早停特征验证，早停不通

unitree_z1_dual_arm_cleanup_pencils/case4/output/inference/analysis/analysis_report.md

@@ -0,0 +1,54 @@
+# DDIM Analysis Report
+
+## Analysis Config
+
+- Stability threshold: None
+- Stability window: 3
+- Mid-step window: 15-35
+
+## Dataset Overview
+
+- Unique samples: 1
+- Step rows: 800
+- Sample rows: 2
+- Round rows: 8
+- Scenes: unitree_z1_dual_arm_cleanup_pencils
+- Pass types: policy, world_model
+
+## Five Directions
+
+### Original Early Stop
+
+- `latent_first_stable_step_policy`: mean=nan, median=nan, p90=nan, p95=nan
+- `latent_first_stable_step_world_model`: mean=nan, median=nan, p90=nan, p95=nan
+- `latent_l2_vs_full50`: mean=115.4132, median=136.2936, p90=162.1835, p95=165.4857
+
+### Direction C: Action Converges First
+
+- `action_first_stable_step`: mean=nan, median=nan, p90=nan, p95=nan
+- `latent_first_stable_step`: mean=nan, median=nan, p90=nan, p95=nan
+- `action_vs_full50_95pct_step`: mean=46.6250, median=46.6250, p90=46.6250, p95=46.6250
+- `share_action_first_stable_before_latent`: nan
+- `share_action_95pct_before_latent`: nan
+
+### Direction D: Cross-Step Similarity
+
+- `latent_delta_mid_steps`: mean=0.3538, median=0.3497, p90=0.4173, p95=0.4278
+- `action_delta_mid_steps`: mean=0.0294, median=0.0283, p90=0.0416, p95=0.0439
+- `state_delta_mid_steps`: mean=0.0290, median=0.0278, p90=0.0415, p95=0.0435
+
+### Direction A: Budget Heterogeneity
+
+- `oracle_budget_action`: mean=46.6250, median=46.6250, p90=46.6250, p95=46.6250
+- `oracle_budget_state`: mean=47.1250, median=47.1250, p90=47.1250, p95=47.1250
+- `oracle_budget_action_by_scene`:
+  - `unitree_z1_dual_arm_cleanup_pencils`: mean=46.6250, median=46.6250, std=0.0000
+
+### Direction B: Round Reuse
+
+- `latent_init_dist_to_prev_round`: mean=247.6047, median=242.3108, p90=265.5381, p95=269.2301
+- `action_drift_vs_prev_round`: mean=0.6564, median=0.6522, p90=1.0083, p95=1.0942
+- `round_total_time_s`: mean=152.5698, median=152.6913, p90=152.7720, p95=152.7943
+- `policy_pass_total_time_s`: mean=74.7410, median=74.8334, p90=74.9096, p95=74.9110
+- `world_model_pass_total_time_s`: mean=74.7841, median=74.7825, p90=74.8573, p95=74.8680
+

unitree_z1_dual_arm_cleanup_pencils/case4/output/inference/analysis/scene_summary.csv

@@ -0,0 +1,4 @@
+scene,pass_type,pass_total_time_s,pass_total_time_s,pass_total_time_s,action_first_stable_step,action_first_stable_step,action_first_stable_step,state_first_stable_step,state_first_stable_step,state_first_stable_step,latent_first_stable_step,latent_first_stable_step,latent_first_stable_step,action_vs_full50_90pct_step,action_vs_full50_90pct_step,action_vs_full50_90pct_step,action_vs_full50_95pct_step,action_vs_full50_95pct_step,action_vs_full50_95pct_step,oracle_budget_action,oracle_budget_action,oracle_budget_action,oracle_budget_state,oracle_budget_state,oracle_budget_state,round_total_time_s,round_total_time_s,round_total_time_s,policy_pass_total_time_s,policy_pass_total_time_s,policy_pass_total_time_s,world_model_pass_total_time_s,world_model_pass_total_time_s,world_model_pass_total_time_s,latent_init_dist_to_prev_round,latent_init_dist_to_prev_round,latent_init_dist_to_prev_round,action_drift_vs_prev_round,action_drift_vs_prev_round,action_drift_vs_prev_round
+,,mean,median,std,mean,median,std,mean,median,std,mean,median,std,mean,median,std,mean,median,std,mean,median,std,mean,median,std,mean,median,std,mean,median,std,mean,median,std,mean,median,std,mean,median,std
+unitree_z1_dual_arm_cleanup_pencils,policy,74.74103125929832,74.74103125929832,,,,,,,,,,,44.5,44.5,,46.625,46.625,,46.625,46.625,,47.375,47.375,,152.56982910633087,152.56982910633087,,74.74103125929832,74.74103125929832,,74.78411230444908,74.78411230444908,,247.60467747279577,247.60467747279577,,0.6563876037086759,0.6563876037086759,
+unitree_z1_dual_arm_cleanup_pencils,world_model,74.78411230444908,74.78411230444908,,,,,,,,,,,44.625,44.625,,46.625,46.625,,46.625,46.625,,47.125,47.125,,152.56982910633087,152.56982910633087,,74.74103125929832,74.74103125929832,,74.78411230444908,74.78411230444908,,247.60467747279577,247.60467747279577,,0.6563876037086759,0.6563876037086759,

unitree_z1_dual_arm_cleanup_pencils/case4/output/inference/analysis/step_aggregate.csv

@@ -0,0 +1,102 @@
+pass_type,step,step_time_s,step_time_s,step_time_s,latent_delta,latent_delta,latent_delta,action_delta,action_delta,action_delta,state_delta,state_delta,state_delta,action_cosine_vs_full50,action_cosine_vs_full50,action_cosine_vs_full50,state_cosine_vs_full50,state_cosine_vs_full50,state_cosine_vs_full50,latent_l2_vs_full50,latent_l2_vs_full50,latent_l2_vs_full50
+,,mean,median,std,mean,median,std,mean,median,std,mean,median,std,mean,median,std,mean,median,std,mean,median,std
+policy,1,1.4877879619598389,1.4673480987548828,0.06289003162030501,1.4147138893604279,1.4147153496742249,0.0019382702326528518,0.09206504281610246,0.09485951438546181,0.021972303695653568,0.06906692730262874,0.06811533868312836,0.007794490369248539,0.15738161467015738,0.16589795798063275,0.060396087644624716,0.09361474937759337,0.0932109802961349,0.07116129100344737,167.90224075317383,166.55138397216797,4.714100594461182
+policy,2,1.4367415308952332,1.4653711318969727,0.08197867729927451,1.0218084901571274,1.022484838962555,0.0020874345467586197,0.051818768493831116,0.0530869867652654,0.005201430025068589,0.04153109202161428,0.040387051180005046,0.0038777429572207783,0.15006009861826897,0.15936113893985746,0.0607533801317808,0.09050887520425017,0.09044685959815975,0.07119440075582285,167.62592124938965,166.86056518554688,4.52515513874109
+policy,3,1.4584111273288727,1.4677501916885376,0.025101309261798297,0.8505693078041077,0.8506338596343994,0.0010127186197574458,0.032442565774545025,0.03254374116659155,0.004739183299773613,0.026291175046935636,0.02541119419038295,0.002665757826809678,0.1479180427268147,0.1580333113670349,0.06067477226824995,0.09298720234073696,0.0924371480941772,0.07094268945176548,167.22333526611328,165.3636016845703,4.548745751461348
+policy,4,1.4685579538345337,1.4689379930496216,0.001992475931628545,0.7504387050867081,0.7509429454803467,0.002388070204207619,0.02198662795126435,0.020611270330846303,0.005326445463207017,0.01798248849809165,0.0181191153824329,0.00166277248982727,0.15029999520629642,0.16043991595506663,0.06058342948041115,0.0990618076175451,0.0982023663818836,0.07065030474967056,166.5998077392578,164.8903045654297,4.526939114657893
+policy,5,1.4662764370441437,1.4656791687011719,0.0067406912540294165,0.6828674525022507,0.682162344455719,0.002071465787171607,0.0165707347914576,0.0155705818906426,0.002689490605425278,0.014388729119673326,0.0141268018633127,0.001096821549000324,0.1555978152900934,0.16557086259126658,0.06056321939868927,0.10710745607502753,0.10572298616170875,0.07024060152818745,164.8674430847168,163.69569396972656,4.3998182674376975
+policy,6,1.4618003964424133,1.467641830444336,0.018927836089912334,0.6335552781820297,0.6333945989608765,0.001078139489282895,0.015157074551097988,0.01483475603163235,0.0019214500980619341,0.013048837892711112,0.0128569565713405,0.0013749490291323672,0.16264446359127754,0.17208136618137354,0.06046107769703828,0.11609942605718965,0.11423557624220845,0.06961685139862142,162.81494331359863,162.2239532470703,3.07739469617551
+policy,7,1.440990298986435,1.4662503004074097,0.07452131511684336,0.5944133773446083,0.594302773475647,0.0011525708998629378,0.015027716872282274,0.01513465261086815,0.0020680681808224397,0.012857470312155724,0.012662814464420049,0.0015861968703270357,0.1708630984649062,0.17936235666275024,0.060144653787523164,0.12583018839359278,0.12360643967986104,0.06881385735084711,161.3544044494629,160.5568389892578,3.0458820401670343
+policy,8,1.4631401002407074,1.4669510126113892,0.012366461928530068,0.5638501420617104,0.5637201964855194,0.001692684930959978,0.014856808702461375,0.01467927545309065,0.0020680088406842194,0.013079375261440812,0.01287024328485125,0.0017941812026107148,0.1798157468438148,0.1873898953199386,0.05993467344064658,0.1359815429896116,0.1338672786951065,0.06786181516293407,159.89698600769043,159.6090850830078,3.5076757392407614
+policy,9,1.4674589335918427,1.4671502113342285,0.003165239592719901,0.5376099348068237,0.5380544364452362,0.0012223471057652745,0.0147701960522681,0.014838233590126,0.0019739548133354905,0.013304164400324187,0.01307381875813005,0.001853394384971113,0.18925154209136963,0.1959673538804054,0.059674651903532695,0.14648761413991448,0.1444505453109741,0.06679234709725464,157.86971282958984,158.83697509765625,3.6617271959518933
+policy,10,1.4668962359428406,1.4662374258041382,0.002831816171092093,0.5158131569623947,0.5159517824649811,0.0008140528013580782,0.014939276035875025,0.0149762732908129,0.0019076804429918465,0.013482545386068488,0.0132308038882911,0.0019278875074101804,0.19934497307986018,0.2050999701023101,0.059233652209364364,0.15721693169325587,0.15522765368223185,0.0655435877287676,156.58450317382812,157.9344940185547,4.248405290800254
+policy,11,1.4645859897136688,1.4686062335968018,0.011108915401197295,0.4962079897522926,0.4961502850055694,0.00042814115733009653,0.015257417573593514,0.01538780424743885,0.0018171224362651234,0.014225133694708299,0.0139829376712441,0.0019220729737025898,0.2098979670554399,0.21494601666927335,0.05885078207602785,0.16826030798256394,0.16637350618839258,0.06433537752524465,155.23664093017578,156.43423461914062,3.6918560499835666
+policy,12,1.4629219472408295,1.4681105613708496,0.01683089693980699,0.4801608584821224,0.4800693690776825,0.0007834331261334795,0.015541217755526263,0.0154195013456046,0.001848861058082238,0.014934697188436926,0.0147212836891412,0.0020117977028098507,0.22060406580567357,0.22473420202732086,0.05851722459656578,0.17953093536198134,0.17781553417444224,0.06315184109695728,152.87460136413574,153.62765502929688,4.36813178006983
+policy,13,1.4677841663360596,1.4682948589324951,0.0017279660882267608,0.4637747295200825,0.4638124108314514,0.0007827216919029539,0.01638383953832085,0.0165052460506558,0.001999643090529409,0.015436873654834862,0.01521129813045255,0.0020671494865297053,0.2316957879811525,0.2347961142659187,0.058324552460029266,0.1909119728952646,0.1894354447722435,0.06193966557822508,151.18939018249512,151.29769897460938,4.113970057393084
+policy,14,1.454264760017395,1.4635258913040161,0.032092350955633085,0.4510101340711117,0.45110201835632324,0.0011103514935011517,0.017276202328503087,0.0174695765599608,0.002078244698217855,0.016275426489300974,0.0160423759371042,0.0021264972993087273,0.2430285532027483,0.2452372014522552,0.05839489894939493,0.20247408375144002,0.20141109824180597,0.060798102701354224,149.1269931793213,149.0675048828125,3.405099738184721
+policy,15,1.4667247235774994,1.466841220855713,0.0032852328692401646,0.4391803480684757,0.4389776736497879,0.0007498067766521394,0.017791065736673724,0.0177066465839743,0.0019892209354484386,0.01690882956609125,0.01667538750916715,0.0021448369043812606,0.2547785304486751,0.25618972629308695,0.05841408835040265,0.21436336450278753,0.21359743922948835,0.05952243042476692,148.03904151916504,148.14749145507812,3.5326991372474175
+policy,16,1.465746909379959,1.465404987335205,0.003104623781084133,0.4268352650105953,0.426984965801239,0.0008317885843171562,0.018496636301279037,0.018233300186693648,0.0019674048028818026,0.017985345330089275,0.017728398554027,0.002194390517832245,0.2669915556907654,0.2678394913673401,0.05842327004397608,0.22660124301910398,0.2262100130319595,0.05829213195726356,146.60590934753418,146.9494857788086,3.6553960870866233
+policy,17,1.4677666425704956,1.467976689338684,0.0022923357862984902,0.41623301804065704,0.4163494855165481,0.0009475312134369642,0.01927768858149644,0.01904488354921335,0.0020241576532169115,0.0189500539563596,0.01867238897830245,0.0022138442443456353,0.27964824438095087,0.2816973179578781,0.05839162047482772,0.23921831883490086,0.23921185731887815,0.0570804644576715,145.2904453277588,145.7728500366211,3.0965101518246407
+policy,18,1.4665730893611908,1.4673397541046143,0.0018395683638857672,0.4067067205905914,0.40643957257270813,0.0013644797772878504,0.0198991214856505,0.01940849795937535,0.0020306283971715505,0.019601518753915977,0.019284928217530202,0.002188066609385164,0.29279775172472,0.296508327126503,0.058084672463995554,0.25210033543407917,0.2524223923683166,0.055676969427019544,144.16145515441895,144.34341430664062,2.945703134619008
+policy,19,1.4641307294368744,1.4663927555084229,0.006864464027358969,0.39679984748363495,0.3964848816394806,0.001021458853519945,0.02124412078410381,0.0207471707835793,0.0018841325711956446,0.020758233265951238,0.020426705479621853,0.002223292578947347,0.3064245954155922,0.3117353916168213,0.05814515867368896,0.2654563430696726,0.2660894244909286,0.05427644517306695,143.0643539428711,143.50304412841797,3.2048036003389155
+policy,20,1.466100662946701,1.4659206867218018,0.0025084349491974983,0.38818072527647013,0.38793048262596125,0.001132615086543304,0.022051609354093612,0.0216921623796224,0.0019162575191078446,0.021475473186001126,0.0212290436029434,0.0021420624793899445,0.3206103444099426,0.3276909589767456,0.058062212580256956,0.2791626024991274,0.27960145473480225,0.052711168296377106,141.8306541442871,142.65597534179688,3.155910595419877
+policy,21,1.4672250151634216,1.4673364162445068,0.002752874657537624,0.37937217205762863,0.379476934671402,0.0012869543703395389,0.023056986276060287,0.0229649972170591,0.001954724733197909,0.02291818824596699,0.0226591313257813,0.0021581977523341487,0.3356129378080368,0.3428253084421158,0.05775243370773877,0.29340520873665804,0.29281952977180475,0.051233668290649736,140.8013801574707,141.6259307861328,3.2083015466131437
+policy,22,1.4637946784496307,1.4672267436981201,0.01122479832210983,0.3716856427490711,0.3715872317552566,0.0008085546918783024,0.024364000884815988,0.0242624329403042,0.0018782223984101965,0.02408828469924625,0.023887550458312,0.00211602410173298,0.35121659748256207,0.35694028437137604,0.05750563449038682,0.3081753179430961,0.30661082267761225,0.04969215992608119,139.8706817626953,140.63436126708984,3.1750217945512844
+policy,23,1.4456217885017395,1.4637434482574463,0.05338831224183772,0.36417440325021744,0.3641412556171417,0.0011368901317872272,0.02575035300105805,0.025850720703601802,0.0019011270211577993,0.025210896274074863,0.02495805639773605,0.0021713158491695867,0.36759246513247484,0.371595025062561,0.05715666248497249,0.3235910013318062,0.3208184838294983,0.0479163291122044,138.91120147705078,139.6878890991211,2.9528148977285533
+policy,24,1.4663090407848358,1.4679235219955444,0.004018483739468311,0.3570880219340324,0.35720114409923553,0.0009557105014926257,0.02662903489544985,0.02688845247030255,0.001949569293735226,0.02652045805007215,0.02627134229987855,0.0021757063593913083,0.3847302012145519,0.3895995616912842,0.05660442488876385,0.33962756022810936,0.3355681896209717,0.04607301310602028,137.88723754882812,138.6998519897461,2.9110593698306393
+policy,25,1.4683439135551453,1.4684255123138428,0.0021873481137312245,0.3502816781401634,0.3503809720277786,0.0005416245754851969,0.0278872866183519,0.028002204373478848,0.0019885071562095753,0.027938552200794185,0.0275974906980991,0.0022872873141702075,0.4026160389184952,0.40944212675094604,0.05598519137333704,0.35621970146894455,0.3508162945508957,0.04422538370254512,136.8935661315918,137.63727569580078,2.7727217636595536
+policy,26,1.4645971655845642,1.4653452634811401,0.002419144779988093,0.3431890867650509,0.34298193454742426,0.0005461746191030371,0.029312654398381675,0.0293249767273664,0.0019634440090141865,0.02915150974877175,0.02877904009073965,0.0023081119467801385,0.4211921989917755,0.42988012731075287,0.055470631543044956,0.37340088933706284,0.3667100816965103,0.04239952994485267,136.17289352416992,137.03641510009766,2.6631331008929364
+policy,27,1.452551007270813,1.4680861234664917,0.042377550220243324,0.336698118597269,0.3367071747779846,0.0009552950397876635,0.0307455833535641,0.0306980684399604,0.0019449099904075146,0.03070262982510026,0.0303445374593138,0.0022664962069852725,0.4404912106692791,0.4509171098470688,0.05507240413751696,0.39128364995121956,0.38340824842453003,0.04061461738821367,135.42081260681152,136.3383331298828,2.53042674887028
+policy,28,1.4510592818260193,1.467365741729736,0.042970896257653095,0.33037688583135605,0.33041447401046753,0.0007913585112237719,0.03218687488697464,0.03207302838563915,0.0019045788487906698,0.03217628295533356,0.031765140593051897,0.0023532091197519533,0.46048903465270996,0.4723636209964752,0.05489396644277719,0.41000544652342796,0.4009838104248047,0.03865118337388547,134.7371006011963,135.74321746826172,2.495365285802129
+policy,29,1.4685872495174408,1.4688458442687988,0.002737209241749753,0.32414366677403444,0.3242172300815582,0.0008896121231229887,0.03348190616816277,0.03352996520698065,0.0019382693076896588,0.03366131661459799,0.0333421509712934,0.0023053477059949805,0.481460090726614,0.49236053228378296,0.054654324608462444,0.429605383425951,0.41940201818943024,0.036532206994615624,133.80793380737305,134.6839141845703,2.3359571833008816
+policy,30,1.4683717489242554,1.4684416055679321,0.001694768073112134,0.31801672652363777,0.31790170073509216,0.0006986683124755216,0.035268993116915184,0.0353464372456073,0.0018780255318225064,0.03569158958271141,0.0354203879833221,0.002321979288697348,0.5033236183226109,0.5132959187030792,0.054701338638674074,0.4502309076488018,0.43893764913082123,0.03448703904558901,133.12906646728516,133.73760986328125,2.248278567124928
+policy,31,1.4627438485622406,1.4658920764923096,0.009773945218440211,0.312963742762804,0.31306926906108856,0.0007861127860424845,0.036806848831474726,0.0370495822280645,0.0018822620703277972,0.03739986661821599,0.037087673321366255,0.0023497386041851534,0.525990430265665,0.5351220369338989,0.0546425004716939,0.4717194624245166,0.459339901804924,0.03253490502834644,126.67541313171387,127.2515869140625,2.2320713781329884
+policy,32,1.458189845085144,1.4650834798812866,0.014124174270697447,0.3054804764688015,0.305335134267807,0.0010117844289964674,0.03889489127323026,0.0389595348387956,0.001882457100324949,0.03876376012340184,0.0382738802582025,0.002452241767629146,0.5496260300278664,0.5574787855148315,0.05469053055356861,0.4943114295601845,0.4817412793636322,0.030316720328840658,120.28657913208008,120.82746887207031,2.1280820272869243
+policy,33,1.46600341796875,1.4660576581954956,0.001762064432851717,0.29754607751965517,0.2973765581846237,0.000800693734609864,0.04011895414441821,0.04037114977836605,0.0020929870927967422,0.040885574650019366,0.0403854604810476,0.0023585613138017527,0.5742945857346058,0.581577330827713,0.054404854656029865,0.5181063264608383,0.5060701966285706,0.0281562740247402,113.9212760925293,114.42042922973633,1.9934577092157046
+policy,34,1.4671409726142883,1.467642903327942,0.003328392146160494,0.28971416130661964,0.28989793360233307,0.0008708581495666602,0.04224141081795091,0.04242357239127155,0.0021688623621615266,0.0430474234744906,0.0424633584916591,0.002498501548299466,0.6000302508473396,0.6065880656242371,0.053967495254925064,0.5433263182640076,0.5325246751308441,0.02583452823842463,107.55643653869629,108.06764602661133,1.9425438133536281
+policy,35,1.4681794345378876,1.4676885604858398,0.0022573499144458013,0.2809602692723274,0.2808739244937897,0.001031752850547117,0.04442336037755006,0.0444447267800569,0.0023801096914492026,0.0451844898052513,0.044549873098730944,0.002498406146111756,0.6268604099750519,0.6325774788856506,0.05320042741415652,0.5698290541768074,0.5622080266475677,0.023778700153868522,101.08958339691162,101.58003234863281,1.8549844545284107
+policy,36,1.4638547599315643,1.4630990028381348,0.0044849088497128,0.27255953103303904,0.2726230323314667,0.0010113870516415746,0.04654873860999936,0.046362200751900604,0.002657897611841984,0.0483543858863413,0.04784374870359895,0.002364963247823401,0.6546888500452042,0.6595262289047241,0.05195641021102837,0.5979287028312683,0.5899902582168579,0.022280545758835056,94.70139789581299,95.35063171386719,1.8620073444348675
+policy,37,1.4678447842597961,1.4678783416748047,0.0032845351248515947,0.26334336772561073,0.26314960420131683,0.0011275421671622945,0.04844435537233944,0.0482790414243936,0.0030063560886026287,0.049949845764785936,0.04929084517061705,0.002854888935951294,0.683417409658432,0.6876276135444641,0.05032432596665427,0.6271285489201546,0.6204321086406708,0.020993722339153805,88.13664436340332,88.84370803833008,1.9772684476965154
+policy,38,1.4670406579971313,1.466057538986206,0.0037812551830847772,0.25428229570388794,0.25396744906902313,0.0008846877297806817,0.050546379759907674,0.05030435323715205,0.0033365723703769946,0.053711081389337736,0.053376484662294346,0.0025506772747948487,0.7129078656435013,0.7165777385234833,0.04822568270621601,0.6581526547670364,0.6551265716552734,0.020426591976426968,81.64797401428223,82.37703704833984,2.013052788846497
+policy,39,1.4624277651309967,1.4620640277862549,0.005168642931423569,0.24479674175381658,0.2449065893888473,0.0009012438698420616,0.05287804687395688,0.052611896768212305,0.0036924762089718256,0.0561505807563662,0.05592886917293065,0.0026667530318019144,0.7430185973644257,0.7461672425270081,0.04563698880234256,0.69034493714571,0.6915164589881897,0.020439357193640286,75.26252555847168,75.91715621948242,1.9918777559185818
+policy,40,1.4460457265377045,1.4637699127197266,0.049810886619434745,0.2353432141244411,0.2352940216660499,0.0010896915999807617,0.05534265283495185,0.05508805252611635,0.00416006419190378,0.057970428373664576,0.057769341394305146,0.0029082712971800506,0.7737071961164474,0.7763262987136841,0.04245138761211407,0.7232402935624123,0.7292310893535614,0.021063447521053526,68.79057502746582,69.52321243286133,1.9226317720871533
+policy,41,1.4613818228244781,1.4659467935562134,0.012041694046179502,0.2251397520303726,0.2248096615076065,0.0010497507559481616,0.059665262233465875,0.05932385474443435,0.004858309757517696,0.06208987720310684,0.062343908473849255,0.002430190921179088,0.8052143007516861,0.8072576820850372,0.03851248337469374,0.7575837001204491,0.7623192965984344,0.021791492788305767,62.40734004974365,63.06019592285156,1.9031669197331582
+policy,42,1.4672136008739471,1.468484878540039,0.004380052479937783,0.21542513556778428,0.21555453538894648,0.0009380147837909315,0.061125913169234936,0.06097446940839285,0.005340380627330261,0.06495947856456036,0.06533899158239359,0.0023428675682877174,0.8361879959702492,0.8360558748245239,0.034178328885150544,0.7923307716846466,0.7959640026092529,0.022329598507387034,55.995609760284424,56.65780448913574,1.8171648277649155
+policy,43,1.465124100446701,1.4661436080932617,0.0038446121472613315,0.20516069419682023,0.2047936171293258,0.0011435147177067014,0.06356414640322323,0.06341573968529696,0.005923563483146692,0.06860635057091709,0.06960892677307125,0.0022248529109901542,0.8664656952023506,0.8654357492923737,0.029381450459212095,0.8272939398884773,0.8301169872283936,0.022234301575255907,49.53757667541504,50.078338623046875,1.7666950880315966
+policy,44,1.4486325085163116,1.4655003547668457,0.04182038419807335,0.1950022485107183,0.19480530172586435,0.0012036056833232957,0.06561056245118374,0.0653432980179786,0.006530998781985651,0.07239863276481623,0.0730911083519458,0.002568161967498732,0.8953075706958771,0.893766313791275,0.024266236196688294,0.8617431744933128,0.8639207780361176,0.02124497406861764,43.06569480895996,43.588706970214844,1.7660385646940862
+policy,45,1.4601843059062958,1.466243028640747,0.017844243529674127,0.18467132188379762,0.1845639050006866,0.0010811146917761572,0.06825696863234039,0.0679317601025104,0.007272372161042503,0.07493929751217361,0.07490814104676245,0.0031412635660267303,0.9223253130912781,0.9207552969455719,0.018921560683840714,0.8944629803299904,0.8961502015590668,0.019281066027360117,36.65839624404907,37.059104919433594,1.6729088100742167
+policy,46,1.4673416316509247,1.4678361415863037,0.0026477995178835942,0.17429526150226587,0.17414433509111404,0.0010557709341560701,0.07002486428245897,0.0700239203870296,0.007951037684433372,0.07958822324872014,0.07969806715846055,0.0044604504573845394,0.9463553726673126,0.9450167417526244,0.013720810928795487,0.9252839460968971,0.9266397058963776,0.01607167537679389,30.283069849014282,30.74173927307129,1.5973242912178875
+policy,47,1.4616189301013947,1.4652963876724243,0.012674320714410773,0.16412038914859292,0.16357839852571485,0.0011855633273438065,0.07340920157730577,0.0744369216263294,0.009032975437667505,0.08499557059258217,0.08498905226588245,0.00647496562279287,0.9671369716525078,0.9661804735660553,0.008780199387757544,0.9530576765537262,0.954695463180542,0.011753568634648093,24.07538342475891,24.55202293395996,1.510930907347789
+policy,48,1.462567776441574,1.465448260307312,0.010712372827460704,0.15351095050573346,0.15332817286252975,0.0012570935490237582,0.07621267391368744,0.07768572121858595,0.009896756594086863,0.09026045538485045,0.08943444862961765,0.009120425891952517,0.9835879355669022,0.9830341935157776,0.004565201467756689,0.9759924709796906,0.9772740006446838,0.006906655807635142,17.899460673332214,18.29170799255371,1.3893155614073855
+policy,49,1.4608148038387299,1.4663106203079224,0.016743943439423172,0.1420009229332208,0.14176049083471295,0.00142393706861046,0.07968754228204485,0.0815831609070301,0.010951593997294961,0.09308580122888084,0.0912048257887363,0.01140269295240365,0.9948378801345826,0.9946268200874329,0.0014899549904628085,0.9918849244713783,0.9924170076847076,0.0027007504925844017,11.809804320335388,12.062562942504883,1.0914295538007799
