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video_backbone剖析

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qhy
2026-03-16 10:30:54 +08:00
parent 7e45eba18b
commit 8ca159d375
282 changed files with 174952 additions and 1350 deletions
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401
sparse_head_simulation/scheme_simulation_per_case.csv Normal file
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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
unitree_g1_pack_camera,case4,dense,policy,0.9999999783255837,1.000000005418604,50.0,0.0
unitree_g1_pack_camera,case4,dense,world_model,1.000000005418604,1.0000000162558123,50.0,0.0
unitree_g1_pack_camera,case4,sparse_10,policy,0.9499884627082131,0.9411461407488043,10.0,0.8
unitree_g1_pack_camera,case4,sparse_10,world_model,0.9460353851318359,0.9442069042812694,10.0,0.8
unitree_g1_pack_camera,case4,sparse_4,policy,0.9999999783255837,1.000000005418604,4.0,0.92
unitree_g1_pack_camera,case4,sparse_4,world_model,1.000000005418604,1.0000000162558123,4.0,0.92
unitree_g1_pack_camera,case4,sparse_5,policy,0.797451143915003,0.786096372387626,5.0,0.9
unitree_g1_pack_camera,case4,sparse_5,world_model,0.776059172370217,0.7922905737703497,5.0,0.9
unitree_g1_pack_camera,case4,sparse_8,policy,0.9999999783255837,1.000000005418604,8.0,0.84
unitree_g1_pack_camera,case4,sparse_8,world_model,1.000000005418604,1.0000000162558123,8.0,0.84
unitree_g1_pack_camera,case4,tail_heavy_10,policy,0.9999999783255837,1.000000005418604,10.0,0.8
unitree_g1_pack_camera,case4,tail_heavy_10,world_model,1.000000005418604,1.0000000162558123,10.0,0.8
unitree_g1_pack_camera,case4,tail_heavy_6,policy,0.9999999783255837,1.000000005418604,6.0,0.88
unitree_g1_pack_camera,case4,tail_heavy_6,world_model,1.000000005418604,1.0000000162558123,6.0,0.88
unitree_g1_pack_camera,case4,tail_heavy_8,policy,0.9999999783255837,1.000000005418604,8.0,0.84
unitree_g1_pack_camera,case4,tail_heavy_8,world_model,1.000000005418604,1.0000000162558123,8.0,0.84
unitree_g1_pack_camera,case4,tail_only_4,policy,0.9999999783255837,1.000000005418604,4.0,0.92
unitree_g1_pack_camera,case4,tail_only_4,world_model,1.000000005418604,1.0000000162558123,4.0,0.92
unitree_g1_pack_camera,case4,tail_only_6,policy,0.9999999783255837,1.000000005418604,6.0,0.88
unitree_g1_pack_camera,case4,tail_only_6,world_model,1.000000005418604,1.0000000162558123,6.0,0.88
unitree_z1_dual_arm_cleanup_pencils,case1,dense,policy,1.0000000074505806,0.9999999850988388,50.0,0.0
unitree_z1_dual_arm_cleanup_pencils,case1,dense,world_model,0.9999999925494194,1.000000037252903,50.0,0.0
unitree_z1_dual_arm_cleanup_pencils,case1,sparse_10,policy,0.9469437971711159,0.9320246428251266,10.0,0.8
unitree_z1_dual_arm_cleanup_pencils,case1,sparse_10,world_model,0.9465975016355515,0.9307577759027481,10.0,0.8
unitree_z1_dual_arm_cleanup_pencils,case1,sparse_4,policy,1.0000000074505806,0.9999999850988388,4.0,0.92
unitree_z1_dual_arm_cleanup_pencils,case1,sparse_4,world_model,0.9999999925494194,1.000000037252903,4.0,0.92
unitree_z1_dual_arm_cleanup_pencils,case1,sparse_5,policy,0.8056009188294411,0.7804089784622192,5.0,0.9
unitree_z1_dual_arm_cleanup_pencils,case1,sparse_5,world_model,0.800347164273262,0.7744432389736176,5.0,0.9
unitree_z1_dual_arm_cleanup_pencils,case1,sparse_8,policy,1.0000000074505806,0.9999999850988388,8.0,0.84
unitree_z1_dual_arm_cleanup_pencils,case1,sparse_8,world_model,0.9999999925494194,1.000000037252903,8.0,0.84
unitree_z1_dual_arm_cleanup_pencils,case1,tail_heavy_10,policy,1.0000000074505806,0.9999999850988388,10.0,0.8
unitree_z1_dual_arm_cleanup_pencils,case1,tail_heavy_10,world_model,0.9999999925494194,1.000000037252903,10.0,0.8
unitree_z1_dual_arm_cleanup_pencils,case1,tail_heavy_6,policy,1.0000000074505806,0.9999999850988388,6.0,0.88
unitree_z1_dual_arm_cleanup_pencils,case1,tail_heavy_6,world_model,0.9999999925494194,1.000000037252903,6.0,0.88
unitree_z1_dual_arm_cleanup_pencils,case1,tail_heavy_8,policy,1.0000000074505806,0.9999999850988388,8.0,0.84
unitree_z1_dual_arm_cleanup_pencils,case1,tail_heavy_8,world_model,0.9999999925494194,1.000000037252903,8.0,0.84
unitree_z1_dual_arm_cleanup_pencils,case1,tail_only_4,policy,1.0000000074505806,0.9999999850988388,4.0,0.92
unitree_z1_dual_arm_cleanup_pencils,case1,tail_only_4,world_model,0.9999999925494194,1.000000037252903,4.0,0.92
unitree_z1_dual_arm_cleanup_pencils,case1,tail_only_6,policy,1.0000000074505806,0.9999999850988388,6.0,0.88
unitree_z1_dual_arm_cleanup_pencils,case1,tail_only_6,world_model,0.9999999925494194,1.000000037252903,6.0,0.88
unitree_z1_dual_arm_cleanup_pencils,case2,dense,policy,1.0000000223517418,0.999999962747097,50.0,0.0
unitree_z1_dual_arm_cleanup_pencils,case2,dense,world_model,1.0000000298023224,0.9999999850988388,50.0,0.0
unitree_z1_dual_arm_cleanup_pencils,case2,sparse_10,policy,0.9463301375508308,0.9295393601059914,10.0,0.8
unitree_z1_dual_arm_cleanup_pencils,case2,sparse_10,world_model,0.9458944350481033,0.9283439442515373,10.0,0.8
unitree_z1_dual_arm_cleanup_pencils,case2,sparse_4,policy,1.0000000223517418,0.999999962747097,4.0,0.92
unitree_z1_dual_arm_cleanup_pencils,case2,sparse_4,world_model,1.0000000298023224,0.9999999850988388,4.0,0.92
unitree_z1_dual_arm_cleanup_pencils,case2,sparse_5,policy,0.809041365981102,0.7754942625761032,5.0,0.9
unitree_z1_dual_arm_cleanup_pencils,case2,sparse_5,world_model,0.805028922855854,0.7709039524197578,5.0,0.9
unitree_z1_dual_arm_cleanup_pencils,case2,sparse_8,policy,1.0000000223517418,0.999999962747097,8.0,0.84
unitree_z1_dual_arm_cleanup_pencils,case2,sparse_8,world_model,1.0000000298023224,0.9999999850988388,8.0,0.84
unitree_z1_dual_arm_cleanup_pencils,case2,tail_heavy_10,policy,1.0000000223517418,0.999999962747097,10.0,0.8
unitree_z1_dual_arm_cleanup_pencils,case2,tail_heavy_10,world_model,1.0000000298023224,0.9999999850988388,10.0,0.8
unitree_z1_dual_arm_cleanup_pencils,case2,tail_heavy_6,policy,1.0000000223517418,0.999999962747097,6.0,0.88
unitree_z1_dual_arm_cleanup_pencils,case2,tail_heavy_6,world_model,1.0000000298023224,0.9999999850988388,6.0,0.88
unitree_z1_dual_arm_cleanup_pencils,case2,tail_heavy_8,policy,1.0000000223517418,0.999999962747097,8.0,0.84
unitree_z1_dual_arm_cleanup_pencils,case2,tail_heavy_8,world_model,1.0000000298023224,0.9999999850988388,8.0,0.84
unitree_z1_dual_arm_cleanup_pencils,case2,tail_only_4,policy,1.0000000223517418,0.999999962747097,4.0,0.92
unitree_z1_dual_arm_cleanup_pencils,case2,tail_only_4,world_model,1.0000000298023224,0.9999999850988388,4.0,0.92
unitree_z1_dual_arm_cleanup_pencils,case2,tail_only_6,policy,1.0000000223517418,0.999999962747097,6.0,0.88
unitree_z1_dual_arm_cleanup_pencils,case2,tail_only_6,world_model,1.0000000298023224,0.9999999850988388,6.0,0.88
unitree_z1_dual_arm_cleanup_pencils,case3,dense,policy,0.9999999925494194,0.9999999850988388,50.0,0.0
unitree_z1_dual_arm_cleanup_pencils,case3,dense,world_model,0.9999999701976776,0.999999925494194,50.0,0.0
unitree_z1_dual_arm_cleanup_pencils,case3,sparse_10,policy,0.9426491186022758,0.9190819412469864,10.0,0.8
unitree_z1_dual_arm_cleanup_pencils,case3,sparse_10,world_model,0.939857967197895,0.9199994206428528,10.0,0.8
