diff --git "a/chunk_info/round_0007_E.jsonl" "b/chunk_info/round_0007_E.jsonl" new file mode 100644--- /dev/null +++ "b/chunk_info/round_0007_E.jsonl" @@ -0,0 +1,43 @@ +{"round_num": 7, "anonymous_label": "E", "outcome": "success", "num_steps": 247, "num_chunks": 42} +{"chunk_ordinal": 0, "q_min_best": 0.487718403339386, "q_min_mean": 0.310129314661026, "q_min_std": 0.05658813565969467, "q_min_median": 0.29257047176361084, "chosen_vs_median_q_gap": 0.19514793157577515, "q1_best": 0.5395138263702393, "q2_best": 0.487718403339386, "v_val": 0.6133082509040833, "advantage": -0.12558984756469727, "best_idx": 16, "q_min_all": [0.2968152165412903, 0.3319464325904846, 0.286074697971344, 0.2912463843822479, 0.2920640707015991, 0.26018741726875305, 0.3244475722312927, 0.3298156261444092, 0.25236356258392334, 0.26765498518943787, 0.324424684047699, 0.29257047176361084, 0.27267777919769287, 0.2850629687309265, 0.31976258754730225, 0.320426344871521, 0.487718403339386, 0.3222021162509918, 0.37505024671554565, 0.3540508449077606, 0.28792527318000793, 0.26451316475868225, 0.22825242578983307, 0.3072985112667084, 0.29095521569252014, 0.483434796333313, 0.3140360414981842, 0.2936922311782837, 0.2636277973651886, 0.2515178918838501, 0.3613109886646271, 0.2910116910934448], "q1_all": [0.2968152165412903, 0.36981233954429626, 0.286074697971344, 0.2912463843822479, 0.2920640707015991, 0.26018741726875305, 0.3244475722312927, 0.4295532703399658, 0.25236356258392334, 0.26765498518943787, 0.324424684047699, 0.29257047176361084, 0.27267777919769287, 0.2850629687309265, 0.39018526673316956, 0.320426344871521, 0.5395138263702393, 0.3222021162509918, 0.417153537273407, 0.3540508449077606, 0.28792527318000793, 0.26451316475868225, 0.22825242578983307, 0.3072985112667084, 0.29095521569252014, 0.5613881945610046, 0.3140360414981842, 0.2936922311782837, 0.2636277973651886, 0.2515178918838501, 0.3613109886646271, 0.2910116910934448], "q2_all": [0.38407033681869507, 0.3319464325904846, 0.3777044713497162, 0.3927251994609833, 0.39686319231987, 0.3592035174369812, 0.38226452469825745, 0.3298156261444092, 0.3512856662273407, 0.35161638259887695, 0.42223310470581055, 0.3963923454284668, 0.383132666349411, 0.3421857953071594, 0.31976258754730225, 0.41856858134269714, 0.487718403339386, 0.4181387722492218, 0.37505024671554565, 0.3796725869178772, 0.38305139541625977, 0.3510858416557312, 0.3315167725086212, 0.3612959086894989, 0.3504747152328491, 0.483434796333313, 0.39111435413360596, 0.3882913887500763, 0.2894422709941864, 0.33332201838493347, 0.39211398363113403, 0.3800426721572876], "cand_trans_speed_all": [0.013550798408687115, 0.010944658890366554, 0.013661745004355907, 0.013637704774737358, 0.01285212766379118, 0.017087552696466446, 0.013013049960136414, 0.011031152680516243, 0.013567688874900341, 0.01312396489083767, 0.013163927011191845, 0.015424525365233421, 0.013126835227012634, 0.01295645534992218, 0.009615292772650719, 0.013350924476981163, 0.01716427505016327, 0.012701078318059444, 0.0048755775205791, 0.012583732604980469, 0.014485422521829605, 0.014222602359950542, 0.01622883602976799, 0.012394402176141739, 0.012334631755948067, 0.018871581181883812, 0.012528616935014725, 0.013450662605464458, 0.013423653319478035, 0.014011664316058159, 0.011411438696086407, 0.012650681659579277], "cand_cum_xyz_disp_all": [[0.07493685185909271, -0.01755554974079132, 0.01886049658060074], [0.06145139038562775, -0.015151068568229675, 0.009488902986049652], [0.07529561221599579, -0.016937121748924255, 0.023047275841236115], [0.07579730451107025, -0.014327242970466614, 0.01895616203546524], [0.06959335505962372, -0.012976974248886108, 0.024235554039478302], [0.09266786277294159, -0.023770496249198914, 0.030736394226551056], [0.07352600991725922, -0.01344558596611023, 0.015675432980060577], [0.05579204857349396, -0.012307912111282349, 0.006723277270793915], [0.07330946624279022, -0.01606370508670807, 0.02386879175901413], [0.07246597111225128, -0.01500752568244934, 0.022486649453639984], [0.0722721666097641, -0.01610386371612549, 0.019980020821094513], [0.08493687212467194, -0.01859964430332184, 0.025631733238697052], [0.072199746966362, -0.020818322896957397, 0.021599866449832916], [0.0699024349451065, -0.015468031167984009, 0.015207000076770782], [0.04895907640457153, -0.009607568383216858, 0.006233632564544678], [0.07446567714214325, -0.013228699564933777, 0.020075462758541107], [0.09088374674320221, -0.04280974715948105, 0.018089987337589264], [0.07007025182247162, -0.014959633350372314, 0.019076548516750336], [0.02625848352909088, -0.005447953939437866, -0.00263388454914093], [0.07003112137317657, -0.01374785602092743, 0.015192084014415741], [0.07863952219486237, -0.014209523797035217, 0.023111186921596527], [0.07864998281002045, -0.02015797793865204, 0.01999669522047043], [0.0882626324892044, -0.027193143963813782, 0.025450028479099274], [0.06758193671703339, -0.018610447645187378, 0.01439618319272995], [0.06844441592693329, -0.018460571765899658, 0.01548939198255539], [0.0976269394159317, -0.04922085255384445, 0.0213724747300148], [0.06960473954677582, -0.011085018515586853, 0.01699567586183548], [0.07458661496639252, -0.01890304684638977, 0.021707870066165924], [0.07400871813297272, -0.02047714591026306, 0.01887216418981552], [0.07523213326931, -0.023006826639175415, 0.017909593880176544], [0.06303055584430695, -0.009726285934448242, 0.01419096440076828], [0.07095412909984589, -0.016195297241210938, 0.01829836517572403]], "cand_final_gripper_all": [0.0008539557456970215, 0.0, 0.0026896893978118896, 0.0027645528316497803, 0.0033295154571533203, 0.003864496946334839, 0.0018996894359588623, 0.0, 0.0027864575386047363, 0.003799229860305786, 0.00233614444732666, 0.004894137382507324, 0.0032769739627838135, 0.0021446645259857178, 0.00012236833572387695, 0.003649383783340454, 0.0030445456504821777, 0.0020437538623809814, 0.0029977262020111084, 0.002007126808166504, 0.0020849108695983887, 0.002811610698699951, 0.005537211894989014, 0.0009049773216247559, 0.004187077283859253, 0.0038831233978271484, 0.0024797022342681885, 0.0040985941886901855, 0.004811495542526245, 0.0027906596660614014, 0.004046797752380371, 0.002585679292678833], "eef_pos": [0.3698286712169647, -0.0010176054202020168, 0.4841972887516022], "cand_action_std": 0.48301392793655396, "cand_pairwise_centroid_dist_mean": 3.4536292552948, "argmax_act_outlier": 3.668583631515503, "time_encode_ms": 17.607757821679115, "time_diffusion_ms": 95.39752383716404, "time_q_score_ms": 34.11911707371473, "time_total_ms": 149.86527687869966, "num_action_samples_effective": 32, "q_aggregate": "pair_min"} +{"chunk_ordinal": 1, "q_min_best": 0.48389846086502075, "q_min_mean": 0.40154919028282166, "q_min_std": 0.08455730974674225, "q_min_median": 0.43243148922920227, "chosen_vs_median_q_gap": 0.05146697163581848, "q1_best": 0.48389846086502075, "q2_best": 0.4887576103210449, "v_val": 0.5783007144927979, "advantage": -0.0944022536277771, "best_idx": 21, "q_min_all": [0.44556766748428345, 0.43831154704093933, 0.4387247562408447, 0.4518970847129822, 0.4533017873764038, 0.4106060862541199, 0.44275739789009094, 0.48079612851142883, 0.43243148922920227, 0.388446182012558, 0.441216379404068, 0.4167185127735138, 0.4206344187259674, 0.10771697014570236, 0.44012778997421265, 0.26098474860191345, 0.24831031262874603, 0.19266119599342346, 0.414836049079895, 0.43968257308006287, 0.42938345670700073, 0.48389846086502075, 0.3932291269302368, 0.3584578037261963, 0.45286881923675537, 0.40127429366111755, 0.4578576683998108, 0.36253786087036133, 0.43885478377342224, 0.3950459361076355, 0.46138012409210205, 0.4490559995174408], "q1_all": [0.5293797254562378, 0.5348948836326599, 0.5947686433792114, 0.490892231464386, 0.49973735213279724, 0.5406785011291504, 0.5407335758209229, 0.5376165509223938, 0.5309534668922424, 0.5622165203094482, 0.550329864025116, 0.5452839136123657, 0.5731210708618164, 0.10771697014570236, 0.5234748721122742, 0.26098474860191345, 0.24831031262874603, 0.19266119599342346, 0.5305346250534058, 0.5639978051185608, 0.5535509586334229, 0.48389846086502075, 0.5902522802352905, 0.5516110062599182, 0.5565524101257324, 0.5615346431732178, 0.5188382267951965, 0.44835013151168823, 0.5448970794677734, 0.5714068412780762, 0.4996381998062134, 0.5309625864028931], "q2_all": [0.44556766748428345, 0.43831154704093933, 0.4387247562408447, 0.4518970847129822, 0.4533017873764038, 0.4106060862541199, 0.44275739789009094, 0.48079612851142883, 0.43243148922920227, 0.388446182012558, 0.441216379404068, 0.4167185127735138, 0.4206344187259674, 0.2194923609495163, 0.44012778997421265, 0.3046337068080902, 0.2799386978149414, 0.2892891764640808, 0.414836049079895, 0.43968257308006287, 0.42938345670700073, 0.4887576103210449, 0.3932291269302368, 0.3584578037261963, 0.45286881923675537, 0.40127429366111755, 0.4578576683998108, 0.36253786087036133, 0.43885478377342224, 0.3950459361076355, 0.46138012409210205, 0.4490559995174408], "cand_trans_speed_all": [0.024801423773169518, 0.024183249101042747, 0.020937345921993256, 0.024973340332508087, 0.024449458345770836, 0.019810039550065994, 0.023190971463918686, 0.022944986820220947, 0.024504436179995537, 0.020368577912449837, 0.024593397974967957, 0.023476628586649895, 0.023342039436101913, 0.018791547045111656, 0.024792244657874107, 0.014795392751693726, 0.022435061633586884, 0.016601676121354103, 0.023259785026311874, 0.02367282658815384, 0.02403317391872406, 0.024191301316022873, 0.01945018768310547, 0.01864115707576275, 0.023419514298439026, 0.022695904597640038, 0.023590153083205223, 0.008111776784062386, 0.024962808936834335, 0.018230140209197998, 0.02500872313976288, 0.024540996178984642], "cand_cum_xyz_disp_all": [[0.12309177219867706, -0.054015062749385834, 0.058676593005657196], [0.11697216331958771, -0.051512278616428375, 0.0629739835858345], [0.10322143137454987, -0.04648081958293915, 0.04724354296922684], [0.1182778924703598, -0.05297291278839111, 0.06627371162176132], [0.11563538014888763, -0.0514102429151535, 0.06623651832342148], [0.09782575070858002, -0.04608429968357086, 0.04546733945608139], [0.11033235490322113, -0.05183618515729904, 0.059864021837711334], [0.11343531310558319, -0.04709497094154358, 0.054958097636699677], [0.11811964213848114, -0.049977511167526245, 0.06639053672552109], [0.10456006228923798, -0.041672348976135254, 0.043800435960292816], [0.12113083899021149, -0.05224122107028961, 0.05956653505563736], [0.11897335946559906, -0.048848770558834076, 0.051765285432338715], [0.11459220945835114, -0.052349381148815155, 0.05632428079843521], [0.08785058557987213, -0.03040856122970581, 0.05435814708471298], [0.1204763799905777, -0.05092889070510864, 0.06377551704645157], [0.0718965083360672, -0.019426584243774414, 0.039925746619701385], [0.10626403987407684, -0.0483178049325943, 0.057200126349925995], [0.08237983286380768, -0.02386575937271118, 0.04355867952108383], [0.11691568791866302, -0.04639972746372223, 0.05803363770246506], [0.11518792808055878, -0.05075129121541977, 0.058279745280742645], [0.1197529286146164, -0.043180741369724274, 0.06122796982526779], [0.11649633944034576, -0.05128934234380722, 0.06416036933660507], [0.09832219779491425, -0.044469624757766724, 0.040792278945446014], [0.09359748661518097, -0.04045340418815613, 0.042393021285533905], [0.11394871771335602, -0.0495658814907074, 0.059412188827991486], [0.11256541311740875, -0.04285155236721039, 0.05663607269525528], [0.11412550508975983, -0.05052024871110916, 0.0577315017580986], [0.038197144865989685, -0.007643401622772217, 0.015754424035549164], [0.12021388113498688, -0.05732443183660507, 0.0614815428853035], [0.09412573277950287, -0.03519521653652191, 0.039657317101955414], [0.11948280036449432, -0.048662908375263214, 0.06611620634794235], [0.11876575648784637, -0.056922271847724915, 0.05943448096513748]], "cand_final_gripper_all": [0.003089994192123413, 0.0024037957191467285, 0.0019455552101135254, 0.0017986297607421875, 0.003486841917037964, 0.0020052194595336914, 0.0016758739948272705, 0.0020764172077178955, 0.0028243660926818848, 0.00205114483833313, 0.000726163387298584, 0.0022743046283721924, 0.002229034900665283, 0.0044900476932525635, 0.00196683406829834, 0.00362357497215271, 0.01981869339942932, 0.0029671788215637207, 0.00014349818229675293, 0.0022401511669158936, 0.0007043778896331787, 0.003199458122253418, 0.0007012486457824707, 0.0, 0.001967906951904297, 0.012101441621780396, 0.0022967159748077393, 1.901388168334961e-05, 0.0010000765323638916, 0.0016613602638244629, 0.002674102783203125, 0.0031277835369110107], "eef_pos": [0.4115891456604004, 0.03245500847697258, 0.4731297194957733], "cand_action_std": 0.5363984107971191, "cand_pairwise_centroid_dist_mean": 4.169994831085205, "argmax_act_outlier": 1.1331008672714233, "time_encode_ms": 14.881266979500651, "time_diffusion_ms": 40.26269284076989, "time_q_score_ms": 11.577332857996225, "time_total_ms": 67.88034690544009, "num_action_samples_effective": 32, "q_aggregate": "pair_min"} +{"chunk_ordinal": 2, "q_min_best": 0.42841383814811707, "q_min_mean": 0.39626869559288025, "q_min_std": 0.01755642518401146, "q_min_median": 0.39368462562561035, "chosen_vs_median_q_gap": 0.034729212522506714, "q1_best": 0.42841383814811707, "q2_best": 0.43004000186920166, "v_val": 0.3297918438911438, "advantage": 0.09862199425697327, "best_idx": 4, "q_min_all": [0.3754725456237793, 0.39368462562561035, 0.4018860459327698, 0.37771981954574585, 0.42841383814811707, 0.37990063428878784, 0.40310022234916687, 0.3935668468475342, 0.4082323908805847, 0.4271431565284729, 0.4105241298675537, 0.39254239201545715, 0.3722277581691742, 0.4029339849948883, 0.3960508108139038, 0.4241948127746582, 0.39407622814178467, 0.3879530727863312, 0.36138463020324707, 0.3879891037940979, 0.4096420109272003, 0.3820815980434418, 0.4170657992362976, 0.3912818431854248, 0.398535817861557, 0.3764723539352417, 0.39610418677330017, 0.3907465934753418, 0.42556101083755493, 0.4177059531211853, 0.372100830078125, 0.3843029737472534], "q1_all": [0.3754725456237793, 0.39368462562561035, 0.4018860459327698, 0.37771981954574585, 0.42841383814811707, 0.37990063428878784, 0.40310022234916687, 0.3935668468475342, 0.4082323908805847, 0.43080413341522217, 0.4105241298675537, 0.39254239201545715, 0.3722277581691742, 0.42366352677345276, 0.3960508108139038, 0.4241948127746582, 0.39407622814178467, 0.3879530727863312, 0.36138463020324707, 0.3879891037940979, 0.4096420109272003, 0.3820815980434418, 0.4215300381183624, 0.3912818431854248, 0.398535817861557, 0.3764723539352417, 0.39610418677330017, 0.3907465934753418, 0.43596863746643066, 0.4177059531211853, 0.372100830078125, 0.3843029737472534], "q2_all": [0.41537410020828247, 0.4207276701927185, 0.44400301575660706, 0.4231598973274231, 0.43004000186920166, 0.39995110034942627, 0.4515412151813507, 0.44683557748794556, 0.4334105849266052, 0.4271431565284729, 0.43853759765625, 0.4163660407066345, 0.43521907925605774, 0.4029339849948883, 0.41636356711387634, 0.42809924483299255, 0.41710200905799866, 0.4279729127883911, 0.4369859993457794, 0.44567590951919556, 0.41896432638168335, 0.4085458517074585, 0.4170657992362976, 0.42950883507728577, 0.41448596119880676, 0.44398221373558044, 0.437956303358078, 0.4158456325531006, 0.42556101083755493, 0.43523919582366943, 0.43380624055862427, 0.42821362614631653], "cand_trans_speed_all": [0.02272011712193489, 0.021348487585783005, 0.02178768813610077, 0.0225687213242054, 0.021352961659431458, 0.022814039140939713, 0.021411454305052757, 0.0218818299472332, 0.021201936528086662, 0.02102682553231716, 0.021426022052764893, 0.02227323316037655, 0.023267384618520737, 0.020763179287314415, 0.022269539535045624, 0.021438298746943474, 0.022251762449741364, 0.021463554352521896, 0.02211715839803219, 0.02139505371451378, 0.02181280218064785, 0.021981682628393173, 0.021270867437124252, 0.021624578163027763, 0.021865159273147583, 0.02247234433889389, 0.02096342295408249, 0.0217717494815588, 0.02103976532816887, 0.020995378494262695, 0.02228677272796631, 0.02258399873971939], "cand_cum_xyz_disp_all": [[0.09603352844715118, -0.009509801864624023, 0.09150571376085281], [0.0972515195608139, -0.012324139475822449, 0.08122699707746506], [0.0891018658876419, -0.01160489022731781, 0.08719664067029953], [0.09642578661441803, -0.010485991835594177, 0.08879312127828598], [0.09361504018306732, -0.012518882751464844, 0.08103414624929428], [0.0979803055524826, -0.005449250340461731, 0.08967597037553787], [0.09082542359828949, -0.015631824731826782, 0.08407717198133469], [0.08897112309932709, -0.013051837682723999, 0.08901441842317581], [0.0904197245836258, -0.015316188335418701, 0.0822206363081932], [0.09289266169071198, -0.01153901219367981, 0.08160289376974106], [0.08651895821094513, -0.011523023247718811, 0.08592487126588821], [0.09357385337352753, -0.009717464447021484, 0.08760086447000504], [0.09613905847072601, -0.01192791759967804, 0.09401046484708786], [0.08999700844287872, -0.007205098867416382, 0.08095734566450119], [0.0904107540845871, -0.009608417749404907, 0.0898863896727562], [0.0944296270608902, -0.010760515928268433, 0.08148879557847977], [0.09686382114887238, -0.009131312370300293, 0.08604642003774643], [0.08571900427341461, -0.009188950061798096, 0.08817949146032333], [0.0933285802602768, -0.00891105830669403, 0.09088196605443954], [0.08877082169055939, -0.011003032326698303, 0.08659296482801437], [0.09451328217983246, -0.011968374252319336, 0.08300452679395676], [0.09192357957363129, -0.008377611637115479, 0.08976051956415176], [0.09030519425868988, -0.00952969491481781, 0.08337802439928055], [0.09010274708271027, -0.010954350233078003, 0.08742456883192062], [0.09516637027263641, -0.007854834198951721, 0.08480799943208694], [0.08966685831546783, -0.011910974979400635, 0.09391827136278152], [0.08771757781505585, -0.009715840220451355, 0.08546122163534164], [0.09305061399936676, -0.007116749882698059, 0.08663270622491837], [0.09075157344341278, -0.013828560709953308, 0.07906461507081985], [0.08863945305347443, -0.009363308548927307, 0.08192981034517288], [0.09042559564113617, -0.009508416056632996, 0.09119509905576706], [0.09711186587810516, -0.013141334056854248, 0.08804672211408615]], "cand_final_gripper_all": [0.004777491092681885, 0.0038607120513916016, 0.0033267438411712646, 0.0017162561416625977, 0.005702376365661621, 0.0028517842292785645, 0.004125684499740601, 0.0003345906734466553, 0.0034593045711517334, 0.0018931031227111816, 0.003394991159439087, 0.004843413829803467, 0.0040190815925598145, 0.0024896562099456787, 0.004338115453720093, 0.0021543502807617188, 0.004115581512451172, 0.004711061716079712, 0.0031748414039611816, 0.005334258079528809, 0.0018392503261566162, 0.005269497632980347, 0.0039387047290802, 0.002997756004333496, 0.003759235143661499, 0.004933685064315796, 0.0028248131275177, 0.00327223539352417, 0.0038654208183288574, 0.0036253035068511963, 0.004610627889633179, 0.0028505325317382812], "eef_pos": [0.47823411226272583, 0.08613859862089157, 0.43020543456077576], "cand_action_std": 0.11459716409444809, "cand_pairwise_centroid_dist_mean": 0.9780251383781433, "argmax_act_outlier": 0.9500750303268433, "time_encode_ms": 12.407572008669376, "time_diffusion_ms": 41.764799039810896, "time_q_score_ms": 15.595152042806149, "time_total_ms": 71.30256993696094, "num_action_samples_effective": 32, "q_aggregate": "pair_min"} +{"chunk_ordinal": 3, "q_min_best": 0.5455107688903809, "q_min_mean": 0.5181146860122681, "q_min_std": 0.016464000567793846, "q_min_median": 0.517998218536377, "chosen_vs_median_q_gap": 0.027512550354003906, "q1_best": 0.5455107688903809, "q2_best": 0.600894570350647, "v_val": 0.6643361449241638, "advantage": -0.11882537603378296, "best_idx": 21, "q_min_all": [0.533353328704834, 0.5215922594070435, 0.5172923803329468, 0.5089722275733948, 0.5108885765075684, 0.5199905037879944, 0.5011048913002014, 0.517998218536377, 0.5318585634231567, 0.5283377170562744, 0.5360240936279297, 0.5108112692832947, 0.4907693862915039, 0.47603839635849, 0.5116928815841675, 0.5058079361915588, 0.512047529220581, 0.4889768064022064, 0.5424020290374756, 0.5225421190261841, 0.5199066996574402, 0.5455107688903809, 0.5288430452346802, 0.540629506111145, 0.5226006507873535, 0.5285888314247131, 0.5135675668716431, 0.49902451038360596, 0.5165070295333862, 0.5026098489761353, 0.540677011013031, 0.5327052474021912], "q1_all": [0.533353328704834, 0.5215922594070435, 0.5172923803329468, 0.5089722275733948, 0.5108885765075684, 0.5199905037879944, 0.5011048913002014, 0.517998218536377, 0.5318585634231567, 0.5283377170562744, 0.5360240936279297, 0.5108112692832947, 0.4907693862915039, 0.47603839635849, 0.5116928815841675, 0.5058079361915588, 0.512047529220581, 0.4889768064022064, 0.5424020290374756, 0.5225421190261841, 0.5199066996574402, 0.5455107688903809, 0.5288430452346802, 0.540629506111145, 0.5226006507873535, 0.5285888314247131, 0.5135675668716431, 0.49902451038360596, 0.5165070295333862, 0.5026098489761353, 0.540677011013031, 0.5327052474021912], "q2_all": [0.6225237846374512, 0.5820004940032959, 0.6196715235710144, 0.5561832189559937, 0.5573827624320984, 0.634376585483551, 0.5870174765586853, 0.6115615367889404, 0.5632452368736267, 0.5869860053062439, 0.5997249484062195, 0.6015322208404541, 0.562435507774353, 0.5298961997032166, 0.5780172348022461, 0.5836997628211975, 0.5899237394332886, 0.5911829471588135, 0.5789811611175537, 0.55948805809021, 0.6008541584014893, 0.600894570350647, 0.573950469493866, 0.5762728452682495, 0.5827641487121582, 0.5725113749504089, 0.5954200029373169, 0.5654761791229248, 0.5842036604881287, 0.5575806498527527, 0.6089861392974854, 0.6144291162490845], "cand_trans_speed_all": [0.016265898942947388, 0.016833458095788956, 0.017005611211061478, 0.017540670931339264, 0.017135463654994965, 0.016541512683033943, 0.017119653522968292, 0.016439970582723618, 0.016936007887125015, 0.017742201685905457, 0.017523255199193954, 0.016378898173570633, 0.017955107614398003, 0.016954291611909866, 0.017093827947974205, 0.018136251717805862, 0.01777130551636219, 0.016798190772533417, 0.017040206119418144, 0.01786527782678604, 0.016758190467953682, 0.016785409301519394, 0.016962487250566483, 0.016657324507832527, 0.017322691157460213, 0.01681937463581562, 0.016429126262664795, 0.017755065113306046, 0.017397640272974968, 0.017765972763299942, 0.017007403075695038, 0.016440797597169876], "cand_cum_xyz_disp_all": [[0.0551297664642334, -0.01804150640964508, 0.07647997885942459], [0.061089590191841125, -0.014688670635223389, 0.0774410143494606], [0.06268094480037689, -0.021239742636680603, 0.07645713537931442], [0.058330848813056946, -0.014098405838012695, 0.08513700217008591], [0.059406355023384094, -0.014779597520828247, 0.0805397555232048], [0.05801396071910858, -0.019746199250221252, 0.07598220556974411], [0.061792805790901184, -0.018644273281097412, 0.07927417010068893], [0.05627964437007904, -0.019538089632987976, 0.0772586539387703], [0.05805371701717377, -0.01877717673778534, 0.07959530502557755], [0.06231050193309784, -0.01712183654308319, 0.0821586474776268], [0.05959184467792511, -0.01804797351360321, 0.082769013941288], [0.05490875244140625, -0.01958535611629486, 0.07744943350553513], [0.06093217432498932, -0.016927659511566162, 0.08454560488462448], [0.05492843687534332, -0.015134558081626892, 0.0838397815823555], [0.055877938866615295, -0.016790449619293213, 0.0831875279545784], [0.06893013417720795, -0.020044833421707153, 0.08028953522443771], [0.06202183663845062, -0.01846173405647278, 0.08333062380552292], [0.055691078305244446, -0.018468335270881653, 0.07921623438596725], [0.05908955633640289, -0.014702841639518738, 0.07945162802934647], [0.06401859223842621, -0.0180196613073349, 0.08352259546518326], [0.0540044903755188, -0.02039925754070282, 0.08047278970479965], [0.05748991668224335, -0.01688578724861145, 0.07889572530984879], [0.055335432291030884, -0.015717729926109314, 0.08065655082464218], [0.05863933265209198, -0.015188917517662048, 0.07789207249879837], [0.061647966504096985, -0.018195003271102905, 0.07967456430196762], [0.05639459192752838, -0.016721129417419434, 0.08007969707250595], [0.05390661954879761, -0.016581326723098755, 0.07945949584245682], [0.05735914409160614, -0.01416461169719696, 0.08552133291959763], [0.05867461860179901, -0.018201440572738647, 0.08242746442556381], [0.06495891511440277, -0.018357202410697937, 0.08171064406633377], [0.061246976256370544, -0.01763404905796051, 0.07817918807268143], [0.05588902533054352, -0.015356913208961487, 0.07901488989591599]], "cand_final_gripper_all": [0.0039612650871276855, 0.0029633641242980957, 0.001529097557067871, 0.00398680567741394, 0.0025150179862976074, 0.0032441020011901855, 0.002376645803451538, 0.003024280071258545, 0.0032451748847961426, 0.0035997331142425537, 0.0026564300060272217, 0.0025307834148406982, 0.0030990242958068848, 0.0036682188510894775, 0.0032851099967956543, 0.002575486898422241, 0.002736896276473999, 0.0023939907550811768, 0.005264580249786377, 0.0037409067153930664, 0.0034988820552825928, 0.0033781230449676514, 0.0038600265979766846, 0.0030413568019866943, 0.002273470163345337, 0.005006164312362671, 0.005037277936935425, 0.004442065954208374, 0.0038817524909973145, 0.002519577741622925, 0.00487750768661499, 0.00401991605758667], "eef_pos": [0.5338973999023438, 0.12166472524404526, 0.3764622211456299], "cand_action_std": 0.09129956364631653, "cand_pairwise_centroid_dist_mean": 0.7932789325714111, "argmax_act_outlier": 0.7628942131996155, "time_encode_ms": 6.535937078297138, "time_diffusion_ms": 44.672996038571, "time_q_score_ms": 15.910914167761803, "time_total_ms": 68.0752070620656, "num_action_samples_effective": 32, "q_aggregate": "pair_min"} +{"chunk_ordinal": 4, "q_min_best": 0.4546515941619873, "q_min_mean": 0.4341907501220703, "q_min_std": 0.012112373486161232, "q_min_median": 0.43394380807876587, "chosen_vs_median_q_gap": 0.020707786083221436, "q1_best": 0.5483084321022034, "q2_best": 0.4546515941619873, "v_val": 0.5933386087417603, "advantage": -0.13868701457977295, "best_idx": 29, "q_min_all": [0.42792844772338867, 0.4425213634967804, 0.4427969455718994, 0.4279688596725464, 0.4215659201145172, 0.4192587435245514, 0.4414002001285553, 0.45333731174468994, 0.4234063923358917, 0.42485523223876953, 0.41740310192108154, 0.43394380807876587, 0.4468176066875458, 0.4266008734703064, 0.4481036961078644, 0.4443260431289673, 0.41991573572158813, 0.4266276955604553, 0.44490504264831543, 0.4217948317527771, 0.43068766593933105, 0.44391098618507385, 0.43294528126716614, 0.4411505460739136, 0.44019296765327454, 0.44002923369407654, 0.44872188568115234, 0.41213101148605347, 0.41093721985816956, 0.4546515941619873, 0.44280925393104553, 0.4404580891132355], "q1_all": [0.5882065296173096, 0.5679888725280762, 0.5607874989509583, 0.5782538652420044, 0.5998580455780029, 0.584624171257019, 0.549081563949585, 0.5648362040519714, 0.5856790542602539, 0.5819118022918701, 0.5775542855262756, 0.5582064390182495, 0.5598768591880798, 0.5913229584693909, 0.5795314311981201, 0.5636783242225647, 0.5723322033882141, 0.5841903686523438, 0.5831227898597717, 0.5819283723831177, 0.5586656332015991, 0.5849249362945557, 0.5510444045066833, 0.54217928647995, 0.5794033408164978, 0.5704073309898376, 0.5623721480369568, 0.5593233108520508, 0.5502045154571533, 0.5483084321022034, 0.5559028387069702, 0.5532661080360413], "q2_all": [0.42792844772338867, 0.4425213634967804, 0.4427969455718994, 0.4279688596725464, 0.4215659201145172, 0.4192587435245514, 0.4414002001285553, 0.45333731174468994, 0.4234063923358917, 0.42485523223876953, 0.41740310192108154, 0.43394380807876587, 0.4468176066875458, 0.4266008734703064, 0.4481036961078644, 0.4443260431289673, 0.41991573572158813, 0.4266276955604553, 0.44490504264831543, 0.4217948317527771, 0.43068766593933105, 0.44391098618507385, 0.43294528126716614, 0.4411505460739136, 0.44019296765327454, 0.44002923369407654, 0.44872188568115234, 0.41213101148605347, 0.41093721985816956, 0.4546515941619873, 0.44280925393104553, 0.4404580891132355], "cand_trans_speed_all": [0.015301952138543129, 0.0162965040653944, 0.01568463072180748, 0.015958040952682495, 0.014307798817753792, 0.015439029783010483, 0.014997363090515137, 0.014547010883688927, 0.015183759853243828, 0.015499024651944637, 0.014744854532182217, 0.014482978731393814, 0.015506815165281296, 0.015108789317309856, 0.014755932614207268, 0.014839677140116692, 0.015180538408458233, 0.01565425656735897, 0.014714635908603668, 0.01516654621809721, 0.015146110206842422, 0.015022056177258492, 0.015160414390265942, 0.015406738966703415, 0.015541410073637962, 0.015540878288447857, 0.014496254734694958, 0.015424955636262894, 0.014930114150047302, 0.014463531784713268, 0.014386831782758236, 0.014450028538703918], "cand_cum_xyz_disp_all": [[0.045767709612846375, 0.005903497338294983, 0.0782780721783638], [0.04862053692340851, 0.005709603428840637, 0.0830671414732933], [0.044671133160591125, 0.006591126322746277, 0.08020863682031631], [0.04716557264328003, 0.006196066737174988, 0.0818837508559227], [0.042896926403045654, 0.011252343654632568, 0.07134941965341568], [0.04529115557670593, 0.004133984446525574, 0.07720647007226944], [0.04162900149822235, 0.00809149444103241, 0.07908951491117477], [0.03961808979511261, 0.0035111159086227417, 0.07559353858232498], [0.04483218491077423, 0.003109544515609741, 0.07691977173089981], [0.04820390045642853, 0.005205944180488586, 0.07766257971525192], [0.04613563418388367, 0.005531281232833862, 0.0741179957985878], [0.03787919878959656, 0.004834622144699097, 0.0752091035246849], [0.040079593658447266, 0.0043783485889434814, 0.08138536661863327], [0.039955779910087585, 0.002949848771095276, 0.07859111577272415], [0.04309210181236267, 0.005347520112991333, 0.07381937652826309], [0.041585057973861694, 0.006473034620285034, 0.07589373737573624], [0.0449582040309906, 0.0007641464471817017, 0.07652836292982101], [0.04206179082393646, 0.004520818591117859, 0.08060524612665176], [0.043627142906188965, 0.0053717344999313354, 0.07537604123353958], [0.0481276661157608, 0.00619390606880188, 0.07468356937170029], [0.04675044119358063, 0.006717801094055176, 0.07625856250524521], [0.04244205355644226, 0.010861486196517944, 0.07692340761423111], [0.04256652295589447, 0.004587709903717041, 0.0774378851056099], [0.04731832444667816, 0.005359441041946411, 0.07821925729513168], [0.04724259674549103, 0.0062163472175598145, 0.0770665779709816], [0.049031615257263184, 0.003386974334716797, 0.07669167965650558], [0.03816123306751251, 0.004562079906463623, 0.0757765844464302], [0.04767216742038727, 0.004820242524147034, 0.07768449932336807], [0.044800788164138794, 0.006857573986053467, 0.07621306926012039], [0.03967440128326416, 0.0025664418935775757, 0.0755695030093193], [0.04162326455116272, 0.0025383979082107544, 0.07405436784029007], [0.03754432499408722, 0.0018974840641021729, 0.07660099118947983]], "cand_final_gripper_all": [0.001988440752029419, 0.0022163689136505127, 0.0014453530311584473, 0.002809375524520874, 0.0, 0.0, 0.0022778213024139404, 0.0009215772151947021, 0.003073275089263916, 0.0015309154987335205, 0.0008346140384674072, 0.00429004430770874, 0.0020818710327148438, 0.0008170902729034424, 0.0005536973476409912, 0.0014705955982208252, 0.002628803253173828, 0.0007298886775970459, 0.0029324889183044434, 0.0008747279644012451, 0.0015175342559814453, 0.0007508993148803711, 0.0031945407390594482, 0.002726942300796509, 0.003379225730895996, 0.00028568506240844727, 0.00101509690284729, 0.0029251277446746826, 0.002644091844558716, 0.0010506808757781982, 0.0014196932315826416, 0.0014382898807525635], "eef_pos": [0.5529562830924988, 0.1547766923904419, 0.3182865381240845], "cand_action_std": 0.10312703996896744, "cand_pairwise_centroid_dist_mean": 0.8980028629302979, "argmax_act_outlier": 0.6903047561645508, "time_encode_ms": 11.872426141053438, "time_diffusion_ms": 46.1126568261534, "time_q_score_ms": 10.501690907403827, "time_total_ms": 69.52010793611407, "num_action_samples_effective": 32, "q_aggregate": "pair_min"} +{"chunk_ordinal": 5, "q_min_best": 0.4563221335411072, "q_min_mean": 0.4107869863510132, "q_min_std": 0.01979740709066391, "q_min_median": 0.40957266092300415, "chosen_vs_median_q_gap": 0.04674947261810303, "q1_best": 0.4563221335411072, "q2_best": 0.5790062546730042, "v_val": 0.38269221782684326, "advantage": 0.07362991571426392, "best_idx": 11, "q_min_all": [0.41069161891937256, 0.4124452769756317, 0.42237770557403564, 0.44553521275520325, 0.3954235911369324, 0.41714227199554443, 0.42036184668540955, 0.4199290871620178, 0.3841423988342285, 0.40957266092300415, 0.4061442017555237, 0.4563221335411072, 0.3847801685333252, 0.3986190855503082, 0.4157823324203491, 0.39011093974113464, 0.4228751063346863, 0.38126474618911743, 0.4304211735725403, 0.42767712473869324, 0.42243385314941406, 0.38837510347366333, 0.4056440591812134, 0.4397875964641571, 0.39915236830711365, 0.41539016366004944, 0.39011919498443604, 0.40821969509124756, 0.40031808614730835, 0.3867526650428772, 0.3897523283958435, 0.44761982560157776], "q1_all": [0.41069161891937256, 0.4124452769756317, 0.42237770557403564, 0.44553521275520325, 0.3954235911369324, 0.41714227199554443, 0.42036184668540955, 0.4199290871620178, 0.3841423988342285, 0.40957266092300415, 0.4061442017555237, 0.4563221335411072, 