| { |
| "name": "policy_preprocessor", |
| "steps": [ |
| { |
| "registry_name": "rename_observations_processor", |
| "config": { |
| "rename_map": {} |
| } |
| }, |
| { |
| "registry_name": "to_batch_processor", |
| "config": {} |
| }, |
| { |
| "registry_name": "groot_n1_7_pack_inputs_v1", |
| "config": { |
| "state_horizon": 1, |
| "action_horizon": 40, |
| "valid_action_horizon": 16, |
| "video_horizon": null, |
| "max_state_dim": 132, |
| "max_action_dim": 132, |
| "language_key": "task", |
| "formalize_language": true, |
| "embodiment_tag": "new_embodiment", |
| "embodiment_mapping": { |
| "oxe_droid_relative_eef_relative_joint": 24, |
| "xdof_relative_eef_relative_joint": 27, |
| "xdof_relative_eef_relative_joint_subtask": 27, |
| "real_g1_relative_eef_relative_joints": 25, |
| "real_r1_pro_sharpa_relative_eef": 26, |
| "real_r1_pro_sharpa_relative_eef_human": 26, |
| "real_r1_pro_sharpa_relative_eef_maxinsights": 26, |
| "real_r1_pro_sharpa_relative_eef_mecka": 26, |
| "unitree_g1_full_body_with_waist_height_nav_cmd": 25, |
| "simpler_env_google": 0, |
| "simpler_env_widowx": 1, |
| "libero_sim": 2, |
| "new_embodiment": 10 |
| }, |
| "normalize_min_max": true, |
| "state_dropout_prob": 0.0, |
| "clip_outliers": true, |
| "use_percentiles": true, |
| "video_modality_keys": [ |
| "camera_head", |
| "camera_right" |
| ], |
| "raw_stats": { |
| "state": { |
| "single_arm": { |
| "min": [ |
| 1.4324265718460083, |
| 1.2503713369369507, |
| 0.4483925402164459, |
| -1.0140538215637207, |
| -1.79013192653656, |
| 1.1209027767181396, |
| -0.7602654695510864 |
| ], |
| "max": [ |
| 2.213618516921997, |
| 2.0338845252990723, |
| 0.9465793371200562, |
| 0.9912946820259094, |
| -1.3773789405822754, |
| 1.78435480594635, |
| 0.5530948638916016 |
| ], |
| "mean": [ |
| 1.7561355829238892, |
| 1.6019304990768433, |
| 0.7368203997612, |
| -0.025684820488095284, |
| -1.6170637607574463, |
| 1.4647557735443115, |
| -0.03507889062166214 |
| ], |
| "std": [ |
| 0.11485099047422409, |
| 0.11691860109567642, |
| 0.04902386665344238, |
| 0.17701151967048645, |
| 0.04652586206793785, |
| 0.1468975991010666, |
| 0.1682557612657547 |
| ], |
| "count": [ |
| 51882 |
| ], |
| "q01": [ |
| 1.512711763381958, |
| 1.3511383533477783, |
| 0.5689890384674072, |
| -0.726918637752533, |
| -1.7103619575500488, |
| 1.1851832866668701, |
| -0.5283277630805969 |
| ], |
| "q10": [ |
| 1.6167875528335571, |
| 1.4709843397140503, |
| 0.6835232377052307, |
| -0.1446005254983902, |
| -1.6690409183502197, |
| 1.2624839544296265, |
| -0.24595005810260773 |
| ], |
| "q50": [ |
| 1.7473711967468262, |
| 1.5844972133636475, |
| 0.7395658493041992, |
| -0.003490658476948738, |
| -1.620904803276062, |
| 1.4736512899398804, |
| -0.016266468912363052 |
| ], |
| "q90": [ |
| 1.9031767845153809, |
| 1.7616970539093018, |
| 0.7881156206130981, |
| 0.05579817667603493, |
| -1.5611480474472046, |
| 1.6550084352493286, |
| 0.1523323357105255 |
| ], |
| "q99": [ |
| 2.068878412246704, |
| 1.929322600364685, |
| 0.8677693009376526, |
| 0.6052192449569702, |
| -1.4599156379699707, |
| 1.721854567527771, |
| 0.3744778335094452 |
| ] |
| }, |
| "gripper_gripper_0": { |
| "min": [ |
| 0.0 |
| ], |
| "max": [ |
| 1.0 |
| ], |
| "mean": [ |
| 0.5141614079475403 |
| ], |
| "std": [ |
| 0.47856128215789795 |
| ], |
| "count": [ |
| 51882 |
| ], |
| "q01": [ |
| 0.0 |
| ], |
| "q10": [ |
| 0.0 |
| ], |
| "q50": [ |
| 0.640949547290802 |
| ], |
| "q90": [ |
| 1.0 |
| ], |
| "q99": [ |
| 1.0 |
| ] |
| } |
| }, |
| "action": { |
| "single_arm": { |
| "min": [ |
| 1.4413676261901855, |
| 1.2710793018341064, |
| 0.45255208015441895, |
| -0.9801320433616638, |
| -1.789527416229248, |
| 1.1195746660232544, |
| -0.73408442735672 |
| ], |
| "max": [ |
| 2.1998207569122314, |
| 2.023841142654419, |
| 0.9401566386222839, |
| 0.9844131469726562, |
| -1.3771005868911743, |
| 1.759342908859253, |
| 0.54404217004776 |
| ], |
| "mean": [ |
| 1.755482792854309, |
| 1.60048246383667, |
| 0.7371371388435364, |
| -0.02560562826693058, |
| -1.6166642904281616, |
| 1.465916633605957, |
| -0.034851547330617905 |
| ], |
| "std": [ |
| 0.1134292259812355, |
| 0.11497875303030014, |
| 0.04820943623781204, |
| 0.1764119565486908, |
| 0.045701056718826294, |
| 0.14361535012722015, |
| 0.16677236557006836 |
| ], |
| "count": [ |
| 51882 |
| ], |
| "q01": [ |
| 1.5170835256576538, |
| 1.3594533205032349, |
| 0.5690799951553345, |
| -0.7303996086120605, |
| -1.7094875574111938, |
| 1.187022089958191, |
| -0.5245341062545776 |
| ], |
| "q10": [ |
| 1.618669033050537, |
| 1.4727927446365356, |
| 0.6850442290306091, |
| -0.14431053400039673, |
| -1.667453646659851, |
| 1.266363501548767, |
| -0.2436017096042633 |
| ], |
| "q50": [ |
| 1.7457990646362305, |
| 1.5829777717590332, |
| 0.7396984100341797, |
| -0.00299711711704731, |
| -1.6202409267425537, |
| 1.4763628244400024, |
| -0.01619713567197323 |
| ], |
| "q90": [ |
| 1.9010672569274902, |
| 1.7581443786621094, |
| 0.7870751619338989, |
| 0.054782457649707794, |
| -1.5621283054351807, |
| 1.652555227279663, |
| 0.14961396157741547 |
| ], |
| "q99": [ |
| 2.062281370162964, |
| 1.9280818700790405, |
| 0.8629244565963745, |
| 0.6033792495727539, |
| -1.4640226364135742, |
| 1.714327335357666, |
| 0.3648574650287628 |
| ] |
| }, |
| "gripper_gripper_0": { |
| "min": [ |
| 0.0 |
| ], |
| "max": [ |
| 1.0 |
| ], |
| "mean": [ |
| 0.5142340064048767 |
| ], |
| "std": [ |
| 0.4811055064201355 |
| ], |
| "count": [ |
| 51882 |
| ], |
| "q01": [ |
| 0.0 |
| ], |
| "q10": [ |
| 0.0 |
| ], |
| "q50": [ |
| 0.6599511504173279 |
| ], |
| "q90": [ |
| 1.0 |
| ], |
| "q99": [ |
| 1.0 |
| ] |
| } |
| }, |
| "relative_action": { |
| "single_arm": { |
| "min": [ |
| [ |
| -0.09127569198608398, |
| -0.1072378158569336, |
| -0.06205952167510986, |
| -0.18387258052825928, |
| -0.06373739242553711, |
| -0.09853947162628174, |
| -0.11893227696418762 |
| ], |
| [ |
| -0.09993016719818115, |
| -0.1159588098526001, |
| -0.06677621603012085, |
| -0.21325981616973877, |
| -0.06857776641845703, |
| -0.11069750785827637, |
| -0.13902609050273895 |
| ], |
| [ |
| -0.10758781433105469, |
| -0.12696754932403564, |
| -0.06815069913864136, |
| -0.2429601550102234, |
| -0.07009923458099365, |
| -0.1173098087310791, |
| -0.15170592069625854 |
| ], |
| [ |
| -0.11558568477630615, |
| -0.1378464698791504, |
| -0.07286739349365234, |
| -0.26725518703460693, |
| -0.07398831844329834, |
| -0.12287735939025879, |
| -0.16381967067718506 |
| ], |
| [ |
| -0.12299990653991699, |
| -0.14854955673217773, |
| -0.07660239934921265, |
| -0.2910439968109131, |
| -0.07769656181335449, |
| -0.1316920518875122, |
| -0.18281817436218262 |
| ], |
| [ |
