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
unitree_z1_dual_arm_stackbox,case1,sparse_10,policy,0.9336806450571332,0.9031614576067243,10.0,0.8
unitree_z1_dual_arm_stackbox,case1,sparse_10,world_model,0.9270949619156974,0.9099422693252563,10.0,0.8
unitree_z1_dual_arm_stackbox,case1,sparse_4,policy,1.0000000170298986,1.0,4.0,0.92
unitree_z1_dual_arm_stackbox,case1,sparse_4,world_model,1.0000000255448478,1.0,4.0,0.92
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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