+policy,50,1.4662032723426819,1.4666633605957031,0.002899079470835804,0.1216121483594179,0.12109309434890744,0.002300710659532985,0.10090791899710891,0.10417471081018445,0.014847797591343241,0.12655203975737095,0.1228502169251442,0.020558536547186264,1.0,0.9999999701976776,7.804079898229438e-08,1.0,0.9999999403953552,1.1920928954205807e-07,0.0,0.0,0.0
+world_model,1,1.466430515050888,1.467175841331482,0.0028157589205721114,1.413752943277359,1.4141393899917603,0.0031465761986036195,0.08368836157023904,0.08293447270989415,0.010853222735778767,0.052224900573492015,0.04987734928727145,0.012847992696572892,0.11013593082316216,0.1299965977668762,0.042673540942540424,0.09997213305905457,0.1161540113389492,0.051814962474908674,166.64781188964844,165.52276611328125,5.665530665763678
+world_model,2,1.465980887413025,1.467307686805725,0.0034381993871095344,1.0207399278879166,1.0209254622459412,0.0016830428335148338,0.049856427125632714,0.049648186191916396,0.0050304270594179745,0.03354189032688733,0.033495755866169846,0.005955732604072577,0.10487937252037224,0.12312256917357439,0.042843046097387046,0.09886870346963401,0.11658501252532005,0.05193822520306983,166.43672943115234,165.27359771728516,5.712615238307169
+world_model,3,1.4618172347545624,1.4665695428848267,0.01666931752779325,0.8506857678294182,0.8500442802906036,0.0020611952619547895,0.030936851399019312,0.02923342678695915,0.00424613226730529,0.02273395354859525,0.02320825122296805,0.0023851022675968033,0.10474053630605334,0.1230528652667999,0.04265121468348206,0.10298220324330029,0.12184897810220716,0.05213905628522317,165.4558162689209,164.97352600097656,6.105762220642102
+world_model,4,1.4698330760002136,1.4693663120269775,0.0016473290124431638,0.750093512237072,0.7507064640522003,0.0021011618770599575,0.020646948134526576,0.019506855867803048,0.0034023679554110657,0.01719655341003085,0.01710174605250355,0.0011867218670912822,0.10856643086299295,0.12668792903423304,0.04222626262412429,0.11038152943365272,0.1298493221402168,0.05220369324667691,164.22117233276367,163.72647857666016,6.229303551587567
+world_model,5,1.4542928636074066,1.4676042795181274,0.03535784264372143,0.683049850165844,0.6834723055362701,0.0015950602437683472,0.016501182573847424,0.016087560914456803,0.0023487575401553887,0.014555604197084876,0.0141494451090693,0.0011317286782474307,0.11502584535628552,0.13306747376918784,0.0420105921045671,0.11935056536458427,0.1393242999911308,0.05218846325833798,162.57949829101562,161.5471420288086,6.196036625885808
+world_model,6,1.4537261128425598,1.4665251970291138,0.0277349657061306,0.6329036876559258,0.633259117603302,0.002078900268370483,0.015431361040100412,0.015013895463198399,0.001950121754377882,0.013426729827187912,0.01296844892203805,0.0012910578938935776,0.12294809333980079,0.14077837020158765,0.04211526719452284,0.1289322571828961,0.14941395074129105,0.05216949292902392,161.6584300994873,162.63148498535156,4.929583653921174
+world_model,7,1.4660314917564392,1.4657933712005613,0.003299139476943325,0.5945194736123085,0.5952694416046143,0.00195932899713219,0.015158015536144325,0.0147506240755319,0.0019209202151771899,0.013350279186852224,0.0129457167349755,0.001335713646155993,0.1318395608104765,0.14937033504247665,0.04234806629905396,0.1391510125249624,0.16004353761672968,0.05226269855349432,159.2051239013672,161.22232818603516,4.443469961660153
+world_model,8,1.4662237763404846,1.4669588804244995,0.0033752013608899455,0.5639813169836998,0.5637880563735962,0.0019207797636653463,0.015014730044640536,0.01462883129715915,0.0018411673943455433,0.013532706536352562,0.01319630956277245,0.0013885689002344876,0.1415893556550145,0.1588183343410492,0.04269472503318791,0.14978646859526631,0.17117051035165787,0.052459952349382964,156.69041442871094,158.64129638671875,3.7869030391248972
+world_model,9,1.4678470194339752,1.466620683670044,0.004269086371436085,0.5376139730215073,0.5377579629421234,0.0022569287354765382,0.01494595524854955,0.0146013763733208,0.0017274039106692175,0.013832477852702113,0.0134771973825991,0.0013022647394947328,0.15179014205932614,0.1684683412313461,0.04304676436999945,0.1607780391350388,0.18277585506439203,0.052815553978265393,156.2607479095459,156.3084716796875,4.37851587451085
+world_model,10,1.460835188627243,1.465550661087036,0.011078941857621885,0.5163320451974869,0.5164486765861511,0.001034369615467165,0.015091369510628238,0.0148917189799249,0.0017218581428983322,0.014062169357202888,0.0137500814162194,0.001282017212145079,0.1624410422518849,0.17856539785861963,0.04333895341270489,0.17188535351306197,0.1942239701747894,0.05313990072454841,154.36938285827637,154.06748962402344,3.509211077786398
+world_model,11,1.458287239074707,1.4669957160949707,0.024959481993975224,0.4965559244155884,0.49660414457321167,0.0006018694211997413,0.015415035071782712,0.01519128168001765,0.0017079356074823607,0.0148107301210984,0.014473587740212599,0.0013305633808915736,0.17354734707623715,0.1891671940684318,0.04359243896903199,0.18327605165541166,0.2051559463143348,0.05345636617203999,152.5709457397461,152.22581481933594,4.036700954602113
+world_model,12,1.4652072489261627,1.4651504755020142,0.004059838975825009,0.4795127026736736,0.47945521771907806,0.0010940558650619765,0.015694350120611426,0.0155033632181584,0.0017055174364107978,0.015432967105880338,0.0150446444749832,0.0013102983117908292,0.1848639892414212,0.19984365254640574,0.04372892254881481,0.19492286629974837,0.21628411859273905,0.05381155604585733,151.5203456878662,151.57964324951172,4.092708194012012
+world_model,13,1.4663138687610626,1.4675579071044922,0.003313552027380515,0.4640921540558338,0.4640606045722961,0.0008808509751021957,0.0163698414107784,0.01614700909703965,0.0016752297312846954,0.0158905135467648,0.01552886562421915,0.001275475272139773,0.19660662766546008,0.21111179143190378,0.043923510525436936,0.2067365916445851,0.2276188358664512,0.054176698301688496,150.1821346282959,150.1685333251953,4.105988919739217
+world_model,14,1.4672505855560303,1.46760094165802,0.002821176300991688,0.4507701359689235,0.45089769363403315,0.0011270916241921973,0.01720336335711175,0.0169557752087712,0.0015851941172463494,0.016714883968234,0.01637188903987405,0.0012794394168754635,0.2087016915902495,0.22285516560077667,0.044155644495540325,0.21875023841857905,0.2392804697155952,0.05453769135978577,148.8370819091797,148.95026397705078,4.036741877846368
+world_model,15,1.466901808977127,1.4673631191253662,0.002224829946134901,0.4382648319005966,0.4383508265018463,0.0009668647794586642,0.017946475418284487,0.01754096802324055,0.001651920125569255,0.0173441942315548,0.0170746529474854,0.0012811450157630786,0.22119794785976404,0.2349596619606018,0.04431140745460583,0.23106967099010942,0.2510178685188293,0.05490644954111276,147.5119857788086,147.6901397705078,4.1537002393022115
+world_model,16,1.4687376022338867,1.4682481288909912,0.003279245863589306,0.42611777782440186,0.4262070655822754,0.0009170814204875399,0.01867100014351305,0.01832018885761495,0.0015510781594432052,0.018315936205908587,0.018034712411463198,0.001219741644158261,0.23413664288818833,0.24736798554658884,0.04430219347720398,0.24373712204396722,0.2631916254758835,0.05531035749793322,146.31794929504395,146.4281463623047,4.0093277525087485
+world_model,17,1.4663335382938385,1.4664220809936523,0.002182959725113352,0.415555689483881,0.41543616354465485,0.0009709822858210952,0.019612021045759275,0.019117005169391597,0.001549722726009412,0.019283321686088987,0.01894666440784925,0.0012642306464722166,0.2476273141801357,0.2602451741695404,0.04421734485600734,0.2568214032799005,0.2756946682929992,0.05570388266552186,145.00535774230957,144.94879913330078,3.85835073903646
+world_model,18,1.4637790620326996,1.4686256647109985,0.0105438682043027,0.4056975692510605,0.405605211853981,0.0010003564235179423,0.020362217677757102,0.019805664196610402,0.0015434768632893354,0.019886821741238174,0.0196002079173922,0.0012023781466204578,0.2614899352192879,0.27344949543476105,0.04414033487051659,0.27015905454754824,0.28827913105487823,0.056160832060466334,143.60510444641113,143.4427261352539,3.7568907739080784
+world_model,19,1.4580760300159454,1.4669256210327148,0.025777202006408134,0.39635610952973366,0.3968530148267746,0.0008426404788834857,0.021840554662048785,0.02126859501004215,0.001474504718906387,0.021087764063849986,0.020730157382786198,0.0012389427020372222,0.2758698500692844,0.28736104071140284,0.04426582338256957,0.2840161137282848,0.30146253108978266,0.05659287645270713,142.47613143920898,142.73788452148438,3.178142324596526
+world_model,20,1.4684467613697052,1.468310832977295,0.003519089883710804,0.3872282691299915,0.38721510767936707,0.0009030201804292388,0.022622706135734864,0.02201147656887765,0.0014642604094800278,0.02170804538764055,0.021403113380074452,0.0011639950130288548,0.2907787412405014,0.3015820682048797,0.04424968214188062,0.2981585450470447,0.3148739486932754,0.05714975454219364,141.23617553710938,141.18516540527344,2.9382094269986436
+world_model,21,1.4623158872127533,1.4674930572509766,0.013818630619436802,0.3795785754919052,0.37956373393535614,0.0007957458919851249,0.0235712665598839,0.02291879989206785,0.001478078978015421,0.023127386113628686,0.0228288881480693,0.0011862243912989438,0.3062747456133365,0.3164332807064056,0.04423842553600207,0.3128533903509378,0.32893988490104675,0.05765468971569941,140.10479736328125,140.42227172851562,2.683092597909225
+world_model,22,1.4666835367679596,1.4668097496032715,0.002851305310151598,0.3716520927846431,0.3715384006500244,0.0013585364296967255,0.0248800651170313,0.024150456301867948,0.0014361889395541891,0.024284056387841674,0.0240605706349015,0.0011994173493824441,0.3223447948694229,0.3317329883575439,0.04426218924893184,0.3280560057610273,0.3452056348323822,0.05812232377997062,139.17312812805176,139.6392822265625,2.4000557944583387
+world_model,23,1.4663385152816772,1.468682050704956,0.007730560676566553,0.36369363591074944,0.3637268841266632,0.0010204271853387166,0.026228685397654727,0.025510282255709102,0.0014289199507640294,0.025370409013703413,0.02525526937097305,0.0011637735871694176,0.33884717337787146,0.34757447242736816,0.044359305763374324,0.3437909968197346,0.36221253871917725,0.0586093375432578,138.3972873687744,138.97489166259766,2.510464380624144
+world_model,24,1.4669824540615082,1.4675649404525757,0.00418824943840544,0.35628207772970194,0.35610726475715637,0.0007004410882229446,0.027185798389837087,0.0264049563556909,0.001513325873974341,0.026658930117264338,0.0265956744551658,0.0011768195409946052,0.3563363291323185,0.3641379475593567,0.044414399137305834,0.3601490594446659,0.3798528462648392,0.05910156991773049,137.3902416229248,137.67237091064453,2.342945831108382
+world_model,25,1.4646075069904327,1.468445062637329,0.007673284072474431,0.34937965869903564,0.34936103224754333,0.0004668826066546834,0.028453465551137862,0.027618009597063002,0.0014887477236078383,0.027975870296359,0.0279726348817348,0.0012324505270464904,0.3746407739818096,0.3841293156147003,0.044428076517477204,0.3770763427019119,0.398036852478981,0.059546709514068784,136.511381149292,136.67041015625,2.2288943261751357
+world_model,26,1.4666348993778229,1.4679147005081177,0.0034947600150809655,0.34265346080064774,0.3428031951189041,0.000728693584430289,0.030001801671460226,0.02915706951171155,0.0014899894517620147,0.029168549692258187,0.0291871149092912,0.0012216876648910688,0.3937397226691246,0.40432520210742945,0.04459656967094266,0.3947070091962814,0.4170102179050445,0.06007408165452895,135.82373237609863,136.12642669677734,2.0968991520068285
+world_model,27,1.4673711657524109,1.4670531749725342,0.0031483767128520253,0.33611344173550606,0.3359307795763016,0.0011750100147053255,0.03139978228136892,0.030635578557848903,0.001418574629082529,0.030670180916786152,0.03081230539828535,0.001176556724812837,0.41355447098612785,0.425102636218071,0.04479912549742176,0.41301533207297325,0.4365539997816086,0.06047621141053029,134.97960090637207,135.29783630371094,2.0598106438730905
+world_model,28,1.4684401154518127,1.4687005281448364,0.003218674207405596,0.3303742818534374,0.33045825362205505,0.0006774691200031013,0.032894602976739365,0.0321007557213306,0.001421258124307638,0.032109732273966025,0.03234049864113325,0.0011380424423813134,0.4342055134475231,0.44623032212257385,0.044944460875011145,0.4321373924612999,0.45694009959697723,0.060848979722641,134.35638236999512,134.63082122802734,1.990135915057581
+world_model,29,1.468405932188034,1.468440055847168,0.0018816334444897846,0.32379887998104095,0.3239814341068268,0.00098156069257383,0.03422897867858407,0.0334790032356977,0.0015219590184936092,0.033513678237795774,0.03377752937376495,0.0011701554837847757,0.45591961219906807,0.465863436460495,0.045029249913866275,0.4519361667335033,0.4779108166694641,0.06118086667511069,133.5930519104004,133.87439727783203,1.8318240333590838
+world_model,30,1.452930510044098,1.4640307426452637,0.02623543502146029,0.317394956946373,0.3172867745161056,0.0006468534062311133,0.035996731370687436,0.035313071683049146,0.001408094095004856,0.03548540920019146,0.03559276834130285,0.001273473587075671,0.4785425066947937,0.4862870723009109,0.04515003349590607,0.4726666882634163,0.5000549703836441,0.06130203461245104,132.87721633911133,133.16039276123047,1.7828638855563685
+world_model,31,1.4674290418624878,1.4683586359024048,0.0029831678863668715,0.3126867152750492,0.3128429055213928,0.000721911730828589,0.037649129517376374,0.03699259832501405,0.0015881255352421751,0.03702906286343928,0.03703575953841205,0.0012487590184788462,0.5022351406514645,0.5098516643047333,0.04504380496399256,0.49436093121767044,0.5229296088218689,0.061464243384726606,126.48003387451172,126.72583770751953,1.773930371094685
+world_model,32,1.468707412481308,1.4680941104888916,0.0017656003711638629,0.30511195957660675,0.3050527572631836,0.0008869654299855773,0.0399028835818171,0.03932408615946765,0.0015262576925944198,0.03829056583344932,0.03828484192490575,0.001288898861252539,0.5271862670779228,0.5349334180355072,0.0448897202772286,0.5170310214161873,0.5464236438274384,0.06170131422279537,120.15267848968506,120.37114334106445,1.780271385155207
+world_model,33,1.4670456647872925,1.4684021472930908,0.004658157357511459,0.2975299060344696,0.29740551114082336,0.0007868215928097573,0.041198373772203874,0.04062537662684915,0.0018546591547617688,0.040385437663644504,0.04015725851058955,0.0014007960309712435,0.5531691387295723,0.5610682964324951,0.04444162791076421,0.5407689400017262,0.5710061192512512,0.06167507642562036,113.77654457092285,113.95306396484375,1.8399204116806989
+world_model,34,1.4593205749988556,1.4681700468063354,0.024223963633207144,0.28921740874648094,0.28967228531837463,0.0009033812058412686,0.04337443504482505,0.04286110587418075,0.0018442377696993384,0.04235854418948288,0.04194394685328,0.0015459210181160894,0.5803129971027374,0.5865616500377655,0.04398306168556179,0.5656699687242508,0.5965810120105743,0.06151346896955784,107.3047742843628,107.63202667236328,1.79119718448935
+world_model,35,1.4678957760334015,1.467535138130188,0.0028049725489385532,0.2810109704732895,0.28095124661922455,0.000828928095207354,0.04559200443327423,0.04528983682394025,0.0019063845460331112,0.04426387744024394,0.0438017081469297,0.0016918345254697917,0.6086333617568016,0.6134288907051086,0.0432755138834197,0.5915026292204857,0.6221141219139099,0.06099457408089233,100.92980766296387,101.31964492797852,1.7603521187647884
+world_model,36,1.4691144227981567,1.4686750173568726,0.002925047649411073,0.27238540351390833,0.27238786220550537,0.0006702536006804744,0.04781650099903341,0.0476484578102827,0.0020646198250306703,0.047318275086581665,0.046708274632692295,0.0020020300132217368,0.6380408257246017,0.6413225531578064,0.042249329178566566,0.6188435703516006,0.6483965218067169,0.05992465169209278,94.51799964904785,94.83826065063477,1.6367439163474338
+world_model,37,1.4691649079322815,1.4691296815872192,0.0020260302303400373,0.26357509568333626,0.2635251432657242,0.0007884537120974045,0.04981104098260398,0.04977585747838015,0.0023600915105379413,0.04855087678879494,0.04763629473745815,0.0021416869076489676,0.6684726774692535,0.6704181134700775,0.040870245227583715,0.6470476314425468,0.6751123070716858,0.05895041370065458,88.05061149597168,88.24245834350586,1.587276227866863
+world_model,38,1.4622484147548676,1.4665913581848145,0.010380197429087842,0.25464464724063873,0.25459030270576477,0.0009480938718259421,0.05203692009672518,0.05194616504013535,0.0026046962126569026,0.05216959817335005,0.05076543428003785,0.002664127635391969,0.6997713223099709,0.7003650963306427,0.03910563933517123,0.676932729780674,0.7035677134990692,0.05714180624309636,81.60094833374023,81.83964920043945,1.6187514204566777
+world_model,39,1.4637650847434998,1.46773362159729,0.010589679125198526,0.2447082549333572,0.24451882392168045,0.0010500799876879531,0.05444151442497964,0.05387328937649725,0.00273172270826788,0.05435084924101825,0.052738789469003594,0.00301077517503596,0.7317579016089439,0.7312027513980865,0.03704374066391065,0.7076960578560829,0.7326469421386719,0.05498600294179129,75.16190147399902,75.41789627075195,1.5320723074159033
+world_model,40,1.4674150347709656,1.4679827690124512,0.0026855209029184954,0.23508128523826596,0.2346891164779663,0.0013045772729478968,0.0569888055324554,0.05616189353168005,0.003008448756262502,0.05595141509547824,0.054272657260298646,0.003248359704303592,0.7643806114792824,0.7629558742046356,0.03448291094133112,0.7389636412262917,0.7617356777191162,0.05261549838129218,68.7524356842041,69.01376724243164,1.576475983478535
+world_model,41,1.4692533910274506,1.4686273336410522,0.002825642295876193,0.22540650889277453,0.2253663837909698,0.0007836586305309369,0.06130999652668829,0.0607740059494972,0.0034264852841342764,0.05981315486133094,0.057839173823595,0.00406320249792008,0.7977565228939056,0.795617014169693,0.03147570705774775,0.7714092582464218,0.7921402454376221,0.049167218100487096,62.30075693130493,62.3875732421875,1.5218521555094198
+world_model,42,1.4674654304981232,1.467170238494873,0.0035553642562119675,0.21534779109060762,0.21522411704063416,0.0013227296289145488,0.06276503950357434,0.061997009441256495,0.003881405988976136,0.06246208678930992,0.06017431803047655,0.004600742680265094,0.8305396735668182,0.8281283676624298,0.027898583017926554,0.8041810840368271,0.8226172029972076,0.04513436076459717,55.796733379364014,55.98038864135742,1.4651654833581287
+world_model,43,1.466505914926529,1.4667117595672607,0.0032207384376784524,0.2049675770103931,0.20505415648221964,0.0008543985236323514,0.06527756992727513,0.06473649293184275,0.00442899607195855,0.06592236133292313,0.0633061155676841,0.005434959386109891,0.862518735229969,0.8601245284080505,0.023838718586187524,0.8371587097644806,0.8530222773551941,0.04027845793542864,49.366029262542725,49.46853446960449,1.4228217125792662
+world_model,44,1.4651595652103424,1.466901183128357,0.0052423885630718935,0.19510208070278162,0.19489283114671702,0.0010905045282430944,0.06735314149409527,0.06704522669315335,0.005162470438474781,0.06959770992398259,0.06669457629323,0.006398120267691218,0.8928757384419441,0.8906528651714325,0.01940675532179474,0.8697334975004196,0.8828558325767517,0.034628107607386126,42.88475799560547,42.94978332519531,1.427771659900498
+world_model,45,1.4675739109516144,1.4677677154541016,0.0033135013222190847,0.18464697338640684,0.1843057051301002,0.0011053254410590362,0.06983590871095653,0.0698415488004684,0.005889603120363719,0.07207391038537023,0.0686746723949909,0.007034935867220316,0.9210697412490845,0.9191017150878906,0.014830891926172325,0.9007283225655556,0.9109527170658112,0.028536205593629,36.541707038879395,36.615373611450195,1.4151470987973127
+world_model,46,1.4641994833946228,1.4686415195465088,0.012731101846660663,0.17443151213228697,0.17447454482316965,0.0012204299925679639,0.07147266250103708,0.07197814807295794,0.006566188618166407,0.07657597213983532,0.07306638732552526,0.008403175333318741,0.9459596052765846,0.9444192051887512,0.010470182726418165,0.9299178943037987,0.9373566508293152,0.02181236710787985,30.276319980621338,30.352816581726074,1.299418454529652
+world_model,47,1.4385012090206146,1.4687178134918213,0.07271043138310687,0.16388237103819844,0.1638747379183769,0.001070481727994806,0.07469944935292001,0.07590576633810994,0.0072887899024823575,0.08178468607366082,0.07813429087400431,0.01033689232128809,0.9672574624419212,0.966181218624115,0.006494415164177676,0.9561776742339134,0.9610031545162201,0.014703846738547712,24.014700174331665,24.173683166503906,1.1643814441815026
+world_model,48,1.4658025801181793,1.4662026166915894,0.0027642665301232756,0.15352317877113814,0.15390672534704206,0.001120138508904692,0.07707624230533834,0.0784216187894344,0.007809361390990385,0.08678518328815693,0.08289989084005356,0.012325191726538693,0.9838547557592392,0.9832466840744019,0.003262574345389712,0.9777570888400078,0.9803025424480438,0.008051740466117726,17.929298639297485,18.194551467895508,1.0163410895824825
+world_model,49,1.4680651128292084,1.4669073820114136,0.0029023472285372733,0.14217356406152246,0.1422132477164268,0.0014120592298926102,0.0799126699566841,0.08120859414339066,0.008310309536368543,0.08896808791905639,0.0845255628228187,0.013931523775419669,0.9949940741062164,0.9947511553764343,0.0010248106201806043,0.9925414994359016,0.9933978021144868,0.0029514099325549147,11.894280076026917,12.06946611404419,0.8063341311654252
+world_model,50,1.4655457437038422,1.467021107673645,0.005973396611243951,0.12163882143795485,0.1214404664933681,0.0019023411807546967,0.09992058109492061,0.10234440118074414,0.010590033802140747,0.12026428431272504,0.11479503288865085,0.022752833269109356,1.0,0.9999999701976776,7.80407989523855e-08,0.9999999105930328,0.9999999105930328,1.3517062893901904e-07,0.0,0.0,0.0

unitree_z1_dual_arm_cleanup_pencils/case4/output/inference/round_summary.csv

@@ -0,0 +1,9 @@
+sample_id,scene,round_id,policy_pass_total_time_s,world_model_pass_total_time_s,round_total_time_s,latent_init_dist_to_prev_round,action_drift_vs_prev_round,psnr_full50
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,0,74.81560444831848,74.78685283660889,152.7329704761505,,,
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,1,74.30666041374207,74.84803581237793,152.28723907470703,229.9518280029297,0.6616001129150391,
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,2,74.4702296257019,74.8787670135498,152.50167298316956,254.69737243652344,1.1801061928272247,
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,3,74.82866716384888,74.82629251480103,152.81667637825012,260.61541748046875,0.5051740109920502,
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,4,74.83805704116821,74.77808237075806,152.75284910202026,242.31080627441406,0.49076491594314575,
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,5,74.91230607032776,74.76978421211243,152.64954590797424,272.92205810546875,0.8938437849283218,
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,6,74.90848922729492,74.62322306632996,152.06989860534668,241.70205688476562,0.6521573662757874,
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,7,74.84823608398438,74.76186060905457,152.74778032302856,231.033203125,0.2110668420791626,

unitree_z1_dual_arm_cleanup_pencils/case4/output/inference/sample_summary.csv

@@ -0,0 +1,3 @@
+sample_id,scene,pass_type,pass_total_time_s,action_first_stable_step,state_first_stable_step,latent_first_stable_step,action_vs_full50_90pct_step,action_vs_full50_95pct_step,oracle_budget_action,oracle_budget_state,oracle_budget_latent,latent_init_dist_to_prev_round,action_drift_vs_prev_round,round_total_time_s,policy_pass_total_time_s,world_model_pass_total_time_s,psnr_full50
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,74.74103125929832,,,,44.5,46.625,46.625,47.375,,247.60467747279577,0.6563876037086759,152.56982910633087,74.74103125929832,74.78411230444908,
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,74.78411230444908,,,,44.625,46.625,46.625,47.125,,247.60467747279577,0.6563876037086759,152.56982910633087,74.74103125929832,74.78411230444908,

unitree_z1_dual_arm_cleanup_pencils/case4/output/inference/stepwise_log.csv

@@ -0,0 +1,801 @@
+sample_id,scene,pass_type,round_id,step,step_time_s,latent_delta,action_delta,state_delta,action_cosine_vs_full50,state_cosine_vs_full50,latent_l2_vs_full50
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,0,1,1.6432723999023438,1.4136226177215576,0.06708327680826187,0.0670323520898819,0.16676171123981476,-0.013032345101237297,165.48028564453125
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,0,2,1.2339146137237549,1.020642638206482,0.05071500316262245,0.03977498039603233,0.16107019782066345,-0.013025010004639626,165.8947296142578
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,0,3,1.3965733051300049,0.8504214286804199,0.04105985164642334,0.025656521320343018,0.16123422980308533,-0.007491586729884148,164.64089965820312
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,0,4,1.4684696197509766,0.7521186470985413,0.03392408415675163,0.018809162080287933,0.16467110812664032,0.000760342925786972,164.04196166992188
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,0,5,1.468602180480957,0.6820225119590759,0.022307351231575012,0.016446206718683243,0.17039890587329865,0.011148849502205849,162.2425537109375
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,0,6,1.41534423828125,0.6332545876502991,0.01899561658501625,0.016055937856435776,0.17754489183425903,0.022987518459558487,160.75592041015625
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,0,7,1.256645679473877,0.5936980843544006,0.019126152619719505,0.016338545829057693,0.1850358545780182,0.035543911159038544,161.19796752929688