| -0.13080477714538574, |
| -0.16247010231018066, |
| -0.08130526542663574, |
| -0.31568801403045654, |
| -0.08102202415466309, |
| -0.14187204837799072, |
| -0.19376283884048462 |
| ], |
| [ |
| -0.14139556884765625, |
| -0.17799973487854004, |
| -0.08635622262954712, |
| -0.33692872524261475, |
| -0.08482670783996582, |
| -0.14955151081085205, |
| -0.20047912001609802 |
| ], |
| [ |
| -0.14515244960784912, |
| -0.18300116062164307, |
| -0.09115588665008545, |
| -0.35710471868515015, |
| -0.08879733085632324, |
| -0.15679454803466797, |
| -0.2198929786682129 |
| ], |
| [ |
| -0.15981245040893555, |
| -0.20001518726348877, |
| -0.09692597389221191, |
| -0.3823596239089966, |
| -0.09369027614593506, |
| -0.16700482368469238, |
| -0.2302427887916565 |
| ], |
| [ |
| -0.16626715660095215, |
| -0.20793092250823975, |
| -0.10172563791275024, |
| -0.40568238496780396, |
| -0.097861647605896, |
| -0.17475509643554688, |
| -0.2410130500793457 |
| ], |
| [ |
| -0.17546796798706055, |
| -0.2174433469772339, |
| -0.10483229160308838, |
| -0.4353827238082886, |
| -0.10011303424835205, |
| -0.1869189739227295, |
| -0.24872487783432007 |
| ], |
| [ |
| -0.1828821897506714, |
| -0.22652578353881836, |
| -0.1068386435508728, |
| -0.44991207122802734, |
| -0.1016855239868164, |
| -0.19029438495635986, |
| -0.25969094038009644 |
| ], |
| [ |
| -0.18841207027435303, |
| -0.23604929447174072, |
| -0.10854774713516235, |
| -0.47630634903907776, |
| -0.1038440465927124, |
| -0.20064938068389893, |
| -0.2671782970428467 |
| ], |
| [ |
| -0.19199621677398682, |
| -0.24401485919952393, |
| -0.1115732192993164, |
| -0.49435222148895264, |
| -0.10609543323516846, |
| -0.2076244354248047, |
| -0.27848368883132935 |
| ], |
| [ |
| -0.2038731575012207, |
| -0.25806474685668945, |
| -0.11221903562545776, |
| -0.5135796070098877, |
| -0.10693466663360596, |
| -0.21325600147247314, |
| -0.28946179151535034 |
| ], |
| [ |
| -0.208368182182312, |
| -0.26598048210144043, |
| -0.11240118741989136, |
| -0.5284327268600464, |
| -0.10758054256439209, |
| -0.22049379348754883, |
| -0.30094608664512634 |
| ], |
| [ |
| -0.21658623218536377, |
| -0.27920079231262207, |
| -0.11349785327911377, |
| -0.5518307089805603, |
| -0.10716128349304199, |
| -0.2274688482284546, |
| -0.31129589676856995 |
| ], |
| [ |
| -0.22327947616577148, |
| -0.28711652755737305, |
| -0.11414366960525513, |
| -0.5536790490150452, |
| -0.10783743858337402, |
| -0.23555397987365723, |
| -0.32206615805625916 |
| ], |
| [ |
| -0.22878777980804443, |
| -0.2966289520263672, |
| -0.11435192823410034, |
| -0.573127269744873, |
| -0.11302673816680908, |
| -0.24556267261505127, |
| -0.3297779858112335 |
| ], |
| [ |
| -0.23620200157165527, |
| -0.30571138858795166, |
| -0.1149977445602417, |
| -0.5860099792480469, |
| -0.11918294429779053, |
| -0.25463902950286865, |
| -0.3407440483570099 |
| ], |
| [ |
| -0.2439807653427124, |
| -0.31186115741729736, |
| -0.11519217491149902, |
| -0.6031143665313721, |
| -0.12127304077148438, |
| -0.26529526710510254, |
| -0.34879258275032043 |
| ], |
| [ |
| -0.2484757900238037, |
| -0.3135305643081665, |
| -0.11493319272994995, |
| -0.6062209606170654, |
| -0.12237107753753662, |
| -0.27551257610321045, |
| -0.35496845841407776 |
| ], |
| [ |
| -0.2571929693222046, |
| -0.3264683485031128, |
| -0.11620074510574341, |
| -0.6289877891540527, |
| -0.12662827968597412, |
| -0.28133678436279297, |
| -0.36669284105300903 |
| ], |
| [ |
| -0.2633870840072632, |
| -0.33062744140625, |
| -0.11858934164047241, |
| -0.636620283126831, |
| -0.12885046005249023, |
| -0.2863321304321289, |
| -0.3765712082386017 |
| ], |
| [ |
| -0.26990604400634766, |
| -0.33938145637512207, |
| -0.12263846397399902, |
| -0.6491987705230713, |
| -0.13337254524230957, |
| -0.29211318492889404, |
| -0.3873414695262909 |
| ], |
| [ |
| -0.27659928798675537, |
| -0.34448909759521484, |
| -0.1246979832649231, |
| -0.657560408115387, |
| -0.1358858346939087, |
| -0.2976633310317993, |
| -0.39505329728126526 |
| ], |
| [ |
| -0.2803943157196045, |
| -0.34678375720977783, |
| -0.12719380855560303, |
| -0.6693907976150513, |
| -0.13797593116760254, |
| -0.30372297763824463, |
| -0.4060193598270416 |
| ], |
| [ |
| -0.28481316566467285, |
| -0.3501095771789551, |
| -0.1298816204071045, |
| -0.6777713894844055, |
| -0.14081788063049316, |
| -0.31303584575653076, |
| -0.41350671648979187 |
| ], |
| [ |
| -0.2906765937805176, |
| -0.35471606254577637, |
| -0.13127601146697998, |
| -0.686496376991272, |
| -0.14333117008209229, |
| -0.31858599185943604, |
| -0.41917547583580017 |
| ], |
| [ |
| -0.29393911361694336, |
| -0.3567749261856079, |
| -0.13353240489959717, |
| -0.6987835168838501, |
| -0.1455533504486084, |
| -0.3245725631713867, |
| -0.42924967408180237 |
| ], |
| [ |
| -0.2982969284057617, |
| -0.35990774631500244, |
| -0.13622021675109863, |
| -0.7100681662559509, |
| -0.14776384830474854, |
| -0.3285471200942993, |
| -0.4367370307445526 |
| ], |
| [ |
| -0.30111587047576904, |
| -0.36120855808258057, |
| -0.13843685388565063, |
| -0.7235148549079895, |
| -0.1495267152786255, |
| -0.33126580715179443, |
| -0.4424057900905609 |
| ], |
| [ |
| -0.30234086513519287, |
| -0.3638789653778076, |
| -0.14060288667678833, |
| -0.7359415888786316, |
| -0.15158617496490479, |
| -0.3362356424331665, |
| -0.4444032311439514 |
| ], |
| [ |
| -0.3029135465621948, |
| -0.36696815490722656, |
| -0.14277184009552002, |
| -0.7437068819999695, |
| -0.15318763256072998, |
| -0.3384319543838501, |
| -0.45331522822380066 |
| ], |
| [ |
| -0.30984532833099365, |
| -0.3690706491470337, |
| -0.14350324869155884, |
| -0.7561336159706116, |
| -0.1543048620223999, |
| -0.3419511318206787, |
| -0.4599631726741791 |
| ], |
| [ |
| -0.31001806259155273, |
| -0.37215983867645264, |
| -0.1438523530960083, |
| -0.7645142078399658, |
| -0.1557457447052002, |
| -0.34764575958251953, |
| -0.4657200872898102 |
| ], |
| [ |
| -0.31294143199920654, |
| -0.37387025356292725, |
| -0.1464892029762268, |
| -0.7711230516433716, |
| -0.1578052043914795, |
| -0.3566865921020508, |
| -0.4745365083217621 |
| ], |
| [ |
| -0.31469154357910156, |
| -0.37563300132751465, |
| -0.14735108613967896, |
| -0.7814768552780151, |
| -0.1588459014892578, |
| -0.3606611490249634, |
| -0.4763776659965515 |
| ], |
| [ |
| -0.31639862060546875, |
| -0.37687957286834717, |
| -0.14887452125549316, |
| -0.7895833849906921, |
| -0.1607494354248047, |
| -0.3633798360824585, |
| -0.48369061946868896 |
| ], |
| [ |
| -0.3182399272918701, |
| -0.37879300117492676, |
| -0.1501370072364807, |
| -0.7975606322288513, |
| -0.16202402114868164, |
| -0.36834967136383057, |
| -0.4881761074066162 |
| ] |
| ], |
| "max": [ |
| [ |