unitree_z1_dual_arm_cleanup_pencils,case3,sparse_4,policy,0.9999999925494194,0.9999999850988388,4.0,0.92
unitree_z1_dual_arm_cleanup_pencils,case3,sparse_4,world_model,0.9999999701976776,0.999999925494194,4.0,0.92
unitree_z1_dual_arm_cleanup_pencils,case3,sparse_5,policy,0.7971489876508713,0.7457228153944016,5.0,0.9
unitree_z1_dual_arm_cleanup_pencils,case3,sparse_5,world_model,0.7816280424594879,0.7513428404927254,5.0,0.9
unitree_z1_dual_arm_cleanup_pencils,case3,sparse_8,policy,0.9999999925494194,0.9999999850988388,8.0,0.84
unitree_z1_dual_arm_cleanup_pencils,case3,sparse_8,world_model,0.9999999701976776,0.999999925494194,8.0,0.84
unitree_z1_dual_arm_cleanup_pencils,case3,tail_heavy_10,policy,0.9999999925494194,0.9999999850988388,10.0,0.8
unitree_z1_dual_arm_cleanup_pencils,case3,tail_heavy_10,world_model,0.9999999701976776,0.999999925494194,10.0,0.8
unitree_z1_dual_arm_cleanup_pencils,case3,tail_heavy_6,policy,0.9999999925494194,0.9999999850988388,6.0,0.88
unitree_z1_dual_arm_cleanup_pencils,case3,tail_heavy_6,world_model,0.9999999701976776,0.999999925494194,6.0,0.88
unitree_z1_dual_arm_cleanup_pencils,case3,tail_heavy_8,policy,0.9999999925494194,0.9999999850988388,8.0,0.84
unitree_z1_dual_arm_cleanup_pencils,case3,tail_heavy_8,world_model,0.9999999701976776,0.999999925494194,8.0,0.84
unitree_z1_dual_arm_cleanup_pencils,case3,tail_only_4,policy,0.9999999925494194,0.9999999850988388,4.0,0.92
unitree_z1_dual_arm_cleanup_pencils,case3,tail_only_4,world_model,0.9999999701976776,0.999999925494194,4.0,0.92
unitree_z1_dual_arm_cleanup_pencils,case3,tail_only_6,policy,0.9999999925494194,0.9999999850988388,6.0,0.88
unitree_z1_dual_arm_cleanup_pencils,case3,tail_only_6,world_model,0.9999999701976776,0.999999925494194,6.0,0.88
unitree_z1_dual_arm_cleanup_pencils,case4,dense,policy,1.0,1.0,50.0,0.0
unitree_z1_dual_arm_cleanup_pencils,case4,dense,world_model,1.0,0.9999999105930328,50.0,0.0
unitree_z1_dual_arm_cleanup_pencils,case4,sparse_10,policy,0.9463553726673126,0.9252839460968971,10.0,0.8
unitree_z1_dual_arm_cleanup_pencils,case4,sparse_10,world_model,0.9459596052765846,0.9299178943037987,10.0,0.8
unitree_z1_dual_arm_cleanup_pencils,case4,sparse_4,policy,1.0,1.0,4.0,0.92
unitree_z1_dual_arm_cleanup_pencils,case4,sparse_4,world_model,1.0,0.9999999105930328,4.0,0.92
unitree_z1_dual_arm_cleanup_pencils,case4,sparse_5,policy,0.8052143007516861,0.7575837001204491,5.0,0.9
unitree_z1_dual_arm_cleanup_pencils,case4,sparse_5,world_model,0.7977565228939056,0.7714092582464218,5.0,0.9
unitree_z1_dual_arm_cleanup_pencils,case4,sparse_8,policy,1.0,1.0,8.0,0.84
unitree_z1_dual_arm_cleanup_pencils,case4,sparse_8,world_model,1.0,0.9999999105930328,8.0,0.84
unitree_z1_dual_arm_cleanup_pencils,case4,tail_heavy_10,policy,1.0,1.0,10.0,0.8
unitree_z1_dual_arm_cleanup_pencils,case4,tail_heavy_10,world_model,1.0,0.9999999105930328,10.0,0.8
unitree_z1_dual_arm_cleanup_pencils,case4,tail_heavy_6,policy,1.0,1.0,6.0,0.88
unitree_z1_dual_arm_cleanup_pencils,case4,tail_heavy_6,world_model,1.0,0.9999999105930328,6.0,0.88
unitree_z1_dual_arm_cleanup_pencils,case4,tail_heavy_8,policy,1.0,1.0,8.0,0.84
unitree_z1_dual_arm_cleanup_pencils,case4,tail_heavy_8,world_model,1.0,0.9999999105930328,8.0,0.84
unitree_z1_dual_arm_cleanup_pencils,case4,tail_only_4,policy,1.0,1.0,4.0,0.92
unitree_z1_dual_arm_cleanup_pencils,case4,tail_only_4,world_model,1.0,0.9999999105930328,4.0,0.92
unitree_z1_dual_arm_cleanup_pencils,case4,tail_only_6,policy,1.0,1.0,6.0,0.88
unitree_z1_dual_arm_cleanup_pencils,case4,tail_only_6,world_model,1.0,0.9999999105930328,6.0,0.88
unitree_z1_dual_arm_stackbox,case1,dense,policy,1.0000000170298986,1.0,50.0,0.0
unitree_z1_dual_arm_stackbox,case1,dense,world_model,1.0000000255448478,1.0,50.0,0.0
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unitree_z1_stackbox,case1,dense,policy,0.9999999602635702,1.0000000049670537,50.0,0.0
unitree_z1_stackbox,case1,dense,world_model,0.9999999701976776,1.0000000149011612,50.0,0.0
unitree_z1_stackbox,case1,sparse_10,policy,0.9128866543372472,0.8721721917390823,10.0,0.8000000000000002
unitree_z1_stackbox,case1,sparse_10,world_model,0.9075939754645029,0.8709724992513657,10.0,0.8000000000000002
unitree_z1_stackbox,case1,sparse_4,policy,0.9999999602635702,1.0000000049670537,4.0,0.92
unitree_z1_stackbox,case1,sparse_4,world_model,0.9999999701976776,1.0000000149011612,4.0,0.92
unitree_z1_stackbox,case1,sparse_5,policy,0.7592518925666809,0.7061114360888799,5.0,0.9
unitree_z1_stackbox,case1,sparse_5,world_model,0.7442370106776556,0.7053270240624746,5.0,0.9
unitree_z1_stackbox,case1,sparse_8,policy,0.9999999602635702,1.0000000049670537,8.0,0.84
unitree_z1_stackbox,case1,sparse_8,world_model,0.9999999701976776,1.0000000149011612,8.0,0.84
unitree_z1_stackbox,case1,tail_heavy_10,policy,0.9999999602635702,1.0000000049670537,10.0,0.8000000000000002
unitree_z1_stackbox,case1,tail_heavy_10,world_model,0.9999999701976776,1.0000000149011612,10.0,0.8000000000000002
unitree_z1_stackbox,case1,tail_heavy_6,policy,0.9999999602635702,1.0000000049670537,6.0,0.88
unitree_z1_stackbox,case1,tail_heavy_6,world_model,0.9999999701976776,1.0000000149011612,6.0,0.88
unitree_z1_stackbox,case1,tail_heavy_8,policy,0.9999999602635702,1.0000000049670537,8.0,0.84
unitree_z1_stackbox,case1,tail_heavy_8,world_model,0.9999999701976776,1.0000000149011612,8.0,0.84
unitree_z1_stackbox,case1,tail_only_4,policy,0.9999999602635702,1.0000000049670537,4.0,0.92
unitree_z1_stackbox,case1,tail_only_4,world_model,0.9999999701976776,1.0000000149011612,4.0,0.92
unitree_z1_stackbox,case1,tail_only_6,policy,0.9999999602635702,1.0000000049670537,6.0,0.88
unitree_z1_stackbox,case1,tail_only_6,world_model,0.9999999701976776,1.0000000149011612,6.0,0.88
unitree_z1_stackbox,case2,dense,policy,1.0000000099341075,1.000000034769376,50.0,0.0
unitree_z1_stackbox,case2,dense,world_model,1.0000000198682149,1.0000000149011612,50.0,0.0
unitree_z1_stackbox,case2,sparse_10,policy,0.9204017321268717,0.8808373361825943,10.0,0.8000000000000002
unitree_z1_stackbox,case2,sparse_10,world_model,0.9124102195103964,0.8839416752258936,10.0,0.8000000000000002
unitree_z1_stackbox,case2,sparse_4,policy,1.0000000099341075,1.000000034769376,4.0,0.92
unitree_z1_stackbox,case2,sparse_4,world_model,1.0000000198682149,1.0000000149011612,4.0,0.92
unitree_z1_stackbox,case2,sparse_5,policy,0.7721244891484579,0.7142822792132696,5.0,0.9
unitree_z1_stackbox,case2,sparse_5,world_model,0.745319793621699,0.7152381887038549,5.0,0.9
unitree_z1_stackbox,case2,sparse_8,policy,1.0000000099341075,1.000000034769376,8.0,0.84
unitree_z1_stackbox,case2,sparse_8,world_model,1.0000000198682149,1.0000000149011612,8.0,0.84
unitree_z1_stackbox,case2,tail_heavy_10,policy,1.0000000099341075,1.000000034769376,10.0,0.8000000000000002
unitree_z1_stackbox,case2,tail_heavy_10,world_model,1.0000000198682149,1.0000000149011612,10.0,0.8000000000000002
unitree_z1_stackbox,case2,tail_heavy_6,policy,1.0000000099341075,1.000000034769376,6.0,0.88
unitree_z1_stackbox,case2,tail_heavy_6,world_model,1.0000000198682149,1.0000000149011612,6.0,0.88
unitree_z1_stackbox,case2,tail_heavy_8,policy,1.0000000099341075,1.000000034769376,8.0,0.84
