From 8ca159d37590f2283f26bb27facfd7a7b23cb745 Mon Sep 17 00:00:00 2001
From: qhy <2728290997@qq.com>
Date: Mon, 16 Mar 2026 10:30:54 +0800
Subject: [PATCH] =?UTF-8?q?video=5Fbackbone=E5=89=96=E6=9E=90?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 scripts/evaluation/analyze_backbone_blocks.py |   148 +
 .../simulate_sparse_head_execution.py         |   380 +
 scripts/evaluation/world_model_interaction.py |   326 +-
 scripts/run_all_world_model_cases.sh          |    34 +-
 scripts/run_case3_backbone_profiles.sh        |    53 +
 .../run_world_model_backbone_profile_case.sh  |    86 +
 scripts/run_world_model_case_schemes.sh       |   106 +
 .../min_head_steps_needed.csv                 |   393 +
 sparse_head_simulation/report.md              |   108 +
 .../scheme_simulation_overall.csv             |    22 +
 .../scheme_simulation_per_case.csv            |   401 +
 .../scheme_simulation_per_round.csv           |  3921 ++
 sparse_head_simulation/tail_vs_uniform.csv    |  1177 +
 src/unifolm_wma/models/samplers/ddim.py       |   127 +-
 src/unifolm_wma/modules/networks/wma_model.py |    73 +-
 .../inference/analysis/analysis_report.md     |    26 +-
 .../inference/analysis/scene_summary.csv      |     4 +-
 .../inference/analysis/step_aggregate.csv     |   200 +-
 .../case1/output/inference/round_summary.csv  |    22 +-
 .../case1/output/inference/sample_summary.csv |     4 +-
 .../case1/output/inference/stepwise_log.csv   |  2200 +-
 .../sparse_8/inference/round_summary.csv      |    12 +
 .../sparse_8/inference/sample_summary.csv     |     3 +
 .../sparse_8/inference/stepwise_log.csv       |  1101 +
 .../case1/run_world_model_interaction.sh      |     9 +-
 .../sparse_8/inference/round_summary.csv      |    12 +
 .../sparse_8/inference/sample_summary.csv     |     3 +
 .../sparse_8/inference/stepwise_log.csv       |  1101 +
 .../case2/run_world_model_interaction.sh      |     9 +-
 .../inference/analysis/analysis_report.md     |    54 +
 .../analysis/budget_distribution.png          |   Bin 0 -> 79415 bytes
 .../inference/analysis/convergence_curves.png |   Bin 0 -> 257094 bytes
 .../analysis/midstep_latent_delta.png         |   Bin 0 -> 73068 bytes
 .../inference/analysis/round_reuse.png        |   Bin 0 -> 110670 bytes
 .../inference/analysis/scene_summary.csv      |     4 +
 .../inference/analysis/step_aggregate.csv     |   102 +
 .../backbone_profile_report.md                |    30 +
 .../block_step_aggregate.csv                  |  1251 +
 .../backbone_analysis/block_summary.csv       |    26 +
 .../backbone_analysis/stage_summary.csv       |    10 +
 .../inference/backbone_block_log.csv          | 27501 ++++++++++++++
 .../inference/round_summary.csv               |    12 +
 .../inference/sample_summary.csv              |     3 +
 .../inference/stepwise_log.csv                |  1101 +
 .../sparse_8/inference/round_summary.csv      |    12 +
 .../sparse_8/inference/sample_summary.csv     |     3 +
 .../sparse_8/inference/stepwise_log.csv       |  1101 +
 .../case3/run_world_model_backbone_profile.sh |    11 +
 .../case3/run_world_model_interaction.sh      |     9 +-
 .../sparse_8/inference/round_summary.csv      |    12 +
 .../sparse_8/inference/sample_summary.csv     |     3 +
 .../sparse_8/inference/stepwise_log.csv       |  1101 +
 .../case4/run_world_model_interaction.sh      |     9 +-
 .../sparse_8/inference/round_summary.csv      |     9 +
 .../sparse_8/inference/sample_summary.csv     |     3 +
 .../sparse_8/inference/stepwise_log.csv       |   801 +
 .../case1/run_world_model_interaction.sh      |     9 +-
 .../sparse_8/inference/round_summary.csv      |     9 +
 .../sparse_8/inference/sample_summary.csv     |     3 +
 .../sparse_8/inference/stepwise_log.csv       |   801 +
 .../case2/run_world_model_interaction.sh      |     9 +-
 .../inference/analysis/analysis_report.md     |    54 +
 .../analysis/budget_distribution.png          |   Bin 0 -> 88360 bytes
 .../inference/analysis/convergence_curves.png |   Bin 0 -> 246805 bytes
 .../analysis/midstep_latent_delta.png         |   Bin 0 -> 73135 bytes
 .../inference/analysis/round_reuse.png        |   Bin 0 -> 119725 bytes
 .../inference/analysis/scene_summary.csv      |     4 +
 .../inference/analysis/step_aggregate.csv     |   102 +
 .../backbone_profile_report.md                |    30 +
 .../block_step_aggregate.csv                  |  1251 +
 .../backbone_analysis/block_summary.csv       |    26 +
 .../backbone_analysis/stage_summary.csv       |    10 +
 .../inference/backbone_block_log.csv          | 20001 +++++++++++
 .../inference/round_summary.csv               |     9 +
 .../inference/sample_summary.csv              |     3 +
 .../inference/stepwise_log.csv                |   801 +
 .../sparse_8/inference/round_summary.csv      |     9 +
 .../sparse_8/inference/sample_summary.csv     |     3 +
 .../sparse_8/inference/stepwise_log.csv       |   801 +
 .../case3/run_world_model_backbone_profile.sh |    11 +
 .../case3/run_world_model_interaction.sh      |     9 +-
 .../sparse_8/inference/round_summary.csv      |     9 +
 .../sparse_8/inference/sample_summary.csv     |     3 +
 .../sparse_8/inference/stepwise_log.csv       |   801 +
 .../case4/run_world_model_interaction.sh      |     9 +-
 .../sparse_8/inference/round_summary.csv      |     8 +
 .../sparse_8/inference/sample_summary.csv     |     3 +
 .../sparse_8/inference/stepwise_log.csv       |   701 +
 .../case1/run_world_model_interaction.sh      |     9 +-
 .../sparse_8/inference/round_summary.csv      |     8 +
 .../sparse_8/inference/sample_summary.csv     |     3 +
 .../sparse_8/inference/stepwise_log.csv       |   701 +
 .../case2/run_world_model_interaction.sh      |     9 +-
 .../inference/analysis/analysis_report.md     |    54 +
 .../analysis/budget_distribution.png          |   Bin 0 -> 83941 bytes
 .../inference/analysis/convergence_curves.png |   Bin 0 -> 256653 bytes
 .../analysis/midstep_latent_delta.png         |   Bin 0 -> 72463 bytes
 .../inference/analysis/round_reuse.png        |   Bin 0 -> 109997 bytes
 .../inference/analysis/scene_summary.csv      |     4 +
 .../inference/analysis/step_aggregate.csv     |   102 +
 .../backbone_profile_report.md                |    30 +
 .../block_step_aggregate.csv                  |  1251 +
 .../backbone_analysis/block_summary.csv       |    26 +
 .../backbone_analysis/stage_summary.csv       |    10 +
 .../inference/backbone_block_log.csv          | 17501 +++++++++
 .../inference/round_summary.csv               |     8 +
 .../inference/sample_summary.csv              |     3 +
 .../inference/stepwise_log.csv                |   701 +
 .../sparse_8/inference/round_summary.csv      |     8 +
 .../sparse_8/inference/sample_summary.csv     |     3 +
 .../sparse_8/inference/stepwise_log.csv       |   701 +
 .../case3/run_world_model_backbone_profile.sh |    11 +
 .../case3/run_world_model_interaction.sh      |     9 +-
 .../sparse_8/inference/round_summary.csv      |     8 +
 .../sparse_8/inference/sample_summary.csv     |     3 +
 .../sparse_8/inference/stepwise_log.csv       |   701 +
 .../case4/run_world_model_interaction.sh      |     9 +-
 .../sparse_8/inference/round_summary.csv      |    12 +
 .../sparse_8/inference/sample_summary.csv     |     3 +
 .../sparse_8/inference/stepwise_log.csv       |  1101 +
 .../case1/run_world_model_interaction.sh      |     9 +-
 .../sparse_8/inference/round_summary.csv      |    12 +
 .../sparse_8/inference/sample_summary.csv     |     3 +
 .../sparse_8/inference/stepwise_log.csv       |  1101 +
 .../case2/run_world_model_interaction.sh      |     9 +-
 .../inference/analysis/analysis_report.md     |    54 +
 .../analysis/budget_distribution.png          |   Bin 0 -> 86975 bytes
 .../inference/analysis/convergence_curves.png |   Bin 0 -> 250898 bytes
 .../analysis/midstep_latent_delta.png         |   Bin 0 -> 73738 bytes
 .../inference/analysis/round_reuse.png        |   Bin 0 -> 121377 bytes
 .../inference/analysis/scene_summary.csv      |     4 +
 .../inference/analysis/step_aggregate.csv     |   102 +
 .../backbone_profile_report.md                |    30 +
 .../block_step_aggregate.csv                  |  1251 +
 .../backbone_analysis/block_summary.csv       |    26 +
 .../backbone_analysis/stage_summary.csv       |    10 +
 .../inference/backbone_block_log.csv          | 27501 ++++++++++++++
 .../inference/round_summary.csv               |    12 +
 .../inference/sample_summary.csv              |     3 +
 .../inference/stepwise_log.csv                |  1101 +
 .../sparse_8/inference/round_summary.csv      |    12 +
 .../sparse_8/inference/sample_summary.csv     |     3 +
 .../sparse_8/inference/stepwise_log.csv       |  1101 +
 .../case3/run_world_model_backbone_profile.sh |    11 +
 .../case3/run_world_model_interaction.sh      |     9 +-
 .../sparse_8/inference/round_summary.csv      |    12 +
 .../sparse_8/inference/sample_summary.csv     |     3 +
 .../sparse_8/inference/stepwise_log.csv       |  1101 +
 .../case4/run_world_model_interaction.sh      |     9 +-
 .../inference/analysis/analysis_report.md     |    54 +
 .../analysis/budget_distribution.png          |   Bin 0 -> 76380 bytes
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 .../inference/analysis/scene_summary.csv      |     4 +
 .../inference/analysis/step_aggregate.csv     |   102 +
 .../sparse_4/inference/round_summary.csv      |    13 +
 .../sparse_4/inference/sample_summary.csv     |     3 +
 .../sparse_4/inference/stepwise_log.csv       |  1201 +
 .../inference/analysis/analysis_report.md     |    54 +
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 .../inference/analysis/scene_summary.csv      |     4 +
 .../inference/analysis/step_aggregate.csv     |   102 +
 .../sparse_8/inference/round_summary.csv      |    13 +
 .../sparse_8/inference/sample_summary.csv     |     3 +
 .../sparse_8/inference/stepwise_log.csv       |  1201 +
 .../inference/analysis/analysis_report.md     |    54 +
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 .../inference/analysis/scene_summary.csv      |     4 +
 .../inference/analysis/step_aggregate.csv     |   102 +
 .../tail_heavy/inference/round_summary.csv    |    13 +
 .../tail_heavy/inference/sample_summary.csv   |     3 +
 .../tail_heavy/inference/stepwise_log.csv     |  1201 +
 .../inference/analysis/analysis_report.md     |    54 +
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 .../inference/analysis/scene_summary.csv      |     4 +
 .../inference/analysis/step_aggregate.csv     |   102 +
 .../tail_only/inference/round_summary.csv     |    13 +
 .../tail_only/inference/sample_summary.csv    |     3 +
 .../tail_only/inference/stepwise_log.csv      |  1201 +
 .../case1/run_world_model_interaction.sh      |     9 +-
 .../inference/analysis/analysis_report.md     |    54 +
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 .../inference/analysis/scene_summary.csv      |     4 +
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 .../tail_only/inference/sample_summary.csv    |     3 +
 .../tail_only/inference/stepwise_log.csv      |  1201 +
 .../case2/run_world_model_interaction.sh      |     9 +-
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 .../inference/analysis/scene_summary.csv      |     4 +
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 .../backbone_profile_report.md                |    30 +
 .../block_step_aggregate.csv                  |  1251 +
 .../backbone_analysis/block_summary.csv       |    26 +
 .../backbone_analysis/stage_summary.csv       |    10 +
 .../inference/backbone_block_log.csv          | 30001 ++++++++++++++++
 .../inference/round_summary.csv               |    13 +
 .../inference/sample_summary.csv              |     3 +
 .../inference/stepwise_log.csv                |  1201 +
 .../inference/analysis/analysis_report.md     |    54 +
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 .../inference/analysis/scene_summary.csv      |     4 +
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 .../tail_only/inference/sample_summary.csv    |     3 +
 .../tail_only/inference/stepwise_log.csv      |  1201 +
 .../case3/run_world_model_backbone_profile.sh |    11 +
 .../case3/run_world_model_interaction.sh      |     9 +-
 .../sparse_8/inference/round_summary.csv      |    13 +
 .../sparse_8/inference/sample_summary.csv     |     3 +
 .../sparse_8/inference/stepwise_log.csv       |  1201 +
 .../case4/run_world_model_interaction.sh      |     9 +-
 282 files changed, 174952 insertions(+), 1350 deletions(-)
 create mode 100644 scripts/evaluation/analyze_backbone_blocks.py
 create mode 100644 scripts/evaluation/simulate_sparse_head_execution.py
 create mode 100644 scripts/run_case3_backbone_profiles.sh
 create mode 100644 scripts/run_world_model_backbone_profile_case.sh
 create mode 100644 scripts/run_world_model_case_schemes.sh
 create mode 100644 sparse_head_simulation/min_head_steps_needed.csv
 create mode 100644 sparse_head_simulation/report.md
 create mode 100644 sparse_head_simulation/scheme_simulation_overall.csv
 create mode 100644 sparse_head_simulation/scheme_simulation_per_case.csv
 create mode 100644 sparse_head_simulation/scheme_simulation_per_round.csv
 create mode 100644 sparse_head_simulation/tail_vs_uniform.csv
 create mode 100644 unitree_g1_pack_camera/case1/output/sparse_8/inference/round_summary.csv
 create mode 100644 unitree_g1_pack_camera/case1/output/sparse_8/inference/sample_summary.csv
 create mode 100644 unitree_g1_pack_camera/case1/output/sparse_8/inference/stepwise_log.csv
 create mode 100644 unitree_g1_pack_camera/case2/output/sparse_8/inference/round_summary.csv
 create mode 100644 unitree_g1_pack_camera/case2/output/sparse_8/inference/sample_summary.csv
 create mode 100644 unitree_g1_pack_camera/case2/output/sparse_8/inference/stepwise_log.csv
 create mode 100644 unitree_g1_pack_camera/case3/backbone_profile_dense/inference/analysis/analysis_report.md
 create mode 100644 unitree_g1_pack_camera/case3/backbone_profile_dense/inference/analysis/budget_distribution.png
 create mode 100644 unitree_g1_pack_camera/case3/backbone_profile_dense/inference/analysis/convergence_curves.png
 create mode 100644 unitree_g1_pack_camera/case3/backbone_profile_dense/inference/analysis/midstep_latent_delta.png
 create mode 100644 unitree_g1_pack_camera/case3/backbone_profile_dense/inference/analysis/round_reuse.png
 create mode 100644 unitree_g1_pack_camera/case3/backbone_profile_dense/inference/analysis/scene_summary.csv
 create mode 100644 unitree_g1_pack_camera/case3/backbone_profile_dense/inference/analysis/step_aggregate.csv
 create mode 100644 unitree_g1_pack_camera/case3/backbone_profile_dense/inference/backbone_analysis/backbone_profile_report.md
 create mode 100644 unitree_g1_pack_camera/case3/backbone_profile_dense/inference/backbone_analysis/block_step_aggregate.csv
 create mode 100644 unitree_g1_pack_camera/case3/backbone_profile_dense/inference/backbone_analysis/block_summary.csv
 create mode 100644 unitree_g1_pack_camera/case3/backbone_profile_dense/inference/backbone_analysis/stage_summary.csv
 create mode 100644 unitree_g1_pack_camera/case3/backbone_profile_dense/inference/backbone_block_log.csv
 create mode 100644 unitree_g1_pack_camera/case3/backbone_profile_dense/inference/round_summary.csv
 create mode 100644 unitree_g1_pack_camera/case3/backbone_profile_dense/inference/sample_summary.csv
 create mode 100644 unitree_g1_pack_camera/case3/backbone_profile_dense/inference/stepwise_log.csv
 create mode 100644 unitree_g1_pack_camera/case3/output/sparse_8/inference/round_summary.csv
 create mode 100644 unitree_g1_pack_camera/case3/output/sparse_8/inference/sample_summary.csv
 create mode 100644 unitree_g1_pack_camera/case3/output/sparse_8/inference/stepwise_log.csv
 create mode 100644 unitree_g1_pack_camera/case3/run_world_model_backbone_profile.sh
 create mode 100644 unitree_g1_pack_camera/case4/output/sparse_8/inference/round_summary.csv
 create mode 100644 unitree_g1_pack_camera/case4/output/sparse_8/inference/sample_summary.csv
 create mode 100644 unitree_g1_pack_camera/case4/output/sparse_8/inference/stepwise_log.csv
 create mode 100644 unitree_z1_dual_arm_cleanup_pencils/case1/output/sparse_8/inference/round_summary.csv
 create mode 100644 unitree_z1_dual_arm_cleanup_pencils/case1/output/sparse_8/inference/sample_summary.csv
 create mode 100644 unitree_z1_dual_arm_cleanup_pencils/case1/output/sparse_8/inference/stepwise_log.csv
 create mode 100644 unitree_z1_dual_arm_cleanup_pencils/case2/output/sparse_8/inference/round_summary.csv
 create mode 100644 unitree_z1_dual_arm_cleanup_pencils/case2/output/sparse_8/inference/sample_summary.csv
 create mode 100644 unitree_z1_dual_arm_cleanup_pencils/case2/output/sparse_8/inference/stepwise_log.csv
 create mode 100644 unitree_z1_dual_arm_cleanup_pencils/case3/backbone_profile_dense/inference/analysis/analysis_report.md
 create mode 100644 unitree_z1_dual_arm_cleanup_pencils/case3/backbone_profile_dense/inference/analysis/budget_distribution.png
 create mode 100644 unitree_z1_dual_arm_cleanup_pencils/case3/backbone_profile_dense/inference/analysis/convergence_curves.png
 create mode 100644 unitree_z1_dual_arm_cleanup_pencils/case3/backbone_profile_dense/inference/analysis/midstep_latent_delta.png
 create mode 100644 unitree_z1_dual_arm_cleanup_pencils/case3/backbone_profile_dense/inference/analysis/round_reuse.png
 create mode 100644 unitree_z1_dual_arm_cleanup_pencils/case3/backbone_profile_dense/inference/analysis/scene_summary.csv
 create mode 100644 unitree_z1_dual_arm_cleanup_pencils/case3/backbone_profile_dense/inference/analysis/step_aggregate.csv
 create mode 100644 unitree_z1_dual_arm_cleanup_pencils/case3/backbone_profile_dense/inference/backbone_analysis/backbone_profile_report.md
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diff --git a/scripts/evaluation/analyze_backbone_blocks.py b/scripts/evaluation/analyze_backbone_blocks.py
new file mode 100644
index 0000000..c300a7f
--- /dev/null
+++ b/scripts/evaluation/analyze_backbone_blocks.py
@@ -0,0 +1,148 @@
+import argparse
+from pathlib import Path
+
+import numpy as np
+import pandas as pd
+
+
+MID_STEP_MIN = 15
+MID_STEP_MAX = 35
+TAIL_STEP_MIN = 40
+TAIL_STEP_MAX = 49
+
+
+def describe(series: pd.Series) -> dict[str, float]:
+    numeric = pd.to_numeric(series, errors='coerce').dropna()
+    if numeric.empty:
+        return {'count': 0.0, 'mean': np.nan, 'median': np.nan, 'p90': np.nan}
+    return {
+        'count': float(numeric.count()),
+        'mean': float(numeric.mean()),
+        'median': float(numeric.median()),
+        'p90': float(numeric.quantile(0.90)),
+    }
+
+
+def make_parser() -> argparse.ArgumentParser:
+    parser = argparse.ArgumentParser(
+        description="Aggregate backbone block profiling results.")
+    parser.add_argument("--input_csv",
+                        type=str,
+                        required=True,
+                        help="Path to backbone_block_log.csv")
+    parser.add_argument("--output_dir",
+                        type=str,
+                        default=None,
+                        help="Directory to store summaries; defaults to input parent.")
+    return parser
+
+
+def main() -> None:
+    args = make_parser().parse_args()
+    input_path = Path(args.input_csv)
+    if not input_path.exists():
+        raise FileNotFoundError(f"Missing file: {input_path}")
+
+    output_dir = Path(args.output_dir) if args.output_dir else input_path.parent / "analysis"
+    output_dir.mkdir(parents=True, exist_ok=True)
+
+    df = pd.read_csv(input_path)
+    numeric_cols = [
+        'forward_time_ms',
+        'l2_delta_vs_prev',
+        'rel_l2_delta_vs_prev',
+        'cosine_vs_prev',
+        'l2_delta_vs_full50',
+        'cosine_vs_full50',
+    ]
+    for col in numeric_cols:
+        df[col] = pd.to_numeric(df[col], errors='coerce')
+
+    step_aggregate = df.groupby(
+        ['block_stage', 'block_name', 'block_index', 'step'])[numeric_cols].mean().reset_index()
+    step_aggregate.to_csv(output_dir / 'block_step_aggregate.csv', index=False)
+
+    block_summary = df.groupby(['block_stage', 'block_name', 'block_index']).agg(
+        mean_forward_time_ms=('forward_time_ms', 'mean'),
+        mean_rel_l2_delta_vs_prev=('rel_l2_delta_vs_prev', 'mean'),
+        mean_cosine_vs_prev=('cosine_vs_prev', 'mean'),
+        mean_l2_delta_vs_full50=('l2_delta_vs_full50', 'mean'),
+        mean_cosine_vs_full50=('cosine_vs_full50', 'mean'),
+    ).reset_index()
+
+    mid_df = df[(df['step'] >= MID_STEP_MIN) & (df['step'] <= MID_STEP_MAX)]
+    tail_df = df[(df['step'] >= TAIL_STEP_MIN) & (df['step'] <= TAIL_STEP_MAX)]
+    block_summary = block_summary.merge(
+        mid_df.groupby(['block_stage', 'block_name', 'block_index']).agg(
+            mid_mean_rel_l2_delta_vs_prev=('rel_l2_delta_vs_prev', 'mean'),
+            mid_mean_cosine_vs_prev=('cosine_vs_prev', 'mean'),
+            mid_mean_forward_time_ms=('forward_time_ms', 'mean'),
+        ).reset_index(),
+        on=['block_stage', 'block_name', 'block_index'],
+        how='left',
+    )
+    block_summary = block_summary.merge(
+        tail_df.groupby(['block_stage', 'block_name', 'block_index']).agg(
+            tail_mean_rel_l2_delta_vs_prev=('rel_l2_delta_vs_prev', 'mean'),
+            tail_mean_cosine_vs_prev=('cosine_vs_prev', 'mean'),
+            tail_mean_forward_time_ms=('forward_time_ms', 'mean'),
+        ).reset_index(),
+        on=['block_stage', 'block_name', 'block_index'],
+        how='left',
+    )
+    block_summary = block_summary.sort_values(
+        ['tail_mean_rel_l2_delta_vs_prev', 'mean_forward_time_ms'],
+        ascending=[True, False])
+    block_summary.to_csv(output_dir / 'block_summary.csv', index=False)
+
+    stage_summary = []
+    for stage_name, stage_df in [('all', df), ('mid', mid_df), ('tail', tail_df)]:
+        grouped = stage_df.groupby('block_stage').agg(
+            mean_forward_time_ms=('forward_time_ms', 'mean'),
+            mean_rel_l2_delta_vs_prev=('rel_l2_delta_vs_prev', 'mean'),
+            mean_cosine_vs_prev=('cosine_vs_prev', 'mean'),
+            mean_l2_delta_vs_full50=('l2_delta_vs_full50', 'mean'),
+            mean_cosine_vs_full50=('cosine_vs_full50', 'mean'),
+        ).reset_index()
+        grouped.insert(0, 'window', stage_name)
+        stage_summary.append(grouped)
+    stage_summary_df = pd.concat(stage_summary, ignore_index=True)
+    stage_summary_df.to_csv(output_dir / 'stage_summary.csv', index=False)
+
+    best_cache_candidates = block_summary.sort_values(
+        ['tail_mean_rel_l2_delta_vs_prev', 'mean_forward_time_ms'],
+        ascending=[True, False]).head(10)
+
+    lines = [
+        "# Backbone Block Profiling Report",
+        "",
+        "## Dataset Overview",
+        "",
+        f"- Rows: {len(df)}",
+        f"- Blocks: {df['block_name'].nunique()}",
+        f"- Steps: {int(df['step'].min())}-{int(df['step'].max())}",
+        f"- Pass types: {', '.join(sorted(df['pass_type'].dropna().unique()))}",
+        "",
+        "## Block Timing",
+        "",
+        f"- `forward_time_ms`: mean={describe(df['forward_time_ms'])['mean']:.4f}, median={describe(df['forward_time_ms'])['median']:.4f}, p90={describe(df['forward_time_ms'])['p90']:.4f}",
+        "",
+        "## Stability",
+        "",
+        f"- `rel_l2_delta_vs_prev`: mean={describe(df['rel_l2_delta_vs_prev'])['mean']:.6f}, median={describe(df['rel_l2_delta_vs_prev'])['median']:.6f}, p90={describe(df['rel_l2_delta_vs_prev'])['p90']:.6f}",
+        f"- `cosine_vs_prev`: mean={describe(df['cosine_vs_prev'])['mean']:.6f}, median={describe(df['cosine_vs_prev'])['median']:.6f}, p90={describe(df['cosine_vs_prev'])['p90']:.6f}",
+        "",
+        "## Top Cache Candidates",
+        "",
+    ]
+    for _, row in best_cache_candidates.iterrows():
+        lines.append(
+            f"- `{row['block_name']}` ({row['block_stage']}): tail_rel_l2={row['tail_mean_rel_l2_delta_vs_prev']:.6f}, mean_forward_time_ms={row['mean_forward_time_ms']:.4f}"
+        )
+
+    (output_dir / 'backbone_profile_report.md').write_text("\n".join(lines),
+                                                           encoding='utf-8')
+
+
+if __name__ == "__main__":
+    main()
diff --git a/scripts/evaluation/simulate_sparse_head_execution.py b/scripts/evaluation/simulate_sparse_head_execution.py
new file mode 100644
index 0000000..f76863d
--- /dev/null
+++ b/scripts/evaluation/simulate_sparse_head_execution.py
@@ -0,0 +1,380 @@
+import argparse
+import json
+from pathlib import Path
+
+import numpy as np
+import pandas as pd
+
+
+DEFAULT_SCHEMES = {
+    "dense": list(range(50)),
+    "sparse_10": list(range(0, 50, 5)),
+    "sparse_5": list(range(0, 50, 10)),
+    "tail_heavy_10": [0, 5, 10, 20, 30, 38, 43, 46, 48, 49],
+    "tail_only_6": [40, 43, 46, 47, 48, 49],
+    "sparse_8": [0, 7, 14, 21, 28, 35, 42, 49],
+    "sparse_4": [0, 16, 32, 49],
+    "tail_only_4": [40, 43, 46, 49],
+    "tail_heavy_6": [0, 32, 40, 44, 47, 49],
+    "tail_heavy_8": [0, 10, 20, 30, 38, 43, 46, 49],
+}
+
+
+def parse_args() -> argparse.Namespace:
+    parser = argparse.ArgumentParser(
+        description="Offline sparse head execution simulation from existing DDIM logs."
+    )
+    parser.add_argument(
+        "--root_dir",
+        type=str,
+        default=".",
+        help="Repository root or directory under which case outputs are stored.",
+    )
+    parser.add_argument(
+        "--output_dir",
+        type=str,
+        default=None,
+        help="Directory to write sparse-head simulation outputs. Defaults to <root_dir>/sparse_head_simulation.",
+    )
+    parser.add_argument(
+        "--target_threshold",
+        type=float,
+        default=0.95,
+        help="Target cosine threshold used by experiment 1.2.",
+    )
+    return parser.parse_args()
+
+
+def discover_stepwise_logs(root_dir: Path) -> list[Path]:
+    return sorted(root_dir.glob("unitree_*/case*/output/inference/stepwise_log.csv"))
+
+
+def load_stepwise_table(stepwise_paths: list[Path]) -> pd.DataFrame:
+    frames = []
+    for path in stepwise_paths:
+        frame = pd.read_csv(path)
+        frame["dataset"] = path.parts[-5]
+        frame["case"] = path.parts[-4]
+        frames.append(frame)
+    if not frames:
+        raise FileNotFoundError("No stepwise_log.csv files found.")
+    stepwise_df = pd.concat(frames, ignore_index=True)
+    for column in [
+            "step",
+            "step_time_s",
+            "latent_delta",
+            "action_delta",
+            "state_delta",
+            "action_cosine_vs_full50",
+            "state_cosine_vs_full50",
+            "latent_l2_vs_full50",
+    ]:
+        stepwise_df[column] = pd.to_numeric(stepwise_df[column], errors="coerce")
+    return stepwise_df
+
+
+def simulate_schemes(stepwise_df: pd.DataFrame,
+                     schemes: dict[str, list[int]]) -> pd.DataFrame:
+    rows = []
+    group_columns = [
+        "dataset",
+        "case",
+        "sample_id",
+        "scene",
+        "pass_type",
+        "round_id",
+    ]
+    grouped = stepwise_df.groupby(group_columns)
+    for keys, group in grouped:
+        group = group.sort_values("step").reset_index(drop=True)
+        action_curve = dict(zip(group["step"] - 1, group["action_cosine_vs_full50"]))
+        state_curve = dict(zip(group["step"] - 1, group["state_cosine_vs_full50"]))
+
+        for scheme_name, checkpoints in schemes.items():
+            normalized_checkpoints = sorted(
+                checkpoint for checkpoint in checkpoints if 0 <= checkpoint <= 49)
+            if not normalized_checkpoints:
+                continue
+            last_checkpoint = normalized_checkpoints[-1]
+            rows.append({
+                "dataset": keys[0],
+                "case": keys[1],
+                "sample_id": keys[2],
+                "scene": keys[3],
+                "pass_type": keys[4],
+                "round_id": keys[5],
+                "scheme": scheme_name,
+                "head_exec_steps_zero_based": json.dumps(normalized_checkpoints),
+                "head_exec_count": len(normalized_checkpoints),
+                "head_compute_saving_ratio": 1.0 - len(normalized_checkpoints) / 50.0,
+                "final_checkpoint_zero_based": last_checkpoint,
+                "final_checkpoint_one_based": last_checkpoint + 1,
+                "final_action_cosine_vs_dense": action_curve[last_checkpoint],
+                "final_state_cosine_vs_dense": state_curve[last_checkpoint],
+            })
+    return pd.DataFrame(rows)
+
+
+def summarize_scheme_results(simulation_df: pd.DataFrame) -> tuple[pd.DataFrame, pd.DataFrame]:
+    metric_columns = [
+        "final_action_cosine_vs_dense",
+        "final_state_cosine_vs_dense",
+        "head_exec_count",
+        "head_compute_saving_ratio",
+    ]
+    overall = simulation_df.groupby(["scheme", "pass_type"])[metric_columns].agg(
+        ["mean", "median", "std"]).reset_index()
+    per_case = simulation_df.groupby(
+        ["dataset", "case", "scheme", "pass_type"])[metric_columns].mean().reset_index()
+    return overall, per_case
+
+
+def compute_min_steps_needed(stepwise_df: pd.DataFrame,
+                             threshold: float) -> pd.DataFrame:
+    rows = []
+    group_columns = [
+        "dataset",
+        "case",
+        "sample_id",
+        "scene",
+        "pass_type",
+        "round_id",
+    ]
+    grouped = stepwise_df.groupby(group_columns)
+    for keys, group in grouped:
+        group = group.sort_values("step").reset_index(drop=True)
+        action_hits = group[group["action_cosine_vs_full50"] >= threshold]
+        state_hits = group[group["state_cosine_vs_full50"] >= threshold]
+
+        action_step = np.nan if action_hits.empty else float(action_hits.iloc[0]["step"] - 1)
+        state_step = np.nan if state_hits.empty else float(state_hits.iloc[0]["step"] - 1)
+        rows.append({
+            "dataset": keys[0],
+            "case": keys[1],
+            "sample_id": keys[2],
+            "scene": keys[3],
+            "pass_type": keys[4],
+            "round_id": keys[5],
+            "target_threshold": threshold,
+            "action_min_head_steps_needed": 1.0 if pd.notna(action_step) else np.nan,
+            "state_min_head_steps_needed": 1.0 if pd.notna(state_step) else np.nan,
+            "action_earliest_checkpoint_zero_based": action_step,
+            "state_earliest_checkpoint_zero_based": state_step,
+            "action_max_head_compute_saving_ratio": 0.98 if pd.notna(action_step) else np.nan,
+            "state_max_head_compute_saving_ratio": 0.98 if pd.notna(state_step) else np.nan,
+        })
+    return pd.DataFrame(rows)
+
+
+def compare_tail_vs_uniform(simulation_df: pd.DataFrame) -> pd.DataFrame:
+    comparison_specs = [
+        ("sparse_8", "tail_heavy_8", "budget_8_uniform_vs_tail"),
+        ("sparse_4", "tail_only_4", "budget_4_uniform_vs_tail"),
+        ("sparse_10", "tail_heavy_10", "budget_10_uniform_vs_tail"),
+    ]
+    base_columns = [
+        "dataset",
+        "case",
+        "sample_id",
+        "scene",
+        "pass_type",
+        "round_id",
+    ]
+    rows = []
+    for uniform_scheme, tail_scheme, comparison_name in comparison_specs:
+        uniform_df = simulation_df[simulation_df["scheme"] == uniform_scheme].copy()
+        tail_df = simulation_df[simulation_df["scheme"] == tail_scheme].copy()
+        merged = uniform_df.merge(
+            tail_df,
+            on=base_columns,
+            suffixes=("_uniform", "_tail"),
+            how="inner",
+        )
+        for _, row in merged.iterrows():
+            rows.append({
+                "comparison": comparison_name,
+                "dataset": row["dataset"],
+                "case": row["case"],
+                "sample_id": row["sample_id"],
+                "scene": row["scene"],
+                "pass_type": row["pass_type"],
+                "round_id": row["round_id"],
+                "uniform_scheme": uniform_scheme,
+                "tail_scheme": tail_scheme,
+                "uniform_head_exec_count": row["head_exec_count_uniform"],
+                "tail_head_exec_count": row["head_exec_count_tail"],
+                "uniform_action_cosine_vs_dense": row["final_action_cosine_vs_dense_uniform"],
+                "tail_action_cosine_vs_dense": row["final_action_cosine_vs_dense_tail"],
+                "uniform_state_cosine_vs_dense": row["final_state_cosine_vs_dense_uniform"],
+                "tail_state_cosine_vs_dense": row["final_state_cosine_vs_dense_tail"],
+                "tail_minus_uniform_action_cosine":
+                row["final_action_cosine_vs_dense_tail"] -
+                row["final_action_cosine_vs_dense_uniform"],
+                "tail_minus_uniform_state_cosine":
+                row["final_state_cosine_vs_dense_tail"] -
+                row["final_state_cosine_vs_dense_uniform"],
+                "tail_better_action": row["final_action_cosine_vs_dense_tail"] >
+                row["final_action_cosine_vs_dense_uniform"],
+                "tail_better_state": row["final_state_cosine_vs_dense_tail"] >
+                row["final_state_cosine_vs_dense_uniform"],
+            })
+    return pd.DataFrame(rows)
+
+
+def build_summary_payload(simulation_df: pd.DataFrame,
+                          min_steps_df: pd.DataFrame,
+                          tail_compare_df: pd.DataFrame,
+                          target_threshold: float) -> dict:
+    payload: dict[str, dict] = {
+        "config": {
+            "target_threshold": target_threshold,
+            "schemes": DEFAULT_SCHEMES,
+        },
+        "experiment_1_1": {},
+        "experiment_1_2": {},
+        "experiment_1_3": {},
+    }
+
+    for scheme, group in simulation_df.groupby("scheme"):
+        payload["experiment_1_1"][scheme] = {
+            "num_rows": int(len(group)),
+            "head_exec_count": float(group["head_exec_count"].iloc[0]),
+            "head_compute_saving_ratio": float(
+                group["head_compute_saving_ratio"].iloc[0]),
+            "final_action_cosine_vs_dense_mean": float(
+                group["final_action_cosine_vs_dense"].mean()),
+            "final_action_cosine_vs_dense_median": float(
+                group["final_action_cosine_vs_dense"].median()),
+            "final_state_cosine_vs_dense_mean": float(
+                group["final_state_cosine_vs_dense"].mean()),
+            "final_state_cosine_vs_dense_median": float(
+                group["final_state_cosine_vs_dense"].median()),
+        }
+
+    payload["experiment_1_2"] = {
+        "action_earliest_checkpoint_zero_based": {
+            "mean": float(
+                pd.to_numeric(
+                    min_steps_df["action_earliest_checkpoint_zero_based"],
+                    errors="coerce").dropna().mean()),
+            "median": float(
+                pd.to_numeric(
+                    min_steps_df["action_earliest_checkpoint_zero_based"],
+                    errors="coerce").dropna().median()),
+        },
+        "state_earliest_checkpoint_zero_based": {
+            "mean": float(
+                pd.to_numeric(
+                    min_steps_df["state_earliest_checkpoint_zero_based"],
+                    errors="coerce").dropna().mean()),
+            "median": float(
+                pd.to_numeric(
+                    min_steps_df["state_earliest_checkpoint_zero_based"],
+                    errors="coerce").dropna().median()),
+        },
+        "min_head_steps_needed_action_unique": sorted(
+            pd.to_numeric(min_steps_df["action_min_head_steps_needed"],
+                          errors="coerce").dropna().unique().tolist()),
+        "min_head_steps_needed_state_unique": sorted(
+            pd.to_numeric(min_steps_df["state_min_head_steps_needed"],
+                          errors="coerce").dropna().unique().tolist()),
+    }
+
+    for comparison, group in tail_compare_df.groupby("comparison"):
+        payload["experiment_1_3"][comparison] = {
+            "num_rows": int(len(group)),
+            "tail_better_action_share": float(group["tail_better_action"].mean()),
+            "tail_better_state_share": float(group["tail_better_state"].mean()),
+            "tail_minus_uniform_action_cosine_mean": float(
+                group["tail_minus_uniform_action_cosine"].mean()),
+            "tail_minus_uniform_state_cosine_mean": float(
+                group["tail_minus_uniform_state_cosine"].mean()),
+        }
+    return payload
+
+
+def write_markdown_report(path: Path, payload: dict) -> None:
+    lines = [
+        "# Sparse Head Execution Simulation",
+        "",
+        "This report uses zero-order hold over logged stepwise action/state outputs.",
+        "For a sparse scheme, the final output at step 49 is approximated by the most recent checkpoint output.",
+        "",
+        "## Experiment 1.1",
+        "",
+    ]
+
+    for scheme, stats in payload["experiment_1_1"].items():
+        lines.extend([
+            f"### {scheme}",
+            "",
+            f"- Head exec count: {stats['head_exec_count']:.0f}",
+            f"- Head compute saving ratio: {stats['head_compute_saving_ratio']:.4f}",
+            f"- Final action cosine vs dense: mean={stats['final_action_cosine_vs_dense_mean']:.4f}, median={stats['final_action_cosine_vs_dense_median']:.4f}",
+            f"- Final state cosine vs dense: mean={stats['final_state_cosine_vs_dense_mean']:.4f}, median={stats['final_state_cosine_vs_dense_median']:.4f}",
+            "",
+        ])
+
+    lines.extend([
+        "## Experiment 1.2",
+        "",
+        f"- Target threshold: {payload['config']['target_threshold']}",
+        f"- Action earliest checkpoint mean: {payload['experiment_1_2']['action_earliest_checkpoint_zero_based']['mean']:.4f}",
+        f"- State earliest checkpoint mean: {payload['experiment_1_2']['state_earliest_checkpoint_zero_based']['mean']:.4f}",
+        f"- Unique min head steps needed for action: {payload['experiment_1_2']['min_head_steps_needed_action_unique']}",
+        f"- Unique min head steps needed for state: {payload['experiment_1_2']['min_head_steps_needed_state_unique']}",
+        "",
+        "## Experiment 1.3",
+        "",
+    ])
+
+    for comparison, stats in payload["experiment_1_3"].items():
+        lines.extend([
+            f"### {comparison}",
+            "",
+            f"- Tail better action share: {stats['tail_better_action_share']:.4f}",
+            f"- Tail better state share: {stats['tail_better_state_share']:.4f}",
+            f"- Mean tail-minus-uniform action cosine: {stats['tail_minus_uniform_action_cosine_mean']:.4f}",
+            f"- Mean tail-minus-uniform state cosine: {stats['tail_minus_uniform_state_cosine_mean']:.4f}",
+            "",
+        ])
+
+    with open(path, "w", encoding="utf-8") as file:
+        file.write("\n".join(lines) + "\n")
+
+
+def main() -> None:
+    args = parse_args()
+    root_dir = Path(args.root_dir).resolve()
+    output_dir = Path(args.output_dir).resolve(
+    ) if args.output_dir else root_dir / "sparse_head_simulation"
+    output_dir.mkdir(parents=True, exist_ok=True)
+
+    stepwise_paths = discover_stepwise_logs(root_dir)
+    stepwise_df = load_stepwise_table(stepwise_paths)
+
+    simulation_df = simulate_schemes(stepwise_df, DEFAULT_SCHEMES)
+    scheme_overall_df, scheme_per_case_df = summarize_scheme_results(simulation_df)
+    min_steps_df = compute_min_steps_needed(stepwise_df, args.target_threshold)
+    tail_compare_df = compare_tail_vs_uniform(simulation_df)
+    summary_payload = build_summary_payload(simulation_df, min_steps_df,
+                                            tail_compare_df,
+                                            args.target_threshold)
+
+    simulation_df.to_csv(output_dir / "scheme_simulation_per_round.csv",
+                         index=False)
+    scheme_overall_df.to_csv(output_dir / "scheme_simulation_overall.csv",
+                             index=False)
+    scheme_per_case_df.to_csv(output_dir / "scheme_simulation_per_case.csv",
+                              index=False)
+    min_steps_df.to_csv(output_dir / "min_head_steps_needed.csv", index=False)
+    tail_compare_df.to_csv(output_dir / "tail_vs_uniform.csv", index=False)
+    with open(output_dir / "summary.json", "w", encoding="utf-8") as file:
+        json.dump(summary_payload, file, indent=2, ensure_ascii=False)
+    write_markdown_report(output_dir / "report.md", summary_payload)
+
+    print(f"Sparse head simulation written to: {output_dir}")
+
+
+if __name__ == "__main__":
+    main()
diff --git a/scripts/evaluation/world_model_interaction.py b/scripts/evaluation/world_model_interaction.py
index 2b5746e..c144e4b 100644
--- a/scripts/evaluation/world_model_interaction.py
+++ b/scripts/evaluation/world_model_interaction.py
@@ -53,6 +53,12 @@ def build_sample_id(dataset: str, sample: pd.Series, frame_stride: int) -> str:
     return f"{dataset}-vid{sample['videoid']}-fs{frame_stride}"
 
 
+def get_case_id(prompt_dir: str) -> str:
+    """Resolve case id from a prompt directory like */case1/world_model_interaction_prompts."""
+    normalized = os.path.normpath(prompt_dir)
+    return os.path.basename(os.path.dirname(normalized))
+
+
 def flatten_batch_tensor(tensor: torch.Tensor) -> torch.Tensor:
     """Flatten all non-batch dimensions for batched metric computation."""
     return tensor.detach().float().reshape(tensor.shape[0], -1)
@@ -124,6 +130,37 @@ def safe_mean(values: list[float]) -> float:
     return float(np.mean(valid_values))
 
 
+def flatten_tensor(tensor: torch.Tensor) -> torch.Tensor:
+    """Flatten an arbitrary tensor into one 1D float vector."""
+    return tensor.detach().float().reshape(-1)
+
+
+def tensor_l2_distance(current: torch.Tensor, reference: torch.Tensor) -> float:
+    """Compute ||current-reference|| for arbitrary tensors."""
+    current_flat = flatten_tensor(current)
+    reference_flat = flatten_tensor(reference)
+    return float(torch.linalg.vector_norm(current_flat - reference_flat).item())
+
+
+def tensor_relative_l2(current: torch.Tensor, previous: torch.Tensor) -> float:
+    """Compute ||current-previous|| / (||previous|| + eps) for arbitrary tensors."""
+    current_flat = flatten_tensor(current)
+    previous_flat = flatten_tensor(previous)
+    numerator = torch.linalg.vector_norm(current_flat - previous_flat)
+    denominator = torch.linalg.vector_norm(previous_flat).clamp_min(1e-8)
+    return float((numerator / denominator).item())
+
+
+def tensor_cosine_similarity(current: torch.Tensor,
+                             reference: torch.Tensor) -> float:
+    """Compute cosine similarity between arbitrary tensors."""
+    current_flat = flatten_tensor(current)
+    reference_flat = flatten_tensor(reference)
+    return float(
+        F.cosine_similarity(current_flat, reference_flat, dim=0,
+                            eps=1e-8).item())
+
+
 def make_sampling_noise_bundle(model: nn.Module,
                                noise_shape: list[int]) -> dict[str, torch.Tensor]:
     """Create aligned initial noise for latent, action, and state diffusion streams."""
@@ -139,6 +176,15 @@ def make_sampling_noise_bundle(model: nn.Module,
     }
 
 
+def reset_sampling_seed(seed: int) -> None:
+    """Reset RNGs so repeated dense passes follow the same stochastic DDIM path."""
+    random.seed(seed)
+    np.random.seed(seed % (2**32))
+    torch.manual_seed(seed)
+    if torch.cuda.is_available():
+        torch.cuda.manual_seed_all(seed)
+
+
 def load_psnr_lookup(psnr_path: str | None) -> dict[str, float]:
     """Load optional PSNR values keyed by sample_id or videoid."""
     if not psnr_path:
@@ -445,6 +491,121 @@ class InteractionAnalysisLogger:
             summary_rows.append(row)
         summary_df = pd.DataFrame(summary_rows, columns=self.SUMMARY_COLUMNS)
         summary_df.to_csv(summary_path, index=False)
+
+
+class BackboneBlockProfiler:
+    """Collect dense backbone block features and timings with a low-memory two-pass flow."""
+
+    COLUMNS = [
+        'sample_id',
+        'case_id',
+        'scene',
+        'pass_type',
+        'round_id',
+        'step',
+        'block_name',
+        'block_stage',
+        'block_index',
+        'shape',
+        'forward_time_ms',
+        'l2_delta_vs_prev',
+        'rel_l2_delta_vs_prev',
+        'cosine_vs_prev',
+        'l2_delta_vs_full50',
+        'cosine_vs_full50',
+    ]
+
+    def __init__(self, output_dir: str):
+        self.output_dir = output_dir
+        self.rows: list[dict] = []
+        self.reference_features: dict[tuple[str, str, int], dict[str,
+                                                                  torch.Tensor]] = {}
+        self.mode: str | None = None
+        self.pass_key: tuple[str, str, int] | None = None
+        self.pass_meta: dict[str, str | int] = {}
+        self.current_reference: dict[str, torch.Tensor] = {}
+        self.previous_features: dict[str, torch.Tensor] = {}
+
+    def _set_pass(self, mode: str, sample_id: str, case_id: str, scene: str,
+                  pass_type: str, round_id: int) -> None:
+        self.mode = mode
+        self.pass_key = (sample_id, pass_type, int(round_id))
+        self.pass_meta = {
+            'sample_id': sample_id,
+            'case_id': case_id,
+            'scene': scene,
+            'pass_type': pass_type,
+            'round_id': int(round_id),
+        }
+        self.current_reference = {}
+        self.previous_features = {}
+
+    def start_reference_pass(self, sample_id: str, case_id: str, scene: str,
+                             pass_type: str, round_id: int) -> None:
+        self._set_pass('reference', sample_id, case_id, scene, pass_type,
+                       round_id)
+
+    def start_target_pass(self, sample_id: str, case_id: str, scene: str,
+                          pass_type: str, round_id: int) -> None:
+        self._set_pass('target', sample_id, case_id, scene, pass_type, round_id)
+
+    def finish_pass(self) -> None:
+        if self.mode == 'reference' and self.pass_key is not None:
+            self.reference_features[self.pass_key] = self.current_reference
+        elif self.mode == 'target' and self.pass_key is not None:
+            self.reference_features.pop(self.pass_key, None)
+        self.mode = None
+        self.pass_key = None
+        self.pass_meta = {}
+        self.current_reference = {}
+        self.previous_features = {}
+
+    def record_block(self, step: int, block_name: str, block_stage: str,
+                     block_index: int | None, output: torch.Tensor,
+                     forward_time_ms: float) -> None:
+        if self.mode is None or self.pass_key is None:
+            return
+        block_output = output.detach().float().cpu()
+        if self.mode == 'reference':
+            self.current_reference[block_name] = block_output
+            return
+
+        previous = self.previous_features.get(block_name)
+        reference = self.reference_features.get(self.pass_key, {}).get(block_name)
+        row = {
+            **self.pass_meta,
+            'step': int(step),
+            'block_name': block_name,
+            'block_stage': block_stage,
+            'block_index': -1 if block_index is None else int(block_index),
+            'shape': str(tuple(block_output.shape)),
+            'forward_time_ms': float(forward_time_ms),
+            'l2_delta_vs_prev': np.nan,
+            'rel_l2_delta_vs_prev': np.nan,
+            'cosine_vs_prev': np.nan,
+            'l2_delta_vs_full50': np.nan,
+            'cosine_vs_full50': np.nan,
+        }
+        if previous is not None:
+            row['l2_delta_vs_prev'] = tensor_l2_distance(block_output, previous)
+            row['rel_l2_delta_vs_prev'] = tensor_relative_l2(
+                block_output, previous)
+            row['cosine_vs_prev'] = tensor_cosine_similarity(
+                block_output, previous)
+        if reference is not None:
+            row['l2_delta_vs_full50'] = tensor_l2_distance(
+                block_output, reference)
+            row['cosine_vs_full50'] = tensor_cosine_similarity(
+                block_output, reference)
+
+        self.previous_features[block_name] = block_output
+        self.rows.append(row)
+
+    def flush(self) -> None:
+        os.makedirs(self.output_dir, exist_ok=True)
+        path = os.path.join(self.output_dir, 'backbone_block_log.csv')
+        df = pd.DataFrame(self.rows, columns=self.COLUMNS)
+        df.to_csv(path, index=False)
 
 
 def write_video(video_path: str, stacked_frames: list, fps: int) -> None:
@@ -765,7 +926,9 @@ def image_guided_synthesis_sim_mode(
         init_noise_bundle (dict[str, torch.Tensor] | None): Optional aligned noise inputs for latent/action/state.
         decode_video (bool): Whether to decode the final latent into pixel space.
         return_debug_info (bool): Whether to return per-step traces for analysis logging.
-        **kwargs: Additional arguments passed to the DDIM sampler.
+        **kwargs: Additional arguments passed to the DDIM sampler, including
+            sparse head controls such as `head_schedule`, `head_log_steps`,
+            and `head_skip_mode`.
 
     Returns:
         batch_variants (torch.Tensor | None): Predicted pixel-space video frames [B, C, T, H, W].
@@ -852,10 +1015,11 @@ def image_guided_synthesis_sim_mode(
         if decode_video:
             batch_variants = model.decode_first_stage(samples)
 
-        if return_debug_info:
+        if return_debug_info or intermedia.get('head_sparse_logs'):
             debug_info = {
                 'analysis_init': intermedia.get('analysis_init'),
                 'step_records': intermedia.get('step_records', []),
+                'head_sparse_logs': intermedia.get('head_sparse_logs', {}),
                 'final_latent': samples.detach().cpu(),
                 'final_action': actions.detach().cpu(),
                 'final_state': states.detach().cpu(),
@@ -883,11 +1047,22 @@ def run_inference(args: argparse.Namespace, gpu_num: int, gpu_no: int) -> None:
     os.makedirs(log_dir, exist_ok=True)
     writer = SummaryWriter(log_dir=log_dir)
     analysis_logger = None
+    backbone_profiler = None
+    head_schedule = args.head_schedule_steps if args.head_schedule_steps else None
+    head_log_steps = args.head_log_steps if args.head_log_steps else None
+    head_skip_mode = args.head_skip_mode
     if args.analysis_log_metrics:
         analysis_logger = InteractionAnalysisLogger(
             output_dir=inference_dir,
             psnr_lookup=load_psnr_lookup(args.analysis_psnr_path),
         )
+    if args.analysis_profile_backbone_blocks:
+        if head_schedule is not None:
+            raise ValueError(
+                "Backbone block profiling expects dense DDIM runs. "
+                "Do not pass --head_schedule_steps.")
+        backbone_profiler = BackboneBlockProfiler(output_dir=inference_dir)
+    case_id = get_case_id(args.prompt_dir)
 
     # Load prompt
     csv_path = os.path.join(args.prompt_dir, f"{args.dataset}.csv")
@@ -1021,10 +1196,45 @@ def run_inference(args: argparse.Namespace, gpu_num: int, gpu_no: int) -> None:
 
                 # Use world-model in policy to generate action
                 print(f'>>> Step {itr}: generating actions ...')
-                policy_noise_bundle = make_sampling_noise_bundle(
-                    model, noise_shape) if args.analysis_log_metrics else None
+                policy_noise_bundle = (
+                    make_sampling_noise_bundle(model, noise_shape)
+                    if (args.analysis_log_metrics
+                        or backbone_profiler is not None) else None)
                 policy_reference_debug = None
-                if args.analysis_log_metrics and args.analysis_reference_steps != args.ddim_steps:
+                policy_sampling_seed = int(args.seed + itr * 1000 + 11)
+                if backbone_profiler is not None:
+                    reset_sampling_seed(policy_sampling_seed)
+                    backbone_profiler.start_reference_pass(
+                        sample_id=sample_id,
+                        case_id=case_id,
+                        scene=scene,
+                        pass_type='policy',
+                        round_id=itr,
+                    )
+                    image_guided_synthesis_sim_mode(
+                        model,
+                        sample['instruction'],
+                        observation,
+                        noise_shape,
+                        action_cond_step=args.exe_steps,
+                        ddim_steps=args.ddim_steps,
+                        ddim_eta=args.ddim_eta,
+                        unconditional_guidance_scale=args.
+                        unconditional_guidance_scale,
+                        fs=model_input_fs,
+                        timestep_spacing=args.timestep_spacing,
+                        guidance_rescale=args.guidance_rescale,
+                        sim_mode=False,
+                        init_noise_bundle=policy_noise_bundle,
+                        decode_video=False,
+                        return_debug_info=False,
+                        backbone_block_profiler=backbone_profiler,
+                    )
+                    backbone_profiler.finish_pass()
+                need_policy_reference = args.analysis_log_metrics and (
+                    args.analysis_reference_steps != args.ddim_steps
+                    or head_schedule is not None)
+                if need_policy_reference:
                     _, _, _, policy_reference_debug = image_guided_synthesis_sim_mode(
                         model,
                         sample['instruction'],
@@ -1041,8 +1251,18 @@ def run_inference(args: argparse.Namespace, gpu_num: int, gpu_no: int) -> None:
                         sim_mode=False,
                         init_noise_bundle=policy_noise_bundle,
                         decode_video=False,
-                        return_debug_info=True)
+                        return_debug_info=True,
+                        head_log_steps=head_log_steps)
                 policy_pass_start = time.time()
+                if backbone_profiler is not None:
+                    reset_sampling_seed(policy_sampling_seed)
+                    backbone_profiler.start_target_pass(
+                        sample_id=sample_id,
+                        case_id=case_id,
+                        scene=scene,
+                        pass_type='policy',
+                        round_id=itr,
+                    )
                 pred_videos_0, pred_actions, _, policy_debug = image_guided_synthesis_sim_mode(
                     model,
                     sample['instruction'],
@@ -1058,7 +1278,13 @@ def run_inference(args: argparse.Namespace, gpu_num: int, gpu_no: int) -> None:
                     guidance_rescale=args.guidance_rescale,
                     sim_mode=False,
                     init_noise_bundle=policy_noise_bundle,
-                    return_debug_info=args.analysis_log_metrics)
+                    return_debug_info=args.analysis_log_metrics,
+                    head_schedule=head_schedule,
+                    head_log_steps=head_log_steps,
+                    head_skip_mode=head_skip_mode,
+                    backbone_block_profiler=backbone_profiler)
+                if backbone_profiler is not None:
+                    backbone_profiler.finish_pass()
                 policy_pass_total_time_s = time.time() - policy_pass_start
                 policy_summary_row = None
                 if analysis_logger is not None:
@@ -1101,10 +1327,45 @@ def run_inference(args: argparse.Namespace, gpu_num: int, gpu_no: int) -> None:
 
                 # Interaction with the world-model
                 print(f'>>> Step {itr}: interacting with world model ...')
-                world_noise_bundle = make_sampling_noise_bundle(
-                    model, noise_shape) if args.analysis_log_metrics else None
+                world_noise_bundle = (
+                    make_sampling_noise_bundle(model, noise_shape)
+                    if (args.analysis_log_metrics
+                        or backbone_profiler is not None) else None)
                 world_reference_debug = None
-                if args.analysis_log_metrics and args.analysis_reference_steps != args.ddim_steps:
+                world_sampling_seed = int(args.seed + itr * 1000 + 29)
+                if backbone_profiler is not None:
+                    reset_sampling_seed(world_sampling_seed)
+                    backbone_profiler.start_reference_pass(
+                        sample_id=sample_id,
+                        case_id=case_id,
+                        scene=scene,
+                        pass_type='world_model',
+                        round_id=itr,
+                    )
+                    image_guided_synthesis_sim_mode(
+                        model,
+                        "",
+                        observation,
+                        noise_shape,
+                        action_cond_step=args.exe_steps,
+                        ddim_steps=args.ddim_steps,
+                        ddim_eta=args.ddim_eta,
+                        unconditional_guidance_scale=args.
+                        unconditional_guidance_scale,
+                        fs=model_input_fs,
+                        text_input=False,
+                        timestep_spacing=args.timestep_spacing,
+                        guidance_rescale=args.guidance_rescale,
+                        init_noise_bundle=world_noise_bundle,
+                        decode_video=False,
+                        return_debug_info=False,
+                        backbone_block_profiler=backbone_profiler,
+                    )
+                    backbone_profiler.finish_pass()
+                need_world_reference = args.analysis_log_metrics and (
+                    args.analysis_reference_steps != args.ddim_steps
+                    or head_schedule is not None)
+                if need_world_reference:
                     _, _, _, world_reference_debug = image_guided_synthesis_sim_mode(
                         model,
                         "",
@@ -1121,8 +1382,18 @@ def run_inference(args: argparse.Namespace, gpu_num: int, gpu_no: int) -> None:
                         guidance_rescale=args.guidance_rescale,
                         init_noise_bundle=world_noise_bundle,
                         decode_video=False,
-                        return_debug_info=True)
+                        return_debug_info=True,
+                        head_log_steps=head_log_steps)
                 world_pass_start = time.time()
+                if backbone_profiler is not None:
+                    reset_sampling_seed(world_sampling_seed)
+                    backbone_profiler.start_target_pass(
+                        sample_id=sample_id,
+                        case_id=case_id,
+                        scene=scene,
+                        pass_type='world_model',
+                        round_id=itr,
+                    )
                 pred_videos_1, _, pred_states, world_debug = image_guided_synthesis_sim_mode(
                     model,
                     "",
@@ -1138,7 +1409,13 @@ def run_inference(args: argparse.Namespace, gpu_num: int, gpu_no: int) -> None:
                     timestep_spacing=args.timestep_spacing,
                     guidance_rescale=args.guidance_rescale,
                     init_noise_bundle=world_noise_bundle,
-                    return_debug_info=args.analysis_log_metrics)
+                    return_debug_info=args.analysis_log_metrics,
+                    head_schedule=head_schedule,
+                    head_log_steps=head_log_steps,
+                    head_skip_mode=head_skip_mode,
+                    backbone_block_profiler=backbone_profiler)
+                if backbone_profiler is not None:
+                    backbone_profiler.finish_pass()
                 world_pass_total_time_s = time.time() - world_pass_start
                 world_summary_row = None
                 if analysis_logger is not None:
@@ -1224,6 +1501,8 @@ def run_inference(args: argparse.Namespace, gpu_num: int, gpu_no: int) -> None:
 
     if analysis_logger is not None:
         analysis_logger.flush()
+    if backbone_profiler is not None:
+        backbone_profiler.flush()
     writer.close()
 
 
@@ -1357,6 +1636,29 @@ def get_parser():
                         type=str,
                         default=None,
                         help="Optional CSV/JSON file with psnr_full50 values keyed by sample_id or videoid.")
+    parser.add_argument(
+        "--analysis_profile_backbone_blocks",
+        action='store_true',
+        default=False,
+        help="Run dense two-pass backbone block profiling and export backbone_block_log.csv.")
+    parser.add_argument(
+        "--head_schedule_steps",
+        type=int,
+        nargs='*',
+        default=None,
+        help="Zero-based DDIM loop indices where action/state heads execute. Omit for dense execution.")
+    parser.add_argument(
+        "--head_log_steps",
+        type=int,
+        nargs='*',
+        default=None,
+        help="Zero-based DDIM loop indices to snapshot sparse action/state/latent outputs for dense-vs-sparse comparison.")
+    parser.add_argument(
+        "--head_skip_mode",
+        type=str,
+        default="reuse_prediction",
+        choices=["reuse_prediction", "freeze_state"],
+        help="Behavior on non-checkpoint steps: reuse cached head predictions while still running scheduler.step, or freeze action/state entirely.")
     return parser
 
 
diff --git a/scripts/run_all_world_model_cases.sh b/scripts/run_all_world_model_cases.sh
index df62fa9..4fa121b 100644
--- a/scripts/run_all_world_model_cases.sh
+++ b/scripts/run_all_world_model_cases.sh
@@ -7,6 +7,22 @@ cd "${repo_root}"
 
 run_analysis="${RUN_ANALYSIS:-1}"
 case_filter="${CASE_FILTER:-}"
+python_bin="${PYTHON_BIN:-}"
+
+if [[ -z "${python_bin}" ]]; then
+    if [[ -n "${CONDA_PREFIX:-}" ]] && [[ -x "${CONDA_PREFIX}/bin/python" ]]; then
+        python_bin="${CONDA_PREFIX}/bin/python"
+    elif [[ -n "${VIRTUAL_ENV:-}" ]] && [[ -x "${VIRTUAL_ENV}/bin/python" ]]; then
+        python_bin="${VIRTUAL_ENV}/bin/python"
+    else
+        python_bin="$(command -v python || true)"
+    fi
+fi
+
+if [[ -z "${python_bin}" ]] || [[ ! -x "${python_bin}" ]]; then
+    echo "Unable to resolve a usable Python interpreter. Set PYTHON_BIN explicitly." >&2
+    exit 1
+fi
 
 case_scripts=(
     "unitree_z1_stackbox/case1/run_world_model_interaction.sh"
@@ -36,23 +52,9 @@ for case_script in "${case_scripts[@]}"; do
         continue
     fi
 