| 0.07876145839691162, |
| 0.09228658676147461, |
| 0.06588554382324219, |
| 0.2446710765361786, |
| 0.06540369987487793, |
| 0.21574854850769043, |
| 0.17961490154266357 |
| ], |
| [ |
| 0.09137439727783203, |
| 0.10263168811798096, |
| 0.07118135690689087, |
| 0.25990474224090576, |
| 0.070182204246521, |
| 0.2303394079208374, |
| 0.18786191940307617 |
| ], |
| [ |
| 0.10000813007354736, |
| 0.11327779293060303, |
| 0.07711547613143921, |
| 0.31001928448677063, |
| 0.07632088661193848, |
| 0.243821382522583, |
| 0.2155512571334839 |
| ], |
| [ |
| 0.10667979717254639, |
| 0.12339580059051514, |
| 0.08224219083786011, |
| 0.3199261426925659, |
| 0.08229148387908936, |
| 0.2515990734100342, |
| 0.23018613457679749 |
| ], |
| [ |
| 0.1198965311050415, |
| 0.1339714527130127, |
| 0.08670729398727417, |
| 0.34718820452690125, |
| 0.08815741539001465, |
| 0.2653529644012451, |
| 0.23764640092849731 |
| ], |
| [ |
| 0.12786877155303955, |
| 0.1450403928756714, |
| 0.09038728475570679, |
| 0.3948705196380615, |
| 0.09853053092956543, |
| 0.27533113956451416, |
| 0.2661224901676178 |
| ], |
| [ |
| 0.13349473476409912, |
| 0.15367937088012695, |
| 0.09711235761642456, |
| 0.40031489729881287, |
| 0.10579109191894531, |
| 0.2830691337585449, |
| 0.26875773072242737 |
| ], |
| [ |
| 0.14526069164276123, |
| 0.16090500354766846, |
| 0.10157746076583862, |
| 0.42963916063308716, |
| 0.11092233657836914, |
| 0.28884315490722656, |
| 0.28357040882110596 |
| ], |
| [ |
| 0.15171825885772705, |
| 0.16871070861816406, |
| 0.10525745153427124, |
| 0.4599987864494324, |
| 0.12099981307983398, |
| 0.2945355176925659, |
| 0.29988446831703186 |
| ], |
| [ |
| 0.15749776363372803, |
| 0.17760205268859863, |
| 0.10956358909606934, |
| 0.47580230236053467, |
| 0.12768638134002686, |
| 0.3033103942871094, |
| 0.3118550777435303 |
| ], |
| [ |
| 0.1658076047897339, |
| 0.18482768535614014, |
| 0.11366516351699829, |
| 0.5149821639060974, |
| 0.13703548908233643, |
| 0.312192440032959, |
| 0.33357059955596924 |
| ], |
| [ |
| 0.17424356937408447, |
| 0.19214844703674316, |
| 0.1158800721168518, |
| 0.5367430448532104, |
| 0.14749395847320557, |
| 0.31993043422698975, |
| 0.3477914333343506 |
| ], |
| [ |
| 0.18301284313201904, |
| 0.2001117467880249, |
| 0.11988723278045654, |
| 0.553354024887085, |
| 0.15475451946258545, |
| 0.33393990993499756, |
| 0.3566032648086548 |
| ], |
| [ |
| 0.1923586130142212, |
| 0.2073373794555664, |
| 0.12197613716125488, |
| 0.570993185043335, |
| 0.15988576412200928, |
| 0.3411024808883667, |
| 0.36605310440063477 |
| ], |
| [ |
| 0.2017003297805786, |
| 0.21530377864837646, |
| 0.12460559606552124, |
| 0.5930976271629333, |
| 0.16566288471221924, |
| 0.3490467071533203, |
| 0.37656041979789734 |
| ], |
| [ |
| 0.21104228496551514, |
| 0.22476327419281006, |
| 0.12760913372039795, |
| 0.6089011430740356, |
| 0.17045843601226807, |
| 0.35672640800476074, |
| 0.3861756920814514 |
| ], |
| [ |
| 0.2182244062423706, |
| 0.23198890686035156, |
| 0.1319449543952942, |
| 0.6480810046195984, |
| 0.1755896806716919, |
| 0.37607312202453613, |
| 0.39313805103302 |
| ], |
| [ |
| 0.2250756025314331, |
| 0.2363971471786499, |
| 0.13391900062561035, |
| 0.6698418855667114, |
| 0.18136680126190186, |
| 0.38252055644989014, |
| 0.39965832233428955 |
| ], |
| [ |
| 0.2273021936416626, |
| 0.24386703968048096, |
| 0.13559269905090332, |
| 0.6864528656005859, |
| 0.18599653244018555, |
| 0.39213597774505615, |
| 0.40224868059158325 |
| ], |
| [ |
| 0.23664796352386475, |
| 0.25158917903900146, |
| 0.1383790373802185, |
| 0.7040920257568359, |
| 0.19096028804779053, |
| 0.4067026376724243, |
| 0.41000741720199585 |
| ], |
| [ |
| 0.2426241636276245, |
| 0.26104867458343506, |
| 0.14096218347549438, |
| 0.7196674942970276, |
| 0.19480443000793457, |
| 0.41398167610168457, |
| 0.4169473350048065 |
| ], |
| [ |
| 0.249475359916687, |
| 0.2685185670852661, |
| 0.14460110664367676, |
| 0.7324420213699341, |
| 0.19907474517822266, |
| 0.4271066188812256, |
| 0.4265626072883606 |
| ], |
| [ |
| 0.2559853792190552, |
| 0.2753254175186157, |
| 0.14740240573883057, |
| 0.744468629360199, |
| 0.20485186576843262, |
| 0.4406154155731201, |
| 0.4335249662399292 |
| ], |
| [ |
| 0.2613959312438965, |
| 0.2803518772125244, |
| 0.15067481994628906, |
| 0.7572431564331055, |
| 0.20889174938201904, |
| 0.4470628499984741, |
| 0.44004523754119873 |
| ], |
| [ |
| 0.26820266246795654, |
| 0.2864081859588623, |
| 0.15448850393295288, |
| 0.7700900435447693, |
| 0.21192848682403564, |
| 0.45773613452911377, |
| 0.44203293323516846 |
| ], |
| [ |
| 0.2749212980270386, |
| 0.29155397415161133, |
| 0.1584147810935974, |
| 0.7828645706176758, |
| 0.21337711811065674, |
| 0.4712449312210083, |
| 0.45039433240890503 |
| ], |
| [ |
| 0.28210341930389404, |
| 0.2966749668121338, |
| 0.16001677513122559, |
| 0.7951866388320923, |
| 0.21545422077178955, |
| 0.47831690311431885, |
| 0.4534676969051361 |
| ], |
| [ |
| 0.2894248962402344, |
| 0.3028085231781006, |
| 0.16305363178253174, |
| 0.804580807685852, |
| 0.21665847301483154, |
| 0.48635172843933105, |
| 0.4614344537258148 |
| ], |
| [ |
| 0.29660701751708984, |
| 0.3078349828720093, |
| 0.16662412881851196, |
| 0.8140536546707153, |
| 0.21815574169158936, |
| 0.49352216720581055, |
| 0.4698514938354492 |
| ], |
| [ |
| 0.30345821380615234, |
| 0.31389129161834717, |
| 0.1720944046974182, |
| 0.8242114782333374, |
| 0.22108924388885498, |
| 0.49813854694366455, |
| 0.4753713011741638 |
| ], |
| [ |
| 0.3067578077316284, |
| 0.3173180818557739, |
| 0.17354482412338257, |
| 0.8336056470870972, |
| 0.22253787517547607, |
| 0.502150297164917, |
| 0.48173269629478455 |
| ], |
| [ |
| 0.315030574798584, |
| 0.32280993461608887, |
| 0.17574214935302734, |
| 0.8417478799819946, |
| 0.2246149778366089, |
| 0.5053915977478027, |
| 0.4917459189891815 |
| ], |
| [ |
| 0.31949281692504883, |
| 0.3262367248535156, |
| 0.1775398850440979, |
| 0.8462204337120056, |
| 0.22581923007965088, |
| 0.5099544525146484, |
| 0.4965755343437195 |
| ], |
| [ |
| 0.32537388801574707, |
| 0.3288228511810303, |
| 0.18024516105651855, |
| 0.8563782572746277, |
| 0.22667431831359863, |
| 0.5146054029464722, |
| 0.5056520104408264 |
| ], |
| [ |
| 0.3294947147369385, |
| 0.33042407035827637, |
| 0.18211263418197632, |
| 0.8644325137138367, |
| 0.22756445407867432, |
| 0.5172075033187866, |
| 0.5120441913604736 |
| ], |
| [ |
| 0.33226537704467773, |
| 0.3365612030029297, |
| 0.18467825651168823, |
| 0.869458019733429, |
| 0.22800087928771973, |
| 0.5228724479675293, |
| 0.5184669494628906 |
| ], |
| [ |
| 0.33280181884765625, |
| 0.3414238691329956, |
| 0.18743592500686646, |
