.28341078758239746, 0.2523696720600128, 0.32305699586868286, 0.2950842082500458, 0.31381720304489136, 0.29801973700523376, 0.34635448455810547, 0.2657396197319031, 0.2857268452644348, 0.2456534504890442, 0.2983916401863098, 0.2743624150753021, 0.2386406660079956], "cand_trans_speed_all": [0.004627039190381765, 0.0025465544313192368, 0.0030260011553764343, 0.0031203969847410917, 0.0041309529915452, 0.00209148065187037, 0.0044996771030128, 0.0037717800587415695, 0.005811736918985844, 0.005141912028193474, 0.00521555170416832, 0.0020769359543919563, 0.0034432958345860243, 0.0032386574894189835, 0.003102479502558708, 0.004451259505003691, 0.00432987418025732, 0.002895026234909892, 0.003612325293943286, 0.00418508006259799, 0.0037014074623584747, 0.003704285714775324, 0.0032691950909793377, 0.004179480019956827, 0.004018399864435196, 0.003059099894016981, 0.006193600594997406, 0.003137442050501704, 0.004506783559918404, 0.004714720416814089, 0.003665895201265812, 0.003611806547269225], "cand_cum_xyz_disp_all": [[-0.012437388300895691, 0.0018100440502166748, -0.007281050086021423], [-0.006309404969215393, -0.0032335221767425537, -0.004302918910980225], [-0.006827309727668762, -0.004610702395439148, -0.008756682276725769], [-0.006833627820014954, -0.0037606507539749146, -0.015308551490306854], [-0.0029989033937454224, 0.002619713544845581, -0.006728403270244598], [-0.004196539521217346, -0.0008819401264190674, -0.010205298662185669], [-0.012722909450531006, -0.0008660852909088135, -0.012362785637378693], [-0.013893365859985352, -0.0018822252750396729, -0.01194513589143753], [-0.01221407949924469, 0.001219823956489563, -0.01132943481206894], [-0.014338597655296326, -0.0034069865942001343, -0.011256031692028046], [-0.010036364197731018, -0.0032313019037246704, -0.0029288604855537415], [-0.0043676793575286865, -0.002560243010520935, -0.004686594009399414], [-0.005500569939613342, -0.002162232995033264, -0.015304625034332275], [-0.008307784795761108, -0.004716143012046814, -0.007313206791877747], [-0.00591646134853363, -0.004282906651496887, -0.011286541819572449], [-0.011164441704750061, -0.001584067940711975, -0.008116520941257477], [-0.014816805720329285, -0.004930093884468079, -0.010416977107524872], [-0.008282244205474854, -0.0033608078956604004, -0.011980921030044556], [-0.009862378239631653, -0.0028792470693588257, -0.008037276566028595], [-0.011796250939369202, -0.0024157315492630005, -0.005505263805389404], [-0.013080418109893799, -0.0005494654178619385, -0.009645961225032806], [-0.0069597214460372925, -0.0019602179527282715, -0.010122746229171753], [-0.008018836379051208, -0.0030392110347747803, -0.011656835675239563], [-0.007727682590484619, -0.0027066320180892944, -0.011167168617248535], [-0.009610980749130249, -0.0042237937450408936, -0.010613225400447845], [-0.003332391381263733, -0.001555904746055603, -0.01183619350194931], [-0.013533040881156921, -0.003985404968261719, -0.011751741170883179], [-0.007420063018798828, -0.0031636804342269897, -0.01273663341999054], [-0.01674753427505493, -0.0014638304710388184, -0.011221259832382202], [-0.011057287454605103, -0.0008314251899719238, -0.011845521628856659], [-0.013897523283958435, -0.0024935752153396606, -0.006201945245265961], [-0.013867184519767761, -0.0025891363620758057, -0.00622626394033432]], "cand_final_gripper_all": [0.0039834678173065186, 0.003504812717437744, 0.008789867162704468, 0.003034144639968872, 0.0025128722190856934, 0.0014655590057373047, 0.001477271318435669, 0.0037075579166412354, 0.004590660333633423, 0.004458814859390259, 0.0030608773231506348, 0.001967132091522217, 0.009520769119262695, 0.005264341831207275, 0.002170771360397339, 0.009518861770629883, 0.005175918340682983, 0.00015744566917419434, 0.0016908645629882812, 0.00032719969749450684, 0.0, 0.0015372037887573242, 0.0012537240982055664, 0.00183182954788208, 0.0033093392848968506, 0.002795785665512085, 0.0011494159698486328, 0.00840461254119873, 0.004053175449371338, 0.0011830031871795654, 0.004581451416015625, 0.002878159284591675], "eef_pos": [0.6785206198692322, 0.10350457578897476, 0.2201114296913147], "cand_action_std": 0.07772202789783478, "cand_pairwise_centroid_dist_mean": 0.7410314083099365, "argmax_act_outlier": 0.9750601053237915, "time_encode_ms": 5.810495000332594, "time_diffusion_ms": 36.237738095223904, "time_q_score_ms": 7.760822074487805, "time_total_ms": 50.542535027489066, "num_action_samples_effective": 32, "q_aggregate": "pair_min"} +{"chunk_ordinal": 90, "q_min_best": 0.442424476146698, "q_min_mean": 0.37959620356559753, "q_min_std": 0.03486450016498566, "q_min_median": 0.3725902736186981, "chosen_vs_median_q_gap": 0.06983420252799988, "q1_best": 0.5421286225318909, "q2_best": 0.442424476146698, "v_val": 0.646588921546936, "advantage": -0.20416444540023804, "best_idx": 5, "q_min_all": [0.37208038568496704, 0.34069710969924927, 0.34487277269363403, 0.3169335126876831, 0.3540160059928894, 0.442424476146698, 0.3447313904762268, 0.33863818645477295, 0.4305814802646637, 0.38259828090667725, 0.42943310737609863, 0.42353954911231995, 0.3582645654678345, 0.37445488572120667, 0.3679673671722412, 0.4228227734565735, 0.3631334900856018, 0.37717825174331665, 0.40108591318130493, 0.38672852516174316, 0.4331308603286743, 0.3674999177455902, 0.3979194164276123, 0.3721380829811096, 0.3274964690208435, 0.4106185734272003, 0.39223095774650574, 0.3725902736186981, 0.4361557960510254, 0.3335614800453186, 0.37571343779563904, 0.3558410406112671], "q1_all": [0.4550193250179291, 0.4319143295288086, 0.4858874976634979, 0.42541036009788513, 0.4585627019405365, 0.5421286225318909, 0.47896167635917664, 0.4737323522567749, 0.5490279793739319, 0.4977888762950897, 0.528221845626831, 0.5162871479988098, 0.4677359163761139, 0.5036482214927673, 0.504045844078064, 0.5428004264831543, 0.4817648231983185, 0.5083186030387878, 0.5061643719673157, 0.519382894039154, 0.5505971312522888, 0.4836064279079437, 0.5238947868347168, 0.49041083455085754, 0.47711673378944397, 0.5202733278274536, 0.5019753575325012, 0.5000773668289185, 0.5296033620834351, 0.4630637466907501, 0.4839805066585541, 0.46106958389282227], "q2_all": [0.37208038568496704, 0.34069710969924927, 0.34487277269363403, 0.3169335126876831, 0.3540160059928894, 0.442424476146698, 0.3447313904762268, 0.33863818645477295, 0.4305814802646637, 0.38259828090667725, 0.42943310737609863, 0.42353954911231995, 0.3582645654678345, 0.37445488572120667, 0.3679673671722412, 0.4228227734565735, 0.3631334900856018, 0.37717825174331665, 0.40108591318130493, 0.38672852516174316, 0.4331308603286743, 0.3674999177455902, 0.3979194164276123, 0.3721380829811096, 0.3274964690208435, 0.4106185734272003, 0.39223095774650574, 0.3725902736186981, 0.4361557960510254, 0.3335614800453186, 0.37571343779563904, 0.3558410406112671], "cand_trans_speed_all": [0.004928324371576309, 0.004918874241411686, 0.003819266799837351, 0.004403281025588512, 0.004228491336107254, 0.0032218508422374725, 0.004693112336099148, 0.0040848636999726295, 0.0033404137939214706, 0.003588089719414711, 0.003459236351773143, 0.004062974825501442, 0.004201576579362154, 0.0038148541934788227, 0.0030076417606323957, 0.0023699281737208366, 0.003472649259492755, 0.003160339780151844, 0.0033983993344008923, 0.004348822869360447, 0.00280210142955184, 0.005375584587454796, 0.0029413383454084396, 0.005219071637839079, 0.003141480963677168, 0.003996588289737701, 0.0035583830904215574, 0.0029651327058672905, 0.004413888789713383, 0.003432649653404951, 0.004019523970782757, 0.004958509001880884], "cand_cum_xyz_disp_all": [[-0.010137557983398438, -0.002248331904411316, -0.014256171882152557], [-0.012496978044509888, -0.0016652047634124756, -0.014230772852897644], [-0.009647518396377563, -0.0026241838932037354, -0.015915267169475555], [-0.01303739845752716, -0.0014013946056365967, -0.017964869737625122], [-0.011966302990913391, -0.0026626139879226685, -0.015399284660816193], [-0.004059359431266785, -0.002975746989250183, -0.009793423116207123], [-0.006542831659317017, -0.0023499280214309692, -0.016427718102931976], [-0.006762415170669556, 0.0014115869998931885, -0.019576452672481537], [-0.006154552102088928, -0.0006151199340820312, -0.005547948181629181], [-0.007871091365814209, -0.004808783531188965, -0.015903614461421967], [-0.00522555410861969, -0.003409668803215027, -0.009381480515003204], [-0.004357039928436279, -0.003729596734046936, -0.011398650705814362], [-0.008757025003433228, -0.0025745630264282227, -0.01891632378101349], [-0.008372172713279724, -0.0013432353734970093, -0.014522060751914978], [-0.008647903800010681, -0.0019667446613311768, -0.010990709066390991], [-0.005157485604286194, -0.0009848326444625854, -0.008447624742984772], [-0.010741010308265686, -0.004658907651901245, -0.015930168330669403], [-0.004375532269477844, -0.00011618435382843018, -0.010190173983573914], [-0.004840239882469177, -0.0015622377395629883, -0.014474339783191681], [-0.009706184267997742, -0.0031484216451644897, -0.0029038265347480774], [-0.005041256546974182, -0.0027119815349578857, -0.00949230045080185], [-0.012415677309036255, -0.003365248441696167, -0.01115129142999649], [-0.005095422267913818, -0.0024503320455551147, -0.009078800678253174], [-0.009564071893692017, -0.0006299912929534912, -0.019401393830776215], [-0.013377085328102112, 0.0009037703275680542, -0.009066887199878693], [-0.0023810118436813354, -0.0013907402753829956, -0.011491283774375916], [-0.006635293364524841, -0.0016483962535858154, -0.014057733118534088], [-0.010068356990814209, -0.005593210458755493, -0.010212622582912445], [-0.009114369750022888, -0.0022072046995162964, -0.012229911983013153], [-0.009859398007392883, -0.00257323682308197, -0.01529734581708908], [-0.008734270930290222, -0.0015929043292999268, -0.018779292702674866], [-0.009683936834335327, -0.0035627037286758423, -0.01626913994550705]], "cand_final_gripper_all": [0.0028016269207000732, 0.002093583345413208, 0.0023487508296966553, 0.004775315523147583, 0.012082993984222412, 0.004997849464416504, 0.003057241439819336, 0.0018359124660491943, 0.009093791246414185, 0.006221354007720947, 0.0059677064418792725, 0.005705893039703369, 0.014532327651977539, 0.004546076059341431, 0.002919137477874756, 0.0031498074531555176, 0.003934204578399658, 0.0014927089214324951, 0.004244029521942139, 0.004023313522338867, 0.002025395631790161, 0.0053411126136779785, 0.004468142986297607, 0.009710937738418579, 0.004764050245285034, 0.006343066692352295, 0.0018109381198883057, 0.003666013479232788, 0.0027364790439605713, 0.003429114818572998, 0.0028828084468841553, 0.013314694166183472], "eef_pos": [0.6787020564079285, 0.10264681279659271, 0.21995662152767181], "cand_action_std": 0.07534168660640717, "cand_pairwise_centroid_dist_mean": 0.732964038848877, "argmax_act_outlier": 0.9766829609870911, "time_encode_ms": 6.818333873525262, "time_diffusion_ms": 36.445082165300846, "time_q_score_ms": 7.384684169664979, "time_total_ms": 51.63000104948878, "num_action_samples_effective": 32, "q_aggregate": "pair_min"} +{"chunk_ordinal": 91, "q_min_best": 0.4387442469596863, "q_min_mean": 0.35073280334472656, "q_min_std": 0.037907619029283524, "q_min_median": 0.3479894995689392, "chosen_vs_median_q_gap": 0.09075474739074707, "q1_best": 0.5732033252716064, "q2_best": 0.4387442469596863, "v_val": 0.6824520826339722, "advantage": -0.2437078356742859, "best_idx": 21, "q_min_all": [0.35573309659957886, 0.33324873447418213, 0.316913366317749, 0.31754595041275024, 0.35251256823539734, 0.34650948643684387, 0.3541186451911926, 0.29885706305503845, 0.4017150402069092, 0.3479894995689392, 0.37121790647506714, 0.36094021797180176, 0.373977392911911, 0.2933587431907654, 0.3433634638786316, 0.34426334500312805, 0.38116341829299927, 0.362226277589798, 0.38935917615890503, 0.3568504750728607, 0.30739957094192505, 0.4387442469596863, 0.4163362979888916, 0.3807452917098999, 0.41851264238357544, 0.29275572299957275, 0.313507616519928, 0.32035353779792786, 0.36505258083343506, 0.332528680562973, 0.3478754758834839, 0.287773460149765], "q1_all": [0.4836428165435791, 0.5182936787605286, 0.45764705538749695, 0.4959365427494049, 0.5189289450645447, 0.5223056674003601, 0.5046383738517761, 0.46686574816703796, 0.541950523853302, 0.5215619206428528, 0.5623849630355835, 0.49990901350975037, 0.5386672019958496, 0.4427740275859833, 0.5179135203361511, 0.5040603280067444, 0.569465696811676, 0.532099187374115, 0.545846164226532, 0.5239817500114441, 0.5084495544433594, 0.5732033252716064, 0.5827165246009827, 0.5212922096252441, 0.5517371892929077, 0.4760375916957855, 0.4401755928993225, 0.47267964482307434, 0.53338223695755, 0.505530059337616, 0.5330827236175537, 0.4802752137184143], "q2_all": [0.35573309659957886, 0.33324873447418213, 0.316913366317749, 0.31754595041275024, 0.35251256823539734, 0.34650948643684387, 0.3541186451911926, 0.29885706305503845, 0.4017150402069092, 0.3479894995689392, 0.37121790647506714, 0.36094021797180176, 0.373977392911911, 0.2933587431907654, 0.3433634638786316, 0.34426334500312805, 0.38116341829299927, 0.362226277589798, 0.38935917615890503, 0.3568504750728607, 0.30739957094192505, 0.4387442469596863, 0.4163362979888916, 0.3807452917098999, 0.41851264238357544, 0.29275572299957275, 0.313507616519928, 0.32035353779792786, 0.36505258083343506, 0.332528680562973, 0.3478754758834839, 0.287773460149765], "cand_trans_speed_all": [0.0036896178498864174, 0.004757655318826437, 0.004248260520398617, 0.0029775386210530996, 0.003970959223806858, 0.0031098434701561928, 0.0035248128697276115, 0.005043903365731239, 0.005698627792298794, 0.00284250034019351, 0.002608958398923278, 0.004178673028945923, 0.003321136115118861, 0.004417059011757374, 0.002789126243442297, 0.0037823603488504887, 0.0019808760844171047, 0.002868749899789691, 0.0028388097416609526, 0.0025840920861810446, 0.0026835023891180754, 0.00415524048730731, 0.003195530502125621, 0.004495405592024326, 0.003785884939134121, 0.004127140156924725, 0.005884095095098019, 0.0038853040896356106, 0.0029404282104223967, 0.0032391082495450974, 0.0031688713934272528, 0.003386720782145858], "cand_cum_xyz_disp_all": [[-0.007010787725448608, -0.004403933882713318, -0.016275465488433838], [-0.011438414454460144, -0.003094881772994995, 0.002002209424972534], [-0.01045215129852295, 0.0006522238254547119, -0.011729896068572998], [-0.010649293661117554, -0.0009587109088897705, -0.011626891791820526], [-0.00402870774269104, -0.000365331768989563, -0.008870191872119904], [-0.008433014154434204, -0.0020737797021865845, -0.008512340486049652], [-0.00547422468662262, -0.0013295114040374756, -0.00821288675069809], [-0.012262389063835144, -0.004703953862190247, -0.008798643946647644], [-0.0026183128356933594, -0.004700988531112671, -0.008629366755485535], [-0.006064623594284058, -0.0014273673295974731, -0.008949249982833862], [-0.005524426698684692, -0.0027194172143936157, -0.0025404393672943115], [-0.0063508301973342896, -0.0028763264417648315, -0.012433893978595734], [-0.0033750981092453003, -0.00018844008445739746, -0.009286068379878998], [-0.013855710625648499, -0.002955719828605652, -0.011244744062423706], [-0.00914900004863739, -0.003556281328201294, -0.009169213473796844], [-0.00782729685306549, -0.00238645076751709, -0.010603748261928558], [-0.0053907036781311035, -0.0022844821214675903, -0.0037216097116470337], [-0.005532935261726379, -0.0035727620124816895, -0.0087260901927948], [-0.0005845129489898682, -0.0060390084981918335, -0.009497426450252533], [-0.008685752749443054, -0.0019627362489700317, -0.00941649079322815], [-0.010555848479270935, 