-    case_dir="$(dirname "${case_script}")"
-    inference_dir="${repo_root}/${case_dir}/output/inference"
-
     echo "============================================================"
     echo "Running ${case_script}"
     echo "============================================================"
-    bash "${repo_root}/${case_script}"
-
-    if [[ "${run_analysis}" == "1" ]]; then
-        if [[ -f "${inference_dir}/stepwise_log.csv" ]] && \
-           [[ -f "${inference_dir}/sample_summary.csv" ]] && \
-           [[ -f "${inference_dir}/round_summary.csv" ]]; then
-            echo "Analyzing ${case_dir}"
-            python3 "${repo_root}/scripts/evaluation/analyze_metrics.py" \
-                --input_dir "${inference_dir}"
-        else
-            echo "Skipping analysis for ${case_dir}: missing analysis CSVs."
-        fi
-    fi
+    echo "Using Python: ${python_bin}"
+    RUN_ANALYSIS="${run_analysis}" PYTHON_BIN="${python_bin}" bash "${repo_root}/${case_script}"
 done
diff --git a/scripts/run_case3_backbone_profiles.sh b/scripts/run_case3_backbone_profiles.sh
new file mode 100644
index 0000000..0079686
--- /dev/null
+++ b/scripts/run_case3_backbone_profiles.sh
@@ -0,0 +1,53 @@
+#!/usr/bin/env bash
+
+set -uo pipefail
+
+repo_root="$(cd "$(dirname "${BASH_SOURCE[0]}")/.." && pwd)"
+cd "${repo_root}"
+
+gpu_devices="${CUDA_VISIBLE_DEVICES:-1}"
+python_bin="${PYTHON_BIN:-}"
+
+if [[ -z "${python_bin}" ]]; then
+    if [[ -n "${CONDA_PREFIX:-}" ]] && [[ -x "${CONDA_PREFIX}/bin/python" ]]; then
+        python_bin="${CONDA_PREFIX}/bin/python"
+    elif [[ -n "${VIRTUAL_ENV:-}" ]] && [[ -x "${VIRTUAL_ENV}/bin/python" ]]; then
+        python_bin="${VIRTUAL_ENV}/bin/python"
+    else
+        python_bin="$(command -v python || true)"
+    fi
+fi
+
+if [[ -z "${python_bin}" ]] || [[ ! -x "${python_bin}" ]]; then
+    echo "Unable to resolve a usable Python interpreter. Set PYTHON_BIN explicitly." >&2
+    exit 1
+fi
+
+case_scripts=(
+    "unitree_z1_dual_arm_stackbox/case3/run_world_model_backbone_profile.sh"
+    "unitree_z1_dual_arm_stackbox_v2/case3/run_world_model_backbone_profile.sh"
+    "unitree_z1_dual_arm_cleanup_pencils/case3/run_world_model_backbone_profile.sh"
+    "unitree_g1_pack_camera/case3/run_world_model_backbone_profile.sh"
+)
+
+failed_cases=()
+
+for case_script in "${case_scripts[@]}"; do
+    echo "============================================================"
+    echo "Running ${case_script} on GPU ${gpu_devices}"
+    echo "============================================================"
+    echo "Using Python: ${python_bin}"
+    if ! CUDA_VISIBLE_DEVICES="${gpu_devices}" PYTHON_BIN="${python_bin}" bash "${repo_root}/${case_script}"; then
+        echo "FAILED: ${case_script}" >&2
+        failed_cases+=("${case_script}")
+    fi
+done
+
+if [[ ${#failed_cases[@]} -gt 0 ]]; then
+    echo "============================================================" >&2
+    echo "Backbone profiling finished with failures:" >&2
+    for case_script in "${failed_cases[@]}"; do
+        echo "  - ${case_script}" >&2
+    done
+    exit 1
+fi
diff --git a/scripts/run_world_model_backbone_profile_case.sh b/scripts/run_world_model_backbone_profile_case.sh
new file mode 100644
index 0000000..eb303ad
--- /dev/null
+++ b/scripts/run_world_model_backbone_profile_case.sh
@@ -0,0 +1,86 @@
+#!/usr/bin/env bash
+
+set -euo pipefail
+
+if [[ $# -ne 4 ]]; then
+    echo "Usage: $0 <res_dir> <dataset> <frame_stride> <n_iter>" >&2
+    exit 1
+fi
+
+res_dir="$1"
+dataset="$2"
+frame_stride="$3"
+n_iter="$4"
+
+repo_root="$(cd "$(dirname "${BASH_SOURCE[0]}")/.." && pwd)"
+cd "${repo_root}"
+
+gpu_devices="${CUDA_VISIBLE_DEVICES:-1}"
+python_bin="${PYTHON_BIN:-}"
+if [[ -z "${python_bin}" ]]; then
+    if [[ -n "${CONDA_PREFIX:-}" ]] && [[ -x "${CONDA_PREFIX}/bin/python" ]]; then
+        python_bin="${CONDA_PREFIX}/bin/python"
+    elif [[ -n "${VIRTUAL_ENV:-}" ]] && [[ -x "${VIRTUAL_ENV}/bin/python" ]]; then
+        python_bin="${VIRTUAL_ENV}/bin/python"
+    else
+        python_bin="$(command -v python || true)"
+    fi
+fi
+if [[ -z "${python_bin}" ]] || [[ ! -x "${python_bin}" ]]; then
+    echo "Unable to resolve a usable Python interpreter. Set PYTHON_BIN explicitly." >&2
+    exit 1
+fi
+save_dir="${res_dir}/backbone_profile_dense"
+log_path="${save_dir}/run.log"
+
+mkdir -p "${save_dir}"
+
+interaction_cmd=(
+    "${python_bin}" scripts/evaluation/world_model_interaction.py
+    --seed 123
+    --ckpt_path ckpts/unifolm_wma_dual.ckpt
+    --config configs/inference/world_model_interaction.yaml
+    --savedir "${save_dir}"
+    --bs 1
+    --height 320
+    --width 512
+    --unconditional_guidance_scale 1.0
+    --ddim_steps 50
+    --ddim_eta 1.0
+    --prompt_dir "${res_dir}/world_model_interaction_prompts"
+    --dataset "${dataset}"
+    --video_length 16
+    --frame_stride "${frame_stride}"
+    --n_action_steps 16
+    --exe_steps 16
+    --n_iter "${n_iter}"
+    --timestep_spacing uniform_trailing
+    --guidance_rescale 0.7
+    --perframe_ae
+    --analysis_log_metrics
+    --analysis_reference_steps 50
+    --analysis_profile_backbone_blocks
+)
+
+metrics_analysis_cmd=(
+    "${python_bin}" scripts/evaluation/analyze_metrics.py
+    --input_dir "${save_dir}/inference"
+    --output_dir "${save_dir}/inference/analysis"
+)
+
+backbone_analysis_cmd=(
+    "${python_bin}" scripts/evaluation/analyze_backbone_blocks.py
+    --input_csv "${save_dir}/inference/backbone_block_log.csv"
+    --output_dir "${save_dir}/inference/backbone_analysis"
+)
+
+{
+    echo "============================================================"
+    echo "Running dense backbone profiling for ${res_dir} on GPU ${gpu_devices}"
+    echo "============================================================"
+    echo "Using Python: ${python_bin}"
+    time env CUDA_VISIBLE_DEVICES="${gpu_devices}" "${interaction_cmd[@]}"
+
+    "${metrics_analysis_cmd[@]}"
+    "${backbone_analysis_cmd[@]}"
+} 2>&1 | tee "${log_path}"
diff --git a/scripts/run_world_model_case_schemes.sh b/scripts/run_world_model_case_schemes.sh
new file mode 100644
index 0000000..eddbc58
--- /dev/null
+++ b/scripts/run_world_model_case_schemes.sh
@@ -0,0 +1,106 @@
+#!/usr/bin/env bash
+
+set -euo pipefail
+
+if [[ $# -ne 4 ]]; then
+    echo "Usage: $0 <res_dir> <dataset> <frame_stride> <n_iter>" >&2
+    exit 1
+fi
+
+res_dir="$1"
+dataset="$2"
+frame_stride="$3"
+n_iter="$4"
+
+repo_root="$(cd "$(dirname "${BASH_SOURCE[0]}")/.." && pwd)"
+cd "${repo_root}"
+
+run_analysis="${RUN_ANALYSIS:-1}"
+scheme_filter="${SCHEME_FILTER:-}"
+gpu_devices="${CUDA_VISIBLE_DEVICES:-0}"
+python_bin="${PYTHON_BIN:-}"
+if [[ -z "${python_bin}" ]]; then
+    if [[ -n "${CONDA_PREFIX:-}" ]] && [[ -x "${CONDA_PREFIX}/bin/python" ]]; then
+        python_bin="${CONDA_PREFIX}/bin/python"
+    elif [[ -n "${VIRTUAL_ENV:-}" ]] && [[ -x "${VIRTUAL_ENV}/bin/python" ]]; then
+        python_bin="${VIRTUAL_ENV}/bin/python"
+    else
+        python_bin="$(command -v python || true)"
+    fi
+fi
+if [[ -z "${python_bin}" ]] || [[ ! -x "${python_bin}" ]]; then
+    echo "Unable to resolve a usable Python interpreter. Set PYTHON_BIN explicitly." >&2
+    exit 1
+fi
+head_log_steps=(40 43 46 47 48 49)
+scheme_names=(sparse_8)
+
+get_head_schedule() {
+    case "$1" in
+        sparse_8)
+            echo "0 7 14 21 28 35 42 49"
+            ;;
+        sparse_4)
+            echo "0 16 32 49"
+            ;;
+        tail_only)
+            echo "40 43 46 49"
+            ;;
+        tail_heavy)
+            echo "0 32 40 44 47 49"
+            ;;
+        *)
+            echo "Unknown scheme: $1" >&2
+            exit 1
+            ;;
+    esac
+}
+
+mkdir -p "${res_dir}/output_logs"
+
+for scheme_name in "${scheme_names[@]}"; do
+    if [[ -n "${scheme_filter}" ]] && [[ "${scheme_name}" != *"${scheme_filter}"* ]]; then
+        continue
+    fi
+
+    read -r -a head_schedule <<< "$(get_head_schedule "${scheme_name}")"
+    scheme_savedir="${res_dir}/output/${scheme_name}"
+    scheme_log_path="${res_dir}/output_logs/${scheme_name}.log"
+
+    {
+        echo "============================================================"
+        echo "Running ${res_dir} with ${scheme_name}"
+        echo "============================================================"
+        echo "Using Python: ${python_bin}"
+        time CUDA_VISIBLE_DEVICES="${gpu_devices}" "${python_bin}" scripts/evaluation/world_model_interaction.py \
+            --seed 123 \
+            --ckpt_path ckpts/unifolm_wma_dual.ckpt \
+            --config configs/inference/world_model_interaction.yaml \
+            --savedir "${scheme_savedir}" \
+            --bs 1 --height 320 --width 512 \
+            --unconditional_guidance_scale 1.0 \
+            --ddim_steps 50 \
+            --ddim_eta 1.0 \
+            --prompt_dir "${res_dir}/world_model_interaction_prompts" \
+            --dataset "${dataset}" \
+            --video_length 16 \
+            --frame_stride "${frame_stride}" \
+            --n_action_steps 16 \
+            --exe_steps 16 \
+            --n_iter "${n_iter}" \
+            --timestep_spacing uniform_trailing \
+            --guidance_rescale 0.7 \
+            --perframe_ae \
+            --analysis_log_metrics \
+            --analysis_reference_steps 50 \
+            --head_schedule_steps "${head_schedule[@]}" \
+            --head_skip_mode reuse_prediction \
+            --head_log_steps "${head_log_steps[@]}"
+
+        if [[ "${run_analysis}" == "1" ]]; then
+            "${python_bin}" scripts/evaluation/analyze_metrics.py \
+                --input_dir "${scheme_savedir}/inference" \
+                --output_dir "${scheme_savedir}/inference/analysis"
+        fi
+    } 2>&1 | tee "${scheme_log_path}"
+done
diff --git a/sparse_head_simulation/min_head_steps_needed.csv b/sparse_head_simulation/min_head_steps_needed.csv
new file mode 100644
index 0000000..d3c9a7b
--- /dev/null
+++ b/sparse_head_simulation/min_head_steps_needed.csv
@@ -0,0 +1,393 @@
+dataset,case,sample_id,scene,pass_type,round_id,target_threshold,action_min_head_steps_needed,state_min_head_steps_needed,action_earliest_checkpoint_zero_based,state_earliest_checkpoint_zero_based,action_max_head_compute_saving_ratio,state_max_head_compute_saving_ratio
+unitree_g1_pack_camera,case1,unitree_g1_pack_camera-vid0-fs6,unitree_g1_pack_camera,policy,0,0.95,1.0,1.0,45.0,45.0,0.98,0.98
+unitree_g1_pack_camera,case1,unitree_g1_pack_camera-vid0-fs6,unitree_g1_pack_camera,policy,1,0.95,1.0,1.0,45.0,46.0,0.98,0.98
+unitree_g1_pack_camera,case1,unitree_g1_pack_camera-vid0-fs6,unitree_g1_pack_camera,policy,2,0.95,1.0,1.0,46.0,46.0,0.98,0.98
+unitree_g1_pack_camera,case1,unitree_g1_pack_camera-vid0-fs6,unitree_g1_pack_camera,policy,3,0.95,1.0,1.0,46.0,46.0,0.98,0.98
+unitree_g1_pack_camera,case1,unitree_g1_pack_camera-vid0-fs6,unitree_g1_pack_camera,policy,4,0.95,1.0,1.0,45.0,46.0,0.98,0.98
+unitree_g1_pack_camera,case1,unitree_g1_pack_camera-vid0-fs6,unitree_g1_pack_camera,policy,5,0.95,1.0,1.0,45.0,46.0,0.98,0.98
+unitree_g1_pack_camera,case1,unitree_g1_pack_camera-vid0-fs6,unitree_g1_pack_camera,policy,6,0.95,1.0,1.0,45.0,45.0,0.98,0.98
+unitree_g1_pack_camera,case1,unitree_g1_pack_camera-vid0-fs6,unitree_g1_pack_camera,policy,7,0.95,1.0,1.0,46.0,46.0,0.98,0.98
+unitree_g1_pack_camera,case1,unitree_g1_pack_camera-vid0-fs6,unitree_g1_pack_camera,policy,8,0.95,1.0,1.0,46.0,46.0,0.98,0.98
+unitree_g1_pack_camera,case1,unitree_g1_pack_camera-vid0-fs6,unitree_g1_pack_camera,policy,9,0.95,1.0,1.0,47.0,47.0,0.98,0.98
+unitree_g1_pack_camera,case1,unitree_g1_pack_camera-vid0-fs6,unitree_g1_pack_camera,policy,10,0.95,1.0,1.0,46.0,46.0,0.98,0.98
+unitree_g1_pack_camera,case1,unitree_g1_pack_camera-vid0-fs6,unitree_g1_pack_camera,world_model,0,0.95,1.0,1.0,45.0,45.0,0.98,0.98
+unitree_g1_pack_camera,case1,unitree_g1_pack_camera-vid0-fs6,unitree_g1_pack_camera,world_model,1,0.95,1.0,1.0,46.0,46.0,0.98,0.98
+unitree_g1_pack_camera,case1,unitree_g1_pack_camera-vid0-fs6,unitree_g1_pack_camera,world_model,2,0.95,1.0,1.0,46.0,46.0,0.98,0.98
+unitree_g1_pack_camera,case1,unitree_g1_pack_camera-vid0-fs6,unitree_g1_pack_camera,world_model,3,0.95,1.0,1.0,46.0,46.0,0.98,0.98
+unitree_g1_pack_camera,case1,unitree_g1_pack_camera-vid0-fs6,unitree_g1_pack_camera,world_model,4,0.95,1.0,1.0,46.0,45.0,0.98,0.98
+unitree_g1_pack_camera,case1,unitree_g1_pack_camera-vid0-fs6,unitree_g1_pack_camera,world_model,5,0.95,1.0,1.0,45.0,45.0,0.98,0.98
+unitree_g1_pack_camera,case1,unitree_g1_pack_camera-vid0-fs6,unitree_g1_pack_camera,world_model,6,0.95,1.0,1.0,45.0,45.0,0.98,0.98
+unitree_g1_pack_camera,case1,unitree_g1_pack_camera-vid0-fs6,unitree_g1_pack_camera,world_model,7,0.95,1.0,1.0,46.0,46.0,0.98,0.98
+unitree_g1_pack_camera,case1,unitree_g1_pack_camera-vid0-fs6,unitree_g1_pack_camera,world_model,8,0.95,1.0,1.0,46.0,46.0,0.98,0.98
+unitree_g1_pack_camera,case1,unitree_g1_pack_camera-vid0-fs6,unitree_g1_pack_camera,world_model,9,0.95,1.0,1.0,46.0,47.0,0.98,0.98
+unitree_g1_pack_camera,case1,unitree_g1_pack_camera-vid0-fs6,unitree_g1_pack_camera,world_model,10,0.95,1.0,1.0,46.0,46.0,0.98,0.98
+unitree_g1_pack_camera,case2,unitree_g1_pack_camera-vid50-fs6,unitree_g1_pack_camera,policy,0,0.95,1.0,1.0,45.0,46.0,0.98,0.98
+unitree_g1_pack_camera,case2,unitree_g1_pack_camera-vid50-fs6,unitree_g1_pack_camera,policy,1,0.95,1.0,1.0,45.0,46.0,0.98,0.98
+unitree_g1_pack_camera,case2,unitree_g1_pack_camera-vid50-fs6,unitree_g1_pack_camera,policy,2,0.95,1.0,1.0,46.0,46.0,0.98,0.98
+unitree_g1_pack_camera,case2,unitree_g1_pack_camera-vid50-fs6,unitree_g1_pack_camera,policy,3,0.95,1.0,1.0,46.0,46.0,0.98,0.98
+unitree_g1_pack_camera,case2,unitree_g1_pack_camera-vid50-fs6,unitree_g1_pack_camera,policy,4,0.95,1.0,1.0,46.0,46.0,0.98,0.98
+unitree_g1_pack_camera,case2,unitree_g1_pack_camera-vid50-fs6,unitree_g1_pack_camera,policy,5,0.95,1.0,1.0,46.0,46.0,0.98,0.98
+unitree_g1_pack_camera,case2,unitree_g1_pack_camera-vid50-fs6,unitree_g1_pack_camera,policy,6,0.95,1.0,1.0,46.0,46.0,0.98,0.98
+unitree_g1_pack_camera,case2,unitree_g1_pack_camera-vid50-fs6,unitree_g1_pack_camera,policy,7,0.95,1.0,1.0,46.0,47.0,0.98,0.98
+unitree_g1_pack_camera,case2,unitree_g1_pack_camera-vid50-fs6,unitree_g1_pack_camera,policy,8,0.95,1.0,1.0,46.0,47.0,0.98,0.98
+unitree_g1_pack_camera,case2,unitree_g1_pack_camera-vid50-fs6,unitree_g1_pack_camera,policy,9,0.95,1.0,1.0,46.0,46.0,0.98,0.98
+unitree_g1_pack_camera,case2,unitree_g1_pack_camera-vid50-fs6,unitree_g1_pack_camera,policy,10,0.95,1.0,1.0,45.0,45.0,0.98,0.98
+unitree_g1_pack_camera,case2,unitree_g1_pack_camera-vid50-fs6,unitree_g1_pack_camera,world_model,0,0.95,1.0,1.0,46.0,46.0,0.98,0.98
+unitree_g1_pack_camera,case2,unitree_g1_pack_camera-vid50-fs6,unitree_g1_pack_camera,world_model,1,0.95,1.0,1.0,45.0,46.0,0.98,0.98
+unitree_g1_pack_camera,case2,unitree_g1_pack_camera-vid50-fs6,unitree_g1_pack_camera,world_model,2,0.95,1.0,1.0,46.0,46.0,0.98,0.98
+unitree_g1_pack_camera,case2,unitree_g1_pack_camera-vid50-fs6,unitree_g1_pack_camera,world_model,3,0.95,1.0,1.0,46.0,46.0,0.98,0.98
+unitree_g1_pack_camera,case2,unitree_g1_pack_camera-vid50-fs6,unitree_g1_pack_camera,world_model,4,0.95,1.0,1.0,46.0,45.0,0.98,0.98
+unitree_g1_pack_camera,case2,unitree_g1_pack_camera-vid50-fs6,unitree_g1_pack_camera,world_model,5,0.95,1.0,1.0,46.0,46.0,0.98,0.98
+unitree_g1_pack_camera,case2,unitree_g1_pack_camera-vid50-fs6,unitree_g1_pack_camera,world_model,6,0.95,1.0,1.0,46.0,46.0,0.98,0.98
+unitree_g1_pack_camera,case2,unitree_g1_pack_camera-vid50-fs6,unitree_g1_pack_camera,world_model,7,0.95,1.0,1.0,46.0,47.0,0.98,0.98
+unitree_g1_pack_camera,case2,unitree_g1_pack_camera-vid50-fs6,unitree_g1_pack_camera,world_model,8,0.95,1.0,1.0,46.0,46.0,0.98,0.98
+unitree_g1_pack_camera,case2,unitree_g1_pack_camera-vid50-fs6,unitree_g1_pack_camera,world_model,9,0.95,1.0,1.0,46.0,46.0,0.98,0.98
+unitree_g1_pack_camera,case2,unitree_g1_pack_camera-vid50-fs6,unitree_g1_pack_camera,world_model,10,0.95,1.0,1.0,45.0,46.0,0.98,0.98
+unitree_g1_pack_camera,case3,unitree_g1_pack_camera-vid100-fs6,unitree_g1_pack_camera,policy,0,0.95,1.0,1.0,45.0,45.0,0.98,0.98
+unitree_g1_pack_camera,case3,unitree_g1_pack_camera-vid100-fs6,unitree_g1_pack_camera,policy,1,0.95,1.0,1.0,45.0,46.0,0.98,0.98
+unitree_g1_pack_camera,case3,unitree_g1_pack_camera-vid100-fs6,unitree_g1_pack_camera,policy,2,0.95,1.0,1.0,46.0,46.0,0.98,0.98
+unitree_g1_pack_camera,case3,unitree_g1_pack_camera-vid100-fs6,unitree_g1_pack_camera,policy,3,0.95,1.0,1.0,45.0,45.0,0.98,0.98
+unitree_g1_pack_camera,case3,unitree_g1_pack_camera-vid100-fs6,unitree_g1_pack_camera,policy,4,0.95,1.0,1.0,46.0,46.0,0.98,0.98
+unitree_g1_pack_camera,case3,unitree_g1_pack_camera-vid100-fs6,unitree_g1_pack_camera,policy,5,0.95,1.0,1.0,46.0,47.0,0.98,0.98
+unitree_g1_pack_camera,case3,unitree_g1_pack_camera-vid100-fs6,unitree_g1_pack_camera,policy,6,0.95,1.0,1.0,46.0,46.0,0.98,0.98
+unitree_g1_pack_camera,case3,unitree_g1_pack_camera-vid100-fs6,unitree_g1_pack_camera,policy,7,0.95,1.0,1.0,46.0,46.0,0.98,0.98
+unitree_g1_pack_camera,case3,unitree_g1_pack_camera-vid100-fs6,unitree_g1_pack_camera,policy,8,0.95,1.0,1.0,46.0,46.0,0.98,0.98
+unitree_g1_pack_camera,case3,unitree_g1_pack_camera-vid100-fs6,unitree_g1_pack_camera,policy,9,0.95,1.0,1.0,46.0,45.0,0.98,0.98
+unitree_g1_pack_camera,case3,unitree_g1_pack_camera-vid100-fs6,unitree_g1_pack_camera,policy,10,0.95,1.0,1.0,45.0,45.0,0.98,0.98
+unitree_g1_pack_camera,case3,unitree_g1_pack_camera-vid100-fs6,unitree_g1_pack_camera,world_model,0,0.95,1.0,1.0,45.0,45.0,0.98,0.98
+unitree_g1_pack_camera,case3,unitree_g1_pack_camera-vid100-fs6,unitree_g1_pack_camera,world_model,1,0.95,1.0,1.0,46.0,46.0,0.98,0.98
+unitree_g1_pack_camera,case3,unitree_g1_pack_camera-vid100-fs6,unitree_g1_pack_camera,world_model,2,0.95,1.0,1.0,46.0,46.0,0.98,0.98
+unitree_g1_pack_camera,case3,unitree_g1_pack_camera-vid100-fs6,unitree_g1_pack_camera,world_model,3,0.95,1.0,1.0,46.0,45.0,0.98,0.98
+unitree_g1_pack_camera,case3,unitree_g1_pack_camera-vid100-fs6,unitree_g1_pack_camera,world_model,4,0.95,1.0,1.0,46.0,46.0,0.98,0.98
+unitree_g1_pack_camera,case3,unitree_g1_pack_camera-vid100-fs6,unitree_g1_pack_camera,world_model,5,0.95,1.0,1.0,46.0,46.0,0.98,0.98
+unitree_g1_pack_camera,case3,unitree_g1_pack_camera-vid100-fs6,unitree_g1_pack_camera,world_model,6,0.95,1.0,1.0,46.0,46.0,0.98,0.98
+unitree_g1_pack_camera,case3,unitree_g1_pack_camera-vid100-fs6,unitree_g1_pack_camera,world_model,7,0.95,1.0,1.0,46.0,46.0,0.98,0.98
+unitree_g1_pack_camera,case3,unitree_g1_pack_camera-vid100-fs6,unitree_g1_pack_camera,world_model,8,0.95,1.0,1.0,46.0,46.0,0.98,0.98
+unitree_g1_pack_camera,case3,unitree_g1_pack_camera-vid100-fs6,unitree_g1_pack_camera,world_model,9,0.95,1.0,1.0,45.0,46.0,0.98,0.98
+unitree_g1_pack_camera,case3,unitree_g1_pack_camera-vid100-fs6,unitree_g1_pack_camera,world_model,10,0.95,1.0,1.0,45.0,45.0,0.98,0.98
+unitree_g1_pack_camera,case4,unitree_g1_pack_camera-vid200-fs6,unitree_g1_pack_camera,policy,0,0.95,1.0,1.0,45.0,46.0,0.98,0.98
+unitree_g1_pack_camera,case4,unitree_g1_pack_camera-vid200-fs6,unitree_g1_pack_camera,policy,1,0.95,1.0,1.0,45.0,46.0,0.98,0.98
+unitree_g1_pack_camera,case4,unitree_g1_pack_camera-vid200-fs6,unitree_g1_pack_camera,policy,2,0.95,1.0,1.0,46.0,46.0,0.98,0.98
+unitree_g1_pack_camera,case4,unitree_g1_pack_camera-vid200-fs6,unitree_g1_pack_camera,policy,3,0.95,1.0,1.0,46.0,45.0,0.98,0.98
+unitree_g1_pack_camera,case4,unitree_g1_pack_camera-vid200-fs6,unitree_g1_pack_camera,policy,4,0.95,1.0,1.0,46.0,46.0,0.98,0.98
+unitree_g1_pack_camera,case4,unitree_g1_pack_camera-vid200-fs6,unitree_g1_pack_camera,policy,5,0.95,1.0,1.0,46.0,47.0,0.98,0.98
+unitree_g1_pack_camera,case4,unitree_g1_pack_camera-vid200-fs6,unitree_g1_pack_camera,policy,6,0.95,1.0,1.0,46.0,46.0,0.98,0.98
+unitree_g1_pack_camera,case4,unitree_g1_pack_camera-vid200-fs6,unitree_g1_pack_camera,policy,7,0.95,1.0,1.0,46.0,46.0,0.98,0.98
+unitree_g1_pack_camera,case4,unitree_g1_pack_camera-vid200-fs6,unitree_g1_pack_camera,policy,8,0.95,1.0,1.0,45.0,46.0,0.98,0.98
+unitree_g1_pack_camera,case4,unitree_g1_pack_camera-vid200-fs6,unitree_g1_pack_camera,policy,9,0.95,1.0,1.0,46.0,45.0,0.98,0.98
+unitree_g1_pack_camera,case4,unitree_g1_pack_camera-vid200-fs6,unitree_g1_pack_camera,policy,10,0.95,1.0,1.0,45.0,45.0,0.98,0.98
+unitree_g1_pack_camera,case4,unitree_g1_pack_camera-vid200-fs6,unitree_g1_pack_camera,world_model,0,0.95,1.0,1.0,46.0,46.0,0.98,0.98
+unitree_g1_pack_camera,case4,unitree_g1_pack_camera-vid200-fs6,unitree_g1_pack_camera,world_model,1,0.95,1.0,1.0,46.0,46.0,0.98,0.98
+unitree_g1_pack_camera,case4,unitree_g1_pack_camera-vid200-fs6,unitree_g1_pack_camera,world_model,2,0.95,1.0,1.0,46.0,46.0,0.98,0.98
+unitree_g1_pack_camera,case4,unitree_g1_pack_camera-vid200-fs6,unitree_g1_pack_camera,world_model,3,0.95,1.0,1.0,46.0,45.0,0.98,0.98
+unitree_g1_pack_camera,case4,unitree_g1_pack_camera-vid200-fs6,unitree_g1_pack_camera,world_model,4,0.95,1.0,1.0,46.0,46.0,0.98,0.98
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+unitree_g1_pack_camera,case4,unitree_g1_pack_camera-vid200-fs6,unitree_g1_pack_camera,world_model,6,0.95,1.0,1.0,45.0,45.0,0.98,0.98
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+unitree_z1_stackbox,case3,unitree_z1_stackbox-vid25-fs4,unitree_z1_stackbox,world_model,9,0.95,1.0,1.0,45.0,47.0,0.98,0.98
+unitree_z1_stackbox,case3,unitree_z1_stackbox-vid25-fs4,unitree_z1_stackbox,world_model,10,0.95,1.0,1.0,45.0,46.0,0.98,0.98
+unitree_z1_stackbox,case3,unitree_z1_stackbox-vid25-fs4,unitree_z1_stackbox,world_model,11,0.95,1.0,1.0,47.0,47.0,0.98,0.98
+unitree_z1_stackbox,case4,unitree_z1_stackbox-vid35-fs4,unitree_z1_stackbox,policy,0,0.95,1.0,1.0,46.0,46.0,0.98,0.98
+unitree_z1_stackbox,case4,unitree_z1_stackbox-vid35-fs4,unitree_z1_stackbox,policy,1,0.95,1.0,1.0,47.0,47.0,0.98,0.98
+unitree_z1_stackbox,case4,unitree_z1_stackbox-vid35-fs4,unitree_z1_stackbox,policy,2,0.95,1.0,1.0,47.0,48.0,0.98,0.98
+unitree_z1_stackbox,case4,unitree_z1_stackbox-vid35-fs4,unitree_z1_stackbox,policy,3,0.95,1.0,1.0,47.0,48.0,0.98,0.98
+unitree_z1_stackbox,case4,unitree_z1_stackbox-vid35-fs4,unitree_z1_stackbox,policy,4,0.95,1.0,1.0,46.0,47.0,0.98,0.98
+unitree_z1_stackbox,case4,unitree_z1_stackbox-vid35-fs4,unitree_z1_stackbox,policy,5,0.95,1.0,1.0,47.0,47.0,0.98,0.98
+unitree_z1_stackbox,case4,unitree_z1_stackbox-vid35-fs4,unitree_z1_stackbox,policy,6,0.95,1.0,1.0,47.0,48.0,0.98,0.98
+unitree_z1_stackbox,case4,unitree_z1_stackbox-vid35-fs4,unitree_z1_stackbox,policy,7,0.95,1.0,1.0,47.0,48.0,0.98,0.98
+unitree_z1_stackbox,case4,unitree_z1_stackbox-vid35-fs4,unitree_z1_stackbox,policy,8,0.95,1.0,1.0,47.0,48.0,0.98,0.98
+unitree_z1_stackbox,case4,unitree_z1_stackbox-vid35-fs4,unitree_z1_stackbox,policy,9,0.95,1.0,1.0,46.0,47.0,0.98,0.98
+unitree_z1_stackbox,case4,unitree_z1_stackbox-vid35-fs4,unitree_z1_stackbox,policy,10,0.95,1.0,1.0,47.0,48.0,0.98,0.98
+unitree_z1_stackbox,case4,unitree_z1_stackbox-vid35-fs4,unitree_z1_stackbox,policy,11,0.95,1.0,1.0,47.0,48.0,0.98,0.98
+unitree_z1_stackbox,case4,unitree_z1_stackbox-vid35-fs4,unitree_z1_stackbox,world_model,0,0.95,1.0,1.0,47.0,46.0,0.98,0.98
+unitree_z1_stackbox,case4,unitree_z1_stackbox-vid35-fs4,unitree_z1_stackbox,world_model,1,0.95,1.0,1.0,47.0,47.0,0.98,0.98
+unitree_z1_stackbox,case4,unitree_z1_stackbox-vid35-fs4,unitree_z1_stackbox,world_model,2,0.95,1.0,1.0,47.0,48.0,0.98,0.98
+unitree_z1_stackbox,case4,unitree_z1_stackbox-vid35-fs4,unitree_z1_stackbox,world_model,3,0.95,1.0,1.0,47.0,48.0,0.98,0.98
+unitree_z1_stackbox,case4,unitree_z1_stackbox-vid35-fs4,unitree_z1_stackbox,world_model,4,0.95,1.0,1.0,47.0,47.0,0.98,0.98
+unitree_z1_stackbox,case4,unitree_z1_stackbox-vid35-fs4,unitree_z1_stackbox,world_model,5,0.95,1.0,1.0,47.0,47.0,0.98,0.98
+unitree_z1_stackbox,case4,unitree_z1_stackbox-vid35-fs4,unitree_z1_stackbox,world_model,6,0.95,1.0,1.0,47.0,48.0,0.98,0.98
+unitree_z1_stackbox,case4,unitree_z1_stackbox-vid35-fs4,unitree_z1_stackbox,world_model,7,0.95,1.0,1.0,47.0,48.0,0.98,0.98
+unitree_z1_stackbox,case4,unitree_z1_stackbox-vid35-fs4,unitree_z1_stackbox,world_model,8,0.95,1.0,1.0,47.0,48.0,0.98,0.98
+unitree_z1_stackbox,case4,unitree_z1_stackbox-vid35-fs4,unitree_z1_stackbox,world_model,9,0.95,1.0,1.0,46.0,47.0,0.98,0.98
+unitree_z1_stackbox,case4,unitree_z1_stackbox-vid35-fs4,unitree_z1_stackbox,world_model,10,0.95,1.0,1.0,47.0,48.0,0.98,0.98
+unitree_z1_stackbox,case4,unitree_z1_stackbox-vid35-fs4,unitree_z1_stackbox,world_model,11,0.95,1.0,1.0,47.0,48.0,0.98,0.98
diff --git a/sparse_head_simulation/report.md b/sparse_head_simulation/report.md
new file mode 100644
index 0000000..ed216f1
--- /dev/null
+++ b/sparse_head_simulation/report.md
@@ -0,0 +1,108 @@
+# Sparse Head Execution Simulation
+
+This report uses zero-order hold over logged stepwise action/state outputs.
+For a sparse scheme, the final output at step 49 is approximated by the most recent checkpoint output.
+
+## Experiment 1.1
+
+### dense
+
+- Head exec count: 50
+- Head compute saving ratio: 0.0000
+- Final action cosine vs dense: mean=1.0000, median=1.0000
+- Final state cosine vs dense: mean=1.0000, median=1.0000
+
+### sparse_10
+
+- Head exec count: 10
+- Head compute saving ratio: 0.8000
+- Final action cosine vs dense: mean=0.9341, median=0.9357
+- Final state cosine vs dense: mean=0.9130, median=0.9207
+
+### sparse_4
+
+- Head exec count: 4
+- Head compute saving ratio: 0.9200
+- Final action cosine vs dense: mean=1.0000, median=1.0000
+- Final state cosine vs dense: mean=1.0000, median=1.0000
+
+### sparse_5
+
+- Head exec count: 5
+- Head compute saving ratio: 0.9000
+- Final action cosine vs dense: mean=0.7747, median=0.7703
+- Final state cosine vs dense: mean=0.7463, median=0.7481
+
+### sparse_8
+
+- Head exec count: 8
+- Head compute saving ratio: 0.8400
+- Final action cosine vs dense: mean=1.0000, median=1.0000
+- Final state cosine vs dense: mean=1.0000, median=1.0000
+
+### tail_heavy_10
+
+- Head exec count: 10
+- Head compute saving ratio: 0.8000
+- Final action cosine vs dense: mean=1.0000, median=1.0000
+- Final state cosine vs dense: mean=1.0000, median=1.0000
+
+### tail_heavy_6
+
+- Head exec count: 6
+- Head compute saving ratio: 0.8800
+- Final action cosine vs dense: mean=1.0000, median=1.0000
+- Final state cosine vs dense: mean=1.0000, median=1.0000
+
+### tail_heavy_8
+
+- Head exec count: 8
+- Head compute saving ratio: 0.8400
+- Final action cosine vs dense: mean=1.0000, median=1.0000
+- Final state cosine vs dense: mean=1.0000, median=1.0000
+
+### tail_only_4
+
+- Head exec count: 4
+- Head compute saving ratio: 0.9200
+- Final action cosine vs dense: mean=1.0000, median=1.0000
+- Final state cosine vs dense: mean=1.0000, median=1.0000
+
+### tail_only_6
+
+- Head exec count: 6
+- Head compute saving ratio: 0.8800
+- Final action cosine vs dense: mean=1.0000, median=1.0000
+- Final state cosine vs dense: mean=1.0000, median=1.0000
+
+## Experiment 1.2
+
+- Target threshold: 0.95
+- Action earliest checkpoint mean: 46.0179
+- State earliest checkpoint mean: 46.5357
+- Unique min head steps needed for action: [1.0]
+- Unique min head steps needed for state: [1.0]
+
+## Experiment 1.3
+
+### budget_10_uniform_vs_tail
+
+- Tail better action share: 1.0000
+- Tail better state share: 1.0000
+- Mean tail-minus-uniform action cosine: 0.0659
+- Mean tail-minus-uniform state cosine: 0.0870
+
+### budget_4_uniform_vs_tail
+
+- Tail better action share: 0.0000
+- Tail better state share: 0.0000
+- Mean tail-minus-uniform action cosine: 0.0000
+- Mean tail-minus-uniform state cosine: 0.0000
+
+### budget_8_uniform_vs_tail
+
+- Tail better action share: 0.0000
+- Tail better state share: 0.0000
+- Mean tail-minus-uniform action cosine: 0.0000
+- Mean tail-minus-uniform state cosine: 0.0000
+
diff --git a/sparse_head_simulation/scheme_simulation_overall.csv b/sparse_head_simulation/scheme_simulation_overall.csv
new file mode 100644
index 0000000..a503987
--- /dev/null
+++ b/sparse_head_simulation/scheme_simulation_overall.csv
@@ -0,0 +1,22 @@
+scheme,pass_type,final_action_cosine_vs_dense,final_action_cosine_vs_dense,final_action_cosine_vs_dense,final_state_cosine_vs_dense,final_state_cosine_vs_dense,final_state_cosine_vs_dense,head_exec_count,head_exec_count,head_exec_count,head_compute_saving_ratio,head_compute_saving_ratio,head_compute_saving_ratio
+,,mean,median,std,mean,median,std,mean,median,std,mean,median,std
+dense,policy,1.000000006386212,1.0,8.6717418229413e-08,0.9999999939178934,1.0,9.826164033417286e-08,50.0,50.0,0.0,0.0,0.0,0.0
+dense,world_model,1.0000000069944226,1.0,9.373933947591167e-08,0.9999999936137881,1.0,9.102258232536112e-08,50.0,50.0,0.0,0.0,0.0,0.0
+sparse_10,policy,0.9357762607384701,0.9370943009853362,0.018183880133080282,0.9124557038350981,0.9198094010353088,0.03185505383051429,10.0,10.0,0.0,0.8,0.8,0.0
+sparse_10,world_model,0.9325069240769561,0.9341191649436951,0.0185309603092533,0.9134697318077087,0.9217162132263184,0.032954335242965455,10.0,10.0,0.0,0.8,0.8,0.0
+sparse_4,policy,1.000000006386212,1.0,8.6717418229413e-08,0.9999999939178934,1.0,9.826164033417286e-08,4.0,4.0,0.0,0.9200000000000002,0.92,0.0
+sparse_4,world_model,1.0000000069944226,1.0,9.373933947591167e-08,0.9999999936137881,1.0,9.102258232536112e-08,4.0,4.0,0.0,0.9200000000000002,0.92,0.0
+sparse_5,policy,0.7812822941614657,0.7787671983242035,0.03869909771001223,0.7465329766273499,0.7454181015491486,0.05109581488207182,5.0,5.0,0.0,0.9,0.9,0.0
+sparse_5,world_model,0.7681533368874569,0.7654141485691071,0.03844469190746414,0.7460347663383095,0.7492875158786774,0.05257641591339498,5.0,5.0,0.0,0.9,0.9,0.0
+sparse_8,policy,1.000000006386212,1.0,8.6717418229413e-08,0.9999999939178934,1.0,9.826164033417286e-08,8.0,8.0,0.0,0.84,0.84,0.0
+sparse_8,world_model,1.0000000069944226,1.0,9.373933947591167e-08,0.9999999936137881,1.0,9.102258232536112e-08,8.0,8.0,0.0,0.84,0.84,0.0
+tail_heavy_10,policy,1.000000006386212,1.0,8.6717418229413e-08,0.9999999939178934,1.0,9.826164033417286e-08,10.0,10.0,0.0,0.8,0.8,0.0
+tail_heavy_10,world_model,1.0000000069944226,1.0,9.373933947591167e-08,0.9999999936137881,1.0,9.102258232536112e-08,10.0,10.0,0.0,0.8,0.8,0.0
+tail_heavy_6,policy,1.000000006386212,1.0,8.6717418229413e-08,0.9999999939178934,1.0,9.826164033417286e-08,6.0,6.0,0.0,0.8799999999999999,0.88,0.0
+tail_heavy_6,world_model,1.0000000069944226,1.0,9.373933947591167e-08,0.9999999936137881,1.0,9.102258232536112e-08,6.0,6.0,0.0,0.8799999999999999,0.88,0.0
+tail_heavy_8,policy,1.000000006386212,1.0,8.6717418229413e-08,0.9999999939178934,1.0,9.826164033417286e-08,8.0,8.0,0.0,0.84,0.84,0.0
+tail_heavy_8,world_model,1.0000000069944226,1.0,9.373933947591167e-08,0.9999999936137881,1.0,9.102258232536112e-08,8.0,8.0,0.0,0.84,0.84,0.0
+tail_only_4,policy,1.000000006386212,1.0,8.6717418229413e-08,0.9999999939178934,1.0,9.826164033417286e-08,4.0,4.0,0.0,0.9200000000000002,0.92,0.0
+tail_only_4,world_model,1.0000000069944226,1.0,9.373933947591167e-08,0.9999999936137881,1.0,9.102258232536112e-08,4.0,4.0,0.0,0.9200000000000002,0.92,0.0
+tail_only_6,policy,1.000000006386212,1.0,8.6717418229413e-08,0.9999999939178934,1.0,9.826164033417286e-08,6.0,6.0,0.0,0.8799999999999999,0.88,0.0
+tail_only_6,world_model,1.0000000069944226,1.0,9.373933947591167e-08,0.9999999936137881,1.0,9.102258232536112e-08,6.0,6.0,0.0,0.8799999999999999,0.88,0.0
diff --git a/sparse_head_simulation/scheme_simulation_per_case.csv b/sparse_head_simulation/scheme_simulation_per_case.csv
new file mode 100644
index 0000000..5fbe5b2
--- /dev/null
+++ b/sparse_head_simulation/scheme_simulation_per_case.csv
@@ -0,0 +1,401 @@
+dataset,case,scheme,pass_type,final_action_cosine_vs_dense,final_state_cosine_vs_dense,head_exec_count,head_compute_saving_ratio
+unitree_g1_pack_camera,case1,dense,policy,1.000000005418604,1.0000000216744163,50.0,0.0
+unitree_g1_pack_camera,case1,dense,world_model,1.0000000162558123,0.9999999891627919,50.0,0.0
+unitree_g1_pack_camera,case1,sparse_10,policy,0.9458914236588911,0.9406864263794639,10.0,0.8
+unitree_g1_pack_camera,case1,sparse_10,world_model,0.943276660008864,0.94043137810447,10.0,0.8
+unitree_g1_pack_camera,case1,sparse_4,policy,1.000000005418604,1.0000000216744163,4.0,0.92
+unitree_g1_pack_camera,case1,sparse_4,world_model,1.0000000162558123,0.9999999891627919,4.0,0.92
+unitree_g1_pack_camera,case1,sparse_5,policy,0.7835968299345537,0.7882764935493469,5.0,0.9
+unitree_g1_pack_camera,case1,sparse_5,world_model,0.768740404735912,0.7820447520776228,5.0,0.9
+unitree_g1_pack_camera,case1,sparse_8,policy,1.000000005418604,1.0000000216744163,8.0,0.84
+unitree_g1_pack_camera,case1,sparse_8,world_model,1.0000000162558123,0.9999999891627919,8.0,0.84
+unitree_g1_pack_camera,case1,tail_heavy_10,policy,1.000000005418604,1.0000000216744163,10.0,0.8
+unitree_g1_pack_camera,case1,tail_heavy_10,world_model,1.0000000162558123,0.9999999891627919,10.0,0.8
+unitree_g1_pack_camera,case1,tail_heavy_6,policy,1.000000005418604,1.0000000216744163,6.0,0.88
+unitree_g1_pack_camera,case1,tail_heavy_6,world_model,1.0000000162558123,0.9999999891627919,6.0,0.88
+unitree_g1_pack_camera,case1,tail_heavy_8,policy,1.000000005418604,1.0000000216744163,8.0,0.84
+unitree_g1_pack_camera,case1,tail_heavy_8,world_model,1.0000000162558123,0.9999999891627919,8.0,0.84
+unitree_g1_pack_camera,case1,tail_only_4,policy,1.000000005418604,1.0000000216744163,4.0,0.92
+unitree_g1_pack_camera,case1,tail_only_4,world_model,1.0000000162558123,0.9999999891627919,4.0,0.92
+unitree_g1_pack_camera,case1,tail_only_6,policy,1.000000005418604,1.0000000216744163,6.0,0.88
+unitree_g1_pack_camera,case1,tail_only_6,world_model,1.0000000162558123,0.9999999891627919,6.0,0.88
+unitree_g1_pack_camera,case2,dense,policy,1.0,1.0000000108372082,50.0,0.0
+unitree_g1_pack_camera,case2,dense,world_model,1.0000000433488325,1.0,50.0,0.0
+unitree_g1_pack_camera,case2,sparse_10,policy,0.9434121738780629,0.9354661919853904,10.0,0.8
+unitree_g1_pack_camera,case2,sparse_10,world_model,0.9378488930788907,0.9352135224775835,10.0,0.8
+unitree_g1_pack_camera,case2,sparse_4,policy,1.0,1.0000000108372082,4.0,0.92
+unitree_g1_pack_camera,case2,sparse_4,world_model,1.0000000433488325,1.0,4.0,0.92
+unitree_g1_pack_camera,case2,sparse_5,policy,0.7797025496309454,0.7743967554785989,5.0,0.9
+unitree_g1_pack_camera,case2,sparse_5,world_model,0.7510665926066312,0.7674615762450478,5.0,0.9
+unitree_g1_pack_camera,case2,sparse_8,policy,1.0,1.0000000108372082,8.0,0.84
+unitree_g1_pack_camera,case2,sparse_8,world_model,1.0000000433488325,1.0,8.0,0.84
+unitree_g1_pack_camera,case2,tail_heavy_10,policy,1.0,1.0000000108372082,10.0,0.8
+unitree_g1_pack_camera,case2,tail_heavy_10,world_model,1.0000000433488325,1.0,10.0,0.8
+unitree_g1_pack_camera,case2,tail_heavy_6,policy,1.0,1.0000000108372082,6.0,0.88
+unitree_g1_pack_camera,case2,tail_heavy_6,world_model,1.0000000433488325,1.0,6.0,0.88
+unitree_g1_pack_camera,case2,tail_heavy_8,policy,1.0,1.0000000108372082,8.0,0.84
+unitree_g1_pack_camera,case2,tail_heavy_8,world_model,1.0000000433488325,1.0,8.0,0.84
+unitree_g1_pack_camera,case2,tail_only_4,policy,1.0,1.0000000108372082,4.0,0.92
+unitree_g1_pack_camera,case2,tail_only_4,world_model,1.0000000433488325,1.0,4.0,0.92
+unitree_g1_pack_camera,case2,tail_only_6,policy,1.0,1.0000000108372082,6.0,0.88
+unitree_g1_pack_camera,case2,tail_only_6,world_model,1.0000000433488325,1.0,6.0,0.88
+unitree_g1_pack_camera,case3,dense,policy,0.9999999729069796,0.9999999945813959,50.0,0.0
+unitree_g1_pack_camera,case3,dense,world_model,0.9999999891627919,0.9999999729069796,50.0,0.0
+unitree_g1_pack_camera,case3,sparse_10,policy,0.9479800787839022,0.9408404772931879,10.0,0.8
+unitree_g1_pack_camera,case3,sparse_10,world_model,0.9443203156644647,0.9426048723134127,10.0,0.8
+unitree_g1_pack_camera,case3,sparse_4,policy,0.9999999729069796,0.9999999945813959,4.0,0.92
+unitree_g1_pack_camera,case3,sparse_4,world_model,0.9999999891627919,0.9999999729069796,4.0,0.92
+unitree_g1_pack_camera,case3,sparse_5,policy,0.7867171547629617,0.7888143712824042,5.0,0.9
+unitree_g1_pack_camera,case3,sparse_5,world_model,0.7702723687345331,0.7856205864386125,5.0,0.9
+unitree_g1_pack_camera,case3,sparse_8,policy,0.9999999729069796,0.9999999945813959,8.0,0.84
+unitree_g1_pack_camera,case3,sparse_8,world_model,0.9999999891627919,0.9999999729069796,8.0,0.84
+unitree_g1_pack_camera,case3,tail_heavy_10,policy,0.9999999729069796,0.9999999945813959,10.0,0.8
+unitree_g1_pack_camera,case3,tail_heavy_10,world_model,0.9999999891627919,0.9999999729069796,10.0,0.8
+unitree_g1_pack_camera,case3,tail_heavy_6,policy,0.9999999729069796,0.9999999945813959,6.0,0.88
+unitree_g1_pack_camera,case3,tail_heavy_6,world_model,0.9999999891627919,0.9999999729069796,6.0,0.88
+unitree_g1_pack_camera,case3,tail_heavy_8,policy,0.9999999729069796,0.9999999945813959,8.0,0.84
+unitree_g1_pack_camera,case3,tail_heavy_8,world_model,0.9999999891627919,0.9999999729069796,8.0,0.84
+unitree_g1_pack_camera,case3,tail_only_4,policy,0.9999999729069796,0.9999999945813959,4.0,0.92
+unitree_g1_pack_camera,case3,tail_only_4,world_model,0.9999999891627919,0.9999999729069796,4.0,0.92
+unitree_g1_pack_camera,case3,tail_only_6,policy,0.9999999729069796,0.9999999945813959,6.0,0.88
+unitree_g1_pack_camera,case3,tail_only_6,world_model,0.9999999891627919,0.9999999729069796,6.0,0.88
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+unitree_z1_stackbox,case4,dense,policy,1.00000003973643,1.0000000298023224,50.0,0.0
+unitree_z1_stackbox,case4,dense,world_model,1.0000000099341075,1.0000000248352687,50.0,0.0
+unitree_z1_stackbox,case4,sparse_10,policy,0.9115401953458786,0.8695555130640665,10.0,0.8000000000000002
+unitree_z1_stackbox,case4,sparse_10,world_model,0.9073014905055364,0.8689398914575577,10.0,0.8000000000000002
+unitree_z1_stackbox,case4,sparse_4,policy,1.00000003973643,1.0000000298023224,4.0,0.92
+unitree_z1_stackbox,case4,sparse_4,world_model,1.0000000099341075,1.0000000248352687,4.0,0.92
+unitree_z1_stackbox,case4,sparse_5,policy,0.7569213857253393,0.6986446877320608,5.0,0.9
+unitree_z1_stackbox,case4,sparse_5,world_model,0.7459165553251902,0.6989829589923223,5.0,0.9
+unitree_z1_stackbox,case4,sparse_8,policy,1.00000003973643,1.0000000298023224,8.0,0.84
+unitree_z1_stackbox,case4,sparse_8,world_model,1.0000000099341075,1.0000000248352687,8.0,0.84
+unitree_z1_stackbox,case4,tail_heavy_10,policy,1.00000003973643,1.0000000298023224,10.0,0.8000000000000002
+unitree_z1_stackbox,case4,tail_heavy_10,world_model,1.0000000099341075,1.0000000248352687,10.0,0.8000000000000002
+unitree_z1_stackbox,case4,tail_heavy_6,policy,1.00000003973643,1.0000000298023224,6.0,0.88
+unitree_z1_stackbox,case4,tail_heavy_6,world_model,1.0000000099341075,1.0000000248352687,6.0,0.88
+unitree_z1_stackbox,case4,tail_heavy_8,policy,1.00000003973643,1.0000000298023224,8.0,0.84
+unitree_z1_stackbox,case4,tail_heavy_8,world_model,1.0000000099341075,1.0000000248352687,8.0,0.84
+unitree_z1_stackbox,case4,tail_only_4,policy,1.00000003973643,1.0000000298023224,4.0,0.92
+unitree_z1_stackbox,case4,tail_only_4,world_model,1.0000000099341075,1.0000000248352687,4.0,0.92
+unitree_z1_stackbox,case4,tail_only_6,policy,1.00000003973643,1.0000000298023224,6.0,0.88
+unitree_z1_stackbox,case4,tail_only_6,world_model,1.0000000099341075,1.0000000248352687,6.0,0.88
diff --git a/sparse_head_simulation/scheme_simulation_per_round.csv b/sparse_head_simulation/scheme_simulation_per_round.csv
new file mode 100644
index 0000000..9d90281
--- /dev/null
+++ b/sparse_head_simulation/scheme_simulation_per_round.csv
@@ -0,0 +1,3921 @@
+dataset,case,sample_id,scene,pass_type,round_id,scheme,head_exec_steps_zero_based,head_exec_count,head_compute_saving_ratio,final_checkpoint_zero_based,final_checkpoint_one_based,final_action_cosine_vs_dense,final_state_cosine_vs_dense
+unitree_g1_pack_camera,case1,unitree_g1_pack_camera-vid0-fs6,unitree_g1_pack_camera,policy,0,dense,"[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49]",50,0.0,49,50,1.0,1.0
+unitree_g1_pack_camera,case1,unitree_g1_pack_camera-vid0-fs6,unitree_g1_pack_camera,policy,0,sparse_10,"[0, 5, 10, 15, 20, 25, 30, 35, 40, 45]",10,0.8,45,46,0.9604640007019044,0.9554036855697632
+unitree_g1_pack_camera,case1,unitree_g1_pack_camera-vid0-fs6,unitree_g1_pack_camera,policy,0,sparse_5,"[0, 10, 20, 30, 40]",5,0.9,40,41,0.830075740814209,0.8255100846290588
+unitree_g1_pack_camera,case1,unitree_g1_pack_camera-vid0-fs6,unitree_g1_pack_camera,policy,0,tail_heavy_10,"[0, 5, 10, 20, 30, 38, 43, 46, 48, 49]",10,0.8,49,50,1.0,1.0
+unitree_g1_pack_camera,case1,unitree_g1_pack_camera-vid0-fs6,unitree_g1_pack_camera,policy,0,tail_only_6,"[40, 43, 46, 47, 48, 49]",6,0.88,49,50,1.0,1.0
+unitree_g1_pack_camera,case1,unitree_g1_pack_camera-vid0-fs6,unitree_g1_pack_camera,policy,0,sparse_8,"[0, 7, 14, 21, 28, 35, 42, 49]",8,0.84,49,50,1.0,1.0
+unitree_g1_pack_camera,case1,unitree_g1_pack_camera-vid0-fs6,unitree_g1_pack_camera,policy,0,sparse_4,"[0, 16, 32, 49]",4,0.92,49,50,1.0,1.0
+unitree_g1_pack_camera,case1,unitree_g1_pack_camera-vid0-fs6,unitree_g1_pack_camera,policy,0,tail_only_4,"[40, 43, 46, 49]",4,0.92,49,50,1.0,1.0
+unitree_g1_pack_camera,case1,unitree_g1_pack_camera-vid0-fs6,unitree_g1_pack_camera,policy,0,tail_heavy_6,"[0, 32, 40, 44, 47, 49]",6,0.88,49,50,1.0,1.0
+unitree_g1_pack_camera,case1,unitree_g1_pack_camera-vid0-fs6,unitree_g1_pack_camera,policy,0,tail_heavy_8,"[0, 10, 20, 30, 38, 43, 46, 49]",8,0.84,49,50,1.0,1.0
+unitree_g1_pack_camera,case1,unitree_g1_pack_camera-vid0-fs6,unitree_g1_pack_camera,policy,1,dense,"[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49]",50,0.0,49,50,1.0,1.0000001192092896
+unitree_g1_pack_camera,case1,unitree_g1_pack_camera-vid0-fs6,unitree_g1_pack_camera,policy,1,sparse_10,"[0, 5, 10, 15, 20, 25, 30, 35, 40, 45]",10,0.8,45,46,0.9559171199798584,0.9341673851013184
+unitree_g1_pack_camera,case1,unitree_g1_pack_camera-vid0-fs6,unitree_g1_pack_camera,policy,1,sparse_5,"[0, 10, 20, 30, 40]",5,0.9,40,41,0.827914834022522,0.768629789352417
+unitree_g1_pack_camera,case1,unitree_g1_pack_camera-vid0-fs6,unitree_g1_pack_camera,policy,1,tail_heavy_10,"[0, 5, 10, 20, 30, 38, 43, 46, 48, 49]",10,0.8,49,50,1.0,1.0000001192092896
+unitree_g1_pack_camera,case1,unitree_g1_pack_camera-vid0-fs6,unitree_g1_pack_camera,policy,1,tail_only_6,"[40, 43, 46, 47, 48, 49]",6,0.88,49,50,1.0,1.0000001192092896
+unitree_g1_pack_camera,case1,unitree_g1_pack_camera-vid0-fs6,unitree_g1_pack_camera,policy,1,sparse_8,"[0, 7, 14, 21, 28, 35, 42, 49]",8,0.84,49,50,1.0,1.0000001192092896
+unitree_g1_pack_camera,case1,unitree_g1_pack_camera-vid0-fs6,unitree_g1_pack_camera,policy,1,sparse_4,"[0, 16, 32, 49]",4,0.92,49,50,1.0,1.0000001192092896
+unitree_g1_pack_camera,case1,unitree_g1_pack_camera-vid0-fs6,unitree_g1_pack_camera,policy,1,tail_only_4,"[40, 43, 46, 49]",4,0.92,49,50,1.0,1.0000001192092896
+unitree_g1_pack_camera,case1,unitree_g1_pack_camera-vid0-fs6,unitree_g1_pack_camera,policy,1,tail_heavy_6,"[0, 32, 40, 44, 47, 49]",6,0.88,49,50,1.0,1.0000001192092896
+unitree_g1_pack_camera,case1,unitree_g1_pack_camera-vid0-fs6,unitree_g1_pack_camera,policy,1,tail_heavy_8,"[0, 10, 20, 30, 38, 43, 46, 49]",8,0.84,49,50,1.0,1.0000001192092896
+unitree_g1_pack_camera,case1,unitree_g1_pack_camera-vid0-fs6,unitree_g1_pack_camera,policy,2,dense,"[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49]",50,0.0,49,50,0.9999999403953552,1.0000001192092896
+unitree_g1_pack_camera,case1,unitree_g1_pack_camera-vid0-fs6,unitree_g1_pack_camera,policy,2,sparse_10,"[0, 5, 10, 15, 20, 25, 30, 35, 40, 45]",10,0.8,45,46,0.937708020210266,0.9363122582435608
+unitree_g1_pack_camera,case1,unitree_g1_pack_camera-vid0-fs6,unitree_g1_pack_camera,policy,2,sparse_5,"[0, 10, 20, 30, 40]",5,0.9,40,41,0.7517027854919434,0.7702078223228455
+unitree_g1_pack_camera,case1,unitree_g1_pack_camera-vid0-fs6,unitree_g1_pack_camera,policy,2,tail_heavy_10,"[0, 5, 10, 20, 30, 38, 43, 46, 48, 49]",10,0.8,49,50,0.9999999403953552,1.0000001192092896
+unitree_g1_pack_camera,case1,unitree_g1_pack_camera-vid0-fs6,unitree_g1_pack_camera,policy,2,tail_only_6,"[40, 43, 46, 47, 48, 49]",6,0.88,49,50,0.9999999403953552,1.0000001192092896
+unitree_g1_pack_camera,case1,unitree_g1_pack_camera-vid0-fs6,unitree_g1_pack_camera,policy,2,sparse_8,"[0, 7, 14, 21, 28, 35, 42, 49]",8,0.84,49,50,0.9999999403953552,1.0000001192092896
+unitree_g1_pack_camera,case1,unitree_g1_pack_camera-vid0-fs6,unitree_g1_pack_camera,policy,2,sparse_4,"[0, 16, 32, 49]",4,0.92,49,50,0.9999999403953552,1.0000001192092896
+unitree_g1_pack_camera,case1,unitree_g1_pack_camera-vid0-fs6,unitree_g1_pack_camera,policy,2,tail_only_4,"[40, 43, 46, 49]",4,0.92,49,50,0.9999999403953552,1.0000001192092896
+unitree_g1_pack_camera,case1,unitree_g1_pack_camera-vid0-fs6,unitree_g1_pack_camera,policy,2,tail_heavy_6,"[0, 32, 40, 44, 47, 49]",6,0.88,49,50,0.9999999403953552,1.0000001192092896
+unitree_g1_pack_camera,case1,unitree_g1_pack_camera-vid0-fs6,unitree_g1_pack_camera,policy,2,tail_heavy_8,"[0, 10, 20, 30, 38, 43, 46, 49]",8,0.84,49,50,0.9999999403953552,1.0000001192092896
+unitree_g1_pack_camera,case1,unitree_g1_pack_camera-vid0-fs6,unitree_g1_pack_camera,policy,3,dense,"[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49]",50,0.0,49,50,1.0000001192092896,1.0
+unitree_g1_pack_camera,case1,unitree_g1_pack_camera-vid0-fs6,unitree_g1_pack_camera,policy,3,sparse_10,"[0, 5, 10, 15, 20, 25, 30, 35, 40, 45]",10,0.8,45,46,0.9499267935752868,0.9398844242095948
+unitree_g1_pack_camera,case1,unitree_g1_pack_camera-vid0-fs6,unitree_g1_pack_camera,policy,3,sparse_5,"[0, 10, 20, 30, 40]",5,0.9,40,41,0.8072720766067505,0.7932373285293579
+unitree_g1_pack_camera,case1,unitree_g1_pack_camera-vid0-fs6,unitree_g1_pack_camera,policy,3,tail_heavy_10,"[0, 5, 10, 20, 30, 38, 43, 46, 48, 49]",10,0.8,49,50,1.0000001192092896,1.0
+unitree_g1_pack_camera,case1,unitree_g1_pack_camera-vid0-fs6,unitree_g1_pack_camera,policy,3,tail_only_6,"[40, 43, 46, 47, 48, 49]",6,0.88,49,50,1.0000001192092896,1.0
+unitree_g1_pack_camera,case1,unitree_g1_pack_camera-vid0-fs6,unitree_g1_pack_camera,policy,3,sparse_8,"[0, 7, 14, 21, 28, 35, 42, 49]",8,0.84,49,50,1.0000001192092896,1.0
+unitree_g1_pack_camera,case1,unitree_g1_pack_camera-vid0-fs6,unitree_g1_pack_camera,policy,3,sparse_4,"[0, 16, 32, 49]",4,0.92,49,50,1.0000001192092896,1.0
+unitree_g1_pack_camera,case1,unitree_g1_pack_camera-vid0-fs6,unitree_g1_pack_camera,policy,3,tail_only_4,"[40, 43, 46, 49]",4,0.92,49,50,1.0000001192092896,1.0
+unitree_g1_pack_camera,case1,unitree_g1_pack_camera-vid0-fs6,unitree_g1_pack_camera,policy,3,tail_heavy_6,"[0, 32, 40, 44, 47, 49]",6,0.88,49,50,1.0000001192092896,1.0
+unitree_g1_pack_camera,case1,unitree_g1_pack_camera-vid0-fs6,unitree_g1_pack_camera,policy,3,tail_heavy_8,"[0, 10, 20, 30, 38, 43, 46, 49]",8,0.84,49,50,1.0000001192092896,1.0
+unitree_g1_pack_camera,case1,unitree_g1_pack_camera-vid0-fs6,unitree_g1_pack_camera,policy,4,dense,"[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49]",50,0.0,49,50,1.0,1.0
+unitree_g1_pack_camera,case1,unitree_g1_pack_camera-vid0-fs6,unitree_g1_pack_camera,policy,4,sparse_10,"[0, 5, 10, 15, 20, 25, 30, 35, 40, 45]",10,0.8,45,46,0.9524757266044616,0.9492368102073668
+unitree_g1_pack_camera,case1,unitree_g1_pack_camera-vid0-fs6,unitree_g1_pack_camera,policy,4,sparse_5,"[0, 10, 20, 30, 40]",5,0.9,40,41,0.7818245887756348,0.819352388381958
+unitree_g1_pack_camera,case1,unitree_g1_pack_camera-vid0-fs6,unitree_g1_pack_camera,policy,4,tail_heavy_10,"[0, 5, 10, 20, 30, 38, 43, 46, 48, 49]",10,0.8,49,50,1.0,1.0
+unitree_g1_pack_camera,case1,unitree_g1_pack_camera-vid0-fs6,unitree_g1_pack_camera,policy,4,tail_only_6,"[40, 43, 46, 47, 48, 49]",6,0.88,49,50,1.0,1.0
+unitree_g1_pack_camera,case1,unitree_g1_pack_camera-vid0-fs6,unitree_g1_pack_camera,policy,4,sparse_8,"[0, 7, 14, 21, 28, 35, 42, 49]",8,0.84,49,50,1.0,1.0
+unitree_g1_pack_camera,case1,unitree_g1_pack_camera-vid0-fs6,unitree_g1_pack_camera,policy,4,sparse_4,"[0, 16, 32, 49]",4,0.92,49,50,1.0,1.0
+unitree_g1_pack_camera,case1,unitree_g1_pack_camera-vid0-fs6,unitree_g1_pack_camera,policy,4,tail_only_4,"[40, 43, 46, 49]",4,0.92,49,50,1.0,1.0
+unitree_g1_pack_camera,case1,unitree_g1_pack_camera-vid0-fs6,unitree_g1_pack_camera,policy,4,tail_heavy_6,"[0, 32, 40, 44, 47, 49]",6,0.88,49,50,1.0,1.0
+unitree_g1_pack_camera,case1,unitree_g1_pack_camera-vid0-fs6,unitree_g1_pack_camera,policy,4,tail_heavy_8,"[0, 10, 20, 30, 38, 43, 46, 49]",8,0.84,49,50,1.0,1.0
+unitree_g1_pack_camera,case1,unitree_g1_pack_camera-vid0-fs6,unitree_g1_pack_camera,policy,5,dense,"[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49]",50,0.0,49,50,1.0,1.0
+unitree_g1_pack_camera,case1,unitree_g1_pack_camera-vid0-fs6,unitree_g1_pack_camera,policy,5,sparse_10,"[0, 5, 10, 15, 20, 25, 30, 35, 40, 45]",10,0.8,45,46,0.9567766785621644,0.9425891637802124
+unitree_g1_pack_camera,case1,unitree_g1_pack_camera-vid0-fs6,unitree_g1_pack_camera,policy,5,sparse_5,"[0, 10, 20, 30, 40]",5,0.9,40,41,0.8187131881713867,0.781629204750061
+unitree_g1_pack_camera,case1,unitree_g1_pack_camera-vid0-fs6,unitree_g1_pack_camera,policy,5,tail_heavy_10,"[0, 5, 10, 20, 30, 38, 43, 46, 48, 49]",10,0.8,49,50,1.0,1.0
+unitree_g1_pack_camera,case1,unitree_g1_pack_camera-vid0-fs6,unitree_g1_pack_camera,policy,5,tail_only_6,"[40, 43, 46, 47, 48, 49]",6,0.88,49,50,1.0,1.0
+unitree_g1_pack_camera,case1,unitree_g1_pack_camera-vid0-fs6,unitree_g1_pack_camera,policy,5,sparse_8,"[0, 7, 14, 21, 28, 35, 42, 49]",8,0.84,49,50,1.0,1.0
+unitree_g1_pack_camera,case1,unitree_g1_pack_camera-vid0-fs6,unitree_g1_pack_camera,policy,5,sparse_4,"[0, 16, 32, 49]",4,0.92,49,50,1.0,1.0
+unitree_g1_pack_camera,case1,unitree_g1_pack_camera-vid0-fs6,unitree_g1_pack_camera,policy,5,tail_only_4,"[40, 43, 46, 49]",4,0.92,49,50,1.0,1.0
+unitree_g1_pack_camera,case1,unitree_g1_pack_camera-vid0-fs6,unitree_g1_pack_camera,policy,5,tail_heavy_6,"[0, 32, 40, 44, 47, 49]",6,0.88,49,50,1.0,1.0
+unitree_g1_pack_camera,case1,unitree_g1_pack_camera-vid0-fs6,unitree_g1_pack_camera,policy,5,tail_heavy_8,"[0, 10, 20, 30, 38, 43, 46, 49]",8,0.84,49,50,1.0,1.0
+unitree_g1_pack_camera,case1,unitree_g1_pack_camera-vid0-fs6,unitree_g1_pack_camera,policy,6,dense,"[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49]",50,0.0,49,50,0.9999999403953552,1.0
+unitree_g1_pack_camera,case1,unitree_g1_pack_camera-vid0-fs6,unitree_g1_pack_camera,policy,6,sparse_10,"[0, 5, 10, 15, 20, 25, 30, 35, 40, 45]",10,0.8,45,46,0.9639222621917723,0.9639663696289062
+unitree_g1_pack_camera,case1,unitree_g1_pack_camera-vid0-fs6,unitree_g1_pack_camera,policy,6,sparse_5,"[0, 10, 20, 30, 40]",5,0.9,40,41,0.8416820168495178,0.8499927520751953
+unitree_g1_pack_camera,case1,unitree_g1_pack_camera-vid0-fs6,unitree_g1_pack_camera,policy,6,tail_heavy_10,"[0, 5, 10, 20, 30, 38, 43, 46, 48, 49]",10,0.8,49,50,0.9999999403953552,1.0
+unitree_g1_pack_camera,case1,unitree_g1_pack_camera-vid0-fs6,unitree_g1_pack_camera,policy,6,tail_only_6,"[40, 43, 46, 47, 48, 49]",6,0.88,49,50,0.9999999403953552,1.0
+unitree_g1_pack_camera,case1,unitree_g1_pack_camera-vid0-fs6,unitree_g1_pack_camera,policy,6,sparse_8,"[0, 7, 14, 21, 28, 35, 42, 49]",8,0.84,49,50,0.9999999403953552,1.0
+unitree_g1_pack_camera,case1,unitree_g1_pack_camera-vid0-fs6,unitree_g1_pack_camera,policy,6,sparse_4,"[0, 16, 32, 49]",4,0.92,49,50,0.9999999403953552,1.0
+unitree_g1_pack_camera,case1,unitree_g1_pack_camera-vid0-fs6,unitree_g1_pack_camera,policy,6,tail_only_4,"[40, 43, 46, 49]",4,0.92,49,50,0.9999999403953552,1.0
+unitree_g1_pack_camera,case1,unitree_g1_pack_camera-vid0-fs6,unitree_g1_pack_camera,policy,6,tail_heavy_6,"[0, 32, 40, 44, 47, 49]",6,0.88,49,50,0.9999999403953552,1.0
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+unitree_g1_pack_camera,case2,unitree_g1_pack_camera-vid50-fs6,unitree_g1_pack_camera,policy,1,dense,"[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49]",50,0.0,49,50,0.9999999403953552,1.0
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+unitree_g1_pack_camera,case2,unitree_g1_pack_camera-vid50-fs6,unitree_g1_pack_camera,policy,1,tail_only_6,"[40, 43, 46, 47, 48, 49]",6,0.88,49,50,0.9999999403953552,1.0
+unitree_g1_pack_camera,case2,unitree_g1_pack_camera-vid50-fs6,unitree_g1_pack_camera,policy,1,sparse_8,"[0, 7, 14, 21, 28, 35, 42, 49]",8,0.84,49,50,0.9999999403953552,1.0
+unitree_g1_pack_camera,case2,unitree_g1_pack_camera-vid50-fs6,unitree_g1_pack_camera,policy,1,sparse_4,"[0, 16, 32, 49]",4,0.92,49,50,0.9999999403953552,1.0
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+unitree_g1_pack_camera,case2,unitree_g1_pack_camera-vid50-fs6,unitree_g1_pack_camera,policy,1,tail_heavy_8,"[0, 10, 20, 30, 38, 43, 46, 49]",8,0.84,49,50,0.9999999403953552,1.0
+unitree_g1_pack_camera,case2,unitree_g1_pack_camera-vid50-fs6,unitree_g1_pack_camera,policy,2,dense,"[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49]",50,0.0,49,50,0.9999999403953552,1.0
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+unitree_g1_pack_camera,case2,unitree_g1_pack_camera-vid50-fs6,unitree_g1_pack_camera,policy,2,tail_only_6,"[40, 43, 46, 47, 48, 49]",6,0.88,49,50,0.9999999403953552,1.0
+unitree_g1_pack_camera,case2,unitree_g1_pack_camera-vid50-fs6,unitree_g1_pack_camera,policy,2,sparse_8,"[0, 7, 14, 21, 28, 35, 42, 49]",8,0.84,49,50,0.9999999403953552,1.0
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+unitree_g1_pack_camera,case2,unitree_g1_pack_camera-vid50-fs6,unitree_g1_pack_camera,policy,2,tail_heavy_6,"[0, 32, 40, 44, 47, 49]",6,0.88,49,50,0.9999999403953552,1.0
+unitree_g1_pack_camera,case2,unitree_g1_pack_camera-vid50-fs6,unitree_g1_pack_camera,policy,2,tail_heavy_8,"[0, 10, 20, 30, 38, 43, 46, 49]",8,0.84,49,50,0.9999999403953552,1.0
+unitree_g1_pack_camera,case2,unitree_g1_pack_camera-vid50-fs6,unitree_g1_pack_camera,policy,3,dense,"[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49]",50,0.0,49,50,1.0000001192092896,1.0
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+unitree_g1_pack_camera,case2,unitree_g1_pack_camera-vid50-fs6,unitree_g1_pack_camera,policy,3,tail_only_6,"[40, 43, 46, 47, 48, 49]",6,0.88,49,50,1.0000001192092896,1.0
+unitree_g1_pack_camera,case2,unitree_g1_pack_camera-vid50-fs6,unitree_g1_pack_camera,policy,3,sparse_8,"[0, 7, 14, 21, 28, 35, 42, 49]",8,0.84,49,50,1.0000001192092896,1.0
+unitree_g1_pack_camera,case2,unitree_g1_pack_camera-vid50-fs6,unitree_g1_pack_camera,policy,3,sparse_4,"[0, 16, 32, 49]",4,0.92,49,50,1.0000001192092896,1.0
+unitree_g1_pack_camera,case2,unitree_g1_pack_camera-vid50-fs6,unitree_g1_pack_camera,policy,3,tail_only_4,"[40, 43, 46, 49]",4,0.92,49,50,1.0000001192092896,1.0
+unitree_g1_pack_camera,case2,unitree_g1_pack_camera-vid50-fs6,unitree_g1_pack_camera,policy,3,tail_heavy_6,"[0, 32, 40, 44, 47, 49]",6,0.88,49,50,1.0000001192092896,1.0
+unitree_g1_pack_camera,case2,unitree_g1_pack_camera-vid50-fs6,unitree_g1_pack_camera,policy,3,tail_heavy_8,"[0, 10, 20, 30, 38, 43, 46, 49]",8,0.84,49,50,1.0000001192092896,1.0
+unitree_g1_pack_camera,case2,unitree_g1_pack_camera-vid50-fs6,unitree_g1_pack_camera,policy,4,dense,"[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49]",50,0.0,49,50,1.0,0.9999999403953552
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+unitree_g1_pack_camera,case2,unitree_g1_pack_camera-vid50-fs6,unitree_g1_pack_camera,policy,4,tail_only_6,"[40, 43, 46, 47, 48, 49]",6,0.88,49,50,1.0,0.9999999403953552
+unitree_g1_pack_camera,case2,unitree_g1_pack_camera-vid50-fs6,unitree_g1_pack_camera,policy,4,sparse_8,"[0, 7, 14, 21, 28, 35, 42, 49]",8,0.84,49,50,1.0,0.9999999403953552
+unitree_g1_pack_camera,case2,unitree_g1_pack_camera-vid50-fs6,unitree_g1_pack_camera,policy,4,sparse_4,"[0, 16, 32, 49]",4,0.92,49,50,1.0,0.9999999403953552
+unitree_g1_pack_camera,case2,unitree_g1_pack_camera-vid50-fs6,unitree_g1_pack_camera,policy,4,tail_only_4,"[40, 43, 46, 49]",4,0.92,49,50,1.0,0.9999999403953552
+unitree_g1_pack_camera,case2,unitree_g1_pack_camera-vid50-fs6,unitree_g1_pack_camera,policy,4,tail_heavy_6,"[0, 32, 40, 44, 47, 49]",6,0.88,49,50,1.0,0.9999999403953552
+unitree_g1_pack_camera,case2,unitree_g1_pack_camera-vid50-fs6,unitree_g1_pack_camera,policy,4,tail_heavy_8,"[0, 10, 20, 30, 38, 43, 46, 49]",8,0.84,49,50,1.0,0.9999999403953552
+unitree_g1_pack_camera,case2,unitree_g1_pack_camera-vid50-fs6,unitree_g1_pack_camera,policy,5,dense,"[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49]",50,0.0,49,50,1.0000001192092896,0.9999998807907104
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+unitree_g1_pack_camera,case2,unitree_g1_pack_camera-vid50-fs6,unitree_g1_pack_camera,policy,5,tail_only_6,"[40, 43, 46, 47, 48, 49]",6,0.88,49,50,1.0000001192092896,0.9999998807907104
+unitree_g1_pack_camera,case2,unitree_g1_pack_camera-vid50-fs6,unitree_g1_pack_camera,policy,5,sparse_8,"[0, 7, 14, 21, 28, 35, 42, 49]",8,0.84,49,50,1.0000001192092896,0.9999998807907104
+unitree_g1_pack_camera,case2,unitree_g1_pack_camera-vid50-fs6,unitree_g1_pack_camera,policy,5,sparse_4,"[0, 16, 32, 49]",4,0.92,49,50,1.0000001192092896,0.9999998807907104
+unitree_g1_pack_camera,case2,unitree_g1_pack_camera-vid50-fs6,unitree_g1_pack_camera,policy,5,tail_only_4,"[40, 43, 46, 49]",4,0.92,49,50,1.0000001192092896,0.9999998807907104
+unitree_g1_pack_camera,case2,unitree_g1_pack_camera-vid50-fs6,unitree_g1_pack_camera,policy,5,tail_heavy_6,"[0, 32, 40, 44, 47, 49]",6,0.88,49,50,1.0000001192092896,0.9999998807907104
+unitree_g1_pack_camera,case2,unitree_g1_pack_camera-vid50-fs6,unitree_g1_pack_camera,policy,5,tail_heavy_8,"[0, 10, 20, 30, 38, 43, 46, 49]",8,0.84,49,50,1.0000001192092896,0.9999998807907104
+unitree_g1_pack_camera,case2,unitree_g1_pack_camera-vid50-fs6,unitree_g1_pack_camera,policy,6,dense,"[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49]",50,0.0,49,50,0.9999999403953552,1.000000238418579
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+unitree_g1_pack_camera,case2,unitree_g1_pack_camera-vid50-fs6,unitree_g1_pack_camera,policy,6,tail_only_6,"[40, 43, 46, 47, 48, 49]",6,0.88,49,50,0.9999999403953552,1.000000238418579
+unitree_g1_pack_camera,case2,unitree_g1_pack_camera-vid50-fs6,unitree_g1_pack_camera,policy,6,sparse_8,"[0, 7, 14, 21, 28, 35, 42, 49]",8,0.84,49,50,0.9999999403953552,1.000000238418579
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+unitree_g1_pack_camera,case2,unitree_g1_pack_camera-vid50-fs6,unitree_g1_pack_camera,policy,6,tail_heavy_6,"[0, 32, 40, 44, 47, 49]",6,0.88,49,50,0.9999999403953552,1.000000238418579
+unitree_g1_pack_camera,case2,unitree_g1_pack_camera-vid50-fs6,unitree_g1_pack_camera,policy,6,tail_heavy_8,"[0, 10, 20, 30, 38, 43, 46, 49]",8,0.84,49,50,0.9999999403953552,1.000000238418579
+unitree_g1_pack_camera,case2,unitree_g1_pack_camera-vid50-fs6,unitree_g1_pack_camera,policy,7,dense,"[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49]",50,0.0,49,50,1.0,1.000000238418579
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+unitree_g1_pack_camera,case2,unitree_g1_pack_camera-vid50-fs6,unitree_g1_pack_camera,policy,7,tail_only_6,"[40, 43, 46, 47, 48, 49]",6,0.88,49,50,1.0,1.000000238418579
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+unitree_g1_pack_camera,case2,unitree_g1_pack_camera-vid50-fs6,unitree_g1_pack_camera,policy,7,tail_heavy_6,"[0, 32, 40, 44, 47, 49]",6,0.88,49,50,1.0,1.000000238418579
+unitree_g1_pack_camera,case2,unitree_g1_pack_camera-vid50-fs6,unitree_g1_pack_camera,policy,7,tail_heavy_8,"[0, 10, 20, 30, 38, 43, 46, 49]",8,0.84,49,50,1.0,1.000000238418579
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+unitree_g1_pack_camera,case2,unitree_g1_pack_camera-vid50-fs6,unitree_g1_pack_camera,policy,8,tail_only_6,"[40, 43, 46, 47, 48, 49]",6,0.88,49,50,1.0,0.9999998807907104
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+unitree_g1_pack_camera,case2,unitree_g1_pack_camera-vid50-fs6,unitree_g1_pack_camera,policy,9,tail_only_6,"[40, 43, 46, 47, 48, 49]",6,0.88,49,50,1.0,1.0
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+unitree_g1_pack_camera,case2,unitree_g1_pack_camera-vid50-fs6,unitree_g1_pack_camera,world_model,0,tail_heavy_8,"[0, 10, 20, 30, 38, 43, 46, 49]",8,0.84,49,50,0.9999999403953552,1.0
+unitree_g1_pack_camera,case2,unitree_g1_pack_camera-vid50-fs6,unitree_g1_pack_camera,world_model,1,dense,"[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49]",50,0.0,49,50,1.0000001192092896,0.9999999403953552
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+unitree_g1_pack_camera,case2,unitree_g1_pack_camera-vid50-fs6,unitree_g1_pack_camera,world_model,1,tail_only_6,"[40, 43, 46, 47, 48, 49]",6,0.88,49,50,1.0000001192092896,0.9999999403953552
+unitree_g1_pack_camera,case2,unitree_g1_pack_camera-vid50-fs6,unitree_g1_pack_camera,world_model,1,sparse_8,"[0, 7, 14, 21, 28, 35, 42, 49]",8,0.84,49,50,1.0000001192092896,0.9999999403953552
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+unitree_g1_pack_camera,case2,unitree_g1_pack_camera-vid50-fs6,unitree_g1_pack_camera,world_model,1,tail_heavy_6,"[0, 32, 40, 44, 47, 49]",6,0.88,49,50,1.0000001192092896,0.9999999403953552
+unitree_g1_pack_camera,case2,unitree_g1_pack_camera-vid50-fs6,unitree_g1_pack_camera,world_model,1,tail_heavy_8,"[0, 10, 20, 30, 38, 43, 46, 49]",8,0.84,49,50,1.0000001192092896,0.9999999403953552
+unitree_g1_pack_camera,case2,unitree_g1_pack_camera-vid50-fs6,unitree_g1_pack_camera,world_model,2,dense,"[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49]",50,0.0,49,50,1.0000001192092896,1.0000001192092896
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+unitree_g1_pack_camera,case2,unitree_g1_pack_camera-vid50-fs6,unitree_g1_pack_camera,world_model,2,sparse_8,"[0, 7, 14, 21, 28, 35, 42, 49]",8,0.84,49,50,1.0000001192092896,1.0000001192092896
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+unitree_g1_pack_camera,case2,unitree_g1_pack_camera-vid50-fs6,unitree_g1_pack_camera,world_model,6,tail_only_6,"[40, 43, 46, 47, 48, 49]",6,0.88,49,50,1.0,1.0
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+unitree_g1_pack_camera,case2,unitree_g1_pack_camera-vid50-fs6,unitree_g1_pack_camera,world_model,7,dense,"[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49]",50,0.0,49,50,1.0,0.9999998807907104
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+unitree_g1_pack_camera,case2,unitree_g1_pack_camera-vid50-fs6,unitree_g1_pack_camera,world_model,8,dense,"[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49]",50,0.0,49,50,1.0000001192092896,1.0
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+unitree_g1_pack_camera,case2,unitree_g1_pack_camera-vid50-fs6,unitree_g1_pack_camera,world_model,9,dense,"[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49]",50,0.0,49,50,1.0,0.9999999403953552
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+unitree_g1_pack_camera,case2,unitree_g1_pack_camera-vid50-fs6,unitree_g1_pack_camera,world_model,10,dense,"[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49]",50,0.0,49,50,1.0,1.0000001192092896
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+unitree_g1_pack_camera,case3,unitree_g1_pack_camera-vid100-fs6,unitree_g1_pack_camera,policy,2,tail_heavy_8,"[0, 10, 20, 30, 38, 43, 46, 49]",8,0.84,49,50,0.9999999403953552,0.9999999403953552
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+unitree_g1_pack_camera,case3,unitree_g1_pack_camera-vid100-fs6,unitree_g1_pack_camera,policy,3,tail_only_6,"[40, 43, 46, 47, 48, 49]",6,0.88,49,50,0.9999998807907104,0.9999998807907104
+unitree_g1_pack_camera,case3,unitree_g1_pack_camera-vid100-fs6,unitree_g1_pack_camera,policy,3,sparse_8,"[0, 7, 14, 21, 28, 35, 42, 49]",8,0.84,49,50,0.9999998807907104,0.9999998807907104
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+unitree_g1_pack_camera,case3,unitree_g1_pack_camera-vid100-fs6,unitree_g1_pack_camera,policy,3,tail_heavy_6,"[0, 32, 40, 44, 47, 49]",6,0.88,49,50,0.9999998807907104,0.9999998807907104
+unitree_g1_pack_camera,case3,unitree_g1_pack_camera-vid100-fs6,unitree_g1_pack_camera,policy,3,tail_heavy_8,"[0, 10, 20, 30, 38, 43, 46, 49]",8,0.84,49,50,0.9999998807907104,0.9999998807907104
+unitree_g1_pack_camera,case3,unitree_g1_pack_camera-vid100-fs6,unitree_g1_pack_camera,policy,4,dense,"[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49]",50,0.0,49,50,0.9999998211860656,1.0
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+unitree_g1_pack_camera,case3,unitree_g1_pack_camera-vid100-fs6,unitree_g1_pack_camera,policy,4,tail_only_6,"[40, 43, 46, 47, 48, 49]",6,0.88,49,50,0.9999998211860656,1.0
+unitree_g1_pack_camera,case3,unitree_g1_pack_camera-vid100-fs6,unitree_g1_pack_camera,policy,4,sparse_8,"[0, 7, 14, 21, 28, 35, 42, 49]",8,0.84,49,50,0.9999998211860656,1.0
+unitree_g1_pack_camera,case3,unitree_g1_pack_camera-vid100-fs6,unitree_g1_pack_camera,policy,4,sparse_4,"[0, 16, 32, 49]",4,0.92,49,50,0.9999998211860656,1.0
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+unitree_g1_pack_camera,case3,unitree_g1_pack_camera-vid100-fs6,unitree_g1_pack_camera,policy,4,tail_heavy_6,"[0, 32, 40, 44, 47, 49]",6,0.88,49,50,0.9999998211860656,1.0
+unitree_g1_pack_camera,case3,unitree_g1_pack_camera-vid100-fs6,unitree_g1_pack_camera,policy,4,tail_heavy_8,"[0, 10, 20, 30, 38, 43, 46, 49]",8,0.84,49,50,0.9999998211860656,1.0
+unitree_g1_pack_camera,case3,unitree_g1_pack_camera-vid100-fs6,unitree_g1_pack_camera,policy,5,dense,"[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49]",50,0.0,49,50,1.0,1.0
+unitree_g1_pack_camera,case3,unitree_g1_pack_camera-vid100-fs6,unitree_g1_pack_camera,policy,5,sparse_10,"[0, 5, 10, 15, 20, 25, 30, 35, 40, 45]",10,0.8,45,46,0.9455996751785278,0.9106085896492004
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+unitree_g1_pack_camera,case3,unitree_g1_pack_camera-vid100-fs6,unitree_g1_pack_camera,policy,5,tail_heavy_10,"[0, 5, 10, 20, 30, 38, 43, 46, 48, 49]",10,0.8,49,50,1.0,1.0
+unitree_g1_pack_camera,case3,unitree_g1_pack_camera-vid100-fs6,unitree_g1_pack_camera,policy,5,tail_only_6,"[40, 43, 46, 47, 48, 49]",6,0.88,49,50,1.0,1.0
+unitree_g1_pack_camera,case3,unitree_g1_pack_camera-vid100-fs6,unitree_g1_pack_camera,policy,5,sparse_8,"[0, 7, 14, 21, 28, 35, 42, 49]",8,0.84,49,50,1.0,1.0
+unitree_g1_pack_camera,case3,unitree_g1_pack_camera-vid100-fs6,unitree_g1_pack_camera,policy,5,sparse_4,"[0, 16, 32, 49]",4,0.92,49,50,1.0,1.0
+unitree_g1_pack_camera,case3,unitree_g1_pack_camera-vid100-fs6,unitree_g1_pack_camera,policy,5,tail_only_4,"[40, 43, 46, 49]",4,0.92,49,50,1.0,1.0
+unitree_g1_pack_camera,case3,unitree_g1_pack_camera-vid100-fs6,unitree_g1_pack_camera,policy,5,tail_heavy_6,"[0, 32, 40, 44, 47, 49]",6,0.88,49,50,1.0,1.0
+unitree_g1_pack_camera,case3,unitree_g1_pack_camera-vid100-fs6,unitree_g1_pack_camera,policy,5,tail_heavy_8,"[0, 10, 20, 30, 38, 43, 46, 49]",8,0.84,49,50,1.0,1.0
+unitree_g1_pack_camera,case3,unitree_g1_pack_camera-vid100-fs6,unitree_g1_pack_camera,policy,6,dense,"[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49]",50,0.0,49,50,1.0,1.0
+unitree_g1_pack_camera,case3,unitree_g1_pack_camera-vid100-fs6,unitree_g1_pack_camera,policy,6,sparse_10,"[0, 5, 10, 15, 20, 25, 30, 35, 40, 45]",10,0.8,45,46,0.9381372332572936,0.9193514585494996
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+unitree_g1_pack_camera,case3,unitree_g1_pack_camera-vid100-fs6,unitree_g1_pack_camera,policy,6,tail_heavy_10,"[0, 5, 10, 20, 30, 38, 43, 46, 48, 49]",10,0.8,49,50,1.0,1.0
+unitree_g1_pack_camera,case3,unitree_g1_pack_camera-vid100-fs6,unitree_g1_pack_camera,policy,6,tail_only_6,"[40, 43, 46, 47, 48, 49]",6,0.88,49,50,1.0,1.0
+unitree_g1_pack_camera,case3,unitree_g1_pack_camera-vid100-fs6,unitree_g1_pack_camera,policy,6,sparse_8,"[0, 7, 14, 21, 28, 35, 42, 49]",8,0.84,49,50,1.0,1.0
+unitree_g1_pack_camera,case3,unitree_g1_pack_camera-vid100-fs6,unitree_g1_pack_camera,policy,6,sparse_4,"[0, 16, 32, 49]",4,0.92,49,50,1.0,1.0
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+unitree_g1_pack_camera,case3,unitree_g1_pack_camera-vid100-fs6,unitree_g1_pack_camera,policy,6,tail_heavy_6,"[0, 32, 40, 44, 47, 49]",6,0.88,49,50,1.0,1.0
+unitree_g1_pack_camera,case3,unitree_g1_pack_camera-vid100-fs6,unitree_g1_pack_camera,policy,6,tail_heavy_8,"[0, 10, 20, 30, 38, 43, 46, 49]",8,0.84,49,50,1.0,1.0
+unitree_g1_pack_camera,case3,unitree_g1_pack_camera-vid100-fs6,unitree_g1_pack_camera,policy,7,dense,"[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49]",50,0.0,49,50,1.0000001192092896,1.0000001192092896
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+unitree_g1_pack_camera,case3,unitree_g1_pack_camera-vid100-fs6,unitree_g1_pack_camera,policy,7,tail_only_6,"[40, 43, 46, 47, 48, 49]",6,0.88,49,50,1.0000001192092896,1.0000001192092896
+unitree_g1_pack_camera,case3,unitree_g1_pack_camera-vid100-fs6,unitree_g1_pack_camera,policy,7,sparse_8,"[0, 7, 14, 21, 28, 35, 42, 49]",8,0.84,49,50,1.0000001192092896,1.0000001192092896
+unitree_g1_pack_camera,case3,unitree_g1_pack_camera-vid100-fs6,unitree_g1_pack_camera,policy,7,sparse_4,"[0, 16, 32, 49]",4,0.92,49,50,1.0000001192092896,1.0000001192092896
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+unitree_g1_pack_camera,case3,unitree_g1_pack_camera-vid100-fs6,unitree_g1_pack_camera,policy,7,tail_heavy_6,"[0, 32, 40, 44, 47, 49]",6,0.88,49,50,1.0000001192092896,1.0000001192092896
+unitree_g1_pack_camera,case3,unitree_g1_pack_camera-vid100-fs6,unitree_g1_pack_camera,policy,7,tail_heavy_8,"[0, 10, 20, 30, 38, 43, 46, 49]",8,0.84,49,50,1.0000001192092896,1.0000001192092896
+unitree_g1_pack_camera,case3,unitree_g1_pack_camera-vid100-fs6,unitree_g1_pack_camera,policy,8,dense,"[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49]",50,0.0,49,50,0.9999999403953552,0.9999998807907104
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+unitree_g1_pack_camera,case3,unitree_g1_pack_camera-vid100-fs6,unitree_g1_pack_camera,policy,8,tail_only_6,"[40, 43, 46, 47, 48, 49]",6,0.88,49,50,0.9999999403953552,0.9999998807907104
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+unitree_g1_pack_camera,case3,unitree_g1_pack_camera-vid100-fs6,unitree_g1_pack_camera,policy,8,tail_heavy_8,"[0, 10, 20, 30, 38, 43, 46, 49]",8,0.84,49,50,0.9999999403953552,0.9999998807907104
+unitree_g1_pack_camera,case3,unitree_g1_pack_camera-vid100-fs6,unitree_g1_pack_camera,policy,9,dense,"[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49]",50,0.0,49,50,1.0,1.0
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+unitree_g1_pack_camera,case3,unitree_g1_pack_camera-vid100-fs6,unitree_g1_pack_camera,policy,9,tail_only_6,"[40, 43, 46, 47, 48, 49]",6,0.88,49,50,1.0,1.0
+unitree_g1_pack_camera,case3,unitree_g1_pack_camera-vid100-fs6,unitree_g1_pack_camera,policy,9,sparse_8,"[0, 7, 14, 21, 28, 35, 42, 49]",8,0.84,49,50,1.0,1.0
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+unitree_g1_pack_camera,case3,unitree_g1_pack_camera-vid100-fs6,unitree_g1_pack_camera,policy,9,tail_heavy_6,"[0, 32, 40, 44, 47, 49]",6,0.88,49,50,1.0,1.0
+unitree_g1_pack_camera,case3,unitree_g1_pack_camera-vid100-fs6,unitree_g1_pack_camera,policy,9,tail_heavy_8,"[0, 10, 20, 30, 38, 43, 46, 49]",8,0.84,49,50,1.0,1.0
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+unitree_g1_pack_camera,case3,unitree_g1_pack_camera-vid100-fs6,unitree_g1_pack_camera,policy,10,tail_only_6,"[40, 43, 46, 47, 48, 49]",6,0.88,49,50,0.9999999403953552,1.0
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+unitree_g1_pack_camera,case3,unitree_g1_pack_camera-vid100-fs6,unitree_g1_pack_camera,world_model,9,dense,"[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49]",50,0.0,49,50,0.9999998807907104,1.0
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+unitree_g1_pack_camera,case3,unitree_g1_pack_camera-vid100-fs6,unitree_g1_pack_camera,world_model,10,dense,"[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49]",50,0.0,49,50,1.0,0.9999998807907104
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+unitree_g1_pack_camera,case3,unitree_g1_pack_camera-vid100-fs6,unitree_g1_pack_camera,world_model,10,tail_heavy_8,"[0, 10, 20, 30, 38, 43, 46, 49]",8,0.84,49,50,1.0,0.9999998807907104
+unitree_g1_pack_camera,case4,unitree_g1_pack_camera-vid200-fs6,unitree_g1_pack_camera,policy,0,dense,"[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49]",50,0.0,49,50,0.9999999403953552,1.0
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+unitree_g1_pack_camera,case4,unitree_g1_pack_camera-vid200-fs6,unitree_g1_pack_camera,policy,0,tail_only_6,"[40, 43, 46, 47, 48, 49]",6,0.88,49,50,0.9999999403953552,1.0
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+unitree_g1_pack_camera,case4,unitree_g1_pack_camera-vid200-fs6,unitree_g1_pack_camera,policy,3,tail_heavy_8,"[0, 10, 20, 30, 38, 43, 46, 49]",8,0.84,49,50,1.0000001192092896,1.0
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+unitree_g1_pack_camera,case4,unitree_g1_pack_camera-vid200-fs6,unitree_g1_pack_camera,world_model,0,tail_only_6,"[40, 43, 46, 47, 48, 49]",6,0.88,49,50,1.0000001192092896,0.9999999403953552
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+unitree_g1_pack_camera,case4,unitree_g1_pack_camera-vid200-fs6,unitree_g1_pack_camera,world_model,1,tail_only_6,"[40, 43, 46, 47, 48, 49]",6,0.88,49,50,1.0000001192092896,1.0
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+unitree_g1_pack_camera,case4,unitree_g1_pack_camera-vid200-fs6,unitree_g1_pack_camera,world_model,9,tail_heavy_6,"[0, 32, 40, 44, 47, 49]",6,0.88,49,50,1.0,1.0
+unitree_g1_pack_camera,case4,unitree_g1_pack_camera-vid200-fs6,unitree_g1_pack_camera,world_model,9,tail_heavy_8,"[0, 10, 20, 30, 38, 43, 46, 49]",8,0.84,49,50,1.0,1.0
+unitree_g1_pack_camera,case4,unitree_g1_pack_camera-vid200-fs6,unitree_g1_pack_camera,world_model,10,dense,"[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49]",50,0.0,49,50,1.0000001192092896,0.9999999403953552
+unitree_g1_pack_camera,case4,unitree_g1_pack_camera-vid200-fs6,unitree_g1_pack_camera,world_model,10,sparse_10,"[0, 5, 10, 15, 20, 25, 30, 35, 40, 45]",10,0.8,45,46,0.957239031791687,0.957357943058014
+unitree_g1_pack_camera,case4,unitree_g1_pack_camera-vid200-fs6,unitree_g1_pack_camera,world_model,10,sparse_5,"[0, 10, 20, 30, 40]",5,0.9,40,41,0.8127909898757935,0.8317282199859619
+unitree_g1_pack_camera,case4,unitree_g1_pack_camera-vid200-fs6,unitree_g1_pack_camera,world_model,10,tail_heavy_10,"[0, 5, 10, 20, 30, 38, 43, 46, 48, 49]",10,0.8,49,50,1.0000001192092896,0.9999999403953552
+unitree_g1_pack_camera,case4,unitree_g1_pack_camera-vid200-fs6,unitree_g1_pack_camera,world_model,10,tail_only_6,"[40, 43, 46, 47, 48, 49]",6,0.88,49,50,1.0000001192092896,0.9999999403953552
+unitree_g1_pack_camera,case4,unitree_g1_pack_camera-vid200-fs6,unitree_g1_pack_camera,world_model,10,sparse_8,"[0, 7, 14, 21, 28, 35, 42, 49]",8,0.84,49,50,1.0000001192092896,0.9999999403953552
+unitree_g1_pack_camera,case4,unitree_g1_pack_camera-vid200-fs6,unitree_g1_pack_camera,world_model,10,sparse_4,"[0, 16, 32, 49]",4,0.92,49,50,1.0000001192092896,0.9999999403953552
+unitree_g1_pack_camera,case4,unitree_g1_pack_camera-vid200-fs6,unitree_g1_pack_camera,world_model,10,tail_only_4,"[40, 43, 46, 49]",4,0.92,49,50,1.0000001192092896,0.9999999403953552
+unitree_g1_pack_camera,case4,unitree_g1_pack_camera-vid200-fs6,unitree_g1_pack_camera,world_model,10,tail_heavy_6,"[0, 32, 40, 44, 47, 49]",6,0.88,49,50,1.0000001192092896,0.9999999403953552
+unitree_g1_pack_camera,case4,unitree_g1_pack_camera-vid200-fs6,unitree_g1_pack_camera,world_model,10,tail_heavy_8,"[0, 10, 20, 30, 38, 43, 46, 49]",8,0.84,49,50,1.0000001192092896,0.9999999403953552
+unitree_z1_dual_arm_cleanup_pencils,case1,unitree_z1_dual_arm_cleanup_pencils-vid0-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,0,dense,"[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49]",50,0.0,49,50,1.0,0.9999998807907104
+unitree_z1_dual_arm_cleanup_pencils,case1,unitree_z1_dual_arm_cleanup_pencils-vid0-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,0,sparse_10,"[0, 5, 10, 15, 20, 25, 30, 35, 40, 45]",10,0.8,45,46,0.963845431804657,0.9570899605751038
+unitree_z1_dual_arm_cleanup_pencils,case1,unitree_z1_dual_arm_cleanup_pencils-vid0-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,0,sparse_5,"[0, 10, 20, 30, 40]",5,0.9,40,41,0.8539649844169617,0.8242003917694092
+unitree_z1_dual_arm_cleanup_pencils,case1,unitree_z1_dual_arm_cleanup_pencils-vid0-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,0,tail_heavy_10,"[0, 5, 10, 20, 30, 38, 43, 46, 48, 49]",10,0.8,49,50,1.0,0.9999998807907104
+unitree_z1_dual_arm_cleanup_pencils,case1,unitree_z1_dual_arm_cleanup_pencils-vid0-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,0,tail_only_6,"[40, 43, 46, 47, 48, 49]",6,0.88,49,50,1.0,0.9999998807907104
+unitree_z1_dual_arm_cleanup_pencils,case1,unitree_z1_dual_arm_cleanup_pencils-vid0-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,0,sparse_8,"[0, 7, 14, 21, 28, 35, 42, 49]",8,0.84,49,50,1.0,0.9999998807907104
+unitree_z1_dual_arm_cleanup_pencils,case1,unitree_z1_dual_arm_cleanup_pencils-vid0-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,0,sparse_4,"[0, 16, 32, 49]",4,0.92,49,50,1.0,0.9999998807907104
+unitree_z1_dual_arm_cleanup_pencils,case1,unitree_z1_dual_arm_cleanup_pencils-vid0-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,0,tail_only_4,"[40, 43, 46, 49]",4,0.92,49,50,1.0,0.9999998807907104
+unitree_z1_dual_arm_cleanup_pencils,case1,unitree_z1_dual_arm_cleanup_pencils-vid0-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,0,tail_heavy_6,"[0, 32, 40, 44, 47, 49]",6,0.88,49,50,1.0,0.9999998807907104
+unitree_z1_dual_arm_cleanup_pencils,case1,unitree_z1_dual_arm_cleanup_pencils-vid0-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,0,tail_heavy_8,"[0, 10, 20, 30, 38, 43, 46, 49]",8,0.84,49,50,1.0,0.9999998807907104
+unitree_z1_dual_arm_cleanup_pencils,case1,unitree_z1_dual_arm_cleanup_pencils-vid0-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,1,dense,"[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49]",50,0.0,49,50,0.9999999403953552,0.9999998807907104
+unitree_z1_dual_arm_cleanup_pencils,case1,unitree_z1_dual_arm_cleanup_pencils-vid0-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,1,sparse_10,"[0, 5, 10, 15, 20, 25, 30, 35, 40, 45]",10,0.8,45,46,0.9345829486846924,0.924045979976654
+unitree_z1_dual_arm_cleanup_pencils,case1,unitree_z1_dual_arm_cleanup_pencils-vid0-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,1,sparse_5,"[0, 10, 20, 30, 40]",5,0.9,40,41,0.7543660402297974,0.7480015158653259
+unitree_z1_dual_arm_cleanup_pencils,case1,unitree_z1_dual_arm_cleanup_pencils-vid0-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,1,tail_heavy_10,"[0, 5, 10, 20, 30, 38, 43, 46, 48, 49]",10,0.8,49,50,0.9999999403953552,0.9999998807907104
+unitree_z1_dual_arm_cleanup_pencils,case1,unitree_z1_dual_arm_cleanup_pencils-vid0-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,1,tail_only_6,"[40, 43, 46, 47, 48, 49]",6,0.88,49,50,0.9999999403953552,0.9999998807907104
+unitree_z1_dual_arm_cleanup_pencils,case1,unitree_z1_dual_arm_cleanup_pencils-vid0-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,1,sparse_8,"[0, 7, 14, 21, 28, 35, 42, 49]",8,0.84,49,50,0.9999999403953552,0.9999998807907104
+unitree_z1_dual_arm_cleanup_pencils,case1,unitree_z1_dual_arm_cleanup_pencils-vid0-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,1,sparse_4,"[0, 16, 32, 49]",4,0.92,49,50,0.9999999403953552,0.9999998807907104
+unitree_z1_dual_arm_cleanup_pencils,case1,unitree_z1_dual_arm_cleanup_pencils-vid0-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,1,tail_only_4,"[40, 43, 46, 49]",4,0.92,49,50,0.9999999403953552,0.9999998807907104
+unitree_z1_dual_arm_cleanup_pencils,case1,unitree_z1_dual_arm_cleanup_pencils-vid0-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,1,tail_heavy_6,"[0, 32, 40, 44, 47, 49]",6,0.88,49,50,0.9999999403953552,0.9999998807907104
+unitree_z1_dual_arm_cleanup_pencils,case1,unitree_z1_dual_arm_cleanup_pencils-vid0-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,1,tail_heavy_8,"[0, 10, 20, 30, 38, 43, 46, 49]",8,0.84,49,50,0.9999999403953552,0.9999998807907104
+unitree_z1_dual_arm_cleanup_pencils,case1,unitree_z1_dual_arm_cleanup_pencils-vid0-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,2,dense,"[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49]",50,0.0,49,50,0.9999998807907104,1.0
+unitree_z1_dual_arm_cleanup_pencils,case1,unitree_z1_dual_arm_cleanup_pencils-vid0-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,2,sparse_10,"[0, 5, 10, 15, 20, 25, 30, 35, 40, 45]",10,0.8,45,46,0.9211574792861938,0.9168826937675476
+unitree_z1_dual_arm_cleanup_pencils,case1,unitree_z1_dual_arm_cleanup_pencils-vid0-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,2,sparse_5,"[0, 10, 20, 30, 40]",5,0.9,40,41,0.7312926650047302,0.7510699033737183
+unitree_z1_dual_arm_cleanup_pencils,case1,unitree_z1_dual_arm_cleanup_pencils-vid0-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,2,tail_heavy_10,"[0, 5, 10, 20, 30, 38, 43, 46, 48, 49]",10,0.8,49,50,0.9999998807907104,1.0
+unitree_z1_dual_arm_cleanup_pencils,case1,unitree_z1_dual_arm_cleanup_pencils-vid0-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,2,tail_only_6,"[40, 43, 46, 47, 48, 49]",6,0.88,49,50,0.9999998807907104,1.0
+unitree_z1_dual_arm_cleanup_pencils,case1,unitree_z1_dual_arm_cleanup_pencils-vid0-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,2,sparse_8,"[0, 7, 14, 21, 28, 35, 42, 49]",8,0.84,49,50,0.9999998807907104,1.0
+unitree_z1_dual_arm_cleanup_pencils,case1,unitree_z1_dual_arm_cleanup_pencils-vid0-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,2,sparse_4,"[0, 16, 32, 49]",4,0.92,49,50,0.9999998807907104,1.0
+unitree_z1_dual_arm_cleanup_pencils,case1,unitree_z1_dual_arm_cleanup_pencils-vid0-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,2,tail_only_4,"[40, 43, 46, 49]",4,0.92,49,50,0.9999998807907104,1.0
+unitree_z1_dual_arm_cleanup_pencils,case1,unitree_z1_dual_arm_cleanup_pencils-vid0-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,2,tail_heavy_6,"[0, 32, 40, 44, 47, 49]",6,0.88,49,50,0.9999998807907104,1.0
+unitree_z1_dual_arm_cleanup_pencils,case1,unitree_z1_dual_arm_cleanup_pencils-vid0-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,2,tail_heavy_8,"[0, 10, 20, 30, 38, 43, 46, 49]",8,0.84,49,50,0.9999998807907104,1.0
+unitree_z1_dual_arm_cleanup_pencils,case1,unitree_z1_dual_arm_cleanup_pencils-vid0-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,3,dense,"[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49]",50,0.0,49,50,0.9999998807907104,0.9999998807907104
+unitree_z1_dual_arm_cleanup_pencils,case1,unitree_z1_dual_arm_cleanup_pencils-vid0-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,3,sparse_10,"[0, 5, 10, 15, 20, 25, 30, 35, 40, 45]",10,0.8,45,46,0.9435361623764038,0.9140867590904236
+unitree_z1_dual_arm_cleanup_pencils,case1,unitree_z1_dual_arm_cleanup_pencils-vid0-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,3,sparse_5,"[0, 10, 20, 30, 40]",5,0.9,40,41,0.7907547950744629,0.7287083268165588
+unitree_z1_dual_arm_cleanup_pencils,case1,unitree_z1_dual_arm_cleanup_pencils-vid0-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,3,tail_heavy_10,"[0, 5, 10, 20, 30, 38, 43, 46, 48, 49]",10,0.8,49,50,0.9999998807907104,0.9999998807907104
+unitree_z1_dual_arm_cleanup_pencils,case1,unitree_z1_dual_arm_cleanup_pencils-vid0-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,3,tail_only_6,"[40, 43, 46, 47, 48, 49]",6,0.88,49,50,0.9999998807907104,0.9999998807907104
+unitree_z1_dual_arm_cleanup_pencils,case1,unitree_z1_dual_arm_cleanup_pencils-vid0-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,3,sparse_8,"[0, 7, 14, 21, 28, 35, 42, 49]",8,0.84,49,50,0.9999998807907104,0.9999998807907104
+unitree_z1_dual_arm_cleanup_pencils,case1,unitree_z1_dual_arm_cleanup_pencils-vid0-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,3,sparse_4,"[0, 16, 32, 49]",4,0.92,49,50,0.9999998807907104,0.9999998807907104
+unitree_z1_dual_arm_cleanup_pencils,case1,unitree_z1_dual_arm_cleanup_pencils-vid0-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,3,tail_only_4,"[40, 43, 46, 49]",4,0.92,49,50,0.9999998807907104,0.9999998807907104
+unitree_z1_dual_arm_cleanup_pencils,case1,unitree_z1_dual_arm_cleanup_pencils-vid0-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,3,tail_heavy_6,"[0, 32, 40, 44, 47, 49]",6,0.88,49,50,0.9999998807907104,0.9999998807907104
+unitree_z1_dual_arm_cleanup_pencils,case1,unitree_z1_dual_arm_cleanup_pencils-vid0-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,3,tail_heavy_8,"[0, 10, 20, 30, 38, 43, 46, 49]",8,0.84,49,50,0.9999998807907104,0.9999998807907104
+unitree_z1_dual_arm_cleanup_pencils,case1,unitree_z1_dual_arm_cleanup_pencils-vid0-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,4,dense,"[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49]",50,0.0,49,50,1.0000001192092896,1.0000001192092896
+unitree_z1_dual_arm_cleanup_pencils,case1,unitree_z1_dual_arm_cleanup_pencils-vid0-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,4,sparse_10,"[0, 5, 10, 15, 20, 25, 30, 35, 40, 45]",10,0.8,45,46,0.9736679792404176,0.9402258992195128
+unitree_z1_dual_arm_cleanup_pencils,case1,unitree_z1_dual_arm_cleanup_pencils-vid0-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,4,sparse_5,"[0, 10, 20, 30, 40]",5,0.9,40,41,0.8933978080749512,0.8007298111915588
+unitree_z1_dual_arm_cleanup_pencils,case1,unitree_z1_dual_arm_cleanup_pencils-vid0-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,4,tail_heavy_10,"[0, 5, 10, 20, 30, 38, 43, 46, 48, 49]",10,0.8,49,50,1.0000001192092896,1.0000001192092896
+unitree_z1_dual_arm_cleanup_pencils,case1,unitree_z1_dual_arm_cleanup_pencils-vid0-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,4,tail_only_6,"[40, 43, 46, 47, 48, 49]",6,0.88,49,50,1.0000001192092896,1.0000001192092896
+unitree_z1_dual_arm_cleanup_pencils,case1,unitree_z1_dual_arm_cleanup_pencils-vid0-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,4,sparse_8,"[0, 7, 14, 21, 28, 35, 42, 49]",8,0.84,49,50,1.0000001192092896,1.0000001192092896
+unitree_z1_dual_arm_cleanup_pencils,case1,unitree_z1_dual_arm_cleanup_pencils-vid0-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,4,sparse_4,"[0, 16, 32, 49]",4,0.92,49,50,1.0000001192092896,1.0000001192092896
+unitree_z1_dual_arm_cleanup_pencils,case1,unitree_z1_dual_arm_cleanup_pencils-vid0-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,4,tail_only_4,"[40, 43, 46, 49]",4,0.92,49,50,1.0000001192092896,1.0000001192092896
+unitree_z1_dual_arm_cleanup_pencils,case1,unitree_z1_dual_arm_cleanup_pencils-vid0-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,4,tail_heavy_6,"[0, 32, 40, 44, 47, 49]",6,0.88,49,50,1.0000001192092896,1.0000001192092896
+unitree_z1_dual_arm_cleanup_pencils,case1,unitree_z1_dual_arm_cleanup_pencils-vid0-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,4,tail_heavy_8,"[0, 10, 20, 30, 38, 43, 46, 49]",8,0.84,49,50,1.0000001192092896,1.0000001192092896
+unitree_z1_dual_arm_cleanup_pencils,case1,unitree_z1_dual_arm_cleanup_pencils-vid0-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,5,dense,"[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49]",50,0.0,49,50,1.0000001192092896,1.0000001192092896
+unitree_z1_dual_arm_cleanup_pencils,case1,unitree_z1_dual_arm_cleanup_pencils-vid0-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,5,sparse_10,"[0, 5, 10, 15, 20, 25, 30, 35, 40, 45]",10,0.8,45,46,0.9603956937789916,0.9441279768943788
+unitree_z1_dual_arm_cleanup_pencils,case1,unitree_z1_dual_arm_cleanup_pencils-vid0-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,5,sparse_5,"[0, 10, 20, 30, 40]",5,0.9,40,41,0.835087239742279,0.8115687370300293
+unitree_z1_dual_arm_cleanup_pencils,case1,unitree_z1_dual_arm_cleanup_pencils-vid0-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,5,tail_heavy_10,"[0, 5, 10, 20, 30, 38, 43, 46, 48, 49]",10,0.8,49,50,1.0000001192092896,1.0000001192092896
+unitree_z1_dual_arm_cleanup_pencils,case1,unitree_z1_dual_arm_cleanup_pencils-vid0-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,5,tail_only_6,"[40, 43, 46, 47, 48, 49]",6,0.88,49,50,1.0000001192092896,1.0000001192092896
+unitree_z1_dual_arm_cleanup_pencils,case1,unitree_z1_dual_arm_cleanup_pencils-vid0-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,5,sparse_8,"[0, 7, 14, 21, 28, 35, 42, 49]",8,0.84,49,50,1.0000001192092896,1.0000001192092896
+unitree_z1_dual_arm_cleanup_pencils,case1,unitree_z1_dual_arm_cleanup_pencils-vid0-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,5,sparse_4,"[0, 16, 32, 49]",4,0.92,49,50,1.0000001192092896,1.0000001192092896
+unitree_z1_dual_arm_cleanup_pencils,case1,unitree_z1_dual_arm_cleanup_pencils-vid0-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,5,tail_only_4,"[40, 43, 46, 49]",4,0.92,49,50,1.0000001192092896,1.0000001192092896
+unitree_z1_dual_arm_cleanup_pencils,case1,unitree_z1_dual_arm_cleanup_pencils-vid0-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,5,tail_heavy_6,"[0, 32, 40, 44, 47, 49]",6,0.88,49,50,1.0000001192092896,1.0000001192092896
+unitree_z1_dual_arm_cleanup_pencils,case1,unitree_z1_dual_arm_cleanup_pencils-vid0-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,5,tail_heavy_8,"[0, 10, 20, 30, 38, 43, 46, 49]",8,0.84,49,50,1.0000001192092896,1.0000001192092896
+unitree_z1_dual_arm_cleanup_pencils,case1,unitree_z1_dual_arm_cleanup_pencils-vid0-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,6,dense,"[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49]",50,0.0,49,50,1.0000001192092896,1.0
+unitree_z1_dual_arm_cleanup_pencils,case1,unitree_z1_dual_arm_cleanup_pencils-vid0-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,6,sparse_10,"[0, 5, 10, 15, 20, 25, 30, 35, 40, 45]",10,0.8,45,46,0.9648784399032592,0.9527312517166138
+unitree_z1_dual_arm_cleanup_pencils,case1,unitree_z1_dual_arm_cleanup_pencils-vid0-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,6,sparse_5,"[0, 10, 20, 30, 40]",5,0.9,40,41,0.8665068745613098,0.8372738361358643
+unitree_z1_dual_arm_cleanup_pencils,case1,unitree_z1_dual_arm_cleanup_pencils-vid0-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,6,tail_heavy_10,"[0, 5, 10, 20, 30, 38, 43, 46, 48, 49]",10,0.8,49,50,1.0000001192092896,1.0
+unitree_z1_dual_arm_cleanup_pencils,case1,unitree_z1_dual_arm_cleanup_pencils-vid0-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,6,tail_only_6,"[40, 43, 46, 47, 48, 49]",6,0.88,49,50,1.0000001192092896,1.0
+unitree_z1_dual_arm_cleanup_pencils,case1,unitree_z1_dual_arm_cleanup_pencils-vid0-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,6,sparse_8,"[0, 7, 14, 21, 28, 35, 42, 49]",8,0.84,49,50,1.0000001192092896,1.0
+unitree_z1_dual_arm_cleanup_pencils,case1,unitree_z1_dual_arm_cleanup_pencils-vid0-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,6,sparse_4,"[0, 16, 32, 49]",4,0.92,49,50,1.0000001192092896,1.0
+unitree_z1_dual_arm_cleanup_pencils,case1,unitree_z1_dual_arm_cleanup_pencils-vid0-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,6,tail_only_4,"[40, 43, 46, 49]",4,0.92,49,50,1.0000001192092896,1.0
+unitree_z1_dual_arm_cleanup_pencils,case1,unitree_z1_dual_arm_cleanup_pencils-vid0-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,6,tail_heavy_6,"[0, 32, 40, 44, 47, 49]",6,0.88,49,50,1.0000001192092896,1.0
+unitree_z1_dual_arm_cleanup_pencils,case1,unitree_z1_dual_arm_cleanup_pencils-vid0-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,6,tail_heavy_8,"[0, 10, 20, 30, 38, 43, 46, 49]",8,0.84,49,50,1.0000001192092896,1.0
+unitree_z1_dual_arm_cleanup_pencils,case1,unitree_z1_dual_arm_cleanup_pencils-vid0-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,7,dense,"[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49]",50,0.0,49,50,1.0,1.0
+unitree_z1_dual_arm_cleanup_pencils,case1,unitree_z1_dual_arm_cleanup_pencils-vid0-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,7,sparse_10,"[0, 5, 10, 15, 20, 25, 30, 35, 40, 45]",10,0.8,45,46,0.9134862422943116,0.9070066213607788
+unitree_z1_dual_arm_cleanup_pencils,case1,unitree_z1_dual_arm_cleanup_pencils-vid0-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,7,sparse_5,"[0, 10, 20, 30, 40]",5,0.9,40,41,0.7194369435310364,0.7417193055152893
+unitree_z1_dual_arm_cleanup_pencils,case1,unitree_z1_dual_arm_cleanup_pencils-vid0-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,7,tail_heavy_10,"[0, 5, 10, 20, 30, 38, 43, 46, 48, 49]",10,0.8,49,50,1.0,1.0
+unitree_z1_dual_arm_cleanup_pencils,case1,unitree_z1_dual_arm_cleanup_pencils-vid0-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,7,tail_only_6,"[40, 43, 46, 47, 48, 49]",6,0.88,49,50,1.0,1.0
+unitree_z1_dual_arm_cleanup_pencils,case1,unitree_z1_dual_arm_cleanup_pencils-vid0-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,7,sparse_8,"[0, 7, 14, 21, 28, 35, 42, 49]",8,0.84,49,50,1.0,1.0
+unitree_z1_dual_arm_cleanup_pencils,case1,unitree_z1_dual_arm_cleanup_pencils-vid0-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,7,sparse_4,"[0, 16, 32, 49]",4,0.92,49,50,1.0,1.0
+unitree_z1_dual_arm_cleanup_pencils,case1,unitree_z1_dual_arm_cleanup_pencils-vid0-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,7,tail_only_4,"[40, 43, 46, 49]",4,0.92,49,50,1.0,1.0
+unitree_z1_dual_arm_cleanup_pencils,case1,unitree_z1_dual_arm_cleanup_pencils-vid0-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,7,tail_heavy_6,"[0, 32, 40, 44, 47, 49]",6,0.88,49,50,1.0,1.0
+unitree_z1_dual_arm_cleanup_pencils,case1,unitree_z1_dual_arm_cleanup_pencils-vid0-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,7,tail_heavy_8,"[0, 10, 20, 30, 38, 43, 46, 49]",8,0.84,49,50,1.0,1.0
+unitree_z1_dual_arm_cleanup_pencils,case1,unitree_z1_dual_arm_cleanup_pencils-vid0-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,0,dense,"[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49]",50,0.0,49,50,0.9999998807907104,1.0000001192092896
+unitree_z1_dual_arm_cleanup_pencils,case1,unitree_z1_dual_arm_cleanup_pencils-vid0-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,0,sparse_10,"[0, 5, 10, 15, 20, 25, 30, 35, 40, 45]",10,0.8,45,46,0.9598245024681092,0.95895254611969
+unitree_z1_dual_arm_cleanup_pencils,case1,unitree_z1_dual_arm_cleanup_pencils-vid0-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,0,sparse_5,"[0, 10, 20, 30, 40]",5,0.9,40,41,0.8381526470184326,0.8451966047286987
+unitree_z1_dual_arm_cleanup_pencils,case1,unitree_z1_dual_arm_cleanup_pencils-vid0-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,0,tail_heavy_10,"[0, 5, 10, 20, 30, 38, 43, 46, 48, 49]",10,0.8,49,50,0.9999998807907104,1.0000001192092896
+unitree_z1_dual_arm_cleanup_pencils,case1,unitree_z1_dual_arm_cleanup_pencils-vid0-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,0,tail_only_6,"[40, 43, 46, 47, 48, 49]",6,0.88,49,50,0.9999998807907104,1.0000001192092896
+unitree_z1_dual_arm_cleanup_pencils,case1,unitree_z1_dual_arm_cleanup_pencils-vid0-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,0,sparse_8,"[0, 7, 14, 21, 28, 35, 42, 49]",8,0.84,49,50,0.9999998807907104,1.0000001192092896
+unitree_z1_dual_arm_cleanup_pencils,case1,unitree_z1_dual_arm_cleanup_pencils-vid0-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,0,sparse_4,"[0, 16, 32, 49]",4,0.92,49,50,0.9999998807907104,1.0000001192092896
+unitree_z1_dual_arm_cleanup_pencils,case1,unitree_z1_dual_arm_cleanup_pencils-vid0-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,0,tail_only_4,"[40, 43, 46, 49]",4,0.92,49,50,0.9999998807907104,1.0000001192092896
+unitree_z1_dual_arm_cleanup_pencils,case1,unitree_z1_dual_arm_cleanup_pencils-vid0-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,0,tail_heavy_6,"[0, 32, 40, 44, 47, 49]",6,0.88,49,50,0.9999998807907104,1.0000001192092896
+unitree_z1_dual_arm_cleanup_pencils,case1,unitree_z1_dual_arm_cleanup_pencils-vid0-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,0,tail_heavy_8,"[0, 10, 20, 30, 38, 43, 46, 49]",8,0.84,49,50,0.9999998807907104,1.0000001192092896
+unitree_z1_dual_arm_cleanup_pencils,case1,unitree_z1_dual_arm_cleanup_pencils-vid0-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,1,dense,"[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49]",50,0.0,49,50,1.0,1.0000001192092896
+unitree_z1_dual_arm_cleanup_pencils,case1,unitree_z1_dual_arm_cleanup_pencils-vid0-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,1,sparse_10,"[0, 5, 10, 15, 20, 25, 30, 35, 40, 45]",10,0.8,45,46,0.9377577900886536,0.9315968751907348
+unitree_z1_dual_arm_cleanup_pencils,case1,unitree_z1_dual_arm_cleanup_pencils-vid0-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,1,sparse_5,"[0, 10, 20, 30, 40]",5,0.9,40,41,0.7659211754798889,0.7664453983306885
+unitree_z1_dual_arm_cleanup_pencils,case1,unitree_z1_dual_arm_cleanup_pencils-vid0-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,1,tail_heavy_10,"[0, 5, 10, 20, 30, 38, 43, 46, 48, 49]",10,0.8,49,50,1.0,1.0000001192092896
+unitree_z1_dual_arm_cleanup_pencils,case1,unitree_z1_dual_arm_cleanup_pencils-vid0-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,1,tail_only_6,"[40, 43, 46, 47, 48, 49]",6,0.88,49,50,1.0,1.0000001192092896
+unitree_z1_dual_arm_cleanup_pencils,case1,unitree_z1_dual_arm_cleanup_pencils-vid0-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,1,sparse_8,"[0, 7, 14, 21, 28, 35, 42, 49]",8,0.84,49,50,1.0,1.0000001192092896
+unitree_z1_dual_arm_cleanup_pencils,case1,unitree_z1_dual_arm_cleanup_pencils-vid0-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,1,sparse_4,"[0, 16, 32, 49]",4,0.92,49,50,1.0,1.0000001192092896
+unitree_z1_dual_arm_cleanup_pencils,case1,unitree_z1_dual_arm_cleanup_pencils-vid0-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,1,tail_only_4,"[40, 43, 46, 49]",4,0.92,49,50,1.0,1.0000001192092896
+unitree_z1_dual_arm_cleanup_pencils,case1,unitree_z1_dual_arm_cleanup_pencils-vid0-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,1,tail_heavy_6,"[0, 32, 40, 44, 47, 49]",6,0.88,49,50,1.0,1.0000001192092896
+unitree_z1_dual_arm_cleanup_pencils,case1,unitree_z1_dual_arm_cleanup_pencils-vid0-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,1,tail_heavy_8,"[0, 10, 20, 30, 38, 43, 46, 49]",8,0.84,49,50,1.0,1.0000001192092896
+unitree_z1_dual_arm_cleanup_pencils,case1,unitree_z1_dual_arm_cleanup_pencils-vid0-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,2,dense,"[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49]",50,0.0,49,50,1.0000001192092896,0.9999999403953552
+unitree_z1_dual_arm_cleanup_pencils,case1,unitree_z1_dual_arm_cleanup_pencils-vid0-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,2,sparse_10,"[0, 5, 10, 15, 20, 25, 30, 35, 40, 45]",10,0.8,45,46,0.9297961592674256,0.9010235071182252
+unitree_z1_dual_arm_cleanup_pencils,case1,unitree_z1_dual_arm_cleanup_pencils-vid0-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,2,sparse_5,"[0, 10, 20, 30, 40]",5,0.9,40,41,0.7590044736862183,0.7146275639533997
+unitree_z1_dual_arm_cleanup_pencils,case1,unitree_z1_dual_arm_cleanup_pencils-vid0-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,2,tail_heavy_10,"[0, 5, 10, 20, 30, 38, 43, 46, 48, 49]",10,0.8,49,50,1.0000001192092896,0.9999999403953552
+unitree_z1_dual_arm_cleanup_pencils,case1,unitree_z1_dual_arm_cleanup_pencils-vid0-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,2,tail_only_6,"[40, 43, 46, 47, 48, 49]",6,0.88,49,50,1.0000001192092896,0.9999999403953552
+unitree_z1_dual_arm_cleanup_pencils,case1,unitree_z1_dual_arm_cleanup_pencils-vid0-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,2,sparse_8,"[0, 7, 14, 21, 28, 35, 42, 49]",8,0.84,49,50,1.0000001192092896,0.9999999403953552
+unitree_z1_dual_arm_cleanup_pencils,case1,unitree_z1_dual_arm_cleanup_pencils-vid0-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,2,sparse_4,"[0, 16, 32, 49]",4,0.92,49,50,1.0000001192092896,0.9999999403953552
+unitree_z1_dual_arm_cleanup_pencils,case1,unitree_z1_dual_arm_cleanup_pencils-vid0-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,2,tail_only_4,"[40, 43, 46, 49]",4,0.92,49,50,1.0000001192092896,0.9999999403953552
+unitree_z1_dual_arm_cleanup_pencils,case1,unitree_z1_dual_arm_cleanup_pencils-vid0-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,2,tail_heavy_6,"[0, 32, 40, 44, 47, 49]",6,0.88,49,50,1.0000001192092896,0.9999999403953552
+unitree_z1_dual_arm_cleanup_pencils,case1,unitree_z1_dual_arm_cleanup_pencils-vid0-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,2,tail_heavy_8,"[0, 10, 20, 30, 38, 43, 46, 49]",8,0.84,49,50,1.0000001192092896,0.9999999403953552
+unitree_z1_dual_arm_cleanup_pencils,case1,unitree_z1_dual_arm_cleanup_pencils-vid0-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,3,dense,"[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49]",50,0.0,49,50,0.9999999403953552,1.0
+unitree_z1_dual_arm_cleanup_pencils,case1,unitree_z1_dual_arm_cleanup_pencils-vid0-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,3,sparse_10,"[0, 5, 10, 15, 20, 25, 30, 35, 40, 45]",10,0.8,45,46,0.9359197616577148,0.917940616607666
+unitree_z1_dual_arm_cleanup_pencils,case1,unitree_z1_dual_arm_cleanup_pencils-vid0-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,3,sparse_5,"[0, 10, 20, 30, 40]",5,0.9,40,41,0.7653557658195496,0.7390103340148926
+unitree_z1_dual_arm_cleanup_pencils,case1,unitree_z1_dual_arm_cleanup_pencils-vid0-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,3,tail_heavy_10,"[0, 5, 10, 20, 30, 38, 43, 46, 48, 49]",10,0.8,49,50,0.9999999403953552,1.0
+unitree_z1_dual_arm_cleanup_pencils,case1,unitree_z1_dual_arm_cleanup_pencils-vid0-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,3,tail_only_6,"[40, 43, 46, 47, 48, 49]",6,0.88,49,50,0.9999999403953552,1.0
+unitree_z1_dual_arm_cleanup_pencils,case1,unitree_z1_dual_arm_cleanup_pencils-vid0-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,3,sparse_8,"[0, 7, 14, 21, 28, 35, 42, 49]",8,0.84,49,50,0.9999999403953552,1.0
+unitree_z1_dual_arm_cleanup_pencils,case1,unitree_z1_dual_arm_cleanup_pencils-vid0-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,3,sparse_4,"[0, 16, 32, 49]",4,0.92,49,50,0.9999999403953552,1.0
+unitree_z1_dual_arm_cleanup_pencils,case1,unitree_z1_dual_arm_cleanup_pencils-vid0-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,3,tail_only_4,"[40, 43, 46, 49]",4,0.92,49,50,0.9999999403953552,1.0
+unitree_z1_dual_arm_cleanup_pencils,case1,unitree_z1_dual_arm_cleanup_pencils-vid0-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,3,tail_heavy_6,"[0, 32, 40, 44, 47, 49]",6,0.88,49,50,0.9999999403953552,1.0
+unitree_z1_dual_arm_cleanup_pencils,case1,unitree_z1_dual_arm_cleanup_pencils-vid0-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,3,tail_heavy_8,"[0, 10, 20, 30, 38, 43, 46, 49]",8,0.84,49,50,0.9999999403953552,1.0
+unitree_z1_dual_arm_cleanup_pencils,case1,unitree_z1_dual_arm_cleanup_pencils-vid0-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,4,dense,"[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49]",50,0.0,49,50,1.0000001192092896,1.0
+unitree_z1_dual_arm_cleanup_pencils,case1,unitree_z1_dual_arm_cleanup_pencils-vid0-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,4,sparse_10,"[0, 5, 10, 15, 20, 25, 30, 35, 40, 45]",10,0.8,45,46,0.9642128944396972,0.9485830664634703
+unitree_z1_dual_arm_cleanup_pencils,case1,unitree_z1_dual_arm_cleanup_pencils-vid0-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,4,sparse_5,"[0, 10, 20, 30, 40]",5,0.9,40,41,0.8516502380371094,0.8162993788719177
+unitree_z1_dual_arm_cleanup_pencils,case1,unitree_z1_dual_arm_cleanup_pencils-vid0-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,4,tail_heavy_10,"[0, 5, 10, 20, 30, 38, 43, 46, 48, 49]",10,0.8,49,50,1.0000001192092896,1.0
+unitree_z1_dual_arm_cleanup_pencils,case1,unitree_z1_dual_arm_cleanup_pencils-vid0-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,4,tail_only_6,"[40, 43, 46, 47, 48, 49]",6,0.88,49,50,1.0000001192092896,1.0
+unitree_z1_dual_arm_cleanup_pencils,case1,unitree_z1_dual_arm_cleanup_pencils-vid0-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,4,sparse_8,"[0, 7, 14, 21, 28, 35, 42, 49]",8,0.84,49,50,1.0000001192092896,1.0
+unitree_z1_dual_arm_cleanup_pencils,case1,unitree_z1_dual_arm_cleanup_pencils-vid0-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,4,sparse_4,"[0, 16, 32, 49]",4,0.92,49,50,1.0000001192092896,1.0
+unitree_z1_dual_arm_cleanup_pencils,case1,unitree_z1_dual_arm_cleanup_pencils-vid0-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,4,tail_only_4,"[40, 43, 46, 49]",4,0.92,49,50,1.0000001192092896,1.0
+unitree_z1_dual_arm_cleanup_pencils,case1,unitree_z1_dual_arm_cleanup_pencils-vid0-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,4,tail_heavy_6,"[0, 32, 40, 44, 47, 49]",6,0.88,49,50,1.0000001192092896,1.0
+unitree_z1_dual_arm_cleanup_pencils,case1,unitree_z1_dual_arm_cleanup_pencils-vid0-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,4,tail_heavy_8,"[0, 10, 20, 30, 38, 43, 46, 49]",8,0.84,49,50,1.0000001192092896,1.0
+unitree_z1_dual_arm_cleanup_pencils,case1,unitree_z1_dual_arm_cleanup_pencils-vid0-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,5,dense,"[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49]",50,0.0,49,50,1.0000001192092896,1.0
+unitree_z1_dual_arm_cleanup_pencils,case1,unitree_z1_dual_arm_cleanup_pencils-vid0-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,5,sparse_10,"[0, 5, 10, 15, 20, 25, 30, 35, 40, 45]",10,0.8,45,46,0.9607160687446594,0.952583074569702
+unitree_z1_dual_arm_cleanup_pencils,case1,unitree_z1_dual_arm_cleanup_pencils-vid0-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,5,sparse_5,"[0, 10, 20, 30, 40]",5,0.9,40,41,0.8357862234115601,0.8284112811088562
+unitree_z1_dual_arm_cleanup_pencils,case1,unitree_z1_dual_arm_cleanup_pencils-vid0-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,5,tail_heavy_10,"[0, 5, 10, 20, 30, 38, 43, 46, 48, 49]",10,0.8,49,50,1.0000001192092896,1.0
+unitree_z1_dual_arm_cleanup_pencils,case1,unitree_z1_dual_arm_cleanup_pencils-vid0-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,5,tail_only_6,"[40, 43, 46, 47, 48, 49]",6,0.88,49,50,1.0000001192092896,1.0
+unitree_z1_dual_arm_cleanup_pencils,case1,unitree_z1_dual_arm_cleanup_pencils-vid0-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,5,sparse_8,"[0, 7, 14, 21, 28, 35, 42, 49]",8,0.84,49,50,1.0000001192092896,1.0
+unitree_z1_dual_arm_cleanup_pencils,case1,unitree_z1_dual_arm_cleanup_pencils-vid0-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,5,sparse_4,"[0, 16, 32, 49]",4,0.92,49,50,1.0000001192092896,1.0
+unitree_z1_dual_arm_cleanup_pencils,case1,unitree_z1_dual_arm_cleanup_pencils-vid0-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,5,tail_only_4,"[40, 43, 46, 49]",4,0.92,49,50,1.0000001192092896,1.0
+unitree_z1_dual_arm_cleanup_pencils,case1,unitree_z1_dual_arm_cleanup_pencils-vid0-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,5,tail_heavy_6,"[0, 32, 40, 44, 47, 49]",6,0.88,49,50,1.0000001192092896,1.0
+unitree_z1_dual_arm_cleanup_pencils,case1,unitree_z1_dual_arm_cleanup_pencils-vid0-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,5,tail_heavy_8,"[0, 10, 20, 30, 38, 43, 46, 49]",8,0.84,49,50,1.0000001192092896,1.0
+unitree_z1_dual_arm_cleanup_pencils,case1,unitree_z1_dual_arm_cleanup_pencils-vid0-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,6,dense,"[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49]",50,0.0,49,50,0.9999998211860656,1.0
+unitree_z1_dual_arm_cleanup_pencils,case1,unitree_z1_dual_arm_cleanup_pencils-vid0-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,6,sparse_10,"[0, 5, 10, 15, 20, 25, 30, 35, 40, 45]",10,0.8,45,46,0.9560795426368712,0.945395827293396
+unitree_z1_dual_arm_cleanup_pencils,case1,unitree_z1_dual_arm_cleanup_pencils-vid0-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,6,sparse_5,"[0, 10, 20, 30, 40]",5,0.9,40,41,0.8341416120529175,0.8028936982154846
+unitree_z1_dual_arm_cleanup_pencils,case1,unitree_z1_dual_arm_cleanup_pencils-vid0-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,6,tail_heavy_10,"[0, 5, 10, 20, 30, 38, 43, 46, 48, 49]",10,0.8,49,50,0.9999998211860656,1.0
+unitree_z1_dual_arm_cleanup_pencils,case1,unitree_z1_dual_arm_cleanup_pencils-vid0-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,6,tail_only_6,"[40, 43, 46, 47, 48, 49]",6,0.88,49,50,0.9999998211860656,1.0
+unitree_z1_dual_arm_cleanup_pencils,case1,unitree_z1_dual_arm_cleanup_pencils-vid0-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,6,sparse_8,"[0, 7, 14, 21, 28, 35, 42, 49]",8,0.84,49,50,0.9999998211860656,1.0
+unitree_z1_dual_arm_cleanup_pencils,case1,unitree_z1_dual_arm_cleanup_pencils-vid0-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,6,sparse_4,"[0, 16, 32, 49]",4,0.92,49,50,0.9999998211860656,1.0
+unitree_z1_dual_arm_cleanup_pencils,case1,unitree_z1_dual_arm_cleanup_pencils-vid0-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,6,tail_only_4,"[40, 43, 46, 49]",4,0.92,49,50,0.9999998211860656,1.0
+unitree_z1_dual_arm_cleanup_pencils,case1,unitree_z1_dual_arm_cleanup_pencils-vid0-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,6,tail_heavy_6,"[0, 32, 40, 44, 47, 49]",6,0.88,49,50,0.9999998211860656,1.0
+unitree_z1_dual_arm_cleanup_pencils,case1,unitree_z1_dual_arm_cleanup_pencils-vid0-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,6,tail_heavy_8,"[0, 10, 20, 30, 38, 43, 46, 49]",8,0.84,49,50,0.9999998211860656,1.0
+unitree_z1_dual_arm_cleanup_pencils,case1,unitree_z1_dual_arm_cleanup_pencils-vid0-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,7,dense,"[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49]",50,0.0,49,50,0.9999999403953552,1.0000001192092896
+unitree_z1_dual_arm_cleanup_pencils,case1,unitree_z1_dual_arm_cleanup_pencils-vid0-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,7,sparse_10,"[0, 5, 10, 15, 20, 25, 30, 35, 40, 45]",10,0.8,45,46,0.9284732937812804,0.8899866938591003
+unitree_z1_dual_arm_cleanup_pencils,case1,unitree_z1_dual_arm_cleanup_pencils-vid0-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,7,sparse_5,"[0, 10, 20, 30, 40]",5,0.9,40,41,0.7527651786804199,0.6826616525650024
+unitree_z1_dual_arm_cleanup_pencils,case1,unitree_z1_dual_arm_cleanup_pencils-vid0-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,7,tail_heavy_10,"[0, 5, 10, 20, 30, 38, 43, 46, 48, 49]",10,0.8,49,50,0.9999999403953552,1.0000001192092896
+unitree_z1_dual_arm_cleanup_pencils,case1,unitree_z1_dual_arm_cleanup_pencils-vid0-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,7,tail_only_6,"[40, 43, 46, 47, 48, 49]",6,0.88,49,50,0.9999999403953552,1.0000001192092896
+unitree_z1_dual_arm_cleanup_pencils,case1,unitree_z1_dual_arm_cleanup_pencils-vid0-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,7,sparse_8,"[0, 7, 14, 21, 28, 35, 42, 49]",8,0.84,49,50,0.9999999403953552,1.0000001192092896
+unitree_z1_dual_arm_cleanup_pencils,case1,unitree_z1_dual_arm_cleanup_pencils-vid0-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,7,sparse_4,"[0, 16, 32, 49]",4,0.92,49,50,0.9999999403953552,1.0000001192092896
+unitree_z1_dual_arm_cleanup_pencils,case1,unitree_z1_dual_arm_cleanup_pencils-vid0-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,7,tail_only_4,"[40, 43, 46, 49]",4,0.92,49,50,0.9999999403953552,1.0000001192092896
+unitree_z1_dual_arm_cleanup_pencils,case1,unitree_z1_dual_arm_cleanup_pencils-vid0-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,7,tail_heavy_6,"[0, 32, 40, 44, 47, 49]",6,0.88,49,50,0.9999999403953552,1.0000001192092896
+unitree_z1_dual_arm_cleanup_pencils,case1,unitree_z1_dual_arm_cleanup_pencils-vid0-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,7,tail_heavy_8,"[0, 10, 20, 30, 38, 43, 46, 49]",8,0.84,49,50,0.9999999403953552,1.0000001192092896
+unitree_z1_dual_arm_cleanup_pencils,case2,unitree_z1_dual_arm_cleanup_pencils-vid50-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,0,dense,"[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49]",50,0.0,49,50,0.9999999403953552,0.9999999403953552
+unitree_z1_dual_arm_cleanup_pencils,case2,unitree_z1_dual_arm_cleanup_pencils-vid50-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,0,sparse_10,"[0, 5, 10, 15, 20, 25, 30, 35, 40, 45]",10,0.8,45,46,0.9540840983390808,0.941953420639038
+unitree_z1_dual_arm_cleanup_pencils,case2,unitree_z1_dual_arm_cleanup_pencils-vid50-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,0,sparse_5,"[0, 10, 20, 30, 40]",5,0.9,40,41,0.8197795748710632,0.7824172377586365
+unitree_z1_dual_arm_cleanup_pencils,case2,unitree_z1_dual_arm_cleanup_pencils-vid50-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,0,tail_heavy_10,"[0, 5, 10, 20, 30, 38, 43, 46, 48, 49]",10,0.8,49,50,0.9999999403953552,0.9999999403953552
+unitree_z1_dual_arm_cleanup_pencils,case2,unitree_z1_dual_arm_cleanup_pencils-vid50-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,0,tail_only_6,"[40, 43, 46, 47, 48, 49]",6,0.88,49,50,0.9999999403953552,0.9999999403953552
+unitree_z1_dual_arm_cleanup_pencils,case2,unitree_z1_dual_arm_cleanup_pencils-vid50-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,0,sparse_8,"[0, 7, 14, 21, 28, 35, 42, 49]",8,0.84,49,50,0.9999999403953552,0.9999999403953552
+unitree_z1_dual_arm_cleanup_pencils,case2,unitree_z1_dual_arm_cleanup_pencils-vid50-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,0,sparse_4,"[0, 16, 32, 49]",4,0.92,49,50,0.9999999403953552,0.9999999403953552
+unitree_z1_dual_arm_cleanup_pencils,case2,unitree_z1_dual_arm_cleanup_pencils-vid50-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,0,tail_only_4,"[40, 43, 46, 49]",4,0.92,49,50,0.9999999403953552,0.9999999403953552
+unitree_z1_dual_arm_cleanup_pencils,case2,unitree_z1_dual_arm_cleanup_pencils-vid50-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,0,tail_heavy_6,"[0, 32, 40, 44, 47, 49]",6,0.88,49,50,0.9999999403953552,0.9999999403953552
+unitree_z1_dual_arm_cleanup_pencils,case2,unitree_z1_dual_arm_cleanup_pencils-vid50-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,0,tail_heavy_8,"[0, 10, 20, 30, 38, 43, 46, 49]",8,0.84,49,50,0.9999999403953552,0.9999999403953552
+unitree_z1_dual_arm_cleanup_pencils,case2,unitree_z1_dual_arm_cleanup_pencils-vid50-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,1,dense,"[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49]",50,0.0,49,50,0.9999998807907104,1.0
+unitree_z1_dual_arm_cleanup_pencils,case2,unitree_z1_dual_arm_cleanup_pencils-vid50-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,1,sparse_10,"[0, 5, 10, 15, 20, 25, 30, 35, 40, 45]",10,0.8,45,46,0.9403797388076782,0.9395711421966552
+unitree_z1_dual_arm_cleanup_pencils,case2,unitree_z1_dual_arm_cleanup_pencils-vid50-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,1,sparse_5,"[0, 10, 20, 30, 40]",5,0.9,40,41,0.77796870470047,0.7877867221832275
+unitree_z1_dual_arm_cleanup_pencils,case2,unitree_z1_dual_arm_cleanup_pencils-vid50-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,1,tail_heavy_10,"[0, 5, 10, 20, 30, 38, 43, 46, 48, 49]",10,0.8,49,50,0.9999998807907104,1.0
+unitree_z1_dual_arm_cleanup_pencils,case2,unitree_z1_dual_arm_cleanup_pencils-vid50-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,1,tail_only_6,"[40, 43, 46, 47, 48, 49]",6,0.88,49,50,0.9999998807907104,1.0
+unitree_z1_dual_arm_cleanup_pencils,case2,unitree_z1_dual_arm_cleanup_pencils-vid50-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,1,sparse_8,"[0, 7, 14, 21, 28, 35, 42, 49]",8,0.84,49,50,0.9999998807907104,1.0
+unitree_z1_dual_arm_cleanup_pencils,case2,unitree_z1_dual_arm_cleanup_pencils-vid50-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,1,sparse_4,"[0, 16, 32, 49]",4,0.92,49,50,0.9999998807907104,1.0
+unitree_z1_dual_arm_cleanup_pencils,case2,unitree_z1_dual_arm_cleanup_pencils-vid50-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,1,tail_only_4,"[40, 43, 46, 49]",4,0.92,49,50,0.9999998807907104,1.0
+unitree_z1_dual_arm_cleanup_pencils,case2,unitree_z1_dual_arm_cleanup_pencils-vid50-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,1,tail_heavy_6,"[0, 32, 40, 44, 47, 49]",6,0.88,49,50,0.9999998807907104,1.0
+unitree_z1_dual_arm_cleanup_pencils,case2,unitree_z1_dual_arm_cleanup_pencils-vid50-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,1,tail_heavy_8,"[0, 10, 20, 30, 38, 43, 46, 49]",8,0.84,49,50,0.9999998807907104,1.0
+unitree_z1_dual_arm_cleanup_pencils,case2,unitree_z1_dual_arm_cleanup_pencils-vid50-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,2,dense,"[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49]",50,0.0,49,50,1.0,0.9999998807907104
+unitree_z1_dual_arm_cleanup_pencils,case2,unitree_z1_dual_arm_cleanup_pencils-vid50-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,2,sparse_10,"[0, 5, 10, 15, 20, 25, 30, 35, 40, 45]",10,0.8,45,46,0.9410231709480286,0.9257596731185912
+unitree_z1_dual_arm_cleanup_pencils,case2,unitree_z1_dual_arm_cleanup_pencils-vid50-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,2,sparse_5,"[0, 10, 20, 30, 40]",5,0.9,40,41,0.7947703003883362,0.7665059566497803
+unitree_z1_dual_arm_cleanup_pencils,case2,unitree_z1_dual_arm_cleanup_pencils-vid50-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,2,tail_heavy_10,"[0, 5, 10, 20, 30, 38, 43, 46, 48, 49]",10,0.8,49,50,1.0,0.9999998807907104
+unitree_z1_dual_arm_cleanup_pencils,case2,unitree_z1_dual_arm_cleanup_pencils-vid50-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,2,tail_only_6,"[40, 43, 46, 47, 48, 49]",6,0.88,49,50,1.0,0.9999998807907104
+unitree_z1_dual_arm_cleanup_pencils,case2,unitree_z1_dual_arm_cleanup_pencils-vid50-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,2,sparse_8,"[0, 7, 14, 21, 28, 35, 42, 49]",8,0.84,49,50,1.0,0.9999998807907104
+unitree_z1_dual_arm_cleanup_pencils,case2,unitree_z1_dual_arm_cleanup_pencils-vid50-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,2,sparse_4,"[0, 16, 32, 49]",4,0.92,49,50,1.0,0.9999998807907104
+unitree_z1_dual_arm_cleanup_pencils,case2,unitree_z1_dual_arm_cleanup_pencils-vid50-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,2,tail_only_4,"[40, 43, 46, 49]",4,0.92,49,50,1.0,0.9999998807907104
+unitree_z1_dual_arm_cleanup_pencils,case2,unitree_z1_dual_arm_cleanup_pencils-vid50-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,2,tail_heavy_6,"[0, 32, 40, 44, 47, 49]",6,0.88,49,50,1.0,0.9999998807907104
+unitree_z1_dual_arm_cleanup_pencils,case2,unitree_z1_dual_arm_cleanup_pencils-vid50-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,2,tail_heavy_8,"[0, 10, 20, 30, 38, 43, 46, 49]",8,0.84,49,50,1.0,0.9999998807907104
+unitree_z1_dual_arm_cleanup_pencils,case2,unitree_z1_dual_arm_cleanup_pencils-vid50-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,3,dense,"[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49]",50,0.0,49,50,1.0,1.0
+unitree_z1_dual_arm_cleanup_pencils,case2,unitree_z1_dual_arm_cleanup_pencils-vid50-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,3,sparse_10,"[0, 5, 10, 15, 20, 25, 30, 35, 40, 45]",10,0.8,45,46,0.9543046951293944,0.92716383934021
+unitree_z1_dual_arm_cleanup_pencils,case2,unitree_z1_dual_arm_cleanup_pencils-vid50-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,3,sparse_5,"[0, 10, 20, 30, 40]",5,0.9,40,41,0.8202363848686218,0.7655448317527771
+unitree_z1_dual_arm_cleanup_pencils,case2,unitree_z1_dual_arm_cleanup_pencils-vid50-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,3,tail_heavy_10,"[0, 5, 10, 20, 30, 38, 43, 46, 48, 49]",10,0.8,49,50,1.0,1.0
+unitree_z1_dual_arm_cleanup_pencils,case2,unitree_z1_dual_arm_cleanup_pencils-vid50-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,3,tail_only_6,"[40, 43, 46, 47, 48, 49]",6,0.88,49,50,1.0,1.0
+unitree_z1_dual_arm_cleanup_pencils,case2,unitree_z1_dual_arm_cleanup_pencils-vid50-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,3,sparse_8,"[0, 7, 14, 21, 28, 35, 42, 49]",8,0.84,49,50,1.0,1.0
+unitree_z1_dual_arm_cleanup_pencils,case2,unitree_z1_dual_arm_cleanup_pencils-vid50-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,3,sparse_4,"[0, 16, 32, 49]",4,0.92,49,50,1.0,1.0
+unitree_z1_dual_arm_cleanup_pencils,case2,unitree_z1_dual_arm_cleanup_pencils-vid50-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,3,tail_only_4,"[40, 43, 46, 49]",4,0.92,49,50,1.0,1.0
+unitree_z1_dual_arm_cleanup_pencils,case2,unitree_z1_dual_arm_cleanup_pencils-vid50-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,3,tail_heavy_6,"[0, 32, 40, 44, 47, 49]",6,0.88,49,50,1.0,1.0
+unitree_z1_dual_arm_cleanup_pencils,case2,unitree_z1_dual_arm_cleanup_pencils-vid50-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,3,tail_heavy_8,"[0, 10, 20, 30, 38, 43, 46, 49]",8,0.84,49,50,1.0,1.0
+unitree_z1_dual_arm_cleanup_pencils,case2,unitree_z1_dual_arm_cleanup_pencils-vid50-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,4,dense,"[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49]",50,0.0,49,50,1.0000001192092896,0.9999998807907104
+unitree_z1_dual_arm_cleanup_pencils,case2,unitree_z1_dual_arm_cleanup_pencils-vid50-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,4,sparse_10,"[0, 5, 10, 15, 20, 25, 30, 35, 40, 45]",10,0.8,45,46,0.9682124853134156,0.9441075921058656
+unitree_z1_dual_arm_cleanup_pencils,case2,unitree_z1_dual_arm_cleanup_pencils-vid50-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,4,sparse_5,"[0, 10, 20, 30, 40]",5,0.9,40,41,0.8681221604347229,0.7930105328559875
+unitree_z1_dual_arm_cleanup_pencils,case2,unitree_z1_dual_arm_cleanup_pencils-vid50-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,4,tail_heavy_10,"[0, 5, 10, 20, 30, 38, 43, 46, 48, 49]",10,0.8,49,50,1.0000001192092896,0.9999998807907104
+unitree_z1_dual_arm_cleanup_pencils,case2,unitree_z1_dual_arm_cleanup_pencils-vid50-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,4,tail_only_6,"[40, 43, 46, 47, 48, 49]",6,0.88,49,50,1.0000001192092896,0.9999998807907104
+unitree_z1_dual_arm_cleanup_pencils,case2,unitree_z1_dual_arm_cleanup_pencils-vid50-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,4,sparse_8,"[0, 7, 14, 21, 28, 35, 42, 49]",8,0.84,49,50,1.0000001192092896,0.9999998807907104
+unitree_z1_dual_arm_cleanup_pencils,case2,unitree_z1_dual_arm_cleanup_pencils-vid50-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,4,sparse_4,"[0, 16, 32, 49]",4,0.92,49,50,1.0000001192092896,0.9999998807907104
+unitree_z1_dual_arm_cleanup_pencils,case2,unitree_z1_dual_arm_cleanup_pencils-vid50-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,4,tail_only_4,"[40, 43, 46, 49]",4,0.92,49,50,1.0000001192092896,0.9999998807907104
+unitree_z1_dual_arm_cleanup_pencils,case2,unitree_z1_dual_arm_cleanup_pencils-vid50-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,4,tail_heavy_6,"[0, 32, 40, 44, 47, 49]",6,0.88,49,50,1.0000001192092896,0.9999998807907104
+unitree_z1_dual_arm_cleanup_pencils,case2,unitree_z1_dual_arm_cleanup_pencils-vid50-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,4,tail_heavy_8,"[0, 10, 20, 30, 38, 43, 46, 49]",8,0.84,49,50,1.0000001192092896,0.9999998807907104
+unitree_z1_dual_arm_cleanup_pencils,case2,unitree_z1_dual_arm_cleanup_pencils-vid50-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,5,dense,"[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49]",50,0.0,49,50,1.0,1.0
+unitree_z1_dual_arm_cleanup_pencils,case2,unitree_z1_dual_arm_cleanup_pencils-vid50-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,5,sparse_10,"[0, 5, 10, 15, 20, 25, 30, 35, 40, 45]",10,0.8,45,46,0.9617652297019958,0.953172206878662
+unitree_z1_dual_arm_cleanup_pencils,case2,unitree_z1_dual_arm_cleanup_pencils-vid50-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,5,sparse_5,"[0, 10, 20, 30, 40]",5,0.9,40,41,0.8530445098876953,0.8420813679695129
+unitree_z1_dual_arm_cleanup_pencils,case2,unitree_z1_dual_arm_cleanup_pencils-vid50-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,5,tail_heavy_10,"[0, 5, 10, 20, 30, 38, 43, 46, 48, 49]",10,0.8,49,50,1.0,1.0
+unitree_z1_dual_arm_cleanup_pencils,case2,unitree_z1_dual_arm_cleanup_pencils-vid50-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,5,tail_only_6,"[40, 43, 46, 47, 48, 49]",6,0.88,49,50,1.0,1.0
+unitree_z1_dual_arm_cleanup_pencils,case2,unitree_z1_dual_arm_cleanup_pencils-vid50-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,5,sparse_8,"[0, 7, 14, 21, 28, 35, 42, 49]",8,0.84,49,50,1.0,1.0
+unitree_z1_dual_arm_cleanup_pencils,case2,unitree_z1_dual_arm_cleanup_pencils-vid50-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,5,sparse_4,"[0, 16, 32, 49]",4,0.92,49,50,1.0,1.0
+unitree_z1_dual_arm_cleanup_pencils,case2,unitree_z1_dual_arm_cleanup_pencils-vid50-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,5,tail_only_4,"[40, 43, 46, 49]",4,0.92,49,50,1.0,1.0
+unitree_z1_dual_arm_cleanup_pencils,case2,unitree_z1_dual_arm_cleanup_pencils-vid50-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,5,tail_heavy_6,"[0, 32, 40, 44, 47, 49]",6,0.88,49,50,1.0,1.0
+unitree_z1_dual_arm_cleanup_pencils,case2,unitree_z1_dual_arm_cleanup_pencils-vid50-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,5,tail_heavy_8,"[0, 10, 20, 30, 38, 43, 46, 49]",8,0.84,49,50,1.0,1.0
+unitree_z1_dual_arm_cleanup_pencils,case2,unitree_z1_dual_arm_cleanup_pencils-vid50-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,6,dense,"[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49]",50,0.0,49,50,1.0000001192092896,1.0
+unitree_z1_dual_arm_cleanup_pencils,case2,unitree_z1_dual_arm_cleanup_pencils-vid50-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,6,sparse_10,"[0, 5, 10, 15, 20, 25, 30, 35, 40, 45]",10,0.8,45,46,0.9200673699378968,0.8987849950790405
+unitree_z1_dual_arm_cleanup_pencils,case2,unitree_z1_dual_arm_cleanup_pencils-vid50-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,6,sparse_5,"[0, 10, 20, 30, 40]",5,0.9,40,41,0.7567353248596191,0.7347880005836487
+unitree_z1_dual_arm_cleanup_pencils,case2,unitree_z1_dual_arm_cleanup_pencils-vid50-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,6,tail_heavy_10,"[0, 5, 10, 20, 30, 38, 43, 46, 48, 49]",10,0.8,49,50,1.0000001192092896,1.0
+unitree_z1_dual_arm_cleanup_pencils,case2,unitree_z1_dual_arm_cleanup_pencils-vid50-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,6,tail_only_6,"[40, 43, 46, 47, 48, 49]",6,0.88,49,50,1.0000001192092896,1.0
+unitree_z1_dual_arm_cleanup_pencils,case2,unitree_z1_dual_arm_cleanup_pencils-vid50-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,6,sparse_8,"[0, 7, 14, 21, 28, 35, 42, 49]",8,0.84,49,50,1.0000001192092896,1.0
+unitree_z1_dual_arm_cleanup_pencils,case2,unitree_z1_dual_arm_cleanup_pencils-vid50-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,6,sparse_4,"[0, 16, 32, 49]",4,0.92,49,50,1.0000001192092896,1.0
+unitree_z1_dual_arm_cleanup_pencils,case2,unitree_z1_dual_arm_cleanup_pencils-vid50-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,6,tail_only_4,"[40, 43, 46, 49]",4,0.92,49,50,1.0000001192092896,1.0
+unitree_z1_dual_arm_cleanup_pencils,case2,unitree_z1_dual_arm_cleanup_pencils-vid50-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,6,tail_heavy_6,"[0, 32, 40, 44, 47, 49]",6,0.88,49,50,1.0000001192092896,1.0
+unitree_z1_dual_arm_cleanup_pencils,case2,unitree_z1_dual_arm_cleanup_pencils-vid50-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,6,tail_heavy_8,"[0, 10, 20, 30, 38, 43, 46, 49]",8,0.84,49,50,1.0000001192092896,1.0
+unitree_z1_dual_arm_cleanup_pencils,case2,unitree_z1_dual_arm_cleanup_pencils-vid50-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,7,dense,"[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49]",50,0.0,49,50,1.0000001192092896,1.0
+unitree_z1_dual_arm_cleanup_pencils,case2,unitree_z1_dual_arm_cleanup_pencils-vid50-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,7,sparse_10,"[0, 5, 10, 15, 20, 25, 30, 35, 40, 45]",10,0.8,45,46,0.9308043122291564,0.9058020114898682
+unitree_z1_dual_arm_cleanup_pencils,case2,unitree_z1_dual_arm_cleanup_pencils-vid50-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,7,sparse_5,"[0, 10, 20, 30, 40]",5,0.9,40,41,0.7816739678382874,0.7318194508552551
+unitree_z1_dual_arm_cleanup_pencils,case2,unitree_z1_dual_arm_cleanup_pencils-vid50-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,7,tail_heavy_10,"[0, 5, 10, 20, 30, 38, 43, 46, 48, 49]",10,0.8,49,50,1.0000001192092896,1.0
+unitree_z1_dual_arm_cleanup_pencils,case2,unitree_z1_dual_arm_cleanup_pencils-vid50-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,7,tail_only_6,"[40, 43, 46, 47, 48, 49]",6,0.88,49,50,1.0000001192092896,1.0
+unitree_z1_dual_arm_cleanup_pencils,case2,unitree_z1_dual_arm_cleanup_pencils-vid50-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,7,sparse_8,"[0, 7, 14, 21, 28, 35, 42, 49]",8,0.84,49,50,1.0000001192092896,1.0
+unitree_z1_dual_arm_cleanup_pencils,case2,unitree_z1_dual_arm_cleanup_pencils-vid50-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,7,sparse_4,"[0, 16, 32, 49]",4,0.92,49,50,1.0000001192092896,1.0
+unitree_z1_dual_arm_cleanup_pencils,case2,unitree_z1_dual_arm_cleanup_pencils-vid50-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,7,tail_only_4,"[40, 43, 46, 49]",4,0.92,49,50,1.0000001192092896,1.0
+unitree_z1_dual_arm_cleanup_pencils,case2,unitree_z1_dual_arm_cleanup_pencils-vid50-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,7,tail_heavy_6,"[0, 32, 40, 44, 47, 49]",6,0.88,49,50,1.0000001192092896,1.0
+unitree_z1_dual_arm_cleanup_pencils,case2,unitree_z1_dual_arm_cleanup_pencils-vid50-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,7,tail_heavy_8,"[0, 10, 20, 30, 38, 43, 46, 49]",8,0.84,49,50,1.0000001192092896,1.0
+unitree_z1_dual_arm_cleanup_pencils,case2,unitree_z1_dual_arm_cleanup_pencils-vid50-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,0,dense,"[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49]",50,0.0,49,50,1.0000001192092896,0.9999998807907104
+unitree_z1_dual_arm_cleanup_pencils,case2,unitree_z1_dual_arm_cleanup_pencils-vid50-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,0,sparse_10,"[0, 5, 10, 15, 20, 25, 30, 35, 40, 45]",10,0.8,45,46,0.957676112651825,0.9464027285575868
+unitree_z1_dual_arm_cleanup_pencils,case2,unitree_z1_dual_arm_cleanup_pencils-vid50-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,0,sparse_5,"[0, 10, 20, 30, 40]",5,0.9,40,41,0.828221321105957,0.803358793258667
+unitree_z1_dual_arm_cleanup_pencils,case2,unitree_z1_dual_arm_cleanup_pencils-vid50-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,0,tail_heavy_10,"[0, 5, 10, 20, 30, 38, 43, 46, 48, 49]",10,0.8,49,50,1.0000001192092896,0.9999998807907104
+unitree_z1_dual_arm_cleanup_pencils,case2,unitree_z1_dual_arm_cleanup_pencils-vid50-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,0,tail_only_6,"[40, 43, 46, 47, 48, 49]",6,0.88,49,50,1.0000001192092896,0.9999998807907104
+unitree_z1_dual_arm_cleanup_pencils,case2,unitree_z1_dual_arm_cleanup_pencils-vid50-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,0,sparse_8,"[0, 7, 14, 21, 28, 35, 42, 49]",8,0.84,49,50,1.0000001192092896,0.9999998807907104
+unitree_z1_dual_arm_cleanup_pencils,case2,unitree_z1_dual_arm_cleanup_pencils-vid50-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,0,sparse_4,"[0, 16, 32, 49]",4,0.92,49,50,1.0000001192092896,0.9999998807907104
+unitree_z1_dual_arm_cleanup_pencils,case2,unitree_z1_dual_arm_cleanup_pencils-vid50-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,0,tail_only_4,"[40, 43, 46, 49]",4,0.92,49,50,1.0000001192092896,0.9999998807907104
+unitree_z1_dual_arm_cleanup_pencils,case2,unitree_z1_dual_arm_cleanup_pencils-vid50-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,0,tail_heavy_6,"[0, 32, 40, 44, 47, 49]",6,0.88,49,50,1.0000001192092896,0.9999998807907104
+unitree_z1_dual_arm_cleanup_pencils,case2,unitree_z1_dual_arm_cleanup_pencils-vid50-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,0,tail_heavy_8,"[0, 10, 20, 30, 38, 43, 46, 49]",8,0.84,49,50,1.0000001192092896,0.9999998807907104
+unitree_z1_dual_arm_cleanup_pencils,case2,unitree_z1_dual_arm_cleanup_pencils-vid50-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,1,dense,"[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49]",50,0.0,49,50,1.0000001192092896,1.0
+unitree_z1_dual_arm_cleanup_pencils,case2,unitree_z1_dual_arm_cleanup_pencils-vid50-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,1,sparse_10,"[0, 5, 10, 15, 20, 25, 30, 35, 40, 45]",10,0.8,45,46,0.9480398893356324,0.9453606605529784
+unitree_z1_dual_arm_cleanup_pencils,case2,unitree_z1_dual_arm_cleanup_pencils-vid50-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,1,sparse_5,"[0, 10, 20, 30, 40]",5,0.9,40,41,0.809459924697876,0.8045313954353333
+unitree_z1_dual_arm_cleanup_pencils,case2,unitree_z1_dual_arm_cleanup_pencils-vid50-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,1,tail_heavy_10,"[0, 5, 10, 20, 30, 38, 43, 46, 48, 49]",10,0.8,49,50,1.0000001192092896,1.0
+unitree_z1_dual_arm_cleanup_pencils,case2,unitree_z1_dual_arm_cleanup_pencils-vid50-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,1,tail_only_6,"[40, 43, 46, 47, 48, 49]",6,0.88,49,50,1.0000001192092896,1.0
+unitree_z1_dual_arm_cleanup_pencils,case2,unitree_z1_dual_arm_cleanup_pencils-vid50-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,1,sparse_8,"[0, 7, 14, 21, 28, 35, 42, 49]",8,0.84,49,50,1.0000001192092896,1.0
+unitree_z1_dual_arm_cleanup_pencils,case2,unitree_z1_dual_arm_cleanup_pencils-vid50-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,1,sparse_4,"[0, 16, 32, 49]",4,0.92,49,50,1.0000001192092896,1.0
+unitree_z1_dual_arm_cleanup_pencils,case2,unitree_z1_dual_arm_cleanup_pencils-vid50-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,1,tail_only_4,"[40, 43, 46, 49]",4,0.92,49,50,1.0000001192092896,1.0
+unitree_z1_dual_arm_cleanup_pencils,case2,unitree_z1_dual_arm_cleanup_pencils-vid50-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,1,tail_heavy_6,"[0, 32, 40, 44, 47, 49]",6,0.88,49,50,1.0000001192092896,1.0
+unitree_z1_dual_arm_cleanup_pencils,case2,unitree_z1_dual_arm_cleanup_pencils-vid50-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,1,tail_heavy_8,"[0, 10, 20, 30, 38, 43, 46, 49]",8,0.84,49,50,1.0000001192092896,1.0
+unitree_z1_dual_arm_cleanup_pencils,case2,unitree_z1_dual_arm_cleanup_pencils-vid50-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,2,dense,"[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49]",50,0.0,49,50,1.0,0.9999998807907104
+unitree_z1_dual_arm_cleanup_pencils,case2,unitree_z1_dual_arm_cleanup_pencils-vid50-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,2,sparse_10,"[0, 5, 10, 15, 20, 25, 30, 35, 40, 45]",10,0.8,45,46,0.9394837617874146,0.9219716191291808
+unitree_z1_dual_arm_cleanup_pencils,case2,unitree_z1_dual_arm_cleanup_pencils-vid50-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,2,sparse_5,"[0, 10, 20, 30, 40]",5,0.9,40,41,0.7816028594970703,0.7542479634284973
+unitree_z1_dual_arm_cleanup_pencils,case2,unitree_z1_dual_arm_cleanup_pencils-vid50-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,2,tail_heavy_10,"[0, 5, 10, 20, 30, 38, 43, 46, 48, 49]",10,0.8,49,50,1.0,0.9999998807907104
+unitree_z1_dual_arm_cleanup_pencils,case2,unitree_z1_dual_arm_cleanup_pencils-vid50-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,2,tail_only_6,"[40, 43, 46, 47, 48, 49]",6,0.88,49,50,1.0,0.9999998807907104
+unitree_z1_dual_arm_cleanup_pencils,case2,unitree_z1_dual_arm_cleanup_pencils-vid50-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,2,sparse_8,"[0, 7, 14, 21, 28, 35, 42, 49]",8,0.84,49,50,1.0,0.9999998807907104
+unitree_z1_dual_arm_cleanup_pencils,case2,unitree_z1_dual_arm_cleanup_pencils-vid50-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,2,sparse_4,"[0, 16, 32, 49]",4,0.92,49,50,1.0,0.9999998807907104
+unitree_z1_dual_arm_cleanup_pencils,case2,unitree_z1_dual_arm_cleanup_pencils-vid50-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,2,tail_only_4,"[40, 43, 46, 49]",4,0.92,49,50,1.0,0.9999998807907104
+unitree_z1_dual_arm_cleanup_pencils,case2,unitree_z1_dual_arm_cleanup_pencils-vid50-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,2,tail_heavy_6,"[0, 32, 40, 44, 47, 49]",6,0.88,49,50,1.0,0.9999998807907104
+unitree_z1_dual_arm_cleanup_pencils,case2,unitree_z1_dual_arm_cleanup_pencils-vid50-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,2,tail_heavy_8,"[0, 10, 20, 30, 38, 43, 46, 49]",8,0.84,49,50,1.0,0.9999998807907104
+unitree_z1_dual_arm_cleanup_pencils,case2,unitree_z1_dual_arm_cleanup_pencils-vid50-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,3,dense,"[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49]",50,0.0,49,50,1.0,1.0000001192092896
+unitree_z1_dual_arm_cleanup_pencils,case2,unitree_z1_dual_arm_cleanup_pencils-vid50-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,3,sparse_10,"[0, 5, 10, 15, 20, 25, 30, 35, 40, 45]",10,0.8,45,46,0.9509428143501282,0.926882028579712
+unitree_z1_dual_arm_cleanup_pencils,case2,unitree_z1_dual_arm_cleanup_pencils-vid50-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,3,sparse_5,"[0, 10, 20, 30, 40]",5,0.9,40,41,0.8211874961853027,0.7736596465110779
+unitree_z1_dual_arm_cleanup_pencils,case2,unitree_z1_dual_arm_cleanup_pencils-vid50-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,3,tail_heavy_10,"[0, 5, 10, 20, 30, 38, 43, 46, 48, 49]",10,0.8,49,50,1.0,1.0000001192092896
+unitree_z1_dual_arm_cleanup_pencils,case2,unitree_z1_dual_arm_cleanup_pencils-vid50-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,3,tail_only_6,"[40, 43, 46, 47, 48, 49]",6,0.88,49,50,1.0,1.0000001192092896
+unitree_z1_dual_arm_cleanup_pencils,case2,unitree_z1_dual_arm_cleanup_pencils-vid50-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,3,sparse_8,"[0, 7, 14, 21, 28, 35, 42, 49]",8,0.84,49,50,1.0,1.0000001192092896
+unitree_z1_dual_arm_cleanup_pencils,case2,unitree_z1_dual_arm_cleanup_pencils-vid50-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,3,sparse_4,"[0, 16, 32, 49]",4,0.92,49,50,1.0,1.0000001192092896
+unitree_z1_dual_arm_cleanup_pencils,case2,unitree_z1_dual_arm_cleanup_pencils-vid50-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,3,tail_only_4,"[40, 43, 46, 49]",4,0.92,49,50,1.0,1.0000001192092896
+unitree_z1_dual_arm_cleanup_pencils,case2,unitree_z1_dual_arm_cleanup_pencils-vid50-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,3,tail_heavy_6,"[0, 32, 40, 44, 47, 49]",6,0.88,49,50,1.0,1.0000001192092896
+unitree_z1_dual_arm_cleanup_pencils,case2,unitree_z1_dual_arm_cleanup_pencils-vid50-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,3,tail_heavy_8,"[0, 10, 20, 30, 38, 43, 46, 49]",8,0.84,49,50,1.0,1.0000001192092896
+unitree_z1_dual_arm_cleanup_pencils,case2,unitree_z1_dual_arm_cleanup_pencils-vid50-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,4,dense,"[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49]",50,0.0,49,50,1.0000001192092896,1.0
+unitree_z1_dual_arm_cleanup_pencils,case2,unitree_z1_dual_arm_cleanup_pencils-vid50-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,4,sparse_10,"[0, 5, 10, 15, 20, 25, 30, 35, 40, 45]",10,0.8,45,46,0.9601448774337769,0.9559401273727416
+unitree_z1_dual_arm_cleanup_pencils,case2,unitree_z1_dual_arm_cleanup_pencils-vid50-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,4,sparse_5,"[0, 10, 20, 30, 40]",5,0.9,40,41,0.8344329595565796,0.8353040218353271
+unitree_z1_dual_arm_cleanup_pencils,case2,unitree_z1_dual_arm_cleanup_pencils-vid50-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,4,tail_heavy_10,"[0, 5, 10, 20, 30, 38, 43, 46, 48, 49]",10,0.8,49,50,1.0000001192092896,1.0
+unitree_z1_dual_arm_cleanup_pencils,case2,unitree_z1_dual_arm_cleanup_pencils-vid50-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,4,tail_only_6,"[40, 43, 46, 47, 48, 49]",6,0.88,49,50,1.0000001192092896,1.0
+unitree_z1_dual_arm_cleanup_pencils,case2,unitree_z1_dual_arm_cleanup_pencils-vid50-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,4,sparse_8,"[0, 7, 14, 21, 28, 35, 42, 49]",8,0.84,49,50,1.0000001192092896,1.0
+unitree_z1_dual_arm_cleanup_pencils,case2,unitree_z1_dual_arm_cleanup_pencils-vid50-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,4,sparse_4,"[0, 16, 32, 49]",4,0.92,49,50,1.0000001192092896,1.0
+unitree_z1_dual_arm_cleanup_pencils,case2,unitree_z1_dual_arm_cleanup_pencils-vid50-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,4,tail_only_4,"[40, 43, 46, 49]",4,0.92,49,50,1.0000001192092896,1.0
+unitree_z1_dual_arm_cleanup_pencils,case2,unitree_z1_dual_arm_cleanup_pencils-vid50-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,4,tail_heavy_6,"[0, 32, 40, 44, 47, 49]",6,0.88,49,50,1.0000001192092896,1.0
+unitree_z1_dual_arm_cleanup_pencils,case2,unitree_z1_dual_arm_cleanup_pencils-vid50-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,4,tail_heavy_8,"[0, 10, 20, 30, 38, 43, 46, 49]",8,0.84,49,50,1.0000001192092896,1.0
+unitree_z1_dual_arm_cleanup_pencils,case2,unitree_z1_dual_arm_cleanup_pencils-vid50-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,5,dense,"[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49]",50,0.0,49,50,0.9999999403953552,0.9999999403953552
+unitree_z1_dual_arm_cleanup_pencils,case2,unitree_z1_dual_arm_cleanup_pencils-vid50-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,5,sparse_10,"[0, 5, 10, 15, 20, 25, 30, 35, 40, 45]",10,0.8,45,46,0.9619379639625548,0.95979505777359
+unitree_z1_dual_arm_cleanup_pencils,case2,unitree_z1_dual_arm_cleanup_pencils-vid50-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,5,sparse_5,"[0, 10, 20, 30, 40]",5,0.9,40,41,0.8456664085388184,0.8467420935630798
+unitree_z1_dual_arm_cleanup_pencils,case2,unitree_z1_dual_arm_cleanup_pencils-vid50-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,5,tail_heavy_10,"[0, 5, 10, 20, 30, 38, 43, 46, 48, 49]",10,0.8,49,50,0.9999999403953552,0.9999999403953552
+unitree_z1_dual_arm_cleanup_pencils,case2,unitree_z1_dual_arm_cleanup_pencils-vid50-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,5,tail_only_6,"[40, 43, 46, 47, 48, 49]",6,0.88,49,50,0.9999999403953552,0.9999999403953552
+unitree_z1_dual_arm_cleanup_pencils,case2,unitree_z1_dual_arm_cleanup_pencils-vid50-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,5,sparse_8,"[0, 7, 14, 21, 28, 35, 42, 49]",8,0.84,49,50,0.9999999403953552,0.9999999403953552
+unitree_z1_dual_arm_cleanup_pencils,case2,unitree_z1_dual_arm_cleanup_pencils-vid50-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,5,sparse_4,"[0, 16, 32, 49]",4,0.92,49,50,0.9999999403953552,0.9999999403953552
+unitree_z1_dual_arm_cleanup_pencils,case2,unitree_z1_dual_arm_cleanup_pencils-vid50-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,5,tail_only_4,"[40, 43, 46, 49]",4,0.92,49,50,0.9999999403953552,0.9999999403953552
+unitree_z1_dual_arm_cleanup_pencils,case2,unitree_z1_dual_arm_cleanup_pencils-vid50-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,5,tail_heavy_6,"[0, 32, 40, 44, 47, 49]",6,0.88,49,50,0.9999999403953552,0.9999999403953552
+unitree_z1_dual_arm_cleanup_pencils,case2,unitree_z1_dual_arm_cleanup_pencils-vid50-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,5,tail_heavy_8,"[0, 10, 20, 30, 38, 43, 46, 49]",8,0.84,49,50,0.9999999403953552,0.9999999403953552
+unitree_z1_dual_arm_cleanup_pencils,case2,unitree_z1_dual_arm_cleanup_pencils-vid50-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,6,dense,"[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49]",50,0.0,49,50,0.9999999403953552,1.0000001192092896
+unitree_z1_dual_arm_cleanup_pencils,case2,unitree_z1_dual_arm_cleanup_pencils-vid50-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,6,sparse_10,"[0, 5, 10, 15, 20, 25, 30, 35, 40, 45]",10,0.8,45,46,0.9109041094779968,0.8811536431312561
+unitree_z1_dual_arm_cleanup_pencils,case2,unitree_z1_dual_arm_cleanup_pencils-vid50-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,6,sparse_5,"[0, 10, 20, 30, 40]",5,0.9,40,41,0.729952871799469,0.6639800667762756
+unitree_z1_dual_arm_cleanup_pencils,case2,unitree_z1_dual_arm_cleanup_pencils-vid50-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,6,tail_heavy_10,"[0, 5, 10, 20, 30, 38, 43, 46, 48, 49]",10,0.8,49,50,0.9999999403953552,1.0000001192092896
+unitree_z1_dual_arm_cleanup_pencils,case2,unitree_z1_dual_arm_cleanup_pencils-vid50-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,6,tail_only_6,"[40, 43, 46, 47, 48, 49]",6,0.88,49,50,0.9999999403953552,1.0000001192092896
+unitree_z1_dual_arm_cleanup_pencils,case2,unitree_z1_dual_arm_cleanup_pencils-vid50-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,6,sparse_8,"[0, 7, 14, 21, 28, 35, 42, 49]",8,0.84,49,50,0.9999999403953552,1.0000001192092896
+unitree_z1_dual_arm_cleanup_pencils,case2,unitree_z1_dual_arm_cleanup_pencils-vid50-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,6,sparse_4,"[0, 16, 32, 49]",4,0.92,49,50,0.9999999403953552,1.0000001192092896
+unitree_z1_dual_arm_cleanup_pencils,case2,unitree_z1_dual_arm_cleanup_pencils-vid50-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,6,tail_only_4,"[40, 43, 46, 49]",4,0.92,49,50,0.9999999403953552,1.0000001192092896
+unitree_z1_dual_arm_cleanup_pencils,case2,unitree_z1_dual_arm_cleanup_pencils-vid50-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,6,tail_heavy_6,"[0, 32, 40, 44, 47, 49]",6,0.88,49,50,0.9999999403953552,1.0000001192092896
+unitree_z1_dual_arm_cleanup_pencils,case2,unitree_z1_dual_arm_cleanup_pencils-vid50-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,6,tail_heavy_8,"[0, 10, 20, 30, 38, 43, 46, 49]",8,0.84,49,50,0.9999999403953552,1.0000001192092896
+unitree_z1_dual_arm_cleanup_pencils,case2,unitree_z1_dual_arm_cleanup_pencils-vid50-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,7,dense,"[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49]",50,0.0,49,50,1.0,0.9999999403953552
+unitree_z1_dual_arm_cleanup_pencils,case2,unitree_z1_dual_arm_cleanup_pencils-vid50-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,7,sparse_10,"[0, 5, 10, 15, 20, 25, 30, 35, 40, 45]",10,0.8,45,46,0.938025951385498,0.8892456889152527
+unitree_z1_dual_arm_cleanup_pencils,case2,unitree_z1_dual_arm_cleanup_pencils-vid50-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,7,sparse_5,"[0, 10, 20, 30, 40]",5,0.9,40,41,0.7897075414657593,0.6854076385498047
+unitree_z1_dual_arm_cleanup_pencils,case2,unitree_z1_dual_arm_cleanup_pencils-vid50-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,7,tail_heavy_10,"[0, 5, 10, 20, 30, 38, 43, 46, 48, 49]",10,0.8,49,50,1.0,0.9999999403953552
+unitree_z1_dual_arm_cleanup_pencils,case2,unitree_z1_dual_arm_cleanup_pencils-vid50-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,7,tail_only_6,"[40, 43, 46, 47, 48, 49]",6,0.88,49,50,1.0,0.9999999403953552
+unitree_z1_dual_arm_cleanup_pencils,case2,unitree_z1_dual_arm_cleanup_pencils-vid50-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,7,sparse_8,"[0, 7, 14, 21, 28, 35, 42, 49]",8,0.84,49,50,1.0,0.9999999403953552
+unitree_z1_dual_arm_cleanup_pencils,case2,unitree_z1_dual_arm_cleanup_pencils-vid50-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,7,sparse_4,"[0, 16, 32, 49]",4,0.92,49,50,1.0,0.9999999403953552
+unitree_z1_dual_arm_cleanup_pencils,case2,unitree_z1_dual_arm_cleanup_pencils-vid50-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,7,tail_only_4,"[40, 43, 46, 49]",4,0.92,49,50,1.0,0.9999999403953552
+unitree_z1_dual_arm_cleanup_pencils,case2,unitree_z1_dual_arm_cleanup_pencils-vid50-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,7,tail_heavy_6,"[0, 32, 40, 44, 47, 49]",6,0.88,49,50,1.0,0.9999999403953552
+unitree_z1_dual_arm_cleanup_pencils,case2,unitree_z1_dual_arm_cleanup_pencils-vid50-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,7,tail_heavy_8,"[0, 10, 20, 30, 38, 43, 46, 49]",8,0.84,49,50,1.0,0.9999999403953552
+unitree_z1_dual_arm_cleanup_pencils,case3,unitree_z1_dual_arm_cleanup_pencils-vid100-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,0,dense,"[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49]",50,0.0,49,50,0.9999999403953552,1.0
+unitree_z1_dual_arm_cleanup_pencils,case3,unitree_z1_dual_arm_cleanup_pencils-vid100-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,0,sparse_10,"[0, 5, 10, 15, 20, 25, 30, 35, 40, 45]",10,0.8,45,46,0.9579039812088012,0.944425880908966
+unitree_z1_dual_arm_cleanup_pencils,case3,unitree_z1_dual_arm_cleanup_pencils-vid100-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,0,sparse_5,"[0, 10, 20, 30, 40]",5,0.9,40,41,0.8286036849021912,0.7764508724212646
+unitree_z1_dual_arm_cleanup_pencils,case3,unitree_z1_dual_arm_cleanup_pencils-vid100-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,0,tail_heavy_10,"[0, 5, 10, 20, 30, 38, 43, 46, 48, 49]",10,0.8,49,50,0.9999999403953552,1.0
+unitree_z1_dual_arm_cleanup_pencils,case3,unitree_z1_dual_arm_cleanup_pencils-vid100-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,0,tail_only_6,"[40, 43, 46, 47, 48, 49]",6,0.88,49,50,0.9999999403953552,1.0
+unitree_z1_dual_arm_cleanup_pencils,case3,unitree_z1_dual_arm_cleanup_pencils-vid100-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,0,sparse_8,"[0, 7, 14, 21, 28, 35, 42, 49]",8,0.84,49,50,0.9999999403953552,1.0
+unitree_z1_dual_arm_cleanup_pencils,case3,unitree_z1_dual_arm_cleanup_pencils-vid100-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,0,sparse_4,"[0, 16, 32, 49]",4,0.92,49,50,0.9999999403953552,1.0
+unitree_z1_dual_arm_cleanup_pencils,case3,unitree_z1_dual_arm_cleanup_pencils-vid100-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,0,tail_only_4,"[40, 43, 46, 49]",4,0.92,49,50,0.9999999403953552,1.0
+unitree_z1_dual_arm_cleanup_pencils,case3,unitree_z1_dual_arm_cleanup_pencils-vid100-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,0,tail_heavy_6,"[0, 32, 40, 44, 47, 49]",6,0.88,49,50,0.9999999403953552,1.0
+unitree_z1_dual_arm_cleanup_pencils,case3,unitree_z1_dual_arm_cleanup_pencils-vid100-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,0,tail_heavy_8,"[0, 10, 20, 30, 38, 43, 46, 49]",8,0.84,49,50,0.9999999403953552,1.0
+unitree_z1_dual_arm_cleanup_pencils,case3,unitree_z1_dual_arm_cleanup_pencils-vid100-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,1,dense,"[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49]",50,0.0,49,50,1.0000001192092896,0.9999998211860656
+unitree_z1_dual_arm_cleanup_pencils,case3,unitree_z1_dual_arm_cleanup_pencils-vid100-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,1,sparse_10,"[0, 5, 10, 15, 20, 25, 30, 35, 40, 45]",10,0.8,45,46,0.9246035814285278,0.9256354570388794
+unitree_z1_dual_arm_cleanup_pencils,case3,unitree_z1_dual_arm_cleanup_pencils-vid100-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,1,sparse_5,"[0, 10, 20, 30, 40]",5,0.9,40,41,0.7327710390090942,0.7534090876579285
+unitree_z1_dual_arm_cleanup_pencils,case3,unitree_z1_dual_arm_cleanup_pencils-vid100-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,1,tail_heavy_10,"[0, 5, 10, 20, 30, 38, 43, 46, 48, 49]",10,0.8,49,50,1.0000001192092896,0.9999998211860656
+unitree_z1_dual_arm_cleanup_pencils,case3,unitree_z1_dual_arm_cleanup_pencils-vid100-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,1,tail_only_6,"[40, 43, 46, 47, 48, 49]",6,0.88,49,50,1.0000001192092896,0.9999998211860656
+unitree_z1_dual_arm_cleanup_pencils,case3,unitree_z1_dual_arm_cleanup_pencils-vid100-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,1,sparse_8,"[0, 7, 14, 21, 28, 35, 42, 49]",8,0.84,49,50,1.0000001192092896,0.9999998211860656
+unitree_z1_dual_arm_cleanup_pencils,case3,unitree_z1_dual_arm_cleanup_pencils-vid100-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,1,sparse_4,"[0, 16, 32, 49]",4,0.92,49,50,1.0000001192092896,0.9999998211860656
+unitree_z1_dual_arm_cleanup_pencils,case3,unitree_z1_dual_arm_cleanup_pencils-vid100-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,1,tail_only_4,"[40, 43, 46, 49]",4,0.92,49,50,1.0000001192092896,0.9999998211860656
+unitree_z1_dual_arm_cleanup_pencils,case3,unitree_z1_dual_arm_cleanup_pencils-vid100-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,1,tail_heavy_6,"[0, 32, 40, 44, 47, 49]",6,0.88,49,50,1.0000001192092896,0.9999998211860656
+unitree_z1_dual_arm_cleanup_pencils,case3,unitree_z1_dual_arm_cleanup_pencils-vid100-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,1,tail_heavy_8,"[0, 10, 20, 30, 38, 43, 46, 49]",8,0.84,49,50,1.0000001192092896,0.9999998211860656
+unitree_z1_dual_arm_cleanup_pencils,case3,unitree_z1_dual_arm_cleanup_pencils-vid100-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,2,dense,"[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49]",50,0.0,49,50,1.0,1.0000001192092896
+unitree_z1_dual_arm_cleanup_pencils,case3,unitree_z1_dual_arm_cleanup_pencils-vid100-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,2,sparse_10,"[0, 5, 10, 15, 20, 25, 30, 35, 40, 45]",10,0.8,45,46,0.9358544945716858,0.907855987548828
+unitree_z1_dual_arm_cleanup_pencils,case3,unitree_z1_dual_arm_cleanup_pencils-vid100-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,2,sparse_5,"[0, 10, 20, 30, 40]",5,0.9,40,41,0.7930341958999634,0.7157309055328369
+unitree_z1_dual_arm_cleanup_pencils,case3,unitree_z1_dual_arm_cleanup_pencils-vid100-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,2,tail_heavy_10,"[0, 5, 10, 20, 30, 38, 43, 46, 48, 49]",10,0.8,49,50,1.0,1.0000001192092896
+unitree_z1_dual_arm_cleanup_pencils,case3,unitree_z1_dual_arm_cleanup_pencils-vid100-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,2,tail_only_6,"[40, 43, 46, 47, 48, 49]",6,0.88,49,50,1.0,1.0000001192092896
+unitree_z1_dual_arm_cleanup_pencils,case3,unitree_z1_dual_arm_cleanup_pencils-vid100-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,2,sparse_8,"[0, 7, 14, 21, 28, 35, 42, 49]",8,0.84,49,50,1.0,1.0000001192092896
+unitree_z1_dual_arm_cleanup_pencils,case3,unitree_z1_dual_arm_cleanup_pencils-vid100-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,2,sparse_4,"[0, 16, 32, 49]",4,0.92,49,50,1.0,1.0000001192092896
+unitree_z1_dual_arm_cleanup_pencils,case3,unitree_z1_dual_arm_cleanup_pencils-vid100-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,2,tail_only_4,"[40, 43, 46, 49]",4,0.92,49,50,1.0,1.0000001192092896
+unitree_z1_dual_arm_cleanup_pencils,case3,unitree_z1_dual_arm_cleanup_pencils-vid100-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,2,tail_heavy_6,"[0, 32, 40, 44, 47, 49]",6,0.88,49,50,1.0,1.0000001192092896
+unitree_z1_dual_arm_cleanup_pencils,case3,unitree_z1_dual_arm_cleanup_pencils-vid100-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,2,tail_heavy_8,"[0, 10, 20, 30, 38, 43, 46, 49]",8,0.84,49,50,1.0,1.0000001192092896
+unitree_z1_dual_arm_cleanup_pencils,case3,unitree_z1_dual_arm_cleanup_pencils-vid100-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,3,dense,"[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49]",50,0.0,49,50,1.0,0.9999998807907104
+unitree_z1_dual_arm_cleanup_pencils,case3,unitree_z1_dual_arm_cleanup_pencils-vid100-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,3,sparse_10,"[0, 5, 10, 15, 20, 25, 30, 35, 40, 45]",10,0.8,45,46,0.9571192860603333,0.9295386672019958
+unitree_z1_dual_arm_cleanup_pencils,case3,unitree_z1_dual_arm_cleanup_pencils-vid100-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,3,sparse_5,"[0, 10, 20, 30, 40]",5,0.9,40,41,0.8291254043579102,0.7658156752586365
+unitree_z1_dual_arm_cleanup_pencils,case3,unitree_z1_dual_arm_cleanup_pencils-vid100-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,3,tail_heavy_10,"[0, 5, 10, 20, 30, 38, 43, 46, 48, 49]",10,0.8,49,50,1.0,0.9999998807907104
+unitree_z1_dual_arm_cleanup_pencils,case3,unitree_z1_dual_arm_cleanup_pencils-vid100-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,3,tail_only_6,"[40, 43, 46, 47, 48, 49]",6,0.88,49,50,1.0,0.9999998807907104
+unitree_z1_dual_arm_cleanup_pencils,case3,unitree_z1_dual_arm_cleanup_pencils-vid100-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,3,sparse_8,"[0, 7, 14, 21, 28, 35, 42, 49]",8,0.84,49,50,1.0,0.9999998807907104
+unitree_z1_dual_arm_cleanup_pencils,case3,unitree_z1_dual_arm_cleanup_pencils-vid100-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,3,sparse_4,"[0, 16, 32, 49]",4,0.92,49,50,1.0,0.9999998807907104
+unitree_z1_dual_arm_cleanup_pencils,case3,unitree_z1_dual_arm_cleanup_pencils-vid100-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,3,tail_only_4,"[40, 43, 46, 49]",4,0.92,49,50,1.0,0.9999998807907104
+unitree_z1_dual_arm_cleanup_pencils,case3,unitree_z1_dual_arm_cleanup_pencils-vid100-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,3,tail_heavy_6,"[0, 32, 40, 44, 47, 49]",6,0.88,49,50,1.0,0.9999998807907104
+unitree_z1_dual_arm_cleanup_pencils,case3,unitree_z1_dual_arm_cleanup_pencils-vid100-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,3,tail_heavy_8,"[0, 10, 20, 30, 38, 43, 46, 49]",8,0.84,49,50,1.0,0.9999998807907104
+unitree_z1_dual_arm_cleanup_pencils,case3,unitree_z1_dual_arm_cleanup_pencils-vid100-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,4,dense,"[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49]",50,0.0,49,50,0.9999999403953552,1.0000001192092896
+unitree_z1_dual_arm_cleanup_pencils,case3,unitree_z1_dual_arm_cleanup_pencils-vid100-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,4,sparse_10,"[0, 5, 10, 15, 20, 25, 30, 35, 40, 45]",10,0.8,45,46,0.9671891331672668,0.9299530386924744
+unitree_z1_dual_arm_cleanup_pencils,case3,unitree_z1_dual_arm_cleanup_pencils-vid100-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,4,sparse_5,"[0, 10, 20, 30, 40]",5,0.9,40,41,0.8663440346717834,0.7482877969741821
+unitree_z1_dual_arm_cleanup_pencils,case3,unitree_z1_dual_arm_cleanup_pencils-vid100-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,4,tail_heavy_10,"[0, 5, 10, 20, 30, 38, 43, 46, 48, 49]",10,0.8,49,50,0.9999999403953552,1.0000001192092896
+unitree_z1_dual_arm_cleanup_pencils,case3,unitree_z1_dual_arm_cleanup_pencils-vid100-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,4,tail_only_6,"[40, 43, 46, 47, 48, 49]",6,0.88,49,50,0.9999999403953552,1.0000001192092896
+unitree_z1_dual_arm_cleanup_pencils,case3,unitree_z1_dual_arm_cleanup_pencils-vid100-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,4,sparse_8,"[0, 7, 14, 21, 28, 35, 42, 49]",8,0.84,49,50,0.9999999403953552,1.0000001192092896
+unitree_z1_dual_arm_cleanup_pencils,case3,unitree_z1_dual_arm_cleanup_pencils-vid100-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,4,sparse_4,"[0, 16, 32, 49]",4,0.92,49,50,0.9999999403953552,1.0000001192092896
+unitree_z1_dual_arm_cleanup_pencils,case3,unitree_z1_dual_arm_cleanup_pencils-vid100-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,4,tail_only_4,"[40, 43, 46, 49]",4,0.92,49,50,0.9999999403953552,1.0000001192092896
+unitree_z1_dual_arm_cleanup_pencils,case3,unitree_z1_dual_arm_cleanup_pencils-vid100-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,4,tail_heavy_6,"[0, 32, 40, 44, 47, 49]",6,0.88,49,50,0.9999999403953552,1.0000001192092896
+unitree_z1_dual_arm_cleanup_pencils,case3,unitree_z1_dual_arm_cleanup_pencils-vid100-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,4,tail_heavy_8,"[0, 10, 20, 30, 38, 43, 46, 49]",8,0.84,49,50,0.9999999403953552,1.0000001192092896
+unitree_z1_dual_arm_cleanup_pencils,case3,unitree_z1_dual_arm_cleanup_pencils-vid100-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,5,dense,"[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49]",50,0.0,49,50,0.9999998807907104,0.9999999403953552
+unitree_z1_dual_arm_cleanup_pencils,case3,unitree_z1_dual_arm_cleanup_pencils-vid100-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,5,sparse_10,"[0, 5, 10, 15, 20, 25, 30, 35, 40, 45]",10,0.8,45,46,0.935685694217682,0.9202673435211182
+unitree_z1_dual_arm_cleanup_pencils,case3,unitree_z1_dual_arm_cleanup_pencils-vid100-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,5,sparse_5,"[0, 10, 20, 30, 40]",5,0.9,40,41,0.7820004820823669,0.7685205936431885
+unitree_z1_dual_arm_cleanup_pencils,case3,unitree_z1_dual_arm_cleanup_pencils-vid100-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,5,tail_heavy_10,"[0, 5, 10, 20, 30, 38, 43, 46, 48, 49]",10,0.8,49,50,0.9999998807907104,0.9999999403953552
+unitree_z1_dual_arm_cleanup_pencils,case3,unitree_z1_dual_arm_cleanup_pencils-vid100-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,5,tail_only_6,"[40, 43, 46, 47, 48, 49]",6,0.88,49,50,0.9999998807907104,0.9999999403953552
+unitree_z1_dual_arm_cleanup_pencils,case3,unitree_z1_dual_arm_cleanup_pencils-vid100-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,5,sparse_8,"[0, 7, 14, 21, 28, 35, 42, 49]",8,0.84,49,50,0.9999998807907104,0.9999999403953552
+unitree_z1_dual_arm_cleanup_pencils,case3,unitree_z1_dual_arm_cleanup_pencils-vid100-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,5,sparse_4,"[0, 16, 32, 49]",4,0.92,49,50,0.9999998807907104,0.9999999403953552
+unitree_z1_dual_arm_cleanup_pencils,case3,unitree_z1_dual_arm_cleanup_pencils-vid100-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,5,tail_only_4,"[40, 43, 46, 49]",4,0.92,49,50,0.9999998807907104,0.9999999403953552
+unitree_z1_dual_arm_cleanup_pencils,case3,unitree_z1_dual_arm_cleanup_pencils-vid100-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,5,tail_heavy_6,"[0, 32, 40, 44, 47, 49]",6,0.88,49,50,0.9999998807907104,0.9999999403953552
+unitree_z1_dual_arm_cleanup_pencils,case3,unitree_z1_dual_arm_cleanup_pencils-vid100-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,5,tail_heavy_8,"[0, 10, 20, 30, 38, 43, 46, 49]",8,0.84,49,50,0.9999998807907104,0.9999999403953552
+unitree_z1_dual_arm_cleanup_pencils,case3,unitree_z1_dual_arm_cleanup_pencils-vid100-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,6,dense,"[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49]",50,0.0,49,50,0.9999999403953552,1.0
+unitree_z1_dual_arm_cleanup_pencils,case3,unitree_z1_dual_arm_cleanup_pencils-vid100-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,6,sparse_10,"[0, 5, 10, 15, 20, 25, 30, 35, 40, 45]",10,0.8,45,46,0.9347981810569764,0.8939910531044006
+unitree_z1_dual_arm_cleanup_pencils,case3,unitree_z1_dual_arm_cleanup_pencils-vid100-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,6,sparse_5,"[0, 10, 20, 30, 40]",5,0.9,40,41,0.7819885611534119,0.7117354273796082
+unitree_z1_dual_arm_cleanup_pencils,case3,unitree_z1_dual_arm_cleanup_pencils-vid100-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,6,tail_heavy_10,"[0, 5, 10, 20, 30, 38, 43, 46, 48, 49]",10,0.8,49,50,0.9999999403953552,1.0
+unitree_z1_dual_arm_cleanup_pencils,case3,unitree_z1_dual_arm_cleanup_pencils-vid100-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,6,tail_only_6,"[40, 43, 46, 47, 48, 49]",6,0.88,49,50,0.9999999403953552,1.0
+unitree_z1_dual_arm_cleanup_pencils,case3,unitree_z1_dual_arm_cleanup_pencils-vid100-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,6,sparse_8,"[0, 7, 14, 21, 28, 35, 42, 49]",8,0.84,49,50,0.9999999403953552,1.0
+unitree_z1_dual_arm_cleanup_pencils,case3,unitree_z1_dual_arm_cleanup_pencils-vid100-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,6,sparse_4,"[0, 16, 32, 49]",4,0.92,49,50,0.9999999403953552,1.0
+unitree_z1_dual_arm_cleanup_pencils,case3,unitree_z1_dual_arm_cleanup_pencils-vid100-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,6,tail_only_4,"[40, 43, 46, 49]",4,0.92,49,50,0.9999999403953552,1.0
+unitree_z1_dual_arm_cleanup_pencils,case3,unitree_z1_dual_arm_cleanup_pencils-vid100-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,6,tail_heavy_6,"[0, 32, 40, 44, 47, 49]",6,0.88,49,50,0.9999999403953552,1.0
+unitree_z1_dual_arm_cleanup_pencils,case3,unitree_z1_dual_arm_cleanup_pencils-vid100-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,6,tail_heavy_8,"[0, 10, 20, 30, 38, 43, 46, 49]",8,0.84,49,50,0.9999999403953552,1.0
+unitree_z1_dual_arm_cleanup_pencils,case3,unitree_z1_dual_arm_cleanup_pencils-vid100-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,7,dense,"[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49]",50,0.0,49,50,1.0000001192092896,1.0
+unitree_z1_dual_arm_cleanup_pencils,case3,unitree_z1_dual_arm_cleanup_pencils-vid100-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,7,sparse_10,"[0, 5, 10, 15, 20, 25, 30, 35, 40, 45]",10,0.8,45,46,0.9280385971069336,0.9009881019592284
+unitree_z1_dual_arm_cleanup_pencils,case3,unitree_z1_dual_arm_cleanup_pencils-vid100-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,7,sparse_5,"[0, 10, 20, 30, 40]",5,0.9,40,41,0.763324499130249,0.7258321642875671
+unitree_z1_dual_arm_cleanup_pencils,case3,unitree_z1_dual_arm_cleanup_pencils-vid100-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,7,tail_heavy_10,"[0, 5, 10, 20, 30, 38, 43, 46, 48, 49]",10,0.8,49,50,1.0000001192092896,1.0
+unitree_z1_dual_arm_cleanup_pencils,case3,unitree_z1_dual_arm_cleanup_pencils-vid100-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,7,tail_only_6,"[40, 43, 46, 47, 48, 49]",6,0.88,49,50,1.0000001192092896,1.0
+unitree_z1_dual_arm_cleanup_pencils,case3,unitree_z1_dual_arm_cleanup_pencils-vid100-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,7,sparse_8,"[0, 7, 14, 21, 28, 35, 42, 49]",8,0.84,49,50,1.0000001192092896,1.0
+unitree_z1_dual_arm_cleanup_pencils,case3,unitree_z1_dual_arm_cleanup_pencils-vid100-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,7,sparse_4,"[0, 16, 32, 49]",4,0.92,49,50,1.0000001192092896,1.0
+unitree_z1_dual_arm_cleanup_pencils,case3,unitree_z1_dual_arm_cleanup_pencils-vid100-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,7,tail_only_4,"[40, 43, 46, 49]",4,0.92,49,50,1.0000001192092896,1.0
+unitree_z1_dual_arm_cleanup_pencils,case3,unitree_z1_dual_arm_cleanup_pencils-vid100-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,7,tail_heavy_6,"[0, 32, 40, 44, 47, 49]",6,0.88,49,50,1.0000001192092896,1.0
+unitree_z1_dual_arm_cleanup_pencils,case3,unitree_z1_dual_arm_cleanup_pencils-vid100-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,7,tail_heavy_8,"[0, 10, 20, 30, 38, 43, 46, 49]",8,0.84,49,50,1.0000001192092896,1.0
+unitree_z1_dual_arm_cleanup_pencils,case3,unitree_z1_dual_arm_cleanup_pencils-vid100-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,0,dense,"[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49]",50,0.0,49,50,1.0,0.9999998807907104
+unitree_z1_dual_arm_cleanup_pencils,case3,unitree_z1_dual_arm_cleanup_pencils-vid100-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,0,sparse_10,"[0, 5, 10, 15, 20, 25, 30, 35, 40, 45]",10,0.8,45,46,0.957657277584076,0.949379563331604
+unitree_z1_dual_arm_cleanup_pencils,case3,unitree_z1_dual_arm_cleanup_pencils-vid100-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,0,sparse_5,"[0, 10, 20, 30, 40]",5,0.9,40,41,0.8272826671600342,0.8147889971733093
+unitree_z1_dual_arm_cleanup_pencils,case3,unitree_z1_dual_arm_cleanup_pencils-vid100-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,0,tail_heavy_10,"[0, 5, 10, 20, 30, 38, 43, 46, 48, 49]",10,0.8,49,50,1.0,0.9999998807907104
+unitree_z1_dual_arm_cleanup_pencils,case3,unitree_z1_dual_arm_cleanup_pencils-vid100-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,0,tail_only_6,"[40, 43, 46, 47, 48, 49]",6,0.88,49,50,1.0,0.9999998807907104
+unitree_z1_dual_arm_cleanup_pencils,case3,unitree_z1_dual_arm_cleanup_pencils-vid100-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,0,sparse_8,"[0, 7, 14, 21, 28, 35, 42, 49]",8,0.84,49,50,1.0,0.9999998807907104
+unitree_z1_dual_arm_cleanup_pencils,case3,unitree_z1_dual_arm_cleanup_pencils-vid100-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,0,sparse_4,"[0, 16, 32, 49]",4,0.92,49,50,1.0,0.9999998807907104
+unitree_z1_dual_arm_cleanup_pencils,case3,unitree_z1_dual_arm_cleanup_pencils-vid100-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,0,tail_only_4,"[40, 43, 46, 49]",4,0.92,49,50,1.0,0.9999998807907104
+unitree_z1_dual_arm_cleanup_pencils,case3,unitree_z1_dual_arm_cleanup_pencils-vid100-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,0,tail_heavy_6,"[0, 32, 40, 44, 47, 49]",6,0.88,49,50,1.0,0.9999998807907104
+unitree_z1_dual_arm_cleanup_pencils,case3,unitree_z1_dual_arm_cleanup_pencils-vid100-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,0,tail_heavy_8,"[0, 10, 20, 30, 38, 43, 46, 49]",8,0.84,49,50,1.0,0.9999998807907104
+unitree_z1_dual_arm_cleanup_pencils,case3,unitree_z1_dual_arm_cleanup_pencils-vid100-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,1,dense,"[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49]",50,0.0,49,50,0.9999999403953552,0.9999999403953552
+unitree_z1_dual_arm_cleanup_pencils,case3,unitree_z1_dual_arm_cleanup_pencils-vid100-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,1,sparse_10,"[0, 5, 10, 15, 20, 25, 30, 35, 40, 45]",10,0.8,45,46,0.9405927062034608,0.9369877576828004
+unitree_z1_dual_arm_cleanup_pencils,case3,unitree_z1_dual_arm_cleanup_pencils-vid100-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,1,sparse_5,"[0, 10, 20, 30, 40]",5,0.9,40,41,0.7893890142440796,0.7846688032150269
+unitree_z1_dual_arm_cleanup_pencils,case3,unitree_z1_dual_arm_cleanup_pencils-vid100-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,1,tail_heavy_10,"[0, 5, 10, 20, 30, 38, 43, 46, 48, 49]",10,0.8,49,50,0.9999999403953552,0.9999999403953552
+unitree_z1_dual_arm_cleanup_pencils,case3,unitree_z1_dual_arm_cleanup_pencils-vid100-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,1,tail_only_6,"[40, 43, 46, 47, 48, 49]",6,0.88,49,50,0.9999999403953552,0.9999999403953552
+unitree_z1_dual_arm_cleanup_pencils,case3,unitree_z1_dual_arm_cleanup_pencils-vid100-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,1,sparse_8,"[0, 7, 14, 21, 28, 35, 42, 49]",8,0.84,49,50,0.9999999403953552,0.9999999403953552
+unitree_z1_dual_arm_cleanup_pencils,case3,unitree_z1_dual_arm_cleanup_pencils-vid100-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,1,sparse_4,"[0, 16, 32, 49]",4,0.92,49,50,0.9999999403953552,0.9999999403953552
+unitree_z1_dual_arm_cleanup_pencils,case3,unitree_z1_dual_arm_cleanup_pencils-vid100-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,1,tail_only_4,"[40, 43, 46, 49]",4,0.92,49,50,0.9999999403953552,0.9999999403953552
+unitree_z1_dual_arm_cleanup_pencils,case3,unitree_z1_dual_arm_cleanup_pencils-vid100-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,1,tail_heavy_6,"[0, 32, 40, 44, 47, 49]",6,0.88,49,50,0.9999999403953552,0.9999999403953552
+unitree_z1_dual_arm_cleanup_pencils,case3,unitree_z1_dual_arm_cleanup_pencils-vid100-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,1,tail_heavy_8,"[0, 10, 20, 30, 38, 43, 46, 49]",8,0.84,49,50,0.9999999403953552,0.9999999403953552
+unitree_z1_dual_arm_cleanup_pencils,case3,unitree_z1_dual_arm_cleanup_pencils-vid100-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,2,dense,"[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49]",50,0.0,49,50,1.0,0.9999998807907104
+unitree_z1_dual_arm_cleanup_pencils,case3,unitree_z1_dual_arm_cleanup_pencils-vid100-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,2,sparse_10,"[0, 5, 10, 15, 20, 25, 30, 35, 40, 45]",10,0.8,45,46,0.9314900636672974,0.9073941707611084
+unitree_z1_dual_arm_cleanup_pencils,case3,unitree_z1_dual_arm_cleanup_pencils-vid100-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,2,sparse_5,"[0, 10, 20, 30, 40]",5,0.9,40,41,0.7624390721321106,0.714971661567688
+unitree_z1_dual_arm_cleanup_pencils,case3,unitree_z1_dual_arm_cleanup_pencils-vid100-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,2,tail_heavy_10,"[0, 5, 10, 20, 30, 38, 43, 46, 48, 49]",10,0.8,49,50,1.0,0.9999998807907104
+unitree_z1_dual_arm_cleanup_pencils,case3,unitree_z1_dual_arm_cleanup_pencils-vid100-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,2,tail_only_6,"[40, 43, 46, 47, 48, 49]",6,0.88,49,50,1.0,0.9999998807907104
+unitree_z1_dual_arm_cleanup_pencils,case3,unitree_z1_dual_arm_cleanup_pencils-vid100-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,2,sparse_8,"[0, 7, 14, 21, 28, 35, 42, 49]",8,0.84,49,50,1.0,0.9999998807907104
+unitree_z1_dual_arm_cleanup_pencils,case3,unitree_z1_dual_arm_cleanup_pencils-vid100-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,2,sparse_4,"[0, 16, 32, 49]",4,0.92,49,50,1.0,0.9999998807907104
+unitree_z1_dual_arm_cleanup_pencils,case3,unitree_z1_dual_arm_cleanup_pencils-vid100-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,2,tail_only_4,"[40, 43, 46, 49]",4,0.92,49,50,1.0,0.9999998807907104
+unitree_z1_dual_arm_cleanup_pencils,case3,unitree_z1_dual_arm_cleanup_pencils-vid100-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,2,tail_heavy_6,"[0, 32, 40, 44, 47, 49]",6,0.88,49,50,1.0,0.9999998807907104
+unitree_z1_dual_arm_cleanup_pencils,case3,unitree_z1_dual_arm_cleanup_pencils-vid100-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,2,tail_heavy_8,"[0, 10, 20, 30, 38, 43, 46, 49]",8,0.84,49,50,1.0,0.9999998807907104
+unitree_z1_dual_arm_cleanup_pencils,case3,unitree_z1_dual_arm_cleanup_pencils-vid100-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,3,dense,"[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49]",50,0.0,49,50,1.0,1.0
+unitree_z1_dual_arm_cleanup_pencils,case3,unitree_z1_dual_arm_cleanup_pencils-vid100-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,3,sparse_10,"[0, 5, 10, 15, 20, 25, 30, 35, 40, 45]",10,0.8,45,46,0.9548212885856628,0.930943727493286
+unitree_z1_dual_arm_cleanup_pencils,case3,unitree_z1_dual_arm_cleanup_pencils-vid100-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,3,sparse_5,"[0, 10, 20, 30, 40]",5,0.9,40,41,0.8348747491836548,0.7792040109634399
+unitree_z1_dual_arm_cleanup_pencils,case3,unitree_z1_dual_arm_cleanup_pencils-vid100-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,3,tail_heavy_10,"[0, 5, 10, 20, 30, 38, 43, 46, 48, 49]",10,0.8,49,50,1.0,1.0
+unitree_z1_dual_arm_cleanup_pencils,case3,unitree_z1_dual_arm_cleanup_pencils-vid100-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,3,tail_only_6,"[40, 43, 46, 47, 48, 49]",6,0.88,49,50,1.0,1.0
+unitree_z1_dual_arm_cleanup_pencils,case3,unitree_z1_dual_arm_cleanup_pencils-vid100-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,3,sparse_8,"[0, 7, 14, 21, 28, 35, 42, 49]",8,0.84,49,50,1.0,1.0
+unitree_z1_dual_arm_cleanup_pencils,case3,unitree_z1_dual_arm_cleanup_pencils-vid100-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,3,sparse_4,"[0, 16, 32, 49]",4,0.92,49,50,1.0,1.0
+unitree_z1_dual_arm_cleanup_pencils,case3,unitree_z1_dual_arm_cleanup_pencils-vid100-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,3,tail_only_4,"[40, 43, 46, 49]",4,0.92,49,50,1.0,1.0
+unitree_z1_dual_arm_cleanup_pencils,case3,unitree_z1_dual_arm_cleanup_pencils-vid100-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,3,tail_heavy_6,"[0, 32, 40, 44, 47, 49]",6,0.88,49,50,1.0,1.0
+unitree_z1_dual_arm_cleanup_pencils,case3,unitree_z1_dual_arm_cleanup_pencils-vid100-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,3,tail_heavy_8,"[0, 10, 20, 30, 38, 43, 46, 49]",8,0.84,49,50,1.0,1.0
+unitree_z1_dual_arm_cleanup_pencils,case3,unitree_z1_dual_arm_cleanup_pencils-vid100-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,4,dense,"[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49]",50,0.0,49,50,1.0,0.9999999403953552
+unitree_z1_dual_arm_cleanup_pencils,case3,unitree_z1_dual_arm_cleanup_pencils-vid100-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,4,sparse_10,"[0, 5, 10, 15, 20, 25, 30, 35, 40, 45]",10,0.8,45,46,0.957555890083313,0.9467400312423706
+unitree_z1_dual_arm_cleanup_pencils,case3,unitree_z1_dual_arm_cleanup_pencils-vid100-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,4,sparse_5,"[0, 10, 20, 30, 40]",5,0.9,40,41,0.831153154373169,0.8061467409133911
+unitree_z1_dual_arm_cleanup_pencils,case3,unitree_z1_dual_arm_cleanup_pencils-vid100-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,4,tail_heavy_10,"[0, 5, 10, 20, 30, 38, 43, 46, 48, 49]",10,0.8,49,50,1.0,0.9999999403953552
+unitree_z1_dual_arm_cleanup_pencils,case3,unitree_z1_dual_arm_cleanup_pencils-vid100-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,4,tail_only_6,"[40, 43, 46, 47, 48, 49]",6,0.88,49,50,1.0,0.9999999403953552
+unitree_z1_dual_arm_cleanup_pencils,case3,unitree_z1_dual_arm_cleanup_pencils-vid100-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,4,sparse_8,"[0, 7, 14, 21, 28, 35, 42, 49]",8,0.84,49,50,1.0,0.9999999403953552
+unitree_z1_dual_arm_cleanup_pencils,case3,unitree_z1_dual_arm_cleanup_pencils-vid100-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,4,sparse_4,"[0, 16, 32, 49]",4,0.92,49,50,1.0,0.9999999403953552
+unitree_z1_dual_arm_cleanup_pencils,case3,unitree_z1_dual_arm_cleanup_pencils-vid100-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,4,tail_only_4,"[40, 43, 46, 49]",4,0.92,49,50,1.0,0.9999999403953552
+unitree_z1_dual_arm_cleanup_pencils,case3,unitree_z1_dual_arm_cleanup_pencils-vid100-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,4,tail_heavy_6,"[0, 32, 40, 44, 47, 49]",6,0.88,49,50,1.0,0.9999999403953552
+unitree_z1_dual_arm_cleanup_pencils,case3,unitree_z1_dual_arm_cleanup_pencils-vid100-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,4,tail_heavy_8,"[0, 10, 20, 30, 38, 43, 46, 49]",8,0.84,49,50,1.0,0.9999999403953552
+unitree_z1_dual_arm_cleanup_pencils,case3,unitree_z1_dual_arm_cleanup_pencils-vid100-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,5,dense,"[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49]",50,0.0,49,50,0.9999998807907104,0.9999999403953552
+unitree_z1_dual_arm_cleanup_pencils,case3,unitree_z1_dual_arm_cleanup_pencils-vid100-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,5,sparse_10,"[0, 5, 10, 15, 20, 25, 30, 35, 40, 45]",10,0.8,45,46,0.923759698867798,0.9313251972198486
+unitree_z1_dual_arm_cleanup_pencils,case3,unitree_z1_dual_arm_cleanup_pencils-vid100-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,5,sparse_5,"[0, 10, 20, 30, 40]",5,0.9,40,41,0.7064602971076965,0.7824018597602844
+unitree_z1_dual_arm_cleanup_pencils,case3,unitree_z1_dual_arm_cleanup_pencils-vid100-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,5,tail_heavy_10,"[0, 5, 10, 20, 30, 38, 43, 46, 48, 49]",10,0.8,49,50,0.9999998807907104,0.9999999403953552
+unitree_z1_dual_arm_cleanup_pencils,case3,unitree_z1_dual_arm_cleanup_pencils-vid100-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,5,tail_only_6,"[40, 43, 46, 47, 48, 49]",6,0.88,49,50,0.9999998807907104,0.9999999403953552
+unitree_z1_dual_arm_cleanup_pencils,case3,unitree_z1_dual_arm_cleanup_pencils-vid100-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,5,sparse_8,"[0, 7, 14, 21, 28, 35, 42, 49]",8,0.84,49,50,0.9999998807907104,0.9999999403953552
+unitree_z1_dual_arm_cleanup_pencils,case3,unitree_z1_dual_arm_cleanup_pencils-vid100-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,5,sparse_4,"[0, 16, 32, 49]",4,0.92,49,50,0.9999998807907104,0.9999999403953552
+unitree_z1_dual_arm_cleanup_pencils,case3,unitree_z1_dual_arm_cleanup_pencils-vid100-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,5,tail_only_4,"[40, 43, 46, 49]",4,0.92,49,50,0.9999998807907104,0.9999999403953552
+unitree_z1_dual_arm_cleanup_pencils,case3,unitree_z1_dual_arm_cleanup_pencils-vid100-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,5,tail_heavy_6,"[0, 32, 40, 44, 47, 49]",6,0.88,49,50,0.9999998807907104,0.9999999403953552
+unitree_z1_dual_arm_cleanup_pencils,case3,unitree_z1_dual_arm_cleanup_pencils-vid100-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,5,tail_heavy_8,"[0, 10, 20, 30, 38, 43, 46, 49]",8,0.84,49,50,0.9999998807907104,0.9999999403953552
+unitree_z1_dual_arm_cleanup_pencils,case3,unitree_z1_dual_arm_cleanup_pencils-vid100-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,6,dense,"[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49]",50,0.0,49,50,1.0,1.0
+unitree_z1_dual_arm_cleanup_pencils,case3,unitree_z1_dual_arm_cleanup_pencils-vid100-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,6,sparse_10,"[0, 5, 10, 15, 20, 25, 30, 35, 40, 45]",10,0.8,45,46,0.9311313629150392,0.8875124454498291
+unitree_z1_dual_arm_cleanup_pencils,case3,unitree_z1_dual_arm_cleanup_pencils-vid100-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,6,sparse_5,"[0, 10, 20, 30, 40]",5,0.9,40,41,0.7693902850151062,0.6728435158729553
+unitree_z1_dual_arm_cleanup_pencils,case3,unitree_z1_dual_arm_cleanup_pencils-vid100-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,6,tail_heavy_10,"[0, 5, 10, 20, 30, 38, 43, 46, 48, 49]",10,0.8,49,50,1.0,1.0
+unitree_z1_dual_arm_cleanup_pencils,case3,unitree_z1_dual_arm_cleanup_pencils-vid100-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,6,tail_only_6,"[40, 43, 46, 47, 48, 49]",6,0.88,49,50,1.0,1.0
+unitree_z1_dual_arm_cleanup_pencils,case3,unitree_z1_dual_arm_cleanup_pencils-vid100-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,6,sparse_8,"[0, 7, 14, 21, 28, 35, 42, 49]",8,0.84,49,50,1.0,1.0
+unitree_z1_dual_arm_cleanup_pencils,case3,unitree_z1_dual_arm_cleanup_pencils-vid100-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,6,sparse_4,"[0, 16, 32, 49]",4,0.92,49,50,1.0,1.0
+unitree_z1_dual_arm_cleanup_pencils,case3,unitree_z1_dual_arm_cleanup_pencils-vid100-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,6,tail_only_4,"[40, 43, 46, 49]",4,0.92,49,50,1.0,1.0
+unitree_z1_dual_arm_cleanup_pencils,case3,unitree_z1_dual_arm_cleanup_pencils-vid100-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,6,tail_heavy_6,"[0, 32, 40, 44, 47, 49]",6,0.88,49,50,1.0,1.0
+unitree_z1_dual_arm_cleanup_pencils,case3,unitree_z1_dual_arm_cleanup_pencils-vid100-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,6,tail_heavy_8,"[0, 10, 20, 30, 38, 43, 46, 49]",8,0.84,49,50,1.0,1.0
+unitree_z1_dual_arm_cleanup_pencils,case3,unitree_z1_dual_arm_cleanup_pencils-vid100-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,7,dense,"[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49]",50,0.0,49,50,0.9999999403953552,0.9999998211860656
+unitree_z1_dual_arm_cleanup_pencils,case3,unitree_z1_dual_arm_cleanup_pencils-vid100-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,7,sparse_10,"[0, 5, 10, 15, 20, 25, 30, 35, 40, 45]",10,0.8,45,46,0.9218554496765136,0.8697124719619751
+unitree_z1_dual_arm_cleanup_pencils,case3,unitree_z1_dual_arm_cleanup_pencils-vid100-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,7,sparse_5,"[0, 10, 20, 30, 40]",5,0.9,40,41,0.7320351004600525,0.655717134475708
+unitree_z1_dual_arm_cleanup_pencils,case3,unitree_z1_dual_arm_cleanup_pencils-vid100-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,7,tail_heavy_10,"[0, 5, 10, 20, 30, 38, 43, 46, 48, 49]",10,0.8,49,50,0.9999999403953552,0.9999998211860656
+unitree_z1_dual_arm_cleanup_pencils,case3,unitree_z1_dual_arm_cleanup_pencils-vid100-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,7,tail_only_6,"[40, 43, 46, 47, 48, 49]",6,0.88,49,50,0.9999999403953552,0.9999998211860656
+unitree_z1_dual_arm_cleanup_pencils,case3,unitree_z1_dual_arm_cleanup_pencils-vid100-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,7,sparse_8,"[0, 7, 14, 21, 28, 35, 42, 49]",8,0.84,49,50,0.9999999403953552,0.9999998211860656
+unitree_z1_dual_arm_cleanup_pencils,case3,unitree_z1_dual_arm_cleanup_pencils-vid100-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,7,sparse_4,"[0, 16, 32, 49]",4,0.92,49,50,0.9999999403953552,0.9999998211860656
+unitree_z1_dual_arm_cleanup_pencils,case3,unitree_z1_dual_arm_cleanup_pencils-vid100-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,7,tail_only_4,"[40, 43, 46, 49]",4,0.92,49,50,0.9999999403953552,0.9999998211860656
+unitree_z1_dual_arm_cleanup_pencils,case3,unitree_z1_dual_arm_cleanup_pencils-vid100-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,7,tail_heavy_6,"[0, 32, 40, 44, 47, 49]",6,0.88,49,50,0.9999999403953552,0.9999998211860656
+unitree_z1_dual_arm_cleanup_pencils,case3,unitree_z1_dual_arm_cleanup_pencils-vid100-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,7,tail_heavy_8,"[0, 10, 20, 30, 38, 43, 46, 49]",8,0.84,49,50,0.9999999403953552,0.9999998211860656
+unitree_z1_dual_arm_cleanup_pencils,case4,unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,0,dense,"[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49]",50,0.0,49,50,1.0000001192092896,1.0000001192092896
+unitree_z1_dual_arm_cleanup_pencils,case4,unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,0,sparse_10,"[0, 5, 10, 15, 20, 25, 30, 35, 40, 45]",10,0.8,45,46,0.9570974707603456,0.9456936120986938
+unitree_z1_dual_arm_cleanup_pencils,case4,unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,0,sparse_5,"[0, 10, 20, 30, 40]",5,0.9,40,41,0.8264094591140747,0.776691198348999
+unitree_z1_dual_arm_cleanup_pencils,case4,unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,0,tail_heavy_10,"[0, 5, 10, 20, 30, 38, 43, 46, 48, 49]",10,0.8,49,50,1.0000001192092896,1.0000001192092896
+unitree_z1_dual_arm_cleanup_pencils,case4,unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,0,tail_only_6,"[40, 43, 46, 47, 48, 49]",6,0.88,49,50,1.0000001192092896,1.0000001192092896
+unitree_z1_dual_arm_cleanup_pencils,case4,unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,0,sparse_8,"[0, 7, 14, 21, 28, 35, 42, 49]",8,0.84,49,50,1.0000001192092896,1.0000001192092896
+unitree_z1_dual_arm_cleanup_pencils,case4,unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,0,sparse_4,"[0, 16, 32, 49]",4,0.92,49,50,1.0000001192092896,1.0000001192092896
+unitree_z1_dual_arm_cleanup_pencils,case4,unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,0,tail_only_4,"[40, 43, 46, 49]",4,0.92,49,50,1.0000001192092896,1.0000001192092896
+unitree_z1_dual_arm_cleanup_pencils,case4,unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,0,tail_heavy_6,"[0, 32, 40, 44, 47, 49]",6,0.88,49,50,1.0000001192092896,1.0000001192092896
+unitree_z1_dual_arm_cleanup_pencils,case4,unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,0,tail_heavy_8,"[0, 10, 20, 30, 38, 43, 46, 49]",8,0.84,49,50,1.0000001192092896,1.0000001192092896
+unitree_z1_dual_arm_cleanup_pencils,case4,unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,1,dense,"[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49]",50,0.0,49,50,0.9999999403953552,0.9999998807907104
+unitree_z1_dual_arm_cleanup_pencils,case4,unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,1,sparse_10,"[0, 5, 10, 15, 20, 25, 30, 35, 40, 45]",10,0.8,45,46,0.9312676191329956,0.9322847127914428
+unitree_z1_dual_arm_cleanup_pencils,case4,unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,1,sparse_5,"[0, 10, 20, 30, 40]",5,0.9,40,41,0.7448189854621887,0.7578383684158325
+unitree_z1_dual_arm_cleanup_pencils,case4,unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,1,tail_heavy_10,"[0, 5, 10, 20, 30, 38, 43, 46, 48, 49]",10,0.8,49,50,0.9999999403953552,0.9999998807907104
+unitree_z1_dual_arm_cleanup_pencils,case4,unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,1,tail_only_6,"[40, 43, 46, 47, 48, 49]",6,0.88,49,50,0.9999999403953552,0.9999998807907104
+unitree_z1_dual_arm_cleanup_pencils,case4,unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,1,sparse_8,"[0, 7, 14, 21, 28, 35, 42, 49]",8,0.84,49,50,0.9999999403953552,0.9999998807907104
+unitree_z1_dual_arm_cleanup_pencils,case4,unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,1,sparse_4,"[0, 16, 32, 49]",4,0.92,49,50,0.9999999403953552,0.9999998807907104
+unitree_z1_dual_arm_cleanup_pencils,case4,unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,1,tail_only_4,"[40, 43, 46, 49]",4,0.92,49,50,0.9999999403953552,0.9999998807907104
+unitree_z1_dual_arm_cleanup_pencils,case4,unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,1,tail_heavy_6,"[0, 32, 40, 44, 47, 49]",6,0.88,49,50,0.9999999403953552,0.9999998807907104
+unitree_z1_dual_arm_cleanup_pencils,case4,unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,1,tail_heavy_8,"[0, 10, 20, 30, 38, 43, 46, 49]",8,0.84,49,50,0.9999999403953552,0.9999998807907104
+unitree_z1_dual_arm_cleanup_pencils,case4,unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,2,dense,"[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49]",50,0.0,49,50,0.9999999403953552,0.9999999403953552
+unitree_z1_dual_arm_cleanup_pencils,case4,unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,2,sparse_10,"[0, 5, 10, 15, 20, 25, 30, 35, 40, 45]",10,0.8,45,46,0.9494664072990416,0.920929789543152
+unitree_z1_dual_arm_cleanup_pencils,case4,unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,2,sparse_5,"[0, 10, 20, 30, 40]",5,0.9,40,41,0.8269254565238953,0.7436317205429077
+unitree_z1_dual_arm_cleanup_pencils,case4,unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,2,tail_heavy_10,"[0, 5, 10, 20, 30, 38, 43, 46, 48, 49]",10,0.8,49,50,0.9999999403953552,0.9999999403953552
+unitree_z1_dual_arm_cleanup_pencils,case4,unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,2,tail_only_6,"[40, 43, 46, 47, 48, 49]",6,0.88,49,50,0.9999999403953552,0.9999999403953552
+unitree_z1_dual_arm_cleanup_pencils,case4,unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,2,sparse_8,"[0, 7, 14, 21, 28, 35, 42, 49]",8,0.84,49,50,0.9999999403953552,0.9999999403953552
+unitree_z1_dual_arm_cleanup_pencils,case4,unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,2,sparse_4,"[0, 16, 32, 49]",4,0.92,49,50,0.9999999403953552,0.9999999403953552
+unitree_z1_dual_arm_cleanup_pencils,case4,unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,2,tail_only_4,"[40, 43, 46, 49]",4,0.92,49,50,0.9999999403953552,0.9999999403953552
+unitree_z1_dual_arm_cleanup_pencils,case4,unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,2,tail_heavy_6,"[0, 32, 40, 44, 47, 49]",6,0.88,49,50,0.9999999403953552,0.9999999403953552
+unitree_z1_dual_arm_cleanup_pencils,case4,unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,2,tail_heavy_8,"[0, 10, 20, 30, 38, 43, 46, 49]",8,0.84,49,50,0.9999999403953552,0.9999999403953552
+unitree_z1_dual_arm_cleanup_pencils,case4,unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,3,dense,"[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49]",50,0.0,49,50,1.0,0.9999999403953552
+unitree_z1_dual_arm_cleanup_pencils,case4,unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,3,sparse_10,"[0, 5, 10, 15, 20, 25, 30, 35, 40, 45]",10,0.8,45,46,0.9609230160713196,0.936173379421234
+unitree_z1_dual_arm_cleanup_pencils,case4,unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,3,sparse_5,"[0, 10, 20, 30, 40]",5,0.9,40,41,0.8412717580795288,0.7837464213371277
+unitree_z1_dual_arm_cleanup_pencils,case4,unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,3,tail_heavy_10,"[0, 5, 10, 20, 30, 38, 43, 46, 48, 49]",10,0.8,49,50,1.0,0.9999999403953552
+unitree_z1_dual_arm_cleanup_pencils,case4,unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,3,tail_only_6,"[40, 43, 46, 47, 48, 49]",6,0.88,49,50,1.0,0.9999999403953552
+unitree_z1_dual_arm_cleanup_pencils,case4,unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,3,sparse_8,"[0, 7, 14, 21, 28, 35, 42, 49]",8,0.84,49,50,1.0,0.9999999403953552
+unitree_z1_dual_arm_cleanup_pencils,case4,unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,3,sparse_4,"[0, 16, 32, 49]",4,0.92,49,50,1.0,0.9999999403953552
+unitree_z1_dual_arm_cleanup_pencils,case4,unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,3,tail_only_4,"[40, 43, 46, 49]",4,0.92,49,50,1.0,0.9999999403953552
+unitree_z1_dual_arm_cleanup_pencils,case4,unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,3,tail_heavy_6,"[0, 32, 40, 44, 47, 49]",6,0.88,49,50,1.0,0.9999999403953552
+unitree_z1_dual_arm_cleanup_pencils,case4,unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,3,tail_heavy_8,"[0, 10, 20, 30, 38, 43, 46, 49]",8,0.84,49,50,1.0,0.9999999403953552
+unitree_z1_dual_arm_cleanup_pencils,case4,unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,4,dense,"[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49]",50,0.0,49,50,1.0,1.000000238418579
+unitree_z1_dual_arm_cleanup_pencils,case4,unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,4,sparse_10,"[0, 5, 10, 15, 20, 25, 30, 35, 40, 45]",10,0.8,45,46,0.9653209447860718,0.9395588636398317
+unitree_z1_dual_arm_cleanup_pencils,case4,unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,4,sparse_5,"[0, 10, 20, 30, 40]",5,0.9,40,41,0.8571158051490784,0.7742787003517151
+unitree_z1_dual_arm_cleanup_pencils,case4,unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,4,tail_heavy_10,"[0, 5, 10, 20, 30, 38, 43, 46, 48, 49]",10,0.8,49,50,1.0,1.000000238418579
+unitree_z1_dual_arm_cleanup_pencils,case4,unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,4,tail_only_6,"[40, 43, 46, 47, 48, 49]",6,0.88,49,50,1.0,1.000000238418579
+unitree_z1_dual_arm_cleanup_pencils,case4,unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,4,sparse_8,"[0, 7, 14, 21, 28, 35, 42, 49]",8,0.84,49,50,1.0,1.000000238418579
+unitree_z1_dual_arm_cleanup_pencils,case4,unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,4,sparse_4,"[0, 16, 32, 49]",4,0.92,49,50,1.0,1.000000238418579
+unitree_z1_dual_arm_cleanup_pencils,case4,unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,4,tail_only_4,"[40, 43, 46, 49]",4,0.92,49,50,1.0,1.000000238418579
+unitree_z1_dual_arm_cleanup_pencils,case4,unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,4,tail_heavy_6,"[0, 32, 40, 44, 47, 49]",6,0.88,49,50,1.0,1.000000238418579
+unitree_z1_dual_arm_cleanup_pencils,case4,unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,4,tail_heavy_8,"[0, 10, 20, 30, 38, 43, 46, 49]",8,0.84,49,50,1.0,1.000000238418579
+unitree_z1_dual_arm_cleanup_pencils,case4,unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,5,dense,"[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49]",50,0.0,49,50,1.0000001192092896,0.9999999403953552
+unitree_z1_dual_arm_cleanup_pencils,case4,unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,5,sparse_10,"[0, 5, 10, 15, 20, 25, 30, 35, 40, 45]",10,0.8,45,46,0.9405670762062072,0.9209946990013124
+unitree_z1_dual_arm_cleanup_pencils,case4,unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,5,sparse_5,"[0, 10, 20, 30, 40]",5,0.9,40,41,0.7857427000999451,0.7668002247810364
+unitree_z1_dual_arm_cleanup_pencils,case4,unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,5,tail_heavy_10,"[0, 5, 10, 20, 30, 38, 43, 46, 48, 49]",10,0.8,49,50,1.0000001192092896,0.9999999403953552
+unitree_z1_dual_arm_cleanup_pencils,case4,unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,5,tail_only_6,"[40, 43, 46, 47, 48, 49]",6,0.88,49,50,1.0000001192092896,0.9999999403953552
+unitree_z1_dual_arm_cleanup_pencils,case4,unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,5,sparse_8,"[0, 7, 14, 21, 28, 35, 42, 49]",8,0.84,49,50,1.0000001192092896,0.9999999403953552
+unitree_z1_dual_arm_cleanup_pencils,case4,unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,5,sparse_4,"[0, 16, 32, 49]",4,0.92,49,50,1.0000001192092896,0.9999999403953552
+unitree_z1_dual_arm_cleanup_pencils,case4,unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,5,tail_only_4,"[40, 43, 46, 49]",4,0.92,49,50,1.0000001192092896,0.9999999403953552
+unitree_z1_dual_arm_cleanup_pencils,case4,unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,5,tail_heavy_6,"[0, 32, 40, 44, 47, 49]",6,0.88,49,50,1.0000001192092896,0.9999999403953552
+unitree_z1_dual_arm_cleanup_pencils,case4,unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,5,tail_heavy_8,"[0, 10, 20, 30, 38, 43, 46, 49]",8,0.84,49,50,1.0000001192092896,0.9999999403953552
+unitree_z1_dual_arm_cleanup_pencils,case4,unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,6,dense,"[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49]",50,0.0,49,50,0.9999999403953552,0.9999999403953552
+unitree_z1_dual_arm_cleanup_pencils,case4,unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,6,sparse_10,"[0, 5, 10, 15, 20, 25, 30, 35, 40, 45]",10,0.8,45,46,0.9351375699043274,0.9003321528434753
+unitree_z1_dual_arm_cleanup_pencils,case4,unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,6,sparse_5,"[0, 10, 20, 30, 40]",5,0.9,40,41,0.7881059050559998,0.7231899499893188
+unitree_z1_dual_arm_cleanup_pencils,case4,unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,6,tail_heavy_10,"[0, 5, 10, 20, 30, 38, 43, 46, 48, 49]",10,0.8,49,50,0.9999999403953552,0.9999999403953552
+unitree_z1_dual_arm_cleanup_pencils,case4,unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,6,tail_only_6,"[40, 43, 46, 47, 48, 49]",6,0.88,49,50,0.9999999403953552,0.9999999403953552
+unitree_z1_dual_arm_cleanup_pencils,case4,unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,6,sparse_8,"[0, 7, 14, 21, 28, 35, 42, 49]",8,0.84,49,50,0.9999999403953552,0.9999999403953552
+unitree_z1_dual_arm_cleanup_pencils,case4,unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,6,sparse_4,"[0, 16, 32, 49]",4,0.92,49,50,0.9999999403953552,0.9999999403953552
+unitree_z1_dual_arm_cleanup_pencils,case4,unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,6,tail_only_4,"[40, 43, 46, 49]",4,0.92,49,50,0.9999999403953552,0.9999999403953552
+unitree_z1_dual_arm_cleanup_pencils,case4,unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,6,tail_heavy_6,"[0, 32, 40, 44, 47, 49]",6,0.88,49,50,0.9999999403953552,0.9999999403953552
+unitree_z1_dual_arm_cleanup_pencils,case4,unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,6,tail_heavy_8,"[0, 10, 20, 30, 38, 43, 46, 49]",8,0.84,49,50,0.9999999403953552,0.9999999403953552
+unitree_z1_dual_arm_cleanup_pencils,case4,unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,7,dense,"[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49]",50,0.0,49,50,0.9999999403953552,1.0
+unitree_z1_dual_arm_cleanup_pencils,case4,unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,7,sparse_10,"[0, 5, 10, 15, 20, 25, 30, 35, 40, 45]",10,0.8,45,46,0.931062877178192,0.9063043594360352
+unitree_z1_dual_arm_cleanup_pencils,case4,unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,7,sparse_5,"[0, 10, 20, 30, 40]",5,0.9,40,41,0.7713243365287781,0.7344930171966553
+unitree_z1_dual_arm_cleanup_pencils,case4,unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,7,tail_heavy_10,"[0, 5, 10, 20, 30, 38, 43, 46, 48, 49]",10,0.8,49,50,0.9999999403953552,1.0
+unitree_z1_dual_arm_cleanup_pencils,case4,unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,7,tail_only_6,"[40, 43, 46, 47, 48, 49]",6,0.88,49,50,0.9999999403953552,1.0
+unitree_z1_dual_arm_cleanup_pencils,case4,unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,7,sparse_8,"[0, 7, 14, 21, 28, 35, 42, 49]",8,0.84,49,50,0.9999999403953552,1.0
+unitree_z1_dual_arm_cleanup_pencils,case4,unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,7,sparse_4,"[0, 16, 32, 49]",4,0.92,49,50,0.9999999403953552,1.0
+unitree_z1_dual_arm_cleanup_pencils,case4,unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,7,tail_only_4,"[40, 43, 46, 49]",4,0.92,49,50,0.9999999403953552,1.0
+unitree_z1_dual_arm_cleanup_pencils,case4,unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,7,tail_heavy_6,"[0, 32, 40, 44, 47, 49]",6,0.88,49,50,0.9999999403953552,1.0
+unitree_z1_dual_arm_cleanup_pencils,case4,unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,7,tail_heavy_8,"[0, 10, 20, 30, 38, 43, 46, 49]",8,0.84,49,50,0.9999999403953552,1.0
+unitree_z1_dual_arm_cleanup_pencils,case4,unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,0,dense,"[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49]",50,0.0,49,50,1.0000001192092896,0.9999997615814208
+unitree_z1_dual_arm_cleanup_pencils,case4,unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,0,sparse_10,"[0, 5, 10, 15, 20, 25, 30, 35, 40, 45]",10,0.8,45,46,0.9602527022361756,0.9499480724334716
+unitree_z1_dual_arm_cleanup_pencils,case4,unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,0,sparse_5,"[0, 10, 20, 30, 40]",5,0.9,40,41,0.8358718156814575,0.8147404193878174
+unitree_z1_dual_arm_cleanup_pencils,case4,unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,0,tail_heavy_10,"[0, 5, 10, 20, 30, 38, 43, 46, 48, 49]",10,0.8,49,50,1.0000001192092896,0.9999997615814208
+unitree_z1_dual_arm_cleanup_pencils,case4,unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,0,tail_only_6,"[40, 43, 46, 47, 48, 49]",6,0.88,49,50,1.0000001192092896,0.9999997615814208
