{"fps": 15, "history_frames": 8, "short_future_frames": 8, "long_future_frames": 120, "denoising_steps_per_block": 35, "solver": "UniPC", "seed": 0, "force_threshold_N": 0.5, "web_video_crf": 24, "streams": ["video", "wrist_left", "wrist_right", "tactile_left", "tactile_right"], "datasets": [{"id": "motherboard", "label": "Motherboard", "checkpoint": "epoch_001.pt", "run": "nano_action_causal_umi_all_v1", "planned_cases": 20, "cases": [{"id": "motherboard_00", "episode": "motherboard_0909_episode_000.pt", "requested_episode": "motherboard_0909_episode_000.pt", "category": "none", "t_start": 1134, "start_seconds": 75.6, "short_contact": [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0], "future_transition_ticks": [], "long_contact_fraction": 0.015625, "long_label": "none_at_start", "short_metrics": {"video": {"psnr": 28.7957215943034, "ssim": 0.9048023508704133, "lpips": 0.026415854692459106}, "wrist_left": {"psnr": 32.5326348845352, "ssim": 0.9658152935609512, "lpips": 0.028953472152352333}, "wrist_right": {"psnr": 16.61160392574854, "ssim": 0.6653742427370894, "lpips": 0.12912145256996155}, "tactile_left": {"psnr": 47.49468026748187, "ssim": 0.9936411876573786, "lpips": 0.004651487804949284}, "tactile_right": {"psnr": 44.515696550983435, "ssim": 0.9833990495514364, "lpips": 0.024246159940958023}}, "media": {"short": {"video": "media/motherboard_00_short.mp4", "poster": "media/motherboard_00_short.jpg"}, "long": {"video": "media/motherboard_00_long.mp4", "poster": "media/motherboard_00_long.jpg"}}, "force": {"source": "recorded_normal_force", "units": "N", "fps": 15, "left": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "right": [0.49666666984558105, 0.41999998688697815, 0.3276471495628357, 0.2779442071914673, 0.19263210892677307, 0.16038045287132263, 0.1599999964237213, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.1599999964237213, 0.1599999964237213, 0.1599999964237213, 0.0, 0.0, 0.0, 0.1599999964237213, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.1599999964237213, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.27239662408828735, 0.1599999964237213, 0.2841034233570099, 0.17168553173542023, 0.1641339212656021, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.1885688155889511, 0.49666666984558105, 1.1662499904632568, 0.7758844494819641, 0.46323081851005554]}, "long_curve": [{"video": {"psnr": 28.7957215943034, "ssim": 0.9048023508704133, "lpips": 0.026415854692459106}, "wrist_left": {"psnr": 32.5326348845352, "ssim": 0.9658152935609512, "lpips": 0.028953472152352333}, "wrist_right": {"psnr": 16.61160392574854, "ssim": 0.6653742427370894, "lpips": 0.12912145256996155}, "tactile_left": {"psnr": 47.49468026748187, "ssim": 0.9936411876573786, "lpips": 0.004651487804949284}, "tactile_right": {"psnr": 44.515696550983435, "ssim": 0.9833990495514364, "lpips": 0.024246159940958023}}, {"video": {"psnr": 24.37328812256304, "ssim": 0.8066681284183538, "lpips": 0.05906069278717041}, "wrist_left": {"psnr": 26.42087837972893, "ssim": 0.8875070177565372, "lpips": 0.07202424854040146}, "wrist_right": {"psnr": 10.995098571673266, "ssim": 0.36688327773857055, "lpips": 0.40184035897254944}, "tactile_left": {"psnr": 44.66153526947746, "ssim": 0.98967448861703, "lpips": 0.01902676187455654}, "tactile_right": {"psnr": 39.5011161193269, "ssim": 0.9716431232671751, "lpips": 0.08164714276790619}}, {"video": {"psnr": 22.170103203864862, "ssim": 0.7394564367822518, "lpips": 0.11750966310501099}, "wrist_left": {"psnr": 24.598914820431137, "ssim": 0.8336277623103525, "lpips": 0.09848084300756454}, "wrist_right": {"psnr": 10.276327716320768, "ssim": 0.3308140915544532, "lpips": 0.4601859152317047}, "tactile_left": {"psnr": 42.853495849534795, "ssim": 0.9850674636593686, "lpips": 0.04261159151792526}, "tactile_right": {"psnr": 40.859744782431704, "ssim": 0.9731504548580506, "lpips": 0.06787912547588348}}, {"video": {"psnr": 21.89981312646802, "ssim": 0.725828228066925, "lpips": 0.12928375601768494}, "wrist_left": {"psnr": 24.379722215481195, "ssim": 0.8325978815327022, "lpips": 0.11467532813549042}, "wrist_right": {"psnr": 11.159144186988879, "ssim": 0.2851237611650982, "lpips": 0.43575090169906616}, "tactile_left": {"psnr": 40.150620646963574, "ssim": 0.9787200370550386, "lpips": 0.0889788568019867}, "tactile_right": {"psnr": 39.27793516153505, "ssim": 0.9698412058483976, "lpips": 0.09064547717571259}}, {"video": {"psnr": 20.888593112441242, "ssim": 0.6986294569350608, "lpips": 0.14549197256565094}, "wrist_left": {"psnr": 22.4354533226885, "ssim": 0.7854306812544558, "lpips": 0.1568124145269394}, "wrist_right": {"psnr": 11.039797790841238, "ssim": 0.2695706674020609, "lpips": 0.4534779191017151}, "tactile_left": {"psnr": 38.02433707345107, "ssim": 0.9734917281893714, "lpips": 0.12686282396316528}, "tactile_right": {"psnr": 38.115207290560505, "ssim": 0.9661230504499182, "lpips": 0.1147027462720871}}, {"video": {"psnr": 20.600677172699502, "ssim": 0.6939278222473237, "lpips": 0.1715269386768341}, "wrist_left": {"psnr": 22.14095005821452, "ssim": 0.7354244657454461, "lpips": 0.1799018383026123}, "wrist_right": {"psnr": 11.113942437780295, "ssim": 0.28019393389867486, "lpips": 0.4580973982810974}, "tactile_left": {"psnr": 37.1728111685349, "ssim": 0.9691928529195663, "lpips": 0.15265263617038727}, "tactile_right": {"psnr": 37.08292600587849, "ssim": 0.9623681890304114, "lpips": 0.12657701969146729}}, {"video": {"psnr": 20.669931530794933, "ssim": 0.6896557717654438, "lpips": 0.16569633781909943}, "wrist_left": {"psnr": 21.115971234529148, "ssim": 0.7057388624217531, "lpips": 0.20234990119934082}, "wrist_right": {"psnr": 10.969407652073082, "ssim": 0.2930634176655004, "lpips": 0.4542776346206665}, "tactile_left": {"psnr": 36.4248560819439, "ssim": 0.9646899037050938, "lpips": 0.1741514503955841}, "tactile_right": {"psnr": 36.243586798837335, "ssim": 0.9579044894448461, "lpips": 0.14142021536827087}}, {"video": {"psnr": 20.699472359637877, "ssim": 0.6816335533551883, "lpips": 0.16351041197776794}, "wrist_left": {"psnr": 20.09933927593368, "ssim": 0.6683449779503916, "lpips": 0.22990922629833221}, "wrist_right": {"psnr": 10.886963394443699, "ssim": 0.293491203055734, "lpips": 0.4679107666015625}, "tactile_left": {"psnr": 36.001439260311386, "ssim": 0.9605325429880333, "lpips": 0.1999334692955017}, "tactile_right": {"psnr": 35.614716929046, "ssim": 0.9535054483828962, "lpips": 0.17355884611606598}}, {"video": {"psnr": 20.805014100052162, "ssim": 0.6743715828270609, "lpips": 0.15929634869098663}, "wrist_left": {"psnr": 19.11010902742174, "ssim": 0.6452362335612147, "lpips": 0.26670169830322266}, "wrist_right": {"psnr": 10.48301460315975, "ssim": 0.29006097520415963, "lpips": 0.48836177587509155}, "tactile_left": {"psnr": 35.43117110380349, "ssim": 0.9570731271241941, "lpips": 0.22059088945388794}, "tactile_right": {"psnr": 34.96243603413324, "ssim": 0.94913268779273, "lpips": 0.19618064165115356}}, {"video": {"psnr": 20.77579802437772, "ssim": 0.6729879684869358, "lpips": 0.17654088139533997}, "wrist_left": {"psnr": 18.35375047407294, "ssim": 0.6242252113074361, "lpips": 0.2882348299026489}, "wrist_right": {"psnr": 9.73186943287351, "ssim": 0.28835525701259235, "lpips": 0.5020773410797119}, "tactile_left": {"psnr": 35.03210452015291, "ssim": 0.9534644147534646, "lpips": 0.23502713441848755}, "tactile_right": {"psnr": 34.13637840544121, "ssim": 0.9470507909513848, "lpips": 0.19560053944587708}}, {"video": {"psnr": 20.48424186227704, "ssim": 0.6646154280703384, "lpips": 0.20231343805789948}, "wrist_left": {"psnr": 17.826433733211257, "ssim": 0.6091412621454955, "lpips": 0.30823904275894165}, "wrist_right": {"psnr": 8.432646480030044, "ssim": 0.27313658697503923, "lpips": 0.5088475942611694}, "tactile_left": {"psnr": 34.75517241226307, "ssim": 0.9496752997868666, "lpips": 0.24838793277740479}, "tactile_right": {"psnr": 33.39765248464075, "ssim": 0.945212355221056, "lpips": 0.2034684717655182}}, {"video": {"psnr": 20.185115439811128, "ssim": 0.6508726534939028, "lpips": 0.21356907486915588}, "wrist_left": {"psnr": 17.521971249596, "ssim": 0.5875627786799948, "lpips": 0.33420297503471375}, "wrist_right": {"psnr": 7.684250255806562, "ssim": 0.2655659226282119, "lpips": 0.536884069442749}, "tactile_left": {"psnr": 34.57670764315959, "ssim": 0.9465821510214887, "lpips": 0.2632017731666565}, "tactile_right": {"psnr": 32.640727199918466, "ssim": 0.9403919333030651, "lpips": 0.23961764574050903}}, {"video": {"psnr": 19.99394018664281, "ssim": 0.6379713231611717, "lpips": 0.2164471447467804}, "wrist_left": {"psnr": 16.902742520969706, "ssim": 0.5570426479629068, "lpips": 0.3535620868206024}, "wrist_right": {"psnr": 7.574630691244866, "ssim": 0.24846491979713073, "lpips": 0.5453082323074341}, "tactile_left": {"psnr": 34.36033797163845, "ssim": 0.9424859150027831, "lpips": 0.27511242032051086}, "tactile_right": {"psnr": 32.137539045304806, "ssim": 0.9386681433439314, "lpips": 0.23086097836494446}}, {"video": {"psnr": 19.71759500367194, "ssim": 0.6297880867131438, "lpips": 0.2198258638381958}, "wrist_left": {"psnr": 16.241136461473083, "ssim": 0.5388747026179255, "lpips": 0.3777008652687073}, "wrist_right": {"psnr": 8.1331285205032, "ssim": 0.24990054939032785, "lpips": 0.5492363572120667}, "tactile_left": {"psnr": 33.95151669008393, "ssim": 0.937520319080623, "lpips": 0.296440452337265}, "tactile_right": {"psnr": 31.54676521414348, "ssim": 0.9340287837369654, "lpips": 0.24076828360557556}}, {"video": {"psnr": 19.83714541412799, "ssim": 0.6380382934801401, "lpips": 0.21815267205238342}, "wrist_left": {"psnr": 15.60025844854361, "ssim": 0.5171664790044149, "lpips": 0.3991452157497406}, "wrist_right": {"psnr": 8.433665621561069, "ssim": 0.20872699683741117, "lpips": 0.558418333530426}, "tactile_left": {"psnr": 33.49621713238159, "ssim": 0.9339522508819567, "lpips": 0.30548325181007385}, "tactile_right": {"psnr": 30.788610811148057, "ssim": 0.9260654886170354, "lpips": 0.2735653519630432}}], "long_metrics": {"video": {"psnr": 21.459763350248913, "ssim": 0.7006164723115769, "lpips": 0.1589760700861613}, "wrist_left": {"psnr": 21.018684407122045, "ssim": 0.6995824171874652, "lpips": 0.22739293240010738}, "wrist_right": {"psnr": 10.235032752069918, "ssim": 0.30724838687080364, "lpips": 0.46331973671913146}, "tactile_left": {"psnr": 37.6258002060788, "ssim": 0.9623842454961504, "lpips": 0.17687419547388952}, "tactile_right": {"psnr": 36.054735922221965, "ssim": 0.95456567958662, "lpips": 0.16004924302299817}}}, {"id": "motherboard_01", "episode": "motherboard_0909_episode_000.pt", "requested_episode": "motherboard_0909_episode_000.pt", "category": "onset", "t_start": 1825, "start_seconds": 121.66666666666667, "short_contact": [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 1], "future_transition_ticks": [11], "long_contact_fraction": 0.7265625, "long_label": "onset", "short_metrics": {"video": {"psnr": 23.57929966222084, "ssim": 0.8421194424509146, "lpips": 0.05631741136312485}, "wrist_left": {"psnr": 16.593035750169935, "ssim": 0.42545966091696075, "lpips": 0.17200393974781036}, "wrist_right": {"psnr": 11.347775669286007, "ssim": 0.4286328840141397, "lpips": 0.37174081802368164}, "tactile_left": {"psnr": 37.00005457130197, "ssim": 0.9796664310476535, "lpips": 0.050596948713064194}, "tactile_right": {"psnr": 31.03833028053629, "ssim": 0.9721120927208111, "lpips": 0.0946405753493309}}, "media": {"short": {"video": "media/motherboard_01_short.mp4", "poster": "media/motherboard_01_short.jpg"}, "long": {"video": "media/motherboard_01_long.mp4", "poster": "media/motherboard_01_long.jpg"}}, "force": {"source": "recorded_normal_force", "units": "N", "fps": 15, "left": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.5254545211791992, 2.8207693099975586, 2.9424359798431396, 4.285294055938721, 4.3677778244018555, 5.145384788513184, 5.145384788513184, 5.259615421295166, 5.439090728759766, 5.439090728759766, 5.29610538482666, 5.439090728759766, 5.439090728759766, 6.251071453094482, 6.251071453094482, 6.733333110809326, 6.251071453094482, 7.192828178405762, 7.293181896209717, 7.293181896209717, 7.293181896209717, 6.733333110809326, 6.733333110809326, 6.251071453094482, 6.251071453094482, 4.285294055938721, 4.285294055938721, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "right": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.1662499904632568, 2.636666774749756, 2.9424359798431396, 4.285294055938721, 5.439090728759766, 5.439090728759766, 5.615621566772461, 6.251071453094482, 6.251071453094482, 6.251071453094482, 6.251071453094482, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 6.733333110809326, 6.733333110809326, 6.733333110809326, 6.733333110809326, 6.251071453094482, 2.9424359798431396, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.5445876717567444, 1.9833333492279053, 5.259615421295166, 5.259615421295166, 6.251071453094482, 6.733333110809326, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 6.251071453094482, 5.259615421295166, 4.285294055938721, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 2.8207693099975586, 1.1662769317626953, 1.5254545211791992, 2.9424359798431396, 4.285294055938721, 5.145384788513184, 6.251071453094482, 6.251071453094482, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 6.733333110809326, 6.251071453094482, 6.251071453094482, 6.251071453094482, 5.259615421295166, 5.145384788513184, 4.3677778244018555, 4.285294055938721, 4.285294055938721, 4.285294055938721, 4.285294055938721, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 1.9833333492279053, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.9833333492279053, 2.9424359798431396, 5.259615421295166, 7.293181896209717, 7.293181896209717, 7.310615539550781]}, "long_curve": [{"video": {"psnr": 23.57929966222084, "ssim": 0.8421194424509146, "lpips": 0.05631741136312485}, "wrist_left": {"psnr": 16.593035750169935, "ssim": 0.42545966091696075, "lpips": 0.17200393974781036}, "wrist_right": {"psnr": 11.347775669286007, "ssim": 0.4286328840141397, "lpips": 0.37174081802368164}, "tactile_left": {"psnr": 37.00005457130197, "ssim": 0.9796664310476535, "lpips": 0.050596948713064194}, "tactile_right": {"psnr": 31.03833028053629, "ssim": 0.9721120927208111, "lpips": 0.0946405753493309}}, {"video": {"psnr": 21.681015355885883, "ssim": 0.7485587186532784, "lpips": 0.0954875722527504}, "wrist_left": {"psnr": 15.193357306919813, "ssim": 0.34943490139692823, "lpips": 0.26911717653274536}, "wrist_right": {"psnr": 10.58092772154486, "ssim": 0.38494243594811106, "lpips": 0.42256173491477966}, "tactile_left": {"psnr": 27.053736583391238, "ssim": 0.9225969975259785, "lpips": 0.2563711404800415}, "tactile_right": {"psnr": 26.198995250167364, "ssim": 0.9395795485098841, "lpips": 0.19518673419952393}}, {"video": {"psnr": 20.999297343563235, "ssim": 0.7169337775301575, "lpips": 0.1320003867149353}, "wrist_left": {"psnr": 13.986592612079644, "ssim": 0.32146626272225626, "lpips": 0.3696630895137787}, "wrist_right": {"psnr": 9.632758399504374, "ssim": 0.37081407681933476, "lpips": 0.48553466796875}, "tactile_left": {"psnr": 27.005831934236486, "ssim": 0.9265707550336602, "lpips": 0.2532711923122406}, "tactile_right": {"psnr": 26.282850412758982, "ssim": 0.9423704221755844, "lpips": 0.2026030719280243}}, {"video": {"psnr": 20.847337775602725, "ssim": 0.6916696523186598, "lpips": 0.1490623503923416}, "wrist_left": {"psnr": 11.862855086636745, "ssim": 0.2740116226256946, "lpips": 0.444094181060791}, "wrist_right": {"psnr": 12.749787217259364, "ssim": 0.422130110873095, "lpips": 0.4739181399345398}, "tactile_left": {"psnr": 27.592016202604324, "ssim": 0.925961654931605, "lpips": 0.2778334617614746}, "tactile_right": {"psnr": 40.53732113113796, "ssim": 0.9746396336457757, "lpips": 0.07109907269477844}}, {"video": {"psnr": 20.50499609843368, "ssim": 0.6886302283810031, "lpips": 0.18219837546348572}, "wrist_left": {"psnr": 11.725601918440988, "ssim": 0.42005904954403744, "lpips": 0.47390079498291016}, "wrist_right": {"psnr": 12.95221250449509, "ssim": 0.30580905328026997, "lpips": 0.5500694513320923}, "tactile_left": {"psnr": 36.6499881916159, "ssim": 0.9597799946475232, "lpips": 0.16495269536972046}, "tactile_right": {"psnr": 39.47015039020549, "ssim": 0.9704753787247757, "lpips": 0.09596797078847885}}, {"video": {"psnr": 19.667676267770304, "ssim": 0.6613017075419172, "lpips": 0.2054736316204071}, "wrist_left": {"psnr": 9.907901188670227, "ssim": 0.351615244658918, "lpips": 0.5165263414382935}, "wrist_right": {"psnr": 11.494137089991714, "ssim": 0.24147603251453942, "lpips": 0.6472319960594177}, "tactile_left": {"psnr": 36.36179876197937, "ssim": 0.9579734384604395, "lpips": 0.17485910654067993}, "tactile_right": {"psnr": 30.190232935423236, "ssim": 0.9184522314297974, "lpips": 0.3074371814727783}}, {"video": {"psnr": 19.578342625181055, "ssim": 0.6436455607615328, "lpips": 0.22703111171722412}, "wrist_left": {"psnr": 8.292522513666784, "ssim": 0.3053840166695082, "lpips": 0.5721033811569214}, "wrist_right": {"psnr": 10.240173017228775, "ssim": 0.23206705421543186, "lpips": 0.6718029975891113}, "tactile_left": {"psnr": 35.72117904950174, "ssim": 0.9550185586750104, "lpips": 0.18976283073425293}, "tactile_right": {"psnr": 29.917315851968354, "ssim": 0.9014623332230293, "lpips": 0.35624611377716064}}, {"video": {"psnr": 18.572517431004588, "ssim": 0.6224692169958603, "lpips": 0.29999101161956787}, "wrist_left": {"psnr": 7.837555922062732, "ssim": 0.3039073088092963, "lpips": 0.5812798738479614}, "wrist_right": {"psnr": 9.805493992769016, "ssim": 0.20535549877164577, "lpips": 0.6649913787841797}, "tactile_left": {"psnr": 35.297298193182584, "ssim": 0.952087697238503, "lpips": 0.20807528495788574}, "tactile_right": {"psnr": 30.615944416330557, "ssim": 0.8983845309133383, "lpips": 0.3701831102371216}}, {"video": {"psnr": 18.344191488001936, "ssim": 0.6317450176235984, "lpips": 0.32137006521224976}, "wrist_left": {"psnr": 9.052770210227978, "ssim": 0.36733310734792657, "lpips": 0.5439996719360352}, "wrist_right": {"psnr": 10.206959478260028, "ssim": 0.1927901359542252, "lpips": 0.6249686479568481}, "tactile_left": {"psnr": 34.563627650880974, "ssim": 0.9490894916139454, "lpips": 0.2278774529695511}, "tactile_right": {"psnr": 36.38670647325822, "ssim": 0.9551902567050432, "lpips": 0.18626201152801514}}, {"video": {"psnr": 17.947407425550825, "ssim": 0.6193783670766315, "lpips": 0.3403221070766449}, "wrist_left": {"psnr": 9.215103418926711, "ssim": 0.3674564409477875, "lpips": 0.561741292476654}, "wrist_right": {"psnr": 10.44237096854963, "ssim": 0.12765678761406174, "lpips": 0.6303926706314087}, "tactile_left": {"psnr": 34.13203112954019, "ssim": 0.9461540791538553, "lpips": 0.24278239905834198}, "tactile_right": {"psnr": 34.78482252645798, "ssim": 0.9361406989617382, "lpips": 0.2273784875869751}}, {"video": {"psnr": 17.96431993568023, "ssim": 0.6153647993306224, "lpips": 0.3443012237548828}, "wrist_left": {"psnr": 9.068954035491442, "ssim": 0.357669208843594, "lpips": 0.5607237815856934}, "wrist_right": {"psnr": 10.131308373165712, "ssim": 0.10658590236838342, "lpips": 0.6450996398925781}, "tactile_left": {"psnr": 33.92005547423849, "ssim": 0.9433392457482326, "lpips": 0.25368595123291016}, "tactile_right": {"psnr": 31.246570942061798, "ssim": 0.8708590934032844, "lpips": 0.3228856921195984}}, {"video": {"psnr": 17.931219769440986, "ssim": 0.6120816992503038, "lpips": 0.3424310088157654}, "wrist_left": {"psnr": 9.095037444921434, "ssim": 0.36705311510393246, "lpips": 0.5558665990829468}, "wrist_right": {"psnr": 9.975109004812193, "ssim": 0.12178253665649556, "lpips": 0.6564841270446777}, "tactile_left": {"psnr": 33.553008877156884, "ssim": 0.9407293323071033, "lpips": 0.26439523696899414}, "tactile_right": {"psnr": 31.713193675408217, "ssim": 0.8909115129790774, "lpips": 0.31133490800857544}}, {"video": {"psnr": 17.867934958377433, "ssim": 0.6122782605036979, "lpips": 0.34207284450531006}, "wrist_left": {"psnr": 8.959660775540689, "ssim": 0.3599252270281849, "lpips": 0.5512042045593262}, "wrist_right": {"psnr": 9.945098671526383, "ssim": 0.1195691458692788, "lpips": 0.635246217250824}, "tactile_left": {"psnr": 33.062225701617265, "ssim": 0.9374989479583475, "lpips": 0.27594006061553955}, "tactile_right": {"psnr": 33.044595884853344, "ssim": 0.9210236482354694, "lpips": 0.2735460698604584}}, {"video": {"psnr": 17.77500500791178, "ssim": 0.6099695905853897, "lpips": 0.3472813367843628}, "wrist_left": {"psnr": 9.621089372441423, "ssim": 0.41394993240173994, "lpips": 0.5268173217773438}, "wrist_right": {"psnr": 9.945541622343463, "ssim": 0.13754415221239236, "lpips": 0.641496479511261}, "tactile_left": {"psnr": 32.63067580343639, "ssim": 0.9338638359947473, "lpips": 0.2926420271396637}, "tactile_right": {"psnr": 34.68226197997237, "ssim": 0.9459154678434747, "lpips": 0.20011171698570251}}, {"video": {"psnr": 17.670607181240815, "ssim": 0.6043426662861646, "lpips": 0.35144931077957153}, "wrist_left": {"psnr": 10.303887908449118, "ssim": 0.4387325984659928, "lpips": 0.5032724738121033}, "wrist_right": {"psnr": 9.411726873842603, "ssim": 0.12300444260303563, "lpips": 0.6695499420166016}, "tactile_left": {"psnr": 32.300083394906494, "ssim": 0.9316047237272156, "lpips": 0.3033851981163025}, "tactile_right": {"psnr": 31.36169911125758, "ssim": 0.9226661189122692, "lpips": 0.28740090131759644}}], "long_metrics": {"video": {"psnr": 19.395411221724423, "ssim": 0.6613659136859821, "lpips": 0.24911931653817496}, "wrist_left": {"psnr": 10.714395030976378, "ssim": 0.36156384649885054, "lpips": 0.4801542749007543}, "wrist_right": {"psnr": 10.590758706971947, "ssim": 0.2346773499809627, "lpips": 0.5860725939273834}, "tactile_left": {"psnr": 33.12290743463935, "ssim": 0.9441290122709213, "lpips": 0.22909539913137753}, "tactile_right": {"psnr": 32.49806608411985, "ssim": 0.9306788645588902, "lpips": 0.23348557452360788}}}, {"id": "motherboard_02", "episode": "motherboard_0909_episode_000.pt", "requested_episode": "motherboard_0909_episode_000.pt", "category": "release", "t_start": 3072, "start_seconds": 204.8, "short_contact": [1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 0, 0], "future_transition_ticks": [11], "long_contact_fraction": 0.7734375, "long_label": "release", "short_metrics": {"video": {"psnr": 28.78383048182243, "ssim": 0.9174703726044129, "lpips": 0.030763257294893265}, "wrist_left": {"psnr": 15.771087176338668, "ssim": 0.5438180990153809, "lpips": 0.17826002836227417}, "wrist_right": {"psnr": 14.19583629774402, "ssim": 0.5689857752039553, "lpips": 0.2725141644477844}, "tactile_left": {"psnr": 41.80879860018521, "ssim": 0.9862349501009048, "lpips": 0.014543226920068264}, "tactile_right": {"psnr": 42.87330700774906, "ssim": 0.9821195908963661, "lpips": 0.03238823264837265}}, "media": {"short": {"video": "media/motherboard_02_short.mp4", "poster": "media/motherboard_02_short.jpg"}, "long": {"video": "media/motherboard_02_long.mp4", "poster": "media/motherboard_02_long.jpg"}}, "force": {"source": "recorded_normal_force", "units": "N", "fps": 15, "left": [2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.5254545211791992, 1.5254545211791992, 1.9833333492279053, 1.9833333492279053, 2.636666774749756, 2.8207693099975586, 2.8207693099975586, 2.874819755554199, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 4.285294055938721, 4.285294055938721, 4.3677778244018555, 5.145384788513184, 5.259615421295166, 5.259615421295166, 5.259615421295166, 5.259615421295166, 5.259615421295166, 5.145384788513184, 5.145384788513184, 5.145384788513184, 5.145384788513184, 5.145384788513184, 4.3677778244018555, 4.285294055938721, 2.9424359798431396, 2.9424359798431396, 2.636666774749756, 2.636666774749756, 2.636666774749756, 2.636666774749756, 2.636666774749756, 2.406248092651367, 2.435481309890747, 2.161963701248169, 2.636666774749756, 2.8207693099975586, 1.5254545211791992, 1.6252036094665527, 1.9833333492279053, 1.9833333492279053, 1.9833333492279053, 1.9833333492279053, 1.984134554862976, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.8207693099975586, 2.636666774749756, 2.8207693099975586, 2.8207693099975586, 2.636666774749756, 2.304839849472046, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 4.285294055938721, 4.285294055938721, 4.285294055938721, 4.285294055938721, 4.285294055938721, 4.285294055938721, 4.285294055938721, 2.9424359798431396, 2.8207693099975586, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "right": [4.285294055938721, 4.285294055938721, 4.285294055938721, 4.285294055938721, 4.3677778244018555, 4.3677778244018555, 4.285294055938721, 2.9424359798431396, 2.8207693099975586, 0.41999998688697815, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 2.9424359798431396, 2.9424359798431396, 3.053588390350342, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 4.285294055938721, 4.285294055938721, 4.285294055938721, 4.285294055938721, 4.285294055938721, 4.285294055938721, 4.285294055938721, 4.5, 4.3677778244018555, 4.285294055938721, 5.145384788513184, 5.145384788513184, 4.3677778244018555, 4.807384967803955, 4.3677778244018555, 4.3677778244018555, 4.285294055938721, 4.285294055938721, 4.285294055938721, 4.285294055938721, 4.285294055938721, 4.285294055938721, 4.285294055938721, 4.285294055938721, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 1.5254545211791992, 1.1662499904632568, 0.17491444945335388, 0.17491444945335388, 0.41999998688697815, 0.7223659157752991, 1.1662499904632568, 0.49666666984558105, 0.4887502193450928, 0.49666666984558105, 0.38555848598480225, 0.41999998688697815, 0.49666666984558105, 0.2736985683441162, 0.716099202632904, 1.1662499904632568, 2.636666774749756, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.9833333492279053, 2.8207693099975586, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 4.285294055938721, 4.285294055938721, 4.285294055938721, 4.285294055938721, 4.285294055938721, 4.285294055938721, 2.9424359798431396, 2.9424359798431396, 2.8207693099975586, 2.8207693099975586, 2.8207693099975586, 2.9424359798431396, 2.9424359798431396, 2.3705554008483887, 2.9424359798431396, 0.0, 0.0, 0.0, 0.0, 0.0]}, "long_curve": [{"video": {"psnr": 28.78383048182243, "ssim": 0.9174703726044129, "lpips": 0.030763257294893265}, "wrist_left": {"psnr": 15.771087176338668, "ssim": 0.5438180990153809, "lpips": 0.17826002836227417}, "wrist_right": {"psnr": 14.19583629774402, "ssim": 0.5689857752039553, "lpips": 0.2725141644477844}, "tactile_left": {"psnr": 41.80879860018521, "ssim": 0.9862349501009048, "lpips": 0.014543226920068264}, "tactile_right": {"psnr": 42.87330700774906, "ssim": 0.9821195908963661, "lpips": 0.03238823264837265}}, {"video": {"psnr": 25.76975969223135, "ssim": 0.8460155737667947, "lpips": 0.06131134182214737}, "wrist_left": {"psnr": 14.51638644713589, "ssim": 0.4667850345710334, "lpips": 0.2856604754924774}, "wrist_right": {"psnr": 11.576484749190861, "ssim": 0.4387379524462906, "lpips": 0.40737926959991455}, "tactile_left": {"psnr": 36.55131831153682, "ssim": 0.967462176422113, "lpips": 0.08157655596733093}, "tactile_right": {"psnr": 42.41037853296475, "ssim": 0.9771469162307569, "lpips": 0.04090271145105362}}, {"video": {"psnr": 23.64926173770805, "ssim": 0.764476082794484, "lpips": 0.08902448415756226}, "wrist_left": {"psnr": 14.312644146793591, "ssim": 0.464093845829352, "lpips": 0.30093902349472046}, "wrist_right": {"psnr": 11.532118374007501, "ssim": 0.4278395423622836, "lpips": 0.4459508955478668}, "tactile_left": {"psnr": 33.80140439238475, "ssim": 0.9567518645510806, "lpips": 0.15754470229148865}, "tactile_right": {"psnr": 35.53353357496416, "ssim": 0.9668403992657236, "lpips": 0.09658647328615189}}, {"video": {"psnr": 22.062502109060883, "ssim": 0.7083983660926496, "lpips": 0.1141681894659996}, "wrist_left": {"psnr": 14.422681557112771, "ssim": 0.476233037348996, "lpips": 0.29796943068504333}, "wrist_right": {"psnr": 11.19545604952461, "ssim": 0.39245626792967403, "lpips": 0.4673168957233429}, "tactile_left": {"psnr": 32.74335276902958, "ssim": 0.9511948610587465, "lpips": 0.20743586122989655}, "tactile_right": {"psnr": 31.50164804987877, "ssim": 0.9468653060770751, "lpips": 0.1890699863433838}}, {"video": {"psnr": 21.449661055961787, "ssim": 0.6787878234871432, "lpips": 0.13322405517101288}, "wrist_left": {"psnr": 14.575589942393979, "ssim": 0.47808140901666374, "lpips": 0.2952440083026886}, "wrist_right": {"psnr": 10.387669598600054, "ssim": 0.3856733575289447, "lpips": 0.47786206007003784}, "tactile_left": {"psnr": 33.38318804284824, "ssim": 0.9556607263340797, "lpips": 0.2152220606803894}, "tactile_right": {"psnr": 31.252932690026714, "ssim": 0.942428747479938, "lpips": 0.20351721346378326}}, {"video": {"psnr": 21.898241373590793, "ssim": 0.6972157463808363, "lpips": 0.13058629631996155}, "wrist_left": {"psnr": 13.780329834768102, "ssim": 0.4461140111601428, "lpips": 0.31409382820129395}, "wrist_right": {"psnr": 9.5705200447051, "ssim": 0.3616432507323458, "lpips": 0.492144912481308}, "tactile_left": {"psnr": 33.246884693655716, "ssim": 0.9541364580000997, "lpips": 0.22616396844387054}, "tactile_right": {"psnr": 33.4606123431365, "ssim": 0.9512226048681343, "lpips": 0.1951993703842163}}, {"video": {"psnr": 21.221091467772478, "ssim": 0.6875294830158301, "lpips": 0.1511496603488922}, "wrist_left": {"psnr": 12.469696419548114, "ssim": 0.3682690722850009, "lpips": 0.4004768133163452}, "wrist_right": {"psnr": 9.071943697208525, "ssim": 0.304453947703417, "lpips": 0.5513148307800293}, "tactile_left": {"psnr": 33.237642219118044, "ssim": 0.9508972730793556, "lpips": 0.2328202724456787}, "tactile_right": {"psnr": 34.42703234346672, "ssim": 0.9520552947356682, "lpips": 0.1959851086139679}}, {"video": {"psnr": 20.863807006953174, "ssim": 0.6633245245397652, "lpips": 0.17507483065128326}, "wrist_left": {"psnr": 12.257027478066338, "ssim": 0.36789737004148365, "lpips": 0.4022281765937805}, "wrist_right": {"psnr": 8.676426211347145, "ssim": 0.3227899088667024, "lpips": 0.5671142339706421}, "tactile_left": {"psnr": 32.85804064799943, "ssim": 0.9453392490540522, "lpips": 0.2592748701572418}, "tactile_right": {"psnr": 35.88006618206049, "ssim": 0.9539785384144871, "lpips": 0.1986677050590515}}, {"video": {"psnr": 20.562084358551907, "ssim": 0.6442706768128479, "lpips": 0.19768019020557404}, "wrist_left": {"psnr": 11.8576150577327, "ssim": 0.39554776856023044, "lpips": 0.3839184641838074}, "wrist_right": {"psnr": 8.66256706203038, "ssim": 0.3034455610246741, "lpips": 0.5717834830284119}, "tactile_left": {"psnr": 31.12286022999667, "ssim": 0.9351847737947179, "lpips": 0.30674704909324646}, "tactile_right": {"psnr": 35.98682276485643, "ssim": 0.9530408019043619, "lpips": 0.20423750579357147}}, {"video": {"psnr": 19.958217361494558, "ssim": 0.6143991125660389, "lpips": 0.22544682025909424}, "wrist_left": {"psnr": 11.757765926334837, "ssim": 0.4142054971532213, "lpips": 0.4075621962547302}, "wrist_right": {"psnr": 8.352635566786025, "ssim": 0.30065220509985774, "lpips": 0.5617849230766296}, "tactile_left": {"psnr": 29.027761987738426, "ssim": 0.9243838757191049, "lpips": 0.3338908553123474}, "tactile_right": {"psnr": 35.76231544259556, "ssim": 0.9514954146732839, "lpips": 0.19552814960479736}}, {"video": {"psnr": 20.127101545524777, "ssim": 0.6172452225913594, "lpips": 0.21565985679626465}, "wrist_left": {"psnr": 12.350238285622297, "ssim": 0.3907338163330144, "lpips": 0.4287344515323639}, "wrist_right": {"psnr": 9.49551780966049, "ssim": 0.310617771805326, "lpips": 0.5425251722335815}, "tactile_left": {"psnr": 33.18965379054916, "ssim": 0.9461204439257934, "lpips": 0.24693670868873596}, "tactile_right": {"psnr": 36.11713151988856, "ssim": 0.9508132581336539, "lpips": 0.1840198040008545}}, {"video": {"psnr": 19.896609518435987, "ssim": 0.6148411414991373, "lpips": 0.22692692279815674}, "wrist_left": {"psnr": 11.935807506313832, "ssim": 0.38219420137036886, "lpips": 0.48201990127563477}, "wrist_right": {"psnr": 8.631864908072263, "ssim": 0.22669422325589544, "lpips": 0.6281157732009888}, "tactile_left": {"psnr": 32.94273935893395, "ssim": 0.9430868985469902, "lpips": 0.26130685210227966}, "tactile_right": {"psnr": 35.02412079352771, "ssim": 0.9460241382866732, "lpips": 0.20735062658786774}}, {"video": {"psnr": 19.791649572906433, "ssim": 0.6098248050782558, "lpips": 0.23308831453323364}, "wrist_left": {"psnr": 11.89307299550665, "ssim": 0.37674988032638657, "lpips": 0.49575361609458923}, "wrist_right": {"psnr": 8.519569725718707, "ssim": 0.22836718195925948, "lpips": 0.6432017087936401}, "tactile_left": {"psnr": 32.75778945428426, "ssim": 0.9412855495421695, "lpips": 0.2757962942123413}, "tactile_right": {"psnr": 31.243954863397544, "ssim": 0.9306431650741911, "lpips": 0.32638823986053467}}, {"video": {"psnr": 18.928614515340044, "ssim": 0.5977163580573884, "lpips": 0.2695554792881012}, "wrist_left": {"psnr": 11.99759370136851, "ssim": 0.3941263462983378, "lpips": 0.5027357935905457}, "wrist_right": {"psnr": 8.21985544713101, "ssim": 0.26442485921981446, "lpips": 0.668423056602478}, "tactile_left": {"psnr": 32.55645929918111, "ssim": 0.9387496006728968, "lpips": 0.29047587513923645}, "tactile_right": {"psnr": 31.739133817369996, "ssim": 0.928533864725053, "lpips": 0.31937387585639954}}, {"video": {"psnr": 18.297181470916925, "ssim": 0.5886289241060246, "lpips": 0.30694085359573364}, "wrist_left": {"psnr": 11.686794735877656, "ssim": 0.3934520710482376, "lpips": 0.5326904058456421}, "wrist_right": {"psnr": 7.604007790250005, "ssim": 0.2702998137427647, "lpips": 0.6617293357849121}, "tactile_left": {"psnr": 32.304968853684144, "ssim": 0.9368850546371648, "lpips": 0.2960023283958435}, "tactile_right": {"psnr": 33.315268914608865, "ssim": 0.9383734381076676, "lpips": 0.26694345474243164}}], "long_metrics": {"video": {"psnr": 21.550640884551438, "ssim": 0.6833429475595312, "lpips": 0.1707067035138607}, "wrist_left": {"psnr": 13.03895541406093, "ssim": 0.4238867640238567, "lpips": 0.3805524408817291}, "wrist_right": {"psnr": 9.712831555465112, "ssim": 0.3404721079254137, "lpips": 0.5306107143561045}, "tactile_left": {"psnr": 33.4355241767417, "ssim": 0.9488915836959513, "lpips": 0.22704916540533304}, "tactile_right": {"psnr": 35.10188392269946, "ssim": 0.9514387652582023, "lpips": 0.19041056384642918}}}, {"id": "motherboard_03", "episode": "motherboard_0909_episode_000.pt", "requested_episode": "motherboard_0909_episode_000.pt", "category": "full", "t_start": 2531, "start_seconds": 168.73333333333332, "short_contact": [1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1], "future_transition_ticks": [], "long_contact_fraction": 0.9296875, "long_label": "full", "short_metrics": {"video": {"psnr": 26.102608169366682, "ssim": 0.8607999473335382, "lpips": 0.04810115694999695}, "wrist_left": {"psnr": 16.908785537451212, "ssim": 0.5844153375798329, "lpips": 0.17280128598213196}, "wrist_right": {"psnr": 17.991353063297172, "ssim": 0.6161384501607372, "lpips": 0.21286678314208984}, "tactile_left": {"psnr": 32.89691369598231, "ssim": 0.9609557561359785, "lpips": 0.06007084995508194}, "tactile_right": {"psnr": 37.18022663766174, "ssim": 0.9696705744843814, "lpips": 0.07123236358165741}}, "media": {"short": {"video": "media/motherboard_03_short.mp4", "poster": "media/motherboard_03_short.jpg"}, "long": {"video": "media/motherboard_03_long.mp4", "poster": "media/motherboard_03_long.jpg"}}, "force": {"source": "recorded_normal_force", "units": "N", "fps": 15, "left": [1.1936427354812622, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 4.285294055938721, 2.9424359798431396, 4.285294055938721, 5.145384788513184, 5.259615421295166, 5.259615421295166, 5.439090728759766, 5.319377899169922, 5.319377899169922, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.318239688873291, 7.4301862716674805, 7.316900253295898, 7.304895877838135, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 6.251071453094482, 6.251071453094482, 6.251071453094482, 5.439090728759766, 5.439090728759766, 5.259615421295166, 5.259615421295166, 5.4359307289123535, 5.259615421295166, 5.145384788513184, 5.145384788513184, 5.145384788513184, 5.145384788513184, 4.285294055938721, 2.9424359798431396, 2.9424359798431396, 2.0387191772460938, 2.8207693099975586, 2.9424359798431396, 2.9424359798431396, 4.285294055938721, 4.3677778244018555, 4.285294055938721, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 1.1733332872390747, 2.9424359798431396, 4.285294055938721, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.8207693099975586, 1.9833333492279053, 2.636666774749756, 2.8207693099975586, 2.8207693099975586, 2.8207693099975586, 2.9424359798431396, 2.9424359798431396, 2.4149999618530273, 1.9833333492279053, 1.9833333492279053, 1.9833333492279053, 1.9833333492279053, 1.7736024856567383, 1.9833333492279053, 1.9833333492279053, 1.1733332872390747, 0.2758376896381378, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "right": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.9833333492279053, 2.110971689224243, 2.8207693099975586, 2.9424359798431396, 2.9424359798431396, 4.285294055938721, 4.285294055938721, 4.285294055938721, 4.285294055938721, 4.285294055938721, 4.285294055938721, 4.285294055938721, 2.8207693099975586, 2.312258720397949, 1.22345769405365, 1.170535922050476, 1.1733332872390747, 1.9833333492279053, 2.9424359798431396, 2.9424359798431396, 4.285294055938721, 5.259615421295166, 5.259615421295166, 5.259615421295166, 5.411874771118164, 5.259615421295166, 4.3677778244018555, 4.285294055938721, 5.145384788513184, 5.259615421295166, 6.251071453094482, 6.251071453094482, 6.733333110809326, 6.733333110809326, 6.733333110809326, 6.251071453094482, 5.734507083892822, 6.251071453094482, 6.251071453094482, 6.733333110809326, 6.251071453094482, 5.439090728759766, 6.251071453094482, 6.251071453094482, 5.439090728759766, 5.259615421295166, 6.251071453094482, 6.251071453094482, 6.251071453094482, 7.166194438934326, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.00433874130249, 7.027249813079834, 7.293181896209717, 6.983473300933838, 7.044147491455078, 6.733333110809326, 6.733333110809326, 6.251071453094482, 6.251071453094482, 5.439090728759766, 5.439090728759766, 5.259615421295166, 5.145384788513184, 4.285294055938721, 4.285294055938721, 4.285294055938721, 4.285294055938721, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.8207693099975586, 0.7958375811576843, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.9833333492279053, 6.251071453094482, 7.293181896209717, 7.293181896209717, 7.295978546142578, 7.294878959655762, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.300464630126953, 7.300464630126953, 7.29489803314209, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 6.733333110809326, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717]}, "long_curve": [{"video": {"psnr": 26.102608169366682, "ssim": 0.8607999473335382, "lpips": 0.04810115694999695}, "wrist_left": {"psnr": 16.908785537451212, "ssim": 0.5844153375798329, "lpips": 0.17280128598213196}, "wrist_right": {"psnr": 17.991353063297172, "ssim": 0.6161384501607372, "lpips": 0.21286678314208984}, "tactile_left": {"psnr": 32.89691369598231, "ssim": 0.9609557561359785, "lpips": 0.06007084995508194}, "tactile_right": {"psnr": 37.18022663766174, "ssim": 0.9696705744843814, "lpips": 0.07123236358165741}}, {"video": {"psnr": 23.04713131824905, "ssim": 0.77608045975304, "lpips": 0.0996897891163826}, "wrist_left": {"psnr": 14.83654478455893, "ssim": 0.44251041932539703, "lpips": 0.3288503885269165}, "wrist_right": {"psnr": 13.92707341010997, "ssim": 0.41922834428323996, "lpips": 0.43704891204833984}, "tactile_left": {"psnr": 28.240491424656504, "ssim": 0.9259322448183194, "lpips": 0.17855679988861084}, "tactile_right": {"psnr": 37.17159508441342, "ssim": 0.9666531124536332, "lpips": 0.10936589539051056}}, {"video": {"psnr": 20.722840584111, "ssim": 0.713324461083523, "lpips": 0.1652108132839203}, "wrist_left": {"psnr": 13.183409429427527, "ssim": 0.3365744337536617, "lpips": 0.44862404465675354}, "wrist_right": {"psnr": 13.149687585593492, "ssim": 0.3706903214569506, "lpips": 0.5064235925674438}, "tactile_left": {"psnr": 29.397205455561327, "ssim": 0.921472354249708, "lpips": 0.22482621669769287}, "tactile_right": {"psnr": 34.38204236925123, "ssim": 0.9605896726967259, "lpips": 0.160128653049469}}, {"video": {"psnr": 17.95046472995798, "ssim": 0.6764537801713055, "lpips": 0.28963911533355713}, "wrist_left": {"psnr": 12.407988735482771, "ssim": 0.2840539374972322, "lpips": 0.49381572008132935}, "wrist_right": {"psnr": 12.40189642932679, "ssim": 0.31372724439965605, "lpips": 0.5552899837493896}, "tactile_left": {"psnr": 31.949154790436523, "ssim": 0.935440187680936, "lpips": 0.211297407746315}, "tactile_right": {"psnr": 33.588989497330104, "ssim": 0.9553262105605007, "lpips": 0.19501610100269318}}, {"video": {"psnr": 14.8932710339911, "ssim": 0.5926988380931127, "lpips": 0.4061111509799957}, "wrist_left": {"psnr": 11.104560462939473, "ssim": 0.2344919161542549, "lpips": 0.5154765844345093}, "wrist_right": {"psnr": 11.409729713606108, "ssim": 0.2619401097304845, "lpips": 0.6195918321609497}, "tactile_left": {"psnr": 32.74121942162789, "ssim": 0.9431054102784948, "lpips": 0.22678138315677643}, "tactile_right": {"psnr": 33.285062022000254, "ssim": 0.9498534879398989, "lpips": 0.21398690342903137}}, {"video": {"psnr": 14.459609281512568, "ssim": 0.5793038753207977, "lpips": 0.40763598680496216}, "wrist_left": {"psnr": 11.352164305216574, "ssim": 0.23955215622113252, "lpips": 0.5065575838088989}, "wrist_right": {"psnr": 11.504350192913456, "ssim": 0.25575565901329184, "lpips": 0.6406250596046448}, "tactile_left": {"psnr": 33.05978778580147, "ssim": 0.9458134277266426, "lpips": 0.2325083613395691}, "tactile_right": {"psnr": 32.37367406382708, "ssim": 0.9456194082041491, "lpips": 0.2271832823753357}}, {"video": {"psnr": 14.44997973544239, "ssim": 0.5751998965232135, "lpips": 0.415386438369751}, "wrist_left": {"psnr": 10.873230506321525, "ssim": 0.2590748500030847, "lpips": 0.548794150352478}, "wrist_right": {"psnr": 11.152391671917155, "ssim": 0.28827082958712313, "lpips": 0.6619890332221985}, "tactile_left": {"psnr": 33.25029957010177, "ssim": 0.9450855232082, "lpips": 0.2409004420042038}, "tactile_right": {"psnr": 31.429363302013765, "ssim": 0.9413237387504606, "lpips": 0.25327253341674805}}, {"video": {"psnr": 14.457518076906023, "ssim": 0.5755252838245049, "lpips": 0.40562903881073}, "wrist_left": {"psnr": 11.305919863541432, "ssim": 0.23604482401811647, "lpips": 0.5597753524780273}, "wrist_right": {"psnr": 10.208586258609412, "ssim": 0.2556051757515008, "lpips": 0.673688530921936}, "tactile_left": {"psnr": 32.41972341245473, "ssim": 0.9376313538037924, "lpips": 0.27988916635513306}, "tactile_right": {"psnr": 31.686504519539994, "ssim": 0.9374729702814524, "lpips": 0.2667563557624817}}, {"video": {"psnr": 14.191044261255264, "ssim": 0.5639536450266315, "lpips": 0.44258785247802734}, "wrist_left": {"psnr": 11.533577682439404, "ssim": 0.20883997394010884, "lpips": 0.5724353790283203}, "wrist_right": {"psnr": 8.591723229600207, "ssim": 0.20314867504742967, "lpips": 0.7779114246368408}, "tactile_left": {"psnr": 32.20453401806195, "ssim": 0.9387189218541553, "lpips": 0.28060832619667053}, "tactile_right": {"psnr": 32.94546432252996, "ssim": 0.9395855913538036, "lpips": 0.2538388967514038}}, {"video": {"psnr": 14.203262782880659, "ssim": 0.5378634052360536, "lpips": 0.4773349463939667}, "wrist_left": {"psnr": 10.163425037205398, "ssim": 0.15545582485037113, "lpips": 0.6014434099197388}, "wrist_right": {"psnr": 8.62349441609965, "ssim": 0.18069111833476012, "lpips": 0.7833446264266968}, "tactile_left": {"psnr": 31.768275221703398, "ssim": 0.9386891758848626, "lpips": 0.28959810733795166}, "tactile_right": {"psnr": 32.279438204468285, "ssim": 0.9375722253132847, "lpips": 0.2622705101966858}}, {"video": {"psnr": 14.734530309994181, "ssim": 0.545995040307806, "lpips": 0.47727787494659424}, "wrist_left": {"psnr": 8.588384034174897, "ssim": 0.17838937017564388, "lpips": 0.6254454851150513}, "wrist_right": {"psnr": 8.463846685303457, "ssim": 0.19628408901051167, "lpips": 0.704251229763031}, "tactile_left": {"psnr": 31.18605966258492, "ssim": 0.9407762877447817, "lpips": 0.27454549074172974}, "tactile_right": {"psnr": 34.028020759269786, "ssim": 0.9448020246609337, "lpips": 0.2210255265235901}}, {"video": {"psnr": 15.455016091954526, "ssim": 0.5452293039903187, "lpips": 0.47615981101989746}, "wrist_left": {"psnr": 10.889966003155712, "ssim": 0.29998726064340747, "lpips": 0.5685474872589111}, "wrist_right": {"psnr": 9.964239006245705, "ssim": 0.18879985398463772, "lpips": 0.7249388694763184}, "tactile_left": {"psnr": 30.60991978104314, "ssim": 0.9372235632973729, "lpips": 0.27966609597206116}, "tactile_right": {"psnr": 32.34143014845154, "ssim": 0.9384257685674942, "lpips": 0.2526940107345581}}, {"video": {"psnr": 14.955072439381738, "ssim": 0.521758810494232, "lpips": 0.498993456363678}, "wrist_left": {"psnr": 10.037501759389972, "ssim": 0.3011732672467174, "lpips": 0.6256800889968872}, "wrist_right": {"psnr": 9.282196491187166, "ssim": 0.16865999349472094, "lpips": 0.7733670473098755}, "tactile_left": {"psnr": 29.918509018897915, "ssim": 0.9340991567703227, "lpips": 0.28924527764320374}, "tactile_right": {"psnr": 29.056435153790826, "ssim": 0.9234224110955394, "lpips": 0.3317561745643616}}, {"video": {"psnr": 13.388461356598603, "ssim": 0.44484878540341616, "lpips": 0.563252866268158}, "wrist_left": {"psnr": 9.72913023830133, "ssim": 0.20538637800962078, "lpips": 0.7213868498802185}, "wrist_right": {"psnr": 9.929022667719604, "ssim": 0.1889689406498469, "lpips": 0.7117218971252441}, "tactile_left": {"psnr": 29.18521772479839, "ssim": 0.9298101935833359, "lpips": 0.3024933934211731}, "tactile_right": {"psnr": 28.27105969860048, "ssim": 0.9178130917246066, "lpips": 0.3496828079223633}}, {"video": {"psnr": 12.912754314084626, "ssim": 0.42791764371776586, "lpips": 0.5572903752326965}, "wrist_left": {"psnr": 9.640835019079312, "ssim": 0.20359398789481395, "lpips": 0.7197720408439636}, "wrist_right": {"psnr": 9.576527850709214, "ssim": 0.17068396129812313, "lpips": 0.6945319771766663}, "tactile_left": {"psnr": 28.639431896469908, "ssim": 0.9266148249648558, "lpips": 0.31515562534332275}, "tactile_right": {"psnr": 29.095142675482634, "ssim": 0.9183307179114024, "lpips": 0.34069523215293884}}], "long_metrics": {"video": {"psnr": 16.39490429904576, "ssim": 0.5957968784186173, "lpips": 0.3820200448234876}, "wrist_left": {"psnr": 11.503694893245697, "ssim": 0.27796959582089303, "lpips": 0.5339603900909424}, "wrist_right": {"psnr": 11.07840791148257, "ssim": 0.2719061844135343, "lpips": 0.631839386622111}, "tactile_left": {"psnr": 31.16444952534548, "ssim": 0.9374245588001172, "lpips": 0.2457428629199664}, "tactile_right": {"psnr": 32.60762989724207, "ssim": 0.9430974003998844, "lpips": 0.2339270164569219}}}, {"id": "motherboard_04", "episode": "motherboard_0909_episode_001.pt", "requested_episode": "motherboard_0909_episode_001.pt", "category": "none", "t_start": 3, "start_seconds": 0.2, "short_contact": [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0], "future_transition_ticks": [], "long_contact_fraction": 0.0, "long_label": "none_throughout", "short_metrics": {"video": {"psnr": 34.186621404755954, "ssim": 0.9577313331069721, "lpips": 0.011885283514857292}, "wrist_left": {"psnr": 38.661350746766935, "ssim": 0.9766955446009952, "lpips": 0.016833016648888588}, "wrist_right": {"psnr": 39.76534524275773, "ssim": 0.9790713427317927, "lpips": 0.01452898420393467}, "tactile_left": {"psnr": 46.14219575310264, "ssim": 0.9934846429531261, "lpips": 0.005262433085590601}, "tactile_right": {"psnr": 48.39637777464126, "ssim": 0.9941596756588118, "lpips": 0.0052642421796917915}}, "media": {"short": {"video": "media/motherboard_04_short.mp4", "poster": "media/motherboard_04_short.jpg"}, "long": {"video": "media/motherboard_04_long.mp4", "poster": "media/motherboard_04_long.jpg"}}, "force": {"source": "recorded_normal_force", "units": "N", "fps": 15, "left": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "right": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]}, "long_curve": [{"video": {"psnr": 34.186621404755954, "ssim": 0.9577313331069721, "lpips": 0.011885283514857292}, "wrist_left": {"psnr": 38.661350746766935, "ssim": 0.9766955446009952, "lpips": 0.016833016648888588}, "wrist_right": {"psnr": 39.76534524275773, "ssim": 0.9790713427317927, "lpips": 0.01452898420393467}, "tactile_left": {"psnr": 46.14219575310264, "ssim": 0.9934846429531261, "lpips": 0.005262433085590601}, "tactile_right": {"psnr": 48.39637777464126, "ssim": 0.9941596756588118, "lpips": 0.0052642421796917915}}, {"video": {"psnr": 31.967216491558297, "ssim": 0.9383300229265085, "lpips": 0.020281877368688583}, "wrist_left": {"psnr": 33.51260946713284, "ssim": 0.9537161790170274, "lpips": 0.034096650779247284}, "wrist_right": {"psnr": 34.62277549036431, "ssim": 0.9619017052511645, "lpips": 0.03561495617032051}, "tactile_left": {"psnr": 41.02681120665074, "ssim": 0.9882561183345608, "lpips": 0.02174057811498642}, "tactile_right": {"psnr": 43.72448748952706, "ssim": 0.9899673952404517, "lpips": 0.018168874084949493}}, {"video": {"psnr": 30.03302200597418, "ssim": 0.9158365460304961, "lpips": 0.029593991115689278}, "wrist_left": {"psnr": 30.584165701101668, "ssim": 0.939063924053504, "lpips": 0.056674662977457047}, "wrist_right": {"psnr": 31.60826890078023, "ssim": 0.9369990315125705, "lpips": 0.0561784990131855}, "tactile_left": {"psnr": 37.62076132426465, "ssim": 0.9824778563563372, "lpips": 0.04479757696390152}, "tactile_right": {"psnr": 40.26028593021494, "ssim": 0.985180827132916, "lpips": 0.03621150925755501}}, {"video": {"psnr": 28.77811937203446, "ssim": 0.8961678336275933, "lpips": 0.039463020861148834}, "wrist_left": {"psnr": 28.696939220465907, "ssim": 0.9278927845036429, "lpips": 0.07404915988445282}, "wrist_right": {"psnr": 29.61554941368176, "ssim": 0.9140985224138236, "lpips": 0.07231641560792923}, "tactile_left": {"psnr": 35.215250986161344, "ssim": 0.9767134667430762, "lpips": 0.07399687170982361}, "tactile_right": {"psnr": 37.91553751558608, "ssim": 0.9804724250994585, "lpips": 0.05831524357199669}}, {"video": {"psnr": 27.77792822037217, "ssim": 0.8750912691724586, "lpips": 0.05059298127889633}, "wrist_left": {"psnr": 27.042065090351453, "ssim": 0.919407565640813, "lpips": 0.0913643017411232}, "wrist_right": {"psnr": 27.85679359483318, "ssim": 0.8975625125809006, "lpips": 0.09390531480312347}, "tactile_left": {"psnr": 33.03938949322417, "ssim": 0.9708649841083975, "lpips": 0.10674002766609192}, "tactile_right": {"psnr": 35.696293586587444, "ssim": 0.9754886222173521, "lpips": 0.07785093039274216}}, {"video": {"psnr": 26.892000233660085, "ssim": 0.8557900360668761, "lpips": 0.060650791972875595}, "wrist_left": {"psnr": 25.499674163125945, "ssim": 0.9013805691025767, "lpips": 0.11571456491947174}, "wrist_right": {"psnr": 26.624060965161597, "ssim": 0.8812625045610327, "lpips": 0.12201683968305588}, "tactile_left": {"psnr": 31.743518937980603, "ssim": 0.9648615084290629, "lpips": 0.13706231117248535}, "tactile_right": {"psnr": 34.12994830732633, "ssim": 0.9694167306503088, "lpips": 0.1046188473701477}}, {"video": {"psnr": 26.147224833174114, "ssim": 0.837536459689646, "lpips": 0.06978237628936768}, "wrist_left": {"psnr": 25.037499609643948, "ssim": 0.8857972444133024, "lpips": 0.13997763395309448}, "wrist_right": {"psnr": 24.986891387189075, "ssim": 0.8613656256874301, "lpips": 0.16617538034915924}, "tactile_left": {"psnr": 30.61089808622853, "ssim": 0.9593538925034292, "lpips": 0.16351622343063354}, "tactile_right": {"psnr": 33.202884050915664, "ssim": 0.9646146001970036, "lpips": 0.1265130639076233}}, {"video": {"psnr": 25.482160941617895, "ssim": 0.8210525908515913, "lpips": 0.08150946348905563}, "wrist_left": {"psnr": 23.984886372100952, "ssim": 0.8599069657054771, "lpips": 0.1828612983226776}, "wrist_right": {"psnr": 23.790220291684527, "ssim": 0.838158732828209, "lpips": 0.19663627445697784}, "tactile_left": {"psnr": 29.698982605240243, "ssim": 0.9540535975416091, "lpips": 0.18495449423789978}, "tactile_right": {"psnr": 32.15217733899852, "ssim": 0.9595292206424079, "lpips": 0.14891961216926575}}, {"video": {"psnr": 24.926640343967428, "ssim": 0.8044476053310856, "lpips": 0.09075000882148743}, "wrist_left": {"psnr": 23.60084416629103, "ssim": 0.8443152492907703, "lpips": 0.21407228708267212}, "wrist_right": {"psnr": 22.494222654847288, "ssim": 0.8092942856268506, "lpips": 0.23279425501823425}, "tactile_left": {"psnr": 28.581503736529665, "ssim": 0.9490093450514079, "lpips": 0.21058563888072968}, "tactile_right": {"psnr": 31.082557601366055, "ssim": 0.9548139788174144, "lpips": 0.16620047390460968}}, {"video": {"psnr": 24.373246812396264, "ssim": 0.7882922923600634, "lpips": 0.09970517456531525}, "wrist_left": {"psnr": 22.75312645002675, "ssim": 0.8217864730239786, "lpips": 0.24667784571647644}, "wrist_right": {"psnr": 21.30621089205455, "ssim": 0.7847229980570669, "lpips": 0.257862389087677}, "tactile_left": {"psnr": 27.648452724206223, "ssim": 0.9434506838273051, "lpips": 0.22854600846767426}, "tactile_right": {"psnr": 30.18669027437271, "ssim": 0.9498053989721372, "lpips": 0.1798407882452011}}, {"video": {"psnr": 23.971406619423274, "ssim": 0.7743957087028035, "lpips": 0.10846871137619019}, "wrist_left": {"psnr": 21.29752194780226, "ssim": 0.7950283741875708, "lpips": 0.2836074233055115}, "wrist_right": {"psnr": 19.7479060060383, "ssim": 0.7592437614520138, "lpips": 0.3003285527229309}, "tactile_left": {"psnr": 26.52257601461526, "ssim": 0.9363294711933281, "lpips": 0.24475586414337158}, "tactile_right": {"psnr": 29.148816677991327, "ssim": 0.9435491399845031, "lpips": 0.19482022523880005}}, {"video": {"psnr": 23.559661548534013, "ssim": 0.7603729966276371, "lpips": 0.11741137504577637}, "wrist_left": {"psnr": 19.77913997911614, "ssim": 0.7618456683989372, "lpips": 0.31437939405441284}, "wrist_right": {"psnr": 18.748487502130416, "ssim": 0.7383135119529189, "lpips": 0.3331545293331146}, "tactile_left": {"psnr": 25.44684481979175, "ssim": 0.9290999000287639, "lpips": 0.2556123733520508}, "tactile_right": {"psnr": 28.082197920653336, "ssim": 0.9375653738974017, "lpips": 0.20601190626621246}}, {"video": {"psnr": 23.11191349300052, "ssim": 0.7456309328948729, "lpips": 0.1264793574810028}, "wrist_left": {"psnr": 18.196555631660015, "ssim": 0.7108533185620249, "lpips": 0.35490167140960693}, "wrist_right": {"psnr": 17.958370272276856, "ssim": 0.7154373222789445, "lpips": 0.3707210123538971}, "tactile_left": {"psnr": 24.609480498642636, "ssim": 0.9216958057440152, "lpips": 0.26388785243034363}, "tactile_right": {"psnr": 27.034485714866904, "ssim": 0.9296189182933949, "lpips": 0.22204725444316864}}, {"video": {"psnr": 22.74598752049672, "ssim": 0.7311446270743642, "lpips": 0.13551822304725647}, "wrist_left": {"psnr": 16.499571510707316, "ssim": 0.665735034862973, "lpips": 0.39018160104751587}, "wrist_right": {"psnr": 17.299036567486866, "ssim": 0.6982734653196202, "lpips": 0.39935222268104553}, "tactile_left": {"psnr": 23.727006414556442, "ssim": 0.9125128380331369, "lpips": 0.27992549538612366}, "tactile_right": {"psnr": 26.11837071375723, "ssim": 0.9225490445110023, "lpips": 0.24097967147827148}}, {"video": {"psnr": 21.46066588293218, "ssim": 0.6994220574870046, "lpips": 0.16423627734184265}, "wrist_left": {"psnr": 15.417091896151284, "ssim": 0.6196092259390141, "lpips": 0.41889309883117676}, "wrist_right": {"psnr": 16.488889525166762, "ssim": 0.6712029811556441, "lpips": 0.4295822083950043}, "tactile_left": {"psnr": 22.92797816168293, "ssim": 0.9047614446918267, "lpips": 0.2938559949398041}, "tactile_right": {"psnr": 25.283346093325612, "ssim": 0.915728898777428, "lpips": 0.25532853603363037}}], "long_metrics": {"video": {"psnr": 26.360921048259836, "ssim": 0.8267494874633315, "lpips": 0.0804219275712967}, "wrist_left": {"psnr": 24.70420279682963, "ssim": 0.8388689414201739, "lpips": 0.19561897404491901}, "wrist_right": {"psnr": 24.860868580430232, "ssim": 0.8297938868939988, "lpips": 0.205411188925306}, "tactile_left": {"psnr": 30.97077671752519, "ssim": 0.9524617037026256, "lpips": 0.16768264959876736}, "tactile_right": {"psnr": 33.494297132675364, "ssim": 0.9581640166727995, "lpips": 0.1360727452362577}}}, {"id": "motherboard_05", "episode": "motherboard_0909_episode_001.pt", "requested_episode": "motherboard_0909_episode_001.pt", "category": "onset", "t_start": 760, "start_seconds": 50.666666666666664, "short_contact": [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 1], "future_transition_ticks": [11], "long_contact_fraction": 0.6953125, "long_label": "onset", "short_metrics": {"video": {"psnr": 23.64024439741801, "ssim": 0.8096146868744188, "lpips": 0.08055725693702698}, "wrist_left": {"psnr": 14.048223679711658, "ssim": 0.362807071796516, "lpips": 0.46583616733551025}, "wrist_right": {"psnr": 15.586195851463591, "ssim": 0.5501152103990419, "lpips": 0.32097893953323364}, "tactile_left": {"psnr": 38.31213292253998, "ssim": 0.9845043162718399, "lpips": 0.04095063358545303}, "tactile_right": {"psnr": 45.56048448089682, "ssim": 0.992306920338496, "lpips": 0.009902572259306908}}, "media": {"short": {"video": "media/motherboard_05_short.mp4", "poster": "media/motherboard_05_short.jpg"}, "long": {"video": "media/motherboard_05_long.mp4", "poster": "media/motherboard_05_long.jpg"}}, "force": {"source": "recorded_normal_force", "units": "N", "fps": 15, "left": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 2.93143892288208, 2.8207693099975586, 2.9424359798431396, 2.636666774749756, 1.9833333492279053, 2.8207693099975586, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 2.8207693099975586, 2.9424359798431396, 4.285294055938721, 5.145384788513184, 5.145384788513184, 5.145384788513184, 5.145384788513184, 5.145384788513184, 5.259615421295166, 5.259615421295166, 5.439090728759766, 5.259615421295166, 5.259615421295166, 1.886374831199646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.9833333492279053, 1.5254545211791992, 2.024200916290283, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 4.285294055938721, 4.285294055938721, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 1.9833333492279053, 1.4500000476837158, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "right": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.1662499904632568, 1.1733332872390747, 1.1662499904632568, 1.5254545211791992, 2.8207693099975586, 4.285294055938721, 5.76570463180542, 6.251071453094482, 6.251071453094482, 6.251071453094482, 6.251071453094482, 6.733333110809326, 6.733333110809326, 6.251071453094482, 6.251071453094482, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 6.8976850509643555, 6.733333110809326, 6.251071453094482, 6.251071453094482, 5.145384788513184, 6.251071453094482, 6.251071453094482, 5.259615421295166, 5.439090728759766, 6.251071453094482, 5.439090728759766, 5.439090728759766, 5.439090728759766, 6.182772636413574, 6.251071453094482, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.013420581817627, 2.8207693099975586, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.455624520778656, 4.285294055938721, 5.259615421295166, 5.259615421295166, 5.439090728759766, 5.972020626068115, 5.972020626068115, 5.145384788513184, 2.9424359798431396, 2.9424359798431396, 4.285294055938721, 4.285294055938721, 4.285294055938721, 4.285294055938721, 4.285294055938721, 4.285294055938721, 4.5, 5.145384788513184, 5.259615421295166, 5.145384788513184, 2.9424359798431396, 0.2600841820240021, 0.0, 0.0, 0.0, 0.0, 0.0]}, "long_curve": [{"video": {"psnr": 23.64024439741801, "ssim": 0.8096146868744188, "lpips": 0.08055725693702698}, "wrist_left": {"psnr": 14.048223679711658, "ssim": 0.362807071796516, "lpips": 0.46583616733551025}, "wrist_right": {"psnr": 15.586195851463591, "ssim": 0.5501152103990419, "lpips": 0.32097893953323364}, "tactile_left": {"psnr": 38.31213292253998, "ssim": 0.9845043162718399, "lpips": 0.04095063358545303}, "tactile_right": {"psnr": 45.56048448089682, "ssim": 0.992306920338496, "lpips": 0.009902572259306908}}, {"video": {"psnr": 20.114282737355126, "ssim": 0.6833754193134534, "lpips": 0.1921810805797577}, "wrist_left": {"psnr": 13.205282169044683, "ssim": 0.35780724632291183, "lpips": 0.4748955965042114}, "wrist_right": {"psnr": 13.332960473877904, "ssim": 0.48982468813440777, "lpips": 0.3735770285129547}, "tactile_left": {"psnr": 40.37686729693728, "ssim": 0.9810517666678491, "lpips": 0.038711197674274445}, "tactile_right": {"psnr": 43.319992880760445, "ssim": 0.9857555509200113, "lpips": 0.028876394033432007}}, {"video": {"psnr": 19.97231362502169, "ssim": 0.6919337412000808, "lpips": 0.21111026406288147}, "wrist_left": {"psnr": 11.766456976495466, "ssim": 0.2716236318001778, "lpips": 0.559920072555542}, "wrist_right": {"psnr": 11.47291437281421, "ssim": 0.43004375208892825, "lpips": 0.4631905257701874}, "tactile_left": {"psnr": 28.93141530533039, "ssim": 0.9456878209676974, "lpips": 0.1937384009361267}, "tactile_right": {"psnr": 43.57270590369093, "ssim": 0.9830979400131664, "lpips": 0.044849082827568054}}, {"video": {"psnr": 18.515371542549047, "ssim": 0.6523036507249143, "lpips": 0.284532368183136}, "wrist_left": {"psnr": 10.30221497894946, "ssim": 0.21424923226633052, "lpips": 0.5918779373168945}, "wrist_right": {"psnr": 11.926833526378166, "ssim": 0.4728490557061143, "lpips": 0.4777522087097168}, "tactile_left": {"psnr": 29.777435768306635, "ssim": 0.953705097791921, "lpips": 0.19128045439720154}, "tactile_right": {"psnr": 43.174863004082496, "ssim": 0.9796837388480963, "lpips": 0.06340645253658295}}, {"video": {"psnr": 17.941986971570614, "ssim": 0.6336821637461243, "lpips": 0.3231698274612427}, "wrist_left": {"psnr": 10.82618006124566, "ssim": 0.3746593281054478, "lpips": 0.5355995297431946}, "wrist_right": {"psnr": 8.942929241121632, "ssim": 0.25065831672272676, "lpips": 0.5810942649841309}, "tactile_left": {"psnr": 38.85124588485671, "ssim": 0.9706287883073694, "lpips": 0.13729335367679596}, "tactile_right": {"psnr": 41.90563911257105, "ssim": 0.9763452124199581, "lpips": 0.08124153316020966}}, {"video": {"psnr": 18.25271663951923, "ssim": 0.6475831237254509, "lpips": 0.29836517572402954}, "wrist_left": {"psnr": 10.789081627230033, "ssim": 0.3066597068203757, "lpips": 0.6135193109512329}, "wrist_right": {"psnr": 7.989929997998534, "ssim": 0.1749156092537862, "lpips": 0.6531289219856262}, "tactile_left": {"psnr": 37.637296694553996, "ssim": 0.966668636326952, "lpips": 0.15894770622253418}, "tactile_right": {"psnr": 33.64554491915799, "ssim": 0.952015314682769, "lpips": 0.20430631935596466}}, {"video": {"psnr": 17.82015918960748, "ssim": 0.6355845963826803, "lpips": 0.3279608488082886}, "wrist_left": {"psnr": 10.398920576296169, "ssim": 0.28629806295493754, "lpips": 0.6270642280578613}, "wrist_right": {"psnr": 7.816153406477121, "ssim": 0.18291763261327054, "lpips": 0.6589329838752747}, "tactile_left": {"psnr": 36.57326606798791, "ssim": 0.9632165719737324, "lpips": 0.18180561065673828}, "tactile_right": {"psnr": 30.408795785062928, "ssim": 0.9303417191367387, "lpips": 0.2891692519187927}}, {"video": {"psnr": 16.674762810331288, "ssim": 0.6071501170668945, "lpips": 0.38840168714523315}, "wrist_left": {"psnr": 9.753890791827267, "ssim": 0.23592192353034266, "lpips": 0.6578728556632996}, "wrist_right": {"psnr": 7.801421945805696, "ssim": 0.1882075121238335, "lpips": 0.6650683879852295}, "tactile_left": {"psnr": 35.87151329908587, "ssim": 0.9594577494111878, "lpips": 0.20321476459503174}, "tactile_right": {"psnr": 29.35553668748774, "ssim": 0.9205180699865039, "lpips": 0.31877028942108154}}, {"video": {"psnr": 16.572443003043094, "ssim": 0.6051146922429547, "lpips": 0.38969922065734863}, "wrist_left": {"psnr": 11.081334292575857, "ssim": 0.18010552423948323, "lpips": 0.6736286878585815}, "wrist_right": {"psnr": 7.696446859073013, "ssim": 0.17785008864594037, "lpips": 0.6698622703552246}, "tactile_left": {"psnr": 32.23243539229757, "ssim": 0.931686010997669, "lpips": 0.3077660799026489}, "tactile_right": {"psnr": 29.422531267864688, "ssim": 0.9198919954480482, "lpips": 0.31780266761779785}}, {"video": {"psnr": 17.195757289521584, "ssim": 0.6164463313042942, "lpips": 0.33995476365089417}, "wrist_left": {"psnr": 11.396678073543443, "ssim": 0.1907598466749008, "lpips": 0.6768141388893127}, "wrist_right": {"psnr": 7.938490148429067, "ssim": 0.16527263785679858, "lpips": 0.6722522974014282}, "tactile_left": {"psnr": 32.056218879089265, "ssim": 0.9291103551262674, "lpips": 0.31927573680877686}, "tactile_right": {"psnr": 30.069824790477853, "ssim": 0.9230815254893405, "lpips": 0.3092597723007202}}, {"video": {"psnr": 18.261113951944232, "ssim": 0.6154366578012828, "lpips": 0.3094162940979004}, "wrist_left": {"psnr": 10.296996212160433, "ssim": 0.19831144602830453, "lpips": 0.6630396246910095}, "wrist_right": {"psnr": 9.385148537935953, "ssim": 0.28184620520210935, "lpips": 0.6340077519416809}, "tactile_left": {"psnr": 27.172040470024758, "ssim": 0.9121737002315281, "lpips": 0.3090246319770813}, "tactile_right": {"psnr": 36.95943316759824, "ssim": 0.9548789496404645, "lpips": 0.20717918872833252}}, {"video": {"psnr": 17.930553963958896, "ssim": 0.5996698441763608, "lpips": 0.34624722599983215}, "wrist_left": {"psnr": 9.35616502661198, "ssim": 0.2059197266883013, "lpips": 0.6230357885360718}, "wrist_right": {"psnr": 8.83209776985885, "ssim": 0.2903182343392229, "lpips": 0.601772665977478}, "tactile_left": {"psnr": 32.852699710678785, "ssim": 0.9468134240691926, "lpips": 0.24561643600463867}, "tactile_right": {"psnr": 34.477678266353436, "ssim": 0.9459024849803255, "lpips": 0.2502644658088684}}, {"video": {"psnr": 18.0960471435517, "ssim": 0.601301988267295, "lpips": 0.3547208309173584}, "wrist_left": {"psnr": 9.81660573346926, "ssim": 0.18176141340422766, "lpips": 0.6086205244064331}, "wrist_right": {"psnr": 8.680838165385795, "ssim": 0.30480320232663904, "lpips": 0.6220648288726807}, "tactile_left": {"psnr": 32.83265764882102, "ssim": 0.9471987412981117, "lpips": 0.24981330335140228}, "tactile_right": {"psnr": 31.507793648427096, "ssim": 0.928409396076242, "lpips": 0.33912673592567444}}, {"video": {"psnr": 18.121344190193728, "ssim": 0.6001801806442988, "lpips": 0.3441234230995178}, "wrist_left": {"psnr": 10.48163864256793, "ssim": 0.18874795086435636, "lpips": 0.6103807091712952}, "wrist_right": {"psnr": 8.338449915270518, "ssim": 0.24126971046625068, "lpips": 0.6664001941680908}, "tactile_left": {"psnr": 32.2172967759741, "ssim": 0.9431159305247345, "lpips": 0.2705409526824951}, "tactile_right": {"psnr": 30.76182076688925, "ssim": 0.9149606308634186, "lpips": 0.3883003890514374}}, {"video": {"psnr": 18.957359275052653, "ssim": 0.6080724032918371, "lpips": 0.3139086365699768}, "wrist_left": {"psnr": 10.343293999134568, "ssim": 0.2088142480168409, "lpips": 0.603757917881012}, "wrist_right": {"psnr": 8.311062524083889, "ssim": 0.24917314027859455, "lpips": 0.6574247479438782}, "tactile_left": {"psnr": 31.877350767799257, "ssim": 0.9404381840964386, "lpips": 0.28852570056915283}, "tactile_right": {"psnr": 33.05623822979117, "ssim": 0.9331112695108439, "lpips": 0.3181735575199127}}], "long_metrics": {"video": {"psnr": 18.537763782042557, "ssim": 0.6404966397841559, "lpips": 0.30028992692629497}, "wrist_left": {"psnr": 10.924197522724258, "ssim": 0.2509630906342303, "lpips": 0.5990575393040974}, "wrist_right": {"psnr": 9.603458182398263, "ssim": 0.2966709997438443, "lpips": 0.581167201201121}, "tactile_left": {"psnr": 33.838124858952234, "ssim": 0.951697139604166, "lpips": 0.20910033086935678}, "tactile_right": {"psnr": 35.81325886074081, "ssim": 0.9493533812236282, "lpips": 0.21137524483104547}}}, {"id": "motherboard_06", "episode": "motherboard_0909_episode_001.pt", "requested_episode": "motherboard_0909_episode_001.pt", "category": "release", "t_start": 2829, "start_seconds": 188.6, "short_contact": [1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 0, 0], "future_transition_ticks": [11], "long_contact_fraction": 0.6953125, "long_label": "release", "short_metrics": {"video": {"psnr": 25.58025341607778, "ssim": 0.8343417764867527, "lpips": 0.05338001251220703}, "wrist_left": {"psnr": 9.885411612893122, "ssim": 0.32079948413741716, "lpips": 0.4987694025039673}, "wrist_right": {"psnr": 20.99436015800081, "ssim": 0.8349508217636948, "lpips": 0.0951371043920517}, "tactile_left": {"psnr": 37.13655634002352, "ssim": 0.9622184415077518, "lpips": 0.0765579491853714}, "tactile_right": {"psnr": 47.9600283447795, "ssim": 0.9932228851990932, "lpips": 0.009050940163433552}}, "media": {"short": {"video": "media/motherboard_06_short.mp4", "poster": "media/motherboard_06_short.jpg"}, "long": {"video": "media/motherboard_06_long.mp4", "poster": "media/motherboard_06_long.jpg"}}, "force": {"source": "recorded_normal_force", "units": "N", "fps": 15, "left": [4.3677778244018555, 4.285294055938721, 4.285294055938721, 4.285294055938721, 6.251071453094482, 7.293181896209717, 7.293181896209717, 7.5217695236206055, 7.3053178787231445, 5.259615421295166, 2.8207693099975586, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.1599999964237213, 0.22058026492595673, 0.22058026492595673, 0.43111228942871094, 2.9424359798431396, 4.285294055938721, 4.285294055938721, 7.293181896209717, 7.295934677124023, 7.317659854888916, 7.31187629699707, 7.314847946166992, 7.391359329223633, 7.860250473022461, 7.869999885559082, 7.869999885559082, 7.869999885559082, 7.869999885559082, 7.869999885559082, 7.869999885559082, 7.869999885559082, 7.869999885559082, 7.869999885559082, 7.869999885559082, 7.869999885559082, 7.7177629470825195, 7.514229774475098, 7.401813983917236, 7.470968723297119, 7.470968723297119, 7.314309120178223, 7.483780384063721, 7.869999885559082, 7.869999885559082, 7.869999885559082, 7.869999885559082, 7.869999885559082, 7.448915004730225, 7.499743938446045, 7.714519023895264, 7.869999885559082, 7.318450450897217, 4.285294055938721, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.9833333492279053, 1.9833333492279053, 5.259615421295166, 6.733333110809326, 6.733333110809326, 6.733333110809326, 7.293181896209717, 7.129386901855469, 6.733333110809326, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 6.733333110809326, 6.251071453094482, 5.259615421295166, 5.439090728759766, 6.251071453094482, 6.251071453094482, 6.733333110809326, 7.179339408874512, 6.962648868560791, 6.962648868560791, 7.012815952301025, 7.293181896209717, 6.733333110809326, 6.733333110809326, 6.251071453094482, 1.5254545211791992, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 2.8207693099975586, 6.251071453094482, 7.293181896209717, 7.293181896209717, 7.300662040710449, 7.869999885559082, 7.869999885559082, 7.869999885559082, 7.869999885559082], "right": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]}, "long_curve": [{"video": {"psnr": 25.58025341607778, "ssim": 0.8343417764867527, "lpips": 0.05338001251220703}, "wrist_left": {"psnr": 9.885411612893122, "ssim": 0.32079948413741716, "lpips": 0.4987694025039673}, "wrist_right": {"psnr": 20.99436015800081, "ssim": 0.8349508217636948, "lpips": 0.0951371043920517}, "tactile_left": {"psnr": 37.13655634002352, "ssim": 0.9622184415077518, "lpips": 0.0765579491853714}, "tactile_right": {"psnr": 47.9600283447795, "ssim": 0.9932228851990932, "lpips": 0.009050940163433552}}, {"video": {"psnr": 23.07149455679002, "ssim": 0.7611770689840172, "lpips": 0.08728034049272537}, "wrist_left": {"psnr": 8.775416531823504, "ssim": 0.18467730514689862, "lpips": 0.6309375762939453}, "wrist_right": {"psnr": 19.231198600261024, "ssim": 0.7328829548821683, "lpips": 0.15376262366771698}, "tactile_left": {"psnr": 35.43786500964747, "ssim": 0.9604042361505575, "lpips": 0.11481574922800064}, "tactile_right": {"psnr": 45.70077183213532, "ssim": 0.9873710861525338, "lpips": 0.02736348658800125}}, {"video": {"psnr": 22.77700865470357, "ssim": 0.7512145235635499, "lpips": 0.09606513381004333}, "wrist_left": {"psnr": 9.080698659847126, "ssim": 0.1619563865367985, "lpips": 0.6367270350456238}, "wrist_right": {"psnr": 16.182704196532573, "ssim": 0.6302643282662342, "lpips": 0.2782403826713562}, "tactile_left": {"psnr": 34.40952974082736, "ssim": 0.9442425171583793, "lpips": 0.1692148745059967}, "tactile_right": {"psnr": 43.92976533928673, "ssim": 0.9839111143205306, "lpips": 0.046307824552059174}}, {"video": {"psnr": 22.53298099083836, "ssim": 0.7470142130637262, "lpips": 0.10418970882892609}, "wrist_left": {"psnr": 9.270443262062823, "ssim": 0.15512003315308054, "lpips": 0.6296114921569824}, "wrist_right": {"psnr": 15.00938515305958, "ssim": 0.6014722711063474, "lpips": 0.34444084763526917}, "tactile_left": {"psnr": 31.204554459811327, "ssim": 0.8518796760374217, "lpips": 0.27357417345046997}, "tactile_right": {"psnr": 41.908042759803976, "ssim": 0.980201269927481, "lpips": 0.0677720308303833}}, {"video": {"psnr": 22.63934434529725, "ssim": 0.748937237555047, "lpips": 0.10639636963605881}, "wrist_left": {"psnr": 10.020052733792244, "ssim": 0.14192199656981191, "lpips": 0.6384262442588806}, "wrist_right": {"psnr": 14.208753082512322, "ssim": 0.5744989110702495, "lpips": 0.3907651901245117}, "tactile_left": {"psnr": 29.536973935534938, "ssim": 0.7879453489336705, "lpips": 0.3225841820240021}, "tactile_right": {"psnr": 41.00600870559209, "ssim": 0.97630901765426, "lpips": 0.09203493595123291}}, {"video": {"psnr": 22.140820753528846, "ssim": 0.7352621873363177, "lpips": 0.1119471862912178}, "wrist_left": {"psnr": 9.866686162000297, "ssim": 0.14216631121894135, "lpips": 0.6381282210350037}, "wrist_right": {"psnr": 13.333051495629096, "ssim": 0.5416704877762739, "lpips": 0.4352678060531616}, "tactile_left": {"psnr": 30.189552613987566, "ssim": 0.7979442639952109, "lpips": 0.319435715675354}, "tactile_right": {"psnr": 39.79044941307923, "ssim": 0.972844193707533, "lpips": 0.11750426888465881}}, {"video": {"psnr": 19.088132089381073, "ssim": 0.6848170477356792, "lpips": 0.21245220303535461}, "wrist_left": {"psnr": 10.164389183726517, "ssim": 0.17462012670722474, "lpips": 0.6223390102386475}, "wrist_right": {"psnr": 11.820834085448508, "ssim": 0.4764816782004403, "lpips": 0.503629207611084}, "tactile_left": {"psnr": 30.71484232767901, "ssim": 0.8125323742268176, "lpips": 0.31746092438697815}, "tactile_right": {"psnr": 38.70912757311673, "ssim": 0.968861924569075, "lpips": 0.1395999789237976}}, {"video": {"psnr": 17.120214448591394, "ssim": 0.6241189716217204, "lpips": 0.3175645172595978}, "wrist_left": {"psnr": 9.53933265612621, "ssim": 0.183112857410356, "lpips": 0.6311116218566895}, "wrist_right": {"psnr": 11.395920953049375, "ssim": 0.4379325657974196, "lpips": 0.5239530801773071}, "tactile_left": {"psnr": 32.04696594368722, "ssim": 0.8727278346052618, "lpips": 0.2845273017883301}, "tactile_right": {"psnr": 37.87292402516631, "ssim": 0.9646288039489038, "lpips": 0.16621845960617065}}, {"video": {"psnr": 16.95592173624582, "ssim": 0.6070586488312004, "lpips": 0.3411949872970581}, "wrist_left": {"psnr": 8.560285559391026, "ssim": 0.1386254898379342, "lpips": 0.6400284767150879}, "wrist_right": {"psnr": 11.419158405989812, "ssim": 0.45363486002346226, "lpips": 0.5261734127998352}, "tactile_left": {"psnr": 33.61814939759368, "ssim": 0.9451211098844428, "lpips": 0.2290123999118805}, "tactile_right": {"psnr": 36.82516494483374, "ssim": 0.9608501504119952, "lpips": 0.18091629445552826}}, {"video": {"psnr": 16.959958723940986, "ssim": 0.6095055361939301, "lpips": 0.3425886332988739}, "wrist_left": {"psnr": 9.417770939266708, "ssim": 0.16321614260342043, "lpips": 0.6063512563705444}, "wrist_right": {"psnr": 11.21696442967387, "ssim": 0.4382232246219936, "lpips": 0.5451610088348389}, "tactile_left": {"psnr": 30.497856761013583, "ssim": 0.9204430361069054, "lpips": 0.32818737626075745}, "tactile_right": {"psnr": 35.38499585927322, "ssim": 0.9568610062686762, "lpips": 0.192851260304451}}, {"video": {"psnr": 18.011267649685124, "ssim": 0.6240268604001364, "lpips": 0.2864695191383362}, "wrist_left": {"psnr": 9.605445666792612, "ssim": 0.1512085046856366, "lpips": 0.6412089467048645}, "wrist_right": {"psnr": 11.565841339056258, "ssim": 0.46153360913882746, "lpips": 0.5470788478851318}, "tactile_left": {"psnr": 29.425234675794204, "ssim": 0.9135895558338615, "lpips": 0.3605862855911255}, "tactile_right": {"psnr": 33.917558057174396, "ssim": 0.9523546650145017, "lpips": 0.20834745466709137}}, {"video": {"psnr": 19.68137165676349, "ssim": 0.6426793408842137, "lpips": 0.21185080707073212}, "wrist_left": {"psnr": 8.778216642527987, "ssim": 0.13340618123119166, "lpips": 0.6826800107955933}, "wrist_right": {"psnr": 12.335194633377869, "ssim": 0.4884928696172889, "lpips": 0.5157697200775146}, "tactile_left": {"psnr": 29.539189673636717, "ssim": 0.915487789488138, "lpips": 0.35644543170928955}, "tactile_right": {"psnr": 32.790041432756624, "ssim": 0.9485200107829712, "lpips": 0.22145181894302368}}, {"video": {"psnr": 17.35086822124177, "ssim": 0.5959313947832623, "lpips": 0.3180787265300751}, "wrist_left": {"psnr": 9.807851906984176, "ssim": 0.16005646858157802, "lpips": 0.6402631998062134}, "wrist_right": {"psnr": 11.310515646024724, "ssim": 0.42687595686596624, "lpips": 0.5698368549346924}, "tactile_left": {"psnr": 30.060748315258433, "ssim": 0.9232322715544047, "lpips": 0.32932350039482117}, "tactile_right": {"psnr": 32.0603922624755, "ssim": 0.9444973045086498, "lpips": 0.2334575653076172}}, {"video": {"psnr": 16.782780651657625, "ssim": 0.5770719229722745, "lpips": 0.35999852418899536}, "wrist_left": {"psnr": 9.435383818953772, "ssim": 0.15809822884258584, "lpips": 0.6848082542419434}, "wrist_right": {"psnr": 11.556304696610294, "ssim": 0.4228554805925162, "lpips": 0.5834681987762451}, "tactile_left": {"psnr": 30.210059031186617, "ssim": 0.9255510917024823, "lpips": 0.3123099207878113}, "tactile_right": {"psnr": 31.485140479591117, "ssim": 0.9402888827563992, "lpips": 0.24973812699317932}}, {"video": {"psnr": 16.654388189348154, "ssim": 0.5694286113913992, "lpips": 0.3695979118347168}, "wrist_left": {"psnr": 9.54964324784674, "ssim": 0.17942138017478365, "lpips": 0.707789957523346}, "wrist_right": {"psnr": 11.453758694319323, "ssim": 0.40757492390355793, "lpips": 0.5975285768508911}, "tactile_left": {"psnr": 28.018061807968092, "ssim": 0.8809990656081873, "lpips": 0.4033570885658264}, "tactile_right": {"psnr": 30.967196830392982, "ssim": 0.9362599187084968, "lpips": 0.2634578049182892}}], "long_metrics": {"video": {"psnr": 19.823120405606083, "ssim": 0.6741723561202151, "lpips": 0.22127030541499457}, "wrist_left": {"psnr": 9.45046857226899, "ssim": 0.1698937931225106, "lpips": 0.6352787137031555}, "wrist_right": {"psnr": 13.53559637130303, "ssim": 0.5286229962417627, "lpips": 0.4406808574994405}, "tactile_left": {"psnr": 31.469742668909984, "ssim": 0.8942879075195661, "lpips": 0.279826191564401}, "tactile_right": {"psnr": 38.0205071906305, "ssim": 0.9644654822620733, "lpips": 0.14773815007259447}}}, {"id": "motherboard_07", "episode": "motherboard_0909_episode_001.pt", "requested_episode": "motherboard_0909_episode_001.pt", "category": "full", "t_start": 467, "start_seconds": 31.133333333333333, "short_contact": [1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1], "future_transition_ticks": [], "long_contact_fraction": 1.0, "long_label": "full", "short_metrics": {"video": {"psnr": 30.90498836786636, "ssim": 0.9313314053265598, "lpips": 0.022473517805337906}, "wrist_left": {"psnr": 12.563704160852868, "ssim": 0.33335955282901086, "lpips": 0.29028594493865967}, "wrist_right": {"psnr": 23.47895175679332, "ssim": 0.8056418987721883, "lpips": 0.03267781808972359}, "tactile_left": {"psnr": 31.586294808721327, "ssim": 0.9405131893381646, "lpips": 0.07726949453353882}, "tactile_right": {"psnr": 48.403666334029644, "ssim": 0.9924965839325601, "lpips": 0.010545972734689713}}, "media": {"short": {"video": "media/motherboard_07_short.mp4", "poster": "media/motherboard_07_short.jpg"}, "long": {"video": "media/motherboard_07_long.mp4", "poster": "media/motherboard_07_long.jpg"}}, "force": {"source": "recorded_normal_force", "units": "N", "fps": 15, "left": [1.9833333492279053, 1.9833333492279053, 2.9424359798431396, 6.251071453094482, 6.251071453094482, 5.439090728759766, 5.439090728759766, 5.439090728759766, 6.251071453094482, 6.733333110809326, 6.733333110809326, 6.733333110809326, 6.733333110809326, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 6.733333110809326, 6.733333110809326, 6.733333110809326, 6.733333110809326, 6.733333110809326, 6.733333110809326, 6.733333110809326, 6.733333110809326, 6.733333110809326, 6.76942777633667, 7.228470325469971, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.284359455108643, 6.733333110809326, 6.251071453094482, 6.251071453094482, 5.145384788513184, 4.285294055938721, 2.9424359798431396, 2.8207693099975586, 2.8207693099975586, 1.9833333492279053, 1.9833333492279053, 1.5254545211791992, 1.5254545211791992, 1.5254545211791992, 1.5254545211791992, 1.5254545211791992, 1.5254545211791992, 2.8207693099975586, 1.9833333492279053, 1.9833333492279053, 2.9424359798431396, 4.285294055938721, 4.285294055938721, 4.285294055938721, 4.285294055938721, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 4.285294055938721, 4.285294055938721, 4.285294055938721, 4.285294055938721, 4.285294055938721, 4.285294055938721, 4.3677778244018555, 4.3677778244018555, 5.145384788513184, 5.145384788513184, 5.259615421295166, 5.259615421295166, 6.115070343017578, 6.201137542724609, 6.2079668045043945, 5.661813259124756, 6.073955059051514, 6.251071453094482, 6.251071453094482, 6.251071453094482, 6.251071453094482, 6.251071453094482, 6.251071453094482, 6.251071453094482, 6.251071453094482, 6.251071453094482, 6.251071453094482, 5.259615421295166, 5.145384788513184, 5.145384788513184, 5.145384788513184, 5.259615421295166, 5.145384788513184, 5.145384788513184, 5.145384788513184, 4.3677778244018555, 4.306504249572754, 4.285294055938721, 4.285294055938721, 4.285294055938721, 4.285294055938721, 4.285294055938721, 4.285294055938721, 2.9424359798431396, 2.3617031574249268, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "right": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.5254545211791992, 1.5254545211791992, 1.9833333492279053, 5.259615421295166, 7.293181896209717, 7.756637096405029, 7.756637096405029, 7.869999885559082, 7.869999885559082, 7.869999885559082, 7.869999885559082, 7.869999885559082, 7.869999885559082, 7.869999885559082, 7.869999885559082, 7.869999885559082, 7.869999885559082, 7.869999885559082, 7.869999885559082, 7.652376174926758, 7.380303382873535, 7.293181896209717, 7.293181896209717, 6.733333110809326, 6.251071453094482, 4.285294055938721, 4.285294055938721, 2.9424359798431396, 2.9424359798431396, 2.8207693099975586, 1.9833333492279053, 1.9833333492279053, 1.9833333492279053, 1.9833333492279053, 2.636666774749756, 2.9424359798431396, 4.3677778244018555, 6.251071453094482, 7.293181896209717, 7.293181896209717, 7.293181896209717, 6.251071453094482, 6.251071453094482, 6.251071453094482, 6.251071453094482, 6.733333110809326, 6.733333110809326, 6.733333110809326, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.319431304931641, 7.319431304931641, 7.724584579467773, 7.869999885559082, 7.869999885559082, 7.869999885559082, 7.869999885559082, 7.869999885559082, 7.869999885559082, 7.869999885559082, 7.869999885559082, 7.869999885559082, 7.869999885559082, 7.869999885559082, 7.869999885559082, 7.869999885559082, 7.869999885559082, 7.869999885559082, 7.312495708465576, 7.295211315155029, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 6.733333110809326, 6.733333110809326, 6.733333110809326, 5.439090728759766, 5.259615421295166, 5.259615421295166, 5.145384788513184, 5.145384788513184, 5.259615421295166, 5.259615421295166, 5.259615421295166, 2.9424359798431396, 4.285294055938721, 5.145384788513184, 5.259615421295166, 6.733333110809326, 6.733333110809326, 6.733333110809326, 6.7497968673706055, 7.293181896209717, 7.293181896209717, 7.293181896209717]}, "long_curve": [{"video": {"psnr": 30.90498836786636, "ssim": 0.9313314053265598, "lpips": 0.022473517805337906}, "wrist_left": {"psnr": 12.563704160852868, "ssim": 0.33335955282901086, "lpips": 0.29028594493865967}, "wrist_right": {"psnr": 23.47895175679332, "ssim": 0.8056418987721883, "lpips": 0.03267781808972359}, "tactile_left": {"psnr": 31.586294808721327, "ssim": 0.9405131893381646, "lpips": 0.07726949453353882}, "tactile_right": {"psnr": 48.403666334029644, "ssim": 0.9924965839325601, "lpips": 0.010545972734689713}}, {"video": {"psnr": 26.021817741915612, "ssim": 0.8474896224963645, "lpips": 0.05816862732172012}, "wrist_left": {"psnr": 12.36643996820532, "ssim": 0.2994338214382225, "lpips": 0.34022754430770874}, "wrist_right": {"psnr": 14.121031936479742, "ssim": 0.48771699798609697, "lpips": 0.34374719858169556}, "tactile_left": {"psnr": 29.62892716482999, "ssim": 0.912512847434457, "lpips": 0.12970364093780518}, "tactile_right": {"psnr": 45.694585988460695, "ssim": 0.9855145282725372, "lpips": 0.03388701006770134}}, {"video": {"psnr": 24.17321427377694, "ssim": 0.796924081757784, "lpips": 0.09252633154392242}, "wrist_left": {"psnr": 12.528682211295749, "ssim": 0.29610126591980296, "lpips": 0.3362652659416199}, "wrist_right": {"psnr": 11.637374544104711, "ssim": 0.32249858306422063, "lpips": 0.5242173075675964}, "tactile_left": {"psnr": 29.89723868021796, "ssim": 0.9131829166486976, "lpips": 0.13956405222415924}, "tactile_right": {"psnr": 31.90488759536159, "ssim": 0.956723684749765, "lpips": 0.12985077500343323}}, {"video": {"psnr": 23.794237537378354, "ssim": 0.7820051755480005, "lpips": 0.1056317463517189}, "wrist_left": {"psnr": 12.27678301720946, "ssim": 0.2772767841496806, "lpips": 0.372411847114563}, "wrist_right": {"psnr": 10.740206255910588, "ssim": 0.2816132391365073, "lpips": 0.5827175378799438}, "tactile_left": {"psnr": 29.548998555588078, "ssim": 0.9104716479517649, "lpips": 0.16831210255622864}, "tactile_right": {"psnr": 25.370889304618306, "ssim": 0.9006999517301029, "lpips": 0.27417176961898804}}, {"video": {"psnr": 23.124742748878155, "ssim": 0.7536221540915407, "lpips": 0.12448985874652863}, "wrist_left": {"psnr": 12.400884722593242, "ssim": 0.2796313564326688, "lpips": 0.3836497664451599}, "wrist_right": {"psnr": 10.450992192925346, "ssim": 0.2678005840521018, "lpips": 0.5840043425559998}, "tactile_left": {"psnr": 29.795635895712003, "ssim": 0.9092490704226681, "lpips": 0.18095913529396057}, "tactile_right": {"psnr": 25.864939880621733, "ssim": 0.9027770929406166, "lpips": 0.2774518132209778}}, {"video": {"psnr": 22.665526597372082, "ssim": 0.730126626940601, "lpips": 0.13450899720191956}, "wrist_left": {"psnr": 12.817351689501788, "ssim": 0.27344848979944025, "lpips": 0.38963988423347473}, "wrist_right": {"psnr": 10.62230351873965, "ssim": 0.2578574311760533, "lpips": 0.577083945274353}, "tactile_left": {"psnr": 31.046678545548353, "ssim": 0.9285048369767603, "lpips": 0.1883137971162796}, "tactile_right": {"psnr": 31.672798622885278, "ssim": 0.9331764732967802, "lpips": 0.21081532537937164}}, {"video": {"psnr": 22.50425223947277, "ssim": 0.7155457999603687, "lpips": 0.14293251931667328}, "wrist_left": {"psnr": 13.335081875653769, "ssim": 0.25912793600405426, "lpips": 0.36918509006500244}, "wrist_right": {"psnr": 10.791314592300784, "ssim": 0.2567053206779918, "lpips": 0.5735429525375366}, "tactile_left": {"psnr": 28.732529409190718, "ssim": 0.9187464200331824, "lpips": 0.264900803565979}, "tactile_right": {"psnr": 33.729385850709946, "ssim": 0.9433489513719296, "lpips": 0.20187044143676758}}, {"video": {"psnr": 21.842664822836447, "ssim": 0.6897217510997278, "lpips": 0.15954606235027313}, "wrist_left": {"psnr": 12.749615971475034, "ssim": 0.24590904207671305, "lpips": 0.41320616006851196}, "wrist_right": {"psnr": 10.319327415966558, "ssim": 0.24226639810005896, "lpips": 0.5874851942062378}, "tactile_left": {"psnr": 30.50398414124349, "ssim": 0.9224463401205201, "lpips": 0.21402926743030548}, "tactile_right": {"psnr": 28.132485293450227, "ssim": 0.913665222830122, "lpips": 0.27925342321395874}}, {"video": {"psnr": 21.79259771600945, "ssim": 0.6911460328129296, "lpips": 0.16303884983062744}, "wrist_left": {"psnr": 12.120161542402816, "ssim": 0.2297121630023423, "lpips": 0.4603174328804016}, "wrist_right": {"psnr": 9.77222147210971, "ssim": 0.22088720530344325, "lpips": 0.6095042824745178}, "tactile_left": {"psnr": 27.676549199381654, "ssim": 0.9159078355341392, "lpips": 0.28469690680503845}, "tactile_right": {"psnr": 27.579765862765893, "ssim": 0.908608440270891, "lpips": 0.29917168617248535}}, {"video": {"psnr": 21.75828609509757, "ssim": 0.6902754150695806, "lpips": 0.17110827565193176}, "wrist_left": {"psnr": 11.750973215844194, "ssim": 0.21599503901087933, "lpips": 0.4752097725868225}, "wrist_right": {"psnr": 9.632045648949509, "ssim": 0.19951377773307788, "lpips": 0.6192836761474609}, "tactile_left": {"psnr": 26.61895781963026, "ssim": 0.9074220057718176, "lpips": 0.2933270037174225}, "tactile_right": {"psnr": 25.82879299221122, "ssim": 0.892631259966863, "lpips": 0.32962843775749207}}, {"video": {"psnr": 21.370639882853176, "ssim": 0.6764388845394984, "lpips": 0.188635915517807}, "wrist_left": {"psnr": 11.948912146320701, "ssim": 0.21329939311010143, "lpips": 0.4480457305908203}, "wrist_right": {"psnr": 10.16231673315673, "ssim": 0.22836473150938558, "lpips": 0.6231993436813354}, "tactile_left": {"psnr": 26.394046998256428, "ssim": 0.9017689403857355, "lpips": 0.2974660396575928}, "tactile_right": {"psnr": 25.511370241037987, "ssim": 0.8825297881984042, "lpips": 0.3290413022041321}}, {"video": {"psnr": 19.69429524638787, "ssim": 0.635315739815671, "lpips": 0.2517394423484802}, "wrist_left": {"psnr": 11.567805518685548, "ssim": 0.19823142585697529, "lpips": 0.45874476432800293}, "wrist_right": {"psnr": 10.561370318289578, "ssim": 0.24501577963641025, "lpips": 0.6277374029159546}, "tactile_left": {"psnr": 26.281891881995364, "ssim": 0.90049526937203, "lpips": 0.31256943941116333}, "tactile_right": {"psnr": 26.798738133555467, "ssim": 0.8976814701962011, "lpips": 0.3311276137828827}}, {"video": {"psnr": 19.622682075633435, "ssim": 0.6354404533012976, "lpips": 0.2655754089355469}, "wrist_left": {"psnr": 11.931163183324765, "ssim": 0.2145237130406052, "lpips": 0.47476089000701904}, "wrist_right": {"psnr": 10.70972534461742, "ssim": 0.24738834519613495, "lpips": 0.6332933306694031}, "tactile_left": {"psnr": 26.27271121458712, "ssim": 0.9013683540783483, "lpips": 0.3124163746833801}, "tactile_right": {"psnr": 29.781175135455715, "ssim": 0.9089705439286999, "lpips": 0.30286672711372375}}, {"video": {"psnr": 20.131690058156234, "ssim": 0.6399189059081514, "lpips": 0.25275105237960815}, "wrist_left": {"psnr": 11.457476961506622, "ssim": 0.22127327607998334, "lpips": 0.4970465898513794}, "wrist_right": {"psnr": 10.455318000909086, "ssim": 0.24127523153445007, "lpips": 0.6476954221725464}, "tactile_left": {"psnr": 27.730792381219803, "ssim": 0.9184695253515704, "lpips": 0.30202966928482056}, "tactile_right": {"psnr": 31.17537394069888, "ssim": 0.9152190591804641, "lpips": 0.2921842932701111}}, {"video": {"psnr": 21.01711365556894, "ssim": 0.6481007444095264, "lpips": 0.21902379393577576}, "wrist_left": {"psnr": 9.799678209087894, "ssim": 0.3291052788866565, "lpips": 0.5593611598014832}, "wrist_right": {"psnr": 10.521224694064317, "ssim": 0.24366912126645585, "lpips": 0.639289915561676}, "tactile_left": {"psnr": 30.00955353664032, "ssim": 0.936724713631012, "lpips": 0.27827203273773193}, "tactile_right": {"psnr": 29.02272090809999, "ssim": 0.9012729765194512, "lpips": 0.3229631185531616}}], "long_metrics": {"video": {"psnr": 22.69458327061356, "ssim": 0.7242268528718402, "lpips": 0.15681002661585808}, "wrist_left": {"psnr": 12.107647626263985, "ssim": 0.2590952358424758, "lpips": 0.41789052287737527}, "wrist_right": {"psnr": 11.59838162835447, "ssim": 0.3032143096763051, "lpips": 0.5470319780210654}, "tactile_left": {"psnr": 28.78165268218419, "ssim": 0.9158522608700579, "lpips": 0.22958865066369374}, "tactile_right": {"psnr": 31.098105072264172, "ssim": 0.9223544018256926, "lpips": 0.24165531396865844}}}, {"id": "motherboard_08", "episode": "motherboard_0909_episode_002.pt", "requested_episode": "motherboard_0909_episode_002.pt", "category": "none", "t_start": 2600, "start_seconds": 173.33333333333334, "short_contact": [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0], "future_transition_ticks": [], "long_contact_fraction": 0.296875, "long_label": "none_at_start", "short_metrics": {"video": {"psnr": 27.242678234923183, "ssim": 0.8801994517581739, "lpips": 0.03579811379313469}, "wrist_left": {"psnr": 13.152462616352254, "ssim": 0.4048900944360554, "lpips": 0.3494774103164673}, "wrist_right": {"psnr": 26.002105551690494, "ssim": 0.876926381939206, "lpips": 0.030362382531166077}, "tactile_left": {"psnr": 41.43108795087629, "ssim": 0.988491718005301, "lpips": 0.013693858869373798}, "tactile_right": {"psnr": 46.960658329501676, "ssim": 0.9930731630817825, "lpips": 0.008373590186238289}}, "media": {"short": {"video": "media/motherboard_08_short.mp4", "poster": "media/motherboard_08_short.jpg"}, "long": {"video": "media/motherboard_08_long.mp4", "poster": "media/motherboard_08_long.jpg"}}, "force": {"source": "recorded_normal_force", "units": "N", "fps": 15, "left": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.49666666984558105, 1.5254545211791992, 4.285294055938721, 5.439090728759766, 5.439090728759766, 6.733333110809326, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 5.145384788513184, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "right": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.49666666984558105, 0.49264535307884216, 1.2104182243347168, 4.285294055938721, 4.285294055938721, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.636666774749756, 1.5254545211791992, 1.1662499904632568, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]}, "long_curve": [{"video": {"psnr": 27.242678234923183, "ssim": 0.8801994517581739, "lpips": 0.03579811379313469}, "wrist_left": {"psnr": 13.152462616352254, "ssim": 0.4048900944360554, "lpips": 0.3494774103164673}, "wrist_right": {"psnr": 26.002105551690494, "ssim": 0.876926381939206, "lpips": 0.030362382531166077}, "tactile_left": {"psnr": 41.43108795087629, "ssim": 0.988491718005301, "lpips": 0.013693858869373798}, "tactile_right": {"psnr": 46.960658329501676, "ssim": 0.9930731630817825, "lpips": 0.008373590186238289}}, {"video": {"psnr": 24.392434728320495, "ssim": 0.8054167054892141, "lpips": 0.06628632545471191}, "wrist_left": {"psnr": 11.099907905602837, "ssim": 0.3106372193597952, "lpips": 0.49948108196258545}, "wrist_right": {"psnr": 20.63156132333441, "ssim": 0.7659886853014646, "lpips": 0.09833289682865143}, "tactile_left": {"psnr": 36.85840689992824, "ssim": 0.9745367869806649, "lpips": 0.043195705860853195}, "tactile_right": {"psnr": 43.94308206069184, "ssim": 0.985985141905499, "lpips": 0.028038613498210907}}, {"video": {"psnr": 22.676405232084996, "ssim": 0.7669218006945144, "lpips": 0.09998783469200134}, "wrist_left": {"psnr": 10.457914189493444, "ssim": 0.30159719022927056, "lpips": 0.5128213167190552}, "wrist_right": {"psnr": 18.31297222503203, "ssim": 0.7028360743531172, "lpips": 0.16200868785381317}, "tactile_left": {"psnr": 38.68024503103107, "ssim": 0.973494207804195, "lpips": 0.06174658238887787}, "tactile_right": {"psnr": 43.427146693341385, "ssim": 0.9817862559607036, "lpips": 0.04296437278389931}}, {"video": {"psnr": 22.96099922021275, "ssim": 0.7494031351384236, "lpips": 0.10826066136360168}, "wrist_left": {"psnr": 11.17239858014878, "ssim": 0.28163914006916824, "lpips": 0.578693151473999}, "wrist_right": {"psnr": 17.184108491633022, "ssim": 0.676094922908544, "lpips": 0.2067405879497528}, "tactile_left": {"psnr": 36.82041328479885, "ssim": 0.9692613996722671, "lpips": 0.11681422591209412}, "tactile_right": {"psnr": 42.46570255599102, "ssim": 0.9784285677365671, "lpips": 0.06340770423412323}}, {"video": {"psnr": 22.242028179254916, "ssim": 0.7261377699474596, "lpips": 0.1332046091556549}, "wrist_left": {"psnr": 9.437850959670442, "ssim": 0.2616304438728764, "lpips": 0.6181210875511169}, "wrist_right": {"psnr": 16.399097411586677, "ssim": 0.6414274406789542, "lpips": 0.2432941198348999}, "tactile_left": {"psnr": 35.10127703521336, "ssim": 0.9635270866612472, "lpips": 0.163108229637146}, "tactile_right": {"psnr": 40.74541508280728, "ssim": 0.9749771329497228, "lpips": 0.08734151721000671}}, {"video": {"psnr": 21.95014261700841, "ssim": 0.7080520548964896, "lpips": 0.15115869045257568}, "wrist_left": {"psnr": 9.020490636979396, "ssim": 0.28522955326453137, "lpips": 0.6363484263420105}, "wrist_right": {"psnr": 15.237683557767241, "ssim": 0.6113436277234624, "lpips": 0.2807258069515228}, "tactile_left": {"psnr": 29.284365305837277, "ssim": 0.9238154370004791, "lpips": 0.3175904154777527}, "tactile_right": {"psnr": 40.232048164070804, "ssim": 0.9719366934461113, "lpips": 0.11414505541324615}}, {"video": {"psnr": 19.920683021192986, "ssim": 0.6632036077794514, "lpips": 0.23788166046142578}, "wrist_left": {"psnr": 10.574015679035544, "ssim": 0.38980533872648904, "lpips": 0.5669466257095337}, "wrist_right": {"psnr": 13.344117599478393, "ssim": 0.5789192895425201, "lpips": 0.3299829363822937}, "tactile_left": {"psnr": 28.576120710666174, "ssim": 0.9337418580515493, "lpips": 0.2856784164905548}, "tactile_right": {"psnr": 39.9361351064442, "ssim": 0.9684989054426316, "lpips": 0.13609080016613007}}, {"video": {"psnr": 17.628696695479942, "ssim": 0.6045520594610503, "lpips": 0.31524190306663513}, "wrist_left": {"psnr": 8.628362867986363, "ssim": 0.24570899553055972, "lpips": 0.6675828099250793}, "wrist_right": {"psnr": 11.058468074993588, "ssim": 0.35497207211047577, "lpips": 0.5191693902015686}, "tactile_left": {"psnr": 34.542742969955285, "ssim": 0.9568425469186228, "lpips": 0.20868611335754395}, "tactile_right": {"psnr": 39.30337673631897, "ssim": 0.9646362353097083, "lpips": 0.1627371609210968}}, {"video": {"psnr": 16.68228140391149, "ssim": 0.5848109151007614, "lpips": 0.34494227170944214}, "wrist_left": {"psnr": 9.116303873621597, "ssim": 0.21994422232615599, "lpips": 0.6958356499671936}, "wrist_right": {"psnr": 10.189308324925337, "ssim": 0.23803547734930475, "lpips": 0.607621431350708}, "tactile_left": {"psnr": 33.37886087965719, "ssim": 0.9530112531863589, "lpips": 0.22998249530792236}, "tactile_right": {"psnr": 36.178234425148425, "ssim": 0.9588356567335015, "lpips": 0.18421092629432678}}, {"video": {"psnr": 16.352313544722247, "ssim": 0.5661025114485168, "lpips": 0.3733612298965454}, "wrist_left": {"psnr": 8.977784308342384, "ssim": 0.2243019415110653, "lpips": 0.672694206237793}, "wrist_right": {"psnr": 10.991923090278693, "ssim": 0.21344317760396464, "lpips": 0.5922803282737732}, "tactile_left": {"psnr": 32.40768378538317, "ssim": 0.9491180968010358, "lpips": 0.2472960650920868}, "tactile_right": {"psnr": 35.501656903769344, "ssim": 0.9546720699933284, "lpips": 0.19726762175559998}}, {"video": {"psnr": 16.453537972125176, "ssim": 0.5607279305490847, "lpips": 0.36833178997039795}, "wrist_left": {"psnr": 8.394490405823776, "ssim": 0.16749950358951451, "lpips": 0.7017437219619751}, "wrist_right": {"psnr": 10.359869147216656, "ssim": 0.1797834678795564, "lpips": 0.6220430135726929}, "tactile_left": {"psnr": 31.7412502740101, "ssim": 0.9451195756987554, "lpips": 0.26664334535598755}, "tactile_right": {"psnr": 36.07130219013408, "ssim": 0.9530132403118755, "lpips": 0.2194228321313858}}, {"video": {"psnr": 17.16694486010486, "ssim": 0.5692915685506673, "lpips": 0.3338487148284912}, "wrist_left": {"psnr": 8.611701489262536, "ssim": 0.20477613369360698, "lpips": 0.7094588279724121}, "wrist_right": {"psnr": 10.034932338172027, "ssim": 0.1627494282831341, "lpips": 0.6360862255096436}, "tactile_left": {"psnr": 31.06031411085528, "ssim": 0.9416786183623672, "lpips": 0.28260093927383423}, "tactile_right": {"psnr": 33.00647959225628, "ssim": 0.9386797870069905, "lpips": 0.30265137553215027}}, {"video": {"psnr": 17.335227335345895, "ssim": 0.5862239238226999, "lpips": 0.3222860097885132}, "wrist_left": {"psnr": 9.837843089912091, "ssim": 0.23231780858606146, "lpips": 0.667888879776001}, "wrist_right": {"psnr": 8.891903553608776, "ssim": 0.19412805179703974, "lpips": 0.6584240794181824}, "tactile_left": {"psnr": 30.8295146072265, "ssim": 0.9392934810912724, "lpips": 0.2927404046058655}, "tactile_right": {"psnr": 35.442070002423, "ssim": 0.9485830070485322, "lpips": 0.2409895658493042}}, {"video": {"psnr": 16.61766657584119, "ssim": 0.5533006883748677, "lpips": 0.3255155086517334}, "wrist_left": {"psnr": 11.086442082934289, "ssim": 0.18232019499331273, "lpips": 0.6290900707244873}, "wrist_right": {"psnr": 8.60759137791, "ssim": 0.19124690717674753, "lpips": 0.7511951923370361}, "tactile_left": {"psnr": 30.277085943102332, "ssim": 0.934651268571727, "lpips": 0.312624454498291}, "tactile_right": {"psnr": 34.67315575440732, "ssim": 0.9445982419253693, "lpips": 0.23766492307186127}}, {"video": {"psnr": 16.536783634776366, "ssim": 0.5364719686605838, "lpips": 0.33791598677635193}, "wrist_left": {"psnr": 11.04285391597575, "ssim": 0.171862484802548, "lpips": 0.6292621493339539}, "wrist_right": {"psnr": 8.321323692765478, "ssim": 0.14906337708640882, "lpips": 0.7694264650344849}, "tactile_left": {"psnr": 29.839615726365714, "ssim": 0.931869594960185, "lpips": 0.3200669288635254}, "tactile_right": {"psnr": 33.9031837792911, "ssim": 0.9415554820521707, "lpips": 0.24734695255756378}}], "long_metrics": {"video": {"psnr": 19.74392155035366, "ssim": 0.6573877394447972, "lpips": 0.2369347540040811}, "wrist_left": {"psnr": 10.040721506742765, "ssim": 0.2589440176660674, "lpips": 0.6090296943982442}, "wrist_right": {"psnr": 13.704464384026188, "ssim": 0.4357972254489267, "lpips": 0.4338462362686793}, "tactile_left": {"psnr": 33.38859896766046, "ssim": 0.9518968619844018, "lpips": 0.21083121206611394}, "tactile_right": {"psnr": 38.78597649177311, "ssim": 0.9639506387269663, "lpips": 0.15151020077367625}}}, {"id": "motherboard_09", "episode": "motherboard_0909_episode_002.pt", "requested_episode": "motherboard_0909_episode_002.pt", "category": "onset", "t_start": 1924, "start_seconds": 128.26666666666668, "short_contact": [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 1], "future_transition_ticks": [11], "long_contact_fraction": 0.6796875, "long_label": "onset", "short_metrics": {"video": {"psnr": 29.116195928811717, "ssim": 0.9076237943124138, "lpips": 0.03108738176524639}, "wrist_left": {"psnr": 13.485504918013895, "ssim": 0.38928825481386886, "lpips": 0.40877094864845276}, "wrist_right": {"psnr": 19.915825460117162, "ssim": 0.7454609845518874, "lpips": 0.1313096433877945}, "tactile_left": {"psnr": 35.19262186615282, "ssim": 0.9696126091962683, "lpips": 0.09759335219860077}, "tactile_right": {"psnr": 46.21381135218303, "ssim": 0.9925982448881598, "lpips": 0.009564734995365143}}, "media": {"short": {"video": "media/motherboard_09_short.mp4", "poster": "media/motherboard_09_short.jpg"}, "long": {"video": "media/motherboard_09_long.mp4", "poster": "media/motherboard_09_long.jpg"}}, "force": {"source": "recorded_normal_force", "units": "N", "fps": 15, "left": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.9833333492279053, 2.9424359798431396, 2.9424359798431396, 5.439090728759766, 5.439090728759766, 5.671554088592529, 5.439090728759766, 5.259615421295166, 5.145384788513184, 4.321074485778809, 4.285294055938721, 4.285294055938721, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 1.9833333492279053, 2.0277299880981445, 2.9424359798431396, 5.439090728759766, 6.251071453094482, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 6.251071453094482, 5.439090728759766, 6.251071453094482, 5.605889320373535, 5.259615421295166, 4.3677778244018555, 4.285294055938721, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 4.285294055938721, 4.285294055938721, 2.9424359798431396, 4.3677778244018555, 4.285294055938721, 5.145384788513184, 5.145384788513184, 5.259615421295166, 5.259615421295166, 5.145384788513184, 4.285294055938721, 2.8207693099975586, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 2.9424359798431396, 2.636666774749756, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 4.285294055938721, 4.285294055938721, 2.9424359798431396, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.9833333492279053, 1.9833333492279053, 2.636666774749756, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 4.285294055938721, 3.8638908863067627, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 1.1662499904632568, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "right": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 2.9424359798431396, 5.145384788513184, 6.251071453094482]}, "long_curve": [{"video": {"psnr": 29.116195928811717, "ssim": 0.9076237943124138, "lpips": 0.03108738176524639}, "wrist_left": {"psnr": 13.485504918013895, "ssim": 0.38928825481386886, "lpips": 0.40877094864845276}, "wrist_right": {"psnr": 19.915825460117162, "ssim": 0.7454609845518874, "lpips": 0.1313096433877945}, "tactile_left": {"psnr": 35.19262186615282, "ssim": 0.9696126091962683, "lpips": 0.09759335219860077}, "tactile_right": {"psnr": 46.21381135218303, "ssim": 0.9925982448881598, "lpips": 0.009564734995365143}}, {"video": {"psnr": 24.16695850825013, "ssim": 0.7971967449139942, "lpips": 0.07371635735034943}, "wrist_left": {"psnr": 13.025757127455176, "ssim": 0.32622836372722575, "lpips": 0.45404568314552307}, "wrist_right": {"psnr": 16.550540932897015, "ssim": 0.6250719608373241, "lpips": 0.2186567783355713}, "tactile_left": {"psnr": 30.99886629051932, "ssim": 0.9390208872100289, "lpips": 0.1787811815738678}, "tactile_right": {"psnr": 43.64678155175635, "ssim": 0.9860111408219164, "lpips": 0.026683880016207695}}, {"video": {"psnr": 21.91051713908344, "ssim": 0.7421787541283298, "lpips": 0.12706400454044342}, "wrist_left": {"psnr": 12.19172377354935, "ssim": 0.3104533556113999, "lpips": 0.5161861181259155}, "wrist_right": {"psnr": 14.883754782924186, "ssim": 0.5458480158039521, "lpips": 0.31577354669570923}, "tactile_left": {"psnr": 31.5928289771581, "ssim": 0.9405281033349567, "lpips": 0.19823303818702698}, "tactile_right": {"psnr": 42.86193717629554, "ssim": 0.9820531504690744, "lpips": 0.04274480417370796}}, {"video": {"psnr": 21.339755020381673, "ssim": 0.7295865418520372, "lpips": 0.15495747327804565}, "wrist_left": {"psnr": 10.158775690586051, "ssim": 0.2518071138048071, "lpips": 0.5855691432952881}, "wrist_right": {"psnr": 14.266801726349271, "ssim": 0.5191482328831372, "lpips": 0.35599759221076965}, "tactile_left": {"psnr": 29.4006992958236, "ssim": 0.9058556242629145, "lpips": 0.3135955333709717}, "tactile_right": {"psnr": 42.436631707680654, "ssim": 0.9792093377932705, "lpips": 0.059959106147289276}}, {"video": {"psnr": 21.03909233517674, "ssim": 0.7285999571328052, "lpips": 0.17485585808753967}, "wrist_left": {"psnr": 10.98830191143444, "ssim": 0.25184844340065876, "lpips": 0.5902363061904907}, "wrist_right": {"psnr": 12.53698783618939, "ssim": 0.45753812020367646, "lpips": 0.39248183369636536}, "tactile_left": {"psnr": 29.934502560874023, "ssim": 0.9187700666014027, "lpips": 0.31063133478164673}, "tactile_right": {"psnr": 41.02021844796661, "ssim": 0.9753805485194784, "lpips": 0.08282900601625443}}, {"video": {"psnr": 20.707424572548977, "ssim": 0.7219805142552526, "lpips": 0.1831279844045639}, "wrist_left": {"psnr": 10.551650365797581, "ssim": 0.2135851812914915, "lpips": 0.6331663727760315}, "wrist_right": {"psnr": 11.168700932714176, "ssim": 0.4008110790472202, "lpips": 0.4314391613006592}, "tactile_left": {"psnr": 31.43979258725573, "ssim": 0.9301732236198984, "lpips": 0.28941985964775085}, "tactile_right": {"psnr": 40.155963964857904, "ssim": 0.9707258739146585, "lpips": 0.10999347269535065}}, {"video": {"psnr": 19.913545915935778, "ssim": 0.6927972678994869, "lpips": 0.2089541107416153}, "wrist_left": {"psnr": 10.251365730396003, "ssim": 0.21747549998294757, "lpips": 0.6715545654296875}, "wrist_right": {"psnr": 11.021873383780997, "ssim": 0.3940107218489287, "lpips": 0.439741313457489}, "tactile_left": {"psnr": 32.134926484642364, "ssim": 0.9372814036206077, "lpips": 0.2748265564441681}, "tactile_right": {"psnr": 39.385121171954815, "ssim": 0.9656487545224186, "lpips": 0.1364070475101471}}, {"video": {"psnr": 20.32247309356019, "ssim": 0.7012454567819617, "lpips": 0.20567920804023743}, "wrist_left": {"psnr": 9.976361458971011, "ssim": 0.27594913124253706, "lpips": 0.6535805463790894}, "wrist_right": {"psnr": 11.037728109402776, "ssim": 0.38882392152622786, "lpips": 0.44895821809768677}, "tactile_left": {"psnr": 33.35880300304227, "ssim": 0.9525185118205387, "lpips": 0.21796488761901855}, "tactile_right": {"psnr": 38.31900423605366, "ssim": 0.9616332130380408, "lpips": 0.16410373151302338}}, {"video": {"psnr": 20.308185289060567, "ssim": 0.6890370268849234, "lpips": 0.2149430513381958}, "wrist_left": {"psnr": 9.144297034784351, "ssim": 0.21954713161011427, "lpips": 0.7860251069068909}, "wrist_right": {"psnr": 11.031954949344058, "ssim": 0.3829950163202709, "lpips": 0.4672260284423828}, "tactile_left": {"psnr": 30.990100804125603, "ssim": 0.9406066244527873, "lpips": 0.2683318555355072}, "tactile_right": {"psnr": 37.51674821330298, "ssim": 0.9593248487302293, "lpips": 0.17834478616714478}}, {"video": {"psnr": 19.848992942601893, "ssim": 0.6662786837806984, "lpips": 0.24310484528541565}, "wrist_left": {"psnr": 8.422602934853261, "ssim": 0.16679453368209796, "lpips": 0.6782199740409851}, "wrist_right": {"psnr": 10.981013499534535, "ssim": 0.36713604442971337, "lpips": 0.4965626895427704}, "tactile_left": {"psnr": 31.60001410079309, "ssim": 0.9490543640600019, "lpips": 0.22385478019714355}, "tactile_right": {"psnr": 36.86108296151986, "ssim": 0.9571358310970125, "lpips": 0.1946221888065338}}, {"video": {"psnr": 19.711495128903415, "ssim": 0.6513553260680731, "lpips": 0.2512706518173218}, "wrist_left": {"psnr": 9.751501650595475, "ssim": 0.1196191252790752, "lpips": 0.6478506326675415}, "wrist_right": {"psnr": 10.754544764146484, "ssim": 0.35812297430691925, "lpips": 0.5124747157096863}, "tactile_left": {"psnr": 29.997311365827713, "ssim": 0.9239674919235352, "lpips": 0.2768588066101074}, "tactile_right": {"psnr": 36.14328376929048, "ssim": 0.9531275563135115, "lpips": 0.21094241738319397}}, {"video": {"psnr": 20.049607338738724, "ssim": 0.6486928628967181, "lpips": 0.24232882261276245}, "wrist_left": {"psnr": 9.21706940080585, "ssim": 0.14278073756008416, "lpips": 0.6598005294799805}, "wrist_right": {"psnr": 10.543712259787121, "ssim": 0.3524004834997507, "lpips": 0.5206907987594604}, "tactile_left": {"psnr": 29.74583954674752, "ssim": 0.9291477324529822, "lpips": 0.29952093958854675}, "tactile_right": {"psnr": 35.60798937965714, "ssim": 0.9493212953982377, "lpips": 0.22422447800636292}}, {"video": {"psnr": 18.617284502525667, "ssim": 0.6195460743074905, "lpips": 0.285173237323761}, "wrist_left": {"psnr": 9.146076629163579, "ssim": 0.14407938361270925, "lpips": 0.670244574546814}, "wrist_right": {"psnr": 11.443460269757148, "ssim": 0.40549397137967375, "lpips": 0.4800770878791809}, "tactile_left": {"psnr": 29.25631717067198, "ssim": 0.9269700312173782, "lpips": 0.3213266432285309}, "tactile_right": {"psnr": 35.03462559328209, "ssim": 0.945406776842314, "lpips": 0.2385701835155487}}, {"video": {"psnr": 18.318708945683216, "ssim": 0.6145847850205077, "lpips": 0.3006019592285156}, "wrist_left": {"psnr": 8.858176422257538, "ssim": 0.14958227523704948, "lpips": 0.6709144115447998}, "wrist_right": {"psnr": 10.55432190799115, "ssim": 0.36434560453772535, "lpips": 0.5124073028564453}, "tactile_left": {"psnr": 29.441685322513504, "ssim": 0.9355598329387647, "lpips": 0.2769966423511505}, "tactile_right": {"psnr": 34.346028392363856, "ssim": 0.9414269502217137, "lpips": 0.2545086145401001}}, {"video": {"psnr": 18.16405452417657, "ssim": 0.6050088282378137, "lpips": 0.33520206809043884}, "wrist_left": {"psnr": 9.82593004880551, "ssim": 0.1918333080590235, "lpips": 0.6549378633499146}, "wrist_right": {"psnr": 9.639438547045161, "ssim": 0.2415546541632922, "lpips": 0.5493927597999573}, "tactile_left": {"psnr": 29.022582503364703, "ssim": 0.9333018707250686, "lpips": 0.28245311975479126}, "tactile_right": {"psnr": 31.635674271105163, "ssim": 0.9277919048153844, "lpips": 0.31075698137283325}}], "long_metrics": {"video": {"psnr": 20.902286079029246, "ssim": 0.701047507898167, "lpips": 0.20213780092696348}, "wrist_left": {"psnr": 10.33300633983127, "ssim": 0.22472478926100603, "lpips": 0.6187401851018269}, "wrist_right": {"psnr": 12.422043957465375, "ssim": 0.43658411902264666, "lpips": 0.41821263134479525}, "tactile_left": {"psnr": 30.940459458634155, "ssim": 0.9354912251624756, "lpips": 0.2553592354059219}, "tactile_right": {"psnr": 38.74566014595134, "ssim": 0.9631196951590281, "lpips": 0.14961702885727088}}}, {"id": "motherboard_10", "episode": "motherboard_0909_episode_002.pt", "requested_episode": "motherboard_0909_episode_002.pt", "category": "release", "t_start": 1051, "start_seconds": 70.06666666666666, "short_contact": [1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 0, 0], "future_transition_ticks": [11], "long_contact_fraction": 0.703125, "long_label": "release", "short_metrics": {"video": {"psnr": 22.051447101626728, "ssim": 0.766228935653312, "lpips": 0.0973483994603157}, "wrist_left": {"psnr": 13.784846509643101, "ssim": 0.5593145284233398, "lpips": 0.3680883049964905}, "wrist_right": {"psnr": 13.597810880902088, "ssim": 0.3934135164653313, "lpips": 0.38899561762809753}, "tactile_left": {"psnr": 48.29681802941329, "ssim": 0.9936938713696362, "lpips": 0.006070534233003855}, "tactile_right": {"psnr": 35.77015515649792, "ssim": 0.9778975820921272, "lpips": 0.05867481231689453}}, "media": {"short": {"video": "media/motherboard_10_short.mp4", "poster": "media/motherboard_10_short.jpg"}, "long": {"video": "media/motherboard_10_long.mp4", "poster": "media/motherboard_10_long.jpg"}}, "force": {"source": "recorded_normal_force", "units": "N", "fps": 15, "left": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "right": [5.259615421295166, 5.145384788513184, 4.285294055938721, 4.229005336761475, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.636666774749756, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 2.9424359798431396, 2.9424359798431396, 5.439090728759766, 6.251071453094482, 6.251071453094482, 6.251071453094482, 5.439090728759766, 5.439090728759766, 5.439090728759766, 6.251071453094482, 6.251071453094482, 4.3677778244018555, 1.5254545211791992, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 4.285294055938721, 6.251071453094482, 6.251071453094482, 6.733333110809326, 6.251071453094482, 6.251071453094482, 6.251071453094482, 5.439090728759766, 5.881275653839111, 6.0783467292785645, 5.259615421295166, 5.259615421295166, 5.145384788513184, 5.145384788513184, 5.259615421295166, 4.285294055938721, 1.1662499904632568, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.5254545211791992, 6.251071453094482, 7.293181896209717, 7.3070878982543945, 7.312847137451172, 7.293181896209717, 7.293181896209717, 0.7404214143753052, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4500000476837158, 5.145384788513184, 7.293181896209717, 7.869999885559082, 7.869999885559082, 7.869999885559082, 7.869999885559082, 7.869999885559082, 7.869999885559082, 0.0, 0.0, 1.5254545211791992, 1.1733332872390747, 2.9424359798431396, 4.285294055938721, 7.293181896209717, 7.469607353210449, 7.569608211517334, 7.293181896209717, 7.293181896209717, 7.293181896209717, 6.733333110809326, 5.3493146896362305, 5.439090728759766, 5.439090728759766, 5.439090728759766, 6.251071453094482, 5.439090728759766, 5.145384788513184, 1.1662499904632568, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.5254545211791992, 1.5254545211791992, 1.9833333492279053, 2.9424359798431396, 4.3677778244018555, 5.145384788513184, 5.145384788513184, 4.4391984939575195, 6.251071453094482, 6.251071453094482, 6.733333110809326, 6.251071453094482, 2.9424359798431396]}, "long_curve": [{"video": {"psnr": 22.051447101626728, "ssim": 0.766228935653312, "lpips": 0.0973483994603157}, "wrist_left": {"psnr": 13.784846509643101, "ssim": 0.5593145284233398, "lpips": 0.3680883049964905}, "wrist_right": {"psnr": 13.597810880902088, "ssim": 0.3934135164653313, "lpips": 0.38899561762809753}, "tactile_left": {"psnr": 48.29681802941329, "ssim": 0.9936938713696362, "lpips": 0.006070534233003855}, "tactile_right": {"psnr": 35.77015515649792, "ssim": 0.9778975820921272, "lpips": 0.05867481231689453}}, {"video": {"psnr": 20.326929975889204, "ssim": 0.7164502208789646, "lpips": 0.12963196635246277}, "wrist_left": {"psnr": 13.948514470026439, "ssim": 0.543240928912166, "lpips": 0.35675227642059326}, "wrist_right": {"psnr": 12.663005005680922, "ssim": 0.3389311990125131, "lpips": 0.5226584672927856}, "tactile_left": {"psnr": 44.85897917340618, "ssim": 0.9896643007692035, "lpips": 0.023698067292571068}, "tactile_right": {"psnr": 29.772353686745564, "ssim": 0.9392589961868758, "lpips": 0.2078479826450348}}, {"video": {"psnr": 19.78631508718825, "ssim": 0.7154105307474503, "lpips": 0.14944109320640564}, "wrist_left": {"psnr": 14.006150068925251, "ssim": 0.5488335655836747, "lpips": 0.3862195611000061}, "wrist_right": {"psnr": 11.793871907156912, "ssim": 0.280858150404636, "lpips": 0.577057957649231}, "tactile_left": {"psnr": 42.98838579288595, "ssim": 0.9850595739652315, "lpips": 0.04825563356280327}, "tactile_right": {"psnr": 29.304582527527398, "ssim": 0.9314403844235795, "lpips": 0.2351270467042923}}, {"video": {"psnr": 18.743583628462698, "ssim": 0.6861801181196256, "lpips": 0.18913011252880096}, "wrist_left": {"psnr": 13.556358580476013, "ssim": 0.5243423252829124, "lpips": 0.44388851523399353}, "wrist_right": {"psnr": 11.125989765651816, "ssim": 0.2519695358840164, "lpips": 0.5931664705276489}, "tactile_left": {"psnr": 41.05341050029568, "ssim": 0.9786969583459639, "lpips": 0.09342848509550095}, "tactile_right": {"psnr": 33.96413357685521, "ssim": 0.9585110461480965, "lpips": 0.1282425969839096}}, {"video": {"psnr": 18.816467089659227, "ssim": 0.6845323905139293, "lpips": 0.19003376364707947}, "wrist_left": {"psnr": 13.65754291201484, "ssim": 0.5141536422775883, "lpips": 0.43868106603622437}, "wrist_right": {"psnr": 10.280971582100866, "ssim": 0.18104746217478557, "lpips": 0.6524438858032227}, "tactile_left": {"psnr": 39.243060234177804, "ssim": 0.9735974494208326, "lpips": 0.13007019460201263}, "tactile_right": {"psnr": 27.919869822857205, "ssim": 0.9292170246622747, "lpips": 0.27119767665863037}}, {"video": {"psnr": 18.22463958300567, "ssim": 0.6718737492401984, "lpips": 0.2198713719844818}, "wrist_left": {"psnr": 13.352634907659578, "ssim": 0.5160922477728137, "lpips": 0.43244194984436035}, "wrist_right": {"psnr": 9.887098484754231, "ssim": 0.18344459036483313, "lpips": 0.6993756890296936}, "tactile_left": {"psnr": 38.6702273384249, "ssim": 0.970029882308305, "lpips": 0.15967793762683868}, "tactile_right": {"psnr": 29.983015936789986, "ssim": 0.9422076797459538, "lpips": 0.22396740317344666}}, {"video": {"psnr": 17.94991554444185, "ssim": 0.6597486706947773, "lpips": 0.24157539010047913}, "wrist_left": {"psnr": 12.812210989513384, "ssim": 0.46761841246195013, "lpips": 0.49382948875427246}, "wrist_right": {"psnr": 10.164962268497602, "ssim": 0.24719415894292632, "lpips": 0.5949521660804749}, "tactile_left": {"psnr": 37.77397849436581, "ssim": 0.9664252496597108, "lpips": 0.18378877639770508}, "tactile_right": {"psnr": 38.38741591027619, "ssim": 0.9611384795247697, "lpips": 0.11863313615322113}}, {"video": {"psnr": 18.16975727495009, "ssim": 0.6544026138442881, "lpips": 0.23726043105125427}, "wrist_left": {"psnr": 12.332043128284875, "ssim": 0.4448645506606438, "lpips": 0.5218191146850586}, "wrist_right": {"psnr": 12.00302181554784, "ssim": 0.26408854370446966, "lpips": 0.6104916334152222}, "tactile_left": {"psnr": 37.040568199097294, "ssim": 0.9627538510991462, "lpips": 0.20842388272285461}, "tactile_right": {"psnr": 29.489360621915246, "ssim": 0.9319508489080915, "lpips": 0.24023400247097015}}, {"video": {"psnr": 18.494273592674418, "ssim": 0.6556492537423368, "lpips": 0.22526487708091736}, "wrist_left": {"psnr": 12.217087944765819, "ssim": 0.4730915084680516, "lpips": 0.5019798278808594}, "wrist_right": {"psnr": 11.8937652998659, "ssim": 0.22071472022914967, "lpips": 0.5967451333999634}, "tactile_left": {"psnr": 36.20500273678948, "ssim": 0.959500386929125, "lpips": 0.22823862731456757}, "tactile_right": {"psnr": 34.464002100295666, "ssim": 0.9523296932668525, "lpips": 0.18662875890731812}}, {"video": {"psnr": 18.279388887601048, "ssim": 0.6477332103189655, "lpips": 0.23217573761940002}, "wrist_left": {"psnr": 12.379479352023807, "ssim": 0.4773285706578206, "lpips": 0.48696792125701904}, "wrist_right": {"psnr": 11.414715901397232, "ssim": 0.14840558676102386, "lpips": 0.6355553865432739}, "tactile_left": {"psnr": 35.65833089965874, "ssim": 0.9560554039405229, "lpips": 0.24658864736557007}, "tactile_right": {"psnr": 27.397445159083635, "ssim": 0.9167537435024717, "lpips": 0.3419681191444397}}, {"video": {"psnr": 18.204139766934937, "ssim": 0.6407880460024318, "lpips": 0.25468146800994873}, "wrist_left": {"psnr": 12.632510501714867, "ssim": 0.4826949214684866, "lpips": 0.4682011008262634}, "wrist_right": {"psnr": 12.024622950046993, "ssim": 0.16784320550535325, "lpips": 0.6530929207801819}, "tactile_left": {"psnr": 35.349567342897124, "ssim": 0.9523733087182178, "lpips": 0.26195961236953735}, "tactile_right": {"psnr": 29.60890886718037, "ssim": 0.9360795020264236, "lpips": 0.25177040696144104}}, {"video": {"psnr": 18.26446889855591, "ssim": 0.6409610477579399, "lpips": 0.2503374516963959}, "wrist_left": {"psnr": 12.772123255916819, "ssim": 0.46514912720040186, "lpips": 0.49320924282073975}, "wrist_right": {"psnr": 10.891747537779477, "ssim": 0.13836140968074195, "lpips": 0.669319748878479}, "tactile_left": {"psnr": 34.69426877144355, "ssim": 0.9489014069547582, "lpips": 0.27600806951522827}, "tactile_right": {"psnr": 27.887010326302036, "ssim": 0.9245795487973252, "lpips": 0.29261475801467896}}, {"video": {"psnr": 17.365982418667652, "ssim": 0.6305338624300699, "lpips": 0.3139321208000183}, "wrist_left": {"psnr": 12.727602186930387, "ssim": 0.44849571972494884, "lpips": 0.5140506625175476}, "wrist_right": {"psnr": 9.723756123439308, "ssim": 0.1535970255300892, "lpips": 0.6322864890098572}, "tactile_left": {"psnr": 34.04314467496704, "ssim": 0.9453722450903036, "lpips": 0.29093676805496216}, "tactile_right": {"psnr": 31.89147797932602, "ssim": 0.9397808705773294, "lpips": 0.22544100880622864}}, {"video": {"psnr": 17.181259029065554, "ssim": 0.6265010441455168, "lpips": 0.317084401845932}, "wrist_left": {"psnr": 12.70101532204748, "ssim": 0.4606057099326364, "lpips": 0.5156513452529907}, "wrist_right": {"psnr": 10.84267969026423, "ssim": 0.13494925841156374, "lpips": 0.5770512223243713}, "tactile_left": {"psnr": 33.65533573063581, "ssim": 0.9414683399226835, "lpips": 0.30968359112739563}, "tactile_right": {"psnr": 32.98049214925102, "ssim": 0.9389576149028565, "lpips": 0.23432227969169617}}, {"video": {"psnr": 17.150332631213388, "ssim": 0.6198670925750416, "lpips": 0.34558814764022827}, "wrist_left": {"psnr": 11.994539178277048, "ssim": 0.43841913410016764, "lpips": 0.4973832666873932}, "wrist_right": {"psnr": 9.956908136479385, "ssim": 0.14571764261723696, "lpips": 0.6236230134963989}, "tactile_left": {"psnr": 33.28432111135275, "ssim": 0.9391055824540722, "lpips": 0.319540798664093}, "tactile_right": {"psnr": 29.30862396351282, "ssim": 0.9189891565817898, "lpips": 0.3150968551635742}}], "long_metrics": {"video": {"psnr": 18.600593367329108, "ssim": 0.6677907191109899, "lpips": 0.22622378220160802}, "wrist_left": {"psnr": 12.991643953881315, "ssim": 0.49094965952850683, "lpips": 0.4612775762875875}, "wrist_right": {"psnr": 11.21766182330432, "ssim": 0.21670240037924468, "lpips": 0.6017877201239268}, "tactile_left": {"psnr": 38.187693268654094, "ssim": 0.9641798540631809, "lpips": 0.18575797506297628}, "tactile_right": {"psnr": 31.20858985229442, "ssim": 0.9399394780897878, "lpips": 0.2221177895863851}}}, {"id": "motherboard_11", "episode": "motherboard_0909_episode_002.pt", "requested_episode": "motherboard_0909_episode_002.pt", "category": "full", "t_start": 1788, "start_seconds": 119.2, "short_contact": [1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1], "future_transition_ticks": [], "long_contact_fraction": 0.9609375, "long_label": "full", "short_metrics": {"video": {"psnr": 26.548246183671587, "ssim": 0.8754781615373726, "lpips": 0.05244977027177811}, "wrist_left": {"psnr": 10.257568993307695, "ssim": 0.33914615727681485, "lpips": 0.42500877380371094}, "wrist_right": {"psnr": 22.862043332323484, "ssim": 0.8644290308547643, "lpips": 0.03880184143781662}, "tactile_left": {"psnr": 45.24414868527562, "ssim": 0.9920665875725196, "lpips": 0.006727893836796284}, "tactile_right": {"psnr": 45.07491388042507, "ssim": 0.9867451781935968, "lpips": 0.010951455682516098}}, "media": {"short": {"video": "media/motherboard_11_short.mp4", "poster": "media/motherboard_11_short.jpg"}, "long": {"video": "media/motherboard_11_long.mp4", "poster": "media/motherboard_11_long.jpg"}}, "force": {"source": "recorded_normal_force", "units": "N", "fps": 15, "left": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 2.9424359798431396, 5.439090728759766, 6.733333110809326, 7.293181896209717, 7.293181896209717, 7.299813270568848, 7.3037261962890625, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 6.733333110809326, 6.733333110809326, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 6.733333110809326, 5.439090728759766, 4.285294055938721, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 4.285294055938721, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.8207693099975586, 2.861105442047119, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "right": [1.1733332872390747, 1.5254545211791992, 1.5254545211791992, 1.5254545211791992, 1.5254545211791992, 1.5254545211791992, 1.5254545211791992, 1.5254545211791992, 1.5254545211791992, 1.5254545211791992, 1.5254545211791992, 1.5254545211791992, 1.5254545211791992, 1.9331133365631104, 1.9833333492279053, 2.636666774749756, 2.8207693099975586, 2.8207693099975586, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 4.285294055938721, 4.285294055938721, 4.285294055938721, 4.285294055938721, 4.285294055938721, 4.285294055938721, 4.285294055938721, 4.285294055938721, 5.145384788513184, 5.259615421295166, 5.145384788513184, 5.145384788513184, 5.145384788513184, 4.3677778244018555, 5.971224308013916, 5.484982967376709, 5.702359199523926, 5.145384788513184, 5.145384788513184, 5.145384788513184, 6.251071453094482, 6.251071453094482, 6.251071453094482, 6.251071453094482, 6.251071453094482, 6.251071453094482, 6.251071453094482, 6.251071453094482, 6.251071453094482, 6.251071453094482, 5.439090728759766, 4.3677778244018555, 4.285294055938721, 2.9424359798431396, 2.8207693099975586, 1.1733332872390747, 1.1662499904632568, 1.1662499904632568, 1.1662499904632568, 1.1662499904632568, 1.1662499904632568, 1.1662499904632568, 1.1662499904632568, 1.2584279775619507, 1.5254545211791992, 1.9178065061569214, 1.9830996990203857, 1.8448008298873901, 1.5254545211791992, 1.445785403251648, 1.1733332872390747, 1.1662499904632568, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 2.8207693099975586, 4.285294055938721, 5.259615421295166, 6.251071453094482, 7.293181896209717, 7.293181896209717, 7.30930757522583, 7.30930757522583, 7.869999885559082, 7.869999885559082, 7.869999885559082, 7.823916435241699, 7.602156639099121, 7.494094371795654, 7.307358264923096, 7.307871341705322, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 6.251071453094482, 5.439090728759766, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.8207693099975586, 2.636666774749756, 1.9833333492279053, 2.9424359798431396, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 6.733333110809326, 6.251071453094482, 2.9424359798431396, 1.5254545211791992, 1.1662499904632568, 1.1662499904632568]}, "long_curve": [{"video": {"psnr": 26.548246183671587, "ssim": 0.8754781615373726, "lpips": 0.05244977027177811}, "wrist_left": {"psnr": 10.257568993307695, "ssim": 0.33914615727681485, "lpips": 0.42500877380371094}, "wrist_right": {"psnr": 22.862043332323484, "ssim": 0.8644290308547643, "lpips": 0.03880184143781662}, "tactile_left": {"psnr": 45.24414868527562, "ssim": 0.9920665875725196, "lpips": 0.006727893836796284}, "tactile_right": {"psnr": 45.07491388042507, "ssim": 0.9867451781935968, "lpips": 0.010951455682516098}}, {"video": {"psnr": 25.14136260028229, "ssim": 0.8247929232267884, "lpips": 0.07899069786071777}, "wrist_left": {"psnr": 9.673245387337053, "ssim": 0.22792910644199324, "lpips": 0.573573648929596}, "wrist_right": {"psnr": 17.4765943863952, "ssim": 0.6107724560890444, "lpips": 0.12772729992866516}, "tactile_left": {"psnr": 30.79823055438478, "ssim": 0.9328635516489197, "lpips": 0.20511402189731598}, "tactile_right": {"psnr": 35.24101217390129, "ssim": 0.9593683327284142, "lpips": 0.05058491230010986}}, {"video": {"psnr": 23.119543261511872, "ssim": 0.7477358566949769, "lpips": 0.10800038278102875}, "wrist_left": {"psnr": 9.229889112974893, "ssim": 0.20021266850774477, "lpips": 0.5988590717315674}, "wrist_right": {"psnr": 13.555231692904236, "ssim": 0.44138157813722595, "lpips": 0.3217407464981079}, "tactile_left": {"psnr": 29.76899050104032, "ssim": 0.9082494202275447, "lpips": 0.28162097930908203}, "tactile_right": {"psnr": 32.48115807649889, "ssim": 0.9425293595249562, "lpips": 0.08834726363420486}}, {"video": {"psnr": 21.830603948055185, "ssim": 0.7054872422575684, "lpips": 0.14183767139911652}, "wrist_left": {"psnr": 8.730904881040127, "ssim": 0.17184084663112148, "lpips": 0.5916239023208618}, "wrist_right": {"psnr": 11.75513874114931, "ssim": 0.35560183490955033, "lpips": 0.45403772592544556}, "tactile_left": {"psnr": 30.5831900475178, "ssim": 0.9162448479253125, "lpips": 0.2834250330924988}, "tactile_right": {"psnr": 32.73713785204772, "ssim": 0.9442479949323445, "lpips": 0.10590313374996185}}, {"video": {"psnr": 21.423087530747217, "ssim": 0.68683547071603, "lpips": 0.1571018099784851}, "wrist_left": {"psnr": 8.791151824761705, "ssim": 0.16680969455916134, "lpips": 0.585442066192627}, "wrist_right": {"psnr": 11.896512914228879, "ssim": 0.34903223017830065, "lpips": 0.4636176824569702}, "tactile_left": {"psnr": 29.64179070283987, "ssim": 0.9105194797437106, "lpips": 0.3104740381240845}, "tactile_right": {"psnr": 32.38545534257944, "ssim": 0.9422052777975677, "lpips": 0.13017985224723816}}, {"video": {"psnr": 21.218122071001865, "ssim": 0.6754889688246577, "lpips": 0.1659749448299408}, "wrist_left": {"psnr": 9.176633115236125, "ssim": 0.17566061397702346, "lpips": 0.5753530263900757}, "wrist_right": {"psnr": 11.524985106573336, "ssim": 0.33504113684742753, "lpips": 0.4729815125465393}, "tactile_left": {"psnr": 31.146608739418067, "ssim": 0.9220053535940261, "lpips": 0.30288201570510864}, "tactile_right": {"psnr": 33.42772903102533, "ssim": 0.9454737560030642, "lpips": 0.12914681434631348}}, {"video": {"psnr": 20.971575887429154, "ssim": 0.6685093226369812, "lpips": 0.17934057116508484}, "wrist_left": {"psnr": 9.213066602984277, "ssim": 0.1772442220488791, "lpips": 0.5871791839599609}, "wrist_right": {"psnr": 11.186042086245962, "ssim": 0.31398766068204786, "lpips": 0.49946489930152893}, "tactile_left": {"psnr": 34.07097698917834, "ssim": 0.9404655899682565, "lpips": 0.2637242078781128}, "tactile_right": {"psnr": 36.459295697454735, "ssim": 0.9560234217332082, "lpips": 0.13913163542747498}}, {"video": {"psnr": 20.289650660054903, "ssim": 0.6506551009269272, "lpips": 0.2038852721452713}, "wrist_left": {"psnr": 9.59761704448278, "ssim": 0.18066261723199922, "lpips": 0.5960853099822998}, "wrist_right": {"psnr": 12.14536530425421, "ssim": 0.34470094201606927, "lpips": 0.4878476560115814}, "tactile_left": {"psnr": 33.1892919000571, "ssim": 0.9339179600113248, "lpips": 0.27995872497558594}, "tactile_right": {"psnr": 36.178233896754946, "ssim": 0.9550328311807198, "lpips": 0.1708310842514038}}, {"video": {"psnr": 19.258285263459726, "ssim": 0.6214287289090048, "lpips": 0.2568170428276062}, "wrist_left": {"psnr": 10.12297808953338, "ssim": 0.17792354008092842, "lpips": 0.5983840227127075}, "wrist_right": {"psnr": 11.63891997826218, "ssim": 0.3443134094637551, "lpips": 0.5215960741043091}, "tactile_left": {"psnr": 33.09004216471651, "ssim": 0.9368787684203103, "lpips": 0.28035035729408264}, "tactile_right": {"psnr": 35.78478886566971, "ssim": 0.9563720465665027, "lpips": 0.16229408979415894}}, {"video": {"psnr": 19.0284199591433, "ssim": 0.6126839970881702, "lpips": 0.2619166374206543}, "wrist_left": {"psnr": 9.828456489086001, "ssim": 0.19726165177108723, "lpips": 0.5958207845687866}, "wrist_right": {"psnr": 11.696665190867048, "ssim": 0.3211797098390929, "lpips": 0.5257173776626587}, "tactile_left": {"psnr": 33.42850248571867, "ssim": 0.9436525377843807, "lpips": 0.2608880400657654}, "tactile_right": {"psnr": 35.319651116887755, "ssim": 0.9538281619552489, "lpips": 0.17428788542747498}}, {"video": {"psnr": 18.616614853649864, "ssim": 0.6041636885982999, "lpips": 0.28403031826019287}, "wrist_left": {"psnr": 9.159489727349298, "ssim": 0.21984142929545342, "lpips": 0.6359254717826843}, "wrist_right": {"psnr": 11.325347558933183, "ssim": 0.2948609489376225, "lpips": 0.5239005088806152}, "tactile_left": {"psnr": 33.215928204539175, "ssim": 0.9430290191141966, "lpips": 0.2630445957183838}, "tactile_right": {"psnr": 28.626266777193926, "ssim": 0.9243060449794879, "lpips": 0.317837655544281}}, {"video": {"psnr": 18.40869837496713, "ssim": 0.5943665469576499, "lpips": 0.2903236150741577}, "wrist_left": {"psnr": 9.875263489812792, "ssim": 0.21261303335616383, "lpips": 0.6159172058105469}, "wrist_right": {"psnr": 11.08398602223916, "ssim": 0.28692113519499163, "lpips": 0.524954080581665}, "tactile_left": {"psnr": 32.71192603896949, "ssim": 0.9394848736762327, "lpips": 0.2760409116744995}, "tactile_right": {"psnr": 26.966242210132375, "ssim": 0.9099713160070096, "lpips": 0.35722196102142334}}, {"video": {"psnr": 18.424091103926166, "ssim": 0.5926935578205337, "lpips": 0.2854374945163727}, "wrist_left": {"psnr": 9.582720806693247, "ssim": 0.18501004529194182, "lpips": 0.612588107585907}, "wrist_right": {"psnr": 11.187222327424358, "ssim": 0.29869838517842123, "lpips": 0.5325443744659424}, "tactile_left": {"psnr": 32.356808377378044, "ssim": 0.936413899275483, "lpips": 0.2898181676864624}, "tactile_right": {"psnr": 28.589647181047127, "ssim": 0.918603787293327, "lpips": 0.34886449575424194}}, {"video": {"psnr": 18.171322800319732, "ssim": 0.5813925043265852, "lpips": 0.2998129725456238}, "wrist_left": {"psnr": 9.454067862652815, "ssim": 0.17365194727380345, "lpips": 0.6463906764984131}, "wrist_right": {"psnr": 11.122619188448768, "ssim": 0.28542290906012424, "lpips": 0.5573346614837646}, "tactile_left": {"psnr": 31.750115765024955, "ssim": 0.9322942905197513, "lpips": 0.30398067831993103}, "tactile_right": {"psnr": 29.105462008714316, "ssim": 0.920833755333767, "lpips": 0.3540743589401245}}, {"video": {"psnr": 18.397006723010342, "ssim": 0.578288075359402, "lpips": 0.2930133640766144}, "wrist_left": {"psnr": 9.627950471220508, "ssim": 0.21327950308619512, "lpips": 0.6179735064506531}, "wrist_right": {"psnr": 11.081715134656214, "ssim": 0.27481873287325775, "lpips": 0.5579305291175842}, "tactile_left": {"psnr": 31.4388045732148, "ssim": 0.9310407424265439, "lpips": 0.3122965097427368}, "tactile_right": {"psnr": 29.6160839291881, "ssim": 0.9241839922895276, "lpips": 0.33733195066452026}}], "long_metrics": {"video": {"psnr": 20.723108748082023, "ssim": 0.6680000097253965, "lpips": 0.203928837676843}, "wrist_left": {"psnr": 9.488066926564846, "ssim": 0.2012724717886874, "lpips": 0.5904083172480266}, "wrist_right": {"psnr": 12.769225930993702, "ssim": 0.38141080668411304, "lpips": 0.4406797980268796}, "tactile_left": {"psnr": 32.8290237152849, "ssim": 0.9346084614605675, "lpips": 0.26135641168802975}, "tactile_right": {"psnr": 33.19953853596805, "ssim": 0.9426483504345828, "lpips": 0.19179923658569653}}}, {"id": "motherboard_12", "episode": "motherboard_0911_episode_008_seg00.pt", "requested_episode": "motherboard_0911_episode_008_seg00.pt", "category": "none", "t_start": 913, "start_seconds": 60.86666666666667, "short_contact": [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0], "future_transition_ticks": [], "long_contact_fraction": 0.2734375, "long_label": "none_at_start", "short_metrics": {"video": {"psnr": 26.028259688868932, "ssim": 0.8835447858181484, "lpips": 0.04816247522830963}, "wrist_left": {"psnr": 19.41047968163861, "ssim": 0.7240723773706992, "lpips": 0.1256832480430603}, "wrist_right": {"psnr": 15.554073962441471, "ssim": 0.3916536133949595, "lpips": 0.3307190537452698}, "tactile_left": {"psnr": 50.43004397422786, "ssim": 0.994679075019806, "lpips": 0.0034332433715462685}, "tactile_right": {"psnr": 49.767959756255394, "ssim": 0.993648996600848, "lpips": 0.008901143446564674}}, "media": {"short": {"video": "media/motherboard_12_short.mp4", "poster": "media/motherboard_12_short.jpg"}, "long": {"video": "media/motherboard_12_long.mp4", "poster": "media/motherboard_12_long.jpg"}}, "force": {"source": "recorded_normal_force", "units": "N", "fps": 15, "left": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "right": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.6395905017852783, 0.529942512512207, 0.529942512512207, 0.2907944917678833, 0.5600000023841858, 0.1599999964237213, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0812060683965683, 0.0024630518164485693, 0.0, 1.3589457273483276, 0.0, 0.0, 0.0, 0.5390956997871399, 0.3198980987071991, 0.5392528176307678, 0.0, 0.0, 0.0, 0.0, 1.187829852104187, 0.0, 1.294777274131775, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.8550904393196106, 0.0, 0.7983333468437195, 0.7983333468437195, 2.243333339691162, 1.284462809562683, 0.0, 2.3248276710510254, 0.27564528584480286, 0.4399999976158142, 0.49203309416770935, 0.7983333468437195, 1.9444444179534912, 0.5351153016090393, 0.4000000059604645, 0.4866666793823242, 0.4399999976158142, 0.1599999964237213, 0.0, 0.0, 0.0, 0.0, 0.0, 2.3248276710510254, 1.277543306350708, 0.0, 0.0, 3.0568182468414307, 2.0719287395477295, 0.0, 0.0, 2.563887119293213, 0.0, 0.0, 0.0, 0.7983333468437195, 1.9444444179534912, 0.7983333468437195, 0.1599999964237213, 0.5624003410339355, 0.7983333468437195, 0.0, 0.0, 0.0, 0.0, 0.0, 0.1599999964237213, 0.1599999964237213, 0.1599999964237213, 1.9444444179534912, 0.5600000023841858, 1.9444444179534912, 0.4000000059604645, 0.1599999964237213, 3.0568182468414307, 0.0, 2.898989200592041, 0.7983333468437195, 0.3728911876678467, 0.27666667103767395, 0.2400962859392166, 0.16988153755664825, 0.1599999964237213, 0.1599999964237213, 0.0, 0.0, 0.0, 0.0, 0.11106123775243759, 0.49718019366264343, 0.7983333468437195]}, "long_curve": [{"video": {"psnr": 26.028259688868932, "ssim": 0.8835447858181484, "lpips": 0.04816247522830963}, "wrist_left": {"psnr": 19.41047968163861, "ssim": 0.7240723773706992, "lpips": 0.1256832480430603}, "wrist_right": {"psnr": 15.554073962441471, "ssim": 0.3916536133949595, "lpips": 0.3307190537452698}, "tactile_left": {"psnr": 50.43004397422786, "ssim": 0.994679075019806, "lpips": 0.0034332433715462685}, "tactile_right": {"psnr": 49.767959756255394, "ssim": 0.993648996600848, "lpips": 0.008901143446564674}}, {"video": {"psnr": 23.37021970604023, "ssim": 0.8201791093670436, "lpips": 0.07669414579868317}, "wrist_left": {"psnr": 17.917163180553523, "ssim": 0.6849848555904741, "lpips": 0.14583420753479004}, "wrist_right": {"psnr": 14.6455510565603, "ssim": 0.3307392332138548, "lpips": 0.4338671863079071}, "tactile_left": {"psnr": 47.63474882267289, "ssim": 0.9916080770190994, "lpips": 0.00971205160021782}, "tactile_right": {"psnr": 39.815927867744264, "ssim": 0.9787712442433181, "lpips": 0.0684148520231247}}, {"video": {"psnr": 22.81496514989928, "ssim": 0.801895388240788, "lpips": 0.08736000210046768}, "wrist_left": {"psnr": 17.273663444363812, "ssim": 0.6748597676229281, "lpips": 0.16250580549240112}, "wrist_right": {"psnr": 14.260019134961464, "ssim": 0.3178578145023842, "lpips": 0.44039279222488403}, "tactile_left": {"psnr": 45.69902540585535, "ssim": 0.9879302104219676, "lpips": 0.02357514388859272}, "tactile_right": {"psnr": 35.791378362170256, "ssim": 0.967598737438296, "lpips": 0.11109791696071625}}, {"video": {"psnr": 22.467062213507802, "ssim": 0.7910733138214554, "lpips": 0.09519623219966888}, "wrist_left": {"psnr": 16.939567081192273, "ssim": 0.6667962709492693, "lpips": 0.17600169777870178}, "wrist_right": {"psnr": 13.824642870691225, "ssim": 0.2845732086053645, "lpips": 0.4740957021713257}, "tactile_left": {"psnr": 43.73883336975907, "ssim": 0.9832050736891519, "lpips": 0.0425979420542717}, "tactile_right": {"psnr": 39.02044416491191, "ssim": 0.9755384494652726, "lpips": 0.050672560930252075}}, {"video": {"psnr": 22.851110686993145, "ssim": 0.798767342426056, "lpips": 0.0916709303855896}, "wrist_left": {"psnr": 16.505637278712342, "ssim": 0.6440077707443934, "lpips": 0.19074037671089172}, "wrist_right": {"psnr": 13.889512906453783, "ssim": 0.25750319666957183, "lpips": 0.4847203195095062}, "tactile_left": {"psnr": 42.204948630762196, "ssim": 0.9800239432458907, "lpips": 0.062051765620708466}, "tactile_right": {"psnr": 39.221438132902044, "ssim": 0.9740350049118592, "lpips": 0.06492842733860016}}, {"video": {"psnr": 22.376543209456486, "ssim": 0.7790066970422738, "lpips": 0.10249489545822144}, "wrist_left": {"psnr": 15.855351519628638, "ssim": 0.6269228798280702, "lpips": 0.2221396267414093}, "wrist_right": {"psnr": 13.869584147305574, "ssim": 0.3045035006405823, "lpips": 0.4895835518836975}, "tactile_left": {"psnr": 41.02298365112315, "ssim": 0.9766740551214123, "lpips": 0.08840222656726837}, "tactile_right": {"psnr": 38.410752448875925, "ssim": 0.9713120696032209, "lpips": 0.07962960004806519}}, {"video": {"psnr": 21.578956141760614, "ssim": 0.751664804020723, "lpips": 0.12214840948581696}, "wrist_left": {"psnr": 15.353893005224954, "ssim": 0.6025980185226717, "lpips": 0.2540971338748932}, "wrist_right": {"psnr": 13.366260637547748, "ssim": 0.27331394357539096, "lpips": 0.48064830899238586}, "tactile_left": {"psnr": 39.8575908551691, "ssim": 0.9729421304779616, "lpips": 0.11360207200050354}, "tactile_right": {"psnr": 37.68865236999685, "ssim": 0.9680075826830978, "lpips": 0.09937833249568939}}, {"video": {"psnr": 21.981074585132184, "ssim": 0.7509473002677558, "lpips": 0.12761755287647247}, "wrist_left": {"psnr": 15.45300909885471, "ssim": 0.6058108751857472, "lpips": 0.24448946118354797}, "wrist_right": {"psnr": 12.659012299398796, "ssim": 0.28337895107014066, "lpips": 0.49269258975982666}, "tactile_left": {"psnr": 39.07035401799568, "ssim": 0.9691523868743486, "lpips": 0.14223091304302216}, "tactile_right": {"psnr": 37.20852753706585, "ssim": 0.9643935335656353, "lpips": 0.14374372363090515}}, {"video": {"psnr": 21.955839262081792, "ssim": 0.7287154664477097, "lpips": 0.14951381087303162}, "wrist_left": {"psnr": 15.938683006255548, "ssim": 0.6290244551981545, "lpips": 0.23639598488807678}, "wrist_right": {"psnr": 13.132268142293286, "ssim": 0.2962311825479782, "lpips": 0.4829030930995941}, "tactile_left": {"psnr": 38.23961575180046, "ssim": 0.966195627015962, "lpips": 0.16427338123321533}, "tactile_right": {"psnr": 36.49408125641757, "ssim": 0.964262741729037, "lpips": 0.1371993124485016}}, {"video": {"psnr": 21.516356298267567, "ssim": 0.7087719894384399, "lpips": 0.17562824487686157}, "wrist_left": {"psnr": 15.532415315646464, "ssim": 0.6136424342930582, "lpips": 0.2357565015554428}, "wrist_right": {"psnr": 12.116673982817955, "ssim": 0.2644089769390646, "lpips": 0.5114426612854004}, "tactile_left": {"psnr": 37.065763400512125, "ssim": 0.960583385545102, "lpips": 0.18545356392860413}, "tactile_right": {"psnr": 35.938246035710705, "ssim": 0.9622067280575954, "lpips": 0.13239620625972748}}, {"video": {"psnr": 21.456787854043846, "ssim": 0.7031697317304818, "lpips": 0.17603668570518494}, "wrist_left": {"psnr": 15.234381779885027, "ssim": 0.595202209867157, "lpips": 0.24612684547901154}, "wrist_right": {"psnr": 12.416484638581052, "ssim": 0.25981034530732294, "lpips": 0.5297151803970337}, "tactile_left": {"psnr": 36.619865960979986, "ssim": 0.9568991874472088, "lpips": 0.20362067222595215}, "tactile_right": {"psnr": 35.558401239536714, "ssim": 0.9598979119469431, "lpips": 0.1540224850177765}}, {"video": {"psnr": 21.446299827539598, "ssim": 0.6923873899537039, "lpips": 0.18870896100997925}, "wrist_left": {"psnr": 15.04444685253954, "ssim": 0.5682736720219626, "lpips": 0.2628781795501709}, "wrist_right": {"psnr": 12.374570661269463, "ssim": 0.30037818263741467, "lpips": 0.5133856534957886}, "tactile_left": {"psnr": 36.17016033257449, "ssim": 0.9539117972156509, "lpips": 0.22041481733322144}, "tactile_right": {"psnr": 35.31497931632778, "ssim": 0.9576365366059396, "lpips": 0.17372244596481323}}, {"video": {"psnr": 21.05523325972149, "ssim": 0.665560444131432, "lpips": 0.21894100308418274}, "wrist_left": {"psnr": 13.031848925302983, "ssim": 0.4775569158947136, "lpips": 0.36013805866241455}, "wrist_right": {"psnr": 12.47841001338739, "ssim": 0.2799058349785724, "lpips": 0.5181831121444702}, "tactile_left": {"psnr": 35.79370991718986, "ssim": 0.9504389219358406, "lpips": 0.23392820358276367}, "tactile_right": {"psnr": 34.855296941879374, "ssim": 0.9542785513277121, "lpips": 0.19523632526397705}}, {"video": {"psnr": 21.023304656596228, "ssim": 0.6583404516169442, "lpips": 0.22120219469070435}, "wrist_left": {"psnr": 12.879621174527017, "ssim": 0.45269571146200305, "lpips": 0.38246583938598633}, "wrist_right": {"psnr": 13.454332584024389, "ssim": 0.29715185407403555, "lpips": 0.4722486138343811}, "tactile_left": {"psnr": 35.373513023605256, "ssim": 0.946459130341524, "lpips": 