0.0002810657024383545, -0.007473178207874298], [-0.004012554883956909, -0.0011397898197174072, -0.0024228915572166443], [-0.001874580979347229, -0.004450052976608276, -0.008465707302093506], [-0.006662443280220032, -0.0004821866750717163, -0.009025834500789642], [-0.0047849565744400024, -0.00275614857673645, -0.006198868155479431], [-0.010131612420082092, -0.000780060887336731, -0.01202797144651413], [-0.018075227737426758, -0.00877562165260315, -0.009997516870498657], [-0.00959073007106781, -0.00446714460849762, -0.013041123747825623], [-0.006350651383399963, -0.0014690011739730835, -0.0027789324522018433], [-0.008985623717308044, -0.0002897530794143677, -0.009405538439750671], [-0.00537833571434021, 5.990266799926758e-05, -0.007799625396728516], [-0.011851489543914795, -0.0023880451917648315, -0.007923886179924011]], "cand_final_gripper_all": [0.005626708269119263, 0.00193747878074646, 0.003432750701904297, 0.0036824047565460205, 0.0014902353286743164, 0.003855198621749878, 0.0016280114650726318, 0.0, 0.005230724811553955, 0.002264350652694702, 0.06354519724845886, 0.004180550575256348, 0.01040676236152649, 0.0026844441890716553, 0.0025405287742614746, 0.0, 0.0022817254066467285, 0.0025854408740997314, 0.002103567123413086, 0.0, 0.004235059022903442, 0.004817783832550049, 0.001141965389251709, 0.008395224809646606, 0.0059407055377960205, 0.004219084978103638, 0.0015805065631866455, 0.004163652658462524, 0.0020110607147216797, 0.0015222132205963135, 0.0033052265644073486, 0.0013439953327178955], "eef_pos": [0.679311990737915, 0.10339196026325226, 0.22105245292186737], "cand_action_std": 0.08082940429449081, "cand_pairwise_centroid_dist_mean": 0.7635511755943298, "argmax_act_outlier": 1.2314856052398682, "time_encode_ms": 5.7234931737184525, "time_diffusion_ms": 37.047660211101174, "time_q_score_ms": 7.77236302383244, "time_total_ms": 51.621424965560436, "num_action_samples_effective": 32, "q_aggregate": "pair_min"} +{"chunk_ordinal": 92, "q_min_best": 0.46070680022239685, "q_min_mean": 0.4068303108215332, "q_min_std": 0.03499797731637955, "q_min_median": 0.40886732935905457, "chosen_vs_median_q_gap": 0.051839470863342285, "q1_best": 0.5911024212837219, "q2_best": 0.46070680022239685, "v_val": 0.736852765083313, "advantage": -0.27614596486091614, "best_idx": 31, "q_min_all": [0.4015375077724457, 0.3739003539085388, 0.40988075733184814, 0.4496539235115051, 0.3872128427028656, 0.3894042372703552, 0.44224193692207336, 0.35264813899993896, 0.4308387339115143, 0.4505094289779663, 0.4126794636249542, 0.4165459871292114, 0.4175759553909302, 0.40886732935905457, 0.41603201627731323, 0.38022175431251526, 0.390185683965683, 0.4083104729652405, 0.4083388149738312, 0.2897758483886719, 0.40029290318489075, 0.43727433681488037, 0.4298418164253235, 0.44857415556907654, 0.37761199474334717, 0.3756983280181885, 0.43997588753700256, 0.407550185918808, 0.35340872406959534, 0.42501652240753174, 0.4262573719024658, 0.46070680022239685], "q1_all": [0.5458335280418396, 0.5657574534416199, 0.5573244690895081, 0.6020299792289734, 0.4965097904205322, 0.5612766742706299, 0.569145143032074, 0.4962747097015381, 0.5582113862037659, 0.5855203866958618, 0.5537733435630798, 0.5361592173576355, 0.5616263747215271, 0.5468140244483948, 0.5803111791610718, 0.540705144405365, 0.4750669300556183, 0.5537330508232117, 0.5516830086708069, 0.5050809979438782, 0.5497384667396545, 0.5807263851165771, 0.5892840623855591, 0.58901447057724, 0.5175424218177795, 0.5299004912376404, 0.5759788751602173, 0.5607220530509949, 0.529859721660614, 0.5687267780303955, 0.5694280862808228, 0.5911024212837219], "q2_all": [0.4015375077724457, 0.3739003539085388, 0.40988075733184814, 0.4496539235115051, 0.3872128427028656, 0.3894042372703552, 0.44224193692207336, 0.35264813899993896, 0.4308387339115143, 0.4505094289779663, 0.4126794636249542, 0.4165459871292114, 0.4175759553909302, 0.40886732935905457, 0.41603201627731323, 0.38022175431251526, 0.390185683965683, 0.4083104729652405, 0.4083388149738312, 0.2897758483886719, 0.40029290318489075, 0.43727433681488037, 0.4298418164253235, 0.44857415556907654, 0.37761199474334717, 0.3756983280181885, 0.43997588753700256, 0.407550185918808, 0.35340872406959534, 0.42501652240753174, 0.4262573719024658, 0.46070680022239685], "cand_trans_speed_all": [0.004410386551171541, 0.0040534562431275845, 0.003718258813023567, 0.003687194548547268, 0.0033155016135424376, 0.004351256415247917, 0.004022944252938032, 0.0037581794895231724, 0.0024749073199927807, 0.0025631512980908155, 0.002867199946194887, 0.0034401798620820045, 0.0017778349574655294, 0.002516106702387333, 0.0026884793769568205, 0.0038755282294005156, 0.0046562436036765575, 0.002507089404389262, 0.002292925724759698, 0.003960634581744671, 0.0020662578754127026, 0.0017597884871065617, 0.0033150669187307358, 0.0013919426128268242, 0.0032034660689532757, 0.004202326759696007, 0.002533526858314872, 0.0029488331638276577, 0.0029938234947621822, 0.0019201207906007767, 0.002353239804506302, 0.002025546971708536], "cand_cum_xyz_disp_all": [[-0.004791975021362305, 0.000334128737449646, -0.0037605613470077515], [-0.012634903192520142, -0.005573168396949768, 0.0005999132990837097], [-0.005434364080429077, -0.0019906461238861084, -0.003917090594768524], [-0.0007786303758621216, 0.0025644004344940186, -0.0016852319240570068], [-0.004631519317626953, -0.0066091567277908325, -0.012812487781047821], [-0.011853113770484924, 0.0010869801044464111, -0.0004247128963470459], [-0.004744425415992737, -0.0035244375467300415, -0.005204036831855774], [-0.008383587002754211, -0.006212994456291199, -0.01386754959821701], [-0.0025730133056640625, -0.0019856542348861694, -0.007151797413825989], [-0.0028749853372573853, -0.0013362616300582886, -0.002860642969608307], [-0.004295721650123596, -0.003127455711364746, -0.008610621094703674], [-0.004250228404998779, -0.0017298012971878052, -0.006681092083454132], [-0.005120411515235901, -0.0016701966524124146, -0.004789143800735474], [-0.008260086178779602, -0.0034238100051879883, -0.006374150514602661], [-0.003651827573776245, -0.004366934299468994, -0.0011327341198921204], [-0.007144451141357422, -0.004726976156234741, -0.009645126760005951], [-0.006115421652793884, -0.0017452985048294067, -0.015113748610019684], [-0.0028820186853408813, -0.00014360249042510986, -0.009173966944217682], [-0.00350305438041687, -0.00411909818649292, -0.009602271020412445], [-0.01549220085144043, -0.004250064492225647, -0.009523279964923859], [-0.005845978856086731, -0.004001975059509277, -0.004529975354671478], [-0.005832597613334656, -0.0007618367671966553, -0.0009864270687103271], [-0.0050992220640182495, -0.003154054284095764, -0.0037654563784599304], [-0.003109842538833618, -0.00104580819606781, -0.004229642450809479], [-0.007438004016876221, -0.0027933865785598755, -0.011865086853504181], [-0.008961930871009827, -0.0019796788692474365, -0.0047906264662742615], [-0.0026732534170150757, -0.0007700175046920776, -0.003714427351951599], [-0.007673397660255432, -0.0007078051567077637, -0.003752961754798889], [-0.007862582802772522, -0.004577383399009705, -0.007376670837402344], [-0.005024909973144531, -0.0025986582040786743, -0.004493281245231628], [-0.0018902868032455444, -0.004198014736175537, -0.010056041181087494], [-0.0005722492933273315, -0.002634286880493164, -0.006504632532596588]], "cand_final_gripper_all": [0.008130073547363281, 0.013496845960617065, 0.0009861290454864502, 0.01870599389076233, 0.00037530064582824707, 0.003025233745574951, 0.007950305938720703, 0.0, 0.004741936922073364, 0.0025421977043151855, 0.0016925632953643799, 0.006874293088912964, 0.0027099251747131348, 0.0028030872344970703, 0.004819244146347046, 0.0, 0.0007435977458953857, 0.014239907264709473, 0.0024321675300598145, 0.00038745999336242676, 0.009983569383621216, 0.004788219928741455, 0.007367372512817383, 0.0022358596324920654, 0.002256244421005249, 0.005418568849563599, 0.005201280117034912, 0.006927073001861572, 0.0014480054378509521, 0.002553880214691162, 0.005166590213775635, 0.0029371976852416992], "eef_pos": [0.6804500222206116, 0.10284657776355743, 0.22233016788959503], "cand_action_std": 0.0733194574713707, "cand_pairwise_centroid_dist_mean": 0.6675740480422974, "argmax_act_outlier": 0.8344320058822632, "time_encode_ms": 5.76771586202085, "time_diffusion_ms": 36.358803045004606, "time_q_score_ms": 9.018382988870144, "time_total_ms": 51.921982085332274, "num_action_samples_effective": 32, "q_aggregate": "pair_min"} +{"chunk_ordinal": 93, "q_min_best": 0.4309872090816498, "q_min_mean": 0.3576928377151489, "q_min_std": 0.03770244121551514, "q_min_median": 0.3673322796821594, "chosen_vs_median_q_gap": 0.06365492939949036, "q1_best": 0.6342014670372009, "q2_best": 0.4309872090816498, "v_val": 0.7212798595428467, "advantage": -0.2902926504611969, "best_idx": 27, "q_min_all": [0.33867937326431274, 0.3673322796821594, 0.373487651348114, 0.2952439785003662, 0.3856227695941925, 0.3906909227371216, 0.3717726469039917, 0.3805101215839386, 0.4224313497543335, 0.2925970256328583, 0.2887164056301117, 0.38467150926589966, 0.3799455761909485, 0.30402320623397827, 0.33138421177864075, 0.35230422019958496, 0.3823300302028656, 0.3441081643104553, 0.3417779803276062, 0.3521588146686554, 0.3041336238384247, 0.38243812322616577, 0.3746405243873596, 0.40898704528808594, 0.3753925561904907, 0.287437379360199, 0.3647822141647339, 0.4309872090816498, 0.37513381242752075, 0.34833580255508423, 0.3443189263343811, 0.3697947561740875], "q1_all": [0.5551549792289734, 0.5545185208320618, 0.594059407711029, 0.5304685235023499, 0.5610608458518982, 0.589026689529419, 0.6013022661209106, 0.5807964205741882, 0.6202558875083923, 0.5588096380233765, 0.4986211359500885, 0.5916768908500671, 0.5972275733947754, 0.5385672450065613, 0.5299738049507141, 0.5726715326309204, 0.582086980342865, 0.5761038064956665, 0.5663737654685974, 0.5283012986183167, 0.5347310900688171, 0.5976061820983887, 0.5705665349960327, 0.6052162051200867, 0.570522665977478, 0.5506759285926819, 0.5853078961372375, 0.6342014670372009, 0.6066684126853943, 0.5729830861091614, 0.5505874752998352, 0.5988487601280212], "q2_all": [0.33867937326431274, 0.3673322796821594, 0.373487651348114, 0.2952439785003662, 0.3856227695941925, 0.3906909227371216, 0.3717726469039917, 0.3805101215839386, 0.4224313497543335, 0.2925970256328583, 0.2887164056301117, 0.38467150926589966, 0.3799455761909485, 0.30402320623397827, 0.33138421177864075, 0.35230422019958496, 0.3823300302028656, 0.3441081643104553, 0.3417779803276062, 0.3521588146686554, 0.3041336238384247, 0.38243812322616577, 0.3746405243873596, 0.40898704528808594, 0.3753925561904907, 0.287437379360199, 0.3647822141647339, 0.4309872090816498, 0.37513381242752075, 0.34833580255508423, 0.3443189263343811, 0.3697947561740875], "cand_trans_speed_all": [0.0038023232482373714, 0.0031672026962041855, 0.0038720504380762577, 0.003998881205916405, 0.0032587756868451834, 0.00249905651435256, 0.0018479479476809502, 0.0030285678803920746, 0.002326707588508725, 0.003975164145231247, 0.0042258938774466515, 0.004157069139182568, 0.0031982376240193844, 0.0030981446616351604, 0.0027078769635409117, 0.0022214138880372047, 0.002821076661348343, 0.0026690929662436247, 0.0020802770741283894, 0.003918703645467758, 0.002841709181666374, 0.0025684917345643044, 0.002304874360561371, 0.002714461414143443, 0.0030212055426090956, 0.0044721569865942, 0.0038021353539079428, 0.001593113294802606, 0.0018894062377512455, 0.003158693667501211, 0.002651312155649066, 0.0031199296936392784], "cand_cum_xyz_disp_all": [[-0.006678000092506409, 0.0004603862762451172, -0.01051291823387146], [-0.004957705736160278, -0.0005611628293991089, -0.006750941276550293], [-0.005880802869796753, -0.001349225640296936, -0.005058556795120239], [-0.009243950247764587, 0.0014277547597885132, -0.010054782032966614], [-0.005091801285743713, -0.003890097141265869, -0.011030726134777069], [-0.004315778613090515, -0.0018761307001113892, -0.0038521960377693176], [-0.005387008190155029, -0.0017138570547103882, -0.0020019039511680603], [-0.005446955561637878, -0.0008067488670349121, -0.005943179130554199], [-0.0018336176872253418, -0.00424233078956604, -0.004710882902145386], [-0.012267708778381348, -0.0016237646341323853, -0.008139163255691528], [-0.013257145881652832, -0.0015060752630233765, -0.01311919093132019], [-0.008250802755355835, -0.008044332265853882, -0.007144160568714142], [-0.005891889333724976, -0.004319533705711365, -0.0008431524038314819], [-0.00882229208946228, -0.0019173026084899902, -0.009938046336174011], [-0.006315112113952637, 0.0004482865333557129, -0.012212343513965607], [-0.006411135196685791, -0.0026594698429107666, -0.007242567837238312], [-0.0030908286571502686, -0.004563957452774048, -0.0077721476554870605], [-0.007006630301475525, -0.0017999857664108276, -0.007914237678050995], [-0.0066878050565719604, -0.003866717219352722, -0.007364936172962189], [-0.00767025351524353, -0.003731846809387207, -0.008399270474910736], [-0.009045153856277466, -0.002666562795639038, -0.012301519513130188], [-0.005641937255859375, -0.0002933889627456665, -0.006559088826179504], [-0.005642354488372803, -0.0016853362321853638, -0.008941315114498138], [-0.0028773844242095947, 0.0015052855014801025, -0.006936870515346527], [-0.004414856433868408, -0.002028927206993103, -0.011737152934074402], [-0.01383945345878601, -0.0013505518436431885, -0.00799877941608429], [-0.004943177103996277, -0.0035528987646102905, -0.012889966368675232], [-0.003175109624862671, -0.0034828484058380127, -0.0031864047050476074], [-0.00642259418964386, -0.0019573718309402466, -0.004737697541713715], [-0.005116775631904602, -0.005576178431510925, -0.009008362889289856], [-0.005919292569160461, -0.0017641037702560425, -0.0062516555190086365], [-0.005151808261871338, -6.876885890960693e-05, -0.0027526095509529114]], "cand_final_gripper_all": [0.03438413143157959, 0.0, 0.01169613003730774, 0.005936563014984131, 0.006326854228973389, 0.002462446689605713, 0.004832148551940918, 0.0, 0.0025188028812408447, 0.020985156297683716, 0.004128217697143555, 0.0, 0.044205039739608765, 0.0001272261142730713, 0.02762049436569214, 0.0029224157333374023, 0.0019171535968780518, 0.0, 0.0061997175216674805, 0.0005359053611755371, 0.0010290443897247314, 0.0, 0.002939760684967041, 0.0017554759979248047, 0.0030750930309295654, 0.0018557906150817871, 0.003431081771850586, 0.006681680679321289, 0.002462834119796753, 0.0019566714763641357, 0.0037643909454345703, 0.0], "eef_pos": [0.6800629496574402, 0.10346920788288116, 0.2206786423921585], "cand_action_std": 0.07213171571493149, "cand_pairwise_centroid_dist_mean": 