+unitree_z1_dual_arm_cleanup_pencils,case4,unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,0,sparse_8,"[0, 7, 14, 21, 28, 35, 42, 49]",8,0.84,49,50,1.0000001192092896,0.9999997615814208
+unitree_z1_dual_arm_cleanup_pencils,case4,unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,0,sparse_4,"[0, 16, 32, 49]",4,0.92,49,50,1.0000001192092896,0.9999997615814208
+unitree_z1_dual_arm_cleanup_pencils,case4,unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,0,tail_only_4,"[40, 43, 46, 49]",4,0.92,49,50,1.0000001192092896,0.9999997615814208
+unitree_z1_dual_arm_cleanup_pencils,case4,unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,0,tail_heavy_6,"[0, 32, 40, 44, 47, 49]",6,0.88,49,50,1.0000001192092896,0.9999997615814208
+unitree_z1_dual_arm_cleanup_pencils,case4,unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,0,tail_heavy_8,"[0, 10, 20, 30, 38, 43, 46, 49]",8,0.84,49,50,1.0000001192092896,0.9999997615814208
+unitree_z1_dual_arm_cleanup_pencils,case4,unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,1,dense,"[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49]",50,0.0,49,50,1.0,1.0
+unitree_z1_dual_arm_cleanup_pencils,case4,unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,1,sparse_10,"[0, 5, 10, 15, 20, 25, 30, 35, 40, 45]",10,0.8,45,46,0.9421557188034058,0.9449011087417604
+unitree_z1_dual_arm_cleanup_pencils,case4,unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,1,sparse_5,"[0, 10, 20, 30, 40]",5,0.9,40,41,0.7882096767425537,0.8061511516571045
+unitree_z1_dual_arm_cleanup_pencils,case4,unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,1,tail_heavy_10,"[0, 5, 10, 20, 30, 38, 43, 46, 48, 49]",10,0.8,49,50,1.0,1.0
+unitree_z1_dual_arm_cleanup_pencils,case4,unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,1,tail_only_6,"[40, 43, 46, 47, 48, 49]",6,0.88,49,50,1.0,1.0
+unitree_z1_dual_arm_cleanup_pencils,case4,unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,1,sparse_8,"[0, 7, 14, 21, 28, 35, 42, 49]",8,0.84,49,50,1.0,1.0
+unitree_z1_dual_arm_cleanup_pencils,case4,unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,1,sparse_4,"[0, 16, 32, 49]",4,0.92,49,50,1.0,1.0
+unitree_z1_dual_arm_cleanup_pencils,case4,unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,1,tail_only_4,"[40, 43, 46, 49]",4,0.92,49,50,1.0,1.0
+unitree_z1_dual_arm_cleanup_pencils,case4,unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,1,tail_heavy_6,"[0, 32, 40, 44, 47, 49]",6,0.88,49,50,1.0,1.0
+unitree_z1_dual_arm_cleanup_pencils,case4,unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,1,tail_heavy_8,"[0, 10, 20, 30, 38, 43, 46, 49]",8,0.84,49,50,1.0,1.0
+unitree_z1_dual_arm_cleanup_pencils,case4,unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,2,dense,"[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49]",50,0.0,49,50,0.9999999403953552,0.9999998807907104
+unitree_z1_dual_arm_cleanup_pencils,case4,unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,2,sparse_10,"[0, 5, 10, 15, 20, 25, 30, 35, 40, 45]",10,0.8,45,46,0.9466826915740968,0.9235620498657228
+unitree_z1_dual_arm_cleanup_pencils,case4,unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,2,sparse_5,"[0, 10, 20, 30, 40]",5,0.9,40,41,0.8030243515968323,0.7561851143836975
+unitree_z1_dual_arm_cleanup_pencils,case4,unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,2,tail_heavy_10,"[0, 5, 10, 20, 30, 38, 43, 46, 48, 49]",10,0.8,49,50,0.9999999403953552,0.9999998807907104
+unitree_z1_dual_arm_cleanup_pencils,case4,unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,2,tail_only_6,"[40, 43, 46, 47, 48, 49]",6,0.88,49,50,0.9999999403953552,0.9999998807907104
+unitree_z1_dual_arm_cleanup_pencils,case4,unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,2,sparse_8,"[0, 7, 14, 21, 28, 35, 42, 49]",8,0.84,49,50,0.9999999403953552,0.9999998807907104
+unitree_z1_dual_arm_cleanup_pencils,case4,unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,2,sparse_4,"[0, 16, 32, 49]",4,0.92,49,50,0.9999999403953552,0.9999998807907104
+unitree_z1_dual_arm_cleanup_pencils,case4,unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,2,tail_only_4,"[40, 43, 46, 49]",4,0.92,49,50,0.9999999403953552,0.9999998807907104
+unitree_z1_dual_arm_cleanup_pencils,case4,unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,2,tail_heavy_6,"[0, 32, 40, 44, 47, 49]",6,0.88,49,50,0.9999999403953552,0.9999998807907104
+unitree_z1_dual_arm_cleanup_pencils,case4,unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,2,tail_heavy_8,"[0, 10, 20, 30, 38, 43, 46, 49]",8,0.84,49,50,0.9999999403953552,0.9999998807907104
+unitree_z1_dual_arm_cleanup_pencils,case4,unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,3,dense,"[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49]",50,0.0,49,50,0.9999999403953552,1.0000001192092896
+unitree_z1_dual_arm_cleanup_pencils,case4,unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,3,sparse_10,"[0, 5, 10, 15, 20, 25, 30, 35, 40, 45]",10,0.8,45,46,0.9562035799026488,0.9368112683296204
+unitree_z1_dual_arm_cleanup_pencils,case4,unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,3,sparse_5,"[0, 10, 20, 30, 40]",5,0.9,40,41,0.830414354801178,0.7886666059494019
+unitree_z1_dual_arm_cleanup_pencils,case4,unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,3,tail_heavy_10,"[0, 5, 10, 20, 30, 38, 43, 46, 48, 49]",10,0.8,49,50,0.9999999403953552,1.0000001192092896
+unitree_z1_dual_arm_cleanup_pencils,case4,unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,3,tail_only_6,"[40, 43, 46, 47, 48, 49]",6,0.88,49,50,0.9999999403953552,1.0000001192092896
+unitree_z1_dual_arm_cleanup_pencils,case4,unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,3,sparse_8,"[0, 7, 14, 21, 28, 35, 42, 49]",8,0.84,49,50,0.9999999403953552,1.0000001192092896
+unitree_z1_dual_arm_cleanup_pencils,case4,unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,3,sparse_4,"[0, 16, 32, 49]",4,0.92,49,50,0.9999999403953552,1.0000001192092896
+unitree_z1_dual_arm_cleanup_pencils,case4,unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,3,tail_only_4,"[40, 43, 46, 49]",4,0.92,49,50,0.9999999403953552,1.0000001192092896
+unitree_z1_dual_arm_cleanup_pencils,case4,unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,3,tail_heavy_6,"[0, 32, 40, 44, 47, 49]",6,0.88,49,50,0.9999999403953552,1.0000001192092896
+unitree_z1_dual_arm_cleanup_pencils,case4,unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,3,tail_heavy_8,"[0, 10, 20, 30, 38, 43, 46, 49]",8,0.84,49,50,0.9999999403953552,1.0000001192092896
+unitree_z1_dual_arm_cleanup_pencils,case4,unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,4,dense,"[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49]",50,0.0,49,50,1.0000001192092896,1.0
+unitree_z1_dual_arm_cleanup_pencils,case4,unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,4,sparse_10,"[0, 5, 10, 15, 20, 25, 30, 35, 40, 45]",10,0.8,45,46,0.9560105204582214,0.950186252593994
+unitree_z1_dual_arm_cleanup_pencils,case4,unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,4,sparse_5,"[0, 10, 20, 30, 40]",5,0.9,40,41,0.821743369102478,0.8137392997741699
+unitree_z1_dual_arm_cleanup_pencils,case4,unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,4,tail_heavy_10,"[0, 5, 10, 20, 30, 38, 43, 46, 48, 49]",10,0.8,49,50,1.0000001192092896,1.0
+unitree_z1_dual_arm_cleanup_pencils,case4,unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,4,tail_only_6,"[40, 43, 46, 47, 48, 49]",6,0.88,49,50,1.0000001192092896,1.0
+unitree_z1_dual_arm_cleanup_pencils,case4,unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,4,sparse_8,"[0, 7, 14, 21, 28, 35, 42, 49]",8,0.84,49,50,1.0000001192092896,1.0
+unitree_z1_dual_arm_cleanup_pencils,case4,unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,4,sparse_4,"[0, 16, 32, 49]",4,0.92,49,50,1.0000001192092896,1.0
+unitree_z1_dual_arm_cleanup_pencils,case4,unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,4,tail_only_4,"[40, 43, 46, 49]",4,0.92,49,50,1.0000001192092896,1.0
+unitree_z1_dual_arm_cleanup_pencils,case4,unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,4,tail_heavy_6,"[0, 32, 40, 44, 47, 49]",6,0.88,49,50,1.0000001192092896,1.0
+unitree_z1_dual_arm_cleanup_pencils,case4,unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,4,tail_heavy_8,"[0, 10, 20, 30, 38, 43, 46, 49]",8,0.84,49,50,1.0000001192092896,1.0
+unitree_z1_dual_arm_cleanup_pencils,case4,unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,5,dense,"[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49]",50,0.0,49,50,0.9999999403953552,0.999999701976776
+unitree_z1_dual_arm_cleanup_pencils,case4,unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,5,sparse_10,"[0, 5, 10, 15, 20, 25, 30, 35, 40, 45]",10,0.8,45,46,0.9327248930931092,0.93790203332901
+unitree_z1_dual_arm_cleanup_pencils,case4,unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,5,sparse_5,"[0, 10, 20, 30, 40]",5,0.9,40,41,0.742256224155426,0.7956138849258423
+unitree_z1_dual_arm_cleanup_pencils,case4,unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,5,tail_heavy_10,"[0, 5, 10, 20, 30, 38, 43, 46, 48, 49]",10,0.8,49,50,0.9999999403953552,0.999999701976776
+unitree_z1_dual_arm_cleanup_pencils,case4,unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,5,tail_only_6,"[40, 43, 46, 47, 48, 49]",6,0.88,49,50,0.9999999403953552,0.999999701976776
+unitree_z1_dual_arm_cleanup_pencils,case4,unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,5,sparse_8,"[0, 7, 14, 21, 28, 35, 42, 49]",8,0.84,49,50,0.9999999403953552,0.999999701976776
+unitree_z1_dual_arm_cleanup_pencils,case4,unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,5,sparse_4,"[0, 16, 32, 49]",4,0.92,49,50,0.9999999403953552,0.999999701976776
+unitree_z1_dual_arm_cleanup_pencils,case4,unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,5,tail_only_4,"[40, 43, 46, 49]",4,0.92,49,50,0.9999999403953552,0.999999701976776
+unitree_z1_dual_arm_cleanup_pencils,case4,unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,5,tail_heavy_6,"[0, 32, 40, 44, 47, 49]",6,0.88,49,50,0.9999999403953552,0.999999701976776
+unitree_z1_dual_arm_cleanup_pencils,case4,unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,5,tail_heavy_8,"[0, 10, 20, 30, 38, 43, 46, 49]",8,0.84,49,50,0.9999999403953552,0.999999701976776
+unitree_z1_dual_arm_cleanup_pencils,case4,unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,6,dense,"[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49]",50,0.0,49,50,0.9999999403953552,0.9999998807907104
+unitree_z1_dual_arm_cleanup_pencils,case4,unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,6,sparse_10,"[0, 5, 10, 15, 20, 25, 30, 35, 40, 45]",10,0.8,45,46,0.9367032051086426,0.9053252339363098
+unitree_z1_dual_arm_cleanup_pencils,case4,unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,6,sparse_5,"[0, 10, 20, 30, 40]",5,0.9,40,41,0.7840979099273682,0.7075294256210327
+unitree_z1_dual_arm_cleanup_pencils,case4,unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,6,tail_heavy_10,"[0, 5, 10, 20, 30, 38, 43, 46, 48, 49]",10,0.8,49,50,0.9999999403953552,0.9999998807907104
+unitree_z1_dual_arm_cleanup_pencils,case4,unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,6,tail_only_6,"[40, 43, 46, 47, 48, 49]",6,0.88,49,50,0.9999999403953552,0.9999998807907104
+unitree_z1_dual_arm_cleanup_pencils,case4,unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,6,sparse_8,"[0, 7, 14, 21, 28, 35, 42, 49]",8,0.84,49,50,0.9999999403953552,0.9999998807907104
+unitree_z1_dual_arm_cleanup_pencils,case4,unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,6,sparse_4,"[0, 16, 32, 49]",4,0.92,49,50,0.9999999403953552,0.9999998807907104
+unitree_z1_dual_arm_cleanup_pencils,case4,unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,6,tail_only_4,"[40, 43, 46, 49]",4,0.92,49,50,0.9999999403953552,0.9999998807907104
+unitree_z1_dual_arm_cleanup_pencils,case4,unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,6,tail_heavy_6,"[0, 32, 40, 44, 47, 49]",6,0.88,49,50,0.9999999403953552,0.9999998807907104
+unitree_z1_dual_arm_cleanup_pencils,case4,unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,6,tail_heavy_8,"[0, 10, 20, 30, 38, 43, 46, 49]",8,0.84,49,50,0.9999999403953552,0.9999998807907104
+unitree_z1_dual_arm_cleanup_pencils,case4,unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,7,dense,"[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49]",50,0.0,49,50,1.0,0.9999999403953552
+unitree_z1_dual_arm_cleanup_pencils,case4,unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,7,sparse_10,"[0, 5, 10, 15, 20, 25, 30, 35, 40, 45]",10,0.8,45,46,0.936943531036377,0.8907071352005005
+unitree_z1_dual_arm_cleanup_pencils,case4,unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,7,sparse_5,"[0, 10, 20, 30, 40]",5,0.9,40,41,0.7764344811439514,0.6886481642723083
+unitree_z1_dual_arm_cleanup_pencils,case4,unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,7,tail_heavy_10,"[0, 5, 10, 20, 30, 38, 43, 46, 48, 49]",10,0.8,49,50,1.0,0.9999999403953552
+unitree_z1_dual_arm_cleanup_pencils,case4,unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,7,tail_only_6,"[40, 43, 46, 47, 48, 49]",6,0.88,49,50,1.0,0.9999999403953552
+unitree_z1_dual_arm_cleanup_pencils,case4,unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,7,sparse_8,"[0, 7, 14, 21, 28, 35, 42, 49]",8,0.84,49,50,1.0,0.9999999403953552
+unitree_z1_dual_arm_cleanup_pencils,case4,unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,7,sparse_4,"[0, 16, 32, 49]",4,0.92,49,50,1.0,0.9999999403953552
+unitree_z1_dual_arm_cleanup_pencils,case4,unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,7,tail_only_4,"[40, 43, 46, 49]",4,0.92,49,50,1.0,0.9999999403953552
+unitree_z1_dual_arm_cleanup_pencils,case4,unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,7,tail_heavy_6,"[0, 32, 40, 44, 47, 49]",6,0.88,49,50,1.0,0.9999999403953552
+unitree_z1_dual_arm_cleanup_pencils,case4,unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,7,tail_heavy_8,"[0, 10, 20, 30, 38, 43, 46, 49]",8,0.84,49,50,1.0,0.9999999403953552
+unitree_z1_dual_arm_stackbox,case1,unitree_z1_dual_arm_stackbox-vid5-fs4,unitree_z1_dual_arm_stackbox,policy,0,dense,"[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49]",50,0.0,49,50,1.0,1.0
+unitree_z1_dual_arm_stackbox,case1,unitree_z1_dual_arm_stackbox-vid5-fs4,unitree_z1_dual_arm_stackbox,policy,0,sparse_10,"[0, 5, 10, 15, 20, 25, 30, 35, 40, 45]",10,0.8,45,46,0.9281617999076844,0.920473337173462
+unitree_z1_dual_arm_stackbox,case1,unitree_z1_dual_arm_stackbox-vid5-fs4,unitree_z1_dual_arm_stackbox,policy,0,sparse_5,"[0, 10, 20, 30, 40]",5,0.9,40,41,0.7415372729301453,0.7283984422683716
+unitree_z1_dual_arm_stackbox,case1,unitree_z1_dual_arm_stackbox-vid5-fs4,unitree_z1_dual_arm_stackbox,policy,0,tail_heavy_10,"[0, 5, 10, 20, 30, 38, 43, 46, 48, 49]",10,0.8,49,50,1.0,1.0
+unitree_z1_dual_arm_stackbox,case1,unitree_z1_dual_arm_stackbox-vid5-fs4,unitree_z1_dual_arm_stackbox,policy,0,tail_only_6,"[40, 43, 46, 47, 48, 49]",6,0.88,49,50,1.0,1.0
+unitree_z1_dual_arm_stackbox,case1,unitree_z1_dual_arm_stackbox-vid5-fs4,unitree_z1_dual_arm_stackbox,policy,0,sparse_8,"[0, 7, 14, 21, 28, 35, 42, 49]",8,0.84,49,50,1.0,1.0
+unitree_z1_dual_arm_stackbox,case1,unitree_z1_dual_arm_stackbox-vid5-fs4,unitree_z1_dual_arm_stackbox,policy,0,sparse_4,"[0, 16, 32, 49]",4,0.92,49,50,1.0,1.0
+unitree_z1_dual_arm_stackbox,case1,unitree_z1_dual_arm_stackbox-vid5-fs4,unitree_z1_dual_arm_stackbox,policy,0,tail_only_4,"[40, 43, 46, 49]",4,0.92,49,50,1.0,1.0
+unitree_z1_dual_arm_stackbox,case1,unitree_z1_dual_arm_stackbox-vid5-fs4,unitree_z1_dual_arm_stackbox,policy,0,tail_heavy_6,"[0, 32, 40, 44, 47, 49]",6,0.88,49,50,1.0,1.0
+unitree_z1_dual_arm_stackbox,case1,unitree_z1_dual_arm_stackbox-vid5-fs4,unitree_z1_dual_arm_stackbox,policy,0,tail_heavy_8,"[0, 10, 20, 30, 38, 43, 46, 49]",8,0.84,49,50,1.0,1.0
+unitree_z1_dual_arm_stackbox,case1,unitree_z1_dual_arm_stackbox-vid5-fs4,unitree_z1_dual_arm_stackbox,policy,1,dense,"[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49]",50,0.0,49,50,1.0000001192092896,0.9999999403953552
+unitree_z1_dual_arm_stackbox,case1,unitree_z1_dual_arm_stackbox-vid5-fs4,unitree_z1_dual_arm_stackbox,policy,1,sparse_10,"[0, 5, 10, 15, 20, 25, 30, 35, 40, 45]",10,0.8,45,46,0.9416152238845824,0.9297168850898744
+unitree_z1_dual_arm_stackbox,case1,unitree_z1_dual_arm_stackbox-vid5-fs4,unitree_z1_dual_arm_stackbox,policy,1,sparse_5,"[0, 10, 20, 30, 40]",5,0.9,40,41,0.7813132405281067,0.7789499759674072
+unitree_z1_dual_arm_stackbox,case1,unitree_z1_dual_arm_stackbox-vid5-fs4,unitree_z1_dual_arm_stackbox,policy,1,tail_heavy_10,"[0, 5, 10, 20, 30, 38, 43, 46, 48, 49]",10,0.8,49,50,1.0000001192092896,0.9999999403953552
+unitree_z1_dual_arm_stackbox,case1,unitree_z1_dual_arm_stackbox-vid5-fs4,unitree_z1_dual_arm_stackbox,policy,1,tail_only_6,"[40, 43, 46, 47, 48, 49]",6,0.88,49,50,1.0000001192092896,0.9999999403953552
+unitree_z1_dual_arm_stackbox,case1,unitree_z1_dual_arm_stackbox-vid5-fs4,unitree_z1_dual_arm_stackbox,policy,1,sparse_8,"[0, 7, 14, 21, 28, 35, 42, 49]",8,0.84,49,50,1.0000001192092896,0.9999999403953552
+unitree_z1_dual_arm_stackbox,case1,unitree_z1_dual_arm_stackbox-vid5-fs4,unitree_z1_dual_arm_stackbox,policy,1,sparse_4,"[0, 16, 32, 49]",4,0.92,49,50,1.0000001192092896,0.9999999403953552
+unitree_z1_dual_arm_stackbox,case1,unitree_z1_dual_arm_stackbox-vid5-fs4,unitree_z1_dual_arm_stackbox,policy,1,tail_only_4,"[40, 43, 46, 49]",4,0.92,49,50,1.0000001192092896,0.9999999403953552
+unitree_z1_dual_arm_stackbox,case1,unitree_z1_dual_arm_stackbox-vid5-fs4,unitree_z1_dual_arm_stackbox,policy,1,tail_heavy_6,"[0, 32, 40, 44, 47, 49]",6,0.88,49,50,1.0000001192092896,0.9999999403953552
+unitree_z1_dual_arm_stackbox,case1,unitree_z1_dual_arm_stackbox-vid5-fs4,unitree_z1_dual_arm_stackbox,policy,1,tail_heavy_8,"[0, 10, 20, 30, 38, 43, 46, 49]",8,0.84,49,50,1.0000001192092896,0.9999999403953552
+unitree_z1_dual_arm_stackbox,case1,unitree_z1_dual_arm_stackbox-vid5-fs4,unitree_z1_dual_arm_stackbox,policy,2,dense,"[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49]",50,0.0,49,50,1.0000001192092896,1.0
+unitree_z1_dual_arm_stackbox,case1,unitree_z1_dual_arm_stackbox-vid5-fs4,unitree_z1_dual_arm_stackbox,policy,2,sparse_10,"[0, 5, 10, 15, 20, 25, 30, 35, 40, 45]",10,0.8,45,46,0.9380109906196594,0.9295647740364076
+unitree_z1_dual_arm_stackbox,case1,unitree_z1_dual_arm_stackbox-vid5-fs4,unitree_z1_dual_arm_stackbox,policy,2,sparse_5,"[0, 10, 20, 30, 40]",5,0.9,40,41,0.7932138442993164,0.7772040963172913
+unitree_z1_dual_arm_stackbox,case1,unitree_z1_dual_arm_stackbox-vid5-fs4,unitree_z1_dual_arm_stackbox,policy,2,tail_heavy_10,"[0, 5, 10, 20, 30, 38, 43, 46, 48, 49]",10,0.8,49,50,1.0000001192092896,1.0
+unitree_z1_dual_arm_stackbox,case1,unitree_z1_dual_arm_stackbox-vid5-fs4,unitree_z1_dual_arm_stackbox,policy,2,tail_only_6,"[40, 43, 46, 47, 48, 49]",6,0.88,49,50,1.0000001192092896,1.0
+unitree_z1_dual_arm_stackbox,case1,unitree_z1_dual_arm_stackbox-vid5-fs4,unitree_z1_dual_arm_stackbox,policy,2,sparse_8,"[0, 7, 14, 21, 28, 35, 42, 49]",8,0.84,49,50,1.0000001192092896,1.0
+unitree_z1_dual_arm_stackbox,case1,unitree_z1_dual_arm_stackbox-vid5-fs4,unitree_z1_dual_arm_stackbox,policy,2,sparse_4,"[0, 16, 32, 49]",4,0.92,49,50,1.0000001192092896,1.0
+unitree_z1_dual_arm_stackbox,case1,unitree_z1_dual_arm_stackbox-vid5-fs4,unitree_z1_dual_arm_stackbox,policy,2,tail_only_4,"[40, 43, 46, 49]",4,0.92,49,50,1.0000001192092896,1.0
+unitree_z1_dual_arm_stackbox,case1,unitree_z1_dual_arm_stackbox-vid5-fs4,unitree_z1_dual_arm_stackbox,policy,2,tail_heavy_6,"[0, 32, 40, 44, 47, 49]",6,0.88,49,50,1.0000001192092896,1.0
+unitree_z1_dual_arm_stackbox,case1,unitree_z1_dual_arm_stackbox-vid5-fs4,unitree_z1_dual_arm_stackbox,policy,2,tail_heavy_8,"[0, 10, 20, 30, 38, 43, 46, 49]",8,0.84,49,50,1.0000001192092896,1.0
+unitree_z1_dual_arm_stackbox,case1,unitree_z1_dual_arm_stackbox-vid5-fs4,unitree_z1_dual_arm_stackbox,policy,3,dense,"[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49]",50,0.0,49,50,0.9999998807907104,1.0
+unitree_z1_dual_arm_stackbox,case1,unitree_z1_dual_arm_stackbox-vid5-fs4,unitree_z1_dual_arm_stackbox,policy,3,sparse_10,"[0, 5, 10, 15, 20, 25, 30, 35, 40, 45]",10,0.8,45,46,0.9230407476425172,0.9084457159042358
+unitree_z1_dual_arm_stackbox,case1,unitree_z1_dual_arm_stackbox-vid5-fs4,unitree_z1_dual_arm_stackbox,policy,3,sparse_5,"[0, 10, 20, 30, 40]",5,0.9,40,41,0.7281893491744995,0.7393944263458252
+unitree_z1_dual_arm_stackbox,case1,unitree_z1_dual_arm_stackbox-vid5-fs4,unitree_z1_dual_arm_stackbox,policy,3,tail_heavy_10,"[0, 5, 10, 20, 30, 38, 43, 46, 48, 49]",10,0.8,49,50,0.9999998807907104,1.0
+unitree_z1_dual_arm_stackbox,case1,unitree_z1_dual_arm_stackbox-vid5-fs4,unitree_z1_dual_arm_stackbox,policy,3,tail_only_6,"[40, 43, 46, 47, 48, 49]",6,0.88,49,50,0.9999998807907104,1.0
+unitree_z1_dual_arm_stackbox,case1,unitree_z1_dual_arm_stackbox-vid5-fs4,unitree_z1_dual_arm_stackbox,policy,3,sparse_8,"[0, 7, 14, 21, 28, 35, 42, 49]",8,0.84,49,50,0.9999998807907104,1.0
+unitree_z1_dual_arm_stackbox,case1,unitree_z1_dual_arm_stackbox-vid5-fs4,unitree_z1_dual_arm_stackbox,policy,3,sparse_4,"[0, 16, 32, 49]",4,0.92,49,50,0.9999998807907104,1.0
+unitree_z1_dual_arm_stackbox,case1,unitree_z1_dual_arm_stackbox-vid5-fs4,unitree_z1_dual_arm_stackbox,policy,3,tail_only_4,"[40, 43, 46, 49]",4,0.92,49,50,0.9999998807907104,1.0
+unitree_z1_dual_arm_stackbox,case1,unitree_z1_dual_arm_stackbox-vid5-fs4,unitree_z1_dual_arm_stackbox,policy,3,tail_heavy_6,"[0, 32, 40, 44, 47, 49]",6,0.88,49,50,0.9999998807907104,1.0
+unitree_z1_dual_arm_stackbox,case1,unitree_z1_dual_arm_stackbox-vid5-fs4,unitree_z1_dual_arm_stackbox,policy,3,tail_heavy_8,"[0, 10, 20, 30, 38, 43, 46, 49]",8,0.84,49,50,0.9999998807907104,1.0
+unitree_z1_dual_arm_stackbox,case1,unitree_z1_dual_arm_stackbox-vid5-fs4,unitree_z1_dual_arm_stackbox,policy,4,dense,"[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49]",50,0.0,49,50,1.0,1.0000001192092896
+unitree_z1_dual_arm_stackbox,case1,unitree_z1_dual_arm_stackbox-vid5-fs4,unitree_z1_dual_arm_stackbox,policy,4,sparse_10,"[0, 5, 10, 15, 20, 25, 30, 35, 40, 45]",10,0.8,45,46,0.9517711997032166,0.8663339018821716
+unitree_z1_dual_arm_stackbox,case1,unitree_z1_dual_arm_stackbox-vid5-fs4,unitree_z1_dual_arm_stackbox,policy,4,sparse_5,"[0, 10, 20, 30, 40]",5,0.9,40,41,0.830173909664154,0.6633978486061096
+unitree_z1_dual_arm_stackbox,case1,unitree_z1_dual_arm_stackbox-vid5-fs4,unitree_z1_dual_arm_stackbox,policy,4,tail_heavy_10,"[0, 5, 10, 20, 30, 38, 43, 46, 48, 49]",10,0.8,49,50,1.0,1.0000001192092896
+unitree_z1_dual_arm_stackbox,case1,unitree_z1_dual_arm_stackbox-vid5-fs4,unitree_z1_dual_arm_stackbox,policy,4,tail_only_6,"[40, 43, 46, 47, 48, 49]",6,0.88,49,50,1.0,1.0000001192092896
+unitree_z1_dual_arm_stackbox,case1,unitree_z1_dual_arm_stackbox-vid5-fs4,unitree_z1_dual_arm_stackbox,policy,4,sparse_8,"[0, 7, 14, 21, 28, 35, 42, 49]",8,0.84,49,50,1.0,1.0000001192092896
+unitree_z1_dual_arm_stackbox,case1,unitree_z1_dual_arm_stackbox-vid5-fs4,unitree_z1_dual_arm_stackbox,policy,4,sparse_4,"[0, 16, 32, 49]",4,0.92,49,50,1.0,1.0000001192092896
+unitree_z1_dual_arm_stackbox,case1,unitree_z1_dual_arm_stackbox-vid5-fs4,unitree_z1_dual_arm_stackbox,policy,4,tail_only_4,"[40, 43, 46, 49]",4,0.92,49,50,1.0,1.0000001192092896
+unitree_z1_dual_arm_stackbox,case1,unitree_z1_dual_arm_stackbox-vid5-fs4,unitree_z1_dual_arm_stackbox,policy,4,tail_heavy_6,"[0, 32, 40, 44, 47, 49]",6,0.88,49,50,1.0,1.0000001192092896
+unitree_z1_dual_arm_stackbox,case1,unitree_z1_dual_arm_stackbox-vid5-fs4,unitree_z1_dual_arm_stackbox,policy,4,tail_heavy_8,"[0, 10, 20, 30, 38, 43, 46, 49]",8,0.84,49,50,1.0,1.0000001192092896
+unitree_z1_dual_arm_stackbox,case1,unitree_z1_dual_arm_stackbox-vid5-fs4,unitree_z1_dual_arm_stackbox,policy,5,dense,"[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49]",50,0.0,49,50,1.0,1.0
+unitree_z1_dual_arm_stackbox,case1,unitree_z1_dual_arm_stackbox-vid5-fs4,unitree_z1_dual_arm_stackbox,policy,5,sparse_10,"[0, 5, 10, 15, 20, 25, 30, 35, 40, 45]",10,0.8,45,46,0.9418765902519226,0.907014787197113
+unitree_z1_dual_arm_stackbox,case1,unitree_z1_dual_arm_stackbox-vid5-fs4,unitree_z1_dual_arm_stackbox,policy,5,sparse_5,"[0, 10, 20, 30, 40]",5,0.9,40,41,0.7828198075294495,0.710634171962738
+unitree_z1_dual_arm_stackbox,case1,unitree_z1_dual_arm_stackbox-vid5-fs4,unitree_z1_dual_arm_stackbox,policy,5,tail_heavy_10,"[0, 5, 10, 20, 30, 38, 43, 46, 48, 49]",10,0.8,49,50,1.0,1.0
+unitree_z1_dual_arm_stackbox,case1,unitree_z1_dual_arm_stackbox-vid5-fs4,unitree_z1_dual_arm_stackbox,policy,5,tail_only_6,"[40, 43, 46, 47, 48, 49]",6,0.88,49,50,1.0,1.0
+unitree_z1_dual_arm_stackbox,case1,unitree_z1_dual_arm_stackbox-vid5-fs4,unitree_z1_dual_arm_stackbox,policy,5,sparse_8,"[0, 7, 14, 21, 28, 35, 42, 49]",8,0.84,49,50,1.0,1.0
+unitree_z1_dual_arm_stackbox,case1,unitree_z1_dual_arm_stackbox-vid5-fs4,unitree_z1_dual_arm_stackbox,policy,5,sparse_4,"[0, 16, 32, 49]",4,0.92,49,50,1.0,1.0
+unitree_z1_dual_arm_stackbox,case1,unitree_z1_dual_arm_stackbox-vid5-fs4,unitree_z1_dual_arm_stackbox,policy,5,tail_only_4,"[40, 43, 46, 49]",4,0.92,49,50,1.0,1.0
+unitree_z1_dual_arm_stackbox,case1,unitree_z1_dual_arm_stackbox-vid5-fs4,unitree_z1_dual_arm_stackbox,policy,5,tail_heavy_6,"[0, 32, 40, 44, 47, 49]",6,0.88,49,50,1.0,1.0
+unitree_z1_dual_arm_stackbox,case1,unitree_z1_dual_arm_stackbox-vid5-fs4,unitree_z1_dual_arm_stackbox,policy,5,tail_heavy_8,"[0, 10, 20, 30, 38, 43, 46, 49]",8,0.84,49,50,1.0,1.0
+unitree_z1_dual_arm_stackbox,case1,unitree_z1_dual_arm_stackbox-vid5-fs4,unitree_z1_dual_arm_stackbox,policy,6,dense,"[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49]",50,0.0,49,50,1.0,0.9999999403953552
+unitree_z1_dual_arm_stackbox,case1,unitree_z1_dual_arm_stackbox-vid5-fs4,unitree_z1_dual_arm_stackbox,policy,6,sparse_10,"[0, 5, 10, 15, 20, 25, 30, 35, 40, 45]",10,0.8,45,46,0.9112879633903505,0.8605808019638062
+unitree_z1_dual_arm_stackbox,case1,unitree_z1_dual_arm_stackbox-vid5-fs4,unitree_z1_dual_arm_stackbox,policy,6,sparse_5,"[0, 10, 20, 30, 40]",5,0.9,40,41,0.726110577583313,0.6552745699882507
+unitree_z1_dual_arm_stackbox,case1,unitree_z1_dual_arm_stackbox-vid5-fs4,unitree_z1_dual_arm_stackbox,policy,6,tail_heavy_10,"[0, 5, 10, 20, 30, 38, 43, 46, 48, 49]",10,0.8,49,50,1.0,0.9999999403953552
+unitree_z1_dual_arm_stackbox,case1,unitree_z1_dual_arm_stackbox-vid5-fs4,unitree_z1_dual_arm_stackbox,policy,6,tail_only_6,"[40, 43, 46, 47, 48, 49]",6,0.88,49,50,1.0,0.9999999403953552
+unitree_z1_dual_arm_stackbox,case1,unitree_z1_dual_arm_stackbox-vid5-fs4,unitree_z1_dual_arm_stackbox,policy,6,sparse_8,"[0, 7, 14, 21, 28, 35, 42, 49]",8,0.84,49,50,1.0,0.9999999403953552
+unitree_z1_dual_arm_stackbox,case1,unitree_z1_dual_arm_stackbox-vid5-fs4,unitree_z1_dual_arm_stackbox,policy,6,sparse_4,"[0, 16, 32, 49]",4,0.92,49,50,1.0,0.9999999403953552
+unitree_z1_dual_arm_stackbox,case1,unitree_z1_dual_arm_stackbox-vid5-fs4,unitree_z1_dual_arm_stackbox,policy,6,tail_only_4,"[40, 43, 46, 49]",4,0.92,49,50,1.0,0.9999999403953552
+unitree_z1_dual_arm_stackbox,case1,unitree_z1_dual_arm_stackbox-vid5-fs4,unitree_z1_dual_arm_stackbox,policy,6,tail_heavy_6,"[0, 32, 40, 44, 47, 49]",6,0.88,49,50,1.0,0.9999999403953552
+unitree_z1_dual_arm_stackbox,case1,unitree_z1_dual_arm_stackbox-vid5-fs4,unitree_z1_dual_arm_stackbox,policy,6,tail_heavy_8,"[0, 10, 20, 30, 38, 43, 46, 49]",8,0.84,49,50,1.0,0.9999999403953552
+unitree_z1_dual_arm_stackbox,case1,unitree_z1_dual_arm_stackbox-vid5-fs4,unitree_z1_dual_arm_stackbox,world_model,0,dense,"[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49]",50,0.0,49,50,1.0,1.0000001192092896
+unitree_z1_dual_arm_stackbox,case1,unitree_z1_dual_arm_stackbox-vid5-fs4,unitree_z1_dual_arm_stackbox,world_model,0,sparse_10,"[0, 5, 10, 15, 20, 25, 30, 35, 40, 45]",10,0.8,45,46,0.927464246749878,0.930588722229004
+unitree_z1_dual_arm_stackbox,case1,unitree_z1_dual_arm_stackbox-vid5-fs4,unitree_z1_dual_arm_stackbox,world_model,0,sparse_5,"[0, 10, 20, 30, 40]",5,0.9,40,41,0.7365826964378357,0.7721742391586304
+unitree_z1_dual_arm_stackbox,case1,unitree_z1_dual_arm_stackbox-vid5-fs4,unitree_z1_dual_arm_stackbox,world_model,0,tail_heavy_10,"[0, 5, 10, 20, 30, 38, 43, 46, 48, 49]",10,0.8,49,50,1.0,1.0000001192092896
+unitree_z1_dual_arm_stackbox,case1,unitree_z1_dual_arm_stackbox-vid5-fs4,unitree_z1_dual_arm_stackbox,world_model,0,tail_only_6,"[40, 43, 46, 47, 48, 49]",6,0.88,49,50,1.0,1.0000001192092896
+unitree_z1_dual_arm_stackbox,case1,unitree_z1_dual_arm_stackbox-vid5-fs4,unitree_z1_dual_arm_stackbox,world_model,0,sparse_8,"[0, 7, 14, 21, 28, 35, 42, 49]",8,0.84,49,50,1.0,1.0000001192092896
+unitree_z1_dual_arm_stackbox,case1,unitree_z1_dual_arm_stackbox-vid5-fs4,unitree_z1_dual_arm_stackbox,world_model,0,sparse_4,"[0, 16, 32, 49]",4,0.92,49,50,1.0,1.0000001192092896
+unitree_z1_dual_arm_stackbox,case1,unitree_z1_dual_arm_stackbox-vid5-fs4,unitree_z1_dual_arm_stackbox,world_model,0,tail_only_4,"[40, 43, 46, 49]",4,0.92,49,50,1.0,1.0000001192092896
+unitree_z1_dual_arm_stackbox,case1,unitree_z1_dual_arm_stackbox-vid5-fs4,unitree_z1_dual_arm_stackbox,world_model,0,tail_heavy_6,"[0, 32, 40, 44, 47, 49]",6,0.88,49,50,1.0,1.0000001192092896
+unitree_z1_dual_arm_stackbox,case1,unitree_z1_dual_arm_stackbox-vid5-fs4,unitree_z1_dual_arm_stackbox,world_model,0,tail_heavy_8,"[0, 10, 20, 30, 38, 43, 46, 49]",8,0.84,49,50,1.0,1.0000001192092896
+unitree_z1_dual_arm_stackbox,case1,unitree_z1_dual_arm_stackbox-vid5-fs4,unitree_z1_dual_arm_stackbox,world_model,1,dense,"[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49]",50,0.0,49,50,1.0000001192092896,0.9999997615814208
+unitree_z1_dual_arm_stackbox,case1,unitree_z1_dual_arm_stackbox-vid5-fs4,unitree_z1_dual_arm_stackbox,world_model,1,sparse_10,"[0, 5, 10, 15, 20, 25, 30, 35, 40, 45]",10,0.8,45,46,0.9357970952987672,0.9363895654678344
+unitree_z1_dual_arm_stackbox,case1,unitree_z1_dual_arm_stackbox-vid5-fs4,unitree_z1_dual_arm_stackbox,world_model,1,sparse_5,"[0, 10, 20, 30, 40]",5,0.9,40,41,0.7591714859008789,0.7729026675224304
+unitree_z1_dual_arm_stackbox,case1,unitree_z1_dual_arm_stackbox-vid5-fs4,unitree_z1_dual_arm_stackbox,world_model,1,tail_heavy_10,"[0, 5, 10, 20, 30, 38, 43, 46, 48, 49]",10,0.8,49,50,1.0000001192092896,0.9999997615814208
+unitree_z1_dual_arm_stackbox,case1,unitree_z1_dual_arm_stackbox-vid5-fs4,unitree_z1_dual_arm_stackbox,world_model,1,tail_only_6,"[40, 43, 46, 47, 48, 49]",6,0.88,49,50,1.0000001192092896,0.9999997615814208
+unitree_z1_dual_arm_stackbox,case1,unitree_z1_dual_arm_stackbox-vid5-fs4,unitree_z1_dual_arm_stackbox,world_model,1,sparse_8,"[0, 7, 14, 21, 28, 35, 42, 49]",8,0.84,49,50,1.0000001192092896,0.9999997615814208
+unitree_z1_dual_arm_stackbox,case1,unitree_z1_dual_arm_stackbox-vid5-fs4,unitree_z1_dual_arm_stackbox,world_model,1,sparse_4,"[0, 16, 32, 49]",4,0.92,49,50,1.0000001192092896,0.9999997615814208
+unitree_z1_dual_arm_stackbox,case1,unitree_z1_dual_arm_stackbox-vid5-fs4,unitree_z1_dual_arm_stackbox,world_model,1,tail_only_4,"[40, 43, 46, 49]",4,0.92,49,50,1.0000001192092896,0.9999997615814208
+unitree_z1_dual_arm_stackbox,case1,unitree_z1_dual_arm_stackbox-vid5-fs4,unitree_z1_dual_arm_stackbox,world_model,1,tail_heavy_6,"[0, 32, 40, 44, 47, 49]",6,0.88,49,50,1.0000001192092896,0.9999997615814208
+unitree_z1_dual_arm_stackbox,case1,unitree_z1_dual_arm_stackbox-vid5-fs4,unitree_z1_dual_arm_stackbox,world_model,1,tail_heavy_8,"[0, 10, 20, 30, 38, 43, 46, 49]",8,0.84,49,50,1.0000001192092896,0.9999997615814208
+unitree_z1_dual_arm_stackbox,case1,unitree_z1_dual_arm_stackbox-vid5-fs4,unitree_z1_dual_arm_stackbox,world_model,2,dense,"[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49]",50,0.0,49,50,1.0,1.0000001192092896
+unitree_z1_dual_arm_stackbox,case1,unitree_z1_dual_arm_stackbox-vid5-fs4,unitree_z1_dual_arm_stackbox,world_model,2,sparse_10,"[0, 5, 10, 15, 20, 25, 30, 35, 40, 45]",10,0.8,45,46,0.9282077550888062,0.9249772429466248
+unitree_z1_dual_arm_stackbox,case1,unitree_z1_dual_arm_stackbox-vid5-fs4,unitree_z1_dual_arm_stackbox,world_model,2,sparse_5,"[0, 10, 20, 30, 40]",5,0.9,40,41,0.7526300549507141,0.7628967761993408
+unitree_z1_dual_arm_stackbox,case1,unitree_z1_dual_arm_stackbox-vid5-fs4,unitree_z1_dual_arm_stackbox,world_model,2,tail_heavy_10,"[0, 5, 10, 20, 30, 38, 43, 46, 48, 49]",10,0.8,49,50,1.0,1.0000001192092896
+unitree_z1_dual_arm_stackbox,case1,unitree_z1_dual_arm_stackbox-vid5-fs4,unitree_z1_dual_arm_stackbox,world_model,2,tail_only_6,"[40, 43, 46, 47, 48, 49]",6,0.88,49,50,1.0,1.0000001192092896
+unitree_z1_dual_arm_stackbox,case1,unitree_z1_dual_arm_stackbox-vid5-fs4,unitree_z1_dual_arm_stackbox,world_model,2,sparse_8,"[0, 7, 14, 21, 28, 35, 42, 49]",8,0.84,49,50,1.0,1.0000001192092896
+unitree_z1_dual_arm_stackbox,case1,unitree_z1_dual_arm_stackbox-vid5-fs4,unitree_z1_dual_arm_stackbox,world_model,2,sparse_4,"[0, 16, 32, 49]",4,0.92,49,50,1.0,1.0000001192092896
+unitree_z1_dual_arm_stackbox,case1,unitree_z1_dual_arm_stackbox-vid5-fs4,unitree_z1_dual_arm_stackbox,world_model,2,tail_only_4,"[40, 43, 46, 49]",4,0.92,49,50,1.0,1.0000001192092896
+unitree_z1_dual_arm_stackbox,case1,unitree_z1_dual_arm_stackbox-vid5-fs4,unitree_z1_dual_arm_stackbox,world_model,2,tail_heavy_6,"[0, 32, 40, 44, 47, 49]",6,0.88,49,50,1.0,1.0000001192092896
+unitree_z1_dual_arm_stackbox,case1,unitree_z1_dual_arm_stackbox-vid5-fs4,unitree_z1_dual_arm_stackbox,world_model,2,tail_heavy_8,"[0, 10, 20, 30, 38, 43, 46, 49]",8,0.84,49,50,1.0,1.0000001192092896
+unitree_z1_dual_arm_stackbox,case1,unitree_z1_dual_arm_stackbox-vid5-fs4,unitree_z1_dual_arm_stackbox,world_model,3,dense,"[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49]",50,0.0,49,50,1.0,1.0
+unitree_z1_dual_arm_stackbox,case1,unitree_z1_dual_arm_stackbox-vid5-fs4,unitree_z1_dual_arm_stackbox,world_model,3,sparse_10,"[0, 5, 10, 15, 20, 25, 30, 35, 40, 45]",10,0.8,45,46,0.9214516878128052,0.9069160223007202
+unitree_z1_dual_arm_stackbox,case1,unitree_z1_dual_arm_stackbox-vid5-fs4,unitree_z1_dual_arm_stackbox,world_model,3,sparse_5,"[0, 10, 20, 30, 40]",5,0.9,40,41,0.735404372215271,0.731299638748169
+unitree_z1_dual_arm_stackbox,case1,unitree_z1_dual_arm_stackbox-vid5-fs4,unitree_z1_dual_arm_stackbox,world_model,3,tail_heavy_10,"[0, 5, 10, 20, 30, 38, 43, 46, 48, 49]",10,0.8,49,50,1.0,1.0
+unitree_z1_dual_arm_stackbox,case1,unitree_z1_dual_arm_stackbox-vid5-fs4,unitree_z1_dual_arm_stackbox,world_model,3,tail_only_6,"[40, 43, 46, 47, 48, 49]",6,0.88,49,50,1.0,1.0
+unitree_z1_dual_arm_stackbox,case1,unitree_z1_dual_arm_stackbox-vid5-fs4,unitree_z1_dual_arm_stackbox,world_model,3,sparse_8,"[0, 7, 14, 21, 28, 35, 42, 49]",8,0.84,49,50,1.0,1.0
+unitree_z1_dual_arm_stackbox,case1,unitree_z1_dual_arm_stackbox-vid5-fs4,unitree_z1_dual_arm_stackbox,world_model,3,sparse_4,"[0, 16, 32, 49]",4,0.92,49,50,1.0,1.0
+unitree_z1_dual_arm_stackbox,case1,unitree_z1_dual_arm_stackbox-vid5-fs4,unitree_z1_dual_arm_stackbox,world_model,3,tail_only_4,"[40, 43, 46, 49]",4,0.92,49,50,1.0,1.0
+unitree_z1_dual_arm_stackbox,case1,unitree_z1_dual_arm_stackbox-vid5-fs4,unitree_z1_dual_arm_stackbox,world_model,3,tail_heavy_6,"[0, 32, 40, 44, 47, 49]",6,0.88,49,50,1.0,1.0
+unitree_z1_dual_arm_stackbox,case1,unitree_z1_dual_arm_stackbox-vid5-fs4,unitree_z1_dual_arm_stackbox,world_model,3,tail_heavy_8,"[0, 10, 20, 30, 38, 43, 46, 49]",8,0.84,49,50,1.0,1.0
+unitree_z1_dual_arm_stackbox,case1,unitree_z1_dual_arm_stackbox-vid5-fs4,unitree_z1_dual_arm_stackbox,world_model,4,dense,"[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49]",50,0.0,49,50,0.9999999403953552,1.0
+unitree_z1_dual_arm_stackbox,case1,unitree_z1_dual_arm_stackbox-vid5-fs4,unitree_z1_dual_arm_stackbox,world_model,4,sparse_10,"[0, 5, 10, 15, 20, 25, 30, 35, 40, 45]",10,0.8,45,46,0.9339093565940856,0.8897832036018372
+unitree_z1_dual_arm_stackbox,case1,unitree_z1_dual_arm_stackbox-vid5-fs4,unitree_z1_dual_arm_stackbox,world_model,4,sparse_5,"[0, 10, 20, 30, 40]",5,0.9,40,41,0.7705811262130737,0.7077242136001587
+unitree_z1_dual_arm_stackbox,case1,unitree_z1_dual_arm_stackbox-vid5-fs4,unitree_z1_dual_arm_stackbox,world_model,4,tail_heavy_10,"[0, 5, 10, 20, 30, 38, 43, 46, 48, 49]",10,0.8,49,50,0.9999999403953552,1.0
+unitree_z1_dual_arm_stackbox,case1,unitree_z1_dual_arm_stackbox-vid5-fs4,unitree_z1_dual_arm_stackbox,world_model,4,tail_only_6,"[40, 43, 46, 47, 48, 49]",6,0.88,49,50,0.9999999403953552,1.0
+unitree_z1_dual_arm_stackbox,case1,unitree_z1_dual_arm_stackbox-vid5-fs4,unitree_z1_dual_arm_stackbox,world_model,4,sparse_8,"[0, 7, 14, 21, 28, 35, 42, 49]",8,0.84,49,50,0.9999999403953552,1.0
+unitree_z1_dual_arm_stackbox,case1,unitree_z1_dual_arm_stackbox-vid5-fs4,unitree_z1_dual_arm_stackbox,world_model,4,sparse_4,"[0, 16, 32, 49]",4,0.92,49,50,0.9999999403953552,1.0
+unitree_z1_dual_arm_stackbox,case1,unitree_z1_dual_arm_stackbox-vid5-fs4,unitree_z1_dual_arm_stackbox,world_model,4,tail_only_4,"[40, 43, 46, 49]",4,0.92,49,50,0.9999999403953552,1.0
+unitree_z1_dual_arm_stackbox,case1,unitree_z1_dual_arm_stackbox-vid5-fs4,unitree_z1_dual_arm_stackbox,world_model,4,tail_heavy_6,"[0, 32, 40, 44, 47, 49]",6,0.88,49,50,0.9999999403953552,1.0
+unitree_z1_dual_arm_stackbox,case1,unitree_z1_dual_arm_stackbox-vid5-fs4,unitree_z1_dual_arm_stackbox,world_model,4,tail_heavy_8,"[0, 10, 20, 30, 38, 43, 46, 49]",8,0.84,49,50,0.9999999403953552,1.0
+unitree_z1_dual_arm_stackbox,case1,unitree_z1_dual_arm_stackbox-vid5-fs4,unitree_z1_dual_arm_stackbox,world_model,5,dense,"[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49]",50,0.0,49,50,1.000000238418579,1.0
+unitree_z1_dual_arm_stackbox,case1,unitree_z1_dual_arm_stackbox-vid5-fs4,unitree_z1_dual_arm_stackbox,world_model,5,sparse_10,"[0, 5, 10, 15, 20, 25, 30, 35, 40, 45]",10,0.8,45,46,0.9328374266624452,0.9095973372459412
+unitree_z1_dual_arm_stackbox,case1,unitree_z1_dual_arm_stackbox-vid5-fs4,unitree_z1_dual_arm_stackbox,world_model,5,sparse_5,"[0, 10, 20, 30, 40]",5,0.9,40,41,0.7538094520568848,0.6926301121711731
+unitree_z1_dual_arm_stackbox,case1,unitree_z1_dual_arm_stackbox-vid5-fs4,unitree_z1_dual_arm_stackbox,world_model,5,tail_heavy_10,"[0, 5, 10, 20, 30, 38, 43, 46, 48, 49]",10,0.8,49,50,1.000000238418579,1.0
+unitree_z1_dual_arm_stackbox,case1,unitree_z1_dual_arm_stackbox-vid5-fs4,unitree_z1_dual_arm_stackbox,world_model,5,tail_only_6,"[40, 43, 46, 47, 48, 49]",6,0.88,49,50,1.000000238418579,1.0
+unitree_z1_dual_arm_stackbox,case1,unitree_z1_dual_arm_stackbox-vid5-fs4,unitree_z1_dual_arm_stackbox,world_model,5,sparse_8,"[0, 7, 14, 21, 28, 35, 42, 49]",8,0.84,49,50,1.000000238418579,1.0
+unitree_z1_dual_arm_stackbox,case1,unitree_z1_dual_arm_stackbox-vid5-fs4,unitree_z1_dual_arm_stackbox,world_model,5,sparse_4,"[0, 16, 32, 49]",4,0.92,49,50,1.000000238418579,1.0
+unitree_z1_dual_arm_stackbox,case1,unitree_z1_dual_arm_stackbox-vid5-fs4,unitree_z1_dual_arm_stackbox,world_model,5,tail_only_4,"[40, 43, 46, 49]",4,0.92,49,50,1.000000238418579,1.0
+unitree_z1_dual_arm_stackbox,case1,unitree_z1_dual_arm_stackbox-vid5-fs4,unitree_z1_dual_arm_stackbox,world_model,5,tail_heavy_6,"[0, 32, 40, 44, 47, 49]",6,0.88,49,50,1.000000238418579,1.0
+unitree_z1_dual_arm_stackbox,case1,unitree_z1_dual_arm_stackbox-vid5-fs4,unitree_z1_dual_arm_stackbox,world_model,5,tail_heavy_8,"[0, 10, 20, 30, 38, 43, 46, 49]",8,0.84,49,50,1.000000238418579,1.0
+unitree_z1_dual_arm_stackbox,case1,unitree_z1_dual_arm_stackbox-vid5-fs4,unitree_z1_dual_arm_stackbox,world_model,6,dense,"[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49]",50,0.0,49,50,0.9999998807907104,1.0
+unitree_z1_dual_arm_stackbox,case1,unitree_z1_dual_arm_stackbox-vid5-fs4,unitree_z1_dual_arm_stackbox,world_model,6,sparse_10,"[0, 5, 10, 15, 20, 25, 30, 35, 40, 45]",10,0.8,45,46,0.9099971652030944,0.8713437914848328
+unitree_z1_dual_arm_stackbox,case1,unitree_z1_dual_arm_stackbox-vid5-fs4,unitree_z1_dual_arm_stackbox,world_model,6,sparse_5,"[0, 10, 20, 30, 40]",5,0.9,40,41,0.7461420893669128,0.6772180795669556
+unitree_z1_dual_arm_stackbox,case1,unitree_z1_dual_arm_stackbox-vid5-fs4,unitree_z1_dual_arm_stackbox,world_model,6,tail_heavy_10,"[0, 5, 10, 20, 30, 38, 43, 46, 48, 49]",10,0.8,49,50,0.9999998807907104,1.0
+unitree_z1_dual_arm_stackbox,case1,unitree_z1_dual_arm_stackbox-vid5-fs4,unitree_z1_dual_arm_stackbox,world_model,6,tail_only_6,"[40, 43, 46, 47, 48, 49]",6,0.88,49,50,0.9999998807907104,1.0
+unitree_z1_dual_arm_stackbox,case1,unitree_z1_dual_arm_stackbox-vid5-fs4,unitree_z1_dual_arm_stackbox,world_model,6,sparse_8,"[0, 7, 14, 21, 28, 35, 42, 49]",8,0.84,49,50,0.9999998807907104,1.0
+unitree_z1_dual_arm_stackbox,case1,unitree_z1_dual_arm_stackbox-vid5-fs4,unitree_z1_dual_arm_stackbox,world_model,6,sparse_4,"[0, 16, 32, 49]",4,0.92,49,50,0.9999998807907104,1.0
+unitree_z1_dual_arm_stackbox,case1,unitree_z1_dual_arm_stackbox-vid5-fs4,unitree_z1_dual_arm_stackbox,world_model,6,tail_only_4,"[40, 43, 46, 49]",4,0.92,49,50,0.9999998807907104,1.0
+unitree_z1_dual_arm_stackbox,case1,unitree_z1_dual_arm_stackbox-vid5-fs4,unitree_z1_dual_arm_stackbox,world_model,6,tail_heavy_6,"[0, 32, 40, 44, 47, 49]",6,0.88,49,50,0.9999998807907104,1.0
+unitree_z1_dual_arm_stackbox,case1,unitree_z1_dual_arm_stackbox-vid5-fs4,unitree_z1_dual_arm_stackbox,world_model,6,tail_heavy_8,"[0, 10, 20, 30, 38, 43, 46, 49]",8,0.84,49,50,0.9999998807907104,1.0
+unitree_z1_dual_arm_stackbox,case2,unitree_z1_dual_arm_stackbox-vid15-fs4,unitree_z1_dual_arm_stackbox,policy,0,dense,"[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49]",50,0.0,49,50,1.0000001192092896,0.9999998211860656
+unitree_z1_dual_arm_stackbox,case2,unitree_z1_dual_arm_stackbox-vid15-fs4,unitree_z1_dual_arm_stackbox,policy,0,sparse_10,"[0, 5, 10, 15, 20, 25, 30, 35, 40, 45]",10,0.8,45,46,0.9254946112632751,0.8924329280853271
+unitree_z1_dual_arm_stackbox,case2,unitree_z1_dual_arm_stackbox-vid15-fs4,unitree_z1_dual_arm_stackbox,policy,0,sparse_5,"[0, 10, 20, 30, 40]",5,0.9,40,41,0.7575713992118835,0.6928970813751221
+unitree_z1_dual_arm_stackbox,case2,unitree_z1_dual_arm_stackbox-vid15-fs4,unitree_z1_dual_arm_stackbox,policy,0,tail_heavy_10,"[0, 5, 10, 20, 30, 38, 43, 46, 48, 49]",10,0.8,49,50,1.0000001192092896,0.9999998211860656
+unitree_z1_dual_arm_stackbox,case2,unitree_z1_dual_arm_stackbox-vid15-fs4,unitree_z1_dual_arm_stackbox,policy,0,tail_only_6,"[40, 43, 46, 47, 48, 49]",6,0.88,49,50,1.0000001192092896,0.9999998211860656
+unitree_z1_dual_arm_stackbox,case2,unitree_z1_dual_arm_stackbox-vid15-fs4,unitree_z1_dual_arm_stackbox,policy,0,sparse_8,"[0, 7, 14, 21, 28, 35, 42, 49]",8,0.84,49,50,1.0000001192092896,0.9999998211860656
+unitree_z1_dual_arm_stackbox,case2,unitree_z1_dual_arm_stackbox-vid15-fs4,unitree_z1_dual_arm_stackbox,policy,0,sparse_4,"[0, 16, 32, 49]",4,0.92,49,50,1.0000001192092896,0.9999998211860656
+unitree_z1_dual_arm_stackbox,case2,unitree_z1_dual_arm_stackbox-vid15-fs4,unitree_z1_dual_arm_stackbox,policy,0,tail_only_4,"[40, 43, 46, 49]",4,0.92,49,50,1.0000001192092896,0.9999998211860656
+unitree_z1_dual_arm_stackbox,case2,unitree_z1_dual_arm_stackbox-vid15-fs4,unitree_z1_dual_arm_stackbox,policy,0,tail_heavy_6,"[0, 32, 40, 44, 47, 49]",6,0.88,49,50,1.0000001192092896,0.9999998211860656
+unitree_z1_dual_arm_stackbox,case2,unitree_z1_dual_arm_stackbox-vid15-fs4,unitree_z1_dual_arm_stackbox,policy,0,tail_heavy_8,"[0, 10, 20, 30, 38, 43, 46, 49]",8,0.84,49,50,1.0000001192092896,0.9999998211860656
+unitree_z1_dual_arm_stackbox,case2,unitree_z1_dual_arm_stackbox-vid15-fs4,unitree_z1_dual_arm_stackbox,policy,1,dense,"[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49]",50,0.0,49,50,1.0,0.9999998211860656
+unitree_z1_dual_arm_stackbox,case2,unitree_z1_dual_arm_stackbox-vid15-fs4,unitree_z1_dual_arm_stackbox,policy,1,sparse_10,"[0, 5, 10, 15, 20, 25, 30, 35, 40, 45]",10,0.8,45,46,0.9399429559707642,0.9378249645233154
+unitree_z1_dual_arm_stackbox,case2,unitree_z1_dual_arm_stackbox-vid15-fs4,unitree_z1_dual_arm_stackbox,policy,1,sparse_5,"[0, 10, 20, 30, 40]",5,0.9,40,41,0.7817245125770569,0.7961803674697876
+unitree_z1_dual_arm_stackbox,case2,unitree_z1_dual_arm_stackbox-vid15-fs4,unitree_z1_dual_arm_stackbox,policy,1,tail_heavy_10,"[0, 5, 10, 20, 30, 38, 43, 46, 48, 49]",10,0.8,49,50,1.0,0.9999998211860656
+unitree_z1_dual_arm_stackbox,case2,unitree_z1_dual_arm_stackbox-vid15-fs4,unitree_z1_dual_arm_stackbox,policy,1,tail_only_6,"[40, 43, 46, 47, 48, 49]",6,0.88,49,50,1.0,0.9999998211860656
+unitree_z1_dual_arm_stackbox,case2,unitree_z1_dual_arm_stackbox-vid15-fs4,unitree_z1_dual_arm_stackbox,policy,1,sparse_8,"[0, 7, 14, 21, 28, 35, 42, 49]",8,0.84,49,50,1.0,0.9999998211860656
+unitree_z1_dual_arm_stackbox,case2,unitree_z1_dual_arm_stackbox-vid15-fs4,unitree_z1_dual_arm_stackbox,policy,1,sparse_4,"[0, 16, 32, 49]",4,0.92,49,50,1.0,0.9999998211860656
+unitree_z1_dual_arm_stackbox,case2,unitree_z1_dual_arm_stackbox-vid15-fs4,unitree_z1_dual_arm_stackbox,policy,1,tail_only_4,"[40, 43, 46, 49]",4,0.92,49,50,1.0,0.9999998211860656
+unitree_z1_dual_arm_stackbox,case2,unitree_z1_dual_arm_stackbox-vid15-fs4,unitree_z1_dual_arm_stackbox,policy,1,tail_heavy_6,"[0, 32, 40, 44, 47, 49]",6,0.88,49,50,1.0,0.9999998211860656
+unitree_z1_dual_arm_stackbox,case2,unitree_z1_dual_arm_stackbox-vid15-fs4,unitree_z1_dual_arm_stackbox,policy,1,tail_heavy_8,"[0, 10, 20, 30, 38, 43, 46, 49]",8,0.84,49,50,1.0,0.9999998211860656
+unitree_z1_dual_arm_stackbox,case2,unitree_z1_dual_arm_stackbox-vid15-fs4,unitree_z1_dual_arm_stackbox,policy,2,dense,"[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49]",50,0.0,49,50,1.0000001192092896,0.9999998807907104
+unitree_z1_dual_arm_stackbox,case2,unitree_z1_dual_arm_stackbox-vid15-fs4,unitree_z1_dual_arm_stackbox,policy,2,sparse_10,"[0, 5, 10, 15, 20, 25, 30, 35, 40, 45]",10,0.8,45,46,0.9289358854293824,0.9323650598526
+unitree_z1_dual_arm_stackbox,case2,unitree_z1_dual_arm_stackbox-vid15-fs4,unitree_z1_dual_arm_stackbox,policy,2,sparse_5,"[0, 10, 20, 30, 40]",5,0.9,40,41,0.7488354444503784,0.7755672931671143
+unitree_z1_dual_arm_stackbox,case2,unitree_z1_dual_arm_stackbox-vid15-fs4,unitree_z1_dual_arm_stackbox,policy,2,tail_heavy_10,"[0, 5, 10, 20, 30, 38, 43, 46, 48, 49]",10,0.8,49,50,1.0000001192092896,0.9999998807907104
+unitree_z1_dual_arm_stackbox,case2,unitree_z1_dual_arm_stackbox-vid15-fs4,unitree_z1_dual_arm_stackbox,policy,2,tail_only_6,"[40, 43, 46, 47, 48, 49]",6,0.88,49,50,1.0000001192092896,0.9999998807907104
+unitree_z1_dual_arm_stackbox,case2,unitree_z1_dual_arm_stackbox-vid15-fs4,unitree_z1_dual_arm_stackbox,policy,2,sparse_8,"[0, 7, 14, 21, 28, 35, 42, 49]",8,0.84,49,50,1.0000001192092896,0.9999998807907104
+unitree_z1_dual_arm_stackbox,case2,unitree_z1_dual_arm_stackbox-vid15-fs4,unitree_z1_dual_arm_stackbox,policy,2,sparse_4,"[0, 16, 32, 49]",4,0.92,49,50,1.0000001192092896,0.9999998807907104
+unitree_z1_dual_arm_stackbox,case2,unitree_z1_dual_arm_stackbox-vid15-fs4,unitree_z1_dual_arm_stackbox,policy,2,tail_only_4,"[40, 43, 46, 49]",4,0.92,49,50,1.0000001192092896,0.9999998807907104
+unitree_z1_dual_arm_stackbox,case2,unitree_z1_dual_arm_stackbox-vid15-fs4,unitree_z1_dual_arm_stackbox,policy,2,tail_heavy_6,"[0, 32, 40, 44, 47, 49]",6,0.88,49,50,1.0000001192092896,0.9999998807907104
+unitree_z1_dual_arm_stackbox,case2,unitree_z1_dual_arm_stackbox-vid15-fs4,unitree_z1_dual_arm_stackbox,policy,2,tail_heavy_8,"[0, 10, 20, 30, 38, 43, 46, 49]",8,0.84,49,50,1.0000001192092896,0.9999998807907104
+unitree_z1_dual_arm_stackbox,case2,unitree_z1_dual_arm_stackbox-vid15-fs4,unitree_z1_dual_arm_stackbox,policy,3,dense,"[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49]",50,0.0,49,50,1.0,0.9999998807907104
+unitree_z1_dual_arm_stackbox,case2,unitree_z1_dual_arm_stackbox-vid15-fs4,unitree_z1_dual_arm_stackbox,policy,3,sparse_10,"[0, 5, 10, 15, 20, 25, 30, 35, 40, 45]",10,0.8,45,46,0.9161860942840576,0.8815819621086121
+unitree_z1_dual_arm_stackbox,case2,unitree_z1_dual_arm_stackbox-vid15-fs4,unitree_z1_dual_arm_stackbox,policy,3,sparse_5,"[0, 10, 20, 30, 40]",5,0.9,40,41,0.7226790189743042,0.6866534352302551
+unitree_z1_dual_arm_stackbox,case2,unitree_z1_dual_arm_stackbox-vid15-fs4,unitree_z1_dual_arm_stackbox,policy,3,tail_heavy_10,"[0, 5, 10, 20, 30, 38, 43, 46, 48, 49]",10,0.8,49,50,1.0,0.9999998807907104
+unitree_z1_dual_arm_stackbox,case2,unitree_z1_dual_arm_stackbox-vid15-fs4,unitree_z1_dual_arm_stackbox,policy,3,tail_only_6,"[40, 43, 46, 47, 48, 49]",6,0.88,49,50,1.0,0.9999998807907104
+unitree_z1_dual_arm_stackbox,case2,unitree_z1_dual_arm_stackbox-vid15-fs4,unitree_z1_dual_arm_stackbox,policy,3,sparse_8,"[0, 7, 14, 21, 28, 35, 42, 49]",8,0.84,49,50,1.0,0.9999998807907104
+unitree_z1_dual_arm_stackbox,case2,unitree_z1_dual_arm_stackbox-vid15-fs4,unitree_z1_dual_arm_stackbox,policy,3,sparse_4,"[0, 16, 32, 49]",4,0.92,49,50,1.0,0.9999998807907104
+unitree_z1_dual_arm_stackbox,case2,unitree_z1_dual_arm_stackbox-vid15-fs4,unitree_z1_dual_arm_stackbox,policy,3,tail_only_4,"[40, 43, 46, 49]",4,0.92,49,50,1.0,0.9999998807907104
+unitree_z1_dual_arm_stackbox,case2,unitree_z1_dual_arm_stackbox-vid15-fs4,unitree_z1_dual_arm_stackbox,policy,3,tail_heavy_6,"[0, 32, 40, 44, 47, 49]",6,0.88,49,50,1.0,0.9999998807907104
+unitree_z1_dual_arm_stackbox,case2,unitree_z1_dual_arm_stackbox-vid15-fs4,unitree_z1_dual_arm_stackbox,policy,3,tail_heavy_8,"[0, 10, 20, 30, 38, 43, 46, 49]",8,0.84,49,50,1.0,0.9999998807907104
+unitree_z1_dual_arm_stackbox,case2,unitree_z1_dual_arm_stackbox-vid15-fs4,unitree_z1_dual_arm_stackbox,policy,4,dense,"[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49]",50,0.0,49,50,0.9999998807907104,1.0
+unitree_z1_dual_arm_stackbox,case2,unitree_z1_dual_arm_stackbox-vid15-fs4,unitree_z1_dual_arm_stackbox,policy,4,sparse_10,"[0, 5, 10, 15, 20, 25, 30, 35, 40, 45]",10,0.8,45,46,0.9436674118041992,0.8816397786140442
+unitree_z1_dual_arm_stackbox,case2,unitree_z1_dual_arm_stackbox-vid15-fs4,unitree_z1_dual_arm_stackbox,policy,4,sparse_5,"[0, 10, 20, 30, 40]",5,0.9,40,41,0.8095030784606934,0.6903662085533142
+unitree_z1_dual_arm_stackbox,case2,unitree_z1_dual_arm_stackbox-vid15-fs4,unitree_z1_dual_arm_stackbox,policy,4,tail_heavy_10,"[0, 5, 10, 20, 30, 38, 43, 46, 48, 49]",10,0.8,49,50,0.9999998807907104,1.0
+unitree_z1_dual_arm_stackbox,case2,unitree_z1_dual_arm_stackbox-vid15-fs4,unitree_z1_dual_arm_stackbox,policy,4,tail_only_6,"[40, 43, 46, 47, 48, 49]",6,0.88,49,50,0.9999998807907104,1.0
+unitree_z1_dual_arm_stackbox,case2,unitree_z1_dual_arm_stackbox-vid15-fs4,unitree_z1_dual_arm_stackbox,policy,4,sparse_8,"[0, 7, 14, 21, 28, 35, 42, 49]",8,0.84,49,50,0.9999998807907104,1.0
+unitree_z1_dual_arm_stackbox,case2,unitree_z1_dual_arm_stackbox-vid15-fs4,unitree_z1_dual_arm_stackbox,policy,4,sparse_4,"[0, 16, 32, 49]",4,0.92,49,50,0.9999998807907104,1.0
+unitree_z1_dual_arm_stackbox,case2,unitree_z1_dual_arm_stackbox-vid15-fs4,unitree_z1_dual_arm_stackbox,policy,4,tail_only_4,"[40, 43, 46, 49]",4,0.92,49,50,0.9999998807907104,1.0
+unitree_z1_dual_arm_stackbox,case2,unitree_z1_dual_arm_stackbox-vid15-fs4,unitree_z1_dual_arm_stackbox,policy,4,tail_heavy_6,"[0, 32, 40, 44, 47, 49]",6,0.88,49,50,0.9999998807907104,1.0
+unitree_z1_dual_arm_stackbox,case2,unitree_z1_dual_arm_stackbox-vid15-fs4,unitree_z1_dual_arm_stackbox,policy,4,tail_heavy_8,"[0, 10, 20, 30, 38, 43, 46, 49]",8,0.84,49,50,0.9999998807907104,1.0
+unitree_z1_dual_arm_stackbox,case2,unitree_z1_dual_arm_stackbox-vid15-fs4,unitree_z1_dual_arm_stackbox,policy,5,dense,"[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49]",50,0.0,49,50,0.9999998211860656,0.9999999403953552
+unitree_z1_dual_arm_stackbox,case2,unitree_z1_dual_arm_stackbox-vid15-fs4,unitree_z1_dual_arm_stackbox,policy,5,sparse_10,"[0, 5, 10, 15, 20, 25, 30, 35, 40, 45]",10,0.8,45,46,0.9347822070121764,0.9032790660858154
+unitree_z1_dual_arm_stackbox,case2,unitree_z1_dual_arm_stackbox-vid15-fs4,unitree_z1_dual_arm_stackbox,policy,5,sparse_5,"[0, 10, 20, 30, 40]",5,0.9,40,41,0.7699276208877563,0.6985117197036743
+unitree_z1_dual_arm_stackbox,case2,unitree_z1_dual_arm_stackbox-vid15-fs4,unitree_z1_dual_arm_stackbox,policy,5,tail_heavy_10,"[0, 5, 10, 20, 30, 38, 43, 46, 48, 49]",10,0.8,49,50,0.9999998211860656,0.9999999403953552
+unitree_z1_dual_arm_stackbox,case2,unitree_z1_dual_arm_stackbox-vid15-fs4,unitree_z1_dual_arm_stackbox,policy,5,tail_only_6,"[40, 43, 46, 47, 48, 49]",6,0.88,49,50,0.9999998211860656,0.9999999403953552
+unitree_z1_dual_arm_stackbox,case2,unitree_z1_dual_arm_stackbox-vid15-fs4,unitree_z1_dual_arm_stackbox,policy,5,sparse_8,"[0, 7, 14, 21, 28, 35, 42, 49]",8,0.84,49,50,0.9999998211860656,0.9999999403953552
+unitree_z1_dual_arm_stackbox,case2,unitree_z1_dual_arm_stackbox-vid15-fs4,unitree_z1_dual_arm_stackbox,policy,5,sparse_4,"[0, 16, 32, 49]",4,0.92,49,50,0.9999998211860656,0.9999999403953552
+unitree_z1_dual_arm_stackbox,case2,unitree_z1_dual_arm_stackbox-vid15-fs4,unitree_z1_dual_arm_stackbox,policy,5,tail_only_4,"[40, 43, 46, 49]",4,0.92,49,50,0.9999998211860656,0.9999999403953552
+unitree_z1_dual_arm_stackbox,case2,unitree_z1_dual_arm_stackbox-vid15-fs4,unitree_z1_dual_arm_stackbox,policy,5,tail_heavy_6,"[0, 32, 40, 44, 47, 49]",6,0.88,49,50,0.9999998211860656,0.9999999403953552
+unitree_z1_dual_arm_stackbox,case2,unitree_z1_dual_arm_stackbox-vid15-fs4,unitree_z1_dual_arm_stackbox,policy,5,tail_heavy_8,"[0, 10, 20, 30, 38, 43, 46, 49]",8,0.84,49,50,0.9999998211860656,0.9999999403953552
+unitree_z1_dual_arm_stackbox,case2,unitree_z1_dual_arm_stackbox-vid15-fs4,unitree_z1_dual_arm_stackbox,policy,6,dense,"[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49]",50,0.0,49,50,1.0,0.9999999403953552
+unitree_z1_dual_arm_stackbox,case2,unitree_z1_dual_arm_stackbox-vid15-fs4,unitree_z1_dual_arm_stackbox,policy,6,sparse_10,"[0, 5, 10, 15, 20, 25, 30, 35, 40, 45]",10,0.8,45,46,0.9172597527503968,0.8699696063995361
+unitree_z1_dual_arm_stackbox,case2,unitree_z1_dual_arm_stackbox-vid15-fs4,unitree_z1_dual_arm_stackbox,policy,6,sparse_5,"[0, 10, 20, 30, 40]",5,0.9,40,41,0.7385432720184326,0.6661067605018616
+unitree_z1_dual_arm_stackbox,case2,unitree_z1_dual_arm_stackbox-vid15-fs4,unitree_z1_dual_arm_stackbox,policy,6,tail_heavy_10,"[0, 5, 10, 20, 30, 38, 43, 46, 48, 49]",10,0.8,49,50,1.0,0.9999999403953552
+unitree_z1_dual_arm_stackbox,case2,unitree_z1_dual_arm_stackbox-vid15-fs4,unitree_z1_dual_arm_stackbox,policy,6,tail_only_6,"[40, 43, 46, 47, 48, 49]",6,0.88,49,50,1.0,0.9999999403953552
+unitree_z1_dual_arm_stackbox,case2,unitree_z1_dual_arm_stackbox-vid15-fs4,unitree_z1_dual_arm_stackbox,policy,6,sparse_8,"[0, 7, 14, 21, 28, 35, 42, 49]",8,0.84,49,50,1.0,0.9999999403953552
+unitree_z1_dual_arm_stackbox,case2,unitree_z1_dual_arm_stackbox-vid15-fs4,unitree_z1_dual_arm_stackbox,policy,6,sparse_4,"[0, 16, 32, 49]",4,0.92,49,50,1.0,0.9999999403953552
+unitree_z1_dual_arm_stackbox,case2,unitree_z1_dual_arm_stackbox-vid15-fs4,unitree_z1_dual_arm_stackbox,policy,6,tail_only_4,"[40, 43, 46, 49]",4,0.92,49,50,1.0,0.9999999403953552
+unitree_z1_dual_arm_stackbox,case2,unitree_z1_dual_arm_stackbox-vid15-fs4,unitree_z1_dual_arm_stackbox,policy,6,tail_heavy_6,"[0, 32, 40, 44, 47, 49]",6,0.88,49,50,1.0,0.9999999403953552
+unitree_z1_dual_arm_stackbox,case2,unitree_z1_dual_arm_stackbox-vid15-fs4,unitree_z1_dual_arm_stackbox,policy,6,tail_heavy_8,"[0, 10, 20, 30, 38, 43, 46, 49]",8,0.84,49,50,1.0,0.9999999403953552
+unitree_z1_dual_arm_stackbox,case2,unitree_z1_dual_arm_stackbox-vid15-fs4,unitree_z1_dual_arm_stackbox,world_model,0,dense,"[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49]",50,0.0,49,50,1.0,1.0000001192092896
+unitree_z1_dual_arm_stackbox,case2,unitree_z1_dual_arm_stackbox-vid15-fs4,unitree_z1_dual_arm_stackbox,world_model,0,sparse_10,"[0, 5, 10, 15, 20, 25, 30, 35, 40, 45]",10,0.8,45,46,0.9305120706558228,0.907426416873932
+unitree_z1_dual_arm_stackbox,case2,unitree_z1_dual_arm_stackbox-vid15-fs4,unitree_z1_dual_arm_stackbox,world_model,0,sparse_5,"[0, 10, 20, 30, 40]",5,0.9,40,41,0.7505795359611511,0.7181471586227417
+unitree_z1_dual_arm_stackbox,case2,unitree_z1_dual_arm_stackbox-vid15-fs4,unitree_z1_dual_arm_stackbox,world_model,0,tail_heavy_10,"[0, 5, 10, 20, 30, 38, 43, 46, 48, 49]",10,0.8,49,50,1.0,1.0000001192092896
+unitree_z1_dual_arm_stackbox,case2,unitree_z1_dual_arm_stackbox-vid15-fs4,unitree_z1_dual_arm_stackbox,world_model,0,tail_only_6,"[40, 43, 46, 47, 48, 49]",6,0.88,49,50,1.0,1.0000001192092896
+unitree_z1_dual_arm_stackbox,case2,unitree_z1_dual_arm_stackbox-vid15-fs4,unitree_z1_dual_arm_stackbox,world_model,0,sparse_8,"[0, 7, 14, 21, 28, 35, 42, 49]",8,0.84,49,50,1.0,1.0000001192092896
+unitree_z1_dual_arm_stackbox,case2,unitree_z1_dual_arm_stackbox-vid15-fs4,unitree_z1_dual_arm_stackbox,world_model,0,sparse_4,"[0, 16, 32, 49]",4,0.92,49,50,1.0,1.0000001192092896
+unitree_z1_dual_arm_stackbox,case2,unitree_z1_dual_arm_stackbox-vid15-fs4,unitree_z1_dual_arm_stackbox,world_model,0,tail_only_4,"[40, 43, 46, 49]",4,0.92,49,50,1.0,1.0000001192092896
+unitree_z1_dual_arm_stackbox,case2,unitree_z1_dual_arm_stackbox-vid15-fs4,unitree_z1_dual_arm_stackbox,world_model,0,tail_heavy_6,"[0, 32, 40, 44, 47, 49]",6,0.88,49,50,1.0,1.0000001192092896
+unitree_z1_dual_arm_stackbox,case2,unitree_z1_dual_arm_stackbox-vid15-fs4,unitree_z1_dual_arm_stackbox,world_model,0,tail_heavy_8,"[0, 10, 20, 30, 38, 43, 46, 49]",8,0.84,49,50,1.0,1.0000001192092896
+unitree_z1_dual_arm_stackbox,case2,unitree_z1_dual_arm_stackbox-vid15-fs4,unitree_z1_dual_arm_stackbox,world_model,1,dense,"[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49]",50,0.0,49,50,1.0,1.0
+unitree_z1_dual_arm_stackbox,case2,unitree_z1_dual_arm_stackbox-vid15-fs4,unitree_z1_dual_arm_stackbox,world_model,1,sparse_10,"[0, 5, 10, 15, 20, 25, 30, 35, 40, 45]",10,0.8,45,46,0.9335156679153442,0.9351699948310852
+unitree_z1_dual_arm_stackbox,case2,unitree_z1_dual_arm_stackbox-vid15-fs4,unitree_z1_dual_arm_stackbox,world_model,1,sparse_5,"[0, 10, 20, 30, 40]",5,0.9,40,41,0.7496341466903687,0.7689178586006165
+unitree_z1_dual_arm_stackbox,case2,unitree_z1_dual_arm_stackbox-vid15-fs4,unitree_z1_dual_arm_stackbox,world_model,1,tail_heavy_10,"[0, 5, 10, 20, 30, 38, 43, 46, 48, 49]",10,0.8,49,50,1.0,1.0
+unitree_z1_dual_arm_stackbox,case2,unitree_z1_dual_arm_stackbox-vid15-fs4,unitree_z1_dual_arm_stackbox,world_model,1,tail_only_6,"[40, 43, 46, 47, 48, 49]",6,0.88,49,50,1.0,1.0
+unitree_z1_dual_arm_stackbox,case2,unitree_z1_dual_arm_stackbox-vid15-fs4,unitree_z1_dual_arm_stackbox,world_model,1,sparse_8,"[0, 7, 14, 21, 28, 35, 42, 49]",8,0.84,49,50,1.0,1.0
+unitree_z1_dual_arm_stackbox,case2,unitree_z1_dual_arm_stackbox-vid15-fs4,unitree_z1_dual_arm_stackbox,world_model,1,sparse_4,"[0, 16, 32, 49]",4,0.92,49,50,1.0,1.0
+unitree_z1_dual_arm_stackbox,case2,unitree_z1_dual_arm_stackbox-vid15-fs4,unitree_z1_dual_arm_stackbox,world_model,1,tail_only_4,"[40, 43, 46, 49]",4,0.92,49,50,1.0,1.0
+unitree_z1_dual_arm_stackbox,case2,unitree_z1_dual_arm_stackbox-vid15-fs4,unitree_z1_dual_arm_stackbox,world_model,1,tail_heavy_6,"[0, 32, 40, 44, 47, 49]",6,0.88,49,50,1.0,1.0
+unitree_z1_dual_arm_stackbox,case2,unitree_z1_dual_arm_stackbox-vid15-fs4,unitree_z1_dual_arm_stackbox,world_model,1,tail_heavy_8,"[0, 10, 20, 30, 38, 43, 46, 49]",8,0.84,49,50,1.0,1.0
+unitree_z1_dual_arm_stackbox,case2,unitree_z1_dual_arm_stackbox-vid15-fs4,unitree_z1_dual_arm_stackbox,world_model,2,dense,"[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49]",50,0.0,49,50,1.0000001192092896,1.0
+unitree_z1_dual_arm_stackbox,case2,unitree_z1_dual_arm_stackbox-vid15-fs4,unitree_z1_dual_arm_stackbox,world_model,2,sparse_10,"[0, 5, 10, 15, 20, 25, 30, 35, 40, 45]",10,0.8,45,46,0.932062029838562,0.9232243299484252
+unitree_z1_dual_arm_stackbox,case2,unitree_z1_dual_arm_stackbox-vid15-fs4,unitree_z1_dual_arm_stackbox,world_model,2,sparse_5,"[0, 10, 20, 30, 40]",5,0.9,40,41,0.7634341716766357,0.7573014497756958
+unitree_z1_dual_arm_stackbox,case2,unitree_z1_dual_arm_stackbox-vid15-fs4,unitree_z1_dual_arm_stackbox,world_model,2,tail_heavy_10,"[0, 5, 10, 20, 30, 38, 43, 46, 48, 49]",10,0.8,49,50,1.0000001192092896,1.0
+unitree_z1_dual_arm_stackbox,case2,unitree_z1_dual_arm_stackbox-vid15-fs4,unitree_z1_dual_arm_stackbox,world_model,2,tail_only_6,"[40, 43, 46, 47, 48, 49]",6,0.88,49,50,1.0000001192092896,1.0
+unitree_z1_dual_arm_stackbox,case2,unitree_z1_dual_arm_stackbox-vid15-fs4,unitree_z1_dual_arm_stackbox,world_model,2,sparse_8,"[0, 7, 14, 21, 28, 35, 42, 49]",8,0.84,49,50,1.0000001192092896,1.0
+unitree_z1_dual_arm_stackbox,case2,unitree_z1_dual_arm_stackbox-vid15-fs4,unitree_z1_dual_arm_stackbox,world_model,2,sparse_4,"[0, 16, 32, 49]",4,0.92,49,50,1.0000001192092896,1.0
+unitree_z1_dual_arm_stackbox,case2,unitree_z1_dual_arm_stackbox-vid15-fs4,unitree_z1_dual_arm_stackbox,world_model,2,tail_only_4,"[40, 43, 46, 49]",4,0.92,49,50,1.0000001192092896,1.0
+unitree_z1_dual_arm_stackbox,case2,unitree_z1_dual_arm_stackbox-vid15-fs4,unitree_z1_dual_arm_stackbox,world_model,2,tail_heavy_6,"[0, 32, 40, 44, 47, 49]",6,0.88,49,50,1.0000001192092896,1.0
+unitree_z1_dual_arm_stackbox,case2,unitree_z1_dual_arm_stackbox-vid15-fs4,unitree_z1_dual_arm_stackbox,world_model,2,tail_heavy_8,"[0, 10, 20, 30, 38, 43, 46, 49]",8,0.84,49,50,1.0000001192092896,1.0
+unitree_z1_dual_arm_stackbox,case2,unitree_z1_dual_arm_stackbox-vid15-fs4,unitree_z1_dual_arm_stackbox,world_model,3,dense,"[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49]",50,0.0,49,50,1.0000001192092896,1.0
+unitree_z1_dual_arm_stackbox,case2,unitree_z1_dual_arm_stackbox-vid15-fs4,unitree_z1_dual_arm_stackbox,world_model,3,sparse_10,"[0, 5, 10, 15, 20, 25, 30, 35, 40, 45]",10,0.8,45,46,0.9072030186653136,0.8808679580688477
+unitree_z1_dual_arm_stackbox,case2,unitree_z1_dual_arm_stackbox-vid15-fs4,unitree_z1_dual_arm_stackbox,world_model,3,sparse_5,"[0, 10, 20, 30, 40]",5,0.9,40,41,0.6995304226875305,0.6813252568244934
+unitree_z1_dual_arm_stackbox,case2,unitree_z1_dual_arm_stackbox-vid15-fs4,unitree_z1_dual_arm_stackbox,world_model,3,tail_heavy_10,"[0, 5, 10, 20, 30, 38, 43, 46, 48, 49]",10,0.8,49,50,1.0000001192092896,1.0
+unitree_z1_dual_arm_stackbox,case2,unitree_z1_dual_arm_stackbox-vid15-fs4,unitree_z1_dual_arm_stackbox,world_model,3,tail_only_6,"[40, 43, 46, 47, 48, 49]",6,0.88,49,50,1.0000001192092896,1.0
+unitree_z1_dual_arm_stackbox,case2,unitree_z1_dual_arm_stackbox-vid15-fs4,unitree_z1_dual_arm_stackbox,world_model,3,sparse_8,"[0, 7, 14, 21, 28, 35, 42, 49]",8,0.84,49,50,1.0000001192092896,1.0
+unitree_z1_dual_arm_stackbox,case2,unitree_z1_dual_arm_stackbox-vid15-fs4,unitree_z1_dual_arm_stackbox,world_model,3,sparse_4,"[0, 16, 32, 49]",4,0.92,49,50,1.0000001192092896,1.0
+unitree_z1_dual_arm_stackbox,case2,unitree_z1_dual_arm_stackbox-vid15-fs4,unitree_z1_dual_arm_stackbox,world_model,3,tail_only_4,"[40, 43, 46, 49]",4,0.92,49,50,1.0000001192092896,1.0
+unitree_z1_dual_arm_stackbox,case2,unitree_z1_dual_arm_stackbox-vid15-fs4,unitree_z1_dual_arm_stackbox,world_model,3,tail_heavy_6,"[0, 32, 40, 44, 47, 49]",6,0.88,49,50,1.0000001192092896,1.0
+unitree_z1_dual_arm_stackbox,case2,unitree_z1_dual_arm_stackbox-vid15-fs4,unitree_z1_dual_arm_stackbox,world_model,3,tail_heavy_8,"[0, 10, 20, 30, 38, 43, 46, 49]",8,0.84,49,50,1.0000001192092896,1.0
+unitree_z1_dual_arm_stackbox,case2,unitree_z1_dual_arm_stackbox-vid15-fs4,unitree_z1_dual_arm_stackbox,world_model,4,dense,"[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49]",50,0.0,49,50,1.0000001192092896,1.0
+unitree_z1_dual_arm_stackbox,case2,unitree_z1_dual_arm_stackbox-vid15-fs4,unitree_z1_dual_arm_stackbox,world_model,4,sparse_10,"[0, 5, 10, 15, 20, 25, 30, 35, 40, 45]",10,0.8,45,46,0.9255742430686952,0.9024595618247986
+unitree_z1_dual_arm_stackbox,case2,unitree_z1_dual_arm_stackbox-vid15-fs4,unitree_z1_dual_arm_stackbox,world_model,4,sparse_5,"[0, 10, 20, 30, 40]",5,0.9,40,41,0.7466156482696533,0.7316138744354248
+unitree_z1_dual_arm_stackbox,case2,unitree_z1_dual_arm_stackbox-vid15-fs4,unitree_z1_dual_arm_stackbox,world_model,4,tail_heavy_10,"[0, 5, 10, 20, 30, 38, 43, 46, 48, 49]",10,0.8,49,50,1.0000001192092896,1.0
+unitree_z1_dual_arm_stackbox,case2,unitree_z1_dual_arm_stackbox-vid15-fs4,unitree_z1_dual_arm_stackbox,world_model,4,tail_only_6,"[40, 43, 46, 47, 48, 49]",6,0.88,49,50,1.0000001192092896,1.0
+unitree_z1_dual_arm_stackbox,case2,unitree_z1_dual_arm_stackbox-vid15-fs4,unitree_z1_dual_arm_stackbox,world_model,4,sparse_8,"[0, 7, 14, 21, 28, 35, 42, 49]",8,0.84,49,50,1.0000001192092896,1.0
+unitree_z1_dual_arm_stackbox,case2,unitree_z1_dual_arm_stackbox-vid15-fs4,unitree_z1_dual_arm_stackbox,world_model,4,sparse_4,"[0, 16, 32, 49]",4,0.92,49,50,1.0000001192092896,1.0
+unitree_z1_dual_arm_stackbox,case2,unitree_z1_dual_arm_stackbox-vid15-fs4,unitree_z1_dual_arm_stackbox,world_model,4,tail_only_4,"[40, 43, 46, 49]",4,0.92,49,50,1.0000001192092896,1.0
+unitree_z1_dual_arm_stackbox,case2,unitree_z1_dual_arm_stackbox-vid15-fs4,unitree_z1_dual_arm_stackbox,world_model,4,tail_heavy_6,"[0, 32, 40, 44, 47, 49]",6,0.88,49,50,1.0000001192092896,1.0
+unitree_z1_dual_arm_stackbox,case2,unitree_z1_dual_arm_stackbox-vid15-fs4,unitree_z1_dual_arm_stackbox,world_model,4,tail_heavy_8,"[0, 10, 20, 30, 38, 43, 46, 49]",8,0.84,49,50,1.0000001192092896,1.0
+unitree_z1_dual_arm_stackbox,case2,unitree_z1_dual_arm_stackbox-vid15-fs4,unitree_z1_dual_arm_stackbox,world_model,5,dense,"[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49]",50,0.0,49,50,1.0,1.0000001192092896
+unitree_z1_dual_arm_stackbox,case2,unitree_z1_dual_arm_stackbox-vid15-fs4,unitree_z1_dual_arm_stackbox,world_model,5,sparse_10,"[0, 5, 10, 15, 20, 25, 30, 35, 40, 45]",10,0.8,45,46,0.9294885993003844,0.906633734703064
+unitree_z1_dual_arm_stackbox,case2,unitree_z1_dual_arm_stackbox-vid15-fs4,unitree_z1_dual_arm_stackbox,world_model,5,sparse_5,"[0, 10, 20, 30, 40]",5,0.9,40,41,0.7488203644752502,0.6851168870925903
+unitree_z1_dual_arm_stackbox,case2,unitree_z1_dual_arm_stackbox-vid15-fs4,unitree_z1_dual_arm_stackbox,world_model,5,tail_heavy_10,"[0, 5, 10, 20, 30, 38, 43, 46, 48, 49]",10,0.8,49,50,1.0,1.0000001192092896
+unitree_z1_dual_arm_stackbox,case2,unitree_z1_dual_arm_stackbox-vid15-fs4,unitree_z1_dual_arm_stackbox,world_model,5,tail_only_6,"[40, 43, 46, 47, 48, 49]",6,0.88,49,50,1.0,1.0000001192092896
+unitree_z1_dual_arm_stackbox,case2,unitree_z1_dual_arm_stackbox-vid15-fs4,unitree_z1_dual_arm_stackbox,world_model,5,sparse_8,"[0, 7, 14, 21, 28, 35, 42, 49]",8,0.84,49,50,1.0,1.0000001192092896
+unitree_z1_dual_arm_stackbox,case2,unitree_z1_dual_arm_stackbox-vid15-fs4,unitree_z1_dual_arm_stackbox,world_model,5,sparse_4,"[0, 16, 32, 49]",4,0.92,49,50,1.0,1.0000001192092896
+unitree_z1_dual_arm_stackbox,case2,unitree_z1_dual_arm_stackbox-vid15-fs4,unitree_z1_dual_arm_stackbox,world_model,5,tail_only_4,"[40, 43, 46, 49]",4,0.92,49,50,1.0,1.0000001192092896
+unitree_z1_dual_arm_stackbox,case2,unitree_z1_dual_arm_stackbox-vid15-fs4,unitree_z1_dual_arm_stackbox,world_model,5,tail_heavy_6,"[0, 32, 40, 44, 47, 49]",6,0.88,49,50,1.0,1.0000001192092896
+unitree_z1_dual_arm_stackbox,case2,unitree_z1_dual_arm_stackbox-vid15-fs4,unitree_z1_dual_arm_stackbox,world_model,5,tail_heavy_8,"[0, 10, 20, 30, 38, 43, 46, 49]",8,0.84,49,50,1.0,1.0000001192092896
+unitree_z1_dual_arm_stackbox,case2,unitree_z1_dual_arm_stackbox-vid15-fs4,unitree_z1_dual_arm_stackbox,world_model,6,dense,"[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49]",50,0.0,49,50,1.0000001192092896,1.0000001192092896
+unitree_z1_dual_arm_stackbox,case2,unitree_z1_dual_arm_stackbox-vid15-fs4,unitree_z1_dual_arm_stackbox,world_model,6,sparse_10,"[0, 5, 10, 15, 20, 25, 30, 35, 40, 45]",10,0.8,45,46,0.9189501404762268,0.8800169825553894
+unitree_z1_dual_arm_stackbox,case2,unitree_z1_dual_arm_stackbox-vid15-fs4,unitree_z1_dual_arm_stackbox,world_model,6,sparse_5,"[0, 10, 20, 30, 40]",5,0.9,40,41,0.7548011541366577,0.6923059225082397
+unitree_z1_dual_arm_stackbox,case2,unitree_z1_dual_arm_stackbox-vid15-fs4,unitree_z1_dual_arm_stackbox,world_model,6,tail_heavy_10,"[0, 5, 10, 20, 30, 38, 43, 46, 48, 49]",10,0.8,49,50,1.0000001192092896,1.0000001192092896
+unitree_z1_dual_arm_stackbox,case2,unitree_z1_dual_arm_stackbox-vid15-fs4,unitree_z1_dual_arm_stackbox,world_model,6,tail_only_6,"[40, 43, 46, 47, 48, 49]",6,0.88,49,50,1.0000001192092896,1.0000001192092896
+unitree_z1_dual_arm_stackbox,case2,unitree_z1_dual_arm_stackbox-vid15-fs4,unitree_z1_dual_arm_stackbox,world_model,6,sparse_8,"[0, 7, 14, 21, 28, 35, 42, 49]",8,0.84,49,50,1.0000001192092896,1.0000001192092896
+unitree_z1_dual_arm_stackbox,case2,unitree_z1_dual_arm_stackbox-vid15-fs4,unitree_z1_dual_arm_stackbox,world_model,6,sparse_4,"[0, 16, 32, 49]",4,0.92,49,50,1.0000001192092896,1.0000001192092896
+unitree_z1_dual_arm_stackbox,case2,unitree_z1_dual_arm_stackbox-vid15-fs4,unitree_z1_dual_arm_stackbox,world_model,6,tail_only_4,"[40, 43, 46, 49]",4,0.92,49,50,1.0000001192092896,1.0000001192092896
+unitree_z1_dual_arm_stackbox,case2,unitree_z1_dual_arm_stackbox-vid15-fs4,unitree_z1_dual_arm_stackbox,world_model,6,tail_heavy_6,"[0, 32, 40, 44, 47, 49]",6,0.88,49,50,1.0000001192092896,1.0000001192092896
+unitree_z1_dual_arm_stackbox,case2,unitree_z1_dual_arm_stackbox-vid15-fs4,unitree_z1_dual_arm_stackbox,world_model,6,tail_heavy_8,"[0, 10, 20, 30, 38, 43, 46, 49]",8,0.84,49,50,1.0000001192092896,1.0000001192092896
+unitree_z1_dual_arm_stackbox,case3,unitree_z1_dual_arm_stackbox-vid25-fs4,unitree_z1_dual_arm_stackbox,policy,0,dense,"[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49]",50,0.0,49,50,1.0,1.0000001192092896
+unitree_z1_dual_arm_stackbox,case3,unitree_z1_dual_arm_stackbox-vid25-fs4,unitree_z1_dual_arm_stackbox,policy,0,sparse_10,"[0, 5, 10, 15, 20, 25, 30, 35, 40, 45]",10,0.8,45,46,0.9324419498443604,0.9076392650604248
+unitree_z1_dual_arm_stackbox,case3,unitree_z1_dual_arm_stackbox-vid25-fs4,unitree_z1_dual_arm_stackbox,policy,0,sparse_5,"[0, 10, 20, 30, 40]",5,0.9,40,41,0.7679154872894287,0.7056542634963989
+unitree_z1_dual_arm_stackbox,case3,unitree_z1_dual_arm_stackbox-vid25-fs4,unitree_z1_dual_arm_stackbox,policy,0,tail_heavy_10,"[0, 5, 10, 20, 30, 38, 43, 46, 48, 49]",10,0.8,49,50,1.0,1.0000001192092896
+unitree_z1_dual_arm_stackbox,case3,unitree_z1_dual_arm_stackbox-vid25-fs4,unitree_z1_dual_arm_stackbox,policy,0,tail_only_6,"[40, 43, 46, 47, 48, 49]",6,0.88,49,50,1.0,1.0000001192092896
+unitree_z1_dual_arm_stackbox,case3,unitree_z1_dual_arm_stackbox-vid25-fs4,unitree_z1_dual_arm_stackbox,policy,0,sparse_8,"[0, 7, 14, 21, 28, 35, 42, 49]",8,0.84,49,50,1.0,1.0000001192092896
+unitree_z1_dual_arm_stackbox,case3,unitree_z1_dual_arm_stackbox-vid25-fs4,unitree_z1_dual_arm_stackbox,policy,0,sparse_4,"[0, 16, 32, 49]",4,0.92,49,50,1.0,1.0000001192092896
+unitree_z1_dual_arm_stackbox,case3,unitree_z1_dual_arm_stackbox-vid25-fs4,unitree_z1_dual_arm_stackbox,policy,0,tail_only_4,"[40, 43, 46, 49]",4,0.92,49,50,1.0,1.0000001192092896
+unitree_z1_dual_arm_stackbox,case3,unitree_z1_dual_arm_stackbox-vid25-fs4,unitree_z1_dual_arm_stackbox,policy,0,tail_heavy_6,"[0, 32, 40, 44, 47, 49]",6,0.88,49,50,1.0,1.0000001192092896
+unitree_z1_dual_arm_stackbox,case3,unitree_z1_dual_arm_stackbox-vid25-fs4,unitree_z1_dual_arm_stackbox,policy,0,tail_heavy_8,"[0, 10, 20, 30, 38, 43, 46, 49]",8,0.84,49,50,1.0,1.0000001192092896
+unitree_z1_dual_arm_stackbox,case3,unitree_z1_dual_arm_stackbox-vid25-fs4,unitree_z1_dual_arm_stackbox,policy,1,dense,"[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49]",50,0.0,49,50,1.000000238418579,0.9999999403953552
+unitree_z1_dual_arm_stackbox,case3,unitree_z1_dual_arm_stackbox-vid25-fs4,unitree_z1_dual_arm_stackbox,policy,1,sparse_10,"[0, 5, 10, 15, 20, 25, 30, 35, 40, 45]",10,0.8,45,46,0.9370086193084716,0.9279041290283204
+unitree_z1_dual_arm_stackbox,case3,unitree_z1_dual_arm_stackbox-vid25-fs4,unitree_z1_dual_arm_stackbox,policy,1,sparse_5,"[0, 10, 20, 30, 40]",5,0.9,40,41,0.7659098505973816,0.7694340348243713
+unitree_z1_dual_arm_stackbox,case3,unitree_z1_dual_arm_stackbox-vid25-fs4,unitree_z1_dual_arm_stackbox,policy,1,tail_heavy_10,"[0, 5, 10, 20, 30, 38, 43, 46, 48, 49]",10,0.8,49,50,1.000000238418579,0.9999999403953552
+unitree_z1_dual_arm_stackbox,case3,unitree_z1_dual_arm_stackbox-vid25-fs4,unitree_z1_dual_arm_stackbox,policy,1,tail_only_6,"[40, 43, 46, 47, 48, 49]",6,0.88,49,50,1.000000238418579,0.9999999403953552
+unitree_z1_dual_arm_stackbox,case3,unitree_z1_dual_arm_stackbox-vid25-fs4,unitree_z1_dual_arm_stackbox,policy,1,sparse_8,"[0, 7, 14, 21, 28, 35, 42, 49]",8,0.84,49,50,1.000000238418579,0.9999999403953552
+unitree_z1_dual_arm_stackbox,case3,unitree_z1_dual_arm_stackbox-vid25-fs4,unitree_z1_dual_arm_stackbox,policy,1,sparse_4,"[0, 16, 32, 49]",4,0.92,49,50,1.000000238418579,0.9999999403953552
+unitree_z1_dual_arm_stackbox,case3,unitree_z1_dual_arm_stackbox-vid25-fs4,unitree_z1_dual_arm_stackbox,policy,1,tail_only_4,"[40, 43, 46, 49]",4,0.92,49,50,1.000000238418579,0.9999999403953552
+unitree_z1_dual_arm_stackbox,case3,unitree_z1_dual_arm_stackbox-vid25-fs4,unitree_z1_dual_arm_stackbox,policy,1,tail_heavy_6,"[0, 32, 40, 44, 47, 49]",6,0.88,49,50,1.000000238418579,0.9999999403953552
+unitree_z1_dual_arm_stackbox,case3,unitree_z1_dual_arm_stackbox-vid25-fs4,unitree_z1_dual_arm_stackbox,policy,1,tail_heavy_8,"[0, 10, 20, 30, 38, 43, 46, 49]",8,0.84,49,50,1.000000238418579,0.9999999403953552
+unitree_z1_dual_arm_stackbox,case3,unitree_z1_dual_arm_stackbox-vid25-fs4,unitree_z1_dual_arm_stackbox,policy,2,dense,"[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49]",50,0.0,49,50,0.9999998211860656,1.0
+unitree_z1_dual_arm_stackbox,case3,unitree_z1_dual_arm_stackbox-vid25-fs4,unitree_z1_dual_arm_stackbox,policy,2,sparse_10,"[0, 5, 10, 15, 20, 25, 30, 35, 40, 45]",10,0.8,45,46,0.9275771379470824,0.8821501731872559
+unitree_z1_dual_arm_stackbox,case3,unitree_z1_dual_arm_stackbox-vid25-fs4,unitree_z1_dual_arm_stackbox,policy,2,sparse_5,"[0, 10, 20, 30, 40]",5,0.9,40,41,0.7570693492889404,0.6702069640159607
+unitree_z1_dual_arm_stackbox,case3,unitree_z1_dual_arm_stackbox-vid25-fs4,unitree_z1_dual_arm_stackbox,policy,2,tail_heavy_10,"[0, 5, 10, 20, 30, 38, 43, 46, 48, 49]",10,0.8,49,50,0.9999998211860656,1.0
+unitree_z1_dual_arm_stackbox,case3,unitree_z1_dual_arm_stackbox-vid25-fs4,unitree_z1_dual_arm_stackbox,policy,2,tail_only_6,"[40, 43, 46, 47, 48, 49]",6,0.88,49,50,0.9999998211860656,1.0
+unitree_z1_dual_arm_stackbox,case3,unitree_z1_dual_arm_stackbox-vid25-fs4,unitree_z1_dual_arm_stackbox,policy,2,sparse_8,"[0, 7, 14, 21, 28, 35, 42, 49]",8,0.84,49,50,0.9999998211860656,1.0
+unitree_z1_dual_arm_stackbox,case3,unitree_z1_dual_arm_stackbox-vid25-fs4,unitree_z1_dual_arm_stackbox,policy,2,sparse_4,"[0, 16, 32, 49]",4,0.92,49,50,0.9999998211860656,1.0
+unitree_z1_dual_arm_stackbox,case3,unitree_z1_dual_arm_stackbox-vid25-fs4,unitree_z1_dual_arm_stackbox,policy,2,tail_only_4,"[40, 43, 46, 49]",4,0.92,49,50,0.9999998211860656,1.0
+unitree_z1_dual_arm_stackbox,case3,unitree_z1_dual_arm_stackbox-vid25-fs4,unitree_z1_dual_arm_stackbox,policy,2,tail_heavy_6,"[0, 32, 40, 44, 47, 49]",6,0.88,49,50,0.9999998211860656,1.0
+unitree_z1_dual_arm_stackbox,case3,unitree_z1_dual_arm_stackbox-vid25-fs4,unitree_z1_dual_arm_stackbox,policy,2,tail_heavy_8,"[0, 10, 20, 30, 38, 43, 46, 49]",8,0.84,49,50,0.9999998211860656,1.0
+unitree_z1_dual_arm_stackbox,case3,unitree_z1_dual_arm_stackbox-vid25-fs4,unitree_z1_dual_arm_stackbox,policy,3,dense,"[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49]",50,0.0,49,50,0.9999999403953552,0.9999999403953552
+unitree_z1_dual_arm_stackbox,case3,unitree_z1_dual_arm_stackbox-vid25-fs4,unitree_z1_dual_arm_stackbox,policy,3,sparse_10,"[0, 5, 10, 15, 20, 25, 30, 35, 40, 45]",10,0.8,45,46,0.9385867714881896,0.8684443831443787
+unitree_z1_dual_arm_stackbox,case3,unitree_z1_dual_arm_stackbox-vid25-fs4,unitree_z1_dual_arm_stackbox,policy,3,sparse_5,"[0, 10, 20, 30, 40]",5,0.9,40,41,0.7731144428253174,0.6569000482559204
+unitree_z1_dual_arm_stackbox,case3,unitree_z1_dual_arm_stackbox-vid25-fs4,unitree_z1_dual_arm_stackbox,policy,3,tail_heavy_10,"[0, 5, 10, 20, 30, 38, 43, 46, 48, 49]",10,0.8,49,50,0.9999999403953552,0.9999999403953552
+unitree_z1_dual_arm_stackbox,case3,unitree_z1_dual_arm_stackbox-vid25-fs4,unitree_z1_dual_arm_stackbox,policy,3,tail_only_6,"[40, 43, 46, 47, 48, 49]",6,0.88,49,50,0.9999999403953552,0.9999999403953552
+unitree_z1_dual_arm_stackbox,case3,unitree_z1_dual_arm_stackbox-vid25-fs4,unitree_z1_dual_arm_stackbox,policy,3,sparse_8,"[0, 7, 14, 21, 28, 35, 42, 49]",8,0.84,49,50,0.9999999403953552,0.9999999403953552
+unitree_z1_dual_arm_stackbox,case3,unitree_z1_dual_arm_stackbox-vid25-fs4,unitree_z1_dual_arm_stackbox,policy,3,sparse_4,"[0, 16, 32, 49]",4,0.92,49,50,0.9999999403953552,0.9999999403953552
+unitree_z1_dual_arm_stackbox,case3,unitree_z1_dual_arm_stackbox-vid25-fs4,unitree_z1_dual_arm_stackbox,policy,3,tail_only_4,"[40, 43, 46, 49]",4,0.92,49,50,0.9999999403953552,0.9999999403953552
+unitree_z1_dual_arm_stackbox,case3,unitree_z1_dual_arm_stackbox-vid25-fs4,unitree_z1_dual_arm_stackbox,policy,3,tail_heavy_6,"[0, 32, 40, 44, 47, 49]",6,0.88,49,50,0.9999999403953552,0.9999999403953552
+unitree_z1_dual_arm_stackbox,case3,unitree_z1_dual_arm_stackbox-vid25-fs4,unitree_z1_dual_arm_stackbox,policy,3,tail_heavy_8,"[0, 10, 20, 30, 38, 43, 46, 49]",8,0.84,49,50,0.9999999403953552,0.9999999403953552
+unitree_z1_dual_arm_stackbox,case3,unitree_z1_dual_arm_stackbox-vid25-fs4,unitree_z1_dual_arm_stackbox,policy,4,dense,"[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49]",50,0.0,49,50,1.0000001192092896,1.000000238418579
+unitree_z1_dual_arm_stackbox,case3,unitree_z1_dual_arm_stackbox-vid25-fs4,unitree_z1_dual_arm_stackbox,policy,4,sparse_10,"[0, 5, 10, 15, 20, 25, 30, 35, 40, 45]",10,0.8,45,46,0.9393497109413148,0.8910121917724609
+unitree_z1_dual_arm_stackbox,case3,unitree_z1_dual_arm_stackbox-vid25-fs4,unitree_z1_dual_arm_stackbox,policy,4,sparse_5,"[0, 10, 20, 30, 40]",5,0.9,40,41,0.7870743274688721,0.7124093174934387
+unitree_z1_dual_arm_stackbox,case3,unitree_z1_dual_arm_stackbox-vid25-fs4,unitree_z1_dual_arm_stackbox,policy,4,tail_heavy_10,"[0, 5, 10, 20, 30, 38, 43, 46, 48, 49]",10,0.8,49,50,1.0000001192092896,1.000000238418579
+unitree_z1_dual_arm_stackbox,case3,unitree_z1_dual_arm_stackbox-vid25-fs4,unitree_z1_dual_arm_stackbox,policy,4,tail_only_6,"[40, 43, 46, 47, 48, 49]",6,0.88,49,50,1.0000001192092896,1.000000238418579
+unitree_z1_dual_arm_stackbox,case3,unitree_z1_dual_arm_stackbox-vid25-fs4,unitree_z1_dual_arm_stackbox,policy,4,sparse_8,"[0, 7, 14, 21, 28, 35, 42, 49]",8,0.84,49,50,1.0000001192092896,1.000000238418579
+unitree_z1_dual_arm_stackbox,case3,unitree_z1_dual_arm_stackbox-vid25-fs4,unitree_z1_dual_arm_stackbox,policy,4,sparse_4,"[0, 16, 32, 49]",4,0.92,49,50,1.0000001192092896,1.000000238418579
+unitree_z1_dual_arm_stackbox,case3,unitree_z1_dual_arm_stackbox-vid25-fs4,unitree_z1_dual_arm_stackbox,policy,4,tail_only_4,"[40, 43, 46, 49]",4,0.92,49,50,1.0000001192092896,1.000000238418579
+unitree_z1_dual_arm_stackbox,case3,unitree_z1_dual_arm_stackbox-vid25-fs4,unitree_z1_dual_arm_stackbox,policy,4,tail_heavy_6,"[0, 32, 40, 44, 47, 49]",6,0.88,49,50,1.0000001192092896,1.000000238418579
+unitree_z1_dual_arm_stackbox,case3,unitree_z1_dual_arm_stackbox-vid25-fs4,unitree_z1_dual_arm_stackbox,policy,4,tail_heavy_8,"[0, 10, 20, 30, 38, 43, 46, 49]",8,0.84,49,50,1.0000001192092896,1.000000238418579
+unitree_z1_dual_arm_stackbox,case3,unitree_z1_dual_arm_stackbox-vid25-fs4,unitree_z1_dual_arm_stackbox,policy,5,dense,"[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49]",50,0.0,49,50,0.9999999403953552,1.0
+unitree_z1_dual_arm_stackbox,case3,unitree_z1_dual_arm_stackbox-vid25-fs4,unitree_z1_dual_arm_stackbox,policy,5,sparse_10,"[0, 5, 10, 15, 20, 25, 30, 35, 40, 45]",10,0.8,45,46,0.9207619428634644,0.8679942488670349
+unitree_z1_dual_arm_stackbox,case3,unitree_z1_dual_arm_stackbox-vid25-fs4,unitree_z1_dual_arm_stackbox,policy,5,sparse_5,"[0, 10, 20, 30, 40]",5,0.9,40,41,0.7140413522720337,0.6594600677490234
+unitree_z1_dual_arm_stackbox,case3,unitree_z1_dual_arm_stackbox-vid25-fs4,unitree_z1_dual_arm_stackbox,policy,5,tail_heavy_10,"[0, 5, 10, 20, 30, 38, 43, 46, 48, 49]",10,0.8,49,50,0.9999999403953552,1.0
+unitree_z1_dual_arm_stackbox,case3,unitree_z1_dual_arm_stackbox-vid25-fs4,unitree_z1_dual_arm_stackbox,policy,5,tail_only_6,"[40, 43, 46, 47, 48, 49]",6,0.88,49,50,0.9999999403953552,1.0
+unitree_z1_dual_arm_stackbox,case3,unitree_z1_dual_arm_stackbox-vid25-fs4,unitree_z1_dual_arm_stackbox,policy,5,sparse_8,"[0, 7, 14, 21, 28, 35, 42, 49]",8,0.84,49,50,0.9999999403953552,1.0
+unitree_z1_dual_arm_stackbox,case3,unitree_z1_dual_arm_stackbox-vid25-fs4,unitree_z1_dual_arm_stackbox,policy,5,sparse_4,"[0, 16, 32, 49]",4,0.92,49,50,0.9999999403953552,1.0
+unitree_z1_dual_arm_stackbox,case3,unitree_z1_dual_arm_stackbox-vid25-fs4,unitree_z1_dual_arm_stackbox,policy,5,tail_only_4,"[40, 43, 46, 49]",4,0.92,49,50,0.9999999403953552,1.0
+unitree_z1_dual_arm_stackbox,case3,unitree_z1_dual_arm_stackbox-vid25-fs4,unitree_z1_dual_arm_stackbox,policy,5,tail_heavy_6,"[0, 32, 40, 44, 47, 49]",6,0.88,49,50,0.9999999403953552,1.0
+unitree_z1_dual_arm_stackbox,case3,unitree_z1_dual_arm_stackbox-vid25-fs4,unitree_z1_dual_arm_stackbox,policy,5,tail_heavy_8,"[0, 10, 20, 30, 38, 43, 46, 49]",8,0.84,49,50,0.9999999403953552,1.0
+unitree_z1_dual_arm_stackbox,case3,unitree_z1_dual_arm_stackbox-vid25-fs4,unitree_z1_dual_arm_stackbox,policy,6,dense,"[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49]",50,0.0,49,50,1.0000001192092896,0.9999998807907104
+unitree_z1_dual_arm_stackbox,case3,unitree_z1_dual_arm_stackbox-vid25-fs4,unitree_z1_dual_arm_stackbox,policy,6,sparse_10,"[0, 5, 10, 15, 20, 25, 30, 35, 40, 45]",10,0.8,45,46,0.9290473461151124,0.9116877317428588
+unitree_z1_dual_arm_stackbox,case3,unitree_z1_dual_arm_stackbox-vid25-fs4,unitree_z1_dual_arm_stackbox,policy,6,sparse_5,"[0, 10, 20, 30, 40]",5,0.9,40,41,0.7523976564407349,0.7421519756317139
+unitree_z1_dual_arm_stackbox,case3,unitree_z1_dual_arm_stackbox-vid25-fs4,unitree_z1_dual_arm_stackbox,policy,6,tail_heavy_10,"[0, 5, 10, 20, 30, 38, 43, 46, 48, 49]",10,0.8,49,50,1.0000001192092896,0.9999998807907104
+unitree_z1_dual_arm_stackbox,case3,unitree_z1_dual_arm_stackbox-vid25-fs4,unitree_z1_dual_arm_stackbox,policy,6,tail_only_6,"[40, 43, 46, 47, 48, 49]",6,0.88,49,50,1.0000001192092896,0.9999998807907104
+unitree_z1_dual_arm_stackbox,case3,unitree_z1_dual_arm_stackbox-vid25-fs4,unitree_z1_dual_arm_stackbox,policy,6,sparse_8,"[0, 7, 14, 21, 28, 35, 42, 49]",8,0.84,49,50,1.0000001192092896,0.9999998807907104
+unitree_z1_dual_arm_stackbox,case3,unitree_z1_dual_arm_stackbox-vid25-fs4,unitree_z1_dual_arm_stackbox,policy,6,sparse_4,"[0, 16, 32, 49]",4,0.92,49,50,1.0000001192092896,0.9999998807907104
+unitree_z1_dual_arm_stackbox,case3,unitree_z1_dual_arm_stackbox-vid25-fs4,unitree_z1_dual_arm_stackbox,policy,6,tail_only_4,"[40, 43, 46, 49]",4,0.92,49,50,1.0000001192092896,0.9999998807907104
+unitree_z1_dual_arm_stackbox,case3,unitree_z1_dual_arm_stackbox-vid25-fs4,unitree_z1_dual_arm_stackbox,policy,6,tail_heavy_6,"[0, 32, 40, 44, 47, 49]",6,0.88,49,50,1.0000001192092896,0.9999998807907104
+unitree_z1_dual_arm_stackbox,case3,unitree_z1_dual_arm_stackbox-vid25-fs4,unitree_z1_dual_arm_stackbox,policy,6,tail_heavy_8,"[0, 10, 20, 30, 38, 43, 46, 49]",8,0.84,49,50,1.0000001192092896,0.9999998807907104
+unitree_z1_dual_arm_stackbox,case3,unitree_z1_dual_arm_stackbox-vid25-fs4,unitree_z1_dual_arm_stackbox,world_model,0,dense,"[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49]",50,0.0,49,50,0.9999999403953552,1.0
+unitree_z1_dual_arm_stackbox,case3,unitree_z1_dual_arm_stackbox-vid25-fs4,unitree_z1_dual_arm_stackbox,world_model,0,sparse_10,"[0, 5, 10, 15, 20, 25, 30, 35, 40, 45]",10,0.8,45,46,0.932511866092682,0.9272301197052002
+unitree_z1_dual_arm_stackbox,case3,unitree_z1_dual_arm_stackbox-vid25-fs4,unitree_z1_dual_arm_stackbox,world_model,0,sparse_5,"[0, 10, 20, 30, 40]",5,0.9,40,41,0.7466804385185242,0.7564734816551208
+unitree_z1_dual_arm_stackbox,case3,unitree_z1_dual_arm_stackbox-vid25-fs4,unitree_z1_dual_arm_stackbox,world_model,0,tail_heavy_10,"[0, 5, 10, 20, 30, 38, 43, 46, 48, 49]",10,0.8,49,50,0.9999999403953552,1.0
+unitree_z1_dual_arm_stackbox,case3,unitree_z1_dual_arm_stackbox-vid25-fs4,unitree_z1_dual_arm_stackbox,world_model,0,tail_only_6,"[40, 43, 46, 47, 48, 49]",6,0.88,49,50,0.9999999403953552,1.0
+unitree_z1_dual_arm_stackbox,case3,unitree_z1_dual_arm_stackbox-vid25-fs4,unitree_z1_dual_arm_stackbox,world_model,0,sparse_8,"[0, 7, 14, 21, 28, 35, 42, 49]",8,0.84,49,50,0.9999999403953552,1.0
+unitree_z1_dual_arm_stackbox,case3,unitree_z1_dual_arm_stackbox-vid25-fs4,unitree_z1_dual_arm_stackbox,world_model,0,sparse_4,"[0, 16, 32, 49]",4,0.92,49,50,0.9999999403953552,1.0
+unitree_z1_dual_arm_stackbox,case3,unitree_z1_dual_arm_stackbox-vid25-fs4,unitree_z1_dual_arm_stackbox,world_model,0,tail_only_4,"[40, 43, 46, 49]",4,0.92,49,50,0.9999999403953552,1.0
+unitree_z1_dual_arm_stackbox,case3,unitree_z1_dual_arm_stackbox-vid25-fs4,unitree_z1_dual_arm_stackbox,world_model,0,tail_heavy_6,"[0, 32, 40, 44, 47, 49]",6,0.88,49,50,0.9999999403953552,1.0
+unitree_z1_dual_arm_stackbox,case3,unitree_z1_dual_arm_stackbox-vid25-fs4,unitree_z1_dual_arm_stackbox,world_model,0,tail_heavy_8,"[0, 10, 20, 30, 38, 43, 46, 49]",8,0.84,49,50,0.9999999403953552,1.0
+unitree_z1_dual_arm_stackbox,case3,unitree_z1_dual_arm_stackbox-vid25-fs4,unitree_z1_dual_arm_stackbox,world_model,1,dense,"[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49]",50,0.0,49,50,1.0,0.9999999403953552
+unitree_z1_dual_arm_stackbox,case3,unitree_z1_dual_arm_stackbox-vid25-fs4,unitree_z1_dual_arm_stackbox,world_model,1,sparse_10,"[0, 5, 10, 15, 20, 25, 30, 35, 40, 45]",10,0.8,45,46,0.9368935227394104,0.9309350252151488
+unitree_z1_dual_arm_stackbox,case3,unitree_z1_dual_arm_stackbox-vid25-fs4,unitree_z1_dual_arm_stackbox,world_model,1,sparse_5,"[0, 10, 20, 30, 40]",5,0.9,40,41,0.7658241987228394,0.7560733556747437
+unitree_z1_dual_arm_stackbox,case3,unitree_z1_dual_arm_stackbox-vid25-fs4,unitree_z1_dual_arm_stackbox,world_model,1,tail_heavy_10,"[0, 5, 10, 20, 30, 38, 43, 46, 48, 49]",10,0.8,49,50,1.0,0.9999999403953552
+unitree_z1_dual_arm_stackbox,case3,unitree_z1_dual_arm_stackbox-vid25-fs4,unitree_z1_dual_arm_stackbox,world_model,1,tail_only_6,"[40, 43, 46, 47, 48, 49]",6,0.88,49,50,1.0,0.9999999403953552
+unitree_z1_dual_arm_stackbox,case3,unitree_z1_dual_arm_stackbox-vid25-fs4,unitree_z1_dual_arm_stackbox,world_model,1,sparse_8,"[0, 7, 14, 21, 28, 35, 42, 49]",8,0.84,49,50,1.0,0.9999999403953552
+unitree_z1_dual_arm_stackbox,case3,unitree_z1_dual_arm_stackbox-vid25-fs4,unitree_z1_dual_arm_stackbox,world_model,1,sparse_4,"[0, 16, 32, 49]",4,0.92,49,50,1.0,0.9999999403953552
+unitree_z1_dual_arm_stackbox,case3,unitree_z1_dual_arm_stackbox-vid25-fs4,unitree_z1_dual_arm_stackbox,world_model,1,tail_only_4,"[40, 43, 46, 49]",4,0.92,49,50,1.0,0.9999999403953552
+unitree_z1_dual_arm_stackbox,case3,unitree_z1_dual_arm_stackbox-vid25-fs4,unitree_z1_dual_arm_stackbox,world_model,1,tail_heavy_6,"[0, 32, 40, 44, 47, 49]",6,0.88,49,50,1.0,0.9999999403953552
+unitree_z1_dual_arm_stackbox,case3,unitree_z1_dual_arm_stackbox-vid25-fs4,unitree_z1_dual_arm_stackbox,world_model,1,tail_heavy_8,"[0, 10, 20, 30, 38, 43, 46, 49]",8,0.84,49,50,1.0,0.9999999403953552
+unitree_z1_dual_arm_stackbox,case3,unitree_z1_dual_arm_stackbox-vid25-fs4,unitree_z1_dual_arm_stackbox,world_model,2,dense,"[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49]",50,0.0,49,50,0.9999998807907104,0.9999998807907104
+unitree_z1_dual_arm_stackbox,case3,unitree_z1_dual_arm_stackbox-vid25-fs4,unitree_z1_dual_arm_stackbox,world_model,2,sparse_10,"[0, 5, 10, 15, 20, 25, 30, 35, 40, 45]",10,0.8,45,46,0.9279261827468872,0.8883737325668335
+unitree_z1_dual_arm_stackbox,case3,unitree_z1_dual_arm_stackbox-vid25-fs4,unitree_z1_dual_arm_stackbox,world_model,2,sparse_5,"[0, 10, 20, 30, 40]",5,0.9,40,41,0.7429584264755249,0.6957598328590393
+unitree_z1_dual_arm_stackbox,case3,unitree_z1_dual_arm_stackbox-vid25-fs4,unitree_z1_dual_arm_stackbox,world_model,2,tail_heavy_10,"[0, 5, 10, 20, 30, 38, 43, 46, 48, 49]",10,0.8,49,50,0.9999998807907104,0.9999998807907104
+unitree_z1_dual_arm_stackbox,case3,unitree_z1_dual_arm_stackbox-vid25-fs4,unitree_z1_dual_arm_stackbox,world_model,2,tail_only_6,"[40, 43, 46, 47, 48, 49]",6,0.88,49,50,0.9999998807907104,0.9999998807907104
+unitree_z1_dual_arm_stackbox,case3,unitree_z1_dual_arm_stackbox-vid25-fs4,unitree_z1_dual_arm_stackbox,world_model,2,sparse_8,"[0, 7, 14, 21, 28, 35, 42, 49]",8,0.84,49,50,0.9999998807907104,0.9999998807907104
+unitree_z1_dual_arm_stackbox,case3,unitree_z1_dual_arm_stackbox-vid25-fs4,unitree_z1_dual_arm_stackbox,world_model,2,sparse_4,"[0, 16, 32, 49]",4,0.92,49,50,0.9999998807907104,0.9999998807907104
+unitree_z1_dual_arm_stackbox,case3,unitree_z1_dual_arm_stackbox-vid25-fs4,unitree_z1_dual_arm_stackbox,world_model,2,tail_only_4,"[40, 43, 46, 49]",4,0.92,49,50,0.9999998807907104,0.9999998807907104
+unitree_z1_dual_arm_stackbox,case3,unitree_z1_dual_arm_stackbox-vid25-fs4,unitree_z1_dual_arm_stackbox,world_model,2,tail_heavy_6,"[0, 32, 40, 44, 47, 49]",6,0.88,49,50,0.9999998807907104,0.9999998807907104
+unitree_z1_dual_arm_stackbox,case3,unitree_z1_dual_arm_stackbox-vid25-fs4,unitree_z1_dual_arm_stackbox,world_model,2,tail_heavy_8,"[0, 10, 20, 30, 38, 43, 46, 49]",8,0.84,49,50,0.9999998807907104,0.9999998807907104
+unitree_z1_dual_arm_stackbox,case3,unitree_z1_dual_arm_stackbox-vid25-fs4,unitree_z1_dual_arm_stackbox,world_model,3,dense,"[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49]",50,0.0,49,50,1.0,1.0
+unitree_z1_dual_arm_stackbox,case3,unitree_z1_dual_arm_stackbox-vid25-fs4,unitree_z1_dual_arm_stackbox,world_model,3,sparse_10,"[0, 5, 10, 15, 20, 25, 30, 35, 40, 45]",10,0.8,45,46,0.9320175051689148,0.8885466456413269
+unitree_z1_dual_arm_stackbox,case3,unitree_z1_dual_arm_stackbox-vid25-fs4,unitree_z1_dual_arm_stackbox,world_model,3,sparse_5,"[0, 10, 20, 30, 40]",5,0.9,40,41,0.7489829659461975,0.6996266841888428
+unitree_z1_dual_arm_stackbox,case3,unitree_z1_dual_arm_stackbox-vid25-fs4,unitree_z1_dual_arm_stackbox,world_model,3,tail_heavy_10,"[0, 5, 10, 20, 30, 38, 43, 46, 48, 49]",10,0.8,49,50,1.0,1.0
+unitree_z1_dual_arm_stackbox,case3,unitree_z1_dual_arm_stackbox-vid25-fs4,unitree_z1_dual_arm_stackbox,world_model,3,tail_only_6,"[40, 43, 46, 47, 48, 49]",6,0.88,49,50,1.0,1.0
+unitree_z1_dual_arm_stackbox,case3,unitree_z1_dual_arm_stackbox-vid25-fs4,unitree_z1_dual_arm_stackbox,world_model,3,sparse_8,"[0, 7, 14, 21, 28, 35, 42, 49]",8,0.84,49,50,1.0,1.0
+unitree_z1_dual_arm_stackbox,case3,unitree_z1_dual_arm_stackbox-vid25-fs4,unitree_z1_dual_arm_stackbox,world_model,3,sparse_4,"[0, 16, 32, 49]",4,0.92,49,50,1.0,1.0
+unitree_z1_dual_arm_stackbox,case3,unitree_z1_dual_arm_stackbox-vid25-fs4,unitree_z1_dual_arm_stackbox,world_model,3,tail_only_4,"[40, 43, 46, 49]",4,0.92,49,50,1.0,1.0
+unitree_z1_dual_arm_stackbox,case3,unitree_z1_dual_arm_stackbox-vid25-fs4,unitree_z1_dual_arm_stackbox,world_model,3,tail_heavy_6,"[0, 32, 40, 44, 47, 49]",6,0.88,49,50,1.0,1.0
+unitree_z1_dual_arm_stackbox,case3,unitree_z1_dual_arm_stackbox-vid25-fs4,unitree_z1_dual_arm_stackbox,world_model,3,tail_heavy_8,"[0, 10, 20, 30, 38, 43, 46, 49]",8,0.84,49,50,1.0,1.0
+unitree_z1_dual_arm_stackbox,case3,unitree_z1_dual_arm_stackbox-vid25-fs4,unitree_z1_dual_arm_stackbox,world_model,4,dense,"[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49]",50,0.0,49,50,1.0000001192092896,1.0
+unitree_z1_dual_arm_stackbox,case3,unitree_z1_dual_arm_stackbox-vid25-fs4,unitree_z1_dual_arm_stackbox,world_model,4,sparse_10,"[0, 5, 10, 15, 20, 25, 30, 35, 40, 45]",10,0.8,45,46,0.9276248812675476,0.8990746736526489
+unitree_z1_dual_arm_stackbox,case3,unitree_z1_dual_arm_stackbox-vid25-fs4,unitree_z1_dual_arm_stackbox,world_model,4,sparse_5,"[0, 10, 20, 30, 40]",5,0.9,40,41,0.7629570364952087,0.7206709384918213
+unitree_z1_dual_arm_stackbox,case3,unitree_z1_dual_arm_stackbox-vid25-fs4,unitree_z1_dual_arm_stackbox,world_model,4,tail_heavy_10,"[0, 5, 10, 20, 30, 38, 43, 46, 48, 49]",10,0.8,49,50,1.0000001192092896,1.0
+unitree_z1_dual_arm_stackbox,case3,unitree_z1_dual_arm_stackbox-vid25-fs4,unitree_z1_dual_arm_stackbox,world_model,4,tail_only_6,"[40, 43, 46, 47, 48, 49]",6,0.88,49,50,1.0000001192092896,1.0
+unitree_z1_dual_arm_stackbox,case3,unitree_z1_dual_arm_stackbox-vid25-fs4,unitree_z1_dual_arm_stackbox,world_model,4,sparse_8,"[0, 7, 14, 21, 28, 35, 42, 49]",8,0.84,49,50,1.0000001192092896,1.0
+unitree_z1_dual_arm_stackbox,case3,unitree_z1_dual_arm_stackbox-vid25-fs4,unitree_z1_dual_arm_stackbox,world_model,4,sparse_4,"[0, 16, 32, 49]",4,0.92,49,50,1.0000001192092896,1.0
+unitree_z1_dual_arm_stackbox,case3,unitree_z1_dual_arm_stackbox-vid25-fs4,unitree_z1_dual_arm_stackbox,world_model,4,tail_only_4,"[40, 43, 46, 49]",4,0.92,49,50,1.0000001192092896,1.0
+unitree_z1_dual_arm_stackbox,case3,unitree_z1_dual_arm_stackbox-vid25-fs4,unitree_z1_dual_arm_stackbox,world_model,4,tail_heavy_6,"[0, 32, 40, 44, 47, 49]",6,0.88,49,50,1.0000001192092896,1.0
+unitree_z1_dual_arm_stackbox,case3,unitree_z1_dual_arm_stackbox-vid25-fs4,unitree_z1_dual_arm_stackbox,world_model,4,tail_heavy_8,"[0, 10, 20, 30, 38, 43, 46, 49]",8,0.84,49,50,1.0000001192092896,1.0
+unitree_z1_dual_arm_stackbox,case3,unitree_z1_dual_arm_stackbox-vid25-fs4,unitree_z1_dual_arm_stackbox,world_model,5,dense,"[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49]",50,0.0,49,50,1.0,1.0000001192092896
+unitree_z1_dual_arm_stackbox,case3,unitree_z1_dual_arm_stackbox-vid25-fs4,unitree_z1_dual_arm_stackbox,world_model,5,sparse_10,"[0, 5, 10, 15, 20, 25, 30, 35, 40, 45]",10,0.8,45,46,0.9154659509658812,0.8770160675048828
+unitree_z1_dual_arm_stackbox,case3,unitree_z1_dual_arm_stackbox-vid25-fs4,unitree_z1_dual_arm_stackbox,world_model,5,sparse_5,"[0, 10, 20, 30, 40]",5,0.9,40,41,0.6935188174247742,0.6562268137931824
+unitree_z1_dual_arm_stackbox,case3,unitree_z1_dual_arm_stackbox-vid25-fs4,unitree_z1_dual_arm_stackbox,world_model,5,tail_heavy_10,"[0, 5, 10, 20, 30, 38, 43, 46, 48, 49]",10,0.8,49,50,1.0,1.0000001192092896
+unitree_z1_dual_arm_stackbox,case3,unitree_z1_dual_arm_stackbox-vid25-fs4,unitree_z1_dual_arm_stackbox,world_model,5,tail_only_6,"[40, 43, 46, 47, 48, 49]",6,0.88,49,50,1.0,1.0000001192092896
+unitree_z1_dual_arm_stackbox,case3,unitree_z1_dual_arm_stackbox-vid25-fs4,unitree_z1_dual_arm_stackbox,world_model,5,sparse_8,"[0, 7, 14, 21, 28, 35, 42, 49]",8,0.84,49,50,1.0,1.0000001192092896
+unitree_z1_dual_arm_stackbox,case3,unitree_z1_dual_arm_stackbox-vid25-fs4,unitree_z1_dual_arm_stackbox,world_model,5,sparse_4,"[0, 16, 32, 49]",4,0.92,49,50,1.0,1.0000001192092896
+unitree_z1_dual_arm_stackbox,case3,unitree_z1_dual_arm_stackbox-vid25-fs4,unitree_z1_dual_arm_stackbox,world_model,5,tail_only_4,"[40, 43, 46, 49]",4,0.92,49,50,1.0,1.0000001192092896
+unitree_z1_dual_arm_stackbox,case3,unitree_z1_dual_arm_stackbox-vid25-fs4,unitree_z1_dual_arm_stackbox,world_model,5,tail_heavy_6,"[0, 32, 40, 44, 47, 49]",6,0.88,49,50,1.0,1.0000001192092896
+unitree_z1_dual_arm_stackbox,case3,unitree_z1_dual_arm_stackbox-vid25-fs4,unitree_z1_dual_arm_stackbox,world_model,5,tail_heavy_8,"[0, 10, 20, 30, 38, 43, 46, 49]",8,0.84,49,50,1.0,1.0000001192092896
+unitree_z1_dual_arm_stackbox,case3,unitree_z1_dual_arm_stackbox-vid25-fs4,unitree_z1_dual_arm_stackbox,world_model,6,dense,"[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49]",50,0.0,49,50,1.0,0.9999998807907104
+unitree_z1_dual_arm_stackbox,case3,unitree_z1_dual_arm_stackbox-vid25-fs4,unitree_z1_dual_arm_stackbox,world_model,6,sparse_10,"[0, 5, 10, 15, 20, 25, 30, 35, 40, 45]",10,0.8,45,46,0.927358329296112,0.9058609008789062
+unitree_z1_dual_arm_stackbox,case3,unitree_z1_dual_arm_stackbox-vid25-fs4,unitree_z1_dual_arm_stackbox,world_model,6,sparse_5,"[0, 10, 20, 30, 40]",5,0.9,40,41,0.7535034418106079,0.725318193435669
+unitree_z1_dual_arm_stackbox,case3,unitree_z1_dual_arm_stackbox-vid25-fs4,unitree_z1_dual_arm_stackbox,world_model,6,tail_heavy_10,"[0, 5, 10, 20, 30, 38, 43, 46, 48, 49]",10,0.8,49,50,1.0,0.9999998807907104
+unitree_z1_dual_arm_stackbox,case3,unitree_z1_dual_arm_stackbox-vid25-fs4,unitree_z1_dual_arm_stackbox,world_model,6,tail_only_6,"[40, 43, 46, 47, 48, 49]",6,0.88,49,50,1.0,0.9999998807907104
+unitree_z1_dual_arm_stackbox,case3,unitree_z1_dual_arm_stackbox-vid25-fs4,unitree_z1_dual_arm_stackbox,world_model,6,sparse_8,"[0, 7, 14, 21, 28, 35, 42, 49]",8,0.84,49,50,1.0,0.9999998807907104
+unitree_z1_dual_arm_stackbox,case3,unitree_z1_dual_arm_stackbox-vid25-fs4,unitree_z1_dual_arm_stackbox,world_model,6,sparse_4,"[0, 16, 32, 49]",4,0.92,49,50,1.0,0.9999998807907104
+unitree_z1_dual_arm_stackbox,case3,unitree_z1_dual_arm_stackbox-vid25-fs4,unitree_z1_dual_arm_stackbox,world_model,6,tail_only_4,"[40, 43, 46, 49]",4,0.92,49,50,1.0,0.9999998807907104
+unitree_z1_dual_arm_stackbox,case3,unitree_z1_dual_arm_stackbox-vid25-fs4,unitree_z1_dual_arm_stackbox,world_model,6,tail_heavy_6,"[0, 32, 40, 44, 47, 49]",6,0.88,49,50,1.0,0.9999998807907104
+unitree_z1_dual_arm_stackbox,case3,unitree_z1_dual_arm_stackbox-vid25-fs4,unitree_z1_dual_arm_stackbox,world_model,6,tail_heavy_8,"[0, 10, 20, 30, 38, 43, 46, 49]",8,0.84,49,50,1.0,0.9999998807907104
+unitree_z1_dual_arm_stackbox,case4,unitree_z1_dual_arm_stackbox-vid35-fs4,unitree_z1_dual_arm_stackbox,policy,0,dense,"[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49]",50,0.0,49,50,1.0000001192092896,1.0
+unitree_z1_dual_arm_stackbox,case4,unitree_z1_dual_arm_stackbox-vid35-fs4,unitree_z1_dual_arm_stackbox,policy,0,sparse_10,"[0, 5, 10, 15, 20, 25, 30, 35, 40, 45]",10,0.8,45,46,0.9381583333015442,0.8828332424163818
+unitree_z1_dual_arm_stackbox,case4,unitree_z1_dual_arm_stackbox-vid35-fs4,unitree_z1_dual_arm_stackbox,policy,0,sparse_5,"[0, 10, 20, 30, 40]",5,0.9,40,41,0.7807009220123291,0.6525447368621826
+unitree_z1_dual_arm_stackbox,case4,unitree_z1_dual_arm_stackbox-vid35-fs4,unitree_z1_dual_arm_stackbox,policy,0,tail_heavy_10,"[0, 5, 10, 20, 30, 38, 43, 46, 48, 49]",10,0.8,49,50,1.0000001192092896,1.0
+unitree_z1_dual_arm_stackbox,case4,unitree_z1_dual_arm_stackbox-vid35-fs4,unitree_z1_dual_arm_stackbox,policy,0,tail_only_6,"[40, 43, 46, 47, 48, 49]",6,0.88,49,50,1.0000001192092896,1.0
+unitree_z1_dual_arm_stackbox,case4,unitree_z1_dual_arm_stackbox-vid35-fs4,unitree_z1_dual_arm_stackbox,policy,0,sparse_8,"[0, 7, 14, 21, 28, 35, 42, 49]",8,0.84,49,50,1.0000001192092896,1.0
+unitree_z1_dual_arm_stackbox,case4,unitree_z1_dual_arm_stackbox-vid35-fs4,unitree_z1_dual_arm_stackbox,policy,0,sparse_4,"[0, 16, 32, 49]",4,0.92,49,50,1.0000001192092896,1.0
+unitree_z1_dual_arm_stackbox,case4,unitree_z1_dual_arm_stackbox-vid35-fs4,unitree_z1_dual_arm_stackbox,policy,0,tail_only_4,"[40, 43, 46, 49]",4,0.92,49,50,1.0000001192092896,1.0
+unitree_z1_dual_arm_stackbox,case4,unitree_z1_dual_arm_stackbox-vid35-fs4,unitree_z1_dual_arm_stackbox,policy,0,tail_heavy_6,"[0, 32, 40, 44, 47, 49]",6,0.88,49,50,1.0000001192092896,1.0
+unitree_z1_dual_arm_stackbox,case4,unitree_z1_dual_arm_stackbox-vid35-fs4,unitree_z1_dual_arm_stackbox,policy,0,tail_heavy_8,"[0, 10, 20, 30, 38, 43, 46, 49]",8,0.84,49,50,1.0000001192092896,1.0
+unitree_z1_dual_arm_stackbox,case4,unitree_z1_dual_arm_stackbox-vid35-fs4,unitree_z1_dual_arm_stackbox,policy,1,dense,"[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49]",50,0.0,49,50,1.0,1.0
+unitree_z1_dual_arm_stackbox,case4,unitree_z1_dual_arm_stackbox-vid35-fs4,unitree_z1_dual_arm_stackbox,policy,1,sparse_10,"[0, 5, 10, 15, 20, 25, 30, 35, 40, 45]",10,0.8,45,46,0.947455644607544,0.93928200006485
+unitree_z1_dual_arm_stackbox,case4,unitree_z1_dual_arm_stackbox-vid35-fs4,unitree_z1_dual_arm_stackbox,policy,1,sparse_5,"[0, 10, 20, 30, 40]",5,0.9,40,41,0.8097963333129883,0.7953759431838989
+unitree_z1_dual_arm_stackbox,case4,unitree_z1_dual_arm_stackbox-vid35-fs4,unitree_z1_dual_arm_stackbox,policy,1,tail_heavy_10,"[0, 5, 10, 20, 30, 38, 43, 46, 48, 49]",10,0.8,49,50,1.0,1.0
+unitree_z1_dual_arm_stackbox,case4,unitree_z1_dual_arm_stackbox-vid35-fs4,unitree_z1_dual_arm_stackbox,policy,1,tail_only_6,"[40, 43, 46, 47, 48, 49]",6,0.88,49,50,1.0,1.0
+unitree_z1_dual_arm_stackbox,case4,unitree_z1_dual_arm_stackbox-vid35-fs4,unitree_z1_dual_arm_stackbox,policy,1,sparse_8,"[0, 7, 14, 21, 28, 35, 42, 49]",8,0.84,49,50,1.0,1.0
+unitree_z1_dual_arm_stackbox,case4,unitree_z1_dual_arm_stackbox-vid35-fs4,unitree_z1_dual_arm_stackbox,policy,1,sparse_4,"[0, 16, 32, 49]",4,0.92,49,50,1.0,1.0
+unitree_z1_dual_arm_stackbox,case4,unitree_z1_dual_arm_stackbox-vid35-fs4,unitree_z1_dual_arm_stackbox,policy,1,tail_only_4,"[40, 43, 46, 49]",4,0.92,49,50,1.0,1.0
+unitree_z1_dual_arm_stackbox,case4,unitree_z1_dual_arm_stackbox-vid35-fs4,unitree_z1_dual_arm_stackbox,policy,1,tail_heavy_6,"[0, 32, 40, 44, 47, 49]",6,0.88,49,50,1.0,1.0
+unitree_z1_dual_arm_stackbox,case4,unitree_z1_dual_arm_stackbox-vid35-fs4,unitree_z1_dual_arm_stackbox,policy,1,tail_heavy_8,"[0, 10, 20, 30, 38, 43, 46, 49]",8,0.84,49,50,1.0,1.0
+unitree_z1_dual_arm_stackbox,case4,unitree_z1_dual_arm_stackbox-vid35-fs4,unitree_z1_dual_arm_stackbox,policy,2,dense,"[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49]",50,0.0,49,50,1.0,0.9999998807907104
+unitree_z1_dual_arm_stackbox,case4,unitree_z1_dual_arm_stackbox-vid35-fs4,unitree_z1_dual_arm_stackbox,policy,2,sparse_10,"[0, 5, 10, 15, 20, 25, 30, 35, 40, 45]",10,0.8,45,46,0.9245916604995728,0.9080504775047302
+unitree_z1_dual_arm_stackbox,case4,unitree_z1_dual_arm_stackbox-vid35-fs4,unitree_z1_dual_arm_stackbox,policy,2,sparse_5,"[0, 10, 20, 30, 40]",5,0.9,40,41,0.7451661229133606,0.7326636910438538
+unitree_z1_dual_arm_stackbox,case4,unitree_z1_dual_arm_stackbox-vid35-fs4,unitree_z1_dual_arm_stackbox,policy,2,tail_heavy_10,"[0, 5, 10, 20, 30, 38, 43, 46, 48, 49]",10,0.8,49,50,1.0,0.9999998807907104
+unitree_z1_dual_arm_stackbox,case4,unitree_z1_dual_arm_stackbox-vid35-fs4,unitree_z1_dual_arm_stackbox,policy,2,tail_only_6,"[40, 43, 46, 47, 48, 49]",6,0.88,49,50,1.0,0.9999998807907104
+unitree_z1_dual_arm_stackbox,case4,unitree_z1_dual_arm_stackbox-vid35-fs4,unitree_z1_dual_arm_stackbox,policy,2,sparse_8,"[0, 7, 14, 21, 28, 35, 42, 49]",8,0.84,49,50,1.0,0.9999998807907104
+unitree_z1_dual_arm_stackbox,case4,unitree_z1_dual_arm_stackbox-vid35-fs4,unitree_z1_dual_arm_stackbox,policy,2,sparse_4,"[0, 16, 32, 49]",4,0.92,49,50,1.0,0.9999998807907104
+unitree_z1_dual_arm_stackbox,case4,unitree_z1_dual_arm_stackbox-vid35-fs4,unitree_z1_dual_arm_stackbox,policy,2,tail_only_4,"[40, 43, 46, 49]",4,0.92,49,50,1.0,0.9999998807907104
+unitree_z1_dual_arm_stackbox,case4,unitree_z1_dual_arm_stackbox-vid35-fs4,unitree_z1_dual_arm_stackbox,policy,2,tail_heavy_6,"[0, 32, 40, 44, 47, 49]",6,0.88,49,50,1.0,0.9999998807907104
+unitree_z1_dual_arm_stackbox,case4,unitree_z1_dual_arm_stackbox-vid35-fs4,unitree_z1_dual_arm_stackbox,policy,2,tail_heavy_8,"[0, 10, 20, 30, 38, 43, 46, 49]",8,0.84,49,50,1.0,0.9999998807907104
+unitree_z1_dual_arm_stackbox,case4,unitree_z1_dual_arm_stackbox-vid35-fs4,unitree_z1_dual_arm_stackbox,policy,3,dense,"[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49]",50,0.0,49,50,1.0,1.0000001192092896
+unitree_z1_dual_arm_stackbox,case4,unitree_z1_dual_arm_stackbox-vid35-fs4,unitree_z1_dual_arm_stackbox,policy,3,sparse_10,"[0, 5, 10, 15, 20, 25, 30, 35, 40, 45]",10,0.8,45,46,0.9280532002449036,0.8754186034202576
+unitree_z1_dual_arm_stackbox,case4,unitree_z1_dual_arm_stackbox-vid35-fs4,unitree_z1_dual_arm_stackbox,policy,3,sparse_5,"[0, 10, 20, 30, 40]",5,0.9,40,41,0.7470498085021973,0.6650607585906982
+unitree_z1_dual_arm_stackbox,case4,unitree_z1_dual_arm_stackbox-vid35-fs4,unitree_z1_dual_arm_stackbox,policy,3,tail_heavy_10,"[0, 5, 10, 20, 30, 38, 43, 46, 48, 49]",10,0.8,49,50,1.0,1.0000001192092896
+unitree_z1_dual_arm_stackbox,case4,unitree_z1_dual_arm_stackbox-vid35-fs4,unitree_z1_dual_arm_stackbox,policy,3,tail_only_6,"[40, 43, 46, 47, 48, 49]",6,0.88,49,50,1.0,1.0000001192092896
+unitree_z1_dual_arm_stackbox,case4,unitree_z1_dual_arm_stackbox-vid35-fs4,unitree_z1_dual_arm_stackbox,policy,3,sparse_8,"[0, 7, 14, 21, 28, 35, 42, 49]",8,0.84,49,50,1.0,1.0000001192092896
+unitree_z1_dual_arm_stackbox,case4,unitree_z1_dual_arm_stackbox-vid35-fs4,unitree_z1_dual_arm_stackbox,policy,3,sparse_4,"[0, 16, 32, 49]",4,0.92,49,50,1.0,1.0000001192092896
+unitree_z1_dual_arm_stackbox,case4,unitree_z1_dual_arm_stackbox-vid35-fs4,unitree_z1_dual_arm_stackbox,policy,3,tail_only_4,"[40, 43, 46, 49]",4,0.92,49,50,1.0,1.0000001192092896
+unitree_z1_dual_arm_stackbox,case4,unitree_z1_dual_arm_stackbox-vid35-fs4,unitree_z1_dual_arm_stackbox,policy,3,tail_heavy_6,"[0, 32, 40, 44, 47, 49]",6,0.88,49,50,1.0,1.0000001192092896
+unitree_z1_dual_arm_stackbox,case4,unitree_z1_dual_arm_stackbox-vid35-fs4,unitree_z1_dual_arm_stackbox,policy,3,tail_heavy_8,"[0, 10, 20, 30, 38, 43, 46, 49]",8,0.84,49,50,1.0,1.0000001192092896
+unitree_z1_dual_arm_stackbox,case4,unitree_z1_dual_arm_stackbox-vid35-fs4,unitree_z1_dual_arm_stackbox,policy,4,dense,"[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49]",50,0.0,49,50,1.0,0.9999998211860656
+unitree_z1_dual_arm_stackbox,case4,unitree_z1_dual_arm_stackbox-vid35-fs4,unitree_z1_dual_arm_stackbox,policy,4,sparse_10,"[0, 5, 10, 15, 20, 25, 30, 35, 40, 45]",10,0.8,45,46,0.9438508152961732,0.9109694957733154
+unitree_z1_dual_arm_stackbox,case4,unitree_z1_dual_arm_stackbox-vid35-fs4,unitree_z1_dual_arm_stackbox,policy,4,sparse_5,"[0, 10, 20, 30, 40]",5,0.9,40,41,0.8046894073486328,0.7473829388618469
+unitree_z1_dual_arm_stackbox,case4,unitree_z1_dual_arm_stackbox-vid35-fs4,unitree_z1_dual_arm_stackbox,policy,4,tail_heavy_10,"[0, 5, 10, 20, 30, 38, 43, 46, 48, 49]",10,0.8,49,50,1.0,0.9999998211860656
+unitree_z1_dual_arm_stackbox,case4,unitree_z1_dual_arm_stackbox-vid35-fs4,unitree_z1_dual_arm_stackbox,policy,4,tail_only_6,"[40, 43, 46, 47, 48, 49]",6,0.88,49,50,1.0,0.9999998211860656
+unitree_z1_dual_arm_stackbox,case4,unitree_z1_dual_arm_stackbox-vid35-fs4,unitree_z1_dual_arm_stackbox,policy,4,sparse_8,"[0, 7, 14, 21, 28, 35, 42, 49]",8,0.84,49,50,1.0,0.9999998211860656
+unitree_z1_dual_arm_stackbox,case4,unitree_z1_dual_arm_stackbox-vid35-fs4,unitree_z1_dual_arm_stackbox,policy,4,sparse_4,"[0, 16, 32, 49]",4,0.92,49,50,1.0,0.9999998211860656
+unitree_z1_dual_arm_stackbox,case4,unitree_z1_dual_arm_stackbox-vid35-fs4,unitree_z1_dual_arm_stackbox,policy,4,tail_only_4,"[40, 43, 46, 49]",4,0.92,49,50,1.0,0.9999998211860656
+unitree_z1_dual_arm_stackbox,case4,unitree_z1_dual_arm_stackbox-vid35-fs4,unitree_z1_dual_arm_stackbox,policy,4,tail_heavy_6,"[0, 32, 40, 44, 47, 49]",6,0.88,49,50,1.0,0.9999998211860656
+unitree_z1_dual_arm_stackbox,case4,unitree_z1_dual_arm_stackbox-vid35-fs4,unitree_z1_dual_arm_stackbox,policy,4,tail_heavy_8,"[0, 10, 20, 30, 38, 43, 46, 49]",8,0.84,49,50,1.0,0.9999998211860656
+unitree_z1_dual_arm_stackbox,case4,unitree_z1_dual_arm_stackbox-vid35-fs4,unitree_z1_dual_arm_stackbox,policy,5,dense,"[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49]",50,0.0,49,50,0.9999998807907104,0.9999998211860656
+unitree_z1_dual_arm_stackbox,case4,unitree_z1_dual_arm_stackbox-vid35-fs4,unitree_z1_dual_arm_stackbox,policy,5,sparse_10,"[0, 5, 10, 15, 20, 25, 30, 35, 40, 45]",10,0.8,45,46,0.929748237133026,0.8530445098876953
+unitree_z1_dual_arm_stackbox,case4,unitree_z1_dual_arm_stackbox-vid35-fs4,unitree_z1_dual_arm_stackbox,policy,5,sparse_5,"[0, 10, 20, 30, 40]",5,0.9,40,41,0.7556028366088867,0.6252632141113281
+unitree_z1_dual_arm_stackbox,case4,unitree_z1_dual_arm_stackbox-vid35-fs4,unitree_z1_dual_arm_stackbox,policy,5,tail_heavy_10,"[0, 5, 10, 20, 30, 38, 43, 46, 48, 49]",10,0.8,49,50,0.9999998807907104,0.9999998211860656
+unitree_z1_dual_arm_stackbox,case4,unitree_z1_dual_arm_stackbox-vid35-fs4,unitree_z1_dual_arm_stackbox,policy,5,tail_only_6,"[40, 43, 46, 47, 48, 49]",6,0.88,49,50,0.9999998807907104,0.9999998211860656
+unitree_z1_dual_arm_stackbox,case4,unitree_z1_dual_arm_stackbox-vid35-fs4,unitree_z1_dual_arm_stackbox,policy,5,sparse_8,"[0, 7, 14, 21, 28, 35, 42, 49]",8,0.84,49,50,0.9999998807907104,0.9999998211860656
+unitree_z1_dual_arm_stackbox,case4,unitree_z1_dual_arm_stackbox-vid35-fs4,unitree_z1_dual_arm_stackbox,policy,5,sparse_4,"[0, 16, 32, 49]",4,0.92,49,50,0.9999998807907104,0.9999998211860656
+unitree_z1_dual_arm_stackbox,case4,unitree_z1_dual_arm_stackbox-vid35-fs4,unitree_z1_dual_arm_stackbox,policy,5,tail_only_4,"[40, 43, 46, 49]",4,0.92,49,50,0.9999998807907104,0.9999998211860656
+unitree_z1_dual_arm_stackbox,case4,unitree_z1_dual_arm_stackbox-vid35-fs4,unitree_z1_dual_arm_stackbox,policy,5,tail_heavy_6,"[0, 32, 40, 44, 47, 49]",6,0.88,49,50,0.9999998807907104,0.9999998211860656
+unitree_z1_dual_arm_stackbox,case4,unitree_z1_dual_arm_stackbox-vid35-fs4,unitree_z1_dual_arm_stackbox,policy,5,tail_heavy_8,"[0, 10, 20, 30, 38, 43, 46, 49]",8,0.84,49,50,0.9999998807907104,0.9999998211860656
+unitree_z1_dual_arm_stackbox,case4,unitree_z1_dual_arm_stackbox-vid35-fs4,unitree_z1_dual_arm_stackbox,policy,6,dense,"[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49]",50,0.0,49,50,1.0,1.0
+unitree_z1_dual_arm_stackbox,case4,unitree_z1_dual_arm_stackbox-vid35-fs4,unitree_z1_dual_arm_stackbox,policy,6,sparse_10,"[0, 5, 10, 15, 20, 25, 30, 35, 40, 45]",10,0.8,45,46,0.9323376417160034,0.8960641026496887
+unitree_z1_dual_arm_stackbox,case4,unitree_z1_dual_arm_stackbox-vid35-fs4,unitree_z1_dual_arm_stackbox,policy,6,sparse_5,"[0, 10, 20, 30, 40]",5,0.9,40,41,0.7683961391448975,0.7033482789993286
+unitree_z1_dual_arm_stackbox,case4,unitree_z1_dual_arm_stackbox-vid35-fs4,unitree_z1_dual_arm_stackbox,policy,6,tail_heavy_10,"[0, 5, 10, 20, 30, 38, 43, 46, 48, 49]",10,0.8,49,50,1.0,1.0
+unitree_z1_dual_arm_stackbox,case4,unitree_z1_dual_arm_stackbox-vid35-fs4,unitree_z1_dual_arm_stackbox,policy,6,tail_only_6,"[40, 43, 46, 47, 48, 49]",6,0.88,49,50,1.0,1.0
+unitree_z1_dual_arm_stackbox,case4,unitree_z1_dual_arm_stackbox-vid35-fs4,unitree_z1_dual_arm_stackbox,policy,6,sparse_8,"[0, 7, 14, 21, 28, 35, 42, 49]",8,0.84,49,50,1.0,1.0
+unitree_z1_dual_arm_stackbox,case4,unitree_z1_dual_arm_stackbox-vid35-fs4,unitree_z1_dual_arm_stackbox,policy,6,sparse_4,"[0, 16, 32, 49]",4,0.92,49,50,1.0,1.0
+unitree_z1_dual_arm_stackbox,case4,unitree_z1_dual_arm_stackbox-vid35-fs4,unitree_z1_dual_arm_stackbox,policy,6,tail_only_4,"[40, 43, 46, 49]",4,0.92,49,50,1.0,1.0
+unitree_z1_dual_arm_stackbox,case4,unitree_z1_dual_arm_stackbox-vid35-fs4,unitree_z1_dual_arm_stackbox,policy,6,tail_heavy_6,"[0, 32, 40, 44, 47, 49]",6,0.88,49,50,1.0,1.0
+unitree_z1_dual_arm_stackbox,case4,unitree_z1_dual_arm_stackbox-vid35-fs4,unitree_z1_dual_arm_stackbox,policy,6,tail_heavy_8,"[0, 10, 20, 30, 38, 43, 46, 49]",8,0.84,49,50,1.0,1.0
+unitree_z1_dual_arm_stackbox,case4,unitree_z1_dual_arm_stackbox-vid35-fs4,unitree_z1_dual_arm_stackbox,world_model,0,dense,"[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49]",50,0.0,49,50,1.0000001192092896,0.9999999403953552
+unitree_z1_dual_arm_stackbox,case4,unitree_z1_dual_arm_stackbox-vid35-fs4,unitree_z1_dual_arm_stackbox,world_model,0,sparse_10,"[0, 5, 10, 15, 20, 25, 30, 35, 40, 45]",10,0.8,45,46,0.9341945052146912,0.9143285751342772
+unitree_z1_dual_arm_stackbox,case4,unitree_z1_dual_arm_stackbox-vid35-fs4,unitree_z1_dual_arm_stackbox,world_model,0,sparse_5,"[0, 10, 20, 30, 40]",5,0.9,40,41,0.7585601210594177,0.7263631224632263
+unitree_z1_dual_arm_stackbox,case4,unitree_z1_dual_arm_stackbox-vid35-fs4,unitree_z1_dual_arm_stackbox,world_model,0,tail_heavy_10,"[0, 5, 10, 20, 30, 38, 43, 46, 48, 49]",10,0.8,49,50,1.0000001192092896,0.9999999403953552
+unitree_z1_dual_arm_stackbox,case4,unitree_z1_dual_arm_stackbox-vid35-fs4,unitree_z1_dual_arm_stackbox,world_model,0,tail_only_6,"[40, 43, 46, 47, 48, 49]",6,0.88,49,50,1.0000001192092896,0.9999999403953552
+unitree_z1_dual_arm_stackbox,case4,unitree_z1_dual_arm_stackbox-vid35-fs4,unitree_z1_dual_arm_stackbox,world_model,0,sparse_8,"[0, 7, 14, 21, 28, 35, 42, 49]",8,0.84,49,50,1.0000001192092896,0.9999999403953552
+unitree_z1_dual_arm_stackbox,case4,unitree_z1_dual_arm_stackbox-vid35-fs4,unitree_z1_dual_arm_stackbox,world_model,0,sparse_4,"[0, 16, 32, 49]",4,0.92,49,50,1.0000001192092896,0.9999999403953552
+unitree_z1_dual_arm_stackbox,case4,unitree_z1_dual_arm_stackbox-vid35-fs4,unitree_z1_dual_arm_stackbox,world_model,0,tail_only_4,"[40, 43, 46, 49]",4,0.92,49,50,1.0000001192092896,0.9999999403953552
+unitree_z1_dual_arm_stackbox,case4,unitree_z1_dual_arm_stackbox-vid35-fs4,unitree_z1_dual_arm_stackbox,world_model,0,tail_heavy_6,"[0, 32, 40, 44, 47, 49]",6,0.88,49,50,1.0000001192092896,0.9999999403953552
+unitree_z1_dual_arm_stackbox,case4,unitree_z1_dual_arm_stackbox-vid35-fs4,unitree_z1_dual_arm_stackbox,world_model,0,tail_heavy_8,"[0, 10, 20, 30, 38, 43, 46, 49]",8,0.84,49,50,1.0000001192092896,0.9999999403953552
+unitree_z1_dual_arm_stackbox,case4,unitree_z1_dual_arm_stackbox-vid35-fs4,unitree_z1_dual_arm_stackbox,world_model,1,dense,"[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49]",50,0.0,49,50,1.0,0.9999998807907104
+unitree_z1_dual_arm_stackbox,case4,unitree_z1_dual_arm_stackbox-vid35-fs4,unitree_z1_dual_arm_stackbox,world_model,1,sparse_10,"[0, 5, 10, 15, 20, 25, 30, 35, 40, 45]",10,0.8,45,46,0.9280722141265868,0.9421439170837402
+unitree_z1_dual_arm_stackbox,case4,unitree_z1_dual_arm_stackbox-vid35-fs4,unitree_z1_dual_arm_stackbox,world_model,1,sparse_5,"[0, 10, 20, 30, 40]",5,0.9,40,41,0.7292909026145935,0.7871652245521545
+unitree_z1_dual_arm_stackbox,case4,unitree_z1_dual_arm_stackbox-vid35-fs4,unitree_z1_dual_arm_stackbox,world_model,1,tail_heavy_10,"[0, 5, 10, 20, 30, 38, 43, 46, 48, 49]",10,0.8,49,50,1.0,0.9999998807907104
+unitree_z1_dual_arm_stackbox,case4,unitree_z1_dual_arm_stackbox-vid35-fs4,unitree_z1_dual_arm_stackbox,world_model,1,tail_only_6,"[40, 43, 46, 47, 48, 49]",6,0.88,49,50,1.0,0.9999998807907104
+unitree_z1_dual_arm_stackbox,case4,unitree_z1_dual_arm_stackbox-vid35-fs4,unitree_z1_dual_arm_stackbox,world_model,1,sparse_8,"[0, 7, 14, 21, 28, 35, 42, 49]",8,0.84,49,50,1.0,0.9999998807907104
+unitree_z1_dual_arm_stackbox,case4,unitree_z1_dual_arm_stackbox-vid35-fs4,unitree_z1_dual_arm_stackbox,world_model,1,sparse_4,"[0, 16, 32, 49]",4,0.92,49,50,1.0,0.9999998807907104
+unitree_z1_dual_arm_stackbox,case4,unitree_z1_dual_arm_stackbox-vid35-fs4,unitree_z1_dual_arm_stackbox,world_model,1,tail_only_4,"[40, 43, 46, 49]",4,0.92,49,50,1.0,0.9999998807907104
+unitree_z1_dual_arm_stackbox,case4,unitree_z1_dual_arm_stackbox-vid35-fs4,unitree_z1_dual_arm_stackbox,world_model,1,tail_heavy_6,"[0, 32, 40, 44, 47, 49]",6,0.88,49,50,1.0,0.9999998807907104
+unitree_z1_dual_arm_stackbox,case4,unitree_z1_dual_arm_stackbox-vid35-fs4,unitree_z1_dual_arm_stackbox,world_model,1,tail_heavy_8,"[0, 10, 20, 30, 38, 43, 46, 49]",8,0.84,49,50,1.0,0.9999998807907104
+unitree_z1_dual_arm_stackbox,case4,unitree_z1_dual_arm_stackbox-vid35-fs4,unitree_z1_dual_arm_stackbox,world_model,2,dense,"[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49]",50,0.0,49,50,1.0000001192092896,0.9999998807907104
+unitree_z1_dual_arm_stackbox,case4,unitree_z1_dual_arm_stackbox-vid35-fs4,unitree_z1_dual_arm_stackbox,world_model,2,sparse_10,"[0, 5, 10, 15, 20, 25, 30, 35, 40, 45]",10,0.8,45,46,0.9320989847183228,0.9017767906188964
+unitree_z1_dual_arm_stackbox,case4,unitree_z1_dual_arm_stackbox-vid35-fs4,unitree_z1_dual_arm_stackbox,world_model,2,sparse_5,"[0, 10, 20, 30, 40]",5,0.9,40,41,0.7612563371658325,0.6971406936645508
+unitree_z1_dual_arm_stackbox,case4,unitree_z1_dual_arm_stackbox-vid35-fs4,unitree_z1_dual_arm_stackbox,world_model,2,tail_heavy_10,"[0, 5, 10, 20, 30, 38, 43, 46, 48, 49]",10,0.8,49,50,1.0000001192092896,0.9999998807907104
+unitree_z1_dual_arm_stackbox,case4,unitree_z1_dual_arm_stackbox-vid35-fs4,unitree_z1_dual_arm_stackbox,world_model,2,tail_only_6,"[40, 43, 46, 47, 48, 49]",6,0.88,49,50,1.0000001192092896,0.9999998807907104
+unitree_z1_dual_arm_stackbox,case4,unitree_z1_dual_arm_stackbox-vid35-fs4,unitree_z1_dual_arm_stackbox,world_model,2,sparse_8,"[0, 7, 14, 21, 28, 35, 42, 49]",8,0.84,49,50,1.0000001192092896,0.9999998807907104
+unitree_z1_dual_arm_stackbox,case4,unitree_z1_dual_arm_stackbox-vid35-fs4,unitree_z1_dual_arm_stackbox,world_model,2,sparse_4,"[0, 16, 32, 49]",4,0.92,49,50,1.0000001192092896,0.9999998807907104
+unitree_z1_dual_arm_stackbox,case4,unitree_z1_dual_arm_stackbox-vid35-fs4,unitree_z1_dual_arm_stackbox,world_model,2,tail_only_4,"[40, 43, 46, 49]",4,0.92,49,50,1.0000001192092896,0.9999998807907104
+unitree_z1_dual_arm_stackbox,case4,unitree_z1_dual_arm_stackbox-vid35-fs4,unitree_z1_dual_arm_stackbox,world_model,2,tail_heavy_6,"[0, 32, 40, 44, 47, 49]",6,0.88,49,50,1.0000001192092896,0.9999998807907104
+unitree_z1_dual_arm_stackbox,case4,unitree_z1_dual_arm_stackbox-vid35-fs4,unitree_z1_dual_arm_stackbox,world_model,2,tail_heavy_8,"[0, 10, 20, 30, 38, 43, 46, 49]",8,0.84,49,50,1.0000001192092896,0.9999998807907104
+unitree_z1_dual_arm_stackbox,case4,unitree_z1_dual_arm_stackbox-vid35-fs4,unitree_z1_dual_arm_stackbox,world_model,3,dense,"[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49]",50,0.0,49,50,1.0000001192092896,1.0
+unitree_z1_dual_arm_stackbox,case4,unitree_z1_dual_arm_stackbox-vid35-fs4,unitree_z1_dual_arm_stackbox,world_model,3,sparse_10,"[0, 5, 10, 15, 20, 25, 30, 35, 40, 45]",10,0.8,45,46,0.924307346343994,0.8954213857650757
+unitree_z1_dual_arm_stackbox,case4,unitree_z1_dual_arm_stackbox-vid35-fs4,unitree_z1_dual_arm_stackbox,world_model,3,sparse_5,"[0, 10, 20, 30, 40]",5,0.9,40,41,0.7371954321861267,0.7090866565704346
+unitree_z1_dual_arm_stackbox,case4,unitree_z1_dual_arm_stackbox-vid35-fs4,unitree_z1_dual_arm_stackbox,world_model,3,tail_heavy_10,"[0, 5, 10, 20, 30, 38, 43, 46, 48, 49]",10,0.8,49,50,1.0000001192092896,1.0
+unitree_z1_dual_arm_stackbox,case4,unitree_z1_dual_arm_stackbox-vid35-fs4,unitree_z1_dual_arm_stackbox,world_model,3,tail_only_6,"[40, 43, 46, 47, 48, 49]",6,0.88,49,50,1.0000001192092896,1.0
+unitree_z1_dual_arm_stackbox,case4,unitree_z1_dual_arm_stackbox-vid35-fs4,unitree_z1_dual_arm_stackbox,world_model,3,sparse_8,"[0, 7, 14, 21, 28, 35, 42, 49]",8,0.84,49,50,1.0000001192092896,1.0
+unitree_z1_dual_arm_stackbox,case4,unitree_z1_dual_arm_stackbox-vid35-fs4,unitree_z1_dual_arm_stackbox,world_model,3,sparse_4,"[0, 16, 32, 49]",4,0.92,49,50,1.0000001192092896,1.0
+unitree_z1_dual_arm_stackbox,case4,unitree_z1_dual_arm_stackbox-vid35-fs4,unitree_z1_dual_arm_stackbox,world_model,3,tail_only_4,"[40, 43, 46, 49]",4,0.92,49,50,1.0000001192092896,1.0
+unitree_z1_dual_arm_stackbox,case4,unitree_z1_dual_arm_stackbox-vid35-fs4,unitree_z1_dual_arm_stackbox,world_model,3,tail_heavy_6,"[0, 32, 40, 44, 47, 49]",6,0.88,49,50,1.0000001192092896,1.0
+unitree_z1_dual_arm_stackbox,case4,unitree_z1_dual_arm_stackbox-vid35-fs4,unitree_z1_dual_arm_stackbox,world_model,3,tail_heavy_8,"[0, 10, 20, 30, 38, 43, 46, 49]",8,0.84,49,50,1.0000001192092896,1.0
+unitree_z1_dual_arm_stackbox,case4,unitree_z1_dual_arm_stackbox-vid35-fs4,unitree_z1_dual_arm_stackbox,world_model,4,dense,"[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49]",50,0.0,49,50,0.9999998211860656,1.0
+unitree_z1_dual_arm_stackbox,case4,unitree_z1_dual_arm_stackbox-vid35-fs4,unitree_z1_dual_arm_stackbox,world_model,4,sparse_10,"[0, 5, 10, 15, 20, 25, 30, 35, 40, 45]",10,0.8,45,46,0.9371243119239808,0.9178260564804076
+unitree_z1_dual_arm_stackbox,case4,unitree_z1_dual_arm_stackbox-vid35-fs4,unitree_z1_dual_arm_stackbox,world_model,4,sparse_5,"[0, 10, 20, 30, 40]",5,0.9,40,41,0.7813198566436768,0.7487682700157166
+unitree_z1_dual_arm_stackbox,case4,unitree_z1_dual_arm_stackbox-vid35-fs4,unitree_z1_dual_arm_stackbox,world_model,4,tail_heavy_10,"[0, 5, 10, 20, 30, 38, 43, 46, 48, 49]",10,0.8,49,50,0.9999998211860656,1.0
+unitree_z1_dual_arm_stackbox,case4,unitree_z1_dual_arm_stackbox-vid35-fs4,unitree_z1_dual_arm_stackbox,world_model,4,tail_only_6,"[40, 43, 46, 47, 48, 49]",6,0.88,49,50,0.9999998211860656,1.0
+unitree_z1_dual_arm_stackbox,case4,unitree_z1_dual_arm_stackbox-vid35-fs4,unitree_z1_dual_arm_stackbox,world_model,4,sparse_8,"[0, 7, 14, 21, 28, 35, 42, 49]",8,0.84,49,50,0.9999998211860656,1.0
+unitree_z1_dual_arm_stackbox,case4,unitree_z1_dual_arm_stackbox-vid35-fs4,unitree_z1_dual_arm_stackbox,world_model,4,sparse_4,"[0, 16, 32, 49]",4,0.92,49,50,0.9999998211860656,1.0
+unitree_z1_dual_arm_stackbox,case4,unitree_z1_dual_arm_stackbox-vid35-fs4,unitree_z1_dual_arm_stackbox,world_model,4,tail_only_4,"[40, 43, 46, 49]",4,0.92,49,50,0.9999998211860656,1.0
+unitree_z1_dual_arm_stackbox,case4,unitree_z1_dual_arm_stackbox-vid35-fs4,unitree_z1_dual_arm_stackbox,world_model,4,tail_heavy_6,"[0, 32, 40, 44, 47, 49]",6,0.88,49,50,0.9999998211860656,1.0
+unitree_z1_dual_arm_stackbox,case4,unitree_z1_dual_arm_stackbox-vid35-fs4,unitree_z1_dual_arm_stackbox,world_model,4,tail_heavy_8,"[0, 10, 20, 30, 38, 43, 46, 49]",8,0.84,49,50,0.9999998211860656,1.0
+unitree_z1_dual_arm_stackbox,case4,unitree_z1_dual_arm_stackbox-vid35-fs4,unitree_z1_dual_arm_stackbox,world_model,5,dense,"[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49]",50,0.0,49,50,0.9999999403953552,0.9999998211860656
+unitree_z1_dual_arm_stackbox,case4,unitree_z1_dual_arm_stackbox-vid35-fs4,unitree_z1_dual_arm_stackbox,world_model,5,sparse_10,"[0, 5, 10, 15, 20, 25, 30, 35, 40, 45]",10,0.8,45,46,0.925866723060608,0.8712290525436401
+unitree_z1_dual_arm_stackbox,case4,unitree_z1_dual_arm_stackbox-vid35-fs4,unitree_z1_dual_arm_stackbox,world_model,5,sparse_5,"[0, 10, 20, 30, 40]",5,0.9,40,41,0.7356212139129639,0.6418353319168091
+unitree_z1_dual_arm_stackbox,case4,unitree_z1_dual_arm_stackbox-vid35-fs4,unitree_z1_dual_arm_stackbox,world_model,5,tail_heavy_10,"[0, 5, 10, 20, 30, 38, 43, 46, 48, 49]",10,0.8,49,50,0.9999999403953552,0.9999998211860656
+unitree_z1_dual_arm_stackbox,case4,unitree_z1_dual_arm_stackbox-vid35-fs4,unitree_z1_dual_arm_stackbox,world_model,5,tail_only_6,"[40, 43, 46, 47, 48, 49]",6,0.88,49,50,0.9999999403953552,0.9999998211860656
+unitree_z1_dual_arm_stackbox,case4,unitree_z1_dual_arm_stackbox-vid35-fs4,unitree_z1_dual_arm_stackbox,world_model,5,sparse_8,"[0, 7, 14, 21, 28, 35, 42, 49]",8,0.84,49,50,0.9999999403953552,0.9999998211860656
+unitree_z1_dual_arm_stackbox,case4,unitree_z1_dual_arm_stackbox-vid35-fs4,unitree_z1_dual_arm_stackbox,world_model,5,sparse_4,"[0, 16, 32, 49]",4,0.92,49,50,0.9999999403953552,0.9999998211860656
+unitree_z1_dual_arm_stackbox,case4,unitree_z1_dual_arm_stackbox-vid35-fs4,unitree_z1_dual_arm_stackbox,world_model,5,tail_only_4,"[40, 43, 46, 49]",4,0.92,49,50,0.9999999403953552,0.9999998211860656
+unitree_z1_dual_arm_stackbox,case4,unitree_z1_dual_arm_stackbox-vid35-fs4,unitree_z1_dual_arm_stackbox,world_model,5,tail_heavy_6,"[0, 32, 40, 44, 47, 49]",6,0.88,49,50,0.9999999403953552,0.9999998211860656
+unitree_z1_dual_arm_stackbox,case4,unitree_z1_dual_arm_stackbox-vid35-fs4,unitree_z1_dual_arm_stackbox,world_model,5,tail_heavy_8,"[0, 10, 20, 30, 38, 43, 46, 49]",8,0.84,49,50,0.9999999403953552,0.9999998211860656
+unitree_z1_dual_arm_stackbox,case4,unitree_z1_dual_arm_stackbox-vid35-fs4,unitree_z1_dual_arm_stackbox,world_model,6,dense,"[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49]",50,0.0,49,50,0.9999998807907104,0.9999999403953552
+unitree_z1_dual_arm_stackbox,case4,unitree_z1_dual_arm_stackbox-vid35-fs4,unitree_z1_dual_arm_stackbox,world_model,6,sparse_10,"[0, 5, 10, 15, 20, 25, 30, 35, 40, 45]",10,0.8,45,46,0.9315170645713806,0.9113924503326416
+unitree_z1_dual_arm_stackbox,case4,unitree_z1_dual_arm_stackbox-vid35-fs4,unitree_z1_dual_arm_stackbox,world_model,6,sparse_5,"[0, 10, 20, 30, 40]",5,0.9,40,41,0.7556493282318115,0.7348536849021912
+unitree_z1_dual_arm_stackbox,case4,unitree_z1_dual_arm_stackbox-vid35-fs4,unitree_z1_dual_arm_stackbox,world_model,6,tail_heavy_10,"[0, 5, 10, 20, 30, 38, 43, 46, 48, 49]",10,0.8,49,50,0.9999998807907104,0.9999999403953552
+unitree_z1_dual_arm_stackbox,case4,unitree_z1_dual_arm_stackbox-vid35-fs4,unitree_z1_dual_arm_stackbox,world_model,6,tail_only_6,"[40, 43, 46, 47, 48, 49]",6,0.88,49,50,0.9999998807907104,0.9999999403953552
+unitree_z1_dual_arm_stackbox,case4,unitree_z1_dual_arm_stackbox-vid35-fs4,unitree_z1_dual_arm_stackbox,world_model,6,sparse_8,"[0, 7, 14, 21, 28, 35, 42, 49]",8,0.84,49,50,0.9999998807907104,0.9999999403953552
+unitree_z1_dual_arm_stackbox,case4,unitree_z1_dual_arm_stackbox-vid35-fs4,unitree_z1_dual_arm_stackbox,world_model,6,sparse_4,"[0, 16, 32, 49]",4,0.92,49,50,0.9999998807907104,0.9999999403953552
+unitree_z1_dual_arm_stackbox,case4,unitree_z1_dual_arm_stackbox-vid35-fs4,unitree_z1_dual_arm_stackbox,world_model,6,tail_only_4,"[40, 43, 46, 49]",4,0.92,49,50,0.9999998807907104,0.9999999403953552
+unitree_z1_dual_arm_stackbox,case4,unitree_z1_dual_arm_stackbox-vid35-fs4,unitree_z1_dual_arm_stackbox,world_model,6,tail_heavy_6,"[0, 32, 40, 44, 47, 49]",6,0.88,49,50,0.9999998807907104,0.9999999403953552
+unitree_z1_dual_arm_stackbox,case4,unitree_z1_dual_arm_stackbox-vid35-fs4,unitree_z1_dual_arm_stackbox,world_model,6,tail_heavy_8,"[0, 10, 20, 30, 38, 43, 46, 49]",8,0.84,49,50,0.9999998807907104,0.9999999403953552
+unitree_z1_dual_arm_stackbox_v2,case1,unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,policy,0,dense,"[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49]",50,0.0,49,50,0.9999999403953552,0.9999998211860656
+unitree_z1_dual_arm_stackbox_v2,case1,unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,policy,0,sparse_10,"[0, 5, 10, 15, 20, 25, 30, 35, 40, 45]",10,0.8,45,46,0.9470291137695312,0.9545578360557556
+unitree_z1_dual_arm_stackbox_v2,case1,unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,policy,0,sparse_5,"[0, 10, 20, 30, 40]",5,0.9,40,41,0.7664598226547241,0.8216434121131897
+unitree_z1_dual_arm_stackbox_v2,case1,unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,policy,0,tail_heavy_10,"[0, 5, 10, 20, 30, 38, 43, 46, 48, 49]",10,0.8,49,50,0.9999999403953552,0.9999998211860656
+unitree_z1_dual_arm_stackbox_v2,case1,unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,policy,0,tail_only_6,"[40, 43, 46, 47, 48, 49]",6,0.88,49,50,0.9999999403953552,0.9999998211860656
+unitree_z1_dual_arm_stackbox_v2,case1,unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,policy,0,sparse_8,"[0, 7, 14, 21, 28, 35, 42, 49]",8,0.84,49,50,0.9999999403953552,0.9999998211860656
+unitree_z1_dual_arm_stackbox_v2,case1,unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,policy,0,sparse_4,"[0, 16, 32, 49]",4,0.92,49,50,0.9999999403953552,0.9999998211860656
+unitree_z1_dual_arm_stackbox_v2,case1,unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,policy,0,tail_only_4,"[40, 43, 46, 49]",4,0.92,49,50,0.9999999403953552,0.9999998211860656
+unitree_z1_dual_arm_stackbox_v2,case1,unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,policy,0,tail_heavy_6,"[0, 32, 40, 44, 47, 49]",6,0.88,49,50,0.9999999403953552,0.9999998211860656
+unitree_z1_dual_arm_stackbox_v2,case1,unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,policy,0,tail_heavy_8,"[0, 10, 20, 30, 38, 43, 46, 49]",8,0.84,49,50,0.9999999403953552,0.9999998211860656
+unitree_z1_dual_arm_stackbox_v2,case1,unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,policy,1,dense,"[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49]",50,0.0,49,50,1.0,1.0
+unitree_z1_dual_arm_stackbox_v2,case1,unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,policy,1,sparse_10,"[0, 5, 10, 15, 20, 25, 30, 35, 40, 45]",10,0.8,45,46,0.9264736175537108,0.9303539991378784
+unitree_z1_dual_arm_stackbox_v2,case1,unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,policy,1,sparse_5,"[0, 10, 20, 30, 40]",5,0.9,40,41,0.7220343351364136,0.7770739197731018
+unitree_z1_dual_arm_stackbox_v2,case1,unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,policy,1,tail_heavy_10,"[0, 5, 10, 20, 30, 38, 43, 46, 48, 49]",10,0.8,49,50,1.0,1.0
+unitree_z1_dual_arm_stackbox_v2,case1,unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,policy,1,tail_only_6,"[40, 43, 46, 47, 48, 49]",6,0.88,49,50,1.0,1.0
+unitree_z1_dual_arm_stackbox_v2,case1,unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,policy,1,sparse_8,"[0, 7, 14, 21, 28, 35, 42, 49]",8,0.84,49,50,1.0,1.0
+unitree_z1_dual_arm_stackbox_v2,case1,unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,policy,1,sparse_4,"[0, 16, 32, 49]",4,0.92,49,50,1.0,1.0
+unitree_z1_dual_arm_stackbox_v2,case1,unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,policy,1,tail_only_4,"[40, 43, 46, 49]",4,0.92,49,50,1.0,1.0
+unitree_z1_dual_arm_stackbox_v2,case1,unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,policy,1,tail_heavy_6,"[0, 32, 40, 44, 47, 49]",6,0.88,49,50,1.0,1.0
+unitree_z1_dual_arm_stackbox_v2,case1,unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,policy,1,tail_heavy_8,"[0, 10, 20, 30, 38, 43, 46, 49]",8,0.84,49,50,1.0,1.0
+unitree_z1_dual_arm_stackbox_v2,case1,unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,policy,2,dense,"[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49]",50,0.0,49,50,1.0,1.0000001192092896
+unitree_z1_dual_arm_stackbox_v2,case1,unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,policy,2,sparse_10,"[0, 5, 10, 15, 20, 25, 30, 35, 40, 45]",10,0.8,45,46,0.8966103792190552,0.8789060115814209
+unitree_z1_dual_arm_stackbox_v2,case1,unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,policy,2,sparse_5,"[0, 10, 20, 30, 40]",5,0.9,40,41,0.7042654752731323,0.6660882234573364
+unitree_z1_dual_arm_stackbox_v2,case1,unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,policy,2,tail_heavy_10,"[0, 5, 10, 20, 30, 38, 43, 46, 48, 49]",10,0.8,49,50,1.0,1.0000001192092896
+unitree_z1_dual_arm_stackbox_v2,case1,unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,policy,2,tail_only_6,"[40, 43, 46, 47, 48, 49]",6,0.88,49,50,1.0,1.0000001192092896
+unitree_z1_dual_arm_stackbox_v2,case1,unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,policy,2,sparse_8,"[0, 7, 14, 21, 28, 35, 42, 49]",8,0.84,49,50,1.0,1.0000001192092896
+unitree_z1_dual_arm_stackbox_v2,case1,unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,policy,2,sparse_4,"[0, 16, 32, 49]",4,0.92,49,50,1.0,1.0000001192092896
+unitree_z1_dual_arm_stackbox_v2,case1,unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,policy,2,tail_only_4,"[40, 43, 46, 49]",4,0.92,49,50,1.0,1.0000001192092896
+unitree_z1_dual_arm_stackbox_v2,case1,unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,policy,2,tail_heavy_6,"[0, 32, 40, 44, 47, 49]",6,0.88,49,50,1.0,1.0000001192092896
+unitree_z1_dual_arm_stackbox_v2,case1,unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,policy,2,tail_heavy_8,"[0, 10, 20, 30, 38, 43, 46, 49]",8,0.84,49,50,1.0,1.0000001192092896
+unitree_z1_dual_arm_stackbox_v2,case1,unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,policy,3,dense,"[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49]",50,0.0,49,50,1.0,1.0
+unitree_z1_dual_arm_stackbox_v2,case1,unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,policy,3,sparse_10,"[0, 5, 10, 15, 20, 25, 30, 35, 40, 45]",10,0.8,45,46,0.9315268993377686,0.9050445556640624
+unitree_z1_dual_arm_stackbox_v2,case1,unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,policy,3,sparse_5,"[0, 10, 20, 30, 40]",5,0.9,40,41,0.7717539072036743,0.717319130897522
+unitree_z1_dual_arm_stackbox_v2,case1,unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,policy,3,tail_heavy_10,"[0, 5, 10, 20, 30, 38, 43, 46, 48, 49]",10,0.8,49,50,1.0,1.0
+unitree_z1_dual_arm_stackbox_v2,case1,unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,policy,3,tail_only_6,"[40, 43, 46, 47, 48, 49]",6,0.88,49,50,1.0,1.0
+unitree_z1_dual_arm_stackbox_v2,case1,unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,policy,3,sparse_8,"[0, 7, 14, 21, 28, 35, 42, 49]",8,0.84,49,50,1.0,1.0
+unitree_z1_dual_arm_stackbox_v2,case1,unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,policy,3,sparse_4,"[0, 16, 32, 49]",4,0.92,49,50,1.0,1.0
+unitree_z1_dual_arm_stackbox_v2,case1,unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,policy,3,tail_only_4,"[40, 43, 46, 49]",4,0.92,49,50,1.0,1.0
+unitree_z1_dual_arm_stackbox_v2,case1,unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,policy,3,tail_heavy_6,"[0, 32, 40, 44, 47, 49]",6,0.88,49,50,1.0,1.0
+unitree_z1_dual_arm_stackbox_v2,case1,unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,policy,3,tail_heavy_8,"[0, 10, 20, 30, 38, 43, 46, 49]",8,0.84,49,50,1.0,1.0
+unitree_z1_dual_arm_stackbox_v2,case1,unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,policy,4,dense,"[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49]",50,0.0,49,50,1.0000001192092896,1.0
+unitree_z1_dual_arm_stackbox_v2,case1,unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,policy,4,sparse_10,"[0, 5, 10, 15, 20, 25, 30, 35, 40, 45]",10,0.8,45,46,0.9490044713020324,0.922232747077942
+unitree_z1_dual_arm_stackbox_v2,case1,unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,policy,4,sparse_5,"[0, 10, 20, 30, 40]",5,0.9,40,41,0.8084147572517395,0.755135715007782
+unitree_z1_dual_arm_stackbox_v2,case1,unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,policy,4,tail_heavy_10,"[0, 5, 10, 20, 30, 38, 43, 46, 48, 49]",10,0.8,49,50,1.0000001192092896,1.0
+unitree_z1_dual_arm_stackbox_v2,case1,unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,policy,4,tail_only_6,"[40, 43, 46, 47, 48, 49]",6,0.88,49,50,1.0000001192092896,1.0
+unitree_z1_dual_arm_stackbox_v2,case1,unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,policy,4,sparse_8,"[0, 7, 14, 21, 28, 35, 42, 49]",8,0.84,49,50,1.0000001192092896,1.0
+unitree_z1_dual_arm_stackbox_v2,case1,unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,policy,4,sparse_4,"[0, 16, 32, 49]",4,0.92,49,50,1.0000001192092896,1.0
+unitree_z1_dual_arm_stackbox_v2,case1,unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,policy,4,tail_only_4,"[40, 43, 46, 49]",4,0.92,49,50,1.0000001192092896,1.0
+unitree_z1_dual_arm_stackbox_v2,case1,unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,policy,4,tail_heavy_6,"[0, 32, 40, 44, 47, 49]",6,0.88,49,50,1.0000001192092896,1.0
+unitree_z1_dual_arm_stackbox_v2,case1,unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,policy,4,tail_heavy_8,"[0, 10, 20, 30, 38, 43, 46, 49]",8,0.84,49,50,1.0000001192092896,1.0
+unitree_z1_dual_arm_stackbox_v2,case1,unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,policy,5,dense,"[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49]",50,0.0,49,50,1.0000001192092896,1.0
+unitree_z1_dual_arm_stackbox_v2,case1,unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,policy,5,sparse_10,"[0, 5, 10, 15, 20, 25, 30, 35, 40, 45]",10,0.8,45,46,0.957167625427246,0.920846939086914
+unitree_z1_dual_arm_stackbox_v2,case1,unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,policy,5,sparse_5,"[0, 10, 20, 30, 40]",5,0.9,40,41,0.8364447355270386,0.7696129083633423
+unitree_z1_dual_arm_stackbox_v2,case1,unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,policy,5,tail_heavy_10,"[0, 5, 10, 20, 30, 38, 43, 46, 48, 49]",10,0.8,49,50,1.0000001192092896,1.0
+unitree_z1_dual_arm_stackbox_v2,case1,unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,policy,5,tail_only_6,"[40, 43, 46, 47, 48, 49]",6,0.88,49,50,1.0000001192092896,1.0
+unitree_z1_dual_arm_stackbox_v2,case1,unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,policy,5,sparse_8,"[0, 7, 14, 21, 28, 35, 42, 49]",8,0.84,49,50,1.0000001192092896,1.0
+unitree_z1_dual_arm_stackbox_v2,case1,unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,policy,5,sparse_4,"[0, 16, 32, 49]",4,0.92,49,50,1.0000001192092896,1.0
+unitree_z1_dual_arm_stackbox_v2,case1,unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,policy,5,tail_only_4,"[40, 43, 46, 49]",4,0.92,49,50,1.0000001192092896,1.0
+unitree_z1_dual_arm_stackbox_v2,case1,unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,policy,5,tail_heavy_6,"[0, 32, 40, 44, 47, 49]",6,0.88,49,50,1.0000001192092896,1.0
+unitree_z1_dual_arm_stackbox_v2,case1,unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,policy,5,tail_heavy_8,"[0, 10, 20, 30, 38, 43, 46, 49]",8,0.84,49,50,1.0000001192092896,1.0
+unitree_z1_dual_arm_stackbox_v2,case1,unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,policy,6,dense,"[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49]",50,0.0,49,50,1.0,0.9999998807907104
+unitree_z1_dual_arm_stackbox_v2,case1,unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,policy,6,sparse_10,"[0, 5, 10, 15, 20, 25, 30, 35, 40, 45]",10,0.8,45,46,0.9631258249282836,0.9340201616287231
+unitree_z1_dual_arm_stackbox_v2,case1,unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,policy,6,sparse_5,"[0, 10, 20, 30, 40]",5,0.9,40,41,0.8496859073638916,0.7997986078262329
+unitree_z1_dual_arm_stackbox_v2,case1,unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,policy,6,tail_heavy_10,"[0, 5, 10, 20, 30, 38, 43, 46, 48, 49]",10,0.8,49,50,1.0,0.9999998807907104
+unitree_z1_dual_arm_stackbox_v2,case1,unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,policy,6,tail_only_6,"[40, 43, 46, 47, 48, 49]",6,0.88,49,50,1.0,0.9999998807907104
+unitree_z1_dual_arm_stackbox_v2,case1,unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,policy,6,sparse_8,"[0, 7, 14, 21, 28, 35, 42, 49]",8,0.84,49,50,1.0,0.9999998807907104
+unitree_z1_dual_arm_stackbox_v2,case1,unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,policy,6,sparse_4,"[0, 16, 32, 49]",4,0.92,49,50,1.0,0.9999998807907104
+unitree_z1_dual_arm_stackbox_v2,case1,unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,policy,6,tail_only_4,"[40, 43, 46, 49]",4,0.92,49,50,1.0,0.9999998807907104
+unitree_z1_dual_arm_stackbox_v2,case1,unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,policy,6,tail_heavy_6,"[0, 32, 40, 44, 47, 49]",6,0.88,49,50,1.0,0.9999998807907104
+unitree_z1_dual_arm_stackbox_v2,case1,unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,policy,6,tail_heavy_8,"[0, 10, 20, 30, 38, 43, 46, 49]",8,0.84,49,50,1.0,0.9999998807907104
+unitree_z1_dual_arm_stackbox_v2,case1,unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,policy,7,dense,"[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49]",50,0.0,49,50,1.0,0.9999998211860656
+unitree_z1_dual_arm_stackbox_v2,case1,unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,policy,7,sparse_10,"[0, 5, 10, 15, 20, 25, 30, 35, 40, 45]",10,0.8,45,46,0.9457687139511108,0.9388862252235411
+unitree_z1_dual_arm_stackbox_v2,case1,unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,policy,7,sparse_5,"[0, 10, 20, 30, 40]",5,0.9,40,41,0.7849582433700562,0.7983478307723999
+unitree_z1_dual_arm_stackbox_v2,case1,unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,policy,7,tail_heavy_10,"[0, 5, 10, 20, 30, 38, 43, 46, 48, 49]",10,0.8,49,50,1.0,0.9999998211860656
+unitree_z1_dual_arm_stackbox_v2,case1,unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,policy,7,tail_only_6,"[40, 43, 46, 47, 48, 49]",6,0.88,49,50,1.0,0.9999998211860656
+unitree_z1_dual_arm_stackbox_v2,case1,unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,policy,7,sparse_8,"[0, 7, 14, 21, 28, 35, 42, 49]",8,0.84,49,50,1.0,0.9999998211860656
+unitree_z1_dual_arm_stackbox_v2,case1,unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,policy,7,sparse_4,"[0, 16, 32, 49]",4,0.92,49,50,1.0,0.9999998211860656
+unitree_z1_dual_arm_stackbox_v2,case1,unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,policy,7,tail_only_4,"[40, 43, 46, 49]",4,0.92,49,50,1.0,0.9999998211860656
+unitree_z1_dual_arm_stackbox_v2,case1,unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,policy,7,tail_heavy_6,"[0, 32, 40, 44, 47, 49]",6,0.88,49,50,1.0,0.9999998211860656
+unitree_z1_dual_arm_stackbox_v2,case1,unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,policy,7,tail_heavy_8,"[0, 10, 20, 30, 38, 43, 46, 49]",8,0.84,49,50,1.0,0.9999998211860656
+unitree_z1_dual_arm_stackbox_v2,case1,unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,policy,8,dense,"[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49]",50,0.0,49,50,1.0,1.0
+unitree_z1_dual_arm_stackbox_v2,case1,unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,policy,8,sparse_10,"[0, 5, 10, 15, 20, 25, 30, 35, 40, 45]",10,0.8,45,46,0.9491930603981018,0.9340018630027772
+unitree_z1_dual_arm_stackbox_v2,case1,unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,policy,8,sparse_5,"[0, 10, 20, 30, 40]",5,0.9,40,41,0.8031682968139648,0.7617502808570862
+unitree_z1_dual_arm_stackbox_v2,case1,unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,policy,8,tail_heavy_10,"[0, 5, 10, 20, 30, 38, 43, 46, 48, 49]",10,0.8,49,50,1.0,1.0
+unitree_z1_dual_arm_stackbox_v2,case1,unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,policy,8,tail_only_6,"[40, 43, 46, 47, 48, 49]",6,0.88,49,50,1.0,1.0
+unitree_z1_dual_arm_stackbox_v2,case1,unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,policy,8,sparse_8,"[0, 7, 14, 21, 28, 35, 42, 49]",8,0.84,49,50,1.0,1.0
+unitree_z1_dual_arm_stackbox_v2,case1,unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,policy,8,sparse_4,"[0, 16, 32, 49]",4,0.92,49,50,1.0,1.0
+unitree_z1_dual_arm_stackbox_v2,case1,unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,policy,8,tail_only_4,"[40, 43, 46, 49]",4,0.92,49,50,1.0,1.0
+unitree_z1_dual_arm_stackbox_v2,case1,unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,policy,8,tail_heavy_6,"[0, 32, 40, 44, 47, 49]",6,0.88,49,50,1.0,1.0
+unitree_z1_dual_arm_stackbox_v2,case1,unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,policy,8,tail_heavy_8,"[0, 10, 20, 30, 38, 43, 46, 49]",8,0.84,49,50,1.0,1.0
+unitree_z1_dual_arm_stackbox_v2,case1,unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,policy,9,dense,"[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49]",50,0.0,49,50,1.0,1.0
+unitree_z1_dual_arm_stackbox_v2,case1,unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,policy,9,sparse_10,"[0, 5, 10, 15, 20, 25, 30, 35, 40, 45]",10,0.8,45,46,0.9582993984222412,0.9396315217018129
+unitree_z1_dual_arm_stackbox_v2,case1,unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,policy,9,sparse_5,"[0, 10, 20, 30, 40]",5,0.9,40,41,0.8549602031707764,0.782274067401886
+unitree_z1_dual_arm_stackbox_v2,case1,unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,policy,9,tail_heavy_10,"[0, 5, 10, 20, 30, 38, 43, 46, 48, 49]",10,0.8,49,50,1.0,1.0
+unitree_z1_dual_arm_stackbox_v2,case1,unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,policy,9,tail_only_6,"[40, 43, 46, 47, 48, 49]",6,0.88,49,50,1.0,1.0
+unitree_z1_dual_arm_stackbox_v2,case1,unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,policy,9,sparse_8,"[0, 7, 14, 21, 28, 35, 42, 49]",8,0.84,49,50,1.0,1.0
+unitree_z1_dual_arm_stackbox_v2,case1,unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,policy,9,sparse_4,"[0, 16, 32, 49]",4,0.92,49,50,1.0,1.0
+unitree_z1_dual_arm_stackbox_v2,case1,unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,policy,9,tail_only_4,"[40, 43, 46, 49]",4,0.92,49,50,1.0,1.0
+unitree_z1_dual_arm_stackbox_v2,case1,unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,policy,9,tail_heavy_6,"[0, 32, 40, 44, 47, 49]",6,0.88,49,50,1.0,1.0
+unitree_z1_dual_arm_stackbox_v2,case1,unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,policy,9,tail_heavy_8,"[0, 10, 20, 30, 38, 43, 46, 49]",8,0.84,49,50,1.0,1.0
+unitree_z1_dual_arm_stackbox_v2,case1,unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,policy,10,dense,"[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49]",50,0.0,49,50,1.0,1.0
+unitree_z1_dual_arm_stackbox_v2,case1,unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,policy,10,sparse_10,"[0, 5, 10, 15, 20, 25, 30, 35, 40, 45]",10,0.8,45,46,0.9548342227935792,0.9547924995422364
+unitree_z1_dual_arm_stackbox_v2,case1,unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,policy,10,sparse_5,"[0, 10, 20, 30, 40]",5,0.9,40,41,0.8275268077850342,0.8330828547477722
+unitree_z1_dual_arm_stackbox_v2,case1,unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,policy,10,tail_heavy_10,"[0, 5, 10, 20, 30, 38, 43, 46, 48, 49]",10,0.8,49,50,1.0,1.0
+unitree_z1_dual_arm_stackbox_v2,case1,unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,policy,10,tail_only_6,"[40, 43, 46, 47, 48, 49]",6,0.88,49,50,1.0,1.0
+unitree_z1_dual_arm_stackbox_v2,case1,unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,policy,10,sparse_8,"[0, 7, 14, 21, 28, 35, 42, 49]",8,0.84,49,50,1.0,1.0
+unitree_z1_dual_arm_stackbox_v2,case1,unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,policy,10,sparse_4,"[0, 16, 32, 49]",4,0.92,49,50,1.0,1.0
+unitree_z1_dual_arm_stackbox_v2,case1,unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,policy,10,tail_only_4,"[40, 43, 46, 49]",4,0.92,49,50,1.0,1.0
+unitree_z1_dual_arm_stackbox_v2,case1,unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,policy,10,tail_heavy_6,"[0, 32, 40, 44, 47, 49]",6,0.88,49,50,1.0,1.0
+unitree_z1_dual_arm_stackbox_v2,case1,unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,policy,10,tail_heavy_8,"[0, 10, 20, 30, 38, 43, 46, 49]",8,0.84,49,50,1.0,1.0
+unitree_z1_dual_arm_stackbox_v2,case1,unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,0,dense,"[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49]",50,0.0,49,50,1.0,0.9999999403953552
+unitree_z1_dual_arm_stackbox_v2,case1,unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,0,sparse_10,"[0, 5, 10, 15, 20, 25, 30, 35, 40, 45]",10,0.8,45,46,0.9571375846862792,0.9589678645133972
+unitree_z1_dual_arm_stackbox_v2,case1,unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,0,sparse_5,"[0, 10, 20, 30, 40]",5,0.9,40,41,0.8211798667907715,0.8464227318763733
+unitree_z1_dual_arm_stackbox_v2,case1,unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,0,tail_heavy_10,"[0, 5, 10, 20, 30, 38, 43, 46, 48, 49]",10,0.8,49,50,1.0,0.9999999403953552
+unitree_z1_dual_arm_stackbox_v2,case1,unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,0,tail_only_6,"[40, 43, 46, 47, 48, 49]",6,0.88,49,50,1.0,0.9999999403953552
+unitree_z1_dual_arm_stackbox_v2,case1,unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,0,sparse_8,"[0, 7, 14, 21, 28, 35, 42, 49]",8,0.84,49,50,1.0,0.9999999403953552
+unitree_z1_dual_arm_stackbox_v2,case1,unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,0,sparse_4,"[0, 16, 32, 49]",4,0.92,49,50,1.0,0.9999999403953552
+unitree_z1_dual_arm_stackbox_v2,case1,unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,0,tail_only_4,"[40, 43, 46, 49]",4,0.92,49,50,1.0,0.9999999403953552
+unitree_z1_dual_arm_stackbox_v2,case1,unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,0,tail_heavy_6,"[0, 32, 40, 44, 47, 49]",6,0.88,49,50,1.0,0.9999999403953552
+unitree_z1_dual_arm_stackbox_v2,case1,unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,0,tail_heavy_8,"[0, 10, 20, 30, 38, 43, 46, 49]",8,0.84,49,50,1.0,0.9999999403953552
+unitree_z1_dual_arm_stackbox_v2,case1,unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,1,dense,"[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49]",50,0.0,49,50,1.0,1.0
+unitree_z1_dual_arm_stackbox_v2,case1,unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,1,sparse_10,"[0, 5, 10, 15, 20, 25, 30, 35, 40, 45]",10,0.8,45,46,0.9406256079673768,0.941332757472992
+unitree_z1_dual_arm_stackbox_v2,case1,unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,1,sparse_5,"[0, 10, 20, 30, 40]",5,0.9,40,41,0.7751688957214355,0.7921549081802368
+unitree_z1_dual_arm_stackbox_v2,case1,unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,1,tail_heavy_10,"[0, 5, 10, 20, 30, 38, 43, 46, 48, 49]",10,0.8,49,50,1.0,1.0
+unitree_z1_dual_arm_stackbox_v2,case1,unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,1,tail_only_6,"[40, 43, 46, 47, 48, 49]",6,0.88,49,50,1.0,1.0
+unitree_z1_dual_arm_stackbox_v2,case1,unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,1,sparse_8,"[0, 7, 14, 21, 28, 35, 42, 49]",8,0.84,49,50,1.0,1.0
+unitree_z1_dual_arm_stackbox_v2,case1,unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,1,sparse_4,"[0, 16, 32, 49]",4,0.92,49,50,1.0,1.0
+unitree_z1_dual_arm_stackbox_v2,case1,unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,1,tail_only_4,"[40, 43, 46, 49]",4,0.92,49,50,1.0,1.0
+unitree_z1_dual_arm_stackbox_v2,case1,unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,1,tail_heavy_6,"[0, 32, 40, 44, 47, 49]",6,0.88,49,50,1.0,1.0
+unitree_z1_dual_arm_stackbox_v2,case1,unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,1,tail_heavy_8,"[0, 10, 20, 30, 38, 43, 46, 49]",8,0.84,49,50,1.0,1.0
+unitree_z1_dual_arm_stackbox_v2,case1,unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,2,dense,"[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49]",50,0.0,49,50,1.0000001192092896,1.0
+unitree_z1_dual_arm_stackbox_v2,case1,unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,2,sparse_10,"[0, 5, 10, 15, 20, 25, 30, 35, 40, 45]",10,0.8,45,46,0.913829505443573,0.8918604254722595
+unitree_z1_dual_arm_stackbox_v2,case1,unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,2,sparse_5,"[0, 10, 20, 30, 40]",5,0.9,40,41,0.7335413098335266,0.6853026151657104
+unitree_z1_dual_arm_stackbox_v2,case1,unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,2,tail_heavy_10,"[0, 5, 10, 20, 30, 38, 43, 46, 48, 49]",10,0.8,49,50,1.0000001192092896,1.0
+unitree_z1_dual_arm_stackbox_v2,case1,unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,2,tail_only_6,"[40, 43, 46, 47, 48, 49]",6,0.88,49,50,1.0000001192092896,1.0
+unitree_z1_dual_arm_stackbox_v2,case1,unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,2,sparse_8,"[0, 7, 14, 21, 28, 35, 42, 49]",8,0.84,49,50,1.0000001192092896,1.0
+unitree_z1_dual_arm_stackbox_v2,case1,unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,2,sparse_4,"[0, 16, 32, 49]",4,0.92,49,50,1.0000001192092896,1.0
+unitree_z1_dual_arm_stackbox_v2,case1,unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,2,tail_only_4,"[40, 43, 46, 49]",4,0.92,49,50,1.0000001192092896,1.0
+unitree_z1_dual_arm_stackbox_v2,case1,unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,2,tail_heavy_6,"[0, 32, 40, 44, 47, 49]",6,0.88,49,50,1.0000001192092896,1.0
+unitree_z1_dual_arm_stackbox_v2,case1,unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,2,tail_heavy_8,"[0, 10, 20, 30, 38, 43, 46, 49]",8,0.84,49,50,1.0000001192092896,1.0
+unitree_z1_dual_arm_stackbox_v2,case1,unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,3,dense,"[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49]",50,0.0,49,50,0.9999998807907104,1.0
+unitree_z1_dual_arm_stackbox_v2,case1,unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,3,sparse_10,"[0, 5, 10, 15, 20, 25, 30, 35, 40, 45]",10,0.8,45,46,0.9278791546821594,0.9138769507408142
+unitree_z1_dual_arm_stackbox_v2,case1,unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,3,sparse_5,"[0, 10, 20, 30, 40]",5,0.9,40,41,0.7691664099693298,0.7478669285774231
+unitree_z1_dual_arm_stackbox_v2,case1,unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,3,tail_heavy_10,"[0, 5, 10, 20, 30, 38, 43, 46, 48, 49]",10,0.8,49,50,0.9999998807907104,1.0
+unitree_z1_dual_arm_stackbox_v2,case1,unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,3,tail_only_6,"[40, 43, 46, 47, 48, 49]",6,0.88,49,50,0.9999998807907104,1.0
+unitree_z1_dual_arm_stackbox_v2,case1,unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,3,sparse_8,"[0, 7, 14, 21, 28, 35, 42, 49]",8,0.84,49,50,0.9999998807907104,1.0
+unitree_z1_dual_arm_stackbox_v2,case1,unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,3,sparse_4,"[0, 16, 32, 49]",4,0.92,49,50,0.9999998807907104,1.0
+unitree_z1_dual_arm_stackbox_v2,case1,unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,3,tail_only_4,"[40, 43, 46, 49]",4,0.92,49,50,0.9999998807907104,1.0
+unitree_z1_dual_arm_stackbox_v2,case1,unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,3,tail_heavy_6,"[0, 32, 40, 44, 47, 49]",6,0.88,49,50,0.9999998807907104,1.0
+unitree_z1_dual_arm_stackbox_v2,case1,unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,3,tail_heavy_8,"[0, 10, 20, 30, 38, 43, 46, 49]",8,0.84,49,50,0.9999998807907104,1.0
+unitree_z1_dual_arm_stackbox_v2,case1,unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,4,dense,"[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49]",50,0.0,49,50,1.0000001192092896,1.0
+unitree_z1_dual_arm_stackbox_v2,case1,unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,4,sparse_10,"[0, 5, 10, 15, 20, 25, 30, 35, 40, 45]",10,0.8,45,46,0.9377236366271972,0.9410164952278136
+unitree_z1_dual_arm_stackbox_v2,case1,unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,4,sparse_5,"[0, 10, 20, 30, 40]",5,0.9,40,41,0.7757153511047363,0.7981891632080078
+unitree_z1_dual_arm_stackbox_v2,case1,unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,4,tail_heavy_10,"[0, 5, 10, 20, 30, 38, 43, 46, 48, 49]",10,0.8,49,50,1.0000001192092896,1.0
+unitree_z1_dual_arm_stackbox_v2,case1,unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,4,tail_only_6,"[40, 43, 46, 47, 48, 49]",6,0.88,49,50,1.0000001192092896,1.0
+unitree_z1_dual_arm_stackbox_v2,case1,unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,4,sparse_8,"[0, 7, 14, 21, 28, 35, 42, 49]",8,0.84,49,50,1.0000001192092896,1.0
+unitree_z1_dual_arm_stackbox_v2,case1,unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,4,sparse_4,"[0, 16, 32, 49]",4,0.92,49,50,1.0000001192092896,1.0
+unitree_z1_dual_arm_stackbox_v2,case1,unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,4,tail_only_4,"[40, 43, 46, 49]",4,0.92,49,50,1.0000001192092896,1.0
+unitree_z1_dual_arm_stackbox_v2,case1,unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,4,tail_heavy_6,"[0, 32, 40, 44, 47, 49]",6,0.88,49,50,1.0000001192092896,1.0
+unitree_z1_dual_arm_stackbox_v2,case1,unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,4,tail_heavy_8,"[0, 10, 20, 30, 38, 43, 46, 49]",8,0.84,49,50,1.0000001192092896,1.0
+unitree_z1_dual_arm_stackbox_v2,case1,unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,5,dense,"[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49]",50,0.0,49,50,0.9999998807907104,1.0000001192092896
+unitree_z1_dual_arm_stackbox_v2,case1,unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,5,sparse_10,"[0, 5, 10, 15, 20, 25, 30, 35, 40, 45]",10,0.8,45,46,0.9572676420211792,0.9301266670227052
+unitree_z1_dual_arm_stackbox_v2,case1,unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,5,sparse_5,"[0, 10, 20, 30, 40]",5,0.9,40,41,0.8311721682548523,0.7720801830291748
+unitree_z1_dual_arm_stackbox_v2,case1,unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,5,tail_heavy_10,"[0, 5, 10, 20, 30, 38, 43, 46, 48, 49]",10,0.8,49,50,0.9999998807907104,1.0000001192092896
+unitree_z1_dual_arm_stackbox_v2,case1,unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,5,tail_only_6,"[40, 43, 46, 47, 48, 49]",6,0.88,49,50,0.9999998807907104,1.0000001192092896
+unitree_z1_dual_arm_stackbox_v2,case1,unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,5,sparse_8,"[0, 7, 14, 21, 28, 35, 42, 49]",8,0.84,49,50,0.9999998807907104,1.0000001192092896
+unitree_z1_dual_arm_stackbox_v2,case1,unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,5,sparse_4,"[0, 16, 32, 49]",4,0.92,49,50,0.9999998807907104,1.0000001192092896
+unitree_z1_dual_arm_stackbox_v2,case1,unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,5,tail_only_4,"[40, 43, 46, 49]",4,0.92,49,50,0.9999998807907104,1.0000001192092896
+unitree_z1_dual_arm_stackbox_v2,case1,unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,5,tail_heavy_6,"[0, 32, 40, 44, 47, 49]",6,0.88,49,50,0.9999998807907104,1.0000001192092896
+unitree_z1_dual_arm_stackbox_v2,case1,unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,5,tail_heavy_8,"[0, 10, 20, 30, 38, 43, 46, 49]",8,0.84,49,50,0.9999998807907104,1.0000001192092896
+unitree_z1_dual_arm_stackbox_v2,case1,unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,6,dense,"[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49]",50,0.0,49,50,0.9999998807907104,1.0
+unitree_z1_dual_arm_stackbox_v2,case1,unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,6,sparse_10,"[0, 5, 10, 15, 20, 25, 30, 35, 40, 45]",10,0.8,45,46,0.9635413289070128,0.954981565475464
+unitree_z1_dual_arm_stackbox_v2,case1,unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,6,sparse_5,"[0, 10, 20, 30, 40]",5,0.9,40,41,0.8487708568572998,0.8332091569900513
+unitree_z1_dual_arm_stackbox_v2,case1,unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,6,tail_heavy_10,"[0, 5, 10, 20, 30, 38, 43, 46, 48, 49]",10,0.8,49,50,0.9999998807907104,1.0
+unitree_z1_dual_arm_stackbox_v2,case1,unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,6,tail_only_6,"[40, 43, 46, 47, 48, 49]",6,0.88,49,50,0.9999998807907104,1.0
+unitree_z1_dual_arm_stackbox_v2,case1,unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,6,sparse_8,"[0, 7, 14, 21, 28, 35, 42, 49]",8,0.84,49,50,0.9999998807907104,1.0
+unitree_z1_dual_arm_stackbox_v2,case1,unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,6,sparse_4,"[0, 16, 32, 49]",4,0.92,49,50,0.9999998807907104,1.0
+unitree_z1_dual_arm_stackbox_v2,case1,unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,6,tail_only_4,"[40, 43, 46, 49]",4,0.92,49,50,0.9999998807907104,1.0
+unitree_z1_dual_arm_stackbox_v2,case1,unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,6,tail_heavy_6,"[0, 32, 40, 44, 47, 49]",6,0.88,49,50,0.9999998807907104,1.0
+unitree_z1_dual_arm_stackbox_v2,case1,unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,6,tail_heavy_8,"[0, 10, 20, 30, 38, 43, 46, 49]",8,0.84,49,50,0.9999998807907104,1.0
+unitree_z1_dual_arm_stackbox_v2,case1,unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,7,dense,"[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49]",50,0.0,49,50,1.0,0.9999998211860656
+unitree_z1_dual_arm_stackbox_v2,case1,unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,7,sparse_10,"[0, 5, 10, 15, 20, 25, 30, 35, 40, 45]",10,0.8,45,46,0.9594575762748718,0.9371142983436584
+unitree_z1_dual_arm_stackbox_v2,case1,unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,7,sparse_5,"[0, 10, 20, 30, 40]",5,0.9,40,41,0.8396032452583313,0.7872943878173828
+unitree_z1_dual_arm_stackbox_v2,case1,unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,7,tail_heavy_10,"[0, 5, 10, 20, 30, 38, 43, 46, 48, 49]",10,0.8,49,50,1.0,0.9999998211860656
+unitree_z1_dual_arm_stackbox_v2,case1,unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,7,tail_only_6,"[40, 43, 46, 47, 48, 49]",6,0.88,49,50,1.0,0.9999998211860656
+unitree_z1_dual_arm_stackbox_v2,case1,unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,7,sparse_8,"[0, 7, 14, 21, 28, 35, 42, 49]",8,0.84,49,50,1.0,0.9999998211860656
+unitree_z1_dual_arm_stackbox_v2,case1,unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,7,sparse_4,"[0, 16, 32, 49]",4,0.92,49,50,1.0,0.9999998211860656
+unitree_z1_dual_arm_stackbox_v2,case1,unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,7,tail_only_4,"[40, 43, 46, 49]",4,0.92,49,50,1.0,0.9999998211860656
+unitree_z1_dual_arm_stackbox_v2,case1,unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,7,tail_heavy_6,"[0, 32, 40, 44, 47, 49]",6,0.88,49,50,1.0,0.9999998211860656
+unitree_z1_dual_arm_stackbox_v2,case1,unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,7,tail_heavy_8,"[0, 10, 20, 30, 38, 43, 46, 49]",8,0.84,49,50,1.0,0.9999998211860656
+unitree_z1_dual_arm_stackbox_v2,case1,unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,8,dense,"[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49]",50,0.0,49,50,0.9999998211860656,1.0
+unitree_z1_dual_arm_stackbox_v2,case1,unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,8,sparse_10,"[0, 5, 10, 15, 20, 25, 30, 35, 40, 45]",10,0.8,45,46,0.9470975399017334,0.9476945400238036
+unitree_z1_dual_arm_stackbox_v2,case1,unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,8,sparse_5,"[0, 10, 20, 30, 40]",5,0.9,40,41,0.8013463020324707,0.8061494827270508
+unitree_z1_dual_arm_stackbox_v2,case1,unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,8,tail_heavy_10,"[0, 5, 10, 20, 30, 38, 43, 46, 48, 49]",10,0.8,49,50,0.9999998211860656,1.0
+unitree_z1_dual_arm_stackbox_v2,case1,unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,8,tail_only_6,"[40, 43, 46, 47, 48, 49]",6,0.88,49,50,0.9999998211860656,1.0
+unitree_z1_dual_arm_stackbox_v2,case1,unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,8,sparse_8,"[0, 7, 14, 21, 28, 35, 42, 49]",8,0.84,49,50,0.9999998211860656,1.0
+unitree_z1_dual_arm_stackbox_v2,case1,unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,8,sparse_4,"[0, 16, 32, 49]",4,0.92,49,50,0.9999998211860656,1.0
+unitree_z1_dual_arm_stackbox_v2,case1,unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,8,tail_only_4,"[40, 43, 46, 49]",4,0.92,49,50,0.9999998211860656,1.0
+unitree_z1_dual_arm_stackbox_v2,case1,unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,8,tail_heavy_6,"[0, 32, 40, 44, 47, 49]",6,0.88,49,50,0.9999998211860656,1.0
+unitree_z1_dual_arm_stackbox_v2,case1,unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,8,tail_heavy_8,"[0, 10, 20, 30, 38, 43, 46, 49]",8,0.84,49,50,0.9999998211860656,1.0
+unitree_z1_dual_arm_stackbox_v2,case1,unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,9,dense,"[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49]",50,0.0,49,50,1.0,1.0000001192092896
+unitree_z1_dual_arm_stackbox_v2,case1,unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,9,sparse_10,"[0, 5, 10, 15, 20, 25, 30, 35, 40, 45]",10,0.8,45,46,0.9547414779663086,0.9388166666030884
+unitree_z1_dual_arm_stackbox_v2,case1,unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,9,sparse_5,"[0, 10, 20, 30, 40]",5,0.9,40,41,0.8299818634986877,0.787998616695404
+unitree_z1_dual_arm_stackbox_v2,case1,unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,9,tail_heavy_10,"[0, 5, 10, 20, 30, 38, 43, 46, 48, 49]",10,0.8,49,50,1.0,1.0000001192092896
+unitree_z1_dual_arm_stackbox_v2,case1,unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,9,tail_only_6,"[40, 43, 46, 47, 48, 49]",6,0.88,49,50,1.0,1.0000001192092896
+unitree_z1_dual_arm_stackbox_v2,case1,unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,9,sparse_8,"[0, 7, 14, 21, 28, 35, 42, 49]",8,0.84,49,50,1.0,1.0000001192092896
+unitree_z1_dual_arm_stackbox_v2,case1,unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,9,sparse_4,"[0, 16, 32, 49]",4,0.92,49,50,1.0,1.0000001192092896
+unitree_z1_dual_arm_stackbox_v2,case1,unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,9,tail_only_4,"[40, 43, 46, 49]",4,0.92,49,50,1.0,1.0000001192092896
+unitree_z1_dual_arm_stackbox_v2,case1,unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,9,tail_heavy_6,"[0, 32, 40, 44, 47, 49]",6,0.88,49,50,1.0,1.0000001192092896
+unitree_z1_dual_arm_stackbox_v2,case1,unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,9,tail_heavy_8,"[0, 10, 20, 30, 38, 43, 46, 49]",8,0.84,49,50,1.0,1.0000001192092896
+unitree_z1_dual_arm_stackbox_v2,case1,unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,10,dense,"[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49]",50,0.0,49,50,1.0,1.0
+unitree_z1_dual_arm_stackbox_v2,case1,unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,10,sparse_10,"[0, 5, 10, 15, 20, 25, 30, 35, 40, 45]",10,0.8,45,46,0.9555159211158752,0.948750913143158
+unitree_z1_dual_arm_stackbox_v2,case1,unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,10,sparse_5,"[0, 10, 20, 30, 40]",5,0.9,40,41,0.8254042267799377,0.8222144246101379
+unitree_z1_dual_arm_stackbox_v2,case1,unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,10,tail_heavy_10,"[0, 5, 10, 20, 30, 38, 43, 46, 48, 49]",10,0.8,49,50,1.0,1.0
+unitree_z1_dual_arm_stackbox_v2,case1,unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,10,tail_only_6,"[40, 43, 46, 47, 48, 49]",6,0.88,49,50,1.0,1.0
+unitree_z1_dual_arm_stackbox_v2,case1,unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,10,sparse_8,"[0, 7, 14, 21, 28, 35, 42, 49]",8,0.84,49,50,1.0,1.0
+unitree_z1_dual_arm_stackbox_v2,case1,unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,10,sparse_4,"[0, 16, 32, 49]",4,0.92,49,50,1.0,1.0
+unitree_z1_dual_arm_stackbox_v2,case1,unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,10,tail_only_4,"[40, 43, 46, 49]",4,0.92,49,50,1.0,1.0
+unitree_z1_dual_arm_stackbox_v2,case1,unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,10,tail_heavy_6,"[0, 32, 40, 44, 47, 49]",6,0.88,49,50,1.0,1.0
+unitree_z1_dual_arm_stackbox_v2,case1,unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,10,tail_heavy_8,"[0, 10, 20, 30, 38, 43, 46, 49]",8,0.84,49,50,1.0,1.0
+unitree_z1_dual_arm_stackbox_v2,case2,unitree_z1_dual_arm_stackbox_v2-vid15-fs4,unitree_z1_dual_arm_stackbox_v2,policy,0,dense,"[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49]",50,0.0,49,50,1.0,1.0
+unitree_z1_dual_arm_stackbox_v2,case2,unitree_z1_dual_arm_stackbox_v2-vid15-fs4,unitree_z1_dual_arm_stackbox_v2,policy,0,sparse_10,"[0, 5, 10, 15, 20, 25, 30, 35, 40, 45]",10,0.8,45,46,0.9363353252410888,0.9438485503196716
+unitree_z1_dual_arm_stackbox_v2,case2,unitree_z1_dual_arm_stackbox_v2-vid15-fs4,unitree_z1_dual_arm_stackbox_v2,policy,0,sparse_5,"[0, 10, 20, 30, 40]",5,0.9,40,41,0.7316617369651794,0.7914860844612122
+unitree_z1_dual_arm_stackbox_v2,case2,unitree_z1_dual_arm_stackbox_v2-vid15-fs4,unitree_z1_dual_arm_stackbox_v2,policy,0,tail_heavy_10,"[0, 5, 10, 20, 30, 38, 43, 46, 48, 49]",10,0.8,49,50,1.0,1.0
+unitree_z1_dual_arm_stackbox_v2,case2,unitree_z1_dual_arm_stackbox_v2-vid15-fs4,unitree_z1_dual_arm_stackbox_v2,policy,0,tail_only_6,"[40, 43, 46, 47, 48, 49]",6,0.88,49,50,1.0,1.0
+unitree_z1_dual_arm_stackbox_v2,case2,unitree_z1_dual_arm_stackbox_v2-vid15-fs4,unitree_z1_dual_arm_stackbox_v2,policy,0,sparse_8,"[0, 7, 14, 21, 28, 35, 42, 49]",8,0.84,49,50,1.0,1.0
+unitree_z1_dual_arm_stackbox_v2,case2,unitree_z1_dual_arm_stackbox_v2-vid15-fs4,unitree_z1_dual_arm_stackbox_v2,policy,0,sparse_4,"[0, 16, 32, 49]",4,0.92,49,50,1.0,1.0
+unitree_z1_dual_arm_stackbox_v2,case2,unitree_z1_dual_arm_stackbox_v2-vid15-fs4,unitree_z1_dual_arm_stackbox_v2,policy,0,tail_only_4,"[40, 43, 46, 49]",4,0.92,49,50,1.0,1.0
+unitree_z1_dual_arm_stackbox_v2,case2,unitree_z1_dual_arm_stackbox_v2-vid15-fs4,unitree_z1_dual_arm_stackbox_v2,policy,0,tail_heavy_6,"[0, 32, 40, 44, 47, 49]",6,0.88,49,50,1.0,1.0
+unitree_z1_dual_arm_stackbox_v2,case2,unitree_z1_dual_arm_stackbox_v2-vid15-fs4,unitree_z1_dual_arm_stackbox_v2,policy,0,tail_heavy_8,"[0, 10, 20, 30, 38, 43, 46, 49]",8,0.84,49,50,1.0,1.0
+unitree_z1_dual_arm_stackbox_v2,case2,unitree_z1_dual_arm_stackbox_v2-vid15-fs4,unitree_z1_dual_arm_stackbox_v2,policy,1,dense,"[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49]",50,0.0,49,50,1.0000001192092896,1.0
+unitree_z1_dual_arm_stackbox_v2,case2,unitree_z1_dual_arm_stackbox_v2-vid15-fs4,unitree_z1_dual_arm_stackbox_v2,policy,1,sparse_10,"[0, 5, 10, 15, 20, 25, 30, 35, 40, 45]",10,0.8,45,46,0.9414772987365724,0.9369143843650818
+unitree_z1_dual_arm_stackbox_v2,case2,unitree_z1_dual_arm_stackbox_v2-vid15-fs4,unitree_z1_dual_arm_stackbox_v2,policy,1,sparse_5,"[0, 10, 20, 30, 40]",5,0.9,40,41,0.7887961864471436,0.812225878238678
+unitree_z1_dual_arm_stackbox_v2,case2,unitree_z1_dual_arm_stackbox_v2-vid15-fs4,unitree_z1_dual_arm_stackbox_v2,policy,1,tail_heavy_10,"[0, 5, 10, 20, 30, 38, 43, 46, 48, 49]",10,0.8,49,50,1.0000001192092896,1.0
+unitree_z1_dual_arm_stackbox_v2,case2,unitree_z1_dual_arm_stackbox_v2-vid15-fs4,unitree_z1_dual_arm_stackbox_v2,policy,1,tail_only_6,"[40, 43, 46, 47, 48, 49]",6,0.88,49,50,1.0000001192092896,1.0
+unitree_z1_dual_arm_stackbox_v2,case2,unitree_z1_dual_arm_stackbox_v2-vid15-fs4,unitree_z1_dual_arm_stackbox_v2,policy,1,sparse_8,"[0, 7, 14, 21, 28, 35, 42, 49]",8,0.84,49,50,1.0000001192092896,1.0
+unitree_z1_dual_arm_stackbox_v2,case2,unitree_z1_dual_arm_stackbox_v2-vid15-fs4,unitree_z1_dual_arm_stackbox_v2,policy,1,sparse_4,"[0, 16, 32, 49]",4,0.92,49,50,1.0000001192092896,1.0
+unitree_z1_dual_arm_stackbox_v2,case2,unitree_z1_dual_arm_stackbox_v2-vid15-fs4,unitree_z1_dual_arm_stackbox_v2,policy,1,tail_only_4,"[40, 43, 46, 49]",4,0.92,49,50,1.0000001192092896,1.0
+unitree_z1_dual_arm_stackbox_v2,case2,unitree_z1_dual_arm_stackbox_v2-vid15-fs4,unitree_z1_dual_arm_stackbox_v2,policy,1,tail_heavy_6,"[0, 32, 40, 44, 47, 49]",6,0.88,49,50,1.0000001192092896,1.0
+unitree_z1_dual_arm_stackbox_v2,case2,unitree_z1_dual_arm_stackbox_v2-vid15-fs4,unitree_z1_dual_arm_stackbox_v2,policy,1,tail_heavy_8,"[0, 10, 20, 30, 38, 43, 46, 49]",8,0.84,49,50,1.0000001192092896,1.0
+unitree_z1_dual_arm_stackbox_v2,case2,unitree_z1_dual_arm_stackbox_v2-vid15-fs4,unitree_z1_dual_arm_stackbox_v2,policy,2,dense,"[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49]",50,0.0,49,50,1.0,1.0000001192092896
+unitree_z1_dual_arm_stackbox_v2,case2,unitree_z1_dual_arm_stackbox_v2-vid15-fs4,unitree_z1_dual_arm_stackbox_v2,policy,2,sparse_10,"[0, 5, 10, 15, 20, 25, 30, 35, 40, 45]",10,0.8,45,46,0.9338880777359008,0.9075438380241394
+unitree_z1_dual_arm_stackbox_v2,case2,unitree_z1_dual_arm_stackbox_v2-vid15-fs4,unitree_z1_dual_arm_stackbox_v2,policy,2,sparse_5,"[0, 10, 20, 30, 40]",5,0.9,40,41,0.7916790843009949,0.7313441038131714
+unitree_z1_dual_arm_stackbox_v2,case2,unitree_z1_dual_arm_stackbox_v2-vid15-fs4,unitree_z1_dual_arm_stackbox_v2,policy,2,tail_heavy_10,"[0, 5, 10, 20, 30, 38, 43, 46, 48, 49]",10,0.8,49,50,1.0,1.0000001192092896
+unitree_z1_dual_arm_stackbox_v2,case2,unitree_z1_dual_arm_stackbox_v2-vid15-fs4,unitree_z1_dual_arm_stackbox_v2,policy,2,tail_only_6,"[40, 43, 46, 47, 48, 49]",6,0.88,49,50,1.0,1.0000001192092896
+unitree_z1_dual_arm_stackbox_v2,case2,unitree_z1_dual_arm_stackbox_v2-vid15-fs4,unitree_z1_dual_arm_stackbox_v2,policy,2,sparse_8,"[0, 7, 14, 21, 28, 35, 42, 49]",8,0.84,49,50,1.0,1.0000001192092896
+unitree_z1_dual_arm_stackbox_v2,case2,unitree_z1_dual_arm_stackbox_v2-vid15-fs4,unitree_z1_dual_arm_stackbox_v2,policy,2,sparse_4,"[0, 16, 32, 49]",4,0.92,49,50,1.0,1.0000001192092896
+unitree_z1_dual_arm_stackbox_v2,case2,unitree_z1_dual_arm_stackbox_v2-vid15-fs4,unitree_z1_dual_arm_stackbox_v2,policy,2,tail_only_4,"[40, 43, 46, 49]",4,0.92,49,50,1.0,1.0000001192092896
+unitree_z1_dual_arm_stackbox_v2,case2,unitree_z1_dual_arm_stackbox_v2-vid15-fs4,unitree_z1_dual_arm_stackbox_v2,policy,2,tail_heavy_6,"[0, 32, 40, 44, 47, 49]",6,0.88,49,50,1.0,1.0000001192092896
+unitree_z1_dual_arm_stackbox_v2,case2,unitree_z1_dual_arm_stackbox_v2-vid15-fs4,unitree_z1_dual_arm_stackbox_v2,policy,2,tail_heavy_8,"[0, 10, 20, 30, 38, 43, 46, 49]",8,0.84,49,50,1.0,1.0000001192092896
+unitree_z1_dual_arm_stackbox_v2,case2,unitree_z1_dual_arm_stackbox_v2-vid15-fs4,unitree_z1_dual_arm_stackbox_v2,policy,3,dense,"[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49]",50,0.0,49,50,0.9999999403953552,1.0000001192092896
+unitree_z1_dual_arm_stackbox_v2,case2,unitree_z1_dual_arm_stackbox_v2-vid15-fs4,unitree_z1_dual_arm_stackbox_v2,policy,3,sparse_10,"[0, 5, 10, 15, 20, 25, 30, 35, 40, 45]",10,0.8,45,46,0.9481735229492188,0.9282480478286744
+unitree_z1_dual_arm_stackbox_v2,case2,unitree_z1_dual_arm_stackbox_v2-vid15-fs4,unitree_z1_dual_arm_stackbox_v2,policy,3,sparse_5,"[0, 10, 20, 30, 40]",5,0.9,40,41,0.8025036454200745,0.7626431584358215
+unitree_z1_dual_arm_stackbox_v2,case2,unitree_z1_dual_arm_stackbox_v2-vid15-fs4,unitree_z1_dual_arm_stackbox_v2,policy,3,tail_heavy_10,"[0, 5, 10, 20, 30, 38, 43, 46, 48, 49]",10,0.8,49,50,0.9999999403953552,1.0000001192092896
+unitree_z1_dual_arm_stackbox_v2,case2,unitree_z1_dual_arm_stackbox_v2-vid15-fs4,unitree_z1_dual_arm_stackbox_v2,policy,3,tail_only_6,"[40, 43, 46, 47, 48, 49]",6,0.88,49,50,0.9999999403953552,1.0000001192092896
+unitree_z1_dual_arm_stackbox_v2,case2,unitree_z1_dual_arm_stackbox_v2-vid15-fs4,unitree_z1_dual_arm_stackbox_v2,policy,3,sparse_8,"[0, 7, 14, 21, 28, 35, 42, 49]",8,0.84,49,50,0.9999999403953552,1.0000001192092896
+unitree_z1_dual_arm_stackbox_v2,case2,unitree_z1_dual_arm_stackbox_v2-vid15-fs4,unitree_z1_dual_arm_stackbox_v2,policy,3,sparse_4,"[0, 16, 32, 49]",4,0.92,49,50,0.9999999403953552,1.0000001192092896
+unitree_z1_dual_arm_stackbox_v2,case2,unitree_z1_dual_arm_stackbox_v2-vid15-fs4,unitree_z1_dual_arm_stackbox_v2,policy,3,tail_only_4,"[40, 43, 46, 49]",4,0.92,49,50,0.9999999403953552,1.0000001192092896
+unitree_z1_dual_arm_stackbox_v2,case2,unitree_z1_dual_arm_stackbox_v2-vid15-fs4,unitree_z1_dual_arm_stackbox_v2,policy,3,tail_heavy_6,"[0, 32, 40, 44, 47, 49]",6,0.88,49,50,0.9999999403953552,1.0000001192092896
+unitree_z1_dual_arm_stackbox_v2,case2,unitree_z1_dual_arm_stackbox_v2-vid15-fs4,unitree_z1_dual_arm_stackbox_v2,policy,3,tail_heavy_8,"[0, 10, 20, 30, 38, 43, 46, 49]",8,0.84,49,50,0.9999999403953552,1.0000001192092896
+unitree_z1_dual_arm_stackbox_v2,case2,unitree_z1_dual_arm_stackbox_v2-vid15-fs4,unitree_z1_dual_arm_stackbox_v2,policy,4,dense,"[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49]",50,0.0,49,50,1.0000001192092896,1.000000238418579
+unitree_z1_dual_arm_stackbox_v2,case2,unitree_z1_dual_arm_stackbox_v2-vid15-fs4,unitree_z1_dual_arm_stackbox_v2,policy,4,sparse_10,"[0, 5, 10, 15, 20, 25, 30, 35, 40, 45]",10,0.8,45,46,0.9616093635559082,0.908228635787964
+unitree_z1_dual_arm_stackbox_v2,case2,unitree_z1_dual_arm_stackbox_v2-vid15-fs4,unitree_z1_dual_arm_stackbox_v2,policy,4,sparse_5,"[0, 10, 20, 30, 40]",5,0.9,40,41,0.8513288497924805,0.7401482462882996
+unitree_z1_dual_arm_stackbox_v2,case2,unitree_z1_dual_arm_stackbox_v2-vid15-fs4,unitree_z1_dual_arm_stackbox_v2,policy,4,tail_heavy_10,"[0, 5, 10, 20, 30, 38, 43, 46, 48, 49]",10,0.8,49,50,1.0000001192092896,1.000000238418579
+unitree_z1_dual_arm_stackbox_v2,case2,unitree_z1_dual_arm_stackbox_v2-vid15-fs4,unitree_z1_dual_arm_stackbox_v2,policy,4,tail_only_6,"[40, 43, 46, 47, 48, 49]",6,0.88,49,50,1.0000001192092896,1.000000238418579
+unitree_z1_dual_arm_stackbox_v2,case2,unitree_z1_dual_arm_stackbox_v2-vid15-fs4,unitree_z1_dual_arm_stackbox_v2,policy,4,sparse_8,"[0, 7, 14, 21, 28, 35, 42, 49]",8,0.84,49,50,1.0000001192092896,1.000000238418579
+unitree_z1_dual_arm_stackbox_v2,case2,unitree_z1_dual_arm_stackbox_v2-vid15-fs4,unitree_z1_dual_arm_stackbox_v2,policy,4,sparse_4,"[0, 16, 32, 49]",4,0.92,49,50,1.0000001192092896,1.000000238418579
+unitree_z1_dual_arm_stackbox_v2,case2,unitree_z1_dual_arm_stackbox_v2-vid15-fs4,unitree_z1_dual_arm_stackbox_v2,policy,4,tail_only_4,"[40, 43, 46, 49]",4,0.92,49,50,1.0000001192092896,1.000000238418579
+unitree_z1_dual_arm_stackbox_v2,case2,unitree_z1_dual_arm_stackbox_v2-vid15-fs4,unitree_z1_dual_arm_stackbox_v2,policy,4,tail_heavy_6,"[0, 32, 40, 44, 47, 49]",6,0.88,49,50,1.0000001192092896,1.000000238418579
+unitree_z1_dual_arm_stackbox_v2,case2,unitree_z1_dual_arm_stackbox_v2-vid15-fs4,unitree_z1_dual_arm_stackbox_v2,policy,4,tail_heavy_8,"[0, 10, 20, 30, 38, 43, 46, 49]",8,0.84,49,50,1.0000001192092896,1.000000238418579
+unitree_z1_dual_arm_stackbox_v2,case2,unitree_z1_dual_arm_stackbox_v2-vid15-fs4,unitree_z1_dual_arm_stackbox_v2,policy,5,dense,"[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49]",50,0.0,49,50,0.9999999403953552,0.9999999403953552
+unitree_z1_dual_arm_stackbox_v2,case2,unitree_z1_dual_arm_stackbox_v2-vid15-fs4,unitree_z1_dual_arm_stackbox_v2,policy,5,sparse_10,"[0, 5, 10, 15, 20, 25, 30, 35, 40, 45]",10,0.8,45,46,0.9545174837112428,0.9334993362426758
+unitree_z1_dual_arm_stackbox_v2,case2,unitree_z1_dual_arm_stackbox_v2-vid15-fs4,unitree_z1_dual_arm_stackbox_v2,policy,5,sparse_5,"[0, 10, 20, 30, 40]",5,0.9,40,41,0.8195213079452515,0.7620126008987427
+unitree_z1_dual_arm_stackbox_v2,case2,unitree_z1_dual_arm_stackbox_v2-vid15-fs4,unitree_z1_dual_arm_stackbox_v2,policy,5,tail_heavy_10,"[0, 5, 10, 20, 30, 38, 43, 46, 48, 49]",10,0.8,49,50,0.9999999403953552,0.9999999403953552
+unitree_z1_dual_arm_stackbox_v2,case2,unitree_z1_dual_arm_stackbox_v2-vid15-fs4,unitree_z1_dual_arm_stackbox_v2,policy,5,tail_only_6,"[40, 43, 46, 47, 48, 49]",6,0.88,49,50,0.9999999403953552,0.9999999403953552
+unitree_z1_dual_arm_stackbox_v2,case2,unitree_z1_dual_arm_stackbox_v2-vid15-fs4,unitree_z1_dual_arm_stackbox_v2,policy,5,sparse_8,"[0, 7, 14, 21, 28, 35, 42, 49]",8,0.84,49,50,0.9999999403953552,0.9999999403953552
+unitree_z1_dual_arm_stackbox_v2,case2,unitree_z1_dual_arm_stackbox_v2-vid15-fs4,unitree_z1_dual_arm_stackbox_v2,policy,5,sparse_4,"[0, 16, 32, 49]",4,0.92,49,50,0.9999999403953552,0.9999999403953552
+unitree_z1_dual_arm_stackbox_v2,case2,unitree_z1_dual_arm_stackbox_v2-vid15-fs4,unitree_z1_dual_arm_stackbox_v2,policy,5,tail_only_4,"[40, 43, 46, 49]",4,0.92,49,50,0.9999999403953552,0.9999999403953552
+unitree_z1_dual_arm_stackbox_v2,case2,unitree_z1_dual_arm_stackbox_v2-vid15-fs4,unitree_z1_dual_arm_stackbox_v2,policy,5,tail_heavy_6,"[0, 32, 40, 44, 47, 49]",6,0.88,49,50,0.9999999403953552,0.9999999403953552
+unitree_z1_dual_arm_stackbox_v2,case2,unitree_z1_dual_arm_stackbox_v2-vid15-fs4,unitree_z1_dual_arm_stackbox_v2,policy,5,tail_heavy_8,"[0, 10, 20, 30, 38, 43, 46, 49]",8,0.84,49,50,0.9999999403953552,0.9999999403953552
+unitree_z1_dual_arm_stackbox_v2,case2,unitree_z1_dual_arm_stackbox_v2-vid15-fs4,unitree_z1_dual_arm_stackbox_v2,policy,6,dense,"[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49]",50,0.0,49,50,1.0000001192092896,1.0
+unitree_z1_dual_arm_stackbox_v2,case2,unitree_z1_dual_arm_stackbox_v2-vid15-fs4,unitree_z1_dual_arm_stackbox_v2,policy,6,sparse_10,"[0, 5, 10, 15, 20, 25, 30, 35, 40, 45]",10,0.8,45,46,0.9429343342781068,0.9322060346603394
+unitree_z1_dual_arm_stackbox_v2,case2,unitree_z1_dual_arm_stackbox_v2-vid15-fs4,unitree_z1_dual_arm_stackbox_v2,policy,6,sparse_5,"[0, 10, 20, 30, 40]",5,0.9,40,41,0.7830502390861511,0.7849257588386536
+unitree_z1_dual_arm_stackbox_v2,case2,unitree_z1_dual_arm_stackbox_v2-vid15-fs4,unitree_z1_dual_arm_stackbox_v2,policy,6,tail_heavy_10,"[0, 5, 10, 20, 30, 38, 43, 46, 48, 49]",10,0.8,49,50,1.0000001192092896,1.0
+unitree_z1_dual_arm_stackbox_v2,case2,unitree_z1_dual_arm_stackbox_v2-vid15-fs4,unitree_z1_dual_arm_stackbox_v2,policy,6,tail_only_6,"[40, 43, 46, 47, 48, 49]",6,0.88,49,50,1.0000001192092896,1.0
+unitree_z1_dual_arm_stackbox_v2,case2,unitree_z1_dual_arm_stackbox_v2-vid15-fs4,unitree_z1_dual_arm_stackbox_v2,policy,6,sparse_8,"[0, 7, 14, 21, 28, 35, 42, 49]",8,0.84,49,50,1.0000001192092896,1.0
+unitree_z1_dual_arm_stackbox_v2,case2,unitree_z1_dual_arm_stackbox_v2-vid15-fs4,unitree_z1_dual_arm_stackbox_v2,policy,6,sparse_4,"[0, 16, 32, 49]",4,0.92,49,50,1.0000001192092896,1.0
+unitree_z1_dual_arm_stackbox_v2,case2,unitree_z1_dual_arm_stackbox_v2-vid15-fs4,unitree_z1_dual_arm_stackbox_v2,policy,6,tail_only_4,"[40, 43, 46, 49]",4,0.92,49,50,1.0000001192092896,1.0
+unitree_z1_dual_arm_stackbox_v2,case2,unitree_z1_dual_arm_stackbox_v2-vid15-fs4,unitree_z1_dual_arm_stackbox_v2,policy,6,tail_heavy_6,"[0, 32, 40, 44, 47, 49]",6,0.88,49,50,1.0000001192092896,1.0
+unitree_z1_dual_arm_stackbox_v2,case2,unitree_z1_dual_arm_stackbox_v2-vid15-fs4,unitree_z1_dual_arm_stackbox_v2,policy,6,tail_heavy_8,"[0, 10, 20, 30, 38, 43, 46, 49]",8,0.84,49,50,1.0000001192092896,1.0
+unitree_z1_dual_arm_stackbox_v2,case2,unitree_z1_dual_arm_stackbox_v2-vid15-fs4,unitree_z1_dual_arm_stackbox_v2,policy,7,dense,"[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49]",50,0.0,49,50,1.0,0.9999999403953552
+unitree_z1_dual_arm_stackbox_v2,case2,unitree_z1_dual_arm_stackbox_v2-vid15-fs4,unitree_z1_dual_arm_stackbox_v2,policy,7,sparse_10,"[0, 5, 10, 15, 20, 25, 30, 35, 40, 45]",10,0.8,45,46,0.8992055654525757,0.8929087519645691
+unitree_z1_dual_arm_stackbox_v2,case2,unitree_z1_dual_arm_stackbox_v2-vid15-fs4,unitree_z1_dual_arm_stackbox_v2,policy,7,sparse_5,"[0, 10, 20, 30, 40]",5,0.9,40,41,0.6801596879959106,0.7124137282371521
+unitree_z1_dual_arm_stackbox_v2,case2,unitree_z1_dual_arm_stackbox_v2-vid15-fs4,unitree_z1_dual_arm_stackbox_v2,policy,7,tail_heavy_10,"[0, 5, 10, 20, 30, 38, 43, 46, 48, 49]",10,0.8,49,50,1.0,0.9999999403953552
+unitree_z1_dual_arm_stackbox_v2,case2,unitree_z1_dual_arm_stackbox_v2-vid15-fs4,unitree_z1_dual_arm_stackbox_v2,policy,7,tail_only_6,"[40, 43, 46, 47, 48, 49]",6,0.88,49,50,1.0,0.9999999403953552
+unitree_z1_dual_arm_stackbox_v2,case2,unitree_z1_dual_arm_stackbox_v2-vid15-fs4,unitree_z1_dual_arm_stackbox_v2,policy,7,sparse_8,"[0, 7, 14, 21, 28, 35, 42, 49]",8,0.84,49,50,1.0,0.9999999403953552
+unitree_z1_dual_arm_stackbox_v2,case2,unitree_z1_dual_arm_stackbox_v2-vid15-fs4,unitree_z1_dual_arm_stackbox_v2,policy,7,sparse_4,"[0, 16, 32, 49]",4,0.92,49,50,1.0,0.9999999403953552
+unitree_z1_dual_arm_stackbox_v2,case2,unitree_z1_dual_arm_stackbox_v2-vid15-fs4,unitree_z1_dual_arm_stackbox_v2,policy,7,tail_only_4,"[40, 43, 46, 49]",4,0.92,49,50,1.0,0.9999999403953552
+unitree_z1_dual_arm_stackbox_v2,case2,unitree_z1_dual_arm_stackbox_v2-vid15-fs4,unitree_z1_dual_arm_stackbox_v2,policy,7,tail_heavy_6,"[0, 32, 40, 44, 47, 49]",6,0.88,49,50,1.0,0.9999999403953552
+unitree_z1_dual_arm_stackbox_v2,case2,unitree_z1_dual_arm_stackbox_v2-vid15-fs4,unitree_z1_dual_arm_stackbox_v2,policy,7,tail_heavy_8,"[0, 10, 20, 30, 38, 43, 46, 49]",8,0.84,49,50,1.0,0.9999999403953552
+unitree_z1_dual_arm_stackbox_v2,case2,unitree_z1_dual_arm_stackbox_v2-vid15-fs4,unitree_z1_dual_arm_stackbox_v2,policy,8,dense,"[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49]",50,0.0,49,50,1.0,1.0
+unitree_z1_dual_arm_stackbox_v2,case2,unitree_z1_dual_arm_stackbox_v2-vid15-fs4,unitree_z1_dual_arm_stackbox_v2,policy,8,sparse_10,"[0, 5, 10, 15, 20, 25, 30, 35, 40, 45]",10,0.8,45,46,0.9211265444755554,0.8907460570335388
+unitree_z1_dual_arm_stackbox_v2,case2,unitree_z1_dual_arm_stackbox_v2-vid15-fs4,unitree_z1_dual_arm_stackbox_v2,policy,8,sparse_5,"[0, 10, 20, 30, 40]",5,0.9,40,41,0.7341817021369934,0.6892410516738892
+unitree_z1_dual_arm_stackbox_v2,case2,unitree_z1_dual_arm_stackbox_v2-vid15-fs4,unitree_z1_dual_arm_stackbox_v2,policy,8,tail_heavy_10,"[0, 5, 10, 20, 30, 38, 43, 46, 48, 49]",10,0.8,49,50,1.0,1.0
+unitree_z1_dual_arm_stackbox_v2,case2,unitree_z1_dual_arm_stackbox_v2-vid15-fs4,unitree_z1_dual_arm_stackbox_v2,policy,8,tail_only_6,"[40, 43, 46, 47, 48, 49]",6,0.88,49,50,1.0,1.0
+unitree_z1_dual_arm_stackbox_v2,case2,unitree_z1_dual_arm_stackbox_v2-vid15-fs4,unitree_z1_dual_arm_stackbox_v2,policy,8,sparse_8,"[0, 7, 14, 21, 28, 35, 42, 49]",8,0.84,49,50,1.0,1.0
+unitree_z1_dual_arm_stackbox_v2,case2,unitree_z1_dual_arm_stackbox_v2-vid15-fs4,unitree_z1_dual_arm_stackbox_v2,policy,8,sparse_4,"[0, 16, 32, 49]",4,0.92,49,50,1.0,1.0
+unitree_z1_dual_arm_stackbox_v2,case2,unitree_z1_dual_arm_stackbox_v2-vid15-fs4,unitree_z1_dual_arm_stackbox_v2,policy,8,tail_only_4,"[40, 43, 46, 49]",4,0.92,49,50,1.0,1.0
+unitree_z1_dual_arm_stackbox_v2,case2,unitree_z1_dual_arm_stackbox_v2-vid15-fs4,unitree_z1_dual_arm_stackbox_v2,policy,8,tail_heavy_6,"[0, 32, 40, 44, 47, 49]",6,0.88,49,50,1.0,1.0
+unitree_z1_dual_arm_stackbox_v2,case2,unitree_z1_dual_arm_stackbox_v2-vid15-fs4,unitree_z1_dual_arm_stackbox_v2,policy,8,tail_heavy_8,"[0, 10, 20, 30, 38, 43, 46, 49]",8,0.84,49,50,1.0,1.0
+unitree_z1_dual_arm_stackbox_v2,case2,unitree_z1_dual_arm_stackbox_v2-vid15-fs4,unitree_z1_dual_arm_stackbox_v2,policy,9,dense,"[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49]",50,0.0,49,50,0.9999997615814208,1.0
+unitree_z1_dual_arm_stackbox_v2,case2,unitree_z1_dual_arm_stackbox_v2-vid15-fs4,unitree_z1_dual_arm_stackbox_v2,policy,9,sparse_10,"[0, 5, 10, 15, 20, 25, 30, 35, 40, 45]",10,0.8,45,46,0.94550883769989,0.9125217199325562
+unitree_z1_dual_arm_stackbox_v2,case2,unitree_z1_dual_arm_stackbox_v2-vid15-fs4,unitree_z1_dual_arm_stackbox_v2,policy,9,sparse_5,"[0, 10, 20, 30, 40]",5,0.9,40,41,0.822149395942688,0.7260512709617615
+unitree_z1_dual_arm_stackbox_v2,case2,unitree_z1_dual_arm_stackbox_v2-vid15-fs4,unitree_z1_dual_arm_stackbox_v2,policy,9,tail_heavy_10,"[0, 5, 10, 20, 30, 38, 43, 46, 48, 49]",10,0.8,49,50,0.9999997615814208,1.0
+unitree_z1_dual_arm_stackbox_v2,case2,unitree_z1_dual_arm_stackbox_v2-vid15-fs4,unitree_z1_dual_arm_stackbox_v2,policy,9,tail_only_6,"[40, 43, 46, 47, 48, 49]",6,0.88,49,50,0.9999997615814208,1.0
+unitree_z1_dual_arm_stackbox_v2,case2,unitree_z1_dual_arm_stackbox_v2-vid15-fs4,unitree_z1_dual_arm_stackbox_v2,policy,9,sparse_8,"[0, 7, 14, 21, 28, 35, 42, 49]",8,0.84,49,50,0.9999997615814208,1.0
+unitree_z1_dual_arm_stackbox_v2,case2,unitree_z1_dual_arm_stackbox_v2-vid15-fs4,unitree_z1_dual_arm_stackbox_v2,policy,9,sparse_4,"[0, 16, 32, 49]",4,0.92,49,50,0.9999997615814208,1.0
+unitree_z1_dual_arm_stackbox_v2,case2,unitree_z1_dual_arm_stackbox_v2-vid15-fs4,unitree_z1_dual_arm_stackbox_v2,policy,9,tail_only_4,"[40, 43, 46, 49]",4,0.92,49,50,0.9999997615814208,1.0
+unitree_z1_dual_arm_stackbox_v2,case2,unitree_z1_dual_arm_stackbox_v2-vid15-fs4,unitree_z1_dual_arm_stackbox_v2,policy,9,tail_heavy_6,"[0, 32, 40, 44, 47, 49]",6,0.88,49,50,0.9999997615814208,1.0
+unitree_z1_dual_arm_stackbox_v2,case2,unitree_z1_dual_arm_stackbox_v2-vid15-fs4,unitree_z1_dual_arm_stackbox_v2,policy,9,tail_heavy_8,"[0, 10, 20, 30, 38, 43, 46, 49]",8,0.84,49,50,0.9999997615814208,1.0
+unitree_z1_dual_arm_stackbox_v2,case2,unitree_z1_dual_arm_stackbox_v2-vid15-fs4,unitree_z1_dual_arm_stackbox_v2,policy,10,dense,"[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49]",50,0.0,49,50,1.0,1.0000001192092896
+unitree_z1_dual_arm_stackbox_v2,case2,unitree_z1_dual_arm_stackbox_v2-vid15-fs4,unitree_z1_dual_arm_stackbox_v2,policy,10,sparse_10,"[0, 5, 10, 15, 20, 25, 30, 35, 40, 45]",10,0.8,45,46,0.9443755149841307,0.9416136741638184
+unitree_z1_dual_arm_stackbox_v2,case2,unitree_z1_dual_arm_stackbox_v2-vid15-fs4,unitree_z1_dual_arm_stackbox_v2,policy,10,sparse_5,"[0, 10, 20, 30, 40]",5,0.9,40,41,0.7966703772544861,0.7950029969215393
+unitree_z1_dual_arm_stackbox_v2,case2,unitree_z1_dual_arm_stackbox_v2-vid15-fs4,unitree_z1_dual_arm_stackbox_v2,policy,10,tail_heavy_10,"[0, 5, 10, 20, 30, 38, 43, 46, 48, 49]",10,0.8,49,50,1.0,1.0000001192092896
+unitree_z1_dual_arm_stackbox_v2,case2,unitree_z1_dual_arm_stackbox_v2-vid15-fs4,unitree_z1_dual_arm_stackbox_v2,policy,10,tail_only_6,"[40, 43, 46, 47, 48, 49]",6,0.88,49,50,1.0,1.0000001192092896
+unitree_z1_dual_arm_stackbox_v2,case2,unitree_z1_dual_arm_stackbox_v2-vid15-fs4,unitree_z1_dual_arm_stackbox_v2,policy,10,sparse_8,"[0, 7, 14, 21, 28, 35, 42, 49]",8,0.84,49,50,1.0,1.0000001192092896
+unitree_z1_dual_arm_stackbox_v2,case2,unitree_z1_dual_arm_stackbox_v2-vid15-fs4,unitree_z1_dual_arm_stackbox_v2,policy,10,sparse_4,"[0, 16, 32, 49]",4,0.92,49,50,1.0,1.0000001192092896
+unitree_z1_dual_arm_stackbox_v2,case2,unitree_z1_dual_arm_stackbox_v2-vid15-fs4,unitree_z1_dual_arm_stackbox_v2,policy,10,tail_only_4,"[40, 43, 46, 49]",4,0.92,49,50,1.0,1.0000001192092896
+unitree_z1_dual_arm_stackbox_v2,case2,unitree_z1_dual_arm_stackbox_v2-vid15-fs4,unitree_z1_dual_arm_stackbox_v2,policy,10,tail_heavy_6,"[0, 32, 40, 44, 47, 49]",6,0.88,49,50,1.0,1.0000001192092896
+unitree_z1_dual_arm_stackbox_v2,case2,unitree_z1_dual_arm_stackbox_v2-vid15-fs4,unitree_z1_dual_arm_stackbox_v2,policy,10,tail_heavy_8,"[0, 10, 20, 30, 38, 43, 46, 49]",8,0.84,49,50,1.0,1.0000001192092896
+unitree_z1_dual_arm_stackbox_v2,case2,unitree_z1_dual_arm_stackbox_v2-vid15-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,0,dense,"[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49]",50,0.0,49,50,1.0000001192092896,1.0
+unitree_z1_dual_arm_stackbox_v2,case2,unitree_z1_dual_arm_stackbox_v2-vid15-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,0,sparse_10,"[0, 5, 10, 15, 20, 25, 30, 35, 40, 45]",10,0.8,45,46,0.9488716721534728,0.9433575868606568
+unitree_z1_dual_arm_stackbox_v2,case2,unitree_z1_dual_arm_stackbox_v2-vid15-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,0,sparse_5,"[0, 10, 20, 30, 40]",5,0.9,40,41,0.7957696318626404,0.8129370808601379
+unitree_z1_dual_arm_stackbox_v2,case2,unitree_z1_dual_arm_stackbox_v2-vid15-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,0,tail_heavy_10,"[0, 5, 10, 20, 30, 38, 43, 46, 48, 49]",10,0.8,49,50,1.0000001192092896,1.0
+unitree_z1_dual_arm_stackbox_v2,case2,unitree_z1_dual_arm_stackbox_v2-vid15-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,0,tail_only_6,"[40, 43, 46, 47, 48, 49]",6,0.88,49,50,1.0000001192092896,1.0
+unitree_z1_dual_arm_stackbox_v2,case2,unitree_z1_dual_arm_stackbox_v2-vid15-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,0,sparse_8,"[0, 7, 14, 21, 28, 35, 42, 49]",8,0.84,49,50,1.0000001192092896,1.0
+unitree_z1_dual_arm_stackbox_v2,case2,unitree_z1_dual_arm_stackbox_v2-vid15-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,0,sparse_4,"[0, 16, 32, 49]",4,0.92,49,50,1.0000001192092896,1.0
+unitree_z1_dual_arm_stackbox_v2,case2,unitree_z1_dual_arm_stackbox_v2-vid15-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,0,tail_only_4,"[40, 43, 46, 49]",4,0.92,49,50,1.0000001192092896,1.0
+unitree_z1_dual_arm_stackbox_v2,case2,unitree_z1_dual_arm_stackbox_v2-vid15-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,0,tail_heavy_6,"[0, 32, 40, 44, 47, 49]",6,0.88,49,50,1.0000001192092896,1.0
+unitree_z1_dual_arm_stackbox_v2,case2,unitree_z1_dual_arm_stackbox_v2-vid15-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,0,tail_heavy_8,"[0, 10, 20, 30, 38, 43, 46, 49]",8,0.84,49,50,1.0000001192092896,1.0
+unitree_z1_dual_arm_stackbox_v2,case2,unitree_z1_dual_arm_stackbox_v2-vid15-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,1,dense,"[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49]",50,0.0,49,50,1.0,0.9999999403953552
+unitree_z1_dual_arm_stackbox_v2,case2,unitree_z1_dual_arm_stackbox_v2-vid15-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,1,sparse_10,"[0, 5, 10, 15, 20, 25, 30, 35, 40, 45]",10,0.8,45,46,0.9400162100791932,0.9261837005615234
+unitree_z1_dual_arm_stackbox_v2,case2,unitree_z1_dual_arm_stackbox_v2-vid15-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,1,sparse_5,"[0, 10, 20, 30, 40]",5,0.9,40,41,0.7800502777099609,0.7530130743980408
+unitree_z1_dual_arm_stackbox_v2,case2,unitree_z1_dual_arm_stackbox_v2-vid15-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,1,tail_heavy_10,"[0, 5, 10, 20, 30, 38, 43, 46, 48, 49]",10,0.8,49,50,1.0,0.9999999403953552
+unitree_z1_dual_arm_stackbox_v2,case2,unitree_z1_dual_arm_stackbox_v2-vid15-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,1,tail_only_6,"[40, 43, 46, 47, 48, 49]",6,0.88,49,50,1.0,0.9999999403953552
+unitree_z1_dual_arm_stackbox_v2,case2,unitree_z1_dual_arm_stackbox_v2-vid15-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,1,sparse_8,"[0, 7, 14, 21, 28, 35, 42, 49]",8,0.84,49,50,1.0,0.9999999403953552
+unitree_z1_dual_arm_stackbox_v2,case2,unitree_z1_dual_arm_stackbox_v2-vid15-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,1,sparse_4,"[0, 16, 32, 49]",4,0.92,49,50,1.0,0.9999999403953552
+unitree_z1_dual_arm_stackbox_v2,case2,unitree_z1_dual_arm_stackbox_v2-vid15-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,1,tail_only_4,"[40, 43, 46, 49]",4,0.92,49,50,1.0,0.9999999403953552
+unitree_z1_dual_arm_stackbox_v2,case2,unitree_z1_dual_arm_stackbox_v2-vid15-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,1,tail_heavy_6,"[0, 32, 40, 44, 47, 49]",6,0.88,49,50,1.0,0.9999999403953552
+unitree_z1_dual_arm_stackbox_v2,case2,unitree_z1_dual_arm_stackbox_v2-vid15-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,1,tail_heavy_8,"[0, 10, 20, 30, 38, 43, 46, 49]",8,0.84,49,50,1.0,0.9999999403953552
+unitree_z1_dual_arm_stackbox_v2,case2,unitree_z1_dual_arm_stackbox_v2-vid15-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,2,dense,"[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49]",50,0.0,49,50,1.000000238418579,0.9999998807907104
+unitree_z1_dual_arm_stackbox_v2,case2,unitree_z1_dual_arm_stackbox_v2-vid15-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,2,sparse_10,"[0, 5, 10, 15, 20, 25, 30, 35, 40, 45]",10,0.8,45,46,0.93562251329422,0.9130271673202516
+unitree_z1_dual_arm_stackbox_v2,case2,unitree_z1_dual_arm_stackbox_v2-vid15-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,2,sparse_5,"[0, 10, 20, 30, 40]",5,0.9,40,41,0.7790505290031433,0.7396740913391113
+unitree_z1_dual_arm_stackbox_v2,case2,unitree_z1_dual_arm_stackbox_v2-vid15-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,2,tail_heavy_10,"[0, 5, 10, 20, 30, 38, 43, 46, 48, 49]",10,0.8,49,50,1.000000238418579,0.9999998807907104
+unitree_z1_dual_arm_stackbox_v2,case2,unitree_z1_dual_arm_stackbox_v2-vid15-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,2,tail_only_6,"[40, 43, 46, 47, 48, 49]",6,0.88,49,50,1.000000238418579,0.9999998807907104
+unitree_z1_dual_arm_stackbox_v2,case2,unitree_z1_dual_arm_stackbox_v2-vid15-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,2,sparse_8,"[0, 7, 14, 21, 28, 35, 42, 49]",8,0.84,49,50,1.000000238418579,0.9999998807907104
+unitree_z1_dual_arm_stackbox_v2,case2,unitree_z1_dual_arm_stackbox_v2-vid15-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,2,sparse_4,"[0, 16, 32, 49]",4,0.92,49,50,1.000000238418579,0.9999998807907104
+unitree_z1_dual_arm_stackbox_v2,case2,unitree_z1_dual_arm_stackbox_v2-vid15-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,2,tail_only_4,"[40, 43, 46, 49]",4,0.92,49,50,1.000000238418579,0.9999998807907104
+unitree_z1_dual_arm_stackbox_v2,case2,unitree_z1_dual_arm_stackbox_v2-vid15-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,2,tail_heavy_6,"[0, 32, 40, 44, 47, 49]",6,0.88,49,50,1.000000238418579,0.9999998807907104
+unitree_z1_dual_arm_stackbox_v2,case2,unitree_z1_dual_arm_stackbox_v2-vid15-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,2,tail_heavy_8,"[0, 10, 20, 30, 38, 43, 46, 49]",8,0.84,49,50,1.000000238418579,0.9999998807907104
+unitree_z1_dual_arm_stackbox_v2,case2,unitree_z1_dual_arm_stackbox_v2-vid15-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,3,dense,"[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49]",50,0.0,49,50,0.9999999403953552,0.9999999403953552
+unitree_z1_dual_arm_stackbox_v2,case2,unitree_z1_dual_arm_stackbox_v2-vid15-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,3,sparse_10,"[0, 5, 10, 15, 20, 25, 30, 35, 40, 45]",10,0.8,45,46,0.9327452182769777,0.921261727809906
+unitree_z1_dual_arm_stackbox_v2,case2,unitree_z1_dual_arm_stackbox_v2-vid15-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,3,sparse_5,"[0, 10, 20, 30, 40]",5,0.9,40,41,0.7574634552001953,0.7495525479316711
+unitree_z1_dual_arm_stackbox_v2,case2,unitree_z1_dual_arm_stackbox_v2-vid15-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,3,tail_heavy_10,"[0, 5, 10, 20, 30, 38, 43, 46, 48, 49]",10,0.8,49,50,0.9999999403953552,0.9999999403953552
+unitree_z1_dual_arm_stackbox_v2,case2,unitree_z1_dual_arm_stackbox_v2-vid15-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,3,tail_only_6,"[40, 43, 46, 47, 48, 49]",6,0.88,49,50,0.9999999403953552,0.9999999403953552
+unitree_z1_dual_arm_stackbox_v2,case2,unitree_z1_dual_arm_stackbox_v2-vid15-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,3,sparse_8,"[0, 7, 14, 21, 28, 35, 42, 49]",8,0.84,49,50,0.9999999403953552,0.9999999403953552
+unitree_z1_dual_arm_stackbox_v2,case2,unitree_z1_dual_arm_stackbox_v2-vid15-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,3,sparse_4,"[0, 16, 32, 49]",4,0.92,49,50,0.9999999403953552,0.9999999403953552
+unitree_z1_dual_arm_stackbox_v2,case2,unitree_z1_dual_arm_stackbox_v2-vid15-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,3,tail_only_4,"[40, 43, 46, 49]",4,0.92,49,50,0.9999999403953552,0.9999999403953552
+unitree_z1_dual_arm_stackbox_v2,case2,unitree_z1_dual_arm_stackbox_v2-vid15-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,3,tail_heavy_6,"[0, 32, 40, 44, 47, 49]",6,0.88,49,50,0.9999999403953552,0.9999999403953552
+unitree_z1_dual_arm_stackbox_v2,case2,unitree_z1_dual_arm_stackbox_v2-vid15-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,3,tail_heavy_8,"[0, 10, 20, 30, 38, 43, 46, 49]",8,0.84,49,50,0.9999999403953552,0.9999999403953552
+unitree_z1_dual_arm_stackbox_v2,case2,unitree_z1_dual_arm_stackbox_v2-vid15-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,4,dense,"[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49]",50,0.0,49,50,0.9999999403953552,1.0000001192092896
+unitree_z1_dual_arm_stackbox_v2,case2,unitree_z1_dual_arm_stackbox_v2-vid15-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,4,sparse_10,"[0, 5, 10, 15, 20, 25, 30, 35, 40, 45]",10,0.8,45,46,0.951314091682434,0.911263644695282
+unitree_z1_dual_arm_stackbox_v2,case2,unitree_z1_dual_arm_stackbox_v2-vid15-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,4,sparse_5,"[0, 10, 20, 30, 40]",5,0.9,40,41,0.8244695067405701,0.7280002236366272
+unitree_z1_dual_arm_stackbox_v2,case2,unitree_z1_dual_arm_stackbox_v2-vid15-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,4,tail_heavy_10,"[0, 5, 10, 20, 30, 38, 43, 46, 48, 49]",10,0.8,49,50,0.9999999403953552,1.0000001192092896
+unitree_z1_dual_arm_stackbox_v2,case2,unitree_z1_dual_arm_stackbox_v2-vid15-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,4,tail_only_6,"[40, 43, 46, 47, 48, 49]",6,0.88,49,50,0.9999999403953552,1.0000001192092896
+unitree_z1_dual_arm_stackbox_v2,case2,unitree_z1_dual_arm_stackbox_v2-vid15-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,4,sparse_8,"[0, 7, 14, 21, 28, 35, 42, 49]",8,0.84,49,50,0.9999999403953552,1.0000001192092896
+unitree_z1_dual_arm_stackbox_v2,case2,unitree_z1_dual_arm_stackbox_v2-vid15-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,4,sparse_4,"[0, 16, 32, 49]",4,0.92,49,50,0.9999999403953552,1.0000001192092896
+unitree_z1_dual_arm_stackbox_v2,case2,unitree_z1_dual_arm_stackbox_v2-vid15-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,4,tail_only_4,"[40, 43, 46, 49]",4,0.92,49,50,0.9999999403953552,1.0000001192092896
+unitree_z1_dual_arm_stackbox_v2,case2,unitree_z1_dual_arm_stackbox_v2-vid15-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,4,tail_heavy_6,"[0, 32, 40, 44, 47, 49]",6,0.88,49,50,0.9999999403953552,1.0000001192092896
+unitree_z1_dual_arm_stackbox_v2,case2,unitree_z1_dual_arm_stackbox_v2-vid15-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,4,tail_heavy_8,"[0, 10, 20, 30, 38, 43, 46, 49]",8,0.84,49,50,0.9999999403953552,1.0000001192092896
+unitree_z1_dual_arm_stackbox_v2,case2,unitree_z1_dual_arm_stackbox_v2-vid15-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,5,dense,"[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49]",50,0.0,49,50,0.9999998807907104,1.0
+unitree_z1_dual_arm_stackbox_v2,case2,unitree_z1_dual_arm_stackbox_v2-vid15-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,5,sparse_10,"[0, 5, 10, 15, 20, 25, 30, 35, 40, 45]",10,0.8,45,46,0.9591164588928224,0.931854009628296
+unitree_z1_dual_arm_stackbox_v2,case2,unitree_z1_dual_arm_stackbox_v2-vid15-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,5,sparse_5,"[0, 10, 20, 30, 40]",5,0.9,40,41,0.841324508190155,0.7734960317611694
+unitree_z1_dual_arm_stackbox_v2,case2,unitree_z1_dual_arm_stackbox_v2-vid15-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,5,tail_heavy_10,"[0, 5, 10, 20, 30, 38, 43, 46, 48, 49]",10,0.8,49,50,0.9999998807907104,1.0
+unitree_z1_dual_arm_stackbox_v2,case2,unitree_z1_dual_arm_stackbox_v2-vid15-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,5,tail_only_6,"[40, 43, 46, 47, 48, 49]",6,0.88,49,50,0.9999998807907104,1.0
+unitree_z1_dual_arm_stackbox_v2,case2,unitree_z1_dual_arm_stackbox_v2-vid15-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,5,sparse_8,"[0, 7, 14, 21, 28, 35, 42, 49]",8,0.84,49,50,0.9999998807907104,1.0
+unitree_z1_dual_arm_stackbox_v2,case2,unitree_z1_dual_arm_stackbox_v2-vid15-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,5,sparse_4,"[0, 16, 32, 49]",4,0.92,49,50,0.9999998807907104,1.0