unitree_z1_stackbox,case2,tail_heavy_8,world_model,1.0000000198682149,1.0000000149011612,8.0,0.84
unitree_z1_stackbox,case2,tail_only_4,policy,1.0000000099341075,1.000000034769376,4.0,0.92
unitree_z1_stackbox,case2,tail_only_4,world_model,1.0000000198682149,1.0000000149011612,4.0,0.92
unitree_z1_stackbox,case2,tail_only_6,policy,1.0000000099341075,1.000000034769376,6.0,0.88
unitree_z1_stackbox,case2,tail_only_6,world_model,1.0000000198682149,1.0000000149011612,6.0,0.88
unitree_z1_stackbox,case3,dense,policy,1.0000000447034836,0.9999999950329462,50.0,0.0
unitree_z1_stackbox,case3,dense,world_model,1.0000000298023224,1.0,50.0,0.0
unitree_z1_stackbox,case3,sparse_10,policy,0.9272978107134501,0.8970760951439539,10.0,0.8000000000000002
unitree_z1_stackbox,case3,sparse_10,world_model,0.9226573010285696,0.8924628843863806,10.0,0.8000000000000002
unitree_z1_stackbox,case3,sparse_4,policy,1.0000000447034836,0.9999999950329462,4.0,0.92
unitree_z1_stackbox,case3,sparse_4,world_model,1.0000000298023224,1.0,4.0,0.92
unitree_z1_stackbox,case3,sparse_5,policy,0.7838167995214462,0.7392430454492569,5.0,0.9
unitree_z1_stackbox,case3,sparse_5,world_model,0.7687370975812277,0.7268570611874262,5.0,0.9
unitree_z1_stackbox,case3,sparse_8,policy,1.0000000447034836,0.9999999950329462,8.0,0.84
unitree_z1_stackbox,case3,sparse_8,world_model,1.0000000298023224,1.0,8.0,0.84
unitree_z1_stackbox,case3,tail_heavy_10,policy,1.0000000447034836,0.9999999950329462,10.0,0.8000000000000002
unitree_z1_stackbox,case3,tail_heavy_10,world_model,1.0000000298023224,1.0,10.0,0.8000000000000002
unitree_z1_stackbox,case3,tail_heavy_6,policy,1.0000000447034836,0.9999999950329462,6.0,0.88
unitree_z1_stackbox,case3,tail_heavy_6,world_model,1.0000000298023224,1.0,6.0,0.88
unitree_z1_stackbox,case3,tail_heavy_8,policy,1.0000000447034836,0.9999999950329462,8.0,0.84
unitree_z1_stackbox,case3,tail_heavy_8,world_model,1.0000000298023224,1.0,8.0,0.84
unitree_z1_stackbox,case3,tail_only_4,policy,1.0000000447034836,0.9999999950329462,4.0,0.92
unitree_z1_stackbox,case3,tail_only_4,world_model,1.0000000298023224,1.0,4.0,0.92
unitree_z1_stackbox,case3,tail_only_6,policy,1.0000000447034836,0.9999999950329462,6.0,0.88
unitree_z1_stackbox,case3,tail_only_6,world_model,1.0000000298023224,1.0,6.0,0.88
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
1 dataset case scheme pass_type final_action_cosine_vs_dense final_state_cosine_vs_dense head_exec_count head_compute_saving_ratio
2 unitree_g1_pack_camera case1 dense policy 1.000000005418604 1.0000000216744163 50.0 0.0
3 unitree_g1_pack_camera case1 dense world_model 1.0000000162558123 0.9999999891627919 50.0 0.0
4 unitree_g1_pack_camera case1 sparse_10 policy 0.9458914236588911 0.9406864263794639 10.0 0.8
5 unitree_g1_pack_camera case1 sparse_10 world_model 0.943276660008864 0.94043137810447 10.0 0.8
6 unitree_g1_pack_camera case1 sparse_4 policy 1.000000005418604 1.0000000216744163 4.0 0.92
7 unitree_g1_pack_camera case1 sparse_4 world_model 1.0000000162558123 0.9999999891627919 4.0 0.92
8 unitree_g1_pack_camera case1 sparse_5 policy 0.7835968299345537 0.7882764935493469 5.0 0.9
9 unitree_g1_pack_camera case1 sparse_5 world_model 0.768740404735912 0.7820447520776228 5.0 0.9
10 unitree_g1_pack_camera case1 sparse_8 policy 1.000000005418604 1.0000000216744163 8.0 0.84
11 unitree_g1_pack_camera case1 sparse_8 world_model 1.0000000162558123 0.9999999891627919 8.0 0.84
12 unitree_g1_pack_camera case1 tail_heavy_10 policy 1.000000005418604 1.0000000216744163 10.0 0.8
13 unitree_g1_pack_camera case1 tail_heavy_10 world_model 1.0000000162558123 0.9999999891627919 10.0 0.8
14 unitree_g1_pack_camera case1 tail_heavy_6 policy 1.000000005418604 1.0000000216744163 6.0 0.88
15 unitree_g1_pack_camera case1 tail_heavy_6 world_model 1.0000000162558123 0.9999999891627919 6.0 0.88
16 unitree_g1_pack_camera case1 tail_heavy_8 policy 1.000000005418604 1.0000000216744163 8.0 0.84
17 unitree_g1_pack_camera case1 tail_heavy_8 world_model 1.0000000162558123 0.9999999891627919 8.0 0.84
18 unitree_g1_pack_camera case1 tail_only_4 policy 1.000000005418604 1.0000000216744163 4.0 0.92
19 unitree_g1_pack_camera case1 tail_only_4 world_model 1.0000000162558123 0.9999999891627919 4.0 0.92
20 unitree_g1_pack_camera case1 tail_only_6 policy 1.000000005418604 1.0000000216744163 6.0 0.88
21 unitree_g1_pack_camera case1 tail_only_6 world_model 1.0000000162558123 0.9999999891627919 6.0 0.88
22 unitree_g1_pack_camera case2 dense policy 1.0 1.0000000108372082 50.0 0.0
23 unitree_g1_pack_camera case2 dense world_model 1.0000000433488325 1.0 50.0 0.0
24 unitree_g1_pack_camera case2 sparse_10 policy 0.9434121738780629 0.9354661919853904 10.0 0.8
25 unitree_g1_pack_camera case2 sparse_10 world_model 0.9378488930788907 0.9352135224775835 10.0 0.8
26 unitree_g1_pack_camera case2 sparse_4 policy 1.0 1.0000000108372082 4.0 0.92
27 unitree_g1_pack_camera case2 sparse_4 world_model 1.0000000433488325 1.0 4.0 0.92
28 unitree_g1_pack_camera case2 sparse_5 policy 0.7797025496309454 0.7743967554785989 5.0 0.9
29 unitree_g1_pack_camera case2 sparse_5 world_model 0.7510665926066312 0.7674615762450478 5.0 0.9
30 unitree_g1_pack_camera case2 sparse_8 policy 1.0 1.0000000108372082 8.0 0.84
31 unitree_g1_pack_camera case2 sparse_8 world_model 1.0000000433488325 1.0 8.0 0.84
32 unitree_g1_pack_camera case2 tail_heavy_10 policy 1.0 1.0000000108372082 10.0 0.8
33 unitree_g1_pack_camera case2 tail_heavy_10 world_model 1.0000000433488325 1.0 10.0 0.8
34 unitree_g1_pack_camera case2 tail_heavy_6 policy 1.0 1.0000000108372082 6.0 0.88
35 unitree_g1_pack_camera case2 tail_heavy_6 world_model 1.0000000433488325 1.0 6.0 0.88
36 unitree_g1_pack_camera case2 tail_heavy_8 policy 1.0 1.0000000108372082 8.0 0.84
37 unitree_g1_pack_camera case2 tail_heavy_8 world_model 1.0000000433488325 1.0 8.0 0.84
38 unitree_g1_pack_camera case2 tail_only_4 policy 1.0 1.0000000108372082 4.0 0.92
39 unitree_g1_pack_camera case2 tail_only_4 world_model 1.0000000433488325 1.0 4.0 0.92
40 unitree_g1_pack_camera case2 tail_only_6 policy 1.0 1.0000000108372082 6.0 0.88
41 unitree_g1_pack_camera case2 tail_only_6 world_model 1.0000000433488325 1.0 6.0 0.88
42 unitree_g1_pack_camera case3 dense policy 0.9999999729069796 0.9999999945813959 50.0 0.0
43 unitree_g1_pack_camera case3 dense world_model 0.9999999891627919 0.9999999729069796 50.0 0.0
44 unitree_g1_pack_camera case3 sparse_10 policy 0.9479800787839022 0.9408404772931879 10.0 0.8
45 unitree_g1_pack_camera case3 sparse_10 world_model 0.9443203156644647 0.9426048723134127 10.0 0.8
46 unitree_g1_pack_camera case3 sparse_4 policy 0.9999999729069796 0.9999999945813959 4.0 0.92
47 unitree_g1_pack_camera case3 sparse_4 world_model 0.9999999891627919 0.9999999729069796 4.0 0.92
48 unitree_g1_pack_camera case3 sparse_5 policy 0.7867171547629617 0.7888143712824042 5.0 0.9
49 unitree_g1_pack_camera case3 sparse_5 world_model 0.7702723687345331 0.7856205864386125 5.0 0.9
50 unitree_g1_pack_camera case3 sparse_8 policy 0.9999999729069796 0.9999999945813959 8.0 0.84
51 unitree_g1_pack_camera case3 sparse_8 world_model 0.9999999891627919 0.9999999729069796 8.0 0.84
52 unitree_g1_pack_camera case3 tail_heavy_10 policy 0.9999999729069796 0.9999999945813959 10.0 0.8