0.6690902709960938, "argmax_act_outlier": 1.0855516195297241, "time_encode_ms": 4.98290010727942, "time_diffusion_ms": 36.03240707889199, "time_q_score_ms": 7.582650985568762, "time_total_ms": 49.327290849760175, "num_action_samples_effective": 32, "q_aggregate": "pair_min"} +{"chunk_ordinal": 94, "q_min_best": 0.445445716381073, "q_min_mean": 0.37271595001220703, "q_min_std": 0.03026028908789158, "q_min_median": 0.3701903223991394, "chosen_vs_median_q_gap": 0.0752553939819336, "q1_best": 0.6023766994476318, "q2_best": 0.445445716381073, "v_val": 0.703061580657959, "advantage": -0.257615864276886, "best_idx": 11, "q_min_all": [0.37322020530700684, 0.3428647220134735, 0.36605170369148254, 0.33235689997673035, 0.3968047499656677, 0.38085970282554626, 0.38105300068855286, 0.35648974776268005, 0.4093542695045471, 0.3577936589717865, 0.4290236830711365, 0.445445716381073, 0.3796798586845398, 0.33873334527015686, 0.3993831276893616, 0.3841421604156494, 0.3762752115726471, 0.3481546640396118, 0.4040803909301758, 0.32967695593833923, 0.33438682556152344, 0.3701903223991394, 0.35215190052986145, 0.35671502351760864, 0.3367712199687958, 0.3494815230369568, 0.4102438986301422, 0.400672972202301, 0.36121249198913574, 0.40639886260032654, 0.3314219117164612, 0.3858201503753662], "q1_all": [0.566255509853363, 0.5350894331932068, 0.5537354946136475, 0.49251630902290344, 0.5812283754348755, 0.5518235564231873, 0.5517080426216125, 0.5411417484283447, 0.5913349986076355, 0.5337976813316345, 0.5835591554641724, 0.6023766994476318, 0.5573216080665588, 0.4971315562725067, 0.5485228896141052, 0.5782895684242249, 0.524697482585907, 0.5258925557136536, 0.5779001116752625, 0.5312827825546265, 0.5161978602409363, 0.5414902567863464, 0.5207080841064453, 0.5281828045845032, 0.5082404017448425, 0.5593791604042053, 0.5788998603820801, 0.5828108191490173, 0.5524089336395264, 0.5822546482086182, 0.5267432332038879, 0.5725101232528687], "q2_all": [0.37322020530700684, 0.3428647220134735, 0.36605170369148254, 0.33235689997673035, 0.3968047499656677, 0.38085970282554626, 0.38105300068855286, 0.35648974776268005, 0.4093542695045471, 0.3577936589717865, 0.4290236830711365, 0.445445716381073, 0.3796798586845398, 0.33873334527015686, 0.3993831276893616, 0.3841421604156494, 0.3762752115726471, 0.3481546640396118, 0.4040803909301758, 0.32967695593833923, 0.33438682556152344, 0.3701903223991394, 0.35215190052986145, 0.35671502351760864, 0.3367712199687958, 0.3494815230369568, 0.4102438986301422, 0.400672972202301, 0.36121249198913574, 0.40639886260032654, 0.3314219117164612, 0.3858201503753662], "cand_trans_speed_all": [0.0033257282339036465, 0.0032301570754498243, 0.0027310634031891823, 0.002979216631501913, 0.002863189671188593, 0.0025906178634613752, 0.0027438716497272253, 0.0028513369616121054, 0.002859305590391159, 0.0037931804545223713, 0.002927935216575861, 0.002735310001298785, 0.00336589477956295, 0.0032810894772410393, 0.004583469592034817, 0.0023179787676781416, 0.004345070105046034, 0.00302021112293005, 0.002277534920722246, 0.0037897254806011915, 0.0035390923731029034, 0.0030257683247327805, 0.003199066501110792, 0.004231506027281284, 0.0036617880687117577, 0.002202534582465887, 0.002356021199375391, 0.001855325885117054, 0.0029278076253831387, 0.003145576221868396, 0.0028571549337357283, 0.0031372508965432644], "cand_cum_xyz_disp_all": [[-0.005574136972427368, -0.0044403523206710815, -0.005743853747844696], [-0.00832858681678772, -0.005617499351501465, -0.008516021072864532], [-0.003617718815803528, -0.0027583837509155273, -0.008990965783596039], [-0.008869126439094543, -0.004815384745597839, -0.010000944137573242], [-0.004713013768196106, -0.006453976035118103, -0.005927383899688721], [-0.005025595426559448, -0.0026941895484924316, -0.006676271557807922], [-0.0043721795082092285, 0.0006473660469055176, -0.007761858403682709], [-0.007032021880149841, -0.0023292452096939087, -0.010870665311813354], [-0.0013975203037261963, -0.0024927854537963867, 0.0013166368007659912], [-0.007356464862823486, -0.0027111172676086426, -0.012049831449985504], [-0.0012392103672027588, -0.002079904079437256, -0.007740385830402374], [-0.0002794116735458374, -0.0015427470207214355, -0.005700640380382538], [-0.005830511450767517, -0.0010186731815338135, -0.007251426577568054], [-0.007178708910942078, -0.004289835691452026, -0.013980589807033539], [-0.004617348313331604, -0.00011473894119262695, -0.013370990753173828], [-0.00649087131023407, -0.0058141350746154785, -0.0048843324184417725], [-0.006794542074203491, -0.007455751299858093, -0.007935315370559692], [-0.0070135146379470825, -0.0032917261123657227, -0.010226204991340637], [-0.002674669027328491, -0.0025989264249801636, -0.007533714175224304], [-0.009993329644203186, -0.002909436821937561, -0.007323607802391052], [-0.005991995334625244, -0.004260331392288208, -0.01115185022354126], [-0.006589218974113464, 0.002043098211288452, -0.006880633533000946], [-0.004680752754211426, -0.0031773000955581665, -0.01347281038761139], [-0.010515257716178894, -0.0005937069654464722, -0.01025942713022232], [-0.005366072058677673, -0.003765687346458435, -0.01646464318037033], [-0.008585602045059204, -0.001530572772026062, -0.004475131630897522], [-0.003785073757171631, -0.0006960183382034302, -0.004872411489486694], [-0.0029750168323516846, -0.0021723508834838867, -0.006664156913757324], [-0.008612066507339478, -0.0033851414918899536, -0.006138026714324951], [-0.005461201071739197, 6.499886512756348e-05, -0.003734879195690155], [-0.007164269685745239, -0.003299236297607422, -0.009388819336891174], [-0.004941031336784363, -0.004291728138923645, -0.007005929946899414]], "cand_final_gripper_all": [0.001889556646347046, 0.0, 0.004254132509231567, 0.001679062843322754, 0.0025176703929901123, 0.00613674521446228, 0.004491180181503296, 0.0002563595771789551, 0.004515528678894043, 0.0, 0.004037737846374512, 0.004908174276351929, 0.0003077089786529541, 0.001325368881225586, 0.005575120449066162, 0.0, 0.0010752081871032715, 0.0042029619216918945, 0.0023846030235290527, 0.003447800874710083, 0.0012805759906768799, 0.003246784210205078, 0.0144423246383667, 0.011845648288726807, 0.0027864277362823486, 0.00032323598861694336, 0.0020191073417663574, 0.001473844051361084, 0.0008391439914703369, 0.002757340669631958, 0.0014871954917907715, 0.003010690212249756], "eef_pos": [0.6798410415649414, 0.10317317396402359, 0.21948182582855225], "cand_action_std": 0.07282363623380661, "cand_pairwise_centroid_dist_mean": 0.6919171810150146, "argmax_act_outlier": 1.074629545211792, "time_encode_ms": 4.896248923614621, "time_diffusion_ms": 36.263205111026764, "time_q_score_ms": 7.799702929332852, "time_total_ms": 49.81974302791059, "num_action_samples_effective": 32, "q_aggregate": "pair_min"} +{"chunk_ordinal": 95, "q_min_best": 0.39033588767051697, "q_min_mean": 0.3101658225059509, "q_min_std": 0.03491469472646713, "q_min_median": 0.3086535334587097, "chosen_vs_median_q_gap": 0.08168235421180725, "q1_best": 0.5769334435462952, "q2_best": 0.39033588767051697, "v_val": 0.7134121060371399, "advantage": -0.3230762183666229, "best_idx": 28, "q_min_all": [0.36078381538391113, 0.2896858751773834, 0.26161161065101624, 0.31080394983291626, 0.2870640754699707, 0.3397361934185028, 0.2851785123348236, 0.32772672176361084, 0.31284433603286743, 0.34035247564315796, 0.317670613527298, 0.256510853767395, 0.3475121557712555, 0.23529696464538574, 0.3404722511768341, 0.27904024720191956, 0.32278624176979065, 0.34372881054878235, 0.3251475989818573, 0.27914363145828247, 0.31954196095466614, 0.2801777720451355, 0.2943432331085205, 0.3267231583595276, 0.28698986768722534, 0.3086535334587097, 0.3072229027748108, 0.2626532018184662, 0.39033588767051697, 0.30388331413269043, 0.3074497580528259, 0.3742353916168213], "q1_all": [0.5591389536857605, 0.5045608878135681, 0.5155013799667358, 0.5375704169273376, 0.5353568196296692, 0.5585770606994629, 0.5284547209739685, 0.5515325665473938, 0.534967839717865, 0.5552417635917664, 0.5554843544960022, 0.5068235993385315, 0.559511661529541, 0.477454274892807, 0.5443440079689026, 0.5173788666725159, 0.537654459476471, 0.5500215888023376, 0.5381473898887634, 0.5243480801582336, 0.5389978289604187, 0.5276467204093933, 0.5215300917625427, 0.529444694519043, 0.5331743955612183, 0.548451840877533, 0.5382794141769409, 0.502891480922699, 0.5769334435462952, 0.5489108562469482, 0.5338581204414368, 0.5542811155319214], "q2_all": [0.36078381538391113, 0.2896858751773834, 0.26161161065101624, 0.31080394983291626, 0.2870640754699707, 0.3397361934185028, 0.2851785123348236, 0.32772672176361084, 0.31284433603286743, 0.34035247564315796, 0.317670613527298, 0.256510853767395, 0.3475121557712555, 0.23529696464538574, 0.3404722511768341, 0.27904024720191956, 0.32278624176979065, 0.34372881054878235, 0.3251475989818573, 0.27914363145828247, 0.31954196095466614, 0.2801777720451355, 0.2943432331085205, 0.3267231583595276, 0.28698986768722534, 0.3086535334587097, 0.3072229027748108, 0.2626532018184662, 0.39033588767051697, 0.30388331413269043, 0.3074497580528259, 0.3742353916168213], "cand_trans_speed_all": [0.002710773376747966, 0.004074525088071823, 0.004246310796588659, 0.0032335487194359303, 0.002581838285550475, 0.0027453964576125145, 0.0027573853731155396, 0.002822482492774725, 0.003942059352993965, 0.002479532267898321, 0.0029005331452935934, 0.004371201619505882, 0.0022209163289517164, 0.0037260614335536957, 0.0024361442774534225, 0.003831038251519203, 0.004588065668940544, 0.0027620557229965925, 0.0038125819992274046, 0.003970813937485218, 0.003208683803677559, 0.003635036526247859, 0.0035545234568417072, 0.0023839317727833986, 0.0037722948472946882, 0.003858554642647505, 0.0030528695788234472, 0.003746218513697386, 0.0030135028064250946, 0.0021276320330798626, 0.003048682352527976, 0.003376586362719536], "cand_cum_xyz_disp_all": [[-0.00492386519908905, -0.0032946914434432983, -0.007846012711524963], [-0.006914407014846802, -0.0018313676118850708, -0.014007672667503357], [-0.011564016342163086, -0.002453938126564026, -0.010930299758911133], [-0.0075900256633758545, -0.005915701389312744, -0.007368654012680054], [-0.007418781518936157, -0.0026451796293258667, -0.009301505982875824], [-0.006237417459487915, -0.003176584839820862, -0.008531339466571808], [-0.009460493922233582, -0.0029670149087905884, -0.007693693041801453], [-0.001527160406112671, 0.0001522749662399292, -0.006544612348079681], [-0.0074885934591293335, -0.0016385316848754883, -0.003529876470565796], [-0.0053071528673172, -0.004899084568023682, -0.005262456834316254], [-0.007282152771949768, -0.0004704892635345459, -0.005431085824966431], [-0.0122518390417099, -0.003558918833732605, -0.0065500736236572266], [-0.0051934123039245605, -0.002770334482192993, -0.003763549029827118], [-0.014916092157363892, -0.000505298376083374, -0.004941955208778381], [-0.005328059196472168, -0.0009938627481460571, -0.0019050240516662598], [-0.010063409805297852, -0.006452992558479309, -0.010690055787563324], [-0.008071556687355042, -0.006497383117675781, -0.006343431770801544], [-0.004060924053192139, 0.001012265682220459, -0.009598396718502045], [-0.0019326508045196533, -0.0020468831062316895, -0.014468587934970856], [-0.009698241949081421, 0.0010154098272323608, -0.011426009237766266], [-0.006438076496124268, -0.002129480242729187, -0.007520303130149841], [-0.009320840239524841, -0.004977896809577942, -0.006296373903751373], [-0.008689627051353455, -0.003586813807487488, -0.015906676650047302], [-0.006481766700744629, 0.0005883127450942993, -0.008355572819709778], [-0.01044704020023346, -0.001809835433959961, -0.006943270564079285], [-0.009083166718482971, -0.002414897084236145, -0.006224483251571655], [-0.00683458149433136, -0.002896040678024292, -0.007043898105621338], [-0.009825751185417175, -0.003724128007888794, -0.006566107273101807], [-0.0017602592706680298, -0.0036400258541107178, -0.005415990948677063], [-0.007687613368034363, -0.003180280327796936, -0.005587190389633179], [-0.0070645809173583984, -0.0013254135847091675, -0.006557241082191467], [-0.0033956170082092285, -0.001377195119857788, -0.0013929754495620728]], "cand_final_gripper_all": [0.0002588629722595215, 0.002762734889984131, 0.005162596702575684, 0.001732170581817627, 0.0018232464790344238, 0.0144290030002594, 0.008227497339248657, 0.002593904733657837, 0.0028791427612304688, 0.0021725893020629883, 0.04096764326095581, 0.0017439723014831543, 0.00024187564849853516, 0.00023314356803894043, 0.0, 0.0025594234466552734, 0.0011882185935974121, 0.0028817355632781982, 0.006263643503189087, 0.003476947546005249, 0.0, 0.0003320276737213135, 0.001971811056137085, 0.005681365728378296, 0.0, 0.0041488707065582275, 0.004870712757110596, 0.0005200505256652832, 0.0022715628147125244, 0.0006733238697052002, 0.0025794804096221924, 0.0], "eef_pos": [0.6795046329498291, 0.10411114990711212, 0.21924863755702972], "cand_action_std": 0.07609786093235016, "cand_pairwise_centroid_dist_mean": 0.7184116840362549, "argmax_act_outlier": 1.1816136837005615, "time_encode_ms": 4.879458108916879, "time_diffusion_ms": 36.227919859811664, "time_q_score_ms": 7.861759047955275, "time_total_ms": 49.672690918669105, "num_action_samples_effective": 32, "q_aggregate": "pair_min"} +{"chunk_ordinal": 96, "q_min_best": 0.36467444896698, "q_min_mean": 0.3066571354866028, "q_min_std": 0.026525475084781647, "q_min_median": 0.3066810667514801, "chosen_vs_median_q_gap": 0.05799338221549988, "q1_best": 0.6278676390647888, "q2_best": 0.36467444896698, "v_val": 0.7193360328674316, "advantage": -0.35466158390045166, "best_idx": 29, "q_min_all": [0.3012668788433075, 0.33484742045402527, 0.30952587723731995, 0.2936302125453949, 0.27065932750701904, 0.3287169933319092, 0.2895953059196472, 0.34842854738235474, 0.3445613384246826, 0.28677624464035034, 0.291373610496521, 0.3231860399246216, 0.30197447538375854, 0.28204894065856934, 0.31261494755744934, 0.35964909195899963, 0.314327597618103, 0.27730852365493774, 0.3148774802684784, 0.29975488781929016, 0.2727093994617462, 0.2467729151248932, 0.30252504348754883, 0.3066810667514801, 0.29699045419692993, 0.30784013867378235, 0.31666722893714905, 0.3076939582824707, 0.3154897689819336, 0.36467444896698, 0.3220898509025574, 0.2677695155143738], "q1_all": [0.577293336391449, 0.5937652587890625, 0.5631030797958374, 0.5630369782447815, 0.5589938163757324, 0.6060945987701416, 0.5578886866569519, 0.6051239371299744, 0.6073981523513794, 0.5453270673751831, 0.5620890855789185, 0.5501397252082825, 0.5867215991020203, 0.5611425042152405, 0.5623976588249207, 0.6123226284980774, 0.5897852778434753, 0.568729817867279, 0.6003187298774719, 0.5526853203773499, 0.5035191178321838, 0.5121867060661316, 0.5826560854911804, 0.5806360244750977, 0.5030035376548767, 0.5516082644462585, 0.503710925579071, 0.5505431294441223, 0.5879035592079163, 0.6278676390647888, 0.5948466658592224, 0.5106496810913086], "q2_all": [0.3012668788433075, 0.33484742045402527, 0.30952587723731995, 0.2936302125453949, 0.27065932750701904, 0.3287169933319092, 0.2895953059196472, 0.34842854738235474, 0.3445613384246826, 