0.3847801685333252, 0.3986190855503082, 0.4157823324203491, 0.39011093974113464, 0.4228751063346863, 0.38126474618911743, 0.4304211735725403, 0.42767712473869324, 0.42243385314941406, 0.38837510347366333, 0.4056440591812134, 0.4397875964641571, 0.39915236830711365, 0.41539016366004944, 0.39011919498443604, 0.40821969509124756, 0.40031808614730835, 0.3867526650428772, 0.3897523283958435, 0.44761982560157776], "q2_all": [0.5503324270248413, 0.6234265565872192, 0.5878667831420898, 0.5847980976104736, 0.6119595766067505, 0.5983883142471313, 0.604906439781189, 0.5946711301803589, 0.5893520712852478, 0.6199121475219727, 0.6203895807266235, 0.5790062546730042, 0.5803145170211792, 0.5850671529769897, 0.5943174958229065, 0.63398277759552, 0.6080555319786072, 0.5948875546455383, 0.6111508011817932, 0.5667985081672668, 0.6077643036842346, 0.6163177490234375, 0.5774173736572266, 0.5483304858207703, 0.5754355788230896, 0.5745202302932739, 0.5406311750411987, 0.5965921878814697, 0.635242760181427, 0.5980713367462158, 0.5611780285835266, 0.5567443370819092], "cand_trans_speed_all": [0.010727177374064922, 0.010848919861018658, 0.013026613742113113, 0.011345969513058662, 0.011367902159690857, 0.01084616594016552, 0.01208997331559658, 0.011123051866889, 0.011422211304306984, 0.011900080367922783, 0.010280902497470379, 0.011686849407851696, 0.011515026912093163, 0.011628733947873116, 0.01092575490474701, 0.011669187806546688, 0.012483395636081696, 0.01109408400952816, 0.011982392519712448, 0.011560927145183086, 0.011347304098308086, 0.011511425487697124, 0.011179061606526375, 0.010995063930749893, 0.010543446987867355, 0.011488698422908783, 0.011856462806463242, 0.011663276702165604, 0.011256959289312363, 0.010853434912860394, 0.011275614611804485, 0.012436887249350548], "cand_cum_xyz_disp_all": [[0.03944988548755646, 0.003085210919380188, 0.043956510722637177], [0.0406109094619751, 0.0062204450368881226, 0.040690161287784576], [0.03991168737411499, 0.0009375065565109253, 0.04750949889421463], [0.04337100684642792, 0.0036929845809936523, 0.043465591967105865], [0.040388673543930054, 0.005449578166007996, 0.04564990848302841], [0.0436297208070755, 0.005851879715919495, 0.04423249512910843], [0.040048494935035706, 0.003200724720954895, 0.04376288503408432], [0.03953593969345093, 0.004258379340171814, 0.04770704358816147], [0.039878472685813904, 0.004862666130065918, 0.04361665993928909], [0.03721410036087036, 0.007134661078453064, 0.04969634860754013], [0.036445096135139465, 0.006040692329406738, 0.042845211923122406], [0.04469187557697296, 0.005323365330696106, 0.04260081797838211], [0.04536162316799164, 0.009564504027366638, 0.048153914511203766], [0.03799055516719818, 0.00543174147605896, 0.04530077427625656], [0.037900328636169434, 0.0036655664443969727, 0.04022378474473953], [0.03652888536453247, 0.007284730672836304, 0.045686088502407074], [0.03597572445869446, 0.0001653730869293213, 0.04508339613676071], [0.04130035638809204, 0.00947241485118866, 0.048371948301792145], [0.04652923345565796, 0.00936424732208252, 0.04738215357065201], [0.04528936743736267, 0.005047976970672607, 0.04398120194673538], [0.041750386357307434, 0.005636841058731079, 0.047081030905246735], [0.0351998507976532, 0.00562596321105957, 0.04475615173578262], [0.042071953415870667, 0.005513295531272888, 0.04571429640054703], [0.043913498520851135, 0.005151838064193726, 0.04141261428594589], [0.041740238666534424, 0.004843786358833313, 0.04369651526212692], [0.042364925146102905, 0.004274621605873108, 0.04259186238050461], [0.045733675360679626, 0.006512492895126343, 0.04801139980554581], [0.04389731585979462, 0.009214550256729126, 0.048809729516506195], [0.036802127957344055, 0.0058122724294662476, 0.04346204549074173], [0.037322595715522766, 0.008787915110588074, 0.04578696936368942], [0.036262527108192444, 0.007777124643325806, 0.04639182239770889], [0.04751370847225189, -0.0014654994010925293, 0.042905502021312714]], "cand_final_gripper_all": [0.0071052610874176025, 0.0, 0.0, 0.0, 0.0, 0.007768869400024414, 0.0, 0.006575852632522583, 0.0, 0.0016872286796569824, 0.0, 0.0, 0.005145043134689331, 0.0064164698123931885, 0.0, 0.016686439514160156, 0.0, 0.001019120216369629, 0.0017584562301635742, 0.005529940128326416, 0.006720304489135742, 0.04665181040763855, 0.0023358166217803955, 0.0, 0.00530436635017395, 0.0, 0.005529940128326416, 0.0, 0.006220459938049316, 0.007419764995574951, 0.0, 0.11033079028129578], "eef_pos": [0.564245343208313, 0.16898761689662933, 0.25662848353385925], "cand_action_std": 0.12274187803268433, "cand_pairwise_centroid_dist_mean": 1.0170652866363525, "argmax_act_outlier": 1.13081693649292, "time_encode_ms": 12.901572044938803, "time_diffusion_ms": 43.66826708428562, "time_q_score_ms": 13.873460935428739, "time_total_ms": 71.31479494273663, "num_action_samples_effective": 32, "q_aggregate": "pair_min"} +{"chunk_ordinal": 6, "q_min_best": 0.47476711869239807, "q_min_mean": 0.42970535159111023, "q_min_std": 0.025643523782491684, "q_min_median": 0.4330744445323944, "chosen_vs_median_q_gap": 0.04169267416000366, "q1_best": 0.47476711869239807, "q2_best": 0.7339706420898438, "v_val": 0.7129108905792236, "advantage": -0.23814377188682556, "best_idx": 13, "q_min_all": [0.44069746136665344, 0.3908792734146118, 0.41039595007896423, 0.4324517846107483, 0.377261757850647, 0.4330744445323944, 0.4419313669204712, 0.40019485354423523, 0.4002595543861389, 0.43347346782684326, 0.4439447224140167, 0.4054972529411316, 0.4334249794483185, 0.47476711869239807, 0.437651127576828, 0.4705480635166168, 0.41900569200515747, 0.47373175621032715, 0.426044762134552, 0.4077813923358917, 0.40352603793144226, 0.45785069465637207, 0.44588690996170044, 0.44625234603881836, 0.44656145572662354, 0.3920968770980835, 0.41268932819366455, 0.469235360622406, 0.4072597026824951, 0.43355339765548706, 0.430147647857666, 0.45249465107917786], "q1_all": [0.44069746136665344, 0.3908792734146118, 0.41039595007896423, 0.4324517846107483, 0.377261757850647, 0.4330744445323944, 0.4419313669204712, 0.40019485354423523, 0.4002595543861389, 0.43347346782684326, 0.4439447224140167, 0.4054972529411316, 0.4334249794483185, 0.47476711869239807, 0.437651127576828, 0.4705480635166168, 0.41900569200515747, 0.47373175621032715, 0.426044762134552, 0.4077813923358917, 0.40352603793144226, 0.45785069465637207, 0.44588690996170044, 0.44625234603881836, 0.44656145572662354, 0.3920968770980835, 0.41268932819366455, 0.469235360622406, 0.4072597026824951, 0.43355339765548706, 0.430147647857666, 0.45249465107917786], "q2_all": [0.7279298901557922, 0.6659666299819946, 0.6907209157943726, 0.6638849973678589, 0.6934171915054321, 0.6999452710151672, 0.7190809845924377, 0.7016955614089966, 0.687586784362793, 0.7100489139556885, 0.7017959356307983, 0.6898189187049866, 0.6817653179168701, 0.7339706420898438, 0.7216537594795227, 0.7216651439666748, 0.6570024490356445, 0.719698429107666, 0.6783313751220703, 0.6838024854660034, 0.7009258270263672, 0.7743232846260071, 0.7231816053390503, 0.691547691822052, 0.6971171498298645, 0.7129884362220764, 0.6667183637619019, 0.7041176557540894, 0.6526665091514587, 0.7220617532730103, 0.7107570171356201, 0.7636181712150574], "cand_trans_speed_all": [0.006180315278470516, 0.004469897598028183, 0.004931340459734201, 0.0048381611704826355, 0.006885211914777756, 0.005064737051725388, 0.004792294465005398, 0.004560535307973623, 0.005154692102223635, 0.005162922665476799, 0.004717739298939705, 0.005184484645724297, 0.004764653742313385, 0.004832572303712368, 0.004143672063946724, 0.004927980713546276, 0.00497168954461813, 0.005634237080812454, 0.004840563051402569, 0.0059778280556201935, 0.004785844124853611, 0.004350185859948397, 0.00441338587552309, 0.003917090129107237, 0.004936522804200649, 0.004488635808229446, 0.00427595991641283, 0.0038465759716928005, 0.006129007320851088, 0.005273723509162664, 0.005268272012472153, 0.004610206000506878], "cand_cum_xyz_disp_all": [[0.010089173913002014, -0.001190483570098877, 0.02146998792886734], [0.009623676538467407, -0.0018489658832550049, 0.01610768586397171], [0.012757167220115662, 0.0007053017616271973, 0.01729113608598709], [0.009213998913764954, -0.0005302578210830688, 0.015139587223529816], [0.009762749075889587, -0.0007708072662353516, 0.01580478996038437], [0.010692790150642395, -0.0009420961141586304, 0.016442321240901947], [0.010175958275794983, -0.0019254982471466064, 0.017640314996242523], [0.009083181619644165, 0.001532435417175293, 0.018055103719234467], [0.00968123972415924, -0.0021041929721832275, 0.021602682769298553], [0.011099368333816528, -0.002729356288909912, 0.01661645621061325], [0.010280206799507141, -0.002491399645805359, 0.01568032056093216], [0.01196300983428955, -0.0008551627397537231, 0.017763681709766388], [0.012732774019241333, -0.0018921345472335815, 0.013380937278270721], [0.011792853474617004, -0.0010021775960922241, 0.016415797173976898], [0.012067258358001709, 0.0009445101022720337, 0.017650045454502106], [0.013466894626617432, -0.0011051297187805176, 0.015519849956035614], [0.011056870222091675, -0.0032004714012145996, 0.01654604822397232], [0.013141855597496033, 0.0006501674652099609, 0.01649557799100876], [0.010917440056800842, -0.0024051815271377563, 0.014686115086078644], [0.01318611204624176, -0.0006976127624511719, 0.017448239028453827], [0.00835089385509491, -0.0006000250577926636, 0.014533258974552155], [0.012304037809371948, 0.0003347843885421753, 0.014875151216983795], [0.010034456849098206, -0.0006637275218963623, 0.01845603436231613], [0.010379299521446228, -0.0017229020595550537, 0.01679951697587967], [0.01086588203907013, -0.0016327500343322754, 0.016561590135097504], [0.009891748428344727, -0.0005990564823150635, 0.01847255975008011], [0.011727362871170044, 0.0014458894729614258, 0.016951851546764374], [0.011761054396629333, -0.0008604526519775391, 0.017686448991298676], [0.01128898561000824, 0.0013759434223175049, 0.01692453771829605], [0.012303382158279419, -0.0025713592767715454, 0.016946546733379364], [0.009714588522911072, -0.0009390264749526978, 0.018720485270023346], [0.012767255306243896, -0.0006516426801681519, 0.017196722328662872]], "cand_final_gripper_all": [0.3454613983631134, 0.3736887574195862, 0.3681558072566986, 0.3602515459060669, 0.3796238303184509, 0.3708423972129822, 0.37407398223876953, 0.39061084389686584, 0.3528224229812622, 0.38231712579727173, 0.4163038730621338, 0.33870750665664673, 0.37127920985221863, 0.41480517387390137, 0.38932323455810547, 0.39108145236968994, 0.333626389503479, 0.40651488304138184, 0.36393362283706665, 0.3688192367553711, 0.3950406610965729, 0.390226811170578, 0.3981972932815552, 0.42244744300842285, 0.3667494058609009, 0.3729667663574219, 0.3471141457557678, 0.40651077032089233, 0.37710246443748474, 0.40780046582221985, 0.35921862721443176, 0.39938944578170776], "eef_pos": [0.5749318599700928, 0.1955576241016388, 0.2144365906715393], "cand_action_std": 0.08605736494064331, "cand_pairwise_centroid_dist_mean": 0.8123045563697815, "argmax_act_outlier": 0.8900259137153625, "time_encode_ms": 8.182029938325286, "time_diffusion_ms": 39.324427023530006, "time_q_score_ms": 12.797380099073052, "time_total_ms": 61.527549056336284, "num_action_samples_effective": 32, "q_aggregate": "pair_min"} +{"chunk_ordinal": 7, "q_min_best": 0.5876379609107971, "q_min_mean": 0.5568866729736328, "q_min_std": 0.012102432548999786, "q_min_median": 0.5563247799873352, "chosen_vs_median_q_gap": 0.031313180923461914, "q1_best": 0.6293721199035645, "q2_best": 0.5876379609107971, "v_val": 0.7620090246200562, "advantage": -0.17437106370925903, "best_idx": 11, "q_min_all": [0.5558333992958069, 0.5420625805854797, 0.5580763220787048, 0.5422934293746948, 0.5569241046905518, 0.5605433583259583, 0.568286657333374, 0.5341119766235352, 0.5653413534164429, 0.5438810586929321, 0.574148416519165, 0.5876379609107971, 0.5715644955635071, 0.5595665574073792, 0.5601502060890198, 0.5766324400901794, 0.5548420548439026, 0.5701284408569336, 0.542903482913971, 0.5477617979049683, 0.5474948883056641, 0.551449179649353, 0.5476236343383789, 0.555022120475769, 0.5466613173484802, 0.5377089381217957, 0.5630452632904053, 0.5650595426559448, 0.5563247799873352, 0.5541312098503113, 0.5570305585861206, 0.5661333799362183], "q1_all": [0.6293902397155762, 0.5957021713256836, 0.6695977449417114, 0.669084906578064, 0.6624013185501099, 0.657106876373291, 0.6171396970748901, 0.6001092195510864, 0.6508601903915405, 0.6331061124801636, 0.631853461265564, 0.6293721199035645, 0.6168068051338196, 0.6363334059715271, 0.6512390971183777, 0.6840404868125916, 0.6383427977561951, 0.6309030055999756, 0.6440597176551819, 0.6531819701194763, 0.6284481287002563, 0.6673239469528198, 0.6077876091003418, 0.6062339544296265, 0.5979101657867432, 0.6315391063690186, 0.593145489692688, 0.6437458992004395, 0.6132389903068542, 0.6604864597320557, 0.6036046147346497, 0.6526569128036499], "q2_all": [0.5558333992958069, 0.5420625805854797, 0.5580763220787048, 0.5422934293746948, 0.5569241046905518, 0.5605433583259583, 0.568286657333374, 0.5341119766235352, 0.5653413534164429, 0.5438810586929321, 0.574148416519165, 0.5876379609107971, 0.5715644955635071, 0.5595665574073792, 0.5601502060890198, 0.5766324400901794, 0.5548420548439026, 0.5701284408569336, 0.542903482913971, 0.5477617979049683, 0.5474948883056641, 0.551449179649353, 0.5476236343383789, 0.555022120475769, 0.5466613173484802, 0.5377089381217957, 0.5630452632904053, 0.5650595426559448, 0.5563247799873352, 0.5541312098503113, 0.5570305585861206, 0.5661333799362183], "cand_trans_speed_all": [0.001381416223011911, 0.0015921269077807665, 0.002358296187594533, 0.002197889843955636, 0.001683363108895719, 0.0030188322998583317, 0.0018125949427485466, 0.0017248688964173198, 0.0025113490410149097, 0.00288977543823421, 0.001752181793563068, 0.0032158135436475277, 0.001297452487051487, 0.0030969781801104546, 0.0020235588308423758, 0.002498889109119773, 0.0021777383517473936, 0.001794198527932167, 0.0032144568394869566, 0.0020249318331480026, 0.0014333970611914992, 0.0020571528002619743, 0.002156159607693553, 0.002556277671828866, 0.0014300716575235128, 0.0022380161099135876, 0.002196990419179201, 0.0018779494566842914, 0.0013286781031638384, 0.001834656111896038, 0.0015901639126241207, 0.0017932233167812228], "cand_cum_xyz_disp_all": [[0.0031575560569763184, 0.0021906495094299316, -0.005096994340419769], [0.0023655593395233154, 0.0038706958293914795, -0.003995709121227264], [0.0018292516469955444, 0.0008937865495681763, -0.005885988473892212], [0.003500610589981079, 0.0019837766885757446, -0.0049929991364479065], [0.002070412039756775, 0.0012368112802505493, -0.005608700215816498], [0.002190887928009033, 0.003645658493041992, -0.004874631762504578], [0.0021930932998657227, 0.003853216767311096, -0.002793431282043457], [0.002480939030647278, 0.004559367895126343, -0.004244096577167511], [0.0035944730043411255, 0.0031523853540420532, -0.004706248641014099], [0.002249971032142639, 0.002754777669906616, -0.00314890593290329], [0.0010313987731933594, 0.004543870687484741, -0.005765184760093689], [0.0016671866178512573, 0.003395378589630127, -0.004095591604709625], [0.0021789968013763428, 0.0028368979692459106, -0.0042531415820121765], [-9.59932804107666e-05, 0.004576593637466431, -0.006520681083202362], [0.002459511160850525, 0.00241948664188385, -0.0065636709332466125], [0.0015339553356170654, 0.003268316388130188, -0.006332404911518097], [0.004865512251853943, 0.0026915371417999268, -0.00477958470582962], [0.0023769140243530273, 0.0032779276371002197, -0.005608893930912018], [0.0022104084491729736, 0.0021686851978302, -0.005439311265945435], [0.0030949562788009644, 0.002047702670097351, -0.004558548331260681], [0.0026448816061019897, 0.0017890334129333496, -0.0053055062890052795], [0.0014731287956237793, 0.0016178637742996216, -0.007848389446735382], [0.0019216835498809814, 0.002970650792121887, -0.0034243836998939514], [0.00100688636302948, 0.003665626049041748, -0.005000948905944824], [0.0027492791414260864, 0.003239274024963379, -0.003865838050842285], [0.0008949488401412964, 0.0022521764039993286, -0.005383990705013275], [0.002478361129760742, 0.004521176218986511, -0.004969492554664612], [0.0021161139011383057, 0.0023142844438552856, -0.004417993128299713], [0.002003774046897888, 0.0030183494091033936, -0.005184434354305267], [0.0011124014854431152, 0.0003253370523452759, -0.007369965314865112], [0.0023603588342666626, 0.002855837345123291, -0.004001781344413757], [0.0028022676706314087, 0.0032089948654174805, -0.005457624793052673]], "cand_final_gripper_all": [0.7741702795028687, 0.7816596031188965, 0.7881245613098145, 0.7753357887268066, 0.7837214469909668, 0.7854305505752563, 0.7802550792694092, 0.785975456237793, 0.7915853261947632, 0.7800225615501404, 0.7838422656059265, 0.784521222114563, 0.7806452512741089, 0.7754806876182556, 0.779959499835968, 0.776838481426239, 0.79715496301651, 0.7827155590057373, 0.7796332836151123, 0.7896071672439575, 0.7911156415939331, 0.7861535549163818, 0.7893905639648438, 0.7849703431129456, 0.7681014537811279, 0.7890146970748901, 0.7921739816665649, 0.7800512909889221, 0.7637428045272827, 0.7784960269927979, 0.7801938056945801, 0.778197169303894], "eef_pos": [0.5731996297836304, 0.19956697523593903, 0.19407743215560913], "cand_action_std": 0.04161103814840317, "cand_pairwise_centroid_dist_mean": 0.38018614053726196, "argmax_act_outlier": 1.4978013038635254, "time_encode_ms": 10.44656103476882, "time_diffusion_ms": 50.00424711033702, "time_q_score_ms": 10.661695851013064, "time_total_ms": 72.01937399804592, "num_action_samples_effective": 32, "q_aggregate": "pair_min"} +{"chunk_ordinal": 8, "q_min_best": 0.6907540559768677, "q_min_mean": 0.6646919250488281, "q_min_std": 0.014128193259239197, "q_min_median": 0.6659685373306274, "chosen_vs_median_q_gap": 0.024785518646240234, "q1_best": 0.7252503633499146, "q2_best": 0.6907540559768677, "v_val": 0.7804166078567505, "advantage": -0.08966255187988281, "best_idx": 1, "q_min_all": [0.6670659184455872, 0.6907540559768677, 0.6319337487220764, 0.6633561849594116, 0.6686921715736389, 0.6788849830627441, 0.6707777976989746, 0.6771289110183716, 0.6735641956329346, 0.6552485823631287, 0.6614675521850586, 0.6787347793579102, 0.6686301827430725, 0.6659685373306274, 0.6587255001068115, 0.660011887550354, 0.6505764722824097, 0.6483849287033081, 0.6704270243644714, 0.6705154180526733, 0.6610727310180664, 0.6580310463905334, 0.6604597568511963, 0.6863324642181396, 0.6790729761123657, 0.6709928512573242, 0.6289473176002502, 0.6653859615325928, 0.638900637626648, 0.6613121032714844, 0.6815894246101379, 0.6671950221061707], "q1_all": [0.7251878380775452, 0.7252503633499146, 0.6790677309036255, 0.7260841727256775, 0.700908362865448, 0.7820242643356323, 0.7035797238349915, 0.726556658744812, 0.7703061103820801, 0.7706961631774902, 0.7387514114379883, 0.7242821455001831, 0.754690408706665, 0.7139525413513184, 0.7441935539245605, 0.7452174425125122, 0.6824127435684204, 0.7047264575958252, 0.692334771156311, 0.7252172231674194, 0.737991988658905, 0.7367204427719116, 0.7075777649879456, 0.7665857076644897, 0.7280635833740234, 0.7884093523025513, 0.707484245300293, 0.7381685972213745, 0.6915872097015381, 0.7283532023429871, 0.7588293552398682, 0.7024599313735962], "q2_all": [0.6670659184455872, 0.6907540559768677, 0.6319337487220764, 0.6633561849594116, 0.6686921715736389, 0.6788849830627441, 0.6707777976989746, 0.6771289110183716, 0.6735641956329346, 0.6552485823631287, 0.6614675521850586, 0.6787347793579102, 0.6686301827430725, 0.6659685373306274, 0.6587255001068115, 0.660011887550354, 0.6505764722824097, 0.6483849287033081, 0.6704270243644714, 0.6705154180526733, 0.6610727310180664, 0.6580310463905334, 0.6604597568511963, 0.6863324642181396, 0.6790729761123657, 0.6709928512573242, 0.6289473176002502, 0.6653859615325928, 0.638900637626648, 0.6613121032714844, 0.6815894246101379, 0.6671950221061707], "cand_trans_speed_all": [0.003978944383561611, 0.005723287351429462, 0.0023061991669237614, 0.00385204772464931, 0.004448349587619305, 0.0055860597640275955, 0.003575726877897978, 0.004814388696104288, 0.004176427610218525, 0.005040046293288469, 0.00419373344630003, 0.00555100291967392, 0.004460382275283337, 0.004838434047996998, 0.004533574916422367, 0.004347340203821659, 0.0033819747623056173, 0.003809726797044277, 0.0046276794746518135, 0.004307432100176811, 0.0050401100888848305, 0.005384768359363079, 0.004889436066150665, 0.005939403083175421, 0.0044206841848790646, 0.006251471117138863, 0.0030546009074896574, 0.005119449459016323, 0.00348627008497715, 0.004171398002654314, 0.00543593242764473, 0.004136062227189541], "cand_cum_xyz_disp_all": [[-0.0006148964166641235, -0.017019078135490417, -0.013140566647052765], [-0.003278195858001709, -0.021048665046691895, -0.01887562870979309], [0.0023305416107177734, -0.00880439579486847, -0.005173183977603912], [-0.0024188756942749023, -0.014776542782783508, -0.013998828828334808], [-0.0007636696100234985, -0.015919819474220276, -0.014234557747840881], [-0.002524927258491516, -0.023199379444122314, -0.02042464166879654], [0.00042407214641571045, -0.01535479724407196, -0.010441854596138], [0.0008235275745391846, -0.019938543438911438, -0.017471961677074432], [0.0009585022926330566, -0.019706755876541138, -0.010092318058013916], [0.0004707127809524536, -0.021449953317642212, -0.014598093926906586], [0.001442044973373413, -0.01625870168209076, -0.010315947234630585], [0.002507925033569336, -0.01952400803565979, -0.018958158791065216], [0.0004107356071472168, -0.020108282566070557, -0.014356710016727448], [-0.0012169480323791504, -0.020106956362724304, -0.013247907161712646], [-0.0011991411447525024, -0.01630285382270813, -0.01733509451150894], [-0.0008428394794464111, -0.01717744767665863, -0.01687532663345337], [0.0017543435096740723, -0.0096970796585083, -0.013225317001342773], [-0.0015036314725875854, -0.014466449618339539, -0.014901205897331238], [0.0002476423978805542, -0.015442490577697754, -0.01935771107673645], [0.0008837580680847168, -0.01599802076816559, -0.01780024915933609], [-0.0014583319425582886, -0.017701372504234314, -0.016624189913272858], [-0.0012354850769042969, -0.022288665175437927, -0.017938971519470215], [-0.0008505284786224365, -0.015484929084777832, -0.021005071699619293], [0.0003307908773422241, -0.024647772312164307, -0.018415123224258423], [0.0009475946426391602, -0.018445193767547607, -0.013630256056785583], [-0.0035357773303985596, -0.02375490963459015, -0.022823095321655273], [0.002293601632118225, -0.012045025825500488, -0.01121840626001358], [-0.0014179199934005737, -0.018962040543556213, -0.019798249006271362], [0.00060310959815979, -0.011803120374679565, -0.013380244374275208], [0.0011982470750808716, -0.017637178301811218, -0.011709652841091156], [-0.0020989030599594116, -0.02340056002140045, -0.01977378875017166], [0.0013208091259002686, -0.014856770634651184, -0.016214735805988312]], "cand_final_gripper_all": [0.9977433085441589, 0.9983967542648315, 0.9980750679969788, 0.9979744553565979, 0.9991216659545898, 0.9983819723129272, 0.9981936812400818, 0.9993981719017029, 0.9988871812820435, 0.9979236125946045, 0.9988760948181152, 0.9989485740661621, 0.9992495179176331, 0.9982469081878662, 0.9983682632446289, 0.9986539483070374, 0.998241662979126, 0.9972553253173828, 0.9979380369186401, 0.9959293603897095, 0.9985268115997314, 0.9996870756149292, 0.9978691935539246, 0.9980313777923584, 0.9982630014419556, 0.99928879737854, 0.9984330534934998, 0.9986345767974854, 0.9976437091827393, 0.9985435605049133, 1.0, 0.9973453879356384], "eef_pos": [0.5793231129646301, 0.20235930383205414, 0.200307697057724], "cand_action_std": 0.044653140008449554, "cand_pairwise_centroid_dist_mean": 0.4982941746711731, "argmax_act_outlier": 0.8791658282279968, "time_encode_ms": 16.061983071267605, "time_diffusion_ms": 42.080282932147384, "time_q_score_ms": 10.448805056512356, "time_total_ms": 69.72371600568295, "num_action_samples_effective": 32, "q_aggregate": "pair_min"} +{"chunk_ordinal": 9, "q_min_best": 0.6915740370750427, "q_min_mean": 0.6463516354560852, "q_min_std": 0.030736787244677544, "q_min_median": 0.6531270742416382, "chosen_vs_median_q_gap": 0.03844696283340454, "q1_best": 0.750149130821228, "q2_best": 0.6915740370750427, "v_val": 0.8651026487350464, "advantage": -0.17352861166000366, "best_idx": 26, "q_min_all": [0.6370996832847595, 0.6076427698135376, 0.6392518877983093, 0.6205244064331055, 0.6762995719909668, 0.6058945059776306, 0.6809669733047485, 0.5825585722923279, 0.6105315089225769, 0.6756950616836548, 0.6543512344360352, 0.6345602869987488, 0.63371741771698, 0.6639040112495422, 0.6660687923431396, 0.640713632106781, 0.6702046394348145, 0.6124708652496338, 0.6852997541427612, 0.5689150094985962, 0.6161221861839294, 0.6574041843414307, 0.6531270742416382, 0.6644867062568665, 0.6606436967849731, 0.6378313899040222, 0.6915740370750427, 0.660700261592865, 0.6701219081878662, 0.6741585731506348, 0.6843230128288269, 0.6460896134376526], "q1_all": [0.6870794296264648, 0.6888319253921509, 0.7246054410934448, 0.7375355958938599, 0.7442682385444641, 0.7129764556884766, 0.7511582374572754, 0.7388137578964233, 0.7200475335121155, 0.7278673052787781, 0.7237261533737183, 0.7228087782859802, 0.7223328948020935, 0.7187236547470093, 0.7450698018074036, 0.7309785485267639, 0.7156617045402527, 0.737764298915863, 0.6869692802429199, 0.7007123231887817, 0.685126781463623, 0.7184976935386658, 0.7033263444900513, 0.7345283627510071, 0.7358907461166382, 0.6979861259460449, 0.750149130821228, 0.7492250800132751, 0.7126793265342712, 0.7269859910011292, 0.7672357559204102, 0.7062385678291321], "q2_all": [0.6370996832847595, 0.6076427698135376, 0.6392518877983093, 0.6205244064331055, 0.6762995719909668, 0.6058945059776306, 0.6809669733047485, 0.5825585722923279, 0.6105315089225769, 0.6756950616836548, 0.6543512344360352, 0.6345602869987488, 0.63371741771698, 0.6639040112495422, 0.6660687923431396, 0.640713632106781, 0.6702046394348145, 0.6124708652496338, 0.6852997541427612, 0.5689150094985962, 0.6161221861839294, 0.6574041843414307, 0.6531270742416382, 0.6644867062568665, 0.6606436967849731, 0.6378313899040222, 0.6915740370750427, 0.660700261592865, 0.6701219081878662, 0.6741585731506348, 0.6843230128288269, 0.6460896134376526], "cand_trans_speed_all": [0.012034229934215546, 0.011971826665103436, 0.012273791246116161, 0.01186803262680769, 0.012035614810883999, 0.011229845695197582, 0.011565826833248138, 0.012161444872617722, 0.011494833044707775, 0.011886751279234886, 0.011676333844661713, 0.011777064763009548, 0.012158097699284554, 0.012346344999969006, 0.012119080871343613, 0.011585577391088009, 0.012127990834414959, 0.011287725530564785, 0.013287282548844814, 0.011924417689442635, 0.011989755555987358, 0.011892138980329037, 0.012710822746157646, 0.012553326785564423, 0.011640824377536774, 0.012572603300213814, 0.012196856550872326, 0.012873271480202675, 0.012248232029378414, 0.012721270322799683, 0.011843393556773663, 0.012074081227183342], "cand_cum_xyz_disp_all": [[0.0015002042055130005, -0.0576728880405426, -0.042021676898002625], [0.0033735334873199463, -0.05741555243730545, -0.039194367825984955], [0.004033029079437256, -0.05859271436929703, -0.04333450645208359], [0.0009478181600570679, -0.05667993426322937, -0.04065091162919998], [0.0025971829891204834, -0.05955111235380173, -0.03932538628578186], [0.000919729471206665, -0.05510052293539047, -0.037131115794181824], [0.002132624387741089, -0.05542639642953873, -0.038246169686317444], [0.004315197467803955, -0.05740147829055786, -0.039496131241321564], [0.005867302417755127, -0.053619518876075745, -0.038799040019512177], [0.0009736716747283936, -0.05834152549505234, -0.03870367258787155], [-0.0012629330158233643, -0.05330304801464081, -0.04171318560838699], [-0.0008871108293533325, -0.05511430650949478, -0.03833241015672684], [0.002260848879814148, -0.06017201393842697, -0.03740476071834564], [-0.0015373975038528442, -0.05923311412334442, -0.038521818816661835], [0.004464328289031982, -0.05890541523694992, -0.04066440463066101], [0.0023548752069473267, -0.055761344730854034, -0.03960096091032028], [0.0021477937698364258, -0.057641223073005676, -0.041413694620132446], [-0.0017941594123840332, -0.052225202322006226, -0.03889194130897522], [0.001928970217704773, -0.06336654722690582, -0.040286459028720856], [0.0011730492115020752, -0.057447649538517, -0.041260793805122375], [0.0009307265281677246, -0.056386902928352356, -0.042118847370147705], [0.0018265843391418457, -0.05759938061237335, -0.03883837163448334], [0.00048507750034332275, -0.06270667165517807, -0.036764830350875854], [0.0039988309144973755, -0.060685060918331146, -0.039403244853019714], [0.002857387065887451, -0.05462394654750824, -0.041925348341464996], [0.0011615902185440063, -0.06355258077383041, -0.03851982206106186], [0.0038294047117233276, -0.05984478443861008, -0.03675002604722977], [0.0049478113651275635, -0.06272327154874802, -0.04128503054380417], [0.0002725571393966675, -0.06050701439380646, -0.037621818482875824], [0.004936739802360535, -0.06079524755477905, -0.03983573615550995], [0.003597259521484375, -0.056663818657398224, -0.03813932090997696], [0.0017132461071014404, -0.057628557085990906, -0.04126916080713272]], "cand_final_gripper_all": [0.9987660646438599, 0.9999978542327881, 0.9992620944976807, 0.9995840787887573, 0.9992557168006897, 0.9989243745803833, 0.9980224370956421, 0.9989702701568604, 0.9983223676681519, 0.999016284942627, 0.9984447360038757, 0.9992175698280334, 0.998805046081543, 0.9993025064468384, 0.9991743564605713, 0.9987536668777466, 0.9985184669494629, 0.9994821548461914, 1.0, 0.9997422695159912, 0.9993877410888672, 0.9988381862640381, 0.9969741106033325, 0.9961883425712585, 0.9986621141433716, 0.9995291233062744, 0.9984744191169739, 1.0, 0.9986381530761719, 0.9985507726669312, 0.9996027946472168, 0.9992622137069702], "eef_pos": [0.5803941488265991, 0.20300990343093872, 0.20125307142734528], "cand_action_std": 0.09529475122690201, "cand_pairwise_centroid_dist_mean": 0.8874025344848633, "argmax_act_outlier": 0.8494134545326233, "time_encode_ms": 5.526949185878038, "time_diffusion_ms": 43.99837600067258, "time_q_score_ms": 12.436836957931519, "time_total_ms": 62.79255193658173, "num_action_samples_effective": 32, "q_aggregate": "pair_min"} +{"chunk_ordinal": 10, "q_min_best": 0.649643063545227, "q_min_mean": 0.5834829211235046, "q_min_std": 0.033447265625, "q_min_median": 0.5839570760726929, "chosen_vs_median_q_gap": 0.06568598747253418, "q1_best": 0.649643063545227, "q2_best": 0.7630404233932495, "v_val": 0.8089308142662048, "advantage": -0.15928775072097778, "best_idx": 31, "q_min_all": [0.6267738938331604, 0.5383369326591492, 0.5699386596679688, 0.5695054531097412, 0.5283392667770386, 0.5736258029937744, 0.6037063598632812, 0.5589548349380493, 0.5840908288955688, 0.6167059540748596, 0.6231256723403931, 0.550035297870636, 0.617368221282959, 0.6271449327468872, 0.5607529282569885, 0.5778466463088989, 0.5870527029037476, 0.5708307027816772, 0.5931463241577148, 0.5875797867774963, 0.5964794754981995, 0.5810624957084656, 0.5975082516670227, 0.6436975598335266, 0.5839570760726929, 0.5211540460586548, 0.5325312614440918, 0.600794792175293, 0.5990921854972839, 0.572288990020752, 0.5283838510513306, 0.649643063545227], "q1_all": [0.6267738938331604, 0.5383369326591492, 0.5699386596679688, 0.5695054531097412, 0.5283392667770386, 0.5736258029937744, 0.6037063598632812, 0.5589548349380493, 0.5840908288955688, 0.6167059540748596, 0.6231256723403931, 0.550035297870636, 0.617368221282959, 0.6271449327468872, 0.5607529282569885, 0.5778466463088989, 0.5870527029037476, 0.5708307027816772, 0.5931463241577148, 0.5875797867774963, 0.5964794754981995, 0.5810624957084656, 0.5975082516670227, 0.6436975598335266, 0.5839570760726929, 0.5211540460586548, 0.5325312614440918, 0.600794792175293, 0.5990921854972839, 0.572288990020752, 0.5283838510513306, 0.649643063545227], "q2_all": [0.7846018671989441, 0.6252862215042114, 0.7492536306381226, 0.7600835561752319, 0.6937287449836731, 0.7601016163825989, 0.7539528608322144, 0.7353959083557129, 0.7554514408111572, 0.7682026028633118, 0.7594187259674072, 0.765569806098938, 0.7306665182113647, 0.7624145150184631, 0.705518364906311, 0.7522250413894653, 0.7762807607650757, 0.7380949854850769, 0.7376201152801514, 0.7160153388977051, 0.7572903037071228, 0.7292549014091492, 0.7598180174827576, 0.7605147957801819, 0.7680851817131042, 0.6961356997489929, 0.734256386756897, 0.7174040079116821, 0.7079766392707825, 0.7222508192062378, 0.6937571167945862, 0.7630404233932495], "cand_trans_speed_all": [0.009963175281882286, 0.009709819220006466, 0.009072380140423775, 0.009056326001882553, 0.010899301618337631, 0.011140423826873302, 0.01064120139926672, 0.008627979084849358, 0.010889015160501003, 0.009728508070111275, 0.00918604526668787, 0.01047114934772253, 0.01029277965426445, 0.010378959588706493, 0.009790947660803795, 0.009665755555033684, 0.009293799288570881, 0.009533041156828403, 0.010395314544439316, 0.010548178106546402, 0.009253442287445068, 0.009605303406715393, 0.009622158482670784, 0.010043462738394737, 0.010802718810737133, 0.010678820312023163, 0.008706461638212204, 0.01010600384324789, 0.010104097425937653, 