0.25120270252227783}, "tactile_right": {"psnr": 34.463008543886936, "ssim": 0.9513259115834232, "lpips": 0.21856510639190674}}, {"video": {"psnr": 20.71899900480661, "ssim": 0.6501637993239087, "lpips": 0.2337011694908142}, "wrist_left": {"psnr": 12.979471977657814, "ssim": 0.42605009640050684, "lpips": 0.3935098648071289}, "wrist_right": {"psnr": 13.654895985670546, "ssim": 0.31645233226992897, "lpips": 0.4757181704044342}, "tactile_left": {"psnr": 34.90871216839305, "ssim": 0.9430405077169548, "lpips": 0.2622916102409363}, "tactile_right": {"psnr": 33.839556131689235, "ssim": 0.9494621470202302, "lpips": 0.23368830978870392}}], "long_metrics": {"video": {"psnr": 22.176067436314387, "ssim": 0.7456125342431242, "lpips": 0.14100511421759923}, "wrist_left": {"psnr": 15.689975554798883, "ssim": 0.5994998873967873, "lpips": 0.24258418877919516}, "wrist_right": {"psnr": 13.44641953489363, "ssim": 0.29719081136177106, "lpips": 0.475354399283727}, "tactile_left": {"psnr": 40.255324618841364, "ssim": 0.968916233939192, "lpips": 0.1337860206142068}, "tactile_right": {"psnr": 37.55924334035806, "ssim": 0.9661584097854952, "lpips": 0.12477311653395494}}}, {"id": "motherboard_13", "episode": "motherboard_0911_episode_008_seg00.pt", "requested_episode": "motherboard_0911_episode_008_seg00.pt", "category": "onset", "t_start": 726, "start_seconds": 48.4, "short_contact": [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 1], "future_transition_ticks": [11], "long_contact_fraction": 0.515625, "long_label": "onset", "short_metrics": {"video": {"psnr": 30.25942189856217, "ssim": 0.9255217865421035, "lpips": 0.022277463227510452}, "wrist_left": {"psnr": 15.143354229768542, "ssim": 0.29749186485288825, "lpips": 0.2776000201702118}, "wrist_right": {"psnr": 19.920491054597683, "ssim": 0.8207681359679192, "lpips": 0.04728635773062706}, "tactile_left": {"psnr": 35.466705176071706, "ssim": 0.9688617718559276, "lpips": 0.08101487159729004}, "tactile_right": {"psnr": 50.57170376783687, "ssim": 0.9945231768519678, "lpips": 0.004086043685674667}}, "media": {"short": {"video": "media/motherboard_13_short.mp4", "poster": "media/motherboard_13_short.jpg"}, "long": {"video": "media/motherboard_13_long.mp4", "poster": "media/motherboard_13_long.jpg"}}, "force": {"source": "recorded_normal_force", "units": "N", "fps": 15, "left": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 2.243333339691162, 3.9167568683624268, 6.519285678863525, 6.519285678863525, 6.519285678863525, 6.519285678863525, 6.519285678863525, 6.519285678863525, 6.519285678863525, 6.373636245727539, 3.9167568683624268, 0.27666667103767395, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.347143292427063, 0.7983333468437195, 1.9444444179534912, 2.6312499046325684, 2.6312499046325684, 4.726428508758545, 3.0568182468414307, 2.3248276710510254, 3.0568182468414307, 3.0568182468414307, 3.9167568683624268, 4.726428508758545, 4.726428508758545, 3.9167568683624268, 1.9444444179534912, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.5218365788459778, 0.7983333468437195, 2.6312499046325684, 0.5259732007980347, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.7983333468437195, 3.0568182468414307, 6.373636245727539, 5.397500038146973, 5.486666679382324, 2.3248276710510254, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 5.403749942779541, 6.519285678863525, 6.760714054107666, 7.488461494445801, 7.488461494445801, 7.488461494445801, 7.488461494445801, 6.760714054107666, 6.519285678863525, 6.519285678863525, 5.486666679382324, 0.7983333468437195, 0.0, 0.0, 0.0, 0.0, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.9167568683624268, 3.1971428394317627, 3.9167568683624268, 4.726428508758545, 4.726428508758545, 4.726428508758545, 4.726428508758545, 3.9167568683624268, 3.9167568683624268, 3.9167568683624268, 3.9167568683624268, 3.1971428394317627, 2.3248276710510254, 0.019140325486660004, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.5600000023841858], "right": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]}, "long_curve": [{"video": {"psnr": 30.25942189856217, "ssim": 0.9255217865421035, "lpips": 0.022277463227510452}, "wrist_left": {"psnr": 15.143354229768542, "ssim": 0.29749186485288825, "lpips": 0.2776000201702118}, "wrist_right": {"psnr": 19.920491054597683, "ssim": 0.8207681359679192, "lpips": 0.04728635773062706}, "tactile_left": {"psnr": 35.466705176071706, "ssim": 0.9688617718559276, "lpips": 0.08101487159729004}, "tactile_right": {"psnr": 50.57170376783687, "ssim": 0.9945231768519678, "lpips": 0.004086043685674667}}, {"video": {"psnr": 25.124370624483227, "ssim": 0.8429198984181722, "lpips": 0.05698886513710022}, "wrist_left": {"psnr": 15.136595181130259, "ssim": 0.2858532538577282, "lpips": 0.3645626902580261}, "wrist_right": {"psnr": 17.876946496479466, "ssim": 0.72591988109669, "lpips": 0.10898108780384064}, "tactile_left": {"psnr": 33.16605097799604, "ssim": 0.9523209235820502, "lpips": 0.12708577513694763}, "tactile_right": {"psnr": 45.97598202300584, "ssim": 0.9876695058392487, "lpips": 0.014050403609871864}}, {"video": {"psnr": 21.688982063833308, "ssim": 0.767649157767029, "lpips": 0.14818121492862701}, "wrist_left": {"psnr": 13.810303151830487, "ssim": 0.2600369096256191, "lpips": 0.4529026746749878}, "wrist_right": {"psnr": 18.44909076721334, "ssim": 0.7520703850183188, "lpips": 0.1302105188369751}, "tactile_left": {"psnr": 41.63624574796402, "ssim": 0.9804375215381134, "lpips": 0.039345450699329376}, "tactile_right": {"psnr": 43.2829801041062, "ssim": 0.9845500637643598, "lpips": 0.02732061967253685}}, {"video": {"psnr": 21.03283442496106, "ssim": 0.7351762616824409, "lpips": 0.1706600785255432}, "wrist_left": {"psnr": 13.49343000514574, "ssim": 0.25271662186608257, "lpips": 0.4682995080947876}, "wrist_right": {"psnr": 18.226670413393634, "ssim": 0.7315741661059394, "lpips": 0.14331984519958496}, "tactile_left": {"psnr": 35.8435256927721, "ssim": 0.9670970269611299, "lpips": 0.10799315571784973}, "tactile_right": {"psnr": 41.20564433139849, "ssim": 0.9819262036870029, "lpips": 0.043208472430706024}}, {"video": {"psnr": 20.88686606352814, "ssim": 0.7247173706712546, "lpips": 0.18405136466026306}, "wrist_left": {"psnr": 12.919544095149098, "ssim": 0.2187431784407911, "lpips": 0.5463081002235413}, "wrist_right": {"psnr": 18.048958403456073, "ssim": 0.7221448929842846, "lpips": 0.15444746613502502}, "tactile_left": {"psnr": 32.537319359302444, "ssim": 0.945448992593151, "lpips": 0.17917881906032562}, "tactile_right": {"psnr": 40.8611041908241, "ssim": 0.9793056733614228, "lpips": 0.0650428831577301}}, {"video": {"psnr": 20.73014918135392, "ssim": 0.7105335713982452, "lpips": 0.19193056225776672}, "wrist_left": {"psnr": 12.841217230576836, "ssim": 0.24044644708359025, "lpips": 0.548008143901825}, "wrist_right": {"psnr": 17.827916355761612, "ssim": 0.7137620305443405, "lpips": 0.16464775800704956}, "tactile_left": {"psnr": 33.15956802368314, "ssim": 0.9519377297042881, "lpips": 0.13634073734283447}, "tactile_right": {"psnr": 39.877273092252686, "ssim": 0.9765420547523829, "lpips": 0.08707627654075623}}, {"video": {"psnr": 20.496669598572744, "ssim": 0.6876532430503159, "lpips": 0.20002685487270355}, "wrist_left": {"psnr": 12.618239617266223, "ssim": 0.23907842562008297, "lpips": 0.5689250230789185}, "wrist_right": {"psnr": 17.830358212485798, "ssim": 0.7079076571742495, "lpips": 0.17733559012413025}, "tactile_left": {"psnr": 34.89069951604266, "ssim": 0.9584448349485872, "lpips": 0.11499005556106567}, "tactile_right": {"psnr": 38.967602074260036, "ssim": 0.9731624791687745, "lpips": 0.11066733300685883}}, {"video": {"psnr": 20.226966776516164, "ssim": 0.6761643666800692, "lpips": 0.21458756923675537}, "wrist_left": {"psnr": 11.717697241062835, "ssim": 0.21184177559404266, "lpips": 0.5151264667510986}, "wrist_right": {"psnr": 17.771255023638076, "ssim": 0.7019786088054443, "lpips": 0.185389906167984}, "tactile_left": {"psnr": 35.018945407427495, "ssim": 0.9601138723343039, "lpips": 0.11844867467880249}, "tactile_right": {"psnr": 38.64613553125345, "ssim": 0.969969086506295, "lpips": 0.1366582214832306}}, {"video": {"psnr": 19.80088813800911, "ssim": 0.6668739264672987, "lpips": 0.22636331617832184}, "wrist_left": {"psnr": 11.961522771051703, "ssim": 0.23938609428135021, "lpips": 0.50530606508255}, "wrist_right": {"psnr": 17.5690678928926, "ssim": 0.7011619061936647, "lpips": 0.19737274944782257}, "tactile_left": {"psnr": 34.402577119970644, "ssim": 0.9534332419809273, "lpips": 0.14828981459140778}, "tactile_right": {"psnr": 38.45286594643491, "ssim": 0.9670685192321609, "lpips": 0.15471629798412323}}, {"video": {"psnr": 19.024527033055467, "ssim": 0.6500553949620946, "lpips": 0.24644412100315094}, "wrist_left": {"psnr": 11.768483834066366, "ssim": 0.2036139473278695, "lpips": 0.5282707214355469}, "wrist_right": {"psnr": 17.164948685524482, "ssim": 0.6853379730719393, "lpips": 0.21857014298439026}, "tactile_left": {"psnr": 29.362768306249322, "ssim": 0.9336335782194912, "lpips": 0.23785129189491272}, "tactile_right": {"psnr": 37.43562492878176, "ssim": 0.964070947319979, "lpips": 0.17651942372322083}}, {"video": {"psnr": 19.441201366740117, "ssim": 0.6501857453870827, "lpips": 0.24226781725883484}, "wrist_left": {"psnr": 12.035777715384102, "ssim": 0.2087262014771873, "lpips": 0.5288883447647095}, "wrist_right": {"psnr": 17.406534227800186, "ssim": 0.6894773294424432, "lpips": 0.2128717303276062}, "tactile_left": {"psnr": 29.97065548506143, "ssim": 0.9340901912331806, "lpips": 0.2481859028339386}, "tactile_right": {"psnr": 36.80350770075422, "ssim": 0.9610115973755846, "lpips": 0.19246625900268555}}, {"video": {"psnr": 19.772952842065134, "ssim": 0.6498828455125125, "lpips": 0.22654686868190765}, "wrist_left": {"psnr": 13.410046839736538, "ssim": 0.23356040346237755, "lpips": 0.505853533744812}, "wrist_right": {"psnr": 16.940038107234614, "ssim": 0.6830994178877592, "lpips": 0.22491130232810974}, "tactile_left": {"psnr": 34.452764158115045, "ssim": 0.947244859455552, "lpips": 0.18335744738578796}, "tactile_right": {"psnr": 36.578100017342386, "ssim": 0.9579653141901038, "lpips": 0.209816575050354}}, {"video": {"psnr": 20.0315204010845, "ssim": 0.6436342828176076, "lpips": 0.2278350591659546}, "wrist_left": {"psnr": 11.530927762231936, "ssim": 0.1983150124186982, "lpips": 0.5871167182922363}, "wrist_right": {"psnr": 17.07311059249102, "ssim": 0.6737984655409908, "lpips": 0.2405378818511963}, "tactile_left": {"psnr": 31.084449641501017, "ssim": 0.9293057786848977, "lpips": 0.22953057289123535}, "tactile_right": {"psnr": 36.35342905273385, "ssim": 0.9549422248886243, "lpips": 0.22963276505470276}}, {"video": {"psnr": 19.718056526765302, "ssim": 0.6313117121092193, "lpips": 0.2505473792552948}, "wrist_left": {"psnr": 11.995484681404987, "ssim": 0.23314030290909987, "lpips": 0.5588135719299316}, "wrist_right": {"psnr": 16.42782646159512, "ssim": 0.6295593853921142, "lpips": 0.2968980073928833}, "tactile_left": {"psnr": 33.551238015896196, "ssim": 0.9424177567352805, "lpips": 0.19633542001247406}, "tactile_right": {"psnr": 35.789398482322305, "ssim": 0.9517278427340758, "lpips": 0.2445880025625229}}, {"video": {"psnr": 19.556498102548158, "ssim": 0.6251648378627914, "lpips": 0.2554400861263275}, "wrist_left": {"psnr": 12.758756240991557, "ssim": 0.20650432630087656, "lpips": 0.5497138500213623}, "wrist_right": {"psnr": 15.850900317797143, "ssim": 0.6006326837005025, "lpips": 0.3268337547779083}, "tactile_left": {"psnr": 33.087270977874674, "ssim": 0.9412057207985636, "lpips": 0.195407897233963}, "tactile_right": {"psnr": 35.312683251306524, "ssim": 0.9484431019456501, "lpips": 0.25856953859329224}}], "long_metrics": {"video": {"psnr": 21.186127002805232, "ssim": 0.7058296267552159, "lpips": 0.19094324136773747}, "wrist_left": {"psnr": 12.87609203978648, "ssim": 0.23529698434121896, "lpips": 0.5003796954949696}, "wrist_right": {"psnr": 17.62560753415739, "ssim": 0.7026128612617734, "lpips": 0.1886409399410089}, "tactile_left": {"psnr": 33.8420522403952, "ssim": 0.9510662533750297, "lpips": 0.15622372577587765}, "tactile_right": {"psnr": 39.74093563297424, "ssim": 0.9701918527745088, "lpips": 0.13029460770388443}}}, {"id": "motherboard_14", "episode": "motherboard_0911_episode_008_seg00.pt", "requested_episode": "motherboard_0911_episode_008_seg00.pt", "category": "release", "t_start": 246, "start_seconds": 16.4, "short_contact": [1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 0, 0], "future_transition_ticks": [11], "long_contact_fraction": 0.6796875, "long_label": "release", "short_metrics": {"video": {"psnr": 30.225560603389052, "ssim": 0.9361478766706379, "lpips": 0.02658401057124138}, "wrist_left": {"psnr": 15.002779803783286, "ssim": 0.40597273289329594, "lpips": 0.3122395873069763}, "wrist_right": {"psnr": 24.955449903422938, "ssim": 0.8715311624155471, "lpips": 0.029648154973983765}, "tactile_left": {"psnr": 37.627851375806294, "ssim": 0.9802174049728742, "lpips": 0.02884480357170105}, "tactile_right": {"psnr": 50.059983182528256, "ssim": 0.994083851343863, "lpips": 0.00508646946400404}}, "media": {"short": {"video": "media/motherboard_14_short.mp4", "poster": "media/motherboard_14_short.jpg"}, "long": {"video": "media/motherboard_14_long.mp4", "poster": "media/motherboard_14_long.jpg"}}, "force": {"source": "recorded_normal_force", "units": "N", "fps": 15, "left": [3.9167568683624268, 4.726428508758545, 4.726428508758545, 3.1971428394317627, 4.726428508758545, 6.760714054107666, 6.760714054107666, 7.488461494445801, 7.349999904632568, 7.349999904632568, 3.0568182468414307, 0.49357831478118896, 0.0, 0.0, 0.0, 0.0, 0.4993111193180084, 5.397500038146973, 7.200040817260742, 10.243043899536133, 10.243043899536133, 10.243043899536133, 9.842000007629395, 7.75, 7.75, 7.75, 6.760714054107666, 6.519285678863525, 5.486666679382324, 4.726428508758545, 3.0568182468414307, 1.9444444179534912, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 3.0568182468414307, 5.486666679382324, 6.373636245727539, 6.519285678863525, 6.519285678863525, 6.519285678863525, 6.519285678863525, 6.760714054107666, 6.519285678863525, 5.403749942779541, 5.465914249420166, 6.502091884613037, 5.486666679382324, 3.0568182468414307, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.6003610491752625, 0.6849588751792908, 1.9444444179534912, 3.9167568683624268, 5.486666679382324, 5.486666679382324, 5.403749942779541, 5.486666679382324, 5.486666679382324, 3.9167568683624268, 3.9182748794555664, 5.399834156036377, 5.397500038146973, 3.0568182468414307, 0.1599999964237213, 0.2557404935359955, 2.3248276710510254, 5.403749942779541, 6.519285678863525, 7.488461494445801, 7.75, 10.243043899536133, 7.75, 7.75, 7.488461494445801, 7.488461494445801, 7.724563121795654, 7.488461494445801, 4.726428508758545, 0.7983333468437195, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.9444444179534912, 3.9167568683624268, 3.1971428394317627, 3.9167568683624268, 7.121631622314453, 6.373636245727539, 6.519285678863525, 7.283836364746094, 7.130000114440918, 6.760714054107666, 6.760714054107666, 7.130000114440918, 7.349999904632568, 7.488461494445801, 7.488461494445801, 7.349999904632568, 7.488461494445801, 0.0, 0.0, 0.0, 0.0, 3.0568182468414307, 3.9167568683624268], "right": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]}, "long_curve": [{"video": {"psnr": 30.225560603389052, "ssim": 0.9361478766706379, "lpips": 0.02658401057124138}, "wrist_left": {"psnr": 15.002779803783286, "ssim": 0.40597273289329594, "lpips": 0.3122395873069763}, "wrist_right": {"psnr": 24.955449903422938, "ssim": 0.8715311624155471, "lpips": 0.029648154973983765}, "tactile_left": {"psnr": 37.627851375806294, "ssim": 0.9802174049728742, "lpips": 0.02884480357170105}, "tactile_right": {"psnr": 50.059983182528256, "ssim": 0.994083851343863, "lpips": 0.00508646946400404}}, {"video": {"psnr": 26.787085833579813, "ssim": 0.8919469670526929, "lpips": 0.04771639406681061}, "wrist_left": {"psnr": 14.592523215514191, "ssim": 0.4150196041511217, "lpips": 0.34993141889572144}, "wrist_right": {"psnr": 19.70259985535838, "ssim": 0.6830416870269205, "lpips": 0.0644979327917099}, "tactile_left": {"psnr": 30.232538907522613, "ssim": 0.9147342347420249, "lpips": 0.2637985348701477}, "tactile_right": {"psnr": 45.995285997483, "ssim": 0.9892458461130547, "lpips": 0.01296962145715952}}, {"video": {"psnr": 24.631317355752596, "ssim": 0.8295841667593222, "lpips": 0.06693155318498611}, "wrist_left": {"psnr": 14.363473687791448, "ssim": 0.44029466854512184, "lpips": 0.34695351123809814}, "wrist_right": {"psnr": 18.626519002327186, "ssim": 0.6275994567685224, "lpips": 0.10207075625658035}, "tactile_left": {"psnr": 30.680408868801553, "ssim": 0.9313723766284289, "lpips": 0.21209387481212616}, "tactile_right": {"psnr": 42.40991551076566, "ssim": 0.9864444328174891, "lpips": 0.024626092985272408}}, {"video": {"psnr": 23.060786699225687, "ssim": 0.767232784374579, "lpips": 0.09127170592546463}, "wrist_left": {"psnr": 13.761822213990285, "ssim": 0.48128395076091013, "lpips": 0.35453370213508606}, "wrist_right": {"psnr": 18.28466634363405, "ssim": 0.6329790247647542, "lpips": 0.12644319236278534}, "tactile_left": {"psnr": 37.51822963896625, "ssim": 0.9699779022309172, "lpips": 0.05392877012491226}, "tactile_right": {"psnr": 39.63957492497007, "ssim": 0.9832502463406003, "lpips": 0.04258059710264206}}, {"video": {"psnr": 23.577084276753762, "ssim": 0.7753950629973516, "lpips": 0.09165450930595398}, "wrist_left": {"psnr": 14.907564368399967, "ssim": 0.5376033849200448, "lpips": 0.3229025602340698}, "wrist_right": {"psnr": 18.41687735357053, "ssim": 0.6230119372428662, "lpips": 0.15124306082725525}, "tactile_left": {"psnr": 31.95987834466927, "ssim": 0.9387430244349042, "lpips": 0.1730211079120636}, "tactile_right": {"psnr": 39.354585517099125, "ssim": 0.9791487469847104, "lpips": 0.0634477287530899}}, {"video": {"psnr": 22.505504189964952, "ssim": 0.7541867571784729, "lpips": 0.10625017434358597}, "wrist_left": {"psnr": 13.537969063169555, "ssim": 0.4317358297120565, "lpips": 0.42706960439682007}, "wrist_right": {"psnr": 15.365330801616112, "ssim": 0.56929054142617, "lpips": 0.30554354190826416}, "tactile_left": {"psnr": 32.292837633255886, "ssim": 0.9393687564060826, "lpips": 0.19389593601226807}, "tactile_right": {"psnr": 38.55844650568531, "ssim": 0.9760626767144094, "lpips": 0.08537834137678146}}, {"video": {"psnr": 21.02927314617193, "ssim": 0.7027240342936176, "lpips": 0.14533627033233643}, "wrist_left": {"psnr": 13.10504518826011, "ssim": 0.43812523466333597, "lpips": 0.4161319434642792}, "wrist_right": {"psnr": 14.407770196484474, "ssim": 0.5450710218623508, "lpips": 0.3572067618370056}, "tactile_left": {"psnr": 35.78803076453406, "ssim": 0.956551412138021, "lpips": 0.11577284336090088}, "tactile_right": {"psnr": 37.88247757414692, "ssim": 0.9728869564104252, "lpips": 0.10809390991926193}}, {"video": {"psnr": 20.5357585304526, "ssim": 0.6801094898887549, "lpips": 0.1556369811296463}, "wrist_left": {"psnr": 13.642193804926082, "ssim": 0.4702239123814479, "lpips": 0.4162462055683136}, "wrist_right": {"psnr": 14.274447175956302, "ssim": 0.531746393640952, "lpips": 0.3710234761238098}, "tactile_left": {"psnr": 30.382806923214844, "ssim": 0.9206379629839545, "lpips": 0.2441621720790863}, "tactile_right": {"psnr": 37.60248640565936, "ssim": 0.9695213345557641, "lpips": 0.13630716502666473}}, {"video": {"psnr": 20.18605409797614, "ssim": 0.6746084879126891, "lpips": 0.1757870614528656}, "wrist_left": {"psnr": 11.988763200535622, "ssim": 0.4681142110659642, "lpips": 0.45925796031951904}, "wrist_right": {"psnr": 14.260462993198384, "ssim": 0.527122887744097, "lpips": 0.3851911425590515}, "tactile_left": {"psnr": 31.82028423746663, "ssim": 0.9334999968714299, "lpips": 0.23639090359210968}, "tactile_right": {"psnr": 37.29933619359981, "ssim": 0.966686955128772, "lpips": 0.15631583333015442}}, {"video": {"psnr": 20.34985880167188, "ssim": 0.6653284095380824, "lpips": 0.1824420839548111}, "wrist_left": {"psnr": 10.507109791823648, "ssim": 0.42330545943563214, "lpips": 0.5549717545509338}, "wrist_right": {"psnr": 14.154039296182273, "ssim": 0.5154598157820278, "lpips": 0.3888266086578369}, "tactile_left": {"psnr": 27.012209319200288, "ssim": 0.8913256136544826, "lpips": 0.3470895290374756}, "tactile_right": {"psnr": 36.42301387247899, "ssim": 0.9637623068134578, "lpips": 0.17879503965377808}}, {"video": {"psnr": 20.826406664324217, "ssim": 0.6735820360938567, "lpips": 0.17562556266784668}, "wrist_left": {"psnr": 9.937003689786215, "ssim": 0.40944940403747343, "lpips": 0.5744928121566772}, "wrist_right": {"psnr": 14.439682436803157, "ssim": 0.52125452241476, "lpips": 0.39491885900497437}, "tactile_left": {"psnr": 32.25416543779785, "ssim": 0.9436394034414237, "lpips": 0.19630637764930725}, "tactile_right": {"psnr": 35.80727342665449, "ssim": 0.9606475408727153, "lpips": 0.19846580922603607}}, {"video": {"psnr": 21.087079457709205, "ssim": 0.6763821568367308, "lpips": 0.18295323848724365}, "wrist_left": {"psnr": 10.49513624778391, "ssim": 0.2966848099354214, "lpips": 0.5549371242523193}, "wrist_right": {"psnr": 14.462208314742488, "ssim": 0.5480683446011021, "lpips": 0.39234453439712524}, "tactile_left": {"psnr": 34.68495227931351, "ssim": 0.9490635887021774, "lpips": 0.16787657141685486}, "tactile_right": {"psnr": 35.52981085961654, "ssim": 0.95732039616064, "lpips": 0.22419753670692444}}, {"video": {"psnr": 21.054729630870685, "ssim": 0.6762465759290832, "lpips": 0.19550061225891113}, "wrist_left": {"psnr": 13.238482779250727, "ssim": 0.22456917855006436, "lpips": 0.6194078922271729}, "wrist_right": {"psnr": 14.514990987971908, "ssim": 0.5295957509918356, "lpips": 0.3749162554740906}, "tactile_left": {"psnr": 29.413883647048106, "ssim": 0.9195446425450381, "lpips": 0.26890987157821655}, "tactile_right": {"psnr": 35.30957127674185, "ssim": 0.9536590007359058, "lpips": 0.24320705235004425}}, {"video": {"psnr": 20.889515588850607, "ssim": 0.6663186266059502, "lpips": 0.18909209966659546}, "wrist_left": {"psnr": 12.89511891817033, "ssim": 0.21667072020548472, "lpips": 0.5983668565750122}, "wrist_right": {"psnr": 14.451136290305914, "ssim": 0.5224643811481154, "lpips": 0.38607877492904663}, "tactile_left": {"psnr": 26.498726788365204, "ssim": 0.885107815661008, "lpips": 0.3991682529449463}, "tactile_right": {"psnr": 34.96419655654255, "ssim": 0.9499008352192942, "lpips": 0.2540989816188812}}, {"video": {"psnr": 20.69127749915731, "ssim": 0.6429474017127897, "lpips": 0.19300636649131775}, "wrist_left": {"psnr": 12.158033469090894, "ssim": 0.22783630547375833, "lpips": 0.5908862352371216}, "wrist_right": {"psnr": 14.507160308841915, "ssim": 0.5173987511725817, "lpips": 0.39829060435295105}, "tactile_left": {"psnr": 30.290252397892495, "ssim": 0.9238874672801455, "lpips": 0.27899134159088135}, "tactile_right": {"psnr": 34.36890432366338, "ssim": 0.9469446833292903, "lpips": 0.26860877871513367}}], "long_metrics": {"video": {"psnr": 22.495819491723363, "ssim": 0.7341827222563074, "lpips": 0.1350525749226411}, "wrist_left": {"psnr": 12.942201296151751, "ssim": 0.39245929378207556, "lpips": 0.45988861123720803}, "wrist_right": {"psnr": 16.321556084027733, "ssim": 0.5843757119335069, "lpips": 0.28188291043043134}, "tactile_left": {"psnr": 31.89713710425699, "ssim": 0.9331781068461942, "lpips": 0.2120167260368665}, "tactile_right": {"psnr": 38.746990808509025, "ssim": 0.9699710539693595, "lpips": 0.13347859717905522}}}, {"id": "motherboard_15", "episode": "motherboard_0911_episode_008_seg00.pt", "requested_episode": "motherboard_0911_episode_008_seg00.pt", "category": "full", "t_start": 432, "start_seconds": 28.8, "short_contact": [1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1], "future_transition_ticks": [], "long_contact_fraction": 0.8359375, "long_label": "full", "short_metrics": {"video": {"psnr": 28.7326352753956, "ssim": 0.9094206472894952, "lpips": 0.029678242281079292}, "wrist_left": {"psnr": 18.562120639886366, "ssim": 0.5425693694411714, "lpips": 0.1247006207704544}, "wrist_right": {"psnr": 16.554790381304585, "ssim": 0.5327000393790442, "lpips": 0.18631607294082642}, "tactile_left": {"psnr": 33.263867056107465, "ssim": 0.9594606100688956, "lpips": 0.056987177580595016}, "tactile_right": {"psnr": 38.23768132365365, "ssim": 0.9850853434528946, "lpips": 0.05225598067045212}}, "media": {"short": {"video": "media/motherboard_15_short.mp4", "poster": "media/motherboard_15_short.jpg"}, "long": {"video": "media/motherboard_15_long.mp4", "poster": "media/motherboard_15_long.jpg"}}, "force": {"source": "recorded_normal_force", "units": "N", "fps": 15, "left": [0.0, 0.0, 0.0, 0.0, 0.0, 0.7983333468437195, 1.9444444179534912, 5.481388092041016, 6.760714054107666, 6.760714054107666, 7.130000114440918, 7.488461494445801, 7.488461494445801, 7.66710901260376, 7.75, 7.488461494445801, 7.488461494445801, 7.488461494445801, 7.340664386749268, 6.760714054107666, 6.760714054107666, 6.519285678863525, 6.519285678863525, 6.760714054107666, 6.760714054107666, 6.760714054107666, 6.760714054107666, 6.760714054107666, 6.760714054107666, 6.760714054107666, 6.760714054107666, 6.519285678863525, 6.519285678863525, 6.519285678863525, 6.373636245727539, 5.486666679382324, 5.397500038146973, 4.726428508758545, 3.1149818897247314, 3.1149818897247314, 0.0, 0.0, 0.5564713478088379, 0.5564713478088379, 5.403749942779541, 6.519285678863525, 6.870246887207031, 7.130000114440918, 7.130000114440918, 7.488461494445801, 7.488461494445801, 7.488461494445801, 7.488461494445801, 7.488461494445801, 7.230000019073486, 7.349999904632568, 7.130000114440918, 7.130000114440918, 2.243333339691162, 0.0, 0.0, 0.0, 0.0, 5.486666679382324, 6.519285678863525, 6.760714054107666, 7.230000019073486, 7.296485424041748, 7.488461494445801, 7.488461494445801, 5.486666679382324, 3.0568182468414307, 0.0, 0.0, 1.9736661911010742, 3.9167568683624268, 6.519285678863525, 6.760714054107666, 6.760714054107666, 6.760714054107666, 7.130000114440918, 6.856966972351074, 3.9167568683624268, 0.3697943389415741, 0.1599999964237213, 3.1971428394317627, 6.519285678863525, 6.760714054107666, 7.488461494445801, 10.243043899536133, 10.78499984741211, 7.784317970275879, 0.1599999964237213, 0.1599999964237213, 0.0, 0.0, 0.0, 0.0, 2.3248276710510254, 5.403749942779541, 7.130000114440918, 7.488461494445801, 7.488461494445801, 10.243043899536133, 10.977499961853027, 10.243043899536133, 10.977499961853027, 10.243043899536133, 0.1599999964237213, 0.0, 0.0, 0.7983333468437195, 0.7983333468437195, 0.0, 0.0, 2.3248276710510254, 3.9167568683624268, 5.486666679382324, 6.519285678863525, 7.488461494445801, 10.243043899536133, 10.243043899536133, 7.488461494445801, 7.488461494445801, 10.243043899536133, 10.977499961853027, 10.243043899536133, 10.243043899536133], "right": [0.5458959341049194, 0.5600000023841858, 0.5600000023841858, 0.6782253384590149, 0.7983333468437195, 0.5419337749481201, 0.25, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.9444444179534912, 0.7983333468437195, 1.0138323307037354, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 1.9444444179534912, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.2831295132637024, 0.533720850944519, 2.243333339691162, 3.0568182468414307, 3.9167568683624268, 3.9167568683624268, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 2.3248276710510254, 1.9444444179534912, 0.5600000023841858, 0.1599999964237213, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.7983333468437195, 3.0568182468414307, 3.0568182468414307, 3.9167568683624268, 3.9177205562591553, 4.726428508758545, 4.726428508758545, 4.726428508758545, 4.726428508758545, 3.0568182468414307, 0.5567049980163574, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]}, "long_curve": [{"video": {"psnr": 28.7326352753956, "ssim": 0.9094206472894952, "lpips": 0.029678242281079292}, "wrist_left": {"psnr": 18.562120639886366, "ssim": 0.5425693694411714, "lpips": 0.1247006207704544}, "wrist_right": {"psnr": 16.554790381304585, "ssim": 0.5327000393790442, "lpips": 0.18631607294082642}, "tactile_left": {"psnr": 33.263867056107465, "ssim": 0.9594606100688956, "lpips": 0.056987177580595016}, "tactile_right": {"psnr": 38.23768132365365, "ssim": 0.9850853434528946, "lpips": 0.05225598067045212}}, {"video": {"psnr": 23.602025399338512, "ssim": 0.7695943216865547, "lpips": 0.08229890465736389}, "wrist_left": {"psnr": 15.6993166679025, "ssim": 0.3644067364511269, "lpips": 0.2337479144334793}, "wrist_right": {"psnr": 15.059606574196353, "ssim": 0.47362617280396924, "lpips": 0.27524733543395996}, "tactile_left": {"psnr": 30.664924916869985, "ssim": 0.9475937963758213, "lpips": 0.0768776386976242}, "tactile_right": {"psnr": 30.671096223850938, "ssim": 0.9587898787573501, "lpips": 0.15629303455352783}}, {"video": {"psnr": 22.832628072486983, "ssim": 0.7469660809042609, "lpips": 0.1078781932592392}, "wrist_left": {"psnr": 14.646657837757921, "ssim": 0.32760767750300845, "lpips": 0.28304624557495117}, "wrist_right": {"psnr": 13.526836141437355, "ssim": 0.35009061064321156, "lpips": 0.39336562156677246}, "tactile_left": {"psnr": 31.700125360279404, "ssim": 0.9473287732794358, "lpips": 0.07520114630460739}, "tactile_right": {"psnr": 35.07046750388963, "ssim": 0.9698435663560889, "lpips": 0.1139349639415741}}, {"video": {"psnr": 21.89284453138566, "ssim": 0.7154270201393954, "lpips": 0.15117231011390686}, "wrist_left": {"psnr": 13.797093586860282, "ssim": 0.3039043351086369, "lpips": 0.3830518126487732}, "wrist_right": {"psnr": 12.883414352987554, "ssim": 0.32883104088224197, "lpips": 0.42618563771247864}, "tactile_left": {"psnr": 32.617756231736095, "ssim": 0.9497748416624918, "lpips": 0.09599290788173676}, "tactile_right": {"psnr": 34.419424292804464, "ssim": 0.9658436643691989, "lpips": 0.12674552202224731}}, {"video": {"psnr": 21.798469971246597, "ssim": 0.7102253743805633, "lpips": 0.16591717302799225}, "wrist_left": {"psnr": 13.206467174257027, "ssim": 0.2826479969643061, "lpips": 0.4274981617927551}, "wrist_right": {"psnr": 13.883329680491748, "ssim": 0.39167554517134895, "lpips": 0.40140271186828613}, "tactile_left": {"psnr": 32.09819238815519, "ssim": 0.9485913902138294, "lpips": 0.17076753079891205}, "tactile_right": {"psnr": 38.23783329537923, "ssim": 0.976734492925881, "lpips": 0.06584392488002777}}, {"video": {"psnr": 21.541496163578472, "ssim": 0.7000253537583968, "lpips": 0.1669323444366455}, "wrist_left": {"psnr": 12.951416548544486, "ssim": 0.26190647371979203, "lpips": 0.45672744512557983}, "wrist_right": {"psnr": 13.043251253737655, "ssim": 0.3197165267698814, "lpips": 0.42313310503959656}, "tactile_left": {"psnr": 29.100210860747026, "ssim": 0.9243669328331592, "lpips": 0.26793381571769714}, "tactile_right": {"psnr": 32.86279813759163, "ssim": 0.9561869038334005, "lpips": 0.19598214328289032}}, {"video": {"psnr": 21.11877969119913, "ssim": 0.6951907888938772, "lpips": 0.17764541506767273}, "wrist_left": {"psnr": 12.322639742743656, "ssim": 0.28229656205351084, "lpips": 0.4718509316444397}, "wrist_right": {"psnr": 13.677262070887757, "ssim": 0.4028156907207025, "lpips": 0.4186054766178131}, "tactile_left": {"psnr": 32.50052165362045, "ssim": 0.9512606324019082, "lpips": 0.1823522448539734}, "tactile_right": {"psnr": 34.76395297670446, "ssim": 0.9654478454327295, "lpips": 0.14306804537773132}}, {"video": {"psnr": 21.233224120506897, "ssim": 0.6916991989739112, "lpips": 0.18185529112815857}, "wrist_left": {"psnr": 11.856586607937933, "ssim": 0.26606815045292376, "lpips": 0.5154149532318115}, "wrist_right": {"psnr": 13.779273260992476, "ssim": 0.46749638233439267, "lpips": 0.3876485228538513}, "tactile_left": {"psnr": 27.67465109865182, "ssim": 0.9192090581756078, "lpips": 0.2877066731452942}, "tactile_right": {"psnr": 36.39689991746921, "ssim": 0.9687505701122894, "lpips": 0.12030467391014099}}, {"video": {"psnr": 20.93721311313071, "ssim": 0.6759246297623211, "lpips": 0.19261756539344788}, "wrist_left": {"psnr": 11.157486331325883, "ssim": 0.24079427030061878, "lpips": 0.546746015548706}, "wrist_right": {"psnr": 13.972334351856004, "ssim": 0.5011706805348308, "lpips": 0.372913658618927}, "tactile_left": {"psnr": 29.753454656585838, "ssim": 0.9292329986026661, "lpips": 0.25121673941612244}, "tactile_right": {"psnr": 36.411828859489056, "ssim": 0.9662692502533692, "lpips": 0.13490191102027893}}, {"video": {"psnr": 20.737368428905597, "ssim": 0.6621561864302441, "lpips": 0.20240218937397003}, "wrist_left": {"psnr": 11.164949455409738, "ssim": 0.2295149215845892, "lpips": 0.5498843193054199}, "wrist_right": {"psnr": 14.147318630475159, "ssim": 0.5150224509029415, "lpips": 0.3690662384033203}, "tactile_left": {"psnr": 29.504196989163447, "ssim": 0.9278186254102196, "lpips": 0.26170724630355835}, "tactile_right": {"psnr": 35.679369116975906, "ssim": 0.963226021649566, "lpips": 0.1568935215473175}}, {"video": {"psnr": 20.753932001834137, "ssim": 0.6581413142440519, "lpips": 0.20925195515155792}, "wrist_left": {"psnr": 11.303563945313773, "ssim": 0.26966709982113657, "lpips": 0.5103036165237427}, "wrist_right": {"psnr": 14.40633145753357, "ssim": 0.5181397529369636, "lpips": 0.36980265378952026}, "tactile_left": {"psnr": 29.12136891493126, "ssim": 0.9284739402085591, "lpips": 0.25599023699760437}, "tactile_right": {"psnr": 35.13328359844697, "ssim": 0.9600509699305755, "lpips": 0.17928339540958405}}, {"video": {"psnr": 20.73066665804745, "ssim": 0.6520791171353892, "lpips": 0.2139732539653778}, "wrist_left": {"psnr": 12.41649055333194, "ssim": 0.439320599017881, "lpips": 0.4000725746154785}, "wrist_right": {"psnr": 14.578920042928925, "ssim": 0.5157234870163839, "lpips": 0.37985286116600037}, "tactile_left": {"psnr": 31.25613895038755, "ssim": 0.9322957791847735, "lpips": 0.2601660490036011}, "tactile_right": {"psnr": 34.49029856128706, "ssim": 0.9571620670247861, "lpips": 0.1951090693473816}}, {"video": {"psnr": 20.638774381940923, "ssim": 0.648815596970808, "lpips": 0.21222913265228271}, "wrist_left": {"psnr": 11.436921928037854, "ssim": 0.4413396017634701, "lpips": 0.42936477065086365}, "wrist_right": {"psnr": 14.388447344967556, "ssim": 0.4948443627493565, "lpips": 0.3905375301837921}, "tactile_left": {"psnr": 29.495644811308477, "ssim": 0.9260820403664622, "lpips": 0.2671559154987335}, "tactile_right": {"psnr": 33.89162687958301, "ssim": 0.954162856191887, "lpips": 0.20784300565719604}}, {"video": {"psnr": 20.426224322628173, "ssim": 0.6376110910144857, "lpips": 0.2217267006635666}, "wrist_left": {"psnr": 9.651159360917347, "ssim": 0.35707236525098585, "lpips": 0.628226637840271}, "wrist_right": {"psnr": 14.253115311158037, "ssim": 0.4850409275429942, "lpips": 0.39393293857574463}, "tactile_left": {"psnr": 30.887390147971992, "ssim": 0.9255051758502177, "lpips": 0.26204928755760193}, "tactile_right": {"psnr": 33.56664778184785, "ssim": 0.9511025634480242, "lpips": 0.223172128200531}}, {"video": {"psnr": 20.24580369443854, "ssim": 0.6272167151635476, "lpips": 0.2305387556552887}, "wrist_left": {"psnr": 9.622052177364196, "ssim": 0.3445913481689432, "lpips": 0.6383633613586426}, "wrist_right": {"psnr": 14.121975945446891, "ssim": 0.45677219589884815, "lpips": 0.40693211555480957}, "tactile_left": {"psnr": 28.065375757563054, "ssim": 0.8861767042882025, "lpips": 0.3735998272895813}, "tactile_right": {"psnr": 33.424776639628696, "ssim": 0.9484474106515512, "lpips": 0.23742225766181946}}], "long_metrics": {"video": {"psnr": 21.81480572173756, "ssim": 0.7000328957831534, "lpips": 0.16974116178850332}, "wrist_left": {"psnr": 12.652994837172725, "ssim": 0.3302471671734734, "lpips": 0.43993329207102455}, "wrist_right": {"psnr": 14.151747120026775, "ssim": 0.45024439108580744, "lpips": 0.3729961653550466}, "tactile_left": {"psnr": 30.513587986271936, "ssim": 0.9335447532614833, "lpips": 0.20971362913648287}, "tactile_right": {"psnr": 34.88386567390679, "ssim": 0.9631402269593061, "lpips": 0.15393690516551337}}}, {"id": "motherboard_16", "episode": "motherboard_0912_episode_002.pt", "requested_episode": "motherboard_0912_episode_002.pt", "category": "none", "t_start": 750, "start_seconds": 50.0, "short_contact": [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0], "future_transition_ticks": [], "long_contact_fraction": 0.3671875, "long_label": "none_at_start", "short_metrics": {"video": {"psnr": 26.084974198138916, "ssim": 0.9167314629042943, "lpips": 0.05705824866890907}, "wrist_left": {"psnr": 21.426121931744746, "ssim": 0.8185371750972317, "lpips": 0.08648169040679932}, "wrist_right": {"psnr": 30.945259025439018, "ssim": 0.9289179765831084, "lpips": 0.037315577268600464}, "tactile_left": {"psnr": 50.69116614068083, "ssim": 0.9945475015513738, "lpips": 0.004003439098596573}, "tactile_right": {"psnr": 50.483926840425795, "ssim": 0.994376111933369, "lpips": 0.004670870956033468}}, "media": {"short": {"video": "media/motherboard_16_short.mp4", "poster": "media/motherboard_16_short.jpg"}, "long": {"video": "media/motherboard_16_long.mp4", "poster": "media/motherboard_16_long.jpg"}}, "force": {"source": "recorded_normal_force", "units": "N", "fps": 15, "left": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.1599999964237213, 0.19649721682071686, 0.1599999964237213, 0.27666667103767395, 0.44613584876060486, 0.1599999964237213, 0.1599999964237213, 0.1599999964237213, 1.6094872951507568, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 4.726428508758545, 5.397500038146973, 6.373636245727539, 6.760714054107666, 6.760714054107666, 6.760714054107666, 6.435560703277588, 6.373636245727539, 6.760714054107666, 6.760714054107666, 6.760714054107666, 7.230000019073486, 7.230000019073486, 7.130000114440918, 6.760714054107666, 7.349999904632568, 7.130000114440918, 6.760714054107666, 7.130000114440918, 6.997551918029785, 6.760714054107666, 6.519285678863525, 6.760714054107666, 6.760714054107666, 6.760714054107666, 6.519285678863525, 5.486666679382324, 5.486666679382324, 5.3991498947143555, 6.373636245727539, 6.519285678863525, 6.519285678863525, 5.397500038146973, 4.726428508758545, 2.3248276710510254, 0.1599999964237213, 5.403749942779541, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 3.9167568683624268, 6.519285678863525, 7.130000114440918, 7.488461494445801, 7.488461494445801, 7.488461494445801, 10.243043899536133], "right": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.033978212624788284, 0.14319390058517456, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.15257100760936737, 3.0568182468414307, 3.0568182468414307, 2.6312499046325684, 2.3248276710510254, 2.6312499046325684, 2.3248276710510254, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.04887126386165619, 0.1599999964237213, 0.1599999964237213, 0.1599999964237213, 0.27666667103767395, 0.7983333468437195, 2.6312499046325684, 3.0568182468414307]}, "long_curve": [{"video": {"psnr": 26.084974198138916, "ssim": 0.9167314629042943, "lpips": 0.05705824866890907}, "wrist_left": {"psnr": 21.426121931744746, "ssim": 0.8185371750972317, "lpips": 0.08648169040679932}, "wrist_right": {"psnr": 30.945259025439018, "ssim": 0.9289179765831084, "lpips": 0.037315577268600464}, "tactile_left": {"psnr": 50.69116614068083, "ssim": 0.9945475015513738, "lpips": 0.004003439098596573}, "tactile_right": {"psnr": 50.483926840425795, "ssim": 0.994376111933369, "lpips": 0.004670870956033468}}, {"video": {"psnr": 23.365380978512928, "ssim": 0.8893293742721775, "lpips": 0.058387018740177155}, "wrist_left": {"psnr": 20.2932964470107, "ssim": 0.8014562779831239, "lpips": 0.10002946853637695}, "wrist_right": {"psnr": 25.6383216682979, "ssim": 0.8374827143671852, "lpips": 0.0709124282002449}, "tactile_left": {"psnr": 47.302775202275065, "ssim": 0.991479768852821, "lpips": 0.011613987386226654}, "tactile_right": {"psnr": 46.04581806869756, "ssim": 0.9900334484428825, "lpips": 0.012974150478839874}}, {"video": {"psnr": 22.746995430560503, "ssim": 0.8667342508446849, "lpips": 0.07283523678779602}, "wrist_left": {"psnr": 20.282821599688987, "ssim": 0.7977224562809213, "lpips": 0.10786869376897812}, "wrist_right": {"psnr": 21.746417975088956, "ssim": 0.74600404835951, "lpips": 0.10749654471874237}, "tactile_left": {"psnr": 44.14647266372337, "ssim": 0.9877851724602428, "lpips": 0.02457580342888832}, "tactile_right": {"psnr": 42.180109396383415, "ssim": 0.9870253787139589, "lpips": 0.025870306417346}}, {"video": {"psnr": 22.847541859920906, "ssim": 0.8454710502709084, "lpips": 0.08944272994995117}, "wrist_left": {"psnr": 20.242512315576604, "ssim": 0.7919656926260077, "lpips": 0.11629323661327362}, "wrist_right": {"psnr": 20.55025971779871, "ssim": 0.6900499700592315, "lpips": 0.13539642095565796}, "tactile_left": {"psnr": 41.499160111755586, "ssim": 0.9835539978763781, "lpips": 0.04397963732481003}, "tactile_right": {"psnr": 39.62234182008279, "ssim": 0.9838466154555943, "lpips": 0.04496820271015167}}, {"video": {"psnr": 23.084113045645665, "ssim": 0.8274549151946807, "lpips": 0.1055334284901619}, "wrist_left": {"psnr": 20.629372173473413, "ssim": 0.7845747658525235, "lpips": 0.12655006349086761}, "wrist_right": {"psnr": 20.263288367575885, "ssim": 0.6342359162911898, "lpips": 0.14939694106578827}, "tactile_left": {"psnr": 40.75712294900579, "ssim": 0.9790412801760148, "lpips": 0.06633315980434418}, "tactile_right": {"psnr": 38.940699124432854, "ssim": 0.980168687232227, "lpips": 0.06500636041164398}}, {"video": {"psnr": 22.703568726010705, "ssim": 0.7990430746195472, "lpips": 0.12290962785482407}, "wrist_left": {"psnr": 20.57942729815545, "ssim": 0.7791117922338908, "lpips": 0.15779292583465576}, "wrist_right": {"psnr": 19.043950104381793, "ssim": 0.5593950423568641, "lpips": 0.18303509056568146}, "tactile_left": {"psnr": 39.613728116268526, "ssim": 0.9746642295967733, "lpips": 0.09249017387628555}, "tactile_right": {"psnr": 38.01478093197141, "ssim": 0.9764307213519675, "lpips": 0.08581026643514633}}, {"video": {"psnr": 21.943948200986192, "ssim": 0.7572324075421446, "lpips": 0.140752375125885}, "wrist_left": {"psnr": 19.40886204667042, "ssim": 0.7625769669955778, "lpips": 0.19678780436515808}, "wrist_right": {"psnr": 17.84210514305892, "ssim": 0.506325869625967, "lpips": 0.24207088351249695}, "tactile_left": {"psnr": 37.98050339667231, "ssim": 0.967893015189475, "lpips": 0.14032191038131714}, "tactile_right": {"psnr": 28.606288261360557, "ssim": 0.9615479955044511, "lpips": 0.16059039533138275}}, {"video": {"psnr": 21.44742465711369, "ssim": 0.7290669155654175, "lpips": 0.1521947979927063}, "wrist_left": {"psnr": 18.98657999698028, "ssim": 0.7637467906844793, "lpips": 0.1996256709098816}, "wrist_right": {"psnr": 15.784042938980276, "ssim": 0.511321562827512, "lpips": 0.31912070512771606}, "tactile_left": {"psnr": 37.3786508925053, "ssim": 0.9655400125143714, "lpips": 0.13880997896194458}, "tactile_right": {"psnr": 37.42505373624025, "ssim": 0.9693575512392011, "lpips": 0.14338639378547668}}, {"video": {"psnr": 20.02258009321269, "ssim": 0.6742761357311744, "lpips": 0.21389293670654297}, "wrist_left": {"psnr": 10.076805001167804, "ssim": 0.393390323008723, "lpips": 0.5072790384292603}, "wrist_right": {"psnr": 12.935771471996064, "ssim": 0.5004469157474276, "lpips": 0.4860542416572571}, "tactile_left": {"psnr": 36.89438706769665, "ssim": 0.9639778994786117, "lpips": 0.14987164735794067}, "tactile_right": {"psnr": 36.900341334792316, "ssim": 0.966408176211012, "lpips": 0.16127726435661316}}, {"video": {"psnr": 16.2542958348007, "ssim": 0.5582293373790183, "lpips": 0.3264462947845459}, "wrist_left": {"psnr": 9.854451878241433, "ssim": 0.2331474284454193, "lpips": 0.6283578872680664}, "wrist_right": {"psnr": 13.956352248073461, "ssim": 0.6318018965467844, "lpips": 0.37583887577056885}, "tactile_left": {"psnr": 34.01898651700496, "ssim": 0.9339849221161485, "lpips": 0.28422242403030396}, "tactile_right": {"psnr": 36.18819937345938, "ssim": 0.9636921303364185, "lpips": 0.17936477065086365}}, {"video": {"psnr": 15.657161387544527, "ssim": 0.53410115724392, "lpips": 0.4105561077594757}, "wrist_left": {"psnr": 8.997269256708607, "ssim": 0.20923303776539243, "lpips": 0.644568145275116}, "wrist_right": {"psnr": 15.94340808894605, "ssim": 0.7432476871598058, "lpips": 0.28533875942230225}, "tactile_left": {"psnr": 32.01599040609884, "ssim": 0.9238657226737111, "lpips": 0.3231450915336609}, "tactile_right": {"psnr": 35.466352784706196, "ssim": 0.9608913186082653, "lpips": 0.2023640275001526}}, {"video": {"psnr": 15.848077483976382, "ssim": 0.5361073697908281, "lpips": 0.4209362864494324}, "wrist_left": {"psnr": 10.034779853412129, "ssim": 0.23053890335504856, "lpips": 0.6661771535873413}, "wrist_right": {"psnr": 15.812858494848513, "ssim": 0.7384026176209584, "lpips": 0.3274887502193451}, "tactile_left": {"psnr": 31.870937970943444, "ssim": 0.9106614790965901, "lpips": 0.35766226053237915}, "tactile_right": {"psnr": 35.03102189982366, "ssim": 0.9556023441387566, "lpips": 0.23766601085662842}}, {"video": {"psnr": 16.452177371747663, "ssim": 0.5613277110125005, "lpips": 0.3722759485244751}, "wrist_left": {"psnr": 11.10465738768481, "ssim": 0.27142623439785596, "lpips": 0.6280487775802612}, "wrist_right": {"psnr": 14.989121308099591, "ssim": 0.7096659042868612, "lpips": 0.34485483169555664}, "tactile_left": {"psnr": 32.85791051505302, "ssim": 0.9215425156196451, "lpips": 0.3403114080429077}, "tactile_right": {"psnr": 35.02630326440573, "ssim": 0.953267098092325, "lpips": 0.24785825610160828}}, {"video": {"psnr": 15.67091459945451, "ssim": 0.5261676660381549, "lpips": 0.4347105324268341}, "wrist_left": {"psnr": 11.500900788059196, "ssim": 0.26022634532655353, "lpips": 0.5971148014068604}, "wrist_right": {"psnr": 15.049617846695353, "ssim": 0.7003748163272538, "lpips": 0.34534281492233276}, "tactile_left": {"psnr": 34.120918659057686, "ssim": 0.9373907676867708, "lpips": 0.2922675907611847}, "tactile_right": {"psnr": 34.64204202599878, "ssim": 0.9518337320209074, "lpips": 0.2528407573699951}}, {"video": {"psnr": 15.656391242431834, "ssim": 0.5187187103532491, "lpips": 0.44598209857940674}, "wrist_left": {"psnr": 13.437876047393972, "ssim": 0.24765868132418162, "lpips": 0.6312339305877686}, "wrist_right": {"psnr": 15.078241513525052, "ssim": 0.6717830707809487, "lpips": 0.36582306027412415}, "tactile_left": {"psnr": 32.32200206873814, "ssim": 0.9142439929874242, "lpips": 0.3321097493171692}, "tactile_right": {"psnr": 34.2921026327644, "ssim": 0.947448514578169, "lpips": 0.2771376371383667}}], "long_metrics": {"video": {"psnr": 19.985703007337186, "ssim": 0.70266610258418, "lpips": 0.2282609112560749}, "wrist_left": {"psnr": 15.790382268131236, "ssim": 0.5430208580917953, "lpips": 0.35961395253737766}, "wrist_right": {"psnr": 18.371934394187033, "ssim": 0.6739637339293739, "lpips": 0.25169906169176104}, "tactile_left": {"psnr": 38.2313808451653, "ssim": 0.9566781518584234, "lpips": 0.17344788412253062}, "tactile_right": {"psnr": 37.92435876636967, "ssim": 0.9694619882573003, "lpips": 0.14011904470001657}}}, {"id": "motherboard_17", "episode": "motherboard_0912_episode_002.pt", "requested_episode": "motherboard_0912_episode_002.pt", "category": "onset", "t_start": 2106, "start_seconds": 140.4, "short_contact": [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 1], "future_transition_ticks": [11], "long_contact_fraction": 0.75, "long_label": "onset", "short_metrics": {"video": {"psnr": 26.04481752834053, "ssim": 0.8357555669640664, "lpips": 0.05120600759983063}, "wrist_left": {"psnr": 16.3398819664287, "ssim": 0.5278210668537606, "lpips": 0.22290855646133423}, "wrist_right": {"psnr": 16.61279102070763, "ssim": 0.40032431987976874, "lpips": 0.19379378855228424}, "tactile_left": {"psnr": 45.791230133903554, "ssim": 0.9874705626252507, "lpips": 0.008144821040332317}, "tactile_right": {"psnr": 40.47557425163818, "ssim": 0.9810731878606929, "lpips": 0.09098133444786072}}, "media": {"short": {"video": "media/motherboard_17_short.mp4", "poster": "media/motherboard_17_short.jpg"}, "long": {"video": "media/motherboard_17_long.mp4", "poster": "media/motherboard_17_long.jpg"}}, "force": {"source": "recorded_normal_force", "units": "N", "fps": 15, "left": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.12416389584541321, 0.06000244617462158, 0.1599999964237213, 0.0, 0.0, 0.0, 0.1599999964237213, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 2.3248276710510254, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 2.6312499046325684, 2.6312499046325684, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.9444444179534912, 0.7983333468437195, 2.243333339691162, 3.9167568683624268, 4.726428508758545, 5.397500038146973, 5.397500038146973, 4.726428508758545, 4.726428508758545, 3.928694009780884, 3.9167568683624268, 3.9167568683624268, 3.9167568683624268, 3.9167568683624268, 3.9167568683624268, 3.9167568683624268, 3.3742141723632812, 3.0568182468414307, 2.6312499046325684, 2.3248276710510254, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 1.380898118019104, 1.9444444179534912, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7040123343467712, 0.7040123343467712, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 2.243333339691162, 1.9444444179534912, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.243333339691162, 1.9444444179534912, 1.9444444179534912, 1.9444444179534912, 2.243333339691162, 1.9444444179534912, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 2.3248276710510254, 0.7983333468437195, 2.243333339691162], "right": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.7983333468437195, 2.243333339691162, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.5789201259613037, 2.3248276710510254, 3.9167568683624268, 3.9167568683624268, 3.9167568683624268, 3.1971428394317627, 3.0568182468414307, 3.1971428394317627, 3.9167568683624268, 3.9167568683624268, 2.3248276710510254, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.5337831377983093, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.1599999964237213, 0.1599999964237213, 0.0, 0.0, 0.0, 0.0, 0.0, 0.4000000059604645, 0.1599999964237213, 0.0, 0.0, 0.1599999964237213, 0.1599999964237213, 0.25, 0.49805352091789246, 1.9444444179534912, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 1.846291184425354, 2.3172874450683594, 2.3248276710510254, 0.7983333468437195, 0.1599999964237213, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]}, "long_curve": [{"video": {"psnr": 26.04481752834053, "ssim": 0.8357555669640664, "lpips": 0.05120600759983063}, "wrist_left": {"psnr": 16.3398819664287, "ssim": 0.5278210668537606, "lpips": 0.22290855646133423}, "wrist_right": {"psnr": 16.61279102070763, "ssim": 0.40032431987976874, "lpips": 0.19379378855228424}, "tactile_left": {"psnr": 45.791230133903554, "ssim": 0.9874705626252507, "lpips": 0.008144821040332317}, "tactile_right": {"psnr": 40.47557425163818, "ssim": 0.9810731878606929, "lpips": 0.09098133444786072}}, {"video": {"psnr": 20.667093524597146, "ssim": 0.683664323512149, "lpips": 0.14433923363685608}, "wrist_left": {"psnr": 12.534941495627079, "ssim": 0.32594410005591357, "lpips": 0.435602068901062}, "wrist_right": {"psnr": 14.920864286654279, "ssim": 0.36561165201932155, "lpips": 0.2911386787891388}, "tactile_left": {"psnr": 45.135296935987206, "ssim": 0.9848943648723318, "lpips": 0.016734374687075615}, "tactile_right": {"psnr": 40.104346422757395, "ssim": 0.9730670984285164, "lpips": 0.11129586398601532}}, {"video": {"psnr": 19.910416678215032, "ssim": 0.6626225678605806, "lpips": 0.18822205066680908}, "wrist_left": {"psnr": 12.164594897024443, "ssim": 0.25216100203077885, "lpips": 0.4934013783931732}, "wrist_right": {"psnr": 14.878459818966821, "ssim": 0.3738385283066928, "lpips": 0.33694231510162354}, "tactile_left": {"psnr": 42.32036681254196, "ssim": 0.9797204051746937, "lpips": 0.04119231924414635}, "tactile_right": {"psnr": 42.53188288886528, "ssim": 0.9796520116787661, "lpips": 0.06732983887195587}}, {"video": {"psnr": 19.17093911061564, "ssim": 0.6519392944216951, "lpips": 0.2389596700668335}, "wrist_left": {"psnr": 12.178998120160827, "ssim": 0.2494319816370697, "lpips": 0.48148709535598755}, "wrist_right": {"psnr": 13.80797057251166, "ssim": 0.39133133401939113, "lpips": 0.40470635890960693}, "tactile_left": {"psnr": 37.480071238732535, "ssim": 0.9686659957224595, "lpips": 0.09298783540725708}, "tactile_right": {"psnr": 42.124396495196805, "ssim": 0.9806508926554751, "lpips": 0.04162747785449028}}, {"video": {"psnr": 18.674894562293197, "ssim": 0.6498310978640439, "lpips": 0.2543492317199707}, "wrist_left": {"psnr": 12.23524208805368, "ssim": 0.3012683052033549, "lpips": 0.4678763747215271}, "wrist_right": {"psnr": 12.486805628312984, "ssim": 0.257376497597681, "lpips": 0.5017244815826416}, "tactile_left": {"psnr": 41.04869762577269, "ssim": 0.9741498206799875, "lpips": 0.07428329437971115}, "tactile_right": {"psnr": 40.79677472501541, "ssim": 0.9755410481589022, "lpips": 0.08593606948852539}}, {"video": {"psnr": 18.310984144271686, "ssim": 0.6399986475344426, "lpips": 0.26785409450531006}, "wrist_left": {"psnr": 12.188817008255235, "ssim": 0.25736194981866106, "lpips": 0.49931609630584717}, "wrist_right": {"psnr": 12.523158389526738, "ssim": 0.34680783093407036, "lpips": 0.4663116931915283}, "tactile_left": {"psnr": 38.308397433793054, "ssim": 0.9631327314907621, "lpips": 0.1168406754732132}, "tactile_right": {"psnr": 41.18861105071409, "ssim": 0.9756662849774695, "lpips": 0.07937563210725784}}, {"video": {"psnr": 18.02879124846527, "ssim": 0.6313888817251601, "lpips": 0.2680923342704773}, "wrist_left": {"psnr": 11.647838305969461, "ssim": 0.2974296675952973, "lpips": 0.5456457138061523}, "wrist_right": {"psnr": 11.608430217409072, "ssim": 0.3034560280106434, "lpips": 0.4900243878364563}, "tactile_left": {"psnr": 37.288726361572245, "ssim": 0.9479576249415205, "lpips": 0.15026342868804932}, "tactile_right": {"psnr": 39.71156735399637, "ssim": 0.9711855511280878, "lpips": 0.11943952739238739}}, {"video": {"psnr": 17.725146002520066, "ssim": 0.6168561420979821, "lpips": 0.29593098163604736}, "wrist_left": {"psnr": 11.855132531565253, "ssim": 0.37835476717537597, "lpips": 0.5184059143066406}, "wrist_right": {"psnr": 11.71980448181624, "ssim": 0.3298589915288402, "lpips": 0.48492515087127686}, "tactile_left": {"psnr": 38.024609745506226, "ssim": 0.9549159600842765, "lpips": 0.15494902431964874}, "tactile_right": {"psnr": 39.704510651531876, "ssim": 0.9691727586420489, "lpips": 0.12502485513687134}}, {"video": {"psnr": 17.631910099513494, "ssim": 0.605277551844982, "lpips": 0.30891209840774536}, "wrist_left": {"psnr": 12.105993951268829, "ssim": 0.4029571316461209, "lpips": 0.47466057538986206}, "wrist_right": {"psnr": 13.650378510985222, "ssim": 0.30333416746410835, "lpips": 0.47528076171875}, "tactile_left": {"psnr": 37.55988604017702, "ssim": 0.956302768069115, "lpips": 0.16243356466293335}, "tactile_right": {"psnr": 37.576000784541336, "ssim": 0.9643415791870695, "lpips": 0.14139336347579956}}, {"video": {"psnr": 17.248033806871042, "ssim": 0.598648376940882, "lpips": 0.3305283784866333}, "wrist_left": {"psnr": 12.317147214464782, "ssim": 0.41593855704587457, "lpips": 0.4754742383956909}, "wrist_right": {"psnr": 13.400341091258374, "ssim": 0.296127251144913, "lpips": 0.48232370615005493}, "tactile_left": {"psnr": 36.95427377937211, "ssim": 0.956412281044433, "lpips": 0.17076660692691803}, "tactile_right": {"psnr": 37.86727124529669, "ssim": 0.9635769316025147, "lpips": 0.14552098512649536}}, {"video": {"psnr": 15.894718032003041, "ssim": 0.5822975178615165, "lpips": 0.3616275191307068}, "wrist_left": {"psnr": 12.539310869027451, "ssim": 0.3391820364968702, "lpips": 0.457872211933136}, "wrist_right": {"psnr": 13.04027662377845, "ssim": 0.282291079188316, "lpips": 0.4684682786464691}, "tactile_left": {"psnr": 36.73348525809584, "ssim": 0.9559395010291589, "lpips": 0.1855560690164566}, "tactile_right": {"psnr": 37.42083653337477, "ssim": 0.9593806765678735, "lpips": 0.17930564284324646}}, {"video": {"psnr": 15.941573544731835, "ssim": 0.5781238886507595, "lpips": 0.362415075302124}, "wrist_left": {"psnr": 11.87423007370646, "ssim": 0.24656413004754885, "lpips": 0.5241410136222839}, "wrist_right": {"psnr": 12.769716726169493, "ssim": 0.3143051922110085, "lpips": 0.49657824635505676}, "tactile_left": {"psnr": 33.98872339761647, "ssim": 0.944591513489824, "lpips": 0.23216484487056732}, "tactile_right": {"psnr": 37.45391529702552, "ssim": 0.9605682458529954, "lpips": 0.16505293548107147}}, {"video": {"psnr": 16.29145525035547, "ssim": 0.5732572554327182, "lpips": 0.3909159302711487}, "wrist_left": {"psnr": 12.277640227365069, "ssim": 0.26578853938249936, "lpips": 0.5097525119781494}, "wrist_right": {"psnr": 10.481853799861456, "ssim": 0.30400031785346127, "lpips": 0.5009541511535645}, "tactile_left": {"psnr": 34.462485866861186, "ssim": 0.9454953775956929, "lpips": 0.22588512301445007}, "tactile_right": {"psnr": 36.516026112345145, "ssim": 0.9568588713539053, "lpips": 0.18936902284622192}}, {"video": {"psnr": 15.972803182733964, "ssim": 0.5578957822736511, "lpips": 0.3973537087440491}, "wrist_left": {"psnr": 11.962877041759537, "ssim": 0.37976653038260866, "lpips": 0.47425729036331177}, "wrist_right": {"psnr": 10.49797622992008, "ssim": 0.2811227351759214, "lpips": 0.5068999528884888}, "tactile_left": {"psnr": 35.02689137794419, "ssim": 0.9453446534718326, "lpips": 0.22941341996192932}, "tactile_right": {"psnr": 35.81251668045818, "ssim": 0.9542399148369836, "lpips": 0.20515671372413635}}, {"video": {"psnr": 15.924288113936761, "ssim": 0.5462477307635805, "lpips": 0.4048535227775574}, "wrist_left": {"psnr": 11.521521763985906, "ssim": 0.2769828571351281, "lpips": 0.5399715900421143}, "wrist_right": {"psnr": 10.557820954936055, "ssim": 0.2630531908059683, "lpips": 0.5035147070884705}, "tactile_left": {"psnr": 34.122899169350866, "ssim": 0.9381532827700171, "lpips": 0.2484961450099945}, "tactile_right": {"psnr": 35.7614464807594, "ssim": 0.9534241046578777, "lpips": 0.21634037792682648}}], "long_metrics": {"video": {"psnr": 18.229190988630943, "ssim": 0.6275869750498806, "lpips": 0.28437065581480664}, "wrist_left": {"psnr": 12.38294450364418, "ssim": 0.32779684150045746, "lpips": 0.4747181753317515}, "wrist_right": {"psnr": 12.863776556854305, "ssim": 0.32085594107600707, "lpips": 0.4402391105890274}, "tactile_left": {"psnr": 38.28306941181515, "ssim": 0.9602097895374236, "lpips": 0.1406741031135122}, "tactile_right": {"psnr": 39.00304513156777, "ssim": 0.967893277172612, "lpips": 0.1308766427139441}}}, {"id": "motherboard_18", "episode": "motherboard_0912_episode_002.pt", "requested_episode": "motherboard_0912_episode_002.pt", "category": "release", "t_start": 217, "start_seconds": 14.466666666666667, "short_contact": [1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 0, 0], "future_transition_ticks": [11], "long_contact_fraction": 0.9296875, "long_label": "release", "short_metrics": {"video": {"psnr": 21.677753839895928, "ssim": 0.7294710016600896, "lpips": 0.17295899987220764}, "wrist_left": {"psnr": 13.6103335133103, "ssim": 0.47348356407851233, "lpips": 0.4642907977104187}, "wrist_right": {"psnr": 13.388302861918557, "ssim": 0.44600155743178344, "lpips": 0.42610251903533936}, "tactile_left": {"psnr": 41.20610228572387, "ssim": 0.9819123182497995, "lpips": 0.05165455490350723}, "tactile_right": {"psnr": 48.748931696571674, "ssim": 0.993414642225148, "lpips": 0.011450076475739479}}, "media": {"short": {"video": "media/motherboard_18_short.mp4", "poster": "media/motherboard_18_short.jpg"}, "long": {"video": "media/motherboard_18_long.mp4", "poster": "media/motherboard_18_long.jpg"}}, "force": {"source": "recorded_normal_force", "units": "N", "fps": 15, "left": [4.852499961853027, 4.726428508758545, 3.0568182468414307, 3.0568182468414307, 0.502597451210022, 0.7983333468437195, 0.7983333468437195, 0.5090468525886536, 3.0568182468414307, 0.7983333468437195, 3.9167568683624268, 0.27666667103767395, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 3.0568182468414307, 3.9167568683624268, 5.403749942779541, 6.519285678863525, 5.486666679382324, 4.852499961853027, 4.852499961853027, 3.9167568683624268, 3.9167568683624268, 3.0568182468414307, 2.3248276710510254, 1.9444444179534912, 2.3248276710510254, 4.726428508758545, 4.726428508758545, 4.726428508758545, 4.821667671203613, 4.726428508758545, 3.9167568683624268, 3.9383208751678467, 3.9167568683624268, 3.9167568683624268, 3.0568182468414307, 3.0568182468414307, 3.9167568683624268, 3.9167568683624268, 3.1971428394317627, 3.9167568683624268, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 2.6312499046325684, 2.6312499046325684, 2.3248276710510254, 2.3248276710510254, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.920292377471924, 3.9167568683624268, 3.9167568683624268, 3.9167568683624268, 4.726428508758545, 4.726428508758545, 3.9167568683624268, 3.1971428394317627, 3.1971428394317627, 3.9167568683624268, 3.9167568683624268, 3.9167568683624268, 3.0568182468414307, 2.3248276710510254, 3.0568182468414307, 3.0568182468414307, 2.3248276710510254, 3.0568182468414307, 3.0568182468414307, 2.3248276710510254, 3.0568182468414307, 3.0568182468414307, 1.6830923557281494, 2.3248276710510254, 0.5600000023841858, 3.0568182468414307, 3.0568182468414307, 2.3248276710510254, 3.0568182468414307, 3.9167568683624268, 3.9167568683624268, 4.726428508758545, 5.403749942779541, 4.726428508758545, 4.726428508758545, 4.726428508758545, 4.726428508758545, 3.9167568683624268, 3.9167568683624268, 4.726428508758545, 3.9167568683624268, 3.9167568683624268, 3.932142496109009, 3.9167568683624268, 3.9167568683624268, 3.0568182468414307, 3.0568182468414307, 3.9167568683624268, 3.1971428394317627, 3.0568182468414307, 2.3248276710510254, 1.5576918125152588, 1.9444444179534912, 3.938002347946167, 4.852499961853027, 5.403749942779541, 5.403749942779541, 5.403749942779541, 4.726428508758545, 4.726428508758545, 3.9167568683624268, 3.9167568683624268, 3.9167568683624268, 3.9167568683624268, 3.0568182468414307, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 3.0568182468414307], "right": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.1599999964237213, 0.07424460351467133, 0.7660918831825256, 0.7983333468437195, 0.4399999976158142, 0.43391281366348267, 0.4399999976158142, 2.3248276710510254, 3.0568182468414307, 3.1971428394317627, 3.1885313987731934, 3.0568182468414307, 0.5600000023841858, 0.6110549569129944, 0.6894059777259827, 0.5600000023841858, 0.5600000023841858, 0.2640872597694397, 0.25, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7471941709518433, 0.43728530406951904]}, "long_curve": [{"video": {"psnr": 21.677753839895928, "ssim": 0.7294710016600896, "lpips": 0.17295899987220764}, "wrist_left": {"psnr": 13.6103335133103, "ssim": 0.47348356407851233, "lpips": 0.4642907977104187}, "wrist_right": {"psnr": 13.388302861918557, "ssim": 0.44600155743178344, "lpips": 0.42610251903533936}, "tactile_left": {"psnr": 41.20610228572387, "ssim": 0.9819123182497995, "lpips": 0.05165455490350723}, "tactile_right": {"psnr": 48.748931696571674, "ssim": 0.993414642225148, "lpips": 0.011450076475739479}}, {"video": {"psnr": 19.855112407115215, "ssim": 0.6679537242163622, "lpips": 0.23512455821037292}, "wrist_left": {"psnr": 13.228822514739226, "ssim": 0.32950171637581954, "lpips": 0.4459525942802429}, "wrist_right": {"psnr": 13.00789663613973, "ssim": 0.37643793639480994, "lpips": 0.4662567973136902}, "tactile_left": {"psnr": 40.84770264300754, "ssim": 0.9720585457056521, "lpips": 0.07752218842506409}, "tactile_right": {"psnr": 47.12796744326637, "ssim": 0.9884077083478366, "lpips": 0.01340528205037117}}, {"video": {"psnr": 19.214254194317686, "ssim": 0.6395378412534181, "lpips": 0.26196396350860596}, "wrist_left": {"psnr": 13.589055737203884, "ssim": 0.3162678177197017, "lpips": 0.47713252902030945}, "wrist_right": {"psnr": 12.65905915670087, "ssim": 0.4162017049530923, "lpips": 0.4855087101459503}, "tactile_left": {"psnr": 38.68473146435023, "ssim": 0.9595386924485456, "lpips": 0.11788061261177063}, "tactile_right": {"psnr": 44.905188685042404, "ssim": 0.9859204701299247, "lpips": 0.02561350166797638}}, {"video": {"psnr": 19.253559135315868, "ssim": 0.64437035079046, "lpips": 0.26594027876853943}, "wrist_left": {"psnr": 13.918340655942032, "ssim": 0.3462343041298857, "lpips": 0.47821006178855896}, "wrist_right": {"psnr": 13.280710896873469, "ssim": 0.3936158024772799, "lpips": 0.4281936287879944}, "tactile_left": {"psnr": 38.67916158297024, "ssim": 0.9654528849993267, "lpips": 0.08044441044330597}, "tactile_right": {"psnr": 42.72336437331837, "ssim": 0.9831560999964482, "lpips": 0.043448612093925476}}, {"video": {"psnr": 19.075062185699377, "ssim": 0.6405299468098739, "lpips": 0.30857014656066895}, "wrist_left": {"psnr": 14.446812529874329, "ssim": 0.39698210397962835, "lpips": 0.4526011645793915}, "wrist_right": {"psnr": 15.151432085159302, "ssim": 0.43204385903908454, "lpips": 0.38164010643959045}, "tactile_left": {"psnr": 38.025229248912616, "ssim": 0.9635498995791634, "lpips": 0.10140770673751831}, "tactile_right": {"psnr": 42.357538185411165, "ssim": 0.9805237535082565, "lpips": 0.06278835237026215}}, {"video": {"psnr": 18.5329715267805, "ssim": 0.639205338309349, "lpips": 0.3499299883842468}, "wrist_left": {"psnr": 13.540668207633926, "ssim": 0.34213677204113935, "lpips": 0.4369814097881317}, "wrist_right": {"psnr": 13.580812885133309, "ssim": 0.31626550268947085, "lpips": 0.45613229274749756}, "tactile_left": {"psnr": 37.67247795063233, "ssim": 0.9630001407217994, "lpips": 0.11258751153945923}, "tactile_right": {"psnr": 41.597143531711964, "ssim": 0.9775192463273974, "lpips": 0.0841875970363617}}, {"video": {"psnr": 18.656489569985716, "ssim": 0.633658669494944, "lpips": 0.333371639251709}, "wrist_left": {"psnr": 13.589496510472683, "ssim": 0.37966113046902894, "lpips": 0.4649980068206787}, "wrist_right": {"psnr": 12.092562299926946, "ssim": 0.330104417819488, "lpips": 0.4933103621006012}, "tactile_left": {"psnr": 37.35084882862799, "ssim": 0.9587363583864275, "lpips": 0.16005466878414154}, "tactile_right": {"psnr": 40.551379970332476, "ssim": 0.9741981293419326, "lpips": 0.10502281039953232}}, {"video": {"psnr": 18.824208602460416, "ssim": 0.6113953443027718, "lpips": 0.34214216470718384}, "wrist_left": {"psnr": 13.374159101274724, "ssim": 0.3575933540589955, "lpips": 0.4873143136501312}, "wrist_right": {"psnr": 12.108176260572098, "ssim": 0.31513323163515017, "lpips": 0.5181220173835754}, "tactile_left": {"psnr": 37.26730121969793, "ssim": 0.9546851469855897, "lpips": 0.1921515315771103}, "tactile_right": {"psnr": 39.86297783849854, "ssim": 0.9697838461021911, "lpips": 0.1280003786087036}}, {"video": {"psnr": 18.211216699793912, "ssim": 0.6029854079535891, "lpips": 0.38528114557266235}, "wrist_left": {"psnr": 10.597430439300737, "ssim": 0.35767210461651966, "lpips": 0.5406245589256287}, "wrist_right": {"psnr": 13.818650045753074, "ssim": 0.3583705215601902, "lpips": 0.46054744720458984}, "tactile_left": {"psnr": 37.133829537666735, "ssim": 0.9548727325265935, "lpips": 0.20124459266662598}, "tactile_right": {"psnr": 39.17688485273009, "ssim": 0.9669200604587103, "lpips": 0.1437075138092041}}, {"video": {"psnr": 17.6314594279966, "ssim": 0.6025959451955117, "lpips": 0.4098685681819916}, "wrist_left": {"psnr": 8.330278304907472, "ssim": 0.29554926460383424, "lpips": 0.6892930269241333}, "wrist_right": {"psnr": 11.634276145196573, "ssim": 0.27998913364348516, "lpips": 0.5069775581359863}, "tactile_left": {"psnr": 36.519806177177664, "ssim": 0.9519972392338248, "lpips": 0.2407110184431076}, "tactile_right": {"psnr": 38.35399599424012, "ssim": 0.9641417106497369, "lpips": 0.16480761766433716}}, {"video": {"psnr": 17.110095464096354, "ssim": 0.5868129807454621, "lpips": 0.42057427763938904}, "wrist_left": {"psnr": 9.8428319172865, "ssim": 0.32860979574428445, "lpips": 0.5883848071098328}, "wrist_right": {"psnr": 10.762771502655657, "ssim": 0.2925216779945622, "lpips": 0.5496126413345337}, "tactile_left": {"psnr": 35.637242021187376, "ssim": 0.9416759215009803, "lpips": 0.27363109588623047}, "tactile_right": {"psnr": 37.68716227451803, "ssim": 0.9614306361976699, "lpips": 0.18351787328720093}}, {"video": {"psnr": 17.10857871265222, "ssim": 0.575333887484778, "lpips": 0.43601179122924805}, "wrist_left": {"psnr": 10.777398765484712, "ssim": 0.2848896092216462, "lpips": 0.5198865532875061}, "wrist_right": {"psnr": 11.008511533695874, "ssim": 0.3211390938350245, "lpips": 0.5319869518280029}, "tactile_left": {"psnr": 34.77985614630245, "ssim": 0.9314467482054365, "lpips": 0.28311991691589355}, "tactile_right": {"psnr": 37.16278046840892, "ssim": 0.9583502280835625, "lpips": 0.20686891674995422}}, {"video": {"psnr": 17.20631456366327, "ssim": 0.5802636367706485, "lpips": 0.43858468532562256}, "wrist_left": {"psnr": 8.478384400438422, "ssim": 0.3086045893487786, "lpips": 0.6729421615600586}, "wrist_right": {"psnr": 11.006536175788765, "ssim": 0.26908324533612843, "lpips": 0.5711823105812073}, "tactile_left": {"psnr": 34.87384374697966, "ssim": 0.9402261668645191, "lpips": 0.2592247426509857}, "tactile_right": {"psnr": 36.3782147131448, "ssim": 0.9548445255005311, "lpips": 0.24387714266777039}}, {"video": {"psnr": 17.693332693276492, "ssim": 0.5879768052830293, "lpips": 0.42056939005851746}, "wrist_left": {"psnr": 8.40954755570428, "ssim": 0.31959039058846955, "lpips": 0.7072931528091431}, "wrist_right": {"psnr": 9.97445147195036, "ssim": 0.25302151619093416, "lpips": 0.575087308883667}, "tactile_left": {"psnr": 34.365363093866335, "ssim": 0.9335941330826734, "lpips": 0.29311221837997437}, "tactile_right": {"psnr": 35.476647599852406, "ssim": 0.9516975474780798, "lpips": 0.25937700271606445}}, {"video": {"psnr": 17.872514473455258, "ssim": 0.5628341587924701, "lpips": 0.41453295946121216}, "wrist_left": {"psnr": 10.010550045450326, "ssim": 0.2846647016414199, "lpips": 0.5945401191711426}, "wrist_right": {"psnr": 9.043000017831455, "ssim": 0.2451629890090607, "lpips": 0.6355435848236084}, "tactile_left": {"psnr": 33.75976035649634, "ssim": 0.9294464499178707, "lpips": 0.3092338442802429}, "tactile_right": {"psnr": 34.99339065422308, "ssim": 0.9487791226380151, "lpips": 0.27731359004974365}}], "long_metrics": {"video": {"psnr": 18.52819489976699, "ssim": 0.6203283359375171, "lpips": 0.3463616371154785}, "wrist_left": {"psnr": 11.716274013268238, "ssim": 0.341429414574511, "lpips": 0.5346963504950205}, "wrist_right": {"psnr": 12.16780999835307, "ssim": 0.3363394793339696, "lpips": 0.4990802824497223}, "tactile_left": {"psnr": 37.120217086906614, "ssim": 0.9534795585605468, "lpips": 0.18359870761632918}, "tactile_right": {"psnr": 40.47357121875136, "ssim": 0.9706058484656961, "lpips": 0.13022575117647647}}}, {"id": "motherboard_19", "episode": "motherboard_0912_episode_002.pt", "requested_episode": "motherboard_0912_episode_002.pt", "category": "full", "t_start": 944, "start_seconds": 62.93333333333333, "short_contact": [1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1], "future_transition_ticks": [], "long_contact_fraction": 1.0, "long_label": "full", "short_metrics": {"video": {"psnr": 23.6752470741577, "ssim": 0.7879026167197514, "lpips": 0.09477659314870834}, "wrist_left": {"psnr": 17.332805222145765, "ssim": 0.4650614519124773, "lpips": 0.32678794860839844}, "wrist_right": {"psnr": 28.223009875581134, "ssim": 0.9239610626315194, "lpips": 0.05467402935028076}, "tactile_left": {"psnr": 38.63538721110719, "ssim": 0.9594364097357451, "lpips": 0.07860913127660751}, "tactile_right": {"psnr": 48.039527146293224, "ssim": 0.9913504570298506, "lpips": 0.020897794514894485}}, "media": {"short": {"video": "media/motherboard_19_short.mp4", "poster": "media/motherboard_19_short.jpg"}, "long": {"video": "media/motherboard_19_long.mp4", "poster": "media/motherboard_19_long.jpg"}}, "force": {"source": "recorded_normal_force", "units": "N", "fps": 15, "left": [1.9444444179534912, 5.486666679382324, 5.403749942779541, 5.486666679382324, 5.486666679382324, 4.726428508758545, 4.726428508758545, 4.726428508758545, 5.397500038146973, 4.726428508758545, 4.726428508758545, 4.726428508758545, 4.726428508758545, 4.726428508758545, 4.726428508758545, 4.726428508758545, 3.9385359287261963, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 2.6312499046325684, 2.6312499046325684, 2.6312499046325684, 3.0568182468414307, 3.0568182468414307, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.6312499046325684, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 4.81326961517334, 4.852499961853027, 5.397634029388428, 4.852499961853027, 4.852499961853027, 5.397500038146973, 5.399270057678223, 5.397500038146973, 4.852499961853027, 4.852499961853027, 3.9167568683624268, 3.9167568683624268, 3.9167568683624268, 4.726428508758545, 4.726428508758545, 4.726428508758545, 4.726428508758545, 4.726428508758545, 3.1971428394317627, 3.1971428394317627, 3.1971428394317627, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.4042980670928955, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 2.6312499046325684, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 3.9167568683624268, 5.397500038146973, 4.726428508758545, 4.726428508758545, 4.726428508758545, 3.9167568683624268, 3.9167568683624268, 3.9388134479522705, 3.1971428394317627, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0808489322662354, 3.0568182468414307, 3.0568182468414307, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 1.9444444179534912, 1.5979106426239014, 0.7983333468437195, 0.7983333468437195, 2.3248276710510254, 2.3248276710510254, 0.7983333468437195, 2.243333339691162, 2.243333339691162, 2.3248276710510254, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.9167568683624268, 3.92547869682312, 3.9167568683624268, 4.852499961853027, 3.939357280731201, 4.726428508758545, 4.726428508758545, 3.940000057220459, 3.1971428394317627, 3.9167568683624268, 3.9167568683624268, 3.9167568683624268, 3.9167568683624268, 3.9167568683624268, 3.9247372150421143], "right": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0689406767487526, 0.4319555163383484, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]}, "long_curve": [{"video": {"psnr": 23.6752470741577, "ssim": 0.7879026167197514, "lpips": 0.09477659314870834}, "wrist_left": {"psnr": 17.332805222145765, "ssim": 0.4650614519124773, "lpips": 0.32678794860839844}, "wrist_right": {"psnr": 28.223009875581134, "ssim": 0.9239610626315194, "lpips": 0.05467402935028076}, "tactile_left": {"psnr": 38.63538721110719, "ssim": 0.9594364097357451, "lpips": 0.07860913127660751}, "tactile_right": {"psnr": 48.039527146293224, "ssim": 0.9913504570298506, "lpips": 0.020897794514894485}}, {"video": {"psnr": 20.977030760995756, "ssim": 0.7051996453854097, "lpips": 0.18351832032203674}, "wrist_left": {"psnr": 13.710105162098605, "ssim": 0.3124090513356649, "lpips": 0.4435104429721832}, "wrist_right": {"psnr": 25.204477193527044, "ssim": 0.8766283718853767, "lpips": 0.09726390242576599}, "tactile_left": {"psnr": 38.89867655956374, "ssim": 0.9668887870435402, "lpips": 0.09315643459558487}, "tactile_right": {"psnr": 44.47940217946176, "ssim": 0.9840572013202418, "lpips": 0.030657710507512093}}, {"video": {"psnr": 21.46625183022705, "ssim": 0.724713211649068, "lpips": 0.17536208033561707}, "wrist_left": {"psnr": 14.348645810849135, "ssim": 0.3381951572239957, "lpips": 0.46516740322113037}, "wrist_right": {"psnr": 25.36880691271061, "ssim": 0.8842612624007163, "lpips": 0.0941624790430069}, "tactile_left": {"psnr": 39.29994048392498, "ssim": 0.9656250523850247, "lpips": 0.08916638046503067}, "tactile_right": {"psnr": 43.03404143425523, "ssim": 0.982363148583994, "lpips": 0.028253626078367233}}, {"video": {"psnr": 20.346781907947747, "ssim": 0.7003306243566252, "lpips": 0.24914909899234772}, "wrist_left": {"psnr": 13.066664015686777, "ssim": 0.3194094585616163, "lpips": 0.5161824226379395}, "wrist_right": {"psnr": 25.129040642301497, "ssim": 0.8654470474200728, "lpips": 0.11975176632404327}, "tactile_left": {"psnr": 37.707336106414544, "ssim": 0.954689200268919, "lpips": 0.11264930665493011}, "tactile_right": {"psnr": 41.8919553308502, "ssim": 0.9803928953707919, "lpips": 0.04537525773048401}}, {"video": {"psnr": 20.436778304555865, "ssim": 0.6996464844751606, "lpips": 0.23681196570396423}, "wrist_left": {"psnr": 12.483974635108012, "ssim": 0.2993566508750036, "lpips": 0.5159615278244019}, "wrist_right": {"psnr": 24.90061797775891, "ssim": 0.8683497798913008, "lpips": 0.1255788505077362}, "tactile_left": {"psnr": 36.47554372013607, "ssim": 0.9371019952682131, "lpips": 0.13524609804153442}, "tactile_right": {"psnr": 41.714327549475236, "ssim": 0.9783898555154469, "lpips": 0.06599849462509155}}, {"video": {"psnr": 18.369387578917053, "ssim": 0.6565193729350246, "lpips": 0.3064362108707428}, "wrist_left": {"psnr": 11.600716292927318, "ssim": 0.2901144748448029, "lpips": 0.5511399507522583}, "wrist_right": {"psnr": 19.521354137608846, "ssim": 0.8102945961314989, "lpips": 0.20861020684242249}, "tactile_left": {"psnr": 36.09253920730201, "ssim": 0.9442355435538559, "lpips": 0.14422540366649628}, "tactile_right": {"psnr": 40.230363797137926, "ssim": 0.9744684698899415, "lpips": 0.09357868134975433}}, {"video": {"psnr": 17.854793092401763, "ssim": 0.6242402924046141, "lpips": 0.36262524127960205}, "wrist_left": {"psnr": 11.097845931126486, "ssim": 0.2585344785520556, "lpips": 0.5608718395233154}, "wrist_right": {"psnr": 20.845325511718546, "ssim": 0.8133699507672788, "lpips": 0.2140548825263977}, "tactile_left": {"psnr": 36.33925042058901, "ssim": 0.9544448836739067, "lpips": 0.13549016416072845}, "tactile_right": {"psnr": 39.33085696664728, "ssim": 0.9718146167995394, "lpips": 0.11569361388683319}}, {"video": {"psnr": 17.52530491366484, "ssim": 0.6228860485586507, "lpips": 0.3811546266078949}, "wrist_left": {"psnr": 11.754804885117176, "ssim": 0.33275407851500494, "lpips": 0.5580906867980957}, "wrist_right": {"psnr": 22.169329528310605, "ssim": 0.8366082250880268, "lpips": 0.15826307237148285}, "tactile_left": {"psnr": 36.67674339850465, "ssim": 0.9560518887737475, "lpips": 0.14371377229690552}, "tactile_right": {"psnr": 38.988486549659505, "ssim": 0.9697864179358353, "lpips": 0.13201677799224854}}, {"video": {"psnr": 16.950814895720548, "ssim": 0.6201447904719664, "lpips": 0.3869389593601227}, "wrist_left": {"psnr": 9.602696706486045, "ssim": 0.3027757253218443, "lpips": 0.6197637319564819}, "wrist_right": {"psnr": 22.50402170251732, "ssim": 0.824165441611947, "lpips": 0.21891748905181885}, "tactile_left": {"psnr": 35.924247155389125, "ssim": 0.9504648577972677, "lpips": 0.17334716022014618}, "tactile_right": {"psnr": 37.1358709655716, "ssim": 0.9672753196361663, "lpips": 0.14759443700313568}}, {"video": {"psnr": 16.586785010887336, "ssim": 0.6081538722061595, "lpips": 0.4080618917942047}, "wrist_left": {"psnr": 9.822507981467297, "ssim": 0.2660604362090971, "lpips": 0.6322364807128906}, "wrist_right": {"psnr": 22.557138553282346, "ssim": 0.8344958859875826, "lpips": 0.1681569367647171}, "tactile_left": {"psnr": 33.625808787855576, "ssim": 0.9249982328790054, "lpips": 0.21707406640052795}, "tactile_right": {"psnr": 34.9668040318062, "ssim": 0.9624675925958756, "lpips": 0.16976404190063477}}, {"video": {"psnr": 15.810437805664632, "ssim": 0.5660379768197025, "lpips": 0.4464927315711975}, "wrist_left": {"psnr": 12.598736523549372, "ssim": 0.28163756047094207, "lpips": 0.528287947177887}, "wrist_right": {"psnr": 21.897832404364237, "ssim": 0.8399818282927356, "lpips": 0.12519998848438263}, "tactile_left": {"psnr": 33.57463843974115, "ssim": 0.9286084301757999, "lpips": 0.22483481466770172}, "tactile_right": {"psnr": 34.3505137254268, "ssim": 0.9592382377122683, "lpips": 0.18561679124832153}}, {"video": {"psnr": 15.643549409883192, "ssim": 0.5495387897272378, "lpips": 0.48405736684799194}, "wrist_left": {"psnr": 11.447919655470374, "ssim": 0.26303873481901147, "lpips": 0.5312581062316895}, "wrist_right": {"psnr": 21.42021566501844, "ssim": 0.8208267539036398, "lpips": 0.17012062668800354}, "tactile_left": {"psnr": 34.24601235106498, "ssim": 0.9395721917046246, "lpips": 0.22894349694252014}, "tactile_right": {"psnr": 33.63362130798165, "ssim": 0.9549653215424663, "lpips": 0.2098141312599182}}, {"video": {"psnr": 16.318185274512498, "ssim": 0.5708663520204631, "lpips": 0.4596216082572937}, "wrist_left": {"psnr": 13.175730625112706, "ssim": 0.3108020616660033, "lpips": 0.5351613163948059}, "wrist_right": {"psnr": 21.95482361759634, "ssim": 0.8376966328987259, "lpips": 0.14534738659858704}, "tactile_left": {"psnr": 34.13634340480097, "ssim": 0.9368380345032841, "lpips": 0.23578518629074097}, "tactile_right": {"psnr": 33.56792529953847, "ssim": 0.9545334154221279, "lpips": 0.20716489851474762}}, {"video": {"psnr": 16.79278378078006, "ssim": 0.5811060204085485, "lpips": 0.4443349540233612}, "wrist_left": {"psnr": 12.241181268378591, "ssim": 0.3292631180460124, "lpips": 0.5680065751075745}, "wrist_right": {"psnr": 20.738298058672726, "ssim": 0.7925589414060128, "lpips": 0.23910140991210938}, "tactile_left": {"psnr": 32.905703883002566, "ssim": 0.9188358424166791, "lpips": 0.2795942425727844}, "tactile_right": {"psnr": 33.35174171022778, "ssim": 0.9535932858296576, "lpips": 0.21373926103115082}}, {"video": {"psnr": 16.89190486231005, "ssim": 0.5764883696415435, "lpips": 0.45554524660110474}, "wrist_left": {"psnr": 13.152051598260927, "ssim": 0.35353467523510124, "lpips": 0.5366806983947754}, "wrist_right": {"psnr": 20.91555494460977, "ssim": 0.814885905157706, "lpips": 0.19985449314117432}, "tactile_left": {"psnr": 32.68257571843344, "ssim": 0.9154703929681167, "lpips": 0.29112982749938965}, "tactile_right": {"psnr": 32.87663367527806, "ssim": 0.9515629100921774, "lpips": 0.22670286893844604}}], "long_metrics": {"video": {"psnr": 18.376402433508407, "ssim": 0.6395849645186616, "lpips": 0.338325793047746}, "wrist_left": {"psnr": 12.49575908758564, "ssim": 0.3148631409059089, "lpips": 0.5259404718875885}, "wrist_right": {"psnr": 22.88998978170522, "ssim": 0.8429021123649427, "lpips": 0.1559371680021286}, "tactile_left": {"psnr": 35.814716456522, "ssim": 0.9435507828765154, "lpips": 0.1721976990501086}, "tactile_right": {"psnr": 38.5061381113074, "ssim": 0.9690839430184254, "lpips": 0.12619122577210268}}}], "split": "mixed_mb_wrist_holdout.json", "unavailable": [], "complete": true}, {"id": "pusht", "label": "PushT", "checkpoint": "epoch_003.pt", "run": "nano_action_causal_pusht_v1", "planned_cases": 15, "cases": [{"id": "pusht_00", "episode": "pushT_0911_episode_005_seg00.pt", "requested_episode": "pushT_0911_episode_005_seg00.pt", "category": "none", "t_start": 377, "start_seconds": 25.133333333333333, "short_contact": [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0], "future_transition_ticks": [], "long_contact_fraction": 0.0, "long_label": "none_throughout", "short_metrics": {"video": {"psnr": 31.85932799657185, "ssim": 0.948774446724425, "lpips": 0.021901244297623634}, "wrist_left": {"psnr": 19.973446044198052, "ssim": 0.7907417460227657, "lpips": 0.16132786870002747}, "wrist_right": {"psnr": 32.318633096142165, "ssim": 0.9416511210617131, "lpips": 0.01671290211379528}, "tactile_left": {"psnr": 49.59321398320721, "ssim": 0.9921018276069198, "lpips": 0.005510702729225159}, "tactile_right": {"psnr": 51.08877561748278, "ssim": 0.9946796007715198, "lpips": 0.0038454080931842327}}, "media": {"short": {"video": "media/pusht_00_short.mp4", "poster": "media/pusht_00_short.jpg"}, "long": {"video": "media/pusht_00_long.mp4", "poster": "media/pusht_00_long.jpg"}}, "force": {"source": "recorded_normal_force", "units": "N", "fps": 15, "left": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "right": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]}, "long_curve": [{"video": {"psnr": 31.85932799657185, "ssim": 0.948774446724425, "lpips": 0.021901244297623634}, "wrist_left": {"psnr": 19.973446044198052, "ssim": 0.7907417460227657, "lpips": 0.16132786870002747}, "wrist_right": {"psnr": 32.318633096142165, "ssim": 0.9416511210617131, "lpips": 0.01671290211379528}, "tactile_left": {"psnr": 49.59321398320721, "ssim": 0.9921018276069198, "lpips": 0.005510702729225159}, "tactile_right": {"psnr": 51.08877561748278, "ssim": 0.9946796007715198, "lpips": 0.0038454080931842327}}, {"video": {"psnr": 27.739259348578233, "ssim": 0.8931161153407285, "lpips": 0.04737110435962677}, "wrist_left": {"psnr": 15.228328285632157, "ssim": 0.6258213900766796, "lpips": 0.3190300464630127}, "wrist_right": {"psnr": 27.715920418229327, "ssim": 0.880762244532765, "lpips": 0.04152568429708481}, "tactile_left": {"psnr": 45.98264287037313, "ssim": 0.9876274143592363, "lpips": 0.014011497609317303}, "tactile_right": {"psnr": 47.60426396849886, "ssim": 0.9900206988555624, "lpips": 0.012022411450743675}}, {"video": {"psnr": 26.813782690730896, "ssim": 0.8739745972344569, "lpips": 0.05658652260899544}, "wrist_left": {"psnr": 16.405596110014567, "ssim": 0.6514726733020886, "lpips": 0.27638569474220276}, "wrist_right": {"psnr": 26.867948836982567, "ssim": 0.7957068893533237, "lpips": 0.05756574496626854}, "tactile_left": {"psnr": 43.328025310648755, "ssim": 0.9855421725541698, "lpips": 0.023699749261140823}, "tactile_right": {"psnr": 43.13716633734768, "ssim": 0.9859633916891155, "lpips": 0.025788534432649612}}, {"video": {"psnr": 25.333909170575943, "ssim": 0.8486998049647578, "lpips": 0.07611854374408722}, "wrist_left": {"psnr": 13.962072594337574, "ssim": 0.6159320771907897, "lpips": 0.3198745548725128}, "wrist_right": {"psnr": 25.20897672393626, "ssim": 0.776759017151867, "lpips": 0.0721256285905838}, "tactile_left": {"psnr": 41.271530885085085, "ssim": 0.982652406212584, "lpips": 0.03527165204286575}, "tactile_right": {"psnr": 40.48945283930186, "ssim": 0.9829237057249566, "lpips": 0.04185463860630989}}, {"video": {"psnr": 24.721811449433456, "ssim": 0.8419147486112375, "lpips": 0.10037444531917572}, "wrist_left": {"psnr": 14.24976394972867, "ssim": 0.6146314117238536, "lpips": 0.2944542467594147}, "wrist_right": {"psnr": 24.874329660948455, "ssim": 0.7746913628822895, "lpips": 0.08004745841026306}, "tactile_left": {"psnr": 39.159967770949336, "ssim": 0.9758553100264669, "lpips": 0.05282284691929817}, "tactile_right": {"psnr": 39.48794134963824, "ssim": 0.9805144858283267, "lpips": 0.06506150960922241}}, {"video": {"psnr": 23.48772069471256, "ssim": 0.822343894712914, "lpips": 0.14071626961231232}, "wrist_left": {"psnr": 13.13435319533764, "ssim": 0.4701244637018731, "lpips": 0.4405118227005005}, "wrist_right": {"psnr": 24.417335866397508, "ssim": 0.7711699923723245, "lpips": 0.09931892156600952}, "tactile_left": {"psnr": 37.88269062988968, "ssim": 0.9735943442088839, "lpips": 0.0731545239686966}, "tactile_right": {"psnr": 38.248736486967246, "ssim": 0.9780531346946735, "lpips": 0.08486415445804596}}, {"video": {"psnr": 24.464891794369976, "ssim": 0.8165857724554577, "lpips": 0.10627210140228271}, "wrist_left": {"psnr": 14.462794563817333, "ssim": 0.5939971778566239, "lpips": 0.31110960245132446}, "wrist_right": {"psnr": 15.629054919542238, "ssim": 0.7218223982692471, "lpips": 0.261710524559021}, "tactile_left": {"psnr": 37.1932284690911, "ssim": 0.9719086850676537, "lpips": 0.09164823591709137}, "tactile_right": {"psnr": 37.273803351601, "ssim": 0.9750239146159831, "lpips": 0.10889482498168945}}, {"video": {"psnr": 23.838655337202063, "ssim": 0.797194549223516, "lpips": 0.11560869216918945}, "wrist_left": {"psnr": 15.219677902627936, "ssim": 0.5719870490200138, "lpips": 0.31589946150779724}, "wrist_right": {"psnr": 12.286857594753158, "ssim": 0.6413694370547658, "lpips": 0.41243433952331543}, "tactile_left": {"psnr": 36.30180816629552, "ssim": 0.968022845641862, "lpips": 0.10909873247146606}, "tactile_right": {"psnr": 36.79313480309569, "ssim": 0.9719713118364945, "lpips": 0.13300958275794983}}, {"video": {"psnr": 23.70073827972685, "ssim": 0.788019098873924, "lpips": 0.13574257493019104}, "wrist_left": {"psnr": 14.626065850997861, "ssim": 0.5723744295484217, "lpips": 0.2995903491973877}, "wrist_right": {"psnr": 9.751609572869025, "ssim": 0.5342844765481372, "lpips": 0.553486704826355}, "tactile_left": {"psnr": 35.96309098457468, "ssim": 0.9656964777601504, "lpips": 0.12095047533512115}, "tactile_right": {"psnr": 36.20145570700247, "ssim": 0.9696053108158145, "lpips": 0.15082404017448425}}, {"video": {"psnr": 23.261203549195567, "ssim": 0.7796956817410656, "lpips": 0.1509578973054886}, "wrist_left": {"psnr": 13.541286167038862, "ssim": 0.4636625724758373, "lpips": 0.42413774132728577}, "wrist_right": {"psnr": 8.768535848013316, "ssim": 0.43208062025975413, "lpips": 0.6010125279426575}, "tactile_left": {"psnr": 35.39416854271524, "ssim": 0.9626811905223853, "lpips": 0.13448858261108398}, "tactile_right": {"psnr": 35.26407588055556, "ssim": 0.9660971431688408, "lpips": 0.1777062714099884}}, {"video": {"psnr": 23.17668399690661, "ssim": 0.7736128209903584, "lpips": 0.16335798799991608}, "wrist_left": {"psnr": 13.651917903428025, "ssim": 0.4902248157131835, "lpips": 0.43652084469795227}, "wrist_right": {"psnr": 8.461129795887462, "ssim": 0.4126542864175781, "lpips": 0.6322620511054993}, "tactile_left": {"psnr": 35.11350958294906, "ssim": 0.9608660818884596, "lpips": 0.14758926630020142}, "tactile_right": {"psnr": 34.45464460494693, "ssim": 0.963016501748096, "lpips": 0.17971864342689514}}, {"video": {"psnr": 22.673285894187746, "ssim": 0.7641954276540038, "lpips": 0.17100024223327637}, "wrist_left": {"psnr": 13.783593049573861, "ssim": 0.5335551452060172, "lpips": 0.4262336194515228}, "wrist_right": {"psnr": 8.22536380686617, "ssim": 0.3771539996311442, "lpips": 0.6310007572174072}, "tactile_left": {"psnr": 34.82938655702962, "ssim": 0.9580622901080427, "lpips": 0.1613001823425293}, "tactile_right": {"psnr": 34.12510441887527, "ssim": 0.9594398925528533, "lpips": 0.20538166165351868}}, {"video": {"psnr": 21.777812336650435, "ssim": 0.7518747533103167, "lpips": 0.2009696066379547}, "wrist_left": {"psnr": 13.915379289789833, "ssim": 0.5937351362909176, "lpips": 0.38885658979415894}, "wrist_right": {"psnr": 8.197786505932743, "ssim": 0.3424149939492474, "lpips": 0.6260383725166321}, "tactile_left": {"psnr": 34.23057311577026, "ssim": 0.9564334985637915, "lpips": 0.168638676404953}, "tactile_right": {"psnr": 33.39512252470962, "ssim": 0.9534176060555674, "lpips": 0.23517879843711853}}, {"video": {"psnr": 21.122702988976854, "ssim": 0.7356476672912552, "lpips": 0.23532801866531372}, "wrist_left": {"psnr": 11.832451430204081, "ssim": 0.5387881535541266, "lpips": 0.4902196526527405}, "wrist_right": {"psnr": 7.880157384943006, "ssim": 0.31425812491450816, "lpips": 0.6553165316581726}, "tactile_left": {"psnr": 33.52839443208537, "ssim": 0.953561028570374, "lpips": 0.18205973505973816}, "tactile_right": {"psnr": 32.68906363629323, "ssim": 0.9502229913793201, "lpips": 0.24508753418922424}}, {"video": {"psnr": 20.32908605547942, "ssim": 0.7139640262764885, "lpips": 0.261020690202713}, "wrist_left": {"psnr": 11.75448749739157, "ssim": 0.531506429333601, "lpips": 0.45427998900413513}, "wrist_right": {"psnr": 8.201316346647262, "ssim": 0.38056234110069953, "lpips": 0.5970777273178101}, "tactile_left": {"psnr": 32.987059023922065, "ssim": 0.9509763819058434, "lpips": 0.1933176964521408}, "tactile_right": {"psnr": 32.434582654654356, "ssim": 0.949310641585045, "lpips": 0.2608366012573242}}], "long_metrics": {"video": {"psnr": 24.286724772219895, "ssim": 0.8099742270269937, "lpips": 0.13222172943254312}, "wrist_left": {"psnr": 14.382747588941202, "ssim": 0.5772369780677862, "lpips": 0.35722880562146503}, "wrist_right": {"psnr": 16.58699709187271, "ssim": 0.6064894203666243, "lpips": 0.35584239177405835}, "tactile_left": {"psnr": 38.183952688305745, "ssim": 0.9697054636664549, "lpips": 0.10090417036165794}, "tactile_right": {"psnr": 38.179154945398054, "ssim": 0.9713506887548112, "lpips": 0.1286716409958899}}}, {"id": "pusht_01", "episode": "pushT_0911_episode_005_seg00.pt", "requested_episode": "pushT_0911_episode_005_seg00.pt", "category": "onset", "t_start": 1182, "start_seconds": 78.8, "short_contact": [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 1], "future_transition_ticks": [11], "long_contact_fraction": 0.1015625, "long_label": "onset", "short_metrics": {"video": {"psnr": 30.632202367585105, "ssim": 0.934014307131723, "lpips": 0.02713162824511528}, "wrist_left": {"psnr": 21.22058766644351, "ssim": 0.8466514121080553, "lpips": 0.06762721389532089}, "wrist_right": {"psnr": 22.057194942098963, "ssim": 0.7925758135194838, "lpips": 0.12090159952640533}, "tactile_left": {"psnr": 40.342430417433455, "ssim": 0.9740286322735813, "lpips": 0.04674411565065384}, "tactile_right": {"psnr": 47.833559523015914, "ssim": 0.991862313185411, "lpips": 0.010189664550125599}}, "media": {"short": {"video": "media/pusht_01_short.mp4", "poster": "media/pusht_01_short.jpg"}, "long": {"video": "media/pusht_01_long.mp4", "poster": "media/pusht_01_long.jpg"}}, "force": {"source": "recorded_normal_force", "units": "N", "fps": 15, "left": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.1599999964237213, 0.171951562166214, 0.41999998688697815, 0.4661288559436798, 1.9833333492279053, 1.369855284690857, 1.9833333492279053, 1.9833333492279053, 2.636666774749756, 2.4529788494110107, 2.4149999618530273, 1.5254545211791992, 2.2579867839813232, 1.1733332872390747, 0.5622534155845642, 0.4395720362663269, 0.30081647634506226, 0.16153956949710846, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.1599999964237213, 0.2090778648853302, 0.1599999964237213, 0.27586397528648376, 0.4815323054790497, 1.1662499904632568, 0.7360104918479919, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.1599999964237213, 0.1599999964237213, 0.1599999964237213, 0.1599999964237213, 0.1599999964237213, 0.1599999964237213, 0.1599999964237213, 0.1599999964237213, 0.0, 0.0, 0.0, 0.1599999964237213, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "right": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.1599999964237213, 0.1599999964237213, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]}, "long_curve": [{"video": {"psnr": 30.632202367585105, "ssim": 0.934014307131723, "lpips": 0.02713162824511528}, "wrist_left": {"psnr": 21.22058766644351, "ssim": 0.8466514121080553, "lpips": 0.06762721389532089}, "wrist_right": {"psnr": 22.057194942098963, "ssim": 0.7925758135194838, "lpips": 0.12090159952640533}, "tactile_left": {"psnr": 40.342430417433455, "ssim": 0.9740286322735813, "lpips": 0.04674411565065384}, "tactile_right": {"psnr": 47.833559523015914, "ssim": 0.991862313185411, "lpips": 0.010189664550125599}}, {"video": {"psnr": 25.936815825343672, "ssim": 0.8659991663279372, "lpips": 0.0637565404176712}, "wrist_left": {"psnr": 17.899916959302416, "ssim": 0.7645369153232897, "lpips": 0.13509085774421692}, "wrist_right": {"psnr": 16.592464656006683, "ssim": 0.661640072268077, "lpips": 0.28848519921302795}, "tactile_left": {"psnr": 38.35365794871615, "ssim": 0.9660715307432282, "lpips": 0.08075322955846786}, "tactile_right": {"psnr": 45.199488447362995, "ssim": 0.987220939506971, "lpips": 0.023131152614951134}}, {"video": {"psnr": 23.173213852608473, "ssim": 0.8140575429661712, "lpips": 0.11441972851753235}, "wrist_left": {"psnr": 15.050390669042448, "ssim": 0.6551058146039186, "lpips": 0.28849101066589355}, "wrist_right": {"psnr": 15.288185228310187, "ssim": 0.634415335680802, "lpips": 0.3313818871974945}, "tactile_left": {"psnr": 39.40294212629448, "ssim": 0.9727533048490189, "lpips": 0.06806234270334244}, "tactile_right": {"psnr": 41.43891617489052, "ssim": 0.9812209250952315, "lpips": 0.03474610298871994}}, {"video": {"psnr": 21.540337958677828, "ssim": 0.7883454338101278, "lpips": 0.16496354341506958}, "wrist_left": {"psnr": 13.087102301022934, "ssim": 0.651566973593886, "lpips": 0.3841554522514343}, "wrist_right": {"psnr": 15.105426983969467, "ssim": 0.5967924535020204, "lpips": 0.31608256697654724}, "tactile_left": {"psnr": 40.20278688696271, "ssim": 0.9760751845537734, "lpips": 0.04982460290193558}, "tactile_right": {"psnr": 39.02564379692758, "ssim": 0.9791612328511984, "lpips": 0.043609391897916794}}, {"video": {"psnr": 20.99094110276345, "ssim": 0.7635579522243927, "lpips": 0.2141050398349762}, "wrist_left": {"psnr": 15.200895048301957, "ssim": 0.6709434841950483, "lpips": 0.3153407573699951}, "wrist_right": {"psnr": 11.521568754014439, "ssim": 0.5825122956135336, "lpips": 0.40541866421699524}, "tactile_left": {"psnr": 38.92086296966857, "ssim": 0.9747455950975313, "lpips": 0.05677560716867447}, "tactile_right": {"psnr": 38.0335810902333, "ssim": 0.9763626558873303, "lpips": 0.06473889946937561}}, {"video": {"psnr": 20.986713782295343, "ssim": 0.7588374083078351, "lpips": 0.23827800154685974}, "wrist_left": {"psnr": 11.850344242717032, "ssim": 0.516630669710103, "lpips": 0.46905961632728577}, "wrist_right": {"psnr": 11.029718291138778, "ssim": 0.6050866055995019, "lpips": 0.4657018184661865}, "tactile_left": {"psnr": 37.70322717496878, "ssim": 0.9722878591114112, "lpips": 0.06896118074655533}, "tactile_right": {"psnr": 37.39084709839341, "ssim": 0.9764157779116956, "lpips": 0.07270999252796173}}, {"video": {"psnr": 20.59839359576219, "ssim": 0.7555203417801731, "lpips": 0.2516825497150421}, "wrist_left": {"psnr": 13.610259303500975, "ssim": 0.5952374315850919, "lpips": 0.36295902729034424}, "wrist_right": {"psnr": 17.271244161493723, "ssim": 0.7480345522480318, "lpips": 0.25403279066085815}, "tactile_left": {"psnr": 37.46611840342283, "ssim": 0.9663924296152602, "lpips": 0.09047174453735352}, "tactile_right": {"psnr": 36.93496931544158, "ssim": 0.9747543394939056, "lpips": 0.090094193816185}}, {"video": {"psnr": 19.828370091191683, "ssim": 0.7371894584403409, "lpips": 0.3080262839794159}, "wrist_left": {"psnr": 12.148967272421443, "ssim": 0.5264504101390786, "lpips": 0.43904179334640503}, "wrist_right": {"psnr": 23.042842591498033, "ssim": 0.7793550550685466, "lpips": 0.1631329357624054}, "tactile_left": {"psnr": 36.43313628352186, "ssim": 0.964240615151465, "lpips": 0.10403429716825485}, "tactile_right": {"psnr": 36.63639850991274, "ssim": 0.9722330184938969, "lpips": 0.11377297341823578}}, {"video": {"psnr": 19.76389433380227, "ssim": 0.7279705643708796, "lpips": 0.31782084703445435}, "wrist_left": {"psnr": 12.719815257089893, "ssim": 0.47590396371115995, "lpips": 0.4564448297023773}, "wrist_right": {"psnr": 22.36776350316139, "ssim": 0.7669360494254146, "lpips": 0.1648883819580078}, "tactile_left": {"psnr": 36.17229476623798, "ssim": 0.9616119463085882, "lpips": 0.11810025572776794}, "tactile_right": {"psnr": 36.486243970824, "ssim": 0.9705886315929069, "lpips": 0.12336599826812744}}, {"video": {"psnr": 20.392750208773087, "ssim": 0.7224398590371546, "lpips": 0.3154715895652771}, "wrist_left": {"psnr": 13.469345740447187, "ssim": 0.5022620626258626, "lpips": 0.413522869348526}, "wrist_right": {"psnr": 23.21522391318442, "ssim": 0.7691569171255273, "lpips": 0.15796905755996704}, "tactile_left": {"psnr": 35.321673944269165, "ssim": 0.9479015958793047, "lpips": 0.1412656158208847}, "tactile_right": {"psnr": 35.5429270048381, "ssim": 0.9683227382343154, "lpips": 0.13855010271072388}}, {"video": {"psnr": 20.08397611935786, "ssim": 0.7079355830857745, "lpips": 0.32785317301750183}, "wrist_left": {"psnr": 14.261052326160833, "ssim": 0.5560728344832403, "lpips": 0.34688252210617065}, "wrist_right": {"psnr": 23.59702546959143, "ssim": 0.768270271133512, "lpips": 0.1549493372440338}, "tactile_left": {"psnr": 34.83998254261038, "ssim": 0.957728673105901, "lpips": 0.1312066614627838}, "tactile_right": {"psnr": 34.43167909479494, "ssim": 0.9659317087706296, "lpips": 0.15411759912967682}}, {"video": {"psnr": 19.233738999070436, "ssim": 0.7075454252504771, "lpips": 0.3243304491043091}, "wrist_left": {"psnr": 11.22374873204632, "ssim": 0.4345272302314203, "lpips": 0.54509437084198}, "wrist_right": {"psnr": 19.54394055890563, "ssim": 0.7530611000047502, "lpips": 0.21562239527702332}, "tactile_left": {"psnr": 35.04314481553183, "ssim": 0.9597690218365842, "lpips": 0.1324654221534729}, "tactile_right": {"psnr": 33.96684094252946, "ssim": 0.9633414963605829, "lpips": 0.1730981171131134}}, {"video": {"psnr": 19.384444389829287, "ssim": 0.7085083843813139, "lpips": 0.30266427993774414}, "wrist_left": {"psnr": 11.487550553634964, "ssim": 0.39649395101454254, "lpips": 0.5279234647750854}, "wrist_right": {"psnr": 13.502963612332259, "ssim": 0.6935353250193002, "lpips": 0.32545146346092224}, "tactile_left": {"psnr": 35.05925457307397, "ssim": 0.9600816337660119, "lpips": 0.13948269188404083}, "tactile_right": {"psnr": 33.682552942116025, "ssim": 0.9604262703699347, "lpips": 0.19303470849990845}}, {"video": {"psnr": 20.038127126705252, "ssim": 0.7253677135090768, "lpips": 0.26643890142440796}, "wrist_left": {"psnr": 13.583000974697192, "ssim": 0.547354686932198, "lpips": 0.43098974227905273}, "wrist_right": {"psnr": 8.951148612265314, "ssim": 0.4472191382735953, "lpips": 0.5814321041107178}, "tactile_left": {"psnr": 35.11499585083395, "ssim": 0.9558864137499168, "lpips": 0.16809648275375366}, "tactile_right": {"psnr": 33.31778084442665, "ssim": 0.9573287024568768, "lpips": 0.21043509244918823}}, {"video": {"psnr": 20.225235204988824, "ssim": 0.7256454473672833, "lpips": 0.26455235481262207}, "wrist_left": {"psnr": 13.374285575896948, "ssim": 0.533444018516969, "lpips": 0.39758482575416565}, "wrist_right": {"psnr": 9.220058056651878, "ssim": 0.4422787191372766, "lpips": 0.5744062066078186}, "tactile_left": {"psnr": 34.82139389986335, "ssim": 0.9596535860386722, "lpips": 0.14527755975723267}, "tactile_right": {"psnr": 32.80598981376199, "ssim": 0.9531768278525315, "lpips": 0.23393140733242035}}], "long_metrics": {"video": {"psnr": 21.520610330583654, "ssim": 0.762862305866044, "lpips": 0.2334329940378666}, "wrist_left": {"psnr": 14.012484174848403, "ssim": 0.5782121239182576, "lpips": 0.37201389024655024}, "wrist_right": {"psnr": 16.82045128897484, "ssim": 0.6693913135746249, "lpips": 0.3013237605492274}, "tactile_left": {"psnr": 37.01319350689396, "ssim": 0.9646152014720165, "lpips": 0.10276812066634496}, "tactile_right": {"psnr": 37.51516123796461, "ssim": 0.9718898385375613, "lpips": 0.11196835978577534}}}, {"id": "pusht_02", "episode": "pushT_0911_episode_005_seg00.pt", "requested_episode": "pushT_0911_episode_005_seg00.pt", "category": "release", "t_start": 165, "start_seconds": 11.0, "short_contact": [1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 0, 0], "future_transition_ticks": [11], "long_contact_fraction": 0.1796875, "long_label": "release", "short_metrics": {"video": {"psnr": 32.082150374102454, "ssim": 0.9559277786377218, "lpips": 0.01675829105079174}, "wrist_left": {"psnr": 24.517026694646905, "ssim": 0.8816846667775429, "lpips": 0.041984282433986664}, "wrist_right": {"psnr": 29.340342173729695, "ssim": 0.9251145646385524, "lpips": 0.02545473724603653}, "tactile_left": {"psnr": 40.11400147305252, "ssim": 0.9821996303937102, "lpips": 0.04620900750160217}, "tactile_right": {"psnr": 50.78208407169637, "ssim": 0.9945138640085487, "lpips": 0.004133978858590126}}, "media": {"short": {"video": "media/pusht_02_short.mp4", "poster": "media/pusht_02_short.jpg"}, "long": {"video": "media/pusht_02_long.mp4", "poster": "media/pusht_02_long.jpg"}}, "force": {"source": "recorded_normal_force", "units": "N", "fps": 15, "left": [2.8207693099975586, 2.9424359798431396, 2.9424359798431396, 5.145384788513184, 5.145384788513184, 5.259615421295166, 5.259615421295166, 5.259615421295166, 5.145384788513184, 2.9424359798431396, 1.1662499904632568, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.26624512672424316, 0.26624512672424316, 1.4500000476837158, 2.636666774749756, 2.8207693099975586, 2.9424359798431396, 2.636666774749756, 1.1662499904632568, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "right": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.2771686911582947, 0.38957640528678894, 0.4353572428226471, 0.7372764348983765, 1.1662499904632568, 1.1662499904632568, 1.1662499904632568, 1.1662499904632568, 1.1662499904632568, 0.4212776720523834, 0.35074925422668457, 0.2692723274230957, 0.16934654116630554, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]}, "long_curve": [{"video": {"psnr": 32.082150374102454, "ssim": 0.9559277786377218, "lpips": 0.01675829105079174}, "wrist_left": {"psnr": 24.517026694646905, "ssim": 0.8816846667775429, "lpips": 0.041984282433986664}, "wrist_right": {"psnr": 29.340342173729695, "ssim": 0.9251145646385524, "lpips": 0.02545473724603653}, "tactile_left": {"psnr": 40.11400147305252, "ssim": 0.9821996303937102, "lpips": 0.04620900750160217}, "tactile_right": {"psnr": 50.78208407169637, "ssim": 0.9945138640085487, "lpips": 0.004133978858590126}}, {"video": {"psnr": 28.437707244901517, "ssim": 0.911754292036894, "lpips": 0.032757580280303955}, "wrist_left": {"psnr": 20.559722176500696, "ssim": 0.7716167811407721, "lpips": 0.09816676378250122}, "wrist_right": {"psnr": 23.686524974565085, "ssim": 0.8341368674542939, "lpips": 0.08284386992454529}, "tactile_left": {"psnr": 40.089399610404925, "ssim": 0.977304537838767, "lpips": 0.097698874771595}, "tactile_right": {"psnr": 45.0504479101479, "ssim": 0.9881964165647767, "lpips": 0.02831103652715683}}, {"video": {"psnr": 27.156097306888483, "ssim": 0.8887673999561965, "lpips": 0.045948393642902374}, "wrist_left": {"psnr": 18.66787756430622, "ssim": 0.6914382058280606, "lpips": 0.18783077597618103}, "wrist_right": {"psnr": 16.759153015776334, "ssim": 0.7385087766089369, "lpips": 0.2674656808376312}, "tactile_left": {"psnr": 35.57999906912866, "ssim": 0.9605793928511652, "lpips": 0.1767490804195404}, "tactile_right": {"psnr": 41.397908907861364, "ssim": 0.9845585219042857, "lpips": 0.035171449184417725}}, {"video": {"psnr": 26.1267733006944, "ssim": 0.8583905549377989, "lpips": 0.062252435833215714}, "wrist_left": {"psnr": 16.36250841311799, "ssim": 0.6459316179577973, "lpips": 0.27099546790122986}, "wrist_right": {"psnr": 19.330672773227104, "ssim": 0.7908658284205956, "lpips": 0.17554971575737}, "tactile_left": {"psnr": 39.666257489266016, "ssim": 0.9727452843194659, "lpips": 0.09568239003419876}, "tactile_right": {"psnr": 37.17688239056491, "ssim": 0.9719687950438192, "lpips": 0.12250819057226181}}, {"video": {"psnr": 24.867083118863622, "ssim": 0.8260845538011963, "lpips": 0.09168655425310135}, "wrist_left": {"psnr": 11.362130957038897, "ssim": 0.5392416801277802, "lpips": 0.48141154646873474}, "wrist_right": {"psnr": 17.96623240877308, "ssim": 0.7566697891019352, "lpips": 0.20884892344474792}, "tactile_left": {"psnr": 39.986039820129456, "ssim": 0.9744755110486538, "lpips": 0.07374069094657898}, "tactile_right": {"psnr": 37.116641845068095, "ssim": 0.9748434878991371, "lpips": 0.08721891045570374}}, {"video": {"psnr": 24.161507419746787, "ssim": 0.8055184381623427, "lpips": 0.12211459875106812}, "wrist_left": {"psnr": 9.904051609019442, "ssim": 0.455387042262547, "lpips": 0.5659176111221313}, "wrist_right": {"psnr": 14.022295076434329, "ssim": 0.5663662782563743, "lpips": 0.43201571702957153}, "tactile_left": {"psnr": 38.742182176811575, "ssim": 0.9727845927200679, "lpips": 0.08044065535068512}, "tactile_right": {"psnr": 36.58201106576239, "ssim": 0.976304803151429, "lpips": 0.066539466381073}}, {"video": {"psnr": 22.933156175052257, "ssim": 0.7667286426432662, "lpips": 0.15866899490356445}, "wrist_left": {"psnr": 9.924056096595063, "ssim": 0.4325884968082727, "lpips": 0.5365392565727234}, "wrist_right": {"psnr": 13.986809343137057, "ssim": 0.5466506458405146, "lpips": 0.39948758482933044}, "tactile_left": {"psnr": 38.08131981815047, "ssim": 0.9700022728149058, "lpips": 0.09303738921880722}, "tactile_right": {"psnr": 36.089286604303844, "ssim": 0.9736645811656153, "lpips": 0.08049150556325912}}, {"video": {"psnr": 22.043856743208252, "ssim": 0.7563238991720582, "lpips": 0.16750887036323547}, "wrist_left": {"psnr": 11.37684279762565, "ssim": 0.49136503332756765, "lpips": 0.475432813167572}, "wrist_right": {"psnr": 12.995721445519306, "ssim": 0.49274275067094453, "lpips": 0.431332528591156}, "tactile_left": {"psnr": 37.2951085115146, "ssim": 0.9665666178342176, "lpips": 0.11035652458667755}, "tactile_right": {"psnr": 36.1470248997204, "ssim": 0.9703652662017668, "lpips": 0.09763431549072266}}, {"video": {"psnr": 22.981438980251397, "ssim": 0.7605005993297964, "lpips": 0.15738090872764587}, "wrist_left": {"psnr": 11.541812015940492, "ssim": 0.47682889628514197, "lpips": 0.48825931549072266}, "wrist_right": {"psnr": 12.96506703462099, "ssim": 0.5245564329769274, "lpips": 0.45590001344680786}, "tactile_left": {"psnr": 36.61436543237539, "ssim": 0.9629178613065613, "lpips": 0.12261149287223816}, "tactile_right": {"psnr": 35.59395635564785, "ssim": 0.9665575951062717, "lpips": 0.11306312680244446}}, {"video": {"psnr": 23.139306432627208, "ssim": 0.7616797581945507, "lpips": 0.17630456387996674}, "wrist_left": {"psnr": 12.839757924232346, "ssim": 0.5372117326006252, "lpips": 0.4117218852043152}, "wrist_right": {"psnr": 13.268925213099989, "ssim": 0.5377562972877503, "lpips": 0.4485507011413574}, "tactile_left": {"psnr": 35.873142997935126, "ssim": 0.9616176485217307, "lpips": 0.13189293444156647}, "tactile_right": {"psnr": 34.61208996921913, "ssim": 0.9673635424737166, "lpips": 0.12219136953353882}}, {"video": {"psnr": 22.983515241935145, "ssim": 0.7586879685696741, "lpips": 0.1883993297815323}, "wrist_left": {"psnr": 14.106890977483166, "ssim": 0.6007515763974904, "lpips": 0.34714967012405396}, "wrist_right": {"psnr": 14.499262769970688, "ssim": 0.6907476626077318, "lpips": 0.39736491441726685}, "tactile_left": {"psnr": 35.3961404760407, "ssim": 0.9609920966933923, "lpips": 0.14580078423023224}, "tactile_right": {"psnr": 33.89934379834282, "ssim": 0.9670912286640936, "lpips": 0.13150252401828766}}, {"video": {"psnr": 22.944456834453245, "ssim": 0.7574338628312722, "lpips": 0.193627268075943}, "wrist_left": {"psnr": 12.743773780016808, "ssim": 0.5225621858475623, "lpips": 0.45341843366622925}, "wrist_right": {"psnr": 14.943072532968337, "ssim": 0.7114045581630104, "lpips": 0.36685189604759216}, "tactile_left": {"psnr": 34.43633011564419, "ssim": 0.9572906797815718, "lpips": 0.1633218377828598}, "tactile_right": {"psnr": 33.17797665190558, "ssim": 0.964538264876338, "lpips": 0.147911936044693}}, {"video": {"psnr": 20.703042457801892, "ssim": 0.7310213668534957, "lpips": 0.25866302847862244}, "wrist_left": {"psnr": 12.811827844854946, "ssim": 0.5379661305491436, "lpips": 0.44346994161605835}, "wrist_right": {"psnr": 15.428043851449441, "ssim": 0.6901078119434554, "lpips": 0.31735873222351074}, "tactile_left": {"psnr": 34.00831491335694, "ssim": 0.9555466214203566, "lpips": 0.16867521405220032}, "tactile_right": {"psnr": 32.76474143052074, "ssim": 0.9617095244229967, "lpips": 0.1620764434337616}}, {"video": {"psnr": 19.985944348557698, "ssim": 0.7251057000522618, "lpips": 0.29065173864364624}, "wrist_left": {"psnr": 14.275951371254221, "ssim": 0.5812857469282098, "lpips": 0.3085371255874634}, "wrist_right": {"psnr": 18.462194114601743, "ssim": 0.7131463520344719, "lpips": 0.22694715857505798}, "tactile_left": {"psnr": 34.28595411888383, "ssim": 0.9548799803551491, "lpips": 0.1627236306667328}, "tactile_right": {"psnr": 32.38805250898668, "ssim": 0.9589372636751166, "lpips": 0.177209734916687}}, {"video": {"psnr": 20.10986081082919, "ssim": 0.7178462195758006, "lpips": 0.2969256043434143}, "wrist_left": {"psnr": 14.091737232583343, "ssim": 0.5667670036261784, "lpips": 0.3252979815006256}, "wrist_right": {"psnr": 17.853427163728014, "ssim": 0.7016329121856041, "lpips": 0.25175994634628296}, "tactile_left": {"psnr": 33.95534165758271, "ssim": 0.9533537452273159, "lpips": 0.1728302538394928}, "tactile_right": {"psnr": 32.122233362835544, "ssim": 0.9563116499222213, "lpips": 0.1960756778717041}}], "long_metrics": {"video": {"psnr": 24.043726452660902, "ssim": 0.7987847356502884, "lpips": 0.15064321073393028}, "wrist_left": {"psnr": 14.339064497014412, "ssim": 0.5821751197643128, "lpips": 0.36240885804096856}, "wrist_right": {"psnr": 17.033849592773414, "ssim": 0.6813605018794067, "lpips": 0.2991821413238843}, "tactile_left": {"psnr": 36.94159317868514, "ssim": 0.9655504315418021, "lpips": 0.12278471738100052}, "tactile_right": {"psnr": 36.99337878483891, "ssim": 0.9717949870053422, "lpips": 0.10480264437695344}}}, {"id": "pusht_03", "episode": "pushT_0911_episode_005_seg00.pt", "requested_episode": "pushT_0911_episode_005_seg00.pt", "category": "full", "t_start": 1100, "start_seconds": 73.33333333333333, "short_contact": [1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1], "future_transition_ticks": [], "long_contact_fraction": 0.46875, "long_label": "full", "short_metrics": {"video": {"psnr": 28.445058253544083, "ssim": 0.9102159468690831, "lpips": 0.03681986778974533}, "wrist_left": {"psnr": 25.729311760917245, "ssim": 0.8933640555963587, "lpips": 0.04738385230302811}, "wrist_right": {"psnr": 19.292168821488257, "ssim": 0.8015833798104111, "lpips": 0.1671101450920105}, "tactile_left": {"psnr": 40.33280557498658, "ssim": 0.9711474522124044, "lpips": 0.05393357202410698}, "tactile_right": {"psnr": 50.73055267725486, "ssim": 0.994449613175544, "lpips": 0.004462182056158781}}, "media": {"short": {"video": "media/pusht_03_short.mp4", "poster": "media/pusht_03_short.jpg"}, "long": {"video": "media/pusht_03_long.mp4", "poster": "media/pusht_03_long.jpg"}}, "force": {"source": "recorded_normal_force", "units": "N", "fps": 15, "left": [1.1662499904632568, 1.1662499904632568, 1.1662499904632568, 1.1662499904632568, 1.1662499904632568, 1.1662499904632568, 1.1662499904632568, 1.1662499904632568, 1.1662499904632568, 1.1662499904632568, 0.8659868240356445, 1.1662499904632568, 1.1662499904632568, 1.4500000476837158, 1.1733332872390747, 1.1680232286453247, 1.4500000476837158, 1.3184378147125244, 1.1662499904632568, 1.1662499904632568, 0.5591263175010681, 0.6659782528877258, 1.1662499904632568, 1.5254545211791992, 1.5254545211791992, 1.5254545211791992, 1.5254545211791992, 1.5254545211791992, 1.1733332872390747, 1.1662499904632568, 0.41999998688697815, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.28738003969192505, 0.49666666984558105, 1.1662499904632568, 1.1662499904632568, 1.1662499904632568, 1.2184041738510132, 1.2287522554397583, 1.1710622310638428, 0.7575148940086365, 0.28851041197776794, 0.2881849706172943, 0.2947826385498047, 0.2947826385498047, 0.3112177550792694, 0.26272594928741455, 0.2713329792022705, 0.25845661759376526, 0.16963505744934082, 0.41999998688697815, 0.3929578363895416, 0.2916976511478424, 0.41999998688697815, 0.41999998688697815, 0.4169316291809082, 0.7125925421714783, 1.1662499904632568, 1.1662499904632568, 1.1662499904632568, 0.44432735443115234, 0.7316910028457642, 1.1733332872390747, 1.5254545211791992, 1.9833333492279053, 2.8207693099975586, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.1599999964237213, 0.171951562166214, 0.41999998688697815, 0.4661288559436798, 1.9833333492279053, 1.369855284690857, 1.9833333492279053, 1.9833333492279053, 2.636666774749756, 2.4529788494110107, 2.4149999618530273, 1.5254545211791992, 2.2579867839813232, 1.1733332872390747, 0.5622534155845642, 0.4395720362663269, 0.30081647634506226, 0.16153956949710846, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "right": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]}, "long_curve": [{"video": {"psnr": 28.445058253544083, "ssim": 0.9102159468690831, "lpips": 0.03681986778974533}, "wrist_left": {"psnr": 25.729311760917245, "ssim": 0.8933640555963587, "lpips": 0.04738385230302811}, "wrist_right": {"psnr": 19.292168821488257, "ssim": 0.8015833798104111, "lpips": 0.1671101450920105}, "tactile_left": {"psnr": 40.33280557498658, "ssim": 0.9711474522124044, "lpips": 0.05393357202410698}, "tactile_right": {"psnr": 50.73055267725486, "ssim": 0.994449613175544, "lpips": 0.004462182056158781}}, {"video": {"psnr": 24.922080727773984, "ssim": 0.8337568020745107, "lpips": 0.06416518986225128}, "wrist_left": {"psnr": 21.305731751655905, "ssim": 0.7861449512980695, "lpips": 0.08452636003494263}, "wrist_right": {"psnr": 19.364791344020468, "ssim": 0.7580814135261057, "lpips": 0.16943830251693726}, "tactile_left": {"psnr": 35.494240150821696, "ssim": 0.9583533288442003, "lpips": 0.135757178068161}, "tactile_right": {"psnr": 47.129901079545576, "ssim": 0.9897994865494264, "lpips": 0.012432682327926159}}, {"video": {"psnr": 23.903977670903593, "ssim": 0.8190500014412516, "lpips": 0.09587698429822922}, "wrist_left": {"psnr": 19.07949823024429, "ssim": 0.7207581206618271, "lpips": 0.11835656315088272}, "wrist_right": {"psnr": 23.1348944838791, "ssim": 0.7792645642757606, "lpips": 0.11664063483476639}, "tactile_left": {"psnr": 33.8576650451389, "ssim": 0.9466230232463764, "lpips": 0.19046705961227417}, "tactile_right": {"psnr": 43.64908901243506, "ssim": 0.9873135125228356, "lpips": 0.023177478462457657}}, {"video": {"psnr": 22.68420192218732, "ssim": 0.7931140701844597, "lpips": 0.13508343696594238}, "wrist_left": {"psnr": 14.62311418176229, "ssim": 0.609668244245257, "lpips": 0.3164622187614441}, "wrist_right": {"psnr": 24.504437907992944, "ssim": 0.7677239118976238, "lpips": 0.10654513537883759}, "tactile_left": {"psnr": 36.7924844910833, "ssim": 0.9677825082625742, "lpips": 0.09054292738437653}, "tactile_right": {"psnr": 41.19299430514067, "ssim": 0.9848112267714935, "lpips": 0.03908795863389969}}, {"video": {"psnr": 22.716064453168258, "ssim": 0.7870807818453032, "lpips": 0.14181560277938843}, "wrist_left": {"psnr": 14.227397515600423, "ssim": 0.575266077168914, "lpips": 0.3771677017211914}, "wrist_right": {"psnr": 23.675109220164458, "ssim": 0.7604718301143265, "lpips": 0.11230704188346863}, "tactile_left": {"psnr": 32.405679818394134, "ssim": 0.9384876683327952, "lpips": 0.18820326030254364}, "tactile_right": {"psnr": 40.117269532943695, "ssim": 0.9822588164362192, "lpips": 0.06206575781106949}}, {"video": {"psnr": 23.51731932182971, "ssim": 0.7989921374514573, "lpips": 0.11753188073635101}, "wrist_left": {"psnr": 13.99648933033513, "ssim": 0.5313828835962585, "lpips": 0.3539954721927643}, "wrist_right": {"psnr": 23.8398633120256, "ssim": 0.7873298632984723, "lpips": 0.12371483445167542}, "tactile_left": {"psnr": 33.990095038137234, "ssim": 0.9473948518419186, "lpips": 0.14765752851963043}, "tactile_right": {"psnr": 38.21398458086893, "ssim": 0.9783902000118986, "lpips": 0.08339019119739532}}, {"video": {"psnr": 23.817141167763225, "ssim": 0.8001345773756301, "lpips": 0.11342878639698029}, "wrist_left": {"psnr": 12.986937272790593, "ssim": 0.482641769316045, "lpips": 0.40933120250701904}, "wrist_right": {"psnr": 24.730140400088846, "ssim": 0.7731970930816834, "lpips": 0.11182451993227005}, "tactile_left": {"psnr": 34.02368210194055, "ssim": 0.9442840995556134, "lpips": 0.16574029624462128}, "tactile_right": {"psnr": 36.99019717157625, "ssim": 0.9741722371455293, "lpips": 0.10830892622470856}}, {"video": {"psnr": 21.890725718909092, "ssim": 0.7694551343581797, "lpips": 0.16447730362415314}, "wrist_left": {"psnr": 9.722228856035663, "ssim": 0.4309314029976099, "lpips": 0.6135861873626709}, "wrist_right": {"psnr": 23.864479910009347, "ssim": 0.7699849244162531, "lpips": 0.1224982962012291}, "tactile_left": {"psnr": 34.13205092152667, "ssim": 0.9487358704991287, "lpips": 0.15822577476501465}, "tactile_right": {"psnr": 36.650111495684264, "ssim": 0.971548143866103, "lpips": 0.1283598244190216}}, {"video": {"psnr": 21.315529121108604, "ssim": 0.7595501918223346, "lpips": 0.19497139751911163}, "wrist_left": {"psnr": 9.104768682343998, "ssim": 0.4124907930293613, "lpips": 0.64469313621521}, "wrist_right": {"psnr": 20.525500244873143, "ssim": 0.7400120207667589, "lpips": 0.16434258222579956}, "tactile_left": {"psnr": 34.1858054260213, "ssim": 0.9534376229802126, "lpips": 0.12153424322605133}, "tactile_right": {"psnr": 35.7396884747955, "ssim": 0.9690366789565326, "lpips": 0.14491739869117737}}, {"video": {"psnr": 21.42297876874217, "ssim": 0.7591194374503207, "lpips": 0.20288774371147156}, "wrist_left": {"psnr": 11.39791959010145, "ssim": 0.5360155817109633, "lpips": 0.5255295038223267}, "wrist_right": {"psnr": 10.885427805407486, "ssim": 0.6036674444445699, "lpips": 0.4418387711048126}, "tactile_left": {"psnr": 33.80703101380301, "ssim": 0.9595519143812175, "lpips": 0.1068669855594635}, "tactile_right": {"psnr": 34.589779254740236, "ssim": 0.9677690018347131, "lpips": 0.1554606854915619}}, {"video": {"psnr": 21.07926688490807, "ssim": 0.7510954752618826, "lpips": 0.2135125696659088}, "wrist_left": {"psnr": 11.9554230851643, "ssim": 0.5437310280485038, "lpips": 0.45638570189476013}, "wrist_right": {"psnr": 9.761123496194942, "ssim": 0.49267237787061147, "lpips": 0.5090534687042236}, "tactile_left": {"psnr": 32.72898389427757, "ssim": 0.9459372822238824, "lpips": 0.1364578753709793}, "tactile_right": {"psnr": 33.59036377459748, "ssim": 0.9642377217775133, "lpips": 0.17302671074867249}}, {"video": {"psnr": 21.14134209829709, "ssim": 0.7522705440777031, "lpips": 0.22555235028266907}, "wrist_left": {"psnr": 12.452939301128684, "ssim": 0.5428494991723811, "lpips": 0.4767005443572998}, "wrist_right": {"psnr": 10.836901118728349, "ssim": 0.49874192774545967, "lpips": 0.48054447770118713}, "tactile_left": {"psnr": 32.26731729771403, "ssim": 0.9362176973975608, "lpips": 0.1609218716621399}, "tactile_right": {"psnr": 32.933382254410056, "ssim": 0.9610545619282805, "lpips": 0.19402967393398285}}, {"video": {"psnr": 21.452859160751654, "ssim": 0.7565189090118196, "lpips": 0.23185548186302185}, "wrist_left": {"psnr": 12.169614127111117, "ssim": 0.5249944608219564, "lpips": 0.46016156673431396}, "wrist_right": {"psnr": 11.58079848723796, "ssim": 0.48135997578470446, "lpips": 0.500647783279419}, "tactile_left": {"psnr": 32.45096883757154, "ssim": 0.9488365097029973, "lpips": 0.14636343717575073}, "tactile_right": {"psnr": 32.06907921675678, "ssim": 0.9578107214187019, "lpips": 0.20500534772872925}}, {"video": {"psnr": 19.904197324139062, "ssim": 0.7188432327746912, "lpips": 0.25748831033706665}, "wrist_left": {"psnr": 11.950322331508742, "ssim": 0.5967675873878067, "lpips": 0.45948904752731323}, "wrist_right": {"psnr": 9.39918556498931, "ssim": 0.41678005790816375, "lpips": 0.5757629871368408}, "tactile_left": {"psnr": 32.46271325467265, "ssim": 0.9508641198723493, "lpips": 0.140675351023674}, "tactile_right": {"psnr": 31.38047449789163, "ssim": 0.9530724404028857, "lpips": 0.21876400709152222}}, {"video": {"psnr": 19.119142033338694, "ssim": 0.6969272110921378, "lpips": 0.29048848152160645}, "wrist_left": {"psnr": 11.689421662098214, "ssim": 0.5613812183121647, "lpips": 0.47720256447792053}, "wrist_right": {"psnr": 7.348804370631457, "ssim": 0.34522546740185045, "lpips": 0.6572970151901245}, "tactile_left": {"psnr": 32.25255295323448, "ssim": 0.9494529271551598, "lpips": 0.1519092470407486}, "tactile_right": {"psnr": 30.93588642659801, "ssim": 0.9488991500824472, "lpips": 0.23362436890602112}}], "long_metrics": {"video": {"psnr": 22.488792308490975, "ssim": 0.7804082968727177, "lpips": 0.16573035915692647}, "wrist_left": {"psnr": 14.159407845253204, "ssim": 0.5832258448908985, "lpips": 0.3880647748708725}, "wrist_right": {"psnr": 17.51624176584878, "ssim": 0.6517397501561837, "lpips": 0.29063773304224017}, "tactile_left": {"psnr": 34.07893838795491, "ssim": 0.9511404584338927, "lpips": 0.1396837738653024}, "tactile_right": {"psnr": 37.72751691701593, "ssim": 0.9723082341920083, "lpips": 0.11907421291495363}}}, {"id": "pusht_04", "episode": "pushT_0911_episode_005_seg01.pt", "requested_episode": "pushT_0911_episode_005_seg01.pt", "category": "none", "t_start": 77, "start_seconds": 5.133333333333334, "short_contact": [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0], "future_transition_ticks": [], "long_contact_fraction": 0.0, "long_label": "none_throughout", "short_metrics": {"video": {"psnr": 26.156232482293778, "ssim": 0.8861678985726298, "lpips": 0.05919770896434784}, "wrist_left": {"psnr": 20.474373076592904, "ssim": 0.8051913987511046, "lpips": 0.10189403593540192}, "wrist_right": {"psnr": 21.42127266314236, "ssim": 0.8178046998249093, "lpips": 0.11588375270366669}, "tactile_left": {"psnr": 50.75053970027258, "ssim": 0.9947599062149799, "lpips": 0.0036378863733261824}, "tactile_right": {"psnr": 48.23253666752838, "ssim": 0.9915929228473492, "lpips": 0.009416121989488602}}, "media": {"short": {"video": "media/pusht_04_short.mp4", "poster": "media/pusht_04_short.jpg"}, "long": {"video": "media/pusht_04_long.mp4", "poster": "media/pusht_04_long.jpg"}}, "force": {"source": "recorded_normal_force", "units": "N", "fps": 15, "left": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "right": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]}, "long_curve": [{"video": {"psnr": 26.156232482293778, "ssim": 0.8861678985726298, "lpips": 0.05919770896434784}, "wrist_left": {"psnr": 20.474373076592904, "ssim": 0.8051913987511046, "lpips": 0.10189403593540192}, "wrist_right": {"psnr": 21.42127266314236, "ssim": 0.8178046998249093, "lpips": 0.11588375270366669}, "tactile_left": {"psnr": 50.75053970027258, "ssim": 0.9947599062149799, "lpips": 0.0036378863733261824}, "tactile_right": {"psnr": 48.23253666752838, "ssim": 0.9915929228473492, "lpips": 0.009416121989488602}}, {"video": {"psnr": 22.56040936525779, "ssim": 0.8019274194888644, "lpips": 0.13036444783210754}, "wrist_left": {"psnr": 16.733278123075877, "ssim": 0.6415725585170979, "lpips": 0.19144806265830994}, "wrist_right": {"psnr": 21.363247758286732, "ssim": 0.7545792884821649, "lpips": 0.1120348647236824}, "tactile_left": {"psnr": 47.596861641275964, "ssim": 0.9918219170706792, "lpips": 0.009993634186685085}, "tactile_right": {"psnr": 44.57709440766451, "ssim": 0.9848799306088489, "lpips": 0.02169882133603096}}, {"video": {"psnr": 22.58991271807135, "ssim": 0.7758117668574334, "lpips": 0.16033926606178284}, "wrist_left": {"psnr": 13.781649790198234, "ssim": 0.5749217585166051, "lpips": 0.3096073269844055}, "wrist_right": {"psnr": 17.09311504017094, "ssim": 0.7224515990797745, "lpips": 0.24028390645980835}, "tactile_left": {"psnr": 44.75982194866915, "ssim": 0.9882746204283908, "lpips": 0.01979789137840271}, "tactile_right": {"psnr": 43.406258002415655, "ssim": 0.9829688216155701, "lpips": 0.023195333778858185}}, {"video": {"psnr": 21.222770728808733, "ssim": 0.7177622576702022, "lpips": 0.2139444351196289}, "wrist_left": {"psnr": 10.247269415930012, "ssim": 0.4407209206520275, "lpips": 0.5319912433624268}, "wrist_right": {"psnr": 16.30753932601284, "ssim": 0.6902847975759916, "lpips": 0.33123284578323364}, "tactile_left": {"psnr": 42.15507244175246, "ssim": 0.9805499122915136, "lpips": 0.04400729015469551}, "tactile_right": {"psnr": 42.19295448268163, "ssim": 0.9816371064422591, "lpips": 0.03556882217526436}}, {"video": {"psnr": 19.409404682816888, "ssim": 0.6692046165334073, "lpips": 0.28672391176223755}, "wrist_left": {"psnr": 9.425624222967953, "ssim": 0.4356708442592735, "lpips": 0.5682950615882874}, "wrist_right": {"psnr": 17.27045765900768, "ssim": 0.6807610061236373, "lpips": 0.3136712312698364}, "tactile_left": {"psnr": 39.76091981229996, "ssim": 0.9732166588335169, "lpips": 0.06525621563196182}, "tactile_right": {"psnr": 41.22788642189523, "ssim": 0.98009942842889, "lpips": 0.05172983556985855}}, {"video": {"psnr": 20.299870234128328, "ssim": 0.6856148268698126, "lpips": 0.2691606283187866}, "wrist_left": {"psnr": 10.383455796778856, "ssim": 0.47221280059858906, "lpips": 0.5464715957641602}, "wrist_right": {"psnr": 13.767890937090957, "ssim": 0.625685937136164, "lpips": 0.4076000154018402}, "tactile_left": {"psnr": 38.876843562729675, "ssim": 0.9677765793189732, "lpips": 0.07474984973669052}, "tactile_right": {"psnr": 40.122964639179585, "ssim": 0.9785339250342152, "lpips": 0.06876450031995773}}, {"video": {"psnr": 20.261491678251673, "ssim": 0.6778096617604756, "lpips": 0.29008394479751587}, "wrist_left": {"psnr": 12.085824952355308, "ssim": 0.5255158923062092, "lpips": 0.45213639736175537}, "wrist_right": {"psnr": 14.864995857687957, "ssim": 0.6183657607892448, "lpips": 0.3891478180885315}, "tactile_left": {"psnr": 39.64321649419313, "ssim": 0.9733773221330831, "lpips": 0.07159548997879028}, "tactile_right": {"psnr": 39.20603193170188, "ssim": 0.9761631124518562, "lpips": 0.08689048886299133}}, {"video": {"psnr": 19.999978063563304, "ssim": 0.6806162651007974, "lpips": 0.29516515135765076}, "wrist_left": {"psnr": 14.705986826205548, "ssim": 0.6076497917713026, "lpips": 0.3333456218242645}, "wrist_right": {"psnr": 14.807575475964283, "ssim": 0.5866283408023625, "lpips": 0.39314502477645874}, "tactile_left": {"psnr": 38.357649029007, "ssim": 0.9673691547865543, "lpips": 0.09713675081729889}, "tactile_right": {"psnr": 38.644000145727674, "ssim": 0.9736654062722527, "lpips": 0.10853739082813263}}, {"video": {"psnr": 19.213516603864033, "ssim": 0.6675377079547286, "lpips": 0.3308238983154297}, "wrist_left": {"psnr": 13.216986479440324, "ssim": 0.5668107663249838, "lpips": 0.3666919767856598}, "wrist_right": {"psnr": 16.530386012001713, "ssim": 0.6195725768967284, "lpips": 0.3592548370361328}, "tactile_left": {"psnr": 37.61089987786484, "ssim": 0.9639093382940545, "lpips": 0.10567446053028107}, "tactile_right": {"psnr": 37.95549648080353, "ssim": 0.9717416367939611, "lpips": 0.12365470081567764}}, {"video": {"psnr": 19.16095299651295, "ssim": 0.6617433785797966, "lpips": 0.32201698422431946}, "wrist_left": {"psnr": 14.093031003477405, "ssim": 0.5717981229954061, "lpips": 0.29667121171951294}, "wrist_right": {"psnr": 17.538532025819915, "ssim": 0.6340373940420576, "lpips": 0.34676235914230347}, "tactile_left": {"psnr": 35.803640487188005, "ssim": 0.9625222453845629, "lpips": 0.11023805290460587}, "tactile_right": {"psnr": 36.660448884027, "ssim": 0.9697755568265125, "lpips": 0.14559116959571838}}, {"video": {"psnr": 20.236801030954666, "ssim": 0.6763604142317012, "lpips": 0.2951523959636688}, "wrist_left": {"psnr": 14.016729448592503, "ssim": 0.5457145632416276, "lpips": 0.3512815833091736}, "wrist_right": {"psnr": 17.56888285355641, "ssim": 0.6355982236608089, "lpips": 0.34777969121932983}, "tactile_left": {"psnr": 35.08681542655448, "ssim": 0.9576479376818509, "lpips": 0.1279352456331253}, "tactile_right": {"psnr": 36.11447760443816, "ssim": 0.9668131562989607, "lpips": 0.1590617299079895}}, {"video": {"psnr": 19.991132991154345, "ssim": 0.6638273995404167, "lpips": 0.300791472196579}, "wrist_left": {"psnr": 13.16360550490125, "ssim": 0.5439215248059105, "lpips": 0.3510296642780304}, "wrist_right": {"psnr": 15.893104160935632, "ssim": 0.6734520638780582, "lpips": 0.40073639154434204}, "tactile_left": {"psnr": 36.45461877521393, "ssim": 0.9618470100400331, "lpips": 0.1233358085155487}, "tactile_right": {"psnr": 35.62901519075097, "ssim": 0.9643383252419435, "lpips": 0.17734447121620178}}, {"video": {"psnr": 19.945873382513717, "ssim": 0.663999130789198, "lpips": 0.3051633834838867}, "wrist_left": {"psnr": 11.390303393958895, "ssim": 0.4785358075528403, "lpips": 0.45634639263153076}, "wrist_right": {"psnr": 10.88215169469889, "ssim": 0.5517090445094156, "lpips": 0.5684504508972168}, "tactile_left": {"psnr": 36.153451052338696, "ssim": 0.9617310799570423, "lpips": 0.1319979429244995}, "tactile_right": {"psnr": 35.16684554667266, "ssim": 0.9614387829682967, "lpips": 0.19681088626384735}}, {"video": {"psnr": 19.17863943622536, "ssim": 0.6484835056980949, "lpips": 0.3520476818084717}, "wrist_left": {"psnr": 11.230037431701295, "ssim": 0.4061021192766632, "lpips": 0.5216944217681885}, "wrist_right": {"psnr": 18.61800871286664, "ssim": 0.7389395851536421, "lpips": 0.3720094561576843}, "tactile_left": {"psnr": 35.959473106265634, "ssim": 0.9587437613306823, "lpips": 0.15410420298576355}, "tactile_right": {"psnr": 34.775689312153176, "ssim": 0.9587695163752256, "lpips": 0.21306777000427246}}, {"video": {"psnr": 19.55410250923469, "ssim": 0.6531278301418997, "lpips": 0.3354986310005188}, "wrist_left": {"psnr": 13.042917919452137, "ssim": 0.5322276027311983, "lpips": 0.36813825368881226}, "wrist_right": {"psnr": 11.087262132542762, "ssim": 0.5916394292202101, "lpips": 0.5225799679756165}, "tactile_left": {"psnr": 35.37750468065563, "ssim": 0.9577399264741326, "lpips": 0.15742743015289307}, "tactile_right": {"psnr": 34.28317917838391, "ssim": 0.9562531279171177, "lpips": 0.2309853583574295}}], "long_metrics": {"video": {"psnr": 20.652072593576772, "ssim": 0.7019996053192973, "lpips": 0.26309826274712883}, "wrist_left": {"psnr": 13.199404892375235, "ssim": 0.5432377648200559, "lpips": 0.38313618997732796}, "wrist_right": {"psnr": 16.33429482065238, "ssim": 0.6627673164783446, "lpips": 0.3480381742119789}, "tactile_left": {"psnr": 39.623155202418744, "ssim": 0.9707524913493367, "lpips": 0.0864592101269712}, "tactile_right": {"psnr": 39.2129919264016, "ssim": 0.9732447170748839, "lpips": 0.11015449340144794}}}, {"id": "pusht_05", "episode": "pushT_0911_episode_005_seg01.pt", "requested_episode": "pushT_0911_episode_005_seg01.pt", "category": "onset", "t_start": 525, "start_seconds": 35.0, "short_contact": [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 1], "future_transition_ticks": [11], "long_contact_fraction": null, "long_label": "short_only", "short_metrics": {"video": {"psnr": 32.56942763930012, "ssim": 0.9523368101611486, "lpips": 0.018440721556544304}, "wrist_left": {"psnr": 23.78219931502505, "ssim": 0.8641051255032095, "lpips": 0.05733531713485718}, "wrist_right": {"psnr": 25.46970879447013, "ssim": 0.8827415665321513, "lpips": 0.05630668252706528}, "tactile_left": {"psnr": 43.24909661503895, "ssim": 0.9767269971447583, "lpips": 0.025869715958833694}, "tactile_right": {"psnr": 44.07120435243202, "ssim": 0.9825172837990925, "lpips": 0.020347341895103455}}, "media": {"short": {"video": "media/pusht_05_short.mp4", "poster": "media/pusht_05_short.jpg"}}, "force": {"source": "recorded_normal_force", "units": "N", "fps": 15, "left": [0.457497775554657, 0.1599999964237213, 0.0, 0.0, 0.0, 0.0, 0.0, 0.16127851605415344, 0.16127851605415344, 0.17897555232048035, 0.19357609748840332, 0.5217283964157104, 1.1662499904632568, 1.3397656679153442, 1.5254545211791992, 1.8632125854492188], "right": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]}}, {"id": "pusht_06", "episode": "pushT_0911_episode_005_seg01.pt", "requested_episode": "pushT_0911_episode_005_seg01.pt", "category": "release", "t_start": 0, "start_seconds": 0.0, "short_contact": [0, 0, 0, 0, 0, 1, 1, 1, 1, 1, 0, 0, 0, 0, 0, 0], "future_transition_ticks": [10], "long_contact_fraction": 0.0390625, "long_label": "release", "short_metrics": {"video": {"psnr": 23.782746444971657, "ssim": 0.8290043919703409, "lpips": 0.11829373240470886}, "wrist_left": {"psnr": 14.491335938791872, "ssim": 0.7008281904521398, "lpips": 0.2845088243484497}, "wrist_right": {"psnr": 20.31422616184166, "ssim": 0.8089249359417929, "lpips": 0.14356131851673126}, "tactile_left": {"psnr": 43.74320158618666, "ssim": 0.9833495494291202, "lpips": 0.01769028976559639}, "tactile_right": {"psnr": 50.055860589547585, "ssim": 0.993644419993156, "lpips": 0.005072527099400759}}, "media": {"short": {"video": "media/pusht_06_short.mp4", "poster": "media/pusht_06_short.jpg"}, "long": {"video": "media/pusht_06_long.mp4", "poster": "media/pusht_06_long.jpg"}}, "force": {"source": "recorded_normal_force", "units": "N", "fps": 15, "left": [0.0, 0.0, 0.0, 0.0, 0.0, 2.9424359798431396, 2.636666774749756, 1.5254545211791992, 1.1662499904632568, 1.1662499904632568, 0.0, 0.0, 0.1599999964237213, 0.1599999964237213, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "right": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]}, "long_curve": [{"video": {"psnr": 23.782746444971657, "ssim": 0.8290043919703409, "lpips": 0.11829373240470886}, "wrist_left": {"psnr": 14.491335938791872, "ssim": 0.7008281904521398, "lpips": 0.2845088243484497}, "wrist_right": {"psnr": 20.31422616184166, "ssim": 0.8089249359417929, "lpips": 0.14356131851673126}, "tactile_left": {"psnr": 43.74320158618666, "ssim": 0.9833495494291202, "lpips": 0.01769028976559639}, "tactile_right": {"psnr": 50.055860589547585, "ssim": 0.993644419993156, "lpips": 0.005072527099400759}}, {"video": {"psnr": 20.319780253861275, "ssim": 0.6981374056631537, "lpips": 0.25734013319015503}, "wrist_left": {"psnr": 13.433300021317594, "ssim": 0.6105697890117955, "lpips": 0.3993842601776123}, "wrist_right": {"psnr": 10.731679894686659, "ssim": 0.5798206760267017, "lpips": 0.5182116031646729}, "tactile_left": {"psnr": 44.12315165223224, "ssim": 0.9838706295751896, "lpips": 0.02488100528717041}, "tactile_right": {"psnr": 47.07053678958719, "ssim": 0.9883549914640875, "lpips": 0.017154071480035782}}, {"video": {"psnr": 19.952516551278254, "ssim": 0.7076629466286348, "lpips": 0.27328044176101685}, "wrist_left": {"psnr": 9.56605468924758, "ssim": 0.43877949112820014, "lpips": 0.5671690702438354}, "wrist_right": {"psnr": 9.584359182591765, "ssim": 0.516679152037528, "lpips": 0.5616825222969055}, "tactile_left": {"psnr": 42.985889566179424, "ssim": 0.9816214017096002, "lpips": 0.03151977062225342}, "tactile_right": {"psnr": 44.8141142044129, "ssim": 0.98590929597133, "lpips": 0.027218293398618698}}, {"video": {"psnr": 20.137268718004716, "ssim": 0.7095304818928767, "lpips": 0.27462419867515564}, "wrist_left": {"psnr": 11.00090235720273, "ssim": 0.47366390937722125, "lpips": 0.5322023630142212}, "wrist_right": {"psnr": 8.278781743341995, "ssim": 0.39469408862075284, "lpips": 0.6444045305252075}, "tactile_left": {"psnr": 42.11752904109908, "ssim": 0.9796155436990065, "lpips": 0.04416591674089432}, "tactile_right": {"psnr": 42.35374215661562, "ssim": 0.9825521300765228, "lpips": 0.04924052581191063}}, {"video": {"psnr": 20.954386262950845, "ssim": 0.7074598327548712, "lpips": 0.25089767575263977}, "wrist_left": {"psnr": 11.99385304653706, "ssim": 0.4507350645797637, "lpips": 0.5108612179756165}, "wrist_right": {"psnr": 9.417578056299211, "ssim": 0.47484910802552716, "lpips": 0.5821610689163208}, "tactile_left": {"psnr": 40.983826110272226, "ssim": 0.977474112712253, "lpips": 0.05122245103120804}, "tactile_right": {"psnr": 42.28227183610044, "ssim": 0.980064931314117, "lpips": 0.057965513318777084}}, {"video": {"psnr": 20.140772000588512, "ssim": 0.684024682837615, "lpips": 0.2907611131668091}, "wrist_left": {"psnr": 12.337950799285075, "ssim": 0.478793833360503, "lpips": 0.4287501573562622}, "wrist_right": {"psnr": 14.532030921000207, "ssim": 0.6905851215838952, "lpips": 0.36133354902267456}, "tactile_left": {"psnr": 40.44275336409547, "ssim": 0.9749867961712115, "lpips": 0.06304371356964111}, "tactile_right": {"psnr": 41.36276609062196, "ssim": 0.9783943734794579, "lpips": 0.07235318422317505}}, {"video": {"psnr": 18.94989853087634, "ssim": 0.6723791051162753, "lpips": 0.33787673711776733}, "wrist_left": {"psnr": 12.966192500488884, "ssim": 0.42219309852061926, "lpips": 0.3936536908149719}, "wrist_right": {"psnr": 19.302343973133574, "ssim": 0.7490996898767014, "lpips": 0.2518443465232849}, "tactile_left": {"psnr": 39.61334080388555, "ssim": 0.9728006218690104, "lpips": 0.07699158787727356}, "tactile_right": {"psnr": 40.39645812872933, "ssim": 0.9760095924273774, "lpips": 0.0940978080034256}}, {"video": {"psnr": 19.245690989329304, "ssim": 0.6799141258692045, "lpips": 0.3101074993610382}, "wrist_left": {"psnr": 12.450086593081211, "ssim": 0.48024955516857615, "lpips": 0.44050246477127075}, "wrist_right": {"psnr": 11.983349143271782, "ssim": 0.6256456033634641, "lpips": 0.444467157125473}, "tactile_left": {"psnr": 38.5712045977528, "ssim": 0.9715313453952267, "lpips": 0.0886007696390152}, "tactile_right": {"psnr": 39.92655435284056, "ssim": 0.9737616056760566, "lpips": 0.11431621760129929}}, {"video": {"psnr": 19.23976041710193, "ssim": 0.6797865005654878, "lpips": 0.3069413900375366}, "wrist_left": {"psnr": 12.916105548354277, "ssim": 0.503865999836923, "lpips": 0.3885396718978882}, "wrist_right": {"psnr": 8.677839077754196, "ssim": 0.4334359091137776, "lpips": 0.6067113876342773}, "tactile_left": {"psnr": 38.14016162447381, "ssim": 0.9685822646835884, "lpips": 0.10256414115428925}, "tactile_right": {"psnr": 38.93294827791244, "ssim": 0.9719752061545457, "lpips": 0.1262703388929367}}, {"video": {"psnr": 18.9933618546252, "ssim": 0.6790339872425452, "lpips": 0.3177277445793152}, "wrist_left": {"psnr": 11.44637219323495, "ssim": 0.4692252345669721, "lpips": 0.4429706037044525}, "wrist_right": {"psnr": 7.726043643652265, "ssim": 0.34678865655564334, "lpips": 0.638407826423645}, "tactile_left": {"psnr": 37.68296926321771, "ssim": 0.9682932222882938, "lpips": 0.10614632815122604}, "tactile_right": {"psnr": 37.95319282794194, "ssim": 0.9670509193493997, "lpips": 0.14836345613002777}}, {"video": {"psnr": 18.647338100360507, "ssim": 0.6694741773481797, "lpips": 0.33369022607803345}, "wrist_left": {"psnr": 9.331023299974422, "ssim": 0.3738091610294806, "lpips": 0.5732415914535522}, "wrist_right": {"psnr": 7.9442593391967, "ssim": 0.3920151206682271, "lpips": 0.6285691261291504}, "tactile_left": {"psnr": 37.17278570079171, "ssim": 0.9661052030816132, "lpips": 0.12040504068136215}, "tactile_right": {"psnr": 37.20409395996616, "ssim": 0.967808421384974, "lpips": 0.1478634923696518}}, {"video": {"psnr": 18.467401408961813, "ssim": 0.6647748759065977, "lpips": 0.3562049865722656}, "wrist_left": {"psnr": 10.099809004862072, "ssim": 0.39906597777529884, "lpips": 0.5229299664497375}, "wrist_right": {"psnr": 7.186796866042466, "ssim": 0.33578849865094773, "lpips": 0.6198886632919312}, "tactile_left": {"psnr": 36.77487790477829, "ssim": 0.9636590102473953, "lpips": 0.13542014360427856}, "tactile_right": {"psnr": 36.63389665436708, "ssim": 0.9656952312558305, "lpips": 0.1619504988193512}}, {"video": {"psnr": 18.37744496518795, "ssim": 0.659860298451829, "lpips": 0.37109696865081787}, "wrist_left": {"psnr": 12.71972510374778, "ssim": 0.5539956541516231, "lpips": 0.3822709321975708}, "wrist_right": {"psnr": 8.829545306609946, "ssim": 0.46579221072692345, "lpips": 0.5846415758132935}, "tactile_left": {"psnr": 36.24316216574138, "ssim": 0.960232440424363, "lpips": 0.14684168994426727}, "tactile_right": {"psnr": 36.32707344879468, "ssim": 0.963381444566578, "lpips": 0.17700685560703278}}, {"video": {"psnr": 18.090872666065273, "ssim": 0.6411230723526438, "lpips": 0.40740343928337097}, "wrist_left": {"psnr": 13.786829047106291, "ssim": 0.5926898455065923, "lpips": 0.3000742495059967}, "wrist_right": {"psnr": 14.575733055571412, "ssim": 0.67600756587053, "lpips": 0.37119507789611816}, "tactile_left": {"psnr": 36.38483585605907, "ssim": 0.9594109006720557, "lpips": 0.15569622814655304}, "tactile_right": {"psnr": 35.848773413981206, "ssim": 0.9610721967730089, "lpips": 0.19294396042823792}}, {"video": {"psnr": 18.544536806058606, "ssim": 0.6490199050528795, "lpips": 0.3964279890060425}, "wrist_left": {"psnr": 13.19535362553981, "ssim": 0.5716056382889422, "lpips": 0.312166690826416}, "wrist_right": {"psnr": 15.587874148825671, "ssim": 0.6567999422644792, "lpips": 0.36289483308792114}, "tactile_left": {"psnr": 35.53232484894427, "ssim": 0.956130874001122, "lpips": 0.16386255621910095}, "tactile_right": {"psnr": 35.32605056306031, "ssim": 0.9586717644330487, "lpips": 0.21182465553283691}}], "long_metrics": {"video": {"psnr": 19.58958506468148, "ssim": 0.688745719310209, "lpips": 0.3068449517091115}, "wrist_left": {"psnr": 12.115659584584773, "ssim": 0.5013380295169767, "lpips": 0.43194838364919025}, "wrist_right": {"psnr": 11.644829367587967, "ssim": 0.5431284186217927, "lpips": 0.4879983057578405}, "tactile_left": {"psnr": 39.367467605713976, "ssim": 0.9711775943972699, "lpips": 0.08860344216227531}, "tactile_right": {"psnr": 40.43255555296529, "ssim": 0.974289768287966, "lpips": 0.10690942658111453}}}, {"id": "pusht_07", "episode": "pushT_0911_episode_007_seg00.pt", "requested_episode": "pushT_0911_episode_006_seg00.pt", "category": "none", "t_start": 169, "start_seconds": 11.266666666666667, "short_contact": [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0], "future_transition_ticks": [], "long_contact_fraction": 0.0, "long_label": "none_throughout", "short_metrics": {"video": {"psnr": 26.865278549187693, "ssim": 0.9085575031825903, "lpips": 0.06740240007638931}, "wrist_left": {"psnr": 21.76480024845102, "ssim": 0.7731229287618739, "lpips": 0.15889227390289307}, "wrist_right": {"psnr": 20.17637893866842, "ssim": 0.8021247878525474, "lpips": 0.13026133179664612}, "tactile_left": {"psnr": 47.48075537859833, "ssim": 0.9911703569220128, "lpips": 0.022790398448705673}, "tactile_right": {"psnr": 47.28769318038191, "ssim": 0.9896177656607451, "lpips": 0.011515459045767784}}, "media": {"short": {"video": "media/pusht_07_short.mp4", "poster": "media/pusht_07_short.jpg"}, "long": {"video": "media/pusht_07_long.mp4", "poster": "media/pusht_07_long.jpg"}}, "force": {"source": "recorded_normal_force", "units": "N", "fps": 15, "left": [0.0, 0.1599999964237213, 0.1599999964237213, 0.16282100975513458, 0.41999998688697815, 0.41999998688697815, 0.175530806183815, 0.1599999964237213, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.1599999964237213, 0.1599999964237213, 0.0, 0.0, 0.0, 0.0, 0.0, 0.1599999964237213, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.1599999964237213, 0.1599999964237213, 0.1599999964237213, 0.1599999964237213, 0.1599999964237213, 0.1599999964237213, 0.1599999964237213, 0.1599999964237213, 0.0, 0.0, 0.0, 0.0, 0.1599999964237213, 0.0, 0.1599999964237213, 0.1599999964237213, 0.1599999964237213, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "right": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.1599999964237213, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]}, "long_curve": [{"video": {"psnr": 26.865278549187693, "ssim": 0.9085575031825903, "lpips": 0.06740240007638931}, "wrist_left": {"psnr": 21.76480024845102, "ssim": 0.7731229287618739, "lpips": 0.15889227390289307}, "wrist_right": {"psnr": 20.17637893866842, "ssim": 0.8021247878525474, "lpips": 0.13026133179664612}, "tactile_left": {"psnr": 47.48075537859833, "ssim": 0.9911703569220128, "lpips": 0.022790398448705673}, "tactile_right": {"psnr": 