53 unitree_g1_pack_camera case3 tail_heavy_10 world_model 0.9999999891627919 0.9999999729069796 10.0 0.8
54 unitree_g1_pack_camera case3 tail_heavy_6 policy 0.9999999729069796 0.9999999945813959 6.0 0.88
55 unitree_g1_pack_camera case3 tail_heavy_6 world_model 0.9999999891627919 0.9999999729069796 6.0 0.88
56 unitree_g1_pack_camera case3 tail_heavy_8 policy 0.9999999729069796 0.9999999945813959 8.0 0.84
57 unitree_g1_pack_camera case3 tail_heavy_8 world_model 0.9999999891627919 0.9999999729069796 8.0 0.84
58 unitree_g1_pack_camera case3 tail_only_4 policy 0.9999999729069796 0.9999999945813959 4.0 0.92
59 unitree_g1_pack_camera case3 tail_only_4 world_model 0.9999999891627919 0.9999999729069796 4.0 0.92
60 unitree_g1_pack_camera case3 tail_only_6 policy 0.9999999729069796 0.9999999945813959 6.0 0.88
61 unitree_g1_pack_camera case3 tail_only_6 world_model 0.9999999891627919 0.9999999729069796 6.0 0.88
62 unitree_g1_pack_camera case4 dense policy 0.9999999783255837 1.000000005418604 50.0 0.0
63 unitree_g1_pack_camera case4 dense world_model 1.000000005418604 1.0000000162558123 50.0 0.0
64 unitree_g1_pack_camera case4 sparse_10 policy 0.9499884627082131 0.9411461407488043 10.0 0.8
65 unitree_g1_pack_camera case4 sparse_10 world_model 0.9460353851318359 0.9442069042812694 10.0 0.8
66 unitree_g1_pack_camera case4 sparse_4 policy 0.9999999783255837 1.000000005418604 4.0 0.92
67 unitree_g1_pack_camera case4 sparse_4 world_model 1.000000005418604 1.0000000162558123 4.0 0.92
68 unitree_g1_pack_camera case4 sparse_5 policy 0.797451143915003 0.786096372387626 5.0 0.9
69 unitree_g1_pack_camera case4 sparse_5 world_model 0.776059172370217 0.7922905737703497 5.0 0.9
70 unitree_g1_pack_camera case4 sparse_8 policy 0.9999999783255837 1.000000005418604 8.0 0.84
71 unitree_g1_pack_camera case4 sparse_8 world_model 1.000000005418604 1.0000000162558123 8.0 0.84
72 unitree_g1_pack_camera case4 tail_heavy_10 policy 0.9999999783255837 1.000000005418604 10.0 0.8
73 unitree_g1_pack_camera case4 tail_heavy_10 world_model 1.000000005418604 1.0000000162558123 10.0 0.8
74 unitree_g1_pack_camera case4 tail_heavy_6 policy 0.9999999783255837 1.000000005418604 6.0 0.88
75 unitree_g1_pack_camera case4 tail_heavy_6 world_model 1.000000005418604 1.0000000162558123 6.0 0.88
76 unitree_g1_pack_camera case4 tail_heavy_8 policy 0.9999999783255837 1.000000005418604 8.0 0.84
77 unitree_g1_pack_camera case4 tail_heavy_8 world_model 1.000000005418604 1.0000000162558123 8.0 0.84
78 unitree_g1_pack_camera case4 tail_only_4 policy 0.9999999783255837 1.000000005418604 4.0 0.92
79 unitree_g1_pack_camera case4 tail_only_4 world_model 1.000000005418604 1.0000000162558123 4.0 0.92
80 unitree_g1_pack_camera case4 tail_only_6 policy 0.9999999783255837 1.000000005418604 6.0 0.88
81 unitree_g1_pack_camera case4 tail_only_6 world_model 1.000000005418604 1.0000000162558123 6.0 0.88
82 unitree_z1_dual_arm_cleanup_pencils case1 dense policy 1.0000000074505806 0.9999999850988388 50.0 0.0
83 unitree_z1_dual_arm_cleanup_pencils case1 dense world_model 0.9999999925494194 1.000000037252903 50.0 0.0
84 unitree_z1_dual_arm_cleanup_pencils case1 sparse_10 policy 0.9469437971711159 0.9320246428251266 10.0 0.8
85 unitree_z1_dual_arm_cleanup_pencils case1 sparse_10 world_model 0.9465975016355515 0.9307577759027481 10.0 0.8
86 unitree_z1_dual_arm_cleanup_pencils case1 sparse_4 policy 1.0000000074505806 0.9999999850988388 4.0 0.92
87 unitree_z1_dual_arm_cleanup_pencils case1 sparse_4 world_model 0.9999999925494194 1.000000037252903 4.0 0.92
88 unitree_z1_dual_arm_cleanup_pencils case1 sparse_5 policy 0.8056009188294411 0.7804089784622192 5.0 0.9
89 unitree_z1_dual_arm_cleanup_pencils case1 sparse_5 world_model 0.800347164273262 0.7744432389736176 5.0 0.9
90 unitree_z1_dual_arm_cleanup_pencils case1 sparse_8 policy 1.0000000074505806 0.9999999850988388 8.0 0.84
91 unitree_z1_dual_arm_cleanup_pencils case1 sparse_8 world_model 0.9999999925494194 1.000000037252903 8.0 0.84
92 unitree_z1_dual_arm_cleanup_pencils case1 tail_heavy_10 policy 1.0000000074505806 0.9999999850988388 10.0 0.8
93 unitree_z1_dual_arm_cleanup_pencils case1 tail_heavy_10 world_model 0.9999999925494194 1.000000037252903 10.0 0.8
94 unitree_z1_dual_arm_cleanup_pencils case1 tail_heavy_6 policy 1.0000000074505806 0.9999999850988388 6.0 0.88
95 unitree_z1_dual_arm_cleanup_pencils case1 tail_heavy_6 world_model 0.9999999925494194 1.000000037252903 6.0 0.88
96 unitree_z1_dual_arm_cleanup_pencils case1 tail_heavy_8 policy 1.0000000074505806 0.9999999850988388 8.0 0.84
97 unitree_z1_dual_arm_cleanup_pencils case1 tail_heavy_8 world_model 0.9999999925494194 1.000000037252903 8.0 0.84
98 unitree_z1_dual_arm_cleanup_pencils case1 tail_only_4 policy 1.0000000074505806 0.9999999850988388 4.0 0.92
99 unitree_z1_dual_arm_cleanup_pencils case1 tail_only_4 world_model 0.9999999925494194 1.000000037252903 4.0 0.92
100 unitree_z1_dual_arm_cleanup_pencils case1 tail_only_6 policy 1.0000000074505806 0.9999999850988388 6.0 0.88
101 unitree_z1_dual_arm_cleanup_pencils case1 tail_only_6 world_model 0.9999999925494194 1.000000037252903 6.0 0.88
102 unitree_z1_dual_arm_cleanup_pencils case2 dense policy 1.0000000223517418 0.999999962747097 50.0 0.0
103 unitree_z1_dual_arm_cleanup_pencils case2 dense world_model 1.0000000298023224 0.9999999850988388 50.0 0.0
104 unitree_z1_dual_arm_cleanup_pencils case2 sparse_10 policy 0.9463301375508308 0.9295393601059914 10.0 0.8
105 unitree_z1_dual_arm_cleanup_pencils case2 sparse_10 world_model 0.9458944350481033 0.9283439442515373 10.0 0.8
106 unitree_z1_dual_arm_cleanup_pencils case2 sparse_4 policy 1.0000000223517418 0.999999962747097 4.0 0.92
107 unitree_z1_dual_arm_cleanup_pencils case2 sparse_4 world_model 1.0000000298023224 0.9999999850988388 4.0 0.92
108 unitree_z1_dual_arm_cleanup_pencils case2 sparse_5 policy 0.809041365981102 0.7754942625761032 5.0 0.9
109 unitree_z1_dual_arm_cleanup_pencils case2 sparse_5 world_model 0.805028922855854 0.7709039524197578 5.0 0.9
110 unitree_z1_dual_arm_cleanup_pencils case2 sparse_8 policy 1.0000000223517418 0.999999962747097 8.0 0.84
111 unitree_z1_dual_arm_cleanup_pencils case2 sparse_8 world_model 1.0000000298023224 0.9999999850988388 8.0 0.84
112 unitree_z1_dual_arm_cleanup_pencils case2 tail_heavy_10 policy 1.0000000223517418 0.999999962747097 10.0 0.8
113 unitree_z1_dual_arm_cleanup_pencils case2 tail_heavy_10 world_model 1.0000000298023224 0.9999999850988388 10.0 0.8
114 unitree_z1_dual_arm_cleanup_pencils case2 tail_heavy_6 policy 1.0000000223517418 0.999999962747097 6.0 0.88
115 unitree_z1_dual_arm_cleanup_pencils case2 tail_heavy_6 world_model 1.0000000298023224 0.9999999850988388 6.0 0.88
116 unitree_z1_dual_arm_cleanup_pencils case2 tail_heavy_8 policy 1.0000000223517418 0.999999962747097 8.0 0.84
117 unitree_z1_dual_arm_cleanup_pencils case2 tail_heavy_8 world_model 1.0000000298023224 0.9999999850988388 8.0 0.84
118 unitree_z1_dual_arm_cleanup_pencils case2 tail_only_4 policy 1.0000000223517418 0.999999962747097 4.0 0.92
119 unitree_z1_dual_arm_cleanup_pencils case2 tail_only_4 world_model 1.0000000298023224 0.9999999850988388 4.0 0.92