0.009953824803233147, 0.010890546254813671, 0.009931270964443684], "cand_cum_xyz_disp_all": [[-0.0023159533739089966, -0.04196059703826904, -0.02525298297405243], [-0.00237099826335907, -0.033693984150886536, -0.016634434461593628], [-0.002333119511604309, -0.03946508467197418, -0.03010723739862442], [-0.00654834508895874, -0.03921692073345184, -0.029278546571731567], [-0.006118953227996826, -0.029263481497764587, -0.01694229245185852], [0.0028467774391174316, -0.04137514531612396, -0.022677473723888397], [-0.000541195273399353, -0.036400988698005676, -0.02660810947418213], [-0.002991423010826111, -0.03454943001270294, -0.020807743072509766], [0.002779945731163025, -0.03631538152694702, -0.02428390085697174], [-0.005823656916618347, -0.04570290446281433, -0.028543226420879364], [-0.001854047179222107, -0.045600369572639465, -0.028748437762260437], [-0.005108147859573364, -0.03504522144794464, -0.020700857043266296], [-0.0035610944032669067, -0.04604607820510864, -0.02803480625152588], [-0.006492257118225098, -0.04090222716331482, -0.032882317900657654], [-0.0006977468729019165, -0.03569306433200836, -0.020548999309539795], [-0.008268743753433228, -0.04131917655467987, -0.030361860990524292], [-0.0024321377277374268, -0.04235859215259552, -0.028238043189048767], [-0.006369337439537048, -0.03946541249752045, -0.030528739094734192], [-0.003509536385536194, -0.04025915265083313, -0.027931958436965942], [-0.003466993570327759, -0.039999619126319885, -0.022167213261127472], [-0.006506606936454773, -0.03845861554145813, -0.029394470155239105], [-0.005253300070762634, -0.03877398371696472, -0.029244229197502136], [-0.005362600088119507, -0.03826506435871124, -0.03123439848423004], [-0.003904998302459717, -0.043345607817173004, -0.025974273681640625], [-0.005356580018997192, -0.03628134727478027, -0.026048414409160614], [-0.0051082223653793335, -0.032906681299209595, -0.021496780216693878], [-0.004698306322097778, -0.034709349274635315, -0.020268514752388], [-0.005810528993606567, -0.041498035192489624, -0.029279470443725586], [-0.006370335817337036, -0.041284218430519104, -0.03104037046432495], [-0.004915386438369751, -0.03398987650871277, -0.0282299742102623], [-0.004253014922142029, -0.029039829969406128, -0.019669614732265472], [-0.007275432348251343, -0.040851280093193054, -0.029966481029987335]], "cand_final_gripper_all": [0.9989586472511292, 0.9989273548126221, 0.9981399774551392, 0.9997372627258301, 0.9989226460456848, 0.9997552633285522, 0.9983707666397095, 0.9992716908454895, 0.9991017580032349, 0.9983595609664917, 0.9988739490509033, 0.9991315007209778, 0.9994246959686279, 0.9997249841690063, 0.998615026473999, 0.9988024234771729, 0.9982424378395081, 0.9986218810081482, 0.9987947940826416, 0.998321533203125, 0.997788667678833, 0.9989643096923828, 0.9995176792144775, 0.9990880489349365, 0.9984117746353149, 0.997439980506897, 0.9984811544418335, 0.9978172779083252, 0.997550368309021, 0.9983792304992676, 0.9981381893157959, 0.9984956979751587], "eef_pos": [0.5447115898132324, 0.2241910845041275, 0.220138281583786], "cand_action_std": 0.1083562895655632, "cand_pairwise_centroid_dist_mean": 1.0131256580352783, "argmax_act_outlier": 0.9267804622650146, "time_encode_ms": 168.5230068396777, "time_diffusion_ms": 747.9657828807831, "time_q_score_ms": 22.212781943380833, "time_total_ms": 957.593146013096, "num_action_samples_effective": 32, "q_aggregate": "pair_min"} +{"chunk_ordinal": 11, "q_min_best": 0.8255051374435425, "q_min_mean": 0.7905043363571167, "q_min_std": 0.02767764776945114, "q_min_median": 0.7898825407028198, "chosen_vs_median_q_gap": 0.035622596740722656, "q1_best": 0.8255051374435425, "q2_best": 0.8382856845855713, "v_val": 0.052590031176805496, "advantage": 0.772915106266737, "best_idx": 26, "q_min_all": [0.8075039982795715, 0.7779718637466431, 0.7680667638778687, 0.7991490364074707, 0.7851096987724304, 0.7944496870040894, 0.7846716642379761, 0.8130139708518982, 0.7802129983901978, 0.8045667409896851, 0.7934116721153259, 0.8225099444389343, 0.8132802248001099, 0.8232759833335876, 0.8251113891601562, 0.6877479553222656, 0.7713006734848022, 0.7769181132316589, 0.7506072521209717, 0.804288387298584, 0.7657480239868164, 0.775818943977356, 0.8195816278457642, 0.7898825407028198, 0.7741790413856506, 0.7652568817138672, 0.8255051374435425, 0.8229653835296631, 0.7873455286026001, 0.7927032709121704, 0.788019061088562, 0.8059650659561157], "q1_all": [0.8075039982795715, 0.7779718637466431, 0.7680667638778687, 0.7991490364074707, 0.7851096987724304, 0.7944496870040894, 0.7846716642379761, 0.8130139708518982, 0.7802129983901978, 0.8045667409896851, 0.7934116721153259, 0.8239884376525879, 0.8132802248001099, 0.8232759833335876, 0.8251113891601562, 0.7572119235992432, 0.7713006734848022, 0.7769181132316589, 0.7652220129966736, 0.804288387298584, 0.7657480239868164, 0.775818943977356, 0.8195816278457642, 0.79551100730896, 0.7741790413856506, 0.7652568817138672, 0.8255051374435425, 0.8476967215538025, 0.7873455286026001, 0.7927032709121704, 0.788019061088562, 0.8059650659561157], "q2_all": [0.8400899171829224, 0.8401412963867188, 0.8330627679824829, 0.8269860744476318, 0.7857386469841003, 0.7985756993293762, 0.8067417144775391, 0.8369308114051819, 0.8506360054016113, 0.8310812711715698, 0.8305872678756714, 0.8225099444389343, 0.8336019515991211, 0.8251028060913086, 0.8434369564056396, 0.6877479553222656, 0.8046178221702576, 0.7873146533966064, 0.7506072521209717, 0.8231143355369568, 0.8211630582809448, 0.8457363843917847, 0.8411014676094055, 0.7898825407028198, 0.7868877649307251, 0.8238869309425354, 0.8382856845855713, 0.8229653835296631, 0.8212698698043823, 0.8370234966278076, 0.8210486173629761, 0.8146407604217529], "cand_trans_speed_all": [0.007248840294778347, 0.007561617996543646, 0.00770668825134635, 0.00694100558757782, 0.006970634683966637, 0.0057556359097361565, 0.0059892176650464535, 0.006417562253773212, 0.007481061853468418, 0.00732847023755312, 0.00795164704322815, 0.007461996283382177, 0.006821858696639538, 0.008899260312318802, 0.006865340285003185, 0.007926762104034424, 0.006845052819699049, 0.0058348458260297775, 0.007242328487336636, 0.007451280020177364, 0.008045747876167297, 0.006758294999599457, 0.007876734249293804, 0.006379975005984306, 0.005842811428010464, 0.0068802013993263245, 0.008031262084841728, 0.007741432636976242, 0.008204031735658646, 0.007583982776850462, 0.008760246448218822, 0.007547914516180754], "cand_cum_xyz_disp_all": [[-0.017667323350906372, -0.018061473965644836, -0.0037161707878112793], [-0.016216501593589783, -0.02022644877433777, 0.0028739646077156067], [-0.018666192889213562, -0.018624231219291687, 0.0043174996972084045], [-0.019517824053764343, -0.023183375597000122, 0.001395389437675476], [-0.013066023588180542, -0.014389246702194214, 0.0020873546600341797], [-0.013851925730705261, -0.020892009139060974, 0.002131640911102295], [-0.01752692461013794, -0.023718446493148804, -0.001127876341342926], [-0.016422957181930542, -0.021369993686676025, -8.002668619155884e-05], [-0.018625035881996155, -0.02171100676059723, 0.0016574189066886902], [-0.020791709423065186, -0.020814746618270874, 0.0004150867462158203], [-0.016942813992500305, -0.017343565821647644, 0.004461593925952911], [-0.020083487033843994, -0.019970163702964783, 0.0017935782670974731], [-0.015737533569335938, -0.020453348755836487, -0.0014760494232177734], [-0.018642351031303406, -0.022891610860824585, 0.004268527030944824], [-0.022676125168800354, -0.02066287398338318, -0.0032663047313690186], [-0.015167683362960815, -0.011023953557014465, 0.0041875168681144714], [-0.012345448136329651, -0.0180349200963974, 4.995614290237427e-05], [-0.014459118247032166, -0.020750895142555237, -0.0022515803575515747], [-0.02071423828601837, -0.019785195589065552, 0.0024584904313087463], [-0.019095003604888916, -0.019445210695266724, 0.0016934052109718323], [-0.016112908720970154, -0.018468216061592102, 0.004028543829917908], [-0.019376486539840698, -0.019039899110794067, -0.002159997820854187], [-0.016402646899223328, -0.023763924837112427, 0.00520671159029007], [-0.01643584668636322, -0.025995761156082153, -0.0006099343299865723], [-0.017330452799797058, -0.018887490034103394, -0.003424130380153656], [-0.017857491970062256, -0.023666545748710632, 0.0028707534074783325], [-0.01610293984413147, -0.024682655930519104, 0.0005803108215332031], [-0.02410447597503662, -0.021565735340118408, -0.001050025224685669], [-0.016216367483139038, -0.019298627972602844, 0.004545785486698151], [-0.018854543566703796, -0.018665075302124023, 0.0013856515288352966], [-0.01663994789123535, -0.01954658329486847, 0.006198622286319733], [-0.018278464674949646, -0.02158389985561371, -0.002117857336997986]], "cand_final_gripper_all": [1.0, 1.0, 0.9999597072601318, 0.9998243451118469, 0.9999955892562866, 0.9999293088912964, 0.9998949766159058, 1.0, 0.9998233318328857, 0.9993924498558044, 0.9996597766876221, 0.9999908804893494, 0.9996402263641357, 1.0, 1.0, 1.0, 0.9998120069503784, 0.9997106790542603, 1.0, 0.9991955757141113, 1.0, 1.0, 1.0, 0.9994492530822754, 1.0, 1.0, 1.0, 0.9999389052391052, 0.99983811378479, 1.0, 0.999787449836731, 1.0], "eef_pos": [0.5195987820625305, 0.23288440704345703, 0.237346351146698], "cand_action_std": 0.08475317806005478, "cand_pairwise_centroid_dist_mean": 0.7988492250442505, "argmax_act_outlier": 1.3072869777679443, "time_encode_ms": 8.163776947185397, "time_diffusion_ms": 36.763763055205345, "time_q_score_ms": 10.03898005001247, "time_total_ms": 56.260352954268456, "num_action_samples_effective": 32, "q_aggregate": "pair_min"} +{"chunk_ordinal": 12, "q_min_best": 0.9516215324401855, "q_min_mean": 0.9251499176025391, "q_min_std": 0.01661277376115322, "q_min_median": 0.9278503656387329, "chosen_vs_median_q_gap": 0.023771166801452637, "q1_best": 0.9516215324401855, "q2_best": 0.9977877140045166, "v_val": 1.140035629272461, "advantage": -0.1884140968322754, "best_idx": 16, "q_min_all": [0.8842537999153137, 0.9122481346130371, 0.9309755563735962, 0.9300041198730469, 0.9085538387298584, 0.899683952331543, 0.9119382500648499, 0.9278503656387329, 0.9198707342147827, 0.9421498775482178, 0.924777090549469, 0.9292670488357544, 0.9372154474258423, 0.9271082878112793, 0.9385949373245239, 0.930448055267334, 0.9516215324401855, 0.9430972933769226, 0.9509891271591187, 0.9370450973510742, 0.9451010823249817, 0.9287051558494568, 0.9410836696624756, 0.9154729843139648, 0.906119167804718, 0.9259985685348511, 0.9003140926361084, 0.9393158555030823, 0.9018674492835999, 0.9125612378120422, 0.9113202095031738, 0.9392439723014832], "q1_all": [0.8842537999153137, 0.9122481346130371, 0.9309755563735962, 0.9300041198730469, 0.9085538387298584, 0.9033368229866028, 0.9119382500648499, 0.9278503656387329, 0.9198707342147827, 0.9421498775482178, 0.924777090549469, 0.9292670488357544, 0.9372154474258423, 0.9271082878112793, 0.9385949373245239, 0.930448055267334, 0.9516215324401855, 0.9430972933769226, 0.9509891271591187, 0.9370450973510742, 0.9451010823249817, 0.9287051558494568, 0.9424012303352356, 0.9154729843139648, 0.906119167804718, 0.9259985685348511, 0.9003140926361084, 0.9393158555030823, 0.9018674492835999, 0.9125612378120422, 0.9113202095031738, 0.9392439723014832], "q2_all": [0.9223054051399231, 0.9547737240791321, 0.9570774435997009, 0.969915509223938, 0.9449806213378906, 0.899683952331543, 0.9868820905685425, 0.9627652168273926, 0.9902151823043823, 0.9643893241882324, 0.9660502672195435, 0.9991213083267212, 0.9893972873687744, 1.0011085271835327, 0.9573001265525818, 1.0030308961868286, 0.9977877140045166, 0.9769200086593628, 0.9737656712532043, 0.9652877449989319, 1.0051357746124268, 0.9585844874382019, 0.9410836696624756, 0.961875319480896, 0.938406765460968, 0.980658233165741, 0.9211362600326538, 0.987323522567749, 0.903874397277832, 0.981289267539978, 0.9620144367218018, 0.952216386795044], "cand_trans_speed_all": [0.003975370433181524, 0.0053769550286233425, 0.005296048708260059, 0.004468265455216169, 0.004011570475995541, 0.005034792236983776, 0.004419261123985052, 0.005860431119799614, 0.0036728023551404476, 0.00523948622867465, 0.004848253447562456, 0.004773179534822702, 0.005141254980117083, 0.006116997450590134, 0.005940146744251251, 0.005099753849208355, 0.00589069863781333, 0.005386219825595617, 0.005769367795437574, 0.004789572674781084, 0.00461161695420742, 0.005212537944316864, 0.006360970437526703, 0.004401396028697491, 0.004767266102135181, 0.004421100951731205, 0.0035424502566456795, 0.004202469252049923, 0.004849768243730068, 0.00441247271373868, 0.005406187381595373, 0.005040755495429039], "cand_cum_xyz_disp_all": [[-0.006923183798789978, -0.01142372190952301, 0.005706042051315308], [-0.007655128836631775, -0.008985191583633423, 0.006163805723190308], [-0.008285924792289734, -0.007872059941291809, 0.008938349783420563], [-0.009876340627670288, -0.004890888929367065, 0.009599052369594574], [-0.009635716676712036, -0.01079326868057251, 0.005361959338188171], [-0.0076485276222229, -0.009485006332397461, 0.006923653185367584], [-0.007915005087852478, -0.006156831979751587, 0.005685128271579742], [-0.00810268521308899, -0.004373341798782349, 0.007571019232273102], [-0.011812865734100342, -0.007863089442253113, 0.007961936295032501], [-0.007924303412437439, -0.005314037203788757, 0.00958242267370224], [-0.007653966546058655, -0.005154535174369812, 0.006475478410720825], [-0.008790701627731323, -0.009617254137992859, 0.008143328130245209], [-0.010237395763397217, -0.007025301456451416, 0.009545184671878815], [-0.009199365973472595, -0.002359524369239807, 0.0072943344712257385], [-0.008000552654266357, -0.00603070855140686, 0.009240888059139252], [-0.008512303233146667, -0.002352610230445862, 0.006673738360404968], [-0.006903409957885742, -0.0027458220720291138, 0.009049110114574432], [-0.012287914752960205, -0.006527796387672424, 0.010246820747852325], [-0.009892001748085022, -0.005425304174423218, 0.010252274572849274], [-0.010451644659042358, -0.008727088570594788, 0.007215864956378937], [-0.009229511022567749, -0.005237802863121033, 0.009063877165317535], [-0.006772726774215698, -0.0047750324010849, 0.009114332497119904], [-0.0062923431396484375, -0.004166245460510254, 0.009426198899745941], [-0.0099402517080307, -0.006246700882911682, 0.006777830421924591], [-0.009807035326957703, -0.008145779371261597, 0.004737488925457001], [-0.007393553853034973, -0.00909055769443512, 0.0033847540616989136], [-0.011178746819496155, -0.010031357407569885, 0.005137786269187927], [-0.012637928128242493, -0.008214682340621948, 0.008291743695735931], [-0.009244009852409363, -0.007376223802566528, 0.007651902735233307], [-0.0094815194606781, -0.007834941148757935, 0.00522816926240921], [-0.008626654744148254, -0.0031485706567764282, 0.005843751132488251], [-0.009452268481254578, -0.010751336812973022, 0.008464433252811432]], "cand_final_gripper_all": [1.0, 0.9998049139976501, 1.0, 0.9996894598007202, 0.9999896287918091, 0.9998141527175903, 0.9994519948959351, 1.0, 1.0, 0.9996758699417114, 1.0, 1.0, 1.0, 0.9995440244674683, 1.0, 0.999603807926178, 1.0, 1.0, 1.0, 1.0, 1.0, 0.999846339225769, 1.0, 1.0, 0.9993956685066223, 1.0, 0.9995495080947876, 0.9999477863311768, 1.0, 0.999980092048645, 1.0, 0.9993478059768677], "eef_pos": [0.5043131113052368, 0.22757989168167114, 0.23696087300777435], "cand_action_std": 0.07005288451910019, "cand_pairwise_centroid_dist_mean": 0.6671885848045349, "argmax_act_outlier": 1.1470935344696045, "time_encode_ms": 7.420076988637447, "time_diffusion_ms": 36.262961104512215, "time_q_score_ms": 8.102433057501912, "time_total_ms": 52.62753204442561, "num_action_samples_effective": 32, "q_aggregate": "pair_min"} +{"chunk_ordinal": 13, "q_min_best": 0.967577338218689, "q_min_mean": 0.9251483082771301, "q_min_std": 0.023194381967186928, "q_min_median": 0.9274073839187622, "chosen_vs_median_q_gap": 0.04016995429992676, "q1_best": 1.069448709487915, "q2_best": 0.967577338218689, "v_val": 1.1673181056976318, "advantage": -0.19974076747894287, "best_idx": 10, "q_min_all": [0.8922958374023438, 0.8739192485809326, 0.9349442720413208, 0.9451998472213745, 0.941627562046051, 0.9314050674438477, 0.9437950849533081, 0.9454308748245239, 0.9290195107460022, 0.925859808921814, 0.967577338218689, 0.9395731091499329, 0.9026567935943604, 0.9357254505157471, 0.934104323387146, 0.9071942567825317, 0.8744146823883057, 0.9023936986923218, 0.9274073839187622, 0.9098819494247437, 0.9147064685821533, 0.9161255955696106, 0.9618743658065796, 0.9111457467079163, 0.9131101369857788, 0.9483210444450378, 0.9400116205215454, 0.9222919344902039, 0.9221259355545044, 0.8916463255882263, 0.9553966522216797, 0.9435639977455139], "q1_all": [1.039663314819336, 1.0489857196807861, 1.0803948640823364, 1.0658916234970093, 1.0862784385681152, 1.0558968782424927, 1.0694454908370972, 1.0573405027389526, 1.0481740236282349, 1.075833797454834, 1.069448709487915, 1.0667824745178223, 1.0593923330307007, 1.0537062883377075, 1.0544005632400513, 1.0592880249023438, 1.0332480669021606, 1.0632880926132202, 1.0594595670700073, 1.093794822692871, 1.0538132190704346, 1.053218960762024, 1.0633609294891357, 1.0528022050857544, 1.078355312347412, 1.0730173587799072, 1.079220175743103, 1.0698895454406738, 1.0627223253250122, 1.04343581199646, 1.0759869813919067, 1.0722126960754395], "q2_all": [0.8922958374023438, 0.8739192485809326, 0.9349442720413208, 0.9451998472213745, 0.941627562046051, 0.9314050674438477, 0.9437950849533081, 0.9454308748245239, 0.9290195107460022, 0.925859808921814, 0.967577338218689, 0.9395731091499329, 0.9026567935943604, 0.9357254505157471, 0.934104323387146, 0.9071942567825317, 0.8744146823883057, 0.9023936986923218, 0.9274073839187622, 0.9098819494247437, 0.9147064685821533, 0.9161255955696106, 0.9618743658065796, 0.9111457467079163, 0.9131101369857788, 0.9483210444450378, 0.9400116205215454, 0.9222919344902039, 0.9221259355545044, 0.8916463255882263, 0.9553966522216797, 0.9435639977455139], "cand_trans_speed_all": [0.003835062263533473, 0.003643271280452609, 0.0037539652548730373, 0.003140732180327177, 0.004460226744413376, 0.003356566419824958, 0.0036698775365948677, 0.003513224422931671, 0.003925430588424206, 0.0034050913527607918, 0.004193840082734823, 0.00320856343023479, 0.0032204724848270416, 0.003454918973147869, 0.004050157498568296, 0.003275493159890175, 0.0033262528013437986, 0.0034304652363061905, 0.003692351281642914, 0.003840130288153887, 0.003495588665828109, 0.0032947249710559845, 0.0035437578335404396, 0.0034887404181063175, 0.0041216290555894375, 0.0036845761351287365, 0.003377060405910015, 0.0038141123950481415, 0.003328697755932808, 0.0035245574545115232, 0.003257906064391136, 0.0034592587035149336], "cand_cum_xyz_disp_all": [[-0.006523430347442627, -0.001385122537612915, 0.01664864271879196], [-0.00734536349773407, 0.0006902962923049927, 0.017606042325496674], [-0.006136909127235413, 0.005616292357444763, 0.015202291309833527], [-0.005461737513542175, 0.00200633704662323, 0.017097167670726776], [-0.005176424980163574, 0.0050834715366363525, 0.017141737043857574], [-0.010160937905311584, 8.866190910339355e-05, 0.015730001032352448], [-0.009209856390953064, 0.00077781081199646, 0.016301698982715607], [-0.008839160203933716, 0.0002952665090560913, 0.018130727112293243], [-0.008017390966415405, 3.5017728805541992e-06, 0.016616471111774445], [-0.008817464113235474, 0.0013278573751449585, 0.017092593014240265], [-0.006693229079246521, 0.002581357955932617, 0.019443131983280182], [-0.008085519075393677, 0.0028649121522903442, 0.015434719622135162], [-0.005660653114318848, 0.0003098994493484497, 0.01686163991689682], [-0.005099371075630188, 0.0012446492910385132, 0.015782617032527924], [-0.009094059467315674, 0.0005082190036773682, 0.017738185822963715], [-0.0072234272956848145, 0.00015223026275634766, 0.015781767666339874], [-0.009105339646339417, -0.00034686923027038574, 0.015386350452899933], [-0.005270183086395264, 0.000611618161201477, 0.014277763664722443], [-0.008920624852180481, 0.0007138997316360474, 0.018000341951847076], [-0.006578430533409119, 0.0033867061138153076, 0.01794087141752243], [-0.008708879351615906, -0.001935720443725586, 0.01743593066930771], [-0.007826119661331177, -0.0008372664451599121, 0.016914106905460358], [-0.00954146683216095, 0.0006893426179885864, 0.01784203201532364], [-0.008918851613998413, -0.00038270652294158936, 0.017358966171741486], [-0.00582084059715271, 0.0047174543142318726, 0.017932452261447906], [-0.007459402084350586, 0.003823786973953247, 0.017178542912006378], [-0.006336808204650879, 0.0036811530590057373, 0.01628977805376053], [-0.0070631057024002075, 0.0018366128206253052, 0.01746479421854019], [-0.005570530891418457, -0.0001636594533920288, 0.015183143317699432], [-0.008048921823501587, -0.0010711103677749634, 0.01772511750459671], [-0.008692324161529541, 0.00406058132648468, 0.016121797263622284], [-0.005969420075416565, 0.0010917335748672485, 0.01742931455373764]], "cand_final_gripper_all": [1.0, 0.9995021820068359, 1.0, 1.0, 0.9996760487556458, 1.0, 1.0, 0.9994394779205322, 0.9999032020568848, 0.9997974634170532, 1.0, 1.0, 1.0, 0.9997158050537109, 0.9998624324798584, 1.0, 1.0, 0.9995293617248535, 1.0, 0.9997062683105469, 0.999065101146698, 0.999943733215332, 1.0, 1.0, 1.0, 0.9999041557312012, 1.0, 0.9992549419403076, 0.9997389316558838, 0.9995823502540588, 0.9996978044509888, 0.9997882843017578], "eef_pos": [0.5003306865692139, 0.22412939369678497, 0.23105360567569733], "cand_action_std": 0.042251743376255035, "cand_pairwise_centroid_dist_mean": 0.39907222986221313, "argmax_act_outlier": 0.9254618287086487, "time_encode_ms": 6.621677195653319, "time_diffusion_ms": 36.190839018672705, "time_q_score_ms": 8.116380078718066, "time_total_ms": 51.69396405108273, "num_action_samples_effective": 32, "q_aggregate": "pair_min"} +{"chunk_ordinal": 14, "q_min_best": 1.1342524290084839, "q_min_mean": 1.06796395778656, "q_min_std": 0.038986194878816605, "q_min_median": 1.070954442024231, "chosen_vs_median_q_gap": 0.06329798698425293, "q1_best": 1.187860369682312, "q2_best": 1.1342524290084839, "v_val": 1.347664713859558, "advantage": -0.21341228485107422, "best_idx": 0, "q_min_all": [1.1342524290084839, 1.1136356592178345, 1.0722851753234863, 1.0527026653289795, 1.0958058834075928, 1.0745030641555786, 1.0739185810089111, 1.1043299436569214, 0.9821007251739502, 1.0555254220962524, 1.090257167816162, 1.0594476461410522, 1.0589731931686401, 1.1154601573944092, 0.963376522064209, 1.1073373556137085, 1.0880135297775269, 1.062707781791687, 1.034789800643921, 1.0596421957015991, 1.070954442024231, 1.070351481437683, 1.0370908975601196, 1.071470856666565, 1.104934811592102, 0.9954866170883179, 1.1007875204086304, 1.1175620555877686, 1.0798043012619019, 1.0250941514968872, 1.052858591079712, 1.0493882894515991], "q1_all": [1.187860369682312, 1.1693812608718872, 1.154547095298767, 1.152201533317566, 1.1943954229354858, 1.1533492803573608, 1.1560468673706055, 1.1640750169754028, 1.101502776145935, 1.1595524549484253, 1.1590534448623657, 1.1388531923294067, 1.1659058332443237, 1.1851154565811157, 1.093405842781067, 1.1654760837554932, 1.15897536277771, 1.1509536504745483, 1.1421055793762207, 1.1430927515029907, 1.1433578729629517, 1.1516767740249634, 1.1250393390655518, 1.1615887880325317, 1.166563868522644, 1.123536467552185, 1.16521418094635, 1.1738687753677368, 1.1525570154190063, 1.1257880926132202, 1.1423723697662354, 1.1509069204330444], "q2_all": [1.1342524290084839, 1.1136356592178345, 1.0722851753234863, 1.0527026653289795, 1.0958058834075928, 1.0745030641555786, 1.0739185810089111, 1.1043299436569214, 0.9821007251739502, 1.0555254220962524, 1.090257167816162, 1.0594476461410522, 1.0589731931686401, 1.1154601573944092, 0.963376522064209, 1.1073373556137085, 1.0880135297775269, 1.062707781791687, 1.034789800643921, 1.0596421957015991, 1.070954442024231, 1.070351481437683, 1.0370908975601196, 1.071470856666565, 1.104934811592102, 0.9954866170883179, 1.1007875204086304, 1.1175620555877686, 1.0798043012619019, 1.0250941514968872, 1.052858591079712, 1.0493882894515991], "cand_trans_speed_all": [0.005616847425699234, 0.004847960080951452, 0.00412384420633316, 0.004979053512215614, 0.005620449781417847, 0.004113295581191778, 0.0042938594706356525, 0.0037803601007908583, 0.004435654729604721, 0.005525238811969757, 0.003993859980255365, 0.0042168679647147655, 0.003141189692541957, 0.004360184073448181, 0.003790818154811859, 0.0036205954384058714, 0.0036543956957757473, 0.0039014630019664764, 0.003504128661006689, 0.004088026471436024, 0.004042810760438442, 0.003935879562050104, 0.004349193535745144, 0.0035276811104267836, 0.004144435282796621, 0.002618769882246852, 0.004560695495456457, 0.004828115459531546, 0.004555084742605686, 0.003920021466910839, 0.003700459375977516, 0.00480489619076252], "cand_cum_xyz_disp_all": [[-0.006894707679748535, 0.00028164684772491455, 0.01464957743883133], [0.0005040168762207031, 0.002079397439956665, 0.008874066174030304], [-0.0007500648498535156, 0.0019284635782241821, 0.009020529687404633], [-0.005001857876777649, 0.001252293586730957, 0.009021691977977753], [-0.0037346184253692627, 0.0015813112258911133, 0.013283766806125641], [-0.0012993663549423218, 0.002334415912628174, 0.007174737751483917], [-0.00016294419765472412, 0.002149641513824463, 0.00851825624704361], [-0.0020751208066940308, 0.001551508903503418, 0.010599546134471893], [-0.00047844648361206055, 0.0012601763010025024, 0.009011797606945038], [0.00026428699493408203, 0.0017052143812179565, 0.008455313742160797], [-0.001942068338394165, 0.002302005887031555, 0.009389854967594147], [-0.00035475194454193115, 0.002414122223854065, 0.00992342084646225], [-0.0008067339658737183, 0.0017065107822418213, 0.008153446018695831], [-0.0015630871057510376, 0.0019252002239227295, 0.009917639195919037], [-0.0010535866022109985, 0.0008401870727539062, 0.008723072707653046], [-0.007835045456886292, 8.04215669631958e-05, 0.015198461711406708], [-0.0035219192504882812, 0.003549918532371521, 0.012319378554821014], [-0.0005446374416351318, 0.002264738082885742, 0.009166739881038666], [0.0006501674652099609, 0.0018745064735412598, 0.00814414769411087], [-3.8951635360717773e-05, 0.0013628005981445312, 0.00789671391248703], [-0.0008280277252197266, 0.0023205727338790894, 0.007884256541728973], [-0.0011216700077056885, 0.00264132022857666, 0.008442051708698273], [-0.0006513893604278564, 0.002463892102241516, 0.008731789886951447], [6.209313869476318e-05, 0.0012283921241760254, 0.007929600775241852], [-0.001473754644393921, 0.0022659599781036377, 0.0089791938662529], [-0.0018665939569473267, 0.00343206524848938, 0.00736834853887558], [-0.0007411092519760132, 0.0020576417446136475, 0.009246177971363068], [-0.0013000518083572388, 0.0021918416023254395, 0.009688012301921844], [-0.0012405812740325928, 0.0020336657762527466, 0.008585251867771149], [-0.0007132142782211304, 0.0017713606357574463, 0.006934799253940582], [-0.0017032474279403687, 0.0022633522748947144, 0.008912377059459686], [-0.0023094117641448975, 0.0017734169960021973, 0.008436031639575958]], "cand_final_gripper_all": [0.9532063007354736, 0.6539702415466309, 0.6431542634963989, 0.6608942151069641, 1.0, 0.6144571900367737, 0.6477594375610352, 0.6646744608879089, 0.5715968608856201, 0.6287705898284912, 0.7416205406188965, 0.6301653385162354, 0.6370822191238403, 0.6608179211616516, 0.599315881729126, 0.9934350252151489, 0.7863935232162476, 0.6572794318199158, 0.6293504238128662, 0.6201318502426147, 0.6520453691482544, 0.6523115634918213, 0.6544373035430908, 0.6239032745361328, 0.6561691761016846, 0.5819008350372314, 0.6371397972106934, 0.659669816493988, 0.6477437615394592, 0.6292563676834106, 0.6610232591629028, 0.6571801900863647], "eef_pos": [0.49997657537460327, 0.21955037117004395, 0.22001123428344727], "cand_action_std": 0.08636762946844101, "cand_pairwise_centroid_dist_mean": 0.8469092845916748, "argmax_act_outlier": 1.8226871490478516, "time_encode_ms": 9.718139190226793, "time_diffusion_ms": 214.41294020041823, "time_q_score_ms": 7.587003987282515, "time_total_ms": 232.70073300227523, "num_action_samples_effective": 32, "q_aggregate": "pair_min"} +{"chunk_ordinal": 15, "q_min_best": 1.1597617864608765, "q_min_mean": 1.0914080142974854, "q_min_std": 0.047817569226026535, "q_min_median": 1.0951954126358032, "chosen_vs_median_q_gap": 0.06456637382507324, "q1_best": 1.3034627437591553, "q2_best": 1.1597617864608765, "v_val": 1.3293561935424805, "advantage": -0.169594407081604, "best_idx": 18, "q_min_all": [0.9970012903213501, 1.0532256364822388, 1.0951954126358032, 1.0756497383117676, 1.1427907943725586, 1.1170320510864258, 1.1292153596878052, 1.13051438331604, 1.0973215103149414, 1.1551731824874878, 1.0422043800354004, 1.0823594331741333, 1.023314118385315, 1.0087158679962158, 1.0904659032821655, 1.144248127937317, 1.0760787725448608, 1.087487816810608, 1.1597617864608765, 1.0368456840515137, 1.1429282426834106, 1.0986559391021729, 1.1325163841247559, 1.063324213027954, 1.141840934753418, 1.1229439973831177, 1.100664734840393, 1.1345943212509155, 1.0434633493423462, 1.1384955644607544, 1.0666784048080444, 0.9943484663963318], "q1_all": [0.9970012903213501, 1.0532256364822388, 1.1933733224868774, 1.0756497383117676, 1.162992000579834, 1.1884845495224, 1.139574646949768, 1.1599892377853394, 1.1050000190734863, 1.2538777589797974, 1.0422043800354004, 1.0823594331741333, 1.023314118385315, 1.0087158679962158, 1.1487133502960205, 1.192703366279602, 1.0760787725448608, 1.1873606443405151, 1.3034627437591553, 1.0368456840515137, 1.1429282426834106, 1.0986559391021729, 1.1552835702896118, 1.1974016427993774, 1.2294477224349976, 1.1756128072738647, 1.100664734840393, 1.1788543462753296, 1.0434633493423462, 1.2206448316574097, 1.0666784048080444, 0.9943484663963318], "q2_all": [1.0537736415863037, 1.0945963859558105, 1.0951954126358032, 1.1017564535140991, 1.1427907943725586, 1.1170320510864258, 1.1292153596878052, 1.13051438331604, 1.0973215103149414, 1.1551731824874878, 1.0681073665618896, 1.0989878177642822, 1.1045390367507935, 1.0980806350708008, 1.0904659032821655, 1.144248127937317, 1.089099407196045, 1.087487816810608, 1.1597617864608765, 1.0985602140426636, 1.1537898778915405, 1.1059677600860596, 1.1325163841247559, 1.063324213027954, 1.141840934753418, 1.1229439973831177, 1.1221497058868408, 1.1345943212509155, 1.079291820526123, 1.1384955644607544, 1.1076092720031738, 1.0273569822311401], "cand_trans_speed_all": [0.004320954903960228, 0.0036156901624053717, 0.003177204867824912, 0.004240315407514572, 0.0026844264939427376, 0.003028780221939087, 0.005113666877150536, 0.004096454940736294, 0.004967337474226952, 0.005660641472786665, 0.004657779820263386, 0.0034946880768984556, 0.00411756569519639, 0.00483358558267355, 0.0018843974685296416, 0.0034103512298315763, 0.0035378988832235336, 0.002536484971642494, 0.006717119365930557, 0.00630840053781867, 0.00455415528267622, 0.0032668865751475096, 0.003454430727288127, 0.0030638210009783506, 0.004208128899335861, 0.002877338556572795, 0.0027267381083220243, 0.003626395482569933, 0.004337710328400135, 0.0031374571844935417, 0.0037645648699253798, 0.006991012953221798], "cand_cum_xyz_disp_all": [[-0.0041000694036483765, -0.0018254965543746948, 0.0024977698922157288], [-0.003898531198501587, 6.35981559753418e-05, 0.0024720579385757446], [-0.005028814077377319, -0.0017464011907577515, -0.013030976057052612], [-0.00752963125705719, -0.0009563565254211426, 0.005637660622596741], [-0.006750255823135376, -0.0010322928428649902, -0.004088103771209717], [-0.007772296667098999, -0.005669206380844116, -0.007252827286720276], [-0.009219571948051453, -0.006696641445159912, -0.011908434331417084], [-0.005699589848518372, -0.0018225610256195068, -0.00784660130739212], [-0.007140681147575378, -0.0025863200426101685, -0.007895424962043762], [-0.007304653525352478, -0.006961718201637268, -0.0258437842130661], [-0.0043728649616241455, -0.0024304836988449097, 0.0012888014316558838], [-0.007137790322303772, -0.00408385694026947, -0.008266232907772064], [-0.0022585391998291016, 0.0010205060243606567, 0.003274105489253998], [-0.00469556450843811, 0.0013199299573898315, 0.0005422234535217285], [-0.004218369722366333, 0.0005490034818649292, -0.004439122974872589], [-0.0044793784618377686, -0.00417385995388031, -0.007495447993278503], [-0.007158011198043823, -0.0010004639625549316, 0.0017246082425117493], [-0.0035282671451568604, -0.0008816123008728027, -0.009546227753162384], [-0.011398062109947205, -0.0058803558349609375, -0.03295830637216568], [-0.005337342619895935, -0.001810327172279358, 0.0006412044167518616], [-0.008224144577980042, -0.0030754655599594116, -0.003923110663890839], [-0.004293620586395264, 0.0003421008586883545, -0.0011614561080932617], [-0.0068012624979019165, -0.0019293427467346191, -0.009747102856636047], [-0.00539766252040863, -0.0037268996238708496, -0.015010513365268707], [-0.008622750639915466, -0.0069771260023117065, -0.019507236778736115], [-0.007575824856758118, -0.0032192617654800415, -0.008055858314037323], [-0.006612509489059448, -0.0022497326135635376, -0.0013719052076339722], [-0.008442983031272888, -0.007528722286224365, -0.009874626994132996], [-0.0057868510484695435, -0.001356378197669983, 