47.28769318038191, "ssim": 0.9896177656607451, "lpips": 0.011515459045767784}}, {"video": {"psnr": 23.613806269286385, "ssim": 0.8292929725647409, "lpips": 0.12963086366653442}, "wrist_left": {"psnr": 16.430252797617513, "ssim": 0.474373415520829, "lpips": 0.3072523772716522}, "wrist_right": {"psnr": 17.607891619507786, "ssim": 0.7424038735043199, "lpips": 0.19682243466377258}, "tactile_left": {"psnr": 42.968244921651014, "ssim": 0.9851253758280017, "lpips": 0.04232490807771683}, "tactile_right": {"psnr": 44.32380850730393, "ssim": 0.9842079006388653, "lpips": 0.030803978443145752}}, {"video": {"psnr": 25.21573444787205, "ssim": 0.8410074346160605, "lpips": 0.08499294519424438}, "wrist_left": {"psnr": 18.753073326314983, "ssim": 0.6582147742081961, "lpips": 0.1595844328403473}, "wrist_right": {"psnr": 17.598597838872486, "ssim": 0.7167567324405086, "lpips": 0.277435302734375}, "tactile_left": {"psnr": 41.35505466745834, "ssim": 0.9822906380923623, "lpips": 0.04022905230522156}, "tactile_right": {"psnr": 41.456783352509746, "ssim": 0.979739685449188, "lpips": 0.04595479369163513}}, {"video": {"psnr": 23.409043020019176, "ssim": 0.815642240012966, "lpips": 0.1160234734416008}, "wrist_left": {"psnr": 14.275790819145122, "ssim": 0.4772425082194503, "lpips": 0.33966273069381714}, "wrist_right": {"psnr": 13.761696648749268, "ssim": 0.6213455230739986, "lpips": 0.46330755949020386}, "tactile_left": {"psnr": 39.790567971189304, "ssim": 0.9785609824275572, "lpips": 0.05375678092241287}, "tactile_right": {"psnr": 39.79802177630981, "ssim": 0.9803255956619968, "lpips": 0.051521655172109604}}, {"video": {"psnr": 23.13678580700469, "ssim": 0.8005659362368373, "lpips": 0.1392027735710144}, "wrist_left": {"psnr": 12.648486894862309, "ssim": 0.5138952789313995, "lpips": 0.3716951906681061}, "wrist_right": {"psnr": 13.171015150119628, "ssim": 0.5885289200682082, "lpips": 0.4832708537578583}, "tactile_left": {"psnr": 39.41630847856609, "ssim": 0.9791427709047424, "lpips": 0.047016169875860214}, "tactile_right": {"psnr": 39.102977663373736, "ssim": 0.9794325626382392, "lpips": 0.0638151541352272}}, {"video": {"psnr": 22.99568328492861, "ssim": 0.7931098383386721, "lpips": 0.14832556247711182}, "wrist_left": {"psnr": 9.337864689984684, "ssim": 0.3489817805954026, "lpips": 0.5693179965019226}, "wrist_right": {"psnr": 13.933811194370193, "ssim": 0.6036173232656215, "lpips": 0.44765812158584595}, "tactile_left": {"psnr": 38.30206012574997, "ssim": 0.9769332780643885, "lpips": 0.060425516217947006}, "tactile_right": {"psnr": 38.122095882821576, "ssim": 0.9773040430510854, "lpips": 0.07982927560806274}}, {"video": {"psnr": 22.999088197265003, "ssim": 0.7910188338143098, "lpips": 0.14982865750789642}, "wrist_left": {"psnr": 9.077918035821451, "ssim": 0.3293379182761441, "lpips": 0.5946233868598938}, "wrist_right": {"psnr": 13.860791201493377, "ssim": 0.5976455875263832, "lpips": 0.4478469491004944}, "tactile_left": {"psnr": 37.41400532295498, "ssim": 0.9739185434828047, "lpips": 0.08660990744829178}, "tactile_right": {"psnr": 36.732790583873765, "ssim": 0.9747188041078012, "lpips": 0.10433483123779297}}, {"video": {"psnr": 22.55364132107156, "ssim": 0.7787950007000094, "lpips": 0.16555529832839966}, "wrist_left": {"psnr": 9.73288283355539, "ssim": 0.399458883192335, "lpips": 0.5186749696731567}, "wrist_right": {"psnr": 13.599158697351385, "ssim": 0.5920650785618202, "lpips": 0.45161640644073486}, "tactile_left": {"psnr": 36.46998382022326, "ssim": 0.9697868635594005, "lpips": 0.11691122502088547}, "tactile_right": {"psnr": 36.63706305680997, "ssim": 0.9713800168914563, "lpips": 0.12108595669269562}}, {"video": {"psnr": 22.116497156010713, "ssim": 0.7632346380019772, "lpips": 0.1822243630886078}, "wrist_left": {"psnr": 12.167268422313011, "ssim": 0.49421465768890926, "lpips": 0.3936782479286194}, "wrist_right": {"psnr": 13.449952452129029, "ssim": 0.6106272312994678, "lpips": 0.4372140169143677}, "tactile_left": {"psnr": 35.795874337380276, "ssim": 0.9650818551705564, "lpips": 0.1524883210659027}, "tactile_right": {"psnr": 36.20420709129122, "ssim": 0.9689948252054368, "lpips": 0.1370093822479248}}, {"video": {"psnr": 22.42171110365448, "ssim": 0.7563688181219601, "lpips": 0.17309001088142395}, "wrist_left": {"psnr": 12.40363584832394, "ssim": 0.5104673142401766, "lpips": 0.36823463439941406}, "wrist_right": {"psnr": 12.18343426061182, "ssim": 0.581408301903083, "lpips": 0.47849977016448975}, "tactile_left": {"psnr": 35.27323838371379, "ssim": 0.9640321771987495, "lpips": 0.15558147430419922}, "tactile_right": {"psnr": 35.30534764920263, "ssim": 0.9663549562795598, "lpips": 0.1560731828212738}}, {"video": {"psnr": 23.624012654098085, "ssim": 0.7757417292645934, "lpips": 0.14661841094493866}, "wrist_left": {"psnr": 12.319784181557619, "ssim": 0.4940823199971442, "lpips": 0.4299001693725586}, "wrist_right": {"psnr": 14.163178265270272, "ssim": 0.6432249533586172, "lpips": 0.4076730012893677}, "tactile_left": {"psnr": 34.86707483605186, "ssim": 0.9625668242563903, "lpips": 0.15110573172569275}, "tactile_right": {"psnr": 34.608391135747745, "ssim": 0.9636605634412232, "lpips": 0.1702735722064972}}, {"video": {"psnr": 22.529754872487313, "ssim": 0.7758922347742083, "lpips": 0.1690986156463623}, "wrist_left": {"psnr": 15.026757108647427, "ssim": 0.5883839017835578, "lpips": 0.34066256880760193}, "wrist_right": {"psnr": 14.04800533857119, "ssim": 0.5863171824982822, "lpips": 0.3717343509197235}, "tactile_left": {"psnr": 34.5004640461011, "ssim": 0.9598129469700138, "lpips": 0.16355383396148682}, "tactile_right": {"psnr": 33.99090283925028, "ssim": 0.9610151165681788, "lpips": 0.19343677163124084}}, {"video": {"psnr": 21.656314404903327, "ssim": 0.750443523846225, "lpips": 0.19559969007968903}, "wrist_left": {"psnr": 14.76936228745435, "ssim": 0.6102952914374885, "lpips": 0.32395827770233154}, "wrist_right": {"psnr": 14.948442107884985, "ssim": 0.5527960073809942, "lpips": 0.38570189476013184}, "tactile_left": {"psnr": 34.02767724272692, "ssim": 0.9575975149617915, "lpips": 0.1745048463344574}, "tactile_right": {"psnr": 33.45452710215751, "ssim": 0.9579560904222968, "lpips": 0.20770838856697083}}, {"video": {"psnr": 21.361804431994695, "ssim": 0.7384066655922029, "lpips": 0.21236789226531982}, "wrist_left": {"psnr": 14.078042072939649, "ssim": 0.5999811054836842, "lpips": 0.34300392866134644}, "wrist_right": {"psnr": 13.188700480672464, "ssim": 0.5041751688200764, "lpips": 0.4428515136241913}, "tactile_left": {"psnr": 33.65043175940775, "ssim": 0.9544754696628273, "lpips": 0.18851953744888306}, "tactile_right": {"psnr": 32.97649601092891, "ssim": 0.9546818845370797, "lpips": 0.22616702318191528}}, {"video": {"psnr": 20.62890344554056, "ssim": 0.7272249567817333, "lpips": 0.23823696374893188}, "wrist_left": {"psnr": 14.213192225192135, "ssim": 0.6074678991126883, "lpips": 0.3822999596595764}, "wrist_right": {"psnr": 10.596867079589991, "ssim": 0.4655948747765008, "lpips": 0.5199956893920898}, "tactile_left": {"psnr": 33.289073184686664, "ssim": 0.9521321234438593, "lpips": 0.2025138884782791}, "tactile_right": {"psnr": 32.46991743404542, "ssim": 0.9521168802821613, "lpips": 0.24275632202625275}}], "long_metrics": {"video": {"psnr": 23.008537264354956, "ssim": 0.7896868217232724, "lpips": 0.15454652806123098}, "wrist_left": {"psnr": 13.799940786145374, "ssim": 0.525301331829952, "lpips": 0.37342940966288246}, "wrist_right": {"psnr": 14.41919475159082, "ssim": 0.6139087697553619, "lpips": 0.39612594644228616}, "tactile_left": {"psnr": 37.64005429843064, "ssim": 0.9701751813963639, "lpips": 0.11055543944239617}, "tactile_right": {"psnr": 37.49806821773388, "ssim": 0.9707671127223543, "lpips": 0.12281904978056749}}}, {"id": "pusht_08", "episode": "pushT_0911_episode_007_seg00.pt", "requested_episode": "pushT_0911_episode_006_seg00.pt", "category": "onset", "t_start": 79, "start_seconds": 5.266666666666667, "short_contact": [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1], "future_transition_ticks": [12], "long_contact_fraction": 0.0390625, "long_label": "onset", "short_metrics": {"video": {"psnr": 31.17533136032423, "ssim": 0.9380291225782715, "lpips": 0.027852429077029228}, "wrist_left": {"psnr": 24.01792097125979, "ssim": 0.8459450511911591, "lpips": 0.08370047807693481}, "wrist_right": {"psnr": 22.495176732165902, "ssim": 0.8415699090151447, "lpips": 0.07066787779331207}, "tactile_left": {"psnr": 44.78107569499933, "ssim": 0.9852309195039959, "lpips": 0.01935749128460884}, "tactile_right": {"psnr": 46.1197868843262, "ssim": 0.9901582792554137, "lpips": 0.013301710598170757}}, "media": {"short": {"video": "media/pusht_08_short.mp4", "poster": "media/pusht_08_short.jpg"}, "long": {"video": "media/pusht_08_long.mp4", "poster": "media/pusht_08_long.jpg"}}, "force": {"source": "recorded_normal_force", "units": "N", "fps": 15, "left": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 2.636666774749756, 1.1733332872390747, 2.9424359798431396, 2.9424359798431396, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 2.9424359798431396, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.1599999964237213, 0.1599999964237213, 0.16282100975513458, 0.41999998688697815, 0.41999998688697815, 0.175530806183815, 0.1599999964237213, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.1599999964237213, 0.1599999964237213, 0.0, 0.0, 0.0, 0.0, 0.0, 0.1599999964237213, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "right": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.1599999964237213, 0.0]}, "long_curve": [{"video": {"psnr": 31.17533136032423, "ssim": 0.9380291225782715, "lpips": 0.027852429077029228}, "wrist_left": {"psnr": 24.01792097125979, "ssim": 0.8459450511911591, "lpips": 0.08370047807693481}, "wrist_right": {"psnr": 22.495176732165902, "ssim": 0.8415699090151447, "lpips": 0.07066787779331207}, "tactile_left": {"psnr": 44.78107569499933, "ssim": 0.9852309195039959, "lpips": 0.01935749128460884}, "tactile_right": {"psnr": 46.1197868843262, "ssim": 0.9901582792554137, "lpips": 0.013301710598170757}}, {"video": {"psnr": 25.678221748947312, "ssim": 0.8512428568315837, "lpips": 0.07609392702579498}, "wrist_left": {"psnr": 20.234078920792165, "ssim": 0.7265863562804128, "lpips": 0.15081658959388733}, "wrist_right": {"psnr": 17.076868517412912, "ssim": 0.6923306970717605, "lpips": 0.2025338113307953}, "tactile_left": {"psnr": 40.700012610454415, "ssim": 0.976313743945947, "lpips": 0.036815039813518524}, "tactile_right": {"psnr": 43.61507760830496, "ssim": 0.9812335474740828, "lpips": 0.023918749764561653}}, {"video": {"psnr": 24.352911419704675, "ssim": 0.8311104766770547, "lpips": 0.10093554854393005}, "wrist_left": {"psnr": 18.213680866183307, "ssim": 0.6333897646943358, "lpips": 0.23308204114437103}, "wrist_right": {"psnr": 17.113574515445038, "ssim": 0.6940372232893424, "lpips": 0.21870774030685425}, "tactile_left": {"psnr": 39.34836262742249, "ssim": 0.9748413995951759, "lpips": 0.04038354009389877}, "tactile_right": {"psnr": 42.84790057901787, "ssim": 0.9809551353681032, "lpips": 0.03157097101211548}}, {"video": {"psnr": 24.001678609062726, "ssim": 0.8308021536713213, "lpips": 0.10214963555335999}, "wrist_left": {"psnr": 15.362622650616355, "ssim": 0.5693602406227622, "lpips": 0.3576611876487732}, "wrist_right": {"psnr": 16.901725420587674, "ssim": 0.6880028743008457, "lpips": 0.24425524473190308}, "tactile_left": {"psnr": 39.293829995065394, "ssim": 0.9740546657271024, "lpips": 0.06096400320529938}, "tactile_right": {"psnr": 41.65288082289326, "ssim": 0.9799072352853393, "lpips": 0.04076717793941498}}, {"video": {"psnr": 23.936267047224426, "ssim": 0.8363841458280447, "lpips": 0.12336888164281845}, "wrist_left": {"psnr": 14.81050963734373, "ssim": 0.5180313608959601, "lpips": 0.4144657850265503}, "wrist_right": {"psnr": 16.951200151967672, "ssim": 0.6766508751366882, "lpips": 0.22614911198616028}, "tactile_left": {"psnr": 36.525068927811134, "ssim": 0.9655801350316654, "lpips": 0.1046687662601471}, "tactile_right": {"psnr": 40.79987289600358, "ssim": 0.9787604090734171, "lpips": 0.054661720991134644}}, {"video": {"psnr": 23.103587525695396, "ssim": 0.8112058472779485, "lpips": 0.14654964208602905}, "wrist_left": {"psnr": 14.123804668906814, "ssim": 0.5388411617071196, "lpips": 0.38293999433517456}, "wrist_right": {"psnr": 15.234792508430521, "ssim": 0.6315695664867074, "lpips": 0.3115779161453247}, "tactile_left": {"psnr": 36.26914789928125, "ssim": 0.9654087676886499, "lpips": 0.10928409546613693}, "tactile_right": {"psnr": 39.85582543150719, "ssim": 0.9785207335043313, "lpips": 0.0587928369641304}}, {"video": {"psnr": 22.042057260305366, "ssim": 0.777270128934584, "lpips": 0.18028505146503448}, "wrist_left": {"psnr": 11.319847767920443, "ssim": 0.4574202302495288, "lpips": 0.4741871953010559}, "wrist_right": {"psnr": 15.124656915546364, "ssim": 0.5893975132616498, "lpips": 0.3495839238166809}, "tactile_left": {"psnr": 38.24769621876825, "ssim": 0.9708828792908772, "lpips": 0.0721568912267685}, "tactile_right": {"psnr": 38.96078206030792, "ssim": 0.9772948963037915, "lpips": 0.07021613419055939}}, {"video": {"psnr": 22.250575370228663, "ssim": 0.779725474137421, "lpips": 0.1872648298740387}, "wrist_left": {"psnr": 11.282708995678227, "ssim": 0.43937437584501454, "lpips": 0.5042842626571655}, "wrist_right": {"psnr": 15.063061867928072, "ssim": 0.588109161326938, "lpips": 0.3573330044746399}, "tactile_left": {"psnr": 37.333529768030814, "ssim": 0.9690131002569269, "lpips": 0.08570145070552826}, "tactile_right": {"psnr": 38.368221510394875, "ssim": 0.9748682001260349, "lpips": 0.08794624358415604}}, {"video": {"psnr": 22.122695297268123, "ssim": 0.7657129373831442, "lpips": 0.19405288994312286}, "wrist_left": {"psnr": 12.392860645419741, "ssim": 0.5295152122718177, "lpips": 0.40460139513015747}, "wrist_right": {"psnr": 14.606359100490462, "ssim": 0.5988510755201665, "lpips": 0.3929136097431183}, "tactile_left": {"psnr": 36.94430363218092, "ssim": 0.9663373503042973, "lpips": 0.10576210916042328}, "tactile_right": {"psnr": 37.22508326380941, "ssim": 0.9740479057622182, "lpips": 0.09972210973501205}}, {"video": {"psnr": 21.695073353847526, "ssim": 0.7512686422534207, "lpips": 0.20648661255836487}, "wrist_left": {"psnr": 12.786431281552012, "ssim": 0.51727477226933, "lpips": 0.43532830476760864}, "wrist_right": {"psnr": 13.529935112304859, "ssim": 0.5234052530069488, "lpips": 0.399604469537735}, "tactile_left": {"psnr": 36.16509538461561, "ssim": 0.9645024480493904, "lpips": 0.10987342149019241}, "tactile_right": {"psnr": 35.748557472864405, "ssim": 0.9710041378144688, "lpips": 0.10380732268095016}}, {"video": {"psnr": 21.44589089290372, "ssim": 0.7378932064474525, "lpips": 0.22258615493774414}, "wrist_left": {"psnr": 12.162005705446607, "ssim": 0.5147661122092773, "lpips": 0.4586339294910431}, "wrist_right": {"psnr": 14.038132065028035, "ssim": 0.566092323071232, "lpips": 0.3385794460773468}, "tactile_left": {"psnr": 35.544248882902465, "ssim": 0.9633213476254793, "lpips": 0.12512391805648804}, "tactile_right": {"psnr": 34.78340148461037, "ssim": 0.9665278466946299, "lpips": 0.11938712745904922}}, {"video": {"psnr": 21.035714874379792, "ssim": 0.739536959343819, "lpips": 0.2418442666530609}, "wrist_left": {"psnr": 10.886968794054855, "ssim": 0.4377924613725638, "lpips": 0.5151726007461548}, "wrist_right": {"psnr": 15.395242024950434, "ssim": 0.5976747562673751, "lpips": 0.2913018465042114}, "tactile_left": {"psnr": 35.364896861564375, "ssim": 0.962343326409286, "lpips": 0.12959814071655273}, "tactile_right": {"psnr": 34.109196606991276, "ssim": 0.9639255025485842, "lpips": 0.13253706693649292}}, {"video": {"psnr": 20.697456801323135, "ssim": 0.7436209059555111, "lpips": 0.24850347638130188}, "wrist_left": {"psnr": 10.682256195520893, "ssim": 0.3998989965545367, "lpips": 0.5400063991546631}, "wrist_right": {"psnr": 15.701786235002015, "ssim": 0.6651316165881023, "lpips": 0.28728610277175903}, "tactile_left": {"psnr": 34.81497061165557, "ssim": 0.9583105730859164, "lpips": 0.15262675285339355}, "tactile_right": {"psnr": 33.41884960020644, "ssim": 0.962190147369436, "lpips": 0.14436189830303192}}, {"video": {"psnr": 20.903453698340503, "ssim": 0.732339066809959, "lpips": 0.23796111345291138}, "wrist_left": {"psnr": 11.479704339898031, "ssim": 0.4577603377985231, "lpips": 0.4499913156032562}, "wrist_right": {"psnr": 14.745371169282883, "ssim": 0.6436453303475203, "lpips": 0.38555848598480225}, "tactile_left": {"psnr": 34.380462148177465, "ssim": 0.9519223220407931, "lpips": 0.18870855867862701}, "tactile_right": {"psnr": 32.97644629312869, "ssim": 0.9604998267598774, "lpips": 0.15408551692962646}}, {"video": {"psnr": 21.043191072967687, "ssim": 0.721581981429003, "lpips": 0.23699843883514404}, "wrist_left": {"psnr": 13.177878701279077, "ssim": 0.48554888302685445, "lpips": 0.38622206449508667}, "wrist_right": {"psnr": 13.495075414444763, "ssim": 0.5814084048557369, "lpips": 0.46781855821609497}, "tactile_left": {"psnr": 33.651046692296426, "ssim": 0.9558202585888415, "lpips": 0.1624162495136261}, "tactile_right": {"psnr": 32.665365034991844, "ssim": 0.9604996951659917, "lpips": 0.1655159741640091}}], "long_metrics": {"video": {"psnr": 23.03227375550155, "ssim": 0.7898482603705692, "lpips": 0.168862193201979}, "wrist_left": {"psnr": 14.195552009458137, "ssim": 0.5381003544659464, "lpips": 0.3860729028781255}, "wrist_right": {"psnr": 15.831530516732506, "ssim": 0.6385251053030773, "lpips": 0.30292474329471586}, "tactile_left": {"psnr": 37.29091653034839, "ssim": 0.9669255491429564, "lpips": 0.10022936190168062}, "tactile_right": {"psnr": 38.209816503290554, "ssim": 0.973359566567048, "lpips": 0.08670617075016102}}}, {"id": "pusht_09", "episode": "pushT_0911_episode_007_seg00.pt", "requested_episode": "pushT_0911_episode_006_seg00.pt", "category": "release", "t_start": 372, "start_seconds": 24.8, "short_contact": [1, 1, 0, 0, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 0, 0], "future_transition_ticks": [11], "long_contact_fraction": 0.5234375, "long_label": "release", "short_metrics": {"video": {"psnr": 31.691592285250167, "ssim": 0.9488518993923212, "lpips": 0.027487318962812424}, "wrist_left": {"psnr": 30.307436540047142, "ssim": 0.929957635935065, "lpips": 0.017536170780658722}, "wrist_right": {"psnr": 22.496599002103196, "ssim": 0.8250562712502316, "lpips": 0.09660232067108154}, "tactile_left": {"psnr": 48.490110694500544, "ssim": 0.9925502502382704, "lpips": 0.007706859149038792}, "tactile_right": {"psnr": 49.78242695164855, "ssim": 0.9933680609523845, "lpips": 0.0045931036584079266}}, "media": {"short": {"video": "media/pusht_09_short.mp4", "poster": "media/pusht_09_short.jpg"}, "long": {"video": "media/pusht_09_long.mp4", "poster": "media/pusht_09_long.jpg"}}, "force": {"source": "recorded_normal_force", "units": "N", "fps": 15, "left": [0.7223303318023682, 0.5193629264831543, 0.49666666984558105, 0.49666666984558105, 0.7287783026695251, 1.1662499904632568, 0.759509265422821, 1.0717607736587524, 1.1662499904632568, 0.7603814005851746, 0.7217077016830444, 0.49666666984558105, 0.49666666984558105, 0.43017828464508057, 0.35626736283302307, 0.38013455271720886, 0.3559586703777313, 0.7235453128814697, 1.1662499904632568, 1.1662499904632568, 1.1662499904632568, 1.1662499904632568, 1.1662499904632568, 1.1662499904632568, 1.1662499904632568, 1.1662499904632568, 1.1662499904632568, 1.1662499904632568, 1.1672331094741821, 1.1733332872390747, 1.1733332872390747, 1.1733332872390747, 1.1733332872390747, 1.1733332872390747, 1.1733332872390747, 1.1733332872390747, 1.1733332872390747, 1.1733332872390747, 1.1733332872390747, 1.1733332872390747, 1.2811414003372192, 1.3160333633422852, 1.3294880390167236, 1.258453607559204, 1.2977064847946167, 1.3860361576080322, 1.2988581657409668, 1.245100975036621, 1.1733332872390747, 1.1662499904632568, 1.1662499904632568, 1.1662499904632568, 1.1662499904632568, 1.1662499904632568, 1.1662499904632568, 1.1662499904632568, 1.1662499904632568, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.1599999964237213, 0.41999998688697815, 0.26398810744285583, 0.1698000282049179, 1.5254545211791992, 1.1662499904632568, 1.1662499904632568, 0.0, 0.20448574423789978, 0.3832490146160126, 1.1662499904632568, 1.1689953804016113, 0.727850615978241, 0.5576397776603699, 1.1662499904632568, 1.1662499904632568, 0.4760452210903168, 0.7227554321289062, 1.1662499904632568, 0.7186065316200256, 1.1662499904632568, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "right": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.1662499904632568, 1.1662499904632568, 0.0, 1.1682941913604736, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.1599999964237213, 0.1599999964237213, 0.0, 0.0, 0.1599999964237213, 0.1599999964237213, 0.1599999964237213, 0.1599999964237213, 0.1698560118675232, 0.1784145087003708, 0.16725371778011322, 0.1775873303413391, 0.23787949979305267, 0.26522916555404663, 0.28738197684288025, 0.41999998688697815, 0.41999998688697815, 0.41999998688697815, 0.41298267245292664, 0.41999998688697815, 0.41999998688697815, 0.41999998688697815, 0.4116257131099701, 0.39864084124565125, 0.2943855822086334, 0.2898465096950531, 0.28639650344848633, 0.41999998688697815, 0.3053796887397766, 0.30259114503860474, 0.44334322214126587, 0.4140942096710205, 0.41999998688697815, 0.47298121452331543, 1.1681991815567017, 1.2176240682601929, 1.9833333492279053, 1.9833333492279053, 2.9424359798431396, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]}, "long_curve": [{"video": {"psnr": 31.691592285250167, "ssim": 0.9488518993923212, "lpips": 0.027487318962812424}, "wrist_left": {"psnr": 30.307436540047142, "ssim": 0.929957635935065, "lpips": 0.017536170780658722}, "wrist_right": {"psnr": 22.496599002103196, "ssim": 0.8250562712502316, "lpips": 0.09660232067108154}, "tactile_left": {"psnr": 48.490110694500544, "ssim": 0.9925502502382704, "lpips": 0.007706859149038792}, "tactile_right": {"psnr": 49.78242695164855, "ssim": 0.9933680609523845, "lpips": 0.0045931036584079266}}, {"video": {"psnr": 27.91341311208944, "ssim": 0.904051604159102, "lpips": 0.05269406735897064}, "wrist_left": {"psnr": 22.599076202604827, "ssim": 0.7855375383469695, "lpips": 0.06727822870016098}, "wrist_right": {"psnr": 17.6495128174079, "ssim": 0.7273698309921226, "lpips": 0.2061167061328888}, "tactile_left": {"psnr": 40.9182140144025, "ssim": 0.9787799151196137, "lpips": 0.03721143305301666}, "tactile_right": {"psnr": 45.41507228923683, "ssim": 0.9877139302714963, "lpips": 0.015183789655566216}}, {"video": {"psnr": 25.31588410330034, "ssim": 0.8581870515131198, "lpips": 0.09050189703702927}, "wrist_left": {"psnr": 18.34590569485507, "ssim": 0.689125838084958, "lpips": 0.1797015368938446}, "wrist_right": {"psnr": 15.544889095902988, "ssim": 0.6755007904303831, "lpips": 0.2901729345321655}, "tactile_left": {"psnr": 37.374308445626596, "ssim": 0.9691297160887855, "lpips": 0.06445060670375824}, "tactile_right": {"psnr": 42.13181035658736, "ssim": 0.9835544882515961, "lpips": 0.028353635221719742}}, {"video": {"psnr": 25.249823019593926, "ssim": 0.8505381904312139, "lpips": 0.09500409662723541}, "wrist_left": {"psnr": 18.91142223937083, "ssim": 0.6700011101713499, "lpips": 0.18301835656166077}, "wrist_right": {"psnr": 17.360625015463224, "ssim": 0.7151299264768112, "lpips": 0.24111336469650269}, "tactile_left": {"psnr": 34.671221618510245, "ssim": 0.9610194501375011, "lpips": 0.08811849355697632}, "tactile_right": {"psnr": 40.429635640819576, "ssim": 0.9809572607286032, "lpips": 0.05272096395492554}}, {"video": {"psnr": 24.79394353721132, "ssim": 0.8286057530085579, "lpips": 0.10118669271469116}, "wrist_left": {"psnr": 19.2051387899212, "ssim": 0.6779324941214168, "lpips": 0.1858336329460144}, "wrist_right": {"psnr": 15.03648852939429, "ssim": 0.642781529484081, "lpips": 0.30860528349876404}, "tactile_left": {"psnr": 34.50959056349555, "ssim": 0.9599545497764905, "lpips": 0.09792487323284149}, "tactile_right": {"psnr": 40.401944678539515, "ssim": 0.9804122309011625, "lpips": 0.05231396108865738}}, {"video": {"psnr": 22.51500293435393, "ssim": 0.8107706676759208, "lpips": 0.15809285640716553}, "wrist_left": {"psnr": 17.101816022041444, "ssim": 0.6406214761902274, "lpips": 0.2735159993171692}, "wrist_right": {"psnr": 14.535498930493622, "ssim": 0.5951864113954474, "lpips": 0.39773815870285034}, "tactile_left": {"psnr": 35.570441897129726, "ssim": 0.9651150727346689, "lpips": 0.11504247784614563}, "tactile_right": {"psnr": 39.27102648390894, "ssim": 0.9785212954284745, "lpips": 0.06472400575876236}}, {"video": {"psnr": 21.20870050140901, "ssim": 0.7834654145539689, "lpips": 0.2042766809463501}, "wrist_left": {"psnr": 13.814828525457193, "ssim": 0.5155128203857879, "lpips": 0.40048474073410034}, "wrist_right": {"psnr": 12.41575768259369, "ssim": 0.5490544850385237, "lpips": 0.47483134269714355}, "tactile_left": {"psnr": 36.88113502654116, "ssim": 0.9709150305612081, "lpips": 0.10185108333826065}, "tactile_right": {"psnr": 38.27182399065508, "ssim": 0.9760366197509567, "lpips": 0.08343513309955597}}, {"video": {"psnr": 21.07579580417371, "ssim": 0.7721025639774112, "lpips": 0.20729301869869232}, "wrist_left": {"psnr": 14.739568783954287, "ssim": 0.538468480203102, "lpips": 0.3503056764602661}, "wrist_right": {"psnr": 12.15786562550279, "ssim": 0.5649059393318967, "lpips": 0.4860996603965759}, "tactile_left": {"psnr": 36.1273464889844, "ssim": 0.967729236028911, "lpips": 0.11440891027450562}, "tactile_right": {"psnr": 37.89482439646342, "ssim": 0.9740144172006572, "lpips": 0.10386766493320465}}, {"video": {"psnr": 21.06388175168185, "ssim": 0.7570152594924414, "lpips": 0.2087416648864746}, "wrist_left": {"psnr": 12.248780189426213, "ssim": 0.5702158574797452, "lpips": 0.4156244993209839}, "wrist_right": {"psnr": 11.630161001278736, "ssim": 0.4717257185668674, "lpips": 0.5216541290283203}, "tactile_left": {"psnr": 35.64094346570444, "ssim": 0.9658197301669107, "lpips": 0.13529999554157257}, "tactile_right": {"psnr": 36.852183560221334, "ssim": 0.9717221534449798, "lpips": 0.12093294411897659}}, {"video": {"psnr": 20.722238719713832, "ssim": 0.7377346000605258, "lpips": 0.22437967360019684}, "wrist_left": {"psnr": 10.006267601236372, "ssim": 0.482288539292399, "lpips": 0.5751540660858154}, "wrist_right": {"psnr": 10.881353187976654, "ssim": 0.39667179734263947, "lpips": 0.5655035972595215}, "tactile_left": {"psnr": 34.6025619158319, "ssim": 0.9602435523949964, "lpips": 0.17570380866527557}, "tactile_right": {"psnr": 35.40971649735421, "ssim": 0.9669472930288656, "lpips": 0.14436405897140503}}, {"video": {"psnr": 20.844531702683184, "ssim": 0.7349319731245922, "lpips": 0.22264370322227478}, "wrist_left": {"psnr": 10.968396693814526, "ssim": 0.5206533824325841, "lpips": 0.5186718702316284}, "wrist_right": {"psnr": 11.45591613883285, "ssim": 0.4199284820000602, "lpips": 0.5674403309822083}, "tactile_left": {"psnr": 33.847915476572254, "ssim": 0.9526001824781919, "lpips": 0.2226032018661499}, "tactile_right": {"psnr": 34.38776438692341, "ssim": 0.9628559854223795, "lpips": 0.1596086025238037}}, {"video": {"psnr": 20.487970888149988, "ssim": 0.7277194601408064, "lpips": 0.2601773142814636}, "wrist_left": {"psnr": 9.526073353767284, "ssim": 0.422797695649459, "lpips": 0.59480881690979}, "wrist_right": {"psnr": 14.12627281415361, "ssim": 0.5203108814842761, "lpips": 0.4706423878669739}, "tactile_left": {"psnr": 33.9847443574082, "ssim": 0.9549139781300766, "lpips": 0.20992830395698547}, "tactile_right": {"psnr": 33.712150506693035, "ssim": 0.9587844408461901, "lpips": 0.1735827475786209}}, {"video": {"psnr": 19.73784225176488, "ssim": 0.6980792708384345, "lpips": 0.2939717769622803}, "wrist_left": {"psnr": 11.226328948758244, "ssim": 0.4304113213983576, "lpips": 0.5235961675643921}, "wrist_right": {"psnr": 13.669290609067978, "ssim": 0.4862711532956377, "lpips": 0.4666762948036194}, "tactile_left": {"psnr": 33.98247866023365, "ssim": 0.9549049797656866, "lpips": 0.1966792345046997}, "tactile_right": {"psnr": 33.19229901138207, "ssim": 0.9567319620504497, "lpips": 0.18704771995544434}}, {"video": {"psnr": 20.0887298349252, "ssim": 0.6984444470534734, "lpips": 0.29414600133895874}, "wrist_left": {"psnr": 13.163552808250296, "ssim": 0.4984382839458347, "lpips": 0.44058656692504883}, "wrist_right": {"psnr": 12.315145617749195, "ssim": 0.4571254219951919, "lpips": 0.5263314843177795}, "tactile_left": {"psnr": 33.92859560067714, "ssim": 0.9524878739442362, "lpips": 0.20424669981002808}, "tactile_right": {"psnr": 32.86423758573625, "ssim": 0.9553551696099906, "lpips": 0.20701183378696442}}, {"video": {"psnr": 21.188321505066803, "ssim": 0.7181416537156425, "lpips": 0.2382899671792984}, "wrist_left": {"psnr": 13.835972715941205, "ssim": 0.5092818014361622, "lpips": 0.3493582308292389}, "wrist_right": {"psnr": 10.060326488274562, "ssim": 0.41212921342588216, "lpips": 0.6277402639389038}, "tactile_left": {"psnr": 33.690762414704956, "ssim": 0.9505378640737137, "lpips": 0.21110844612121582}, "tactile_right": {"psnr": 32.804406576330166, "ssim": 0.9552968259621428, "lpips": 0.22466784715652466}}], "long_metrics": {"video": {"psnr": 22.926511463424504, "ssim": 0.7885759872758354, "lpips": 0.17859244868159294}, "wrist_left": {"psnr": 15.733371007296409, "ssim": 0.5920829516715612, "lpips": 0.3383649706840515}, "wrist_right": {"psnr": 14.089046837079685, "ssim": 0.5639431901673367, "lpips": 0.41648455063501993}, "tactile_left": {"psnr": 36.28135804268822, "ssim": 0.9637800921092841, "lpips": 0.13215229517469804}, "tactile_right": {"psnr": 38.18808819416665, "ssim": 0.972151475590022, "lpips": 0.10816053409750263}}}, {"id": "pusht_10", "episode": "pushT_0911_episode_007_seg00.pt", "requested_episode": "pushT_0911_episode_006_seg00.pt", "category": "full", "t_start": 364, "start_seconds": 24.266666666666666, "short_contact": [1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 1, 1, 1, 1], "future_transition_ticks": [10, 12], "long_contact_fraction": 0.5859375, "long_label": "full", "short_metrics": {"video": {"psnr": 32.67320879482504, "ssim": 0.951125328360612, "lpips": 0.020568616688251495}, "wrist_left": {"psnr": 32.59600244642733, "ssim": 0.9519942328576904, "lpips": 0.013419847935438156}, "wrist_right": {"psnr": 23.736886141456228, "ssim": 0.838746189699, "lpips": 0.07178960740566254}, "tactile_left": {"psnr": 48.961881262920556, "ssim": 0.9921734766008039, "lpips": 0.006181160919368267}, "tactile_right": {"psnr": 48.08586418181039, "ssim": 0.9925092883727358, "lpips": 0.006470919586718082}}, "media": {"short": {"video": "media/pusht_10_short.mp4", "poster": "media/pusht_10_short.jpg"}, "long": {"video": "media/pusht_10_long.mp4", "poster": "media/pusht_10_long.jpg"}}, "force": {"source": "recorded_normal_force", "units": "N", "fps": 15, "left": [0.7430106997489929, 1.1662499904632568, 1.1662499904632568, 0.6716711521148682, 0.704539954662323, 0.7390938401222229, 1.0104410648345947, 0.7223303318023682, 0.7223303318023682, 0.5193629264831543, 0.49666666984558105, 0.49666666984558105, 0.7287783026695251, 1.1662499904632568, 0.759509265422821, 1.0717607736587524, 1.1662499904632568, 0.7603814005851746, 0.7217077016830444, 0.49666666984558105, 0.49666666984558105, 0.43017828464508057, 0.35626736283302307, 0.38013455271720886, 0.3559586703777313, 0.7235453128814697, 1.1662499904632568, 1.1662499904632568, 1.1662499904632568, 1.1662499904632568, 1.1662499904632568, 1.1662499904632568, 1.1662499904632568, 1.1662499904632568, 1.1662499904632568, 1.1662499904632568, 1.1672331094741821, 1.1733332872390747, 1.1733332872390747, 1.1733332872390747, 1.1733332872390747, 1.1733332872390747, 1.1733332872390747, 1.1733332872390747, 1.1733332872390747, 1.1733332872390747, 1.1733332872390747, 1.1733332872390747, 1.2811414003372192, 1.3160333633422852, 1.3294880390167236, 1.258453607559204, 1.2977064847946167, 1.3860361576080322, 1.2988581657409668, 1.245100975036621, 1.1733332872390747, 1.1662499904632568, 1.1662499904632568, 1.1662499904632568, 1.1662499904632568, 1.1662499904632568, 1.1662499904632568, 1.1662499904632568, 1.1662499904632568, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.1599999964237213, 0.41999998688697815, 0.26398810744285583, 0.1698000282049179, 1.5254545211791992, 1.1662499904632568, 1.1662499904632568, 0.0, 0.20448574423789978, 0.3832490146160126, 1.1662499904632568, 1.1689953804016113, 0.727850615978241, 0.5576397776603699, 1.1662499904632568, 1.1662499904632568, 0.4760452210903168, 0.7227554321289062, 1.1662499904632568, 0.7186065316200256, 1.1662499904632568, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "right": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.1662499904632568, 1.1662499904632568, 0.0, 1.1682941913604736, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.1599999964237213, 0.1599999964237213, 0.0, 0.0, 0.1599999964237213, 0.1599999964237213, 0.1599999964237213, 0.1599999964237213, 0.1698560118675232, 0.1784145087003708, 0.16725371778011322, 0.1775873303413391, 0.23787949979305267, 0.26522916555404663, 0.28738197684288025, 0.41999998688697815, 0.41999998688697815, 0.41999998688697815, 0.41298267245292664, 0.41999998688697815, 0.41999998688697815, 0.41999998688697815, 0.4116257131099701, 0.39864084124565125, 0.2943855822086334, 0.2898465096950531, 0.28639650344848633, 0.41999998688697815, 0.3053796887397766, 0.30259114503860474, 0.44334322214126587, 0.4140942096710205, 0.41999998688697815, 0.47298121452331543, 1.1681991815567017, 1.2176240682601929, 1.9833333492279053, 1.9833333492279053, 2.9424359798431396, 0.0]}, "long_curve": [{"video": {"psnr": 32.67320879482504, "ssim": 0.951125328360612, "lpips": 0.020568616688251495}, "wrist_left": {"psnr": 32.59600244642733, "ssim": 0.9519942328576904, "lpips": 0.013419847935438156}, "wrist_right": {"psnr": 23.736886141456228, "ssim": 0.838746189699, "lpips": 0.07178960740566254}, "tactile_left": {"psnr": 48.961881262920556, "ssim": 0.9921734766008039, "lpips": 0.006181160919368267}, "tactile_right": {"psnr": 48.08586418181039, "ssim": 0.9925092883727358, "lpips": 0.006470919586718082}}, {"video": {"psnr": 30.638955523641776, "ssim": 0.9308977400638612, "lpips": 0.03329148143529892}, "wrist_left": {"psnr": 27.585546269839192, "ssim": 0.8869290886129233, "lpips": 0.030135836452245712}, "wrist_right": {"psnr": 16.7292936055717, "ssim": 0.6947249965602336, "lpips": 0.24869905412197113}, "tactile_left": {"psnr": 45.586089038411544, "ssim": 0.9866391185720309, "lpips": 0.01587550714612007}, "tactile_right": {"psnr": 45.855099433306094, "ssim": 0.9876276934601134, "lpips": 0.014470594003796577}}, {"video": {"psnr": 27.251594352483682, "ssim": 0.8873894735608967, "lpips": 0.0566025972366333}, "wrist_left": {"psnr": 21.163333289926012, "ssim": 0.7414359626816992, "lpips": 0.11841759085655212}, "wrist_right": {"psnr": 15.230197093382529, "ssim": 0.6407005406958459, "lpips": 0.35959213972091675}, "tactile_left": {"psnr": 40.582895165152436, "ssim": 0.9789281963436768, "lpips": 0.046172454953193665}, "tactile_right": {"psnr": 43.116694209893296, "ssim": 0.9843601447009995, "lpips": 0.027129163965582848}}, {"video": {"psnr": 25.030902684708142, "ssim": 0.848238191091666, "lpips": 0.07923133671283722}, "wrist_left": {"psnr": 19.012235315094166, "ssim": 0.6951925309241664, "lpips": 0.21649323403835297}, "wrist_right": {"psnr": 13.907743107818362, "ssim": 0.5748411422102957, "lpips": 0.4045830965042114}, "tactile_left": {"psnr": 37.64180576060157, "ssim": 0.9715454705371713, "lpips": 0.08842527866363525}, "tactile_right": {"psnr": 41.12743246365643, "ssim": 0.9825539102760154, "lpips": 0.03949104622006416}}, {"video": {"psnr": 24.191739056335777, "ssim": 0.8281888184824644, "lpips": 0.09994351863861084}, "wrist_left": {"psnr": 17.889330593940404, "ssim": 0.6540153137926348, "lpips": 0.25096338987350464}, "wrist_right": {"psnr": 10.843164485664143, "ssim": 0.44997555906630515, "lpips": 0.48949769139289856}, "tactile_left": {"psnr": 36.36272139502709, "ssim": 0.9689912261022605, "lpips": 0.10513319820165634}, "tactile_right": {"psnr": 39.98098554085082, "ssim": 0.9803624184606031, "lpips": 0.06607971340417862}}, {"video": {"psnr": 23.922002290484052, "ssim": 0.8181491101991067, "lpips": 0.10760077834129333}, "wrist_left": {"psnr": 17.616028174607557, "ssim": 0.6521632254334692, "lpips": 0.25763049721717834}, "wrist_right": {"psnr": 11.62199840675849, "ssim": 0.4833680113859566, "lpips": 0.48106056451797485}, "tactile_left": {"psnr": 35.40793840365457, "ssim": 0.9658443865005635, "lpips": 0.1217072382569313}, "tactile_right": {"psnr": 38.93121988722633, "ssim": 0.9781369244981064, "lpips": 0.07301472872495651}}, {"video": {"psnr": 24.71970726718586, "ssim": 0.8265395042691109, "lpips": 0.09640999883413315}, "wrist_left": {"psnr": 16.838095587297325, "ssim": 0.6348142369055678, "lpips": 0.2933596670627594}, "wrist_right": {"psnr": 13.171204215398273, "ssim": 0.5176620528936657, "lpips": 0.45025911927223206}, "tactile_left": {"psnr": 35.92255084232375, "ssim": 0.9637051914542923, "lpips": 0.12970808148384094}, "tactile_right": {"psnr": 38.08766488784072, "ssim": 0.9755052495189347, "lpips": 0.08992724120616913}}, {"video": {"psnr": 24.03523522345237, "ssim": 0.8123889676964254, "lpips": 0.11931902915239334}, "wrist_left": {"psnr": 13.50419610033688, "ssim": 0.5467881751596835, "lpips": 0.40830594301223755}, "wrist_right": {"psnr": 11.171081540273452, "ssim": 0.48423681043514166, "lpips": 0.5283403396606445}, "tactile_left": {"psnr": 37.07395510379182, "ssim": 0.9699526396183658, "lpips": 0.1068684309720993}, "tactile_right": {"psnr": 37.55165215720101, "ssim": 0.9731580765723058, "lpips": 0.11055503785610199}}, {"video": {"psnr": 21.900500634419565, "ssim": 0.7806167246923823, "lpips": 0.18021681904792786}, "wrist_left": {"psnr": 13.89183563618483, "ssim": 0.5398368935549636, "lpips": 0.3888143301010132}, "wrist_right": {"psnr": 10.37829408600282, "ssim": 0.5341435889174222, "lpips": 0.5181820392608643}, "tactile_left": {"psnr": 36.85333727066323, "ssim": 0.96743764738637, "lpips": 0.11275176703929901}, "tactile_right": {"psnr": 36.89870536884008, "ssim": 0.9712974030033099, "lpips": 0.12596014142036438}}, {"video": {"psnr": 21.270180890447566, "ssim": 0.7512821493648615, "lpips": 0.2169891893863678}, "wrist_left": {"psnr": 17.692847721616147, "ssim": 0.6428488789852651, "lpips": 0.24163775146007538}, "wrist_right": {"psnr": 9.41075905022315, "ssim": 0.4384634291385753, "lpips": 0.5793024301528931}, "tactile_left": {"psnr": 35.947870941610994, "ssim": 0.964773013481475, "lpips": 0.1370389759540558}, "tactile_right": {"psnr": 35.66019328471637, "ssim": 0.968010906647371, "lpips": 0.15021610260009766}}, {"video": {"psnr": 20.790929821655592, "ssim": 0.7423570717301885, "lpips": 0.20083391666412354}, "wrist_left": {"psnr": 14.485847537019653, "ssim": 0.5494480127502634, "lpips": 0.40548640489578247}, "wrist_right": {"psnr": 8.889548221340135, "ssim": 0.3800534286569895, "lpips": 0.6127669811248779}, "tactile_left": {"psnr": 35.11957447969639, "ssim": 0.9603713777044722, "lpips": 0.1724497526884079}, "tactile_right": {"psnr": 34.747843766250774, "ssim": 0.9632235747637501, "lpips": 0.17305812239646912}}, {"video": {"psnr": 20.99004415601427, "ssim": 0.749489102034987, "lpips": 0.19724151492118835}, "wrist_left": {"psnr": 13.382434610590616, "ssim": 0.5329596102141241, "lpips": 0.4255789518356323}, "wrist_right": {"psnr": 8.601188005917066, "ssim": 0.3569794731628049, "lpips": 0.619178056716919}, "tactile_left": {"psnr": 34.298275172643706, "ssim": 0.9536093108306772, "lpips": 0.22215288877487183}, "tactile_right": {"psnr": 33.879809204760775, "ssim": 0.9586038666244251, "lpips": 0.19596952199935913}}, {"video": {"psnr": 21.06358524132741, "ssim": 0.7361991884504584, "lpips": 0.23574399948120117}, "wrist_left": {"psnr": 10.285424967205197, "ssim": 0.47553861140848863, "lpips": 0.5363839864730835}, "wrist_right": {"psnr": 9.653788498239207, "ssim": 0.42339038945802177, "lpips": 0.561151385307312}, "tactile_left": {"psnr": 34.236273899261754, "ssim": 0.9556188901339628, "lpips": 0.2093649059534073}, "tactile_right": {"psnr": 33.20567992158847, "ssim": 0.9541835168087328, "lpips": 0.20972922444343567}}, {"video": {"psnr": 21.078450887630392, "ssim": 0.7248007750769381, "lpips": 0.23666051030158997}, "wrist_left": {"psnr": 10.743071838899716, "ssim": 0.4232478196871131, "lpips": 0.5372706055641174}, "wrist_right": {"psnr": 9.545106339954211, "ssim": 0.39721957035652145, "lpips": 0.5581297278404236}, "tactile_left": {"psnr": 34.08866203319602, "ssim": 0.9536718406824167, "lpips": 0.19765537977218628}, "tactile_right": {"psnr": 32.73836369113273, "ssim": 0.9520354822904437, "lpips": 0.22193282842636108}}, {"video": {"psnr": 21.31479653500318, "ssim": 0.7227253549012398, "lpips": 0.23533034324645996}, "wrist_left": {"psnr": 11.941586957008134, "ssim": 0.4287985372400693, "lpips": 0.49798065423965454}, "wrist_right": {"psnr": 8.77488071728236, "ssim": 0.3627824071926514, "lpips": 0.6004735231399536}, "tactile_left": {"psnr": 33.772949664650106, "ssim": 0.9523182772948744, "lpips": 0.2048097550868988}, "tactile_right": {"psnr": 32.42907559115244, "ssim": 0.9509725831302669, "lpips": 0.23924261331558228}}], "long_metrics": {"video": {"psnr": 24.058122223974312, "ssim": 0.8073591666650132, "lpips": 0.141065576672554}, "wrist_left": {"psnr": 17.241854469732875, "ssim": 0.6237340753472082, "lpips": 0.30812524606784186}, "wrist_right": {"psnr": 12.111008901018808, "ssim": 0.5051525059886287, "lpips": 0.47220038374265033}, "tactile_left": {"psnr": 37.457118695573705, "ssim": 0.9670386708828943, "lpips": 0.1250863183910648}, "tactile_right": {"psnr": 38.15308557268178, "ssim": 0.9715027359418742, "lpips": 0.11621646663794914}}}, {"id": "pusht_11", "episode": "pushT_0911_episode_007_seg01.pt", "requested_episode": "pushT_0911_episode_006_seg01.pt", "category": "none", "t_start": 112, "start_seconds": 7.466666666666667, "short_contact": [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0], "future_transition_ticks": [], "long_contact_fraction": 0.2578125, "long_label": "none_at_start", "short_metrics": {"video": {"psnr": 26.722289353033858, "ssim": 0.8837710417092385, "lpips": 0.0496368333697319}, "wrist_left": {"psnr": 21.903010621540847, "ssim": 0.781101391081467, "lpips": 0.11966057121753693}, "wrist_right": {"psnr": 16.090618188752053, "ssim": 0.7512700674903618, "lpips": 0.2693468928337097}, "tactile_left": {"psnr": 41.56349557291148, "ssim": 0.9871944169947987, "lpips": 0.020250562578439713}, "tactile_right": {"psnr": 49.83917410080085, "ssim": 0.9936062742498958, "lpips": 0.004591160453855991}}, "media": {"short": {"video": "media/pusht_11_short.mp4", "poster": "media/pusht_11_short.jpg"}, "long": {"video": "media/pusht_11_long.mp4", "poster": "media/pusht_11_long.jpg"}}, "force": {"source": "recorded_normal_force", "units": "N", "fps": 15, "left": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.1599999964237213, 0.1599999964237213, 0.1599999964237213, 0.1599999964237213, 0.2542245090007782, 0.1599999964237213, 0.1599999964237213, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "right": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.41999998688697815, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.9833333492279053, 0.0, 0.0, 0.0, 0.0, 0.0, 0.43252578377723694, 0.7112929821014404, 1.1662499904632568, 1.1662499904632568, 1.1662499904632568, 1.1375232934951782, 0.7337615489959717, 1.2042529582977295, 2.9424359798431396, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.4294271171092987, 0.7712745666503906, 1.1662499904632568, 1.1662499904632568, 1.1662499904632568, 2.636666774749756, 1.16824209690094, 1.9833333492279053, 2.636666774749756, 2.8207693099975586, 2.9424359798431396, 2.8207693099975586, 2.9424359798431396, 2.9424359798431396, 2.636666774749756, 2.636666774749756, 2.636666774749756, 1.1667428016662598, 1.1662499904632568, 1.1662499904632568, 1.0983830690383911, 1.1662499904632568, 1.2014970779418945, 1.9833333492279053, 2.9424359798431396, 0.0, 0.0, 0.0]}, "long_curve": [{"video": {"psnr": 26.722289353033858, "ssim": 0.8837710417092385, "lpips": 0.0496368333697319}, "wrist_left": {"psnr": 21.903010621540847, "ssim": 0.781101391081467, "lpips": 0.11966057121753693}, "wrist_right": {"psnr": 16.090618188752053, "ssim": 0.7512700674903618, "lpips": 0.2693468928337097}, "tactile_left": {"psnr": 41.56349557291148, "ssim": 0.9871944169947987, "lpips": 0.020250562578439713}, "tactile_right": {"psnr": 49.83917410080085, "ssim": 0.9936062742498958, "lpips": 0.004591160453855991}}, {"video": {"psnr": 22.752628984895043, "ssim": 0.7865743115029658, "lpips": 0.12085369229316711}, "wrist_left": {"psnr": 15.735011995735329, "ssim": 0.6497833777261588, "lpips": 0.27807533740997314}, "wrist_right": {"psnr": 13.263658122626838, "ssim": 0.5942145417255505, "lpips": 0.425679087638855}, "tactile_left": {"psnr": 40.282029777269216, "ssim": 0.9817285082786912, "lpips": 0.02602674439549446}, "tactile_right": {"psnr": 46.754671970110316, "ssim": 0.9885776195421061, "lpips": 0.014882517978549004}}, {"video": {"psnr": 20.829971244309483, "ssim": 0.7607082186600891, "lpips": 0.18369635939598083}, "wrist_left": {"psnr": 11.43414469335279, "ssim": 0.47351157034100005, "lpips": 0.4768140912055969}, "wrist_right": {"psnr": 12.610178582582023, "ssim": 0.5283925473561308, "lpips": 0.4806011915206909}, "tactile_left": {"psnr": 42.368665617522076, "ssim": 0.9832047186055681, "lpips": 0.026882212609052658}, "tactile_right": {"psnr": 42.943377391950925, "ssim": 0.9849459815994708, "lpips": 0.022880040109157562}}, {"video": {"psnr": 19.796662748082344, "ssim": 0.7451539224789201, "lpips": 0.2410890907049179}, "wrist_left": {"psnr": 11.341613035937526, "ssim": 0.46582043594922246, "lpips": 0.4469895362854004}, "wrist_right": {"psnr": 12.337380242803224, "ssim": 0.5623260788113632, "lpips": 0.47524040937423706}, "tactile_left": {"psnr": 41.89723713674367, "ssim": 0.9816443796649543, "lpips": 0.03718041256070137}, "tactile_right": {"psnr": 41.10774015935064, "ssim": 0.9824717364177062, "lpips": 0.03725513815879822}}, {"video": {"psnr": 19.601233874013804, "ssim": 0.7278783099002561, "lpips": 0.2551521062850952}, "wrist_left": {"psnr": 11.0633336986133, "ssim": 0.46651932893214026, "lpips": 0.44316503405570984}, "wrist_right": {"psnr": 14.051247354241443, "ssim": 0.555762782212859, "lpips": 0.4535360336303711}, "tactile_left": {"psnr": 41.1738254524339, "ssim": 0.9800878417314212, "lpips": 0.04547443240880966}, "tactile_right": {"psnr": 40.17491402079, "ssim": 0.9786871905782317, "lpips": 0.06483374536037445}}, {"video": {"psnr": 19.477579407170595, "ssim": 0.7453382269683255, "lpips": 0.2500576376914978}, "wrist_left": {"psnr": 11.195033048350842, "ssim": 0.46540118517271617, "lpips": 0.440030038356781}, "wrist_right": {"psnr": 13.584941516468712, "ssim": 0.5261452521872149, "lpips": 0.45596230030059814}, "tactile_left": {"psnr": 40.2752522757272, "ssim": 0.978014599276662, "lpips": 0.05861949920654297}, "tactile_right": {"psnr": 39.28460922312383, "ssim": 0.9772434466527897, "lpips": 0.07073874026536942}}, {"video": {"psnr": 19.90984845203164, "ssim": 0.7594139577837172, "lpips": 0.24746409058570862}, "wrist_left": {"psnr": 11.451696814473763, "ssim": 0.48175921519935017, "lpips": 0.4373960494995117}, "wrist_right": {"psnr": 11.947577912780877, "ssim": 0.45271792180822956, "lpips": 0.5353388786315918}, "tactile_left": {"psnr": 39.35483220256381, "ssim": 0.9754589664151693, "lpips": 0.07420331239700317}, "tactile_right": {"psnr": 38.39429803486909, "ssim": 0.975001916501941, "lpips": 0.09093130379915237}}, {"video": {"psnr": 19.6823816613283, "ssim": 0.7465432288615872, "lpips": 0.2477739453315735}, "wrist_left": {"psnr": 11.617003691760903, "ssim": 0.4839442850580975, "lpips": 0.4357236325740814}, "wrist_right": {"psnr": 12.316150607493526, "ssim": 0.48432716404282944, "lpips": 0.5013366937637329}, "tactile_left": {"psnr": 38.142030113147534, "ssim": 0.9726751980798528, "lpips": 0.0943954735994339}, "tactile_right": {"psnr": 37.75435395348846, "ssim": 0.972896915319666, "lpips": 0.1109367087483406}}, {"video": {"psnr": 19.609977820875045, "ssim": 0.7333192090188215, "lpips": 0.2574007213115692}, "wrist_left": {"psnr": 11.55205527050841, "ssim": 0.48512192340539695, "lpips": 0.43615594506263733}, "wrist_right": {"psnr": 12.940338559152115, "ssim": 0.4795133103801056, "lpips": 0.47226059436798096}, "tactile_left": {"psnr": 37.47648756521794, "ssim": 0.9700956999969887, "lpips": 0.10766499489545822}, "tactile_right": {"psnr": 36.54896722029922, "ssim": 0.9693834272134652, "lpips": 0.14812852442264557}}, {"video": {"psnr": 19.814151300850494, "ssim": 0.7438656243491027, "lpips": 0.25553470849990845}, "wrist_left": {"psnr": 11.405647929311705, "ssim": 0.4712265675302065, "lpips": 0.4455711543560028}, "wrist_right": {"psnr": 12.933009080860911, "ssim": 0.5125753919415659, "lpips": 0.4073113799095154}, "tactile_left": {"psnr": 36.58875465115344, "ssim": 0.9670119305204183, "lpips": 0.12472035735845566}, "tactile_right": {"psnr": 34.64463352655349, "ssim": 0.963401176883373, "lpips": 0.19702044129371643}}, {"video": {"psnr": 19.157958522985574, "ssim": 0.7375627670471061, "lpips": 0.27336928248405457}, "wrist_left": {"psnr": 11.600143753753578, "ssim": 0.48261503200106426, "lpips": 0.4346228539943695}, "wrist_right": {"psnr": 11.036656096188427, "ssim": 0.4862452629879247, "lpips": 0.5274100303649902}, "tactile_left": {"psnr": 35.915308981614295, "ssim": 0.9642090615421306, "lpips": 0.14137741923332214}, "tactile_right": {"psnr": 34.23551677803435, "ssim": 0.9657716599025536, "lpips": 0.15278933942317963}}, {"video": {"psnr": 18.81257372279257, "ssim": 0.7110604030200123, "lpips": 0.2706144452095032}, "wrist_left": {"psnr": 11.712370058939461, "ssim": 0.48513192364787794, "lpips": 0.4216620922088623}, "wrist_right": {"psnr": 9.497851015228722, "ssim": 0.43186667299357334, "lpips": 0.6009751558303833}, "tactile_left": {"psnr": 34.91793698706874, "ssim": 0.9607384261976664, "lpips": 0.16145336627960205}, "tactile_right": {"psnr": 33.12193935241007, "ssim": 0.9588114540672397, "lpips": 0.20777665078639984}}, {"video": {"psnr": 18.6635334173649, "ssim": 0.7028790408710377, "lpips": 0.27740350365638733}, "wrist_left": {"psnr": 11.66868315035597, "ssim": 0.47562161451788737, "lpips": 0.4309982657432556}, "wrist_right": {"psnr": 10.000946557470085, "ssim": 0.42139716959002826, "lpips": 0.5524146556854248}, "tactile_left": {"psnr": 34.40737993296671, "ssim": 0.9573296090870693, "lpips": 0.17751486599445343}, "tactile_right": {"psnr": 31.85655505206811, "ssim": 0.9455487430054466, "lpips": 0.2756913900375366}}, {"video": {"psnr": 18.79653634719034, "ssim": 0.6963077756061875, "lpips": 0.286266952753067}, "wrist_left": {"psnr": 11.695709587829787, "ssim": 0.47094674155823696, "lpips": 0.4324505925178528}, "wrist_right": {"psnr": 12.489091247123664, "ssim": 0.4874051323497135, "lpips": 0.4657127857208252}, "tactile_left": {"psnr": 34.05907380882218, "ssim": 0.9543584506331875, "lpips": 0.19275879859924316}, "tactile_right": {"psnr": 31.336117949353653, "ssim": 0.9412686973084976, "lpips": 0.3110787868499756}}, {"video": {"psnr": 19.523004077685336, "ssim": 0.7129575596741673, "lpips": 0.2638902962207794}, "wrist_left": {"psnr": 10.590833510954795, "ssim": 0.4053449423953138, "lpips": 0.5083529353141785}, "wrist_right": {"psnr": 12.32120210181244, "ssim": 0.47914578715865086, "lpips": 0.5426267385482788}, "tactile_left": {"psnr": 33.65436448147982, "ssim": 0.9517658534103851, "lpips": 0.20381677150726318}, "tactile_right": {"psnr": 31.799545667774716, "ssim": 0.9487127906559194, "lpips": 0.26741823554039}}], "long_metrics": {"video": {"psnr": 20.21002206230729, "ssim": 0.7462222398301023, "lpips": 0.23201357771952946}, "wrist_left": {"psnr": 12.3977527240946, "ssim": 0.5029233023010757, "lpips": 0.41251120865345003}, "wrist_right": {"psnr": 12.494723145705672, "ssim": 0.5168870055357401, "lpips": 0.477716855208079}, "tactile_left": {"psnr": 38.138444970442805, "ssim": 0.9710345106956643, "lpips": 0.09948928157488506}, "tactile_right": {"psnr": 37.986427626731846, "ssim": 0.9697552686598868, "lpips": 0.13179684821516274}}}, {"id": "pusht_12", "episode": "pushT_0911_episode_007_seg01.pt", "requested_episode": "pushT_0911_episode_006_seg01.pt", "category": "onset", "t_start": 202, "start_seconds": 13.466666666666667, "short_contact": [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 1], "future_transition_ticks": [11], "long_contact_fraction": 0.4765625, "long_label": "onset", "short_metrics": {"video": {"psnr": 29.22212400472627, "ssim": 0.9270717151837777, "lpips": 0.03235188126564026}, "wrist_left": {"psnr": 29.505607184758233, "ssim": 0.9421960697910927, "lpips": 0.018631337210536003}, "wrist_right": {"psnr": 23.134564690752555, "ssim": 0.7893976961839375, "lpips": 0.0853952020406723}, "tactile_left": {"psnr": 48.5384246625585, "ssim": 0.991114913177677, "lpips": 0.007554521784186363}, "tactile_right": {"psnr": 40.04378688879409, "ssim": 0.9816180231374103, "lpips": 0.08049201965332031}}, "media": {"short": {"video": "media/pusht_12_short.mp4", "poster": "media/pusht_12_short.jpg"}, "long": {"video": "media/pusht_12_long.mp4", "poster": "media/pusht_12_long.jpg"}}, "force": {"source": "recorded_normal_force", "units": "N", "fps": 15, "left": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.1662499904632568, 1.1662499904632568, 1.1662499904632568, 1.1662499904632568, 2.9424359798431396, 2.636666774749756, 1.167639136314392, 1.5254545211791992, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 1.9833333492279053, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396], "right": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.4294271171092987, 0.7712745666503906, 1.1662499904632568, 1.1662499904632568, 1.1662499904632568, 2.636666774749756, 1.16824209690094, 1.9833333492279053, 2.636666774749756, 2.8207693099975586, 2.9424359798431396, 2.8207693099975586, 2.9424359798431396, 2.9424359798431396, 2.636666774749756, 2.636666774749756, 2.636666774749756, 1.1667428016662598, 1.1662499904632568, 1.1662499904632568, 1.0983830690383911, 1.1662499904632568, 1.2014970779418945, 1.9833333492279053, 2.9424359798431396, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.5254545211791992, 1.1733332872390747, 1.1733332872390747, 1.1662499904632568, 1.1662499904632568, 1.1662499904632568, 1.1662499904632568, 1.1662499904632568, 0.49666666984558105, 0.7431948184967041, 0.5188231468200684, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.1662499904632568, 1.1662499904632568, 1.1662499904632568, 1.43471360206604, 1.169874668121338, 1.1733332872390747, 1.5254545211791992, 1.4500000476837158, 1.4662624597549438, 1.369276523590088, 1.1733332872390747, 1.1662499904632568, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]}, "long_curve": [{"video": {"psnr": 29.22212400472627, "ssim": 0.9270717151837777, "lpips": 0.03235188126564026}, "wrist_left": {"psnr": 29.505607184758233, "ssim": 0.9421960697910927, "lpips": 0.018631337210536003}, "wrist_right": {"psnr": 23.134564690752555, "ssim": 0.7893976961839375, "lpips": 0.0853952020406723}, "tactile_left": {"psnr": 48.5384246625585, "ssim": 0.991114913177677, "lpips": 0.007554521784186363}, "tactile_right": {"psnr": 40.04378688879409, "ssim": 0.9816180231374103, "lpips": 0.08049201965332031}}, {"video": {"psnr": 26.03780078662126, "ssim": 0.8788604230013028, "lpips": 0.06097966432571411}, "wrist_left": {"psnr": 25.802309838099198, "ssim": 0.8927694923244827, "lpips": 0.04456910490989685}, "wrist_right": {"psnr": 19.9679781727875, "ssim": 0.75297033689427, "lpips": 0.14365920424461365}, "tactile_left": {"psnr": 46.45301213431536, "ssim": 0.9884781867262739, "lpips": 0.015096506103873253}, "tactile_right": {"psnr": 37.274866561754486, "ssim": 0.9693201718392295, "lpips": 0.11787307262420654}}, {"video": {"psnr": 27.563673417885184, "ssim": 0.8985112326342828, "lpips": 0.048056021332740784}, "wrist_left": {"psnr": 21.324060941241566, "ssim": 0.8520618137843252, "lpips": 0.07369539141654968}, "wrist_right": {"psnr": 18.64726923525493, "ssim": 0.7200546768181015, "lpips": 0.171908438205719}, "tactile_left": {"psnr": 44.25237120129132, "ssim": 0.9859028992506869, "lpips": 0.023800911381840706}, "tactile_right": {"psnr": 36.802665885321765, "ssim": 0.9680007498092107, "lpips": 0.1525574028491974}}, {"video": {"psnr": 23.72028959811479, "ssim": 0.8576079895468505, "lpips": 0.11644131690263748}, "wrist_left": {"psnr": 14.90675080947224, "ssim": 0.6940884680990819, "lpips": 0.20971140265464783}, "wrist_right": {"psnr": 13.655582308218648, "ssim": 0.6200377771151793, "lpips": 0.3776702284812927}, "tactile_left": {"psnr": 43.066172589819224, "ssim": 0.983203952365694, "lpips": 0.034875210374593735}, "tactile_right": {"psnr": 39.80250751132991, "ssim": 0.9784255916263764, "lpips": 0.06691719591617584}}, {"video": {"psnr": 22.606747185658143, "ssim": 0.8236635012109437, "lpips": 0.1623484045267105}, "wrist_left": {"psnr": 13.541288823525363, "ssim": 0.5892150773531843, "lpips": 0.24386104941368103}, "wrist_right": {"psnr": 11.120131000637281, "ssim": 0.5119946444038929, "lpips": 0.49960410594940186}, "tactile_left": {"psnr": 41.692395119044264, "ssim": 0.9809123587277315, "lpips": 0.04541134089231491}, "tactile_right": {"psnr": 40.0877310956934, "ssim": 0.9781054145035537, "lpips": 0.06668413430452347}}, {"video": {"psnr": 22.290948654152558, "ssim": 0.8160941955361833, "lpips": 0.17764176428318024}, "wrist_left": {"psnr": 12.648713643544243, "ssim": 0.5397165856903094, "lpips": 0.27699682116508484}, "wrist_right": {"psnr": 10.347083182132033, "ssim": 0.4520951413381619, "lpips": 0.5309810638427734}, "tactile_left": {"psnr": 40.4043484487946, "ssim": 0.9782648470237085, "lpips": 0.0638190507888794}, "tactile_right": {"psnr": 37.399779293236726, "ssim": 0.9703194972479369, "lpips": 0.13769128918647766}}, {"video": {"psnr": 21.987218935969203, "ssim": 0.8046765387986168, "lpips": 0.1640763282775879}, "wrist_left": {"psnr": 13.019383888259968, "ssim": 0.5432773019663362, "lpips": 0.288612425327301}, "wrist_right": {"psnr": 13.259251092140165, "ssim": 0.6045444046644839, "lpips": 0.39850425720214844}, "tactile_left": {"psnr": 39.12148091629602, "ssim": 0.9753139010629115, "lpips": 0.0829857587814331}, "tactile_right": {"psnr": 37.77936463463731, "ssim": 0.9734219264506097, "lpips": 0.09377313405275345}}, {"video": {"psnr": 21.423358825947876, "ssim": 0.7879782171891587, "lpips": 0.15840063989162445}, "wrist_left": {"psnr": 13.428333051640456, "ssim": 0.5413398386223287, "lpips": 0.3022356629371643}, "wrist_right": {"psnr": 13.399700817337042, "ssim": 0.5533004614386068, "lpips": 0.42809200286865234}, "tactile_left": {"psnr": 38.048022500808656, "ssim": 0.9720778144346207, "lpips": 0.10641796141862869}, "tactile_right": {"psnr": 37.53075598686784, "ssim": 0.9711957304532891, "lpips": 0.10462431609630585}}, {"video": {"psnr": 21.36655035539746, "ssim": 0.7824482229317414, "lpips": 0.1653570830821991}, "wrist_left": {"psnr": 12.644889654873094, "ssim": 0.5129880663984732, "lpips": 0.33063602447509766}, "wrist_right": {"psnr": 15.812070930859202, "ssim": 0.5949570334967806, "lpips": 0.3491421639919281}, "tactile_left": {"psnr": 37.67467019015229, "ssim": 0.9704599781256561, "lpips": 0.111541248857975}, "tactile_right": {"psnr": 35.163363477521756, "ssim": 0.961580989416501, "lpips": 0.1892259120941162}}, {"video": {"psnr": 20.75704691167632, "ssim": 0.7583048750568093, "lpips": 0.23140980303287506}, "wrist_left": {"psnr": 14.170446115215649, "ssim": 0.5740549590237287, "lpips": 0.2883979082107544}, "wrist_right": {"psnr": 13.025246775922552, "ssim": 0.5850010254810717, "lpips": 0.4445151388645172}, "tactile_left": {"psnr": 36.77077217920117, "ssim": 0.9686132887529844, "lpips": 0.11975985765457153}, "tactile_right": {"psnr": 34.88869602452395, "ssim": 0.9633180040605533, "lpips": 0.16092932224273682}}, {"video": {"psnr": 20.431850553040217, "ssim": 0.7176922163177195, "lpips": 0.28999844193458557}, "wrist_left": {"psnr": 10.372554972353756, "ssim": 0.494672483501433, "lpips": 0.4926567077636719}, "wrist_right": {"psnr": 11.818415967171344, "ssim": 0.634865035552173, "lpips": 0.4608533978462219}, "tactile_left": {"psnr": 36.02830420103332, "ssim": 0.9660129366406921, "lpips": 0.1333545446395874}, "tactile_right": {"psnr": 34.88526811902174, "ssim": 0.9659996560801429, "lpips": 0.1311572790145874}}, {"video": {"psnr": 20.41288026604579, "ssim": 0.719516985803512, "lpips": 0.29121464490890503}, "wrist_left": {"psnr": 8.279344970972753, "ssim": 0.3679226671564517, "lpips": 0.6103093028068542}, "wrist_right": {"psnr": 12.27570301162341, "ssim": 0.594612175472133, "lpips": 0.4802060127258301}, "tactile_left": {"psnr": 35.395000122302044, "ssim": 0.962856214706401, "lpips": 0.15186941623687744}, "tactile_right": {"psnr": 34.2536396340988, "ssim": 0.9631099830623489, "lpips": 0.15423719584941864}}, {"video": {"psnr": 20.53755327519784, "ssim": 0.7204420642584016, "lpips": 0.2985483407974243}, "wrist_left": {"psnr": 8.758730207463097, "ssim": 0.3938158623726063, "lpips": 0.577852725982666}, "wrist_right": {"psnr": 12.592031913374516, "ssim": 0.5984622516570723, "lpips": 0.48151135444641113}, "tactile_left": {"psnr": 33.261515052908, "ssim": 0.9513227154252557, "lpips": 0.22026212513446808}, "tactile_right": {"psnr": 33.790814824532404, "ssim": 0.9606592184738896, "lpips": 0.17155784368515015}}, {"video": {"psnr": 20.38189297123273, "ssim": 0.7101890429877177, "lpips": 0.309298038482666}, "wrist_left": {"psnr": 9.295028190622313, "ssim": 0.4270060550510951, "lpips": 0.5515831708908081}, "wrist_right": {"psnr": 15.229696668220909, "ssim": 0.6612173562023487, "lpips": 0.3887687921524048}, "tactile_left": {"psnr": 33.063398447355404, "ssim": 0.9501049851600333, "lpips": 0.23198580741882324}, "tactile_right": {"psnr": 33.395389504410026, "ssim": 0.9584379612938021, "lpips": 0.19047382473945618}}, {"video": {"psnr": 20.80864600033931, "ssim": 0.7089160643291388, "lpips": 0.28280022740364075}, "wrist_left": {"psnr": 9.942904403752962, "ssim": 0.3815381266179343, "lpips": 0.5579877495765686}, "wrist_right": {"psnr": 16.218808004322614, "ssim": 0.6856246698581168, "lpips": 0.3364190459251404}, "tactile_left": {"psnr": 34.72061994862779, "ssim": 0.9585665451334854, "lpips": 0.1821724772453308}, "tactile_right": {"psnr": 33.09146264339539, "ssim": 0.9561301654691332, "lpips": 0.20761331915855408}}], "long_metrics": {"video": {"psnr": 22.636572116133664, "ssim": 0.7941315523190772, "lpips": 0.18592817336320877}, "wrist_left": {"psnr": 14.509356446386327, "ssim": 0.5831108578501909, "lpips": 0.32451578564941885}, "wrist_right": {"psnr": 14.70023558471698, "ssim": 0.6239423124384219, "lpips": 0.37181536058584846}, "tactile_left": {"psnr": 39.23270051430053, "ssim": 0.9722137024475875, "lpips": 0.10206044924755892}, "tactile_right": {"psnr": 36.41267280567597, "ssim": 0.9679762055282659, "lpips": 0.135053817431132}}}, {"id": "pusht_13", "episode": "pushT_0911_episode_007_seg01.pt", "requested_episode": "pushT_0911_episode_006_seg01.pt", "category": "release", "t_start": 308, "start_seconds": 20.533333333333335, "short_contact": [1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 0, 0], "future_transition_ticks": [11], "long_contact_fraction": 0.4375, "long_label": "release", "short_metrics": {"video": {"psnr": 24.88663339668159, "ssim": 0.8812885218738089, "lpips": 0.08585040271282196}, "wrist_left": {"psnr": 15.614297738028107, "ssim": 0.7022721787133892, "lpips": 0.22439220547676086}, "wrist_right": {"psnr": 14.368235021316863, "ssim": 0.7736578869916128, "lpips": 0.3217238187789917}, "tactile_left": {"psnr": 39.58703793313749, "ssim": 0.98113780312862, "lpips": 0.052320338785648346}, "tactile_right": {"psnr": 50.65600875508657, "ssim": 0.9941921527833053, "lpips": 0.004440649412572384}}, "media": {"short": {"video": "media/pusht_13_short.mp4", "poster": "media/pusht_13_short.jpg"}, "long": {"video": "media/pusht_13_long.mp4", "poster": "media/pusht_13_long.jpg"}}, "force": {"source": "recorded_normal_force", "units": "N", "fps": 15, "left": [1.1662499904632568, 1.1662499904632568, 1.1662499904632568, 2.9424359798431396, 2.636666774749756, 1.167639136314392, 1.5254545211791992, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 1.9833333492279053, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.1662499904632568, 1.1662499904632568, 0.7740969061851501, 1.1662499904632568, 1.1662499904632568, 1.1662499904632568, 1.1662499904632568, 1.1678714752197266, 1.1662499904632568, 1.1662499904632568, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.1662499904632568, 2.6890487670898438, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.31956148147583, 1.9833333492279053, 2.8207693099975586, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "right": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.5254545211791992, 1.1662499904632568, 1.1662499904632568, 0.7687578201293945, 0.41999998688697815, 0.49666666984558105, 0.49666666984558105, 1.1662499904632568, 1.1733332872390747, 2.8207693099975586, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.5194862484931946, 0.19508875906467438, 0.4116966724395752, 0.46409013867378235, 0.563931941986084, 0.7764800190925598, 1.1662499904632568, 1.5254545211791992, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.7694309949874878, 1.9833333492279053, 2.4149999618530273, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]}, "long_curve": [{"video": {"psnr": 24.88663339668159, "ssim": 0.8812885218738089, "lpips": 0.08585040271282196}, "wrist_left": {"psnr": 15.614297738028107, "ssim": 0.7022721787133892, "lpips": 0.22439220547676086}, "wrist_right": {"psnr": 14.368235021316863, "ssim": 0.7736578869916128, "lpips": 0.3217238187789917}, "tactile_left": {"psnr": 39.58703793313749, "ssim": 0.98113780312862, "lpips": 0.052320338785648346}, "tactile_right": {"psnr": 50.65600875508657, "ssim": 0.9941921527833053, "lpips": 0.004440649412572384}}, {"video": {"psnr": 21.316656899254895, "ssim": 0.773461508024357, "lpips": 0.20236575603485107}, "wrist_left": {"psnr": 13.101859935160578, "ssim": 0.4967591644630066, "lpips": 0.4274776875972748}, "wrist_right": {"psnr": 10.862053443716155, "ssim": 0.6227693230499654, "lpips": 0.4788697361946106}, "tactile_left": {"psnr": 42.01448860325469, "ssim": 0.979737402715299, "lpips": 0.03812877833843231}, "tactile_right": {"psnr": 46.96420080144058, "ssim": 0.9893209209525803, "lpips": 0.01452105212956667}}, {"video": {"psnr": 20.964881802768296, "ssim": 0.7644930883559273, "lpips": 0.22603213787078857}, "wrist_left": {"psnr": 13.173706929137346, "ssim": 0.4977618865622462, "lpips": 0.4033419191837311}, "wrist_right": {"psnr": 9.423914662073825, "ssim": 0.5098807928656226, "lpips": 0.5947843790054321}, "tactile_left": {"psnr": 42.111901456433365, "ssim": 0.9798929947538302, "lpips": 0.038266196846961975}, "tactile_right": {"psnr": 40.85077590524051, "ssim": 0.9808427729156401, "lpips": 0.08293145895004272}}, {"video": {"psnr": 19.47433878067599, "ssim": 0.7457171005501146, "lpips": 0.2529185116291046}, "wrist_left": {"psnr": 10.293908489489228, "ssim": 0.4864281185342567, "lpips": 0.4798068106174469}, "wrist_right": {"psnr": 13.490537821679123, "ssim": 0.6363321839425489, "lpips": 0.39217257499694824}, "tactile_left": {"psnr": 41.18916381085068, "ssim": 0.9784471114688081, "lpips": 0.04828786104917526}, "tactile_right": {"psnr": 40.77626962652353, "ssim": 0.9816713871768634, "lpips": 0.050578221678733826}}, {"video": {"psnr": 19.674785024596147, "ssim": 0.7421053372508039, "lpips": 0.23517103493213654}, "wrist_left": {"psnr": 8.803789645567289, "ssim": 0.3978457428140443, "lpips": 0.5434136986732483}, "wrist_right": {"psnr": 13.450379299558781, "ssim": 0.6601322360315485, "lpips": 0.38429343700408936}, "tactile_left": {"psnr": 37.415765457490906, "ssim": 0.970142115226379, "lpips": 0.10652751475572586}, "tactile_right": {"psnr": 39.968534023345754, "ssim": 0.9803490542417101, "lpips": 0.06569726765155792}}, {"video": {"psnr": 20.278308647745078, "ssim": 0.7456818395802949, "lpips": 0.23066189885139465}, "wrist_left": {"psnr": 10.942789419096755, "ssim": 0.5078250113957237, "lpips": 0.43522053956985474}, "wrist_right": {"psnr": 9.245760524301932, "ssim": 0.5140832737136335, "lpips": 0.6181740760803223}, "tactile_left": {"psnr": 38.827339260403825, "ssim": 0.9745259848560466, "lpips": 0.07180312275886536}, "tactile_right": {"psnr": 38.44619953546572, "ssim": 0.9760675325327057, "lpips": 0.09855590760707855}}, {"video": {"psnr": 18.956316616788317, "ssim": 0.7287400343632696, "lpips": 0.26387840509414673}, "wrist_left": {"psnr": 10.188091682692551, "ssim": 0.5509672950028894, "lpips": 0.4663875699043274}, "wrist_right": {"psnr": 12.243232689225279, "ssim": 0.6175717836602943, "lpips": 0.4135025441646576}, "tactile_left": {"psnr": 37.999742921614335, "ssim": 0.9721885186341501, "lpips": 0.08311653137207031}, "tactile_right": {"psnr": 37.31730782774416, "ssim": 0.9719190542887299, "lpips": 0.12738679349422455}}, {"video": {"psnr": 18.74677911859478, "ssim": 0.7174510543674113, "lpips": 0.2817326784133911}, "wrist_left": {"psnr": 9.296354790252863, "ssim": 0.5348772000677873, "lpips": 0.6008239984512329}, "wrist_right": {"psnr": 15.63097915031167, "ssim": 0.713286139496226, "lpips": 0.31495898962020874}, "tactile_left": {"psnr": 36.546625453535896, "ssim": 0.9669614990323232, "lpips": 0.10602006316184998}, "tactile_right": {"psnr": 37.314454655326095, "ssim": 0.9729329986469587, "lpips": 0.1258791834115982}}, {"video": {"psnr": 20.232438577222545, "ssim": 0.7286423735420078, "lpips": 0.2554519474506378}, "wrist_left": {"psnr": 9.593073617022386, "ssim": 0.5791668189822862, "lpips": 0.5350695848464966}, "wrist_right": {"psnr": 8.631640417111306, "ssim": 0.49217094569661124, "lpips": 0.5957643985748291}, "tactile_left": {"psnr": 35.780928749678054, "ssim": 0.9635448656073412, "lpips": 0.12222889810800552}, "tactile_right": {"psnr": 36.49060285444091, "ssim": 0.9707239921366474, "lpips": 0.14067961275577545}}, {"video": {"psnr": 19.5541582916995, "ssim": 0.7126328850613238, "lpips": 0.27993977069854736}, "wrist_left": {"psnr": 14.946040562402382, "ssim": 0.7216775390183008, "lpips": 0.2962283492088318}, "wrist_right": {"psnr": 7.590179967007137, "ssim": 0.4308480515801002, "lpips": 0.6696096658706665}, "tactile_left": {"psnr": 35.125594642689904, "ssim": 0.962555667593148, "lpips": 0.137348935008049}, "tactile_right": {"psnr": 34.32413017882358, "ssim": 0.960892572505472, "lpips": 0.19104665517807007}}, {"video": {"psnr": 18.996600888385803, "ssim": 0.714908227155292, "lpips": 0.2906392514705658}, "wrist_left": {"psnr": 9.28801559518886, "ssim": 0.4966790038244, "lpips": 0.5177367925643921}, "wrist_right": {"psnr": 11.881621170712126, "ssim": 0.54364296807383, "lpips": 0.4595019817352295}, "tactile_left": {"psnr": 34.57424862672639, "ssim": 0.9599725389309358, "lpips": 0.15092666447162628}, "tactile_right": {"psnr": 34.130995694627515, "ssim": 0.9619071622792041, "lpips": 0.18336601555347443}}, {"video": {"psnr": 18.367652422325577, "ssim": 0.69632834044481, "lpips": 0.311234712600708}, "wrist_left": {"psnr": 9.39508401850523, "ssim": 0.47712784777182193, "lpips": 0.514299213886261}, "wrist_right": {"psnr": 12.969070482215825, "ssim": 0.5793652082529447, "lpips": 0.46311038732528687}, "tactile_left": {"psnr": 34.04684184576986, "ssim": 0.9573318741983786, "lpips": 0.16374962031841278}, "tactile_right": {"psnr": 33.58730196624443, "ssim": 0.9610575228000438, "lpips": 0.19678232073783875}}, {"video": {"psnr": 18.159725508975257, "ssim": 0.6916913310553043, "lpips": 0.3106188178062439}, "wrist_left": {"psnr": 8.63827983990071, "ssim": 0.3528608235248471, "lpips": 0.5530630946159363}, "wrist_right": {"psnr": 12.179954959699742, "ssim": 0.5775491604486291, "lpips": 0.4807202219963074}, "tactile_left": {"psnr": 32.922887991521335, "ssim": 0.9512146355266976, "lpips": 0.20217224955558777}, "tactile_right": {"psnr": 33.1166614857408, "ssim": 0.9582075618426595, "lpips": 0.2106316238641739}}, {"video": {"psnr": 18.4450237136828, "ssim": 0.6937592306028133, "lpips": 0.31196585297584534}, "wrist_left": {"psnr": 8.752425477304591, "ssim": 0.39400687146944935, "lpips": 0.5535373687744141}, "wrist_right": {"psnr": 11.599982361625127, "ssim": 0.5489316264071458, "lpips": 0.4423425793647766}, "tactile_left": {"psnr": 31.12236764040675, "ssim": 0.9346553477093911, "lpips": 0.2595444321632385}, "tactile_right": {"psnr": 32.541547174769626, "ssim": 0.9549106485783072, "lpips": 0.22811459004878998}}, {"video": {"psnr": 18.40779213888487, "ssim": 0.6929605592587563, "lpips": 0.33118486404418945}, "wrist_left": {"psnr": 10.80955446911403, "ssim": 0.5666545634647668, "lpips": 0.4459887146949768}, "wrist_right": {"psnr": 10.429545799027213, "ssim": 0.45390899631052983, "lpips": 0.5445101261138916}, "tactile_left": {"psnr": 32.92050548481458, "ssim": 0.9500630102495295, "lpips": 0.20351248979568481}, "tactile_right": {"psnr": 32.16504236658827, "ssim": 0.952377024955458, "lpips": 0.24162152409553528}}], "long_metrics": {"video": {"psnr": 19.764139455218764, "ssim": 0.7353240954324197, "lpips": 0.25797640283902484}, "wrist_left": {"psnr": 10.855818147257528, "ssim": 0.517527337707281, "lpips": 0.4664525032043457}, "wrist_right": {"psnr": 11.599805851305472, "ssim": 0.5782753717680829, "lpips": 0.4782692611217499}, "tactile_left": {"psnr": 36.81236265855521, "ssim": 0.9654914246420585, "lpips": 0.11893024643262227}, "tactile_right": {"psnr": 37.91000219009387, "ssim": 0.971158157242419, "lpips": 0.13081552510460218}}}, {"id": "pusht_14", "episode": "pushT_0911_episode_007_seg01.pt", "requested_episode": "pushT_0911_episode_006_seg01.pt", "category": "full", "t_start": 214, "start_seconds": 14.266666666666667, "short_contact": [1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1], "future_transition_ticks": [], "long_contact_fraction": 0.5390625, "long_label": "full", "short_metrics": {"video": {"psnr": 30.218559466969943, "ssim": 0.9464591297605733, "lpips": 0.036225344985723495}, "wrist_left": {"psnr": 29.030517514076166, "ssim": 0.95102889690258, "lpips": 0.025463618338108063}, "wrist_right": {"psnr": 21.903161448559416, "ssim": 0.8732894802108531, "lpips": 0.08080588281154633}, "tactile_left": {"psnr": 51.63345962688293, "ssim": 0.9950853585183945, "lpips": 0.0031658997759222984}, "tactile_right": {"psnr": 35.56099983214789, "ssim": 0.9663588777581484, "lpips": 0.09553088992834091}}, "media": {"short": {"video": "media/pusht_14_short.mp4", "poster": "media/pusht_14_short.jpg"}, "long": {"video": "media/pusht_14_long.mp4", "poster": "media/pusht_14_long.jpg"}}, "force": {"source": "recorded_normal_force", "units": "N", "fps": 15, "left": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.1662499904632568, 1.1662499904632568, 1.1662499904632568, 1.1662499904632568, 2.9424359798431396, 2.636666774749756, 1.167639136314392, 1.5254545211791992, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 1.9833333492279053, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "right": [1.1662499904632568, 1.1662499904632568, 1.1662499904632568, 2.636666774749756, 1.16824209690094, 1.9833333492279053, 2.636666774749756, 2.8207693099975586, 2.9424359798431396, 2.8207693099975586, 2.9424359798431396, 2.9424359798431396, 2.636666774749756, 2.636666774749756, 2.636666774749756, 1.1667428016662598, 1.1662499904632568, 1.1662499904632568, 1.0983830690383911, 1.1662499904632568, 1.2014970779418945, 1.9833333492279053, 2.9424359798431396, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.5254545211791992, 1.1733332872390747, 1.1733332872390747, 1.1662499904632568, 1.1662499904632568, 1.1662499904632568, 1.1662499904632568, 1.1662499904632568, 0.49666666984558105, 0.7431948184967041, 0.5188231468200684, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.1662499904632568, 1.1662499904632568, 1.1662499904632568, 1.43471360206604, 1.169874668121338, 1.1733332872390747, 1.5254545211791992, 1.4500000476837158, 1.4662624597549438, 1.369276523590088, 1.1733332872390747, 1.1662499904632568, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.5254545211791992, 1.1662499904632568, 1.1662499904632568, 0.7687578201293945, 0.41999998688697815, 0.49666666984558105, 0.49666666984558105, 1.1662499904632568, 1.1733332872390747, 2.8207693099975586]}, "long_curve": [{"video": {"psnr": 30.218559466969943, "ssim": 0.9464591297605733, "lpips": 0.036225344985723495}, "wrist_left": {"psnr": 29.030517514076166, "ssim": 0.95102889690258, "lpips": 0.025463618338108063}, "wrist_right": {"psnr": 21.903161448559416, "ssim": 0.8732894802108531, "lpips": 0.08080588281154633}, "tactile_left": {"psnr": 51.63345962688293, "ssim": 0.9950853585183945, "lpips": 0.0031658997759222984}, "tactile_right": {"psnr": 35.56099983214789, "ssim": 0.9663588777581484, "lpips": 0.09553088992834091}}, {"video": {"psnr": 24.04617825720124, "ssim": 0.8781758771352144, "lpips": 0.1224251389503479}, "wrist_left": {"psnr": 16.888210843888675, "ssim": 0.8304512938747307, "lpips": 0.14051054418087006}, "wrist_right": {"psnr": 13.887343359329666, "ssim": 0.5925329402568704, "lpips": 0.42743438482284546}, "tactile_left": {"psnr": 48.15234159061216, "ssim": 0.9922023982571513, "lpips": 0.009945405647158623}, "tactile_right": {"psnr": 38.572600432609676, "ssim": 0.9747834985640329, "lpips": 0.10180224478244781}}, {"video": {"psnr": 22.107839259028857, "ssim": 0.844464491141501, "lpips": 0.178957998752594}, "wrist_left": {"psnr": 14.379971185652158, "ssim": 0.6626063569174359, "lpips": 0.2263645976781845}, "wrist_right": {"psnr": 12.946450325885607, "ssim": 0.5706766967881927, "lpips": 0.4535127580165863}, "tactile_left": {"psnr": 44.94793816134849, "ssim": 0.9887921285614545, "lpips": 0.021546021103858948}, "tactile_right": {"psnr": 41.79293152111954, "ssim": 0.9822297920153218, "lpips": 0.031224649399518967}}, {"video": {"psnr": 21.471940113198276, "ssim": 0.8257799022537768, "lpips": 0.20194926857948303}, "wrist_left": {"psnr": 13.353042592359225, "ssim": 0.6387833111271376, "lpips": 0.23850658535957336}, "wrist_right": {"psnr": 11.997571497445204, "ssim": 0.5260973180211423, "lpips": 0.4260469675064087}, "tactile_left": {"psnr": 43.43688345497364, "ssim": 0.9853102249672916, "lpips": 0.0349346324801445}, "tactile_right": {"psnr": 38.74314952164064, "ssim": 0.9762849436735795, "lpips": 0.08697465062141418}}, {"video": {"psnr": 20.95984319247382, "ssim": 0.8124477496987025, "lpips": 0.2099674940109253}, "wrist_left": {"psnr": 12.811331756072505, "ssim": 0.5956581121725921, "lpips": 0.2732080817222595}, "wrist_right": {"psnr": 13.15162800706192, "ssim": 0.5878190292783299, "lpips": 0.36486849188804626}, "tactile_left": {"psnr": 41.881931602373825, "ssim": 0.9826993860243192, "lpips": 0.04622913524508476}, "tactile_right": {"psnr": 37.78138221169036, "ssim": 0.973118611352269, "lpips": 0.10980880260467529}}, {"video": {"psnr": 20.05174031630836, "ssim": 0.7821663093535289, "lpips": 0.23585468530654907}, "wrist_left": {"psnr": 14.125926689619172, "ssim": 0.6369733024114759, "lpips": 0.2612389922142029}, "wrist_right": {"psnr": 12.289753965836073, "ssim": 0.5392289543407088, "lpips": 0.4533759355545044}, "tactile_left": {"psnr": 40.423590143386214, "ssim": 0.9799877429340553, "lpips": 0.0630377009510994}, "tactile_right": {"psnr": 37.797016608077485, "ssim": 0.9751372512948697, "lpips": 0.07412534952163696}}, {"video": {"psnr": 19.68722930540474, "ssim": 0.7648538258712845, "lpips": 0.23681581020355225}, "wrist_left": {"psnr": 13.520546831978681, "ssim": 0.5910171110950083, "lpips": 0.2837950587272644}, "wrist_right": {"psnr": 15.082457769788425, "ssim": 0.6244328803894367, "lpips": 0.3271975517272949}, "tactile_left": {"psnr": 39.2760678582079, "ssim": 0.976696568712136, "lpips": 0.08553457260131836}, "tactile_right": {"psnr": 36.00330776623964, "ssim": 0.9684872866389721, "lpips": 0.13401713967323303}}, {"video": {"psnr": 20.529618500726798, "ssim": 0.7619216554405244, "lpips": 0.21362563967704773}, "wrist_left": {"psnr": 13.015666644103593, "ssim": 0.5464278493238647, "lpips": 0.30416008830070496}, "wrist_right": {"psnr": 12.881533773950478, "ssim": 0.4964244134358252, "lpips": 0.4959993362426758}, "tactile_left": {"psnr": 38.02040813208295, "ssim": 0.9730417284355377, "lpips": 0.10854380577802658}, "tactile_right": {"psnr": 34.61302671632053, "ssim": 0.9597522480041808, "lpips": 0.19078701734542847}}, {"video": {"psnr": 20.929285910508042, "ssim": 0.7461024254171688, "lpips": 0.23558543622493744}, "wrist_left": {"psnr": 13.567490203286422, "ssim": 0.6089740596659226, "lpips": 0.3290884494781494}, "wrist_right": {"psnr": 12.31553457061471, "ssim": 0.5702537787449167, "lpips": 0.48721832036972046}, "tactile_left": {"psnr": 37.094106925713966, "ssim": 0.9703037969473008, "lpips": 0.12278354167938232}, "tactile_right": {"psnr": 35.65697290618045, "ssim": 0.9689201273410404, "lpips": 0.11654965579509735}}, {"video": {"psnr": 20.284934317378692, "ssim": 0.7280948098633482, "lpips": 0.2673247456550598}, "wrist_left": {"psnr": 8.336476515766684, "ssim": 0.404700290746524, "lpips": 0.6192423105239868}, "wrist_right": {"psnr": 15.827626252688738, "ssim": 0.6951089936865259, "lpips": 0.3817253112792969}, "tactile_left": {"psnr": 36.15581891541266, "ssim": 0.9663975988957412, "lpips": 0.14055708050727844}, "tactile_right": {"psnr": 34.64974721678671, "ssim": 0.9668095389847804, "lpips": 0.1325281411409378}}, {"video": {"psnr": 20.265088134026144, "ssim": 0.7141030956133954, "lpips": 0.2714051604270935}, "wrist_left": {"psnr": 8.40667603769585, "ssim": 0.39258902900759873, "lpips": 0.6015911102294922}, "wrist_right": {"psnr": 15.282498854874927, "ssim": 0.6584484795640795, "lpips": 0.422432005405426}, "tactile_left": {"psnr": 34.71550681325631, "ssim": 0.9602550654177937, "lpips": 0.17442262172698975}, "tactile_right": {"psnr": 33.93397940810403, "ssim": 0.9641571035000331, "lpips": 0.15093789994716644}}, {"video": {"psnr": 20.285133307841466, "ssim": 0.7098595352213011, "lpips": 0.27932924032211304}, "wrist_left": {"psnr": 8.57986357110729, "ssim": 0.38555812497888553, "lpips": 0.6035494804382324}, "wrist_right": {"psnr": 14.152700215140086, "ssim": 0.6506900012152613, "lpips": 0.4603409767150879}, "tactile_left": {"psnr": 32.02938539009887, "ssim": 0.9416157552591521, "lpips": 0.2694782018661499}, "tactile_right": {"psnr": 33.28335241888115, "ssim": 0.961300330273708, "lpips": 0.1717560887336731}}, {"video": {"psnr": 20.26215409471586, "ssim": 0.7123802190045088, "lpips": 0.2837931215763092}, "wrist_left": {"psnr": 9.355718852368742, "ssim": 0.4261904018130655, "lpips": 0.5656877756118774}, "wrist_right": {"psnr": 16.76335615202208, "ssim": 0.7003870871909965, "lpips": 0.3629785180091858}, "tactile_left": {"psnr": 33.92918468057131, "ssim": 0.9556869736274329, "lpips": 0.2049122303724289}, "tactile_right": {"psnr": 32.92859436048556, "ssim": 0.9587185079697296, "lpips": 0.18800237774848938}}, {"video": {"psnr": 20.048430747482342, "ssim": 0.7050816392526862, "lpips": 0.29526689648628235}, "wrist_left": {"psnr": 9.274046597834248, "ssim": 0.30606833456491267, "lpips": 0.573978066444397}, "wrist_right": {"psnr": 14.687579426541364, "ssim": 0.6356649457381861, "lpips": 0.3746877908706665}, "tactile_left": {"psnr": 34.416942934263105, "ssim": 0.9566057426008978, "lpips": 0.19651375710964203}, "tactile_right": {"psnr": 32.59520258156874, "ssim": 0.9550384496636279, "lpips": 0.21600276231765747}}, {"video": {"psnr": 20.508669804715886, "ssim": 0.7048552156276178, "lpips": 0.2757396101951599}, "wrist_left": {"psnr": 9.692302924948505, "ssim": 0.4106443580286534, "lpips": 0.5401788949966431}, "wrist_right": {"psnr": 14.034212843644456, "ssim": 0.6242747709427398, "lpips": 0.37022703886032104}, "tactile_left": {"psnr": 34.21261382904268, "ssim": 0.9548873664729367, "lpips": 0.2051147073507309}, "tactile_right": {"psnr": 32.04395646138738, "ssim": 0.9503052998863029, "lpips": 0.26322662830352783}}], "long_metrics": {"video": {"psnr": 21.443776315198697, "ssim": 0.7757830587103421, "lpips": 0.2229510394235452}, "wrist_left": {"psnr": 12.955852584050527, "ssim": 0.5591780555086925, "lpips": 0.3724375769495964}, "wrist_right": {"psnr": 14.48022723089221, "ssim": 0.6230219846536044, "lpips": 0.3925900846719742}, "tactile_left": {"psnr": 39.355078670548465, "ssim": 0.9719711890421063, "lpips": 0.11244795427968104}, "tactile_right": {"psnr": 35.730414664215985, "ssim": 0.9667601244613732, "lpips": 0.13755161985754966}}}], "split": "model_v3_pushT_holdout.json", "unavailable": [{"episode": "pushT_0911_episode_005_seg01.pt", "category": "onset", "reason": "Short only: insufficient valid consecutive windows for 8-second rollout"}, {"episode": "pushT_0911_episode_005_seg01.pt", "category": "full", "reason": "No qualifying initial window"}], "complete": true}, {"id": "pusht_e007", "label": "PushT", "checkpoint": "epoch_007.pt", "run": "nano_action_causal_pusht_v1", "planned_cases": 15, "cases": [{"id": "pusht_e007_00", "episode": "pushT_0911_episode_005_seg00.pt", "requested_episode": "pushT_0911_episode_005_seg00.pt", "category": "none", "t_start": 377, "start_seconds": 25.133333333333333, "short_contact": [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0], "future_transition_ticks": [], "long_contact_fraction": 0.0, "long_label": "none_throughout", "short_metrics": {"video": {"psnr": 32.28676292304394, "ssim": 0.9527342752353374, "lpips": 0.021923039108514786}, "wrist_left": {"psnr": 21.283971181418035, "ssim": 0.8191328254473695, "lpips": 0.12203647941350937}, "wrist_right": {"psnr": 31.986159311875817, "ssim": 0.9464798621444017, "lpips": 0.016151322051882744}, "tactile_left": {"psnr": 50.09362620368984, "ssim": 0.9926965280223479, "lpips": 0.0052865250036120415}, "tactile_right": {"psnr": 50.55793541387523, "ssim": 0.9946972652524866, "lpips": 0.003874231595546007}}, "media": {"short": {"video": "media/pusht_e007_00_short.mp4", "poster": "media/pusht_e007_00_short.jpg"}, "long": {"video": "media/pusht_e007_00_long.mp4", "poster": "media/pusht_e007_00_long.jpg"}}, "force": {"source": "recorded_normal_force", "units": "N", "fps": 15, "left": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "right": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]}, "long_curve": [{"video": {"psnr": 32.28676292304394, "ssim": 0.9527342752353374, "lpips": 0.021923039108514786}, "wrist_left": {"psnr": 21.283971181418035, "ssim": 0.8191328254473695, "lpips": 0.12203647941350937}, "wrist_right": {"psnr": 31.986159311875817, "ssim": 0.9464798621444017, "lpips": 0.016151322051882744}, "tactile_left": {"psnr": 50.09362620368984, "ssim": 0.9926965280223479, "lpips": 0.0052865250036120415}, "tactile_right": {"psnr": 50.55793541387523, "ssim": 0.9946972652524866, "lpips": 0.003874231595546007}}, {"video": {"psnr": 28.858028803320973, "ssim": 0.9155834933507234, "lpips": 0.041051268577575684}, "wrist_left": {"psnr": 19.687408834655102, "ssim": 0.7518555315167569, "lpips": 0.16001936793327332}, "wrist_right": {"psnr": 26.10685848144032, "ssim": 0.8682646224854423, "lpips": 0.04195854067802429}, "tactile_left": {"psnr": 47.47779186731278, "ssim": 0.9898896249297768, "lpips": 0.011294620111584663}, "tactile_right": {"psnr": 48.14932909703926, "ssim": 0.990053489994327, "lpips": 0.011857439763844013}}, {"video": {"psnr": 28.14376234523928, "ssim": 0.8987765733155723, "lpips": 0.04538100212812424}, "wrist_left": {"psnr": 11.869638953312304, "ssim": 0.5949533119160423, "lpips": 0.3873661160469055}, "wrist_right": {"psnr": 25.979977002509912, "ssim": 0.8070189872328751, "lpips": 0.05217012017965317}, "tactile_left": {"psnr": 44.83109498509249, "ssim": 0.987460268197194, "lpips": 0.019744565710425377}, "tactile_right": {"psnr": 44.705578877686506, "ssim": 0.9867585654868014, "lpips": 0.023655928671360016}}, {"video": {"psnr": 26.214765274331416, "ssim": 0.862324252760545, "lpips": 0.0647554099559784}, "wrist_left": {"psnr": 8.38629262176786, "ssim": 0.4211837312599551, "lpips": 0.6216136813163757}, "wrist_right": {"psnr": 26.034485389794163, "ssim": 0.7816260869560752, "lpips": 0.06229414790868759}, "tactile_left": {"psnr": 42.76423053980477, "ssim": 0.9842694995136749, "lpips": 0.03160377964377403}, "tactile_right": {"psnr": 42.07710704045303, "ssim": 0.9842605388338626, "lpips": 0.037094779312610626}}, {"video": {"psnr": 25.84896435528894, "ssim": 0.8660238066190227, "lpips": 0.08358807861804962}, "wrist_left": {"psnr": 8.549387949032239, "ssim": 0.4291692347007724, "lpips": 0.5808224081993103}, "wrist_right": {"psnr": 26.18752228799068, "ssim": 0.7770380547832434, "lpips": 0.06716126203536987}, "tactile_left": {"psnr": 40.313186971829666, "ssim": 0.9773815749562835, "lpips": 0.04716777056455612}, "tactile_right": {"psnr": 41.0805440147578, "ssim": 0.9823168675769273, "lpips": 0.055774055421352386}}, {"video": {"psnr": 23.845137975306088, "ssim": 0.8384602884630408, "lpips": 0.1372966766357422}, "wrist_left": {"psnr": 9.100047690254021, "ssim": 0.4193017819525337, "lpips": 0.527073085308075}, "wrist_right": {"psnr": 25.73211043118863, "ssim": 0.7783806775698144, "lpips": 0.08414901793003082}, "tactile_left": {"psnr": 39.07311791216107, "ssim": 0.9758280792498082, "lpips": 0.06310498714447021}, "tactile_right": {"psnr": 39.79574641199236, "ssim": 0.9805196296126547, "lpips": 0.0706842839717865}}, {"video": {"psnr": 24.871923189966985, "ssim": 0.8258760136496068, "lpips": 0.09160983562469482}, "wrist_left": {"psnr": 9.167986576630474, "ssim": 0.447366709499754, "lpips": 0.5503692030906677}, "wrist_right": {"psnr": 19.234634179769685, "ssim": 0.7627737225266142, "lpips": 0.1707211285829544}, "tactile_left": {"psnr": 38.28359453979214, "ssim": 0.974409161573278, "lpips": 0.07846962660551071}, "tactile_right": {"psnr": 38.81609834246604, "ssim": 0.9781149438444838, "lpips": 0.08957110345363617}}, {"video": {"psnr": 23.833673261515585, "ssim": 0.7902879965963455, "lpips": 0.09495726227760315}, "wrist_left": {"psnr": 9.34750756498069, "ssim": 0.4355650487574778, "lpips": 0.5490319728851318}, "wrist_right": {"psnr": 13.524955680602408, "ssim": 0.6604285286526417, "lpips": 0.34243008494377136}, "tactile_left": {"psnr": 37.35017769681584, "ssim": 0.9711357257451105, "lpips": 0.0931946188211441}, "tactile_right": {"psnr": 38.1615996296877, "ssim": 0.9758005677825072, "lpips": 0.10848060995340347}}, {"video": {"psnr": 24.51951227641546, "ssim": 0.7980858098830421, "lpips": 0.09004814177751541}, "wrist_left": {"psnr": 9.38257976123867, "ssim": 0.4375650649721172, "lpips": 0.544901430606842}, "wrist_right": {"psnr": 11.45055606733608, "ssim": 0.5870764418260679, "lpips": 0.4663577675819397}, "tactile_left": {"psnr": 36.67713200576304, "ssim": 0.968604553349566, "lpips": 0.10594268888235092}, "tactile_right": {"psnr": 37.57487169320962, "ssim": 0.9739454403730319, "lpips": 0.12449494749307632}}, {"video": {"psnr": 23.508514061243243, "ssim": 0.7901593503381281, "lpips": 0.12247861921787262}, "wrist_left": {"psnr": 10.051080648495489, "ssim": 0.42303384944528855, "lpips": 0.48726212978363037}, "wrist_right": {"psnr": 10.718546675556501, "ssim": 0.5241625842727435, "lpips": 0.527836263179779}, "tactile_left": {"psnr": 35.87947537310093, "ssim": 0.9661491049952583, "lpips": 0.12114939838647842}, "tactile_right": {"psnr": 36.24967532635097, "ssim": 0.9712705049381394, "lpips": 0.1403796374797821}}, {"video": {"psnr": 23.15898778121774, "ssim": 0.7804071020437797, "lpips": 0.13876907527446747}, "wrist_left": {"psnr": 12.107810487524944, "ssim": 0.46409435404466837, "lpips": 0.41198211908340454}, "wrist_right": {"psnr": 10.65406992336176, "ssim": 0.4884338711383935, "lpips": 0.5567172169685364}, "tactile_left": {"psnr": 35.39413413595593, "ssim": 0.9645511957244242, "lpips": 0.13431891798973083}, "tactile_right": {"psnr": 35.47490136560546, "ssim": 0.9712114414911733, "lpips": 0.12622061371803284}}, {"video": {"psnr": 23.051154229350672, "ssim": 0.7777105393665029, "lpips": 0.15176813304424286}, "wrist_left": {"psnr": 12.39284357358293, "ssim": 0.5000783353037758, "lpips": 0.40040868520736694}, "wrist_right": {"psnr": 11.42107454857707, "ssim": 0.4924716778847102, "lpips": 0.5329134464263916}, "tactile_left": {"psnr": 34.92884648663916, "ssim": 0.9629703042101704, "lpips": 0.14947275817394257}, "tactile_right": {"psnr": 35.08563677275263, "ssim": 0.9699217237356382, "lpips": 0.13888034224510193}}, {"video": {"psnr": 21.772557222948535, "ssim": 0.767902114349738, "lpips": 0.17546603083610535}, "wrist_left": {"psnr": 12.481326234504184, "ssim": 0.6001455522821493, "lpips": 0.39308828115463257}, "wrist_right": {"psnr": 11.478564753119226, "ssim": 0.45184225411579876, "lpips": 0.5133986473083496}, "tactile_left": {"psnr": 34.30383095709556, "ssim": 0.9610471620449759, "lpips": 0.15936364233493805}, "tactile_right": {"psnr": 34.324099493159736, "ssim": 0.9658151735049625, "lpips": 0.15906348824501038}}, {"video": {"psnr": 20.90956114050991, "ssim": 0.7547831972130272, "lpips": 0.1992017775774002}, "wrist_left": {"psnr": 15.303623640214116, "ssim": 0.7064385713116081, "lpips": 0.2821744978427887}, "wrist_right": {"psnr": 10.074888608421986, "ssim": 0.39753358686311746, "lpips": 0.5666418671607971}, "tactile_left": {"psnr": 33.563898319550844, "ssim": 0.9578630112476086, "lpips": 0.17266254127025604}, "tactile_right": {"psnr": 33.828510464974656, "ssim": 0.9643133143135341, "lpips": 0.15981227159500122}}, {"video": {"psnr": 20.194217363752074, "ssim": 0.732940073529291, "lpips": 0.21853214502334595}, "wrist_left": {"psnr": 13.58209814794014, "ssim": 0.6747395628595029, "lpips": 0.31490352749824524}, "wrist_right": {"psnr": 9.127878515117287, "ssim": 0.41202345604704, "lpips": 0.5923246145248413}, "tactile_left": {"psnr": 33.00422634504387, "ssim": 0.9551375678029923, "lpips": 0.18347662687301636}, "tactile_right": {"psnr": 33.582748662698314, "ssim": 0.9632398642158675, "lpips": 0.17815834283828735}}], "long_metrics": {"video": {"psnr": 24.734501480230055, "ssim": 0.8234703257809135, "lpips": 0.11178843304514885}, "wrist_left": {"psnr": 12.179573591036748, "ssim": 0.5416415643513182, "lpips": 0.4222035323580106}, "wrist_right": {"psnr": 17.980818790444104, "ssim": 0.6490369609665987, "lpips": 0.30621502983073395}, "tactile_left": {"psnr": 38.929224289309865, "ssim": 0.9726262241041647, "lpips": 0.0917502045010527}, "tactile_right": {"psnr": 39.29762550711395, "ssim": 0.9768159553970932, "lpips": 0.09520013838385542}}}, {"id": "pusht_e007_01", "episode": "pushT_0911_episode_005_seg00.pt", "requested_episode": "pushT_0911_episode_005_seg00.pt", "category": "onset", "t_start": 1182, "start_seconds": 78.8, "short_contact": [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 1], "future_transition_ticks": [11], "long_contact_fraction": 0.1015625, "long_label": "onset", "short_metrics": {"video": {"psnr": 31.056389393424926, "ssim": 0.9397044687302744, "lpips": 0.02348293736577034}, "wrist_left": {"psnr": 23.113102874337514, "ssim": 0.85932628152118, "lpips": 0.04868151992559433}, "wrist_right": {"psnr": 22.65991462748631, "ssim": 0.7925432836858299, "lpips": 0.11415663361549377}, "tactile_left": {"psnr": 42.80482468805019, "ssim": 0.9776992538716291, "lpips": 0.03591517359018326}, "tactile_right": {"psnr": 48.8245158550087, "ssim": 0.9931178218073433, "lpips": 0.011007004417479038}}, "media": {"short": {"video": "media/pusht_e007_01_short.mp4", "poster": "media/pusht_e007_01_short.jpg"}, "long": {"video": "media/pusht_e007_01_long.mp4", "poster": "media/pusht_e007_01_long.jpg"}}, "force": {"source": "recorded_normal_force", "units": "N", "fps": 15, "left": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.1599999964237213, 0.171951562166214, 0.41999998688697815, 0.4661288559436798, 1.9833333492279053, 1.369855284690857, 1.9833333492279053, 1.9833333492279053, 2.636666774749756, 2.4529788494110107, 2.4149999618530273, 1.5254545211791992, 2.2579867839813232, 1.1733332872390747, 0.5622534155845642, 0.4395720362663269, 0.30081647634506226, 0.16153956949710846, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.1599999964237213, 0.2090778648853302, 0.1599999964237213, 0.27586397528648376, 0.4815323054790497, 1.1662499904632568, 0.7360104918479919, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.1599999964237213, 0.1599999964237213, 0.1599999964237213, 0.1599999964237213, 0.1599999964237213, 0.1599999964237213, 0.1599999964237213, 0.1599999964237213, 0.0, 0.0, 0.0, 0.1599999964237213, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "right": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.1599999964237213, 0.1599999964237213, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]}, "long_curve": [{"video": {"psnr": 31.056389393424926, "ssim": 0.9397044687302744, "lpips": 0.02348293736577034}, "wrist_left": {"psnr": 23.113102874337514, "ssim": 0.85932628152118, "lpips": 0.04868151992559433}, "wrist_right": {"psnr": 22.65991462748631, "ssim": 0.7925432836858299, "lpips": 0.11415663361549377}, "tactile_left": {"psnr": 42.80482468805019, "ssim": 0.9776992538716291, "lpips": 0.03591517359018326}, "tactile_right": {"psnr": 48.8245158550087, "ssim": 0.9931178218073433, "lpips": 0.011007004417479038}}, {"video": {"psnr": 26.68707480298608, "ssim": 0.8817707948360443, "lpips": 0.05489930510520935}, "wrist_left": {"psnr": 21.05358587268551, "ssim": 0.7919370689330256, "lpips": 0.0907556340098381}, "wrist_right": {"psnr": 16.68616748731808, "ssim": 0.6629686062938508, "lpips": 0.27072030305862427}, "tactile_left": {"psnr": 41.37285322009411, "ssim": 0.9718806219491702, "lpips": 0.06296492367982864}, "tactile_right": {"psnr": 46.142248156112025, "ssim": 0.987999771155674, "lpips": 0.021110020577907562}}, {"video": {"psnr": 23.55266361511314, "ssim": 0.8305240367749696, "lpips": 0.1078694686293602}, "wrist_left": {"psnr": 16.415431177597313, "ssim": 0.6900060901585512, "lpips": 0.24828404188156128}, "wrist_right": {"psnr": 14.838553190927598, "ssim": 0.6137691310794817, "lpips": 0.34432703256607056}, "tactile_left": {"psnr": 42.184056389458675, "ssim": 0.9799522354212011, "lpips": 0.04868604242801666}, "tactile_right": {"psnr": 43.760027103355306, "ssim": 0.9850751668841461, "lpips": 0.026018748059868813}}, {"video": {"psnr": 21.446937716617146, "ssim": 0.7929405579881693, "lpips": 0.15242800116539001}, "wrist_left": {"psnr": 13.001944105740264, "ssim": 0.6637125857809131, "lpips": 0.36890867352485657}, "wrist_right": {"psnr": 12.722050872755942, "ssim": 0.5579130852558474, "lpips": 0.34665077924728394}, "tactile_left": {"psnr": 41.628658799802466, "ssim": 0.9802971733997032, "lpips": 0.050540391355752945}, "tactile_right": {"psnr": 41.377489504590116, "ssim": 0.981864185421558, "lpips": 0.03662055730819702}}, {"video": {"psnr": 21.005116814508597, "ssim": 0.7700380831423415, "lpips": 0.17822948098182678}, "wrist_left": {"psnr": 14.946206681747968, "ssim": 0.6835095161579852, "lpips": 0.29650211334228516}, "wrist_right": {"psnr": 9.094056895212058, "ssim": 0.45849443175354093, "lpips": 0.5581461787223816}, "tactile_left": {"psnr": 40.09479872128263, "ssim": 0.9787569187961997, "lpips": 0.05789199471473694}, "tactile_right": {"psnr": 40.05390824228031, "ssim": 0.97848444605831, "lpips": 0.059023380279541016}}, {"video": {"psnr": 21.473330975499483, "ssim": 0.7524198954221342, "lpips": 0.1845315396785736}, "wrist_left": {"psnr": 13.936808778635797, "ssim": 0.60307444270798, "lpips": 0.3888760209083557}, "wrist_right": {"psnr": 10.962313896298069, "ssim": 0.5933553804301471, "lpips": 0.4603935480117798}, "tactile_left": {"psnr": 38.50453107954379, "ssim": 0.9761136732261844, "lpips": 0.06922420859336853}, "tactile_right": {"psnr": 39.119819055727035, "ssim": 0.9790825023338157, "lpips": 0.06604709476232529}}, {"video": {"psnr": 21.78772576325834, "ssim": 0.7626241898413413, "lpips": 0.18016858398914337}, "wrist_left": {"psnr": 14.449397074280828, "ssim": 0.5980576207658588, "lpips": 0.3694201111793518}, "wrist_right": {"psnr": 17.14994799853917, "ssim": 0.7383040683909112, "lpips": 0.25834769010543823}, "tactile_left": {"psnr": 37.31219651732924, "ssim": 0.9678070295083545, "lpips": 0.10463926941156387}, "tactile_right": {"psnr": 38.519995097959715, "ssim": 0.9776919352249887, "lpips": 0.08135266602039337}}, {"video": {"psnr": 21.04555608312221, "ssim": 0.7475499188039065, "lpips": 0.2247556447982788}, "wrist_left": {"psnr": 13.923762586644497, "ssim": 0.5756094804663038, "lpips": 0.37893250584602356}, "wrist_right": {"psnr": 23.108860968418035, "ssim": 0.7756306608865488, "lpips": 0.173906147480011}, "tactile_left": {"psnr": 36.35121326844141, "ssim": 0.9670198002964792, "lpips": 0.1095026433467865}, "tactile_right": {"psnr": 38.225767118788276, "ssim": 0.9756273261051087, "lpips": 0.09846308827400208}}, {"video": {"psnr": 20.95251731390111, "ssim": 0.7417334786620431, "lpips": 0.24393679201602936}, "wrist_left": {"psnr": 18.03814192038191, "ssim": 0.6747582074171697, "lpips": 0.21204718947410583}, "wrist_right": {"psnr": 21.517137364216204, "ssim": 0.7630540880429015, "lpips": 0.17980127036571503}, "tactile_left": {"psnr": 36.02186998662101, "ssim": 0.9644957781706875, "lpips": 0.11790596693754196}, "tactile_right": {"psnr": 37.68339866954162, "ssim": 0.9735660244933839, "lpips": 0.11231572926044464}}, {"video": {"psnr": 21.022717981938275, "ssim": 0.7458972109859708, "lpips": 0.2583816647529602}, "wrist_left": {"psnr": 19.77953687117376, "ssim": 0.6715092689173097, "lpips": 0.1912427544593811}, "wrist_right": {"psnr": 23.246446990908897, "ssim": 0.7696708210674466, "lpips": 0.1737695336341858}, "tactile_left": {"psnr": 35.18202982343498, "ssim": 0.9526202050120665, "lpips": 0.1427277773618698}, "tactile_right": {"psnr": 36.516671920497345, "ssim": 0.9711876194827358, "lpips": 0.13078537583351135}}, {"video": {"psnr": 21.26302157713311, "ssim": 0.7490632959131873, "lpips": 0.24319806694984436}, "wrist_left": {"psnr": 17.11930180842759, "ssim": 0.6067029275443003, "lpips": 0.235244482755661}, "wrist_right": {"psnr": 23.69408108187684, "ssim": 0.7693548424127942, "lpips": 0.16502517461776733}, "tactile_left": {"psnr": 34.660012315135695, "ssim": 0.962930678776033, "lpips": 0.12339380383491516}, "tactile_right": {"psnr": 35.17787968839217, "ssim": 0.9690333907582217, "lpips": 0.14409784972667694}}, {"video": {"psnr": 21.23209237121646, "ssim": 0.7575105508426738, "lpips": 0.2221287488937378}, "wrist_left": {"psnr": 15.908003829448639, "ssim": 0.6455836067940511, "lpips": 0.2775299847126007}, "wrist_right": {"psnr": 19.850241854666802, "ssim": 0.7536297509656411, "lpips": 0.23835086822509766}, "tactile_left": {"psnr": 34.47923268737703, "ssim": 0.9657293909260452, "lpips": 0.12088878452777863}, "tactile_right": {"psnr": 34.17988573930447, "ssim": 0.9663967649956178, "lpips": 0.1632475107908249}}, {"video": {"psnr": 22.059269150546903, "ssim": 0.7744622375143573, "lpips": 0.17642492055892944}, "wrist_left": {"psnr": 11.661366423163262, "ssim": 0.48796501584017354, "lpips": 0.4624521732330322}, "wrist_right": {"psnr": 17.78257312897139, "ssim": 0.7217677715946313, "lpips": 0.27058959007263184}, "tactile_left": {"psnr": 33.99328550359605, "ssim": 0.9639066376824481, "lpips": 0.12395362555980682}, "tactile_right": {"psnr": 33.743128696296, "ssim": 0.963687189334924, "lpips": 0.1795843541622162}}, {"video": {"psnr": 22.362840785762288, "ssim": 0.7839529612569138, "lpips": 0.17310434579849243}, "wrist_left": {"psnr": 13.497996595792308, "ssim": 0.4797809788650853, "lpips": 0.42455920577049255}, "wrist_right": {"psnr": 13.67744910486744, "ssim": 0.5469853936550392, "lpips": 0.4013320803642273}, "tactile_left": {"psnr": 33.552210139532676, "ssim": 0.9614533897459487, "lpips": 0.13656458258628845}, "tactile_right": {"psnr": 33.41369969146279, "ssim": 0.961221504574959, "lpips": 0.19530996680259705}}, {"video": {"psnr": 21.91859034724649, "ssim": 0.7790422129990812, "lpips": 0.19138044118881226}, "wrist_left": {"psnr": 15.702886119439995, "ssim": 0.596651505618972, "lpips": 0.31644657254219055}, "wrist_right": {"psnr": 12.858269395418597, "ssim": 0.4730393766122216, "lpips": 0.4470396041870117}, "tactile_left": {"psnr": 33.02457359726621, "ssim": 0.9591834423740206, "lpips": 0.14950686693191528}, "tactile_right": {"psnr": 32.80652006484281, "ssim": 0.9577572931035945, "lpips": 0.22092172503471375}}], "long_metrics": {"video": {"psnr": 22.591056312818303, "ssim": 0.7872822595808938, "lpips": 0.1743279961248239}, "wrist_left": {"psnr": 16.169831514633145, "ssim": 0.6418789731659239, "lpips": 0.2873255322376887}, "wrist_right": {"psnr": 17.32320432385876, "ssim": 0.6660320461417889, "lpips": 0.29350376228491465}, "tactile_left": {"psnr": 37.41108978246441, "ssim": 0.968656415277078, "lpips": 0.09695373699069024}, "tactile_right": {"psnr": 38.63633030694391, "ssim": 0.9747861961156253, "lpips": 0.10306033808737994}}}, {"id": "pusht_e007_02", "episode": "pushT_0911_episode_005_seg00.pt", "requested_episode": "pushT_0911_episode_005_seg00.pt", "category": "release", "t_start": 165, "start_seconds": 11.0, "short_contact": [1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 0, 0], "future_transition_ticks": [11], "long_contact_fraction": 0.1796875, "long_label": "release", "short_metrics": {"video": {"psnr": 32.01427664889384, "ssim": 0.958487689494031, "lpips": 0.015560322441160679}, "wrist_left": {"psnr": 23.917931468731645, "ssim": 0.8655301442326431, "lpips": 0.04044126719236374}, "wrist_right": {"psnr": 28.06438129151305, "ssim": 0.9157112799423084, "lpips": 0.028308790177106857}, "tactile_left": {"psnr": 42.70384495617675, "ssim": 0.9865474704184041, "lpips": 0.03010823205113411}, "tactile_right": {"psnr": 50.67199016169522, "ssim": 0.9946297415719754, "lpips": 0.004030485637485981}}, "media": {"short": {"video": "media/pusht_e007_02_short.mp4", "poster": "media/pusht_e007_02_short.jpg"}, "long": {"video": "media/pusht_e007_02_long.mp4", "poster": "media/pusht_e007_02_long.jpg"}}, "force": {"source": "recorded_normal_force", "units": "N", "fps": 15, "left": [2.8207693099975586, 2.9424359798431396, 2.9424359798431396, 5.145384788513184, 5.145384788513184, 5.259615421295166, 5.259615421295166, 5.259615421295166, 5.145384788513184, 2.9424359798431396, 1.1662499904632568, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.26624512672424316, 0.26624512672424316, 1.4500000476837158, 2.636666774749756, 2.8207693099975586, 2.9424359798431396, 2.636666774749756, 1.1662499904632568, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "right": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.2771686911582947, 0.38957640528678894, 0.4353572428226471, 0.7372764348983765, 1.1662499904632568, 1.1662499904632568, 1.1662499904632568, 1.1662499904632568, 1.1662499904632568, 0.4212776720523834, 0.35074925422668457, 0.2692723274230957, 0.16934654116630554, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]}, "long_curve": [{"video": {"psnr": 32.01427664889384, "ssim": 0.958487689494031, "lpips": 0.015560322441160679}, "wrist_left": {"psnr": 23.917931468731645, "ssim": 0.8655301442326431, "lpips": 0.04044126719236374}, "wrist_right": {"psnr": 28.06438129151305, "ssim": 0.9157112799423084, "lpips": 0.028308790177106857}, "tactile_left": {"psnr": 42.70384495617675, "ssim": 0.9865474704184041, "lpips": 0.03010823205113411}, "tactile_right": {"psnr": 50.67199016169522, "ssim": 0.9946297415719754, "lpips": 0.004030485637485981}}, {"video": {"psnr": 28.461447878891036, "ssim": 0.9145985500847903, "lpips": 0.029183056205511093}, "wrist_left": {"psnr": 20.19027101811913, "ssim": 0.7476671696115573, "lpips": 0.09897912293672562}, "wrist_right": {"psnr": 23.658788915917782, "ssim": 0.838941472682674, "lpips": 0.07942098379135132}, "tactile_left": {"psnr": 45.260412064675364, "ssim": 0.9853536429934651, "lpips": 0.03198608011007309}, "tactile_right": {"psnr": 48.11352548862199, "ssim": 0.9899257897698172, "lpips": 0.012151302769780159}}, {"video": {"psnr": 27.387579024242562, "ssim": 0.8926115844485678, "lpips": 0.04345134273171425}, "wrist_left": {"psnr": 21.911015999139792, "ssim": 0.7587142540651339, "lpips": 0.10995511710643768}, "wrist_right": {"psnr": 17.42674504475644, "ssim": 0.7677344313959069, "lpips": 0.2334452122449875}, "tactile_left": {"psnr": 36.259814001062736, "ssim": 0.9627021354575436, "lpips": 0.16558387875556946}, "tactile_right": {"psnr": 44.73946581627132, "ssim": 0.9870645753602376, "lpips": 0.02792258746922016}}, {"video": {"psnr": 25.913178909199374, "ssim": 0.85401541825413, "lpips": 0.05938190221786499}, "wrist_left": {"psnr": 16.969778632046776, "ssim": 0.6687615204294759, "lpips": 0.22999802231788635}, "wrist_right": {"psnr": 19.760878775736558, "ssim": 0.7977585173255137, "lpips": 0.16880758106708527}, "tactile_left": {"psnr": 39.3528924032159, "ssim": 0.9735898712107564, "lpips": 0.09779492020606995}, "tactile_right": {"psnr": 39.12562550572551, "ssim": 0.9749465405166604, "lpips": 0.11651645600795746}}, {"video": {"psnr": 25.349214898861916, "ssim": 0.8313654023261805, "lpips": 0.06580832600593567}, "wrist_left": {"psnr": 15.825792064927784, "ssim": 0.6528027241778651, "lpips": 0.24631699919700623}, "wrist_right": {"psnr": 19.111601024477267, "ssim": 0.7652209226135959, "lpips": 0.17834335565567017}, "tactile_left": {"psnr": 35.971596726893694, "ssim": 0.9696650489199738, "lpips": 0.10958869755268097}, "tactile_right": {"psnr": 39.92139614286977, "ssim": 0.9788120323697732, "lpips": 0.07551765441894531}}, {"video": {"psnr": 25.422331200889264, "ssim": 0.8324155032998263, "lpips": 0.09181185066699982}, "wrist_left": {"psnr": 12.842910293253908, "ssim": 0.5641085429105275, "lpips": 0.39347925782203674}, "wrist_right": {"psnr": 12.529918885695825, "ssim": 0.508405111714014, "lpips": 0.45238056778907776}, "tactile_left": {"psnr": 37.80291017808313, "ssim": 0.9747016025124147, "lpips": 0.07635490596294403}, "tactile_right": {"psnr": 39.48552738755011, "ssim": 0.9801301296091973, "lpips": 0.06100207567214966}}, {"video": {"psnr": 23.89017789593555, "ssim": 0.8056799118893556, "lpips": 0.12384307384490967}, "wrist_left": {"psnr": 11.246914462834468, "ssim": 0.4744058821968463, "lpips": 0.4894663095474243}, "wrist_right": {"psnr": 10.397284967516423, "ssim": 0.3761965464553323, "lpips": 0.5820185542106628}, "tactile_left": {"psnr": 37.926768122451364, "ssim": 0.97479792752264, "lpips": 0.07002538442611694}, "tactile_right": {"psnr": 38.67420460663926, "ssim": 0.9784082087578967, "lpips": 0.06942524015903473}}, {"video": {"psnr": 22.57933427081693, "ssim": 0.7931550210950705, "lpips": 0.14675703644752502}, "wrist_left": {"psnr": 12.484914394203319, "ssim": 0.5009450960590937, "lpips": 0.4504789710044861}, "wrist_right": {"psnr": 9.673022297744804, "ssim": 0.3464863281893668, "lpips": 0.6164258718490601}, "tactile_left": {"psnr": 36.97485553234931, "ssim": 0.9716759036526333, "lpips": 0.08258908987045288}, "tactile_right": {"psnr": 38.266763537380776, "ssim": 0.9771577670231445, "lpips": 0.08053556084632874}}, {"video": {"psnr": 22.082194899576603, "ssim": 0.7804276916966948, "lpips": 0.1657564342021942}, "wrist_left": {"psnr": 12.506172736909011, "ssim": 0.5146279671782065, "lpips": 0.41652482748031616}, "wrist_right": {"psnr": 10.728398619982498, "ssim": 0.4715329154265638, "lpips": 0.5339361429214478}, "tactile_left": {"psnr": 36.08937081465358, "ssim": 0.9680355290853824, "lpips": 0.09259237349033356}, "tactile_right": {"psnr": 37.716918425861515, "ssim": 0.9757472325824529, "lpips": 0.09113149344921112}}, {"video": {"psnr": 21.65365580758085, "ssim": 0.7623029157018777, "lpips": 0.19593943655490875}, "wrist_left": {"psnr": 12.79001014079867, "ssim": 0.5319154028411972, "lpips": 0.44381994009017944}, "wrist_right": {"psnr": 10.406483324600186, "ssim": 0.4439944420535417, "lpips": 0.5402346849441528}, "tactile_left": {"psnr": 35.317357781832335, "ssim": 0.9665722239625625, "lpips": 0.10193714499473572}, "tactile_right": {"psnr": 36.65217971670279, "ssim": 0.9745232124095201, "lpips": 0.10498908162117004}}, {"video": {"psnr": 21.50655836628955, "ssim": 0.7509501995164967, "lpips": 0.23122593760490417}, "wrist_left": {"psnr": 12.35440154512991, "ssim": 0.5532475952575682, "lpips": 0.43761569261550903}, "wrist_right": {"psnr": 11.78130878156389, "ssim": 0.5829287951196238, "lpips": 0.49662545323371887}, "tactile_left": {"psnr": 34.693853034617256, "ssim": 0.9655908522873962, "lpips": 0.11725040525197983}, "tactile_right": {"psnr": 35.574156706467576, "ssim": 0.9726496592408025, "lpips": 0.12061381340026855}}, {"video": {"psnr": 21.0878305917614, "ssim": 0.738945840461771, "lpips": 0.2510782778263092}, "wrist_left": {"psnr": 11.018895701461513, "ssim": 0.46097360314232594, "lpips": 0.5010186433792114}, "wrist_right": {"psnr": 14.463903317178715, "ssim": 0.6870687743694687, "lpips": 0.3487120568752289}, "tactile_left": {"psnr": 33.707890581184245, "ssim": 0.9615991132331765, "lpips": 0.1349835991859436}, "tactile_right": {"psnr": 34.43153419140228, "ssim": 0.9700825583361707, "lpips": 0.13788357377052307}}, {"video": {"psnr": 21.060001084772594, "ssim": 0.7369909002893242, "lpips": 0.25560200214385986}, "wrist_left": {"psnr": 10.534827883563612, "ssim": 0.44670234931019437, "lpips": 0.520639955997467}, "wrist_right": {"psnr": 15.162633592915245, "ssim": 0.6705396786761864, "lpips": 0.38059064745903015}, "tactile_left": {"psnr": 33.097088819791054, "ssim": 0.958257670275735, "lpips": 0.15036529302597046}, "tactile_right": {"psnr": 33.89688336230071, "ssim": 0.9675686387445366, "lpips": 0.14718054234981537}}, {"video": {"psnr": 20.410309978734894, "ssim": 0.7200402223024409, "lpips": 0.27393054962158203}, "wrist_left": {"psnr": 9.894500838166353, "ssim": 0.39961700025024594, "lpips": 0.5000746250152588}, "wrist_right": {"psnr": 12.785314992517545, "ssim": 0.617949576702631, "lpips": 0.44105660915374756}, "tactile_left": {"psnr": 32.70621450680058, "ssim": 0.9551572742601472, "lpips": 0.16420511901378632}, "tactile_right": {"psnr": 33.47198844841231, "ssim": 0.9652150901297623, "lpips": 0.16350743174552917}}, {"video": {"psnr": 20.04689607294573, "ssim": 0.704126344950737, "lpips": 0.29167991876602173}, "wrist_left": {"psnr": 10.958793180204452, "ssim": 0.4893800439070609, "lpips": 0.48094528913497925}, "wrist_right": {"psnr": 11.476003903238114, "ssim": 0.5775873038235521, "lpips": 0.49249202013015747}, "tactile_left": {"psnr": 32.3826413596525, "ssim": 0.953160092685539, "lpips": 0.1772523820400238}, "tactile_right": {"psnr": 33.17584626160833, "ssim": 0.9628186636379035, "lpips": 0.18048743903636932}}], "long_metrics": {"video": {"psnr": 23.924332501959476, "ssim": 0.8050742130540862, "lpips": 0.1494006311520934}, "wrist_left": {"psnr": 14.363142023966022, "ssim": 0.5752932863713294, "lpips": 0.3573169360558192}, "wrist_right": {"psnr": 15.161777849023624, "ssim": 0.624537073099352, "lpips": 0.37151990210016567}, "tactile_left": {"psnr": 36.683167392229315, "ssim": 0.9684937572318513, "lpips": 0.10684116706252098}, "tactile_right": {"psnr": 38.927867050633964, "ssim": 0.9766453226706566, "lpips": 0.09285964922358593}}}, {"id": "pusht_e007_03", "episode": "pushT_0911_episode_005_seg00.pt", "requested_episode": "pushT_0911_episode_005_seg00.pt", "category": "full", "t_start": 1100, "start_seconds": 73.33333333333333, "short_contact": [1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1], "future_transition_ticks": [], "long_contact_fraction": 0.46875, "long_label": "full", "short_metrics": {"video": {"psnr": 28.88008169788351, "ssim": 0.9211006484887189, "lpips": 0.03888829052448273}, "wrist_left": {"psnr": 25.129595630649874, "ssim": 0.8868092760245812, "lpips": 0.04995927959680557}, "wrist_right": {"psnr": 18.319649586846868, "ssim": 0.788997988210552, "lpips": 0.19312211871147156}, "tactile_left": {"psnr": 40.317710734440226, "ssim": 0.9724557221873157, "lpips": 0.045762158930301666}, "tactile_right": {"psnr": 50.283371227417035, "ssim": 0.994560538895725, "lpips": 0.004230379126966}}, "media": {"short": {"video": "media/pusht_e007_03_short.mp4", "poster": "media/pusht_e007_03_short.jpg"}, "long": {"video": "media/pusht_e007_03_long.mp4", "poster": "media/pusht_e007_03_long.jpg"}}, "force": {"source": "recorded_normal_force", "units": "N", "fps": 15, "left": [1.1662499904632568, 1.1662499904632568, 1.1662499904632568, 1.1662499904632568, 1.1662499904632568, 1.1662499904632568, 1.1662499904632568, 1.1662499904632568, 1.1662499904632568, 1.1662499904632568, 0.8659868240356445, 1.1662499904632568, 1.1662499904632568, 1.4500000476837158, 1.1733332872390747, 1.1680232286453247, 1.4500000476837158, 1.3184378147125244, 1.1662499904632568, 1.1662499904632568, 0.5591263175010681, 0.6659782528877258, 1.1662499904632568, 1.5254545211791992, 1.5254545211791992, 1.5254545211791992, 1.5254545211791992, 1.5254545211791992, 1.1733332872390747, 1.1662499904632568, 0.41999998688697815, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.28738003969192505, 0.49666666984558105, 1.1662499904632568, 1.1662499904632568, 1.1662499904632568, 1.2184041738510132, 1.2287522554397583, 1.1710622310638428, 0.7575148940086365, 0.28851041197776794, 0.2881849706172943, 0.2947826385498047, 0.2947826385498047, 0.3112177550792694, 0.26272594928741455, 0.2713329792022705, 0.25845661759376526, 0.16963505744934082, 0.41999998688697815, 0.3929578363895416, 0.2916976511478424, 0.41999998688697815, 0.41999998688697815, 0.4169316291809082, 0.7125925421714783, 1.1662499904632568, 1.1662499904632568, 1.1662499904632568, 0.44432735443115234, 0.7316910028457642, 1.1733332872390747, 1.5254545211791992, 1.9833333492279053, 2.8207693099975586, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.1599999964237213, 0.171951562166214, 0.41999998688697815, 0.4661288559436798, 1.9833333492279053, 1.369855284690857, 1.9833333492279053, 1.9833333492279053, 2.636666774749756, 2.4529788494110107, 2.4149999618530273, 1.5254545211791992, 2.2579867839813232, 1.1733332872390747, 0.5622534155845642, 0.4395720362663269, 0.30081647634506226, 0.16153956949710846, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "right": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]}, "long_curve": [{"video": {"psnr": 28.88008169788351, "ssim": 0.9211006484887189, "lpips": 0.03888829052448273}, "wrist_left": {"psnr": 25.129595630649874, "ssim": 0.8868092760245812, "lpips": 0.04995927959680557}, "wrist_right": {"psnr": 18.319649586846868, "ssim": 0.788997988210552, "lpips": 0.19312211871147156}, "tactile_left": {"psnr": 40.317710734440226, "ssim": 0.9724557221873157, "lpips": 0.045762158930301666}, "tactile_right": {"psnr": 50.283371227417035, "ssim": 0.994560538895725, "lpips": 0.004230379126966}}, {"video": {"psnr": 25.729442785205432, "ssim": 0.8511356626242412, "lpips": 0.06132001429796219}, "wrist_left": {"psnr": 22.220941137096357, "ssim": 0.7963351401128089, "lpips": 0.07687287777662277}, "wrist_right": {"psnr": 19.407945996596574, "ssim": 0.7543402487724897, "lpips": 0.1667357087135315}, "tactile_left": {"psnr": 38.365119364236946, "ssim": 0.968992096201555, "lpips": 0.08493171632289886}, "tactile_right": {"psnr": 48.03290532172711, "ssim": 0.9900200442119322, "lpips": 0.011915943585336208}}, {"video": {"psnr": 22.526164178785088, "ssim": 0.8048509160126245, "lpips": 0.13260909914970398}, "wrist_left": {"psnr": 18.947374477709854, "ssim": 0.7053163022932796, "lpips": 0.11714114248752594}, "wrist_right": {"psnr": 21.97260791082702, "ssim": 0.769877142767841, "lpips": 0.11740298569202423}, "tactile_left": {"psnr": 37.366579613163545, "ssim": 0.9663880451645747, "lpips": 0.11549711227416992}, "tactile_right": {"psnr": 45.92751807790969, "ssim": 0.9878534864252948, "lpips": 0.021297309547662735}}, {"video": {"psnr": 20.923000511948832, "ssim": 0.7780743157130128, "lpips": 0.18625807762145996}, "wrist_left": {"psnr": 14.56582303981848, "ssim": 0.5827295792786532, "lpips": 0.25731563568115234}, "wrist_right": {"psnr": 23.155263363359087, "ssim": 0.7720087051348548, "lpips": 0.09210589528083801}, "tactile_left": {"psnr": 40.02168017828485, "ssim": 0.9788460585321441, "lpips": 0.04570556804537773}, "tactile_right": {"psnr": 43.49561404802693, "ssim": 0.9858731956974269, "lpips": 0.035882361233234406}}, {"video": {"psnr": 20.844150340106378, "ssim": 0.7750038093226129, "lpips": 0.1880415976047516}, "wrist_left": {"psnr": 16.176011125193714, "ssim": 0.5813693877316801, "lpips": 0.2266887128353119}, "wrist_right": {"psnr": 23.0324572756169, "ssim": 0.7728176542948275, "lpips": 0.09486378729343414}, "tactile_left": {"psnr": 36.54701754576968, "ssim": 0.9636702092231914, "lpips": 0.1563282459974289}, "tactile_right": {"psnr": 42.25124361567329, "ssim": 0.98380558757363, "lpips": 0.05477220565080643}}, {"video": {"psnr": 20.64245133143252, "ssim": 0.7702230201454989, "lpips": 0.197669118642807}, "wrist_left": {"psnr": 13.203841360491712, "ssim": 0.5599659669195153, "lpips": 0.3260842263698578}, "wrist_right": {"psnr": 23.05716234279041, "ssim": 0.7945341388846688, "lpips": 0.11143642663955688}, "tactile_left": {"psnr": 36.184267936507915, "ssim": 0.9663506030721312, "lpips": 0.11492966115474701}, "tactile_right": {"psnr": 40.10903562688198, "ssim": 0.9811324568286961, "lpips": 0.07165832817554474}}, {"video": {"psnr": 20.699251888568796, "ssim": 0.7668878420259957, "lpips": 0.19328522682189941}, "wrist_left": {"psnr": 14.847215189419298, "ssim": 0.5826065270693195, "lpips": 0.27842652797698975}, "wrist_right": {"psnr": 23.8364051130852, "ssim": 0.7788244542518662, "lpips": 0.09983156621456146}, "tactile_left": {"psnr": 35.363158188679044, "ssim": 0.9614324839473221, "lpips": 0.13234469294548035}, "tactile_right": {"psnr": 39.054567398737376, "ssim": 0.9780869277303438, "lpips": 0.0887410044670105}}, {"video": {"psnr": 21.696272551455145, "ssim": 0.7719131706037865, "lpips": 0.161015585064888}, "wrist_left": {"psnr": 17.431410571217086, "ssim": 0.6534643457446853, "lpips": 0.19192256033420563}, "wrist_right": {"psnr": 23.36645778282806, "ssim": 0.7855943846726321, "lpips": 0.11378396302461624}, "tactile_left": {"psnr": 34.662829759617765, "ssim": 0.9572646573180164, "lpips": 0.1388797163963318}, "tactile_right": {"psnr": 38.55067930398111, "ssim": 0.9759477311470632, "lpips": 0.10600480437278748}}, {"video": {"psnr": 22.90984589954771, "ssim": 0.7793648325063814, "lpips": 0.1290101706981659}, "wrist_left": {"psnr": 13.843467023999501, "ssim": 0.5917495228802441, "lpips": 0.36824890971183777}, "wrist_right": {"psnr": 14.703093307721673, "ssim": 0.708059359065259, "lpips": 0.2840142250061035}, "tactile_left": {"psnr": 35.04378241712055, "ssim": 0.962767370660462, "lpips": 0.10932176560163498}, "tactile_right": {"psnr": 37.84083959660628, "ssim": 0.9739875700730038, "lpips": 0.12253154814243317}}, {"video": {"psnr": 23.378757440501275, "ssim": 0.7963508953465924, "lpips": 0.1451285481452942}, "wrist_left": {"psnr": 14.38896710321809, "ssim": 0.6330807259904778, "lpips": 0.35938867926597595}, "wrist_right": {"psnr": 11.27085355369463, "ssim": 0.5761195157515963, "lpips": 0.4546245038509369}, "tactile_left": {"psnr": 34.752660123307734, "ssim": 0.964797305150485, "lpips": 0.10715869814157486}, "tactile_right": {"psnr": 36.619477569862894, "ssim": 0.9714601096469089, "lpips": 0.1421516388654709}}, {"video": {"psnr": 22.942262049444032, "ssim": 0.7908300721609389, "lpips": 0.14789678156375885}, "wrist_left": {"psnr": 17.275953492769595, "ssim": 0.6577799760854899, "lpips": 0.24703466892242432}, "wrist_right": {"psnr": 11.519347599305307, "ssim": 0.4906930327065464, "lpips": 0.4735288619995117}, "tactile_left": {"psnr": 33.959612542981176, "ssim": 0.9548133639775847, "lpips": 0.1544666290283203}, "tactile_right": {"psnr": 35.59272869673547, "ssim": 0.968041984442503, "lpips": 0.1606568545103073}}, {"video": {"psnr": 22.819971462066242, "ssim": 0.7937966227964621, "lpips": 0.15609034895896912}, "wrist_left": {"psnr": 18.648689805323958, "ssim": 0.6523297637532035, "lpips": 0.2343500703573227}, "wrist_right": {"psnr": 12.158030648031088, "ssim": 0.4858527315708422, "lpips": 0.4737657308578491}, "tactile_left": {"psnr": 33.17402353867406, "ssim": 0.9456318440876055, "lpips": 0.19340601563453674}, "tactile_right": {"psnr": 34.656484982447346, "ssim": 0.9649877030673395, "lpips": 0.180848628282547}}, {"video": {"psnr": 22.218290744525667, "ssim": 0.7857385302155139, "lpips": 0.17870736122131348}, "wrist_left": {"psnr": 15.625346073366321, "ssim": 0.6064973294205666, "lpips": 0.28224408626556396}, "wrist_right": {"psnr": 13.91882707770242, "ssim": 0.5288657916729604, "lpips": 0.44552376866340637}, "tactile_left": {"psnr": 32.87274854603535, "ssim": 0.9530498285976183, "lpips": 0.16975277662277222}, "tactile_right": {"psnr": 33.71402607464455, "ssim": 0.9625349447204586, "lpips": 0.19030027091503143}}, {"video": {"psnr": 20.745695965432255, "ssim": 0.7611251482228988, "lpips": 0.20354215800762177}, "wrist_left": {"psnr": 11.545647783100193, "ssim": 0.5741723316272709, "lpips": 0.4823596477508545}, "wrist_right": {"psnr": 11.746794239314243, "ssim": 0.45028152842735364, "lpips": 0.49496209621429443}, "tactile_left": {"psnr": 32.496060154963935, "ssim": 0.9547924781255228, "lpips": 0.1688634753227234}, "tactile_right": {"psnr": 33.01743188269088, "ssim": 0.9582585762547833, "lpips": 0.20640282332897186}}, {"video": {"psnr": 20.035347130160375, "ssim": 0.7507402138914947, "lpips": 0.2199508249759674}, "wrist_left": {"psnr": 10.143957101145922, "ssim": 0.49150806984958406, "lpips": 0.5270981788635254}, "wrist_right": {"psnr": 10.606701317707252, "ssim": 0.45859689252571756, "lpips": 0.5247026681900024}, "tactile_left": {"psnr": 32.0798550363343, "ssim": 0.952731329789904, "lpips": 0.1789703369140625}, "tactile_right": {"psnr": 32.50730067873559, "ssim": 0.9545556539172079, "lpips": 0.22154837846755981}}], "long_metrics": {"video": {"psnr": 22.466065731804218, "ssim": 0.7931423800051183, "lpips": 0.15596088021993637}, "wrist_left": {"psnr": 16.266282727634664, "ssim": 0.6370476163187573, "lpips": 0.2683423469463984}, "wrist_right": {"psnr": 17.471439807695116, "ssim": 0.6610309045806672, "lpips": 0.27602695375680925}, "tactile_left": {"psnr": 35.54714037867448, "ssim": 0.9615988930690289, "lpips": 0.1277545712888241}, "tactile_right": {"psnr": 39.44354827347183, "ssim": 0.9754071007088212, "lpips": 0.10792949857811134}}}, {"id": "pusht_e007_04", "episode": "pushT_0911_episode_005_seg01.pt", "requested_episode": "pushT_0911_episode_005_seg01.pt", "category": "none", "t_start": 77, "start_seconds": 5.133333333333334, "short_contact": [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0], "future_transition_ticks": [], "long_contact_fraction": 0.0, "long_label": "none_throughout", "short_metrics": {"video": {"psnr": 25.993742890058083, "ssim": 0.8863011019405287, "lpips": 0.06060340255498886}, "wrist_left": {"psnr": 19.617996472480787, "ssim": 0.8050714668138794, "lpips": 0.12134980410337448}, "wrist_right": {"psnr": 21.570032814045888, "ssim": 0.818787335567958, "lpips": 0.11498117446899414}, "tactile_left": {"psnr": 50.92221388663961, "ssim": 0.9948619767837313, "lpips": 0.0034865373745560646}, "tactile_right": {"psnr": 48.4109700911943, "ssim": 0.9921311020245644, "lpips": 0.008556375280022621}}, "media": {"short": {"video": "media/pusht_e007_04_short.mp4", "poster": "media/pusht_e007_04_short.jpg"}, "long": {"video": "media/pusht_e007_04_long.mp4", "poster": "media/pusht_e007_04_long.jpg"}}, "force": {"source": "recorded_normal_force", "units": "N", "fps": 15, "left": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "right": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]}, "long_curve": [{"video": {"psnr": 25.993742890058083, "ssim": 0.8863011019405287, "lpips": 0.06060340255498886}, "wrist_left": {"psnr": 19.617996472480787, "ssim": 0.8050714668138794, "lpips": 0.12134980410337448}, "wrist_right": {"psnr": 21.570032814045888, "ssim": 0.818787335567958, "lpips": 0.11498117446899414}, "tactile_left": {"psnr": 50.92221388663961, "ssim": 0.9948619767837313, "lpips": 0.0034865373745560646}, "tactile_right": {"psnr": 48.4109700911943, "ssim": 0.9921311020245644, "lpips": 0.008556375280022621}}, {"video": {"psnr": 23.883692142681046, "ssim": 0.8291434370030502, "lpips": 0.09663212299346924}, "wrist_left": {"psnr": 18.819788324270842, "ssim": 0.7271131841620933, "lpips": 0.14122506976127625}, "wrist_right": {"psnr": 20.403661008929536, "ssim": 0.7460513354716571, "lpips": 0.12679877877235413}, "tactile_left": {"psnr": 47.94874725642995, "ssim": 0.9919917344480529, "lpips": 0.009855073876678944}, "tactile_right": {"psnr": 45.44529106506499, "ssim": 0.9862898755739995, "lpips": 0.020432639867067337}}, {"video": {"psnr": 24.685852563968105, "ssim": 0.8177247369061462, "lpips": 0.0896664708852768}, "wrist_left": {"psnr": 14.805288996842691, "ssim": 0.5982117681773401, "lpips": 0.31045418977737427}, "wrist_right": {"psnr": 18.241674608119887, "ssim": 0.7333627562412506, "lpips": 0.2008173167705536}, "tactile_left": {"psnr": 45.29319738216099, "ssim": 0.9886657131244558, "lpips": 0.01868050917983055}, "tactile_right": {"psnr": 44.8063542830446, "ssim": 0.9849469966079323, "lpips": 0.021198036149144173}}, {"video": {"psnr": 22.500708865460346, "ssim": 0.7578502482269072, "lpips": 0.1542510688304901}, "wrist_left": {"psnr": 13.068051968163223, "ssim": 0.5496284349019364, "lpips": 0.4110245704650879}, "wrist_right": {"psnr": 14.74521505404926, "ssim": 0.6579195651736776, "lpips": 0.33948907256126404}, "tactile_left": {"psnr": 42.11468876995114, "ssim": 0.9792643677446141, "lpips": 0.046137601137161255}, "tactile_right": {"psnr": 43.538835307271626, "ssim": 0.983715502270216, "lpips": 0.032457634806632996}}, {"video": {"psnr": 20.95288015853708, "ssim": 0.7187011757831059, "lpips": 0.2037041038274765}, "wrist_left": {"psnr": 15.96502544084559, "ssim": 0.6499405693341145, "lpips": 0.25358709692955017}, "wrist_right": {"psnr": 15.968138832410222, "ssim": 0.6509818820692556, "lpips": 0.3145419955253601}, "tactile_left": {"psnr": 40.98872979769868, "ssim": 0.9769478342384967, "lpips": 0.05366881191730499}, "tactile_right": {"psnr": 42.62254466334163, "ssim": 0.9823154933736207, "lpips": 0.04767368361353874}}, {"video": {"psnr": 21.453846377759753, "ssim": 0.7111672844095354, "lpips": 0.20520858466625214}, "wrist_left": {"psnr": 14.768546680494673, "ssim": 0.5757340513672321, "lpips": 0.3779584765434265}, "wrist_right": {"psnr": 13.796647541377924, "ssim": 0.6177435689685131, "lpips": 0.3901348114013672}, "tactile_left": {"psnr": 39.59516243541855, "ssim": 0.9720798962750086, "lpips": 0.062382958829402924}, "tactile_right": {"psnr": 41.42412603067569, "ssim": 0.9808656336101692, "lpips": 0.06283966451883316}}, {"video": {"psnr": 20.670104374393894, "ssim": 0.7043139727554244, "lpips": 0.24093672633171082}, "wrist_left": {"psnr": 10.564126689360219, "ssim": 0.4544039170540289, "lpips": 0.5341223478317261}, "wrist_right": {"psnr": 15.066917642898535, "ssim": 0.605478934497992, "lpips": 0.3708561062812805}, "tactile_left": {"psnr": 40.1126019397008, "ssim": 0.9759212127539847, "lpips": 0.06482677906751633}, "tactile_right": {"psnr": 40.49537850978888, "ssim": 0.9787958104859418, "lpips": 0.07793746888637543}}, {"video": {"psnr": 20.295202947831807, "ssim": 0.7091364323035085, "lpips": 0.24569585919380188}, "wrist_left": {"psnr": 12.015792826921496, "ssim": 0.49991420604944703, "lpips": 0.4485713243484497}, "wrist_right": {"psnr": 14.328685355143975, "ssim": 0.5484076632554395, "lpips": 0.40695899724960327}, "tactile_left": {"psnr": 38.77883843576494, "ssim": 0.9662562485127505, "lpips": 0.09786234050989151}, "tactile_right": {"psnr": 39.9467440412966, "ssim": 0.9767682825952853, "lpips": 0.09413255751132965}}, {"video": {"psnr": 20.31102784404642, "ssim": 0.7106663286294335, "lpips": 0.25159549713134766}, "wrist_left": {"psnr": 14.75001742178854, "ssim": 0.6109963403804723, "lpips": 0.30709514021873474}, "wrist_right": {"psnr": 14.893160446075697, "ssim": 0.572268124586377, "lpips": 0.3909186124801636}, "tactile_left": {"psnr": 38.12990190418675, "ssim": 0.9662604248258948, "lpips": 0.09763213992118835}, "tactile_right": {"psnr": 39.280884792065386, "ssim": 0.9752892866735727, "lpips": 0.10490831732749939}}, {"video": {"psnr": 20.038940051199884, "ssim": 0.696670999363652, "lpips": 0.2602277994155884}, "wrist_left": {"psnr": 12.92824518737492, "ssim": 0.5197432908303201, "lpips": 0.3955731987953186}, "wrist_right": {"psnr": 16.871829899768134, "ssim": 0.6138150881385962, "lpips": 0.28346750140190125}, "tactile_left": {"psnr": 36.75047075786745, "ssim": 0.9692795219350382, "lpips": 0.09836304187774658}, "tactile_right": {"psnr": 37.82236981135805, "ssim": 0.9736538237728658, "lpips": 0.12680327892303467}}, {"video": {"psnr": 19.24351880210392, "ssim": 0.7069092896198617, "lpips": 0.29107168316841125}, "wrist_left": {"psnr": 15.026829040620822, "ssim": 0.5754975758009506, "lpips": 0.3231492340564728}, "wrist_right": {"psnr": 16.358624272397147, "ssim": 0.607109455619395, "lpips": 0.29795414209365845}, "tactile_left": {"psnr": 36.53188357554039, "ssim": 0.9684450626619899, "lpips": 0.1051085889339447}, "tactile_right": {"psnr": 37.30434700837273, "ssim": 0.9712589890836423, "lpips": 0.13524647057056427}}, {"video": {"psnr": 18.786999448092878, "ssim": 0.667703103901643, "lpips": 0.30424511432647705}, "wrist_left": {"psnr": 10.50507639338628, "ssim": 0.5238174256978123, "lpips": 0.45053043961524963}, "wrist_right": {"psnr": 15.393983019991566, "ssim": 0.6473442894575847, "lpips": 0.34780776500701904}, "tactile_left": {"psnr": 36.23004707522087, "ssim": 0.9665366685166377, "lpips": 0.11976058781147003}, "tactile_right": {"psnr": 36.72452227138243, "ssim": 0.9692028172672563, "lpips": 0.15239563584327698}}, {"video": {"psnr": 19.21045199260276, "ssim": 0.6823561100694377, "lpips": 0.2817158102989197}, "wrist_left": {"psnr": 10.304753679350613, "ssim": 0.49436836961332503, "lpips": 0.4937027096748352}, "wrist_right": {"psnr": 12.36383478720999, "ssim": 0.5916047006809037, "lpips": 0.43919384479522705}, "tactile_left": {"psnr": 35.65768669035597, "ssim": 0.964176064322104, "lpips": 0.13107968866825104}, "tactile_right": {"psnr": 36.12005954847795, "ssim": 0.966963953902392, "lpips": 0.1661171168088913}}, {"video": {"psnr": 18.67904022730273, "ssim": 0.6945203711707165, "lpips": 0.30996251106262207}, "wrist_left": {"psnr": 14.918515274264632, "ssim": 0.5482073855560727, "lpips": 0.3271390497684479}, "wrist_right": {"psnr": 15.225685976476555, "ssim": 0.6529064406841154, "lpips": 0.32363399863243103}, "tactile_left": {"psnr": 35.33159222276454, "ssim": 0.9615434072992763, "lpips": 0.14508843421936035}, "tactile_right": {"psnr": 35.737799491508994, "ssim": 0.9652303597956884, "lpips": 0.18273191154003143}}, {"video": {"psnr": 19.009057270613358, "ssim": 0.682642875598727, "lpips": 0.30267828702926636}, "wrist_left": {"psnr": 10.47925784738206, "ssim": 0.5044432340839559, "lpips": 0.467060387134552}, "wrist_right": {"psnr": 12.831318115485495, "ssim": 0.608057882137789, "lpips": 0.40078461170196533}, "tactile_left": {"psnr": 34.70468932347002, "ssim": 0.9588956973357474, "lpips": 0.15564033389091492}, "tactile_right": {"psnr": 35.14389344029173, "ssim": 0.963183789858266, "lpips": 0.1993400603532791}}], "long_metrics": {"video": {"psnr": 21.047671063776804, "ssim": 0.7317204978454452, "lpips": 0.21987966944773993}, "wrist_left": {"psnr": 13.902487482903158, "ssim": 0.5758060813215321, "lpips": 0.3575028692682584}, "wrist_right": {"psnr": 15.87062729162532, "ssim": 0.6447892681700336, "lpips": 0.3165559152762095}, "tactile_left": {"psnr": 39.93936343021138, "ssim": 0.9734083887185189, "lpips": 0.08063822848101457}, "tactile_right": {"psnr": 40.32160802367571, "ssim": 0.9767074477930274, "lpips": 0.09551805679996808}}}, {"id": "pusht_e007_05", "episode": "pushT_0911_episode_005_seg01.pt", "requested_episode": "pushT_0911_episode_005_seg01.pt", "category": "onset", "t_start": 525, "start_seconds": 35.0, "short_contact": [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 1], "future_transition_ticks": [11], "long_contact_fraction": null, "long_label": "short_only", "short_metrics": {"video": {"psnr": 32.927427540269115, "ssim": 0.9567029184984649, "lpips": 0.01604536920785904}, "wrist_left": {"psnr": 23.603333539082012, "ssim": 0.8642924042266589, "lpips": 0.05851588398218155}, "wrist_right": {"psnr": 28.433516891988614, "ssim": 0.916152480851465, "lpips": 0.03469543904066086}, "tactile_left": {"psnr": 44.00772739745105, "ssim": 0.9785302638663715, "lpips": 0.025335058569908142}, "tactile_right": {"psnr": 45.468426728096105, "ssim": 0.9854902063965831, "lpips": 0.018959004431962967}}, "media": {"short": {"video": "media/pusht_e007_05_short.mp4", "poster": "media/pusht_e007_05_short.jpg"}}, "force": {"source": "recorded_normal_force", "units": "N", "fps": 15, "left": [0.457497775554657, 0.1599999964237213, 0.0, 0.0, 0.0, 0.0, 0.0, 0.16127851605415344, 0.16127851605415344, 0.17897555232048035, 0.19357609748840332, 0.5217283964157104, 1.1662499904632568, 1.3397656679153442, 1.5254545211791992, 1.8632125854492188], "right": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]}}, {"id": "pusht_e007_06", "episode": "pushT_0911_episode_005_seg01.pt", "requested_episode": "pushT_0911_episode_005_seg01.pt", "category": "release", "t_start": 0, "start_seconds": 0.0, "short_contact": [0, 0, 0, 0, 0, 1, 1, 1, 1, 1, 0, 0, 0, 0, 0, 0], "future_transition_ticks": [10], "long_contact_fraction": 0.0390625, "long_label": "release", "short_metrics": {"video": {"psnr": 23.337816884846745, "ssim": 0.8144097816660048, "lpips": 0.12490738928318024}, "wrist_left": {"psnr": 15.571165959786711, "ssim": 0.7217973133632833, "lpips": 0.24942639470100403}, "wrist_right": {"psnr": 20.559323849259002, "ssim": 0.8221840654323066, "lpips": 0.14125783741474152}, "tactile_left": {"psnr": 45.778692561954266, "ssim": 0.98682559257013, "lpips": 0.011295679956674576}, "tactile_right": {"psnr": 49.75163127570853, "ssim": 0.9938656029201587, "lpips": 0.00464484840631485}}, "media": {"short": {"video": "media/pusht_e007_06_short.mp4", "poster": "media/pusht_e007_06_short.jpg"}, "long": {"video": "media/pusht_e007_06_long.mp4", "poster": "media/pusht_e007_06_long.jpg"}}, "force": {"source": "recorded_normal_force", "units": "N", "fps": 15, "left": [0.0, 0.0, 0.0, 0.0, 0.0, 2.9424359798431396, 2.636666774749756, 1.5254545211791992, 1.1662499904632568, 1.1662499904632568, 0.0, 0.0, 0.1599999964237213, 0.1599999964237213, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "right": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]}, "long_curve": [{"video": {"psnr": 23.337816884846745, "ssim": 0.8144097816660048, "lpips": 0.12490738928318024}, "wrist_left": {"psnr": 15.571165959786711, "ssim": 0.7217973133632833, "lpips": 0.24942639470100403}, "wrist_right": {"psnr": 20.559323849259002, "ssim": 0.8221840654323066, "lpips": 0.14125783741474152}, "tactile_left": {"psnr": 45.778692561954266, "ssim": 0.98682559257013, "lpips": 0.011295679956674576}, "tactile_right": {"psnr": 49.75163127570853, "ssim": 0.9938656029201587, "lpips": 0.00464484840631485}}, {"video": {"psnr": 19.13624876060261, "ssim": 0.6716282751962119, "lpips": 0.31694066524505615}, "wrist_left": {"psnr": 13.460008935065309, "ssim": 0.5980314938347195, "lpips": 0.3965848684310913}, "wrist_right": {"psnr": 12.67101854477394, "ssim": 0.620617031354892, "lpips": 0.44870156049728394}, "tactile_left": {"psnr": 45.86628263214322, "ssim": 0.9871072811039701, "lpips": 0.018298134207725525}, "tactile_right": {"psnr": 47.36249651549463, "ssim": 0.9889704916659159, "lpips": 0.016484716907143593}}, {"video": {"psnr": 19.259710014118326, "ssim": 0.6676823273824188, "lpips": 0.31816738843917847}, "wrist_left": {"psnr": 10.460828977233165, "ssim": 0.46723926351532385, "lpips": 0.5314868688583374}, "wrist_right": {"psnr": 10.050866767157201, "ssim": 0.5130121310877931, "lpips": 0.5544922947883606}, "tactile_left": {"psnr": 44.06895618034206, "ssim": 0.9846915542923622, "lpips": 0.02506927400827408}, "tactile_right": {"psnr": 45.751906543024404, "ssim": 0.9868684366093825, "lpips": 0.024818597361445427}}, {"video": {"psnr": 19.115200402518273, "ssim": 0.6720485351703809, "lpips": 0.33423852920532227}, "wrist_left": {"psnr": 10.673000055983476, "ssim": 0.44584411842934285, "lpips": 0.5431321263313293}, "wrist_right": {"psnr": 8.515659056572018, "ssim": 0.3880633416112157, "lpips": 0.6368516683578491}, "tactile_left": {"psnr": 43.247440573097904, "ssim": 0.9827059492697605, "lpips": 0.039230991154909134}, "tactile_right": {"psnr": 43.32268695903746, "ssim": 0.9838034958207189, "lpips": 0.04474494606256485}}, {"video": {"psnr": 19.6480273683683, "ssim": 0.678902355071086, "lpips": 0.32277798652648926}, "wrist_left": {"psnr": 12.002265549347246, "ssim": 0.4503337091554067, "lpips": 0.49006205797195435}, "wrist_right": {"psnr": 9.705438744991714, "ssim": 0.47630301393213687, "lpips": 0.5722095966339111}, "tactile_left": {"psnr": 41.68783687414627, "ssim": 0.9794540429053871, "lpips": 0.048345454037189484}, "tactile_right": {"psnr": 43.02852264495287, "ssim": 0.981718975662436, "lpips": 0.05238036811351776}}, {"video": {"psnr": 18.650578239717294, "ssim": 0.660080786197135, "lpips": 0.36215028166770935}, "wrist_left": {"psnr": 12.498400009220722, "ssim": 0.46220618495148796, "lpips": 0.4345770478248596}, "wrist_right": {"psnr": 14.805407849391859, "ssim": 0.6721530343688599, "lpips": 0.3599867820739746}, "tactile_left": {"psnr": 40.083843560440506, "ssim": 0.9752227490307399, "lpips": 0.058182403445243835}, "tactile_right": {"psnr": 41.986046073015544, "ssim": 0.9803082175527003, "lpips": 0.06397852301597595}}, {"video": {"psnr": 16.834435971967853, "ssim": 0.6223477597830651, "lpips": 0.4327014088630676}, "wrist_left": {"psnr": 13.550729235126324, "ssim": 0.45817510578102905, "lpips": 0.36903998255729675}, "wrist_right": {"psnr": 18.37177754379017, "ssim": 0.7273682252014897, "lpips": 0.25021395087242126}, "tactile_left": {"psnr": 38.932913072315635, "ssim": 0.973760989695085, "lpips": 0.06934335827827454}, "tactile_right": {"psnr": 41.07042540630319, "ssim": 0.9784002295799183, "lpips": 0.08202618360519409}}, {"video": {"psnr": 17.379837748566338, "ssim": 0.6385544565162858, "lpips": 0.363536536693573}, "wrist_left": {"psnr": 11.867447038263057, "ssim": 0.4549102882453999, "lpips": 0.4571085572242737}, "wrist_right": {"psnr": 12.512981923230292, "ssim": 0.60096743398553, "lpips": 0.4685562252998352}, "tactile_left": {"psnr": 37.931368196026966, "ssim": 0.9742034275472701, "lpips": 0.07453284412622452}, "tactile_right": {"psnr": 40.53955004573332, "ssim": 0.9762856455242253, "lpips": 0.09911754727363586}}, {"video": {"psnr": 17.559334204752503, "ssim": 0.6473431853410307, "lpips": 0.3281821608543396}, "wrist_left": {"psnr": 11.44568865306006, "ssim": 0.4772730759084892, "lpips": 0.42564821243286133}, "wrist_right": {"psnr": 10.401152352633103, "ssim": 0.4650429880695085, "lpips": 0.5609613656997681}, "tactile_left": {"psnr": 37.19637824919559, "ssim": 0.9707713758908199, "lpips": 0.08836117386817932}, "tactile_right": {"psnr": 39.29649394757736, "ssim": 0.9735688077440596, "lpips": 0.11857916414737701}}, {"video": {"psnr": 17.483277897541786, "ssim": 0.6384249130225985, "lpips": 0.34825652837753296}, "wrist_left": {"psnr": 12.070841314580106, "ssim": 0.5096346343296434, "lpips": 0.4083753824234009}, "wrist_right": {"psnr": 11.003687112459826, "ssim": 0.41433551271739893, "lpips": 0.5090703368186951}, "tactile_left": {"psnr": 36.41437427155757, "ssim": 0.9696958620769172, "lpips": 0.09347350150346756}, "tactile_right": {"psnr": 38.07091231763866, "ssim": 0.9687556019039042, "lpips": 0.1385560929775238}}, {"video": {"psnr": 17.3251765615148, "ssim": 0.6329580179792971, "lpips": 0.385878324508667}, "wrist_left": {"psnr": 10.975270417142976, "ssim": 0.4626591085048575, "lpips": 0.47578001022338867}, "wrist_right": {"psnr": 12.107915146397492, "ssim": 0.474718901059657, "lpips": 0.47122135758399963}, "tactile_left": {"psnr": 35.88539021087515, "ssim": 0.9672125514065517, "lpips": 0.10636585205793381}, "tactile_right": {"psnr": 37.30383206339509, "ssim": 0.9717922377324877, "lpips": 0.11916954070329666}}, {"video": {"psnr": 17.51165517934423, "ssim": 0.6416750044040518, "lpips": 0.36927998065948486}, "wrist_left": {"psnr": 11.809662007868546, "ssim": 0.4635806884969691, "lpips": 0.45003852248191833}, "wrist_right": {"psnr": 11.644040626844632, "ssim": 0.46586835768495627, "lpips": 0.46133801341056824}, "tactile_left": {"psnr": 35.4547175161352, "ssim": 0.9651484272280878, "lpips": 0.1195606142282486}, "tactile_right": {"psnr": 36.571409578841845, "ssim": 0.9705053715212454, "lpips": 0.12533888220787048}}, {"video": {"psnr": 17.808472838259465, "ssim": 0.6548060573614121, "lpips": 0.3695376515388489}, "wrist_left": {"psnr": 12.87896664219373, "ssim": 0.4912665609732786, "lpips": 0.4050378203392029}, "wrist_right": {"psnr": 11.10444089628565, "ssim": 0.4986089133012165, "lpips": 0.5242205262184143}, "tactile_left": {"psnr": 35.06224559078938, "ssim": 0.9633520934127218, "lpips": 0.12500938773155212}, "tactile_right": {"psnr": 36.35023498712472, "ssim": 0.9698279100169735, "lpips": 0.12367235124111176}}, {"video": {"psnr": 17.48776022697484, "ssim": 0.6407044772830506, "lpips": 0.41051948070526123}, "wrist_left": {"psnr": 13.120086152927675, "ssim": 0.542911519584481, "lpips": 0.3703548312187195}, "wrist_right": {"psnr": 19.14176019097139, "ssim": 0.7023470576902593, "lpips": 0.3056310713291168}, "tactile_left": {"psnr": 34.66798856848784, "ssim": 0.9612955224281956, "lpips": 0.14045847952365875}, "tactile_right": {"psnr": 35.93996949919915, "ssim": 0.9682495161904521, "lpips": 0.14020268619060516}}, {"video": {"psnr": 17.997583893300714, "ssim": 0.6468342313330684, "lpips": 0.41067802906036377}, "wrist_left": {"psnr": 13.506346463847565, "ssim": 0.5522665699698819, "lpips": 0.3575837016105652}, "wrist_right": {"psnr": 17.03042210239841, "ssim": 0.6545831713000378, "lpips": 0.34446051716804504}, "tactile_left": {"psnr": 33.86152464097655, "ssim": 0.9569384203611588, "lpips": 0.15216666460037231}, "tactile_right": {"psnr": 35.44097727570105, "ssim": 0.9664767613430797, "lpips": 0.15838322043418884}}], "long_metrics": {"video": {"psnr": 18.43567441282627, "ssim": 0.6618933442471399, "lpips": 0.34651682277520496}, "wrist_left": {"psnr": 12.392713827443112, "ssim": 0.5038753090029062, "lpips": 