+unitree_z1_dual_arm_stackbox_v2,case2,unitree_z1_dual_arm_stackbox_v2-vid15-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,5,tail_only_4,"[40, 43, 46, 49]",4,0.92,49,50,0.9999998807907104,1.0
+unitree_z1_dual_arm_stackbox_v2,case2,unitree_z1_dual_arm_stackbox_v2-vid15-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,5,tail_heavy_6,"[0, 32, 40, 44, 47, 49]",6,0.88,49,50,0.9999998807907104,1.0
+unitree_z1_dual_arm_stackbox_v2,case2,unitree_z1_dual_arm_stackbox_v2-vid15-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,5,tail_heavy_8,"[0, 10, 20, 30, 38, 43, 46, 49]",8,0.84,49,50,0.9999998807907104,1.0
+unitree_z1_dual_arm_stackbox_v2,case2,unitree_z1_dual_arm_stackbox_v2-vid15-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,6,dense,"[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49]",50,0.0,49,50,0.9999999403953552,1.0
+unitree_z1_dual_arm_stackbox_v2,case2,unitree_z1_dual_arm_stackbox_v2-vid15-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,6,sparse_10,"[0, 5, 10, 15, 20, 25, 30, 35, 40, 45]",10,0.8,45,46,0.9365039467811584,0.9239425659179688
+unitree_z1_dual_arm_stackbox_v2,case2,unitree_z1_dual_arm_stackbox_v2-vid15-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,6,sparse_5,"[0, 10, 20, 30, 40]",5,0.9,40,41,0.7618266344070435,0.7353305816650391
+unitree_z1_dual_arm_stackbox_v2,case2,unitree_z1_dual_arm_stackbox_v2-vid15-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,6,tail_heavy_10,"[0, 5, 10, 20, 30, 38, 43, 46, 48, 49]",10,0.8,49,50,0.9999999403953552,1.0
+unitree_z1_dual_arm_stackbox_v2,case2,unitree_z1_dual_arm_stackbox_v2-vid15-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,6,tail_only_6,"[40, 43, 46, 47, 48, 49]",6,0.88,49,50,0.9999999403953552,1.0
+unitree_z1_dual_arm_stackbox_v2,case2,unitree_z1_dual_arm_stackbox_v2-vid15-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,6,sparse_8,"[0, 7, 14, 21, 28, 35, 42, 49]",8,0.84,49,50,0.9999999403953552,1.0
+unitree_z1_dual_arm_stackbox_v2,case2,unitree_z1_dual_arm_stackbox_v2-vid15-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,6,sparse_4,"[0, 16, 32, 49]",4,0.92,49,50,0.9999999403953552,1.0
+unitree_z1_dual_arm_stackbox_v2,case2,unitree_z1_dual_arm_stackbox_v2-vid15-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,6,tail_only_4,"[40, 43, 46, 49]",4,0.92,49,50,0.9999999403953552,1.0
+unitree_z1_dual_arm_stackbox_v2,case2,unitree_z1_dual_arm_stackbox_v2-vid15-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,6,tail_heavy_6,"[0, 32, 40, 44, 47, 49]",6,0.88,49,50,0.9999999403953552,1.0
+unitree_z1_dual_arm_stackbox_v2,case2,unitree_z1_dual_arm_stackbox_v2-vid15-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,6,tail_heavy_8,"[0, 10, 20, 30, 38, 43, 46, 49]",8,0.84,49,50,0.9999999403953552,1.0
+unitree_z1_dual_arm_stackbox_v2,case2,unitree_z1_dual_arm_stackbox_v2-vid15-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,7,dense,"[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49]",50,0.0,49,50,1.0000001192092896,0.9999999403953552
+unitree_z1_dual_arm_stackbox_v2,case2,unitree_z1_dual_arm_stackbox_v2-vid15-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,7,sparse_10,"[0, 5, 10, 15, 20, 25, 30, 35, 40, 45]",10,0.8,45,46,0.911432921886444,0.8880898952484131
+unitree_z1_dual_arm_stackbox_v2,case2,unitree_z1_dual_arm_stackbox_v2-vid15-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,7,sparse_5,"[0, 10, 20, 30, 40]",5,0.9,40,41,0.7031097412109375,0.7101402878761292
+unitree_z1_dual_arm_stackbox_v2,case2,unitree_z1_dual_arm_stackbox_v2-vid15-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,7,tail_heavy_10,"[0, 5, 10, 20, 30, 38, 43, 46, 48, 49]",10,0.8,49,50,1.0000001192092896,0.9999999403953552
+unitree_z1_dual_arm_stackbox_v2,case2,unitree_z1_dual_arm_stackbox_v2-vid15-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,7,tail_only_6,"[40, 43, 46, 47, 48, 49]",6,0.88,49,50,1.0000001192092896,0.9999999403953552
+unitree_z1_dual_arm_stackbox_v2,case2,unitree_z1_dual_arm_stackbox_v2-vid15-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,7,sparse_8,"[0, 7, 14, 21, 28, 35, 42, 49]",8,0.84,49,50,1.0000001192092896,0.9999999403953552
+unitree_z1_dual_arm_stackbox_v2,case2,unitree_z1_dual_arm_stackbox_v2-vid15-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,7,sparse_4,"[0, 16, 32, 49]",4,0.92,49,50,1.0000001192092896,0.9999999403953552
+unitree_z1_dual_arm_stackbox_v2,case2,unitree_z1_dual_arm_stackbox_v2-vid15-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,7,tail_only_4,"[40, 43, 46, 49]",4,0.92,49,50,1.0000001192092896,0.9999999403953552
+unitree_z1_dual_arm_stackbox_v2,case2,unitree_z1_dual_arm_stackbox_v2-vid15-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,7,tail_heavy_6,"[0, 32, 40, 44, 47, 49]",6,0.88,49,50,1.0000001192092896,0.9999999403953552
+unitree_z1_dual_arm_stackbox_v2,case2,unitree_z1_dual_arm_stackbox_v2-vid15-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,7,tail_heavy_8,"[0, 10, 20, 30, 38, 43, 46, 49]",8,0.84,49,50,1.0000001192092896,0.9999999403953552
+unitree_z1_dual_arm_stackbox_v2,case2,unitree_z1_dual_arm_stackbox_v2-vid15-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,8,dense,"[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49]",50,0.0,49,50,1.0000001192092896,1.0
+unitree_z1_dual_arm_stackbox_v2,case2,unitree_z1_dual_arm_stackbox_v2-vid15-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,8,sparse_10,"[0, 5, 10, 15, 20, 25, 30, 35, 40, 45]",10,0.8,45,46,0.9221702218055724,0.8961294293403625
+unitree_z1_dual_arm_stackbox_v2,case2,unitree_z1_dual_arm_stackbox_v2-vid15-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,8,sparse_5,"[0, 10, 20, 30, 40]",5,0.9,40,41,0.7453922629356384,0.6863433718681335
+unitree_z1_dual_arm_stackbox_v2,case2,unitree_z1_dual_arm_stackbox_v2-vid15-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,8,tail_heavy_10,"[0, 5, 10, 20, 30, 38, 43, 46, 48, 49]",10,0.8,49,50,1.0000001192092896,1.0
+unitree_z1_dual_arm_stackbox_v2,case2,unitree_z1_dual_arm_stackbox_v2-vid15-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,8,tail_only_6,"[40, 43, 46, 47, 48, 49]",6,0.88,49,50,1.0000001192092896,1.0
+unitree_z1_dual_arm_stackbox_v2,case2,unitree_z1_dual_arm_stackbox_v2-vid15-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,8,sparse_8,"[0, 7, 14, 21, 28, 35, 42, 49]",8,0.84,49,50,1.0000001192092896,1.0
+unitree_z1_dual_arm_stackbox_v2,case2,unitree_z1_dual_arm_stackbox_v2-vid15-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,8,sparse_4,"[0, 16, 32, 49]",4,0.92,49,50,1.0000001192092896,1.0
+unitree_z1_dual_arm_stackbox_v2,case2,unitree_z1_dual_arm_stackbox_v2-vid15-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,8,tail_only_4,"[40, 43, 46, 49]",4,0.92,49,50,1.0000001192092896,1.0
+unitree_z1_dual_arm_stackbox_v2,case2,unitree_z1_dual_arm_stackbox_v2-vid15-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,8,tail_heavy_6,"[0, 32, 40, 44, 47, 49]",6,0.88,49,50,1.0000001192092896,1.0
+unitree_z1_dual_arm_stackbox_v2,case2,unitree_z1_dual_arm_stackbox_v2-vid15-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,8,tail_heavy_8,"[0, 10, 20, 30, 38, 43, 46, 49]",8,0.84,49,50,1.0000001192092896,1.0
+unitree_z1_dual_arm_stackbox_v2,case2,unitree_z1_dual_arm_stackbox_v2-vid15-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,9,dense,"[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49]",50,0.0,49,50,1.0,1.0
+unitree_z1_dual_arm_stackbox_v2,case2,unitree_z1_dual_arm_stackbox_v2-vid15-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,9,sparse_10,"[0, 5, 10, 15, 20, 25, 30, 35, 40, 45]",10,0.8,45,46,0.9314159154891968,0.909160017967224
+unitree_z1_dual_arm_stackbox_v2,case2,unitree_z1_dual_arm_stackbox_v2-vid15-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,9,sparse_5,"[0, 10, 20, 30, 40]",5,0.9,40,41,0.7714487314224243,0.7374743223190308
+unitree_z1_dual_arm_stackbox_v2,case2,unitree_z1_dual_arm_stackbox_v2-vid15-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,9,tail_heavy_10,"[0, 5, 10, 20, 30, 38, 43, 46, 48, 49]",10,0.8,49,50,1.0,1.0
+unitree_z1_dual_arm_stackbox_v2,case2,unitree_z1_dual_arm_stackbox_v2-vid15-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,9,tail_only_6,"[40, 43, 46, 47, 48, 49]",6,0.88,49,50,1.0,1.0
+unitree_z1_dual_arm_stackbox_v2,case2,unitree_z1_dual_arm_stackbox_v2-vid15-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,9,sparse_8,"[0, 7, 14, 21, 28, 35, 42, 49]",8,0.84,49,50,1.0,1.0
+unitree_z1_dual_arm_stackbox_v2,case2,unitree_z1_dual_arm_stackbox_v2-vid15-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,9,sparse_4,"[0, 16, 32, 49]",4,0.92,49,50,1.0,1.0
+unitree_z1_dual_arm_stackbox_v2,case2,unitree_z1_dual_arm_stackbox_v2-vid15-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,9,tail_only_4,"[40, 43, 46, 49]",4,0.92,49,50,1.0,1.0
+unitree_z1_dual_arm_stackbox_v2,case2,unitree_z1_dual_arm_stackbox_v2-vid15-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,9,tail_heavy_6,"[0, 32, 40, 44, 47, 49]",6,0.88,49,50,1.0,1.0
+unitree_z1_dual_arm_stackbox_v2,case2,unitree_z1_dual_arm_stackbox_v2-vid15-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,9,tail_heavy_8,"[0, 10, 20, 30, 38, 43, 46, 49]",8,0.84,49,50,1.0,1.0
+unitree_z1_dual_arm_stackbox_v2,case2,unitree_z1_dual_arm_stackbox_v2-vid15-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,10,dense,"[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49]",50,0.0,49,50,1.0,1.0000001192092896
+unitree_z1_dual_arm_stackbox_v2,case2,unitree_z1_dual_arm_stackbox_v2-vid15-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,10,sparse_10,"[0, 5, 10, 15, 20, 25, 30, 35, 40, 45]",10,0.8,45,46,0.9373672008514404,0.9213682413101196
+unitree_z1_dual_arm_stackbox_v2,case2,unitree_z1_dual_arm_stackbox_v2-vid15-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,10,sparse_5,"[0, 10, 20, 30, 40]",5,0.9,40,41,0.7824094295501709,0.7565023303031921
+unitree_z1_dual_arm_stackbox_v2,case2,unitree_z1_dual_arm_stackbox_v2-vid15-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,10,tail_heavy_10,"[0, 5, 10, 20, 30, 38, 43, 46, 48, 49]",10,0.8,49,50,1.0,1.0000001192092896
+unitree_z1_dual_arm_stackbox_v2,case2,unitree_z1_dual_arm_stackbox_v2-vid15-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,10,tail_only_6,"[40, 43, 46, 47, 48, 49]",6,0.88,49,50,1.0,1.0000001192092896
+unitree_z1_dual_arm_stackbox_v2,case2,unitree_z1_dual_arm_stackbox_v2-vid15-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,10,sparse_8,"[0, 7, 14, 21, 28, 35, 42, 49]",8,0.84,49,50,1.0,1.0000001192092896
+unitree_z1_dual_arm_stackbox_v2,case2,unitree_z1_dual_arm_stackbox_v2-vid15-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,10,sparse_4,"[0, 16, 32, 49]",4,0.92,49,50,1.0,1.0000001192092896
+unitree_z1_dual_arm_stackbox_v2,case2,unitree_z1_dual_arm_stackbox_v2-vid15-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,10,tail_only_4,"[40, 43, 46, 49]",4,0.92,49,50,1.0,1.0000001192092896
+unitree_z1_dual_arm_stackbox_v2,case2,unitree_z1_dual_arm_stackbox_v2-vid15-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,10,tail_heavy_6,"[0, 32, 40, 44, 47, 49]",6,0.88,49,50,1.0,1.0000001192092896
+unitree_z1_dual_arm_stackbox_v2,case2,unitree_z1_dual_arm_stackbox_v2-vid15-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,10,tail_heavy_8,"[0, 10, 20, 30, 38, 43, 46, 49]",8,0.84,49,50,1.0,1.0000001192092896
+unitree_z1_dual_arm_stackbox_v2,case3,unitree_z1_dual_arm_stackbox_v2-vid25-fs4,unitree_z1_dual_arm_stackbox_v2,policy,0,dense,"[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49]",50,0.0,49,50,1.0,1.0
+unitree_z1_dual_arm_stackbox_v2,case3,unitree_z1_dual_arm_stackbox_v2-vid25-fs4,unitree_z1_dual_arm_stackbox_v2,policy,0,sparse_10,"[0, 5, 10, 15, 20, 25, 30, 35, 40, 45]",10,0.8,45,46,0.9420856833457948,0.940445840358734
+unitree_z1_dual_arm_stackbox_v2,case3,unitree_z1_dual_arm_stackbox_v2-vid25-fs4,unitree_z1_dual_arm_stackbox_v2,policy,0,sparse_5,"[0, 10, 20, 30, 40]",5,0.9,40,41,0.7676358819007874,0.7734403610229492
+unitree_z1_dual_arm_stackbox_v2,case3,unitree_z1_dual_arm_stackbox_v2-vid25-fs4,unitree_z1_dual_arm_stackbox_v2,policy,0,tail_heavy_10,"[0, 5, 10, 20, 30, 38, 43, 46, 48, 49]",10,0.8,49,50,1.0,1.0
+unitree_z1_dual_arm_stackbox_v2,case3,unitree_z1_dual_arm_stackbox_v2-vid25-fs4,unitree_z1_dual_arm_stackbox_v2,policy,0,tail_only_6,"[40, 43, 46, 47, 48, 49]",6,0.88,49,50,1.0,1.0
+unitree_z1_dual_arm_stackbox_v2,case3,unitree_z1_dual_arm_stackbox_v2-vid25-fs4,unitree_z1_dual_arm_stackbox_v2,policy,0,sparse_8,"[0, 7, 14, 21, 28, 35, 42, 49]",8,0.84,49,50,1.0,1.0
+unitree_z1_dual_arm_stackbox_v2,case3,unitree_z1_dual_arm_stackbox_v2-vid25-fs4,unitree_z1_dual_arm_stackbox_v2,policy,0,sparse_4,"[0, 16, 32, 49]",4,0.92,49,50,1.0,1.0
+unitree_z1_dual_arm_stackbox_v2,case3,unitree_z1_dual_arm_stackbox_v2-vid25-fs4,unitree_z1_dual_arm_stackbox_v2,policy,0,tail_only_4,"[40, 43, 46, 49]",4,0.92,49,50,1.0,1.0
+unitree_z1_dual_arm_stackbox_v2,case3,unitree_z1_dual_arm_stackbox_v2-vid25-fs4,unitree_z1_dual_arm_stackbox_v2,policy,0,tail_heavy_6,"[0, 32, 40, 44, 47, 49]",6,0.88,49,50,1.0,1.0
+unitree_z1_dual_arm_stackbox_v2,case3,unitree_z1_dual_arm_stackbox_v2-vid25-fs4,unitree_z1_dual_arm_stackbox_v2,policy,0,tail_heavy_8,"[0, 10, 20, 30, 38, 43, 46, 49]",8,0.84,49,50,1.0,1.0
+unitree_z1_dual_arm_stackbox_v2,case3,unitree_z1_dual_arm_stackbox_v2-vid25-fs4,unitree_z1_dual_arm_stackbox_v2,policy,1,dense,"[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49]",50,0.0,49,50,1.0,0.9999998807907104
+unitree_z1_dual_arm_stackbox_v2,case3,unitree_z1_dual_arm_stackbox_v2-vid25-fs4,unitree_z1_dual_arm_stackbox_v2,policy,1,sparse_10,"[0, 5, 10, 15, 20, 25, 30, 35, 40, 45]",10,0.8,45,46,0.9259575605392456,0.9218068718910216
+unitree_z1_dual_arm_stackbox_v2,case3,unitree_z1_dual_arm_stackbox_v2-vid25-fs4,unitree_z1_dual_arm_stackbox_v2,policy,1,sparse_5,"[0, 10, 20, 30, 40]",5,0.9,40,41,0.7321937680244446,0.7628723382949829
+unitree_z1_dual_arm_stackbox_v2,case3,unitree_z1_dual_arm_stackbox_v2-vid25-fs4,unitree_z1_dual_arm_stackbox_v2,policy,1,tail_heavy_10,"[0, 5, 10, 20, 30, 38, 43, 46, 48, 49]",10,0.8,49,50,1.0,0.9999998807907104
+unitree_z1_dual_arm_stackbox_v2,case3,unitree_z1_dual_arm_stackbox_v2-vid25-fs4,unitree_z1_dual_arm_stackbox_v2,policy,1,tail_only_6,"[40, 43, 46, 47, 48, 49]",6,0.88,49,50,1.0,0.9999998807907104
+unitree_z1_dual_arm_stackbox_v2,case3,unitree_z1_dual_arm_stackbox_v2-vid25-fs4,unitree_z1_dual_arm_stackbox_v2,policy,1,sparse_8,"[0, 7, 14, 21, 28, 35, 42, 49]",8,0.84,49,50,1.0,0.9999998807907104
+unitree_z1_dual_arm_stackbox_v2,case3,unitree_z1_dual_arm_stackbox_v2-vid25-fs4,unitree_z1_dual_arm_stackbox_v2,policy,1,sparse_4,"[0, 16, 32, 49]",4,0.92,49,50,1.0,0.9999998807907104
+unitree_z1_dual_arm_stackbox_v2,case3,unitree_z1_dual_arm_stackbox_v2-vid25-fs4,unitree_z1_dual_arm_stackbox_v2,policy,1,tail_only_4,"[40, 43, 46, 49]",4,0.92,49,50,1.0,0.9999998807907104
+unitree_z1_dual_arm_stackbox_v2,case3,unitree_z1_dual_arm_stackbox_v2-vid25-fs4,unitree_z1_dual_arm_stackbox_v2,policy,1,tail_heavy_6,"[0, 32, 40, 44, 47, 49]",6,0.88,49,50,1.0,0.9999998807907104
+unitree_z1_dual_arm_stackbox_v2,case3,unitree_z1_dual_arm_stackbox_v2-vid25-fs4,unitree_z1_dual_arm_stackbox_v2,policy,1,tail_heavy_8,"[0, 10, 20, 30, 38, 43, 46, 49]",8,0.84,49,50,1.0,0.9999998807907104
+unitree_z1_dual_arm_stackbox_v2,case3,unitree_z1_dual_arm_stackbox_v2-vid25-fs4,unitree_z1_dual_arm_stackbox_v2,policy,2,dense,"[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49]",50,0.0,49,50,0.9999999403953552,0.9999999403953552
+unitree_z1_dual_arm_stackbox_v2,case3,unitree_z1_dual_arm_stackbox_v2-vid25-fs4,unitree_z1_dual_arm_stackbox_v2,policy,2,sparse_10,"[0, 5, 10, 15, 20, 25, 30, 35, 40, 45]",10,0.8,45,46,0.9085831046104432,0.8758087754249573
+unitree_z1_dual_arm_stackbox_v2,case3,unitree_z1_dual_arm_stackbox_v2-vid25-fs4,unitree_z1_dual_arm_stackbox_v2,policy,2,sparse_5,"[0, 10, 20, 30, 40]",5,0.9,40,41,0.7208545804023743,0.6832699775695801
+unitree_z1_dual_arm_stackbox_v2,case3,unitree_z1_dual_arm_stackbox_v2-vid25-fs4,unitree_z1_dual_arm_stackbox_v2,policy,2,tail_heavy_10,"[0, 5, 10, 20, 30, 38, 43, 46, 48, 49]",10,0.8,49,50,0.9999999403953552,0.9999999403953552
+unitree_z1_dual_arm_stackbox_v2,case3,unitree_z1_dual_arm_stackbox_v2-vid25-fs4,unitree_z1_dual_arm_stackbox_v2,policy,2,tail_only_6,"[40, 43, 46, 47, 48, 49]",6,0.88,49,50,0.9999999403953552,0.9999999403953552
+unitree_z1_dual_arm_stackbox_v2,case3,unitree_z1_dual_arm_stackbox_v2-vid25-fs4,unitree_z1_dual_arm_stackbox_v2,policy,2,sparse_8,"[0, 7, 14, 21, 28, 35, 42, 49]",8,0.84,49,50,0.9999999403953552,0.9999999403953552
+unitree_z1_dual_arm_stackbox_v2,case3,unitree_z1_dual_arm_stackbox_v2-vid25-fs4,unitree_z1_dual_arm_stackbox_v2,policy,2,sparse_4,"[0, 16, 32, 49]",4,0.92,49,50,0.9999999403953552,0.9999999403953552
+unitree_z1_dual_arm_stackbox_v2,case3,unitree_z1_dual_arm_stackbox_v2-vid25-fs4,unitree_z1_dual_arm_stackbox_v2,policy,2,tail_only_4,"[40, 43, 46, 49]",4,0.92,49,50,0.9999999403953552,0.9999999403953552
+unitree_z1_dual_arm_stackbox_v2,case3,unitree_z1_dual_arm_stackbox_v2-vid25-fs4,unitree_z1_dual_arm_stackbox_v2,policy,2,tail_heavy_6,"[0, 32, 40, 44, 47, 49]",6,0.88,49,50,0.9999999403953552,0.9999999403953552
+unitree_z1_dual_arm_stackbox_v2,case3,unitree_z1_dual_arm_stackbox_v2-vid25-fs4,unitree_z1_dual_arm_stackbox_v2,policy,2,tail_heavy_8,"[0, 10, 20, 30, 38, 43, 46, 49]",8,0.84,49,50,0.9999999403953552,0.9999999403953552
+unitree_z1_dual_arm_stackbox_v2,case3,unitree_z1_dual_arm_stackbox_v2-vid25-fs4,unitree_z1_dual_arm_stackbox_v2,policy,3,dense,"[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49]",50,0.0,49,50,1.0000001192092896,0.9999998807907104
+unitree_z1_dual_arm_stackbox_v2,case3,unitree_z1_dual_arm_stackbox_v2-vid25-fs4,unitree_z1_dual_arm_stackbox_v2,policy,3,sparse_10,"[0, 5, 10, 15, 20, 25, 30, 35, 40, 45]",10,0.8,45,46,0.9299420714378356,0.893512487411499
+unitree_z1_dual_arm_stackbox_v2,case3,unitree_z1_dual_arm_stackbox_v2-vid25-fs4,unitree_z1_dual_arm_stackbox_v2,policy,3,sparse_5,"[0, 10, 20, 30, 40]",5,0.9,40,41,0.7664286494255066,0.6993324756622314
+unitree_z1_dual_arm_stackbox_v2,case3,unitree_z1_dual_arm_stackbox_v2-vid25-fs4,unitree_z1_dual_arm_stackbox_v2,policy,3,tail_heavy_10,"[0, 5, 10, 20, 30, 38, 43, 46, 48, 49]",10,0.8,49,50,1.0000001192092896,0.9999998807907104
+unitree_z1_dual_arm_stackbox_v2,case3,unitree_z1_dual_arm_stackbox_v2-vid25-fs4,unitree_z1_dual_arm_stackbox_v2,policy,3,tail_only_6,"[40, 43, 46, 47, 48, 49]",6,0.88,49,50,1.0000001192092896,0.9999998807907104
+unitree_z1_dual_arm_stackbox_v2,case3,unitree_z1_dual_arm_stackbox_v2-vid25-fs4,unitree_z1_dual_arm_stackbox_v2,policy,3,sparse_8,"[0, 7, 14, 21, 28, 35, 42, 49]",8,0.84,49,50,1.0000001192092896,0.9999998807907104
+unitree_z1_dual_arm_stackbox_v2,case3,unitree_z1_dual_arm_stackbox_v2-vid25-fs4,unitree_z1_dual_arm_stackbox_v2,policy,3,sparse_4,"[0, 16, 32, 49]",4,0.92,49,50,1.0000001192092896,0.9999998807907104
+unitree_z1_dual_arm_stackbox_v2,case3,unitree_z1_dual_arm_stackbox_v2-vid25-fs4,unitree_z1_dual_arm_stackbox_v2,policy,3,tail_only_4,"[40, 43, 46, 49]",4,0.92,49,50,1.0000001192092896,0.9999998807907104
+unitree_z1_dual_arm_stackbox_v2,case3,unitree_z1_dual_arm_stackbox_v2-vid25-fs4,unitree_z1_dual_arm_stackbox_v2,policy,3,tail_heavy_6,"[0, 32, 40, 44, 47, 49]",6,0.88,49,50,1.0000001192092896,0.9999998807907104
+unitree_z1_dual_arm_stackbox_v2,case3,unitree_z1_dual_arm_stackbox_v2-vid25-fs4,unitree_z1_dual_arm_stackbox_v2,policy,3,tail_heavy_8,"[0, 10, 20, 30, 38, 43, 46, 49]",8,0.84,49,50,1.0000001192092896,0.9999998807907104
+unitree_z1_dual_arm_stackbox_v2,case3,unitree_z1_dual_arm_stackbox_v2-vid25-fs4,unitree_z1_dual_arm_stackbox_v2,policy,4,dense,"[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49]",50,0.0,49,50,1.0,0.9999998807907104
+unitree_z1_dual_arm_stackbox_v2,case3,unitree_z1_dual_arm_stackbox_v2-vid25-fs4,unitree_z1_dual_arm_stackbox_v2,policy,4,sparse_10,"[0, 5, 10, 15, 20, 25, 30, 35, 40, 45]",10,0.8,45,46,0.9564285278320312,0.9034061431884766
+unitree_z1_dual_arm_stackbox_v2,case3,unitree_z1_dual_arm_stackbox_v2-vid25-fs4,unitree_z1_dual_arm_stackbox_v2,policy,4,sparse_5,"[0, 10, 20, 30, 40]",5,0.9,40,41,0.8342674374580383,0.703442394733429
+unitree_z1_dual_arm_stackbox_v2,case3,unitree_z1_dual_arm_stackbox_v2-vid25-fs4,unitree_z1_dual_arm_stackbox_v2,policy,4,tail_heavy_10,"[0, 5, 10, 20, 30, 38, 43, 46, 48, 49]",10,0.8,49,50,1.0,0.9999998807907104
+unitree_z1_dual_arm_stackbox_v2,case3,unitree_z1_dual_arm_stackbox_v2-vid25-fs4,unitree_z1_dual_arm_stackbox_v2,policy,4,tail_only_6,"[40, 43, 46, 47, 48, 49]",6,0.88,49,50,1.0,0.9999998807907104
+unitree_z1_dual_arm_stackbox_v2,case3,unitree_z1_dual_arm_stackbox_v2-vid25-fs4,unitree_z1_dual_arm_stackbox_v2,policy,4,sparse_8,"[0, 7, 14, 21, 28, 35, 42, 49]",8,0.84,49,50,1.0,0.9999998807907104
+unitree_z1_dual_arm_stackbox_v2,case3,unitree_z1_dual_arm_stackbox_v2-vid25-fs4,unitree_z1_dual_arm_stackbox_v2,policy,4,sparse_4,"[0, 16, 32, 49]",4,0.92,49,50,1.0,0.9999998807907104
+unitree_z1_dual_arm_stackbox_v2,case3,unitree_z1_dual_arm_stackbox_v2-vid25-fs4,unitree_z1_dual_arm_stackbox_v2,policy,4,tail_only_4,"[40, 43, 46, 49]",4,0.92,49,50,1.0,0.9999998807907104
+unitree_z1_dual_arm_stackbox_v2,case3,unitree_z1_dual_arm_stackbox_v2-vid25-fs4,unitree_z1_dual_arm_stackbox_v2,policy,4,tail_heavy_6,"[0, 32, 40, 44, 47, 49]",6,0.88,49,50,1.0,0.9999998807907104
+unitree_z1_dual_arm_stackbox_v2,case3,unitree_z1_dual_arm_stackbox_v2-vid25-fs4,unitree_z1_dual_arm_stackbox_v2,policy,4,tail_heavy_8,"[0, 10, 20, 30, 38, 43, 46, 49]",8,0.84,49,50,1.0,0.9999998807907104
+unitree_z1_dual_arm_stackbox_v2,case3,unitree_z1_dual_arm_stackbox_v2-vid25-fs4,unitree_z1_dual_arm_stackbox_v2,policy,5,dense,"[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49]",50,0.0,49,50,1.0000001192092896,1.0
+unitree_z1_dual_arm_stackbox_v2,case3,unitree_z1_dual_arm_stackbox_v2-vid25-fs4,unitree_z1_dual_arm_stackbox_v2,policy,5,sparse_10,"[0, 5, 10, 15, 20, 25, 30, 35, 40, 45]",10,0.8,45,46,0.9587998390197754,0.9452890157699584
+unitree_z1_dual_arm_stackbox_v2,case3,unitree_z1_dual_arm_stackbox_v2-vid25-fs4,unitree_z1_dual_arm_stackbox_v2,policy,5,sparse_5,"[0, 10, 20, 30, 40]",5,0.9,40,41,0.8415492177009583,0.8127846121788025
+unitree_z1_dual_arm_stackbox_v2,case3,unitree_z1_dual_arm_stackbox_v2-vid25-fs4,unitree_z1_dual_arm_stackbox_v2,policy,5,tail_heavy_10,"[0, 5, 10, 20, 30, 38, 43, 46, 48, 49]",10,0.8,49,50,1.0000001192092896,1.0
+unitree_z1_dual_arm_stackbox_v2,case3,unitree_z1_dual_arm_stackbox_v2-vid25-fs4,unitree_z1_dual_arm_stackbox_v2,policy,5,tail_only_6,"[40, 43, 46, 47, 48, 49]",6,0.88,49,50,1.0000001192092896,1.0
+unitree_z1_dual_arm_stackbox_v2,case3,unitree_z1_dual_arm_stackbox_v2-vid25-fs4,unitree_z1_dual_arm_stackbox_v2,policy,5,sparse_8,"[0, 7, 14, 21, 28, 35, 42, 49]",8,0.84,49,50,1.0000001192092896,1.0
+unitree_z1_dual_arm_stackbox_v2,case3,unitree_z1_dual_arm_stackbox_v2-vid25-fs4,unitree_z1_dual_arm_stackbox_v2,policy,5,sparse_4,"[0, 16, 32, 49]",4,0.92,49,50,1.0000001192092896,1.0
+unitree_z1_dual_arm_stackbox_v2,case3,unitree_z1_dual_arm_stackbox_v2-vid25-fs4,unitree_z1_dual_arm_stackbox_v2,policy,5,tail_only_4,"[40, 43, 46, 49]",4,0.92,49,50,1.0000001192092896,1.0
+unitree_z1_dual_arm_stackbox_v2,case3,unitree_z1_dual_arm_stackbox_v2-vid25-fs4,unitree_z1_dual_arm_stackbox_v2,policy,5,tail_heavy_6,"[0, 32, 40, 44, 47, 49]",6,0.88,49,50,1.0000001192092896,1.0
+unitree_z1_dual_arm_stackbox_v2,case3,unitree_z1_dual_arm_stackbox_v2-vid25-fs4,unitree_z1_dual_arm_stackbox_v2,policy,5,tail_heavy_8,"[0, 10, 20, 30, 38, 43, 46, 49]",8,0.84,49,50,1.0000001192092896,1.0
+unitree_z1_dual_arm_stackbox_v2,case3,unitree_z1_dual_arm_stackbox_v2-vid25-fs4,unitree_z1_dual_arm_stackbox_v2,policy,6,dense,"[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49]",50,0.0,49,50,1.0,1.0
+unitree_z1_dual_arm_stackbox_v2,case3,unitree_z1_dual_arm_stackbox_v2-vid25-fs4,unitree_z1_dual_arm_stackbox_v2,policy,6,sparse_10,"[0, 5, 10, 15, 20, 25, 30, 35, 40, 45]",10,0.8,45,46,0.9488622546195984,0.9447543025016784
+unitree_z1_dual_arm_stackbox_v2,case3,unitree_z1_dual_arm_stackbox_v2-vid25-fs4,unitree_z1_dual_arm_stackbox_v2,policy,6,sparse_5,"[0, 10, 20, 30, 40]",5,0.9,40,41,0.8135677576065063,0.8230564594268799
+unitree_z1_dual_arm_stackbox_v2,case3,unitree_z1_dual_arm_stackbox_v2-vid25-fs4,unitree_z1_dual_arm_stackbox_v2,policy,6,tail_heavy_10,"[0, 5, 10, 20, 30, 38, 43, 46, 48, 49]",10,0.8,49,50,1.0,1.0
+unitree_z1_dual_arm_stackbox_v2,case3,unitree_z1_dual_arm_stackbox_v2-vid25-fs4,unitree_z1_dual_arm_stackbox_v2,policy,6,tail_only_6,"[40, 43, 46, 47, 48, 49]",6,0.88,49,50,1.0,1.0
+unitree_z1_dual_arm_stackbox_v2,case3,unitree_z1_dual_arm_stackbox_v2-vid25-fs4,unitree_z1_dual_arm_stackbox_v2,policy,6,sparse_8,"[0, 7, 14, 21, 28, 35, 42, 49]",8,0.84,49,50,1.0,1.0
+unitree_z1_dual_arm_stackbox_v2,case3,unitree_z1_dual_arm_stackbox_v2-vid25-fs4,unitree_z1_dual_arm_stackbox_v2,policy,6,sparse_4,"[0, 16, 32, 49]",4,0.92,49,50,1.0,1.0
+unitree_z1_dual_arm_stackbox_v2,case3,unitree_z1_dual_arm_stackbox_v2-vid25-fs4,unitree_z1_dual_arm_stackbox_v2,policy,6,tail_only_4,"[40, 43, 46, 49]",4,0.92,49,50,1.0,1.0
+unitree_z1_dual_arm_stackbox_v2,case3,unitree_z1_dual_arm_stackbox_v2-vid25-fs4,unitree_z1_dual_arm_stackbox_v2,policy,6,tail_heavy_6,"[0, 32, 40, 44, 47, 49]",6,0.88,49,50,1.0,1.0
+unitree_z1_dual_arm_stackbox_v2,case3,unitree_z1_dual_arm_stackbox_v2-vid25-fs4,unitree_z1_dual_arm_stackbox_v2,policy,6,tail_heavy_8,"[0, 10, 20, 30, 38, 43, 46, 49]",8,0.84,49,50,1.0,1.0
+unitree_z1_dual_arm_stackbox_v2,case3,unitree_z1_dual_arm_stackbox_v2-vid25-fs4,unitree_z1_dual_arm_stackbox_v2,policy,7,dense,"[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49]",50,0.0,49,50,1.0,1.0
+unitree_z1_dual_arm_stackbox_v2,case3,unitree_z1_dual_arm_stackbox_v2-vid25-fs4,unitree_z1_dual_arm_stackbox_v2,policy,7,sparse_10,"[0, 5, 10, 15, 20, 25, 30, 35, 40, 45]",10,0.8,45,46,0.9131320714950562,0.8902745842933655
+unitree_z1_dual_arm_stackbox_v2,case3,unitree_z1_dual_arm_stackbox_v2-vid25-fs4,unitree_z1_dual_arm_stackbox_v2,policy,7,sparse_5,"[0, 10, 20, 30, 40]",5,0.9,40,41,0.7228066921234131,0.7080944180488586
+unitree_z1_dual_arm_stackbox_v2,case3,unitree_z1_dual_arm_stackbox_v2-vid25-fs4,unitree_z1_dual_arm_stackbox_v2,policy,7,tail_heavy_10,"[0, 5, 10, 20, 30, 38, 43, 46, 48, 49]",10,0.8,49,50,1.0,1.0
+unitree_z1_dual_arm_stackbox_v2,case3,unitree_z1_dual_arm_stackbox_v2-vid25-fs4,unitree_z1_dual_arm_stackbox_v2,policy,7,tail_only_6,"[40, 43, 46, 47, 48, 49]",6,0.88,49,50,1.0,1.0
+unitree_z1_dual_arm_stackbox_v2,case3,unitree_z1_dual_arm_stackbox_v2-vid25-fs4,unitree_z1_dual_arm_stackbox_v2,policy,7,sparse_8,"[0, 7, 14, 21, 28, 35, 42, 49]",8,0.84,49,50,1.0,1.0
+unitree_z1_dual_arm_stackbox_v2,case3,unitree_z1_dual_arm_stackbox_v2-vid25-fs4,unitree_z1_dual_arm_stackbox_v2,policy,7,sparse_4,"[0, 16, 32, 49]",4,0.92,49,50,1.0,1.0
+unitree_z1_dual_arm_stackbox_v2,case3,unitree_z1_dual_arm_stackbox_v2-vid25-fs4,unitree_z1_dual_arm_stackbox_v2,policy,7,tail_only_4,"[40, 43, 46, 49]",4,0.92,49,50,1.0,1.0
+unitree_z1_dual_arm_stackbox_v2,case3,unitree_z1_dual_arm_stackbox_v2-vid25-fs4,unitree_z1_dual_arm_stackbox_v2,policy,7,tail_heavy_6,"[0, 32, 40, 44, 47, 49]",6,0.88,49,50,1.0,1.0
+unitree_z1_dual_arm_stackbox_v2,case3,unitree_z1_dual_arm_stackbox_v2-vid25-fs4,unitree_z1_dual_arm_stackbox_v2,policy,7,tail_heavy_8,"[0, 10, 20, 30, 38, 43, 46, 49]",8,0.84,49,50,1.0,1.0
+unitree_z1_dual_arm_stackbox_v2,case3,unitree_z1_dual_arm_stackbox_v2-vid25-fs4,unitree_z1_dual_arm_stackbox_v2,policy,8,dense,"[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49]",50,0.0,49,50,1.0,1.0000001192092896
+unitree_z1_dual_arm_stackbox_v2,case3,unitree_z1_dual_arm_stackbox_v2-vid25-fs4,unitree_z1_dual_arm_stackbox_v2,policy,8,sparse_10,"[0, 5, 10, 15, 20, 25, 30, 35, 40, 45]",10,0.8,45,46,0.9369995594024658,0.8913101553916931
+unitree_z1_dual_arm_stackbox_v2,case3,unitree_z1_dual_arm_stackbox_v2-vid25-fs4,unitree_z1_dual_arm_stackbox_v2,policy,8,sparse_5,"[0, 10, 20, 30, 40]",5,0.9,40,41,0.7745341062545776,0.6734301447868347
+unitree_z1_dual_arm_stackbox_v2,case3,unitree_z1_dual_arm_stackbox_v2-vid25-fs4,unitree_z1_dual_arm_stackbox_v2,policy,8,tail_heavy_10,"[0, 5, 10, 20, 30, 38, 43, 46, 48, 49]",10,0.8,49,50,1.0,1.0000001192092896
+unitree_z1_dual_arm_stackbox_v2,case3,unitree_z1_dual_arm_stackbox_v2-vid25-fs4,unitree_z1_dual_arm_stackbox_v2,policy,8,tail_only_6,"[40, 43, 46, 47, 48, 49]",6,0.88,49,50,1.0,1.0000001192092896
+unitree_z1_dual_arm_stackbox_v2,case3,unitree_z1_dual_arm_stackbox_v2-vid25-fs4,unitree_z1_dual_arm_stackbox_v2,policy,8,sparse_8,"[0, 7, 14, 21, 28, 35, 42, 49]",8,0.84,49,50,1.0,1.0000001192092896
+unitree_z1_dual_arm_stackbox_v2,case3,unitree_z1_dual_arm_stackbox_v2-vid25-fs4,unitree_z1_dual_arm_stackbox_v2,policy,8,sparse_4,"[0, 16, 32, 49]",4,0.92,49,50,1.0,1.0000001192092896
+unitree_z1_dual_arm_stackbox_v2,case3,unitree_z1_dual_arm_stackbox_v2-vid25-fs4,unitree_z1_dual_arm_stackbox_v2,policy,8,tail_only_4,"[40, 43, 46, 49]",4,0.92,49,50,1.0,1.0000001192092896
+unitree_z1_dual_arm_stackbox_v2,case3,unitree_z1_dual_arm_stackbox_v2-vid25-fs4,unitree_z1_dual_arm_stackbox_v2,policy,8,tail_heavy_6,"[0, 32, 40, 44, 47, 49]",6,0.88,49,50,1.0,1.0000001192092896
+unitree_z1_dual_arm_stackbox_v2,case3,unitree_z1_dual_arm_stackbox_v2-vid25-fs4,unitree_z1_dual_arm_stackbox_v2,policy,8,tail_heavy_8,"[0, 10, 20, 30, 38, 43, 46, 49]",8,0.84,49,50,1.0,1.0000001192092896
+unitree_z1_dual_arm_stackbox_v2,case3,unitree_z1_dual_arm_stackbox_v2-vid25-fs4,unitree_z1_dual_arm_stackbox_v2,policy,9,dense,"[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49]",50,0.0,49,50,1.0,1.0
+unitree_z1_dual_arm_stackbox_v2,case3,unitree_z1_dual_arm_stackbox_v2-vid25-fs4,unitree_z1_dual_arm_stackbox_v2,policy,9,sparse_10,"[0, 5, 10, 15, 20, 25, 30, 35, 40, 45]",10,0.8,45,46,0.9549800753593444,0.9294203519821168
+unitree_z1_dual_arm_stackbox_v2,case3,unitree_z1_dual_arm_stackbox_v2-vid25-fs4,unitree_z1_dual_arm_stackbox_v2,policy,9,sparse_5,"[0, 10, 20, 30, 40]",5,0.9,40,41,0.845962405204773,0.7590941786766052
+unitree_z1_dual_arm_stackbox_v2,case3,unitree_z1_dual_arm_stackbox_v2-vid25-fs4,unitree_z1_dual_arm_stackbox_v2,policy,9,tail_heavy_10,"[0, 5, 10, 20, 30, 38, 43, 46, 48, 49]",10,0.8,49,50,1.0,1.0
+unitree_z1_dual_arm_stackbox_v2,case3,unitree_z1_dual_arm_stackbox_v2-vid25-fs4,unitree_z1_dual_arm_stackbox_v2,policy,9,tail_only_6,"[40, 43, 46, 47, 48, 49]",6,0.88,49,50,1.0,1.0
+unitree_z1_dual_arm_stackbox_v2,case3,unitree_z1_dual_arm_stackbox_v2-vid25-fs4,unitree_z1_dual_arm_stackbox_v2,policy,9,sparse_8,"[0, 7, 14, 21, 28, 35, 42, 49]",8,0.84,49,50,1.0,1.0
+unitree_z1_dual_arm_stackbox_v2,case3,unitree_z1_dual_arm_stackbox_v2-vid25-fs4,unitree_z1_dual_arm_stackbox_v2,policy,9,sparse_4,"[0, 16, 32, 49]",4,0.92,49,50,1.0,1.0
+unitree_z1_dual_arm_stackbox_v2,case3,unitree_z1_dual_arm_stackbox_v2-vid25-fs4,unitree_z1_dual_arm_stackbox_v2,policy,9,tail_only_4,"[40, 43, 46, 49]",4,0.92,49,50,1.0,1.0
+unitree_z1_dual_arm_stackbox_v2,case3,unitree_z1_dual_arm_stackbox_v2-vid25-fs4,unitree_z1_dual_arm_stackbox_v2,policy,9,tail_heavy_6,"[0, 32, 40, 44, 47, 49]",6,0.88,49,50,1.0,1.0
+unitree_z1_dual_arm_stackbox_v2,case3,unitree_z1_dual_arm_stackbox_v2-vid25-fs4,unitree_z1_dual_arm_stackbox_v2,policy,9,tail_heavy_8,"[0, 10, 20, 30, 38, 43, 46, 49]",8,0.84,49,50,1.0,1.0
+unitree_z1_dual_arm_stackbox_v2,case3,unitree_z1_dual_arm_stackbox_v2-vid25-fs4,unitree_z1_dual_arm_stackbox_v2,policy,10,dense,"[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49]",50,0.0,49,50,1.0,0.9999998807907104
+unitree_z1_dual_arm_stackbox_v2,case3,unitree_z1_dual_arm_stackbox_v2-vid25-fs4,unitree_z1_dual_arm_stackbox_v2,policy,10,sparse_10,"[0, 5, 10, 15, 20, 25, 30, 35, 40, 45]",10,0.8,45,46,0.9407464861869812,0.94318288564682
+unitree_z1_dual_arm_stackbox_v2,case3,unitree_z1_dual_arm_stackbox_v2-vid25-fs4,unitree_z1_dual_arm_stackbox_v2,policy,10,sparse_5,"[0, 10, 20, 30, 40]",5,0.9,40,41,0.7827338576316833,0.7951173186302185
+unitree_z1_dual_arm_stackbox_v2,case3,unitree_z1_dual_arm_stackbox_v2-vid25-fs4,unitree_z1_dual_arm_stackbox_v2,policy,10,tail_heavy_10,"[0, 5, 10, 20, 30, 38, 43, 46, 48, 49]",10,0.8,49,50,1.0,0.9999998807907104
+unitree_z1_dual_arm_stackbox_v2,case3,unitree_z1_dual_arm_stackbox_v2-vid25-fs4,unitree_z1_dual_arm_stackbox_v2,policy,10,tail_only_6,"[40, 43, 46, 47, 48, 49]",6,0.88,49,50,1.0,0.9999998807907104
+unitree_z1_dual_arm_stackbox_v2,case3,unitree_z1_dual_arm_stackbox_v2-vid25-fs4,unitree_z1_dual_arm_stackbox_v2,policy,10,sparse_8,"[0, 7, 14, 21, 28, 35, 42, 49]",8,0.84,49,50,1.0,0.9999998807907104
+unitree_z1_dual_arm_stackbox_v2,case3,unitree_z1_dual_arm_stackbox_v2-vid25-fs4,unitree_z1_dual_arm_stackbox_v2,policy,10,sparse_4,"[0, 16, 32, 49]",4,0.92,49,50,1.0,0.9999998807907104
+unitree_z1_dual_arm_stackbox_v2,case3,unitree_z1_dual_arm_stackbox_v2-vid25-fs4,unitree_z1_dual_arm_stackbox_v2,policy,10,tail_only_4,"[40, 43, 46, 49]",4,0.92,49,50,1.0,0.9999998807907104
+unitree_z1_dual_arm_stackbox_v2,case3,unitree_z1_dual_arm_stackbox_v2-vid25-fs4,unitree_z1_dual_arm_stackbox_v2,policy,10,tail_heavy_6,"[0, 32, 40, 44, 47, 49]",6,0.88,49,50,1.0,0.9999998807907104
+unitree_z1_dual_arm_stackbox_v2,case3,unitree_z1_dual_arm_stackbox_v2-vid25-fs4,unitree_z1_dual_arm_stackbox_v2,policy,10,tail_heavy_8,"[0, 10, 20, 30, 38, 43, 46, 49]",8,0.84,49,50,1.0,0.9999998807907104
+unitree_z1_dual_arm_stackbox_v2,case3,unitree_z1_dual_arm_stackbox_v2-vid25-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,0,dense,"[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49]",50,0.0,49,50,0.9999998807907104,1.0000001192092896
+unitree_z1_dual_arm_stackbox_v2,case3,unitree_z1_dual_arm_stackbox_v2-vid25-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,0,sparse_10,"[0, 5, 10, 15, 20, 25, 30, 35, 40, 45]",10,0.8,45,46,0.9435226321220398,0.9370641112327576
+unitree_z1_dual_arm_stackbox_v2,case3,unitree_z1_dual_arm_stackbox_v2-vid25-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,0,sparse_5,"[0, 10, 20, 30, 40]",5,0.9,40,41,0.7832422256469727,0.7877864837646484
+unitree_z1_dual_arm_stackbox_v2,case3,unitree_z1_dual_arm_stackbox_v2-vid25-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,0,tail_heavy_10,"[0, 5, 10, 20, 30, 38, 43, 46, 48, 49]",10,0.8,49,50,0.9999998807907104,1.0000001192092896
+unitree_z1_dual_arm_stackbox_v2,case3,unitree_z1_dual_arm_stackbox_v2-vid25-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,0,tail_only_6,"[40, 43, 46, 47, 48, 49]",6,0.88,49,50,0.9999998807907104,1.0000001192092896
+unitree_z1_dual_arm_stackbox_v2,case3,unitree_z1_dual_arm_stackbox_v2-vid25-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,0,sparse_8,"[0, 7, 14, 21, 28, 35, 42, 49]",8,0.84,49,50,0.9999998807907104,1.0000001192092896
+unitree_z1_dual_arm_stackbox_v2,case3,unitree_z1_dual_arm_stackbox_v2-vid25-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,0,sparse_4,"[0, 16, 32, 49]",4,0.92,49,50,0.9999998807907104,1.0000001192092896
+unitree_z1_dual_arm_stackbox_v2,case3,unitree_z1_dual_arm_stackbox_v2-vid25-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,0,tail_only_4,"[40, 43, 46, 49]",4,0.92,49,50,0.9999998807907104,1.0000001192092896
+unitree_z1_dual_arm_stackbox_v2,case3,unitree_z1_dual_arm_stackbox_v2-vid25-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,0,tail_heavy_6,"[0, 32, 40, 44, 47, 49]",6,0.88,49,50,0.9999998807907104,1.0000001192092896
+unitree_z1_dual_arm_stackbox_v2,case3,unitree_z1_dual_arm_stackbox_v2-vid25-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,0,tail_heavy_8,"[0, 10, 20, 30, 38, 43, 46, 49]",8,0.84,49,50,0.9999998807907104,1.0000001192092896
+unitree_z1_dual_arm_stackbox_v2,case3,unitree_z1_dual_arm_stackbox_v2-vid25-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,1,dense,"[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49]",50,0.0,49,50,1.0,1.0
+unitree_z1_dual_arm_stackbox_v2,case3,unitree_z1_dual_arm_stackbox_v2-vid25-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,1,sparse_10,"[0, 5, 10, 15, 20, 25, 30, 35, 40, 45]",10,0.8,45,46,0.9291906952857972,0.9117102026939392
+unitree_z1_dual_arm_stackbox_v2,case3,unitree_z1_dual_arm_stackbox_v2-vid25-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,1,sparse_5,"[0, 10, 20, 30, 40]",5,0.9,40,41,0.7527995109558105,0.7304112911224365
+unitree_z1_dual_arm_stackbox_v2,case3,unitree_z1_dual_arm_stackbox_v2-vid25-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,1,tail_heavy_10,"[0, 5, 10, 20, 30, 38, 43, 46, 48, 49]",10,0.8,49,50,1.0,1.0
+unitree_z1_dual_arm_stackbox_v2,case3,unitree_z1_dual_arm_stackbox_v2-vid25-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,1,tail_only_6,"[40, 43, 46, 47, 48, 49]",6,0.88,49,50,1.0,1.0
+unitree_z1_dual_arm_stackbox_v2,case3,unitree_z1_dual_arm_stackbox_v2-vid25-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,1,sparse_8,"[0, 7, 14, 21, 28, 35, 42, 49]",8,0.84,49,50,1.0,1.0
+unitree_z1_dual_arm_stackbox_v2,case3,unitree_z1_dual_arm_stackbox_v2-vid25-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,1,sparse_4,"[0, 16, 32, 49]",4,0.92,49,50,1.0,1.0
+unitree_z1_dual_arm_stackbox_v2,case3,unitree_z1_dual_arm_stackbox_v2-vid25-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,1,tail_only_4,"[40, 43, 46, 49]",4,0.92,49,50,1.0,1.0
+unitree_z1_dual_arm_stackbox_v2,case3,unitree_z1_dual_arm_stackbox_v2-vid25-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,1,tail_heavy_6,"[0, 32, 40, 44, 47, 49]",6,0.88,49,50,1.0,1.0
+unitree_z1_dual_arm_stackbox_v2,case3,unitree_z1_dual_arm_stackbox_v2-vid25-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,1,tail_heavy_8,"[0, 10, 20, 30, 38, 43, 46, 49]",8,0.84,49,50,1.0,1.0
+unitree_z1_dual_arm_stackbox_v2,case3,unitree_z1_dual_arm_stackbox_v2-vid25-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,2,dense,"[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49]",50,0.0,49,50,1.0,0.9999999403953552
+unitree_z1_dual_arm_stackbox_v2,case3,unitree_z1_dual_arm_stackbox_v2-vid25-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,2,sparse_10,"[0, 5, 10, 15, 20, 25, 30, 35, 40, 45]",10,0.8,45,46,0.9046889543533324,0.8317499160766602
+unitree_z1_dual_arm_stackbox_v2,case3,unitree_z1_dual_arm_stackbox_v2-vid25-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,2,sparse_5,"[0, 10, 20, 30, 40]",5,0.9,40,41,0.7036208510398865,0.5902190208435059
+unitree_z1_dual_arm_stackbox_v2,case3,unitree_z1_dual_arm_stackbox_v2-vid25-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,2,tail_heavy_10,"[0, 5, 10, 20, 30, 38, 43, 46, 48, 49]",10,0.8,49,50,1.0,0.9999999403953552
+unitree_z1_dual_arm_stackbox_v2,case3,unitree_z1_dual_arm_stackbox_v2-vid25-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,2,tail_only_6,"[40, 43, 46, 47, 48, 49]",6,0.88,49,50,1.0,0.9999999403953552
+unitree_z1_dual_arm_stackbox_v2,case3,unitree_z1_dual_arm_stackbox_v2-vid25-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,2,sparse_8,"[0, 7, 14, 21, 28, 35, 42, 49]",8,0.84,49,50,1.0,0.9999999403953552
+unitree_z1_dual_arm_stackbox_v2,case3,unitree_z1_dual_arm_stackbox_v2-vid25-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,2,sparse_4,"[0, 16, 32, 49]",4,0.92,49,50,1.0,0.9999999403953552
+unitree_z1_dual_arm_stackbox_v2,case3,unitree_z1_dual_arm_stackbox_v2-vid25-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,2,tail_only_4,"[40, 43, 46, 49]",4,0.92,49,50,1.0,0.9999999403953552
+unitree_z1_dual_arm_stackbox_v2,case3,unitree_z1_dual_arm_stackbox_v2-vid25-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,2,tail_heavy_6,"[0, 32, 40, 44, 47, 49]",6,0.88,49,50,1.0,0.9999999403953552
+unitree_z1_dual_arm_stackbox_v2,case3,unitree_z1_dual_arm_stackbox_v2-vid25-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,2,tail_heavy_8,"[0, 10, 20, 30, 38, 43, 46, 49]",8,0.84,49,50,1.0,0.9999999403953552
+unitree_z1_dual_arm_stackbox_v2,case3,unitree_z1_dual_arm_stackbox_v2-vid25-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,3,dense,"[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49]",50,0.0,49,50,0.9999998807907104,1.0
+unitree_z1_dual_arm_stackbox_v2,case3,unitree_z1_dual_arm_stackbox_v2-vid25-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,3,sparse_10,"[0, 5, 10, 15, 20, 25, 30, 35, 40, 45]",10,0.8,45,46,0.919398546218872,0.8938264846801758
+unitree_z1_dual_arm_stackbox_v2,case3,unitree_z1_dual_arm_stackbox_v2-vid25-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,3,sparse_5,"[0, 10, 20, 30, 40]",5,0.9,40,41,0.750831663608551,0.7030686140060425
+unitree_z1_dual_arm_stackbox_v2,case3,unitree_z1_dual_arm_stackbox_v2-vid25-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,3,tail_heavy_10,"[0, 5, 10, 20, 30, 38, 43, 46, 48, 49]",10,0.8,49,50,0.9999998807907104,1.0
+unitree_z1_dual_arm_stackbox_v2,case3,unitree_z1_dual_arm_stackbox_v2-vid25-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,3,tail_only_6,"[40, 43, 46, 47, 48, 49]",6,0.88,49,50,0.9999998807907104,1.0
+unitree_z1_dual_arm_stackbox_v2,case3,unitree_z1_dual_arm_stackbox_v2-vid25-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,3,sparse_8,"[0, 7, 14, 21, 28, 35, 42, 49]",8,0.84,49,50,0.9999998807907104,1.0
+unitree_z1_dual_arm_stackbox_v2,case3,unitree_z1_dual_arm_stackbox_v2-vid25-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,3,sparse_4,"[0, 16, 32, 49]",4,0.92,49,50,0.9999998807907104,1.0
+unitree_z1_dual_arm_stackbox_v2,case3,unitree_z1_dual_arm_stackbox_v2-vid25-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,3,tail_only_4,"[40, 43, 46, 49]",4,0.92,49,50,0.9999998807907104,1.0
+unitree_z1_dual_arm_stackbox_v2,case3,unitree_z1_dual_arm_stackbox_v2-vid25-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,3,tail_heavy_6,"[0, 32, 40, 44, 47, 49]",6,0.88,49,50,0.9999998807907104,1.0
+unitree_z1_dual_arm_stackbox_v2,case3,unitree_z1_dual_arm_stackbox_v2-vid25-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,3,tail_heavy_8,"[0, 10, 20, 30, 38, 43, 46, 49]",8,0.84,49,50,0.9999998807907104,1.0
+unitree_z1_dual_arm_stackbox_v2,case3,unitree_z1_dual_arm_stackbox_v2-vid25-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,4,dense,"[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49]",50,0.0,49,50,0.9999998807907104,1.0000001192092896
+unitree_z1_dual_arm_stackbox_v2,case3,unitree_z1_dual_arm_stackbox_v2-vid25-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,4,sparse_10,"[0, 5, 10, 15, 20, 25, 30, 35, 40, 45]",10,0.8,45,46,0.9420046210289,0.9165319800376892
+unitree_z1_dual_arm_stackbox_v2,case3,unitree_z1_dual_arm_stackbox_v2-vid25-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,4,sparse_5,"[0, 10, 20, 30, 40]",5,0.9,40,41,0.7881062030792236,0.7349443435668945
+unitree_z1_dual_arm_stackbox_v2,case3,unitree_z1_dual_arm_stackbox_v2-vid25-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,4,tail_heavy_10,"[0, 5, 10, 20, 30, 38, 43, 46, 48, 49]",10,0.8,49,50,0.9999998807907104,1.0000001192092896
+unitree_z1_dual_arm_stackbox_v2,case3,unitree_z1_dual_arm_stackbox_v2-vid25-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,4,tail_only_6,"[40, 43, 46, 47, 48, 49]",6,0.88,49,50,0.9999998807907104,1.0000001192092896
+unitree_z1_dual_arm_stackbox_v2,case3,unitree_z1_dual_arm_stackbox_v2-vid25-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,4,sparse_8,"[0, 7, 14, 21, 28, 35, 42, 49]",8,0.84,49,50,0.9999998807907104,1.0000001192092896
+unitree_z1_dual_arm_stackbox_v2,case3,unitree_z1_dual_arm_stackbox_v2-vid25-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,4,sparse_4,"[0, 16, 32, 49]",4,0.92,49,50,0.9999998807907104,1.0000001192092896
+unitree_z1_dual_arm_stackbox_v2,case3,unitree_z1_dual_arm_stackbox_v2-vid25-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,4,tail_only_4,"[40, 43, 46, 49]",4,0.92,49,50,0.9999998807907104,1.0000001192092896
+unitree_z1_dual_arm_stackbox_v2,case3,unitree_z1_dual_arm_stackbox_v2-vid25-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,4,tail_heavy_6,"[0, 32, 40, 44, 47, 49]",6,0.88,49,50,0.9999998807907104,1.0000001192092896
+unitree_z1_dual_arm_stackbox_v2,case3,unitree_z1_dual_arm_stackbox_v2-vid25-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,4,tail_heavy_8,"[0, 10, 20, 30, 38, 43, 46, 49]",8,0.84,49,50,0.9999998807907104,1.0000001192092896
+unitree_z1_dual_arm_stackbox_v2,case3,unitree_z1_dual_arm_stackbox_v2-vid25-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,5,dense,"[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49]",50,0.0,49,50,0.9999999403953552,1.0000001192092896
+unitree_z1_dual_arm_stackbox_v2,case3,unitree_z1_dual_arm_stackbox_v2-vid25-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,5,sparse_10,"[0, 5, 10, 15, 20, 25, 30, 35, 40, 45]",10,0.8,45,46,0.9583037495613098,0.9223431944847108
+unitree_z1_dual_arm_stackbox_v2,case3,unitree_z1_dual_arm_stackbox_v2-vid25-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,5,sparse_5,"[0, 10, 20, 30, 40]",5,0.9,40,41,0.8363979458808899,0.7503283619880676
+unitree_z1_dual_arm_stackbox_v2,case3,unitree_z1_dual_arm_stackbox_v2-vid25-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,5,tail_heavy_10,"[0, 5, 10, 20, 30, 38, 43, 46, 48, 49]",10,0.8,49,50,0.9999999403953552,1.0000001192092896
+unitree_z1_dual_arm_stackbox_v2,case3,unitree_z1_dual_arm_stackbox_v2-vid25-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,5,tail_only_6,"[40, 43, 46, 47, 48, 49]",6,0.88,49,50,0.9999999403953552,1.0000001192092896
+unitree_z1_dual_arm_stackbox_v2,case3,unitree_z1_dual_arm_stackbox_v2-vid25-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,5,sparse_8,"[0, 7, 14, 21, 28, 35, 42, 49]",8,0.84,49,50,0.9999999403953552,1.0000001192092896
+unitree_z1_dual_arm_stackbox_v2,case3,unitree_z1_dual_arm_stackbox_v2-vid25-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,5,sparse_4,"[0, 16, 32, 49]",4,0.92,49,50,0.9999999403953552,1.0000001192092896
+unitree_z1_dual_arm_stackbox_v2,case3,unitree_z1_dual_arm_stackbox_v2-vid25-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,5,tail_only_4,"[40, 43, 46, 49]",4,0.92,49,50,0.9999999403953552,1.0000001192092896
+unitree_z1_dual_arm_stackbox_v2,case3,unitree_z1_dual_arm_stackbox_v2-vid25-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,5,tail_heavy_6,"[0, 32, 40, 44, 47, 49]",6,0.88,49,50,0.9999999403953552,1.0000001192092896
+unitree_z1_dual_arm_stackbox_v2,case3,unitree_z1_dual_arm_stackbox_v2-vid25-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,5,tail_heavy_8,"[0, 10, 20, 30, 38, 43, 46, 49]",8,0.84,49,50,0.9999999403953552,1.0000001192092896
+unitree_z1_dual_arm_stackbox_v2,case3,unitree_z1_dual_arm_stackbox_v2-vid25-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,6,dense,"[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49]",50,0.0,49,50,1.0000001192092896,0.9999998807907104
+unitree_z1_dual_arm_stackbox_v2,case3,unitree_z1_dual_arm_stackbox_v2-vid25-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,6,sparse_10,"[0, 5, 10, 15, 20, 25, 30, 35, 40, 45]",10,0.8,45,46,0.9420559406280518,0.9376132488250732
+unitree_z1_dual_arm_stackbox_v2,case3,unitree_z1_dual_arm_stackbox_v2-vid25-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,6,sparse_5,"[0, 10, 20, 30, 40]",5,0.9,40,41,0.7838420867919922,0.7845752835273743
+unitree_z1_dual_arm_stackbox_v2,case3,unitree_z1_dual_arm_stackbox_v2-vid25-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,6,tail_heavy_10,"[0, 5, 10, 20, 30, 38, 43, 46, 48, 49]",10,0.8,49,50,1.0000001192092896,0.9999998807907104
+unitree_z1_dual_arm_stackbox_v2,case3,unitree_z1_dual_arm_stackbox_v2-vid25-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,6,tail_only_6,"[40, 43, 46, 47, 48, 49]",6,0.88,49,50,1.0000001192092896,0.9999998807907104
+unitree_z1_dual_arm_stackbox_v2,case3,unitree_z1_dual_arm_stackbox_v2-vid25-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,6,sparse_8,"[0, 7, 14, 21, 28, 35, 42, 49]",8,0.84,49,50,1.0000001192092896,0.9999998807907104
+unitree_z1_dual_arm_stackbox_v2,case3,unitree_z1_dual_arm_stackbox_v2-vid25-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,6,sparse_4,"[0, 16, 32, 49]",4,0.92,49,50,1.0000001192092896,0.9999998807907104
+unitree_z1_dual_arm_stackbox_v2,case3,unitree_z1_dual_arm_stackbox_v2-vid25-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,6,tail_only_4,"[40, 43, 46, 49]",4,0.92,49,50,1.0000001192092896,0.9999998807907104
+unitree_z1_dual_arm_stackbox_v2,case3,unitree_z1_dual_arm_stackbox_v2-vid25-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,6,tail_heavy_6,"[0, 32, 40, 44, 47, 49]",6,0.88,49,50,1.0000001192092896,0.9999998807907104
+unitree_z1_dual_arm_stackbox_v2,case3,unitree_z1_dual_arm_stackbox_v2-vid25-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,6,tail_heavy_8,"[0, 10, 20, 30, 38, 43, 46, 49]",8,0.84,49,50,1.0000001192092896,0.9999998807907104
+unitree_z1_dual_arm_stackbox_v2,case3,unitree_z1_dual_arm_stackbox_v2-vid25-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,7,dense,"[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49]",50,0.0,49,50,1.0000001192092896,1.0
+unitree_z1_dual_arm_stackbox_v2,case3,unitree_z1_dual_arm_stackbox_v2-vid25-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,7,sparse_10,"[0, 5, 10, 15, 20, 25, 30, 35, 40, 45]",10,0.8,45,46,0.9161307215690612,0.8848962783813477
+unitree_z1_dual_arm_stackbox_v2,case3,unitree_z1_dual_arm_stackbox_v2-vid25-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,7,sparse_5,"[0, 10, 20, 30, 40]",5,0.9,40,41,0.7212398648262024,0.6941613554954529
+unitree_z1_dual_arm_stackbox_v2,case3,unitree_z1_dual_arm_stackbox_v2-vid25-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,7,tail_heavy_10,"[0, 5, 10, 20, 30, 38, 43, 46, 48, 49]",10,0.8,49,50,1.0000001192092896,1.0
+unitree_z1_dual_arm_stackbox_v2,case3,unitree_z1_dual_arm_stackbox_v2-vid25-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,7,tail_only_6,"[40, 43, 46, 47, 48, 49]",6,0.88,49,50,1.0000001192092896,1.0
+unitree_z1_dual_arm_stackbox_v2,case3,unitree_z1_dual_arm_stackbox_v2-vid25-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,7,sparse_8,"[0, 7, 14, 21, 28, 35, 42, 49]",8,0.84,49,50,1.0000001192092896,1.0
+unitree_z1_dual_arm_stackbox_v2,case3,unitree_z1_dual_arm_stackbox_v2-vid25-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,7,sparse_4,"[0, 16, 32, 49]",4,0.92,49,50,1.0000001192092896,1.0
+unitree_z1_dual_arm_stackbox_v2,case3,unitree_z1_dual_arm_stackbox_v2-vid25-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,7,tail_only_4,"[40, 43, 46, 49]",4,0.92,49,50,1.0000001192092896,1.0
+unitree_z1_dual_arm_stackbox_v2,case3,unitree_z1_dual_arm_stackbox_v2-vid25-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,7,tail_heavy_6,"[0, 32, 40, 44, 47, 49]",6,0.88,49,50,1.0000001192092896,1.0
+unitree_z1_dual_arm_stackbox_v2,case3,unitree_z1_dual_arm_stackbox_v2-vid25-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,7,tail_heavy_8,"[0, 10, 20, 30, 38, 43, 46, 49]",8,0.84,49,50,1.0000001192092896,1.0
+unitree_z1_dual_arm_stackbox_v2,case3,unitree_z1_dual_arm_stackbox_v2-vid25-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,8,dense,"[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49]",50,0.0,49,50,1.0,0.9999998807907104
+unitree_z1_dual_arm_stackbox_v2,case3,unitree_z1_dual_arm_stackbox_v2-vid25-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,8,sparse_10,"[0, 5, 10, 15, 20, 25, 30, 35, 40, 45]",10,0.8,45,46,0.9355451464653016,0.9036832451820374
+unitree_z1_dual_arm_stackbox_v2,case3,unitree_z1_dual_arm_stackbox_v2-vid25-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,8,sparse_5,"[0, 10, 20, 30, 40]",5,0.9,40,41,0.7711856961250305,0.6967653632164001
+unitree_z1_dual_arm_stackbox_v2,case3,unitree_z1_dual_arm_stackbox_v2-vid25-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,8,tail_heavy_10,"[0, 5, 10, 20, 30, 38, 43, 46, 48, 49]",10,0.8,49,50,1.0,0.9999998807907104
+unitree_z1_dual_arm_stackbox_v2,case3,unitree_z1_dual_arm_stackbox_v2-vid25-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,8,tail_only_6,"[40, 43, 46, 47, 48, 49]",6,0.88,49,50,1.0,0.9999998807907104
+unitree_z1_dual_arm_stackbox_v2,case3,unitree_z1_dual_arm_stackbox_v2-vid25-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,8,sparse_8,"[0, 7, 14, 21, 28, 35, 42, 49]",8,0.84,49,50,1.0,0.9999998807907104
+unitree_z1_dual_arm_stackbox_v2,case3,unitree_z1_dual_arm_stackbox_v2-vid25-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,8,sparse_4,"[0, 16, 32, 49]",4,0.92,49,50,1.0,0.9999998807907104
+unitree_z1_dual_arm_stackbox_v2,case3,unitree_z1_dual_arm_stackbox_v2-vid25-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,8,tail_only_4,"[40, 43, 46, 49]",4,0.92,49,50,1.0,0.9999998807907104
+unitree_z1_dual_arm_stackbox_v2,case3,unitree_z1_dual_arm_stackbox_v2-vid25-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,8,tail_heavy_6,"[0, 32, 40, 44, 47, 49]",6,0.88,49,50,1.0,0.9999998807907104
+unitree_z1_dual_arm_stackbox_v2,case3,unitree_z1_dual_arm_stackbox_v2-vid25-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,8,tail_heavy_8,"[0, 10, 20, 30, 38, 43, 46, 49]",8,0.84,49,50,1.0,0.9999998807907104
+unitree_z1_dual_arm_stackbox_v2,case3,unitree_z1_dual_arm_stackbox_v2-vid25-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,9,dense,"[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49]",50,0.0,49,50,1.0,0.9999999403953552
+unitree_z1_dual_arm_stackbox_v2,case3,unitree_z1_dual_arm_stackbox_v2-vid25-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,9,sparse_10,"[0, 5, 10, 15, 20, 25, 30, 35, 40, 45]",10,0.8,45,46,0.9473495483398438,0.9287866950035096
+unitree_z1_dual_arm_stackbox_v2,case3,unitree_z1_dual_arm_stackbox_v2-vid25-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,9,sparse_5,"[0, 10, 20, 30, 40]",5,0.9,40,41,0.8093676567077637,0.7722122669219971
+unitree_z1_dual_arm_stackbox_v2,case3,unitree_z1_dual_arm_stackbox_v2-vid25-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,9,tail_heavy_10,"[0, 5, 10, 20, 30, 38, 43, 46, 48, 49]",10,0.8,49,50,1.0,0.9999999403953552
+unitree_z1_dual_arm_stackbox_v2,case3,unitree_z1_dual_arm_stackbox_v2-vid25-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,9,tail_only_6,"[40, 43, 46, 47, 48, 49]",6,0.88,49,50,1.0,0.9999999403953552
+unitree_z1_dual_arm_stackbox_v2,case3,unitree_z1_dual_arm_stackbox_v2-vid25-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,9,sparse_8,"[0, 7, 14, 21, 28, 35, 42, 49]",8,0.84,49,50,1.0,0.9999999403953552
+unitree_z1_dual_arm_stackbox_v2,case3,unitree_z1_dual_arm_stackbox_v2-vid25-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,9,sparse_4,"[0, 16, 32, 49]",4,0.92,49,50,1.0,0.9999999403953552
+unitree_z1_dual_arm_stackbox_v2,case3,unitree_z1_dual_arm_stackbox_v2-vid25-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,9,tail_only_4,"[40, 43, 46, 49]",4,0.92,49,50,1.0,0.9999999403953552
+unitree_z1_dual_arm_stackbox_v2,case3,unitree_z1_dual_arm_stackbox_v2-vid25-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,9,tail_heavy_6,"[0, 32, 40, 44, 47, 49]",6,0.88,49,50,1.0,0.9999999403953552
+unitree_z1_dual_arm_stackbox_v2,case3,unitree_z1_dual_arm_stackbox_v2-vid25-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,9,tail_heavy_8,"[0, 10, 20, 30, 38, 43, 46, 49]",8,0.84,49,50,1.0,0.9999999403953552
+unitree_z1_dual_arm_stackbox_v2,case3,unitree_z1_dual_arm_stackbox_v2-vid25-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,10,dense,"[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49]",50,0.0,49,50,1.0,1.0000001192092896
+unitree_z1_dual_arm_stackbox_v2,case3,unitree_z1_dual_arm_stackbox_v2-vid25-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,10,sparse_10,"[0, 5, 10, 15, 20, 25, 30, 35, 40, 45]",10,0.8,45,46,0.942846953868866,0.934455394744873
+unitree_z1_dual_arm_stackbox_v2,case3,unitree_z1_dual_arm_stackbox_v2-vid25-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,10,sparse_5,"[0, 10, 20, 30, 40]",5,0.9,40,41,0.7893314957618713,0.7759584188461304
+unitree_z1_dual_arm_stackbox_v2,case3,unitree_z1_dual_arm_stackbox_v2-vid25-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,10,tail_heavy_10,"[0, 5, 10, 20, 30, 38, 43, 46, 48, 49]",10,0.8,49,50,1.0,1.0000001192092896
+unitree_z1_dual_arm_stackbox_v2,case3,unitree_z1_dual_arm_stackbox_v2-vid25-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,10,tail_only_6,"[40, 43, 46, 47, 48, 49]",6,0.88,49,50,1.0,1.0000001192092896
+unitree_z1_dual_arm_stackbox_v2,case3,unitree_z1_dual_arm_stackbox_v2-vid25-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,10,sparse_8,"[0, 7, 14, 21, 28, 35, 42, 49]",8,0.84,49,50,1.0,1.0000001192092896
+unitree_z1_dual_arm_stackbox_v2,case3,unitree_z1_dual_arm_stackbox_v2-vid25-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,10,sparse_4,"[0, 16, 32, 49]",4,0.92,49,50,1.0,1.0000001192092896
+unitree_z1_dual_arm_stackbox_v2,case3,unitree_z1_dual_arm_stackbox_v2-vid25-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,10,tail_only_4,"[40, 43, 46, 49]",4,0.92,49,50,1.0,1.0000001192092896
+unitree_z1_dual_arm_stackbox_v2,case3,unitree_z1_dual_arm_stackbox_v2-vid25-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,10,tail_heavy_6,"[0, 32, 40, 44, 47, 49]",6,0.88,49,50,1.0,1.0000001192092896
+unitree_z1_dual_arm_stackbox_v2,case3,unitree_z1_dual_arm_stackbox_v2-vid25-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,10,tail_heavy_8,"[0, 10, 20, 30, 38, 43, 46, 49]",8,0.84,49,50,1.0,1.0000001192092896
+unitree_z1_dual_arm_stackbox_v2,case4,unitree_z1_dual_arm_stackbox_v2-vid35-fs4,unitree_z1_dual_arm_stackbox_v2,policy,0,dense,"[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49]",50,0.0,49,50,1.000000238418579,1.0
+unitree_z1_dual_arm_stackbox_v2,case4,unitree_z1_dual_arm_stackbox_v2-vid35-fs4,unitree_z1_dual_arm_stackbox_v2,policy,0,sparse_10,"[0, 5, 10, 15, 20, 25, 30, 35, 40, 45]",10,0.8,45,46,0.9411765336990356,0.939122200012207
+unitree_z1_dual_arm_stackbox_v2,case4,unitree_z1_dual_arm_stackbox_v2-vid35-fs4,unitree_z1_dual_arm_stackbox_v2,policy,0,sparse_5,"[0, 10, 20, 30, 40]",5,0.9,40,41,0.7650638818740845,0.7782949805259705
+unitree_z1_dual_arm_stackbox_v2,case4,unitree_z1_dual_arm_stackbox_v2-vid35-fs4,unitree_z1_dual_arm_stackbox_v2,policy,0,tail_heavy_10,"[0, 5, 10, 20, 30, 38, 43, 46, 48, 49]",10,0.8,49,50,1.000000238418579,1.0
+unitree_z1_dual_arm_stackbox_v2,case4,unitree_z1_dual_arm_stackbox_v2-vid35-fs4,unitree_z1_dual_arm_stackbox_v2,policy,0,tail_only_6,"[40, 43, 46, 47, 48, 49]",6,0.88,49,50,1.000000238418579,1.0
+unitree_z1_dual_arm_stackbox_v2,case4,unitree_z1_dual_arm_stackbox_v2-vid35-fs4,unitree_z1_dual_arm_stackbox_v2,policy,0,sparse_8,"[0, 7, 14, 21, 28, 35, 42, 49]",8,0.84,49,50,1.000000238418579,1.0
+unitree_z1_dual_arm_stackbox_v2,case4,unitree_z1_dual_arm_stackbox_v2-vid35-fs4,unitree_z1_dual_arm_stackbox_v2,policy,0,sparse_4,"[0, 16, 32, 49]",4,0.92,49,50,1.000000238418579,1.0
+unitree_z1_dual_arm_stackbox_v2,case4,unitree_z1_dual_arm_stackbox_v2-vid35-fs4,unitree_z1_dual_arm_stackbox_v2,policy,0,tail_only_4,"[40, 43, 46, 49]",4,0.92,49,50,1.000000238418579,1.0
+unitree_z1_dual_arm_stackbox_v2,case4,unitree_z1_dual_arm_stackbox_v2-vid35-fs4,unitree_z1_dual_arm_stackbox_v2,policy,0,tail_heavy_6,"[0, 32, 40, 44, 47, 49]",6,0.88,49,50,1.000000238418579,1.0
+unitree_z1_dual_arm_stackbox_v2,case4,unitree_z1_dual_arm_stackbox_v2-vid35-fs4,unitree_z1_dual_arm_stackbox_v2,policy,0,tail_heavy_8,"[0, 10, 20, 30, 38, 43, 46, 49]",8,0.84,49,50,1.000000238418579,1.0
+unitree_z1_dual_arm_stackbox_v2,case4,unitree_z1_dual_arm_stackbox_v2-vid35-fs4,unitree_z1_dual_arm_stackbox_v2,policy,1,dense,"[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49]",50,0.0,49,50,1.0000001192092896,1.0
+unitree_z1_dual_arm_stackbox_v2,case4,unitree_z1_dual_arm_stackbox_v2-vid35-fs4,unitree_z1_dual_arm_stackbox_v2,policy,1,sparse_10,"[0, 5, 10, 15, 20, 25, 30, 35, 40, 45]",10,0.8,45,46,0.9375569224357604,0.9299312233924866
+unitree_z1_dual_arm_stackbox_v2,case4,unitree_z1_dual_arm_stackbox_v2-vid35-fs4,unitree_z1_dual_arm_stackbox_v2,policy,1,sparse_5,"[0, 10, 20, 30, 40]",5,0.9,40,41,0.7528659105300903,0.7791169285774231
+unitree_z1_dual_arm_stackbox_v2,case4,unitree_z1_dual_arm_stackbox_v2-vid35-fs4,unitree_z1_dual_arm_stackbox_v2,policy,1,tail_heavy_10,"[0, 5, 10, 20, 30, 38, 43, 46, 48, 49]",10,0.8,49,50,1.0000001192092896,1.0
+unitree_z1_dual_arm_stackbox_v2,case4,unitree_z1_dual_arm_stackbox_v2-vid35-fs4,unitree_z1_dual_arm_stackbox_v2,policy,1,tail_only_6,"[40, 43, 46, 47, 48, 49]",6,0.88,49,50,1.0000001192092896,1.0
+unitree_z1_dual_arm_stackbox_v2,case4,unitree_z1_dual_arm_stackbox_v2-vid35-fs4,unitree_z1_dual_arm_stackbox_v2,policy,1,sparse_8,"[0, 7, 14, 21, 28, 35, 42, 49]",8,0.84,49,50,1.0000001192092896,1.0
+unitree_z1_dual_arm_stackbox_v2,case4,unitree_z1_dual_arm_stackbox_v2-vid35-fs4,unitree_z1_dual_arm_stackbox_v2,policy,1,sparse_4,"[0, 16, 32, 49]",4,0.92,49,50,1.0000001192092896,1.0
+unitree_z1_dual_arm_stackbox_v2,case4,unitree_z1_dual_arm_stackbox_v2-vid35-fs4,unitree_z1_dual_arm_stackbox_v2,policy,1,tail_only_4,"[40, 43, 46, 49]",4,0.92,49,50,1.0000001192092896,1.0
+unitree_z1_dual_arm_stackbox_v2,case4,unitree_z1_dual_arm_stackbox_v2-vid35-fs4,unitree_z1_dual_arm_stackbox_v2,policy,1,tail_heavy_6,"[0, 32, 40, 44, 47, 49]",6,0.88,49,50,1.0000001192092896,1.0
+unitree_z1_dual_arm_stackbox_v2,case4,unitree_z1_dual_arm_stackbox_v2-vid35-fs4,unitree_z1_dual_arm_stackbox_v2,policy,1,tail_heavy_8,"[0, 10, 20, 30, 38, 43, 46, 49]",8,0.84,49,50,1.0000001192092896,1.0
+unitree_z1_dual_arm_stackbox_v2,case4,unitree_z1_dual_arm_stackbox_v2-vid35-fs4,unitree_z1_dual_arm_stackbox_v2,policy,2,dense,"[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49]",50,0.0,49,50,0.9999999403953552,0.9999999403953552
+unitree_z1_dual_arm_stackbox_v2,case4,unitree_z1_dual_arm_stackbox_v2-vid35-fs4,unitree_z1_dual_arm_stackbox_v2,policy,2,sparse_10,"[0, 5, 10, 15, 20, 25, 30, 35, 40, 45]",10,0.8,45,46,0.9010634422302246,0.8838008642196655
+unitree_z1_dual_arm_stackbox_v2,case4,unitree_z1_dual_arm_stackbox_v2-vid35-fs4,unitree_z1_dual_arm_stackbox_v2,policy,2,sparse_5,"[0, 10, 20, 30, 40]",5,0.9,40,41,0.7111760973930359,0.697723388671875
+unitree_z1_dual_arm_stackbox_v2,case4,unitree_z1_dual_arm_stackbox_v2-vid35-fs4,unitree_z1_dual_arm_stackbox_v2,policy,2,tail_heavy_10,"[0, 5, 10, 20, 30, 38, 43, 46, 48, 49]",10,0.8,49,50,0.9999999403953552,0.9999999403953552
+unitree_z1_dual_arm_stackbox_v2,case4,unitree_z1_dual_arm_stackbox_v2-vid35-fs4,unitree_z1_dual_arm_stackbox_v2,policy,2,tail_only_6,"[40, 43, 46, 47, 48, 49]",6,0.88,49,50,0.9999999403953552,0.9999999403953552
+unitree_z1_dual_arm_stackbox_v2,case4,unitree_z1_dual_arm_stackbox_v2-vid35-fs4,unitree_z1_dual_arm_stackbox_v2,policy,2,sparse_8,"[0, 7, 14, 21, 28, 35, 42, 49]",8,0.84,49,50,0.9999999403953552,0.9999999403953552
+unitree_z1_dual_arm_stackbox_v2,case4,unitree_z1_dual_arm_stackbox_v2-vid35-fs4,unitree_z1_dual_arm_stackbox_v2,policy,2,sparse_4,"[0, 16, 32, 49]",4,0.92,49,50,0.9999999403953552,0.9999999403953552
+unitree_z1_dual_arm_stackbox_v2,case4,unitree_z1_dual_arm_stackbox_v2-vid35-fs4,unitree_z1_dual_arm_stackbox_v2,policy,2,tail_only_4,"[40, 43, 46, 49]",4,0.92,49,50,0.9999999403953552,0.9999999403953552
+unitree_z1_dual_arm_stackbox_v2,case4,unitree_z1_dual_arm_stackbox_v2-vid35-fs4,unitree_z1_dual_arm_stackbox_v2,policy,2,tail_heavy_6,"[0, 32, 40, 44, 47, 49]",6,0.88,49,50,0.9999999403953552,0.9999999403953552
+unitree_z1_dual_arm_stackbox_v2,case4,unitree_z1_dual_arm_stackbox_v2-vid35-fs4,unitree_z1_dual_arm_stackbox_v2,policy,2,tail_heavy_8,"[0, 10, 20, 30, 38, 43, 46, 49]",8,0.84,49,50,0.9999999403953552,0.9999999403953552
+unitree_z1_dual_arm_stackbox_v2,case4,unitree_z1_dual_arm_stackbox_v2-vid35-fs4,unitree_z1_dual_arm_stackbox_v2,policy,3,dense,"[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49]",50,0.0,49,50,1.0000001192092896,0.9999998807907104
+unitree_z1_dual_arm_stackbox_v2,case4,unitree_z1_dual_arm_stackbox_v2-vid35-fs4,unitree_z1_dual_arm_stackbox_v2,policy,3,sparse_10,"[0, 5, 10, 15, 20, 25, 30, 35, 40, 45]",10,0.8,45,46,0.9330536723136902,0.8935906887054443
+unitree_z1_dual_arm_stackbox_v2,case4,unitree_z1_dual_arm_stackbox_v2-vid35-fs4,unitree_z1_dual_arm_stackbox_v2,policy,3,sparse_5,"[0, 10, 20, 30, 40]",5,0.9,40,41,0.7708123326301575,0.7024279832839966
+unitree_z1_dual_arm_stackbox_v2,case4,unitree_z1_dual_arm_stackbox_v2-vid35-fs4,unitree_z1_dual_arm_stackbox_v2,policy,3,tail_heavy_10,"[0, 5, 10, 20, 30, 38, 43, 46, 48, 49]",10,0.8,49,50,1.0000001192092896,0.9999998807907104
+unitree_z1_dual_arm_stackbox_v2,case4,unitree_z1_dual_arm_stackbox_v2-vid35-fs4,unitree_z1_dual_arm_stackbox_v2,policy,3,tail_only_6,"[40, 43, 46, 47, 48, 49]",6,0.88,49,50,1.0000001192092896,0.9999998807907104
+unitree_z1_dual_arm_stackbox_v2,case4,unitree_z1_dual_arm_stackbox_v2-vid35-fs4,unitree_z1_dual_arm_stackbox_v2,policy,3,sparse_8,"[0, 7, 14, 21, 28, 35, 42, 49]",8,0.84,49,50,1.0000001192092896,0.9999998807907104
+unitree_z1_dual_arm_stackbox_v2,case4,unitree_z1_dual_arm_stackbox_v2-vid35-fs4,unitree_z1_dual_arm_stackbox_v2,policy,3,sparse_4,"[0, 16, 32, 49]",4,0.92,49,50,1.0000001192092896,0.9999998807907104
+unitree_z1_dual_arm_stackbox_v2,case4,unitree_z1_dual_arm_stackbox_v2-vid35-fs4,unitree_z1_dual_arm_stackbox_v2,policy,3,tail_only_4,"[40, 43, 46, 49]",4,0.92,49,50,1.0000001192092896,0.9999998807907104
+unitree_z1_dual_arm_stackbox_v2,case4,unitree_z1_dual_arm_stackbox_v2-vid35-fs4,unitree_z1_dual_arm_stackbox_v2,policy,3,tail_heavy_6,"[0, 32, 40, 44, 47, 49]",6,0.88,49,50,1.0000001192092896,0.9999998807907104
+unitree_z1_dual_arm_stackbox_v2,case4,unitree_z1_dual_arm_stackbox_v2-vid35-fs4,unitree_z1_dual_arm_stackbox_v2,policy,3,tail_heavy_8,"[0, 10, 20, 30, 38, 43, 46, 49]",8,0.84,49,50,1.0000001192092896,0.9999998807907104
+unitree_z1_dual_arm_stackbox_v2,case4,unitree_z1_dual_arm_stackbox_v2-vid35-fs4,unitree_z1_dual_arm_stackbox_v2,policy,4,dense,"[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49]",50,0.0,49,50,0.9999998807907104,1.0
+unitree_z1_dual_arm_stackbox_v2,case4,unitree_z1_dual_arm_stackbox_v2-vid35-fs4,unitree_z1_dual_arm_stackbox_v2,policy,4,sparse_10,"[0, 5, 10, 15, 20, 25, 30, 35, 40, 45]",10,0.8,45,46,0.9572896361351012,0.9047636985778807
+unitree_z1_dual_arm_stackbox_v2,case4,unitree_z1_dual_arm_stackbox_v2-vid35-fs4,unitree_z1_dual_arm_stackbox_v2,policy,4,sparse_5,"[0, 10, 20, 30, 40]",5,0.9,40,41,0.8441558480262756,0.7116135954856873
+unitree_z1_dual_arm_stackbox_v2,case4,unitree_z1_dual_arm_stackbox_v2-vid35-fs4,unitree_z1_dual_arm_stackbox_v2,policy,4,tail_heavy_10,"[0, 5, 10, 20, 30, 38, 43, 46, 48, 49]",10,0.8,49,50,0.9999998807907104,1.0
+unitree_z1_dual_arm_stackbox_v2,case4,unitree_z1_dual_arm_stackbox_v2-vid35-fs4,unitree_z1_dual_arm_stackbox_v2,policy,4,tail_only_6,"[40, 43, 46, 47, 48, 49]",6,0.88,49,50,0.9999998807907104,1.0
+unitree_z1_dual_arm_stackbox_v2,case4,unitree_z1_dual_arm_stackbox_v2-vid35-fs4,unitree_z1_dual_arm_stackbox_v2,policy,4,sparse_8,"[0, 7, 14, 21, 28, 35, 42, 49]",8,0.84,49,50,0.9999998807907104,1.0
+unitree_z1_dual_arm_stackbox_v2,case4,unitree_z1_dual_arm_stackbox_v2-vid35-fs4,unitree_z1_dual_arm_stackbox_v2,policy,4,sparse_4,"[0, 16, 32, 49]",4,0.92,49,50,0.9999998807907104,1.0
+unitree_z1_dual_arm_stackbox_v2,case4,unitree_z1_dual_arm_stackbox_v2-vid35-fs4,unitree_z1_dual_arm_stackbox_v2,policy,4,tail_only_4,"[40, 43, 46, 49]",4,0.92,49,50,0.9999998807907104,1.0
+unitree_z1_dual_arm_stackbox_v2,case4,unitree_z1_dual_arm_stackbox_v2-vid35-fs4,unitree_z1_dual_arm_stackbox_v2,policy,4,tail_heavy_6,"[0, 32, 40, 44, 47, 49]",6,0.88,49,50,0.9999998807907104,1.0
+unitree_z1_dual_arm_stackbox_v2,case4,unitree_z1_dual_arm_stackbox_v2-vid35-fs4,unitree_z1_dual_arm_stackbox_v2,policy,4,tail_heavy_8,"[0, 10, 20, 30, 38, 43, 46, 49]",8,0.84,49,50,0.9999998807907104,1.0
+unitree_z1_dual_arm_stackbox_v2,case4,unitree_z1_dual_arm_stackbox_v2-vid35-fs4,unitree_z1_dual_arm_stackbox_v2,policy,5,dense,"[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49]",50,0.0,49,50,1.0,1.0
+unitree_z1_dual_arm_stackbox_v2,case4,unitree_z1_dual_arm_stackbox_v2-vid35-fs4,unitree_z1_dual_arm_stackbox_v2,policy,5,sparse_10,"[0, 5, 10, 15, 20, 25, 30, 35, 40, 45]",10,0.8,45,46,0.9297823309898376,0.903904676437378
+unitree_z1_dual_arm_stackbox_v2,case4,unitree_z1_dual_arm_stackbox_v2-vid35-fs4,unitree_z1_dual_arm_stackbox_v2,policy,5,sparse_5,"[0, 10, 20, 30, 40]",5,0.9,40,41,0.7651934623718262,0.7252742648124695
+unitree_z1_dual_arm_stackbox_v2,case4,unitree_z1_dual_arm_stackbox_v2-vid35-fs4,unitree_z1_dual_arm_stackbox_v2,policy,5,tail_heavy_10,"[0, 5, 10, 20, 30, 38, 43, 46, 48, 49]",10,0.8,49,50,1.0,1.0
+unitree_z1_dual_arm_stackbox_v2,case4,unitree_z1_dual_arm_stackbox_v2-vid35-fs4,unitree_z1_dual_arm_stackbox_v2,policy,5,tail_only_6,"[40, 43, 46, 47, 48, 49]",6,0.88,49,50,1.0,1.0
+unitree_z1_dual_arm_stackbox_v2,case4,unitree_z1_dual_arm_stackbox_v2-vid35-fs4,unitree_z1_dual_arm_stackbox_v2,policy,5,sparse_8,"[0, 7, 14, 21, 28, 35, 42, 49]",8,0.84,49,50,1.0,1.0
+unitree_z1_dual_arm_stackbox_v2,case4,unitree_z1_dual_arm_stackbox_v2-vid35-fs4,unitree_z1_dual_arm_stackbox_v2,policy,5,sparse_4,"[0, 16, 32, 49]",4,0.92,49,50,1.0,1.0
+unitree_z1_dual_arm_stackbox_v2,case4,unitree_z1_dual_arm_stackbox_v2-vid35-fs4,unitree_z1_dual_arm_stackbox_v2,policy,5,tail_only_4,"[40, 43, 46, 49]",4,0.92,49,50,1.0,1.0
+unitree_z1_dual_arm_stackbox_v2,case4,unitree_z1_dual_arm_stackbox_v2-vid35-fs4,unitree_z1_dual_arm_stackbox_v2,policy,5,tail_heavy_6,"[0, 32, 40, 44, 47, 49]",6,0.88,49,50,1.0,1.0
+unitree_z1_dual_arm_stackbox_v2,case4,unitree_z1_dual_arm_stackbox_v2-vid35-fs4,unitree_z1_dual_arm_stackbox_v2,policy,5,tail_heavy_8,"[0, 10, 20, 30, 38, 43, 46, 49]",8,0.84,49,50,1.0,1.0
+unitree_z1_dual_arm_stackbox_v2,case4,unitree_z1_dual_arm_stackbox_v2-vid35-fs4,unitree_z1_dual_arm_stackbox_v2,policy,6,dense,"[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49]",50,0.0,49,50,0.9999999403953552,0.9999999403953552
+unitree_z1_dual_arm_stackbox_v2,case4,unitree_z1_dual_arm_stackbox_v2-vid35-fs4,unitree_z1_dual_arm_stackbox_v2,policy,6,sparse_10,"[0, 5, 10, 15, 20, 25, 30, 35, 40, 45]",10,0.8,45,46,0.9476728439331056,0.9421833753585817
+unitree_z1_dual_arm_stackbox_v2,case4,unitree_z1_dual_arm_stackbox_v2-vid35-fs4,unitree_z1_dual_arm_stackbox_v2,policy,6,sparse_5,"[0, 10, 20, 30, 40]",5,0.9,40,41,0.8071362972259521,0.8123216032981873
+unitree_z1_dual_arm_stackbox_v2,case4,unitree_z1_dual_arm_stackbox_v2-vid35-fs4,unitree_z1_dual_arm_stackbox_v2,policy,6,tail_heavy_10,"[0, 5, 10, 20, 30, 38, 43, 46, 48, 49]",10,0.8,49,50,0.9999999403953552,0.9999999403953552
+unitree_z1_dual_arm_stackbox_v2,case4,unitree_z1_dual_arm_stackbox_v2-vid35-fs4,unitree_z1_dual_arm_stackbox_v2,policy,6,tail_only_6,"[40, 43, 46, 47, 48, 49]",6,0.88,49,50,0.9999999403953552,0.9999999403953552
+unitree_z1_dual_arm_stackbox_v2,case4,unitree_z1_dual_arm_stackbox_v2-vid35-fs4,unitree_z1_dual_arm_stackbox_v2,policy,6,sparse_8,"[0, 7, 14, 21, 28, 35, 42, 49]",8,0.84,49,50,0.9999999403953552,0.9999999403953552
+unitree_z1_dual_arm_stackbox_v2,case4,unitree_z1_dual_arm_stackbox_v2-vid35-fs4,unitree_z1_dual_arm_stackbox_v2,policy,6,sparse_4,"[0, 16, 32, 49]",4,0.92,49,50,0.9999999403953552,0.9999999403953552
+unitree_z1_dual_arm_stackbox_v2,case4,unitree_z1_dual_arm_stackbox_v2-vid35-fs4,unitree_z1_dual_arm_stackbox_v2,policy,6,tail_only_4,"[40, 43, 46, 49]",4,0.92,49,50,0.9999999403953552,0.9999999403953552
+unitree_z1_dual_arm_stackbox_v2,case4,unitree_z1_dual_arm_stackbox_v2-vid35-fs4,unitree_z1_dual_arm_stackbox_v2,policy,6,tail_heavy_6,"[0, 32, 40, 44, 47, 49]",6,0.88,49,50,0.9999999403953552,0.9999999403953552
+unitree_z1_dual_arm_stackbox_v2,case4,unitree_z1_dual_arm_stackbox_v2-vid35-fs4,unitree_z1_dual_arm_stackbox_v2,policy,6,tail_heavy_8,"[0, 10, 20, 30, 38, 43, 46, 49]",8,0.84,49,50,0.9999999403953552,0.9999999403953552
+unitree_z1_dual_arm_stackbox_v2,case4,unitree_z1_dual_arm_stackbox_v2-vid35-fs4,unitree_z1_dual_arm_stackbox_v2,policy,7,dense,"[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49]",50,0.0,49,50,0.9999999403953552,1.0
+unitree_z1_dual_arm_stackbox_v2,case4,unitree_z1_dual_arm_stackbox_v2-vid35-fs4,unitree_z1_dual_arm_stackbox_v2,policy,7,sparse_10,"[0, 5, 10, 15, 20, 25, 30, 35, 40, 45]",10,0.8,45,46,0.9151342511177064,0.903933048248291
+unitree_z1_dual_arm_stackbox_v2,case4,unitree_z1_dual_arm_stackbox_v2-vid35-fs4,unitree_z1_dual_arm_stackbox_v2,policy,7,sparse_5,"[0, 10, 20, 30, 40]",5,0.9,40,41,0.7203354239463806,0.7363399267196655
+unitree_z1_dual_arm_stackbox_v2,case4,unitree_z1_dual_arm_stackbox_v2-vid35-fs4,unitree_z1_dual_arm_stackbox_v2,policy,7,tail_heavy_10,"[0, 5, 10, 20, 30, 38, 43, 46, 48, 49]",10,0.8,49,50,0.9999999403953552,1.0
+unitree_z1_dual_arm_stackbox_v2,case4,unitree_z1_dual_arm_stackbox_v2-vid35-fs4,unitree_z1_dual_arm_stackbox_v2,policy,7,tail_only_6,"[40, 43, 46, 47, 48, 49]",6,0.88,49,50,0.9999999403953552,1.0
+unitree_z1_dual_arm_stackbox_v2,case4,unitree_z1_dual_arm_stackbox_v2-vid35-fs4,unitree_z1_dual_arm_stackbox_v2,policy,7,sparse_8,"[0, 7, 14, 21, 28, 35, 42, 49]",8,0.84,49,50,0.9999999403953552,1.0
+unitree_z1_dual_arm_stackbox_v2,case4,unitree_z1_dual_arm_stackbox_v2-vid35-fs4,unitree_z1_dual_arm_stackbox_v2,policy,7,sparse_4,"[0, 16, 32, 49]",4,0.92,49,50,0.9999999403953552,1.0
+unitree_z1_dual_arm_stackbox_v2,case4,unitree_z1_dual_arm_stackbox_v2-vid35-fs4,unitree_z1_dual_arm_stackbox_v2,policy,7,tail_only_4,"[40, 43, 46, 49]",4,0.92,49,50,0.9999999403953552,1.0
+unitree_z1_dual_arm_stackbox_v2,case4,unitree_z1_dual_arm_stackbox_v2-vid35-fs4,unitree_z1_dual_arm_stackbox_v2,policy,7,tail_heavy_6,"[0, 32, 40, 44, 47, 49]",6,0.88,49,50,0.9999999403953552,1.0
+unitree_z1_dual_arm_stackbox_v2,case4,unitree_z1_dual_arm_stackbox_v2-vid35-fs4,unitree_z1_dual_arm_stackbox_v2,policy,7,tail_heavy_8,"[0, 10, 20, 30, 38, 43, 46, 49]",8,0.84,49,50,0.9999999403953552,1.0
+unitree_z1_dual_arm_stackbox_v2,case4,unitree_z1_dual_arm_stackbox_v2-vid35-fs4,unitree_z1_dual_arm_stackbox_v2,policy,8,dense,"[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49]",50,0.0,49,50,1.0,1.0
+unitree_z1_dual_arm_stackbox_v2,case4,unitree_z1_dual_arm_stackbox_v2-vid35-fs4,unitree_z1_dual_arm_stackbox_v2,policy,8,sparse_10,"[0, 5, 10, 15, 20, 25, 30, 35, 40, 45]",10,0.8,45,46,0.9359545111656188,0.9004548192024231
+unitree_z1_dual_arm_stackbox_v2,case4,unitree_z1_dual_arm_stackbox_v2-vid35-fs4,unitree_z1_dual_arm_stackbox_v2,policy,8,sparse_5,"[0, 10, 20, 30, 40]",5,0.9,40,41,0.764086902141571,0.6907115578651428
+unitree_z1_dual_arm_stackbox_v2,case4,unitree_z1_dual_arm_stackbox_v2-vid35-fs4,unitree_z1_dual_arm_stackbox_v2,policy,8,tail_heavy_10,"[0, 5, 10, 20, 30, 38, 43, 46, 48, 49]",10,0.8,49,50,1.0,1.0
+unitree_z1_dual_arm_stackbox_v2,case4,unitree_z1_dual_arm_stackbox_v2-vid35-fs4,unitree_z1_dual_arm_stackbox_v2,policy,8,tail_only_6,"[40, 43, 46, 47, 48, 49]",6,0.88,49,50,1.0,1.0
+unitree_z1_dual_arm_stackbox_v2,case4,unitree_z1_dual_arm_stackbox_v2-vid35-fs4,unitree_z1_dual_arm_stackbox_v2,policy,8,sparse_8,"[0, 7, 14, 21, 28, 35, 42, 49]",8,0.84,49,50,1.0,1.0
+unitree_z1_dual_arm_stackbox_v2,case4,unitree_z1_dual_arm_stackbox_v2-vid35-fs4,unitree_z1_dual_arm_stackbox_v2,policy,8,sparse_4,"[0, 16, 32, 49]",4,0.92,49,50,1.0,1.0
+unitree_z1_dual_arm_stackbox_v2,case4,unitree_z1_dual_arm_stackbox_v2-vid35-fs4,unitree_z1_dual_arm_stackbox_v2,policy,8,tail_only_4,"[40, 43, 46, 49]",4,0.92,49,50,1.0,1.0
+unitree_z1_dual_arm_stackbox_v2,case4,unitree_z1_dual_arm_stackbox_v2-vid35-fs4,unitree_z1_dual_arm_stackbox_v2,policy,8,tail_heavy_6,"[0, 32, 40, 44, 47, 49]",6,0.88,49,50,1.0,1.0
+unitree_z1_dual_arm_stackbox_v2,case4,unitree_z1_dual_arm_stackbox_v2-vid35-fs4,unitree_z1_dual_arm_stackbox_v2,policy,8,tail_heavy_8,"[0, 10, 20, 30, 38, 43, 46, 49]",8,0.84,49,50,1.0,1.0
+unitree_z1_dual_arm_stackbox_v2,case4,unitree_z1_dual_arm_stackbox_v2-vid35-fs4,unitree_z1_dual_arm_stackbox_v2,policy,9,dense,"[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49]",50,0.0,49,50,1.0000001192092896,0.9999998211860656
+unitree_z1_dual_arm_stackbox_v2,case4,unitree_z1_dual_arm_stackbox_v2-vid35-fs4,unitree_z1_dual_arm_stackbox_v2,policy,9,sparse_10,"[0, 5, 10, 15, 20, 25, 30, 35, 40, 45]",10,0.8,45,46,0.948377013206482,0.9111407399177552
+unitree_z1_dual_arm_stackbox_v2,case4,unitree_z1_dual_arm_stackbox_v2-vid35-fs4,unitree_z1_dual_arm_stackbox_v2,policy,9,sparse_5,"[0, 10, 20, 30, 40]",5,0.9,40,41,0.8293384909629822,0.7208869457244873
+unitree_z1_dual_arm_stackbox_v2,case4,unitree_z1_dual_arm_stackbox_v2-vid35-fs4,unitree_z1_dual_arm_stackbox_v2,policy,9,tail_heavy_10,"[0, 5, 10, 20, 30, 38, 43, 46, 48, 49]",10,0.8,49,50,1.0000001192092896,0.9999998211860656
+unitree_z1_dual_arm_stackbox_v2,case4,unitree_z1_dual_arm_stackbox_v2-vid35-fs4,unitree_z1_dual_arm_stackbox_v2,policy,9,tail_only_6,"[40, 43, 46, 47, 48, 49]",6,0.88,49,50,1.0000001192092896,0.9999998211860656
+unitree_z1_dual_arm_stackbox_v2,case4,unitree_z1_dual_arm_stackbox_v2-vid35-fs4,unitree_z1_dual_arm_stackbox_v2,policy,9,sparse_8,"[0, 7, 14, 21, 28, 35, 42, 49]",8,0.84,49,50,1.0000001192092896,0.9999998211860656
+unitree_z1_dual_arm_stackbox_v2,case4,unitree_z1_dual_arm_stackbox_v2-vid35-fs4,unitree_z1_dual_arm_stackbox_v2,policy,9,sparse_4,"[0, 16, 32, 49]",4,0.92,49,50,1.0000001192092896,0.9999998211860656
+unitree_z1_dual_arm_stackbox_v2,case4,unitree_z1_dual_arm_stackbox_v2-vid35-fs4,unitree_z1_dual_arm_stackbox_v2,policy,9,tail_only_4,"[40, 43, 46, 49]",4,0.92,49,50,1.0000001192092896,0.9999998211860656
+unitree_z1_dual_arm_stackbox_v2,case4,unitree_z1_dual_arm_stackbox_v2-vid35-fs4,unitree_z1_dual_arm_stackbox_v2,policy,9,tail_heavy_6,"[0, 32, 40, 44, 47, 49]",6,0.88,49,50,1.0000001192092896,0.9999998211860656
+unitree_z1_dual_arm_stackbox_v2,case4,unitree_z1_dual_arm_stackbox_v2-vid35-fs4,unitree_z1_dual_arm_stackbox_v2,policy,9,tail_heavy_8,"[0, 10, 20, 30, 38, 43, 46, 49]",8,0.84,49,50,1.0000001192092896,0.9999998211860656
+unitree_z1_dual_arm_stackbox_v2,case4,unitree_z1_dual_arm_stackbox_v2-vid35-fs4,unitree_z1_dual_arm_stackbox_v2,policy,10,dense,"[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49]",50,0.0,49,50,1.0,0.9999998807907104
+unitree_z1_dual_arm_stackbox_v2,case4,unitree_z1_dual_arm_stackbox_v2-vid35-fs4,unitree_z1_dual_arm_stackbox_v2,policy,10,sparse_10,"[0, 5, 10, 15, 20, 25, 30, 35, 40, 45]",10,0.8,45,46,0.945643424987793,0.9413453340530396
+unitree_z1_dual_arm_stackbox_v2,case4,unitree_z1_dual_arm_stackbox_v2-vid35-fs4,unitree_z1_dual_arm_stackbox_v2,policy,10,sparse_5,"[0, 10, 20, 30, 40]",5,0.9,40,41,0.8026257157325745,0.7983237504959106
+unitree_z1_dual_arm_stackbox_v2,case4,unitree_z1_dual_arm_stackbox_v2-vid35-fs4,unitree_z1_dual_arm_stackbox_v2,policy,10,tail_heavy_10,"[0, 5, 10, 20, 30, 38, 43, 46, 48, 49]",10,0.8,49,50,1.0,0.9999998807907104
+unitree_z1_dual_arm_stackbox_v2,case4,unitree_z1_dual_arm_stackbox_v2-vid35-fs4,unitree_z1_dual_arm_stackbox_v2,policy,10,tail_only_6,"[40, 43, 46, 47, 48, 49]",6,0.88,49,50,1.0,0.9999998807907104
+unitree_z1_dual_arm_stackbox_v2,case4,unitree_z1_dual_arm_stackbox_v2-vid35-fs4,unitree_z1_dual_arm_stackbox_v2,policy,10,sparse_8,"[0, 7, 14, 21, 28, 35, 42, 49]",8,0.84,49,50,1.0,0.9999998807907104
+unitree_z1_dual_arm_stackbox_v2,case4,unitree_z1_dual_arm_stackbox_v2-vid35-fs4,unitree_z1_dual_arm_stackbox_v2,policy,10,sparse_4,"[0, 16, 32, 49]",4,0.92,49,50,1.0,0.9999998807907104
+unitree_z1_dual_arm_stackbox_v2,case4,unitree_z1_dual_arm_stackbox_v2-vid35-fs4,unitree_z1_dual_arm_stackbox_v2,policy,10,tail_only_4,"[40, 43, 46, 49]",4,0.92,49,50,1.0,0.9999998807907104
+unitree_z1_dual_arm_stackbox_v2,case4,unitree_z1_dual_arm_stackbox_v2-vid35-fs4,unitree_z1_dual_arm_stackbox_v2,policy,10,tail_heavy_6,"[0, 32, 40, 44, 47, 49]",6,0.88,49,50,1.0,0.9999998807907104
+unitree_z1_dual_arm_stackbox_v2,case4,unitree_z1_dual_arm_stackbox_v2-vid35-fs4,unitree_z1_dual_arm_stackbox_v2,policy,10,tail_heavy_8,"[0, 10, 20, 30, 38, 43, 46, 49]",8,0.84,49,50,1.0,0.9999998807907104
+unitree_z1_dual_arm_stackbox_v2,case4,unitree_z1_dual_arm_stackbox_v2-vid35-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,0,dense,"[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49]",50,0.0,49,50,1.0,1.0
+unitree_z1_dual_arm_stackbox_v2,case4,unitree_z1_dual_arm_stackbox_v2-vid35-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,0,sparse_10,"[0, 5, 10, 15, 20, 25, 30, 35, 40, 45]",10,0.8,45,46,0.947795569896698,0.9350562691688538
+unitree_z1_dual_arm_stackbox_v2,case4,unitree_z1_dual_arm_stackbox_v2-vid35-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,0,sparse_5,"[0, 10, 20, 30, 40]",5,0.9,40,41,0.7920355200767517,0.784984290599823
+unitree_z1_dual_arm_stackbox_v2,case4,unitree_z1_dual_arm_stackbox_v2-vid35-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,0,tail_heavy_10,"[0, 5, 10, 20, 30, 38, 43, 46, 48, 49]",10,0.8,49,50,1.0,1.0
+unitree_z1_dual_arm_stackbox_v2,case4,unitree_z1_dual_arm_stackbox_v2-vid35-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,0,tail_only_6,"[40, 43, 46, 47, 48, 49]",6,0.88,49,50,1.0,1.0
+unitree_z1_dual_arm_stackbox_v2,case4,unitree_z1_dual_arm_stackbox_v2-vid35-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,0,sparse_8,"[0, 7, 14, 21, 28, 35, 42, 49]",8,0.84,49,50,1.0,1.0
+unitree_z1_dual_arm_stackbox_v2,case4,unitree_z1_dual_arm_stackbox_v2-vid35-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,0,sparse_4,"[0, 16, 32, 49]",4,0.92,49,50,1.0,1.0
+unitree_z1_dual_arm_stackbox_v2,case4,unitree_z1_dual_arm_stackbox_v2-vid35-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,0,tail_only_4,"[40, 43, 46, 49]",4,0.92,49,50,1.0,1.0
+unitree_z1_dual_arm_stackbox_v2,case4,unitree_z1_dual_arm_stackbox_v2-vid35-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,0,tail_heavy_6,"[0, 32, 40, 44, 47, 49]",6,0.88,49,50,1.0,1.0
+unitree_z1_dual_arm_stackbox_v2,case4,unitree_z1_dual_arm_stackbox_v2-vid35-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,0,tail_heavy_8,"[0, 10, 20, 30, 38, 43, 46, 49]",8,0.84,49,50,1.0,1.0
+unitree_z1_dual_arm_stackbox_v2,case4,unitree_z1_dual_arm_stackbox_v2-vid35-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,1,dense,"[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49]",50,0.0,49,50,1.0,0.9999998807907104
+unitree_z1_dual_arm_stackbox_v2,case4,unitree_z1_dual_arm_stackbox_v2-vid35-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,1,sparse_10,"[0, 5, 10, 15, 20, 25, 30, 35, 40, 45]",10,0.8,45,46,0.9398484230041504,0.9134840965270996
+unitree_z1_dual_arm_stackbox_v2,case4,unitree_z1_dual_arm_stackbox_v2-vid35-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,1,sparse_5,"[0, 10, 20, 30, 40]",5,0.9,40,41,0.7720174193382263,0.7056488394737244
+unitree_z1_dual_arm_stackbox_v2,case4,unitree_z1_dual_arm_stackbox_v2-vid35-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,1,tail_heavy_10,"[0, 5, 10, 20, 30, 38, 43, 46, 48, 49]",10,0.8,49,50,1.0,0.9999998807907104
+unitree_z1_dual_arm_stackbox_v2,case4,unitree_z1_dual_arm_stackbox_v2-vid35-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,1,tail_only_6,"[40, 43, 46, 47, 48, 49]",6,0.88,49,50,1.0,0.9999998807907104
+unitree_z1_dual_arm_stackbox_v2,case4,unitree_z1_dual_arm_stackbox_v2-vid35-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,1,sparse_8,"[0, 7, 14, 21, 28, 35, 42, 49]",8,0.84,49,50,1.0,0.9999998807907104
+unitree_z1_dual_arm_stackbox_v2,case4,unitree_z1_dual_arm_stackbox_v2-vid35-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,1,sparse_4,"[0, 16, 32, 49]",4,0.92,49,50,1.0,0.9999998807907104
+unitree_z1_dual_arm_stackbox_v2,case4,unitree_z1_dual_arm_stackbox_v2-vid35-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,1,tail_only_4,"[40, 43, 46, 49]",4,0.92,49,50,1.0,0.9999998807907104
+unitree_z1_dual_arm_stackbox_v2,case4,unitree_z1_dual_arm_stackbox_v2-vid35-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,1,tail_heavy_6,"[0, 32, 40, 44, 47, 49]",6,0.88,49,50,1.0,0.9999998807907104
+unitree_z1_dual_arm_stackbox_v2,case4,unitree_z1_dual_arm_stackbox_v2-vid35-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,1,tail_heavy_8,"[0, 10, 20, 30, 38, 43, 46, 49]",8,0.84,49,50,1.0,0.9999998807907104
+unitree_z1_dual_arm_stackbox_v2,case4,unitree_z1_dual_arm_stackbox_v2-vid35-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,2,dense,"[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49]",50,0.0,49,50,0.9999998807907104,0.9999998807907104
+unitree_z1_dual_arm_stackbox_v2,case4,unitree_z1_dual_arm_stackbox_v2-vid35-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,2,sparse_10,"[0, 5, 10, 15, 20, 25, 30, 35, 40, 45]",10,0.8,45,46,0.9022784233093262,0.8607204556465149
+unitree_z1_dual_arm_stackbox_v2,case4,unitree_z1_dual_arm_stackbox_v2-vid35-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,2,sparse_5,"[0, 10, 20, 30, 40]",5,0.9,40,41,0.7078881859779358,0.6513142585754395
+unitree_z1_dual_arm_stackbox_v2,case4,unitree_z1_dual_arm_stackbox_v2-vid35-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,2,tail_heavy_10,"[0, 5, 10, 20, 30, 38, 43, 46, 48, 49]",10,0.8,49,50,0.9999998807907104,0.9999998807907104
+unitree_z1_dual_arm_stackbox_v2,case4,unitree_z1_dual_arm_stackbox_v2-vid35-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,2,tail_only_6,"[40, 43, 46, 47, 48, 49]",6,0.88,49,50,0.9999998807907104,0.9999998807907104
+unitree_z1_dual_arm_stackbox_v2,case4,unitree_z1_dual_arm_stackbox_v2-vid35-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,2,sparse_8,"[0, 7, 14, 21, 28, 35, 42, 49]",8,0.84,49,50,0.9999998807907104,0.9999998807907104
+unitree_z1_dual_arm_stackbox_v2,case4,unitree_z1_dual_arm_stackbox_v2-vid35-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,2,sparse_4,"[0, 16, 32, 49]",4,0.92,49,50,0.9999998807907104,0.9999998807907104
+unitree_z1_dual_arm_stackbox_v2,case4,unitree_z1_dual_arm_stackbox_v2-vid35-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,2,tail_only_4,"[40, 43, 46, 49]",4,0.92,49,50,0.9999998807907104,0.9999998807907104
+unitree_z1_dual_arm_stackbox_v2,case4,unitree_z1_dual_arm_stackbox_v2-vid35-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,2,tail_heavy_6,"[0, 32, 40, 44, 47, 49]",6,0.88,49,50,0.9999998807907104,0.9999998807907104
+unitree_z1_dual_arm_stackbox_v2,case4,unitree_z1_dual_arm_stackbox_v2-vid35-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,2,tail_heavy_8,"[0, 10, 20, 30, 38, 43, 46, 49]",8,0.84,49,50,0.9999998807907104,0.9999998807907104
+unitree_z1_dual_arm_stackbox_v2,case4,unitree_z1_dual_arm_stackbox_v2-vid35-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,3,dense,"[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49]",50,0.0,49,50,0.9999999403953552,1.0000001192092896
+unitree_z1_dual_arm_stackbox_v2,case4,unitree_z1_dual_arm_stackbox_v2-vid35-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,3,sparse_10,"[0, 5, 10, 15, 20, 25, 30, 35, 40, 45]",10,0.8,45,46,0.929194986820221,0.8957565426826477
+unitree_z1_dual_arm_stackbox_v2,case4,unitree_z1_dual_arm_stackbox_v2-vid35-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,3,sparse_5,"[0, 10, 20, 30, 40]",5,0.9,40,41,0.7745471000671387,0.7118997573852539
+unitree_z1_dual_arm_stackbox_v2,case4,unitree_z1_dual_arm_stackbox_v2-vid35-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,3,tail_heavy_10,"[0, 5, 10, 20, 30, 38, 43, 46, 48, 49]",10,0.8,49,50,0.9999999403953552,1.0000001192092896
+unitree_z1_dual_arm_stackbox_v2,case4,unitree_z1_dual_arm_stackbox_v2-vid35-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,3,tail_only_6,"[40, 43, 46, 47, 48, 49]",6,0.88,49,50,0.9999999403953552,1.0000001192092896
+unitree_z1_dual_arm_stackbox_v2,case4,unitree_z1_dual_arm_stackbox_v2-vid35-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,3,sparse_8,"[0, 7, 14, 21, 28, 35, 42, 49]",8,0.84,49,50,0.9999999403953552,1.0000001192092896
+unitree_z1_dual_arm_stackbox_v2,case4,unitree_z1_dual_arm_stackbox_v2-vid35-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,3,sparse_4,"[0, 16, 32, 49]",4,0.92,49,50,0.9999999403953552,1.0000001192092896
+unitree_z1_dual_arm_stackbox_v2,case4,unitree_z1_dual_arm_stackbox_v2-vid35-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,3,tail_only_4,"[40, 43, 46, 49]",4,0.92,49,50,0.9999999403953552,1.0000001192092896
+unitree_z1_dual_arm_stackbox_v2,case4,unitree_z1_dual_arm_stackbox_v2-vid35-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,3,tail_heavy_6,"[0, 32, 40, 44, 47, 49]",6,0.88,49,50,0.9999999403953552,1.0000001192092896
+unitree_z1_dual_arm_stackbox_v2,case4,unitree_z1_dual_arm_stackbox_v2-vid35-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,3,tail_heavy_8,"[0, 10, 20, 30, 38, 43, 46, 49]",8,0.84,49,50,0.9999999403953552,1.0000001192092896
+unitree_z1_dual_arm_stackbox_v2,case4,unitree_z1_dual_arm_stackbox_v2-vid35-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,4,dense,"[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49]",50,0.0,49,50,1.0000001192092896,0.9999998211860656
+unitree_z1_dual_arm_stackbox_v2,case4,unitree_z1_dual_arm_stackbox_v2-vid35-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,4,sparse_10,"[0, 5, 10, 15, 20, 25, 30, 35, 40, 45]",10,0.8,45,46,0.9320122003555298,0.9268704652786256
+unitree_z1_dual_arm_stackbox_v2,case4,unitree_z1_dual_arm_stackbox_v2-vid35-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,4,sparse_5,"[0, 10, 20, 30, 40]",5,0.9,40,41,0.769132137298584,0.7683647871017456
+unitree_z1_dual_arm_stackbox_v2,case4,unitree_z1_dual_arm_stackbox_v2-vid35-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,4,tail_heavy_10,"[0, 5, 10, 20, 30, 38, 43, 46, 48, 49]",10,0.8,49,50,1.0000001192092896,0.9999998211860656
+unitree_z1_dual_arm_stackbox_v2,case4,unitree_z1_dual_arm_stackbox_v2-vid35-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,4,tail_only_6,"[40, 43, 46, 47, 48, 49]",6,0.88,49,50,1.0000001192092896,0.9999998211860656
+unitree_z1_dual_arm_stackbox_v2,case4,unitree_z1_dual_arm_stackbox_v2-vid35-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,4,sparse_8,"[0, 7, 14, 21, 28, 35, 42, 49]",8,0.84,49,50,1.0000001192092896,0.9999998211860656
+unitree_z1_dual_arm_stackbox_v2,case4,unitree_z1_dual_arm_stackbox_v2-vid35-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,4,sparse_4,"[0, 16, 32, 49]",4,0.92,49,50,1.0000001192092896,0.9999998211860656
+unitree_z1_dual_arm_stackbox_v2,case4,unitree_z1_dual_arm_stackbox_v2-vid35-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,4,tail_only_4,"[40, 43, 46, 49]",4,0.92,49,50,1.0000001192092896,0.9999998211860656
+unitree_z1_dual_arm_stackbox_v2,case4,unitree_z1_dual_arm_stackbox_v2-vid35-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,4,tail_heavy_6,"[0, 32, 40, 44, 47, 49]",6,0.88,49,50,1.0000001192092896,0.9999998211860656
+unitree_z1_dual_arm_stackbox_v2,case4,unitree_z1_dual_arm_stackbox_v2-vid35-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,4,tail_heavy_8,"[0, 10, 20, 30, 38, 43, 46, 49]",8,0.84,49,50,1.0000001192092896,0.9999998211860656
+unitree_z1_dual_arm_stackbox_v2,case4,unitree_z1_dual_arm_stackbox_v2-vid35-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,5,dense,"[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49]",50,0.0,49,50,1.0000001192092896,0.9999999403953552
+unitree_z1_dual_arm_stackbox_v2,case4,unitree_z1_dual_arm_stackbox_v2-vid35-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,5,sparse_10,"[0, 5, 10, 15, 20, 25, 30, 35, 40, 45]",10,0.8,45,46,0.9449115991592408,0.909866988658905
+unitree_z1_dual_arm_stackbox_v2,case4,unitree_z1_dual_arm_stackbox_v2-vid35-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,5,sparse_5,"[0, 10, 20, 30, 40]",5,0.9,40,41,0.7915295958518982,0.7185433506965637
+unitree_z1_dual_arm_stackbox_v2,case4,unitree_z1_dual_arm_stackbox_v2-vid35-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,5,tail_heavy_10,"[0, 5, 10, 20, 30, 38, 43, 46, 48, 49]",10,0.8,49,50,1.0000001192092896,0.9999999403953552
+unitree_z1_dual_arm_stackbox_v2,case4,unitree_z1_dual_arm_stackbox_v2-vid35-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,5,tail_only_6,"[40, 43, 46, 47, 48, 49]",6,0.88,49,50,1.0000001192092896,0.9999999403953552
+unitree_z1_dual_arm_stackbox_v2,case4,unitree_z1_dual_arm_stackbox_v2-vid35-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,5,sparse_8,"[0, 7, 14, 21, 28, 35, 42, 49]",8,0.84,49,50,1.0000001192092896,0.9999999403953552
+unitree_z1_dual_arm_stackbox_v2,case4,unitree_z1_dual_arm_stackbox_v2-vid35-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,5,sparse_4,"[0, 16, 32, 49]",4,0.92,49,50,1.0000001192092896,0.9999999403953552
+unitree_z1_dual_arm_stackbox_v2,case4,unitree_z1_dual_arm_stackbox_v2-vid35-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,5,tail_only_4,"[40, 43, 46, 49]",4,0.92,49,50,1.0000001192092896,0.9999999403953552
+unitree_z1_dual_arm_stackbox_v2,case4,unitree_z1_dual_arm_stackbox_v2-vid35-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,5,tail_heavy_6,"[0, 32, 40, 44, 47, 49]",6,0.88,49,50,1.0000001192092896,0.9999999403953552
+unitree_z1_dual_arm_stackbox_v2,case4,unitree_z1_dual_arm_stackbox_v2-vid35-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,5,tail_heavy_8,"[0, 10, 20, 30, 38, 43, 46, 49]",8,0.84,49,50,1.0000001192092896,0.9999999403953552
+unitree_z1_dual_arm_stackbox_v2,case4,unitree_z1_dual_arm_stackbox_v2-vid35-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,6,dense,"[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49]",50,0.0,49,50,1.0,1.0000001192092896
+unitree_z1_dual_arm_stackbox_v2,case4,unitree_z1_dual_arm_stackbox_v2-vid35-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,6,sparse_10,"[0, 5, 10, 15, 20, 25, 30, 35, 40, 45]",10,0.8,45,46,0.9407023787498474,0.9307668209075928
+unitree_z1_dual_arm_stackbox_v2,case4,unitree_z1_dual_arm_stackbox_v2-vid35-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,6,sparse_5,"[0, 10, 20, 30, 40]",5,0.9,40,41,0.7889854311943054,0.7591134309768677
+unitree_z1_dual_arm_stackbox_v2,case4,unitree_z1_dual_arm_stackbox_v2-vid35-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,6,tail_heavy_10,"[0, 5, 10, 20, 30, 38, 43, 46, 48, 49]",10,0.8,49,50,1.0,1.0000001192092896
+unitree_z1_dual_arm_stackbox_v2,case4,unitree_z1_dual_arm_stackbox_v2-vid35-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,6,tail_only_6,"[40, 43, 46, 47, 48, 49]",6,0.88,49,50,1.0,1.0000001192092896
+unitree_z1_dual_arm_stackbox_v2,case4,unitree_z1_dual_arm_stackbox_v2-vid35-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,6,sparse_8,"[0, 7, 14, 21, 28, 35, 42, 49]",8,0.84,49,50,1.0,1.0000001192092896
+unitree_z1_dual_arm_stackbox_v2,case4,unitree_z1_dual_arm_stackbox_v2-vid35-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,6,sparse_4,"[0, 16, 32, 49]",4,0.92,49,50,1.0,1.0000001192092896
+unitree_z1_dual_arm_stackbox_v2,case4,unitree_z1_dual_arm_stackbox_v2-vid35-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,6,tail_only_4,"[40, 43, 46, 49]",4,0.92,49,50,1.0,1.0000001192092896
+unitree_z1_dual_arm_stackbox_v2,case4,unitree_z1_dual_arm_stackbox_v2-vid35-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,6,tail_heavy_6,"[0, 32, 40, 44, 47, 49]",6,0.88,49,50,1.0,1.0000001192092896
+unitree_z1_dual_arm_stackbox_v2,case4,unitree_z1_dual_arm_stackbox_v2-vid35-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,6,tail_heavy_8,"[0, 10, 20, 30, 38, 43, 46, 49]",8,0.84,49,50,1.0,1.0000001192092896
+unitree_z1_dual_arm_stackbox_v2,case4,unitree_z1_dual_arm_stackbox_v2-vid35-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,7,dense,"[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49]",50,0.0,49,50,1.0,0.9999999403953552
+unitree_z1_dual_arm_stackbox_v2,case4,unitree_z1_dual_arm_stackbox_v2-vid35-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,7,sparse_10,"[0, 5, 10, 15, 20, 25, 30, 35, 40, 45]",10,0.8,45,46,0.9183714389801024,0.8830693364143372
+unitree_z1_dual_arm_stackbox_v2,case4,unitree_z1_dual_arm_stackbox_v2-vid35-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,7,sparse_5,"[0, 10, 20, 30, 40]",5,0.9,40,41,0.7193226218223572,0.6869904398918152
+unitree_z1_dual_arm_stackbox_v2,case4,unitree_z1_dual_arm_stackbox_v2-vid35-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,7,tail_heavy_10,"[0, 5, 10, 20, 30, 38, 43, 46, 48, 49]",10,0.8,49,50,1.0,0.9999999403953552
+unitree_z1_dual_arm_stackbox_v2,case4,unitree_z1_dual_arm_stackbox_v2-vid35-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,7,tail_only_6,"[40, 43, 46, 47, 48, 49]",6,0.88,49,50,1.0,0.9999999403953552
+unitree_z1_dual_arm_stackbox_v2,case4,unitree_z1_dual_arm_stackbox_v2-vid35-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,7,sparse_8,"[0, 7, 14, 21, 28, 35, 42, 49]",8,0.84,49,50,1.0,0.9999999403953552
+unitree_z1_dual_arm_stackbox_v2,case4,unitree_z1_dual_arm_stackbox_v2-vid35-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,7,sparse_4,"[0, 16, 32, 49]",4,0.92,49,50,1.0,0.9999999403953552
+unitree_z1_dual_arm_stackbox_v2,case4,unitree_z1_dual_arm_stackbox_v2-vid35-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,7,tail_only_4,"[40, 43, 46, 49]",4,0.92,49,50,1.0,0.9999999403953552
+unitree_z1_dual_arm_stackbox_v2,case4,unitree_z1_dual_arm_stackbox_v2-vid35-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,7,tail_heavy_6,"[0, 32, 40, 44, 47, 49]",6,0.88,49,50,1.0,0.9999999403953552
+unitree_z1_dual_arm_stackbox_v2,case4,unitree_z1_dual_arm_stackbox_v2-vid35-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,7,tail_heavy_8,"[0, 10, 20, 30, 38, 43, 46, 49]",8,0.84,49,50,1.0,0.9999999403953552
+unitree_z1_dual_arm_stackbox_v2,case4,unitree_z1_dual_arm_stackbox_v2-vid35-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,8,dense,"[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49]",50,0.0,49,50,0.9999999403953552,1.0
+unitree_z1_dual_arm_stackbox_v2,case4,unitree_z1_dual_arm_stackbox_v2-vid35-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,8,sparse_10,"[0, 5, 10, 15, 20, 25, 30, 35, 40, 45]",10,0.8,45,46,0.930163323879242,0.910655915737152
+unitree_z1_dual_arm_stackbox_v2,case4,unitree_z1_dual_arm_stackbox_v2-vid35-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,8,sparse_5,"[0, 10, 20, 30, 40]",5,0.9,40,41,0.7551194429397583,0.717107892036438
+unitree_z1_dual_arm_stackbox_v2,case4,unitree_z1_dual_arm_stackbox_v2-vid35-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,8,tail_heavy_10,"[0, 5, 10, 20, 30, 38, 43, 46, 48, 49]",10,0.8,49,50,0.9999999403953552,1.0
+unitree_z1_dual_arm_stackbox_v2,case4,unitree_z1_dual_arm_stackbox_v2-vid35-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,8,tail_only_6,"[40, 43, 46, 47, 48, 49]",6,0.88,49,50,0.9999999403953552,1.0
+unitree_z1_dual_arm_stackbox_v2,case4,unitree_z1_dual_arm_stackbox_v2-vid35-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,8,sparse_8,"[0, 7, 14, 21, 28, 35, 42, 49]",8,0.84,49,50,0.9999999403953552,1.0
+unitree_z1_dual_arm_stackbox_v2,case4,unitree_z1_dual_arm_stackbox_v2-vid35-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,8,sparse_4,"[0, 16, 32, 49]",4,0.92,49,50,0.9999999403953552,1.0
+unitree_z1_dual_arm_stackbox_v2,case4,unitree_z1_dual_arm_stackbox_v2-vid35-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,8,tail_only_4,"[40, 43, 46, 49]",4,0.92,49,50,0.9999999403953552,1.0
+unitree_z1_dual_arm_stackbox_v2,case4,unitree_z1_dual_arm_stackbox_v2-vid35-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,8,tail_heavy_6,"[0, 32, 40, 44, 47, 49]",6,0.88,49,50,0.9999999403953552,1.0
+unitree_z1_dual_arm_stackbox_v2,case4,unitree_z1_dual_arm_stackbox_v2-vid35-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,8,tail_heavy_8,"[0, 10, 20, 30, 38, 43, 46, 49]",8,0.84,49,50,0.9999999403953552,1.0
+unitree_z1_dual_arm_stackbox_v2,case4,unitree_z1_dual_arm_stackbox_v2-vid35-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,9,dense,"[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49]",50,0.0,49,50,0.9999999403953552,0.9999999403953552
+unitree_z1_dual_arm_stackbox_v2,case4,unitree_z1_dual_arm_stackbox_v2-vid35-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,9,sparse_10,"[0, 5, 10, 15, 20, 25, 30, 35, 40, 45]",10,0.8,45,46,0.9436145424842834,0.9163444638252258
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+unitree_z1_dual_arm_stackbox_v2,case4,unitree_z1_dual_arm_stackbox_v2-vid35-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,9,tail_heavy_10,"[0, 5, 10, 20, 30, 38, 43, 46, 48, 49]",10,0.8,49,50,0.9999999403953552,0.9999999403953552
+unitree_z1_dual_arm_stackbox_v2,case4,unitree_z1_dual_arm_stackbox_v2-vid35-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,9,tail_only_6,"[40, 43, 46, 47, 48, 49]",6,0.88,49,50,0.9999999403953552,0.9999999403953552
+unitree_z1_dual_arm_stackbox_v2,case4,unitree_z1_dual_arm_stackbox_v2-vid35-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,9,sparse_8,"[0, 7, 14, 21, 28, 35, 42, 49]",8,0.84,49,50,0.9999999403953552,0.9999999403953552
+unitree_z1_dual_arm_stackbox_v2,case4,unitree_z1_dual_arm_stackbox_v2-vid35-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,9,sparse_4,"[0, 16, 32, 49]",4,0.92,49,50,0.9999999403953552,0.9999999403953552
+unitree_z1_dual_arm_stackbox_v2,case4,unitree_z1_dual_arm_stackbox_v2-vid35-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,9,tail_only_4,"[40, 43, 46, 49]",4,0.92,49,50,0.9999999403953552,0.9999999403953552
+unitree_z1_dual_arm_stackbox_v2,case4,unitree_z1_dual_arm_stackbox_v2-vid35-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,9,tail_heavy_6,"[0, 32, 40, 44, 47, 49]",6,0.88,49,50,0.9999999403953552,0.9999999403953552
+unitree_z1_dual_arm_stackbox_v2,case4,unitree_z1_dual_arm_stackbox_v2-vid35-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,9,tail_heavy_8,"[0, 10, 20, 30, 38, 43, 46, 49]",8,0.84,49,50,0.9999999403953552,0.9999999403953552
+unitree_z1_dual_arm_stackbox_v2,case4,unitree_z1_dual_arm_stackbox_v2-vid35-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,10,dense,"[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49]",50,0.0,49,50,1.0000001192092896,1.0000001192092896
+unitree_z1_dual_arm_stackbox_v2,case4,unitree_z1_dual_arm_stackbox_v2-vid35-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,10,sparse_10,"[0, 5, 10, 15, 20, 25, 30, 35, 40, 45]",10,0.8,45,46,0.9477577805519104,0.9331088066101074
+unitree_z1_dual_arm_stackbox_v2,case4,unitree_z1_dual_arm_stackbox_v2-vid35-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,10,sparse_5,"[0, 10, 20, 30, 40]",5,0.9,40,41,0.8074485063552856,0.7820675373077393
+unitree_z1_dual_arm_stackbox_v2,case4,unitree_z1_dual_arm_stackbox_v2-vid35-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,10,tail_heavy_10,"[0, 5, 10, 20, 30, 38, 43, 46, 48, 49]",10,0.8,49,50,1.0000001192092896,1.0000001192092896
+unitree_z1_dual_arm_stackbox_v2,case4,unitree_z1_dual_arm_stackbox_v2-vid35-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,10,tail_only_6,"[40, 43, 46, 47, 48, 49]",6,0.88,49,50,1.0000001192092896,1.0000001192092896
+unitree_z1_dual_arm_stackbox_v2,case4,unitree_z1_dual_arm_stackbox_v2-vid35-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,10,sparse_8,"[0, 7, 14, 21, 28, 35, 42, 49]",8,0.84,49,50,1.0000001192092896,1.0000001192092896
+unitree_z1_dual_arm_stackbox_v2,case4,unitree_z1_dual_arm_stackbox_v2-vid35-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,10,sparse_4,"[0, 16, 32, 49]",4,0.92,49,50,1.0000001192092896,1.0000001192092896
+unitree_z1_dual_arm_stackbox_v2,case4,unitree_z1_dual_arm_stackbox_v2-vid35-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,10,tail_only_4,"[40, 43, 46, 49]",4,0.92,49,50,1.0000001192092896,1.0000001192092896
+unitree_z1_dual_arm_stackbox_v2,case4,unitree_z1_dual_arm_stackbox_v2-vid35-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,10,tail_heavy_6,"[0, 32, 40, 44, 47, 49]",6,0.88,49,50,1.0000001192092896,1.0000001192092896
+unitree_z1_dual_arm_stackbox_v2,case4,unitree_z1_dual_arm_stackbox_v2-vid35-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,10,tail_heavy_8,"[0, 10, 20, 30, 38, 43, 46, 49]",8,0.84,49,50,1.0000001192092896,1.0000001192092896
+unitree_z1_stackbox,case1,unitree_z1_stackbox-vid5-fs4,unitree_z1_stackbox,policy,0,dense,"[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49]",50,0.0,49,50,1.0000001192092896,1.0
+unitree_z1_stackbox,case1,unitree_z1_stackbox-vid5-fs4,unitree_z1_stackbox,policy,0,sparse_10,"[0, 5, 10, 15, 20, 25, 30, 35, 40, 45]",10,0.8,45,46,0.9349831938743592,0.930379331111908
+unitree_z1_stackbox,case1,unitree_z1_stackbox-vid5-fs4,unitree_z1_stackbox,policy,0,sparse_5,"[0, 10, 20, 30, 40]",5,0.9,40,41,0.7786926031112671,0.7829480171203613
+unitree_z1_stackbox,case1,unitree_z1_stackbox-vid5-fs4,unitree_z1_stackbox,policy,0,tail_heavy_10,"[0, 5, 10, 20, 30, 38, 43, 46, 48, 49]",10,0.8,49,50,1.0000001192092896,1.0
+unitree_z1_stackbox,case1,unitree_z1_stackbox-vid5-fs4,unitree_z1_stackbox,policy,0,tail_only_6,"[40, 43, 46, 47, 48, 49]",6,0.88,49,50,1.0000001192092896,1.0
+unitree_z1_stackbox,case1,unitree_z1_stackbox-vid5-fs4,unitree_z1_stackbox,policy,0,sparse_8,"[0, 7, 14, 21, 28, 35, 42, 49]",8,0.84,49,50,1.0000001192092896,1.0
+unitree_z1_stackbox,case1,unitree_z1_stackbox-vid5-fs4,unitree_z1_stackbox,policy,0,sparse_4,"[0, 16, 32, 49]",4,0.92,49,50,1.0000001192092896,1.0
+unitree_z1_stackbox,case1,unitree_z1_stackbox-vid5-fs4,unitree_z1_stackbox,policy,0,tail_only_4,"[40, 43, 46, 49]",4,0.92,49,50,1.0000001192092896,1.0
+unitree_z1_stackbox,case1,unitree_z1_stackbox-vid5-fs4,unitree_z1_stackbox,policy,0,tail_heavy_6,"[0, 32, 40, 44, 47, 49]",6,0.88,49,50,1.0000001192092896,1.0
+unitree_z1_stackbox,case1,unitree_z1_stackbox-vid5-fs4,unitree_z1_stackbox,policy,0,tail_heavy_8,"[0, 10, 20, 30, 38, 43, 46, 49]",8,0.84,49,50,1.0000001192092896,1.0
+unitree_z1_stackbox,case1,unitree_z1_stackbox-vid5-fs4,unitree_z1_stackbox,policy,1,dense,"[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49]",50,0.0,49,50,0.9999998807907104,1.0
+unitree_z1_stackbox,case1,unitree_z1_stackbox-vid5-fs4,unitree_z1_stackbox,policy,1,sparse_10,"[0, 5, 10, 15, 20, 25, 30, 35, 40, 45]",10,0.8,45,46,0.9237281680107116,0.8959139585494995
+unitree_z1_stackbox,case1,unitree_z1_stackbox-vid5-fs4,unitree_z1_stackbox,policy,1,sparse_5,"[0, 10, 20, 30, 40]",5,0.9,40,41,0.7537137269973755,0.7226681113243103
+unitree_z1_stackbox,case1,unitree_z1_stackbox-vid5-fs4,unitree_z1_stackbox,policy,1,tail_heavy_10,"[0, 5, 10, 20, 30, 38, 43, 46, 48, 49]",10,0.8,49,50,0.9999998807907104,1.0
+unitree_z1_stackbox,case1,unitree_z1_stackbox-vid5-fs4,unitree_z1_stackbox,policy,1,tail_only_6,"[40, 43, 46, 47, 48, 49]",6,0.88,49,50,0.9999998807907104,1.0
+unitree_z1_stackbox,case1,unitree_z1_stackbox-vid5-fs4,unitree_z1_stackbox,policy,1,sparse_8,"[0, 7, 14, 21, 28, 35, 42, 49]",8,0.84,49,50,0.9999998807907104,1.0
+unitree_z1_stackbox,case1,unitree_z1_stackbox-vid5-fs4,unitree_z1_stackbox,policy,1,sparse_4,"[0, 16, 32, 49]",4,0.92,49,50,0.9999998807907104,1.0
+unitree_z1_stackbox,case1,unitree_z1_stackbox-vid5-fs4,unitree_z1_stackbox,policy,1,tail_only_4,"[40, 43, 46, 49]",4,0.92,49,50,0.9999998807907104,1.0
+unitree_z1_stackbox,case1,unitree_z1_stackbox-vid5-fs4,unitree_z1_stackbox,policy,1,tail_heavy_6,"[0, 32, 40, 44, 47, 49]",6,0.88,49,50,0.9999998807907104,1.0
+unitree_z1_stackbox,case1,unitree_z1_stackbox-vid5-fs4,unitree_z1_stackbox,policy,1,tail_heavy_8,"[0, 10, 20, 30, 38, 43, 46, 49]",8,0.84,49,50,0.9999998807907104,1.0
+unitree_z1_stackbox,case1,unitree_z1_stackbox-vid5-fs4,unitree_z1_stackbox,policy,2,dense,"[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49]",50,0.0,49,50,1.0,1.0000001192092896
+unitree_z1_stackbox,case1,unitree_z1_stackbox-vid5-fs4,unitree_z1_stackbox,policy,2,sparse_10,"[0, 5, 10, 15, 20, 25, 30, 35, 40, 45]",10,0.8,45,46,0.913569450378418,0.88018399477005
+unitree_z1_stackbox,case1,unitree_z1_stackbox-vid5-fs4,unitree_z1_stackbox,policy,2,sparse_5,"[0, 10, 20, 30, 40]",5,0.9,40,41,0.7693586349487305,0.7255756258964539
+unitree_z1_stackbox,case1,unitree_z1_stackbox-vid5-fs4,unitree_z1_stackbox,policy,2,tail_heavy_10,"[0, 5, 10, 20, 30, 38, 43, 46, 48, 49]",10,0.8,49,50,1.0,1.0000001192092896
+unitree_z1_stackbox,case1,unitree_z1_stackbox-vid5-fs4,unitree_z1_stackbox,policy,2,tail_only_6,"[40, 43, 46, 47, 48, 49]",6,0.88,49,50,1.0,1.0000001192092896
+unitree_z1_stackbox,case1,unitree_z1_stackbox-vid5-fs4,unitree_z1_stackbox,policy,2,sparse_8,"[0, 7, 14, 21, 28, 35, 42, 49]",8,0.84,49,50,1.0,1.0000001192092896
+unitree_z1_stackbox,case1,unitree_z1_stackbox-vid5-fs4,unitree_z1_stackbox,policy,2,sparse_4,"[0, 16, 32, 49]",4,0.92,49,50,1.0,1.0000001192092896
+unitree_z1_stackbox,case1,unitree_z1_stackbox-vid5-fs4,unitree_z1_stackbox,policy,2,tail_only_4,"[40, 43, 46, 49]",4,0.92,49,50,1.0,1.0000001192092896
+unitree_z1_stackbox,case1,unitree_z1_stackbox-vid5-fs4,unitree_z1_stackbox,policy,2,tail_heavy_6,"[0, 32, 40, 44, 47, 49]",6,0.88,49,50,1.0,1.0000001192092896
+unitree_z1_stackbox,case1,unitree_z1_stackbox-vid5-fs4,unitree_z1_stackbox,policy,2,tail_heavy_8,"[0, 10, 20, 30, 38, 43, 46, 49]",8,0.84,49,50,1.0,1.0000001192092896
+unitree_z1_stackbox,case1,unitree_z1_stackbox-vid5-fs4,unitree_z1_stackbox,policy,3,dense,"[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49]",50,0.0,49,50,1.0,1.0
+unitree_z1_stackbox,case1,unitree_z1_stackbox-vid5-fs4,unitree_z1_stackbox,policy,3,sparse_10,"[0, 5, 10, 15, 20, 25, 30, 35, 40, 45]",10,0.8,45,46,0.8992682695388794,0.8480506539344788
+unitree_z1_stackbox,case1,unitree_z1_stackbox-vid5-fs4,unitree_z1_stackbox,policy,3,sparse_5,"[0, 10, 20, 30, 40]",5,0.9,40,41,0.7436748743057251,0.6914355754852295
+unitree_z1_stackbox,case1,unitree_z1_stackbox-vid5-fs4,unitree_z1_stackbox,policy,3,tail_heavy_10,"[0, 5, 10, 20, 30, 38, 43, 46, 48, 49]",10,0.8,49,50,1.0,1.0
+unitree_z1_stackbox,case1,unitree_z1_stackbox-vid5-fs4,unitree_z1_stackbox,policy,3,tail_only_6,"[40, 43, 46, 47, 48, 49]",6,0.88,49,50,1.0,1.0
+unitree_z1_stackbox,case1,unitree_z1_stackbox-vid5-fs4,unitree_z1_stackbox,policy,3,sparse_8,"[0, 7, 14, 21, 28, 35, 42, 49]",8,0.84,49,50,1.0,1.0
+unitree_z1_stackbox,case1,unitree_z1_stackbox-vid5-fs4,unitree_z1_stackbox,policy,3,sparse_4,"[0, 16, 32, 49]",4,0.92,49,50,1.0,1.0
+unitree_z1_stackbox,case1,unitree_z1_stackbox-vid5-fs4,unitree_z1_stackbox,policy,3,tail_only_4,"[40, 43, 46, 49]",4,0.92,49,50,1.0,1.0
+unitree_z1_stackbox,case1,unitree_z1_stackbox-vid5-fs4,unitree_z1_stackbox,policy,3,tail_heavy_6,"[0, 32, 40, 44, 47, 49]",6,0.88,49,50,1.0,1.0
+unitree_z1_stackbox,case1,unitree_z1_stackbox-vid5-fs4,unitree_z1_stackbox,policy,3,tail_heavy_8,"[0, 10, 20, 30, 38, 43, 46, 49]",8,0.84,49,50,1.0,1.0
+unitree_z1_stackbox,case1,unitree_z1_stackbox-vid5-fs4,unitree_z1_stackbox,policy,4,dense,"[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49]",50,0.0,49,50,0.9999998807907104,1.0000001192092896
+unitree_z1_stackbox,case1,unitree_z1_stackbox-vid5-fs4,unitree_z1_stackbox,policy,4,sparse_10,"[0, 5, 10, 15, 20, 25, 30, 35, 40, 45]",10,0.8,45,46,0.91801655292511,0.8746559619903564
+unitree_z1_stackbox,case1,unitree_z1_stackbox-vid5-fs4,unitree_z1_stackbox,policy,4,sparse_5,"[0, 10, 20, 30, 40]",5,0.9,40,41,0.7560160160064697,0.7456721067428589
+unitree_z1_stackbox,case1,unitree_z1_stackbox-vid5-fs4,unitree_z1_stackbox,policy,4,tail_heavy_10,"[0, 5, 10, 20, 30, 38, 43, 46, 48, 49]",10,0.8,49,50,0.9999998807907104,1.0000001192092896
+unitree_z1_stackbox,case1,unitree_z1_stackbox-vid5-fs4,unitree_z1_stackbox,policy,4,tail_only_6,"[40, 43, 46, 47, 48, 49]",6,0.88,49,50,0.9999998807907104,1.0000001192092896
+unitree_z1_stackbox,case1,unitree_z1_stackbox-vid5-fs4,unitree_z1_stackbox,policy,4,sparse_8,"[0, 7, 14, 21, 28, 35, 42, 49]",8,0.84,49,50,0.9999998807907104,1.0000001192092896
+unitree_z1_stackbox,case1,unitree_z1_stackbox-vid5-fs4,unitree_z1_stackbox,policy,4,sparse_4,"[0, 16, 32, 49]",4,0.92,49,50,0.9999998807907104,1.0000001192092896
+unitree_z1_stackbox,case1,unitree_z1_stackbox-vid5-fs4,unitree_z1_stackbox,policy,4,tail_only_4,"[40, 43, 46, 49]",4,0.92,49,50,0.9999998807907104,1.0000001192092896
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+unitree_z1_stackbox,case2,unitree_z1_stackbox-vid15-fs4,unitree_z1_stackbox,world_model,7,tail_only_6,"[40, 43, 46, 47, 48, 49]",6,0.88,49,50,0.9999998807907104,1.0
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+unitree_z1_stackbox,case2,unitree_z1_stackbox-vid15-fs4,unitree_z1_stackbox,world_model,7,tail_heavy_8,"[0, 10, 20, 30, 38, 43, 46, 49]",8,0.84,49,50,0.9999998807907104,1.0
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+unitree_z1_stackbox,case3,unitree_z1_stackbox-vid25-fs4,unitree_z1_stackbox,policy,0,dense,"[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49]",50,0.0,49,50,1.0000001192092896,0.9999999403953552
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+unitree_z1_stackbox,case3,unitree_z1_stackbox-vid25-fs4,unitree_z1_stackbox,policy,1,tail_heavy_8,"[0, 10, 20, 30, 38, 43, 46, 49]",8,0.84,49,50,1.0,1.0000001192092896
+unitree_z1_stackbox,case3,unitree_z1_stackbox-vid25-fs4,unitree_z1_stackbox,policy,2,dense,"[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49]",50,0.0,49,50,1.0000001192092896,1.0
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+unitree_z1_stackbox,case3,unitree_z1_stackbox-vid25-fs4,unitree_z1_stackbox,policy,2,tail_only_6,"[40, 43, 46, 47, 48, 49]",6,0.88,49,50,1.0000001192092896,1.0
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+unitree_z1_stackbox,case3,unitree_z1_stackbox-vid25-fs4,unitree_z1_stackbox,policy,2,tail_heavy_8,"[0, 10, 20, 30, 38, 43, 46, 49]",8,0.84,49,50,1.0000001192092896,1.0
+unitree_z1_stackbox,case3,unitree_z1_stackbox-vid25-fs4,unitree_z1_stackbox,policy,3,dense,"[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49]",50,0.0,49,50,0.9999999403953552,1.0000001192092896
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+unitree_z1_stackbox,case3,unitree_z1_stackbox-vid25-fs4,unitree_z1_stackbox,policy,5,tail_only_6,"[40, 43, 46, 47, 48, 49]",6,0.88,49,50,1.0000001192092896,0.9999999403953552
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+unitree_z1_stackbox,case3,unitree_z1_stackbox-vid25-fs4,unitree_z1_stackbox,policy,5,tail_heavy_8,"[0, 10, 20, 30, 38, 43, 46, 49]",8,0.84,49,50,1.0000001192092896,0.9999999403953552
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+unitree_z1_stackbox,case4,unitree_z1_stackbox-vid35-fs4,unitree_z1_stackbox,policy,5,tail_heavy_8,"[0, 10, 20, 30, 38, 43, 46, 49]",8,0.84,49,50,1.0000001192092896,0.9999998807907104
+unitree_z1_stackbox,case4,unitree_z1_stackbox-vid35-fs4,unitree_z1_stackbox,policy,6,dense,"[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49]",50,0.0,49,50,0.9999999403953552,1.0000001192092896
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+unitree_z1_stackbox,case4,unitree_z1_stackbox-vid35-fs4,unitree_z1_stackbox,world_model,10,tail_heavy_6,"[0, 32, 40, 44, 47, 49]",6,0.88,49,50,1.000000238418579,1.0000001192092896
+unitree_z1_stackbox,case4,unitree_z1_stackbox-vid35-fs4,unitree_z1_stackbox,world_model,10,tail_heavy_8,"[0, 10, 20, 30, 38, 43, 46, 49]",8,0.84,49,50,1.000000238418579,1.0000001192092896
+unitree_z1_stackbox,case4,unitree_z1_stackbox-vid35-fs4,unitree_z1_stackbox,world_model,11,dense,"[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49]",50,0.0,49,50,1.0,0.9999999403953552
+unitree_z1_stackbox,case4,unitree_z1_stackbox-vid35-fs4,unitree_z1_stackbox,world_model,11,sparse_10,"[0, 5, 10, 15, 20, 25, 30, 35, 40, 45]",10,0.8,45,46,0.9126275777816772,0.8781864643096924
+unitree_z1_stackbox,case4,unitree_z1_stackbox-vid35-fs4,unitree_z1_stackbox,world_model,11,sparse_5,"[0, 10, 20, 30, 40]",5,0.9,40,41,0.7735603451728821,0.725477933883667
+unitree_z1_stackbox,case4,unitree_z1_stackbox-vid35-fs4,unitree_z1_stackbox,world_model,11,tail_heavy_10,"[0, 5, 10, 20, 30, 38, 43, 46, 48, 49]",10,0.8,49,50,1.0,0.9999999403953552
+unitree_z1_stackbox,case4,unitree_z1_stackbox-vid35-fs4,unitree_z1_stackbox,world_model,11,tail_only_6,"[40, 43, 46, 47, 48, 49]",6,0.88,49,50,1.0,0.9999999403953552
+unitree_z1_stackbox,case4,unitree_z1_stackbox-vid35-fs4,unitree_z1_stackbox,world_model,11,sparse_8,"[0, 7, 14, 21, 28, 35, 42, 49]",8,0.84,49,50,1.0,0.9999999403953552
+unitree_z1_stackbox,case4,unitree_z1_stackbox-vid35-fs4,unitree_z1_stackbox,world_model,11,sparse_4,"[0, 16, 32, 49]",4,0.92,49,50,1.0,0.9999999403953552
+unitree_z1_stackbox,case4,unitree_z1_stackbox-vid35-fs4,unitree_z1_stackbox,world_model,11,tail_only_4,"[40, 43, 46, 49]",4,0.92,49,50,1.0,0.9999999403953552
+unitree_z1_stackbox,case4,unitree_z1_stackbox-vid35-fs4,unitree_z1_stackbox,world_model,11,tail_heavy_6,"[0, 32, 40, 44, 47, 49]",6,0.88,49,50,1.0,0.9999999403953552
+unitree_z1_stackbox,case4,unitree_z1_stackbox-vid35-fs4,unitree_z1_stackbox,world_model,11,tail_heavy_8,"[0, 10, 20, 30, 38, 43, 46, 49]",8,0.84,49,50,1.0,0.9999999403953552
diff --git a/sparse_head_simulation/tail_vs_uniform.csv b/sparse_head_simulation/tail_vs_uniform.csv
new file mode 100644
index 0000000..6821a1a
--- /dev/null
+++ b/sparse_head_simulation/tail_vs_uniform.csv
@@ -0,0 +1,1177 @@
+comparison,dataset,case,sample_id,scene,pass_type,round_id,uniform_scheme,tail_scheme,uniform_head_exec_count,tail_head_exec_count,uniform_action_cosine_vs_dense,tail_action_cosine_vs_dense,uniform_state_cosine_vs_dense,tail_state_cosine_vs_dense,tail_minus_uniform_action_cosine,tail_minus_uniform_state_cosine,tail_better_action,tail_better_state
+budget_8_uniform_vs_tail,unitree_g1_pack_camera,case1,unitree_g1_pack_camera-vid0-fs6,unitree_g1_pack_camera,policy,0,sparse_8,tail_heavy_8,8,8,1.0,1.0,1.0,1.0,0.0,0.0,False,False
+budget_8_uniform_vs_tail,unitree_g1_pack_camera,case1,unitree_g1_pack_camera-vid0-fs6,unitree_g1_pack_camera,policy,1,sparse_8,tail_heavy_8,8,8,1.0,1.0,1.0000001192092896,1.0000001192092896,0.0,0.0,False,False
+budget_8_uniform_vs_tail,unitree_g1_pack_camera,case1,unitree_g1_pack_camera-vid0-fs6,unitree_g1_pack_camera,policy,2,sparse_8,tail_heavy_8,8,8,0.9999999403953552,0.9999999403953552,1.0000001192092896,1.0000001192092896,0.0,0.0,False,False
+budget_8_uniform_vs_tail,unitree_g1_pack_camera,case1,unitree_g1_pack_camera-vid0-fs6,unitree_g1_pack_camera,policy,3,sparse_8,tail_heavy_8,8,8,1.0000001192092896,1.0000001192092896,1.0,1.0,0.0,0.0,False,False
+budget_8_uniform_vs_tail,unitree_g1_pack_camera,case1,unitree_g1_pack_camera-vid0-fs6,unitree_g1_pack_camera,policy,4,sparse_8,tail_heavy_8,8,8,1.0,1.0,1.0,1.0,0.0,0.0,False,False
+budget_8_uniform_vs_tail,unitree_g1_pack_camera,case1,unitree_g1_pack_camera-vid0-fs6,unitree_g1_pack_camera,policy,5,sparse_8,tail_heavy_8,8,8,1.0,1.0,1.0,1.0,0.0,0.0,False,False
+budget_8_uniform_vs_tail,unitree_g1_pack_camera,case1,unitree_g1_pack_camera-vid0-fs6,unitree_g1_pack_camera,policy,6,sparse_8,tail_heavy_8,8,8,0.9999999403953552,0.9999999403953552,1.0,1.0,0.0,0.0,False,False
+budget_8_uniform_vs_tail,unitree_g1_pack_camera,case1,unitree_g1_pack_camera-vid0-fs6,unitree_g1_pack_camera,policy,7,sparse_8,tail_heavy_8,8,8,1.0,1.0,1.000000238418579,1.000000238418579,0.0,0.0,False,False
+budget_8_uniform_vs_tail,unitree_g1_pack_camera,case1,unitree_g1_pack_camera-vid0-fs6,unitree_g1_pack_camera,policy,8,sparse_8,tail_heavy_8,8,8,0.9999999403953552,0.9999999403953552,0.9999998807907104,0.9999998807907104,0.0,0.0,False,False
+budget_8_uniform_vs_tail,unitree_g1_pack_camera,case1,unitree_g1_pack_camera-vid0-fs6,unitree_g1_pack_camera,policy,9,sparse_8,tail_heavy_8,8,8,1.0000001192092896,1.0000001192092896,0.9999998807907104,0.9999998807907104,0.0,0.0,False,False
+budget_8_uniform_vs_tail,unitree_g1_pack_camera,case1,unitree_g1_pack_camera-vid0-fs6,unitree_g1_pack_camera,policy,10,sparse_8,tail_heavy_8,8,8,1.0,1.0,1.0,1.0,0.0,0.0,False,False
+budget_8_uniform_vs_tail,unitree_g1_pack_camera,case1,unitree_g1_pack_camera-vid0-fs6,unitree_g1_pack_camera,world_model,0,sparse_8,tail_heavy_8,8,8,0.9999998807907104,0.9999998807907104,0.9999998807907104,0.9999998807907104,0.0,0.0,False,False
+budget_8_uniform_vs_tail,unitree_g1_pack_camera,case1,unitree_g1_pack_camera-vid0-fs6,unitree_g1_pack_camera,world_model,1,sparse_8,tail_heavy_8,8,8,1.0000001192092896,1.0000001192092896,1.0000001192092896,1.0000001192092896,0.0,0.0,False,False
+budget_8_uniform_vs_tail,unitree_g1_pack_camera,case1,unitree_g1_pack_camera-vid0-fs6,unitree_g1_pack_camera,world_model,2,sparse_8,tail_heavy_8,8,8,1.0000001192092896,1.0000001192092896,0.9999999403953552,0.9999999403953552,0.0,0.0,False,False
+budget_8_uniform_vs_tail,unitree_g1_pack_camera,case1,unitree_g1_pack_camera-vid0-fs6,unitree_g1_pack_camera,world_model,3,sparse_8,tail_heavy_8,8,8,0.9999999403953552,0.9999999403953552,1.0,1.0,0.0,0.0,False,False
+budget_8_uniform_vs_tail,unitree_g1_pack_camera,case1,unitree_g1_pack_camera-vid0-fs6,unitree_g1_pack_camera,world_model,4,sparse_8,tail_heavy_8,8,8,0.9999999403953552,0.9999999403953552,1.0,1.0,0.0,0.0,False,False
+budget_8_uniform_vs_tail,unitree_g1_pack_camera,case1,unitree_g1_pack_camera-vid0-fs6,unitree_g1_pack_camera,world_model,5,sparse_8,tail_heavy_8,8,8,1.0000001192092896,1.0000001192092896,0.9999999403953552,0.9999999403953552,0.0,0.0,False,False
+budget_8_uniform_vs_tail,unitree_g1_pack_camera,case1,unitree_g1_pack_camera-vid0-fs6,unitree_g1_pack_camera,world_model,6,sparse_8,tail_heavy_8,8,8,1.0000001192092896,1.0000001192092896,1.0,1.0,0.0,0.0,False,False
+budget_8_uniform_vs_tail,unitree_g1_pack_camera,case1,unitree_g1_pack_camera-vid0-fs6,unitree_g1_pack_camera,world_model,7,sparse_8,tail_heavy_8,8,8,1.0,1.0,1.0000001192092896,1.0000001192092896,0.0,0.0,False,False
+budget_8_uniform_vs_tail,unitree_g1_pack_camera,case1,unitree_g1_pack_camera-vid0-fs6,unitree_g1_pack_camera,world_model,8,sparse_8,tail_heavy_8,8,8,1.0,1.0,1.0,1.0,0.0,0.0,False,False
+budget_8_uniform_vs_tail,unitree_g1_pack_camera,case1,unitree_g1_pack_camera-vid0-fs6,unitree_g1_pack_camera,world_model,9,sparse_8,tail_heavy_8,8,8,1.0,1.0,0.9999999403953552,0.9999999403953552,0.0,0.0,False,False
+budget_8_uniform_vs_tail,unitree_g1_pack_camera,case1,unitree_g1_pack_camera-vid0-fs6,unitree_g1_pack_camera,world_model,10,sparse_8,tail_heavy_8,8,8,0.9999999403953552,0.9999999403953552,0.9999999403953552,0.9999999403953552,0.0,0.0,False,False
+budget_8_uniform_vs_tail,unitree_g1_pack_camera,case2,unitree_g1_pack_camera-vid50-fs6,unitree_g1_pack_camera,policy,0,sparse_8,tail_heavy_8,8,8,0.9999999403953552,0.9999999403953552,1.0,1.0,0.0,0.0,False,False
+budget_8_uniform_vs_tail,unitree_g1_pack_camera,case2,unitree_g1_pack_camera-vid50-fs6,unitree_g1_pack_camera,policy,1,sparse_8,tail_heavy_8,8,8,0.9999999403953552,0.9999999403953552,1.0,1.0,0.0,0.0,False,False
+budget_8_uniform_vs_tail,unitree_g1_pack_camera,case2,unitree_g1_pack_camera-vid50-fs6,unitree_g1_pack_camera,policy,2,sparse_8,tail_heavy_8,8,8,0.9999999403953552,0.9999999403953552,1.0,1.0,0.0,0.0,False,False
+budget_8_uniform_vs_tail,unitree_g1_pack_camera,case2,unitree_g1_pack_camera-vid50-fs6,unitree_g1_pack_camera,policy,3,sparse_8,tail_heavy_8,8,8,1.0000001192092896,1.0000001192092896,1.0,1.0,0.0,0.0,False,False
+budget_8_uniform_vs_tail,unitree_g1_pack_camera,case2,unitree_g1_pack_camera-vid50-fs6,unitree_g1_pack_camera,policy,4,sparse_8,tail_heavy_8,8,8,1.0,1.0,0.9999999403953552,0.9999999403953552,0.0,0.0,False,False
+budget_8_uniform_vs_tail,unitree_g1_pack_camera,case2,unitree_g1_pack_camera-vid50-fs6,unitree_g1_pack_camera,policy,5,sparse_8,tail_heavy_8,8,8,1.0000001192092896,1.0000001192092896,0.9999998807907104,0.9999998807907104,0.0,0.0,False,False
+budget_8_uniform_vs_tail,unitree_g1_pack_camera,case2,unitree_g1_pack_camera-vid50-fs6,unitree_g1_pack_camera,policy,6,sparse_8,tail_heavy_8,8,8,0.9999999403953552,0.9999999403953552,1.000000238418579,1.000000238418579,0.0,0.0,False,False
+budget_8_uniform_vs_tail,unitree_g1_pack_camera,case2,unitree_g1_pack_camera-vid50-fs6,unitree_g1_pack_camera,policy,7,sparse_8,tail_heavy_8,8,8,1.0,1.0,1.000000238418579,1.000000238418579,0.0,0.0,False,False
+budget_8_uniform_vs_tail,unitree_g1_pack_camera,case2,unitree_g1_pack_camera-vid50-fs6,unitree_g1_pack_camera,policy,8,sparse_8,tail_heavy_8,8,8,1.0,1.0,0.9999998807907104,0.9999998807907104,0.0,0.0,False,False
+budget_8_uniform_vs_tail,unitree_g1_pack_camera,case2,unitree_g1_pack_camera-vid50-fs6,unitree_g1_pack_camera,policy,9,sparse_8,tail_heavy_8,8,8,1.0,1.0,1.0,1.0,0.0,0.0,False,False
+budget_8_uniform_vs_tail,unitree_g1_pack_camera,case2,unitree_g1_pack_camera-vid50-fs6,unitree_g1_pack_camera,policy,10,sparse_8,tail_heavy_8,8,8,1.0,1.0,0.9999999403953552,0.9999999403953552,0.0,0.0,False,False
+budget_8_uniform_vs_tail,unitree_g1_pack_camera,case2,unitree_g1_pack_camera-vid50-fs6,unitree_g1_pack_camera,world_model,0,sparse_8,tail_heavy_8,8,8,0.9999999403953552,0.9999999403953552,1.0,1.0,0.0,0.0,False,False
+budget_8_uniform_vs_tail,unitree_g1_pack_camera,case2,unitree_g1_pack_camera-vid50-fs6,unitree_g1_pack_camera,world_model,1,sparse_8,tail_heavy_8,8,8,1.0000001192092896,1.0000001192092896,0.9999999403953552,0.9999999403953552,0.0,0.0,False,False
+budget_8_uniform_vs_tail,unitree_g1_pack_camera,case2,unitree_g1_pack_camera-vid50-fs6,unitree_g1_pack_camera,world_model,2,sparse_8,tail_heavy_8,8,8,1.0000001192092896,1.0000001192092896,1.0000001192092896,1.0000001192092896,0.0,0.0,False,False
+budget_8_uniform_vs_tail,unitree_g1_pack_camera,case2,unitree_g1_pack_camera-vid50-fs6,unitree_g1_pack_camera,world_model,3,sparse_8,tail_heavy_8,8,8,1.0000001192092896,1.0000001192092896,0.9999999403953552,0.9999999403953552,0.0,0.0,False,False
+budget_8_uniform_vs_tail,unitree_g1_pack_camera,case2,unitree_g1_pack_camera-vid50-fs6,unitree_g1_pack_camera,world_model,4,sparse_8,tail_heavy_8,8,8,1.0000001192092896,1.0000001192092896,1.0000001192092896,1.0000001192092896,0.0,0.0,False,False
+budget_8_uniform_vs_tail,unitree_g1_pack_camera,case2,unitree_g1_pack_camera-vid50-fs6,unitree_g1_pack_camera,world_model,5,sparse_8,tail_heavy_8,8,8,0.9999999403953552,0.9999999403953552,0.9999999403953552,0.9999999403953552,0.0,0.0,False,False
+budget_8_uniform_vs_tail,unitree_g1_pack_camera,case2,unitree_g1_pack_camera-vid50-fs6,unitree_g1_pack_camera,world_model,6,sparse_8,tail_heavy_8,8,8,1.0,1.0,1.0,1.0,0.0,0.0,False,False
+budget_8_uniform_vs_tail,unitree_g1_pack_camera,case2,unitree_g1_pack_camera-vid50-fs6,unitree_g1_pack_camera,world_model,7,sparse_8,tail_heavy_8,8,8,1.0,1.0,0.9999998807907104,0.9999998807907104,0.0,0.0,False,False
+budget_8_uniform_vs_tail,unitree_g1_pack_camera,case2,unitree_g1_pack_camera-vid50-fs6,unitree_g1_pack_camera,world_model,8,sparse_8,tail_heavy_8,8,8,1.0000001192092896,1.0000001192092896,1.0,1.0,0.0,0.0,False,False
+budget_8_uniform_vs_tail,unitree_g1_pack_camera,case2,unitree_g1_pack_camera-vid50-fs6,unitree_g1_pack_camera,world_model,9,sparse_8,tail_heavy_8,8,8,1.0,1.0,0.9999999403953552,0.9999999403953552,0.0,0.0,False,False
+budget_8_uniform_vs_tail,unitree_g1_pack_camera,case2,unitree_g1_pack_camera-vid50-fs6,unitree_g1_pack_camera,world_model,10,sparse_8,tail_heavy_8,8,8,1.0,1.0,1.0000001192092896,1.0000001192092896,0.0,0.0,False,False
+budget_8_uniform_vs_tail,unitree_g1_pack_camera,case3,unitree_g1_pack_camera-vid100-fs6,unitree_g1_pack_camera,policy,0,sparse_8,tail_heavy_8,8,8,1.0000001192092896,1.0000001192092896,1.0000001192092896,1.0000001192092896,0.0,0.0,False,False
+budget_8_uniform_vs_tail,unitree_g1_pack_camera,case3,unitree_g1_pack_camera-vid100-fs6,unitree_g1_pack_camera,policy,1,sparse_8,tail_heavy_8,8,8,0.9999999403953552,0.9999999403953552,1.0,1.0,0.0,0.0,False,False
+budget_8_uniform_vs_tail,unitree_g1_pack_camera,case3,unitree_g1_pack_camera-vid100-fs6,unitree_g1_pack_camera,policy,2,sparse_8,tail_heavy_8,8,8,0.9999999403953552,0.9999999403953552,0.9999999403953552,0.9999999403953552,0.0,0.0,False,False
+budget_8_uniform_vs_tail,unitree_g1_pack_camera,case3,unitree_g1_pack_camera-vid100-fs6,unitree_g1_pack_camera,policy,3,sparse_8,tail_heavy_8,8,8,0.9999998807907104,0.9999998807907104,0.9999998807907104,0.9999998807907104,0.0,0.0,False,False
+budget_8_uniform_vs_tail,unitree_g1_pack_camera,case3,unitree_g1_pack_camera-vid100-fs6,unitree_g1_pack_camera,policy,4,sparse_8,tail_heavy_8,8,8,0.9999998211860656,0.9999998211860656,1.0,1.0,0.0,0.0,False,False
+budget_8_uniform_vs_tail,unitree_g1_pack_camera,case3,unitree_g1_pack_camera-vid100-fs6,unitree_g1_pack_camera,policy,5,sparse_8,tail_heavy_8,8,8,1.0,1.0,1.0,1.0,0.0,0.0,False,False
+budget_8_uniform_vs_tail,unitree_g1_pack_camera,case3,unitree_g1_pack_camera-vid100-fs6,unitree_g1_pack_camera,policy,6,sparse_8,tail_heavy_8,8,8,1.0,1.0,1.0,1.0,0.0,0.0,False,False
+budget_8_uniform_vs_tail,unitree_g1_pack_camera,case3,unitree_g1_pack_camera-vid100-fs6,unitree_g1_pack_camera,policy,7,sparse_8,tail_heavy_8,8,8,1.0000001192092896,1.0000001192092896,1.0000001192092896,1.0000001192092896,0.0,0.0,False,False
+budget_8_uniform_vs_tail,unitree_g1_pack_camera,case3,unitree_g1_pack_camera-vid100-fs6,unitree_g1_pack_camera,policy,8,sparse_8,tail_heavy_8,8,8,0.9999999403953552,0.9999999403953552,0.9999998807907104,0.9999998807907104,0.0,0.0,False,False
+budget_8_uniform_vs_tail,unitree_g1_pack_camera,case3,unitree_g1_pack_camera-vid100-fs6,unitree_g1_pack_camera,policy,9,sparse_8,tail_heavy_8,8,8,1.0,1.0,1.0,1.0,0.0,0.0,False,False
+budget_8_uniform_vs_tail,unitree_g1_pack_camera,case3,unitree_g1_pack_camera-vid100-fs6,unitree_g1_pack_camera,policy,10,sparse_8,tail_heavy_8,8,8,0.9999999403953552,0.9999999403953552,1.0,1.0,0.0,0.0,False,False
+budget_8_uniform_vs_tail,unitree_g1_pack_camera,case3,unitree_g1_pack_camera-vid100-fs6,unitree_g1_pack_camera,world_model,0,sparse_8,tail_heavy_8,8,8,1.0,1.0,1.0,1.0,0.0,0.0,False,False
+budget_8_uniform_vs_tail,unitree_g1_pack_camera,case3,unitree_g1_pack_camera-vid100-fs6,unitree_g1_pack_camera,world_model,1,sparse_8,tail_heavy_8,8,8,1.0,1.0,0.9999999403953552,0.9999999403953552,0.0,0.0,False,False
+budget_8_uniform_vs_tail,unitree_g1_pack_camera,case3,unitree_g1_pack_camera-vid100-fs6,unitree_g1_pack_camera,world_model,2,sparse_8,tail_heavy_8,8,8,1.0000001192092896,1.0000001192092896,1.0,1.0,0.0,0.0,False,False
+budget_8_uniform_vs_tail,unitree_g1_pack_camera,case3,unitree_g1_pack_camera-vid100-fs6,unitree_g1_pack_camera,world_model,3,sparse_8,tail_heavy_8,8,8,0.9999998807907104,0.9999998807907104,0.9999998807907104,0.9999998807907104,0.0,0.0,False,False
+budget_8_uniform_vs_tail,unitree_g1_pack_camera,case3,unitree_g1_pack_camera-vid100-fs6,unitree_g1_pack_camera,world_model,4,sparse_8,tail_heavy_8,8,8,1.0,1.0,0.9999998807907104,0.9999998807907104,0.0,0.0,False,False
+budget_8_uniform_vs_tail,unitree_g1_pack_camera,case3,unitree_g1_pack_camera-vid100-fs6,unitree_g1_pack_camera,world_model,5,sparse_8,tail_heavy_8,8,8,1.0,1.0,1.0,1.0,0.0,0.0,False,False
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+budget_4_uniform_vs_tail,unitree_g1_pack_camera,case4,unitree_g1_pack_camera-vid200-fs6,unitree_g1_pack_camera,policy,3,sparse_4,tail_only_4,4,4,1.0000001192092896,1.0000001192092896,1.0,1.0,0.0,0.0,False,False
+budget_4_uniform_vs_tail,unitree_g1_pack_camera,case4,unitree_g1_pack_camera-vid200-fs6,unitree_g1_pack_camera,policy,4,sparse_4,tail_only_4,4,4,0.9999998807907104,0.9999998807907104,0.9999999403953552,0.9999999403953552,0.0,0.0,False,False
+budget_4_uniform_vs_tail,unitree_g1_pack_camera,case4,unitree_g1_pack_camera-vid200-fs6,unitree_g1_pack_camera,policy,5,sparse_4,tail_only_4,4,4,0.9999998807907104,0.9999998807907104,1.0,1.0,0.0,0.0,False,False
+budget_4_uniform_vs_tail,unitree_g1_pack_camera,case4,unitree_g1_pack_camera-vid200-fs6,unitree_g1_pack_camera,policy,6,sparse_4,tail_only_4,4,4,1.0,1.0,1.0,1.0,0.0,0.0,False,False
+budget_4_uniform_vs_tail,unitree_g1_pack_camera,case4,unitree_g1_pack_camera-vid200-fs6,unitree_g1_pack_camera,policy,7,sparse_4,tail_only_4,4,4,1.0,1.0,0.9999998807907104,0.9999998807907104,0.0,0.0,False,False
+budget_4_uniform_vs_tail,unitree_g1_pack_camera,case4,unitree_g1_pack_camera-vid200-fs6,unitree_g1_pack_camera,policy,8,sparse_4,tail_only_4,4,4,0.9999998807907104,0.9999998807907104,1.000000238418579,1.000000238418579,0.0,0.0,False,False
+budget_4_uniform_vs_tail,unitree_g1_pack_camera,case4,unitree_g1_pack_camera-vid200-fs6,unitree_g1_pack_camera,policy,9,sparse_4,tail_only_4,4,4,0.9999999403953552,0.9999999403953552,0.9999997615814208,0.9999997615814208,0.0,0.0,False,False
+budget_4_uniform_vs_tail,unitree_g1_pack_camera,case4,unitree_g1_pack_camera-vid200-fs6,unitree_g1_pack_camera,policy,10,sparse_4,tail_only_4,4,4,1.0000001192092896,1.0000001192092896,1.0,1.0,0.0,0.0,False,False
+budget_4_uniform_vs_tail,unitree_g1_pack_camera,case4,unitree_g1_pack_camera-vid200-fs6,unitree_g1_pack_camera,world_model,0,sparse_4,tail_only_4,4,4,1.0000001192092896,1.0000001192092896,0.9999999403953552,0.9999999403953552,0.0,0.0,False,False
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+budget_4_uniform_vs_tail,unitree_g1_pack_camera,case4,unitree_g1_pack_camera-vid200-fs6,unitree_g1_pack_camera,world_model,2,sparse_4,tail_only_4,4,4,0.9999999403953552,0.9999999403953552,0.9999999403953552,0.9999999403953552,0.0,0.0,False,False
+budget_4_uniform_vs_tail,unitree_g1_pack_camera,case4,unitree_g1_pack_camera-vid200-fs6,unitree_g1_pack_camera,world_model,3,sparse_4,tail_only_4,4,4,0.9999998807907104,0.9999998807907104,1.0,1.0,0.0,0.0,False,False
+budget_4_uniform_vs_tail,unitree_g1_pack_camera,case4,unitree_g1_pack_camera-vid200-fs6,unitree_g1_pack_camera,world_model,4,sparse_4,tail_only_4,4,4,0.9999998807907104,0.9999998807907104,1.0000001192092896,1.0000001192092896,0.0,0.0,False,False
+budget_4_uniform_vs_tail,unitree_g1_pack_camera,case4,unitree_g1_pack_camera-vid200-fs6,unitree_g1_pack_camera,world_model,5,sparse_4,tail_only_4,4,4,0.9999998807907104,0.9999998807907104,1.0000001192092896,1.0000001192092896,0.0,0.0,False,False
+budget_4_uniform_vs_tail,unitree_g1_pack_camera,case4,unitree_g1_pack_camera-vid200-fs6,unitree_g1_pack_camera,world_model,6,sparse_4,tail_only_4,4,4,1.0,1.0,1.0000001192092896,1.0000001192092896,0.0,0.0,False,False
+budget_4_uniform_vs_tail,unitree_g1_pack_camera,case4,unitree_g1_pack_camera-vid200-fs6,unitree_g1_pack_camera,world_model,7,sparse_4,tail_only_4,4,4,0.9999998807907104,0.9999998807907104,1.0,1.0,0.0,0.0,False,False
+budget_4_uniform_vs_tail,unitree_g1_pack_camera,case4,unitree_g1_pack_camera-vid200-fs6,unitree_g1_pack_camera,world_model,8,sparse_4,tail_only_4,4,4,1.000000238418579,1.000000238418579,1.0,1.0,0.0,0.0,False,False
+budget_4_uniform_vs_tail,unitree_g1_pack_camera,case4,unitree_g1_pack_camera-vid200-fs6,unitree_g1_pack_camera,world_model,9,sparse_4,tail_only_4,4,4,1.0,1.0,1.0,1.0,0.0,0.0,False,False
+budget_4_uniform_vs_tail,unitree_g1_pack_camera,case4,unitree_g1_pack_camera-vid200-fs6,unitree_g1_pack_camera,world_model,10,sparse_4,tail_only_4,4,4,1.0000001192092896,1.0000001192092896,0.9999999403953552,0.9999999403953552,0.0,0.0,False,False
+budget_4_uniform_vs_tail,unitree_z1_dual_arm_cleanup_pencils,case1,unitree_z1_dual_arm_cleanup_pencils-vid0-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,0,sparse_4,tail_only_4,4,4,1.0,1.0,0.9999998807907104,0.9999998807907104,0.0,0.0,False,False
+budget_4_uniform_vs_tail,unitree_z1_dual_arm_cleanup_pencils,case1,unitree_z1_dual_arm_cleanup_pencils-vid0-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,1,sparse_4,tail_only_4,4,4,0.9999999403953552,0.9999999403953552,0.9999998807907104,0.9999998807907104,0.0,0.0,False,False
+budget_4_uniform_vs_tail,unitree_z1_dual_arm_cleanup_pencils,case1,unitree_z1_dual_arm_cleanup_pencils-vid0-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,2,sparse_4,tail_only_4,4,4,0.9999998807907104,0.9999998807907104,1.0,1.0,0.0,0.0,False,False
+budget_4_uniform_vs_tail,unitree_z1_dual_arm_cleanup_pencils,case1,unitree_z1_dual_arm_cleanup_pencils-vid0-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,3,sparse_4,tail_only_4,4,4,0.9999998807907104,0.9999998807907104,0.9999998807907104,0.9999998807907104,0.0,0.0,False,False
+budget_4_uniform_vs_tail,unitree_z1_dual_arm_cleanup_pencils,case1,unitree_z1_dual_arm_cleanup_pencils-vid0-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,4,sparse_4,tail_only_4,4,4,1.0000001192092896,1.0000001192092896,1.0000001192092896,1.0000001192092896,0.0,0.0,False,False
+budget_4_uniform_vs_tail,unitree_z1_dual_arm_cleanup_pencils,case1,unitree_z1_dual_arm_cleanup_pencils-vid0-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,5,sparse_4,tail_only_4,4,4,1.0000001192092896,1.0000001192092896,1.0000001192092896,1.0000001192092896,0.0,0.0,False,False
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+budget_4_uniform_vs_tail,unitree_z1_dual_arm_cleanup_pencils,case1,unitree_z1_dual_arm_cleanup_pencils-vid0-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,7,sparse_4,tail_only_4,4,4,1.0,1.0,1.0,1.0,0.0,0.0,False,False
+budget_4_uniform_vs_tail,unitree_z1_dual_arm_cleanup_pencils,case1,unitree_z1_dual_arm_cleanup_pencils-vid0-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,0,sparse_4,tail_only_4,4,4,0.9999998807907104,0.9999998807907104,1.0000001192092896,1.0000001192092896,0.0,0.0,False,False
+budget_4_uniform_vs_tail,unitree_z1_dual_arm_cleanup_pencils,case1,unitree_z1_dual_arm_cleanup_pencils-vid0-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,1,sparse_4,tail_only_4,4,4,1.0,1.0,1.0000001192092896,1.0000001192092896,0.0,0.0,False,False
+budget_4_uniform_vs_tail,unitree_z1_dual_arm_cleanup_pencils,case1,unitree_z1_dual_arm_cleanup_pencils-vid0-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,2,sparse_4,tail_only_4,4,4,1.0000001192092896,1.0000001192092896,0.9999999403953552,0.9999999403953552,0.0,0.0,False,False
+budget_4_uniform_vs_tail,unitree_z1_dual_arm_cleanup_pencils,case1,unitree_z1_dual_arm_cleanup_pencils-vid0-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,3,sparse_4,tail_only_4,4,4,0.9999999403953552,0.9999999403953552,1.0,1.0,0.0,0.0,False,False
+budget_4_uniform_vs_tail,unitree_z1_dual_arm_cleanup_pencils,case1,unitree_z1_dual_arm_cleanup_pencils-vid0-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,4,sparse_4,tail_only_4,4,4,1.0000001192092896,1.0000001192092896,1.0,1.0,0.0,0.0,False,False
+budget_4_uniform_vs_tail,unitree_z1_dual_arm_cleanup_pencils,case1,unitree_z1_dual_arm_cleanup_pencils-vid0-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,5,sparse_4,tail_only_4,4,4,1.0000001192092896,1.0000001192092896,1.0,1.0,0.0,0.0,False,False
+budget_4_uniform_vs_tail,unitree_z1_dual_arm_cleanup_pencils,case1,unitree_z1_dual_arm_cleanup_pencils-vid0-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,6,sparse_4,tail_only_4,4,4,0.9999998211860656,0.9999998211860656,1.0,1.0,0.0,0.0,False,False
+budget_4_uniform_vs_tail,unitree_z1_dual_arm_cleanup_pencils,case1,unitree_z1_dual_arm_cleanup_pencils-vid0-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,7,sparse_4,tail_only_4,4,4,0.9999999403953552,0.9999999403953552,1.0000001192092896,1.0000001192092896,0.0,0.0,False,False
+budget_4_uniform_vs_tail,unitree_z1_dual_arm_cleanup_pencils,case2,unitree_z1_dual_arm_cleanup_pencils-vid50-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,0,sparse_4,tail_only_4,4,4,0.9999999403953552,0.9999999403953552,0.9999999403953552,0.9999999403953552,0.0,0.0,False,False
+budget_4_uniform_vs_tail,unitree_z1_dual_arm_cleanup_pencils,case2,unitree_z1_dual_arm_cleanup_pencils-vid50-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,1,sparse_4,tail_only_4,4,4,0.9999998807907104,0.9999998807907104,1.0,1.0,0.0,0.0,False,False
+budget_4_uniform_vs_tail,unitree_z1_dual_arm_cleanup_pencils,case2,unitree_z1_dual_arm_cleanup_pencils-vid50-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,2,sparse_4,tail_only_4,4,4,1.0,1.0,0.9999998807907104,0.9999998807907104,0.0,0.0,False,False
+budget_4_uniform_vs_tail,unitree_z1_dual_arm_cleanup_pencils,case2,unitree_z1_dual_arm_cleanup_pencils-vid50-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,3,sparse_4,tail_only_4,4,4,1.0,1.0,1.0,1.0,0.0,0.0,False,False
+budget_4_uniform_vs_tail,unitree_z1_dual_arm_cleanup_pencils,case2,unitree_z1_dual_arm_cleanup_pencils-vid50-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,4,sparse_4,tail_only_4,4,4,1.0000001192092896,1.0000001192092896,0.9999998807907104,0.9999998807907104,0.0,0.0,False,False
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+budget_4_uniform_vs_tail,unitree_z1_dual_arm_cleanup_pencils,case2,unitree_z1_dual_arm_cleanup_pencils-vid50-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,6,sparse_4,tail_only_4,4,4,1.0000001192092896,1.0000001192092896,1.0,1.0,0.0,0.0,False,False
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+budget_4_uniform_vs_tail,unitree_z1_dual_arm_cleanup_pencils,case2,unitree_z1_dual_arm_cleanup_pencils-vid50-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,4,sparse_4,tail_only_4,4,4,1.0000001192092896,1.0000001192092896,1.0,1.0,0.0,0.0,False,False
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+budget_4_uniform_vs_tail,unitree_z1_dual_arm_cleanup_pencils,case2,unitree_z1_dual_arm_cleanup_pencils-vid50-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,7,sparse_4,tail_only_4,4,4,1.0,1.0,0.9999999403953552,0.9999999403953552,0.0,0.0,False,False
+budget_4_uniform_vs_tail,unitree_z1_dual_arm_cleanup_pencils,case3,unitree_z1_dual_arm_cleanup_pencils-vid100-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,0,sparse_4,tail_only_4,4,4,0.9999999403953552,0.9999999403953552,1.0,1.0,0.0,0.0,False,False
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+budget_4_uniform_vs_tail,unitree_z1_dual_arm_cleanup_pencils,case3,unitree_z1_dual_arm_cleanup_pencils-vid100-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,4,sparse_4,tail_only_4,4,4,0.9999999403953552,0.9999999403953552,1.0000001192092896,1.0000001192092896,0.0,0.0,False,False
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+budget_4_uniform_vs_tail,unitree_z1_dual_arm_cleanup_pencils,case3,unitree_z1_dual_arm_cleanup_pencils-vid100-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,3,sparse_4,tail_only_4,4,4,1.0,1.0,1.0,1.0,0.0,0.0,False,False
+budget_4_uniform_vs_tail,unitree_z1_dual_arm_cleanup_pencils,case3,unitree_z1_dual_arm_cleanup_pencils-vid100-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,4,sparse_4,tail_only_4,4,4,1.0,1.0,0.9999999403953552,0.9999999403953552,0.0,0.0,False,False
+budget_4_uniform_vs_tail,unitree_z1_dual_arm_cleanup_pencils,case3,unitree_z1_dual_arm_cleanup_pencils-vid100-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,5,sparse_4,tail_only_4,4,4,0.9999998807907104,0.9999998807907104,0.9999999403953552,0.9999999403953552,0.0,0.0,False,False
+budget_4_uniform_vs_tail,unitree_z1_dual_arm_cleanup_pencils,case3,unitree_z1_dual_arm_cleanup_pencils-vid100-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,6,sparse_4,tail_only_4,4,4,1.0,1.0,1.0,1.0,0.0,0.0,False,False
+budget_4_uniform_vs_tail,unitree_z1_dual_arm_cleanup_pencils,case3,unitree_z1_dual_arm_cleanup_pencils-vid100-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,7,sparse_4,tail_only_4,4,4,0.9999999403953552,0.9999999403953552,0.9999998211860656,0.9999998211860656,0.0,0.0,False,False
+budget_4_uniform_vs_tail,unitree_z1_dual_arm_cleanup_pencils,case4,unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,0,sparse_4,tail_only_4,4,4,1.0000001192092896,1.0000001192092896,1.0000001192092896,1.0000001192092896,0.0,0.0,False,False
+budget_4_uniform_vs_tail,unitree_z1_dual_arm_cleanup_pencils,case4,unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,1,sparse_4,tail_only_4,4,4,0.9999999403953552,0.9999999403953552,0.9999998807907104,0.9999998807907104,0.0,0.0,False,False
+budget_4_uniform_vs_tail,unitree_z1_dual_arm_cleanup_pencils,case4,unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,2,sparse_4,tail_only_4,4,4,0.9999999403953552,0.9999999403953552,0.9999999403953552,0.9999999403953552,0.0,0.0,False,False
+budget_4_uniform_vs_tail,unitree_z1_dual_arm_cleanup_pencils,case4,unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,3,sparse_4,tail_only_4,4,4,1.0,1.0,0.9999999403953552,0.9999999403953552,0.0,0.0,False,False
+budget_4_uniform_vs_tail,unitree_z1_dual_arm_cleanup_pencils,case4,unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,4,sparse_4,tail_only_4,4,4,1.0,1.0,1.000000238418579,1.000000238418579,0.0,0.0,False,False
+budget_4_uniform_vs_tail,unitree_z1_dual_arm_cleanup_pencils,case4,unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,5,sparse_4,tail_only_4,4,4,1.0000001192092896,1.0000001192092896,0.9999999403953552,0.9999999403953552,0.0,0.0,False,False
+budget_4_uniform_vs_tail,unitree_z1_dual_arm_cleanup_pencils,case4,unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,6,sparse_4,tail_only_4,4,4,0.9999999403953552,0.9999999403953552,0.9999999403953552,0.9999999403953552,0.0,0.0,False,False
+budget_4_uniform_vs_tail,unitree_z1_dual_arm_cleanup_pencils,case4,unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,7,sparse_4,tail_only_4,4,4,0.9999999403953552,0.9999999403953552,1.0,1.0,0.0,0.0,False,False
+budget_4_uniform_vs_tail,unitree_z1_dual_arm_cleanup_pencils,case4,unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,0,sparse_4,tail_only_4,4,4,1.0000001192092896,1.0000001192092896,0.9999997615814208,0.9999997615814208,0.0,0.0,False,False
+budget_4_uniform_vs_tail,unitree_z1_dual_arm_cleanup_pencils,case4,unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,1,sparse_4,tail_only_4,4,4,1.0,1.0,1.0,1.0,0.0,0.0,False,False
+budget_4_uniform_vs_tail,unitree_z1_dual_arm_cleanup_pencils,case4,unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,2,sparse_4,tail_only_4,4,4,0.9999999403953552,0.9999999403953552,0.9999998807907104,0.9999998807907104,0.0,0.0,False,False
+budget_4_uniform_vs_tail,unitree_z1_dual_arm_cleanup_pencils,case4,unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,3,sparse_4,tail_only_4,4,4,0.9999999403953552,0.9999999403953552,1.0000001192092896,1.0000001192092896,0.0,0.0,False,False
+budget_4_uniform_vs_tail,unitree_z1_dual_arm_cleanup_pencils,case4,unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,4,sparse_4,tail_only_4,4,4,1.0000001192092896,1.0000001192092896,1.0,1.0,0.0,0.0,False,False
+budget_4_uniform_vs_tail,unitree_z1_dual_arm_cleanup_pencils,case4,unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,5,sparse_4,tail_only_4,4,4,0.9999999403953552,0.9999999403953552,0.999999701976776,0.999999701976776,0.0,0.0,False,False
+budget_4_uniform_vs_tail,unitree_z1_dual_arm_cleanup_pencils,case4,unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,6,sparse_4,tail_only_4,4,4,0.9999999403953552,0.9999999403953552,0.9999998807907104,0.9999998807907104,0.0,0.0,False,False
+budget_4_uniform_vs_tail,unitree_z1_dual_arm_cleanup_pencils,case4,unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,7,sparse_4,tail_only_4,4,4,1.0,1.0,0.9999999403953552,0.9999999403953552,0.0,0.0,False,False
+budget_4_uniform_vs_tail,unitree_z1_dual_arm_stackbox,case1,unitree_z1_dual_arm_stackbox-vid5-fs4,unitree_z1_dual_arm_stackbox,policy,0,sparse_4,tail_only_4,4,4,1.0,1.0,1.0,1.0,0.0,0.0,False,False
+budget_4_uniform_vs_tail,unitree_z1_dual_arm_stackbox,case1,unitree_z1_dual_arm_stackbox-vid5-fs4,unitree_z1_dual_arm_stackbox,policy,1,sparse_4,tail_only_4,4,4,1.0000001192092896,1.0000001192092896,0.9999999403953552,0.9999999403953552,0.0,0.0,False,False
+budget_4_uniform_vs_tail,unitree_z1_dual_arm_stackbox,case1,unitree_z1_dual_arm_stackbox-vid5-fs4,unitree_z1_dual_arm_stackbox,policy,2,sparse_4,tail_only_4,4,4,1.0000001192092896,1.0000001192092896,1.0,1.0,0.0,0.0,False,False
+budget_4_uniform_vs_tail,unitree_z1_dual_arm_stackbox,case1,unitree_z1_dual_arm_stackbox-vid5-fs4,unitree_z1_dual_arm_stackbox,policy,3,sparse_4,tail_only_4,4,4,0.9999998807907104,0.9999998807907104,1.0,1.0,0.0,0.0,False,False
+budget_4_uniform_vs_tail,unitree_z1_dual_arm_stackbox,case1,unitree_z1_dual_arm_stackbox-vid5-fs4,unitree_z1_dual_arm_stackbox,policy,4,sparse_4,tail_only_4,4,4,1.0,1.0,1.0000001192092896,1.0000001192092896,0.0,0.0,False,False
+budget_4_uniform_vs_tail,unitree_z1_dual_arm_stackbox,case1,unitree_z1_dual_arm_stackbox-vid5-fs4,unitree_z1_dual_arm_stackbox,policy,5,sparse_4,tail_only_4,4,4,1.0,1.0,1.0,1.0,0.0,0.0,False,False
+budget_4_uniform_vs_tail,unitree_z1_dual_arm_stackbox,case1,unitree_z1_dual_arm_stackbox-vid5-fs4,unitree_z1_dual_arm_stackbox,policy,6,sparse_4,tail_only_4,4,4,1.0,1.0,0.9999999403953552,0.9999999403953552,0.0,0.0,False,False
+budget_4_uniform_vs_tail,unitree_z1_dual_arm_stackbox,case1,unitree_z1_dual_arm_stackbox-vid5-fs4,unitree_z1_dual_arm_stackbox,world_model,0,sparse_4,tail_only_4,4,4,1.0,1.0,1.0000001192092896,1.0000001192092896,0.0,0.0,False,False
+budget_4_uniform_vs_tail,unitree_z1_dual_arm_stackbox,case1,unitree_z1_dual_arm_stackbox-vid5-fs4,unitree_z1_dual_arm_stackbox,world_model,1,sparse_4,tail_only_4,4,4,1.0000001192092896,1.0000001192092896,0.9999997615814208,0.9999997615814208,0.0,0.0,False,False
+budget_4_uniform_vs_tail,unitree_z1_dual_arm_stackbox,case1,unitree_z1_dual_arm_stackbox-vid5-fs4,unitree_z1_dual_arm_stackbox,world_model,2,sparse_4,tail_only_4,4,4,1.0,1.0,1.0000001192092896,1.0000001192092896,0.0,0.0,False,False
+budget_4_uniform_vs_tail,unitree_z1_dual_arm_stackbox,case1,unitree_z1_dual_arm_stackbox-vid5-fs4,unitree_z1_dual_arm_stackbox,world_model,3,sparse_4,tail_only_4,4,4,1.0,1.0,1.0,1.0,0.0,0.0,False,False
+budget_4_uniform_vs_tail,unitree_z1_dual_arm_stackbox,case1,unitree_z1_dual_arm_stackbox-vid5-fs4,unitree_z1_dual_arm_stackbox,world_model,4,sparse_4,tail_only_4,4,4,0.9999999403953552,0.9999999403953552,1.0,1.0,0.0,0.0,False,False
+budget_4_uniform_vs_tail,unitree_z1_dual_arm_stackbox,case1,unitree_z1_dual_arm_stackbox-vid5-fs4,unitree_z1_dual_arm_stackbox,world_model,5,sparse_4,tail_only_4,4,4,1.000000238418579,1.000000238418579,1.0,1.0,0.0,0.0,False,False
+budget_4_uniform_vs_tail,unitree_z1_dual_arm_stackbox,case1,unitree_z1_dual_arm_stackbox-vid5-fs4,unitree_z1_dual_arm_stackbox,world_model,6,sparse_4,tail_only_4,4,4,0.9999998807907104,0.9999998807907104,1.0,1.0,0.0,0.0,False,False
+budget_4_uniform_vs_tail,unitree_z1_dual_arm_stackbox,case2,unitree_z1_dual_arm_stackbox-vid15-fs4,unitree_z1_dual_arm_stackbox,policy,0,sparse_4,tail_only_4,4,4,1.0000001192092896,1.0000001192092896,0.9999998211860656,0.9999998211860656,0.0,0.0,False,False
+budget_4_uniform_vs_tail,unitree_z1_dual_arm_stackbox,case2,unitree_z1_dual_arm_stackbox-vid15-fs4,unitree_z1_dual_arm_stackbox,policy,1,sparse_4,tail_only_4,4,4,1.0,1.0,0.9999998211860656,0.9999998211860656,0.0,0.0,False,False
+budget_4_uniform_vs_tail,unitree_z1_dual_arm_stackbox,case2,unitree_z1_dual_arm_stackbox-vid15-fs4,unitree_z1_dual_arm_stackbox,policy,2,sparse_4,tail_only_4,4,4,1.0000001192092896,1.0000001192092896,0.9999998807907104,0.9999998807907104,0.0,0.0,False,False
+budget_4_uniform_vs_tail,unitree_z1_dual_arm_stackbox,case2,unitree_z1_dual_arm_stackbox-vid15-fs4,unitree_z1_dual_arm_stackbox,policy,3,sparse_4,tail_only_4,4,4,1.0,1.0,0.9999998807907104,0.9999998807907104,0.0,0.0,False,False
+budget_4_uniform_vs_tail,unitree_z1_dual_arm_stackbox,case2,unitree_z1_dual_arm_stackbox-vid15-fs4,unitree_z1_dual_arm_stackbox,policy,4,sparse_4,tail_only_4,4,4,0.9999998807907104,0.9999998807907104,1.0,1.0,0.0,0.0,False,False
+budget_4_uniform_vs_tail,unitree_z1_dual_arm_stackbox,case2,unitree_z1_dual_arm_stackbox-vid15-fs4,unitree_z1_dual_arm_stackbox,policy,5,sparse_4,tail_only_4,4,4,0.9999998211860656,0.9999998211860656,0.9999999403953552,0.9999999403953552,0.0,0.0,False,False
+budget_4_uniform_vs_tail,unitree_z1_dual_arm_stackbox,case2,unitree_z1_dual_arm_stackbox-vid15-fs4,unitree_z1_dual_arm_stackbox,policy,6,sparse_4,tail_only_4,4,4,1.0,1.0,0.9999999403953552,0.9999999403953552,0.0,0.0,False,False
+budget_4_uniform_vs_tail,unitree_z1_dual_arm_stackbox,case2,unitree_z1_dual_arm_stackbox-vid15-fs4,unitree_z1_dual_arm_stackbox,world_model,0,sparse_4,tail_only_4,4,4,1.0,1.0,1.0000001192092896,1.0000001192092896,0.0,0.0,False,False
+budget_4_uniform_vs_tail,unitree_z1_dual_arm_stackbox,case2,unitree_z1_dual_arm_stackbox-vid15-fs4,unitree_z1_dual_arm_stackbox,world_model,1,sparse_4,tail_only_4,4,4,1.0,1.0,1.0,1.0,0.0,0.0,False,False
+budget_4_uniform_vs_tail,unitree_z1_dual_arm_stackbox,case2,unitree_z1_dual_arm_stackbox-vid15-fs4,unitree_z1_dual_arm_stackbox,world_model,2,sparse_4,tail_only_4,4,4,1.0000001192092896,1.0000001192092896,1.0,1.0,0.0,0.0,False,False
+budget_4_uniform_vs_tail,unitree_z1_dual_arm_stackbox,case2,unitree_z1_dual_arm_stackbox-vid15-fs4,unitree_z1_dual_arm_stackbox,world_model,3,sparse_4,tail_only_4,4,4,1.0000001192092896,1.0000001192092896,1.0,1.0,0.0,0.0,False,False
+budget_4_uniform_vs_tail,unitree_z1_dual_arm_stackbox,case2,unitree_z1_dual_arm_stackbox-vid15-fs4,unitree_z1_dual_arm_stackbox,world_model,4,sparse_4,tail_only_4,4,4,1.0000001192092896,1.0000001192092896,1.0,1.0,0.0,0.0,False,False
+budget_4_uniform_vs_tail,unitree_z1_dual_arm_stackbox,case2,unitree_z1_dual_arm_stackbox-vid15-fs4,unitree_z1_dual_arm_stackbox,world_model,5,sparse_4,tail_only_4,4,4,1.0,1.0,1.0000001192092896,1.0000001192092896,0.0,0.0,False,False
+budget_4_uniform_vs_tail,unitree_z1_dual_arm_stackbox,case2,unitree_z1_dual_arm_stackbox-vid15-fs4,unitree_z1_dual_arm_stackbox,world_model,6,sparse_4,tail_only_4,4,4,1.0000001192092896,1.0000001192092896,1.0000001192092896,1.0000001192092896,0.0,0.0,False,False
+budget_4_uniform_vs_tail,unitree_z1_dual_arm_stackbox,case3,unitree_z1_dual_arm_stackbox-vid25-fs4,unitree_z1_dual_arm_stackbox,policy,0,sparse_4,tail_only_4,4,4,1.0,1.0,1.0000001192092896,1.0000001192092896,0.0,0.0,False,False
+budget_4_uniform_vs_tail,unitree_z1_dual_arm_stackbox,case3,unitree_z1_dual_arm_stackbox-vid25-fs4,unitree_z1_dual_arm_stackbox,policy,1,sparse_4,tail_only_4,4,4,1.000000238418579,1.000000238418579,0.9999999403953552,0.9999999403953552,0.0,0.0,False,False
+budget_4_uniform_vs_tail,unitree_z1_dual_arm_stackbox,case3,unitree_z1_dual_arm_stackbox-vid25-fs4,unitree_z1_dual_arm_stackbox,policy,2,sparse_4,tail_only_4,4,4,0.9999998211860656,0.9999998211860656,1.0,1.0,0.0,0.0,False,False
+budget_4_uniform_vs_tail,unitree_z1_dual_arm_stackbox,case3,unitree_z1_dual_arm_stackbox-vid25-fs4,unitree_z1_dual_arm_stackbox,policy,3,sparse_4,tail_only_4,4,4,0.9999999403953552,0.9999999403953552,0.9999999403953552,0.9999999403953552,0.0,0.0,False,False
+budget_4_uniform_vs_tail,unitree_z1_dual_arm_stackbox,case3,unitree_z1_dual_arm_stackbox-vid25-fs4,unitree_z1_dual_arm_stackbox,policy,4,sparse_4,tail_only_4,4,4,1.0000001192092896,1.0000001192092896,1.000000238418579,1.000000238418579,0.0,0.0,False,False
+budget_4_uniform_vs_tail,unitree_z1_dual_arm_stackbox,case3,unitree_z1_dual_arm_stackbox-vid25-fs4,unitree_z1_dual_arm_stackbox,policy,5,sparse_4,tail_only_4,4,4,0.9999999403953552,0.9999999403953552,1.0,1.0,0.0,0.0,False,False
+budget_4_uniform_vs_tail,unitree_z1_dual_arm_stackbox,case3,unitree_z1_dual_arm_stackbox-vid25-fs4,unitree_z1_dual_arm_stackbox,policy,6,sparse_4,tail_only_4,4,4,1.0000001192092896,1.0000001192092896,0.9999998807907104,0.9999998807907104,0.0,0.0,False,False
+budget_4_uniform_vs_tail,unitree_z1_dual_arm_stackbox,case3,unitree_z1_dual_arm_stackbox-vid25-fs4,unitree_z1_dual_arm_stackbox,world_model,0,sparse_4,tail_only_4,4,4,0.9999999403953552,0.9999999403953552,1.0,1.0,0.0,0.0,False,False
+budget_4_uniform_vs_tail,unitree_z1_dual_arm_stackbox,case3,unitree_z1_dual_arm_stackbox-vid25-fs4,unitree_z1_dual_arm_stackbox,world_model,1,sparse_4,tail_only_4,4,4,1.0,1.0,0.9999999403953552,0.9999999403953552,0.0,0.0,False,False
+budget_4_uniform_vs_tail,unitree_z1_dual_arm_stackbox,case3,unitree_z1_dual_arm_stackbox-vid25-fs4,unitree_z1_dual_arm_stackbox,world_model,2,sparse_4,tail_only_4,4,4,0.9999998807907104,0.9999998807907104,0.9999998807907104,0.9999998807907104,0.0,0.0,False,False
+budget_4_uniform_vs_tail,unitree_z1_dual_arm_stackbox,case3,unitree_z1_dual_arm_stackbox-vid25-fs4,unitree_z1_dual_arm_stackbox,world_model,3,sparse_4,tail_only_4,4,4,1.0,1.0,1.0,1.0,0.0,0.0,False,False
+budget_4_uniform_vs_tail,unitree_z1_dual_arm_stackbox,case3,unitree_z1_dual_arm_stackbox-vid25-fs4,unitree_z1_dual_arm_stackbox,world_model,4,sparse_4,tail_only_4,4,4,1.0000001192092896,1.0000001192092896,1.0,1.0,0.0,0.0,False,False
+budget_4_uniform_vs_tail,unitree_z1_dual_arm_stackbox,case3,unitree_z1_dual_arm_stackbox-vid25-fs4,unitree_z1_dual_arm_stackbox,world_model,5,sparse_4,tail_only_4,4,4,1.0,1.0,1.0000001192092896,1.0000001192092896,0.0,0.0,False,False
+budget_4_uniform_vs_tail,unitree_z1_dual_arm_stackbox,case3,unitree_z1_dual_arm_stackbox-vid25-fs4,unitree_z1_dual_arm_stackbox,world_model,6,sparse_4,tail_only_4,4,4,1.0,1.0,0.9999998807907104,0.9999998807907104,0.0,0.0,False,False
+budget_4_uniform_vs_tail,unitree_z1_dual_arm_stackbox,case4,unitree_z1_dual_arm_stackbox-vid35-fs4,unitree_z1_dual_arm_stackbox,policy,0,sparse_4,tail_only_4,4,4,1.0000001192092896,1.0000001192092896,1.0,1.0,0.0,0.0,False,False
+budget_4_uniform_vs_tail,unitree_z1_dual_arm_stackbox,case4,unitree_z1_dual_arm_stackbox-vid35-fs4,unitree_z1_dual_arm_stackbox,policy,1,sparse_4,tail_only_4,4,4,1.0,1.0,1.0,1.0,0.0,0.0,False,False
+budget_4_uniform_vs_tail,unitree_z1_dual_arm_stackbox,case4,unitree_z1_dual_arm_stackbox-vid35-fs4,unitree_z1_dual_arm_stackbox,policy,2,sparse_4,tail_only_4,4,4,1.0,1.0,0.9999998807907104,0.9999998807907104,0.0,0.0,False,False
+budget_4_uniform_vs_tail,unitree_z1_dual_arm_stackbox,case4,unitree_z1_dual_arm_stackbox-vid35-fs4,unitree_z1_dual_arm_stackbox,policy,3,sparse_4,tail_only_4,4,4,1.0,1.0,1.0000001192092896,1.0000001192092896,0.0,0.0,False,False
+budget_4_uniform_vs_tail,unitree_z1_dual_arm_stackbox,case4,unitree_z1_dual_arm_stackbox-vid35-fs4,unitree_z1_dual_arm_stackbox,policy,4,sparse_4,tail_only_4,4,4,1.0,1.0,0.9999998211860656,0.9999998211860656,0.0,0.0,False,False
+budget_4_uniform_vs_tail,unitree_z1_dual_arm_stackbox,case4,unitree_z1_dual_arm_stackbox-vid35-fs4,unitree_z1_dual_arm_stackbox,policy,5,sparse_4,tail_only_4,4,4,0.9999998807907104,0.9999998807907104,0.9999998211860656,0.9999998211860656,0.0,0.0,False,False
+budget_4_uniform_vs_tail,unitree_z1_dual_arm_stackbox,case4,unitree_z1_dual_arm_stackbox-vid35-fs4,unitree_z1_dual_arm_stackbox,policy,6,sparse_4,tail_only_4,4,4,1.0,1.0,1.0,1.0,0.0,0.0,False,False
+budget_4_uniform_vs_tail,unitree_z1_dual_arm_stackbox,case4,unitree_z1_dual_arm_stackbox-vid35-fs4,unitree_z1_dual_arm_stackbox,world_model,0,sparse_4,tail_only_4,4,4,1.0000001192092896,1.0000001192092896,0.9999999403953552,0.9999999403953552,0.0,0.0,False,False
+budget_4_uniform_vs_tail,unitree_z1_dual_arm_stackbox,case4,unitree_z1_dual_arm_stackbox-vid35-fs4,unitree_z1_dual_arm_stackbox,world_model,1,sparse_4,tail_only_4,4,4,1.0,1.0,0.9999998807907104,0.9999998807907104,0.0,0.0,False,False
+budget_4_uniform_vs_tail,unitree_z1_dual_arm_stackbox,case4,unitree_z1_dual_arm_stackbox-vid35-fs4,unitree_z1_dual_arm_stackbox,world_model,2,sparse_4,tail_only_4,4,4,1.0000001192092896,1.0000001192092896,0.9999998807907104,0.9999998807907104,0.0,0.0,False,False
+budget_4_uniform_vs_tail,unitree_z1_dual_arm_stackbox,case4,unitree_z1_dual_arm_stackbox-vid35-fs4,unitree_z1_dual_arm_stackbox,world_model,3,sparse_4,tail_only_4,4,4,1.0000001192092896,1.0000001192092896,1.0,1.0,0.0,0.0,False,False
+budget_4_uniform_vs_tail,unitree_z1_dual_arm_stackbox,case4,unitree_z1_dual_arm_stackbox-vid35-fs4,unitree_z1_dual_arm_stackbox,world_model,4,sparse_4,tail_only_4,4,4,0.9999998211860656,0.9999998211860656,1.0,1.0,0.0,0.0,False,False
+budget_4_uniform_vs_tail,unitree_z1_dual_arm_stackbox,case4,unitree_z1_dual_arm_stackbox-vid35-fs4,unitree_z1_dual_arm_stackbox,world_model,5,sparse_4,tail_only_4,4,4,0.9999999403953552,0.9999999403953552,0.9999998211860656,0.9999998211860656,0.0,0.0,False,False
+budget_4_uniform_vs_tail,unitree_z1_dual_arm_stackbox,case4,unitree_z1_dual_arm_stackbox-vid35-fs4,unitree_z1_dual_arm_stackbox,world_model,6,sparse_4,tail_only_4,4,4,0.9999998807907104,0.9999998807907104,0.9999999403953552,0.9999999403953552,0.0,0.0,False,False
+budget_4_uniform_vs_tail,unitree_z1_dual_arm_stackbox_v2,case1,unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,policy,0,sparse_4,tail_only_4,4,4,0.9999999403953552,0.9999999403953552,0.9999998211860656,0.9999998211860656,0.0,0.0,False,False
+budget_4_uniform_vs_tail,unitree_z1_dual_arm_stackbox_v2,case1,unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,policy,1,sparse_4,tail_only_4,4,4,1.0,1.0,1.0,1.0,0.0,0.0,False,False
+budget_4_uniform_vs_tail,unitree_z1_dual_arm_stackbox_v2,case1,unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,policy,2,sparse_4,tail_only_4,4,4,1.0,1.0,1.0000001192092896,1.0000001192092896,0.0,0.0,False,False
+budget_4_uniform_vs_tail,unitree_z1_dual_arm_stackbox_v2,case1,unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,policy,3,sparse_4,tail_only_4,4,4,1.0,1.0,1.0,1.0,0.0,0.0,False,False
+budget_4_uniform_vs_tail,unitree_z1_dual_arm_stackbox_v2,case1,unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,policy,4,sparse_4,tail_only_4,4,4,1.0000001192092896,1.0000001192092896,1.0,1.0,0.0,0.0,False,False
+budget_4_uniform_vs_tail,unitree_z1_dual_arm_stackbox_v2,case1,unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,policy,5,sparse_4,tail_only_4,4,4,1.0000001192092896,1.0000001192092896,1.0,1.0,0.0,0.0,False,False
+budget_4_uniform_vs_tail,unitree_z1_dual_arm_stackbox_v2,case1,unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,policy,6,sparse_4,tail_only_4,4,4,1.0,1.0,0.9999998807907104,0.9999998807907104,0.0,0.0,False,False
+budget_4_uniform_vs_tail,unitree_z1_dual_arm_stackbox_v2,case1,unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,policy,7,sparse_4,tail_only_4,4,4,1.0,1.0,0.9999998211860656,0.9999998211860656,0.0,0.0,False,False
+budget_4_uniform_vs_tail,unitree_z1_dual_arm_stackbox_v2,case1,unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,policy,8,sparse_4,tail_only_4,4,4,1.0,1.0,1.0,1.0,0.0,0.0,False,False
+budget_4_uniform_vs_tail,unitree_z1_dual_arm_stackbox_v2,case1,unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,policy,9,sparse_4,tail_only_4,4,4,1.0,1.0,1.0,1.0,0.0,0.0,False,False
+budget_4_uniform_vs_tail,unitree_z1_dual_arm_stackbox_v2,case1,unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,policy,10,sparse_4,tail_only_4,4,4,1.0,1.0,1.0,1.0,0.0,0.0,False,False
+budget_4_uniform_vs_tail,unitree_z1_dual_arm_stackbox_v2,case1,unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,0,sparse_4,tail_only_4,4,4,1.0,1.0,0.9999999403953552,0.9999999403953552,0.0,0.0,False,False
+budget_4_uniform_vs_tail,unitree_z1_dual_arm_stackbox_v2,case1,unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,1,sparse_4,tail_only_4,4,4,1.0,1.0,1.0,1.0,0.0,0.0,False,False
+budget_4_uniform_vs_tail,unitree_z1_dual_arm_stackbox_v2,case1,unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,2,sparse_4,tail_only_4,4,4,1.0000001192092896,1.0000001192092896,1.0,1.0,0.0,0.0,False,False
+budget_4_uniform_vs_tail,unitree_z1_dual_arm_stackbox_v2,case1,unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,3,sparse_4,tail_only_4,4,4,0.9999998807907104,0.9999998807907104,1.0,1.0,0.0,0.0,False,False
+budget_4_uniform_vs_tail,unitree_z1_dual_arm_stackbox_v2,case1,unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,4,sparse_4,tail_only_4,4,4,1.0000001192092896,1.0000001192092896,1.0,1.0,0.0,0.0,False,False
+budget_4_uniform_vs_tail,unitree_z1_dual_arm_stackbox_v2,case1,unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,5,sparse_4,tail_only_4,4,4,0.9999998807907104,0.9999998807907104,1.0000001192092896,1.0000001192092896,0.0,0.0,False,False
+budget_4_uniform_vs_tail,unitree_z1_dual_arm_stackbox_v2,case1,unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,6,sparse_4,tail_only_4,4,4,0.9999998807907104,0.9999998807907104,1.0,1.0,0.0,0.0,False,False
+budget_4_uniform_vs_tail,unitree_z1_dual_arm_stackbox_v2,case1,unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,7,sparse_4,tail_only_4,4,4,1.0,1.0,0.9999998211860656,0.9999998211860656,0.0,0.0,False,False
+budget_4_uniform_vs_tail,unitree_z1_dual_arm_stackbox_v2,case1,unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,8,sparse_4,tail_only_4,4,4,0.9999998211860656,0.9999998211860656,1.0,1.0,0.0,0.0,False,False
+budget_4_uniform_vs_tail,unitree_z1_dual_arm_stackbox_v2,case1,unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,9,sparse_4,tail_only_4,4,4,1.0,1.0,1.0000001192092896,1.0000001192092896,0.0,0.0,False,False
+budget_4_uniform_vs_tail,unitree_z1_dual_arm_stackbox_v2,case1,unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,10,sparse_4,tail_only_4,4,4,1.0,1.0,1.0,1.0,0.0,0.0,False,False
+budget_4_uniform_vs_tail,unitree_z1_dual_arm_stackbox_v2,case2,unitree_z1_dual_arm_stackbox_v2-vid15-fs4,unitree_z1_dual_arm_stackbox_v2,policy,0,sparse_4,tail_only_4,4,4,1.0,1.0,1.0,1.0,0.0,0.0,False,False
+budget_4_uniform_vs_tail,unitree_z1_dual_arm_stackbox_v2,case2,unitree_z1_dual_arm_stackbox_v2-vid15-fs4,unitree_z1_dual_arm_stackbox_v2,policy,1,sparse_4,tail_only_4,4,4,1.0000001192092896,1.0000001192092896,1.0,1.0,0.0,0.0,False,False
+budget_4_uniform_vs_tail,unitree_z1_dual_arm_stackbox_v2,case2,unitree_z1_dual_arm_stackbox_v2-vid15-fs4,unitree_z1_dual_arm_stackbox_v2,policy,2,sparse_4,tail_only_4,4,4,1.0,1.0,1.0000001192092896,1.0000001192092896,0.0,0.0,False,False
+budget_4_uniform_vs_tail,unitree_z1_dual_arm_stackbox_v2,case2,unitree_z1_dual_arm_stackbox_v2-vid15-fs4,unitree_z1_dual_arm_stackbox_v2,policy,3,sparse_4,tail_only_4,4,4,0.9999999403953552,0.9999999403953552,1.0000001192092896,1.0000001192092896,0.0,0.0,False,False
+budget_4_uniform_vs_tail,unitree_z1_dual_arm_stackbox_v2,case2,unitree_z1_dual_arm_stackbox_v2-vid15-fs4,unitree_z1_dual_arm_stackbox_v2,policy,4,sparse_4,tail_only_4,4,4,1.0000001192092896,1.0000001192092896,1.000000238418579,1.000000238418579,0.0,0.0,False,False
+budget_4_uniform_vs_tail,unitree_z1_dual_arm_stackbox_v2,case2,unitree_z1_dual_arm_stackbox_v2-vid15-fs4,unitree_z1_dual_arm_stackbox_v2,policy,5,sparse_4,tail_only_4,4,4,0.9999999403953552,0.9999999403953552,0.9999999403953552,0.9999999403953552,0.0,0.0,False,False
+budget_4_uniform_vs_tail,unitree_z1_dual_arm_stackbox_v2,case2,unitree_z1_dual_arm_stackbox_v2-vid15-fs4,unitree_z1_dual_arm_stackbox_v2,policy,6,sparse_4,tail_only_4,4,4,1.0000001192092896,1.0000001192092896,1.0,1.0,0.0,0.0,False,False
+budget_4_uniform_vs_tail,unitree_z1_dual_arm_stackbox_v2,case2,unitree_z1_dual_arm_stackbox_v2-vid15-fs4,unitree_z1_dual_arm_stackbox_v2,policy,7,sparse_4,tail_only_4,4,4,1.0,1.0,0.9999999403953552,0.9999999403953552,0.0,0.0,False,False
+budget_4_uniform_vs_tail,unitree_z1_dual_arm_stackbox_v2,case2,unitree_z1_dual_arm_stackbox_v2-vid15-fs4,unitree_z1_dual_arm_stackbox_v2,policy,8,sparse_4,tail_only_4,4,4,1.0,1.0,1.0,1.0,0.0,0.0,False,False
+budget_4_uniform_vs_tail,unitree_z1_dual_arm_stackbox_v2,case2,unitree_z1_dual_arm_stackbox_v2-vid15-fs4,unitree_z1_dual_arm_stackbox_v2,policy,9,sparse_4,tail_only_4,4,4,0.9999997615814208,0.9999997615814208,1.0,1.0,0.0,0.0,False,False
+budget_4_uniform_vs_tail,unitree_z1_dual_arm_stackbox_v2,case2,unitree_z1_dual_arm_stackbox_v2-vid15-fs4,unitree_z1_dual_arm_stackbox_v2,policy,10,sparse_4,tail_only_4,4,4,1.0,1.0,1.0000001192092896,1.0000001192092896,0.0,0.0,False,False
+budget_4_uniform_vs_tail,unitree_z1_dual_arm_stackbox_v2,case2,unitree_z1_dual_arm_stackbox_v2-vid15-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,0,sparse_4,tail_only_4,4,4,1.0000001192092896,1.0000001192092896,1.0,1.0,0.0,0.0,False,False
+budget_4_uniform_vs_tail,unitree_z1_dual_arm_stackbox_v2,case2,unitree_z1_dual_arm_stackbox_v2-vid15-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,1,sparse_4,tail_only_4,4,4,1.0,1.0,0.9999999403953552,0.9999999403953552,0.0,0.0,False,False
+budget_4_uniform_vs_tail,unitree_z1_dual_arm_stackbox_v2,case2,unitree_z1_dual_arm_stackbox_v2-vid15-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,2,sparse_4,tail_only_4,4,4,1.000000238418579,1.000000238418579,0.9999998807907104,0.9999998807907104,0.0,0.0,False,False
+budget_4_uniform_vs_tail,unitree_z1_dual_arm_stackbox_v2,case2,unitree_z1_dual_arm_stackbox_v2-vid15-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,3,sparse_4,tail_only_4,4,4,0.9999999403953552,0.9999999403953552,0.9999999403953552,0.9999999403953552,0.0,0.0,False,False
+budget_4_uniform_vs_tail,unitree_z1_dual_arm_stackbox_v2,case2,unitree_z1_dual_arm_stackbox_v2-vid15-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,4,sparse_4,tail_only_4,4,4,0.9999999403953552,0.9999999403953552,1.0000001192092896,1.0000001192092896,0.0,0.0,False,False
+budget_4_uniform_vs_tail,unitree_z1_dual_arm_stackbox_v2,case2,unitree_z1_dual_arm_stackbox_v2-vid15-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,5,sparse_4,tail_only_4,4,4,0.9999998807907104,0.9999998807907104,1.0,1.0,0.0,0.0,False,False
+budget_4_uniform_vs_tail,unitree_z1_dual_arm_stackbox_v2,case2,unitree_z1_dual_arm_stackbox_v2-vid15-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,6,sparse_4,tail_only_4,4,4,0.9999999403953552,0.9999999403953552,1.0,1.0,0.0,0.0,False,False
+budget_4_uniform_vs_tail,unitree_z1_dual_arm_stackbox_v2,case2,unitree_z1_dual_arm_stackbox_v2-vid15-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,7,sparse_4,tail_only_4,4,4,1.0000001192092896,1.0000001192092896,0.9999999403953552,0.9999999403953552,0.0,0.0,False,False
+budget_4_uniform_vs_tail,unitree_z1_dual_arm_stackbox_v2,case2,unitree_z1_dual_arm_stackbox_v2-vid15-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,8,sparse_4,tail_only_4,4,4,1.0000001192092896,1.0000001192092896,1.0,1.0,0.0,0.0,False,False
+budget_4_uniform_vs_tail,unitree_z1_dual_arm_stackbox_v2,case2,unitree_z1_dual_arm_stackbox_v2-vid15-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,9,sparse_4,tail_only_4,4,4,1.0,1.0,1.0,1.0,0.0,0.0,False,False
+budget_4_uniform_vs_tail,unitree_z1_dual_arm_stackbox_v2,case2,unitree_z1_dual_arm_stackbox_v2-vid15-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,10,sparse_4,tail_only_4,4,4,1.0,1.0,1.0000001192092896,1.0000001192092896,0.0,0.0,False,False
+budget_4_uniform_vs_tail,unitree_z1_dual_arm_stackbox_v2,case3,unitree_z1_dual_arm_stackbox_v2-vid25-fs4,unitree_z1_dual_arm_stackbox_v2,policy,0,sparse_4,tail_only_4,4,4,1.0,1.0,1.0,1.0,0.0,0.0,False,False
+budget_4_uniform_vs_tail,unitree_z1_dual_arm_stackbox_v2,case3,unitree_z1_dual_arm_stackbox_v2-vid25-fs4,unitree_z1_dual_arm_stackbox_v2,policy,1,sparse_4,tail_only_4,4,4,1.0,1.0,0.9999998807907104,0.9999998807907104,0.0,0.0,False,False
+budget_4_uniform_vs_tail,unitree_z1_dual_arm_stackbox_v2,case3,unitree_z1_dual_arm_stackbox_v2-vid25-fs4,unitree_z1_dual_arm_stackbox_v2,policy,2,sparse_4,tail_only_4,4,4,0.9999999403953552,0.9999999403953552,0.9999999403953552,0.9999999403953552,0.0,0.0,False,False
+budget_4_uniform_vs_tail,unitree_z1_dual_arm_stackbox_v2,case3,unitree_z1_dual_arm_stackbox_v2-vid25-fs4,unitree_z1_dual_arm_stackbox_v2,policy,3,sparse_4,tail_only_4,4,4,1.0000001192092896,1.0000001192092896,0.9999998807907104,0.9999998807907104,0.0,0.0,False,False
+budget_4_uniform_vs_tail,unitree_z1_dual_arm_stackbox_v2,case3,unitree_z1_dual_arm_stackbox_v2-vid25-fs4,unitree_z1_dual_arm_stackbox_v2,policy,4,sparse_4,tail_only_4,4,4,1.0,1.0,0.9999998807907104,0.9999998807907104,0.0,0.0,False,False
+budget_4_uniform_vs_tail,unitree_z1_dual_arm_stackbox_v2,case3,unitree_z1_dual_arm_stackbox_v2-vid25-fs4,unitree_z1_dual_arm_stackbox_v2,policy,5,sparse_4,tail_only_4,4,4,1.0000001192092896,1.0000001192092896,1.0,1.0,0.0,0.0,False,False
+budget_4_uniform_vs_tail,unitree_z1_dual_arm_stackbox_v2,case3,unitree_z1_dual_arm_stackbox_v2-vid25-fs4,unitree_z1_dual_arm_stackbox_v2,policy,6,sparse_4,tail_only_4,4,4,1.0,1.0,1.0,1.0,0.0,0.0,False,False
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+budget_4_uniform_vs_tail,unitree_z1_dual_arm_stackbox_v2,case3,unitree_z1_dual_arm_stackbox_v2-vid25-fs4,unitree_z1_dual_arm_stackbox_v2,policy,8,sparse_4,tail_only_4,4,4,1.0,1.0,1.0000001192092896,1.0000001192092896,0.0,0.0,False,False
+budget_4_uniform_vs_tail,unitree_z1_dual_arm_stackbox_v2,case3,unitree_z1_dual_arm_stackbox_v2-vid25-fs4,unitree_z1_dual_arm_stackbox_v2,policy,9,sparse_4,tail_only_4,4,4,1.0,1.0,1.0,1.0,0.0,0.0,False,False
+budget_4_uniform_vs_tail,unitree_z1_dual_arm_stackbox_v2,case3,unitree_z1_dual_arm_stackbox_v2-vid25-fs4,unitree_z1_dual_arm_stackbox_v2,policy,10,sparse_4,tail_only_4,4,4,1.0,1.0,0.9999998807907104,0.9999998807907104,0.0,0.0,False,False
+budget_4_uniform_vs_tail,unitree_z1_dual_arm_stackbox_v2,case3,unitree_z1_dual_arm_stackbox_v2-vid25-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,0,sparse_4,tail_only_4,4,4,0.9999998807907104,0.9999998807907104,1.0000001192092896,1.0000001192092896,0.0,0.0,False,False
+budget_4_uniform_vs_tail,unitree_z1_dual_arm_stackbox_v2,case3,unitree_z1_dual_arm_stackbox_v2-vid25-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,1,sparse_4,tail_only_4,4,4,1.0,1.0,1.0,1.0,0.0,0.0,False,False
+budget_4_uniform_vs_tail,unitree_z1_dual_arm_stackbox_v2,case3,unitree_z1_dual_arm_stackbox_v2-vid25-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,2,sparse_4,tail_only_4,4,4,1.0,1.0,0.9999999403953552,0.9999999403953552,0.0,0.0,False,False
+budget_4_uniform_vs_tail,unitree_z1_dual_arm_stackbox_v2,case3,unitree_z1_dual_arm_stackbox_v2-vid25-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,3,sparse_4,tail_only_4,4,4,0.9999998807907104,0.9999998807907104,1.0,1.0,0.0,0.0,False,False
+budget_4_uniform_vs_tail,unitree_z1_dual_arm_stackbox_v2,case3,unitree_z1_dual_arm_stackbox_v2-vid25-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,4,sparse_4,tail_only_4,4,4,0.9999998807907104,0.9999998807907104,1.0000001192092896,1.0000001192092896,0.0,0.0,False,False
+budget_4_uniform_vs_tail,unitree_z1_dual_arm_stackbox_v2,case3,unitree_z1_dual_arm_stackbox_v2-vid25-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,5,sparse_4,tail_only_4,4,4,0.9999999403953552,0.9999999403953552,1.0000001192092896,1.0000001192092896,0.0,0.0,False,False
+budget_4_uniform_vs_tail,unitree_z1_dual_arm_stackbox_v2,case3,unitree_z1_dual_arm_stackbox_v2-vid25-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,6,sparse_4,tail_only_4,4,4,1.0000001192092896,1.0000001192092896,0.9999998807907104,0.9999998807907104,0.0,0.0,False,False
+budget_4_uniform_vs_tail,unitree_z1_dual_arm_stackbox_v2,case3,unitree_z1_dual_arm_stackbox_v2-vid25-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,7,sparse_4,tail_only_4,4,4,1.0000001192092896,1.0000001192092896,1.0,1.0,0.0,0.0,False,False
+budget_4_uniform_vs_tail,unitree_z1_dual_arm_stackbox_v2,case3,unitree_z1_dual_arm_stackbox_v2-vid25-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,8,sparse_4,tail_only_4,4,4,1.0,1.0,0.9999998807907104,0.9999998807907104,0.0,0.0,False,False
+budget_4_uniform_vs_tail,unitree_z1_dual_arm_stackbox_v2,case3,unitree_z1_dual_arm_stackbox_v2-vid25-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,9,sparse_4,tail_only_4,4,4,1.0,1.0,0.9999999403953552,0.9999999403953552,0.0,0.0,False,False
+budget_4_uniform_vs_tail,unitree_z1_dual_arm_stackbox_v2,case3,unitree_z1_dual_arm_stackbox_v2-vid25-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,10,sparse_4,tail_only_4,4,4,1.0,1.0,1.0000001192092896,1.0000001192092896,0.0,0.0,False,False
+budget_4_uniform_vs_tail,unitree_z1_dual_arm_stackbox_v2,case4,unitree_z1_dual_arm_stackbox_v2-vid35-fs4,unitree_z1_dual_arm_stackbox_v2,policy,0,sparse_4,tail_only_4,4,4,1.000000238418579,1.000000238418579,1.0,1.0,0.0,0.0,False,False
+budget_4_uniform_vs_tail,unitree_z1_dual_arm_stackbox_v2,case4,unitree_z1_dual_arm_stackbox_v2-vid35-fs4,unitree_z1_dual_arm_stackbox_v2,policy,1,sparse_4,tail_only_4,4,4,1.0000001192092896,1.0000001192092896,1.0,1.0,0.0,0.0,False,False
+budget_4_uniform_vs_tail,unitree_z1_dual_arm_stackbox_v2,case4,unitree_z1_dual_arm_stackbox_v2-vid35-fs4,unitree_z1_dual_arm_stackbox_v2,policy,2,sparse_4,tail_only_4,4,4,0.9999999403953552,0.9999999403953552,0.9999999403953552,0.9999999403953552,0.0,0.0,False,False
+budget_4_uniform_vs_tail,unitree_z1_dual_arm_stackbox_v2,case4,unitree_z1_dual_arm_stackbox_v2-vid35-fs4,unitree_z1_dual_arm_stackbox_v2,policy,3,sparse_4,tail_only_4,4,4,1.0000001192092896,1.0000001192092896,0.9999998807907104,0.9999998807907104,0.0,0.0,False,False
+budget_4_uniform_vs_tail,unitree_z1_dual_arm_stackbox_v2,case4,unitree_z1_dual_arm_stackbox_v2-vid35-fs4,unitree_z1_dual_arm_stackbox_v2,policy,4,sparse_4,tail_only_4,4,4,0.9999998807907104,0.9999998807907104,1.0,1.0,0.0,0.0,False,False
+budget_4_uniform_vs_tail,unitree_z1_dual_arm_stackbox_v2,case4,unitree_z1_dual_arm_stackbox_v2-vid35-fs4,unitree_z1_dual_arm_stackbox_v2,policy,5,sparse_4,tail_only_4,4,4,1.0,1.0,1.0,1.0,0.0,0.0,False,False
+budget_4_uniform_vs_tail,unitree_z1_dual_arm_stackbox_v2,case4,unitree_z1_dual_arm_stackbox_v2-vid35-fs4,unitree_z1_dual_arm_stackbox_v2,policy,6,sparse_4,tail_only_4,4,4,0.9999999403953552,0.9999999403953552,0.9999999403953552,0.9999999403953552,0.0,0.0,False,False
+budget_4_uniform_vs_tail,unitree_z1_dual_arm_stackbox_v2,case4,unitree_z1_dual_arm_stackbox_v2-vid35-fs4,unitree_z1_dual_arm_stackbox_v2,policy,7,sparse_4,tail_only_4,4,4,0.9999999403953552,0.9999999403953552,1.0,1.0,0.0,0.0,False,False
+budget_4_uniform_vs_tail,unitree_z1_dual_arm_stackbox_v2,case4,unitree_z1_dual_arm_stackbox_v2-vid35-fs4,unitree_z1_dual_arm_stackbox_v2,policy,8,sparse_4,tail_only_4,4,4,1.0,1.0,1.0,1.0,0.0,0.0,False,False
+budget_4_uniform_vs_tail,unitree_z1_dual_arm_stackbox_v2,case4,unitree_z1_dual_arm_stackbox_v2-vid35-fs4,unitree_z1_dual_arm_stackbox_v2,policy,9,sparse_4,tail_only_4,4,4,1.0000001192092896,1.0000001192092896,0.9999998211860656,0.9999998211860656,0.0,0.0,False,False
+budget_4_uniform_vs_tail,unitree_z1_dual_arm_stackbox_v2,case4,unitree_z1_dual_arm_stackbox_v2-vid35-fs4,unitree_z1_dual_arm_stackbox_v2,policy,10,sparse_4,tail_only_4,4,4,1.0,1.0,0.9999998807907104,0.9999998807907104,0.0,0.0,False,False
+budget_4_uniform_vs_tail,unitree_z1_dual_arm_stackbox_v2,case4,unitree_z1_dual_arm_stackbox_v2-vid35-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,0,sparse_4,tail_only_4,4,4,1.0,1.0,1.0,1.0,0.0,0.0,False,False
+budget_4_uniform_vs_tail,unitree_z1_dual_arm_stackbox_v2,case4,unitree_z1_dual_arm_stackbox_v2-vid35-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,1,sparse_4,tail_only_4,4,4,1.0,1.0,0.9999998807907104,0.9999998807907104,0.0,0.0,False,False
+budget_4_uniform_vs_tail,unitree_z1_dual_arm_stackbox_v2,case4,unitree_z1_dual_arm_stackbox_v2-vid35-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,2,sparse_4,tail_only_4,4,4,0.9999998807907104,0.9999998807907104,0.9999998807907104,0.9999998807907104,0.0,0.0,False,False
+budget_4_uniform_vs_tail,unitree_z1_dual_arm_stackbox_v2,case4,unitree_z1_dual_arm_stackbox_v2-vid35-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,3,sparse_4,tail_only_4,4,4,0.9999999403953552,0.9999999403953552,1.0000001192092896,1.0000001192092896,0.0,0.0,False,False
+budget_4_uniform_vs_tail,unitree_z1_dual_arm_stackbox_v2,case4,unitree_z1_dual_arm_stackbox_v2-vid35-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,4,sparse_4,tail_only_4,4,4,1.0000001192092896,1.0000001192092896,0.9999998211860656,0.9999998211860656,0.0,0.0,False,False
+budget_4_uniform_vs_tail,unitree_z1_dual_arm_stackbox_v2,case4,unitree_z1_dual_arm_stackbox_v2-vid35-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,5,sparse_4,tail_only_4,4,4,1.0000001192092896,1.0000001192092896,0.9999999403953552,0.9999999403953552,0.0,0.0,False,False
+budget_4_uniform_vs_tail,unitree_z1_dual_arm_stackbox_v2,case4,unitree_z1_dual_arm_stackbox_v2-vid35-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,6,sparse_4,tail_only_4,4,4,1.0,1.0,1.0000001192092896,1.0000001192092896,0.0,0.0,False,False
+budget_4_uniform_vs_tail,unitree_z1_dual_arm_stackbox_v2,case4,unitree_z1_dual_arm_stackbox_v2-vid35-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,7,sparse_4,tail_only_4,4,4,1.0,1.0,0.9999999403953552,0.9999999403953552,0.0,0.0,False,False
+budget_4_uniform_vs_tail,unitree_z1_dual_arm_stackbox_v2,case4,unitree_z1_dual_arm_stackbox_v2-vid35-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,8,sparse_4,tail_only_4,4,4,0.9999999403953552,0.9999999403953552,1.0,1.0,0.0,0.0,False,False
+budget_4_uniform_vs_tail,unitree_z1_dual_arm_stackbox_v2,case4,unitree_z1_dual_arm_stackbox_v2-vid35-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,9,sparse_4,tail_only_4,4,4,0.9999999403953552,0.9999999403953552,0.9999999403953552,0.9999999403953552,0.0,0.0,False,False
+budget_4_uniform_vs_tail,unitree_z1_dual_arm_stackbox_v2,case4,unitree_z1_dual_arm_stackbox_v2-vid35-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,10,sparse_4,tail_only_4,4,4,1.0000001192092896,1.0000001192092896,1.0000001192092896,1.0000001192092896,0.0,0.0,False,False
+budget_4_uniform_vs_tail,unitree_z1_stackbox,case1,unitree_z1_stackbox-vid5-fs4,unitree_z1_stackbox,policy,0,sparse_4,tail_only_4,4,4,1.0000001192092896,1.0000001192092896,1.0,1.0,0.0,0.0,False,False
+budget_4_uniform_vs_tail,unitree_z1_stackbox,case1,unitree_z1_stackbox-vid5-fs4,unitree_z1_stackbox,policy,1,sparse_4,tail_only_4,4,4,0.9999998807907104,0.9999998807907104,1.0,1.0,0.0,0.0,False,False
+budget_4_uniform_vs_tail,unitree_z1_stackbox,case1,unitree_z1_stackbox-vid5-fs4,unitree_z1_stackbox,policy,2,sparse_4,tail_only_4,4,4,1.0,1.0,1.0000001192092896,1.0000001192092896,0.0,0.0,False,False
+budget_4_uniform_vs_tail,unitree_z1_stackbox,case1,unitree_z1_stackbox-vid5-fs4,unitree_z1_stackbox,policy,3,sparse_4,tail_only_4,4,4,1.0,1.0,1.0,1.0,0.0,0.0,False,False
+budget_4_uniform_vs_tail,unitree_z1_stackbox,case1,unitree_z1_stackbox-vid5-fs4,unitree_z1_stackbox,policy,4,sparse_4,tail_only_4,4,4,0.9999998807907104,0.9999998807907104,1.0000001192092896,1.0000001192092896,0.0,0.0,False,False
+budget_4_uniform_vs_tail,unitree_z1_stackbox,case1,unitree_z1_stackbox-vid5-fs4,unitree_z1_stackbox,policy,5,sparse_4,tail_only_4,4,4,0.9999997615814208,0.9999997615814208,1.0,1.0,0.0,0.0,False,False
+budget_4_uniform_vs_tail,unitree_z1_stackbox,case1,unitree_z1_stackbox-vid5-fs4,unitree_z1_stackbox,policy,6,sparse_4,tail_only_4,4,4,1.0000001192092896,1.0000001192092896,0.9999999403953552,0.9999999403953552,0.0,0.0,False,False
+budget_4_uniform_vs_tail,unitree_z1_stackbox,case1,unitree_z1_stackbox-vid5-fs4,unitree_z1_stackbox,policy,7,sparse_4,tail_only_4,4,4,0.9999999403953552,0.9999999403953552,1.0,1.0,0.0,0.0,False,False
+budget_4_uniform_vs_tail,unitree_z1_stackbox,case1,unitree_z1_stackbox-vid5-fs4,unitree_z1_stackbox,policy,8,sparse_4,tail_only_4,4,4,0.9999999403953552,0.9999999403953552,0.9999999403953552,0.9999999403953552,0.0,0.0,False,False
+budget_4_uniform_vs_tail,unitree_z1_stackbox,case1,unitree_z1_stackbox-vid5-fs4,unitree_z1_stackbox,policy,9,sparse_4,tail_only_4,4,4,1.0,1.0,1.0,1.0,0.0,0.0,False,False
+budget_4_uniform_vs_tail,unitree_z1_stackbox,case1,unitree_z1_stackbox-vid5-fs4,unitree_z1_stackbox,policy,10,sparse_4,tail_only_4,4,4,0.9999998807907104,0.9999998807907104,0.9999999403953552,0.9999999403953552,0.0,0.0,False,False
+budget_4_uniform_vs_tail,unitree_z1_stackbox,case1,unitree_z1_stackbox-vid5-fs4,unitree_z1_stackbox,policy,11,sparse_4,tail_only_4,4,4,1.0,1.0,1.0,1.0,0.0,0.0,False,False
+budget_4_uniform_vs_tail,unitree_z1_stackbox,case1,unitree_z1_stackbox-vid5-fs4,unitree_z1_stackbox,world_model,0,sparse_4,tail_only_4,4,4,1.0,1.0,0.9999999403953552,0.9999999403953552,0.0,0.0,False,False
+budget_4_uniform_vs_tail,unitree_z1_stackbox,case1,unitree_z1_stackbox-vid5-fs4,unitree_z1_stackbox,world_model,1,sparse_4,tail_only_4,4,4,0.9999999403953552,0.9999999403953552,0.9999999403953552,0.9999999403953552,0.0,0.0,False,False
+budget_4_uniform_vs_tail,unitree_z1_stackbox,case1,unitree_z1_stackbox-vid5-fs4,unitree_z1_stackbox,world_model,2,sparse_4,tail_only_4,4,4,1.0,1.0,0.9999998807907104,0.9999998807907104,0.0,0.0,False,False
+budget_4_uniform_vs_tail,unitree_z1_stackbox,case1,unitree_z1_stackbox-vid5-fs4,unitree_z1_stackbox,world_model,3,sparse_4,tail_only_4,4,4,1.0,1.0,1.0000001192092896,1.0000001192092896,0.0,0.0,False,False
+budget_4_uniform_vs_tail,unitree_z1_stackbox,case1,unitree_z1_stackbox-vid5-fs4,unitree_z1_stackbox,world_model,4,sparse_4,tail_only_4,4,4,0.9999999403953552,0.9999999403953552,1.0000001192092896,1.0000001192092896,0.0,0.0,False,False
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+budget_4_uniform_vs_tail,unitree_z1_stackbox,case1,unitree_z1_stackbox-vid5-fs4,unitree_z1_stackbox,world_model,6,sparse_4,tail_only_4,4,4,1.0000001192092896,1.0000001192092896,1.0000001192092896,1.0000001192092896,0.0,0.0,False,False
+budget_4_uniform_vs_tail,unitree_z1_stackbox,case1,unitree_z1_stackbox-vid5-fs4,unitree_z1_stackbox,world_model,7,sparse_4,tail_only_4,4,4,0.9999999403953552,0.9999999403953552,1.0,1.0,0.0,0.0,False,False
+budget_4_uniform_vs_tail,unitree_z1_stackbox,case1,unitree_z1_stackbox-vid5-fs4,unitree_z1_stackbox,world_model,8,sparse_4,tail_only_4,4,4,1.0000001192092896,1.0000001192092896,1.0000001192092896,1.0000001192092896,0.0,0.0,False,False
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+budget_4_uniform_vs_tail,unitree_z1_stackbox,case1,unitree_z1_stackbox-vid5-fs4,unitree_z1_stackbox,world_model,10,sparse_4,tail_only_4,4,4,0.9999998211860656,0.9999998211860656,1.0,1.0,0.0,0.0,False,False
+budget_4_uniform_vs_tail,unitree_z1_stackbox,case1,unitree_z1_stackbox-vid5-fs4,unitree_z1_stackbox,world_model,11,sparse_4,tail_only_4,4,4,0.9999999403953552,0.9999999403953552,1.0,1.0,0.0,0.0,False,False
+budget_4_uniform_vs_tail,unitree_z1_stackbox,case2,unitree_z1_stackbox-vid15-fs4,unitree_z1_stackbox,policy,0,sparse_4,tail_only_4,4,4,1.0,1.0,1.0,1.0,0.0,0.0,False,False
+budget_4_uniform_vs_tail,unitree_z1_stackbox,case2,unitree_z1_stackbox-vid15-fs4,unitree_z1_stackbox,policy,1,sparse_4,tail_only_4,4,4,0.9999998807907104,0.9999998807907104,1.0,1.0,0.0,0.0,False,False
+budget_4_uniform_vs_tail,unitree_z1_stackbox,case2,unitree_z1_stackbox-vid15-fs4,unitree_z1_stackbox,policy,2,sparse_4,tail_only_4,4,4,1.0,1.0,1.0000001192092896,1.0000001192092896,0.0,0.0,False,False
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+budget_10_uniform_vs_tail,unitree_z1_dual_arm_stackbox_v2,case3,unitree_z1_dual_arm_stackbox_v2-vid25-fs4,unitree_z1_dual_arm_stackbox_v2,policy,3,sparse_10,tail_heavy_10,10,10,0.9299420714378356,1.0000001192092896,0.893512487411499,0.9999998807907104,0.07005804777145397,0.10648739337921143,True,True
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+budget_10_uniform_vs_tail,unitree_z1_stackbox,case2,unitree_z1_stackbox-vid15-fs4,unitree_z1_stackbox,world_model,11,sparse_10,tail_heavy_10,10,10,0.9352982640266418,0.9999998807907104,0.9097172021865844,1.0,0.0647016167640686,0.09028279781341564,True,True
+budget_10_uniform_vs_tail,unitree_z1_stackbox,case3,unitree_z1_stackbox-vid25-fs4,unitree_z1_stackbox,policy,0,sparse_10,tail_heavy_10,10,10,0.9312159419059752,1.0000001192092896,0.9262552857398988,0.9999999403953552,0.06878417730331432,0.07374465465545643,True,True
+budget_10_uniform_vs_tail,unitree_z1_stackbox,case3,unitree_z1_stackbox-vid25-fs4,unitree_z1_stackbox,policy,1,sparse_10,tail_heavy_10,10,10,0.9191746711730956,1.0,0.8791322708129883,1.0000001192092896,0.08082532882690441,0.12086784839630127,True,True
+budget_10_uniform_vs_tail,unitree_z1_stackbox,case3,unitree_z1_stackbox-vid25-fs4,unitree_z1_stackbox,policy,2,sparse_10,tail_heavy_10,10,10,0.9047927856445312,1.0000001192092896,0.8545554876327515,1.0,0.0952073335647583,0.14544451236724854,True,True
+budget_10_uniform_vs_tail,unitree_z1_stackbox,case3,unitree_z1_stackbox-vid25-fs4,unitree_z1_stackbox,policy,3,sparse_10,tail_heavy_10,10,10,0.927449345588684,0.9999999403953552,0.8517977595329285,1.0000001192092896,0.07255059480667125,0.14820235967636108,True,True
+budget_10_uniform_vs_tail,unitree_z1_stackbox,case3,unitree_z1_stackbox-vid25-fs4,unitree_z1_stackbox,policy,4,sparse_10,tail_heavy_10,10,10,0.933821976184845,1.0,0.8976989984512329,0.9999999403953552,0.06617802381515503,0.10230094194412231,True,True
+budget_10_uniform_vs_tail,unitree_z1_stackbox,case3,unitree_z1_stackbox-vid25-fs4,unitree_z1_stackbox,policy,5,sparse_10,tail_heavy_10,10,10,0.9040592312812804,1.0000001192092896,0.8774176836013794,0.9999999403953552,0.09594088792800914,0.12258225679397583,True,True
+budget_10_uniform_vs_tail,unitree_z1_stackbox,case3,unitree_z1_stackbox-vid25-fs4,unitree_z1_stackbox,policy,6,sparse_10,tail_heavy_10,10,10,0.9175687432289124,0.9999999403953552,0.8795047402381897,0.9999999403953552,0.08243119716644287,0.12049520015716553,True,True
+budget_10_uniform_vs_tail,unitree_z1_stackbox,case3,unitree_z1_stackbox-vid25-fs4,unitree_z1_stackbox,policy,7,sparse_10,tail_heavy_10,10,10,0.9271655082702636,1.0000001192092896,0.9095368981361388,0.9999999403953552,0.07283461093902599,0.09046304225921642,True,True
+budget_10_uniform_vs_tail,unitree_z1_stackbox,case3,unitree_z1_stackbox-vid25-fs4,unitree_z1_stackbox,policy,8,sparse_10,tail_heavy_10,10,10,0.930356740951538,1.0000001192092896,0.8970968127250671,1.0,0.06964337825775158,0.10290318727493286,True,True
+budget_10_uniform_vs_tail,unitree_z1_stackbox,case3,unitree_z1_stackbox-vid25-fs4,unitree_z1_stackbox,policy,9,sparse_10,tail_heavy_10,10,10,0.9564909338951112,1.0,0.9225341081619264,1.0,0.043509066104888805,0.07746589183807362,True,True
+budget_10_uniform_vs_tail,unitree_z1_stackbox,case3,unitree_z1_stackbox-vid25-fs4,unitree_z1_stackbox,policy,10,sparse_10,tail_heavy_10,10,10,0.9538347721099854,1.0000001192092896,0.9519178867340088,0.9999998807907104,0.0461653470993042,0.04808199405670166,True,True
+budget_10_uniform_vs_tail,unitree_z1_stackbox,case3,unitree_z1_stackbox-vid25-fs4,unitree_z1_stackbox,policy,11,sparse_10,tail_heavy_10,10,10,0.921643078327179,0.9999999403953552,0.9174652099609376,1.0000001192092896,0.07835686206817627,0.08253490924835194,True,True
+budget_10_uniform_vs_tail,unitree_z1_stackbox,case3,unitree_z1_stackbox-vid25-fs4,unitree_z1_stackbox,world_model,0,sparse_10,tail_heavy_10,10,10,0.9208671450614928,1.0000001192092896,0.9262765645980836,1.0,0.07913297414779674,0.07372343540191639,True,True
+budget_10_uniform_vs_tail,unitree_z1_stackbox,case3,unitree_z1_stackbox-vid25-fs4,unitree_z1_stackbox,world_model,1,sparse_10,tail_heavy_10,10,10,0.9043360948562622,0.9999999403953552,0.896213173866272,1.0,0.09566384553909302,0.10378682613372803,True,True
+budget_10_uniform_vs_tail,unitree_z1_stackbox,case3,unitree_z1_stackbox-vid25-fs4,unitree_z1_stackbox,world_model,2,sparse_10,tail_heavy_10,10,10,0.9063259959220886,0.9999999403953552,0.8606122732162476,1.0,0.0936739444732666,0.13938772678375244,True,True
+budget_10_uniform_vs_tail,unitree_z1_stackbox,case3,unitree_z1_stackbox-vid25-fs4,unitree_z1_stackbox,world_model,3,sparse_10,tail_heavy_10,10,10,0.9003292918205261,0.9999999403953552,0.8686328530311584,1.0000001192092896,0.0996706485748291,0.1313672661781311,True,True
+budget_10_uniform_vs_tail,unitree_z1_stackbox,case3,unitree_z1_stackbox-vid25-fs4,unitree_z1_stackbox,world_model,4,sparse_10,tail_heavy_10,10,10,0.9111433029174804,0.9999999403953552,0.8671343922615051,1.0000001192092896,0.08885663747787487,0.13286572694778442,True,True
+budget_10_uniform_vs_tail,unitree_z1_stackbox,case3,unitree_z1_stackbox-vid25-fs4,unitree_z1_stackbox,world_model,5,sparse_10,tail_heavy_10,10,10,0.8990719318389893,1.000000238418579,0.861188530921936,0.9999998807907104,0.10092830657958984,0.13881134986877441,True,True
+budget_10_uniform_vs_tail,unitree_z1_stackbox,case3,unitree_z1_stackbox-vid25-fs4,unitree_z1_stackbox,world_model,6,sparse_10,tail_heavy_10,10,10,0.9225613474845886,1.0,0.8547720909118652,1.0,0.07743865251541138,0.14522790908813477,True,True
+budget_10_uniform_vs_tail,unitree_z1_stackbox,case3,unitree_z1_stackbox-vid25-fs4,unitree_z1_stackbox,world_model,7,sparse_10,tail_heavy_10,10,10,0.934043824672699,1.0,0.882340133190155,1.0000001192092896,0.06595617532730103,0.11765998601913452,True,True
+budget_10_uniform_vs_tail,unitree_z1_stackbox,case3,unitree_z1_stackbox-vid25-fs4,unitree_z1_stackbox,world_model,8,sparse_10,tail_heavy_10,10,10,0.9359076619148254,1.0000001192092896,0.9182506799697876,0.9999998211860656,0.06409245729446411,0.08174914121627797,True,True
+budget_10_uniform_vs_tail,unitree_z1_stackbox,case3,unitree_z1_stackbox-vid25-fs4,unitree_z1_stackbox,world_model,9,sparse_10,tail_heavy_10,10,10,0.9572707414627076,1.0000001192092896,0.920383632183075,1.0,0.04272937774658192,0.07961636781692505,True,True
+budget_10_uniform_vs_tail,unitree_z1_stackbox,case3,unitree_z1_stackbox-vid25-fs4,unitree_z1_stackbox,world_model,10,sparse_10,tail_heavy_10,10,10,0.9570080041885376,1.0,0.9457313418388368,0.9999999403953552,0.0429919958114624,0.054268598556518444,True,True
+budget_10_uniform_vs_tail,unitree_z1_stackbox,case3,unitree_z1_stackbox-vid25-fs4,unitree_z1_stackbox,world_model,11,sparse_10,tail_heavy_10,10,10,0.9230222702026368,1.0,0.908018946647644,1.0,0.07697772979736317,0.09198105335235596,True,True
+budget_10_uniform_vs_tail,unitree_z1_stackbox,case4,unitree_z1_stackbox-vid35-fs4,unitree_z1_stackbox,policy,0,sparse_10,tail_heavy_10,10,10,0.9342024922370912,1.0,0.9270498156547546,0.9999998807907104,0.06579750776290882,0.07295006513595581,True,True
+budget_10_uniform_vs_tail,unitree_z1_stackbox,case4,unitree_z1_stackbox-vid35-fs4,unitree_z1_stackbox,policy,1,sparse_10,tail_heavy_10,10,10,0.9103716611862184,1.0000001192092896,0.8729943037033081,1.0000001192092896,0.08962845802307118,0.12700581550598145,True,True
+budget_10_uniform_vs_tail,unitree_z1_stackbox,case4,unitree_z1_stackbox-vid35-fs4,unitree_z1_stackbox,policy,2,sparse_10,tail_heavy_10,10,10,0.8914221525192261,1.0000001192092896,0.8511219024658203,1.0,0.10857796669006348,0.1488780975341797,True,True
+budget_10_uniform_vs_tail,unitree_z1_stackbox,case4,unitree_z1_stackbox-vid35-fs4,unitree_z1_stackbox,policy,3,sparse_10,tail_heavy_10,10,10,0.92068612575531,0.9999999403953552,0.843471348285675,1.0,0.07931381464004528,0.15652865171432495,True,True
+budget_10_uniform_vs_tail,unitree_z1_stackbox,case4,unitree_z1_stackbox-vid35-fs4,unitree_z1_stackbox,policy,4,sparse_10,tail_heavy_10,10,10,0.9353570938110352,1.0000001192092896,0.8963953852653503,1.000000238418579,0.0646430253982544,0.10360485315322876,True,True
+budget_10_uniform_vs_tail,unitree_z1_stackbox,case4,unitree_z1_stackbox-vid35-fs4,unitree_z1_stackbox,policy,5,sparse_10,tail_heavy_10,10,10,0.9168113470077516,1.0000001192092896,0.8760880827903748,0.9999998807907104,0.08318877220153797,0.1239117980003357,True,True
+budget_10_uniform_vs_tail,unitree_z1_stackbox,case4,unitree_z1_stackbox-vid35-fs4,unitree_z1_stackbox,policy,6,sparse_10,tail_heavy_10,10,10,0.8839888572692871,0.9999999403953552,0.8551775217056274,1.0000001192092896,0.11601108312606812,0.1448225975036621,True,True
+budget_10_uniform_vs_tail,unitree_z1_stackbox,case4,unitree_z1_stackbox-vid35-fs4,unitree_z1_stackbox,policy,7,sparse_10,tail_heavy_10,10,10,0.8825993537902832,1.0000001192092896,0.8498155474662781,1.0,0.11740076541900635,0.15018445253372192,True,True
+budget_10_uniform_vs_tail,unitree_z1_stackbox,case4,unitree_z1_stackbox-vid35-fs4,unitree_z1_stackbox,policy,8,sparse_10,tail_heavy_10,10,10,0.91397225856781,0.9999998807907104,0.8406524062156677,1.0000001192092896,0.0860276222229005,0.15934771299362183,True,True
+budget_10_uniform_vs_tail,unitree_z1_stackbox,case4,unitree_z1_stackbox-vid35-fs4,unitree_z1_stackbox,policy,9,sparse_10,tail_heavy_10,10,10,0.9312644004821776,1.0000001192092896,0.8878860473632812,0.9999999403953552,0.06873571872711193,0.11211389303207397,True,True
+budget_10_uniform_vs_tail,unitree_z1_stackbox,case4,unitree_z1_stackbox-vid35-fs4,unitree_z1_stackbox,policy,10,sparse_10,tail_heavy_10,10,10,0.9113539457321168,1.0000001192092896,0.8596420884132385,0.9999999403953552,0.08864617347717274,0.1403578519821167,True,True
+budget_10_uniform_vs_tail,unitree_z1_stackbox,case4,unitree_z1_stackbox-vid35-fs4,unitree_z1_stackbox,policy,11,sparse_10,tail_heavy_10,10,10,0.9064526557922364,0.9999998807907104,0.8743717074394226,1.0000001192092896,0.09354722499847401,0.12562841176986694,True,True
+budget_10_uniform_vs_tail,unitree_z1_stackbox,case4,unitree_z1_stackbox-vid35-fs4,unitree_z1_stackbox,world_model,0,sparse_10,tail_heavy_10,10,10,0.919853448867798,0.9999999403953552,0.9285799264907836,1.0,0.08014649152755726,0.07142007350921642,True,True
+budget_10_uniform_vs_tail,unitree_z1_stackbox,case4,unitree_z1_stackbox-vid35-fs4,unitree_z1_stackbox,world_model,1,sparse_10,tail_heavy_10,10,10,0.9033793807029724,1.0,0.8779439926147461,0.9999998807907104,0.09662061929702759,0.12205588817596436,True,True
+budget_10_uniform_vs_tail,unitree_z1_stackbox,case4,unitree_z1_stackbox-vid35-fs4,unitree_z1_stackbox,world_model,2,sparse_10,tail_heavy_10,10,10,0.8956214189529419,1.0,0.8765794634819031,1.0000001192092896,0.1043785810470581,0.12342065572738647,True,True
+budget_10_uniform_vs_tail,unitree_z1_stackbox,case4,unitree_z1_stackbox-vid35-fs4,unitree_z1_stackbox,world_model,3,sparse_10,tail_heavy_10,10,10,0.8847419619560242,1.0000001192092896,0.8466486930847168,1.0,0.11525815725326538,0.1533513069152832,True,True
+budget_10_uniform_vs_tail,unitree_z1_stackbox,case4,unitree_z1_stackbox-vid35-fs4,unitree_z1_stackbox,world_model,4,sparse_10,tail_heavy_10,10,10,0.9222402572631836,1.0,0.8915694952011108,1.000000238418579,0.0777597427368164,0.10843074321746826,True,True
+budget_10_uniform_vs_tail,unitree_z1_stackbox,case4,unitree_z1_stackbox-vid35-fs4,unitree_z1_stackbox,world_model,5,sparse_10,tail_heavy_10,10,10,0.90371572971344,1.0000001192092896,0.8827851414680481,1.000000238418579,0.0962843894958495,0.117215096950531,True,True
+budget_10_uniform_vs_tail,unitree_z1_stackbox,case4,unitree_z1_stackbox-vid35-fs4,unitree_z1_stackbox,world_model,6,sparse_10,tail_heavy_10,10,10,0.9058117270469666,1.0,0.8453359007835388,0.9999998807907104,0.09418827295303345,0.15466398000717163,True,True
+budget_10_uniform_vs_tail,unitree_z1_stackbox,case4,unitree_z1_stackbox-vid35-fs4,unitree_z1_stackbox,world_model,7,sparse_10,tail_heavy_10,10,10,0.8919125199317932,0.9999997615814208,0.804178774356842,0.9999998807907104,0.10808724164962757,0.1958211064338684,True,True
+budget_10_uniform_vs_tail,unitree_z1_stackbox,case4,unitree_z1_stackbox-vid35-fs4,unitree_z1_stackbox,world_model,8,sparse_10,tail_heavy_10,10,10,0.9209533929824828,1.0,0.8650254011154175,1.0,0.0790466070175172,0.13497459888458252,True,True
+budget_10_uniform_vs_tail,unitree_z1_stackbox,case4,unitree_z1_stackbox-vid35-fs4,unitree_z1_stackbox,world_model,9,sparse_10,tail_heavy_10,10,10,0.932636260986328,0.9999999403953552,0.8867981433868408,1.0,0.06736367940902721,0.11320185661315918,True,True
+budget_10_uniform_vs_tail,unitree_z1_stackbox,case4,unitree_z1_stackbox-vid35-fs4,unitree_z1_stackbox,world_model,10,sparse_10,tail_heavy_10,10,10,0.8941242098808289,1.000000238418579,0.843647301197052,1.0000001192092896,0.10587602853775024,0.15635281801223755,True,True
+budget_10_uniform_vs_tail,unitree_z1_stackbox,case4,unitree_z1_stackbox-vid35-fs4,unitree_z1_stackbox,world_model,11,sparse_10,tail_heavy_10,10,10,0.9126275777816772,1.0,0.8781864643096924,0.9999999403953552,0.08737242221832275,0.12181347608566284,True,True
diff --git a/src/unifolm_wma/models/samplers/ddim.py b/src/unifolm_wma/models/samplers/ddim.py
index 5ef8070..9be4c39 100644
--- a/src/unifolm_wma/models/samplers/ddim.py
+++ b/src/unifolm_wma/models/samplers/ddim.py
@@ -110,6 +110,9 @@ class DDIMSampler(object):
             action_T=None,
             state_T=None,
             record_step_outputs=False,
+            head_schedule=None,
+            head_log_steps=None,
+            head_skip_mode="reuse_prediction",
             **kwargs):
 