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,0,8,1.433168649673462,0.5639605522155762,0.0187954343855381,0.017067674547433853,0.19295451045036316,0.04841306060552597,158.78260803222656
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,0,9,1.4704351425170898,0.5384858846664429,0.018063561990857124,0.017282363027334213,0.20135897397994995,0.06192540377378464,158.9139862060547
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,0,10,1.4686954021453857,0.5167866945266724,0.017663653939962387,0.017604194581508636,0.21069195866584778,0.07608187943696976,157.10223388671875
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,0,11,1.4387469291687012,0.49637994170188904,0.01749091036617756,0.01817920431494713,0.22089141607284546,0.09010734409093857,155.00247192382812
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,0,12,1.4215424060821533,0.47977396845817566,0.018101533874869347,0.019065771251916885,0.2311048060655594,0.10412473976612091,152.50437927246094
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,0,13,1.4697372913360596,0.4644389748573303,0.01867120899260044,0.019582390785217285,0.24142619967460632,0.11809825897216797,151.74485778808594
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,0,14,1.470205307006836,0.4525984227657318,0.019328244030475616,0.020381871610879898,0.25224772095680237,0.13169369101524353,150.1511993408203
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,0,15,1.4629967212677002,0.4397749900817871,0.02006046660244465,0.02102598175406456,0.26347827911376953,0.14632141590118408,148.95884704589844
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,0,16,1.4644572734832764,0.4279229938983917,0.02066703513264656,0.022184554487466812,0.2752322554588318,0.16077199578285217,148.69151306152344
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,0,17,1.4650561809539795,0.4174131751060486,0.021406114101409912,0.023133108392357826,0.28777024149894714,0.17548693716526031,146.8010711669922
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,0,18,1.4683506488800049,0.40894603729248047,0.0220547653734684,0.023669645190238953,0.3011854290962219,0.19063401222229004,145.43470764160156
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,0,19,1.4675867557525635,0.39888817071914673,0.02315698005259037,0.02485598251223564,0.31464457511901855,0.2059674710035324,144.19451904296875
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,0,20,1.4625434875488281,0.38990482687950134,0.023915182799100876,0.025207890197634697,0.32898950576782227,0.22220902144908905,143.1017608642578
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,0,21,1.4718403816223145,0.3811284303665161,0.02484675496816635,0.0266333669424057,0.3447665572166443,0.23825722932815552,142.1833038330078
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,0,22,1.4681880474090576,0.37155187129974365,0.025945913046598434,0.02760304883122444,0.3602849245071411,0.2545819580554962,141.9226837158203
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,0,23,1.4633400440216064,0.3656887710094452,0.02714504487812519,0.02888832427561283,0.37621116638183594,0.27246466279029846,140.96726989746094
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,0,24,1.467815637588501,0.35723453760147095,0.027902262285351753,0.030192868784070015,0.39391854405403137,0.291159987449646,139.43734741210938
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,0,25,1.4680440425872803,0.34972789883613586,0.02899928390979767,0.03183012455701828,0.4123465120792389,0.3099372088909149,137.94033813476562
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,0,26,1.468102216720581,0.34301936626434326,0.030248451977968216,0.03304993733763695,0.431005597114563,0.32889533042907715,137.28741455078125
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,0,27,1.4690682888031006,0.33592891693115234,0.03148599714040756,0.03439182788133621,0.4501829147338867,0.3481413722038269,136.3769989013672
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,0,28,1.4590752124786377,0.3294757008552551,0.03268905729055405,0.036030061542987823,0.4701083302497864,0.368621289730072,135.75511169433594
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,0,29,1.471369981765747,0.32395198941230774,0.034154605120420456,0.03734954446554184,0.4917970299720764,0.3905280828475952,134.70716857910156
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,0,30,1.4714415073394775,0.31760698556900024,0.035837169736623764,0.03931264579296112,0.5142956972122192,0.4128991365432739,133.7905731201172
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,0,31,1.4690628051757812,0.3134351670742035,0.03750822693109512,0.041033316403627396,0.5379550457000732,0.435699462890625,127.37604522705078
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,0,32,1.4578049182891846,0.30586931109428406,0.03909774869680405,0.042604777961969376,0.561416745185852,0.4615010619163513,120.85438537597656
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,0,33,1.467949628829956,0.29776009917259216,0.041023094207048416,0.0443294458091259,0.587917149066925,0.48866474628448486,114.40589904785156
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,0,34,1.4677610397338867,0.289813756942749,0.042889900505542755,0.046985361725091934,0.6150891184806824,0.5190064311027527,108.08004760742188
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,0,35,1.4705965518951416,0.28202342987060547,0.04485265165567398,0.04915838688611984,0.6430349946022034,0.5510468482971191,101.4759521484375
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,0,36,1.4621953964233398,0.27333179116249084,0.046761929988861084,0.05165742710232735,0.6717126369476318,0.5834856033325195,95.38306427001953
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,0,37,1.4703090190887451,0.264238178730011,0.04930395632982254,0.05515545234084129,0.702027440071106,0.6204140186309814,88.96025085449219
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,0,38,1.4720349311828613,0.25565305352211,0.05149140954017639,0.05793344974517822,0.7330291867256165,0.6575927138328552,82.51296997070312
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,0,39,1.4715838432312012,0.24536941945552826,0.05355514585971832,0.06096332520246506,0.7642917633056641,0.6965867280960083,76.03734588623047
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,0,40,1.4639263153076172,0.23568053543567657,0.05574607476592064,0.06361691653728485,0.7956610321998596,0.7370301485061646,69.660888671875
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,0,41,1.4675383567810059,0.2261429727077484,0.058619387447834015,0.0661960318684578,0.8264094591140747,0.776691198348999,63.109657287597656
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,0,42,1.4688911437988281,0.21592764556407928,0.060655154287815094,0.06834205985069275,0.8568539023399353,0.8156981468200684,56.69887924194336
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,0,43,1.4681692123413086,0.2058085948228836,0.062432318925857544,0.07048202306032181,0.8858035802841187,0.8529227375984192,49.981197357177734
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,0,44,1.46879243850708,0.1959843784570694,0.06356552988290787,0.07262729108333588,0.9124753475189209,0.8875957727432251,43.59622573852539
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,0,45,1.4604153633117676,0.18463924527168274,0.06514064967632294,0.07374665141105652,0.9365419149398804,0.9187381267547607,37.21623611450195
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,0,46,1.4678125381469727,0.17490620911121368,0.06539555639028549,0.0755762979388237,0.9570974707603455,0.9456936120986938,30.851877212524414
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,0,47,1.4688570499420166,0.16483871638774872,0.06731937825679779,0.07788047194480896,0.9742357730865479,0.9679491519927979,24.435815811157227
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,0,48,1.465458869934082,0.15453648567199707,0.0686560720205307,0.07957684993743896,0.9873407483100891,0.98468416929245,18.164772033691406
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,0,49,1.4684898853302002,0.14281557500362396,0.07086025923490524,0.07993140816688538,0.9960726499557495,0.9952877163887024,11.917373657226562
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,0,50,1.4627177715301514,0.12271958589553833,0.0885462611913681,0.10073669254779816,1.0000001192092896,1.0000001192092896,0.0
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,0,1,1.4676644802093506,1.4126782417297363,0.08518002927303314,0.0335361510515213,0.07091160118579865,0.11220705509185791,165.1287384033203
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,0,2,1.4638645648956299,1.01926851272583,0.053292300552129745,0.023840097710490227,0.0638628825545311,0.11366149038076401,165.954345703125
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,0,3,1.469841480255127,0.849479079246521,0.03605800122022629,0.018816109746694565,0.06293656677007675,0.11929450929164886,165.41281127929688
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,0,4,1.4674572944641113,0.7526536583900452,0.026320666074752808,0.01665826141834259,0.06733985245227814,0.12761613726615906,164.71832275390625
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,0,5,1.4655282497406006,0.6833183765411377,0.021593041718006134,0.015741363167762756,0.07447278499603271,0.1376384049654007,162.0543975830078
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,0,6,1.4645473957061768,0.6313918828964233,0.01989038474857807,0.01525576040148735,0.08377636969089508,0.1486624926328659,162.9879150390625
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,0,7,1.4644403457641602,0.5939152836799622,0.019580036401748657,0.01547149196267128,0.09390026330947876,0.16045339405536652,161.0736083984375
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,0,8,1.4694340229034424,0.5618373155593872,0.019199710339307785,0.015947552397847176,0.10477054864168167,0.1728360652923584,159.14039611816406
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,0,9,1.4686264991760254,0.535991370677948,0.018798327073454857,0.0161889661103487,0.11662867665290833,0.185800701379776,158.99807739257812
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,0,10,1.440483808517456,0.5168589949607849,0.018753336742520332,0.016322586685419083,0.12930460274219513,0.19869208335876465,157.7196502685547
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,0,11,1.3968172073364258,0.4967215061187744,0.019029758870601654,0.01718190312385559,0.14259204268455505,0.21188859641551971,155.03274536132812
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,0,12,1.4691071510314941,0.48044171929359436,0.019234150648117065,0.017790842801332474,0.1562584638595581,0.22547674179077148,154.62698364257812
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,0,13,1.4659459590911865,0.465230256319046,0.019909333437681198,0.018189454451203346,0.16993092000484467,0.23914867639541626,151.48635864257812
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,0,14,1.4692301750183105,0.45004305243492126,0.020536452531814575,0.019084056839346886,0.18398147821426392,0.25277018547058105,149.7818145751953
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,0,15,1.468750238418579,0.4366384446620941,0.021284768357872963,0.019690202549099922,0.19815026223659515,0.26697632670402527,148.9774932861328
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,0,16,1.4747049808502197,0.42426130175590515,0.021672949194908142,0.020444422960281372,0.21324175596237183,0.2813968062400818,148.77224731445312
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,0,17,1.4690003395080566,0.4147012233734131,0.022546490654349327,0.02155020833015442,0.2286866307258606,0.29591095447540283,147.2699737548828
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,0,18,1.4697020053863525,0.4039211869239807,0.023083576932549477,0.021936286240816116,0.2445726990699768,0.31097108125686646,146.26171875
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,0,19,1.3946211338043213,0.39571163058280945,0.024455875158309937,0.023274002596735954,0.26080143451690674,0.3262218236923218,144.59767150878906
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,0,20,1.4736380577087402,0.38664481043815613,0.025055307894945145,0.023758595809340477,0.27823877334594727,0.3423445522785187,143.07296752929688
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,0,21,1.4701330661773682,0.37872448563575745,0.026034705340862274,0.025227930396795273,0.2963171899318695,0.3583116829395294,141.79232788085938
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,0,22,1.4699528217315674,0.3705179989337921,0.027121704071760178,0.026355892419815063,0.31488490104675293,0.3745489716529846,140.99185180664062
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,0,23,1.4475181102752686,0.362202912569046,0.028524793684482574,0.02737666293978691,0.33405405282974243,0.39152225852012634,139.97238159179688
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,0,24,1.4688282012939453,0.3563874065876007,0.02969353459775448,0.028675468638539314,0.35507673025131226,0.40892449021339417,139.27584838867188
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,0,25,1.468700885772705,0.3494985103607178,0.030847731977701187,0.030090229585766792,0.3773863911628723,0.42660000920295715,138.6275177001953
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,0,26,1.4686520099639893,0.3428207039833069,0.03232777118682861,0.031225543469190598,0.40050506591796875,0.44510865211486816,137.83627319335938
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,0,27,1.4686930179595947,0.3360225260257721,0.033440057188272476,0.032572098076343536,0.42406126856803894,0.463911235332489,137.1383056640625
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,0,28,1.4674904346466064,0.3306378722190857,0.03474371135234833,0.03389119729399681,0.44860973954200745,0.48330381512641907,136.24533081054688
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,0,29,1.4698193073272705,0.32475775480270386,0.03626740723848343,0.03524329513311386,0.4743677079677582,0.5032913684844971,135.2274627685547
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,0,30,1.472386360168457,0.3177402913570404,0.037526585161685944,0.03735250234603882,0.5004221796989441,0.5231587290763855,134.3518829345703
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,0,31,1.462759256362915,0.3128661811351776,0.039622534066438675,0.03836468979716301,0.5280845165252686,0.5448900461196899,128.0316619873047
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,0,32,1.4689090251922607,0.3054836690425873,0.0413166768848896,0.03940265253186226,0.5562862157821655,0.5688623785972595,121.96630859375
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,0,33,1.4657559394836426,0.2984376847743988,0.042767029255628586,0.04127361252903938,0.585708498954773,0.5932615995407104,115.63284301757812
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,0,34,1.4676616191864014,0.2898198962211609,0.044656142592430115,0.04303610697388649,0.6159238219261169,0.6191961169242859,109.02684020996094
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,0,35,1.4715867042541504,0.28216084837913513,0.04620606079697609,0.04449986293911934,0.6464760303497314,0.6450854539871216,102.662353515625
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,0,36,1.4746580123901367,0.27327319979667664,0.04799250513315201,0.04681127145886421,0.6775785088539124,0.6705334782600403,96.25910186767578
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,0,37,1.4694745540618896,0.26479941606521606,0.04986610263586044,0.047822583466768265,0.7093607783317566,0.6986227035522461,89.75226593017578
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,0,38,1.4686980247497559,0.2559734880924225,0.051699429750442505,0.05053720250725746,0.7414246797561646,0.7264087200164795,83.3476791381836
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,0,39,1.4706594944000244,0.24584795534610748,0.05350163206458092,0.05218658596277237,0.7733865976333618,0.7551047801971436,76.64359283447266
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,0,40,1.4672770500183105,0.23681895434856415,0.05536288022994995,0.05436418578028679,0.8049612641334534,0.7857085466384888,70.37335968017578
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,0,41,1.4684922695159912,0.22623662650585175,0.05793958157300949,0.056310754269361496,0.8358718156814575,0.8147404193878174,64.01854705810547
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,0,42,1.465787649154663,0.2171265333890915,0.05914465710520744,0.05872095376253128,0.865462601184845,0.8441197276115417,57.39198684692383
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,0,43,1.468672513961792,0.20585639774799347,0.060478463768959045,0.06115733087062836,0.8932110071182251,0.8728731870651245,50.87119674682617
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,0,44,1.4637961387634277,0.1964554488658905,0.06120814383029938,0.06348647177219391,0.9184633493423462,0.9003012180328369,44.36637878417969
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,0,45,1.4719502925872803,0.18580611050128937,0.062499918043613434,0.0665159523487091,0.9410263895988464,0.9265184998512268,37.943138122558594
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,0,46,1.4685726165771484,0.17540469765663147,0.0628652423620224,0.06923358887434006,0.9602527022361755,0.9499480724334717,31.619544982910156
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,0,47,1.4715254306793213,0.1646428406238556,0.06480144709348679,0.0720524787902832,0.9762348532676697,0.9697610139846802,24.982267379760742
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,0,48,1.4613127708435059,0.15429434180259705,0.0660039409995079,0.07546611875295639,0.9883663654327393,0.9853010773658752,18.654699325561523
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,0,49,1.4654185771942139,0.143010675907135,0.0680537149310112,0.07689158618450165,0.9964026212692261,0.9954373836517334,12.468178749084473
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,0,50,1.468139886856079,0.12172071635723114,0.08491666615009308,0.0970677062869072,1.0000001192092896,0.9999997615814209,0.0
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,1,1,1.4673609733581543,1.4142364263534546,0.10179717093706131,0.06596124917268753,0.08335928618907928,0.05462142080068588,164.60018920898438
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,1,2,1.4617698192596436,1.0235183238983154,0.057031650096178055,0.03775564208626747,0.0738653838634491,0.04927700385451317,164.25767517089844
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,1,3,1.467473030090332,0.8508803248405457,0.035523224622011185,0.02378952130675316,0.07001079618930817,0.05052195116877556,163.89804077148438
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,1,4,1.467200756072998,0.7502226233482361,0.024127613753080368,0.016016073524951935,0.0696975439786911,0.0555662140250206,164.19189453125
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,1,5,1.4562368392944336,0.6851758360862732,0.01862466149032116,0.01363986637443304,0.07192833721637726,0.06246097385883331,163.94046020507812
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,1,6,1.4655616283416748,0.6335346102714539,0.0156632661819458,0.01278670784085989,0.07615476101636887,0.07022803276777267,162.7408905029297
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,1,7,1.4691162109375,0.5935972332954407,0.015458021312952042,0.012607130222022533,0.08221140503883362,0.07905757427215576,159.85548400878906
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,1,8,1.4690032005310059,0.5670008063316345,0.015274065546691418,0.013209516182541847,0.08857624232769012,0.08846870809793472,158.27806091308594
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,1,9,1.4626786708831787,0.5386162400245667,0.015802975744009018,0.013745514675974846,0.09538169205188751,0.09851939231157303,155.19308471679688
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,1,10,1.4643969535827637,0.5145634412765503,0.015923338010907173,0.013951675035059452,0.10320015996694565,0.10901512950658798,154.6202850341797
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,1,11,1.4682486057281494,0.49622902274131775,0.016292590647935867,0.014981348998844624,0.11142827570438385,0.12013663351535797,152.03224182128906
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,1,12,1.4681410789489746,0.4786895513534546,0.016056030988693237,0.015751417726278305,0.1201074868440628,0.13160982728004456,150.7657012939453
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,1,13,1.4684324264526367,0.4637916386127472,0.01772736944258213,0.016355395317077637,0.12863418459892273,0.1432417631149292,149.84327697753906
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,1,14,1.3756346702575684,0.45161962509155273,0.019435949623584747,0.017449481412768364,0.1368873417377472,0.15519142150878906,148.57708740234375
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,1,15,1.4691872596740723,0.43860748410224915,0.018814312294125557,0.018130822107195854,0.14591294527053833,0.16726863384246826,147.79971313476562
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,1,16,1.460949420928955,0.42651548981666565,0.019019579514861107,0.01927696168422699,0.15556520223617554,0.17996621131896973,146.64402770996094
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,1,17,1.4684498310089111,0.4149254262447357,0.019885169342160225,0.02041463367640972,0.16598835587501526,0.193161278963089,145.43701171875
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,1,18,1.4675519466400146,0.4056892395019531,0.02006530947983265,0.021170184016227722,0.1780385673046112,0.207014262676239,143.93179321289062
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,1,19,1.4676668643951416,0.39586755633354187,0.021275591105222702,0.022405140101909637,0.1896485984325409,0.2215728461742401,142.8115692138672
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,1,20,1.466231346130371,0.38755127787590027,0.022415606305003166,0.023249594494700432,0.20252308249473572,0.23650139570236206,142.21018981933594
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,1,21,1.4664974212646484,0.37679895758628845,0.02397829480469227,0.024797609075903893,0.21704119443893433,0.2520979642868042,141.0685577392578
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,1,22,1.4364609718322754,0.3704030513763428,0.025205623358488083,0.026007598266005516,0.2322651892900467,0.2685214579105377,139.90396118164062
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,1,23,1.3135430812835693,0.3623645603656769,0.026944929733872414,0.02714325487613678,0.24874678254127502,0.28557339310646057,138.84823608398438
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,1,24,1.4687910079956055,0.3558971583843231,0.028281638398766518,0.028456896543502808,0.26659733057022095,0.3033020496368408,137.56936645507812
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,1,25,1.4690563678741455,0.3509264886379242,0.03001604974269867,0.029959995299577713,0.2856832444667816,0.3218342959880829,136.719970703125
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,1,26,1.4662089347839355,0.3428075909614563,0.03141129016876221,0.0312984436750412,0.30545809864997864,0.34128570556640625,136.16952514648438
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,1,27,1.3478453159332275,0.3354402184486389,0.03296744450926781,0.0329311266541481,0.32599636912345886,0.36158424615859985,135.27146911621094
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,1,28,1.3459222316741943,0.32966145873069763,0.03437233716249466,0.03437711298465729,0.34698250889778137,0.3826373517513275,134.52084350585938
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,1,29,1.47125244140625,0.32289546728134155,0.035974495112895966,0.03577958792448044,0.3692202568054199,0.40456458926200867,133.48538208007812
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,1,30,1.466623306274414,0.31692779064178467,0.03777901828289032,0.03782273828983307,0.3918442726135254,0.4276210069656372,133.1707763671875
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,1,31,1.4656121730804443,0.3119063377380371,0.03961503878235817,0.039552316069602966,0.41581228375434875,0.45180654525756836,126.83319091796875
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,1,32,1.4293742179870605,0.30447831749916077,0.041986167430877686,0.041009657084941864,0.440698504447937,0.4768863320350647,120.26744079589844
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,1,33,1.4660463333129883,0.29699257016181946,0.04381304979324341,0.04321535676717758,0.4675692021846771,0.5031381845474243,113.9483413696289
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,1,34,1.4720780849456787,0.2891084849834442,0.04635210707783699,0.04527824744582176,0.49589449167251587,0.5305392146110535,107.6131820678711
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,1,35,1.467620849609375,0.27987903356552124,0.04921408370137215,0.04749464616179466,0.5262325406074524,0.5592777132987976,101.12267303466797
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,1,36,1.4618093967437744,0.2711365520954132,0.05202503502368927,0.05086725950241089,0.558586597442627,0.5894601345062256,94.72479248046875
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,1,37,1.4623126983642578,0.2626417577266693,0.054559092968702316,0.052215851843357086,0.5927175283432007,0.6204501986503601,88.04637908935547
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,1,38,1.4648914337158203,0.25346338748931885,0.057270705699920654,0.05591275542974472,0.6285078525543213,0.6526604294776917,81.50457763671875
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,1,39,1.465402364730835,0.24471807479858398,0.0601789727807045,0.05807371065020561,0.6658321619033813,0.6864461898803711,75.24163055419922