0.42428242564201357}, "wrist_right": {"psnr": 13.30839284714378, "ssim": 0.5664115452531505, "lpips": 0.440611540277799}, "tactile_left": {"psnr": 39.07599684656561, "ssim": 0.9732257226146105, "lpips": 0.07797958751519521}, "tactile_right": {"psnr": 40.785806342183186, "ssim": 0.9772931534525106, "lpips": 0.08747317790985107}}}, {"id": "pusht_e007_07", "episode": "pushT_0911_episode_007_seg00.pt", "requested_episode": "pushT_0911_episode_006_seg00.pt", "category": "none", "t_start": 169, "start_seconds": 11.266666666666667, "short_contact": [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0], "future_transition_ticks": [], "long_contact_fraction": 0.0, "long_label": "none_throughout", "short_metrics": {"video": {"psnr": 26.800613893993525, "ssim": 0.9141030221750177, "lpips": 0.07072706520557404}, "wrist_left": {"psnr": 21.18745289462613, "ssim": 0.765246608684162, "lpips": 0.16255968809127808}, "wrist_right": {"psnr": 20.102493887729665, "ssim": 0.8038729311907875, "lpips": 0.13382978737354279}, "tactile_left": {"psnr": 47.25541862197025, "ssim": 0.9914557729766749, "lpips": 0.023428015410900116}, "tactile_right": {"psnr": 47.98897322253482, "ssim": 0.9906510481895514, "lpips": 0.010587632656097412}}, "media": {"short": {"video": "media/pusht_e007_07_short.mp4", "poster": "media/pusht_e007_07_short.jpg"}, "long": {"video": "media/pusht_e007_07_long.mp4", "poster": "media/pusht_e007_07_long.jpg"}}, "force": {"source": "recorded_normal_force", "units": "N", "fps": 15, "left": [0.0, 0.1599999964237213, 0.1599999964237213, 0.16282100975513458, 0.41999998688697815, 0.41999998688697815, 0.175530806183815, 0.1599999964237213, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.1599999964237213, 0.1599999964237213, 0.0, 0.0, 0.0, 0.0, 0.0, 0.1599999964237213, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.1599999964237213, 0.1599999964237213, 0.1599999964237213, 0.1599999964237213, 0.1599999964237213, 0.1599999964237213, 0.1599999964237213, 0.1599999964237213, 0.0, 0.0, 0.0, 0.0, 0.1599999964237213, 0.0, 0.1599999964237213, 0.1599999964237213, 0.1599999964237213, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "right": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.1599999964237213, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]}, "long_curve": [{"video": {"psnr": 26.800613893993525, "ssim": 0.9141030221750177, "lpips": 0.07072706520557404}, "wrist_left": {"psnr": 21.18745289462613, "ssim": 0.765246608684162, "lpips": 0.16255968809127808}, "wrist_right": {"psnr": 20.102493887729665, "ssim": 0.8038729311907875, "lpips": 0.13382978737354279}, "tactile_left": {"psnr": 47.25541862197025, "ssim": 0.9914557729766749, "lpips": 0.023428015410900116}, "tactile_right": {"psnr": 47.98897322253482, "ssim": 0.9906510481895514, "lpips": 0.010587632656097412}}, {"video": {"psnr": 23.58303597617764, "ssim": 0.8353593996745177, "lpips": 0.12476222962141037}, "wrist_left": {"psnr": 15.13967993528066, "ssim": 0.44173334097763767, "lpips": 0.34482908248901367}, "wrist_right": {"psnr": 18.34924926588439, "ssim": 0.751819411945049, "lpips": 0.16721700131893158}, "tactile_left": {"psnr": 44.33581924578409, "ssim": 0.9866832169707679, "lpips": 0.0397348552942276}, "tactile_right": {"psnr": 45.906506632645694, "ssim": 0.9859465306128119, "lpips": 0.029668115079402924}}, {"video": {"psnr": 24.20196057368909, "ssim": 0.8311633595387361, "lpips": 0.11895422637462616}, "wrist_left": {"psnr": 14.00238651111312, "ssim": 0.5428048406601444, "lpips": 0.3559359908103943}, "wrist_right": {"psnr": 18.906891765956427, "ssim": 0.7310691973801265, "lpips": 0.17335045337677002}, "tactile_left": {"psnr": 42.40367766193124, "ssim": 0.9842442114396142, "lpips": 0.03733869269490242}, "tactile_right": {"psnr": 43.93848086842099, "ssim": 0.9828893926910596, "lpips": 0.045015186071395874}}, {"video": {"psnr": 23.86071562210594, "ssim": 0.817948096334858, "lpips": 0.12876999378204346}, "wrist_left": {"psnr": 12.571821951105338, "ssim": 0.442341708584601, "lpips": 0.4017828106880188}, "wrist_right": {"psnr": 18.635320861222382, "ssim": 0.724683197349278, "lpips": 0.16755715012550354}, "tactile_left": {"psnr": 41.13208997427256, "ssim": 0.9815908501872941, "lpips": 0.048195697367191315}, "tactile_right": {"psnr": 42.46654096326952, "ssim": 0.9828525431340154, "lpips": 0.04700522869825363}}, {"video": {"psnr": 23.486119013628176, "ssim": 0.8143555725140108, "lpips": 0.14550164341926575}, "wrist_left": {"psnr": 12.119980814729107, "ssim": 0.4722132111043813, "lpips": 0.42659804224967957}, "wrist_right": {"psnr": 17.1015741163462, "ssim": 0.6960019911460964, "lpips": 0.22177629172801971}, "tactile_left": {"psnr": 40.30961676976743, "ssim": 0.9812315326229012, "lpips": 0.04167082905769348}, "tactile_right": {"psnr": 41.63064314935393, "ssim": 0.9817069501961255, "lpips": 0.05837708339095116}}, {"video": {"psnr": 22.820123841430018, "ssim": 0.7946256010880931, "lpips": 0.1469467282295227}, "wrist_left": {"psnr": 12.776139905416317, "ssim": 0.36985694132115765, "lpips": 0.4540570378303528}, "wrist_right": {"psnr": 16.283296431158075, "ssim": 0.6846738255513487, "lpips": 0.2708331346511841}, "tactile_left": {"psnr": 39.0772299724303, "ssim": 0.9787936518373805, "lpips": 0.05423383787274361}, "tactile_right": {"psnr": 40.28727557303425, "ssim": 0.9798052102309527, "lpips": 0.07345454394817352}}, {"video": {"psnr": 22.338130464731133, "ssim": 0.7772186272385948, "lpips": 0.15791623294353485}, "wrist_left": {"psnr": 12.231440083204001, "ssim": 0.35249710806158513, "lpips": 0.4891743063926697}, "wrist_right": {"psnr": 15.062175468595271, "ssim": 0.6630838549219493, "lpips": 0.3281024098396301}, "tactile_left": {"psnr": 37.96406935179073, "ssim": 0.9756049211990434, "lpips": 0.07896558940410614}, "tactile_right": {"psnr": 38.68469727343605, "ssim": 0.9776442051519296, "lpips": 0.09349150955677032}}, {"video": {"psnr": 22.290645608071998, "ssim": 0.7762192996078532, "lpips": 0.16743157804012299}, "wrist_left": {"psnr": 13.568944651060505, "ssim": 0.41655792129205954, "lpips": 0.3800870180130005}, "wrist_right": {"psnr": 14.294597425590558, "ssim": 0.6445683782717279, "lpips": 0.3575828969478607}, "tactile_left": {"psnr": 36.78404556174759, "ssim": 0.9712715472088445, "lpips": 0.10709334909915924}, "tactile_right": {"psnr": 38.12735020622643, "ssim": 0.9746606027573546, "lpips": 0.10427099466323853}}, {"video": {"psnr": 22.008313466886502, "ssim": 0.7656920818795104, "lpips": 0.1885642558336258}, "wrist_left": {"psnr": 12.98074809650975, "ssim": 0.4760411057051518, "lpips": 0.3698557913303375}, "wrist_right": {"psnr": 15.016007736755972, "ssim": 0.6571953155371718, "lpips": 0.3172607421875}, "tactile_left": {"psnr": 35.8099504103066, "ssim": 0.9663971992354644, "lpips": 0.13980886340141296}, "tactile_right": {"psnr": 37.41979371405624, "ssim": 0.9723983542769192, "lpips": 0.11814836412668228}}, {"video": {"psnr": 21.706480770662075, "ssim": 0.7521475692675872, "lpips": 0.1959996223449707}, "wrist_left": {"psnr": 13.297880078327042, "ssim": 0.4818375482973916, "lpips": 0.359403133392334}, "wrist_right": {"psnr": 17.67853999945636, "ssim": 0.6901802444606249, "lpips": 0.2289891242980957}, "tactile_left": {"psnr": 35.26614379322969, "ssim": 0.9662084566926242, "lpips": 0.13680902123451233}, "tactile_right": {"psnr": 36.40701578701547, "ssim": 0.970065786213327, "lpips": 0.13511373102664948}}, {"video": {"psnr": 22.0284056188777, "ssim": 0.7645217587845131, "lpips": 0.1766224503517151}, "wrist_left": {"psnr": 11.371486869243675, "ssim": 0.38978091985678054, "lpips": 0.4934501051902771}, "wrist_right": {"psnr": 16.66586290955581, "ssim": 0.6694786328725353, "lpips": 0.2586655020713806}, "tactile_left": {"psnr": 34.9229278914405, "ssim": 0.9652735744470735, "lpips": 0.13053882122039795}, "tactile_right": {"psnr": 35.76459605398013, "ssim": 0.9677714492295999, "lpips": 0.14947044849395752}}, {"video": {"psnr": 21.888570124043486, "ssim": 0.765429574878659, "lpips": 0.19475340843200684}, "wrist_left": {"psnr": 11.197797509344323, "ssim": 0.43177609406162315, "lpips": 0.5063415169715881}, "wrist_right": {"psnr": 12.338317951161397, "ssim": 0.4862082757064281, "lpips": 0.46921199560165405}, "tactile_left": {"psnr": 34.40885337289686, "ssim": 0.9627635952452528, "lpips": 0.1422806829214096}, "tactile_right": {"psnr": 34.86792546954043, "ssim": 0.9651071041838495, "lpips": 0.17170418798923492}}, {"video": {"psnr": 21.093844143498735, "ssim": 0.752042102146794, "lpips": 0.21469809114933014}, "wrist_left": {"psnr": 13.475308806696795, "ssim": 0.5835731205797392, "lpips": 0.40425246953964233}, "wrist_right": {"psnr": 11.041599085219843, "ssim": 0.4326957175122942, "lpips": 0.5405685901641846}, "tactile_left": {"psnr": 33.96101339106104, "ssim": 0.9607875860477324, "lpips": 0.15349915623664856}, "tactile_right": {"psnr": 34.275477269838326, "ssim": 0.9626400108019819, "lpips": 0.18594463169574738}}, {"video": {"psnr": 20.478612259770593, "ssim": 0.7331059511350362, "lpips": 0.23652464151382446}, "wrist_left": {"psnr": 13.83093092211494, "ssim": 0.595344596802822, "lpips": 0.36913925409317017}, "wrist_right": {"psnr": 10.830575887483999, "ssim": 0.41298481709969714, "lpips": 0.5398651361465454}, "tactile_left": {"psnr": 33.48468917971403, "ssim": 0.9578629602302484, "lpips": 0.16743788123130798}, "tactile_right": {"psnr": 33.637352598362185, "ssim": 0.9596971354444557, "lpips": 0.2041923701763153}}, {"video": {"psnr": 20.434478640257865, "ssim": 0.735013034737785, "lpips": 0.2478146106004715}, "wrist_left": {"psnr": 13.818219191715785, "ssim": 0.5819098461149714, "lpips": 0.40933099389076233}, "wrist_right": {"psnr": 11.880963463987513, "ssim": 0.44106480466267517, "lpips": 0.5383335947990417}, "tactile_left": {"psnr": 33.08624603402511, "ssim": 0.9554950710852735, "lpips": 0.18060454726219177}, "tactile_right": {"psnr": 33.0002250098709, "ssim": 0.9574380500744868, "lpips": 0.22429949045181274}}], "long_metrics": {"video": {"psnr": 22.601336667854966, "ssim": 0.7885963367334378, "lpips": 0.16773245185613633}, "wrist_left": {"psnr": 13.571347881365831, "ssim": 0.48956766080694725, "lpips": 0.3951198160648346}, "wrist_right": {"psnr": 15.612497750406924, "ssim": 0.6326387063738527, "lpips": 0.31420958737532295}, "tactile_left": {"psnr": 38.013452748824534, "ssim": 0.9723776098284127, "lpips": 0.09877598931392034}, "tactile_right": {"psnr": 38.96019025277236, "ssim": 0.9740849582125614, "lpips": 0.1100495678683122}}}, {"id": "pusht_e007_08", "episode": "pushT_0911_episode_007_seg00.pt", "requested_episode": "pushT_0911_episode_006_seg00.pt", "category": "onset", "t_start": 79, "start_seconds": 5.266666666666667, "short_contact": [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1], "future_transition_ticks": [12], "long_contact_fraction": 0.0390625, "long_label": "onset", "short_metrics": {"video": {"psnr": 31.635714434175902, "ssim": 0.9433479044744502, "lpips": 0.024344630539417267}, "wrist_left": {"psnr": 23.600112616644534, "ssim": 0.8507180189893898, "lpips": 0.06538014858961105}, "wrist_right": {"psnr": 22.2250240152708, "ssim": 0.8353350289937087, "lpips": 0.07400772720575333}, "tactile_left": {"psnr": 45.54271459223745, "ssim": 0.9861435145889899, "lpips": 0.019345887005329132}, "tactile_right": {"psnr": 47.01560461065675, "ssim": 0.9910976543269523, "lpips": 0.01187518984079361}}, "media": {"short": {"video": "media/pusht_e007_08_short.mp4", "poster": "media/pusht_e007_08_short.jpg"}, "long": {"video": "media/pusht_e007_08_long.mp4", "poster": "media/pusht_e007_08_long.jpg"}}, "force": {"source": "recorded_normal_force", "units": "N", "fps": 15, "left": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 2.636666774749756, 1.1733332872390747, 2.9424359798431396, 2.9424359798431396, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 2.9424359798431396, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.1599999964237213, 0.1599999964237213, 0.16282100975513458, 0.41999998688697815, 0.41999998688697815, 0.175530806183815, 0.1599999964237213, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.1599999964237213, 0.1599999964237213, 0.0, 0.0, 0.0, 0.0, 0.0, 0.1599999964237213, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "right": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.1599999964237213, 0.0]}, "long_curve": [{"video": {"psnr": 31.635714434175902, "ssim": 0.9433479044744502, "lpips": 0.024344630539417267}, "wrist_left": {"psnr": 23.600112616644534, "ssim": 0.8507180189893898, "lpips": 0.06538014858961105}, "wrist_right": {"psnr": 22.2250240152708, "ssim": 0.8353350289937087, "lpips": 0.07400772720575333}, "tactile_left": {"psnr": 45.54271459223745, "ssim": 0.9861435145889899, "lpips": 0.019345887005329132}, "tactile_right": {"psnr": 47.01560461065675, "ssim": 0.9910976543269523, "lpips": 0.01187518984079361}}, {"video": {"psnr": 26.15969455859823, "ssim": 0.8601449965606094, "lpips": 0.06192386895418167}, "wrist_left": {"psnr": 19.481931322511777, "ssim": 0.7088466836334731, "lpips": 0.16340038180351257}, "wrist_right": {"psnr": 17.215376231552952, "ssim": 0.714483284134892, "lpips": 0.21145421266555786}, "tactile_left": {"psnr": 42.13493189966529, "ssim": 0.9798161572384361, "lpips": 0.030003933236002922}, "tactile_right": {"psnr": 44.57973750963988, "ssim": 0.9831525122335637, "lpips": 0.023299619555473328}}, {"video": {"psnr": 23.340121543030243, "ssim": 0.8159470985343225, "lpips": 0.11931892484426498}, "wrist_left": {"psnr": 12.914705427250748, "ssim": 0.40010247713516645, "lpips": 0.36230283975601196}, "wrist_right": {"psnr": 16.901219599661236, "ssim": 0.7165708438132117, "lpips": 0.22700925171375275}, "tactile_left": {"psnr": 41.35955060754455, "ssim": 0.9796789505071273, "lpips": 0.03169433772563934}, "tactile_right": {"psnr": 44.019633202313585, "ssim": 0.9834705075055867, "lpips": 0.028493203222751617}}, {"video": {"psnr": 21.57037574743778, "ssim": 0.8012590967003382, "lpips": 0.16157817840576172}, "wrist_left": {"psnr": 8.87514110111357, "ssim": 0.35848407004572186, "lpips": 0.5494697093963623}, "wrist_right": {"psnr": 14.735435343834943, "ssim": 0.62385080709881, "lpips": 0.35612526535987854}, "tactile_left": {"psnr": 41.794676549064945, "ssim": 0.9821159796912207, "lpips": 0.03560013324022293}, "tactile_right": {"psnr": 42.30705175786355, "ssim": 0.982640555344754, "lpips": 0.035678036510944366}}, {"video": {"psnr": 22.02300512139832, "ssim": 0.8078114839289894, "lpips": 0.15494102239608765}, "wrist_left": {"psnr": 9.711589815263693, "ssim": 0.31383365251609774, "lpips": 0.5488536953926086}, "wrist_right": {"psnr": 12.925768078158463, "ssim": 0.45961153815746747, "lpips": 0.44533586502075195}, "tactile_left": {"psnr": 39.96056235323569, "ssim": 0.9798349117150884, "lpips": 0.04462438449263573}, "tactile_right": {"psnr": 41.3822655918337, "ssim": 0.9816067563652312, "lpips": 0.04991256445646286}}, {"video": {"psnr": 22.01811821312141, "ssim": 0.8161815159222261, "lpips": 0.1586637645959854}, "wrist_left": {"psnr": 10.572153356045701, "ssim": 0.3288994190246286, "lpips": 0.5083115100860596}, "wrist_right": {"psnr": 13.243480112670781, "ssim": 0.4686146898229842, "lpips": 0.42604300379753113}, "tactile_left": {"psnr": 38.70277440071641, "ssim": 0.977746416069136, "lpips": 0.05371470004320145}, "tactile_right": {"psnr": 40.1990581968718, "ssim": 0.9799098202575822, "lpips": 0.06302009522914886}}, {"video": {"psnr": 21.547279122224616, "ssim": 0.7892378727571205, "lpips": 0.1783328801393509}, "wrist_left": {"psnr": 10.533366784556344, "ssim": 0.3240056374595252, "lpips": 0.5160827040672302}, "wrist_right": {"psnr": 12.772389100574735, "ssim": 0.44650612586803373, "lpips": 0.46615996956825256}, "tactile_left": {"psnr": 37.73256692368012, "ssim": 0.9747851286390901, "lpips": 0.07090995460748672}, "tactile_right": {"psnr": 39.223648915266544, "ssim": 0.9780325159392931, "lpips": 0.07891551405191422}}, {"video": {"psnr": 21.758070191028104, "ssim": 0.7939164868866251, "lpips": 0.17856477200984955}, "wrist_left": {"psnr": 12.690216156064713, "ssim": 0.39662179993205093, "lpips": 0.44518545269966125}, "wrist_right": {"psnr": 13.083173963144663, "ssim": 0.4478209693906019, "lpips": 0.4582081437110901}, "tactile_left": {"psnr": 36.702613617630355, "ssim": 0.972057135826519, "lpips": 0.08910621702671051}, "tactile_right": {"psnr": 38.69294507817788, "ssim": 0.9758290723084492, "lpips": 0.09542260318994522}}, {"video": {"psnr": 21.38213574654186, "ssim": 0.7790123650520804, "lpips": 0.18690712749958038}, "wrist_left": {"psnr": 13.968884598965857, "ssim": 0.5391765185877424, "lpips": 0.35866275429725647}, "wrist_right": {"psnr": 13.134056123786044, "ssim": 0.48805834262821013, "lpips": 0.4448530673980713}, "tactile_left": {"psnr": 36.076582661212925, "ssim": 0.9697923318535151, "lpips": 0.10211999714374542}, "tactile_right": {"psnr": 37.73509344804537, "ssim": 0.9743674265617798, "lpips": 0.11247279495000839}}, {"video": {"psnr": 20.50610424781472, "ssim": 0.74677155772127, "lpips": 0.23065398633480072}, "wrist_left": {"psnr": 12.83335365326205, "ssim": 0.4715661489324083, "lpips": 0.4001843333244324}, "wrist_right": {"psnr": 10.090863131177898, "ssim": 0.4018800557701995, "lpips": 0.5924360752105713}, "tactile_left": {"psnr": 35.16525996910999, "ssim": 0.9668580830590574, "lpips": 0.11548911035060883}, "tactile_right": {"psnr": 36.27053643812691, "ssim": 0.9715194168221599, "lpips": 0.12156842648983002}}, {"video": {"psnr": 20.53138113299475, "ssim": 0.7420144168566964, "lpips": 0.2334534376859665}, "wrist_left": {"psnr": 13.67762571288307, "ssim": 0.5033855079616877, "lpips": 0.3759673833847046}, "wrist_right": {"psnr": 9.357221391763876, "ssim": 0.35906365010297325, "lpips": 0.6032626628875732}, "tactile_left": {"psnr": 34.58781374382866, "ssim": 0.9636542368488472, "lpips": 0.1442696899175644}, "tactile_right": {"psnr": 35.563508860391565, "ssim": 0.9680920912710997, "lpips": 0.13541528582572937}}, {"video": {"psnr": 20.86956382166668, "ssim": 0.7586036634735978, "lpips": 0.21276506781578064}, "wrist_left": {"psnr": 10.893840928033846, "ssim": 0.43754487422520205, "lpips": 0.524931013584137}, "wrist_right": {"psnr": 9.860055001963884, "ssim": 0.37059113811307726, "lpips": 0.5818250179290771}, "tactile_left": {"psnr": 34.234424629816054, "ssim": 0.9612340503389412, "lpips": 0.16176047921180725}, "tactile_right": {"psnr": 34.889050993022884, "ssim": 0.9661765407477177, "lpips": 0.14981164038181305}}, {"video": {"psnr": 20.621124121604183, "ssim": 0.7590703945289609, "lpips": 0.2222326546907425}, "wrist_left": {"psnr": 9.240090697728453, "ssim": 0.34843941508358817, "lpips": 0.5850925445556641}, "wrist_right": {"psnr": 10.61876059552652, "ssim": 0.44745763662415844, "lpips": 0.5437140464782715}, "tactile_left": {"psnr": 33.71179315735016, "ssim": 0.9590459457698657, "lpips": 0.17960692942142487}, "tactile_right": {"psnr": 34.29767062587642, "ssim": 0.9634260432815057, "lpips": 0.17600500583648682}}, {"video": {"psnr": 20.475626475937503, "ssim": 0.7411759505246684, "lpips": 0.24294845759868622}, "wrist_left": {"psnr": 10.286718420002092, "ssim": 0.37725351511561767, "lpips": 0.5572664737701416}, "wrist_right": {"psnr": 11.130544355853358, "ssim": 0.468938270193455, "lpips": 0.4936820864677429}, "tactile_left": {"psnr": 33.10610585507384, "ssim": 0.9567948788870766, "lpips": 0.19414518773555756}, "tactile_right": {"psnr": 33.91707404518451, "ssim": 0.959936170389887, "lpips": 0.19724886119365692}}, {"video": {"psnr": 20.600254520361702, "ssim": 0.7357028275778159, "lpips": 0.24354933202266693}, "wrist_left": {"psnr": 12.705440690888077, "ssim": 0.4192743451141945, "lpips": 0.44972819089889526}, "wrist_right": {"psnr": 11.1888521839516, "ssim": 0.4689545955479797, "lpips": 0.4957619607448578}, "tactile_left": {"psnr": 32.343998198280325, "ssim": 0.953317252146542, "lpips": 0.20240116119384766}, "tactile_right": {"psnr": 33.56434713185703, "ssim": 0.9589916799749509, "lpips": 0.21034856140613556}}], "long_metrics": {"video": {"psnr": 22.3359045998624, "ssim": 0.7926798420999847, "lpips": 0.1740118737022082}, "wrist_left": {"psnr": 12.799011418747634, "ssim": 0.4518768055837663, "lpips": 0.4273879423737526}, "wrist_right": {"psnr": 13.232147948592784, "ssim": 0.5145157984173175, "lpips": 0.4279918904105822}, "tactile_left": {"psnr": 37.54375794389645, "ssim": 0.9708583315452969, "lpips": 0.09831947349011898}, "tactile_right": {"psnr": 38.910481760341895, "ssim": 0.9745499175553676, "lpips": 0.09929916014273961}}}, {"id": "pusht_e007_09", "episode": "pushT_0911_episode_007_seg00.pt", "requested_episode": "pushT_0911_episode_006_seg00.pt", "category": "release", "t_start": 372, "start_seconds": 24.8, "short_contact": [1, 1, 0, 0, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 0, 0], "future_transition_ticks": [11], "long_contact_fraction": 0.5234375, "long_label": "release", "short_metrics": {"video": {"psnr": 31.991540822765682, "ssim": 0.9490175179342369, "lpips": 0.02404777519404888}, "wrist_left": {"psnr": 29.046778576765867, "ssim": 0.9268409284689041, "lpips": 0.020383594557642937}, "wrist_right": {"psnr": 19.202048513395333, "ssim": 0.7661730180654194, "lpips": 0.2081085443496704}, "tactile_left": {"psnr": 48.249157828186185, "ssim": 0.9923129982886372, "lpips": 0.008581617847084999}, "tactile_right": {"psnr": 51.441612756314925, "ssim": 0.9946774480992064, "lpips": 0.003159483429044485}}, "media": {"short": {"video": "media/pusht_e007_09_short.mp4", "poster": "media/pusht_e007_09_short.jpg"}, "long": {"video": "media/pusht_e007_09_long.mp4", "poster": "media/pusht_e007_09_long.jpg"}}, "force": {"source": "recorded_normal_force", "units": "N", "fps": 15, "left": [0.7223303318023682, 0.5193629264831543, 0.49666666984558105, 0.49666666984558105, 0.7287783026695251, 1.1662499904632568, 0.759509265422821, 1.0717607736587524, 1.1662499904632568, 0.7603814005851746, 0.7217077016830444, 0.49666666984558105, 0.49666666984558105, 0.43017828464508057, 0.35626736283302307, 0.38013455271720886, 0.3559586703777313, 0.7235453128814697, 1.1662499904632568, 1.1662499904632568, 1.1662499904632568, 1.1662499904632568, 1.1662499904632568, 1.1662499904632568, 1.1662499904632568, 1.1662499904632568, 1.1662499904632568, 1.1662499904632568, 1.1672331094741821, 1.1733332872390747, 1.1733332872390747, 1.1733332872390747, 1.1733332872390747, 1.1733332872390747, 1.1733332872390747, 1.1733332872390747, 1.1733332872390747, 1.1733332872390747, 1.1733332872390747, 1.1733332872390747, 1.2811414003372192, 1.3160333633422852, 1.3294880390167236, 1.258453607559204, 1.2977064847946167, 1.3860361576080322, 1.2988581657409668, 1.245100975036621, 1.1733332872390747, 1.1662499904632568, 1.1662499904632568, 1.1662499904632568, 1.1662499904632568, 1.1662499904632568, 1.1662499904632568, 1.1662499904632568, 1.1662499904632568, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.1599999964237213, 0.41999998688697815, 0.26398810744285583, 0.1698000282049179, 1.5254545211791992, 1.1662499904632568, 1.1662499904632568, 0.0, 0.20448574423789978, 0.3832490146160126, 1.1662499904632568, 1.1689953804016113, 0.727850615978241, 0.5576397776603699, 1.1662499904632568, 1.1662499904632568, 0.4760452210903168, 0.7227554321289062, 1.1662499904632568, 0.7186065316200256, 1.1662499904632568, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "right": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.1662499904632568, 1.1662499904632568, 0.0, 1.1682941913604736, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.1599999964237213, 0.1599999964237213, 0.0, 0.0, 0.1599999964237213, 0.1599999964237213, 0.1599999964237213, 0.1599999964237213, 0.1698560118675232, 0.1784145087003708, 0.16725371778011322, 0.1775873303413391, 0.23787949979305267, 0.26522916555404663, 0.28738197684288025, 0.41999998688697815, 0.41999998688697815, 0.41999998688697815, 0.41298267245292664, 0.41999998688697815, 0.41999998688697815, 0.41999998688697815, 0.4116257131099701, 0.39864084124565125, 0.2943855822086334, 0.2898465096950531, 0.28639650344848633, 0.41999998688697815, 0.3053796887397766, 0.30259114503860474, 0.44334322214126587, 0.4140942096710205, 0.41999998688697815, 0.47298121452331543, 1.1681991815567017, 1.2176240682601929, 1.9833333492279053, 1.9833333492279053, 2.9424359798431396, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]}, "long_curve": [{"video": {"psnr": 31.991540822765682, "ssim": 0.9490175179342369, "lpips": 0.02404777519404888}, "wrist_left": {"psnr": 29.046778576765867, "ssim": 0.9268409284689041, "lpips": 0.020383594557642937}, "wrist_right": {"psnr": 19.202048513395333, "ssim": 0.7661730180654194, "lpips": 0.2081085443496704}, "tactile_left": {"psnr": 48.249157828186185, "ssim": 0.9923129982886372, "lpips": 0.008581617847084999}, "tactile_right": {"psnr": 51.441612756314925, "ssim": 0.9946774480992064, "lpips": 0.003159483429044485}}, {"video": {"psnr": 25.761252484366896, "ssim": 0.8889087611093861, "lpips": 0.0762074887752533}, "wrist_left": {"psnr": 21.53316988534192, "ssim": 0.7930917712893992, "lpips": 0.1076456680893898}, "wrist_right": {"psnr": 18.23165409623535, "ssim": 0.7174742892797548, "lpips": 0.2227131873369217}, "tactile_left": {"psnr": 40.861620939741755, "ssim": 0.9804903734834246, "lpips": 0.03996869921684265}, "tactile_right": {"psnr": 47.2155384097061, "ssim": 0.9910611088945549, "lpips": 0.010659021325409412}}, {"video": {"psnr": 22.10939632842333, "ssim": 0.8213692262168903, "lpips": 0.16467058658599854}, "wrist_left": {"psnr": 14.354161129169372, "ssim": 0.5823209947500896, "lpips": 0.3794623017311096}, "wrist_right": {"psnr": 14.001999741242884, "ssim": 0.5791086422651359, "lpips": 0.3838508725166321}, "tactile_left": {"psnr": 37.97603778908659, "ssim": 0.9770589927165443, "lpips": 0.07575968652963638}, "tactile_right": {"psnr": 43.86320446164742, "ssim": 0.9881263562016973, "lpips": 0.021622495725750923}}, {"video": {"psnr": 21.730023260420555, "ssim": 0.8025915608552731, "lpips": 0.17675291001796722}, "wrist_left": {"psnr": 14.145552615027135, "ssim": 0.5464276776173229, "lpips": 0.3959428668022156}, "wrist_right": {"psnr": 13.9500792828457, "ssim": 0.5551944253268779, "lpips": 0.41680246591567993}, "tactile_left": {"psnr": 36.62137345028746, "ssim": 0.9733956690669638, "lpips": 0.08988162875175476}, "tactile_right": {"psnr": 41.38819311609421, "ssim": 0.9852928331482963, "lpips": 0.04714053496718407}}, {"video": {"psnr": 21.042024601655598, "ssim": 0.7802813042632211, "lpips": 0.20870886743068695}, "wrist_left": {"psnr": 14.028547387459184, "ssim": 0.5596527186488971, "lpips": 0.4119418263435364}, "wrist_right": {"psnr": 11.067297220757533, "ssim": 0.38358129693063014, "lpips": 0.5676846504211426}, "tactile_left": {"psnr": 35.623652029423226, "ssim": 0.9701202399587977, "lpips": 0.10237234830856323}, "tactile_right": {"psnr": 40.41603305314784, "ssim": 0.9822864640242546, "lpips": 0.05434584617614746}}, {"video": {"psnr": 21.24447554954779, "ssim": 0.7821391944631806, "lpips": 0.1975930631160736}, "wrist_left": {"psnr": 14.787568123878321, "ssim": 0.5736894267896285, "lpips": 0.37383317947387695}, "wrist_right": {"psnr": 11.462643758401521, "ssim": 0.442105779324671, "lpips": 0.5019075870513916}, "tactile_left": {"psnr": 35.670730884321735, "ssim": 0.9682227098199252, "lpips": 0.10961457341909409}, "tactile_right": {"psnr": 39.1676532329983, "ssim": 0.9801980948423858, "lpips": 0.06625252962112427}}, {"video": {"psnr": 21.27870230184942, "ssim": 0.7652513908584182, "lpips": 0.20796659588813782}, "wrist_left": {"psnr": 12.6208040531735, "ssim": 0.44275510827831505, "lpips": 0.45319515466690063}, "wrist_right": {"psnr": 11.705557876332374, "ssim": 0.5064660720689745, "lpips": 0.5022991299629211}, "tactile_left": {"psnr": 37.1295903681364, "ssim": 0.9734022801453082, "lpips": 0.08386336266994476}, "tactile_right": {"psnr": 38.05370490123002, "ssim": 0.9777323321591171, "lpips": 0.08527162671089172}}, {"video": {"psnr": 21.29852743571535, "ssim": 0.7560105114970073, "lpips": 0.20655274391174316}, "wrist_left": {"psnr": 9.839082384420312, "ssim": 0.4231905794039287, "lpips": 0.5081445574760437}, "wrist_right": {"psnr": 14.631853426445103, "ssim": 0.6623872211619096, "lpips": 0.38143715262413025}, "tactile_left": {"psnr": 36.44313519409629, "ssim": 0.9707021210897928, "lpips": 0.09510871767997742}, "tactile_right": {"psnr": 37.47155087074066, "ssim": 0.975592731048396, "lpips": 0.10411299765110016}}, {"video": {"psnr": 20.605939162794897, "ssim": 0.7618634451201693, "lpips": 0.21013487875461578}, "wrist_left": {"psnr": 8.26905559382348, "ssim": 0.41492242857141726, "lpips": 0.5892231464385986}, "wrist_right": {"psnr": 14.483324217511393, "ssim": 0.579845489100075, "lpips": 0.41304585337638855}, "tactile_left": {"psnr": 35.7005181071013, "ssim": 0.968864828393758, "lpips": 0.11552119255065918}, "tactile_right": {"psnr": 36.664101530256474, "ssim": 0.9727155420534969, "lpips": 0.12410514056682587}}, {"video": {"psnr": 19.91556910689144, "ssim": 0.7484147929433962, "lpips": 0.23323841392993927}, "wrist_left": {"psnr": 8.746101887310871, "ssim": 0.4591328776695518, "lpips": 0.5742851495742798}, "wrist_right": {"psnr": 14.040955857913085, "ssim": 0.5129530744136563, "lpips": 0.4293067455291748}, "tactile_left": {"psnr": 34.64516696071533, "ssim": 0.9635448081604052, "lpips": 0.15498709678649902}, "tactile_right": {"psnr": 35.46457347312233, "ssim": 0.9682031875962517, "lpips": 0.1514035165309906}}, {"video": {"psnr": 19.67296715126033, "ssim": 0.728779468732998, "lpips": 0.24387001991271973}, "wrist_left": {"psnr": 8.50939495163484, "ssim": 0.4355216393168002, "lpips": 0.5835374593734741}, "wrist_right": {"psnr": 13.907018931514223, "ssim": 0.47438733592855653, "lpips": 0.412020742893219}, "tactile_left": {"psnr": 33.726892408926, "ssim": 0.9548876929405157, "lpips": 0.20329949259757996}, "tactile_right": {"psnr": 34.32667474015695, "ssim": 0.964102596215481, "lpips": 0.1625092327594757}}, {"video": {"psnr": 20.136536153661844, "ssim": 0.7165590097441952, "lpips": 0.2551017105579376}, "wrist_left": {"psnr": 8.361544417443667, "ssim": 0.4098549165753629, "lpips": 0.5972890853881836}, "wrist_right": {"psnr": 11.671795784202043, "ssim": 0.3916339223953309, "lpips": 0.5124067664146423}, "tactile_left": {"psnr": 33.71444902553887, "ssim": 0.9575490147952483, "lpips": 0.1896732598543167}, "tactile_right": {"psnr": 33.413940881341254, "ssim": 0.9597932450715628, "lpips": 0.1764078289270401}}, {"video": {"psnr": 20.569140336516778, "ssim": 0.7099167627891374, "lpips": 0.24533824622631073}, "wrist_left": {"psnr": 11.274554195180018, "ssim": 0.40868480097643767, "lpips": 0.4933701753616333}, "wrist_right": {"psnr": 10.892093285207716, "ssim": 0.3386335003944261, "lpips": 0.5581752061843872}, "tactile_left": {"psnr": 33.58357619868952, "ssim": 0.9568434396777951, "lpips": 0.17685294151306152}, "tactile_right": {"psnr": 32.957276383190255, "ssim": 0.9574667195141349, "lpips": 0.18965715169906616}}, {"video": {"psnr": 20.18794573342795, "ssim": 0.6981088581642212, "lpips": 0.2705872058868408}, "wrist_left": {"psnr": 11.179267751997642, "ssim": 0.3832297220645696, "lpips": 0.4818980097770691}, "wrist_right": {"psnr": 10.804268489140911, "ssim": 0.3337749939889333, "lpips": 0.5423250198364258}, "tactile_left": {"psnr": 33.28241540773608, "ssim": 0.9548121435069954, "lpips": 0.18662963807582855}, "tactile_right": {"psnr": 32.5315892008772, "ssim": 0.9573277496279103, "lpips": 0.20483994483947754}}, {"video": {"psnr": 19.9722073834335, "ssim": 0.7129602574552887, "lpips": 0.26130324602127075}, "wrist_left": {"psnr": 11.922388898580412, "ssim": 0.5188672589517946, "lpips": 0.3962153494358063}, "wrist_right": {"psnr": 10.595066668249265, "ssim": 0.3506701652481413, "lpips": 0.5267037749290466}, "tactile_left": {"psnr": 32.79173597347167, "ssim": 0.9527158062503107, "lpips": 0.19506773352622986}, "tactile_right": {"psnr": 32.504254575062724, "ssim": 0.959571667129264, "lpips": 0.2081102728843689}}], "long_metrics": {"video": {"psnr": 21.83441652084876, "ssim": 0.7748114708098013, "lpips": 0.1988049168139696}, "wrist_left": {"psnr": 13.241198123413769, "ssim": 0.5252121899581613, "lpips": 0.4244245016326507}, "wrist_right": {"psnr": 13.376510476626295, "ssim": 0.5062926150594995, "lpips": 0.43858584662278494}, "tactile_left": {"psnr": 36.40133683769723, "ssim": 0.9676615412196282, "lpips": 0.12181213262180487}, "tactile_right": {"psnr": 38.45866010572578, "ssim": 0.9742765383750673, "lpips": 0.10730650825425983}}}, {"id": "pusht_e007_10", "episode": "pushT_0911_episode_007_seg00.pt", "requested_episode": "pushT_0911_episode_006_seg00.pt", "category": "full", "t_start": 364, "start_seconds": 24.266666666666666, "short_contact": [1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 1, 1, 1, 1], "future_transition_ticks": [10, 12], "long_contact_fraction": 0.5859375, "long_label": "full", "short_metrics": {"video": {"psnr": 33.119846283492365, "ssim": 0.9547572766040673, "lpips": 0.019177071750164032}, "wrist_left": {"psnr": 31.379376790771868, "ssim": 0.9483740500766078, "lpips": 0.014505986124277115}, "wrist_right": {"psnr": 25.224567455125925, "ssim": 0.8535718764757019, "lpips": 0.06172589212656021}, "tactile_left": {"psnr": 48.62902107560265, "ssim": 0.9918900474842665, "lpips": 0.007484463043510914}, "tactile_right": {"psnr": 48.62093972538305, "ssim": 0.9929466936035962, "lpips": 0.005676244385540485}}, "media": {"short": {"video": "media/pusht_e007_10_short.mp4", "poster": "media/pusht_e007_10_short.jpg"}, "long": {"video": "media/pusht_e007_10_long.mp4", "poster": "media/pusht_e007_10_long.jpg"}}, "force": {"source": "recorded_normal_force", "units": "N", "fps": 15, "left": [0.7430106997489929, 1.1662499904632568, 1.1662499904632568, 0.6716711521148682, 0.704539954662323, 0.7390938401222229, 1.0104410648345947, 0.7223303318023682, 0.7223303318023682, 0.5193629264831543, 0.49666666984558105, 0.49666666984558105, 0.7287783026695251, 1.1662499904632568, 0.759509265422821, 1.0717607736587524, 1.1662499904632568, 0.7603814005851746, 0.7217077016830444, 0.49666666984558105, 0.49666666984558105, 0.43017828464508057, 0.35626736283302307, 0.38013455271720886, 0.3559586703777313, 0.7235453128814697, 1.1662499904632568, 1.1662499904632568, 1.1662499904632568, 1.1662499904632568, 1.1662499904632568, 1.1662499904632568, 1.1662499904632568, 1.1662499904632568, 1.1662499904632568, 1.1662499904632568, 1.1672331094741821, 1.1733332872390747, 1.1733332872390747, 1.1733332872390747, 1.1733332872390747, 1.1733332872390747, 1.1733332872390747, 1.1733332872390747, 1.1733332872390747, 1.1733332872390747, 1.1733332872390747, 1.1733332872390747, 1.2811414003372192, 1.3160333633422852, 1.3294880390167236, 1.258453607559204, 1.2977064847946167, 1.3860361576080322, 1.2988581657409668, 1.245100975036621, 1.1733332872390747, 1.1662499904632568, 1.1662499904632568, 1.1662499904632568, 1.1662499904632568, 1.1662499904632568, 1.1662499904632568, 1.1662499904632568, 1.1662499904632568, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.1599999964237213, 0.41999998688697815, 0.26398810744285583, 0.1698000282049179, 1.5254545211791992, 1.1662499904632568, 1.1662499904632568, 0.0, 0.20448574423789978, 0.3832490146160126, 1.1662499904632568, 1.1689953804016113, 0.727850615978241, 0.5576397776603699, 1.1662499904632568, 1.1662499904632568, 0.4760452210903168, 0.7227554321289062, 1.1662499904632568, 0.7186065316200256, 1.1662499904632568, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "right": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.1662499904632568, 1.1662499904632568, 0.0, 1.1682941913604736, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.1599999964237213, 0.1599999964237213, 0.0, 0.0, 0.1599999964237213, 0.1599999964237213, 0.1599999964237213, 0.1599999964237213, 0.1698560118675232, 0.1784145087003708, 0.16725371778011322, 0.1775873303413391, 0.23787949979305267, 0.26522916555404663, 0.28738197684288025, 0.41999998688697815, 0.41999998688697815, 0.41999998688697815, 0.41298267245292664, 0.41999998688697815, 0.41999998688697815, 0.41999998688697815, 0.4116257131099701, 0.39864084124565125, 0.2943855822086334, 0.2898465096950531, 0.28639650344848633, 0.41999998688697815, 0.3053796887397766, 0.30259114503860474, 0.44334322214126587, 0.4140942096710205, 0.41999998688697815, 0.47298121452331543, 1.1681991815567017, 1.2176240682601929, 1.9833333492279053, 1.9833333492279053, 2.9424359798431396, 0.0]}, "long_curve": [{"video": {"psnr": 33.119846283492365, "ssim": 0.9547572766040673, "lpips": 0.019177071750164032}, "wrist_left": {"psnr": 31.379376790771868, "ssim": 0.9483740500766078, "lpips": 0.014505986124277115}, "wrist_right": {"psnr": 25.224567455125925, "ssim": 0.8535718764757019, "lpips": 0.06172589212656021}, "tactile_left": {"psnr": 48.62902107560265, "ssim": 0.9918900474842665, "lpips": 0.007484463043510914}, "tactile_right": {"psnr": 48.62093972538305, "ssim": 0.9929466936035962, "lpips": 0.005676244385540485}}, {"video": {"psnr": 31.009866383486035, "ssim": 0.9351614897377611, "lpips": 0.03127996623516083}, "wrist_left": {"psnr": 26.153332369087508, "ssim": 0.8844054310387177, "lpips": 0.0365985631942749}, "wrist_right": {"psnr": 19.607946659749437, "ssim": 0.7183462323521723, "lpips": 0.22416344285011292}, "tactile_left": {"psnr": 45.106057793054404, "ssim": 0.9860867479943716, "lpips": 0.01705782115459442}, "tactile_right": {"psnr": 47.248808037065686, "ssim": 0.9887888720468987, "lpips": 0.012608993798494339}}, {"video": {"psnr": 26.24671081768789, "ssim": 0.8976692964116448, "lpips": 0.07058358192443848}, "wrist_left": {"psnr": 17.67162105874283, "ssim": 0.680917025547963, "lpips": 0.21322128176689148}, "wrist_right": {"psnr": 19.065518192357153, "ssim": 0.7343714966240305, "lpips": 0.18380403518676758}, "tactile_left": {"psnr": 39.97886118340013, "ssim": 0.9795134816208606, "lpips": 0.0556512251496315}, "tactile_right": {"psnr": 44.765987265313775, "ssim": 0.9863862487040805, "lpips": 0.023270096629858017}}, {"video": {"psnr": 22.92423148204555, "ssim": 0.8535151202589041, "lpips": 0.130430206656456}, "wrist_left": {"psnr": 11.265278178374405, "ssim": 0.5444680055571616, "lpips": 0.4118841290473938}, "wrist_right": {"psnr": 12.908397505947322, "ssim": 0.5203421914590899, "lpips": 0.47383245825767517}, "tactile_left": {"psnr": 37.415772015132596, "ssim": 0.9743405070914429, "lpips": 0.08789822459220886}, "tactile_right": {"psnr": 42.08332285217864, "ssim": 0.9846518354105136, "lpips": 0.03577674552798271}}, {"video": {"psnr": 23.450629229971366, "ssim": 0.854424547193823, "lpips": 0.13764455914497375}, "wrist_left": {"psnr": 11.025617302741777, "ssim": 0.5344344160432446, "lpips": 0.41693204641342163}, "wrist_right": {"psnr": 12.510542305401577, "ssim": 0.4549246179653663, "lpips": 0.5151896476745605}, "tactile_left": {"psnr": 36.00116988424234, "ssim": 0.9710954761143562, "lpips": 0.09725098311901093}, "tactile_right": {"psnr": 40.61444701256369, "ssim": 0.9821999210231951, "lpips": 0.06247396022081375}}, {"video": {"psnr": 22.779645628732233, "ssim": 0.8318941849595086, "lpips": 0.15442577004432678}, "wrist_left": {"psnr": 11.171907998869667, "ssim": 0.5402306011209037, "lpips": 0.41777271032333374}, "wrist_right": {"psnr": 12.684532748103003, "ssim": 0.4748650208999596, "lpips": 0.4638946056365967}, "tactile_left": {"psnr": 34.95991752581625, "ssim": 0.9675493127513428, "lpips": 0.11433333158493042}, "tactile_right": {"psnr": 39.22380552692538, "ssim": 0.9801844965068431, "lpips": 0.06533719599246979}}, {"video": {"psnr": 22.640323514744093, "ssim": 0.8116959530215935, "lpips": 0.16062834858894348}, "wrist_left": {"psnr": 11.294733633391358, "ssim": 0.5372609921880345, "lpips": 0.42176559567451477}, "wrist_right": {"psnr": 13.69301309920715, "ssim": 0.5036509590420928, "lpips": 0.3755137324333191}, "tactile_left": {"psnr": 34.87476328700878, "ssim": 0.9649867575746252, "lpips": 0.12415452301502228}, "tactile_right": {"psnr": 37.939026103340055, "ssim": 0.9777944189338176, "lpips": 0.07863692194223404}}, {"video": {"psnr": 22.300929067349927, "ssim": 0.7784329068315221, "lpips": 0.16704997420310974}, "wrist_left": {"psnr": 10.292716610350572, "ssim": 0.4291882988002501, "lpips": 0.5066056251525879}, "wrist_right": {"psnr": 12.867680298813042, "ssim": 0.5667704451424966, "lpips": 0.40397244691848755}, "tactile_left": {"psnr": 35.84838290433223, "ssim": 0.9697601567280837, "lpips": 0.09823939204216003}, "tactile_right": {"psnr": 37.32218815233221, "ssim": 0.9764611278882414, "lpips": 0.08986085653305054}}, {"video": {"psnr": 21.60311458569325, "ssim": 0.7636435619044539, "lpips": 0.18013370037078857}, "wrist_left": {"psnr": 9.4696297209677, "ssim": 0.410697437081174, "lpips": 0.5791220664978027}, "wrist_right": {"psnr": 15.407704682437425, "ssim": 0.6836938910830965, "lpips": 0.3587842583656311}, "tactile_left": {"psnr": 35.506765636515325, "ssim": 0.9677855154343169, "lpips": 0.10545084625482559}, "tactile_right": {"psnr": 36.974421791320594, "ssim": 0.975869521768248, "lpips": 0.09683847427368164}}, {"video": {"psnr": 21.083880651242673, "ssim": 0.7537145374119139, "lpips": 0.1977004110813141}, "wrist_left": {"psnr": 8.802848946246383, "ssim": 0.42351139386079084, "lpips": 0.5789949893951416}, "wrist_right": {"psnr": 14.513064108383073, "ssim": 0.5749446783021501, "lpips": 0.4221590757369995}, "tactile_left": {"psnr": 34.68938656289232, "ssim": 0.9655220213123585, "lpips": 0.13006114959716797}, "tactile_right": {"psnr": 35.74908605975778, "ssim": 0.9731641267090456, "lpips": 0.11669005453586578}}, {"video": {"psnr": 20.953423715465384, "ssim": 0.7570324815101628, "lpips": 0.18835903704166412}, "wrist_left": {"psnr": 10.750543075967435, "ssim": 0.558700251874716, "lpips": 0.5131837725639343}, "wrist_right": {"psnr": 13.391539562344166, "ssim": 0.5175386247165494, "lpips": 0.47531384229660034}, "tactile_left": {"psnr": 33.97538318894793, "ssim": 0.9606172844078917, "lpips": 0.16709555685520172}, "tactile_right": {"psnr": 34.85733289929111, "ssim": 0.9694101199056834, "lpips": 0.13377436995506287}}, {"video": {"psnr": 21.216596338007317, "ssim": 0.7604637244629323, "lpips": 0.19386957585811615}, "wrist_left": {"psnr": 10.559024877142642, "ssim": 0.5320656050915542, "lpips": 0.5306040048599243}, "wrist_right": {"psnr": 13.195038064337039, "ssim": 0.4933885132430945, "lpips": 0.47215738892555237}, "tactile_left": {"psnr": 33.20645249352659, "ssim": 0.9521061060519651, "lpips": 0.2153838574886322}, "tactile_right": {"psnr": 33.94750750563461, "ssim": 0.965949309268626, "lpips": 0.14649704098701477}}, {"video": {"psnr": 21.441649092911035, "ssim": 0.7425095331314633, "lpips": 0.20945167541503906}, "wrist_left": {"psnr": 8.510015786598379, "ssim": 0.40969790130026623, "lpips": 0.587009072303772}, "wrist_right": {"psnr": 16.097781249917137, "ssim": 0.537658047475311, "lpips": 0.33664053678512573}, "tactile_left": {"psnr": 33.18784525886268, "ssim": 0.9546587933485274, "lpips": 0.20290789008140564}, "tactile_right": {"psnr": 33.30182050959494, "ssim": 0.961428285635114, "lpips": 0.1490771770477295}}, {"video": {"psnr": 20.995529120597702, "ssim": 0.7259418830820257, "lpips": 0.23766592144966125}, "wrist_left": {"psnr": 9.74027473502509, "ssim": 0.31631317521703656, "lpips": 0.6033598184585571}, "wrist_right": {"psnr": 15.14209684645779, "ssim": 0.49577896967084806, "lpips": 0.325989693403244}, "tactile_left": {"psnr": 33.129252012081075, "ssim": 0.9535167466504348, "lpips": 0.19039994478225708}, "tactile_right": {"psnr": 32.8579548762558, "ssim": 0.9594731138272388, "lpips": 0.1618766337633133}}, {"video": {"psnr": 21.060388362326577, "ssim": 0.7257835619570974, "lpips": 0.24600905179977417}, "wrist_left": {"psnr": 9.172937065860141, "ssim": 0.315373301894743, "lpips": 0.5968103408813477}, "wrist_right": {"psnr": 13.11536398992478, "ssim": 0.4272446348216602, "lpips": 0.3978155255317688}, "tactile_left": {"psnr": 32.81513192807327, "ssim": 0.9522532898563554, "lpips": 0.1982325315475464}, "tactile_right": {"psnr": 32.414034221133534, "ssim": 0.958300866296632, "lpips": 0.1746501624584198}}], "long_metrics": {"video": {"psnr": 23.521784284916894, "ssim": 0.8097760038985915, "lpips": 0.15496059010426202}, "wrist_left": {"psnr": 13.150657210009182, "ssim": 0.537709192446211, "lpips": 0.428558000177145}, "wrist_right": {"psnr": 15.294985784567068, "ssim": 0.5704726799515747, "lpips": 0.3660637721419334}, "tactile_left": {"psnr": 36.621610849965904, "ssim": 0.9674454829614133, "lpips": 0.12077344935387373}, "tactile_right": {"psnr": 38.52804550253939, "ssim": 0.9755339305018517, "lpips": 0.09020299520343542}}}, {"id": "pusht_e007_11", "episode": "pushT_0911_episode_007_seg01.pt", "requested_episode": "pushT_0911_episode_006_seg01.pt", "category": "none", "t_start": 112, "start_seconds": 7.466666666666667, "short_contact": [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0], "future_transition_ticks": [], "long_contact_fraction": 0.2578125, "long_label": "none_at_start", "short_metrics": {"video": {"psnr": 26.998444567026997, "ssim": 0.8863098273237655, "lpips": 0.04629242420196533}, "wrist_left": {"psnr": 21.823910339113844, "ssim": 0.7803779250343728, "lpips": 0.12652742862701416}, "wrist_right": {"psnr": 16.36243787352469, "ssim": 0.7644531505657668, "lpips": 0.2739643156528473}, "tactile_left": {"psnr": 42.783671607316506, "ssim": 0.9869666252209213, "lpips": 0.03869030624628067}, "tactile_right": {"psnr": 49.860545652265166, "ssim": 0.9938589621326792, "lpips": 0.0045403894037008286}}, "media": {"short": {"video": "media/pusht_e007_11_short.mp4", "poster": "media/pusht_e007_11_short.jpg"}, "long": {"video": "media/pusht_e007_11_long.mp4", "poster": "media/pusht_e007_11_long.jpg"}}, "force": {"source": "recorded_normal_force", "units": "N", "fps": 15, "left": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.1599999964237213, 0.1599999964237213, 0.1599999964237213, 0.1599999964237213, 0.2542245090007782, 0.1599999964237213, 0.1599999964237213, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "right": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.41999998688697815, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.9833333492279053, 0.0, 0.0, 0.0, 0.0, 0.0, 0.43252578377723694, 0.7112929821014404, 1.1662499904632568, 1.1662499904632568, 1.1662499904632568, 1.1375232934951782, 0.7337615489959717, 1.2042529582977295, 2.9424359798431396, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.4294271171092987, 0.7712745666503906, 1.1662499904632568, 1.1662499904632568, 1.1662499904632568, 2.636666774749756, 1.16824209690094, 1.9833333492279053, 2.636666774749756, 2.8207693099975586, 2.9424359798431396, 2.8207693099975586, 2.9424359798431396, 2.9424359798431396, 2.636666774749756, 2.636666774749756, 2.636666774749756, 1.1667428016662598, 1.1662499904632568, 1.1662499904632568, 1.0983830690383911, 1.1662499904632568, 1.2014970779418945, 1.9833333492279053, 2.9424359798431396, 0.0, 0.0, 0.0]}, "long_curve": [{"video": {"psnr": 26.998444567026997, "ssim": 0.8863098273237655, "lpips": 0.04629242420196533}, "wrist_left": {"psnr": 21.823910339113844, "ssim": 0.7803779250343728, "lpips": 0.12652742862701416}, "wrist_right": {"psnr": 16.36243787352469, "ssim": 0.7644531505657668, "lpips": 0.2739643156528473}, "tactile_left": {"psnr": 42.783671607316506, "ssim": 0.9869666252209213, "lpips": 0.03869030624628067}, "tactile_right": {"psnr": 49.860545652265166, "ssim": 0.9938589621326792, "lpips": 0.0045403894037008286}}, {"video": {"psnr": 23.39908231866097, "ssim": 0.803768637056513, "lpips": 0.11287575960159302}, "wrist_left": {"psnr": 15.3557185380911, "ssim": 0.6364549969119443, "lpips": 0.29495030641555786}, "wrist_right": {"psnr": 13.021970972933936, "ssim": 0.5900474968370302, "lpips": 0.4337756037712097}, "tactile_left": {"psnr": 43.455976634321416, "ssim": 0.9854301753357186, "lpips": 0.03063448891043663}, "tactile_right": {"psnr": 47.773693645556975, "ssim": 0.9893163847902298, "lpips": 0.01282438077032566}}, {"video": {"psnr": 22.160201871964993, "ssim": 0.7798880568908518, "lpips": 0.14972159266471863}, "wrist_left": {"psnr": 11.615718935996057, "ssim": 0.47483920936791085, "lpips": 0.41497695446014404}, "wrist_right": {"psnr": 12.22675310427454, "ssim": 0.503996097006732, "lpips": 0.49154138565063477}, "tactile_left": {"psnr": 43.83879243832011, "ssim": 0.9851071521007309, "lpips": 0.026354458183050156}, "tactile_right": {"psnr": 44.90642909618826, "ssim": 0.9860601058199281, "lpips": 0.0213506780564785}}, {"video": {"psnr": 20.996066542940596, "ssim": 0.7658629485192242, "lpips": 0.19101732969284058}, "wrist_left": {"psnr": 12.947581871656324, "ssim": 0.5080448000535208, "lpips": 0.3605400323867798}, "wrist_right": {"psnr": 13.219946918948235, "ssim": 0.5904906208858395, "lpips": 0.4338952302932739}, "tactile_left": {"psnr": 42.831918300889605, "ssim": 0.9835279587607111, "lpips": 0.03460422903299332}, "tactile_right": {"psnr": 42.86639280555846, "ssim": 0.9838246565537596, "lpips": 0.0352986715734005}}, {"video": {"psnr": 20.74272041420072, "ssim": 0.7608726618519872, "lpips": 0.20195746421813965}, "wrist_left": {"psnr": 13.042578488073264, "ssim": 0.5099226736938336, "lpips": 0.3448348045349121}, "wrist_right": {"psnr": 12.200610136037863, "ssim": 0.5374322438335655, "lpips": 0.5048614740371704}, "tactile_left": {"psnr": 41.48475661510549, "ssim": 0.9818115140554993, "lpips": 0.0408230796456337}, "tactile_right": {"psnr": 41.756247185090984, "ssim": 0.9809148773121588, "lpips": 0.061262764036655426}}, {"video": {"psnr": 21.129913954759843, "ssim": 0.7766275076553486, "lpips": 0.19790765643119812}, "wrist_left": {"psnr": 13.035971174439931, "ssim": 0.5047067616264416, "lpips": 0.35814422369003296}, "wrist_right": {"psnr": 12.58041446198163, "ssim": 0.4769956525477961, "lpips": 0.4891260862350464}, "tactile_left": {"psnr": 40.16922813146973, "ssim": 0.979607034840465, "lpips": 0.04978979006409645}, "tactile_right": {"psnr": 40.819254009881085, "ssim": 0.9791579482450201, "lpips": 0.07217094302177429}}, {"video": {"psnr": 20.921250184694202, "ssim": 0.7681413806771769, "lpips": 0.22049619257450104}, "wrist_left": {"psnr": 12.949206189988056, "ssim": 0.5141411125359179, "lpips": 0.38430970907211304}, "wrist_right": {"psnr": 11.64365985158553, "ssim": 0.3694746408632762, "lpips": 0.5807487964630127}, "tactile_left": {"psnr": 38.9639660991238, "ssim": 0.9771410465586023, "lpips": 0.06309685111045837}, "tactile_right": {"psnr": 39.766072657500395, "ssim": 0.9772365209909069, "lpips": 0.07860659062862396}}, {"video": {"psnr": 20.811449526282644, "ssim": 0.7640606036744427, "lpips": 0.2117983102798462}, "wrist_left": {"psnr": 12.936917348295998, "ssim": 0.519474999006326, "lpips": 0.3813742399215698}, "wrist_right": {"psnr": 12.389787582154367, "ssim": 0.4663827818535571, "lpips": 0.48087888956069946}, "tactile_left": {"psnr": 37.68235511659351, "ssim": 0.9743353339103084, "lpips": 0.07858901470899582}, "tactile_right": {"psnr": 39.20757603881063, "ssim": 0.976455467668625, "lpips": 0.0897715836763382}}, {"video": {"psnr": 20.665193351394954, "ssim": 0.7478436516292708, "lpips": 0.2266332358121872}, "wrist_left": {"psnr": 12.809546731563646, "ssim": 0.5193777289904951, "lpips": 0.38804352283477783}, "wrist_right": {"psnr": 13.024419809137722, "ssim": 0.48361059919727717, "lpips": 0.4458146095275879}, "tactile_left": {"psnr": 36.88345695045473, "ssim": 0.9718003398258626, "lpips": 0.08960409462451935}, "tactile_right": {"psnr": 37.93515534058756, "ssim": 0.9732421979875128, "lpips": 0.12556561827659607}}, {"video": {"psnr": 20.664570815545943, "ssim": 0.7487908067661805, "lpips": 0.21600493788719177}, "wrist_left": {"psnr": 12.630144957235041, "ssim": 0.49640552145372896, "lpips": 0.4024984836578369}, "wrist_right": {"psnr": 14.745486093577302, "ssim": 0.5534541387304248, "lpips": 0.3242456316947937}, "tactile_left": {"psnr": 35.96347669180534, "ssim": 0.9687994263282325, "lpips": 0.10418903827667236}, "tactile_right": {"psnr": 36.17189164404144, "ssim": 0.9679321893594144, "lpips": 0.17202290892601013}}, {"video": {"psnr": 19.886409377563734, "ssim": 0.7487949221189725, "lpips": 0.23647800087928772}, "wrist_left": {"psnr": 12.486055661494014, "ssim": 0.4965784599860127, "lpips": 0.3914127051830292}, "wrist_right": {"psnr": 9.777233296623898, "ssim": 0.442176516533365, "lpips": 0.5557814240455627}, "tactile_left": {"psnr": 35.18035008898777, "ssim": 0.966021811577167, "lpips": 0.11920619010925293}, "tactile_right": {"psnr": 35.986448460486216, "ssim": 0.9720783883583293, "lpips": 0.11636403203010559}}, {"video": {"psnr": 19.580587417499167, "ssim": 0.7273641787973453, "lpips": 0.23357969522476196}, "wrist_left": {"psnr": 12.403002189106285, "ssim": 0.4999083178348161, "lpips": 0.38803040981292725}, "wrist_right": {"psnr": 8.421631126262406, "ssim": 0.3795427515671615, "lpips": 0.631553053855896}, "tactile_left": {"psnr": 34.18107034351878, "ssim": 0.962823729171463, "lpips": 0.1386750191450119}, "tactile_right": {"psnr": 34.720439643210376, "ssim": 0.9658564523934232, "lpips": 0.17046155035495758}}, {"video": {"psnr": 19.502943523322497, "ssim": 0.7259960316327808, "lpips": 0.2351798117160797}, "wrist_left": {"psnr": 12.491341786720085, "ssim": 0.5011693162876895, "lpips": 0.388485848903656}, "wrist_right": {"psnr": 8.60673051503674, "ssim": 0.37113009522125606, "lpips": 0.5846948027610779}, "tactile_left": {"psnr": 33.70815665428147, "ssim": 0.9597583649442161, "lpips": 0.15453268587589264}, "tactile_right": {"psnr": 33.2063581357223, "ssim": 0.9529066611890811, "lpips": 0.23795554041862488}}, {"video": {"psnr": 19.86962510364123, "ssim": 0.7276448070661254, "lpips": 0.223006933927536}, "wrist_left": {"psnr": 12.465485886621925, "ssim": 0.49927701712656614, "lpips": 0.39071136713027954}, "wrist_right": {"psnr": 9.950816896056699, "ssim": 0.4265415683173851, "lpips": 0.5060944557189941}, "tactile_left": {"psnr": 33.26438234287939, "ssim": 0.9567769067691715, "lpips": 0.1698535978794098}, "tactile_right": {"psnr": 32.5569226814915, "ssim": 0.9490613810666897, "lpips": 0.277615487575531}}, {"video": {"psnr": 20.678094642259957, "ssim": 0.7507048386174359, "lpips": 0.20034316182136536}, "wrist_left": {"psnr": 11.14342974934283, "ssim": 0.4383309009692927, "lpips": 0.4624037742614746}, "wrist_right": {"psnr": 12.772740838774563, "ssim": 0.5007191053374559, "lpips": 0.47821348905563354}, "tactile_left": {"psnr": 32.663144435937305, "ssim": 0.953908298541217, "lpips": 0.18303699791431427}, "tactile_right": {"psnr": 33.28250148641065, "ssim": 0.9573609804234217, "lpips": 0.2293301373720169}}], "long_metrics": {"video": {"psnr": 21.200436907450563, "ssim": 0.7655113906851614, "lpips": 0.1935528337955475}, "wrist_left": {"psnr": 13.342440656515894, "ssim": 0.5266006493919246, "lpips": 0.365149587392807}, "wrist_right": {"psnr": 12.062975965127341, "ssim": 0.4970964972865259, "lpips": 0.481012616554896}, "tactile_left": {"psnr": 38.203646830066994, "ssim": 0.9729210478626857, "lpips": 0.08811198944846789}, "tactile_right": {"psnr": 39.38772856552013, "ssim": 0.973684211619412, "lpips": 0.11367608507474264}}}, {"id": "pusht_e007_12", "episode": "pushT_0911_episode_007_seg01.pt", "requested_episode": "pushT_0911_episode_006_seg01.pt", "category": "onset", "t_start": 202, "start_seconds": 13.466666666666667, "short_contact": [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 1], "future_transition_ticks": [11], "long_contact_fraction": 0.4765625, "long_label": "onset", "short_metrics": {"video": {"psnr": 29.504773401482556, "ssim": 0.931833842702264, "lpips": 0.02500525489449501}, "wrist_left": {"psnr": 29.165252543721607, "ssim": 0.9296693469077625, "lpips": 0.020341863855719566}, "wrist_right": {"psnr": 23.29333923626859, "ssim": 0.8103712044522782, "lpips": 0.07723837345838547}, "tactile_left": {"psnr": 48.49386147272473, "ssim": 0.9913717999577817, "lpips": 0.007548874244093895}, "tactile_right": {"psnr": 40.52123452149668, "ssim": 0.9831108170459724, "lpips": 0.0665554404258728}}, "media": {"short": {"video": "media/pusht_e007_12_short.mp4", "poster": "media/pusht_e007_12_short.jpg"}, "long": {"video": "media/pusht_e007_12_long.mp4", "poster": "media/pusht_e007_12_long.jpg"}}, "force": {"source": "recorded_normal_force", "units": "N", "fps": 15, "left": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.1662499904632568, 1.1662499904632568, 1.1662499904632568, 1.1662499904632568, 2.9424359798431396, 2.636666774749756, 1.167639136314392, 1.5254545211791992, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 1.9833333492279053, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396], "right": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.4294271171092987, 0.7712745666503906, 1.1662499904632568, 1.1662499904632568, 1.1662499904632568, 2.636666774749756, 1.16824209690094, 1.9833333492279053, 2.636666774749756, 2.8207693099975586, 2.9424359798431396, 2.8207693099975586, 2.9424359798431396, 2.9424359798431396, 2.636666774749756, 2.636666774749756, 2.636666774749756, 1.1667428016662598, 1.1662499904632568, 1.1662499904632568, 1.0983830690383911, 1.1662499904632568, 1.2014970779418945, 1.9833333492279053, 2.9424359798431396, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.5254545211791992, 1.1733332872390747, 1.1733332872390747, 1.1662499904632568, 1.1662499904632568, 1.1662499904632568, 1.1662499904632568, 1.1662499904632568, 0.49666666984558105, 0.7431948184967041, 0.5188231468200684, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.1662499904632568, 1.1662499904632568, 1.1662499904632568, 1.43471360206604, 1.169874668121338, 1.1733332872390747, 1.5254545211791992, 1.4500000476837158, 1.4662624597549438, 1.369276523590088, 1.1733332872390747, 1.1662499904632568, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]}, "long_curve": [{"video": {"psnr": 29.504773401482556, "ssim": 0.931833842702264, "lpips": 0.02500525489449501}, "wrist_left": {"psnr": 29.165252543721607, "ssim": 0.9296693469077625, "lpips": 0.020341863855719566}, "wrist_right": {"psnr": 23.29333923626859, "ssim": 0.8103712044522782, "lpips": 0.07723837345838547}, "tactile_left": {"psnr": 48.49386147272473, "ssim": 0.9913717999577817, "lpips": 0.007548874244093895}, "tactile_right": {"psnr": 40.52123452149668, "ssim": 0.9831108170459724, "lpips": 0.0665554404258728}}, {"video": {"psnr": 25.83720128902403, "ssim": 0.8788724154687195, "lpips": 0.06199995055794716}, "wrist_left": {"psnr": 23.5653016200086, "ssim": 0.8205366835915308, "lpips": 0.052363358438014984}, "wrist_right": {"psnr": 20.292228111025857, "ssim": 0.769404816559487, "lpips": 0.13038885593414307}, "tactile_left": {"psnr": 46.688792753105886, "ssim": 0.9888836837704129, "lpips": 0.014503398910164833}, "tactile_right": {"psnr": 36.98751762633944, "ssim": 0.9676897697361443, "lpips": 0.09699410945177078}}, {"video": {"psnr": 27.548339210255918, "ssim": 0.9002682753057694, "lpips": 0.0496857650578022}, "wrist_left": {"psnr": 20.235240332978364, "ssim": 0.7888262430909032, "lpips": 0.07937193661928177}, "wrist_right": {"psnr": 19.21405398144009, "ssim": 0.7446688051324799, "lpips": 0.15785515308380127}, "tactile_left": {"psnr": 44.5761589230186, "ssim": 0.9865026493668404, "lpips": 0.02230229042470455}, "tactile_right": {"psnr": 37.37476963900385, "ssim": 0.9702725246298032, "lpips": 0.15263037383556366}}, {"video": {"psnr": 24.395228983435466, "ssim": 0.8544631467695973, "lpips": 0.09754416346549988}, "wrist_left": {"psnr": 14.442994338663906, "ssim": 0.6777576663823921, "lpips": 0.22232890129089355}, "wrist_right": {"psnr": 14.30884637814206, "ssim": 0.6388988980481426, "lpips": 0.3476112484931946}, "tactile_left": {"psnr": 43.23521922358027, "ssim": 0.9843320105252347, "lpips": 0.031825482845306396}, "tactile_right": {"psnr": 41.692558763380745, "ssim": 0.9807193317486473, "lpips": 0.06542986631393433}}, {"video": {"psnr": 22.16533125046404, "ssim": 0.7846361220875167, "lpips": 0.169889897108078}, "wrist_left": {"psnr": 13.63070923010277, "ssim": 0.6279959517808169, "lpips": 0.2621590495109558}, "wrist_right": {"psnr": 12.065631613574727, "ssim": 0.5402494259897855, "lpips": 0.48337727785110474}, "tactile_left": {"psnr": 41.44086242030424, "ssim": 0.9822611712453562, "lpips": 0.03934135288000107}, "tactile_right": {"psnr": 41.84104510496888, "ssim": 0.9806038875280487, "lpips": 0.06534980237483978}}, {"video": {"psnr": 21.58691041244447, "ssim": 0.7695897962983165, "lpips": 0.18012933433055878}, "wrist_left": {"psnr": 13.447594981093623, "ssim": 0.5580964837400659, "lpips": 0.2941734790802002}, "wrist_right": {"psnr": 11.794110001086096, "ssim": 0.5114123658256367, "lpips": 0.4887031018733978}, "tactile_left": {"psnr": 40.179408354630965, "ssim": 0.9798555499784445, "lpips": 0.05239929258823395}, "tactile_right": {"psnr": 38.63846763882252, "ssim": 0.9732815877468306, "lpips": 0.13774104416370392}}, {"video": {"psnr": 20.739975237200234, "ssim": 0.7616075124740262, "lpips": 0.2111799716949463}, "wrist_left": {"psnr": 13.502064824049567, "ssim": 0.5513344775732768, "lpips": 0.30429238080978394}, "wrist_right": {"psnr": 13.612262035155789, "ssim": 0.5993544266185521, "lpips": 0.41034144163131714}, "tactile_left": {"psnr": 38.886476794630354, "ssim": 0.9772316274131443, "lpips": 0.06850023567676544}, "tactile_right": {"psnr": 39.54971971219959, "ssim": 0.976946989063117, "lpips": 0.09016308188438416}}, {"video": {"psnr": 20.38256248673242, "ssim": 0.7617342677455079, "lpips": 0.21415182948112488}, "wrist_left": {"psnr": 13.992749540907214, "ssim": 0.5796507074353162, "lpips": 0.29030799865722656}, "wrist_right": {"psnr": 14.726559841765056, "ssim": 0.629470742372253, "lpips": 0.3345829248428345}, "tactile_left": {"psnr": 37.63052291352945, "ssim": 0.9740619567231659, "lpips": 0.08752822130918503}, "tactile_right": {"psnr": 39.13883557083183, "ssim": 0.9749833352819874, "lpips": 0.09409353137016296}}, {"video": {"psnr": 20.68425649496405, "ssim": 0.765490083840286, "lpips": 0.2061556726694107}, "wrist_left": {"psnr": 13.070415893163927, "ssim": 0.5561062955946882, "lpips": 0.308738648891449}, "wrist_right": {"psnr": 16.3050505583857, "ssim": 0.6406862699888507, "lpips": 0.26376956701278687}, "tactile_left": {"psnr": 36.694032976256096, "ssim": 0.9712310828462003, "lpips": 0.10188665986061096}, "tactile_right": {"psnr": 36.06453307136577, "ssim": 0.9645394046516318, "lpips": 0.18488359451293945}}, {"video": {"psnr": 20.342648256951303, "ssim": 0.7395995151908085, "lpips": 0.2502690255641937}, "wrist_left": {"psnr": 14.080082970966759, "ssim": 0.6146807032406865, "lpips": 0.29890307784080505}, "wrist_right": {"psnr": 11.782846699323969, "ssim": 0.5444513208052174, "lpips": 0.48671770095825195}, "tactile_left": {"psnr": 35.67025593414329, "ssim": 0.9679165528381722, "lpips": 0.1197693943977356}, "tactile_right": {"psnr": 35.97250172003268, "ssim": 0.966024177751466, "lpips": 0.16699951887130737}}, {"video": {"psnr": 19.41722040545431, "ssim": 0.6992236204333403, "lpips": 0.3181857466697693}, "wrist_left": {"psnr": 10.98074800845386, "ssim": 0.5152905706419996, "lpips": 0.47287631034851074}, "wrist_right": {"psnr": 18.183988340687392, "ssim": 0.7726039349942874, "lpips": 0.25028759241104126}, "tactile_left": {"psnr": 34.87014798380016, "ssim": 0.9648379531959208, "lpips": 0.13657954335212708}, "tactile_right": {"psnr": 36.159045119162336, "ssim": 0.9689722054693006, "lpips": 0.13828644156455994}}, {"video": {"psnr": 19.221120429425696, "ssim": 0.7069614598940995, "lpips": 0.3299177885055542}, "wrist_left": {"psnr": 9.16435896325891, "ssim": 0.39216691027948397, "lpips": 0.6050760746002197}, "wrist_right": {"psnr": 16.86281951683231, "ssim": 0.7167870645008046, "lpips": 0.3054294288158417}, "tactile_left": {"psnr": 34.32824770128394, "ssim": 0.9621505811804959, "lpips": 0.1541510820388794}, "tactile_right": {"psnr": 35.55431952446769, "ssim": 0.9666249536755179, "lpips": 0.16034168004989624}}, {"video": {"psnr": 19.17223771427149, "ssim": 0.706795455078395, "lpips": 0.33387869596481323}, "wrist_left": {"psnr": 10.141722441359288, "ssim": 0.387015828838706, "lpips": 0.5733953714370728}, "wrist_right": {"psnr": 17.07658034584124, "ssim": 0.71216438108061, "lpips": 0.3087877631187439}, "tactile_left": {"psnr": 32.43623924673034, "ssim": 0.9508088005020018, "lpips": 0.21720391511917114}, "tactile_right": {"psnr": 35.0733014182643, "ssim": 0.9644106571791856, "lpips": 0.17477448284626007}}, {"video": {"psnr": 18.841550170572653, "ssim": 0.6829109315074025, "lpips": 0.3483878970146179}, "wrist_left": {"psnr": 12.32772755258871, "ssim": 0.4255342536919422, "lpips": 0.5130510330200195}, "wrist_right": {"psnr": 14.788769557090191, "ssim": 0.6653186295819351, "lpips": 0.3585546910762787}, "tactile_left": {"psnr": 32.24792757103194, "ssim": 0.9508340679095464, "lpips": 0.2224591225385666}, "tactile_right": {"psnr": 34.8832761506139, "ssim": 0.9626003333215765, "lpips": 0.19053521752357483}}, {"video": {"psnr": 19.754960451429206, "ssim": 0.6988044924000316, "lpips": 0.2939305007457733}, "wrist_left": {"psnr": 12.611151601940074, "ssim": 0.48785175211418513, "lpips": 0.4537893533706665}, "wrist_right": {"psnr": 13.96242693309853, "ssim": 0.6657023489909446, "lpips": 0.40809839963912964}, "tactile_left": {"psnr": 33.52209180939754, "ssim": 0.9599726075866039, "lpips": 0.1689796894788742}, "tactile_right": {"psnr": 34.44945105444556, "ssim": 0.9601152992479027, "lpips": 0.20667415857315063}}], "long_metrics": {"video": {"psnr": 21.97295441294052, "ssim": 0.7761860624797386, "lpips": 0.20602076624830565}, "wrist_left": {"psnr": 14.957207656217145, "ssim": 0.5941675916602503, "lpips": 0.3167445891847213}, "wrist_right": {"psnr": 15.884634209981174, "ssim": 0.6641029756627509, "lpips": 0.3207829013466835}, "tactile_left": {"psnr": 38.72668307187785, "ssim": 0.9728168063359548, "lpips": 0.09633190371096134}, "tactile_right": {"psnr": 37.59337177569305, "ssim": 0.9707263516051422, "lpips": 0.13276348958412806}}}, {"id": "pusht_e007_13", "episode": "pushT_0911_episode_007_seg01.pt", "requested_episode": "pushT_0911_episode_006_seg01.pt", "category": "release", "t_start": 308, "start_seconds": 20.533333333333335, "short_contact": [1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 0, 0], "future_transition_ticks": [11], "long_contact_fraction": 0.4375, "long_label": "release", "short_metrics": {"video": {"psnr": 25.637590484851614, "ssim": 0.8870260508502809, "lpips": 0.07555252313613892}, "wrist_left": {"psnr": 17.036993046097447, "ssim": 0.7374003596527188, "lpips": 0.18705400824546814}, "wrist_right": {"psnr": 15.127523107579414, "ssim": 0.7776231244687508, "lpips": 0.302544504404068}, "tactile_left": {"psnr": 39.00924850587841, "ssim": 0.9806007305779234, "lpips": 0.054055653512477875}, "tactile_right": {"psnr": 50.172573378113285, "ssim": 0.9942263436157033, "lpips": 0.004505957942456007}}, "media": {"short": {"video": "media/pusht_e007_13_short.mp4", "poster": "media/pusht_e007_13_short.jpg"}, "long": {"video": "media/pusht_e007_13_long.mp4", "poster": "media/pusht_e007_13_long.jpg"}}, "force": {"source": "recorded_normal_force", "units": "N", "fps": 15, "left": [1.1662499904632568, 1.1662499904632568, 1.1662499904632568, 2.9424359798431396, 2.636666774749756, 1.167639136314392, 1.5254545211791992, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 1.9833333492279053, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.1662499904632568, 1.1662499904632568, 0.7740969061851501, 1.1662499904632568, 1.1662499904632568, 1.1662499904632568, 1.1662499904632568, 1.1678714752197266, 1.1662499904632568, 1.1662499904632568, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.1662499904632568, 2.6890487670898438, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.31956148147583, 1.9833333492279053, 2.8207693099975586, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "right": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.5254545211791992, 1.1662499904632568, 1.1662499904632568, 0.7687578201293945, 0.41999998688697815, 0.49666666984558105, 0.49666666984558105, 1.1662499904632568, 1.1733332872390747, 2.8207693099975586, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.5194862484931946, 0.19508875906467438, 0.4116966724395752, 0.46409013867378235, 0.563931941986084, 0.7764800190925598, 1.1662499904632568, 1.5254545211791992, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.7694309949874878, 1.9833333492279053, 2.4149999618530273, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]}, "long_curve": [{"video": {"psnr": 25.637590484851614, "ssim": 0.8870260508502809, "lpips": 0.07555252313613892}, "wrist_left": {"psnr": 17.036993046097447, "ssim": 0.7374003596527188, "lpips": 0.18705400824546814}, "wrist_right": {"psnr": 15.127523107579414, "ssim": 0.7776231244687508, "lpips": 0.302544504404068}, "tactile_left": {"psnr": 39.00924850587841, "ssim": 0.9806007305779234, "lpips": 0.054055653512477875}, "tactile_right": {"psnr": 50.172573378113285, "ssim": 0.9942263436157033, "lpips": 0.004505957942456007}}, {"video": {"psnr": 22.39895754815468, "ssim": 0.7930045015708015, "lpips": 0.1554032862186432}, "wrist_left": {"psnr": 15.31595713559887, "ssim": 0.5372899694712251, "lpips": 0.36536189913749695}, "wrist_right": {"psnr": 13.058218542135577, "ssim": 0.6473864587710811, "lpips": 0.4359767436981201}, "tactile_left": {"psnr": 39.535186508132604, "ssim": 0.9786638627431157, "lpips": 0.08017969131469727}, "tactile_right": {"psnr": 47.3848929573791, "ssim": 0.9895873991154003, "lpips": 0.014302235096693039}}, {"video": {"psnr": 21.63433623630286, "ssim": 0.7729686404656025, "lpips": 0.19283154606819153}, "wrist_left": {"psnr": 12.950742297483364, "ssim": 0.5234039935056634, "lpips": 0.4240657091140747}, "wrist_right": {"psnr": 13.93140458948131, "ssim": 0.633675409717415, "lpips": 0.38680052757263184}, "tactile_left": {"psnr": 42.69872918075491, "ssim": 0.9830276100617455, "lpips": 0.04125235602259636}, "tactile_right": {"psnr": 41.61165324246419, "ssim": 0.9819691200720556, "lpips": 0.08066821098327637}}, {"video": {"psnr": 20.77479551195523, "ssim": 0.7726736189979321, "lpips": 0.20135703682899475}, "wrist_left": {"psnr": 10.773302833822315, "ssim": 0.505221098918321, "lpips": 0.4867209494113922}, "wrist_right": {"psnr": 13.722141095618603, "ssim": 0.6293726492483998, "lpips": 0.41419145464897156}, "tactile_left": {"psnr": 41.62768209866829, "ssim": 0.9817095046505354, "lpips": 0.04705744981765747}, "tactile_right": {"psnr": 42.655042955075146, "ssim": 0.9833480796359909, "lpips": 0.04510561749339104}}, {"video": {"psnr": 21.586593100100412, "ssim": 0.7832037819245182, "lpips": 0.1681475192308426}, "wrist_left": {"psnr": 9.853354539279783, "ssim": 0.4325612996334275, "lpips": 0.5366262197494507}, "wrist_right": {"psnr": 14.647570009751616, "ssim": 0.6599596945747935, "lpips": 0.40776920318603516}, "tactile_left": {"psnr": 37.57428065915607, "ssim": 0.9724610769415724, "lpips": 0.10419827699661255}, "tactile_right": {"psnr": 41.63131819553281, "ssim": 0.9823116406184682, "lpips": 0.05739177018404007}}, {"video": {"psnr": 21.629561149302244, "ssim": 0.7722691016366408, "lpips": 0.1729414463043213}, "wrist_left": {"psnr": 12.855687419275736, "ssim": 0.5368464327366655, "lpips": 0.4145011305809021}, "wrist_right": {"psnr": 11.971168048935612, "ssim": 0.5666358112828409, "lpips": 0.5248574018478394}, "tactile_left": {"psnr": 38.91252027407703, "ssim": 0.9774797266824811, "lpips": 0.0659635066986084}, "tactile_right": {"psnr": 39.889637121817685, "ssim": 0.9784865001689385, "lpips": 0.08894507586956024}}, {"video": {"psnr": 21.016657610413347, "ssim": 0.7729835742791551, "lpips": 0.17563943564891815}, "wrist_left": {"psnr": 10.973683054378965, "ssim": 0.5647509932953012, "lpips": 0.485568106174469}, "wrist_right": {"psnr": 14.699453054366959, "ssim": 0.6403765992810901, "lpips": 0.38819438219070435}, "tactile_left": {"psnr": 37.93441844343101, "ssim": 0.9754459530269941, "lpips": 0.0740356594324112}, "tactile_right": {"psnr": 38.58650408445023, "ssim": 0.9750188006501683, "lpips": 0.11451767385005951}}, {"video": {"psnr": 20.564771262956867, "ssim": 0.7607848098458403, "lpips": 0.20625020563602448}, "wrist_left": {"psnr": 10.062732796461155, "ssim": 0.5449014483840395, "lpips": 0.6175490021705627}, "wrist_right": {"psnr": 16.23978477549794, "ssim": 0.6950679642845412, "lpips": 0.32646363973617554}, "tactile_left": {"psnr": 36.49553622920384, "ssim": 0.9703871161433355, "lpips": 0.09193430840969086}, "tactile_right": {"psnr": 38.40297808372512, "ssim": 0.9758987208735386, "lpips": 0.11033176630735397}}, {"video": {"psnr": 21.953255821357324, "ssim": 0.7643273809939816, "lpips": 0.1794598400592804}, "wrist_left": {"psnr": 11.720132220303556, "ssim": 0.6044550478461699, "lpips": 0.5183210968971252}, "wrist_right": {"psnr": 9.63057775114136, "ssim": 0.49880292207532584, "lpips": 0.5930802226066589}, "tactile_left": {"psnr": 35.74497106781563, "ssim": 0.9672020811074795, "lpips": 0.10306477546691895}, "tactile_right": {"psnr": 37.65367804939581, "ssim": 0.974006757791928, "lpips": 0.11950995028018951}}, {"video": {"psnr": 21.60877762320259, "ssim": 0.7593664095281337, "lpips": 0.16844460368156433}, "wrist_left": {"psnr": 13.433384449244755, "ssim": 0.667838159934177, "lpips": 0.38249513506889343}, "wrist_right": {"psnr": 8.092426708664412, "ssim": 0.4111942648852713, "lpips": 0.6943200826644897}, "tactile_left": {"psnr": 35.02476060482464, "ssim": 0.9663937552544087, "lpips": 0.11386092007160187}, "tactile_right": {"psnr": 35.18838278999977, "ssim": 0.9648869743402155, "lpips": 0.17107084393501282}}, {"video": {"psnr": 21.92718193825762, "ssim": 0.7739600908046931, "lpips": 0.16881150007247925}, "wrist_left": {"psnr": 10.741429041184265, "ssim": 0.5016855108110819, "lpips": 0.5258287191390991}, "wrist_right": {"psnr": 12.67329681991706, "ssim": 0.5645351644346737, "lpips": 0.4319314956665039}, "tactile_left": {"psnr": 34.41300020013159, "ssim": 0.963629510992543, "lpips": 0.12915487587451935}, "tactile_right": {"psnr": 35.07169774549472, "ssim": 0.966490818426214, "lpips": 0.16130012273788452}}, {"video": {"psnr": 21.417462586797807, "ssim": 0.7669794243873884, "lpips": 0.18811097741127014}, "wrist_left": {"psnr": 10.888886673343613, "ssim": 0.49759991247078283, "lpips": 0.5174603462219238}, "wrist_right": {"psnr": 16.53822484815527, "ssim": 0.6546478521430804, "lpips": 0.3388737738132477}, "tactile_left": {"psnr": 33.87892284380023, "ssim": 0.9610361529439198, "lpips": 0.14374122023582458}, "tactile_right": {"psnr": 34.44685814325953, "ssim": 0.9658391516810101, "lpips": 0.17174719274044037}}, {"video": {"psnr": 20.45364028043442, "ssim": 0.7615567602711955, "lpips": 0.1999697983264923}, "wrist_left": {"psnr": 11.039620806165438, "ssim": 0.4221839358137904, "lpips": 0.49081695079803467}, "wrist_right": {"psnr": 15.979708548827588, "ssim": 0.6532728672179557, "lpips": 0.3668985664844513}, "tactile_left": {"psnr": 32.52771507875543, "ssim": 0.9530028573529864, "lpips": 0.18646249175071716}, "tactile_right": {"psnr": 33.8756851803131, "ssim": 0.9632751247429348, "lpips": 0.18287892639636993}}, {"video": {"psnr": 20.679617548079005, "ssim": 0.7623891971445346, "lpips": 0.19189700484275818}, "wrist_left": {"psnr": 12.92556435963207, "ssim": 0.5180896281851571, "lpips": 0.4224599003791809}, "wrist_right": {"psnr": 13.576631732238864, "ssim": 0.5730284736149251, "lpips": 0.46392855048179626}, "tactile_left": {"psnr": 30.604454067029533, "ssim": 0.9339789406582212, "lpips": 0.2541941702365875}, "tactile_right": {"psnr": 33.389518441472646, "ssim": 0.9605895781808839, "lpips": 0.1996111124753952}}, {"video": {"psnr": 19.79894904038619, "ssim": 0.7340812519131454, "lpips": 0.2303297370672226}, "wrist_left": {"psnr": 15.01816939385063, "ssim": 0.6505484044801924, "lpips": 0.3312072455883026}, "wrist_right": {"psnr": 11.615086695989984, "ssim": 0.5150752289279019, "lpips": 0.49851736426353455}, "tactile_left": {"psnr": 31.877159532918903, "ssim": 0.9502710827586195, "lpips": 0.19474266469478607}, "tactile_right": {"psnr": 32.74137755630004, "ssim": 0.9583527287746443, "lpips": 0.21019616723060608}}], "long_metrics": {"video": {"psnr": 21.53880984950348, "ssim": 0.7758383063075895, "lpips": 0.17834309736887613}, "wrist_left": {"psnr": 12.372642671074798, "ssim": 0.549651746342581, "lpips": 0.4470690945784251}, "wrist_right": {"psnr": 13.433547755220104, "ssim": 0.6080436323285364, "lpips": 0.43828986088434857}, "tactile_left": {"psnr": 36.523905686305206, "ssim": 0.9676859974597254, "lpips": 0.11225986803571383}, "tactile_right": {"psnr": 38.84678652831954, "ssim": 0.974285849245873, "lpips": 0.11547217490151525}}}, {"id": "pusht_e007_14", "episode": "pushT_0911_episode_007_seg01.pt", "requested_episode": "pushT_0911_episode_006_seg01.pt", "category": "full", "t_start": 214, "start_seconds": 14.266666666666667, "short_contact": [1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1], "future_transition_ticks": [], "long_contact_fraction": 0.5390625, "long_label": "full", "short_metrics": {"video": {"psnr": 30.659689901717208, "ssim": 0.949608906420744, "lpips": 0.031434476375579834}, "wrist_left": {"psnr": 27.250370461162188, "ssim": 0.9265322362369545, "lpips": 0.03216012939810753}, "wrist_right": {"psnr": 23.770382389297453, "ssim": 0.8803223209655651, "lpips": 0.05662909150123596}, "tactile_left": {"psnr": 51.65367056609754, "ssim": 0.9952410378602636, "lpips": 0.003072180785238743}, "tactile_right": {"psnr": 36.93836184479799, "ssim": 0.9719117729513793, "lpips": 0.09174742549657822}}, "media": {"short": {"video": "media/pusht_e007_14_short.mp4", "poster": "media/pusht_e007_14_short.jpg"}, "long": {"video": "media/pusht_e007_14_long.mp4", "poster": "media/pusht_e007_14_long.jpg"}}, "force": {"source": "recorded_normal_force", "units": "N", "fps": 15, "left": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.1662499904632568, 1.1662499904632568, 1.1662499904632568, 1.1662499904632568, 2.9424359798431396, 2.636666774749756, 1.167639136314392, 1.5254545211791992, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 1.9833333492279053, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "right": [1.1662499904632568, 1.1662499904632568, 1.1662499904632568, 2.636666774749756, 1.16824209690094, 1.9833333492279053, 2.636666774749756, 2.8207693099975586, 2.9424359798431396, 2.8207693099975586, 2.9424359798431396, 2.9424359798431396, 2.636666774749756, 2.636666774749756, 2.636666774749756, 1.1667428016662598, 1.1662499904632568, 1.1662499904632568, 1.0983830690383911, 1.1662499904632568, 1.2014970779418945, 1.9833333492279053, 2.9424359798431396, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.5254545211791992, 1.1733332872390747, 1.1733332872390747, 1.1662499904632568, 1.1662499904632568, 1.1662499904632568, 1.1662499904632568, 1.1662499904632568, 0.49666666984558105, 0.7431948184967041, 0.5188231468200684, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.1662499904632568, 1.1662499904632568, 1.1662499904632568, 1.43471360206604, 1.169874668121338, 1.1733332872390747, 1.5254545211791992, 1.4500000476837158, 1.4662624597549438, 1.369276523590088, 1.1733332872390747, 1.1662499904632568, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.5254545211791992, 1.1662499904632568, 1.1662499904632568, 0.7687578201293945, 0.41999998688697815, 0.49666666984558105, 0.49666666984558105, 1.1662499904632568, 1.1733332872390747, 2.8207693099975586]}, "long_curve": [{"video": {"psnr": 30.659689901717208, "ssim": 0.949608906420744, "lpips": 0.031434476375579834}, "wrist_left": {"psnr": 27.250370461162188, "ssim": 0.9265322362369545, "lpips": 0.03216012939810753}, "wrist_right": {"psnr": 23.770382389297453, "ssim": 0.8803223209655651, "lpips": 0.05662909150123596}, "tactile_left": {"psnr": 51.65367056609754, "ssim": 0.9952410378602636, "lpips": 0.003072180785238743}, "tactile_right": {"psnr": 36.93836184479799, "ssim": 0.9719117729513793, "lpips": 0.09174742549657822}}, {"video": {"psnr": 23.837593525648607, "ssim": 0.8737226427591327, "lpips": 0.11896727979183197}, "wrist_left": {"psnr": 16.518232556631006, "ssim": 0.7551825726620577, "lpips": 0.14745843410491943}, "wrist_right": {"psnr": 12.768716973964683, "ssim": 0.5695713076983289, "lpips": 0.47925013303756714}, "tactile_left": {"psnr": 48.61059393234994, "ssim": 0.9925093340327729, "lpips": 0.00972303468734026}, "tactile_right": {"psnr": 39.50632734919742, "ssim": 0.9772432574057408, "lpips": 0.09775878489017487}}, {"video": {"psnr": 22.395645647667493, "ssim": 0.8371426594833876, "lpips": 0.1569869965314865}, "wrist_left": {"psnr": 14.741047056174457, "ssim": 0.6471552829779338, "lpips": 0.2117002010345459}, "wrist_right": {"psnr": 13.165852867167393, "ssim": 0.6037826161247931, "lpips": 0.4423929452896118}, "tactile_left": {"psnr": 45.54976048426661, "ssim": 0.9892428306392254, "lpips": 0.020157497376203537}, "tactile_right": {"psnr": 43.65825916229017, "ssim": 0.9844613483910223, "lpips": 0.02979045733809471}}, {"video": {"psnr": 21.20676380948876, "ssim": 0.7802712944613999, "lpips": 0.17969776690006256}, "wrist_left": {"psnr": 13.827918118695873, "ssim": 0.5574227361014725, "lpips": 0.23370108008384705}, "wrist_right": {"psnr": 12.565293376453148, "ssim": 0.5724930054740383, "lpips": 0.4486351013183594}, "tactile_left": {"psnr": 44.02360263340263, "ssim": 0.9863175468752879, "lpips": 0.03148092329502106}, "tactile_right": {"psnr": 40.07171523478042, "ssim": 0.9790430719649299, "lpips": 0.08399933576583862}}, {"video": {"psnr": 20.8702659362193, "ssim": 0.7823872263412068, "lpips": 0.18060845136642456}, "wrist_left": {"psnr": 13.474885479272308, "ssim": 0.5446903380339431, "lpips": 0.25666213035583496}, "wrist_right": {"psnr": 13.128654873237293, "ssim": 0.5887504802938222, "lpips": 0.42493146657943726}, "tactile_left": {"psnr": 42.15526494529654, "ssim": 0.9839654583447852, "lpips": 0.04027066379785538}, "tactile_right": {"psnr": 39.24990488127358, "ssim": 0.9764982490871106, "lpips": 0.10733424872159958}}, {"video": {"psnr": 20.926500766503835, "ssim": 0.8005468739983359, "lpips": 0.20602715015411377}, "wrist_left": {"psnr": 14.148404789312659, "ssim": 0.5926460620844385, "lpips": 0.2566753029823303}, "wrist_right": {"psnr": 12.010109819259524, "ssim": 0.48231752168571923, "lpips": 0.5050392746925354}, "tactile_left": {"psnr": 40.557919962913196, "ssim": 0.9812958286923182, "lpips": 0.05414456129074097}, "tactile_right": {"psnr": 39.8605690914968, "ssim": 0.9800848353600238, "lpips": 0.061742234975099564}}, {"video": {"psnr": 20.49887638902886, "ssim": 0.7963777180500513, "lpips": 0.2104845643043518}, "wrist_left": {"psnr": 13.72558441098108, "ssim": 0.5721442466382431, "lpips": 0.2797895073890686}, "wrist_right": {"psnr": 14.400594090123038, "ssim": 0.5603197868994462, "lpips": 0.4020422697067261}, "tactile_left": {"psnr": 39.364964993626124, "ssim": 0.978447190346209, "lpips": 0.07059406489133835}, "tactile_right": {"psnr": 37.59942891003202, "ssim": 0.9743247175224266, "lpips": 0.11783400177955627}}, {"video": {"psnr": 21.086884773582867, "ssim": 0.7879717154612175, "lpips": 0.2046431303024292}, "wrist_left": {"psnr": 13.828951570148982, "ssim": 0.6068279819728258, "lpips": 0.2755529284477234}, "wrist_right": {"psnr": 12.811659322667692, "ssim": 0.5560470759878393, "lpips": 0.4114071726799011}, "tactile_left": {"psnr": 37.96076429024757, "ssim": 0.9749677847769631, "lpips": 0.09055174142122269}, "tactile_right": {"psnr": 35.93104153685271, "ssim": 0.966974267680025, "lpips": 0.17005297541618347}}, {"video": {"psnr": 21.118732063744847, "ssim": 0.7566289682708369, "lpips": 0.22995209693908691}, "wrist_left": {"psnr": 13.711672809109691, "ssim": 0.6423193731068246, "lpips": 0.32709795236587524}, "wrist_right": {"psnr": 13.727909165962393, "ssim": 0.6712456167248231, "lpips": 0.3956720232963562}, "tactile_left": {"psnr": 36.819475090668035, "ssim": 0.9721087507326692, "lpips": 0.10207435488700867}, "tactile_right": {"psnr": 37.53845207611005, "ssim": 0.9755434480519581, "lpips": 0.09464343637228012}}, {"video": {"psnr": 20.39341474762276, "ssim": 0.723251907003224, "lpips": 0.25831735134124756}, "wrist_left": {"psnr": 8.60615681593976, "ssim": 0.4222955742091571, "lpips": 0.5988637208938599}, "wrist_right": {"psnr": 18.43061257769091, "ssim": 0.735678302914079, "lpips": 0.26245203614234924}, "tactile_left": {"psnr": 35.82415050167037, "ssim": 0.9684507108310021, "lpips": 0.11874539405107498}, "tactile_right": {"psnr": 36.480098046561935, "ssim": 0.9734805464227074, "lpips": 0.11270559579133987}}, {"video": {"psnr": 20.298861829686654, "ssim": 0.7101449113261218, "lpips": 0.2648196220397949}, "wrist_left": {"psnr": 8.7445681707279, "ssim": 0.4091613680952029, "lpips": 0.5896757245063782}, "wrist_right": {"psnr": 16.429279903732642, "ssim": 0.697788035758135, "lpips": 0.3251941204071045}, "tactile_left": {"psnr": 34.56939179931707, "ssim": 0.9628752965383045, "lpips": 0.15185439586639404}, "tactile_right": {"psnr": 35.848578481280576, "ssim": 0.9715788002122034, "lpips": 0.12796275317668915}}, {"video": {"psnr": 20.69077963450672, "ssim": 0.7172538905366734, "lpips": 0.24990981817245483}, "wrist_left": {"psnr": 8.86986207841421, "ssim": 0.39602726578862785, "lpips": 0.5872448682785034}, "wrist_right": {"psnr": 13.756896510506673, "ssim": 0.6543528355899648, "lpips": 0.4180554151535034}, "tactile_left": {"psnr": 31.980117033222086, "ssim": 0.9449444245398232, "lpips": 0.2511335611343384}, "tactile_right": {"psnr": 35.14073832147804, "ssim": 0.9692660476741304, "lpips": 0.14519259333610535}}, {"video": {"psnr": 20.71206789332717, "ssim": 0.7292069382589148, "lpips": 0.2501961588859558}, "wrist_left": {"psnr": 10.39714323536989, "ssim": 0.463158106037104, "lpips": 0.5162562131881714}, "wrist_right": {"psnr": 12.728396291194066, "ssim": 0.6417795152317398, "lpips": 0.4736078977584839}, "tactile_left": {"psnr": 33.680142122782804, "ssim": 0.9579539670474204, "lpips": 0.18864849209785461}, "tactile_right": {"psnr": 34.774093297577096, "ssim": 0.9671374039297281, "lpips": 0.1561274230480194}}, {"video": {"psnr": 20.848119466120405, "ssim": 0.7412775690689208, "lpips": 0.23347963392734528}, "wrist_left": {"psnr": 13.566884324054186, "ssim": 0.47043528623262054, "lpips": 0.4445435404777527}, "wrist_right": {"psnr": 10.731490915730008, "ssim": 0.5333504240123261, "lpips": 0.5418204069137573}, "tactile_left": {"psnr": 33.75160156282693, "ssim": 0.957181690671874, "lpips": 0.18844348192214966}, "tactile_right": {"psnr": 34.440227166314585, "ssim": 0.9644684404327775, "lpips": 0.18160058557987213}}, {"video": {"psnr": 20.362998120388433, "ssim": 0.7230798543849146, "lpips": 0.26487502455711365}, "wrist_left": {"psnr": 11.816223529669543, "ssim": 0.46538039286400823, "lpips": 0.47926539182662964}, "wrist_right": {"psnr": 11.091368808736677, "ssim": 0.5389337523029305, "lpips": 0.4994969367980957}, "tactile_left": {"psnr": 33.340241246596506, "ssim": 0.9556209536918179, "lpips": 0.19675807654857635}, "tactile_right": {"psnr": 33.723590729534145, "ssim": 0.9596521866584294, "lpips": 0.23036476969718933}}], "long_metrics": {"video": {"psnr": 21.727146300350263, "ssim": 0.7805915383883388, "lpips": 0.20269330143928527}, "wrist_left": {"psnr": 13.54852702704425, "ssim": 0.5647585882027609, "lpips": 0.3491098083555698}, "wrist_right": {"psnr": 14.10114785904824, "ssim": 0.6191155065109034, "lpips": 0.4057750860850016}, "tactile_left": {"psnr": 39.32277741101893, "ssim": 0.9734081870413824, "lpips": 0.10117682827015718}, "tactile_right": {"psnr": 37.3840924086385, "ssim": 0.9727778929163062, "lpips": 0.12059044142564138}}}], "split": "model_v3_pushT_holdout.json", "unavailable": [{"episode": "pushT_0911_episode_005_seg01.pt", "category": "onset", "reason": "Short only: insufficient valid consecutive windows for 8-second rollout"}, {"episode": "pushT_0911_episode_005_seg01.pt", "category": "full", "reason": "No qualifying initial window"}], "complete": true}, {"id": "motherboard_e005", "label": "Motherboard", "checkpoint": "epoch_005.pt", "run": "nano_action_causal_umi_all_v1", "planned_cases": 20, "cases": [{"id": "motherboard_e005_00", "episode": "motherboard_0909_episode_000.pt", "requested_episode": "motherboard_0909_episode_000.pt", "category": "none", "t_start": 1134, "start_seconds": 75.6, "short_contact": [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0], "future_transition_ticks": [], "long_contact_fraction": 0.015625, "long_label": "none_at_start", "short_metrics": {"video": {"psnr": 28.502799119796972, "ssim": 0.9024174109678622, "lpips": 0.02571527659893036}, "wrist_left": {"psnr": 33.12080888627906, "ssim": 0.9730530463641062, "lpips": 0.027660071849822998}, "wrist_right": {"psnr": 16.536592923328065, "ssim": 0.6570378931955967, "lpips": 0.13310524821281433}, "tactile_left": {"psnr": 48.01793205128571, "ssim": 0.9934710682822322, "lpips": 0.00462082214653492}, "tactile_right": {"psnr": 44.87305520309534, "ssim": 0.9839704104836186, "lpips": 0.023650798946619034}}, "media": {"short": {"video": "media/motherboard_e005_00_short.mp4", "poster": "media/motherboard_e005_00_short.jpg"}, "long": {"video": "media/motherboard_e005_00_long.mp4", "poster": "media/motherboard_e005_00_long.jpg"}}, "force": {"source": "recorded_normal_force", "units": "N", "fps": 15, "left": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "right": [0.49666666984558105, 0.41999998688697815, 0.3276471495628357, 0.2779442071914673, 0.19263210892677307, 0.16038045287132263, 0.1599999964237213, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.1599999964237213, 0.1599999964237213, 0.1599999964237213, 0.0, 0.0, 0.0, 0.1599999964237213, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.1599999964237213, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.27239662408828735, 0.1599999964237213, 0.2841034233570099, 0.17168553173542023, 0.1641339212656021, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.1885688155889511, 0.49666666984558105, 1.1662499904632568, 0.7758844494819641, 0.46323081851005554]}, "long_curve": [{"video": {"psnr": 28.502799119796972, "ssim": 0.9024174109678622, "lpips": 0.02571527659893036}, "wrist_left": {"psnr": 33.12080888627906, "ssim": 0.9730530463641062, "lpips": 0.027660071849822998}, "wrist_right": {"psnr": 16.536592923328065, "ssim": 0.6570378931955967, "lpips": 0.13310524821281433}, "tactile_left": {"psnr": 48.01793205128571, "ssim": 0.9934710682822322, "lpips": 0.00462082214653492}, "tactile_right": {"psnr": 44.87305520309534, "ssim": 0.9839704104836186, "lpips": 0.023650798946619034}}, {"video": {"psnr": 23.777283351865105, "ssim": 0.7913922966814042, "lpips": 0.06184776872396469}, "wrist_left": {"psnr": 26.781127718361503, "ssim": 0.9115932640624951, "lpips": 0.06939972937107086}, "wrist_right": {"psnr": 10.947703484098819, "ssim": 0.34555222093809, "lpips": 0.40551266074180603}, "tactile_left": {"psnr": 45.1270124628379, "ssim": 0.9894381317597722, "lpips": 0.019258638843894005}, "tactile_right": {"psnr": 41.833642660012266, "ssim": 0.9745596404564123, "lpips": 0.06440785527229309}}, {"video": {"psnr": 22.488824490365182, "ssim": 0.7448125854839565, "lpips": 0.0998544692993164}, "wrist_left": {"psnr": 24.293676826146612, "ssim": 0.832323245805912, "lpips": 0.10399432480335236}, "wrist_right": {"psnr": 10.225412435523182, "ssim": 0.3023254306093386, "lpips": 0.46502408385276794}, "tactile_left": {"psnr": 42.92001536579221, "ssim": 0.9845136777950988, "lpips": 0.04471395164728165}, "tactile_right": {"psnr": 41.74784009710244, "ssim": 0.9734850185631978, "lpips": 0.07121768593788147}}, {"video": {"psnr": 22.90357932009817, "ssim": 0.7525125942305828, "lpips": 0.0966070145368576}, "wrist_left": {"psnr": 22.16925664948574, "ssim": 0.7719142396329444, "lpips": 0.14134353399276733}, "wrist_right": {"psnr": 10.65964268393916, "ssim": 0.2537821603986537, "lpips": 0.4419991672039032}, "tactile_left": {"psnr": 40.03891649043829, "ssim": 0.978028798504128, "lpips": 0.09619157016277313}, "tactile_right": {"psnr": 40.38521251057332, "ssim": 0.9704720333343565, "lpips": 0.09685632586479187}}, {"video": {"psnr": 21.78863638144962, "ssim": 0.7297993486102857, "lpips": 0.11771952360868454}, "wrist_left": {"psnr": 21.089444664699442, "ssim": 0.7295316454355629, "lpips": 0.19438818097114563}, "wrist_right": {"psnr": 10.510126151499914, "ssim": 0.23166774363055131, "lpips": 0.47099998593330383}, "tactile_left": {"psnr": 38.51001237094318, "ssim": 0.9727731732144493, "lpips": 0.13490451872348785}, "tactile_right": {"psnr": 38.91767329621746, "ssim": 0.9674347383925361, "lpips": 0.11990730464458466}}, {"video": {"psnr": 21.368084051542002, "ssim": 0.7205982716345778, "lpips": 0.14516028761863708}, "wrist_left": {"psnr": 21.704379212441488, "ssim": 0.7188455779630761, "lpips": 0.21170559525489807}, "wrist_right": {"psnr": 10.638764745333425, "ssim": 0.22822103538071792, "lpips": 0.495566189289093}, "tactile_left": {"psnr": 37.69994867744613, "ssim": 0.9686747503445619, "lpips": 0.16067937016487122}, "tactile_right": {"psnr": 37.9686189529282, "ssim": 0.9640638901698095, "lpips": 0.1348770260810852}}, {"video": {"psnr": 21.286426947134913, "ssim": 0.7045077934287876, "lpips": 0.1417527198791504}, "wrist_left": {"psnr": 21.350176036581946, "ssim": 0.7050561284356679, "lpips": 0.22954295575618744}, "wrist_right": {"psnr": 10.56867727609072, "ssim": 0.22945167061921967, "lpips": 0.48140937089920044}, "tactile_left": {"psnr": 36.707632784455775, "ssim": 0.9642581346015208, "lpips": 0.17981219291687012}, "tactile_right": {"psnr": 37.559810746586734, "ssim": 0.9601507139633098, "lpips": 0.14055770635604858}}, {"video": {"psnr": 21.407581523834253, "ssim": 0.7009971308395295, "lpips": 0.13848425447940826}, "wrist_left": {"psnr": 20.886262854569434, "ssim": 0.6726793034677542, "lpips": 0.25480446219444275}, "wrist_right": {"psnr": 10.544708142861598, "ssim": 0.2458839172469177, "lpips": 0.4836621880531311}, "tactile_left": {"psnr": 36.26066028907478, "ssim": 0.9604072003700409, "lpips": 0.20537972450256348}, "tactile_right": {"psnr": 36.83828927745273, "ssim": 0.9564810644995885, "lpips": 0.1643788367509842}}, {"video": {"psnr": 21.531250506169442, "ssim": 0.693362035256058, "lpips": 0.14201167225837708}, "wrist_left": {"psnr": 20.301579600404494, "ssim": 0.6535826408539835, "lpips": 0.2755672335624695}, "wrist_right": {"psnr": 10.5739242793806, "ssim": 0.25238748536280414, "lpips": 0.46520134806632996}, "tactile_left": {"psnr": 35.86031909586217, "ssim": 0.9572714232761657, "lpips": 0.22491125762462616}, "tactile_right": {"psnr": 36.39172462919157, "ssim": 0.9526668405251397, "lpips": 0.1836557686328888}}, {"video": {"psnr": 21.367070103865853, "ssim": 0.6819743741590722, "lpips": 0.16309434175491333}, "wrist_left": {"psnr": 19.80641045778303, "ssim": 0.6442433986657549, "lpips": 0.28659021854400635}, "wrist_right": {"psnr": 10.48098148796554, "ssim": 0.24200468100882006, "lpips": 0.47390323877334595}, "tactile_left": {"psnr": 35.71488034604104, "ssim": 0.9542490330762801, "lpips": 0.24289123713970184}, "tactile_right": {"psnr": 36.31001897215553, "ssim": 0.9507811316589099, "lpips": 0.18161454796791077}}, {"video": {"psnr": 20.934541188186788, "ssim": 0.656418631522929, "lpips": 0.1892450749874115}, "wrist_left": {"psnr": 19.252166931455267, "ssim": 0.619735746809825, "lpips": 0.30357375741004944}, "wrist_right": {"psnr": 10.618888976729737, "ssim": 0.2476601494305312, "lpips": 0.452014684677124}, "tactile_left": {"psnr": 35.30433587999827, "ssim": 0.9509261384574641, "lpips": 0.2570197582244873}, "tactile_right": {"psnr": 35.85605864118985, "ssim": 0.9486598118480107, "lpips": 0.1867978572845459}}, {"video": {"psnr": 20.710318455520273, "ssim": 0.6481043640130879, "lpips": 0.2020980417728424}, "wrist_left": {"psnr": 18.597484104806714, "ssim": 0.5800239612553856, "lpips": 0.32995057106018066}, "wrist_right": {"psnr": 10.05797928309475, "ssim": 0.21378205688216806, "lpips": 0.5117385983467102}, "tactile_left": {"psnr": 34.98952588355709, "ssim": 0.9481404208808095, "lpips": 0.272548109292984}, "tactile_right": {"psnr": 35.12420105148131, "ssim": 0.9450900192560779, "lpips": 0.22241120040416718}}, {"video": {"psnr": 20.627981652231636, "ssim": 0.6439839461831574, "lpips": 0.20659905672073364}, "wrist_left": {"psnr": 17.97641726849558, "ssim": 0.5430227695811523, "lpips": 0.3582889139652252}, "wrist_right": {"psnr": 9.620860823138116, "ssim": 0.19069829087988838, "lpips": 0.5140060186386108}, "tactile_left": {"psnr": 34.61842047256703, "ssim": 0.9448137551551992, "lpips": 0.282509446144104}, "tactile_right": {"psnr": 34.770761509461934, "ssim": 0.9438011763656591, "lpips": 0.21342790126800537}}, {"video": {"psnr": 20.561900793557623, "ssim": 0.6419185403877716, "lpips": 0.2098400592803955}, "wrist_left": {"psnr": 17.481494703604834, "ssim": 0.5131369660443239, "lpips": 0.39147067070007324}, "wrist_right": {"psnr": 9.851579822695829, "ssim": 0.19075346304826668, "lpips": 0.5173507928848267}, "tactile_left": {"psnr": 34.068288890189656, "ssim": 0.9404782276007083, "lpips": 0.3019644320011139}, "tactile_right": {"psnr": 34.11387232461239, "ssim": 0.9398785672958877, "lpips": 0.22467011213302612}}, {"video": {"psnr": 20.49840395117807, "ssim": 0.6439358111406311, "lpips": 0.20447883009910583}, "wrist_left": {"psnr": 16.929327176631723, "ssim": 0.48165971045502165, "lpips": 0.411541223526001}, "wrist_right": {"psnr": 9.574698462713343, "ssim": 0.17214128115402189, "lpips": 0.5440205335617065}, "tactile_left": {"psnr": 33.5427788127997, "ssim": 0.9379144876510159, "lpips": 0.3094978332519531}, "tactile_right": {"psnr": 32.88957460117089, "ssim": 0.9345706431857503, "lpips": 0.24574890732765198}}], "long_metrics": {"video": {"psnr": 21.983645455786395, "ssim": 0.710449008969313, "lpips": 0.14296722610791524}, "wrist_left": {"psnr": 21.449334206116458, "ssim": 0.6900267763221977, "lpips": 0.23932142953077953}, "wrist_right": {"psnr": 10.760702731892852, "ssim": 0.266889965319039, "lpips": 0.4570342739423116}, "tactile_left": {"psnr": 37.9587119915526, "ssim": 0.9630238947312965, "lpips": 0.1824601908524831}, "tactile_right": {"psnr": 37.705356964882135, "ssim": 0.9577377133332177, "lpips": 0.15161198899149894}}}, {"id": "motherboard_e005_01", "episode": "motherboard_0909_episode_000.pt", "requested_episode": "motherboard_0909_episode_000.pt", "category": "onset", "t_start": 1825, "start_seconds": 121.66666666666667, "short_contact": [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 1], "future_transition_ticks": [11], "long_contact_fraction": 0.7265625, "long_label": "onset", "short_metrics": {"video": {"psnr": 23.4085553238064, "ssim": 0.8397577967318146, "lpips": 0.05835120379924774}, "wrist_left": {"psnr": 16.092056555756592, "ssim": 0.4022256083006178, "lpips": 0.17811642587184906}, "wrist_right": {"psnr": 11.142451461208417, "ssim": 0.43191992591754047, "lpips": 0.3735720217227936}, "tactile_left": {"psnr": 37.48103733833929, "ssim": 0.9801548042249595, "lpips": 0.051317423582077026}, "tactile_right": {"psnr": 30.350928142847962, "ssim": 0.9650343592370435, "lpips": 0.13220852613449097}}, "media": {"short": {"video": "media/motherboard_e005_01_short.mp4", "poster": "media/motherboard_e005_01_short.jpg"}, "long": {"video": "media/motherboard_e005_01_long.mp4", "poster": "media/motherboard_e005_01_long.jpg"}}, "force": {"source": "recorded_normal_force", "units": "N", "fps": 15, "left": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.5254545211791992, 2.8207693099975586, 2.9424359798431396, 4.285294055938721, 4.3677778244018555, 5.145384788513184, 5.145384788513184, 5.259615421295166, 5.439090728759766, 5.439090728759766, 5.29610538482666, 5.439090728759766, 5.439090728759766, 6.251071453094482, 6.251071453094482, 6.733333110809326, 6.251071453094482, 7.192828178405762, 7.293181896209717, 7.293181896209717, 7.293181896209717, 6.733333110809326, 6.733333110809326, 6.251071453094482, 6.251071453094482, 4.285294055938721, 4.285294055938721, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "right": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.1662499904632568, 2.636666774749756, 2.9424359798431396, 4.285294055938721, 5.439090728759766, 5.439090728759766, 5.615621566772461, 6.251071453094482, 6.251071453094482, 6.251071453094482, 6.251071453094482, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 6.733333110809326, 6.733333110809326, 6.733333110809326, 6.733333110809326, 6.251071453094482, 2.9424359798431396, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.5445876717567444, 1.9833333492279053, 5.259615421295166, 5.259615421295166, 6.251071453094482, 6.733333110809326, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 6.251071453094482, 5.259615421295166, 4.285294055938721, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 2.8207693099975586, 1.1662769317626953, 1.5254545211791992, 2.9424359798431396, 4.285294055938721, 5.145384788513184, 6.251071453094482, 6.251071453094482, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 6.733333110809326, 6.251071453094482, 6.251071453094482, 6.251071453094482, 5.259615421295166, 5.145384788513184, 4.3677778244018555, 4.285294055938721, 4.285294055938721, 4.285294055938721, 4.285294055938721, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 1.9833333492279053, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.9833333492279053, 2.9424359798431396, 5.259615421295166, 7.293181896209717, 7.293181896209717, 7.310615539550781]}, "long_curve": [{"video": {"psnr": 23.4085553238064, "ssim": 0.8397577967318146, "lpips": 0.05835120379924774}, "wrist_left": {"psnr": 16.092056555756592, "ssim": 0.4022256083006178, "lpips": 0.17811642587184906}, "wrist_right": {"psnr": 11.142451461208417, "ssim": 0.43191992591754047, "lpips": 0.3735720217227936}, "tactile_left": {"psnr": 37.48103733833929, "ssim": 0.9801548042249595, "lpips": 0.051317423582077026}, "tactile_right": {"psnr": 30.350928142847962, "ssim": 0.9650343592370435, "lpips": 0.13220852613449097}}, {"video": {"psnr": 20.8894527644418, "ssim": 0.7260156980040001, "lpips": 0.10885298252105713}, "wrist_left": {"psnr": 13.934328260820584, "ssim": 0.3190990589670586, "lpips": 0.2894740700721741}, "wrist_right": {"psnr": 10.391915300152398, "ssim": 0.40508543263764224, "lpips": 0.4332852363586426}, "tactile_left": {"psnr": 27.36532001909378, "ssim": 0.9252459381517231, "lpips": 0.25267714262008667}, "tactile_right": {"psnr": 26.183378757216254, "ssim": 0.9408441799974566, "lpips": 0.2254347801208496}}, {"video": {"psnr": 20.41956754231518, "ssim": 0.7191608094265199, "lpips": 0.1405855119228363}, "wrist_left": {"psnr": 13.842406244990586, "ssim": 0.3050811192814975, "lpips": 0.3735703229904175}, "wrist_right": {"psnr": 8.97071286890579, "ssim": 0.38031418292494645, "lpips": 0.4905504584312439}, "tactile_left": {"psnr": 27.367850528823674, "ssim": 0.9282703142277047, "lpips": 0.25784924626350403}, "tactile_right": {"psnr": 26.347054566932155, "ssim": 0.941286254387349, "lpips": 0.214175283908844}}, {"video": {"psnr": 20.422344926383683, "ssim": 0.6923572492193242, "lpips": 0.1511474847793579}, "wrist_left": {"psnr": 12.097549330438827, "ssim": 0.2671951163907845, "lpips": 0.41873598098754883}, "wrist_right": {"psnr": 12.84020729766711, "ssim": 0.44321577714437727, "lpips": 0.45429882407188416}, "tactile_left": {"psnr": 27.944194212011205, "ssim": 0.9308378643438973, "lpips": 0.284542441368103}, "tactile_right": {"psnr": 41.144627142724666, "ssim": 0.9731530276133777, "lpips": 0.08573891967535019}}, {"video": {"psnr": 19.680648628282217, "ssim": 0.6638152835526443, "lpips": 0.2081921398639679}, "wrist_left": {"psnr": 11.520762612805688, "ssim": 0.40599153299323676, "lpips": 0.48061656951904297}, "wrist_right": {"psnr": 13.353476142744139, "ssim": 0.3276906996063028, "lpips": 0.5495851039886475}, "tactile_left": {"psnr": 37.20792514761569, "ssim": 0.9639975854626716, "lpips": 0.177354097366333}, "tactile_right": {"psnr": 38.65824095671278, "ssim": 0.9645605936839016, "lpips": 0.13416287302970886}}, {"video": {"psnr": 19.093018641001983, "ssim": 0.6449605088779269, "lpips": 0.22982794046401978}, "wrist_left": {"psnr": 10.803879678055974, "ssim": 0.3696705971096654, "lpips": 0.4700433909893036}, "wrist_right": {"psnr": 11.285370726447733, "ssim": 0.2558203559693538, "lpips": 0.6497224569320679}, "tactile_left": {"psnr": 37.64889247074996, "ssim": 0.9627679060632528, "lpips": 0.18107953667640686}, "tactile_right": {"psnr": 30.13857624162267, "ssim": 0.9182824104363616, "lpips": 0.3312082588672638}}, {"video": {"psnr": 19.346462420928518, "ssim": 0.6396032236613043, "lpips": 0.23902852833271027}, "wrist_left": {"psnr": 8.501464419684421, "ssim": 0.2963126804424362, "lpips": 0.5823487043380737}, "wrist_right": {"psnr": 10.335027347273973, "ssim": 0.23583834283291594, "lpips": 0.6625754833221436}, "tactile_left": {"psnr": 37.04837631036606, "ssim": 0.9600191740938833, "lpips": 0.18993590772151947}, "tactile_right": {"psnr": 29.90256091423243, "ssim": 0.9041192373023093, "lpips": 0.36090511083602905}}, {"video": {"psnr": 18.414623886964826, "ssim": 0.6123265184449689, "lpips": 0.30893608927726746}, "wrist_left": {"psnr": 7.767783377241349, "ssim": 0.3044826694364366, "lpips": 0.5744163393974304}, "wrist_right": {"psnr": 10.123042671556412, "ssim": 0.23115535713364874, "lpips": 0.6694581508636475}, "tactile_left": {"psnr": 36.69735807468801, "ssim": 0.9571475567806863, "lpips": 0.2066013365983963}, "tactile_right": {"psnr": 30.620547788535795, "ssim": 0.9015847588348677, "lpips": 0.3675757646560669}}, {"video": {"psnr": 18.469812895536904, "ssim": 0.6283950251067772, "lpips": 0.3082599639892578}, "wrist_left": {"psnr": 8.445147781217182, "ssim": 0.35224849845998984, "lpips": 0.5483330488204956}, "wrist_right": {"psnr": 9.8661275494119, "ssim": 0.22025474523177097, "lpips": 0.6394443511962891}, "tactile_left": {"psnr": 35.91626881359592, "ssim": 0.9543528465440494, "lpips": 0.2227870225906372}, "tactile_right": {"psnr": 36.09075275336672, "ssim": 0.9576101733288039, "lpips": 0.16206933557987213}}, {"video": {"psnr": 18.251147317967487, "ssim": 0.6221040206309532, "lpips": 0.31298086047172546}, "wrist_left": {"psnr": 8.687587326532883, "ssim": 0.3635949602118232, "lpips": 0.5470501184463501}, "wrist_right": {"psnr": 10.456706813257906, "ssim": 0.1660377199634266, "lpips": 0.6202232241630554}, "tactile_left": {"psnr": 35.74131005504399, "ssim": 0.9517936227299115, "lpips": 0.23573842644691467}, "tactile_right": {"psnr": 34.42263731968594, "ssim": 0.9384847485842366, "lpips": 0.21652942895889282}}, {"video": {"psnr": 18.102718209022402, "ssim": 0.6118026686280222, "lpips": 0.32240530848503113}, "wrist_left": {"psnr": 8.611904511541244, "ssim": 0.34848651110439827, "lpips": 0.5467677116394043}, "wrist_right": {"psnr": 10.129945627327487, "ssim": 0.14465861012519382, "lpips": 0.6367287039756775}, "tactile_left": {"psnr": 35.30281362880157, "ssim": 0.9488277447358457, "lpips": 0.24861431121826172}, "tactile_right": {"psnr": 31.402895969615592, "ssim": 0.8787746064815625, "lpips": 0.3150888681411743}}, {"video": {"psnr": 18.085723464090627, "ssim": 0.6077688292938284, "lpips": 0.32539188861846924}, "wrist_left": {"psnr": 8.564645358958266, "ssim": 0.3510417989227531, "lpips": 0.5504777431488037}, "wrist_right": {"psnr": 10.158723392622644, "ssim": 0.1539188434992621, "lpips": 0.6402839422225952}, "tactile_left": {"psnr": 34.89273039504485, "ssim": 0.9460122775450656, "lpips": 0.2621692419052124}, "tactile_right": {"psnr": 32.492213211444685, "ssim": 0.9024573380430856, "lpips": 0.2810847759246826}}, {"video": {"psnr": 17.95270010191525, "ssim": 0.6005573167866987, "lpips": 0.3306225538253784}, "wrist_left": {"psnr": 8.43398689229887, "ssim": 0.3451156672958498, "lpips": 0.5507423877716064}, "wrist_right": {"psnr": 10.241413085109524, "ssim": 0.16564729249753968, "lpips": 0.6357596516609192}, "tactile_left": {"psnr": 34.51280224231351, "ssim": 0.9427286271166195, "lpips": 0.2751409113407135}, "tactile_right": {"psnr": 33.97504020486713, "ssim": 0.9317683333279979, "lpips": 0.23006287217140198}}, {"video": {"psnr": 17.94573084457225, "ssim": 0.5927617997392913, "lpips": 0.32557594776153564}, "wrist_left": {"psnr": 8.877880807554465, "ssim": 0.37683717578052667, "lpips": 0.5508765578269958}, "wrist_right": {"psnr": 9.899342508500355, "ssim": 0.15838378775057296, "lpips": 0.6211621761322021}, "tactile_left": {"psnr": 34.11722881132539, "ssim": 0.9390978381547128, "lpips": 0.29417961835861206}, "tactile_right": {"psnr": 34.983665336690294, "ssim": 0.9544231493364551, "lpips": 0.1590273380279541}}, {"video": {"psnr": 17.783955407699796, "ssim": 0.585448105725511, "lpips": 0.33467423915863037}, "wrist_left": {"psnr": 8.969181432757814, "ssim": 0.37754162170096384, "lpips": 0.5489482879638672}, "wrist_right": {"psnr": 9.189821545714569, "ssim": 0.12865003029260047, "lpips": 0.676433801651001}, "tactile_left": {"psnr": 33.78523778729431, "ssim": 0.9363637926419796, "lpips": 0.3049851059913635}, "tactile_right": {"psnr": 31.564376794179367, "ssim": 0.9310354887361096, "lpips": 0.25496578216552734}}], "long_metrics": {"video": {"psnr": 19.217764158328624, "ssim": 0.6524556569219724, "lpips": 0.2469888428846995}, "wrist_left": {"psnr": 10.343370972710316, "ssim": 0.3456616410932025, "lpips": 0.4807011773188909}, "wrist_right": {"psnr": 10.558952289193359, "ssim": 0.2565727402351396, "lpips": 0.5835389057795207}, "tactile_left": {"psnr": 34.201956389007144, "ssim": 0.9485078595211308, "lpips": 0.2296647846698761}, "tactile_right": {"psnr": 32.5518330733783, "ssim": 0.9335612439553945, "lpips": 0.23134919454654057}}}, {"id": "motherboard_e005_02", "episode": "motherboard_0909_episode_000.pt", "requested_episode": "motherboard_0909_episode_000.pt", "category": "release", "t_start": 3072, "start_seconds": 204.8, "short_contact": [1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 0, 0], "future_transition_ticks": [11], "long_contact_fraction": 0.7734375, "long_label": "release", "short_metrics": {"video": {"psnr": 29.151247552160903, "ssim": 0.9167131233638062, "lpips": 0.029966551810503006}, "wrist_left": {"psnr": 16.25718673807358, "ssim": 0.5542129747423323, "lpips": 0.16926328837871552}, "wrist_right": {"psnr": 14.32841042877084, "ssim": 0.5578044377910725, "lpips": 0.28006988763809204}, "tactile_left": {"psnr": 41.62640302036732, "ssim": 0.9823260387779582, "lpips": 0.017696427181363106}, "tactile_right": {"psnr": 43.84129678539552, "ssim": 0.984145067433046, "lpips": 0.03002772480249405}}, "media": {"short": {"video": "media/motherboard_e005_02_short.mp4", "poster": "media/motherboard_e005_02_short.jpg"}, "long": {"video": "media/motherboard_e005_02_long.mp4", "poster": "media/motherboard_e005_02_long.jpg"}}, "force": {"source": "recorded_normal_force", "units": "N", "fps": 15, "left": [2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.5254545211791992, 1.5254545211791992, 1.9833333492279053, 1.9833333492279053, 2.636666774749756, 2.8207693099975586, 2.8207693099975586, 2.874819755554199, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 4.285294055938721, 4.285294055938721, 4.3677778244018555, 5.145384788513184, 5.259615421295166, 5.259615421295166, 5.259615421295166, 5.259615421295166, 5.259615421295166, 5.145384788513184, 5.145384788513184, 5.145384788513184, 5.145384788513184, 5.145384788513184, 4.3677778244018555, 4.285294055938721, 2.9424359798431396, 2.9424359798431396, 2.636666774749756, 2.636666774749756, 2.636666774749756, 2.636666774749756, 2.636666774749756, 2.406248092651367, 2.435481309890747, 2.161963701248169, 2.636666774749756, 2.8207693099975586, 1.5254545211791992, 1.6252036094665527, 1.9833333492279053, 1.9833333492279053, 1.9833333492279053, 1.9833333492279053, 1.984134554862976, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.8207693099975586, 2.636666774749756, 2.8207693099975586, 2.8207693099975586, 2.636666774749756, 2.304839849472046, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 4.285294055938721, 4.285294055938721, 4.285294055938721, 4.285294055938721, 4.285294055938721, 4.285294055938721, 4.285294055938721, 2.9424359798431396, 2.8207693099975586, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "right": [4.285294055938721, 4.285294055938721, 4.285294055938721, 4.285294055938721, 4.3677778244018555, 4.3677778244018555, 4.285294055938721, 2.9424359798431396, 2.8207693099975586, 0.41999998688697815, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 2.9424359798431396, 2.9424359798431396, 3.053588390350342, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 4.285294055938721, 4.285294055938721, 4.285294055938721, 4.285294055938721, 4.285294055938721, 4.285294055938721, 4.285294055938721, 4.5, 4.3677778244018555, 4.285294055938721, 5.145384788513184, 5.145384788513184, 4.3677778244018555, 4.807384967803955, 4.3677778244018555, 4.3677778244018555, 4.285294055938721, 4.285294055938721, 4.285294055938721, 4.285294055938721, 4.285294055938721, 4.285294055938721, 4.285294055938721, 4.285294055938721, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 1.5254545211791992, 1.1662499904632568, 0.17491444945335388, 0.17491444945335388, 0.41999998688697815, 0.7223659157752991, 1.1662499904632568, 0.49666666984558105, 0.4887502193450928, 0.49666666984558105, 0.38555848598480225, 0.41999998688697815, 0.49666666984558105, 0.2736985683441162, 0.716099202632904, 1.1662499904632568, 2.636666774749756, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.9833333492279053, 2.8207693099975586, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 4.285294055938721, 4.285294055938721, 4.285294055938721, 4.285294055938721, 4.285294055938721, 4.285294055938721, 2.9424359798431396, 2.9424359798431396, 2.8207693099975586, 2.8207693099975586, 2.8207693099975586, 2.9424359798431396, 2.9424359798431396, 2.3705554008483887, 2.9424359798431396, 0.0, 0.0, 0.0, 0.0, 0.0]}, "long_curve": [{"video": {"psnr": 29.151247552160903, "ssim": 0.9167131233638062, "lpips": 0.029966551810503006}, "wrist_left": {"psnr": 16.25718673807358, "ssim": 0.5542129747423323, "lpips": 0.16926328837871552}, "wrist_right": {"psnr": 14.32841042877084, "ssim": 0.5578044377910725, "lpips": 0.28006988763809204}, "tactile_left": {"psnr": 41.62640302036732, "ssim": 0.9823260387779582, "lpips": 0.017696427181363106}, "tactile_right": {"psnr": 43.84129678539552, "ssim": 0.984145067433046, "lpips": 0.03002772480249405}}, {"video": {"psnr": 26.140929347199933, "ssim": 0.851328013694896, "lpips": 0.05574836581945419}, "wrist_left": {"psnr": 14.711721977624233, "ssim": 0.46465480124954983, "lpips": 0.2854815423488617}, "wrist_right": {"psnr": 12.47361573349967, "ssim": 0.44063852647179774, "lpips": 0.39216604828834534}, "tactile_left": {"psnr": 36.95317421149466, "ssim": 0.9679055034513706, "lpips": 0.07868781685829163}, "tactile_right": {"psnr": 43.17587131791161, "ssim": 0.9788384934379553, "lpips": 0.05205462872982025}}, {"video": {"psnr": 24.67424943974922, "ssim": 0.7988997369395887, "lpips": 0.06936489790678024}, "wrist_left": {"psnr": 14.360489467061255, "ssim": 0.44939174934745074, "lpips": 0.3211100697517395}, "wrist_right": {"psnr": 11.849452509712563, "ssim": 0.4316024332682692, "lpips": 0.4392041862010956}, "tactile_left": {"psnr": 34.22696112915045, "ssim": 0.9570244253918739, "lpips": 0.1540634036064148}, "tactile_right": {"psnr": 35.855776383800304, "ssim": 0.9672941522831127, "lpips": 0.11587819457054138}}, {"video": {"psnr": 22.472167100244963, "ssim": 0.7158654716991677, "lpips": 0.09936781227588654}, "wrist_left": {"psnr": 14.715699297447708, "ssim": 0.46601416297205256, "lpips": 0.2996337115764618}, "wrist_right": {"psnr": 12.32229446882289, "ssim": 0.40429217860863553, "lpips": 0.43074142932891846}, "tactile_left": {"psnr": 33.1488314378679, "ssim": 0.9515981010472467, "lpips": 0.20937806367874146}, "tactile_right": {"psnr": 31.737658416693257, "ssim": 0.9470240209686277, "lpips": 0.2061520516872406}}, {"video": {"psnr": 21.490189703274424, "ssim": 0.6741972576526883, "lpips": 0.12198235094547272}, "wrist_left": {"psnr": 14.854369573902149, "ssim": 0.4646222183328647, "lpips": 0.29195302724838257}, "wrist_right": {"psnr": 12.413379737016584, "ssim": 0.39204689520362007, "lpips": 0.4077172875404358}, "tactile_left": {"psnr": 34.258035150236296, "ssim": 0.9564242916833162, "lpips": 0.22040605545043945}, "tactile_right": {"psnr": 31.541609612032676, "ssim": 0.9434669513430023, "lpips": 0.2171022891998291}}, {"video": {"psnr": 21.447449243794775, "ssim": 0.6905749398878959, "lpips": 0.15265372395515442}, "wrist_left": {"psnr": 13.604681142650223, "ssim": 0.40343667228665947, "lpips": 0.3180379271507263}, "wrist_right": {"psnr": 11.989722182188814, "ssim": 0.3737402826231337, "lpips": 0.40878838300704956}, "tactile_left": {"psnr": 34.614273651383684, "ssim": 0.9558338566463995, "lpips": 0.22767698764801025}, "tactile_right": {"psnr": 33.22576027674318, "ssim": 0.9478249178943292, "lpips": 0.2248314768075943}}, {"video": {"psnr": 20.512670429765794, "ssim": 0.6798793965754297, "lpips": 0.1910618543624878}, "wrist_left": {"psnr": 12.241403721223366, "ssim": 0.34062623863973795, "lpips": 0.412473201751709}, "wrist_right": {"psnr": 11.188767182689457, "ssim": 0.3425950714335735, "lpips": 0.44427403807640076}, "tactile_left": {"psnr": 35.09841066502503, "ssim": 0.9533705168152504, "lpips": 0.22740936279296875}, "tactile_right": {"psnr": 33.437562866638245, "ssim": 0.9445132982209425, "lpips": 0.24438253045082092}}, {"video": {"psnr": 19.98100035498146, "ssim": 0.6523675150829635, "lpips": 0.22403398156166077}, "wrist_left": {"psnr": 11.718436305345005, "ssim": 0.3308998721593014, "lpips": 0.43211930990219116}, "wrist_right": {"psnr": 10.695524066404777, "ssim": 0.3328796223557897, "lpips": 0.4919215440750122}, "tactile_left": {"psnr": 34.94832958600695, "ssim": 0.9477508480438521, "lpips": 0.24904274940490723}, "tactile_right": {"psnr": 35.94549773032436, "ssim": 0.9537652154076637, "lpips": 0.20732051134109497}}, {"video": {"psnr": 19.770428408721695, "ssim": 0.6388189173929439, "lpips": 0.21948222815990448}, "wrist_left": {"psnr": 11.823031792173381, "ssim": 0.3507684698435171, "lpips": 0.4067232012748718}, "wrist_right": {"psnr": 10.464302064002123, "ssim": 0.3010369327277118, "lpips": 0.5098867416381836}, "tactile_left": {"psnr": 32.85061144076662, "ssim": 0.9408012098180691, "lpips": 0.3005496561527252}, "tactile_right": {"psnr": 36.689451695189724, "ssim": 0.9558825704002522, "lpips": 0.19405220448970795}}, {"video": {"psnr": 19.298927427825365, "ssim": 0.6148470837776352, "lpips": 0.25260305404663086}, "wrist_left": {"psnr": 11.62258364018135, "ssim": 0.3288739692434063, "lpips": 0.45628154277801514}, "wrist_right": {"psnr": 10.517915308878843, "ssim": 0.29864818221026906, "lpips": 0.5171511173248291}, "tactile_left": {"psnr": 30.57184351273441, "ssim": 0.9336540685927149, "lpips": 0.31930243968963623}, "tactile_right": {"psnr": 36.794241064478385, "ssim": 0.956112992265554, "lpips": 0.17397674918174744}}, {"video": {"psnr": 19.347656542686444, "ssim": 0.6121636705506064, "lpips": 0.2472314089536667}, "wrist_left": {"psnr": 11.76091284342521, "ssim": 0.2875821918946896, "lpips": 0.4913893938064575}, "wrist_right": {"psnr": 10.699642799156631, "ssim": 0.2865762386017995, "lpips": 0.5684788227081299}, "tactile_left": {"psnr": 36.31378629396067, "ssim": 0.9525508947870518, "lpips": 0.22226911783218384}, "tactile_right": {"psnr": 37.52102292166567, "ssim": 0.957525796883851, "lpips": 0.15317301452159882}}, {"video": {"psnr": 18.922657168812364, "ssim": 0.6029562170762088, "lpips": 0.2735205590724945}, "wrist_left": {"psnr": 11.788376736040593, "ssim": 0.31894907181850596, "lpips": 0.49703580141067505}, "wrist_right": {"psnr": 10.605236027870713, "ssim": 0.22337010364198978, "lpips": 0.603950023651123}, "tactile_left": {"psnr": 36.059753088279734, "ssim": 0.9490115419982824, "lpips": 0.2403881847858429}, "tactile_right": {"psnr": 36.35461092436255, "ssim": 0.9532252597018686, "lpips": 0.17539915442466736}}, {"video": {"psnr": 18.68905995209299, "ssim": 0.5905691800447723, "lpips": 0.28194570541381836}, "wrist_left": {"psnr": 11.955862781907339, "ssim": 0.3296479275227675, "lpips": 0.5098071098327637}, "wrist_right": {"psnr": 10.266014102997525, "ssim": 0.23216446224149279, "lpips": 0.6162222623825073}, "tactile_left": {"psnr": 35.768996890704756, "ssim": 0.9466200416652997, "lpips": 0.25598424673080444}, "tactile_right": {"psnr": 31.849480160394634, "ssim": 0.9389481358925844, "lpips": 0.29766350984573364}}, {"video": {"psnr": 18.266679516127358, "ssim": 0.5863674587381231, "lpips": 0.27522504329681396}, "wrist_left": {"psnr": 11.755758335179527, "ssim": 0.33786143891072556, "lpips": 0.5049020648002625}, "wrist_right": {"psnr": 9.267832695014416, "ssim": 0.2612885987974295, "lpips": 0.6814624667167664}, "tactile_left": {"psnr": 35.48437541250293, "ssim": 0.9440972567454684, "lpips": 0.26938995718955994}, "tactile_right": {"psnr": 32.39779561639149, "ssim": 0.9384097506696447, "lpips": 0.2891101837158203}}, {"video": {"psnr": 17.838361383584957, "ssim": 0.5830926307844392, "lpips": 0.2982538044452667}, "wrist_left": {"psnr": 11.649567489560042, "ssim": 0.341219153391219, "lpips": 0.515510082244873}, "wrist_right": {"psnr": 8.038352060430219, "ssim": 0.24550313807861168, "lpips": 0.7066726684570312}, "tactile_left": {"psnr": 35.05422847658303, "ssim": 0.9422636478175428, "lpips": 0.27727723121643066}, "tactile_right": {"psnr": 34.488492852427086, "ssim": 0.9468736366893511, "lpips": 0.22711047530174255}}], "long_metrics": {"video": {"psnr": 21.200244904734845, "ssim": 0.6805760408840776, "lpips": 0.18616275613506636}, "wrist_left": {"psnr": 12.988005456119664, "ssim": 0.384584060823652, "lpips": 0.39411475161711373}, "wrist_right": {"psnr": 11.141364091163739, "ssim": 0.3416124736036797, "lpips": 0.49991379380226136}, "tactile_left": {"psnr": 35.131867597804295, "ssim": 0.9520821495521131, "lpips": 0.217968113347888}, "tactile_right": {"psnr": 35.65707524162992, "ssim": 0.954256683966119, "lpips": 0.18721564660469692}}}, {"id": "motherboard_e005_03", "episode": "motherboard_0909_episode_000.pt", "requested_episode": "motherboard_0909_episode_000.pt", "category": "full", "t_start": 2531, "start_seconds": 168.73333333333332, "short_contact": [1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1], "future_transition_ticks": [], "long_contact_fraction": 0.9296875, "long_label": "full", "short_metrics": {"video": {"psnr": 25.61367811754248, "ssim": 0.8491697374156424, "lpips": 0.04877672344446182}, "wrist_left": {"psnr": 16.946900354812172, "ssim": 0.587376996278601, "lpips": 0.16749230027198792}, "wrist_right": {"psnr": 17.62917871800182, "ssim": 0.5845949280532056, "lpips": 0.22298425436019897}, "tactile_left": {"psnr": 34.92659439732727, "ssim": 0.9665766461603844, "lpips": 0.04971250146627426}, "tactile_right": {"psnr": 37.695497515736385, "ssim": 0.972483239101499, "lpips": 0.0694492906332016}}, "media": {"short": {"video": "media/motherboard_e005_03_short.mp4", "poster": "media/motherboard_e005_03_short.jpg"}, "long": {"video": "media/motherboard_e005_03_long.mp4", "poster": "media/motherboard_e005_03_long.jpg"}}, "force": {"source": "recorded_normal_force", "units": "N", "fps": 15, "left": [1.1936427354812622, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 4.285294055938721, 2.9424359798431396, 4.285294055938721, 5.145384788513184, 5.259615421295166, 5.259615421295166, 5.439090728759766, 5.319377899169922, 5.319377899169922, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.318239688873291, 7.4301862716674805, 7.316900253295898, 7.304895877838135, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 6.251071453094482, 6.251071453094482, 6.251071453094482, 5.439090728759766, 5.439090728759766, 5.259615421295166, 5.259615421295166, 5.4359307289123535, 5.259615421295166, 5.145384788513184, 5.145384788513184, 5.145384788513184, 5.145384788513184, 4.285294055938721, 2.9424359798431396, 2.9424359798431396, 2.0387191772460938, 2.8207693099975586, 2.9424359798431396, 2.9424359798431396, 4.285294055938721, 4.3677778244018555, 4.285294055938721, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 1.1733332872390747, 2.9424359798431396, 4.285294055938721, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.8207693099975586, 1.9833333492279053, 2.636666774749756, 2.8207693099975586, 2.8207693099975586, 2.8207693099975586, 2.9424359798431396, 2.9424359798431396, 2.4149999618530273, 1.9833333492279053, 1.9833333492279053, 1.9833333492279053, 1.9833333492279053, 1.7736024856567383, 1.9833333492279053, 1.9833333492279053, 1.1733332872390747, 0.2758376896381378, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "right": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.9833333492279053, 2.110971689224243, 2.8207693099975586, 2.9424359798431396, 2.9424359798431396, 4.285294055938721, 4.285294055938721, 4.285294055938721, 4.285294055938721, 4.285294055938721, 4.285294055938721, 4.285294055938721, 2.8207693099975586, 2.312258720397949, 1.22345769405365, 1.170535922050476, 1.1733332872390747, 1.9833333492279053, 2.9424359798431396, 2.9424359798431396, 4.285294055938721, 5.259615421295166, 5.259615421295166, 5.259615421295166, 5.411874771118164, 5.259615421295166, 4.3677778244018555, 4.285294055938721, 5.145384788513184, 5.259615421295166, 6.251071453094482, 6.251071453094482, 6.733333110809326, 6.733333110809326, 6.733333110809326, 6.251071453094482, 5.734507083892822, 6.251071453094482, 6.251071453094482, 6.733333110809326, 6.251071453094482, 5.439090728759766, 6.251071453094482, 6.251071453094482, 5.439090728759766, 5.259615421295166, 6.251071453094482, 6.251071453094482, 6.251071453094482, 7.166194438934326, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.00433874130249, 7.027249813079834, 7.293181896209717, 6.983473300933838, 7.044147491455078, 6.733333110809326, 6.733333110809326, 6.251071453094482, 6.251071453094482, 5.439090728759766, 5.439090728759766, 5.259615421295166, 5.145384788513184, 4.285294055938721, 4.285294055938721, 4.285294055938721, 4.285294055938721, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.8207693099975586, 0.7958375811576843, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.9833333492279053, 6.251071453094482, 7.293181896209717, 7.293181896209717, 7.295978546142578, 7.294878959655762, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.300464630126953, 7.300464630126953, 7.29489803314209, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 6.733333110809326, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717]}, "long_curve": [{"video": {"psnr": 25.61367811754248, "ssim": 0.8491697374156424, "lpips": 0.04877672344446182}, "wrist_left": {"psnr": 16.946900354812172, "ssim": 0.587376996278601, "lpips": 0.16749230027198792}, "wrist_right": {"psnr": 17.62917871800182, "ssim": 0.5845949280532056, "lpips": 0.22298425436019897}, "tactile_left": {"psnr": 34.92659439732727, "ssim": 0.9665766461603844, "lpips": 0.04971250146627426}, "tactile_right": {"psnr": 37.695497515736385, "ssim": 0.972483239101499, "lpips": 0.0694492906332016}}, {"video": {"psnr": 23.131842380979343, "ssim": 0.779361036213267, "lpips": 0.0908983051776886}, "wrist_left": {"psnr": 15.259693645468257, "ssim": 0.4560793828795371, "lpips": 0.3087177872657776}, "wrist_right": {"psnr": 14.43706445803321, "ssim": 0.4238927890972678, "lpips": 0.39286813139915466}, "tactile_left": {"psnr": 29.508191508773926, "ssim": 0.9259275151789909, "lpips": 0.1354990005493164}, "tactile_right": {"psnr": 37.37274010508287, "ssim": 0.9686518857845997, "lpips": 0.11265070736408234}}, {"video": {"psnr": 20.25420237048629, "ssim": 0.7130403988550791, "lpips": 0.16764330863952637}, "wrist_left": {"psnr": 13.245327843131562, "ssim": 0.3358589862803457, "lpips": 0.4486368000507355}, "wrist_right": {"psnr": 14.393974759954402, "ssim": 0.41052901685563026, "lpips": 0.40693429112434387}, "tactile_left": {"psnr": 29.588688385996257, "ssim": 0.9279695761668469, "lpips": 0.2236836850643158}, "tactile_right": {"psnr": 34.529102620337426, "ssim": 0.9603938548740908, "lpips": 0.15636885166168213}}, {"video": {"psnr": 19.67218953928359, "ssim": 0.680420230169176, "lpips": 0.20982176065444946}, "wrist_left": {"psnr": 12.387837755510331, "ssim": 0.29930600936580176, "lpips": 0.45554250478744507}, "wrist_right": {"psnr": 14.630888648960727, "ssim": 0.38656321817406686, "lpips": 0.39319315552711487}, "tactile_left": {"psnr": 31.872092620011134, "ssim": 0.9394986217558654, "lpips": 0.23084546625614166}, "tactile_right": {"psnr": 33.5250546191467, "ssim": 0.9552126736544411, "lpips": 0.1914694607257843}}, {"video": {"psnr": 20.263046623103346, "ssim": 0.660753903308281, "lpips": 0.22975659370422363}, "wrist_left": {"psnr": 11.760589938654869, "ssim": 0.2644228760254772, "lpips": 0.47567054629325867}, "wrist_right": {"psnr": 13.119053639988765, "ssim": 0.31744394915229496, "lpips": 0.4582566022872925}, "tactile_left": {"psnr": 33.155806557563, "ssim": 0.9450973613810352, "lpips": 0.23482400178909302}, "tactile_right": {"psnr": 33.24316129330836, "ssim": 0.9527377093441374, "lpips": 0.21418726444244385}}, {"video": {"psnr": 20.330605263002774, "ssim": 0.6552063340425944, "lpips": 0.23771846294403076}, "wrist_left": {"psnr": 11.522711783276469, "ssim": 0.25090787521576796, "lpips": 0.4913609027862549}, "wrist_right": {"psnr": 12.009275804530128, "ssim": 0.2627649244507727, "lpips": 0.5539105534553528}, "tactile_left": {"psnr": 33.796370535124204, "ssim": 0.9466986562084206, "lpips": 0.23971864581108093}, "tactile_right": {"psnr": 32.32292526108199, "ssim": 0.9486655004860356, "lpips": 0.2262948453426361}}, {"video": {"psnr": 18.614453013263578, "ssim": 0.6177132069764772, "lpips": 0.2913992702960968}, "wrist_left": {"psnr": 9.377243959126467, "ssim": 0.23435943321882172, "lpips": 0.6349672079086304}, "wrist_right": {"psnr": 11.817047828161924, "ssim": 0.2484995688439371, "lpips": 0.5617102384567261}, "tactile_left": {"psnr": 34.828126005359, "ssim": 0.9472133844415033, "lpips": 0.2465497851371765}, "tactile_right": {"psnr": 31.365873398796257, "ssim": 0.9435407245864984, "lpips": 0.2466578185558319}}, {"video": {"psnr": 17.409097167644482, "ssim": 0.6026831415969358, "lpips": 0.3403592109680176}, "wrist_left": {"psnr": 9.931590621672774, "ssim": 0.18842201070953496, "lpips": 0.5954123735427856}, "wrist_right": {"psnr": 10.240483324932693, "ssim": 0.23013889600135518, "lpips": 0.6412205696105957}, "tactile_left": {"psnr": 34.15402831001437, "ssim": 0.9395731097881156, "lpips": 0.2791040539741516}, "tactile_right": {"psnr": 31.683328081085417, "ssim": 0.9418985316425093, "lpips": 0.2503768503665924}}, {"video": {"psnr": 17.786323799864608, "ssim": 0.5958056577997513, "lpips": 0.3322575092315674}, "wrist_left": {"psnr": 9.721625142709517, "ssim": 0.19472291008054474, "lpips": 0.6389800310134888}, "wrist_right": {"psnr": 8.164372622155515, "ssim": 0.2066856411478906, "lpips": 0.8027303218841553}, "tactile_left": {"psnr": 34.1756316565096, "ssim": 0.9420110903931551, "lpips": 0.2727750837802887}, "tactile_right": {"psnr": 33.129372815745874, "ssim": 0.9442999147553276, "lpips": 0.23150134086608887}}, {"video": {"psnr": 14.901813419128658, "ssim": 0.5241829129427765, "lpips": 0.38986116647720337}, "wrist_left": {"psnr": 8.22379568574824, "ssim": 0.15736362843905816, "lpips": 0.718481183052063}, "wrist_right": {"psnr": 8.903236440259294, "ssim": 0.222340402549481, "lpips": 0.8072116374969482}, "tactile_left": {"psnr": 34.728626150415124, "ssim": 0.9465349517910078, "lpips": 0.25876057147979736}, "tactile_right": {"psnr": 32.5465049704854, "ssim": 0.9431611496053232, "lpips": 0.23829063773155212}}, {"video": {"psnr": 13.721027524712293, "ssim": 0.4878032146830672, "lpips": 0.44448643922805786}, "wrist_left": {"psnr": 8.638428616750783, "ssim": 0.26046482362133166, "lpips": 0.6797516345977783}, "wrist_right": {"psnr": 9.584336891316552, "ssim": 0.2789185569729187, "lpips": 0.7584826350212097}, "tactile_left": {"psnr": 35.423035638362684, "ssim": 0.9507136031253116, "lpips": 0.24031582474708557}, "tactile_right": {"psnr": 35.13933778329465, "ssim": 0.9504840529704912, "lpips": 0.19429560005664825}}, {"video": {"psnr": 13.633680523614993, "ssim": 0.47767663012073996, "lpips": 0.4595116376876831}, "wrist_left": {"psnr": 9.672545874524694, "ssim": 0.3901645139813076, "lpips": 0.6014029383659363}, "wrist_right": {"psnr": 9.676194811753154, "ssim": 0.22431255746228684, "lpips": 0.788918137550354}, "tactile_left": {"psnr": 35.08106311963197, "ssim": 0.9479873262198053, "lpips": 0.2475503385066986}, "tactile_right": {"psnr": 33.690667752375575, "ssim": 0.9446856960518318, "lpips": 0.22914786636829376}}, {"video": {"psnr": 13.054181629089094, "ssim": 0.438655721398186, "lpips": 0.5021226406097412}, "wrist_left": {"psnr": 10.677165901254746, "ssim": 0.451394504095048, "lpips": 0.603628933429718}, "wrist_right": {"psnr": 10.230954789984622, "ssim": 0.19633006077656057, "lpips": 0.8082301616668701}, "tactile_left": {"psnr": 34.641618152172626, "ssim": 0.9453521267879805, "lpips": 0.2662983238697052}, "tactile_right": {"psnr": 30.13997833914603, "ssim": 0.9298308991677607, "lpips": 0.3093606233596802}}, {"video": {"psnr": 12.221385500912032, "ssim": 0.3756290840229216, "lpips": 0.5847257375717163}, "wrist_left": {"psnr": 10.826701351580798, "ssim": 0.42122894001746564, "lpips": 0.6597258448600769}, "wrist_right": {"psnr": 9.867021748609568, "ssim": 0.19185120996825655, "lpips": 0.758598804473877}, "tactile_left": {"psnr": 34.16387085252917, "ssim": 0.9421061342471398, "lpips": 0.28327426314353943}, "tactile_right": {"psnr": 29.433928619720838, "ssim": 0.9251651173982851, "lpips": 0.3239458501338959}}, {"video": {"psnr": 11.940580764415456, "ssim": 0.36014940135723206, "lpips": 0.6087595224380493}, "wrist_left": {"psnr": 10.783521923480608, "ssim": 0.4192783930611132, "lpips": 0.6554169654846191}, "wrist_right": {"psnr": 10.094376094614535, "ssim": 0.20617726956502222, "lpips": 0.6596194505691528}, "tactile_left": {"psnr": 33.60281592837981, "ssim": 0.9392320148019858, "lpips": 0.2976468801498413}, "tactile_right": {"psnr": 30.235369234079812, "ssim": 0.9241919031724719, "lpips": 0.31846874952316284}}], "long_metrics": {"video": {"psnr": 17.503207175802867, "ssim": 0.5878833740601419, "lpips": 0.3292065526048342}, "wrist_left": {"psnr": 11.26504535984682, "ssim": 0.3274234188846504, "lpips": 0.5423458635807037}, "wrist_right": {"psnr": 11.65316403875046, "ssim": 0.29273619927139644, "lpips": 0.600991262992223}, "tactile_left": {"psnr": 33.576437321211344, "ssim": 0.9434994745631698, "lpips": 0.2337705617149671}, "tactile_right": {"psnr": 33.07018949396157, "ssim": 0.9470268568396868, "lpips": 0.22083105047543844}}}, {"id": "motherboard_e005_04", "episode": "motherboard_0909_episode_001.pt", "requested_episode": "motherboard_0909_episode_001.pt", "category": "none", "t_start": 3, "start_seconds": 0.2, "short_contact": [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0], "future_transition_ticks": [], "long_contact_fraction": 0.0, "long_label": "none_throughout", "short_metrics": {"video": {"psnr": 34.92543717761768, "ssim": 0.9625213382815959, "lpips": 0.010382205247879028}, "wrist_left": {"psnr": 39.53853460061528, "ssim": 0.9775552478821531, "lpips": 0.01537153497338295}, "wrist_right": {"psnr": 40.40275759014203, "ssim": 0.9808852339023699, "lpips": 0.012152418494224548}, "tactile_left": {"psnr": 47.38735860617179, "ssim": 0.9933920663510777, "lpips": 0.004876853432506323}, "tactile_right": {"psnr": 48.91281614523693, "ssim": 0.9943453674753152, "lpips": 0.004568129312247038}}, "media": {"short": {"video": "media/motherboard_e005_04_short.mp4", "poster": "media/motherboard_e005_04_short.jpg"}, "long": {"video": "media/motherboard_e005_04_long.mp4", "poster": "media/motherboard_e005_04_long.jpg"}}, "force": {"source": "recorded_normal_force", "units": "N", "fps": 15, "left": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "right": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]}, "long_curve": [{"video": {"psnr": 34.92543717761768, "ssim": 0.9625213382815959, "lpips": 0.010382205247879028}, "wrist_left": {"psnr": 39.53853460061528, "ssim": 0.9775552478821531, "lpips": 0.01537153497338295}, "wrist_right": {"psnr": 40.40275759014203, "ssim": 0.9808852339023699, "lpips": 0.012152418494224548}, "tactile_left": {"psnr": 47.38735860617179, "ssim": 0.9933920663510777, "lpips": 0.004876853432506323}, "tactile_right": {"psnr": 48.91281614523693, "ssim": 0.9943453674753152, "lpips": 0.004568129312247038}}, {"video": {"psnr": 32.38535488007777, "ssim": 0.9434397525404478, "lpips": 0.019152887165546417}, "wrist_left": {"psnr": 35.30398936290466, "ssim": 0.956245654347972, "lpips": 0.03107578121125698}, "wrist_right": {"psnr": 36.31859805300788, "ssim": 0.9679230113444992, "lpips": 0.023585453629493713}, "tactile_left": {"psnr": 42.54130573795811, "ssim": 0.9882476375419829, "lpips": 0.018766332417726517}, "tactile_right": {"psnr": 42.85124868895787, "ssim": 0.9876300885605738, "lpips": 0.03145302087068558}}, {"video": {"psnr": 30.226947045608753, "ssim": 0.9219540449434418, "lpips": 0.02764718048274517}, "wrist_left": {"psnr": 31.590973791115168, "ssim": 0.9359435002020836, "lpips": 0.05820402503013611}, "wrist_right": {"psnr": 32.85481602521924, "ssim": 0.9473628555914109, "lpips": 0.03581727668642998}, "tactile_left": {"psnr": 39.791929800676215, "ssim": 0.9828853108530915, "lpips": 0.03963913768529892}, "tactile_right": {"psnr": 40.20267565594422, "ssim": 0.9809985720126653, "lpips": 0.059690579771995544}}, {"video": {"psnr": 28.74675586829083, "ssim": 0.9001718746971801, "lpips": 0.036960095167160034}, "wrist_left": {"psnr": 29.45511177951623, "ssim": 0.9185065656661294, "lpips": 0.08520030975341797}, "wrist_right": {"psnr": 30.690015231934655, "ssim": 0.9253937767988833, "lpips": 0.050001177936792374}, "tactile_left": {"psnr": 37.524419737732, "ssim": 0.9766791539026727, "lpips": 0.08145926892757416}, "tactile_right": {"psnr": 38.44107305180375, "ssim": 0.9771179387051138, "lpips": 0.07706986367702484}}, {"video": {"psnr": 27.538483997034483, "ssim": 0.8782898372206485, "lpips": 0.04987920820713043}, "wrist_left": {"psnr": 28.234827591864086, "ssim": 0.9084187319720799, "lpips": 0.10476544499397278}, "wrist_right": {"psnr": 29.32413789438534, "ssim": 0.9113950602972906, "lpips": 0.06323978304862976}, "tactile_left": {"psnr": 36.08700871269576, "ssim": 0.9713535320940121, "lpips": 0.12416905164718628}, "tactile_right": {"psnr": 37.010502470915014, "ssim": 0.9731391463992921, "lpips": 0.09257805347442627}}, {"video": {"psnr": 26.44822364523234, "ssim": 0.855751205733225, "lpips": 0.06249696761369705}, "wrist_left": {"psnr": 25.946674188084504, "ssim": 0.8770955615295193, "lpips": 0.14402058720588684}, "wrist_right": {"psnr": 28.30928677054179, "ssim": 0.8987219578295584, "lpips": 0.07606230676174164}, "tactile_left": {"psnr": 35.62594936168734, "ssim": 0.9672928796233717, "lpips": 0.15185225009918213}, "tactile_right": {"psnr": 36.24849606786556, "ssim": 0.9691188318754635, "lpips": 0.11266244947910309}}, {"video": {"psnr": 25.6082470549134, "ssim": 0.8329352455849153, "lpips": 0.07417069375514984}, "wrist_left": {"psnr": 23.432609394612648, "ssim": 0.8342259197681722, "lpips": 0.19312794506549835}, "wrist_right": {"psnr": 27.36865436490636, "ssim": 0.8845605978089273, "lpips": 0.09063789248466492}, "tactile_left": {"psnr": 34.79346662372481, "ssim": 0.9632563567789578, "lpips": 0.1771949827671051}, "tactile_right": {"psnr": 35.49186164253953, "ssim": 0.96508240483243, "lpips": 0.13002720475196838}}, {"video": {"psnr": 24.771855326336627, "ssim": 0.8105020233302718, "lpips": 0.08917304873466492}, "wrist_left": {"psnr": 20.296892176961826, "ssim": 0.7739463401857057, "lpips": 0.2698267698287964}, "wrist_right": {"psnr": 26.080236888482553, "ssim": 0.8432419730843357, "lpips": 0.11534852534532547}, "tactile_left": {"psnr": 34.47737490178204, "ssim": 0.960371487811903, "lpips": 0.1995309591293335}, "tactile_right": {"psnr": 35.02070996766862, "ssim": 0.9618009004643929, "lpips": 0.15094813704490662}}, {"video": {"psnr": 23.923952945980822, "ssim": 0.7854238877425441, "lpips": 0.09956924617290497}, "wrist_left": {"psnr": 19.87083820896045, "ssim": 0.7524337915440833, "lpips": 0.2862702012062073}, "wrist_right": {"psnr": 24.750952165455868, "ssim": 0.798864947627048, "lpips": 0.14611966907978058}, "tactile_left": {"psnr": 33.669646884113455, "ssim": 0.9573706085287905, "lpips": 0.21831999719142914}, "tactile_right": {"psnr": 34.33867785165157, "ssim": 0.9587272445397118, "lpips": 0.16255930066108704}}, {"video": {"psnr": 23.381197038184887, "ssim": 0.7676723384604096, "lpips": 0.11093932390213013}, "wrist_left": {"psnr": 18.897931683183888, "ssim": 0.7126493297986061, "lpips": 0.3092130422592163}, "wrist_right": {"psnr": 24.17897879150571, "ssim": 0.7807231123477234, "lpips": 0.1612565666437149}, "tactile_left": {"psnr": 33.309564239272476, "ssim": 0.9547202153866234, "lpips": 0.23098251223564148}, "tactile_right": {"psnr": 34.173681576596195, "ssim": 0.9561178697937488, "lpips": 0.17611977458000183}}, {"video": {"psnr": 23.044936550877484, "ssim": 0.752353353623793, "lpips": 0.12084817886352539}, "wrist_left": {"psnr": 18.39637140507337, "ssim": 0.679845342726, "lpips": 0.32559818029403687}, "wrist_right": {"psnr": 23.87809165056172, "ssim": 0.7727844335101417, "lpips": 0.17305512726306915}, "tactile_left": {"psnr": 32.99090949592171, "ssim": 0.9518210256512225, "lpips": 0.24398651719093323}, "tactile_right": {"psnr": 34.0287071222893, "ssim": 0.9532059343642825, "lpips": 0.19185596704483032}}, {"video": {"psnr": 22.61196632994306, "ssim": 0.7399080138230009, "lpips": 0.12814420461654663}, "wrist_left": {"psnr": 18.33569310160357, "ssim": 0.6708048056268792, "lpips": 0.3357403874397278}, "wrist_right": {"psnr": 23.610974681493325, "ssim": 0.766474349231987, "lpips": 0.1834639012813568}, "tactile_left": {"psnr": 32.703346243122205, "ssim": 0.9484903243831007, "lpips": 0.2570928931236267}, "tactile_right": {"psnr": 33.87597396678664, "ssim": 0.9504071341120621, "lpips": 0.20466788113117218}}, {"video": {"psnr": 22.16335234442684, "ssim": 0.7242534789287838, "lpips": 0.13422010838985443}, "wrist_left": {"psnr": 18.156983846424662, "ssim": 0.6534655204563289, "lpips": 0.3537848889827728}, "wrist_right": {"psnr": 23.305548459160086, "ssim": 0.7598808884007855, "lpips": 0.1970752328634262}, "tactile_left": {"psnr": 32.351818821499805, "ssim": 0.9443097754917668, "lpips": 0.26358702778816223}, "tactile_right": {"psnr": 33.320681887542115, "ssim": 0.9460498597492738, "lpips": 0.2179354429244995}}, {"video": {"psnr": 21.818622244944656, "ssim": 0.7086851313123717, "lpips": 0.14335036277770996}, "wrist_left": {"psnr": 17.981654185834415, "ssim": 0.6365399428941126, "lpips": 0.36636966466903687}, "wrist_right": {"psnr": 22.94357618807335, "ssim": 0.7545389866055348, "lpips": 0.2079746574163437}, "tactile_left": {"psnr": 31.99337558712594, "ssim": 0.939923549090163, "lpips": 0.2815553545951843}, "tactile_right": {"psnr": 32.85830666597817, "ssim": 0.9426595377151264, "lpips": 0.23126301169395447}}, {"video": {"psnr": 21.05328528579847, "ssim": 0.6746832466886847, "lpips": 0.16893769800662994}, "wrist_left": {"psnr": 17.72493752163312, "ssim": 0.629352656460308, "lpips": 0.3788546025753021}, "wrist_right": {"psnr": 22.0185818435126, "ssim": 0.7412847485450125, "lpips": 0.24835890531539917}, "tactile_left": {"psnr": 31.731596692981054, "ssim": 0.9366638453582783, "lpips": 0.29506629705429077}, "tactile_right": {"psnr": 32.58197709512426, "ssim": 0.9400035029686029, "lpips": 0.2415103018283844}}], "long_metrics": {"video": {"psnr": 25.909907849017873, "ssim": 0.8172363181940876, "lpips": 0.0850580939402183}, "wrist_left": {"psnr": 24.210934855892525, "ssim": 0.7944685940706755, "lpips": 0.21716155769924322}, "wrist_right": {"psnr": 27.735680439892167, "ssim": 0.8489357288617005, "lpips": 0.11894325961669286}, "tactile_left": {"psnr": 35.79860476309764, "ssim": 0.9624518512564676, "lpips": 0.17253862901901204}, "tactile_right": {"psnr": 36.623825990459984, "ssim": 0.963760288904537, "lpips": 0.13899394121641914}}}, {"id": "motherboard_e005_05", "episode": "motherboard_0909_episode_001.pt", "requested_episode": "motherboard_0909_episode_001.pt", "category": "onset", "t_start": 760, "start_seconds": 50.666666666666664, "short_contact": [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 1], "future_transition_ticks": [11], "long_contact_fraction": 0.6953125, "long_label": "onset", "short_metrics": {"video": {"psnr": 23.941540165582968, "ssim": 0.8160306383863716, "lpips": 0.07480423897504807}, "wrist_left": {"psnr": 14.456134548736646, "ssim": 0.35390701250115236, "lpips": 0.4520012140274048}, "wrist_right": {"psnr": 15.50960539731266, "ssim": 0.552025538659151, "lpips": 0.32839494943618774}, "tactile_left": {"psnr": 38.50718880601731, "ssim": 0.9837337675802902, "lpips": 0.0404994860291481}, "tactile_right": {"psnr": 47.05200444382217, "ssim": 0.992707299460259, "lpips": 0.009842257015407085}}, "media": {"short": {"video": "media/motherboard_e005_05_short.mp4", "poster": "media/motherboard_e005_05_short.jpg"}, "long": {"video": "media/motherboard_e005_05_long.mp4", "poster": "media/motherboard_e005_05_long.jpg"}}, "force": {"source": "recorded_normal_force", "units": "N", "fps": 15, "left": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 2.93143892288208, 2.8207693099975586, 2.9424359798431396, 2.636666774749756, 1.9833333492279053, 2.8207693099975586, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 2.8207693099975586, 2.9424359798431396, 4.285294055938721, 5.145384788513184, 5.145384788513184, 5.145384788513184, 5.145384788513184, 5.145384788513184, 5.259615421295166, 5.259615421295166, 5.439090728759766, 5.259615421295166, 5.259615421295166, 1.886374831199646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.9833333492279053, 1.5254545211791992, 2.024200916290283, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 4.285294055938721, 4.285294055938721, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 1.9833333492279053, 1.4500000476837158, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "right": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.1662499904632568, 1.1733332872390747, 1.1662499904632568, 1.5254545211791992, 2.8207693099975586, 4.285294055938721, 5.76570463180542, 6.251071453094482, 6.251071453094482, 6.251071453094482, 6.251071453094482, 