{ "mode": "reduced_sr", "ckpt": "/home/askhabaliev_g/checkpoints/vla/calvin_s0_bf16/pins/step_5000/last.ckpt", "ckpt_step": 5000, "dataset": "/mnt/aicenter1-datasets/askhabaliev_gs/calvin_full/task_D_D/task_D_D", "n_chains": 50, "ep_len": 360, "execution_horizon": 12, "chunk_length": 30, "budget_hours": 4.5, "budget_limited": false, "oracle_status": "calvin_env.envs.tasks.Tasks + new_playtable_tasks.yaml (vendored helpers; no pyhash)", "avg_seq_len": 1.16, "SR1": 0.66, "SR2": 0.34, "SR3": 0.12, "SR4": 0.04, "SR5": 0.0, "chain_sr_pct": { "SR1": 66.0, "SR2": 34.0, "SR3": 12.0, "SR4": 4.0, "SR5": 0.0 }, "wall_seconds_total": 3153.351, "wall_seconds_per_chain_mean": 63.067, "calibrate_wall_seconds_per_chain": null, "calibrate_rollout": "skipped_n_chains_fixed", "codec": { "source": "cli", "yaml_path": "/datasets/askhabaliev_g/checkpoints/codec/rvq_posttrain_s0/best/model", "resolved_dir": "/home/askhabaliev_g/checkpoints/codec/rvq_posttrain_s0/best/model", "matches_train_pin": true, "files": { "config.json": { "path": "/home/askhabaliev_g/checkpoints/codec/rvq_posttrain_s0/best/model/config.json", "resolved": "/home/askhabaliev_g/hf_cache/hub/models--hackhackhack66666--calvin-hicora/blobs/dbdb9ec711473e5f5d07f3e2348aa3710d8406e3", "sha256": "eb9eae824a561eccb5f915f2bb4008f9a54211554cfebd745525fedfe27a73c9", "bytes": 1112 }, "model.safetensors": { "path": "/home/askhabaliev_g/checkpoints/codec/rvq_posttrain_s0/best/model/model.safetensors", "resolved": "/home/askhabaliev_g/hf_cache/hub/models--hackhackhack66666--calvin-hicora/blobs/07099e1e43bcbcffe29620128f0036c8479cbd4ac3b7d3a7d2f1987d6038f0a7", "sha256": "07099e1e43bcbcffe29620128f0036c8479cbd4ac3b7d3a7d2f1987d6038f0a7", "bytes": 154552439 } } }, "determinism": { "base_seed": 0, "per_chain_seed": "base_seed + 100003 * chain_id, mod 2**31-1", "do_sample": false, "position_offset": 3, "cudnn_deterministic": true, "cudnn_benchmark": false, "torch_deterministic_algorithms": false, "physics_note": "PyBullet is not bitwise deterministic. The paired interval includes rollout noise as well as the policy change. Chain 0 is not pre-rolled when --n-chains is set." }, "infer_seconds_total": 253.361, "infer_calls_total": 2073, "extrapolated_wall_hours_1000": 17.519, "recommend_full_1000": false, "score_histogram": { "1": 16, "0": 17, "4": 2, "3": 4, "2": 11 }, "chains": [ { "chain_id": 0, "chain_seed": 0, "score": 1, "sequence": [ "rotate_blue_block_right", "move_slider_right", "lift_red_block_slider", "place_in_slider", "turn_off_lightbulb" ], "initial_state": { "led": 1, "lightbulb": 1, "slider": "left", "drawer": "open", "red_block": "slider_left", "blue_block": "table", "pink_block": "slider_right", "grasped": 0 }, "wall_seconds": 78.538, "infer_seconds": 6.498, "infer_calls": 51, "decoder_calls": 51, "action_chunks": 51, "env_steps": 606 }, { "chain_id": 1, "chain_seed": 100003, "score": 1, "sequence": [ "turn_off_led", "push_into_drawer", "lift_blue_block_drawer", "place_in_slider", "close_drawer" ], "initial_state": { "led": 1, "lightbulb": 1, "slider": "right", "drawer": "open", "red_block": "slider_right", "blue_block": "table", "pink_block": "slider_left", "grasped": 0 }, "wall_seconds": 52.97, "infer_seconds": 3.906, "infer_calls": 35, "decoder_calls": 35, "action_chunks": 