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,1,40,1.4584856033325195,0.23519539833068848,0.06337236613035202,0.0596964992582798,0.7046172022819519,0.7214320302009583,69.03814697265625
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,1,41,1.4658973217010498,0.2247491329908371,0.06835880875587463,0.06376604735851288,0.7448189854621887,0.7578383684158325,62.6041145324707
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,1,42,1.4696719646453857,0.2149723768234253,0.07075583934783936,0.06688306480646133,0.7852665781974792,0.7948379516601562,56.11109924316406
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,1,43,1.456258773803711,0.2044983059167862,0.07378606498241425,0.07052110880613327,0.825188934803009,0.8318989276885986,49.67172622680664
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,1,44,1.4659500122070312,0.19456419348716736,0.07659381628036499,0.07405911386013031,0.8635295629501343,0.8679540753364563,43.23805236816406
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,1,45,1.4698069095611572,0.18457914888858795,0.07972946763038635,0.07606963068246841,0.8994138240814209,0.9015196561813354,36.82286834716797
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,1,46,1.4620475769042969,0.1739596724510193,0.08173512667417526,0.07993266731500626,0.9312676191329956,0.9322847127914429,30.230531692504883
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,1,47,1.4647808074951172,0.1634371429681778,0.08487853407859802,0.08378826081752777,0.958418607711792,0.9588809609413147,24.088134765625
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,1,48,1.4632360935211182,0.15330645442008972,0.08721990883350372,0.08668287098407745,0.9795213341712952,0.9797244668006897,17.91761589050293
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,1,49,1.4665842056274414,0.1416645348072052,0.08982347697019577,0.0875294879078865,0.9936139583587646,0.9934720396995544,11.910151481628418
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,1,50,1.4659388065338135,0.12104454636573792,0.11316296458244324,0.1141653060913086,0.9999999403953552,0.9999998807907104,0.0
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,1,1,1.4678566455841064,1.4140695333480835,0.09780177474021912,0.048195455223321915,0.1425732523202896,0.14608286321163177,165.9167938232422
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,1,2,1.4681038856506348,1.0213017463684082,0.05146823078393936,0.03364085406064987,0.14059847593307495,0.14177444577217102,164.5928497314453
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,1,3,1.4654793739318848,0.8481056094169617,0.030438095331192017,0.024057723581790924,0.14245977997779846,0.1437712460756302,164.53424072265625
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,1,4,1.4693224430084229,0.7505316138267517,0.020690705627202988,0.018888749182224274,0.14690208435058594,0.14966537058353424,162.73463439941406
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,1,5,1.4682772159576416,0.6846912503242493,0.01627925969660282,0.015181371942162514,0.15310798585414886,0.15748846530914307,161.03988647460938
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,1,6,1.4690804481506348,0.6328164339065552,0.015093939378857613,0.013904325664043427,0.1605704128742218,0.1664412021636963,162.27505493164062
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,1,7,1.4624197483062744,0.5954618453979492,0.015107988379895687,0.014014532789587975,0.16911059617996216,0.1765073537826538,161.4828643798828
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,1,8,1.468233346939087,0.5678731203079224,0.014633695594966412,0.014172270894050598,0.1784757673740387,0.1871623694896698,159.35679626464844
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,1,9,1.464320182800293,0.5377579927444458,0.014502698555588722,0.01439722254872322,0.1885969489812851,0.19833584129810333,156.5762176513672
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,1,10,1.4682643413543701,0.5161609053611755,0.01471902895718813,0.014634009450674057,0.19901248812675476,0.20965377986431122,156.27780151367188
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,1,11,1.4645123481750488,0.4964867830276489,0.015099147334694862,0.015355868265032768,0.209889218211174,0.22136884927749634,154.84671020507812
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,1,12,1.4649608135223389,0.48006853461265564,0.015406079590320587,0.015898147597908974,0.22080098092556,0.23326022922992706,154.09251403808594
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,1,13,1.467421293258667,0.4627310335636139,0.016099480912089348,0.016266606748104095,0.2321602702140808,0.2452395111322403,152.40411376953125
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,1,14,1.465763807296753,0.45228439569473267,0.01688118651509285,0.017001168802380562,0.2436937689781189,0.2572886645793915,150.33103942871094
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,1,15,1.4657385349273682,0.4388682544231415,0.0173933282494545,0.017590386793017387,0.25541189312934875,0.26972323656082153,148.18194580078125
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,1,16,1.4680371284484863,0.42740893363952637,0.018085483461618423,0.01859435997903347,0.26725393533706665,0.28251343965530396,147.39309692382812
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,1,17,1.4634318351745605,0.41587841510772705,0.01886657252907753,0.019571343436837196,0.2795402407646179,0.29581835865974426,145.22402954101562
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,1,18,1.4691905975341797,0.40719524025917053,0.01959294080734253,0.020207161083817482,0.2922700047492981,0.3095953166484833,143.57078552246094
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,1,19,1.4654381275177002,0.3970985412597656,0.021029481664299965,0.021434566006064415,0.3053724467754364,0.32397860288619995,143.08522033691406
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,1,20,1.465888261795044,0.3885047435760498,0.021617721766233444,0.021985722705721855,0.318561851978302,0.33848512172698975,141.94876098632812
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,1,21,1.4680943489074707,0.3809955418109894,0.022667327895760536,0.02332378178834915,0.3325231075286865,0.35371607542037964,141.0064239501953
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,1,22,1.462998628616333,0.37401139736175537,0.023852381855249405,0.024442264810204506,0.34703484177589417,0.36945825815200806,140.49960327148438
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,1,23,1.4668400287628174,0.3648393750190735,0.02511773072183132,0.02555297315120697,0.36169207096099854,0.385696679353714,140.0347137451172
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,1,24,1.4665467739105225,0.35574156045913696,0.02618226408958435,0.026829062029719353,0.3773901164531708,0.4027530550956726,138.2592010498047
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,1,25,1.465587854385376,0.34960779547691345,0.027524210512638092,0.02807515859603882,0.3937745988368988,0.4203203320503235,136.94908142089844
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,1,26,1.4665093421936035,0.34336671233177185,0.028978629037737846,0.029207928106188774,0.4110136330127716,0.43855422735214233,136.33494567871094
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,1,27,1.468430995941162,0.3371611535549164,0.030366750434041023,0.030680667608976364,0.42898544669151306,0.4575442671775818,135.33001708984375
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,1,28,1.4621641635894775,0.33013227581977844,0.03190987557172775,0.03209998831152916,0.4475255310535431,0.47730907797813416,134.50547790527344
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,1,29,1.4680349826812744,0.32277706265449524,0.03338383883237839,0.033423516899347305,0.46727675199508667,0.49770045280456543,133.84410095214844
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,1,30,1.4348440170288086,0.31727156043052673,0.03500036522746086,0.03520797938108444,0.48736780881881714,0.5189146399497986,133.06004333496094
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,1,31,1.4687626361846924,0.3125828206539154,0.036812327802181244,0.036619819700717926,0.5085939168930054,0.5407719612121582,126.46739959716797
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,1,32,1.4675836563110352,0.30429303646087646,0.039044346660375595,0.038041967898607254,0.5314362049102783,0.5636231303215027,119.9781723022461
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,1,33,1.4681143760681152,0.29674166440963745,0.040449000895023346,0.03986270725727081,0.5552940964698792,0.5872467756271362,113.54366302490234
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,1,34,1.4690146446228027,0.28832998871803284,0.04243400692939758,0.04166671633720398,0.5799593925476074,0.6117105484008789,107.35956573486328
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,1,35,1.4666941165924072,0.2803068459033966,0.0448819100856781,0.043307334184646606,0.6060210466384888,0.6367314457893372,100.96056365966797
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,1,36,1.4684727191925049,0.27237147092819214,0.047304410487413406,0.04608481377363205,0.6331889629364014,0.6630033254623413,94.53974914550781
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,1,37,1.471067190170288,0.2635488510131836,0.04968561232089996,0.04744962230324745,0.6620634198188782,0.6901122331619263,87.91313171386719
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,1,38,1.4709677696228027,0.25471633672714233,0.05219290032982826,0.05054771900177002,0.6921019554138184,0.7183087468147278,81.31973266601562
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,1,39,1.4380841255187988,0.2446725219488144,0.054895855486392975,0.052611351013183594,0.723263680934906,0.7472270131111145,74.8805923461914
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,1,40,1.4690232276916504,0.23471207916736603,0.057811439037323,0.05418112874031067,0.7555063366889954,0.7763389348983765,68.40734100341797
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,1,41,1.4713425636291504,0.22540099918842316,0.06189617142081261,0.057600174099206924,0.7882096767425537,0.8061511516571045,61.90354919433594
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,1,42,1.4647493362426758,0.21458405256271362,0.06438428163528442,0.05987202003598213,0.8214541077613831,0.8358379006385803,55.45119857788086
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,1,43,1.4659240245819092,0.20394156873226166,0.06748074293136597,0.06302003562450409,0.854399561882019,0.8652565479278564,48.99446105957031
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,1,44,1.468242883682251,0.19491970539093018,0.06998265534639359,0.06630603969097137,0.8860341906547546,0.8939041495323181,42.48073196411133
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,1,45,1.4652807712554932,0.18341264128684998,0.07276920229196548,0.0680190771818161,0.9156869649887085,0.9204829335212708,36.10186004638672
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,1,46,1.4687104225158691,0.17402860522270203,0.07486525177955627,0.07164191454648972,0.9421557188034058,0.9449011087417603,29.991575241088867
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,1,47,1.4700353145599365,0.1632000207901001,0.07822597771883011,0.07542149722576141,0.9649184942245483,0.9662185907363892,23.827110290527344
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,1,48,1.4685840606689453,0.15250089764595032,0.0804477408528328,0.07877925783395767,0.9826873540878296,0.9832161068916321,18.050994873046875
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,1,49,1.4708888530731201,0.14152948558330536,0.0827072486281395,0.0796295553445816,0.9945788979530334,0.9945346713066101,11.918644905090332
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,1,50,1.4528214931488037,0.12088000774383545,0.10401595383882523,0.10457612574100494,1.0,1.0,0.0
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,2,1,1.4676733016967773,1.4168246984481812,0.10825057327747345,0.08497098833322525,0.26551419496536255,0.09167633205652237,169.32412719726562
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,2,2,1.4657137393951416,1.0230265855789185,0.05545897036790848,0.0471578873693943,0.2566794753074646,0.08752407133579254,168.64013671875
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,2,3,1.4680273532867432,0.8517141342163086,0.034354060888290405,0.029942426830530167,0.2513391673564911,0.08814042806625366,169.50497436523438
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,2,4,1.4697306156158447,0.7493499517440796,0.022040924057364464,0.019433030858635902,0.2515116035938263,0.09301142394542694,169.20326232910156
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,2,5,1.4785528182983398,0.6819654107093811,0.014757770113646984,0.01412046980112791,0.25540581345558167,0.09964767098426819,167.7555694580078
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,2,6,1.4652998447418213,0.6342460513114929,0.012715592049062252,0.011724160984158516,0.26144739985466003,0.1073734313249588,165.6011505126953
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,2,7,1.4662280082702637,0.595847487449646,0.012521148659288883,0.011278997175395489,0.26888608932495117,0.11630601435899734,164.7246551513672
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,2,8,1.464653491973877,0.563179612159729,0.012675088830292225,0.012096776627004147,0.2774064242839813,0.1261584609746933,164.36669921875
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,2,9,1.4668593406677246,0.5367880463600159,0.012670593336224556,0.012317953631281853,0.2863718569278717,0.1361658275127411,161.17630004882812
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,2,10,1.4640231132507324,0.5152835249900818,0.01298640575259924,0.012556188739836216,0.2958284616470337,0.14627964794635773,159.46084594726562
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,2,11,1.4600019454956055,0.4965359568595886,0.013569402508437634,0.013321742415428162,0.30577704310417175,0.15670788288116455,157.8684539794922
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,2,12,1.4661715030670166,0.47996842861175537,0.014185771346092224,0.014179738238453865,0.31620895862579346,0.1674981564283371,156.14686584472656
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,2,13,1.4681572914123535,0.4636308252811432,0.014704625122249126,0.01465841755270958,0.3270414471626282,0.1783904731273651,155.88327026367188
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,2,14,1.4622235298156738,0.4489820897579193,0.015456700697541237,0.015452342107892036,0.3382473587989807,0.18950152397155762,152.6062469482422
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,2,15,1.465411901473999,0.43852174282073975,0.016087917611002922,0.016158143058419228,0.34963861107826233,0.2008642703294754,151.56723022460938
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,2,16,1.4675593376159668,0.42537447810173035,0.016682015731930733,0.01719318889081478,0.3613430857658386,0.21256616711616516,149.85231018066406
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,2,17,1.4680702686309814,0.41643741726875305,0.017375240102410316,0.018158065155148506,0.3733295202255249,0.2245308756828308,148.1454620361328
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,2,18,1.463019609451294,0.40535542368888855,0.018117431551218033,0.018841242417693138,0.3855871558189392,0.23672959208488464,147.3157501220703
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,2,19,1.4625179767608643,0.3964757025241852,0.019443677738308907,0.020017549395561218,0.39837226271629333,0.24940815567970276,146.07351684570312
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,2,20,1.4648799896240234,0.3873308300971985,0.020225578919053078,0.02087857574224472,0.4115488827228546,0.2624257802963257,144.40283203125
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,2,21,1.4652612209320068,0.37868428230285645,0.02104874700307846,0.022352373227477074,0.42513158917427063,0.27615344524383545,143.23648071289062
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,2,22,1.4684126377105713,0.3711998164653778,0.022327348589897156,0.02364528365433216,0.43940114974975586,0.29065263271331787,141.36476135253906
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,2,23,1.4631235599517822,0.3645610809326172,0.023480605334043503,0.024715498089790344,0.454105406999588,0.3055317997932434,140.5275421142578
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,2,24,1.4686872959136963,0.35666823387145996,0.024237114936113358,0.026035824790596962,0.46903738379478455,0.3210204541683197,139.7677001953125
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,2,25,1.4664685726165771,0.350202351808548,0.025302311405539513,0.027343807741999626,0.4845026135444641,0.3369300961494446,138.78469848632812
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,2,26,1.4660561084747314,0.3433406949043274,0.02673250623047352,0.028663307428359985,0.5005736947059631,0.3536153733730316,138.06536865234375
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,2,27,1.4624555110931396,0.33773842453956604,0.02810746245086193,0.030327238142490387,0.5173558592796326,0.3712295889854431,137.29234313964844
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,2,28,1.4763426780700684,0.33014461398124695,0.029536841437220573,0.03185569494962692,0.5347808599472046,0.3899000287055969,136.3498992919922
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,2,29,1.4671061038970947,0.32523325085639954,0.030637040734291077,0.03349193185567856,0.5527722239494324,0.4095703661441803,135.56031799316406
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,2,30,1.4686331748962402,0.3182673752307892,0.032352954149246216,0.03557248413562775,0.5716538429260254,0.430480420589447,134.98606872558594
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,2,31,1.4682409763336182,0.3135142922401428,0.03381996601819992,0.03725042566657066,0.5910959243774414,0.45232805609703064,128.72239685058594
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,2,32,1.444676399230957,0.3053046464920044,0.03571769967675209,0.038523200899362564,0.611601710319519,0.47501707077026367,122.16168975830078
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,2,33,1.462989091873169,0.29784467816352844,0.03679807856678963,0.040830325335264206,0.6324684023857117,0.4991493225097656,115.53981018066406
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,2,34,1.4604804515838623,0.2887480556964874,0.03878939151763916,0.04306140914559364,0.6541532278060913,0.5246826410293579,109.13954162597656
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,2,35,1.470928430557251,0.28087958693504333,0.040895067155361176,0.045238204300403595,0.6767630577087402,0.5515446662902832,102.6634292602539
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,2,36,1.459481954574585,0.27178582549095154,0.04282096400856972,0.0484578013420105,0.7001506090164185,0.5802611112594604,96.16817474365234
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,2,37,1.466306447982788,0.2623206675052643,0.04451123997569084,0.04993201792240143,0.7240853309631348,0.6097145080566406,89.68258666992188
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,2,38,1.4627587795257568,0.253568172454834,0.0464465469121933,0.05385862663388252,0.7486597895622253,0.6416028738021851,83.17855834960938
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,2,39,1.46274995803833,0.24395141005516052,0.04877488687634468,0.05636746436357498,0.7739160060882568,0.6746236085891724,76.7248306274414
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,2,40,1.3229091167449951,0.23362386226654053,0.051208943128585815,0.05812174454331398,0.7997701168060303,0.7081789374351501,70.07035064697266
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,2,41,1.4320783615112305,0.22388291358947754,0.055677302181720734,0.06253137439489365,0.8269254565238953,0.7436317205429077,63.885704040527344
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,2,42,1.4653077125549316,0.21423113346099854,0.05693503096699715,0.06559664756059647,0.8533811569213867,0.7797423601150513,57.535518646240234
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,2,43,1.466064214706421,0.20363351702690125,0.05938240513205528,0.06949511915445328,0.8794108033180237,0.8165052533149719,50.8475227355957
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,2,44,1.347865343093872,0.19335749745368958,0.06147405132651329,0.07355492562055588,0.9043397307395935,0.8530464172363281,44.54745864868164
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,2,45,1.4166245460510254,0.1834828406572342,0.06446830183267593,0.07641217112541199,0.9280428290367126,0.8879838585853577,38.10327911376953
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,2,46,1.4698944091796875,0.17317993938922882,0.06652754545211792,0.08120650053024292,0.9494664072990417,0.9209297895431519,31.671173095703125
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,2,47,1.466583013534546,0.16349057853221893,0.07045558840036392,0.08670289814472198,0.9684007167816162,0.9505099654197693,25.368431091308594
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,2,48,1.4366827011108398,0.1520317941904068,0.07415109872817993,0.09218602627515793,0.9838175177574158,0.974823534488678,19.17172622680664
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,2,49,1.4689388275146484,0.14017042517662048,0.0790746659040451,0.09488016366958618,0.9947561025619507,0.9915196895599365,12.886629104614258
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,2,50,1.4639732837677002,0.11881189793348312,0.10273367166519165,0.1300472915172577,0.9999999403953552,0.9999999403953552,0.0
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,2,1,1.4666872024536133,1.4177559614181519,0.08068891614675522,0.07356314361095428,0.13473579287528992,0.1201009675860405,171.53053283691406
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,2,2,1.463923692703247,1.0214906930923462,0.045906879007816315,0.0402645617723465,0.1271824687719345,0.1195085346698761,172.38491821289062
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,2,3,1.4650664329528809,0.850409984588623,0.027331946417689323,0.0243991632014513,0.1240444928407669,0.1244034469127655,170.54452514648438
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,2,4,1.4694101810455322,0.7522117495536804,0.017425231635570526,0.017074652016162872,0.12578348815441132,0.1320825070142746,167.1997528076172
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,2,5,1.4669313430786133,0.6819655299186707,0.013748916797339916,0.013891796581447124,0.13134941458702087,0.14101019501686096,164.52682495117188
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,2,6,1.4685602188110352,0.6288179159164429,0.013758812099695206,0.012369300238788128,0.13898223638534546,0.1501654088497162,163.5880584716797
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,2,7,1.4662957191467285,0.5902915596961975,0.01381723117083311,0.01211582962423563,0.1476021409034729,0.15963368117809296,163.1001434326172
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,2,8,1.4608838558197021,0.5624145269393921,0.013909323140978813,0.01228390820324421,0.1572328805923462,0.16950495541095734,160.33351135253906
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,2,9,1.4649989604949951,0.5345475077629089,0.013927577063441277,0.012629615142941475,0.16691650450229645,0.17975100874900818,162.19711303710938
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,2,10,1.4688050746917725,0.5141292214393616,0.01365930587053299,0.012700130231678486,0.1769615113735199,0.1898384988307953,159.69886779785156
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,2,11,1.468698263168335,0.4963092803955078,0.01396106369793415,0.013302991166710854,0.18774735927581787,0.20002514123916626,159.4488983154297
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,2,12,1.458141565322876,0.4782271683216095,0.014210179448127747,0.013861407525837421,0.19883373379707336,0.21031376719474792,157.7777099609375
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,2,13,1.469268560409546,0.4635371267795563,0.015079708769917488,0.014410934410989285,0.21068352460861206,0.22086882591247559,157.57643127441406
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,2,14,1.466749668121338,0.4491335451602936,0.01606661081314087,0.015264337882399559,0.2230536937713623,0.2318146526813507,155.59051513671875
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,2,15,1.4657084941864014,0.43880802392959595,0.01676396280527115,0.015885567292571068,0.2358401119709015,0.24284595251083374,155.62025451660156
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,2,16,1.4660425186157227,0.4266091287136078,0.017457446083426476,0.016878848895430565,0.24907110631465912,0.2542138695716858,153.7974853515625
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,2,17,1.4682610034942627,0.41473865509033203,0.018499312922358513,0.017796404659748077,0.2627525329589844,0.26596465706825256,152.25653076171875
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,2,18,1.4684288501739502,0.4067762792110443,0.01924046128988266,0.01846856251358986,0.2767777740955353,0.27792486548423767,150.7472381591797
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,2,19,1.4676954746246338,0.3968287408351898,0.02072242647409439,0.019665032625198364,0.29163607954978943,0.29049521684646606,148.36233520507812
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,2,20,1.4629240036010742,0.38749223947525024,0.021687712520360947,0.0203607939183712,0.30700087547302246,0.30327796936035156,146.81259155273438
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,2,21,1.4629242420196533,0.3793928623199463,0.022558635100722313,0.02168847993016243,0.32285362482070923,0.3165876865386963,144.68861389160156