6.733333110809326, 6.733333110809326, 6.251071453094482, 6.251071453094482, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 6.8976850509643555, 6.733333110809326, 6.251071453094482, 6.251071453094482, 5.145384788513184, 6.251071453094482, 6.251071453094482, 5.259615421295166, 5.439090728759766, 6.251071453094482, 5.439090728759766, 5.439090728759766, 5.439090728759766, 6.182772636413574, 6.251071453094482, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.013420581817627, 2.8207693099975586, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.455624520778656, 4.285294055938721, 5.259615421295166, 5.259615421295166, 5.439090728759766, 5.972020626068115, 5.972020626068115, 5.145384788513184, 2.9424359798431396, 2.9424359798431396, 4.285294055938721, 4.285294055938721, 4.285294055938721, 4.285294055938721, 4.285294055938721, 4.285294055938721, 4.5, 5.145384788513184, 5.259615421295166, 5.145384788513184, 2.9424359798431396, 0.2600841820240021, 0.0, 0.0, 0.0, 0.0, 0.0]}, "long_curve": [{"video": {"psnr": 23.941540165582968, "ssim": 0.8160306383863716, "lpips": 0.07480423897504807}, "wrist_left": {"psnr": 14.456134548736646, "ssim": 0.35390701250115236, "lpips": 0.4520012140274048}, "wrist_right": {"psnr": 15.50960539731266, "ssim": 0.552025538659151, "lpips": 0.32839494943618774}, "tactile_left": {"psnr": 38.50718880601731, "ssim": 0.9837337675802902, "lpips": 0.0404994860291481}, "tactile_right": {"psnr": 47.05200444382217, "ssim": 0.992707299460259, "lpips": 0.009842257015407085}}, {"video": {"psnr": 20.70351792344632, "ssim": 0.7046565789453315, "lpips": 0.16533643007278442}, "wrist_left": {"psnr": 12.823398003466473, "ssim": 0.32544224666545973, "lpips": 0.4993152916431427}, "wrist_right": {"psnr": 14.70233752235181, "ssim": 0.5145228941081104, "lpips": 0.34679991006851196}, "tactile_left": {"psnr": 41.235654487769565, "ssim": 0.9809639239566645, "lpips": 0.039188504219055176}, "tactile_right": {"psnr": 44.976582574615236, "ssim": 0.986719327986251, "lpips": 0.03043362870812416}}, {"video": {"psnr": 21.12388866197182, "ssim": 0.7235921972760349, "lpips": 0.17215657234191895}, "wrist_left": {"psnr": 12.70098943877331, "ssim": 0.26303646454054996, "lpips": 0.5566296577453613}, "wrist_right": {"psnr": 13.621184279188906, "ssim": 0.45949999164253863, "lpips": 0.3982465863227844}, "tactile_left": {"psnr": 28.808856749682228, "ssim": 0.9417687371022674, "lpips": 0.20340538024902344}, "tactile_right": {"psnr": 44.79967363957353, "ssim": 0.983470492959588, "lpips": 0.04866573214530945}}, {"video": {"psnr": 19.82853978642263, "ssim": 0.6936286744788303, "lpips": 0.2392289936542511}, "wrist_left": {"psnr": 10.79478257319135, "ssim": 0.2263436954100654, "lpips": 0.5819464325904846}, "wrist_right": {"psnr": 13.037402199533892, "ssim": 0.46469577403890416, "lpips": 0.4476088583469391}, "tactile_left": {"psnr": 29.7065805777836, "ssim": 0.9502975276250951, "lpips": 0.20134802162647247}, "tactile_right": {"psnr": 43.768202969225314, "ssim": 0.9797757392087285, "lpips": 0.06977763772010803}}, {"video": {"psnr": 19.330306273251995, "ssim": 0.6744028830217159, "lpips": 0.26736706495285034}, "wrist_left": {"psnr": 11.42117794816665, "ssim": 0.46005806716285386, "lpips": 0.4865802228450775}, "wrist_right": {"psnr": 9.88304097998544, "ssim": 0.22676205670439156, "lpips": 0.5989589691162109}, "tactile_left": {"psnr": 40.20335020458571, "ssim": 0.9665411176197052, "lpips": 0.15747413039207458}, "tactile_right": {"psnr": 42.801361617556, "ssim": 0.9764490425345529, "lpips": 0.08846752345561981}}, {"video": {"psnr": 19.3473974686065, "ssim": 0.6778061517573395, "lpips": 0.25235462188720703}, "wrist_left": {"psnr": 12.12194271890975, "ssim": 0.5076513198534935, "lpips": 0.4968058466911316}, "wrist_right": {"psnr": 9.241063814723368, "ssim": 0.16311739666664277, "lpips": 0.6564929485321045}, "tactile_left": {"psnr": 39.42610403900311, "ssim": 0.9634038513846832, "lpips": 0.17874400317668915}, "tactile_right": {"psnr": 33.61506882288332, "ssim": 0.9512254538472654, "lpips": 0.21360337734222412}}, {"video": {"psnr": 19.263847141557143, "ssim": 0.6591368593756368, "lpips": 0.28726816177368164}, "wrist_left": {"psnr": 12.470323608969661, "ssim": 0.48235060608354663, "lpips": 0.5292916297912598}, "wrist_right": {"psnr": 8.841805256868913, "ssim": 0.16540894957150226, "lpips": 0.6929776668548584}, "tactile_left": {"psnr": 38.604441684301975, "ssim": 0.9605072185055188, "lpips": 0.19431449472904205}, "tactile_right": {"psnr": 30.49815416430251, "ssim": 0.9314520446033712, "lpips": 0.2893691658973694}}, {"video": {"psnr": 18.78694272953532, "ssim": 0.6459788976441403, "lpips": 0.35507699847221375}, "wrist_left": {"psnr": 11.428192536006756, "ssim": 0.29159910700317326, "lpips": 0.6203137636184692}, "wrist_right": {"psnr": 8.353076360099074, "ssim": 0.1633350027697889, "lpips": 0.7186886072158813}, "tactile_left": {"psnr": 38.128068150916306, "ssim": 0.9577649231976965, "lpips": 0.21077287197113037}, "tactile_right": {"psnr": 29.462853197369434, "ssim": 0.9214375518287116, "lpips": 0.3181764483451843}}, {"video": {"psnr": 18.66840427685197, "ssim": 0.6413074067085083, "lpips": 0.3615242838859558}, "wrist_left": {"psnr": 10.861050688041296, "ssim": 0.2256356851177978, "lpips": 0.6839460134506226}, "wrist_right": {"psnr": 8.461468288584292, "ssim": 0.1575363099171456, "lpips": 0.710347056388855}, "tactile_left": {"psnr": 33.82006299134528, "ssim": 0.937384666167024, "lpips": 0.3092327117919922}, "tactile_right": {"psnr": 29.5456446460239, "ssim": 0.9215801195786957, "lpips": 0.316125750541687}}, {"video": {"psnr": 18.820022908824495, "ssim": 0.6477227439567396, "lpips": 0.2977606952190399}, "wrist_left": {"psnr": 8.30377557936249, "ssim": 0.16620771458622025, "lpips": 0.7704336643218994}, "wrist_right": {"psnr": 9.415553073165192, "ssim": 0.18391658351818832, "lpips": 0.6555337905883789}, "tactile_left": {"psnr": 33.96051098275488, "ssim": 0.9325047948228959, "lpips": 0.3154744505882263}, "tactile_right": {"psnr": 30.276426906634644, "ssim": 0.9259963482270304, "lpips": 0.30362558364868164}}, {"video": {"psnr": 18.955695907675626, "ssim": 0.637948368834094, "lpips": 0.2551511526107788}, "wrist_left": {"psnr": 8.14098771257074, "ssim": 0.2109277720050223, "lpips": 0.7471907138824463}, "wrist_right": {"psnr": 9.690336156503118, "ssim": 0.22413045415948438, "lpips": 0.6194743514060974}, "tactile_left": {"psnr": 33.12132158917298, "ssim": 0.9300073993206349, "lpips": 0.31987231969833374}, "tactile_right": {"psnr": 38.56167131713389, "ssim": 0.9581974533316373, "lpips": 0.18673710525035858}}, {"video": {"psnr": 18.913701237694763, "ssim": 0.6345840759147211, "lpips": 0.254815936088562}, "wrist_left": {"psnr": 9.17649722638423, "ssim": 0.29583793935648856, "lpips": 0.6498987078666687}, "wrist_right": {"psnr": 10.816976144980273, "ssim": 0.2523208714753997, "lpips": 0.6102653741836548}, "tactile_left": {"psnr": 35.62586374813621, "ssim": 0.9483810404697668, "lpips": 0.26732659339904785}, "tactile_right": {"psnr": 35.602433974177764, "ssim": 0.9507722122508491, "lpips": 0.22852323949337006}}, {"video": {"psnr": 18.99498988473834, "ssim": 0.634929508872472, "lpips": 0.2547028362751007}, "wrist_left": {"psnr": 9.054153493847942, "ssim": 0.29279047455573204, "lpips": 0.6240537166595459}, "wrist_right": {"psnr": 10.136529883548906, "ssim": 0.2784989430112132, "lpips": 0.6393455266952515}, "tactile_left": {"psnr": 35.55689094555135, "ssim": 0.9468503190234346, "lpips": 0.2733722925186157}, "tactile_right": {"psnr": 32.31973833824804, "ssim": 0.9369297804264884, "lpips": 0.3115874230861664}}, {"video": {"psnr": 18.943674536434365, "ssim": 0.6393905633809653, "lpips": 0.25343286991119385}, "wrist_left": {"psnr": 8.595695390096596, "ssim": 0.27667044375464495, "lpips": 0.6180275082588196}, "wrist_right": {"psnr": 9.698323292970311, "ssim": 0.24808147042117729, "lpips": 0.6616957783699036}, "tactile_left": {"psnr": 35.224682702992524, "ssim": 0.9439301022589354, "lpips": 0.2883058786392212}, "tactile_right": {"psnr": 31.564793027504948, "ssim": 0.9263710289648106, "lpips": 0.3597106635570526}}, {"video": {"psnr": 18.052241372182447, "ssim": 0.6137346765598739, "lpips": 0.3102397620677948}, "wrist_left": {"psnr": 8.592511213853525, "ssim": 0.29486158145478714, "lpips": 0.6164573431015015}, "wrist_right": {"psnr": 9.588585501010797, "ssim": 0.2116477095788613, "lpips": 0.6562259793281555}, "tactile_left": {"psnr": 34.82789871900069, "ssim": 0.9418940273694723, "lpips": 0.29800963401794434}, "tactile_right": {"psnr": 34.85943962319125, "ssim": 0.944604488338197, "lpips": 0.2764599919319153}}], "long_metrics": {"video": {"psnr": 19.578314018318448, "ssim": 0.669656681674185, "lpips": 0.25341470787922543}, "wrist_left": {"psnr": 10.729440845358493, "ssim": 0.31155467533673253, "lpips": 0.5955261150995891}, "wrist_right": {"psnr": 10.733152543388464, "ssim": 0.2843666630828333, "lpips": 0.5827370901902517}, "tactile_left": {"psnr": 35.78383175860092, "ssim": 0.9523955610936057, "lpips": 0.21982271820306779}, "tactile_right": {"psnr": 36.64693661748413, "ssim": 0.9525125589030957, "lpips": 0.20340703520923853}}}, {"id": "motherboard_e005_06", "episode": "motherboard_0909_episode_001.pt", "requested_episode": "motherboard_0909_episode_001.pt", "category": "release", "t_start": 2829, "start_seconds": 188.6, "short_contact": [1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 0, 0], "future_transition_ticks": [11], "long_contact_fraction": 0.6953125, "long_label": "release", "short_metrics": {"video": {"psnr": 25.748182586916126, "ssim": 0.8369081593198058, "lpips": 0.05152122676372528}, "wrist_left": {"psnr": 10.063175844964679, "ssim": 0.3236268118698963, "lpips": 0.4971845746040344}, "wrist_right": {"psnr": 21.17438302824651, "ssim": 0.8393248921168719, "lpips": 0.09544480592012405}, "tactile_left": {"psnr": 37.3707198633967, "ssim": 0.961670123371321, "lpips": 0.07422727346420288}, "tactile_right": {"psnr": 50.09143563314624, "ssim": 0.9944246493054286, "lpips": 0.004494921769946814}}, "media": {"short": {"video": "media/motherboard_e005_06_short.mp4", "poster": "media/motherboard_e005_06_short.jpg"}, "long": {"video": "media/motherboard_e005_06_long.mp4", "poster": "media/motherboard_e005_06_long.jpg"}}, "force": {"source": "recorded_normal_force", "units": "N", "fps": 15, "left": [4.3677778244018555, 4.285294055938721, 4.285294055938721, 4.285294055938721, 6.251071453094482, 7.293181896209717, 7.293181896209717, 7.5217695236206055, 7.3053178787231445, 5.259615421295166, 2.8207693099975586, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.1599999964237213, 0.22058026492595673, 0.22058026492595673, 0.43111228942871094, 2.9424359798431396, 4.285294055938721, 4.285294055938721, 7.293181896209717, 7.295934677124023, 7.317659854888916, 7.31187629699707, 7.314847946166992, 7.391359329223633, 7.860250473022461, 7.869999885559082, 7.869999885559082, 7.869999885559082, 7.869999885559082, 7.869999885559082, 7.869999885559082, 7.869999885559082, 7.869999885559082, 7.869999885559082, 7.869999885559082, 7.869999885559082, 7.7177629470825195, 7.514229774475098, 7.401813983917236, 7.470968723297119, 7.470968723297119, 7.314309120178223, 7.483780384063721, 7.869999885559082, 7.869999885559082, 7.869999885559082, 7.869999885559082, 7.869999885559082, 7.448915004730225, 7.499743938446045, 7.714519023895264, 7.869999885559082, 7.318450450897217, 4.285294055938721, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.9833333492279053, 1.9833333492279053, 5.259615421295166, 6.733333110809326, 6.733333110809326, 6.733333110809326, 7.293181896209717, 7.129386901855469, 6.733333110809326, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 6.733333110809326, 6.251071453094482, 5.259615421295166, 5.439090728759766, 6.251071453094482, 6.251071453094482, 6.733333110809326, 7.179339408874512, 6.962648868560791, 6.962648868560791, 7.012815952301025, 7.293181896209717, 6.733333110809326, 6.733333110809326, 6.251071453094482, 1.5254545211791992, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 2.8207693099975586, 6.251071453094482, 7.293181896209717, 7.293181896209717, 7.300662040710449, 7.869999885559082, 7.869999885559082, 7.869999885559082, 7.869999885559082], "right": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]}, "long_curve": [{"video": {"psnr": 25.748182586916126, "ssim": 0.8369081593198058, "lpips": 0.05152122676372528}, "wrist_left": {"psnr": 10.063175844964679, "ssim": 0.3236268118698963, "lpips": 0.4971845746040344}, "wrist_right": {"psnr": 21.17438302824651, "ssim": 0.8393248921168719, "lpips": 0.09544480592012405}, "tactile_left": {"psnr": 37.3707198633967, "ssim": 0.961670123371321, "lpips": 0.07422727346420288}, "tactile_right": {"psnr": 50.09143563314624, "ssim": 0.9944246493054286, "lpips": 0.004494921769946814}}, {"video": {"psnr": 23.260920435736757, "ssim": 0.7602560305227005, "lpips": 0.08014540374279022}, "wrist_left": {"psnr": 9.112601500523104, "ssim": 0.22143790241733982, "lpips": 0.6066316366195679}, "wrist_right": {"psnr": 19.140818265230088, "ssim": 0.7348357219096631, "lpips": 0.15635895729064941}, "tactile_left": {"psnr": 36.3558382543722, "ssim": 0.9628707549217439, "lpips": 0.11019241809844971}, "tactile_right": {"psnr": 45.66428736794931, "ssim": 0.9878515239200907, "lpips": 0.034719910472631454}}, {"video": {"psnr": 22.875989735657075, "ssim": 0.7530820830241374, "lpips": 0.09202767163515091}, "wrist_left": {"psnr": 9.099989872929958, "ssim": 0.18027139464760528, "lpips": 0.6358664631843567}, "wrist_right": {"psnr": 17.11979756871063, "ssim": 0.6298079526614987, "lpips": 0.24760620296001434}, "tactile_left": {"psnr": 34.931691628182364, "ssim": 0.9418840604475085, "lpips": 0.1949175000190735}, "tactile_right": {"psnr": 44.0896139238296, "ssim": 0.9806503980454174, "lpips": 0.0687316358089447}}, {"video": {"psnr": 22.600270426197724, "ssim": 0.745684392963804, "lpips": 0.10558870434761047}, "wrist_left": {"psnr": 9.789115304755192, "ssim": 0.17959747470212425, "lpips": 0.6225513219833374}, "wrist_right": {"psnr": 15.627688505654827, "ssim": 0.5796285107897735, "lpips": 0.32453954219818115}, "tactile_left": {"psnr": 31.113766726123032, "ssim": 0.8523640095633379, "lpips": 0.29200947284698486}, "tactile_right": {"psnr": 43.048569529386555, "ssim": 0.9772033936798235, "lpips": 0.08589835464954376}}, {"video": {"psnr": 22.521745439373927, "ssim": 0.7444271618335443, "lpips": 0.10608924925327301}, "wrist_left": {"psnr": 9.978819496202004, "ssim": 0.17896702651394356, "lpips": 0.6173607110977173}, "wrist_right": {"psnr": 15.160217491011348, "ssim": 0.5578753077070087, "lpips": 0.369576632976532}, "tactile_left": {"psnr": 29.36223958296981, "ssim": 0.7893144116577611, "lpips": 0.3428966999053955}, "tactile_right": {"psnr": 42.136752563164, "ssim": 0.9740387101984325, "lpips": 0.10241037607192993}}, {"video": {"psnr": 22.215973061992216, "ssim": 0.7357269468030848, "lpips": 0.11384555697441101}, "wrist_left": {"psnr": 9.980116672682687, "ssim": 0.19281460686970026, "lpips": 0.6224985122680664}, "wrist_right": {"psnr": 14.64443720933168, "ssim": 0.5288518655816385, "lpips": 0.40053215622901917}, "tactile_left": {"psnr": 29.833196523865624, "ssim": 0.8000141585885541, "lpips": 0.3353692293167114}, "tactile_right": {"psnr": 41.47467663473003, "ssim": 0.971035236789645, "lpips": 0.11751073598861694}}, {"video": {"psnr": 19.41224347001926, "ssim": 0.6993340003223275, "lpips": 0.21262843906879425}, "wrist_left": {"psnr": 9.576988702606618, "ssim": 0.21647356878313329, "lpips": 0.7079079747200012}, "wrist_right": {"psnr": 12.736874642068653, "ssim": 0.46303305966846453, "lpips": 0.4847649931907654}, "tactile_left": {"psnr": 30.065289526902443, "ssim": 0.811095297019566, "lpips": 0.33427536487579346}, "tactile_right": {"psnr": 40.7330212721573, "ssim": 0.9677721806132288, "lpips": 0.13339745998382568}}, {"video": {"psnr": 17.77671367326973, "ssim": 0.6509183810763055, "lpips": 0.28524714708328247}, "wrist_left": {"psnr": 9.313688590960517, "ssim": 0.18721709967891204, "lpips": 0.6886755228042603}, "wrist_right": {"psnr": 12.364810801810282, "ssim": 0.4319248506967258, "lpips": 0.5057010650634766}, "tactile_left": {"psnr": 31.82499929225021, "ssim": 0.8745034355194765, "lpips": 0.29298001527786255}, "tactile_right": {"psnr": 40.042224130922776, "ssim": 0.9641980175356479, "lpips": 0.1516578495502472}}, {"video": {"psnr": 17.89085281907798, "ssim": 0.6419104404167673, "lpips": 0.30136358737945557}, "wrist_left": {"psnr": 9.716365948636577, "ssim": 0.17677078118458833, "lpips": 0.6473307013511658}, "wrist_right": {"psnr": 13.034138946123315, "ssim": 0.44782360416614303, "lpips": 0.4865085482597351}, "tactile_left": {"psnr": 34.964255821149436, "ssim": 0.9512673532113436, "lpips": 0.2141406238079071}, "tactile_right": {"psnr": 39.32465596531707, "ssim": 0.9606539604459439, "lpips": 0.16147585213184357}}, {"video": {"psnr": 17.786236804309706, "ssim": 0.6332747675859844, "lpips": 0.3100113570690155}, "wrist_left": {"psnr": 10.076650663128351, "ssim": 0.2125928845864316, "lpips": 0.6335095167160034}, "wrist_right": {"psnr": 12.781075665678383, "ssim": 0.43337220149235967, "lpips": 0.49743595719337463}, "tactile_left": {"psnr": 30.883334984004975, "ssim": 0.9210913823022326, "lpips": 0.3022648096084595}, "tactile_right": {"psnr": 38.639874087615574, "ssim": 0.9577805869041986, "lpips": 0.1716800332069397}}, {"video": {"psnr": 18.038150731783816, "ssim": 0.6353502526385848, "lpips": 0.2996480464935303}, "wrist_left": {"psnr": 10.476292601434869, "ssim": 0.19943099854541474, "lpips": 0.647384762763977}, "wrist_right": {"psnr": 12.774749280404805, "ssim": 0.4527792100794925, "lpips": 0.5111544728279114}, "tactile_left": {"psnr": 29.440242310680333, "ssim": 0.9185215334854517, "lpips": 0.3102118968963623}, "tactile_right": {"psnr": 38.16482407383862, "ssim": 0.9543487007972247, "lpips": 0.18429677188396454}}, {"video": {"psnr": 19.00810009190314, "ssim": 0.6449663497908735, "lpips": 0.25365835428237915}, "wrist_left": {"psnr": 9.912483793676271, "ssim": 0.19411504497349047, "lpips": 0.6604074835777283}, "wrist_right": {"psnr": 13.381736744073049, "ssim": 0.4781979957097644, "lpips": 0.5018253326416016}, "tactile_left": {"psnr": 29.849879833822868, "ssim": 0.9217643690907209, "lpips": 0.3107503056526184}, "tactile_right": {"psnr": 37.58031064864699, "ssim": 0.9518270172760137, "lpips": 0.1965096890926361}}, {"video": {"psnr": 18.367699062975845, "ssim": 0.6238719959834687, "lpips": 0.29205673933029175}, "wrist_left": {"psnr": 9.993288896090995, "ssim": 0.20625222955238703, "lpips": 0.6709714531898499}, "wrist_right": {"psnr": 13.282361841801917, "ssim": 0.4150801394868515, "lpips": 0.520738422870636}, "tactile_left": {"psnr": 31.54514220335941, "ssim": 0.9419330622747637, "lpips": 0.2541144788265228}, "tactile_right": {"psnr": 37.16909445796879, "ssim": 0.9490986551122147, "lpips": 0.20886610448360443}}, {"video": {"psnr": 17.84993403438269, "ssim": 0.6007571256054144, "lpips": 0.32444462180137634}, "wrist_left": {"psnr": 9.163000425734563, "ssim": 0.18806337934892167, "lpips": 0.7036248445510864}, "wrist_right": {"psnr": 13.271904961645324, "ssim": 0.3999255666626649, "lpips": 0.5408972501754761}, "tactile_left": {"psnr": 32.42213125408222, "ssim": 0.9483746564970004, "lpips": 0.2345728576183319}, "tactile_right": {"psnr": 36.69440924853184, "ssim": 0.9462225878748372, "lpips": 0.2231195867061615}}, {"video": {"psnr": 17.685296416598028, "ssim": 0.5876346928680356, "lpips": 0.33580946922302246}, "wrist_left": {"psnr": 9.823747751884934, "ssim": 0.2383901838237819, "lpips": 0.7126063108444214}, "wrist_right": {"psnr": 13.146978873613248, "ssim": 0.39029840892261636, "lpips": 0.5491180419921875}, "tactile_left": {"psnr": 27.868347096159102, "ssim": 0.9006087482556868, "lpips": 0.3671121597290039}, "tactile_right": {"psnr": 36.29160273406575, "ssim": 0.9438765110152632, "lpips": 0.23460841178894043}}], "long_metrics": {"video": {"psnr": 20.20255391934627, "ssim": 0.6862735187169893, "lpips": 0.21093903829654057}, "wrist_left": {"psnr": 9.738421737747421, "ssim": 0.20640142583317805, "lpips": 0.6449674526850383}, "wrist_right": {"psnr": 14.642798255026937, "ssim": 0.5188506191767691, "lpips": 0.4128134921193123}, "tactile_left": {"psnr": 31.85540499342138, "ssim": 0.8998184904137646, "lpips": 0.26466900706291197}, "tactile_right": {"psnr": 40.74302348475136, "ssim": 0.9653988086342273, "lpips": 0.13862517957265177}}}, {"id": "motherboard_e005_07", "episode": "motherboard_0909_episode_001.pt", "requested_episode": "motherboard_0909_episode_001.pt", "category": "full", "t_start": 467, "start_seconds": 31.133333333333333, "short_contact": [1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1], "future_transition_ticks": [], "long_contact_fraction": 1.0, "long_label": "full", "short_metrics": {"video": {"psnr": 32.43708456268775, "ssim": 0.9479962755623966, "lpips": 0.018489204347133636}, "wrist_left": {"psnr": 13.33790582424195, "ssim": 0.37745769159415943, "lpips": 0.2579391598701477}, "wrist_right": {"psnr": 24.8684581152663, "ssim": 0.8524880369486547, "lpips": 0.030001651495695114}, "tactile_left": {"psnr": 33.15725196398793, "ssim": 0.9453865639416131, "lpips": 0.04384980723261833}, "tactile_right": {"psnr": 47.80857101720997, "ssim": 0.9923846329013633, "lpips": 0.012253466993570328}}, "media": {"short": {"video": "media/motherboard_e005_07_short.mp4", "poster": "media/motherboard_e005_07_short.jpg"}, "long": {"video": "media/motherboard_e005_07_long.mp4", "poster": "media/motherboard_e005_07_long.jpg"}}, "force": {"source": "recorded_normal_force", "units": "N", "fps": 15, "left": [1.9833333492279053, 1.9833333492279053, 2.9424359798431396, 6.251071453094482, 6.251071453094482, 5.439090728759766, 5.439090728759766, 5.439090728759766, 6.251071453094482, 6.733333110809326, 6.733333110809326, 6.733333110809326, 6.733333110809326, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 6.733333110809326, 6.733333110809326, 6.733333110809326, 6.733333110809326, 6.733333110809326, 6.733333110809326, 6.733333110809326, 6.733333110809326, 6.733333110809326, 6.76942777633667, 7.228470325469971, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.284359455108643, 6.733333110809326, 6.251071453094482, 6.251071453094482, 5.145384788513184, 4.285294055938721, 2.9424359798431396, 2.8207693099975586, 2.8207693099975586, 1.9833333492279053, 1.9833333492279053, 1.5254545211791992, 1.5254545211791992, 1.5254545211791992, 1.5254545211791992, 1.5254545211791992, 1.5254545211791992, 2.8207693099975586, 1.9833333492279053, 1.9833333492279053, 2.9424359798431396, 4.285294055938721, 4.285294055938721, 4.285294055938721, 4.285294055938721, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 4.285294055938721, 4.285294055938721, 4.285294055938721, 4.285294055938721, 4.285294055938721, 4.285294055938721, 4.3677778244018555, 4.3677778244018555, 5.145384788513184, 5.145384788513184, 5.259615421295166, 5.259615421295166, 6.115070343017578, 6.201137542724609, 6.2079668045043945, 5.661813259124756, 6.073955059051514, 6.251071453094482, 6.251071453094482, 6.251071453094482, 6.251071453094482, 6.251071453094482, 6.251071453094482, 6.251071453094482, 6.251071453094482, 6.251071453094482, 6.251071453094482, 5.259615421295166, 5.145384788513184, 5.145384788513184, 5.145384788513184, 5.259615421295166, 5.145384788513184, 5.145384788513184, 5.145384788513184, 4.3677778244018555, 4.306504249572754, 4.285294055938721, 4.285294055938721, 4.285294055938721, 4.285294055938721, 4.285294055938721, 4.285294055938721, 2.9424359798431396, 2.3617031574249268, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "right": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.5254545211791992, 1.5254545211791992, 1.9833333492279053, 5.259615421295166, 7.293181896209717, 7.756637096405029, 7.756637096405029, 7.869999885559082, 7.869999885559082, 7.869999885559082, 7.869999885559082, 7.869999885559082, 7.869999885559082, 7.869999885559082, 7.869999885559082, 7.869999885559082, 7.869999885559082, 7.869999885559082, 7.869999885559082, 7.652376174926758, 7.380303382873535, 7.293181896209717, 7.293181896209717, 6.733333110809326, 6.251071453094482, 4.285294055938721, 4.285294055938721, 2.9424359798431396, 2.9424359798431396, 2.8207693099975586, 1.9833333492279053, 1.9833333492279053, 1.9833333492279053, 1.9833333492279053, 2.636666774749756, 2.9424359798431396, 4.3677778244018555, 6.251071453094482, 7.293181896209717, 7.293181896209717, 7.293181896209717, 6.251071453094482, 6.251071453094482, 6.251071453094482, 6.251071453094482, 6.733333110809326, 6.733333110809326, 6.733333110809326, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.319431304931641, 7.319431304931641, 7.724584579467773, 7.869999885559082, 7.869999885559082, 7.869999885559082, 7.869999885559082, 7.869999885559082, 7.869999885559082, 7.869999885559082, 7.869999885559082, 7.869999885559082, 7.869999885559082, 7.869999885559082, 7.869999885559082, 7.869999885559082, 7.869999885559082, 7.869999885559082, 7.312495708465576, 7.295211315155029, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 6.733333110809326, 6.733333110809326, 6.733333110809326, 5.439090728759766, 5.259615421295166, 5.259615421295166, 5.145384788513184, 5.145384788513184, 5.259615421295166, 5.259615421295166, 5.259615421295166, 2.9424359798431396, 4.285294055938721, 5.145384788513184, 5.259615421295166, 6.733333110809326, 6.733333110809326, 6.733333110809326, 6.7497968673706055, 7.293181896209717, 7.293181896209717, 7.293181896209717]}, "long_curve": [{"video": {"psnr": 32.43708456268775, "ssim": 0.9479962755623966, "lpips": 0.018489204347133636}, "wrist_left": {"psnr": 13.33790582424195, "ssim": 0.37745769159415943, "lpips": 0.2579391598701477}, "wrist_right": {"psnr": 24.8684581152663, "ssim": 0.8524880369486547, "lpips": 0.030001651495695114}, "tactile_left": {"psnr": 33.15725196398793, "ssim": 0.9453865639416131, "lpips": 0.04384980723261833}, "tactile_right": {"psnr": 47.80857101720997, "ssim": 0.9923846329013633, "lpips": 0.012253466993570328}}, {"video": {"psnr": 26.281321143251265, "ssim": 0.865808145038798, "lpips": 0.05582034960389137}, "wrist_left": {"psnr": 12.95908837431048, "ssim": 0.3221117295764301, "lpips": 0.3045201301574707}, "wrist_right": {"psnr": 14.325669518915962, "ssim": 0.492828319291424, "lpips": 0.3503301739692688}, "tactile_left": {"psnr": 29.3736978410138, "ssim": 0.9006059641297096, "lpips": 0.09059882909059525}, "tactile_right": {"psnr": 45.362071999202385, "ssim": 0.9852869247490501, "lpips": 0.04143787920475006}}, {"video": {"psnr": 24.11679925273806, "ssim": 0.8083386677276649, "lpips": 0.08594150841236115}, "wrist_left": {"psnr": 13.164096103242372, "ssim": 0.31132918435586227, "lpips": 0.2939608097076416}, "wrist_right": {"psnr": 11.271562687691324, "ssim": 0.3400493704526419, "lpips": 0.5629642009735107}, "tactile_left": {"psnr": 30.11765358459403, "ssim": 0.9033934644064733, "lpips": 0.10030811280012131}, "tactile_right": {"psnr": 32.021080284437616, "ssim": 0.957582927626293, "lpips": 0.1349928379058838}}, {"video": {"psnr": 23.61576936962473, "ssim": 0.786802687958623, "lpips": 0.09729491919279099}, "wrist_left": {"psnr": 12.977831197289305, "ssim": 0.2894202994269432, "lpips": 0.3209460377693176}, "wrist_right": {"psnr": 9.247681791423325, "ssim": 0.2501376744839117, "lpips": 0.688874363899231}, "tactile_left": {"psnr": 30.821942263079798, "ssim": 0.9098437507017528, "lpips": 0.13198114931583405}, "tactile_right": {"psnr": 25.394593106329012, "ssim": 0.9023225114593915, "lpips": 0.2768518328666687}}, {"video": {"psnr": 22.854908347662874, "ssim": 0.7571881677632227, "lpips": 0.11360472440719604}, "wrist_left": {"psnr": 12.866569246806122, "ssim": 0.2748134609673908, "lpips": 0.35360467433929443}, "wrist_right": {"psnr": 8.723667948783707, "ssim": 0.22568991316667353, "lpips": 0.7120977640151978}, "tactile_left": {"psnr": 29.132049153298375, "ssim": 0.8902392860979669, "lpips": 0.180071622133255}, "tactile_right": {"psnr": 25.868638358896327, "ssim": 0.9031675215143405, "lpips": 0.2825910747051239}}, {"video": {"psnr": 22.38836908206336, "ssim": 0.7390008918475133, "lpips": 0.12311898916959763}, "wrist_left": {"psnr": 12.603147763228218, "ssim": 0.2568404909532972, "lpips": 0.3978128731250763}, "wrist_right": {"psnr": 8.523866710266448, "ssim": 0.21269586388679662, "lpips": 0.7122310996055603}, "tactile_left": {"psnr": 29.737750164522318, "ssim": 0.9234976937453472, "lpips": 0.22689557075500488}, "tactile_right": {"psnr": 31.796853778876685, "ssim": 0.933953712580021, "lpips": 0.2185882031917572}}, {"video": {"psnr": 22.291577905885266, "ssim": 0.7261497208603955, "lpips": 0.13064202666282654}, "wrist_left": {"psnr": 12.540319146477179, "ssim": 0.2346181256257246, "lpips": 0.39150887727737427}, "wrist_right": {"psnr": 8.609310604479408, "ssim": 0.22153633489857488, "lpips": 0.7121831774711609}, "tactile_left": {"psnr": 29.63513184396994, "ssim": 0.9280161926896764, "lpips": 0.27433568239212036}, "tactile_right": {"psnr": 34.06968177697175, "ssim": 0.9446563841222471, "lpips": 0.2060655951499939}}, {"video": {"psnr": 21.88085681725472, "ssim": 0.7041854723283599, "lpips": 0.14134074747562408}, "wrist_left": {"psnr": 13.17926738195524, "ssim": 0.2743310813213798, "lpips": 0.35706233978271484}, "wrist_right": {"psnr": 8.577932513511383, "ssim": 0.22432786281881487, "lpips": 0.7173279523849487}, "tactile_left": {"psnr": 28.350652796785045, "ssim": 0.9161778958532525, "lpips": 0.263799250125885}, "tactile_right": {"psnr": 28.18895472991266, "ssim": 0.9162606754107533, "lpips": 0.2754974365234375}}, {"video": {"psnr": 21.99174328062485, "ssim": 0.7052426440958781, "lpips": 0.1462523341178894}, "wrist_left": {"psnr": 12.214836361967283, "ssim": 0.22301120039957684, "lpips": 0.4400312304496765}, "wrist_right": {"psnr": 8.685925317614391, "ssim": 0.2293028807422877, "lpips": 0.7516478300094604}, "tactile_left": {"psnr": 30.608149930296324, "ssim": 0.9323745291684541, "lpips": 0.2763713598251343}, "tactile_right": {"psnr": 27.59824940463137, "ssim": 0.9109745258951722, "lpips": 0.29030975699424744}}, {"video": {"psnr": 21.803778681446303, "ssim": 0.6996859073666555, "lpips": 0.1497648060321808}, "wrist_left": {"psnr": 11.898105480990242, "ssim": 0.2092477232496795, "lpips": 0.4636152982711792}, "wrist_right": {"psnr": 8.873986242144898, "ssim": 0.22217735712659095, "lpips": 0.7637364864349365}, "tactile_left": {"psnr": 28.467280064202622, "ssim": 0.9214797937438282, "lpips": 0.3068660795688629}, "tactile_right": {"psnr": 25.85131527839083, "ssim": 0.8932633555595747, "lpips": 0.3162040412425995}}, {"video": {"psnr": 21.07870958010107, "ssim": 0.6857118202485495, "lpips": 0.181758314371109}, "wrist_left": {"psnr": 11.401803485466047, "ssim": 0.1916891426580038, "lpips": 0.512543797492981}, "wrist_right": {"psnr": 9.083852444979263, "ssim": 0.23405058543883153, "lpips": 0.7848158478736877}, "tactile_left": {"psnr": 28.263424195127826, "ssim": 0.9193036965614496, "lpips": 0.32167214155197144}, "tactile_right": {"psnr": 25.617205896275177, "ssim": 0.8847107303164654, "lpips": 0.3239526152610779}}, {"video": {"psnr": 19.6866957994137, "ssim": 0.6386808918670729, "lpips": 0.23298954963684082}, "wrist_left": {"psnr": 10.943452652480001, "ssim": 0.16662160209113197, "lpips": 0.5511082410812378}, "wrist_right": {"psnr": 9.112685388291608, "ssim": 0.22987372793443467, "lpips": 0.7636764049530029}, "tactile_left": {"psnr": 28.724955765477883, "ssim": 0.9229091056901131, "lpips": 0.3260785937309265}, "tactile_right": {"psnr": 26.83819399572704, "ssim": 0.9020213014139764, "lpips": 0.3188054859638214}}, {"video": {"psnr": 20.063145879156256, "ssim": 0.6440708555084715, "lpips": 0.22954529523849487}, "wrist_left": {"psnr": 11.653820248875448, "ssim": 0.18477143091390819, "lpips": 0.5796234607696533}, "wrist_right": {"psnr": 9.376437816686776, "ssim": 0.2390571903790909, "lpips": 0.7691190242767334}, "tactile_left": {"psnr": 28.96895326409907, "ssim": 0.9263031848478541, "lpips": 0.32674527168273926}, "tactile_right": {"psnr": 30.017076714492067, "ssim": 0.9154192680774017, "lpips": 0.28674599528312683}}, {"video": {"psnr": 19.46122701285766, "ssim": 0.6367143380410627, "lpips": 0.26331788301467896}, "wrist_left": {"psnr": 11.746441174225327, "ssim": 0.20132940422462453, "lpips": 0.551551103591919}, "wrist_right": {"psnr": 8.763733591730835, "ssim": 0.16987583174735396, "lpips": 0.6755008697509766}, "tactile_left": {"psnr": 30.891899809634886, "ssim": 0.93812829441306, "lpips": 0.3010500371456146}, "tactile_right": {"psnr": 31.82305149318878, "ssim": 0.9223999584323761, "lpips": 0.2706699073314667}}, {"video": {"psnr": 19.096305509766744, "ssim": 0.627539308163366, "lpips": 0.2715919613838196}, "wrist_left": {"psnr": 10.208824767240657, "ssim": 0.27222948326472396, "lpips": 0.5343800187110901}, "wrist_right": {"psnr": 8.979457439911386, "ssim": 0.18901767962012178, "lpips": 0.693425178527832}, "tactile_left": {"psnr": 33.609844840667236, "ssim": 0.9455017057692926, "lpips": 0.2825714349746704}, "tactile_right": {"psnr": 29.455831448054308, "ssim": 0.9084271343233394, "lpips": 0.30664798617362976}}], "long_metrics": {"video": {"psnr": 22.60321948163564, "ssim": 0.7315410529585353, "lpips": 0.14943150753776233}, "wrist_left": {"psnr": 12.24636728058639, "ssim": 0.25265480337485574, "lpips": 0.4206805368264516}, "wrist_right": {"psnr": 10.468281875446468, "ssim": 0.2888739085957469, "lpips": 0.6458621350427468}, "tactile_left": {"psnr": 29.990709165383805, "ssim": 0.9215440747839896, "lpips": 0.23021299615502358}, "tactile_right": {"psnr": 31.180757952173064, "ssim": 0.9248554376254511, "lpips": 0.237440940986077}}}, {"id": "motherboard_e005_08", "episode": "motherboard_0909_episode_002.pt", "requested_episode": "motherboard_0909_episode_002.pt", "category": "none", "t_start": 2600, "start_seconds": 173.33333333333334, "short_contact": [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0], "future_transition_ticks": [], "long_contact_fraction": 0.296875, "long_label": "none_at_start", "short_metrics": {"video": {"psnr": 28.046377695071392, "ssim": 0.8925150090418589, "lpips": 0.032825835049152374}, "wrist_left": {"psnr": 13.462352824233243, "ssim": 0.4031545218365148, "lpips": 0.33854132890701294}, "wrist_right": {"psnr": 25.504979302252487, "ssim": 0.8582951503499562, "lpips": 0.04288790374994278}, "tactile_left": {"psnr": 42.74326340275101, "ssim": 0.9879639577698909, "lpips": 0.013340217061340809}, "tactile_right": {"psnr": 49.218354432714605, "ssim": 0.9945741784976365, "lpips": 0.004126357845962048}}, "media": {"short": {"video": "media/motherboard_e005_08_short.mp4", "poster": "media/motherboard_e005_08_short.jpg"}, "long": {"video": "media/motherboard_e005_08_long.mp4", "poster": "media/motherboard_e005_08_long.jpg"}}, "force": {"source": "recorded_normal_force", "units": "N", "fps": 15, "left": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.49666666984558105, 1.5254545211791992, 4.285294055938721, 5.439090728759766, 5.439090728759766, 6.733333110809326, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 5.145384788513184, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "right": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.49666666984558105, 0.49264535307884216, 1.2104182243347168, 4.285294055938721, 4.285294055938721, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.636666774749756, 1.5254545211791992, 1.1662499904632568, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]}, "long_curve": [{"video": {"psnr": 28.046377695071392, "ssim": 0.8925150090418589, "lpips": 0.032825835049152374}, "wrist_left": {"psnr": 13.462352824233243, "ssim": 0.4031545218365148, "lpips": 0.33854132890701294}, "wrist_right": {"psnr": 25.504979302252487, "ssim": 0.8582951503499562, "lpips": 0.04288790374994278}, "tactile_left": {"psnr": 42.74326340275101, "ssim": 0.9879639577698909, "lpips": 0.013340217061340809}, "tactile_right": {"psnr": 49.218354432714605, "ssim": 0.9945741784976365, "lpips": 0.004126357845962048}}, {"video": {"psnr": 24.89589539553176, "ssim": 0.8130277361766207, "lpips": 0.05668576806783676}, "wrist_left": {"psnr": 11.118263673993685, "ssim": 0.30127816355809145, "lpips": 0.49774986505508423}, "wrist_right": {"psnr": 19.82795728756123, "ssim": 0.7456671677532922, "lpips": 0.1160927563905716}, "tactile_left": {"psnr": 39.71386422733467, "ssim": 0.9785016651051818, "lpips": 0.040758758783340454}, "tactile_right": {"psnr": 44.71585394145748, "ssim": 0.987173997149503, "lpips": 0.03673349320888519}}, {"video": {"psnr": 22.71877780019036, "ssim": 0.7602779238978348, "lpips": 0.09638653695583344}, "wrist_left": {"psnr": 9.852065635119851, "ssim": 0.2819560451423893, "lpips": 0.5648810863494873}, "wrist_right": {"psnr": 18.184330116645263, "ssim": 0.6772180434098986, "lpips": 0.16707292199134827}, "tactile_left": {"psnr": 40.07084716833705, "ssim": 0.9748321185795878, "lpips": 0.06614217162132263}, "tactile_right": {"psnr": 43.57600644120379, "ssim": 0.9798761628876964, "lpips": 0.06589791923761368}}, {"video": {"psnr": 22.70543004421263, "ssim": 0.7391323944979984, "lpips": 0.11072671413421631}, "wrist_left": {"psnr": 11.743387202557926, "ssim": 0.3278746274440766, "lpips": 0.5316017866134644}, "wrist_right": {"psnr": 18.77646364159421, "ssim": 0.6758939810707987, "lpips": 0.1687769740819931}, "tactile_left": {"psnr": 37.410564151835864, "ssim": 0.9697890478768378, "lpips": 0.12597185373306274}, "tactile_right": {"psnr": 42.30977929881455, "ssim": 0.9766510677568904, "lpips": 0.08256518095731735}}, {"video": {"psnr": 22.18571804155184, "ssim": 0.7334366563774344, "lpips": 0.13658107817173004}, "wrist_left": {"psnr": 9.57960882670532, "ssim": 0.24901140291880713, "lpips": 0.6199605464935303}, "wrist_right": {"psnr": 18.793162844407835, "ssim": 0.6422159784084984, "lpips": 0.18369343876838684}, "tactile_left": {"psnr": 36.124664927265336, "ssim": 0.9643690289804012, "lpips": 0.17633996903896332}, "tactile_right": {"psnr": 40.775158330049734, "ssim": 0.97327561677126, "lpips": 0.09964247047901154}}, {"video": {"psnr": 21.827370156148902, "ssim": 0.7112589257512114, "lpips": 0.14995959401130676}, "wrist_left": {"psnr": 8.651861079898357, "ssim": 0.24851760974514697, "lpips": 0.6910315752029419}, "wrist_right": {"psnr": 18.782968757814174, "ssim": 0.6263136505882063, "lpips": 0.20031404495239258}, "tactile_left": {"psnr": 29.01362054658099, "ssim": 0.9168786020459851, "lpips": 0.3327338397502899}, "tactile_right": {"psnr": 40.208681756012595, "ssim": 0.9697944422877081, "lpips": 0.1200476884841919}}, {"video": {"psnr": 19.754146805550082, "ssim": 0.6632990888313853, "lpips": 0.2342466115951538}, "wrist_left": {"psnr": 9.38525556502208, "ssim": 0.26064591412793126, "lpips": 0.665615439414978}, "wrist_right": {"psnr": 13.003819002962306, "ssim": 0.47361850094109775, "lpips": 0.39374035596847534}, "tactile_left": {"psnr": 28.38068260088226, "ssim": 0.9281800433597159, "lpips": 0.3006661534309387}, "tactile_right": {"psnr": 39.64834582882224, "ssim": 0.9665892495960734, "lpips": 0.13521578907966614}}, {"video": {"psnr": 18.397435167276317, "ssim": 0.6450215695897192, "lpips": 0.29510021209716797}, "wrist_left": {"psnr": 9.13207571463013, "ssim": 0.22031836669240215, "lpips": 0.687470018863678}, "wrist_right": {"psnr": 12.916783741280005, "ssim": 0.3338723101452854, "lpips": 0.5294367074966431}, "tactile_left": {"psnr": 35.14015386534758, "ssim": 0.9577185466413862, "lpips": 0.21476520597934723}, "tactile_right": {"psnr": 39.234321362085595, "ssim": 0.9639402426594053, "lpips": 0.15170446038246155}}, {"video": {"psnr": 17.65219517516649, "ssim": 0.634167598022934, "lpips": 0.3185337483882904}, "wrist_left": {"psnr": 9.6678277168906, "ssim": 0.2124350271622093, "lpips": 0.6777517795562744}, "wrist_right": {"psnr": 11.242863336314223, "ssim": 0.2678046660202391, "lpips": 0.6025738716125488}, "tactile_left": {"psnr": 34.523862395886084, "ssim": 0.9554681407376777, "lpips": 0.22786200046539307}, "tactile_right": {"psnr": 36.11826087198302, "ssim": 0.9601215779970338, "lpips": 0.1668412983417511}}, {"video": {"psnr": 17.17451291822796, "ssim": 0.629804894594352, "lpips": 0.3304489850997925}, "wrist_left": {"psnr": 9.325097611610605, "ssim": 0.2211593622856961, "lpips": 0.6834659576416016}, "wrist_right": {"psnr": 12.148346587505008, "ssim": 0.26837775923154245, "lpips": 0.6057296395301819}, "tactile_left": {"psnr": 34.25451720525515, "ssim": 0.9528458115950337, "lpips": 0.23903925716876984}, "tactile_right": {"psnr": 35.532570149698984, "ssim": 0.9580168788772845, "lpips": 0.17091043293476105}}, {"video": {"psnr": 17.034517750926902, "ssim": 0.6157989730801656, "lpips": 0.3424602448940277}, "wrist_left": {"psnr": 8.586696774475865, "ssim": 0.1788975548588334, "lpips": 0.7155217528343201}, "wrist_right": {"psnr": 10.579672675299147, "ssim": 0.21816572247175747, "lpips": 0.6829231381416321}, "tactile_left": {"psnr": 33.7993898844598, "ssim": 0.9499351988020055, "lpips": 0.2512834072113037}, "tactile_right": {"psnr": 36.50561619736175, "ssim": 0.9582113345008831, "lpips": 0.1877705454826355}}, {"video": {"psnr": 17.607723204047147, "ssim": 0.6184053131183589, "lpips": 0.3343082070350647}, "wrist_left": {"psnr": 8.93573073335337, "ssim": 0.23694690007385644, "lpips": 0.702650785446167}, "wrist_right": {"psnr": 10.439348807295401, "ssim": 0.19506973707123737, "lpips": 0.7284266352653503}, "tactile_left": {"psnr": 33.373123447677635, "ssim": 0.9472978384583077, "lpips": 0.2652398645877838}, "tactile_right": {"psnr": 33.31444422417911, "ssim": 0.9467568578717911, "lpips": 0.27595824003219604}}, {"video": {"psnr": 17.338055069816317, "ssim": 0.6174026081597981, "lpips": 0.34648191928863525}, "wrist_left": {"psnr": 9.801608480439798, "ssim": 0.2871072181431692, "lpips": 0.6861056089401245}, "wrist_right": {"psnr": 8.719009539098828, "ssim": 0.18569426507966902, "lpips": 0.7041701078414917}, "tactile_left": {"psnr": 33.190844374350284, "ssim": 0.9469234459745736, "lpips": 0.2720193862915039}, "tactile_right": {"psnr": 36.31097661304628, "ssim": 0.9552427285137509, "lpips": 0.20190095901489258}}, {"video": {"psnr": 16.893328845527705, "ssim": 0.5839520569953005, "lpips": 0.3378968834877014}, "wrist_left": {"psnr": 10.636519319026682, "ssim": 0.23044378832205964, "lpips": 0.7080400586128235}, "wrist_right": {"psnr": 8.765445927688537, "ssim": 0.23167367295040925, "lpips": 0.7263649702072144}, "tactile_left": {"psnr": 32.59902553979443, "ssim": 0.9455206349821368, "lpips": 0.27426671981811523}, "tactile_right": {"psnr": 35.94526368559655, "ssim": 0.9528517973642135, "lpips": 0.1912582516670227}}, {"video": {"psnr": 17.098893642034973, "ssim": 0.5817105451299742, "lpips": 0.32270124554634094}, "wrist_left": {"psnr": 10.512055841012993, "ssim": 0.21100287679672522, "lpips": 0.7376758456230164}, "wrist_right": {"psnr": 10.090284865585579, "ssim": 0.16401169331829044, "lpips": 0.7056273221969604}, "tactile_left": {"psnr": 32.2941256536129, "ssim": 0.9462289864612878, "lpips": 0.2757578492164612}, "tactile_right": {"psnr": 35.20984585283157, "ssim": 0.9507580744230781, "lpips": 0.20396466553211212}}], "long_metrics": {"video": {"psnr": 20.08869184741872, "ssim": 0.6826140862176631, "lpips": 0.2296895722548167}, "wrist_left": {"psnr": 10.0260271332647, "ssim": 0.25804995860719393, "lpips": 0.6338708957036336}, "wrist_right": {"psnr": 14.518362428886949, "ssim": 0.43759281992067856, "lpips": 0.4371887192130089}, "tactile_left": {"psnr": 34.84216995942474, "ssim": 0.9548302044913339, "lpips": 0.20507911027719578}, "tactile_right": {"psnr": 39.24156526572386, "ssim": 0.9662556138102806, "lpips": 0.1396358501786987}}}, {"id": "motherboard_e005_09", "episode": "motherboard_0909_episode_002.pt", "requested_episode": "motherboard_0909_episode_002.pt", "category": "onset", "t_start": 1924, "start_seconds": 128.26666666666668, "short_contact": [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 1], "future_transition_ticks": [11], "long_contact_fraction": 0.6796875, "long_label": "onset", "short_metrics": {"video": {"psnr": 28.843837045436935, "ssim": 0.9063509863516327, "lpips": 0.03113209269940853}, "wrist_left": {"psnr": 13.417908552057895, "ssim": 0.37715973533924574, "lpips": 0.4082576334476471}, "wrist_right": {"psnr": 19.477403436075598, "ssim": 0.7171481269677191, "lpips": 0.13857433199882507}, "tactile_left": {"psnr": 35.280592815068964, "ssim": 0.9671578675844663, "lpips": 0.1017816960811615}, "tactile_right": {"psnr": 47.106468349025704, "ssim": 0.9921351018715172, "lpips": 0.01243266835808754}}, "media": {"short": {"video": "media/motherboard_e005_09_short.mp4", "poster": "media/motherboard_e005_09_short.jpg"}, "long": {"video": "media/motherboard_e005_09_long.mp4", "poster": "media/motherboard_e005_09_long.jpg"}}, "force": {"source": "recorded_normal_force", "units": "N", "fps": 15, "left": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.9833333492279053, 2.9424359798431396, 2.9424359798431396, 5.439090728759766, 5.439090728759766, 5.671554088592529, 5.439090728759766, 5.259615421295166, 5.145384788513184, 4.321074485778809, 4.285294055938721, 4.285294055938721, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 1.9833333492279053, 2.0277299880981445, 2.9424359798431396, 5.439090728759766, 6.251071453094482, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 6.251071453094482, 5.439090728759766, 6.251071453094482, 5.605889320373535, 5.259615421295166, 4.3677778244018555, 4.285294055938721, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 4.285294055938721, 4.285294055938721, 2.9424359798431396, 4.3677778244018555, 4.285294055938721, 5.145384788513184, 5.145384788513184, 5.259615421295166, 5.259615421295166, 5.145384788513184, 4.285294055938721, 2.8207693099975586, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 2.9424359798431396, 2.636666774749756, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 4.285294055938721, 4.285294055938721, 2.9424359798431396, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.9833333492279053, 1.9833333492279053, 2.636666774749756, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 4.285294055938721, 3.8638908863067627, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 1.1662499904632568, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "right": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 2.9424359798431396, 5.145384788513184, 6.251071453094482]}, "long_curve": [{"video": {"psnr": 28.843837045436935, "ssim": 0.9063509863516327, "lpips": 0.03113209269940853}, "wrist_left": {"psnr": 13.417908552057895, "ssim": 0.37715973533924574, "lpips": 0.4082576334476471}, "wrist_right": {"psnr": 19.477403436075598, "ssim": 0.7171481269677191, "lpips": 0.13857433199882507}, "tactile_left": {"psnr": 35.280592815068964, "ssim": 0.9671578675844663, "lpips": 0.1017816960811615}, "tactile_right": {"psnr": 47.106468349025704, "ssim": 0.9921351018715172, "lpips": 0.01243266835808754}}, {"video": {"psnr": 24.315178831295658, "ssim": 0.8064538112567778, "lpips": 0.07375162839889526}, "wrist_left": {"psnr": 12.849640909038593, "ssim": 0.30882388425000207, "lpips": 0.4570308327674866}, "wrist_right": {"psnr": 16.61962471375597, "ssim": 0.6136761422596255, "lpips": 0.2256024181842804}, "tactile_left": {"psnr": 31.519919677716747, "ssim": 0.933585479345116, "lpips": 0.20249217748641968}, "tactile_right": {"psnr": 44.39311023698487, "ssim": 0.9846416210019131, "lpips": 0.03626827150583267}}, {"video": {"psnr": 22.039111152762857, "ssim": 0.7384192099067806, "lpips": 0.1294228732585907}, "wrist_left": {"psnr": 12.42275803460598, "ssim": 0.30925949417161547, "lpips": 0.5105785131454468}, "wrist_right": {"psnr": 15.214828061624676, "ssim": 0.5348588263471549, "lpips": 0.3148401379585266}, "tactile_left": {"psnr": 31.57981248851658, "ssim": 0.9352226501007754, "lpips": 0.22734366357326508}, "tactile_right": {"psnr": 43.79170788461629, "ssim": 0.9804748278046372, "lpips": 0.052958227694034576}}, {"video": {"psnr": 21.595389334832657, "ssim": 0.7231700887126256, "lpips": 0.15921896696090698}, "wrist_left": {"psnr": 10.219269878942491, "ssim": 0.2430944787400419, "lpips": 0.593961238861084}, "wrist_right": {"psnr": 14.486775005277241, "ssim": 0.48142391136901025, "lpips": 0.3659270107746124}, "tactile_left": {"psnr": 29.139271467635368, "ssim": 0.8988076757788552, "lpips": 0.3294520378112793}, "tactile_right": {"psnr": 43.311064110946376, "ssim": 0.977513086871239, "lpips": 0.07090198248624802}}, {"video": {"psnr": 21.17961666003894, "ssim": 0.7188874613820554, "lpips": 0.18920239806175232}, "wrist_left": {"psnr": 11.281620412648245, "ssim": 0.26365600652673593, "lpips": 0.6136611700057983}, "wrist_right": {"psnr": 13.995303718145411, "ssim": 0.4520582552347677, "lpips": 0.38508132100105286}, "tactile_left": {"psnr": 30.41768511639589, "ssim": 0.9071574408241079, "lpips": 0.34057697653770447}, "tactile_right": {"psnr": 42.06308613343437, "ssim": 0.973705241097611, "lpips": 0.09300613403320312}}, {"video": {"psnr": 20.974252644191374, "ssim": 0.7235060357592822, "lpips": 0.19723458588123322}, "wrist_left": {"psnr": 11.106476326396944, "ssim": 0.22437985982073633, "lpips": 0.6235800981521606}, "wrist_right": {"psnr": 12.79409525051966, "ssim": 0.40988243302530825, "lpips": 0.400879830121994}, "tactile_left": {"psnr": 31.893783694359293, "ssim": 0.9156779712799239, "lpips": 0.32472389936447144}, "tactile_right": {"psnr": 41.11892898844049, "ssim": 0.9691550389700281, "lpips": 0.11805899441242218}}, {"video": {"psnr": 20.718881732111946, "ssim": 0.7121902710314657, "lpips": 0.19755026698112488}, "wrist_left": {"psnr": 10.826682944823657, "ssim": 0.22049261141859033, "lpips": 0.6467767953872681}, "wrist_right": {"psnr": 12.77507863416037, "ssim": 0.40596702350002534, "lpips": 0.41380035877227783}, "tactile_left": {"psnr": 33.21983891575356, "ssim": 0.9319636141357209, "lpips": 0.28763794898986816}, "tactile_right": {"psnr": 40.022916242846414, "ssim": 0.9642446751811496, "lpips": 0.13846218585968018}}, {"video": {"psnr": 20.53719334811086, "ssim": 0.699491290917774, "lpips": 0.2149350643157959}, "wrist_left": {"psnr": 10.91919442113183, "ssim": 0.2845082504966847, "lpips": 0.5972400307655334}, "wrist_right": {"psnr": 12.676998814358688, "ssim": 0.39992421642240494, "lpips": 0.4269896149635315}, "tactile_left": {"psnr": 35.79797109468367, "ssim": 0.9526678695885398, "lpips": 0.22516590356826782}, "tactile_right": {"psnr": 39.39691717622584, "ssim": 0.9609703143602784, "lpips": 0.16020655632019043}}, {"video": {"psnr": 20.267772569413435, "ssim": 0.6826286096574298, "lpips": 0.2223587930202484}, "wrist_left": {"psnr": 10.852011557989194, "ssim": 0.2643768148534301, "lpips": 0.6720436215400696}, "wrist_right": {"psnr": 12.466986894792898, "ssim": 0.386438841023068, "lpips": 0.4418802857398987}, "tactile_left": {"psnr": 32.17815863010312, "ssim": 0.9437658425306071, "lpips": 0.2773163318634033}, "tactile_right": {"psnr": 39.18256904294833, "ssim": 0.9596923753846408, "lpips": 0.16911768913269043}}, {"video": {"psnr": 20.11313406663538, "ssim": 0.6790284803371867, "lpips": 0.22961005568504333}, "wrist_left": {"psnr": 10.25770012555875, "ssim": 0.25134415461427134, "lpips": 0.5979894995689392}, "wrist_right": {"psnr": 11.924895715708612, "ssim": 0.344786278929595, "lpips": 0.4811283349990845}, "tactile_left": {"psnr": 34.71653092126371, "ssim": 0.9563114476351543, "lpips": 0.23351699113845825}, "tactile_right": {"psnr": 38.91648927021159, "ssim": 0.9585090100550946, "lpips": 0.18095310032367706}}, {"video": {"psnr": 20.251120438851377, "ssim": 0.6683860406701178, "lpips": 0.23383831977844238}, "wrist_left": {"psnr": 11.258617043986174, "ssim": 0.18453296962079435, "lpips": 0.6295650005340576}, "wrist_right": {"psnr": 11.94281488082732, "ssim": 0.3482653013015289, "lpips": 0.48758170008659363}, "tactile_left": {"psnr": 30.71717262804728, "ssim": 0.9212251176773575, "lpips": 0.31371864676475525}, "tactile_right": {"psnr": 38.48205208509013, "ssim": 0.9556385778172352, "lpips": 0.19575703144073486}}, {"video": {"psnr": 19.98469677002793, "ssim": 0.660945738853728, "lpips": 0.22759580612182617}, "wrist_left": {"psnr": 10.445919902776348, "ssim": 0.20615180371115444, "lpips": 0.638134777545929}, "wrist_right": {"psnr": 12.166037266262624, "ssim": 0.3620215478495623, "lpips": 0.4803670346736908}, "tactile_left": {"psnr": 32.029194456323886, "ssim": 0.9384986198223352, "lpips": 0.29160404205322266}, "tactile_right": {"psnr": 38.06643634255797, "ssim": 0.952844927451517, "lpips": 0.2087399661540985}}, {"video": {"psnr": 18.80628061591951, "ssim": 0.6306388738266047, "lpips": 0.25083988904953003}, "wrist_left": {"psnr": 8.792768910079616, "ssim": 0.18490831678936534, "lpips": 0.7455291748046875}, "wrist_right": {"psnr": 13.921117881328502, "ssim": 0.4192789256616748, "lpips": 0.4318888783454895}, "tactile_left": {"psnr": 31.533275585392765, "ssim": 0.9356891133923718, "lpips": 0.3079826831817627}, "tactile_right": {"psnr": 37.702278915273574, "ssim": 0.9499223948080999, "lpips": 0.22304433584213257}}, {"video": {"psnr": 19.422357509418227, "ssim": 0.642489348931454, "lpips": 0.23187795281410217}, "wrist_left": {"psnr": 8.677888789405282, "ssim": 0.19336202344168085, "lpips": 0.7126170992851257}, "wrist_right": {"psnr": 12.686056392045073, "ssim": 0.36891398855815866, "lpips": 0.4681755304336548}, "tactile_left": {"psnr": 32.2468294101217, "ssim": 0.9465574704822628, "lpips": 0.2621013820171356}, "tactile_right": {"psnr": 37.27691323717808, "ssim": 0.947177513150629, "lpips": 0.2375594526529312}}, {"video": {"psnr": 19.123467982909734, "ssim": 0.6350588006606526, "lpips": 0.25673893094062805}, "wrist_left": {"psnr": 9.370556359219568, "ssim": 0.2561100165591116, "lpips": 0.6945158243179321}, "wrist_right": {"psnr": 11.941856914052114, "ssim": 0.2669104664106656, "lpips": 0.5230865478515625}, "tactile_left": {"psnr": 32.12943205071562, "ssim": 0.945548333101488, "lpips": 0.2659805417060852}, "tactile_right": {"psnr": 33.35661921886777, "ssim": 0.9344961004369015, "lpips": 0.291558176279068}}], "long_metrics": {"video": {"psnr": 21.21148604679712, "ssim": 0.7085096698837046, "lpips": 0.18968717493116855}, "wrist_left": {"psnr": 10.846600944577371, "ssim": 0.25147736135689736, "lpips": 0.6094320873419444}, "wrist_right": {"psnr": 13.672658238595652, "ssim": 0.4341036189906846, "lpips": 0.399053555727005}, "tactile_left": {"psnr": 32.29329793013988, "ssim": 0.9353224342186055, "lpips": 0.2660929948091507}, "tactile_right": {"psnr": 40.27917048230985, "ssim": 0.9640747204174995, "lpips": 0.1459349848330021}}}, {"id": "motherboard_e005_10", "episode": "motherboard_0909_episode_002.pt", "requested_episode": "motherboard_0909_episode_002.pt", "category": "release", "t_start": 1051, "start_seconds": 70.06666666666666, "short_contact": [1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 0, 0], "future_transition_ticks": [11], "long_contact_fraction": 0.703125, "long_label": "release", "short_metrics": {"video": {"psnr": 21.97503744461645, "ssim": 0.7598312454046828, "lpips": 0.10294051468372345}, "wrist_left": {"psnr": 13.919675691765823, "ssim": 0.532101134685432, "lpips": 0.3781370520591736}, "wrist_right": {"psnr": 13.251774925040456, "ssim": 0.3656784335636147, "lpips": 0.4243893623352051}, "tactile_left": {"psnr": 48.928235923374345, "ssim": 0.9935146500698264, "lpips": 0.005749084055423737}, "tactile_right": {"psnr": 35.929278368985095, "ssim": 0.9797212918151134, "lpips": 0.05281619355082512}}, "media": {"short": {"video": "media/motherboard_e005_10_short.mp4", "poster": "media/motherboard_e005_10_short.jpg"}, "long": {"video": "media/motherboard_e005_10_long.mp4", "poster": "media/motherboard_e005_10_long.jpg"}}, "force": {"source": "recorded_normal_force", "units": "N", "fps": 15, "left": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "right": [5.259615421295166, 5.145384788513184, 4.285294055938721, 4.229005336761475, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.636666774749756, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 2.9424359798431396, 2.9424359798431396, 5.439090728759766, 6.251071453094482, 6.251071453094482, 6.251071453094482, 5.439090728759766, 5.439090728759766, 5.439090728759766, 6.251071453094482, 6.251071453094482, 4.3677778244018555, 1.5254545211791992, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 4.285294055938721, 6.251071453094482, 6.251071453094482, 6.733333110809326, 6.251071453094482, 6.251071453094482, 6.251071453094482, 5.439090728759766, 5.881275653839111, 6.0783467292785645, 5.259615421295166, 5.259615421295166, 5.145384788513184, 5.145384788513184, 5.259615421295166, 4.285294055938721, 1.1662499904632568, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.5254545211791992, 6.251071453094482, 7.293181896209717, 7.3070878982543945, 7.312847137451172, 7.293181896209717, 7.293181896209717, 0.7404214143753052, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4500000476837158, 5.145384788513184, 7.293181896209717, 7.869999885559082, 7.869999885559082, 7.869999885559082, 7.869999885559082, 7.869999885559082, 7.869999885559082, 0.0, 0.0, 1.5254545211791992, 1.1733332872390747, 2.9424359798431396, 4.285294055938721, 7.293181896209717, 7.469607353210449, 7.569608211517334, 7.293181896209717, 7.293181896209717, 7.293181896209717, 6.733333110809326, 5.3493146896362305, 5.439090728759766, 5.439090728759766, 5.439090728759766, 6.251071453094482, 5.439090728759766, 5.145384788513184, 1.1662499904632568, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.5254545211791992, 1.5254545211791992, 1.9833333492279053, 2.9424359798431396, 4.3677778244018555, 5.145384788513184, 5.145384788513184, 4.4391984939575195, 6.251071453094482, 6.251071453094482, 6.733333110809326, 6.251071453094482, 2.9424359798431396]}, "long_curve": [{"video": {"psnr": 21.97503744461645, "ssim": 0.7598312454046828, "lpips": 0.10294051468372345}, "wrist_left": {"psnr": 13.919675691765823, "ssim": 0.532101134685432, "lpips": 0.3781370520591736}, "wrist_right": {"psnr": 13.251774925040456, "ssim": 0.3656784335636147, "lpips": 0.4243893623352051}, "tactile_left": {"psnr": 48.928235923374345, "ssim": 0.9935146500698264, "lpips": 0.005749084055423737}, "tactile_right": {"psnr": 35.929278368985095, "ssim": 0.9797212918151134, "lpips": 0.05281619355082512}}, {"video": {"psnr": 20.1843992303732, "ssim": 0.7048379522289439, "lpips": 0.1409897357225418}, "wrist_left": {"psnr": 13.931216709547062, "ssim": 0.5167164755081572, "lpips": 0.37615105509757996}, "wrist_right": {"psnr": 13.13150061603827, "ssim": 0.32476148538476285, "lpips": 0.5319825410842896}, "tactile_left": {"psnr": 43.825929552656504, "ssim": 0.9850770420497565, "lpips": 0.027548283338546753}, "tactile_right": {"psnr": 30.883287158518463, "ssim": 0.9504778909778145, "lpips": 0.18650370836257935}}, {"video": {"psnr": 19.52480198841372, "ssim": 0.6917946016934592, "lpips": 0.15256357192993164}, "wrist_left": {"psnr": 13.827208624852139, "ssim": 0.5487147004325753, "lpips": 0.3913583755493164}, "wrist_right": {"psnr": 12.082980878833997, "ssim": 0.28120764427967515, "lpips": 0.5710023641586304}, "tactile_left": {"psnr": 42.74887972032328, "ssim": 0.9796996025347029, "lpips": 0.05438901484012604}, "tactile_right": {"psnr": 30.548483761708955, "ssim": 0.9430732880353585, "lpips": 0.20447644591331482}}, {"video": {"psnr": 18.879982271509267, "ssim": 0.6741994521051842, "lpips": 0.1882559061050415}, "wrist_left": {"psnr": 13.003357241031681, "ssim": 0.5122567929821709, "lpips": 0.461204469203949}, "wrist_right": {"psnr": 11.766152454655979, "ssim": 0.27254858074046034, "lpips": 0.6023648381233215}, "tactile_left": {"psnr": 41.353113437915276, "ssim": 0.974438600136645, "lpips": 0.1102699339389801}, "tactile_right": {"psnr": 34.053562791375754, "ssim": 0.9603594574738377, "lpips": 0.14318528771400452}}, {"video": {"psnr": 18.967673334979548, "ssim": 0.6738094864164614, "lpips": 0.18824097514152527}, "wrist_left": {"psnr": 12.807682493301398, "ssim": 0.4925871755742078, "lpips": 0.47339990735054016}, "wrist_right": {"psnr": 10.71958122012499, "ssim": 0.1985332913586294, "lpips": 0.6690816879272461}, "tactile_left": {"psnr": 40.20702156776801, "ssim": 0.969942704796598, "lpips": 0.15406851470470428}, "tactile_right": {"psnr": 27.8611785232258, "ssim": 0.93226540872234, "lpips": 0.2672327756881714}}, {"video": {"psnr": 18.61998605103883, "ssim": 0.6735046128344386, "lpips": 0.2037714123725891}, "wrist_left": {"psnr": 13.3444781228758, "ssim": 0.5274372992994689, "lpips": 0.43589627742767334}, "wrist_right": {"psnr": 10.74235827260918, "ssim": 0.19747824242462286, "lpips": 0.7014204859733582}, "tactile_left": {"psnr": 39.91389550731893, "ssim": 0.9668944051841355, "lpips": 0.17876094579696655}, "tactile_right": {"psnr": 29.850214204645027, "ssim": 0.9464948526088042, "lpips": 0.22779370844364166}}, {"video": {"psnr": 18.309502652394265, "ssim": 0.6617665515263098, "lpips": 0.2168629765510559}, "wrist_left": {"psnr": 13.360366695520945, "ssim": 0.5103757237151126, "lpips": 0.4607483744621277}, "wrist_right": {"psnr": 11.121570748434028, "ssim": 0.219945357262802, "lpips": 0.6002671718597412}, "tactile_left": {"psnr": 39.19062732432281, "ssim": 0.963931058866063, "lpips": 0.19452166557312012}, "tactile_right": {"psnr": 37.60708452083595, "ssim": 0.964964721721147, "lpips": 0.12769544124603271}}, {"video": {"psnr": 18.408229139250857, "ssim": 0.6572415161446354, "lpips": 0.21945664286613464}, "wrist_left": {"psnr": 12.621275302064852, "ssim": 0.47421162446907117, "lpips": 0.48969629406929016}, "wrist_right": {"psnr": 12.266058884652205, "ssim": 0.1996387370415703, "lpips": 0.6340073943138123}, "tactile_left": {"psnr": 38.74583588364129, "ssim": 0.9609304896424371, "lpips": 0.21243394911289215}, "tactile_right": {"psnr": 28.92109273381373, "ssim": 0.9333228644377383, "lpips": 0.2486439049243927}}, {"video": {"psnr": 18.72347029098477, "ssim": 0.6664280774309326, "lpips": 0.21931177377700806}, "wrist_left": {"psnr": 11.727855562765107, "ssim": 0.4747415890969321, "lpips": 0.4926873445510864}, "wrist_right": {"psnr": 11.552870716558349, "ssim": 0.20643359769176017, "lpips": 0.6171165704727173}, "tactile_left": {"psnr": 38.008283943844326, "ssim": 0.9580103911880901, "lpips": 0.22745943069458008}, "tactile_right": {"psnr": 33.51154951450395, "ssim": 0.955343574146106, "lpips": 0.20096498727798462}}, {"video": {"psnr": 17.963755479343074, "ssim": 0.6507407390232005, "lpips": 0.2701190114021301}, "wrist_left": {"psnr": 11.383902051135477, "ssim": 0.4452210807672354, "lpips": 0.5154662132263184}, "wrist_right": {"psnr": 11.137615196306953, "ssim": 0.15037025761949308, "lpips": 0.6389495134353638}, "tactile_left": {"psnr": 37.563361618264835, "ssim": 0.9549430250436892, "lpips": 0.24077387154102325}, "tactile_right": {"psnr": 27.289728188443313, "ssim": 0.9204090449772078, "lpips": 0.34287771582603455}}, {"video": {"psnr": 17.449906001200063, "ssim": 0.6421417453902292, "lpips": 0.2932344675064087}, "wrist_left": {"psnr": 11.650785276587106, "ssim": 0.43758110728138666, "lpips": 0.5140624046325684}, "wrist_right": {"psnr": 12.086676476870172, "ssim": 0.17243109254226402, "lpips": 0.6551121473312378}, "tactile_left": {"psnr": 37.05183364775352, "ssim": 0.9517874840422484, "lpips": 0.254591703414917}, "tactile_right": {"psnr": 29.60087049664713, "ssim": 0.9410864107633112, "lpips": 0.2517526149749756}}, {"video": {"psnr": 17.02847712774331, "ssim": 0.6274939692692544, "lpips": 0.30636587738990784}, "wrist_left": {"psnr": 11.0604675506592, "ssim": 0.4040346601834267, "lpips": 0.5541123151779175}, "wrist_right": {"psnr": 10.985998915428496, "ssim": 0.15398409707236452, "lpips": 0.6741112470626831}, "tactile_left": {"psnr": 36.48363380024744, "ssim": 0.9486492370117839, "lpips": 0.26827293634414673}, "tactile_right": {"psnr": 27.855642177737842, "ssim": 0.9299231087736131, "lpips": 0.2921803593635559}}, {"video": {"psnr": 16.31212894727497, "ssim": 0.6103118352421645, "lpips": 0.35277706384658813}, "wrist_left": {"psnr": 10.59307829122065, "ssim": 0.38273689833470004, "lpips": 0.5715354681015015}, "wrist_right": {"psnr": 10.031218663000551, "ssim": 0.1682762311938415, "lpips": 0.6503760814666748}, "tactile_left": {"psnr": 36.127968867498886, "ssim": 0.9458889083767779, "lpips": 0.28098371624946594}, "tactile_right": {"psnr": 31.697575603674014, "ssim": 0.9451390088124997, "lpips": 0.22670233249664307}}, {"video": {"psnr": 15.961371045085723, "ssim": 0.599563861989445, "lpips": 0.3561234474182129}, "wrist_left": {"psnr": 10.55256290402681, "ssim": 0.37777216679982933, "lpips": 0.5785573720932007}, "wrist_right": {"psnr": 10.730768291685216, "ssim": 0.15807672271788076, "lpips": 0.6078296899795532}, "tactile_left": {"psnr": 35.82709457669244, "ssim": 0.9427667989717199, "lpips": 0.29657435417175293}, "tactile_right": {"psnr": 33.04096301162625, "ssim": 0.9455109383744975, "lpips": 0.22591908276081085}}, {"video": {"psnr": 16.061550249924608, "ssim": 0.6001443145510831, "lpips": 0.38436251878738403}, "wrist_left": {"psnr": 11.289737070125943, "ssim": 0.38331704816298595, "lpips": 0.5246536731719971}, "wrist_right": {"psnr": 10.797827557194148, "ssim": 0.1701305489243859, "lpips": 0.6131575107574463}, "tactile_left": {"psnr": 35.40207358566714, "ssim": 0.9406380507063962, "lpips": 0.3038134276866913}, "tactile_right": {"psnr": 29.279372064803706, "ssim": 0.9246467190420112, "lpips": 0.3020702600479126}}], "long_metrics": {"video": {"psnr": 18.291351416942177, "ssim": 0.6595873307500283, "lpips": 0.23969172636667888}, "wrist_left": {"psnr": 12.338243305832, "ssim": 0.46798703181951284, "lpips": 0.4811777730782827}, "wrist_right": {"psnr": 11.493663587828866, "ssim": 0.21596628798787518, "lpips": 0.6127445737520854}, "tactile_left": {"psnr": 39.42518593048593, "ssim": 0.9624741632413912, "lpips": 0.18734738876422247}, "tactile_right": {"psnr": 31.195325541369662, "ssim": 0.9448492387120934, "lpips": 0.22005432123939198}}}, {"id": "motherboard_e005_11", "episode": "motherboard_0909_episode_002.pt", "requested_episode": "motherboard_0909_episode_002.pt", "category": "full", "t_start": 1788, "start_seconds": 119.2, "short_contact": [1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1], "future_transition_ticks": [], "long_contact_fraction": 0.9609375, "long_label": "full", "short_metrics": {"video": {"psnr": 26.856190275513512, "ssim": 0.8819792041037422, "lpips": 0.05263867229223251}, "wrist_left": {"psnr": 10.626806855114975, "ssim": 0.34491129924929775, "lpips": 0.42467987537384033}, "wrist_right": {"psnr": 22.62319690493904, "ssim": 0.8458850112819687, "lpips": 0.04567926004528999}, "tactile_left": {"psnr": 46.69694840126116, "ssim": 0.9918003737953156, "lpips": 0.007120710797607899}, "tactile_right": {"psnr": 45.54876541742747, "ssim": 0.9873662435552759, "lpips": 0.008516315370798111}}, "media": {"short": {"video": "media/motherboard_e005_11_short.mp4", "poster": "media/motherboard_e005_11_short.jpg"}, "long": {"video": "media/motherboard_e005_11_long.mp4", "poster": "media/motherboard_e005_11_long.jpg"}}, "force": {"source": "recorded_normal_force", "units": "N", "fps": 15, "left": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 2.9424359798431396, 5.439090728759766, 6.733333110809326, 7.293181896209717, 7.293181896209717, 7.299813270568848, 7.3037261962890625, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 6.733333110809326, 6.733333110809326, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 6.733333110809326, 5.439090728759766, 4.285294055938721, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 4.285294055938721, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.8207693099975586, 2.861105442047119, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "right": [1.1733332872390747, 1.5254545211791992, 1.5254545211791992, 1.5254545211791992, 1.5254545211791992, 1.5254545211791992, 1.5254545211791992, 1.5254545211791992, 1.5254545211791992, 1.5254545211791992, 1.5254545211791992, 1.5254545211791992, 1.5254545211791992, 1.9331133365631104, 1.9833333492279053, 2.636666774749756, 2.8207693099975586, 2.8207693099975586, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 4.285294055938721, 4.285294055938721, 4.285294055938721, 4.285294055938721, 4.285294055938721, 4.285294055938721, 4.285294055938721, 4.285294055938721, 5.145384788513184, 5.259615421295166, 5.145384788513184, 5.145384788513184, 5.145384788513184, 4.3677778244018555, 5.971224308013916, 5.484982967376709, 5.702359199523926, 5.145384788513184, 5.145384788513184, 5.145384788513184, 6.251071453094482, 6.251071453094482, 6.251071453094482, 6.251071453094482, 6.251071453094482, 6.251071453094482, 6.251071453094482, 6.251071453094482, 6.251071453094482, 6.251071453094482, 5.439090728759766, 4.3677778244018555, 4.285294055938721, 2.9424359798431396, 2.8207693099975586, 1.1733332872390747, 1.1662499904632568, 1.1662499904632568, 1.1662499904632568, 1.1662499904632568, 1.1662499904632568, 1.1662499904632568, 1.1662499904632568, 1.2584279775619507, 1.5254545211791992, 1.9178065061569214, 1.9830996990203857, 1.8448008298873901, 1.5254545211791992, 1.445785403251648, 1.1733332872390747, 1.1662499904632568, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 2.8207693099975586, 4.285294055938721, 5.259615421295166, 6.251071453094482, 7.293181896209717, 7.293181896209717, 7.30930757522583, 7.30930757522583, 7.869999885559082, 7.869999885559082, 7.869999885559082, 7.823916435241699, 7.602156639099121, 7.494094371795654, 7.307358264923096, 7.307871341705322, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 6.251071453094482, 5.439090728759766, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.8207693099975586, 2.636666774749756, 1.9833333492279053, 2.9424359798431396, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 6.733333110809326, 6.251071453094482, 2.9424359798431396, 1.5254545211791992, 1.1662499904632568, 1.1662499904632568]}, "long_curve": [{"video": {"psnr": 26.856190275513512, "ssim": 0.8819792041037422, "lpips": 0.05263867229223251}, "wrist_left": {"psnr": 10.626806855114975, "ssim": 0.34491129924929775, "lpips": 0.42467987537384033}, "wrist_right": {"psnr": 22.62319690493904, "ssim": 0.8458850112819687, "lpips": 0.04567926004528999}, "tactile_left": {"psnr": 46.69694840126116, "ssim": 0.9918003737953156, "lpips": 0.007120710797607899}, "tactile_right": {"psnr": 45.54876541742747, "ssim": 0.9873662435552759, "lpips": 0.008516315370798111}}, {"video": {"psnr": 25.450969477837468, "ssim": 0.8346432054738646, "lpips": 0.08008461445569992}, "wrist_left": {"psnr": 9.525293113830655, "ssim": 0.17001961255334574, "lpips": 0.6081418395042419}, "wrist_right": {"psnr": 17.959258236519645, "ssim": 0.612459870636479, "lpips": 0.132237508893013}, "tactile_left": {"psnr": 31.247001034799425, "ssim": 0.9379959478707967, "lpips": 0.20619913935661316}, "tactile_right": {"psnr": 34.752607735982785, "ssim": 0.9576907143904214, "lpips": 0.06091941148042679}}, {"video": {"psnr": 23.26264682751638, "ssim": 0.7492185091956061, "lpips": 0.10943371057510376}, "wrist_left": {"psnr": 9.383294168889456, "ssim": 0.16961939745720503, "lpips": 0.6200731992721558}, "wrist_right": {"psnr": 13.64809302064562, "ssim": 0.42119404058334364, "lpips": 0.3360270857810974}, "tactile_left": {"psnr": 30.12954364426421, "ssim": 0.914388945224438, "lpips": 0.2758890986442566}, "tactile_right": {"psnr": 32.406368741720534, "ssim": 0.940297324180482, "lpips": 0.10279806703329086}}, {"video": {"psnr": 22.32594466415806, "ssim": 0.7175200716689161, "lpips": 0.13387686014175415}, "wrist_left": {"psnr": 9.110237855186668, "ssim": 0.15428292426245116, "lpips": 0.6155886650085449}, "wrist_right": {"psnr": 11.88541944938089, "ssim": 0.338786274451488, "lpips": 0.475071519613266}, "tactile_left": {"psnr": 30.97142982344842, "ssim": 0.9227541128358544, "lpips": 0.275329053401947}, "tactile_right": {"psnr": 31.882557973041976, "ssim": 0.9437449049783253, "lpips": 0.1465758979320526}}, {"video": {"psnr": 22.223381990413365, "ssim": 0.7123623969712477, "lpips": 0.14370106160640717}, "wrist_left": {"psnr": 9.130312525028081, "ssim": 0.153085361114623, "lpips": 0.621414303779602}, "wrist_right": {"psnr": 12.14773907305515, "ssim": 0.32851272029859196, "lpips": 0.4730416238307953}, "tactile_left": {"psnr": 30.109955827244473, "ssim": 0.916464285425009, "lpips": 0.30276405811309814}, "tactile_right": {"psnr": 31.036889620657394, "ssim": 0.9391328979233755, "lpips": 0.17439955472946167}}, {"video": {"psnr": 22.03941093822323, "ssim": 0.7043633218550184, "lpips": 0.15154987573623657}, "wrist_left": {"psnr": 9.65241773575499, "ssim": 0.17471239079204653, "lpips": 0.600344181060791}, "wrist_right": {"psnr": 11.944264306019365, "ssim": 0.3265491570261072, "lpips": 0.47781264781951904}, "tactile_left": {"psnr": 31.91177265973898, "ssim": 0.9279476928372353, "lpips": 0.29623979330062866}, "tactile_right": {"psnr": 32.41301078303535, "ssim": 0.9472417355442617, "lpips": 0.18940041959285736}}, {"video": {"psnr": 21.563432950127414, "ssim": 0.6853455832474058, "lpips": 0.16096629202365875}, "wrist_left": {"psnr": 9.880624984545308, "ssim": 0.1843226663793499, "lpips": 0.6000757217407227}, "wrist_right": {"psnr": 11.649886109500333, "ssim": 0.31455212038306524, "lpips": 0.5095359086990356}, "tactile_left": {"psnr": 35.62869081799961, "ssim": 0.9459332227827988, "lpips": 0.2593550980091095}, "tactile_right": {"psnr": 37.222151818033126, "ssim": 0.9589962486599373, "lpips": 0.15998263657093048}}, {"video": {"psnr": 20.630167769135927, "ssim": 0.6562977735270242, "lpips": 0.18480783700942993}, "wrist_left": {"psnr": 9.977563491716685, "ssim": 0.18178125465580336, "lpips": 0.5911309123039246}, "wrist_right": {"psnr": 12.101349606916955, "ssim": 0.3155581389041744, "lpips": 0.5136476755142212}, "tactile_left": {"psnr": 34.6214042709448, "ssim": 0.9393484823623885, "lpips": 0.27690353989601135}, "tactile_right": {"psnr": 36.95568981463043, "ssim": 0.9572982827092997, "lpips": 0.1687527447938919}}, {"video": {"psnr": 19.445946260776154, "ssim": 0.6230346476080574, "lpips": 0.23168039321899414}, "wrist_left": {"psnr": 10.13699088039122, "ssim": 0.18222178188310006, "lpips": 0.5863286852836609}, "wrist_right": {"psnr": 11.286620727806076, "ssim": 0.3021019688618235, "lpips": 0.5555591583251953}, "tactile_left": {"psnr": 35.019340856951516, "ssim": 0.9416651891572336, "lpips": 0.2796333432197571}, "tactile_right": {"psnr": 38.01539473280297, "ssim": 0.959082065378908, "lpips": 0.14158564805984497}}, {"video": {"psnr": 19.27651096630315, "ssim": 0.6185919767387725, "lpips": 0.2351391464471817}, "wrist_left": {"psnr": 9.61272993018049, "ssim": 0.18997828211509216, "lpips": 0.5871841907501221}, "wrist_right": {"psnr": 10.865431681134314, "ssim": 0.27524115484649486, "lpips": 0.5808402299880981}, "tactile_left": {"psnr": 36.176607630121026, "ssim": 0.949568547513493, "lpips": 0.2598012685775757}, "tactile_right": {"psnr": 37.16337154555103, "ssim": 0.9570452213069035, "lpips": 0.15524151921272278}}, {"video": {"psnr": 18.95096825434146, "ssim": 0.6126088632530948, "lpips": 0.251655638217926}, "wrist_left": {"psnr": 9.097796594808553, "ssim": 0.2023180193561971, "lpips": 0.648537278175354}, "wrist_right": {"psnr": 10.689466506833831, "ssim": 0.2532919804800583, "lpips": 0.593510091304779}, "tactile_left": {"psnr": 36.21410721044607, "ssim": 0.9506477074154525, "lpips": 0.2555088996887207}, "tactile_right": {"psnr": 28.880292383143285, "ssim": 0.9277855821483512, "lpips": 0.3026047348976135}}, {"video": {"psnr": 18.81273011748986, "ssim": 0.6120052331553305, "lpips": 0.259505033493042}, "wrist_left": {"psnr": 10.159362713906251, "ssim": 0.17006492944893647, "lpips": 0.6583172678947449}, "wrist_right": {"psnr": 10.526677110601492, "ssim": 0.2534383793402877, "lpips": 0.5996062159538269}, "tactile_left": {"psnr": 35.75933433231468, "ssim": 0.9480605575571939, "lpips": 0.26448288559913635}, "tactile_right": {"psnr": 27.25942204688146, "ssim": 0.9169475904535229, "lpips": 0.3377896547317505}}, {"video": {"psnr": 18.77119117062315, "ssim": 0.6083018481627569, "lpips": 0.2589946687221527}, "wrist_left": {"psnr": 9.458776185706238, "ssim": 0.13678254956780755, "lpips": 0.6337246298789978}, "wrist_right": {"psnr": 10.164322404240549, "ssim": 0.2598820203401095, "lpips": 0.6099909543991089}, "tactile_left": {"psnr": 35.48130390963817, "ssim": 0.946063214026738, "lpips": 0.2786899209022522}, "tactile_right": {"psnr": 29.287235235550245, "ssim": 0.9307833732325643, "lpips": 0.3101980984210968}}, {"video": {"psnr": 18.422109015791616, "ssim": 0.5938081423485468, "lpips": 0.2750651240348816}, "wrist_left": {"psnr": 9.463501904478663, "ssim": 0.13622206838624482, "lpips": 0.6566578149795532}, "wrist_right": {"psnr": 10.03378806478446, "ssim": 0.25289067080338934, "lpips": 0.6242197155952454}, "tactile_left": {"psnr": 35.18399724628152, "ssim": 0.9434249422619451, "lpips": 0.293157696723938}, "tactile_right": {"psnr": 30.31012287925741, "ssim": 0.9358870388265522, "lpips": 0.2973330616950989}}, {"video": {"psnr": 18.56350023946566, "ssim": 0.5896667844252683, "lpips": 0.2692457437515259}, "wrist_left": {"psnr": 9.478651087980282, "ssim": 0.14553548308182623, "lpips": 0.6447685956954956}, "wrist_right": {"psnr": 10.380146354921614, "ssim": 0.2553411355871656, "lpips": 0.6129152774810791}, "tactile_left": {"psnr": 34.58215182703296, "ssim": 0.9417250337882921, "lpips": 0.30011218786239624}, "tactile_right": {"psnr": 31.312019736802927, "ssim": 0.9393593835582711, "lpips": 0.2743929624557495}}], "long_metrics": {"video": {"psnr": 21.106340061181093, "ssim": 0.6799831707823102, "lpips": 0.1865563114484151}, "wrist_left": {"psnr": 9.646290668501234, "ssim": 0.1797238680202218, "lpips": 0.6064644773801168}, "wrist_right": {"psnr": 12.527043970486623, "ssim": 0.35704564292163643, "lpips": 0.475979658216238}, "tactile_left": {"psnr": 34.6489059661658, "ssim": 0.9411858836569457, "lpips": 0.2554124462728699}, "tactile_right": {"psnr": 33.62972669763456, "ssim": 0.9465772404564301, "lpips": 0.1886993817985058}}}, {"id": "motherboard_e005_12", "episode": "motherboard_0911_episode_008_seg00.pt", "requested_episode": "motherboard_0911_episode_008_seg00.pt", "category": "none", "t_start": 913, "start_seconds": 60.86666666666667, "short_contact": [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0], "future_transition_ticks": [], "long_contact_fraction": 0.2734375, "long_label": "none_at_start", "short_metrics": {"video": {"psnr": 26.55097724475555, "ssim": 0.8897396013706609, "lpips": 0.04503830522298813}, "wrist_left": {"psnr": 19.814473891296323, "ssim": 0.7464032388468942, "lpips": 0.12463080883026123}, "wrist_right": {"psnr": 15.508436338225193, "ssim": 0.3808988673603064, "lpips": 0.3257550299167633}, "tactile_left": {"psnr": 51.12647195025383, "ssim": 0.9948819846963814, "lpips": 0.0032947889994829893}, "tactile_right": {"psnr": 52.10739235393766, "ssim": 0.9950855484843556, "lpips": 0.0032238175626844168}}, "media": {"short": {"video": "media/motherboard_e005_12_short.mp4", "poster": "media/motherboard_e005_12_short.jpg"}, "long": {"video": "media/motherboard_e005_12_long.mp4", "poster": "media/motherboard_e005_12_long.jpg"}}, "force": {"source": "recorded_normal_force", "units": "N", "fps": 15, "left": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "right": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.6395905017852783, 0.529942512512207, 0.529942512512207, 0.2907944917678833, 0.5600000023841858, 0.1599999964237213, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0812060683965683, 0.0024630518164485693, 0.0, 1.3589457273483276, 0.0, 0.0, 0.0, 0.5390956997871399, 0.3198980987071991, 0.5392528176307678, 0.0, 0.0, 0.0, 0.0, 1.187829852104187, 0.0, 1.294777274131775, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.8550904393196106, 0.0, 0.7983333468437195, 0.7983333468437195, 2.243333339691162, 1.284462809562683, 0.0, 2.3248276710510254, 0.27564528584480286, 0.4399999976158142, 0.49203309416770935, 0.7983333468437195, 1.9444444179534912, 0.5351153016090393, 0.4000000059604645, 0.4866666793823242, 0.4399999976158142, 0.1599999964237213, 0.0, 0.0, 0.0, 0.0, 0.0, 2.3248276710510254, 1.277543306350708, 0.0, 0.0, 3.0568182468414307, 2.0719287395477295, 0.0, 0.0, 2.563887119293213, 0.0, 0.0, 0.0, 0.7983333468437195, 1.9444444179534912, 0.7983333468437195, 0.1599999964237213, 0.5624003410339355, 0.7983333468437195, 0.0, 0.0, 0.0, 0.0, 0.0, 0.1599999964237213, 0.1599999964237213, 0.1599999964237213, 1.9444444179534912, 0.5600000023841858, 1.9444444179534912, 0.4000000059604645, 0.1599999964237213, 3.0568182468414307, 0.0, 2.898989200592041, 0.7983333468437195, 0.3728911876678467, 0.27666667103767395, 0.2400962859392166, 0.16988153755664825, 0.1599999964237213, 0.1599999964237213, 0.0, 0.0, 0.0, 0.0, 0.11106123775243759, 0.49718019366264343, 0.7983333468437195]}, "long_curve": [{"video": {"psnr": 26.55097724475555, "ssim": 0.8897396013706609, "lpips": 0.04503830522298813}, "wrist_left": {"psnr": 19.814473891296323, "ssim": 0.7464032388468942, "lpips": 0.12463080883026123}, "wrist_right": {"psnr": 15.508436338225193, "ssim": 0.3808988673603064, "lpips": 0.3257550299167633}, "tactile_left": {"psnr": 51.12647195025383, "ssim": 0.9948819846963814, "lpips": 0.0032947889994829893}, "tactile_right": {"psnr": 52.10739235393766, "ssim": 0.9950855484843556, "lpips": 0.0032238175626844168}}, {"video": {"psnr": 24.12889586555424, "ssim": 0.8355716940333933, "lpips": 0.06663790345191956}, "wrist_left": {"psnr": 17.615585261625583, "ssim": 0.6864796234857158, "lpips": 0.15958061814308167}, "wrist_right": {"psnr": 14.617855595128882, "ssim": 0.3101280690155286, "lpips": 0.43485957384109497}, "tactile_left": {"psnr": 48.22102218834415, "ssim": 0.9918867019668567, "lpips": 0.009759422391653061}, "tactile_right": {"psnr": 41.25630141524083, "ssim": 0.9812567635019998, "lpips": 0.04896964132785797}}, {"video": {"psnr": 23.211918410546982, "ssim": 0.8127150614618859, "lpips": 0.0752665102481842}, "wrist_left": {"psnr": 16.86423957540931, "ssim": 0.6656555813160342, "lpips": 0.1796063780784607}, "wrist_right": {"psnr": 14.107748620790373, "ssim": 0.2918714455604493, "lpips": 0.4339808225631714}, "tactile_left": {"psnr": 45.64995457750554, "ssim": 0.9885075955913782, "lpips": 0.02453082986176014}, "tactile_right": {"psnr": 37.953327211686805, "ssim": 0.9717025459665319, "lpips": 0.07905954122543335}}, {"video": {"psnr": 22.964409600610217, "ssim": 0.8062702796463141, "lpips": 0.0815131813287735}, "wrist_left": {"psnr": 16.52969216048264, "ssim": 0.6510729073496064, "lpips": 0.18661069869995117}, "wrist_right": {"psnr": 14.1722844745284, "ssim": 0.28252605628440647, "lpips": 0.4433819055557251}, "tactile_left": {"psnr": 43.98870552477901, "ssim": 0.9848127946570768, "lpips": 0.03979756683111191}, "tactile_right": {"psnr": 40.378355113650876, "ssim": 0.9794502957561941, "lpips": 0.03617066890001297}}, {"video": {"psnr": 22.988223084738927, "ssim": 0.8025527370250909, "lpips": 0.08261929452419281}, "wrist_left": {"psnr": 16.152174459047444, "ssim": 0.6403227479913615, "lpips": 0.20173323154449463}, "wrist_right": {"psnr": 13.865034319540271, "ssim": 0.28395315392633835, "lpips": 0.44565558433532715}, "tactile_left": {"psnr": 42.61476109145579, "ssim": 0.9821095311716441, "lpips": 0.05761680752038956}, "tactile_right": {"psnr": 39.91732589262019, "ssim": 0.9788161431100496, "lpips": 0.050884537398815155}}, {"video": {"psnr": 22.762449681652377, "ssim": 0.7877859596881667, "lpips": 0.09162764996290207}, "wrist_left": {"psnr": 15.634175083258885, "ssim": 0.6201652953295763, "lpips": 0.225301593542099}, "wrist_right": {"psnr": 14.438532271748654, "ssim": 0.31931091488826, "lpips": 0.45321276783943176}, "tactile_left": {"psnr": 40.70616242038034, "ssim": 0.9788885087901378, "lpips": 0.08156709372997284}, "tactile_right": {"psnr": 39.18806026255869, "ssim": 0.9784497178250711, "lpips": 0.05562213435769081}}, {"video": {"psnr": 22.065004453687248, "ssim": 0.763566138324872, "lpips": 0.10614094138145447}, "wrist_left": {"psnr": 14.879167067370249, "ssim": 0.5883511932490602, "lpips": 0.2681887447834015}, "wrist_right": {"psnr": 14.322221573173143, "ssim": 0.3064757731943206, "lpips": 0.433649480342865}, "tactile_left": {"psnr": 39.46270044373134, "ssim": 0.9756638980218821, "lpips": 0.1040937602519989}, "tactile_right": {"psnr": 38.377532790680554, "ssim": 0.9766306063979908, "lpips": 0.06917747855186462}}, {"video": {"psnr": 22.439672308634822, "ssim": 0.7615381037890883, "lpips": 0.11259840428829193}, "wrist_left": {"psnr": 14.939736195430694, "ssim": 0.586960323620245, "lpips": 0.26872438192367554}, "wrist_right": {"psnr": 13.259540246183565, "ssim": 0.3052681253382769, "lpips": 0.4516463279724121}, "tactile_left": {"psnr": 38.11958787313851, "ssim": 0.9720207236824545, "lpips": 0.12861734628677368}, "tactile_right": {"psnr": 37.21203971526897, "ssim": 0.9725541996692209, "lpips": 0.11308515071868896}}, {"video": {"psnr": 22.365397760685042, "ssim": 0.7429756681484506, "lpips": 0.13486555218696594}, "wrist_left": {"psnr": 15.367078024939818, "ssim": 0.6097539636458462, "lpips": 0.2412569373846054}, "wrist_right": {"psnr": 12.996404098093489, "ssim": 0.2992954731673378, "lpips": 0.4869357943534851}, "tactile_left": {"psnr": 37.18793257093366, "ssim": 0.9691592198311878, "lpips": 0.14918574690818787}, "tactile_right": {"psnr": 36.52960084368539, "ssim": 0.972750288513837, "lpips": 0.10216044634580612}}, {"video": {"psnr": 21.865882457404417, "ssim": 0.7259909321908907, "lpips": 0.14816820621490479}, "wrist_left": {"psnr": 15.039292510644604, "ssim": 0.588953462752424, "lpips": 0.2527254521846771}, "wrist_right": {"psnr": 14.097317953957585, "ssim": 0.3008456185023428, "lpips": 0.48414522409439087}, "tactile_left": {"psnr": 35.78786220469489, "ssim": 0.964546224005913, "lpips": 0.17056436836719513}, "tactile_right": {"psnr": 35.38722625406586, "ssim": 0.9699900651537622, "lpips": 0.10300879925489426}}, {"video": {"psnr": 21.75200298496486, "ssim": 0.7174118452928966, "lpips": 0.14962440729141235}, "wrist_left": {"psnr": 14.961515821407438, "ssim": 0.5756669075149362, "lpips": 0.2600499391555786}, "wrist_right": {"psnr": 14.268991862602377, "ssim": 0.30402291324058156, "lpips": 0.4959659278392792}, "tactile_left": {"psnr": 35.33407856230015, "ssim": 0.9611655338714659, "lpips": 0.1864670068025589}, "tactile_right": {"psnr": 33.448031886226126, "ssim": 0.9632455274974223, "lpips": 0.16699247062206268}}, {"video": {"psnr": 21.85606351514904, "ssim": 0.7152522745796046, "lpips": 0.16391295194625854}, "wrist_left": {"psnr": 14.767173646298952, "ssim": 0.5618651830046086, "lpips": 0.27347415685653687}, "wrist_right": {"psnr": 13.936878027260697, "ssim": 0.3424583673254107, "lpips": 0.4677867293357849}, "tactile_left": {"psnr": 34.881169201929666, "ssim": 0.9581805853490151, "lpips": 0.20544251799583435}, "tactile_right": {"psnr": 33.6889461122866, "ssim": 0.9636706393652307, "lpips": 0.1554248034954071}}, {"video": {"psnr": 21.402687674387046, "ssim": 0.7052011204090856, "lpips": 0.18050450086593628}, "wrist_left": {"psnr": 13.700392433632299, "ssim": 0.49576478660760376, "lpips": 0.334977388381958}, "wrist_right": {"psnr": 13.588329306949557, "ssim": 0.3207621587561666, "lpips": 0.4831525981426239}, "tactile_left": {"psnr": 34.363215086519496, "ssim": 0.9552060847393828, "lpips": 0.22151553630828857}, "tactile_right": {"psnr": 34.30284489511325, "ssim": 0.9647261217659207, "lpips": 0.1457582414150238}}, {"video": {"psnr": 21.38172721715336, "ssim": 0.6999969860257171, "lpips": 0.19269230961799622}, "wrist_left": {"psnr": 13.51930211500466, "ssim": 0.47276155108486534, "lpips": 0.34237122535705566}, "wrist_right": {"psnr": 14.234873969390812, "ssim": 0.32336891227319253, "lpips": 0.4519634246826172}, "tactile_left": {"psnr": 33.973164134971285, "ssim": 0.9519008188383864, "lpips": 0.23436123132705688}, "tactile_right": {"psnr": 34.14469949778277, "ssim": 0.9626658228858531, "lpips": 0.1680305004119873}}, {"video": {"psnr": 21.216593354227417, "ssim": 0.690617162367394, "lpips": 0.20667371153831482}, "wrist_left": {"psnr": 13.488600392060498, "ssim": 0.47004685630390386, "lpips": 0.34901565313339233}, "wrist_right": {"psnr": 14.334827360396648, "ssim": 0.3534193816000956, "lpips": 0.45390892028808594}, "tactile_left": {"psnr": 33.28709506415145, "ssim": 0.9491249485826477, "lpips": 0.24585962295532227}, "tactile_right": {"psnr": 33.41508503821386, "ssim": 0.9608642347281166, "lpips": 0.17580832540988922}}], "long_metrics": {"video": {"psnr": 22.596793707610104, "ssim": 0.7638123709569007, "lpips": 0.12252558867136637}, "wrist_left": {"psnr": 15.551506575860627, "ssim": 0.5973482414735121, "lpips": 0.24454981386661528}, "wrist_right": {"psnr": 14.116618401197975, "ssim": 0.3149736820288676, "lpips": 0.4497333407402039}, "tactile_left": {"psnr": 39.646925526339274, "ssim": 0.9718703435863874, "lpips": 0.1241782431025058}, "tactile_right": {"psnr": 37.82045128553456, "ssim": 0.9727905680414372, "lpips": 0.09822510379987458}}}, {"id": "motherboard_e005_13", "episode": "motherboard_0911_episode_008_seg00.pt", "requested_episode": "motherboard_0911_episode_008_seg00.pt", "category": "onset", "t_start": 726, "start_seconds": 48.4, "short_contact": [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 1], "future_transition_ticks": [11], "long_contact_fraction": 0.515625, "long_label": "onset", "short_metrics": {"video": {"psnr": 31.70114858470245, "ssim": 0.9398569570796094, "lpips": 0.01777470111846924}, "wrist_left": {"psnr": 15.239473785647021, "ssim": 0.3210468096146099, "lpips": 0.2622969150543213}, "wrist_right": {"psnr": 20.459876702290792, "ssim": 0.8497522518464569, "lpips": 0.04065219685435295}, "tactile_left": {"psnr": 35.493623587169246, "ssim": 0.9695364969052587, "lpips": 0.08083181828260422}, "tactile_right": {"psnr": 50.765404432942475, "ssim": 0.994741948924668, "lpips": 0.0037938121240586042}}, "media": {"short": {"video": "media/motherboard_e005_13_short.mp4", "poster": "media/motherboard_e005_13_short.jpg"}, "long": {"video": "media/motherboard_e005_13_long.mp4", "poster": "media/motherboard_e005_13_long.jpg"}}, "force": {"source": "recorded_normal_force", "units": "N", "fps": 15, "left": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 2.243333339691162, 3.9167568683624268, 6.519285678863525, 6.519285678863525, 6.519285678863525, 6.519285678863525, 6.519285678863525, 6.519285678863525, 6.519285678863525, 6.373636245727539, 3.9167568683624268, 0.27666667103767395, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.347143292427063, 0.7983333468437195, 1.9444444179534912, 2.6312499046325684, 2.6312499046325684, 4.726428508758545, 3.0568182468414307, 2.3248276710510254, 3.0568182468414307, 3.0568182468414307, 3.9167568683624268, 4.726428508758545, 4.726428508758545, 3.9167568683624268, 1.9444444179534912, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.5218365788459778, 0.7983333468437195, 2.6312499046325684, 0.5259732007980347, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.7983333468437195, 3.0568182468414307, 6.373636245727539, 5.397500038146973, 5.486666679382324, 2.3248276710510254, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 5.403749942779541, 6.519285678863525, 6.760714054107666, 7.488461494445801, 7.488461494445801, 7.488461494445801, 7.488461494445801, 6.760714054107666, 6.519285678863525, 6.519285678863525, 5.486666679382324, 0.7983333468437195, 0.0, 0.0, 0.0, 0.0, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.9167568683624268, 3.1971428394317627, 3.9167568683624268, 4.726428508758545, 4.726428508758545, 4.726428508758545, 4.726428508758545, 3.9167568683624268, 3.9167568683624268, 3.9167568683624268, 3.9167568683624268, 3.1971428394317627, 2.3248276710510254, 0.019140325486660004, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.5600000023841858], "right": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]}, "long_curve": [{"video": {"psnr": 31.70114858470245, "ssim": 0.9398569570796094, "lpips": 0.01777470111846924}, "wrist_left": {"psnr": 15.239473785647021, "ssim": 0.3210468096146099, "lpips": 0.2622969150543213}, "wrist_right": {"psnr": 20.459876702290792, "ssim": 0.8497522518464569, "lpips": 0.04065219685435295}, "tactile_left": {"psnr": 35.493623587169246, "ssim": 0.9695364969052587, "lpips": 0.08083181828260422}, "tactile_right": {"psnr": 50.765404432942475, "ssim": 0.994741948924668, "lpips": 0.0037938121240586042}}, {"video": {"psnr": 24.213400185860667, "ssim": 0.8323786646751832, "lpips": 0.06884540617465973}, "wrist_left": {"psnr": 14.395949404639158, "ssim": 0.26061397584295243, "lpips": 0.3788335919380188}, "wrist_right": {"psnr": 17.396307265808456, "ssim": 0.7292202660692297, "lpips": 0.13947081565856934}, "tactile_left": {"psnr": 33.24558845617917, "ssim": 0.9514636440078517, "lpips": 0.1303289830684662}, "tactile_right": {"psnr": 46.749612439944556, "ssim": 0.988471907500444, "lpips": 0.013095490634441376}}, {"video": {"psnr": 22.64475797399768, "ssim": 0.7915504829300066, "lpips": 0.09874838590621948}, "wrist_left": {"psnr": 13.89135358243523, "ssim": 0.2763800361136851, "lpips": 0.4003331661224365}, "wrist_right": {"psnr": 16.722199942391377, "ssim": 0.7268402016866313, "lpips": 0.1810922771692276}, "tactile_left": {"psnr": 39.537320179849345, "ssim": 0.97418864394431, "lpips": 0.057412728667259216}, "tactile_right": {"psnr": 44.12825712712674, "ssim": 0.9855923229761705, "lpips": 0.025257863104343414}}, {"video": {"psnr": 22.468426802191694, "ssim": 0.7780020525225542, "lpips": 0.1040763258934021}, "wrist_left": {"psnr": 13.310004211641473, "ssim": 0.23902056834324248, "lpips": 0.4659312963485718}, "wrist_right": {"psnr": 16.57785753548129, "ssim": 0.69373365632723, "lpips": 0.19557881355285645}, "tactile_left": {"psnr": 34.399234480120334, "ssim": 0.9674223684415304, "lpips": 0.11988870054483414}, "tactile_right": {"psnr": 41.621871532034206, "ssim": 0.9829134956165957, "lpips": 0.03994235396385193}}, {"video": {"psnr": 21.89884523435472, "ssim": 0.7524535969988599, "lpips": 0.11822035908699036}, "wrist_left": {"psnr": 13.049585007041792, "ssim": 0.2328901651638956, "lpips": 0.50511234998703}, "wrist_right": {"psnr": 16.593597825942638, "ssim": 0.6801823090846382, "lpips": 0.19999375939369202}, "tactile_left": {"psnr": 29.78314604391683, "ssim": 0.9367854349892408, "lpips": 0.2375992238521576}, "tactile_right": {"psnr": 40.786396073667284, "ssim": 0.980402922249182, "lpips": 0.058331191539764404}}, {"video": {"psnr": 21.621841977465607, "ssim": 0.7356953435747924, "lpips": 0.13273867964744568}, "wrist_left": {"psnr": 12.952014275461156, "ssim": 0.24970786826026947, "lpips": 0.5036190748214722}, "wrist_right": {"psnr": 16.69180444270382, "ssim": 0.6839708541665083, "lpips": 0.20096039772033691}, "tactile_left": {"psnr": 32.01960991431422, "ssim": 0.9544905780063706, "lpips": 0.13587652146816254}, "tactile_right": {"psnr": 39.423798940874505, "ssim": 0.9777037127747952, "lpips": 0.07829960435628891}}, {"video": {"psnr": 21.341690500747788, "ssim": 0.7200611486956419, "lpips": 0.1468747854232788}, "wrist_left": {"psnr": 12.81945875850428, "ssim": 0.269341353767414, "lpips": 0.5069481134414673}, "wrist_right": {"psnr": 16.93522914924265, "ssim": 0.6884125001337864, "lpips": 0.20439226925373077}, "tactile_left": {"psnr": 35.63311912324662, "ssim": 0.9664047912753866, "lpips": 0.08821996301412582}, "tactile_right": {"psnr": 38.260914252408284, "ssim": 0.9745464420928374, "lpips": 0.10053299367427826}}, {"video": {"psnr": 21.59435539168507, "ssim": 0.7221534827341438, "lpips": 0.1478348821401596}, "wrist_left": {"psnr": 12.15107041635737, "ssim": 0.2519938189782155, "lpips": 0.4676366448402405}, "wrist_right": {"psnr": 16.89461637415566, "ssim": 0.6967422929393281, "lpips": 0.2076784074306488}, "tactile_left": {"psnr": 34.87623973272904, "ssim": 0.9658105875241864, "lpips": 0.09514275938272476}, "tactile_right": {"psnr": 37.70612177325384, "ssim": 0.971745253750013, "lpips": 0.12417047470808029}}, {"video": {"psnr": 21.27956385587278, "ssim": 0.7174148991942964, "lpips": 0.15798228979110718}, "wrist_left": {"psnr": 12.580174885311335, "ssim": 0.2740389256253508, "lpips": 0.47033774852752686}, "wrist_right": {"psnr": 16.9303227592119, "ssim": 0.698824275159766, "lpips": 0.20866000652313232}, "tactile_left": {"psnr": 31.31234899560694, "ssim": 0.9525874352511532, "lpips": 0.16692180931568146}, "tactile_right": {"psnr": 37.29302592426312, "ssim": 0.9691888908122762, "lpips": 0.13925309479236603}}, {"video": {"psnr": 20.443149366084636, "ssim": 0.6941233672857483, "lpips": 0.18630346655845642}, "wrist_left": {"psnr": 12.328997500223071, "ssim": 0.2446796174369653, "lpips": 0.48018479347229004}, "wrist_right": {"psnr": 16.772437947512767, "ssim": 0.6897564281477573, "lpips": 0.21635138988494873}, "tactile_left": {"psnr": 28.0235053947135, "ssim": 0.9285129592720487, "lpips": 0.21718135476112366}, "tactile_right": {"psnr": 36.02126993243659, "ssim": 0.9662838379410672, "lpips": 0.16149824857711792}}, {"video": {"psnr": 20.37917292119538, "ssim": 0.6849913346442198, "lpips": 0.20536623895168304}, "wrist_left": {"psnr": 12.331894227938047, "ssim": 0.2517448905125082, "lpips": 0.4714876413345337}, "wrist_right": {"psnr": 17.002213676343718, "ssim": 0.6920875857495198, "lpips": 0.2226932793855667}, "tactile_left": {"psnr": 28.18581360988288, "ssim": 0.9338582748957658, "lpips": 0.19519752264022827}, "tactile_right": {"psnr": 35.22681385481552, "ssim": 0.9633471734156602, "lpips": 0.17084407806396484}}, {"video": {"psnr": 20.450683909275476, "ssim": 0.6858210421961404, "lpips": 0.22020988166332245}, "wrist_left": {"psnr": 12.531330371809254, "ssim": 0.27514362587177577, "lpips": 0.5292881727218628}, "wrist_right": {"psnr": 16.73448201648647, "ssim": 0.6739488045355266, "lpips": 0.23804882168769836}, "tactile_left": {"psnr": 31.432516931473387, "ssim": 0.9520798356417102, "lpips": 0.16030484437942505}, "tactile_right": {"psnr": 34.785497051600615, "ssim": 0.9603099881010166, "lpips": 0.186287984251976}}, {"video": {"psnr": 20.45407590078262, "ssim": 0.6914378695307137, "lpips": 0.23210379481315613}, "wrist_left": {"psnr": 11.9635851011517, "ssim": 0.2614190928135776, "lpips": 0.6445431113243103}, "wrist_right": {"psnr": 16.33221294473123, "ssim": 0.6528984797178947, "lpips": 0.277799129486084}, "tactile_left": {"psnr": 29.003259642067263, "ssim": 0.9304895774541917, "lpips": 0.22048334777355194}, "tactile_right": {"psnr": 34.52844435525725, "ssim": 0.9577686588337248, "lpips": 0.20440390706062317}}, {"video": {"psnr": 19.786784489109085, "ssim": 0.670514840159086, "lpips": 0.25336700677871704}, "wrist_left": {"psnr": 12.334116053746229, "ssim": 0.29488481277253387, "lpips": 0.5764265060424805}, "wrist_right": {"psnr": 15.911922577479132, "ssim": 0.6272496261454577, "lpips": 0.31310510635375977}, "tactile_left": {"psnr": 31.160537907580583, "ssim": 0.9523124422981465, "lpips": 0.16886752843856812}, "tactile_right": {"psnr": 34.460823448395104, "ssim": 0.9552014400322081, "lpips": 0.218083918094635}}, {"video": {"psnr": 19.67044259588803, "ssim": 0.6694259040543643, "lpips": 0.2610201835632324}, "wrist_left": {"psnr": 12.562200063832922, "ssim": 0.24365610011346078, "lpips": 0.5274621248245239}, "wrist_right": {"psnr": 15.676151723975291, "ssim": 0.6119771352380676, "lpips": 0.3299461901187897}, "tactile_left": {"psnr": 29.555000817821416, "ssim": 0.9430657531381565, "lpips": 0.19759999215602875}, "tactile_right": {"psnr": 34.19439976566505, "ssim": 0.9518778562731108, "lpips": 0.23265975713729858}}], "long_metrics": {"video": {"psnr": 21.996555979280913, "ssim": 0.7390587324183573, "lpips": 0.15676442583401998}, "wrist_left": {"psnr": 12.962747176382669, "ssim": 0.26310411074869716, "lpips": 0.4793627500534058}, "wrist_right": {"psnr": 16.908748858917146, "ssim": 0.6930397777965199, "lpips": 0.21176152403155962}, "tactile_left": {"psnr": 32.24405765444472, "ssim": 0.9519339215363538, "lpips": 0.15145713984966278}, "tactile_right": {"psnr": 39.06351006031234, "ssim": 0.9720063900862513, "lpips": 0.11709698480553925}}}, {"id": "motherboard_e005_14", "episode": "motherboard_0911_episode_008_seg00.pt", "requested_episode": "motherboard_0911_episode_008_seg00.pt", "category": "release", "t_start": 246, "start_seconds": 16.4, "short_contact": [1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 0, 0], "future_transition_ticks": [11], "long_contact_fraction": 0.6796875, "long_label": "release", "short_metrics": {"video": {"psnr": 30.761717887805094, "ssim": 0.9381002807631906, "lpips": 0.023895302787423134}, "wrist_left": {"psnr": 14.941189230071082, "ssim": 0.4045392567573131, "lpips": 0.33131277561187744}, "wrist_right": {"psnr": 23.136748253311893, "ssim": 0.8214897686872192, "lpips": 0.036599256098270416}, "tactile_left": {"psnr": 38.170970246988915, "ssim": 0.9828358573833093, "lpips": 0.02677963301539421}, "tactile_right": {"psnr": 50.78681493779068, "ssim": 0.9945628714317445, "lpips": 0.004324834328144789}}, "media": {"short": {"video": "media/motherboard_e005_14_short.mp4", "poster": "media/motherboard_e005_14_short.jpg"}, "long": {"video": "media/motherboard_e005_14_long.mp4", "poster": "media/motherboard_e005_14_long.jpg"}}, "force": {"source": "recorded_normal_force", "units": "N", "fps": 15, "left": [3.9167568683624268, 4.726428508758545, 4.726428508758545, 3.1971428394317627, 4.726428508758545, 6.760714054107666, 6.760714054107666, 7.488461494445801, 7.349999904632568, 7.349999904632568, 3.0568182468414307, 0.49357831478118896, 0.0, 0.0, 0.0, 0.0, 0.4993111193180084, 5.397500038146973, 7.200040817260742, 10.243043899536133, 10.243043899536133, 10.243043899536133, 9.842000007629395, 7.75, 7.75, 7.75, 6.760714054107666, 6.519285678863525, 5.486666679382324, 4.726428508758545, 3.0568182468414307, 1.9444444179534912, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 3.0568182468414307, 5.486666679382324, 6.373636245727539, 6.519285678863525, 6.519285678863525, 6.519285678863525, 6.519285678863525, 6.760714054107666, 6.519285678863525, 5.403749942779541, 5.465914249420166, 6.502091884613037, 5.486666679382324, 3.0568182468414307, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.6003610491752625, 0.6849588751792908, 1.9444444179534912, 3.9167568683624268, 5.486666679382324, 5.486666679382324, 5.403749942779541, 5.486666679382324, 5.486666679382324, 3.9167568683624268, 3.9182748794555664, 5.399834156036377, 5.397500038146973, 3.0568182468414307, 0.1599999964237213, 0.2557404935359955, 2.3248276710510254, 5.403749942779541, 6.519285678863525, 7.488461494445801, 7.75, 10.243043899536133, 7.75, 7.75, 7.488461494445801, 7.488461494445801, 7.724563121795654, 7.488461494445801, 4.726428508758545, 0.7983333468437195, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.9444444179534912, 3.9167568683624268, 3.1971428394317627, 3.9167568683624268, 7.121631622314453, 6.373636245727539, 6.519285678863525, 7.283836364746094, 7.130000114440918, 6.760714054107666, 6.760714054107666, 7.130000114440918, 7.349999904632568, 7.488461494445801, 7.488461494445801, 7.349999904632568, 7.488461494445801, 0.0, 0.0, 0.0, 0.0, 3.0568182468414307, 3.9167568683624268], "right": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]}, "long_curve": [{"video": {"psnr": 30.761717887805094, "ssim": 0.9381002807631906, "lpips": 0.023895302787423134}, "wrist_left": {"psnr": 14.941189230071082, "ssim": 0.4045392567573131, "lpips": 0.33131277561187744}, "wrist_right": {"psnr": 23.136748253311893, "ssim": 0.8214897686872192, "lpips": 0.036599256098270416}, "tactile_left": {"psnr": 38.170970246988915, "ssim": 0.9828358573833093, "lpips": 0.02677963301539421}, "tactile_right": {"psnr": 50.78681493779068, "ssim": 0.9945628714317445, "lpips": 0.004324834328144789}}, {"video": {"psnr": 26.43903663779675, "ssim": 0.8771980626780891, "lpips": 0.046960167586803436}, "wrist_left": {"psnr": 14.505240763933557, "ssim": 0.40543545566667394, "lpips": 0.34080803394317627}, "wrist_right": {"psnr": 19.807387670885333, "ssim": 0.6863279511336174, "lpips": 0.06616227328777313}, "tactile_left": {"psnr": 29.461428905988924, "ssim": 0.9084578654291353, "lpips": 0.25582605600357056}, "tactile_right": {"psnr": 46.92930534830388, "ssim": 0.9898726955907698, "lpips": 0.012100166641175747}}, {"video": {"psnr": 24.261177266795446, "ssim": 0.8127529838939638, "lpips": 0.06679876148700714}, "wrist_left": {"psnr": 13.352590296307955, "ssim": 0.43330637125322413, "lpips": 0.38430970907211304}, "wrist_right": {"psnr": 19.47602666576628, "ssim": 0.6720093941787489, "lpips": 0.08814695477485657}, "tactile_left": {"psnr": 30.07991067043807, "ssim": 0.9276129542735777, "lpips": 0.21631751954555511}, "tactile_right": {"psnr": 43.17905658640334, "ssim": 0.9868899677571711, "lpips": 0.023435227572917938}}, {"video": {"psnr": 23.4228526326578, "ssim": 0.7802917777551927, "lpips": 0.08247309923171997}, "wrist_left": {"psnr": 12.760441125059215, "ssim": 0.45175215566342686, "lpips": 0.3968988060951233}, "wrist_right": {"psnr": 18.555683059492655, "ssim": 0.6219194864062363, "lpips": 0.10600291937589645}, "tactile_left": {"psnr": 38.123135434363654, "ssim": 0.969927133166629, "lpips": 0.06905923783779144}, "tactile_right": {"psnr": 40.31295057077217, "ssim": 0.9840797751046577, "lpips": 0.04125345125794411}}, {"video": {"psnr": 23.14785681904276, "ssim": 0.7687198236066425, "lpips": 0.09282974898815155}, "wrist_left": {"psnr": 13.61796412442941, "ssim": 0.5082063635106786, "lpips": 0.3377682864665985}, "wrist_right": {"psnr": 17.38297869065042, "ssim": 0.5863282442124578, "lpips": 0.14275819063186646}, "tactile_left": {"psnr": 27.872365336360136, "ssim": 0.9175491508746357, "lpips": 0.26769155263900757}, "tactile_right": {"psnr": 39.52329669834252, "ssim": 0.9801896648554108, "lpips": 0.06208953633904457}}, {"video": {"psnr": 22.01690328349253, "ssim": 0.7621157601790538, "lpips": 0.1396212875843048}, "wrist_left": {"psnr": 13.556187374826376, "ssim": 0.3798602632127649, "lpips": 0.4521277844905853}, "wrist_right": {"psnr": 15.234308183372411, "ssim": 0.5300390394277721, "lpips": 0.24962851405143738}, "tactile_left": {"psnr": 31.72925451025823, "ssim": 0.9390770203139326, "lpips": 0.19698333740234375}, "tactile_right": {"psnr": 38.23934537824874, "ssim": 0.9771508106897674, "lpips": 0.08416080474853516}}, {"video": {"psnr": 20.602800301356762, "ssim": 0.7179807098236097, "lpips": 0.18949483335018158}, "wrist_left": {"psnr": 13.375133030196022, "ssim": 0.38319653242178253, "lpips": 0.4690777659416199}, "wrist_right": {"psnr": 14.372811305796578, "ssim": 0.5147291229427253, "lpips": 0.3132845163345337}, "tactile_left": {"psnr": 36.16579133965866, "ssim": 0.9625485516689527, "lpips": 0.08980049192905426}, "tactile_right": {"psnr": 37.35680080628656, "ssim": 0.9742890755146598, "lpips": 0.1054811179637909}}, {"video": {"psnr": 20.317726254027747, "ssim": 0.7001427350076548, "lpips": 0.201278418302536}, "wrist_left": {"psnr": 12.748487006043552, "ssim": 0.37104216604241663, "lpips": 0.503631591796875}, "wrist_right": {"psnr": 14.37336906094285, "ssim": 0.5104614853890608, "lpips": 0.3229380249977112}, "tactile_left": {"psnr": 30.658496404959376, "ssim": 0.9263147396305995, "lpips": 0.23009617626667023}, "tactile_right": {"psnr": 36.87524175680175, "ssim": 0.9712200604348686, "lpips": 0.13099992275238037}}, {"video": {"psnr": 20.051044154960337, "ssim": 0.6854381377996321, "lpips": 0.21006011962890625}, "wrist_left": {"psnr": 13.58514422165799, "ssim": 0.43418442549334496, "lpips": 0.44011205434799194}, "wrist_right": {"psnr": 14.472988159830262, "ssim": 0.5204854795297724, "lpips": 0.330027312040329}, "tactile_left": {"psnr": 30.677751789909703, "ssim": 0.9327175733750113, "lpips": 0.23162321746349335}, "tactile_right": {"psnr": 36.41162701569683, "ssim": 0.9683507305834484, "lpips": 0.14950357377529144}}, {"video": {"psnr": 20.012478806509556, "ssim": 0.6756236585680152, "lpips": 0.2174868881702423}, "wrist_left": {"psnr": 14.304461585667998, "ssim": 0.4158837217709559, "lpips": 0.4391222596168518}, "wrist_right": {"psnr": 14.35550893341966, "ssim": 0.5048436546926033, "lpips": 0.339877724647522}, "tactile_left": {"psnr": 26.947144026980176, "ssim": 0.8960630492771242, "lpips": 0.3069223165512085}, "tactile_right": {"psnr": 35.43812716401435, "ssim": 0.9650832913111659, "lpips": 0.16986487805843353}}, {"video": {"psnr": 20.46435974320291, "ssim": 0.6824936077728072, "lpips": 0.20759141445159912}, "wrist_left": {"psnr": 12.857200499002966, "ssim": 0.3784737939110158, "lpips": 0.4707258343696594}, "wrist_right": {"psnr": 14.423908519937402, "ssim": 0.5074914883022299, "lpips": 0.34102991223335266}, "tactile_left": {"psnr": 32.39598235588608, "ssim": 0.9524393459662324, "lpips": 0.15726441144943237}, "tactile_right": {"psnr": 34.93491099539728, "ssim": 0.9619959177824542, "lpips": 0.1859769970178604}}, {"video": {"psnr": 20.36110816373308, "ssim": 0.6716236123889547, "lpips": 0.21861763298511505}, "wrist_left": {"psnr": 11.755700447764667, "ssim": 0.2932836484820194, "lpips": 0.5131862163543701}, "wrist_right": {"psnr": 14.652509699616365, "ssim": 0.5421882406767371, "lpips": 0.3800163269042969}, "tactile_left": {"psnr": 34.43332815321242, "ssim": 0.9583662121367905, "lpips": 0.12667614221572876}, "tactile_right": {"psnr": 34.539453043735236, "ssim": 0.9586510581353254, "lpips": 0.20748576521873474}}, {"video": {"psnr": 20.236800304501102, "ssim": 0.6699081936353519, "lpips": 0.22531920671463013}, "wrist_left": {"psnr": 13.542040354871679, "ssim": 0.234429682999877, "lpips": 0.5690418481826782}, "wrist_right": {"psnr": 14.062087430496087, "ssim": 0.5087679630270914, "lpips": 0.40468084812164307}, "tactile_left": {"psnr": 29.440332869829525, "ssim": 0.9273032957378549, "lpips": 0.2179199457168579}, "tactile_right": {"psnr": 34.49682638450866, "ssim": 0.9553111175954738, "lpips": 0.2231159806251526}}, {"video": {"psnr": 20.116238520282813, "ssim": 0.6631472116808446, "lpips": 0.22901678085327148}, "wrist_left": {"psnr": 13.331761015022362, "ssim": 0.2295170060068999, "lpips": 0.5582245588302612}, "wrist_right": {"psnr": 14.148599073441435, "ssim": 0.4969890018301999, "lpips": 0.4024388790130615}, "tactile_left": {"psnr": 26.017564192874246, "ssim": 0.8823792407205522, "lpips": 0.352323442697525}, "tactile_right": {"psnr": 34.42644620092031, "ssim": 0.951813533468741, "lpips": 0.23172815144062042}}, {"video": {"psnr": 19.786640633568013, "ssim": 0.6436537924637553, "lpips": 0.24313384294509888}, "wrist_left": {"psnr": 13.479556772331913, "ssim": 0.27889668652296734, "lpips": 0.5380739569664001}, "wrist_right": {"psnr": 14.108543689776692, "ssim": 0.4884036256522358, "lpips": 0.4060065448284149}, "tactile_left": {"psnr": 30.198303020045145, "ssim": 0.9417806863759823, "lpips": 0.19219057261943817}, "tactile_right": {"psnr": 34.15436881567224, "ssim": 0.949330794525214, "lpips": 0.24208378791809082}}], "long_metrics": {"video": {"psnr": 22.133249427315512, "ssim": 0.7366126898677838, "lpips": 0.1596385003377994}, "wrist_left": {"psnr": 13.447539856479116, "ssim": 0.37346716864769075, "lpips": 0.44962809880574545}, "wrist_right": {"psnr": 16.17089722644909, "ssim": 0.5674982630725806, "lpips": 0.26197321315606437}, "tactile_left": {"psnr": 31.491450617183553, "ssim": 0.9350248450886879, "lpips": 0.1958316035568714}, "tactile_right": {"psnr": 38.50697144685964, "ssim": 0.9712527576520582, "lpips": 0.12490694637720784}}}, {"id": "motherboard_e005_15", "episode": "motherboard_0911_episode_008_seg00.pt", "requested_episode": "motherboard_0911_episode_008_seg00.pt", "category": "full", "t_start": 432, "start_seconds": 28.8, "short_contact": [1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1], "future_transition_ticks": [], "long_contact_fraction": 0.8359375, "long_label": "full", "short_metrics": {"video": {"psnr": 29.293332657065815, "ssim": 0.9147897807982448, "lpips": 0.0259967353194952}, "wrist_left": {"psnr": 18.521104876898306, "ssim": 0.5426755247521201, "lpips": 0.12321488559246063}, "wrist_right": {"psnr": 16.717240532587574, "ssim": 0.5394737268661487, "lpips": 0.1719382405281067}, "tactile_left": {"psnr": 30.922511203061475, "ssim": 0.9531100999092894, "lpips": 0.07645723223686218}, "tactile_right": {"psnr": 42.1683290715207, "ssim": 0.9886050788724834, "lpips": 0.03957982361316681}}, "media": {"short": {"video": "media/motherboard_e005_15_short.mp4", "poster": "media/motherboard_e005_15_short.jpg"}, "long": {"video": "media/motherboard_e005_15_long.mp4", "poster": "media/motherboard_e005_15_long.jpg"}}, "force": {"source": "recorded_normal_force", "units": "N", "fps": 15, "left": [0.0, 0.0, 0.0, 0.0, 0.0, 0.7983333468437195, 1.9444444179534912, 5.481388092041016, 6.760714054107666, 6.760714054107666, 7.130000114440918, 7.488461494445801, 7.488461494445801, 7.66710901260376, 7.75, 7.488461494445801, 7.488461494445801, 7.488461494445801, 7.340664386749268, 6.760714054107666, 6.760714054107666, 6.519285678863525, 6.519285678863525, 6.760714054107666, 6.760714054107666, 6.760714054107666, 6.760714054107666, 6.760714054107666, 6.760714054107666, 6.760714054107666, 6.760714054107666, 6.519285678863525, 6.519285678863525, 6.519285678863525, 6.373636245727539, 5.486666679382324, 5.397500038146973, 4.726428508758545, 3.1149818897247314, 3.1149818897247314, 0.0, 0.0, 0.5564713478088379, 0.5564713478088379, 5.403749942779541, 6.519285678863525, 6.870246887207031, 7.130000114440918, 7.130000114440918, 7.488461494445801, 7.488461494445801, 7.488461494445801, 7.488461494445801, 7.488461494445801, 7.230000019073486, 7.349999904632568, 7.130000114440918, 7.130000114440918, 2.243333339691162, 0.0, 0.0, 0.0, 0.0, 5.486666679382324, 6.519285678863525, 6.760714054107666, 7.230000019073486, 7.296485424041748, 7.488461494445801, 7.488461494445801, 5.486666679382324, 3.0568182468414307, 0.0, 0.0, 1.9736661911010742, 3.9167568683624268, 6.519285678863525, 6.760714054107666, 6.760714054107666, 6.760714054107666, 7.130000114440918, 6.856966972351074, 3.9167568683624268, 0.3697943389415741, 0.1599999964237213, 3.1971428394317627, 6.519285678863525, 6.760714054107666, 7.488461494445801, 10.243043899536133, 10.78499984741211, 7.784317970275879, 0.1599999964237213, 0.1599999964237213, 0.0, 0.0, 0.0, 0.0, 2.3248276710510254, 5.403749942779541, 7.130000114440918, 7.488461494445801, 7.488461494445801, 10.243043899536133, 10.977499961853027, 10.243043899536133, 10.977499961853027, 10.243043899536133, 0.1599999964237213, 0.0, 0.0, 0.7983333468437195, 0.7983333468437195, 0.0, 0.0, 2.3248276710510254, 3.9167568683624268, 5.486666679382324, 6.519285678863525, 7.488461494445801, 10.243043899536133, 10.243043899536133, 7.488461494445801, 7.488461494445801, 10.243043899536133, 10.977499961853027, 10.243043899536133, 10.243043899536133], "right": [0.5458959341049194, 0.5600000023841858, 0.5600000023841858, 0.6782253384590149, 0.7983333468437195, 0.5419337749481201, 0.25, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.9444444179534912, 0.7983333468437195, 1.0138323307037354, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 1.9444444179534912, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.2831295132637024, 0.533720850944519, 2.243333339691162, 3.0568182468414307, 3.9167568683624268, 3.9167568683624268, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 2.3248276710510254, 1.9444444179534912, 0.5600000023841858, 0.1599999964237213, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.7983333468437195, 3.0568182468414307, 3.0568182468414307, 3.9167568683624268, 3.9177205562591553, 4.726428508758545, 4.726428508758545, 4.726428508758545, 4.726428508758545, 3.0568182468414307, 0.5567049980163574, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]}, "long_curve": [{"video": {"psnr": 29.293332657065815, "ssim": 0.9147897807982448, "lpips": 0.0259967353194952}, "wrist_left": {"psnr": 18.521104876898306, "ssim": 0.5426755247521201, "lpips": 0.12321488559246063}, "wrist_right": {"psnr": 16.717240532587574, "ssim": 0.5394737268661487, "lpips": 0.1719382405281067}, "tactile_left": {"psnr": 30.922511203061475, "ssim": 0.9531100999092894, "lpips": 0.07645723223686218}, "tactile_right": {"psnr": 42.1683290715207, "ssim": 0.9886050788724834, "lpips": 0.03957982361316681}}, {"video": {"psnr": 24.053583190054347, "ssim": 0.7832683869551044, "lpips": 0.06691012531518936}, "wrist_left": {"psnr": 16.959641665327506, "ssim": 0.40925232876000117, "lpips": 0.19542713463306427}, "wrist_right": {"psnr": 14.918821898840388, "ssim": 0.4933167808929461, "lpips": 0.2798222005367279}, "tactile_left": {"psnr": 29.324495201882552, "ssim": 0.9471066190269879, "lpips": 0.147314190864563}, "tactile_right": {"psnr": 38.32772881352851, "ssim": 0.980080280841719, "lpips": 0.06264536082744598}}, {"video": {"psnr": 23.591640453473815, "ssim": 0.7796479800279601, "lpips": 0.08401606231927872}, "wrist_left": {"psnr": 16.085460406156372, "ssim": 0.3607211109653483, "lpips": 0.24303290247917175}, "wrist_right": {"psnr": 13.713143224732145, "ssim": 0.38896506624349647, "lpips": 0.3904038071632385}, "tactile_left": {"psnr": 30.2391680088594, "ssim": 0.9496397061816227, "lpips": 0.15159821510314941}, "tactile_right": {"psnr": 35.33202356947901, "ssim": 0.9726101236669502, "lpips": 0.10696500539779663}}, {"video": {"psnr": 22.885032040110055, "ssim": 0.761283854621966, "lpips": 0.10934849083423615}, "wrist_left": {"psnr": 15.050890775801474, "ssim": 0.3424959981821074, "lpips": 0.35065001249313354}, "wrist_right": {"psnr": 13.346225123706034, "ssim": 0.352059309480083, "lpips": 0.40470385551452637}, "tactile_left": {"psnr": 31.413307614363383, "ssim": 0.9551764100023924, "lpips": 0.14431524276733398}, "tactile_right": {"psnr": 34.625058041261944, "ssim": 0.9673929481267438, "lpips": 0.12292522192001343}}, {"video": {"psnr": 22.31217745260256, "ssim": 0.7342890857421875, "lpips": 0.12104107439517975}, "wrist_left": {"psnr": 14.292832949839553, "ssim": 0.31933009804283413, "lpips": 0.4162169098854065}, "wrist_right": {"psnr": 13.928155558510424, "ssim": 0.4140180653351436, "lpips": 0.364860475063324}, "tactile_left": {"psnr": 32.55882783456507, "ssim": 0.9446475807434846, "lpips": 0.17516833543777466}, "tactile_right": {"psnr": 38.89160063467939, "ssim": 0.9793888135208124, "lpips": 0.055985983461141586}}, {"video": {"psnr": 21.797744209115194, "ssim": 0.7147616442305542, "lpips": 0.13753114640712738}, "wrist_left": {"psnr": 13.748038384750723, "ssim": 0.2903024636915091, "lpips": 0.4441679120063782}, "wrist_right": {"psnr": 12.986326138442905, "ssim": 0.3167178576926527, "lpips": 0.39086657762527466}, "tactile_left": {"psnr": 29.07087789115634, "ssim": 0.9144485328800084, "lpips": 0.25685378909111023}, "tactile_right": {"psnr": 32.25893355186098, "ssim": 0.954833225784757, "lpips": 0.17465490102767944}}, {"video": {"psnr": 20.94619373447354, "ssim": 0.684538617091933, "lpips": 0.17388564348220825}, "wrist_left": {"psnr": 12.859223437593077, "ssim": 0.3039950294511602, "lpips": 0.486831396818161}, "wrist_right": {"psnr": 13.618657232797393, "ssim": 0.4263510587918863, "lpips": 0.39754918217658997}, "tactile_left": {"psnr": 32.829707366447735, "ssim": 0.9532412722296659, "lpips": 0.16470138728618622}, "tactile_right": {"psnr": 33.84546063052353, "ssim": 0.9657825980182976, "lpips": 0.11720387637615204}}, {"video": {"psnr": 20.772043661908356, "ssim": 0.6746968276677408, "lpips": 0.18178236484527588}, "wrist_left": {"psnr": 11.409548210294504, "ssim": 0.29572251729672394, "lpips": 0.5592368245124817}, "wrist_right": {"psnr": 14.084244201825523, "ssim": 0.4888746211618171, "lpips": 0.37175631523132324}, "tactile_left": {"psnr": 27.97145454178111, "ssim": 0.9243396793079397, "lpips": 0.27844083309173584}, "tactile_right": {"psnr": 36.39425624566544, "ssim": 0.974730256913664, "lpips": 0.07459971308708191}}, {"video": {"psnr": 20.441201477474213, "ssim": 0.6622780183262055, "lpips": 0.19087658822536469}, "wrist_left": {"psnr": 10.688838675225584, "ssim": 0.276556674028158, "lpips": 0.579707145690918}, "wrist_right": {"psnr": 13.521709037730897, "ssim": 0.5011267806385384, "lpips": 0.3652160167694092}, "tactile_left": {"psnr": 29.147453027670636, "ssim": 0.9279682456570137, "lpips": 0.22454780340194702}, "tactile_right": {"psnr": 36.15525543018488, "ssim": 0.9727053306609944, "lpips": 0.08612965792417526}}, {"video": {"psnr": 19.66305449591301, "ssim": 0.6343803529005031, "lpips": 0.2160935252904892}, "wrist_left": {"psnr": 10.779077448738317, "ssim": 0.25017149419157925, "lpips": 0.5644855499267578}, "wrist_right": {"psnr": 13.833046934619123, "ssim": 0.5144852384096837, "lpips": 0.35339033603668213}, "tactile_left": {"psnr": 29.528011083506517, "ssim": 0.9349150583552218, "lpips": 0.22242248058319092}, "tactile_right": {"psnr": 35.29386745892984, "ssim": 0.9701105716989303, "lpips": 0.10549750924110413}}, {"video": {"psnr": 19.574047255056684, "ssim": 0.6253440092623853, "lpips": 0.22277727723121643}, "wrist_left": {"psnr": 11.593813857561566, "ssim": 0.28823343872551177, "lpips": 0.49615806341171265}, "wrist_right": {"psnr": 13.87130234482136, "ssim": 0.5171391417523744, "lpips": 0.35052067041397095}, "tactile_left": {"psnr": 28.961055664878508, "ssim": 0.9375947616527329, "lpips": 0.22793471813201904}, "tactile_right": {"psnr": 34.7278964539018, "ssim": 0.967556707423511, "lpips": 0.122376948595047}}, {"video": {"psnr": 19.532967403585687, "ssim": 0.6205444821066123, "lpips": 0.22418510913848877}, "wrist_left": {"psnr": 13.658988484808944, "ssim": 0.4601685126820171, "lpips": 0.36863839626312256}, "wrist_right": {"psnr": 13.991578964018183, "ssim": 0.501499509309023, "lpips": 0.35858625173568726}, "tactile_left": {"psnr": 30.832698470211255, "ssim": 0.9391421325475524, "lpips": 0.24354188144207}, "tactile_right": {"psnr": 33.98353453504404, "ssim": 0.964215103708046, "lpips": 0.1399179995059967}}, {"video": {"psnr": 19.269295148403266, "ssim": 0.6060885215507775, "lpips": 0.23523437976837158}, "wrist_left": {"psnr": 12.203087969418583, "ssim": 0.48231861571263435, "lpips": 0.4176122546195984}, "wrist_right": {"psnr": 13.800855659887244, "ssim": 0.4661323678651321, "lpips": 0.3747619390487671}, "tactile_left": {"psnr": 29.151020719625528, "ssim": 0.9321314902217936, "lpips": 0.2443588674068451}, "tactile_right": {"psnr": 33.397574584885646, "ssim": 0.9609282100531136, "lpips": 0.15603949129581451}}, {"video": {"psnr": 19.187513441224272, "ssim": 0.6023176688163374, "lpips": 0.24088487029075623}, "wrist_left": {"psnr": 12.077909324726402, "ssim": 0.5221572443318749, "lpips": 0.4406755566596985}, "wrist_right": {"psnr": 13.579923098887045, "ssim": 0.44777937371201804, "lpips": 0.389672189950943}, "tactile_left": {"psnr": 30.28942001205394, "ssim": 0.9318978372521454, "lpips": 0.23335865139961243}, "tactile_right": {"psnr": 33.24868936394495, "ssim": 0.9578211359536178, "lpips": 0.17429429292678833}}, {"video": {"psnr": 19.14676813231191, "ssim": 0.5977132548645905, "lpips": 0.24065658450126648}, "wrist_left": {"psnr": 12.308410083841055, "ssim": 0.5251140691696329, "lpips": 0.43667349219322205}, "wrist_right": {"psnr": 13.42069834727219, "ssim": 0.42640791407246315, "lpips": 0.4017431437969208}, "tactile_left": {"psnr": 27.2589957790558, "ssim": 0.886543707735187, "lpips": 0.3502423167228699}, "tactile_right": {"psnr": 33.105562999065214, "ssim": 0.9549493752046605, "lpips": 0.19162961840629578}}], "long_metrics": {"video": {"psnr": 21.497772983518182, "ssim": 0.6930628323308735, "lpips": 0.1647479984909296}, "wrist_left": {"psnr": 13.482457770065464, "ssim": 0.37794767466554746, "lpips": 0.4081818958123525}, "wrist_right": {"psnr": 13.955461886578563, "ssim": 0.4529564541482271, "lpips": 0.35771941343943275}, "tactile_left": {"psnr": 29.96660029460795, "ssim": 0.9354602089135359, "lpips": 0.20941706299781798}, "tactile_right": {"psnr": 35.45038475896506, "ssim": 0.9687806506965534, "lpips": 0.11536302690704664}}}, {"id": "motherboard_e005_16", "episode": "motherboard_0912_episode_002.pt", "requested_episode": "motherboard_0912_episode_002.pt", "category": "none", "t_start": 750, "start_seconds": 50.0, "short_contact": [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0], "future_transition_ticks": [], "long_contact_fraction": 0.3671875, "long_label": "none_at_start", "short_metrics": {"video": {"psnr": 28.94862672432099, "ssim": 0.9303800980876853, "lpips": 0.03136821463704109}, "wrist_left": {"psnr": 21.91450922239918, "ssim": 0.8352472786374877, "lpips": 0.0795302465558052}, "wrist_right": {"psnr": 31.027409704892555, "ssim": 0.9314038209979757, "lpips": 0.035778019577264786}, "tactile_left": {"psnr": 50.4706275645386, "ssim": 0.9943989904945245, "lpips": 0.003510316601023078}, "tactile_right": {"psnr": 50.6472020902886, "ssim": 0.9944726845172623, "lpips": 0.0043691168539226055}}, "media": {"short": {"video": "media/motherboard_e005_16_short.mp4", "poster": "media/motherboard_e005_16_short.jpg"}, "long": {"video": "media/motherboard_e005_16_long.mp4", "poster": "media/motherboard_e005_16_long.jpg"}}, "force": {"source": "recorded_normal_force", "units": "N", "fps": 15, "left": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.1599999964237213, 0.19649721682071686, 0.1599999964237213, 0.27666667103767395, 0.44613584876060486, 0.1599999964237213, 0.1599999964237213, 0.1599999964237213, 1.6094872951507568, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 4.726428508758545, 5.397500038146973, 6.373636245727539, 6.760714054107666, 6.760714054107666, 6.760714054107666, 6.435560703277588, 6.373636245727539, 6.760714054107666, 6.760714054107666, 6.760714054107666, 7.230000019073486, 7.230000019073486, 7.130000114440918, 6.760714054107666, 7.349999904632568, 7.130000114440918, 6.760714054107666, 7.130000114440918, 6.997551918029785, 6.760714054107666, 6.519285678863525, 6.760714054107666, 6.760714054107666, 6.760714054107666, 6.519285678863525, 5.486666679382324, 5.486666679382324, 5.3991498947143555, 6.373636245727539, 6.519285678863525, 6.519285678863525, 5.397500038146973, 4.726428508758545, 2.3248276710510254, 0.1599999964237213, 5.403749942779541, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 3.9167568683624268, 6.519285678863525, 7.130000114440918, 7.488461494445801, 7.488461494445801, 7.488461494445801, 10.243043899536133], "right": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.033978212624788284, 0.14319390058517456, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.15257100760936737, 3.0568182468414307, 3.0568182468414307, 2.6312499046325684, 2.3248276710510254, 2.6312499046325684, 2.3248276710510254, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.04887126386165619, 0.1599999964237213, 0.1599999964237213, 0.1599999964237213, 0.27666667103767395, 0.7983333468437195, 2.6312499046325684, 3.0568182468414307]}, "long_curve": [{"video": {"psnr": 28.94862672432099, "ssim": 0.9303800980876853, "lpips": 0.03136821463704109}, "wrist_left": {"psnr": 21.91450922239918, "ssim": 0.8352472786374877, "lpips": 0.0795302465558052}, "wrist_right": {"psnr": 31.027409704892555, "ssim": 0.9314038209979757, "lpips": 0.035778019577264786}, "tactile_left": {"psnr": 50.4706275645386, "ssim": 0.9943989904945245, "lpips": 0.003510316601023078}, "tactile_right": {"psnr": 50.6472020902886, "ssim": 0.9944726845172623, "lpips": 0.0043691168539226055}}, {"video": {"psnr": 25.651038528734755, "ssim": 0.9070624939403077, "lpips": 0.04168419912457466}, "wrist_left": {"psnr": 21.14494542196963, "ssim": 0.8149024345952149, "lpips": 0.08996360003948212}, "wrist_right": {"psnr": 25.775949004404236, "ssim": 0.8416497586680947, "lpips": 0.06907106935977936}, "tactile_left": {"psnr": 47.29096208538078, "ssim": 0.9913084464575281, "lpips": 0.011656805872917175}, "tactile_right": {"psnr": 47.06421663386142, "ssim": 0.9902797146522908, "lpips": 0.011868931353092194}}, {"video": {"psnr": 24.780132081824384, "ssim": 0.8876959717706301, "lpips": 0.051245562732219696}, "wrist_left": {"psnr": 21.234902601006805, "ssim": 0.8089500633705436, "lpips": 0.09485870599746704}, "wrist_right": {"psnr": 23.203047341791535, "ssim": 0.776914770166978, "lpips": 0.09774687886238098}, "tactile_left": {"psnr": 44.17501151565138, "ssim": 0.9877573774363557, "lpips": 0.025060152634978294}, "tactile_right": {"psnr": 43.639571020819304, "ssim": 0.9876671586200824, "lpips": 0.02378159947693348}}, {"video": {"psnr": 24.536077054992738, "ssim": 0.8661073550485464, "lpips": 0.05954204127192497}, "wrist_left": {"psnr": 20.621627813092562, "ssim": 0.7904404144951573, "lpips": 0.10496051609516144}, "wrist_right": {"psnr": 22.640924688468512, "ssim": 0.7553052286554329, "lpips": 0.11195681989192963}, "tactile_left": {"psnr": 42.03249822519644, "ssim": 0.983894510568062, "lpips": 0.04040126875042915}, "tactile_right": {"psnr": 41.45701378003747, "ssim": 0.9847554506934368, "lpips": 0.04091298580169678}}, {"video": {"psnr": 24.34307376631457, "ssim": 0.8391820166995305, "lpips": 0.08279089629650116}, "wrist_left": {"psnr": 20.732914111434944, "ssim": 0.7788648618504515, "lpips": 0.11968287080526352}, "wrist_right": {"psnr": 22.285395977199464, "ssim": 0.7249617029085508, "lpips": 0.12410210818052292}, "tactile_left": {"psnr": 40.8229830691634, "ssim": 0.9802226238998649, "lpips": 0.05718377232551575}, "tactile_right": {"psnr": 40.26046267079465, "ssim": 0.9814245217598555, "lpips": 0.05903320014476776}}, {"video": {"psnr": 24.362699284499413, "ssim": 0.816555466506315, "lpips": 0.09934253990650177}, "wrist_left": {"psnr": 19.88729911503702, "ssim": 0.769243578243133, "lpips": 0.1643514186143875}, "wrist_right": {"psnr": 20.49168413056791, "ssim": 0.6342581588188692, "lpips": 0.16180866956710815}, "tactile_left": {"psnr": 39.19708621465298, "ssim": 0.9764822296763938, "lpips": 0.07978347688913345}, "tactile_right": {"psnr": 38.94138625157267, "ssim": 0.9780555399937001, "lpips": 0.07746380567550659}}, {"video": {"psnr": 23.521563814146596, "ssim": 0.7759177034055864, "lpips": 0.11305899918079376}, "wrist_left": {"psnr": 17.015876183352848, "ssim": 0.7358867595094063, "lpips": 0.26130443811416626}, "wrist_right": {"psnr": 18.41947552782147, "ssim": 0.5644050399679708, "lpips": 0.22543612122535706}, "tactile_left": {"psnr": 37.803915498161, "ssim": 0.9712268511053137, "lpips": 0.1290176659822464}, "tactile_right": {"psnr": 37.93269387498886, "ssim": 0.9749750665130499, "lpips": 0.09959569573402405}}, {"video": {"psnr": 22.633700142052675, "ssim": 0.7405274114353159, "lpips": 0.12953311204910278}, "wrist_left": {"psnr": 16.97696937025793, "ssim": 0.7368308556471298, "lpips": 0.2424294501543045}, "wrist_right": {"psnr": 16.374372685556317, "ssim": 0.5540782991539654, "lpips": 0.2869224548339844}, "tactile_left": {"psnr": 37.06028242337824, "ssim": 0.9693117728814811, "lpips": 0.1282118707895279}, "tactile_right": {"psnr": 37.51591577748202, "ssim": 0.9718213190657872, "lpips": 0.12096711993217468}}, {"video": {"psnr": 21.526964524304603, "ssim": 0.7025300493994961, "lpips": 0.17215865850448608}, "wrist_left": {"psnr": 9.558395405826484, "ssim": 0.4351153179077226, "lpips": 0.5205941200256348}, "wrist_right": {"psnr": 15.1745486629661, "ssim": 0.6211868959602783, "lpips": 0.37960153818130493}, "tactile_left": {"psnr": 36.47506278856922, "ssim": 0.9671861310611861, "lpips": 0.14054182171821594}, "tactile_right": {"psnr": 36.99031098748642, "ssim": 0.968800440643731, "lpips": 0.1394747644662857}}, {"video": {"psnr": 19.037005211630934, "ssim": 0.6518820651541775, "lpips": 0.24396926164627075}, "wrist_left": {"psnr": 10.188351733252558, "ssim": 0.24885149954503852, "lpips": 0.7441497445106506}, "wrist_right": {"psnr": 15.475156045830527, "ssim": 0.7083127993607081, "lpips": 0.36780110001564026}, "tactile_left": {"psnr": 33.72056319302429, "ssim": 0.9364598266605674, "lpips": 0.2758685350418091}, "tactile_right": {"psnr": 36.68115723216682, "ssim": 0.9662692046776811, "lpips": 0.15542373061180115}}, {"video": {"psnr": 17.952447836950107, "ssim": 0.5968300526127954, "lpips": 0.3514586389064789}, "wrist_left": {"psnr": 9.268894889639569, "ssim": 0.1722368862807296, "lpips": 0.6756068468093872}, "wrist_right": {"psnr": 17.26211737860265, "ssim": 0.7789943709787668, "lpips": 0.26649534702301025}, "tactile_left": {"psnr": 31.684283960324073, "ssim": 0.9268266279965512, "lpips": 0.31232693791389465}, "tactile_right": {"psnr": 35.920648199163004, "ssim": 0.9654915136109732, "lpips": 0.16617664694786072}}, {"video": {"psnr": 17.707175556550897, "ssim": 0.5892335742530272, "lpips": 0.3881453275680542}, "wrist_left": {"psnr": 9.401047211985064, "ssim": 0.16241348818250745, "lpips": 0.6683337688446045}, "wrist_right": {"psnr": 17.66384138613143, "ssim": 0.7913477783119185, "lpips": 0.27229759097099304}, "tactile_left": {"psnr": 31.551092670251265, "ssim": 0.9153371585308191, "lpips": 0.34872421622276306}, "tactile_right": {"psnr": 35.49259978536522, "ssim": 0.9612376868098957, "lpips": 0.1969250738620758}}, {"video": {"psnr": 17.48669947062782, "ssim": 0.5922266325938275, "lpips": 0.3682088255882263}, "wrist_left": {"psnr": 9.215110893026408, "ssim": 0.1819760950271061, "lpips": 0.6742035150527954}, "wrist_right": {"psnr": 18.043054711625825, "ssim": 0.7972950463112483, "lpips": 0.2643435001373291}, "tactile_left": {"psnr": 32.3572181303463, "ssim": 0.9266898677600419, "lpips": 0.32841572165489197}, "tactile_right": {"psnr": 35.087889437443735, "ssim": 0.959928203081688, "lpips": 0.2004430741071701}}, {"video": {"psnr": 17.202582144579, "ssim": 0.553477554022702, "lpips": 0.386874794960022}, "wrist_left": {"psnr": 10.014572545012134, "ssim": 0.21242188230594372, "lpips": 0.632675051689148}, "wrist_right": {"psnr": 14.459282324840988, "ssim": 0.6733143774187598, "lpips": 0.5271680355072021}, "tactile_left": {"psnr": 33.43151336998473, "ssim": 0.9439187625068955, "lpips": 0.2685142755508423}, "tactile_right": {"psnr": 34.79931000247271, "ssim": 0.9593207706429467, "lpips": 0.20242959260940552}}, {"video": {"psnr": 17.12887141191278, "ssim": 0.547577114011823, "lpips": 0.3933391869068146}, "wrist_left": {"psnr": 11.326426708219824, "ssim": 0.20898299574441695, "lpips": 0.6245055198669434}, "wrist_right": {"psnr": 13.155481191381233, "ssim": 0.6360305131843945, "lpips": 0.6680684089660645}, "tactile_left": {"psnr": 31.689981297762586, "ssim": 0.9205779115325511, "lpips": 0.3135245740413666}, "tactile_right": {"psnr": 34.51016032608733, "ssim": 0.9556058269218359, "lpips": 0.23057061433792114}}], "long_metrics": {"video": {"psnr": 21.78791050356282, "ssim": 0.733145703929451, "lpips": 0.19418135061860084}, "wrist_left": {"psnr": 15.233456215034199, "ssim": 0.5261576274227993, "lpips": 0.37980998754501344}, "wrist_right": {"psnr": 19.430116050805385, "ssim": 0.7192972373909274, "lpips": 0.25723984415332474}, "tactile_left": {"psnr": 37.98420546709235, "ssim": 0.9594399392378757, "lpips": 0.16418276079930366}, "tactile_right": {"psnr": 39.129369204668684, "ssim": 0.9733403401469478, "lpips": 0.11529573012764255}}}, {"id": "motherboard_e005_17", "episode": "motherboard_0912_episode_002.pt", "requested_episode": "motherboard_0912_episode_002.pt", "category": "onset", "t_start": 2106, "start_seconds": 140.4, "short_contact": [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 1], "future_transition_ticks": [11], "long_contact_fraction": 0.75, "long_label": "onset", "short_metrics": {"video": {"psnr": 27.27208188852966, "ssim": 0.8598924795615004, "lpips": 0.0444062277674675}, "wrist_left": {"psnr": 16.79301709853482, "ssim": 0.5540541503685925, "lpips": 0.22241008281707764}, "wrist_right": {"psnr": 16.387062110996116, "ssim": 0.35677459068510164, "lpips": 0.18136677145957947}, "tactile_left": {"psnr": 47.6911946414688, "ssim": 0.9899835223430656, "lpips": 0.006445593666285276}, "tactile_right": {"psnr": 41.73419119638022, "ssim": 0.9838834452793157, "lpips": 0.06874097883701324}}, "media": {"short": {"video": "media/motherboard_e005_17_short.mp4", "poster": "media/motherboard_e005_17_short.jpg"}, "long": {"video": "media/motherboard_e005_17_long.mp4", "poster": "media/motherboard_e005_17_long.jpg"}}, "force": {"source": "recorded_normal_force", "units": "N", "fps": 15, "left": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.12416389584541321, 0.06000244617462158, 0.1599999964237213, 0.0, 0.0, 0.0, 0.1599999964237213, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 2.3248276710510254, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 2.6312499046325684, 2.6312499046325684, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.9444444179534912, 0.7983333468437195, 2.243333339691162, 3.9167568683624268, 4.726428508758545, 5.397500038146973, 5.397500038146973, 4.726428508758545, 4.726428508758545, 3.928694009780884, 3.9167568683624268, 3.9167568683624268, 3.9167568683624268, 3.9167568683624268, 3.9167568683624268, 3.9167568683624268, 3.3742141723632812, 3.0568182468414307, 2.6312499046325684, 2.3248276710510254, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 1.380898118019104, 1.9444444179534912, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7040123343467712, 0.7040123343467712, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 2.243333339691162, 1.9444444179534912, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.243333339691162, 1.9444444179534912, 1.9444444179534912, 1.9444444179534912, 2.243333339691162, 1.9444444179534912, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 2.3248276710510254, 0.7983333468437195, 2.243333339691162], "right": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.7983333468437195, 2.243333339691162, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.5789201259613037, 2.3248276710510254, 3.9167568683624268, 3.9167568683624268, 3.9167568683624268, 3.1971428394317627, 3.0568182468414307, 3.1971428394317627, 3.9167568683624268, 3.9167568683624268, 2.3248276710510254, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.5337831377983093, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.1599999964237213, 0.1599999964237213, 0.0, 0.0, 0.0, 0.0, 0.0, 0.4000000059604645, 0.1599999964237213, 0.0, 0.0, 0.1599999964237213, 0.1599999964237213, 0.25, 0.49805352091789246, 1.9444444179534912, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 1.846291184425354, 2.3172874450683594, 2.3248276710510254, 0.7983333468437195, 0.1599999964237213, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]}, "long_curve": [{"video": {"psnr": 27.27208188852966, "ssim": 0.8598924795615004, "lpips": 0.0444062277674675}, "wrist_left": {"psnr": 16.79301709853482, "ssim": 0.5540541503685925, "lpips": 0.22241008281707764}, "wrist_right": {"psnr": 16.387062110996116, "ssim": 0.35677459068510164, "lpips": 0.18136677145957947}, "tactile_left": {"psnr": 47.6911946414688, "ssim": 0.9899835223430656, "lpips": 0.006445593666285276}, "tactile_right": {"psnr": 41.73419119638022, "ssim": 0.9838834452793157, "lpips": 0.06874097883701324}}, {"video": {"psnr": 22.959518322972322, "ssim": 0.724395434387388, "lpips": 0.1052885577082634}, "wrist_left": {"psnr": 10.60463343536076, "ssim": 0.3806742548145133, "lpips": 0.44492805004119873}, "wrist_right": {"psnr": 14.88342064905089, "ssim": 0.36159966115621145, "lpips": 0.26166602969169617}, "tactile_left": {"psnr": 46.483878702852465, "ssim": 0.9880312763183272, "lpips": 0.014362121932208538}, "tactile_right": {"psnr": 40.211165427630306, "ssim": 0.9758598040830572, "lpips": 0.11221751570701599}}, {"video": {"psnr": 22.929183497954618, "ssim": 0.7195109506639294, "lpips": 0.1335965096950531}, "wrist_left": {"psnr": 9.547846900169827, "ssim": 0.2594769802995108, "lpips": 0.5527877807617188}, "wrist_right": {"psnr": 14.605391670560541, "ssim": 0.38741230659295245, "lpips": 0.34498241543769836}, "tactile_left": {"psnr": 42.218989932891205, "ssim": 0.9817705292206529, "lpips": 0.04040128365159035}, "tactile_right": {"psnr": 42.236132000799316, "ssim": 0.9815566705296667, "lpips": 0.06733663380146027}}, {"video": {"psnr": 21.76452577990232, "ssim": 0.703676066692852, "lpips": 0.17282193899154663}, "wrist_left": {"psnr": 10.416791698657438, "ssim": 0.24069361177662685, "lpips": 0.5310020446777344}, "wrist_right": {"psnr": 12.958684707509997, "ssim": 0.35803141869271077, "lpips": 0.4268238842487335}, "tactile_left": {"psnr": 37.117398969585466, "ssim": 0.9701303794689347, "lpips": 0.0932142436504364}, "tactile_right": {"psnr": 41.56464484216342, "ssim": 0.982274355384686, "lpips": 0.04324525594711304}}, {"video": {"psnr": 20.37501268663705, "ssim": 0.6916999927314836, "lpips": 0.19780495762825012}, "wrist_left": {"psnr": 10.76649939069674, "ssim": 0.352681073879013, "lpips": 0.49737098813056946}, "wrist_right": {"psnr": 12.055116878388654, "ssim": 0.2609012711393933, "lpips": 0.48884135484695435}, "tactile_left": {"psnr": 40.64089939974134, "ssim": 0.9756291796025287, "lpips": 0.07282232493162155}, "tactile_right": {"psnr": 39.48542290589064, "ssim": 0.9763575282824611, "lpips": 0.08793891966342926}}, {"video": {"psnr": 19.808719962538653, "ssim": 0.6754805421326537, "lpips": 0.21846243739128113}, "wrist_left": {"psnr": 9.306882703744384, "ssim": 0.27390286922905327, "lpips": 0.5924869179725647}, "wrist_right": {"psnr": 11.501117094542035, "ssim": 0.3090885818910399, "lpips": 0.49198117852211}, "tactile_left": {"psnr": 37.24863811239716, "ssim": 0.9631998662079445, "lpips": 0.1149875819683075}, "tactile_right": {"psnr": 39.277950264295704, "ssim": 0.9780926111238941, "lpips": 0.07631643116474152}}, {"video": {"psnr": 19.47958351603439, "ssim": 0.6571896001540617, "lpips": 0.24040621519088745}, "wrist_left": {"psnr": 10.438257247498306, "ssim": 0.2887967418163849, "lpips": 0.5431687831878662}, "wrist_right": {"psnr": 10.384767668053511, "ssim": 0.24335621219093834, "lpips": 0.518186628818512}, "tactile_left": {"psnr": 36.19581137794789, "ssim": 0.9497253321526844, "lpips": 0.14959034323692322}, "tactile_right": {"psnr": 38.33082459615531, "ssim": 0.9744218999718222, "lpips": 0.1054229587316513}}, {"video": {"psnr": 19.526276841476093, "ssim": 0.644748039049429, "lpips": 0.25561630725860596}, "wrist_left": {"psnr": 12.042415108048303, "ssim": 0.3420608715991723, "lpips": 0.484600305557251}, "wrist_right": {"psnr": 10.416947993249938, "ssim": 0.2728093293965147, "lpips": 0.5251607894897461}, "tactile_left": {"psnr": 36.4226076627243, "ssim": 0.9572878556880231, "lpips": 0.15353675186634064}, "tactile_right": {"psnr": 37.949838292906215, "ssim": 0.9732723262718586, "lpips": 0.11442622542381287}}, {"video": {"psnr": 19.604102763043, "ssim": 0.6366840447236269, "lpips": 0.24912771582603455}, "wrist_left": {"psnr": 12.83951896508115, "ssim": 0.3410494834606981, "lpips": 0.4504528045654297}, "wrist_right": {"psnr": 11.682059959209855, "ssim": 0.2642385285534393, "lpips": 0.49304062128067017}, "tactile_left": {"psnr": 35.85012577599048, "ssim": 0.9591277683332475, "lpips": 0.15332184731960297}, "tactile_right": {"psnr": 35.29810351764253, "ssim": 0.9676531493167206, "lpips": 0.1354687511920929}}, {"video": {"psnr": 19.432194906230716, "ssim": 0.6346059071441719, "lpips": 0.2506874203681946}, "wrist_left": {"psnr": 12.853755902399032, "ssim": 0.37124034688765367, "lpips": 0.44006943702697754}, "wrist_right": {"psnr": 11.226323069747192, "ssim": 0.24735230899409189, "lpips": 0.5231912136077881}, "tactile_left": {"psnr": 34.79623684400948, "ssim": 0.9572682004150603, "lpips": 0.15575577318668365}, "tactile_right": {"psnr": 35.279976772533445, "ssim": 0.9693188753307047, "lpips": 0.1207423210144043}}, {"video": {"psnr": 18.627780886458872, "ssim": 0.619547106362475, "lpips": 0.26429012417793274}, "wrist_left": {"psnr": 10.423437504327042, "ssim": 0.3343172518087386, "lpips": 0.5011974573135376}, "wrist_right": {"psnr": 11.313007729446998, "ssim": 0.24338204963547927, "lpips": 0.5163344740867615}, "tactile_left": {"psnr": 34.299335846045736, "ssim": 0.9570409426572808, "lpips": 0.16916196048259735}, "tactile_right": {"psnr": 34.302836660762694, "ssim": 0.9658521192124949, "lpips": 0.15297099947929382}}, {"video": {"psnr": 18.622861027788097, "ssim": 0.617207081356455, "lpips": 0.2618327736854553}, "wrist_left": {"psnr": 10.082606104288427, "ssim": 0.21592649374534734, "lpips": 0.5512804985046387}, "wrist_right": {"psnr": 11.52208457283252, "ssim": 0.2587037378200992, "lpips": 0.5290837287902832}, "tactile_left": {"psnr": 32.83739539647875, "ssim": 0.9488674066505071, "lpips": 0.215046226978302}, "tactile_right": {"psnr": 33.88566721919168, "ssim": 0.9655276712233406, "lpips": 0.14526896178722382}}, {"video": {"psnr": 18.54933218395296, "ssim": 0.6105090401192147, "lpips": 0.2662850022315979}, "wrist_left": {"psnr": 11.026690483640065, "ssim": 0.2521265136071237, "lpips": 0.5286985039710999}, "wrist_right": {"psnr": 9.621848660743206, "ssim": 0.24465814091873708, "lpips": 0.5570263266563416}, "tactile_left": {"psnr": 32.87820969161001, "ssim": 0.9500973919422635, "lpips": 0.21212390065193176}, "tactile_right": {"psnr": 33.4529133897008, "ssim": 0.9623117818226381, "lpips": 0.16255998611450195}}, {"video": {"psnr": 18.929820584008134, "ssim": 0.6235741112064619, "lpips": 0.24016380310058594}, "wrist_left": {"psnr": 11.111146628987512, "ssim": 0.3563977756530686, "lpips": 0.47893667221069336}, "wrist_right": {"psnr": 9.510265507319108, "ssim": 0.22164863968921034, "lpips": 0.5620975494384766}, "tactile_left": {"psnr": 33.34759930444403, "ssim": 0.9500298396931357, "lpips": 0.21497225761413574}, "tactile_right": {"psnr": 33.533938811939436, "ssim": 0.9608675537597657, "lpips": 0.1745205819606781}}, {"video": {"psnr": 19.344011586320534, "ssim": 0.61484295516923, "lpips": 0.22512374818325043}, "wrist_left": {"psnr": 12.483138355060317, "ssim": 0.2619475943899023, "lpips": 0.5261317491531372}, "wrist_right": {"psnr": 9.743016769475807, "ssim": 0.22268129660490316, "lpips": 0.5490533113479614}, "tactile_left": {"psnr": 32.93332076286339, "ssim": 0.9452104582620737, "lpips": 0.23181812465190887}, "tactile_right": {"psnr": 33.39864896339683, "ssim": 0.9602351384061485, "lpips": 0.18359041213989258}}], "long_metrics": {"video": {"psnr": 20.481667095589827, "ssim": 0.668904223430329, "lpips": 0.2083942492802938}, "wrist_left": {"psnr": 11.382442501766274, "ssim": 0.32168973422235997, "lpips": 0.4897014717260996}, "wrist_right": {"psnr": 11.85407433607509, "ssim": 0.2835092049307215, "lpips": 0.4645890851815542}, "tactile_left": {"psnr": 37.397442828070034, "ssim": 0.962893329930382, "lpips": 0.13317068905259172}, "tactile_right": {"psnr": 