0.28677624464035034, 0.291373610496521, 0.3231860399246216, 0.30197447538375854, 0.28204894065856934, 0.31261494755744934, 0.35964909195899963, 0.314327597618103, 0.27730852365493774, 0.3148774802684784, 0.29975488781929016, 0.2727093994617462, 0.2467729151248932, 0.30252504348754883, 0.3066810667514801, 0.29699045419692993, 0.30784013867378235, 0.31666722893714905, 0.3076939582824707, 0.3154897689819336, 0.36467444896698, 0.3220898509025574, 0.2677695155143738], "cand_trans_speed_all": [0.003376239677891135, 0.0032302974723279476, 0.0037508083041757345, 0.002791907172650099, 0.0035641961731016636, 0.0037081241607666016, 0.0026023443788290024, 0.00200439989566803, 0.0022029331885278225, 0.002825416624546051, 0.0028962416108697653, 0.0032184801530092955, 0.00408489815890789, 0.0032462775707244873, 0.0027827301528304815, 0.004530921578407288, 0.0030768527649343014, 0.0032858848571777344, 0.00373366242274642, 0.0044681597501039505, 0.004626443609595299, 0.003959374502301216, 0.0023799650371074677, 0.002578082261607051, 0.005317294038832188, 0.004256636835634708, 0.005017116200178862, 0.0035511970054358244, 0.003412078833207488, 0.0025795982219278812, 0.0029170948546379805, 0.003802634309977293], "cand_cum_xyz_disp_all": [[-0.00628247857093811, 0.0007637739181518555, -0.006849855184555054], [-0.007987290620803833, -0.0031874477863311768, -0.0018898695707321167], [-0.008191198110580444, -0.004097580909729004, -0.0034438371658325195], [-0.008751913905143738, -0.005274370312690735, -0.005532175302505493], [-0.010158941149711609, 0.001990005373954773, -0.012139633297920227], [-0.006422847509384155, -0.0027052611112594604, -0.004676938056945801], [-0.008428528904914856, -0.003958344459533691, -0.003749459981918335], [-0.0037839412689208984, -0.001820102334022522, -0.004091106355190277], [-0.0057440996170043945, 0.0011104494333267212, -0.005316160619258881], [-0.009403124451637268, -0.002788141369819641, -0.008871607482433319], [-0.010028809309005737, -0.002198636531829834, -0.006960727274417877], [-0.007510125637054443, 0.0013236850500106812, -0.010634079575538635], [-0.009435310959815979, 0.009127825498580933, -0.0020363852381706238], [-0.011762082576751709, -0.002503618597984314, -0.004717417061328888], [-0.006094083189964294, -0.004472032189369202, -0.006639555096626282], [-0.003680795431137085, -0.0019523799419403076, -0.005774632096290588], [-0.0037345588207244873, -0.0005430877208709717, -0.006163991987705231], [-0.009632676839828491, -0.002099752426147461, -0.005524776875972748], [-0.009149089455604553, -0.004118040204048157, -0.003913670778274536], [-0.013715341687202454, -0.006248146295547485, -0.003919586539268494], [-0.01628515124320984, -0.008978649973869324, -0.013549380004405975], [-0.011211991310119629, -0.0032125860452651978, -0.011597461998462677], [-0.007919639348983765, -0.004589885473251343, -0.0060901939868927], [-0.007189661264419556, -0.0027654170989990234, -0.007145099341869354], [-0.009379997849464417, -0.001553356647491455, -0.006964236497879028], [-0.009026631712913513, -0.002294495701789856, -0.0032145678997039795], [-0.006100520491600037, -0.0024686604738235474, -0.011087194085121155], [-0.007757112383842468, 0.0008262544870376587, -0.011424273252487183], [-0.009143009781837463, -0.004143655300140381, -0.003386944532394409], [-0.005036294460296631, -0.001250937581062317, -0.0030212178826332092], [-0.005920961499214172, 0.0007623583078384399, -0.005294114351272583], [-0.011935591697692871, -0.0010241121053695679, -0.00905359536409378]], "cand_final_gripper_all": [6.821751594543457e-05, 0.0008516609668731689, 0.02316337823867798, 0.004776716232299805, 0.0069644153118133545, 0.012883096933364868, 0.004303842782974243, 0.0, 0.0, 0.003589153289794922, 0.0, 0.0, 0.00023740530014038086, 0.004159361124038696, 0.029774129390716553, 0.0, 0.005511075258255005, 0.00967717170715332, 0.00693783164024353, 0.0036562085151672363, 0.0, 0.00019186735153198242, 0.0005269348621368408, 0.0007026791572570801, 0.003147304058074951, 0.0, 0.0, 0.0, 0.004905492067337036, 0.0, 0.0002547800540924072, 0.0], "eef_pos": [0.6793256402015686, 0.10503444820642471, 0.21922117471694946], "cand_action_std": 0.08184216916561127, "cand_pairwise_centroid_dist_mean": 0.7559932470321655, "argmax_act_outlier": 1.0870563983917236, "time_encode_ms": 5.718272877857089, "time_diffusion_ms": 36.21263103559613, "time_q_score_ms": 7.64093897305429, "time_total_ms": 50.57527497410774, "num_action_samples_effective": 32, "q_aggregate": "pair_min"} +{"chunk_ordinal": 97, "q_min_best": 0.3742326498031616, "q_min_mean": 0.29950156807899475, "q_min_std": 0.02621345780789852, "q_min_median": 0.2942233085632324, "chosen_vs_median_q_gap": 0.0800093412399292, "q1_best": 0.569370448589325, "q2_best": 0.3742326498031616, "v_val": 0.34084922075271606, "advantage": 0.03338342905044556, "best_idx": 25, "q_min_all": [0.2625219225883484, 0.30185621976852417, 0.28160205483436584, 0.3236335515975952, 0.29395538568496704, 0.2958361506462097, 0.2857131361961365, 0.28753307461738586, 0.2948075532913208, 0.31779083609580994, 0.2942233085632324, 0.2647751271724701, 0.267241507768631, 0.28574448823928833, 0.32192128896713257, 0.3120034337043762, 0.27887392044067383, 0.3323782682418823, 0.2794148623943329, 0.2921655774116516, 0.3480120897293091, 0.29626739025115967, 0.30396103858947754, 0.3312053084373474, 0.2861338257789612, 0.3742326498031616, 0.3373737335205078, 0.2897651195526123, 0.264331191778183, 0.2651692032814026, 0.30588358640670776, 0.3077235221862793], "q1_all": [0.4993274509906769, 0.5609162449836731, 0.49626636505126953, 0.5710543990135193, 0.5511179566383362, 0.505163848400116, 0.558840811252594, 0.5370870232582092, 0.5165523290634155, 0.5401943325996399, 0.49468427896499634, 0.5096241235733032, 0.5393763184547424, 0.4998014271259308, 0.5655637383460999, 0.557677686214447, 0.5428845286369324, 0.5776066780090332, 0.5637842416763306, 0.5140321850776672, 0.6003853678703308, 0.5282889008522034, 0.504152774810791, 0.5840950608253479, 0.502821147441864, 0.569370448589325, 0.5679255127906799, 0.5399134755134583, 0.501034677028656, 0.514906644821167, 0.5361274480819702, 0.5137523412704468], "q2_all": [0.2625219225883484, 0.30185621976852417, 0.28160205483436584, 0.3236335515975952, 0.29395538568496704, 0.2958361506462097, 0.2857131361961365, 0.28753307461738586, 0.2948075532913208, 0.31779083609580994, 0.2942233085632324, 0.2647751271724701, 0.267241507768631, 0.28574448823928833, 0.32192128896713257, 0.3120034337043762, 0.27887392044067383, 0.3323782682418823, 0.2794148623943329, 0.2921655774116516, 0.3480120897293091, 0.29626739025115967, 0.30396103858947754, 0.3312053084373474, 0.2861338257789612, 0.3742326498031616, 0.3373737335205078, 0.2897651195526123, 0.264331191778183, 0.2651692032814026, 0.30588358640670776, 0.3077235221862793], "cand_trans_speed_all": [0.003949659876525402, 0.0033236376475542784, 0.0042649684473872185, 0.00231406232342124, 0.002818701323121786, 0.004388780333101749, 0.002636698540300131, 0.0037570239510387182, 0.0044507528655231, 0.00518400315195322, 0.0045608943328261375, 0.0045596277341246605, 0.004746702499687672, 0.0044298614375293255, 0.0022189896553754807, 0.0028694872744381428, 0.0024955756962299347, 0.0039931396022439, 0.0023736371658742428, 0.0038902859669178724, 0.002749794628471136, 0.0030887718312442303, 0.00365531537681818, 0.0023248051293194294, 0.004177898168563843, 0.004001322202384472, 0.002667294815182686, 0.00327009754255414, 0.004095633514225483, 0.0034844018518924713, 0.00442451611161232, 0.004236470442265272], "cand_cum_xyz_disp_all": [[-0.0040055811405181885, -0.0024293512105941772, -0.014905072748661041], [-0.004494130611419678, -1.0773539543151855e-05, -0.008702069520950317], [-0.0032336562871932983, -0.008597508072853088, -0.01885376125574112], [-0.007192760705947876, -0.004434794187545776, -0.008478403091430664], [-0.007311761379241943, 0.0011784881353378296, -0.009895876049995422], [-0.007077440619468689, -0.0018223226070404053, -0.014057442545890808], [-0.009323835372924805, -0.0034018605947494507, -0.0071509405970573425], [-0.006785571575164795, -0.0011107921600341797, -0.010714210569858551], [-0.00592350959777832, 0.00045052170753479004, -0.006962597370147705], [-0.007082074880599976, -0.0027384012937545776, -0.006731390953063965], [-0.005881667137145996, -0.002858579158782959, -0.0189628005027771], [-0.010437801480293274, -0.0030566006898880005, -0.014970853924751282], [-0.014409899711608887, -0.0006850659847259521, -0.011033505201339722], [-0.006881386041641235, 0.0005063712596893311, -0.01469961553812027], [-0.004840284585952759, -0.002608254551887512, -0.007816247642040253], [-0.006450816988945007, -0.00403536856174469, -0.008115820586681366], [-0.004496753215789795, 0.00030866265296936035, -0.007964514195919037], [-0.003888368606567383, -0.002087518572807312, -0.008968301117420197], [-0.008508995175361633, 0.0007926076650619507, -0.003057703375816345], [-0.006031796336174011, -0.0013021528720855713, -0.013859577476978302], [-0.003612026572227478, 0.0004372447729110718, -0.004174880683422089], [-0.005354061722755432, 0.002172723412513733, -0.009960994124412537], [-0.00444483757019043, 0.0020238161087036133, -0.017329953610897064], [-0.006056547164916992, -0.004194378852844238, -0.0049368515610694885], [-0.004189223051071167, -0.0009674280881881714, -0.015831217169761658], [0.0020165294408798218, -0.00028748810291290283, -0.01201590895652771], [-0.005028039216995239, -0.000153467059135437, -0.010743103921413422], [-0.005628868937492371, -0.0016575008630752563, -0.014826186001300812], [-0.009359791874885559, -0.00022239983081817627, -0.013210184872150421], [-0.007292389869689941, 0.0005371421575546265, -0.010281316936016083], [-0.006090670824050903, -0.0021107494831085205, -0.007409572601318359], [-0.00862644612789154, -0.001676797866821289, -0.01500217616558075]], "cand_final_gripper_all": [0.0021153390407562256, 0.0013718903064727783, 0.0, 0.0027827024459838867, 0.003934353590011597, 0.009070247411727905, 0.00017002224922180176, 0.0026490390300750732, 0.00418582558631897, 0.0030056536197662354, 0.0039178431034088135, 0.002750605344772339, 7.456541061401367e-05, 0.010301053524017334, 0.005159467458724976, 0.0020875930786132812, 0.0004500150680541992, 0.004273921251296997, 0.0038888752460479736, 0.006026268005371094, 0.0, 0.00022351741790771484, 0.006182551383972168, 0.00465121865272522, 0.0, 0.001319199800491333, 0.001688241958618164, 0.0006321966648101807, 0.0005994439125061035, 0.0013855695724487305, 0.002390950918197632, 0.00930282473564148], "eef_pos": [0.6791037917137146, 0.10482768714427948, 0.21765652298927307], "cand_action_std": 0.07995464652776718, "cand_pairwise_centroid_dist_mean": 0.7771250605583191, "argmax_act_outlier": 1.0774427652359009, "time_encode_ms": 5.515085998922586, "time_diffusion_ms": 36.72035317867994, "time_q_score_ms": 7.664863020181656, "time_total_ms": 50.61454698443413, "num_action_samples_effective": 32, "q_aggregate": "pair_min"} +{"chunk_ordinal": 98, "q_min_best": 0.41356122493743896, "q_min_mean": 0.35130971670150757, "q_min_std": 0.03624609485268593, "q_min_median": 0.34968847036361694, "chosen_vs_median_q_gap": 0.06387275457382202, "q1_best": 0.6573777794837952, "q2_best": 0.41356122493743896, "v_val": 0.8084402084350586, "advantage": -0.39487898349761963, "best_idx": 14, "q_min_all": [0.38247382640838623, 0.3700951933860779, 0.27626699209213257, 0.40657293796539307, 0.2946062386035919, 0.3512111306190491, 0.3404904007911682, 0.41242629289627075, 0.33984166383743286, 0.3239443302154541, 0.3710155785083771, 0.3385161757469177, 0.34356850385665894, 0.34620213508605957, 0.41356122493743896, 0.3373326361179352, 0.36468619108200073, 0.3122875690460205, 0.3527289927005768, 0.30459609627723694, 0.3204980790615082, 0.34968847036361694, 0.3836961090564728, 0.3651317358016968, 0.3039802312850952, 0.39592617750167847, 0.34775951504707336, 0.3547530472278595, 0.3511902987957001, 0.2925941050052643, 0.403489351272583, 0.39077961444854736], "q1_all": [0.6529944539070129, 0.5602295994758606, 0.563792884349823, 0.6136131286621094, 0.532389223575592, 0.5644058585166931, 0.5789015889167786, 0.6350898146629333, 0.5993972420692444, 0.5705785155296326, 0.6169015169143677, 0.5962563157081604, 0.6220974326133728, 0.5975773930549622, 0.6573777794837952, 0.5681193470954895, 0.5633872151374817, 0.5819556713104248, 0.6014201045036316, 0.5230684876441956, 0.5737055540084839, 0.5715076327323914, 0.5948967337608337, 0.607414722442627, 0.5495285391807556, 0.6290414929389954, 0.593817949295044, 0.6019790172576904, 0.5885100960731506, 0.5032190680503845, 0.6482987999916077, 0.6567202806472778], "q2_all": [0.38247382640838623, 0.3700951933860779, 0.27626699209213257, 0.40657293796539307, 0.2946062386035919, 0.3512111306190491, 0.3404904007911682, 0.41242629289627075, 0.33984166383743286, 0.3239443302154541, 0.3710155785083771, 0.3385161757469177, 0.34356850385665894, 0.34620213508605957, 0.41356122493743896, 0.3373326361179352, 0.36468619108200073, 0.3122875690460205, 0.3527289927005768, 0.30459609627723694, 0.3204980790615082, 0.34968847036361694, 0.3836961090564728, 0.3651317358016968, 0.3039802312850952, 0.39592617750167847, 0.34775951504707336, 0.3547530472278595, 0.3511902987957001, 0.2925941050052643, 0.403489351272583, 0.39077961444854736], "cand_trans_speed_all": [0.003358067711815238, 0.003091130405664444, 0.004784006625413895, 0.0029108840972185135, 0.004463031888008118, 0.004134166054427624, 0.0022238329984247684, 0.0022006789222359657, 0.0022265526931732893, 0.0033982694149017334, 0.0026588342152535915, 0.0020315188448876143, 0.002681452315300703, 0.002318865619599819, 0.0019603371620178223, 0.004393696319311857, 0.0037512280978262424, 0.0034587604459375143, 0.003075603162869811, 0.004547182470560074, 0.0034473538398742676, 0.002694509457796812, 0.003344378201290965, 0.0033809253945946693, 0.004261369351297617, 0.004852233920246363, 0.002634984441101551, 0.003118505235761404, 0.0026167265605181456, 0.0041031306609511375, 0.0016515690367668867, 0.0028492361307144165], "cand_cum_xyz_disp_all": [[-0.008142158389091492, -0.0032764077186584473, 0.0031695514917373657], [-0.006334424018859863, -0.002375006675720215, 0.00031113624572753906], [-0.01177409291267395, -0.002789124846458435, 0.000704348087310791], [-0.0018185526132583618, -0.002168700098991394, 0.00126657634973526], [-0.014949873089790344, 0.00494423508644104, 0.000799521803855896], [-0.007752150297164917, -0.0024281740188598633, -0.008965067565441132], [-0.00898335874080658, -0.0018879324197769165, -0.004515431821346283], [-0.005260050296783447, -0.007549643516540527, -0.005308277904987335], [-0.00888882577419281, -0.003571033477783203, -0.005164258182048798], [-0.007991179823875427, -0.009120136499404907, -0.004273355007171631], [-0.004947572946548462, -0.0019209682941436768, -0.00025825947523117065], [-0.009824216365814209, -0.0042779892683029175, -0.003944650292396545], [-0.009937554597854614, -0.0024914145469665527, 0.00101383775472641], [-0.00958387553691864, -0.002273052930831909, -0.001608438789844513], [-0.006573900580406189, -0.0011450648307800293, 