35, "env_steps": 416 }, { "chain_id": 2, "chain_seed": 200006, "score": 0, "sequence": [ "lift_pink_block_slider", "place_in_slider", "open_drawer", "rotate_red_block_right", "lift_red_block_table" ], "initial_state": { "led": 0, "lightbulb": 1, "slider": "right", "drawer": "closed", "red_block": "table", "blue_block": "slider_right", "pink_block": "slider_left", "grasped": 0 }, "wall_seconds": 46.008, "infer_seconds": 3.739, "infer_calls": 30, "decoder_calls": 30, "action_chunks": 30, "env_steps": 360 }, { "chain_id": 3, "chain_seed": 300009, "score": 1, "sequence": [ "rotate_blue_block_right", "lift_pink_block_table", "place_in_slider", "move_slider_left", "open_drawer" ], "initial_state": { "led": 1, "lightbulb": 0, "slider": "right", "drawer": "closed", "red_block": "slider_right", "blue_block": "table", "pink_block": "table", "grasped": 0 }, "wall_seconds": 63.829, "infer_seconds": 5.004, "infer_calls": 41, "decoder_calls": 41, "action_chunks": 41, "env_steps": 492 }, { "chain_id": 4, "chain_seed": 400012, "score": 4, "sequence": [ "open_drawer", "lift_pink_block_table", "place_in_slider", "turn_on_lightbulb", "rotate_blue_block_left" ], "initial_state": { "led": 1, "lightbulb": 0, "slider": "left", "drawer": "closed", "red_block": "slider_right", "blue_block": "table", "pink_block": "table", "grasped": 0 }, "wall_seconds": 106.497, "infer_seconds": 8.55, "infer_calls": 71, "decoder_calls": 71, "action_chunks": 71, "env_steps": 824 }, { "chain_id": 5, "chain_seed": 500015, "score": 3, "sequence": [ "push_blue_block_left", "close_drawer", "lift_red_block_slider", "place_in_slider", "turn_off_lightbulb" ], "initial_state": { "led": 1, "lightbulb": 1, "slider": "left", "drawer": "open", "red_block": "slider_right", "blue_block": "table", "pink_block": "table", "grasped": 0 }, "wall_seconds": 77.237, "infer_seconds": 6.295, "infer_calls": 51, "decoder_calls": 51, "action_chunks": 51, "env_steps": 603 }, { "chain_id": 6, "chain_seed": 600018, "score": 1, "sequence": [ "open_drawer", "rotate_red_block_right", "turn_on_led", "lift_pink_block_table", "stack_block" ], "initial_state": { "led": 0, "lightbulb": 0, "slider": "right", "drawer": "closed", "red_block": "table", "blue_block": "slider_left", "pink_block": "table", "grasped": 0 }, "wall_seconds": 54.932, "infer_seconds": 4.438, "infer_calls": 36, "decoder_calls": 36, "action_chunks": 36, "env_steps": 423 }, { "chain_id": 7, "chain_seed": 700021, "score": 0, "sequence": [ "push_pink_block_right", "lift_pink_block_table", "place_in_slider", "push_into_drawer", "close_drawer" ], "initial_state": { "led": 0, "lightbulb": 0, "slider": "left", "drawer": "open", "red_block": "table", "blue_block": "slider_right", "pink_block": "table", "grasped": 0 }, "wall_seconds": 45.914, "infer_seconds": 3.697, "infer_calls": 30, "decoder_calls": 30, "action_chunks": 30, "env_steps": 360 }, { "chain_id": 8, "chain_seed": 800024, "score": 1, "sequence": [ "open_drawer", "push_red_block_right", "move_slider_left", "lift_pink_block_slider", "place_in_slider" ], "initial_state": { "led": 0, "lightbulb": 1, "slider": "right", "drawer": "closed", "red_block": "table", "blue_block": "slider_left", "pink_block": "slider_right", "grasped": 0 }, "wall_seconds": 54.443, "infer_seconds": 