| 0.8760513663291931, |
| 0.22843706607818604, |
| 0.5303308963775635, |
| 0.5259502530097961 |
| ], |
| [ |
| 0.340731143951416, |
| 0.3478875160217285, |
| 0.19014114141464233, |
| 0.8816936612129211, |
| 0.2286989688873291, |
| 0.5329142808914185, |
| 0.5323730707168579 |
| ], |
| [ |
| 0.341860294342041, |
| 0.3525935411453247, |
| 0.1915915608406067, |
| 0.8873869180679321, |
| 0.22883856296539307, |
| 0.536835789680481, |
| 0.5379704833030701 |
| ], |
| [ |
| 0.34653306007385254, |
| 0.35823726654052734, |
| 0.19303840398788452, |
| 0.8927819728851318, |
| 0.2294144630432129, |
| 0.542381763458252, |
| 0.5443952679634094 |
| ] |
| ], |
| "mean": [ |
| [ |
| -0.0007982800016179681, |
| -0.0016464063664898276, |
| 0.00037007269565947354, |
| 0.00024197196762543172, |
| 0.00045984788448549807, |
| 0.0014838846400380135, |
| 0.00033685704693198204 |
| ], |
| [ |
| -0.0009367614984512329, |
| -0.0017480218084529042, |
| 0.00038137412047944963, |
| 0.0003569885448087007, |
| 0.0005054980283603072, |
| 0.0015166513621807098, |
| 0.00035952715552411973 |
| ], |
| [ |
| -0.0010758020216599107, |
| -0.0018496321281418204, |
| 0.00039258820470422506, |
| 0.00047226340393535793, |
| 0.000551102333702147, |
| 0.0015495872357860208, |
| 0.0003825795429293066 |
| ], |
| [ |
| -0.0012154398718848825, |
| -0.0019511859863996506, |
| 0.00040346445166505873, |
| 0.0005878580850549042, |
| 0.0005963993025943637, |
| 0.0015823879512026906, |
| 0.00040643897955305874 |
| ], |
| [ |
| -0.0013557274360209703, |
| -0.0020528333261609077, |
| 0.00041437422623857856, |
| 0.0007032589637674391, |
| 0.0006417170516215265, |
| 0.001615202403627336, |
| 0.00043049672967754304 |
| ], |
| [ |
| -0.001496735610999167, |
| -0.0021546578500419855, |
| 0.0004252490180078894, |
| 0.0008193682879209518, |
| 0.0006870118668302894, |
| 0.0016480738995596766, |
| 0.0004549266886897385 |
| ], |
| [ |
| -0.0016379562439396977, |
| -0.0022564129903912544, |
| 0.00043605617247521877, |
| 0.0009355783113278449, |
| 0.0007323138415813446, |
| 0.0016811450477689505, |
| 0.0004789295489899814 |
| ], |
| [ |
| -0.0017796650063246489, |
| -0.0023586656898260117, |
| 0.00044706749031320214, |
| 0.0010531879961490631, |
| 0.0007779164589010179, |
| 0.0017146189929917455, |
| 0.0005027115694247186 |
| ], |
| [ |
| -0.0019214821513742208, |
| -0.002461322583258152, |
| 0.00045851795584894717, |
| 0.0011720602633431554, |
| 0.0008240637253038585, |
| 0.0017487527802586555, |
| 0.00052527931984514 |
| ], |
| [ |
| -0.0020631998777389526, |
| -0.0025643017143011093, |
| 0.00047070448636077344, |
| 0.0012919085565954447, |
| 0.0008709380053915083, |
| 0.0017838728381320834, |
| 0.0005466303555294871 |
| ], |
| [ |
| -0.002205266384407878, |
| -0.002667608903720975, |
| 0.00048377763596363366, |
| 0.0014127109898254275, |
| 0.0009186830720864236, |
| 0.001820959965698421, |
| 0.0005667482619173825 |
| ], |
| [ |
| -0.0023473468609154224, |
| -0.0027713687159121037, |
| 0.0004977016942575574, |
| 0.0015342753613367677, |
| 0.0009673419990576804, |
| 0.0018597764428704977, |
| 0.0005864152335561812 |
| ], |
| [ |
| -0.002489142818376422, |
| -0.0028753404039889574, |
| 0.0005124662420712411, |
| 0.0016560670919716358, |
| 0.00101680145598948, |
| 0.0019003611523658037, |
| 0.000605776731390506 |
| ], |
| [ |
| -0.002631034702062607, |
| -0.002979816170409322, |
| 0.0005280358600430191, |
| 0.0017780683701857924, |
| 0.0010669216280803084, |
| 0.00194318569265306, |
| 0.0006256963824853301 |
| ], |
| [ |
| -0.002772522857412696, |
| -0.0030848300084471703, |
| 0.0005446308641694486, |
| 0.0018997213337570429, |
| 0.0011178901186212897, |
| 0.0019881424959748983, |
| 0.0006457427516579628 |
| ], |
| [ |
| -0.0029134072829037905, |
| -0.003190303687006235, |
| 0.0005617850692942739, |
| 0.002022041939198971, |
| 0.001169318682514131, |
| 0.0020351686980575323, |
| 0.0006666755070909858 |
| ], |
| [ |
| -0.0030535850673913956, |
| -0.0032963575795292854, |
| 0.0005794578464701772, |
| 0.002144119469448924, |
| 0.0012212010333314538, |
| 0.0020849371794611216, |
| 0.0006877729902043939 |
| ], |
| [ |
| -0.0031928664539009333, |
| -0.0034031402319669724, |
| 0.0005977466353215277, |
| 0.002266382332891226, |
| 0.0012736925855278969, |
| 0.0021370011381804943, |
| 0.0007086381083354354 |
| ], |
| [ |
| -0.003330779494717717, |
| -0.0035108071751892567, |
| 0.0006167836836539209, |
| 0.0023887930437922478, |
| 0.0013267900794744492, |
| 0.0021918988786637783, |
| 0.0007291630026884377 |
| ], |
| [ |
| -0.0034672438632696867, |
| -0.00361942732706666, |
| 0.0006364097935147583, |
| 0.002510695019736886, |
| 0.001380506786517799, |
| 0.0022498120088130236, |
| 0.0007493519806303084 |
| ], |
| [ |
| -0.0036018150858581066, |
| -0.003729218151420355, |
| 0.0006568532553501427, |
| 0.002632630756124854, |
| 0.0014350328128784895, |
| 0.002311093034222722, |
| 0.0007687380420975387 |
| ], |
| [ |
| -0.003734359284862876, |
| -0.003840229008346796, |
| 0.0006780912517569959, |
| 0.0027547103818506002, |
| 0.0014903240371495485, |
| 0.0023756863083690405, |
| 0.0007869823602959514 |
| ], |
| [ |
| -0.00386500614695251, |
| -0.003953033126890659, |
| 0.0007002920028753579, |
| 0.0028769944328814745, |
| 0.0015464691678062081, |
| 0.0024443124420940876, |
| 0.0008049234747886658 |
| ], |
| [ |
| -0.003993246704339981, |
| -0.004067343194037676, |
| 0.0007236317615024745, |
| 0.0029986961744725704, |
| 0.0016036254819482565, |
| 0.0025173304602503777, |
| 0.0008214288391172886 |
| ], |
| [ |
| -0.0041189189068973064, |
| -0.004183304961770773, |
| 0.0007480854401364923, |
| 0.003119624685496092, |
| 0.0016617868095636368, |
| 0.0025945052038878202, |
| 0.0008363122469745576 |
| ], |
| [ |
| -0.00424222182482481, |
| -0.0043011014349758625, |
| 0.0007733406382612884, |
| 0.003239832818508148, |
| 0.0017208396457135677, |
| 0.002676377072930336, |
| 0.0008503234712406993 |
| ], |
| [ |
| -0.004362744279205799, |
| -0.004420354496687651, |
| 0.0007991630700416863, |
| 0.0033593294210731983, |
| 0.0017803339287638664, |
| 0.002762807533144951, |
| 0.000862910645082593 |
| ], |
| [ |
| -0.004480090923607349, |
| -0.004541019443422556, |
| 0.0008253718842752278, |
| 0.003477746155112982, |
| 0.0018400660483166575, |
| 0.0028542184736579657, |
| 0.0008735440205782652 |
| ], |
| [ |
| -0.004594385623931885, |
| -0.004663638770580292, |
| 0.0008520431583747268, |
| 0.0035949544981122017, |
| 0.0019001796608790755, |
| 0.002950918162241578, |
| 0.0008829989237710834 |
| ], |
| [ |
| -0.004705603700131178, |
| -0.004788293037563562, |
| 0.0008791490108706057, |
| 0.003711499273777008, |
| 0.0019606580026447773, |
| 0.003052739193663001, |
| 0.0008913722704164684 |