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,2,22,1.4693470001220703,0.37037724256515503,0.02401779592037201,0.02289661392569542,0.33905699849128723,0.33040308952331543,142.65447998046875
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,2,23,1.4695219993591309,0.3623941242694855,0.025370437651872635,0.023915095254778862,0.35586512088775635,0.34469732642173767,142.18612670898438
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,2,24,1.457961082458496,0.35543593764305115,0.026217922568321228,0.02522728033363819,0.3731991648674011,0.35964086651802063,141.1318359375
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,2,25,1.4681892395019531,0.3488553464412689,0.027486160397529602,0.026481708511710167,0.391307532787323,0.37508025765419006,140.05966186523438
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,2,26,1.4678065776824951,0.3416637182235718,0.029129108414053917,0.027807390317320824,0.41022372245788574,0.39117541909217834,139.22842407226562
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,2,27,1.4656753540039062,0.33475786447525024,0.030523201450705528,0.029418334364891052,0.4299374520778656,0.408199667930603,138.25674438476562
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,2,28,1.471548318862915,0.330573707818985,0.03192247450351715,0.03095659427344799,0.4505121111869812,0.4260512590408325,137.63685607910156
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,2,29,1.4663918018341064,0.3239552676677704,0.033090218901634216,0.03245767951011658,0.47165727615356445,0.44463562965393066,136.5859832763672
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,2,30,1.465507984161377,0.3167251646518707,0.03503301739692688,0.03445214778184891,0.49409908056259155,0.46430841088294983,135.82455444335938
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,2,31,1.4691073894500732,0.3110619783401489,0.0363861583173275,0.036134786903858185,0.5173676013946533,0.484819233417511,129.3384552001953
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,2,32,1.4682223796844482,0.3048543334007263,0.03866824135184288,0.03749023377895355,0.541826069355011,0.5060802698135376,122.7615966796875
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,2,33,1.4686899185180664,0.2969037592411041,0.039547327905893326,0.03959782049059868,0.5668424963951111,0.5284913778305054,116.29646301269531
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,2,34,1.4657080173492432,0.2885865271091461,0.041730113327503204,0.04171564429998398,0.5931639075279236,0.5521866083145142,109.7737808227539
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,2,35,1.467315673828125,0.2798904776573181,0.04403319209814072,0.0438852459192276,0.6208367347717285,0.5771724581718445,103.18544006347656
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,2,36,1.4643950462341309,0.27166056632995605,0.046101171523332596,0.04700792580842972,0.6494561433792114,0.604019045829773,96.49998474121094
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,2,37,1.4680843353271484,0.2627720236778259,0.047849852591753006,0.04849352315068245,0.6787728071212769,0.6316051483154297,90.03678131103516
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,2,38,1.4698374271392822,0.2531760632991791,0.049873992800712585,0.05236910656094551,0.708628237247467,0.6612439155578613,83.60936737060547
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,2,39,1.4646387100219727,0.24386081099510193,0.05222918093204498,0.0547250434756279,0.7391418218612671,0.6918889880180359,77.07711029052734
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,2,40,1.4688332080841064,0.2335098832845688,0.05501097813248634,0.0565418042242527,0.7704054117202759,0.7231394052505493,70.73983001708984
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,2,41,1.4741642475128174,0.22449149191379547,0.05979287624359131,0.06092289462685585,0.8030243515968323,0.7561851143836975,64.18812561035156
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,2,42,1.4667768478393555,0.21295513212680817,0.061233166605234146,0.06389659643173218,0.8348026275634766,0.7898918390274048,57.620574951171875
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,2,43,1.4674994945526123,0.20373079180717468,0.06383056193590164,0.06784216314554214,0.865849494934082,0.8244060277938843,51.20619201660156
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,2,44,1.4671733379364014,0.19370929896831512,0.06595147401094437,0.07212749123573303,0.8952715396881104,0.8590472340583801,44.86415100097656
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,2,45,1.4683070182800293,0.18362919986248016,0.06837505102157593,0.07477182149887085,0.9225164651870728,0.8921211361885071,38.52281951904297
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,2,46,1.4707679748535156,0.17259880900382996,0.07025833427906036,0.07976526767015457,0.9466826915740967,0.9235620498657227,32.05632781982422
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,2,47,1.4372992515563965,0.16241638362407684,0.07358555495738983,0.08565383404493332,0.9674439430236816,0.9520531296730042,25.742847442626953
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,2,48,1.465219259262085,0.1516208052635193,0.07639549672603607,0.09134113043546677,0.9838060140609741,0.9756724834442139,19.441390991210938
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,2,49,1.4676189422607422,0.1397533267736435,0.07970993965864182,0.09386477619409561,0.9949234127998352,0.9918639063835144,13.143508911132812
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,2,50,1.465902328491211,0.11823858320713043,0.10067284852266312,0.1273069977760315,0.9999999403953552,0.9999998807907104,0.0
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,3,1,1.4673352241516113,1.4166821241378784,0.12835288047790527,0.05870991572737694,0.08245941996574402,0.09474562853574753,162.29859924316406
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,3,2,1.4650065898895264,1.0185985565185547,0.0564514696598053,0.03770725801587105,0.07335621118545532,0.09336964786052704,162.80418395996094
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,3,3,1.4622304439544678,0.8506861329078674,0.032827477902173996,0.0252961665391922,0.07100500166416168,0.09673386812210083,162.75645446777344
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,3,4,1.4680085182189941,0.7516632676124573,0.021129867061972618,0.01882140524685383,0.0753486156463623,0.1033933088183403,162.51710510253906
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,3,5,1.462090015411377,0.6864140629768372,0.016460401937365532,0.014909697696566582,0.08339888602495193,0.11179830133914948,161.38453674316406
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,3,6,1.468796968460083,0.6357320547103882,0.016282496973872185,0.01364960242062807,0.09374089539051056,0.12109772115945816,159.16796875
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,3,7,1.4662725925445557,0.5951254963874817,0.015597068704664707,0.013299394398927689,0.10522966831922531,0.1309068650007248,158.49319458007812
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,3,8,1.471606969833374,0.5617756247520447,0.01574442908167839,0.01332301925867796,0.11777572333812714,0.14157609641551971,157.30368041992188
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,3,9,1.4643807411193848,0.5352239012718201,0.015910053625702858,0.013635054230690002,0.1308482587337494,0.15273526310920715,157.0414581298828
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,3,10,1.464996099472046,0.5150608420372009,0.016193650662899017,0.013905419036746025,0.1445198953151703,0.16417565941810608,157.44052124023438
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,3,11,1.470930814743042,0.4969977140426636,0.016639845445752144,0.014644132927060127,0.15870435535907745,0.17603912949562073,154.12228393554688
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,3,12,1.4680800437927246,0.4799197316169739,0.017090903595089912,0.015262829139828682,0.1731191873550415,0.18813291192054749,152.10186767578125
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,3,13,1.465494155883789,0.46383318305015564,0.018105631694197655,0.015764178708195686,0.18838685750961304,0.2004804164171219,151.22059631347656
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,3,14,1.4716856479644775,0.4506627321243286,0.019047148525714874,0.016632409766316414,0.20410147309303284,0.21332067251205444,148.34495544433594
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,3,15,1.462120771408081,0.4392715096473694,0.019641097635030746,0.01719263195991516,0.2200479954481125,0.22633060812950134,146.50869750976562
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,3,16,1.4630205631256104,0.42612317204475403,0.020619936287403107,0.01826360821723938,0.23648813366889954,0.2398538589477539,145.32366943359375
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,3,17,1.4649641513824463,0.4164735972881317,0.02140367031097412,0.01918671280145645,0.25333744287490845,0.25389283895492554,143.41493225097656
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,3,18,1.4646644592285156,0.4062606692314148,0.022136297076940536,0.019728614017367363,0.2706250846385956,0.26811519265174866,142.61773681640625
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,3,19,1.4657652378082275,0.3962179124355316,0.02329947054386139,0.020835861563682556,0.2884209156036377,0.28277069330215454,141.64871215820312
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,3,20,1.4682440757751465,0.38888731598854065,0.02412479743361473,0.02157951146364212,0.3065723776817322,0.2976628541946411,140.35845947265625
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,3,21,1.4626517295837402,0.379144549369812,0.025087600573897362,0.022965889424085617,0.3252447545528412,0.31321439146995544,138.89292907714844
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,3,22,1.4665577411651611,0.37162259221076965,0.026285627856850624,0.024129817262291908,0.34467577934265137,0.32917916774749756,137.69688415527344
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,3,23,1.4660859107971191,0.3643823564052582,0.027582501992583275,0.0252006147056818,0.36467525362968445,0.3456479609012604,137.05807495117188
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,3,24,1.4592924118041992,0.35720303654670715,0.028551464900374413,0.026506859809160233,0.385280579328537,0.36279457807540894,136.0796356201172
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,3,25,1.4643983840942383,0.34932956099510193,0.029714977368712425,0.027851173654198647,0.4065377414226532,0.38067522644996643,135.35250854492188
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,3,26,1.4647948741912842,0.34294450283050537,0.031146099790930748,0.02889477275311947,0.42875465750694275,0.399062842130661,134.460205078125
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,3,27,1.465731143951416,0.33660730719566345,0.032560016959905624,0.030361836776137352,0.45165130496025085,0.4181062579154968,133.493896484375
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,3,28,1.468491792678833,0.330708771944046,0.03395090252161026,0.0316745862364769,0.47525301575660706,0.43785449862480164,132.4696502685547
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,3,29,1.4664385318756104,0.3244824707508087,0.03484932705760002,0.03319237008690834,0.4995391368865967,0.4584677219390869,131.64414978027344
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,3,30,1.4687402248382568,0.3177424669265747,0.0366780087351799,0.03526829183101654,0.5250259637832642,0.4802246689796448,130.8557891845703
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,3,31,1.4617934226989746,0.31261882185935974,0.038036834448575974,0.03692492097616196,0.5510244965553284,0.502896785736084,124.4430160522461
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,3,32,1.4654593467712402,0.3051508665084839,0.039896633476018906,0.03802455961704254,0.578342854976654,0.5262203812599182,118.26148223876953
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,3,33,1.4649019241333008,0.2969930171966553,0.04073084145784378,0.039940595626831055,0.6058112978935242,0.5505666732788086,112.23076629638672
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,3,34,1.4678988456726074,0.288554310798645,0.04240749776363373,0.041865307837724686,0.6341561675071716,0.5759469270706177,106.03196716308594
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,3,35,1.466010332107544,0.280868262052536,0.044339586049318314,0.043771784752607346,0.6632939577102661,0.6023727655410767,99.62684631347656
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,3,36,1.4692611694335938,0.2725394070148468,0.04596247151494026,0.0468817837536335,0.6928862929344177,0.6305485367774963,92.9822998046875
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,3,37,1.4688222408294678,0.2625555992126465,0.047327298671007156,0.04791486635804176,0.722662091255188,0.6590611934661865,86.14249420166016
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,3,38,1.4710278511047363,0.25350674986839294,0.04891567677259445,0.05159896984696388,0.7525304555892944,0.6894547939300537,79.52420806884766
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,3,39,1.46059250831604,0.24435250461101532,0.05081711336970329,0.05363738536834717,0.7823553085327148,0.7204413414001465,73.24950408935547
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,3,40,1.4664552211761475,0.23507004976272583,0.05262770503759384,0.054854799062013626,0.8119419813156128,0.7513642907142639,66.9287109375
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,3,41,1.465996265411377,0.22487019002437592,0.05575418472290039,0.058930087834596634,0.8412717580795288,0.7837464213371277,60.50944900512695
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,3,42,1.457315444946289,0.2157755345106125,0.05672246590256691,0.061314113438129425,0.8693175911903381,0.8160303831100464,54.14288330078125
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,3,43,1.4660346508026123,0.20579847693443298,0.05841106176376343,0.06457966566085815,0.8958226442337036,0.8482174277305603,47.83384704589844
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,3,44,1.4676845073699951,0.1954757422208786,0.0595988892018795,0.06777847558259964,0.9201709032058716,0.8795275688171387,41.421180725097656
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,3,45,1.4684042930603027,0.1843513697385788,0.06108598783612251,0.06979482620954514,0.9420949220657349,0.9088571667671204,35.20963668823242
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,3,46,1.4650685787200928,0.1743289977312088,0.06200074404478073,0.07389124482870102,0.9609230160713196,0.9361733794212341,28.819616317749023
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,3,47,1.4304683208465576,0.16366621851921082,0.0640212669968605,0.07846376299858093,0.976582944393158,0.9603750705718994,22.644161224365234
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,3,48,1.4682469367980957,0.1533498913049698,0.06590193510055542,0.08280164748430252,0.9885770082473755,0.9799790382385254,16.65578842163086
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,3,49,1.4673564434051514,0.14261503517627716,0.06807981431484222,0.0848887711763382,0.9964988827705383,0.9933143258094788,10.792143821716309
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,3,50,1.4679718017578125,0.12279444932937622,0.08466273546218872,0.1156531423330307,1.0,0.9999999403953552,0.0
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,3,1,1.4690756797790527,1.4163994789123535,0.09642986953258514,0.051559243351221085,0.1423068344593048,0.12782180309295654,163.21946716308594
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,3,2,1.4691951274871826,1.0205491781234741,0.05711830407381058,0.03335065767168999,0.13786055147647858,0.12521380186080933,162.54478454589844
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,3,3,1.42116379737854,0.853759765625,0.037364110350608826,0.02235877886414528,0.13811041414737701,0.12795013189315796,162.0897979736328
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,3,4,1.4691135883331299,0.7488558292388916,0.02467726357281208,0.01674434170126915,0.14145386219024658,0.13517268002033234,159.23623657226562
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,3,5,1.4690940380096436,0.6804925203323364,0.017338909208774567,0.014103960245847702,0.14794981479644775,0.14434108138084412,159.70802307128906
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,3,6,1.4339854717254639,0.6337018013000488,0.015569835901260376,0.013141338713467121,0.15630082786083221,0.15427356958389282,161.09683227539062
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,3,7,1.4694430828094482,0.5959663391113281,0.01456189900636673,0.013139953836798668,0.16608846187591553,0.16474615037441254,156.46568298339844
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,3,8,1.4693129062652588,0.5627627968788147,0.014623966999351978,0.013372943736612797,0.17699487507343292,0.17577676475048065,154.8270721435547
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,3,9,1.469454288482666,0.537757933139801,0.014700054191052914,0.013665424659848213,0.1884911209344864,0.18713964521884918,156.0407257080078
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,3,10,1.4571967124938965,0.5160873532295227,0.015064409002661705,0.013848007656633854,0.20044800639152527,0.19860944151878357,151.50938415527344
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,3,11,1.469078779220581,0.49680817127227783,0.015283416025340557,0.014482485130429268,0.21265169978141785,0.21028675138950348,148.56982421875
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,3,12,1.462268352508545,0.48133760690689087,0.01560064684599638,0.015019024722278118,0.2251659482717514,0.22225446999073029,146.50466918945312
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,3,13,1.4611961841583252,0.4643067419528961,0.01619453728199005,0.015448185615241528,0.23817825317382812,0.23436884582042694,146.0042266845703
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,3,14,1.4684522151947021,0.45103421807289124,0.017030363902449608,0.016246560961008072,0.2515488564968109,0.24674628674983978,145.33639526367188
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,3,15,1.4626431465148926,0.4389709234237671,0.017688607797026634,0.016763411462306976,0.26523545384407043,0.25918978452682495,144.00582885742188
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,3,16,1.465656042098999,0.4266617000102997,0.018554894253611565,0.01783132180571556,0.279394268989563,0.2721693813800812,144.05323791503906
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,3,17,1.4653832912445068,0.4171348512172699,0.019367437809705734,0.018615277484059334,0.2939877212047577,0.28542467951774597,143.57627868652344
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,3,18,1.4606778621673584,0.40584880113601685,0.020018387585878372,0.019096938893198967,0.30904000997543335,0.2986333966255188,140.9585418701172
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,3,19,1.4678823947906494,0.39688387513160706,0.021507708355784416,0.020241685211658478,0.32461658120155334,0.31242984533309937,140.10678100585938
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,3,20,1.4715111255645752,0.38829055428504944,0.022335240617394447,0.02088906243443489,0.34084564447402954,0.32646992802619934,139.2343292236328
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,3,21,1.4670557975769043,0.3793460428714752,0.023170271888375282,0.02235058695077896,0.357414186000824,0.3412920832633972,137.99185180664062
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,3,22,1.468170404434204,0.37193459272384644,0.024283116683363914,0.02339891716837883,0.3744220733642578,0.35648059844970703,137.66404724121094
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,3,23,1.4686133861541748,0.36504146456718445,0.02554832026362419,0.024469301104545593,0.3918183147907257,0.3721997141838074,136.22752380371094
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,3,24,1.4673585891723633,0.35582712292671204,0.026591990143060684,0.025638485327363014,0.4100264608860016,0.3884117603302002,135.5828399658203
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,3,25,1.470226526260376,0.3488307595252991,0.02768336609005928,0.026814917102456093,0.42876923084259033,0.4050378203392029,134.5841522216797
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,3,26,1.462265968322754,0.3415646255016327,0.029185030609369278,0.02797262743115425,0.4483366012573242,0.42230209708213806,133.96253967285156
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,3,27,1.4722673892974854,0.33583903312683105,0.03047340363264084,0.029434099793434143,0.4684644639492035,0.4402318298816681,133.1931915283203
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,3,28,1.4712636470794678,0.3303427994251251,0.031852345913648605,0.030869027599692345,0.48922377824783325,0.45911723375320435,132.8219451904297
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,3,29,1.4688422679901123,0.32407045364379883,0.03296035900712013,0.03211497887969017,0.5108467936515808,0.4784213602542877,131.92662048339844
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,3,30,1.463085651397705,0.31730198860168457,0.03470591828227043,0.03410972282290459,0.5333822965621948,0.49892571568489075,131.3166961669922
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,3,31,1.4649646282196045,0.31281962990760803,0.036122050136327744,0.035634301602840424,0.5565047264099121,0.5201455950737,124.9839859008789
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,3,32,1.467965841293335,0.3048894703388214,0.0383513905107975,0.03682854026556015,0.580872654914856,0.5420278906822205,118.51606750488281
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,3,33,1.4703631401062012,0.29674068093299866,0.039442840963602066,0.03892131149768829,0.6057992577552795,0.5650085210800171,112.06843566894531
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,3,34,1.4633209705352783,0.2876462936401367,0.041496630758047104,0.04094305261969566,0.6317272782325745,0.5891302227973938,105.73112487792969
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,3,35,1.4720096588134766,0.28047487139701843,0.04351452738046646,0.04293700307607651,0.6585477590560913,0.614338219165802,99.2459487915039
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,3,36,1.468057632446289,0.27134713530540466,0.0454510822892189,0.04605051875114441,0.6861230134963989,0.6412608027458191,92.74586486816406
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,3,37,1.4713857173919678,0.2634093463420868,0.04706175625324249,0.047218143939971924,0.714158296585083,0.6686314940452576,86.31763458251953
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,3,38,1.461850643157959,0.25384819507598877,0.049013130366802216,0.05080946534872055,0.7426817417144775,0.6977903246879578,79.83807373046875
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,3,39,1.4642512798309326,0.24312862753868103,0.05129633843898773,0.05286622792482376,0.7716132402420044,0.7275936007499695,73.37529754638672
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,3,40,1.4630203247070312,0.23391826450824738,0.0534348301589489,0.05413755029439926,0.8007494211196899,0.7574476599693298,66.9626693725586
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,3,41,1.470607042312622,0.22443433105945587,0.0574880875647068,0.05807817354798317,0.830414354801178,0.7886666059494019,60.75067138671875
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,3,42,1.4675636291503906,0.2148587703704834,0.058343034237623215,0.06047661602497101,0.8589479327201843,0.819858729839325,54.18240737915039
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,3,43,1.4643702507019043,0.20507143437862396,0.060601912438869476,0.06359219551086426,0.8864142298698425,0.8509005308151245,47.961246490478516
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,3,44,1.4607062339782715,0.19486595690250397,0.06222467124462128,0.06708311289548874,0.9121043682098389,0.8813216686248779,41.4322509765625
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,3,45,1.4676849842071533,0.18426987528800964,0.06410610675811768,0.06913406401872635,0.9356557726860046,0.9099465012550354,35.070960998535156
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,3,46,1.4705636501312256,0.17429111897945404,0.06529142707586288,0.07351870089769363,0.9562035799026489,0.9368112683296204,28.85480308532715
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,3,47,1.4598276615142822,0.1633429080247879,0.06775767356157303,0.07873040437698364,0.973546028137207,0.9608610272407532,22.715595245361328
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,3,48,1.4671859741210938,0.15404313802719116,0.06974088400602341,0.08312257379293442,0.986986517906189,0.9803139567375183,16.728872299194336
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,3,49,1.4660649299621582,0.14272984862327576,0.07208028435707092,0.08460915088653564,0.9959733486175537,0.9934413433074951,10.822770118713379
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,3,50,1.468407392501831,0.12353544682264328,0.08997321128845215,0.11435379087924957,0.9999999403953552,1.0000001192092896,0.0
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,4,1,1.465280532836914,1.4149103164672852,0.1023980900645256,0.06978520005941391,0.12726986408233643,0.039295781403779984,171.52346801757812
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,4,2,1.468163251876831,1.0228430032730103,0.05572641268372536,0.040999121963977814,0.12120580673217773,0.034601856023073196,169.85841369628906
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,4,3,1.4682285785675049,0.8505815863609314,0.03226000443100929,0.024958716705441475,0.11803091317415237,0.03617777302861214,170.1092071533203