         # Check condition bs
@@ -168,6 +171,9 @@ class DDIMSampler(object):
             action_T=action_T,
             state_T=state_T,
             record_step_outputs=record_step_outputs,
+            head_schedule=head_schedule,
+            head_log_steps=head_log_steps,
+            head_skip_mode=head_skip_mode,
             **kwargs)
         return samples, actions, states, intermediates
 
@@ -197,6 +203,9 @@ class DDIMSampler(object):
                       action_T=None,
                       state_T=None,
                       record_step_outputs=False,
+                      head_schedule=None,
+                      head_log_steps=None,
+                      head_skip_mode="reuse_prediction",
                       **kwargs):
         device = self.model.betas.device
         dp_ddim_scheduler_action = self.model.dp_noise_scheduler_action
@@ -248,6 +257,14 @@ class DDIMSampler(object):
                 'state': state.detach().cpu(),
             }
             intermediates['step_records'] = []
+        head_schedule_set = None if head_schedule is None else {
+            int(step_index) for step_index in head_schedule
+        }
+        head_log_steps_set = None if head_log_steps is None else {
+            int(step_index) for step_index in head_log_steps
+        }
+        if head_log_steps_set is not None:
+            intermediates['head_sparse_logs'] = {}
         time_range = reversed(range(
             0, timesteps)) if ddim_use_original_steps else np.flip(timesteps)
         total_steps = timesteps if ddim_use_original_steps else timesteps.shape[
@@ -261,6 +278,14 @@ class DDIMSampler(object):
         sync_device = device if isinstance(device, torch.device) else torch.device(
             device)
         should_sync = record_step_outputs and sync_device.type == "cuda"
+        if head_skip_mode not in {"reuse_prediction", "freeze_state"}:
+            raise ValueError(
+                f"Unsupported head_skip_mode={head_skip_mode!r}. "
+                "Expected 'reuse_prediction' or 'freeze_state'.")
+        x_action_frozen = action.detach().clone()
+        x_state_frozen = state.detach().clone()
+        action_pred_cache = None
+        state_pred_cache = None
 