0.0033313706517219543], [-0.006690502166748047, -0.005025535821914673, -0.009246975183486938], [-0.0062469542026519775, -0.001765415072441101, -0.004044055938720703], [-0.004553362727165222, -0.0012011826038360596, 0.0018330961465835571]], "cand_final_gripper_all": [0.5476773381233215, 0.5313409566879272, 0.4389074444770813, 0.49259793758392334, 0.4779857099056244, 0.46447622776031494, 0.47042420506477356, 0.48439541459083557, 0.5020158290863037, 0.3843241035938263, 0.5244094729423523, 0.5047686100006104, 0.5588092803955078, 0.55518639087677, 0.47601956129074097, 0.44670814275741577, 0.5279300212860107, 0.45241621136665344, 0.35425448417663574, 0.5762649178504944, 0.5271087288856506, 0.5043242573738098, 0.45341166853904724, 0.4264809787273407, 0.4225853383541107, 0.4644768238067627, 0.5117877721786499, 0.48259225487709045, 0.5383046865463257, 0.45808154344558716, 0.5285029411315918, 0.560812771320343], "eef_pos": [0.5004630088806152, 0.2148764580488205, 0.21026235818862915], "cand_action_std": 0.10390284657478333, "cand_pairwise_centroid_dist_mean": 1.0487464666366577, "argmax_act_outlier": 2.184241771697998, "time_encode_ms": 6.065421970561147, "time_diffusion_ms": 36.05131199583411, "time_q_score_ms": 8.481080876663327, "time_total_ms": 51.35408882051706, "num_action_samples_effective": 32, "q_aggregate": "pair_min"} +{"chunk_ordinal": 16, "q_min_best": 1.2002073526382446, "q_min_mean": 1.123811960220337, "q_min_std": 0.03990576043725014, "q_min_median": 1.1254397630691528, "chosen_vs_median_q_gap": 0.0747675895690918, "q1_best": 1.3466391563415527, "q2_best": 1.2002073526382446, "v_val": 1.386173129081726, "advantage": -0.18596577644348145, "best_idx": 29, "q_min_all": [1.089905858039856, 1.1666172742843628, 1.1458773612976074, 1.1015287637710571, 1.0566741228103638, 1.0887190103530884, 1.1876028776168823, 1.1063553094863892, 1.1474868059158325, 1.113268256187439, 1.1007517576217651, 1.1030057668685913, 1.1435904502868652, 1.0647151470184326, 1.1455998420715332, 1.0802385807037354, 1.1843026876449585, 1.1441456079483032, 1.034103512763977, 1.1751588582992554, 1.0932360887527466, 1.1254397630691528, 1.1405657529830933, 1.1273221969604492, 1.141945242881775, 1.1011959314346313, 1.1619056463241577, 1.1518558263778687, 1.1405328512191772, 1.2002073526382446, 1.1213006973266602, 1.0768266916275024], "q1_all": [1.2633877992630005, 1.2350703477859497, 1.2896336317062378, 1.235077977180481, 1.210936427116394, 1.336263656616211, 1.2447713613510132, 1.2600940465927124, 1.249388337135315, 1.2653857469558716, 1.2109501361846924, 1.2372475862503052, 1.2803090810775757, 1.216504693031311, 1.246975064277649, 1.2609370946884155, 1.3229871988296509, 1.265912413597107, 1.173339605331421, 1.3822771310806274, 1.1934231519699097, 1.2625975608825684, 1.2604045867919922, 1.1555776596069336, 1.2273449897766113, 1.2963484525680542, 1.3122340440750122, 1.2393461465835571, 1.2589112520217896, 1.3466391563415527, 1.33136785030365, 1.266747236251831], "q2_all": [1.089905858039856, 1.1666172742843628, 1.1458773612976074, 1.1015287637710571, 1.0566741228103638, 1.0887190103530884, 1.1876028776168823, 1.1063553094863892, 1.1474868059158325, 1.113268256187439, 1.1007517576217651, 1.1030057668685913, 1.1435904502868652, 1.0647151470184326, 1.1455998420715332, 1.0802385807037354, 1.1843026876449585, 1.1441456079483032, 1.034103512763977, 1.1751588582992554, 1.0932360887527466, 1.1254397630691528, 1.1405657529830933, 1.1273221969604492, 1.141945242881775, 1.1011959314346313, 1.1619056463241577, 1.1518558263778687, 1.1405328512191772, 1.2002073526382446, 1.1213006973266602, 1.0768266916275024], "cand_trans_speed_all": [0.009742128662765026, 0.010768171399831772, 0.01084424089640379, 0.010659046471118927, 0.011606267653405666, 0.012200760655105114, 0.011231154203414917, 0.011342503130435944, 0.011057990603148937, 0.010128583759069443, 0.010593226179480553, 0.010684547945857048, 0.011211490258574486, 0.01218403410166502, 0.009857057593762875, 0.010570263490080833, 0.011235535144805908, 0.010382013395428658, 0.011712099425494671, 0.012635855004191399, 0.011784335598349571, 0.010829309932887554, 0.011939781717956066, 0.011466964147984982, 0.010706755332648754, 0.012657994404435158, 0.01070130430161953, 0.01011081226170063, 0.011495242826640606, 0.009762758389115334, 0.010073613375425339, 0.013012144714593887], "cand_cum_xyz_disp_all": [[-0.028546884655952454, -0.00526919960975647, -0.031272418797016144], [-0.022574543952941895, -0.0024712681770324707, -0.03328637033700943], [-0.03346976637840271, -0.0026990026235580444, -0.0370359793305397], [-0.03308245539665222, -0.002278447151184082, -0.03666522353887558], [-0.03557141125202179, -0.002260938286781311, -0.034400127828121185], [-0.03027382493019104, -0.00014497339725494385, -0.036865316331386566], [-0.026926517486572266, -0.0021069198846817017, -0.0364801362156868], [-0.03138665854930878, -0.004102945327758789, -0.03430990129709244], [-0.03273415565490723, -0.006186246871948242, -0.03792814165353775], [-0.026144757866859436, 0.0021191835403442383, -0.03594132512807846], [-0.03243593871593475, -0.0031342804431915283, -0.03641693294048309], [-0.032957062125205994, -0.0009577721357345581, -0.03716546297073364], [-0.03691154718399048, -0.0032371729612350464, -0.03325074166059494], [-0.03276631236076355, -0.0008350610733032227, -0.040265150368213654], [-0.025420159101486206, -0.005734607577323914, -0.03685922920703888], [-0.0365118533372879, -0.002692282199859619, -0.03414540737867355], [-0.04086869955062866, -0.005743429064750671, -0.03777240961790085], [-0.02755221724510193, -0.005542770028114319, -0.03581403195858002], [-0.03245969116687775, -0.0021313726902008057, -0.03648034483194351], [-0.03408847749233246, -0.006848201155662537, -0.03638478368520737], [-0.03458920121192932, 0.0006041973829269409, -0.03825065493583679], [-0.034029632806777954, -0.00183144211769104, -0.03634994477033615], [-0.03204888105392456, -0.0044812411069869995, -0.03993707150220871], [-0.037154629826545715, 7.370114326477051e-05, -0.03302668780088425], [-0.028432056307792664, -0.002064615488052368, -0.03426385670900345], [-0.03665702044963837, -0.007702827453613281, -0.036906562745571136], [-0.03127047419548035, -0.0008056908845901489, -0.03741791099309921], [-0.028006166219711304, -0.0022392570972442627, -0.039672672748565674], [-0.03443768620491028, -0.002694249153137207, -0.03225455433130264], [-0.02909734845161438, -0.0043503642082214355, -0.03637966513633728], [-0.033267855644226074, -0.0033268481492996216, -0.033172063529491425], [-0.03616440296173096, -0.0009169131517410278, -0.03535590320825577]], "cand_final_gripper_all": [0.11217683553695679, 0.10147756338119507, 0.10029956698417664, 0.0908406674861908, 0.08156242966651917, 0.098965585231781, 0.0990254282951355, 0.09218701720237732, 0.10279625654220581, 0.07604074478149414, 0.09980249404907227, 0.09363287687301636, 0.09842181205749512, 0.09759578108787537, 0.09513458609580994, 0.0985884964466095, 0.07833248376846313, 0.0859561562538147, 0.09213048219680786, 0.09710994362831116, 0.07473674416542053, 0.09492295980453491, 0.10760974884033203, 0.08620044589042664, 0.08258175849914551, 0.10319948196411133, 0.08697810769081116, 0.09395012259483337, 0.10763594508171082, 0.09593147039413452, 0.07778322696685791, 0.08808174729347229], "eef_pos": [0.5004470348358154, 0.21658378839492798, 0.20909184217453003], "cand_action_std": 0.09022396802902222, "cand_pairwise_centroid_dist_mean": 0.8778789043426514, "argmax_act_outlier": 0.8904373645782471, "time_encode_ms": 5.143284099176526, "time_diffusion_ms": 35.94130091369152, "time_q_score_ms": 8.129492867738008, "time_total_ms": 50.27631390839815, "num_action_samples_effective": 32, "q_aggregate": "pair_min"} +{"chunk_ordinal": 17, "q_min_best": 0.26901930570602417, "q_min_mean": 0.21557678282260895, "q_min_std": 0.029039498418569565, "q_min_median": 0.20884647965431213, "chosen_vs_median_q_gap": 0.060172826051712036, "q1_best": 0.29087796807289124, "q2_best": 0.26901930570602417, "v_val": 0.3620796799659729, "advantage": -0.09306037425994873, "best_idx": 26, "q_min_all": [0.244145467877388, 0.26009607315063477, 0.1626751571893692, 0.1928238421678543, 0.20687365531921387, 0.15899121761322021, 0.2186492681503296, 0.23821908235549927, 0.21613723039627075, 0.20408253371715546, 0.2080368548631668, 0.17271006107330322, 0.19111916422843933, 0.25471219420433044, 0.19388996064662933, 0.2652822732925415, 0.2032262533903122, 0.20936405658721924, 0.20884647965431213, 0.21967242658138275, 0.21880050003528595, 0.2469625174999237, 0.20743392407894135, 0.2272024303674698, 0.2527768015861511, 0.207454115152359, 0.26901930570602417, 0.19244647026062012, 0.24258513748645782, 0.1734815388917923, 0.22836528718471527, 0.20237602293491364], "q1_all": [0.244145467877388, 0.26009607315063477, 0.1626751571893692, 0.1928238421678543, 0.20687365531921387, 0.15899121761322021, 0.2186492681503296, 0.23821908235549927, 0.21613723039627075, 0.20408253371715546, 0.2080368548631668, 0.17271006107330322, 0.19111916422843933, 0.25471219420433044, 0.19388996064662933, 0.2652822732925415, 0.2032262533903122, 0.20936405658721924, 0.20884647965431213, 0.21967242658138275, 0.21880050003528595, 0.2469625174999237, 0.20743392407894135, 0.2272024303674698, 0.2527768015861511, 0.207454115152359, 0.29087796807289124, 0.19244647026062012, 0.24258513748645782, 0.1734815388917923, 0.22836528718471527, 0.20237602293491364], "q2_all": [0.27901691198349, 0.2824179232120514, 0.2498907893896103, 0.26018470525741577, 0.26134130358695984, 0.24394913017749786, 0.2666960060596466, 0.29347431659698486, 0.2710476815700531, 0.2696906626224518, 0.28415000438690186, 0.2703336775302887, 0.2669910192489624, 0.2899850606918335, 0.2625182271003723, 0.2698512673377991, 0.2726464867591858, 0.25840964913368225, 0.2681029736995697, 0.2885867953300476, 0.26724493503570557, 0.2848587930202484, 0.291385680437088, 0.2784746289253235, 0.27717167139053345, 0.26038238406181335, 0.26901930570602417, 0.24894501268863678, 0.27785366773605347, 0.25345689058303833, 0.2722190320491791, 0.2570423185825348], "cand_trans_speed_all": [0.025664102286100388, 0.02444242686033249, 0.02393236756324768, 0.02408720552921295, 0.02433585748076439, 0.02510857582092285, 0.023948684334754944, 0.02442704699933529, 0.024828162044286728, 0.023346122354269028, 0.023860841989517212, 0.02536952495574951, 0.024741273373365402, 0.02524452656507492, 0.024682363495230675, 0.02446092665195465, 0.022754473611712456, 0.025680726394057274, 0.026111578568816185, 0.025087326765060425, 0.024386189877986908, 0.02708861231803894, 0.025794904679059982, 0.024035077542066574, 0.023799076676368713, 0.024043407291173935, 0.02378741465508938, 0.024220069870352745, 0.02496875450015068, 0.024112096056342125, 0.024922490119934082, 0.024446014314889908], "cand_cum_xyz_disp_all": [[-0.15027263760566711, 0.011063650250434875, 0.00857824832201004], [-0.1402747631072998, 0.00975637137889862, 0.004609465599060059], [-0.13859741389751434, 0.010053128004074097, 0.010578088462352753], [-0.13699662685394287, 0.012533202767372131, 0.009491957724094391], [-0.14044097065925598, 0.012250378727912903, 0.006901077926158905], [-0.14432866871356964, 0.012533813714981079, 0.010378323495388031], [-0.13752901554107666, 0.01571570336818695, 0.006358310580253601], [-0.1394387036561966, 0.016230031847953796, 0.010435827076435089], [-0.14250928163528442, 0.008246541023254395, 0.012784339487552643], [-0.13608485460281372, 0.011049941182136536, 0.007525183260440826], [-0.13571137189865112, 0.011325091123580933, 0.007339246571063995], [-0.14457736909389496, 0.01681600511074066, 0.005453124642372131], [-0.14095845818519592, 0.012840315699577332, 0.009625770151615143], [-0.14044229686260223, 0.013311147689819336, 0.004505999386310577], [-0.14415711164474487, 0.008794009685516357, 0.008941851556301117], [-0.1405232548713684, 0.01163548231124878, 0.008675612509250641], [-0.1311170756816864, 0.006495431065559387, 0.006383202970027924], [-0.1478608250617981, 0.016811177134513855, 0.003996118903160095], [-0.1511772722005844, 0.011712774634361267, 0.0066045597195625305], [-0.1436719298362732, 0.009831011295318604, 0.008588515222072601], [-0.14176805317401886, 0.009143754839897156, 0.009259246289730072], [-0.15551666915416718, 0.012546628713607788, 0.012575678527355194], [-0.14675700664520264, 0.013908043503761292, 0.009227775037288666], [-0.13899552822113037, 0.011598750948905945, 0.007013849914073944], [-0.13740168511867523, 0.0065092891454696655, 0.010494448244571686], [-0.13712425529956818, 0.013716325163841248, 0.007744155824184418], [-0.13389167189598083, 0.008133292198181152, 0.00590573251247406], [-0.1400037258863449, 0.010428443551063538, 0.007472284138202667], [-0.14111565053462982, 0.010766968131065369, 0.00791948288679123], [-0.13895927369594574, 0.013077467679977417, 0.007625244557857513], [-0.14402388036251068, 0.010798871517181396, 0.004224032163619995], [-0.13914623856544495, 0.01254265010356903, 0.007399432361125946]], "cand_final_gripper_all": [0.0017816126346588135, 0.0, 0.0005574524402618408, 0.0, 0.0, 4.7087669372558594e-05, 0.0, 0.0023734569549560547, 0.00043633580207824707, 0.0018509328365325928, 0.0017754733562469482, 0.0, 9.530782699584961e-05, 0.001702338457107544, 0.0, 0.0006942152976989746, 0.0005630254745483398, 0.0, 0.0, 4.941225051879883e-05, 0.0009888112545013428, 0.0013966560363769531, 0.0017176270484924316, 0.001967519521713257, 0.0015682876110076904, 0.00046953558921813965, 0.00038370490074157715, 0.0017995238304138184, 0.0, 0.002090543508529663, 0.0, 0.0010946691036224365], "eef_pos": [0.5065461993217468, 0.21856878697872162, 0.2302551120519638], "cand_action_std": 0.08233001083135605, "cand_pairwise_centroid_dist_mean": 0.7821850776672363, "argmax_act_outlier": 1.1586639881134033, "time_encode_ms": 5.592370172962546, "time_diffusion_ms": 36.24606202356517, "time_q_score_ms": 7.763460045680404, "time_total_ms": 50.33566406928003, "num_action_samples_effective": 32, "q_aggregate": "pair_min"} +{"chunk_ordinal": 18, "q_min_best": 0.36973387002944946, "q_min_mean": 0.33779463171958923, "q_min_std": 0.016255754977464676, "q_min_median": 0.33957192301750183, "chosen_vs_median_q_gap": 0.030161947011947632, "q1_best": 0.3764636516571045, "q2_best": 0.36973387002944946, "v_val": 0.3362218737602234, "advantage": 0.033511996269226074, "best_idx": 20, "q_min_all": [0.31771764159202576, 0.350589394569397, 0.3297695517539978, 0.3668482303619385, 0.35126468539237976, 0.32652920484542847, 0.3335137367248535, 0.32536861300468445, 0.33295613527297974, 0.3401636779308319, 0.33311930298805237, 0.31253576278686523, 0.3272732198238373, 0.3295041024684906, 0.31982749700546265, 0.3167158365249634, 0.36122778058052063, 0.35605236887931824, 0.3098072409629822, 0.3216717541217804, 0.36973387002944946, 0.3170003592967987, 0.36486488580703735, 0.3459709882736206, 0.34139418601989746, 0.3440566062927246, 0.3466411232948303, 0.33957192301750183, 0.34290093183517456, 0.34188807010650635, 0.3395855128765106, 0.35336363315582275], "q1_all": [0.3846072852611542, 0.39416101574897766, 0.3422068953514099, 0.38020774722099304, 0.38031667470932007, 0.3906903564929962, 0.3795873522758484, 0.3792651891708374, 0.3925665318965912, 0.3831469416618347, 0.33311930298805237, 0.3885430693626404, 0.40039724111557007, 0.3639596998691559, 0.36588501930236816, 0.3683055639266968, 0.36122778058052063, 0.3650810420513153, 0.3518209755420685, 0.3726058304309845, 0.3764636516571045, 0.33119678497314453, 0.39654701948165894, 0.4003016948699951, 0.39375200867652893, 0.3440566062927246, 0.4081472158432007, 0.3674636483192444, 0.3822060525417328, 0.4009830057621002, 0.3981625735759735, 0.37420105934143066], "q2_all": [0.31771764159202576, 0.350589394569397, 0.3297695517539978, 0.3668482303619385, 0.35126468539237976, 0.32652920484542847, 0.3335137367248535, 0.32536861300468445, 0.33295613527297974, 0.3401636779308319, 0.33683907985687256, 0.31253576278686523, 0.3272732198238373, 0.3295041024684906, 0.31982749700546265, 0.3167158365249634, 0.36653628945350647, 0.35605236887931824, 0.3098072409629822, 0.3216717541217804, 0.36973387002944946, 0.3170003592967987, 0.36486488580703735, 0.3459709882736206, 0.34139418601989746, 0.3521999716758728, 0.3466411232948303, 0.33957192301750183, 0.34290093183517456, 0.34188807010650635, 0.3395855128765106, 0.35336363315582275], "cand_trans_speed_all": [0.024209048599004745, 0.025203455239534378, 0.025247730314731598, 0.025272052735090256, 0.025280501693487167, 0.02391311153769493, 0.023999959230422974, 0.02389485202729702, 0.024290025234222412, 0.024621780961751938, 0.02509172633290291, 0.024517711251974106, 0.024265563115477562, 0.025572210550308228, 0.024112191051244736, 0.025555012747645378, 0.024630919098854065, 0.025663644075393677, 0.024352844804525375, 0.025441735982894897, 0.026515111327171326, 0.02551504597067833, 0.024715043604373932, 0.024741575121879578, 0.02587287686765194, 0.024593602865934372, 0.02430676482617855, 0.025586344301700592, 0.02520367130637169, 0.023709088563919067, 0.02394433692097664, 0.02389698475599289], "cand_cum_xyz_disp_all": [[-0.1343616247177124, 0.01589423418045044, 0.04868081957101822], [-0.14021077752113342, 0.012666076421737671, 0.05340395122766495], [-0.14111292362213135, 0.012106746435165405, 0.05212842673063278], [-0.14231130480766296, 0.012073978781700134, 0.048553355038166046], [-0.14149746298789978, 0.013392895460128784, 0.050988875329494476], [-0.13448438048362732, 0.013525471091270447, 0.04601747542619705], [-0.13395684957504272, 0.010168194770812988, 0.04920210689306259], [-0.13284391164779663, 0.017545506358146667, 0.049560002982616425], [-0.13446757197380066, 0.019315943121910095, 0.05087464302778244], [-0.1374543160200119, 0.007795482873916626, 0.049730412662029266], [-0.14093706011772156, 0.013727143406867981, 0.05014414340257645], [-0.135629802942276, 0.019302263855934143, 0.0511225089430809], [-0.1359737515449524, 0.016737625002861023, 0.0477563813328743], [-0.14404311776161194, 0.011608362197875977, 0.05030982941389084], [-0.13465890288352966, 0.01551443338394165, 0.04961884766817093], [-0.14118370413780212, 0.01891888678073883, 0.05336897820234299], [-0.13770648837089539, 0.012883633375167847, 0.051439426839351654], [-0.14331158995628357, 0.010822385549545288, 0.05397828668355942], [-0.13656531274318695, 0.011328741908073425, 0.049725763499736786], [-0.14214688539505005, 0.014271154999732971, 0.05176839977502823], [-0.1460573971271515, 0.012794598937034607, 0.05963555723428726], [-0.14426331222057343, 0.011775851249694824, 0.048897601664066315], [-0.13725104928016663, 0.01715700328350067, 0.05059898644685745], [-0.1388828456401825, 0.011135607957839966, 0.04997805505990982], [-0.14416924118995667, 0.011138319969177246, 0.05322841554880142], [-0.1375315636396408, 0.011771470308303833, 0.05027913302183151], [-0.13542309403419495, 0.01557701826095581, 0.049488745629787445], [-0.14414416253566742, 0.012533679604530334, 0.049960218369960785], [-0.14048060774803162, 0.013720855116844177, 0.05225760489702225], [-0.129948228597641, 0.01528485119342804, 0.05162595957517624], [-0.13162916898727417, 0.01651085913181305, 0.052652426064014435], [-0.1343669295310974, 0.010569900274276733, 0.046856872737407684]], "cand_final_gripper_all": [0.0016779303550720215, 0.002419114112854004, 0.0021548867225646973, 0.0032081902027130127, 0.0015641748905181885, 0.0028163492679595947, 0.002742856740951538, 0.0025849640369415283, 0.0018514394760131836, 0.0011956095695495605, 0.0019531846046447754, 0.0027292370796203613, 0.002530038356781006, 0.002726823091506958, 0.0014078617095947266, 0.00205385684967041, 0.0016942024230957031, 0.002233564853668213, 0.0018053650856018066, 0.002932220697402954, 0.0010105371475219727, 0.0023868680000305176, 0.002377927303314209, 0.001575469970703125, 0.0024390816688537598, 0.0024947524070739746, 0.0034183263778686523, 0.0030215084552764893, 0.00033104419708251953, 0.0010966956615447998, 0.003052741289138794, 0.0024101436138153076], "eef_pos": [0.5212854146957397, 0.13102979958057404, 0.24709469079971313], "cand_action_std": 0.10309355705976486, "cand_pairwise_centroid_dist_mean": 1.046778678894043, "argmax_act_outlier": 1.2966045141220093, "time_encode_ms": 5.826712120324373, "time_diffusion_ms": 36.689318949356675, "time_q_score_ms": 7.796850986778736, "time_total_ms": 51.17645300924778, "num_action_samples_effective": 32, "q_aggregate": "pair_min"} +{"chunk_ordinal": 19, "q_min_best": 0.26577988266944885, "q_min_mean": 0.21304532885551453, "q_min_std": 0.024755001068115234, "q_min_median": 0.20475026965141296, "chosen_vs_median_q_gap": 0.06102961301803589, "q1_best": 0.26577988266944885, "q2_best": 0.3310737609863281, "v_val": 0.3810330331325531, "advantage": -0.11525315046310425, "best_idx": 16, "q_min_all": [0.2373141199350357, 0.18885351717472076, 0.18995113670825958, 0.22747446596622467, 0.2044786512851715, 0.20981542766094208, 0.17455483973026276, 0.2162880152463913, 0.19638171792030334, 0.21711239218711853, 0.19917799532413483, 0.20171858370304108, 0.25530368089675903, 0.23827925324440002, 0.2137303203344345, 0.25700584053993225, 0.26577988266944885, 0.24490107595920563, 0.21540497243404388, 0.18811751902103424, 0.18346253037452698, 0.20066918432712555, 0.24615991115570068, 0.2220967710018158, 0.18538208305835724, 0.18047720193862915, 0.2424972653388977, 0.22365908324718475, 0.19197407364845276, 0.20417653024196625, 0.20475026965141296, 0.19050204753875732], "q1_all": [0.2373141199350357, 0.18885351717472076, 0.18995113670825958, 0.22747446596622467, 0.2044786512851715, 0.20981542766094208, 0.17455483973026276, 0.2162880152463913, 0.19638171792030334, 0.21711239218711853, 0.19917799532413483, 0.20171858370304108, 0.25530368089675903, 0.23827925324440002, 0.2137303203344345, 0.25700584053993225, 0.26577988266944885, 0.24490107595920563, 0.21540497243404388, 0.18811751902103424, 0.18346253037452698, 0.20066918432712555, 0.24615991115570068, 0.2220967710018158, 0.18538208305835724, 0.18047720193862915, 0.2424972653388977, 0.22365908324718475, 0.19197407364845276, 0.20417653024196625, 0.20475026965141296, 0.19050204753875732], "q2_all": [0.33801525831222534, 0.32941535115242004, 0.32903409004211426, 0.3272961974143982, 0.32579728960990906, 0.3400312662124634, 0.31934329867362976, 0.33255884051322937, 0.331699401140213, 0.3347896337509155, 0.337611585855484, 0.33122116327285767, 0.32665950059890747, 0.3232458233833313, 0.34263181686401367, 0.32989072799682617, 0.3310737609863281, 0.3301095962524414, 0.33369868993759155, 0.32655349373817444, 0.32853585481643677, 0.33500540256500244, 0.33437860012054443, 0.3470774292945862, 0.32928383350372314, 0.3224986791610718, 0.3381468951702118, 0.34214338660240173, 0.33078527450561523, 0.3308568298816681, 0.315353661775589, 0.3290303945541382], "cand_trans_speed_all": [0.021837852895259857, 0.024311304092407227, 0.02333696559071541, 0.020937111228704453, 0.023907344788312912, 0.02306225895881653, 0.024257581681013107, 0.0227402001619339, 0.023386429995298386, 0.022847961634397507, 0.023343060165643692, 0.02289402484893799, 0.022523537278175354, 0.02363787591457367, 0.023374415934085846, 0.022111309692263603, 0.02277551218867302, 0.022360511124134064, 0.022191133350133896, 0.022706646472215652, 0.023286819458007812, 0.023630348965525627, 0.021942485123872757, 0.022731265053153038, 0.02397124469280243, 0.022938823327422142, 0.022080911323428154, 0.022389335557818413, 0.024339646100997925, 0.023138239979743958, 0.02296091429889202, 0.02378268539905548], "cand_cum_xyz_disp_all": [[-0.11951020359992981, 0.009361743927001953, 0.05070207267999649], [-0.1342308074235916, 0.017884865403175354, 0.05150211602449417], [-0.1288907527923584, 0.013212576508522034, 0.051513127982616425], [-0.11375793069601059, 0.013569220900535583, 0.04850316792726517], [-0.1315564513206482, 0.019346147775650024, 0.052172087132930756], [-0.1273518055677414, 0.01307658851146698, 0.05067566782236099], [-0.13207943737506866, 0.018904194235801697, 0.05221877247095108], [-0.12643395364284515, 0.00946614146232605, 0.048531584441661835], [-0.13087187707424164, 0.010731041431427002, 0.04865223914384842], [-0.12757958471775055, 0.010755792260169983, 0.048689283430576324], [-0.12721166014671326, 0.016724929213523865, 0.05420161038637161], [-0.12507006525993347, 0.013524278998374939, 0.05396261066198349], [-0.12437533587217331, 0.012223079800605774, 0.049027927219867706], [-0.13155245780944824, 0.013475552201271057, 0.049772314727306366], [-0.1297614425420761, 0.011296391487121582, 0.05016479641199112], [-0.11947040259838104, 0.01224219799041748, 0.05421929806470871], [-0.1270396113395691, 0.01048162579536438, 0.04800105839967728], [-0.12365970760583878, 0.00735802948474884, 0.050267331302165985], [-0.12157686799764633, 0.01657550036907196, 0.048480160534381866], [-0.12543140351772308, 0.016191765666007996, 0.047483451664447784], [-0.1255587637424469, 0.02213151752948761, 0.05215776711702347], [-0.13034914433956146, 0.013516649603843689, 0.051852576434612274], [-0.12056542932987213, 0.009773433208465576, 0.0504760667681694], [-0.1246669739484787, 0.013293534517288208, 0.05200732499361038], [-0.1337452530860901, 0.015150398015975952, 0.050443343818187714], [-0.12644129991531372, 0.011937931180000305, 0.05035180598497391], [-0.12244579195976257, 0.0055456459522247314, 0.04883607476949692], [-0.12280478328466415, 0.014468967914581299, 0.048016272485256195], [-0.13547296822071075, 0.016055241227149963, 0.04998413473367691], [-0.12649376690387726, 0.016414284706115723, 0.048873014748096466], [-0.12448228895664215, 0.014194145798683167, 0.049659840762615204], [-0.1302703619003296, 0.02026936411857605, 0.05137563496828079]], "cand_final_gripper_all": [0.003802388906478882, 0.0008263587951660156, 0.0005651712417602539, 0.0, 0.0, 0.0014383792877197266, 0.0025682151317596436, 0.0023218095302581787, 5.942583084106445e-05, 0.0006950199604034424, 0.0010151565074920654, 0.0016837716102600098, 0.0012746751308441162, 0.0011816918849945068, 0.0, 0.0013957619667053223, 0.001389831304550171, 0.0006176531314849854, 0.0008526742458343506, 0.0010966062545776367, 0.0008761584758758545, 0.0005233585834503174, 0.0016735196113586426, 0.0, 0.0027108192443847656, 0.0024184882640838623, 0.0003705322742462158, 0.0020006895065307617, 0.0022687315940856934, 0.0, 0.0010188817977905273, 0.0004955828189849854], "eef_pos": [0.5265293717384338, 0.01969616860151291, 0.23289331793785095], "cand_action_std": 0.1262330710887909, "cand_pairwise_centroid_dist_mean": 1.2006832361221313, "argmax_act_outlier": 1.3419731855392456, "time_encode_ms": 4.9520309548825026, "time_diffusion_ms": 36.25209303572774, "time_q_score_ms": 7.703409064561129, "time_total_ms": 49.64127601124346, "num_action_samples_effective": 32, "q_aggregate": "pair_min"} +{"chunk_ordinal": 20, "q_min_best": 0.32646259665489197, "q_min_mean": 0.3086071014404297, "q_min_std": 0.008142893202602863, "q_min_median": 0.3080781102180481, "chosen_vs_median_q_gap": 0.018384486436843872, "q1_best": 0.32646259665489197, "q2_best": 0.38475197553634644, "v_val": 0.33918261528015137, "advantage": -0.0127200186252594, "best_idx": 26, "q_min_all": [0.30223530530929565, 0.3130210041999817, 0.30444538593292236, 0.3114930987358093, 0.30891114473342896, 0.3176520764827728, 0.31825506687164307, 0.3016451299190521, 0.3105119466781616, 0.2971022129058838, 0.31854867935180664, 0.311794638633728, 0.3154378831386566, 0.3169810175895691, 0.3118540346622467, 0.3017598092556, 0.32093602418899536, 0.3080781102180481, 0.30568650364875793, 0.2996178865432739, 0.3179704546928406, 0.2934648394584656, 0.3024355173110962, 0.307475209236145, 0.3058699369430542, 0.3123503625392914, 0.32646259665489197, 0.31130412220954895, 0.29801949858665466, 0.2927324175834656, 0.30615052580833435, 0.30522453784942627], "q1_all": [0.30223530530929565, 0.3130210041999817, 0.30444538593292236, 0.3114930987358093, 0.30891114473342896, 0.3176520764827728, 0.31825506687164307, 0.3016451299190521, 0.3105119466781616, 0.2971022129058838, 0.31854867935180664, 0.311794638633728, 0.3154378831386566, 0.3169810175895691, 0.3118540346622467, 0.3017598092556, 0.32093602418899536, 0.3080781102180481, 0.30568650364875793, 0.2996178865432739, 0.3179704546928406, 0.2934648394584656, 0.3024355173110962, 0.307475209236145, 0.3058699369430542, 0.3123503625392914, 0.32646259665489197, 0.31130412220954895, 0.29801949858665466, 0.2927324175834656, 0.30615052580833435, 0.30522453784942627], "q2_all": [0.36999475955963135, 0.38528376817703247, 0.35534822940826416, 0.379220187664032, 0.38069289922714233, 0.3801255226135254, 0.3848966956138611, 0.3682093322277069, 0.36455512046813965, 0.3730182945728302, 0.39934083819389343, 0.37655800580978394, 0.37886011600494385, 0.37628844380378723, 0.3821137547492981, 0.3714635372161865, 0.39190372824668884, 0.367358922958374, 0.3704678416252136, 0.36506789922714233, 0.39336758852005005, 0.36201509833335876, 0.38044315576553345, 0.3763279318809509, 0.38200023770332336, 0.37725159525871277, 0.38475197553634644, 0.38829177618026733, 0.3586520552635193, 0.3612571954727173, 0.3747905194759369, 0.3644794225692749], "cand_trans_speed_all": [0.012063570320606232, 0.011487032286822796, 0.012610729783773422, 0.012344775721430779, 0.013141857460141182, 0.012076846323907375, 0.011323964223265648, 0.012985097244381905, 0.011241694912314415, 0.012228663079440594, 0.013692960143089294, 0.011317558586597443, 0.011582331731915474, 0.011617115698754787, 0.012167091481387615, 0.012202829122543335, 0.010952131822705269, 0.010986520908772945, 0.013807021081447601, 0.011765952222049236, 0.012732215225696564, 0.013370439410209656, 0.012254999950528145, 0.01156352274119854, 0.01104794442653656, 0.01258170511573553, 0.011248689144849777, 0.01177310012280941, 0.012161776423454285, 0.012931965291500092, 0.012126507237553596, 0.011144109070301056], "cand_cum_xyz_disp_all": [[-0.06004491448402405, -0.0008212476968765259, 0.029174409806728363], [-0.057571738958358765, 0.0005572736263275146, 0.028726451098918915], [-0.061407625675201416, -0.00023280084133148193, 0.03197658807039261], [-0.05378805100917816, -0.0018470138311386108, 0.030849866569042206], [-0.06790417432785034, -0.007261991500854492, 0.029305197298526764], [-0.05900312960147858, -0.0003165602684020996, 0.03276977688074112], [-0.05768294632434845, -0.0024609118700027466, 0.028994448482990265], [-0.07145664095878601, 0.003542304039001465, 0.027952469885349274], [-0.05926947295665741, -0.0005157142877578735, 0.028081350028514862], [-0.051642224192619324, -0.00015029311180114746, 0.03173244744539261], [-0.07466816157102585, -0.0029184967279434204, 0.028873242437839508], [-0.061158180236816406, -0.0006938129663467407, 0.027474574744701385], [-0.060115233063697815, -0.0026093870401382446, 0.030040688812732697], [-0.057303085923194885, -0.00431467592716217, 0.026046745479106903], [-0.061978116631507874, -0.0038149654865264893, 0.03192145377397537], [-0.06308797001838684, -0.005955606698989868, 0.03006044775247574], [-0.0572713166475296, -0.002061784267425537, 0.02814605087041855], [-0.055218279361724854, -0.0019226521253585815, 0.029606319963932037], [-0.07294260710477829, -0.0020141154527664185, 0.030722372233867645], [-0.058964475989341736, 0.0028458088636398315, 0.03148827701807022], [-0.06119294464588165, -0.002471923828125, 0.029489614069461823], [-0.06812730431556702, -0.003994777798652649, 0.03424318879842758], [-0.055887848138809204, -0.0013157576322555542, 0.028697587549686432], [-0.05643963813781738, 0.002870708703994751, 0.02804296463727951], [-0.05834642052650452, 0.005647346377372742, 0.026974402368068695], [-0.06316374242305756, -0.0035380572080612183, 0.030620135366916656], [-0.054052188992500305, -0.005011394619941711, 0.029521502554416656], [-0.06084297597408295, -0.001902654767036438, 0.029965005815029144], [-0.06539398431777954, -0.004908815026283264, 0.03028101474046707], [-0.061721429228782654, -0.001324474811553955, 0.03411488980054855], [-0.06207661330699921, -5.097687244415283e-05, 0.030507288873195648], [-0.05880047380924225, 0.004291549324989319, 0.02642228454351425]], "cand_final_gripper_all": [0.0008530616760253906, 0.0002905130386352539, 0.0012647509574890137, 0.0, 0.0006861388683319092, 0.0006795823574066162, 0.0008914470672607422, 0.002365589141845703, 0.000604093074798584, 0.0010335445404052734, 0.001766800880432129, 0.00048047304153442383, 0.0044501423835754395, 0.0012563467025756836, 0.00028058886528015137, 0.0021758973598480225, 0.0, 0.002072751522064209, 0.0013974010944366455, 0.005452543497085571, 0.0, 0.00032189488410949707, 0.0010761022567749023, 0.0005586445331573486, 0.0041723549365997314, 0.0010635554790496826, 0.00323525071144104, 0.003661602735519409, 0.0041310787200927734, 0.0005519688129425049, 0.004189878702163696, 0.0], "eef_pos": [0.5254766941070557, -0.07704520225524902, 0.2206055074930191], "cand_action_std": 0.09855812042951584, "cand_pairwise_centroid_dist_mean": 0.9276503920555115, "argmax_act_outlier": 1.0108833312988281, "time_encode_ms": 5.548279965296388, "time_diffusion_ms": 36.0616238322109, "time_q_score_ms": 7.860567886382341, "time_total_ms": 50.26765004731715, "num_action_samples_effective": 32, "q_aggregate": "pair_min"} +{"chunk_ordinal": 21, "q_min_best": 0.28063538670539856, "q_min_mean": 0.23236989974975586, "q_min_std": 0.01965261436998844, "q_min_median": 0.22959598898887634, "chosen_vs_median_q_gap": 