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,4,4,1.4694063663482666,0.7526262998580933,0.02009267359972,0.017093267291784286,0.11970501393079758,0.04159410670399666,167.87139892578125
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,4,5,1.4642820358276367,0.6823021769523621,0.015513831749558449,0.014133133925497532,0.12460754066705704,0.04932159185409546,166.13308715820312
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,4,6,1.4710228443145752,0.6324888467788696,0.014728162437677383,0.013103866018354893,0.13155315816402435,0.057950593531131744,165.28732299804688
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,4,7,1.4652132987976074,0.5949074625968933,0.015826545655727386,0.013088571839034557,0.14068886637687683,0.0675150603055954,163.62469482421875
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,4,8,1.4660704135894775,0.564047634601593,0.016109799966216087,0.01328384317457676,0.15077903866767883,0.07757534086704254,161.69065856933594
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,4,9,1.4727203845977783,0.537966787815094,0.0160529725253582,0.013663099147379398,0.16198942065238953,0.08809836208820343,159.10586547851562
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,4,10,1.4711341857910156,0.5164546370506287,0.01673269271850586,0.0139225535094738,0.17487850785255432,0.09899239987134933,158.71148681640625
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,4,11,1.468963861465454,0.4959854483604431,0.01711454801261425,0.014789623208343983,0.18818441033363342,0.11033650487661362,157.86599731445312
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,4,12,1.4720995426177979,0.4811732769012451,0.017310475930571556,0.015533535741269588,0.20161889493465424,0.12194418907165527,156.4933624267578
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,4,13,1.4676365852355957,0.46451669931411743,0.01832246035337448,0.016219811514019966,0.2157764434814453,0.13387730717658997,151.0586700439453
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,4,14,1.4619014263153076,0.4502337872982025,0.01896563172340393,0.017184864729642868,0.22998134791851044,0.1461106538772583,149.36351013183594
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,4,15,1.4653282165527344,0.43945127725601196,0.0198789332062006,0.017880897969007492,0.2447584867477417,0.15878939628601074,148.17556762695312
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,4,16,1.4650075435638428,0.4269431531429291,0.020666811615228653,0.01896209456026554,0.2598971724510193,0.17190934717655182,147.25494384765625
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,4,17,1.4678831100463867,0.41597452759742737,0.021626390516757965,0.019910594448447227,0.2756243944168091,0.18546733260154724,146.1086883544922
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,4,18,1.4680004119873047,0.40661847591400146,0.022389879450201988,0.02061433531343937,0.29183122515678406,0.19951100647449493,144.75503540039062
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,4,19,1.4636993408203125,0.3970107138156891,0.023705990985035896,0.021813251078128815,0.308826208114624,0.21420300006866455,144.2631072998047
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,4,20,1.4638645648956299,0.38730740547180176,0.02449139952659607,0.022606760263442993,0.3265204429626465,0.22935152053833008,143.28836059570312
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,4,21,1.4660587310791016,0.37984079122543335,0.02539307251572609,0.02404795028269291,0.3450072109699249,0.24524730443954468,142.60350036621094
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,4,22,1.4665131568908691,0.372715562582016,0.02676914446055889,0.02525215595960617,0.36423200368881226,0.26184001564979553,142.10336303710938
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,4,23,1.4641468524932861,0.36390015482902527,0.02818327210843563,0.026371462270617485,0.384849488735199,0.2792910635471344,141.34559631347656
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,4,24,1.4629426002502441,0.3571992516517639,0.02879655919969082,0.027685606852173805,0.4058615565299988,0.29742491245269775,140.33200073242188
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,4,25,1.4685404300689697,0.3509000539779663,0.029947994276881218,0.0292114969342947,0.427786260843277,0.3165048360824585,138.78009033203125
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,4,26,1.462489128112793,0.3438341021537781,0.03143855184316635,0.030417468398809433,0.4505988359451294,0.3363130986690521,137.8596954345703
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,4,27,1.4673285484313965,0.3368070423603058,0.03277764841914177,0.03198742866516113,0.4741816222667694,0.3569643497467041,137.0426788330078
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,4,28,1.4550964832305908,0.3296307623386383,0.03426368534564972,0.03360877186059952,0.4986655116081238,0.37873920798301697,136.23854064941406
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,4,29,1.4659037590026855,0.32363900542259216,0.03548061102628708,0.03512420877814293,0.523845911026001,0.4015076160430908,135.45616149902344
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,4,30,1.468250036239624,0.31803303956985474,0.036921076476573944,0.037226352840662,0.5498143434524536,0.4256662130355835,134.83807373046875
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,4,31,1.4668617248535156,0.31378909945487976,0.037983737885951996,0.039005085825920105,0.5763257741928101,0.45095011591911316,128.19403076171875
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,4,32,1.465057134628296,0.3072880804538727,0.03990937024354935,0.04055796563625336,0.6036965847015381,0.4773930311203003,121.6792984008789
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,4,33,1.4686200618743896,0.2979441285133362,0.0407855361700058,0.04269444942474365,0.6314497590065002,0.5051973462104797,115.23915100097656
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,4,34,1.467524766921997,0.290025919675827,0.042439647018909454,0.04484567046165466,0.6598762273788452,0.5345101356506348,108.58980560302734
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,4,35,1.4677562713623047,0.2812640368938446,0.04391918703913689,0.04689333215355873,0.6887113451957703,0.5651383399963379,102.18518829345703
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,4,36,1.4641454219818115,0.27270665764808655,0.04530799016356468,0.050133831799030304,0.7175589203834534,0.5977860689163208,95.86991119384766
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,4,37,1.4669344425201416,0.26389390230178833,0.046481654047966,0.051309507340192795,0.7464275360107422,0.6308736801147461,89.4843521118164
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,4,38,1.4659194946289062,0.25476813316345215,0.04776608571410179,0.055090952664613724,0.7749770879745483,0.6659985780715942,83.05879974365234
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,4,39,1.4613780975341797,0.24509510397911072,0.04911649599671364,0.05719346925616264,0.8030120730400085,0.7017019987106323,76.80067443847656
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,4,40,1.462871789932251,0.23539264500141144,0.05056999996304512,0.05874047428369522,0.8303737044334412,0.7374072670936584,70.06626892089844
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,4,41,1.461942434310913,0.2260638177394867,0.053459037095308304,0.06268404424190521,0.8571158051490784,0.7742787003517151,63.68393325805664
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,4,42,1.4675943851470947,0.21582461893558502,0.05410581827163696,0.06491048634052277,0.8826304078102112,0.8106576800346375,57.17326354980469
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,4,43,1.4679932594299316,0.2045896202325821,0.05546228587627411,0.06777695566415787,0.9066007733345032,0.8462564945220947,50.82313537597656
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,4,44,1.4402177333831787,0.19449585676193237,0.05671636760234833,0.07072877138853073,0.9286502003669739,0.8803293108940125,44.3847770690918
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,4,45,1.4648704528808594,0.18480680882930756,0.05814896151423454,0.07227964699268341,0.9483945369720459,0.9114934802055359,37.924476623535156
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,4,46,1.4672503471374512,0.17367006838321686,0.059053804725408554,0.07551597058773041,0.9653209447860718,0.9395588636398315,31.45897102355957
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,4,47,1.4652187824249268,0.1634233593940735,0.060530632734298706,0.07908814400434494,0.9792506694793701,0.9635536670684814,25.117616653442383
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,4,48,1.4643821716308594,0.15281303226947784,0.061974573880434036,0.08168978989124298,0.9898620843887329,0.9821330904960632,18.849809646606445
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,4,49,1.463876485824585,0.14120303094387054,0.06386294215917587,0.08220287412405014,0.9968788027763367,0.9942533373832703,12.555572509765625
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,4,50,1.4625487327575684,0.1205221638083458,0.07948894798755646,0.107542023062706,1.0,1.000000238418579,0.0
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,4,1,1.460005760192871,1.414209246635437,0.07626163959503174,0.04336206614971161,0.10829461365938187,0.07474680244922638,175.7932586669922
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,4,2,1.4689860343933105,1.0192962884902954,0.04616571590304375,0.030261220410466194,0.10578720271587372,0.07604695111513138,174.75372314453125
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,4,3,1.4690074920654297,0.8496785759925842,0.027800872921943665,0.02215512841939926,0.10515104979276657,0.08192256838083267,175.74331665039062
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,4,4,1.4717905521392822,0.747452974319458,0.018323006108403206,0.018621254712343216,0.10719258338212967,0.09099072962999344,176.53631591796875
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,4,5,1.4570534229278564,0.6846029758453369,0.015794703736901283,0.01640911214053631,0.11164617538452148,0.10106391459703445,175.00753784179688
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,4,6,1.461454153060913,0.6342471241950989,0.015718795359134674,0.01535891741514206,0.1174146831035614,0.11149085313081741,170.08740234375
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,4,7,1.461247205734253,0.593569278717041,0.015636537224054337,0.014986441470682621,0.12444467097520828,0.122573621571064,161.3710479736328
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,4,8,1.4640095233917236,0.5639704465866089,0.015391645953059196,0.014954079873859882,0.13291175663471222,0.13411884009838104,159.3612060546875
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,4,9,1.4647722244262695,0.5380735993385315,0.015297157689929008,0.0149837052449584,0.14163587987422943,0.14574691653251648,160.53282165527344
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,4,10,1.4491302967071533,0.5167038440704346,0.015605350956320763,0.015226908028125763,0.15101227164268494,0.1575934737920761,154.93109130859375
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,4,11,1.4631872177124023,0.4958392083644867,0.016187909990549088,0.016033468768000603,0.16110146045684814,0.16978581249713898,152.30450439453125
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,4,12,1.4632723331451416,0.4792868196964264,0.0166994147002697,0.01668648049235344,0.17163196206092834,0.18234850466251373,151.88670349121094
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,4,13,1.4612798690795898,0.46416303515434265,0.017265086993575096,0.01716097816824913,0.18251383304595947,0.1951860934495926,150.531005859375
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,4,14,1.4633398056030273,0.45076116919517517,0.01811688393354416,0.01795203424990177,0.19376443326473236,0.20824740827083588,147.89105224609375
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,4,15,1.4672882556915283,0.43754130601882935,0.019342022016644478,0.018611008301377296,0.2058626413345337,0.22198091447353363,147.19833374023438
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,4,16,1.4653921127319336,0.4257355332374573,0.019976040348410606,0.01965603604912758,0.21848225593566895,0.23611342906951904,146.6525115966797
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,4,17,1.4683330059051514,0.41442614793777466,0.02097291126847267,0.02063291147351265,0.23238807916641235,0.25115981698036194,146.1697235107422
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,4,18,1.4395263195037842,0.4052945375442505,0.021804239600896835,0.021265605464577675,0.24655473232269287,0.26647767424583435,144.6891326904297
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,4,19,1.466155767440796,0.3953585922718048,0.023389173671603203,0.022431913763284683,0.2615545094013214,0.28253939747810364,143.33154296875
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,4,20,1.4708373546600342,0.38576987385749817,0.024083882570266724,0.02297179587185383,0.2772802710533142,0.2988346219062805,142.17469787597656
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,4,21,1.428586721420288,0.3784812092781067,0.025085197761654854,0.02441829815506935,0.29377904534339905,0.31600189208984375,141.50267028808594
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,4,22,1.4693410396575928,0.37019234895706177,0.02665836177766323,0.02560286782681942,0.3113422691822052,0.3339306712150574,140.57028198242188
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,4,23,1.4687507152557373,0.36374232172966003,0.027873260900378227,0.02651212178170681,0.32919037342071533,0.3522253632545471,139.7809295654297
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,4,24,1.470947027206421,0.3557168245315552,0.02880510874092579,0.027762576937675476,0.348590224981308,0.37129393219947815,138.55421447753906
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,4,25,1.452467918395996,0.34922242164611816,0.02994069829583168,0.029025999829173088,0.3688596189022064,0.39103588461875916,137.51234436035156
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,4,26,1.4706895351409912,0.3424430787563324,0.03159326687455177,0.03028344362974167,0.3901399075984955,0.41171833872795105,136.3734588623047
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,4,27,1.4708516597747803,0.33566898107528687,0.03286832571029663,0.031543098390102386,0.41218793392181396,0.4328761696815491,135.29962158203125
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,4,28,1.4662210941314697,0.32934850454330444,0.03441261500120163,0.032793618738651276,0.43528804183006287,0.4547629654407501,134.75616455078125
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,4,29,1.4652459621429443,0.3238082230091095,0.03571354225277901,0.0341414213180542,0.4596341848373413,0.4774002730846405,134.17080688476562
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,4,30,1.4649758338928223,0.31733018159866333,0.037530481815338135,0.0359775573015213,0.484871506690979,0.5011842250823975,133.46983337402344
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,4,31,1.4684422016143799,0.3129848837852478,0.038976650685071945,0.03745169937610626,0.5111094117164612,0.5257136225700378,127.09872436523438
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,4,32,1.4672620296478271,0.3038657307624817,0.041063595563173294,0.0385277159512043,0.5384306311607361,0.5508193969726562,120.87470245361328
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,4,33,1.4568195343017578,0.2975448966026306,0.042284369468688965,0.040451809763908386,0.567047119140625,0.5770037174224854,114.88626861572266
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,4,34,1.4713430404663086,0.2900446057319641,0.044358689337968826,0.04217224940657616,0.59670090675354,0.6040318012237549,108.22770690917969
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,4,35,1.4686667919158936,0.28114965558052063,0.04642269015312195,0.04371817037463188,0.6273362040519714,0.6317356824874878,101.9210433959961
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,4,36,1.4697306156158447,0.2726661264896393,0.04836179316043854,0.04660527780652046,0.6587740182876587,0.661064088344574,95.51067352294922
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,4,37,1.465303659439087,0.2624655067920685,0.05032610893249512,0.04745000600814819,0.6910331845283508,0.6904371380805969,89.12749481201172
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,4,38,1.465501308441162,0.2541884183883667,0.05229061096906662,0.05072140321135521,0.7237831354141235,0.7212116122245789,82.61262512207031
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,4,39,1.4679629802703857,0.2443651258945465,0.05424494668841362,0.052550144493579865,0.7566598057746887,0.7522255778312683,76.25719451904297
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,4,40,1.4640123844146729,0.23439018428325653,0.05609738081693649,0.05347628891468048,0.7892661690711975,0.7826762795448303,69.62019348144531
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,4,41,1.4680190086364746,0.22500890493392944,0.059593092650175095,0.056831903755664825,0.821743369102478,0.8137392997741699,62.87159729003906
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,4,42,1.4613986015319824,0.2152189165353775,0.06048434600234032,0.05862151086330414,0.8529413938522339,0.8440244197845459,56.509578704833984
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,4,43,1.4699397087097168,0.20463111996650696,0.06220966577529907,0.06120774522423744,0.8825430870056152,0.8735058903694153,49.94260787963867
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,4,44,1.4666290283203125,0.19407165050506592,0.06367126852273941,0.06386208534240723,0.9099559783935547,0.9015643000602722,43.4188346862793
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,4,45,1.4634003639221191,0.1840025633573532,0.06545602530241013,0.06520587205886841,0.9347290992736816,0.9271381497383118,37.12888717651367
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,4,46,1.4691426753997803,0.17304322123527527,0.06625453382730484,0.06827054172754288,0.9560105204582214,0.9501862525939941,30.71405792236328
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,4,47,1.467930555343628,0.16292551159858704,0.0682825893163681,0.0715503990650177,0.9736888408660889,0.9698916077613831,24.52025604248047
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,4,48,1.467498779296875,0.15282045304775238,0.06991725414991379,0.0740903988480568,0.9871798157691956,0.9851957559585571,18.33810806274414
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,4,49,1.4649293422698975,0.14135833084583282,0.07198610156774521,0.07442215085029602,0.9960765838623047,0.9951993823051453,12.220287322998047
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,4,50,1.4644527435302734,0.12039674818515778,0.08897443860769272,0.09796160459518433,1.0000001192092896,1.0,0.0
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,5,1,1.4596495628356934,1.4160375595092773,0.0879218578338623,0.0634404718875885,0.1650342047214508,0.22396337985992432,177.12705993652344
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,5,2,1.4678916931152344,1.0221266746520996,0.049381520599126816,0.03975194692611694,0.1576520800590515,0.22256849706172943,177.13742065429688
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,5,3,1.4657633304595947,0.851921558380127,0.02876271679997444,0.024182941764593124,0.1548323929309845,0.22590677440166473,176.40402221679688
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,5,4,1.4701390266418457,0.7521087527275085,0.018840592354536057,0.01579916849732399,0.15620872378349304,0.2318074107170105,176.24575805664062
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,5,5,1.4622886180877686,0.6834559440612793,0.015627332031726837,0.012827754952013493,0.16074281930923462,0.2392440289258957,173.8880615234375
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,5,6,1.470801830291748,0.6329866051673889,0.014941349625587463,0.0118733961135149,0.16661784052848816,0.24708685278892517,167.6493682861328
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,5,7,1.4644122123718262,0.5929276943206787,0.01481128390878439,0.011388811282813549,0.1736888587474823,0.25523877143859863,165.74566650390625
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,5,8,1.4678316116333008,0.5634798407554626,0.014084485359489918,0.010997934266924858,0.18182528018951416,0.2634184658527374,164.20730590820312
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,5,9,1.4672284126281738,0.5381420850753784,0.013873491436243057,0.011073843576014042,0.1905757337808609,0.271974116563797,162.18202209472656
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,5,10,1.4700751304626465,0.5154913663864136,0.014029208570718765,0.011276179924607277,0.19950798153877258,0.2806197702884674,160.00254821777344
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,5,11,1.4727776050567627,0.49607154726982117,0.014483017846941948,0.011948343366384506,0.2090006172657013,0.289593905210495,158.37965393066406
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,5,12,1.471066951751709,0.48096221685409546,0.014782971702516079,0.012492366135120392,0.21836359798908234,0.29879018664360046,156.6685028076172
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,5,13,1.4688761234283447,0.46271973848342896,0.015283122658729553,0.012904563918709755,0.22816602885723114,0.30801406502723694,155.7641143798828
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,5,14,1.4648282527923584,0.45148247480392456,0.015973521396517754,0.01363697461783886,0.23822668194770813,0.31739363074302673,153.1798553466797
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,5,15,1.4682705402374268,0.4385185241699219,0.016598980873823166,0.014260215684771538,0.24890117347240448,0.3270799219608307,152.3987579345703
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,5,16,1.4658024311065674,0.4270293414592743,0.01744702085852623,0.015246765688061714,0.2604467272758484,0.3370347023010254,151.00723266601562
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,5,17,1.47096848487854,0.41626155376434326,0.018204597756266594,0.016214361414313316,0.27222272753715515,0.3474006950855255,149.1126708984375
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,5,18,1.4672341346740723,0.4054850935935974,0.018751686438918114,0.01688624732196331,0.2837815284729004,0.3577663004398346,147.86337280273438
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,5,19,1.4482877254486084,0.396494060754776,0.020218750461935997,0.01796867325901985,0.2964686155319214,0.368617981672287,146.52919006347656
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,5,20,1.4656100273132324,0.3867377042770386,0.020968718454241753,0.018708841875195503,0.30943962931632996,0.3796517252922058,144.713134765625
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,5,21,1.4688546657562256,0.3795466721057892,0.021951699629426003,0.020123492926359177,0.3228529691696167,0.3912063241004944,144.0065155029297
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,5,22,1.467895746231079,0.3710654675960541,0.023319242522120476,0.021257806569337845,0.3371480703353882,0.4031742513179779,142.9443359375
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,5,23,1.4654912948608398,0.36332085728645325,0.02475651167333126,0.022303199395537376,0.35223260521888733,0.41555553674697876,141.1223907470703
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,5,24,1.463407039642334,0.35746967792510986,0.02587464265525341,0.023571571335196495,0.3680665194988251,0.4283906817436218,140.25929260253906
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,5,25,1.4710519313812256,0.35040512681007385,0.02700512483716011,0.02485290914773941,0.38446876406669617,0.44161248207092285,139.4010467529297
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,5,26,1.465895652770996,0.3441386818885803,0.02840150147676468,0.026082772761583328,0.4016925096511841,0.45543235540390015,138.39170837402344
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,5,27,1.4693317413330078,0.33584508299827576,0.029910139739513397,0.02757152169942856,0.4197487533092499,0.4698978662490845,137.534912109375
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,5,28,1.4688143730163574,0.33094722032546997,0.031456999480724335,0.0288560688495636,0.4385392367839813,0.4848182201385498,137.15921020507812
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,5,29,1.4710991382598877,0.32313746213912964,0.032905325293540955,0.030288856476545334,0.45851460099220276,0.5002621412277222,135.83139038085938
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,5,30,1.469522476196289,0.3177703619003296,0.03485570475459099,0.03219040855765343,0.4794629216194153,0.5165951251983643,135.00315856933594
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,5,31,1.4650325775146484,0.31192344427108765,0.03659093752503395,0.03380966559052467,0.5012310743331909,0.5336712002754211,128.45065307617188
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,5,32,1.468334674835205,0.3040922284126282,0.03882132098078728,0.03515617176890373,0.5242561101913452,0.5515744686126709,122.2079849243164
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,5,33,1.466068983078003,0.29680415987968445,0.0400114580988884,0.03727957233786583,0.5481698513031006,0.570525050163269,115.74571228027344
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,5,34,1.4650282859802246,0.2899821102619171,0.04249933362007141,0.039338815957307816,0.5735487341880798,0.590429961681366,109.44011688232422
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,5,35,1.4664297103881836,0.2796979248523712,0.045040346682071686,0.041582051664590836,0.600414514541626,0.6115824580192566,102.7451171875
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,5,36,1.471409797668457,0.27178966999053955,0.04746776074171066,0.04473043233156204,0.6286532878875732,0.6343479156494141,96.27005004882812