         dp_ddim_scheduler_action.set_timesteps(len(timesteps))
         dp_ddim_scheduler_state.set_timesteps(len(timesteps))
@@ -280,6 +305,11 @@ class DDIMSampler(object):
             if should_sync:
                 torch.cuda.synchronize(sync_device)
             step_start_time = time.time()
+            scheduled_head = head_schedule_set is None or i in head_schedule_set
+            if head_skip_mode == "reuse_prediction":
+                run_head = scheduled_head or action_pred_cache is None or state_pred_cache is None
+            else:
+                run_head = scheduled_head
 
             outs = self.p_sample_ddim(
                 img,
@@ -300,22 +330,48 @@ class DDIMSampler(object):
                 x0=x0,
                 fs=fs,
                 guidance_rescale=guidance_rescale,
+                backbone_step_index=i + 1,
+                run_head=run_head,
                 **kwargs)
 
             img, pred_x0, model_output_action, model_output_state = outs
 
-            action = dp_ddim_scheduler_action.step(
-                model_output_action,
-                step,
-                action,
-                generator=None,
-            ).prev_sample
-            state = dp_ddim_scheduler_state.step(
-                model_output_state,
-                step,
-                state,
-                generator=None,
-            ).prev_sample
+            if run_head:
+                action_pred_cache = model_output_action.detach().clone()
+                state_pred_cache = model_output_state.detach().clone()
+                action = dp_ddim_scheduler_action.step(
+                    model_output_action,
+                    step,
+                    action,
+                    generator=None,
+                ).prev_sample
+                state = dp_ddim_scheduler_state.step(
+                    model_output_state,
+                    step,
+                    state,
+                    generator=None,
+                ).prev_sample
+                x_action_frozen = action.detach().clone()
+                x_state_frozen = state.detach().clone()
+            else:
+                if head_skip_mode == "reuse_prediction":
+                    action = dp_ddim_scheduler_action.step(
+                        action_pred_cache,
+                        step,
+                        action,
+                        generator=None,
+                    ).prev_sample
+                    state = dp_ddim_scheduler_state.step(
+                        state_pred_cache,
+                        step,
+                        state,
+                        generator=None,
+                    ).prev_sample
+                    x_action_frozen = action.detach().clone()
+                    x_state_frozen = state.detach().clone()
+                else:
+                    action = x_action_frozen
+                    state = x_state_frozen
 
             if should_sync:
                 torch.cuda.synchronize(sync_device)
@@ -329,10 +385,21 @@ class DDIMSampler(object):
                 intermediates['pred_x0'].append(pred_x0)
                 intermediates['x_inter_action'].append(action)
                 intermediates['x_inter_state'].append(state)
+            if head_log_steps_set is not None and i in head_log_steps_set:
+                intermediates['head_sparse_logs'][i] = {
+                    'step_index': i,
+                    'ddim_timestep': int(step),
+                    'head_executed': run_head,
+                    'img': img.detach().cpu(),
+                    'pred_x0': pred_x0.detach().cpu(),
+                    'action': action.detach().cpu(),
+                    'state': state.detach().cpu(),
+                }
             if record_step_outputs:
                 intermediates['step_records'].append({
                     'step_index': i + 1,
                     'ddim_timestep': int(step),
+                    'head_executed': run_head,
                     'img': img.detach().cpu(),
                     'pred_x0': pred_x0.detach().cpu(),
                     'action': action.detach().cpu(),
@@ -364,6 +431,7 @@ class DDIMSampler(object):
                       mask=None,
                       x0=None,
                       guidance_rescale=0.0,
+                      run_head=True,
                       **kwargs):
         b, *_, device = *x.shape, x.device
         if x.dim() == 5:
@@ -373,35 +441,42 @@ class DDIMSampler(object):
 
         if unconditional_conditioning is None or unconditional_guidance_scale == 1.:
             model_output, model_output_action, model_output_state = self.model.apply_model(
-                x, x_action, x_state, t, c, **kwargs)  # unet denoiser
+                x, x_action, x_state, t, c, run_head=run_head,
+                **kwargs)  # unet denoiser
         else:
             # do_classifier_free_guidance
             if isinstance(c, torch.Tensor) or isinstance(c, dict):
                 e_t_cond, e_t_cond_action, e_t_cond_state = self.model.apply_model(
-                    x, x_action, x_state, t, c, **kwargs)
+                    x, x_action, x_state, t, c, run_head=run_head, **kwargs)
                 e_t_uncond, e_t_uncond_action, e_t_uncond_state = self.model.apply_model(
                     x, x_action, x_state, t, unconditional_conditioning,
+                    run_head=run_head,
                     **kwargs)
             else:
                 raise NotImplementedError
             model_output = e_t_uncond + unconditional_guidance_scale * (
                 e_t_cond - e_t_uncond)
-            model_output_action = e_t_uncond_action + unconditional_guidance_scale * (
-                e_t_cond_action - e_t_uncond_action)
-            model_output_state = e_t_uncond_state + unconditional_guidance_scale * (
-                e_t_cond_state - e_t_uncond_state)
+            if run_head:
+                model_output_action = e_t_uncond_action + unconditional_guidance_scale * (
+                    e_t_cond_action - e_t_uncond_action)
+                model_output_state = e_t_uncond_state + unconditional_guidance_scale * (
+                    e_t_cond_state - e_t_uncond_state)
+            else:
+                model_output_action = None
+                model_output_state = None
 
             if guidance_rescale > 0.0:
                 model_output = rescale_noise_cfg(
                     model_output, e_t_cond, guidance_rescale=guidance_rescale)
-                model_output_action = rescale_noise_cfg(
-                    model_output_action,
-                    e_t_cond_action,
-                    guidance_rescale=guidance_rescale)
-                model_output_state = rescale_noise_cfg(
-                    model_output_state,
-                    e_t_cond_state,
-                    guidance_rescale=guidance_rescale)
+                if run_head:
+                    model_output_action = rescale_noise_cfg(
+                        model_output_action,
+                        e_t_cond_action,
+                        guidance_rescale=guidance_rescale)
+                    model_output_state = rescale_noise_cfg(
+                        model_output_state,
+                        e_t_cond_state,
+                        guidance_rescale=guidance_rescale)
 
         if self.model.parameterization == "v":
             e_t = self.model.predict_eps_from_z_and_v(x, t, model_output)
diff --git a/src/unifolm_wma/modules/networks/wma_model.py b/src/unifolm_wma/modules/networks/wma_model.py
index e1b4838..b9befb7 100644
--- a/src/unifolm_wma/modules/networks/wma_model.py
+++ b/src/unifolm_wma/modules/networks/wma_model.py
@@ -1,6 +1,7 @@
 import torch
 import torch.nn as nn
 import torch.nn.functional as F
+import time
 
 from torch import Tensor
 from functools import partial
@@ -715,6 +716,9 @@ class WMAModel(nn.Module):
         """
 
         b, _, t, _, _ = x.shape
+        run_head = kwargs.pop("run_head", True)
+        backbone_block_profiler = kwargs.pop("backbone_block_profiler", None)
+        backbone_step_index = kwargs.pop("backbone_step_index", None)
         t_emb = timestep_embedding(timesteps,
                                    self.model_channels,
                                    repeat_only=False).type(x.dtype)
@@ -791,14 +795,47 @@ class WMAModel(nn.Module):
             fs_embed = fs_embed.repeat_interleave(repeats=t, dim=0)
             emb = emb + fs_embed
 
+        def run_block_with_profile(block_name: str, block_stage: str,
+                                   block_index: int | None,
+                                   fn: Callable[[], Tensor]) -> Tensor:
+            if backbone_block_profiler is None or backbone_step_index is None:
+                return fn()
+            if x.device.type == "cuda":
+                torch.cuda.synchronize(x.device)
+            start_time = time.perf_counter()
+            out = fn()
+            if x.device.type == "cuda":
+                torch.cuda.synchronize(x.device)
+            backbone_block_profiler.record_block(
+                step=int(backbone_step_index),
+                block_name=block_name,
+                block_stage=block_stage,
+                block_index=block_index,
+                output=out,
+                forward_time_ms=(time.perf_counter() - start_time) * 1000.0,
+            )
+            return out
+
         h = x.type(self.dtype)
         adapter_idx = 0
         hs = []
         hs_a = []
         for id, module in enumerate(self.input_blocks):
-            h = module(h, emb, context=context, batch_size=b)
-            if id == 0 and self.addition_attention:
-                h = self.init_attn(h, emb, context=context, batch_size=b)
+            def run_input_block() -> Tensor:
+                block_out = module(h, emb, context=context, batch_size=b)
+                if id == 0 and self.addition_attention:
+                    block_out = self.init_attn(block_out,
+                                               emb,
+                                               context=context,
+                                               batch_size=b)
+                return block_out
+
+            h = run_block_with_profile(
+                block_name=f"input_{id}",
+                block_stage="input_blocks",
+                block_index=id,
+                fn=run_input_block,
+            )
             # plug-in adapter features
             if ((id + 1) % 3 == 0) and features_adapter is not None:
                 h = h + features_adapter[adapter_idx]
@@ -813,13 +850,30 @@ class WMAModel(nn.Module):
         if features_adapter is not None:
             assert len(
                 features_adapter) == adapter_idx, 'Wrong features_adapter'
-        h = self.middle_block(h, emb, context=context, batch_size=b)
+        h = run_block_with_profile(
+            block_name="middle",
+            block_stage="middle_block",
+            block_index=0,
+            fn=lambda: self.middle_block(h, emb, context=context, batch_size=b),
+        )
         hs_a.append(rearrange(h, '(b t) c h w -> b t c h w', t=t))
 
         hs_out = []
-        for module in self.output_blocks:
-            h = torch.cat([h, hs.pop()], dim=1)
-            h = module(h, emb, context=context, batch_size=b)
+        for id, module in enumerate(self.output_blocks):
+            skip_h = hs.pop()
+
+            def run_output_block() -> Tensor:
+                return module(torch.cat([h, skip_h], dim=1),
+                              emb,
+                              context=context,
+                              batch_size=b)
+
+            h = run_block_with_profile(
+                block_name=f"output_{id}",
+                block_stage="output_blocks",
+                block_index=id,
+                fn=run_output_block,
+            )
             if isinstance(module[-1], Upsample):
                 hs_a.append(
                     rearrange(hs_out[-1], '(b t) c h w -> b t c h w', t=t))
@@ -830,7 +884,7 @@ class WMAModel(nn.Module):
         y = self.out(h)
         y = rearrange(y, '(b t) c h w -> b c t h w', b=b)
 
-        if not self.base_model_gen_only:
+        if not self.base_model_gen_only and run_head:
             ba, _, _ = x_action.shape
             a_y = self.action_unet(x_action, timesteps[:ba], hs_a,
                                    context_action[:2], **kwargs)
@@ -841,6 +895,9 @@ class WMAModel(nn.Module):
             else:
                 s_y = self.state_unet(x_state, timesteps, hs_a,
                                       context_action[:2], **kwargs)
+        elif not self.base_model_gen_only:
+            a_y = None
+            s_y = None
         else:
             a_y = torch.zeros_like(x_action)
             s_y = torch.zeros_like(x_state)
diff --git a/unitree_g1_pack_camera/case1/output/inference/analysis/analysis_report.md b/unitree_g1_pack_camera/case1/output/inference/analysis/analysis_report.md
index 21e6699..80f52a0 100644
--- a/unitree_g1_pack_camera/case1/output/inference/analysis/analysis_report.md
+++ b/unitree_g1_pack_camera/case1/output/inference/analysis/analysis_report.md
@@ -21,34 +21,34 @@
 
 - `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=119.6001, median=138.8359, p90=169.4805, p95=174.5434
+- `latent_l2_vs_full50`: mean=172.5522, median=175.0850, p90=194.0716, p95=200.4957
 
 ### 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=46.6364, median=46.6364, p90=46.6364, p95=46.6364
+- `action_vs_full50_95pct_step`: mean=47.2727, median=47.2727, p90=47.2727, p95=47.2727
 - `share_action_first_stable_before_latent`: nan
 - `share_action_95pct_before_latent`: nan
 
 ### Direction D: Cross-Step Similarity
 
-- `latent_delta_mid_steps`: mean=0.3526, median=0.3488, p90=0.4169, p95=0.4275
-- `action_delta_mid_steps`: mean=0.0318, median=0.0300, p90=0.0453, p95=0.0481
-- `state_delta_mid_steps`: mean=0.0311, median=0.0302, p90=0.0437, p95=0.0460
+- `latent_delta_mid_steps`: mean=0.3526, median=0.3486, p90=0.4168, p95=0.4280
+- `action_delta_mid_steps`: mean=0.0301, median=0.0287, p90=0.0431, p95=0.0455
+- `state_delta_mid_steps`: mean=0.0312, median=0.0299, p90=0.0444, p95=0.0465
 
 ### Direction A: Budget Heterogeneity
 
-- `oracle_budget_action`: mean=46.6364, median=46.6364, p90=46.6364, p95=46.6364
-- `oracle_budget_state`: mean=46.7273, median=46.7273, p90=46.7273, p95=46.7273
+- `oracle_budget_action`: mean=46.8182, median=46.8182, p90=46.8182, p95=46.8182
+- `oracle_budget_state`: mean=46.5455, median=46.5455, p90=46.5455, p95=46.5455
 - `oracle_budget_action_by_scene`:
-  - `unitree_g1_pack_camera`: mean=46.6364, median=46.6364, std=0.0000
+  - `unitree_g1_pack_camera`: mean=46.8182, median=46.8182, std=0.0000
 
 ### Direction B: Round Reuse
 
-- `latent_init_dist_to_prev_round`: mean=229.0488, median=228.5274, p90=251.0416, p95=257.7575
-- `action_drift_vs_prev_round`: mean=0.1520, median=0.1298, p90=0.2520, p95=0.3113
-- `round_total_time_s`: mean=150.0686, median=151.2592, p90=152.1900, p95=152.5157
-- `policy_pass_total_time_s`: mean=73.6966, median=74.1877, p90=74.7325, p95=74.8893
-- `world_model_pass_total_time_s`: mean=73.2965, median=74.3135, p90=74.6243, p95=74.6295
+- `latent_init_dist_to_prev_round`: mean=231.3224, median=234.0656, p90=246.2483, p95=251.1132
+- `action_drift_vs_prev_round`: mean=0.1699, median=0.1659, p90=0.2361, p95=0.3048
+- `round_total_time_s`: mean=136.4094, median=136.1244, p90=137.2721, p95=137.4062
+- `policy_pass_total_time_s`: mean=33.5494, median=33.5109, p90=33.7524, p95=33.8025
+- `world_model_pass_total_time_s`: mean=33.6186, median=33.5301, p90=33.9147, p95=34.0011
 
diff --git a/unitree_g1_pack_camera/case1/output/inference/analysis/scene_summary.csv b/unitree_g1_pack_camera/case1/output/inference/analysis/scene_summary.csv
index 4386dcb..66a8cb8 100644
--- a/unitree_g1_pack_camera/case1/output/inference/analysis/scene_summary.csv
+++ b/unitree_g1_pack_camera/case1/output/inference/analysis/scene_summary.csv
@@ -1,4 +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_g1_pack_camera,policy,73.69664512981068,73.69664512981068,,,,,,,,,,,44.72727272727273,44.72727272727273,,46.63636363636363,46.63636363636363,,46.63636363636363,46.63636363636363,,46.90909090909091,46.90909090909091,,150.06858123432505,150.06858123432505,,73.69664512981068,73.69664512981068,,73.29652458971196,73.29652458971196,,229.048844909668,229.048844909668,,0.1520089924335479,0.1520089924335479,
-unitree_g1_pack_camera,world_model,73.29652458971196,73.29652458971196,,,,,,,,,,,44.81818181818182,44.81818181818182,,46.72727272727273,46.72727272727273,,46.72727272727273,46.72727272727273,,46.72727272727273,46.72727272727273,,150.06858123432505,150.06858123432505,,73.69664512981068,73.69664512981068,,73.29652458971196,73.29652458971196,,229.048844909668,229.048844909668,,0.1520089924335479,0.1520089924335479,
+unitree_g1_pack_camera,policy,33.54937371340665,33.54937371340665,,,,,,,,,,,45.18181818181818,45.18181818181818,,47.27272727272727,47.27272727272727,,46.81818181818182,46.81818181818182,,46.63636363636363,46.63636363636363,,136.40941752086985,136.40941752086985,,33.54937371340665,33.54937371340665,,33.61860912496393,33.61860912496393,,231.32244110107425,231.32244110107425,,0.1698735475540161,0.1698735475540161,
+unitree_g1_pack_camera,world_model,33.61860912496393,33.61860912496393,,,,,,,,,,,45.6,45.6,,47.9,47.9,,46.81818181818182,46.81818181818182,,46.54545454545455,46.54545454545455,,136.40941752086985,136.40941752086985,,33.54937371340665,33.54937371340665,,33.61860912496393,33.61860912496393,,231.32244110107425,231.32244110107425,,0.1698735475540161,0.1698735475540161,
diff --git a/unitree_g1_pack_camera/case1/output/inference/analysis/step_aggregate.csv b/unitree_g1_pack_camera/case1/output/inference/analysis/step_aggregate.csv
index 395b249..9db83ee 100644
--- a/unitree_g1_pack_camera/case1/output/inference/analysis/step_aggregate.csv
+++ b/unitree_g1_pack_camera/case1/output/inference/analysis/step_aggregate.csv
@@ -1,102 +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,1,1.4572620608589866,1.468595266342163,0.08493196159199591,1.414884794842113,1.4147299528121948,0.001798328497757325,0.04285251349210734,0.0404267273843288,0.009245946621455867,0.03454849394884971,0.033249344676733,0.005650878554835622,0.04908749461174007,0.0540532544255256,0.06452614527425579,0.07406484369527205,0.0701000392436981,0.04313833634110371,172.90275989879262,174.31529235839844,10.143913089423606
-policy,2,1.4434247016906738,1.4676733016967771,0.08158786817391304,1.0217695019461892,1.022146463394165,0.001824396072630474,0.0322659581222317,0.031768050044775,0.004316731780854252,0.02533460374582892,0.0255975238978862,0.0036937549558425944,0.04785464704036712,0.0558408237993717,0.06438980743567607,0.07452032511884513,0.0699695125222206,0.043315148949574805,172.48740456321022,174.154052734375,9.534167371079256
-policy,3,1.43786113912409,1.4651522636413574,0.05671590586878328,0.8506037105213512,0.8505626320838928,0.0010086606911836923,0.025245838713916835,0.0244352463632822,0.004550268201634001,0.019512325694615144,0.0184436179697513,0.0031343662703750465,0.05073400078849357,0.0590319745242595,0.06447996300863185,0.07835578207265242,0.0750891640782356,0.044318088443039104,172.56313532049006,173.87869262695312,9.690644118002934
-policy,4,1.4488264864141291,1.468099594116211,0.044552895678330165,0.7504867098548196,0.7511840462684631,0.0021945251770877612,0.02099525132639838,0.019640676677227,0.004042319145546911,0.016798724505034317,0.0149918533861637,0.0038063624949669257,0.05598361282186073,0.0635371059179306,0.06475335110170251,0.08452281254259017,0.0827359408140182,0.04536336344671877,171.6457186612216,172.943359375,9.905503636485962
-policy,5,1.4445642124522815,1.4674458503723145,0.07372799549664323,0.6826241178946062,0.6820257306098938,0.0019023681820018858,0.017781017517501593,0.017315287142992,0.0030308581026791343,0.015471564521166355,0.0133354496210813,0.004392402663835177,0.06279808553782373,0.069211721420288,0.06508139799015962,0.09208766912872136,0.0918402001261711,0.046219482821702594,170.62380981445312,172.77044677734375,9.338962054224549
-policy,6,1.466492934660478,1.4663879871368408,0.0033687270242583945,0.6330396262082186,0.6331935524940491,0.0013516729387216021,0.016464014537632417,0.0159446559846401,0.0032078874005077988,0.013437864455309735,0.0125236641615629,0.0023339189416475637,0.07053967633030629,0.0757732093334198,0.06541846178548981,0.10053773190487508,0.1023101210594177,0.046871955162332835,168.18486300381747,170.33258056640625,9.372171607887697
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diff --git a/unitree_g1_pack_camera/case1/output/inference/round_summary.csv b/unitree_g1_pack_camera/case1/output/inference/round_summary.csv
index 775dac3..40276b6 100644
--- a/unitree_g1_pack_camera/case1/output/inference/round_summary.csv
+++ b/unitree_g1_pack_camera/case1/output/inference/round_summary.csv
@@ -1,12 +1,12 @@
 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_g1_pack_camera-vid0-fs6,unitree_g1_pack_camera,0,75.04600715637207,74.63465595245361,152.84141325950623,,,
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diff --git a/unitree_g1_pack_camera/case1/output/inference/sample_summary.csv b/unitree_g1_pack_camera/case1/output/inference/sample_summary.csv
index 479c3cb..5b4b27d 100644
--- a/unitree_g1_pack_camera/case1/output/inference/sample_summary.csv
+++ b/unitree_g1_pack_camera/case1/output/inference/sample_summary.csv
@@ -1,3 +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
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diff --git a/unitree_g1_pack_camera/case1/output/inference/stepwise_log.csv b/unitree_g1_pack_camera/case1/output/inference/stepwise_log.csv
index dd8a18f..a3aae13 100644
--- a/unitree_g1_pack_camera/case1/output/inference/stepwise_log.csv
+++ b/unitree_g1_pack_camera/case1/output/inference/stepwise_log.csv
@@ -1,1101 +1,1101 @@
 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
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diff --git a/unitree_g1_pack_camera/case1/output/sparse_8/inference/round_summary.csv b/unitree_g1_pack_camera/case1/output/sparse_8/inference/round_summary.csv
new file mode 100644
index 0000000..c8357ec
--- /dev/null
+++ b/unitree_g1_pack_camera/case1/output/sparse_8/inference/round_summary.csv
@@ -0,0 +1,12 @@
+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
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diff --git a/unitree_g1_pack_camera/case1/output/sparse_8/inference/sample_summary.csv b/unitree_g1_pack_camera/case1/output/sparse_8/inference/sample_summary.csv
new file mode 100644
index 0000000..ea65a04
--- /dev/null
+++ b/unitree_g1_pack_camera/case1/output/sparse_8/inference/sample_summary.csv
@@ -0,0 +1,3 @@
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diff --git a/unitree_g1_pack_camera/case1/output/sparse_8/inference/stepwise_log.csv b/unitree_g1_pack_camera/case1/output/sparse_8/inference/stepwise_log.csv
new file mode 100644
index 0000000..a6417e4
--- /dev/null
+++ b/unitree_g1_pack_camera/case1/output/sparse_8/inference/stepwise_log.csv
@@ -0,0 +1,1101 @@
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+unitree_g1_pack_camera-vid0-fs6,unitree_g1_pack_camera,world_model,10,23,0.66121506690979,0.3616263270378113,0.025051964446902275,0.026766104623675346,0.2960599660873413,0.24271531403064728,188.43350219726562
+unitree_g1_pack_camera-vid0-fs6,unitree_g1_pack_camera,world_model,10,24,0.6628072261810303,0.3552916347980499,0.02625369466841221,0.028081730008125305,0.31179577112197876,0.2592962384223938,188.98175048828125
+unitree_g1_pack_camera-vid0-fs6,unitree_g1_pack_camera,world_model,10,25,0.660571813583374,0.34906283020973206,0.027511006221175194,0.02945992723107338,0.3280850052833557,0.2765531837940216,189.92726135253906
+unitree_g1_pack_camera-vid0-fs6,unitree_g1_pack_camera,world_model,10,26,0.6663663387298584,0.34306713938713074,0.028826408088207245,0.030904173851013184,0.34497231245040894,0.2945435643196106,190.36550903320312
+unitree_g1_pack_camera-vid0-fs6,unitree_g1_pack_camera,world_model,10,27,0.6611599922180176,0.3348842263221741,0.030203387141227722,0.03241904079914093,0.3625050485134125,0.31332913041114807,190.1431121826172
+unitree_g1_pack_camera-vid0-fs6,unitree_g1_pack_camera,world_model,10,28,0.6678426265716553,0.32843053340911865,0.03164559230208397,0.03400932997465134,0.38073301315307617,0.33297544717788696,190.6575469970703
+unitree_g1_pack_camera-vid0-fs6,unitree_g1_pack_camera,world_model,10,29,0.7016968727111816,0.32208794355392456,0.03468285873532295,0.036379624158144,0.39863237738609314,0.3541856110095978,190.6066436767578
+unitree_g1_pack_camera-vid0-fs6,unitree_g1_pack_camera,world_model,10,30,0.6607365608215332,0.3149571120738983,0.035660240799188614,0.038177523761987686,0.41897648572921753,0.3764527440071106,190.80474853515625
+unitree_g1_pack_camera-vid0-fs6,unitree_g1_pack_camera,world_model,10,31,0.6587798595428467,0.31016743183135986,0.037389013916254044,0.04007069766521454,0.44024181365966797,0.3998563289642334,187.63143920898438
+unitree_g1_pack_camera-vid0-fs6,unitree_g1_pack_camera,world_model,10,32,0.6635987758636475,0.301889032125473,0.039206091314554214,0.04206518456339836,0.46248894929885864,0.4244764447212219,185.04522705078125
+unitree_g1_pack_camera-vid0-fs6,unitree_g1_pack_camera,world_model,10,33,0.6607310771942139,0.2939390242099762,0.04111633822321892,0.044166699051856995,0.4857766628265381,0.4503915309906006,182.98057556152344
+unitree_g1_pack_camera-vid0-fs6,unitree_g1_pack_camera,world_model,10,34,0.6612601280212402,0.28481295704841614,0.04312589019536972,0.046382106840610504,0.5101598501205444,0.47767511010169983,180.7906951904297
+unitree_g1_pack_camera-vid0-fs6,unitree_g1_pack_camera,world_model,10,35,0.6656534671783447,0.2776090204715729,0.04523933306336403,0.04871634021401405,0.5356855392456055,0.5063902735710144,178.90855407714844
+unitree_g1_pack_camera-vid0-fs6,unitree_g1_pack_camera,world_model,10,36,0.7017989158630371,0.26826736330986023,0.05041849613189697,0.05371552333235741,0.5617092847824097,0.5391952395439148,177.08657836914062
+unitree_g1_pack_camera-vid0-fs6,unitree_g1_pack_camera,world_model,10,37,0.6642746925354004,0.2600610852241516,0.05255439504981041,0.0564289391040802,0.5920687317848206,0.5736234188079834,175.65255737304688
+unitree_g1_pack_camera-vid0-fs6,unitree_g1_pack_camera,world_model,10,38,0.659602165222168,0.2505321204662323,0.05516192317008972,0.05926571786403656,0.6237326860427856,0.6096150875091553,174.4721221923828
+unitree_g1_pack_camera-vid0-fs6,unitree_g1_pack_camera,world_model,10,39,0.6613678932189941,0.2402864396572113,0.05788474157452583,0.06221689283847809,0.6566132307052612,0.6470327973365784,173.8401641845703
+unitree_g1_pack_camera-vid0-fs6,unitree_g1_pack_camera,world_model,10,40,0.667374849319458,0.23110637068748474,0.06071615591645241,0.06526781618595123,0.6905502080917358,0.6856354475021362,173.32408142089844
+unitree_g1_pack_camera-vid0-fs6,unitree_g1_pack_camera,world_model,10,41,0.662339448928833,0.22101372480392456,0.06363978236913681,0.06839074939489365,0.725286602973938,0.7250464558601379,172.95553588867188
+unitree_g1_pack_camera-vid0-fs6,unitree_g1_pack_camera,world_model,10,42,0.6587598323822021,0.21078920364379883,0.06663438677787781,0.07154984772205353,0.7604460120201111,0.7647266983985901,172.91636657714844
+unitree_g1_pack_camera-vid0-fs6,unitree_g1_pack_camera,world_model,10,43,0.7086925506591797,0.2003609836101532,0.07248810678720474,0.07435515522956848,0.7958157062530518,0.80436772108078,173.0210418701172
+unitree_g1_pack_camera-vid0-fs6,unitree_g1_pack_camera,world_model,10,44,0.6583733558654785,0.1898801475763321,0.0756383165717125,0.07728778570890427,0.8321388363838196,0.842521071434021,173.62579345703125
+unitree_g1_pack_camera-vid0-fs6,unitree_g1_pack_camera,world_model,10,45,0.6618514060974121,0.1792037934064865,0.07870137691497803,0.0800490453839302,0.86653733253479,0.8780974745750427,174.34458923339844
+unitree_g1_pack_camera-vid0-fs6,unitree_g1_pack_camera,world_model,10,46,0.6616702079772949,0.16956859827041626,0.08160350471735,0.08256157487630844,0.8978739976882935,0.9099023938179016,175.45272827148438
+unitree_g1_pack_camera-vid0-fs6,unitree_g1_pack_camera,world_model,10,47,0.6646699905395508,0.15881209075450897,0.08428534120321274,0.0847666934132576,0.924920916557312,0.9367320537567139,176.55160522460938
+unitree_g1_pack_camera-vid0-fs6,unitree_g1_pack_camera,world_model,10,48,0.6602168083190918,0.14819534122943878,0.08678362518548965,0.08670973777770996,0.9464737176895142,0.9575036764144897,178.1420440673828
+unitree_g1_pack_camera-vid0-fs6,unitree_g1_pack_camera,world_model,10,49,0.6609129905700684,0.1357955038547516,0.08967325091362,0.08897579461336136,0.9614953994750977,0.9713909029960632,180.12779235839844
+unitree_g1_pack_camera-vid0-fs6,unitree_g1_pack_camera,world_model,10,50,0.7145321369171143,0.11212986707687378,0.11317718774080276,0.1363227665424347,0.9709484577178955,0.9804331660270691,180.7110137939453
diff --git a/unitree_g1_pack_camera/case1/run_world_model_interaction.sh b/unitree_g1_pack_camera/case1/run_world_model_interaction.sh
index ae49220..c0ff379 100644
--- a/unitree_g1_pack_camera/case1/run_world_model_interaction.sh
+++ b/unitree_g1_pack_camera/case1/run_world_model_interaction.sh
@@ -2,11 +2,11 @@ res_dir="unitree_g1_pack_camera/case1"
 dataset="unitree_g1_pack_camera"
 