4.228, "infer_calls": 36, "decoder_calls": 36, "action_chunks": 36, "env_steps": 428 }, { "chain_id": 9, "chain_seed": 900027, "score": 2, "sequence": [ "push_red_block_left", "lift_blue_block_table", "place_in_slider", "turn_on_lightbulb", "move_slider_right" ], "initial_state": { "led": 1, "lightbulb": 0, "slider": "left", "drawer": "open", "red_block": "table", "blue_block": "table", "pink_block": "slider_left", "grasped": 0 }, "wall_seconds": 84.338, "infer_seconds": 6.874, "infer_calls": 56, "decoder_calls": 56, "action_chunks": 56, "env_steps": 661 }, { "chain_id": 10, "chain_seed": 1000030, "score": 2, "sequence": [ "rotate_blue_block_left", "lift_blue_block_table", "place_in_drawer", "move_slider_right", "turn_off_lightbulb" ], "initial_state": { "led": 0, "lightbulb": 1, "slider": "left", "drawer": "open", "red_block": "slider_right", "blue_block": "table", "pink_block": "slider_left", "grasped": 0 }, "wall_seconds": 101.602, "infer_seconds": 8.307, "infer_calls": 67, "decoder_calls": 67, "action_chunks": 67, "env_steps": 787 }, { "chain_id": 11, "chain_seed": 1100033, "score": 3, "sequence": [ "lift_pink_block_slider", "place_in_slider", "turn_on_lightbulb", "rotate_blue_block_right", "open_drawer" ], "initial_state": { "led": 1, "lightbulb": 0, "slider": "right", "drawer": "closed", "red_block": "slider_right", "blue_block": "table", "pink_block": "slider_left", "grasped": 0 }, "wall_seconds": 67.605, "infer_seconds": 5.545, "infer_calls": 45, "decoder_calls": 45, "action_chunks": 45, "env_steps": 524 }, { "chain_id": 12, "chain_seed": 1200036, "score": 1, "sequence": [ "move_slider_left", "rotate_red_block_left", "turn_off_led", "lift_pink_block_table", "place_in_slider" ], "initial_state": { "led": 1, "lightbulb": 1, "slider": "right", "drawer": "closed", "red_block": "table", "blue_block": "slider_left", "pink_block": "table", "grasped": 0 }, "wall_seconds": 54.64, "infer_seconds": 4.368, "infer_calls": 36, "decoder_calls": 36, "action_chunks": 36, "env_steps": 423 }, { "chain_id": 13, "chain_seed": 1300039, "score": 2, "sequence": [ "turn_on_led", "close_drawer", "push_red_block_right", "lift_red_block_table", "place_in_slider" ], "initial_state": { "led": 0, "lightbulb": 0, "slider": "left", "drawer": "open", "red_block": "table", "blue_block": "slider_right", "pink_block": "slider_left", "grasped": 0 }, "wall_seconds": 71.097, "infer_seconds": 5.743, "infer_calls": 47, "decoder_calls": 47, "action_chunks": 47, "env_steps": 556 }, { "chain_id": 14, "chain_seed": 1400042, "score": 0, "sequence": [ "lift_red_block_slider", "stack_block", "move_slider_left", "turn_off_led", "open_drawer" ], "initial_state": { "led": 1, "lightbulb": 0, "slider": "right", "drawer": "closed", "red_block": "slider_left", "blue_block": "slider_right", "pink_block": "table", "grasped": 0 }, "wall_seconds": 45.395, "infer_seconds": 3.691, "infer_calls": 30, "decoder_calls": 30, "action_chunks": 30, "env_steps": 360 }, { "chain_id": 15, "chain_seed": 1500045, "score": 4, "sequence": [ "move_slider_left", "push_pink_block_left", "open_drawer", "turn_on_lightbulb", "lift_blue_block_table" ], "initial_state": { "led": 0, "lightbulb": 0, "slider": "right", "drawer": "closed", "red_block": "slider_left", "blue_block": "table", "pink_block": "table", "grasped": 