0.05103939771652222, "q1_best": 0.3488905429840088, "q2_best": 0.28063538670539856, "v_val": 0.04918469488620758, "advantage": 0.23145069181919098, "best_idx": 5, "q_min_all": [0.25017455220222473, 0.24195794761180878, 0.21416595578193665, 0.23400166630744934, 0.22115106880664825, 0.28063538670539856, 0.22010491788387299, 0.22714130580425262, 0.24718688428401947, 0.20556585490703583, 0.23093612492084503, 0.23557238280773163, 0.22799000144004822, 0.23907099664211273, 0.2367514818906784, 0.20865492522716522, 0.23514951765537262, 0.2179548144340515, 0.2157592624425888, 0.22404052317142487, 0.22959598898887634, 0.24355961382389069, 0.18633253872394562, 0.26452428102493286, 0.2248944193124771, 0.24792523682117462, 0.24213631451129913, 0.22860176861286163, 0.20660297572612762, 0.22198325395584106, 0.2552568018436432, 0.2704578638076782], "q1_all": [0.3647734224796295, 0.38338160514831543, 0.392620325088501, 0.3785077929496765, 0.37108534574508667, 0.3488905429840088, 0.3924589157104492, 0.3499101400375366, 0.3832743167877197, 0.3789885640144348, 0.3810881972312927, 0.3556550145149231, 0.3583488166332245, 0.35432684421539307, 0.3887746036052704, 0.40114495158195496, 0.3922730088233948, 0.386973112821579, 0.3937205374240875, 0.3760048747062683, 0.3940083980560303, 0.36360469460487366, 0.37570396065711975, 0.35107696056365967, 0.38721799850463867, 0.34276989102363586, 0.34923043847084045, 0.3821267783641815, 0.3723418116569519, 0.38226139545440674, 0.344419002532959, 0.36941272020339966], "q2_all": [0.25017455220222473, 0.24195794761180878, 0.21416595578193665, 0.23400166630744934, 0.22115106880664825, 0.28063538670539856, 0.22010491788387299, 0.22714130580425262, 0.24718688428401947, 0.20556585490703583, 0.23093612492084503, 0.23557238280773163, 0.22799000144004822, 0.23907099664211273, 0.2367514818906784, 0.20865492522716522, 0.23514951765537262, 0.2179548144340515, 0.2157592624425888, 0.22404052317142487, 0.22959598898887634, 0.24355961382389069, 0.18633253872394562, 0.26452428102493286, 0.2248944193124771, 0.24792523682117462, 0.24213631451129913, 0.22860176861286163, 0.20660297572612762, 0.22198325395584106, 0.2552568018436432, 0.2704578638076782], "cand_trans_speed_all": [0.0019587576389312744, 0.0023369882255792618, 0.0018476094119250774, 0.001933963387273252, 0.0021532780956476927, 0.0020188065245747566, 0.0017271807882934809, 0.003079147543758154, 0.0017909336602315307, 0.0022711283527314663, 0.0020329002290964127, 0.0017801262438297272, 0.002343909814953804, 0.0025045336224138737, 0.002056604716926813, 0.0018307964783161879, 0.0022094212472438812, 0.002200739225372672, 0.0021656882017850876, 0.0015476371627300978, 0.001904972828924656, 0.002079461235553026, 0.0017052514012902975, 0.0018947882344946265, 0.0029398626647889614, 0.0020304438658058643, 0.0025216219946742058, 0.0015105637721717358, 0.0021184401120990515, 0.0017632534727454185, 0.002320539206266403, 0.003389162477105856], "cand_cum_xyz_disp_all": [[-0.0013652443885803223, -0.0004597008228302002, 0.007903926074504852], [-0.0012988299131393433, -0.00065593421459198, 0.006740070879459381], [-0.00023280084133148193, 0.0010082274675369263, 0.005681216716766357], [-0.0014599263668060303, 0.0006636828184127808, 0.009964905679225922], [0.001944422721862793, -0.0007028728723526001, 0.009639598429203033], [-0.0011384785175323486, -0.00033767521381378174, 0.00904255360364914], [-0.0017894953489303589, 0.0006441324949264526, 0.008389241993427277], [-0.0012472420930862427, 0.0010968446731567383, 0.011366181075572968], [-0.0024920254945755005, -0.0004961490631103516, 0.007996134459972382], [0.0007995516061782837, 0.0009946823120117188, 0.008846871554851532], [-0.0016847401857376099, 0.003074273467063904, 0.011198766529560089], [0.00011824071407318115, -0.0006463825702667236, 0.009804986417293549], [0.0005086660385131836, 0.0001709461212158203, 0.010126166045665741], [0.0014473944902420044, 0.002048999071121216, 0.010013483464717865], [-0.0010171234607696533, 0.0006746500730514526, 0.007838912308216095], [-0.00038732588291168213, 0.0006164759397506714, 0.0075221434235572815], [-0.0015670359134674072, -0.0007301270961761475, 0.008342765271663666], [-0.002617940306663513, -0.0013590008020401, 0.007482163608074188], [-0.0012687146663665771, -7.033348083496094e-05, 0.008459024131298065], [0.000748947262763977, -0.0005545467138290405, 0.006651751697063446], [-0.002523094415664673, 0.000892937183380127, 0.009260572493076324], [-0.001222565770149231, -0.0004352778196334839, 0.008689798414707184], [-0.00039502978324890137, 0.00036779046058654785, 0.007854841649532318], [-0.002282768487930298, -0.000488772988319397, 0.01012449711561203], [-0.004330962896347046, 0.0005910545587539673, 0.007351420819759369], [-0.00039748847484588623, 0.0006543993949890137, 0.010231249034404755], [0.000822111964225769, -0.0005746930837631226, 0.009740404784679413], [-0.0006962418556213379, -0.0003742724657058716, 0.007441528141498566], [-0.0015880167484283447, -0.0014517158269882202, 0.009764440357685089], [-0.0019387751817703247, 0.00014141201972961426, 0.008080624043941498], [0.0007389336824417114, -0.00017626583576202393, 0.008937396109104156], [-0.002007603645324707, -0.00035475194454193115, 0.010050319135189056]], "cand_final_gripper_all": [0.4433383345603943, 0.44011056423187256, 0.4891519546508789, 0.4019802212715149, 0.4252827763557434, 0.3527441620826721, 0.4531422555446625, 0.4369853734970093, 0.42059603333473206, 0.46088463068008423, 0.40810340642929077, 0.4027308225631714, 0.4015977680683136, 0.4226047992706299, 0.44091784954071045, 0.4842038154602051, 0.4481557011604309, 0.46885913610458374, 0.462959349155426, 0.4885275065898895, 0.44006943702697754, 0.426177978515625, 0.5195335149765015, 0.419385701417923, 0.4576232135295868, 0.41578638553619385, 0.4166375994682312, 0.4586997628211975, 0.459658145904541, 0.46394380927085876, 0.38517236709594727, 0.3452744781970978], "eef_pos": [0.5211082100868225, -0.1240960955619812, 0.21422351896762848], "cand_action_std": 0.053712982684373856, "cand_pairwise_centroid_dist_mean": 0.4906942844390869, "argmax_act_outlier": 1.5182141065597534, "time_encode_ms": 5.335858091711998, "time_diffusion_ms": 36.023634020239115, "time_q_score_ms": 7.816057186573744, "time_total_ms": 50.057523185387254, "num_action_samples_effective": 32, "q_aggregate": "pair_min"} +{"chunk_ordinal": 22, "q_min_best": 0.5419406294822693, "q_min_mean": 0.5174622535705566, "q_min_std": 0.009383977390825748, "q_min_median": 0.5160311460494995, "chosen_vs_median_q_gap": 0.025909483432769775, "q1_best": 0.5419406294822693, "q2_best": 0.6097069978713989, "v_val": 0.6420531272888184, "advantage": -0.10011249780654907, "best_idx": 0, "q_min_all": [0.5419406294822693, 0.5129484534263611, 0.5215519666671753, 0.5204012989997864, 0.5159757137298584, 0.5139497518539429, 0.5160311460494995, 0.5095813274383545, 0.5107327103614807, 0.5256283283233643, 0.516384482383728, 0.5085220336914062, 0.5056614875793457, 0.502254068851471, 0.5320044755935669, 0.5193681120872498, 0.5158522129058838, 0.5281088352203369, 0.5248568058013916, 0.5225956439971924, 0.5073918104171753, 0.5233949422836304, 0.5178285837173462, 0.5215198993682861, 0.5077493190765381, 0.5149853229522705, 0.5314377546310425, 0.5320836305618286, 0.505206823348999, 0.5070196390151978, 0.5071213841438293, 0.5187047123908997], "q1_all": [0.5419406294822693, 0.5129484534263611, 0.5215519666671753, 0.5204012989997864, 0.5159757137298584, 0.5139497518539429, 0.5160311460494995, 0.5095813274383545, 0.5107327103614807, 0.5256283283233643, 0.516384482383728, 0.5085220336914062, 0.5056614875793457, 0.502254068851471, 0.5320044755935669, 0.5193681120872498, 0.5158522129058838, 0.5281088352203369, 0.5248568058013916, 0.5225956439971924, 0.5073918104171753, 0.5233949422836304, 0.5178285837173462, 0.5215198993682861, 0.5077493190765381, 0.5149853229522705, 0.5314377546310425, 0.5320836305618286, 0.505206823348999, 0.5070196390151978, 0.5071213841438293, 0.5187047123908997], "q2_all": [0.6097069978713989, 0.5822665691375732, 0.590045154094696, 0.5990824699401855, 0.5889151692390442, 0.5840345025062561, 0.5903223752975464, 0.6012856960296631, 0.5916540622711182, 0.6009621024131775, 0.594012439250946, 0.5956813097000122, 0.5990909337997437, 0.5787971019744873, 0.5881109237670898, 0.5868812203407288, 0.6238912343978882, 0.5959125757217407, 0.6024036407470703, 0.594673752784729, 0.5982531905174255, 0.601128101348877, 0.5735114812850952, 0.5973405241966248, 0.5871254205703735, 0.579433798789978, 0.6090701818466187, 0.595906138420105, 0.5934367179870605, 0.5816745758056641, 0.5919817686080933, 0.5969932079315186], "cand_trans_speed_all": [0.0020079421810805798, 0.0017039733938872814, 0.0019489957485347986, 0.0022172858007252216, 0.001171604497358203, 0.0013871944975107908, 0.0014354423619806767, 0.0013961665099486709, 0.00127618748228997, 0.0021260580979287624, 0.0011586316395550966, 0.001282967976294458, 0.0018525123596191406, 0.001365742413327098, 0.0018370854668319225, 0.00179809401743114, 0.0023808018304407597, 0.0019782218150794506, 0.0023261425085365772, 0.001954857725650072, 0.002357127610594034, 0.0031049062963575125, 0.0017408764688298106, 0.002149615902453661, 0.0015694586327299476, 0.0012735307682305574, 0.0020538917742669582, 0.001771079725585878, 0.0018865512683987617, 0.0013107460690662265, 0.0022668992169201374, 0.001929780002683401], "cand_cum_xyz_disp_all": [[8.638203144073486e-05, 0.0015885978937149048, -0.009459421038627625], [-0.00017918646335601807, 0.004143863916397095, -0.006924577057361603], [0.0014483779668807983, 0.005543813109397888, -0.006829619407653809], [-0.00043116509914398193, 0.0017274916172027588, -0.0079260915517807], [-0.00029878318309783936, 0.0021616220474243164, -0.0054968297481536865], [0.0002291947603225708, 0.0033930540084838867, -0.004632480442523956], [-0.00031779706478118896, 0.0022175610065460205, -0.0068004801869392395], [-0.00043827295303344727, 0.0020148158073425293, -0.004890009760856628], [0.00016608834266662598, 0.0029602646827697754, -0.0057764723896980286], [0.00037501752376556396, 0.0011160075664520264, -0.008896611630916595], [0.00013269484043121338, 0.0017644017934799194, -0.005509860813617706], [0.000945359468460083, 0.001726001501083374, -0.004474997520446777], [0.0002984553575515747, 0.0011720657348632812, -0.006357640027999878], [-0.0006234496831893921, 0.0025646239519119263, -0.0058544352650642395], [-0.0007161200046539307, 0.002365320920944214, -0.006859928369522095], [-0.0009063780307769775, 0.0026331841945648193, -0.007686950266361237], [0.000280529260635376, 0.00035521388053894043, -0.005950860679149628], [-0.0010658949613571167, 0.0016440600156784058, -0.009737223386764526], [-3.2335519790649414e-06, 0.0016346722841262817, -0.006839647889137268], [0.0019401758909225464, 0.0033027082681655884, -0.005130179226398468], [0.0011126697063446045, 0.0038452744483947754, -0.006081610918045044], [0.0022325217723846436, 0.002344578504562378, -0.008034974336624146], [-0.0009976029396057129, 0.001284867525100708, -0.006218113005161285], [0.0007901191711425781, 0.003148302435874939, -0.00455811619758606], [0.0005237162113189697, 0.00327262282371521, -0.005689740180969238], [-0.0006805956363677979, 0.0019518733024597168, -0.004748880863189697], [-5.535781383514404e-05, 0.0015594661235809326, -0.006098605692386627], [0.0020046383142471313, 0.0035789012908935547, -0.0037421882152557373], [-0.0001491755247116089, 0.0036796629428863525, -0.0062418654561042786], [-0.001157119870185852, 0.00268767774105072, -0.004565156996250153], [0.0018233507871627808, 0.001491248607635498, -0.007052481174468994], [0.00012056529521942139, 0.004534542560577393, -0.006013490259647369]], "cand_final_gripper_all": [0.7170761227607727, 0.7087560296058655, 0.7118628621101379, 0.7083722352981567, 0.7165996432304382, 0.7177843451499939, 0.7120127081871033, 0.7093424797058105, 0.7161244750022888, 0.7004194259643555, 0.7094796299934387, 0.703578770160675, 0.7107466459274292, 0.7142103314399719, 0.7105004787445068, 0.7129237651824951, 0.7243257761001587, 0.6973983645439148, 0.7153481841087341, 0.7191263437271118, 0.7366693019866943, 0.7189985513687134, 0.7000775337219238, 0.707211434841156, 0.7182677984237671, 0.7137197256088257, 0.7071976065635681, 0.7168138027191162, 0.7175475358963013, 0.7110403776168823, 0.701176643371582, 0.7197135090827942], "eef_pos": [0.5189328789710999, -0.12684281170368195, 0.2029336839914322], "cand_action_std": 0.03683808818459511, "cand_pairwise_centroid_dist_mean": 0.3467128872871399, "argmax_act_outlier": 1.5353546142578125, "time_encode_ms": 5.937425885349512, "time_diffusion_ms": 36.294122925028205, "time_q_score_ms": 7.708559045568109, "time_total_ms": 50.71779107674956, "num_action_samples_effective": 32, "q_aggregate": "pair_min"} +{"chunk_ordinal": 23, "q_min_best": 0.28634607791900635, "q_min_mean": 0.2671359181404114, "q_min_std": 0.007893031463027, "q_min_median": 0.2670436203479767, "chosen_vs_median_q_gap": 0.019302457571029663, "q1_best": 0.30474406480789185, "q2_best": 0.28634607791900635, "v_val": 0.07308121025562286, "advantage": 0.21326486766338348, "best_idx": 28, "q_min_all": [0.2731626033782959, 0.2670436203479767, 0.27418383955955505, 0.2739982306957245, 0.2820882201194763, 0.26401323080062866, 0.2678220570087433, 0.26850610971450806, 0.27184805274009705, 0.26258543133735657, 0.25781115889549255, 0.2696336507797241, 0.27073997259140015, 0.2834870517253876, 0.2633114159107208, 0.2688257694244385, 0.2668909430503845, 0.26976531744003296, 0.2591318190097809, 0.2581242322921753, 0.26880568265914917, 0.25837674736976624, 0.25686198472976685, 0.26838332414627075, 0.26182740926742554, 0.2546458840370178, 0.256732702255249, 0.27467238903045654, 0.28634607791900635, 0.26420649886131287, 0.2594895362854004, 0.26502734422683716], "q1_all": [0.2938905656337738, 0.2697010636329651, 0.2748010754585266, 0.2739982306957245, 0.2935578227043152, 0.26401323080062866, 0.2678220570087433, 0.27447569370269775, 0.27935290336608887, 0.26258543133735657, 0.25781115889549255, 0.27174556255340576, 0.2823295295238495, 0.30315709114074707, 0.2633114159107208, 0.2688257694244385, 0.2668909430503845, 0.2712706923484802, 0.2776097059249878, 0.2720235586166382, 0.26880568265914917, 0.25837674736976624, 0.25686198472976685, 0.26838332414627075, 0.28325456380844116, 0.2546458840370178, 0.256732702255249, 0.2823324203491211, 0.30474406480789185, 0.26420649886131287, 0.26811322569847107, 0.26502734422683716], "q2_all": [0.2731626033782959, 0.2670436203479767, 0.27418383955955505, 0.2746363878250122, 0.2820882201194763, 0.2657437324523926, 0.2784959673881531, 0.26850610971450806, 0.27184805274009705, 0.2712874710559845, 0.2650683522224426, 0.2696336507797241, 0.27073997259140015, 0.2834870517253876, 0.27087652683258057, 0.270285964012146, 0.26837030053138733, 0.26976531744003296, 0.2591318190097809, 0.2581242322921753, 0.27992281317710876, 0.26733648777008057, 0.26316776871681213, 0.2704920172691345, 0.26182740926742554, 0.262778639793396, 0.28145575523376465, 0.27467238903045654, 0.28634607791900635, 0.2708823084831238, 0.2594895362854004, 0.26698994636535645], "cand_trans_speed_all": [0.0016999378567561507, 0.0011278546880930662, 0.0016005191719159484, 0.001367491902783513, 0.0019913427531719208, 0.0009533634292893112, 0.0014538029208779335, 0.0014371247962117195, 0.0018949270015582442, 0.0015559945022687316, 0.0009915882255882025, 0.001531700836494565, 0.0013993792235851288, 0.0019360058940947056, 0.0010828410740941763, 0.0017167655751109123, 0.0017176205292344093, 0.0015017751138657331, 0.0013202156405895948, 0.0011275685392320156, 0.001383599708788097, 0.0012625502422451973, 0.0011101728305220604, 0.0013280583079904318, 0.0011700361501425505, 0.0009029353968799114, 0.0020190714858472347, 0.0018317184876650572, 0.0017753628781065345, 0.0013012890703976154, 0.001009998843073845, 0.0011548700276762247], "cand_cum_xyz_disp_all": [[-0.006881833076477051, 0.0017810612916946411, -3.571808338165283e-05], [-0.0025216788053512573, 0.00305803120136261, 0.002035386860370636], [-0.004488006234169006, 0.004328399896621704, 0.001331627368927002], [-0.003698289394378662, 0.002300158143043518, 0.0008615851402282715], [-0.0086946040391922, 0.002079293131828308, -0.000151708722114563], [-0.0007424205541610718, 0.003912985324859619, 0.0018038228154182434], [-0.0038202255964279175, 0.004201516509056091, 0.0017850175499916077], [-0.003216102719306946, 0.003534272313117981, -0.002307504415512085], [-0.004695981740951538, 0.002284109592437744, -0.0011330023407936096], [-0.0030101388692855835, 0.0059323906898498535, 0.002408549189567566], [-0.0006771087646484375, 0.003099292516708374, 0.0030394569039344788], [-0.005092144012451172, 0.0024324804544448853, -0.00016762316226959229], [-0.005285799503326416, 0.0031421780586242676, 0.0013924911618232727], [-0.009133726358413696, 0.0033405572175979614, -0.0009695366024971008], [-0.002013981342315674, 0.0020641982555389404, 0.0013429149985313416], [-0.0033601224422454834, 0.0050595104694366455, -0.0026777535676956177], [-0.003523796796798706, 0.0020924657583236694, 0.0021909698843955994], [-0.004509836435317993, 0.002100050449371338, 0.000622287392616272], [-0.00281737744808197, 0.0009026676416397095, -0.0022504031658172607], [-0.002568662166595459, 0.001682579517364502, 0.0008674561977386475], [-0.004165396094322205, 0.00411871075630188, 0.003110334277153015], [-0.0014314651489257812, 0.0023346543312072754, 0.004708223044872284], [-0.00043326616287231445, 0.004086211323738098, 0.0028437748551368713], [-0.003344014286994934, 0.004191383719444275, 0.0028056800365448], [-0.0033812522888183594, 0.0024970322847366333, 8.922070264816284e-05], [0.0007480233907699585, 0.0032464712858200073, 0.0011103823781013489], [-0.004727914929389954, 0.0046111345291137695, 0.00699857622385025], [-0.006026074290275574, 0.002958327531814575, -0.0015544667840003967], [-0.008505374193191528, 0.0028201043605804443, 0.00012333691120147705], [-0.0023937076330184937, 0.0034298747777938843, 0.002785690128803253], [-0.0017997920513153076, 0.0028886348009109497, 0.00209943950176239], [-0.0021131932735443115, 0.0036226511001586914, 0.00035596638917922974]], "cand_final_gripper_all": [0.9986231327056885, 0.9984117150306702, 0.9979512691497803, 0.997687578201294, 0.9984233379364014, 1.0, 0.9992203712463379, 0.9982194900512695, 0.9977492094039917, 0.9988394975662231, 1.0, 0.9974538087844849, 0.9988473653793335, 0.9970977306365967, 0.9998747110366821, 0.998538613319397, 0.9969154596328735, 1.0, 0.9985114336013794, 0.9975885152816772, 0.9984962940216064, 0.9991109371185303, 0.9998898506164551, 0.9974581003189087, 0.9995338916778564, 0.9990129470825195, 0.9978653192520142, 0.9972467422485352, 0.9993337392807007, 0.998987078666687, 0.9986092448234558, 1.0], "eef_pos": [0.521540105342865, -0.12496204674243927, 0.20411501824855804], "cand_action_std": 0.026678849011659622, "cand_pairwise_centroid_dist_mean": 0.27259233593940735, "argmax_act_outlier": 1.5464905500411987, "time_encode_ms": 5.576591938734055, "time_diffusion_ms": 36.615154007449746, "time_q_score_ms": 7.807712070643902, "time_total_ms": 50.77257216908038, "num_action_samples_effective": 32, "q_aggregate": "pair_min"} +{"chunk_ordinal": 24, "q_min_best": 0.24003185331821442, "q_min_mean": 0.21609163284301758, "q_min_std": 0.015190217643976212, "q_min_median": 0.2182576060295105, "chosen_vs_median_q_gap": 0.02177424728870392, "q1_best": 0.24003185331821442, "q2_best": 0.2763753831386566, "v_val": 0.31226980686187744, "advantage": -0.07223795354366302, "best_idx": 18, "q_min_all": [0.22874736785888672, 0.2335474193096161, 0.2182576060295105, 0.20087884366512299, 0.2218923568725586, 0.20623235404491425, 0.2368895411491394, 0.20143072307109833, 0.23374049365520477, 0.1942507028579712, 0.2187727987766266, 0.1954374611377716, 0.20408448576927185, 0.22118797898292542, 0.21480141580104828, 0.2318662852048874, 0.1884503811597824, 0.2134733647108078, 0.24003185331821442, 0.2322782278060913, 0.22490055859088898, 0.22689005732536316, 0.2072492241859436, 0.18382421135902405, 0.2191411256790161, 0.22996044158935547, 0.21046662330627441, 0.20911170542240143, 0.22595185041427612, 0.20920154452323914, 0.2344903200864792, 0.197492778301239], "q1_all": [0.22874736785888672, 0.2335474193096161, 0.2182576060295105, 0.20087884366512299, 0.2218923568725586, 0.20623235404491425, 0.2368895411491394, 0.20143072307109833, 0.23374049365520477, 0.1942507028579712, 0.2187727987766266, 0.1954374611377716, 0.20408448576927185, 0.22118797898292542, 0.21480141580104828, 0.2318662852048874, 0.1884503811597824, 0.2134733647108078, 0.24003185331821442, 0.2322782278060913, 0.22490055859088898, 0.22689005732536316, 0.2072492241859436, 0.18382421135902405, 0.2191411256790161, 0.22996044158935547, 0.21046662330627441, 0.20911170542240143, 0.22595185041427612, 0.20920154452323914, 0.2344903200864792, 0.197492778301239], "q2_all": [0.2827071249485016, 0.26872724294662476, 0.2836597263813019, 0.3092917501926422, 0.2804111838340759, 0.29310691356658936, 0.28275391459465027, 0.29402780532836914, 0.297463595867157, 0.2857804298400879, 0.27039438486099243, 0.2810516655445099, 0.2621356248855591, 0.26378268003463745, 0.2734593152999878, 0.28574490547180176, 0.28022778034210205, 0.2998446226119995, 0.2763753831386566, 0.2891342341899872, 0.24478165805339813, 0.28687524795532227, 0.24258877336978912, 0.2721765339374542, 0.26830774545669556, 0.25543373823165894, 0.27494725584983826, 0.25435200333595276, 0.2775750756263733, 0.284910649061203, 0.27283966541290283, 0.2577642798423767], "cand_trans_speed_all": [0.007298323325812817, 0.007380613591521978, 0.007051608990877867, 0.01072368398308754, 0.007889870554208755, 0.0085381381213665, 0.00785779394209385, 0.00949055701494217, 0.007596278563141823, 0.009560557082295418, 0.006909708492457867, 0.011615600436925888, 0.009439054876565933, 0.007218034006655216, 0.008682116866111755, 0.007373548112809658, 0.010679047554731369, 0.009314898401498795, 0.0065595125779509544, 0.009309410117566586, 0.0071940976195037365, 0.008173628710210323, 0.008910661563277245, 0.010746042244136333, 0.007980681955814362, 0.007101542316377163, 0.00884226243942976, 0.007558336015790701, 0.007441784255206585, 0.009060768410563469, 0.007640319876372814, 0.010254945605993271], "cand_cum_xyz_disp_all": [[-0.037167444825172424, -0.012331217527389526, -0.010806910693645477], [-0.03577414155006409, -0.00430634617805481, -0.017674744129180908], [-0.03440786898136139, -0.012711554765701294, -0.00873640924692154], [-0.051868289709091187, -0.012824207544326782, -0.013025373220443726], [-0.03920969367027283, -0.014733627438545227, -0.0161953866481781], [-0.04398149251937866, -0.014552041888237, -0.011766448616981506], [-0.027070075273513794, -0.007950395345687866, -0.018828168511390686], [-0.04730835556983948, -0.011034712195396423, -0.01246393471956253], [-0.030491799116134644, 0.008027791976928711, -0.02172236144542694], [-0.04763725399971008, -0.012444019317626953, -0.011394351720809937], [-0.02800208330154419, -0.00791226327419281, -0.014257602393627167], [-0.05078969895839691, -0.010420083999633789, -0.011196933686733246], [-0.04160642623901367, -0.011233672499656677, -0.007212713360786438], [-0.037267208099365234, -0.006912708282470703, -0.010950103402137756], [-0.044331952929496765, -0.006708294153213501, -0.015081845223903656], [-0.03784830868244171, -0.01342742145061493, -0.008494973182678223], [-0.03753286600112915, -0.0025824159383773804, -0.02114357054233551], [-0.04419530928134918, -0.01634673774242401, -0.016619473695755005], [-0.026892200112342834, -0.006185293197631836, -0.01565614342689514], [-0.0476827472448349, -0.02094326913356781, -0.008671656250953674], [-0.03097851574420929, -0.00686722993850708, -0.01362515240907669], [-0.03137749433517456, -0.009213551878929138, -0.018803544342517853], [-0.039047256112098694, -0.009994074702262878, -0.011559009552001953], [-0.03775763511657715, -0.011247485876083374, -0.01792529970407486], [-0.03303401172161102, -0.012902021408081055, -0.013789229094982147], [-0.02800273895263672, -0.006567612290382385, -0.011715918779373169], [-0.04199203848838806, -0.00433686375617981, -0.016155831515789032], [-0.024194270372390747, 0.0022343695163726807, -0.018195778131484985], [-0.03854145109653473, -0.007595345377922058, -0.009859368205070496], [-0.045892030000686646, -0.013328701257705688, -0.005929417908191681], [-0.03750932216644287, -0.011622384190559387, -0.014097623527050018], [-0.04501146078109741, -0.01029922068119049, -0.013308271765708923]], "cand_final_gripper_all": [0.9981297850608826, 0.999228835105896, 0.9982782006263733, 0.9987308382987976, 0.998859167098999, 0.9985362887382507, 0.9988479614257812, 0.9989999532699585, 0.9991896152496338, 0.9990255832672119, 0.9980884790420532, 0.9987388849258423, 1.0, 0.9984186291694641, 0.9981088638305664, 0.9988241791725159, 0.999291181564331, 0.9983587265014648, 0.9987617135047913, 0.9973271489143372, 0.9983117580413818, 0.9984407424926758, 0.9995543956756592, 0.9979895949363708, 0.9992473125457764, 0.9984394907951355, 0.9980289936065674, 0.9987363815307617, 0.99846351146698, 0.9981008768081665, 0.9986505508422852, 0.9985301494598389], "eef_pos": [0.5226700901985168, -0.1245894655585289, 0.20431315898895264], "cand_action_std": 0.1288774013519287, "cand_pairwise_centroid_dist_mean": 1.3029396533966064, "argmax_act_outlier": 1.3567698001861572, "time_encode_ms": 5.546065047383308, "time_diffusion_ms": 36.15236096084118, "time_q_score_ms": 8.344761095941067, "time_total_ms": 50.83890398964286, "num_action_samples_effective": 32, "q_aggregate": "pair_min"} +{"chunk_ordinal": 25, "q_min_best": 0.29858940839767456, "q_min_mean": 0.2717612087726593, "q_min_std": 0.0160270556807518, "q_min_median": 0.2704174518585205, "chosen_vs_median_q_gap": 0.028171956539154053, "q1_best": 0.29858940839767456, "q2_best": 0.38491877913475037, "v_val": 0.36977359652519226, "advantage": -0.0711841881275177, "best_idx": 22, "q_min_all": [0.26689010858535767, 0.2473946213722229, 0.27647265791893005, 0.26702001690864563, 0.252850204706192, 0.2527711093425751, 0.2613108456134796, 0.2983328104019165, 0.29337406158447266, 0.25567537546157837, 0.2704174518585205, 0.24804209172725677, 0.2517111003398895, 0.2760920822620392, 0.2874324321746826, 0.2738112807273865, 0.25828874111175537, 0.27140146493911743, 0.2662407159805298, 0.2560003399848938, 0.26964375376701355, 0.26853692531585693, 0.29858940839767456, 0.2887002229690552, 0.2787776291370392, 0.27853357791900635, 0.295993447303772, 0.2971577048301697, 0.27190926671028137, 0.2809235751628876, 0.2469930648803711, 0.289070188999176], "q1_all": [0.26689010858535767, 0.2473946213722229, 0.27647265791893005, 0.26702001690864563, 0.252850204706192, 0.2527711093425751, 0.2613108456134796, 0.2983328104019165, 0.29337406158447266, 0.25567537546157837, 0.2704174518585205, 0.24804209172725677, 0.2517111003398895, 0.2760920822620392, 0.2874324321746826, 0.2738112807273865, 0.25828874111175537, 0.27140146493911743, 0.2662407159805298, 0.2560003399848938, 0.26964375376701355, 0.26853692531585693, 0.29858940839767456, 0.2887002229690552, 0.2787776291370392, 0.27853357791900635, 0.295993447303772, 0.2971577048301697, 0.27190926671028137, 0.2809235751628876, 0.2469930648803711, 0.289070188999176], "q2_all": [0.34088730812072754, 0.34693101048469543, 0.3639523386955261, 0.34716662764549255, 0.3438652455806732, 0.3476153016090393, 0.34057196974754333, 0.3581010699272156, 0.3436368405818939, 0.31487858295440674, 0.34751421213150024, 0.3254270553588867, 0.3123341500759125, 0.34136104583740234, 0.3485257029533386, 0.3560185432434082, 0.3185737431049347, 0.3387674391269684, 0.33072370290756226, 0.3284664750099182, 0.33165231347084045, 0.3378233313560486, 0.38491877913475037, 0.3479847013950348, 0.36657026410102844, 0.3297882080078125, 0.35332342982292175, 0.3302410840988159, 0.34347325563430786, 0.34753885865211487, 0.3200280964374542, 0.37289345264434814], "cand_trans_speed_all": [0.010931037366390228, 0.010693920776247978, 0.008226096630096436, 0.00798711460083723, 0.007835814729332924, 0.009105764329433441, 0.00818637665361166, 0.0073715681210160255, 0.007849551737308502, 0.007106423377990723, 0.007436434738337994, 0.008014102466404438, 0.01043118815869093, 0.009072987362742424, 0.005771011114120483, 0.00861896201968193, 0.010614539496600628, 0.006633698008954525, 0.007727473042905331, 0.009335283190011978, 0.00852886214852333, 0.006606657989323139, 0.009132102131843567, 0.007277782540768385, 0.008476346731185913, 0.009550687856972218, 0.0091512780636549, 0.009044541046023369, 0.006708879955112934, 0.007266267202794552, 0.010009820573031902, 0.008066775277256966], "cand_cum_xyz_disp_all": [[-0.04008471965789795, -0.024622812867164612, -0.01228853315114975], [-0.03962498903274536, -0.009800255298614502, -0.017564930021762848], [-0.03759703040122986, -0.01066194474697113, -0.01251954585313797], [-0.04060506820678711, -0.01514570415019989, -0.009602487087249756], [-0.03917050361633301, -0.010863080620765686, -0.013094507157802582], [-0.03060634434223175, -0.00790773332118988, -0.019651085138320923], [-0.03707142174243927, -0.012725308537483215, -0.00940001755952835], [-0.034356847405433655, -0.011923655867576599, -0.008629515767097473], [-0.023175328969955444, -0.008966490626335144, -0.01173904538154602], [-0.029539093375205994, -0.00420185923576355, -0.01144600659608841], [-0.03972084820270538, -0.00941970944404602, -0.015094675123691559], [-0.04429706931114197, -0.01140432059764862, -0.007395200431346893], [-0.030745580792427063, -0.012266784906387329, -0.015197545289993286], [-0.032881930470466614, -0.019660532474517822, -0.01703236997127533], [-0.027670353651046753, -0.00753253698348999, -0.010269507765769958], [-0.03635796904563904, -0.017805829644203186, -0.015722595155239105], [-0.04202073812484741, -0.022732675075531006, -0.013909347355365753], [-0.029360279440879822, -0.009527593851089478, -0.011290520429611206], [-0.029636502265930176, -0.013829603791236877, -0.013618513941764832], [-0.042203471064567566, -0.019152775406837463, -0.008763015270233154], [-0.04234220087528229, -0.018682226538658142, -0.01538638025522232], [-0.02640223503112793, -0.015546813607215881, -0.01242005079984665], [-0.04007109999656677, -0.010066509246826172, -0.01791348308324814], [-0.03469774127006531, -0.00813436508178711, -0.014696411788463593], [-0.043317198753356934, -0.019970238208770752, -0.013259246945381165], [-0.033113107085227966, -0.006047606468200684, -0.017179928719997406], [-0.043757930397987366, -0.02546580135822296, -0.0066582635045051575], [-0.03251492977142334, -0.01337595283985138, -0.011057592928409576], [-0.03188681602478027, -0.01263900101184845, -0.009683385491371155], [-0.040046095848083496, -0.009313389658927917, -0.006029263138771057], [-0.030682623386383057, -0.011623457074165344, -0.018388323485851288], [-0.03736262023448944, -0.020267724990844727, -0.011647254228591919]], "cand_final_gripper_all": [0.9984106421470642, 0.9983474016189575, 0.9981486201286316, 0.9980522394180298, 0.9985101222991943, 0.998496413230896, 0.9989099502563477, 0.9984211921691895, 0.9987050294876099, 0.9985350966453552, 0.9973815679550171, 0.9988871812820435, 0.9993853569030762, 0.998696506023407, 0.9982028603553772, 0.998155951499939, 0.9984400272369385, 0.9990522265434265, 0.9980740547180176, 0.9990565776824951, 0.9981902837753296, 0.9983469247817993, 0.9987602829933167, 0.9988770484924316, 0.9986879229545593, 0.9979228973388672, 0.9982662200927734, 0.9963619709014893, 0.9973906874656677, 0.9988789558410645, 0.9979240894317627, 0.9983776807785034], "eef_pos": [0.5222241282463074, -0.13079549372196198, 0.20618537068367004], "cand_action_std": 0.11941651254892349, "cand_pairwise_centroid_dist_mean": 1.1830438375473022, "argmax_act_outlier": 1.094191312789917, "time_encode_ms": 6.291267927736044, "time_diffusion_ms": 36.30700707435608, "time_q_score_ms": 7.721382891759276, "time_total_ms": 51.344846840947866, "num_action_samples_effective": 32, "q_aggregate": "pair_min"} +{"chunk_ordinal": 26, "q_min_best": 0.36278343200683594, "q_min_mean": 0.33438873291015625, "q_min_std": 0.01692202128469944, "q_min_median": 0.33272287249565125, "chosen_vs_median_q_gap": 0.030060559511184692, "q1_best": 0.36278343200683594, "q2_best": 0.5061458945274353, "v_val": 0.4641379117965698, "advantage": -0.10135447978973389, "best_idx": 27, "q_min_all": [0.33504509925842285, 0.320713073015213, 0.3365820050239563, 0.3276459574699402, 0.3179987668991089, 0.3533918559551239, 0.32278192043304443, 0.33483386039733887, 0.34992867708206177, 0.34256303310394287, 0.3194565773010254, 0.34479567408561707, 0.3036659359931946, 0.36046624183654785, 0.32454389333724976, 0.3305056095123291, 0.35784775018692017, 0.3113119304180145, 0.35867729783058167, 0.3542391061782837, 0.32537245750427246, 0.3287367820739746, 0.35835209488868713, 0.34333038330078125, 0.3219315707683563, 0.33272287249565125, 0.3026857376098633, 0.36278343200683594, 0.3222079575061798, 0.31448033452033997, 0.33417361974716187, 0.34666743874549866], "q1_all": [0.33504509925842285, 0.320713073015213, 0.3365820050239563, 0.3276459574699402, 0.3179987668991089, 0.3533918559551239, 0.32278192043304443, 0.33483386039733887, 0.34992867708206177, 0.34256303310394287, 0.3194565773010254, 0.34479567408561707, 