| ], |
| [ |
| -0.0048136175610125065, |
| -0.004914663732051849, |
| 0.0009070351952686906, |
| 0.003826121799647808, |
| 0.0020218174904584885, |
| 0.0031607947312295437, |
| 0.0008976850076578557 |
| ], |
| [ |
| -0.004918326158076525, |
| -0.005043015815317631, |
| 0.0009353738278150558, |
| 0.003939250484108925, |
| 0.00208331854082644, |
| 0.0032746512442827225, |
| 0.0009028904605656862 |
| ], |
| [ |
| -0.005019546486437321, |
| -0.005173420999199152, |
| 0.0009640992502681911, |
| 0.004051063675433397, |
| 0.0021451099310070276, |
| 0.0033943848684430122, |
| 0.0009066438069567084 |
| ], |
| [ |
| -0.005117308348417282, |
| -0.005306090693920851, |
| 0.0009934563422575593, |
| 0.004161936230957508, |
| 0.002207536017522216, |
| 0.0035196871031075716, |
| 0.0009092272957786918 |
| ], |
| [ |
| -0.005211502779275179, |
| -0.005441108252853155, |
| 0.0010233580833300948, |
| 0.004271237179636955, |
| 0.002270443830639124, |
| 0.003650376573204994, |
| 0.0009105054195970297 |
| ], |
| [ |
| -0.005301776807755232, |
| -0.005578091833740473, |
| 0.0010536970803514123, |
| 0.004379014018923044, |
| 0.00233380775898695, |
| 0.0037866802886128426, |
| 0.0009100102470256388 |
| ], |
| [ |
| -0.00538842985406518, |
| -0.0057173436507582664, |
| 0.0010847807861864567, |
| 0.004485307261347771, |
| 0.002397838979959488, |
| 0.003929027356207371, |
| 0.0009078370640054345 |
| ], |
| [ |
| -0.0054711890406906605, |
| -0.005858874414116144, |
| 0.0011167936027050018, |
| 0.004589604213833809, |
| 0.0024627549573779106, |
| 0.004077231511473656, |
| 0.0009033328387886286 |
| ], |
| [ |
| -0.005550095811486244, |
| -0.006002570036798716, |
| 0.0011495687067508698, |
| 0.004692653194069862, |
| 0.002528429264202714, |
| 0.004231269937008619, |
| 0.000897166202776134 |
| ], |
| [ |
| -0.00562499463558197, |
| -0.006148128304630518, |
| 0.0011828378774225712, |
| 0.004793646279722452, |
| 0.0025945804081857204, |
| 0.004391147755086422, |
| 0.0008890836616046727 |
| ] |
| ], |
| "std": [ |
| [ |
| 0.013161770068109035, |
| 0.01581481844186783, |
| 0.00771338352933526, |
| 0.016705963760614395, |
| 0.008059143088757992, |
| 0.022418200969696045, |
| 0.016523800790309906 |
| ], |
| [ |
| 0.015067238360643387, |
| 0.017944257706403732, |
| 0.008584383875131607, |
| 0.019182113930583, |
| 0.008929569274187088, |
| 0.025441087782382965, |
| 0.018826669082045555 |
| ], |
| [ |
| 0.016983401030302048, |
| 0.02008262276649475, |
| 0.00944715179502964, |
| 0.021648768335580826, |
| 0.009790647774934769, |
| 0.028483791276812553, |
| 0.021130450069904327 |
| ], |
| [ |
| 0.0189029723405838, |
| 0.0222209170460701, |
| 0.01029842160642147, |
| 0.02410946786403656, |
| 0.010639521293342113, |
| 0.031529951840639114, |
| 0.023432374000549316 |
| ], |
| [ |
| 0.02082096040248871, |
| 0.024354999884963036, |
| 0.011137676425278187, |
| 0.026568274945020676, |
| 0.011475837789475918, |
| 0.03457067906856537, |
| 0.025732140988111496 |
| ], |
| [ |
| 0.02273249439895153, |
| 0.026479560881853104, |
| 0.011963574215769768, |
| 0.0290141012519598, |
| 0.01229883637279272, |
| 0.03759867325425148, |
| 0.028022129088640213 |
| ], |
| [ |
| 0.024633236229419708, |
| 0.028589028865098953, |
| 0.012774727307260036, |
| 0.031442414969205856, |
| 0.013106701895594597, |
| 0.040607281029224396, |
| 0.030296683311462402 |
| ], |
| [ |
| 0.026522228494286537, |
| 0.030682574957609177, |
| 0.013571500778198242, |
| 0.03385729342699051, |
| 0.013900311663746834, |
| 0.04359370842576027, |
| 0.03255760669708252 |
| ], |
| [ |
| 0.02839774452149868, |
| 0.03275803104043007, |
| 0.014354411512613297, |
| 0.036254920065402985, |
| 0.014680222608149052, |
| 0.046555571258068085, |
| 0.03480199724435806 |
| ], |
| [ |
| 0.0302572064101696, |
| 0.034812379628419876, |
| 0.015122777782380581, |
| 0.038630567491054535, |
| 0.015445896424353123, |
| 0.04949026182293892, |
| 0.03702586144208908 |
| ], |
| [ |
| 0.03210066258907318, |
| 0.03684546798467636, |
| 0.015877269208431244, |
| 0.04099021852016449, |
| 0.01619819365441799, |
| 0.05239737406373024, |
| 0.0392313227057457 |
| ], |
| [ |
| 0.03392670676112175, |
| 0.038855988532304764, |
| 0.016618436202406883, |
| 0.04332713037729263, |
| 0.016937732696533203, |
| 0.055274877697229385, |
| 0.04141521826386452 |
| ], |
| [ |
| 0.03573418781161308, |
| 0.04084198176860809, |
| 0.017346641048789024, |
| 0.045641470700502396, |
| 0.017664562910795212, |
| 0.05812261253595352, |
| 0.043576061725616455 |
| ], |
| [ |
| 0.037523116916418076, |
| 0.04280395433306694, |
| 0.018062088638544083, |
| 0.0479343980550766, |
| 0.018379153683781624, |
| 0.06093910336494446, |
| 0.04571565240621567 |
| ], |
| [ |
| 0.039292529225349426, |
| 0.0447409451007843, |
| 0.018765613436698914, |
| 0.05020396038889885, |
| 0.019081877544522285, |
| 0.06372407078742981, |
| 0.04783196747303009 |
| ], |
| [ |
| 0.041041892021894455, |
| 0.04665139317512512, |
| 0.01945733278989792, |
| 0.052448779344558716, |
| 0.019773313775658607, |
| 0.06647586822509766, |
| 0.049925047904253006 |
| ], |
| [ |
| 0.04277089610695839, |
| 0.0485357828438282, |
| 0.0201383288949728, |
| 0.05467088147997856, |
| 0.02045411802828312, |
| 0.06919463723897934, |
| 0.05199543014168739 |
| ], |
| [ |
| 0.04447908326983452, |
| 0.050393570214509964, |
| 0.020809050649404526, |
| 0.05686851963400841, |
| 0.02112480252981186, |
| 0.07187887281179428, |
| 0.05404195934534073 |
| ], |
| [ |
| 0.04616605117917061, |
| 0.0522235669195652, |
| 0.021469522267580032, |
| 0.05904097110033035, |
| 0.021785441786050797, |
| 0.07452813535928726, |
| 0.05606397986412048 |
| ], |
| [ |
| 0.04783159866929054, |
| 0.0540267676115036, |
| 0.022120267152786255, |
| 0.06119157001376152, |
| 0.022436372935771942, |
| 0.07714302837848663, |
| 0.05806310102343559 |
| ], |
| [ |
| 0.04947566241025925, |
| 0.05580227077007294, |
| 0.022761989384889603, |
| 0.06331674009561539, |
| 0.02307826094329357, |
| 0.0797228068113327, |
| 0.06003862991929054 |
| ], |
| [ |
| 0.05109749361872673, |
| 0.05754975602030754, |
| 0.023394741117954254, |
| 0.06541716307401657, |
| 0.02371121756732464, |
| 0.08226753771305084, |
| 0.06199029088020325 |
| ], |
| [ |
| 0.0526973195374012, |
| 0.059268977493047714, |
| 0.024018874391913414, |
| 0.06749381124973297, |
| 0.0243354644626379, |
| 0.08477763831615448, |
| 0.06391873210668564 |
| ], |
| [ |
| 0.05427500233054161, |
| 0.060960594564676285, |
| 0.02463412471115589, |
| 0.0695469006896019, |
| 0.024950772523880005, |
| 0.08725246787071228, |
| 0.06582332402467728 |
| ], |
| [ |
| 0.05583048239350319, |
| 0.062624491751194, |
| 0.02524101920425892, |
| 0.07157629728317261, |
| 0.025557655841112137, |