0 }, "wall_seconds": 99.91, "infer_seconds": 7.92, "infer_calls": 66, "decoder_calls": 66, "action_chunks": 66, "env_steps": 775 }, { "chain_id": 16, "chain_seed": 1600048, "score": 1, "sequence": [ "push_red_block_left", "lift_pink_block_slider", "stack_block", "turn_off_led", "open_drawer" ], "initial_state": { "led": 1, "lightbulb": 1, "slider": "left", "drawer": "closed", "red_block": "table", "blue_block": "slider_left", "pink_block": "slider_right", "grasped": 0 }, "wall_seconds": 69.734, "infer_seconds": 5.597, "infer_calls": 45, "decoder_calls": 45, "action_chunks": 45, "env_steps": 538 }, { "chain_id": 17, "chain_seed": 1700051, "score": 2, "sequence": [ "push_red_block_left", "move_slider_right", "lift_blue_block_slider", "place_in_slider", "turn_on_lightbulb" ], "initial_state": { "led": 0, "lightbulb": 0, "slider": "left", "drawer": "closed", "red_block": "table", "blue_block": "slider_left", "pink_block": "slider_right", "grasped": 0 }, "wall_seconds": 70.392, "infer_seconds": 5.907, "infer_calls": 47, "decoder_calls": 47, "action_chunks": 47, "env_steps": 548 }, { "chain_id": 18, "chain_seed": 1800054, "score": 1, "sequence": [ "turn_on_lightbulb", "push_red_block_right", "move_slider_left", "lift_red_block_table", "stack_block" ], "initial_state": { "led": 0, "lightbulb": 0, "slider": "right", "drawer": "closed", "red_block": "table", "blue_block": "slider_right", "pink_block": "table", "grasped": 0 }, "wall_seconds": 68.361, "infer_seconds": 5.576, "infer_calls": 45, "decoder_calls": 45, "action_chunks": 45, "env_steps": 529 }, { "chain_id": 19, "chain_seed": 1900057, "score": 2, "sequence": [ "move_slider_left", "lift_red_block_table", "place_in_slider", "turn_on_lightbulb", "close_drawer" ], "initial_state": { "led": 0, "lightbulb": 0, "slider": "right", "drawer": "open", "red_block": "table", "blue_block": "table", "pink_block": "slider_right", "grasped": 0 }, "wall_seconds": 70.568, "infer_seconds": 5.658, "infer_calls": 46, "decoder_calls": 46, "action_chunks": 46, "env_steps": 547 }, { "chain_id": 20, "chain_seed": 2000060, "score": 2, "sequence": [ "open_drawer", "turn_on_lightbulb", "push_red_block_left", "move_slider_left", "push_into_drawer" ], "initial_state": { "led": 0, "lightbulb": 0, "slider": "right", "drawer": "closed", "red_block": "table", "blue_block": "slider_left", "pink_block": "slider_right", "grasped": 0 }, "wall_seconds": 68.137, "infer_seconds": 5.699, "infer_calls": 46, "decoder_calls": 46, "action_chunks": 46, "env_steps": 538 }, { "chain_id": 21, "chain_seed": 2100063, "score": 0, "sequence": [ "move_slider_right", "turn_off_lightbulb", "lift_pink_block_table", "place_in_drawer", "lift_pink_block_drawer" ], "initial_state": { "led": 0, "lightbulb": 1, "slider": "left", "drawer": "open", "red_block": "table", "blue_block": "slider_left", "pink_block": "table", "grasped": 0 }, "wall_seconds": 45.22, "infer_seconds": 3.63, "infer_calls": 30, "decoder_calls": 30, "action_chunks": 30, "env_steps": 360 }, { "chain_id": 22, "chain_seed": 2200066, "score": 3, "sequence": [ "rotate_pink_block_right", "open_drawer", "lift_blue_block_table", "place_in_slider", "turn_off_lightbulb" ], "initial_state": { "led": 0, "lightbulb": 