120 unitree_z1_dual_arm_cleanup_pencils case2 tail_only_6 policy 1.0000000223517418 0.999999962747097 6.0 0.88
121 unitree_z1_dual_arm_cleanup_pencils case2 tail_only_6 world_model 1.0000000298023224 0.9999999850988388 6.0 0.88
122 unitree_z1_dual_arm_cleanup_pencils case3 dense policy 0.9999999925494194 0.9999999850988388 50.0 0.0
123 unitree_z1_dual_arm_cleanup_pencils case3 dense world_model 0.9999999701976776 0.999999925494194 50.0 0.0
124 unitree_z1_dual_arm_cleanup_pencils case3 sparse_10 policy 0.9426491186022758 0.9190819412469864 10.0 0.8
125 unitree_z1_dual_arm_cleanup_pencils case3 sparse_10 world_model 0.939857967197895 0.9199994206428528 10.0 0.8
126 unitree_z1_dual_arm_cleanup_pencils case3 sparse_4 policy 0.9999999925494194 0.9999999850988388 4.0 0.92
127 unitree_z1_dual_arm_cleanup_pencils case3 sparse_4 world_model 0.9999999701976776 0.999999925494194 4.0 0.92
128 unitree_z1_dual_arm_cleanup_pencils case3 sparse_5 policy 0.7971489876508713 0.7457228153944016 5.0 0.9
129 unitree_z1_dual_arm_cleanup_pencils case3 sparse_5 world_model 0.7816280424594879 0.7513428404927254 5.0 0.9
130 unitree_z1_dual_arm_cleanup_pencils case3 sparse_8 policy 0.9999999925494194 0.9999999850988388 8.0 0.84
131 unitree_z1_dual_arm_cleanup_pencils case3 sparse_8 world_model 0.9999999701976776 0.999999925494194 8.0 0.84
132 unitree_z1_dual_arm_cleanup_pencils case3 tail_heavy_10 policy 0.9999999925494194 0.9999999850988388 10.0 0.8
133 unitree_z1_dual_arm_cleanup_pencils case3 tail_heavy_10 world_model 0.9999999701976776 0.999999925494194 10.0 0.8
134 unitree_z1_dual_arm_cleanup_pencils case3 tail_heavy_6 policy 0.9999999925494194 0.9999999850988388 6.0 0.88
135 unitree_z1_dual_arm_cleanup_pencils case3 tail_heavy_6 world_model 0.9999999701976776 0.999999925494194 6.0 0.88
136 unitree_z1_dual_arm_cleanup_pencils case3 tail_heavy_8 policy 0.9999999925494194 0.9999999850988388 8.0 0.84
137 unitree_z1_dual_arm_cleanup_pencils case3 tail_heavy_8 world_model 0.9999999701976776 0.999999925494194 8.0 0.84
138 unitree_z1_dual_arm_cleanup_pencils case3 tail_only_4 policy 0.9999999925494194 0.9999999850988388 4.0 0.92
139 unitree_z1_dual_arm_cleanup_pencils case3 tail_only_4 world_model 0.9999999701976776 0.999999925494194 4.0 0.92
140 unitree_z1_dual_arm_cleanup_pencils case3 tail_only_6 policy 0.9999999925494194 0.9999999850988388 6.0 0.88
141 unitree_z1_dual_arm_cleanup_pencils case3 tail_only_6 world_model 0.9999999701976776 0.999999925494194 6.0 0.88
142 unitree_z1_dual_arm_cleanup_pencils case4 dense policy 1.0 1.0 50.0 0.0
143 unitree_z1_dual_arm_cleanup_pencils case4 dense world_model 1.0 0.9999999105930328 50.0 0.0
144 unitree_z1_dual_arm_cleanup_pencils case4 sparse_10 policy 0.9463553726673126 0.9252839460968971 10.0 0.8
145 unitree_z1_dual_arm_cleanup_pencils case4 sparse_10 world_model 0.9459596052765846 0.9299178943037987 10.0 0.8
146 unitree_z1_dual_arm_cleanup_pencils case4 sparse_4 policy 1.0 1.0 4.0 0.92
147 unitree_z1_dual_arm_cleanup_pencils case4 sparse_4 world_model 1.0 0.9999999105930328 4.0 0.92
148 unitree_z1_dual_arm_cleanup_pencils case4 sparse_5 policy 0.8052143007516861 0.7575837001204491 5.0 0.9
149 unitree_z1_dual_arm_cleanup_pencils case4 sparse_5 world_model 0.7977565228939056 0.7714092582464218 5.0 0.9
150 unitree_z1_dual_arm_cleanup_pencils case4 sparse_8 policy 1.0 1.0 8.0 0.84
151 unitree_z1_dual_arm_cleanup_pencils case4 sparse_8 world_model 1.0 0.9999999105930328 8.0 0.84
152 unitree_z1_dual_arm_cleanup_pencils case4 tail_heavy_10 policy 1.0 1.0 10.0 0.8
153 unitree_z1_dual_arm_cleanup_pencils case4 tail_heavy_10 world_model 1.0 0.9999999105930328 10.0 0.8
154 unitree_z1_dual_arm_cleanup_pencils case4 tail_heavy_6 policy 1.0 1.0 6.0 0.88
155 unitree_z1_dual_arm_cleanup_pencils case4 tail_heavy_6 world_model 1.0 0.9999999105930328 6.0 0.88
156 unitree_z1_dual_arm_cleanup_pencils case4 tail_heavy_8 policy 1.0 1.0 8.0 0.84
157 unitree_z1_dual_arm_cleanup_pencils case4 tail_heavy_8 world_model 1.0 0.9999999105930328 8.0 0.84
158 unitree_z1_dual_arm_cleanup_pencils case4 tail_only_4 policy 1.0 1.0 4.0 0.92
159 unitree_z1_dual_arm_cleanup_pencils case4 tail_only_4 world_model 1.0 0.9999999105930328 4.0 0.92
160 unitree_z1_dual_arm_cleanup_pencils case4 tail_only_6 policy 1.0 1.0 6.0 0.88
161 unitree_z1_dual_arm_cleanup_pencils case4 tail_only_6 world_model 1.0 0.9999999105930328 6.0 0.88
162 unitree_z1_dual_arm_stackbox case1 dense policy 1.0000000170298986 1.0 50.0 0.0
163 unitree_z1_dual_arm_stackbox case1 dense world_model 1.0000000255448478 1.0 50.0 0.0
164 unitree_z1_dual_arm_stackbox case1 sparse_10 policy 0.9336806450571332 0.9031614576067243 10.0 0.8
165 unitree_z1_dual_arm_stackbox case1 sparse_10 world_model 0.9270949619156974 0.9099422693252563 10.0 0.8
166 unitree_z1_dual_arm_stackbox case1 sparse_4 policy 1.0000000170298986 1.0 4.0 0.92
167 unitree_z1_dual_arm_stackbox case1 sparse_4 world_model 1.0000000255448478 1.0 4.0 0.92
168 unitree_z1_dual_arm_stackbox case1 sparse_5 policy 0.7690511431012835 0.7218933616365705 5.0 0.9
169 unitree_z1_dual_arm_stackbox case1 sparse_5 world_model 0.7506173253059387 0.7309779609952655 5.0 0.9
170 unitree_z1_dual_arm_stackbox case1 sparse_8 policy 1.0000000170298986 1.0 8.0 0.84
171 unitree_z1_dual_arm_stackbox case1 sparse_8 world_model 1.0000000255448478 1.0 8.0 0.84
172 unitree_z1_dual_arm_stackbox case1 tail_heavy_10 policy 1.0000000170298986 1.0 10.0 0.8
173 unitree_z1_dual_arm_stackbox case1 tail_heavy_10 world_model 1.0000000255448478 1.0 10.0 0.8
174 unitree_z1_dual_arm_stackbox case1 tail_heavy_6 policy 1.0000000170298986 1.0 6.0 0.88
175 unitree_z1_dual_arm_stackbox case1 tail_heavy_6 world_model 1.0000000255448478 1.0 6.0 0.88
176 unitree_z1_dual_arm_stackbox case1 tail_heavy_8 policy 1.0000000170298986 1.0 8.0 0.84
177 unitree_z1_dual_arm_stackbox case1 tail_heavy_8 world_model 1.0000000255448478 1.0 8.0 0.84
178 unitree_z1_dual_arm_stackbox case1 tail_only_4 policy 1.0000000170298986 1.0 4.0 0.92
179 unitree_z1_dual_arm_stackbox case1 tail_only_4 world_model 1.0000000255448478 1.0 4.0 0.92
180 unitree_z1_dual_arm_stackbox case1 tail_only_6 policy 1.0000000170298986 1.0 6.0 0.88
181 unitree_z1_dual_arm_stackbox case1 tail_only_6 world_model 1.0000000255448478 1.0 6.0 0.88
182 unitree_z1_dual_arm_stackbox case2 dense policy 0.9999999914850507 0.9999998978206089 50.0 0.0
183 unitree_z1_dual_arm_stackbox case2 dense world_model 1.000000068119594 1.0000000510896956 50.0 0.0
184 unitree_z1_dual_arm_stackbox case2 sparse_10 policy 0.9294669883591788 0.899870480809893 10.0 0.8
185 unitree_z1_dual_arm_stackbox case2 sparse_10 world_model 0.9253293957029071 0.9051141398293632 10.0 0.8
186 unitree_z1_dual_arm_stackbox case2 sparse_4 policy 0.9999999914850507 0.9999998978206089 4.0 0.92
187 unitree_z1_dual_arm_stackbox case2 sparse_4 world_model 1.000000068119594 1.0000000510896956 4.0 0.92
188 unitree_z1_dual_arm_stackbox case2 sparse_5 policy 0.7612549066543579 0.7151832665715899 5.0 0.9
189 unitree_z1_dual_arm_stackbox case2 sparse_5 world_model 0.744773634842464 0.7192469154085431 5.0 0.9
190 unitree_z1_dual_arm_stackbox case2 sparse_8 policy 0.9999999914850507 0.9999998978206089 8.0 0.84