0.3036659359931946, 0.36046624183654785, 0.32454389333724976, 0.3305056095123291, 0.35784775018692017, 0.3113119304180145, 0.35867729783058167, 0.3542391061782837, 0.32537245750427246, 0.3287367820739746, 0.35835209488868713, 0.34333038330078125, 0.3219315707683563, 0.33272287249565125, 0.3026857376098633, 0.36278343200683594, 0.3222079575061798, 0.31448033452033997, 0.33417361974716187, 0.34666743874549866], "q2_all": [0.4774877429008484, 0.431066632270813, 0.5103863477706909, 0.46021947264671326, 0.534125566482544, 0.5027145743370056, 0.47273939847946167, 0.4577016830444336, 0.46078282594680786, 0.5151472091674805, 0.47780895233154297, 0.47944337129592896, 0.4239692687988281, 0.48090580105781555, 0.426317036151886, 0.4218621850013733, 0.47446784377098083, 0.4266227185726166, 0.46389907598495483, 0.4828854203224182, 0.5235996842384338, 0.4752081036567688, 0.4672057330608368, 0.4909656047821045, 0.45930901169776917, 0.5015802979469299, 0.44770169258117676, 0.5061458945274353, 0.4743872880935669, 0.4323611259460449, 0.46857160329818726, 0.4761354327201843], "cand_trans_speed_all": [0.010970965027809143, 0.010975798591971397, 0.009442712180316448, 0.009850713424384594, 0.009727775119245052, 0.011485923081636429, 0.010554633103311062, 0.009693466126918793, 0.011547813192009926, 0.011427715420722961, 0.01015574112534523, 0.011633559130132198, 0.009420264512300491, 0.010941339656710625, 0.009739062748849392, 0.011844068765640259, 0.011047465726733208, 0.010507292114198208, 0.011470779776573181, 0.01065349206328392, 0.011739810928702354, 0.011470786295831203, 0.010050727054476738, 0.010521315038204193, 0.009712008759379387, 0.010775300674140453, 0.00953942071646452, 0.0084559116512537, 0.010285049676895142, 0.008721763268113136, 0.009966802783310413, 0.010597683489322662], "cand_cum_xyz_disp_all": [[-0.057474732398986816, -0.02325168251991272, -0.01253468543291092], [-0.0553210973739624, -0.021185845136642456, -0.01066654920578003], [-0.04958607256412506, -0.0176384299993515, -0.012990027666091919], [-0.05338449776172638, -0.015634283423423767, -0.005893118679523468], [-0.051685258746147156, -0.0125388503074646, -0.014657683670520782], [-0.05906987190246582, -0.019523411989212036, -0.012072823941707611], [-0.05803622305393219, -0.018348827958106995, -0.009840071201324463], [-0.04746171832084656, -0.01919114589691162, -0.009454049170017242], [-0.059616848826408386, -0.020696565508842468, -0.013137124478816986], [-0.0599178671836853, -0.022237271070480347, -0.01438671350479126], [-0.050550878047943115, -0.010778427124023438, -0.015600234270095825], [-0.06044921278953552, -0.01538403332233429, -0.01134992390871048], [-0.04649190604686737, -0.025200530886650085, -0.011534065008163452], [-0.05872730910778046, -0.022325634956359863, -0.008430443704128265], [-0.053202688694000244, -0.02239397168159485, -0.0037634074687957764], [-0.057885363698005676, -0.009646162390708923, -0.013102062046527863], [-0.055711403489112854, -0.014744922518730164, -0.006621204316616058], [-0.048817187547683716, -0.026729822158813477, -0.012685716152191162], [-0.06030014157295227, -0.01678590476512909, -0.009146139025688171], [-0.05518454313278198, -0.0107860267162323, -0.004149839282035828], [-0.061941370368003845, -0.02078939974308014, -0.013692721724510193], [-0.053771913051605225, -0.02308051288127899, -0.016721777617931366], [-0.05208079516887665, -0.01643797755241394, -0.007364720106124878], [-0.05090618133544922, -0.01121269166469574, -0.011417612433433533], [-0.05115407705307007, -0.019416451454162598, -0.014794446527957916], [-0.05620609223842621, -0.016177847981452942, -0.01335763931274414], [-0.04740777611732483, -0.016520515084266663, -0.011408872902393341], [-0.04459550976753235, -0.007913351058959961, -0.003949284553527832], [-0.05021241307258606, -0.02011936902999878, -0.007719017565250397], [-0.043042540550231934, -0.014197707176208496, -0.007978692650794983], [-0.05243207514286041, -0.018611833453178406, -0.005624271929264069], [-0.057417526841163635, -0.015660658478736877, -0.0070931315422058105]], "cand_final_gripper_all": [0.9984592199325562, 0.9987266063690186, 0.9970568418502808, 0.9977405071258545, 0.9971979856491089, 0.9975243806838989, 0.9980512261390686, 0.9970071315765381, 0.998091995716095, 0.9984058141708374, 0.9977627396583557, 0.9982715249061584, 0.9982755184173584, 0.9979261159896851, 0.997882068157196, 0.9982424378395081, 0.9987950325012207, 0.9977110624313354, 0.9981341361999512, 0.9970488548278809, 0.9980742335319519, 0.9973171949386597, 0.9986560940742493, 0.9973139762878418, 0.9981703758239746, 0.9979956150054932, 0.9978196620941162, 0.9979069828987122, 0.9982534646987915, 0.9984422922134399, 0.998406171798706, 0.9981836080551147], "eef_pos": [0.5179206132888794, -0.15014521777629852, 0.2129356563091278], "cand_action_std": 0.11299459636211395, "cand_pairwise_centroid_dist_mean": 1.0810843706130981, "argmax_act_outlier": 1.7336658239364624, "time_encode_ms": 5.430774064734578, "time_diffusion_ms": 36.542630987241864, "time_q_score_ms": 8.497742936015129, "time_total_ms": 51.163403084501624, "num_action_samples_effective": 32, "q_aggregate": "pair_min"} +{"chunk_ordinal": 27, "q_min_best": 0.41419264674186707, "q_min_mean": 0.39014679193496704, "q_min_std": 0.013273341581225395, "q_min_median": 0.38780099153518677, "chosen_vs_median_q_gap": 0.026391655206680298, "q1_best": 0.41419264674186707, "q2_best": 0.43469560146331787, "v_val": 0.3643834888935089, "advantage": 0.049809157848358154, "best_idx": 0, "q_min_all": [0.41419264674186707, 0.3812415599822998, 0.3774312138557434, 0.39836710691452026, 0.4080886244773865, 0.38726794719696045, 0.37919342517852783, 0.4076751470565796, 0.3872317671775818, 0.41409409046173096, 0.3837360739707947, 0.37815192341804504, 0.3890824019908905, 0.3895576000213623, 0.40801358222961426, 0.3677177429199219, 0.38752827048301697, 0.39436075091362, 0.4100002944469452, 0.3688841760158539, 0.3841579258441925, 0.39720863103866577, 0.39269596338272095, 0.39062726497650146, 0.4021860361099243, 0.38170555233955383, 0.38780099153518677, 0.3859432339668274, 0.402926504611969, 0.36575615406036377, 0.37400317192077637, 0.3878691792488098], "q1_all": [0.41419264674186707, 0.3812415599822998, 0.3774312138557434, 0.39836710691452026, 0.4080886244773865, 0.38726794719696045, 0.37919342517852783, 0.4076751470565796, 0.3872317671775818, 0.41409409046173096, 0.3837360739707947, 0.37815192341804504, 0.3890824019908905, 0.3895576000213623, 0.40991708636283875, 0.3677177429199219, 0.38752827048301697, 0.39436075091362, 0.4170445203781128, 0.3688841760158539, 0.38969355821609497, 0.4027091860771179, 0.39269596338272095, 0.39062726497650146, 0.4021860361099243, 0.38170555233955383, 0.38780099153518677, 0.3859432339668274, 0.402926504611969, 0.39710721373558044, 0.37400317192077637, 0.3878691792488098], "q2_all": [0.43469560146331787, 0.4141128957271576, 0.414253830909729, 0.4379037022590637, 0.42572495341300964, 0.416517972946167, 0.42809587717056274, 0.4463973641395569, 0.44386518001556396, 0.4415476322174072, 0.4099430441856384, 0.4346899390220642, 0.4387165904045105, 0.4244028627872467, 0.40801358222961426, 0.4005318284034729, 0.43275362253189087, 0.4277871251106262, 0.4100002944469452, 0.4076330065727234, 0.3841579258441925, 0.39720863103866577, 0.4172040820121765, 0.43399080634117126, 0.42906633019447327, 0.44880688190460205, 0.4231148064136505, 0.4106566607952118, 0.41286104917526245, 0.36575615406036377, 0.39282312989234924, 0.42221713066101074], "cand_trans_speed_all": [0.010282190516591072, 0.011648762039840221, 0.009562743827700615, 0.010051915422081947, 0.0115679781883955, 0.009995603933930397, 0.009874289855360985, 0.010180896148085594, 0.009783965535461903, 0.010768047533929348, 0.010343572124838829, 0.011059276759624481, 0.011717453598976135, 0.009626169688999653, 0.011611937545239925, 0.009430233389139175, 0.01036122813820839, 0.009015279822051525, 0.011571205221116543, 0.008478283882141113, 0.012637270614504814, 0.010342152789235115, 0.009136507287621498, 0.011092336848378181, 0.008988932706415653, 0.011028312146663666, 0.010851955972611904, 0.00868115946650505, 0.010051876306533813, 0.008248841390013695, 0.010799470357596874, 0.010898522101342678], "cand_cum_xyz_disp_all": [[-0.05239561200141907, -0.026856020092964172, 0.0034413039684295654], [-0.05304090678691864, -0.03038136661052704, 0.0023032203316688538], [-0.04556819796562195, -0.02425462007522583, 0.0008823126554489136], [-0.04587280750274658, -0.027450725436210632, 0.004932023584842682], [-0.05534584820270538, -0.033129170536994934, 0.008529551327228546], [-0.04440806806087494, -0.03132760524749756, 0.0006137862801551819], [-0.051698148250579834, -0.021658241748809814, 0.0019727572798728943], [-0.04963964223861694, -0.030042439699172974, -0.0023234784603118896], [-0.04636366665363312, -0.028438299894332886, 0.00041316449642181396], [-0.05301637947559357, -0.03434664011001587, 0.004022359848022461], [-0.0477764755487442, -0.026251554489135742, 0.004178687930107117], [-0.05332115292549133, -0.03305426239967346, 0.0013650581240653992], [-0.059625402092933655, -0.029995381832122803, 0.0014836564660072327], [-0.04873485863208771, -0.02482946217060089, 0.003295101225376129], [-0.05372260510921478, -0.030876561999320984, 0.006171829998493195], [-0.04229623079299927, -0.030738607048988342, 0.005212597548961639], [-0.05181242525577545, -0.02935294806957245, 0.002186194062232971], [-0.04807133972644806, -0.023211464285850525, 0.00023558735847473145], [-0.05457577109336853, -0.02746732532978058, 0.0001389533281326294], [-0.04519592225551605, -0.018774107098579407, 0.0015648528933525085], [-0.0446162074804306, -0.03747484087944031, -0.0006873384118080139], [-0.0497894287109375, -0.026868566870689392, 0.004713110625743866], [-0.04205392301082611, -0.030521824955940247, -0.0018230229616165161], [-0.057459816336631775, -0.02857215702533722, 0.0016732364892959595], [-0.04300194978713989, -0.026640936732292175, 5.7347118854522705e-05], [-0.057757601141929626, -0.030216649174690247, 0.00434044748544693], [-0.05108103156089783, -0.023163169622421265, 0.0015307292342185974], [-0.04303494095802307, -0.026984259486198425, 0.00339333713054657], [-0.04720182716846466, -0.026187554001808167, 0.00479116290807724], [-0.04009951651096344, -0.021832242608070374, 0.005777664482593536], [-0.045978084206581116, -0.02909994125366211, -0.0025267750024795532], [-0.053221508860588074, -0.02747863531112671, 0.0012045875191688538]], "cand_final_gripper_all": [0.9974410533905029, 0.9962328672409058, 0.9978653192520142, 0.9986727237701416, 0.9974416494369507, 0.998914361000061, 0.9982249736785889, 0.9981579780578613, 0.9965829849243164, 0.9979838728904724, 0.9980456829071045, 0.9980546236038208, 0.9988012909889221, 0.9985125064849854, 0.9980273246765137, 0.9967967867851257, 0.9975634813308716, 0.9990717172622681, 0.9985353350639343, 0.9979277849197388, 0.9987812042236328, 0.9987750053405762, 0.9980460405349731, 0.9985443353652954, 0.9970778226852417, 0.9981048703193665, 0.9980090856552124, 0.9977048635482788, 0.9983684420585632, 0.9988669753074646, 0.9972625374794006, 0.9976364374160767], "eef_pos": [0.5110779404640198, -0.1754636913537979, 0.21931931376457214], "cand_action_std": 0.10351935774087906, "cand_pairwise_centroid_dist_mean": 1.0326950550079346, "argmax_act_outlier": 0.8916823267936707, "time_encode_ms": 5.260781152173877, "time_diffusion_ms": 36.10876202583313, "time_q_score_ms": 7.96270789578557, "time_total_ms": 50.11488194577396, "num_action_samples_effective": 32, "q_aggregate": "pair_min"} +{"chunk_ordinal": 28, "q_min_best": 0.4897673726081848, "q_min_mean": 0.41509395837783813, "q_min_std": 0.043375205248594284, "q_min_median": 0.41207972168922424, "chosen_vs_median_q_gap": 0.07768765091896057, "q1_best": 0.5196920037269592, "q2_best": 0.4897673726081848, "v_val": 0.0036245842929929495, "advantage": 0.48614278831519186, "best_idx": 29, "q_min_all": [0.3648255467414856, 0.3966262638568878, 0.4291146397590637, 0.38612014055252075, 0.41652950644493103, 0.352333664894104, 0.41207972168922424, 0.37739259004592896, 0.4339680075645447, 0.4761059284210205, 0.3993304967880249, 0.33035707473754883, 0.38966864347457886, 0.39823251962661743, 0.47600996494293213, 0.4476131200790405, 0.3947030305862427, 0.371418297290802, 0.4261033833026886, 0.44774550199508667, 0.45942336320877075, 0.46678394079208374, 0.36612480878829956, 0.4543902277946472, 0.34857475757598877, 0.39003118872642517, 0.4695417881011963, 0.4402215778827667, 0.3646472096443176, 0.4897673726081848, 0.4563356339931488, 0.4508865475654602], "q1_all": [0.37562012672424316, 0.4710889756679535, 0.46744662523269653, 0.4230116009712219, 0.4703613519668579, 0.38918665051460266, 0.47337377071380615, 0.43358752131462097, 0.4849507212638855, 0.512065052986145, 0.4162064790725708, 0.37300562858581543, 0.38966864347457886, 0.46470537781715393, 0.5022441148757935, 0.49871957302093506, 0.4656098484992981, 0.41185611486434937, 0.4721078872680664, 0.4938405752182007, 0.5013197660446167, 0.5173256397247314, 0.4257984459400177, 0.5053421854972839, 0.35336777567863464, 0.4211626350879669, 0.49256792664527893, 0.4805357754230499, 0.4243137240409851, 0.5196920037269592, 0.4911770522594452, 0.486799955368042], "q2_all": [0.3648255467414856, 0.3966262638568878, 0.4291146397590637, 0.38612014055252075, 0.41652950644493103, 0.352333664894104, 0.41207972168922424, 0.37739259004592896, 0.4339680075645447, 0.4761059284210205, 0.3993304967880249, 0.33035707473754883, 0.3953936696052551, 0.39823251962661743, 0.47600996494293213, 0.4476131200790405, 0.3947030305862427, 0.371418297290802, 0.4261033833026886, 0.44774550199508667, 0.45942336320877075, 0.46678394079208374, 0.36612480878829956, 0.4543902277946472, 0.34857475757598877, 0.39003118872642517, 0.4695417881011963, 0.4402215778827667, 0.3646472096443176, 0.4897673726081848, 0.4563356339931488, 0.4508865475654602], "cand_trans_speed_all": [0.012215763330459595, 0.012938996776938438, 0.013605932705104351, 0.012719536200165749, 0.012926142662763596, 0.012304183095693588, 0.011691542342305183, 0.012827565893530846, 0.013036335818469524, 0.013883940875530243, 0.011570964008569717, 0.010962661355733871, 0.010997760109603405, 0.012512288987636566, 0.013539555482566357, 0.013074676506221294, 0.013295288197696209, 0.011096774600446224, 0.013158351182937622, 0.013625546358525753, 0.013396002352237701, 0.013761281967163086, 0.011577608063817024, 0.013566173613071442, 0.010982230305671692, 0.011905278079211712, 0.01427694596350193, 0.013983575627207756, 0.01247374713420868, 0.013494032435119152, 0.013331415131688118, 0.013199830427765846], "cand_cum_xyz_disp_all": [[-0.05777469277381897, -0.036003634333610535, -0.01006045937538147], [-0.0623747855424881, -0.03559178113937378, -0.013697139918804169], [-0.07081446796655655, -0.035707876086235046, -0.0075049325823783875], [-0.05864100158214569, -0.037285804748535156, -0.007196739315986633], [-0.06427398324012756, -0.03760194778442383, -0.014312751591205597], [-0.06232975423336029, -0.03295604884624481, -0.008152075111865997], [-0.05756200850009918, -0.0366169810295105, -0.007827714085578918], [-0.059694766998291016, -0.0409415066242218, -0.012390151619911194], [-0.06752854585647583, -0.03537459671497345, -0.0032705068588256836], [-0.06939350068569183, -0.03685659170150757, -0.012532003223896027], [-0.058026909828186035, -0.03124520182609558, -0.008454456925392151], [-0.05363383889198303, -0.027292296290397644, -0.01203639805316925], [-0.053449615836143494, -0.028546974062919617, -0.0035034269094467163], [-0.054950132966041565, -0.03543773293495178, -0.008229203522205353], [-0.06977428495883942, -0.035115838050842285, -0.009072497487068176], [-0.06464852392673492, -0.039700865745544434, -0.006432570517063141], [-0.06485229730606079, -0.03953494131565094, -0.01309949904680252], [-0.05268600583076477, -0.03422531485557556, -0.008614510297775269], [-0.06430467963218689, -0.03345952928066254, -0.009726926684379578], [-0.06643913686275482, -0.04071494936943054, -0.010326556861400604], [-0.06724347174167633, -0.03733325004577637, -0.009142108261585236], [-0.06498804688453674, -0.044049955904483795, -0.012532569468021393], [-0.057101309299468994, -0.025869593024253845, -0.010630413889884949], [-0.0670158714056015, -0.041893646121025085, -0.006808586418628693], [-0.04558074474334717, -0.03635236620903015, -0.008439116179943085], [-0.05858337879180908, -0.032578155398368835, -0.008516184985637665], [-0.07401249557733536, -0.03743506968021393, -0.007249407470226288], [-0.06575700640678406, -0.0455600768327713, -0.009053640067577362], [-0.06039339303970337, -0.035322338342666626, -0.012038029730319977], [-0.06823022663593292, -0.03568276762962341, -0.009893454611301422], [-0.06542554497718811, -0.03777749836444855, -0.006123557686805725], [-0.06663699448108673, -0.03766404092311859, -0.006421096622943878]], "cand_final_gripper_all": [0.9997862577438354, 0.997649073600769, 0.9984521865844727, 1.0, 0.999239444732666, 0.9994034767150879, 0.998744010925293, 0.9993863105773926, 1.0, 0.9987042546272278, 0.99991774559021, 0.9980647563934326, 0.9989192485809326, 0.998393177986145, 0.9994814991950989, 0.9991308450698853, 1.0, 1.0, 0.9991246461868286, 0.999866783618927, 0.999519944190979, 0.9985733032226562, 0.9983557462692261, 0.9992035627365112, 0.9988367557525635, 0.999259889125824, 0.9992914199829102, 0.9992837905883789, 0.999366819858551, 1.0, 0.999348521232605, 0.9997353553771973], "eef_pos": [0.49734434485435486, -0.20998606085777283, 0.21923628449440002], "cand_action_std": 0.1991438865661621, "cand_pairwise_centroid_dist_mean": 1.639786958694458, "argmax_act_outlier": 1.0956448316574097, "time_encode_ms": 5.621444899588823, "time_diffusion_ms": 36.100578028708696, "time_q_score_ms": 8.278199005872011, "time_total_ms": 50.96293403767049, "num_action_samples_effective": 32, "q_aggregate": "pair_min"} +{"chunk_ordinal": 29, "q_min_best": 0.3328576385974884, "q_min_mean": 0.2986050546169281, "q_min_std": 0.018992234021425247, "q_min_median": 0.29804864525794983, "chosen_vs_median_q_gap": 0.034808993339538574, "q1_best": 0.3847893178462982, "q2_best": 0.3328576385974884, "v_val": 0.05261913686990738, "advantage": 0.280238501727581, "best_idx": 30, "q_min_all": [0.2840312123298645, 0.31803154945373535, 0.3041295111179352, 0.3219979405403137, 0.27591806650161743, 0.29502782225608826, 0.31680870056152344, 0.3326994478702545, 0.29001492261886597, 0.29819923639297485, 0.2951226532459259, 0.2750844955444336, 0.3067088723182678, 0.32907912135124207, 0.2647910416126251, 0.28747794032096863, 0.2939247488975525, 0.31278011202812195, 0.30453842878341675, 0.2906898260116577, 0.3053755760192871, 0.2699681222438812, 0.278974711894989, 0.3066057860851288, 0.28007957339286804, 0.3139082193374634, 0.3156019449234009, 0.2889655828475952, 0.29804864525794983, 0.2628115117549896, 0.3328576385974884, 0.30510830879211426], "q1_all": [0.32578906416893005, 0.4041505455970764, 0.3465743660926819, 0.3794975280761719, 0.35362935066223145, 0.4026946425437927, 0.4005211889743805, 0.40036046504974365, 0.3899202048778534, 0.36297607421875, 0.36743876338005066, 0.3690856099128723, 0.3945218324661255, 0.4173392653465271, 0.3837012052536011, 0.36733192205429077, 0.34835031628608704, 0.40228724479675293, 0.38784271478652954, 0.3780735731124878, 0.37143582105636597, 0.3687116801738739, 0.33367931842803955, 0.37006860971450806, 0.3767087459564209, 0.37808653712272644, 0.39696019887924194, 0.3925997018814087, 0.3974928557872772, 0.343960165977478, 0.3847893178462982, 0.3520433008670807], "q2_all": [0.2840312123298645, 0.31803154945373535, 0.3041295111179352, 0.3219979405403137, 0.27591806650161743, 0.29502782225608826, 0.31680870056152344, 0.3326994478702545, 0.29001492261886597, 0.29819923639297485, 0.2951226532459259, 0.2750844955444336, 0.3067088723182678, 0.32907912135124207, 0.2647910416126251, 0.28747794032096863, 0.2939247488975525, 0.31278011202812195, 0.30453842878341675, 0.2906898260116577, 0.3053755760192871, 0.2699681222438812, 0.278974711894989, 0.3066057860851288, 0.28007957339286804, 0.3139082193374634, 0.3156019449234009, 0.2889655828475952, 0.29804864525794983, 0.2628115117549896, 0.3328576385974884, 0.30510830879211426], "cand_trans_speed_all": [0.010037544183433056, 0.010178755037486553, 0.010259403847157955, 0.0098359864205122, 0.011119428090751171, 0.010045352391898632, 0.010941429063677788, 0.011575243435800076, 0.011195389553904533, 0.011107178404927254, 0.010037753731012344, 0.010655819438397884, 0.011455362662672997, 0.00979502685368061, 0.009646182879805565, 0.009588787332177162, 0.009780662134289742, 0.010724435560405254, 0.0099300192669034, 0.011029385030269623, 0.010882924310863018, 0.010522301308810711, 0.010320357047021389, 0.010286740958690643, 0.008854351006448269, 0.00982622243463993, 0.010077361948788166, 0.009580022655427456, 0.010510328225791454, 0.010461216792464256, 0.012026948854327202, 0.011729235760867596], "cand_cum_xyz_disp_all": [[-0.022144362330436707, -0.04086533188819885, -0.015841200947761536], [-0.028132006525993347, -0.046733833849430084, -0.012020289897918701], [-0.028315469622612, -0.043241262435913086, -0.018819399178028107], [-0.02673676609992981, -0.043636254966259, -0.018918313086032867], [-0.02369426190853119, -0.043190762400627136, -0.018385641276836395], [-0.02606360614299774, -0.04705963283777237, -0.011485464870929718], [-0.023040294647216797, -0.046961814165115356, -0.01574166864156723], [-0.0253840833902359, -0.04412740468978882, -0.018621213734149933], [-0.029909461736679077, -0.051795750856399536, -0.019036628305912018], [-0.02820141613483429, -0.048409603536129, -0.020210638642311096], [-0.028532713651657104, -0.04588855803012848, -0.01776699721813202], [-0.020564422011375427, -0.05108356475830078, -0.016625702381134033], [-0.02358102798461914, -0.04643882066011429, -0.019187361001968384], [-0.0275641530752182, -0.04371238499879837, -0.011746838688850403], [-0.023552224040031433, -0.04822908341884613, -0.014005005359649658], [-0.020777910947799683, -0.045929670333862305, -0.015975020825862885], [-0.03122316300868988, -0.04252810776233673, -0.010386928915977478], [-0.02271990478038788, -0.045692622661590576, -0.024062104523181915], [-0.024861186742782593, -0.04572523385286331, -0.01599457859992981], [-0.025869473814964294, -0.052691079676151276, -0.016010023653507233], [-0.023915112018585205, -0.04478371888399124, -0.0233200341463089], [-0.024802759289741516, -0.04952391982078552, -0.01778707653284073], [-0.025814980268478394, -0.0454946830868721, -0.02041134238243103], [-0.02079594135284424, -0.04285236448049545, -0.01578112691640854], [-0.024748340249061584, -0.041088640689849854, -0.011158078908920288], [-0.024121001362800598, -0.04550531506538391, -0.01775623857975006], [-0.022206991910934448, -0.042026638984680176, -0.013864859938621521], [-0.024622082710266113, -0.048255257308483124, -0.014191053807735443], [-0.025145545601844788, -0.04498492181301117, -0.0159958153963089], [-0.017709597945213318, -0.04188774526119232, -0.012493953108787537], [-0.022292733192443848, -0.03977002203464508, -0.020108595490455627], [-0.02382519841194153, -0.04612220078706741, -0.01621924340724945]], "cand_final_gripper_all": [1.0, 1.0, 1.0, 1.0, 0.9996999502182007, 0.9998534917831421, 1.0, 1.0, 1.0, 1.0, 0.9994770288467407, 0.9999206066131592, 1.0, 0.9994513988494873, 1.0, 0.9998997449874878, 1.0, 1.0, 1.0, 0.9995734095573425, 1.0, 0.9996157884597778, 0.9995676875114441, 0.999468982219696, 1.0, 0.9999213814735413, 1.0, 0.9997763633728027, 1.0, 1.0, 0.9997696280479431, 1.0], "eef_pos": [0.4774508774280548, -0.2554173469543457, 0.23042884469032288], "cand_action_std": 0.1542319655418396, "cand_pairwise_centroid_dist_mean": 1.2574806213378906, "argmax_act_outlier": 1.1960331201553345, "time_encode_ms": 5.1965119782835245, "time_diffusion_ms": 36.11002606339753, "time_q_score_ms": 7.921612123027444, "time_total_ms": 49.98973314650357, "num_action_samples_effective": 32, "q_aggregate": "pair_min"} +{"chunk_ordinal": 30, "q_min_best": 0.4582006335258484, "q_min_mean": 0.393595427274704, "q_min_std": 0.029294254258275032, "q_min_median": 0.39627936482429504, "chosen_vs_median_q_gap": 0.061921268701553345, "q1_best": 0.4582006335258484, "q2_best": 0.5527535080909729, "v_val": 0.36799466609954834, "advantage": 0.09020596742630005, "best_idx": 28, "q_min_all": [0.385410338640213, 0.38362622261047363, 0.37119734287261963, 0.4002140760421753, 0.41638830304145813, 0.39775601029396057, 0.33991914987564087, 0.41824573278427124, 0.3908431828022003, 0.3464922308921814, 0.414964497089386, 0.40582913160324097, 0.41206833720207214, 0.4249366521835327, 0.4249116778373718, 0.39920127391815186, 0.4200918674468994, 0.396898090839386, 0.3876834511756897, 0.3785640597343445, 0.3930772542953491, 0.37165766954421997, 0.40318021178245544, 0.39627936482429504, 0.37963390350341797, 0.42305707931518555, 0.3502039909362793, 0.3320668637752533, 0.4582006335258484, 0.34844768047332764, 0.38442516326904297, 0.4395827651023865], "q1_all": [0.385410338640213, 0.38362622261047363, 0.37119734287261963, 0.4002140760421753, 0.41638830304145813, 0.39775601029396057, 0.33991914987564087, 0.41824573278427124, 0.3908431828022003, 0.3464922308921814, 0.414964497089386, 0.40582913160324097, 0.41206833720207214, 0.4249366521835327, 0.4249116778373718, 0.39920127391815186, 0.4200918674468994, 0.396898090839386, 0.3876834511756897, 0.3785640597343445, 0.3930772542953491, 0.37165766954421997, 0.40318021178245544, 0.39627936482429504, 0.37963390350341797, 0.42305707931518555, 0.3502039909362793, 0.3320668637752533, 0.4582006335258484, 0.34844768047332764, 0.38442516326904297, 0.4395827651023865], "q2_all": [0.5347481369972229, 0.5243839621543884, 0.5342696905136108, 0.5405987501144409, 0.5592719912528992, 0.5477201342582703, 0.5110597610473633, 0.5514326691627502, 0.5289784669876099, 0.49962300062179565, 0.5437586307525635, 0.5512209534645081, 0.5413714051246643, 0.5496436357498169, 0.5602767467498779, 0.557615339756012, 0.5583350658416748, 0.5567706823348999, 0.5376625657081604, 0.5310809016227722, 0.5427027940750122, 0.5146074891090393, 0.5406450033187866, 0.5428091883659363, 0.5237864255905151, 0.5557478666305542, 0.48851972818374634, 0.49711889028549194, 0.5527535080909729, 0.5084810853004456, 0.5339025855064392, 0.5568651556968689], "cand_trans_speed_all": [0.010134799405932426, 0.010609589517116547, 0.009662768803536892, 0.010145130567252636, 0.010892896912992, 0.011564992368221283, 0.010801935568451881, 0.011182303540408611, 0.010845990851521492, 0.0095602972432971, 0.011127560399472713, 0.011100857518613338, 0.010824231430888176, 0.010377276688814163, 0.011461424641311169, 0.011158773675560951, 0.01120816171169281, 0.010620802640914917, 0.010754754766821861, 0.010080737993121147, 0.010105530731379986, 0.009326552972197533, 0.01089025940746069, 0.01093515008687973, 0.01083506178110838, 0.011191176250576973, 0.010696515440940857, 0.009218286722898483, 0.011933150701224804, 0.009387647733092308, 0.01017259806394577, 0.011213439516723156], "cand_cum_xyz_disp_all": [[0.005140334367752075, -0.049575865268707275, -0.03133015334606171], [0.005530491471290588, -0.051719725131988525, -0.024917401373386383], [0.004247754812240601, -0.04658384621143341, -0.02669355273246765], [0.007585257291793823, -0.04718715697526932, -0.0241890549659729], [0.0009209811687469482, -0.05197690427303314, -0.02781989425420761], [8.386373519897461e-05, -0.055076561868190765, -0.03122773766517639], [0.002901986241340637, -0.046012766659259796, -0.02790045738220215], [0.004092007875442505, -0.056183114647865295, -0.02763640135526657], [-0.0020452290773391724, -0.05226612836122513, -0.030191533267498016], [-0.00041216611862182617, -0.042280152440071106, -0.02192670851945877], [-0.0014775246381759644, -0.0578104630112648, -0.0257205069065094], [0.0015018731355667114, -0.05817452073097229, -0.02330455183982849], [0.004398509860038757, -0.0529494509100914, -0.025879748165607452], [0.00544305145740509, -0.04855075478553772, -0.024877279996871948], [0.005137532949447632, -0.054342515766620636, -0.029128357768058777], [-0.00017642974853515625, -0.05973796546459198, -0.027184821665287018], [0.004147931933403015, -0.0563872754573822, -0.02759610116481781], [0.00034587085247039795, -0.05272269994020462, -0.03181442618370056], [0.005661219358444214, -0.05164860934019089, -0.0265800878405571], [-0.0020574331283569336, -0.050907738506793976, -0.022999554872512817], [0.0039328038692474365, -0.04705663025379181, -0.029339231550693512], [0.005285382270812988, -0.040105924010276794, -0.019779324531555176], [0.0060665905475616455, -0.04882561415433884, -0.02527143806219101], [-0.0010379403829574585, -0.05219019204378128, -0.032178089022636414], [0.0009854137897491455, -0.05396927893161774, -0.027749069035053253], [0.0030150413513183594, -0.055833280086517334, -0.026356235146522522], [0.004478231072425842, -0.041341572999954224, -0.025174081325531006], [0.0019595175981521606, -0.04225766658782959, -0.028401799499988556], [0.0095662921667099, -0.050797902047634125, -0.02882998436689377], [0.0022441446781158447, -0.048284076154232025, -0.024307839572429657], [0.003865167498588562, -0.04841314256191254, -0.027352556586265564], [0.011268243193626404, -0.05324047803878784, -0.030908264219760895]], "cand_final_gripper_all": [0.9985890984535217, 0.9985040426254272, 0.998790979385376, 0.9996556043624878, 0.9988205432891846, 0.9983490109443665, 0.9979482889175415, 0.9990554451942444, 0.9990030527114868, 1.0, 0.9990068674087524, 0.9996273517608643, 1.0, 0.9984792470932007, 0.9993859529495239, 0.9980112910270691, 0.9993085861206055, 0.9990689754486084, 0.9984374046325684, 0.9994935989379883, 0.9990508556365967, 0.9991030693054199, 0.9997466802597046, 0.9988492727279663, 0.9992940425872803, 0.9989993572235107, 0.9980724453926086, 0.9980407357215881, 0.998611569404602, 0.9994364976882935, 0.9986715912818909, 0.999897301197052], "eef_pos": [0.458083838224411, -0.27892303466796875, 0.23389281332492828], "cand_action_std": 0.20793041586875916, "cand_pairwise_centroid_dist_mean": 1.6552437543869019, "argmax_act_outlier": 1.224190592765808, "time_encode_ms": 5.334585905075073, "time_diffusion_ms": 36.65045090019703, "time_q_score_ms": 7.686118129640818, "time_total_ms": 50.39511900395155, "num_action_samples_effective": 32, "q_aggregate": "pair_min"} +{"chunk_ordinal": 31, "q_min_best": 0.4473460912704468, "q_min_mean": 0.39471977949142456, "q_min_std": 0.032125938683748245, "q_min_median": 0.3970165550708771, "chosen_vs_median_q_gap": 0.0503295361995697, "q1_best": 0.45346713066101074, "q2_best": 0.4473460912704468, "v_val": 0.5715638399124146, "advantage": -0.12421774864196777, "best_idx": 3, "q_min_all": [0.40148791670799255, 0.37878644466400146, 0.3782839775085449, 0.4473460912704468, 0.4224502444267273, 0.4451930522918701, 0.40254682302474976, 0.37839850783348083, 0.421756386756897, 0.37662777304649353, 0.39441773295402527, 0.40554457902908325, 0.42033839225769043, 0.3867865800857544, 0.3737312853336334, 0.36150163412094116, 0.3711031675338745, 0.3555746078491211, 0.41701850295066833, 0.4068431258201599, 0.39499324560165405, 0.40314197540283203, 0.4039429724216461, 0.4214377999305725, 0.37064051628112793, 0.3752764165401459, 0.37865957617759705, 0.27532750368118286, 0.42129722237586975, 0.3970165550708771, 0.40910717844963074, 0.4344550669193268], "q1_all": [0.40148791670799255, 0.37878644466400146, 0.3782839775085449, 0.45346713066101074, 0.43208619952201843, 0.4451930522918701, 0.40254682302474976, 0.37839850783348083, 0.421756386756897, 0.37662777304649353, 0.39441773295402527, 0.40554457902908325, 0.47649115324020386, 0.3867865800857544, 0.3737312853336334, 0.36150163412094116, 0.3711031675338745, 0.3555746078491211, 0.44326722621917725, 0.4407624304294586, 0.4191179573535919, 0.40314197540283203, 0.4039429724216461, 0.4214377999305725, 0.37064051628112793, 0.3752764165401459, 0.37865957617759705, 0.27532750368118286, 0.42129722237586975, 0.4264015257358551, 0.42469295859336853, 0.4609888195991516], "q2_all": [0.43308770656585693, 0.43168172240257263, 0.39797765016555786, 0.4473460912704468, 0.4224502444267273, 0.44582951068878174, 0.42611441016197205, 0.4003334045410156, 0.46014121174812317, 0.40602487325668335, 0.40497562289237976, 0.4195651113986969, 0.42033839225769043, 0.44898301362991333, 0.4299088418483734, 0.39991235733032227, 0.4644847512245178, 0.4390731155872345, 0.41701850295066833, 0.4068431258201599, 0.39499324560165405, 0.44411054253578186, 0.40599125623703003, 0.4357222318649292, 0.44140633940696716, 0.4280531406402588, 0.44080787897109985, 0.4371231198310852, 0.4552011787891388, 0.3970165550708771, 0.40910717844963074, 0.4344550669193268], "cand_trans_speed_all": [0.009239722043275833, 0.007497355341911316, 0.007367139216512442, 0.010466543957591057, 0.01007833145558834, 0.00815877877175808, 0.007293305825442076, 0.00804041512310505, 0.008852386847138405, 0.007791595067828894, 0.009014169685542583, 0.008559479378163815, 0.009449634701013565, 0.010336660780012608, 0.008122261613607407, 0.007494678255170584, 0.009893867187201977, 0.008501576259732246, 0.009324578568339348, 0.008500839583575726, 0.008815488778054714, 0.00933335442095995, 0.008301337249577045, 0.008150365203619003, 0.008587997406721115, 0.008152132853865623, 