1, "slider": "right", "drawer": "closed", "red_block": "slider_right", "blue_block": "table", "pink_block": "table", "grasped": 0 }, "wall_seconds": 110.846, "infer_seconds": 8.753, "infer_calls": 72, "decoder_calls": 72, "action_chunks": 72, "env_steps": 856 }, { "chain_id": 23, "chain_seed": 2300069, "score": 2, "sequence": [ "turn_on_led", "move_slider_left", "lift_blue_block_table", "stack_block", "unstack_block" ], "initial_state": { "led": 0, "lightbulb": 1, "slider": "right", "drawer": "closed", "red_block": "slider_right", "blue_block": "table", "pink_block": "table", "grasped": 0 }, "wall_seconds": 73.957, "infer_seconds": 6.035, "infer_calls": 49, "decoder_calls": 49, "action_chunks": 49, "env_steps": 579 }, { "chain_id": 24, "chain_seed": 2400072, "score": 0, "sequence": [ "rotate_blue_block_right", "open_drawer", "turn_off_led", "lift_blue_block_table", "place_in_slider" ], "initial_state": { "led": 1, "lightbulb": 1, "slider": "left", "drawer": "closed", "red_block": "table", "blue_block": "table", "pink_block": "slider_right", "grasped": 0 }, "wall_seconds": 47.435, "infer_seconds": 3.641, "infer_calls": 30, "decoder_calls": 30, "action_chunks": 30, "env_steps": 360 }, { "chain_id": 25, "chain_seed": 2500075, "score": 0, "sequence": [ "lift_blue_block_slider", "stack_block", "turn_off_led", "unstack_block", "push_blue_block_left" ], "initial_state": { "led": 1, "lightbulb": 1, "slider": "right", "drawer": "closed", "red_block": "table", "blue_block": "slider_left", "pink_block": "slider_right", "grasped": 0 }, "wall_seconds": 45.585, "infer_seconds": 3.667, "infer_calls": 30, "decoder_calls": 30, "action_chunks": 30, "env_steps": 360 }, { "chain_id": 26, "chain_seed": 2600078, "score": 3, "sequence": [ "push_blue_block_right", "open_drawer", "lift_pink_block_slider", "place_in_slider", "push_into_drawer" ], "initial_state": { "led": 0, "lightbulb": 0, "slider": "right", "drawer": "closed", "red_block": "slider_right", "blue_block": "table", "pink_block": "slider_left", "grasped": 0 }, "wall_seconds": 77.967, "infer_seconds": 6.331, "infer_calls": 52, "decoder_calls": 52, "action_chunks": 52, "env_steps": 606 }, { "chain_id": 27, "chain_seed": 2700081, "score": 0, "sequence": [ "push_red_block_right", "turn_on_lightbulb", "push_into_drawer", "move_slider_left", "close_drawer" ], "initial_state": { "led": 0, "lightbulb": 0, "slider": "right", "drawer": "open", "red_block": "table", "blue_block": "slider_left", "pink_block": "slider_right", "grasped": 0 }, "wall_seconds": 46.35, "infer_seconds": 3.609, "infer_calls": 30, "decoder_calls": 30, "action_chunks": 30, "env_steps": 360 }, { "chain_id": 28, "chain_seed": 2800084, "score": 0, "sequence": [ "turn_off_lightbulb", "rotate_blue_block_left", "move_slider_left", "open_drawer", "lift_red_block_table" ], "initial_state": { "led": 1, "lightbulb": 1, "slider": "right", "drawer": "closed", "red_block": "table", "blue_block": "table", "pink_block": "slider_right", "grasped": 0 }, "wall_seconds": 46.895, "infer_seconds": 3.578, "infer_calls": 30, "decoder_calls": 30, "action_chunks": 30, "env_steps": 360 }, { "chain_id": 29, "chain_seed": 2900087, "score": 1, "sequence": [ "lift_red_block_table", "stack_block", "unstack_block", "open_drawer", "turn_on_led" ], "initial_state": { "led": 0, "lightbulb": 