191 unitree_z1_dual_arm_stackbox case2 sparse_8 world_model 1.000000068119594 1.0000000510896956 8.0 0.84
192 unitree_z1_dual_arm_stackbox case2 tail_heavy_10 policy 0.9999999914850507 0.9999998978206089 10.0 0.8
193 unitree_z1_dual_arm_stackbox case2 tail_heavy_10 world_model 1.000000068119594 1.0000000510896956 10.0 0.8
194 unitree_z1_dual_arm_stackbox case2 tail_heavy_6 policy 0.9999999914850507 0.9999998978206089 6.0 0.88
195 unitree_z1_dual_arm_stackbox case2 tail_heavy_6 world_model 1.000000068119594 1.0000000510896956 6.0 0.88
196 unitree_z1_dual_arm_stackbox case2 tail_heavy_8 policy 0.9999999914850507 0.9999998978206089 8.0 0.84
197 unitree_z1_dual_arm_stackbox case2 tail_heavy_8 world_model 1.000000068119594 1.0000000510896956 8.0 0.84
198 unitree_z1_dual_arm_stackbox case2 tail_only_4 policy 0.9999999914850507 0.9999998978206089 4.0 0.92
199 unitree_z1_dual_arm_stackbox case2 tail_only_4 world_model 1.000000068119594 1.0000000510896956 4.0 0.92
200 unitree_z1_dual_arm_stackbox case2 tail_only_6 policy 0.9999999914850507 0.9999998978206089 6.0 0.88
201 unitree_z1_dual_arm_stackbox case2 tail_only_6 world_model 1.000000068119594 1.0000000510896956 6.0 0.88
202 unitree_z1_dual_arm_stackbox case3 dense policy 1.0000000255448478 1.0000000170298986 50.0 0.0
203 unitree_z1_dual_arm_stackbox case3 dense world_model 0.9999999914850507 0.9999999744551522 50.0 0.0
204 unitree_z1_dual_arm_stackbox case3 sparse_10 policy 0.9321104969297137 0.8938331604003906 10.0 0.8
205 unitree_z1_dual_arm_stackbox case3 sparse_10 world_model 0.928542605468205 0.9024338807378497 10.0 0.8
206 unitree_z1_dual_arm_stackbox case3 sparse_4 policy 1.0000000255448478 1.0000000170298986 4.0 0.92
207 unitree_z1_dual_arm_stackbox case3 sparse_4 world_model 0.9999999914850507 0.9999999744551522 4.0 0.92
208 unitree_z1_dual_arm_stackbox case3 sparse_5 policy 0.7596460665975299 0.702316667352404 5.0 0.9
209 unitree_z1_dual_arm_stackbox case3 sparse_5 world_model 0.7449179036276681 0.7157356142997742 5.0 0.9
210 unitree_z1_dual_arm_stackbox case3 sparse_8 policy 1.0000000255448478 1.0000000170298986 8.0 0.84
211 unitree_z1_dual_arm_stackbox case3 sparse_8 world_model 0.9999999914850507 0.9999999744551522 8.0 0.84
212 unitree_z1_dual_arm_stackbox case3 tail_heavy_10 policy 1.0000000255448478 1.0000000170298986 10.0 0.8
213 unitree_z1_dual_arm_stackbox case3 tail_heavy_10 world_model 0.9999999914850507 0.9999999744551522 10.0 0.8
214 unitree_z1_dual_arm_stackbox case3 tail_heavy_6 policy 1.0000000255448478 1.0000000170298986 6.0 0.88
215 unitree_z1_dual_arm_stackbox case3 tail_heavy_6 world_model 0.9999999914850507 0.9999999744551522 6.0 0.88
216 unitree_z1_dual_arm_stackbox case3 tail_heavy_8 policy 1.0000000255448478 1.0000000170298986 8.0 0.84
217 unitree_z1_dual_arm_stackbox case3 tail_heavy_8 world_model 0.9999999914850507 0.9999999744551522 8.0 0.84
218 unitree_z1_dual_arm_stackbox case3 tail_only_4 policy 1.0000000255448478 1.0000000170298986 4.0 0.92
219 unitree_z1_dual_arm_stackbox case3 tail_only_4 world_model 0.9999999914850507 0.9999999744551522 4.0 0.92
220 unitree_z1_dual_arm_stackbox case3 tail_only_6 policy 1.0000000255448478 1.0000000170298986 6.0 0.88
221 unitree_z1_dual_arm_stackbox case3 tail_only_6 world_model 0.9999999914850507 0.9999999744551522 6.0 0.88
222 unitree_z1_dual_arm_stackbox case4 dense policy 1.0 0.9999999489103045 50.0 0.0
223 unitree_z1_dual_arm_stackbox case4 dense world_model 1.0 0.9999999233654567 50.0 0.0
224 unitree_z1_dual_arm_stackbox case4 sparse_10 policy 0.9348850761141095 0.895094633102417 10.0 0.8
225 unitree_z1_dual_arm_stackbox case4 sparse_10 world_model 0.9304544499942234 0.9077311754226685 10.0 0.8
226 unitree_z1_dual_arm_stackbox case4 sparse_4 policy 1.0 0.9999999489103045 4.0 0.92
227 unitree_z1_dual_arm_stackbox case4 sparse_4 world_model 1.0 0.9999999233654567 4.0 0.92
228 unitree_z1_dual_arm_stackbox case4 sparse_5 policy 0.7730573671204704 0.7030913659504482 5.0 0.9
229 unitree_z1_dual_arm_stackbox case4 sparse_5 world_model 0.751270455973489 0.7207447120121547 5.0 0.9
230 unitree_z1_dual_arm_stackbox case4 sparse_8 policy 1.0 0.9999999489103045 8.0 0.84
231 unitree_z1_dual_arm_stackbox case4 sparse_8 world_model 1.0 0.9999999233654567 8.0 0.84
232 unitree_z1_dual_arm_stackbox case4 tail_heavy_10 policy 1.0 0.9999999489103045 10.0 0.8
233 unitree_z1_dual_arm_stackbox case4 tail_heavy_10 world_model 1.0 0.9999999233654567 10.0 0.8
234 unitree_z1_dual_arm_stackbox case4 tail_heavy_6 policy 1.0 0.9999999489103045 6.0 0.88
235 unitree_z1_dual_arm_stackbox case4 tail_heavy_6 world_model 1.0 0.9999999233654567 6.0 0.88
236 unitree_z1_dual_arm_stackbox case4 tail_heavy_8 policy 1.0 0.9999999489103045 8.0 0.84
237 unitree_z1_dual_arm_stackbox case4 tail_heavy_8 world_model 1.0 0.9999999233654567 8.0 0.84
238 unitree_z1_dual_arm_stackbox case4 tail_only_4 policy 1.0 0.9999999489103045 4.0 0.92
239 unitree_z1_dual_arm_stackbox case4 tail_only_4 world_model 1.0 0.9999999233654567 4.0 0.92
240 unitree_z1_dual_arm_stackbox case4 tail_only_6 policy 1.0 0.9999999489103045 6.0 0.88
241 unitree_z1_dual_arm_stackbox case4 tail_only_6 world_model 1.0 0.9999999233654567 6.0 0.88
242 unitree_z1_dual_arm_stackbox_v2 case1 dense policy 1.0000000162558123 0.9999999674883756 50.0 0.0
243 unitree_z1_dual_arm_stackbox_v2 case1 dense world_model 0.9999999729069796 1.0 50.0 0.0
244 unitree_z1_dual_arm_stackbox_v2 case1 sparse_10 policy 0.9435484842820601 0.928479487245733 10.0 0.8
245 unitree_z1_dual_arm_stackbox_v2 case1 sparse_10 world_model 0.9468015432357788 0.9367762858217413 10.0 0.8
246 unitree_z1_dual_arm_stackbox_v2 case1 sparse_4 policy 1.0000000162558123 0.9999999674883756 4.0 0.92
247 unitree_z1_dual_arm_stackbox_v2 case1 sparse_4 world_model 0.9999999729069796 1.0 4.0 0.92
248 unitree_z1_dual_arm_stackbox_v2 case1 sparse_5 policy 0.7936065901409496 0.7711024501106956 5.0 0.9
249 unitree_z1_dual_arm_stackbox_v2 case1 sparse_5 world_model 0.8046409541910345 0.7889893271706321 5.0 0.9
250 unitree_z1_dual_arm_stackbox_v2 case1 sparse_8 policy 1.0000000162558123 0.9999999674883756 8.0 0.84
251 unitree_z1_dual_arm_stackbox_v2 case1 sparse_8 world_model 0.9999999729069796 1.0 8.0 0.84
252 unitree_z1_dual_arm_stackbox_v2 case1 tail_heavy_10 policy 1.0000000162558123 0.9999999674883756 10.0 0.8
253 unitree_z1_dual_arm_stackbox_v2 case1 tail_heavy_10 world_model 0.9999999729069796 1.0 10.0 0.8
254 unitree_z1_dual_arm_stackbox_v2 case1 tail_heavy_6 policy 1.0000000162558123 0.9999999674883756 6.0 0.88
255 unitree_z1_dual_arm_stackbox_v2 case1 tail_heavy_6 world_model 0.9999999729069796 1.0 6.0 0.88
256 unitree_z1_dual_arm_stackbox_v2 case1 tail_heavy_8 policy 1.0000000162558123 0.9999999674883756 8.0 0.84
257 unitree_z1_dual_arm_stackbox_v2 case1 tail_heavy_8 world_model 0.9999999729069796 1.0 8.0 0.84
258 unitree_z1_dual_arm_stackbox_v2 case1 tail_only_4 policy 1.0000000162558123 0.9999999674883756 4.0 0.92
259 unitree_z1_dual_arm_stackbox_v2 case1 tail_only_4 world_model 0.9999999729069796 1.0 4.0 0.92
260 unitree_z1_dual_arm_stackbox_v2 case1 tail_only_6 policy 1.0000000162558123 0.9999999674883756 6.0 0.88