37.329483657425904, "ssim": 0.9718323286665717, "lpips": 0.116717795530955}}}, {"id": "motherboard_e005_18", "episode": "motherboard_0912_episode_002.pt", "requested_episode": "motherboard_0912_episode_002.pt", "category": "release", "t_start": 217, "start_seconds": 14.466666666666667, "short_contact": [1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 0, 0], "future_transition_ticks": [11], "long_contact_fraction": 0.9296875, "long_label": "release", "short_metrics": {"video": {"psnr": 21.929097668193002, "ssim": 0.7378070011115139, "lpips": 0.17006006836891174}, "wrist_left": {"psnr": 13.33216837465093, "ssim": 0.4803074822932674, "lpips": 0.4714019298553467}, "wrist_right": {"psnr": 13.992870509356106, "ssim": 0.4734105567418338, "lpips": 0.40922999382019043}, "tactile_left": {"psnr": 41.491948201347874, "ssim": 0.9830554697907543, "lpips": 0.05105461925268173}, "tactile_right": {"psnr": 52.43665924229827, "ssim": 0.9956264615502692, "lpips": 0.0026527009904384613}}, "media": {"short": {"video": "media/motherboard_e005_18_short.mp4", "poster": "media/motherboard_e005_18_short.jpg"}, "long": {"video": "media/motherboard_e005_18_long.mp4", "poster": "media/motherboard_e005_18_long.jpg"}}, "force": {"source": "recorded_normal_force", "units": "N", "fps": 15, "left": [4.852499961853027, 4.726428508758545, 3.0568182468414307, 3.0568182468414307, 0.502597451210022, 0.7983333468437195, 0.7983333468437195, 0.5090468525886536, 3.0568182468414307, 0.7983333468437195, 3.9167568683624268, 0.27666667103767395, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 3.0568182468414307, 3.9167568683624268, 5.403749942779541, 6.519285678863525, 5.486666679382324, 4.852499961853027, 4.852499961853027, 3.9167568683624268, 3.9167568683624268, 3.0568182468414307, 2.3248276710510254, 1.9444444179534912, 2.3248276710510254, 4.726428508758545, 4.726428508758545, 4.726428508758545, 4.821667671203613, 4.726428508758545, 3.9167568683624268, 3.9383208751678467, 3.9167568683624268, 3.9167568683624268, 3.0568182468414307, 3.0568182468414307, 3.9167568683624268, 3.9167568683624268, 3.1971428394317627, 3.9167568683624268, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 2.6312499046325684, 2.6312499046325684, 2.3248276710510254, 2.3248276710510254, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.920292377471924, 3.9167568683624268, 3.9167568683624268, 3.9167568683624268, 4.726428508758545, 4.726428508758545, 3.9167568683624268, 3.1971428394317627, 3.1971428394317627, 3.9167568683624268, 3.9167568683624268, 3.9167568683624268, 3.0568182468414307, 2.3248276710510254, 3.0568182468414307, 3.0568182468414307, 2.3248276710510254, 3.0568182468414307, 3.0568182468414307, 2.3248276710510254, 3.0568182468414307, 3.0568182468414307, 1.6830923557281494, 2.3248276710510254, 0.5600000023841858, 3.0568182468414307, 3.0568182468414307, 2.3248276710510254, 3.0568182468414307, 3.9167568683624268, 3.9167568683624268, 4.726428508758545, 5.403749942779541, 4.726428508758545, 4.726428508758545, 4.726428508758545, 4.726428508758545, 3.9167568683624268, 3.9167568683624268, 4.726428508758545, 3.9167568683624268, 3.9167568683624268, 3.932142496109009, 3.9167568683624268, 3.9167568683624268, 3.0568182468414307, 3.0568182468414307, 3.9167568683624268, 3.1971428394317627, 3.0568182468414307, 2.3248276710510254, 1.5576918125152588, 1.9444444179534912, 3.938002347946167, 4.852499961853027, 5.403749942779541, 5.403749942779541, 5.403749942779541, 4.726428508758545, 4.726428508758545, 3.9167568683624268, 3.9167568683624268, 3.9167568683624268, 3.9167568683624268, 3.0568182468414307, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 3.0568182468414307], "right": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.1599999964237213, 0.07424460351467133, 0.7660918831825256, 0.7983333468437195, 0.4399999976158142, 0.43391281366348267, 0.4399999976158142, 2.3248276710510254, 3.0568182468414307, 3.1971428394317627, 3.1885313987731934, 3.0568182468414307, 0.5600000023841858, 0.6110549569129944, 0.6894059777259827, 0.5600000023841858, 0.5600000023841858, 0.2640872597694397, 0.25, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7471941709518433, 0.43728530406951904]}, "long_curve": [{"video": {"psnr": 21.929097668193002, "ssim": 0.7378070011115139, "lpips": 0.17006006836891174}, "wrist_left": {"psnr": 13.33216837465093, "ssim": 0.4803074822932674, "lpips": 0.4714019298553467}, "wrist_right": {"psnr": 13.992870509356106, "ssim": 0.4734105567418338, "lpips": 0.40922999382019043}, "tactile_left": {"psnr": 41.491948201347874, "ssim": 0.9830554697907543, "lpips": 0.05105461925268173}, "tactile_right": {"psnr": 52.43665924229827, "ssim": 0.9956264615502692, "lpips": 0.0026527009904384613}}, {"video": {"psnr": 20.682932846182634, "ssim": 0.6694884838009435, "lpips": 0.20967963337898254}, "wrist_left": {"psnr": 13.884911286138777, "ssim": 0.3523654758126038, "lpips": 0.4156993627548218}, "wrist_right": {"psnr": 12.881711644362195, "ssim": 0.42306795632761746, "lpips": 0.4599822461605072}, "tactile_left": {"psnr": 41.10195102833737, "ssim": 0.9728640663611945, "lpips": 0.07558245211839676}, "tactile_right": {"psnr": 49.145195167138596, "ssim": 0.9929573003357268, "lpips": 0.008135182783007622}}, {"video": {"psnr": 19.432602480208562, "ssim": 0.6492940959349351, "lpips": 0.2884255349636078}, "wrist_left": {"psnr": 13.265255704944291, "ssim": 0.31261360803350313, "lpips": 0.46615222096443176}, "wrist_right": {"psnr": 12.341241688226557, "ssim": 0.41831889821133383, "lpips": 0.4779737591743469}, "tactile_left": {"psnr": 38.77908943415369, "ssim": 0.9611299406195231, "lpips": 0.11459100246429443}, "tactile_right": {"psnr": 45.2484405810481, "ssim": 0.9894445505931915, "lpips": 0.021138230338692665}}, {"video": {"psnr": 19.828337400324113, "ssim": 0.6514158686525942, "lpips": 0.2709273099899292}, "wrist_left": {"psnr": 13.362868527258486, "ssim": 0.3301901617615327, "lpips": 0.4764925241470337}, "wrist_right": {"psnr": 12.284362114718927, "ssim": 0.45899649716408936, "lpips": 0.4629562795162201}, "tactile_left": {"psnr": 38.495690026102515, "ssim": 0.9677864092505288, "lpips": 0.07581279426813126}, "tactile_right": {"psnr": 42.46885622738576, "ssim": 0.9861940033170622, "lpips": 0.03783643618226051}}, {"video": {"psnr": 21.890239873460942, "ssim": 0.6954594652296932, "lpips": 0.15774495899677277}, "wrist_left": {"psnr": 14.204100921732438, "ssim": 0.39990503643881636, "lpips": 0.44083696603775024}, "wrist_right": {"psnr": 11.267506295174483, "ssim": 0.5137714752396654, "lpips": 0.5849413871765137}, "tactile_left": {"psnr": 37.4000093733732, "ssim": 0.9665881144803943, "lpips": 0.09188702702522278}, "tactile_right": {"psnr": 41.48027672068181, "ssim": 0.983165107895952, "lpips": 0.056752219796180725}}, {"video": {"psnr": 21.025737570019956, "ssim": 0.6886366085108373, "lpips": 0.21322309970855713}, "wrist_left": {"psnr": 10.547345453487832, "ssim": 0.31196297284049923, "lpips": 0.564197301864624}, "wrist_right": {"psnr": 9.27323575238078, "ssim": 0.3973411462526862, "lpips": 0.609357476234436}, "tactile_left": {"psnr": 36.5416722270557, "ssim": 0.9659218664929325, "lpips": 0.09480343759059906}, "tactile_right": {"psnr": 40.196797370090124, "ssim": 0.9800623694309765, "lpips": 0.07467910647392273}}, {"video": {"psnr": 21.682593174545744, "ssim": 0.7047891566441704, "lpips": 0.17610564827919006}, "wrist_left": {"psnr": 8.888001785114637, "ssim": 0.29712763448889845, "lpips": 0.6162742376327515}, "wrist_right": {"psnr": 9.752130680715448, "ssim": 0.5002823915126946, "lpips": 0.5871933102607727}, "tactile_left": {"psnr": 35.636453851256356, "ssim": 0.9598098173234639, "lpips": 0.1377941370010376}, "tactile_right": {"psnr": 39.017728820349774, "ssim": 0.9765173048164888, "lpips": 0.0953473448753357}}, {"video": {"psnr": 21.07741837784775, "ssim": 0.6710991285588414, "lpips": 0.2023714780807495}, "wrist_left": {"psnr": 12.873222117269394, "ssim": 0.332367279159658, "lpips": 0.4796229600906372}, "wrist_right": {"psnr": 10.199620651779068, "ssim": 0.5250382174991237, "lpips": 0.5459662675857544}, "tactile_left": {"psnr": 35.48413401971305, "ssim": 0.956413317347856, "lpips": 0.16174614429473877}, "tactile_right": {"psnr": 38.89058090854925, "ssim": 0.9721130332983421, "lpips": 0.11602310836315155}}, {"video": {"psnr": 20.852903579976765, "ssim": 0.6732144403224865, "lpips": 0.19912797212600708}, "wrist_left": {"psnr": 11.448325980613756, "ssim": 0.3402199820750651, "lpips": 0.5254560708999634}, "wrist_right": {"psnr": 10.016890178930389, "ssim": 0.4595847116557287, "lpips": 0.6482790112495422}, "tactile_left": {"psnr": 35.29296322447761, "ssim": 0.9584301307682279, "lpips": 0.16010114550590515}, "tactile_right": {"psnr": 38.181972346133364, "ssim": 0.9689220519448508, "lpips": 0.13061624765396118}}, {"video": {"psnr": 20.314771606396242, "ssim": 0.6611281816074364, "lpips": 0.2397189438343048}, "wrist_left": {"psnr": 9.346918035240277, "ssim": 0.2728150569069049, "lpips": 0.6326391100883484}, "wrist_right": {"psnr": 9.321147429462926, "ssim": 0.4172104984220306, "lpips": 0.6201949119567871}, "tactile_left": {"psnr": 34.53165590752639, "ssim": 0.9567431800438946, "lpips": 0.19422918558120728}, "tactile_right": {"psnr": 37.111370120966455, "ssim": 0.9660021718993961, "lpips": 0.15043823421001434}}, {"video": {"psnr": 20.460909700134234, "ssim": 0.663461454585754, "lpips": 0.22889725863933563}, "wrist_left": {"psnr": 9.683647795400066, "ssim": 0.30727224691259525, "lpips": 0.5999934077262878}, "wrist_right": {"psnr": 9.401332967654398, "ssim": 0.5024897921498577, "lpips": 0.6035455465316772}, "tactile_left": {"psnr": 33.84236949062844, "ssim": 0.945352456196727, "lpips": 0.22907957434654236}, "tactile_right": {"psnr": 36.54994986882233, "ssim": 0.9632640085632116, "lpips": 0.17316019535064697}}, {"video": {"psnr": 20.592558694774112, "ssim": 0.6592677876590765, "lpips": 0.21759891510009766}, "wrist_left": {"psnr": 11.567936881006135, "ssim": 0.27061302184915714, "lpips": 0.5184997916221619}, "wrist_right": {"psnr": 10.449283578606558, "ssim": 0.5188153771342275, "lpips": 0.5769343376159668}, "tactile_left": {"psnr": 33.31709211541892, "ssim": 0.934900077483956, "lpips": 0.2434476763010025}, "tactile_right": {"psnr": 36.15804764110929, "ssim": 0.9592338823129891, "lpips": 0.19887447357177734}}, {"video": {"psnr": 19.812183154921396, "ssim": 0.6542582834954362, "lpips": 0.25109297037124634}, "wrist_left": {"psnr": 10.631509166986138, "ssim": 0.31683087502554086, "lpips": 0.5747290849685669}, "wrist_right": {"psnr": 9.334475552831114, "ssim": 0.3731702520106063, "lpips": 0.7310367822647095}, "tactile_left": {"psnr": 33.222495278901974, "ssim": 0.9456513641069844, "lpips": 0.2209509015083313}, "tactile_right": {"psnr": 35.56625798339894, "ssim": 0.9545141501089167, "lpips": 0.23663681745529175}}, {"video": {"psnr": 19.653172557078513, "ssim": 0.6448984417825228, "lpips": 0.26222866773605347}, "wrist_left": {"psnr": 11.13019774618904, "ssim": 0.3260016215612628, "lpips": 0.5737210512161255}, "wrist_right": {"psnr": 9.398552908102785, "ssim": 0.3719105057496136, "lpips": 0.7145949602127075}, "tactile_left": {"psnr": 33.11400651618331, "ssim": 0.939802877776089, "lpips": 0.2607484459877014}, "tactile_right": {"psnr": 35.02474899069394, "ssim": 0.950438823069982, "lpips": 0.25359633564949036}}, {"video": {"psnr": 19.35508371538274, "ssim": 0.6149257923232919, "lpips": 0.2671881318092346}, "wrist_left": {"psnr": 12.301296072358488, "ssim": 0.31201345648038087, "lpips": 0.5227508544921875}, "wrist_right": {"psnr": 10.404557299485816, "ssim": 0.46624973906259115, "lpips": 0.6218563318252563}, "tactile_left": {"psnr": 32.777477970588755, "ssim": 0.9349203036138805, "lpips": 0.28168851137161255}, "tactile_right": {"psnr": 34.8183379187798, "ssim": 0.947971411960743, "lpips": 0.2681148946285248}}], "long_metrics": {"video": {"psnr": 20.57270282662978, "ssim": 0.6692762793479688, "lpips": 0.22362603942553202}, "wrist_left": {"psnr": 11.764513723226047, "ssim": 0.33084039410931243, "lpips": 0.5252311249574025}, "wrist_right": {"psnr": 10.68792795011917, "ssim": 0.45464386767558, "lpips": 0.5769361734390259}, "tactile_left": {"psnr": 36.068600577671006, "ssim": 0.9566246261104271, "lpips": 0.15956780364116033}, "tactile_right": {"psnr": 40.15301466049639, "ssim": 0.9724284420732066, "lpips": 0.12160010188817978}}}, {"id": "motherboard_e005_19", "episode": "motherboard_0912_episode_002.pt", "requested_episode": "motherboard_0912_episode_002.pt", "category": "full", "t_start": 944, "start_seconds": 62.93333333333333, "short_contact": [1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1], "future_transition_ticks": [], "long_contact_fraction": 1.0, "long_label": "full", "short_metrics": {"video": {"psnr": 24.699309385443506, "ssim": 0.815574867960576, "lpips": 0.07139088213443756}, "wrist_left": {"psnr": 18.11799149875984, "ssim": 0.479735014360841, "lpips": 0.29874908924102783}, "wrist_right": {"psnr": 29.00363920042338, "ssim": 0.9289128543718788, "lpips": 0.05172064155340195}, "tactile_left": {"psnr": 38.66250216151637, "ssim": 0.9587164703325104, "lpips": 0.07197833806276321}, "tactile_right": {"psnr": 48.43462517661809, "ssim": 0.9920117856992963, "lpips": 0.01967157982289791}}, "media": {"short": {"video": "media/motherboard_e005_19_short.mp4", "poster": "media/motherboard_e005_19_short.jpg"}, "long": {"video": "media/motherboard_e005_19_long.mp4", "poster": "media/motherboard_e005_19_long.jpg"}}, "force": {"source": "recorded_normal_force", "units": "N", "fps": 15, "left": [1.9444444179534912, 5.486666679382324, 5.403749942779541, 5.486666679382324, 5.486666679382324, 4.726428508758545, 4.726428508758545, 4.726428508758545, 5.397500038146973, 4.726428508758545, 4.726428508758545, 4.726428508758545, 4.726428508758545, 4.726428508758545, 4.726428508758545, 4.726428508758545, 3.9385359287261963, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 2.6312499046325684, 2.6312499046325684, 2.6312499046325684, 3.0568182468414307, 3.0568182468414307, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.6312499046325684, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 4.81326961517334, 4.852499961853027, 5.397634029388428, 4.852499961853027, 4.852499961853027, 5.397500038146973, 5.399270057678223, 5.397500038146973, 4.852499961853027, 4.852499961853027, 3.9167568683624268, 3.9167568683624268, 3.9167568683624268, 4.726428508758545, 4.726428508758545, 4.726428508758545, 4.726428508758545, 4.726428508758545, 3.1971428394317627, 3.1971428394317627, 3.1971428394317627, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.4042980670928955, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 2.6312499046325684, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 3.9167568683624268, 5.397500038146973, 4.726428508758545, 4.726428508758545, 4.726428508758545, 3.9167568683624268, 3.9167568683624268, 3.9388134479522705, 3.1971428394317627, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0808489322662354, 3.0568182468414307, 3.0568182468414307, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 1.9444444179534912, 1.5979106426239014, 0.7983333468437195, 0.7983333468437195, 2.3248276710510254, 2.3248276710510254, 0.7983333468437195, 2.243333339691162, 2.243333339691162, 2.3248276710510254, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.9167568683624268, 3.92547869682312, 3.9167568683624268, 4.852499961853027, 3.939357280731201, 4.726428508758545, 4.726428508758545, 3.940000057220459, 3.1971428394317627, 3.9167568683624268, 3.9167568683624268, 3.9167568683624268, 3.9167568683624268, 3.9167568683624268, 3.9247372150421143], "right": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0689406767487526, 0.4319555163383484, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]}, "long_curve": [{"video": {"psnr": 24.699309385443506, "ssim": 0.815574867960576, "lpips": 0.07139088213443756}, "wrist_left": {"psnr": 18.11799149875984, "ssim": 0.479735014360841, "lpips": 0.29874908924102783}, "wrist_right": {"psnr": 29.00363920042338, "ssim": 0.9289128543718788, "lpips": 0.05172064155340195}, "tactile_left": {"psnr": 38.66250216151637, "ssim": 0.9587164703325104, "lpips": 0.07197833806276321}, "tactile_right": {"psnr": 48.43462517661809, "ssim": 0.9920117856992963, "lpips": 0.01967157982289791}}, {"video": {"psnr": 21.657246861491597, "ssim": 0.727713142008084, "lpips": 0.16279587149620056}, "wrist_left": {"psnr": 14.61432008482257, "ssim": 0.3374222173355684, "lpips": 0.41174328327178955}, "wrist_right": {"psnr": 25.606388527392813, "ssim": 0.8827421479743449, "lpips": 0.09126091003417969}, "tactile_left": {"psnr": 38.93772892486212, "ssim": 0.9679110664724383, "lpips": 0.0845114141702652}, "tactile_right": {"psnr": 44.95187524443642, "ssim": 0.986161076397958, "lpips": 0.02726772055029869}}, {"video": {"psnr": 22.29081266111057, "ssim": 0.752961183745719, "lpips": 0.12743428349494934}, "wrist_left": {"psnr": 15.30975702672091, "ssim": 0.3625362889093194, "lpips": 0.4420812129974365}, "wrist_right": {"psnr": 25.422679549772724, "ssim": 0.8851290020992477, "lpips": 0.08689109981060028}, "tactile_left": {"psnr": 39.47881097518264, "ssim": 0.9687508492516855, "lpips": 0.08152469992637634}, "tactile_right": {"psnr": 43.200759778293445, "ssim": 0.9847126051597548, "lpips": 0.02528809942305088}}, {"video": {"psnr": 22.351849961517864, "ssim": 0.7370824963594639, "lpips": 0.13883882761001587}, "wrist_left": {"psnr": 13.657331405635375, "ssim": 0.3414728432300578, "lpips": 0.524536669254303}, "wrist_right": {"psnr": 24.158767915838947, "ssim": 0.8624146217021237, "lpips": 0.12360644340515137}, "tactile_left": {"psnr": 37.84711473580494, "ssim": 0.9585969520032689, "lpips": 0.10813594609498978}, "tactile_right": {"psnr": 41.40978143830439, "ssim": 0.982422825542967, "lpips": 0.04253462702035904}}, {"video": {"psnr": 20.713536385041174, "ssim": 0.7110051275039581, "lpips": 0.2000190168619156}, "wrist_left": {"psnr": 12.741865244445878, "ssim": 0.3207545782057979, "lpips": 0.5507341623306274}, "wrist_right": {"psnr": 25.241130314671302, "ssim": 0.8796592363094022, "lpips": 0.10827252268791199}, "tactile_left": {"psnr": 36.34468670597443, "ssim": 0.9384166238804852, "lpips": 0.14584863185882568}, "tactile_right": {"psnr": 40.717726231253906, "ssim": 0.9804370875802645, "lpips": 0.06223776191473007}}, {"video": {"psnr": 19.22625095315081, "ssim": 0.6876414920533744, "lpips": 0.23519328236579895}, "wrist_left": {"psnr": 10.016188910356787, "ssim": 0.2820802659526288, "lpips": 0.6291400790214539}, "wrist_right": {"psnr": 19.62770143203618, "ssim": 0.8283423049640484, "lpips": 0.18366312980651855}, "tactile_left": {"psnr": 35.84027421828096, "ssim": 0.9448155862316885, "lpips": 0.14476901292800903}, "tactile_right": {"psnr": 39.33020837142638, "ssim": 0.9779187152744604, "lpips": 0.08019456267356873}}, {"video": {"psnr": 19.249813984185714, "ssim": 0.6675973804598005, "lpips": 0.25410196185112}, "wrist_left": {"psnr": 8.941604216704768, "ssim": 0.2517526343227064, "lpips": 0.6672316789627075}, "wrist_right": {"psnr": 21.176624615092745, "ssim": 0.8338418754698997, "lpips": 0.1829121708869934}, "tactile_left": {"psnr": 35.880931575321625, "ssim": 0.9585006873149088, "lpips": 0.13199788331985474}, "tactile_right": {"psnr": 38.15366403056811, "ssim": 0.9756438657666887, "lpips": 0.09831126034259796}}, {"video": {"psnr": 19.830081788966496, "ssim": 0.6629455488667454, "lpips": 0.2586672306060791}, "wrist_left": {"psnr": 8.029910879371972, "ssim": 0.31694901979983714, "lpips": 0.7431424856185913}, "wrist_right": {"psnr": 23.42789811897137, "ssim": 0.8675701950056343, "lpips": 0.12646673619747162}, "tactile_left": {"psnr": 35.728577135572216, "ssim": 0.9598151044419948, "lpips": 0.13667991757392883}, "tactile_right": {"psnr": 37.68526673237949, "ssim": 0.9736275556753442, "lpips": 0.11066681146621704}}, {"video": {"psnr": 19.488173353843237, "ssim": 0.6413436833367558, "lpips": 0.28091245889663696}, "wrist_left": {"psnr": 8.193659431992696, "ssim": 0.29414027227962136, "lpips": 0.7077063322067261}, "wrist_right": {"psnr": 21.475556470939438, "ssim": 0.817070434488084, "lpips": 0.21221837401390076}, "tactile_left": {"psnr": 35.049189991498466, "ssim": 0.9540154766099183, "lpips": 0.16238555312156677}, "tactile_right": {"psnr": 37.02423244725046, "ssim": 0.9713623764060002, "lpips": 0.12580280005931854}}, {"video": {"psnr": 19.226970306515703, "ssim": 0.6345269221221466, "lpips": 0.2934871315956116}, "wrist_left": {"psnr": 9.404956784465721, "ssim": 0.2661102181487864, "lpips": 0.6540454626083374}, "wrist_right": {"psnr": 21.560368641180286, "ssim": 0.825302135971723, "lpips": 0.16484510898590088}, "tactile_left": {"psnr": 33.030341440650545, "ssim": 0.9304349066287119, "lpips": 0.19814375042915344}, "tactile_right": {"psnr": 35.50289330677489, "ssim": 0.9685933924611216, "lpips": 0.14185017347335815}}, {"video": {"psnr": 17.211292690054766, "ssim": 0.5893910529601805, "lpips": 0.376006543636322}, "wrist_left": {"psnr": 13.324625256488154, "ssim": 0.2725563824665218, "lpips": 0.5077891945838928}, "wrist_right": {"psnr": 21.81930394537485, "ssim": 0.8403962921489283, "lpips": 0.12161540985107422}, "tactile_left": {"psnr": 32.85701125291713, "ssim": 0.9330199680217737, "lpips": 0.20434290170669556}, "tactile_right": {"psnr": 34.61033320747529, "ssim": 0.9649174368358324, "lpips": 0.15699031949043274}}, {"video": {"psnr": 16.5575756261071, "ssim": 0.5762312928958067, "lpips": 0.3983992338180542}, "wrist_left": {"psnr": 13.329688497256933, "ssim": 0.27346205093189957, "lpips": 0.48932504653930664}, "wrist_right": {"psnr": 21.817894785502503, "ssim": 0.8288281827860824, "lpips": 0.16455985605716705}, "tactile_left": {"psnr": 33.22507197681905, "ssim": 0.94324026916077, "lpips": 0.20389768481254578}, "tactile_right": {"psnr": 34.15065519892894, "ssim": 0.962062194166681, "lpips": 0.17187894880771637}}, {"video": {"psnr": 16.81045473878335, "ssim": 0.5707221713986388, "lpips": 0.41915363073349}, "wrist_left": {"psnr": 13.641971842463947, "ssim": 0.29092702716724994, "lpips": 0.5343560576438904}, "wrist_right": {"psnr": 22.076171394590432, "ssim": 0.8384765211991871, "lpips": 0.14270396530628204}, "tactile_left": {"psnr": 33.143053725107805, "ssim": 0.9434197388225054, "lpips": 0.21361790597438812}, "tactile_right": {"psnr": 33.86255481811618, "ssim": 0.9607736941588216, "lpips": 0.1783192753791809}}, {"video": {"psnr": 18.09472886240333, "ssim": 0.5960331420349898, "lpips": 0.38281112909317017}, "wrist_left": {"psnr": 12.061105454450017, "ssim": 0.3109943115052394, "lpips": 0.5626776218414307}, "wrist_right": {"psnr": 21.3886870540235, "ssim": 0.815126848773092, "lpips": 0.2088879942893982}, "tactile_left": {"psnr": 32.36975310969678, "ssim": 0.9281402291336978, "lpips": 0.2542765736579895}, "tactile_right": {"psnr": 33.77444295748986, "ssim": 0.9594794019501731, "lpips": 0.18636558949947357}}, {"video": {"psnr": 17.82821070150653, "ssim": 0.5803231369516997, "lpips": 0.37998509407043457}, "wrist_left": {"psnr": 12.787926908614581, "ssim": 0.31604966897700765, "lpips": 0.5307844281196594}, "wrist_right": {"psnr": 21.33006746997459, "ssim": 0.8268853105855342, "lpips": 0.17470544576644897}, "tactile_left": {"psnr": 32.18581446108777, "ssim": 0.9255229422078612, "lpips": 0.2638415992259979}, "tactile_right": {"psnr": 33.23796600786559, "ssim": 0.9566879320751072, "lpips": 0.20003944635391235}}], "long_metrics": {"video": {"psnr": 19.682420550674784, "ssim": 0.6634061760438625, "lpips": 0.2652797718842824}, "wrist_left": {"psnr": 12.278193562836675, "ssim": 0.31446285290620557, "lpips": 0.5502695202827453}, "wrist_right": {"psnr": 23.008858629052337, "ssim": 0.8507131975899473, "lpips": 0.14295532057682672}, "tactile_left": {"psnr": 35.37205749268619, "ssim": 0.9475544580342812, "lpips": 0.16039678752422332}, "tactile_right": {"psnr": 38.4031323298121, "ssim": 0.9731207963433647, "lpips": 0.1084945984184742}}}], "split": "mixed_mb_wrist_holdout.json", "unavailable": [], "complete": true}, {"id": "rope", "label": "Rope", "checkpoint": "epoch_001.pt", "run": "nano_action_causal_rope_v1", "planned_cases": 34, "cases": [{"id": "rope_00", "episode": "rope_0911_episode_002_seg00.pt", "requested_episode": "rope_0911_episode_002_seg00.pt", "category": "none", "t_start": 0, "start_seconds": 0.0, "short_contact": [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0], "future_transition_ticks": [], "long_contact_fraction": 0.3359375, "long_label": "none_at_start", "short_metrics": {"video": {"psnr": 40.526909859014225, "ssim": 0.9804834229918091, "lpips": 0.007490037940442562}, "wrist_left": {"psnr": 35.646195428666545, "ssim": 0.9790281085813968, "lpips": 0.011204076930880547}, "wrist_right": {"psnr": 33.886315445863666, "ssim": 0.975611698131615, "lpips": 0.015355449169874191}, "tactile_left": {"psnr": 51.65792932767175, "ssim": 0.9949849446137915, "lpips": 0.003066685749217868}, "tactile_right": {"psnr": 49.033151071129204, "ssim": 0.9928326687668534, "lpips": 0.005720493383705616}}, "media": {"short": {"video": "media/rope_00_short.mp4", "poster": "media/rope_00_short.jpg"}, "long": {"video": "media/rope_00_long.mp4", "poster": "media/rope_00_long.jpg"}}, "force": {"source": "recorded_normal_force", "units": "N", "fps": 15, "left": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.20760399103164673, 0.20760399103164673, 0.0, 0.0, 0.0, 0.8399003744125366, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.35278084874153137, 0.0, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 4.726428508758545, 5.403749942779541, 5.403749942779541, 6.373636245727539, 6.519285678863525, 4.726428508758545, 4.726428508758545, 3.9167568683624268, 3.9167568683624268, 3.9167568683624268, 3.9167568683624268, 3.9167568683624268, 3.9167568683624268, 0.0, 0.0, 0.0, 0.0, 2.6312499046325684, 3.0568182468414307, 3.0568182468414307, 3.9167568683624268, 5.403749942779541, 5.486666679382324, 5.403749942779541, 4.726428508758545, 5.403749942779541], "right": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.07184048742055893, 0.05000825598835945, 0.0, 0.010760966688394547, 0.18313638865947723, 0.39290252327919006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.1599999964237213, 0.7983333468437195, 3.0568182468414307, 4.726428508758545, 5.397500038146973, 5.397500038146973, 5.397500038146973, 5.486666679382324, 6.373636245727539, 6.519285678863525, 6.519285678863525, 6.519285678863525, 6.519285678863525, 6.373636245727539, 4.726428508758545, 0.4866666793823242, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.2742818295955658, 0.5600000023841858, 3.0568182468414307, 3.9167568683624268, 3.9167568683624268, 4.726428508758545, 4.852499961853027, 6.373636245727539, 5.403749942779541, 4.852499961853027, 3.9167568683624268, 3.9167568683624268, 3.9167568683624268, 4.726428508758545, 4.726428508758545, 0.1599999964237213, 0.0, 0.0, 0.0, 3.0568182468414307, 3.0568182468414307, 3.1971428394317627, 3.9167568683624268, 3.9167568683624268, 3.9167568683624268, 3.9167568683624268, 3.9167568683624268, 3.9167568683624268]}, "long_curve": [{"video": {"psnr": 40.526909859014225, "ssim": 0.9804834229918091, "lpips": 0.007490037940442562}, "wrist_left": {"psnr": 35.646195428666545, "ssim": 0.9790281085813968, "lpips": 0.011204076930880547}, "wrist_right": {"psnr": 33.886315445863666, "ssim": 0.975611698131615, "lpips": 0.015355449169874191}, "tactile_left": {"psnr": 51.65792932767175, "ssim": 0.9949849446137915, "lpips": 0.003066685749217868}, "tactile_right": {"psnr": 49.033151071129204, "ssim": 0.9928326687668534, "lpips": 0.005720493383705616}}, {"video": {"psnr": 37.29502377661243, "ssim": 0.968866692599452, "lpips": 0.01397708524018526}, "wrist_left": {"psnr": 32.20678879791098, "ssim": 0.9652988627478658, "lpips": 0.019427254796028137}, "wrist_right": {"psnr": 28.74948012228858, "ssim": 0.941558679426503, "lpips": 0.03216160833835602}, "tactile_left": {"psnr": 47.33452908958661, "ssim": 0.9917338865404368, "lpips": 0.009532533586025238}, "tactile_right": {"psnr": 45.736715690835965, "ssim": 0.9879637997479696, "lpips": 0.013353008776903152}}, {"video": {"psnr": 34.74361485935325, "ssim": 0.9559183513609781, "lpips": 0.0222153402864933}, "wrist_left": {"psnr": 29.770711503867616, "ssim": 0.9488732888063256, "lpips": 0.033049583435058594}, "wrist_right": {"psnr": 24.89228995445132, "ssim": 0.891764656531874, "lpips": 0.06160346418619156}, "tactile_left": {"psnr": 43.29799746353578, "ssim": 0.9879758414362257, "lpips": 0.021351192146539688}, "tactile_right": {"psnr": 42.84376218119444, "ssim": 0.98575122364061, "lpips": 0.023973971605300903}}, {"video": {"psnr": 31.462129924797125, "ssim": 0.9374098483562371, "lpips": 0.034486450254917145}, "wrist_left": {"psnr": 28.134759570908013, "ssim": 0.9330261439589713, "lpips": 0.045745447278022766}, "wrist_right": {"psnr": 22.68868556727492, "ssim": 0.8679824835741856, "lpips": 0.09048547595739365}, "tactile_left": {"psnr": 40.52628188212603, "ssim": 0.9839131210942138, "lpips": 0.03665553778409958}, "tactile_right": {"psnr": 40.58215756128058, "ssim": 0.9827529839994044, "lpips": 0.0407937690615654}}, {"video": {"psnr": 28.20939886824989, "ssim": 0.9017611201884884, "lpips": 0.06704239547252655}, "wrist_left": {"psnr": 26.826226089974345, "ssim": 0.9172810421989464, "lpips": 0.05811246484518051}, "wrist_right": {"psnr": 22.073222068096186, "ssim": 0.8569474992082319, "lpips": 0.10097959637641907}, "tactile_left": {"psnr": 38.661354178715015, "ssim": 0.980592811413584, "lpips": 0.048707038164138794}, "tactile_right": {"psnr": 39.56988048910654, "ssim": 0.979416068489726, "lpips": 0.06279793381690979}}, {"video": {"psnr": 27.102788695799248, "ssim": 0.8797655800682223, "lpips": 0.08385904133319855}, "wrist_left": {"psnr": 25.767678142371953, "ssim": 0.9007729994504363, "lpips": 0.07249466329813004}, "wrist_right": {"psnr": 18.571663407188684, "ssim": 0.7968445926177652, "lpips": 0.17415988445281982}, "tactile_left": {"psnr": 36.997640128982574, "ssim": 0.977278273145212, "lpips": 0.0643061101436615}, "tactile_right": {"psnr": 38.30622024092268, "ssim": 0.9775077553824737, "lpips": 0.07618864625692368}}, {"video": {"psnr": 24.266364815999047, "ssim": 0.8326309989358092, "lpips": 0.1214064434170723}, "wrist_left": {"psnr": 21.109029555689144, "ssim": 0.8474761547061738, "lpips": 0.1225762665271759}, "wrist_right": {"psnr": 17.208393874414604, "ssim": 0.7232492205153562, "lpips": 0.28438514471054077}, "tactile_left": {"psnr": 36.24499401677466, "ssim": 0.9742548149661063, "lpips": 0.08497422933578491}, "tactile_right": {"psnr": 37.53127137725865, "ssim": 0.9754776187743839, "lpips": 0.0876600593328476}}, {"video": {"psnr": 22.791294160017017, "ssim": 0.7805575103851994, "lpips": 0.16768088936805725}, "wrist_left": {"psnr": 14.341130413472108, "ssim": 0.6808237825261763, "lpips": 0.2963371276855469}, "wrist_right": {"psnr": 18.272685647520902, "ssim": 0.7183686804574214, "lpips": 0.3215080499649048}, "tactile_left": {"psnr": 35.3612094888178, "ssim": 0.9704112871502159, "lpips": 0.10551805049180984}, "tactile_right": {"psnr": 37.399140686384634, "ssim": 0.9725987776834005, "lpips": 0.11028064787387848}}, {"video": {"psnr": 21.9211913234675, "ssim": 0.7366140959236827, "lpips": 0.21612975001335144}, "wrist_left": {"psnr": 12.814375117057555, "ssim": 0.6289968957470362, "lpips": 0.4289693236351013}, "wrist_right": {"psnr": 17.6209737568147, "ssim": 0.7072882562601553, "lpips": 0.3717009127140045}, "tactile_left": {"psnr": 34.83346607428104, "ssim": 0.9670835263338451, "lpips": 0.11847536265850067}, "tactile_right": {"psnr": 33.659995899883484, "ssim": 0.9513595695378629, "lpips": 0.23265564441680908}}, {"video": {"psnr": 20.275713244285072, "ssim": 0.675715111629742, "lpips": 0.34681326150894165}, "wrist_left": {"psnr": 12.607182257215621, "ssim": 0.6323893200019484, "lpips": 0.42974627017974854}, "wrist_right": {"psnr": 16.009763293651616, "ssim": 0.6812776944189032, "lpips": 0.3983626365661621}, "tactile_left": {"psnr": 34.07688068892858, "ssim": 0.9646058940443291, "lpips": 0.12895946204662323}, "tactile_right": {"psnr": 32.75686702282548, "ssim": 0.9436542773560971, "lpips": 0.25202980637550354}}, {"video": {"psnr": 20.16383329071627, "ssim": 0.6723707499659934, "lpips": 0.39703166484832764}, "wrist_left": {"psnr": 12.58423902033324, "ssim": 0.6223031480928238, "lpips": 0.4066004157066345}, "wrist_right": {"psnr": 18.01461989553841, "ssim": 0.7275513271665729, "lpips": 0.35517942905426025}, "tactile_left": {"psnr": 33.60121681812398, "ssim": 0.9616030438573058, "lpips": 0.14771342277526855}, "tactile_right": {"psnr": 34.95346117410393, "ssim": 0.9638597685462995, "lpips": 0.15954354405403137}}, {"video": {"psnr": 20.38227032089417, "ssim": 0.6788153452861183, "lpips": 0.38116779923439026}, "wrist_left": {"psnr": 12.727971043146255, "ssim": 0.59348346868542, "lpips": 0.45780646800994873}, "wrist_right": {"psnr": 16.431235834274915, "ssim": 0.6638591448740312, "lpips": 0.3814083933830261}, "tactile_left": {"psnr": 32.096871782780305, "ssim": 0.9496830506217759, "lpips": 0.20356199145317078}, "tactile_right": {"psnr": 34.41659083433842, "ssim": 0.9596306127165275, "lpips": 0.1964372992515564}}, {"video": {"psnr": 20.449996302499844, "ssim": 0.68407641087017, "lpips": 0.384427011013031}, "wrist_left": {"psnr": 13.204099352811216, "ssim": 0.6141258534479908, "lpips": 0.4442063570022583}, "wrist_right": {"psnr": 15.5110623551892, "ssim": 0.6236327633107162, "lpips": 0.4013456106185913}, "tactile_left": {"psnr": 30.446966853936097, "ssim": 0.9288119992913302, "lpips": 0.2686780095100403}, "tactile_right": {"psnr": 33.04487897236814, "ssim": 0.9451848770816633, "lpips": 0.2761620283126831}}, {"video": {"psnr": 20.424461005290375, "ssim": 0.6840203616993583, "lpips": 0.39845728874206543}, "wrist_left": {"psnr": 12.514446305490189, "ssim": 0.5857590752132984, "lpips": 0.47930121421813965}, "wrist_right": {"psnr": 15.889464448357046, "ssim": 0.6510682864897244, "lpips": 0.37994906306266785}, "tactile_left": {"psnr": 31.755177629409445, "ssim": 0.9457642043259591, "lpips": 0.22545695304870605}, "tactile_right": {"psnr": 33.24060805229537, "ssim": 0.9523014255518474, "lpips": 0.24529215693473816}}, {"video": {"psnr": 20.447414345103873, "ssim": 0.6814474624714505, "lpips": 0.39440858364105225}, "wrist_left": {"psnr": 13.314986099111648, "ssim": 0.6248237453784693, "lpips": 0.4438592195510864}, "wrist_right": {"psnr": 15.349283535742689, "ssim": 0.6341860982378582, "lpips": 0.4308558702468872}, "tactile_left": {"psnr": 30.301911566361998, "ssim": 0.9324447054314033, "lpips": 0.2797975540161133}, "tactile_right": {"psnr": 32.332470805664336, "ssim": 0.941047519519414, "lpips": 0.2865188717842102}}], "long_metrics": {"video": {"psnr": 26.030826986139957, "ssim": 0.803363537515514, "lpips": 0.20243953615427018}, "wrist_left": {"psnr": 20.237987913201763, "ssim": 0.764964125969552, "lpips": 0.24996241020659607}, "wrist_right": {"psnr": 20.07794261377783, "ssim": 0.7640794054147276, "lpips": 0.25329603925347327}, "tactile_left": {"psnr": 37.146295132668776, "ssim": 0.9674094269510489, "lpips": 0.11645027552731335}, "tactile_right": {"psnr": 37.69381147063946, "ssim": 0.9674225964529689, "lpips": 0.13796052541583775}}}, {"id": "rope_01", "episode": "rope_0911_episode_002_seg00.pt", "requested_episode": "rope_0911_episode_002_seg00.pt", "category": "onset", "t_start": 88, "start_seconds": 5.866666666666666, "short_contact": [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 1], "future_transition_ticks": [11], "long_contact_fraction": 0.6875, "long_label": "onset", "short_metrics": {"video": {"psnr": 29.085248216776158, "ssim": 0.915135798825516, "lpips": 0.03606034442782402}, "wrist_left": {"psnr": 20.374314266813762, "ssim": 0.7347744781440162, "lpips": 0.1930009424686432}, "wrist_right": {"psnr": 25.275869068211225, "ssim": 0.813631448352998, "lpips": 0.1405366063117981}, "tactile_left": {"psnr": 36.54630988813822, "ssim": 0.9778937129498089, "lpips": 0.07038582116365433}, "tactile_right": {"psnr": 39.73800725095519, "ssim": 0.9845400144795392, "lpips": 0.04507026821374893}}, "media": {"short": {"video": "media/rope_01_short.mp4", "poster": "media/rope_01_short.jpg"}, "long": {"video": "media/rope_01_long.mp4", "poster": "media/rope_01_long.jpg"}}, "force": {"source": "recorded_normal_force", "units": "N", "fps": 15, "left": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 4.726428508758545, 5.403749942779541, 5.403749942779541, 6.373636245727539, 6.519285678863525, 4.726428508758545, 4.726428508758545, 3.9167568683624268, 3.9167568683624268, 3.9167568683624268, 3.9167568683624268, 3.9167568683624268, 3.9167568683624268, 0.0, 0.0, 0.0, 0.0, 2.6312499046325684, 3.0568182468414307, 3.0568182468414307, 3.9167568683624268, 5.403749942779541, 5.486666679382324, 5.403749942779541, 4.726428508758545, 5.403749942779541, 6.519285678863525, 6.519285678863525, 6.373636245727539, 6.373636245727539, 6.519285678863525, 5.486666679382324, 5.397500038146973, 5.403749942779541, 5.403749942779541, 6.519285678863525, 6.373636245727539, 6.373636245727539, 6.373636245727539, 5.486666679382324, 4.726428508758545, 4.726428508758545, 3.9167568683624268, 3.9284892082214355, 4.726428508758545, 3.9167568683624268, 4.726428508758545, 3.9397337436676025, 3.1971428394317627, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 2.3248276710510254, 2.3248276710510254, 3.0568182468414307, 3.1971428394317627, 4.726428508758545, 5.397500038146973, 5.486666679382324, 0.7983333468437195, 0.0, 0.0, 0.0, 0.0, 0.7983333468437195, 0.5032042860984802, 3.0568182468414307, 5.486666679382324, 6.760714054107666, 7.230000019073486, 7.772306442260742, 7.130000114440918, 5.770726203918457, 3.9167568683624268, 1.5444424152374268, 0.0, 0.0, 0.0, 0.0, 0.0, 2.243333339691162, 3.0568182468414307, 4.726428508758545, 5.397500038146973, 5.403749942779541, 5.403749942779541, 4.852499961853027, 3.9167568683624268, 0.5090610980987549, 0.0, 0.0, 0.0, 0.0, 0.1599999964237213, 3.0568182468414307, 4.726428508758545, 4.726428508758545, 4.726428508758545, 4.726428508758545, 4.726428508758545, 4.726428508758545, 3.9167568683624268, 0.7983333468437195], "right": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.2742818295955658, 0.5600000023841858, 3.0568182468414307, 3.9167568683624268, 3.9167568683624268, 4.726428508758545, 4.852499961853027, 6.373636245727539, 5.403749942779541, 4.852499961853027, 3.9167568683624268, 3.9167568683624268, 3.9167568683624268, 4.726428508758545, 4.726428508758545, 0.1599999964237213, 0.0, 0.0, 0.0, 3.0568182468414307, 3.0568182468414307, 3.1971428394317627, 3.9167568683624268, 3.9167568683624268, 3.9167568683624268, 3.9167568683624268, 3.9167568683624268, 3.9167568683624268, 3.9167568683624268, 3.9167568683624268, 3.9167568683624268, 3.0568182468414307, 3.1971428394317627, 3.9167568683624268, 3.9167568683624268, 3.1971428394317627, 3.9167568683624268, 3.9167568683624268, 3.0568182468414307, 3.0568182468414307, 2.3248276710510254, 2.2478134632110596, 3.0568182468414307, 3.0568182468414307, 3.9167568683624268, 3.1971428394317627, 3.0568182468414307, 3.0568182468414307, 0.27666667103767395, 3.0568182468414307, 1.9444444179534912, 3.0568182468414307, 3.0568182468414307, 0.6064306497573853, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.7983333468437195, 0.6165210008621216, 1.9444444179534912, 2.3248276710510254, 2.6312499046325684, 0.7983333468437195, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.43685051798820496, 0.5600000023841858, 2.3248276710510254, 2.6312499046325684, 1.9444444179534912, 2.243333339691162, 0.7983333468437195, 0.4899098575115204, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.5508935451507568, 0.5600000023841858, 2.3248276710510254, 3.0568182468414307, 1.9444444179534912, 3.0568182468414307, 0.7983333468437195, 0.0, 0.0, 0.0, 0.0, 0.16555029153823853, 0.16117694973945618, 0.4321044385433197, 2.3248276710510254, 2.9167182445526123, 2.6312499046325684, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 2.3248276710510254]}, "long_curve": [{"video": {"psnr": 29.085248216776158, "ssim": 0.915135798825516, "lpips": 0.03606034442782402}, "wrist_left": {"psnr": 20.374314266813762, "ssim": 0.7347744781440162, "lpips": 0.1930009424686432}, "wrist_right": {"psnr": 25.275869068211225, "ssim": 0.813631448352998, "lpips": 0.1405366063117981}, "tactile_left": {"psnr": 36.54630988813822, "ssim": 0.9778937129498089, "lpips": 0.07038582116365433}, "tactile_right": {"psnr": 39.73800725095519, "ssim": 0.9845400144795392, "lpips": 0.04507026821374893}}, {"video": {"psnr": 25.65401107287206, "ssim": 0.8450592803548135, "lpips": 0.07022158801555634}, "wrist_left": {"psnr": 17.269607944369984, "ssim": 0.6776589707011407, "lpips": 0.29377633333206177}, "wrist_right": {"psnr": 21.021245466790166, "ssim": 0.7012133486591744, "lpips": 0.2136726677417755}, "tactile_left": {"psnr": 32.86899398041167, "ssim": 0.9478787193416495, "lpips": 0.1584152728319168}, "tactile_right": {"psnr": 33.14730600234752, "ssim": 0.9561300703882671, "lpips": 0.15883983671665192}}, {"video": {"psnr": 24.74852030223614, "ssim": 0.8266884764520179, "lpips": 0.09581395983695984}, "wrist_left": {"psnr": 16.507711806097582, "ssim": 0.6641180941984239, "lpips": 0.33100447058677673}, "wrist_right": {"psnr": 21.84628760030137, "ssim": 0.7516170390206852, "lpips": 0.22518828511238098}, "tactile_left": {"psnr": 36.42969644284338, "ssim": 0.9684839833700079, "lpips": 0.07610131800174713}, "tactile_right": {"psnr": 37.15634349104249, "ssim": 0.9753427659793399, "lpips": 0.08137127757072449}}, {"video": {"psnr": 24.4958656556665, "ssim": 0.809442907019837, "lpips": 0.11358646303415298}, "wrist_left": {"psnr": 17.943985232450427, "ssim": 0.6822235054932232, "lpips": 0.29131096601486206}, "wrist_right": {"psnr": 20.657326860122488, "ssim": 0.6969232019840546, "lpips": 0.2917487919330597}, "tactile_left": {"psnr": 31.797562035986612, "ssim": 0.9428866945133403, "lpips": 0.14785709977149963}, "tactile_right": {"psnr": 35.887979715448715, "ssim": 0.9646188356197143, "lpips": 0.12947934865951538}}, {"video": {"psnr": 23.49562891993473, "ssim": 0.7896144277995554, "lpips": 0.14859981834888458}, "wrist_left": {"psnr": 16.682828383671286, "ssim": 0.6714726905804602, "lpips": 0.3177381157875061}, "wrist_right": {"psnr": 21.216855844793958, "ssim": 0.7126888983320949, "lpips": 0.2645924687385559}, "tactile_left": {"psnr": 30.080125593781503, "ssim": 0.925314427934787, "lpips": 0.19926562905311584}, "tactile_right": {"psnr": 35.59301699221974, "ssim": 0.9616198413351864, "lpips": 0.1437772512435913}}, {"video": {"psnr": 23.837510156960864, "ssim": 0.7848652099237502, "lpips": 0.15052849054336548}, "wrist_left": {"psnr": 16.816600431583637, "ssim": 0.7018629356458552, "lpips": 0.2989811897277832}, "wrist_right": {"psnr": 20.97715116381619, "ssim": 0.7356292908759746, "lpips": 0.29651159048080444}, "tactile_left": {"psnr": 32.24883522030818, "ssim": 0.9470884993077298, "lpips": 0.17040672898292542}, "tactile_right": {"psnr": 35.65055552605598, "ssim": 0.9668101028197871, "lpips": 0.14139647781848907}}, {"video": {"psnr": 23.251120462973446, "ssim": 0.7725719644279483, "lpips": 0.1719207763671875}, "wrist_left": {"psnr": 15.93018488788754, "ssim": 0.6805520707478565, "lpips": 0.3213076591491699}, "wrist_right": {"psnr": 20.074067759732173, "ssim": 0.733207196912306, "lpips": 0.2865167260169983}, "tactile_left": {"psnr": 33.36856713844203, "ssim": 0.9563285696790387, "lpips": 0.15061411261558533}, "tactile_right": {"psnr": 35.967872082728455, "ssim": 0.9690473015044065, "lpips": 0.13394373655319214}}, {"video": {"psnr": 22.081456372053093, "ssim": 0.7502748391567003, "lpips": 0.26466453075408936}, "wrist_left": {"psnr": 16.68611433692813, "ssim": 0.6955729048127274, "lpips": 0.2667863368988037}, "wrist_right": {"psnr": 19.998010876056423, "ssim": 0.7673706658517193, "lpips": 0.28522902727127075}, "tactile_left": {"psnr": 34.74015217869473, "ssim": 0.9647530176989726, "lpips": 0.11830227077007294}, "tactile_right": {"psnr": 36.88097910236406, "ssim": 0.9740021604778819, "lpips": 0.09565994143486023}}, {"video": {"psnr": 21.748586344886455, "ssim": 0.7230328487275127, "lpips": 0.27943992614746094}, "wrist_left": {"psnr": 18.374731839376842, "ssim": 0.690094851120655, "lpips": 0.30714890360832214}, "wrist_right": {"psnr": 19.921517708814115, "ssim": 0.7222135086324011, "lpips": 0.323352575302124}, "tactile_left": {"psnr": 34.17059091402339, "ssim": 0.9579467662916337, "lpips": 0.15312477946281433}, "tactile_right": {"psnr": 35.87420735983877, "ssim": 0.970367781402257, "lpips": 0.11684222519397736}}, {"video": {"psnr": 21.621183840511225, "ssim": 0.7212815674177452, "lpips": 0.29607683420181274}, "wrist_left": {"psnr": 16.59460314304144, "ssim": 0.6496239708776849, "lpips": 0.30976223945617676}, "wrist_right": {"psnr": 20.12505623249394, "ssim": 0.7713697607681742, "lpips": 0.2827952206134796}, "tactile_left": {"psnr": 32.70241845052753, "ssim": 0.9489193265958944, "lpips": 0.1803978681564331}, "tactile_right": {"psnr": 35.3666347697083, "ssim": 0.9686731197573393, "lpips": 0.13161036372184753}}, {"video": {"psnr": 21.582603213354574, "ssim": 0.7159751694802478, "lpips": 0.29074814915657043}, "wrist_left": {"psnr": 16.014959370176165, "ssim": 0.6387236269694047, "lpips": 0.3439285159111023}, "wrist_right": {"psnr": 19.27347301442671, "ssim": 0.6750135835006658, "lpips": 0.3646695017814636}, "tactile_left": {"psnr": 29.81977797979483, "ssim": 0.9300180724441078, "lpips": 0.22122332453727722}, "tactile_right": {"psnr": 34.88836385683125, "ssim": 0.9652552836686723, "lpips": 0.1440546214580536}}, {"video": {"psnr": 21.587728815210067, "ssim": 0.7137419601006708, "lpips": 0.2992149591445923}, "wrist_left": {"psnr": 15.326866592636526, "ssim": 0.5910629013128412, "lpips": 0.3526100218296051}, "wrist_right": {"psnr": 16.649633313378576, "ssim": 0.7041949036909834, "lpips": 0.3191167712211609}, "tactile_left": {"psnr": 32.16501167778164, "ssim": 0.949211319735255, "lpips": 0.1872321367263794}, "tactile_right": {"psnr": 34.45723506022327, "ssim": 0.9632123760974228, "lpips": 0.16339325904846191}}, {"video": {"psnr": 21.530817002746197, "ssim": 0.7077621791294231, "lpips": 0.29431644082069397}, "wrist_left": {"psnr": 14.508479212581832, "ssim": 0.552228140279791, "lpips": 0.4021286368370056}, "wrist_right": {"psnr": 16.208058904374326, "ssim": 0.648086968013859, "lpips": 0.2936018705368042}, "tactile_left": {"psnr": 34.16911982118107, "ssim": 0.9546260475924322, "lpips": 0.17160338163375854}, "tactile_right": {"psnr": 34.27877259721019, "ssim": 0.9628824162494629, "lpips": 0.17234192788600922}}, {"video": {"psnr": 21.744214647420353, "ssim": 0.716813221403847, "lpips": 0.2737200856208801}, "wrist_left": {"psnr": 13.70538913042254, "ssim": 0.5302018599295388, "lpips": 0.4527633786201477}, "wrist_right": {"psnr": 14.475094571523544, "ssim": 0.5883680253391111, "lpips": 0.38828766345977783}, "tactile_left": {"psnr": 34.3992253593741, "ssim": 0.9601033413088655, "lpips": 0.15964871644973755}, "tactile_right": {"psnr": 34.049378499028904, "ssim": 0.9621296449504191, "lpips": 0.17960727214813232}}, {"video": {"psnr": 21.73319110029422, "ssim": 0.7082976602761792, "lpips": 0.2726714611053467}, "wrist_left": {"psnr": 14.048584374800104, "ssim": 0.5274097881009215, "lpips": 0.43805694580078125}, "wrist_right": {"psnr": 14.5655472692987, "ssim": 0.5848729778892963, "lpips": 0.4007541835308075}, "tactile_left": {"psnr": 32.758960061729184, "ssim": 0.951836505945445, "lpips": 0.22236362099647522}, "tactile_right": {"psnr": 33.17574700830632, "ssim": 0.9548129860206844, "lpips": 0.20816677808761597}}], "long_metrics": {"video": {"psnr": 23.213179074926405, "ssim": 0.7667038340330509, "lpips": 0.20383892183502514}, "wrist_left": {"psnr": 16.452330730189185, "ssim": 0.6458387192609695, "lpips": 0.3280203104019165}, "wrist_right": {"psnr": 19.48567971027559, "ssim": 0.7070933878549, "lpips": 0.29177159667015073}, "tactile_left": {"psnr": 33.21768978286787, "ssim": 0.9522192669805978, "lpips": 0.15912947207689285}, "tactile_right": {"psnr": 35.47415995428728, "ssim": 0.966629646716692, "lpips": 0.13637030571699144}}}, {"id": "rope_02", "episode": "rope_0911_episode_002_seg00.pt", "requested_episode": "rope_0911_episode_002_seg00.pt", "category": "release", "t_start": 75, "start_seconds": 5.0, "short_contact": [1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 0, 0], "future_transition_ticks": [11], "long_contact_fraction": 0.703125, "long_label": "release", "short_metrics": {"video": {"psnr": 25.13384432242404, "ssim": 0.8374602956730777, "lpips": 0.09259437024593353}, "wrist_left": {"psnr": 22.65339854659561, "ssim": 0.840535965021841, "lpips": 0.1020507663488388}, "wrist_right": {"psnr": 24.346803965566664, "ssim": 0.8297961297575951, "lpips": 0.15093445777893066}, "tactile_left": {"psnr": 51.61448144492396, "ssim": 0.9954562837136222, "lpips": 0.0027104075998067856}, "tactile_right": {"psnr": 39.534859928674166, "ssim": 0.9777199122297855, "lpips": 0.05596369504928589}}, "media": {"short": {"video": "media/rope_02_short.mp4", "poster": "media/rope_02_short.jpg"}, "long": {"video": "media/rope_02_long.mp4", "poster": "media/rope_02_long.jpg"}}, "force": {"source": "recorded_normal_force", "units": "N", "fps": 15, "left": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 4.726428508758545, 5.403749942779541, 5.403749942779541, 6.373636245727539, 6.519285678863525, 4.726428508758545, 4.726428508758545, 3.9167568683624268, 3.9167568683624268, 3.9167568683624268, 3.9167568683624268, 3.9167568683624268, 3.9167568683624268, 0.0, 0.0, 0.0, 0.0, 2.6312499046325684, 3.0568182468414307, 3.0568182468414307, 3.9167568683624268, 5.403749942779541, 5.486666679382324, 5.403749942779541, 4.726428508758545, 5.403749942779541, 6.519285678863525, 6.519285678863525, 6.373636245727539, 6.373636245727539, 6.519285678863525, 5.486666679382324, 5.397500038146973, 5.403749942779541, 5.403749942779541, 6.519285678863525, 6.373636245727539, 6.373636245727539, 6.373636245727539, 5.486666679382324, 4.726428508758545, 4.726428508758545, 3.9167568683624268, 3.9284892082214355, 4.726428508758545, 3.9167568683624268, 4.726428508758545, 3.9397337436676025, 3.1971428394317627, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 2.3248276710510254, 2.3248276710510254, 3.0568182468414307, 3.1971428394317627, 4.726428508758545, 5.397500038146973, 5.486666679382324, 0.7983333468437195, 0.0, 0.0, 0.0, 0.0, 0.7983333468437195, 0.5032042860984802, 3.0568182468414307, 5.486666679382324, 6.760714054107666, 7.230000019073486, 7.772306442260742, 7.130000114440918, 5.770726203918457, 3.9167568683624268, 1.5444424152374268, 0.0, 0.0, 0.0, 0.0, 0.0, 2.243333339691162, 3.0568182468414307, 4.726428508758545, 5.397500038146973, 5.403749942779541, 5.403749942779541, 4.852499961853027, 3.9167568683624268, 0.5090610980987549, 0.0], "right": [5.397500038146973, 5.397500038146973, 5.397500038146973, 5.486666679382324, 6.373636245727539, 6.519285678863525, 6.519285678863525, 6.519285678863525, 6.519285678863525, 6.373636245727539, 4.726428508758545, 0.4866666793823242, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.2742818295955658, 0.5600000023841858, 3.0568182468414307, 3.9167568683624268, 3.9167568683624268, 4.726428508758545, 4.852499961853027, 6.373636245727539, 5.403749942779541, 4.852499961853027, 3.9167568683624268, 3.9167568683624268, 3.9167568683624268, 4.726428508758545, 4.726428508758545, 0.1599999964237213, 0.0, 0.0, 0.0, 3.0568182468414307, 3.0568182468414307, 3.1971428394317627, 3.9167568683624268, 3.9167568683624268, 3.9167568683624268, 3.9167568683624268, 3.9167568683624268, 3.9167568683624268, 3.9167568683624268, 3.9167568683624268, 3.9167568683624268, 3.0568182468414307, 3.1971428394317627, 3.9167568683624268, 3.9167568683624268, 3.1971428394317627, 3.9167568683624268, 3.9167568683624268, 3.0568182468414307, 3.0568182468414307, 2.3248276710510254, 2.2478134632110596, 3.0568182468414307, 3.0568182468414307, 3.9167568683624268, 3.1971428394317627, 3.0568182468414307, 3.0568182468414307, 0.27666667103767395, 3.0568182468414307, 1.9444444179534912, 3.0568182468414307, 3.0568182468414307, 0.6064306497573853, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.7983333468437195, 0.6165210008621216, 1.9444444179534912, 2.3248276710510254, 2.6312499046325684, 0.7983333468437195, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.43685051798820496, 0.5600000023841858, 2.3248276710510254, 2.6312499046325684, 1.9444444179534912, 2.243333339691162, 0.7983333468437195, 0.4899098575115204, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.5508935451507568, 0.5600000023841858, 2.3248276710510254, 3.0568182468414307, 1.9444444179534912, 3.0568182468414307, 0.7983333468437195, 0.0, 0.0]}, "long_curve": [{"video": {"psnr": 25.13384432242404, "ssim": 0.8374602956730777, "lpips": 0.09259437024593353}, "wrist_left": {"psnr": 22.65339854659561, "ssim": 0.840535965021841, "lpips": 0.1020507663488388}, "wrist_right": {"psnr": 24.346803965566664, "ssim": 0.8297961297575951, "lpips": 0.15093445777893066}, "tactile_left": {"psnr": 51.61448144492396, "ssim": 0.9954562837136222, "lpips": 0.0027104075998067856}, "tactile_right": {"psnr": 39.534859928674166, "ssim": 0.9777199122297855, "lpips": 0.05596369504928589}}, {"video": {"psnr": 23.644990112168408, "ssim": 0.7835968767765549, "lpips": 0.14048951864242554}, "wrist_left": {"psnr": 18.135548771759147, "ssim": 0.7468740096149136, "lpips": 0.2517859935760498}, "wrist_right": {"psnr": 22.283606519057187, "ssim": 0.758468412059657, "lpips": 0.25649869441986084}, "tactile_left": {"psnr": 45.59066193384684, "ssim": 0.991957542342863, "lpips": 0.008525529876351357}, "tactile_right": {"psnr": 39.259403427060214, "ssim": 0.9804176733028345, "lpips": 0.030506011098623276}}, {"video": {"psnr": 23.36660513325372, "ssim": 0.7799893521991236, "lpips": 0.1511783003807068}, "wrist_left": {"psnr": 16.270274625288444, "ssim": 0.6871066009197693, "lpips": 0.36030611395835876}, "wrist_right": {"psnr": 18.543533462292036, "ssim": 0.6606109908078236, "lpips": 0.332813024520874}, "tactile_left": {"psnr": 33.88225448201641, "ssim": 0.9618189468417884, "lpips": 0.11998671293258667}, "tactile_right": {"psnr": 36.304371118046916, "ssim": 0.9712014048518935, "lpips": 0.09646295011043549}}, {"video": {"psnr": 22.878703453089784, "ssim": 0.7731987197715281, "lpips": 0.16844868659973145}, "wrist_left": {"psnr": 15.903434089357784, "ssim": 0.6781998728614809, "lpips": 0.35399430990219116}, "wrist_right": {"psnr": 17.2660641516905, "ssim": 0.629977140106956, "lpips": 0.3856106698513031}, "tactile_left": {"psnr": 34.08924633845027, "ssim": 0.9558160328588163, "lpips": 0.1370953619480133}, "tactile_right": {"psnr": 34.83030383349217, "ssim": 0.9623587760622687, "lpips": 0.14897599816322327}}, {"video": {"psnr": 22.208504616167776, "ssim": 0.7560512392348355, "lpips": 0.20424973964691162}, "wrist_left": {"psnr": 15.410222885610343, "ssim": 0.6842275772331603, "lpips": 0.3684472441673279}, "wrist_right": {"psnr": 18.385072011658604, "ssim": 0.6851872391438685, "lpips": 0.35498344898223877}, "tactile_left": {"psnr": 36.88096937023051, "ssim": 0.9721462435880479, "lpips": 0.09001769870519638}, "tactile_right": {"psnr": 36.587993899761834, "ssim": 0.9701601156230052, "lpips": 0.09178021550178528}}, {"video": {"psnr": 22.342314531560532, "ssim": 0.7492913237142875, "lpips": 0.22604402899742126}, "wrist_left": {"psnr": 15.484260141268397, "ssim": 0.6719591366560289, "lpips": 0.3686045706272125}, "wrist_right": {"psnr": 17.636590946247964, "ssim": 0.6585373920222837, "lpips": 0.3557107150554657}, "tactile_left": {"psnr": 32.00997274982846, "ssim": 0.9451031609196988, "lpips": 0.19367727637290955}, "tactile_right": {"psnr": 34.98166610818368, "ssim": 0.959339239976476, "lpips": 0.15913312137126923}}, {"video": {"psnr": 21.584132171189246, "ssim": 0.7242989209060473, "lpips": 0.28083688020706177}, "wrist_left": {"psnr": 15.016395039134121, "ssim": 0.6801539220622523, "lpips": 0.3338899612426758}, "wrist_right": {"psnr": 18.843487024217637, "ssim": 0.7060772820935735, "lpips": 0.35715317726135254}, "tactile_left": {"psnr": 32.149603397335326, "ssim": 0.9451795139557777, "lpips": 0.21160855889320374}, "tactile_right": {"psnr": 35.08732013337921, "ssim": 0.9601528868943308, "lpips": 0.1522599756717682}}, {"video": {"psnr": 21.67849888996585, "ssim": 0.7219219637188947, "lpips": 0.2877364456653595}, "wrist_left": {"psnr": 14.969504528382942, "ssim": 0.6758875572496303, "lpips": 0.35458359122276306}, "wrist_right": {"psnr": 18.656894242636817, "ssim": 0.7145840341029355, "lpips": 0.3215599060058594}, "tactile_left": {"psnr": 32.49670071304039, "ssim": 0.9480897784162992, "lpips": 0.20704898238182068}, "tactile_right": {"psnr": 35.73082642946904, "ssim": 0.9632001593136008, "lpips": 0.15282011032104492}}, {"video": {"psnr": 21.64648134854087, "ssim": 0.716884950774754, "lpips": 0.28641945123672485}, "wrist_left": {"psnr": 14.855592760278933, "ssim": 0.6652499862081411, "lpips": 0.3724590837955475}, "wrist_right": {"psnr": 17.932022607781732, "ssim": 0.7150562087699639, "lpips": 0.32015547156333923}, "tactile_left": {"psnr": 33.701035547368356, "ssim": 0.9557857750369175, "lpips": 0.19134767353534698}, "tactile_right": {"psnr": 35.39338460677464, "ssim": 0.9644941100252666, "lpips": 0.146195650100708}}, {"video": {"psnr": 21.14712970127067, "ssim": 0.7101397618476125, "lpips": 0.3039521276950836}, "wrist_left": {"psnr": 15.014177715917004, "ssim": 0.6562016016762489, "lpips": 0.3985527753829956}, "wrist_right": {"psnr": 19.803806071708404, "ssim": 0.7616283396679753, "lpips": 0.3095513582229614}, "tactile_left": {"psnr": 34.968616451764476, "ssim": 0.9635996896989671, "lpips": 0.15786783397197723}, "tactile_right": {"psnr": 35.076982615070676, "ssim": 0.966143844809179, "lpips": 0.13003277778625488}}, {"video": {"psnr": 20.908055016900036, "ssim": 0.7022676671770712, "lpips": 0.32209867238998413}, "wrist_left": {"psnr": 14.867663981318941, "ssim": 0.6444185126163182, "lpips": 0.4324353337287903}, "wrist_right": {"psnr": 20.547478446804668, "ssim": 0.7721515089656911, "lpips": 0.29184648394584656}, "tactile_left": {"psnr": 33.00285377932041, "ssim": 0.9480549922527498, "lpips": 0.21472181379795074}, "tactile_right": {"psnr": 34.41620354565018, "ssim": 0.9632181848035459, "lpips": 0.15280753374099731}}, {"video": {"psnr": 21.14572592553285, "ssim": 0.7086349622707133, "lpips": 0.34117621183395386}, "wrist_left": {"psnr": 14.207546684989946, "ssim": 0.626229265758652, "lpips": 0.41461890935897827}, "wrist_right": {"psnr": 19.192403653027124, "ssim": 0.7256281726593102, "lpips": 0.2935168147087097}, "tactile_left": {"psnr": 33.17217407702563, "ssim": 0.9530124019036974, "lpips": 0.2178330421447754}, "tactile_right": {"psnr": 34.20979589910114, "ssim": 0.9612814948409769, "lpips": 0.168584942817688}}, {"video": {"psnr": 20.986037892673366, "ssim": 0.70393701603727, "lpips": 0.3562231659889221}, "wrist_left": {"psnr": 14.392697370838565, "ssim": 0.6334788672663021, "lpips": 0.39653804898262024}, "wrist_right": {"psnr": 19.349404971454835, "ssim": 0.6926610271617635, "lpips": 0.3008994460105896}, "tactile_left": {"psnr": 31.34891118730144, "ssim": 0.9341010424705285, "lpips": 0.2860434651374817}, "tactile_right": {"psnr": 33.46896372890997, "ssim": 0.9573545840444764, "lpips": 0.19520947337150574}}, {"video": {"psnr": 20.97758028487743, "ssim": 0.6935167462988935, "lpips": 0.3528088331222534}, "wrist_left": {"psnr": 14.159641725505734, "ssim": 0.6147028462217308, "lpips": 0.4030541181564331}, "wrist_right": {"psnr": 16.250442121773993, "ssim": 0.6486860968254832, "lpips": 0.35659345984458923}, "tactile_left": {"psnr": 33.25626272696895, "ssim": 0.9567964267664755, "lpips": 0.20031176507472992}, "tactile_right": {"psnr": 33.05560056339493, "ssim": 0.9586378272862228, "lpips": 0.19130432605743408}}, {"video": {"psnr": 20.914770447662917, "ssim": 0.6901130439159942, "lpips": 0.3489314913749695}, "wrist_left": {"psnr": 13.685965366381946, "ssim": 0.6064944833835497, "lpips": 0.37674760818481445}, "wrist_right": {"psnr": 14.313974751677126, "ssim": 0.5819041115686796, "lpips": 0.41894957423210144}, "tactile_left": {"psnr": 32.686917762262134, "ssim": 0.9496934256347612, "lpips": 0.23275542259216309}, "tactile_right": {"psnr": 32.49860506383363, "ssim": 0.9551711441392938, "lpips": 0.2186415046453476}}], "long_metrics": {"video": {"psnr": 22.037558256485166, "ssim": 0.7367535226877773, "lpips": 0.2575458616018295}, "wrist_left": {"psnr": 15.668421615508525, "ssim": 0.674114680316668, "lpips": 0.35253789524237317}, "wrist_right": {"psnr": 18.89010566317302, "ssim": 0.702730272380904, "lpips": 0.32045178016026815}, "tactile_left": {"psnr": 35.3900441307789, "ssim": 0.958440750426734, "lpips": 0.1647701029976209}, "tactile_right": {"psnr": 35.36241872672016, "ssim": 0.9647234238802104, "lpips": 0.13937855238715807}}}, {"id": "rope_03", "episode": "rope_0911_episode_002_seg00.pt", "requested_episode": "rope_0911_episode_002_seg00.pt", "category": "full", "t_start": 244, "start_seconds": 16.266666666666666, "short_contact": [1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1], "future_transition_ticks": [], "long_contact_fraction": 0.8984375, "long_label": "full", "short_metrics": {"video": {"psnr": 25.6973426542306, "ssim": 0.8663000914454932, "lpips": 0.09826654195785522}, "wrist_left": {"psnr": 23.968191902001344, "ssim": 0.8078756646928845, "lpips": 0.0704462006688118}, "wrist_right": {"psnr": 17.027304481699304, "ssim": 0.7879547298415134, "lpips": 0.26093947887420654}, "tactile_left": {"psnr": 41.56460770529827, "ssim": 0.9749086966931777, "lpips": 0.030255787074565887}, "tactile_right": {"psnr": 49.13519018344472, "ssim": 0.993322910841941, "lpips": 0.00604312913492322}}, "media": {"short": {"video": "media/rope_03_short.mp4", "poster": "media/rope_03_short.jpg"}, "long": {"video": "media/rope_03_long.mp4", "poster": "media/rope_03_long.jpg"}}, "force": {"source": "recorded_normal_force", "units": "N", "fps": 15, "left": [4.726428508758545, 3.9167568683624268, 5.397500038146973, 4.819637775421143, 5.397500038146973, 5.397500038146973, 3.1971428394317627, 3.0568182468414307, 3.1971428394317627, 3.0568182468414307, 5.403749942779541, 5.397500038146973, 4.7560248374938965, 4.726428508758545, 4.726428508758545, 3.9167568683624268, 3.9167568683624268, 4.726428508758545, 5.397500038146973, 5.403749942779541, 5.403749942779541, 5.486666679382324, 5.486666679382324, 5.486666679382324, 5.486666679382324, 5.403749942779541, 5.486666679382324, 5.403749942779541, 5.398825168609619, 5.403749942779541, 5.403749942779541, 5.397500038146973, 5.397500038146973, 5.397500038146973, 5.403749942779541, 5.403749942779541, 4.726428508758545, 4.726428508758545, 3.9167568683624268, 3.1971428394317627, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 2.6312499046325684, 2.5918307304382324, 2.6312499046325684, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.9167568683624268, 3.9167568683624268, 3.9167568683624268, 3.9167568683624268, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 3.0568182468414307, 2.3248276710510254, 4.726428508758545, 4.852499961853027, 5.403749942779541, 5.403749942779541, 5.403749942779541, 5.403749942779541, 3.1971428394317627, 3.0568182468414307, 3.0568182468414307, 3.1971428394317627, 3.9167568683624268, 3.737365484237671, 3.9167568683624268, 3.0568182468414307, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "right": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.1052829772233963, 0.1599999964237213, 0.5600000023841858, 3.0568182468414307, 3.938593626022339, 4.726428508758545, 3.9201748371124268, 3.9167568683624268, 3.9167568683624268, 3.9167568683624268, 3.0568182468414307, 3.0568182468414307, 3.9167568683624268, 3.9167568683624268, 3.9297027587890625, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 2.3248276710510254, 2.3248276710510254, 3.0568182468414307, 2.3248276710510254, 2.3248276710510254, 3.9167568683624268, 3.1971428394317627, 3.0568182468414307, 1.0995910167694092, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 3.0568182468414307, 3.9167568683624268, 3.0568182468414307, 3.0568182468414307, 3.9167568683624268, 3.9167568683624268, 3.9167568683624268, 3.9167568683624268, 3.9167568683624268, 3.9167568683624268, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.9167568683624268, 3.9167568683624268, 3.9167568683624268, 3.9167568683624268, 3.9167568683624268, 4.726428508758545, 4.726428508758545, 4.726428508758545, 3.9167568683624268, 3.9167568683624268, 2.3248276710510254, 0.7983333468437195, 0.6965363025665283, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 3.9167568683624268, 4.726428508758545, 5.486666679382324, 5.486666679382324, 5.486666679382324, 5.43625020980835, 5.397500038146973, 5.397500038146973, 5.397500038146973, 4.726428508758545, 4.726428508758545, 3.9167568683624268, 0.8890356421470642, 0.0, 0.0, 0.4000000059604645, 3.0568182468414307, 4.726428508758545, 4.726428508758545, 5.403749942779541, 5.486666679382324, 5.486666679382324, 5.405907154083252, 5.403749942779541, 5.486666679382324, 6.373636245727539, 5.403749942779541, 4.726428508758545, 5.239090442657471, 5.486666679382324, 6.519285678863525, 5.424369812011719, 5.486666679382324, 6.519285678863525, 6.760714054107666, 5.486666679382324, 5.486666679382324, 5.397500038146973, 3.9167568683624268, 0.0, 0.0]}, "long_curve": [{"video": {"psnr": 25.6973426542306, "ssim": 0.8663000914454932, "lpips": 0.09826654195785522}, "wrist_left": {"psnr": 23.968191902001344, "ssim": 0.8078756646928845, "lpips": 0.0704462006688118}, "wrist_right": {"psnr": 17.027304481699304, "ssim": 0.7879547298415134, "lpips": 0.26093947887420654}, "tactile_left": {"psnr": 41.56460770529827, "ssim": 0.9749086966931777, "lpips": 0.030255787074565887}, "tactile_right": {"psnr": 49.13519018344472, "ssim": 0.993322910841941, "lpips": 0.00604312913492322}}, {"video": {"psnr": 22.8939840358013, "ssim": 0.7881408048531133, "lpips": 0.19102376699447632}, "wrist_left": {"psnr": 18.177566023328286, "ssim": 0.6464570570429662, "lpips": 0.18143291771411896}, "wrist_right": {"psnr": 15.904954913102927, "ssim": 0.7054623546722505, "lpips": 0.3493717908859253}, "tactile_left": {"psnr": 35.56109441407084, "ssim": 0.9553245139347243, "lpips": 0.10600824654102325}, "tactile_right": {"psnr": 37.15436210338324, "ssim": 0.9715439636679184, "lpips": 0.1131296157836914}}, {"video": {"psnr": 22.049500178873757, "ssim": 0.7539244527531164, "lpips": 0.25449010729789734}, "wrist_left": {"psnr": 14.994383564781621, "ssim": 0.5400234752476546, "lpips": 0.3257558047771454}, "wrist_right": {"psnr": 15.40889281692075, "ssim": 0.6844443894130621, "lpips": 0.3163674473762512}, "tactile_left": {"psnr": 32.728341970529655, "ssim": 0.9432447818698293, "lpips": 0.217476487159729}, "tactile_right": {"psnr": 37.42142815394083, "ssim": 0.9709188409105203, "lpips": 0.1135643869638443}}, {"video": {"psnr": 21.811857153243878, "ssim": 0.7475612638337876, "lpips": 0.3029855191707611}, "wrist_left": {"psnr": 13.969941404223565, "ssim": 0.5129723869120733, "lpips": 0.36018455028533936}, "wrist_right": {"psnr": 14.699160000364502, "ssim": 0.6394893496822499, "lpips": 0.35694319009780884}, "tactile_left": {"psnr": 33.40581267468535, "ssim": 0.9499171598494975, "lpips": 0.17027677595615387}, "tactile_right": {"psnr": 37.91370170600438, "ssim": 0.9723441461331195, "lpips": 0.09000875055789948}}, {"video": {"psnr": 21.960877590952336, "ssim": 0.7457341024104239, "lpips": 0.29156428575515747}, "wrist_left": {"psnr": 13.717802290421, "ssim": 0.4999019172137463, "lpips": 0.37188202142715454}, "wrist_right": {"psnr": 17.180387504063393, "ssim": 0.7020746094740297, "lpips": 0.3305718004703522}, "tactile_left": {"psnr": 34.32566404870728, "ssim": 0.9570737175128339, "lpips": 0.12944185733795166}, "tactile_right": {"psnr": 40.42601342175065, "ssim": 0.9780284018651753, "lpips": 0.06700272858142853}}, {"video": {"psnr": 21.944455228440663, "ssim": 0.7412629472620624, "lpips": 0.26041847467422485}, "wrist_left": {"psnr": 13.488363762484227, "ssim": 0.5183966130971591, "lpips": 0.3843558430671692}, "wrist_right": {"psnr": 16.131435561396202, "ssim": 0.6495820429498834, "lpips": 0.3827497363090515}, "tactile_left": {"psnr": 33.73951459065494, "ssim": 0.9582540138135915, "lpips": 0.12453310191631317}, "tactile_right": {"psnr": 37.540305082737206, "ssim": 0.9709990876450532, "lpips": 0.13082143664360046}}, {"video": {"psnr": 21.73666460337225, "ssim": 0.7197125467434279, "lpips": 0.242855966091156}, "wrist_left": {"psnr": 14.171170933081815, "ssim": 0.5808673428864677, "lpips": 0.37380215525627136}, "wrist_right": {"psnr": 16.00973404851882, "ssim": 0.650947650485869, "lpips": 0.37406668066978455}, "tactile_left": {"psnr": 35.02772835772211, "ssim": 0.9673339682747508, "lpips": 0.08706335723400116}, "tactile_right": {"psnr": 37.1227209294477, "ssim": 0.9708037069230954, "lpips": 0.12759990990161896}}, {"video": {"psnr": 21.670848357182354, "ssim": 0.7257291376183183, "lpips": 0.24147263169288635}, "wrist_left": {"psnr": 13.825193836442642, "ssim": 0.5615423510170545, "lpips": 0.3785562217235565}, "wrist_right": {"psnr": 15.507930596156328, "ssim": 0.6447636255214599, "lpips": 0.3685421943664551}, "tactile_left": {"psnr": 30.490167970969814, "ssim": 0.942337177424982, "lpips": 0.19105255603790283}, "tactile_right": {"psnr": 36.83557496670231, "ssim": 0.96828500594186, "lpips": 0.15445534884929657}}, {"video": {"psnr": 21.726540174713, "ssim": 0.7273636568720445, "lpips": 0.24600285291671753}, "wrist_left": {"psnr": 13.363710323788725, "ssim": 0.5751871147185994, "lpips": 0.3933712840080261}, "wrist_right": {"psnr": 15.548451195867994, "ssim": 0.6537307427784724, "lpips": 0.36354583501815796}, "tactile_left": {"psnr": 30.454889958733354, "ssim": 0.9479288442895379, "lpips": 0.17252834141254425}, "tactile_right": {"psnr": 36.21216194776133, "ssim": 0.9685494021519309, "lpips": 0.15226250886917114}}, {"video": {"psnr": 21.60283748285798, "ssim": 0.724604982861226, "lpips": 0.27446502447128296}, "wrist_left": {"psnr": 14.870153714192114, "ssim": 0.564127020684609, "lpips": 0.38749849796295166}, "wrist_right": {"psnr": 17.36071862970431, "ssim": 0.7193943855984367, "lpips": 0.34096258878707886}, "tactile_left": {"psnr": 33.01837536700863, "ssim": 0.9631211820182859, "lpips": 0.10558703541755676}, "tactile_right": {"psnr": 35.46978028250803, "ssim": 0.9677911048352841, "lpips": 0.1475725769996643}}, {"video": {"psnr": 20.765537970720622, "ssim": 0.7006519551302897, "lpips": 0.3153979182243347}, "wrist_left": {"psnr": 14.885038733956915, "ssim": 0.5109396834677369, "lpips": 0.39278626441955566}, "wrist_right": {"psnr": 14.450579997268328, "ssim": 0.6318742454396511, "lpips": 0.41092735528945923}, "tactile_left": {"psnr": 32.78517045544489, "ssim": 0.9610947562273332, "lpips": 0.11988358199596405}, "tactile_right": {"psnr": 32.952864696877995, "ssim": 0.9502598110528464, "lpips": 0.2754438817501068}}, {"video": {"psnr": 20.881569667152032, "ssim": 0.6989886052072967, "lpips": 0.3080376386642456}, "wrist_left": {"psnr": 15.312522684760243, "ssim": 0.5136555241546112, "lpips": 0.38768309354782104}, "wrist_right": {"psnr": 13.866614887691712, "ssim": 0.6204790972945362, "lpips": 0.4279678165912628}, "tactile_left": {"psnr": 32.66012959233077, "ssim": 0.9585006209962379, "lpips": 0.13888618350028992}, "tactile_right": {"psnr": 33.84163430414957, "ssim": 0.9576976831822155, "lpips": 0.22549235820770264}}, {"video": {"psnr": 21.035058003054544, "ssim": 0.6962082958754477, "lpips": 0.3133932948112488}, "wrist_left": {"psnr": 15.441787242121412, "ssim": 0.5650509004275635, "lpips": 0.37274202704429626}, "wrist_right": {"psnr": 13.943891013809228, "ssim": 0.604408902373046, "lpips": 0.4353415369987488}, "tactile_left": {"psnr": 32.336270676222874, "ssim": 0.9565453411747455, "lpips": 0.15544819831848145}, "tactile_right": {"psnr": 31.593306226656832, "ssim": 0.9388922970232974, "lpips": 0.30556267499923706}}, {"video": {"psnr": 21.113811215041505, "ssim": 0.6820202085946598, "lpips": 0.3122173547744751}, "wrist_left": {"psnr": 15.347493317170233, "ssim": 0.5820670667522427, "lpips": 0.3711406886577606}, "wrist_right": {"psnr": 13.541616810363719, "ssim": 0.6086858487843496, "lpips": 0.41532719135284424}, "tactile_left": {"psnr": 32.084977810672235, "ssim": 0.9543452255931939, "lpips": 0.17779898643493652}, "tactile_right": {"psnr": 31.65900692777424, "ssim": 0.9391619363654642, "lpips": 0.29185038805007935}}, {"video": {"psnr": 21.677750703060585, "ssim": 0.6932139526668951, "lpips": 0.285567045211792}, "wrist_left": {"psnr": 15.185934063833258, "ssim": 0.5719443665078483, "lpips": 0.39704087376594543}, "wrist_right": {"psnr": 14.010216516701332, "ssim": 0.6025133801738061, "lpips": 0.41119831800460815}, "tactile_left": {"psnr": 31.665015394696606, "ssim": 0.9516618023566766, "lpips": 0.1921224296092987}, "tactile_right": {"psnr": 32.01154310148438, "ssim": 0.940070578017379, "lpips": 0.2846040427684784}}], "long_metrics": {"video": {"psnr": 21.90457566791316, "ssim": 0.7340944669418402, "lpips": 0.2625438948472341}, "wrist_left": {"psnr": 15.38128358643916, "ssim": 0.5700672323215479, "lpips": 0.34324522962172827}, "wrist_right": {"psnr": 15.372792598241922, "ssim": 0.6603870236321744, "lpips": 0.3696548640727997}, "tactile_left": {"psnr": 33.45651739918318, "ssim": 0.9561061201352933, "lpips": 0.14122419506311418}, "tactile_right": {"psnr": 36.48597293564156, "ssim": 0.96391125843714, "lpips": 0.16569424920404952}}}, {"id": "rope_04", "episode": "rope_0911_episode_002_seg01.pt", "requested_episode": "rope_0911_episode_002_seg01.pt", "category": "onset", "t_start": 616, "start_seconds": 41.06666666666667, "short_contact": [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 1], "future_transition_ticks": [11], "long_contact_fraction": 0.5625, "long_label": "onset", "short_metrics": {"video": {"psnr": 25.00183337742247, "ssim": 0.8312724463069014, "lpips": 0.13098964095115662}, "wrist_left": {"psnr": 17.639884616068425, "ssim": 0.722672939463474, "lpips": 0.2067604809999466}, "wrist_right": {"psnr": 18.43389610958566, "ssim": 0.712669842335514, "lpips": 0.2234434336423874}, "tactile_left": {"psnr": 50.44953008432924, "ssim": 0.9949742607957763, "lpips": 0.0032748542726039886}, "tactile_right": {"psnr": 39.63706349795675, "ssim": 0.9856388053808487, "lpips": 0.0644291341304779}}, "media": {"short": {"video": "media/rope_04_short.mp4", "poster": "media/rope_04_short.jpg"}, "long": {"video": "media/rope_04_long.mp4", "poster": "media/rope_04_long.jpg"}}, "force": {"source": "recorded_normal_force", "units": "N", "fps": 15, "left": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "right": [0.09743037819862366, 0.09045028686523438, 0.09423117339611053, 0.09452200680971146, 0.09713953733444214, 0.0994662344455719, 0.10004790872335434, 0.09306782484054565, 0.09743037819862366, 0.10906385630369186, 0.09830288589000702, 1.9444444179534912, 3.0814130306243896, 3.9167568683624268, 4.852499961853027, 5.403749942779541, 6.373636245727539, 4.852499961853027, 3.9167568683624268, 3.9167568683624268, 2.3248276710510254, 0.10702799260616302, 0.10731883347034454, 0.09830288589000702, 0.1038287878036499, 0.10208376497030258, 0.09277698397636414, 0.0907411277294159, 0.09335865825414658, 0.09335865825414658, 0.10411962866783142, 3.9167568683624268, 6.519285678863525, 6.760714054107666, 6.760714054107666, 6.760714054107666, 6.760714054107666, 6.760714054107666, 6.519285678863525, 0.7191400527954102, 0.10760966688394547, 0.11429891735315323, 0.10702799260616302, 0.09859372675418854, 0.0994662344455719, 0.09452200680971146, 2.3248276710510254, 3.0568182468414307, 3.9167568683624268, 4.726428508758545, 4.726428508758545, 2.3248276710510254, 0.10179293155670166, 0.0936494991183281, 0.10121125727891922, 0.10150209069252014, 0.09888456016778946, 0.0951036810874939, 0.10121125727891922, 0.10179293155670166, 0.1599999964237213, 0.1744210571050644, 0.0907411277294159, 0.09772121161222458, 0.09248615056276321, 0.09539452195167542, 3.9167568683624268, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 0.7983333468437195, 0.7983333468437195, 1.1659514904022217, 0.5310092568397522, 0.5160641670227051, 0.5600000023841858, 0.7983333468437195, 0.09306782484054565, 0.09277698397636414, 0.0907411277294159, 0.09888456016778946, 0.09713953733444214, 0.0980120524764061, 0.08928694576025009, 0.09132280200719833, 0.09394033253192902, 1.9444444179534912, 3.9167568683624268, 4.726428508758545, 5.397500038146973, 5.486666679382324, 5.486666679382324, 5.403749942779541, 5.397500038146973, 5.486666679382324, 6.519285678863525, 6.760714054107666, 2.3248276710510254, 6.519285678863525, 0.7983333468437195, 0.13349415361881256, 0.11284473538398743, 0.10760966688394547, 0.11197222769260406, 0.10324711352586746, 0.11546226590871811, 5.397500038146973, 5.486666679382324, 6.760714054107666, 6.760714054107666, 6.760714054107666, 7.216741561889648, 7.349999904632568, 7.130000114440918, 6.760714054107666, 6.760714054107666, 6.519285678863525, 5.403749942779541, 4.726428508758545, 4.726428508758545, 4.726428508758545, 4.726428508758545, 3.9167568683624268, 3.1971428394317627, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307]}, "long_curve": [{"video": {"psnr": 25.00183337742247, "ssim": 0.8312724463069014, "lpips": 0.13098964095115662}, "wrist_left": {"psnr": 17.639884616068425, "ssim": 0.722672939463474, "lpips": 0.2067604809999466}, "wrist_right": {"psnr": 18.43389610958566, "ssim": 0.712669842335514, "lpips": 0.2234434336423874}, "tactile_left": {"psnr": 50.44953008432924, "ssim": 0.9949742607957763, "lpips": 0.0032748542726039886}, "tactile_right": {"psnr": 39.63706349795675, "ssim": 0.9856388053808487, "lpips": 0.0644291341304779}}, {"video": {"psnr": 21.74754353377963, "ssim": 0.7356910644555055, "lpips": 0.2617281675338745}, "wrist_left": {"psnr": 15.462816861083255, "ssim": 0.6231374599246098, "lpips": 0.30329427123069763}, "wrist_right": {"psnr": 18.043789111860352, "ssim": 0.7003718029798378, "lpips": 0.2833086848258972}, "tactile_left": {"psnr": 47.6426577467442, "ssim": 0.9916920325992382, "lpips": 0.009963080286979675}, "tactile_right": {"psnr": 38.73308068386589, "ssim": 0.9769235200381257, "lpips": 0.0696406215429306}}, {"video": {"psnr": 22.033848367523316, "ssim": 0.7379133383490571, "lpips": 0.26829200983047485}, "wrist_left": {"psnr": 15.94087980525054, "ssim": 0.6302973802661807, "lpips": 0.3074978291988373}, "wrist_right": {"psnr": 19.08977342669231, "ssim": 0.7566410389741722, "lpips": 0.27433452010154724}, "tactile_left": {"psnr": 45.37851869836779, "ssim": 0.9881910314905831, "lpips": 0.019903279840946198}, "tactile_right": {"psnr": 41.312006812812626, "ssim": 0.9818145784814372, "lpips": 0.04020508751273155}}, {"video": {"psnr": 22.41101973009913, "ssim": 0.7528027525174004, "lpips": 0.23651155829429626}, "wrist_left": {"psnr": 15.817874937186993, "ssim": 0.6461041645373009, "lpips": 0.3024671673774719}, "wrist_right": {"psnr": 16.01360246388825, "ssim": 0.6695413096561911, "lpips": 0.3514341115951538}, "tactile_left": {"psnr": 43.88164495382587, "ssim": 0.9839132254801537, "lpips": 0.033846206963062286}, "tactile_right": {"psnr": 33.76401653457766, "ssim": 0.9557254168515582, "lpips": 0.1742682158946991}}, {"video": {"psnr": 22.411572980919402, "ssim": 0.75040957151069, "lpips": 0.2894776165485382}, "wrist_left": {"psnr": 15.553944546204505, "ssim": 0.6438929853782018, "lpips": 0.27113622426986694}, "wrist_right": {"psnr": 15.082776552182064, "ssim": 0.6606606101499972, "lpips": 0.36459529399871826}, "tactile_left": {"psnr": 42.73202781664054, "ssim": 0.9814066763058316, "lpips": 0.04533962532877922}, "tactile_right": {"psnr": 39.71397952034088, "ssim": 0.9780728882368395, "lpips": 0.06531194597482681}}, {"video": {"psnr": 21.744478799394813, "ssim": 0.7294201631881305, "lpips": 0.35127952694892883}, "wrist_left": {"psnr": 16.595219298909672, "ssim": 0.6729636128925368, "lpips": 0.28316473960876465}, "wrist_right": {"psnr": 14.843395932597549, "ssim": 0.6469413786285614, "lpips": 0.3896827697753906}, "tactile_left": {"psnr": 41.81757307884695, "ssim": 0.9790316823753205, "lpips": 0.06236230209469795}, "tactile_right": {"psnr": 37.45623630196079, "ssim": 0.9733105842702969, "lpips": 0.09941742569208145}}, {"video": {"psnr": 21.52235960507124, "ssim": 0.7449310960190558, "lpips": 0.3942773640155792}, "wrist_left": {"psnr": 16.741097098313723, "ssim": 0.7029523334203434, "lpips": 0.31886354088783264}, "wrist_right": {"psnr": 16.276894374665513, "ssim": 0.6988597742195886, "lpips": 0.3309575319290161}, "tactile_left": {"psnr": 40.90635312046469, "ssim": 0.9771385542213922, "lpips": 0.07811667770147324}, "tactile_right": {"psnr": 38.8839463675429, "ssim": 0.9755639295652666, "lpips": 0.08076506853103638}}, {"video": {"psnr": 21.796643694019764, "ssim": 0.7466616980973261, "lpips": 0.37821438908576965}, "wrist_left": {"psnr": 15.873657348386303, "ssim": 0.6585739029594726, "lpips": 0.3084716498851776}, "wrist_right": {"psnr": 16.420922124923358, "ssim": 0.6974824846827776, "lpips": 0.3555229902267456}, "tactile_left": {"psnr": 39.792407857540404, "ssim": 0.9753396214693824, "lpips": 0.09634818881750107}, "tactile_right": {"psnr": 37.27310549223955, "ssim": 0.9716495461810866, "lpips": 0.11798301339149475}}, {"video": {"psnr": 21.33935468921978, "ssim": 0.7221379791742091, "lpips": 0.39668160676956177}, "wrist_left": {"psnr": 15.663783927164374, "ssim": 0.6377524829737993, "lpips": 0.3296723961830139}, "wrist_right": {"psnr": 15.075644695708029, "ssim": 0.6648470062666751, "lpips": 0.3614733815193176}, "tactile_left": {"psnr": 38.47974061412379, "ssim": 0.9720545335295032, "lpips": 0.1086883544921875}, "tactile_right": {"psnr": 37.041551315107384, "ssim": 0.9716473447242447, "lpips": 0.1076752170920372}}, {"video": {"psnr": 21.13713529136134, "ssim": 0.6725409800480465, "lpips": 0.4019733667373657}, "wrist_left": {"psnr": 13.833072506472773, "ssim": 0.5955216590581485, "lpips": 0.3590388298034668}, "wrist_right": {"psnr": 13.508888139606693, "ssim": 0.6322809159115761, "lpips": 0.4414142370223999}, "tactile_left": {"psnr": 37.50910194137377, "ssim": 0.968283929054855, "lpips": 0.12977395951747894}, "tactile_right": {"psnr": 36.28014622613329, "ssim": 0.9684403333719156, "lpips": 0.12658488750457764}}, {"video": {"psnr": 21.37666059557679, "ssim": 0.6735123679833694, "lpips": 0.39209601283073425}, "wrist_left": {"psnr": 13.729559984231727, "ssim": 0.5648024490414905, "lpips": 0.3806483745574951}, "wrist_right": {"psnr": 12.856182256049507, "ssim": 0.5787801599317398, "lpips": 0.50361168384552}, "tactile_left": {"psnr": 36.46763190737417, "ssim": 0.9651579522406407, "lpips": 0.15290674567222595}, "tactile_right": {"psnr": 32.78653721144491, "ssim": 0.9496401688696097, "lpips": 0.2229284644126892}}, {"video": {"psnr": 21.31033136799328, "ssim": 0.6952927832958807, "lpips": 0.3941159248352051}, "wrist_left": {"psnr": 13.771164347680324, "ssim": 0.5571532343328234, "lpips": 0.4036104083061218}, "wrist_right": {"psnr": 14.652971957048699, "ssim": 0.674245618448127, "lpips": 0.39095792174339294}, "tactile_left": {"psnr": 35.83910492169941, "ssim": 0.9625390293058113, "lpips": 0.17271262407302856}, "tactile_right": {"psnr": 34.93817815781851, "ssim": 0.962695817515949, "lpips": 0.16586202383041382}}, {"video": {"psnr": 21.18363156550457, "ssim": 0.6947941057466762, "lpips": 0.4131149649620056}, "wrist_left": {"psnr": 14.29499238005592, "ssim": 0.5404808760139177, "lpips": 0.43302121758461}, "wrist_right": {"psnr": 14.642873980111435, "ssim": 0.6264062184534402, "lpips": 0.43850672245025635}, "tactile_left": {"psnr": 35.50070745498094, "ssim": 0.9611642564039491, "lpips": 0.18321272730827332}, "tactile_right": {"psnr": 33.99304354694899, "ssim": 0.9539517418080103, "lpips": 0.2136741578578949}}, {"video": {"psnr": 20.858895161221767, "ssim": 0.6816265801903614, "lpips": 0.4394714832305908}, "wrist_left": {"psnr": 13.801072153765992, "ssim": 0.5056279701551125, "lpips": 0.4538254141807556}, "wrist_right": {"psnr": 15.162283005278193, "ssim": 0.598492431867169, "lpips": 0.42624396085739136}, "tactile_left": {"psnr": 35.17850156411897, "ssim": 0.9593790346638239, "lpips": 0.1948547661304474}, "tactile_right": {"psnr": 32.41121964365148, "ssim": 0.9428121892913497, "lpips": 0.25276193022727966}}, {"video": {"psnr": 20.710531802413158, "ssim": 0.6689018621981891, "lpips": 0.4485660493373871}, "wrist_left": {"psnr": 13.906516500389428, "ssim": 0.5081516596605037, "lpips": 0.428127646446228}, "wrist_right": {"psnr": 15.903763715452621, "ssim": 0.6166887452539935, "lpips": 0.43853747844696045}, "tactile_left": {"psnr": 34.50939446250547, "ssim": 0.9564433253211942, "lpips": 0.21048493683338165}, "tactile_right": {"psnr": 32.285111557889586, "ssim": 0.9467046397035541, "lpips": 0.2304515242576599}}], "long_metrics": {"video": {"psnr": 21.772389370768032, "ssim": 0.7225272526053866, "lpips": 0.34645264546076454}, "wrist_left": {"psnr": 15.241702420744264, "ssim": 0.6140056740051943, "lpips": 0.3393066793680191}, "wrist_right": {"psnr": 15.733843856376684, "ssim": 0.6623272891839574, "lpips": 0.3716016481320063}, "tactile_left": {"psnr": 40.405659748195745, "ssim": 0.9744472763504971, "lpips": 0.1001192219555378}, "tactile_right": {"psnr": 36.43394819135275, "ssim": 0.9663061002860062, "lpips": 0.13546391452352205}}}, {"id": "rope_05", "episode": "rope_0911_episode_002_seg01.pt", "requested_episode": "rope_0911_episode_002_seg01.pt", "category": "release", "t_start": 372, "start_seconds": 24.8, "short_contact": [1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 0, 0], "future_transition_ticks": [11], "long_contact_fraction": 0.8046875, "long_label": "release", "short_metrics": {"video": {"psnr": 23.937224474083884, "ssim": 0.8169220327342094, "lpips": 0.1333593875169754}, "wrist_left": {"psnr": 16.314710719733956, "ssim": 0.6793084181943265, "lpips": 0.2928919792175293}, "wrist_right": {"psnr": 20.904845514730837, "ssim": 0.7759597544865706, "lpips": 0.23800048232078552}, "tactile_left": {"psnr": 39.81914036809087, "ssim": 0.9800066786773522, "lpips": 0.04944334179162979}, "tactile_right": {"psnr": 42.860800597789066, "ssim": 0.9839383287218176, "lpips": 0.02347194403409958}}, "media": {"short": {"video": "media/rope_05_short.mp4", "poster": "media/rope_05_short.jpg"}, "long": {"video": "media/rope_05_long.mp4", "poster": "media/rope_05_long.jpg"}}, "force": {"source": "recorded_normal_force", "units": "N", "fps": 15, "left": [6.519285678863525, 6.519285678863525, 6.760714054107666, 6.519285678863525, 6.760714054107666, 6.760714054107666, 6.519285678863525, 6.373636245727539, 5.403749942779541, 0.07926411181688309, 3.1971428394317627, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 4.726428508758545, 4.852499961853027, 5.403749942779541, 6.519285678863525, 6.519285678863525, 6.519285678863525, 7.130000114440918, 7.130000114440918, 4.726428508758545, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 2.6312499046325684, 1.9444444179534912, 3.0568182468414307, 4.726428508758545, 3.0568182468414307, 0.0, 0.0, 0.0, 0.0, 0.0, 3.1971428394317627, 0.0, 0.0, 0.0, 0.0, 3.0568182468414307, 3.9167568683624268, 5.397500038146973, 4.852499961853027, 5.403749942779541, 5.403749942779541, 5.403749942779541, 5.403749942779541, 5.486666679382324, 6.373636245727539, 6.519285678863525, 6.760714054107666, 6.760714054107666, 6.760714054107666, 6.760714054107666, 1.9444444179534912, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.5376956462860107, 3.0568182468414307, 4.726428508758545, 5.486666679382324, 5.486666679382324, 6.760714054107666, 6.760714054107666, 6.760714054107666, 7.230000019073486, 7.130000114440918, 7.488461494445801, 6.760714054107666, 6.519285678863525, 5.486666679382324, 5.397500038146973, 4.726428508758545, 3.9167568683624268, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.04871440306305885, 1.9444444179534912, 2.3248276710510254, 3.0568182468414307, 3.0568182468414307, 4.726428508758545, 4.726428508758545, 4.852499961853027, 4.726428508758545, 5.486666679382324, 5.486666679382324, 5.486666679382324, 5.486666679382324, 5.486666679382324, 5.486666679382324, 5.486666679382324, 6.519285678863525, 6.373636245727539, 5.397500038146973, 4.726428508758545], "right": [0.12913160026073456, 0.1297132819890976, 0.13145829737186432, 2.3248276710510254, 3.0568182468414307, 3.9167568683624268, 4.852499961853027, 4.852499961853027, 5.397500038146973, 4.726428508758545, 0.13814754784107208, 0.13814754784107208, 0.12098816782236099, 0.1282590925693512, 0.13174913823604584, 0.13000410795211792, 4.726428508758545, 4.726428508758545, 5.397500038146973, 5.397500038146973, 5.402092456817627, 5.397500038146973, 6.519285678863525, 6.760714054107666, 6.760714054107666, 5.486666679382324, 0.5047527551651001, 0.5047527551651001, 0.1297132819890976, 0.12302403151988983, 0.11982481926679611, 0.11837063729763031, 3.0568182468414307, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 3.0568182468414307, 0.13436667621135712, 0.11604394018650055, 0.11604394018650055, 0.11226306110620499, 0.12854993343353271, 2.3248276710510254, 2.3248276710510254, 0.10935468971729279, 0.12505988776683807, 0.1326216459274292, 2.3248276710510254, 3.9167568683624268, 4.726428508758545, 4.852499961853027, 4.726428508758545, 4.726428508758545, 5.486666679382324, 5.486666679382324, 6.373636245727539, 6.373636245727539, 5.486666679382324, 6.373636245727539, 6.760714054107666, 6.760714054107666, 6.760714054107666, 5.397500038146973, 0.1599999964237213, 0.1599603146314621, 0.14221926033496857, 0.14367344975471497, 0.14338260889053345, 0.13000410795211792, 0.13145829737186432, 0.1599999964237213, 0.5408617854118347, 0.7983333468437195, 1.9444444179534912, 2.3248276710510254, 2.3248276710510254, 1.6513943672180176, 2.244580030441284, 2.3248276710510254, 3.0568182468414307, 3.9167568683624268, 3.9167568683624268, 5.486666679382324, 6.373636245727539, 5.486666679382324, 4.726428508758545, 3.9167568683624268, 3.0568182468414307, 0.5600000023841858, 0.12098816782236099, 0.11924314498901367, 0.12186068296432495, 0.12884077429771423, 0.11895231157541275, 3.0568182468414307, 3.0568182468414307, 4.726428508758545, 5.486666679382324, 6.373636245727539, 5.403749942779541, 5.397500038146973, 5.397500038146973, 5.397500038146973, 5.417957305908203, 5.397500038146973, 3.9167568683624268, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 0.27666667103767395, 0.11517143249511719, 0.11429891735315323, 0.11778896301984787, 0.10499213635921478, 0.11168138682842255, 0.10848218202590942, 0.11546226590871811, 0.11168138682842255, 0.10790050774812698, 0.10731883347034454, 0.40809154510498047, 3.0568182468414307, 3.9258837699890137, 5.397500038146973, 6.760714054107666, 6.760714054107666, 7.230000019073486]}, "long_curve": [{"video": {"psnr": 23.937224474083884, "ssim": 0.8169220327342094, "lpips": 0.1333593875169754}, "wrist_left": {"psnr": 16.314710719733956, "ssim": 0.6793084181943265, "lpips": 0.2928919792175293}, "wrist_right": {"psnr": 20.904845514730837, "ssim": 0.7759597544865706, "lpips": 0.23800048232078552}, "tactile_left": {"psnr": 39.81914036809087, "ssim": 0.9800066786773522, "lpips": 0.04944334179162979}, "tactile_right": {"psnr": 42.860800597789066, "ssim": 0.9839383287218176, "lpips": 0.02347194403409958}}, {"video": {"psnr": 23.175316248793926, "ssim": 0.7829425181694343, "lpips": 0.12211111932992935}, "wrist_left": {"psnr": 15.949698525024022, "ssim": 0.6244406867455169, "lpips": 0.31903940439224243}, "wrist_right": {"psnr": 16.642049632259255, "ssim": 0.669823239960839, "lpips": 0.37741121649742126}, "tactile_left": {"psnr": 32.22489949751736, "ssim": 0.9546051546838171, "lpips": 0.12529723346233368}, "tactile_right": {"psnr": 33.074835445685146, "ssim": 0.9535202643396603, "lpips": 0.1835641860961914}}, {"video": {"psnr": 23.051765829431744, "ssim": 0.7753638020046447, "lpips": 0.17257022857666016}, "wrist_left": {"psnr": 16.13202262359899, "ssim": 0.6355400502730164, "lpips": 0.35586369037628174}, "wrist_right": {"psnr": 16.267443789146984, "ssim": 0.682805320315208, "lpips": 0.3737209439277649}, "tactile_left": {"psnr": 33.52001805134394, "ssim": 0.9642282739542438, "lpips": 0.101103775203228}, "tactile_right": {"psnr": 36.71523032782334, "ssim": 0.9734949439517941, "lpips": 0.08636684715747833}}, {"video": {"psnr": 24.04823088973911, "ssim": 0.7889180880102191, "lpips": 0.19691482186317444}, "wrist_left": {"psnr": 13.85875285533459, "ssim": 0.5758946773013776, "lpips": 0.389992892742157}, "wrist_right": {"psnr": 13.983705894013319, "ssim": 0.5952111395110044, "lpips": 0.4273971915245056}, "tactile_left": {"psnr": 33.7541577165309, "ssim": 0.9565453396077975, "lpips": 0.13367784023284912}, "tactile_right": {"psnr": 36.89042893479096, "ssim": 0.9755274713537909, "lpips": 0.05960601940751076}}, {"video": {"psnr": 24.272911227433454, "ssim": 0.7849195582269493, "lpips": 0.2023283988237381}, "wrist_left": {"psnr": 14.405482270868424, "ssim": 0.612116947203212, "lpips": 0.39699986577033997}, "wrist_right": {"psnr": 16.39570855497275, "ssim": 0.6583997199599024, "lpips": 0.36228078603744507}, "tactile_left": {"psnr": 36.2596589409242, "ssim": 0.9695980339007235, "lpips": 0.09080427885055542}, "tactile_right": {"psnr": 37.66698965681676, "ssim": 0.977083082486383, "lpips": 0.05865316838026047}}, {"video": {"psnr": 24.48621933612099, "ssim": 0.7891229659609793, "lpips": 0.19679200649261475}, "wrist_left": {"psnr": 13.10366340706108, "ssim": 0.5489793180713456, "lpips": 0.4075324833393097}, "wrist_right": {"psnr": 15.375674671825356, "ssim": 0.6170966590874263, "lpips": 0.42495009303092957}, "tactile_left": {"psnr": 32.97349769736475, "ssim": 0.9544994460335318, "lpips": 0.1459801197052002}, "tactile_right": {"psnr": 30.792145011064974, "ssim": 0.9429649311505726, "lpips": 0.21932022273540497}}, {"video": {"psnr": 25.361765810296117, "ssim": 0.8197811140332067, "lpips": 0.15267181396484375}, "wrist_left": {"psnr": 13.50397548011577, "ssim": 0.5458134912048567, "lpips": 0.408027708530426}, "wrist_right": {"psnr": 16.216504090968524, "ssim": 0.6115599436746401, "lpips": 0.40480437874794006}, "tactile_left": {"psnr": 31.522685975729363, "ssim": 0.9485684861159328, "lpips": 0.16493147611618042}, "tactile_right": {"psnr": 29.693089096638158, "ssim": 0.9289443433988449, "lpips": 0.24772626161575317}}, {"video": {"psnr": 23.59037419906686, "ssim": 0.7676524203547614, "lpips": 0.19436192512512207}, "wrist_left": {"psnr": 16.497934345270174, "ssim": 0.7114424721970367, "lpips": 0.3229774236679077}, "wrist_right": {"psnr": 17.997116232150134, "ssim": 0.7054741213664373, "lpips": 0.31802088022232056}, "tactile_left": {"psnr": 35.505374410146324, "ssim": 0.9691120005877611, "lpips": 0.10442450642585754}, "tactile_right": {"psnr": 35.36706435070801, "ssim": 0.9718376521368672, "lpips": 0.09254193305969238}}, {"video": {"psnr": 21.99635330352651, "ssim": 0.7314177799005709, "lpips": 0.23351719975471497}, "wrist_left": {"psnr": 14.69059149492904, "ssim": 0.6389653066484142, "lpips": 0.38233745098114014}, "wrist_right": {"psnr": 16.228062281772733, "ssim": 0.6131405668483157, "lpips": 0.38720810413360596}, "tactile_left": {"psnr": 35.32796196987324, "ssim": 0.9665204440010586, "lpips": 0.11663524806499481}, "tactile_right": {"psnr": 34.087887435518745, "ssim": 0.9623430661310846, "lpips": 0.15937140583992004}}, {"video": {"psnr": 22.12270629070167, "ssim": 0.7166175636416539, "lpips": 0.23179781436920166}, "wrist_left": {"psnr": 14.771126757506217, "ssim": 0.6376209910273768, "lpips": 0.37548694014549255}, "wrist_right": {"psnr": 14.470535198541905, "ssim": 0.5726582505148174, "lpips": 0.44337135553359985}, "tactile_left": {"psnr": 33.46822653976982, "ssim": 0.9583514252696415, "lpips": 0.15720917284488678}, "tactile_right": {"psnr": 32.692573487384394, "ssim": 0.9542823534341949, "lpips": 0.20796722173690796}}, {"video": {"psnr": 21.681490075352343, "ssim": 0.7045670559341018, "lpips": 0.24254362285137177}, "wrist_left": {"psnr": 12.719657133532163, "ssim": 0.49880113084536537, "lpips": 0.45671015977859497}, "wrist_right": {"psnr": 15.708835482750585, "ssim": 0.6532869777424195, "lpips": 0.41466617584228516}, "tactile_left": {"psnr": 31.455690829215776, "ssim": 0.9315258876582969, "lpips": 0.23028670251369476}, "tactile_right": {"psnr": 34.297460219476214, "ssim": 0.965355212235872, "lpips": 0.14161372184753418}}, {"video": {"psnr": 21.605519961409016, "ssim": 0.7057634567653204, "lpips": 0.23534448444843292}, "wrist_left": {"psnr": 12.763157190966432, "ssim": 0.4998299792381723, "lpips": 0.4626002907752991}, "wrist_right": {"psnr": 14.653045564976413, "ssim": 0.5840286334840441, "lpips": 0.4760690927505493}, "tactile_left": {"psnr": 31.1879694905023, "ssim": 0.9388055258866073, "lpips": 0.2190219759941101}, "tactile_right": {"psnr": 31.992598388163998, "ssim": 0.9440402006533757, "lpips": 0.23392876982688904}}, {"video": {"psnr": 21.32038429623043, "ssim": 0.6943160458390469, "lpips": 0.25614842772483826}, "wrist_left": {"psnr": 14.640462880695843, "ssim": 0.6373779297005652, "lpips": 0.397674024105072}, "wrist_right": {"psnr": 13.506188322384107, "ssim": 0.5467847942629797, "lpips": 0.4651973843574524}, "tactile_left": {"psnr": 33.125434636781826, "ssim": 0.9556237080547554, "lpips": 0.174900084733963}, "tactile_right": {"psnr": 31.93475475776166, "ssim": 0.947879300782609, "lpips": 0.2500338852405548}}, {"video": {"psnr": 21.50762839588157, "ssim": 0.6894576630850464, "lpips": 0.25775590538978577}, "wrist_left": {"psnr": 14.074258592316546, "ssim": 0.5421833560898256, "lpips": 0.3938634395599365}, "wrist_right": {"psnr": 18.190949477417735, "ssim": 0.6809521204793747, "lpips": 0.3704988956451416}, "tactile_left": {"psnr": 31.151925692894785, "ssim": 0.9361936331889329, "lpips": 0.21423156559467316}, "tactile_right": {"psnr": 33.270979144447274, "ssim": 0.9595836128050035, "lpips": 0.1772785186767578}}, {"video": {"psnr": 21.222368376827486, "ssim": 0.6792515204720311, "lpips": 0.28073713183403015}, "wrist_left": {"psnr": 13.635122230221963, "ssim": 0.5118856362428927, "lpips": 0.4028393030166626}, "wrist_right": {"psnr": 15.089405949406085, "ssim": 0.56527394456083, "lpips": 0.4396139085292816}, "tactile_left": {"psnr": 30.56744915099493, "ssim": 0.9297469436008189, "lpips": 0.2363591492176056}, "tactile_right": {"psnr": 31.973860982781382, "ssim": 0.946831924940946, "lpips": 0.26499009132385254}}], "long_metrics": {"video": {"psnr": 22.892017247659673, "ssim": 0.7498009056754784, "lpips": 0.20726361920436223}, "wrist_left": {"psnr": 14.470707767145013, "ssim": 0.5933466927322201, "lpips": 0.3843224704265594}, "wrist_right": {"psnr": 16.108671377154447, "ssim": 0.6354970124169873, "lpips": 0.39488072594006857}, "tactile_left": {"psnr": 33.45760606451203, "ssim": 0.9542620654147514, "lpips": 0.15095376471678415}, "tactile_right": {"psnr": 34.22071318912334, "ssim": 0.9591751125681878, "lpips": 0.16042894646525382}}}, {"id": "rope_06", "episode": "rope_0911_episode_002_seg01.pt", "requested_episode": "rope_0911_episode_002_seg01.pt", "category": "full", "t_start": 447, "start_seconds": 29.8, "short_contact": [1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1], "future_transition_ticks": [], "long_contact_fraction": 0.9921875, "long_label": "full", "short_metrics": {"video": {"psnr": 27.49052925231918, "ssim": 0.8866018785179729, "lpips": 0.05552632734179497}, "wrist_left": {"psnr": 19.53422154820379, "ssim": 0.6795324679849603, "lpips": 0.22075927257537842}, "wrist_right": {"psnr": 20.710139718490236, "ssim": 0.6807047476557727, "lpips": 0.17668920755386353}, "tactile_left": {"psnr": 33.69664933833591, "ssim": 0.967604944526302, "lpips": 0.11576592177152634}, "tactile_right": {"psnr": 37.00945085448534, "ssim": 0.9702341724314945, "lpips": 0.11872947216033936}}, "media": {"short": {"video": "media/rope_06_short.mp4", "poster": "media/rope_06_short.jpg"}, "long": {"video": "media/rope_06_long.mp4", "poster": "media/rope_06_long.jpg"}}, "force": {"source": "recorded_normal_force", "units": "N", "fps": 15, "left": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.5376956462860107, 3.0568182468414307, 4.726428508758545, 5.486666679382324, 5.486666679382324, 6.760714054107666, 6.760714054107666, 6.760714054107666, 7.230000019073486, 7.130000114440918, 7.488461494445801, 6.760714054107666, 6.519285678863525, 5.486666679382324, 5.397500038146973, 4.726428508758545, 3.9167568683624268, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.04871440306305885, 1.9444444179534912, 2.3248276710510254, 3.0568182468414307, 3.0568182468414307, 4.726428508758545, 4.726428508758545, 4.852499961853027, 4.726428508758545, 5.486666679382324, 5.486666679382324, 5.486666679382324, 5.486666679382324, 5.486666679382324, 5.486666679382324, 5.486666679382324, 6.519285678863525, 6.373636245727539, 5.397500038146973, 4.726428508758545, 3.0568182468414307, 1.9444444179534912, 2.3248276710510254, 3.0568182468414307, 3.1971428394317627, 3.9167568683624268, 3.9167568683624268, 3.9167568683624268, 0.5600000023841858, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.9444444179534912, 0.7983333468437195, 1.9444444179534912, 3.0568182468414307, 4.726428508758545, 5.403749942779541, 6.760714054107666, 6.519285678863525, 5.403749942779541, 5.403749942779541, 5.403749942779541, 4.852499961853027, 4.852499961853027, 4.852499961853027, 4.852499961853027, 4.726428508758545, 3.0568182468414307, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 3.0568182468414307, 3.9167568683624268, 4.726428508758545, 4.726428508758545, 4.726428508758545, 3.9167568683624268, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 2.3248276710510254, 0.7983333468437195, 0.0, 0.0, 0.0, 0.0, 0.0, 0.7983333468437195, 1.9444444179534912, 3.0568182468414307, 3.9167568683624268, 4.726428508758545, 4.852499961853027, 4.852499961853027, 3.9167568683624268, 3.9167568683624268, 3.1971428394317627, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 2.6312499046325684, 2.3248276710510254, 0.12701468169689178, 0.0], "right": [2.3248276710510254, 2.3248276710510254, 1.6513943672180176, 2.244580030441284, 2.3248276710510254, 3.0568182468414307, 3.9167568683624268, 3.9167568683624268, 5.486666679382324, 6.373636245727539, 5.486666679382324, 4.726428508758545, 3.9167568683624268, 3.0568182468414307, 0.5600000023841858, 0.12098816782236099, 0.11924314498901367, 0.12186068296432495, 0.12884077429771423, 0.11895231157541275, 3.0568182468414307, 3.0568182468414307, 4.726428508758545, 5.486666679382324, 6.373636245727539, 5.403749942779541, 5.397500038146973, 5.397500038146973, 5.397500038146973, 5.417957305908203, 5.397500038146973, 3.9167568683624268, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 0.27666667103767395, 0.11517143249511719, 0.11429891735315323, 0.11778896301984787, 0.10499213635921478, 0.11168138682842255, 0.10848218202590942, 0.11546226590871811, 0.11168138682842255, 0.10790050774812698, 0.10731883347034454, 0.40809154510498047, 3.0568182468414307, 3.9258837699890137, 5.397500038146973, 6.760714054107666, 6.760714054107666, 7.230000019073486, 7.130000114440918, 6.760714054107666, 6.760714054107666, 7.75, 7.75, 6.519285678863525, 0.7983333468437195, 0.14949019253253937, 0.144255131483078, 0.12127900868654251, 2.5907235145568848, 4.726428508758545, 4.726428508758545, 6.373636245727539, 6.519285678863525, 6.519285678863525, 6.373636245727539, 6.519285678863525, 6.760714054107666, 6.760714054107666, 6.519285678863525, 4.726428508758545, 3.0568182468414307, 2.6312499046325684, 0.7983333468437195, 0.11080887913703918, 0.09394033253192902, 0.11807980388402939, 0.11604394018650055, 0.11575310677289963, 0.12127900868654251, 0.27666667103767395, 4.726428508758545, 4.726428508758545, 5.403749942779541, 5.486666679382324, 4.852499961853027, 4.726428508758545, 3.9167568683624268, 3.9167568683624268, 1.9444444179534912, 0.10324711352586746, 0.1067371591925621, 0.11400808393955231, 0.11400808393955231, 0.11080887913703918, 0.11866147071123123, 0.12651407718658447, 0.11342640966176987, 0.10470130294561386, 0.7604053020477295, 3.0568182468414307, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.6312499046325684, 2.6312499046325684, 2.6312499046325684, 2.6312499046325684, 2.3248276710510254, 2.7645740509033203, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.1971428394317627, 3.0568182468414307, 3.0568182468414307, 0.1599999964237213, 0.11517143249511719, 0.10906385630369186, 0.11604394018650055, 0.10790050774812698, 3.0568182468414307, 3.9167568683624268]}, "long_curve": [{"video": {"psnr": 27.49052925231918, "ssim": 0.8866018785179729, "lpips": 0.05552632734179497}, "wrist_left": {"psnr": 19.53422154820379, "ssim": 0.6795324679849603, "lpips": 0.22075927257537842}, "wrist_right": {"psnr": 20.710139718490236, "ssim": 0.6807047476557727, "lpips": 0.17668920755386353}, "tactile_left": {"psnr": 33.69664933833591, "ssim": 0.967604944526302, "lpips": 0.11576592177152634}, "tactile_right": {"psnr": 37.00945085448534, "ssim": 0.9702341724314945, "lpips": 0.11872947216033936}}, {"video": {"psnr": 24.129925172909715, "ssim": 0.8225266097173958, "lpips": 0.10130846500396729}, "wrist_left": {"psnr": 17.166120647164984, "ssim": 0.6010648256036, "lpips": 0.2675815224647522}, "wrist_right": {"psnr": 17.872056882368604, "ssim": 0.7046744336839322, "lpips": 0.29784470796585083}, "tactile_left": {"psnr": 32.05475210500364, "ssim": 0.9417047158397212, "lpips": 0.18477970361709595}, "tactile_right": {"psnr": 37.46901847744039, "ssim": 0.9712933643433892, "lpips": 0.08837419003248215}}, {"video": {"psnr": 23.649141136255437, "ssim": 0.7983351892949873, "lpips": 0.11956576257944107}, "wrist_left": {"psnr": 18.309185020501456, "ssim": 0.6788837865343312, "lpips": 0.24834923446178436}, "wrist_right": {"psnr": 15.73385196853215, "ssim": 0.6003976895599978, "lpips": 0.304546594619751}, "tactile_left": {"psnr": 33.72492307399909, "ssim": 0.9608068566497178, "lpips": 0.10185085237026215}, "tactile_right": {"psnr": 31.797088331693256, "ssim": 0.9413054387874742, "lpips": 0.22567926347255707}}, {"video": {"psnr": 22.7440318690726, "ssim": 0.7710501785088928, "lpips": 0.16998350620269775}, "wrist_left": {"psnr": 16.637753664987464, "ssim": 0.6131401539644519, "lpips": 0.3551524877548218}, "wrist_right": {"psnr": 17.37837313141522, "ssim": 0.6711901225423724, "lpips": 0.29119813442230225}, "tactile_left": {"psnr": 32.69931385213021, "ssim": 0.9515153497250215, "lpips": 0.12823888659477234}, "tactile_right": {"psnr": 35.79043252712381, "ssim": 0.9684426711708338, "lpips": 0.101375050842762}}, {"video": {"psnr": 22.100587013716222, "ssim": 0.7533815286105842, "lpips": 0.20326228439807892}, "wrist_left": {"psnr": 14.401736802025018, "ssim": 0.4950332069631348, "lpips": 0.4035581350326538}, "wrist_right": {"psnr": 17.97448159461031, "ssim": 0.687155888604079, "lpips": 0.2859072983264923}, "tactile_left": {"psnr": 29.906923193729433, "ssim": 0.9217523805380636, "lpips": 0.2400420606136322}, "tactile_right": {"psnr": 38.034837872672284, "ssim": 0.9747537117326623, "lpips": 0.06131008267402649}}, {"video": {"psnr": 21.8821976891592, "ssim": 0.7470894822445397, "lpips": 0.22836372256278992}, "wrist_left": {"psnr": 14.664060495468407, "ssim": 0.49599619184989563, "lpips": 0.3957671523094177}, "wrist_right": {"psnr": 16.340658652980334, "ssim": 0.5918845140201643, "lpips": 0.36953866481781006}, "tactile_left": {"psnr": 30.412860115788433, "ssim": 0.9238686857168008, "lpips": 0.2383292019367218}, "tactile_right": {"psnr": 31.60099276378657, "ssim": 0.9374445253705613, "lpips": 0.21024389564990997}}, {"video": {"psnr": 21.58963354139552, "ssim": 0.7370821926620927, "lpips": 0.2526918053627014}, "wrist_left": {"psnr": 14.684666101276136, "ssim": 0.5153865203384465, "lpips": 0.3983863592147827}, "wrist_right": {"psnr": 16.032886394785965, "ssim": 0.6468828772914388, "lpips": 0.3550657033920288}, "tactile_left": {"psnr": 30.659667164439664, "ssim": 0.933661664273712, "lpips": 0.20207346975803375}, "tactile_right": {"psnr": 32.65998206629209, "ssim": 0.9532021756097739, "lpips": 0.12707191705703735}}, {"video": {"psnr": 21.26651805681043, "ssim": 0.7108185339054818, "lpips": 0.2465818077325821}, "wrist_left": {"psnr": 14.075021268241874, "ssim": 0.5728175707559715, "lpips": 0.35333776473999023}, "wrist_right": {"psnr": 18.497301938250487, "ssim": 0.6366017079381053, "lpips": 0.3262173533439636}, "tactile_left": {"psnr": 32.94108609382053, "ssim": 0.9583232563249171, "lpips": 0.12471561133861542}, "tactile_right": {"psnr": 31.483228666320116, "ssim": 0.9425248060072875, "lpips": 0.21362318098545074}}, {"video": {"psnr": 20.885050700847398, "ssim": 0.695767543518337, "lpips": 0.2588375210762024}, "wrist_left": {"psnr": 14.24932004712504, "ssim": 0.5447995237284663, "lpips": 0.3516356348991394}, "wrist_right": {"psnr": 18.79712607256421, "ssim": 0.6835272782956394, "lpips": 0.33121877908706665}, "tactile_left": {"psnr": 29.55013133041533, "ssim": 0.939367215855293, "lpips": 0.2336871325969696}, "tactile_right": {"psnr": 31.946048591325216, "ssim": 0.9421311125116181, "lpips": 0.20233231782913208}}, {"video": {"psnr": 20.20699076206173, "ssim": 0.6790064985170963, "lpips": 0.29411500692367554}, "wrist_left": {"psnr": 13.580473635239123, "ssim": 0.4940574157826366, "lpips": 0.4343336820602417}, "wrist_right": {"psnr": 18.954393631116936, "ssim": 0.7049382776996322, "lpips": 0.31276991963386536}, "tactile_left": {"psnr": 30.333731883198162, "ssim": 0.9492688878908258, "lpips": 0.1939004361629486}, "tactile_right": {"psnr": 33.27689176731728, "ssim": 0.9608680822654357, "lpips": 0.1359640210866928}}, {"video": {"psnr": 20.486475554556524, "ssim": 0.6736418767067021, "lpips": 0.3019389510154724}, "wrist_left": {"psnr": 15.866348059395941, "ssim": 0.6048272762789351, "lpips": 0.34210601449012756}, "wrist_right": {"psnr": 18.11949257033995, "ssim": 0.6375706652288518, "lpips": 0.36141809821128845}, "tactile_left": {"psnr": 31.24228394331244, "ssim": 0.9552794314814999, "lpips": 0.15411345660686493}, "tactile_right": {"psnr": 31.349489483552432, "ssim": 0.951182600605474, "lpips": 0.19144774973392487}}, {"video": {"psnr": 20.024975353047427, "ssim": 0.6682843436531036, "lpips": 0.34291040897369385}, "wrist_left": {"psnr": 14.966963739085074, "ssim": 0.531547358125993, "lpips": 0.3975701332092285}, "wrist_right": {"psnr": 16.53143780796231, "ssim": 0.6542481107973355, "lpips": 0.31083258986473083}, "tactile_left": {"psnr": 30.677822023991435, "ssim": 0.9531492428904718, "lpips": 0.18189629912376404}, "tactile_right": {"psnr": 32.39432144251233, "ssim": 0.9628400066329621, "lpips": 0.11791768670082092}}, {"video": {"psnr": 19.947246076144772, "ssim": 0.6631885943479162, "lpips": 0.3668038845062256}, "wrist_left": {"psnr": 14.636042682777443, "ssim": 0.5947508366321331, "lpips": 0.39256566762924194}, "wrist_right": {"psnr": 15.321110947909844, "ssim": 0.5412124176427744, "lpips": 0.3520689010620117}, "tactile_left": {"psnr": 31.308407456664153, "ssim": 0.9560511890194399, "lpips": 0.164922297000885}, "tactile_right": {"psnr": 31.81319426043688, "ssim": 0.9587064413669342, "lpips": 0.16916371881961823}}, {"video": {"psnr": 20.19352520292092, "ssim": 0.6665549859727786, "lpips": 0.36806243658065796}, "wrist_left": {"psnr": 13.789520286685455, "ssim": 0.5200408438629648, "lpips": 0.41503244638442993}, "wrist_right": {"psnr": 15.296824916147466, "ssim": 0.5193786896723684, "lpips": 0.36987119913101196}, "tactile_left": {"psnr": 30.67336810624971, "ssim": 0.9490147683291186, "lpips": 0.22106942534446716}, "tactile_right": {"psnr": 31.973239097021, "ssim": 0.9555743208295099, "lpips": 0.170735701918602}}, {"video": {"psnr": 20.042496964052653, "ssim": 0.6604101183802313, "lpips": 0.37250053882598877}, "wrist_left": {"psnr": 15.151098589720437, "ssim": 0.5754461275558438, "lpips": 0.3766249120235443}, "wrist_right": {"psnr": 15.385441567793103, "ssim": 0.5878347777776524, "lpips": 0.38914692401885986}, "tactile_left": {"psnr": 30.61564275112756, "ssim": 0.9474144009171566, "lpips": 0.2110981047153473}, "tactile_right": {"psnr": 32.195516238265405, "ssim": 0.956880863501179, "lpips": 0.17787811160087585}}], "long_metrics": {"video": {"psnr": 21.775954956351317, "ssim": 0.7289159703038741, "lpips": 0.24549682860573133}, "wrist_left": {"psnr": 15.447502172526509, "ssim": 0.5678216070641177, "lpips": 0.35685069461663566}, "wrist_right": {"psnr": 17.263038519684475, "ssim": 0.6365468132273411, "lpips": 0.3222889383633932}, "tactile_left": {"psnr": 31.36650416214705, "ssim": 0.9472521993318708, "lpips": 0.1797655239701271}, "tactile_right": {"psnr": 33.386248829349626, "ssim": 0.9564922862111059, "lpips": 0.15412309070428212}}}, {"id": "rope_07", "episode": "rope_0911_episode_005_seg00.pt", "requested_episode": "rope_0911_episode_005_seg00.pt", "category": "none", "t_start": 639, "start_seconds": 42.6, "short_contact": [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0], "future_transition_ticks": [], "long_contact_fraction": 0.0859375, "long_label": "none_at_start", "short_metrics": {"video": {"psnr": 24.796204313000253, "ssim": 0.8445480979336606, "lpips": 0.09553050994873047}, "wrist_left": {"psnr": 12.815102871137633, "ssim": 0.5281084282424833, "lpips": 0.36045706272125244}, "wrist_right": {"psnr": 24.522916878993808, "ssim": 0.7869051281659931, "lpips": 0.06575747579336166}, "tactile_left": {"psnr": 51.11931195213401, "ssim": 0.994858024700007, "lpips": 0.0033570784144103527}, "tactile_right": {"psnr": 49.229715794924054, "ssim": 0.9931956500787301, "lpips": 0.005129064898937941}}, "media": {"short": {"video": "media/rope_07_short.mp4", "poster": "media/rope_07_short.jpg"}, "long": {"video": "media/rope_07_long.mp4", "poster": "media/rope_07_long.jpg"}}, "force": {"source": "recorded_normal_force", "units": "N", "fps": 15, "left": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.9444444179534912, 0.1599999964237213, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.1599999964237213, 0.1599999964237213, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.1599999964237213, 0.25579941272735596, 2.243333339691162, 0.7983333468437195, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.9444444179534912, 0.0, 0.0, 0.5458313226699829, 0.0, 2.3248276710510254, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 2.3248276710510254, 2.3248276710510254, 3.0568182468414307, 3.9167568683624268], "right": [0.1599999964237213, 0.1599999964237213, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.16291990876197815, 0.1599999964237213, 0.1599999964237213, 0.0, 3.0568182468414307, 0.3882673382759094, 0.1599999964237213, 0.0, 0.0, 0.12593239545822144, 0.1599999964237213, 0.1599999964237213, 0.1599999964237213, 0.072127565741539, 0.043916378170251846, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.4384613633155823, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.091448113322258, 0.0, 0.0, 0.0, 0.0, 0.0, 0.7702699899673462, 0.20891571044921875, 0.0, 0.0, 0.0, 0.0, 0.1599999964237213, 0.0, 0.22397328913211823, 0.16185791790485382, 0.1599999964237213, 0.1599999964237213, 0.1599999964237213, 0.1599999964237213, 0.1599999964237213, 0.13582085072994232, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]}, "long_curve": [{"video": {"psnr": 24.796204313000253, "ssim": 0.8445480979336606, "lpips": 0.09553050994873047}, "wrist_left": {"psnr": 12.815102871137633, "ssim": 0.5281084282424833, "lpips": 0.36045706272125244}, "wrist_right": {"psnr": 24.522916878993808, "ssim": 0.7869051281659931, "lpips": 0.06575747579336166}, "tactile_left": {"psnr": 51.11931195213401, "ssim": 0.994858024700007, "lpips": 0.0033570784144103527}, "tactile_right": {"psnr": 49.229715794924054, "ssim": 0.9931956500787301, "lpips": 0.005129064898937941}}, {"video": {"psnr": 23.143673011256656, "ssim": 0.7848193453730667, "lpips": 0.13926446437835693}, "wrist_left": {"psnr": 12.052010612408399, "ssim": 0.4434375683876495, "lpips": 0.43260085582733154}, "wrist_right": {"psnr": 23.67057905238305, "ssim": 0.7649905900161282, "lpips": 0.10436251759529114}, "tactile_left": {"psnr": 48.22257580645185, "ssim": 0.9916841070736928, "lpips": 0.009767803363502026}, "tactile_right": {"psnr": 46.96086290827688, "ssim": 0.9880232628723702, "lpips": 0.01577882654964924}}, {"video": {"psnr": 22.159604320425643, "ssim": 0.7590122359113497, "lpips": 0.15907154977321625}, "wrist_left": {"psnr": 12.41328472413793, "ssim": 0.45073977691929545, "lpips": 0.4480612874031067}, "wrist_right": {"psnr": 22.953870415492908, "ssim": 0.7495650083624783, "lpips": 0.13316576182842255}, "tactile_left": {"psnr": 45.70416572481263, "ssim": 0.9881808702580035, "lpips": 0.019260820001363754}, "tactile_right": {"psnr": 44.991412809643776, "ssim": 0.9857182425945221, "lpips": 0.028957193717360497}}, {"video": {"psnr": 21.136085189942328, "ssim": 0.7287111009380758, "lpips": 0.20969608426094055}, "wrist_left": {"psnr": 12.26366347496497, "ssim": 0.40350726091611555, "lpips": 0.4595399498939514}, "wrist_right": {"psnr": 20.614594968646585, "ssim": 0.7062772753052511, "lpips": 0.20754972100257874}, "tactile_left": {"psnr": 44.2647230481909, "ssim": 0.9844670775056379, "lpips": 0.03260835260152817}, "tactile_right": {"psnr": 43.46747447343314, "ssim": 0.9831749244125882, "lpips": 0.04736179858446121}}, {"video": {"psnr": 21.705104194994206, "ssim": 0.7288933835017717, "lpips": 0.1924891471862793}, "wrist_left": {"psnr": 11.630394285311333, "ssim": 0.3927036168369509, "lpips": 0.4748907685279846}, "wrist_right": {"psnr": 19.99875482611435, "ssim": 0.7045924842207175, "lpips": 0.1914176493883133}, "tactile_left": {"psnr": 43.11126502695029, "ssim": 0.9820080026739673, "lpips": 0.04478439688682556}, "tactile_right": {"psnr": 42.70771822259981, "ssim": 0.9804029912212144, "lpips": 0.06835994124412537}}, {"video": {"psnr": 21.728861698037957, "ssim": 0.7235226708392337, "lpips": 0.21091613173484802}, "wrist_left": {"psnr": 11.499687537561618, "ssim": 0.4651163650188712, "lpips": 0.46695300936698914}, "wrist_right": {"psnr": 18.29555913788741, "ssim": 0.7066509032583875, "lpips": 0.2542024254798889}, "tactile_left": {"psnr": 41.61994174669984, "ssim": 0.9786721390338415, "lpips": 0.06410270929336548}, "tactile_right": {"psnr": 41.39487046058307, "ssim": 0.9776238681842953, "lpips": 0.09403876960277557}}, {"video": {"psnr": 21.02386312045651, "ssim": 0.705858892600757, "lpips": 0.26398777961730957}, "wrist_left": {"psnr": 11.476533848611798, "ssim": 0.464868748097892, "lpips": 0.5318660736083984}, "wrist_right": {"psnr": 14.703615379994213, "ssim": 0.5491464071825799, "lpips": 0.3940289616584778}, "tactile_left": {"psnr": 41.0654346252017, "ssim": 0.9763326792688067, "lpips": 0.0803895890712738}, "tactile_right": {"psnr": 40.90842015881171, "ssim": 0.9751031169209554, "lpips": 0.11835191398859024}}, {"video": {"psnr": 21.089913166054433, "ssim": 0.7139267952443256, "lpips": 0.25736096501350403}, "wrist_left": {"psnr": 11.370649442688187, "ssim": 0.45353347055412657, "lpips": 0.5032922029495239}, "wrist_right": {"psnr": 16.000256115318553, "ssim": 0.5467543475912651, "lpips": 0.34417885541915894}, "tactile_left": {"psnr": 39.98033197681916, "ssim": 0.9731881895093389, "lpips": 0.10251690447330475}, "tactile_right": {"psnr": 39.94561165572824, "ssim": 0.9721434385879926, "lpips": 0.14317266643047333}}, {"video": {"psnr": 21.52786482824237, "ssim": 0.7194148822218508, "lpips": 0.2271447479724884}, "wrist_left": {"psnr": 11.73808402569781, "ssim": 0.5058076058539736, "lpips": 0.39429089426994324}, "wrist_right": {"psnr": 17.166021332980417, "ssim": 0.5697723830371757, "lpips": 0.32339411973953247}, "tactile_left": {"psnr": 38.75422591250946, "ssim": 0.9702652509380715, "lpips": 0.11175046861171722}, "tactile_right": {"psnr": 39.013845931854206, "ssim": 0.9693228997652517, "lpips": 0.15499867498874664}}, {"video": {"psnr": 21.807567575596508, "ssim": 0.7284419797761217, "lpips": 0.21394851803779602}, "wrist_left": {"psnr": 11.49717148346066, "ssim": 0.5037377226148687, "lpips": 0.4075053334236145}, "wrist_right": {"psnr": 17.404863025719195, "ssim": 0.6210997889938319, "lpips": 0.3124779760837555}, "tactile_left": {"psnr": 37.5788647980875, "ssim": 0.9675175980941085, "lpips": 0.12419227510690689}, "tactile_right": {"psnr": 38.04043137225467, "ssim": 0.9665534591026099, "lpips": 0.1726544052362442}}, {"video": {"psnr": 22.38939043904855, "ssim": 0.7478272227498133, "lpips": 0.21510225534439087}, "wrist_left": {"psnr": 12.905058345286244, "ssim": 0.5789016408413978, "lpips": 0.404552161693573}, "wrist_right": {"psnr": 18.019318339972443, "ssim": 0.6490817934947214, "lpips": 0.29169973731040955}, "tactile_left": {"psnr": 36.909481593150495, "ssim": 0.9647981990970679, "lpips": 0.13371631503105164}, "tactile_right": {"psnr": 37.368090830106716, "ssim": 0.963969607860578, "lpips": 0.1882084310054779}}, {"video": {"psnr": 22.21884823324708, "ssim": 0.7433154436680052, "lpips": 0.2403208613395691}, "wrist_left": {"psnr": 13.318969845334017, "ssim": 0.6188415205642098, "lpips": 0.37262439727783203}, "wrist_right": {"psnr": 15.817527882784603, "ssim": 0.5719661856338609, "lpips": 0.35145846009254456}, "tactile_left": {"psnr": 36.33850034044731, "ssim": 0.9619227112742057, "lpips": 0.15577353537082672}, "tactile_right": {"psnr": 36.53422811055111, "ssim": 0.961271141412626, "lpips": 0.20673029124736786}}, {"video": {"psnr": 22.23405633317574, "ssim": 0.7326738189125237, "lpips": 0.24701519310474396}, "wrist_left": {"psnr": 12.256851407928037, "ssim": 0.5490477122735362, "lpips": 0.47532254457473755}, "wrist_right": {"psnr": 15.310313510894787, "ssim": 0.5393700479036021, "lpips": 0.3317418694496155}, "tactile_left": {"psnr": 35.97038700464684, "ssim": 0.9602999211517326, "lpips": 0.16511835157871246}, "tactile_right": {"psnr": 35.870005453166364, "ssim": 0.9590001384987813, "lpips": 0.22094646096229553}}, {"video": {"psnr": 22.050268776455898, "ssim": 0.7275675979079501, "lpips": 0.2386316955089569}, "wrist_left": {"psnr": 11.991007210404431, "ssim": 0.56411940436969, "lpips": 0.43446290493011475}, "wrist_right": {"psnr": 15.955310780639415, "ssim": 0.5605282183502058, "lpips": 0.32209277153015137}, "tactile_left": {"psnr": 35.86040831245853, "ssim": 0.9600265409470452, "lpips": 0.17498861253261566}, "tactile_right": {"psnr": 34.97863398101139, "ssim": 0.9560221894112031, "lpips": 0.24218013882637024}}, {"video": {"psnr": 22.320586890602335, "ssim": 0.737375878150851, "lpips": 0.22298456728458405}, "wrist_left": {"psnr": 12.067713166830075, "ssim": 0.5997454973415373, "lpips": 0.37231534719467163}, "wrist_right": {"psnr": 16.068459894676234, "ssim": 0.6308563490817036, "lpips": 0.3481840491294861}, "tactile_left": {"psnr": 34.239171616538115, "ssim": 0.953705074867586, "lpips": 0.21524246037006378}, "tactile_right": {"psnr": 34.25512889579752, "ssim": 0.9533926855148643, "lpips": 0.25102823972702026}}], "long_metrics": {"video": {"psnr": 22.088792806035766, "ssim": 0.7417272897152904, "lpips": 0.20889763136704761}, "wrist_left": {"psnr": 12.086412152117543, "ssim": 0.5014810892555065, "lpips": 0.4359156529108683}, "wrist_right": {"psnr": 18.433464102833195, "ssim": 0.6438371273731935, "lpips": 0.26504749010006584}, "tactile_left": {"psnr": 40.71591929900658, "ssim": 0.9738617590928743, "lpips": 0.09583797818049788}, "tactile_right": {"psnr": 40.377763403916184, "ssim": 0.9723278410959055, "lpips": 0.1305264544673264}}}, {"id": "rope_08", "episode": "rope_0911_episode_005_seg00.pt", "requested_episode": "rope_0911_episode_005_seg00.pt", "category": "onset", "t_start": 1183, "start_seconds": 78.86666666666666, "short_contact": [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 1], "future_transition_ticks": [11], "long_contact_fraction": 0.7421875, "long_label": "onset", "short_metrics": {"video": {"psnr": 29.07535473047686, "ssim": 0.9169612970256226, "lpips": 0.03301982954144478}, "wrist_left": {"psnr": 18.429880811759325, "ssim": 0.6219622394539246, "lpips": 0.21068772673606873}, "wrist_right": {"psnr": 22.138338377386106, "ssim": 0.766703981059507, "lpips": 0.15786580741405487}, "tactile_left": {"psnr": 45.09403170378799, "ssim": 0.9914732241665138, "lpips": 0.013762274757027626}, "tactile_right": {"psnr": 46.34946413646979, "ssim": 0.9910786531159993, "lpips": 0.021013230085372925}}, "media": {"short": {"video": "media/rope_08_short.mp4", "poster": "media/rope_08_short.jpg"}, "long": {"video": "media/rope_08_long.mp4", "poster": "media/rope_08_long.jpg"}}, "force": {"source": "recorded_normal_force", "units": "N", "fps": 15, "left": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 2.6312499046325684, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 0.25, 0.5600000023841858, 2.3248276710510254, 0.4981960654258728, 0.4981960654258728, 0.1599999964237213, 0.0, 0.0, 0.0, 0.0, 0.0, 0.7983333468437195, 0.4399999976158142, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.39555272459983826, 0.25, 1.9444444179534912, 2.3248276710510254, 2.243333339691162, 0.7983333468437195, 2.3248276710510254, 2.243333339691162, 0.5515480637550354, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 2.243333339691162, 2.3248276710510254, 2.3248276710510254, 2.6312499046325684, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.243333339691162, 1.9444444179534912, 1.9444444179534912, 2.211216688156128, 2.243333339691162, 2.243333339691162, 2.243333339691162, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.243333339691162, 2.6312499046325684, 2.3248276710510254, 0.0, 0.0, 0.0, 0.27666667103767395, 0.3516262471675873, 0.4897908866405487, 0.5571500658988953, 0.5600000023841858, 0.7983333468437195, 1.9444444179534912, 1.9444444179534912, 1.9444444179534912, 2.28149676322937, 2.28149676322937, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.6312499046325684, 2.6312499046325684, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254], "right": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.1599999964237213, 0.1599999964237213, 0.17395387589931488, 0.1599999964237213, 0.5600000023841858, 1.9444444179534912, 1.9444444179534912, 0.1599999964237213, 2.258756637573242, 0.7983333468437195, 1.6151785850524902, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.16247574985027313, 0.0, 0.1599999964237213, 0.1599999964237213, 0.0, 0.1599999964237213, 0.1599999964237213, 2.243333339691162, 0.09899391233921051, 0.38438764214515686, 0.1599999964237213, 0.16679850220680237, 0.17816706001758575, 0.25, 0.17090290784835815, 0.1620146781206131, 0.27666667103767395, 0.00465339096263051, 0.0, 0.0, 0.4178314208984375, 0.2888869345188141, 0.7994033694267273, 0.7994033694267273, 1.0252238512039185, 0.959689199924469, 0.8938532471656799, 0.0, 2.039057731628418, 0.46514278650283813, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.04478888958692551, 0.04478888958692551, 0.3607287108898163, 0.17817163467407227, 0.1599999964237213, 0.1599999964237213, 0.1599999964237213, 0.1599999964237213, 2.89768123626709, 0.0, 0.5600000023841858, 0.7345359921455383, 0.1599999964237213, 0.1599999964237213, 0.1599999964237213, 0.1599999964237213, 0.0, 0.0, 0.0, 0.0, 0.8377557992935181, 0.6723332405090332, 0.014832683838903904, 0.03664545342326164, 0.1599999964237213, 0.1599999964237213, 0.1599999964237213, 0.1599999964237213, 0.1599999964237213, 0.1410559117794037, 0.1599999964237213, 0.1599999964237213, 0.1599999964237213, 0.1599999964237213, 0.1500718593597412, 0.1599999964237213, 0.1599999964237213, 0.1599999964237213, 0.7983333468437195, 0.1599999964237213, 0.1599999964237213, 0.1599999964237213, 0.1599999964237213, 0.1599999964237213, 0.1599999964237213, 0.1599999964237213, 0.1599999964237213, 0.10033874958753586, 0.0, 0.04634222388267517, 0.05642236769199371, 0.059621572494506836]}, "long_curve": [{"video": {"psnr": 29.07535473047686, "ssim": 0.9169612970256226, "lpips": 0.03301982954144478}, "wrist_left": {"psnr": 18.429880811759325, "ssim": 0.6219622394539246, "lpips": 0.21068772673606873}, "wrist_right": {"psnr": 22.138338377386106, "ssim": 0.766703981059507, "lpips": 0.15786580741405487}, "tactile_left": {"psnr": 45.09403170378799, "ssim": 0.9914732241665138, "lpips": 0.013762274757027626}, "tactile_right": {"psnr": 46.34946413646979, "ssim": 0.9910786531159993, "lpips": 0.021013230085372925}}, {"video": {"psnr": 25.51745214443188, "ssim": 0.8461001392507332, "lpips": 0.08176404237747192}, "wrist_left": {"psnr": 15.733508054935971, "ssim": 0.5731211067001911, "lpips": 0.32309234142303467}, "wrist_right": {"psnr": 17.68148336431594, "ssim": 0.6803263667382813, "lpips": 0.2538958191871643}, "tactile_left": {"psnr": 42.40964556053925, "ssim": 0.985521356310908, "lpips": 0.030013423413038254}, "tactile_right": {"psnr": 42.5372954441493, "ssim": 0.9857044090054918, "lpips": 0.03799598291516304}}, {"video": {"psnr": 25.147495510595405, "ssim": 0.8359157440793309, "lpips": 0.08396202325820923}, "wrist_left": {"psnr": 15.600912347909121, "ssim": 0.5324656293231564, "lpips": 0.33975303173065186}, "wrist_right": {"psnr": 17.83430454924375, "ssim": 0.669486051023523, "lpips": 0.2583518624305725}, "tactile_left": {"psnr": 41.045760954513135, "ssim": 0.9813052075945468, "lpips": 0.0429556667804718}, "tactile_right": {"psnr": 41.57724708078038, "ssim": 0.9854112603162644, "lpips": 0.0266671571880579}}, {"video": {"psnr": 24.437318565806635, "ssim": 0.8105057133016869, "lpips": 0.112982377409935}, "wrist_left": {"psnr": 14.206012852482255, "ssim": 0.531906636444607, "lpips": 0.41522443294525146}, "wrist_right": {"psnr": 17.1332211125953, "ssim": 0.6443969879031995, "lpips": 0.28108495473861694}, "tactile_left": {"psnr": 40.51783029211032, "ssim": 0.9797499373609582, "lpips": 0.0485510528087616}, "tactile_right": {"psnr": 39.24330173551802, "ssim": 0.9821456256313041, "lpips": 0.050874218344688416}}, {"video": {"psnr": 23.47929506813582, "ssim": 0.7829040636714047, "lpips": 0.1541673243045807}, "wrist_left": {"psnr": 13.99226220210319, "ssim": 0.5675772591544175, "lpips": 0.3889184296131134}, "wrist_right": {"psnr": 15.958655382131607, "ssim": 0.5765204864066779, "lpips": 0.3621537685394287}, "tactile_left": {"psnr": 39.983961218879855, "ssim": 0.9788349570938343, "lpips": 0.05262957885861397}, "tactile_right": {"psnr": 38.28946702612598, "ssim": 0.9780707249924665, "lpips": 0.08073221147060394}}, {"video": {"psnr": 21.676946729390384, "ssim": 0.7563696563596074, "lpips": 0.21939022839069366}, "wrist_left": {"psnr": 13.714482283110485, "ssim": 0.556758069808178, "lpips": 0.3827176094055176}, "wrist_right": {"psnr": 20.23527975824385, "ssim": 0.7516936045007901, "lpips": 0.2705284059047699}, "tactile_left": {"psnr": 37.34770931323919, "ssim": 0.9707963037543406, "lpips": 0.09456118196249008}, "tactile_right": {"psnr": 37.02822837162, "ssim": 0.9761474804676467, "lpips": 0.0835302546620369}}, {"video": {"psnr": 21.56900995966822, "ssim": 0.7514016484568296, "lpips": 0.23934531211853027}, "wrist_left": {"psnr": 13.948708971145024, "ssim": 0.5801544517469721, "lpips": 0.3925258219242096}, "wrist_right": {"psnr": 20.155916203512728, "ssim": 0.743710519479879, "lpips": 0.261956125497818}, "tactile_left": {"psnr": 36.517493598865045, "ssim": 0.9691189732472362, "lpips": 0.11290634423494339}, "tactile_right": {"psnr": 36.05435984909534, "ssim": 0.9755745366191652, "lpips": 0.09296883642673492}}, {"video": {"psnr": 21.35212162884462, "ssim": 0.7430084653114544, "lpips": 0.22496958076953888}, "wrist_left": {"psnr": 13.901165865089052, "ssim": 0.5266901497052505, "lpips": 0.38628602027893066}, "wrist_right": {"psnr": 18.560149297901084, "ssim": 0.6456963316842167, "lpips": 0.29075363278388977}, "tactile_left": {"psnr": 35.84683492480526, "ssim": 0.9671331466647036, "lpips": 0.1254907250404358}, "tactile_right": {"psnr": 36.04418888355349, "ssim": 0.9738997902987021, "lpips": 0.11663568764925003}}, {"video": {"psnr": 21.090660516351146, "ssim": 0.7308755165477938, "lpips": 0.23339353501796722}, "wrist_left": {"psnr": 13.518883842188679, "ssim": 0.4725195754130073, "lpips": 0.4085802137851715}, "wrist_right": {"psnr": 18.678457411472273, "ssim": 0.6800551098488191, "lpips": 0.26669591665267944}, "tactile_left": {"psnr": 35.54509326312128, "ssim": 0.9650249631675587, "lpips": 0.14587900042533875}, "tactile_right": {"psnr": 35.04641804335597, "ssim": 0.9713957174476113, "lpips": 0.1308581829071045}}, {"video": {"psnr": 21.359787548343707, "ssim": 0.728665031642328, "lpips": 0.23211409151554108}, "wrist_left": {"psnr": 13.324837054295864, "ssim": 0.4613796020054114, "lpips": 0.4179251790046692}, "wrist_right": {"psnr": 16.90258723626143, "ssim": 0.6056661132835233, "lpips": 0.28665533661842346}, "tactile_left": {"psnr": 34.23928747529045, "ssim": 0.9564358876898098, "lpips": 0.18170824646949768}, "tactile_right": {"psnr": 34.02552090160487, "ssim": 0.9683717074204004, "lpips": 0.14873528480529785}}, {"video": {"psnr": 21.39514051987318, "ssim": 0.7315627743043904, "lpips": 0.24307702481746674}, "wrist_left": {"psnr": 13.455590984809927, "ssim": 0.46026802031514624, "lpips": 0.3969603180885315}, "wrist_right": {"psnr": 15.680198487204642, "ssim": 0.5437986693429908, "lpips": 0.3358910381793976}, "tactile_left": {"psnr": 33.83700892028042, "ssim": 0.9525377586394139, "lpips": 0.20005854964256287}, "tactile_right": {"psnr": 33.434492819790115, "ssim": 0.9662193361300919, "lpips": 0.16080722212791443}}, {"video": {"psnr": 21.18608832053965, "ssim": 0.7278870231848222, "lpips": 0.26468026638031006}, "wrist_left": {"psnr": 13.592446499971388, "ssim": 0.45861046015827156, "lpips": 0.3879084587097168}, "wrist_right": {"psnr": 15.259770995018986, "ssim": 0.5248329645512223, "lpips": 0.38094276189804077}, "tactile_left": {"psnr": 33.667636934325415, "ssim": 0.9496739391647304, "lpips": 0.21582576632499695}, "tactile_right": {"psnr": 32.73852969932784, "ssim": 0.9652517215388385, "lpips": 0.16408678889274597}}, {"video": {"psnr": 21.111243429900036, "ssim": 0.7205855218916284, "lpips": 0.28061991930007935}, "wrist_left": {"psnr": 13.599295218675525, "ssim": 0.46529660659044864, "lpips": 0.39190638065338135}, "wrist_right": {"psnr": 15.26232238910318, "ssim": 0.518568603857883, "lpips": 0.38721969723701477}, "tactile_left": {"psnr": 33.550336602956186, "ssim": 0.9477469919094244, "lpips": 0.22800183296203613}, "tactile_right": {"psnr": 32.557641913258315, "ssim": 0.9629656318367923, "lpips": 0.17558997869491577}}, {"video": {"psnr": 21.046641520457264, "ssim": 0.7117935512809913, "lpips": 0.28588277101516724}, "wrist_left": {"psnr": 13.572138097648097, "ssim": 0.457534641221682, "lpips": 0.39623916149139404}, "wrist_right": {"psnr": 15.402022282271933, "ssim": 0.5366418670730118, "lpips": 0.3966681957244873}, "tactile_left": {"psnr": 33.52817847225268, "ssim": 0.9469677536116741, "lpips": 0.2358686774969101}, "tactile_right": {"psnr": 32.14384994828533, "ssim": 0.9607746268392772, "lpips": 0.19112852215766907}}, {"video": {"psnr": 20.879665447850336, "ssim": 0.7032441683094288, "lpips": 0.2913847863674164}, "wrist_left": {"psnr": 13.624771039239793, "ssim": 0.455068554824957, "lpips": 0.3931027054786682}, "wrist_right": {"psnr": 15.981740008959706, "ssim": 0.5368809996728058, "lpips": 0.3893909454345703}, "tactile_left": {"psnr": 33.05126871348304, "ssim": 0.9449793554079673, "lpips": 0.2481784075498581}, "tactile_right": {"psnr": 31.76646959271693, "ssim": 0.958425832172596, "lpips": 0.20739531517028809}}], "long_metrics": {"video": {"psnr": 22.68828144271101, "ssim": 0.7665186876412036, "lpips": 0.19871687417229017}, "wrist_left": {"psnr": 14.280993075024245, "ssim": 0.5147542001910415, "lpips": 0.3754551887512207}, "wrist_right": {"psnr": 17.5242964570415, "ssim": 0.628331910428422, "lpips": 0.3053369512160619}, "tactile_left": {"psnr": 37.0788051965633, "ssim": 0.9658199837189081, "lpips": 0.1317593819151322}, "tactile_right": {"psnr": 36.58909836304345, "ssim": 0.9734291369221765, "lpips": 0.11260125823318959}}}, {"id": "rope_09", "episode": "rope_0911_episode_005_seg00.pt", "requested_episode": "rope_0911_episode_005_seg00.pt", "category": "release", "t_start": 1171, "start_seconds": 78.06666666666666, "short_contact": [1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 0, 0], "future_transition_ticks": [11], "long_contact_fraction": 0.734375, "long_label": "release", "short_metrics": {"video": {"psnr": 26.36868207008269, "ssim": 0.877975440711198, "lpips": 0.06399567425251007}, "wrist_left": {"psnr": 22.65283903793863, "ssim": 0.7856516065896864, "lpips": 0.12373086810112}, "wrist_right": {"psnr": 23.40254076300328, "ssim": 0.8172564229532259, "lpips": 0.14443373680114746}, "tactile_left": {"psnr": 45.260931081359544, "ssim": 0.990584204456523, "lpips": 0.024665039032697678}, "tactile_right": {"psnr": 47.67057464929714, "ssim": 0.991276761317649, "lpips": 0.011601857841014862}}, "media": {"short": {"video": "media/rope_09_short.mp4", "poster": "media/rope_09_short.jpg"}, "long": {"video": "media/rope_09_long.mp4", "poster": "media/rope_09_long.jpg"}}, "force": {"source": "recorded_normal_force", "units": "N", "fps": 15, "left": [1.9444444179534912, 1.5882809162139893, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 1.9099631309509277, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 2.6312499046325684, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 0.25, 0.5600000023841858, 2.3248276710510254, 0.4981960654258728, 0.4981960654258728, 0.1599999964237213, 0.0, 0.0, 0.0, 0.0, 0.0, 0.7983333468437195, 0.4399999976158142, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.39555272459983826, 0.25, 1.9444444179534912, 2.3248276710510254, 2.243333339691162, 0.7983333468437195, 2.3248276710510254, 2.243333339691162, 0.5515480637550354, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 2.243333339691162, 2.3248276710510254, 2.3248276710510254, 2.6312499046325684, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.243333339691162, 1.9444444179534912, 1.9444444179534912, 2.211216688156128, 2.243333339691162, 2.243333339691162, 2.243333339691162, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.243333339691162, 2.6312499046325684, 2.3248276710510254, 0.0, 0.0, 0.0, 0.27666667103767395, 0.3516262471675873, 0.4897908866405487, 0.5571500658988953, 0.5600000023841858, 0.7983333468437195, 1.9444444179534912, 1.9444444179534912, 1.9444444179534912, 2.28149676322937, 2.28149676322937, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.6312499046325684, 2.6312499046325684, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254], "right": [0.494703471660614, 0.494703471660614, 0.25, 1.9444444179534912, 0.5335196256637573, 0.1599999964237213, 0.1599999964237213, 0.1599999964237213, 0.1599999964237213, 2.6312499046325684, 1.2032140493392944, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.1599999964237213, 0.1599999964237213, 0.17395387589931488, 0.1599999964237213, 0.5600000023841858, 1.9444444179534912, 1.9444444179534912, 0.1599999964237213, 2.258756637573242, 0.7983333468437195, 1.6151785850524902, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.16247574985027313, 0.0, 0.1599999964237213, 0.1599999964237213, 0.0, 0.1599999964237213, 0.1599999964237213, 2.243333339691162, 0.09899391233921051, 0.38438764214515686, 0.1599999964237213, 0.16679850220680237, 0.17816706001758575, 0.25, 0.17090290784835815, 0.1620146781206131, 0.27666667103767395, 0.00465339096263051, 0.0, 0.0, 0.4178314208984375, 0.2888869345188141, 0.7994033694267273, 0.7994033694267273, 1.0252238512039185, 0.959689199924469, 0.8938532471656799, 0.0, 2.039057731628418, 0.46514278650283813, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.04478888958692551, 0.04478888958692551, 0.3607287108898163, 0.17817163467407227, 0.1599999964237213, 0.1599999964237213, 0.1599999964237213, 0.1599999964237213, 2.89768123626709, 0.0, 0.5600000023841858, 0.7345359921455383, 0.1599999964237213, 0.1599999964237213, 0.1599999964237213, 0.1599999964237213, 0.0, 0.0, 0.0, 0.0, 0.8377557992935181, 0.6723332405090332, 0.014832683838903904, 0.03664545342326164, 0.1599999964237213, 0.1599999964237213, 0.1599999964237213, 0.1599999964237213, 0.1599999964237213, 0.1410559117794037, 0.1599999964237213, 0.1599999964237213, 0.1599999964237213, 0.1599999964237213, 0.1500718593597412, 0.1599999964237213, 0.1599999964237213, 0.1599999964237213, 0.7983333468437195, 0.1599999964237213]}, "long_curve": [{"video": {"psnr": 26.36868207008269, "ssim": 0.877975440711198, "lpips": 0.06399567425251007}, "wrist_left": {"psnr": 22.65283903793863, "ssim": 0.7856516065896864, "lpips": 0.12373086810112}, "wrist_right": {"psnr": 23.40254076300328, "ssim": 0.8172564229532259, "lpips": 0.14443373680114746}, "tactile_left": {"psnr": 45.260931081359544, "ssim": 0.990584204456523, "lpips": 0.024665039032697678}, "tactile_right": {"psnr": 47.67057464929714, "ssim": 0.991276761317649, "lpips": 0.011601857841014862}}, {"video": {"psnr": 24.5960940470697, "ssim": 0.8365016567752208, "lpips": 0.101641446352005}, "wrist_left": {"psnr": 18.912971669151265, "ssim": 0.6301665462613951, "lpips": 0.23260028660297394}, "wrist_right": {"psnr": 19.17899988814966, "ssim": 0.6770997204049476, "lpips": 0.1769915223121643}, "tactile_left": {"psnr": 42.3452702230334, "ssim": 0.9855486678685634, "lpips": 0.04085567593574524}, "tactile_right": {"psnr": 42.16614269308412, "ssim": 0.9853873188548026, "lpips": 0.037321820855140686}}, {"video": {"psnr": 24.6472234421734, "ssim": 0.8128938753635833, "lpips": 0.10404607653617859}, "wrist_left": {"psnr": 17.96413886397389, "ssim": 0.5948929857185536, "lpips": 0.24756106734275818}, "wrist_right": {"psnr": 17.572538038520126, "ssim": 0.6413869580379294, "lpips": 0.2401089370250702}, "tactile_left": {"psnr": 40.093600170622175, "ssim": 0.9820931503710524, "lpips": 0.05335741490125656}, "tactile_right": {"psnr": 39.21147500812612, "ssim": 0.9820825357348921, "lpips": 0.04821078106760979}}, {"video": {"psnr": 23.731852466956184, "ssim": 0.7794497114824241, "lpips": 0.1426716148853302}, "wrist_left": {"psnr": 15.893585192402181, "ssim": 0.5746981834043736, "lpips": 0.34690654277801514}, "wrist_right": {"psnr": 17.67350757141491, "ssim": 0.6933686221099409, "lpips": 0.25181782245635986}, "tactile_left": {"psnr": 38.00882917210323, "ssim": 0.9760220649898822, "lpips": 0.07944779843091965}, "tactile_right": {"psnr": 37.971714384186356, "ssim": 0.9814338082299008, "lpips": 0.040924496948719025}}, {"video": {"psnr": 23.430487992511363, "ssim": 0.7705909301332745, "lpips": 0.14852342009544373}, "wrist_left": {"psnr": 14.236317194188548, "ssim": 0.47529544318344075, "lpips": 0.4137001633644104}, "wrist_right": {"psnr": 17.6975586129292, "ssim": 0.6713786919075488, "lpips": 0.24422696232795715}, "tactile_left": {"psnr": 33.659277434248104, "ssim": 0.9526253401266662, "lpips": 0.19089537858963013}, "tactile_right": {"psnr": 37.78821878052749, "ssim": 0.9794223897976103, "lpips": 0.060541898012161255}}, {"video": {"psnr": 23.195275362968538, "ssim": 0.7780447580683185, "lpips": 0.15177664160728455}, "wrist_left": {"psnr": 14.828422027213575, "ssim": 0.5110334459009857, "lpips": 0.4122299551963806}, "wrist_right": {"psnr": 16.32534251352387, "ssim": 0.6158958011795992, "lpips": 0.3024321496486664}, "tactile_left": {"psnr": 36.86642290756466, "ssim": 0.9671122000319398, "lpips": 0.09863230586051941}, "tactile_right": {"psnr": 36.2307576181249, "ssim": 0.9766346347003381, "lpips": 0.08968889713287354}}, {"video": {"psnr": 22.413772513070406, "ssim": 0.762244634967666, "lpips": 0.16952373087406158}, "wrist_left": {"psnr": 12.976122946657696, "ssim": 0.43923934074777315, "lpips": 0.4507719874382019}, "wrist_right": {"psnr": 17.060560071713798, "ssim": 0.6637728693664038, "lpips": 0.32475271821022034}, "tactile_left": {"psnr": 36.51184762581056, "ssim": 0.9667522842205797, "lpips": 0.09969112277030945}, "tactile_right": {"psnr": 35.65161850241966, "ssim": 0.9746457924375267, "lpips": 0.09445377439260483}}, {"video": {"psnr": 22.11376416450002, "ssim": 0.7441282302288725, "lpips": 0.19242903590202332}, "wrist_left": {"psnr": 14.201845931035173, "ssim": 0.5101434772830413, "lpips": 0.3935457766056061}, "wrist_right": {"psnr": 17.158337585099712, "ssim": 0.6629190146141718, "lpips": 0.3163802921772003}, "tactile_left": {"psnr": 34.778943847046214, "ssim": 0.9627158480838751, "lpips": 0.13646890223026276}, "tactile_right": {"psnr": 35.288984330756456, "ssim": 0.9721388048589085, "lpips": 0.11269712448120117}}, {"video": {"psnr": 21.690392542909954, "ssim": 0.7302089940994537, "lpips": 0.2300654798746109}, "wrist_left": {"psnr": 14.641939632197227, "ssim": 0.541958791432336, "lpips": 0.34795939922332764}, "wrist_right": {"psnr": 16.224829904514618, "ssim": 0.6808286148754581, "lpips": 0.34087181091308594}, "tactile_left": {"psnr": 34.41812624142783, "ssim": 0.9627467406297636, "lpips": 0.1399231255054474}, "tactile_right": {"psnr": 34.51048566406498, "ssim": 0.9713086683056502, "lpips": 0.12199771404266357}}, {"video": {"psnr": 21.202609068589364, "ssim": 0.719856862030603, "lpips": 0.24641473591327667}, "wrist_left": {"psnr": 13.532684318658816, "ssim": 0.4504937401707265, "lpips": 0.4347081780433655}, "wrist_right": {"psnr": 16.080747274957144, "ssim": 0.6594553142940134, "lpips": 0.37775731086730957}, "tactile_left": {"psnr": 34.30181686566144, "ssim": 0.9621471037336179, "lpips": 0.1485176980495453}, "tactile_right": {"psnr": 33.50539100922619, "ssim": 0.968634936722611, "lpips": 0.14012686908245087}}, {"video": {"psnr": 21.092815712089763, "ssim": 0.7101921958531021, "lpips": 0.2444373071193695}, "wrist_left": {"psnr": 13.151755654505044, "ssim": 0.4341183961491306, "lpips": 0.43864381313323975}, "wrist_right": {"psnr": 14.93628495264642, "ssim": 0.625868022763187, "lpips": 0.396331787109375}, "tactile_left": {"psnr": 33.79596934854886, "ssim": 0.9552081078932516, "lpips": 0.19997593760490417}, "tactile_right": {"psnr": 32.72596183080911, "ssim": 0.9651917964919001, "lpips": 0.1683277040719986}}, {"video": {"psnr": 21.04862201157736, "ssim": 0.7050407661977658, "lpips": 0.2531293034553528}, "wrist_left": {"psnr": 13.270943402615165, "ssim": 0.4222650524711129, "lpips": 0.4150097370147705}, "wrist_right": {"psnr": 13.777344463836856, "ssim": 0.5657508240050872, "lpips": 0.42350873351097107}, "tactile_left": {"psnr": 33.36058482819983, "ssim": 0.9491560355894438, "lpips": 