| 0.08969245851039886, |
| 0.06770475953817368 |
| ], |
| [ |
| 0.05736381933093071, |
| 0.06425962597131729, |
| 0.02583971433341503, |
| 0.07358264923095703, |
| 0.026156339794397354, |
| 0.09209863096475601, |
| 0.06956346333026886 |
| ], |
| [ |
| 0.05887483432888985, |
| 0.06586745381355286, |
| 0.02643076330423355, |
| 0.07556495815515518, |
| 0.026747146621346474, |
| 0.09447015076875687, |
| 0.0713987946510315 |
| ], |
| [ |
| 0.06036374345421791, |
| 0.06744714081287384, |
| 0.027013640850782394, |
| 0.07752534747123718, |
| 0.027330216020345688, |
| 0.09680761396884918, |
| 0.0732107013463974 |
| ], |
| [ |
| 0.061830561608076096, |
| 0.06899912655353546, |
| 0.027589350938796997, |
| 0.07946311682462692, |
| 0.027905745431780815, |
| 0.09911185503005981, |
| 0.0750010535120964 |
| ], |
| [ |
| 0.06327520310878754, |
| 0.07052353769540787, |
| 0.028157273307442665, |
| 0.08137771487236023, |
| 0.028473513200879097, |
| 0.10138147324323654, |
| 0.07676739245653152 |
| ], |
| [ |
| 0.06469827890396118, |
| 0.07202073931694031, |
| 0.02871714159846306, |
| 0.08327121287584305, |
| 0.029033293947577477, |
| 0.10361779481172562, |
| 0.07851137965917587 |
| ], |
| [ |
| 0.06609992682933807, |
| 0.0734906941652298, |
| 0.029269710183143616, |
| 0.08514254540205002, |
| 0.029585765674710274, |
| 0.10582129657268524, |
| 0.08023335039615631 |
| ], |
| [ |
| 0.06747952103614807, |
| 0.07493375241756439, |
| 0.029814794659614563, |
| 0.08699112385511398, |
| 0.030130648985505104, |
| 0.10799089074134827, |
| 0.08193264901638031 |
| ], |
| [ |
| 0.06883778423070908, |
| 0.07635027170181274, |
| 0.030352294445037842, |
| 0.0888185203075409, |
| 0.030667733401060104, |
| 0.1101289838552475, |
| 0.08361019939184189 |
| ], |
| [ |
| 0.0701742097735405, |
| 0.07774005830287933, |
| 0.030882421880960464, |
| 0.0906243547797203, |
| 0.03119742125272751, |
| 0.11223398894071579, |
| 0.08526620268821716 |
| ], |
| [ |
| 0.07148963958024979, |
| 0.0791039764881134, |
| 0.031405504792928696, |
| 0.09240922331809998, |
| 0.03171992674469948, |
| 0.11430826038122177, |
| 0.08690086752176285 |
| ], |
| [ |
| 0.07278313487768173, |
| 0.08044173568487167, |
| 0.03192105516791344, |
| 0.09417326748371124, |
| 0.03223505616188049, |
| 0.11635022610425949, |
| 0.08851370215415955 |
| ], |
| [ |
| 0.07405596971511841, |
| 0.08175446093082428, |
| 0.03242931514978409, |
| 0.09591691941022873, |
| 0.032742686569690704, |
| 0.11836118251085281, |
| 0.09010656177997589 |
| ], |
| [ |
| 0.07530726492404938, |
| 0.08304208517074585, |
| 0.032930031418800354, |
| 0.09763912856578827, |
| 0.03324269875884056, |
| 0.12034176290035248, |
| 0.09167764335870743 |
| ], |
| [ |
| 0.07653734087944031, |
| 0.08430531620979309, |
| 0.0334232859313488, |
| 0.09934291243553162, |
| 0.033735305070877075, |
| 0.12229244410991669, |
| 0.09322889149188995 |
| ] |
| ], |
| "q01": [ |
| [ |
| -0.03939257562160492, |
| -0.05240614339709282, |
| -0.020603155717253685, |
| -0.054537177085876465, |
| -0.021697605028748512, |
| -0.04931866377592087, |
| -0.04452475160360336 |
| ], |
| [ |
| -0.04470159485936165, |
| -0.05858307331800461, |
| -0.022757576778531075, |
| -0.06300345063209534, |
| -0.023892877623438835, |
| -0.0555461160838604, |
| -0.05116107314825058 |
| ], |
| [ |
| -0.049648139625787735, |
| -0.06454864144325256, |
| -0.024547157809138298, |
| -0.07024510204792023, |
| -0.025956954807043076, |
| -0.062121111899614334, |
| -0.05764187127351761 |
| ], |
| [ |
| -0.05500863492488861, |
| -0.07030030339956284, |
| -0.02646428346633911, |
| -0.0786726102232933, |
| -0.027849555015563965, |
| -0.06800436973571777, |
| -0.06397432833909988 |
| ], |
| [ |
| -0.059926003217697144, |
| -0.07646368443965912, |
| -0.028588997200131416, |
| -0.08650365471839905, |
| -0.029821321368217468, |
| -0.0747111365199089, |
| -0.0707244724035263 |
| ], |
| [ |
| -0.06499793380498886, |
| -0.08230190724134445, |
| -0.030390193685889244, |
| -0.09444298595190048, |
| -0.03151917830109596, |
| -0.08039998263120651, |
| -0.07742975652217865 |
| ], |
| [ |
| -0.06988827884197235, |
| -0.08835845440626144, |
| -0.03223016858100891, |
| -0.10227798670530319, |
| -0.0329672247171402, |
| -0.0864405706524849, |
| -0.08348087966442108 |
| ], |
| [ |
| -0.07488888502120972, |
| -0.09401054680347443, |
| -0.033812567591667175, |
| -0.10970757156610489, |
| -0.03459163010120392, |
| -0.09219085425138474, |
| -0.08993300050497055 |
| ], |
| [ |
| -0.08009582757949829, |
| -0.09964600205421448, |
| -0.03541312366724014, |
| -0.11772806942462921, |
| -0.035948604345321655, |
| -0.0985284149646759, |
| -0.09663311392068863 |
| ], |
| [ |
| -0.08509321510791779, |
| -0.10557091236114502, |
| -0.03698698431253433, |
| -0.12570469081401825, |
| -0.03735014796257019, |
| -0.10472732037305832, |
| -0.10320030152797699 |
| ], |
| [ |
| -0.08972541242837906, |
| -0.11094146966934204, |
| -0.03844994306564331, |
| -0.13267654180526733, |
| -0.03886061906814575, |
| -0.11114655435085297, |
| -0.10950803756713867 |
| ], |
| [ |
| -0.09428809583187103, |
| -0.1166263222694397, |
| -0.040090784430503845, |
| -0.1402699500322342, |
| -0.04063204675912857, |
| -0.11762509495019913, |
| -0.11531148105859756 |
| ], |
| [ |
| -0.09889329969882965, |
| -0.12130048125982285, |
| -0.04136451706290245, |
| -0.1476479470729828, |
| -0.042086243629455566, |
| -0.12300443649291992, |
| -0.12183725088834763 |
| ], |
| [ |
| -0.10322130471467972, |
| -0.1264583170413971, |
| -0.042780544608831406, |
| -0.15510046482086182, |
| -0.04344163462519646, |
| -0.1286911964416504, |
| -0.12797552347183228 |
| ], |
| [ |
| -0.10745907574892044, |
| -0.13108161091804504, |
| -0.04433374106884003, |
| -0.16388557851314545, |
| -0.044802192598581314, |
| -0.13422280550003052, |
| -0.1336071789264679 |
| ], |
| [ |
| -0.11219313740730286, |
| -0.13602395355701447, |
| -0.045813266187906265, |
| -0.17137859761714935, |
| -0.04606595262885094, |
| -0.14039643108844757, |
| -0.13913790881633759 |
| ], |
| [ |
| -0.11589577794075012, |
| -0.1408395916223526, |
| -0.04708750918507576, |
| -0.17847870290279388, |
| -0.04743482917547226, |
| -0.14563456177711487, |
| -0.14489632844924927 |
| ], |
| [ |
| -0.11913318932056427, |
| -0.14569060504436493, |
| -0.0484885573387146, |
| -0.18570026755332947, |
| -0.04849930480122566, |
| -0.1503969132900238, |
| -0.15118101239204407 |
| ], |
| [ |
| -0.12306614220142365, |
| -0.15015925467014313, |
| -0.049668047577142715, |
| -0.1947103887796402, |
| -0.049690693616867065, |
| -0.1552179604768753, |
| -0.15729723870754242 |
| ], |
| [ |
| -0.1267094761133194, |
| -0.1545242965221405, |
| -0.05075397342443466, |
| -0.20205725729465485, |