0.003344029188156128], [-0.010569274425506592, -0.0019374936819076538, -0.003467969596385956], [-0.005722984671592712, -0.0002778172492980957, -0.0012586936354637146], [-0.016214340925216675, -0.0026993006467819214, 0.0010990574955940247], [-0.010478362441062927, -0.0069675445556640625, -0.0036599114537239075], [-0.009054258465766907, -0.0026148855686187744, -0.013494029641151428], [-0.01664544641971588, -0.0025839954614639282, -0.004156813025474548], [-0.007724598050117493, -0.001820579171180725, -0.001905187964439392], [-0.006074309349060059, -5.9738755226135254e-05, 0.004922725260257721], [-0.005233272910118103, -0.00022485852241516113, -0.004033766686916351], [-0.012994527816772461, -0.0029580295085906982, -0.009391389787197113], [-0.006174266338348389, -0.0012567490339279175, 0.00041813403367996216], [-0.007495880126953125, 0.001175224781036377, -4.709511995315552e-05], [-0.008364513516426086, -0.0020175427198410034, -0.0017100051045417786], [-0.007547497749328613, -0.0005965381860733032, -0.00402812659740448], [-0.011540159583091736, -0.005820184946060181, -0.010791055858135223], [-0.0034683793783187866, -0.0005787163972854614, 0.0010460615158081055], [-0.008932217955589294, -0.003920555114746094, 0.0002788230776786804]], "cand_final_gripper_all": [0.011816710233688354, 0.21176105737686157, 0.0038705170154571533, 0.22932562232017517, 0.0007007122039794922, 0.0036728382110595703, 0.0029687881469726562, 0.01800745725631714, 0.0, 0.0, 0.1623765528202057, 0.0, 0.0020822882652282715, 0.0, 0.0771317183971405, 0.022067785263061523, 0.21735647320747375, 0.019371449947357178, 0.0, 0.0, 0.001414477825164795, 0.018583685159683228, 0.18437743186950684, 0.01307988166809082, 0.004383355379104614, 0.07863485813140869, 0.0, 0.08976820111274719, 0.0, 0.134516179561615, 0.13030675053596497, 0.0], "eef_pos": [0.6790545582771301, 0.10752028226852417, 0.21848396956920624], "cand_action_std": 0.08839336782693863, "cand_pairwise_centroid_dist_mean": 0.8191102147102356, "argmax_act_outlier": 1.490290641784668, "time_encode_ms": 5.220591090619564, "time_diffusion_ms": 36.218020832166076, "time_q_score_ms": 7.927219849079847, "time_total_ms": 50.557360984385014, "num_action_samples_effective": 32, "q_aggregate": "pair_min"} +{"chunk_ordinal": 99, "q_min_best": 0.3711381256580353, "q_min_mean": 0.2967759966850281, "q_min_std": 0.03290737047791481, "q_min_median": 0.2941843271255493, "chosen_vs_median_q_gap": 0.07695379853248596, "q1_best": 0.5647996068000793, "q2_best": 0.3711381256580353, "v_val": 0.002119237557053566, "advantage": 0.3690188881009817, "best_idx": 20, "q_min_all": [0.28942394256591797, 0.22343599796295166, 0.29516080021858215, 0.30968108773231506, 0.27657538652420044, 0.25457140803337097, 0.2941843271255493, 0.32635772228240967, 0.2917434275150299, 0.2703304886817932, 0.30409738421440125, 0.2996188998222351, 0.2828257083892822, 0.2685726583003998, 0.27081620693206787, 0.2459801435470581, 0.2729370594024658, 0.31485801935195923, 0.3345220983028412, 0.31919214129447937, 0.3711381256580353, 0.27724966406822205, 0.30059751868247986, 0.3674435615539551, 0.2783570885658264, 0.30635228753089905, 0.35443440079689026, 0.32240787148475647, 0.2770426273345947, 0.32146644592285156, 0.27116119861602783, 0.3042961359024048], "q1_all": [0.5084922313690186, 0.4437071979045868, 0.4985513985157013, 0.5444142818450928, 0.4946238696575165, 0.4493969678878784, 0.512427031993866, 0.5300671458244324, 0.5129501223564148, 0.48125481605529785, 0.4980888068675995, 0.4830891788005829, 0.5035830140113831, 0.48932087421417236, 0.49205395579338074, 0.4537009298801422, 0.4954654276371002, 0.5231465101242065, 0.5300049781799316, 0.5161688923835754, 0.5647996068000793, 0.4889518916606903, 0.4944169521331787, 0.5413745641708374, 0.4866315424442291, 0.5177788734436035, 0.5356338620185852, 0.512963056564331, 0.48453667759895325, 0.5286106467247009, 0.49175018072128296, 0.5182154774665833], "q2_all": [0.28942394256591797, 0.22343599796295166, 0.29516080021858215, 0.30968108773231506, 0.27657538652420044, 0.25457140803337097, 0.2941843271255493, 0.32635772228240967, 0.2917434275150299, 0.2703304886817932, 0.30409738421440125, 0.2996188998222351, 0.2828257083892822, 0.2685726583003998, 0.27081620693206787, 0.2459801435470581, 0.2729370594024658, 0.31485801935195923, 0.3345220983028412, 0.31919214129447937, 0.3711381256580353, 0.27724966406822205, 0.30059751868247986, 0.3674435615539551, 0.2783570885658264, 0.30635228753089905, 0.35443440079689026, 0.32240787148475647, 0.2770426273345947, 0.32146644592285156, 0.27116119861602783, 0.3042961359024048], "cand_trans_speed_all": [0.005463685840368271, 0.006225704215466976, 0.0035740649327635765, 0.005571577697992325, 0.005800139158964157, 0.005452184937894344, 0.004502982832491398, 0.0051580071449279785, 0.005727977957576513, 0.005726230330765247, 0.003618293907493353, 0.004535584710538387, 0.004263702314347029, 0.004591565113514662, 0.0044216918759047985, 0.005792536772787571, 0.004283432848751545, 0.00465110270306468, 0.0038439235650002956, 0.003388846293091774, 0.0029008728452026844, 0.006433212663978338, 0.007106824778020382, 0.004469837993383408, 0.004374883137643337, 0.004862713161855936, 0.0032193693332374096, 0.0048220353201031685, 0.0041988929733633995, 0.0031965416856110096, 0.006409568712115288, 0.004324649460613728], "cand_cum_xyz_disp_all": [[-0.011265218257904053, -0.005547240376472473, -0.018483079969882965], [-0.015419989824295044, -0.004016876220703125, -0.026771575212478638], [-0.010674476623535156, -0.0031012743711471558, -0.014714397490024567], [-0.013914123177528381, -0.0033534765243530273, -0.00885763019323349], [-0.013989180326461792, -0.004087105393409729, -0.019074708223342896], [-0.017999812960624695, -0.00678783655166626, -0.02116081863641739], [-0.014622598886489868, -0.0033010393381118774, -0.01806294173002243], [-0.009227409958839417, -0.004026368260383606, -0.02169722318649292], [-0.01739773154258728, -0.0016232281923294067, -0.020922906696796417], [-0.01950719952583313, -0.005167022347450256, -0.023190587759017944], [-0.008845850825309753, -0.0034589022397994995, -0.017260141670703888], [-0.011364996433258057, -0.006602242588996887, -0.02263815701007843], [-0.013819590210914612, -0.004564553499221802, -0.017241641879081726], [-0.014413014054298401, 0.0007263123989105225, -0.014619961380958557], [-0.011283531785011292, -0.002850443124771118, -0.018882937729358673], [-0.019163265824317932, -0.004863545298576355, -0.023559793829917908], [-0.014600113034248352, -0.003337576985359192, -0.019442401826381683], [-0.012054145336151123, -0.0077015310525894165, -0.020073004066944122], [-0.006799072027206421, -0.002195000648498535, -0.01944165676832199], [-0.008349090814590454, -0.0033859312534332275, -0.016057901084423065], [-0.00771881639957428, -0.003516837954521179, -0.010158494114875793], [-0.016543850302696228, -0.003565952181816101, -0.019147664308547974], [-0.019655421376228333, -0.005734771490097046, -0.021647155284881592], [-0.005625009536743164, -0.001364588737487793, -0.01634586602449417], [-0.015592783689498901, -0.0061265528202056885, -0.013568595051765442], [-0.014708295464515686, -0.003662005066871643, -0.01182226836681366], [-0.007193699479103088, -0.002379506826400757, -0.010781459510326385], [-0.010943293571472168, -0.002544417977333069, -0.02283162623643875], [-0.011550217866897583, -0.002570509910583496, -0.01845468580722809], [-0.008534342050552368, -0.002264946699142456, -0.013456694781780243], [-0.018190354108810425, -0.004088565707206726, -0.022996358573436737], [-0.013735562562942505, -0.00528322160243988, -0.017695941030979156]], "cand_final_gripper_all": [0.009177953004837036, 0.016877084970474243, 0.003914982080459595, 0.007840782403945923, 0.0019705891609191895, 0.0012040138244628906, 0.003048628568649292, 0.003405928611755371, 0.004635155200958252, 0.0037299692630767822, 0.0023467838764190674, 0.011908680200576782, 0.010105341672897339, 0.005198925733566284, 0.006600737571716309, 0.0022509992122650146, 0.0016638636589050293, 0.0025804638862609863, 0.0027492642402648926, 0.006539851427078247, 0.004744142293930054, 0.005464464426040649, 0.008045792579650879, 0.0003180503845214844, 0.0038444101810455322, 0.0026260018348693848, 0.0028963088989257812, 0.0020892322063446045, 0.005239397287368774, 0.004683047533035278, 0.008389502763748169, 0.0031057000160217285], "eef_pos": [0.6790577173233032, 0.10442178696393967, 0.2131902575492859], "cand_action_std": 0.08421985805034637, "cand_pairwise_centroid_dist_mean": 0.8474113941192627, "argmax_act_outlier": 1.7755969762802124, "time_encode_ms": 4.933778895065188, "time_diffusion_ms": 36.579841980710626, "time_q_score_ms": 8.078750921413302, "time_total_ms": 50.436707912012935, "num_action_samples_effective": 32, "q_aggregate": "pair_min"} +{"chunk_ordinal": 100, "q_min_best": 0.3887513279914856, "q_min_mean": 0.3403448462486267, "q_min_std": 0.023893367499113083, "q_min_median": 0.34083324670791626, "chosen_vs_median_q_gap": 0.047918081283569336, "q1_best": 0.5489516258239746, "q2_best": 0.3887513279914856, "v_val": 0.003075305838137865, "advantage": 0.38567602215334773, "best_idx": 8, "q_min_all": [0.3539807200431824, 0.3652747869491577, 0.32151198387145996, 0.34549757838249207, 0.34083324670791626, 0.36173444986343384, 0.3836706280708313, 0.3370536267757416, 0.3887513279914856, 0.3418084383010864, 0.3254169225692749, 0.2858394384384155, 0.32428282499313354, 0.34888505935668945, 0.3545290231704712, 0.35810548067092896, 0.33533161878585815, 0.30090388655662537, 0.33900922536849976, 0.29908353090286255, 0.3618238866329193, 0.2960709035396576, 0.35056835412979126, 0.3391144275665283, 0.36941999197006226, 0.3377023935317993, 0.31957006454467773, 0.3443711996078491, 0.34609925746917725, 0.35791128873825073, 0.3328481614589691, 0.32403135299682617], "q1_all": [0.5257454514503479, 0.5333439111709595, 0.499674916267395, 0.48243728280067444, 0.5340325832366943, 0.523589015007019, 0.5786548256874084, 0.5305799245834351, 0.5489516258239746, 0.4953015148639679, 0.5117881298065186, 0.46053388714790344, 0.49671754240989685, 0.5431256294250488, 0.5032756924629211, 0.49898287653923035, 0.5429010987281799, 0.503808319568634, 0.49981388449668884, 0.5000463128089905, 0.5240622162818909, 0.4716714024543762, 0.5308707356452942, 0.47517046332359314, 0.5434035658836365, 0.5015158653259277, 0.5072329640388489, 0.5325838923454285, 0.5146574974060059, 0.5017954707145691, 0.5301774740219116, 0.5349776744842529], "q2_all": [0.3539807200431824, 0.3652747869491577, 0.32151198387145996, 0.34549757838249207, 0.34083324670791626, 0.36173444986343384, 0.3836706280708313, 0.3370536267757416, 0.3887513279914856, 0.3418084383010864, 0.3254169225692749, 0.2858394384384155, 0.32428282499313354, 0.34888505935668945, 0.3545290231704712, 0.35810548067092896, 0.33533161878585815, 0.30090388655662537, 0.33900922536849976, 0.29908353090286255, 0.3618238866329193, 0.2960709035396576, 0.35056835412979126, 0.3391144275665283, 0.36941999197006226, 0.3377023935317993, 0.31957006454467773, 0.3443711996078491, 0.34609925746917725, 0.35791128873825073, 0.3328481614589691, 0.32403135299682617], "cand_trans_speed_all": [0.0044862572103738785, 0.004069792106747627, 0.004465171601623297, 0.005061200354248285, 0.004219250287860632, 0.004195061977952719, 0.004672049544751644, 0.004096933640539646, 0.00485585443675518, 0.005130047909915447, 0.005381090100854635, 0.005905644502490759, 0.004626292735338211, 0.004812810104340315, 0.003975704312324524, 0.004371920134872198, 0.003776310011744499, 0.004996858071535826, 0.003972658421844244, 0.0051744068041443825, 0.0036409811582416296, 0.0065441494807600975, 0.005043712444603443, 0.005418622866272926, 0.005981186404824257, 0.004099798388779163, 0.004298555664718151, 0.006012433208525181, 0.004650731571018696, 0.004109182395040989, 0.005853037349879742, 0.005583224352449179], "cand_cum_xyz_disp_all": [[-0.007413044571876526, -0.0022470802068710327, -0.020864173769950867], [-0.007688120007514954, -0.0005142390727996826, -0.010535463690757751], [-0.007822230458259583, -0.0031930655241012573, -0.019877195358276367], [-0.00783856213092804, -0.0026641935110092163, -0.01871153712272644], [-0.00902777910232544, -9.004771709442139e-05, -0.021508321166038513], [-0.0032207220792770386, -0.0003046989440917969, -0.016167856752872467], [-0.004614278674125671, 0.002685055136680603, -0.003771737217903137], [-0.009531334042549133, -0.003544151782989502, -0.016603954136371613], [-0.006589174270629883, -0.001592889428138733, -0.020741194486618042], [-0.009252220392227173, -0.0022164136171340942, -0.022879771888256073], [-0.014728784561157227, -0.0074616968631744385, -0.02472245693206787], [-0.012301310896873474, 0.00030826032161712646, -0.029647864401340485], [-0.010876327753067017, -0.004967421293258667, -0.020811356604099274], [-0.008498460054397583, -0.0014510750770568848, -0.01431913673877716], [-0.007254838943481445, -0.00221879780292511, -0.020896658301353455], [-0.006444975733757019, -0.002481803297996521, -0.020379699766635895], [-0.008095845580101013, -0.0014682859182357788, -0.014976471662521362], [-0.01296226680278778, -0.005832597613334656, -0.021246343851089478], [-0.008257359266281128, -0.00402495265007019, -0.018226057291030884], [-0.013198330998420715, -0.0024683326482772827, -0.018076792359352112], [-0.006066828966140747, 0.0009695440530776978, -0.016964897513389587], [-0.010517433285713196, -0.0011654496192932129, -0.02566472440958023], [-0.008763805031776428, -0.004517719149589539, -0.016143277287483215], [-0.00919961929321289, -0.004252046346664429, -0.02345869690179825], [-0.003353416919708252, 0.0008162260055541992, -0.01555933803319931], [-0.009544387459754944, -0.003048613667488098, -0.02041304111480713], [-0.010377228260040283, -0.0022721141576766968, -0.021088354289531708], [-0.009947776794433594, -0.0018276423215866089, -0.01772920787334442], [-0.010601788759231567, -0.002365022897720337, -0.01983102411031723], [-0.0069306641817092896, -0.0031902194023132324, -0.019252918660640717], [-0.009685903787612915, -0.001588180661201477, -0.017313286662101746], [-0.012559369206428528, 0.0010940879583358765, -0.011931613087654114]], "cand_final_gripper_all": [0.002517104148864746, 0.010364711284637451, 0.1666622757911682, 0.005873352289199829, 0.0015295445919036865, 0.0008082389831542969, 0.0015112757682800293, 0.001786351203918457, 0.0027957558631896973, 0.0014609992504119873, 0.00515177845954895, 0.002278238534927368, 0.0, 0.020388305187225342, 0.002495795488357544, 0.0018765628337860107, 0.0005235075950622559, 0.013104438781738281, 0.004650235176086426, 0.0, 0.005023330450057983, 0.004453331232070923, 0.0070608556270599365, 0.004656881093978882, 0.010684788227081299, 0.0036256611347198486, 0.003003835678100586, 0.002705007791519165, 0.0, 0.0, 0.006064683198928833, 0.005154728889465332], "eef_pos": [0.6791536808013916, 0.10385223478078842, 0.21015700697898865], "cand_action_std": 0.07509152591228485, "cand_pairwise_centroid_dist_mean": 0.7454143762588501, "argmax_act_outlier": 1.0033270120620728, "time_encode_ms": 4.909344017505646, "time_diffusion_ms": 