261 unitree_z1_dual_arm_stackbox_v2 case1 tail_only_6 world_model 0.9999999729069796 1.0 6.0 0.88
262 unitree_z1_dual_arm_stackbox_v2 case2 dense policy 1.0 1.0000000433488325 50.0 0.0
263 unitree_z1_dual_arm_stackbox_v2 case2 dense world_model 1.0000000270930203 0.9999999945813959 50.0 0.0
264 unitree_z1_dual_arm_stackbox_v2 case2 sparse_10 policy 0.939013806256381 0.9207526391202753 10.0 0.8
265 unitree_z1_dual_arm_stackbox_v2 case2 sparse_10 world_model 0.9369614882902666 0.9168761806054548 10.0 0.8
266 unitree_z1_dual_arm_stackbox_v2 case2 sparse_4 policy 1.0 1.0000000433488325 4.0 0.92
267 unitree_z1_dual_arm_stackbox_v2 case2 sparse_4 world_model 1.0000000270930203 0.9999999945813959 4.0 0.92
268 unitree_z1_dual_arm_stackbox_v2 case2 sparse_5 policy 0.7819729284806685 0.755226807160811 5.0 0.9
269 unitree_z1_dual_arm_stackbox_v2 case2 sparse_5 world_model 0.7765740643848072 0.743860358541662 5.0 0.9
270 unitree_z1_dual_arm_stackbox_v2 case2 sparse_8 policy 1.0 1.0000000433488325 8.0 0.84
271 unitree_z1_dual_arm_stackbox_v2 case2 sparse_8 world_model 1.0000000270930203 0.9999999945813959 8.0 0.84
272 unitree_z1_dual_arm_stackbox_v2 case2 tail_heavy_10 policy 1.0 1.0000000433488325 10.0 0.8
273 unitree_z1_dual_arm_stackbox_v2 case2 tail_heavy_10 world_model 1.0000000270930203 0.9999999945813959 10.0 0.8
274 unitree_z1_dual_arm_stackbox_v2 case2 tail_heavy_6 policy 1.0 1.0000000433488325 6.0 0.88
275 unitree_z1_dual_arm_stackbox_v2 case2 tail_heavy_6 world_model 1.0000000270930203 0.9999999945813959 6.0 0.88
276 unitree_z1_dual_arm_stackbox_v2 case2 tail_heavy_8 policy 1.0 1.0000000433488325 8.0 0.84
277 unitree_z1_dual_arm_stackbox_v2 case2 tail_heavy_8 world_model 1.0000000270930203 0.9999999945813959 8.0 0.84
278 unitree_z1_dual_arm_stackbox_v2 case2 tail_only_4 policy 1.0 1.0000000433488325 4.0 0.92
279 unitree_z1_dual_arm_stackbox_v2 case2 tail_only_4 world_model 1.0000000270930203 0.9999999945813959 4.0 0.92
280 unitree_z1_dual_arm_stackbox_v2 case2 tail_only_6 policy 1.0 1.0000000433488325 6.0 0.88
281 unitree_z1_dual_arm_stackbox_v2 case2 tail_only_6 world_model 1.0000000270930203 0.9999999945813959 6.0 0.88
282 unitree_z1_dual_arm_stackbox_v2 case3 dense policy 1.0000000162558123 0.9999999620697715 50.0 0.0
283 unitree_z1_dual_arm_stackbox_v2 case3 dense world_model 0.9999999837441877 1.0000000108372082 50.0 0.0
284 unitree_z1_dual_arm_stackbox_v2 case3 sparse_10 policy 0.9378652030771429 0.9162919467145746 10.0 0.8
285 unitree_z1_dual_arm_stackbox_v2 case3 sparse_10 world_model 0.9346397735855796 0.9093327955766157 10.0 0.8
286 unitree_z1_dual_arm_stackbox_v2 case3 sparse_4 policy 1.0000000162558123 0.9999999620697715 4.0 0.92
287 unitree_z1_dual_arm_stackbox_v2 case3 sparse_4 world_model 0.9999999837441877 1.0000000108372082 4.0 0.92
288 unitree_z1_dual_arm_stackbox_v2 case3 sparse_5 policy 0.7820485776120966 0.7449031526392157 5.0 0.9
289 unitree_z1_dual_arm_stackbox_v2 case3 sparse_5 world_model 0.7718150182203813 0.7291300730271773 5.0 0.9
290 unitree_z1_dual_arm_stackbox_v2 case3 sparse_8 policy 1.0000000162558123 0.9999999620697715 8.0 0.84
291 unitree_z1_dual_arm_stackbox_v2 case3 sparse_8 world_model 0.9999999837441877 1.0000000108372082 8.0 0.84
292 unitree_z1_dual_arm_stackbox_v2 case3 tail_heavy_10 policy 1.0000000162558123 0.9999999620697715 10.0 0.8
293 unitree_z1_dual_arm_stackbox_v2 case3 tail_heavy_10 world_model 0.9999999837441877 1.0000000108372082 10.0 0.8
294 unitree_z1_dual_arm_stackbox_v2 case3 tail_heavy_6 policy 1.0000000162558123 0.9999999620697715 6.0 0.88
295 unitree_z1_dual_arm_stackbox_v2 case3 tail_heavy_6 world_model 0.9999999837441877 1.0000000108372082 6.0 0.88
296 unitree_z1_dual_arm_stackbox_v2 case3 tail_heavy_8 policy 1.0000000162558123 0.9999999620697715 8.0 0.84
297 unitree_z1_dual_arm_stackbox_v2 case3 tail_heavy_8 world_model 0.9999999837441877 1.0000000108372082 8.0 0.84
298 unitree_z1_dual_arm_stackbox_v2 case3 tail_only_4 policy 1.0000000162558123 0.9999999620697715 4.0 0.92
299 unitree_z1_dual_arm_stackbox_v2 case3 tail_only_4 world_model 0.9999999837441877 1.0000000108372082 4.0 0.92
300 unitree_z1_dual_arm_stackbox_v2 case3 tail_only_6 policy 1.0000000162558123 0.9999999620697715 6.0 0.88
301 unitree_z1_dual_arm_stackbox_v2 case3 tail_only_6 world_model 0.9999999837441877 1.0000000108372082 6.0 0.88
302 unitree_z1_dual_arm_stackbox_v2 case4 dense policy 1.0000000270930203 0.9999999512325634 50.0 0.0
303 unitree_z1_dual_arm_stackbox_v2 case4 dense world_model 1.000000005418604 0.9999999783255837 50.0 0.0
304 unitree_z1_dual_arm_stackbox_v2 case4 sparse_10 policy 0.9357004165649414 0.9140155152841047 10.0 0.8
305 unitree_z1_dual_arm_stackbox_v2 case4 sparse_10 world_model 0.9342409697445956 0.9105181964960966 10.0 0.8
306 unitree_z1_dual_arm_stackbox_v2 case4 sparse_4 policy 1.0000000270930203 0.9999999512325634 4.0 0.92
307 unitree_z1_dual_arm_stackbox_v2 case4 sparse_4 world_model 1.000000005418604 0.9999999783255837 4.0 0.92
308 unitree_z1_dual_arm_stackbox_v2 case4 sparse_5 policy 0.7757082148031755 0.7411849932237105 5.0 0.9
309 unitree_z1_dual_arm_stackbox_v2 case4 sparse_5 world_model 0.7706848870624196 0.7300773588093844 5.0 0.9
310 unitree_z1_dual_arm_stackbox_v2 case4 sparse_8 policy 1.0000000270930203 0.9999999512325634 8.0 0.84
311 unitree_z1_dual_arm_stackbox_v2 case4 sparse_8 world_model 1.000000005418604 0.9999999783255837 8.0 0.84
312 unitree_z1_dual_arm_stackbox_v2 case4 tail_heavy_10 policy 1.0000000270930203 0.9999999512325634 10.0 0.8
313 unitree_z1_dual_arm_stackbox_v2 case4 tail_heavy_10 world_model 1.000000005418604 0.9999999783255837 10.0 0.8
314 unitree_z1_dual_arm_stackbox_v2 case4 tail_heavy_6 policy 1.0000000270930203 0.9999999512325634 6.0 0.88
315 unitree_z1_dual_arm_stackbox_v2 case4 tail_heavy_6 world_model 1.000000005418604 0.9999999783255837 6.0 0.88
316 unitree_z1_dual_arm_stackbox_v2 case4 tail_heavy_8 policy 1.0000000270930203 0.9999999512325634 8.0 0.84
317 unitree_z1_dual_arm_stackbox_v2 case4 tail_heavy_8 world_model 1.000000005418604 0.9999999783255837 8.0 0.84
318 unitree_z1_dual_arm_stackbox_v2 case4 tail_only_4 policy 1.0000000270930203 0.9999999512325634 4.0 0.92
319 unitree_z1_dual_arm_stackbox_v2 case4 tail_only_4 world_model 1.000000005418604 0.9999999783255837 4.0 0.92
320 unitree_z1_dual_arm_stackbox_v2 case4 tail_only_6 policy 1.0000000270930203 0.9999999512325634 6.0 0.88
321 unitree_z1_dual_arm_stackbox_v2 case4 tail_only_6 world_model 1.000000005418604 0.9999999783255837 6.0 0.88
322 unitree_z1_stackbox case1 dense policy 0.9999999602635702 1.0000000049670537 50.0 0.0
323 unitree_z1_stackbox case1 dense world_model 0.9999999701976776 1.0000000149011612 50.0 0.0
324 unitree_z1_stackbox case1 sparse_10 policy 0.9128866543372472 0.8721721917390823 10.0 0.8000000000000002
325 unitree_z1_stackbox case1 sparse_10 world_model 0.9075939754645029 0.8709724992513657 10.0 0.8000000000000002
326 unitree_z1_stackbox case1 sparse_4 policy 0.9999999602635702 1.0000000049670537 4.0 0.92
327 unitree_z1_stackbox case1 sparse_4 world_model 0.9999999701976776 1.0000000149011612 4.0 0.92
328 unitree_z1_stackbox case1 sparse_5 policy 0.7592518925666809 0.7061114360888799 5.0 0.9