| -0.051149360835552216, |
| -0.1605108380317688, |
| -0.16239072382450104 |
| ], |
| [ |
| -0.13097597658634186, |
| -0.15931782126426697, |
| -0.05205145478248596, |
| -0.2098313719034195, |
| -0.052571285516023636, |
| -0.16561703383922577, |
| -0.16761088371276855 |
| ], |
| [ |
| -0.13443784415721893, |
| -0.16343028843402863, |
| -0.053118959069252014, |
| -0.217583566904068, |
| -0.0536021813750267, |
| -0.1704774796962738, |
| -0.17407269775867462 |
| ], |
| [ |
| -0.13832950592041016, |
| -0.1677517592906952, |
| -0.05426156520843506, |
| -0.2243865579366684, |
| -0.054745957255363464, |
| -0.17563076317310333, |
| -0.17891502380371094 |
| ], |
| [ |
| -0.14210478961467743, |
| -0.17150212824344635, |
| -0.05518611520528793, |
| -0.23135200142860413, |
| -0.05586840957403183, |
| -0.18028955161571503, |
| -0.18490758538246155 |
| ], |
| [ |
| -0.14563687145709991, |
| -0.1755484640598297, |
| -0.05630286782979965, |
| -0.23897072672843933, |
| -0.05676037073135376, |
| -0.1846359223127365, |
| -0.19014523923397064 |
| ], |
| [ |
| -0.14881746470928192, |
| -0.17957442998886108, |
| -0.057417888194322586, |
| -0.24627071619033813, |
| -0.05785675719380379, |
| -0.1889670342206955, |
| -0.19618958234786987 |
| ], |
| [ |
| -0.15230433642864227, |
| -0.18305088579654694, |
| -0.05852591618895531, |
| -0.25311580300331116, |
| -0.05896124243736267, |
| -0.1939002126455307, |
| -0.2020423263311386 |
| ], |
| [ |
| -0.15531481802463531, |
| -0.18692559003829956, |
| -0.05943506583571434, |
| -0.2598637342453003, |
| -0.05986137315630913, |
| -0.1980196237564087, |
| -0.20742659270763397 |
| ], |
| [ |
| -0.1584988534450531, |
| -0.19059622287750244, |
| -0.0605798102915287, |
| -0.2668863832950592, |
| -0.06091773509979248, |
| -0.20173494517803192, |
| -0.2129574418067932 |
| ], |
| [ |
| -0.16193608939647675, |
| -0.19385108351707458, |
| -0.06168539077043533, |
| -0.2740771174430847, |
| -0.061929408460855484, |
| -0.20556247234344482, |
| -0.21901178359985352 |
| ], |
| [ |
| -0.16513824462890625, |
| -0.19713833928108215, |
| -0.06269822269678116, |
| -0.28030678629875183, |
| -0.06316760182380676, |
| -0.20923833549022675, |
| -0.22415576875209808 |
| ], |
| [ |
| -0.16830213367938995, |
| -0.20042391121387482, |
| -0.06339551508426666, |
| -0.28746503591537476, |
| -0.06402406841516495, |
| -0.2124882936477661, |
| -0.22872686386108398 |
| ], |
| [ |
| -0.17089535295963287, |
| -0.20302189886569977, |
| -0.06409861147403717, |
| -0.2948773205280304, |
| -0.06525860726833344, |
| -0.2165106236934662, |
| -0.23389017581939697 |
| ], |
| [ |
| -0.17428669333457947, |
| -0.20586927235126495, |
| -0.06482601165771484, |
| -0.3005928099155426, |
| -0.06600948423147202, |
| -0.21960729360580444, |
| -0.2391142100095749 |
| ], |
| [ |
| -0.17691579461097717, |
| -0.20876413583755493, |
| -0.06555362045764923, |
| -0.3092242181301117, |
| -0.06672302633523941, |
| -0.22427266836166382, |
| -0.24388013780117035 |
| ], |
| [ |
| -0.17956005036830902, |
| -0.21199728548526764, |
| -0.06614086776971817, |
| -0.3151029348373413, |
| -0.0676061287522316, |
| -0.22762197256088257, |
| -0.24720849096775055 |
| ], |
| [ |
| -0.18183213472366333, |
| -0.21470031142234802, |
| -0.06700436025857925, |
| -0.32208704948425293, |
| -0.06850580871105194, |
| -0.23118184506893158, |
| -0.25164538621902466 |
| ], |
| [ |
| -0.18412111699581146, |
| -0.21798568964004517, |
| -0.06769479066133499, |
| -0.32801946997642517, |
| -0.0692463293671608, |
| -0.2345266491174698, |
| -0.25569581985473633 |
| ], |
| [ |
| -0.18623559176921844, |
| -0.22087495028972626, |
| -0.06852392852306366, |
| -0.33361804485321045, |
| -0.06995191425085068, |
| -0.23743313550949097, |
| -0.2601616084575653 |
| ], |
| [ |
| -0.18836610019207, |
| -0.22370095551013947, |
| -0.06905250996351242, |
| -0.33950483798980713, |
| -0.0706290602684021, |
| -0.24058294296264648, |
| -0.26452019810676575 |
| ] |
| ], |
| "q99": [ |
| [ |
| 0.03761940076947212, |
| 0.03602028265595436, |
| 0.02318938821554184, |
| 0.05090722069144249, |
| 0.024545099586248398, |
| 0.083517886698246, |
| 0.05316346511244774 |
| ], |
| [ |
| 0.04327293485403061, |
| 0.0407087542116642, |
| 0.025628456845879555, |
| 0.059546519070863724, |
| 0.027493756264448166, |
| 0.09431964159011841, |
| 0.0600019209086895 |
| ], |
| [ |
| 0.04889156296849251, |
| 0.045070186257362366, |
| 0.02837023138999939, |
| 0.0682472214102745, |
| 0.030036605894565582, |
| 0.10451558977365494, |
| 0.06651853024959564 |
| ], |
| [ |
| 0.05432584509253502, |
| 0.049815837293863297, |
| 0.03076249733567238, |
| 0.0767856165766716, |
| 0.03262091428041458, |
| 0.11538805812597275, |
| 0.07369965314865112 |
| ], |
| [ |
| 0.05991046875715256, |
| 0.05476391315460205, |
| 0.03310595452785492, |
| 0.08492665737867355, |
| 0.03520016372203827, |
| 0.1260206401348114, |
| 0.08103492856025696 |
| ], |
| [ |
| 0.06542118638753891, |
| 0.05954454466700554, |
| 0.035586826503276825, |
| 0.09350346028804779, |
| 0.03758842498064041, |
| 0.13628163933753967, |
| 0.08811624348163605 |
| ], |
| [ |
| 0.07074588537216187, |
| 0.06425317376852036, |
| 0.03804124891757965, |
| 0.10154561698436737, |
| 0.03991418331861496, |
| 0.14689400792121887, |
| 0.09444458782672882 |
| ], |
| [ |
| 0.07640239596366882, |
| 0.06893661618232727, |
| 0.040200721472501755, |
| 0.1093122586607933, |
| 0.04223274439573288, |
| 0.15746496617794037, |
| 0.10181663930416107 |
| ], |
| [ |
| 0.08135881274938583, |
| 0.0736084133386612, |
| 0.042057380080223083, |
| 0.11811192333698273, |
| 0.045182500034570694, |
| 0.1672544777393341, |
| 0.10796771943569183 |
| ], |
| [ |
| 0.08671348541975021, |
| 0.07773709297180176, |
| 0.04409404844045639, |
| 0.12592513859272003, |
| 0.047411657869815826, |
| 0.17713189125061035, |
| 0.11376441270112991 |
| ], |
| [ |
| 0.09133876115083694, |
| 0.08270294219255447, |
| 0.04673270881175995, |
| 0.13446731865406036, |
| 0.04965515807271004, |
| 0.1865018606185913, |
| 0.12081106752157211 |
| ], |
| [ |
| 0.09666288644075394, |
| 0.08731947839260101, |
| 0.04908566549420357, |
| 0.14278538525104523, |
| 0.05227723345160484, |
| 0.1958872228860855, |
| 0.12659376859664917 |
| ], |
| [ |
| 0.10158900171518326, |
| 0.09184756875038147, |
| 0.051549945026636124, |
| 0.15031518042087555, |
| 0.055026907473802567, |
| 0.20488221943378448, |
| 0.13245412707328796 |
| ], |
| [ |
| 0.10660362988710403, |
| 0.09621529281139374, |
| 0.05401664972305298, |
| 0.15884612500667572, |
| 0.057113390415906906, |
| 0.21413065493106842, |
| 0.1377013474702835 |
| ], |
| [ |
| 0.11123397201299667, |
| 0.10022356361150742, |
| 0.056137584149837494, |
| 0.16697187721729279, |