35.949924029409885, "time_q_score_ms": 8.238196838647127, "time_total_ms": 50.01774081028998, "num_action_samples_effective": 32, "q_aggregate": "pair_min"} +{"chunk_ordinal": 101, "q_min_best": 0.36679399013519287, "q_min_mean": 0.30495303869247437, "q_min_std": 0.028397824615240097, "q_min_median": 0.3034116327762604, "chosen_vs_median_q_gap": 0.0633823573589325, "q1_best": 0.5757754445075989, "q2_best": 0.36679399013519287, "v_val": 0.138367161154747, "advantage": 0.22842682898044586, "best_idx": 14, "q_min_all": [0.29881751537323, 0.31661859154701233, 0.2773738205432892, 0.3519662618637085, 0.3497496247291565, 0.35239869356155396, 0.30728283524513245, 0.30938684940338135, 0.2705686390399933, 0.24177879095077515, 0.28537866473197937, 0.27315258979797363, 0.32293590903282166, 0.2839520573616028, 0.36679399013519287, 0.29720887541770935, 0.27824148535728455, 0.2948235273361206, 0.3282204866409302, 0.2888772785663605, 0.3311237692832947, 0.29947566986083984, 0.2770161032676697, 0.3216959536075592, 0.31929007172584534, 0.3034116327762604, 0.3180575966835022, 0.30904558300971985, 0.31313356757164, 0.3253706991672516, 0.2727901339530945, 0.2725592851638794], "q1_all": [0.528712809085846, 0.5314512848854065, 0.48413166403770447, 0.5149553418159485, 0.5443276762962341, 0.5217979550361633, 0.5392075181007385, 0.5309338569641113, 0.5493667125701904, 0.44899699091911316, 0.5172128081321716, 0.4873790144920349, 0.5344453454017639, 0.5124930143356323, 0.5757754445075989, 0.5187961459159851, 0.4787295460700989, 0.5126319527626038, 0.5395579934120178, 0.479696124792099, 0.51312655210495, 0.5461021661758423, 0.531562328338623, 0.5239289999008179, 0.5384002923965454, 0.5266007781028748, 0.5217567086219788, 0.4737532138824463, 0.5236776471138, 0.5317879915237427, 0.4973631799221039, 0.5138238072395325], "q2_all": [0.29881751537323, 0.31661859154701233, 0.2773738205432892, 0.3519662618637085, 0.3497496247291565, 0.35239869356155396, 0.30728283524513245, 0.30938684940338135, 0.2705686390399933, 0.24177879095077515, 0.28537866473197937, 0.27315258979797363, 0.32293590903282166, 0.2839520573616028, 0.36679399013519287, 0.29720887541770935, 0.27824148535728455, 0.2948235273361206, 0.3282204866409302, 0.2888772785663605, 0.3311237692832947, 0.29947566986083984, 0.2770161032676697, 0.3216959536075592, 0.31929007172584534, 0.3034116327762604, 0.3180575966835022, 0.30904558300971985, 0.31313356757164, 0.3253706991672516, 0.2727901339530945, 0.2725592851638794], "cand_trans_speed_all": [0.00423602107912302, 0.0040009506046772, 0.005137128289788961, 0.005343944765627384, 0.003023106139153242, 0.004836928099393845, 0.00462492648512125, 0.0035255453549325466, 0.004418456461280584, 0.007208788301795721, 0.0048942770808935165, 0.0074822669848799706, 0.004786971025168896, 0.0036299906205385923, 0.006762360222637653, 0.0043526822701096535, 0.0038381495978683233, 0.004690344445407391, 0.00408915663138032, 0.00519547751173377, 0.004904487635940313, 0.003868709784001112, 0.00424255570396781, 0.004141787998378277, 0.004818491172045469, 0.0031543958466500044, 0.004329067654907703, 0.005248628091067076, 0.003234080970287323, 0.0029848970007151365, 0.0033887848258018494, 0.003708257107064128], "cand_cum_xyz_disp_all": [[-0.00657239556312561, -0.00110529363155365, -0.005584023892879486], [-0.005488112568855286, -0.002108335494995117, -0.01494135707616806], [-0.013145089149475098, -0.0027047693729400635, -0.018827810883522034], [-0.006088078022003174, -0.008248791098594666, -0.019521161913871765], [-0.0069009363651275635, -0.004533484578132629, -0.01443597674369812], [-0.006290361285209656, -0.0003241002559661865, -0.013178542256355286], [-0.003597572445869446, 0.005227074027061462, -0.01059442013502121], [-0.00802949070930481, -0.003361806273460388, -0.01491023600101471], [-0.011396139860153198, -0.0015735328197479248, -0.008923746645450592], [-0.017263546586036682, -0.0021593719720840454, -0.017218947410583496], [-0.01257428526878357, -0.00388219952583313, -0.013112492859363556], [-0.009995639324188232, -0.0021347850561141968, -0.012435562908649445], [-0.006060540676116943, -0.0020573288202285767, -0.013784795999526978], [-0.006470918655395508, -0.003075212240219116, -0.016957305371761322], [-0.007533550262451172, -0.00634513795375824, -0.009895890951156616], [-0.006602615118026733, -0.0030928850173950195, -0.011239483952522278], [-0.006760835647583008, -0.00372372567653656, -0.01826655864715576], [-0.009042501449584961, 0.0003943890333175659, -0.015755265951156616], [-0.004917412996292114, 0.00039340555667877197, -0.01620982587337494], [-0.010479405522346497, -0.0008920282125473022, -0.02581372857093811], [-0.009057760238647461, -0.007652252912521362, -0.024504855275154114], [-0.008960753679275513, -0.002513214945793152, -0.006043583154678345], [-0.010191768407821655, -8.596479892730713e-05, -0.013062797486782074], [-0.00573711097240448, -0.0022322088479995728, -0.017750419676303864], [-0.003853142261505127, -0.0010081678628921509, -0.012169398367404938], [-0.0052540600299835205, -0.003195047378540039, -0.015501759946346283], [-0.005915895104408264, -0.0008967816829681396, -0.012805357575416565], [-0.0066086649894714355, -0.008495733141899109, -0.02539803832769394], [-0.007336512207984924, -0.0010115355253219604, -0.012341536581516266], [-0.005263775587081909, -0.0014138072729110718, -0.013952210545539856], [-0.011450767517089844, -0.0010789185762405396, -0.012560203671455383], [-0.009441480040550232, -0.005424931645393372, -0.014972090721130371]], "cand_final_gripper_all": [0.22953078150749207, 0.006904691457748413, 0.010390937328338623, 0.0, 0.0031059682369232178, 0.0, 0.0, 0.004881918430328369, 0.0003057420253753662, 0.0028157830238342285, 0.005987614393234253, 0.0049887001514434814, 0.009550303220748901, 0.0, 0.004215031862258911, 0.0027795732021331787, 0.00020200014114379883, 0.0027576088905334473, 0.002141207456588745, 0.004102110862731934, 0.00026980042457580566, 0.0022391974925994873, 0.0030232369899749756, 0.007387042045593262, 0.005897015333175659, 0.038398951292037964, 0.002282381057739258, 0.002116382122039795, 0.0003819763660430908, 0.0027570724487304688, 0.001136183738708496, 0.0], "eef_pos": [0.6818876266479492, 0.1042410209774971, 0.21556805074214935], "cand_action_std": 0.09344897419214249, "cand_pairwise_centroid_dist_mean": 0.862952470779419, "argmax_act_outlier": 1.5961450338363647, "time_encode_ms": 6.220855982974172, "time_diffusion_ms": 36.15503408946097, "time_q_score_ms": 7.546673994511366, "time_total_ms": 50.729810958728194, "num_action_samples_effective": 32, "q_aggregate": "pair_min"} +{"chunk_ordinal": 102, "q_min_best": 0.46567025780677795, "q_min_mean": 0.4032123386859894, "q_min_std": 0.03507443144917488, "q_min_median": 0.4006263017654419, "chosen_vs_median_q_gap": 0.06504395604133606, "q1_best": 0.5324637293815613, "q2_best": 0.46567025780677795, "v_val": 0.016090955585241318, "advantage": 0.44957930222153664, "best_idx": 30, "q_min_all": [0.4553663432598114, 0.3940410912036896, 0.38346564769744873, 0.4006263017654419, 0.414675772190094, 0.40374985337257385, 0.38510820269584656, 0.38074469566345215, 0.393402636051178, 0.3623299300670624, 0.3527604043483734, 0.38539236783981323, 0.4025534987449646, 0.41537362337112427, 0.31888309121131897, 0.43896833062171936, 0.46002012491226196, 0.4058358669281006, 0.4272070527076721, 0.45461606979370117, 0.43798312544822693, 0.43669983744621277, 0.3868095874786377, 0.38980531692504883, 0.3938497304916382, 0.4375777244567871, 0.4160992503166199, 0.33445054292678833, 0.39829128980636597, 0.36477476358413696, 0.46567025780677795, 0.40566253662109375], "q1_all": [0.5167098641395569, 0.4625408947467804, 0.485503226518631, 0.46119576692581177, 0.49748653173446655, 0.4919182062149048, 0.4551911950111389, 0.46473607420921326, 0.46362146735191345, 0.48078522086143494, 0.4734896719455719, 0.46258243918418884, 0.4904509484767914, 0.4840475916862488, 0.43539246916770935, 0.5044882297515869, 0.5089775919914246, 0.4618072807788849, 0.4912680685520172, 0.5030907392501831, 0.5096518397331238, 0.48722001910209656, 0.48061898350715637, 0.46934911608695984, 0.4901537597179413, 0.5042163133621216, 0.4711116850376129, 0.4405730962753296, 0.5018461346626282, 0.4638344943523407, 0.5324637293815613, 0.4839807450771332], "q2_all": [0.4553663432598114, 0.3940410912036896, 0.38346564769744873, 0.4006263017654419, 0.414675772190094, 0.40374985337257385, 0.38510820269584656, 0.38074469566345215, 0.393402636051178, 0.3623299300670624, 0.3527604043483734, 0.38539236783981323, 0.4025534987449646, 0.41537362337112427, 0.31888309121131897, 0.43896833062171936, 0.46002012491226196, 0.4058358669281006, 0.4272070527076721, 0.45461606979370117, 0.43798312544822693, 0.43669983744621277, 0.3868095874786377, 0.38980531692504883, 0.3938497304916382, 0.4375777244567871, 0.4160992503166199, 0.33445054292678833, 0.39829128980636597, 0.36477476358413696, 0.46567025780677795, 0.40566253662109375], "cand_trans_speed_all": [0.003803384955972433, 0.004397738259285688, 0.004908337257802486, 0.0042368876747787, 0.0043534464202821255, 0.004282474517822266, 0.0036516531836241484, 0.003270530141890049, 0.004178622271865606, 0.003160008229315281, 0.0030631772242486477, 0.00396578898653388, 0.003961170092225075, 0.003962600138038397, 0.004346396308392286, 0.003896938404068351, 0.0041149938479065895, 0.005084055941551924, 0.003209693357348442, 0.0037344235461205244, 0.002705004531890154, 0.003982300870120525, 0.003903442993760109, 0.0037090338300913572, 0.003572306130081415, 0.0028676334768533707, 0.003995333798229694, 0.005226969253271818, 0.0031054287683218718, 0.004570131655782461, 0.002482685260474682, 0.005124466493725777], "cand_cum_xyz_disp_all": [[0.0009933561086654663, -0.006976276636123657, -0.014876939356327057], [-0.007655888795852661, -0.0054357051849365234, -0.016495540738105774], [-0.0014368146657943726, -0.005722463130950928, -0.022926270961761475], [-0.0011279881000518799, -0.0011103898286819458, -0.0180523544549942], [-0.005474448204040527, -0.006942197680473328, -0.02135463058948517], [-0.0059637874364852905, -0.009195461869239807, -0.02065223455429077], [-0.0030120909214019775, -0.005287483334541321, -0.011881746351718903], [-0.003238677978515625, -0.00579465925693512, -0.015632398426532745], [-0.004349857568740845, -0.009101718664169312, -0.018380753695964813], [-0.010463535785675049, -0.0044669657945632935, -0.009312920272350311], [-0.006416261196136475, -0.002371072769165039, -0.013857759535312653], [-0.006271049380302429, -0.0057424455881118774, -0.019050180912017822], [-0.004339098930358887, -0.006453573703765869, -0.01832614839076996], [-0.005882009863853455, -0.004081889986991882, -0.015449479222297668], [-0.009139969944953918, -0.006667107343673706, -0.021299704909324646], [-0.0032749176025390625, -0.007392913103103638, -0.014664649963378906], [-0.002977520227432251, -0.0051451176404953, -0.009982280433177948], [-0.00424504280090332, -0.005317464470863342, -0.013212502002716064], [-0.0020193010568618774, -0.006315186619758606, -0.015533074736595154], [-0.0017989575862884521, -0.0025049448013305664, -0.008149147033691406], [-0.0025827139616012573, -0.004979982972145081, -0.008610911667346954], [-0.0016856640577316284, -0.0026447027921676636, -0.018710851669311523], [-0.0030399560928344727, -0.00454103946685791, -0.020352505147457123], [-0.00699189305305481, -0.006412938237190247, -0.012990981340408325], [-0.006240233778953552, -0.004758656024932861, -0.017015211284160614], [-0.0036690980195999146, -0.005451396107673645, -0.0073275938630104065], [-0.004225179553031921, -0.003772720694541931, -0.015598893165588379], [-0.012447401881217957, -0.008431971073150635, -0.014041423797607422], [-0.004629388451576233, -0.0029900819063186646, -0.014939285814762115], [-0.0065290480852127075, -0.006481602787971497, -0.017948798835277557], [-0.002816915512084961, -0.007917433977127075, -0.010832570493221283], [-0.004451587796211243, -0.006572306156158447, -0.011754706501960754]], "cand_final_gripper_all": [0.0, 0.0007425248622894287, 0.05553102493286133, 0.0032880008220672607, 0.0, 0.0, 6.586313247680664e-06, 0.003657817840576172, 0.009557157754898071, 0.0, 0.013980269432067871, 0.0041911303997039795, 0.005468696355819702, 0.0, 0.0, 0.0, 0.004988610744476318, 0.0, 0.0012101233005523682, 0.0015441179275512695, 0.00944751501083374, 0.0, 0.0010075867176055908, 0.0008441507816314697, 0.0051535964012146, 0.0, 0.002142608165740967, 0.0004983246326446533, 0.005221277475357056, 0.005127221345901489, 0.0, 0.0], "eef_pos": [0.6829111576080322, 0.10152032971382141, 0.21305958926677704], "cand_action_std": 0.07492154091596603, "cand_pairwise_centroid_dist_mean": 0.7205145359039307, "argmax_act_outlier": 1.3449792861938477, "time_encode_ms": 5.277496995404363, "time_diffusion_ms": 36.035102093592286, "time_q_score_ms": 7.928743027150631, "time_total_ms": 50.12460914440453, "num_action_samples_effective": 32, "q_aggregate": "pair_min"} +{"chunk_ordinal": 103, "q_min_best": 0.47585418820381165, "q_min_mean": 0.4020344018936157, "q_min_std": 0.04126100614666939, "q_min_median": 0.40684813261032104, "chosen_vs_median_q_gap": 0.0690060555934906, "q1_best": 0.5778247714042664, "q2_best": 0.47585418820381165, "v_val": 0.028045952320098877, "advantage": 0.44780823588371277, "best_idx": 23, "q_min_all": [0.4320199489593506, 0.3794246315956116, 0.3885951638221741, 0.43029648065567017, 0.4205302596092224, 0.42026782035827637, 0.4106282591819763, 0.3379664421081543, 0.35555320978164673, 0.4652678370475769, 0.42815738916397095, 0.36127275228500366, 0.3322989344596863, 0.43471473455429077, 0.38584649562835693, 0.43642938137054443, 0.4382610321044922, 0.37980449199676514, 0.40684813261032104, 0.3874902129173279, 0.389021635055542, 0.3451700210571289, 0.3958148956298828, 0.47585418820381165, 0.4430944323539734, 0.4644191861152649, 0.4252527058124542, 0.3043508529663086, 0.4270946979522705, 0.3571980595588684, 0.388532429933548, 0.4176240563392639], "q1_all": [0.5537821054458618, 0.5117652416229248, 0.533657968044281, 0.559847891330719, 0.504544198513031, 0.5659914612770081, 0.5261666178703308, 0.5023625493049622, 0.4891984462738037, 0.5614782571792603, 0.5357725024223328, 0.4939102232456207, 0.498561292886734, 0.5088093876838684, 0.5316548347473145, 0.544666051864624, 0.5346367359161377, 0.5212708115577698, 0.5422563552856445, 0.5171828866004944, 0.5331218242645264, 0.4952191710472107, 0.5283681154251099, 0.5778247714042664, 0.5707551836967468, 0.5678209066390991, 0.5648693442344666, 0.4710669219493866, 0.5262253284454346, 0.5460096001625061, 0.5260446071624756, 0.5120533108711243], "q2_all": [0.4320199489593506, 0.3794246315956116, 0.3885951638221741, 0.43029648065567017, 0.4205302596092224, 0.42026782035827637, 0.4106282591819763, 0.3379664421081543, 0.35555320978164673, 0.4652678370475769, 0.42815738916397095, 0.36127275228500366, 0.3322989344596863, 0.43471473455429077, 0.38584649562835693, 0.43642938137054443, 0.4382610321044922, 0.37980449199676514, 0.40684813261032104, 0.3874902129173279, 0.389021635055542, 0.3451700210571289, 0.3958148956298828, 