0, "slider": "right", "drawer": "closed", "red_block": "table", "blue_block": "table", "pink_block": "slider_right", "grasped": 0 }, "wall_seconds": 55.78, "infer_seconds": 4.493, "infer_calls": 37, "decoder_calls": 37, "action_chunks": 37, "env_steps": 433 }, { "chain_id": 30, "chain_seed": 3000090, "score": 0, "sequence": [ "lift_blue_block_table", "place_in_drawer", "push_red_block_right", "close_drawer", "turn_off_led" ], "initial_state": { "led": 1, "lightbulb": 1, "slider": "right", "drawer": "open", "red_block": "table", "blue_block": "table", "pink_block": "slider_right", "grasped": 0 }, "wall_seconds": 45.355, "infer_seconds": 3.591, "infer_calls": 30, "decoder_calls": 30, "action_chunks": 30, "env_steps": 360 }, { "chain_id": 31, "chain_seed": 3100093, "score": 1, "sequence": [ "lift_pink_block_table", "place_in_slider", "push_into_drawer", "close_drawer", "turn_off_led" ], "initial_state": { "led": 1, "lightbulb": 0, "slider": "left", "drawer": "open", "red_block": "table", "blue_block": "slider_right", "pink_block": "table", "grasped": 0 }, "wall_seconds": 59.488, "infer_seconds": 4.907, "infer_calls": 39, "decoder_calls": 39, "action_chunks": 39, "env_steps": 460 }, { "chain_id": 32, "chain_seed": 3200096, "score": 0, "sequence": [ "rotate_pink_block_left", "lift_pink_block_table", "stack_block", "unstack_block", "turn_off_led" ], "initial_state": { "led": 1, "lightbulb": 0, "slider": "right", "drawer": "open", "red_block": "slider_right", "blue_block": "table", "pink_block": "table", "grasped": 0 }, "wall_seconds": 48.318, "infer_seconds": 3.548, "infer_calls": 30, "decoder_calls": 30, "action_chunks": 30, "env_steps": 360 }, { "chain_id": 33, "chain_seed": 3300099, "score": 2, "sequence": [ "turn_off_led", "open_drawer", "push_pink_block_left", "lift_blue_block_table", "place_in_slider" ], "initial_state": { "led": 1, "lightbulb": 1, "slider": "right", "drawer": "closed", "red_block": "slider_right", "blue_block": "table", "pink_block": "table", "grasped": 0 }, "wall_seconds": 59.323, "infer_seconds": 4.877, "infer_calls": 40, "decoder_calls": 40, "action_chunks": 40, "env_steps": 474 }, { "chain_id": 34, "chain_seed": 3400102, "score": 2, "sequence": [ "move_slider_right", "push_blue_block_left", "open_drawer", "lift_red_block_table", "stack_block" ], "initial_state": { "led": 0, "lightbulb": 1, "slider": "left", "drawer": "closed", "red_block": "table", "blue_block": "table", "pink_block": "slider_left", "grasped": 0 }, "wall_seconds": 80.328, "infer_seconds": 6.493, "infer_calls": 53, "decoder_calls": 53, "action_chunks": 53, "env_steps": 631 }, { "chain_id": 35, "chain_seed": 3500105, "score": 1, "sequence": [ "lift_red_block_slider", "place_in_slider", "move_slider_right", "push_into_drawer", "turn_off_led" ], "initial_state": { "led": 1, "lightbulb": 0, "slider": "left", "drawer": "open", "red_block": "slider_right", "blue_block": "table", "pink_block": "slider_left", "grasped": 0 }, "wall_seconds": 58.253, "infer_seconds": 4.647, "infer_calls": 38, "decoder_calls": 38, "action_chunks": 38, "env_steps": 453 }, { "chain_id": 36, "chain_seed": 3600108, "score": 0, "sequence": [ "move_slider_right", "turn_off_lightbulb", "lift_pink_block_slider", "place_in_slider", "push_red_block_right" ], "initial_state": { "led": 