| 0.05925387889146805, |
| 0.22231635451316833, |
| 0.1440366506576538 |
| ], |
| [ |
| 0.11592090129852295, |
| 0.10473532229661942, |
| 0.05862817168235779, |
| 0.17389433085918427, |
| 0.06160794198513031, |
| 0.23111315071582794, |
| 0.14910799264907837 |
| ], |
| [ |
| 0.12053436785936356, |
| 0.1089916005730629, |
| 0.060697004199028015, |
| 0.18123584985733032, |
| 0.06395915150642395, |
| 0.23794271051883698, |
| 0.15556500852108002 |
| ], |
| [ |
| 0.1252797245979309, |
| 0.11334772408008575, |
| 0.06295213848352432, |
| 0.18864721059799194, |
| 0.0667346715927124, |
| 0.245958149433136, |
| 0.1610385924577713 |
| ], |
| [ |
| 0.1298011839389801, |
| 0.11702604591846466, |
| 0.06493230164051056, |
| 0.19447623193264008, |
| 0.0684758797287941, |
| 0.2542893588542938, |
| 0.1659802347421646 |
| ], |
| [ |
| 0.1342446208000183, |
| 0.1209176778793335, |
| 0.06679417192935944, |
| 0.20191654562950134, |
| 0.07115344703197479, |
| 0.2618939280509949, |
| 0.17162202298641205 |
| ], |
| [ |
| 0.13844814896583557, |
| 0.12482817471027374, |
| 0.06914010643959045, |
| 0.20919738709926605, |
| 0.07319098711013794, |
| 0.26874205470085144, |
| 0.17666058242321014 |
| ], |
| [ |
| 0.1423899233341217, |
| 0.12812653183937073, |
| 0.07113777101039886, |
| 0.21523523330688477, |
| 0.0751938745379448, |
| 0.276231586933136, |
| 0.18070390820503235 |
| ], |
| [ |
| 0.14649313688278198, |
| 0.13218261301517487, |
| 0.07292944937944412, |
| 0.22152389585971832, |
| 0.07763746380805969, |
| 0.28376370668411255, |
| 0.18632176518440247 |
| ], |
| [ |
| 0.1506633758544922, |
| 0.13518594205379486, |
| 0.07469465583562851, |
| 0.229935422539711, |
| 0.07995264232158661, |
| 0.29128018021583557, |
| 0.19193685054779053 |
| ], |
| [ |
| 0.1548120379447937, |
| 0.13937881588935852, |
| 0.07705255597829819, |
| 0.23616059124469757, |
| 0.0817566066980362, |
| 0.2983841001987457, |
| 0.1967974305152893 |
| ], |
| [ |
| 0.15838493406772614, |
| 0.14270925521850586, |
| 0.07913029193878174, |
| 0.2434595823287964, |
| 0.08411247283220291, |
| 0.3051401972770691, |
| 0.20143607258796692 |
| ], |
| [ |
| 0.16212336719036102, |
| 0.14558593928813934, |
| 0.08094454556703568, |
| 0.24965539574623108, |
| 0.08691699802875519, |
| 0.3121693730354309, |
| 0.20677945017814636 |
| ], |
| [ |
| 0.16552241146564484, |
| 0.1488744169473648, |
| 0.08252659440040588, |
| 0.25565120577812195, |
| 0.08882144093513489, |
| 0.3185887038707733, |
| 0.212346151471138 |
| ], |
| [ |
| 0.1691761016845703, |
| 0.1522461622953415, |
| 0.08485709875822067, |
| 0.2620789408683777, |
| 0.09085775911808014, |
| 0.3246626853942871, |
| 0.21608830988407135 |
| ], |
| [ |
| 0.17317058145999908, |
| 0.15515056252479553, |
| 0.08668078482151031, |
| 0.26824429631233215, |
| 0.09310123324394226, |
| 0.33082324266433716, |
| 0.22108764946460724 |
| ], |
| [ |
| 0.1766916960477829, |
| 0.15841205418109894, |
| 0.088438019156456, |
| 0.2748032510280609, |
| 0.09490560740232468, |
| 0.33771222829818726, |
| 0.2260359227657318 |
| ], |
| [ |
| 0.18052788078784943, |
| 0.1619686633348465, |
| 0.09039871394634247, |
| 0.2814823091030121, |
| 0.09650570154190063, |
| 0.3427862226963043, |
| 0.22921647131443024 |
| ], |
| [ |
| 0.1847068965435028, |
| 0.16491252183914185, |
| 0.092799112200737, |
| 0.28762343525886536, |
| 0.09834875911474228, |
| 0.3478775918483734, |
| 0.23453070223331451 |
| ], |
| [ |
| 0.18875984847545624, |
| 0.16857530176639557, |
| 0.09490589797496796, |
| 0.29238176345825195, |
| 0.10041378438472748, |
| 0.352350115776062, |
| 0.23831047117710114 |
| ], |
| [ |
| 0.1925649642944336, |
| 0.17167745530605316, |
| 0.0964396670460701, |
| 0.301583856344223, |
| 0.10286282747983932, |
| 0.35769838094711304, |
| 0.2425806224346161 |
| ], |
| [ |
| 0.196231871843338, |
| 0.17454609274864197, |
| 0.09835586696863174, |
| 0.30791881680488586, |
| 0.10571154206991196, |
| 0.3625788986682892, |
| 0.24869206547737122 |
| ], |
| [ |
| 0.19949334859848022, |
| 0.1769474893808365, |
| 0.10023559629917145, |
| 0.3146294355392456, |
| 0.10749229788780212, |
| 0.367410808801651, |
| 0.2534617781639099 |
| ], |
| [ |
| 0.20301370322704315, |
| 0.17946785688400269, |
| 0.10148799419403076, |
| 0.3205511271953583, |
| 0.11011131852865219, |
| 0.3728210926055908, |
| 0.2570197582244873 |
| ], |
| [ |
| 0.2058873325586319, |
| 0.18215873837471008, |
| 0.10312861949205399, |
| 0.3270655572414398, |
| 0.11219945549964905, |
| 0.3759554326534271, |
| 0.26184719800949097 |
| ], |
| [ |
| 0.20937642455101013, |
| 0.18548618257045746, |
| 0.10505255311727524, |
| 0.333734929561615, |
| 0.11532191187143326, |
| 0.38092732429504395, |
| 0.26655158400535583 |
| ] |
| ], |
| "count": [ |
| 47982, |
| 47982, |
| 47982, |
| 47982, |
| 47982, |
| 47982, |
| 47982, |
| 47982, |
| 47982, |
| 47982, |
| 47982, |
| 47982, |
| 47982, |
| 47982, |
| 47982, |
| 47982, |
| 47982, |
| 47982, |
| 47982, |
| 47982, |
| 47982, |
| 47982, |
| 47982, |
| 47982, |
| 47982, |
| 47982, |
| 47982, |
| 47982, |
| 47982, |
| 47982, |
| 47982, |
| 47982, |
| 47982, |
| 47982, |
| 47982, |
| 47982, |
| 47982, |
| 47982, |
| 47982, |
| 47982 |
| ] |
| } |
| } |
| }, |
| "modality_config": { |
| "state": { |
| "modality_keys": [ |
| "single_arm", |
| "gripper_gripper_0" |
| ] |
| }, |
| "action": { |
| "modality_keys": [ |
| "single_arm", |
| "gripper_gripper_0" |
| ], |
| "action_configs": [ |
| { |
| "rep": "RELATIVE", |
| "type": "NON_EEF", |
| "format": "DEFAULT", |
| "state_key": null |
| }, |
| { |
| "rep": "ABSOLUTE", |
| "type": "NON_EEF", |
| "format": "DEFAULT", |
| "state_key": null |
| } |
| ], |
| "delta_indices": [ |
| 0, |
| 1, |
| 2, |
| 3, |
| 4, |
| 5, |
| 6, |
| 7, |
| 8, |
| 9, |
| 10, |
| 11, |
| 12, |
| 13, |
| 14, |
| 15, |
| 16, |
| 17, |
| 18, |
| 19, |
| 20, |
| 21, |
| 22, |
| 23, |
| 24, |
| 25, |
| 26, |
| 27, |
| 28, |
| 29, |
| 30, |
| 31, |
| 32, |
| 33, |
| 34, |
| 35, |
| 36, |
| 37, |
| 38, |
| 39 |
| ] |
| }, |
| "video": { |
| "modality_keys": [ |
| "camera_head", |
| "camera_right" |
| ], |
| "delta_indices": [ |
| 0 |
| ] |
| } |
| } |
| }, |
| "state_file": "policy_preprocessor_step_2_groot_n1_7_pack_inputs_v1.safetensors" |
| }, |
| { |
| "registry_name": "groot_n1_7_vlm_encode_v1", |
| "config": { |
| "model_name": "nvidia/Cosmos-Reason2-2B", |
| "image_crop_size": [ |
| 230, |
| 230 |
| ], |
| "image_target_size": [ |
| 256, |
| 256 |
| ], |
| "shortest_image_edge": null, |
| "crop_fraction": null, |
| "use_albumentations": false, |
| "letter_box_transform": false, |
| "device": "cuda" |
| } |
| }, |
| { |
| "registry_name": "device_processor", |
| "config": { |
| "device": "cuda", |
| "float_dtype": null |
| } |
| } |
| ] |
| } |