0.00809921883046627, 0.007924343459308147, 0.007937639020383358, 0.00852048397064209, 0.008092470467090607, 0.008279962465167046], "cand_cum_xyz_disp_all": [[0.033998847007751465, -0.018151581287384033, -0.0036872252821922302], [0.02915981411933899, -0.02429451048374176, -0.002829417586326599], [0.028575003147125244, -0.025388449430465698, -0.0017671138048171997], [0.03808066248893738, -0.023893937468528748, -0.005728483200073242], [0.03864678740501404, -0.026764869689941406, -0.0046956464648246765], [0.030427157878875732, -0.029088035225868225, -0.002417944371700287], [0.0270194411277771, -0.02397051453590393, -0.005023568868637085], [0.023464486002922058, -0.022433727979660034, -0.0023965835571289062], [0.035290658473968506, -0.022470280528068542, -0.006519138813018799], [0.03439268469810486, -0.019525274634361267, -0.00594736635684967], [0.03183215856552124, -0.020920544862747192, -0.00043085962533950806], [0.03569503128528595, -0.01795552670955658, 0.0027421414852142334], [0.03504772484302521, -0.025189563632011414, 0.0017104744911193848], [0.039403632283210754, -0.02113276720046997, -0.004025265574455261], [0.02653983235359192, -0.0221262127161026, -0.004686184227466583], [0.027462497353553772, -0.01683485507965088, -0.0003508329391479492], [0.02992294728755951, -0.021167531609535217, -0.002699345350265503], [0.03224794566631317, -0.017793521285057068, -0.0024408698081970215], [0.03460080921649933, -0.018473654985427856, -0.001620173454284668], [0.03426174819469452, -0.021197617053985596, -0.00286836177110672], [0.03554743528366089, -0.02559305727481842, -0.003388434648513794], [0.03788098692893982, -0.026304379105567932, -0.005764611065387726], [0.031379520893096924, -0.027458667755126953, -0.0034488141536712646], [0.036198511719703674, -0.020351529121398926, -0.001948438584804535], [0.0323847234249115, -0.022110745310783386, -0.004457823932170868], [0.030325502157211304, -0.02322942018508911, -0.002777278423309326], [0.024961844086647034, -0.02323359251022339, -0.0014845579862594604], [0.034288689494132996, -0.01794448494911194, -0.00240885466337204], [0.02713298797607422, -0.02804747223854065, -0.004922166466712952], [0.031804099678993225, -0.028491616249084473, 0.000353887677192688], [0.03164343535900116, -0.019184619188308716, -0.0035982802510261536], [0.029353782534599304, -0.03163279592990875, -0.004496075212955475]], "cand_final_gripper_all": [0.9984051585197449, 0.9976791739463806, 0.99876868724823, 0.997653603553772, 0.9982724189758301, 0.9987261891365051, 0.9981586933135986, 0.9989223480224609, 0.9993511438369751, 0.9983124732971191, 0.9991141557693481, 0.9985466003417969, 0.9973640441894531, 0.9985803365707397, 0.9988529086112976, 0.9986914396286011, 0.9987040162086487, 0.9980748891830444, 0.9970742464065552, 0.9979274868965149, 0.9984326362609863, 0.9967732429504395, 0.9980546832084656, 0.9979947805404663, 0.9989066123962402, 0.9986873865127563, 0.9969134330749512, 0.9988974928855896, 0.9981800317764282, 0.9990456104278564, 0.9970265626907349, 0.9971930980682373], "eef_pos": [0.43628549575805664, -0.2804153859615326, 0.2450917661190033], "cand_action_std": 0.1570117324590683, "cand_pairwise_centroid_dist_mean": 1.2945377826690674, "argmax_act_outlier": 0.8094320297241211, "time_encode_ms": 5.550143774598837, "time_diffusion_ms": 36.0903600230813, "time_q_score_ms": 8.27846908941865, "time_total_ms": 50.62919110059738, "num_action_samples_effective": 32, "q_aggregate": "pair_min"} +{"chunk_ordinal": 32, "q_min_best": 0.6158969402313232, "q_min_mean": 0.5713762640953064, "q_min_std": 0.020810216665267944, "q_min_median": 0.570356547832489, "chosen_vs_median_q_gap": 0.04554039239883423, "q1_best": 0.6608408093452454, "q2_best": 0.6158969402313232, "v_val": 0.6581804752349854, "advantage": -0.04228353500366211, "best_idx": 4, "q_min_all": [0.570356547832489, 0.5404394865036011, 0.5759703516960144, 0.5531589984893799, 0.6158969402313232, 0.5668258666992188, 0.6030726432800293, 0.5929693579673767, 0.5672619938850403, 0.5489954948425293, 0.5924943685531616, 0.5692718625068665, 0.5552452802658081, 0.5484127998352051, 0.5745565891265869, 0.5401967763900757, 0.5785553455352783, 0.5768955945968628, 0.5789859294891357, 0.5287880897521973, 0.5559048652648926, 0.5651276111602783, 0.6082857251167297, 0.579180121421814, 0.5439387559890747, 0.5670526027679443, 0.574193000793457, 0.5707672834396362, 0.5652741193771362, 0.5818145275115967, 0.597108006477356, 0.5970426797866821], "q1_all": [0.633338451385498, 0.6197425127029419, 0.6364084482192993, 0.6226637363433838, 0.6608408093452454, 0.64365553855896, 0.6481198072433472, 0.6314601898193359, 0.6386014819145203, 0.6401212215423584, 0.645860493183136, 0.6463472843170166, 0.6361078023910522, 0.6405254602432251, 0.6354231834411621, 0.6434067487716675, 0.6488646268844604, 0.656046450138092, 0.65104079246521, 0.615411102771759, 0.6302648782730103, 0.6366341710090637, 0.6573970913887024, 0.6363186240196228, 0.6372602581977844, 0.6484516859054565, 0.6484140753746033, 0.627713680267334, 0.6303435564041138, 0.6334513425827026, 0.6558889746665955, 0.6559253931045532], "q2_all": [0.570356547832489, 0.5404394865036011, 0.5759703516960144, 0.5531589984893799, 0.6158969402313232, 0.5668258666992188, 0.6030726432800293, 0.5929693579673767, 0.5672619938850403, 0.5489954948425293, 0.5924943685531616, 0.5692718625068665, 0.5552452802658081, 0.5484127998352051, 0.5745565891265869, 0.5401967763900757, 0.5785553455352783, 0.5768955945968628, 0.5789859294891357, 0.5287880897521973, 0.5559048652648926, 0.5651276111602783, 0.6082857251167297, 0.579180121421814, 0.5439387559890747, 0.5670526027679443, 0.574193000793457, 0.5707672834396362, 0.5652741193771362, 0.5818145275115967, 0.597108006477356, 0.5970426797866821], "cand_trans_speed_all": [0.006710977293550968, 0.008590960875153542, 0.00790625624358654, 0.007108648773282766, 0.0066573284566402435, 0.010111253708600998, 0.007144260220229626, 0.006250288337469101, 0.0068232472985982895, 0.008020464330911636, 0.007006931118667126, 0.0080408975481987, 0.00823639240115881, 0.007346547208726406, 0.008321134373545647, 0.007679676171392202, 0.008094288408756256, 0.0072911642491817474, 0.0081486776471138, 0.008166915737092495, 0.008024342358112335, 0.007345518097281456, 0.008986678905785084, 0.0077013797126710415, 0.0068288235925138, 0.006450382061302662, 0.008440390229225159, 0.007506587542593479, 0.006767346523702145, 0.008357289247214794, 0.008621981367468834, 0.00808955729007721], "cand_cum_xyz_disp_all": [[0.030218198895454407, 0.008252158761024475, -0.0016710832715034485], [0.03206296265125275, 0.004850536584854126, 0.004067845642566681], [0.029632076621055603, 0.009485140442848206, 0.004216901957988739], [0.02914068102836609, 0.0005481839179992676, 0.009755916893482208], [0.03297869861125946, 0.005536705255508423, 0.0038876384496688843], [0.04024574160575867, 0.015895873308181763, 0.00687011331319809], [0.030651956796646118, 0.014007285237312317, 0.0017191991209983826], [0.030653387308120728, 0.006547063589096069, 0.002718500792980194], [0.03593476116657257, 0.008168667554855347, 0.003553248941898346], [0.03647272288799286, 0.009983286261558533, 0.00403178483247757], [0.032281577587127686, 0.0058088600635528564, 0.003134883940219879], [0.03494137525558472, 0.008432060480117798, 0.008570529520511627], [0.0332791805267334, 0.008140936493873596, 0.007361419498920441], [0.034855589270591736, 0.009265735745429993, 0.00641341507434845], [0.03186693787574768, 0.014793872833251953, 0.005787551403045654], [0.03437192738056183, 0.008450180292129517, 0.0028321072459220886], [0.03769814968109131, 0.010773822665214539, 0.0056240856647491455], [0.033987417817115784, 0.012438714504241943, 0.007644854485988617], [0.033801138401031494, 0.012655436992645264, 0.005565129220485687], [0.037232473492622375, 0.010863423347473145, 0.004012934863567352], [0.03628966212272644, 0.013225346803665161, 0.0030682384967803955], [0.03448857367038727, 0.0060836076736450195, 0.0025947019457817078], [0.033418089151382446, 0.012081384658813477, 0.012587018311023712], [0.03306463360786438, 0.010114490985870361, 0.0009623020887374878], [0.03378361463546753, 0.0036535710096359253, 0.0023784786462783813], [0.03186631202697754, 0.005380958318710327, 0.004562065005302429], [0.03663673996925354, 0.012116551399230957, 0.005531743168830872], [0.03558553755283356, 0.0104295015335083, 0.0033053383231163025], [0.03419797122478485, 0.008122250437736511, 0.004651255905628204], [0.03221462666988373, 0.010602608323097229, 0.007896743714809418], [0.031807735562324524, 0.014676973223686218, 0.0008314922451972961], [0.036803603172302246, 0.007896959781646729, 0.004417940974235535]], "cand_final_gripper_all": [1.0, 0.9989142417907715, 0.9995067119598389, 1.0, 1.0, 1.0, 0.9998714923858643, 0.9978822469711304, 1.0, 0.9998655319213867, 0.999916672706604, 0.9995874762535095, 0.9998866319656372, 0.9998942613601685, 1.0, 0.9997722506523132, 0.9986587762832642, 1.0, 0.9999821186065674, 1.0, 1.0, 1.0, 1.0, 0.9993927478790283, 0.9996678829193115, 1.0, 0.9996510744094849, 0.9997501373291016, 1.0, 0.999645471572876, 0.9989510178565979, 0.9989279508590698], "eef_pos": [0.4144265651702881, -0.27222973108291626, 0.24041828513145447], "cand_action_std": 0.15343192219734192, "cand_pairwise_centroid_dist_mean": 1.2498778104782104, "argmax_act_outlier": 1.3033336400985718, "time_encode_ms": 5.799863021820784, "time_diffusion_ms": 36.22345509938896, "time_q_score_ms": 7.925017969682813, "time_total_ms": 50.73863291181624, "num_action_samples_effective": 32, "q_aggregate": "pair_min"} +{"chunk_ordinal": 33, "q_min_best": 0.6314400434494019, "q_min_mean": 0.5994704961776733, "q_min_std": 0.01696651801466942, "q_min_median": 0.5981879234313965, "chosen_vs_median_q_gap": 0.03325212001800537, "q1_best": 0.6314400434494019, "q2_best": 0.6834325790405273, "v_val": 0.7582394480705261, "advantage": -0.12679940462112427, "best_idx": 11, "q_min_all": [0.6172186136245728, 0.5888205766677856, 0.6206225156784058, 0.5848934054374695, 0.5819607973098755, 0.609661340713501, 0.5897002816200256, 0.5778428912162781, 0.5981879234313965, 0.6069910526275635, 0.613222599029541, 0.6314400434494019, 0.596501886844635, 0.6114701628684998, 0.5976660847663879, 0.6170852184295654, 0.6071418523788452, 0.5964908003807068, 0.5938552618026733, 0.5994408130645752, 0.595190703868866, 0.6259477734565735, 0.6146464347839355, 0.586907684803009, 0.61327064037323, 0.6088131070137024, 0.5568904876708984, 0.6061415076255798, 0.5713164210319519, 0.605461597442627, 0.5871216654777527, 0.5711336731910706], "q1_all": [0.6172186136245728, 0.5888205766677856, 0.6206225156784058, 0.5848934054374695, 0.5819607973098755, 0.609661340713501, 0.5897002816200256, 0.5778428912162781, 0.5981879234313965, 0.6069910526275635, 0.613222599029541, 0.6314400434494019, 0.596501886844635, 0.6114701628684998, 0.5976660847663879, 0.6170852184295654, 0.6071418523788452, 0.5964908003807068, 0.5938552618026733, 0.5994408130645752, 0.595190703868866, 0.6259477734565735, 0.6146464347839355, 0.586907684803009, 0.61327064037323, 0.6088131070137024, 0.5568904876708984, 0.6061415076255798, 0.5713164210319519, 0.605461597442627, 0.5871216654777527, 0.5711336731910706], "q2_all": [0.6970957517623901, 0.6750344634056091, 0.67875075340271, 0.699836015701294, 0.6834051609039307, 0.6850559115409851, 0.6715582013130188, 0.6904066801071167, 0.6970465183258057, 0.6754969358444214, 0.6836371421813965, 0.6834325790405273, 0.6902511119842529, 0.7108110189437866, 0.6749941110610962, 0.6904957294464111, 0.6779888868331909, 0.6941604614257812, 0.7006149291992188, 0.6900609135627747, 0.6812153458595276, 0.6939233541488647, 0.6685096621513367, 0.6724361777305603, 0.6846667528152466, 0.6880663633346558, 0.6816979646682739, 0.6887872219085693, 0.6768805384635925, 0.6980121731758118, 0.6753531694412231, 0.6754472255706787], "cand_trans_speed_all": [0.008469770662486553, 0.006640381179749966, 0.007867872714996338, 0.006470642052590847, 0.005309626460075378, 0.006143359467387199, 0.006271404679864645, 0.004042121581733227, 0.0045848023146390915, 0.005769055336713791, 0.005634560249745846, 0.00651487335562706, 0.004361551254987717, 0.004730947315692902, 0.005505800247192383, 0.007260057143867016, 0.008001124486327171, 0.004934127442538738, 0.00673288619145751, 0.005258861463516951, 0.005874992813915014, 0.00512519059702754, 0.006342338398098946, 0.007028537802398205, 0.0057659754529595375, 0.006899155210703611, 0.006705795880407095, 0.005573454778641462, 0.004986402578651905, 0.00665271794423461, 0.005816630087792873, 0.004662997089326382], "cand_cum_xyz_disp_all": [[0.0021474063396453857, -0.008336171507835388, 0.010405905544757843], [-0.001574203372001648, -0.015425339341163635, 0.008783914148807526], [0.0025382786989212036, -0.00803154706954956, 0.00963195413351059], [-0.00013138353824615479, -0.013501480221748352, 0.014162801206111908], [-0.0014643967151641846, -0.017255112528800964, 0.01148860901594162], [-9.940564632415771e-05, -0.015624657273292542, 0.009321160614490509], [-0.001126110553741455, -0.010672405362129211, 0.01094711571931839], [0.00046256184577941895, -0.016804903745651245, 0.007548712193965912], [-0.0009950250387191772, -0.015141576528549194, 0.0070132240653038025], [-0.0013046711683273315, -0.01850225031375885, 0.010660581290721893], [0.0025200098752975464, -0.012025490403175354, 0.010879181325435638], [-0.0012937039136886597, -0.008158951997756958, 0.00930730253458023], [0.00019824504852294922, -0.016545727849006653, 0.01036856323480606], [0.0012870430946350098, -0.01662217080593109, 0.00962083786725998], [-0.0007226616144180298, -0.015150085091590881, 0.010465584695339203], [-1.4334917068481445e-05, -0.012919008731842041, 0.00941620022058487], [0.0006987303495407104, -0.006925404071807861, 0.010185249149799347], [0.0023794323205947876, -0.01704460382461548, 0.00877254456281662], [0.0017667710781097412, -0.008865982294082642, 0.0077071115374565125], [-0.002012774348258972, -0.013882145285606384, 0.003627397119998932], [-0.0009939074516296387, -0.01246681809425354, 0.009515278041362762], [0.0011268854141235352, -0.013813838362693787, 0.007407613098621368], [0.0013541430234909058, -0.01216648519039154, 0.010675482451915741], [0.0019173622131347656, -0.007328689098358154, 0.00719074159860611], [-0.0006672143936157227, -0.013203024864196777, 0.01052188128232956], [-0.00019082427024841309, -0.010634005069732666, 0.008975110948085785], [-0.0008874982595443726, -0.018462032079696655, 0.013199396431446075], [-0.0016565024852752686, -0.013300642371177673, 0.01418863981962204], [-0.0001461505889892578, -0.019260957837104797, 0.010250039398670197], [0.0008506327867507935, -0.019266068935394287, 0.011431954801082611], [-0.0018008500337600708, -0.016710683703422546, 0.010981880128383636], [0.00043742358684539795, -0.01817423105239868, 0.0064079612493515015]], "cand_final_gripper_all": [1.0, 1.0, 0.9989597797393799, 1.0, 1.0, 0.9982584118843079, 1.0, 0.999951183795929, 0.9996505975723267, 1.0, 0.9987538456916809, 0.9999449253082275, 1.0, 0.9997502565383911, 1.0, 1.0, 0.9998770952224731, 1.0, 1.0, 1.0, 0.9992815256118774, 0.9999406933784485, 0.9996739625930786, 1.0, 0.9998093247413635, 0.9998162388801575, 1.0, 0.9996080994606018, 0.9998456239700317, 0.9998134970664978, 0.9999954104423523, 0.9999584555625916], "eef_pos": [0.415182888507843, -0.25016269087791443, 0.22996318340301514], "cand_action_std": 0.08862682431936264, "cand_pairwise_centroid_dist_mean": 0.7961817979812622, "argmax_act_outlier": 0.9982216358184814, "time_encode_ms": 5.7625549379736185, "time_diffusion_ms": 36.08415904454887, "time_q_score_ms": 8.744397899135947, "time_total_ms": 51.3531849719584, "num_action_samples_effective": 32, "q_aggregate": "pair_min"} +{"chunk_ordinal": 34, "q_min_best": 0.8199344873428345, "q_min_mean": 0.8066205978393555, "q_min_std": 0.007519136648625135, "q_min_median": 0.8063675165176392, "chosen_vs_median_q_gap": 0.013566970825195312, "q1_best": 0.8199344873428345, "q2_best": 0.8310164213180542, "v_val": 0.8647406101226807, "advantage": -0.04480612277984619, "best_idx": 17, "q_min_all": [0.7979862093925476, 0.8077332973480225, 0.8012610673904419, 0.80350661277771, 0.8090378046035767, 0.808907687664032, 0.8179110288619995, 0.8132659196853638, 0.8060190677642822, 0.8178658485412598, 0.810352087020874, 0.8034841418266296, 0.80913245677948, 0.811360776424408, 0.8141198754310608, 0.8170172572135925, 0.7963507175445557, 0.8199344873428345, 0.7939667105674744, 0.8063675165176392, 0.7991974949836731, 0.7953615188598633, 0.8043190240859985, 0.8088714480400085, 0.8095513582229614, 0.7984851598739624, 0.7911424040794373, 0.8139680624008179, 0.8150092959403992, 0.8028021454811096, 0.8057282567024231, 0.8018428087234497], "q1_all": [0.8187294602394104, 0.8239303827285767, 0.8208624720573425, 0.80350661277771, 0.8289347887039185, 0.808907687664032, 0.8293392658233643, 0.8212496042251587, 0.8060190677642822, 0.8178658485412598, 0.810352087020874, 0.8193919658660889, 0.80913245677948, 0.8125284314155579, 0.8260151743888855, 0.8182678818702698, 0.8175846934318542, 0.8199344873428345, 0.8189233541488647, 0.8224278688430786, 0.8216882348060608, 0.8163085579872131, 0.8240991830825806, 0.8088714480400085, 0.8185486197471619, 0.8175868391990662, 0.8153743743896484, 0.8139680624008179, 0.8150092959403992, 0.8190822601318359, 0.8057282567024231, 0.8191152811050415], "q2_all": [0.7979862093925476, 0.8077332973480225, 0.8012610673904419, 0.8053558468818665, 0.8090378046035767, 0.8255752325057983, 0.8179110288619995, 0.8132659196853638, 0.8180549740791321, 0.8236790895462036, 0.8210488557815552, 0.8034841418266296, 0.8156406283378601, 0.811360776424408, 0.8141198754310608, 0.8170172572135925, 0.7963507175445557, 0.8310164213180542, 0.7939667105674744, 0.8063675165176392, 0.7991974949836731, 0.7953615188598633, 0.8043190240859985, 0.8243176341056824, 0.8095513582229614, 0.7984851598739624, 0.7911424040794373, 0.8248917460441589, 0.8243139386177063, 0.8028021454811096, 0.820370078086853, 0.8018428087234497], "cand_trans_speed_all": [0.005436327308416367, 0.005617370363324881, 0.0056679220870137215, 0.005181535612791777, 0.006697605364024639, 0.005270547233521938, 0.006580827757716179, 0.006024856120347977, 0.006805816665291786, 0.005637961905449629, 0.006601264234632254, 0.007344777695834637, 0.005290656350553036, 0.006068036891520023, 0.005583159159868956, 0.008282017894089222, 0.005439311265945435, 0.006806261837482452, 0.006793550215661526, 0.007284967228770256, 0.0062974244356155396, 0.006819394417107105, 0.006172348745167255, 0.005957849323749542, 0.006453066132962704, 0.005515319295227528, 0.006250118836760521, 0.006453653331845999, 0.0054063196294009686, 0.005712827667593956, 0.007486140355467796, 0.006361377891153097], "cand_cum_xyz_disp_all": [[-0.024644941091537476, -0.01375056803226471, 0.0019417926669120789], [-0.02608807384967804, -0.01622001826763153, 0.003028303384780884], [-0.025754734873771667, -0.015527293086051941, 0.0006171166896820068], [-0.021031111478805542, -0.010267257690429688, 0.00449100136756897], [-0.030454546213150024, -0.014240920543670654, -0.0005515739321708679], [-0.021640285849571228, -0.012531265616416931, -0.0016946792602539062], [-0.02292110025882721, -0.015016213059425354, 0.001829303801059723], [-0.026255518198013306, -0.011869728565216064, 0.0008430406451225281], [-0.024780020117759705, -0.011501684784889221, 0.001263536512851715], [-0.024256080389022827, -0.013860493898391724, -0.0005867481231689453], [-0.021102875471115112, -0.013481631875038147, 0.0018599480390548706], [-0.02684086561203003, -0.014847934246063232, 0.002982906997203827], [-0.02253033220767975, -0.013733461499214172, -0.0008024871349334717], [-0.020286545157432556, -0.010914996266365051, 0.002008378505706787], [-0.023763537406921387, -0.017656609416007996, 0.0010309889912605286], [-0.022016137838363647, -0.00705014169216156, 0.002660691738128662], [-0.0219230055809021, -0.015174135565757751, -0.0034023672342300415], [-0.024781137704849243, -0.015700578689575195, 0.0014700815081596375], [-0.03156018257141113, -0.01477806270122528, 0.0014052167534828186], [-0.025857821106910706, -0.017287954688072205, 0.0009147524833679199], [-0.02704569697380066, -0.012534692883491516, 0.0034400150179862976], [-0.02967388927936554, -0.0164630264043808, -0.00037285685539245605], [-0.02592882513999939, -0.015205487608909607, -0.0010916218161582947], [-0.024841099977493286, -0.013570219278335571, -0.0027411431074142456], [-0.02498464286327362, -0.013549178838729858, 0.0001998618245124817], [-0.02622312307357788, -0.017291918396949768, 0.0003842860460281372], [-0.027288109064102173, -0.017810747027397156, -0.0005871281027793884], [-0.019865334033966064, -0.01627609133720398, -0.002357088029384613], [-0.02392016351222992, -0.01577708125114441, 0.0006242096424102783], [-0.022645175457000732, -0.012254998087882996, 0.0007453486323356628], [-0.02786344289779663, -0.012135922908782959, -0.0009480491280555725], [-0.027323052287101746, -0.011722177267074585, -0.00112084299325943]], "cand_final_gripper_all": [0.9987524747848511, 0.9993513822555542, 0.9991621971130371, 1.0, 1.0, 1.0, 0.9998123049736023, 1.0, 0.9997071623802185, 0.9994164705276489, 0.9991707801818848, 0.9996606111526489, 0.9993481636047363, 0.9993360042572021, 1.0, 0.9998739957809448, 0.9995100498199463, 1.0, 1.0, 1.0, 0.9981409311294556, 1.0, 1.0, 0.9993337392807007, 0.999510645866394, 0.9997754096984863, 0.9970628619194031, 0.9993861317634583, 0.9995330572128296, 0.9989585876464844, 1.0, 0.9997187852859497], "eef_pos": [0.4084685444831848, -0.2480277270078659, 0.2204146832227707], "cand_action_std": 0.08410901576280594, "cand_pairwise_centroid_dist_mean": 0.8103203177452087, "argmax_act_outlier": 1.363125205039978, "time_encode_ms": 5.152571946382523, "time_diffusion_ms": 36.261125933378935, "time_q_score_ms": 7.8955539502203465, "time_total_ms": 50.04389397799969, "num_action_samples_effective": 32, "q_aggregate": "pair_min"} +{"chunk_ordinal": 35, "q_min_best": 0.8971353769302368, "q_min_mean": 0.8752166032791138, "q_min_std": 0.00963224284350872, "q_min_median": 0.8726644515991211, "chosen_vs_median_q_gap": 0.024470925331115723, "q1_best": 0.9142049551010132, "q2_best": 0.8971353769302368, "v_val": 0.8967814445495605, "advantage": 0.00035393238067626953, "best_idx": 26, "q_min_all": [0.8769345283508301, 0.8731942176818848, 0.8787726163864136, 0.8665103912353516, 0.8726644515991211, 0.8803784251213074, 0.8843672275543213, 0.8825015425682068, 0.8834876418113708, 0.8903198838233948, 0.8715909719467163, 0.8662832975387573, 0.8725109696388245, 0.8739665746688843, 0.8628194332122803, 0.8669779896736145, 0.8654700517654419, 0.8618097305297852, 0.8931310176849365, 0.8835201263427734, 0.8680650591850281, 0.8751826882362366, 0.8666800260543823, 0.8653920888900757, 0.8713881373405457, 0.8689361810684204, 0.8971353769302368, 0.8667007088661194, 0.8878217935562134, 0.8889939188957214, 0.8637959361076355, 0.8796299695968628], "q1_all": [0.8971840143203735, 0.8921509385108948, 0.8787726163864136, 0.8971565961837769, 0.8854705095291138, 0.9278983473777771, 0.8843672275543213, 0.9053993821144104, 0.9053614735603333, 0.8932896256446838, 0.9006326198577881, 0.8957411646842957, 0.8932814598083496, 0.8917067050933838, 0.8891788721084595, 0.9040015935897827, 0.8654700517654419, 0.9019711017608643, 0.9007461071014404, 0.8920836448669434, 0.8763033151626587, 0.9032844305038452, 0.905362606048584, 0.9048281311988831, 0.9191669225692749, 0.8951231241226196, 0.9142049551010132, 0.9076112508773804, 0.8878217935562134, 0.9184983372688293, 0.8950865864753723, 0.9014604091644287], "q2_all": [0.8769345283508301, 0.8731942176818848, 0.8996349573135376, 0.8665103912353516, 0.8726644515991211, 0.8803784251213074, 0.8870905637741089, 0.8825015425682068, 0.8834876418113708, 0.8903198838233948, 0.8715909719467163, 0.8662832975387573, 0.8725109696388245, 0.8739665746688843, 0.8628194332122803, 0.8669779896736145, 0.8993868827819824, 0.8618097305297852, 0.8931310176849365, 0.8835201263427734, 0.8680650591850281, 0.8751826882362366, 0.8666800260543823, 0.8653920888900757, 0.8713881373405457, 0.8689361810684204, 0.8971353769302368, 0.8667007088661194, 0.8968651294708252, 0.8889939188957214, 0.8637959361076355, 0.8796299695968628], "cand_trans_speed_all": [0.007699907757341862, 0.008019758388400078, 0.007128540426492691, 0.009291067719459534, 0.00823280867189169, 0.007819434627890587, 0.007294935639947653, 0.00837488379329443, 0.006737520452588797, 0.008218822069466114, 0.006238271482288837, 0.006372708827257156, 0.0058843097649514675, 0.007053314708173275, 0.006971494294703007, 0.006655742879956961, 0.007784146815538406, 0.006998530589044094, 0.007246077060699463, 0.009036073461174965, 0.0064960806630551815, 0.0064664664678275585, 0.0067064473405480385, 0.00906508881598711, 0.007941029965877533, 0.006954069249331951, 0.008395290933549404, 0.007056903094053268, 0.007853287272155285, 0.00928096566349268, 0.007291001733392477, 0.007215685676783323], "cand_cum_xyz_disp_all": [[-0.017968401312828064, -0.011424466967582703, -0.0014090463519096375], [-0.023896172642707825, -0.008429110050201416, -0.002115771174430847], [-0.009779378771781921, -0.005323275923728943, -5.968660116195679e-05], [-0.02024710178375244, -0.004501640796661377, -0.002311296761035919], [-0.01775042712688446, -0.0051288902759552, 0.0014341473579406738], [-0.017247557640075684, -0.009201526641845703, -0.00340348482131958], [-0.013659954071044922, -0.0067437440156936646, -0.0007131621241569519], [-0.016226157546043396, -0.00849863886833191, -0.0040429458022117615], [-0.018166348338127136, -0.01122283935546875, -0.0025160908699035645], [-0.014450594782829285, -0.00743219256401062, -0.003104671835899353], [-0.022962957620620728, -0.016502395272254944, -0.0048144906759262085], [-0.02521173655986786, -0.01612144708633423, -0.002873152494430542], [-0.022665828466415405, -0.01027996838092804, -0.002346426248550415], [-0.021866574883461, -0.011793583631515503, -0.0004688277840614319], [-0.020869627594947815, -0.013554975390434265, -0.002331964671611786], [-0.009413167834281921, -0.004900798201560974, -0.0012242794036865234], [-0.010137155652046204, -0.004850119352340698, -0.0031603872776031494], [-0.024855196475982666, -0.013329833745956421, -0.004288330674171448], [-0.016687631607055664, -0.011268362402915955, -0.002452865242958069], [-0.01048886775970459, -0.004248186945915222, -4.758685827255249e-05], [-0.016135528683662415, -0.006826668977737427, 0.0009442269802093506], [-0.011096134781837463, -0.004709154367446899, -0.0015508607029914856], [-0.024937152862548828, -0.014101117849349976, -0.0035672634840011597], [-0.015294685959815979, -0.007377788424491882, -0.00045509636402130127], [-0.0091475248336792, -0.003958165645599365, -0.0016346573829650879], [-0.024190500378608704, -0.01326693594455719, -0.0019214674830436707], [-0.009569451212882996, -0.005010724067687988, -0.000884130597114563], [-0.02557368576526642, -0.015005022287368774, -0.002684451639652252], [-0.010289445519447327, -0.007210284471511841, -0.0025295093655586243], [-0.006345272064208984, -0.0029191523790359497, -0.0004944056272506714], [-0.022310495376586914, -0.010086119174957275, -0.0012840628623962402], [-0.019147619605064392, -0.012674704194068909, -0.005661144852638245]], "cand_final_gripper_all": [0.9958542585372925, 0.9995073676109314, 0.6729956865310669, 0.9986684918403625, 0.8628429174423218, 0.7218262553215027, 0.6666096448898315, 0.9950183629989624, 0.9081197381019592, 0.6965500116348267, 0.9993008971214294, 1.0, 1.0, 1.0, 0.9919937252998352, 0.6665312647819519, 0.669052004814148, 0.998908519744873, 0.9704326391220093, 0.6649965643882751, 1.0, 0.725695013999939, 1.0, 0.9984328746795654, 0.6615968942642212, 0.9996587038040161, 0.6428956389427185, 0.9996273517608643, 0.6601053476333618, 0.6549692153930664, 0.9983199834823608, 0.9989125728607178], "eef_pos": [0.4110032021999359, -0.2533678412437439, 0.2159310132265091], "cand_action_std": 0.10814830660820007, "cand_pairwise_centroid_dist_mean": 1.0566504001617432, "argmax_act_outlier": 1.1506060361862183, "time_encode_ms": 5.876926006749272, "time_diffusion_ms": 36.12904204055667, "time_q_score_ms": 9.006259962916374, "time_total_ms": 51.886087050661445, "num_action_samples_effective": 32, "q_aggregate": "pair_min"} +{"chunk_ordinal": 36, "q_min_best": 0.9422323107719421, "q_min_mean": 0.9169360995292664, "q_min_std": 0.012079933658242226, "q_min_median": 0.9113652110099792, "chosen_vs_median_q_gap": 0.03086709976196289, "q1_best": 0.9422323107719421, "q2_best": 0.9560264348983765, "v_val": 0.9276831746101379, "advantage": 0.0145491361618042, "best_idx": 8, "q_min_all": [0.9318203330039978, 0.9150550365447998, 0.9093858003616333, 0.9201411008834839, 0.9090186357498169, 0.9225022792816162, 0.9156354665756226, 0.9255502223968506, 0.9422323107719421, 0.9037637710571289, 0.9069303870201111, 0.9069345593452454, 0.9397913813591003, 0.9113652110099792, 0.9043802618980408, 0.905356228351593, 0.9138408303260803, 0.9344237446784973, 0.9239327311515808, 0.9360657930374146, 0.9165059328079224, 0.9211392402648926, 0.9095731973648071, 0.9083504676818848, 0.903018057346344, 0.9260193109512329, 0.9107415676116943, 0.9408886432647705, 0.9091784954071045, 0.9073342084884644, 0.901896059513092, 0.9091843962669373], "q1_all": [0.9650682210922241, 0.9775897860527039, 0.9548150897026062, 0.9764443039894104, 0.9594007134437561, 0.9225022792816162, 0.9668676853179932, 0.9255502223968506, 0.9422323107719421, 0.9425150156021118, 0.9485777616500854, 0.9571385383605957, 0.9397913813591003, 0.9430341124534607, 0.9304780960083008, 0.9441001415252686, 0.93815016746521, 0.943799614906311, 0.9239327311515808, 0.9658812284469604, 0.9184039831161499, 0.9683630466461182, 0.9548852443695068, 0.9543246626853943, 0.9437079429626465, 0.9531174898147583, 0.9710425734519958, 0.9486439824104309, 0.9671173691749573, 0.9416322112083435, 0.9545478820800781, 0.960070788860321], "q2_all": [0.9318203330039978, 0.9150550365447998, 0.9093858003616333, 0.9201411008834839, 0.9090186357498169, 0.9361690282821655, 0.9156354665756226, 0.9540678858757019, 0.9560264348983765, 0.9037637710571289, 0.9069303870201111, 0.9069345593452454, 0.9521068930625916, 0.9113652110099792, 0.9043802618980408, 0.905356228351593, 0.9138408303260803, 0.9344237446784973, 0.9398166537284851, 0.9360657930374146, 0.9165059328079224, 0.9211392402648926, 0.9095731973648071, 0.9083504676818848, 0.903018057346344, 0.9260193109512329, 0.9107415676116943, 0.9408886432647705, 0.9091784954071045, 0.9073342084884644, 0.901896059513092, 0.9091843962669373], "cand_trans_speed_all": [0.0038269131910055876, 0.00400616554543376, 0.0031129252165555954, 0.004193568602204323, 0.004620120860636234, 0.005587046500295401, 0.0028314690571278334, 0.006455916911363602, 0.0062952060252428055, 0.0020000063814222813, 0.005384788848459721, 0.003605195786803961, 0.006391539704054594, 0.005685931071639061, 0.002597705228254199, 0.0027818370144814253, 0.0034993798471987247, 0.008421248756349087, 0.006897549144923687, 0.007217396050691605, 0.00323042506352067, 0.00491023063659668, 0.0034125144593417645, 0.0019703377038240433, 0.002905753441154957, 0.0032245449256151915, 0.0028156160842627287, 0.0032130065374076366, 0.00515726488083601, 0.004064003936946392, 0.0030090101063251495, 0.003859403310343623], "cand_cum_xyz_disp_all": [[-0.005482017993927002, -0.010352224111557007, -0.014545522630214691], [-0.010939419269561768, -0.014352545142173767, -0.01262461394071579], [-0.003962010145187378, -0.010260283946990967, -0.005733229219913483], [-0.01035800576210022, -0.009962528944015503, -0.012686505913734436], [-0.007731735706329346, -0.005646169185638428, 0.001395978033542633], [-0.007283732295036316, -0.0031304508447647095, -0.0010026171803474426], [-0.005934998393058777, -0.008143529295921326, -0.005975045263767242], [-0.007904544472694397, -0.00516781210899353, -0.0010981485247612], [-0.005745843052864075, -0.0033666789531707764, 4.6446919441223145e-05], [-0.006192997097969055, -0.004205301403999329, 0.00013061612844467163], [-0.006646960973739624, -0.003137052059173584, 0.0004002898931503296], [-0.006331846117973328, -0.01123325526714325, -0.012354955077171326], [-0.007459506392478943, -0.00536288321018219, -0.000292755663394928], [-0.004082381725311279, -0.0018724799156188965, 0.0006806850433349609], [-0.007157668471336365, -0.009667366743087769, -0.005222335457801819], [-0.0070982277393341064, -0.009119480848312378, -0.005951002240180969], [-0.007989808917045593, -0.006080716848373413, -0.0006247088313102722], [-0.007478088140487671, -0.003844425082206726, -0.0005730316042900085], [-0.007174327969551086, -0.004207298159599304, 0.00019688159227371216], [-0.010237470269203186, -0.006361514329910278, -0.001437462866306305], [-0.00811372697353363, -0.00919245183467865, -0.003849245607852936], [-0.005291670560836792, -0.009598016738891602, -0.017580129206180573], [-0.005029782652854919, -0.008526697754859924, -0.006968386471271515], [-0.005166694521903992, -0.006092175841331482, 0.003783866763114929], [-0.007745638489723206, -0.0054931193590164185, -0.0018454566597938538], [-0.008764952421188354, -0.013699665665626526, -0.005324512720108032], [-0.0064302533864974976, -0.007492467761039734, -0.00847652554512024], [-0.004725158214569092, -0.0068788230419158936, -0.001010507345199585], [-0.006482675671577454, -0.012158557772636414, -0.01593109965324402], [-0.004291445016860962, -0.010972589254379272, -0.004492141306400299], [-0.005676627159118652, -0.003371208906173706, 