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,5,37,1.4713544845581055,0.2620987296104431,0.049425169825553894,0.0461779423058033,0.6579963564872742,0.6577843427658081,89.8247299194336
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,5,38,1.4708807468414307,0.2536408305168152,0.05165411904454231,0.04993511736392975,0.6883993148803711,0.6831951141357422,83.42160034179688
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,5,39,1.4576425552368164,0.24340395629405975,0.05445355921983719,0.05243438109755516,0.7197837829589844,0.7098263502120972,76.93002319335938
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,5,40,1.4650144577026367,0.23456686735153198,0.05727896839380264,0.054429128766059875,0.7521097660064697,0.7373603582382202,70.33285522460938
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,5,41,1.4680695533752441,0.22404469549655914,0.06245800852775574,0.05877884849905968,0.7857427000999451,0.7668002247810364,63.89751434326172
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,5,42,1.46807861328125,0.21427759528160095,0.06369899213314056,0.06193574517965317,0.8187025189399719,0.7970900535583496,57.33064651489258
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,5,43,1.4636335372924805,0.20459358394145966,0.0665258914232254,0.06612591445446014,0.8514606952667236,0.8283350467681885,51.00722122192383
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,5,44,1.4701011180877686,0.19393403828144073,0.06885884702205658,0.07040971517562866,0.8831928968429565,0.8598874807357788,44.306884765625
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,5,45,1.4688668251037598,0.18385154008865356,0.07229191809892654,0.07371442764997482,0.9134677648544312,0.8907807469367981,37.881126403808594
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,5,46,1.4689562320709229,0.17327365279197693,0.07460897415876389,0.07946346700191498,0.9405670762062073,0.9209946990013123,31.53978729248047
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,5,47,1.464339256286621,0.16310469806194305,0.07841825485229492,0.08618984371423721,0.9639602303504944,0.9492272138595581,25.255002975463867
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,5,48,1.466414213180542,0.15247158706188202,0.081220343708992,0.09370984882116318,0.9822508692741394,0.9735836386680603,18.947160720825195
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,5,49,1.465667963027954,0.14088937640190125,0.0840916559100151,0.09760642796754837,0.994497537612915,0.9908767342567444,12.589666366577148
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,5,50,1.4686970710754395,0.1196623146533966,0.10561574995517731,0.1356285810470581,1.0000001192092896,0.9999999403953552,0.0
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,5,1,1.465871810913086,1.4099208116531372,0.0653192400932312,0.06251765042543411,0.022272156551480293,0.16236549615859985,170.85841369628906
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,5,2,1.4591584205627441,1.0232641696929932,0.042487092316150665,0.040650490671396255,0.017498260363936424,0.16220435500144958,170.90835571289062
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,5,3,1.4676597118377686,0.8525882959365845,0.02662021480500698,0.025156842544674873,0.018769342452287674,0.16731694340705872,168.50685119628906
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,5,4,1.4684512615203857,0.7511412501335144,0.01818578876554966,0.0171288400888443,0.02385317161679268,0.17478002607822418,167.16065979003906
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,5,5,1.468714952468872,0.6843516230583191,0.015895862132310867,0.013991337269544601,0.030946411192417145,0.18335089087486267,166.25694274902344
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,5,6,1.4685029983520508,0.6338917016983032,0.014813251793384552,0.012609216384589672,0.03830324113368988,0.19216415286064148,163.25733947753906
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,5,7,1.470106601715088,0.595409631729126,0.01493934914469719,0.012402994558215141,0.04644003137946129,0.20171651244163513,164.08306884765625
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,5,8,1.4627900123596191,0.5637190937995911,0.015306539833545685,0.01250648032873869,0.05510522425174713,0.21156875789165497,158.14219665527344
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,5,9,1.4773626327514648,0.5354498028755188,0.015416791662573814,0.013288970105350018,0.06411784887313843,0.22199441492557526,154.98960876464844
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,5,10,1.4628369808197021,0.5161935091018677,0.015736157074570656,0.013652155175805092,0.07354415208101273,0.23267167806625366,153.20388793945312
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,5,11,1.4653379917144775,0.49676060676574707,0.015863193199038506,0.014362464658915997,0.08340445905923843,0.24362969398498535,152.14712524414062
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,5,12,1.4653401374816895,0.47814705967903137,0.015970218926668167,0.015029440633952618,0.09371549636125565,0.25487470626831055,150.41978454589844
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,5,13,1.4676945209503174,0.46395817399024963,0.016637956723570824,0.015457984060049057,0.10457298904657364,0.2662939429283142,149.80606079101562
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,5,14,1.4689619541168213,0.45123544335365295,0.017443951219320297,0.016281673684716225,0.11569774895906448,0.2779819965362549,151.4904327392578
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,5,15,1.4677073955535889,0.4378936290740967,0.018091605976223946,0.016887303441762924,0.12743084132671356,0.2898198366165161,148.47262573242188
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,5,16,1.4696640968322754,0.42624855041503906,0.019115978851914406,0.017740175127983093,0.13989031314849854,0.30197763442993164,146.2037811279297
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,5,17,1.4648752212524414,0.4154816269874573,0.02023185044527054,0.01872006617486477,0.15299087762832642,0.3145168721675873,144.67356872558594
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,5,18,1.4718902111053467,0.4053724706172943,0.021307384595274925,0.019299503415822983,0.16656365990638733,0.32723233103752136,143.31466674804688
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,5,19,1.4719350337982178,0.3950347304344177,0.02250123955309391,0.02038038708269596,0.18012991547584534,0.3402954041957855,142.3905487060547
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,5,20,1.466153621673584,0.3869629502296448,0.023670803755521774,0.021037178114056587,0.1944839060306549,0.35363489389419556,140.42156982421875
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,5,21,1.4648869037628174,0.3798026740550995,0.024602815508842468,0.02235223539173603,0.20940572023391724,0.3674265742301941,139.83811950683594
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,5,22,1.4632530212402344,0.37203943729400635,0.025795387104153633,0.023351214826107025,0.2248070240020752,0.38171616196632385,138.77896118164062
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,5,23,1.4678423404693604,0.36347752809524536,0.0272197388112545,0.024433724582195282,0.24055548012256622,0.3964924216270447,138.16885375976562
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,5,24,1.465202808380127,0.35682258009910583,0.02825641818344593,0.025661731138825417,0.25728321075439453,0.4118182361125946,137.08554077148438
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,5,25,1.4523186683654785,0.3494330048561096,0.029765669256448746,0.02690850757062435,0.27500852942466736,0.4279305934906006,136.39173889160156
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,5,26,1.468691110610962,0.34278568625450134,0.031307097524404526,0.027983400970697403,0.2933708131313324,0.4446989893913269,135.91790771484375
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,5,27,1.4644370079040527,0.3345731198787689,0.032913800328969955,0.029390232637524605,0.31255558133125305,0.4619968831539154,135.29605102539062
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,5,28,1.4692409038543701,0.33094653487205505,0.03460041806101799,0.03079647198319435,0.33294472098350525,0.4801386594772339,134.7696075439453
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,5,29,1.4703261852264404,0.3240076005458832,0.03611412271857262,0.03214844688773155,0.35472607612609863,0.49900853633880615,133.90469360351562
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,5,30,1.3955419063568115,0.3170706629753113,0.03791407495737076,0.033857911825180054,0.3775041699409485,0.518764078617096,133.2607421875
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,5,31,1.4649887084960938,0.31298336386680603,0.03989717736840248,0.035388655960559845,0.4022364914417267,0.5393907427787781,126.9842758178711
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,5,32,1.4690086841583252,0.3052160441875458,0.04249338060617447,0.03651535511016846,0.42852818965911865,0.5605640411376953,120.76411437988281
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,5,33,1.468700885772705,0.29774969816207886,0.04460807517170906,0.0385710746049881,0.45688408613204956,0.5827780365943909,114.36246490478516
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,5,34,1.399670124053955,0.2899290919303894,0.04691058397293091,0.04032701998949051,0.48652011156082153,0.6058066487312317,107.90448760986328
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,5,35,1.467754602432251,0.2809876799583435,0.04955931380391121,0.0422082282602787,0.5179828405380249,0.6298900246620178,101.67872619628906
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,5,36,1.4688773155212402,0.2721802890300751,0.05223805829882622,0.04513964802026749,0.5513566732406616,0.6555322408676147,95.13677215576172
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,5,37,1.4709267616271973,0.26350143551826477,0.05487070605158806,0.0462435781955719,0.5867016315460205,0.681593120098114,88.57178497314453
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,5,38,1.4520561695098877,0.2544642686843872,0.057662732899188995,0.04974997416138649,0.6238763928413391,0.7093451023101807,82.35956573486328
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,5,39,1.4689064025878906,0.24542827904224396,0.060255151242017746,0.05185370892286301,0.6622028350830078,0.7377002835273743,75.9552001953125
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,5,40,1.4711885452270508,0.2355331927537918,0.06324215233325958,0.05307292565703392,0.7018123865127563,0.7660236954689026,69.74958038330078
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,5,41,1.4680547714233398,0.22568120062351227,0.06778155267238617,0.05687529593706131,0.742256224155426,0.7956138849258423,63.403961181640625
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,5,42,1.4715492725372314,0.2152293175458908,0.07014308124780655,0.05941031500697136,0.7832297682762146,0.8253756761550903,56.759403228759766
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,5,43,1.4640727043151855,0.20527401566505432,0.0733012780547142,0.06261862814426422,0.8238762617111206,0.8551440238952637,50.3796501159668
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,5,44,1.467590093612671,0.19531655311584473,0.07662571221590042,0.06608325242996216,0.8632411956787109,0.8843899965286255,43.81867980957031
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,5,45,1.463939905166626,0.18512535095214844,0.0801633670926094,0.0682152807712555,0.9001180529594421,0.9119589328765869,37.474952697753906
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,5,46,1.4653303623199463,0.17513467371463776,0.08263679593801498,0.07261407375335693,0.9327248930931091,0.93790203332901,31.164600372314453
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,5,47,1.4695050716400146,0.1645321249961853,0.08571159839630127,0.07753817737102509,0.9600637555122375,0.961145281791687,24.76119613647461
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,5,48,1.4692113399505615,0.15394867956638336,0.08761018514633179,0.0826772078871727,0.9807668924331665,0.9802911281585693,18.55445671081543
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,5,49,1.4716603755950928,0.14169664680957794,0.08938907086849213,0.08444197475910187,0.9941717982292175,0.9933542609214783,12.34382152557373
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,5,50,1.4624595642089844,0.12116021662950516,0.10986383259296417,0.11523627489805222,0.9999999403953552,0.9999997019767761,0.0
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,6,1,1.4682104587554932,1.410876989364624,0.06756669282913208,0.0734369158744812,0.17330145835876465,0.12083320319652557,167.6224822998047
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,6,2,1.4664440155029297,1.024430513381958,0.042756661772727966,0.04770929738879204,0.1690881848335266,0.1172507256269455,167.82640075683594
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,6,3,1.470280408859253,0.84908127784729,0.02583286166191101,0.030976884067058563,0.17114387452602386,0.12021608650684357,166.0863037109375
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,6,4,1.4708969593048096,0.7452707290649414,0.0165699552744627,0.020458731800317764,0.17686554789543152,0.12694790959358215,163.13836669921875
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,6,5,1.467076301574707,0.6816393136978149,0.014035826548933983,0.015128396451473236,0.18451502919197083,0.13546320796012878,160.14434814453125
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,6,6,1.4710891246795654,0.6337906122207642,0.01343902014195919,0.012927205301821232,0.19338341057300568,0.14510542154312134,159.6099090576172
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,6,7,1.4687168598175049,0.5933699011802673,0.012880799360573292,0.012718498706817627,0.20274165272712708,0.15531691908836365,157.27786254882812
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,6,8,1.4639334678649902,0.5620771050453186,0.01272431667894125,0.012530970387160778,0.21269255876541138,0.1655511111021042,154.11131286621094
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,6,9,1.4670720100402832,0.5387781262397766,0.012606849893927574,0.012512583285570145,0.222825288772583,0.17579001188278198,150.58502197265625
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,6,10,1.4674787521362305,0.5164121985435486,0.012800915166735649,0.012414771132171154,0.23321115970611572,0.18591493368148804,146.90963745117188
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,6,11,1.4700031280517578,0.49571096897125244,0.013061239384114742,0.012947821989655495,0.2436497062444687,0.19619259238243103,148.17733764648438
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,6,12,1.46732497215271,0.4801703095436096,0.013362581841647625,0.013515816070139408,0.25422459840774536,0.20665587484836578,143.56520080566406
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,6,13,1.4690604209899902,0.46260395646095276,0.014022227376699448,0.013856478035449982,0.26512253284454346,0.2171505093574524,142.6255340576172
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,6,14,1.4689826965332031,0.4507215619087219,0.014933500438928604,0.014560358598828316,0.2763703167438507,0.2277783304452896,142.02159118652344
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,6,15,1.468900203704834,0.44061341881752014,0.01564243994653225,0.015156658366322517,0.28794923424720764,0.23854869604110718,140.7841033935547
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,6,16,1.470588207244873,0.42702677845954895,0.016446031630039215,0.016179578378796577,0.2998086214065552,0.2496660202741623,139.25718688964844
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,6,17,1.4706099033355713,0.4149622321128845,0.01721678115427494,0.017100229859352112,0.3119349479675293,0.2610833942890167,139.2655487060547
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,6,18,1.466318130493164,0.40673279762268066,0.017833910882472992,0.017775440588593483,0.3242424428462982,0.2726275622844696,138.6216583251953
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,6,19,1.4705016613006592,0.3958621919155121,0.01945890299975872,0.0189320407807827,0.3372396230697632,0.28462380170822144,136.2875518798828
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,6,20,1.4705007076263428,0.38830968737602234,0.020151475444436073,0.019658174365758896,0.3504273593425751,0.2967771291732788,134.85000610351562
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,6,21,1.4684605598449707,0.37940719723701477,0.021047139540314674,0.02106836996972561,0.3639751672744751,0.30948561429977417,133.95556640625
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,6,22,1.4646875858306885,0.37255892157554626,0.022395335137844086,0.02220982126891613,0.3781300187110901,0.32256901264190674,133.16519165039062
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,6,23,1.4625730514526367,0.365622878074646,0.023773686960339546,0.023354901000857353,0.39294013381004333,0.3361051678657532,132.5919189453125
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,6,24,1.4715049266815186,0.3589721620082855,0.024490781128406525,0.024660971015691757,0.4080296754837036,0.35011592507362366,131.69020080566406
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,6,25,1.4708809852600098,0.35040196776390076,0.02577478252351284,0.026077382266521454,0.4236852526664734,0.3647024929523468,130.83566284179688
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,6,26,1.461637258529663,0.34253841638565063,0.02724219486117363,0.02725471369922161,0.43993133306503296,0.379804790019989,130.3638153076172
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,6,27,1.469803810119629,0.33821097016334534,0.028657902032136917,0.02887948974967003,0.45693981647491455,0.39558690786361694,130.05453491210938
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,6,28,1.4666783809661865,0.3306843340396881,0.030150840058922768,0.030354991555213928,0.47461891174316406,0.41206759214401245,129.67222595214844
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,6,29,1.470585584640503,0.324575275182724,0.031423743814229965,0.03188898041844368,0.4929240345954895,0.4292336702346802,129.1182403564453
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,6,30,1.467787504196167,0.3192984461784363,0.03326025232672691,0.033968981355428696,0.5122961401939392,0.44739487767219543,128.7034454345703
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,6,31,1.4391751289367676,0.31381940841674805,0.03478875756263733,0.03564644604921341,0.5322890281677246,0.4663517475128174,122.25684356689453
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,6,32,1.4697022438049316,0.3062947392463684,0.037174154072999954,0.0369858480989933,0.553540825843811,0.4860895276069641,116.05979919433594
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,6,33,1.4651601314544678,0.2991533875465393,0.03807482495903969,0.039237651973962784,0.575237512588501,0.5069430470466614,109.82556915283203
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,6,34,1.4689159393310547,0.2911752760410309,0.04035523161292076,0.04133844003081322,0.5980870127677917,0.528893768787384,103.5015869140625
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,6,35,1.4654030799865723,0.2827162444591522,0.04257609322667122,0.04347597062587738,0.6221199631690979,0.552001953125,97.21334838867188
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,6,36,1.4640026092529297,0.274364173412323,0.044964421540498734,0.046876855194568634,0.6473398208618164,0.5770198702812195,90.89469146728516
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,6,37,1.4716641902923584,0.265340656042099,0.04671564698219299,0.048243455588817596,0.6732277870178223,0.6027451157569885,84.2251968383789
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,6,38,1.4661955833435059,0.25536397099494934,0.04911729693412781,0.05246443673968315,0.7001262903213501,0.6309149861335754,77.74197387695312
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,6,39,1.454772710800171,0.2463006228208542,0.051668647676706314,0.05504463613033295,0.728042721748352,0.6603242754936218,71.31922912597656
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,6,40,1.463613510131836,0.2374267578125,0.0544300302863121,0.05688692629337311,0.7569915652275085,0.690563976764679,64.84184265136719
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,6,41,1.466862678527832,0.22674541175365448,0.0600283220410347,0.06167614087462425,0.7881059050559998,0.7231899499893188,58.557613372802734
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,6,42,1.4715003967285156,0.21705864369869232,0.06129378452897072,0.06508133560419083,0.8187305927276611,0.7570521235466003,52.355857849121094
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,6,43,1.4662230014801025,0.20736980438232422,0.06439916044473648,0.0697227343916893,0.8494183421134949,0.7923510670661926,45.96048355102539
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,6,44,1.4650506973266602,0.19715987145900726,0.06712106615304947,0.07467126846313477,0.8794358968734741,0.8285265564918518,39.449790954589844
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,6,45,1.4667370319366455,0.18711096048355103,0.07072287052869797,0.07848068326711655,0.9084385633468628,0.8644678592681885,33.20757293701172
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,6,46,1.4698436260223389,0.17642410099506378,0.07352029532194138,0.08538369089365005,0.9351375699043274,0.9003321528434753,27.06100082397461
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,6,47,1.4653739929199219,0.1667100042104721,0.07928579300642014,0.09392177313566208,0.9593674540519714,0.9347833395004272,21.02567481994629
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,6,48,1.465437650680542,0.1559973806142807,0.08383136242628098,0.10306784510612488,0.979274570941925,0.9651491641998291,15.070168495178223
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,6,49,1.4660370349884033,0.14479295909404755,0.08933624625205994,0.10971664637327194,0.9933600425720215,0.9875980615615845,9.619145393371582
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,6,50,1.470390796661377,0.1262005865573883,0.11508658528327942,0.1576111763715744,0.9999999403953552,0.9999999403953552,0.0
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,6,1,1.4682090282440186,1.4161670207977295,0.08934913575649261,0.061179909855127335,0.12857460975646973,0.012216474860906601,162.09996032714844
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,6,2,1.4670825004577637,1.018371343612671,0.05458475276827812,0.03802924603223801,0.12182223051786423,0.008523404598236084,162.01475524902344
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,6,3,1.4638173580169678,0.852664053440094,0.03385281190276146,0.025057606399059296,0.12206123769283295,0.011368615552783012,160.45529174804688
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,6,4,1.4709718227386475,0.7508813142776489,0.0219262707978487,0.01736297830939293,0.12759236991405487,0.018029553815722466,158.15321350097656
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,6,5,1.4713144302368164,0.6813502907752991,0.01671557128429413,0.014194929972290993,0.13594864308834076,0.02647295407950878,155.8633270263672
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,6,6,1.4717504978179932,0.6356951594352722,0.014933851547539234,0.012795559130609035,0.14566247165203094,0.035838305950164795,154.17807006835938
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,6,7,1.4652910232543945,0.5951292514801025,0.014135765843093395,0.012751479633152485,0.155991792678833,0.0457945391535759,154.07212829589844
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,6,8,1.465684413909912,0.5638570189476013,0.013665069825947285,0.013019675388932228,0.1668200045824051,0.056064069271087646,151.72035217285156
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,6,9,1.4672632217407227,0.5408156514167786,0.013519352301955223,0.013288239948451519,0.17791397869586945,0.06658263504505157,151.42086791992188
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,6,10,1.4715194702148438,0.5177004933357239,0.013545231893658638,0.01361406035721302,0.1890760213136673,0.07731428742408752,152.7693634033203
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,6,11,1.4700126647949219,0.4976935088634491,0.013851040974259377,0.01446469034999609,0.20040550827980042,0.08844777941703796,151.8736114501953
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,6,12,1.4707915782928467,0.47896909713745117,0.014010125771164894,0.015059848316013813,0.2116517573595047,0.09975636005401611,151.2725830078125
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,6,13,1.4693214893341064,0.4653300940990448,0.014694701880216599,0.015599747188389301,0.2232731729745865,0.11124449223279953,149.6909637451172
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,6,14,1.471571922302246,0.4520791471004486,0.015568625181913376,0.01646210439503193,0.2352169156074524,0.12297524511814117,148.11871337890625
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,6,15,1.467437982559204,0.4396216869354248,0.016337359324097633,0.01726200245320797,0.24757316708564758,0.13507026433944702,146.25401306152344
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,6,16,1.468459129333496,0.4261655807495117,0.01705849915742874,0.01823810301721096,0.26009464263916016,0.1474728137254715,143.2433624267578
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,6,17,1.4674608707427979,0.4153907001018524,0.017926877364516258,0.019173262640833855,0.27293461561203003,0.1602490395307541,141.20872497558594
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,6,18,1.4688224792480469,0.4058379530906677,0.018608905375003815,0.019900912418961525,0.28601938486099243,0.17326562106609344,140.41468811035156