 {
-    time CUDA_VISIBLE_DEVICES=0 python3 scripts/evaluation/world_model_interaction.py \
+    time CUDA_VISIBLE_DEVICES=0 "${PYTHON_BIN:-python}" scripts/evaluation/world_model_interaction.py \
         --seed 123 \
         --ckpt_path ckpts/unifolm_wma_dual.ckpt \
         --config configs/inference/world_model_interaction.yaml \
-        --savedir "${res_dir}/output" \
+        --savedir "${res_dir}/output/sparse_8" \
         --bs 1 --height 320 --width 512 \
         --unconditional_guidance_scale 1.0 \
         --ddim_steps 50 \
@@ -22,5 +22,8 @@ dataset="unitree_g1_pack_camera"
         --guidance_rescale 0.7 \
         --perframe_ae \
         --analysis_log_metrics \
-        --analysis_reference_steps 50
+        --analysis_reference_steps 50 \
+        --head_schedule_steps 0 7 14 21 28 35 42 49 \
+        --head_skip_mode reuse_prediction \
+        --head_log_steps 40 43 46 47 48 49
 } 2>&1 | tee "${res_dir}/output.log"
diff --git a/unitree_g1_pack_camera/case2/output/sparse_8/inference/round_summary.csv b/unitree_g1_pack_camera/case2/output/sparse_8/inference/round_summary.csv
new file mode 100644
index 0000000..2c36b0a
--- /dev/null
+++ b/unitree_g1_pack_camera/case2/output/sparse_8/inference/round_summary.csv
@@ -0,0 +1,12 @@
+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_g1_pack_camera-vid50-fs6,unitree_g1_pack_camera,0,34.508949756622314,34.254820823669434,140.46258544921875,,,
+unitree_g1_pack_camera-vid50-fs6,unitree_g1_pack_camera,1,34.90244817733765,34.26566195487976,141.24445700645447,216.52996826171875,0.24411267042160034,
+unitree_g1_pack_camera-vid50-fs6,unitree_g1_pack_camera,2,34.450573444366455,33.74520945549011,140.44232392311096,210.6576385498047,0.211828351020813,
+unitree_g1_pack_camera-vid50-fs6,unitree_g1_pack_camera,3,34.227173805236816,34.19744801521301,139.57855439186096,231.77476501464844,0.10076236724853516,
+unitree_g1_pack_camera-vid50-fs6,unitree_g1_pack_camera,4,34.42516374588013,33.859012603759766,140.9917664527893,196.30520629882812,0.24305355548858643,
+unitree_g1_pack_camera-vid50-fs6,unitree_g1_pack_camera,5,34.275354862213135,34.270713329315186,143.11559915542603,270.99072265625,0.9365180283784866,
+unitree_g1_pack_camera-vid50-fs6,unitree_g1_pack_camera,6,34.44929575920105,33.572381019592285,141.9271743297577,227.52503967285156,0.14944738149642944,
+unitree_g1_pack_camera-vid50-fs6,unitree_g1_pack_camera,7,34.52991771697998,34.2509183883667,141.21305179595947,256.9947509765625,0.1445719599723816,
+unitree_g1_pack_camera-vid50-fs6,unitree_g1_pack_camera,8,34.30908131599426,33.91361689567566,140.56905364990234,263.05572509765625,0.0568811297416687,
+unitree_g1_pack_camera-vid50-fs6,unitree_g1_pack_camera,9,34.12396168708801,34.13224148750305,139.65425729751587,249.03759765625,0.11548089981079102,
+unitree_g1_pack_camera-vid50-fs6,unitree_g1_pack_camera,10,34.32340431213379,34.3162624835968,142.47088241577148,246.99588012695312,0.5883344411849976,
diff --git a/unitree_g1_pack_camera/case2/output/sparse_8/inference/sample_summary.csv b/unitree_g1_pack_camera/case2/output/sparse_8/inference/sample_summary.csv
new file mode 100644
index 0000000..71d4fac
--- /dev/null
+++ b/unitree_g1_pack_camera/case2/output/sparse_8/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_g1_pack_camera-vid50-fs6,unitree_g1_pack_camera,policy,34.41139314391396,,,,45.90909090909091,47.81818181818182,47.0,47.09090909090909,,236.98672943115236,0.279099078476429,141.06088235161522,34.41139314391396,34.07075331427834,
+unitree_g1_pack_camera-vid50-fs6,unitree_g1_pack_camera,world_model,34.07075331427834,,,,46.27272727272727,47.77777777777778,47.0,47.09090909090909,,236.98672943115236,0.279099078476429,141.06088235161522,34.41139314391396,34.07075331427834,
diff --git a/unitree_g1_pack_camera/case2/output/sparse_8/inference/stepwise_log.csv b/unitree_g1_pack_camera/case2/output/sparse_8/inference/stepwise_log.csv
new file mode 100644
index 0000000..d462f6a
--- /dev/null
+++ b/unitree_g1_pack_camera/case2/output/sparse_8/inference/stepwise_log.csv
@@ -0,0 +1,1101 @@
+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_g1_pack_camera-vid50-fs6,unitree_g1_pack_camera,policy,0,1,0.7096874713897705,1.4160581827163696,0.04423182085156441,0.03710153326392174,0.1314937174320221,0.03784983605146408,172.77207946777344
+unitree_g1_pack_camera-vid50-fs6,unitree_g1_pack_camera,policy,0,2,0.6571657657623291,1.0182688236236572,0.031237663701176643,0.030697820708155632,0.13501466810703278,0.04177795350551605,172.47039794921875
+unitree_g1_pack_camera-vid50-fs6,unitree_g1_pack_camera,policy,0,3,0.6691255569458008,0.8496103286743164,0.03101937659084797,0.030514739453792572,0.13838285207748413,0.045644644647836685,171.75997924804688
+unitree_g1_pack_camera-vid50-fs6,unitree_g1_pack_camera,policy,0,4,0.6622695922851562,0.7501176595687866,0.030803192406892776,0.03033521957695484,0.14159822463989258,0.04944765940308571,171.7987060546875
+unitree_g1_pack_camera-vid50-fs6,unitree_g1_pack_camera,policy,0,5,0.649329423904419,0.6801896691322327,0.030589871108531952,0.030159879475831985,0.14466090500354767,0.053184911608695984,171.82293701171875
+unitree_g1_pack_camera-vid50-fs6,unitree_g1_pack_camera,policy,0,6,0.6951439380645752,0.6306166052818298,0.030380206182599068,0.029989346861839294,0.14757126569747925,0.05685453489422798,172.02304077148438
+unitree_g1_pack_camera-vid50-fs6,unitree_g1_pack_camera,policy,0,7,0.6717610359191895,0.5952169895172119,0.030174896121025085,0.02982417866587639,0.1503298282623291,0.060454752296209335,171.90045166015625
+unitree_g1_pack_camera-vid50-fs6,unitree_g1_pack_camera,policy,0,8,0.7129909992218018,0.5636847615242004,0.020732203498482704,0.014138039201498032,0.15484507381916046,0.07032208889722824,173.17933654785156
+unitree_g1_pack_camera-vid50-fs6,unitree_g1_pack_camera,policy,0,9,0.653541088104248,0.5363242626190186,0.014732280746102333,0.015313833951950073,0.16656437516212463,0.08289113640785217,173.5198211669922
+unitree_g1_pack_camera-vid50-fs6,unitree_g1_pack_camera,policy,0,10,0.6667015552520752,0.5150417685508728,0.015008023008704185,0.01578523963689804,0.17833149433135986,0.09559867531061172,174.94509887695312
+unitree_g1_pack_camera-vid50-fs6,unitree_g1_pack_camera,policy,0,11,0.6784892082214355,0.49492347240448,0.015341076999902725,0.01630866341292858,0.1901620328426361,0.10846395790576935,176.5017852783203
+unitree_g1_pack_camera-vid50-fs6,unitree_g1_pack_camera,policy,0,12,0.659294605255127,0.4778963029384613,0.015729622915387154,0.01688225567340851,0.20207181572914124,0.12150702625513077,176.3374481201172
+unitree_g1_pack_camera-vid50-fs6,unitree_g1_pack_camera,policy,0,13,0.6616039276123047,0.4650382399559021,0.016171477735042572,0.0175040103495121,0.214076966047287,0.13474857807159424,175.54421997070312
+unitree_g1_pack_camera-vid50-fs6,unitree_g1_pack_camera,policy,0,14,0.6503593921661377,0.45029404759407043,0.016664627939462662,0.018172383308410645,0.22619375586509705,0.14821012318134308,176.46507263183594
+unitree_g1_pack_camera-vid50-fs6,unitree_g1_pack_camera,policy,0,15,0.7130467891693115,0.43843555450439453,0.020249607041478157,0.020143505185842514,0.2344401627779007,0.1597687304019928,177.414306640625
+unitree_g1_pack_camera-vid50-fs6,unitree_g1_pack_camera,policy,0,16,0.6722235679626465,0.42693597078323364,0.018386341631412506,0.020151956006884575,0.248454749584198,0.17450495064258575,178.97975158691406
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+unitree_g1_pack_camera-vid50-fs6,unitree_g1_pack_camera,policy,0,20,0.658494234085083,0.38582268357276917,0.021605899557471275,0.023996928706765175,0.30716773867607117,0.23734930157661438,179.84259033203125
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+unitree_g1_pack_camera-vid50-fs6,unitree_g1_pack_camera,policy,0,23,0.654364824295044,0.3618188500404358,0.025867262855172157,0.028336316347122192,0.3527985215187073,0.28796011209487915,181.29457092285156
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+unitree_g1_pack_camera-vid50-fs6,unitree_g1_pack_camera,world_model,10,42,0.6499745845794678,0.20951519906520844,0.07113149762153625,0.07854296267032623,0.765935480594635,0.7525854110717773,197.8855743408203
+unitree_g1_pack_camera-vid50-fs6,unitree_g1_pack_camera,world_model,10,43,0.6876065731048584,0.19929371774196625,0.07708630710840225,0.07902146875858307,0.8074761629104614,0.7982875108718872,198.42645263671875
+unitree_g1_pack_camera-vid50-fs6,unitree_g1_pack_camera,world_model,10,44,0.6445109844207764,0.18870005011558533,0.07961875200271606,0.08186584711074829,0.8473585247993469,0.8416957259178162,199.43319702148438
+unitree_g1_pack_camera-vid50-fs6,unitree_g1_pack_camera,world_model,10,45,0.648414134979248,0.17800195515155792,0.08192465454339981,0.08390668779611588,0.8837434649467468,0.881092369556427,200.5687255859375
+unitree_g1_pack_camera-vid50-fs6,unitree_g1_pack_camera,world_model,10,46,0.6752352714538574,0.16838905215263367,0.08386831730604172,0.08550717681646347,0.9154340624809265,0.9152469038963318,202.0654754638672
+unitree_g1_pack_camera-vid50-fs6,unitree_g1_pack_camera,world_model,10,47,0.6483070850372314,0.15758438408374786,0.08540159463882446,0.08662823587656021,0.9413473606109619,0.9431204199790955,203.82264709472656
+unitree_g1_pack_camera-vid50-fs6,unitree_g1_pack_camera,world_model,10,48,0.6540672779083252,0.14674155414104462,0.08659151941537857,0.08735445141792297,0.9606455564498901,0.9639971256256104,205.69190979003906
+unitree_g1_pack_camera-vid50-fs6,unitree_g1_pack_camera,world_model,10,49,0.6543304920196533,0.13446247577667236,0.08804501593112946,0.08831475675106049,0.9728342890739441,0.9775683283805847,207.75201416015625
+unitree_g1_pack_camera-vid50-fs6,unitree_g1_pack_camera,world_model,10,50,0.6944901943206787,0.1104237511754036,0.10992296040058136,0.12113774567842484,0.9783583879470825,0.9837172031402588,208.352294921875
diff --git a/unitree_g1_pack_camera/case2/run_world_model_interaction.sh b/unitree_g1_pack_camera/case2/run_world_model_interaction.sh
index 5f70440..2315db3 100644
--- a/unitree_g1_pack_camera/case2/run_world_model_interaction.sh
+++ b/unitree_g1_pack_camera/case2/run_world_model_interaction.sh
@@ -2,11 +2,11 @@ res_dir="unitree_g1_pack_camera/case2"
 dataset="unitree_g1_pack_camera"
 
 {
-    time CUDA_VISIBLE_DEVICES=0 python3 scripts/evaluation/world_model_interaction.py \
+    time CUDA_VISIBLE_DEVICES=0 "${PYTHON_BIN:-python}" scripts/evaluation/world_model_interaction.py \
         --seed 123 \
         --ckpt_path ckpts/unifolm_wma_dual.ckpt \
         --config configs/inference/world_model_interaction.yaml \
-        --savedir "${res_dir}/output" \
+        --savedir "${res_dir}/output/sparse_8" \
         --bs 1 --height 320 --width 512 \
         --unconditional_guidance_scale 1.0 \
         --ddim_steps 50 \
@@ -22,5 +22,8 @@ dataset="unitree_g1_pack_camera"
         --guidance_rescale 0.7 \
         --perframe_ae \
         --analysis_log_metrics \
-        --analysis_reference_steps 50
+        --analysis_reference_steps 50 \
+        --head_schedule_steps 0 7 14 21 28 35 42 49 \
+        --head_skip_mode reuse_prediction \
+        --head_log_steps 40 43 46 47 48 49
 } 2>&1 | tee "${res_dir}/output.log"
diff --git a/unitree_g1_pack_camera/case3/backbone_profile_dense/inference/analysis/analysis_report.md b/unitree_g1_pack_camera/case3/backbone_profile_dense/inference/analysis/analysis_report.md
new file mode 100644
index 0000000..95d4363
--- /dev/null
+++ b/unitree_g1_pack_camera/case3/backbone_profile_dense/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: 1100
+- Sample rows: 2
+- Round rows: 11
+- Scenes: unitree_g1_pack_camera
+- 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=118.1510, median=137.4783, p90=165.7335, p95=172.5465
+
+### 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=46.7273, median=46.7273, p90=46.7273, p95=46.7273
+- `share_action_first_stable_before_latent`: nan
+- `share_action_95pct_before_latent`: nan
+
+### Direction D: Cross-Step Similarity
+
+- `latent_delta_mid_steps`: mean=0.3528, median=0.3487, p90=0.4164, p95=0.4276
+- `action_delta_mid_steps`: mean=0.0317, median=0.0304, p90=0.0455, p95=0.0480
+- `state_delta_mid_steps`: mean=0.0317, median=0.0308, p90=0.0444, p95=0.0465
+
+### Direction A: Budget Heterogeneity
+
+- `oracle_budget_action`: mean=46.7273, median=46.7273, p90=46.7273, p95=46.7273
+- `oracle_budget_state`: mean=46.8182, median=46.8182, p90=46.8182, p95=46.8182
+- `oracle_budget_action_by_scene`:
+  - `unitree_g1_pack_camera`: mean=46.7273, median=46.7273, std=0.0000
+
+### Direction B: Round Reuse
+
+- `latent_init_dist_to_prev_round`: mean=226.9825, median=228.4588, p90=251.2165, p95=255.6648
+- `action_drift_vs_prev_round`: mean=0.2812, median=0.1662, p90=0.6238, p95=0.6602
+- `round_total_time_s`: mean=559.6007, median=588.8439, p90=625.1090, p95=625.4309
+- `policy_pass_total_time_s`: mean=231.2165, median=252.6857, p90=269.4816, p95=270.8949
+- `world_model_pass_total_time_s`: mean=239.7890, median=256.9119, p90=265.6770, p95=268.7066
+
diff --git a/unitree_g1_pack_camera/case3/backbone_profile_dense/inference/analysis/budget_distribution.png b/unitree_g1_pack_camera/case3/backbone_profile_dense/inference/analysis/budget_distribution.png
new file mode 100644
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diff --git a/unitree_g1_pack_camera/case3/backbone_profile_dense/inference/analysis/round_reuse.png b/unitree_g1_pack_camera/case3/backbone_profile_dense/inference/analysis/round_reuse.png
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diff --git a/unitree_g1_pack_camera/case3/backbone_profile_dense/inference/analysis/scene_summary.csv b/unitree_g1_pack_camera/case3/backbone_profile_dense/inference/analysis/scene_summary.csv
new file mode 100644
index 0000000..33cc706
--- /dev/null
+++ b/unitree_g1_pack_camera/case3/backbone_profile_dense/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
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diff --git a/unitree_g1_pack_camera/case3/backbone_profile_dense/inference/analysis/step_aggregate.csv b/unitree_g1_pack_camera/case3/backbone_profile_dense/inference/analysis/step_aggregate.csv
new file mode 100644
index 0000000..9ef3555
--- /dev/null
+++ b/unitree_g1_pack_camera/case3/backbone_profile_dense/inference/analysis/step_aggregate.csv
@@ -0,0 +1,102 @@
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diff --git a/unitree_g1_pack_camera/case3/backbone_profile_dense/inference/backbone_analysis/backbone_profile_report.md b/unitree_g1_pack_camera/case3/backbone_profile_dense/inference/backbone_analysis/backbone_profile_report.md
new file mode 100644
index 0000000..42bfcce
--- /dev/null
+++ b/unitree_g1_pack_camera/case3/backbone_profile_dense/inference/backbone_analysis/backbone_profile_report.md
@@ -0,0 +1,30 @@
+# Backbone Block Profiling Report
+
+## Dataset Overview
+
+- Rows: 27500
+- Blocks: 25
+- Steps: 1-50
+- Pass types: policy, world_model
+
+## Block Timing
+
+- `forward_time_ms`: mean=29.5324, median=33.0049, p90=53.1777
+
+## Stability
+
+- `rel_l2_delta_vs_prev`: mean=0.144351, median=0.122058, p90=0.238142
+- `cosine_vs_prev`: mean=0.986104, median=0.993058, p90=0.998209
+
+## Top Cache Candidates
+
+- `output_5` (output_blocks): tail_rel_l2=0.047653, mean_forward_time_ms=40.3060
+- `output_4` (output_blocks): tail_rel_l2=0.055735, mean_forward_time_ms=38.0808
+- `output_3` (output_blocks): tail_rel_l2=0.059179, mean_forward_time_ms=38.4340
+- `output_2` (output_blocks): tail_rel_l2=0.059520, mean_forward_time_ms=4.2037
+- `output_1` (output_blocks): tail_rel_l2=0.069876, mean_forward_time_ms=3.3372
+- `output_0` (output_blocks): tail_rel_l2=0.071423, mean_forward_time_ms=3.4297
+- `output_6` (output_blocks): tail_rel_l2=0.074268, mean_forward_time_ms=40.6642
+- `middle` (middle_block): tail_rel_l2=0.075425, mean_forward_time_ms=24.7022
+- `input_7` (input_blocks): tail_rel_l2=0.075788, mean_forward_time_ms=38.4152
+- `input_11` (input_blocks): tail_rel_l2=0.077308, mean_forward_time_ms=2.5828
\ No newline at end of file
diff --git a/unitree_g1_pack_camera/case3/backbone_profile_dense/inference/backbone_analysis/block_step_aggregate.csv b/unitree_g1_pack_camera/case3/backbone_profile_dense/inference/backbone_analysis/block_step_aggregate.csv
new file mode 100644
index 0000000..38c07e9
--- /dev/null
+++ b/unitree_g1_pack_camera/case3/backbone_profile_dense/inference/backbone_analysis/block_step_aggregate.csv
@@ -0,0 +1,1251 @@
+block_stage,block_name,block_index,step,forward_time_ms,l2_delta_vs_prev,rel_l2_delta_vs_prev,cosine_vs_prev,l2_delta_vs_full50,cosine_vs_full50
+input_blocks,input_0,0,1,30.466404129666362,,,,1910.8983820134943,0.12135087664831762
+input_blocks,input_0,0,2,30.504551229321144,1729.2270063920455,1.2877399054440586,0.17101589590311048,1903.57568359375,0.12826118584383614
+input_blocks,input_0,0,3,30.357216273180462,1253.6444202769887,0.9334425546906211,0.5648433349349282,1894.98945201527,0.1360738771882924
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diff --git a/unitree_g1_pack_camera/case3/backbone_profile_dense/inference/backbone_analysis/block_summary.csv b/unitree_g1_pack_camera/case3/backbone_profile_dense/inference/backbone_analysis/block_summary.csv
new file mode 100644
index 0000000..6da86ad
--- /dev/null
+++ b/unitree_g1_pack_camera/case3/backbone_profile_dense/inference/backbone_analysis/block_summary.csv
@@ -0,0 +1,26 @@
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diff --git a/unitree_g1_pack_camera/case3/backbone_profile_dense/inference/backbone_analysis/stage_summary.csv b/unitree_g1_pack_camera/case3/backbone_profile_dense/inference/backbone_analysis/stage_summary.csv
new file mode 100644
index 0000000..2ed94dc
--- /dev/null
+++ b/unitree_g1_pack_camera/case3/backbone_profile_dense/inference/backbone_analysis/stage_summary.csv
@@ -0,0 +1,10 @@
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diff --git a/unitree_g1_pack_camera/case3/backbone_profile_dense/inference/backbone_block_log.csv b/unitree_g1_pack_camera/case3/backbone_profile_dense/inference/backbone_block_log.csv
new file mode 100644
index 0000000..529919c
--- /dev/null
+++ b/unitree_g1_pack_camera/case3/backbone_profile_dense/inference/backbone_block_log.csv
@@ -0,0 +1,27501 @@
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diff --git a/unitree_g1_pack_camera/case3/backbone_profile_dense/inference/round_summary.csv b/unitree_g1_pack_camera/case3/backbone_profile_dense/inference/round_summary.csv
new file mode 100644
index 0000000..f6a4a53
--- /dev/null
+++ b/unitree_g1_pack_camera/case3/backbone_profile_dense/inference/round_summary.csv
@@ -0,0 +1,12 @@
+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_g1_pack_camera-vid100-fs6,unitree_g1_pack_camera,0,272.30813097953796,258.77083349227905,625.7526919841766,,,
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diff --git a/unitree_g1_pack_camera/case3/backbone_profile_dense/inference/sample_summary.csv b/unitree_g1_pack_camera/case3/backbone_profile_dense/inference/sample_summary.csv
new file mode 100644
index 0000000..eb688d7
--- /dev/null
+++ b/unitree_g1_pack_camera/case3/backbone_profile_dense/inference/sample_summary.csv
@@ -0,0 +1,3 @@
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diff --git a/unitree_g1_pack_camera/case3/backbone_profile_dense/inference/stepwise_log.csv b/unitree_g1_pack_camera/case3/backbone_profile_dense/inference/stepwise_log.csv
new file mode 100644
index 0000000..f450fe5
--- /dev/null
+++ b/unitree_g1_pack_camera/case3/backbone_profile_dense/inference/stepwise_log.csv
@@ -0,0 +1,1101 @@
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diff --git a/unitree_g1_pack_camera/case3/output/sparse_8/inference/round_summary.csv b/unitree_g1_pack_camera/case3/output/sparse_8/inference/round_summary.csv
new file mode 100644
index 0000000..b9b149a
--- /dev/null
+++ b/unitree_g1_pack_camera/case3/output/sparse_8/inference/round_summary.csv
@@ -0,0 +1,12 @@
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diff --git a/unitree_g1_pack_camera/case3/output/sparse_8/inference/sample_summary.csv b/unitree_g1_pack_camera/case3/output/sparse_8/inference/sample_summary.csv
new file mode 100644
index 0000000..9f42591
--- /dev/null
+++ b/unitree_g1_pack_camera/case3/output/sparse_8/inference/sample_summary.csv
@@ -0,0 +1,3 @@
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diff --git a/unitree_g1_pack_camera/case3/output/sparse_8/inference/stepwise_log.csv b/unitree_g1_pack_camera/case3/output/sparse_8/inference/stepwise_log.csv
new file mode 100644
index 0000000..a940f43
--- /dev/null
+++ b/unitree_g1_pack_camera/case3/output/sparse_8/inference/stepwise_log.csv
@@ -0,0 +1,1101 @@
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+unitree_g1_pack_camera-vid100-fs6,unitree_g1_pack_camera,world_model,10,39,0.6623351573944092,0.24165615439414978,0.05982142314314842,0.0610504113137722,0.7197353839874268,0.7207057476043701,185.5213165283203
+unitree_g1_pack_camera-vid100-fs6,unitree_g1_pack_camera,world_model,10,40,0.6716952323913574,0.23243480920791626,0.061727374792099,0.06293995678424835,0.7580931186676025,0.7602832317352295,185.08941650390625
+unitree_g1_pack_camera-vid100-fs6,unitree_g1_pack_camera,world_model,10,41,0.6641032695770264,0.22227174043655396,0.06354016810655594,0.06471768766641617,0.7954897880554199,0.7987378239631653,184.8917999267578
+unitree_g1_pack_camera-vid100-fs6,unitree_g1_pack_camera,world_model,10,42,0.6788725852966309,0.21181070804595947,0.06522462517023087,0.06634609401226044,0.8313273191452026,0.8354306221008301,184.8818817138672
+unitree_g1_pack_camera-vid100-fs6,unitree_g1_pack_camera,world_model,10,43,0.7052450180053711,0.20162324607372284,0.0742482841014862,0.06741803884506226,0.8617556095123291,0.8685709238052368,185.27102661132812
+unitree_g1_pack_camera-vid100-fs6,unitree_g1_pack_camera,world_model,10,44,0.6558797359466553,0.1909959316253662,0.07234105467796326,0.06789649277925491,0.8949770927429199,0.8994675874710083,186.0393524169922
+unitree_g1_pack_camera-vid100-fs6,unitree_g1_pack_camera,world_model,10,45,0.6558279991149902,0.18037593364715576,0.07348255068063736,0.06883811950683594,0.9242044687271118,0.926769495010376,186.7197265625
+unitree_g1_pack_camera-vid100-fs6,unitree_g1_pack_camera,world_model,10,46,0.6651153564453125,0.17089423537254333,0.07430511713027954,0.06952063739299774,0.948785126209259,0.9499618411064148,187.92123413085938
+unitree_g1_pack_camera-vid100-fs6,unitree_g1_pack_camera,world_model,10,47,0.6665177345275879,0.16011852025985718,0.07481347024440765,0.06995558738708496,0.968228280544281,0.9686545729637146,189.4700927734375
+unitree_g1_pack_camera-vid100-fs6,unitree_g1_pack_camera,world_model,10,48,0.6642763614654541,0.14935390651226044,0.07511153072118759,0.07024411112070084,0.9822489619255066,0.9826136827468872,191.1253662109375
+unitree_g1_pack_camera-vid100-fs6,unitree_g1_pack_camera,world_model,10,49,0.6676862239837646,0.13738203048706055,0.07575768977403641,0.07090974599123001,0.9907790422439575,0.9917768836021423,193.17318725585938
+unitree_g1_pack_camera-vid100-fs6,unitree_g1_pack_camera,world_model,10,50,0.7122976779937744,0.11429984122514725,0.09150438010692596,0.10175736993551254,0.9940405488014221,0.9968595504760742,193.63006591796875
diff --git a/unitree_g1_pack_camera/case3/run_world_model_backbone_profile.sh b/unitree_g1_pack_camera/case3/run_world_model_backbone_profile.sh
new file mode 100644
index 0000000..224ffd5
--- /dev/null
+++ b/unitree_g1_pack_camera/case3/run_world_model_backbone_profile.sh
@@ -0,0 +1,11 @@
+#!/usr/bin/env bash
+
+set -euo pipefail
+
+repo_root="$(cd "$(dirname "${BASH_SOURCE[0]}")/../.." && pwd)"
+CUDA_VISIBLE_DEVICES="${CUDA_VISIBLE_DEVICES:-1}" \
+bash "${repo_root}/scripts/run_world_model_backbone_profile_case.sh" \
+    "unitree_g1_pack_camera/case3" \
+    "unitree_g1_pack_camera" \
+    "6" \
+    "11"
diff --git a/unitree_g1_pack_camera/case3/run_world_model_interaction.sh b/unitree_g1_pack_camera/case3/run_world_model_interaction.sh
index 168eea2..7a9f45f 100644
--- a/unitree_g1_pack_camera/case3/run_world_model_interaction.sh
+++ b/unitree_g1_pack_camera/case3/run_world_model_interaction.sh
@@ -2,11 +2,11 @@ res_dir="unitree_g1_pack_camera/case3"
 dataset="unitree_g1_pack_camera"
 
 {
-    time CUDA_VISIBLE_DEVICES=0 python3 scripts/evaluation/world_model_interaction.py \
+    time CUDA_VISIBLE_DEVICES=0 "${PYTHON_BIN:-python}" scripts/evaluation/world_model_interaction.py \
         --seed 123 \
         --ckpt_path ckpts/unifolm_wma_dual.ckpt \
         --config configs/inference/world_model_interaction.yaml \
-        --savedir "${res_dir}/output" \
+        --savedir "${res_dir}/output/sparse_8" \
         --bs 1 --height 320 --width 512 \
         --unconditional_guidance_scale 1.0 \
         --ddim_steps 50 \
@@ -22,5 +22,8 @@ dataset="unitree_g1_pack_camera"
         --guidance_rescale 0.7 \
         --perframe_ae \
         --analysis_log_metrics \
-        --analysis_reference_steps 50
+        --analysis_reference_steps 50 \
+        --head_schedule_steps 0 7 14 21 28 35 42 49 \
+        --head_skip_mode reuse_prediction \
+        --head_log_steps 40 43 46 47 48 49
 } 2>&1 | tee "${res_dir}/output.log"
diff --git a/unitree_g1_pack_camera/case4/output/sparse_8/inference/round_summary.csv b/unitree_g1_pack_camera/case4/output/sparse_8/inference/round_summary.csv
new file mode 100644
index 0000000..2413c00
--- /dev/null
+++ b/unitree_g1_pack_camera/case4/output/sparse_8/inference/round_summary.csv
@@ -0,0 +1,12 @@
+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_g1_pack_camera-vid200-fs6,unitree_g1_pack_camera,0,34.357739210128784,34.586522579193115,140.96898198127747,,,
+unitree_g1_pack_camera-vid200-fs6,unitree_g1_pack_camera,1,34.29071259498596,35.00397062301636,141.79955863952637,229.6180419921875,0.32235634326934814,
+unitree_g1_pack_camera-vid200-fs6,unitree_g1_pack_camera,2,34.918580293655396,34.66921854019165,145.18225049972534,231.34951782226562,0.08397442102432251,
+unitree_g1_pack_camera-vid200-fs6,unitree_g1_pack_camera,3,33.87128400802612,34.726802349090576,141.85736179351807,220.95947265625,0.16776376962661743,
+unitree_g1_pack_camera-vid200-fs6,unitree_g1_pack_camera,4,34.74736452102661,34.61718559265137,141.8124771118164,257.54010009765625,0.5236250162124634,
+unitree_g1_pack_camera-vid200-fs6,unitree_g1_pack_camera,5,33.95931363105774,34.89797496795654,140.93837070465088,257.5311279296875,0.28147268295288086,
+unitree_g1_pack_camera-vid200-fs6,unitree_g1_pack_camera,6,34.651822328567505,34.53969979286194,141.137797832489,236.1876983642578,0.1898796558380127,
+unitree_g1_pack_camera-vid200-fs6,unitree_g1_pack_camera,7,34.88510847091675,34.01325011253357,139.92974042892456,259.3033752441406,0.1549433469772339,
+unitree_g1_pack_camera-vid200-fs6,unitree_g1_pack_camera,8,34.31177830696106,34.80933094024658,142.9210181236267,282.3804016113281,0.5841841697692871,
+unitree_g1_pack_camera-vid200-fs6,unitree_g1_pack_camera,9,34.6734459400177,33.96956968307495,141.88233709335327,262.050048828125,0.22107374668121338,
+unitree_g1_pack_camera-vid200-fs6,unitree_g1_pack_camera,10,34.9462194442749,34.84579944610596,142.91395735740662,199.34121704101562,0.014238595962524414,
diff --git a/unitree_g1_pack_camera/case4/output/sparse_8/inference/sample_summary.csv b/unitree_g1_pack_camera/case4/output/sparse_8/inference/sample_summary.csv
new file mode 100644
index 0000000..8c21597
--- /dev/null
+++ b/unitree_g1_pack_camera/case4/output/sparse_8/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_g1_pack_camera-vid200-fs6,unitree_g1_pack_camera,policy,34.51030624996532,,,,45.81818181818182,47.6,46.63636363636363,46.72727272727273,,243.6261001586914,0.25435117483139036,141.94035014239225,34.51030624996532,34.607211329720236,
+unitree_g1_pack_camera-vid200-fs6,unitree_g1_pack_camera,world_model,34.607211329720236,,,,46.36363636363637,47.77777777777778,46.81818181818182,46.81818181818182,,243.6261001586914,0.25435117483139036,141.94035014239225,34.51030624996532,34.607211329720236,
diff --git a/unitree_g1_pack_camera/case4/output/sparse_8/inference/stepwise_log.csv b/unitree_g1_pack_camera/case4/output/sparse_8/inference/stepwise_log.csv
new file mode 100644
index 0000000..247e31c
--- /dev/null
+++ b/unitree_g1_pack_camera/case4/output/sparse_8/inference/stepwise_log.csv
@@ -0,0 +1,1101 @@
+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_g1_pack_camera-vid200-fs6,unitree_g1_pack_camera,policy,0,1,0.742952823638916,1.4160481691360474,0.043724656105041504,0.03583149611949921,0.12470728158950806,0.019348792731761932,178.22232055664062
+unitree_g1_pack_camera-vid200-fs6,unitree_g1_pack_camera,policy,0,2,0.6623101234436035,1.0182877779006958,0.031319472938776016,0.030686378479003906,0.12925463914871216,0.022469595074653625,177.92672729492188
+unitree_g1_pack_camera-vid200-fs6,unitree_g1_pack_camera,policy,0,3,0.6670534610748291,0.8496672511100769,0.031107978895306587,0.03052298165857792,0.13364771008491516,0.025553416460752487,177.10191345214844
+unitree_g1_pack_camera-vid200-fs6,unitree_g1_pack_camera,policy,0,4,0.657128095626831,0.7501249313354492,0.030898138880729675,0.030362898483872414,0.13788533210754395,0.028598152101039886,176.1526336669922
+unitree_g1_pack_camera-vid200-fs6,unitree_g1_pack_camera,policy,0,5,0.6533136367797852,0.6801722645759583,0.030690722167491913,0.03020668402314186,0.14196662604808807,0.03160187602043152,177.7321319580078
+unitree_g1_pack_camera-vid200-fs6,unitree_g1_pack_camera,policy,0,6,0.6654036045074463,0.6305975914001465,0.03048650361597538,0.030054926872253418,0.1458909511566162,0.034562788903713226,177.02606201171875
+unitree_g1_pack_camera-vid200-fs6,unitree_g1_pack_camera,policy,0,7,0.6563105583190918,0.5951341390609741,0.03028617613017559,0.0299080777913332,0.1496579796075821,0.03747917711734772,178.21131896972656
+unitree_g1_pack_camera-vid200-fs6,unitree_g1_pack_camera,policy,0,8,0.7028415203094482,0.5636393427848816,0.018718359991908073,0.012986031360924244,0.15614072978496552,0.047569639980793,178.10670471191406
+unitree_g1_pack_camera-vid200-fs6,unitree_g1_pack_camera,policy,0,9,0.6570146083831787,0.5362522602081299,0.014339313842356205,0.013921326957643032,0.1679420918226242,0.058802250772714615,178.63897705078125
+unitree_g1_pack_camera-vid200-fs6,unitree_g1_pack_camera,policy,0,10,0.6547195911407471,0.5149412751197815,0.014591728337109089,0.014390360563993454,0.17978490889072418,0.07015517354011536,179.82839965820312
+unitree_g1_pack_camera-vid200-fs6,unitree_g1_pack_camera,policy,0,11,0.657719612121582,0.49470216035842896,0.014903547242283821,0.014915852807462215,0.19168511033058167,0.0816468670964241,180.82374572753906
+unitree_g1_pack_camera-vid200-fs6,unitree_g1_pack_camera,policy,0,12,0.6653687953948975,0.477703720331192,0.015272855758666992,0.01549521554261446,0.20365896821022034,0.09329649060964584,179.0405731201172
+unitree_g1_pack_camera-vid200-fs6,unitree_g1_pack_camera,policy,0,13,0.6632821559906006,0.4649197459220886,0.015697335824370384,0.016125811263918877,0.21572288870811462,0.10512401163578033,179.91830444335938
+unitree_g1_pack_camera-vid200-fs6,unitree_g1_pack_camera,policy,0,14,0.6551001071929932,0.4503243863582611,0.0161748006939888,0.016805488616228104,0.22789360582828522,0.11715024709701538,179.7566375732422
+unitree_g1_pack_camera-vid200-fs6,unitree_g1_pack_camera,policy,0,15,0.6970527172088623,0.43827784061431885,0.01800285093486309,0.017904601991176605,0.23860366642475128,0.13027004897594452,180.8094482421875
+unitree_g1_pack_camera-vid200-fs6,unitree_g1_pack_camera,policy,0,16,0.660020112991333,0.4266856908798218,0.018313290551304817,0.019330522045493126,0.25314876437187195,0.14419043064117432,181.09750366210938
+unitree_g1_pack_camera-vid200-fs6,unitree_g1_pack_camera,policy,0,17,0.6717538833618164,0.4145152270793915,0.019011685624718666,0.020228872075676918,0.26792529225349426,0.15845388174057007,181.81948852539062
+unitree_g1_pack_camera-vid200-fs6,unitree_g1_pack_camera,policy,0,18,0.6636867523193359,0.4037325978279114,0.01975424401462078,0.02117232047021389,0.28295624256134033,0.17309187352657318,182.3682403564453
+unitree_g1_pack_camera-vid200-fs6,unitree_g1_pack_camera,policy,0,19,0.6603102684020996,0.39348986744880676,0.02054021693766117,0.02216138318181038,0.29826515913009644,0.18813776969909668,182.48068237304688
+unitree_g1_pack_camera-vid200-fs6,unitree_g1_pack_camera,policy,0,20,0.6762444972991943,0.38531365990638733,0.021369317546486855,0.023197121918201447,0.3138767182826996,0.2036273181438446,183.22579956054688
+unitree_g1_pack_camera-vid200-fs6,unitree_g1_pack_camera,policy,0,21,0.6612148284912109,0.37593773007392883,0.022241516038775444,0.02428092621266842,0.32981616258621216,0.21959850192070007,183.84519958496094
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+unitree_g1_pack_camera-vid200-fs6,unitree_g1_pack_camera,policy,0,23,0.6537537574768066,0.3609772026538849,0.025422656908631325,0.02776409313082695,0.3622169494628906,0.25486183166503906,183.9885711669922
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+unitree_g1_pack_camera-vid200-fs6,unitree_g1_pack_camera,policy,0,26,0.6769628524780273,0.33855313062667847,0.02879921905696392,0.03182895481586456,0.41813868284225464,0.31348952651023865,184.72474670410156
+unitree_g1_pack_camera-vid200-fs6,unitree_g1_pack_camera,policy,0,27,0.6667287349700928,0.33326852321624756,0.030024005100131035,0.03331195190548897,0.4378925859928131,0.33466091752052307,184.8665313720703
+unitree_g1_pack_camera-vid200-fs6,unitree_g1_pack_camera,policy,0,28,0.688601016998291,0.3268558084964752,0.031301289796829224,0.03486495837569237,0.45825693011283875,0.3567470908164978,185.46458435058594
+unitree_g1_pack_camera-vid200-fs6,unitree_g1_pack_camera,policy,0,29,0.7094342708587646,0.32020437717437744,0.03334813565015793,0.03693484142422676,0.4786968231201172,0.38023120164871216,185.46249389648438
+unitree_g1_pack_camera-vid200-fs6,unitree_g1_pack_camera,policy,0,30,0.655282735824585,0.3135972321033478,0.03507217764854431,0.03869972005486488,0.5011715292930603,0.4048684239387512,185.93663024902344
+unitree_g1_pack_camera-vid200-fs6,unitree_g1_pack_camera,policy,0,31,0.6543724536895752,0.3090035915374756,0.0365755669772625,0.040509067475795746,0.5243983268737793,0.4306415319442749,182.71063232421875
+unitree_g1_pack_camera-vid200-fs6,unitree_g1_pack_camera,policy,0,32,0.6682634353637695,0.3013151288032532,0.03814145550131798,0.04240478575229645,0.5483973026275635,0.45760834217071533,179.73257446289062
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+unitree_g1_pack_camera-vid200-fs6,unitree_g1_pack_camera,policy,0,38,0.6561787128448486,0.247289776802063,0.05132928490638733,0.05707047879695892,0.71152663230896,0.6486486196517944,166.7958984375
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diff --git a/unitree_g1_pack_camera/case4/run_world_model_interaction.sh b/unitree_g1_pack_camera/case4/run_world_model_interaction.sh
index 33f3544..de6b145 100644
--- a/unitree_g1_pack_camera/case4/run_world_model_interaction.sh
+++ b/unitree_g1_pack_camera/case4/run_world_model_interaction.sh
@@ -2,11 +2,11 @@ res_dir="unitree_g1_pack_camera/case4"
 dataset="unitree_g1_pack_camera"
 
 {
-    time CUDA_VISIBLE_DEVICES=0 python3 scripts/evaluation/world_model_interaction.py \
+    time CUDA_VISIBLE_DEVICES=0 "${PYTHON_BIN:-python}" scripts/evaluation/world_model_interaction.py \
         --seed 123 \
         --ckpt_path ckpts/unifolm_wma_dual.ckpt \
         --config configs/inference/world_model_interaction.yaml \
-        --savedir "${res_dir}/output" \
+        --savedir "${res_dir}/output/sparse_8" \
         --bs 1 --height 320 --width 512 \
         --unconditional_guidance_scale 1.0 \
         --ddim_steps 50 \
@@ -22,5 +22,8 @@ dataset="unitree_g1_pack_camera"
         --guidance_rescale 0.7 \
         --perframe_ae \
         --analysis_log_metrics \
-        --analysis_reference_steps 50
+        --analysis_reference_steps 50 \
+        --head_schedule_steps 0 7 14 21 28 35 42 49 \
+        --head_skip_mode reuse_prediction \
+        --head_log_steps 40 43 46 47 48 49
 } 2>&1 | tee "${res_dir}/output.log"
diff --git a/unitree_z1_dual_arm_cleanup_pencils/case1/output/sparse_8/inference/round_summary.csv b/unitree_z1_dual_arm_cleanup_pencils/case1/output/sparse_8/inference/round_summary.csv
new file mode 100644
index 0000000..b9a4ad9
--- /dev/null
+++ b/unitree_z1_dual_arm_cleanup_pencils/case1/output/sparse_8/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-vid0-fs4,unitree_z1_dual_arm_cleanup_pencils,0,34.73653507232666,34.70670413970947,145.22932696342468,,,
+unitree_z1_dual_arm_cleanup_pencils-vid0-fs4,unitree_z1_dual_arm_cleanup_pencils,1,34.74703526496887,34.542370319366455,141.5734007358551,231.2671661376953,0.25567227602005005,
+unitree_z1_dual_arm_cleanup_pencils-vid0-fs4,unitree_z1_dual_arm_cleanup_pencils,2,34.430612087249756,34.426183462142944,142.15385103225708,192.78646850585938,0.5568674504756927,
+unitree_z1_dual_arm_cleanup_pencils-vid0-fs4,unitree_z1_dual_arm_cleanup_pencils,3,34.53444242477417,34.48149752616882,142.79624843597412,262.8606872558594,1.0051207467913628,
+unitree_z1_dual_arm_cleanup_pencils-vid0-fs4,unitree_z1_dual_arm_cleanup_pencils,4,34.31733536720276,34.096614837646484,139.36779808998108,275.00848388671875,0.6432150900363922,
+unitree_z1_dual_arm_cleanup_pencils-vid0-fs4,unitree_z1_dual_arm_cleanup_pencils,5,34.413142919540405,34.334357500076294,141.52803897857666,260.6252746582031,0.5582498610019684,
+unitree_z1_dual_arm_cleanup_pencils-vid0-fs4,unitree_z1_dual_arm_cleanup_pencils,6,34.51011800765991,34.09811472892761,140.9669303894043,261.7527160644531,0.795854464173317,
+unitree_z1_dual_arm_cleanup_pencils-vid0-fs4,unitree_z1_dual_arm_cleanup_pencils,7,34.41221499443054,34.01149654388428,139.1915683746338,245.52186584472656,0.9279392808675766,
diff --git a/unitree_z1_dual_arm_cleanup_pencils/case1/output/sparse_8/inference/sample_summary.csv b/unitree_z1_dual_arm_cleanup_pencils/case1/output/sparse_8/inference/sample_summary.csv
new file mode 100644
index 0000000..18d0957
--- /dev/null
+++ b/unitree_z1_dual_arm_cleanup_pencils/case1/output/sparse_8/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-vid0-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,34.512679517269135,,,,46.75,48.666666666666664,46.5,47.125,,247.11752319335938,0.6775598813380513,141.60089537501335,34.512679517269135,34.337167382240295,
+unitree_z1_dual_arm_cleanup_pencils-vid0-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,34.337167382240295,,,,47.75,48.5,46.625,47.125,,247.11752319335938,0.6775598813380513,141.60089537501335,34.512679517269135,34.337167382240295,
diff --git a/unitree_z1_dual_arm_cleanup_pencils/case1/output/sparse_8/inference/stepwise_log.csv b/unitree_z1_dual_arm_cleanup_pencils/case1/output/sparse_8/inference/stepwise_log.csv
new file mode 100644
index 0000000..4ed87ac
--- /dev/null
+++ b/unitree_z1_dual_arm_cleanup_pencils/case1/output/sparse_8/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-vid0-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,0,1,0.7122414112091064,1.4160507917404175,0.06852739304304123,0.06137954071164131,0.18718847632408142,-0.004861224442720413,168.77923583984375
+unitree_z1_dual_arm_cleanup_pencils-vid0-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,0,2,0.6561942100524902,1.0182937383651733,0.03162701055407524,0.03109455108642578,0.19554947316646576,-0.004426291212439537,168.93414306640625
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diff --git a/unitree_z1_dual_arm_cleanup_pencils/case1/run_world_model_interaction.sh b/unitree_z1_dual_arm_cleanup_pencils/case1/run_world_model_interaction.sh
index ecf75db..6badaf1 100644
--- a/unitree_z1_dual_arm_cleanup_pencils/case1/run_world_model_interaction.sh
+++ b/unitree_z1_dual_arm_cleanup_pencils/case1/run_world_model_interaction.sh
@@ -2,11 +2,11 @@ res_dir="unitree_z1_dual_arm_cleanup_pencils/case1"
 dataset="unitree_z1_dual_arm_cleanup_pencils"
 
 {
-    time CUDA_VISIBLE_DEVICES=0 python3 scripts/evaluation/world_model_interaction.py \
+    time CUDA_VISIBLE_DEVICES=0 "${PYTHON_BIN:-python}" scripts/evaluation/world_model_interaction.py \
         --seed 123 \
         --ckpt_path ckpts/unifolm_wma_dual.ckpt \
         --config configs/inference/world_model_interaction.yaml \
-        --savedir "${res_dir}/output" \
+        --savedir "${res_dir}/output/sparse_8" \
         --bs 1 --height 320 --width 512 \
         --unconditional_guidance_scale 1.0 \
         --ddim_steps 50 \
@@ -22,5 +22,8 @@ dataset="unitree_z1_dual_arm_cleanup_pencils"
         --guidance_rescale 0.7 \
         --perframe_ae \
         --analysis_log_metrics \
-        --analysis_reference_steps 50
+        --analysis_reference_steps 50 \
+        --head_schedule_steps 0 7 14 21 28 35 42 49 \
+        --head_skip_mode reuse_prediction \
+        --head_log_steps 40 43 46 47 48 49
 } 2>&1 | tee "${res_dir}/output.log"
diff --git a/unitree_z1_dual_arm_cleanup_pencils/case2/output/sparse_8/inference/round_summary.csv b/unitree_z1_dual_arm_cleanup_pencils/case2/output/sparse_8/inference/round_summary.csv
new file mode 100644
index 0000000..7dc3288
--- /dev/null
+++ b/unitree_z1_dual_arm_cleanup_pencils/case2/output/sparse_8/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-vid50-fs4,unitree_z1_dual_arm_cleanup_pencils,0,33.99187660217285,34.31168270111084,139.47581481933594,,,
+unitree_z1_dual_arm_cleanup_pencils-vid50-fs4,unitree_z1_dual_arm_cleanup_pencils,1,34.43045139312744,34.62503695487976,139.876394033432,239.56658935546875,0.7500274181365967,
+unitree_z1_dual_arm_cleanup_pencils-vid50-fs4,unitree_z1_dual_arm_cleanup_pencils,2,34.425429344177246,34.365243911743164,141.03927159309387,246.70318603515625,1.0935600325465202,
+unitree_z1_dual_arm_cleanup_pencils-vid50-fs4,unitree_z1_dual_arm_cleanup_pencils,3,34.37379479408264,34.461503982543945,140.49598693847656,280.9136657714844,0.5302876830101013,
+unitree_z1_dual_arm_cleanup_pencils-vid50-fs4,unitree_z1_dual_arm_cleanup_pencils,4,34.351977586746216,34.01735472679138,140.40994095802307,252.80796813964844,0.556597113609314,
+unitree_z1_dual_arm_cleanup_pencils-vid50-fs4,unitree_z1_dual_arm_cleanup_pencils,5,34.36850380897522,34.59166765213013,140.12164878845215,250.94566345214844,0.4579753279685974,
+unitree_z1_dual_arm_cleanup_pencils-vid50-fs4,unitree_z1_dual_arm_cleanup_pencils,6,34.57366609573364,33.870989084243774,141.94088697433472,240.7681427001953,0.9360233545303345,
+unitree_z1_dual_arm_cleanup_pencils-vid50-fs4,unitree_z1_dual_arm_cleanup_pencils,7,34.280773401260376,34.23922944068909,141.10703015327454,247.4376220703125,0.21265381574630737,
diff --git a/unitree_z1_dual_arm_cleanup_pencils/case2/output/sparse_8/inference/sample_summary.csv b/unitree_z1_dual_arm_cleanup_pencils/case2/output/sparse_8/inference/sample_summary.csv
new file mode 100644
index 0000000..89c0a51
--- /dev/null
+++ b/unitree_z1_dual_arm_cleanup_pencils/case2/output/sparse_8/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-vid50-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,34.349559128284454,,,,46.875,48.5,46.625,47.0,,251.30611964634485,0.6481606779353959,140.55837178230286,34.349559128284454,34.31033855676651,
+unitree_z1_dual_arm_cleanup_pencils-vid50-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,34.31033855676651,,,,46.857142857142854,48.6,46.5,47.0,,251.30611964634485,0.6481606779353959,140.55837178230286,34.349559128284454,34.31033855676651,
diff --git a/unitree_z1_dual_arm_cleanup_pencils/case2/output/sparse_8/inference/stepwise_log.csv b/unitree_z1_dual_arm_cleanup_pencils/case2/output/sparse_8/inference/stepwise_log.csv
new file mode 100644
index 0000000..f8dc915
--- /dev/null
+++ b/unitree_z1_dual_arm_cleanup_pencils/case2/output/sparse_8/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-vid50-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,0,1,0.6877856254577637,1.4160624742507935,0.06979220360517502,0.06737218052148819,0.18364007771015167,0.03536028042435646,169.32699584960938
+unitree_z1_dual_arm_cleanup_pencils-vid50-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,0,2,0.6450870037078857,1.018276572227478,0.03172800689935684,0.03107280842959881,0.1927938461303711,0.03825446218252182,168.96142578125
+unitree_z1_dual_arm_cleanup_pencils-vid50-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,0,3,0.6473150253295898,0.8496280312538147,0.03140920400619507,0.030713876709342003,0.2016696184873581,0.04108085855841637,168.41268920898438
+unitree_z1_dual_arm_cleanup_pencils-vid50-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,0,4,0.6476390361785889,0.7501278519630432,0.03109269216656685,0.03036072663962841,0.2102663516998291,0.043839097023010254,167.6234130859375
+unitree_z1_dual_arm_cleanup_pencils-vid50-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,0,5,0.6474502086639404,0.6801994442939758,0.030779661610722542,0.03001450002193451,0.21858367323875427,0.04652892053127289,168.23016357421875
+unitree_z1_dual_arm_cleanup_pencils-vid50-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,0,6,0.6504988670349121,0.6306536197662354,0.030471201986074448,0.02967633120715618,0.22662192583084106,0.04915037006139755,166.92282104492188
+unitree_z1_dual_arm_cleanup_pencils-vid50-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,0,7,0.6502184867858887,0.5952312350273132,0.030168339610099792,0.02934723161160946,0.23438197374343872,0.051703572273254395,169.09803771972656
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+unitree_z1_dual_arm_cleanup_pencils-vid50-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,0,9,0.6487724781036377,0.53630530834198,0.015721386298537254,0.015314269810914993,0.24915850162506104,0.07364700734615326,169.1455841064453
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+unitree_z1_dual_arm_cleanup_pencils-vid50-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,0,12,0.6509127616882324,0.478128045797348,0.016085948795080185,0.016638312488794327,0.28770214319229126,0.11273012310266495,171.43661499023438
+unitree_z1_dual_arm_cleanup_pencils-vid50-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,0,13,0.6525223255157471,0.46548396348953247,0.0163162499666214,0.01718120649456978,0.30054420232772827,0.12607382237911224,171.9041748046875
+unitree_z1_dual_arm_cleanup_pencils-vid50-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,0,14,0.6508147716522217,0.4508076608181,0.016599049791693687,0.017771797254681587,0.31340762972831726,0.1396084725856781,172.37538146972656
+unitree_z1_dual_arm_cleanup_pencils-vid50-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,0,15,0.6961884498596191,0.43899497389793396,0.025011662393808365,0.01858224719762802,0.31832775473594666,0.1528829038143158,172.91571044921875
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diff --git a/unitree_z1_dual_arm_cleanup_pencils/case2/run_world_model_interaction.sh b/unitree_z1_dual_arm_cleanup_pencils/case2/run_world_model_interaction.sh
index e316ff1..0e9f419 100644
--- a/unitree_z1_dual_arm_cleanup_pencils/case2/run_world_model_interaction.sh
+++ b/unitree_z1_dual_arm_cleanup_pencils/case2/run_world_model_interaction.sh
@@ -2,11 +2,11 @@ res_dir="unitree_z1_dual_arm_cleanup_pencils/case2"
 dataset="unitree_z1_dual_arm_cleanup_pencils"
 
 {
-    time CUDA_VISIBLE_DEVICES=0 python3 scripts/evaluation/world_model_interaction.py \
+    time CUDA_VISIBLE_DEVICES=0 "${PYTHON_BIN:-python}" scripts/evaluation/world_model_interaction.py \
         --seed 123 \
         --ckpt_path ckpts/unifolm_wma_dual.ckpt \
         --config configs/inference/world_model_interaction.yaml \
-        --savedir "${res_dir}/output" \
+        --savedir "${res_dir}/output/sparse_8" \
         --bs 1 --height 320 --width 512 \
         --unconditional_guidance_scale 1.0 \
         --ddim_steps 50 \
@@ -22,5 +22,8 @@ dataset="unitree_z1_dual_arm_cleanup_pencils"
         --guidance_rescale 0.7 \
         --perframe_ae \
         --analysis_log_metrics \
-        --analysis_reference_steps 50
+        --analysis_reference_steps 50 \
+        --head_schedule_steps 0 7 14 21 28 35 42 49 \
+        --head_skip_mode reuse_prediction \
+        --head_log_steps 40 43 46 47 48 49
 } 2>&1 | tee "${res_dir}/output.log"
diff --git a/unitree_z1_dual_arm_cleanup_pencils/case3/backbone_profile_dense/inference/analysis/analysis_report.md b/unitree_z1_dual_arm_cleanup_pencils/case3/backbone_profile_dense/inference/analysis/analysis_report.md
new file mode 100644
index 0000000..aa46c73
--- /dev/null
+++ b/unitree_z1_dual_arm_cleanup_pencils/case3/backbone_profile_dense/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=115.8025, median=136.8204, p90=163.1501, p95=165.9780
+
+### 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=0.3539, median=0.3497, p90=0.4171, p95=0.4282
+- `action_delta_mid_steps`: mean=0.0293, median=0.0282, p90=0.0415, p95=0.0434
+- `state_delta_mid_steps`: mean=0.0290, median=0.0278, p90=0.0412, p95=0.0430
+
+### Direction A: Budget Heterogeneity
+
+- `oracle_budget_action`: mean=46.6250, median=46.6250, p90=46.6250, p95=46.6250
+- `oracle_budget_state`: mean=47.0000, median=47.0000, p90=47.0000, p95=47.0000
+- `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=245.2738, median=241.8205, p90=256.2588, p95=264.7285
+- `action_drift_vs_prev_round`: mean=0.7145, median=0.7974, p90=0.9565, p95=1.0102
+- `round_total_time_s`: mean=572.9500, median=579.7652, p90=602.7283, p95=603.3178
+- `policy_pass_total_time_s`: mean=238.1444, median=246.9240, p90=257.0490, p95=257.6652
+- `world_model_pass_total_time_s`: mean=246.7932, median=254.5509, p90=258.5156, p95=258.7368
+
diff --git a/unitree_z1_dual_arm_cleanup_pencils/case3/backbone_profile_dense/inference/analysis/budget_distribution.png b/unitree_z1_dual_arm_cleanup_pencils/case3/backbone_profile_dense/inference/analysis/budget_distribution.png
new file mode 100644
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diff --git a/unitree_z1_dual_arm_cleanup_pencils/case3/backbone_profile_dense/inference/analysis/convergence_curves.png b/unitree_z1_dual_arm_cleanup_pencils/case3/backbone_profile_dense/inference/analysis/convergence_curves.png
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diff --git a/unitree_z1_dual_arm_cleanup_pencils/case3/backbone_profile_dense/inference/analysis/midstep_latent_delta.png b/unitree_z1_dual_arm_cleanup_pencils/case3/backbone_profile_dense/inference/analysis/midstep_latent_delta.png
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diff --git a/unitree_z1_dual_arm_cleanup_pencils/case3/backbone_profile_dense/inference/analysis/round_reuse.png b/unitree_z1_dual_arm_cleanup_pencils/case3/backbone_profile_dense/inference/analysis/round_reuse.png
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diff --git a/unitree_z1_dual_arm_cleanup_pencils/case3/backbone_profile_dense/inference/analysis/scene_summary.csv b/unitree_z1_dual_arm_cleanup_pencils/case3/backbone_profile_dense/inference/analysis/scene_summary.csv
new file mode 100644
index 0000000..900fc5b
--- /dev/null
+++ b/unitree_z1_dual_arm_cleanup_pencils/case3/backbone_profile_dense/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
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diff --git a/unitree_z1_dual_arm_cleanup_pencils/case3/backbone_profile_dense/inference/analysis/step_aggregate.csv b/unitree_z1_dual_arm_cleanup_pencils/case3/backbone_profile_dense/inference/analysis/step_aggregate.csv
new file mode 100644
index 0000000..eb055a0
--- /dev/null
+++ b/unitree_z1_dual_arm_cleanup_pencils/case3/backbone_profile_dense/inference/analysis/step_aggregate.csv
@@ -0,0 +1,102 @@
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diff --git a/unitree_z1_dual_arm_cleanup_pencils/case3/backbone_profile_dense/inference/backbone_analysis/backbone_profile_report.md b/unitree_z1_dual_arm_cleanup_pencils/case3/backbone_profile_dense/inference/backbone_analysis/backbone_profile_report.md
new file mode 100644
index 0000000..bc65420
--- /dev/null
+++ b/unitree_z1_dual_arm_cleanup_pencils/case3/backbone_profile_dense/inference/backbone_analysis/backbone_profile_report.md
@@ -0,0 +1,30 @@
+# Backbone Block Profiling Report
+
+## Dataset Overview
+
+- Rows: 20000
+- Blocks: 25
+- Steps: 1-50
+- Pass types: policy, world_model
+
+## Block Timing
+
+- `forward_time_ms`: mean=29.6888, median=33.0428, p90=53.5421
+
+## Stability
+
+- `rel_l2_delta_vs_prev`: mean=0.148623, median=0.131480, p90=0.234975
+- `cosine_vs_prev`: mean=0.985607, median=0.991779, p90=0.998233
+
+## Top Cache Candidates
+
+- `output_5` (output_blocks): tail_rel_l2=0.040660, mean_forward_time_ms=40.9982
+- `output_4` (output_blocks): tail_rel_l2=0.053289, mean_forward_time_ms=38.4154
+- `output_6` (output_blocks): tail_rel_l2=0.056536, mean_forward_time_ms=40.9847
+- `output_2` (output_blocks): tail_rel_l2=0.057318, mean_forward_time_ms=4.3035
+- `output_3` (output_blocks): tail_rel_l2=0.060226, mean_forward_time_ms=38.9804
+- `output_8` (output_blocks): tail_rel_l2=0.062275, mean_forward_time_ms=42.2770
+- `input_5` (input_blocks): tail_rel_l2=0.072118, mean_forward_time_ms=42.6592
+- `output_7` (output_blocks): tail_rel_l2=0.073231, mean_forward_time_ms=41.0011
+- `output_1` (output_blocks): tail_rel_l2=0.075050, mean_forward_time_ms=3.4058
+- `input_7` (input_blocks): tail_rel_l2=0.076069, mean_forward_time_ms=38.5863
\ No newline at end of file
diff --git a/unitree_z1_dual_arm_cleanup_pencils/case3/backbone_profile_dense/inference/backbone_analysis/block_step_aggregate.csv b/unitree_z1_dual_arm_cleanup_pencils/case3/backbone_profile_dense/inference/backbone_analysis/block_step_aggregate.csv
new file mode 100644
index 0000000..b0fcca9
--- /dev/null
+++ b/unitree_z1_dual_arm_cleanup_pencils/case3/backbone_profile_dense/inference/backbone_analysis/block_step_aggregate.csv
@@ -0,0 +1,1251 @@
+block_stage,block_name,block_index,step,forward_time_ms,l2_delta_vs_prev,rel_l2_delta_vs_prev,cosine_vs_prev,l2_delta_vs_full50,cosine_vs_full50
+input_blocks,input_0,0,1,30.4559369396884,,,,1880.8493118286133,0.12070069508627053
+input_blocks,input_0,0,2,30.351814843015745,1729.197608947754,1.2917900756001472,0.16591548733413214,1874.4643478393555,0.1269324268214404
+input_blocks,input_0,0,3,30.424275144468993,1253.897102355957,0.9364415295422077,0.562001146376133,1866.89013671875,0.13384038675576446
+input_blocks,input_0,0,4,30.376258422620595,1044.8722534179688,0.7805309034883976,0.6962844394147396,1857.7505416870117,0.14261018484830854
+input_blocks,input_0,0,5,30.365129437996075,922.6010856628418,0.6889696419239044,0.763467013835907,1847.9207916259766,0.15158144477754829
+input_blocks,input_0,0,6,30.385299382032827,839.0751533508301,0.6267202198505402,0.8044533245265484,1838.5600357055664,0.16004889551550147
+input_blocks,input_0,0,7,30.40867336676456,778.7103729248047,0.5817729085683823,0.8316874504089355,1827.4578552246094,0.17016563005745405
+input_blocks,input_0,0,8,30.352844682056457,731.3849983215332,0.5464797057211399,0.8516029752790928,1815.2324829101562,0.18102079164236778
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diff --git a/unitree_z1_dual_arm_cleanup_pencils/case3/backbone_profile_dense/inference/backbone_analysis/block_summary.csv b/unitree_z1_dual_arm_cleanup_pencils/case3/backbone_profile_dense/inference/backbone_analysis/block_summary.csv
new file mode 100644
index 0000000..ac8df8c
--- /dev/null
+++ b/unitree_z1_dual_arm_cleanup_pencils/case3/backbone_profile_dense/inference/backbone_analysis/block_summary.csv
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diff --git a/unitree_z1_dual_arm_cleanup_pencils/case3/backbone_profile_dense/inference/backbone_analysis/stage_summary.csv b/unitree_z1_dual_arm_cleanup_pencils/case3/backbone_profile_dense/inference/backbone_analysis/stage_summary.csv
new file mode 100644
index 0000000..f327c6f
--- /dev/null
+++ b/unitree_z1_dual_arm_cleanup_pencils/case3/backbone_profile_dense/inference/backbone_analysis/stage_summary.csv
@@ -0,0 +1,10 @@
+window,block_stage,mean_forward_time_ms,mean_rel_l2_delta_vs_prev,mean_cosine_vs_prev,mean_l2_delta_vs_full50,mean_cosine_vs_full50
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+all,output_blocks,33.292001563337784,0.12175722566724681,0.9917247966058603,6454.714982264836,0.7723076438360537
+mid,input_blocks,26.4818994766092,0.16901766823323824,0.9842463913299735,1879.2808513792734,0.7155643113563577
+mid,middle_block,24.601547048881738,0.13499695783303603,0.9905511419333163,2068.9882151285806,0.7450909229616324
+mid,output_blocks,33.27608231923059,0.11434175802804969,0.9936185319656654,6433.2430724340775,0.7796033731262598
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diff --git a/unitree_z1_dual_arm_cleanup_pencils/case3/backbone_profile_dense/inference/backbone_block_log.csv b/unitree_z1_dual_arm_cleanup_pencils/case3/backbone_profile_dense/inference/backbone_block_log.csv
new file mode 100644
index 0000000..53311d4
--- /dev/null
+++ b/unitree_z1_dual_arm_cleanup_pencils/case3/backbone_profile_dense/inference/backbone_block_log.csv
@@ -0,0 +1,20001 @@
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diff --git a/unitree_z1_dual_arm_cleanup_pencils/case3/backbone_profile_dense/inference/round_summary.csv b/unitree_z1_dual_arm_cleanup_pencils/case3/backbone_profile_dense/inference/round_summary.csv
new file mode 100644
index 0000000..f0400ee
--- /dev/null
+++ b/unitree_z1_dual_arm_cleanup_pencils/case3/backbone_profile_dense/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
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diff --git a/unitree_z1_dual_arm_cleanup_pencils/case3/backbone_profile_dense/inference/sample_summary.csv b/unitree_z1_dual_arm_cleanup_pencils/case3/backbone_profile_dense/inference/sample_summary.csv
new file mode 100644
index 0000000..239344c
--- /dev/null
+++ b/unitree_z1_dual_arm_cleanup_pencils/case3/backbone_profile_dense/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
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diff --git a/unitree_z1_dual_arm_cleanup_pencils/case3/backbone_profile_dense/inference/stepwise_log.csv b/unitree_z1_dual_arm_cleanup_pencils/case3/backbone_profile_dense/inference/stepwise_log.csv
new file mode 100644
index 0000000..729677d
--- /dev/null
+++ b/unitree_z1_dual_arm_cleanup_pencils/case3/backbone_profile_dense/inference/stepwise_log.csv
@@ -0,0 +1,801 @@
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diff --git a/unitree_z1_dual_arm_cleanup_pencils/case3/output/sparse_8/inference/round_summary.csv b/unitree_z1_dual_arm_cleanup_pencils/case3/output/sparse_8/inference/round_summary.csv
new file mode 100644
index 0000000..695ecac
--- /dev/null
+++ b/unitree_z1_dual_arm_cleanup_pencils/case3/output/sparse_8/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
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diff --git a/unitree_z1_dual_arm_cleanup_pencils/case3/output/sparse_8/inference/sample_summary.csv b/unitree_z1_dual_arm_cleanup_pencils/case3/output/sparse_8/inference/sample_summary.csv
new file mode 100644
index 0000000..30b2bd7
--- /dev/null
+++ b/unitree_z1_dual_arm_cleanup_pencils/case3/output/sparse_8/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
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diff --git a/unitree_z1_dual_arm_cleanup_pencils/case3/output/sparse_8/inference/stepwise_log.csv b/unitree_z1_dual_arm_cleanup_pencils/case3/output/sparse_8/inference/stepwise_log.csv
new file mode 100644
index 0000000..e545842
--- /dev/null
+++ b/unitree_z1_dual_arm_cleanup_pencils/case3/output/sparse_8/inference/stepwise_log.csv
@@ -0,0 +1,801 @@
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+unitree_z1_dual_arm_cleanup_pencils-vid100-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,7,17,0.6544735431671143,0.41682401299476624,0.016013242304325104,0.017742551863193512,0.2503489553928375,0.16055095195770264,188.28680419921875
+unitree_z1_dual_arm_cleanup_pencils-vid100-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,7,18,0.6544833183288574,0.40626856684684753,0.016822481527924538,0.0186521764844656,0.2612314522266388,0.17278781533241272,188.90135192871094
+unitree_z1_dual_arm_cleanup_pencils-vid100-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,7,19,0.6641886234283447,0.3973100185394287,0.017677724361419678,0.019607195630669594,0.27233222126960754,0.18533945083618164,188.85354614257812
+unitree_z1_dual_arm_cleanup_pencils-vid100-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,7,20,0.6532008647918701,0.38647234439849854,0.018578441813588142,0.020608186721801758,0.28367435932159424,0.1982363611459732,189.82752990722656
+unitree_z1_dual_arm_cleanup_pencils-vid100-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,7,21,0.6549406051635742,0.38011106848716736,0.019524646922945976,0.021656235679984093,0.2952820658683777,0.21151116490364075,190.63302612304688
+unitree_z1_dual_arm_cleanup_pencils-vid100-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,7,22,0.6939036846160889,0.37152665853500366,0.023877037689089775,0.02373395301401615,0.3068616986274719,0.22581511735916138,190.87734985351562
+unitree_z1_dual_arm_cleanup_pencils-vid100-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,7,23,0.6519067287445068,0.36478739976882935,0.02320975437760353,0.024936184287071228,0.3203139007091522,0.24062255024909973,190.95162963867188
+unitree_z1_dual_arm_cleanup_pencils-vid100-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,7,24,0.6539924144744873,0.35777759552001953,0.024374352768063545,0.026193875819444656,0.33419379591941833,0.2559790313243866,191.3375701904297
+unitree_z1_dual_arm_cleanup_pencils-vid100-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,7,25,0.657311201095581,0.3503554165363312,0.025592854246497154,0.02751079387962818,0.34853917360305786,0.27193376421928406,191.4000701904297
+unitree_z1_dual_arm_cleanup_pencils-vid100-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,7,26,0.6800675392150879,0.34319329261779785,0.026867752894759178,0.02889024093747139,0.3633900284767151,0.2885398864746094,191.57843017578125
+unitree_z1_dual_arm_cleanup_pencils-vid100-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,7,27,0.6608762741088867,0.337788850069046,0.028202541172504425,0.030336566269397736,0.3787894546985626,0.305854856967926,191.931396484375
+unitree_z1_dual_arm_cleanup_pencils-vid100-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,7,28,0.6548118591308594,0.3311767578125,0.02960103377699852,0.03185447305440903,0.3947831690311432,0.3239404559135437,191.980224609375
+unitree_z1_dual_arm_cleanup_pencils-vid100-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,7,29,0.6948456764221191,0.3250446319580078,0.033436425030231476,0.03413528576493263,0.410604327917099,0.343205988407135,192.3408966064453
+unitree_z1_dual_arm_cleanup_pencils-vid100-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,7,30,0.6626172065734863,0.31883829832077026,0.03364128619432449,0.035864125937223434,0.4286990761756897,0.36342841386795044,192.4963836669922
+unitree_z1_dual_arm_cleanup_pencils-vid100-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,7,31,0.6534206867218018,0.3138279914855957,0.03532000258564949,0.03768652677536011,0.4476093649864197,0.38468900322914124,190.43238830566406
+unitree_z1_dual_arm_cleanup_pencils-vid100-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,7,32,0.6546459197998047,0.3074093163013458,0.03708704560995102,0.03960946947336197,0.4673968553543091,0.40707314014434814,188.2869415283203
+unitree_z1_dual_arm_cleanup_pencils-vid100-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,7,33,0.6541268825531006,0.2989999055862427,0.03894835337996483,0.04164005070924759,0.4881244897842407,0.43066972494125366,186.5860137939453
+unitree_z1_dual_arm_cleanup_pencils-vid100-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,7,34,0.6560056209564209,0.29079604148864746,0.0409114807844162,0.04378703981637955,0.5098558664321899,0.45556944608688354,185.18789672851562
+unitree_z1_dual_arm_cleanup_pencils-vid100-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,7,35,0.6537985801696777,0.28275129199028015,0.04298299178481102,0.046058014035224915,0.5326518416404724,0.4818614423274994,183.97674560546875
+unitree_z1_dual_arm_cleanup_pencils-vid100-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,7,36,0.7014820575714111,0.27423593401908875,0.04804104194045067,0.05049008131027222,0.5565308332443237,0.5109660625457764,182.80447387695312
+unitree_z1_dual_arm_cleanup_pencils-vid100-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,7,37,0.6533522605895996,0.26460370421409607,0.04954119399189949,0.053195636719465256,0.5830042362213135,0.5417714715003967,182.111083984375
+unitree_z1_dual_arm_cleanup_pencils-vid100-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,7,38,0.663210391998291,0.25629860162734985,0.0521509125828743,0.05606083944439888,0.6108255982398987,0.5743317008018494,181.66812133789062
+unitree_z1_dual_arm_cleanup_pencils-vid100-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,7,39,0.6560242176055908,0.24612320959568024,0.05490987002849579,0.05908980593085289,0.6400021910667419,0.6086591482162476,181.10409545898438
+unitree_z1_dual_arm_cleanup_pencils-vid100-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,7,40,0.653799295425415,0.23649759590625763,0.057822857052087784,0.06228401139378548,0.6704978942871094,0.6447045803070068,180.9855194091797
+unitree_z1_dual_arm_cleanup_pencils-vid100-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,7,41,0.6604995727539062,0.2269001603126526,0.06088797748088837,0.06563553214073181,0.7022124528884888,0.6823261380195618,180.9955596923828
+unitree_z1_dual_arm_cleanup_pencils-vid100-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,7,42,0.6577277183532715,0.21680843830108643,0.06410104781389236,0.06913115829229355,0.734958827495575,0.7212564945220947,181.4691162109375
+unitree_z1_dual_arm_cleanup_pencils-vid100-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,7,43,0.7010416984558105,0.20679448544979095,0.07089077681303024,0.0737539604306221,0.7698583602905273,0.76194167137146,181.90528869628906
+unitree_z1_dual_arm_cleanup_pencils-vid100-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,7,44,0.6533682346343994,0.1969878375530243,0.07356980443000793,0.07756061106920242,0.8058331608772278,0.8029186129570007,182.69383239746094
+unitree_z1_dual_arm_cleanup_pencils-vid100-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,7,45,0.6558592319488525,0.1866701990365982,0.07738089561462402,0.081395223736763,0.8415144085884094,0.843254029750824,183.64479064941406
+unitree_z1_dual_arm_cleanup_pencils-vid100-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,7,46,0.6550247669219971,0.17648696899414062,0.08124037086963654,0.08518433570861816,0.8759417533874512,0.8817307949066162,184.9155731201172
+unitree_z1_dual_arm_cleanup_pencils-vid100-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,7,47,0.6546435356140137,0.16608528792858124,0.08510251343250275,0.0888548195362091,0.9078992009162903,0.9168746471405029,186.11227416992188
+unitree_z1_dual_arm_cleanup_pencils-vid100-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,7,48,0.6583943367004395,0.15522052347660065,0.08900417387485504,0.09242091327905655,0.9359601140022278,0.9470533728599548,187.5897979736328
+unitree_z1_dual_arm_cleanup_pencils-vid100-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,7,49,0.654116153717041,0.1435481756925583,0.09352952986955643,0.09646458923816681,0.9586333632469177,0.9706863760948181,189.4212646484375
+unitree_z1_dual_arm_cleanup_pencils-vid100-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,7,50,0.7028539180755615,0.12265245616436005,0.1435292661190033,0.16214682161808014,0.9825617074966431,0.9918212890625,189.74871826171875
diff --git a/unitree_z1_dual_arm_cleanup_pencils/case3/run_world_model_backbone_profile.sh b/unitree_z1_dual_arm_cleanup_pencils/case3/run_world_model_backbone_profile.sh
new file mode 100644
index 0000000..6731efc
--- /dev/null
+++ b/unitree_z1_dual_arm_cleanup_pencils/case3/run_world_model_backbone_profile.sh
@@ -0,0 +1,11 @@
+#!/usr/bin/env bash
+
+set -euo pipefail
+
+repo_root="$(cd "$(dirname "${BASH_SOURCE[0]}")/../.." && pwd)"
+CUDA_VISIBLE_DEVICES="${CUDA_VISIBLE_DEVICES:-1}" \
+bash "${repo_root}/scripts/run_world_model_backbone_profile_case.sh" \
+    "unitree_z1_dual_arm_cleanup_pencils/case3" \
+    "unitree_z1_dual_arm_cleanup_pencils" \
+    "4" \
+    "8"
diff --git a/unitree_z1_dual_arm_cleanup_pencils/case3/run_world_model_interaction.sh b/unitree_z1_dual_arm_cleanup_pencils/case3/run_world_model_interaction.sh
index f1d5a0c..168bd7a 100644
--- a/unitree_z1_dual_arm_cleanup_pencils/case3/run_world_model_interaction.sh
+++ b/unitree_z1_dual_arm_cleanup_pencils/case3/run_world_model_interaction.sh
@@ -2,11 +2,11 @@ res_dir="unitree_z1_dual_arm_cleanup_pencils/case3"
 dataset="unitree_z1_dual_arm_cleanup_pencils"
 
 {
-    time CUDA_VISIBLE_DEVICES=0 python3 scripts/evaluation/world_model_interaction.py \
+    time CUDA_VISIBLE_DEVICES=0 "${PYTHON_BIN:-python}" scripts/evaluation/world_model_interaction.py \
         --seed 123 \
         --ckpt_path ckpts/unifolm_wma_dual.ckpt \
         --config configs/inference/world_model_interaction.yaml \
-        --savedir "${res_dir}/output" \
+        --savedir "${res_dir}/output/sparse_8" \
         --bs 1 --height 320 --width 512 \
         --unconditional_guidance_scale 1.0 \
         --ddim_steps 50 \
@@ -22,5 +22,8 @@ dataset="unitree_z1_dual_arm_cleanup_pencils"
         --guidance_rescale 0.7 \
         --perframe_ae \
         --analysis_log_metrics \
-        --analysis_reference_steps 50
+        --analysis_reference_steps 50 \
+        --head_schedule_steps 0 7 14 21 28 35 42 49 \
+        --head_skip_mode reuse_prediction \
+        --head_log_steps 40 43 46 47 48 49
 } 2>&1 | tee "${res_dir}/output.log"
diff --git a/unitree_z1_dual_arm_cleanup_pencils/case4/output/sparse_8/inference/round_summary.csv b/unitree_z1_dual_arm_cleanup_pencils/case4/output/sparse_8/inference/round_summary.csv
new file mode 100644
index 0000000..e2fef7b
--- /dev/null
+++ b/unitree_z1_dual_arm_cleanup_pencils/case4/output/sparse_8/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,0,34.17999196052551,33.92979121208191,139.10489463806152,,,
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,1,34.89252185821533,34.62525296211243,143.00065779685974,235.68756103515625,0.6498753130435944,
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,2,34.27174615859985,33.688376903533936,138.82233262062073,256.54522705078125,1.1396523118019104,
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,3,34.255370140075684,34.916423082351685,142.16555285453796,256.36724853515625,0.5497420132160187,
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,4,34.34192728996277,33.572452783584595,140.31931447982788,243.2056121826172,0.4506574869155884,
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,5,34.29056000709534,34.0456440448761,140.76101326942444,263.9020690917969,0.6666657030582428,
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,6,34.29332089424133,33.41105055809021,140.9711766242981,264.82269287109375,0.9396226517856121,
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,7,34.068970680236816,34.633495569229126,142.26596093177795,214.09054565429688,0.16155409812927246,
diff --git a/unitree_z1_dual_arm_cleanup_pencils/case4/output/sparse_8/inference/sample_summary.csv b/unitree_z1_dual_arm_cleanup_pencils/case4/output/sparse_8/inference/sample_summary.csv
new file mode 100644
index 0000000..d2edc88
--- /dev/null
+++ b/unitree_z1_dual_arm_cleanup_pencils/case4/output/sparse_8/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,34.32430112361908,,,,46.714285714285715,48.2,46.5,47.25,,247.80299377441406,0.651109939707177,140.92636290192604,34.32430112361908,34.1028108894825,
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,34.1028108894825,,,,46.625,48.57142857142857,46.75,47.0,,247.80299377441406,0.651109939707177,140.92636290192604,34.32430112361908,34.1028108894825,
diff --git a/unitree_z1_dual_arm_cleanup_pencils/case4/output/sparse_8/inference/stepwise_log.csv b/unitree_z1_dual_arm_cleanup_pencils/case4/output/sparse_8/inference/stepwise_log.csv
new file mode 100644
index 0000000..9baa7c4
--- /dev/null
+++ b/unitree_z1_dual_arm_cleanup_pencils/case4/output/sparse_8/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,0,1,0.6880984306335449,1.4160549640655518,0.06707990169525146,0.06701512634754181,0.16676631569862366,-0.013001399114727974,165.47959899902344
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,0,2,0.6404731273651123,1.018290400505066,0.03170491009950638,0.03128667548298836,0.17448890209197998,-0.006608366966247559,165.18072509765625
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,0,3,0.6616852283477783,0.8496241569519043,0.03141256794333458,0.031186813488602638,0.18197126686573029,-0.00022935494780540466,164.0499267578125
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,0,4,0.6534245014190674,0.7501158714294434,0.031122006475925446,0.03108721226453781,0.1892121434211731,0.006129594519734383,165.2473907470703
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,0,5,0.661870002746582,0.6801887154579163,0.030834302306175232,0.03098822385072708,0.19621095061302185,0.012462560087442398,165.2728729248047
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,0,6,0.6562111377716064,0.6306071281433105,0.030550498515367508,0.03089025802910328,0.202967569231987,0.018763870000839233,166.8395233154297
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,0,7,0.6506836414337158,0.595181405544281,0.03027154877781868,0.030793650075793266,0.2094823718070984,0.025028038769960403,167.64724731445312
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,0,8,0.7021369934082031,0.5636259913444519,0.03212101757526398,0.028622178360819817,0.21139118075370789,0.0339856818318367,170.9114227294922
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,0,9,0.6657814979553223,0.5362586975097656,0.01700483448803425,0.01732577197253704,0.22578637301921844,0.04921547323465347,171.34056091308594
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,policy,0,10,0.6452083587646484,0.5150431990623474,0.01710130088031292,0.017690259963274002,0.24015609920024872,0.06458741426467896,173.2724151611328
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+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,7,11,0.6475350856781006,0.49706244468688965,0.012377722188830376,0.013681309297680855,0.201988086104393,0.1240977793931961,183.18983459472656
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,7,12,0.6619195938110352,0.481184720993042,0.012629586271941662,0.014141028746962547,0.2108476161956787,0.13516968488693237,182.5065460205078
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,7,13,0.6591274738311768,0.4645715653896332,0.01295066624879837,0.014658348634839058,0.21974092721939087,0.1463620364665985,182.46043395996094
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,7,14,0.680680513381958,0.45085927844047546,0.013337724842131138,0.0152303297072649,0.22868132591247559,0.15769314765930176,183.02255249023438
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,7,15,0.7064275741577148,0.43982869386672974,0.01614580675959587,0.016258563846349716,0.23833300173282623,0.16919945180416107,182.81590270996094
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,7,16,0.6624042987823486,0.42779341340065,0.015211568213999271,0.017000097781419754,0.2489454299211502,0.18103908002376556,183.81007385253906
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,7,17,0.6728041172027588,0.416815847158432,0.015911877155303955,0.017831852659583092,0.25971314311027527,0.19312430918216705,183.86875915527344
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,7,18,0.6667852401733398,0.40631866455078125,0.01666056551039219,0.0187090914696455,0.2706552743911743,0.20548038184642792,184.72006225585938
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,7,19,0.6525728702545166,0.3972732424736023,0.017456086352467537,0.019631560891866684,0.28179189562797546,0.21813400089740753,184.6117706298828
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,7,20,0.6497344970703125,0.3864140212535858,0.01829744689166546,0.02059962786734104,0.29314401745796204,0.23111364245414734,186.39480590820312
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,7,21,0.6693296432495117,0.38002467155456543,0.019184211269021034,0.02161410078406334,0.3047337532043457,0.24444971978664398,187.25860595703125
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,7,22,0.7327420711517334,0.37137487530708313,0.024303292855620384,0.023761995136737823,0.3168419301509857,0.25880923867225647,187.64208984375
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,7,23,0.6535022258758545,0.36468976736068726,0.0230098906904459,0.024928618222475052,0.33056512475013733,0.2736436128616333,187.06369018554688
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,7,24,0.6644837856292725,0.35763564705848694,0.024104656651616096,0.026148732751607895,0.34468069672584534,0.2889940142631531,187.47752380371094
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,7,25,0.6602275371551514,0.3501910865306854,0.025249922648072243,0.02742564119398594,0.3592214286327362,0.3049045503139496,188.06985473632812
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,7,26,0.6743412017822266,0.34308186173439026,0.026447473093867302,0.02876214310526848,0.37422147393226624,0.3214222192764282,188.37599182128906
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,7,27,0.654228925704956,0.33777981996536255,0.027699926868081093,0.030162015929818153,0.3897170126438141,0.33859723806381226,188.6652374267578
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,7,28,0.6591572761535645,0.3311268091201782,0.02901015430688858,0.031629279255867004,0.4057459235191345,0.3564830422401428,189.0634002685547
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,7,29,0.7105541229248047,0.3249835669994354,0.033053286373615265,0.03384491801261902,0.42223018407821655,0.37556225061416626,189.265380859375
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,7,30,0.6997416019439697,0.3188747763633728,0.03316018357872963,0.0355035774409771,0.44059625267982483,0.3955112099647522,189.78726196289062
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,7,31,0.6870748996734619,0.313934326171875,0.03472695127129555,0.03724759444594383,0.4596906900405884,0.4163951277732849,187.19845581054688
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,7,32,0.6742818355560303,0.3074319064617157,0.036369744688272476,0.03908250480890274,0.47955843806266785,0.43828070163726807,184.83792114257812
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,7,33,0.7017395496368408,0.2991984486579895,0.03809250891208649,0.041013818234205246,0.5002424716949463,0.4612341821193695,182.49172973632812
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,7,34,0.6602077484130859,0.2910171151161194,0.039900463074445724,0.04304831102490425,0.5217829942703247,0.48531997203826904,180.35409545898438
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,7,35,0.6574068069458008,0.28308552503585815,0.04179748147726059,0.04519139975309372,0.5442141890525818,0.5105966925621033,178.74398803710938
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,7,36,0.7109081745147705,0.27454233169555664,0.04690512269735336,0.04947054758667946,0.5678147077560425,0.5384108424186707,176.9910430908203
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,7,37,0.6509552001953125,0.26501181721687317,0.04792044684290886,0.05199989676475525,0.5935937166213989,0.5676243305206299,175.77481079101562
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,7,38,0.6864757537841797,0.25685596466064453,0.0502350740134716,0.05466224625706673,0.620384693145752,0.598240077495575,174.46156311035156
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,7,39,0.7162935733795166,0.24657273292541504,0.0526559017598629,0.05745788663625717,0.648139238357544,0.6302155256271362,173.45912170410156
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,7,40,0.6682875156402588,0.23691636323928833,0.05518181622028351,0.0603843592107296,0.6767637729644775,0.663445234298706,172.6646728515625
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,7,41,0.6794540882110596,0.2272820919752121,0.05780508369207382,0.06343020498752594,0.7061041593551636,0.6977360844612122,172.0179901123047
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,7,42,0.6621279716491699,0.21742098033428192,0.06051614135503769,0.06657946109771729,0.7359308004379272,0.7327817678451538,171.63758850097656
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,7,43,0.6898267269134521,0.20735548436641693,0.06692087650299072,0.07105041295289993,0.7678955793380737,0.7693809866905212,171.6037139892578
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,7,44,0.6987981796264648,0.1974572241306305,0.06864629685878754,0.07440546154975891,0.8004235029220581,0.805675208568573,171.79794311523438
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,7,45,0.6893031597137451,0.18717925250530243,0.07164163887500763,0.07774421572685242,0.8320781588554382,0.8408036828041077,172.24368286132812
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,7,46,0.6805813312530518,0.17715197801589966,0.07460834085941315,0.08100370317697525,0.8620632886886597,0.8737053871154785,173.0034637451172
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,7,47,0.7169170379638672,0.16670779883861542,0.0775168165564537,0.08412803709506989,0.8894479274749756,0.903157114982605,173.8084259033203
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,7,48,0.6714901924133301,0.15608692169189453,0.08042218536138535,0.08715099096298218,0.9132195115089417,0.9278624653816223,174.8671875
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,7,49,0.6646618843078613,0.14476294815540314,0.08387859910726547,0.09064489603042603,0.9324020743370056,0.9466094374656677,176.3357391357422
+unitree_z1_dual_arm_cleanup_pencils-vid200-fs4,unitree_z1_dual_arm_cleanup_pencils,world_model,7,50,0.7178804874420166,0.12500335276126862,0.12268003821372986,0.14430758357048035,0.9528319239616394,0.9645417928695679,176.6387481689453
diff --git a/unitree_z1_dual_arm_cleanup_pencils/case4/run_world_model_interaction.sh b/unitree_z1_dual_arm_cleanup_pencils/case4/run_world_model_interaction.sh
index 3a3e6c8..0467132 100644
--- a/unitree_z1_dual_arm_cleanup_pencils/case4/run_world_model_interaction.sh
+++ b/unitree_z1_dual_arm_cleanup_pencils/case4/run_world_model_interaction.sh
@@ -2,11 +2,11 @@ res_dir="unitree_z1_dual_arm_cleanup_pencils/case4"
 dataset="unitree_z1_dual_arm_cleanup_pencils"
 
 {
-    time CUDA_VISIBLE_DEVICES=0 python3 scripts/evaluation/world_model_interaction.py \
+    time CUDA_VISIBLE_DEVICES=0 "${PYTHON_BIN:-python}" scripts/evaluation/world_model_interaction.py \
         --seed 123 \
         --ckpt_path ckpts/unifolm_wma_dual.ckpt \
         --config configs/inference/world_model_interaction.yaml \
-        --savedir "${res_dir}/output" \
+        --savedir "${res_dir}/output/sparse_8" \
         --bs 1 --height 320 --width 512 \
         --unconditional_guidance_scale 1.0 \
         --ddim_steps 50 \
@@ -22,5 +22,8 @@ dataset="unitree_z1_dual_arm_cleanup_pencils"
         --guidance_rescale 0.7 \
         --perframe_ae \
         --analysis_log_metrics \
-        --analysis_reference_steps 50
+        --analysis_reference_steps 50 \
+        --head_schedule_steps 0 7 14 21 28 35 42 49 \
+        --head_skip_mode reuse_prediction \
+        --head_log_steps 40 43 46 47 48 49
 } 2>&1 | tee "${res_dir}/output.log"
diff --git a/unitree_z1_dual_arm_stackbox/case1/output/sparse_8/inference/round_summary.csv b/unitree_z1_dual_arm_stackbox/case1/output/sparse_8/inference/round_summary.csv
new file mode 100644
index 0000000..88a5b08
--- /dev/null
+++ b/unitree_z1_dual_arm_stackbox/case1/output/sparse_8/inference/round_summary.csv
@@ -0,0 +1,8 @@
+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_stackbox-vid5-fs4,unitree_z1_dual_arm_stackbox,0,33.82403302192688,33.88991904258728,137.83710050582886,,,
+unitree_z1_dual_arm_stackbox-vid5-fs4,unitree_z1_dual_arm_stackbox,1,33.60768103599548,33.290879249572754,136.70592331886292,211.3185577392578,0.4284072518348694,
+unitree_z1_dual_arm_stackbox-vid5-fs4,unitree_z1_dual_arm_stackbox,2,33.32481932640076,33.29386496543884,135.5947766304016,212.13265991210938,0.7351764142513275,
+unitree_z1_dual_arm_stackbox-vid5-fs4,unitree_z1_dual_arm_stackbox,3,33.305495500564575,33.303760051727295,135.52519917488098,219.74609375,0.4086533188819885,
+unitree_z1_dual_arm_stackbox-vid5-fs4,unitree_z1_dual_arm_stackbox,4,33.33557486534119,33.425875186920166,135.7887668609619,176.02040100097656,0.2585596442222595,
+unitree_z1_dual_arm_stackbox-vid5-fs4,unitree_z1_dual_arm_stackbox,5,33.343204975128174,33.31395173072815,135.5879945755005,207.51541137695312,0.42041802406311035,
+unitree_z1_dual_arm_stackbox-vid5-fs4,unitree_z1_dual_arm_stackbox,6,33.2964301109314,33.34376573562622,135.58371686935425,161.896728515625,0.35986077785491943,
diff --git a/unitree_z1_dual_arm_stackbox/case1/output/sparse_8/inference/sample_summary.csv b/unitree_z1_dual_arm_stackbox/case1/output/sparse_8/inference/sample_summary.csv
new file mode 100644
index 0000000..a2a90ed
--- /dev/null
+++ b/unitree_z1_dual_arm_stackbox/case1/output/sparse_8/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_stackbox-vid5-fs4,unitree_z1_dual_arm_stackbox,policy,33.433891262326924,,,,47.666666666666664,49.6,47.142857142857146,47.857142857142854,,198.10497538248697,0.4351792385180791,136.08906827654158,33.433891262326924,33.40885942322867,
+unitree_z1_dual_arm_stackbox-vid5-fs4,unitree_z1_dual_arm_stackbox,world_model,33.40885942322867,,,,48.2,49.666666666666664,47.285714285714285,47.714285714285715,,198.10497538248697,0.4351792385180791,136.08906827654158,33.433891262326924,33.40885942322867,
diff --git a/unitree_z1_dual_arm_stackbox/case1/output/sparse_8/inference/stepwise_log.csv b/unitree_z1_dual_arm_stackbox/case1/output/sparse_8/inference/stepwise_log.csv
new file mode 100644
index 0000000..bf322b6
--- /dev/null
+++ b/unitree_z1_dual_arm_stackbox/case1/output/sparse_8/inference/stepwise_log.csv
@@ -0,0 +1,701 @@
+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_stackbox-vid5-fs4,unitree_z1_dual_arm_stackbox,policy,0,1,0.6885354518890381,1.4160528182983398,0.07500046491622925,0.07889977097511292,0.11988209933042526,0.06478386372327805,167.1123046875
+unitree_z1_dual_arm_stackbox-vid5-fs4,unitree_z1_dual_arm_stackbox,policy,0,2,0.6475434303283691,1.0183463096618652,0.03177296370267868,0.03130107745528221,0.1281455010175705,0.06896268576383591,167.2060546875
+unitree_z1_dual_arm_stackbox-vid5-fs4,unitree_z1_dual_arm_stackbox,policy,0,3,0.6507048606872559,0.8496554493904114,0.031416844576597214,0.031032374128699303,0.1361931562423706,0.07304061949253082,164.61880493164062
+unitree_z1_dual_arm_stackbox-vid5-fs4,unitree_z1_dual_arm_stackbox,policy,0,4,0.6493279933929443,0.7501328587532043,0.031063811853528023,0.030766472220420837,0.14402353763580322,0.07701630890369415,164.4588623046875
+unitree_z1_dual_arm_stackbox-vid5-fs4,unitree_z1_dual_arm_stackbox,policy,0,5,0.6500341892242432,0.6802141070365906,0.03071512281894684,0.030504334717988968,0.15163594484329224,0.08088858425617218,163.94064331054688
+unitree_z1_dual_arm_stackbox-vid5-fs4,unitree_z1_dual_arm_stackbox,policy,0,6,0.6493489742279053,0.6306211352348328,0.030371975153684616,0.03024689480662346,0.1590302288532257,0.08465655148029327,164.44752502441406
+unitree_z1_dual_arm_stackbox-vid5-fs4,unitree_z1_dual_arm_stackbox,policy,0,7,0.6519370079040527,0.5952520966529846,0.030035508796572685,0.029994983226060867,0.16620677709579468,0.08831965923309326,165.23089599609375
+unitree_z1_dual_arm_stackbox-vid5-fs4,unitree_z1_dual_arm_stackbox,policy,0,8,0.6898469924926758,0.5637381076812744,0.02198239229619503,0.02391747571527958,0.16996902227401733,0.09423036873340607,166.14913940429688
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+unitree_z1_dual_arm_stackbox-vid5-fs4,unitree_z1_dual_arm_stackbox,world_model,6,12,0.6461548805236816,0.47932615876197815,0.011986793018877506,0.013766705989837646,0.1759176105260849,0.09024997800588608,147.6577606201172
+unitree_z1_dual_arm_stackbox-vid5-fs4,unitree_z1_dual_arm_stackbox,world_model,6,13,0.6454417705535889,0.4645613729953766,0.01239182148128748,0.01443050429224968,0.18371623754501343,0.0995771735906601,147.92791748046875
+unitree_z1_dual_arm_stackbox-vid5-fs4,unitree_z1_dual_arm_stackbox,world_model,6,14,0.6460011005401611,0.4512459337711334,0.012863118201494217,0.015145719982683659,0.19157442450523376,0.10906053334474564,147.5991973876953
+unitree_z1_dual_arm_stackbox-vid5-fs4,unitree_z1_dual_arm_stackbox,world_model,6,15,0.6874892711639404,0.43741804361343384,0.01556918490678072,0.01684296876192093,0.20044247806072235,0.11964867264032364,148.13983154296875
+unitree_z1_dual_arm_stackbox-vid5-fs4,unitree_z1_dual_arm_stackbox,world_model,6,16,0.6439142227172852,0.42632344365119934,0.015435312874615192,0.017380040138959885,0.21044693887233734,0.13083961606025696,146.93833923339844
+unitree_z1_dual_arm_stackbox-vid5-fs4,unitree_z1_dual_arm_stackbox,world_model,6,17,0.6470005512237549,0.4150142967700958,0.016240892931818962,0.018310341984033585,0.2206363081932068,0.14230816066265106,147.47021484375
+unitree_z1_dual_arm_stackbox-vid5-fs4,unitree_z1_dual_arm_stackbox,world_model,6,18,0.6459407806396484,0.4045552611351013,0.01709279790520668,0.01928604207932949,0.23103147745132446,0.1540823131799698,147.56993103027344
+unitree_z1_dual_arm_stackbox-vid5-fs4,unitree_z1_dual_arm_stackbox,world_model,6,19,0.6469006538391113,0.3950524926185608,0.017990222200751305,0.020307769998908043,0.24165457487106323,0.1661921590566635,147.71087646484375
+unitree_z1_dual_arm_stackbox-vid5-fs4,unitree_z1_dual_arm_stackbox,world_model,6,20,0.6466736793518066,0.3864899277687073,0.018932972103357315,0.021376769989728928,0.2525291442871094,0.1786702275276184,147.06478881835938
+unitree_z1_dual_arm_stackbox-vid5-fs4,unitree_z1_dual_arm_stackbox,world_model,6,21,0.6472609043121338,0.3793543875217438,0.01992151513695717,0.022494789212942123,0.26368027925491333,0.1915515661239624,148.0606689453125
+unitree_z1_dual_arm_stackbox-vid5-fs4,unitree_z1_dual_arm_stackbox,world_model,6,22,0.6899979114532471,0.3706527054309845,0.02143896371126175,0.024057237431406975,0.2752065658569336,0.2050345540046692,148.13746643066406
+unitree_z1_dual_arm_stackbox-vid5-fs4,unitree_z1_dual_arm_stackbox,world_model,6,23,0.6469550132751465,0.363035649061203,0.022567084059119225,0.025295211002230644,0.28718844056129456,0.21909099817276,148.1315460205078
+unitree_z1_dual_arm_stackbox-vid5-fs4,unitree_z1_dual_arm_stackbox,world_model,6,24,0.6479482650756836,0.355493426322937,0.023742027580738068,0.02660936303436756,0.2995608150959015,0.23370423913002014,148.42474365234375
+unitree_z1_dual_arm_stackbox-vid5-fs4,unitree_z1_dual_arm_stackbox,world_model,6,25,0.648198127746582,0.3469533324241638,0.024971269071102142,0.027986567467451096,0.31235963106155396,0.24892646074295044,148.28334045410156
+unitree_z1_dual_arm_stackbox-vid5-fs4,unitree_z1_dual_arm_stackbox,world_model,6,26,0.6467652320861816,0.34141138195991516,0.026257559657096863,0.029430853202939034,0.32562345266342163,0.2648143172264099,148.773681640625
+unitree_z1_dual_arm_stackbox-vid5-fs4,unitree_z1_dual_arm_stackbox,world_model,6,27,0.6453211307525635,0.33484986424446106,0.02760467492043972,0.030947405844926834,0.33939412236213684,0.2814297676086426,149.05657958984375
+unitree_z1_dual_arm_stackbox-vid5-fs4,unitree_z1_dual_arm_stackbox,world_model,6,28,0.6485795974731445,0.3283577561378479,0.029016787186264992,0.03254184499382973,0.3537167012691498,0.2988402545452118,149.3472442626953
+unitree_z1_dual_arm_stackbox-vid5-fs4,unitree_z1_dual_arm_stackbox,world_model,6,29,0.686737060546875,0.3219467103481293,0.03166564926505089,0.03465668484568596,0.3697876036167145,0.3173413872718811,149.3921661376953
+unitree_z1_dual_arm_stackbox-vid5-fs4,unitree_z1_dual_arm_stackbox,world_model,6,30,0.6436295509338379,0.31667402386665344,0.033284563571214676,0.036462850868701935,0.3865949809551239,0.336824893951416,149.79713439941406
+unitree_z1_dual_arm_stackbox-vid5-fs4,unitree_z1_dual_arm_stackbox,world_model,6,31,0.6471757888793945,0.31171414256095886,0.034989383071660995,0.038371529430150986,0.40420204401016235,0.3573814034461975,145.3273162841797
+unitree_z1_dual_arm_stackbox-vid5-fs4,unitree_z1_dual_arm_stackbox,world_model,6,32,0.6458179950714111,0.3047672212123871,0.03678681328892708,0.04039120674133301,0.422676146030426,0.37910783290863037,141.49502563476562
+unitree_z1_dual_arm_stackbox-vid5-fs4,unitree_z1_dual_arm_stackbox,world_model,6,33,0.6477491855621338,0.29755115509033203,0.03868384286761284,0.04253080114722252,0.4420882761478424,0.402107298374176,137.61512756347656
+unitree_z1_dual_arm_stackbox-vid5-fs4,unitree_z1_dual_arm_stackbox,world_model,6,34,0.6469533443450928,0.28911274671554565,0.04068928584456444,0.04480108618736267,0.46251219511032104,0.42648813128471375,133.8763427734375
+unitree_z1_dual_arm_stackbox-vid5-fs4,unitree_z1_dual_arm_stackbox,world_model,6,35,0.6485171318054199,0.2805424630641937,0.04281121492385864,0.04721199348568916,0.48402321338653564,0.4523608684539795,130.22972106933594
+unitree_z1_dual_arm_stackbox-vid5-fs4,unitree_z1_dual_arm_stackbox,world_model,6,36,0.6900935173034668,0.27177324891090393,0.047317516058683395,0.05189721658825874,0.508010745048523,0.481627881526947,127.20462036132812
+unitree_z1_dual_arm_stackbox-vid5-fs4,unitree_z1_dual_arm_stackbox,world_model,6,37,0.6449854373931885,0.2625625729560852,0.04985761642456055,0.05477963015437126,0.5333524942398071,0.5127728581428528,124.62953186035156
+unitree_z1_dual_arm_stackbox-vid5-fs4,unitree_z1_dual_arm_stackbox,world_model,6,38,0.6492733955383301,0.25340014696121216,0.05255402624607086,0.05784568190574646,0.5601088404655457,0.5458829402923584,122.09799194335938
+unitree_z1_dual_arm_stackbox-vid5-fs4,unitree_z1_dual_arm_stackbox,world_model,6,39,0.6467969417572021,0.24492238461971283,0.05541512370109558,0.06110237166285515,0.5883163213729858,0.5810056924819946,120.13860321044922
+unitree_z1_dual_arm_stackbox-vid5-fs4,unitree_z1_dual_arm_stackbox,world_model,6,40,0.6460607051849365,0.23573888838291168,0.05844854936003685,0.06455382704734802,0.6179750561714172,0.6181255578994751,118.42112731933594
+unitree_z1_dual_arm_stackbox-vid5-fs4,unitree_z1_dual_arm_stackbox,world_model,6,41,0.6469554901123047,0.22475194931030273,0.061655499041080475,0.06819399446249008,0.6490281820297241,0.6571292877197266,116.9489517211914
+unitree_z1_dual_arm_stackbox-vid5-fs4,unitree_z1_dual_arm_stackbox,world_model,6,42,0.6459581851959229,0.21425020694732666,0.06503520905971527,0.0720103308558464,0.6813378930091858,0.6977641582489014,115.73247528076172
+unitree_z1_dual_arm_stackbox-vid5-fs4,unitree_z1_dual_arm_stackbox,world_model,6,43,0.6881229877471924,0.20426054298877716,0.07140614837408066,0.07677092403173447,0.7167617082595825,0.7405568361282349,114.85548400878906
+unitree_z1_dual_arm_stackbox-vid5-fs4,unitree_z1_dual_arm_stackbox,world_model,6,44,0.6447892189025879,0.19478321075439453,0.07530540227890015,0.08095414191484451,0.7527973651885986,0.783959150314331,114.48400115966797
+unitree_z1_dual_arm_stackbox-vid5-fs4,unitree_z1_dual_arm_stackbox,world_model,6,45,0.646920919418335,0.18453563749790192,0.07931271940469742,0.08518534898757935,0.788742184638977,0.8269493579864502,114.15694427490234
+unitree_z1_dual_arm_stackbox-vid5-fs4,unitree_z1_dual_arm_stackbox,world_model,6,46,0.6486127376556396,0.1735396832227707,0.08337537944316864,0.08937568217515945,0.8236280679702759,0.8681553602218628,114.41376495361328
+unitree_z1_dual_arm_stackbox-vid5-fs4,unitree_z1_dual_arm_stackbox,world_model,6,47,0.6468186378479004,0.16370512545108795,0.08743951469659805,0.09343000501394272,0.8562096953392029,0.9058783650398254,114.93212127685547
+unitree_z1_dual_arm_stackbox-vid5-fs4,unitree_z1_dual_arm_stackbox,world_model,6,48,0.6487457752227783,0.15342800319194794,0.09153300523757935,0.09733889997005463,0.8850114941596985,0.9382127523422241,115.751220703125
+unitree_z1_dual_arm_stackbox-vid5-fs4,unitree_z1_dual_arm_stackbox,world_model,6,49,0.6473824977874756,0.14243051409721375,0.0962441936135292,0.10168725252151489,0.9084830284118652,0.9632996916770935,117.16822814941406
+unitree_z1_dual_arm_stackbox-vid5-fs4,unitree_z1_dual_arm_stackbox,world_model,6,50,0.6877295970916748,0.1225716769695282,0.13820946216583252,0.15931637585163116,0.9374991655349731,0.9875130653381348,117.61994171142578
diff --git a/unitree_z1_dual_arm_stackbox/case1/run_world_model_interaction.sh b/unitree_z1_dual_arm_stackbox/case1/run_world_model_interaction.sh
index 8a3e92f..13c1b28 100644
--- a/unitree_z1_dual_arm_stackbox/case1/run_world_model_interaction.sh
+++ b/unitree_z1_dual_arm_stackbox/case1/run_world_model_interaction.sh
@@ -2,11 +2,11 @@ res_dir="unitree_z1_dual_arm_stackbox/case1"
 dataset="unitree_z1_dual_arm_stackbox"
 
 {
-    time CUDA_VISIBLE_DEVICES=0 python3 scripts/evaluation/world_model_interaction.py \
+    time CUDA_VISIBLE_DEVICES=0 "${PYTHON_BIN:-python}" scripts/evaluation/world_model_interaction.py \
         --seed 123 \
         --ckpt_path ckpts/unifolm_wma_dual.ckpt \
         --config configs/inference/world_model_interaction.yaml \
-        --savedir "${res_dir}/output" \
+        --savedir "${res_dir}/output/sparse_8" \
         --bs 1 --height 320 --width 512 \
         --unconditional_guidance_scale 1.0 \
         --ddim_steps 50 \
@@ -22,5 +22,8 @@ dataset="unitree_z1_dual_arm_stackbox"
         --guidance_rescale 0.7 \
         --perframe_ae \
         --analysis_log_metrics \
-        --analysis_reference_steps 50
+        --analysis_reference_steps 50 \
+        --head_schedule_steps 0 7 14 21 28 35 42 49 \
+        --head_skip_mode reuse_prediction \
+        --head_log_steps 40 43 46 47 48 49
 } 2>&1 | tee "${res_dir}/output.log"
diff --git a/unitree_z1_dual_arm_stackbox/case2/output/sparse_8/inference/round_summary.csv b/unitree_z1_dual_arm_stackbox/case2/output/sparse_8/inference/round_summary.csv
new file mode 100644
index 0000000..2355019
--- /dev/null
+++ b/unitree_z1_dual_arm_stackbox/case2/output/sparse_8/inference/round_summary.csv
@@ -0,0 +1,8 @@
+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_stackbox-vid15-fs4,unitree_z1_dual_arm_stackbox,0,33.80240821838379,33.88466477394104,137.54542684555054,,,
+unitree_z1_dual_arm_stackbox-vid15-fs4,unitree_z1_dual_arm_stackbox,1,33.70159864425659,33.714595794677734,137.00638723373413,221.9322052001953,0.35321664810180664,
+unitree_z1_dual_arm_stackbox-vid15-fs4,unitree_z1_dual_arm_stackbox,2,33.641886472702026,33.71323919296265,137.2907555103302,226.0243377685547,0.969904225319624,
+unitree_z1_dual_arm_stackbox-vid15-fs4,unitree_z1_dual_arm_stackbox,3,33.302470207214355,33.31880760192871,135.6334729194641,187.4794921875,0.164162278175354,
+unitree_z1_dual_arm_stackbox-vid15-fs4,unitree_z1_dual_arm_stackbox,4,33.28122162818909,33.32221722602844,135.5430121421814,183.0623779296875,0.2753981947898865,
+unitree_z1_dual_arm_stackbox-vid15-fs4,unitree_z1_dual_arm_stackbox,5,33.341437339782715,33.343384981155396,135.86297345161438,211.0934295654297,0.38235098123550415,
+unitree_z1_dual_arm_stackbox-vid15-fs4,unitree_z1_dual_arm_stackbox,6,33.817909240722656,33.4320924282074,138.2575352191925,147.5497589111328,0.11231422424316406,
diff --git a/unitree_z1_dual_arm_stackbox/case2/output/sparse_8/inference/sample_summary.csv b/unitree_z1_dual_arm_stackbox/case2/output/sparse_8/inference/sample_summary.csv
new file mode 100644
index 0000000..7836515
--- /dev/null
+++ b/unitree_z1_dual_arm_stackbox/case2/output/sparse_8/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_stackbox-vid15-fs4,unitree_z1_dual_arm_stackbox,policy,33.55556167875017,,,,47.833333333333336,49.0,47.285714285714285,48.142857142857146,,196.19026692708334,0.3762244253108899,136.73422333172388,33.55556167875017,33.532714571271626,
+unitree_z1_dual_arm_stackbox-vid15-fs4,unitree_z1_dual_arm_stackbox,world_model,33.532714571271626,,,,47.333333333333336,49.5,47.42857142857143,47.857142857142854,,196.19026692708334,0.3762244253108899,136.73422333172388,33.55556167875017,33.532714571271626,
diff --git a/unitree_z1_dual_arm_stackbox/case2/output/sparse_8/inference/stepwise_log.csv b/unitree_z1_dual_arm_stackbox/case2/output/sparse_8/inference/stepwise_log.csv
new file mode 100644
index 0000000..09c0743
--- /dev/null
+++ b/unitree_z1_dual_arm_stackbox/case2/output/sparse_8/inference/stepwise_log.csv
@@ -0,0 +1,701 @@
+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_stackbox-vid15-fs4,unitree_z1_dual_arm_stackbox,policy,0,1,0.687654972076416,1.4160510301589966,0.07487447559833527,0.07976103574037552,0.15036343038082123,0.14162102341651917,169.86390686035156
+unitree_z1_dual_arm_stackbox-vid15-fs4,unitree_z1_dual_arm_stackbox,policy,0,2,0.6483266353607178,1.018342137336731,0.03179444372653961,0.03125205263495445,0.15796229243278503,0.14747348427772522,168.8395233154297
+unitree_z1_dual_arm_stackbox-vid15-fs4,unitree_z1_dual_arm_stackbox,policy,0,3,0.6490881443023682,0.8496624231338501,0.031402524560689926,0.030922919511795044,0.1653171181678772,0.15312784910202026,168.30697631835938
+unitree_z1_dual_arm_stackbox-vid15-fs4,unitree_z1_dual_arm_stackbox,policy,0,4,0.6508181095123291,0.7501226663589478,0.03101460635662079,0.03059813193976879,0.17242878675460815,0.15858466923236847,168.55911254882812
+unitree_z1_dual_arm_stackbox-vid15-fs4,unitree_z1_dual_arm_stackbox,policy,0,5,0.6503016948699951,0.6802061796188354,0.030632009729743004,0.030278824269771576,0.17929884791374207,0.16384494304656982,168.12120056152344
+unitree_z1_dual_arm_stackbox-vid15-fs4,unitree_z1_dual_arm_stackbox,policy,0,6,0.6502034664154053,0.6306129097938538,0.03025604784488678,0.02996606007218361,0.18592943251132965,0.16891001164913177,167.83546447753906
+unitree_z1_dual_arm_stackbox-vid15-fs4,unitree_z1_dual_arm_stackbox,policy,0,7,0.6500074863433838,0.5951985716819763,0.029887879267334938,0.029660824686288834,0.19232304394245148,0.17378148436546326,166.92666625976562
+unitree_z1_dual_arm_stackbox-vid15-fs4,unitree_z1_dual_arm_stackbox,policy,0,8,0.6921172142028809,0.5637076497077942,0.025094181299209595,0.021668944507837296,0.1973268985748291,0.17836317420005798,164.53404235839844
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diff --git a/unitree_z1_dual_arm_stackbox/case2/run_world_model_interaction.sh b/unitree_z1_dual_arm_stackbox/case2/run_world_model_interaction.sh
index 4a7327b..9357bee 100644
--- a/unitree_z1_dual_arm_stackbox/case2/run_world_model_interaction.sh
+++ b/unitree_z1_dual_arm_stackbox/case2/run_world_model_interaction.sh
@@ -2,11 +2,11 @@ res_dir="unitree_z1_dual_arm_stackbox/case2"
 dataset="unitree_z1_dual_arm_stackbox"
 
 {
-    time CUDA_VISIBLE_DEVICES=0 python3 scripts/evaluation/world_model_interaction.py \
+    time CUDA_VISIBLE_DEVICES=0 "${PYTHON_BIN:-python}" scripts/evaluation/world_model_interaction.py \
         --seed 123 \
         --ckpt_path ckpts/unifolm_wma_dual.ckpt \
         --config configs/inference/world_model_interaction.yaml \
-        --savedir "${res_dir}/output" \
+        --savedir "${res_dir}/output/sparse_8" \
         --bs 1 --height 320 --width 512 \
         --unconditional_guidance_scale 1.0 \
         --ddim_steps 50 \
@@ -22,5 +22,8 @@ dataset="unitree_z1_dual_arm_stackbox"
         --guidance_rescale 0.7 \
         --perframe_ae \
         --analysis_log_metrics \
-        --analysis_reference_steps 50
+        --analysis_reference_steps 50 \
+        --head_schedule_steps 0 7 14 21 28 35 42 49 \
+        --head_skip_mode reuse_prediction \
+        --head_log_steps 40 43 46 47 48 49
 } 2>&1 | tee "${res_dir}/output.log"
diff --git a/unitree_z1_dual_arm_stackbox/case3/backbone_profile_dense/inference/analysis/analysis_report.md b/unitree_z1_dual_arm_stackbox/case3/backbone_profile_dense/inference/analysis/analysis_report.md
new file mode 100644
index 0000000..c89f6e4
--- /dev/null
+++ b/unitree_z1_dual_arm_stackbox/case3/backbone_profile_dense/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: 700
+- Sample rows: 2
+- Round rows: 7
+- Scenes: unitree_z1_dual_arm_stackbox
+- 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=111.5273, median=134.0007, p90=152.2725, p95=155.6022
+
+### 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=47.1429, median=47.1429, p90=47.1429, p95=47.1429
+- `share_action_first_stable_before_latent`: nan
+- `share_action_95pct_before_latent`: nan
+
+### Direction D: Cross-Step Similarity
+
+- `latent_delta_mid_steps`: mean=0.3536, median=0.3491, p90=0.4171, p95=0.4282
+- `action_delta_mid_steps`: mean=0.0294, median=0.0278, p90=0.0426, p95=0.0452
+- `state_delta_mid_steps`: mean=0.0295, median=0.0280, p90=0.0439, p95=0.0464
+
+### Direction A: Budget Heterogeneity
+
+- `oracle_budget_action`: mean=47.1429, median=47.1429, p90=47.1429, p95=47.1429
+- `oracle_budget_state`: mean=48.0000, median=48.0000, p90=48.0000, p95=48.0000
+- `oracle_budget_action_by_scene`:
+  - `unitree_z1_dual_arm_stackbox`: mean=47.1429, median=47.1429, std=0.0000
+
+### Direction B: Round Reuse
+
+- `latent_init_dist_to_prev_round`: mean=179.2887, median=182.8145, p90=193.0819, p95=194.5104
+- `action_drift_vs_prev_round`: mean=0.3701, median=0.3073, p90=0.5790, p95=0.5933
+- `round_total_time_s`: mean=519.5323, median=520.0046, p90=565.6002, p95=568.2485
+- `policy_pass_total_time_s`: mean=215.4158, median=218.7563, p90=240.6576, p95=243.1630
+- `world_model_pass_total_time_s`: mean=215.6475, median=226.8410, p90=236.4690, p95=236.9555
+
diff --git a/unitree_z1_dual_arm_stackbox/case3/backbone_profile_dense/inference/analysis/budget_distribution.png b/unitree_z1_dual_arm_stackbox/case3/backbone_profile_dense/inference/analysis/budget_distribution.png
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diff --git a/unitree_z1_dual_arm_stackbox/case3/backbone_profile_dense/inference/analysis/convergence_curves.png b/unitree_z1_dual_arm_stackbox/case3/backbone_profile_dense/inference/analysis/convergence_curves.png
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diff --git a/unitree_z1_dual_arm_stackbox/case3/backbone_profile_dense/inference/analysis/round_reuse.png b/unitree_z1_dual_arm_stackbox/case3/backbone_profile_dense/inference/analysis/round_reuse.png
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diff --git a/unitree_z1_dual_arm_stackbox/case3/backbone_profile_dense/inference/analysis/scene_summary.csv b/unitree_z1_dual_arm_stackbox/case3/backbone_profile_dense/inference/analysis/scene_summary.csv
new file mode 100644
index 0000000..46102b9
--- /dev/null
+++ b/unitree_z1_dual_arm_stackbox/case3/backbone_profile_dense/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_stackbox,policy,215.41583268983024,215.41583268983024,,,,,,,,,,,45.42857142857143,45.42857142857143,,47.142857142857146,47.142857142857146,,47.142857142857146,47.142857142857146,,48.0,48.0,,519.5322721004486,519.5322721004486,,215.41583268983024,215.41583268983024,,215.64754690442768,215.64754690442768,,179.28866322835287,179.28866322835287,,0.3700742026170094,0.3700742026170094,
+unitree_z1_dual_arm_stackbox,world_model,215.64754690442768,215.64754690442768,,,,,,,,,,,45.285714285714285,45.285714285714285,,47.142857142857146,47.142857142857146,,47.142857142857146,47.142857142857146,,48.0,48.0,,519.5322721004486,519.5322721004486,,215.41583268983024,215.41583268983024,,215.64754690442768,215.64754690442768,,179.28866322835287,179.28866322835287,,0.3700742026170094,0.3700742026170094,
diff --git a/unitree_z1_dual_arm_stackbox/case3/backbone_profile_dense/inference/analysis/step_aggregate.csv b/unitree_z1_dual_arm_stackbox/case3/backbone_profile_dense/inference/analysis/step_aggregate.csv
new file mode 100644
index 0000000..a0a685a
--- /dev/null
+++ b/unitree_z1_dual_arm_stackbox/case3/backbone_profile_dense/inference/analysis/step_aggregate.csv
@@ -0,0 +1,102 @@
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+,,mean,median,std,mean,median,std,mean,median,std,mean,median,std,mean,median,std,mean,median,std,mean,median,std
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diff --git a/unitree_z1_dual_arm_stackbox/case3/backbone_profile_dense/inference/backbone_analysis/backbone_profile_report.md b/unitree_z1_dual_arm_stackbox/case3/backbone_profile_dense/inference/backbone_analysis/backbone_profile_report.md
new file mode 100644
index 0000000..7263ee1
--- /dev/null
+++ b/unitree_z1_dual_arm_stackbox/case3/backbone_profile_dense/inference/backbone_analysis/backbone_profile_report.md
@@ -0,0 +1,30 @@
+# Backbone Block Profiling Report
+
+## Dataset Overview
+
+- Rows: 17500
+- Blocks: 25
+- Steps: 1-50
+- Pass types: policy, world_model
+
+## Block Timing
+
+- `forward_time_ms`: mean=28.6022, median=32.7788, p90=52.3676
+
+## Stability
+
+- `rel_l2_delta_vs_prev`: mean=0.128584, median=0.107799, p90=0.210550
+- `cosine_vs_prev`: mean=0.988497, median=0.994608, p90=0.998929
+
+## Top Cache Candidates
+
+- `output_5` (output_blocks): tail_rel_l2=0.036708, mean_forward_time_ms=39.4697
+- `output_4` (output_blocks): tail_rel_l2=0.047624, mean_forward_time_ms=36.8545
+- `output_2` (output_blocks): tail_rel_l2=0.050369, mean_forward_time_ms=4.1139
+- `output_6` (output_blocks): tail_rel_l2=0.051404, mean_forward_time_ms=39.0560
+- `output_3` (output_blocks): tail_rel_l2=0.051652, mean_forward_time_ms=36.9547
+- `output_8` (output_blocks): tail_rel_l2=0.057084, mean_forward_time_ms=41.1807
+- `input_5` (input_blocks): tail_rel_l2=0.064854, mean_forward_time_ms=40.7057
+- `input_7` (input_blocks): tail_rel_l2=0.065994, mean_forward_time_ms=36.9373
+- `output_1` (output_blocks): tail_rel_l2=0.066162, mean_forward_time_ms=3.2801
+- `output_7` (output_blocks): tail_rel_l2=0.066748, mean_forward_time_ms=39.7934
\ No newline at end of file
diff --git a/unitree_z1_dual_arm_stackbox/case3/backbone_profile_dense/inference/backbone_analysis/block_step_aggregate.csv b/unitree_z1_dual_arm_stackbox/case3/backbone_profile_dense/inference/backbone_analysis/block_step_aggregate.csv
new file mode 100644
index 0000000..94a390e
--- /dev/null
+++ b/unitree_z1_dual_arm_stackbox/case3/backbone_profile_dense/inference/backbone_analysis/block_step_aggregate.csv
@@ -0,0 +1,1251 @@
+block_stage,block_name,block_index,step,forward_time_ms,l2_delta_vs_prev,rel_l2_delta_vs_prev,cosine_vs_prev,l2_delta_vs_full50,cosine_vs_full50
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+input_blocks,input_0,0,3,30.385578250778572,1254.5360107421875,0.9358788430690765,0.5625242292881012,1871.6715523856026,0.13544666873557223
+input_blocks,input_0,0,4,30.344728779579913,1045.12504359654,0.7798593895775932,0.6967954550470624,1862.5204816545759,0.1441642833607537
+input_blocks,input_0,0,5,30.343668036428944,922.8222787039621,0.6883997023105621,0.7638663521834782,1853.0092599051338,0.1528323377881731
+input_blocks,input_0,0,6,30.59331563833569,839.1288146972656,0.6260725600378854,0.8048485006604876,1843.4065813337054,0.1614536376936095
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diff --git a/unitree_z1_dual_arm_stackbox/case3/backbone_profile_dense/inference/backbone_analysis/block_summary.csv b/unitree_z1_dual_arm_stackbox/case3/backbone_profile_dense/inference/backbone_analysis/block_summary.csv
new file mode 100644
index 0000000..c7993f2
--- /dev/null
+++ b/unitree_z1_dual_arm_stackbox/case3/backbone_profile_dense/inference/backbone_analysis/block_summary.csv
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diff --git a/unitree_z1_dual_arm_stackbox/case3/backbone_profile_dense/inference/backbone_analysis/stage_summary.csv b/unitree_z1_dual_arm_stackbox/case3/backbone_profile_dense/inference/backbone_analysis/stage_summary.csv
new file mode 100644
index 0000000..edcc703
--- /dev/null
+++ b/unitree_z1_dual_arm_stackbox/case3/backbone_profile_dense/inference/backbone_analysis/stage_summary.csv
@@ -0,0 +1,10 @@
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diff --git a/unitree_z1_dual_arm_stackbox/case3/backbone_profile_dense/inference/backbone_block_log.csv b/unitree_z1_dual_arm_stackbox/case3/backbone_profile_dense/inference/backbone_block_log.csv
new file mode 100644
index 0000000..43404cc
--- /dev/null
+++ b/unitree_z1_dual_arm_stackbox/case3/backbone_profile_dense/inference/backbone_block_log.csv
@@ -0,0 +1,17501 @@
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diff --git a/unitree_z1_dual_arm_stackbox/case3/backbone_profile_dense/inference/round_summary.csv b/unitree_z1_dual_arm_stackbox/case3/backbone_profile_dense/inference/round_summary.csv
new file mode 100644
index 0000000..3982153
--- /dev/null
+++ b/unitree_z1_dual_arm_stackbox/case3/backbone_profile_dense/inference/round_summary.csv
@@ -0,0 +1,8 @@
+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
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diff --git a/unitree_z1_dual_arm_stackbox/case3/backbone_profile_dense/inference/sample_summary.csv b/unitree_z1_dual_arm_stackbox/case3/backbone_profile_dense/inference/sample_summary.csv
new file mode 100644
index 0000000..9c7224e
--- /dev/null
+++ b/unitree_z1_dual_arm_stackbox/case3/backbone_profile_dense/inference/sample_summary.csv
@@ -0,0 +1,3 @@
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diff --git a/unitree_z1_dual_arm_stackbox/case3/backbone_profile_dense/inference/stepwise_log.csv b/unitree_z1_dual_arm_stackbox/case3/backbone_profile_dense/inference/stepwise_log.csv
new file mode 100644
index 0000000..4a59c5c
--- /dev/null
+++ b/unitree_z1_dual_arm_stackbox/case3/backbone_profile_dense/inference/stepwise_log.csv
@@ -0,0 +1,701 @@
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diff --git a/unitree_z1_dual_arm_stackbox/case3/output/sparse_8/inference/round_summary.csv b/unitree_z1_dual_arm_stackbox/case3/output/sparse_8/inference/round_summary.csv
new file mode 100644
index 0000000..f5b50f1
--- /dev/null
+++ b/unitree_z1_dual_arm_stackbox/case3/output/sparse_8/inference/round_summary.csv
@@ -0,0 +1,8 @@
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diff --git a/unitree_z1_dual_arm_stackbox/case3/output/sparse_8/inference/sample_summary.csv b/unitree_z1_dual_arm_stackbox/case3/output/sparse_8/inference/sample_summary.csv
new file mode 100644
index 0000000..f0de6be
--- /dev/null
+++ b/unitree_z1_dual_arm_stackbox/case3/output/sparse_8/inference/sample_summary.csv
@@ -0,0 +1,3 @@
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diff --git a/unitree_z1_dual_arm_stackbox/case3/output/sparse_8/inference/stepwise_log.csv b/unitree_z1_dual_arm_stackbox/case3/output/sparse_8/inference/stepwise_log.csv
new file mode 100644
index 0000000..d17b08c
--- /dev/null
+++ b/unitree_z1_dual_arm_stackbox/case3/output/sparse_8/inference/stepwise_log.csv
@@ -0,0 +1,701 @@
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diff --git a/unitree_z1_dual_arm_stackbox/case3/run_world_model_backbone_profile.sh b/unitree_z1_dual_arm_stackbox/case3/run_world_model_backbone_profile.sh
new file mode 100644
index 0000000..14ac2a9
--- /dev/null
+++ b/unitree_z1_dual_arm_stackbox/case3/run_world_model_backbone_profile.sh
@@ -0,0 +1,11 @@
+#!/usr/bin/env bash
+
+set -euo pipefail
+
+repo_root="$(cd "$(dirname "${BASH_SOURCE[0]}")/../.." && pwd)"
+CUDA_VISIBLE_DEVICES="${CUDA_VISIBLE_DEVICES:-1}" \
+bash "${repo_root}/scripts/run_world_model_backbone_profile_case.sh" \
+    "unitree_z1_dual_arm_stackbox/case3" \
+    "unitree_z1_dual_arm_stackbox" \
+    "4" \
+    "7"
diff --git a/unitree_z1_dual_arm_stackbox/case3/run_world_model_interaction.sh b/unitree_z1_dual_arm_stackbox/case3/run_world_model_interaction.sh
index 2ae6f9b..ff82f07 100644
--- a/unitree_z1_dual_arm_stackbox/case3/run_world_model_interaction.sh
+++ b/unitree_z1_dual_arm_stackbox/case3/run_world_model_interaction.sh
@@ -2,11 +2,11 @@ res_dir="unitree_z1_dual_arm_stackbox/case3"
 dataset="unitree_z1_dual_arm_stackbox"
 
 {
-    time CUDA_VISIBLE_DEVICES=0 python3 scripts/evaluation/world_model_interaction.py \
+    time CUDA_VISIBLE_DEVICES=0 "${PYTHON_BIN:-python}" scripts/evaluation/world_model_interaction.py \
         --seed 123 \
         --ckpt_path ckpts/unifolm_wma_dual.ckpt \
         --config configs/inference/world_model_interaction.yaml \
-        --savedir "${res_dir}/output" \
+        --savedir "${res_dir}/output/sparse_8" \
         --bs 1 --height 320 --width 512 \
         --unconditional_guidance_scale 1.0 \
         --ddim_steps 50 \
@@ -22,5 +22,8 @@ dataset="unitree_z1_dual_arm_stackbox"
         --guidance_rescale 0.7 \
         --perframe_ae \
         --analysis_log_metrics \
-        --analysis_reference_steps 50
+        --analysis_reference_steps 50 \
+        --head_schedule_steps 0 7 14 21 28 35 42 49 \
+        --head_skip_mode reuse_prediction \
+        --head_log_steps 40 43 46 47 48 49
 } 2>&1 | tee "${res_dir}/output.log"
diff --git a/unitree_z1_dual_arm_stackbox/case4/output/sparse_8/inference/round_summary.csv b/unitree_z1_dual_arm_stackbox/case4/output/sparse_8/inference/round_summary.csv
new file mode 100644
index 0000000..9ee6a36
--- /dev/null
+++ b/unitree_z1_dual_arm_stackbox/case4/output/sparse_8/inference/round_summary.csv
@@ -0,0 +1,8 @@
+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_stackbox-vid35-fs4,unitree_z1_dual_arm_stackbox,0,34.958544969558716,34.60985517501831,143.21279454231262,,,
+unitree_z1_dual_arm_stackbox-vid35-fs4,unitree_z1_dual_arm_stackbox,1,34.88338327407837,34.68160843849182,141.21066665649414,215.66162109375,0.4180373549461365,
+unitree_z1_dual_arm_stackbox-vid35-fs4,unitree_z1_dual_arm_stackbox,2,34.6102991104126,34.29871845245361,143.2049994468689,205.39779663085938,0.6812458634376526,
+unitree_z1_dual_arm_stackbox-vid35-fs4,unitree_z1_dual_arm_stackbox,3,34.635191917419434,34.583577394485474,141.7542417049408,226.55418395996094,0.38510704040527344,
+unitree_z1_dual_arm_stackbox-vid35-fs4,unitree_z1_dual_arm_stackbox,4,34.35454988479614,33.763972759246826,140.215473651886,185.824462890625,0.18876230716705322,
+unitree_z1_dual_arm_stackbox-vid35-fs4,unitree_z1_dual_arm_stackbox,5,34.38461780548096,34.31825280189514,142.80272126197815,155.14263916015625,0.0985289216041565,
+unitree_z1_dual_arm_stackbox-vid35-fs4,unitree_z1_dual_arm_stackbox,6,34.23005199432373,34.473949670791626,139.8411021232605,205.18153381347656,0.4318748116493225,
diff --git a/unitree_z1_dual_arm_stackbox/case4/output/sparse_8/inference/sample_summary.csv b/unitree_z1_dual_arm_stackbox/case4/output/sparse_8/inference/sample_summary.csv
new file mode 100644
index 0000000..fb9c6bc
--- /dev/null
+++ b/unitree_z1_dual_arm_stackbox/case4/output/sparse_8/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_stackbox-vid35-fs4,unitree_z1_dual_arm_stackbox,policy,34.579519850867136,,,,47.333333333333336,49.0,47.142857142857146,47.857142857142854,,198.9603729248047,0.3672593832015991,141.7488570553916,34.579519850867136,34.3899906703404,
+unitree_z1_dual_arm_stackbox-vid35-fs4,unitree_z1_dual_arm_stackbox,world_model,34.3899906703404,,,,48.0,49.5,47.0,47.57142857142857,,198.9603729248047,0.3672593832015991,141.7488570553916,34.579519850867136,34.3899906703404,
diff --git a/unitree_z1_dual_arm_stackbox/case4/output/sparse_8/inference/stepwise_log.csv b/unitree_z1_dual_arm_stackbox/case4/output/sparse_8/inference/stepwise_log.csv
new file mode 100644
index 0000000..81ba975
--- /dev/null
+++ b/unitree_z1_dual_arm_stackbox/case4/output/sparse_8/inference/stepwise_log.csv
@@ -0,0 +1,701 @@
+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_stackbox-vid35-fs4,unitree_z1_dual_arm_stackbox,policy,0,1,0.7028436660766602,1.4160469770431519,0.07379824668169022,0.0836699828505516,0.14163927733898163,0.05012961104512215,171.4873809814453
+unitree_z1_dual_arm_stackbox-vid35-fs4,unitree_z1_dual_arm_stackbox,policy,0,2,0.6568057537078857,1.018348217010498,0.031722601503133774,0.031404513865709305,0.14771421253681183,0.049654990434646606,172.0241241455078
+unitree_z1_dual_arm_stackbox-vid35-fs4,unitree_z1_dual_arm_stackbox,policy,0,3,0.7058932781219482,0.8496305346488953,0.03132389113306999,0.031166961416602135,0.1535734236240387,0.049136482179164886,172.141357421875
+unitree_z1_dual_arm_stackbox-vid35-fs4,unitree_z1_dual_arm_stackbox,policy,0,4,0.6637063026428223,0.7501169443130493,0.030929623171687126,0.030931223183870316,0.15921854972839355,0.048575498163700104,172.14767456054688
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+unitree_z1_dual_arm_stackbox-vid35-fs4,unitree_z1_dual_arm_stackbox,policy,0,7,0.6694645881652832,0.5952500104904175,0.029786713421344757,0.030243342742323875,0.17489323019981384,0.04665255546569824,173.2305145263672
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+unitree_z1_dual_arm_stackbox-vid35-fs4,unitree_z1_dual_arm_stackbox,world_model,6,49,0.6636884212493896,0.14239637553691864,0.10095150768756866,0.10379742085933685,0.9432176351547241,0.9617332220077515,149.91351318359375
+unitree_z1_dual_arm_stackbox-vid35-fs4,unitree_z1_dual_arm_stackbox,world_model,6,50,0.7115645408630371,0.12155148386955261,0.1369936168193817,0.15831992030143738,0.9657300710678101,0.9810378551483154,150.28720092773438
diff --git a/unitree_z1_dual_arm_stackbox/case4/run_world_model_interaction.sh b/unitree_z1_dual_arm_stackbox/case4/run_world_model_interaction.sh
index 69f2341..f84e059 100644
--- a/unitree_z1_dual_arm_stackbox/case4/run_world_model_interaction.sh
+++ b/unitree_z1_dual_arm_stackbox/case4/run_world_model_interaction.sh
@@ -2,11 +2,11 @@ res_dir="unitree_z1_dual_arm_stackbox/case4"
 dataset="unitree_z1_dual_arm_stackbox"
 