0.0009967312216758728], [-0.01085825264453888, -0.011460274457931519, -0.011225111782550812]], "cand_final_gripper_all": [0.3300023674964905, 0.3289749026298523, 0.38740047812461853, 0.3070746958255768, 0.45729026198387146, 0.567385196685791, 0.40954476594924927, 0.5817000865936279, 0.5796618461608887, 0.45352691411972046, 0.5089077949523926, 0.370672345161438, 0.5597877502441406, 0.5061774253845215, 0.4459206759929657, 0.3925790786743164, 0.5127240419387817, 0.6168075799942017, 0.5443651676177979, 0.6062531471252441, 0.47591009736061096, 0.3449453115463257, 0.3312120735645294, 0.37364813685417175, 0.41582226753234863, 0.4240990877151489, 0.2936015725135803, 0.4111184775829315, 0.37110328674316406, 0.42361265420913696, 0.4904424846172333, 0.4064006507396698], "eef_pos": [0.4133031368255615, -0.25863346457481384, 0.21449261903762817], "cand_action_std": 0.16248659789562225, "cand_pairwise_centroid_dist_mean": 1.5446689128875732, "argmax_act_outlier": 1.7028034925460815, "time_encode_ms": 5.226267036050558, "time_diffusion_ms": 35.98437597975135, "time_q_score_ms": 8.164909901097417, "time_total_ms": 50.16808398067951, "num_action_samples_effective": 32, "q_aggregate": "pair_min"} +{"chunk_ordinal": 37, "q_min_best": 0.8709810972213745, "q_min_mean": 0.846084475517273, "q_min_std": 0.017301905900239944, "q_min_median": 0.8487646579742432, "chosen_vs_median_q_gap": 0.022216439247131348, "q1_best": 0.9162349104881287, "q2_best": 0.8709810972213745, "v_val": 0.9404348134994507, "advantage": -0.06945371627807617, "best_idx": 10, "q_min_all": [0.8456051349639893, 0.8504109382629395, 0.8593894243240356, 0.8279657363891602, 0.8437507152557373, 0.8576828241348267, 0.8618935942649841, 0.8359014987945557, 0.8688135147094727, 0.838142991065979, 0.8709810972213745, 0.8370506763458252, 0.8494674563407898, 0.7941029071807861, 0.8208484649658203, 0.8613114356994629, 0.8494088649749756, 0.8619248867034912, 0.8443670868873596, 0.8334028124809265, 0.8592183589935303, 0.833636999130249, 0.8233920335769653, 0.8487646579742432, 0.8644658327102661, 0.8579967021942139, 0.8481800556182861, 0.866490364074707, 0.8219949007034302, 0.8524824380874634, 0.8257930278778076, 0.859866738319397], "q1_all": [0.8878344297409058, 0.9308643341064453, 0.8723182678222656, 0.9199365377426147, 0.9042572379112244, 0.933581531047821, 0.9040840268135071, 0.9006611108779907, 0.9184585809707642, 0.9006326198577881, 0.9162349104881287, 0.9095640182495117, 0.9214028120040894, 0.8199717998504639, 0.9117722511291504, 0.9364023804664612, 0.9130122661590576, 0.9230481386184692, 0.8902181386947632, 0.9173029661178589, 0.9108902812004089, 0.9144325256347656, 0.8863525390625, 0.9105130434036255, 0.9334724545478821, 0.8623250722885132, 0.9110782146453857, 0.9195971488952637, 0.8903480172157288, 0.9119676947593689, 0.898129940032959, 0.8980548977851868], "q2_all": [0.8456051349639893, 0.8504109382629395, 0.8593894243240356, 0.8279657363891602, 0.8437507152557373, 0.8576828241348267, 0.8618935942649841, 0.8359014987945557, 0.8688135147094727, 0.838142991065979, 0.8709810972213745, 0.8370506763458252, 0.8494674563407898, 0.7941029071807861, 0.8208484649658203, 0.8613114356994629, 0.8494088649749756, 0.8619248867034912, 0.8443670868873596, 0.8334028124809265, 0.8592183589935303, 0.833636999130249, 0.8233920335769653, 0.8487646579742432, 0.8644658327102661, 0.8579967021942139, 0.8481800556182861, 0.866490364074707, 0.8219949007034302, 0.8524824380874634, 0.8257930278778076, 0.859866738319397], "cand_trans_speed_all": [0.0067765372805297375, 0.0049927979707717896, 0.007831184193491936, 0.0029478496871888638, 0.005871863570064306, 0.004874301142990589, 0.0027420949190855026, 0.00691227987408638, 0.006495971232652664, 0.005147331394255161, 0.007034915499389172, 0.0062177302315831184, 0.006148738786578178, 0.0055021559819579124, 0.004263527691364288, 0.005408022552728653, 0.007660381495952606, 0.006148313172161579, 0.006863056682050228, 0.0052355448715388775, 0.00593178067356348, 0.004326565191149712, 0.006855764426290989, 0.006962039973586798, 0.00636297045275569, 0.00755523145198822, 0.006553240120410919, 0.002020300133153796, 0.006318463943898678, 0.005388402845710516, 0.006301812827587128, 0.003867086721584201], "cand_cum_xyz_disp_all": [[-0.007693052291870117, -0.003080695867538452, -0.0016513541340827942], [-0.006315186619758606, -0.003415733575820923, -0.002323560416698456], [-0.01682421565055847, -0.00969734787940979, -0.005473487079143524], [-0.005529195070266724, -0.00039167702198028564, 0.0010356232523918152], [-0.00981321930885315, -0.0033309906721115112, -0.002089276909828186], [-0.008713245391845703, -0.002713903784751892, -0.002003982663154602], [-0.007493987679481506, -0.010014325380325317, -0.0023746564984321594], [-0.006994321942329407, -0.0016800165176391602, -0.0024894848465919495], [-0.0064268559217453, -0.0024884045124053955, -0.001801133155822754], [-0.007354602217674255, -0.001778721809387207, 0.0009660050272941589], [-0.010030671954154968, -0.0037847012281417847, -0.002561017870903015], [-0.006819978356361389, -0.001594454050064087, -0.0017301961779594421], [-0.008671492338180542, -0.0024529844522476196, 0.0002880096435546875], [-0.02145884931087494, -0.012870803475379944, -0.010879822075366974], [-0.003751233220100403, -0.001626342535018921, -0.001463368535041809], [-0.0071470290422439575, -0.0030272752046585083, -0.0018923655152320862], [-0.008037477731704712, -0.0017508119344711304, -0.00216558575630188], [-0.007648766040802002, -0.00338725745677948, -0.0035716742277145386], [-0.010345369577407837, -0.005369961261749268, -0.003805495798587799], [-0.005947604775428772, -0.0005190223455429077, -0.0005861222743988037], [-0.006939411163330078, -5.543231964111328e-06, -0.0008767321705818176], [-0.00685805082321167, -0.002192884683609009, -0.002978898584842682], [-0.007342100143432617, -0.0019962936639785767, -0.0012096837162971497], [-0.005907893180847168, -0.002382338047027588, -0.0016507282853126526], [-0.00930611789226532, -0.0034266412258148193, -0.0014645829796791077], [-0.013174548745155334, -0.006502076983451843, -0.0053245797753334045], [-0.009407564997673035, -0.004344537854194641, -0.0035860463976860046], [-0.005904063582420349, -0.004182577133178711, -0.0008646100759506226], [-0.012769713997840881, -0.0028891712427139282, 0.0009330809116363525], [-0.012998729944229126, -0.009065568447113037, -0.008980363607406616], [-0.005229189991950989, -0.0014833956956863403, -0.0010860487818717957], [-0.006068527698516846, -0.001784205436706543, 0.0013596415519714355]], "cand_final_gripper_all": [0.6526871919631958, 0.558478593826294, 0.7088490724563599, 0.539522647857666, 0.6571279764175415, 0.6179856061935425, 0.3842025399208069, 0.6004147529602051, 0.5099857449531555, 0.4454401135444641, 0.5978759527206421, 0.5938946604728699, 0.5430063009262085, 1.0, 0.5826917290687561, 0.5914593935012817, 0.6116116642951965, 0.5809218883514404, 0.6538978219032288, 0.5273220539093018, 0.5332574844360352, 0.5436098575592041, 0.5937130451202393, 0.5593028664588928, 0.5759302973747253, 0.900651752948761, 0.5891478061676025, 0.430806428194046, 0.4711570739746094, 0.6368600130081177, 0.5348522067070007, 0.3902587890625], "eef_pos": [0.4138074815273285, -0.2598525285720825, 0.20886419713497162], "cand_action_std": 0.16395188868045807, "cand_pairwise_centroid_dist_mean": 1.455124855041504, "argmax_act_outlier": 1.152108907699585, "time_encode_ms": 5.4916259832680225, "time_diffusion_ms": 36.136397160589695, "time_q_score_ms": 7.703640963882208, "time_total_ms": 50.183492014184594, "num_action_samples_effective": 32, "q_aggregate": "pair_min"} +{"chunk_ordinal": 38, "q_min_best": 0.8991376757621765, "q_min_mean": 0.8471957445144653, "q_min_std": 0.030957305803894997, "q_min_median": 0.8477909564971924, "chosen_vs_median_q_gap": 0.05134671926498413, "q1_best": 0.9011460542678833, "q2_best": 0.8991376757621765, "v_val": 0.9592883586883545, "advantage": -0.06015068292617798, "best_idx": 16, "q_min_all": [0.80506831407547, 0.8903799057006836, 0.8317104578018188, 0.877796471118927, 0.852471649646759, 0.8297827243804932, 0.8477909564971924, 0.8787505626678467, 0.833027720451355, 0.875703752040863, 0.8550611138343811, 0.8348072171211243, 0.8133949041366577, 0.8858506679534912, 0.8742610216140747, 0.8520975708961487, 0.8991376757621765, 0.8314642906188965, 0.8719193935394287, 0.8541800379753113, 0.8927263021469116, 0.8220669031143188, 0.8299959301948547, 0.8458094596862793, 0.835038959980011, 0.848292887210846, 0.8361095190048218, 0.8334464430809021, 0.7412275075912476, 0.8566715121269226, 0.8238270282745361, 0.850394606590271], "q1_all": [0.8454388380050659, 0.8921892046928406, 0.8623685240745544, 0.8852269649505615, 0.8891702890396118, 0.8794184923171997, 0.8784030675888062, 0.9061852097511292, 0.8529531955718994, 0.8871371150016785, 0.8550611138343811, 0.8348072171211243, 0.8269137740135193, 0.897476315498352, 0.8973557353019714, 0.8961400389671326, 0.9011460542678833, 0.8641207814216614, 0.8719193935394287, 0.8541800379753113, 0.8927263021469116, 0.8696901202201843, 0.8818870186805725, 0.8458094596862793, 0.8869965076446533, 0.848292887210846, 0.8361095190048218, 0.8813589215278625, 0.7412275075912476, 0.8566715121269226, 0.8744825124740601, 0.8972628712654114], "q2_all": [0.80506831407547, 0.8903799057006836, 0.8317104578018188, 0.877796471118927, 0.852471649646759, 0.8297827243804932, 0.8477909564971924, 0.8787505626678467, 0.833027720451355, 0.875703752040863, 0.869365930557251, 0.8542791604995728, 0.8133949041366577, 0.8858506679534912, 0.8742610216140747, 0.8520975708961487, 0.8991376757621765, 0.8314642906188965, 0.8890485763549805, 0.8752525448799133, 0.9164846539497375, 0.8220669031143188, 0.8299959301948547, 0.8477284908294678, 0.835038959980011, 0.8742517828941345, 0.8770278692245483, 0.8334464430809021, 0.8468269109725952, 0.8734673857688904, 0.8238270282745361, 0.850394606590271], "cand_trans_speed_all": [0.003151393961161375, 0.004630401264876127, 0.006035412661731243, 0.007877550087869167, 0.002944082720205188, 0.004486614838242531, 0.004239385481923819, 0.003831995651125908, 0.008450882509350777, 0.008212612941861153, 0.0039001144468784332, 0.0068741156719625, 0.0030414664652198553, 0.007618634030222893, 0.0071513052098453045, 0.0024184328503906727, 0.004349859897047281, 0.004356212913990021, 0.0035063172690570354, 0.004009392112493515, 0.0036035794764757156, 0.002773905871436, 0.004852046724408865, 0.005729991942644119, 0.004143621772527695, 0.006688305642455816, 0.002722760196775198, 0.004283742513507605, 0.00308760954067111, 0.004436559975147247, 0.0020838608033955097, 0.0017655969131737947], "cand_cum_xyz_disp_all": [[-0.002287447452545166, -0.0013475120067596436, -0.00010387599468231201], [-0.009458765387535095, -0.015293166041374207, -0.0181833878159523], [-0.003793776035308838, -0.002902984619140625, -0.0039425864815711975], [-0.0061773210763931274, -0.0027713030576705933, -0.0032723993062973022], [-0.002176523208618164, -0.0025144070386886597, -0.004950426518917084], [-0.008238554000854492, -0.0033042430877685547, -0.001057744026184082], [-0.008140146732330322, -0.004748418927192688, -0.003702424466609955], [-0.009612902998924255, -0.009121060371398926, -0.010310828685760498], [-0.0051503777503967285, -0.0003974735736846924, -0.0013006851077079773], [-0.00586467981338501, -0.0026838332414627075, -0.0018908977508544922], [-0.004862278699874878, -0.012781739234924316, -0.010796628892421722], [-0.0069404542446136475, -0.002958953380584717, -0.003437332808971405], [-0.004030495882034302, -0.00017896294593811035, 0.001216687262058258], [-0.005399689078330994, -0.00339663028717041, -0.0023612678050994873], [-0.008378461003303528, -0.00420042872428894, -0.0017983466386795044], [-0.004824340343475342, -0.008203878998756409, -0.0061657726764678955], [-0.0037739723920822144, -0.014012321829795837, -0.015066854655742645], [-0.005829021334648132, -0.0027727633714675903, 0.00025037676095962524], [-0.004166603088378906, -0.009153872728347778, -0.009476080536842346], [-0.003402307629585266, -0.012478470802307129, -0.010103762149810791], [-0.006480976939201355, -0.009258270263671875, -0.012916967272758484], [-0.0032723844051361084, -0.008150875568389893, -0.003225453197956085], [-0.008049637079238892, -0.0039024055004119873, -0.003928922116756439], [-0.00566592812538147, -0.0023831427097320557, -0.0024865493178367615], [-0.009826794266700745, -0.002777665853500366, 4.281848669052124e-05], [-0.008904904127120972, -0.0032926946878433228, -0.0026507824659347534], [-0.0049619972705841064, -0.007166817784309387, -0.009507305920124054], [-0.0032137781381607056, -0.0012921541929244995, -0.0027119070291519165], [-0.002947106957435608, -0.00863659381866455, 0.004096649587154388], [-0.0052519142627716064, -0.01312585175037384, -0.01610211282968521], [-0.0037489980459213257, -0.005689293146133423, -0.001713186502456665], [-0.003699570894241333, -0.0026798397302627563, -0.003941699862480164]], "cand_final_gripper_all": [0.5023202300071716, 0.17383262515068054, 0.4675317406654358, 0.5631103515625, 0.3963683843612671, 0.45105379819869995, 0.5082253217697144, 0.31544744968414307, 0.5632674098014832, 0.5391578674316406, 0.2122214138507843, 0.5948426127433777, 0.46659016609191895, 0.597058117389679, 0.5297044515609741, 0.4003373980522156, 0.25564637780189514, 0.4590708911418915, 0.23202413320541382, 0.2581421136856079, 0.1919122338294983, 0.4539092779159546, 0.6050665974617004, 0.6257204413414001, 0.5513309240341187, 0.6487959623336792, 0.1878570318222046, 0.4730481505393982, 0.18376249074935913, 0.23361876606941223, 0.44603756070137024, 0.44605979323387146], "eef_pos": [0.41827112436294556, -0.26650717854499817, 0.20681774616241455], "cand_action_std": 0.19278845191001892, "cand_pairwise_centroid_dist_mean": 1.7989741563796997, "argmax_act_outlier": 0.9654438495635986, "time_encode_ms": 5.786919966340065, "time_diffusion_ms": 36.05882404372096, "time_q_score_ms": 7.846023188903928, "time_total_ms": 50.44667818583548, "num_action_samples_effective": 32, "q_aggregate": "pair_min"} +{"chunk_ordinal": 39, "q_min_best": 0.973524808883667, "q_min_mean": 0.9363471865653992, "q_min_std": 0.018257297575473785, "q_min_median": 0.9352611303329468, "chosen_vs_median_q_gap": 0.038263678550720215, "q1_best": 0.973524808883667, "q2_best": 1.0016388893127441, "v_val": 0.9855070114135742, "advantage": -0.011982202529907227, "best_idx": 18, "q_min_all": [0.971827507019043, 0.9446009993553162, 0.9260287284851074, 0.9321920871734619, 0.9352611303329468, 0.9452645182609558, 0.9400621652603149, 0.9150675535202026, 0.8962465524673462, 0.9608914256095886, 0.9207746982574463, 0.9258922338485718, 0.9289270639419556, 0.9317832589149475, 0.9337387681007385, 0.9417592287063599, 0.9358785152435303, 0.9590550661087036, 0.973524808883667, 0.9221680164337158, 0.9085544943809509, 0.9337906241416931, 0.9382400512695312, 0.9207137227058411, 0.9145117998123169, 0.9494977593421936, 0.9596868753433228, 0.9370946288108826, 0.9485455751419067, 0.9536447525024414, 0.9091669321060181, 0.9487185478210449], "q1_all": [0.971827507019043, 0.9446009993553162, 0.9260287284851074, 0.9321920871734619, 0.9352611303329468, 0.9452645182609558, 0.9400621652603149, 0.9150675535202026, 0.8962465524673462, 0.9608914256095886, 0.9207746982574463, 0.9258922338485718, 0.9289270639419556, 0.9317832589149475, 0.9337387681007385, 0.9417592287063599, 0.9358785152435303, 0.9590550661087036, 0.973524808883667, 0.9221680164337158, 0.9085544943809509, 0.9337906241416931, 0.9382400512695312, 0.9207137227058411, 0.9145117998123169, 0.9494977593421936, 0.9596868753433228, 0.9370946288108826, 0.9485455751419067, 0.9536447525024414, 0.9091669321060181, 0.9487185478210449], "q2_all": [1.0039914846420288, 1.0237778425216675, 1.0070981979370117, 1.0306130647659302, 1.0475393533706665, 1.010191559791565, 1.0201729536056519, 1.003696322441101, 1.0102473497390747, 1.0435893535614014, 1.0105785131454468, 1.0442687273025513, 1.0397025346755981, 1.022607684135437, 0.987720251083374, 1.0039401054382324, 1.0119588375091553, 0.9859439134597778, 1.0016388893127441, 0.9778802990913391, 0.9782012701034546, 1.0085748434066772, 0.9998946189880371, 0.9528123736381531, 1.0382407903671265, 0.9737686514854431, 1.0004844665527344, 0.9949288368225098, 1.0072730779647827, 1.0224190950393677, 1.0322178602218628, 1.0059887170791626], "cand_trans_speed_all": [0.00624651275575161, 0.0065971422009170055, 0.005947551690042019, 0.006510451436042786, 0.007465434726327658, 0.00523599237203598, 0.007401732262223959, 0.005458526313304901, 0.006594638340175152, 0.005829965230077505, 0.00694672018289566, 0.006119477562606335, 0.005195440258830786, 0.006223256699740887, 0.0057768127880990505, 0.006684803869575262, 0.0070157041773200035, 0.005921653937548399, 0.00815751776099205, 0.007330011110752821, 0.0052007026970386505, 0.005415979772806168, 0.006287764757871628, 0.005919040180742741, 0.006353050470352173, 0.006049134768545628, 0.0059127225540578365, 0.004872490651905537, 0.00658822525292635, 0.005647808313369751, 0.005799525883048773, 0.005952503532171249], "cand_cum_xyz_disp_all": [[-0.0020027458667755127, -0.007120341062545776, -0.0180978924036026], [-0.00539553165435791, -0.012670934200286865, -0.02961268275976181], [-0.0031580179929733276, -0.013999298214912415, -0.02833254635334015], [-0.006218075752258301, -0.014923736453056335, -0.03244219720363617], [-0.009720861911773682, -0.011911511421203613, -0.027430303394794464], [-0.0049565136432647705, -0.011731371283531189, -0.02332325279712677], [-0.003524675965309143, -0.012805014848709106, -0.03704500198364258], [-0.005713894963264465, -0.013964042067527771, -0.024396754801273346], [-0.0012222528457641602, -0.009293690323829651, -0.028526902198791504], [-0.0007614493370056152, -0.010119065642356873, -0.02916969358921051], [-0.0039481520652771, -0.011564552783966064, -0.030973419547080994], [-0.0003830939531326294, -0.005670666694641113, -0.026815488934516907], [-0.004811868071556091, -0.010363593697547913, -0.027544163167476654], [-0.006238788366317749, -0.009939774870872498, -0.02845243364572525], [-0.003139019012451172, -0.01588587462902069, -0.02911292016506195], [-0.00400310754776001, -0.006738349795341492, -0.027979180216789246], [-0.007548689842224121, -0.013693168759346008, -0.033796899020671844], [-0.003989025950431824, -0.0135660320520401, -0.025980494916439056], [-0.005861043930053711, -0.01097443699836731, -0.027758613228797913], [-0.005879595875740051, -0.01113957166671753, -0.03323698043823242], [-0.0016008615493774414, -0.013227671384811401, -0.024802178144454956], [-0.004197672009468079, -0.009072169661521912, -0.026829570531845093], [-0.004410445690155029, -0.012049123644828796, -0.03178781270980835], [-0.009952753782272339, -0.01787656545639038, -0.024852432310581207], [-0.005512908101081848, -0.008817687630653381, -0.032614193856716156], [-0.004486948251724243, -0.015562936663627625, -0.02957090735435486], [-0.005872756242752075, -0.010260000824928284, -0.028189577162265778], [-0.0008593052625656128, -0.012152627110481262, -0.024334102869033813], [-0.0032960176467895508, -0.009246259927749634, -0.02520368993282318], [-0.006274580955505371, -0.012711167335510254, -0.02703969180583954], [-0.0022026747465133667, -0.008375674486160278, -0.02931617945432663], [-0.0039909034967422485, -0.015630677342414856, -0.030509620904922485]], "cand_final_gripper_all": [0.224800705909729, 0.0, 0.00541156530380249, 0.0, 0.011682093143463135, 0.0, 0.0, 0.0, 0.0, 0.06621518731117249, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.13955751061439514, 0.0, 0.014798521995544434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.012471765279769897, 0.0054978132247924805, 0.03930854797363281, 0.007691532373428345, 0.0011674165725708008, 0.0, 0.0, 0.0], "eef_pos": [0.4175029695034027, -0.2677757143974304, 0.2053394466638565], "cand_action_std": 0.12355837225914001, "cand_pairwise_centroid_dist_mean": 1.1208553314208984, "argmax_act_outlier": 1.276234745979309, "time_encode_ms": 6.304173031821847, "time_diffusion_ms": 36.197880981490016, "time_q_score_ms": 7.630966836586595, "time_total_ms": 51.23373796232045, "num_action_samples_effective": 32, "q_aggregate": "pair_min"} +{"chunk_ordinal": 40, "q_min_best": 0.6834356188774109, "q_min_mean": 0.5030526518821716, "q_min_std": 0.06473266333341599, "q_min_median": 0.5020782351493835, "chosen_vs_median_q_gap": 0.18135738372802734, "q1_best": 0.7315301895141602, "q2_best": 0.6834356188774109, "v_val": 0.9899433255195618, "advantage": -0.3065077066421509, "best_idx": 9, "q_min_all": [0.5639609694480896, 0.5079750418663025, 0.4599931836128235, 0.5421509146690369, 0.6312532424926758, 0.519113302230835, 0.49084609746932983, 0.43373656272888184, 0.4811212122440338, 0.6834356188774109, 0.5660181641578674, 0.5020782351493835, 0.49623095989227295, 0.5030825734138489, 0.44453027844429016, 0.3532450497150421, 0.43540090322494507, 0.4317757487297058, 0.4892851710319519, 0.47146129608154297, 0.5308196544647217, 0.569252610206604, 0.5539578795433044, 0.5465978384017944, 0.5165696740150452, 0.4641783833503723, 0.4466639459133148, 0.45462724566459656, 0.5455032587051392, 0.536534309387207, 0.4161073863506317, 0.5101783275604248], "q1_all": [0.6377041339874268, 0.6041675209999084, 0.6126915216445923, 0.6726240515708923, 0.6677802801132202, 0.6624681949615479, 0.6178451776504517, 0.5612114071846008, 0.5698357820510864, 0.7315301895141602, 0.6801731586456299, 0.6240224838256836, 0.6010755896568298, 0.630121111869812, 0.5509384274482727, 0.47596776485443115, 0.43540090322494507, 0.5424903035163879, 0.6096619367599487, 0.5807669758796692, 0.6553804874420166, 0.6902521848678589, 0.6618615388870239, 0.6090167164802551, 0.5852755904197693, 0.5467393398284912, 0.5613818168640137, 0.5881348848342896, 0.6510416865348816, 0.6837512254714966, 0.5492424368858337, 0.6410490274429321], "q2_all": [0.5639609694480896, 0.5079750418663025, 0.4599931836128235, 0.5421509146690369, 0.6312532424926758, 0.519113302230835, 0.49084609746932983, 0.43373656272888184, 0.4811212122440338, 0.6834356188774109, 0.5660181641578674, 0.5020782351493835, 0.49623095989227295, 0.5030825734138489, 0.44453027844429016, 0.3532450497150421, 0.4410509169101715, 0.4317757487297058, 0.4892851710319519, 0.47146129608154297, 0.5308196544647217, 0.569252610206604, 0.5539578795433044, 0.5465978384017944, 0.5165696740150452, 0.4641783833503723, 0.4466639459133148, 0.45462724566459656, 0.5455032587051392, 0.536534309387207, 0.4161073863506317, 0.5101783275604248], "cand_trans_speed_all": [0.008999068289995193, 0.008094726130366325, 0.007153316400945187, 0.006862926762551069, 0.00709907989948988, 0.007597008720040321, 0.007938096299767494, 0.007513055112212896, 0.007574658840894699, 0.0080949105322361, 0.009106422774493694, 0.008195951581001282, 0.007564874365925789, 0.007181904278695583, 0.007142931222915649, 0.00857054628431797, 0.008260837756097317, 0.008050858974456787, 0.007280711084604263, 0.007980449125170708, 0.007589518558233976, 0.007793080061674118, 0.007734763436019421, 0.009520520456135273, 0.007173952646553516, 0.00893112737685442, 0.007128461264073849, 0.008150424808263779, 0.00766369141638279, 0.0073180608451366425, 0.007322640623897314, 0.007459878455847502], "cand_cum_xyz_disp_all": [[-0.013579681515693665, -0.010297685861587524, -0.03892425447702408], [-0.00827530026435852, -0.01341034471988678, -0.03813870996236801], [-0.00899912416934967, -0.011111542582511902, -0.031084701418876648], [-0.005521044135093689, -0.010886311531066895, -0.03197994828224182], [-0.015484258532524109, -0.007693007588386536, -0.031832464039325714], [-0.010540619492530823, -0.008379384875297546, -0.03249356150627136], [-0.01598164439201355, -0.00831519067287445, -0.03241627663373947], [-0.009876847267150879, -0.009029373526573181, -0.0328172966837883], [-0.005552724003791809, -0.005917221307754517, -0.03493059426546097], [-0.008707046508789062, -0.0030206292867660522, -0.03492224961519241], [-0.010548636317253113, -0.009605228900909424, -0.033979177474975586], [-0.013918429613113403, -0.008261322975158691, -0.032731227576732635], [-0.010309115052223206, -0.008569777011871338, -0.032118238508701324], [-0.00760437548160553, -0.008230075240135193, -0.03310159593820572], [-0.010807111859321594, -0.0096902996301651, -0.03201337903738022], [-0.012959808111190796, -0.008823215961456299, -0.03521687537431717], [-0.012770920991897583, -0.007342889904975891, -0.03446313738822937], [-0.015118226408958435, -0.008145809173583984, -0.03741028904914856], [-0.00968809425830841, -0.012968942523002625, -0.03550027310848236], [-0.011901959776878357, -0.011140391230583191, -0.04196900874376297], [-0.0065968334674835205, -0.009538009762763977, -0.03742988407611847], [-0.0063901543617248535, -0.007403567433357239, -0.03277713060379028], [-0.009968921542167664, -0.015952154994010925, -0.036809042096138], [-0.006892010569572449, -0.007910817861557007, -0.039910897612571716], [-0.010683432221412659, -0.011764928698539734, -0.03632086515426636], [-0.019760727882385254, -0.007153064012527466, -0.036865025758743286], [-0.012683257460594177, -0.008793264627456665, -0.03210078924894333], [-0.010902106761932373, -0.00665128231048584, -0.0349898487329483], [-0.008413538336753845, -0.008842363953590393, -0.0332430824637413], [-0.007792264223098755, -0.00841657817363739, -0.03393782675266266], [-0.01207725703716278, -0.008153840899467468, -0.029698863625526428], [-0.010066166520118713, -0.011558502912521362, -0.034576863050460815]], "cand_final_gripper_all": [0.00015813112258911133, 0.0040312111377716064, 0.0, 0.0010680854320526123, 0.0035100579261779785, 0.003816157579421997, 0.011413782835006714, 0.0008034408092498779, 0.0053941309452056885, 0.003040790557861328, 0.008072376251220703, 0.0020463764667510986, 0.0, 0.004043102264404297, 0.0, 0.01823282241821289, 0.0015128254890441895, 0.003948599100112915, 0.0001341402530670166, 0.002945125102996826, 0.004483282566070557, 0.004301607608795166, 0.0015373826026916504, 0.0042934417724609375, 0.00189894437789917, 0.0013680756092071533, 0.0044113993644714355, 0.0013142526149749756, 0.004763513803482056, 0.0047536492347717285, 0.0, 0.0031779110431671143], "eef_pos": [0.4199995994567871, -0.269745796918869, 0.21053184568881989], "cand_action_std": 0.12925535440444946, "cand_pairwise_centroid_dist_mean": 1.245696783065796, "argmax_act_outlier": 1.211511254310608, "time_encode_ms": 5.114722065627575, "time_diffusion_ms": 35.93436605297029, "time_q_score_ms": 7.798847043886781, "time_total_ms": 49.553022952750325, "num_action_samples_effective": 32, "q_aggregate": "pair_min"} +{"chunk_ordinal": 41, "q_min_best": 0.4303569495677948, "q_min_mean": 0.16655361652374268, "q_min_std": 0.09687820076942444, "q_min_median": 0.14743292331695557, "chosen_vs_median_q_gap": 0.28292402625083923, "q1_best": 0.4303569495677948, "q2_best": 0.46547824144363403, "v_val": 0.9557679295539856, "advantage": -0.5254109799861908, "best_idx": 7, "q_min_all": [0.14743292331695557, 0.39367806911468506, 0.23636840283870697, 0.1081400141119957, 0.09376030415296555, 0.062392789870500565, 0.07173890620470047, 0.4303569495677948, 0.30534547567367554, 0.20904873311519623, 0.13030973076820374, 0.11737062782049179, 0.21731694042682648, 0.11218070238828659, 0.16063953936100006, 0.07391875237226486, 0.030584674328565598, 0.19721455872058868, 0.08608274906873703, 0.08483190089464188, 0.15080322325229645, 0.16560310125350952, 0.20756971836090088, 0.19075261056423187, 0.10158003121614456, 0.15111945569515228, 0.10034901648759842, 0.126361683011055, 0.36102646589279175, 0.25930872559547424, 0.09776667505502701, 0.14876244962215424], "q1_all": [0.3287927210330963, 0.40753644704818726, 0.49251508712768555, 0.24970276653766632, 0.10451539605855942, 0.09541989117860794, 0.11184991151094437, 0.4303569495677948, 0.395159512758255, 0.25158876180648804, 0.13030973076820374, 0.16743043065071106, 0.3060515522956848, 0.1472964584827423, 0.23810544610023499, 0.1674005687236786, 0.030584674328565598, 0.2804202735424042, 0.17550908029079437, 0.14680567383766174, 0.22574199736118317, 0.36057424545288086, 0.2544456124305725, 0.22811266779899597, 0.16552428901195526, 0.25537681579589844, 0.17326442897319794, 0.19468164443969727, 0.3676646947860718, 0.36588138341903687, 0.11152148991823196, 0.2326260209083557], "q2_all": [0.14743292331695557, 0.39367806911468506, 0.23636840283870697, 0.1081400141119957, 0.09376030415296555, 0.062392789870500565, 0.07173890620470047, 0.46547824144363403, 0.30534547567367554, 0.20904873311519623, 0.14406630396842957, 0.11737062782049179, 0.21731694042682648, 0.11218070238828659, 0.16063953936100006, 0.07391875237226486, 0.08537761121988297, 0.19721455872058868, 0.08608274906873703, 0.08483190089464188, 0.15080322325229645, 0.16560310125350952, 0.20756971836090088, 0.19075261056423187, 0.10158003121614456, 0.15111945569515228, 0.10034901648759842, 0.126361683011055, 0.36102646589279175, 0.25930872559547424, 0.09776667505502701, 0.14876244962215424], "cand_trans_speed_all": [0.009002381935715675, 0.007198201026767492, 0.008246306329965591, 0.00809808075428009, 0.0087580606341362, 0.007846230641007423, 0.008943206630647182, 0.007000240497291088, 0.008137091994285583, 0.00705767422914505, 0.007763656787574291, 0.007960929535329342, 0.007946215569972992, 0.008215474896132946, 0.009028863161802292, 0.009229365736246109, 0.009226280264556408, 0.007888552732765675, 0.008405915461480618, 0.007262313738465309, 0.009230449795722961, 0.008303881622850895, 0.008077213540673256, 0.00859777256846428, 0.008880067616701126, 0.008580555208027363, 0.008514955639839172, 0.008644886314868927, 0.008945271372795105, 0.0067826202139258385, 0.008833162486553192, 0.00841723196208477], "cand_cum_xyz_disp_all": [[-0.03183095157146454, -0.010369136929512024, -0.016413778066635132], [-0.030385911464691162, -0.015423476696014404, -0.016064763069152832], [-0.031673043966293335, -0.01693330705165863, -0.01997523009777069], [-0.032810911536216736, -0.019252583384513855, -0.014088481664657593], [-0.03248167037963867, -0.01868291199207306, -0.023134268820285797], [-0.031813591718673706, -0.02142512798309326, -0.020279310643672943], [-0.03457160294055939, -0.018578633666038513, -0.024041198194026947], [-0.02973322570323944, -0.017914369702339172, -0.011840470135211945], [-0.03184810280799866, -0.014300346374511719, -0.014756828546524048], [-0.026921600103378296, -0.015704095363616943, -0.01799791306257248], [-0.02826349437236786, -0.019583135843276978, -0.020808793604373932], [-0.029892697930336, -0.015856385231018066, -0.021977782249450684], [-0.027989909052848816, -0.015302285552024841, -0.019769027829170227], [-0.033088430762290955, -0.017039433121681213, -0.019538514316082], [-0.038224443793296814, -0.01679016649723053, -0.023699425160884857], [-0.04154977202415466, -0.018218904733657837, -0.020208247005939484], [-0.03704351186752319, -0.016734331846237183, -0.018424130976200104], [-0.03571309149265289, -0.01736733317375183, -0.018741585314273834], [-0.03649267554283142, -0.020031586289405823, -0.02331603318452835], [-0.028099998831748962, -0.01823468506336212, -0.019313648343086243], [-0.03353263437747955, -0.015284836292266846, -0.024829305708408356], [-0.031219273805618286, -0.015383586287498474, -0.026023730635643005], [-0.034016042947769165, -0.017374888062477112, -0.02308841049671173], [-0.031387075781822205, -0.015563443303108215, -0.026490770280361176], [-0.03280983865261078, -0.014904975891113281, -0.022575587034225464], [-0.031006813049316406, -0.017465874552726746, -0.023947641253471375], [-0.03555819392204285, -0.020029425621032715, -0.021388940513134003], [-0.036902934312820435, -0.015464559197425842, -0.023605577647686005], [-0.0317467600107193, -0.016228392720222473, -0.018383227288722992], [-0.026294037699699402, -0.016388505697250366, -0.016479194164276123], [-0.03511898219585419, -0.01587975025177002, -0.0209016352891922], [-0.034832924604415894, -0.017923131585121155, -0.018834024667739868]], "cand_final_gripper_all": [0.0022662580013275146, 0.0029931962490081787, 0.0010127723217010498, 0.0008951723575592041, 0.003757268190383911, 0.001983940601348877, 0.0033787190914154053, 0.005808621644973755, 0.0008331239223480225, 0.002520054578781128, 0.0006898343563079834, 0.0031509101390838623, 0.004941165447235107, 0.0025904476642608643, 0.0017487406730651855, 0.0028320252895355225, 0.0030175447463989258, 0.0, 0.0012260675430297852, 0.0041460394859313965, 0.006283938884735107, 0.0013555288314819336, 0.0009161233901977539, 0.0026868879795074463, 0.003750830888748169, 0.0029978156089782715, 0.002104252576828003, 0.004523962736129761, 0.0023092031478881836, 0.003957778215408325, 0.0, 0.007376164197921753], "eef_pos": [0.43495383858680725, -0.2704528272151947, 0.2298944741487503], "cand_action_std": 0.18507251143455505, "cand_pairwise_centroid_dist_mean": 1.5251765251159668, "argmax_act_outlier": 1.3433051109313965, "time_encode_ms": 6.8260550033301115, "time_diffusion_ms": 36.0155759844929, "time_q_score_ms": 8.189185056835413, "time_total_ms": 51.801074063405395, "num_action_samples_effective": 32, "q_aggregate": "pair_min"}