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,6,19,1.4682695865631104,0.3970554769039154,0.02021121047437191,0.021079927682876587,0.2997618317604065,0.1868249773979187,139.29197692871094
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,6,20,1.4693810939788818,0.38669371604919434,0.020944243296980858,0.021769048646092415,0.3136553466320038,0.20053890347480774,138.55032348632812
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,6,21,1.4679303169250488,0.3801511824131012,0.021876739338040352,0.02320282533764839,0.32789215445518494,0.21486124396324158,137.19017028808594
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,6,22,1.4654490947723389,0.3730015158653259,0.023295221850275993,0.024545803666114807,0.3428012728691101,0.22983448207378387,136.2130126953125
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,6,23,1.4703209400177002,0.3637114465236664,0.024702956900000572,0.025745827704668045,0.35831815004348755,0.24541759490966797,135.4496612548828
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,6,24,1.467771291732788,0.35731402039527893,0.025543546304106712,0.02711454965174198,0.37430351972579956,0.26171380281448364,134.5422821044922
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,6,25,1.469907522201538,0.34928905963897705,0.026827234774827957,0.02854033000767231,0.3908722400665283,0.27872779965400696,134.0206756591797
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,6,26,1.4680228233337402,0.34355518221855164,0.028380755335092545,0.02970176190137863,0.40814533829689026,0.29631027579307556,133.50503540039062
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,6,27,1.464020013809204,0.3369213044643402,0.029864763841032982,0.03137897327542305,0.426144003868103,0.3147655129432678,132.52783203125
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,6,28,1.4714322090148926,0.33140888810157776,0.03143634647130966,0.0328899510204792,0.4449351131916046,0.33412909507751465,131.8119354248047
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,6,29,1.4680378437042236,0.32500213384628296,0.0327281728386879,0.034448545426130295,0.4644501209259033,0.35430800914764404,131.2435302734375
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,6,30,1.4732201099395752,0.3188073933124542,0.034670282155275345,0.03658050671219826,0.48520633578300476,0.37571656703948975,130.4547882080078
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,6,31,1.4721324443817139,0.31356292963027954,0.03620326891541481,0.038420457392930984,0.5066449046134949,0.3982238173484802,123.97960662841797
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,6,32,1.4728167057037354,0.3068088889122009,0.03868161141872406,0.03988521173596382,0.5296109318733215,0.42181724309921265,117.58666229248047
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,6,33,1.4657416343688965,0.2988547384738922,0.039686594158411026,0.04227021709084511,0.5530956387519836,0.44694390892982483,111.06977844238281
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,6,34,1.4686784744262695,0.2898581922054291,0.04212110862135887,0.044569212943315506,0.5780428647994995,0.47363317012786865,104.5335693359375
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,6,35,1.4645323753356934,0.2809148132801056,0.044420577585697174,0.046761129051446915,0.6043064594268799,0.5017051696777344,98.21440887451172
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,6,36,1.4709112644195557,0.27318018674850464,0.046831198036670685,0.050287678837776184,0.6317835450172424,0.5320175886154175,92.06997680664062
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,6,37,1.468292236328125,0.2645460069179535,0.04858162999153137,0.051657792180776596,0.6600068807601929,0.5632314682006836,85.83809661865234
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,6,38,1.441394567489624,0.2558211088180542,0.05086300149559975,0.05596131458878517,0.6892032027244568,0.597261369228363,79.40641784667969
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,6,39,1.4681134223937988,0.2462112307548523,0.05343708395957947,0.05847577005624771,0.7194477915763855,0.6326384544372559,73.17179870605469
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,6,40,1.4677681922912598,0.23710156977176666,0.05622640624642372,0.060281988233327866,0.7507426738739014,0.6688535213470459,66.78507232666016
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,6,41,1.4687623977661133,0.22666674852371216,0.06175513565540314,0.06507927179336548,0.7840979099273682,0.7075294256210327,60.48479461669922
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,6,42,1.4707863330841064,0.21677285432815552,0.0627608522772789,0.06822428107261658,0.8166029453277588,0.7470426559448242,54.02676773071289
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,6,43,1.461132526397705,0.20619840919971466,0.06564242392778397,0.07258418202400208,0.8488795757293701,0.7875657081604004,47.61663055419922
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,6,44,1.4720547199249268,0.19686701893806458,0.0681389793753624,0.07708445936441422,0.8800926804542542,0.8282514214515686,41.40329360961914
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,6,45,1.472177505493164,0.18658851087093353,0.07130804657936096,0.08020562678575516,0.9097803831100464,0.8675267696380615,35.24580383300781
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,6,46,1.4329800605773926,0.1762930005788803,0.07369796186685562,0.08614783734083176,0.9367032051086426,0.9053252339363098,28.938697814941406
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,6,47,1.260801076889038,0.16559261083602905,0.07881752401590347,0.09328801929950714,0.9607582688331604,0.9401171803474426,22.74134635925293
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,6,48,1.4635696411132812,0.15509234368801117,0.08286500722169876,0.10003088414669037,0.9802185893058777,0.9691603183746338,16.822919845581055
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,6,49,1.466195821762085,0.1444896161556244,0.0878722220659256,0.10381738096475601,0.9937617182731628,0.9894333481788635,11.13541030883789
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,6,50,1.4705467224121094,0.12391305714845657,0.111524298787117,0.14523936808109283,0.9999999403953552,0.9999998807907104,0.0
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,7,1,1.4635212421417236,1.4145203828811646,0.07314980030059814,0.06919832527637482,0.19535277783870697,0.13681459426879883,165.24171447753906
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,7,2,1.4650285243988037,1.0192816257476807,0.04702845960855484,0.041392602026462555,0.1875634491443634,0.13250420987606049,164.58840942382812
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,7,3,1.468712568283081,0.8492680191993713,0.028920328244566917,0.025526221841573715,0.18574796617031097,0.13369232416152954,164.38677978515625
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,7,4,1.4646117687225342,0.7501493692398071,0.01916731335222721,0.017429068684577942,0.1883918046951294,0.1394137442111969,165.58871459960938
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,7,5,1.4710826873779297,0.6799643635749817,0.015238703228533268,0.013904307037591934,0.1937851905822754,0.14777502417564392,163.450927734375
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,7,6,1.4664866924285889,0.632408857345581,0.014491092413663864,0.012269826605916023,0.2007133513689041,0.15696583688259125,161.70701599121094
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,7,7,1.4713175296783447,0.5958336591720581,0.014000714756548405,0.012139813043177128,0.20842239260673523,0.16675639152526855,159.91571044921875
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,7,8,1.4688529968261719,0.5652799606323242,0.013446849770843983,0.012125267647206783,0.21651619672775269,0.17669110000133514,160.43556213378906
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,7,9,1.468296766281128,0.5368784070014954,0.013181069865822792,0.012202903628349304,0.22466111183166504,0.18669253587722778,158.7599639892578
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,7,10,1.4643702507019043,0.5164525508880615,0.013184343464672565,0.012229381129145622,0.23292165994644165,0.1966560333967209,158.428466796875
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,7,11,1.467015027999878,0.49575331807136536,0.013407786376774311,0.012988852337002754,0.24154791235923767,0.20696847140789032,158.44468688964844
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,7,12,1.4689490795135498,0.4806293845176697,0.013439472764730453,0.013676103204488754,0.2500849962234497,0.21749159693717957,154.7509307861328
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,7,13,1.464879035949707,0.4646628201007843,0.014234070666134357,0.014153753407299519,0.2590126097202301,0.22804298996925354,151.3748016357422
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,7,14,1.4586565494537354,0.45178037881851196,0.015068922191858292,0.014905109070241451,0.268166184425354,0.2388027459383011,148.77149963378906
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,7,15,1.4715821743011475,0.4386838376522064,0.01560437772423029,0.015465285629034042,0.27754151821136475,0.24970397353172302,148.11941528320312
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,7,16,1.468590497970581,0.4277467131614685,0.01642465963959694,0.01657601073384285,0.2871512472629547,0.26104164123535156,144.81639099121094
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,7,17,1.4661312103271484,0.41741621494293213,0.017103545367717743,0.017482725903391838,0.29697832465171814,0.2727231979370117,144.03817749023438
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,7,18,1.4674453735351562,0.40856602787971497,0.017843691632151604,0.018126441165804863,0.3070905804634094,0.2844047546386719,142.7515869140625
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,7,19,1.4670202732086182,0.397582471370697,0.01939360238611698,0.019237367436289787,0.3177759647369385,0.2964867949485779,142.7066650390625
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,7,20,1.4669311046600342,0.38941675424575806,0.02012011595070362,0.01991443708539009,0.3288614749908447,0.3087213933467865,141.72048950195312
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,7,21,1.4681754112243652,0.3804264962673187,0.021102581173181534,0.021356454119086266,0.3408840596675873,0.3215793967247009,140.4641876220703
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,7,22,1.4716415405273438,0.37236785888671875,0.022663772106170654,0.022600745782256126,0.35359564423561096,0.33488404750823975,139.86427307128906
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,7,23,1.4666705131530762,0.36355456709861755,0.024136271327733994,0.023709915578365326,0.36697888374328613,0.3485584259033203,138.82858276367188
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,7,24,1.468031406402588,0.35606011748313904,0.02489781565964222,0.02505306527018547,0.3810500204563141,0.3628118932247162,137.9623565673828
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,7,25,1.4683105945587158,0.3503599762916565,0.026337768882513046,0.02638152800500393,0.3959179222583771,0.37756097316741943,137.33421325683594
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,7,26,1.4615931510925293,0.34288933873176575,0.02788063883781433,0.02755066193640232,0.41152286529541016,0.3927976191043854,136.78541564941406
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,7,27,1.468843698501587,0.33700698614120483,0.029498055577278137,0.02917056903243065,0.42787304520606995,0.40875861048698425,136.29966735839844
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,7,28,1.4680531024932861,0.3317622244358063,0.031074335798621178,0.030652975663542747,0.44496390223503113,0.4254053831100464,135.7313232421875
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,7,29,1.464942455291748,0.32523441314697266,0.032430101186037064,0.03217505291104317,0.46306753158569336,0.4427088797092438,134.66065979003906
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,7,30,1.4659757614135742,0.31848734617233276,0.03446776047348976,0.034170813858509064,0.48219576478004456,0.4609658122062683,133.6846466064453
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,7,31,1.4661719799041748,0.31270337104797363,0.036111291497945786,0.03597675636410713,0.5021898150444031,0.48005178570747375,127.12712860107422
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,7,32,1.4651098251342773,0.3053656220436096,0.03855603560805321,0.037247899919748306,0.5234549045562744,0.4998095631599426,120.80055236816406
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,7,33,1.4662911891937256,0.29687657952308655,0.0397147499024868,0.03955719992518425,0.5457335114479065,0.520666241645813,114.4349594116211
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,7,34,1.4674403667449951,0.29030537605285645,0.04219817742705345,0.04166613519191742,0.5694370269775391,0.542601466178894,108.05524444580078
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,7,35,1.4706902503967285,0.2803536355495453,0.04454986751079559,0.04386154189705849,0.5943129062652588,0.5656676888465881,101.68411254882812
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,7,36,1.4585323333740234,0.27282217144966125,0.047079335898160934,0.047229696065187454,0.6206226348876953,0.5905203819274902,95.31819915771484
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,7,37,1.4650547504425049,0.26365745067596436,0.04923078417778015,0.04864967241883278,0.648195207118988,0.6159853339195251,88.72716522216797
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,7,38,1.4626164436340332,0.2542940676212311,0.05170919746160507,0.05289434269070625,0.6770329475402832,0.643801748752594,82.24110412597656
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,7,39,1.4653000831604004,0.2451828420162201,0.054459553211927414,0.05549027398228645,0.7069149613380432,0.6728090047836304,75.79696655273438
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,7,40,1.4650897979736328,0.23578959703445435,0.05750713497400284,0.05741693824529648,0.7381922006607056,0.7025853395462036,69.38553619384766
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,7,41,1.4626696109771729,0.22461888194084167,0.06296704709529877,0.06215644255280495,0.7713243365287781,0.7344930171966553,63.01073455810547
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,7,42,1.4693491458892822,0.21533353626728058,0.06484021991491318,0.06561237573623657,0.8046212196350098,0.7675374746322632,56.616729736328125
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,7,43,1.466616153717041,0.20499365031719208,0.06811398267745972,0.07014728337526321,0.8380197882652283,0.8018645644187927,50.175479888916016
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,7,44,1.4633982181549072,0.19504640996456146,0.07095593214035034,0.07535950094461441,0.8706660270690918,0.8370782136917114,43.5811882019043
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,7,45,1.4657490253448486,0.18454866111278534,0.07446759194135666,0.07901634275913239,0.902208149433136,0.8718629479408264,36.901973724365234
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,7,46,1.4678597450256348,0.17461945116519928,0.07735686749219894,0.08573594689369202,0.9310628771781921,0.9063043594360352,30.631601333618164
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,7,47,1.4673302173614502,0.16429239511489868,0.08236416429281235,0.09392940998077393,0.9568793773651123,0.9391820430755615,24.668230056762695
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,7,48,1.4706835746765137,0.15358097851276398,0.08674609661102295,0.10236876457929611,0.9780593514442444,0.9678626656532288,18.418643951416016
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,7,49,1.419567584991455,0.14185644686222076,0.09237127751111984,0.10793063044548035,0.9930250644683838,0.9887574911117554,12.207752227783203
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,7,50,1.4673879146575928,0.12114164233207703,0.1179664358496666,0.15103210508823395,0.9999999403953552,1.0,0.0
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,7,1,1.4660735130310059,1.4088232517242432,0.07847628742456436,0.04388558492064476,0.13141858577728271,0.044235602021217346,158.6353302001953
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,7,2,1.4675328731536865,1.0223774909973145,0.04782814159989357,0.028297994285821915,0.12442290782928467,0.04401664435863495,158.34010314941406
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,7,3,1.4725022315979004,0.848800778388977,0.028028758242726326,0.019870275631546974,0.12439140677452087,0.047830164432525635,156.3596954345703
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,7,4,1.4721474647521973,0.7470197081565857,0.017626652494072914,0.015093349851667881,0.12841403484344482,0.05471523106098175,158.03024291992188
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,7,5,1.367429256439209,0.6836262345314026,0.014643196016550064,0.01293096225708723,0.13478553295135498,0.06343861669301987,156.17904663085938
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,7,6,1.391927719116211,0.6326674818992615,0.013672017492353916,0.01197942066937685,0.1425745040178299,0.0724220722913742,155.79676818847656
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,7,7,1.469008207321167,0.5964125990867615,0.0134853171184659,0.011919509619474411,0.1511385291814804,0.08178284764289856,151.99244689941406
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,7,8,1.4694421291351318,0.5654162168502808,0.013387888669967651,0.012004741467535496,0.1604037880897522,0.0912599265575409,150.64178466796875
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,7,9,1.4659781455993652,0.5405179262161255,0.01340568345040083,0.012217679060995579,0.1700201779603958,0.10087314993143082,149.33055114746094
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,7,10,1.46844482421875,0.5168220400810242,0.013648135587573051,0.012499497272074223,0.18016928434371948,0.11070958524942398,148.8450164794922
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,7,11,1.4686534404754639,0.4958283305168152,0.014044750481843948,0.0133019695058465,0.19058702886104584,0.12077578902244568,146.34414672851562
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,7,12,1.4677760601043701,0.47962361574172974,0.014423985034227371,0.01411854475736618,0.20085357129573822,0.13109815120697021,145.58181762695312
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,7,13,1.4683830738067627,0.46348077058792114,0.0150779252871871,0.014590217731893063,0.21154005825519562,0.14154234528541565,143.95791625976562
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,7,14,1.463935136795044,0.44959011673927307,0.01598283275961876,0.015427134931087494,0.22265663743019104,0.15217746794223785,142.1566925048828
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,7,15,1.469940423965454,0.4377763867378235,0.016670148819684982,0.016063671559095383,0.23407921195030212,0.1629510521888733,141.38539123535156
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,7,16,1.471944808959961,0.4258514940738678,0.01744670979678631,0.01714422181248665,0.24566486477851868,0.17403960227966309,140.42787170410156
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,7,17,1.4639227390289307,0.41669389605522156,0.01848471537232399,0.01820709928870201,0.25773781538009644,0.18552684783935547,139.66403198242188
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,7,18,1.4619941711425781,0.40533408522605896,0.01924184523522854,0.018919603899121284,0.2701212167739868,0.197172150015831,138.88406372070312
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,7,19,1.4626107215881348,0.3968772888183594,0.020907321944832802,0.02019459754228592,0.28308600187301636,0.20934364199638367,138.64297485351562
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,7,20,1.467240571975708,0.38746726512908936,0.021586736664175987,0.02089216560125351,0.29616326093673706,0.2216823697090149,137.67416381835938
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,7,21,1.4689157009124756,0.379734605550766,0.022574439644813538,0.02245495095849037,0.31001293659210205,0.23462988436222076,136.8282012939453
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,7,22,1.464956283569336,0.3711422085762024,0.024016551673412323,0.02367887645959854,0.32440897822380066,0.24807581305503845,136.01278686523438
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,7,23,1.4713006019592285,0.3641399145126343,0.02547224424779415,0.02495756559073925,0.33928382396698,0.26207661628723145,135.3581085205078
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,7,24,1.4712438583374023,0.35701116919517517,0.026195602491497993,0.026362286880612373,0.35482120513916016,0.2766363322734833,134.69017028808594
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,7,25,1.469461441040039,0.3503003716468811,0.02755265310406685,0.027870111167430878,0.3711480498313904,0.2918780446052551,133.9458770751953
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,7,26,1.4604418277740479,0.3430279791355133,0.02911275438964367,0.02916630171239376,0.38818269968032837,0.30778807401657104,133.4312744140625
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,7,27,1.4645938873291016,0.3379635512828827,0.030747955664992332,0.030943943187594414,0.4060996174812317,0.3245970904827118,132.7950439453125
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,7,28,1.4681601524353027,0.3296036720275879,0.032279036939144135,0.03258100897073746,0.4246050715446472,0.3422870337963104,132.30374145507812
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,7,29,1.4705491065979004,0.3220125436782837,0.033574167639017105,0.03413154184818268,0.4443979859352112,0.36072370409965515,131.84121704101562
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,7,30,1.4538822174072266,0.3169124126434326,0.035593125969171524,0.036344945430755615,0.46548667550086975,0.3803611397743225,131.27919006347656
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,7,31,1.4682750701904297,0.3126319348812103,0.037172868847846985,0.038218092173337936,0.4873395562171936,0.4009324312210083,124.95616149902344
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,7,32,1.467890977859497,0.30548450350761414,0.0396038256585598,0.039632849395275116,0.5104992389678955,0.4224538207054138,118.7738037109375
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,7,33,1.472179889678955,0.2972661256790161,0.040801752358675,0.04213494807481766,0.5346819162368774,0.445417582988739,112.3524398803711
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,7,34,1.469167709350586,0.2895246744155884,0.043288204818964005,0.044438350945711136,0.5604656934738159,0.46966463327407837,105.88111877441406
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,7,35,1.4646062850952148,0.2822025716304779,0.045697763562202454,0.046794045716524124,0.5875598192214966,0.4953625798225403,99.56997680664062
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,7,36,1.4678127765655518,0.2724042534828186,0.048251789063215256,0.050559066236019135,0.6160657405853271,0.5233179926872253,93.38187408447266
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,7,37,1.4687848091125488,0.26355817914009094,0.05024655908346176,0.052071765065193176,0.6456844210624695,0.5521477460861206,86.84770202636719
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,7,38,1.4676814079284668,0.2549692988395691,0.05269956216216087,0.05666060000658035,0.6764712333679199,0.5838920474052429,80.31412506103516
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,7,39,1.4675042629241943,0.24415148794651031,0.05567192658782005,0.05953796207904816,0.7083474397659302,0.6171897649765015,73.9344253540039
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,7,40,1.4681973457336426,0.2346661537885666,0.05872437730431557,0.06155544891953468,0.7416012287139893,0.6515210866928101,67.38143920898438
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,7,41,1.4645848274230957,0.22533176839351654,0.06423347443342209,0.06680677086114883,0.7764344811439514,0.6886481642723083,60.78480911254883
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,7,42,1.47111177444458,0.21603675186634064,0.06562689691781998,0.07047440111637115,0.8108760118484497,0.7272977232933044,54.431949615478516
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,7,43,1.4704360961914062,0.20503687858581543,0.06867551058530807,0.0753566101193428,0.8449766635894775,0.7676177620887756,47.95624923706055
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,7,44,1.4550840854644775,0.19461101293563843,0.07102222740650177,0.08074876666069031,0.8778426051139832,0.8090879917144775,41.29374313354492
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,7,45,1.4678504467010498,0.18434153497219086,0.07400955259799957,0.08452358841896057,0.9090448021888733,0.8501336574554443,34.84523391723633
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,7,46,1.4675281047821045,0.17465797066688538,0.0759117528796196,0.09141585230827332,0.936943531036377,0.8907071352005005,28.870952606201172
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,7,47,1.4710853099822998,0.16440656781196594,0.08041322976350784,0.1000426784157753,0.9614055156707764,0.929373562335968,22.826982498168945
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,7,48,1.463838815689087,0.1538647711277008,0.08362942934036255,0.10877389460802078,0.9808264970779419,0.9629058837890625,16.842947006225586
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,7,49,1.4717440605163574,0.1428205817937851,0.08750277757644653,0.11406812816858292,0.994064211845398,0.987067699432373,11.101618766784668
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,7,50,1.4716358184814453,0.12326579540967941,0.10942339897155762,0.16037240624427795,1.0,0.9999999403953552,0.0