0.22431036829948425}, "tactile_right": {"psnr": 32.25751438637635, "ssim": 0.9618949417832344, "lpips": 0.18994219601154327}}, {"video": {"psnr": 20.99405928610894, "ssim": 0.7011170466678964, "lpips": 0.26343387365341187}, "wrist_left": {"psnr": 13.161839086902575, "ssim": 0.41884622791241066, "lpips": 0.425468385219574}, "wrist_right": {"psnr": 13.704078932349153, "ssim": 0.5359055772406506, "lpips": 0.44263121485710144}, "tactile_left": {"psnr": 33.26959816568588, "ssim": 0.9467032577790043, "lpips": 0.23347152769565582}, "tactile_right": {"psnr": 31.796500111053824, "ssim": 0.9589644062235572, "lpips": 0.20696020126342773}}, {"video": {"psnr": 20.89404670977018, "ssim": 0.6911552260750811, "lpips": 0.2695176899433136}, "wrist_left": {"psnr": 12.696996194589623, "ssim": 0.3951909910192194, "lpips": 0.4428824186325073}, "wrist_right": {"psnr": 14.033616901656696, "ssim": 0.5212623741922283, "lpips": 0.4365711212158203}, "tactile_left": {"psnr": 33.3144499626745, "ssim": 0.9446316852804857, "lpips": 0.24585869908332825}, "tactile_right": {"psnr": 31.29593830483445, "ssim": 0.9556797534022186, "lpips": 0.2255215048789978}}, {"video": {"psnr": 20.81978527062835, "ssim": 0.6831944611227694, "lpips": 0.26993367075920105}, "wrist_left": {"psnr": 12.29072181771306, "ssim": 0.38449782307014624, "lpips": 0.46534472703933716}, "wrist_right": {"psnr": 13.523336695489984, "ssim": 0.5234443826999104, "lpips": 0.4491928219795227}, "tactile_left": {"psnr": 33.063425356401694, "ssim": 0.9419167161192612, "lpips": 0.2581052780151367}, "tactile_right": {"psnr": 31.077432325590202, "ssim": 0.9529220504618271, "lpips": 0.24498718976974487}}], "long_metrics": {"video": {"psnr": 22.54929884406708, "ssim": 0.753506319318482, "lpips": 0.19010264674822488}, "wrist_left": {"psnr": 14.960874864649497, "ssim": 0.5045661367542889, "lpips": 0.3727375537157059}, "wrist_right": {"psnr": 16.556641611320362, "ssim": 0.6370395473762868, "lpips": 0.3245339294274648}, "tactile_left": {"psnr": 36.203272882025864, "ssim": 0.9630642271449273, "lpips": 0.14494508480032284}, "tactile_right": {"psnr": 35.943247306565155, "ssim": 0.9718412399548417, "lpips": 0.11955360199014346}}}, {"id": "rope_10", "episode": "rope_0911_episode_005_seg00.pt", "requested_episode": "rope_0911_episode_005_seg00.pt", "category": "full", "t_start": 1264, "start_seconds": 84.26666666666667, "short_contact": [1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1], "future_transition_ticks": [], "long_contact_fraction": 1.0, "long_label": "full", "short_metrics": {"video": {"psnr": 36.277240910785856, "ssim": 0.9687172600691909, "lpips": 0.01206971425563097}, "wrist_left": {"psnr": 27.756881357184056, "ssim": 0.8853266205726107, "lpips": 0.02524276077747345}, "wrist_right": {"psnr": 25.8262135971206, "ssim": 0.7721049155789106, "lpips": 0.06460865586996078}, "tactile_left": {"psnr": 49.76755723517702, "ssim": 0.9931157805835247, "lpips": 0.0055093299597501755}, "tactile_right": {"psnr": 47.57018959603762, "ssim": 0.9915845613107712, "lpips": 0.013583794236183167}}, "media": {"short": {"video": "media/rope_10_short.mp4", "poster": "media/rope_10_short.jpg"}, "long": {"video": "media/rope_10_long.mp4", "poster": "media/rope_10_long.jpg"}}, "force": {"source": "recorded_normal_force", "units": "N", "fps": 15, "left": [1.9444444179534912, 1.9444444179534912, 1.9444444179534912, 2.28149676322937, 2.28149676322937, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.6312499046325684, 2.6312499046325684, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.6312499046325684, 2.6312499046325684, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.6312499046325684, 2.6312499046325684, 2.6312499046325684, 2.6312499046325684, 2.6312499046325684, 2.6312499046325684, 2.6312499046325684, 2.6312499046325684, 2.6312499046325684, 2.6312499046325684, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307], "right": [0.1599999964237213, 0.1599999964237213, 0.1599999964237213, 2.89768123626709, 0.0, 0.5600000023841858, 0.7345359921455383, 0.1599999964237213, 0.1599999964237213, 0.1599999964237213, 0.1599999964237213, 0.0, 0.0, 0.0, 0.0, 0.8377557992935181, 0.6723332405090332, 0.014832683838903904, 0.03664545342326164, 0.1599999964237213, 0.1599999964237213, 0.1599999964237213, 0.1599999964237213, 0.1599999964237213, 0.1410559117794037, 0.1599999964237213, 0.1599999964237213, 0.1599999964237213, 0.1599999964237213, 0.1500718593597412, 0.1599999964237213, 0.1599999964237213, 0.1599999964237213, 0.7983333468437195, 0.1599999964237213, 0.1599999964237213, 0.1599999964237213, 0.1599999964237213, 0.1599999964237213, 0.1599999964237213, 0.1599999964237213, 0.1599999964237213, 0.10033874958753586, 0.0, 0.04634222388267517, 0.05642236769199371, 0.059621572494506836, 0.05322316288948059, 0.07474509626626968, 0.10150209069252014, 0.10150209069252014, 0.1326216459274292, 0.1599999964237213, 0.1599999964237213, 0.1599999964237213, 0.1599999964237213, 0.1599999964237213, 0.1599999964237213, 0.1723915934562683, 0.17885535955429077, 0.1601448506116867, 0.12888607382774353, 0.20722132921218872, 0.1903959959745407, 1.2668758630752563, 1.31000816822052, 0.8114896416664124, 0.22120486199855804, 0.2979055345058441, 0.764664888381958, 0.0, 0.0, 0.14629098773002625, 0.14629098773002625, 0.00930678192526102, 0.0, 1.9444444179534912, 2.3157992362976074, 1.8510985374450684, 0.0, 1.9444444179534912, 1.9444444179534912, 0.1599999964237213, 0.1599999964237213, 0.1599999964237213, 2.3248276710510254, 1.0465826988220215, 2.3248276710510254, 2.3248276710510254, 0.7983333468437195, 2.3248276710510254, 0.0, 0.1599999964237213, 0.1599999964237213, 0.1599999964237213, 0.1599999964237213, 0.7983333468437195, 0.20869915187358856, 0.7805265784263611, 1.9444444179534912, 1.9444444179534912, 2.9560434818267822, 0.1599999964237213, 0.1599999964237213, 0.1599999964237213, 2.786381483078003, 1.3555138111114502, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4024657011032104, 2.3248276710510254, 1.1913667917251587, 0.0, 0.041298847645521164, 0.0, 0.1599999964237213, 0.1599999964237213, 0.1009204238653183, 0.1599999964237213, 1.3316631317138672, 0.5258998274803162]}, "long_curve": [{"video": {"psnr": 36.277240910785856, "ssim": 0.9687172600691909, "lpips": 0.01206971425563097}, "wrist_left": {"psnr": 27.756881357184056, "ssim": 0.8853266205726107, "lpips": 0.02524276077747345}, "wrist_right": {"psnr": 25.8262135971206, "ssim": 0.7721049155789106, "lpips": 0.06460865586996078}, "tactile_left": {"psnr": 49.76755723517702, "ssim": 0.9931157805835247, "lpips": 0.0055093299597501755}, "tactile_right": {"psnr": 47.57018959603762, "ssim": 0.9915845613107712, "lpips": 0.013583794236183167}}, {"video": {"psnr": 31.6364138509871, "ssim": 0.9366539602405071, "lpips": 0.024700701236724854}, "wrist_left": {"psnr": 22.621641542666215, "ssim": 0.6916461526223421, "lpips": 0.06420473754405975}, "wrist_right": {"psnr": 22.24322387546003, "ssim": 0.641810756801756, "lpips": 0.1472015678882599}, "tactile_left": {"psnr": 42.59428556594998, "ssim": 0.9788920822631484, "lpips": 0.02481394074857235}, "tactile_right": {"psnr": 42.87255823947924, "ssim": 0.9863163929087146, "lpips": 0.02156161516904831}}, {"video": {"psnr": 29.715488550639417, "ssim": 0.9138475255676007, "lpips": 0.03520941734313965}, "wrist_left": {"psnr": 20.172488080740074, "ssim": 0.6143604422396015, "lpips": 0.10404299199581146}, "wrist_right": {"psnr": 20.814986415883364, "ssim": 0.61784774379343, "lpips": 0.21570894122123718}, "tactile_left": {"psnr": 40.58431974102444, "ssim": 0.9705741654655513, "lpips": 0.042647045105695724}, "tactile_right": {"psnr": 40.55192624114707, "ssim": 0.9826921527052092, "lpips": 0.0326136089861393}}, {"video": {"psnr": 27.978701405568618, "ssim": 0.8902725192088032, "lpips": 0.05157485231757164}, "wrist_left": {"psnr": 19.815995859372933, "ssim": 0.6091075825460369, "lpips": 0.12130288034677505}, "wrist_right": {"psnr": 18.35214786638472, "ssim": 0.6728690597301382, "lpips": 0.3064020276069641}, "tactile_left": {"psnr": 39.89121466167443, "ssim": 0.9690193430087808, "lpips": 0.0539904460310936}, "tactile_right": {"psnr": 38.32120977415185, "ssim": 0.9800357141146758, "lpips": 0.050064750015735626}}, {"video": {"psnr": 26.914162020652995, "ssim": 0.8660427447563965, "lpips": 0.07088494300842285}, "wrist_left": {"psnr": 19.157495260009554, "ssim": 0.5907547123727015, "lpips": 0.13825953006744385}, "wrist_right": {"psnr": 19.528697280341603, "ssim": 0.662585249609811, "lpips": 0.29954537749290466}, "tactile_left": {"psnr": 38.538575702614885, "ssim": 0.9662405272603952, "lpips": 0.0671214759349823}, "tactile_right": {"psnr": 37.68956847393024, "ssim": 0.9770929057983222, "lpips": 0.0692218691110611}}, {"video": {"psnr": 26.055177627807517, "ssim": 0.8484902035689248, "lpips": 0.08519765734672546}, "wrist_left": {"psnr": 18.33602862844143, "ssim": 0.5689724476080714, "lpips": 0.1593712866306305}, "wrist_right": {"psnr": 20.96760135688429, "ssim": 0.6872165356390232, "lpips": 0.27398672699928284}, "tactile_left": {"psnr": 37.47537431324405, "ssim": 0.9620209891786387, "lpips": 0.08033329248428345}, "tactile_right": {"psnr": 36.547394908056205, "ssim": 0.9752469694285204, "lpips": 0.08780113607645035}}, {"video": {"psnr": 24.5005649582182, "ssim": 0.8196730517512886, "lpips": 0.11222310364246368}, "wrist_left": {"psnr": 17.439175247017122, "ssim": 0.5502136578965102, "lpips": 0.18887975811958313}, "wrist_right": {"psnr": 21.13823688202165, "ssim": 0.659894311120179, "lpips": 0.28630053997039795}, "tactile_left": {"psnr": 36.68786196471457, "ssim": 0.9583278050153119, "lpips": 0.09725481271743774}, "tactile_right": {"psnr": 35.70528487005972, "ssim": 0.9734471502492553, "lpips": 0.10280296951532364}}, {"video": {"psnr": 23.63834243575306, "ssim": 0.7977525746337536, "lpips": 0.12703821063041687}, "wrist_left": {"psnr": 17.39251835874923, "ssim": 0.5435085291537041, "lpips": 0.2006806582212448}, "wrist_right": {"psnr": 20.869595513026177, "ssim": 0.6785943242592571, "lpips": 0.2910956144332886}, "tactile_left": {"psnr": 35.71010288722623, "ssim": 0.9542151432681001, "lpips": 0.12129703909158707}, "tactile_right": {"psnr": 35.45236397674036, "ssim": 0.9710661475166441, "lpips": 0.12317945063114166}}, {"video": {"psnr": 22.922922076041743, "ssim": 0.771953814271928, "lpips": 0.14121675491333008}, "wrist_left": {"psnr": 16.594809756752817, "ssim": 0.510030094875245, "lpips": 0.22741183638572693}, "wrist_right": {"psnr": 17.98738342531013, "ssim": 0.6483619671042731, "lpips": 0.2851560115814209}, "tactile_left": {"psnr": 35.21190149262911, "ssim": 0.9516406784722804, "lpips": 0.13718201220035553}, "tactile_right": {"psnr": 34.82926481037423, "ssim": 0.9687016639167523, "lpips": 0.13995760679244995}}, {"video": {"psnr": 22.420543172943894, "ssim": 0.7591735030058027, "lpips": 0.16422000527381897}, "wrist_left": {"psnr": 16.504634842712246, "ssim": 0.507369071154691, "lpips": 0.22735527157783508}, "wrist_right": {"psnr": 15.132789267861877, "ssim": 0.5875632814645609, "lpips": 0.34964221715927124}, "tactile_left": {"psnr": 34.6267446189726, "ssim": 0.9476240458329097, "lpips": 0.1573084592819214}, "tactile_right": {"psnr": 34.06320933921711, "ssim": 0.9656322783770336, "lpips": 0.1642390340566635}}, {"video": {"psnr": 21.863162784211887, "ssim": 0.7443789572500763, "lpips": 0.1927594393491745}, "wrist_left": {"psnr": 15.609717930028522, "ssim": 0.48503020198348007, "lpips": 0.2578490972518921}, "wrist_right": {"psnr": 14.870232354387662, "ssim": 0.6133746301442025, "lpips": 0.35677677392959595}, "tactile_left": {"psnr": 34.134218359881025, "ssim": 0.9439207477249594, "lpips": 0.17651067674160004}, "tactile_right": {"psnr": 33.69352442338931, "ssim": 0.963106575887468, "lpips": 0.18508940935134888}}, {"video": {"psnr": 21.466970957167963, "ssim": 0.7273614418159402, "lpips": 0.21401366591453552}, "wrist_left": {"psnr": 15.456133168125296, "ssim": 0.4817975291164284, "lpips": 0.26362910866737366}, "wrist_right": {"psnr": 15.578405688838723, "ssim": 0.6134993640766131, "lpips": 0.38528937101364136}, "tactile_left": {"psnr": 33.55403462513151, "ssim": 0.9399698021589948, "lpips": 0.20010420680046082}, "tactile_right": {"psnr": 33.18943022734512, "ssim": 0.9600575797963543, "lpips": 0.20534849166870117}}, {"video": {"psnr": 21.008777021946955, "ssim": 0.705970616582059, "lpips": 0.24709177017211914}, "wrist_left": {"psnr": 14.352189394067928, "ssim": 0.45611429140211013, "lpips": 0.31773072481155396}, "wrist_right": {"psnr": 14.865073161391848, "ssim": 0.609092135586859, "lpips": 0.3902105689048767}, "tactile_left": {"psnr": 32.80784459786502, "ssim": 0.9333613306232614, "lpips": 0.21834224462509155}, "tactile_right": {"psnr": 32.944001216290204, "ssim": 0.9576676294087638, "lpips": 0.22117361426353455}}, {"video": {"psnr": 20.945484179174375, "ssim": 0.6934116518974247, "lpips": 0.2619219124317169}, "wrist_left": {"psnr": 13.88751482991059, "ssim": 0.43772353249445767, "lpips": 0.3712165951728821}, "wrist_right": {"psnr": 12.69894239644916, "ssim": 0.5587708180422672, "lpips": 0.4474954307079315}, "tactile_left": {"psnr": 32.46468604505615, "ssim": 0.9315635839987132, "lpips": 0.24632978439331055}, "tactile_right": {"psnr": 32.64433510853558, "ssim": 0.955048740138315, "lpips": 0.23504407703876495}}, {"video": {"psnr": 20.921904661347238, "ssim": 0.6786468507332233, "lpips": 0.2788441777229309}, "wrist_left": {"psnr": 13.852986923549649, "ssim": 0.4489800810636927, "lpips": 0.4093584418296814}, "wrist_right": {"psnr": 14.817984675657934, "ssim": 0.6373586754434385, "lpips": 0.36985987424850464}, "tactile_left": {"psnr": 32.0628030356084, "ssim": 0.9333864033507542, "lpips": 0.2777378261089325}, "tactile_right": {"psnr": 32.39098826499355, "ssim": 0.9525393489690245, "lpips": 0.2526199221611023}}], "long_metrics": {"video": {"psnr": 25.217723774216452, "ssim": 0.8081564450235279, "lpips": 0.13459775503724813}, "wrist_left": {"psnr": 17.930014078621845, "ssim": 0.5587289964734456, "lpips": 0.20510237862666447}, "wrist_right": {"psnr": 18.379434250467984, "ssim": 0.6440629178929813, "lpips": 0.2979519799351692}, "tactile_left": {"psnr": 37.07410165645129, "ssim": 0.9555914952136884, "lpips": 0.12709883948167164}, "tactile_right": {"psnr": 36.56434996464983, "ssim": 0.9706823873683883, "lpips": 0.12695342327157658}}}, {"id": "rope_11", "episode": "rope_0911_episode_005_seg01.pt", "requested_episode": "rope_0911_episode_005_seg01.pt", "category": "none", "t_start": 521, "start_seconds": 34.733333333333334, "short_contact": [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0], "future_transition_ticks": [], "long_contact_fraction": 0.125, "long_label": "none_at_start", "short_metrics": {"video": {"psnr": 29.782506396142942, "ssim": 0.9334874995660922, "lpips": 0.024757947772741318}, "wrist_left": {"psnr": 21.57816047779441, "ssim": 0.7321230073389982, "lpips": 0.08964964747428894}, "wrist_right": {"psnr": 22.35580792570412, "ssim": 0.8383013785375666, "lpips": 0.12703385949134827}, "tactile_left": {"psnr": 51.57522167244237, "ssim": 0.9949994122755665, "lpips": 0.0031457552686333656}, "tactile_right": {"psnr": 45.585214678515825, "ssim": 0.9892218443701044, "lpips": 0.02253670245409012}}, "media": {"short": {"video": "media/rope_11_short.mp4", "poster": "media/rope_11_short.jpg"}, "long": {"video": "media/rope_11_long.mp4", "poster": "media/rope_11_long.jpg"}}, "force": {"source": "recorded_normal_force", "units": "N", "fps": 15, "left": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.1599999964237213, 0.7983333468437195, 1.9444444179534912, 2.5848875045776367, 2.5848875045776367, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.1599999964237213, 0.7044057846069336, 3.0568182468414307, 0.7983333468437195, 0.1599999964237213, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.647652268409729, 0.7983333468437195, 0.7825595736503601, 0.4866666793823242, 0.07072307169437408, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.7897401452064514, 2.3248276710510254, 0.0], "right": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0020358585752546787, 0.10906385630369186, 0.07939848303794861, 0.04271765798330307, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.023557793349027634, 0.011342640966176987, 0.002326695481315255, 0.005816739052534103, 0.1599999964237213, 0.07445425540208817, 0.011051803827285767, 0.0, 0.0, 0.0040717171505093575, 0.014251010492444038, 0.2278153896331787, 0.00465339096263051, 0.008143434301018715, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0026175326202064753, 0.0026175326202064753, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.6223249435424805, 0.5385010242462158, 0.4133962094783783, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.2606673538684845, 0.2606673538684845, 1.5061222314834595, 1.1306027173995972, 0.0, 0.0, 0.0, 0.0]}, "long_curve": [{"video": {"psnr": 29.782506396142942, "ssim": 0.9334874995660922, "lpips": 0.024757947772741318}, "wrist_left": {"psnr": 21.57816047779441, "ssim": 0.7321230073389982, "lpips": 0.08964964747428894}, "wrist_right": {"psnr": 22.35580792570412, "ssim": 0.8383013785375666, "lpips": 0.12703385949134827}, "tactile_left": {"psnr": 51.57522167244237, "ssim": 0.9949994122755665, "lpips": 0.0031457552686333656}, "tactile_right": {"psnr": 45.585214678515825, "ssim": 0.9892218443701044, "lpips": 0.02253670245409012}}, {"video": {"psnr": 25.782106376623503, "ssim": 0.86472497086412, "lpips": 0.06451497226953506}, "wrist_left": {"psnr": 19.953390828352976, "ssim": 0.6588063044729784, "lpips": 0.1437854915857315}, "wrist_right": {"psnr": 18.967381958503594, "ssim": 0.7703626054498709, "lpips": 0.1743668019771576}, "tactile_left": {"psnr": 45.44694431533931, "ssim": 0.99063034669553, "lpips": 0.011428991332650185}, "tactile_right": {"psnr": 43.24864979829306, "ssim": 0.9850305027459808, "lpips": 0.028016269207000732}}, {"video": {"psnr": 24.852173631614562, "ssim": 0.8445049309907837, "lpips": 0.08146581053733826}, "wrist_left": {"psnr": 18.32689380128896, "ssim": 0.6128935523146462, "lpips": 0.20468270778656006}, "wrist_right": {"psnr": 19.012404439422234, "ssim": 0.7663071701885884, "lpips": 0.17507845163345337}, "tactile_left": {"psnr": 41.71193237099445, "ssim": 0.9854826665643494, "lpips": 0.02281273528933525}, "tactile_right": {"psnr": 39.48493447804494, "ssim": 0.9811641077501486, "lpips": 0.049320369958877563}}, {"video": {"psnr": 24.676750431746402, "ssim": 0.8356021932501985, "lpips": 0.08897170424461365}, "wrist_left": {"psnr": 17.970997989325394, "ssim": 0.5996519347521272, "lpips": 0.2009539008140564}, "wrist_right": {"psnr": 18.876135064805858, "ssim": 0.7604214367621687, "lpips": 0.17668607831001282}, "tactile_left": {"psnr": 40.2615692663771, "ssim": 0.9820391558191975, "lpips": 0.03381601348519325}, "tactile_right": {"psnr": 38.06319764970492, "ssim": 0.9784391146364333, "lpips": 0.06354807317256927}}, {"video": {"psnr": 24.86690517211958, "ssim": 0.8291783814585492, "lpips": 0.08727359771728516}, "wrist_left": {"psnr": 16.242789279150013, "ssim": 0.5575339069553964, "lpips": 0.2807193994522095}, "wrist_right": {"psnr": 19.051096221330305, "ssim": 0.7556213970556722, "lpips": 0.17802882194519043}, "tactile_left": {"psnr": 39.563553553418, "ssim": 0.9798914263938114, "lpips": 0.04485105723142624}, "tactile_right": {"psnr": 37.923091989675285, "ssim": 0.9758543099737029, "lpips": 0.0835251584649086}}, {"video": {"psnr": 24.39024271982082, "ssim": 0.8045402849605509, "lpips": 0.10105616599321365}, "wrist_left": {"psnr": 15.661534906194358, "ssim": 0.5422161621760757, "lpips": 0.30120527744293213}, "wrist_right": {"psnr": 18.774273162854826, "ssim": 0.7402423784628942, "lpips": 0.25151553750038147}, "tactile_left": {"psnr": 38.75660977904923, "ssim": 0.977260373892814, "lpips": 0.06233833730220795}, "tactile_right": {"psnr": 37.807656123414645, "ssim": 0.9769029281323152, "lpips": 0.07168157398700714}}, {"video": {"psnr": 23.4407805384771, "ssim": 0.7787983501791009, "lpips": 0.13245846331119537}, "wrist_left": {"psnr": 15.920757105482455, "ssim": 0.6386601051319754, "lpips": 0.3012901544570923}, "wrist_right": {"psnr": 17.35738432615751, "ssim": 0.703967364733741, "lpips": 0.29694318771362305}, "tactile_left": {"psnr": 38.178328122502926, "ssim": 0.9746148238832313, "lpips": 0.08306565135717392}, "tactile_right": {"psnr": 37.48277538476637, "ssim": 0.9763114101751701, "lpips": 0.07839710265398026}}, {"video": {"psnr": 22.875359253349394, "ssim": 0.7596770326515963, "lpips": 0.1558111310005188}, "wrist_left": {"psnr": 16.740439122940035, "ssim": 0.7038478487646362, "lpips": 0.27539917826652527}, "wrist_right": {"psnr": 17.142895386690352, "ssim": 0.6975455858118085, "lpips": 0.3284064531326294}, "tactile_left": {"psnr": 37.099012611272364, "ssim": 0.9712219835726078, "lpips": 0.10638713091611862}, "tactile_right": {"psnr": 37.03758540897859, "ssim": 0.9741222428804994, "lpips": 0.0998549610376358}}, {"video": {"psnr": 22.4220966541043, "ssim": 0.7459774505141001, "lpips": 0.1722576916217804}, "wrist_left": {"psnr": 16.812085218967837, "ssim": 0.7206864221818648, "lpips": 0.27803415060043335}, "wrist_right": {"psnr": 17.776738927166416, "ssim": 0.6958725765057477, "lpips": 0.3098025918006897}, "tactile_left": {"psnr": 36.974942074157774, "ssim": 0.9702095125411827, "lpips": 0.1060027927160263}, "tactile_right": {"psnr": 36.39186560586588, "ssim": 0.9713098002901973, "lpips": 0.11843287944793701}}, {"video": {"psnr": 22.304848527240043, "ssim": 0.740980691150497, "lpips": 0.17395621538162231}, "wrist_left": {"psnr": 16.956883379287632, "ssim": 0.7260177038362915, "lpips": 0.2950625717639923}, "wrist_right": {"psnr": 17.510460119542106, "ssim": 0.6803056736474686, "lpips": 0.33869850635528564}, "tactile_left": {"psnr": 35.32925302907149, "ssim": 0.9654390872377331, "lpips": 0.1296945959329605}, "tactile_right": {"psnr": 35.69652357657413, "ssim": 0.9686274502274644, "lpips": 0.14081443846225739}}, {"video": {"psnr": 22.533449940786532, "ssim": 0.7394175871167428, "lpips": 0.16360066831111908}, "wrist_left": {"psnr": 15.105818550328152, "ssim": 0.6624703790702307, "lpips": 0.3481703996658325}, "wrist_right": {"psnr": 17.906210074713844, "ssim": 0.719317291933545, "lpips": 0.30364981293678284}, "tactile_left": {"psnr": 35.0496190365084, "ssim": 0.9663431367361583, "lpips": 0.13106685876846313}, "tactile_right": {"psnr": 35.09501115005791, "ssim": 0.9661549086411958, "lpips": 0.16272321343421936}}, {"video": {"psnr": 22.245076739592605, "ssim": 0.7229454262840154, "lpips": 0.18905001878738403}, "wrist_left": {"psnr": 15.366251619309264, "ssim": 0.670430351202367, "lpips": 0.3288814425468445}, "wrist_right": {"psnr": 20.077431935851404, "ssim": 0.7623809446052, "lpips": 0.2530859410762787}, "tactile_left": {"psnr": 34.578862877913714, "ssim": 0.964819196354648, "lpips": 0.14513874053955078}, "tactile_right": {"psnr": 34.42202226533893, "ssim": 0.9629652879726945, "lpips": 0.18727561831474304}}, {"video": {"psnr": 22.41706478547842, "ssim": 0.7180722552555138, "lpips": 0.18191993236541748}, "wrist_left": {"psnr": 16.936900290897263, "ssim": 0.7207790331099441, "lpips": 0.3248785138130188}, "wrist_right": {"psnr": 19.940361330426434, "ssim": 0.7652032065546852, "lpips": 0.24974271655082703}, "tactile_left": {"psnr": 34.33274521509273, "ssim": 0.962680008157023, "lpips": 0.155447855591774}, "tactile_right": {"psnr": 34.081859418861235, "ssim": 0.9605047875908144, "lpips": 0.20643535256385803}}, {"video": {"psnr": 22.53805591910815, "ssim": 0.7236432589643641, "lpips": 0.17242667078971863}, "wrist_left": {"psnr": 16.71927907133345, "ssim": 0.7262429442079683, "lpips": 0.25867897272109985}, "wrist_right": {"psnr": 15.868703444414272, "ssim": 0.6983555874322462, "lpips": 0.342298299074173}, "tactile_left": {"psnr": 34.47012272825319, "ssim": 0.9628303825650222, "lpips": 0.1585981696844101}, "tactile_right": {"psnr": 33.56846366488536, "ssim": 0.9581150457801905, "lpips": 0.2212393581867218}}, {"video": {"psnr": 22.663622840017574, "ssim": 0.7168517832963759, "lpips": 0.170668363571167}, "wrist_left": {"psnr": 15.823043518718865, "ssim": 0.7054219194801079, "lpips": 0.2906104028224945}, "wrist_right": {"psnr": 18.017518946141514, "ssim": 0.7292137913986757, "lpips": 0.3102911114692688}, "tactile_left": {"psnr": 33.46319979500158, "ssim": 0.9574988518129959, "lpips": 0.18017196655273438}, "tactile_right": {"psnr": 33.00201071484508, "ssim": 0.9553159557475666, "lpips": 0.23986408114433289}}], "long_metrics": {"video": {"psnr": 23.85273599508146, "ssim": 0.7838934731001733, "lpips": 0.13067929024497668}, "wrist_left": {"psnr": 17.07434834395807, "ssim": 0.6651854383330406, "lpips": 0.26146681408087413}, "wrist_right": {"psnr": 18.575653550914986, "ssim": 0.738894559271992, "lpips": 0.2543752113978068}, "tactile_left": {"psnr": 38.45279442982631, "ssim": 0.9737306909667914, "lpips": 0.09159777679791054}, "tactile_right": {"psnr": 37.259390793854806, "ssim": 0.9720026464609651, "lpips": 0.1182443434993426}}}, {"id": "rope_12", "episode": "rope_0911_episode_005_seg01.pt", "requested_episode": "rope_0911_episode_005_seg01.pt", "category": "onset", "t_start": 504, "start_seconds": 33.6, "short_contact": [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 1], "future_transition_ticks": [11], "long_contact_fraction": 0.140625, "long_label": "onset", "short_metrics": {"video": {"psnr": 26.388160198880556, "ssim": 0.878738290273489, "lpips": 0.05591385066509247}, "wrist_left": {"psnr": 20.800269974796414, "ssim": 0.7549847805377132, "lpips": 0.16650691628456116}, "wrist_right": {"psnr": 21.278122782137096, "ssim": 0.8087476463261614, "lpips": 0.13277825713157654}, "tactile_left": {"psnr": 46.07181415375059, "ssim": 0.9913143456069631, "lpips": 0.01696775108575821}, "tactile_right": {"psnr": 50.00599066054984, "ssim": 0.9938118581788857, "lpips": 0.004815143067389727}}, "media": {"short": {"video": "media/rope_12_short.mp4", "poster": "media/rope_12_short.jpg"}, "long": {"video": "media/rope_12_long.mp4", "poster": "media/rope_12_long.jpg"}}, "force": {"source": "recorded_normal_force", "units": "N", "fps": 15, "left": [0.0, 0.0, 0.0, 0.1599999964237213, 0.04181085526943207, 0.1599999964237213, 0.29114335775375366, 0.29114335775375366, 0.4000000059604645, 0.27666667103767395, 0.4000000059604645, 0.7037668228149414, 0.6153987050056458, 0.5686556696891785, 0.6720236539840698, 0.6720236539840698, 0.5600000023841858, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.1599999964237213, 0.7983333468437195, 1.9444444179534912, 2.5848875045776367, 2.5848875045776367, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.1599999964237213, 0.7044057846069336, 3.0568182468414307, 0.7983333468437195, 0.1599999964237213, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.647652268409729, 0.7983333468437195, 0.7825595736503601], "right": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0020358585752546787, 0.10906385630369186, 0.07939848303794861, 0.04271765798330307, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.023557793349027634, 0.011342640966176987, 0.002326695481315255, 0.005816739052534103, 0.1599999964237213, 0.07445425540208817, 0.011051803827285767, 0.0, 0.0, 0.0040717171505093575, 0.014251010492444038, 0.2278153896331787, 0.00465339096263051, 0.008143434301018715, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0026175326202064753, 0.0026175326202064753, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.6223249435424805, 0.5385010242462158, 0.4133962094783783, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]}, "long_curve": [{"video": {"psnr": 26.388160198880556, "ssim": 0.878738290273489, "lpips": 0.05591385066509247}, "wrist_left": {"psnr": 20.800269974796414, "ssim": 0.7549847805377132, "lpips": 0.16650691628456116}, "wrist_right": {"psnr": 21.278122782137096, "ssim": 0.8087476463261614, "lpips": 0.13277825713157654}, "tactile_left": {"psnr": 46.07181415375059, "ssim": 0.9913143456069631, "lpips": 0.01696775108575821}, "tactile_right": {"psnr": 50.00599066054984, "ssim": 0.9938118581788857, "lpips": 0.004815143067389727}}, {"video": {"psnr": 22.919829813778094, "ssim": 0.785533862219287, "lpips": 0.13287508487701416}, "wrist_left": {"psnr": 17.22317874161041, "ssim": 0.6360206679669063, "lpips": 0.24253758788108826}, "wrist_right": {"psnr": 16.09145224547309, "ssim": 0.6944587809830314, "lpips": 0.28564345836639404}, "tactile_left": {"psnr": 45.886986255406384, "ssim": 0.9894698247006914, "lpips": 0.015183970332145691}, "tactile_right": {"psnr": 45.7841002094738, "ssim": 0.9885825082322067, "lpips": 0.014376156963407993}}, {"video": {"psnr": 22.52685257701641, "ssim": 0.7712145935879492, "lpips": 0.14653176069259644}, "wrist_left": {"psnr": 15.793195571726644, "ssim": 0.5959922365867418, "lpips": 0.2754977345466614}, "wrist_right": {"psnr": 17.360928111655017, "ssim": 0.7387338782652, "lpips": 0.2366301417350769}, "tactile_left": {"psnr": 43.217382094309926, "ssim": 0.9865081074765223, "lpips": 0.02412734180688858}, "tactile_right": {"psnr": 41.49666430817174, "ssim": 0.9852688385743595, "lpips": 0.026864390820264816}}, {"video": {"psnr": 22.359020983819896, "ssim": 0.7647941007243184, "lpips": 0.15662626922130585}, "wrist_left": {"psnr": 15.137083432946081, "ssim": 0.5556449468911084, "lpips": 0.29146671295166016}, "wrist_right": {"psnr": 16.19438040871558, "ssim": 0.7034392707236838, "lpips": 0.28486788272857666}, "tactile_left": {"psnr": 41.442457927182886, "ssim": 0.9833416904638801, "lpips": 0.03577889874577522}, "tactile_right": {"psnr": 39.97439522282006, "ssim": 0.9818096736082587, "lpips": 0.0398484468460083}}, {"video": {"psnr": 22.252735338998093, "ssim": 0.7612443682844836, "lpips": 0.1575394570827484}, "wrist_left": {"psnr": 14.962201535869601, "ssim": 0.5332765180878758, "lpips": 0.2980465888977051}, "wrist_right": {"psnr": 15.31540577153214, "ssim": 0.6710090216976361, "lpips": 0.3172122836112976}, "tactile_left": {"psnr": 39.98724630517445, "ssim": 0.9801268694084938, "lpips": 0.04424393177032471}, "tactile_right": {"psnr": 39.135690233600414, "ssim": 0.9776363180369474, "lpips": 0.06489145010709763}}, {"video": {"psnr": 22.19836718619256, "ssim": 0.7568682535944173, "lpips": 0.16027745604515076}, "wrist_left": {"psnr": 15.709050058038773, "ssim": 0.553938164225327, "lpips": 0.27387377619743347}, "wrist_right": {"psnr": 15.367054357352972, "ssim": 0.6694120302171089, "lpips": 0.3195277452468872}, "tactile_left": {"psnr": 39.1727454812267, "ssim": 0.9769748831819519, "lpips": 0.06009416654706001}, "tactile_right": {"psnr": 38.83590202810828, "ssim": 0.9769603169946928, "lpips": 0.0739196389913559}}, {"video": {"psnr": 22.301403170891877, "ssim": 0.7498898148806796, "lpips": 0.1600906252861023}, "wrist_left": {"psnr": 16.451949036001444, "ssim": 0.5950253930511613, "lpips": 0.25675538182258606}, "wrist_right": {"psnr": 15.40594624713394, "ssim": 0.6690572488828432, "lpips": 0.33329495787620544}, "tactile_left": {"psnr": 38.449386012630924, "ssim": 0.9741162899423346, "lpips": 0.0787447839975357}, "tactile_right": {"psnr": 38.17153517329388, "ssim": 0.9755094809931546, "lpips": 0.08797004818916321}}, {"video": {"psnr": 22.076338096656855, "ssim": 0.7363591244867348, "lpips": 0.16288088262081146}, "wrist_left": {"psnr": 16.2326666735176, "ssim": 0.5830179123526723, "lpips": 0.2740810811519623}, "wrist_right": {"psnr": 16.51113223076599, "ssim": 0.678448908638965, "lpips": 0.32699090242385864}, "tactile_left": {"psnr": 37.43843478248241, "ssim": 0.9708489493480869, "lpips": 0.10069794952869415}, "tactile_right": {"psnr": 37.665913073702924, "ssim": 0.973066355126236, "lpips": 0.11015217751264572}}, {"video": {"psnr": 21.41702008572912, "ssim": 0.713928336843795, "lpips": 0.2306017279624939}, "wrist_left": {"psnr": 16.96884423126312, "ssim": 0.6954387130774164, "lpips": 0.23149451613426208}, "wrist_right": {"psnr": 16.06086601283304, "ssim": 0.6718543285113616, "lpips": 0.35023581981658936}, "tactile_left": {"psnr": 36.67358189812748, "ssim": 0.9683078656316839, "lpips": 0.11829696595668793}, "tactile_right": {"psnr": 37.076462394555996, "ssim": 0.9708952876866711, "lpips": 0.12775066494941711}}, {"video": {"psnr": 21.014312909487707, "ssim": 0.6999719203599545, "lpips": 0.2697281241416931}, "wrist_left": {"psnr": 16.947323496442063, "ssim": 0.7241918278740564, "lpips": 0.284285306930542}, "wrist_right": {"psnr": 15.133929959918058, "ssim": 0.6390967181583456, "lpips": 0.40776556730270386}, "tactile_left": {"psnr": 35.73381140138216, "ssim": 0.9647528730835171, "lpips": 0.13960383832454681}, "tactile_right": {"psnr": 35.90228626686064, "ssim": 0.968133228333204, "lpips": 0.14938139915466309}}, {"video": {"psnr": 20.923033504235026, "ssim": 0.6994603890101423, "lpips": 0.2766396403312683}, "wrist_left": {"psnr": 16.8357611447262, "ssim": 0.7420732465977034, "lpips": 0.32215896248817444}, "wrist_right": {"psnr": 14.430894826983609, "ssim": 0.6285267273818722, "lpips": 0.39131438732147217}, "tactile_left": {"psnr": 35.44098901759582, "ssim": 0.9629246659204787, "lpips": 0.15268462896347046}, "tactile_right": {"psnr": 35.02191634067497, "ssim": 0.9646825142169972, "lpips": 0.16871419548988342}}, {"video": {"psnr": 20.701491229381418, "ssim": 0.6982959729780069, "lpips": 0.2817115783691406}, "wrist_left": {"psnr": 17.282512729051817, "ssim": 0.7467219706722917, "lpips": 0.2990647256374359}, "wrist_right": {"psnr": 14.568530713516026, "ssim": 0.6386954835343799, "lpips": 0.3725147247314453}, "tactile_left": {"psnr": 34.49183779696439, "ssim": 0.9603140303051458, "lpips": 0.16871434450149536}, "tactile_right": {"psnr": 34.37044537978534, "ssim": 0.9612903472059453, "lpips": 0.19192761182785034}}, {"video": {"psnr": 20.80901184682371, "ssim": 0.6858367488015948, "lpips": 0.2867904305458069}, "wrist_left": {"psnr": 15.821083271465305, "ssim": 0.6927463754975427, "lpips": 0.3054428696632385}, "wrist_right": {"psnr": 15.130229065012538, "ssim": 0.6609875074197511, "lpips": 0.353030800819397}, "tactile_left": {"psnr": 34.19731264227289, "ssim": 0.9599508840502726, "lpips": 0.17784520983695984}, "tactile_right": {"psnr": 33.709334632441774, "ssim": 0.9584501320847232, "lpips": 0.21242552995681763}}, {"video": {"psnr": 20.439081104029345, "ssim": 0.667413692831151, "lpips": 0.30586910247802734}, "wrist_left": {"psnr": 15.701928876812985, "ssim": 0.6939957369146179, "lpips": 0.31211912631988525}, "wrist_right": {"psnr": 16.576604199394954, "ssim": 0.6772654676539748, "lpips": 0.3763315677642822}, "tactile_left": {"psnr": 34.150690204672784, "ssim": 0.9612087335412758, "lpips": 0.16802820563316345}, "tactile_right": {"psnr": 33.21452402656591, "ssim": 0.9557896780752655, "lpips": 0.23072122037410736}}, {"video": {"psnr": 20.191668050686424, "ssim": 0.6630400868717554, "lpips": 0.31050580739974976}, "wrist_left": {"psnr": 16.226211574058535, "ssim": 0.6962339758295549, "lpips": 0.3492746353149414}, "wrist_right": {"psnr": 16.627656783414125, "ssim": 0.6847170941948555, "lpips": 0.3838682770729065}, "tactile_left": {"psnr": 33.410712209860066, "ssim": 0.9558880954834885, "lpips": 0.18344318866729736}, "tactile_right": {"psnr": 32.68221590819477, "ssim": 0.952894158165411, "lpips": 0.24763619899749756}}], "long_metrics": {"video": {"psnr": 21.901221739773806, "ssim": 0.7355059703831839, "lpips": 0.20630545318126678}, "wrist_left": {"psnr": 16.539550689888465, "ssim": 0.6532868310775126, "lpips": 0.27884039481480916}, "wrist_right": {"psnr": 16.13687558105588, "ssim": 0.6822966741726114, "lpips": 0.32480045159657794}, "tactile_left": {"psnr": 38.384359212202654, "ssim": 0.9724032072096525, "lpips": 0.09896367837985356}, "tactile_right": {"psnr": 38.203158390586694, "ssim": 0.9723187130341973, "lpips": 0.11675961821650466}}}, {"id": "rope_13", "episode": "rope_0911_episode_005_seg01.pt", "requested_episode": "rope_0911_episode_005_seg01.pt", "category": "release", "t_start": 457, "start_seconds": 30.466666666666665, "short_contact": [1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 0, 0], "future_transition_ticks": [11], "long_contact_fraction": 0.171875, "long_label": "release", "short_metrics": {"video": {"psnr": 26.369252185605617, "ssim": 0.903322308298574, "lpips": 0.06093057245016098}, "wrist_left": {"psnr": 22.306351117829145, "ssim": 0.8053011382933732, "lpips": 0.1574200540781021}, "wrist_right": {"psnr": 22.838625768888022, "ssim": 0.8211349962164632, "lpips": 0.17274203896522522}, "tactile_left": {"psnr": 46.969237814396465, "ssim": 0.9916446798437836, "lpips": 0.013153094798326492}, "tactile_right": {"psnr": 45.68915639733628, "ssim": 0.990200520207761, "lpips": 0.03170124441385269}}, "media": {"short": {"video": "media/rope_13_short.mp4", "poster": "media/rope_13_short.jpg"}, "long": {"video": "media/rope_13_long.mp4", "poster": "media/rope_13_long.jpg"}}, "force": {"source": "recorded_normal_force", "units": "N", "fps": 15, "left": [0.5600000023841858, 0.5470684766769409, 0.4966500401496887, 0.4000000059604645, 0.43075984716415405, 0.49534422159194946, 0.513062059879303, 0.48727983236312866, 0.43913140892982483, 0.4000000059604645, 0.1611628532409668, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.16390106081962585, 0.1599999964237213, 0.1599999964237213, 0.0, 0.0, 0.0, 0.1599999964237213, 0.04181085526943207, 0.1599999964237213, 0.29114335775375366, 0.29114335775375366, 0.4000000059604645, 0.27666667103767395, 0.4000000059604645, 0.7037668228149414, 0.6153987050056458, 0.5686556696891785, 0.6720236539840698, 0.6720236539840698, 0.5600000023841858, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "right": [2.5504209995269775, 2.983825922012329, 2.3248276710510254, 2.3248276710510254, 1.9444444179534912, 1.9444444179534912, 0.7983333468437195, 1.9439622163772583, 1.9439622163772583, 0.7983333468437195, 2.3248276710510254, 0.1599999964237213, 0.1679387390613556, 0.25, 0.38590243458747864, 0.4000000059604645, 0.4000000059604645, 0.43653035163879395, 0.5055455565452576, 0.5292143225669861, 0.4927133321762085, 0.4927133321762085, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0546773672103882, 0.1599999964237213, 0.16222774982452393, 0.7983333468437195, 0.25, 0.27666667103767395, 0.1599999964237213, 0.1599999964237213, 2.3248276710510254, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0020358585752546787, 0.10906385630369186, 0.07939848303794861, 0.04271765798330307, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.023557793349027634]}, "long_curve": [{"video": {"psnr": 26.369252185605617, "ssim": 0.903322308298574, "lpips": 0.06093057245016098}, "wrist_left": {"psnr": 22.306351117829145, "ssim": 0.8053011382933732, "lpips": 0.1574200540781021}, "wrist_right": {"psnr": 22.838625768888022, "ssim": 0.8211349962164632, "lpips": 0.17274203896522522}, "tactile_left": {"psnr": 46.969237814396465, "ssim": 0.9916446798437836, "lpips": 0.013153094798326492}, "tactile_right": {"psnr": 45.68915639733628, "ssim": 0.990200520207761, "lpips": 0.03170124441385269}}, {"video": {"psnr": 22.365562970043026, "ssim": 0.7953223581656175, "lpips": 0.17548798024654388}, "wrist_left": {"psnr": 16.56971492655241, "ssim": 0.6911511630563775, "lpips": 0.26014167070388794}, "wrist_right": {"psnr": 17.522254534761814, "ssim": 0.6857823554852308, "lpips": 0.3104390501976013}, "tactile_left": {"psnr": 45.00415757509855, "ssim": 0.9881079270670491, "lpips": 0.01523282378911972}, "tactile_right": {"psnr": 42.4303383041192, "ssim": 0.9861950119941736, "lpips": 0.05203291028738022}}, {"video": {"psnr": 21.23938791406523, "ssim": 0.7641222011309767, "lpips": 0.23101022839546204}, "wrist_left": {"psnr": 15.867926208316746, "ssim": 0.6207499577807882, "lpips": 0.30849844217300415}, "wrist_right": {"psnr": 16.207229314582047, "ssim": 0.6670991681705393, "lpips": 0.31705859303474426}, "tactile_left": {"psnr": 42.98361844423476, "ssim": 0.9851998287921347, "lpips": 0.025832243263721466}, "tactile_right": {"psnr": 42.860081055284326, "ssim": 0.986901451662751, "lpips": 0.02710721269249916}}, {"video": {"psnr": 21.075698833276885, "ssim": 0.7591815396252412, "lpips": 0.23843950033187866}, "wrist_left": {"psnr": 15.719506208503837, "ssim": 0.6256964452129817, "lpips": 0.3363957405090332}, "wrist_right": {"psnr": 13.44419871376445, "ssim": 0.5680216612982697, "lpips": 0.36534199118614197}, "tactile_left": {"psnr": 40.08739616986888, "ssim": 0.9795851533148225, "lpips": 0.05021798238158226}, "tactile_right": {"psnr": 40.296508042775876, "ssim": 0.9828701500033875, "lpips": 0.05464686453342438}}, {"video": {"psnr": 21.250259863112547, "ssim": 0.7445929156122919, "lpips": 0.23763331770896912}, "wrist_left": {"psnr": 15.628977920797155, "ssim": 0.617915195253402, "lpips": 0.3849281668663025}, "wrist_right": {"psnr": 15.60326924058131, "ssim": 0.648962827199151, "lpips": 0.3703131377696991}, "tactile_left": {"psnr": 39.9062382507647, "ssim": 0.9790184248058421, "lpips": 0.05366647243499756}, "tactile_right": {"psnr": 40.00535330523918, "ssim": 0.9808030172572733, "lpips": 0.07003545016050339}}, {"video": {"psnr": 20.917639969526306, "ssim": 0.7391213538121624, "lpips": 0.24361379444599152}, "wrist_left": {"psnr": 16.985219533847737, "ssim": 0.6968048275657159, "lpips": 0.324531614780426}, "wrist_right": {"psnr": 18.756256768215987, "ssim": 0.689461892500336, "lpips": 0.3266645073890686}, "tactile_left": {"psnr": 38.33928558878685, "ssim": 0.9766557175044854, "lpips": 0.07518641650676727}, "tactile_right": {"psnr": 39.01539833219397, "ssim": 0.9795357083292651, "lpips": 0.07757209986448288}}, {"video": {"psnr": 21.141173986768376, "ssim": 0.7465194907784971, "lpips": 0.2255837619304657}, "wrist_left": {"psnr": 14.761928717992362, "ssim": 0.6131709852326455, "lpips": 0.37034881114959717}, "wrist_right": {"psnr": 17.87083323583335, "ssim": 0.7387339759887848, "lpips": 0.3205406069755554}, "tactile_left": {"psnr": 37.052810269721135, "ssim": 0.9728608807506578, "lpips": 0.08848016709089279}, "tactile_right": {"psnr": 37.392589483936675, "ssim": 0.9773231254838792, "lpips": 0.09698650985956192}}, {"video": {"psnr": 20.879092217390934, "ssim": 0.7275227551428085, "lpips": 0.24085970222949982}, "wrist_left": {"psnr": 13.497430893580685, "ssim": 0.5443996324719196, "lpips": 0.41524213552474976}, "wrist_right": {"psnr": 17.584954475378055, "ssim": 0.7521832497774465, "lpips": 0.2301124632358551}, "tactile_left": {"psnr": 35.93975809266264, "ssim": 0.9707438265801615, "lpips": 0.10053111612796783}, "tactile_right": {"psnr": 36.57741257163402, "ssim": 0.9739746062480346, "lpips": 0.12132472544908524}}, {"video": {"psnr": 20.730760865536023, "ssim": 0.716442702023795, "lpips": 0.2648751437664032}, "wrist_left": {"psnr": 13.570016987778963, "ssim": 0.5255525865005859, "lpips": 0.3840869665145874}, "wrist_right": {"psnr": 17.908520944694867, "ssim": 0.747034224923133, "lpips": 0.23614487051963806}, "tactile_left": {"psnr": 35.424774761223446, "ssim": 0.9678407342859814, "lpips": 0.11696840077638626}, "tactile_right": {"psnr": 35.25648537547917, "ssim": 0.9713743099792838, "lpips": 0.13456116616725922}}, {"video": {"psnr": 20.539840042538536, "ssim": 0.7106724637976994, "lpips": 0.27816370129585266}, "wrist_left": {"psnr": 13.37656292193326, "ssim": 0.5054557468112837, "lpips": 0.39592403173446655}, "wrist_right": {"psnr": 16.689208610000104, "ssim": 0.6927430094581672, "lpips": 0.2903943359851837}, "tactile_left": {"psnr": 34.47062290764115, "ssim": 0.9640951362969936, "lpips": 0.13370493054389954}, "tactile_right": {"psnr": 34.41185147675161, "ssim": 0.9686394009022458, "lpips": 0.13938583433628082}}, {"video": {"psnr": 20.45756863238035, "ssim": 0.7055807113592821, "lpips": 0.2818368077278137}, "wrist_left": {"psnr": 13.265160004129308, "ssim": 0.49814735027419077, "lpips": 0.3929622173309326}, "wrist_right": {"psnr": 16.53242737121938, "ssim": 0.6794484922753483, "lpips": 0.3072490394115448}, "tactile_left": {"psnr": 34.084052187038054, "ssim": 0.9613202889308345, "lpips": 0.1454014778137207}, "tactile_right": {"psnr": 33.865370400908176, "ssim": 0.9658878508181612, "lpips": 0.15844744443893433}}, {"video": {"psnr": 20.493704434050272, "ssim": 0.705188898609149, "lpips": 0.2792525589466095}, "wrist_left": {"psnr": 13.36472867413466, "ssim": 0.5010947591999493, "lpips": 0.38683080673217773}, "wrist_right": {"psnr": 16.574916577613536, "ssim": 0.680389783739809, "lpips": 0.30036723613739014}, "tactile_left": {"psnr": 33.92793945932752, "ssim": 0.9589582783696158, "lpips": 0.16126574575901031}, "tactile_right": {"psnr": 33.440787937394944, "ssim": 0.9629053981074094, "lpips": 0.1798015534877777}}, {"video": {"psnr": 20.45846999199648, "ssim": 0.6982669549359395, "lpips": 0.2896941900253296}, "wrist_left": {"psnr": 13.542846793972522, "ssim": 0.5331041404289856, "lpips": 0.4048423767089844}, "wrist_right": {"psnr": 16.639924333879755, "ssim": 0.6797954891381828, "lpips": 0.3036907911300659}, "tactile_left": {"psnr": 34.000566373124514, "ssim": 0.9580047129055029, "lpips": 0.16931985318660736}, "tactile_right": {"psnr": 33.24388661117061, "ssim": 0.9603590550879806, "lpips": 0.20040172338485718}}, {"video": {"psnr": 20.321284133394304, "ssim": 0.6881281800962986, "lpips": 0.29153794050216675}, "wrist_left": {"psnr": 13.059050485519315, "ssim": 0.515163541752709, "lpips": 0.41889309883117676}, "wrist_right": {"psnr": 17.228904758282695, "ssim": 0.7110675430570258, "lpips": 0.3255859613418579}, "tactile_left": {"psnr": 34.03053064992483, "ssim": 0.9566984790416213, "lpips": 0.17886169254779816}, "tactile_right": {"psnr": 32.81285096508839, "ssim": 0.9580354006549605, "lpips": 0.21969705820083618}}, {"video": {"psnr": 20.57041461165023, "ssim": 0.6773060276086116, "lpips": 0.2936710715293884}, "wrist_left": {"psnr": 14.57191924636878, "ssim": 0.6546125366738712, "lpips": 0.3439991772174835}, "wrist_right": {"psnr": 16.962181141287438, "ssim": 0.7036176557078129, "lpips": 0.3316531777381897}, "tactile_left": {"psnr": 33.47594240703564, "ssim": 0.9543767607253646, "lpips": 0.1919979304075241}, "tactile_right": {"psnr": 32.41296852124886, "ssim": 0.955203918319474, "lpips": 0.23862072825431824}}], "long_metrics": {"video": {"psnr": 21.254007376755673, "ssim": 0.738752724066463, "lpips": 0.24217268476883572}, "wrist_left": {"psnr": 15.072489376083793, "ssim": 0.5965546671005852, "lpips": 0.3523363540569941}, "wrist_right": {"psnr": 17.224247052598855, "ssim": 0.69769842166238, "lpips": 0.3005531867345174}, "tactile_left": {"psnr": 37.71312873005661, "ssim": 0.9710073886143233, "lpips": 0.10132135649522146}, "tactile_right": {"psnr": 37.31406925203741, "ssim": 0.9733472616704028, "lpips": 0.12015483503540357}}}, {"id": "rope_14", "episode": "rope_0911_episode_005_seg01.pt", "requested_episode": "rope_0911_episode_005_seg01.pt", "category": "full", "t_start": 744, "start_seconds": 49.6, "short_contact": [1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1], "future_transition_ticks": [], "long_contact_fraction": 0.921875, "long_label": "full", "short_metrics": {"video": {"psnr": 33.049089797856645, "ssim": 0.9540417358613106, "lpips": 0.017060047015547752}, "wrist_left": {"psnr": 22.067035797336963, "ssim": 0.6722414802821666, "lpips": 0.0929337739944458}, "wrist_right": {"psnr": 26.97859033224691, "ssim": 0.8306343968909761, "lpips": 0.13278943300247192}, "tactile_left": {"psnr": 40.309418865896305, "ssim": 0.9725443468555615, "lpips": 0.032414402812719345}, "tactile_right": {"psnr": 49.84731652315328, "ssim": 0.9935240590261118, "lpips": 0.005246003624051809}}, "media": {"short": {"video": "media/rope_14_short.mp4", "poster": "media/rope_14_short.jpg"}, "long": {"video": "media/rope_14_long.mp4", "poster": "media/rope_14_long.jpg"}}, "force": {"source": "recorded_normal_force", "units": "N", "fps": 15, "left": [5.403749942779541, 6.519285678863525, 6.519285678863525, 6.519285678863525, 6.519285678863525, 6.519285678863525, 6.373636245727539, 6.373636245727539, 6.373636245727539, 5.486666679382324, 5.403749942779541, 5.397500038146973, 4.852499961853027, 5.399640083312988, 5.397500038146973, 4.852499961853027, 4.852499961853027, 4.726428508758545, 4.852499961853027, 4.726428508758545, 4.726428508758545, 4.726428508758545, 4.726428508758545, 4.726428508758545, 3.921100378036499, 4.726428508758545, 3.9167568683624268, 0.7983333468437195, 1.050154685974121, 0.2732451856136322, 0.2937729060649872, 0.48928961157798767, 0.7983333468437195, 1.9444444179534912, 1.9444444179534912, 1.9444444179534912, 2.3248276710510254, 2.3248276710510254, 2.6312499046325684, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 2.3248276710510254, 2.0218048095703125, 2.0218048095703125, 0.50055330991745, 0.7983333468437195, 0.7983333468437195, 1.9444444179534912, 0.7983333468437195, 0.7983333468437195, 1.9444444179534912, 1.9444444179534912, 0.26646891236305237, 0.0, 0.0, 0.0, 0.0, 0.0, 0.5209580063819885, 0.1599999964237213, 2.6312499046325684, 3.1971428394317627, 3.9167568683624268, 4.726428508758545, 4.726428508758545, 3.9304966926574707, 3.929295301437378, 3.9167568683624268, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 2.3248276710510254, 3.1971428394317627, 2.3248276710510254, 0.0, 0.0, 0.0, 0.0, 0.0, 0.7983333468437195, 1.9444444179534912, 1.9444444179534912, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 2.3248276710510254, 2.3248276710510254, 2.243333339691162, 2.243333339691162, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 3.0568182468414307, 1.9444444179534912, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 0.7983333468437195, 0.20084209740161896, 0.1599999964237213, 0.0, 0.0, 0.0, 0.0, 0.4700913429260254, 3.9167568683624268, 4.738024711608887, 5.486666679382324, 6.519285678863525, 6.519285678863525, 7.040630340576172], "right": [0.0, 0.0, 0.0, 0.0, 0.0, 0.1474699079990387, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.16057513654232025, 0.17762120068073273, 0.16863760352134705, 0.1599999964237213, 0.1599999964237213, 0.17792601883411407, 0.27098122239112854, 0.4399999976158142, 0.4399999976158142, 0.4866666793823242, 0.5054285526275635, 0.5240516662597656, 0.5216363668441772, 0.526260256767273, 0.5324317812919617, 0.5553989410400391, 0.5600000023841858, 0.7983333468437195, 0.5600000023841858, 0.50578373670578, 0.5524390935897827, 0.5600000023841858, 0.7983333468437195, 0.7542596459388733, 0.7196613550186157, 0.5590823292732239, 0.5239078998565674, 0.5291818380355835, 0.5014634728431702, 0.4399999976158142, 0.4399999976158142, 0.4875168204307556, 0.4399999976158142, 0.4000000059604645, 0.4399999976158142, 0.4399999976158142, 0.4000000059604645, 0.14949019253253937, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.2080603539943695, 0.5375277400016785, 0.7033445239067078, 0.7983333468437195, 1.8083139657974243, 1.9444444179534912, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.3019747734069824, 0.3019747734069824, 0.7541472911834717, 0.7983333468437195, 1.9444444179534912, 1.9444444179534912, 0.7983333468437195, 0.5164522528648376, 0.4399999976158142, 0.25, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.1599999964237213, 0.1599999964237213, 0.25, 0.5600000023841858, 1.9444444179534912, 2.3248276710510254, 3.0568182468414307, 3.443699836730957, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 0.5600000023841858, 0.00988845620304346, 0.0, 0.0, 0.17458476126194, 0.5332755446434021]}, "long_curve": [{"video": {"psnr": 33.049089797856645, "ssim": 0.9540417358613106, "lpips": 0.017060047015547752}, "wrist_left": {"psnr": 22.067035797336963, "ssim": 0.6722414802821666, "lpips": 0.0929337739944458}, "wrist_right": {"psnr": 26.97859033224691, "ssim": 0.8306343968909761, "lpips": 0.13278943300247192}, "tactile_left": {"psnr": 40.309418865896305, "ssim": 0.9725443468555615, "lpips": 0.032414402812719345}, "tactile_right": {"psnr": 49.84731652315328, "ssim": 0.9935240590261118, "lpips": 0.005246003624051809}}, {"video": {"psnr": 27.436962695126432, "ssim": 0.8835648131044002, "lpips": 0.04877553880214691}, "wrist_left": {"psnr": 20.433959913740058, "ssim": 0.6194183950029909, "lpips": 0.13722628355026245}, "wrist_right": {"psnr": 22.633045441421093, "ssim": 0.7439953933427166, "lpips": 0.1827097237110138}, "tactile_left": {"psnr": 39.4754848842807, "ssim": 0.9690461396131098, "lpips": 0.040953271090984344}, "tactile_right": {"psnr": 40.84770109453246, "ssim": 0.9812709022664099, "lpips": 0.049760863184928894}}, {"video": {"psnr": 25.716657946158815, "ssim": 0.8516555048557735, "lpips": 0.07227339595556259}, "wrist_left": {"psnr": 14.39988050920621, "ssim": 0.5601915526118059, "lpips": 0.32798153162002563}, "wrist_right": {"psnr": 19.956017578681887, "ssim": 0.6879292643347628, "lpips": 0.2100599706172943}, "tactile_left": {"psnr": 37.98254405270538, "ssim": 0.9705275851834831, "lpips": 0.06769303977489471}, "tactile_right": {"psnr": 35.389821187792236, "ssim": 0.9627466549649204, "lpips": 0.11249786615371704}}, {"video": {"psnr": 23.9859867739961, "ssim": 0.814099413190606, "lpips": 0.1161147952079773}, "wrist_left": {"psnr": 15.270119362813103, "ssim": 0.6244455841145906, "lpips": 0.34636157751083374}, "wrist_right": {"psnr": 20.936732173648554, "ssim": 0.7076829045271285, "lpips": 0.20764228701591492}, "tactile_left": {"psnr": 33.785975164094275, "ssim": 0.9596582826789772, "lpips": 0.1308322250843048}, "tactile_right": {"psnr": 35.44687808394331, "ssim": 0.9678569564103002, "lpips": 0.11110959947109222}}, {"video": {"psnr": 22.627204957016353, "ssim": 0.7801064440401638, "lpips": 0.13565954566001892}, "wrist_left": {"psnr": 15.166626897880729, "ssim": 0.5920359438529619, "lpips": 0.38381385803222656}, "wrist_right": {"psnr": 18.874206437669496, "ssim": 0.6562070965314678, "lpips": 0.28658854961395264}, "tactile_left": {"psnr": 32.975437734547405, "ssim": 0.9560215227933948, "lpips": 0.14294537901878357}, "tactile_right": {"psnr": 35.72607949729498, "ssim": 0.96759426754312, "lpips": 0.11590664088726044}}, {"video": {"psnr": 22.185117481799914, "ssim": 0.7645589235780091, "lpips": 0.1873989999294281}, "wrist_left": {"psnr": 14.560725859802105, "ssim": 0.5465850290279195, "lpips": 0.4083349108695984}, "wrist_right": {"psnr": 18.57113557562578, "ssim": 0.685224588466383, "lpips": 0.2946329414844513}, "tactile_left": {"psnr": 36.230487541082624, "ssim": 0.969487336106573, "lpips": 0.10058759152889252}, "tactile_right": {"psnr": 35.91992853332465, "ssim": 0.9695771008138857, "lpips": 0.1167794018983841}}, {"video": {"psnr": 22.274111829385266, "ssim": 0.7617709883727285, "lpips": 0.2082357108592987}, "wrist_left": {"psnr": 15.655612076546353, "ssim": 0.6138365890955357, "lpips": 0.37580281496047974}, "wrist_right": {"psnr": 19.35108595989782, "ssim": 0.6736054834211074, "lpips": 0.25820714235305786}, "tactile_left": {"psnr": 36.26133312942903, "ssim": 0.969337682848377, "lpips": 0.09655685722827911}, "tactile_right": {"psnr": 35.66457200304355, "ssim": 0.9716650035869405, "lpips": 0.09235358238220215}}, {"video": {"psnr": 21.993808048681245, "ssim": 0.7495617904951324, "lpips": 0.21595856547355652}, "wrist_left": {"psnr": 13.141770788637295, "ssim": 0.4960032469468868, "lpips": 0.4707833230495453}, "wrist_right": {"psnr": 18.104488120961793, "ssim": 0.6729399936362407, "lpips": 0.27228158712387085}, "tactile_left": {"psnr": 33.315628245489904, "ssim": 0.9586108200099087, "lpips": 0.14946463704109192}, "tactile_right": {"psnr": 35.64611814101109, "ssim": 0.9703035076485899, "lpips": 0.09848356992006302}}, {"video": {"psnr": 21.401175500610655, "ssim": 0.7380300166300368, "lpips": 0.2275601327419281}, "wrist_left": {"psnr": 13.775777793827428, "ssim": 0.5747042701406746, "lpips": 0.38299325108528137}, "wrist_right": {"psnr": 17.02628328055774, "ssim": 0.709899865014044, "lpips": 0.30889764428138733}, "tactile_left": {"psnr": 32.46267686999316, "ssim": 0.9509930118687484, "lpips": 0.17986270785331726}, "tactile_right": {"psnr": 35.12397016538086, "ssim": 0.9678904717897407, "lpips": 0.11490940302610397}}, {"video": {"psnr": 21.023130841298226, "ssim": 0.7292465492839475, "lpips": 0.23864133656024933}, "wrist_left": {"psnr": 16.575176094381387, "ssim": 0.6536482934769822, "lpips": 0.342126727104187}, "wrist_right": {"psnr": 14.206306423634203, "ssim": 0.6023219125289239, "lpips": 0.3915787935256958}, "tactile_left": {"psnr": 33.64393982766947, "ssim": 0.9604575013644027, "lpips": 0.1406812071800232}, "tactile_right": {"psnr": 33.398025197202436, "ssim": 0.961626562226561, "lpips": 0.17376387119293213}}, {"video": {"psnr": 21.23328533412305, "ssim": 0.713764771176121, "lpips": 0.2589782476425171}, "wrist_left": {"psnr": 14.065679425571238, "ssim": 0.5020270873875584, "lpips": 0.5279442667961121}, "wrist_right": {"psnr": 13.333938568640773, "ssim": 0.5829638646427736, "lpips": 0.4201183319091797}, "tactile_left": {"psnr": 31.376527513054825, "ssim": 0.9453461586498648, "lpips": 0.20592963695526123}, "tactile_right": {"psnr": 32.7900368313401, "ssim": 0.9602379039119044, "lpips": 0.18568608164787292}}, {"video": {"psnr": 20.915576592433244, "ssim": 0.705647881317804, "lpips": 0.29667454957962036}, "wrist_left": {"psnr": 16.338342410623017, "ssim": 0.610333813749544, "lpips": 0.41354140639305115}, "wrist_right": {"psnr": 12.895716266503081, "ssim": 0.5476052613251094, "lpips": 0.4017328917980194}, "tactile_left": {"psnr": 31.48472457812126, "ssim": 0.944874819560999, "lpips": 0.2151874601840973}, "tactile_right": {"psnr": 32.57680688013296, "ssim": 0.9583178975507862, "lpips": 0.190492644906044}}, {"video": {"psnr": 20.837726428496772, "ssim": 0.7034946132715756, "lpips": 0.30593258142471313}, "wrist_left": {"psnr": 14.965850583776248, "ssim": 0.5435819068737728, "lpips": 0.4720587134361267}, "wrist_right": {"psnr": 12.76210034320286, "ssim": 0.5554727708667047, "lpips": 0.4089024066925049}, "tactile_left": {"psnr": 31.956453370806173, "ssim": 0.9463092494649509, "lpips": 0.21701496839523315}, "tactile_right": {"psnr": 32.194094066192555, "ssim": 0.9560464974053072, "lpips": 0.20008975267410278}}, {"video": {"psnr": 20.554051772599596, "ssim": 0.6920495022801479, "lpips": 0.3212360441684723}, "wrist_left": {"psnr": 14.819251452652008, "ssim": 0.5858919017762554, "lpips": 0.434312641620636}, "wrist_right": {"psnr": 12.201771254680416, "ssim": 0.5023146858942277, "lpips": 0.43596115708351135}, "tactile_left": {"psnr": 33.22088152912209, "ssim": 0.9563648979291159, "lpips": 0.18433493375778198}, "tactile_right": {"psnr": 31.613108730232177, "ssim": 0.9492702953717749, "lpips": 0.2492222934961319}}, {"video": {"psnr": 20.796103553725164, "ssim": 0.6939899885874401, "lpips": 0.3256206512451172}, "wrist_left": {"psnr": 14.39907533403261, "ssim": 0.5302699931209092, "lpips": 0.5126603841781616}, "wrist_right": {"psnr": 12.046742691478885, "ssim": 0.49071379025602924, "lpips": 0.4614170789718628}, "tactile_left": {"psnr": 31.388958436297184, "ssim": 0.9416216963160418, "lpips": 0.24900294840335846}, "tactile_right": {"psnr": 31.3187576231161, "ssim": 0.9492399957872508, "lpips": 0.2535436153411865}}], "long_metrics": {"video": {"psnr": 23.068665970220497, "ssim": 0.7690388624030131, "lpips": 0.19840800948441029}, "wrist_left": {"psnr": 15.708992286721783, "ssim": 0.5816810058307037, "lpips": 0.3752583642800649}, "wrist_right": {"psnr": 17.325210696590087, "ssim": 0.6433007514452397, "lpips": 0.3115679959456126}, "tactile_left": {"psnr": 34.39136478283932, "ssim": 0.9580800700829005, "lpips": 0.14356408442060153}, "tactile_right": {"psnr": 35.566880970512855, "ssim": 0.9658112050869069, "lpips": 0.13798967932040493}}}, {"id": "rope_15", "episode": "rope_0911_episode_005_seg02.pt", "requested_episode": "rope_0911_episode_005_seg02.pt", "category": "none", "t_start": 396, "start_seconds": 26.4, "short_contact": [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0], "future_transition_ticks": [], "long_contact_fraction": 0.734375, "long_label": "none_at_start", "short_metrics": {"video": {"psnr": 27.547030931062473, "ssim": 0.8956416257241187, "lpips": 0.05099150910973549}, "wrist_left": {"psnr": 19.19848159535198, "ssim": 0.7494630466395162, "lpips": 0.15328803658485413}, "wrist_right": {"psnr": 23.14874859947505, "ssim": 0.7311049021279035, "lpips": 0.126301109790802}, "tactile_left": {"psnr": 51.28813961884156, "ssim": 0.9946265891633435, "lpips": 0.0037626074627041817}, "tactile_right": {"psnr": 44.64788959660558, "ssim": 0.9901785021896732, "lpips": 0.03260159119963646}}, "media": {"short": {"video": "media/rope_15_short.mp4", "poster": "media/rope_15_short.jpg"}, "long": {"video": "media/rope_15_long.mp4", "poster": "media/rope_15_long.jpg"}}, "force": {"source": "recorded_normal_force", "units": "N", "fps": 15, "left": [0.27666667103767395, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.5550326704978943, 0.0, 0.0, 0.0, 1.9444444179534912, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.5600000023841858, 0.5600000023841858, 0.5600000023841858, 0.5600000023841858, 0.4966135025024414, 0.4966135025024414, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.5600000023841858, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.008817629888653755, 3.0568182468414307, 2.6312499046325684, 2.6312499046325684, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.5446779727935791, 0.5600000023841858, 0.7983333468437195, 0.7983333468437195, 2.3248276710510254, 2.3248276710510254, 3.0568182468414307, 1.4158068895339966, 0.5584190487861633, 0.5600000023841858, 0.5600000023841858, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 2.3248276710510254], "right": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.1599999964237213, 0.25, 0.48980194330215454, 0.48980194330215454, 0.49847182631492615, 0.5055552124977112, 0.521548330783844, 0.5219962000846863, 0.5494146347045898, 0.7983333468437195, 0.5600000023841858, 0.695509672164917, 0.7983333468437195, 0.5461853742599487, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 1.782486081123352, 0.7983333468437195, 0.6117923855781555, 0.4399999976158142, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.25, 0.4300834834575653, 0.5265971422195435, 0.5584585666656494, 0.5600000023841858, 0.6223912239074707, 0.5540995597839355, 0.507728636264801, 0.4399999976158142, 0.17821159958839417, 0.1599999964237213, 0.1599999964237213, 0.060494083911180496, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 2.3248276710510254, 0.1599999964237213, 1.9444444179534912, 1.9444444179534912, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 0.08521522581577301, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.9444444179534912, 2.277765989303589, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 2.3248276710510254, 0.7983333468437195, 2.3248276710510254, 2.3248276710510254, 0.7983333468437195, 1.104476809501648, 1.9444444179534912, 1.9444444179534912, 2.3248276710510254, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.9444444179534912, 0.4399999976158142, 2.243333339691162, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 0.1599999964237213, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.1599999964237213, 0.1599999964237213, 0.5487539172172546, 0.7983333468437195, 1.9444444179534912, 2.3248276710510254]}, "long_curve": [{"video": {"psnr": 27.547030931062473, "ssim": 0.8956416257241187, "lpips": 0.05099150910973549}, "wrist_left": {"psnr": 19.19848159535198, "ssim": 0.7494630466395162, "lpips": 0.15328803658485413}, "wrist_right": {"psnr": 23.14874859947505, "ssim": 0.7311049021279035, "lpips": 0.126301109790802}, "tactile_left": {"psnr": 51.28813961884156, "ssim": 0.9946265891633435, "lpips": 0.0037626074627041817}, "tactile_right": {"psnr": 44.64788959660558, "ssim": 0.9901785021896732, "lpips": 0.03260159119963646}}, {"video": {"psnr": 23.588392485539483, "ssim": 0.7910769616653675, "lpips": 0.13101127743721008}, "wrist_left": {"psnr": 12.704351696849706, "ssim": 0.46354673214839603, "lpips": 0.38962793350219727}, "wrist_right": {"psnr": 19.80049500442314, "ssim": 0.6515348532328984, "lpips": 0.2029685080051422}, "tactile_left": {"psnr": 44.12903060843557, "ssim": 0.9887511874814874, "lpips": 0.016230517998337746}, "tactile_right": {"psnr": 41.23523968196456, "ssim": 0.9832617308902074, "lpips": 0.05270911753177643}}, {"video": {"psnr": 22.239736023940566, "ssim": 0.768968546623285, "lpips": 0.17592525482177734}, "wrist_left": {"psnr": 11.985611151880196, "ssim": 0.4764054198639853, "lpips": 0.43522128462791443}, "wrist_right": {"psnr": 18.583151263016646, "ssim": 0.6108194419222901, "lpips": 0.2406131625175476}, "tactile_left": {"psnr": 40.99688947076649, "ssim": 0.9803829896724789, "lpips": 0.05583643168210983}, "tactile_right": {"psnr": 39.83438425273852, "ssim": 0.9803771857473428, "lpips": 0.0670403391122818}}, {"video": {"psnr": 21.50560956820824, "ssim": 0.7538309859875661, "lpips": 0.2314351499080658}, "wrist_left": {"psnr": 13.077787908359111, "ssim": 0.537717633848394, "lpips": 0.42247486114501953}, "wrist_right": {"psnr": 19.730678542198355, "ssim": 0.6405003051617609, "lpips": 0.22826436161994934}, "tactile_left": {"psnr": 40.12332285190081, "ssim": 0.9771053704028603, "lpips": 0.06614113599061966}, "tactile_right": {"psnr": 40.393546361202894, "ssim": 0.9817679773570952, "lpips": 0.050204381346702576}}, {"video": {"psnr": 22.61147702575655, "ssim": 0.7698805219007736, "lpips": 0.18887844681739807}, "wrist_left": {"psnr": 14.735387472170887, "ssim": 0.6065949626590053, "lpips": 0.3600277900695801}, "wrist_right": {"psnr": 16.79463624324034, "ssim": 0.5475841402958298, "lpips": 0.34925538301467896}, "tactile_left": {"psnr": 40.37912886861407, "ssim": 0.979672888857988, "lpips": 0.05059713125228882}, "tactile_right": {"psnr": 39.43275651157786, "ssim": 0.9763793954824018, "lpips": 0.08145973086357117}}, {"video": {"psnr": 22.957121690409615, "ssim": 0.7682643316988089, "lpips": 0.17686299979686737}, "wrist_left": {"psnr": 13.587512873228846, "ssim": 0.5523128776871227, "lpips": 0.3891136050224304}, "wrist_right": {"psnr": 16.71311994567471, "ssim": 0.568715958515704, "lpips": 0.37743547558784485}, "tactile_left": {"psnr": 36.75642699540546, "ssim": 0.9666644481399407, "lpips": 0.11291693150997162}, "tactile_right": {"psnr": 39.75067372374835, "ssim": 0.978630962284031, "lpips": 0.0736597329378128}}, {"video": {"psnr": 22.03753243218712, "ssim": 0.7445561605729567, "lpips": 0.20076975226402283}, "wrist_left": {"psnr": 13.484033351218962, "ssim": 0.5241041373728061, "lpips": 0.4247274398803711}, "wrist_right": {"psnr": 16.518680134888395, "ssim": 0.6268228945761989, "lpips": 0.3807818293571472}, "tactile_left": {"psnr": 36.138247607923624, "ssim": 0.96311547778746, "lpips": 0.11364832520484924}, "tactile_right": {"psnr": 38.19553635095642, "ssim": 0.9754418284815477, "lpips": 0.10231183469295502}}, {"video": {"psnr": 21.62997923375489, "ssim": 0.7208140287043918, "lpips": 0.23019759356975555}, "wrist_left": {"psnr": 14.2240152687315, "ssim": 0.5066141650664239, "lpips": 0.406747043132782}, "wrist_right": {"psnr": 14.665585940779547, "ssim": 0.6100518834188788, "lpips": 0.3710871636867523}, "tactile_left": {"psnr": 35.80366149211756, "ssim": 0.9658821659898911, "lpips": 0.11499621719121933}, "tactile_right": {"psnr": 37.55219468433667, "ssim": 0.9730422496454564, "lpips": 0.12254349142313004}}, {"video": {"psnr": 21.848441464653277, "ssim": 0.7342038407880296, "lpips": 0.22753122448921204}, "wrist_left": {"psnr": 14.087007677117704, "ssim": 0.5221587298846646, "lpips": 0.3958297669887543}, "wrist_right": {"psnr": 14.313670427215083, "ssim": 0.6362874147877913, "lpips": 0.35843130946159363}, "tactile_left": {"psnr": 36.064243282800106, "ssim": 0.9694734570779215, "lpips": 0.11273744702339172}, "tactile_right": {"psnr": 36.8304721395163, "ssim": 0.9704087598013644, "lpips": 0.14366430044174194}}, {"video": {"psnr": 21.20779281873244, "ssim": 0.722103774034621, "lpips": 0.2396315336227417}, "wrist_left": {"psnr": 14.258204976865018, "ssim": 0.5756359923211297, "lpips": 0.40292030572891235}, "wrist_right": {"psnr": 13.924548283476506, "ssim": 0.6342501736843391, "lpips": 0.3649354577064514}, "tactile_left": {"psnr": 35.342701596194516, "ssim": 0.9666801295751151, "lpips": 0.13080963492393494}, "tactile_right": {"psnr": 35.95365761248181, "ssim": 0.9664537814791327, "lpips": 0.1680208295583725}}, {"video": {"psnr": 21.42023870246509, "ssim": 0.7247922982410827, "lpips": 0.2429894506931305}, "wrist_left": {"psnr": 15.4864697893549, "ssim": 0.6289941279235729, "lpips": 0.42656370997428894}, "wrist_right": {"psnr": 14.891469519449291, "ssim": 0.6129201353244288, "lpips": 0.4227278530597687}, "tactile_left": {"psnr": 34.87297617400717, "ssim": 0.9631459640940728, "lpips": 0.14233995974063873}, "tactile_right": {"psnr": 35.56915917323157, "ssim": 0.9658494459823264, "lpips": 0.17534670233726501}}, {"video": {"psnr": 21.787706017397795, "ssim": 0.7378542053280048, "lpips": 0.22012226283550262}, "wrist_left": {"psnr": 14.352876130269259, "ssim": 0.5503402627251345, "lpips": 0.42091822624206543}, "wrist_right": {"psnr": 14.17537948593668, "ssim": 0.6079631198703304, "lpips": 0.415418803691864}, "tactile_left": {"psnr": 34.61998956232659, "ssim": 0.9610328409440532, "lpips": 0.16128523647785187}, "tactile_right": {"psnr": 34.95793531438934, "ssim": 0.9619260378651919, "lpips": 0.19668614864349365}}, {"video": {"psnr": 22.185995674076523, "ssim": 0.7512134810007076, "lpips": 0.20745128393173218}, "wrist_left": {"psnr": 12.712758667334148, "ssim": 0.501783271802724, "lpips": 0.464982271194458}, "wrist_right": {"psnr": 12.973675161318663, "ssim": 0.582337110576114, "lpips": 0.416535347700119}, "tactile_left": {"psnr": 34.4261616896537, "ssim": 0.9599378302316988, "lpips": 0.1683453917503357}, "tactile_right": {"psnr": 34.11714377722357, "ssim": 0.9549096601687838, "lpips": 0.21723918616771698}}, {"video": {"psnr": 21.931896359294065, "ssim": 0.7429240313694634, "lpips": 0.22575244307518005}, "wrist_left": {"psnr": 12.788606613969113, "ssim": 0.4964074699015625, "lpips": 0.46835702657699585}, "wrist_right": {"psnr": 13.46119756055171, "ssim": 0.5936900937861378, "lpips": 0.4107903838157654}, "tactile_left": {"psnr": 33.892988066193375, "ssim": 0.9552046827343683, "lpips": 0.1915389895439148}, "tactile_right": {"psnr": 33.8580755850656, "ssim": 0.955848302068896, "lpips": 0.22420795261859894}}, {"video": {"psnr": 21.041549757856103, "ssim": 0.6989987770810726, "lpips": 0.2656004726886749}, "wrist_left": {"psnr": 13.61254429627855, "ssim": 0.509439655168741, "lpips": 0.48138847947120667}, "wrist_right": {"psnr": 14.099275038850905, "ssim": 0.5997582842516078, "lpips": 0.3938245475292206}, "tactile_left": {"psnr": 33.28637425964173, "ssim": 0.9499794694037589, "lpips": 0.1977209597826004}, "tactile_right": {"psnr": 33.46607231659764, "ssim": 0.9535988069843563, "lpips": 0.2518879771232605}}], "long_metrics": {"video": {"psnr": 22.36936667902228, "ssim": 0.7550082380480166, "lpips": 0.20101004367073377}, "wrist_left": {"psnr": 14.01970996459866, "ssim": 0.5467678990008785, "lpips": 0.40281251867612206}, "wrist_right": {"psnr": 16.25295407669967, "ssim": 0.6169560474354809, "lpips": 0.33729137976964313}, "tactile_left": {"psnr": 37.87468547632149, "ssim": 0.969443699437096, "lpips": 0.10926046116898457}, "tactile_right": {"psnr": 37.71964913877578, "ssim": 0.9712049750951871, "lpips": 0.13063888773322105}}}, {"id": "rope_16", "episode": "rope_0911_episode_005_seg02.pt", "requested_episode": "rope_0911_episode_005_seg02.pt", "category": "onset", "t_start": 401, "start_seconds": 26.733333333333334, "short_contact": [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 1], "future_transition_ticks": [11], "long_contact_fraction": 0.7734375, "long_label": "onset", "short_metrics": {"video": {"psnr": 24.051403708171485, "ssim": 0.8365374943868746, "lpips": 0.1051773801445961}, "wrist_left": {"psnr": 18.043601113274995, "ssim": 0.6862810354022386, "lpips": 0.19282348453998566}, "wrist_right": {"psnr": 23.70254930242283, "ssim": 0.7649078158364224, "lpips": 0.08606192469596863}, "tactile_left": {"psnr": 51.25297337485858, "ssim": 0.9950850770123876, "lpips": 0.003459818661212921}, "tactile_right": {"psnr": 43.807043053026845, "ssim": 0.9880435033292438, "lpips": 0.028757642954587936}}, "media": {"short": {"video": "media/rope_16_short.mp4", "poster": "media/rope_16_short.jpg"}, "long": {"video": "media/rope_16_long.mp4", "poster": "media/rope_16_long.jpg"}}, "force": {"source": "recorded_normal_force", "units": "N", "fps": 15, "left": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.5550326704978943, 0.0, 0.0, 0.0, 1.9444444179534912, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.5600000023841858, 0.5600000023841858, 0.5600000023841858, 0.5600000023841858, 0.4966135025024414, 0.4966135025024414, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.5600000023841858, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.008817629888653755, 3.0568182468414307, 2.6312499046325684, 2.6312499046325684, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.5446779727935791, 0.5600000023841858, 0.7983333468437195, 0.7983333468437195, 2.3248276710510254, 2.3248276710510254, 3.0568182468414307, 1.4158068895339966, 0.5584190487861633, 0.5600000023841858, 0.5600000023841858, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 2.3248276710510254, 3.0568182468414307, 3.0568182468414307, 3.1971428394317627, 1.9444444179534912, 0.0], "right": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.1599999964237213, 0.25, 0.48980194330215454, 0.48980194330215454, 0.49847182631492615, 0.5055552124977112, 0.521548330783844, 0.5219962000846863, 0.5494146347045898, 0.7983333468437195, 0.5600000023841858, 0.695509672164917, 0.7983333468437195, 0.5461853742599487, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 1.782486081123352, 0.7983333468437195, 0.6117923855781555, 0.4399999976158142, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.25, 0.4300834834575653, 0.5265971422195435, 0.5584585666656494, 0.5600000023841858, 0.6223912239074707, 0.5540995597839355, 0.507728636264801, 0.4399999976158142, 0.17821159958839417, 0.1599999964237213, 0.1599999964237213, 0.060494083911180496, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 2.3248276710510254, 0.1599999964237213, 1.9444444179534912, 1.9444444179534912, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 0.08521522581577301, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.9444444179534912, 2.277765989303589, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 2.3248276710510254, 0.7983333468437195, 2.3248276710510254, 2.3248276710510254, 0.7983333468437195, 1.104476809501648, 1.9444444179534912, 1.9444444179534912, 2.3248276710510254, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.9444444179534912, 0.4399999976158142, 2.243333339691162, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 0.1599999964237213, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.1599999964237213, 0.1599999964237213, 0.5487539172172546, 0.7983333468437195, 1.9444444179534912, 2.3248276710510254, 2.6312499046325684, 3.0568182468414307, 2.6312499046325684, 2.6312499046325684, 2.3248276710510254]}, "long_curve": [{"video": {"psnr": 24.051403708171485, "ssim": 0.8365374943868746, "lpips": 0.1051773801445961}, "wrist_left": {"psnr": 18.043601113274995, "ssim": 0.6862810354022386, "lpips": 0.19282348453998566}, "wrist_right": {"psnr": 23.70254930242283, "ssim": 0.7649078158364224, "lpips": 0.08606192469596863}, "tactile_left": {"psnr": 51.25297337485858, "ssim": 0.9950850770123876, "lpips": 0.003459818661212921}, "tactile_right": {"psnr": 43.807043053026845, "ssim": 0.9880435033292438, "lpips": 0.028757642954587936}}, {"video": {"psnr": 21.43171516592201, "ssim": 0.7409108321191817, "lpips": 0.18732164800167084}, "wrist_left": {"psnr": 15.162851148516381, "ssim": 0.5289590769398027, "lpips": 0.2987065613269806}, "wrist_right": {"psnr": 21.327826373511254, "ssim": 0.6766872157000082, "lpips": 0.1616199016571045}, "tactile_left": {"psnr": 44.34580223173831, "ssim": 0.988797387454573, "lpips": 0.02631283923983574}, "tactile_right": {"psnr": 40.30002880483955, "ssim": 0.9804714549822364, "lpips": 0.055144112557172775}}, {"video": {"psnr": 20.81312043542652, "ssim": 0.7153448470349526, "lpips": 0.24912093579769135}, "wrist_left": {"psnr": 14.300376424913264, "ssim": 0.5922061149915896, "lpips": 0.3583456873893738}, "wrist_right": {"psnr": 20.474658962024858, "ssim": 0.6516119879220785, "lpips": 0.22018255293369293}, "tactile_left": {"psnr": 40.62597681460482, "ssim": 0.9794142154752618, "lpips": 0.06866775453090668}, "tactile_right": {"psnr": 39.20276158213881, "ssim": 0.9793710129709252, "lpips": 0.05139565095305443}}, {"video": {"psnr": 21.204190200941902, "ssim": 0.721329378032439, "lpips": 0.242267906665802}, "wrist_left": {"psnr": 14.789240496697014, "ssim": 0.6227282575618867, "lpips": 0.3146846890449524}, "wrist_right": {"psnr": 17.30402545276967, "ssim": 0.5866775345449701, "lpips": 0.3379705548286438}, "tactile_left": {"psnr": 41.493586547275626, "ssim": 0.9823435521086048, "lpips": 0.0443497933447361}, "tactile_right": {"psnr": 38.95810642434903, "ssim": 0.9773747152423362, "lpips": 0.06304982304573059}}, {"video": {"psnr": 21.97521594787826, "ssim": 0.7515051709786831, "lpips": 0.21090275049209595}, "wrist_left": {"psnr": 15.654385029733696, "ssim": 0.611695131304604, "lpips": 0.3151671886444092}, "wrist_right": {"psnr": 15.651650581393351, "ssim": 0.5556483279452786, "lpips": 0.39741039276123047}, "tactile_left": {"psnr": 39.4101515326839, "ssim": 0.9769911211535747, "lpips": 0.06348998844623566}, "tactile_right": {"psnr": 39.300999560591, "ssim": 0.9768898310392261, "lpips": 0.06407682597637177}}, {"video": {"psnr": 21.914699192254865, "ssim": 0.7482503313638291, "lpips": 0.22052708268165588}, "wrist_left": {"psnr": 13.529099379813207, "ssim": 0.4971750028375142, "lpips": 0.3876804709434509}, "wrist_right": {"psnr": 16.503982779834846, "ssim": 0.6280295777099074, "lpips": 0.38035067915916443}, "tactile_left": {"psnr": 37.02695766168179, "ssim": 0.9663984960691705, "lpips": 0.10211917757987976}, "tactile_right": {"psnr": 39.30782323959062, "ssim": 0.9769411425951965, "lpips": 0.07081525772809982}}, {"video": {"psnr": 21.280101487377223, "ssim": 0.7288655839981595, "lpips": 0.24542289972305298}, "wrist_left": {"psnr": 12.915784582442294, "ssim": 0.4351892091915449, "lpips": 0.4359646439552307}, "wrist_right": {"psnr": 14.95593713507658, "ssim": 0.6279109824470841, "lpips": 0.36468470096588135}, "tactile_left": {"psnr": 36.344478991421866, "ssim": 0.9634226475508851, "lpips": 0.11930197477340698}, "tactile_right": {"psnr": 37.88362329554319, "ssim": 0.9734889305441004, "lpips": 0.10052028298377991}}, {"video": {"psnr": 21.52326409261995, "ssim": 0.7283266911454633, "lpips": 0.24933677911758423}, "wrist_left": {"psnr": 14.581985971549209, "ssim": 0.5382888203010578, "lpips": 0.3204154372215271}, "wrist_right": {"psnr": 16.170838662083234, "ssim": 0.6647899554438481, "lpips": 0.3273181617259979}, "tactile_left": {"psnr": 36.87672223722762, "ssim": 0.969948425480863, "lpips": 0.11637657135725021}, "tactile_right": {"psnr": 37.58504215030741, "ssim": 0.9725111057462437, "lpips": 0.10945452004671097}}, {"video": {"psnr": 21.164024820807473, "ssim": 0.7209284565983798, "lpips": 0.2608308494091034}, "wrist_left": {"psnr": 14.591836931367236, "ssim": 0.5736821091610369, "lpips": 0.33665236830711365}, "wrist_right": {"psnr": 15.34664800658771, "ssim": 0.6559568654321029, "lpips": 0.37602439522743225}, "tactile_left": {"psnr": 36.11755842283631, "ssim": 0.9672193464827877, "lpips": 0.12715968489646912}, "tactile_right": {"psnr": 36.55218496543714, "ssim": 0.9687407788604278, "lpips": 0.12847930192947388}}, {"video": {"psnr": 21.28170975606406, "ssim": 0.7248904991830751, "lpips": 0.2678663730621338}, "wrist_left": {"psnr": 15.5564109371857, "ssim": 0.6427279401601093, "lpips": 0.34468507766723633}, "wrist_right": {"psnr": 14.960632103286454, "ssim": 0.6310821533588283, "lpips": 0.3641854524612427}, "tactile_left": {"psnr": 34.894876252828176, "ssim": 0.9629452632709625, "lpips": 0.14412041008472443}, "tactile_right": {"psnr": 35.566278329970245, "ssim": 0.9680508544183584, "lpips": 0.14005713164806366}}, {"video": {"psnr": 21.617035014552037, "ssim": 0.7374777869532227, "lpips": 0.24880167841911316}, "wrist_left": {"psnr": 13.47273489572753, "ssim": 0.4880612884853982, "lpips": 0.41455140709877014}, "wrist_right": {"psnr": 15.529649807226011, "ssim": 0.6150609302080501, "lpips": 0.4185786247253418}, "tactile_left": {"psnr": 34.61638098673952, "ssim": 0.9603044392329406, "lpips": 0.16079074144363403}, "tactile_right": {"psnr": 35.15883388186389, "ssim": 0.9656279262511536, "lpips": 0.15318098664283752}}, {"video": {"psnr": 21.278360143605003, "ssim": 0.7280755426903116, "lpips": 0.25081512331962585}, "wrist_left": {"psnr": 14.098021171300964, "ssim": 0.49926589732758336, "lpips": 0.34671515226364136}, "wrist_right": {"psnr": 13.403608677106156, "ssim": 0.5822253300778746, "lpips": 0.4181734025478363}, "tactile_left": {"psnr": 34.270506552915506, "ssim": 0.9582461134948423, "lpips": 0.17150217294692993}, "tactile_right": {"psnr": 34.12729541176196, "ssim": 0.9578394457477895, "lpips": 0.18410630524158478}}, {"video": {"psnr": 20.938250717244003, "ssim": 0.7103526489079339, "lpips": 0.2784339189529419}, "wrist_left": {"psnr": 12.591851409761347, "ssim": 0.47783271112328274, "lpips": 0.4562115967273712}, "wrist_right": {"psnr": 13.130003699396823, "ssim": 0.5497713966949664, "lpips": 0.44655197858810425}, "tactile_left": {"psnr": 33.67979373859332, "ssim": 0.9544324522625387, "lpips": 0.18805234134197235}, "tactile_right": {"psnr": 33.45773815743528, "ssim": 0.9547257488979406, "lpips": 0.20337674021720886}}, {"video": {"psnr": 20.673443039622406, "ssim": 0.6925286718713163, "lpips": 0.3143976926803589}, "wrist_left": {"psnr": 13.177579461936581, "ssim": 0.5091338080819554, "lpips": 0.46560800075531006}, "wrist_right": {"psnr": 14.402730591064843, "ssim": 0.5674366024563496, "lpips": 0.4107823371887207}, "tactile_left": {"psnr": 33.1517234424497, "ssim": 0.9494489133879086, "lpips": 0.1963711977005005}, "tactile_right": {"psnr": 33.18862475180339, "ssim": 0.9572434971872712, "lpips": 0.20824012160301208}}, {"video": {"psnr": 20.84980779954877, "ssim": 0.6881152031518538, "lpips": 0.3220054507255554}, "wrist_left": {"psnr": 13.280626345865445, "ssim": 0.5364302453947047, "lpips": 0.4548032581806183}, "wrist_right": {"psnr": 13.517970554370214, "ssim": 0.5530845112707818, "lpips": 0.4112676978111267}, "tactile_left": {"psnr": 32.73092815291249, "ssim": 0.9475566625376529, "lpips": 0.19835105538368225}, "tactile_right": {"psnr": 32.40499218637394, "ssim": 0.9482381983328478, "lpips": 0.2777746319770813}}], "long_metrics": {"video": {"psnr": 21.46642276813573, "ssim": 0.7315626092277118, "lpips": 0.24354856461286545}, "wrist_left": {"psnr": 14.38309235333899, "ssim": 0.5493104432176207, "lpips": 0.36286766827106476}, "wrist_right": {"psnr": 16.42551417921032, "ssim": 0.6207254124699034, "lpips": 0.3414108504851659}, "tactile_left": {"psnr": 37.789227796051165, "ssim": 0.9681702741983302, "lpips": 0.11536170144875844}, "tactile_right": {"psnr": 37.12009171966882, "ssim": 0.9697038764096865, "lpips": 0.12256195570031801}}}, {"id": "rope_17", "episode": "rope_0911_episode_005_seg02.pt", "requested_episode": "rope_0911_episode_005_seg02.pt", "category": "release", "t_start": 519, "start_seconds": 34.6, "short_contact": [1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 0, 0], "future_transition_ticks": [11], "long_contact_fraction": 0.8359375, "long_label": "release", "short_metrics": {"video": {"psnr": 27.70953140750236, "ssim": 0.9041480548110574, "lpips": 0.05021066218614578}, "wrist_left": {"psnr": 19.035400379351074, "ssim": 0.7303599108016758, "lpips": 0.16420915722846985}, "wrist_right": {"psnr": 22.136511166789386, "ssim": 0.7521471759481659, "lpips": 0.14170891046524048}, "tactile_left": {"psnr": 41.797189105947645, "ssim": 0.9823228215977337, "lpips": 0.030636677518486977}, "tactile_right": {"psnr": 44.88274258637389, "ssim": 0.9881475060039107, "lpips": 0.029772810637950897}}, "media": {"short": {"video": "media/rope_17_short.mp4", "poster": "media/rope_17_short.jpg"}, "long": {"video": "media/rope_17_long.mp4", "poster": "media/rope_17_long.jpg"}}, "force": {"source": "recorded_normal_force", "units": "N", "fps": 15, "left": [0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 2.3248276710510254, 3.0568182468414307, 3.0568182468414307, 3.1971428394317627, 1.9444444179534912, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.7983333468437195, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.1971428394317627, 3.0568182468414307, 0.7983333468437195, 1.9444444179534912, 1.9444444179534912, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 2.243333339691162, 0.7983333468437195, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.5354411005973816, 2.243333339691162, 2.3248276710510254, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.1971428394317627, 3.9167568683624268, 4.852499961853027, 5.397500038146973, 5.403749942779541, 5.403749942779541, 3.9167568683624268, 3.9167568683624268, 0.0986250787973404, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.5754589438438416, 1.9444444179534912, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.9167568683624268, 3.9167568683624268, 4.726428508758545, 4.852499961853027, 4.852499961853027, 4.852499961853027, 4.852499961853027, 4.852499961853027, 4.852499961853027, 4.726428508758545, 0.31403878331184387, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 2.6312499046325684, 3.9167568683624268, 4.726428508758545, 4.726428508758545, 4.852499961853027, 4.852499961853027, 4.852499961853027, 4.852499961853027, 4.726428508758545, 4.726428508758545, 4.726428508758545, 4.726428508758545, 2.3248276710510254, 2.3248276710510254, 0.0, 0.0, 0.0, 0.0], "right": [0.1599999964237213, 0.5487539172172546, 0.7983333468437195, 1.9444444179534912, 2.3248276710510254, 2.6312499046325684, 3.0568182468414307, 2.6312499046325684, 2.6312499046325684, 2.3248276710510254, 0.7328687906265259, 0.19735710322856903, 0.0, 0.0, 0.0, 0.020067749544978142, 0.020067749544978142, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.13494834303855896, 0.7983333468437195, 2.3248276710510254, 1.9888478517532349, 2.243333339691162, 2.243333339691162, 1.9444444179534912, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.5600000023841858, 0.6814633011817932, 0.5201488733291626, 0.5201488733291626, 0.5462404489517212, 0.5600000023841858, 0.7983333468437195, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 2.3248276710510254, 2.3248276710510254, 0.7983333468437195, 1.9444444179534912, 1.9444444179534912, 0.7983333468437195, 2.243333339691162, 2.3248276710510254, 2.243333339691162, 2.243333339691162, 0.6339244842529297, 0.5224862694740295, 0.5224862694740295, 0.7983333468437195, 0.7890191674232483, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.5600000023841858, 1.9444444179534912, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.2932584285736084, 2.2932584285736084, 2.243333339691162, 0.7983333468437195, 0.7983333468437195, 0.49112668633461, 0.006689249537885189, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 2.3248276710510254, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 2.243333339691162, 2.3248276710510254]}, "long_curve": [{"video": {"psnr": 27.70953140750236, "ssim": 0.9041480548110574, "lpips": 0.05021066218614578}, "wrist_left": {"psnr": 19.035400379351074, "ssim": 0.7303599108016758, "lpips": 0.16420915722846985}, "wrist_right": {"psnr": 22.136511166789386, "ssim": 0.7521471759481659, "lpips": 0.14170891046524048}, "tactile_left": {"psnr": 41.797189105947645, "ssim": 0.9823228215977337, "lpips": 0.030636677518486977}, "tactile_right": {"psnr": 44.88274258637389, "ssim": 0.9881475060039107, "lpips": 0.029772810637950897}}, {"video": {"psnr": 23.107797547563138, "ssim": 0.7821774150613332, "lpips": 0.1485033929347992}, "wrist_left": {"psnr": 15.301488781537657, "ssim": 0.5211423562115043, "lpips": 0.3572576344013214}, "wrist_right": {"psnr": 17.126704783108778, "ssim": 0.5919255170842436, "lpips": 0.30667468905448914}, "tactile_left": {"psnr": 38.585081088699475, "ssim": 0.974964556339152, "lpips": 0.05217127501964569}, "tactile_right": {"psnr": 44.45501958390494, "ssim": 0.9853951074517779, "lpips": 0.02105851098895073}}, {"video": {"psnr": 22.92846253792671, "ssim": 0.7728458853154809, "lpips": 0.15427368879318237}, "wrist_left": {"psnr": 13.772747639258498, "ssim": 0.46405686417921954, "lpips": 0.45944809913635254}, "wrist_right": {"psnr": 17.108098323782322, "ssim": 0.5833241347591471, "lpips": 0.27506667375564575}, "tactile_left": {"psnr": 36.89608228900211, "ssim": 0.967060087632004, "lpips": 0.0948803722858429}, "tactile_right": {"psnr": 41.190380130854216, "ssim": 0.9796772136821233, "lpips": 0.03890284150838852}}, {"video": {"psnr": 23.615388457722652, "ssim": 0.7804186413849261, "lpips": 0.13783615827560425}, "wrist_left": {"psnr": 13.561295049328848, "ssim": 0.44677593118568376, "lpips": 0.4375811815261841}, "wrist_right": {"psnr": 16.4268374969098, "ssim": 0.5399585978408454, "lpips": 0.29338696599006653}, "tactile_left": {"psnr": 36.38503978348314, "ssim": 0.9577460339480888, "lpips": 0.12056681513786316}, "tactile_right": {"psnr": 39.42465432911784, "ssim": 0.9770691312412877, "lpips": 0.05155659466981888}}, {"video": {"psnr": 23.5657790778818, "ssim": 0.78338365950237, "lpips": 0.1325141340494156}, "wrist_left": {"psnr": 12.89270028013991, "ssim": 0.4689273146211102, "lpips": 0.42832517623901367}, "wrist_right": {"psnr": 14.853005973681947, "ssim": 0.489024441610552, "lpips": 0.339168906211853}, "tactile_left": {"psnr": 38.55219786137535, "ssim": 0.9731757776067596, "lpips": 0.062367282807826996}, "tactile_right": {"psnr": 39.44441861831369, "ssim": 0.9768019070550493, "lpips": 0.06056821718811989}}, {"video": {"psnr": 23.921887700885826, "ssim": 0.7846651019381307, "lpips": 0.15207985043525696}, "wrist_left": {"psnr": 11.747906337340064, "ssim": 0.41739782483084586, "lpips": 0.5239595174789429}, "wrist_right": {"psnr": 14.825167694435414, "ssim": 0.5073640852236814, "lpips": 0.3650674819946289}, "tactile_left": {"psnr": 35.77231428301605, "ssim": 0.95986971296745, "lpips": 0.14848220348358154}, "tactile_right": {"psnr": 38.59301607344776, "ssim": 0.9762354315482402, "lpips": 0.06971646100282669}}, {"video": {"psnr": 22.111684134980088, "ssim": 0.7340912975839848, "lpips": 0.21502214670181274}, "wrist_left": {"psnr": 11.431310623278396, "ssim": 0.49260623052209684, "lpips": 0.45923739671707153}, "wrist_right": {"psnr": 13.56152110668387, "ssim": 0.5450722890128474, "lpips": 0.43018490076065063}, "tactile_left": {"psnr": 34.75772069771976, "ssim": 0.9587497741350715, "lpips": 0.1530262529850006}, "tactile_right": {"psnr": 36.928990027577264, "ssim": 0.974331952950438, "lpips": 0.0836687982082367}}, {"video": {"psnr": 22.576601080263643, "ssim": 0.7447172937094151, "lpips": 0.21539005637168884}, "wrist_left": {"psnr": 12.901812406193065, "ssim": 0.5379816809525452, "lpips": 0.4396916627883911}, "wrist_right": {"psnr": 13.662536736123805, "ssim": 0.5653053407627504, "lpips": 0.4297513961791992}, "tactile_left": {"psnr": 35.378959420150174, "ssim": 0.9681784853001981, "lpips": 0.09979935735464096}, "tactile_right": {"psnr": 36.41204279441168, "ssim": 0.9714138485589876, "lpips": 0.10448101162910461}}, {"video": {"psnr": 22.987002934113807, "ssim": 0.7531123534866979, "lpips": 0.1837446093559265}, "wrist_left": {"psnr": 13.031850705680345, "ssim": 0.5767356753440136, "lpips": 0.4240669012069702}, "wrist_right": {"psnr": 13.703247592914504, "ssim": 0.6040693158108369, "lpips": 0.42173057794570923}, "tactile_left": {"psnr": 32.785108607952594, "ssim": 0.953059628756174, "lpips": 0.16411924362182617}, "tactile_right": {"psnr": 36.23438701457957, "ssim": 0.9695324855996262, "lpips": 0.11675725132226944}}, {"video": {"psnr": 22.967570713849167, "ssim": 0.7448426458631303, "lpips": 0.1949811577796936}, "wrist_left": {"psnr": 12.413660882560258, "ssim": 0.5686579800867937, "lpips": 0.4250434637069702}, "wrist_right": {"psnr": 16.037328512516243, "ssim": 0.6771692377888562, "lpips": 0.3701448440551758}, "tactile_left": {"psnr": 32.31544830708054, "ssim": 0.9460307946416731, "lpips": 0.17050614953041077}, "tactile_right": {"psnr": 35.32027368072367, "ssim": 0.9667799212448742, "lpips": 0.1367170810699463}}, {"video": {"psnr": 21.80168051350275, "ssim": 0.7319315219651404, "lpips": 0.2601113021373749}, "wrist_left": {"psnr": 12.321999051432922, "ssim": 0.5525700996604805, "lpips": 0.46020156145095825}, "wrist_right": {"psnr": 12.61120756667945, "ssim": 0.5522421092949368, "lpips": 0.4619773030281067}, "tactile_left": {"psnr": 32.39705281806538, "ssim": 0.9474855579766779, "lpips": 0.1869485080242157}, "tactile_right": {"psnr": 34.265637786164895, "ssim": 0.9636599707776065, "lpips": 0.16732552647590637}}, {"video": {"psnr": 21.546761533889367, "ssim": 0.7114891770319425, "lpips": 0.28715384006500244}, "wrist_left": {"psnr": 15.352311400218344, "ssim": 0.6492037956512037, "lpips": 0.34145820140838623}, "wrist_right": {"psnr": 12.553172028913762, "ssim": 0.5599377404955866, "lpips": 0.4610111117362976}, "tactile_left": {"psnr": 33.915057159375, "ssim": 0.9620156793797412, "lpips": 0.12948019802570343}, "tactile_right": {"psnr": 33.832351307402966, "ssim": 0.9588212842057252, "lpips": 0.20304179191589355}}, {"video": {"psnr": 21.021851021199144, "ssim": 0.6737519550338141, "lpips": 0.3092384934425354}, "wrist_left": {"psnr": 17.108249765654524, "ssim": 0.6629904871786803, "lpips": 0.3227429986000061}, "wrist_right": {"psnr": 14.197209457024977, "ssim": 0.5650871786205326, "lpips": 0.4059973955154419}, "tactile_left": {"psnr": 32.68826687238005, "ssim": 0.9523859574709013, "lpips": 0.1738486886024475}, "tactile_right": {"psnr": 33.974423983344735, "ssim": 0.9586120880752242, "lpips": 0.20764967799186707}}, {"video": {"psnr": 20.642503981717173, "ssim": 0.656964264682805, "lpips": 0.3265383243560791}, "wrist_left": {"psnr": 17.4694098679037, "ssim": 0.6167756231170287, "lpips": 0.3861016035079956}, "wrist_right": {"psnr": 15.074069259409278, "ssim": 0.5525062194886144, "lpips": 0.426313579082489}, "tactile_left": {"psnr": 28.604301207308556, "ssim": 0.9147518242561249, "lpips": 0.30172204971313477}, "tactile_right": {"psnr": 33.67517909678533, "ssim": 0.9563862413245967, "lpips": 0.22069866955280304}}, {"video": {"psnr": 20.42475656656255, "ssim": 0.6396837951818246, "lpips": 0.3506702184677124}, "wrist_left": {"psnr": 17.99597580433186, "ssim": 0.662783102332293, "lpips": 0.3292776048183441}, "wrist_right": {"psnr": 13.01050656458332, "ssim": 0.5461402722346917, "lpips": 0.4512615203857422}, "tactile_left": {"psnr": 30.46648084820573, "ssim": 0.9414814413605391, "lpips": 0.21791401505470276}, "tactile_right": {"psnr": 32.555820728140205, "ssim": 0.9496865360323526, "lpips": 0.24537423253059387}}], "long_metrics": {"video": {"psnr": 22.728617280637348, "ssim": 0.7465482041701369, "lpips": 0.20788453569014867}, "wrist_left": {"psnr": 14.422541264947297, "ssim": 0.557930991778345, "lpips": 0.39724014401435853}, "wrist_right": {"psnr": 15.125808284237126, "ssim": 0.5754182437317525, "lpips": 0.3719630837440491}, "tactile_left": {"psnr": 34.7530866899841, "ssim": 0.9572852088912193, "lpips": 0.140431272611022}, "tactile_right": {"psnr": 37.41262251607618, "ssim": 0.970170041716788, "lpips": 0.11715263177951177}}}, {"id": "rope_18", "episode": "rope_0911_episode_005_seg02.pt", "requested_episode": "rope_0911_episode_005_seg02.pt", "category": "full", "t_start": 56, "start_seconds": 3.7333333333333334, "short_contact": [1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1], "future_transition_ticks": [], "long_contact_fraction": 0.921875, "long_label": "full", "short_metrics": {"video": {"psnr": 25.468682297365444, "ssim": 0.8684467851090691, "lpips": 0.08573420345783234}, "wrist_left": {"psnr": 22.30484581998755, "ssim": 0.8184267207358307, "lpips": 0.14518770575523376}, "wrist_right": {"psnr": 21.004301883437527, "ssim": 0.7547672641759956, "lpips": 0.25972017645835876}, "tactile_left": {"psnr": 43.61174042720545, "ssim": 0.9867103319995866, "lpips": 0.03253664821386337}, "tactile_right": {"psnr": 43.11844217718991, "ssim": 0.9879333098529721, "lpips": 0.05064809322357178}}, "media": {"short": {"video": "media/rope_18_short.mp4", "poster": "media/rope_18_short.jpg"}, "long": {"video": "media/rope_18_long.mp4", "poster": "media/rope_18_long.jpg"}}, "force": {"source": "recorded_normal_force", "units": "N", "fps": 15, "left": [0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 2.6312499046325684, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 2.6312499046325684, 3.0568182468414307, 2.6312499046325684, 2.6312499046325684, 2.6312499046325684, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.1971428394317627, 3.9167568683624268, 3.9167568683624268, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 2.3248276710510254, 2.243333339691162, 1.9444444179534912, 0.7983333468437195, 0.7182157635688782, 0.524313747882843, 0.5439978837966919, 0.5600000023841858, 0.7983333468437195, 0.7983333468437195, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.7983333468437195, 0.7983333468437195, 2.3248276710510254, 2.3248276710510254, 3.0568182468414307, 3.0568182468414307, 3.9167568683624268, 4.726428508758545, 4.726428508758545, 4.726428508758545, 4.726428508758545, 4.726428508758545, 3.9167568683624268, 3.0568182468414307, 3.0568182468414307, 4.726428508758545, 4.726428508758545, 5.397500038146973, 5.403749942779541, 6.373636245727539, 6.519285678863525, 6.519285678863525, 6.519285678863525, 6.519285678863525, 6.373636245727539, 6.519285678863525, 6.519285678863525, 5.403749942779541, 5.403749942779541, 5.400780200958252, 5.403749942779541, 5.486666679382324, 5.486666679382324, 6.519285678863525, 6.760714054107666, 6.519285678863525, 6.519285678863525, 6.519285678863525, 6.519285678863525, 6.519285678863525, 4.852499961853027, 4.726428508758545, 4.726428508758545, 4.726428508758545, 4.726428508758545, 4.726428508758545, 4.726428508758545, 4.726428508758545, 4.726428508758545, 4.852499961853027, 5.398533344268799, 5.398533344268799, 3.9167568683624268, 3.9167568683624268, 4.852499961853027, 4.852499961853027, 4.726428508758545, 4.726428508758545, 4.990553855895996, 5.397500038146973, 4.7404046058654785, 4.726428508758545, 3.9167568683624268, 3.9167568683624268, 3.0568182468414307, 2.6312499046325684, 3.0568182468414307, 4.726428508758545, 3.9167568683624268, 3.9167568683624268, 3.9167568683624268, 4.726428508758545, 3.9167568683624268, 3.9167568683624268, 3.9167568683624268, 0.7983333468437195, 0.7983333468437195], "right": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0389721505343914, 0.0389721505343914, 0.1599999964237213, 0.1599999964237213, 0.6565051078796387, 1.4043495655059814, 0.7983333468437195, 0.7983333468437195, 1.0825270414352417, 0.7983333468437195, 0.7983333468437195, 1.9444444179534912, 1.9143996238708496, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 1.9444444179534912, 1.9444444179534912, 1.5773899555206299, 0.4991283714771271, 0.49339616298675537, 0.5009083151817322, 0.4983399510383606, 0.5471553206443787, 0.5471553206443787, 0.5600000023841858, 0.5600000023841858, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.1599999964237213, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.1599999964237213, 0.16690528392791748, 0.16690528392791748, 0.17248958349227905, 0.1599999964237213, 0.1599999964237213, 0.1599999964237213, 0.1599999964237213, 0.1599999964237213, 0.0, 0.0, 0.005525901913642883, 0.0, 0.6669883728027344, 0.0, 0.0, 0.4962950646877289, 0.0, 2.63932466506958, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]}, "long_curve": [{"video": {"psnr": 25.468682297365444, "ssim": 0.8684467851090691, "lpips": 0.08573420345783234}, "wrist_left": {"psnr": 22.30484581998755, "ssim": 0.8184267207358307, "lpips": 0.14518770575523376}, "wrist_right": {"psnr": 21.004301883437527, "ssim": 0.7547672641759956, "lpips": 0.25972017645835876}, "tactile_left": {"psnr": 43.61174042720545, "ssim": 0.9867103319995866, "lpips": 0.03253664821386337}, "tactile_right": {"psnr": 43.11844217718991, "ssim": 0.9879333098529721, "lpips": 0.05064809322357178}}, {"video": {"psnr": 21.570328228787503, "ssim": 0.755738108168162, "lpips": 0.22910025715827942}, "wrist_left": {"psnr": 18.062606433582296, "ssim": 0.6614817784478118, "lpips": 0.21639814972877502}, "wrist_right": {"psnr": 19.769839798256506, "ssim": 0.6950487715916345, "lpips": 0.3412725031375885}, "tactile_left": {"psnr": 39.30228344994984, "ssim": 0.9770643265079286, "lpips": 0.07215581089258194}, "tactile_right": {"psnr": 39.78370340920077, "ssim": 0.979597524494431, "lpips": 0.07907255738973618}}, {"video": {"psnr": 21.21392163187339, "ssim": 0.7396640670411911, "lpips": 0.24430418014526367}, "wrist_left": {"psnr": 15.134077636941845, "ssim": 0.5693339104088782, "lpips": 0.3476228713989258}, "wrist_right": {"psnr": 18.782799798530093, "ssim": 0.6561575791989253, "lpips": 0.3361188471317291}, "tactile_left": {"psnr": 36.851698755906796, "ssim": 0.9692971630303624, "lpips": 0.09894465655088425}, "tactile_right": {"psnr": 38.69722003932837, "ssim": 0.9795789037167952, "lpips": 0.07905147969722748}}, {"video": {"psnr": 21.59034159034041, "ssim": 0.7571642983503677, "lpips": 0.2084149718284607}, "wrist_left": {"psnr": 17.571544721688706, "ssim": 0.7010968959774856, "lpips": 0.29861927032470703}, "wrist_right": {"psnr": 15.64586748448171, "ssim": 0.6133767466813942, "lpips": 0.34227144718170166}, "tactile_left": {"psnr": 37.871034612812096, "ssim": 0.9742750881544964, "lpips": 0.07755213230848312}, "tactile_right": {"psnr": 38.31717333967195, "ssim": 0.9797172106578439, "lpips": 0.08178277313709259}}, {"video": {"psnr": 20.920986750230412, "ssim": 0.7401417643610861, "lpips": 0.2638877034187317}, "wrist_left": {"psnr": 18.18250843818178, "ssim": 0.708951699359838, "lpips": 0.246531680226326}, "wrist_right": {"psnr": 15.325054457386223, "ssim": 0.6178135792945664, "lpips": 0.33254408836364746}, "tactile_left": {"psnr": 38.32198502131148, "ssim": 0.976917036511709, "lpips": 0.05150475353002548}, "tactile_right": {"psnr": 38.07848984698805, "ssim": 0.9790983449843293, "lpips": 0.06760594248771667}}, {"video": {"psnr": 20.67301682619683, "ssim": 0.726504954186122, "lpips": 0.26345095038414}, "wrist_left": {"psnr": 16.43090522775305, "ssim": 0.580807101176077, "lpips": 0.3211950659751892}, "wrist_right": {"psnr": 16.993615327144628, "ssim": 0.6197159763120678, "lpips": 0.3322641849517822}, "tactile_left": {"psnr": 36.97152656904481, "ssim": 0.9697311975581534, "lpips": 0.10096222907304764}, "tactile_right": {"psnr": 37.00944701537869, "ssim": 0.9776959530466287, "lpips": 0.08220411837100983}}, {"video": {"psnr": 21.00428107306431, "ssim": 0.7280609858933185, "lpips": 0.2681935429573059}, "wrist_left": {"psnr": 15.905245800198111, "ssim": 0.6271389718620113, "lpips": 0.353142112493515}, "wrist_right": {"psnr": 14.365974765021523, "ssim": 0.5875786311053721, "lpips": 0.4190100431442261}, "tactile_left": {"psnr": 34.27830631313854, "ssim": 0.9581873398260436, "lpips": 0.17343951761722565}, "tactile_right": {"psnr": 35.72737703574599, "ssim": 0.9744733069832991, "lpips": 0.08636842668056488}}, {"video": {"psnr": 21.042177539669762, "ssim": 0.7208935194972271, "lpips": 0.2649514973163605}, "wrist_left": {"psnr": 14.406005986797684, "ssim": 0.5993039533291689, "lpips": 0.44214949011802673}, "wrist_right": {"psnr": 15.380374116894835, "ssim": 0.5700138584728102, "lpips": 0.39483124017715454}, "tactile_left": {"psnr": 32.39392549103728, "ssim": 0.9463035459936857, "lpips": 0.20933187007904053}, "tactile_right": {"psnr": 35.29257093091113, "ssim": 0.9723363673173029, "lpips": 0.1019340455532074}}, {"video": {"psnr": 20.156615061024546, "ssim": 0.687736251577955, "lpips": 0.3039134740829468}, "wrist_left": {"psnr": 13.392737573632933, "ssim": 0.5887195739711585, "lpips": 0.4675036072731018}, "wrist_right": {"psnr": 16.60516996164243, "ssim": 0.5893341284840312, "lpips": 0.38576626777648926}, "tactile_left": {"psnr": 31.240525973552614, "ssim": 0.9381158846234101, "lpips": 0.2411937713623047}, "tactile_right": {"psnr": 35.12131012660002, "ssim": 0.9702719744650241, "lpips": 0.12088429927825928}}, {"video": {"psnr": 20.138295302162316, "ssim": 0.6834026176895671, "lpips": 0.3019178509712219}, "wrist_left": {"psnr": 13.565009519611452, "ssim": 0.5836376239094032, "lpips": 0.46898818016052246}, "wrist_right": {"psnr": 16.725417764080166, "ssim": 0.5999015300347338, "lpips": 0.3847581744194031}, "tactile_left": {"psnr": 31.29761385569885, "ssim": 0.934881457305037, "lpips": 0.24458782374858856}, "tactile_right": {"psnr": 34.506324447800296, "ssim": 0.9673470242420275, "lpips": 0.14199160039424896}}, {"video": {"psnr": 20.29740527726844, "ssim": 0.6919306328994321, "lpips": 0.3108746409416199}, "wrist_left": {"psnr": 12.702905694161561, "ssim": 0.5075048953920103, "lpips": 0.5143722295761108}, "wrist_right": {"psnr": 15.07643684842727, "ssim": 0.6340370577483367, "lpips": 0.36197638511657715}, "tactile_left": {"psnr": 31.703674793193066, "ssim": 0.9353384727047418, "lpips": 0.24889081716537476}, "tactile_right": {"psnr": 34.04761336219437, "ssim": 0.9648697979993013, "lpips": 0.16295942664146423}}, {"video": {"psnr": 20.288398134682836, "ssim": 0.700546547931775, "lpips": 0.3154374361038208}, "wrist_left": {"psnr": 12.075835086021524, "ssim": 0.47894667807954855, "lpips": 0.5366350412368774}, "wrist_right": {"psnr": 14.265190474724909, "ssim": 0.5784797920129818, "lpips": 0.3801758587360382}, "tactile_left": {"psnr": 32.05629523743421, "ssim": 0.9392983789835561, "lpips": 0.2571181356906891}, "tactile_right": {"psnr": 33.507003585528665, "ssim": 0.9615759452171164, "lpips": 0.1949809342622757}}, {"video": {"psnr": 20.38859263142445, "ssim": 0.6932892610656503, "lpips": 0.3135233223438263}, "wrist_left": {"psnr": 13.838184932386405, "ssim": 0.6135635090365235, "lpips": 0.4517592489719391}, "wrist_right": {"psnr": 16.011784217710755, "ssim": 0.5855554981826414, "lpips": 0.326583594083786}, "tactile_left": {"psnr": 32.374487554175225, "ssim": 0.9430675259846392, "lpips": 0.2694297432899475}, "tactile_right": {"psnr": 33.24065945524562, "ssim": 0.9600578126498669, "lpips": 0.20826488733291626}}, {"video": {"psnr": 20.250016394173144, "ssim": 0.6714289363787984, "lpips": 0.3171488046646118}, "wrist_left": {"psnr": 13.478810577311126, "ssim": 0.6019303204422004, "lpips": 0.4272368848323822}, "wrist_right": {"psnr": 14.990780444656144, "ssim": 0.5380922901450222, "lpips": 0.3991135358810425}, "tactile_left": {"psnr": 32.56660319197354, "ssim": 0.946017933872303, "lpips": 0.26816797256469727}, "tactile_right": {"psnr": 33.1427004247929, "ssim": 0.9590745371740654, "lpips": 0.21055571734905243}}, {"video": {"psnr": 20.098785617621925, "ssim": 0.6658433340635929, "lpips": 0.34678757190704346}, "wrist_left": {"psnr": 13.70965638175848, "ssim": 0.6226023442763782, "lpips": 0.4138256907463074}, "wrist_right": {"psnr": 15.861769862333162, "ssim": 0.6655891159613254, "lpips": 0.3502688407897949}, "tactile_left": {"psnr": 32.22128388780692, "ssim": 0.9429973148314967, "lpips": 0.2676641345024109}, "tactile_right": {"psnr": 32.89368993747615, "ssim": 0.9566369755915751, "lpips": 0.22850874066352844}}], "long_metrics": {"video": {"psnr": 21.006789623725712, "ssim": 0.7220528042808876, "lpips": 0.2691760271787643}, "wrist_left": {"psnr": 15.384058655334302, "ssim": 0.6175630650936216, "lpips": 0.376744481921196}, "wrist_right": {"psnr": 16.453625146981857, "ssim": 0.6203641212934559, "lpips": 0.35644501248995464}, "tactile_left": {"psnr": 34.87086567561605, "ssim": 0.9558801998591433, "lpips": 0.1742320011059443}, "tactile_right": {"psnr": 36.165581675603526, "ssim": 0.9713509992261719, "lpips": 0.12645420283079148}}}, {"id": "rope_19", "episode": "rope_0914_episode_000.pt", "requested_episode": "rope_0914_episode_000.pt", "category": "none", "t_start": 134, "start_seconds": 8.933333333333334, "short_contact": [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0], "future_transition_ticks": [], "long_contact_fraction": 0.609375, "long_label": "none_at_start", "short_metrics": {"video": {"psnr": 27.63592601438919, "ssim": 0.9009793324379307, "lpips": 0.046661630272865295}, "wrist_left": {"psnr": 20.856395915429836, "ssim": 0.7477511606484303, "lpips": 0.1867825984954834}, "wrist_right": {"psnr": 23.34778924891244, "ssim": 0.7531998357820859, "lpips": 0.09585186839103699}, "tactile_left": {"psnr": 48.30127550416031, "ssim": 0.9922244669463989, "lpips": 0.006604115944355726}, "tactile_right": {"psnr": 49.66828030437188, "ssim": 0.9934460622280724, "lpips": 0.005894050467759371}}, "media": {"short": {"video": "media/rope_19_short.mp4", "poster": "media/rope_19_short.jpg"}, "long": {"video": "media/rope_19_long.mp4", "poster": "media/rope_19_long.jpg"}}, "force": {"source": "recorded_normal_force", "units": "N", "fps": 15, "left": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 1.9444444179534912, 1.3725632429122925, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.25447556376457214, 0.023848630487918854, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.005816739052534103, 0.0, 0.0, 2.243333339691162, 2.3248276710510254, 2.3248276710510254, 2.942737102508545, 3.0568182468414307, 3.1971428394317627, 3.1971428394317627, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 1.9444444179534912, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.6333838701248169, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "right": [0.1599999964237213, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.1599999964237213, 0.3558772802352905, 0.17097528278827667, 0.2848706841468811, 0.25, 2.867140054702759, 2.3248276710510254, 2.3248276710510254, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 2.891035795211792, 0.0, 0.19954140484333038, 1.486019253730774, 0.014541847631335258, 1.804188847541809, 1.804188847541809, 2.6312499046325684, 2.3248276710510254, 2.3248276710510254, 2.8327066898345947, 2.3248276710510254, 2.3248276710510254, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.1599999964237213, 0.4897080659866333, 0.4897080659866333, 1.6780595779418945, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.5246880650520325, 0.0, 0.0, 0.0, 0.0, 0.43808650970458984, 0.43808650970458984, 0.4866666793823242, 0.7983333468437195, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.6312499046325684, 2.6312499046325684, 2.6312499046325684, 2.3248276710510254, 2.3248276710510254, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.27666667103767395, 0.27666667103767395]}, "long_curve": [{"video": {"psnr": 27.63592601438919, "ssim": 0.9009793324379307, "lpips": 0.046661630272865295}, "wrist_left": {"psnr": 20.856395915429836, "ssim": 0.7477511606484303, "lpips": 0.1867825984954834}, "wrist_right": {"psnr": 23.34778924891244, "ssim": 0.7531998357820859, "lpips": 0.09585186839103699}, "tactile_left": {"psnr": 48.30127550416031, "ssim": 0.9922244669463989, "lpips": 0.006604115944355726}, "tactile_right": {"psnr": 49.66828030437188, "ssim": 0.9934460622280724, "lpips": 0.005894050467759371}}, {"video": {"psnr": 24.19446023499905, "ssim": 0.8339484014742372, "lpips": 0.08253073692321777}, "wrist_left": {"psnr": 16.7965143062413, "ssim": 0.6704297756835675, "lpips": 0.33199942111968994}, "wrist_right": {"psnr": 18.93834406168098, "ssim": 0.6418707517903701, "lpips": 0.2036803513765335}, "tactile_left": {"psnr": 43.67009143612681, "ssim": 0.9849180145302006, "lpips": 0.02037024311721325}, "tactile_right": {"psnr": 46.37674781119367, "ssim": 0.9886189022904284, "lpips": 0.014887003228068352}}, {"video": {"psnr": 22.932684530820072, "ssim": 0.8081546042316063, "lpips": 0.11477092653512955}, "wrist_left": {"psnr": 16.90731609793241, "ssim": 0.6313215264432248, "lpips": 0.42435523867607117}, "wrist_right": {"psnr": 17.631445856591814, "ssim": 0.6157936133095933, "lpips": 0.2624737620353699}, "tactile_left": {"psnr": 36.95019149347142, "ssim": 0.9755673624226229, "lpips": 0.05882700905203819}, "tactile_right": {"psnr": 43.67821050821487, "ssim": 0.9863301261160513, "lpips": 0.02710520662367344}}, {"video": {"psnr": 22.221577231269176, "ssim": 0.7846436424440026, "lpips": 0.16310685873031616}, "wrist_left": {"psnr": 16.71768863550418, "ssim": 0.5521564471982205, "lpips": 0.36191949248313904}, "wrist_right": {"psnr": 15.268745704660416, "ssim": 0.5485258637356827, "lpips": 0.33240193128585815}, "tactile_left": {"psnr": 35.059571620021465, "ssim": 0.9674152194056251, "lpips": 0.08481032401323318}, "tactile_right": {"psnr": 38.71822763395974, "ssim": 0.9762812865212505, "lpips": 0.0720982551574707}}, {"video": {"psnr": 22.134389000846866, "ssim": 0.776341784452683, "lpips": 0.1816835254430771}, "wrist_left": {"psnr": 16.695079359695846, "ssim": 0.543829602033449, "lpips": 0.34980493783950806}, "wrist_right": {"psnr": 14.624195605579718, "ssim": 0.5248073162454034, "lpips": 0.38876044750213623}, "tactile_left": {"psnr": 34.29549486270734, "ssim": 0.9635456515257177, "lpips": 0.10278825461864471}, "tactile_right": {"psnr": 37.70705584554692, "ssim": 0.9738762186445825, "lpips": 0.06953062862157822}}, {"video": {"psnr": 21.96809319174999, "ssim": 0.7637324495335149, "lpips": 0.19075334072113037}, "wrist_left": {"psnr": 16.764387927283224, "ssim": 0.535968963032341, "lpips": 0.3464134931564331}, "wrist_right": {"psnr": 14.74138450114873, "ssim": 0.6339349541050028, "lpips": 0.36845916509628296}, "tactile_left": {"psnr": 34.090977832917325, "ssim": 0.9590888865293516, "lpips": 0.12184913456439972}, "tactile_right": {"psnr": 37.35627914247185, "ssim": 0.9762878379983972, "lpips": 0.0684966892004013}}, {"video": {"psnr": 21.55564956835192, "ssim": 0.7365573689219713, "lpips": 0.22475051879882812}, "wrist_left": {"psnr": 16.99014089538226, "ssim": 0.584104261923847, "lpips": 0.34529006481170654}, "wrist_right": {"psnr": 16.415073263188717, "ssim": 0.6480377887088948, "lpips": 0.36719298362731934}, "tactile_left": {"psnr": 34.112854455473446, "ssim": 0.9594652880513388, "lpips": 0.13212275505065918}, "tactile_right": {"psnr": 35.97124203715035, "ssim": 0.9731072036432125, "lpips": 0.08833352476358414}}, {"video": {"psnr": 21.93664945065546, "ssim": 0.7396375192495959, "lpips": 0.22447574138641357}, "wrist_left": {"psnr": 17.973755163974225, "ssim": 0.6966626011323906, "lpips": 0.3252689242362976}, "wrist_right": {"psnr": 17.41298139432885, "ssim": 0.6583391192147154, "lpips": 0.36421430110931396}, "tactile_left": {"psnr": 36.514137408162654, "ssim": 0.9706261506413476, "lpips": 0.10674931108951569}, "tactile_right": {"psnr": 35.88026319105967, "ssim": 0.9721476923890153, "lpips": 0.10435713082551956}}, {"video": {"psnr": 22.39804852278272, "ssim": 0.7492137850814322, "lpips": 0.22085312008857727}, "wrist_left": {"psnr": 17.431936745335218, "ssim": 0.6791047321410557, "lpips": 0.38530564308166504}, "wrist_right": {"psnr": 18.00441114811335, "ssim": 0.6762259714186415, "lpips": 0.32357722520828247}, "tactile_left": {"psnr": 36.19386969521947, "ssim": 0.9676303252302638, "lpips": 0.12088020890951157}, "tactile_right": {"psnr": 35.680455189875204, "ssim": 0.970302094305547, "lpips": 0.11772513389587402}}, {"video": {"psnr": 21.42726587778168, "ssim": 0.7213919544579612, "lpips": 0.21463371813297272}, "wrist_left": {"psnr": 16.8213713646261, "ssim": 0.6407388873185231, "lpips": 0.37180987000465393}, "wrist_right": {"psnr": 16.86364105938492, "ssim": 0.6645868758206857, "lpips": 0.3440704345703125}, "tactile_left": {"psnr": 35.00791297445792, "ssim": 0.9582900267062524, "lpips": 0.14994558691978455}, "tactile_right": {"psnr": 34.642482512820564, "ssim": 0.9654487382334047, "lpips": 0.15770958364009857}}, {"video": {"psnr": 21.75534426097527, "ssim": 0.722406768091795, "lpips": 0.19566917419433594}, "wrist_left": {"psnr": 16.310466473214085, "ssim": 0.658067956115889, "lpips": 0.3690612018108368}, "wrist_right": {"psnr": 14.949602139032173, "ssim": 0.5890600565755906, "lpips": 0.3950026333332062}, "tactile_left": {"psnr": 35.17891643062653, "ssim": 0.9619266859981325, "lpips": 0.14000478386878967}, "tactile_right": {"psnr": 33.37136868051636, "ssim": 0.9546775812612776, "lpips": 0.2085038125514984}}, {"video": {"psnr": 21.509703858678396, "ssim": 0.7132559044609448, "lpips": 0.20482517778873444}, "wrist_left": {"psnr": 14.035222366987604, "ssim": 0.5781332535295793, "lpips": 0.4599565267562866}, "wrist_right": {"psnr": 14.649565267676344, "ssim": 0.5977671634387627, "lpips": 0.40869325399398804}, "tactile_left": {"psnr": 35.38363106515086, "ssim": 0.9636988603723511, "lpips": 0.1450638473033905}, "tactile_right": {"psnr": 33.23019404981896, "ssim": 0.9548515503779244, "lpips": 0.21116507053375244}}, {"video": {"psnr": 21.374045242874764, "ssim": 0.7081773667149708, "lpips": 0.2420562356710434}, "wrist_left": {"psnr": 14.61688524953038, "ssim": 0.5826229147917493, "lpips": 0.47003477811813354}, "wrist_right": {"psnr": 14.030417440049694, "ssim": 0.5955283838888328, "lpips": 0.43284618854522705}, "tactile_left": {"psnr": 35.39109594721462, "ssim": 0.9638506662599833, "lpips": 0.15774232149124146}, "tactile_right": {"psnr": 33.59930879741657, "ssim": 0.9595568571490549, "lpips": 0.20294789969921112}}, {"video": {"psnr": 20.929162761937864, "ssim": 0.6923793265463724, "lpips": 0.2520357370376587}, "wrist_left": {"psnr": 14.985102209183864, "ssim": 0.5636998913741134, "lpips": 0.3871611952781677}, "wrist_right": {"psnr": 13.758005656377787, "ssim": 0.6026101311594663, "lpips": 0.4207446873188019}, "tactile_left": {"psnr": 35.44707365551695, "ssim": 0.9622429709991701, "lpips": 0.17371362447738647}, "tactile_right": {"psnr": 33.21343141088629, "ssim": 0.9551870707327121, "lpips": 0.23485958576202393}}, {"video": {"psnr": 20.946933955494135, "ssim": 0.7001571787977945, "lpips": 0.2718457579612732}, "wrist_left": {"psnr": 16.741879626652164, "ssim": 0.603132052078277, "lpips": 0.38020896911621094}, "wrist_right": {"psnr": 14.84473685554253, "ssim": 0.5971982896310297, "lpips": 0.453835666179657}, "tactile_left": {"psnr": 34.72113207194661, "ssim": 0.9593465195828113, "lpips": 0.19317659735679626}, "tactile_right": {"psnr": 33.051808940301584, "ssim": 0.9555343985395437, "lpips": 0.23912644386291504}}], "long_metrics": {"video": {"psnr": 22.327995580240437, "ssim": 0.7567318257931209, "lpips": 0.1887101466457049}, "wrist_left": {"psnr": 16.709609489131513, "ssim": 0.6178482683629771, "lpips": 0.36635815699895224}, "wrist_right": {"psnr": 16.365355946817896, "ssim": 0.6231657409883172, "lpips": 0.34412032663822173}, "tactile_left": {"psnr": 36.68788176354492, "ssim": 0.9673224730134379, "lpips": 0.11430987451846401}, "tactile_right": {"psnr": 37.47635707037363, "ssim": 0.9703769080286982, "lpips": 0.1215160012555619}}}, {"id": "rope_20", "episode": "rope_0914_episode_000.pt", "requested_episode": "rope_0914_episode_000.pt", "category": "onset", "t_start": 48, "start_seconds": 3.2, "short_contact": [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 1], "future_transition_ticks": [11], "long_contact_fraction": 0.5546875, "long_label": "onset", "short_metrics": {"video": {"psnr": 26.64091146096513, "ssim": 0.8688160140905619, "lpips": 0.06678228825330734}, "wrist_left": {"psnr": 27.70154281819368, "ssim": 0.840552797007661, "lpips": 0.06437519192695618}, "wrist_right": {"psnr": 20.460633141393878, "ssim": 0.6862749547265403, "lpips": 0.18867303431034088}, "tactile_left": {"psnr": 52.30255848435884, "ssim": 0.995673020626118, "lpips": 0.0025554399471729994}, "tactile_right": {"psnr": 42.041325927125754, "ssim": 0.9846588169999402, "lpips": 0.04570290073752403}}, "media": {"short": {"video": "media/rope_20_short.mp4", "poster": "media/rope_20_short.jpg"}, "long": {"video": "media/rope_20_long.mp4", "poster": "media/rope_20_long.jpg"}}, "force": {"source": "recorded_normal_force", "units": "N", "fps": 15, "left": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 1.9444444179534912, 1.3725632429122925, 0.7983333468437195, 0.7983333468437195], "right": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 3.0568182468414307, 3.0568182468414307, 2.2891783714294434, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 1.4226243495941162, 0.12007912248373032, 2.0219690799713135, 2.63932466506958, 2.3248276710510254, 2.3248276710510254, 0.0026175326202064753, 0.0, 0.0, 0.0, 0.7983333468437195, 0.7983333468437195, 0.0, 0.1599999964237213, 0.4399999976158142, 0.4399999976158142, 0.5153115391731262, 0.5600000023841858, 0.5600000023841858, 0.5600000023841858, 0.5600000023841858, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.19029824435710907, 0.881781280040741, 2.917395830154419, 2.917395830154419, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 2.714874505996704, 0.0, 0.0, 0.0, 0.0, 0.0, 2.178600549697876, 2.3248276710510254, 0.7983333468437195, 1.9444444179534912, 1.9444444179534912, 2.243333339691162, 1.5895891189575195, 0.7983333468437195, 0.7983333468437195, 2.6063549518585205, 0.5580923557281494, 0.0, 0.0, 0.0, 2.3248276710510254, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 2.3248276710510254, 2.3248276710510254, 2.6312499046325684, 2.6312499046325684, 2.3248276710510254, 2.3248276710510254, 2.243333339691162, 2.3248276710510254, 1.9444444179534912, 0.7983333468437195, 0.1599999964237213, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.1599999964237213, 0.3558772802352905, 0.17097528278827667, 0.2848706841468811, 0.25, 2.867140054702759, 2.3248276710510254]}, "long_curve": [{"video": {"psnr": 26.64091146096513, "ssim": 0.8688160140905619, "lpips": 0.06678228825330734}, "wrist_left": {"psnr": 27.70154281819368, "ssim": 0.840552797007661, "lpips": 0.06437519192695618}, "wrist_right": {"psnr": 20.460633141393878, "ssim": 0.6862749547265403, "lpips": 0.18867303431034088}, "tactile_left": {"psnr": 52.30255848435884, "ssim": 0.995673020626118, "lpips": 0.0025554399471729994}, "tactile_right": {"psnr": 42.041325927125754, "ssim": 0.9846588169999402, "lpips": 0.04570290073752403}}, {"video": {"psnr": 24.280858978522225, "ssim": 0.8098745937908558, "lpips": 0.1288236677646637}, "wrist_left": {"psnr": 25.43731085403117, "ssim": 0.8298991512771644, "lpips": 0.10997791588306427}, "wrist_right": {"psnr": 14.828821798840554, "ssim": 0.537954663473972, "lpips": 0.38736823201179504}, "tactile_left": {"psnr": 46.98474239036591, "ssim": 0.9911112485079914, "lpips": 0.01174586359411478}, "tactile_right": {"psnr": 43.356164881003885, "ssim": 0.9834653229696413, "lpips": 0.02484894171357155}}, {"video": {"psnr": 22.9116258601448, "ssim": 0.7770131859801691, "lpips": 0.15414831042289734}, "wrist_left": {"psnr": 20.04936441025208, "ssim": 0.7375105347491167, "lpips": 0.20701631903648376}, "wrist_right": {"psnr": 15.470714265578156, "ssim": 0.552831387585844, "lpips": 0.3692609667778015}, "tactile_left": {"psnr": 43.67326304374511, "ssim": 0.9867133076592824, "lpips": 0.025167280808091164}, "tactile_right": {"psnr": 41.6344438150267, "ssim": 0.9824906930134754, "lpips": 0.03718973696231842}}, {"video": {"psnr": 23.327769457027795, "ssim": 0.7708227206713031, "lpips": 0.17553666234016418}, "wrist_left": {"psnr": 20.40049501757194, "ssim": 0.7661734500893742, "lpips": 0.20143312215805054}, "wrist_right": {"psnr": 16.23863423870422, "ssim": 0.6096547487223268, "lpips": 0.3709396719932556}, "tactile_left": {"psnr": 41.50190997365729, "ssim": 0.9830903454302071, "lpips": 0.041625019162893295}, "tactile_right": {"psnr": 39.18270553527365, "ssim": 0.9791347461350653, "lpips": 0.058297496289014816}}, {"video": {"psnr": 22.47930899049374, "ssim": 0.738213209006601, "lpips": 0.21747440099716187}, "wrist_left": {"psnr": 17.33967066085803, "ssim": 0.6435831491684004, "lpips": 0.2975682318210602}, "wrist_right": {"psnr": 16.582564822730653, "ssim": 0.6141204366465919, "lpips": 0.37808477878570557}, "tactile_left": {"psnr": 40.91372726973857, "ssim": 0.9816430728586093, "lpips": 0.05576760321855545}, "tactile_right": {"psnr": 39.89193903136778, "ssim": 0.9780521903223397, "lpips": 0.062426019459962845}}, {"video": {"psnr": 22.003018009125945, "ssim": 0.7331761202020408, "lpips": 0.2524263858795166}, "wrist_left": {"psnr": 16.775533135968914, "ssim": 0.5757984857837377, "lpips": 0.30649203062057495}, "wrist_right": {"psnr": 14.75243434224982, "ssim": 0.5403373802377922, "lpips": 0.4373391270637512}, "tactile_left": {"psnr": 40.06015669265138, "ssim": 0.9790757853476033, "lpips": 0.07333990931510925}, "tactile_right": {"psnr": 39.69210725968114, "ssim": 0.9774290424379899, "lpips": 0.06879492104053497}}, {"video": {"psnr": 21.932919034366986, "ssim": 0.7317910420216509, "lpips": 0.26365602016448975}, "wrist_left": {"psnr": 16.945822362754893, "ssim": 0.5701260466050402, "lpips": 0.29597553610801697}, "wrist_right": {"psnr": 17.199887959105197, "ssim": 0.6460054382407512, "lpips": 0.31980693340301514}, "tactile_left": {"psnr": 38.78444078482948, "ssim": 0.9761390989484169, "lpips": 0.09343777596950531}, "tactile_right": {"psnr": 38.352809317520894, "ssim": 0.9744653781257859, "lpips": 0.08944299817085266}}, {"video": {"psnr": 21.46408395624642, "ssim": 0.7066532575578921, "lpips": 0.2743842601776123}, "wrist_left": {"psnr": 17.401709184488077, "ssim": 0.5765859616460967, "lpips": 0.27657759189605713}, "wrist_right": {"psnr": 17.47940521871987, "ssim": 0.6292788293559526, "lpips": 0.3178997039794922}, "tactile_left": {"psnr": 37.818526046205406, "ssim": 0.972028931743406, "lpips": 0.1121954545378685}, "tactile_right": {"psnr": 37.92297854252926, "ssim": 0.9718242026734547, "lpips": 0.10543109476566315}}, {"video": {"psnr": 21.165228760797245, "ssim": 0.6990952076190323, "lpips": 0.29449769854545593}, "wrist_left": {"psnr": 17.27929559352464, "ssim": 0.5737227581225923, "lpips": 0.26743394136428833}, "wrist_right": {"psnr": 16.09868653121086, "ssim": 0.6093573838104696, "lpips": 0.34485486149787903}, "tactile_left": {"psnr": 37.234030989745634, "ssim": 0.9696480230122857, "lpips": 0.12802353501319885}, "tactile_right": {"psnr": 35.82256829126667, "ssim": 0.966049734373053, "lpips": 0.15651512145996094}}, {"video": {"psnr": 21.068787737118804, "ssim": 0.7013716560233729, "lpips": 0.2631523609161377}, "wrist_left": {"psnr": 17.258716702357802, "ssim": 0.6048547862979213, "lpips": 0.3387067914009094}, "wrist_right": {"psnr": 15.642099655753295, "ssim": 0.5856743574122452, "lpips": 0.3848193883895874}, "tactile_left": {"psnr": 36.4328843269108, "ssim": 0.966530433382924, "lpips": 0.1497233510017395}, "tactile_right": {"psnr": 35.55000021821366, "ssim": 0.9662745923347312, "lpips": 0.1506659984588623}}, {"video": {"psnr": 20.70350864140503, "ssim": 0.6968349737746695, "lpips": 0.2587106227874756}, "wrist_left": {"psnr": 18.187396496511862, "ssim": 0.6961334521379045, "lpips": 0.28474825620651245}, "wrist_right": {"psnr": 17.131819968299244, "ssim": 0.6489374554097083, "lpips": 0.3669291138648987}, "tactile_left": {"psnr": 35.83090751157178, "ssim": 0.9640825920281479, "lpips": 0.16701462864875793}, "tactile_right": {"psnr": 35.377479487043814, "ssim": 0.966498325072694, "lpips": 0.14870181679725647}}, {"video": {"psnr": 19.870601973272645, "ssim": 0.6869313765734519, "lpips": 0.27785724401474}, "wrist_left": {"psnr": 15.534918892308443, "ssim": 0.6487836324860485, "lpips": 0.3665223717689514}, "wrist_right": {"psnr": 17.042351137582056, "ssim": 0.6393302167668761, "lpips": 0.3776978552341461}, "tactile_left": {"psnr": 35.38881289880669, "ssim": 0.9623217230097767, "lpips": 0.17834019660949707}, "tactile_right": {"psnr": 35.00112488737545, "ssim": 0.9646354516269917, "lpips": 0.16515353322029114}}, {"video": {"psnr": 20.02055474789518, "ssim": 0.6902766228696811, "lpips": 0.29299649596214294}, "wrist_left": {"psnr": 15.685356275007889, "ssim": 0.641640019875588, "lpips": 0.41551804542541504}, "wrist_right": {"psnr": 16.57793000150457, "ssim": 0.6241845250979297, "lpips": 0.3848849833011627}, "tactile_left": {"psnr": 34.607042358647874, "ssim": 0.9580383944341959, "lpips": 0.191398486495018}, "tactile_right": {"psnr": 35.050292229581615, "ssim": 0.9631553195222388, "lpips": 0.18213409185409546}}, {"video": {"psnr": 20.614285932736113, "ssim": 0.7021806619248762, "lpips": 0.2853923738002777}, "wrist_left": {"psnr": 15.978329277848767, "ssim": 0.6228640725581336, "lpips": 0.43176913261413574}, "wrist_right": {"psnr": 14.706062662138415, "ssim": 0.5800946030287315, "lpips": 0.4330458641052246}, "tactile_left": {"psnr": 33.54642082231226, "ssim": 0.9520315333162757, "lpips": 0.20273944735527039}, "tactile_right": {"psnr": 34.67684362012885, "ssim": 0.9608787974983721, "lpips": 0.1986387073993683}}, {"video": {"psnr": 20.759532225044662, "ssim": 0.7020306019110956, "lpips": 0.30156469345092773}, "wrist_left": {"psnr": 15.834746829167774, "ssim": 0.5688924911267212, "lpips": 0.40710681676864624}, "wrist_right": {"psnr": 12.708634071682813, "ssim": 0.5296985335133058, "lpips": 0.44305869936943054}, "tactile_left": {"psnr": 32.32159374050354, "ssim": 0.9458573389842808, "lpips": 0.22563111782073975}, "tactile_right": {"psnr": 33.67294142602351, "ssim": 0.9562915699446903, "lpips": 0.23384897410869598}}], "long_metrics": {"video": {"psnr": 21.94953305101085, "ssim": 0.7343387496011503, "lpips": 0.23382689903179804}, "wrist_left": {"psnr": 18.52068056738973, "ssim": 0.6598080525954334, "lpips": 0.28474808633327486}, "wrist_right": {"psnr": 16.194711987699574, "ssim": 0.6022489942686025, "lpips": 0.3669775476058324}, "tactile_left": {"psnr": 39.160067822270044, "ssim": 0.9722656566193014, "lpips": 0.11058034063316882}, "tactile_right": {"psnr": 37.81504829794417, "ssim": 0.9716869455366975, "lpips": 0.11518615682919821}}}, {"id": "rope_21", "episode": "rope_0914_episode_000.pt", "requested_episode": "rope_0914_episode_000.pt", "category": "release", "t_start": 189, "start_seconds": 12.6, "short_contact": [1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 0, 0], "future_transition_ticks": [11], "long_contact_fraction": 0.5078125, "long_label": "release", "short_metrics": {"video": {"psnr": 28.773544564580973, "ssim": 0.9027765508887533, "lpips": 0.042977843433618546}, "wrist_left": {"psnr": 22.220092318653528, "ssim": 0.8087910818819982, "lpips": 0.14930251240730286}, "wrist_right": {"psnr": 21.333278783491338, "ssim": 0.7437452825395895, "lpips": 0.17720285058021545}, "tactile_left": {"psnr": 45.092181006621644, "ssim": 0.9873859912134659, "lpips": 0.014667823910713196}, "tactile_right": {"psnr": 46.9014900192552, "ssim": 0.9921028735806217, "lpips": 0.00944056548178196}}, "media": {"short": {"video": "media/rope_21_short.mp4", "poster": "media/rope_21_short.jpg"}, "long": {"video": "media/rope_21_long.mp4", "poster": "media/rope_21_long.jpg"}}, "force": {"source": "recorded_normal_force", "units": "N", "fps": 15, "left": [0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.25447556376457214, 0.023848630487918854, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.005816739052534103, 0.0, 0.0, 2.243333339691162, 2.3248276710510254, 2.3248276710510254, 2.942737102508545, 3.0568182468414307, 3.1971428394317627, 3.1971428394317627, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 1.9444444179534912, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.6333838701248169, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "right": [0.19954140484333038, 1.486019253730774, 0.014541847631335258, 1.804188847541809, 1.804188847541809, 2.6312499046325684, 2.3248276710510254, 2.3248276710510254, 2.8327066898345947, 2.3248276710510254, 2.3248276710510254, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.1599999964237213, 0.4897080659866333, 0.4897080659866333, 1.6780595779418945, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.5246880650520325, 0.0, 0.0, 0.0, 0.0, 0.43808650970458984, 0.43808650970458984, 0.4866666793823242, 0.7983333468437195, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.6312499046325684, 2.6312499046325684, 2.6312499046325684, 2.3248276710510254, 2.3248276710510254, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.27666667103767395, 0.27666667103767395, 2.243333339691162, 3.0568182468414307, 3.0568182468414307, 2.3248276710510254, 2.0718064308166504, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.4399999976158142, 0.7596486806869507, 1.9444444179534912, 1.9444444179534912, 2.243333339691162, 2.243333339691162, 0.7983333468437195, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.16300326585769653, 0.17795205116271973, 0.17861714959144592, 0.17861714959144592, 0.505513608455658, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.5600000023841858, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.5102386474609375, 0.25, 0.5591446757316589, 0.7983333468437195, 1.423740267753601]}, "long_curve": [{"video": {"psnr": 28.773544564580973, "ssim": 0.9027765508887533, "lpips": 0.042977843433618546}, "wrist_left": {"psnr": 22.220092318653528, "ssim": 0.8087910818819982, "lpips": 0.14930251240730286}, "wrist_right": {"psnr": 21.333278783491338, "ssim": 0.7437452825395895, "lpips": 0.17720285058021545}, "tactile_left": {"psnr": 45.092181006621644, "ssim": 0.9873859912134659, "lpips": 0.014667823910713196}, "tactile_right": {"psnr": 46.9014900192552, "ssim": 0.9921028735806217, "lpips": 0.00944056548178196}}, {"video": {"psnr": 24.230259806548467, "ssim": 0.8356680968898171, "lpips": 0.09887019544839859}, "wrist_left": {"psnr": 17.06668232407083, "ssim": 0.6877500871148261, "lpips": 0.3302980661392212}, "wrist_right": {"psnr": 19.941216243372093, "ssim": 0.7163686746951368, "lpips": 0.2239992320537567}, "tactile_left": {"psnr": 43.77922983427722, "ssim": 0.9830756330312979, "lpips": 0.029001884162425995}, "tactile_right": {"psnr": 44.69054995464339, "ssim": 0.9892189932189385, "lpips": 0.014748955145478249}}, {"video": {"psnr": 21.11262436158626, "ssim": 0.769736315680924, "lpips": 0.18387511372566223}, "wrist_left": {"psnr": 19.67787059709992, "ssim": 0.704903574974334, "lpips": 0.3137546181678772}, "wrist_right": {"psnr": 18.268243363585114, "ssim": 0.6718206741940289, "lpips": 0.30408281087875366}, "tactile_left": {"psnr": 39.139405700341854, "ssim": 0.9718814860701421, "lpips": 0.0813000500202179}, "tactile_right": {"psnr": 41.283246187034734, "ssim": 0.9852914599109293, "lpips": 0.03997168317437172}}, {"video": {"psnr": 20.521866662766527, "ssim": 0.7544164637140457, "lpips": 0.2318582534790039}, "wrist_left": {"psnr": 19.190469127463796, "ssim": 0.7002499984556454, "lpips": 0.29706621170043945}, "wrist_right": {"psnr": 15.767055547818218, "ssim": 0.5414463108844245, "lpips": 0.4027867913246155}, "tactile_left": {"psnr": 39.33479684283791, "ssim": 0.9724194015341296, "lpips": 0.06938491761684418}, "tactile_right": {"psnr": 36.96215978223604, "ssim": 0.9722697647728423, "lpips": 0.10588729381561279}}, {"video": {"psnr": 20.5337095511603, "ssim": 0.7522850483007653, "lpips": 0.2521786689758301}, "wrist_left": {"psnr": 15.57712036711104, "ssim": 0.6390101727011847, "lpips": 0.38558655977249146}, "wrist_right": {"psnr": 15.293322671762192, "ssim": 0.523949833439957, "lpips": 0.41546493768692017}, "tactile_left": {"psnr": 40.27562417764522, "ssim": 0.9755244557138205, "lpips": 0.059905461966991425}, "tactile_right": {"psnr": 36.856627069056486, "ssim": 0.9706020611989513, "lpips": 0.11922067403793335}}, {"video": {"psnr": 20.608325607989315, "ssim": 0.7569222763790624, "lpips": 0.23604431748390198}, "wrist_left": {"psnr": 15.490959397251785, "ssim": 0.6313724645012408, "lpips": 0.3996736407279968}, "wrist_right": {"psnr": 14.2554219077618, "ssim": 0.4894117598508905, "lpips": 0.5116578936576843}, "tactile_left": {"psnr": 40.124327752588364, "ssim": 0.9756824639700958, "lpips": 0.07364388555288315}, "tactile_right": {"psnr": 38.662422270312604, "ssim": 0.9772591031683673, "lpips": 0.0881463885307312}}, {"video": {"psnr": 20.9017060871629, "ssim": 0.7389414737332176, "lpips": 0.2564839720726013}, "wrist_left": {"psnr": 16.121610232939272, "ssim": 0.6294266774998065, "lpips": 0.40933793783187866}, "wrist_right": {"psnr": 14.220838462068242, "ssim": 0.5053843613716359, "lpips": 0.5655005574226379}, "tactile_left": {"psnr": 39.26615950083693, "ssim": 0.973328568265283, "lpips": 0.09537344425916672}, "tactile_right": {"psnr": 37.131940003101185, "ssim": 0.9722069971870819, "lpips": 0.11710001528263092}}, {"video": {"psnr": 19.990889917321763, "ssim": 0.7082783845956233, "lpips": 0.31440961360931396}, "wrist_left": {"psnr": 17.89965315647702, "ssim": 0.6765790394414186, "lpips": 0.39823877811431885}, "wrist_right": {"psnr": 16.035791542694216, "ssim": 0.5981995682135441, "lpips": 0.4545869529247284}, "tactile_left": {"psnr": 37.85436084577937, "ssim": 0.9699728660759597, "lpips": 0.11808458715677261}, "tactile_right": {"psnr": 37.108240134694015, "ssim": 0.9736720088068173, "lpips": 0.11598581075668335}}, {"video": {"psnr": 19.398346608600963, "ssim": 0.683618198085557, "lpips": 0.37265944480895996}, "wrist_left": {"psnr": 17.473343427798593, "ssim": 0.6534927527082446, "lpips": 0.3571774363517761}, "wrist_right": {"psnr": 15.577817055112778, "ssim": 0.6379489776647222, "lpips": 0.3854299485683441}, "tactile_left": {"psnr": 37.04975534153698, "ssim": 0.9676305817446109, "lpips": 0.13352686166763306}, "tactile_right": {"psnr": 35.483921461052134, "ssim": 0.9688936977833668, "lpips": 0.1534641832113266}}, {"video": {"psnr": 19.3625470999572, "ssim": 0.6768044205027284, "lpips": 0.4006040692329407}, "wrist_left": {"psnr": 15.344971553443418, "ssim": 0.5921103610156586, "lpips": 0.3970676362514496}, "wrist_right": {"psnr": 13.59659554808996, "ssim": 0.5795879316153808, "lpips": 0.42320066690444946}, "tactile_left": {"psnr": 36.199192387267516, "ssim": 0.9643568329735732, "lpips": 0.155793696641922}, "tactile_right": {"psnr": 34.78264490117351, "ssim": 0.9682598207451578, "lpips": 0.13676747679710388}}, {"video": {"psnr": 19.564482470247775, "ssim": 0.679735758195968, "lpips": 0.3836604356765747}, "wrist_left": {"psnr": 14.744740953152167, "ssim": 0.5653313689912824, "lpips": 0.38913804292678833}, "wrist_right": {"psnr": 12.911550233356406, "ssim": 0.5755753637768464, "lpips": 0.4497761130332947}, "tactile_left": {"psnr": 35.64803593563318, "ssim": 0.9616772592660765, "lpips": 0.16965782642364502}, "tactile_right": {"psnr": 33.71479730434081, "ssim": 0.9607942841133723, "lpips": 0.17306673526763916}}, {"video": {"psnr": 19.11611141475127, "ssim": 0.6630874982775711, "lpips": 0.39644795656204224}, "wrist_left": {"psnr": 14.368087201608466, "ssim": 0.5612288085315416, "lpips": 0.37634164094924927}, "wrist_right": {"psnr": 15.988045606627658, "ssim": 0.6352977098537214, "lpips": 0.39823293685913086}, "tactile_left": {"psnr": 35.205800988820954, "ssim": 0.9587682448987036, "lpips": 0.19104260206222534}, "tactile_right": {"psnr": 33.89190538763944, "ssim": 0.9646786534074934, "lpips": 0.16225634515285492}}, {"video": {"psnr": 19.24832551405287, "ssim": 0.6643953436207168, "lpips": 0.40828049182891846}, "wrist_left": {"psnr": 14.362913914522146, "ssim": 0.5593208888065029, "lpips": 0.38904300332069397}, "wrist_right": {"psnr": 14.973213033705212, "ssim": 0.6121580533226263, "lpips": 0.4217730462551117}, "tactile_left": {"psnr": 35.092501426711664, "ssim": 0.9576962199129335, "lpips": 0.19682610034942627}, "tactile_right": {"psnr": 33.317437377769544, "ssim": 0.9606361336819174, "lpips": 0.19504791498184204}}, {"video": {"psnr": 19.85845141525339, "ssim": 0.689826309161968, "lpips": 0.35773131251335144}, "wrist_left": {"psnr": 15.098110173282478, "ssim": 0.59803412484723, "lpips": 0.39588671922683716}, "wrist_right": {"psnr": 16.491737833409104, "ssim": 0.6896298954831694, "lpips": 0.3663734793663025}, "tactile_left": {"psnr": 34.863403824032076, "ssim": 0.9560132558951996, "lpips": 0.20648041367530823}, "tactile_right": {"psnr": 33.38248164654516, "ssim": 0.9628913637663966, "lpips": 0.1786137968301773}}, {"video": {"psnr": 19.57540478820317, "ssim": 0.6833265319961672, "lpips": 0.36630386114120483}, "wrist_left": {"psnr": 16.78497503671489, "ssim": 0.6948399797663294, "lpips": 0.3763399124145508}, "wrist_right": {"psnr": 15.674768086144145, "ssim": 0.5893254735230256, "lpips": 0.43753740191459656}, "tactile_left": {"psnr": 34.319300488289, "ssim": 0.9528872280720759, "lpips": 0.21518364548683167}, "tactile_right": {"psnr": 33.08609833689409, "ssim": 0.9585037793557316, "lpips": 0.2081300914287567}}], "long_metrics": {"video": {"psnr": 20.85310639134554, "ssim": 0.7306545780015257, "lpips": 0.28682570333282154}, "wrist_left": {"psnr": 16.76143998543929, "ssim": 0.6468294254158162, "lpips": 0.35761684775352476}, "wrist_right": {"psnr": 16.021926394599898, "ssim": 0.6073233246952465, "lpips": 0.3958403746287028}, "tactile_left": {"psnr": 38.216271736881325, "ssim": 0.9685533659091579, "lpips": 0.12065821339686712}, "tactile_right": {"psnr": 37.15039745571656, "ssim": 0.9718187329798658, "lpips": 0.12118986199299495}}}, {"id": "rope_22", "episode": "rope_0914_episode_000.pt", "requested_episode": "rope_0914_episode_000.pt", "category": "full", "t_start": 480, "start_seconds": 32.0, "short_contact": [1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1], "future_transition_ticks": [], "long_contact_fraction": 0.859375, "long_label": "full", "short_metrics": {"video": {"psnr": 24.463266025494157, "ssim": 0.8683646921294911, "lpips": 0.08503904193639755}, "wrist_left": {"psnr": 23.229751496036005, "ssim": 0.7636121510486249, "lpips": 0.14563824236392975}, "wrist_right": {"psnr": 20.48061764865942, "ssim": 0.6720078885115188, "lpips": 0.2529921531677246}, "tactile_left": {"psnr": 41.41451967479851, "ssim": 0.9830298659807242, "lpips": 0.022169068455696106}, "tactile_right": {"psnr": 40.18403182901335, "ssim": 0.9717037837688258, "lpips": 0.03610885888338089}}, "media": {"short": {"video": "media/rope_22_short.mp4", "poster": "media/rope_22_short.jpg"}, "long": {"video": "media/rope_22_long.mp4", "poster": "media/rope_22_long.jpg"}}, "force": {"source": "recorded_normal_force", "units": "N", "fps": 15, "left": [0.05176897719502449, 0.11429891735315323, 0.1599999964237213, 0.39609667658805847, 0.22467154264450073, 0.1599999964237213, 0.4917893409729004, 0.7983333468437195, 0.7983333468437195, 0.710655689239502, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.6496384739875793, 0.7983333468437195, 1.9444444179534912, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.23700614273548126, 0.8354141712188721, 1.7087063789367676, 2.3248276710510254, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 2.3248276710510254, 2.3248276710510254, 0.7983333468437195, 0.6617380976676941, 0.7983333468437195, 0.7983333468437195, 0.5529603362083435, 0.29868239164352417, 0.6524747014045715, 0.5419173240661621, 0.4925265312194824, 0.3871173858642578, 0.08376104384660721, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.7983333468437195, 0.7983333468437195, 0.0, 0.0, 0.0, 0.2826506793498993, 2.3248276710510254, 2.2288334369659424, 2.28926682472229, 0.005525901913642883, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.9444444179534912, 0.5357110500335693, 0.5051443576812744, 2.243333339691162, 2.3248276710510254, 1.9444444179534912, 1.9444444179534912, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 1.9444444179534912, 0.7983333468437195, 0.7983333468437195, 1.5113606452941895, 0.1599999964237213, 0.6043656468391418, 0.5451141595840454, 0.5653013586997986, 0.46698805689811707, 0.3932530879974365, 0.5038555264472961, 0.3808133900165558, 0.0, 1.9444444179534912, 0.7304573655128479, 0.5527566075325012, 0.5600000023841858, 0.5600000023841858, 0.5600000023841858, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 2.3077635765075684, 2.243333339691162, 1.9444444179534912, 1.9444444179534912, 1.9444444179534912, 1.9444444179534912, 1.9444444179534912, 0.7983333468437195, 0.7983333468437195, 0.5799493193626404, 0.5456119179725647, 0.5405585765838623, 0.5448272824287415, 0.5557147860527039, 0.5549456477165222, 0.5537068843841553, 0.5563408136367798, 0.5600000023841858], "right": [3.0568182468414307, 3.9167568683624268, 3.1971428394317627, 3.1971428394317627, 3.0568182468414307, 3.0568182468414307, 3.597318172454834, 3.1971428394317627, 3.1971428394317627, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.9167568683624268, 3.9167568683624268, 3.1971428394317627, 3.1971428394317627, 2.3248276710510254, 2.6312499046325684, 3.0568182468414307, 0.7983333468437195, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 1.9444444179534912, 1.9444444179534912, 2.243333339691162, 2.3248276710510254, 2.6312499046325684, 2.6312499046325684, 0.7983333468437195, 1.703617811203003, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 3.0568182468414307, 3.0568182468414307, 0.0, 2.3248276710510254, 2.243333339691162, 2.243333339691162, 2.2964112758636475, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.5090298652648926, 2.6312499046325684, 2.6312499046325684, 2.6312499046325684, 2.6312499046325684, 2.6312499046325684, 2.6312499046325684, 2.6204729080200195, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.6312499046325684, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.878110647201538, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.5036442875862122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.7983333468437195, 0.7983333468437195, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 3.0568182468414307, 3.0568182468414307, 2.6312499046325684, 3.0568182468414307, 2.3248276710510254, 2.3248276710510254, 2.6312499046325684, 2.6312499046325684, 2.3248276710510254, 1.8374724388122559, 1.9444444179534912, 1.9444444179534912, 0.5147903561592102]}, "long_curve": [{"video": {"psnr": 24.463266025494157, "ssim": 0.8683646921294911, "lpips": 0.08503904193639755}, "wrist_left": {"psnr": 23.229751496036005, "ssim": 0.7636121510486249, "lpips": 0.14563824236392975}, "wrist_right": {"psnr": 20.48061764865942, "ssim": 0.6720078885115188, "lpips": 0.2529921531677246}, "tactile_left": {"psnr": 41.41451967479851, "ssim": 0.9830298659807242, "lpips": 0.022169068455696106}, "tactile_right": {"psnr": 40.18403182901335, "ssim": 0.9717037837688258, "lpips": 0.03610885888338089}}, {"video": {"psnr": 23.022766226027787, "ssim": 0.8105600072823715, "lpips": 0.13965898752212524}, "wrist_left": {"psnr": 20.04445917201921, "ssim": 0.6775822368255122, "lpips": 