0.47585418820381165, 0.4430944323539734, 0.4644191861152649, 0.4252527058124542, 0.3043508529663086, 0.4270946979522705, 0.3571980595588684, 0.388532429933548, 0.4176240563392639], "cand_trans_speed_all": [0.003537706797942519, 0.003602765267714858, 0.0035255025140941143, 0.0028787991032004356, 0.004850110039114952, 0.002884325571358204, 0.004916610196232796, 0.004337049089372158, 0.004654701799154282, 0.0038263320457190275, 0.003839530050754547, 0.003816175041720271, 0.003414219943806529, 0.005830037407577038, 0.0030405984725803137, 0.0025170939043164253, 0.00443901214748621, 0.003141279798001051, 0.003494438249617815, 0.0041063702665269375, 0.0041734883561730385, 0.004977943375706673, 0.003228158690035343, 0.0037797882687300444, 0.0042560407891869545, 0.004923693370074034, 0.0037722454871982336, 0.003856364171952009, 0.004106472712010145, 0.004150880966335535, 0.003363506868481636, 0.0040655918419361115], "cand_cum_xyz_disp_all": [[-0.0016395598649978638, -0.006548777222633362, -0.014156818389892578], [-0.005404442548751831, -0.005724847316741943, -0.013453684747219086], [-0.004010036587715149, -0.005917832255363464, -0.010563462972640991], [-0.0049374401569366455, -0.004286423325538635, -0.010816693305969238], [-0.004293084144592285, -0.0033920854330062866, -0.01480642706155777], [-0.00237274169921875, -0.0024719834327697754, -0.011352591216564178], [-0.001149505376815796, -0.002469286322593689, -0.024316780269145966], [-0.01116354763507843, -0.0028361380100250244, -0.021478958427906036], [-0.008149594068527222, -0.006012037396430969, -0.020255744457244873], [-0.0014196038246154785, -0.007326871156692505, -0.008786581456661224], [0.00044314563274383545, -0.0050074756145477295, -0.011993110179901123], [-0.004581227898597717, -0.00497080385684967, -0.004564829170703888], [-0.007117614150047302, -0.004042521119117737, -0.012485623359680176], [-0.0016850829124450684, 0.000712469220161438, -0.011412553489208221], [-0.004571959376335144, -0.0002507120370864868, -0.010946810245513916], [-0.0038335174322128296, -0.004221126437187195, -0.00823209434747696], [-0.0069105178117752075, -0.008631840348243713, -0.014762021601200104], [-0.005644291639328003, -0.0016923844814300537, -0.012948557734489441], [-0.007087975740432739, -0.0029171258211135864, -0.010362684726715088], [0.0008324086666107178, -0.0018859654664993286, -0.009777955710887909], [-0.008765563368797302, -0.006910040974617004, -0.016479097306728363], [-0.014051169157028198, -0.009049341082572937, -0.01791118085384369], [-0.006860077381134033, -0.0017756372690200806, -0.01391129195690155], [-0.0021179914474487305, -0.0056528449058532715, -0.009501934051513672], [-0.0019494444131851196, -0.001614406704902649, -0.009039267897605896], [-0.005708128213882446, -0.004678681492805481, -0.01819918304681778], [-0.010226964950561523, -0.007320120930671692, -0.010855212807655334], [-0.009580984711647034, -0.006501719355583191, -0.01601739227771759], [-0.005316674709320068, -0.006807446479797363, -0.013659298419952393], [-0.01088462769985199, -0.0038288384675979614, -0.014734454452991486], [-0.007248371839523315, -0.004375919699668884, -0.009711168706417084], [-0.0030694007873535156, -0.003506883978843689, -0.01841619610786438]], "cand_final_gripper_all": [0.07323011755943298, 0.07039147615432739, 0.1354835033416748, 0.018405109643936157, 0.005767762660980225, 0.10210928320884705, 0.0, 0.002146393060684204, 0.009148597717285156, 0.02497294545173645, 0.07392057776451111, 0.1992502510547638, 0.17698124051094055, 0.0, 0.11674585938453674, 0.02458500862121582, 0.0036646127700805664, 0.008079826831817627, 0.0035835206508636475, 0.27222633361816406, 0.0012168288230895996, 0.0, 0.006310820579528809, 0.0516241192817688, 0.042555153369903564, 0.0024505257606506348, 0.0006313920021057129, 0.14371633529663086, 0.0, 0.03731691837310791, 0.014017671346664429, 0.008646488189697266], "eef_pos": [0.6826267838478088, 0.10126040875911713, 0.21187761425971985], "cand_action_std": 0.08713953197002411, "cand_pairwise_centroid_dist_mean": 0.8220431208610535, "argmax_act_outlier": 1.113882303237915, "time_encode_ms": 5.15809515491128, "time_diffusion_ms": 36.001519998535514, "time_q_score_ms": 7.883779006078839, "time_total_ms": 49.77300693280995, "num_action_samples_effective": 32, "q_aggregate": "pair_min"} +{"chunk_ordinal": 104, "q_min_best": 0.505001425743103, "q_min_mean": 0.4355986714363098, "q_min_std": 0.036693766713142395, "q_min_median": 0.4381542205810547, "chosen_vs_median_q_gap": 0.06684720516204834, "q1_best": 0.5501368641853333, "q2_best": 0.505001425743103, "v_val": 0.19419172406196594, "advantage": 0.3108097016811371, "best_idx": 15, "q_min_all": [0.4381542205810547, 0.4026661515235901, 0.3900033235549927, 0.47099825739860535, 0.4056233763694763, 0.4196421504020691, 0.44791364669799805, 0.44571709632873535, 0.47734716534614563, 0.4777871370315552, 0.41133391857147217, 0.3746606111526489, 0.4570743441581726, 0.4605274796485901, 0.45022839307785034, 0.505001425743103, 0.4891047477722168, 0.44321417808532715, 0.47219011187553406, 0.4261448085308075, 0.3984612822532654, 0.4566652774810791, 0.4239557385444641, 0.4356071949005127, 0.46603721380233765, 0.3991062641143799, 0.3514566123485565, 0.4578683078289032, 0.407705157995224, 0.38022661209106445, 0.47716596722602844, 0.4195699393749237], "q1_all": [0.5377392768859863, 0.4893646538257599, 0.5209704041481018, 0.5314938426017761, 0.5297366976737976, 0.5008376836776733, 0.5148520469665527, 0.5391078591346741, 0.5459338426589966, 0.5306168794631958, 0.49874797463417053, 0.5164029598236084, 0.5311010479927063, 0.5374130606651306, 0.5313712954521179, 0.5501368641853333, 0.519446074962616, 0.5196298956871033, 0.5161770582199097, 0.5129061937332153, 0.5183804631233215, 0.574910581111908, 0.5297070741653442, 0.551611602306366, 0.5532326102256775, 0.553459107875824, 0.4985875189304352, 0.5228255391120911, 0.5337939858436584, 0.519134521484375, 0.5475419163703918, 0.5318722724914551], "q2_all": [0.4381542205810547, 0.4026661515235901, 0.3900033235549927, 0.47099825739860535, 0.4056233763694763, 0.4196421504020691, 0.44791364669799805, 0.44571709632873535, 0.47734716534614563, 0.4777871370315552, 0.41133391857147217, 0.3746606111526489, 0.4570743441581726, 0.4605274796485901, 0.45022839307785034, 0.505001425743103, 0.4891047477722168, 0.44321417808532715, 0.47219011187553406, 0.4261448085308075, 0.3984612822532654, 0.4566652774810791, 0.4239557385444641, 0.4356071949005127, 0.46603721380233765, 0.3991062641143799, 0.3514566123485565, 0.4578683078289032, 0.407705157995224, 0.38022661209106445, 0.47716596722602844, 0.4195699393749237], "cand_trans_speed_all": [0.0038078862708061934, 0.004975353367626667, 0.00475726742297411, 0.004659843631088734, 0.002921293955296278, 0.005125872790813446, 0.005754911806434393, 0.003879198804497719, 0.003850804176181555, 0.003281771205365658, 0.004256857559084892, 0.004853591788560152, 0.003648411249741912, 0.004431663081049919, 0.003933792468160391, 0.0037773647345602512, 0.00373530900105834, 0.005114467814564705, 0.005510979797691107, 0.004970225505530834, 0.004420219920575619, 0.004525748547166586, 0.00476647075265646, 0.0037298600655049086, 0.0040559968911111355, 0.0036773334722965956, 0.0032858289778232574, 0.0037123197689652443, 0.003688316559419036, 0.00403441721573472, 0.002926572924479842, 0.003997897729277611], "cand_cum_xyz_disp_all": [[1.2040138244628906e-05, -0.004123285412788391, -0.015133790671825409], [-0.009687170386314392, -0.00397530198097229, -0.020974256098270416], [-0.004498004913330078, -0.003811180591583252, -0.016647525131702423], [-0.004436507821083069, -0.005051419138908386, -0.0062604621052742004], [-0.0009831637144088745, -0.0016354769468307495, -0.007977761328220367], [-0.0052526891231536865, -0.005312368273735046, -0.01515892893075943], [-0.008736416697502136, -0.0027667582035064697, -0.012197591364383698], [-0.005985632538795471, -0.005903065204620361, -0.01829364150762558], [-0.0036491453647613525, -0.0007482916116714478, -0.018307626247406006], [-0.0033602267503738403, -0.0033608824014663696, -0.014706969261169434], [-0.0085364431142807, 0.0010609477758407593, -0.017856784164905548], [-0.011219426989555359, -0.00760999321937561, -0.019944585859775543], [-0.004566654562950134, -0.004163116216659546, -0.01623261719942093], [-0.0057392120361328125, -0.0004053264856338501, -0.01585458219051361], [-0.0029473304748535156, -0.004397764801979065, -0.019484281539916992], [-0.0034556537866592407, -0.006596580147743225, -0.0126185342669487], [0.00019817054271697998, -0.0038172751665115356, -0.015337102115154266], [-0.009998857975006104, -0.007095053791999817, -0.006816074252128601], [-0.0014559179544448853, -0.001529395580291748, -0.018049925565719604], [-0.011667296290397644, -0.004740968346595764, -0.018977634608745575], [-0.009693071246147156, 0.0011465251445770264, -0.016210563480854034], [-0.0023214370012283325, -0.008430123329162598, -0.01645304262638092], [-0.007722020149230957, -0.005896151065826416, -0.025161772966384888], [-0.001956433057785034, -0.004635453224182129, -0.018502317368984222], [-0.002671346068382263, 0.003101065754890442, -0.00951966643333435], [-0.0023927539587020874, -0.0030492693185806274, -0.008956916630268097], [-0.007412225008010864, -0.0020087212324142456, -0.013424746692180634], [-0.005402714014053345, -0.004672154784202576, -0.014896132051944733], [-0.0013506561517715454, -0.0047874003648757935, -0.013329662382602692], [-0.003928229212760925, -0.004700198769569397, -0.015570186078548431], [-0.004916861653327942, -0.0010086894035339355, -0.011241056025028229], [-0.007587268948554993, -0.0016043931245803833, -0.008358187973499298]], "cand_final_gripper_all": [0.08785104751586914, 0.002687901258468628, 0.18892890214920044, 0.012063682079315186, 0.1885317862033844, 0.07860150933265686, 0.0016326308250427246, 0.04697448015213013, 0.016642242670059204, 0.0017258226871490479, 0.036724090576171875, 0.0017486810684204102, 0.003150045871734619, 0.0028037428855895996, 0.005003869533538818, 0.004365384578704834, 0.006611377000808716, 0.006042599678039551, 0.0002722442150115967, 0.008910953998565674, 0.0, 0.0977102518081665, 0.005549907684326172, 0.0, 0.011436402797698975, 0.22328105568885803, 0.21610575914382935, 0.010552644729614258, 0.23565059900283813, 0.17804640531539917, 0.00492522120475769, 0.1746537983417511], "eef_pos": [0.6824772357940674, 0.09960240125656128, 0.21159566938877106], "cand_action_std": 0.08706826716661453, "cand_pairwise_centroid_dist_mean": 0.8221160769462585, "argmax_act_outlier": 1.0024287700653076, "time_encode_ms": 5.90358697809279, "time_diffusion_ms": 36.56983305700123, "time_q_score_ms": 8.615205995738506, "time_total_ms": 51.81939178146422, "num_action_samples_effective": 32, "q_aggregate": "pair_min"} +{"chunk_ordinal": 105, "q_min_best": 0.5445553064346313, "q_min_mean": 0.46978873014450073, "q_min_std": 0.042023852467536926, "q_min_median": 0.47551602125167847, "chosen_vs_median_q_gap": 0.06903928518295288, "q1_best": 0.5587086081504822, "q2_best": 0.5445553064346313, "v_val": 0.2124776393175125, "advantage": 0.33207766711711884, "best_idx": 17, "q_min_all": [0.47551602125167847, 0.4731892943382263, 0.48015180230140686, 0.5283336043357849, 0.4833711087703705, 0.4886244535446167, 0.47700369358062744, 0.4250730574131012, 0.4610598385334015, 0.34607622027397156, 0.410200834274292, 0.4909735918045044, 0.49025219678878784, 0.44316959381103516, 0.4920231103897095, 0.5137560367584229, 0.4416719079017639, 0.5445553064346313, 0.49081307649612427, 0.44103625416755676, 0.44668447971343994, 0.5164697170257568, 0.46341508626937866, 0.40381473302841187, 0.49572718143463135, 0.4643183946609497, 0.45568016171455383, 0.5085930824279785, 0.521145224571228, 0.5081198811531067, 0.44313421845436096, 0.4092864394187927], "q1_all": [0.5136464238166809, 0.5080479383468628, 0.5702751278877258, 0.5538462996482849, 0.5500585436820984, 0.5443031191825867, 0.563469409942627, 0.5388797521591187, 0.5152417421340942, 0.4545246958732605, 0.5375837683677673, 0.5551702976226807, 0.5234012007713318, 0.5579603314399719, 0.5655900835990906, 0.5368148684501648, 0.5299516320228577, 0.5587086081504822, 0.5165608525276184, 0.5524441003799438, 0.5135616064071655, 0.5432907938957214, 0.5305271744728088, 0.5140988230705261, 0.5965575575828552, 0.5292255878448486, 0.4976794421672821, 0.5481516122817993, 0.5354037880897522, 0.5418112874031067, 0.5312004685401917, 0.5215361714363098], "q2_all": [0.47551602125167847, 0.4731892943382263, 0.48015180230140686, 0.5283336043357849, 0.4833711087703705, 0.4886244535446167, 0.47700369358062744, 0.4250730574131012, 0.4610598385334015, 0.34607622027397156, 0.410200834274292, 0.4909735918045044, 0.49025219678878784, 0.44316959381103516, 0.4920231103897095, 0.5137560367584229, 0.4416719079017639, 0.5445553064346313, 0.49081307649612427, 0.44103625416755676, 0.44668447971343994, 0.5164697170257568, 0.46341508626937866, 0.40381473302841187, 0.49572718143463135, 0.4643183946609497, 0.45568016171455383, 0.5085930824279785, 0.521145224571228, 0.5081198811531067, 0.44313421845436096, 0.4092864394187927], "cand_trans_speed_all": [0.0043798331171274185, 0.004670203197747469, 0.003205283312126994, 0.0025877340231090784, 0.0032308059744536877, 0.0032054861076176167, 0.0029272879473865032, 0.003002280369400978, 0.003763803280889988, 0.0055005913600325584, 0.00361528224311769, 0.002826270181685686, 0.0043171909637749195, 0.0047698854468762875, 0.0019547208212316036, 0.0021924227476119995, 0.003366137621924281, 0.002395364223048091, 0.004332507960498333, 0.005062129348516464, 0.0038186199963092804, 0.003509372007101774, 0.0038249276112765074, 0.004425030667334795, 0.002656653057783842, 0.004156286828219891, 0.004127209074795246, 0.0032317626755684614, 0.0025037392042577267, 0.0038250363431870937, 0.003730759723111987, 0.004035445861518383], "cand_cum_xyz_disp_all": [[-0.003956973552703857, -0.0058839768171310425, -0.018029697239398956], [-0.004469156265258789, -0.0008407831192016602, -0.006909683346748352], [-0.0024043619632720947, -0.003953069448471069, -0.006903059780597687], [-0.0018456876277923584, -0.005002856254577637, -0.005128823220729828], [-0.004602313041687012, -0.002893388271331787, -0.006092272698879242], [-0.0015048235654830933, -0.00249655544757843, -0.012536533176898956], [0.0009598582983016968, -0.0019653886556625366, -0.004553861916065216], [-0.0012142062187194824, -0.0018051713705062866, -0.011128291487693787], [0.0004855543375015259, -0.0005746185779571533, -0.008052289485931396], [-0.01695236563682556, -0.005256548523902893, -0.01768413931131363], [-0.004941388964653015, -0.005406513810157776, -0.015537887811660767], [-0.003133341670036316, -0.0032129138708114624, -0.01243039220571518], [-0.0012330710887908936, -0.007321476936340332, -0.017838597297668457], [-0.00492192804813385, -0.005887433886528015, -0.006456129252910614], [0.0019603222608566284, -0.0022672712802886963, 