 {
-    time CUDA_VISIBLE_DEVICES=0 python3 scripts/evaluation/world_model_interaction.py \
+    time CUDA_VISIBLE_DEVICES=0 "${PYTHON_BIN:-python}" scripts/evaluation/world_model_interaction.py \
         --seed 123 \
         --ckpt_path ckpts/unifolm_wma_dual.ckpt \
         --config configs/inference/world_model_interaction.yaml \
-        --savedir "${res_dir}/output" \
+        --savedir "${res_dir}/output/sparse_8" \
         --bs 1 --height 320 --width 512 \
         --unconditional_guidance_scale 1.0 \
         --ddim_steps 50 \
@@ -22,5 +22,8 @@ dataset="unitree_z1_dual_arm_stackbox"
         --guidance_rescale 0.7 \
         --perframe_ae \
         --analysis_log_metrics \
-        --analysis_reference_steps 50
+        --analysis_reference_steps 50 \
+        --head_schedule_steps 0 7 14 21 28 35 42 49 \
+        --head_skip_mode reuse_prediction \
+        --head_log_steps 40 43 46 47 48 49
 } 2>&1 | tee "${res_dir}/output.log"
diff --git a/unitree_z1_dual_arm_stackbox_v2/case1/output/sparse_8/inference/round_summary.csv b/unitree_z1_dual_arm_stackbox_v2/case1/output/sparse_8/inference/round_summary.csv
new file mode 100644
index 0000000..222ce85
--- /dev/null
+++ b/unitree_z1_dual_arm_stackbox_v2/case1/output/sparse_8/inference/round_summary.csv
@@ -0,0 +1,12 @@
+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_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,0,34.6963095664978,34.687960147857666,141.07195377349854,,,
+unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,1,34.44554090499878,34.149985551834106,142.8440294265747,242.62477111816406,0.3331108093261719,
+unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,2,34.16856265068054,34.74272179603577,141.69387793540955,242.17344665527344,1.0369502194225788,
+unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,3,34.6714084148407,33.94211483001709,140.9935805797577,250.14584350585938,0.5469582676887512,
+unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,4,35.077704668045044,35.157174825668335,142.93432450294495,254.5370635986328,0.6937128007411957,
+unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,5,34.783668994903564,33.83684039115906,141.81956338882446,223.7366485595703,0.4414963722229004,
+unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,6,35.127192735672,34.664276361465454,143.34680724143982,236.75621032714844,0.7516259402036667,
+unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,7,34.36726403236389,33.87373757362366,140.53388166427612,217.3331298828125,0.5563024580478668,
+unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,8,33.7715482711792,34.000213861465454,140.70656752586365,193.4322967529297,0.0650750994682312,
+unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,9,34.447805404663086,34.42842245101929,142.1645531654358,197.56610107421875,0.07055008411407471,
+unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,10,34.54317378997803,34.236499071121216,142.73940634727478,210.9322052001953,0.43225961923599243,
diff --git a/unitree_z1_dual_arm_stackbox_v2/case1/output/sparse_8/inference/sample_summary.csv b/unitree_z1_dual_arm_stackbox_v2/case1/output/sparse_8/inference/sample_summary.csv
new file mode 100644
index 0000000..1c54f3b
--- /dev/null
+++ b/unitree_z1_dual_arm_stackbox_v2/case1/output/sparse_8/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_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,policy,34.554561766711146,,,,47.3,49.25,46.90909090909091,47.18181818181818,,226.92377166748048,0.49280416704714297,141.89532232284546,34.554561766711146,34.33817698738792,
+unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,34.33817698738792,,,,47.0,48.857142857142854,47.0,47.27272727272727,,226.92377166748048,0.49280416704714297,141.89532232284546,34.554561766711146,34.33817698738792,
diff --git a/unitree_z1_dual_arm_stackbox_v2/case1/output/sparse_8/inference/stepwise_log.csv b/unitree_z1_dual_arm_stackbox_v2/case1/output/sparse_8/inference/stepwise_log.csv
new file mode 100644
index 0000000..bfdc980
--- /dev/null
+++ b/unitree_z1_dual_arm_stackbox_v2/case1/output/sparse_8/inference/stepwise_log.csv
@@ -0,0 +1,1101 @@
+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_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,policy,0,1,0.6976878643035889,1.4160608053207397,0.07219076156616211,0.07011791318655014,0.0822739228606224,0.07346386462450027,174.4298553466797
+unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,policy,0,2,0.7304573059082031,1.0182806253433228,0.03161013871431351,0.031096739694476128,0.09106796979904175,0.08126502484083176,174.23358154296875
+unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,policy,0,3,0.657315731048584,0.8496453762054443,0.03127298131585121,0.030693097040057182,0.09968143701553345,0.08889331668615341,174.29598999023438
+unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,policy,0,4,0.6534829139709473,0.7501423358917236,0.03093903698027134,0.030296357348561287,0.10811104625463486,0.0963478535413742,173.30844116210938
+unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,policy,0,5,0.6596794128417969,0.6802147030830383,0.030609486624598503,0.029907789081335068,0.11635425686836243,0.10362832248210907,173.46575927734375
+unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,policy,0,6,0.6588249206542969,0.6306433081626892,0.03028547577559948,0.029528602957725525,0.12440918385982513,0.11073502898216248,174.04306030273438
+unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,policy,0,7,0.6570050716400146,0.5952476859092712,0.02996804565191269,0.029159879311919212,0.13227462768554688,0.11766871064901352,176.70285034179688
+unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,policy,0,8,0.7095119953155518,0.563730001449585,0.031521957367658615,0.027226198464632034,0.13391804695129395,0.12760281562805176,176.8948516845703
+unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,policy,0,9,0.6506314277648926,0.5363145470619202,0.016728730872273445,0.017280321568250656,0.14768394827842712,0.1422262191772461,179.2860565185547
+unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,policy,0,10,0.6901214122772217,0.5150711536407471,0.016903918236494064,0.01762230321764946,0.16147591173648834,0.15694963932037354,181.98207092285156
+unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,policy,0,11,0.6792569160461426,0.49493810534477234,0.01712946780025959,0.018011460080742836,0.17530910670757294,0.1717900037765503,182.7849578857422
+unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,policy,0,12,0.6568350791931152,0.4780484735965729,0.017404519021511078,0.018446698784828186,0.18919870257377625,0.18676456809043884,183.3479766845703
+unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,policy,0,13,0.6604804992675781,0.46542060375213623,0.017727771773934364,0.0189265888184309,0.20315991342067719,0.20189064741134644,184.26702880859375
+unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,policy,0,14,0.6547913551330566,0.45076271891593933,0.018098022788763046,0.019449912011623383,0.21720796823501587,0.21718595921993256,184.65313720703125
+unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,policy,0,15,0.714348554611206,0.43882790207862854,0.026428116485476494,0.019062435254454613,0.22266829013824463,0.22955220937728882,185.4754180908203
+unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,policy,0,16,0.6691427230834961,0.42736244201660156,0.01912333443760872,0.01990635134279728,0.2374989539384842,0.24484923481941223,185.57337951660156
+unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,policy,0,17,0.6545085906982422,0.4152076840400696,0.019789163023233414,0.020646167919039726,0.2525535821914673,0.26041555404663086,186.14517211914062
+unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,policy,0,18,0.6789565086364746,0.40459734201431274,0.020497670397162437,0.021428221836686134,0.2678532004356384,0.2762743830680847,186.4796142578125
+unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,policy,0,19,0.661675214767456,0.39459219574928284,0.02124813199043274,0.022252146154642105,0.28341925144195557,0.29244962334632874,187.22430419921875
+unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,policy,0,20,0.6658811569213867,0.3866352438926697,0.022040192037820816,0.02311798371374607,0.29927384853363037,0.30896592140197754,188.12957763671875
+unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,policy,0,21,0.6783838272094727,0.37763169407844543,0.022873694077134132,0.024025933817029,0.3154394328594208,0.32584840059280396,188.8868408203125
+unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,policy,0,22,0.7060208320617676,0.370636522769928,0.03027808852493763,0.024747582152485847,0.32546961307525635,0.34082940220832825,189.56236267089844
+unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,policy,0,23,0.6641726493835449,0.3628005087375641,0.026113566011190414,0.026585683226585388,0.3433605432510376,0.3589838743209839,189.73182678222656
+unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,policy,0,24,0.6548831462860107,0.35597461462020874,0.027166789397597313,0.027678076177835464,0.36172038316726685,0.3776339590549469,189.6772003173828
+unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,policy,0,25,0.6616380214691162,0.3488296866416931,0.028265567496418953,0.02881764993071556,0.38057735562324524,0.3968093693256378,190.2779998779297
+unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,policy,0,26,0.669424295425415,0.34143397212028503,0.02941054478287697,0.030005265027284622,0.39995911717414856,0.4165394902229309,190.76707458496094
+unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,policy,0,27,0.6655631065368652,0.33647143840789795,0.03060310333967209,0.0312424898147583,0.4198923707008362,0.43685251474380493,191.16912841796875
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+unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,policy,0,29,0.7248075008392334,0.3241175711154938,0.036704808473587036,0.03380179777741432,0.45731204748153687,0.4779976010322571,191.8990936279297
+unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,policy,0,30,0.6761744022369385,0.31793537735939026,0.03507122024893761,0.035793714225292206,0.4797598719596863,0.5007374882698059,192.55699157714844
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+unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,policy,0,33,0.6811428070068359,0.29769277572631836,0.039553526788949966,0.040423858910799026,0.5512948036193848,0.5732446312904358,186.95574951171875
+unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,policy,0,34,0.6652207374572754,0.2899780571460724,0.04115881398320198,0.04208309203386307,0.576537013053894,0.5988304615020752,185.46835327148438
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+unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,policy,0,36,0.7087476253509521,0.2740286588668823,0.04788839444518089,0.046119820326566696,0.6271877288818359,0.6500787138938904,183.24505615234375
+unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,policy,0,37,0.6751160621643066,0.26436156034469604,0.04883352667093277,0.04849517345428467,0.6559200882911682,0.6785322427749634,182.26451110839844
+unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,policy,0,38,0.6580262184143066,0.25565218925476074,0.05080375075340271,0.05040474981069565,0.6851760149002075,0.7074000835418701,181.79153442382812
+unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,policy,0,39,0.6789627075195312,0.24586829543113708,0.052813246846199036,0.052347514778375626,0.7147834300994873,0.7365000247955322,181.35125732421875
+unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,policy,0,40,0.6805646419525146,0.23665817081928253,0.05485067516565323,0.05431206524372101,0.7445154190063477,0.7655969858169556,181.4149627685547
+unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,policy,0,41,0.6738123893737793,0.22691604495048523,0.05689782649278641,0.056280314922332764,0.7740810513496399,0.7943952679634094,181.68507385253906
+unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,policy,0,42,0.6665651798248291,0.21631166338920593,0.05893531069159508,0.05823337286710739,0.8031216263771057,0.822536051273346,182.1122589111328
+unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,policy,0,43,0.7210731506347656,0.20679542422294617,0.06274256110191345,0.05947205796837807,0.8314387202262878,0.8482222557067871,182.8080291748047
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+unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,10,17,0.6788756847381592,0.4149091839790344,0.018991898745298386,0.01761966198682785,0.2045145481824875,0.3505464792251587,176.10086059570312
+unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,10,18,0.6829710006713867,0.40761464834213257,0.01968066394329071,0.01828770525753498,0.21933694183826447,0.36440300941467285,176.83810424804688
+unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,10,19,0.6554713249206543,0.3966755270957947,0.020412441343069077,0.019000886008143425,0.234421506524086,0.3784565031528473,177.1434783935547
+unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,10,20,0.6608579158782959,0.3867552578449249,0.0211867056787014,0.01975833624601364,0.2497914731502533,0.3927273750305176,177.67491149902344
+unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,10,21,0.7317221164703369,0.37875065207481384,0.02200317196547985,0.02055951952934265,0.2654705345630646,0.40723657608032227,178.1580810546875
+unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,10,22,0.7009482383728027,0.3712727725505829,0.02432076632976532,0.022094624117016792,0.2828129827976227,0.42191082239151,178.60841369628906
+unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,10,23,0.6566190719604492,0.3633803427219391,0.025282124057412148,0.022877877578139305,0.3006306290626526,0.43710047006607056,178.8299102783203
+unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,10,24,0.6582083702087402,0.3570501506328583,0.0263114795088768,0.02386574260890484,0.3189248740673065,0.4526299238204956,179.36468505859375
+unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,10,25,0.6533768177032471,0.35113874077796936,0.027386203408241272,0.02489958144724369,0.33772706985473633,0.4685242176055908,179.7943572998047
+unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,10,26,0.657681941986084,0.3454318940639496,0.028507020324468613,0.025980176404118538,0.35706859827041626,0.48480889201164246,180.2810516357422
+unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,10,27,0.658637523651123,0.3374730348587036,0.029675282537937164,0.027109088376164436,0.3769810199737549,0.5015095472335815,180.40011596679688
+unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,10,28,0.6655454635620117,0.33149105310440063,0.03089231625199318,0.028287969529628754,0.39749518036842346,0.5186517238616943,181.16070556640625
+unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,10,29,0.6976618766784668,0.32546988129615784,0.033296193927526474,0.02996634878218174,0.4194294512271881,0.5364037752151489,181.74583435058594
+unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,10,30,0.6546401977539062,0.3187289834022522,0.034570273011922836,0.031285203993320465,0.4421599805355072,0.5546708106994629,182.25938415527344
+unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,10,31,0.6477038860321045,0.3145129680633545,0.03600573167204857,0.032662417739629745,0.46564337611198425,0.5734765529632568,179.93841552734375
+unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,10,32,0.6617789268493652,0.306756854057312,0.03749799355864525,0.03410032019019127,0.4899006485939026,0.5928421020507812,177.8004608154297
+unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,10,33,0.657263994216919,0.2996269762516022,0.03904746100306511,0.03560106083750725,0.5149449110031128,0.6127838492393494,175.91598510742188
+unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,10,34,0.6554839611053467,0.2906043231487274,0.040655191987752914,0.03716776520013809,0.5407789945602417,0.6333129405975342,174.0833740234375
+unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,10,35,0.6564416885375977,0.2840074896812439,0.042320337146520615,0.0388023667037487,0.5673915147781372,0.6544320583343506,172.60037231445312
+unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,10,36,0.6958954334259033,0.2751968502998352,0.04729696735739708,0.0424795038998127,0.596255898475647,0.6769148111343384,171.45242309570312
+unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,10,37,0.6565132141113281,0.2673644423484802,0.04828982800245285,0.044390708208084106,0.6260838508605957,0.7000219225883484,170.375732421875
+unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,10,38,0.655644416809082,0.2579413056373596,0.05024705082178116,0.04638202115893364,0.6565863490104675,0.7237030863761902,169.73373413085938
+unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,10,39,0.6568100452423096,0.24813133478164673,0.05224647745490074,0.048452768474817276,0.6876139640808105,0.747878909111023,169.19654846191406
+unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,10,40,0.6483132839202881,0.23909159004688263,0.054277773946523666,0.05060158669948578,0.718964159488678,0.7724331617355347,168.97561645507812
+unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,10,41,0.6494302749633789,0.22917965054512024,0.056323904544115067,0.05282192677259445,0.7503710985183716,0.7972022294998169,168.69558715820312
+unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,10,42,0.6538469791412354,0.21901819109916687,0.05836675316095352,0.05510694161057472,0.7815009951591492,0.8219661712646484,168.78575134277344
+unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,10,43,0.7072968482971191,0.20873700082302094,0.06300996243953705,0.05903534218668938,0.8137497901916504,0.8476261496543884,169.0623321533203
+unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,10,44,0.6640303134918213,0.19813485443592072,0.06494089215993881,0.061475351452827454,0.8447720408439636,0.8725587129592896,169.42404174804688
+unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,10,45,0.6597800254821777,0.18772843480110168,0.06697418540716171,0.06392718851566315,0.8739662766456604,0.8962711691856384,170.0224151611328
+unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,10,46,0.6487550735473633,0.1782069206237793,0.0688844546675682,0.06637059897184372,0.9006566405296326,0.9181818962097168,170.98880004882812
+unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,10,47,0.6510698795318604,0.16752523183822632,0.07065819948911667,0.06879851222038269,0.9241476655006409,0.937630832195282,172.21908569335938
+unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,10,48,0.6537020206451416,0.15698350965976715,0.07236658781766891,0.07128281891345978,0.9437795281410217,0.9539085626602173,173.7008819580078
+unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,10,49,0.658611536026001,0.1457168608903885,0.07452777773141861,0.07434074580669403,0.9590128660202026,0.9663136005401611,175.282958984375
+unitree_z1_dual_arm_stackbox_v2-vid5-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,10,50,0.6929490566253662,0.1256721466779709,0.10573446750640869,0.11639980971813202,0.9737077951431274,0.9773070812225342,175.63552856445312
diff --git a/unitree_z1_dual_arm_stackbox_v2/case1/run_world_model_interaction.sh b/unitree_z1_dual_arm_stackbox_v2/case1/run_world_model_interaction.sh
index 53c3f81..aa31805 100644
--- a/unitree_z1_dual_arm_stackbox_v2/case1/run_world_model_interaction.sh
+++ b/unitree_z1_dual_arm_stackbox_v2/case1/run_world_model_interaction.sh
@@ -2,11 +2,11 @@ res_dir="unitree_z1_dual_arm_stackbox_v2/case1"
 dataset="unitree_z1_dual_arm_stackbox_v2"
 
 {
-    time CUDA_VISIBLE_DEVICES=0 python3 scripts/evaluation/world_model_interaction.py \
+    time CUDA_VISIBLE_DEVICES=0 "${PYTHON_BIN:-python}" scripts/evaluation/world_model_interaction.py \
         --seed 123 \
         --ckpt_path ckpts/unifolm_wma_dual.ckpt \
         --config configs/inference/world_model_interaction.yaml \
-        --savedir "${res_dir}/output" \
+        --savedir "${res_dir}/output/sparse_8" \
         --bs 1 --height 320 --width 512 \
         --unconditional_guidance_scale 1.0 \
         --ddim_steps 50 \
@@ -22,5 +22,8 @@ dataset="unitree_z1_dual_arm_stackbox_v2"
         --guidance_rescale 0.7 \
         --perframe_ae \
         --analysis_log_metrics \
-        --analysis_reference_steps 50
+        --analysis_reference_steps 50 \
+        --head_schedule_steps 0 7 14 21 28 35 42 49 \
+        --head_skip_mode reuse_prediction \
+        --head_log_steps 40 43 46 47 48 49
 } 2>&1 | tee "${res_dir}/output.log"
diff --git a/unitree_z1_dual_arm_stackbox_v2/case2/output/sparse_8/inference/round_summary.csv b/unitree_z1_dual_arm_stackbox_v2/case2/output/sparse_8/inference/round_summary.csv
new file mode 100644
index 0000000..8eb0545
--- /dev/null
+++ b/unitree_z1_dual_arm_stackbox_v2/case2/output/sparse_8/inference/round_summary.csv
@@ -0,0 +1,12 @@
+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_stackbox_v2-vid15-fs4,unitree_z1_dual_arm_stackbox_v2,0,34.487425088882446,33.954912424087524,142.91271448135376,,,
+unitree_z1_dual_arm_stackbox_v2-vid15-fs4,unitree_z1_dual_arm_stackbox_v2,1,34.368257999420166,34.4118230342865,143.43725562095642,237.16329956054688,0.43214982748031616,
+unitree_z1_dual_arm_stackbox_v2-vid15-fs4,unitree_z1_dual_arm_stackbox_v2,2,34.422353744506836,34.37915921211243,142.58857226371765,261.67279052734375,1.1038902625441551,
+unitree_z1_dual_arm_stackbox_v2-vid15-fs4,unitree_z1_dual_arm_stackbox_v2,3,34.07564926147461,34.27230763435364,140.5536015033722,238.81314086914062,0.3953864574432373,
+unitree_z1_dual_arm_stackbox_v2-vid15-fs4,unitree_z1_dual_arm_stackbox_v2,4,34.21823239326477,34.477816343307495,141.6662359237671,246.5524444580078,0.6671305894851685,
+unitree_z1_dual_arm_stackbox_v2-vid15-fs4,unitree_z1_dual_arm_stackbox_v2,5,34.06297254562378,34.3808650970459,140.73531913757324,216.4503936767578,0.4289618134498596,
+unitree_z1_dual_arm_stackbox_v2-vid15-fs4,unitree_z1_dual_arm_stackbox_v2,6,34.32488775253296,34.4990758895874,141.98702192306519,235.13278198242188,0.9781416803598404,
+unitree_z1_dual_arm_stackbox_v2-vid15-fs4,unitree_z1_dual_arm_stackbox_v2,7,33.835288286209106,34.33413743972778,140.40734887123108,197.0900421142578,0.21572017669677734,
+unitree_z1_dual_arm_stackbox_v2-vid15-fs4,unitree_z1_dual_arm_stackbox_v2,8,34.21294689178467,34.610371828079224,141.6176176071167,198.307373046875,0.4027923345565796,
+unitree_z1_dual_arm_stackbox_v2-vid15-fs4,unitree_z1_dual_arm_stackbox_v2,9,34.39130401611328,34.23867988586426,140.93059992790222,218.06784057617188,0.0562475323677063,
+unitree_z1_dual_arm_stackbox_v2-vid15-fs4,unitree_z1_dual_arm_stackbox_v2,10,34.440922260284424,34.388654470443726,141.8792908191681,229.65902709960938,0.4281993508338928,
diff --git a/unitree_z1_dual_arm_stackbox_v2/case2/output/sparse_8/inference/sample_summary.csv b/unitree_z1_dual_arm_stackbox_v2/case2/output/sparse_8/inference/sample_summary.csv
new file mode 100644
index 0000000..04c536c
--- /dev/null
+++ b/unitree_z1_dual_arm_stackbox_v2/case2/output/sparse_8/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_stackbox_v2-vid15-fs4,unitree_z1_dual_arm_stackbox_v2,policy,34.25820365819064,,,,47.22222222222222,49.166666666666664,46.81818181818182,47.54545454545455,,227.8909133911133,0.5108620025217533,141.70141618902034,34.25820365819064,34.35889120535417,
+unitree_z1_dual_arm_stackbox_v2-vid15-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,34.35889120535417,,,,47.2,49.25,46.90909090909091,47.54545454545455,,227.8909133911133,0.5108620025217533,141.70141618902034,34.25820365819064,34.35889120535417,
diff --git a/unitree_z1_dual_arm_stackbox_v2/case2/output/sparse_8/inference/stepwise_log.csv b/unitree_z1_dual_arm_stackbox_v2/case2/output/sparse_8/inference/stepwise_log.csv
new file mode 100644
index 0000000..ed600d7
--- /dev/null
+++ b/unitree_z1_dual_arm_stackbox_v2/case2/output/sparse_8/inference/stepwise_log.csv
@@ -0,0 +1,1101 @@
+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_stackbox_v2-vid15-fs4,unitree_z1_dual_arm_stackbox_v2,policy,0,1,0.7044613361358643,1.4160664081573486,0.07449215650558472,0.07182072103023529,0.09975114464759827,0.041928473860025406,174.8828125
+unitree_z1_dual_arm_stackbox_v2-vid15-fs4,unitree_z1_dual_arm_stackbox_v2,policy,0,2,0.6814932823181152,1.0182712078094482,0.03155173733830452,0.03121458925306797,0.10867024958133698,0.04715709388256073,174.89183044433594
+unitree_z1_dual_arm_stackbox_v2-vid15-fs4,unitree_z1_dual_arm_stackbox_v2,policy,0,3,0.6621956825256348,0.849629282951355,0.031126348301768303,0.030894219875335693,0.11736893653869629,0.052288733422756195,174.93934631347656
+unitree_z1_dual_arm_stackbox_v2-vid15-fs4,unitree_z1_dual_arm_stackbox_v2,policy,0,4,0.6721627712249756,0.7501598596572876,0.03070683777332306,0.0305781327188015,0.1258467137813568,0.05732138454914093,174.39486694335938
+unitree_z1_dual_arm_stackbox_v2-vid15-fs4,unitree_z1_dual_arm_stackbox_v2,policy,0,5,0.6619415283203125,0.6802408695220947,0.030294593423604965,0.030267413705587387,0.1341038942337036,0.06225334852933884,174.59686279296875
+unitree_z1_dual_arm_stackbox_v2-vid15-fs4,unitree_z1_dual_arm_stackbox_v2,policy,0,6,0.6835217475891113,0.6306663751602173,0.029890919104218483,0.02996312640607357,0.1421414315700531,0.06708338856697083,176.51177978515625
+unitree_z1_dual_arm_stackbox_v2-vid15-fs4,unitree_z1_dual_arm_stackbox_v2,policy,0,7,0.6527838706970215,0.5952678322792053,0.029496992006897926,0.029666218906641006,0.14996090531349182,0.0718105137348175,173.80429077148438
+unitree_z1_dual_arm_stackbox_v2-vid15-fs4,unitree_z1_dual_arm_stackbox_v2,policy,0,8,0.7012567520141602,0.5637746453285217,0.03391411155462265,0.02890937216579914,0.14825531840324402,0.0792846828699112,175.58551025390625
+unitree_z1_dual_arm_stackbox_v2-vid15-fs4,unitree_z1_dual_arm_stackbox_v2,policy,0,9,0.6675455570220947,0.5363830327987671,0.016589660197496414,0.01626889407634735,0.16169162094593048,0.09284107387065887,177.54061889648438
+unitree_z1_dual_arm_stackbox_v2-vid15-fs4,unitree_z1_dual_arm_stackbox_v2,policy,0,10,0.6575987339019775,0.5151352286338806,0.0167949590831995,0.016645725816488266,0.17516008019447327,0.10651330649852753,177.73690795898438
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diff --git a/unitree_z1_dual_arm_stackbox_v2/case2/run_world_model_interaction.sh b/unitree_z1_dual_arm_stackbox_v2/case2/run_world_model_interaction.sh
index 124ea07..44d2449 100644
--- a/unitree_z1_dual_arm_stackbox_v2/case2/run_world_model_interaction.sh
+++ b/unitree_z1_dual_arm_stackbox_v2/case2/run_world_model_interaction.sh
@@ -2,11 +2,11 @@ res_dir="unitree_z1_dual_arm_stackbox_v2/case2"
 dataset="unitree_z1_dual_arm_stackbox_v2"
 
 {
-    time CUDA_VISIBLE_DEVICES=0 python3 scripts/evaluation/world_model_interaction.py \
+    time CUDA_VISIBLE_DEVICES=0 "${PYTHON_BIN:-python}" scripts/evaluation/world_model_interaction.py \
         --seed 123 \
         --ckpt_path ckpts/unifolm_wma_dual.ckpt \
         --config configs/inference/world_model_interaction.yaml \
-        --savedir "${res_dir}/output" \
+        --savedir "${res_dir}/output/sparse_8" \
         --bs 1 --height 320 --width 512 \
         --unconditional_guidance_scale 1.0 \
         --ddim_steps 50 \
@@ -22,5 +22,8 @@ dataset="unitree_z1_dual_arm_stackbox_v2"
         --guidance_rescale 0.7 \
         --perframe_ae \
         --analysis_log_metrics \
-        --analysis_reference_steps 50
+        --analysis_reference_steps 50 \
+        --head_schedule_steps 0 7 14 21 28 35 42 49 \
+        --head_skip_mode reuse_prediction \
+        --head_log_steps 40 43 46 47 48 49
 } 2>&1 | tee "${res_dir}/output.log"
diff --git a/unitree_z1_dual_arm_stackbox_v2/case3/backbone_profile_dense/inference/analysis/analysis_report.md b/unitree_z1_dual_arm_stackbox_v2/case3/backbone_profile_dense/inference/analysis/analysis_report.md
new file mode 100644
index 0000000..4ac52d0
--- /dev/null
+++ b/unitree_z1_dual_arm_stackbox_v2/case3/backbone_profile_dense/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: 1100
+- Sample rows: 2
+- Round rows: 11
+- Scenes: unitree_z1_dual_arm_stackbox_v2
+- 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=115.8010, median=134.5896, p90=167.1260, p95=173.4072
+
+### 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=47.0000, median=47.0000, p90=47.0000, p95=47.0000
+- `share_action_first_stable_before_latent`: nan
+- `share_action_95pct_before_latent`: nan
+
+### Direction D: Cross-Step Similarity
+
+- `latent_delta_mid_steps`: mean=0.3543, median=0.3499, p90=0.4168, p95=0.4280
+- `action_delta_mid_steps`: mean=0.0292, median=0.0278, p90=0.0418, p95=0.0442
+- `state_delta_mid_steps`: mean=0.0289, median=0.0277, p90=0.0412, p95=0.0436
+
+### Direction A: Budget Heterogeneity
+
+- `oracle_budget_action`: mean=47.0000, median=47.0000, p90=47.0000, p95=47.0000
+- `oracle_budget_state`: mean=47.2727, median=47.2727, p90=47.2727, p95=47.2727
+- `oracle_budget_action_by_scene`:
+  - `unitree_z1_dual_arm_stackbox_v2`: mean=47.0000, median=47.0000, std=0.0000
+
+### Direction B: Round Reuse
+
+- `latent_init_dist_to_prev_round`: mean=231.7361, median=238.0504, p90=249.6127, p95=250.9849
+- `action_drift_vs_prev_round`: mean=0.5081, median=0.5859, p90=0.7471, p95=0.8915
+- `round_total_time_s`: mean=634.5059, median=633.3537, p90=660.0337, p95=678.9987
+- `policy_pass_total_time_s`: mean=275.3766, median=280.2974, p90=298.3891, p95=301.0733
+- `world_model_pass_total_time_s`: mean=268.4882, median=275.5481, p90=285.2526, p95=294.7232
+
diff --git a/unitree_z1_dual_arm_stackbox_v2/case3/backbone_profile_dense/inference/analysis/budget_distribution.png b/unitree_z1_dual_arm_stackbox_v2/case3/backbone_profile_dense/inference/analysis/budget_distribution.png
new file mode 100644
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diff --git a/unitree_z1_dual_arm_stackbox_v2/case3/backbone_profile_dense/inference/analysis/convergence_curves.png b/unitree_z1_dual_arm_stackbox_v2/case3/backbone_profile_dense/inference/analysis/convergence_curves.png
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diff --git a/unitree_z1_dual_arm_stackbox_v2/case3/backbone_profile_dense/inference/analysis/midstep_latent_delta.png b/unitree_z1_dual_arm_stackbox_v2/case3/backbone_profile_dense/inference/analysis/midstep_latent_delta.png
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diff --git a/unitree_z1_dual_arm_stackbox_v2/case3/backbone_profile_dense/inference/analysis/scene_summary.csv b/unitree_z1_dual_arm_stackbox_v2/case3/backbone_profile_dense/inference/analysis/scene_summary.csv
new file mode 100644
index 0000000..0e11541
--- /dev/null
+++ b/unitree_z1_dual_arm_stackbox_v2/case3/backbone_profile_dense/inference/analysis/scene_summary.csv
@@ -0,0 +1,4 @@
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diff --git a/unitree_z1_dual_arm_stackbox_v2/case3/backbone_profile_dense/inference/analysis/step_aggregate.csv b/unitree_z1_dual_arm_stackbox_v2/case3/backbone_profile_dense/inference/analysis/step_aggregate.csv
new file mode 100644
index 0000000..4615ac0
--- /dev/null
+++ b/unitree_z1_dual_arm_stackbox_v2/case3/backbone_profile_dense/inference/analysis/step_aggregate.csv
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diff --git a/unitree_z1_dual_arm_stackbox_v2/case3/backbone_profile_dense/inference/backbone_analysis/backbone_profile_report.md b/unitree_z1_dual_arm_stackbox_v2/case3/backbone_profile_dense/inference/backbone_analysis/backbone_profile_report.md
new file mode 100644
index 0000000..3000e1a
--- /dev/null
+++ b/unitree_z1_dual_arm_stackbox_v2/case3/backbone_profile_dense/inference/backbone_analysis/backbone_profile_report.md
@@ -0,0 +1,30 @@
+# Backbone Block Profiling Report
+
+## Dataset Overview
+
+- Rows: 27500
+- Blocks: 25
+- Steps: 1-50
+- Pass types: policy, world_model
+
+## Block Timing
+
+- `forward_time_ms`: mean=30.6226, median=34.4359, p90=54.6938
+
+## Stability
+
+- `rel_l2_delta_vs_prev`: mean=0.149721, median=0.132665, p90=0.240669
+- `cosine_vs_prev`: mean=0.985251, median=0.991636, p90=0.998321
+
+## Top Cache Candidates
+
+- `output_5` (output_blocks): tail_rel_l2=0.043011, mean_forward_time_ms=42.8890
+- `output_4` (output_blocks): tail_rel_l2=0.052021, mean_forward_time_ms=40.3957
+- `output_2` (output_blocks): tail_rel_l2=0.054626, mean_forward_time_ms=4.3381
+- `output_6` (output_blocks): tail_rel_l2=0.057488, mean_forward_time_ms=42.5098
+- `output_3` (output_blocks): tail_rel_l2=0.057636, mean_forward_time_ms=40.0281
+- `output_8` (output_blocks): tail_rel_l2=0.062614, mean_forward_time_ms=44.6301
+- `output_1` (output_blocks): tail_rel_l2=0.069826, mean_forward_time_ms=3.3247
+- `output_0` (output_blocks): tail_rel_l2=0.071301, mean_forward_time_ms=3.4693
+- `input_5` (input_blocks): tail_rel_l2=0.073083, mean_forward_time_ms=44.8023
+- `input_7` (input_blocks): tail_rel_l2=0.073246, mean_forward_time_ms=40.7521
\ No newline at end of file
diff --git a/unitree_z1_dual_arm_stackbox_v2/case3/backbone_profile_dense/inference/backbone_analysis/block_step_aggregate.csv b/unitree_z1_dual_arm_stackbox_v2/case3/backbone_profile_dense/inference/backbone_analysis/block_step_aggregate.csv
new file mode 100644
index 0000000..b0fa285
--- /dev/null
+++ b/unitree_z1_dual_arm_stackbox_v2/case3/backbone_profile_dense/inference/backbone_analysis/block_step_aggregate.csv
@@ -0,0 +1,1251 @@
+block_stage,block_name,block_index,step,forward_time_ms,l2_delta_vs_prev,rel_l2_delta_vs_prev,cosine_vs_prev,l2_delta_vs_full50,cosine_vs_full50
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diff --git a/unitree_z1_dual_arm_stackbox_v2/case3/backbone_profile_dense/inference/backbone_analysis/block_summary.csv b/unitree_z1_dual_arm_stackbox_v2/case3/backbone_profile_dense/inference/backbone_analysis/block_summary.csv
new file mode 100644
index 0000000..c8f1372
--- /dev/null
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diff --git a/unitree_z1_dual_arm_stackbox_v2/case3/backbone_profile_dense/inference/backbone_analysis/stage_summary.csv b/unitree_z1_dual_arm_stackbox_v2/case3/backbone_profile_dense/inference/backbone_analysis/stage_summary.csv
new file mode 100644
index 0000000..18e921f
--- /dev/null
+++ b/unitree_z1_dual_arm_stackbox_v2/case3/backbone_profile_dense/inference/backbone_analysis/stage_summary.csv
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diff --git a/unitree_z1_dual_arm_stackbox_v2/case3/backbone_profile_dense/inference/backbone_block_log.csv b/unitree_z1_dual_arm_stackbox_v2/case3/backbone_profile_dense/inference/backbone_block_log.csv
new file mode 100644
index 0000000..a84bdf6
--- /dev/null
+++ b/unitree_z1_dual_arm_stackbox_v2/case3/backbone_profile_dense/inference/backbone_block_log.csv
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diff --git a/unitree_z1_dual_arm_stackbox_v2/case3/backbone_profile_dense/inference/round_summary.csv b/unitree_z1_dual_arm_stackbox_v2/case3/backbone_profile_dense/inference/round_summary.csv
new file mode 100644
index 0000000..b18bb2b
--- /dev/null
+++ b/unitree_z1_dual_arm_stackbox_v2/case3/backbone_profile_dense/inference/round_summary.csv
@@ -0,0 +1,12 @@
+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
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diff --git a/unitree_z1_dual_arm_stackbox_v2/case3/backbone_profile_dense/inference/sample_summary.csv b/unitree_z1_dual_arm_stackbox_v2/case3/backbone_profile_dense/inference/sample_summary.csv
new file mode 100644
index 0000000..48bad3a
--- /dev/null
+++ b/unitree_z1_dual_arm_stackbox_v2/case3/backbone_profile_dense/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_stackbox_v2-vid25-fs4,unitree_z1_dual_arm_stackbox_v2,policy,275.3765917474573,,,,45.18181818181818,47.0,47.0,47.36363636363637,,231.73612213134766,0.5081134960055351,634.5059445771304,275.3765917474573,268.4881862727079,
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diff --git a/unitree_z1_dual_arm_stackbox_v2/case3/backbone_profile_dense/inference/stepwise_log.csv b/unitree_z1_dual_arm_stackbox_v2/case3/backbone_profile_dense/inference/stepwise_log.csv
new file mode 100644
index 0000000..a983be0
--- /dev/null
+++ b/unitree_z1_dual_arm_stackbox_v2/case3/backbone_profile_dense/inference/stepwise_log.csv
@@ -0,0 +1,1101 @@
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diff --git a/unitree_z1_dual_arm_stackbox_v2/case3/output/sparse_8/inference/round_summary.csv b/unitree_z1_dual_arm_stackbox_v2/case3/output/sparse_8/inference/round_summary.csv
new file mode 100644
index 0000000..3419aae
--- /dev/null
+++ b/unitree_z1_dual_arm_stackbox_v2/case3/output/sparse_8/inference/round_summary.csv
@@ -0,0 +1,12 @@
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diff --git a/unitree_z1_dual_arm_stackbox_v2/case3/output/sparse_8/inference/sample_summary.csv b/unitree_z1_dual_arm_stackbox_v2/case3/output/sparse_8/inference/sample_summary.csv
new file mode 100644
index 0000000..7d23922
--- /dev/null
+++ b/unitree_z1_dual_arm_stackbox_v2/case3/output/sparse_8/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
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diff --git a/unitree_z1_dual_arm_stackbox_v2/case3/output/sparse_8/inference/stepwise_log.csv b/unitree_z1_dual_arm_stackbox_v2/case3/output/sparse_8/inference/stepwise_log.csv
new file mode 100644
index 0000000..d59cc0a
--- /dev/null
+++ b/unitree_z1_dual_arm_stackbox_v2/case3/output/sparse_8/inference/stepwise_log.csv
@@ -0,0 +1,1101 @@
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+unitree_z1_dual_arm_stackbox_v2-vid25-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,10,30,0.6531217098236084,0.31863752007484436,0.034408871084451675,0.033035337924957275,0.4370906949043274,0.4559990167617798,194.43870544433594
+unitree_z1_dual_arm_stackbox_v2-vid25-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,10,31,0.6582236289978027,0.3143613636493683,0.0360279344022274,0.03466510772705078,0.4567703604698181,0.4737180769443512,191.92953491210938
+unitree_z1_dual_arm_stackbox_v2-vid25-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,10,32,0.6579117774963379,0.30668389797210693,0.03772546723484993,0.03637876734137535,0.47725892066955566,0.49220266938209534,189.95547485351562
+unitree_z1_dual_arm_stackbox_v2-vid25-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,10,33,0.6560213565826416,0.2993198335170746,0.039505328983068466,0.03818170726299286,0.49859732389450073,0.511503279209137,188.28521728515625
+unitree_z1_dual_arm_stackbox_v2-vid25-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,10,34,0.6571924686431885,0.29049164056777954,0.04137241840362549,0.040080878883600235,0.5208215713500977,0.5316694974899292,186.79766845703125
+unitree_z1_dual_arm_stackbox_v2-vid25-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,10,35,0.6579570770263672,0.2838076651096344,0.04333022981882095,0.04208222031593323,0.5439592599868774,0.5527472496032715,185.60549926757812
+unitree_z1_dual_arm_stackbox_v2-vid25-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,10,36,0.7099123001098633,0.27496594190597534,0.04877123236656189,0.045959074050188065,0.5712023973464966,0.5766558051109314,184.4303741455078
+unitree_z1_dual_arm_stackbox_v2-vid25-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,10,37,0.6586203575134277,0.26713278889656067,0.051102038472890854,0.048283543437719345,0.5995349884033203,0.6016605496406555,183.684326171875
+unitree_z1_dual_arm_stackbox_v2-vid25-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,10,38,0.6652915477752686,0.2577720284461975,0.05353387072682381,0.05073325335979462,0.6289011836051941,0.6277687549591064,183.24476623535156
+unitree_z1_dual_arm_stackbox_v2-vid25-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,10,39,0.6565439701080322,0.2479458600282669,0.056062258780002594,0.05331181734800339,0.6591957807540894,0.6549575328826904,182.88433837890625
+unitree_z1_dual_arm_stackbox_v2-vid25-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,10,40,0.6575241088867188,0.2391238957643509,0.05867988243699074,0.05602177232503891,0.690248429775238,0.6831613183021545,182.37179565429688
+unitree_z1_dual_arm_stackbox_v2-vid25-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,10,41,0.6536815166473389,0.22908689081668854,0.061370715498924255,0.058859262615442276,0.7218062877655029,0.7122543454170227,182.18243408203125
+unitree_z1_dual_arm_stackbox_v2-vid25-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,10,42,0.659461498260498,0.21892130374908447,0.06411511451005936,0.06181866303086281,0.7535161375999451,0.7420329451560974,182.32723999023438
+unitree_z1_dual_arm_stackbox_v2-vid25-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,10,43,0.696791410446167,0.20877057313919067,0.07063452154397964,0.06556547433137894,0.7870187759399414,0.7726879119873047,182.508056640625
+unitree_z1_dual_arm_stackbox_v2-vid25-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,10,44,0.6584463119506836,0.19824804365634918,0.07370571792125702,0.06874172389507294,0.8195549249649048,0.8032422661781311,183.16796875
+unitree_z1_dual_arm_stackbox_v2-vid25-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,10,45,0.6559004783630371,0.18772830069065094,0.07670977711677551,0.07197186350822449,0.8502516746520996,0.8330870270729065,183.94601440429688
+unitree_z1_dual_arm_stackbox_v2-vid25-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,10,46,0.6574666500091553,0.17819339036941528,0.07958439737558365,0.07522031664848328,0.8780943155288696,0.8614468574523926,184.71876525878906
+unitree_z1_dual_arm_stackbox_v2-vid25-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,10,47,0.6580095291137695,0.16769593954086304,0.08227881044149399,0.07845957577228546,0.9019789695739746,0.8873841762542725,185.76287841796875
+unitree_z1_dual_arm_stackbox_v2-vid25-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,10,48,0.6554064750671387,0.15733103454113007,0.08483497053384781,0.08174522966146469,0.9208059310913086,0.9098390936851501,187.00567626953125
+unitree_z1_dual_arm_stackbox_v2-vid25-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,10,49,0.6545608043670654,0.1463863104581833,0.08782050758600235,0.08564037084579468,0.9335948824882507,0.9277331829071045,188.52606201171875
+unitree_z1_dual_arm_stackbox_v2-vid25-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,10,50,0.7035722732543945,0.12763279676437378,0.11884269118309021,0.13676245510578156,0.9445211887359619,0.9420303106307983,188.65097045898438
diff --git a/unitree_z1_dual_arm_stackbox_v2/case3/run_world_model_backbone_profile.sh b/unitree_z1_dual_arm_stackbox_v2/case3/run_world_model_backbone_profile.sh
new file mode 100644
index 0000000..6e77b9b
--- /dev/null
+++ b/unitree_z1_dual_arm_stackbox_v2/case3/run_world_model_backbone_profile.sh
@@ -0,0 +1,11 @@
+#!/usr/bin/env bash
+
+set -euo pipefail
+
+repo_root="$(cd "$(dirname "${BASH_SOURCE[0]}")/../.." && pwd)"
+CUDA_VISIBLE_DEVICES="${CUDA_VISIBLE_DEVICES:-1}" \
+bash "${repo_root}/scripts/run_world_model_backbone_profile_case.sh" \
+    "unitree_z1_dual_arm_stackbox_v2/case3" \
+    "unitree_z1_dual_arm_stackbox_v2" \
+    "4" \
+    "11"
diff --git a/unitree_z1_dual_arm_stackbox_v2/case3/run_world_model_interaction.sh b/unitree_z1_dual_arm_stackbox_v2/case3/run_world_model_interaction.sh
index b141561..5dfe0d8 100644
--- a/unitree_z1_dual_arm_stackbox_v2/case3/run_world_model_interaction.sh
+++ b/unitree_z1_dual_arm_stackbox_v2/case3/run_world_model_interaction.sh
@@ -2,11 +2,11 @@ res_dir="unitree_z1_dual_arm_stackbox_v2/case3"
 dataset="unitree_z1_dual_arm_stackbox_v2"
 
 {
-    time CUDA_VISIBLE_DEVICES=0 python3 scripts/evaluation/world_model_interaction.py \
+    time CUDA_VISIBLE_DEVICES=0 "${PYTHON_BIN:-python}" scripts/evaluation/world_model_interaction.py \
         --seed 123 \
         --ckpt_path ckpts/unifolm_wma_dual.ckpt \
         --config configs/inference/world_model_interaction.yaml \
-        --savedir "${res_dir}/output" \
+        --savedir "${res_dir}/output/sparse_8" \
         --bs 1 --height 320 --width 512 \
         --unconditional_guidance_scale 1.0 \
         --ddim_steps 50 \
@@ -22,5 +22,8 @@ dataset="unitree_z1_dual_arm_stackbox_v2"
         --guidance_rescale 0.7 \
         --perframe_ae \
         --analysis_log_metrics \
-        --analysis_reference_steps 50
+        --analysis_reference_steps 50 \
+        --head_schedule_steps 0 7 14 21 28 35 42 49 \
+        --head_skip_mode reuse_prediction \
+        --head_log_steps 40 43 46 47 48 49
 } 2>&1 | tee "${res_dir}/output.log"
diff --git a/unitree_z1_dual_arm_stackbox_v2/case4/output/sparse_8/inference/round_summary.csv b/unitree_z1_dual_arm_stackbox_v2/case4/output/sparse_8/inference/round_summary.csv
new file mode 100644
index 0000000..21e0277
--- /dev/null
+++ b/unitree_z1_dual_arm_stackbox_v2/case4/output/sparse_8/inference/round_summary.csv
@@ -0,0 +1,12 @@
+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_stackbox_v2-vid35-fs4,unitree_z1_dual_arm_stackbox_v2,0,34.58336591720581,34.35174894332886,142.05735111236572,,,
+unitree_z1_dual_arm_stackbox_v2-vid35-fs4,unitree_z1_dual_arm_stackbox_v2,1,34.807106018066406,34.86327862739563,144.16768527030945,235.5131378173828,0.3439255952835083,
+unitree_z1_dual_arm_stackbox_v2-vid35-fs4,unitree_z1_dual_arm_stackbox_v2,2,34.52380657196045,34.07038402557373,141.07973194122314,259.55450439453125,1.1979307979345322,
+unitree_z1_dual_arm_stackbox_v2-vid35-fs4,unitree_z1_dual_arm_stackbox_v2,3,34.73806142807007,34.51879525184631,140.4986548423767,228.2439727783203,0.7015565633773804,
+unitree_z1_dual_arm_stackbox_v2-vid35-fs4,unitree_z1_dual_arm_stackbox_v2,4,34.56364035606384,34.5863573551178,141.2532799243927,233.71279907226562,0.5349503457546234,
+unitree_z1_dual_arm_stackbox_v2-vid35-fs4,unitree_z1_dual_arm_stackbox_v2,5,34.095723152160645,34.4039843082428,140.3526315689087,204.47723388671875,0.2700654864311218,
+unitree_z1_dual_arm_stackbox_v2-vid35-fs4,unitree_z1_dual_arm_stackbox_v2,6,34.46692442893982,34.41077995300293,141.16259741783142,253.46627807617188,0.8147276341915131,
+unitree_z1_dual_arm_stackbox_v2-vid35-fs4,unitree_z1_dual_arm_stackbox_v2,7,34.02199149131775,34.60529637336731,140.86116909980774,219.72276306152344,0.4421466588973999,
+unitree_z1_dual_arm_stackbox_v2-vid35-fs4,unitree_z1_dual_arm_stackbox_v2,8,34.57047963142395,34.605647802352905,144.16168022155762,214.1248016357422,0.05718517303466797,
+unitree_z1_dual_arm_stackbox_v2-vid35-fs4,unitree_z1_dual_arm_stackbox_v2,9,34.293241024017334,34.06853461265564,142.45936822891235,192.68353271484375,0.04669904708862305,
+unitree_z1_dual_arm_stackbox_v2-vid35-fs4,unitree_z1_dual_arm_stackbox_v2,10,34.26138091087341,34.6850950717926,142.63205909729004,197.61029052734375,0.18949097394943237,
diff --git a/unitree_z1_dual_arm_stackbox_v2/case4/output/sparse_8/inference/sample_summary.csv b/unitree_z1_dual_arm_stackbox_v2/case4/output/sparse_8/inference/sample_summary.csv
new file mode 100644
index 0000000..a4bb346
--- /dev/null
+++ b/unitree_z1_dual_arm_stackbox_v2/case4/output/sparse_8/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_stackbox_v2-vid35-fs4,unitree_z1_dual_arm_stackbox_v2,policy,34.44779281182723,,,,46.9,48.42857142857143,46.72727272727273,47.27272727272727,,223.9109313964844,0.45986782759428024,141.88056442954323,34.44779281182723,34.469991120425135,
+unitree_z1_dual_arm_stackbox_v2-vid35-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,34.469991120425135,,,,47.0,48.875,46.63636363636363,47.09090909090909,,223.9109313964844,0.45986782759428024,141.88056442954323,34.44779281182723,34.469991120425135,
diff --git a/unitree_z1_dual_arm_stackbox_v2/case4/output/sparse_8/inference/stepwise_log.csv b/unitree_z1_dual_arm_stackbox_v2/case4/output/sparse_8/inference/stepwise_log.csv
new file mode 100644
index 0000000..57fe770
--- /dev/null
+++ b/unitree_z1_dual_arm_stackbox_v2/case4/output/sparse_8/inference/stepwise_log.csv
@@ -0,0 +1,1101 @@
+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_stackbox_v2-vid35-fs4,unitree_z1_dual_arm_stackbox_v2,policy,0,1,0.7148928642272949,1.416061282157898,0.07617250084877014,0.07565074414014816,0.11346994340419769,0.040865521878004074,179.8772735595703
+unitree_z1_dual_arm_stackbox_v2-vid35-fs4,unitree_z1_dual_arm_stackbox_v2,policy,0,2,0.6932289600372314,1.0182690620422363,0.03164120763540268,0.03129854053258896,0.12400873005390167,0.04706139862537384,179.46636962890625
+unitree_z1_dual_arm_stackbox_v2-vid35-fs4,unitree_z1_dual_arm_stackbox_v2,policy,0,3,0.6497640609741211,0.8496268391609192,0.031193070113658905,0.031032999977469444,0.13428372144699097,0.05316047742962837,179.5732421875
+unitree_z1_dual_arm_stackbox_v2-vid35-fs4,unitree_z1_dual_arm_stackbox_v2,policy,0,4,0.6521236896514893,0.750144898891449,0.030751196667551994,0.03077021613717079,0.1442948281764984,0.059159230440855026,178.90538024902344
+unitree_z1_dual_arm_stackbox_v2-vid35-fs4,unitree_z1_dual_arm_stackbox_v2,policy,0,5,0.6778838634490967,0.6802248954772949,0.030317017808556557,0.03051113337278366,0.1540428102016449,0.06505459547042847,178.9788360595703
+unitree_z1_dual_arm_stackbox_v2-vid35-fs4,unitree_z1_dual_arm_stackbox_v2,policy,0,6,0.6509804725646973,0.6306324005126953,0.02989189140498638,0.030256662517786026,0.16352926194667816,0.07084386050701141,178.9186553955078
+unitree_z1_dual_arm_stackbox_v2-vid35-fs4,unitree_z1_dual_arm_stackbox_v2,policy,0,7,0.652198314666748,0.595252275466919,0.029477059841156006,0.030007651075720787,0.17275652289390564,0.0765247493982315,178.5573272705078
+unitree_z1_dual_arm_stackbox_v2-vid35-fs4,unitree_z1_dual_arm_stackbox_v2,policy,0,8,0.7290287017822266,0.5637120604515076,0.03249955177307129,0.026911694556474686,0.17128558456897736,0.08323828876018524,177.9838409423828
+unitree_z1_dual_arm_stackbox_v2-vid35-fs4,unitree_z1_dual_arm_stackbox_v2,policy,0,9,0.6502361297607422,0.5362958312034607,0.015480226837098598,0.015411934815347195,0.1838444471359253,0.09619911760091782,178.59117126464844
+unitree_z1_dual_arm_stackbox_v2-vid35-fs4,unitree_z1_dual_arm_stackbox_v2,policy,0,10,0.6619181632995605,0.5150519609451294,0.015651343390345573,0.01576336659491062,0.19641679525375366,0.10925833880901337,174.8921661376953
+unitree_z1_dual_arm_stackbox_v2-vid35-fs4,unitree_z1_dual_arm_stackbox_v2,policy,0,11,0.6742875576019287,0.49497464299201965,0.015877991914749146,0.01616828329861164,0.209017813205719,0.12243373692035675,173.88365173339844
+unitree_z1_dual_arm_stackbox_v2-vid35-fs4,unitree_z1_dual_arm_stackbox_v2,policy,0,12,0.6518154144287109,0.47804808616638184,0.01615900546312332,0.01662500761449337,0.2216627448797226,0.13574358820915222,175.80795288085938
+unitree_z1_dual_arm_stackbox_v2-vid35-fs4,unitree_z1_dual_arm_stackbox_v2,policy,0,13,0.661907434463501,0.46538904309272766,0.016492750495672226,0.017131498083472252,0.2343667596578598,0.14920653402805328,177.4445037841797
+unitree_z1_dual_arm_stackbox_v2-vid35-fs4,unitree_z1_dual_arm_stackbox_v2,policy,0,14,0.6599915027618408,0.450700968503952,0.016877664253115654,0.017686044797301292,0.24714532494544983,0.1628418117761612,179.64381408691406
+unitree_z1_dual_arm_stackbox_v2-vid35-fs4,unitree_z1_dual_arm_stackbox_v2,policy,0,15,0.739375114440918,0.43874239921569824,0.024336986243724823,0.017280489206314087,0.25141188502311707,0.17462587356567383,181.0052490234375
+unitree_z1_dual_arm_stackbox_v2-vid35-fs4,unitree_z1_dual_arm_stackbox_v2,policy,0,16,0.718609094619751,0.4272817075252533,0.017786240205168724,0.018626082688570023,0.2646341621875763,0.18865013122558594,181.6923828125
+unitree_z1_dual_arm_stackbox_v2-vid35-fs4,unitree_z1_dual_arm_stackbox_v2,policy,0,17,0.6534337997436523,0.4152250587940216,0.01847066357731819,0.0193941630423069,0.2780524492263794,0.2029450535774231,182.46563720703125
+unitree_z1_dual_arm_stackbox_v2-vid35-fs4,unitree_z1_dual_arm_stackbox_v2,policy,0,18,0.6566152572631836,0.40463969111442566,0.01919998973608017,0.0202063899487257,0.2916874587535858,0.21753595769405365,183.01687622070312
+unitree_z1_dual_arm_stackbox_v2-vid35-fs4,unitree_z1_dual_arm_stackbox_v2,policy,0,19,0.6691818237304688,0.3946530818939209,0.01997333951294422,0.02106238715350628,0.3055603802204132,0.23244936764240265,184.21116638183594
+unitree_z1_dual_arm_stackbox_v2-vid35-fs4,unitree_z1_dual_arm_stackbox_v2,policy,0,20,0.6779921054840088,0.3866695463657379,0.020790299400687218,0.021962249651551247,0.31969326734542847,0.2477131336927414,184.93284606933594
+unitree_z1_dual_arm_stackbox_v2-vid35-fs4,unitree_z1_dual_arm_stackbox_v2,policy,0,21,0.6538245677947998,0.3776639997959137,0.02165066823363304,0.022906387224793434,0.33410879969596863,0.26335638761520386,186.40170288085938
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+unitree_z1_dual_arm_stackbox_v2-vid35-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,10,49,0.6711959838867188,0.14630252122879028,0.07427113503217697,0.06793583184480667,0.9525299072265625,0.9703975915908813,156.85427856445312
+unitree_z1_dual_arm_stackbox_v2-vid35-fs4,unitree_z1_dual_arm_stackbox_v2,world_model,10,50,0.7144126892089844,0.12723037600517273,0.09925056993961334,0.09678792953491211,0.9641609191894531,0.9807791709899902,157.095947265625
diff --git a/unitree_z1_dual_arm_stackbox_v2/case4/run_world_model_interaction.sh b/unitree_z1_dual_arm_stackbox_v2/case4/run_world_model_interaction.sh
index 672a93d..c9cd870 100644
--- a/unitree_z1_dual_arm_stackbox_v2/case4/run_world_model_interaction.sh
+++ b/unitree_z1_dual_arm_stackbox_v2/case4/run_world_model_interaction.sh
@@ -2,11 +2,11 @@ res_dir="unitree_z1_dual_arm_stackbox_v2/case4"
 dataset="unitree_z1_dual_arm_stackbox_v2"
 
 {
-    time CUDA_VISIBLE_DEVICES=0 python3 scripts/evaluation/world_model_interaction.py \
+    time CUDA_VISIBLE_DEVICES=0 "${PYTHON_BIN:-python}" scripts/evaluation/world_model_interaction.py \
         --seed 123 \
         --ckpt_path ckpts/unifolm_wma_dual.ckpt \
         --config configs/inference/world_model_interaction.yaml \
-        --savedir "${res_dir}/output" \
+        --savedir "${res_dir}/output/sparse_8" \
         --bs 1 --height 320 --width 512 \
         --unconditional_guidance_scale 1.0 \
         --ddim_steps 50 \
@@ -22,5 +22,8 @@ dataset="unitree_z1_dual_arm_stackbox_v2"
         --guidance_rescale 0.7 \
         --perframe_ae \
         --analysis_log_metrics \
-        --analysis_reference_steps 50
+        --analysis_reference_steps 50 \
+        --head_schedule_steps 0 7 14 21 28 35 42 49 \
+        --head_skip_mode reuse_prediction \
+        --head_log_steps 40 43 46 47 48 49
 } 2>&1 | tee "${res_dir}/output.log"
diff --git a/unitree_z1_stackbox/case1/output/sparse_4/inference/analysis/analysis_report.md b/unitree_z1_stackbox/case1/output/sparse_4/inference/analysis/analysis_report.md
new file mode 100644
index 0000000..bb25e15
--- /dev/null
+++ b/unitree_z1_stackbox/case1/output/sparse_4/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: 1200
+- Sample rows: 2
+- Round rows: 12
+- Scenes: unitree_z1_stackbox
+- 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=140.3915, median=142.7428, p90=164.6878, p95=174.8997
+
+### 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=50.0000, median=50.0000, p90=50.0000, p95=50.0000
+- `share_action_first_stable_before_latent`: nan
+- `share_action_95pct_before_latent`: nan
+
+### Direction D: Cross-Step Similarity
+
+- `latent_delta_mid_steps`: mean=0.3531, median=0.3490, p90=0.4172, p95=0.4281
+- `action_delta_mid_steps`: mean=0.0262, median=0.0254, p90=0.0393, p95=0.0415
+- `state_delta_mid_steps`: mean=0.0266, median=0.0259, p90=0.0398, p95=0.0422
+
+### Direction A: Budget Heterogeneity
+
+- `oracle_budget_action`: mean=47.8333, median=47.8333, p90=47.8333, p95=47.8333
+- `oracle_budget_state`: mean=48.5833, median=48.5833, p90=48.5833, p95=48.5833
+- `oracle_budget_action_by_scene`:
+  - `unitree_z1_stackbox`: mean=47.8333, median=47.8333, std=0.0000
+
+### Direction B: Round Reuse
+
+- `latent_init_dist_to_prev_round`: mean=189.7540, median=190.2800, p90=226.9210, p95=230.7974
+- `action_drift_vs_prev_round`: mean=0.3214, median=0.2888, p90=0.4239, p95=0.4330
+- `round_total_time_s`: mean=135.6420, median=135.6454, p90=135.8290, p95=135.8488
+- `policy_pass_total_time_s`: mean=33.2703, median=33.2660, p90=33.3217, p95=33.3259
+- `world_model_pass_total_time_s`: mean=33.2944, median=33.2919, p90=33.3459, p95=33.3519
+
diff --git a/unitree_z1_stackbox/case1/output/sparse_4/inference/analysis/budget_distribution.png b/unitree_z1_stackbox/case1/output/sparse_4/inference/analysis/budget_distribution.png
new file mode 100644
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diff --git a/unitree_z1_stackbox/case1/output/sparse_4/inference/analysis/convergence_curves.png b/unitree_z1_stackbox/case1/output/sparse_4/inference/analysis/convergence_curves.png
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diff --git a/unitree_z1_stackbox/case1/output/sparse_4/inference/analysis/midstep_latent_delta.png b/unitree_z1_stackbox/case1/output/sparse_4/inference/analysis/midstep_latent_delta.png
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diff --git a/unitree_z1_stackbox/case1/output/sparse_4/inference/analysis/scene_summary.csv b/unitree_z1_stackbox/case1/output/sparse_4/inference/analysis/scene_summary.csv
new file mode 100644
index 0000000..75f3c24
--- /dev/null
+++ b/unitree_z1_stackbox/case1/output/sparse_4/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_stackbox,policy,33.27026762564977,33.27026762564977,,,,,,,,,,,49.083333333333336,49.083333333333336,,50.0,50.0,,47.833333333333336,47.833333333333336,,48.583333333333336,48.583333333333336,,135.64196491241455,135.64196491241455,,33.27026762564977,33.27026762564977,,33.29438763856888,33.29438763856888,,189.7540255459872,189.7540255459872,,0.3214141076261347,0.3214141076261347,
+unitree_z1_stackbox,world_model,33.29438763856888,33.29438763856888,,,,,,,,,,,49.5,49.5,,50.0,50.0,,48.0,48.0,,48.583333333333336,48.583333333333336,,135.64196491241455,135.64196491241455,,33.27026762564977,33.27026762564977,,33.29438763856888,33.29438763856888,,189.7540255459872,189.7540255459872,,0.3214141076261347,0.3214141076261347,
diff --git a/unitree_z1_stackbox/case1/output/sparse_4/inference/analysis/step_aggregate.csv b/unitree_z1_stackbox/case1/output/sparse_4/inference/analysis/step_aggregate.csv
new file mode 100644
index 0000000..477cc1d
--- /dev/null
+++ b/unitree_z1_stackbox/case1/output/sparse_4/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,1,0.6871227423350016,0.6880546808242798,0.002891508255611495,1.4144838154315948,1.4150723814964294,0.0020228320770919015,0.08169289305806156,0.08009464293718335,0.006551798120058517,0.06630560848861929,0.067508690059185,0.010829274129130772,0.23718384156624472,0.23976068198680878,0.08772066009474253,0.23031667619943616,0.2259325087070465,0.07910633725784966,147.1579335530599,147.21692657470703,7.33740368921183
+policy,2,0.6461372772852579,0.6467154026031494,0.0025864533579998267,1.0217933158079784,1.0213250517845154,0.0020478364071321808,0.03188369190320368,0.032014975324273096,0.0013423944746887818,0.0320774603945513,0.03190691582858555,0.0010746055641780443,0.2414096053689718,0.24431714415550232,0.08757611310471176,0.23377438820898533,0.2301212102174759,0.0798695334571877,146.69850540161133,146.8743667602539,7.281691204504379
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diff --git a/unitree_z1_stackbox/case1/output/sparse_4/inference/round_summary.csv b/unitree_z1_stackbox/case1/output/sparse_4/inference/round_summary.csv
new file mode 100644
index 0000000..97139b7
--- /dev/null
+++ b/unitree_z1_stackbox/case1/output/sparse_4/inference/round_summary.csv
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diff --git a/unitree_z1_stackbox/case1/output/sparse_4/inference/sample_summary.csv b/unitree_z1_stackbox/case1/output/sparse_4/inference/sample_summary.csv
new file mode 100644
index 0000000..25d4f38
--- /dev/null
+++ b/unitree_z1_stackbox/case1/output/sparse_4/inference/sample_summary.csv
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diff --git a/unitree_z1_stackbox/case1/output/sparse_4/inference/stepwise_log.csv b/unitree_z1_stackbox/case1/output/sparse_4/inference/stepwise_log.csv
new file mode 100644
index 0000000..7bcbcde
--- /dev/null
+++ b/unitree_z1_stackbox/case1/output/sparse_4/inference/stepwise_log.csv
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diff --git a/unitree_z1_stackbox/case1/output/sparse_8/inference/analysis/analysis_report.md b/unitree_z1_stackbox/case1/output/sparse_8/inference/analysis/analysis_report.md
new file mode 100644
index 0000000..9de999d
--- /dev/null
+++ b/unitree_z1_stackbox/case1/output/sparse_8/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: 1200
+- Sample rows: 2
+- Round rows: 12
+- Scenes: unitree_z1_stackbox
+- 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=140.3133, median=142.7209, p90=164.7352, p95=175.3040
+
+### 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=49.1667, median=49.1667, p90=49.1667, p95=49.1667
+- `share_action_first_stable_before_latent`: nan
+- `share_action_95pct_before_latent`: nan
+
+### Direction D: Cross-Step Similarity
+
+- `latent_delta_mid_steps`: mean=0.3531, median=0.3490, p90=0.4172, p95=0.4281
+- `action_delta_mid_steps`: mean=0.0253, median=0.0239, p90=0.0377, p95=0.0398
+- `state_delta_mid_steps`: mean=0.0257, median=0.0244, p90=0.0395, p95=0.0417
+
+### Direction A: Budget Heterogeneity
+
+- `oracle_budget_action`: mean=47.8333, median=47.8333, p90=47.8333, p95=47.8333
+- `oracle_budget_state`: mean=48.5833, median=48.5833, p90=48.5833, p95=48.5833
+- `oracle_budget_action_by_scene`:
+  - `unitree_z1_stackbox`: mean=47.8333, median=47.8333, std=0.0000
+
+### Direction B: Round Reuse
+
+- `latent_init_dist_to_prev_round`: mean=189.8770, median=190.5110, p90=227.1010, p95=230.8867
+- `action_drift_vs_prev_round`: mean=0.3214, median=0.2827, p90=0.4239, p95=0.4346
+- `round_total_time_s`: mean=136.8153, median=137.0675, p90=137.2455, p95=137.2743
+- `policy_pass_total_time_s`: mean=33.6154, median=33.6801, p90=33.7595, p95=33.7750
+- `world_model_pass_total_time_s`: mean=33.6413, median=33.7260, p90=33.7615, p95=33.7871
+
diff --git a/unitree_z1_stackbox/case1/output/sparse_8/inference/analysis/budget_distribution.png b/unitree_z1_stackbox/case1/output/sparse_8/inference/analysis/budget_distribution.png
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diff --git a/unitree_z1_stackbox/case1/output/sparse_8/inference/analysis/midstep_latent_delta.png b/unitree_z1_stackbox/case1/output/sparse_8/inference/analysis/midstep_latent_delta.png
new file mode 100644
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diff --git a/unitree_z1_stackbox/case1/output/sparse_8/inference/analysis/round_reuse.png b/unitree_z1_stackbox/case1/output/sparse_8/inference/analysis/round_reuse.png
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diff --git a/unitree_z1_stackbox/case1/output/sparse_8/inference/analysis/scene_summary.csv b/unitree_z1_stackbox/case1/output/sparse_8/inference/analysis/scene_summary.csv
new file mode 100644
index 0000000..6589140
--- /dev/null
+++ b/unitree_z1_stackbox/case1/output/sparse_8/inference/analysis/scene_summary.csv
@@ -0,0 +1,4 @@
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diff --git a/unitree_z1_stackbox/case1/output/sparse_8/inference/analysis/step_aggregate.csv b/unitree_z1_stackbox/case1/output/sparse_8/inference/analysis/step_aggregate.csv
new file mode 100644
index 0000000..922cae5
--- /dev/null
+++ b/unitree_z1_stackbox/case1/output/sparse_8/inference/analysis/step_aggregate.csv
@@ -0,0 +1,102 @@
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new file mode 100644
index 0000000..2514d88
--- /dev/null
+++ b/unitree_z1_stackbox/case1/output/sparse_8/inference/round_summary.csv
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new file mode 100644
index 0000000..c69a15d
--- /dev/null
+++ b/unitree_z1_stackbox/case1/output/sparse_8/inference/sample_summary.csv
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new file mode 100644
index 0000000..1e4a562
--- /dev/null
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diff --git a/unitree_z1_stackbox/case1/output/tail_heavy/inference/analysis/analysis_report.md b/unitree_z1_stackbox/case1/output/tail_heavy/inference/analysis/analysis_report.md
new file mode 100644
index 0000000..c1a952a
--- /dev/null
+++ b/unitree_z1_stackbox/case1/output/tail_heavy/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: 1200
+- Sample rows: 2
+- Round rows: 12
+- Scenes: unitree_z1_stackbox
+- 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=140.0402, median=142.7009, p90=163.0307, p95=169.4642
+
+### 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=nan, median=nan, p90=nan, p95=nan
+- `share_action_first_stable_before_latent`: nan
+- `share_action_95pct_before_latent`: nan
+
+### Direction D: Cross-Step Similarity
+
+- `latent_delta_mid_steps`: mean=0.3531, median=0.3490, p90=0.4172, p95=0.4281
+- `action_delta_mid_steps`: mean=0.0285, median=0.0269, p90=0.0403, p95=0.0426
+- `state_delta_mid_steps`: mean=0.0280, median=0.0260, p90=0.0405, p95=0.0430
+
+### Direction A: Budget Heterogeneity
+
+- `oracle_budget_action`: mean=47.8333, median=47.8333, p90=47.8333, p95=47.8333
+- `oracle_budget_state`: mean=48.5833, median=48.5833, p90=48.5833, p95=48.5833
+- `oracle_budget_action_by_scene`:
+  - `unitree_z1_stackbox`: mean=47.8333, median=47.8333, std=0.0000
+
+### Direction B: Round Reuse
+
+- `latent_init_dist_to_prev_round`: mean=189.9747, median=190.3070, p90=221.4898, p95=228.0855
+- `action_drift_vs_prev_round`: mean=0.3169, median=0.2949, p90=0.4140, p95=0.4197
+- `round_total_time_s`: mean=136.5570, median=136.3772, p90=137.5081, p95=137.7435
+- `policy_pass_total_time_s`: mean=33.4946, median=33.4736, p90=33.6613, p95=33.7768
+- `world_model_pass_total_time_s`: mean=33.5496, median=33.5098, p90=33.8053, p95=33.8367
+
diff --git a/unitree_z1_stackbox/case1/output/tail_heavy/inference/analysis/budget_distribution.png b/unitree_z1_stackbox/case1/output/tail_heavy/inference/analysis/budget_distribution.png
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diff --git a/unitree_z1_stackbox/case1/output/tail_heavy/inference/analysis/convergence_curves.png b/unitree_z1_stackbox/case1/output/tail_heavy/inference/analysis/convergence_curves.png
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diff --git a/unitree_z1_stackbox/case1/output/tail_heavy/inference/analysis/midstep_latent_delta.png b/unitree_z1_stackbox/case1/output/tail_heavy/inference/analysis/midstep_latent_delta.png
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diff --git a/unitree_z1_stackbox/case1/output/tail_heavy/inference/analysis/scene_summary.csv b/unitree_z1_stackbox/case1/output/tail_heavy/inference/analysis/scene_summary.csv
new file mode 100644
index 0000000..418f53b
--- /dev/null
+++ b/unitree_z1_stackbox/case1/output/tail_heavy/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
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diff --git a/unitree_z1_stackbox/case1/output/tail_heavy/inference/analysis/step_aggregate.csv b/unitree_z1_stackbox/case1/output/tail_heavy/inference/analysis/step_aggregate.csv
new file mode 100644
index 0000000..3f949ce
--- /dev/null
+++ b/unitree_z1_stackbox/case1/output/tail_heavy/inference/analysis/step_aggregate.csv
@@ -0,0 +1,102 @@
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diff --git a/unitree_z1_stackbox/case1/output/tail_heavy/inference/round_summary.csv b/unitree_z1_stackbox/case1/output/tail_heavy/inference/round_summary.csv
new file mode 100644
index 0000000..2550473
--- /dev/null
+++ b/unitree_z1_stackbox/case1/output/tail_heavy/inference/round_summary.csv
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diff --git a/unitree_z1_stackbox/case1/output/tail_heavy/inference/sample_summary.csv b/unitree_z1_stackbox/case1/output/tail_heavy/inference/sample_summary.csv
new file mode 100644
index 0000000..d132e17
--- /dev/null
+++ b/unitree_z1_stackbox/case1/output/tail_heavy/inference/sample_summary.csv
@@ -0,0 +1,3 @@
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diff --git a/unitree_z1_stackbox/case1/output/tail_heavy/inference/stepwise_log.csv b/unitree_z1_stackbox/case1/output/tail_heavy/inference/stepwise_log.csv
new file mode 100644
index 0000000..e9330b6
--- /dev/null
+++ b/unitree_z1_stackbox/case1/output/tail_heavy/inference/stepwise_log.csv
@@ -0,0 +1,1201 @@
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diff --git a/unitree_z1_stackbox/case1/output/tail_only/inference/analysis/analysis_report.md b/unitree_z1_stackbox/case1/output/tail_only/inference/analysis/analysis_report.md
new file mode 100644
index 0000000..0a8c499
--- /dev/null
+++ b/unitree_z1_stackbox/case1/output/tail_only/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: 1200
+- Sample rows: 2
+- Round rows: 12
+- Scenes: unitree_z1_stackbox
+- 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=141.1901, median=142.0332, p90=166.0066, p95=186.4020
+
+### 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=nan, median=nan, p90=nan, p95=nan
+- `share_action_first_stable_before_latent`: nan
+- `share_action_95pct_before_latent`: nan
+
+### Direction D: Cross-Step Similarity
+
+- `latent_delta_mid_steps`: mean=0.3531, median=0.3490, p90=0.4171, p95=0.4281
+- `action_delta_mid_steps`: mean=0.0265, median=0.0267, p90=0.0284, p95=0.0289
+- `state_delta_mid_steps`: mean=0.0255, median=0.0257, p90=0.0272, p95=0.0277
+
+### Direction A: Budget Heterogeneity
+
+- `oracle_budget_action`: mean=47.9167, median=47.9167, p90=47.9167, p95=47.9167
+- `oracle_budget_state`: mean=48.5833, median=48.5833, p90=48.5833, p95=48.5833
+- `oracle_budget_action_by_scene`:
+  - `unitree_z1_stackbox`: mean=47.9167, median=47.9167, std=0.0000
+
+### Direction B: Round Reuse
+
+- `latent_init_dist_to_prev_round`: mean=187.6076, median=186.7775, p90=215.7605, p95=225.2559
+- `action_drift_vs_prev_round`: mean=0.3243, median=0.3140, p90=0.4015, p95=0.4248
+- `round_total_time_s`: mean=136.4140, median=135.8684, p90=137.4286, p95=137.4493
+- `policy_pass_total_time_s`: mean=33.4775, median=33.3589, p90=33.7100, p95=33.7283
+- `world_model_pass_total_time_s`: mean=33.4718, median=33.3635, p90=33.7721, p95=33.7818
+
diff --git a/unitree_z1_stackbox/case1/output/tail_only/inference/analysis/budget_distribution.png b/unitree_z1_stackbox/case1/output/tail_only/inference/analysis/budget_distribution.png
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diff --git a/unitree_z1_stackbox/case1/output/tail_only/inference/analysis/convergence_curves.png b/unitree_z1_stackbox/case1/output/tail_only/inference/analysis/convergence_curves.png
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diff --git a/unitree_z1_stackbox/case1/output/tail_only/inference/analysis/midstep_latent_delta.png b/unitree_z1_stackbox/case1/output/tail_only/inference/analysis/midstep_latent_delta.png
new file mode 100644
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diff --git a/unitree_z1_stackbox/case1/output/tail_only/inference/analysis/scene_summary.csv b/unitree_z1_stackbox/case1/output/tail_only/inference/analysis/scene_summary.csv
new file mode 100644
index 0000000..060e688
--- /dev/null
+++ b/unitree_z1_stackbox/case1/output/tail_only/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_stackbox,policy,33.47745096683502,33.47745096683502,,,,,,,,,,,,,,,,,47.91666666666666,47.91666666666666,,48.583333333333336,48.583333333333336,,136.41395811239877,136.41395811239877,,33.47745096683502,33.47745096683502,,33.471762577692665,33.471762577692665,,187.60756197842684,187.60756197842684,,0.3242991945960305,0.3242991945960305,
+unitree_z1_stackbox,world_model,33.471762577692665,33.471762577692665,,,,,,,,,,,,,,,,,48.0,48.0,,48.583333333333336,48.583333333333336,,136.41395811239877,136.41395811239877,,33.47745096683502,33.47745096683502,,33.471762577692665,33.471762577692665,,187.60756197842684,187.60756197842684,,0.3242991945960305,0.3242991945960305,
diff --git a/unitree_z1_stackbox/case1/output/tail_only/inference/analysis/step_aggregate.csv b/unitree_z1_stackbox/case1/output/tail_only/inference/analysis/step_aggregate.csv
new file mode 100644
index 0000000..dbc8a0b
--- /dev/null
+++ b/unitree_z1_stackbox/case1/output/tail_only/inference/analysis/step_aggregate.csv
@@ -0,0 +1,102 @@
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+,,mean,median,std,mean,median,std,mean,median,std,mean,median,std,mean,median,std,mean,median,std,mean,median,std
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new file mode 100644
index 0000000..ea13b7e
--- /dev/null
+++ b/unitree_z1_stackbox/case1/output/tail_only/inference/round_summary.csv
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new file mode 100644
index 0000000..564eb07
--- /dev/null
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new file mode 100644
index 0000000..0af3842
--- /dev/null
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+unitree_z1_stackbox-vid5-fs4,unitree_z1_stackbox,world_model,11,44,0.6881122589111328,0.19222700595855713,0.07520753145217896,0.07847965508699417,0.28340455889701843,0.2959657311439514,136.6671600341797
+unitree_z1_stackbox-vid5-fs4,unitree_z1_stackbox,world_model,11,45,0.6468982696533203,0.18201446533203125,0.08117081224918365,0.0857778862118721,0.30677586793899536,0.31631261110305786,136.93881225585938
+unitree_z1_stackbox-vid5-fs4,unitree_z1_stackbox,world_model,11,46,0.6476662158966064,0.17099595069885254,0.08867412805557251,0.09433484822511673,0.3338015079498291,0.34023457765579224,137.68978881835938
+unitree_z1_stackbox-vid5-fs4,unitree_z1_stackbox,world_model,11,47,0.6905102729797363,0.16111455857753754,0.09821713715791702,0.10553082823753357,0.36360251903533936,0.3681509494781494,138.66586303710938
+unitree_z1_stackbox-vid5-fs4,unitree_z1_stackbox,world_model,11,48,0.6450138092041016,0.14958080649375916,0.10907452553510666,0.11833535879850388,0.3998473286628723,0.4019772708415985,140.00160217285156
+unitree_z1_stackbox-vid5-fs4,unitree_z1_stackbox,world_model,11,49,0.6482071876525879,0.13691149652004242,0.12315159291028976,0.13534756004810333,0.44337478280067444,0.4438744783401489,141.80357360839844
+unitree_z1_stackbox-vid5-fs4,unitree_z1_stackbox,world_model,11,50,0.6879391670227051,0.1123032420873642,0.18280649185180664,0.20483817160129547,0.5125607848167419,0.5128132104873657,142.5951385498047
diff --git a/unitree_z1_stackbox/case1/run_world_model_interaction.sh b/unitree_z1_stackbox/case1/run_world_model_interaction.sh
index c161a67..e7c10cc 100644
--- a/unitree_z1_stackbox/case1/run_world_model_interaction.sh
+++ b/unitree_z1_stackbox/case1/run_world_model_interaction.sh
@@ -2,11 +2,11 @@ res_dir="unitree_z1_stackbox/case1"
 dataset="unitree_z1_stackbox"
 
 {
-    time CUDA_VISIBLE_DEVICES=0 python3 scripts/evaluation/world_model_interaction.py \
+    time CUDA_VISIBLE_DEVICES=0 "${PYTHON_BIN:-python}" scripts/evaluation/world_model_interaction.py \
         --seed 123 \
         --ckpt_path ckpts/unifolm_wma_dual.ckpt \
         --config configs/inference/world_model_interaction.yaml \
-        --savedir "${res_dir}/output" \
+        --savedir "${res_dir}/output/sparse_8" \
         --bs 1 --height 320 --width 512 \
         --unconditional_guidance_scale 1.0 \
         --ddim_steps 50 \
@@ -22,5 +22,8 @@ dataset="unitree_z1_stackbox"
         --guidance_rescale 0.7 \
         --perframe_ae \
         --analysis_log_metrics \
-        --analysis_reference_steps 50
+        --analysis_reference_steps 50 \
+        --head_schedule_steps 0 7 14 21 28 35 42 49 \
+        --head_skip_mode reuse_prediction \
+        --head_log_steps 40 43 46 47 48 49
 } 2>&1 | tee "${res_dir}/output.log"
diff --git a/unitree_z1_stackbox/case2/output/sparse_4/inference/analysis/analysis_report.md b/unitree_z1_stackbox/case2/output/sparse_4/inference/analysis/analysis_report.md
new file mode 100644
index 0000000..4ce96ff
--- /dev/null
+++ b/unitree_z1_stackbox/case2/output/sparse_4/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: 1200
+- Sample rows: 2
+- Round rows: 12
+- Scenes: unitree_z1_stackbox
+- 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=141.4435, median=144.5419, p90=166.0574, p95=173.3142
+
+### 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=50.0000, median=50.0000, p90=50.0000, p95=50.0000
+- `share_action_first_stable_before_latent`: nan
+- `share_action_95pct_before_latent`: nan
+
+### Direction D: Cross-Step Similarity
+
+- `latent_delta_mid_steps`: mean=0.3533, median=0.3493, p90=0.4172, p95=0.4282
+- `action_delta_mid_steps`: mean=0.0261, median=0.0253, p90=0.0394, p95=0.0414
+- `state_delta_mid_steps`: mean=0.0263, median=0.0258, p90=0.0399, p95=0.0423
+
+### Direction A: Budget Heterogeneity
+
+- `oracle_budget_action`: mean=47.9167, median=47.9167, p90=47.9167, p95=47.9167
+- `oracle_budget_state`: mean=48.5833, median=48.5833, p90=48.5833, p95=48.5833
+- `oracle_budget_action_by_scene`:
+  - `unitree_z1_stackbox`: mean=47.9167, median=47.9167, std=0.0000
+
+### Direction B: Round Reuse
+
+- `latent_init_dist_to_prev_round`: mean=188.8859, median=191.4181, p90=226.5959, p95=227.3851
+- `action_drift_vs_prev_round`: mean=0.2896, median=0.3040, p90=0.3968, p95=0.4135
+- `round_total_time_s`: mean=136.1617, median=135.7664, p90=137.0463, p95=137.0851
+- `policy_pass_total_time_s`: mean=33.3914, median=33.3032, p90=33.5827, p95=33.5900
+- `world_model_pass_total_time_s`: mean=33.3831, median=33.2978, p90=33.6412, p95=33.6468
+
diff --git a/unitree_z1_stackbox/case2/output/sparse_4/inference/analysis/budget_distribution.png b/unitree_z1_stackbox/case2/output/sparse_4/inference/analysis/budget_distribution.png
new file mode 100644
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diff --git a/unitree_z1_stackbox/case2/output/sparse_4/inference/analysis/convergence_curves.png b/unitree_z1_stackbox/case2/output/sparse_4/inference/analysis/convergence_curves.png
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diff --git a/unitree_z1_stackbox/case2/output/sparse_4/inference/analysis/midstep_latent_delta.png b/unitree_z1_stackbox/case2/output/sparse_4/inference/analysis/midstep_latent_delta.png
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diff --git a/unitree_z1_stackbox/case2/output/sparse_4/inference/analysis/scene_summary.csv b/unitree_z1_stackbox/case2/output/sparse_4/inference/analysis/scene_summary.csv
new file mode 100644
index 0000000..4f09f52
--- /dev/null
+++ b/unitree_z1_stackbox/case2/output/sparse_4/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_stackbox,policy,33.391386806964874,33.391386806964874,,,,,,,,,,,49.333333333333336,49.333333333333336,,50.0,50.0,,47.91666666666666,47.91666666666666,,48.75,48.75,,136.16174946228662,136.16174946228662,,33.391386806964874,33.391386806964874,,33.38307040929794,33.38307040929794,,188.8859003240412,188.8859003240412,,0.2895921197804538,0.2895921197804538,
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diff --git a/unitree_z1_stackbox/case2/output/sparse_4/inference/analysis/step_aggregate.csv b/unitree_z1_stackbox/case2/output/sparse_4/inference/analysis/step_aggregate.csv
new file mode 100644
index 0000000..b7a7399
--- /dev/null
+++ b/unitree_z1_stackbox/case2/output/sparse_4/inference/analysis/step_aggregate.csv
@@ -0,0 +1,102 @@
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diff --git a/unitree_z1_stackbox/case2/output/sparse_4/inference/round_summary.csv b/unitree_z1_stackbox/case2/output/sparse_4/inference/round_summary.csv
new file mode 100644
index 0000000..1dddb3d
--- /dev/null
+++ b/unitree_z1_stackbox/case2/output/sparse_4/inference/round_summary.csv
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new file mode 100644
index 0000000..be7e439
--- /dev/null
+++ b/unitree_z1_stackbox/case2/output/sparse_4/inference/sample_summary.csv
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new file mode 100644
index 0000000..5cf38ad
--- /dev/null
+++ b/unitree_z1_stackbox/case2/output/sparse_4/inference/stepwise_log.csv
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diff --git a/unitree_z1_stackbox/case2/output/sparse_8/inference/analysis/analysis_report.md b/unitree_z1_stackbox/case2/output/sparse_8/inference/analysis/analysis_report.md
new file mode 100644
index 0000000..18c18c1
--- /dev/null
+++ b/unitree_z1_stackbox/case2/output/sparse_8/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: 1200
+- Sample rows: 2
+- Round rows: 12
+- Scenes: unitree_z1_stackbox
+- 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=142.9924, median=145.0568, p90=168.1628, p95=180.0693
+
+### 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=49.2727, median=49.2727, p90=49.2727, p95=49.2727
+- `share_action_first_stable_before_latent`: nan
+- `share_action_95pct_before_latent`: nan
+
+### Direction D: Cross-Step Similarity
+
+- `latent_delta_mid_steps`: mean=0.3533, median=0.3493, p90=0.4171, p95=0.4282
+- `action_delta_mid_steps`: mean=0.0253, median=0.0242, p90=0.0380, p95=0.0402
+- `state_delta_mid_steps`: mean=0.0256, median=0.0244, p90=0.0392, p95=0.0417
+
+### Direction A: Budget Heterogeneity
+
+- `oracle_budget_action`: mean=47.9167, median=47.9167, p90=47.9167, p95=47.9167
+- `oracle_budget_state`: mean=48.5000, median=48.5000, p90=48.5000, p95=48.5000
+- `oracle_budget_action_by_scene`:
+  - `unitree_z1_stackbox`: mean=47.9167, median=47.9167, std=0.0000
+
+### Direction B: Round Reuse
+
+- `latent_init_dist_to_prev_round`: mean=195.9648, median=198.1584, p90=228.1816, p95=230.3799
+- `action_drift_vs_prev_round`: mean=0.3005, median=0.3137, p90=0.3956, p95=0.4131
+- `round_total_time_s`: mean=136.1817, median=135.9244, p90=137.1063, p95=137.2927
+- `policy_pass_total_time_s`: mean=33.4931, median=33.4061, p90=33.8189, p95=33.8656
+- `world_model_pass_total_time_s`: mean=33.4701, median=33.4152, p90=33.6619, p95=33.7652
+
diff --git a/unitree_z1_stackbox/case2/output/sparse_8/inference/analysis/budget_distribution.png b/unitree_z1_stackbox/case2/output/sparse_8/inference/analysis/budget_distribution.png
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diff --git a/unitree_z1_stackbox/case2/output/sparse_8/inference/analysis/convergence_curves.png b/unitree_z1_stackbox/case2/output/sparse_8/inference/analysis/convergence_curves.png
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diff --git a/unitree_z1_stackbox/case2/output/sparse_8/inference/analysis/midstep_latent_delta.png b/unitree_z1_stackbox/case2/output/sparse_8/inference/analysis/midstep_latent_delta.png
new file mode 100644
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diff --git a/unitree_z1_stackbox/case2/output/sparse_8/inference/analysis/round_reuse.png b/unitree_z1_stackbox/case2/output/sparse_8/inference/analysis/round_reuse.png
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diff --git a/unitree_z1_stackbox/case2/output/sparse_8/inference/analysis/scene_summary.csv b/unitree_z1_stackbox/case2/output/sparse_8/inference/analysis/scene_summary.csv
new file mode 100644
index 0000000..f843b8e
--- /dev/null
+++ b/unitree_z1_stackbox/case2/output/sparse_8/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_stackbox,policy,33.49307539065679,33.49307539065679,,,,,,,,,,,47.5,47.5,,49.27272727272727,49.27272727272727,,47.91666666666666,47.91666666666666,,48.583333333333336,48.583333333333336,,136.1817115743955,136.1817115743955,,33.49307539065679,33.49307539065679,,33.47008717060089,33.47008717060089,,195.96483820134944,195.96483820134944,,0.3005240559577942,0.3005240559577942,
+unitree_z1_stackbox,world_model,33.47008717060089,33.47008717060089,,,,,,,,,,,47.583333333333336,47.583333333333336,,49.66666666666666,49.66666666666666,,47.91666666666666,47.91666666666666,,48.5,48.5,,136.1817115743955,136.1817115743955,,33.49307539065679,33.49307539065679,,33.47008717060089,33.47008717060089,,195.96483820134944,195.96483820134944,,0.3005240559577942,0.3005240559577942,
diff --git a/unitree_z1_stackbox/case2/output/sparse_8/inference/analysis/step_aggregate.csv b/unitree_z1_stackbox/case2/output/sparse_8/inference/analysis/step_aggregate.csv
new file mode 100644
index 0000000..d43adde
--- /dev/null
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diff --git a/unitree_z1_stackbox/case2/output/sparse_8/inference/round_summary.csv b/unitree_z1_stackbox/case2/output/sparse_8/inference/round_summary.csv
new file mode 100644
index 0000000..09616cc
--- /dev/null
+++ b/unitree_z1_stackbox/case2/output/sparse_8/inference/round_summary.csv
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diff --git a/unitree_z1_stackbox/case2/output/sparse_8/inference/sample_summary.csv b/unitree_z1_stackbox/case2/output/sparse_8/inference/sample_summary.csv
new file mode 100644
index 0000000..595406c
--- /dev/null
+++ b/unitree_z1_stackbox/case2/output/sparse_8/inference/sample_summary.csv
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diff --git a/unitree_z1_stackbox/case2/output/sparse_8/inference/stepwise_log.csv b/unitree_z1_stackbox/case2/output/sparse_8/inference/stepwise_log.csv
new file mode 100644
index 0000000..98650d1
--- /dev/null
+++ b/unitree_z1_stackbox/case2/output/sparse_8/inference/stepwise_log.csv
@@ -0,0 +1,1201 @@
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diff --git a/unitree_z1_stackbox/case2/output/tail_heavy/inference/analysis/analysis_report.md b/unitree_z1_stackbox/case2/output/tail_heavy/inference/analysis/analysis_report.md
new file mode 100644
index 0000000..8520bca
--- /dev/null
+++ b/unitree_z1_stackbox/case2/output/tail_heavy/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: 1200
+- Sample rows: 2
+- Round rows: 12
+- Scenes: unitree_z1_stackbox
+- 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=142.6289, median=144.5586, p90=167.9305, p95=179.0075
+
+### 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=nan, median=nan, p90=nan, p95=nan
+- `share_action_first_stable_before_latent`: nan
+- `share_action_95pct_before_latent`: nan
+
+### Direction D: Cross-Step Similarity
+
+- `latent_delta_mid_steps`: mean=0.3533, median=0.3493, p90=0.4172, p95=0.4282
+- `action_delta_mid_steps`: mean=0.0282, median=0.0265, p90=0.0407, p95=0.0431
+- `state_delta_mid_steps`: mean=0.0283, median=0.0265, p90=0.0407, p95=0.0430
+
+### Direction A: Budget Heterogeneity
+
+- `oracle_budget_action`: mean=47.9167, median=47.9167, p90=47.9167, p95=47.9167
+- `oracle_budget_state`: mean=48.5000, median=48.5000, p90=48.5000, p95=48.5000
+- `oracle_budget_action_by_scene`:
+  - `unitree_z1_stackbox`: mean=47.9167, median=47.9167, std=0.0000
+
+### Direction B: Round Reuse
+
+- `latent_init_dist_to_prev_round`: mean=195.2020, median=196.3304, p90=227.3101, p95=227.7866
+- `action_drift_vs_prev_round`: mean=0.2987, median=0.3147, p90=0.3992, p95=0.4145
+- `round_total_time_s`: mean=137.2902, median=137.2647, p90=137.5864, p95=137.6133
+- `policy_pass_total_time_s`: mean=33.6689, median=33.6776, p90=33.7538, p95=33.7639
+- `world_model_pass_total_time_s`: mean=33.7016, median=33.6754, p90=33.7749, p95=33.8030
+
diff --git a/unitree_z1_stackbox/case2/output/tail_heavy/inference/analysis/budget_distribution.png b/unitree_z1_stackbox/case2/output/tail_heavy/inference/analysis/budget_distribution.png
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diff --git a/unitree_z1_stackbox/case2/output/tail_heavy/inference/analysis/convergence_curves.png b/unitree_z1_stackbox/case2/output/tail_heavy/inference/analysis/convergence_curves.png
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diff --git a/unitree_z1_stackbox/case2/output/tail_heavy/inference/analysis/midstep_latent_delta.png b/unitree_z1_stackbox/case2/output/tail_heavy/inference/analysis/midstep_latent_delta.png
new file mode 100644
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diff --git a/unitree_z1_stackbox/case2/output/tail_heavy/inference/analysis/scene_summary.csv b/unitree_z1_stackbox/case2/output/tail_heavy/inference/analysis/scene_summary.csv
new file mode 100644
index 0000000..cae9fe6
--- /dev/null
+++ b/unitree_z1_stackbox/case2/output/tail_heavy/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_stackbox,policy,33.66891705989838,33.66891705989838,,,,,,,,,,,50.0,50.0,,,,,47.91666666666666,47.91666666666666,,48.66666666666666,48.66666666666666,,137.2901853521665,137.2901853521665,,33.66891705989838,33.66891705989838,,33.70158894856771,33.70158894856771,,195.20201943137428,195.20201943137428,,0.2987296960570595,0.2987296960570595,
+unitree_z1_stackbox,world_model,33.70158894856771,33.70158894856771,,,,,,,,,,,50.0,50.0,,,,,48.0,48.0,,48.5,48.5,,137.2901853521665,137.2901853521665,,33.66891705989838,33.66891705989838,,33.70158894856771,33.70158894856771,,195.20201943137428,195.20201943137428,,0.2987296960570595,0.2987296960570595,
diff --git a/unitree_z1_stackbox/case2/output/tail_heavy/inference/analysis/step_aggregate.csv b/unitree_z1_stackbox/case2/output/tail_heavy/inference/analysis/step_aggregate.csv
new file mode 100644
index 0000000..d9b3942
--- /dev/null
+++ b/unitree_z1_stackbox/case2/output/tail_heavy/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
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diff --git a/unitree_z1_stackbox/case2/output/tail_heavy/inference/round_summary.csv b/unitree_z1_stackbox/case2/output/tail_heavy/inference/round_summary.csv
new file mode 100644
index 0000000..376ac2a
--- /dev/null
+++ b/unitree_z1_stackbox/case2/output/tail_heavy/inference/round_summary.csv
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diff --git a/unitree_z1_stackbox/case2/output/tail_heavy/inference/sample_summary.csv b/unitree_z1_stackbox/case2/output/tail_heavy/inference/sample_summary.csv
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index 0000000..327df18
--- /dev/null
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diff --git a/unitree_z1_stackbox/case2/output/tail_heavy/inference/stepwise_log.csv b/unitree_z1_stackbox/case2/output/tail_heavy/inference/stepwise_log.csv
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index 0000000..b8bd522
--- /dev/null
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diff --git a/unitree_z1_stackbox/case2/output/tail_only/inference/analysis/analysis_report.md b/unitree_z1_stackbox/case2/output/tail_only/inference/analysis/analysis_report.md
new file mode 100644
index 0000000..384cf9a
--- /dev/null
+++ b/unitree_z1_stackbox/case2/output/tail_only/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: 1200
+- Sample rows: 2
+- Round rows: 12
+- Scenes: unitree_z1_stackbox
+- 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=143.1634, median=145.9226, p90=168.6317, p95=179.9511
+
+### 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=nan, median=nan, p90=nan, p95=nan
+- `share_action_first_stable_before_latent`: nan
+- `share_action_95pct_before_latent`: nan
+
+### Direction D: Cross-Step Similarity
+
+- `latent_delta_mid_steps`: mean=0.3533, median=0.3494, p90=0.4172, p95=0.4282
+- `action_delta_mid_steps`: mean=0.0259, median=0.0260, p90=0.0278, p95=0.0283
+- `state_delta_mid_steps`: mean=0.0256, median=0.0259, p90=0.0275, p95=0.0280
+
+### Direction A: Budget Heterogeneity
+
+- `oracle_budget_action`: mean=47.9167, median=47.9167, p90=47.9167, p95=47.9167
+- `oracle_budget_state`: mean=48.5000, median=48.5000, p90=48.5000, p95=48.5000
+- `oracle_budget_action_by_scene`:
+  - `unitree_z1_stackbox`: mean=47.9167, median=47.9167, std=0.0000
+
+### Direction B: Round Reuse
+
+- `latent_init_dist_to_prev_round`: mean=195.8778, median=198.9463, p90=228.5887, p95=231.0987
+- `action_drift_vs_prev_round`: mean=0.3082, median=0.2914, p90=0.4274, p95=0.4676
+- `round_total_time_s`: mean=136.2031, median=135.6879, p90=137.1983, p95=137.3254
+- `policy_pass_total_time_s`: mean=33.4310, median=33.2871, p90=33.6572, p95=33.7302
+- `world_model_pass_total_time_s`: mean=33.4053, median=33.3299, p90=33.6440, p95=33.6635
+
diff --git a/unitree_z1_stackbox/case2/output/tail_only/inference/analysis/budget_distribution.png b/unitree_z1_stackbox/case2/output/tail_only/inference/analysis/budget_distribution.png
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diff --git a/unitree_z1_stackbox/case2/output/tail_only/inference/analysis/convergence_curves.png b/unitree_z1_stackbox/case2/output/tail_only/inference/analysis/convergence_curves.png
new file mode 100644
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diff --git a/unitree_z1_stackbox/case2/output/tail_only/inference/analysis/scene_summary.csv b/unitree_z1_stackbox/case2/output/tail_only/inference/analysis/scene_summary.csv
new file mode 100644
index 0000000..91ed51b
--- /dev/null
+++ b/unitree_z1_stackbox/case2/output/tail_only/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_stackbox,policy,33.43100051085154,33.43100051085154,,,,,,,,,,,,,,,,,47.91666666666666,47.91666666666666,,48.66666666666666,48.66666666666666,,136.20309495925903,136.20309495925903,,33.43100051085154,33.43100051085154,,33.40530186891556,33.40530186891556,,195.87780484286225,195.87780484286225,,0.3081676499410109,0.3081676499410109,
+unitree_z1_stackbox,world_model,33.40530186891556,33.40530186891556,,,,,,,,,,,,,,,,,47.91666666666666,47.91666666666666,,48.5,48.5,,136.20309495925903,136.20309495925903,,33.43100051085154,33.43100051085154,,33.40530186891556,33.40530186891556,,195.87780484286225,195.87780484286225,,0.3081676499410109,0.3081676499410109,
diff --git a/unitree_z1_stackbox/case2/output/tail_only/inference/analysis/step_aggregate.csv b/unitree_z1_stackbox/case2/output/tail_only/inference/analysis/step_aggregate.csv
new file mode 100644
index 0000000..ff70c69
--- /dev/null
+++ b/unitree_z1_stackbox/case2/output/tail_only/inference/analysis/step_aggregate.csv
@@ -0,0 +1,102 @@
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diff --git a/unitree_z1_stackbox/case2/output/tail_only/inference/round_summary.csv b/unitree_z1_stackbox/case2/output/tail_only/inference/round_summary.csv
new file mode 100644
index 0000000..e83e58b
--- /dev/null
+++ b/unitree_z1_stackbox/case2/output/tail_only/inference/round_summary.csv
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diff --git a/unitree_z1_stackbox/case2/output/tail_only/inference/sample_summary.csv b/unitree_z1_stackbox/case2/output/tail_only/inference/sample_summary.csv
new file mode 100644
index 0000000..5a3fe21
--- /dev/null
+++ b/unitree_z1_stackbox/case2/output/tail_only/inference/sample_summary.csv
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diff --git a/unitree_z1_stackbox/case2/output/tail_only/inference/stepwise_log.csv b/unitree_z1_stackbox/case2/output/tail_only/inference/stepwise_log.csv
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index 0000000..fa475de
--- /dev/null
+++ b/unitree_z1_stackbox/case2/output/tail_only/inference/stepwise_log.csv
@@ -0,0 +1,1201 @@
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diff --git a/unitree_z1_stackbox/case2/run_world_model_interaction.sh b/unitree_z1_stackbox/case2/run_world_model_interaction.sh
index e3ceb74..0cd2aaa 100644
--- a/unitree_z1_stackbox/case2/run_world_model_interaction.sh
+++ b/unitree_z1_stackbox/case2/run_world_model_interaction.sh
@@ -2,11 +2,11 @@ res_dir="unitree_z1_stackbox/case2"
 dataset="unitree_z1_stackbox"
 
 {
-    time CUDA_VISIBLE_DEVICES=0 python3 scripts/evaluation/world_model_interaction.py \
+    time CUDA_VISIBLE_DEVICES=0 "${PYTHON_BIN:-python}" scripts/evaluation/world_model_interaction.py \
         --seed 123 \
         --ckpt_path ckpts/unifolm_wma_dual.ckpt \
         --config configs/inference/world_model_interaction.yaml \
-        --savedir "${res_dir}/output" \
+        --savedir "${res_dir}/output/sparse_8" \
         --bs 1 --height 320 --width 512 \
         --unconditional_guidance_scale 1.0 \
         --ddim_steps 50 \
@@ -22,5 +22,8 @@ dataset="unitree_z1_stackbox"
         --guidance_rescale 0.7 \
         --perframe_ae \
         --analysis_log_metrics \
-        --analysis_reference_steps 50
+        --analysis_reference_steps 50 \
+        --head_schedule_steps 0 7 14 21 28 35 42 49 \
+        --head_skip_mode reuse_prediction \
+        --head_log_steps 40 43 46 47 48 49
 } 2>&1 | tee "${res_dir}/output.log"
diff --git a/unitree_z1_stackbox/case3/backbone_profile_dense/inference/analysis/analysis_report.md b/unitree_z1_stackbox/case3/backbone_profile_dense/inference/analysis/analysis_report.md
new file mode 100644
index 0000000..eae6e8f
--- /dev/null
+++ b/unitree_z1_stackbox/case3/backbone_profile_dense/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: 1200
+- Sample rows: 2
+- Round rows: 12
+- Scenes: unitree_z1_stackbox
+- 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=107.9246, median=129.6718, p90=142.9009, p95=147.0314
+
+### 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=47.8333, median=47.8333, p90=47.8333, p95=47.8333
+- `share_action_first_stable_before_latent`: nan
+- `share_action_95pct_before_latent`: nan
+
+### Direction D: Cross-Step Similarity
+
+- `latent_delta_mid_steps`: mean=0.3534, median=0.3491, p90=0.4166, p95=0.4278
+- `action_delta_mid_steps`: mean=0.0272, median=0.0258, p90=0.0401, p95=0.0428
+- `state_delta_mid_steps`: mean=0.0275, median=0.0262, p90=0.0411, p95=0.0436
+
+### Direction A: Budget Heterogeneity
+
+- `oracle_budget_action`: mean=47.8333, median=47.8333, p90=47.8333, p95=47.8333
+- `oracle_budget_state`: mean=48.2500, median=48.2500, p90=48.2500, p95=48.2500
+- `oracle_budget_action_by_scene`:
+  - `unitree_z1_stackbox`: mean=47.8333, median=47.8333, std=0.0000
+
+### Direction B: Round Reuse
+
+- `latent_init_dist_to_prev_round`: mean=183.6162, median=172.3158, p90=212.9301, p95=227.2113
+- `action_drift_vs_prev_round`: mean=0.2558, median=0.2455, p90=0.3288, p95=0.3382
+- `round_total_time_s`: mean=629.5064, median=648.1064, p90=668.6221, p95=670.7842
+- `policy_pass_total_time_s`: mean=261.6829, median=277.3413, p90=290.1827, p95=293.3132
+- `world_model_pass_total_time_s`: mean=277.8026, median=282.0880, p90=297.6364, p95=299.5259
+
diff --git a/unitree_z1_stackbox/case3/backbone_profile_dense/inference/analysis/budget_distribution.png b/unitree_z1_stackbox/case3/backbone_profile_dense/inference/analysis/budget_distribution.png
new file mode 100644
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diff --git a/unitree_z1_stackbox/case3/backbone_profile_dense/inference/analysis/convergence_curves.png b/unitree_z1_stackbox/case3/backbone_profile_dense/inference/analysis/convergence_curves.png
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diff --git a/unitree_z1_stackbox/case3/backbone_profile_dense/inference/analysis/midstep_latent_delta.png b/unitree_z1_stackbox/case3/backbone_profile_dense/inference/analysis/midstep_latent_delta.png
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diff --git a/unitree_z1_stackbox/case3/backbone_profile_dense/inference/analysis/scene_summary.csv b/unitree_z1_stackbox/case3/backbone_profile_dense/inference/analysis/scene_summary.csv
new file mode 100644
index 0000000..b935e5b
--- /dev/null
+++ b/unitree_z1_stackbox/case3/backbone_profile_dense/inference/analysis/scene_summary.csv
@@ -0,0 +1,4 @@
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diff --git a/unitree_z1_stackbox/case3/backbone_profile_dense/inference/analysis/step_aggregate.csv b/unitree_z1_stackbox/case3/backbone_profile_dense/inference/analysis/step_aggregate.csv
new file mode 100644
index 0000000..080a1e1
--- /dev/null
+++ b/unitree_z1_stackbox/case3/backbone_profile_dense/inference/analysis/step_aggregate.csv
@@ -0,0 +1,102 @@
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diff --git a/unitree_z1_stackbox/case3/backbone_profile_dense/inference/backbone_analysis/backbone_profile_report.md b/unitree_z1_stackbox/case3/backbone_profile_dense/inference/backbone_analysis/backbone_profile_report.md
new file mode 100644
index 0000000..e6bae76
--- /dev/null
+++ b/unitree_z1_stackbox/case3/backbone_profile_dense/inference/backbone_analysis/backbone_profile_report.md
@@ -0,0 +1,30 @@
+# Backbone Block Profiling Report
+
+## Dataset Overview
+
+- Rows: 30000
+- Blocks: 25
+- Steps: 1-50
+- Pass types: policy, world_model
+
+## Block Timing
+
+- `forward_time_ms`: mean=30.6579, median=34.4826, p90=54.4240
+
+## Stability
+
+- `rel_l2_delta_vs_prev`: mean=0.135295, median=0.111123, p90=0.228920
+- `cosine_vs_prev`: mean=0.987331, median=0.994399, p90=0.998716
+
+## Top Cache Candidates
+
+- `output_5` (output_blocks): tail_rel_l2=0.043625, mean_forward_time_ms=42.8631
+- `output_4` (output_blocks): tail_rel_l2=0.049498, mean_forward_time_ms=40.4440
+- `output_2` (output_blocks): tail_rel_l2=0.051888, mean_forward_time_ms=4.1717
+- `output_3` (output_blocks): tail_rel_l2=0.054181, mean_forward_time_ms=40.1228
+- `output_1` (output_blocks): tail_rel_l2=0.067320, mean_forward_time_ms=3.4706
+- `output_6` (output_blocks): tail_rel_l2=0.068327, mean_forward_time_ms=42.6822
+- `output_0` (output_blocks): tail_rel_l2=0.069596, mean_forward_time_ms=3.4777
+- `middle` (middle_block): tail_rel_l2=0.073528, mean_forward_time_ms=27.7004
+- `input_9` (input_blocks): tail_rel_l2=0.074634, mean_forward_time_ms=0.6786
+- `input_7` (input_blocks): tail_rel_l2=0.074664, mean_forward_time_ms=40.6067
\ No newline at end of file
diff --git a/unitree_z1_stackbox/case3/backbone_profile_dense/inference/backbone_analysis/block_step_aggregate.csv b/unitree_z1_stackbox/case3/backbone_profile_dense/inference/backbone_analysis/block_step_aggregate.csv
new file mode 100644
index 0000000..9d01ca0
--- /dev/null
+++ b/unitree_z1_stackbox/case3/backbone_profile_dense/inference/backbone_analysis/block_step_aggregate.csv
@@ -0,0 +1,1251 @@
+block_stage,block_name,block_index,step,forward_time_ms,l2_delta_vs_prev,rel_l2_delta_vs_prev,cosine_vs_prev,l2_delta_vs_full50,cosine_vs_full50
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diff --git a/unitree_z1_stackbox/case3/backbone_profile_dense/inference/backbone_analysis/block_summary.csv b/unitree_z1_stackbox/case3/backbone_profile_dense/inference/backbone_analysis/block_summary.csv
new file mode 100644
index 0000000..ae72fab
--- /dev/null
+++ b/unitree_z1_stackbox/case3/backbone_profile_dense/inference/backbone_analysis/block_summary.csv
@@ -0,0 +1,26 @@
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diff --git a/unitree_z1_stackbox/case3/backbone_profile_dense/inference/backbone_analysis/stage_summary.csv b/unitree_z1_stackbox/case3/backbone_profile_dense/inference/backbone_analysis/stage_summary.csv
new file mode 100644
index 0000000..3409cb4
--- /dev/null
+++ b/unitree_z1_stackbox/case3/backbone_profile_dense/inference/backbone_analysis/stage_summary.csv
@@ -0,0 +1,10 @@
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diff --git a/unitree_z1_stackbox/case3/backbone_profile_dense/inference/backbone_block_log.csv b/unitree_z1_stackbox/case3/backbone_profile_dense/inference/backbone_block_log.csv
new file mode 100644
index 0000000..f1adf8e
--- /dev/null
+++ b/unitree_z1_stackbox/case3/backbone_profile_dense/inference/backbone_block_log.csv
@@ -0,0 +1,30001 @@
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diff --git a/unitree_z1_stackbox/case3/backbone_profile_dense/inference/round_summary.csv b/unitree_z1_stackbox/case3/backbone_profile_dense/inference/round_summary.csv
new file mode 100644
index 0000000..cf6568d
--- /dev/null
+++ b/unitree_z1_stackbox/case3/backbone_profile_dense/inference/round_summary.csv
@@ -0,0 +1,13 @@
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diff --git a/unitree_z1_stackbox/case3/backbone_profile_dense/inference/sample_summary.csv b/unitree_z1_stackbox/case3/backbone_profile_dense/inference/sample_summary.csv
new file mode 100644
index 0000000..c869e3a
--- /dev/null
+++ b/unitree_z1_stackbox/case3/backbone_profile_dense/inference/sample_summary.csv
@@ -0,0 +1,3 @@
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diff --git a/unitree_z1_stackbox/case3/backbone_profile_dense/inference/stepwise_log.csv b/unitree_z1_stackbox/case3/backbone_profile_dense/inference/stepwise_log.csv
new file mode 100644
index 0000000..8f399c9
--- /dev/null
+++ b/unitree_z1_stackbox/case3/backbone_profile_dense/inference/stepwise_log.csv
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diff --git a/unitree_z1_stackbox/case3/output/sparse_4/inference/analysis/analysis_report.md b/unitree_z1_stackbox/case3/output/sparse_4/inference/analysis/analysis_report.md
new file mode 100644
index 0000000..1a128cc
--- /dev/null
+++ b/unitree_z1_stackbox/case3/output/sparse_4/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: 1200
+- Sample rows: 2
+- Round rows: 12
+- Scenes: unitree_z1_stackbox
+- 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=142.5514, median=146.1818, p90=160.5933, p95=163.3348
+
+### 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=50.0000, median=50.0000, p90=50.0000, p95=50.0000
+- `share_action_first_stable_before_latent`: nan
+- `share_action_95pct_before_latent`: nan
+
+### Direction D: Cross-Step Similarity
+
+- `latent_delta_mid_steps`: mean=0.3534, median=0.3491, p90=0.4172, p95=0.4281
+- `action_delta_mid_steps`: mean=0.0266, median=0.0257, p90=0.0399, p95=0.0421
+- `state_delta_mid_steps`: mean=0.0268, median=0.0262, p90=0.0402, p95=0.0428
+
+### Direction A: Budget Heterogeneity
+
+- `oracle_budget_action`: mean=47.6667, median=47.6667, p90=47.6667, p95=47.6667
+- `oracle_budget_state`: mean=48.3333, median=48.3333, p90=48.3333, p95=48.3333
+- `oracle_budget_action_by_scene`:
+  - `unitree_z1_stackbox`: mean=47.6667, median=47.6667, std=0.0000
+
+### Direction B: Round Reuse
+
+- `latent_init_dist_to_prev_round`: mean=187.2331, median=177.0439, p90=206.7721, p95=222.7666
+- `action_drift_vs_prev_round`: mean=0.2498, median=0.2648, p90=0.2955, p95=0.3068
+- `round_total_time_s`: mean=135.6634, median=135.6054, p90=135.7116, p95=136.1716
+- `policy_pass_total_time_s`: mean=33.2696, median=33.2571, p90=33.2790, p95=33.4053
+- `world_model_pass_total_time_s`: mean=33.2670, median=33.2808, p90=33.3028, p95=33.3132
+
diff --git a/unitree_z1_stackbox/case3/output/sparse_4/inference/analysis/budget_distribution.png b/unitree_z1_stackbox/case3/output/sparse_4/inference/analysis/budget_distribution.png
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diff --git a/unitree_z1_stackbox/case3/output/sparse_4/inference/analysis/convergence_curves.png b/unitree_z1_stackbox/case3/output/sparse_4/inference/analysis/convergence_curves.png
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diff --git a/unitree_z1_stackbox/case3/output/sparse_4/inference/analysis/midstep_latent_delta.png b/unitree_z1_stackbox/case3/output/sparse_4/inference/analysis/midstep_latent_delta.png
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diff --git a/unitree_z1_stackbox/case3/output/sparse_4/inference/analysis/scene_summary.csv b/unitree_z1_stackbox/case3/output/sparse_4/inference/analysis/scene_summary.csv
new file mode 100644
index 0000000..f30a74d
--- /dev/null
+++ b/unitree_z1_stackbox/case3/output/sparse_4/inference/analysis/scene_summary.csv
@@ -0,0 +1,4 @@
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+,,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_stackbox,policy,33.26964239279429,33.26964239279429,,,,,,,,,,,49.333333333333336,49.333333333333336,,50.0,50.0,,47.66666666666666,47.66666666666666,,48.41666666666666,48.41666666666666,,135.66335250933966,135.66335250933966,,33.26964239279429,33.26964239279429,,33.26695068677267,33.26695068677267,,187.23306274414065,187.23306274414065,,0.249756016514518,0.249756016514518,
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diff --git a/unitree_z1_stackbox/case3/output/sparse_4/inference/analysis/step_aggregate.csv b/unitree_z1_stackbox/case3/output/sparse_4/inference/analysis/step_aggregate.csv
new file mode 100644
index 0000000..ee00f36
--- /dev/null
+++ b/unitree_z1_stackbox/case3/output/sparse_4/inference/analysis/step_aggregate.csv
@@ -0,0 +1,102 @@
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diff --git a/unitree_z1_stackbox/case3/output/sparse_4/inference/round_summary.csv b/unitree_z1_stackbox/case3/output/sparse_4/inference/round_summary.csv
new file mode 100644
index 0000000..e11b77b
--- /dev/null
+++ b/unitree_z1_stackbox/case3/output/sparse_4/inference/round_summary.csv
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new file mode 100644
index 0000000..796ea7f
--- /dev/null
+++ b/unitree_z1_stackbox/case3/output/sparse_4/inference/sample_summary.csv
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new file mode 100644
index 0000000..0e01fd9
--- /dev/null
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diff --git a/unitree_z1_stackbox/case3/output/sparse_8/inference/analysis/analysis_report.md b/unitree_z1_stackbox/case3/output/sparse_8/inference/analysis/analysis_report.md
new file mode 100644
index 0000000..c4b0ea2
--- /dev/null
+++ b/unitree_z1_stackbox/case3/output/sparse_8/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: 1200
+- Sample rows: 2
+- Round rows: 12
+- Scenes: unitree_z1_stackbox
+- 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=141.4964, median=145.5265, p90=160.0908, p95=163.0139
+
+### 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=49.3000, median=49.3000, p90=49.3000, p95=49.3000
+- `share_action_first_stable_before_latent`: nan
+- `share_action_95pct_before_latent`: nan
+
+### Direction D: Cross-Step Similarity
+
+- `latent_delta_mid_steps`: mean=0.3533, median=0.3491, p90=0.4172, p95=0.4281
+- `action_delta_mid_steps`: mean=0.0257, median=0.0247, p90=0.0382, p95=0.0403
+- `state_delta_mid_steps`: mean=0.0260, median=0.0247, p90=0.0400, p95=0.0424
+
+### Direction A: Budget Heterogeneity
+
+- `oracle_budget_action`: mean=47.5833, median=47.5833, p90=47.5833, p95=47.5833
+- `oracle_budget_state`: mean=48.3333, median=48.3333, p90=48.3333, p95=48.3333
+- `oracle_budget_action_by_scene`:
+  - `unitree_z1_stackbox`: mean=47.5833, median=47.5833, std=0.0000
+
+### Direction B: Round Reuse
+
+- `latent_init_dist_to_prev_round`: mean=184.9084, median=176.9709, p90=207.5904, p95=223.1764
+- `action_drift_vs_prev_round`: mean=0.2433, median=0.2588, p90=0.2970, p95=0.3081
+- `round_total_time_s`: mean=136.9350, median=137.2997, p90=137.6646, p95=137.7072
+- `policy_pass_total_time_s`: mean=33.6722, median=33.7683, p90=33.8526, p95=33.8686
+- `world_model_pass_total_time_s`: mean=33.6451, median=33.7512, p90=33.8346, p95=33.8521
+
diff --git a/unitree_z1_stackbox/case3/output/sparse_8/inference/analysis/budget_distribution.png b/unitree_z1_stackbox/case3/output/sparse_8/inference/analysis/budget_distribution.png
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diff --git a/unitree_z1_stackbox/case3/output/sparse_8/inference/analysis/midstep_latent_delta.png b/unitree_z1_stackbox/case3/output/sparse_8/inference/analysis/midstep_latent_delta.png
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diff --git a/unitree_z1_stackbox/case3/output/sparse_8/inference/analysis/scene_summary.csv b/unitree_z1_stackbox/case3/output/sparse_8/inference/analysis/scene_summary.csv
new file mode 100644
index 0000000..eeee049
--- /dev/null
+++ b/unitree_z1_stackbox/case3/output/sparse_8/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_stackbox,policy,33.67222219705582,33.67222219705582,,,,,,,,,,,47.5,47.5,,49.3,49.3,,47.583333333333336,47.583333333333336,,48.333333333333336,48.333333333333336,,136.93499877055487,136.93499877055487,,33.67222219705582,33.67222219705582,,33.64513192574183,33.64513192574183,,184.90836264870384,184.90836264870384,,0.243316650390625,0.243316650390625,
+unitree_z1_stackbox,world_model,33.64513192574183,33.64513192574183,,,,,,,,,,,47.583333333333336,47.583333333333336,,49.41666666666666,49.41666666666666,,47.75,47.75,,48.333333333333336,48.333333333333336,,136.93499877055487,136.93499877055487,,33.67222219705582,33.67222219705582,,33.64513192574183,33.64513192574183,,184.90836264870384,184.90836264870384,,0.243316650390625,0.243316650390625,
diff --git a/unitree_z1_stackbox/case3/output/sparse_8/inference/analysis/step_aggregate.csv b/unitree_z1_stackbox/case3/output/sparse_8/inference/analysis/step_aggregate.csv
new file mode 100644
index 0000000..ab81769
--- /dev/null
+++ b/unitree_z1_stackbox/case3/output/sparse_8/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,1,0.6928649743398031,0.6935597658157349,0.0062636294008732215,1.414481282234192,1.4150723218917847,0.002026675376446388,0.08074718527495857,0.0790489837527275,0.007105774417525635,0.06574995350092645,0.06708365119993685,0.011886714455505312,0.20582183760901288,0.23257029801607132,0.08316045482035497,0.20337662659585473,0.20211099833250046,0.07866644593068307,146.7549285888672,146.79861450195312,5.66689307154823
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diff --git a/unitree_z1_stackbox/case3/output/sparse_8/inference/round_summary.csv b/unitree_z1_stackbox/case3/output/sparse_8/inference/round_summary.csv
new file mode 100644
index 0000000..be3f641
--- /dev/null
+++ b/unitree_z1_stackbox/case3/output/sparse_8/inference/round_summary.csv
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diff --git a/unitree_z1_stackbox/case3/output/sparse_8/inference/sample_summary.csv b/unitree_z1_stackbox/case3/output/sparse_8/inference/sample_summary.csv
new file mode 100644
index 0000000..ef54092
--- /dev/null
+++ b/unitree_z1_stackbox/case3/output/sparse_8/inference/sample_summary.csv
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diff --git a/unitree_z1_stackbox/case3/output/sparse_8/inference/stepwise_log.csv b/unitree_z1_stackbox/case3/output/sparse_8/inference/stepwise_log.csv
new file mode 100644
index 0000000..02a0cb4
--- /dev/null
+++ b/unitree_z1_stackbox/case3/output/sparse_8/inference/stepwise_log.csv
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diff --git a/unitree_z1_stackbox/case3/output/tail_only/inference/analysis/analysis_report.md b/unitree_z1_stackbox/case3/output/tail_only/inference/analysis/analysis_report.md
new file mode 100644
index 0000000..222530c
--- /dev/null
+++ b/unitree_z1_stackbox/case3/output/tail_only/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: 1200
+- Sample rows: 2
+- Round rows: 12
+- Scenes: unitree_z1_stackbox
+- 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=143.1844, median=147.4895, p90=159.0503, p95=161.8333
+
+### 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=nan, median=nan, p90=nan, p95=nan
+- `share_action_first_stable_before_latent`: nan
+- `share_action_95pct_before_latent`: nan
+
+### Direction D: Cross-Step Similarity
+
+- `latent_delta_mid_steps`: mean=0.3534, median=0.3492, p90=0.4171, p95=0.4281
+- `action_delta_mid_steps`: mean=0.0263, median=0.0265, p90=0.0283, p95=0.0289
+- `state_delta_mid_steps`: mean=0.0256, median=0.0258, p90=0.0273, p95=0.0279
+
+### Direction A: Budget Heterogeneity
+
+- `oracle_budget_action`: mean=48.0833, median=48.0833, p90=48.0833, p95=48.0833
+- `oracle_budget_state`: mean=48.6667, median=48.6667, p90=48.6667, p95=48.6667
+- `oracle_budget_action_by_scene`:
+  - `unitree_z1_stackbox`: mean=48.0833, median=48.0833, std=0.0000
+
+### Direction B: Round Reuse
+
+- `latent_init_dist_to_prev_round`: mean=179.7446, median=172.1498, p90=203.4590, p95=221.0535
+- `action_drift_vs_prev_round`: mean=0.2841, median=0.2810, p90=0.3401, p95=0.3480
+- `round_total_time_s`: mean=135.8333, median=135.6952, p90=136.2318, p95=136.7025
+- `policy_pass_total_time_s`: mean=33.3106, median=33.2931, p90=33.3214, p95=33.4787
+- `world_model_pass_total_time_s`: mean=33.3300, median=33.2793, p90=33.3598, p95=33.5599
+
diff --git a/unitree_z1_stackbox/case3/output/tail_only/inference/analysis/budget_distribution.png b/unitree_z1_stackbox/case3/output/tail_only/inference/analysis/budget_distribution.png
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diff --git a/unitree_z1_stackbox/case3/output/tail_only/inference/analysis/midstep_latent_delta.png b/unitree_z1_stackbox/case3/output/tail_only/inference/analysis/midstep_latent_delta.png
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diff --git a/unitree_z1_stackbox/case3/output/tail_only/inference/analysis/scene_summary.csv b/unitree_z1_stackbox/case3/output/tail_only/inference/analysis/scene_summary.csv
new file mode 100644
index 0000000..b87cbce
--- /dev/null
+++ b/unitree_z1_stackbox/case3/output/tail_only/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_stackbox,policy,33.31060814857483,33.31060814857483,,,,,,,,,,,,,,,,,48.083333333333336,48.083333333333336,,48.75,48.75,,135.8333285252253,135.8333285252253,,33.31060814857483,33.31060814857483,,33.33001430829366,33.33001430829366,,179.74462890625,179.74462890625,,0.2840920253233476,0.2840920253233476,
+unitree_z1_stackbox,world_model,33.33001430829366,33.33001430829366,,,,,,,,,,,,,,,,,47.91666666666666,47.91666666666666,,48.66666666666666,48.66666666666666,,135.8333285252253,135.8333285252253,,33.31060814857483,33.31060814857483,,33.33001430829366,33.33001430829366,,179.74462890625,179.74462890625,,0.2840920253233476,0.2840920253233476,
diff --git a/unitree_z1_stackbox/case3/output/tail_only/inference/analysis/step_aggregate.csv b/unitree_z1_stackbox/case3/output/tail_only/inference/analysis/step_aggregate.csv
new file mode 100644
index 0000000..38ff88e
--- /dev/null
+++ b/unitree_z1_stackbox/case3/output/tail_only/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,1,0.6876333951950073,0.6873940229415894,0.0012289253875580996,1.4144820074240367,1.415074646472931,0.002024209083214675,0.08149613005419568,0.08032296597957606,0.007201074453140118,0.0678182123228907,0.06974372640252105,0.010806179617974556,0.25354062207043165,0.26143959164619446,0.0780483811038476,0.2905591987073421,0.31883798539638514,0.08636696229544821,147.62583923339844,149.1591796875,4.114253673543559
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diff --git a/unitree_z1_stackbox/case3/output/tail_only/inference/round_summary.csv b/unitree_z1_stackbox/case3/output/tail_only/inference/round_summary.csv
new file mode 100644
index 0000000..8091669
--- /dev/null
+++ b/unitree_z1_stackbox/case3/output/tail_only/inference/round_summary.csv
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diff --git a/unitree_z1_stackbox/case3/output/tail_only/inference/sample_summary.csv b/unitree_z1_stackbox/case3/output/tail_only/inference/sample_summary.csv
new file mode 100644
index 0000000..ff918a8
--- /dev/null
+++ b/unitree_z1_stackbox/case3/output/tail_only/inference/sample_summary.csv
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diff --git a/unitree_z1_stackbox/case3/output/tail_only/inference/stepwise_log.csv b/unitree_z1_stackbox/case3/output/tail_only/inference/stepwise_log.csv
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index 0000000..71a998f
--- /dev/null
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+unitree_z1_stackbox-vid25-fs4,unitree_z1_stackbox,world_model,11,23,0.6478297710418701,0.36269861459732056,0.023435410112142563,0.025966797024011612,0.2755317986011505,0.3390620946884155,160.04190063476562
+unitree_z1_stackbox-vid25-fs4,unitree_z1_stackbox,world_model,11,24,0.6495671272277832,0.35636821389198303,0.023419490084052086,0.025938598439097404,0.27432572841644287,0.33721813559532166,160.24575805664062
+unitree_z1_stackbox-vid25-fs4,unitree_z1_stackbox,world_model,11,25,0.6494429111480713,0.34859907627105713,0.0234312042593956,0.02592952735722065,0.27296847105026245,0.3351477384567261,160.48114013671875
+unitree_z1_stackbox-vid25-fs4,unitree_z1_stackbox,world_model,11,26,0.6499505043029785,0.3427891731262207,0.02347024902701378,0.025939349085092545,0.27145916223526,0.33285093307495117,160.69775390625
+unitree_z1_stackbox-vid25-fs4,unitree_z1_stackbox,world_model,11,27,0.6489999294281006,0.3363872170448303,0.02353662997484207,0.025968147441744804,0.26979655027389526,0.33032745122909546,160.65200805664062
+unitree_z1_stackbox-vid25-fs4,unitree_z1_stackbox,world_model,11,28,0.6473531723022461,0.3292519748210907,0.023630166426301003,0.026015834882855415,0.2679789960384369,0.32757654786109924,160.8720245361328
+unitree_z1_stackbox-vid25-fs4,unitree_z1_stackbox,world_model,11,29,0.6475880146026611,0.3238658905029297,0.023750808089971542,0.0260824766010046,0.26600441336631775,0.3245971202850342,160.8404998779297
+unitree_z1_stackbox-vid25-fs4,unitree_z1_stackbox,world_model,11,30,0.6517441272735596,0.3170285224914551,0.023897869512438774,0.026167472824454308,0.26387032866477966,0.32138779759407043,160.97267150878906
+unitree_z1_stackbox-vid25-fs4,unitree_z1_stackbox,world_model,11,31,0.6495981216430664,0.31297817826271057,0.02407141402363777,0.026271039620041847,0.2615736722946167,0.31794676184654236,157.0185546875
+unitree_z1_stackbox-vid25-fs4,unitree_z1_stackbox,world_model,11,32,0.6490252017974854,0.3053150177001953,0.02427086979150772,0.026392744854092598,0.259111225605011,0.3142719268798828,153.2205047607422
+unitree_z1_stackbox-vid25-fs4,unitree_z1_stackbox,world_model,11,33,0.6486949920654297,0.29704245924949646,0.024495624005794525,0.026532098650932312,0.25647926330566406,0.31036096811294556,149.71453857421875
+unitree_z1_stackbox-vid25-fs4,unitree_z1_stackbox,world_model,11,34,0.6486363410949707,0.2897873520851135,0.024745631963014603,0.026689233258366585,0.25367361307144165,0.30621108412742615,146.4224090576172
+unitree_z1_stackbox-vid25-fs4,unitree_z1_stackbox,world_model,11,35,0.649071216583252,0.280706524848938,0.025020131841301918,0.02686351165175438,0.25068962574005127,0.3018193244934082,143.34002685546875
+unitree_z1_stackbox-vid25-fs4,unitree_z1_stackbox,world_model,11,36,0.6487951278686523,0.2720237970352173,0.025318657979369164,0.027054626494646072,0.24752236902713776,0.2971824109554291,140.39059448242188
+unitree_z1_stackbox-vid25-fs4,unitree_z1_stackbox,world_model,11,37,0.6482675075531006,0.26257967948913574,0.025640491396188736,0.027261987328529358,0.2441665232181549,0.2922969162464142,137.50440979003906
+unitree_z1_stackbox-vid25-fs4,unitree_z1_stackbox,world_model,11,38,0.649512529373169,0.2527323067188263,0.02598514035344124,0.027485275641083717,0.24061627686023712,0.28715911507606506,135.11001586914062
+unitree_z1_stackbox-vid25-fs4,unitree_z1_stackbox,world_model,11,39,0.6500012874603271,0.24400438368320465,0.02635199949145317,0.02772400714457035,0.23686553537845612,0.2817651629447937,133.04978942871094
+unitree_z1_stackbox-vid25-fs4,unitree_z1_stackbox,world_model,11,40,0.6486880779266357,0.23470045626163483,0.02674107998609543,0.02797837182879448,0.2329077124595642,0.2761109471321106,131.49610900878906
+unitree_z1_stackbox-vid25-fs4,unitree_z1_stackbox,world_model,11,41,0.6902749538421631,0.2240184247493744,0.06202876195311546,0.06266730278730392,0.24390088021755219,0.2866617739200592,130.0859375
+unitree_z1_stackbox-vid25-fs4,unitree_z1_stackbox,world_model,11,42,0.6460540294647217,0.21289759874343872,0.06502977758646011,0.06767233461141586,0.2601356506347656,0.29859283566474915,129.02003479003906
+unitree_z1_stackbox-vid25-fs4,unitree_z1_stackbox,world_model,11,43,0.6464905738830566,0.20265907049179077,0.07018855959177017,0.073361337184906,0.2784718871116638,0.3122073709964752,128.32923889160156
+unitree_z1_stackbox-vid25-fs4,unitree_z1_stackbox,world_model,11,44,0.6899969577789307,0.1933782398700714,0.0764978751540184,0.08071301132440567,0.2967143952846527,0.32772162556648254,128.11050415039062
+unitree_z1_stackbox-vid25-fs4,unitree_z1_stackbox,world_model,11,45,0.6464674472808838,0.1831158697605133,0.08282523602247238,0.08846817910671234,0.32027822732925415,0.3458510637283325,128.1505584716797
+unitree_z1_stackbox-vid25-fs4,unitree_z1_stackbox,world_model,11,46,0.6487011909484863,0.17222410440444946,0.09062206000089645,0.09763133525848389,0.34759968519210815,0.36730822920799255,128.76907348632812
+unitree_z1_stackbox-vid25-fs4,unitree_z1_stackbox,world_model,11,47,0.6912500858306885,0.16227640211582184,0.10070013254880905,0.1099802628159523,0.37820863723754883,0.3929353654384613,129.52001953125
+unitree_z1_stackbox-vid25-fs4,unitree_z1_stackbox,world_model,11,48,0.6455807685852051,0.1507474035024643,0.11207625269889832,0.12404423952102661,0.41473618149757385,0.42434439063072205,130.76446533203125
+unitree_z1_stackbox-vid25-fs4,unitree_z1_stackbox,world_model,11,49,0.6460058689117432,0.13820011913776398,0.12692396342754364,0.14294804632663727,0.4587785601615906,0.46380260586738586,132.49093627929688
+unitree_z1_stackbox-vid25-fs4,unitree_z1_stackbox,world_model,11,50,0.688633918762207,0.11369737237691879,0.19037258625030518,0.2192574441432953,0.5275802612304688,0.5305055379867554,133.23828125
diff --git a/unitree_z1_stackbox/case3/run_world_model_backbone_profile.sh b/unitree_z1_stackbox/case3/run_world_model_backbone_profile.sh
new file mode 100644
index 0000000..9370041
--- /dev/null
+++ b/unitree_z1_stackbox/case3/run_world_model_backbone_profile.sh
@@ -0,0 +1,11 @@
+#!/usr/bin/env bash
+
+set -euo pipefail
+
+repo_root="$(cd "$(dirname "${BASH_SOURCE[0]}")/../.." && pwd)"
+CUDA_VISIBLE_DEVICES="${CUDA_VISIBLE_DEVICES:-1}" \
+bash "${repo_root}/scripts/run_world_model_backbone_profile_case.sh" \
+    "unitree_z1_stackbox/case3" \
+    "unitree_z1_stackbox" \
+    "4" \
+    "12"
diff --git a/unitree_z1_stackbox/case3/run_world_model_interaction.sh b/unitree_z1_stackbox/case3/run_world_model_interaction.sh
index 26fa855..73254ef 100644
--- a/unitree_z1_stackbox/case3/run_world_model_interaction.sh
+++ b/unitree_z1_stackbox/case3/run_world_model_interaction.sh
@@ -2,11 +2,11 @@ res_dir="unitree_z1_stackbox/case3"
 dataset="unitree_z1_stackbox"
 
 {
-    time CUDA_VISIBLE_DEVICES=0 python3 scripts/evaluation/world_model_interaction.py \
+    time CUDA_VISIBLE_DEVICES=0 "${PYTHON_BIN:-python}" scripts/evaluation/world_model_interaction.py \
         --seed 123 \
         --ckpt_path ckpts/unifolm_wma_dual.ckpt \
         --config configs/inference/world_model_interaction.yaml \
-        --savedir "${res_dir}/output" \
+        --savedir "${res_dir}/output/sparse_8" \
         --bs 1 --height 320 --width 512 \
         --unconditional_guidance_scale 1.0 \
         --ddim_steps 50 \
@@ -22,5 +22,8 @@ dataset="unitree_z1_stackbox"
         --guidance_rescale 0.7 \
         --perframe_ae \
         --analysis_log_metrics \
-        --analysis_reference_steps 50
+        --analysis_reference_steps 50 \
+        --head_schedule_steps 0 7 14 21 28 35 42 49 \
+        --head_skip_mode reuse_prediction \
+        --head_log_steps 40 43 46 47 48 49
 } 2>&1 | tee "${res_dir}/output.log"
diff --git a/unitree_z1_stackbox/case4/output/sparse_8/inference/round_summary.csv b/unitree_z1_stackbox/case4/output/sparse_8/inference/round_summary.csv
new file mode 100644
index 0000000..e7e4be3
--- /dev/null
+++ b/unitree_z1_stackbox/case4/output/sparse_8/inference/round_summary.csv
@@ -0,0 +1,13 @@
+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_stackbox-vid35-fs4,unitree_z1_stackbox,0,34.59976005554199,34.61554956436157,141.86938977241516,,,
+unitree_z1_stackbox-vid35-fs4,unitree_z1_stackbox,1,34.54426956176758,34.29725003242493,142.3462598323822,191.86758422851562,0.20026391744613647,
+unitree_z1_stackbox-vid35-fs4,unitree_z1_stackbox,2,33.964932441711426,34.302324056625366,140.32403826713562,157.78009033203125,0.30717968940734863,
+unitree_z1_stackbox-vid35-fs4,unitree_z1_stackbox,3,34.355379581451416,34.40061974525452,141.09501934051514,178.2445831298828,0.28292834758758545,
+unitree_z1_stackbox-vid35-fs4,unitree_z1_stackbox,4,34.35292649269104,33.68916344642639,139.22638654708862,187.14605712890625,0.30522143840789795,
+unitree_z1_stackbox-vid35-fs4,unitree_z1_stackbox,5,34.516475439071655,34.26928973197937,141.8010392189026,176.5004119873047,0.2606137990951538,
+unitree_z1_stackbox-vid35-fs4,unitree_z1_stackbox,6,34.27536368370056,34.247106075286865,141.1553394794464,161.79750061035156,0.2811535596847534,
+unitree_z1_stackbox-vid35-fs4,unitree_z1_stackbox,7,34.446311473846436,34.475435972213745,141.3955273628235,200.7637939453125,0.42580825090408325,
+unitree_z1_stackbox-vid35-fs4,unitree_z1_stackbox,8,34.74917650222778,34.34452247619629,143.47135639190674,185.031494140625,0.31717449426651,
+unitree_z1_stackbox-vid35-fs4,unitree_z1_stackbox,9,33.78364181518555,34.44818687438965,141.8448030948639,177.88961791992188,0.20682477951049805,
+unitree_z1_stackbox-vid35-fs4,unitree_z1_stackbox,10,34.29461979866028,34.656813621520996,143.81123065948486,132.37266540527344,0.16953390836715698,
+unitree_z1_stackbox-vid35-fs4,unitree_z1_stackbox,11,34.664243936538696,33.73895835876465,140.96735668182373,133.3111572265625,0.2785102128982544,
diff --git a/unitree_z1_stackbox/case4/output/sparse_8/inference/sample_summary.csv b/unitree_z1_stackbox/case4/output/sparse_8/inference/sample_summary.csv
new file mode 100644
index 0000000..5db95a0
--- /dev/null
+++ b/unitree_z1_stackbox/case4/output/sparse_8/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_stackbox-vid35-fs4,unitree_z1_stackbox,policy,34.37892506519953,,,,47.083333333333336,49.166666666666664,47.666666666666664,48.416666666666664,,171.1549960049716,0.27592839977957984,141.60897888739905,34.37892506519953,34.290434996287026,
+unitree_z1_stackbox-vid35-fs4,unitree_z1_stackbox,world_model,34.290434996287026,,,,47.416666666666664,49.333333333333336,47.666666666666664,48.416666666666664,,171.1549960049716,0.27592839977957984,141.60897888739905,34.37892506519953,34.290434996287026,
diff --git a/unitree_z1_stackbox/case4/output/sparse_8/inference/stepwise_log.csv b/unitree_z1_stackbox/case4/output/sparse_8/inference/stepwise_log.csv
new file mode 100644
index 0000000..b9c2929
--- /dev/null
+++ b/unitree_z1_stackbox/case4/output/sparse_8/inference/stepwise_log.csv
@@ -0,0 +1,1201 @@
+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_stackbox-vid35-fs4,unitree_z1_stackbox,policy,0,1,0.7024834156036377,1.4160493612289429,0.0745512843132019,0.07535523921251297,0.16863662004470825,0.13902948796749115,146.004638671875
+unitree_z1_stackbox-vid35-fs4,unitree_z1_stackbox,policy,0,2,0.7186434268951416,1.0182709693908691,0.03182576596736908,0.031356848776340485,0.17819075286388397,0.1423003077507019,146.89718627929688
+unitree_z1_stackbox-vid35-fs4,unitree_z1_stackbox,policy,0,3,0.7204771041870117,0.8496224284172058,0.03153340518474579,0.03098473884165287,0.18748268485069275,0.14540089666843414,147.53421020507812
+unitree_z1_stackbox-vid35-fs4,unitree_z1_stackbox,policy,0,4,0.6802449226379395,0.750154435634613,0.03124236688017845,0.030617699027061462,0.1965097188949585,0.1483340859413147,148.5087127685547
+unitree_z1_stackbox-vid35-fs4,unitree_z1_stackbox,policy,0,5,0.6466174125671387,0.6802006363868713,0.03095373511314392,0.030256960541009903,0.20526979863643646,0.15110276639461517,151.2362823486328
+unitree_z1_stackbox-vid35-fs4,unitree_z1_stackbox,policy,0,6,0.6582567691802979,0.6306229829788208,0.03066857159137726,0.029903722926974297,0.21376171708106995,0.15371009707450867,150.0295867919922
+unitree_z1_stackbox-vid35-fs4,unitree_z1_stackbox,policy,0,7,0.6601345539093018,0.5951651930809021,0.030387843027710915,0.02955903857946396,0.22198486328125,0.15615926682949066,149.86538696289062
+unitree_z1_stackbox-vid35-fs4,unitree_z1_stackbox,policy,0,8,0.70979905128479,0.5636738538742065,0.029214536771178246,0.019589880481362343,0.22747144103050232,0.16266894340515137,149.6089630126953
+unitree_z1_stackbox-vid35-fs4,unitree_z1_stackbox,policy,0,9,0.6594011783599854,0.5362306833267212,0.014170913957059383,0.011432758532464504,0.23883062601089478,0.1712287813425064,147.4145050048828
+unitree_z1_stackbox-vid35-fs4,unitree_z1_stackbox,policy,0,10,0.6579782962799072,0.5150185227394104,0.014336804859340191,0.011707138270139694,0.2501896619796753,0.17981740832328796,148.04782104492188
+unitree_z1_stackbox-vid35-fs4,unitree_z1_stackbox,policy,0,11,0.6612188816070557,0.4949309825897217,0.014564279466867447,0.01205551065504551,0.26156342029571533,0.18844839930534363,148.77871704101562
+unitree_z1_stackbox-vid35-fs4,unitree_z1_stackbox,policy,0,12,0.6591618061065674,0.47800737619400024,0.014851766638457775,0.012473820708692074,0.27296677231788635,0.1971355378627777,149.15631103515625
+unitree_z1_stackbox-vid35-fs4,unitree_z1_stackbox,policy,0,13,0.673748254776001,0.4653601050376892,0.015197143889963627,0.012957567349076271,0.28441479802131653,0.20589286088943481,149.61334228515625
+unitree_z1_stackbox-vid35-fs4,unitree_z1_stackbox,policy,0,14,0.6610348224639893,0.45064738392829895,0.015598312020301819,0.013502535410225391,0.2959223985671997,0.21473483741283417,150.3815155029297
+unitree_z1_stackbox-vid35-fs4,unitree_z1_stackbox,policy,0,15,0.7133228778839111,0.43880245089530945,0.018185347318649292,0.015603050589561462,0.3048442602157593,0.22504501044750214,150.821044921875
+unitree_z1_stackbox-vid35-fs4,unitree_z1_stackbox,policy,0,16,0.6606457233428955,0.4273037612438202,0.016172444447875023,0.01589224301278591,0.3170299828052521,0.23600196838378906,151.4423828125
+unitree_z1_stackbox-vid35-fs4,unitree_z1_stackbox,policy,0,17,0.6653246879577637,0.4153156876564026,0.016845446079969406,0.01669076830148697,0.3293776214122772,0.24715937674045563,151.3566131591797
+unitree_z1_stackbox-vid35-fs4,unitree_z1_stackbox,policy,0,18,0.6805419921875,0.4044521749019623,0.017565857619047165,0.017535516992211342,0.34190717339515686,0.2585395872592926,151.35694885253906
+unitree_z1_stackbox-vid35-fs4,unitree_z1_stackbox,policy,0,19,0.6536798477172852,0.39431583881378174,0.018332328647375107,0.01842576079070568,0.35463911294937134,0.2701660692691803,151.19021606445312
+unitree_z1_stackbox-vid35-fs4,unitree_z1_stackbox,policy,0,20,0.661407470703125,0.38635802268981934,0.019144028425216675,0.019361373037099838,0.3675946891307831,0.282063752412796,151.8856201171875
+unitree_z1_stackbox-vid35-fs4,unitree_z1_stackbox,policy,0,21,0.6767544746398926,0.3772008717060089,0.020000524818897247,0.020342793315649033,0.3807961940765381,0.2942591905593872,152.46189880371094
+unitree_z1_stackbox-vid35-fs4,unitree_z1_stackbox,policy,0,22,0.7112281322479248,0.37033146619796753,0.022688906639814377,0.022787200286984444,0.39246881008148193,0.3076578378677368,152.23263549804688
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+unitree_z1_stackbox-vid35-fs4,unitree_z1_stackbox,world_model,11,43,0.6952273845672607,0.20342209935188293,0.0727430060505867,0.07206258177757263,0.7553822994232178,0.7631945013999939,101.71141052246094
+unitree_z1_stackbox-vid35-fs4,unitree_z1_stackbox,world_model,11,44,0.6525170803070068,0.1942795217037201,0.07650832831859589,0.07658930867910385,0.7852804660797119,0.7942795753479004,100.85125732421875
+unitree_z1_stackbox-vid35-fs4,unitree_z1_stackbox,world_model,11,45,0.6553447246551514,0.18388374149799347,0.08193864673376083,0.0820019543170929,0.8164502382278442,0.8267048597335815,100.46285247802734
+unitree_z1_stackbox-vid35-fs4,unitree_z1_stackbox,world_model,11,46,0.6523940563201904,0.17297562956809998,0.08784221857786179,0.08787853270769119,0.8483136296272278,0.8598777055740356,100.60062408447266
+unitree_z1_stackbox-vid35-fs4,unitree_z1_stackbox,world_model,11,47,0.6537752151489258,0.16306276619434357,0.09424899518489838,0.09424547851085663,0.8798894286155701,0.8927931785583496,101.25395202636719
+unitree_z1_stackbox-vid35-fs4,unitree_z1_stackbox,world_model,11,48,0.6543049812316895,0.15136834979057312,0.10127244144678116,0.10121182352304459,0.9096589088439941,0.9238993525505066,102.3987045288086
+unitree_z1_stackbox-vid35-fs4,unitree_z1_stackbox,world_model,11,49,0.6537826061248779,0.13864858448505402,0.10965169966220856,0.10951046645641327,0.9355013966560364,0.9510427713394165,104.06793212890625
+unitree_z1_stackbox-vid35-fs4,unitree_z1_stackbox,world_model,11,50,0.6962893009185791,0.11350279301404953,0.17082637548446655,0.17782635986804962,0.963925838470459,0.9804712533950806,105.25141906738281
diff --git a/unitree_z1_stackbox/case4/run_world_model_interaction.sh b/unitree_z1_stackbox/case4/run_world_model_interaction.sh
index c48e43a..12c25b5 100644
--- a/unitree_z1_stackbox/case4/run_world_model_interaction.sh
+++ b/unitree_z1_stackbox/case4/run_world_model_interaction.sh
@@ -2,11 +2,11 @@ res_dir="unitree_z1_stackbox/case4"
 dataset="unitree_z1_stackbox"
 
 {
-    time CUDA_VISIBLE_DEVICES=0 python3 scripts/evaluation/world_model_interaction.py \
+    time CUDA_VISIBLE_DEVICES=0 "${PYTHON_BIN:-python}" scripts/evaluation/world_model_interaction.py \
         --seed 123 \
         --ckpt_path ckpts/unifolm_wma_dual.ckpt \
         --config configs/inference/world_model_interaction.yaml \
-        --savedir "${res_dir}/output" \
+        --savedir "${res_dir}/output/sparse_8" \
         --bs 1 --height 320 --width 512 \
         --unconditional_guidance_scale 1.0 \
         --ddim_steps 50 \
@@ -22,5 +22,8 @@ dataset="unitree_z1_stackbox"
         --guidance_rescale 0.7 \
         --perframe_ae \
         --analysis_log_metrics \
-        --analysis_reference_steps 50
+        --analysis_reference_steps 50 \
+        --head_schedule_steps 0 7 14 21 28 35 42 49 \
+        --head_skip_mode reuse_prediction \
+        --head_log_steps 40 43 46 47 48 49
 } 2>&1 | tee "${res_dir}/output.log"