unifolm-world-model-action/sparse_head_simulation/scheme_simulation_per_case.csv

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