5.504488945007324e-05], [-0.0005757361650466919, -0.0014044493436813354, -0.008150346577167511], [-0.0007341355085372925, -0.002138182520866394, -0.008768945932388306], [-0.0005798935890197754, -0.004789531230926514, -0.0037345662713050842], [-0.0017807632684707642, -0.004546269774436951, -0.014384627342224121], [-0.0017512589693069458, -0.005447834730148315, -0.019181452691555023], [0.0002544522285461426, -0.0038561075925827026, -0.014337517321109772], [-0.003965497016906738, -5.56260347366333e-05, -0.006832137703895569], [-0.0009722709655761719, -0.003577813506126404, -0.006516553461551666], [-0.010420724749565125, -0.005275994539260864, -0.013357289135456085], [0.002645254135131836, -0.005996346473693848, -0.0034916698932647705], [0.0009865164756774902, -0.003921538591384888, -0.007603682577610016], [-0.0032325536012649536, -0.002911701798439026, -0.021520644426345825], [-0.0027815252542495728, -0.0020577311515808105, -0.0033404752612113953], [-0.0017833709716796875, -0.0027820467948913574, -0.005643896758556366], [0.0016289502382278442, -0.004142925143241882, -0.010693557560443878], [-0.000715404748916626, -0.0018148869276046753, -0.007167749106884003], [-0.0014756172895431519, -0.002027273178100586, -0.01189500093460083]], "cand_final_gripper_all": [0.0031531453132629395, 0.0, 0.19154629111289978, 0.0, 0.006934434175491333, 0.08738479018211365, 0.27763593196868896, 0.23446035385131836, 0.23688560724258423, 0.010175436735153198, 0.2236144244670868, 0.05687788128852844, 0.0011332929134368896, 0.2463243007659912, 0.20042631030082703, 0.022761136293411255, 0.216043621301651, 0.005227476358413696, 0.0004537999629974365, 0.20851778984069824, 0.19144007563591003, 0.005810469388961792, 0.17080608010292053, 0.0, 0.22582340240478516, 0.20673274993896484, 0.004765510559082031, 0.050677359104156494, 0.0, 0.10292467474937439, 0.2369532585144043, 0.23601475358009338], "eef_pos": [0.6830396056175232, 0.09856180846691132, 0.21260316669940948], "cand_action_std": 0.09361796826124191, "cand_pairwise_centroid_dist_mean": 0.8942521214485168, "argmax_act_outlier": 1.010455846786499, "time_encode_ms": 5.069380160421133, "time_diffusion_ms": 35.9851389657706, "time_q_score_ms": 7.657249923795462, "time_total_ms": 49.43635291419923, "num_action_samples_effective": 32, "q_aggregate": "pair_min"} +{"chunk_ordinal": 106, "q_min_best": 0.549310564994812, "q_min_mean": 0.46244990825653076, "q_min_std": 0.033554740250110626, "q_min_median": 0.4626837968826294, "chosen_vs_median_q_gap": 0.08662676811218262, "q1_best": 0.5915306210517883, "q2_best": 0.549310564994812, "v_val": 0.45672187209129333, "advantage": 0.09258869290351868, "best_idx": 9, "q_min_all": [0.4626837968826294, 0.4494670629501343, 0.4423840045928955, 0.5040862560272217, 0.4768955111503601, 0.37044864892959595, 0.44482216238975525, 0.5361992120742798, 0.49313604831695557, 0.549310564994812, 0.43694934248924255, 0.47542524337768555, 0.47198987007141113, 0.4643424153327942, 0.4691849946975708, 0.4414139688014984, 0.4226929545402527, 0.4851874113082886, 0.46216708421707153, 0.46384119987487793, 0.4786983132362366, 0.46494191884994507, 0.45639511942863464, 0.4142231047153473, 0.4433378279209137, 0.448061466217041, 0.4343760311603546, 0.49762022495269775, 0.45336291193962097, 0.4793991148471832, 0.46678274869918823, 0.4385702311992645], "q1_all": [0.5815653204917908, 0.5847408771514893, 0.5653542876243591, 0.5605349540710449, 0.5722255110740662, 0.5192620158195496, 0.5312115550041199, 0.5908333659172058, 0.5938425064086914, 0.5915306210517883, 0.5500785708427429, 0.565381646156311, 0.5598366856575012, 0.5809757113456726, 0.5670446753501892, 0.5681362748146057, 0.5533281564712524, 0.57413250207901, 0.5651156902313232, 0.5720524191856384, 0.5549765229225159, 0.5901029706001282, 0.5662766695022583, 0.5490432381629944, 0.570835292339325, 0.5990902185440063, 0.5669283866882324, 0.5902069807052612, 0.5704976320266724, 0.5900838971138, 0.5734660029411316, 0.5760130882263184], "q2_all": [0.4626837968826294, 0.4494670629501343, 0.4423840045928955, 0.5040862560272217, 0.4768955111503601, 0.37044864892959595, 0.44482216238975525, 0.5361992120742798, 0.49313604831695557, 0.549310564994812, 0.43694934248924255, 0.47542524337768555, 0.47198987007141113, 0.4643424153327942, 0.4691849946975708, 0.4414139688014984, 0.4226929545402527, 0.4851874113082886, 0.46216708421707153, 0.46384119987487793, 0.4786983132362366, 0.46494191884994507, 0.45639511942863464, 0.4142231047153473, 0.4433378279209137, 0.448061466217041, 0.4343760311603546, 0.49762022495269775, 0.45336291193962097, 0.4793991148471832, 0.46678274869918823, 0.4385702311992645], "cand_trans_speed_all": [0.0035978863015770912, 0.0031334187369793653, 0.0025994267780333757, 0.0054778000339865685, 0.002957705408334732, 0.004450376611202955, 0.0036188815720379353, 0.0028328108601272106, 0.005454059690237045, 0.00293800700455904, 0.00451777596026659, 0.0024176621809601784, 0.0037990622222423553, 0.002911556279286742, 0.003009217558428645, 0.0033805135171860456, 0.0031947814859449863, 0.0022247133310884237, 0.0051942141726613045, 0.004711652174592018, 0.003429257310926914, 0.004390438552945852, 0.0027964594773948193, 0.004064377397298813, 0.002760400529950857, 0.002454797737300396, 0.0025398030411452055, 0.0025795442052185535, 0.0027903523296117783, 0.0025151707231998444, 0.002571848686784506, 0.0027848517056554556], "cand_cum_xyz_disp_all": [[0.0002856999635696411, -0.0031269341707229614, -0.012680567800998688], [-0.00021016597747802734, -0.0021853893995285034, -0.00984635204076767], [-0.0017252415418624878, -0.0011886358261108398, -0.006936848163604736], [-0.00474192202091217, -0.00013017654418945312, -0.008043557405471802], [-0.003496527671813965, -0.0033781826496124268, -0.013531990349292755], [-0.011012017726898193, -0.0019952505826950073, -0.00805656611919403], [-0.006597012281417847, -0.001435890793800354, -0.01725958287715912], [-0.0012405067682266235, -0.0022238343954086304, -0.008860066533088684], [-0.0036892443895339966, -0.005040764808654785, -0.020913101732730865], [0.0038127750158309937, 0.000810086727142334, -0.011017099022865295], [-0.0022025257349014282, -0.0004041939973831177, -0.00689687579870224], [0.0014381259679794312, -0.0017717331647872925, -0.001081317663192749], [0.0014865994453430176, -0.001515999436378479, -3.629922866821289e-05], [0.0008449554443359375, -0.002176254987716675, -0.00964510440826416], [-0.0032572895288467407, -0.0029006898403167725, -0.01547221839427948], [0.0003121793270111084, -0.0020801275968551636, -0.0067739337682724], [-0.0022899657487869263, -0.0017942041158676147, -0.007368884980678558], [-0.003148123621940613, -0.002008885145187378, -0.006269276142120361], [0.0022244304418563843, -0.000666007399559021, -0.0029202327132225037], [-0.0012776553630828857, -0.0022090673446655273, -0.009185068309307098], [-0.005492940545082092, -0.00021536648273468018, -0.01250874251127243], [0.0007819533348083496, -0.004108056426048279, -0.005014002323150635], [0.0016694068908691406, -0.003548741340637207, -0.009089238941669464], [-0.004332870244979858, -0.002861112356185913, -0.018313929438591003], [-0.001192241907119751, -0.0015517175197601318, -0.00848301500082016], [-0.000987216830253601, -0.002253219485282898, -0.01070820540189743], [-0.00028952956199645996, -0.002740204334259033, -0.010996684432029724], [0.0004980713129043579, -0.0017914623022079468, -0.009927153587341309], [-0.0018424242734909058, -0.002352401614189148, -0.004936687648296356], [0.004552885890007019, -0.002143844962120056, -0.005027242004871368], [-0.0002902597188949585, -0.002515733242034912, -0.01014629751443863], [-0.0015102773904800415, -0.0036170482635498047, -0.00778593122959137]], "cand_final_gripper_all": [0.33545756340026855, 0.2267571985721588, 0.21051830053329468, 0.01250120997428894, 0.04587024450302124, 0.20689532160758972, 0.0023547112941741943, 0.001766204833984375, 0.017616868019104004, 0.030434995889663696, 0.22716033458709717, 0.25609487295150757, 0.2796257734298706, 0.2245548963546753, 0.055904656648635864, 0.2155461311340332, 0.23458588123321533, 0.04772058129310608, 0.24653688073158264, 0.24320274591445923, 0.03677105903625488, 0.2854250371456146, 0.23095393180847168, 0.22734525799751282, 0.20719948410987854, 0.33141064643859863, 0.22823947668075562, 0.10417023301124573, 0.24139168858528137, 0.20282089710235596, 0.3218380808830261, 0.242234468460083], "eef_pos": [0.6823897957801819, 0.09818842262029648, 0.21026578545570374], "cand_action_std": 0.08731448650360107, "cand_pairwise_centroid_dist_mean": 0.8386187553405762, "argmax_act_outlier": 0.9806700944900513, "time_encode_ms": 5.181979155167937, "time_diffusion_ms": 36.07352310791612, "time_q_score_ms": 8.935879915952682, "time_total_ms": 50.89413491077721, "num_action_samples_effective": 32, "q_aggregate": "pair_min"} +{"chunk_ordinal": 107, "q_min_best": 0.38337376713752747, "q_min_mean": 0.3382202982902527, "q_min_std": 0.024400020018219948, "q_min_median": 0.34010040760040283, "chosen_vs_median_q_gap": 0.043273359537124634, "q1_best": 0.4924074709415436, "q2_best": 0.38337376713752747, "v_val": 0.007034127600491047, "advantage": 0.3763396395370364, "best_idx": 2, "q_min_all": [0.3050794005393982, 0.2992836833000183, 0.38337376713752747, 0.3066459000110626, 0.36761459708213806, 0.31156012415885925, 0.3240034878253937, 0.3452123701572418, 0.33284813165664673, 0.3407541513442993, 0.31369978189468384, 0.30609166622161865, 0.31251245737075806, 0.3677958548069, 0.37008553743362427, 0.3646025061607361, 0.33901265263557434, 0.31071555614471436, 0.322094202041626, 0.3415813446044922, 0.3291647136211395, 0.3809223473072052, 0.35917893052101135, 0.34017711877822876, 0.3072761297225952, 0.34010040760040283, 0.35490384697914124, 0.3476433753967285, 0.3347415030002594, 0.35038498044013977, 0.34127548336982727, 0.3727130889892578], "q1_all": [0.4121096134185791, 0.41129520535469055, 0.4924074709415436, 0.4045354723930359, 0.46927061676979065, 0.4506848156452179, 0.4482063055038452, 0.4736050069332123, 0.4587602913379669, 0.42388296127319336, 0.4408809244632721, 0.4456292688846588, 0.392695814371109, 0.4955074191093445, 0.4666213095188141, 0.4889470636844635, 0.4683099687099457, 0.3898138701915741, 0.42820534110069275, 0.44514355063438416, 0.47905388474464417, 0.48588740825653076, 0.45631101727485657, 0.4760597348213196, 0.46349599957466125, 0.44322726130485535, 0.4550410807132721, 0.4579419195652008, 0.4402677118778229, 0.48044660687446594, 0.4420280456542969, 0.5001197457313538], "q2_all": [0.3050794005393982, 0.2992836833000183, 0.38337376713752747, 0.3066459000110626, 0.36761459708213806, 0.31156012415885925, 0.3240034878253937, 0.3452123701572418, 0.33284813165664673, 0.3407541513442993, 0.31369978189468384, 0.30609166622161865, 0.31251245737075806, 0.3677958548069, 0.37008553743362427, 0.3646025061607361, 0.33901265263557434, 0.31071555614471436, 0.322094202041626, 0.3415813446044922, 0.3291647136211395, 0.3809223473072052, 0.35917893052101135, 0.34017711877822876, 0.3072761297225952, 0.34010040760040283, 0.35490384697914124, 0.3476433753967285, 0.3347415030002594, 0.35038498044013977, 0.34127548336982727, 0.3727130889892578], "cand_trans_speed_all": [0.006132399197667837, 0.004622216802090406, 0.004297160543501377, 0.006997634656727314, 0.004915536381304264, 0.004994524642825127, 0.004667067434638739, 0.005123071372509003, 0.004300220403820276, 0.0061704861000180244, 0.00422553950920701, 0.004925718531012535, 0.005906510166823864, 0.006894662044942379, 0.004187784623354673, 0.005133617669343948, 0.0034587595146149397, 0.005708798766136169, 0.005002216435968876, 0.0051685660146176815, 0.003989069722592831, 0.0037212108727544546, 0.004733758978545666, 0.0054165637120604515, 0.0049431100487709045, 0.005265924148261547, 0.005178016610443592, 0.004253930412232876, 0.005165849346667528, 0.004910704214125872, 0.004868430085480213, 0.0046633025631308556], "cand_cum_xyz_disp_all": [[-0.014208480715751648, -0.0067075639963150024, -0.02633804827928543], [-0.010088860988616943, -0.004269331693649292, -0.01992185413837433], [-0.006230100989341736, -0.002831563353538513, -0.020739085972309113], [-0.016337454319000244, -0.002774372696876526, -0.014787271618843079], [-0.00548689067363739, -0.007878914475440979, -0.023550882935523987], [-0.01163017749786377, -0.008035123348236084, -0.021644793450832367], [-0.011091426014900208, -0.005104690790176392, -0.019914939999580383], [-0.009292393922805786, -0.005203709006309509, -0.020908020436763763], [-0.005862966179847717, -0.009049415588378906, -0.02297522872686386], [-0.01022997498512268, -0.010114207863807678, -0.024951361119747162], [-0.009236976504325867, -0.00481434166431427, -0.019304171204566956], [-0.009056106209754944, -0.0006372332572937012, -0.026712380349636078], [-0.012684732675552368, -0.009382516145706177, -0.026485010981559753], [-0.004035875201225281, -0.0022333115339279175, -0.013952754437923431], [-0.004850611090660095, -0.00664028525352478, -0.0208345428109169], [-0.006325885653495789, -0.00350932776927948, -0.014668315649032593], [-0.009175270795822144, -0.0056416988372802734, -0.013579607009887695], [-0.008920550346374512, -0.007535994052886963, -0.0233481302857399], [-0.008411645889282227, -0.005726158618927002, -0.017240144312381744], [-0.004829272627830505, -0.004585400223731995, -0.027001947164535522], [-0.006972327828407288, -0.001058921217918396, -0.0135335773229599], [-0.005781427025794983, -0.004771396517753601, -0.015330187976360321], [-0.004677385091781616, -0.003916919231414795, -0.024329327046871185], [-0.012111455202102661, -0.006549432873725891, -0.02480883151292801], [-0.008529186248779297, -0.0026023685932159424, -0.021494455635547638], [-0.009540855884552002, -0.005801454186439514, -0.02339879423379898], [-0.00827103853225708, -0.007481038570404053, -0.027499161660671234], [-0.006069406867027283, -0.004067346453666687, -0.020216144621372223], [-0.008609309792518616, -0.006907761096954346, -0.025695517659187317], [-0.006250098347663879, -0.009115561842918396, -0.023041702806949615], [-0.007097750902175903, -0.00606130063533783, -0.025264471769332886], [-0.00513911247253418, -0.005728885531425476, -0.019897080957889557]], "cand_final_gripper_all": [0.006569266319274902, 0.004631131887435913, 0.0028290748596191406, 0.007425278425216675, 0.008732080459594727, 0.0005993843078613281, 0.0055578649044036865, 0.012000560760498047, 0.01410624384880066, 0.0012346208095550537, 0.008228421211242676, 0.0036779940128326416, 0.002348870038986206, 0.0, 0.07422548532485962, 0.007330775260925293, 0.003108292818069458, 0.0013613104820251465, 0.10539209842681885, 0.005998790264129639, 0.014775902032852173, 0.0, 0.0031558871269226074, 0.002031564712524414, 0.007679969072341919, 0.0, 0.0, 0.0015626847743988037, 0.00598067045211792, 0.0005226433277130127, 0.00023534893989562988, 0.007983148097991943], "eef_pos": [0.6818225383758545, 0.1023322120308876, 0.2104572355747223], "cand_action_std": 0.08777396380901337, "cand_pairwise_centroid_dist_mean": 0.8364260196685791, "argmax_act_outlier": 1.0719391107559204, "time_encode_ms": 6.160835037007928, "time_diffusion_ms": 36.29796905443072, "time_q_score_ms": 9.300657082349062, "time_total_ms": 52.59972903877497, "num_action_samples_effective": 32, "q_aggregate": "pair_min"}