1, "lightbulb": 1, "slider": "left", "drawer": "open", "red_block": "table", "blue_block": "slider_right", "pink_block": "slider_left", "grasped": 0 }, "wall_seconds": 44.901, "infer_seconds": 3.58, "infer_calls": 30, "decoder_calls": 30, "action_chunks": 30, "env_steps": 360 }, { "chain_id": 37, "chain_seed": 3700111, "score": 0, "sequence": [ "turn_off_lightbulb", "push_red_block_right", "push_into_drawer", "move_slider_left", "close_drawer" ], "initial_state": { "led": 0, "lightbulb": 1, "slider": "right", "drawer": "open", "red_block": "table", "blue_block": "slider_left", "pink_block": "slider_right", "grasped": 0 }, "wall_seconds": 45.002, "infer_seconds": 3.593, "infer_calls": 30, "decoder_calls": 30, "action_chunks": 30, "env_steps": 360 }, { "chain_id": 38, "chain_seed": 3800114, "score": 2, "sequence": [ "open_drawer", "move_slider_right", "push_blue_block_right", "lift_blue_block_table", "place_in_slider" ], "initial_state": { "led": 1, "lightbulb": 1, "slider": "left", "drawer": "closed", "red_block": "slider_right", "blue_block": "table", "pink_block": "slider_left", "grasped": 0 }, "wall_seconds": 69.043, "infer_seconds": 5.672, "infer_calls": 45, "decoder_calls": 45, "action_chunks": 45, "env_steps": 532 }, { "chain_id": 39, "chain_seed": 3900117, "score": 0, "sequence": [ "turn_on_led", "rotate_pink_block_right", "move_slider_right", "close_drawer", "lift_pink_block_table" ], "initial_state": { "led": 0, "lightbulb": 0, "slider": "left", "drawer": "open", "red_block": "slider_left", "blue_block": "table", "pink_block": "table", "grasped": 0 }, "wall_seconds": 45.6, "infer_seconds": 3.718, "infer_calls": 30, "decoder_calls": 30, "action_chunks": 30, "env_steps": 360 }, { "chain_id": 40, "chain_seed": 4000120, "score": 1, "sequence": [ "move_slider_right", "close_drawer", "push_pink_block_left", "lift_pink_block_table", "place_in_slider" ], "initial_state": { "led": 0, "lightbulb": 0, "slider": "left", "drawer": "open", "red_block": "table", "blue_block": "slider_right", "pink_block": "table", "grasped": 0 }, "wall_seconds": 73.712, "infer_seconds": 5.939, "infer_calls": 48, "decoder_calls": 48, "action_chunks": 48, "env_steps": 572 }, { "chain_id": 41, "chain_seed": 4100123, "score": 1, "sequence": [ "move_slider_right", "push_into_drawer", "turn_off_led", "lift_pink_block_drawer", "place_in_drawer" ], "initial_state": { "led": 1, "lightbulb": 1, "slider": "left", "drawer": "open", "red_block": "slider_left", "blue_block": "slider_right", "pink_block": "table", "grasped": 0 }, "wall_seconds": 55.854, "infer_seconds": 4.46, "infer_calls": 37, "decoder_calls": 37, "action_chunks": 37, "env_steps": 441 }, { "chain_id": 42, "chain_seed": 4200126, "score": 2, "sequence": [ "move_slider_left", "push_pink_block_left", "lift_blue_block_slider", "place_in_slider", "turn_off_led" ], "initial_state": { "led": 1, "lightbulb": 0, "slider": "right", "drawer": "open", "red_block": "slider_left", "blue_block": "slider_right", "pink_block": "table", "grasped": 0 }, "wall_seconds": 71.741, "infer_seconds": 5.932, "infer_calls": 48, "decoder_calls": 48, "action_chunks": 48, "env_steps": 561 }, { "chain_id": 43, "chain_seed": 4300129, "score": 0, "sequence": [ "rotate_pink_block_right", "lift_pink_block_table", "place_in_slider", "open_drawer", "lift_blue_block_slider" ], "initial_state": { "led": 1, "lightbulb": 0, "slider": "left", "drawer": "closed", "red_block": "slider_left", "blue_block": "slider_right", "pink_block": "table", "grasped": 0 }, "wall_seconds": 47.391, "infer_seconds": 3.65, "infer_calls": 30, "decoder_calls": 30, "action_chunks": 30, "env_steps": 360 }, { "chain_id": 44, "chain_seed": 4400132, "score": 0, "sequence": [ "lift_blue_block_table", "place_in_slider", "turn_on_led", "rotate_pink_block_right", "lift_red_block_slider" ], "initial_state": { "led": 0, "lightbulb": 0, "slider": "left", "drawer": "open", "red_block": "slider_right", "blue_block": "table", "pink_block": "table", "grasped": 0 }, "wall_seconds": 45.777, "infer_seconds": 3.55, "infer_calls": 30, "decoder_calls": 30, "action_chunks": 30, "env_steps": 360 }, { "chain_id": 45, "chain_seed": 4500135, "score": 0, "sequence": [ "rotate_pink_block_right", "turn_off_led", "lift_pink_block_table", "place_in_slider", "open_drawer" ], "initial_state": { "led": 1, "lightbulb": 1, "slider": "right", "drawer": "closed", "red_block": "table", "blue_block": "slider_left", "pink_block": "table", "grasped": 0 }, "wall_seconds": 47.411, "infer_seconds": 3.703, "infer_calls": 30, "decoder_calls": 30, "action_chunks": 30, "env_steps": 360 }, { "chain_id": 46, "chain_seed": 4600138, "score": 1, "sequence": [ "turn_off_lightbulb", "push_pink_block_left", "move_slider_left", "open_drawer", "lift_pink_block_table" ], "initial_state": { "led": 1, "lightbulb": 1, "slider": "right", "drawer": "closed", "red_block": "slider_left", "blue_block": "slider_right", "pink_block": "table", "grasped": 0 }, "wall_seconds": 83.214, "infer_seconds": 6.643, "infer_calls": 55, "decoder_calls": 55, "action_chunks": 55, "env_steps": 655 }, { "chain_id": 47, "chain_seed": 4700141, "score": 1, "sequence": [ "lift_red_block_slider", "stack_block", "turn_on_led", "unstack_block", "lift_red_block_table" ], "initial_state": { "led": 0, "lightbulb": 0, "slider": "right", "drawer": "open", "red_block": "slider_left", "blue_block": "slider_right", "pink_block": "table", "grasped": 0 }, "wall_seconds": 54.912, "infer_seconds": 4.488, "infer_calls": 37, "decoder_calls": 37, "action_chunks": 37, "env_steps": 434 }, { "chain_id": 48, "chain_seed": 4800144, "score": 0, "sequence": [ "rotate_blue_block_left", "move_slider_left", "open_drawer", "lift_red_block_slider", "place_in_drawer" ], "initial_state": { "led": 0, "lightbulb": 1, "slider": "right", "drawer": "closed", "red_block": "slider_right", "blue_block": "table", "pink_block": "slider_left", "grasped": 0 }, "wall_seconds": 46.246, "infer_seconds": 3.718, "infer_calls": 30, "decoder_calls": 30, "action_chunks": 30, "env_steps": 360 }, { "chain_id": 49, "chain_seed": 4900147, "score": 1, "sequence": [ "lift_red_block_table", "place_in_drawer", "rotate_blue_block_right", "lift_pink_block_slider", "stack_block" ], "initial_state": { "led": 1, "lightbulb": 0, "slider": "right", "drawer": "open", "red_block": "table", "blue_block": "table", "pink_block": "slider_left", "grasped": 0 }, "wall_seconds": 69.265, "infer_seconds": 5.677, "infer_calls": 46, "decoder_calls": 46, "action_chunks": 46, "env_steps": 544 } ], "device": "cuda:0", "dtype": "bfloat16" }