329 unitree_z1_stackbox case1 sparse_5 world_model 0.7442370106776556 0.7053270240624746 5.0 0.9
330 unitree_z1_stackbox case1 sparse_8 policy 0.9999999602635702 1.0000000049670537 8.0 0.84
331 unitree_z1_stackbox case1 sparse_8 world_model 0.9999999701976776 1.0000000149011612 8.0 0.84
332 unitree_z1_stackbox case1 tail_heavy_10 policy 0.9999999602635702 1.0000000049670537 10.0 0.8000000000000002
333 unitree_z1_stackbox case1 tail_heavy_10 world_model 0.9999999701976776 1.0000000149011612 10.0 0.8000000000000002
334 unitree_z1_stackbox case1 tail_heavy_6 policy 0.9999999602635702 1.0000000049670537 6.0 0.88
335 unitree_z1_stackbox case1 tail_heavy_6 world_model 0.9999999701976776 1.0000000149011612 6.0 0.88
336 unitree_z1_stackbox case1 tail_heavy_8 policy 0.9999999602635702 1.0000000049670537 8.0 0.84
337 unitree_z1_stackbox case1 tail_heavy_8 world_model 0.9999999701976776 1.0000000149011612 8.0 0.84
338 unitree_z1_stackbox case1 tail_only_4 policy 0.9999999602635702 1.0000000049670537 4.0 0.92
339 unitree_z1_stackbox case1 tail_only_4 world_model 0.9999999701976776 1.0000000149011612 4.0 0.92
340 unitree_z1_stackbox case1 tail_only_6 policy 0.9999999602635702 1.0000000049670537 6.0 0.88
341 unitree_z1_stackbox case1 tail_only_6 world_model 0.9999999701976776 1.0000000149011612 6.0 0.88
342 unitree_z1_stackbox case2 dense policy 1.0000000099341075 1.000000034769376 50.0 0.0
343 unitree_z1_stackbox case2 dense world_model 1.0000000198682149 1.0000000149011612 50.0 0.0
344 unitree_z1_stackbox case2 sparse_10 policy 0.9204017321268717 0.8808373361825943 10.0 0.8000000000000002
345 unitree_z1_stackbox case2 sparse_10 world_model 0.9124102195103964 0.8839416752258936 10.0 0.8000000000000002
346 unitree_z1_stackbox case2 sparse_4 policy 1.0000000099341075 1.000000034769376 4.0 0.92
347 unitree_z1_stackbox case2 sparse_4 world_model 1.0000000198682149 1.0000000149011612 4.0 0.92
348 unitree_z1_stackbox case2 sparse_5 policy 0.7721244891484579 0.7142822792132696 5.0 0.9
349 unitree_z1_stackbox case2 sparse_5 world_model 0.745319793621699 0.7152381887038549 5.0 0.9
350 unitree_z1_stackbox case2 sparse_8 policy 1.0000000099341075 1.000000034769376 8.0 0.84
351 unitree_z1_stackbox case2 sparse_8 world_model 1.0000000198682149 1.0000000149011612 8.0 0.84
352 unitree_z1_stackbox case2 tail_heavy_10 policy 1.0000000099341075 1.000000034769376 10.0 0.8000000000000002
353 unitree_z1_stackbox case2 tail_heavy_10 world_model 1.0000000198682149 1.0000000149011612 10.0 0.8000000000000002
354 unitree_z1_stackbox case2 tail_heavy_6 policy 1.0000000099341075 1.000000034769376 6.0 0.88
355 unitree_z1_stackbox case2 tail_heavy_6 world_model 1.0000000198682149 1.0000000149011612 6.0 0.88
356 unitree_z1_stackbox case2 tail_heavy_8 policy 1.0000000099341075 1.000000034769376 8.0 0.84
357 unitree_z1_stackbox case2 tail_heavy_8 world_model 1.0000000198682149 1.0000000149011612 8.0 0.84
358 unitree_z1_stackbox case2 tail_only_4 policy 1.0000000099341075 1.000000034769376 4.0 0.92
359 unitree_z1_stackbox case2 tail_only_4 world_model 1.0000000198682149 1.0000000149011612 4.0 0.92
360 unitree_z1_stackbox case2 tail_only_6 policy 1.0000000099341075 1.000000034769376 6.0 0.88
361 unitree_z1_stackbox case2 tail_only_6 world_model 1.0000000198682149 1.0000000149011612 6.0 0.88
362 unitree_z1_stackbox case3 dense policy 1.0000000447034836 0.9999999950329462 50.0 0.0
363 unitree_z1_stackbox case3 dense world_model 1.0000000298023224 1.0 50.0 0.0
364 unitree_z1_stackbox case3 sparse_10 policy 0.9272978107134501 0.8970760951439539 10.0 0.8000000000000002
365 unitree_z1_stackbox case3 sparse_10 world_model 0.9226573010285696 0.8924628843863806 10.0 0.8000000000000002
366 unitree_z1_stackbox case3 sparse_4 policy 1.0000000447034836 0.9999999950329462 4.0 0.92
367 unitree_z1_stackbox case3 sparse_4 world_model 1.0000000298023224 1.0 4.0 0.92
368 unitree_z1_stackbox case3 sparse_5 policy 0.7838167995214462 0.7392430454492569 5.0 0.9
369 unitree_z1_stackbox case3 sparse_5 world_model 0.7687370975812277 0.7268570611874262 5.0 0.9
370 unitree_z1_stackbox case3 sparse_8 policy 1.0000000447034836 0.9999999950329462 8.0 0.84
371 unitree_z1_stackbox case3 sparse_8 world_model 1.0000000298023224 1.0 8.0 0.84
372 unitree_z1_stackbox case3 tail_heavy_10 policy 1.0000000447034836 0.9999999950329462 10.0 0.8000000000000002
373 unitree_z1_stackbox case3 tail_heavy_10 world_model 1.0000000298023224 1.0 10.0 0.8000000000000002
374 unitree_z1_stackbox case3 tail_heavy_6 policy 1.0000000447034836 0.9999999950329462 6.0 0.88
375 unitree_z1_stackbox case3 tail_heavy_6 world_model 1.0000000298023224 1.0 6.0 0.88
376 unitree_z1_stackbox case3 tail_heavy_8 policy 1.0000000447034836 0.9999999950329462 8.0 0.84
377 unitree_z1_stackbox case3 tail_heavy_8 world_model 1.0000000298023224 1.0 8.0 0.84
378 unitree_z1_stackbox case3 tail_only_4 policy 1.0000000447034836 0.9999999950329462 4.0 0.92
379 unitree_z1_stackbox case3 tail_only_4 world_model 1.0000000298023224 1.0 4.0 0.92
380 unitree_z1_stackbox case3 tail_only_6 policy 1.0000000447034836 0.9999999950329462 6.0 0.88
381 unitree_z1_stackbox case3 tail_only_6 world_model 1.0000000298023224 1.0 6.0 0.88
382 unitree_z1_stackbox case4 dense policy 1.00000003973643 1.0000000298023224 50.0 0.0
383 unitree_z1_stackbox case4 dense world_model 1.0000000099341075 1.0000000248352687 50.0 0.0
384 unitree_z1_stackbox case4 sparse_10 policy 0.9115401953458786 0.8695555130640665 10.0 0.8000000000000002
385 unitree_z1_stackbox case4 sparse_10 world_model 0.9073014905055364 0.8689398914575577 10.0 0.8000000000000002
386 unitree_z1_stackbox case4 sparse_4 policy 1.00000003973643 1.0000000298023224 4.0 0.92
387 unitree_z1_stackbox case4 sparse_4 world_model 1.0000000099341075 1.0000000248352687 4.0 0.92
388 unitree_z1_stackbox case4 sparse_5 policy 0.7569213857253393 0.6986446877320608 5.0 0.9
389 unitree_z1_stackbox case4 sparse_5 world_model 0.7459165553251902 0.6989829589923223 5.0 0.9
390 unitree_z1_stackbox case4 sparse_8 policy 1.00000003973643 1.0000000298023224 8.0 0.84
391 unitree_z1_stackbox case4 sparse_8 world_model 1.0000000099341075 1.0000000248352687 8.0 0.84
392 unitree_z1_stackbox case4 tail_heavy_10 policy 1.00000003973643 1.0000000298023224 10.0 0.8000000000000002
393 unitree_z1_stackbox case4 tail_heavy_10 world_model 1.0000000099341075 1.0000000248352687 10.0 0.8000000000000002
394 unitree_z1_stackbox case4 tail_heavy_6 policy 1.00000003973643 1.0000000298023224 6.0 0.88
395 unitree_z1_stackbox case4 tail_heavy_6 world_model 1.0000000099341075 1.0000000248352687 6.0 0.88
396 unitree_z1_stackbox case4 tail_heavy_8 policy 1.00000003973643 1.0000000298023224 8.0 0.84
397 unitree_z1_stackbox case4 tail_heavy_8 world_model 1.0000000099341075 1.0000000248352687 8.0 0.84
398 unitree_z1_stackbox case4 tail_only_4 policy 1.00000003973643 1.0000000298023224 4.0 0.92
399 unitree_z1_stackbox case4 tail_only_4 world_model 1.0000000099341075 1.0000000248352687 4.0 0.92
400 unitree_z1_stackbox case4 tail_only_6 policy 1.00000003973643 1.0000000298023224 6.0 0.88
401 unitree_z1_stackbox case4 tail_only_6 world_model 1.0000000099341075 1.0000000248352687 6.0 0.88