0.24273693561553955}, "wrist_right": {"psnr": 20.683324340150797, "ssim": 0.7355362519407445, "lpips": 0.22466903924942017}, "tactile_left": {"psnr": 40.43657455339242, "ssim": 0.9765832525606017, "lpips": 0.0339677631855011}, "tactile_right": {"psnr": 37.490125240079195, "ssim": 0.973979530676717, "lpips": 0.06095786392688751}}, {"video": {"psnr": 23.638336733810092, "ssim": 0.8078513287566241, "lpips": 0.14356791973114014}, "wrist_left": {"psnr": 19.34665482553577, "ssim": 0.7167800675513714, "lpips": 0.2821459174156189}, "wrist_right": {"psnr": 19.238108038448665, "ssim": 0.7170019590784606, "lpips": 0.29703935980796814}, "tactile_left": {"psnr": 41.11849716458403, "ssim": 0.9823436993657977, "lpips": 0.028118357062339783}, "tactile_right": {"psnr": 37.69683580837457, "ssim": 0.978569780421459, "lpips": 0.04750901088118553}}, {"video": {"psnr": 23.088287205863175, "ssim": 0.8085834143289814, "lpips": 0.17149043083190918}, "wrist_left": {"psnr": 18.466984092090527, "ssim": 0.6241408446486969, "lpips": 0.33667072653770447}, "wrist_right": {"psnr": 18.432757194527582, "ssim": 0.6018248352373832, "lpips": 0.3251526355743408}, "tactile_left": {"psnr": 37.784459923706486, "ssim": 0.9722264375365586, "lpips": 0.06539322435855865}, "tactile_right": {"psnr": 35.99491518429384, "ssim": 0.9732444972622096, "lpips": 0.08333547413349152}}, {"video": {"psnr": 22.925404531103215, "ssim": 0.7969116072901011, "lpips": 0.16945010423660278}, "wrist_left": {"psnr": 17.93937083927669, "ssim": 0.5655567995212132, "lpips": 0.3382946848869324}, "wrist_right": {"psnr": 20.166485371098943, "ssim": 0.6950576991936197, "lpips": 0.2540286183357239}, "tactile_left": {"psnr": 37.440914300977234, "ssim": 0.9697696651272903, "lpips": 0.08481965214014053}, "tactile_right": {"psnr": 36.25124948279389, "ssim": 0.9732979434475939, "lpips": 0.0865354835987091}}, {"video": {"psnr": 22.902251223396664, "ssim": 0.7878545365223986, "lpips": 0.15673579275608063}, "wrist_left": {"psnr": 17.425875789957374, "ssim": 0.6231742952190658, "lpips": 0.3352852463722229}, "wrist_right": {"psnr": 17.010270250821147, "ssim": 0.6128519759614703, "lpips": 0.31505846977233887}, "tactile_left": {"psnr": 37.52204497559453, "ssim": 0.9734963692066463, "lpips": 0.07373875379562378}, "tactile_right": {"psnr": 34.148386942429326, "ssim": 0.9653959436029841, "lpips": 0.13428977131843567}}, {"video": {"psnr": 22.800172778353385, "ssim": 0.7870367829583125, "lpips": 0.15977199375629425}, "wrist_left": {"psnr": 13.729938935107349, "ssim": 0.5257495583945289, "lpips": 0.4189867377281189}, "wrist_right": {"psnr": 15.667391147995502, "ssim": 0.5653959587671717, "lpips": 0.3380798101425171}, "tactile_left": {"psnr": 36.81382387624352, "ssim": 0.9705171001709603, "lpips": 0.08755902945995331}, "tactile_right": {"psnr": 32.51159331715843, "ssim": 0.9623825663782971, "lpips": 0.1590558886528015}}, {"video": {"psnr": 21.688482401523338, "ssim": 0.7594847569637049, "lpips": 0.21688005328178406}, "wrist_left": {"psnr": 13.831230851839214, "ssim": 0.5548326664324341, "lpips": 0.4012995958328247}, "wrist_right": {"psnr": 15.953728468874983, "ssim": 0.5256886541952275, "lpips": 0.3497123718261719}, "tactile_left": {"psnr": 36.431350676593375, "ssim": 0.970800291056049, "lpips": 0.09786667674779892}, "tactile_right": {"psnr": 33.26813065830734, "ssim": 0.9663283661634336, "lpips": 0.136111319065094}}, {"video": {"psnr": 21.533215445810047, "ssim": 0.7503293430605278, "lpips": 0.23335599899291992}, "wrist_left": {"psnr": 13.694048214768218, "ssim": 0.5185780194218849, "lpips": 0.42479217052459717}, "wrist_right": {"psnr": 16.347766374791316, "ssim": 0.5216528001831708, "lpips": 0.3546599745750427}, "tactile_left": {"psnr": 35.28833911457211, "ssim": 0.9604360913314163, "lpips": 0.1384335160255432}, "tactile_right": {"psnr": 33.97930832894839, "ssim": 0.9669906888356489, "lpips": 0.1339990794658661}}, {"video": {"psnr": 20.608439068342683, "ssim": 0.715730607169514, "lpips": 0.2898436188697815}, "wrist_left": {"psnr": 11.601846511359966, "ssim": 0.443398523689724, "lpips": 0.4599735140800476}, "wrist_right": {"psnr": 16.403529424884592, "ssim": 0.5215954466251768, "lpips": 0.36803296208381653}, "tactile_left": {"psnr": 35.25547637954227, "ssim": 0.960773386893564, "lpips": 0.12265625596046448}, "tactile_right": {"psnr": 33.588819210785005, "ssim": 0.9641428468882371, "lpips": 0.14278537034988403}}, {"video": {"psnr": 20.564974357214734, "ssim": 0.701704109958385, "lpips": 0.3156556487083435}, "wrist_left": {"psnr": 12.210542620854309, "ssim": 0.45524897468919473, "lpips": 0.4784989356994629}, "wrist_right": {"psnr": 17.782271575343085, "ssim": 0.6901861337436619, "lpips": 0.3205801844596863}, "tactile_left": {"psnr": 34.887092614327365, "ssim": 0.9657920663457449, "lpips": 0.12692590057849884}, "tactile_right": {"psnr": 33.346984937701734, "ssim": 0.9644197639121551, "lpips": 0.13543576002120972}}, {"video": {"psnr": 19.890320879791563, "ssim": 0.6828302215173202, "lpips": 0.35096874833106995}, "wrist_left": {"psnr": 12.231053306212106, "ssim": 0.5015924119977494, "lpips": 0.4362696707248688}, "wrist_right": {"psnr": 16.478645185696717, "ssim": 0.6637295505578907, "lpips": 0.37084561586380005}, "tactile_left": {"psnr": 34.41244151714621, "ssim": 0.9608802509626942, "lpips": 0.15218883752822876}, "tactile_right": {"psnr": 33.08231851600599, "ssim": 0.9631855083125964, "lpips": 0.14452292025089264}}, {"video": {"psnr": 19.91539715955372, "ssim": 0.682451419390122, "lpips": 0.3511638641357422}, "wrist_left": {"psnr": 12.596406410235627, "ssim": 0.4822118466070447, "lpips": 0.40751075744628906}, "wrist_right": {"psnr": 19.40148875711527, "ssim": 0.6889258999073973, "lpips": 0.34746015071868896}, "tactile_left": {"psnr": 34.13254970936445, "ssim": 0.9574989514244086, "lpips": 0.1715267151594162}, "tactile_right": {"psnr": 32.87780496638333, "ssim": 0.9611519761830889, "lpips": 0.16850310564041138}}, {"video": {"psnr": 19.914578869476966, "ssim": 0.6680228315589261, "lpips": 0.37710100412368774}, "wrist_left": {"psnr": 12.909046229260145, "ssim": 0.5012011092208096, "lpips": 0.419864296913147}, "wrist_right": {"psnr": 16.922609373381125, "ssim": 0.5824786355939927, "lpips": 0.4666321277618408}, "tactile_left": {"psnr": 34.13336289154588, "ssim": 0.9530444911750273, "lpips": 0.19032560288906097}, "tactile_right": {"psnr": 31.95342078103545, "ssim": 0.9499452583613541, "lpips": 0.240428626537323}}, {"video": {"psnr": 19.78573703559009, "ssim": 0.6504189673982338, "lpips": 0.38075941801071167}, "wrist_left": {"psnr": 12.518563116664861, "ssim": 0.46138170145596524, "lpips": 0.4454266130924225}, "wrist_right": {"psnr": 16.828415700280217, "ssim": 0.575112409237263, "lpips": 0.4408789873123169}, "tactile_left": {"psnr": 33.88752228417708, "ssim": 0.9517772932495336, "lpips": 0.20524919033050537}, "tactile_right": {"psnr": 32.12348325356117, "ssim": 0.9511523139811198, "lpips": 0.23849597573280334}}], "long_metrics": {"video": {"psnr": 21.78277532942344, "ssim": 0.7518756417523343, "lpips": 0.23609617501497268}, "wrist_left": {"psnr": 15.451718160747824, "ssim": 0.5610027471149214, "lpips": 0.3715596030155818}, "wrist_right": {"psnr": 17.853160590137957, "ssim": 0.6246030732489433, "lpips": 0.3350548307100932}, "tactile_left": {"psnr": 36.73059797710437, "ssim": 0.9672646141591345, "lpips": 0.10672923624515533}, "tactile_right": {"psnr": 34.56649389712473, "ssim": 0.965726051213048, "lpips": 0.12987163389722506}}}, {"id": "rope_23", "episode": "rope_0915_episode_001_seg00.pt", "requested_episode": "rope_0915_episode_001_seg00.pt", "category": "onset", "t_start": 533, "start_seconds": 35.53333333333333, "short_contact": [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 1, 1], "future_transition_ticks": [10], "long_contact_fraction": 0.8671875, "long_label": "onset", "short_metrics": {"video": {"psnr": 28.620282771306588, "ssim": 0.9081112518225196, "lpips": 0.0425390899181366}, "wrist_left": {"psnr": 20.425923626286906, "ssim": 0.7737422824815721, "lpips": 0.12302171438932419}, "wrist_right": {"psnr": 25.294592203562097, "ssim": 0.7687748578442666, "lpips": 0.0783814787864685}, "tactile_left": {"psnr": 50.88625791775101, "ssim": 0.9943546174322924, "lpips": 0.004270771984010935}, "tactile_right": {"psnr": 45.239492088429344, "ssim": 0.9885723706465677, "lpips": 0.024071207270026207}}, "media": {"short": {"video": "media/rope_23_short.mp4", "poster": "media/rope_23_short.jpg"}, "long": {"video": "media/rope_23_long.mp4", "poster": "media/rope_23_long.jpg"}}, "force": {"source": "recorded_normal_force", "units": "N", "fps": 15, "left": [0.4000000059604645, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.9444444179534912, 0.7983333468437195, 0.7983333468437195, 3.0568182468414307, 3.0568182468414307, 3.9167568683624268, 2.6312499046325684, 2.243333339691162, 3.6966233253479004, 3.0568182468414307, 2.3248276710510254, 0.7983333468437195, 0.4000000059604645, 0.04020630940794945, 2.3248276710510254, 0.7983333468437195, 3.0568182468414307, 3.9167568683624268, 3.9167568683624268, 3.0568182468414307, 2.3248276710510254, 3.1971428394317627, 3.9167568683624268, 3.9167568683624268, 3.9167568683624268, 3.0568182468414307, 5.486666679382324, 5.397500038146973, 2.6312499046325684, 3.9167568683624268, 4.726428508758545, 3.9167568683624268, 3.9167568683624268, 4.726428508758545, 3.9167568683624268, 3.0568182468414307, 3.1971428394317627, 4.726428508758545, 2.6312499046325684, 3.0568182468414307, 4.726428508758545, 4.726428508758545, 3.0568182468414307, 3.9167568683624268, 3.0568182468414307, 3.9167568683624268, 3.0568182468414307, 1.9444444179534912, 3.9167568683624268, 3.1971428394317627, 3.934419631958008, 6.519285678863525, 6.519285678863525, 6.373636245727539, 6.519285678863525, 6.373636245727539, 5.403749942779541, 3.0568182468414307, 0.49913129210472107, 0.24875909090042114, 0.1506984978914261, 0.17374983429908752, 0.1653762012720108, 0.13853104412555695, 0.11685073375701904, 3.0568182468414307, 3.1971428394317627, 3.9167568683624268, 3.9167568683624268, 1.8228847980499268, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.1599999964237213, 0.02700808085501194, 0.11623667925596237, 0.038613080978393555, 0.007092198356986046, 0.7983333468437195, 5.397500038146973, 5.397500038146973, 5.486666679382324, 6.373636245727539, 6.519285678863525, 6.519285678863525, 6.519285678863525, 6.519285678863525, 6.519285678863525, 4.852499961853027, 4.726428508758545, 3.1971428394317627, 3.0568182468414307, 3.0568182468414307, 2.7906301021575928, 3.0568182468414307, 3.0568182468414307, 2.3248276710510254, 1.9444444179534912, 0.06338368356227875, 0.0498635470867157, 0.0460006520152092, 0.05565789341926575, 0.05179499462246895, 0.05630170926451683, 0.03924058377742767, 0.03859676793217659, 0.02539854124188423, 0.03151479363441467, 0.012200312688946724, 0.17355261743068695, 0.1599999964237213], "right": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.1599999964237213, 0.1599999964237213, 0.1599999964237213, 0.4000000059604645, 0.5459921360015869, 0.7983333468437195, 0.7983333468437195, 1.9444444179534912, 0.7983333468437195, 0.5352978706359863, 0.5600000023841858, 0.7983333468437195, 1.9444444179534912, 2.3248276710510254, 2.6312499046325684, 2.669569969177246, 2.6312499046325684, 2.6312499046325684, 2.6312499046325684, 2.6312499046325684, 2.6312499046325684, 2.499479055404663, 2.6312499046325684, 2.3248276710510254, 2.6312499046325684, 2.6312499046325684, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 1.961720585823059, 1.9444444179534912, 1.9444444179534912, 1.9444444179534912, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 2.3248276710510254, 2.3248276710510254, 2.6312499046325684, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 2.6312499046325684, 2.6312499046325684, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 1.9444444179534912, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.1599999964237213, 0.4000000059604645, 0.7983333468437195, 2.3248276710510254, 3.0568182468414307, 3.9167568683624268, 3.9167568683624268, 3.9167568683624268, 4.726428508758545, 4.852499961853027, 4.726428508758545, 3.9167568683624268, 3.2768874168395996, 3.9167568683624268, 3.9167568683624268, 3.0568182468414307, 3.0568182468414307, 1.9444444179534912, 0.7983333468437195, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.1599999964237213, 0.491225004196167, 3.0568182468414307, 3.9167568683624268, 4.726428508758545, 5.403749942779541, 4.852499961853027, 4.726428508758545, 4.726428508758545, 4.852499961853027, 4.726428508758545, 5.403749942779541, 6.519285678863525, 6.760714054107666, 6.519285678863525]}, "long_curve": [{"video": {"psnr": 28.620282771306588, "ssim": 0.9081112518225196, "lpips": 0.0425390899181366}, "wrist_left": {"psnr": 20.425923626286906, "ssim": 0.7737422824815721, "lpips": 0.12302171438932419}, "wrist_right": {"psnr": 25.294592203562097, "ssim": 0.7687748578442666, "lpips": 0.0783814787864685}, "tactile_left": {"psnr": 50.88625791775101, "ssim": 0.9943546174322924, "lpips": 0.004270771984010935}, "tactile_right": {"psnr": 45.239492088429344, "ssim": 0.9885723706465677, "lpips": 0.024071207270026207}}, {"video": {"psnr": 23.65280362818418, "ssim": 0.8080688152120792, "lpips": 0.1313585638999939}, "wrist_left": {"psnr": 17.39060295241592, "ssim": 0.5940346325011501, "lpips": 0.2670857012271881}, "wrist_right": {"psnr": 21.91483154520798, "ssim": 0.6640924110739252, "lpips": 0.15172672271728516}, "tactile_left": {"psnr": 36.95256601021345, "ssim": 0.9660400349952736, "lpips": 0.08724268525838852}, "tactile_right": {"psnr": 39.91879849514441, "ssim": 0.9743947831819905, "lpips": 0.061243392527103424}}, {"video": {"psnr": 24.094628854394177, "ssim": 0.8024440888503052, "lpips": 0.13258539140224457}, "wrist_left": {"psnr": 16.2866360712501, "ssim": 0.5449514771828321, "lpips": 0.2871055006980896}, "wrist_right": {"psnr": 21.29173877240558, "ssim": 0.6306909289755886, "lpips": 0.15602648258209229}, "tactile_left": {"psnr": 35.09685151996561, "ssim": 0.9623146559450431, "lpips": 0.10141143947839737}, "tactile_right": {"psnr": 37.88369633151137, "ssim": 0.9641281686785664, "lpips": 0.09044302254915237}}, {"video": {"psnr": 24.059757884493152, "ssim": 0.7994308245454846, "lpips": 0.1302693486213684}, "wrist_left": {"psnr": 15.523651901347243, "ssim": 0.5449336193347429, "lpips": 0.27778542041778564}, "wrist_right": {"psnr": 20.910185597027372, "ssim": 0.6029239249668303, "lpips": 0.1541430801153183}, "tactile_left": {"psnr": 33.50466940415211, "ssim": 0.9601541938292513, "lpips": 0.147443026304245}, "tactile_right": {"psnr": 37.18167747698859, "ssim": 0.9619375508784374, "lpips": 0.09781019389629364}}, {"video": {"psnr": 24.516778752924075, "ssim": 0.8106322746014367, "lpips": 0.1198563426733017}, "wrist_left": {"psnr": 14.647287653658589, "ssim": 0.5247706216702452, "lpips": 0.3236689865589142}, "wrist_right": {"psnr": 21.57427557863317, "ssim": 0.6217648323645251, "lpips": 0.15358804166316986}, "tactile_left": {"psnr": 33.2574783670014, "ssim": 0.9593147969107958, "lpips": 0.14609572291374207}, "tactile_right": {"psnr": 36.684899586551765, "ssim": 0.9595893488380012, "lpips": 0.12264177203178406}}, {"video": {"psnr": 24.45363359040206, "ssim": 0.8139853877437, "lpips": 0.11312244832515717}, "wrist_left": {"psnr": 15.345146129920291, "ssim": 0.5271322688629577, "lpips": 0.3089290261268616}, "wrist_right": {"psnr": 21.335070748715776, "ssim": 0.6081052680675764, "lpips": 0.1731104552745819}, "tactile_left": {"psnr": 33.43381875672629, "ssim": 0.9620643483121373, "lpips": 0.11517584323883057}, "tactile_right": {"psnr": 36.655253131374565, "ssim": 0.9609618512139965, "lpips": 0.12609100341796875}}, {"video": {"psnr": 25.408618779314004, "ssim": 0.8283819416370279, "lpips": 0.11140899360179901}, "wrist_left": {"psnr": 14.60794335149127, "ssim": 0.4910919960271981, "lpips": 0.38742780685424805}, "wrist_right": {"psnr": 21.01206926162403, "ssim": 0.5829981026398379, "lpips": 0.18271055817604065}, "tactile_left": {"psnr": 33.39036066478977, "ssim": 0.9615115278118552, "lpips": 0.12198495864868164}, "tactile_right": {"psnr": 36.64150746623789, "ssim": 0.965612122937113, "lpips": 0.1230601817369461}}, {"video": {"psnr": 26.299444862743954, "ssim": 0.8316651650468307, "lpips": 0.10638028383255005}, "wrist_left": {"psnr": 14.024277645333665, "ssim": 0.5161900347636669, "lpips": 0.40958309173583984}, "wrist_right": {"psnr": 21.106899432259645, "ssim": 0.6299858783427841, "lpips": 0.19258546829223633}, "tactile_left": {"psnr": 32.31505231737311, "ssim": 0.9506166198437991, "lpips": 0.16683921217918396}, "tactile_right": {"psnr": 36.28071929913264, "ssim": 0.9657550380018484, "lpips": 0.12455254793167114}}, {"video": {"psnr": 25.189629418288384, "ssim": 0.8074806786760307, "lpips": 0.13940218091011047}, "wrist_left": {"psnr": 13.700669526849865, "ssim": 0.4658235282283778, "lpips": 0.3936895728111267}, "wrist_right": {"psnr": 18.80025846123796, "ssim": 0.7134434314230874, "lpips": 0.25011906027793884}, "tactile_left": {"psnr": 32.57092402206805, "ssim": 0.9583415178890164, "lpips": 0.12872900068759918}, "tactile_right": {"psnr": 35.85190267707406, "ssim": 0.9692817424683994, "lpips": 0.10148335993289948}}, {"video": {"psnr": 24.260164001197296, "ssim": 0.8032012264885263, "lpips": 0.1578691005706787}, "wrist_left": {"psnr": 13.751620108868956, "ssim": 0.5097224672362852, "lpips": 0.42731866240501404}, "wrist_right": {"psnr": 18.24618823547926, "ssim": 0.6338317833969479, "lpips": 0.2920745611190796}, "tactile_left": {"psnr": 32.765959271674504, "ssim": 0.9630689363456753, "lpips": 0.11165041476488113}, "tactile_right": {"psnr": 33.3913635378481, "ssim": 0.9577826178529131, "lpips": 0.1645624339580536}}, {"video": {"psnr": 24.190983617663434, "ssim": 0.8034409757127177, "lpips": 0.15671609342098236}, "wrist_left": {"psnr": 13.871706765360203, "ssim": 0.5848738796002713, "lpips": 0.40423810482025146}, "wrist_right": {"psnr": 17.810190839031375, "ssim": 0.6257519979415369, "lpips": 0.2826560139656067}, "tactile_left": {"psnr": 33.04918028569227, "ssim": 0.96468477498482, "lpips": 0.10401137173175812}, "tactile_right": {"psnr": 31.49764099595255, "ssim": 0.940796688945934, "lpips": 0.22961239516735077}}, {"video": {"psnr": 24.192402653734604, "ssim": 0.793611544860662, "lpips": 0.16812437772750854}, "wrist_left": {"psnr": 13.488964903954182, "ssim": 0.4930741747152958, "lpips": 0.4356370270252228}, "wrist_right": {"psnr": 17.330162499688193, "ssim": 0.6488307058687421, "lpips": 0.2601039409637451}, "tactile_left": {"psnr": 30.72260627064379, "ssim": 0.9439471578032257, "lpips": 0.21332478523254395}, "tactile_right": {"psnr": 32.51802469650344, "ssim": 0.9523239691423886, "lpips": 0.17747318744659424}}, {"video": {"psnr": 23.947929377983783, "ssim": 0.7778488729333126, "lpips": 0.1833581030368805}, "wrist_left": {"psnr": 13.445230782718397, "ssim": 0.534196241009455, "lpips": 0.39915648102760315}, "wrist_right": {"psnr": 15.854955575299275, "ssim": 0.6191965735821879, "lpips": 0.31125861406326294}, "tactile_left": {"psnr": 31.507306417237334, "ssim": 0.953350803692428, "lpips": 0.1666458249092102}, "tactile_right": {"psnr": 33.141161736545534, "ssim": 0.9612192692923207, "lpips": 0.13657064735889435}}, {"video": {"psnr": 23.441390743039776, "ssim": 0.7636749268994854, "lpips": 0.2020803987979889}, "wrist_left": {"psnr": 13.501294506038764, "ssim": 0.5380929268068726, "lpips": 0.3940739631652832}, "wrist_right": {"psnr": 16.350586301842483, "ssim": 0.6126185745267967, "lpips": 0.3289417624473572}, "tactile_left": {"psnr": 32.45297745758262, "ssim": 0.9596552195871852, "lpips": 0.13979646563529968}, "tactile_right": {"psnr": 32.47823468251188, "ssim": 0.959944959781837, "lpips": 0.17210933566093445}}, {"video": {"psnr": 22.83850359595864, "ssim": 0.7566132893464992, "lpips": 0.21561703085899353}, "wrist_left": {"psnr": 13.336186660520779, "ssim": 0.5510671681006787, "lpips": 0.41544634103775024}, "wrist_right": {"psnr": 18.048192799667333, "ssim": 0.6370398571366858, "lpips": 0.2782074511051178}, "tactile_left": {"psnr": 30.773185349958446, "ssim": 0.9464270128389816, "lpips": 0.19204726815223694}, "tactile_right": {"psnr": 32.200803649526634, "ssim": 0.9526126383093694, "lpips": 0.19843930006027222}}], "long_metrics": {"video": {"psnr": 24.611130168775208, "ssim": 0.8072394176251078, "lpips": 0.14071251650651295}, "wrist_left": {"psnr": 14.889809505734343, "ssim": 0.5462464879014401, "lpips": 0.3502778266867002}, "wrist_right": {"psnr": 19.792013190112105, "ssim": 0.6400032752100879, "lpips": 0.21637557943662009}, "tactile_left": {"psnr": 34.17861293552198, "ssim": 0.960389747881452, "lpips": 0.12977791940793396}, "tactile_right": {"psnr": 35.837678390088854, "ssim": 0.9623275413446456, "lpips": 0.130010932063063}}}, {"id": "rope_24", "episode": "rope_0915_episode_001_seg00.pt", "requested_episode": "rope_0915_episode_001_seg00.pt", "category": "release", "t_start": 597, "start_seconds": 39.8, "short_contact": [1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 0, 0], "future_transition_ticks": [11], "long_contact_fraction": 0.9296875, "long_label": "release", "short_metrics": {"video": {"psnr": 29.074363439559313, "ssim": 0.9196649932668113, "lpips": 0.05776970833539963}, "wrist_left": {"psnr": 20.830090383416792, "ssim": 0.7445441115195877, "lpips": 0.1299070417881012}, "wrist_right": {"psnr": 17.90009239600556, "ssim": 0.7224462540307199, "lpips": 0.2515137791633606}, "tactile_left": {"psnr": 43.42942450922589, "ssim": 0.9823310217836356, "lpips": 0.03510655090212822}, "tactile_right": {"psnr": 49.10752849600894, "ssim": 0.9912023126632921, "lpips": 0.006487473379820585}}, "media": {"short": {"video": "media/rope_24_short.mp4", "poster": "media/rope_24_short.jpg"}, "long": {"video": "media/rope_24_long.mp4", "poster": "media/rope_24_long.jpg"}}, "force": {"source": "recorded_normal_force", "units": "N", "fps": 15, "left": [1.9444444179534912, 3.9167568683624268, 3.1971428394317627, 3.934419631958008, 6.519285678863525, 6.519285678863525, 6.373636245727539, 6.519285678863525, 6.373636245727539, 5.403749942779541, 3.0568182468414307, 0.49913129210472107, 0.24875909090042114, 0.1506984978914261, 0.17374983429908752, 0.1653762012720108, 0.13853104412555695, 0.11685073375701904, 3.0568182468414307, 3.1971428394317627, 3.9167568683624268, 3.9167568683624268, 1.8228847980499268, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.1599999964237213, 0.02700808085501194, 0.11623667925596237, 0.038613080978393555, 0.007092198356986046, 0.7983333468437195, 5.397500038146973, 5.397500038146973, 5.486666679382324, 6.373636245727539, 6.519285678863525, 6.519285678863525, 6.519285678863525, 6.519285678863525, 6.519285678863525, 4.852499961853027, 4.726428508758545, 3.1971428394317627, 3.0568182468414307, 3.0568182468414307, 2.7906301021575928, 3.0568182468414307, 3.0568182468414307, 2.3248276710510254, 1.9444444179534912, 0.06338368356227875, 0.0498635470867157, 0.0460006520152092, 0.05565789341926575, 0.05179499462246895, 0.05630170926451683, 0.03924058377742767, 0.03859676793217659, 0.02539854124188423, 0.03151479363441467, 0.012200312688946724, 0.17355261743068695, 0.1599999964237213, 0.0208918284624815, 0.01735084131360054, 0.013809853233397007, 0.019926104694604874, 0.006405969150364399, 0.4877494275569916, 2.3248276710510254, 3.0568182468414307, 7.470653533935547, 7.75, 7.759777545928955, 7.787709712982178, 9.842000007629395, 7.772180080413818, 9.842000007629395, 10.243043899536133, 10.243043899536133, 10.243043899536133, 9.842000007629395, 9.842000007629395, 7.75, 7.488461494445801, 7.488461494445801, 6.760714054107666, 6.760714054107666, 6.760714054107666, 7.488461494445801, 7.230000019073486, 6.760714054107666, 5.397500038146973, 0.7983333468437195, 0.057267431169748306, 0.04696637764573097, 0.06370559334754944, 3.0568182468414307, 5.486666679382324, 6.519285678863525, 6.373636245727539, 6.373636245727539, 6.519285678863525, 6.519285678863525, 6.519285678863525, 6.519285678863525, 3.1971428394317627, 0.1599999964237213, 0.017672749236226082, 0.016063209623098373, 0.014131761156022549, 0.013166036456823349, 0.018316565081477165, 0.010590773075819016, 0.007371692918241024, 0.013809853233397007, 0.011234588921070099, 0.008015508763492107, 0.007049784995615482, 0.006084061227738857, 0.006084061227738857, 0.006727877072989941, 0.0038307050708681345, 0.007049784995615482, 0.008337416686117649, 0.011234588921070099, 0.008337416686117649], "right": [3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 1.9444444179534912, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.1599999964237213, 0.4000000059604645, 0.7983333468437195, 2.3248276710510254, 3.0568182468414307, 3.9167568683624268, 3.9167568683624268, 3.9167568683624268, 4.726428508758545, 4.852499961853027, 4.726428508758545, 3.9167568683624268, 3.2768874168395996, 3.9167568683624268, 3.9167568683624268, 3.0568182468414307, 3.0568182468414307, 1.9444444179534912, 0.7983333468437195, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.1599999964237213, 0.491225004196167, 3.0568182468414307, 3.9167568683624268, 4.726428508758545, 5.403749942779541, 4.852499961853027, 4.726428508758545, 4.726428508758545, 4.852499961853027, 4.726428508758545, 5.403749942779541, 6.519285678863525, 6.760714054107666, 6.519285678863525, 6.519285678863525, 6.519285678863525, 6.373636245727539, 5.403749942779541, 4.852499961853027, 5.397500038146973, 5.397500038146973, 4.730289936065674, 3.9167568683624268, 3.0568182468414307, 3.0568182468414307, 2.6312499046325684, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.4359737038612366, 2.3248276710510254, 3.9167568683624268, 4.726428508758545, 5.486666679382324, 5.486666679382324, 5.486666679382324, 6.519285678863525, 6.373636245727539, 5.486666679382324, 5.397500038146973, 4.726428508758545, 3.9167568683624268, 4.726428508758545, 3.1971428394317627, 3.9167568683624268, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 3.0568182468414307, 3.9167568683624268, 4.852499961853027, 4.726428508758545, 3.93084716796875, 3.9379398822784424, 4.852499961853027, 4.852499961853027, 4.726428508758545, 4.852499961853027, 4.852499961853027, 4.852499961853027, 4.829751491546631, 4.726428508758545, 4.726428508758545, 4.726428508758545, 4.726428508758545, 4.726428508758545]}, "long_curve": [{"video": {"psnr": 29.074363439559313, "ssim": 0.9196649932668113, "lpips": 0.05776970833539963}, "wrist_left": {"psnr": 20.830090383416792, "ssim": 0.7445441115195877, "lpips": 0.1299070417881012}, "wrist_right": {"psnr": 17.90009239600556, "ssim": 0.7224462540307199, "lpips": 0.2515137791633606}, "tactile_left": {"psnr": 43.42942450922589, "ssim": 0.9823310217836356, "lpips": 0.03510655090212822}, "tactile_right": {"psnr": 49.10752849600894, "ssim": 0.9912023126632921, "lpips": 0.006487473379820585}}, {"video": {"psnr": 28.465719980648338, "ssim": 0.9045679363669539, "lpips": 0.06897949427366257}, "wrist_left": {"psnr": 17.453925683364933, "ssim": 0.6212431910990689, "lpips": 0.2266448438167572}, "wrist_right": {"psnr": 15.546576359867782, "ssim": 0.6002500134905693, "lpips": 0.33423954248428345}, "tactile_left": {"psnr": 37.314725106731544, "ssim": 0.9682710096847768, "lpips": 0.09879662841558456}, "tactile_right": {"psnr": 38.600032160283156, "ssim": 0.9756083047136549, "lpips": 0.07845599204301834}}, {"video": {"psnr": 27.378140064137977, "ssim": 0.8861275454129864, "lpips": 0.08585403859615326}, "wrist_left": {"psnr": 17.315813379378934, "ssim": 0.6655522203554827, "lpips": 0.230266734957695}, "wrist_right": {"psnr": 14.244315982386698, "ssim": 0.5592490805734974, "lpips": 0.39896896481513977}, "tactile_left": {"psnr": 36.964135580346976, "ssim": 0.9682714438716609, "lpips": 0.09096631407737732}, "tactile_right": {"psnr": 33.78366872748374, "ssim": 0.9492682880041332, "lpips": 0.1841486096382141}}, {"video": {"psnr": 27.02073625231453, "ssim": 0.8725072072815925, "lpips": 0.09495243430137634}, "wrist_left": {"psnr": 15.581465411299204, "ssim": 0.5667457493390724, "lpips": 0.28754979372024536}, "wrist_right": {"psnr": 14.49028717311953, "ssim": 0.5897371022966976, "lpips": 0.3798031508922577}, "tactile_left": {"psnr": 30.372748121041187, "ssim": 0.9273069356718288, "lpips": 0.252544641494751}, "tactile_right": {"psnr": 35.037982077722816, "ssim": 0.9627017567550189, "lpips": 0.10963226109743118}}, {"video": {"psnr": 26.94353199408082, "ssim": 0.8601658035449091, "lpips": 0.10385232418775558}, "wrist_left": {"psnr": 14.753947581204304, "ssim": 0.5418966466068946, "lpips": 0.2809106111526489}, "wrist_right": {"psnr": 15.218523003891937, "ssim": 0.6101310960259183, "lpips": 0.3153713345527649}, "tactile_left": {"psnr": 29.432980063531076, "ssim": 0.9096962252976084, "lpips": 0.31588098406791687}, "tactile_right": {"psnr": 35.881163330003474, "ssim": 0.9699937553850109, "lpips": 0.06322275847196579}}, {"video": {"psnr": 26.424011278589976, "ssim": 0.843288353308946, "lpips": 0.12728866934776306}, "wrist_left": {"psnr": 14.090606395331552, "ssim": 0.5479988909620397, "lpips": 0.3272109627723694}, "wrist_right": {"psnr": 16.71809353090984, "ssim": 0.6191879027231465, "lpips": 0.30624088644981384}, "tactile_left": {"psnr": 31.672377712970107, "ssim": 0.9488279764912475, "lpips": 0.16868582367897034}, "tactile_right": {"psnr": 34.85694699178863, "ssim": 0.9704242628830679, "lpips": 0.100660040974617}}, {"video": {"psnr": 25.774339188714936, "ssim": 0.8271454571952459, "lpips": 0.145641028881073}, "wrist_left": {"psnr": 12.306410942523167, "ssim": 0.5583139751911299, "lpips": 0.39992794394493103}, "wrist_right": {"psnr": 16.93365611668868, "ssim": 0.6134776983140175, "lpips": 0.32118305563926697}, "tactile_left": {"psnr": 31.109563873988467, "ssim": 0.9476916065518097, "lpips": 0.16755880415439606}, "tactile_right": {"psnr": 34.26629425320999, "ssim": 0.9630041047856386, "lpips": 0.13403530418872833}}, {"video": {"psnr": 25.28803505236538, "ssim": 0.8190522651210064, "lpips": 0.165304034948349}, "wrist_left": {"psnr": 13.273692623675755, "ssim": 0.5777423790650995, "lpips": 0.3908095061779022}, "wrist_right": {"psnr": 16.326698452962233, "ssim": 0.6104909611984817, "lpips": 0.3523677885532379}, "tactile_left": {"psnr": 30.569322305212502, "ssim": 0.9548587538841089, "lpips": 0.1428905427455902}, "tactile_right": {"psnr": 34.13116542834774, "ssim": 0.9625498750812751, "lpips": 0.12464596331119537}}, {"video": {"psnr": 24.194102283525627, "ssim": 0.7983750313124032, "lpips": 0.19218814373016357}, "wrist_left": {"psnr": 14.62617679745807, "ssim": 0.5828165977316252, "lpips": 0.415130078792572}, "wrist_right": {"psnr": 16.923046580265925, "ssim": 0.6892418408435899, "lpips": 0.3234914541244507}, "tactile_left": {"psnr": 28.634768627855266, "ssim": 0.920483582491354, "lpips": 0.29819682240486145}, "tactile_right": {"psnr": 34.07966265130507, "ssim": 0.9657587840692916, "lpips": 0.11928502470254898}}, {"video": {"psnr": 22.855872692468544, "ssim": 0.7740705058336186, "lpips": 0.21470028162002563}, "wrist_left": {"psnr": 15.299953464676225, "ssim": 0.5812658364988493, "lpips": 0.4091648459434509}, "wrist_right": {"psnr": 17.610037583865797, "ssim": 0.6673519907021217, "lpips": 0.30828994512557983}, "tactile_left": {"psnr": 27.666296385101976, "ssim": 0.9149617769841205, "lpips": 0.29755115509033203}, "tactile_right": {"psnr": 32.74774788117608, "ssim": 0.9623993747077098, "lpips": 0.14848783612251282}}, {"video": {"psnr": 22.422506420094138, "ssim": 0.7563645839281932, "lpips": 0.23987941443920135}, "wrist_left": {"psnr": 15.46244652778263, "ssim": 0.6085263763552513, "lpips": 0.3839033842086792}, "wrist_right": {"psnr": 18.511118230228597, "ssim": 0.666816083964064, "lpips": 0.31353700160980225}, "tactile_left": {"psnr": 29.11654817216477, "ssim": 0.9444395813266016, "lpips": 0.20932894945144653}, "tactile_right": {"psnr": 31.932013813353052, "ssim": 0.9576788282667128, "lpips": 0.1690637171268463}}, {"video": {"psnr": 22.370761074581882, "ssim": 0.7396949856805578, "lpips": 0.24983462691307068}, "wrist_left": {"psnr": 16.360942812446012, "ssim": 0.6404482293003344, "lpips": 0.3527628481388092}, "wrist_right": {"psnr": 18.340418676673327, "ssim": 0.6786829766270848, "lpips": 0.3331480026245117}, "tactile_left": {"psnr": 30.60953502900516, "ssim": 0.9541426872283181, "lpips": 0.16351133584976196}, "tactile_right": {"psnr": 31.891809008366767, "ssim": 0.9577745981298982, "lpips": 0.1612928956747055}}, {"video": {"psnr": 21.758469556427368, "ssim": 0.7156448947573858, "lpips": 0.288902223110199}, "wrist_left": {"psnr": 16.079825491471574, "ssim": 0.6294078368739452, "lpips": 0.3507069945335388}, "wrist_right": {"psnr": 19.607151613663433, "ssim": 0.7115486493331658, "lpips": 0.2665013074874878}, "tactile_left": {"psnr": 30.566751806978182, "ssim": 0.9531872308858567, "lpips": 0.16701748967170715}, "tactile_right": {"psnr": 32.09695037326909, "ssim": 0.9585014393606441, "lpips": 0.17153671383857727}}, {"video": {"psnr": 20.467533965235035, "ssim": 0.6785982799086867, "lpips": 0.336267352104187}, "wrist_left": {"psnr": 13.387083495202436, "ssim": 0.5531953952717896, "lpips": 0.42176568508148193}, "wrist_right": {"psnr": 18.06125379924038, "ssim": 0.621650760509153, "lpips": 0.3508460521697998}, "tactile_left": {"psnr": 31.33014722379125, "ssim": 0.9573207292988235, "lpips": 0.14843915402889252}, "tactile_right": {"psnr": 30.796123476800105, "ssim": 0.9401521677657297, "lpips": 0.2659545838832855}}, {"video": {"psnr": 21.186745412940738, "ssim": 0.6777179642514073, "lpips": 0.33787429332733154}, "wrist_left": {"psnr": 12.902830439929946, "ssim": 0.44108804735951324, "lpips": 0.4421859085559845}, "wrist_right": {"psnr": 18.43379408022545, "ssim": 0.6262109508781621, "lpips": 0.3676812946796417}, "tactile_left": {"psnr": 31.568315896526833, "ssim": 0.9554810670561976, "lpips": 0.15795904397964478}, "tactile_right": {"psnr": 31.46563478831603, "ssim": 0.9410553126624186, "lpips": 0.24951334297657013}}], "long_metrics": {"video": {"psnr": 24.774991243712307, "ssim": 0.8048657204780469, "lpips": 0.1806192045410474}, "wrist_left": {"psnr": 15.315014095277435, "ssim": 0.5907190322353123, "lpips": 0.33658981223901113}, "wrist_right": {"psnr": 16.991004238666346, "ssim": 0.6390982241006926, "lpips": 0.32821223735809324}, "tactile_left": {"psnr": 32.023842694298075, "ssim": 0.9471514419005299, "lpips": 0.1809622826675574}, "tactile_right": {"psnr": 34.71164823049564, "ssim": 0.9618715443488998, "lpips": 0.13909483449533583}}}, {"id": "rope_25", "episode": "rope_0915_episode_001_seg00.pt", "requested_episode": "rope_0915_episode_001_seg00.pt", "category": "full", "t_start": 168, "start_seconds": 11.2, "short_contact": [1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1], "future_transition_ticks": [], "long_contact_fraction": 1.0, "long_label": "full", "short_metrics": {"video": {"psnr": 26.689685201816324, "ssim": 0.8950628808746388, "lpips": 0.050438039004802704}, "wrist_left": {"psnr": 20.103750344893957, "ssim": 0.6913133690893483, "lpips": 0.18556973338127136}, "wrist_right": {"psnr": 19.62585480136556, "ssim": 0.6881704909905002, "lpips": 0.22014808654785156}, "tactile_left": {"psnr": 37.611856323735076, "ssim": 0.9629727046372314, "lpips": 0.06873016059398651}, "tactile_right": {"psnr": 42.6064094745071, "ssim": 0.9824989048874224, "lpips": 0.017717549577355385}}, "media": {"short": {"video": "media/rope_25_short.mp4", "poster": "media/rope_25_short.jpg"}, "long": {"video": "media/rope_25_long.mp4", "poster": "media/rope_25_long.jpg"}}, "force": {"source": "recorded_normal_force", "units": "N", "fps": 15, "left": [0.024110909551382065, 0.02121373638510704, 0.021857552230358124, 0.017028933390975, 0.018638473004102707, 0.013166036456823349, 0.008981232531368732, 0.7470940351486206, 0.5600000023841858, 2.6312499046325684, 3.0568182468414307, 3.1971428394317627, 3.9167568683624268, 4.726428508758545, 4.852499961853027, 4.726428508758545, 4.726428508758545, 4.726428508758545, 4.726428508758545, 3.9167568683624268, 3.540006399154663, 3.9167568683624268, 4.726428508758545, 4.726428508758545, 6.373636245727539, 6.760714054107666, 7.349999904632568, 7.349999904632568, 6.760714054107666, 6.760714054107666, 6.760714054107666, 6.519285678863525, 0.7983333468437195, 0.1599999964237213, 0.014131761156022549, 0.006727877072989941, 0.7983333468437195, 2.3248276710510254, 3.936640977859497, 5.403749942779541, 5.486666679382324, 5.486666679382324, 6.373636245727539, 5.403749942779541, 5.397500038146973, 4.852499961853027, 4.852499961853027, 3.0568182468414307, 0.7983333468437195, 0.06724657863378525, 0.016063209623098373, 0.4000000059604645, 0.1728866845369339, 0.5359075665473938, 2.3248276710510254, 4.726428508758545, 4.852499961853027, 5.397916316986084, 5.4377923011779785, 5.486666679382324, 5.485312461853027, 5.403749942779541, 5.397500038146973, 5.397500038146973, 5.397500038146973, 5.403749942779541, 5.403749942779541, 6.373636245727539, 6.373636245727539, 5.486666679382324, 5.486666679382324, 4.852499961853027, 4.726428508758545, 3.9167568683624268, 1.6410199403762817, 0.25, 0.020248012617230415, 0.008981232531368732, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.13259389996528625, 0.1599999964237213, 0.1599999964237213, 0.5600000023841858, 3.0568182468414307, 3.0568182468414307, 3.9167568683624268, 3.1971428394317627, 3.1971428394317627, 3.8119306564331055, 3.9167568683624268, 3.9167568683624268, 3.940000057220459, 3.9167568683624268, 2.3248276710510254, 0.4921526610851288, 0.4340232014656067, 0.4000000059604645, 0.7983333468437195, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 2.3248276710510254, 2.3248276710510254, 0.5600000023841858, 0.4399999976158142, 1.6896257400512695, 0.0, 0.0, 0.0, 3.0568182468414307, 3.0568182468414307, 3.9167568683624268, 4.726428508758545, 4.726428508758545, 3.9167568683624268, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307], "right": [3.9167568683624268, 3.9167568683624268, 3.9167568683624268, 3.9167568683624268, 3.9167568683624268, 3.9167568683624268, 3.9167568683624268, 3.9167568683624268, 3.9167568683624268, 3.1971428394317627, 3.0568182468414307, 3.0568182468414307, 2.3248276710510254, 2.243333339691162, 1.9444444179534912, 1.9444444179534912, 0.7983333468437195, 0.7983333468437195, 1.9444444179534912, 0.17020907998085022, 0.0, 0.0, 0.0, 0.0, 0.7983333468437195, 0.1599999964237213, 0.5600000023841858, 3.9167568683624268, 5.397500038146973, 5.486666679382324, 5.486666679382324, 5.486666679382324, 6.393378734588623, 5.486666679382324, 6.519285678863525, 5.486666679382324, 6.519285678863525, 6.373636245727539, 6.519285678863525, 6.519285678863525, 6.373636245727539, 5.403749942779541, 5.397500038146973, 4.726428508758545, 4.726428508758545, 4.726428508758545, 4.726428508758545, 4.726428508758545, 4.726428508758545, 4.726428508758545, 4.726428508758545, 4.852499961853027, 5.397500038146973, 5.398561954498291, 5.397500038146973, 4.726428508758545, 3.9167568683624268, 2.243333339691162, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 2.3248276710510254, 2.6312499046325684, 3.0568182468414307, 3.1971428394317627, 3.9167568683624268, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 2.3248276710510254, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.9167568683624268, 4.726428508758545, 4.8379011154174805, 5.397500038146973, 5.397500038146973, 4.852499961853027, 5.403749942779541, 5.403749942779541, 5.397500038146973, 2.6312499046325684, 0.0, 0.0, 0.0, 0.0, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.6312499046325684, 0.7983333468437195, 1.7334685325622559, 1.9444444179534912, 2.3248276710510254, 3.0568182468414307, 3.9167568683624268, 4.852499961853027, 6.373636245727539, 6.760714054107666, 6.760714054107666, 6.760714054107666, 6.760714054107666, 6.760714054107666, 6.519285678863525, 6.373636245727539, 6.519285678863525, 5.486666679382324, 3.9167568683624268, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.1599999964237213]}, "long_curve": [{"video": {"psnr": 26.689685201816324, "ssim": 0.8950628808746388, "lpips": 0.050438039004802704}, "wrist_left": {"psnr": 20.103750344893957, "ssim": 0.6913133690893483, "lpips": 0.18556973338127136}, "wrist_right": {"psnr": 19.62585480136556, "ssim": 0.6881704909905002, "lpips": 0.22014808654785156}, "tactile_left": {"psnr": 37.611856323735076, "ssim": 0.9629727046372314, "lpips": 0.06873016059398651}, "tactile_right": {"psnr": 42.6064094745071, "ssim": 0.9824989048874224, "lpips": 0.017717549577355385}}, {"video": {"psnr": 23.139572891145175, "ssim": 0.8056495549579774, "lpips": 0.11329030245542526}, "wrist_left": {"psnr": 15.22508501272236, "ssim": 0.5472791129766303, "lpips": 0.3104018568992615}, "wrist_right": {"psnr": 17.08745042309845, "ssim": 0.6242128938309446, "lpips": 0.30114278197288513}, "tactile_left": {"psnr": 35.21215388055676, "ssim": 0.9511177848677366, "lpips": 0.11217804253101349}, "tactile_right": {"psnr": 41.59700613754986, "ssim": 0.9790429961584641, "lpips": 0.030259113758802414}}, {"video": {"psnr": 22.59115649068378, "ssim": 0.7801008731661677, "lpips": 0.14094620943069458}, "wrist_left": {"psnr": 13.362637465458798, "ssim": 0.4767043325976146, "lpips": 0.36419248580932617}, "wrist_right": {"psnr": 15.816036470336563, "ssim": 0.5595370790861052, "lpips": 0.3794187009334564}, "tactile_left": {"psnr": 33.218074254494994, "ssim": 0.9393309337103883, "lpips": 0.18722227215766907}, "tactile_right": {"psnr": 34.867654801278114, "ssim": 0.957899000179856, "lpips": 0.19593608379364014}}, {"video": {"psnr": 22.531041507960595, "ssim": 0.7747096734096652, "lpips": 0.14895647764205933}, "wrist_left": {"psnr": 14.671970734035412, "ssim": 0.5348211230734297, "lpips": 0.327361524105072}, "wrist_right": {"psnr": 14.015652949817593, "ssim": 0.45907057107435256, "lpips": 0.4309931993484497}, "tactile_left": {"psnr": 34.480446673007826, "ssim": 0.9536896557911003, "lpips": 0.1512070894241333}, "tactile_right": {"psnr": 32.18639336046585, "ssim": 0.94540247969249, "lpips": 0.20566844940185547}}, {"video": {"psnr": 22.794210437773348, "ssim": 0.7781191223695798, "lpips": 0.14767983555793762}, "wrist_left": {"psnr": 15.5762962737362, "ssim": 0.5579342876955933, "lpips": 0.3087419271469116}, "wrist_right": {"psnr": 15.027206723635345, "ssim": 0.5699200431414039, "lpips": 0.38806337118148804}, "tactile_left": {"psnr": 31.197693829204212, "ssim": 0.9311189191338171, "lpips": 0.2296796441078186}, "tactile_right": {"psnr": 31.950134087683892, "ssim": 0.9454606696086311, "lpips": 0.20589624345302582}}, {"video": {"psnr": 22.48444428269884, "ssim": 0.7643951491585059, "lpips": 0.16638489067554474}, "wrist_left": {"psnr": 14.488340604307279, "ssim": 0.5447582348034221, "lpips": 0.34322917461395264}, "wrist_right": {"psnr": 17.285963062564814, "ssim": 0.6410357047432054, "lpips": 0.33331573009490967}, "tactile_left": {"psnr": 33.98548270167933, "ssim": 0.9549953238625389, "lpips": 0.1640910506248474}, "tactile_right": {"psnr": 32.346658079517525, "ssim": 0.9495172521178785, "lpips": 0.19795554876327515}}, {"video": {"psnr": 22.22667951636854, "ssim": 0.7511263556772787, "lpips": 0.189260333776474}, "wrist_left": {"psnr": 14.503975631850075, "ssim": 0.554089838536461, "lpips": 0.3652488589286804}, "wrist_right": {"psnr": 17.054961734395565, "ssim": 0.6848509114183603, "lpips": 0.29890328645706177}, "tactile_left": {"psnr": 31.080176543073645, "ssim": 0.9335642397331214, "lpips": 0.25623565912246704}, "tactile_right": {"psnr": 34.221864869483326, "ssim": 0.9687067745373207, "lpips": 0.12005147337913513}}, {"video": {"psnr": 21.998817024997237, "ssim": 0.74067853962387, "lpips": 0.2012791931629181}, "wrist_left": {"psnr": 14.922820839611788, "ssim": 0.5425097018659756, "lpips": 0.36103498935699463}, "wrist_right": {"psnr": 14.47197948844831, "ssim": 0.5659478236940432, "lpips": 0.3546878397464752}, "tactile_left": {"psnr": 32.67277542616047, "ssim": 0.9340459512740851, "lpips": 0.23916828632354736}, "tactile_right": {"psnr": 34.04709512095597, "ssim": 0.9681169343577263, "lpips": 0.12468546628952026}}, {"video": {"psnr": 22.022142484507143, "ssim": 0.7362280930344438, "lpips": 0.20956924557685852}, "wrist_left": {"psnr": 15.529986073924718, "ssim": 0.6249967886950485, "lpips": 0.3232259750366211}, "wrist_right": {"psnr": 15.723076606719225, "ssim": 0.5788553478259937, "lpips": 0.32340335845947266}, "tactile_left": {"psnr": 35.033817732505575, "ssim": 0.9589362153083731, "lpips": 0.14137312769889832}, "tactile_right": {"psnr": 33.27853405639829, "ssim": 0.9625795052025966, "lpips": 0.14776849746704102}}, {"video": {"psnr": 21.419353209038903, "ssim": 0.715302201502491, "lpips": 0.21825745701789856}, "wrist_left": {"psnr": 16.235194271093388, "ssim": 0.6518976238222615, "lpips": 0.30521300435066223}, "wrist_right": {"psnr": 16.208957148018072, "ssim": 0.6068898317910947, "lpips": 0.34334778785705566}, "tactile_left": {"psnr": 35.501869126419905, "ssim": 0.9625887040524768, "lpips": 0.12065793573856354}, "tactile_right": {"psnr": 32.204680189742305, "ssim": 0.9561662304137004, "lpips": 0.16253311932086945}}, {"video": {"psnr": 20.892729230912444, "ssim": 0.7006412301796066, "lpips": 0.2322196364402771}, "wrist_left": {"psnr": 15.4948456193585, "ssim": 0.5502847363154957, "lpips": 0.3362818658351898}, "wrist_right": {"psnr": 15.790896891730888, "ssim": 0.6238319514933008, "lpips": 0.344787061214447}, "tactile_left": {"psnr": 32.2744379836259, "ssim": 0.9360147419494027, "lpips": 0.2137342244386673}, "tactile_right": {"psnr": 31.301653793310305, "ssim": 0.9514731784298244, "lpips": 0.18469171226024628}}, {"video": {"psnr": 20.682127710122273, "ssim": 0.6925968254896661, "lpips": 0.23442310094833374}, "wrist_left": {"psnr": 14.990877021782051, "ssim": 0.5169952450047715, "lpips": 0.33084338903427124}, "wrist_right": {"psnr": 13.631589713564232, "ssim": 0.522336874380266, "lpips": 0.4236472249031067}, "tactile_left": {"psnr": 32.70389679333266, "ssim": 0.9376436075702752, "lpips": 0.2164466381072998}, "tactile_right": {"psnr": 31.189711559456544, "ssim": 0.9568995152563429, "lpips": 0.18285232782363892}}, {"video": {"psnr": 20.47940405788075, "ssim": 0.6831303219933555, "lpips": 0.26347726583480835}, "wrist_left": {"psnr": 15.718979612128445, "ssim": 0.5661762015944942, "lpips": 0.3611338138580322}, "wrist_right": {"psnr": 16.111906456096722, "ssim": 0.6381377261333084, "lpips": 0.37090563774108887}, "tactile_left": {"psnr": 34.13699657643924, "ssim": 0.9548957540788985, "lpips": 0.1824328601360321}, "tactile_right": {"psnr": 30.32038967825908, "ssim": 0.9430229658107769, "lpips": 0.23919908702373505}}, {"video": {"psnr": 20.482091166033992, "ssim": 0.6742572098443358, "lpips": 0.26983842253685}, "wrist_left": {"psnr": 14.153639044514396, "ssim": 0.5409866364147307, "lpips": 0.3801303505897522}, "wrist_right": {"psnr": 14.087663794510112, "ssim": 0.5677980958445572, "lpips": 0.43359726667404175}, "tactile_left": {"psnr": 33.76235413754776, "ssim": 0.9524824329696975, "lpips": 0.19395214319229126}, "tactile_right": {"psnr": 29.922731048414136, "ssim": 0.9407329816863399, "lpips": 0.25849536061286926}}, {"video": {"psnr": 20.405696423589262, "ssim": 0.668635790507804, "lpips": 0.29426684975624084}, "wrist_left": {"psnr": 14.652511840318256, "ssim": 0.5054838957758134, "lpips": 0.3917635679244995}, "wrist_right": {"psnr": 16.83212371015403, "ssim": 0.6628955354258573, "lpips": 0.3122263550758362}, "tactile_left": {"psnr": 31.518127473460996, "ssim": 0.9406933025344638, "lpips": 0.23357027769088745}, "tactile_right": {"psnr": 30.762849944878287, "ssim": 0.9584664180020348, "lpips": 0.16043305397033691}}], "long_metrics": {"video": {"psnr": 22.055943442368573, "ssim": 0.7440422547859591, "lpips": 0.1920191506544749}, "wrist_left": {"psnr": 15.308727359315707, "ssim": 0.5604154085507393, "lpips": 0.33295816779136655}, "wrist_right": {"psnr": 15.918087998297032, "ssim": 0.5995660587248862, "lpips": 0.3505725125471751}, "tactile_left": {"psnr": 33.626010630349626, "ssim": 0.9469393514315738, "lpips": 0.1807119607925415}, "tactile_right": {"psnr": 33.520251080126705, "ssim": 0.957732387089427, "lpips": 0.1622762057930231}}}, {"id": "rope_26", "episode": "rope_0915_episode_001_seg01.pt", "requested_episode": "rope_0915_episode_001_seg01.pt", "category": "none", "t_start": 181, "start_seconds": 12.066666666666666, "short_contact": [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0], "future_transition_ticks": [], "long_contact_fraction": 0.2265625, "long_label": "none_at_start", "short_metrics": {"video": {"psnr": 27.532418081746094, "ssim": 0.8878119493123757, "lpips": 0.048989176750183105}, "wrist_left": {"psnr": 20.56455890795039, "ssim": 0.77583908154507, "lpips": 0.13414892554283142}, "wrist_right": {"psnr": 20.572170455859094, "ssim": 0.7609059708879037, "lpips": 0.1670314073562622}, "tactile_left": {"psnr": 51.11263004534001, "ssim": 0.9948780706367997, "lpips": 0.0034175447653979063}, "tactile_right": {"psnr": 49.79930566452335, "ssim": 0.9933859204513179, "lpips": 0.005536375101655722}}, "media": {"short": {"video": "media/rope_26_short.mp4", "poster": "media/rope_26_short.jpg"}, "long": {"video": "media/rope_26_long.mp4", "poster": "media/rope_26_long.jpg"}}, "force": {"source": "recorded_normal_force", "units": "N", "fps": 15, "left": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.9444444179534912, 3.0568182468414307, 0.7983333468437195, 3.0568182468414307, 4.726428508758545, 6.519285678863525, 5.486666679382324, 6.519285678863525, 6.760714054107666, 5.486666679382324, 6.519285678863525, 6.760714054107666, 6.760714054107666], "right": [0.009203186258673668, 0.007158033549785614, 0.004820716567337513, 0.004820716567337513, 0.007158033549785614, 0.0074501982890069485, 0.008326692506670952, 0.00803452730178833, 0.00803452730178833, 0.009495350532233715, 0.0068658688105642796, 0.00803452730178833, 0.008326692506670952, 0.04592006281018257, 0.005697210319340229, 0.004820716567337513, 0.007742363028228283, 0.006573704537004232, 0.009203186258673668, 0.004820716567337513, 0.03118857555091381, 0.008911021053791046, 0.009203186258673668, 0.004820716567337513, 0.009495350532233715, 0.009495350532233715, 0.0045285518281161785, 0.0059893750585615635, 0.007158033549785614, 0.007158033549785614, 0.0109561737626791, 0.00803452730178833, 0.0068658688105642796, 0.0059893750585615635, 0.0045285518281161785, 0.006281539797782898, 0.004820716567337513, 0.009495350532233715, 0.005112881306558847, 0.005112881306558847, 0.14645949006080627, 0.00803452730178833, 0.16466423869132996, 0.0074501982890069485, 0.004820716567337513, 0.0045285518281161785, 0.007158033549785614, 0.00803452730178833, 0.0068658688105642796, 0.008326692506670952, 0.0059893750585615635, 0.014789572916924953, 0.009495350532233715, 0.004820716567337513, 0.004236387088894844, 0.008326692506670952, 0.005112881306558847, 0.005112881306558847, 0.0068658688105642796, 0.0068658688105642796, 0.0074501982890069485, 0.007158033549785614, 0.010079680010676384, 0.006281539797782898, 0.0068658688105642796, 0.00803452730178833, 0.009203186258673668, 0.008326692506670952, 0.02935807779431343, 0.008618856780230999, 0.09305443614721298, 0.8816501498222351, 0.09539175778627396, 0.22606445848941803, 0.007158033549785614, 0.0074501982890069485, 0.006281539797782898, 0.007742363028228283, 0.4000000059604645, 0.25, 0.1599999964237213, 0.09976226091384888, 0.010371844284236431, 0.016814246773719788, 0.008326692506670952, 0.005112881306558847, 0.0045285518281161785, 0.008326692506670952, 0.007158033549785614, 0.15350055694580078, 0.00803452730178833, 0.011832667514681816, 1.9444444179534912, 2.243333339691162, 0.005112881306558847, 0.007158033549785614, 0.010664009489119053, 3.0568182468414307, 3.0568182468414307, 3.1971428394317627, 3.1971428394317627, 3.1971428394317627, 3.9167568683624268, 3.9167568683624268, 3.9167568683624268, 3.9167568683624268, 3.9167568683624268, 4.726428508758545, 3.9167568683624268, 3.0568182468414307, 0.4399999976158142, 0.0074501982890069485, 0.00803452730178833, 0.008326692506670952, 0.00803452730178833, 0.00803452730178833, 0.008618856780230999, 0.007742363028228283, 0.008326692506670952, 0.009495350532233715, 0.009495350532233715, 0.008155220188200474, 0.006573704537004232, 0.008326692506670952, 0.009495350532233715, 0.00803452730178833, 0.0045285518281161785, 0.009495350532233715]}, "long_curve": [{"video": {"psnr": 27.532418081746094, "ssim": 0.8878119493123757, "lpips": 0.048989176750183105}, "wrist_left": {"psnr": 20.56455890795039, "ssim": 0.77583908154507, "lpips": 0.13414892554283142}, "wrist_right": {"psnr": 20.572170455859094, "ssim": 0.7609059708879037, "lpips": 0.1670314073562622}, "tactile_left": {"psnr": 51.11263004534001, "ssim": 0.9948780706367997, "lpips": 0.0034175447653979063}, "tactile_right": {"psnr": 49.79930566452335, "ssim": 0.9933859204513179, "lpips": 0.005536375101655722}}, {"video": {"psnr": 24.936949702788446, "ssim": 0.8261757588413614, "lpips": 0.07727233320474625}, "wrist_left": {"psnr": 15.591940350178625, "ssim": 0.6104253671355571, "lpips": 0.24326620995998383}, "wrist_right": {"psnr": 17.848894433011992, "ssim": 0.7109402175707263, "lpips": 0.3072507977485657}, "tactile_left": {"psnr": 47.332959421224004, "ssim": 0.9914196257028185, "lpips": 0.010695721954107285}, "tactile_right": {"psnr": 47.007585448507, "ssim": 0.9882912924055549, "lpips": 0.016125619411468506}}, {"video": {"psnr": 24.902934855597515, "ssim": 0.8159653633959514, "lpips": 0.09519843757152557}, "wrist_left": {"psnr": 14.283077809211413, "ssim": 0.5607079327950465, "lpips": 0.27630293369293213}, "wrist_right": {"psnr": 14.324126706850507, "ssim": 0.6264960699227777, "lpips": 0.3420606255531311}, "tactile_left": {"psnr": 44.98501026469374, "ssim": 0.9878153386332484, "lpips": 0.020500607788562775}, "tactile_right": {"psnr": 44.784755693085295, "ssim": 0.9860594766776619, "lpips": 0.02803475596010685}}, {"video": {"psnr": 24.28602607271271, "ssim": 0.7872832675393648, "lpips": 0.13545477390289307}, "wrist_left": {"psnr": 12.429206301872558, "ssim": 0.4508196489364618, "lpips": 0.3824179470539093}, "wrist_right": {"psnr": 14.181644926211554, "ssim": 0.5856076296261561, "lpips": 0.3760155141353607}, "tactile_left": {"psnr": 43.528524950899, "ssim": 0.9842032157589112, "lpips": 0.035277873277664185}, "tactile_right": {"psnr": 42.29604053294713, "ssim": 0.9820604022736987, "lpips": 0.04435838758945465}}, {"video": {"psnr": 23.916029840932083, "ssim": 0.7828206458364828, "lpips": 0.1544293463230133}, "wrist_left": {"psnr": 12.52465873865705, "ssim": 0.43628933838309525, "lpips": 0.38179418444633484}, "wrist_right": {"psnr": 14.546968797104151, "ssim": 0.60464629230962, "lpips": 0.3342520594596863}, "tactile_left": {"psnr": 42.07100546095687, "ssim": 0.9813190441232098, "lpips": 0.05067199468612671}, "tactile_right": {"psnr": 41.60831213196669, "ssim": 0.9787933704451481, "lpips": 0.06658080220222473}}, {"video": {"psnr": 23.325688038291524, "ssim": 0.7683490335392984, "lpips": 0.1544385850429535}, "wrist_left": {"psnr": 13.19498398443432, "ssim": 0.47507191992060727, "lpips": 0.35569387674331665}, "wrist_right": {"psnr": 15.998522531024177, "ssim": 0.6611306838255935, "lpips": 0.3484918475151062}, "tactile_left": {"psnr": 41.05749140424075, "ssim": 0.9784496819430106, "lpips": 0.07009771466255188}, "tactile_right": {"psnr": 41.196053528942244, "ssim": 0.9784088941610718, "lpips": 0.07604870200157166}}, {"video": {"psnr": 22.687768730639274, "ssim": 0.7597875002192607, "lpips": 0.15225186944007874}, "wrist_left": {"psnr": 12.75300961067478, "ssim": 0.4443346049469221, "lpips": 0.3924404978752136}, "wrist_right": {"psnr": 16.5354276020031, "ssim": 0.6650227401425433, "lpips": 0.3131571412086487}, "tactile_left": {"psnr": 39.54388805383442, "ssim": 0.9751512702613464, "lpips": 0.0946623682975769}, "tactile_right": {"psnr": 40.37230095677576, "ssim": 0.9766090880040973, "lpips": 0.09039447456598282}}, {"video": {"psnr": 22.357088624355995, "ssim": 0.7476853109766487, "lpips": 0.19275255501270294}, "wrist_left": {"psnr": 12.594959609914067, "ssim": 0.43321569067221255, "lpips": 0.4105287194252014}, "wrist_right": {"psnr": 17.8489708515812, "ssim": 0.6820207597320032, "lpips": 0.30705612897872925}, "tactile_left": {"psnr": 38.53991709598207, "ssim": 0.97109438557566, "lpips": 0.1158793643116951}, "tactile_right": {"psnr": 39.73331405358442, "ssim": 0.9739667334983297, "lpips": 0.11314405500888824}}, {"video": {"psnr": 21.88923240709743, "ssim": 0.7293544699426782, "lpips": 0.2118435651063919}, "wrist_left": {"psnr": 12.698370668938344, "ssim": 0.46180407417019453, "lpips": 0.4033561944961548}, "wrist_right": {"psnr": 19.303458069306416, "ssim": 0.7251414996159808, "lpips": 0.3146088123321533}, "tactile_left": {"psnr": 37.816503985506934, "ssim": 0.9682982984925786, "lpips": 0.1334608644247055}, "tactile_right": {"psnr": 38.69909252435346, "ssim": 0.9714044467584259, "lpips": 0.13354119658470154}}, {"video": {"psnr": 20.43210544385632, "ssim": 0.6843526129877877, "lpips": 0.2322438657283783}, "wrist_left": {"psnr": 13.235443162676578, "ssim": 0.4937225656731553, "lpips": 0.42769670486450195}, "wrist_right": {"psnr": 18.173520799157675, "ssim": 0.6881956834482429, "lpips": 0.341685026884079}, "tactile_left": {"psnr": 37.16882318961579, "ssim": 0.9653833203180426, "lpips": 0.15546737611293793}, "tactile_right": {"psnr": 38.10278931230313, "ssim": 0.9693017058616176, "lpips": 0.15156783163547516}}, {"video": {"psnr": 20.731616041436514, "ssim": 0.6937699079259523, "lpips": 0.24134953320026398}, "wrist_left": {"psnr": 12.667410445195763, "ssim": 0.472187385547705, "lpips": 0.43673717975616455}, "wrist_right": {"psnr": 18.526785884263234, "ssim": 0.7386798616667509, "lpips": 0.3011528253555298}, "tactile_left": {"psnr": 31.454164939406777, "ssim": 0.9338061739879708, "lpips": 0.25393831729888916}, "tactile_right": {"psnr": 37.43525085808239, "ssim": 0.9663643039658805, "lpips": 0.16922244429588318}}, {"video": {"psnr": 21.11013134839688, "ssim": 0.7050989397519596, "lpips": 0.24269910156726837}, "wrist_left": {"psnr": 12.766576686722782, "ssim": 0.45525048778319577, "lpips": 0.44424939155578613}, "wrist_right": {"psnr": 19.020987159686406, "ssim": 0.7475397058366577, "lpips": 0.3113154172897339}, "tactile_left": {"psnr": 29.961132355423473, "ssim": 0.9176320584812451, "lpips": 0.29849138855934143}, "tactile_right": {"psnr": 35.97809542843335, "ssim": 0.956850639067189, "lpips": 0.22562943398952484}}, {"video": {"psnr": 20.87247666799854, "ssim": 0.6702311449745716, "lpips": 0.30375418066978455}, "wrist_left": {"psnr": 12.97366129563346, "ssim": 0.47195711128272677, "lpips": 0.4646691083908081}, "wrist_right": {"psnr": 17.023780839114796, "ssim": 0.6872816117200753, "lpips": 0.3807968497276306}, "tactile_left": {"psnr": 32.88975599046196, "ssim": 0.9446880605978554, "lpips": 0.2178848534822464}, "tactile_right": {"psnr": 35.24142851269086, "ssim": 0.9520253200237992, "lpips": 0.25839754939079285}}, {"video": {"psnr": 20.02905303799688, "ssim": 0.6362670233061329, "lpips": 0.3602941632270813}, "wrist_left": {"psnr": 12.578239521892215, "ssim": 0.48382449314292797, "lpips": 0.5154577493667603}, "wrist_right": {"psnr": 16.93224780568761, "ssim": 0.6673979019844968, "lpips": 0.35805314779281616}, "tactile_left": {"psnr": 34.37713775955507, "ssim": 0.9535040907500636, "lpips": 0.19187882542610168}, "tactile_right": {"psnr": 35.90903443207506, "ssim": 0.9574135494007969, "lpips": 0.22521984577178955}}, {"video": {"psnr": 19.72536452292021, "ssim": 0.6225433359532879, "lpips": 0.38741856813430786}, "wrist_left": {"psnr": 12.472698589836451, "ssim": 0.4341501095289343, "lpips": 0.5859887599945068}, "wrist_right": {"psnr": 17.590960054791598, "ssim": 0.6667360767657802, "lpips": 0.3307355046272278}, "tactile_left": {"psnr": 31.954243209435024, "ssim": 0.939169572878789, "lpips": 0.2555310130119324}, "tactile_right": {"psnr": 35.390889803671335, "ssim": 0.9552596204861348, "lpips": 0.2436453402042389}}], "long_metrics": {"video": {"psnr": 22.582325561117763, "ssim": 0.741166417633541, "lpips": 0.19935933699210484}, "wrist_left": {"psnr": 13.55525304558592, "ssim": 0.4973066540975875, "lpips": 0.39031655887762706}, "wrist_right": {"psnr": 17.228564461043568, "ssim": 0.6811828470036871, "lpips": 0.32224420706431073}, "tactile_left": {"psnr": 38.91954587510506, "ssim": 0.9657874805427701, "lpips": 0.12719038853732248}, "tactile_right": {"psnr": 40.23694992546277, "ssim": 0.9724129842320484, "lpips": 0.1231631209142506}}}, {"id": "rope_27", "episode": "rope_0915_episode_001_seg01.pt", "requested_episode": "rope_0915_episode_001_seg01.pt", "category": "onset", "t_start": 103, "start_seconds": 6.866666666666666, "short_contact": [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 1], "future_transition_ticks": [11], "long_contact_fraction": 0.390625, "long_label": "onset", "short_metrics": {"video": {"psnr": 24.671913938435534, "ssim": 0.8401073675135395, "lpips": 0.07720116525888443}, "wrist_left": {"psnr": 14.018129518073719, "ssim": 0.5443544265802998, "lpips": 0.38877469301223755}, "wrist_right": {"psnr": 19.34351052035145, "ssim": 0.6792349036457233, "lpips": 0.20896580815315247}, "tactile_left": {"psnr": 49.688070365310615, "ssim": 0.9945390258186719, "lpips": 0.0038132923655211926}, "tactile_right": {"psnr": 40.1518539487825, "ssim": 0.9817029272949267, "lpips": 0.057455722242593765}}, "media": {"short": {"video": "media/rope_27_short.mp4", "poster": "media/rope_27_short.jpg"}, "long": {"video": "media/rope_27_long.mp4", "poster": "media/rope_27_long.jpg"}}, "force": {"source": "recorded_normal_force", "units": "N", "fps": 15, "left": [0.0, 0.0, 0.0002897171943914145, 0.0, 0.0, 0.0, 0.0, 0.00415261322632432, 0.0, 0.0, 0.0, 0.00635768286883831, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.008981232531368732, 0.623110294342041, 2.3248276710510254, 3.9167568683624268, 5.397500038146973, 6.519285678863525, 6.519285678863525, 4.852499961853027, 5.403749942779541, 5.403749942779541, 4.726428508758545, 3.9167568683624268, 3.0568182468414307, 1.9444444179534912, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 2.6312499046325684, 1.9444444179534912, 0.7983333468437195, 2.3248276710510254, 2.3248276710510254, 3.0568182468414307, 3.9167568683624268, 3.9167568683624268, 3.1971428394317627, 3.0568182468414307, 1.2847535610198975, 1.2847535610198975, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 2.871476411819458, 0.7983333468437195, 2.243333339691162, 2.6312499046325684, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "right": [0.009495350532233715, 0.04300450533628464, 0.0074501982890069485, 0.008326692506670952, 0.008911021053791046, 0.008911021053791046, 0.010079680010676384, 0.007158033549785614, 0.007158033549785614, 0.0074501982890069485, 0.009495350532233715, 3.9167568683624268, 3.9167568683624268, 4.726428508758545, 4.726428508758545, 4.726428508758545, 4.726428508758545, 3.9167568683624268, 3.9167568683624268, 2.6312499046325684, 2.3248276710510254, 2.3248276710510254, 3.7150228023529053, 4.726428508758545, 4.726428508758545, 3.92207932472229, 3.0568182468414307, 1.9444444179534912, 0.04154672473669052, 0.010079680010676384, 0.012570462189614773, 0.05029340460896492, 0.03221115097403526, 0.008618856780230999, 0.00803452730178833, 0.00803452730178833, 0.00803452730178833, 0.00803452730178833, 1.6152995824813843, 0.7983333468437195, 0.1599999964237213, 0.1599999964237213, 0.1599999964237213, 0.1599999964237213, 1.9444444179534912, 0.5432145595550537, 2.3248276710510254, 0.1599999964237213, 0.27666667103767395, 0.1599999964237213, 0.7983333468437195, 0.5108346939086914, 0.43162980675697327, 0.5410337448120117, 0.5556613206863403, 0.5572430491447449, 0.1599999964237213, 0.016215138137340546, 0.2806245982646942, 0.4399999976158142, 0.7983333468437195, 3.0568182468414307, 0.5600000023841858, 0.5175102353096008, 0.5103024244308472, 0.1599999964237213, 0.07961486279964447, 0.008326692506670952, 0.0074501982890069485, 0.009495350532233715, 0.007158033549785614, 0.1599999964237213, 0.1599999964237213, 0.17079851031303406, 0.1599999964237213, 0.1599999964237213, 0.1599999964237213, 0.30777719616889954, 0.009203186258673668, 0.007158033549785614, 0.004820716567337513, 0.004820716567337513, 0.007158033549785614, 0.0074501982890069485, 0.008326692506670952, 0.00803452730178833, 0.00803452730178833, 0.009495350532233715, 0.0068658688105642796, 0.00803452730178833, 0.008326692506670952, 0.04592006281018257, 0.005697210319340229, 0.004820716567337513, 0.007742363028228283, 0.006573704537004232, 0.009203186258673668, 0.004820716567337513, 0.03118857555091381, 0.008911021053791046, 0.009203186258673668, 0.004820716567337513, 0.009495350532233715, 0.009495350532233715, 0.0045285518281161785, 0.0059893750585615635, 0.007158033549785614, 0.007158033549785614, 0.0109561737626791, 0.00803452730178833, 0.0068658688105642796, 0.0059893750585615635, 0.0045285518281161785, 0.006281539797782898, 0.004820716567337513, 0.009495350532233715, 0.005112881306558847, 0.005112881306558847, 0.14645949006080627, 0.00803452730178833, 0.16466423869132996, 0.0074501982890069485, 0.004820716567337513, 0.0045285518281161785, 0.007158033549785614, 0.00803452730178833, 0.0068658688105642796, 0.008326692506670952]}, "long_curve": [{"video": {"psnr": 24.671913938435534, "ssim": 0.8401073675135395, "lpips": 0.07720116525888443}, "wrist_left": {"psnr": 14.018129518073719, "ssim": 0.5443544265802998, "lpips": 0.38877469301223755}, "wrist_right": {"psnr": 19.34351052035145, "ssim": 0.6792349036457233, "lpips": 0.20896580815315247}, "tactile_left": {"psnr": 49.688070365310615, "ssim": 0.9945390258186719, "lpips": 0.0038132923655211926}, "tactile_right": {"psnr": 40.1518539487825, "ssim": 0.9817029272949267, "lpips": 0.057455722242593765}}, {"video": {"psnr": 22.07947888559348, "ssim": 0.7560235652846627, "lpips": 0.15902374684810638}, "wrist_left": {"psnr": 14.285694371607768, "ssim": 0.585528923701732, "lpips": 0.41338908672332764}, "wrist_right": {"psnr": 15.93225905445095, "ssim": 0.6110533483708147, "lpips": 0.31821209192276}, "tactile_left": {"psnr": 40.831791818817315, "ssim": 0.9868239496829072, "lpips": 0.024386990815401077}, "tactile_right": {"psnr": 37.289122824537046, "ssim": 0.9703708142802432, "lpips": 0.0953485369682312}}, {"video": {"psnr": 21.27390158433007, "ssim": 0.7184893146078319, "lpips": 0.2150404453277588}, "wrist_left": {"psnr": 15.90012756822201, "ssim": 0.6466711102825737, "lpips": 0.40369123220443726}, "wrist_right": {"psnr": 16.170193051584633, "ssim": 0.6925593220996975, "lpips": 0.32261261343955994}, "tactile_left": {"psnr": 34.56130747869359, "ssim": 0.9616878742951515, "lpips": 0.1217634379863739}, "tactile_right": {"psnr": 38.020956769221314, "ssim": 0.9760084626993426, "lpips": 0.055812641978263855}}, {"video": {"psnr": 21.092678204727356, "ssim": 0.6891812509128458, "lpips": 0.25432994961738586}, "wrist_left": {"psnr": 16.04993315611829, "ssim": 0.6464880915085378, "lpips": 0.3661254346370697}, "wrist_right": {"psnr": 19.63973750669625, "ssim": 0.7528397304955975, "lpips": 0.3456743061542511}, "tactile_left": {"psnr": 36.28122553444051, "ssim": 0.9699002009976746, "lpips": 0.07029461860656738}, "tactile_right": {"psnr": 36.61145917067828, "ssim": 0.9754348584570307, "lpips": 0.09147988259792328}}, {"video": {"psnr": 21.070582716456585, "ssim": 0.6864090199532809, "lpips": 0.2809373736381531}, "wrist_left": {"psnr": 14.845247146021268, "ssim": 0.6193324288829481, "lpips": 0.3827818036079407}, "wrist_right": {"psnr": 18.54455546332046, "ssim": 0.6970934678666976, "lpips": 0.39055049419403076}, "tactile_left": {"psnr": 36.77326811412317, "ssim": 0.9742210817656531, "lpips": 0.06669580936431885}, "tactile_right": {"psnr": 35.28427341605303, "ssim": 0.9654445193368835, "lpips": 0.16462571918964386}}, {"video": {"psnr": 21.029388117024517, "ssim": 0.6860391160535099, "lpips": 0.29251912236213684}, "wrist_left": {"psnr": 13.25897419156524, "ssim": 0.5667000015464005, "lpips": 0.4184681177139282}, "wrist_right": {"psnr": 16.860644656141876, "ssim": 0.6098628111539562, "lpips": 0.4701276421546936}, "tactile_left": {"psnr": 35.12683175350758, "ssim": 0.9659441787839745, "lpips": 0.10726047307252884}, "tactile_right": {"psnr": 34.51833066109488, "ssim": 0.9654994003580004, "lpips": 0.185268372297287}}, {"video": {"psnr": 21.14849024652463, "ssim": 0.6858162442808597, "lpips": 0.2933694124221802}, "wrist_left": {"psnr": 14.484260256081479, "ssim": 0.5900537742222898, "lpips": 0.4019167721271515}, "wrist_right": {"psnr": 15.344436218093847, "ssim": 0.5850474745938692, "lpips": 0.4675719141960144}, "tactile_left": {"psnr": 31.44974250291716, "ssim": 0.9467602702505575, "lpips": 0.18474191427230835}, "tactile_right": {"psnr": 34.941464605223224, "ssim": 0.9681325732234238, "lpips": 0.16963282227516174}}, {"video": {"psnr": 21.50311745150793, "ssim": 0.6934367439601714, "lpips": 0.2897684574127197}, "wrist_left": {"psnr": 12.986882819043535, "ssim": 0.566918895796275, "lpips": 0.39539778232574463}, "wrist_right": {"psnr": 16.902512903676573, "ssim": 0.6720303764958495, "lpips": 0.41003885865211487}, "tactile_left": {"psnr": 32.41828059294814, "ssim": 0.9618090965275586, "lpips": 0.13023032248020172}, "tactile_right": {"psnr": 35.44505123980125, "ssim": 0.9714972118141467, "lpips": 0.1259428858757019}}, {"video": {"psnr": 21.616727200426475, "ssim": 0.6974401363034042, "lpips": 0.28309375047683716}, "wrist_left": {"psnr": 12.422209231501835, "ssim": 0.5469366883871973, "lpips": 0.44473379850387573}, "wrist_right": {"psnr": 18.498219905301873, "ssim": 0.7428766566736605, "lpips": 0.2793566882610321}, "tactile_left": {"psnr": 30.902610622029762, "ssim": 0.9493407270107366, "lpips": 0.18377095460891724}, "tactile_right": {"psnr": 35.86723267234396, "ssim": 0.9734015644202755, "lpips": 0.10862284153699875}}, {"video": {"psnr": 21.388284805930482, "ssim": 0.6973571716805491, "lpips": 0.2823202610015869}, "wrist_left": {"psnr": 14.253173411739441, "ssim": 0.5882013336674631, "lpips": 0.3746846616268158}, "wrist_right": {"psnr": 16.5543123156162, "ssim": 0.6753004058475449, "lpips": 0.33708012104034424}, "tactile_left": {"psnr": 32.564520032556786, "ssim": 0.9649257556424249, "lpips": 0.11110890656709671}, "tactile_right": {"psnr": 35.29593293421254, "ssim": 0.9717196368351556, "lpips": 0.11614762991666794}}, {"video": {"psnr": 20.787897036035048, "ssim": 0.6725470712007503, "lpips": 0.29302698373794556}, "wrist_left": {"psnr": 14.499240154807364, "ssim": 0.5924799075241259, "lpips": 0.3617281913757324}, "wrist_right": {"psnr": 14.443835780177013, "ssim": 0.5918397862106586, "lpips": 0.3856653571128845}, "tactile_left": {"psnr": 32.39825838084519, "ssim": 0.9641078380446648, "lpips": 0.12419211864471436}, "tactile_right": {"psnr": 35.16065426613104, "ssim": 0.9694513630428332, "lpips": 0.12744109332561493}}, {"video": {"psnr": 20.369847512990606, "ssim": 0.6520480786438854, "lpips": 0.32558128237724304}, "wrist_left": {"psnr": 13.376330056783893, "ssim": 0.5538922160834598, "lpips": 0.35674870014190674}, "wrist_right": {"psnr": 14.440193447830827, "ssim": 0.5889267796611126, "lpips": 0.4099764823913574}, "tactile_left": {"psnr": 32.522366662591125, "ssim": 0.9624168300563725, "lpips": 0.1345377415418625}, "tactile_right": {"psnr": 35.02619883630557, "ssim": 0.9664451220941652, "lpips": 0.14371496438980103}}, {"video": {"psnr": 20.183058697219852, "ssim": 0.643379086064741, "lpips": 0.35749709606170654}, "wrist_left": {"psnr": 13.278310847270589, "ssim": 0.5309209093481183, "lpips": 0.37562739849090576}, "wrist_right": {"psnr": 12.77949639198797, "ssim": 0.5206848656715066, "lpips": 0.42691609263420105}, "tactile_left": {"psnr": 32.644034341483255, "ssim": 0.9608165220913696, "lpips": 0.15052460134029388}, "tactile_right": {"psnr": 35.05274844887785, "ssim": 0.9640882548818159, "lpips": 0.15910936892032623}}, {"video": {"psnr": 19.728744699635588, "ssim": 0.6317683325217914, "lpips": 0.37891873717308044}, "wrist_left": {"psnr": 12.256074464596926, "ssim": 0.4048238945952005, "lpips": 0.3925725817680359}, "wrist_right": {"psnr": 12.79792696655103, "ssim": 0.518930187609087, "lpips": 0.4156613051891327}, "tactile_left": {"psnr": 32.70035706467923, "ssim": 0.9583567081271374, "lpips": 0.17037957906723022}, "tactile_right": {"psnr": 34.8327150613065, "ssim": 0.9609664166856475, "lpips": 0.17396293580532074}}, {"video": {"psnr": 19.805108605437283, "ssim": 0.6145539356907032, "lpips": 0.38602346181869507}, "wrist_left": {"psnr": 12.658471419352281, "ssim": 0.4453058842253311, "lpips": 0.3967812657356262}, "wrist_right": {"psnr": 12.350417939957241, "ssim": 0.5192090229134206, "lpips": 0.432312548160553}, "tactile_left": {"psnr": 32.67169898879648, "ssim": 0.9558465395276377, "lpips": 0.1869417279958725}, "tactile_right": {"psnr": 34.93838587093559, "ssim": 0.9582684405815138, "lpips": 0.19444873929023743}}], "long_metrics": {"video": {"psnr": 21.18328131348503, "ssim": 0.6909730956448351, "lpips": 0.277910083035628}, "wrist_left": {"psnr": 13.90487057418571, "ssim": 0.5619072324234635, "lpips": 0.3915614346663157}, "wrist_right": {"psnr": 16.040150141449214, "ssim": 0.6304992759539464, "lpips": 0.37471482157707214}, "tactile_left": {"psnr": 34.90229095024933, "ssim": 0.9651664399081662, "lpips": 0.11804283258194724}, "tactile_right": {"psnr": 35.89575871503364, "ssim": 0.9692287710670269, "lpips": 0.13126761044065158}}}, {"id": "rope_28", "episode": "rope_0915_episode_001_seg01.pt", "requested_episode": "rope_0915_episode_001_seg01.pt", "category": "release", "t_start": 32, "start_seconds": 2.1333333333333333, "short_contact": [1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 0, 0], "future_transition_ticks": [11], "long_contact_fraction": 0.6796875, "long_label": "release", "short_metrics": {"video": {"psnr": 27.06162714118222, "ssim": 0.8820283232578756, "lpips": 0.059193745255470276}, "wrist_left": {"psnr": 18.57322874137647, "ssim": 0.7089923588524658, "lpips": 0.22118127346038818}, "wrist_right": {"psnr": 18.524999623912592, "ssim": 0.7482185010592315, "lpips": 0.19087985157966614}, "tactile_left": {"psnr": 41.22276212487798, "ssim": 0.9796934997675104, "lpips": 0.03358402103185654}, "tactile_right": {"psnr": 44.726144547656034, "ssim": 0.9858040430819097, "lpips": 0.017414767295122147}}, "media": {"short": {"video": "media/rope_28_short.mp4", "poster": "media/rope_28_short.jpg"}, "long": {"video": "media/rope_28_long.mp4", "poster": "media/rope_28_long.jpg"}}, "force": {"source": "recorded_normal_force", "units": "N", "fps": 15, "left": [6.760714054107666, 7.130000114440918, 6.760714054107666, 6.760714054107666, 6.519285678863525, 6.760714054107666, 6.760714054107666, 6.519285678863525, 5.403749942779541, 3.9167568683624268, 0.5201015472412109, 0.1599999964237213, 0.15190838277339935, 0.13903206586837769, 0.11424514651298523, 0.12164902687072754, 0.12164902687072754, 0.09299921989440918, 0.08784869313240051, 3.0568182468414307, 3.0568182468414307, 3.9293034076690674, 4.726428508758545, 4.726428508758545, 4.726428508758545, 4.726428508758545, 4.726428508758545, 4.726428508758545, 4.726428508758545, 4.726428508758545, 5.403749942779541, 6.373636245727539, 5.486666679382324, 5.397500038146973, 3.0568182468414307, 0.1599999964237213, 0.1351691633462906, 0.14321686327457428, 0.043425388634204865, 0.043425388634204865, 0.04471302032470703, 0.04020630940794945, 0.03698723018169403, 0.037631046026945114, 0.029583344236016273, 0.045034926384687424, 0.02861762046813965, 0.02507663331925869, 2.3248276710510254, 0.17642980813980103, 2.3248276710510254, 3.0568182468414307, 3.1971428394317627, 4.726428508758545, 4.852499961853027, 4.726428508758545, 3.9167568683624268, 3.0568182468414307, 3.0568182468414307, 2.6312499046325684, 0.7983333468437195, 0.0, 0.0, 0.0006116252043284476, 0.0044745211489498615, 0.006727877072989941, 0.0, 0.0012554412242025137, 0.006067295093089342, 0.002543073147535324, 0.006084061227738857, 0.0, 0.0, 0.0002897171943914145, 0.0, 0.0, 0.0, 0.0, 0.00415261322632432, 0.0, 0.0, 0.0, 0.00635768286883831, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.008981232531368732, 0.623110294342041, 2.3248276710510254, 3.9167568683624268, 5.397500038146973, 6.519285678863525, 6.519285678863525, 4.852499961853027, 5.403749942779541, 5.403749942779541, 4.726428508758545, 3.9167568683624268, 3.0568182468414307, 1.9444444179534912, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 2.6312499046325684, 1.9444444179534912], "right": [4.852499961853027, 5.397500038146973, 5.397500038146973, 5.486666679382324, 5.397500038146973, 5.486666679382324, 5.486666679382324, 5.397500038146973, 3.9167568683624268, 2.3248276710510254, 0.012124832719564438, 0.009203186258673668, 0.00803452730178833, 0.004820716567337513, 0.009203186258673668, 0.007158033549785614, 0.005697210319340229, 0.00803452730178833, 0.004820716567337513, 0.005405045580118895, 3.0568182468414307, 3.0568182468414307, 3.1971428394317627, 3.1971428394317627, 3.0568182468414307, 2.243333339691162, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 3.0568182468414307, 2.6312499046325684, 2.6312499046325684, 3.0568182468414307, 2.6312499046325684, 3.0568182468414307, 0.0059893750585615635, 0.005112881306558847, 0.005697210319340229, 0.007158033549785614, 0.00803452730178833, 0.0045285518281161785, 0.2181393951177597, 0.7983333468437195, 2.3248276710510254, 3.9167568683624268, 3.0568182468414307, 3.0568182468414307, 4.726428508758545, 4.852499961853027, 4.852499961853027, 4.852499961853027, 4.852499961853027, 5.397500038146973, 4.852499961853027, 3.9285738468170166, 3.9167568683624268, 3.9167568683624268, 3.1971428394317627, 3.0568182468414307, 2.3248276710510254, 2.243333339691162, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 1.9444444179534912, 0.531596839427948, 0.020305441692471504, 0.009787515737116337, 0.009203186258673668, 0.008326692506670952, 0.011832667514681816, 0.009495350532233715, 0.04300450533628464, 0.0074501982890069485, 0.008326692506670952, 0.008911021053791046, 0.008911021053791046, 0.010079680010676384, 0.007158033549785614, 0.007158033549785614, 0.0074501982890069485, 0.009495350532233715, 3.9167568683624268, 3.9167568683624268, 4.726428508758545, 4.726428508758545, 4.726428508758545, 4.726428508758545, 3.9167568683624268, 3.9167568683624268, 2.6312499046325684, 2.3248276710510254, 2.3248276710510254, 3.7150228023529053, 4.726428508758545, 4.726428508758545, 3.92207932472229, 3.0568182468414307, 1.9444444179534912, 0.04154672473669052, 0.010079680010676384, 0.012570462189614773, 0.05029340460896492, 0.03221115097403526, 0.008618856780230999, 0.00803452730178833, 0.00803452730178833, 0.00803452730178833, 0.00803452730178833, 1.6152995824813843, 0.7983333468437195, 0.1599999964237213, 0.1599999964237213, 0.1599999964237213, 0.1599999964237213, 1.9444444179534912, 0.5432145595550537, 2.3248276710510254, 0.1599999964237213, 0.27666667103767395, 0.1599999964237213, 0.7983333468437195, 0.5108346939086914, 0.43162980675697327, 0.5410337448120117, 0.5556613206863403, 0.5572430491447449, 0.1599999964237213]}, "long_curve": [{"video": {"psnr": 27.06162714118222, "ssim": 0.8820283232578756, "lpips": 0.059193745255470276}, "wrist_left": {"psnr": 18.57322874137647, "ssim": 0.7089923588524658, "lpips": 0.22118127346038818}, "wrist_right": {"psnr": 18.524999623912592, "ssim": 0.7482185010592315, "lpips": 0.19087985157966614}, "tactile_left": {"psnr": 41.22276212487798, "ssim": 0.9796934997675104, "lpips": 0.03358402103185654}, "tactile_right": {"psnr": 44.726144547656034, "ssim": 0.9858040430819097, "lpips": 0.017414767295122147}}, {"video": {"psnr": 23.499080655767102, "ssim": 0.8068574728443282, "lpips": 0.11814163625240326}, "wrist_left": {"psnr": 15.851816169031984, "ssim": 0.6109911142461675, "lpips": 0.3715355098247528}, "wrist_right": {"psnr": 14.51881093240322, "ssim": 0.5532615593237398, "lpips": 0.39250144362449646}, "tactile_left": {"psnr": 33.401267213989804, "ssim": 0.949718149208078, "lpips": 0.14889094233512878}, "tactile_right": {"psnr": 39.230725157540604, "ssim": 0.9768729711818531, "lpips": 0.055685751140117645}}, {"video": {"psnr": 23.128005608739564, "ssim": 0.7873575670290869, "lpips": 0.1718922257423401}, "wrist_left": {"psnr": 17.307767740060896, "ssim": 0.6342139160847252, "lpips": 0.3283507823944092}, "wrist_right": {"psnr": 14.798194207459785, "ssim": 0.6213012046418752, "lpips": 0.3856717050075531}, "tactile_left": {"psnr": 29.303001089264747, "ssim": 0.9084584952408816, "lpips": 0.28619349002838135}, "tactile_right": {"psnr": 37.303274503441706, "ssim": 0.9739743917520097, "lpips": 0.05730650573968887}}, {"video": {"psnr": 22.128025155176843, "ssim": 0.7494570820410916, "lpips": 0.22897908091545105}, "wrist_left": {"psnr": 16.882061981910542, "ssim": 0.6599540860707184, "lpips": 0.32935407757759094}, "wrist_right": {"psnr": 18.977672736379198, "ssim": 0.7400073769194195, "lpips": 0.2936207056045532}, "tactile_left": {"psnr": 32.58301881972062, "ssim": 0.9489562787425142, "lpips": 0.16606809198856354}, "tactile_right": {"psnr": 37.317610512221975, "ssim": 0.9769133865707524, "lpips": 0.04983989894390106}}, {"video": {"psnr": 21.53211682709944, "ssim": 0.7335352723523358, "lpips": 0.2462013214826584}, "wrist_left": {"psnr": 14.915426167836237, "ssim": 0.5917545586597914, "lpips": 0.34737586975097656}, "wrist_right": {"psnr": 14.929704233151389, "ssim": 0.5897414545088757, "lpips": 0.3772027790546417}, "tactile_left": {"psnr": 36.27973368923988, "ssim": 0.9666728928453543, "lpips": 0.09192534536123276}, "tactile_right": {"psnr": 34.90354200851974, "ssim": 0.9652922965346105, "lpips": 0.11949223279953003}}, {"video": {"psnr": 21.508427064597434, "ssim": 0.7320444010454077, "lpips": 0.2509598433971405}, "wrist_left": {"psnr": 13.49038308142408, "ssim": 0.525412131246665, "lpips": 0.37223607301712036}, "wrist_right": {"psnr": 15.45986036448658, "ssim": 0.5578526657462977, "lpips": 0.3901514410972595}, "tactile_left": {"psnr": 34.75322183632442, "ssim": 0.9599108334684328, "lpips": 0.15983565151691437}, "tactile_right": {"psnr": 33.19731428351903, "ssim": 0.9546448162580466, "lpips": 0.1639299988746643}}, {"video": {"psnr": 21.34198810639722, "ssim": 0.7224726530211082, "lpips": 0.2397235631942749}, "wrist_left": {"psnr": 12.305305305327645, "ssim": 0.5146587214518439, "lpips": 0.4150427579879761}, "wrist_right": {"psnr": 14.609798189522783, "ssim": 0.5838224705092432, "lpips": 0.41400960087776184}, "tactile_left": {"psnr": 34.5977323363977, "ssim": 0.95972595327196, "lpips": 0.14509785175323486}, "tactile_right": {"psnr": 33.908382946519005, "ssim": 0.9602576181398539, "lpips": 0.15495775640010834}}, {"video": {"psnr": 21.0254369362993, "ssim": 0.7104593895358271, "lpips": 0.2603612244129181}, "wrist_left": {"psnr": 13.356554807605923, "ssim": 0.5019153468901234, "lpips": 0.3742603659629822}, "wrist_right": {"psnr": 16.15521094494853, "ssim": 0.6117311992061883, "lpips": 0.36751067638397217}, "tactile_left": {"psnr": 34.868017302595746, "ssim": 0.9630359088825093, "lpips": 0.11688944697380066}, "tactile_right": {"psnr": 35.33062865967763, "ssim": 0.9697135874113396, "lpips": 0.11362318694591522}}, {"video": {"psnr": 20.737694123930446, "ssim": 0.6948991342581035, "lpips": 0.28972703218460083}, "wrist_left": {"psnr": 12.927638224707792, "ssim": 0.4200900498208758, "lpips": 0.4393358826637268}, "wrist_right": {"psnr": 16.72546880447367, "ssim": 0.6045876086511417, "lpips": 0.33727020025253296}, "tactile_left": {"psnr": 34.853997816110166, "ssim": 0.9611446250783526, "lpips": 0.1290917992591858}, "tactile_right": {"psnr": 35.67642351465504, "ssim": 0.9697910361222002, "lpips": 0.11337907612323761}}, {"video": {"psnr": 20.87434116554038, "ssim": 0.6875103790214558, "lpips": 0.25607365369796753}, "wrist_left": {"psnr": 13.326046412087184, "ssim": 0.5321379474312691, "lpips": 0.4800119400024414}, "wrist_right": {"psnr": 13.128185180542516, "ssim": 0.5709651449528284, "lpips": 0.434145987033844}, "tactile_left": {"psnr": 34.686194057001416, "ssim": 0.9588693296680506, "lpips": 0.14372891187667847}, "tactile_right": {"psnr": 34.06679614827332, "ssim": 0.9604505299381354, "lpips": 0.16740885376930237}}, {"video": {"psnr": 20.610569289913148, "ssim": 0.6650302379318294, "lpips": 0.29132354259490967}, "wrist_left": {"psnr": 15.341773516814964, "ssim": 0.6639193206379654, "lpips": 0.36373358964920044}, "wrist_right": {"psnr": 13.606014122058811, "ssim": 0.5949855344801216, "lpips": 0.4107600450515747}, "tactile_left": {"psnr": 33.89859932118118, "ssim": 0.9565915836434675, "lpips": 0.15911152958869934}, "tactile_right": {"psnr": 33.12220617662533, "ssim": 0.9534826267269787, "lpips": 0.21698907017707825}}, {"video": {"psnr": 20.280809693946075, "ssim": 0.6517573909549069, "lpips": 0.3418479561805725}, "wrist_left": {"psnr": 16.967699009208125, "ssim": 0.715965304563382, "lpips": 0.3417748808860779}, "wrist_right": {"psnr": 16.479840953021206, "ssim": 0.7128927706163528, "lpips": 0.31402093172073364}, "tactile_left": {"psnr": 31.89980876625807, "ssim": 0.9406398823774189, "lpips": 0.2338179349899292}, "tactile_right": {"psnr": 33.1125728202992, "ssim": 0.9600532136321358, "lpips": 0.17724713683128357}}, {"video": {"psnr": 20.13811199660571, "ssim": 0.6489038775536818, "lpips": 0.3631579577922821}, "wrist_left": {"psnr": 17.19662048576942, "ssim": 0.7276192301301287, "lpips": 0.3136235773563385}, "wrist_right": {"psnr": 19.992677422312447, "ssim": 0.7778230081815591, "lpips": 0.2672577500343323}, "tactile_left": {"psnr": 32.72531494535036, "ssim": 0.9524992625015946, "lpips": 0.1804216355085373}, "tactile_right": {"psnr": 32.889592359806095, "ssim": 0.962484598536812, "lpips": 0.1683199107646942}}, {"video": {"psnr": 20.000775472844833, "ssim": 0.6439807349254749, "lpips": 0.3705413341522217}, "wrist_left": {"psnr": 15.795841742949118, "ssim": 0.6923488574386583, "lpips": 0.3056144714355469}, "wrist_right": {"psnr": 20.001131808885468, "ssim": 0.7454136924658941, "lpips": 0.3066807985305786}, "tactile_left": {"psnr": 32.853925759670936, "ssim": 0.9536520112205155, "lpips": 0.18296411633491516}, "tactile_right": {"psnr": 32.49401846912101, "ssim": 0.960356610411499, "lpips": 0.18660999834537506}}, {"video": {"psnr": 20.12201852741487, "ssim": 0.655074171305581, "lpips": 0.3687618374824524}, "wrist_left": {"psnr": 14.981503838979076, "ssim": 0.664215056153126, "lpips": 0.37022829055786133}, "wrist_right": {"psnr": 19.43899473519227, "ssim": 0.7088623796174991, "lpips": 0.37566670775413513}, "tactile_left": {"psnr": 31.670989885542234, "ssim": 0.9448711995708723, "lpips": 0.2090206891298294}, "tactile_right": {"psnr": 32.27881540948698, "ssim": 0.9567969624344671, "lpips": 0.2234801948070526}}], "long_metrics": {"video": {"psnr": 21.599268517696974, "ssim": 0.7180912058052064, "lpips": 0.25712573031584424}, "wrist_left": {"psnr": 15.281311148339297, "ssim": 0.6109458666451938, "lpips": 0.35824395616849264}, "wrist_right": {"psnr": 16.489770950583367, "ssim": 0.6480977713920179, "lpips": 0.3504900415738424}, "tactile_left": {"psnr": 33.97317233090168, "ssim": 0.9536293270325008, "lpips": 0.1591094305117925}, "tactile_right": {"psnr": 35.30386983449085, "ssim": 0.9657925792488402, "lpips": 0.13237895593047141}}}, {"id": "rope_29", "episode": "rope_0915_episode_001_seg01.pt", "requested_episode": "rope_0915_episode_001_seg01.pt", "category": "full", "t_start": 297, "start_seconds": 19.8, "short_contact": [1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1], "future_transition_ticks": [], "long_contact_fraction": 0.8984375, "long_label": "full", "short_metrics": {"video": {"psnr": 24.51818150357211, "ssim": 0.840010048069581, "lpips": 0.0880824476480484}, "wrist_left": {"psnr": 16.783088409987215, "ssim": 0.5437155597692509, "lpips": 0.2202986478805542}, "wrist_right": {"psnr": 21.55274958103437, "ssim": 0.801857892789523, "lpips": 0.21707084774971008}, "tactile_left": {"psnr": 36.808142946286445, "ssim": 0.9608854716190856, "lpips": 0.07838223874568939}, "tactile_right": {"psnr": 47.34174813091925, "ssim": 0.992539863486422, "lpips": 0.014402679167687893}}, "media": {"short": {"video": "media/rope_29_short.mp4", "poster": "media/rope_29_short.jpg"}, "long": {"video": "media/rope_29_long.mp4", "poster": "media/rope_29_long.jpg"}}, "force": {"source": "recorded_normal_force", "units": "N", "fps": 15, "left": [3.0568182468414307, 0.7983333468437195, 3.0568182468414307, 4.726428508758545, 6.519285678863525, 5.486666679382324, 6.519285678863525, 6.760714054107666, 5.486666679382324, 6.519285678863525, 6.760714054107666, 6.760714054107666, 6.760714054107666, 6.760714054107666, 6.760714054107666, 6.519285678863525, 6.519285678863525, 6.519285678863525, 6.760714054107666, 6.760714054107666, 6.760714054107666, 6.760714054107666, 6.760714054107666, 6.760714054107666, 6.519285678863525, 6.519285678863525, 6.373636245727539, 6.519285678863525, 6.519285678863525, 6.519285678863525, 6.373636245727539, 4.852499961853027, 4.726428508758545, 3.9167568683624268, 3.9167568683624268, 3.9167568683624268, 3.9167568683624268, 3.9167568683624268, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 1.9444444179534912, 0.7983333468437195, 0.7983333468437195, 2.6312499046325684, 2.6312499046325684, 1.9444444179534912, 1.9444444179534912, 0.7983333468437195, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 3.0568182468414307, 3.9167568683624268, 4.726428508758545, 4.726428508758545, 5.397500038146973, 5.397500038146973, 4.852499961853027, 4.726428508758545, 4.726428508758545, 3.9167568683624268, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.1971428394317627, 3.1971428394317627, 3.0568182468414307, 3.0568182468414307, 0.0009335331851616502, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 3.0568182468414307, 3.9167568683624268, 3.9167568683624268, 3.9167568683624268, 3.1971428394317627, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 2.6312499046325684, 2.6136832237243652, 2.3248276710510254, 1.9444444179534912, 2.297516107559204, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.6312499046325684, 2.6312499046325684, 2.6312499046325684, 2.6312499046325684, 2.757412910461426, 2.6312499046325684, 2.6312499046325684, 2.6312499046325684, 2.6312499046325684, 2.6312499046325684, 2.6312499046325684, 3.0568182468414307, 2.3248276710510254, 2.243333339691162, 0.7983333468437195, 0.12905290722846985, 0.12132712453603745, 0.10555362701416016, 0.10555362701416016, 0.5023051500320435, 3.0568182468414307, 3.9167568683624268, 4.852499961853027, 5.397500038146973], "right": [0.008618856780230999, 0.007742363028228283, 0.008326692506670952, 0.009495350532233715, 0.009495350532233715, 0.008155220188200474, 0.006573704537004232, 0.008326692506670952, 0.009495350532233715, 0.00803452730178833, 0.0045285518281161785, 0.009495350532233715, 0.009203186258673668, 0.009203186258673668, 0.008326692506670952, 0.008618856780230999, 0.007742363028228283, 0.020086318254470825, 0.008618856780230999, 0.007158033549785614, 0.005697210319340229, 0.004820716567337513, 0.008326692506670952, 0.0074501982890069485, 0.013329880312085152, 0.009495350532233715, 0.0074501982890069485, 0.25, 0.4399999976158142, 0.4000000059604645, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.243333339691162, 3.9167568683624268, 4.726428508758545, 2.3248276710510254, 2.3248276710510254, 2.6312499046325684, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 2.3248276710510254, 2.3248276710510254, 2.6312499046325684, 1.9444444179534912, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 1.9444444179534912, 1.9444444179534912, 2.3248276710510254, 1.9444444179534912, 0.7983333468437195, 0.008911021053791046, 0.009495350532233715, 0.008326692506670952, 0.009495350532233715, 2.3248276710510254, 2.3248276710510254, 2.4899072647094727, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 0.7983333468437195, 0.7395936250686646, 0.011540503241121769, 0.009495350532233715, 0.010079680010676384, 0.00803452730178833, 0.006281539797782898, 0.0074501982890069485, 0.008618856780230999, 0.009787515737116337, 0.004820716567337513, 0.004820716567337513, 0.009495350532233715, 0.7983333468437195, 0.7983333468437195, 1.9444444179534912, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 1.9444444179534912, 2.243333339691162, 1.9444444179534912, 1.9444444179534912, 0.7983333468437195, 0.7983333468437195, 1.9444444179534912, 1.9444444179534912, 0.7983333468437195, 2.0569074153900146, 0.009203186258673668, 0.006281539797782898, 0.007158033549785614, 0.0068658688105642796, 0.4399999976158142, 0.7983333468437195, 2.3248276710510254, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.9167568683624268, 3.9167568683624268, 3.9167568683624268, 4.726428508758545, 4.852499961853027, 5.403749942779541, 5.486666679382324, 6.373636245727539, 6.519285678863525, 6.519285678863525, 6.519285678863525, 4.726428508758545, 1.9444444179534912, 0.009787515737116337, 0.24597197771072388, 0.007742363028228283, 0.009495350532233715, 0.27666667103767395, 0.7983333468437195, 0.27666667103767395, 0.5600000023841858, 1.9444444179534912]}, "long_curve": [{"video": {"psnr": 24.51818150357211, "ssim": 0.840010048069581, "lpips": 0.0880824476480484}, "wrist_left": {"psnr": 16.783088409987215, "ssim": 0.5437155597692509, "lpips": 0.2202986478805542}, "wrist_right": {"psnr": 21.55274958103437, "ssim": 0.801857892789523, "lpips": 0.21707084774971008}, "tactile_left": {"psnr": 36.808142946286445, "ssim": 0.9608854716190856, "lpips": 0.07838223874568939}, "tactile_right": {"psnr": 47.34174813091925, "ssim": 0.992539863486422, "lpips": 0.014402679167687893}}, {"video": {"psnr": 23.17269305648623, "ssim": 0.8038348532514934, "lpips": 0.12550199031829834}, "wrist_left": {"psnr": 16.28159844415427, "ssim": 0.5362837544915467, "lpips": 0.28023695945739746}, "wrist_right": {"psnr": 18.08455663967476, "ssim": 0.6711526072237094, "lpips": 0.37080836296081543}, "tactile_left": {"psnr": 35.04426152759984, "ssim": 0.9501917436450128, "lpips": 0.1295594424009323}, "tactile_right": {"psnr": 42.6729864866213, "ssim": 0.9863526949151988, "lpips": 0.028947997838258743}}, {"video": {"psnr": 22.93178665958038, "ssim": 0.7922733463818861, "lpips": 0.1566888689994812}, "wrist_left": {"psnr": 16.259939488968698, "ssim": 0.5254935283543749, "lpips": 0.31103619933128357}, "wrist_right": {"psnr": 16.914813217319747, "ssim": 0.6697559130370454, "lpips": 0.3498525619506836}, "tactile_left": {"psnr": 34.103386037753104, "ssim": 0.948007361359452, "lpips": 0.1545926034450531}, "tactile_right": {"psnr": 40.200604165172166, "ssim": 0.9823466636030223, "lpips": 0.050899334251880646}}, {"video": {"psnr": 23.846995349063658, "ssim": 0.8008100529770523, "lpips": 0.1471722424030304}, "wrist_left": {"psnr": 16.597943559337793, "ssim": 0.5390962520570216, "lpips": 0.2482365220785141}, "wrist_right": {"psnr": 15.2100280117602, "ssim": 0.5941375999648584, "lpips": 0.4081902503967285}, "tactile_left": {"psnr": 34.66937432884975, "ssim": 0.9568904373322287, "lpips": 0.1069551557302475}, "tactile_right": {"psnr": 37.12455367410877, "ssim": 0.9722787563202462, "lpips": 0.10565243661403656}}, {"video": {"psnr": 23.3112628313863, "ssim": 0.7806691117441904, "lpips": 0.1578630805015564}, "wrist_left": {"psnr": 15.787959934796094, "ssim": 0.52104248661463, "lpips": 0.2852035164833069}, "wrist_right": {"psnr": 14.977004232107774, "ssim": 0.5838128701695586, "lpips": 0.41842323541641235}, "tactile_left": {"psnr": 33.10887293123377, "ssim": 0.9504422183001213, "lpips": 0.15326005220413208}, "tactile_right": {"psnr": 37.0804951976278, "ssim": 0.9698654129356584, "lpips": 0.10936051607131958}}, {"video": {"psnr": 22.580525623553203, "ssim": 0.7630229970625628, "lpips": 0.17527155578136444}, "wrist_left": {"psnr": 15.918397432766284, "ssim": 0.6028414313552785, "lpips": 0.30094385147094727}, "wrist_right": {"psnr": 15.87204361292175, "ssim": 0.6154162408390772, "lpips": 0.40458258986473083}, "tactile_left": {"psnr": 34.481439222275625, "ssim": 0.9679773704857768, "lpips": 0.08511193096637726}, "tactile_right": {"psnr": 36.56916823061336, "ssim": 0.9733767141316465, "lpips": 0.09914824366569519}}, {"video": {"psnr": 22.392603327730836, "ssim": 0.7657819478475096, "lpips": 0.18997791409492493}, "wrist_left": {"psnr": 15.585465282183726, "ssim": 0.593584292108501, "lpips": 0.31057247519493103}, "wrist_right": {"psnr": 17.895081488188033, "ssim": 0.6696124956257308, "lpips": 0.3632795810699463}, "tactile_left": {"psnr": 31.18828160563457, "ssim": 0.9421994851388988, "lpips": 0.18057289719581604}, "tactile_right": {"psnr": 36.34199853113676, "ssim": 0.9742818176038239, "lpips": 0.0931391716003418}}, {"video": {"psnr": 22.145618616508, "ssim": 0.7515968532585549, "lpips": 0.20289519429206848}, "wrist_left": {"psnr": 15.210071302652906, "ssim": 0.5234579317750584, "lpips": 0.30266690254211426}, "wrist_right": {"psnr": 17.66657732298121, "ssim": 0.6866436549798239, "lpips": 0.37955647706985474}, "tactile_left": {"psnr": 29.587471252905118, "ssim": 0.9251777104013548, "lpips": 0.23634815216064453}, "tactile_right": {"psnr": 36.331518969500365, "ssim": 0.9722316579949752, "lpips": 0.11019876599311829}}, {"video": {"psnr": 21.951203444285067, "ssim": 0.7386472358131637, "lpips": 0.2256053239107132}, "wrist_left": {"psnr": 15.74265107337784, "ssim": 0.5894564961230467, "lpips": 0.3003413677215576}, "wrist_right": {"psnr": 13.690539108286007, "ssim": 0.5959405981087913, "lpips": 0.4144124686717987}, "tactile_left": {"psnr": 31.72228117479303, "ssim": 0.9535452675311864, "lpips": 0.1502513289451599}, "tactile_right": {"psnr": 35.848362824726735, "ssim": 0.9718850814606657, "lpips": 0.11195166409015656}}, {"video": {"psnr": 21.42987174222914, "ssim": 0.7202447470247635, "lpips": 0.234418123960495}, "wrist_left": {"psnr": 15.731436888009531, "ssim": 0.6081035398918003, "lpips": 0.3572150468826294}, "wrist_right": {"psnr": 15.097491009357187, "ssim": 0.6405316945244506, "lpips": 0.3643554449081421}, "tactile_left": {"psnr": 31.026413024545086, "ssim": 0.9506218680878533, "lpips": 0.1749638319015503}, "tactile_right": {"psnr": 34.43770322375501, "ssim": 0.9682103161080168, "lpips": 0.12630167603492737}}, {"video": {"psnr": 20.745628396258272, "ssim": 0.6986749375469725, "lpips": 0.26702022552490234}, "wrist_left": {"psnr": 14.52501622314313, "ssim": 0.5272195159713676, "lpips": 0.4108719825744629}, "wrist_right": {"psnr": 18.424375954284717, "ssim": 0.6882093153493776, "lpips": 0.37774425745010376}, "tactile_left": {"psnr": 30.012049609542906, "ssim": 0.9405006231065793, "lpips": 0.20073404908180237}, "tactile_right": {"psnr": 33.98041365733289, "ssim": 0.9659391387978188, "lpips": 0.14020371437072754}}, {"video": {"psnr": 20.933766079679728, "ssim": 0.7041472580965095, "lpips": 0.283605694770813}, "wrist_left": {"psnr": 13.612770838993988, "ssim": 0.4578053903682304, "lpips": 0.44146400690078735}, "wrist_right": {"psnr": 17.114315952608855, "ssim": 0.7014796727839757, "lpips": 0.35237783193588257}, "tactile_left": {"psnr": 30.445248193929757, "ssim": 0.9399877196286841, "lpips": 0.20587852597236633}, "tactile_right": {"psnr": 33.54310667984029, "ssim": 0.9629558474437416, "lpips": 0.16551834344863892}}, {"video": {"psnr": 20.838010899228657, "ssim": 0.701272082284728, "lpips": 0.27692174911499023}, "wrist_left": {"psnr": 13.0645777960528, "ssim": 0.4558451246970529, "lpips": 0.4373687505722046}, "wrist_right": {"psnr": 17.655603477629867, "ssim": 0.6620078575835412, "lpips": 0.39222949743270874}, "tactile_left": {"psnr": 30.0026382163462, "ssim": 0.9342705453678588, "lpips": 0.22934454679489136}, "tactile_right": {"psnr": 32.68746229154119, "ssim": 0.9522772809372044, "lpips": 0.22428017854690552}}, {"video": {"psnr": 20.672533756545725, "ssim": 0.690199650799736, "lpips": 0.2712963819503784}, "wrist_left": {"psnr": 12.394494021001154, "ssim": 0.43244116613372974, "lpips": 0.48050740361213684}, "wrist_right": {"psnr": 17.3732489001744, "ssim": 0.597669544736123, "lpips": 0.3878159523010254}, "tactile_left": {"psnr": 30.486061738482036, "ssim": 0.9397103438337926, "lpips": 0.23144999146461487}, "tactile_right": {"psnr": 32.09612751465306, "ssim": 0.9491958110703766, "lpips": 0.24807560443878174}}, {"video": {"psnr": 20.861661044721327, "ssim": 0.6918564894549413, "lpips": 0.2742941081523895}, "wrist_left": {"psnr": 12.725545756992496, "ssim": 0.4951585735643149, "lpips": 0.4309842586517334}, "wrist_right": {"psnr": 16.809831018740866, "ssim": 0.6657855700753325, "lpips": 0.34999173879623413}, "tactile_left": {"psnr": 31.301933785308268, "ssim": 0.949251872041954, "lpips": 0.221531942486763}, "tactile_right": {"psnr": 32.8198170153568, "ssim": 0.9570012826076274, "lpips": 0.22275643050670624}}], "long_metrics": {"video": {"psnr": 22.15548948872191, "ssim": 0.7495361074409097, "lpips": 0.20510766009489695}, "wrist_left": {"psnr": 15.081397096827862, "ssim": 0.5301030028850137, "lpips": 0.34119652609030404}, "wrist_right": {"psnr": 16.955883968471316, "ssim": 0.6562675685193946, "lpips": 0.3700460731983185}, "tactile_left": {"psnr": 32.265857039699036, "ssim": 0.9473106691919893, "lpips": 0.1692624459664027}, "tactile_right": {"psnr": 36.60507110619371, "ssim": 0.9700492226277629, "lpips": 0.12338911710927884}}}, {"id": "rope_30", "episode": "rope_0915_episode_001_seg02.pt", "requested_episode": "rope_0915_episode_001_seg02.pt", "category": "none", "t_start": 15, "start_seconds": 1.0, "short_contact": [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0], "future_transition_ticks": [], "long_contact_fraction": 0.765625, "long_label": "none_at_start", "short_metrics": {"video": {"psnr": 26.005716901239957, "ssim": 0.8995235767427258, "lpips": 0.0493115559220314}, "wrist_left": {"psnr": 17.995691024535926, "ssim": 0.6615765289945768, "lpips": 0.18359112739562988}, "wrist_right": {"psnr": 25.090132111527915, "ssim": 0.7917205306694718, "lpips": 0.0638982355594635}, "tactile_left": {"psnr": 50.62184903837399, "ssim": 0.9943795780407882, "lpips": 0.004121439531445503}, "tactile_right": {"psnr": 49.66891766860841, "ssim": 0.993476146293724, "lpips": 0.00518070999532938}}, "media": {"short": {"video": "media/rope_30_short.mp4", "poster": "media/rope_30_short.jpg"}, "long": {"video": "media/rope_30_long.mp4", "poster": "media/rope_30_long.jpg"}}, "force": {"source": "recorded_normal_force", "units": "N", "fps": 15, "left": [0.4000000059604645, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 2.259152412414551, 2.6312499046325684, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 2.3248276710510254, 0.7983333468437195, 0.1599999964237213, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.7983333468437195, 3.0568182468414307, 3.0568182468414307, 4.852499961853027, 5.397500038146973, 5.403749942779541, 5.403749942779541, 4.726428508758545, 4.726428508758545, 3.939981460571289, 3.9167568683624268, 3.0568182468414307, 3.0568182468414307, 3.9167568683624268, 3.0568182468414307, 3.0568182468414307, 0.7983333468437195, 0.4399999976158142, 0.03438200056552887, 0.013487945310771465, 0.01928228884935379, 0.028750743716955185, 0.011878404766321182, 0.017994657158851624, 0.012280790135264397, 0.00865932460874319, 0.07002616673707962, 0.07002616673707962, 0.0, 0.014775577001273632, 3.0568182468414307, 3.9167568683624268, 4.726428508758545, 4.852499961853027, 5.486666679382324, 5.486666679382324, 5.403749942779541, 4.726428508758545, 4.726428508758545, 4.852499961853027, 5.398543834686279, 5.397500038146973, 4.852499961853027, 4.726428508758545, 2.243333339691162, 0.09750593453645706, 0.09493066370487213, 0.07465046644210815, 0.07465046644210815, 0.0688561201095581, 0.09299921989440918, 0.05662361532449722, 0.0727190151810646, 0.049541641026735306, 0.05082927271723747, 0.03248051553964615, 0.049219731241464615, 0.04439111053943634, 0.024110909551382065, 0.03087097592651844, 2.3248276710510254, 2.3248276710510254, 3.0568182468414307, 3.0568182468414307, 4.726428508758545, 3.9167568683624268, 4.726428508758545, 4.726428508758545, 5.397500038146973, 4.726428508758545, 3.0568182468414307, 3.0568182468414307, 3.9167568683624268, 3.9167568683624268, 3.9167568683624268, 3.9167568683624268, 5.397500038146973, 4.852499961853027, 5.397500038146973, 5.4262471199035645, 6.373636245727539, 6.373636245727539, 6.373636245727539, 5.486666679382324], "right": [0.16768550872802734, 0.10829365998506546, 0.02289840392768383, 0.009495350532233715, 0.009495350532233715, 0.008326692506670952, 0.009787515737116337, 0.008618856780230999, 0.009495350532233715, 0.00803452730178833, 0.0068658688105642796, 0.0068658688105642796, 0.004820716567337513, 0.008326692506670952, 0.01301045622676611, 0.007742363028228283, 0.005405045580118895, 0.03221115097403526, 0.008326692506670952, 0.005405045580118895, 0.010664009489119053, 0.20931895077228546, 0.0074501982890069485, 0.009495350532233715, 2.3750722408294678, 1.7273036241531372, 1.9444444179534912, 1.9444444179534912, 1.9444444179534912, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.010371844284236431, 0.004820716567337513, 0.010079680010676384, 0.04300450533628464, 0.009495350532233715, 0.008326692506670952, 1.4468743801116943, 0.5838407874107361, 0.7983333468437195, 0.5600000023841858, 1.9444444179534912, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 1.9444444179534912, 0.12959733605384827, 0.012232792563736439, 0.009203186258673668, 0.0109561737626791, 0.006281539797782898, 0.009495350532233715, 0.00803452730178833, 0.00803452730178833, 1.9444444179534912, 1.9444444179534912, 2.3248276710510254, 4.726428508758545, 6.373636245727539, 6.373636245727539, 5.486666679382324, 5.403749942779541, 5.397500038146973, 5.397500038146973, 5.403749942779541, 5.403749942779541, 5.486666679382324, 5.486666679382324, 5.486666679382324, 6.373636245727539, 6.519285678863525, 6.519285678863525, 6.373636245727539, 5.486666679382324, 6.373636245727539, 5.486666679382324, 4.726428508758545, 0.2186279296875, 0.5221510529518127, 0.013585655950009823, 0.16741812229156494, 0.012124832719564438, 0.012124832719564438, 0.011248338967561722, 0.5288688540458679, 3.9167568683624268, 4.726428508758545, 4.726428508758545, 4.852499961853027, 5.397500038146973, 4.792734146118164, 4.852499961853027, 4.852499961853027, 5.486666679382324, 5.397500038146973, 4.852499961853027, 5.486666679382324, 5.486666679382324, 6.373636245727539, 5.403749942779541, 4.726428508758545, 4.726428508758545, 4.726428508758545, 4.726428508758545, 4.726428508758545, 4.726428508758545, 4.726428508758545, 4.852499961853027, 4.726428508758545, 4.726428508758545, 0.016215138137340546, 0.0109561737626791, 0.011248338967561722, 0.010371844284236431, 0.011832667514681816, 0.3498876988887787, 3.934600591659546, 4.726428508758545, 4.852499961853027, 5.436635494232178, 6.373636245727539, 6.373636245727539, 6.519285678863525, 6.519285678863525]}, "long_curve": [{"video": {"psnr": 26.005716901239957, "ssim": 0.8995235767427258, "lpips": 0.0493115559220314}, "wrist_left": {"psnr": 17.995691024535926, "ssim": 0.6615765289945768, "lpips": 0.18359112739562988}, "wrist_right": {"psnr": 25.090132111527915, "ssim": 0.7917205306694718, "lpips": 0.0638982355594635}, "tactile_left": {"psnr": 50.62184903837399, "ssim": 0.9943795780407882, "lpips": 0.004121439531445503}, "tactile_right": {"psnr": 49.66891766860841, "ssim": 0.993476146293724, "lpips": 0.00518070999532938}}, {"video": {"psnr": 23.997325348332943, "ssim": 0.8416688380083923, "lpips": 0.11168350279331207}, "wrist_left": {"psnr": 13.736793489176149, "ssim": 0.6210477272875417, "lpips": 0.4064874053001404}, "wrist_right": {"psnr": 22.82638854764639, "ssim": 0.7356540439917398, "lpips": 0.15028026700019836}, "tactile_left": {"psnr": 47.28159870804086, "ssim": 0.9911949843891128, "lpips": 0.010679232887923717}, "tactile_right": {"psnr": 46.24365116789883, "ssim": 0.9883932512181894, "lpips": 0.01648467779159546}}, {"video": {"psnr": 24.220621707002326, "ssim": 0.8284371977391688, "lpips": 0.12178343534469604}, "wrist_left": {"psnr": 12.270433677454708, "ssim": 0.5305521404828684, "lpips": 0.4541730284690857}, "wrist_right": {"psnr": 20.200537450858885, "ssim": 0.6596947671977447, "lpips": 0.18303409218788147}, "tactile_left": {"psnr": 36.55520357615965, "ssim": 0.9725494139040101, "lpips": 0.07232042402029037}, "tactile_right": {"psnr": 41.66584118504832, "ssim": 0.9838705367483846, "lpips": 0.033950284123420715}}, {"video": {"psnr": 23.34494398086204, "ssim": 0.7894619996825109, "lpips": 0.14532434940338135}, "wrist_left": {"psnr": 12.596416511935464, "ssim": 0.5279929424210591, "lpips": 0.4650624990463257}, "wrist_right": {"psnr": 19.268289114333047, "ssim": 0.6566269107641222, "lpips": 0.23738756775856018}, "tactile_left": {"psnr": 41.119364152096225, "ssim": 0.980047954878234, "lpips": 0.04723287373781204}, "tactile_right": {"psnr": 40.549671208347135, "ssim": 0.9812959512791986, "lpips": 0.047597602009773254}}, {"video": {"psnr": 22.52900079830313, "ssim": 0.760940840639702, "lpips": 0.18357689678668976}, "wrist_left": {"psnr": 12.866198439526828, "ssim": 0.5365863934201054, "lpips": 0.4639822244644165}, "wrist_right": {"psnr": 16.793912326661243, "ssim": 0.5859037168995045, "lpips": 0.2628997564315796}, "tactile_left": {"psnr": 37.45790627365683, "ssim": 0.9731825572877513, "lpips": 0.09289482980966568}, "tactile_right": {"psnr": 38.954662971497925, "ssim": 0.9753110801202569, "lpips": 0.09245965629816055}}, {"video": {"psnr": 22.728640403524526, "ssim": 0.7595337166326696, "lpips": 0.19452893733978271}, "wrist_left": {"psnr": 11.666928964951158, "ssim": 0.47718816484678706, "lpips": 0.4712968170642853}, "wrist_right": {"psnr": 17.713755259503905, "ssim": 0.6523078197991681, "lpips": 0.28831779956817627}, "tactile_left": {"psnr": 31.73038467978015, "ssim": 0.9456605663808746, "lpips": 0.20116370916366577}, "tactile_right": {"psnr": 39.360414552319625, "ssim": 0.9772812893768665, "lpips": 0.08496935665607452}}, {"video": {"psnr": 22.48960338714843, "ssim": 0.7543527933417915, "lpips": 0.2158777117729187}, "wrist_left": {"psnr": 11.43063995679059, "ssim": 0.46179891455142963, "lpips": 0.47551578283309937}, "wrist_right": {"psnr": 15.181556721645608, "ssim": 0.52921584591241, "lpips": 0.42372259497642517}, "tactile_left": {"psnr": 33.67117280583856, "ssim": 0.9604351242500568, "lpips": 0.16568690538406372}, "tactile_right": {"psnr": 37.68218304161129, "ssim": 0.9718663374497156, "lpips": 0.11512377858161926}}, {"video": {"psnr": 22.33953415409523, "ssim": 0.7575062918809222, "lpips": 0.2088744044303894}, "wrist_left": {"psnr": 11.340438715600023, "ssim": 0.41589577249627985, "lpips": 0.5188010334968567}, "wrist_right": {"psnr": 15.673385328037135, "ssim": 0.537113738671497, "lpips": 0.478805273771286}, "tactile_left": {"psnr": 37.68720390846248, "ssim": 0.9715233532165064, "lpips": 0.12011688947677612}, "tactile_right": {"psnr": 35.09398271668969, "ssim": 0.9591256337141867, "lpips": 0.15002749860286713}}, {"video": {"psnr": 22.444464370434897, "ssim": 0.7560782894622947, "lpips": 0.21345651149749756}, "wrist_left": {"psnr": 11.558292029896633, "ssim": 0.45409568494579844, "lpips": 0.49088168144226074}, "wrist_right": {"psnr": 15.866700706197225, "ssim": 0.533929450161726, "lpips": 0.5033512115478516}, "tactile_left": {"psnr": 34.411891467018656, "ssim": 0.9579372328618966, "lpips": 0.19848883152008057}, "tactile_right": {"psnr": 34.6593412322655, "ssim": 0.9576771877196673, "lpips": 0.16115175187587738}}, {"video": {"psnr": 22.416836852520294, "ssim": 0.7408492290546123, "lpips": 0.23559024930000305}, "wrist_left": {"psnr": 11.500685512184944, "ssim": 0.42094643902327916, "lpips": 0.49046334624290466}, "wrist_right": {"psnr": 15.848069671426018, "ssim": 0.609062073390313, "lpips": 0.4316534996032715}, "tactile_left": {"psnr": 33.3103297624893, "ssim": 0.9479818704533247, "lpips": 0.2294372171163559}, "tactile_right": {"psnr": 36.25702430333038, "ssim": 0.9691411679160926, "lpips": 0.1432824432849884}}, {"video": {"psnr": 21.84547190464815, "ssim": 0.7285500885773004, "lpips": 0.2659693956375122}, "wrist_left": {"psnr": 11.581724631895414, "ssim": 0.4261901602167275, "lpips": 0.5135249495506287}, "wrist_right": {"psnr": 15.639517263589969, "ssim": 0.5667941189420219, "lpips": 0.397183895111084}, "tactile_left": {"psnr": 35.556168046889326, "ssim": 0.9617448801254609, "lpips": 0.16331681609153748}, "tactile_right": {"psnr": 34.887767379888395, "ssim": 0.9589365366475495, "lpips": 0.19618858397006989}}, {"video": {"psnr": 21.620600120959796, "ssim": 0.726386684950707, "lpips": 0.2611171007156372}, "wrist_left": {"psnr": 11.91585255785067, "ssim": 0.4198329061148398, "lpips": 0.4819890856742859}, "wrist_right": {"psnr": 15.308463080762763, "ssim": 0.5430157892919398, "lpips": 0.3814297914505005}, "tactile_left": {"psnr": 35.460987918355215, "ssim": 0.9601142989786985, "lpips": 0.17739984393119812}, "tactile_right": {"psnr": 34.16892464461662, "ssim": 0.9518137389261045, "lpips": 0.2455773800611496}}, {"video": {"psnr": 21.78561023021112, "ssim": 0.7139572740710762, "lpips": 0.2601695656776428}, "wrist_left": {"psnr": 11.950736198012663, "ssim": 0.45527782200058153, "lpips": 0.47819972038269043}, "wrist_right": {"psnr": 15.339342698908665, "ssim": 0.5613782928750429, "lpips": 0.3594125509262085}, "tactile_left": {"psnr": 32.69164428394242, "ssim": 0.9454465757268421, "lpips": 0.2277900129556656}, "tactile_right": {"psnr": 34.243829815388324, "ssim": 0.9540974912525726, "lpips": 0.25508493185043335}}, {"video": {"psnr": 21.63319756485247, "ssim": 0.6993346632739519, "lpips": 0.2607383131980896}, "wrist_left": {"psnr": 11.878220823356587, "ssim": 0.43111436396784264, "lpips": 0.5075332522392273}, "wrist_right": {"psnr": 16.809382273590884, "ssim": 0.6687582612817482, "lpips": 0.3369970917701721}, "tactile_left": {"psnr": 32.723871830534314, "ssim": 0.9429368541715917, "lpips": 0.2334243804216385}, "tactile_right": {"psnr": 34.42132338155322, "ssim": 0.959206885897139, "lpips": 0.2205927073955536}}, {"video": {"psnr": 21.1679117598825, "ssim": 0.6772491646369982, "lpips": 0.25939443707466125}, "wrist_left": {"psnr": 12.247616859648637, "ssim": 0.45966439215824945, "lpips": 0.5081750154495239}, "wrist_right": {"psnr": 13.68659238747081, "ssim": 0.5975284190906154, "lpips": 0.40760472416877747}, "tactile_left": {"psnr": 33.03737103223893, "ssim": 0.9438483610177415, "lpips": 0.23565679788589478}, "tactile_right": {"psnr": 30.87214081600319, "ssim": 0.9359013002330363, "lpips": 0.3293980360031128}}], "long_metrics": {"video": {"psnr": 22.704631965601187, "ssim": 0.7622553765796549, "lpips": 0.19915975779294967}, "wrist_left": {"psnr": 12.435777959521094, "ssim": 0.48665069019519774, "lpips": 0.4606451312700907}, "wrist_right": {"psnr": 17.4164016628107, "ssim": 0.6152469185959377, "lpips": 0.3270652234554291}, "tactile_left": {"psnr": 36.88779649892513, "ssim": 0.9632655737121927, "lpips": 0.14531534692893425}, "tactile_right": {"psnr": 37.91531173900446, "ssim": 0.9678263023195123, "lpips": 0.13980462656666834}}}, {"id": "rope_31", "episode": "rope_0915_episode_001_seg02.pt", "requested_episode": "rope_0915_episode_001_seg02.pt", "category": "onset", "t_start": 28, "start_seconds": 1.8666666666666667, "short_contact": [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 1], "future_transition_ticks": [11], "long_contact_fraction": 0.8671875, "long_label": "onset", "short_metrics": {"video": {"psnr": 28.28378513709485, "ssim": 0.9051559213433733, "lpips": 0.04223667085170746}, "wrist_left": {"psnr": 17.62162136934411, "ssim": 0.6719630123007037, "lpips": 0.2238309532403946}, "wrist_right": {"psnr": 21.118588547236733, "ssim": 0.7115026571924161, "lpips": 0.14761632680892944}, "tactile_left": {"psnr": 38.172048046205816, "ssim": 0.9828003976486317, "lpips": 0.044878412038087845}, "tactile_right": {"psnr": 43.22510008494785, "ssim": 0.9890203506893396, "lpips": 0.02809581719338894}}, "media": {"short": {"video": "media/rope_31_short.mp4", "poster": "media/rope_31_short.jpg"}, "long": {"video": "media/rope_31_long.mp4", "poster": "media/rope_31_long.jpg"}}, "force": {"source": "recorded_normal_force", "units": "N", "fps": 15, "left": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 2.259152412414551, 2.6312499046325684, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 2.3248276710510254, 0.7983333468437195, 0.1599999964237213, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.7983333468437195, 3.0568182468414307, 3.0568182468414307, 4.852499961853027, 5.397500038146973, 5.403749942779541, 5.403749942779541, 4.726428508758545, 4.726428508758545, 3.939981460571289, 3.9167568683624268, 3.0568182468414307, 3.0568182468414307, 3.9167568683624268, 3.0568182468414307, 3.0568182468414307, 0.7983333468437195, 0.4399999976158142, 0.03438200056552887, 0.013487945310771465, 0.01928228884935379, 0.028750743716955185, 0.011878404766321182, 0.017994657158851624, 0.012280790135264397, 0.00865932460874319, 0.07002616673707962, 0.07002616673707962, 0.0, 0.014775577001273632, 3.0568182468414307, 3.9167568683624268, 4.726428508758545, 4.852499961853027, 5.486666679382324, 5.486666679382324, 5.403749942779541, 4.726428508758545, 4.726428508758545, 4.852499961853027, 5.398543834686279, 5.397500038146973, 4.852499961853027, 4.726428508758545, 2.243333339691162, 0.09750593453645706, 0.09493066370487213, 0.07465046644210815, 0.07465046644210815, 0.0688561201095581, 0.09299921989440918, 0.05662361532449722, 0.0727190151810646, 0.049541641026735306, 0.05082927271723747, 0.03248051553964615, 0.049219731241464615, 0.04439111053943634, 0.024110909551382065, 0.03087097592651844, 2.3248276710510254, 2.3248276710510254, 3.0568182468414307, 3.0568182468414307, 4.726428508758545, 3.9167568683624268, 4.726428508758545, 4.726428508758545, 5.397500038146973, 4.726428508758545, 3.0568182468414307, 3.0568182468414307, 3.9167568683624268, 3.9167568683624268, 3.9167568683624268, 3.9167568683624268, 5.397500038146973, 4.852499961853027, 5.397500038146973, 5.4262471199035645, 6.373636245727539, 6.373636245727539, 6.373636245727539, 5.486666679382324, 5.403749942779541, 5.397500038146973, 4.726428508758545, 4.852499961853027, 4.852499961853027, 3.9167568683624268, 0.7983333468437195, 3.1971428394317627, 0.28429606556892395, 0.024754725396633148, 0.017672749236226082, 0.015097484923899174, 0.02861762046813965], "right": [0.008326692506670952, 0.01301045622676611, 0.007742363028228283, 0.005405045580118895, 0.03221115097403526, 0.008326692506670952, 0.005405045580118895, 0.010664009489119053, 0.20931895077228546, 0.0074501982890069485, 0.009495350532233715, 2.3750722408294678, 1.7273036241531372, 1.9444444179534912, 1.9444444179534912, 1.9444444179534912, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.010371844284236431, 0.004820716567337513, 0.010079680010676384, 0.04300450533628464, 0.009495350532233715, 0.008326692506670952, 1.4468743801116943, 0.5838407874107361, 0.7983333468437195, 0.5600000023841858, 1.9444444179534912, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 1.9444444179534912, 0.12959733605384827, 0.012232792563736439, 0.009203186258673668, 0.0109561737626791, 0.006281539797782898, 0.009495350532233715, 0.00803452730178833, 0.00803452730178833, 1.9444444179534912, 1.9444444179534912, 2.3248276710510254, 4.726428508758545, 6.373636245727539, 6.373636245727539, 5.486666679382324, 5.403749942779541, 5.397500038146973, 5.397500038146973, 5.403749942779541, 5.403749942779541, 5.486666679382324, 5.486666679382324, 5.486666679382324, 6.373636245727539, 6.519285678863525, 6.519285678863525, 6.373636245727539, 5.486666679382324, 6.373636245727539, 5.486666679382324, 4.726428508758545, 0.2186279296875, 0.5221510529518127, 0.013585655950009823, 0.16741812229156494, 0.012124832719564438, 0.012124832719564438, 0.011248338967561722, 0.5288688540458679, 3.9167568683624268, 4.726428508758545, 4.726428508758545, 4.852499961853027, 5.397500038146973, 4.792734146118164, 4.852499961853027, 4.852499961853027, 5.486666679382324, 5.397500038146973, 4.852499961853027, 5.486666679382324, 5.486666679382324, 6.373636245727539, 5.403749942779541, 4.726428508758545, 4.726428508758545, 4.726428508758545, 4.726428508758545, 4.726428508758545, 4.726428508758545, 4.726428508758545, 4.852499961853027, 4.726428508758545, 4.726428508758545, 0.016215138137340546, 0.0109561737626791, 0.011248338967561722, 0.010371844284236431, 0.011832667514681816, 0.3498876988887787, 3.934600591659546, 4.726428508758545, 4.852499961853027, 5.436635494232178, 6.373636245727539, 6.373636245727539, 6.519285678863525, 6.519285678863525, 6.373636245727539, 5.486666679382324, 5.486666679382324, 5.403749942779541, 5.403749942779541, 5.403749942779541, 6.373636245727539, 6.760714054107666, 6.532158374786377, 6.519285678863525, 6.519285678863525, 6.519285678863525, 6.519285678863525]}, "long_curve": [{"video": {"psnr": 28.28378513709485, "ssim": 0.9051559213433733, "lpips": 0.04223667085170746}, "wrist_left": {"psnr": 17.62162136934411, "ssim": 0.6719630123007037, "lpips": 0.2238309532403946}, "wrist_right": {"psnr": 21.118588547236733, "ssim": 0.7115026571924161, "lpips": 0.14761632680892944}, "tactile_left": {"psnr": 38.172048046205816, "ssim": 0.9828003976486317, "lpips": 0.044878412038087845}, "tactile_right": {"psnr": 43.22510008494785, "ssim": 0.9890203506893396, "lpips": 0.02809581719338894}}, {"video": {"psnr": 25.64630589318928, "ssim": 0.8465052774829955, "lpips": 0.0786958858370781}, "wrist_left": {"psnr": 13.539407209744429, "ssim": 0.5490924520172998, "lpips": 0.36257728934288025}, "wrist_right": {"psnr": 18.369702223044943, "ssim": 0.6036987525626238, "lpips": 0.24821880459785461}, "tactile_left": {"psnr": 37.10941808933667, "ssim": 0.9693978069056084, "lpips": 0.0849994421005249}, "tactile_right": {"psnr": 39.205713981016586, "ssim": 0.9796691635356349, "lpips": 0.06575760245323181}}, {"video": {"psnr": 23.83208398074435, "ssim": 0.8002218342135283, "lpips": 0.10367846488952637}, "wrist_left": {"psnr": 16.19268804525014, "ssim": 0.6544679163032705, "lpips": 0.25659406185150146}, "wrist_right": {"psnr": 18.16553532047903, "ssim": 0.642243993200432, "lpips": 0.24976025521755219}, "tactile_left": {"psnr": 41.226317691971175, "ssim": 0.9805682721584198, "lpips": 0.033404767513275146}, "tactile_right": {"psnr": 39.40059824069713, "ssim": 0.981352569113102, "lpips": 0.03843334689736366}}, {"video": {"psnr": 23.8010197453001, "ssim": 0.7869558421567238, "lpips": 0.1196063756942749}, "wrist_left": {"psnr": 12.615018193652007, "ssim": 0.454143270915211, "lpips": 0.4165123403072357}, "wrist_right": {"psnr": 17.387355316156746, "ssim": 0.6288906352408593, "lpips": 0.2843469977378845}, "tactile_left": {"psnr": 31.92382521683871, "ssim": 0.946395873072097, "lpips": 0.18518531322479248}, "tactile_right": {"psnr": 36.987003049121576, "ssim": 0.9751486470979516, "lpips": 0.08172846585512161}}, {"video": {"psnr": 23.924879041994632, "ssim": 0.7855496871469365, "lpips": 0.1359993815422058}, "wrist_left": {"psnr": 12.954490192775022, "ssim": 0.4239635267033317, "lpips": 0.4051995873451233}, "wrist_right": {"psnr": 16.48868124540222, "ssim": 0.5922653156199037, "lpips": 0.33915969729423523}, "tactile_left": {"psnr": 29.550626265688678, "ssim": 0.9289552667154153, "lpips": 0.24819324910640717}, "tactile_right": {"psnr": 37.97103087389187, "ssim": 0.9775814315623472, "lpips": 0.062094878405332565}}, {"video": {"psnr": 23.44830756813112, "ssim": 0.778015796421093, "lpips": 0.137897327542305}, "wrist_left": {"psnr": 13.714263539273052, "ssim": 0.465718985291378, "lpips": 0.3772136867046356}, "wrist_right": {"psnr": 16.625939913807713, "ssim": 0.551449238139502, "lpips": 0.32848265767097473}, "tactile_left": {"psnr": 35.17048961561024, "ssim": 0.9655485958583123, "lpips": 0.11392589658498764}, "tactile_right": {"psnr": 34.539531544766874, "ssim": 0.9635036045676992, "lpips": 0.12763561308383942}}, {"video": {"psnr": 23.03093078055022, "ssim": 0.7678256728533885, "lpips": 0.14876802265644073}, "wrist_left": {"psnr": 13.360841954960259, "ssim": 0.4616700850946989, "lpips": 0.3765679895877838}, "wrist_right": {"psnr": 16.744693669403738, "ssim": 0.5219544604977485, "lpips": 0.32383495569229126}, "tactile_left": {"psnr": 32.47725684905279, "ssim": 0.9581452519119237, "lpips": 0.14323768019676208}, "tactile_right": {"psnr": 34.01357842390445, "ssim": 0.9580890422930468, "lpips": 0.13168096542358398}}, {"video": {"psnr": 23.439241753120236, "ssim": 0.765618468305838, "lpips": 0.1527130901813507}, "wrist_left": {"psnr": 13.121920067980927, "ssim": 0.4719139866759433, "lpips": 0.4315209686756134}, "wrist_right": {"psnr": 16.532737572123438, "ssim": 0.566615014415163, "lpips": 0.3568284213542938}, "tactile_left": {"psnr": 30.0516868593164, "ssim": 0.9403650407788551, "lpips": 0.20360516011714935}, "tactile_right": {"psnr": 34.869867794190085, "ssim": 0.9671138991200154, "lpips": 0.11618933081626892}}, {"video": {"psnr": 22.532786166649352, "ssim": 0.7321540583378667, "lpips": 0.17982815206050873}, "wrist_left": {"psnr": 12.525458545964401, "ssim": 0.474170745619418, "lpips": 0.414018452167511}, "wrist_right": {"psnr": 15.236170679569288, "ssim": 0.6180677964698462, "lpips": 0.39700788259506226}, "tactile_left": {"psnr": 32.48189261645016, "ssim": 0.9576737331220941, "lpips": 0.15065518021583557}, "tactile_right": {"psnr": 34.43646751306644, "ssim": 0.9667614379222593, "lpips": 0.12840014696121216}}, {"video": {"psnr": 21.728749529402837, "ssim": 0.7126778865286723, "lpips": 0.20292577147483826}, "wrist_left": {"psnr": 11.823625942654921, "ssim": 0.42271335920148817, "lpips": 0.4192173480987549}, "wrist_right": {"psnr": 14.658022303510588, "ssim": 0.5681838866299137, "lpips": 0.3846680521965027}, "tactile_left": {"psnr": 34.09071675776408, "ssim": 0.9664863786842866, "lpips": 0.1134854182600975}, "tactile_right": {"psnr": 33.316960233904176, "ssim": 0.9577785341738184, "lpips": 0.1796972155570984}}, {"video": {"psnr": 21.526195598341715, "ssim": 0.7023539828904849, "lpips": 0.204854816198349}, "wrist_left": {"psnr": 11.530132156849763, "ssim": 0.45997392932884096, "lpips": 0.4543558359146118}, "wrist_right": {"psnr": 13.782219951114008, "ssim": 0.5526709132571889, "lpips": 0.3881665766239166}, "tactile_left": {"psnr": 31.706144669616336, "ssim": 0.9517155808748241, "lpips": 0.17525584995746613}, "tactile_right": {"psnr": 32.89194680656121, "ssim": 0.9558656736372173, "lpips": 0.20665675401687622}}, {"video": {"psnr": 21.462699851751395, "ssim": 0.6944047439637719, "lpips": 0.20638109743595123}, "wrist_left": {"psnr": 11.624180951654374, "ssim": 0.452735842277923, "lpips": 0.44687941670417786}, "wrist_right": {"psnr": 15.026357605837593, "ssim": 0.6154407847593982, "lpips": 0.3729438781738281}, "tactile_left": {"psnr": 30.63098065250709, "ssim": 0.9428422717612281, "lpips": 0.21156570315361023}, "tactile_right": {"psnr": 32.62782875175438, "ssim": 0.9563834487723153, "lpips": 0.19981583952903748}}, {"video": {"psnr": 20.976685508119274, "ssim": 0.6604675080700879, "lpips": 0.2395792305469513}, "wrist_left": {"psnr": 11.940986907093196, "ssim": 0.4575878138055882, "lpips": 0.4420250356197357}, "wrist_right": {"psnr": 16.20724616093401, "ssim": 0.660170780651913, "lpips": 0.4209962487220764}, "tactile_left": {"psnr": 31.91313116691446, "ssim": 0.9506530041438125, "lpips": 0.1822890341281891}, "tactile_right": {"psnr": 30.669735844569253, "ssim": 0.9458409408139236, "lpips": 0.2454681098461151}}, {"video": {"psnr": 20.874385989503534, "ssim": 0.6549261325422641, "lpips": 0.25595974922180176}, "wrist_left": {"psnr": 13.987943416704173, "ssim": 0.5424023356685137, "lpips": 0.39515912532806396}, "wrist_right": {"psnr": 14.987384043083281, "ssim": 0.6038576081103624, "lpips": 0.4378633499145508}, "tactile_left": {"psnr": 32.36902835330763, "ssim": 0.9479059866939503, "lpips": 0.19011671841144562}, "tactile_right": {"psnr": 30.642933218094626, "ssim": 0.9417706228317673, "lpips": 0.2763671576976776}}, {"video": {"psnr": 20.709799812380666, "ssim": 0.6509974678815083, "lpips": 0.2663688361644745}, "wrist_left": {"psnr": 13.578933020817976, "ssim": 0.6418667578789281, "lpips": 0.3699941039085388}, "wrist_right": {"psnr": 15.12121401834226, "ssim": 0.5891694331496422, "lpips": 0.43133872747421265}, "tactile_left": {"psnr": 33.350985295475084, "ssim": 0.9557885948856566, "lpips": 0.17195165157318115}, "tactile_right": {"psnr": 29.522950352743663, "ssim": 0.9291414358549146, "lpips": 0.31468474864959717}}], "long_metrics": {"video": {"psnr": 23.014523757084905, "ssim": 0.749588685342569, "lpips": 0.16503285815318425}, "wrist_left": {"psnr": 13.342100767647915, "ssim": 0.5069589346055025, "lpips": 0.38611107965310415}, "wrist_right": {"psnr": 16.43012323800304, "ssim": 0.6017454179931275, "lpips": 0.34074885547161105}, "tactile_left": {"psnr": 33.48163654307036, "ssim": 0.9563494703476744, "lpips": 0.15018329843878747}, "tactile_right": {"psnr": 34.95474978088201, "ssim": 0.9630013867990235, "lpips": 0.14684706615904966}}}, {"id": "rope_32", "episode": "rope_0915_episode_001_seg02.pt", "requested_episode": "rope_0915_episode_001_seg02.pt", "category": "release", "t_start": 39, "start_seconds": 2.6, "short_contact": [1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 0, 0], "future_transition_ticks": [11], "long_contact_fraction": 0.953125, "long_label": "release", "short_metrics": {"video": {"psnr": 26.220884079652134, "ssim": 0.8735774376253541, "lpips": 0.052940212190151215}, "wrist_left": {"psnr": 20.30747533631837, "ssim": 0.7179747212602803, "lpips": 0.16118216514587402}, "wrist_right": {"psnr": 21.38044968643605, "ssim": 0.7319259748336795, "lpips": 0.16850313544273376}, "tactile_left": {"psnr": 43.83795078383849, "ssim": 0.9855125404723735, "lpips": 0.01440996490418911}, "tactile_right": {"psnr": 46.5474858020435, "ssim": 0.9903826524888679, "lpips": 0.008364522829651833}}, "media": {"short": {"video": "media/rope_32_short.mp4", "poster": "media/rope_32_short.jpg"}, "long": {"video": "media/rope_32_long.mp4", "poster": "media/rope_32_long.jpg"}}, "force": {"source": "recorded_normal_force", "units": "N", "fps": 15, "left": [0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 2.259152412414551, 2.6312499046325684, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 2.3248276710510254, 0.7983333468437195, 0.1599999964237213, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.7983333468437195, 3.0568182468414307, 3.0568182468414307, 4.852499961853027, 5.397500038146973, 5.403749942779541, 5.403749942779541, 4.726428508758545, 4.726428508758545, 3.939981460571289, 3.9167568683624268, 3.0568182468414307, 3.0568182468414307, 3.9167568683624268, 3.0568182468414307, 3.0568182468414307, 0.7983333468437195, 0.4399999976158142, 0.03438200056552887, 0.013487945310771465, 0.01928228884935379, 0.028750743716955185, 0.011878404766321182, 0.017994657158851624, 0.012280790135264397, 0.00865932460874319, 0.07002616673707962, 0.07002616673707962, 0.0, 0.014775577001273632, 3.0568182468414307, 3.9167568683624268, 4.726428508758545, 4.852499961853027, 5.486666679382324, 5.486666679382324, 5.403749942779541, 4.726428508758545, 4.726428508758545, 4.852499961853027, 5.398543834686279, 5.397500038146973, 4.852499961853027, 4.726428508758545, 2.243333339691162, 0.09750593453645706, 0.09493066370487213, 0.07465046644210815, 0.07465046644210815, 0.0688561201095581, 0.09299921989440918, 0.05662361532449722, 0.0727190151810646, 0.049541641026735306, 0.05082927271723747, 0.03248051553964615, 0.049219731241464615, 0.04439111053943634, 0.024110909551382065, 0.03087097592651844, 2.3248276710510254, 2.3248276710510254, 3.0568182468414307, 3.0568182468414307, 4.726428508758545, 3.9167568683624268, 4.726428508758545, 4.726428508758545, 5.397500038146973, 4.726428508758545, 3.0568182468414307, 3.0568182468414307, 3.9167568683624268, 3.9167568683624268, 3.9167568683624268, 3.9167568683624268, 5.397500038146973, 4.852499961853027, 5.397500038146973, 5.4262471199035645, 6.373636245727539, 6.373636245727539, 6.373636245727539, 5.486666679382324, 5.403749942779541, 5.397500038146973, 4.726428508758545, 4.852499961853027, 4.852499961853027, 3.9167568683624268, 0.7983333468437195, 3.1971428394317627, 0.28429606556892395, 0.024754725396633148, 0.017672749236226082, 0.015097484923899174, 0.02861762046813965, 0.017994657158851624, 1.9444444179534912, 6.519285678863525, 7.421786308288574, 7.75, 10.977499961853027, 12.227499961853027, 12.86941146850586, 12.86941146850586, 12.978333473205566, 12.86941146850586], "right": [2.3750722408294678, 1.7273036241531372, 1.9444444179534912, 1.9444444179534912, 1.9444444179534912, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.010371844284236431, 0.004820716567337513, 0.010079680010676384, 0.04300450533628464, 0.009495350532233715, 0.008326692506670952, 1.4468743801116943, 0.5838407874107361, 0.7983333468437195, 0.5600000023841858, 1.9444444179534912, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 1.9444444179534912, 0.12959733605384827, 0.012232792563736439, 0.009203186258673668, 0.0109561737626791, 0.006281539797782898, 0.009495350532233715, 0.00803452730178833, 0.00803452730178833, 1.9444444179534912, 1.9444444179534912, 2.3248276710510254, 4.726428508758545, 6.373636245727539, 6.373636245727539, 5.486666679382324, 5.403749942779541, 5.397500038146973, 5.397500038146973, 5.403749942779541, 5.403749942779541, 5.486666679382324, 5.486666679382324, 5.486666679382324, 6.373636245727539, 6.519285678863525, 6.519285678863525, 6.373636245727539, 5.486666679382324, 6.373636245727539, 5.486666679382324, 4.726428508758545, 0.2186279296875, 0.5221510529518127, 0.013585655950009823, 0.16741812229156494, 0.012124832719564438, 0.012124832719564438, 0.011248338967561722, 0.5288688540458679, 3.9167568683624268, 4.726428508758545, 4.726428508758545, 4.852499961853027, 5.397500038146973, 4.792734146118164, 4.852499961853027, 4.852499961853027, 5.486666679382324, 5.397500038146973, 4.852499961853027, 5.486666679382324, 5.486666679382324, 6.373636245727539, 5.403749942779541, 4.726428508758545, 4.726428508758545, 4.726428508758545, 4.726428508758545, 4.726428508758545, 4.726428508758545, 4.726428508758545, 4.852499961853027, 4.726428508758545, 4.726428508758545, 0.016215138137340546, 0.0109561737626791, 0.011248338967561722, 0.010371844284236431, 0.011832667514681816, 0.3498876988887787, 3.934600591659546, 4.726428508758545, 4.852499961853027, 5.436635494232178, 6.373636245727539, 6.373636245727539, 6.519285678863525, 6.519285678863525, 6.373636245727539, 5.486666679382324, 5.486666679382324, 5.403749942779541, 5.403749942779541, 5.403749942779541, 6.373636245727539, 6.760714054107666, 6.532158374786377, 6.519285678863525, 6.519285678863525, 6.519285678863525, 6.519285678863525, 6.519285678863525, 6.519285678863525, 6.51945686340332, 6.760714054107666, 6.760714054107666, 6.760714054107666, 6.760714054107666, 6.760714054107666, 6.760714054107666, 6.519285678863525, 3.9167568683624268]}, "long_curve": [{"video": {"psnr": 26.220884079652134, "ssim": 0.8735774376253541, "lpips": 0.052940212190151215}, "wrist_left": {"psnr": 20.30747533631837, "ssim": 0.7179747212602803, "lpips": 0.16118216514587402}, "wrist_right": {"psnr": 21.38044968643605, "ssim": 0.7319259748336795, "lpips": 0.16850313544273376}, "tactile_left": {"psnr": 43.83795078383849, "ssim": 0.9855125404723735, "lpips": 0.01440996490418911}, "tactile_right": {"psnr": 46.5474858020435, "ssim": 0.9903826524888679, "lpips": 0.008364522829651833}}, {"video": {"psnr": 24.04318903744596, "ssim": 0.8223250686567501, "lpips": 0.08526811003684998}, "wrist_left": {"psnr": 17.06810262871855, "ssim": 0.6337798630502681, "lpips": 0.25368234515190125}, "wrist_right": {"psnr": 19.5251624516512, "ssim": 0.6254686285896693, "lpips": 0.24594612419605255}, "tactile_left": {"psnr": 36.3300128513189, "ssim": 0.9715224711963515, "lpips": 0.08726241439580917}, "tactile_right": {"psnr": 41.190380130854216, "ssim": 0.9838655886746879, "lpips": 0.046598415821790695}}, {"video": {"psnr": 23.74654123482287, "ssim": 0.8098933626729676, "lpips": 0.09734377264976501}, "wrist_left": {"psnr": 15.385579446624092, "ssim": 0.5118740862602966, "lpips": 0.2933761477470398}, "wrist_right": {"psnr": 18.041714666037702, "ssim": 0.667835854897415, "lpips": 0.285785436630249}, "tactile_left": {"psnr": 31.381517792665093, "ssim": 0.9465526844626417, "lpips": 0.1812915802001953}, "tactile_right": {"psnr": 40.67688589452929, "ssim": 0.9827694313394646, "lpips": 0.046299781650304794}}, {"video": {"psnr": 23.472987753259005, "ssim": 0.7952881877241481, "lpips": 0.10798357427120209}, "wrist_left": {"psnr": 15.11473520089115, "ssim": 0.507470805610369, "lpips": 0.30576109886169434}, "wrist_right": {"psnr": 16.613735946576746, "ssim": 0.5818318582670321, "lpips": 0.31530702114105225}, "tactile_left": {"psnr": 33.47764442689085, "ssim": 0.9625049004111748, "lpips": 0.1252363920211792}, "tactile_right": {"psnr": 37.613735530086444, "ssim": 0.9751640852742487, "lpips": 0.08885951340198517}}, {"video": {"psnr": 23.242777517078327, "ssim": 0.8013282821867238, "lpips": 0.11219879984855652}, "wrist_left": {"psnr": 14.44430581076406, "ssim": 0.4742245460430051, "lpips": 0.3456016778945923}, "wrist_right": {"psnr": 18.57465800873546, "ssim": 0.6117683365691244, "lpips": 0.24546781182289124}, "tactile_left": {"psnr": 37.7926025672331, "ssim": 0.9749482756023018, "lpips": 0.06624478101730347}, "tactile_right": {"psnr": 34.96035354216394, "ssim": 0.9631323471261672, "lpips": 0.12160766124725342}}, {"video": {"psnr": 23.24935658843332, "ssim": 0.7900102613524482, "lpips": 0.11382272839546204}, "wrist_left": {"psnr": 15.139928277166568, "ssim": 0.5153183987716713, "lpips": 0.3125573694705963}, "wrist_right": {"psnr": 18.057649099573162, "ssim": 0.5799621859910196, "lpips": 0.2576696574687958}, "tactile_left": {"psnr": 32.91624782186877, "ssim": 0.9486275066094277, "lpips": 0.19812534749507904}, "tactile_right": {"psnr": 34.84714955000833, "ssim": 0.9628127122296439, "lpips": 0.12269704788923264}}, {"video": {"psnr": 23.59781525424505, "ssim": 0.7837833128310971, "lpips": 0.13121473789215088}, "wrist_left": {"psnr": 15.295792029013995, "ssim": 0.4827499594849162, "lpips": 0.3153358995914459}, "wrist_right": {"psnr": 17.921101527751276, "ssim": 0.6526165865564588, "lpips": 0.29182761907577515}, "tactile_left": {"psnr": 31.483863075096178, "ssim": 0.9330615089659294, "lpips": 0.26392441987991333}, "tactile_right": {"psnr": 36.67345772849237, "ssim": 0.97379170485129, "lpips": 0.08932659775018692}}, {"video": {"psnr": 22.943281170904438, "ssim": 0.7725474372670329, "lpips": 0.15377157926559448}, "wrist_left": {"psnr": 14.212513721736945, "ssim": 0.4792600451656567, "lpips": 0.3548929691314697}, "wrist_right": {"psnr": 15.243855254641145, "ssim": 0.5724463614772597, "lpips": 0.3565680980682373}, "tactile_left": {"psnr": 34.0371094420412, "ssim": 0.9628694908760463, "lpips": 0.13305634260177612}, "tactile_right": {"psnr": 35.75281575752855, "ssim": 0.9650397434344296, "lpips": 0.14033395051956177}}, {"video": {"psnr": 22.375950944002334, "ssim": 0.7548291613271536, "lpips": 0.1767786592245102}, "wrist_left": {"psnr": 13.843937783178923, "ssim": 0.48133250130084615, "lpips": 0.35164931416511536}, "wrist_right": {"psnr": 14.863087135075473, "ssim": 0.5402433611394482, "lpips": 0.3463625907897949}, "tactile_left": {"psnr": 34.120430197451284, "ssim": 0.9640840759895734, "lpips": 0.12149183452129364}, "tactile_right": {"psnr": 35.015401861133995, "ssim": 0.9585829014383471, "lpips": 0.18686312437057495}}, {"video": {"psnr": 22.512208803807326, "ssim": 0.744335769560565, "lpips": 0.1723819077014923}, "wrist_left": {"psnr": 14.564959706821426, "ssim": 0.5060251352323253, "lpips": 0.32450154423713684}, "wrist_right": {"psnr": 14.625348200551631, "ssim": 0.5448185577890984, "lpips": 0.341846764087677}, "tactile_left": {"psnr": 30.76727573404812, "ssim": 0.9377604486323746, "lpips": 0.21600686013698578}, "tactile_right": {"psnr": 34.89617481770984, "ssim": 0.959997167823064, "lpips": 0.19580091536045074}}, {"video": {"psnr": 22.339375513344994, "ssim": 0.7353959035304387, "lpips": 0.20478381216526031}, "wrist_left": {"psnr": 14.550968039903998, "ssim": 0.45759003179071667, "lpips": 0.34107303619384766}, "wrist_right": {"psnr": 16.645940066971818, "ssim": 0.661855146486839, "lpips": 0.3160225450992584}, "tactile_left": {"psnr": 31.21261079086768, "ssim": 0.9450973348392534, "lpips": 0.19363373517990112}, "tactile_right": {"psnr": 34.67566470261826, "ssim": 0.9640470022517208, "lpips": 0.16549813747406006}}, {"video": {"psnr": 21.91396946907556, "ssim": 0.7020201230283223, "lpips": 0.2156125009059906}, "wrist_left": {"psnr": 14.891914741428135, "ssim": 0.48429922944269793, "lpips": 0.3484746217727661}, "wrist_right": {"psnr": 14.74570552090861, "ssim": 0.6215730957459876, "lpips": 0.33403587341308594}, "tactile_left": {"psnr": 30.59891226331791, "ssim": 0.9419097405669616, "lpips": 0.201114684343338}, "tactile_right": {"psnr": 30.80976671872363, "ssim": 0.9391882141314418, "lpips": 0.2801607549190521}}, {"video": {"psnr": 21.78545821668266, "ssim": 0.6941520836416366, "lpips": 0.21731972694396973}, "wrist_left": {"psnr": 15.057964339568317, "ssim": 0.5616732461296531, "lpips": 0.3687601685523987}, "wrist_right": {"psnr": 15.282217604135832, "ssim": 0.6152040133555814, "lpips": 0.3058730363845825}, "tactile_left": {"psnr": 30.44083097646172, "ssim": 0.94467657613068, "lpips": 0.19358696043491364}, "tactile_right": {"psnr": 31.306862099984997, "ssim": 0.9409702543435643, "lpips": 0.28774112462997437}}, {"video": {"psnr": 21.533413317241063, "ssim": 0.6904503044722294, "lpips": 0.2320268452167511}, "wrist_left": {"psnr": 15.290143782294512, "ssim": 0.6412433334654544, "lpips": 0.3474159836769104}, "wrist_right": {"psnr": 14.879914999539574, "ssim": 0.5836908587680762, "lpips": 0.32323092222213745}, "tactile_left": {"psnr": 31.836187395131056, "ssim": 0.9562788008907682, "lpips": 0.17133590579032898}, "tactile_right": {"psnr": 29.919424439927926, "ssim": 0.9282675753584737, "lpips": 0.32669246196746826}}, {"video": {"psnr": 21.52620353958725, "ssim": 0.6868088016897957, "lpips": 0.23737967014312744}, "wrist_left": {"psnr": 14.926455798535184, "ssim": 0.5256737155351987, "lpips": 0.37539470195770264}, "wrist_right": {"psnr": 14.974985554528558, "ssim": 0.5761387394600079, "lpips": 0.3240205645561218}, "tactile_left": {"psnr": 25.664035640261886, "ssim": 0.8866555860803211, "lpips": 0.33435481786727905}, "tactile_right": {"psnr": 29.95667701185756, "ssim": 0.9262922503970589, "lpips": 0.33653268218040466}}], "long_metrics": {"video": {"psnr": 22.96689416263882, "ssim": 0.7637830331711108, "lpips": 0.15405510912338893}, "wrist_left": {"psnr": 15.339651776197616, "ssim": 0.5320326412362237, "lpips": 0.31997726957003275}, "wrist_right": {"psnr": 16.75836838154095, "ssim": 0.6111586373284464, "lpips": 0.2972311466932297}, "tactile_left": {"psnr": 33.05981545056615, "ssim": 0.950804129448412, "lpips": 0.166738402719299}, "tactile_right": {"psnr": 35.65614903917753, "ssim": 0.9609535754108314, "lpips": 0.1628917794674635}}}, {"id": "rope_33", "episode": "rope_0915_episode_001_seg02.pt", "requested_episode": "rope_0915_episode_001_seg02.pt", "category": "full", "t_start": 81, "start_seconds": 5.4, "short_contact": [1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1], "future_transition_ticks": [], "long_contact_fraction": 1.0, "long_label": "full", "short_metrics": {"video": {"psnr": 31.489261119553078, "ssim": 0.9368970830985701, "lpips": 0.025262102484703064}, "wrist_left": {"psnr": 23.222545397755447, "ssim": 0.7429448250360584, "lpips": 0.11351902782917023}, "wrist_right": {"psnr": 26.412295849722693, "ssim": 0.8514804484192129, "lpips": 0.05659464746713638}, "tactile_left": {"psnr": 34.67943938843971, "ssim": 0.9664306416966775, "lpips": 0.12768079340457916}, "tactile_right": {"psnr": 42.350565159640084, "ssim": 0.9828773483634157, "lpips": 0.02990819700062275}}, "media": {"short": {"video": "media/rope_33_short.mp4", "poster": "media/rope_33_short.jpg"}, "long": {"video": "media/rope_33_long.mp4", "poster": "media/rope_33_long.jpg"}}, "force": {"source": "recorded_normal_force", "units": "N", "fps": 15, "left": [0.011878404766321182, 0.017994657158851624, 0.012280790135264397, 0.00865932460874319, 0.07002616673707962, 0.07002616673707962, 0.0, 0.014775577001273632, 3.0568182468414307, 3.9167568683624268, 4.726428508758545, 4.852499961853027, 5.486666679382324, 5.486666679382324, 5.403749942779541, 4.726428508758545, 4.726428508758545, 4.852499961853027, 5.398543834686279, 5.397500038146973, 4.852499961853027, 4.726428508758545, 2.243333339691162, 0.09750593453645706, 0.09493066370487213, 0.07465046644210815, 0.07465046644210815, 0.0688561201095581, 0.09299921989440918, 0.05662361532449722, 0.0727190151810646, 0.049541641026735306, 0.05082927271723747, 0.03248051553964615, 0.049219731241464615, 0.04439111053943634, 0.024110909551382065, 0.03087097592651844, 2.3248276710510254, 2.3248276710510254, 3.0568182468414307, 3.0568182468414307, 4.726428508758545, 3.9167568683624268, 4.726428508758545, 4.726428508758545, 5.397500038146973, 4.726428508758545, 3.0568182468414307, 3.0568182468414307, 3.9167568683624268, 3.9167568683624268, 3.9167568683624268, 3.9167568683624268, 5.397500038146973, 4.852499961853027, 5.397500038146973, 5.4262471199035645, 6.373636245727539, 6.373636245727539, 6.373636245727539, 5.486666679382324, 5.403749942779541, 5.397500038146973, 4.726428508758545, 4.852499961853027, 4.852499961853027, 3.9167568683624268, 0.7983333468437195, 3.1971428394317627, 0.28429606556892395, 0.024754725396633148, 0.017672749236226082, 0.015097484923899174, 0.02861762046813965, 0.017994657158851624, 1.9444444179534912, 6.519285678863525, 7.421786308288574, 7.75, 10.977499961853027, 12.227499961853027, 12.86941146850586, 12.86941146850586, 12.978333473205566, 12.86941146850586, 12.86941146850586, 10.977499961853027, 10.78499984741211, 10.243043899536133, 7.75, 7.488461494445801, 7.130000114440918, 6.760714054107666, 3.92262601852417, 0.1599999964237213, 0.1274433732032776, 0.10297836363315582, 0.09267731010913849, 0.0765819102525711, 0.06338368356227875, 0.49152109026908875, 6.373636245727539, 6.760714054107666, 7.629856586456299, 7.783597469329834, 10.243043899536133, 10.243043899536133, 6.760714054107666, 5.486666679382324, 5.486666679382324, 5.486666679382324, 6.373636245727539, 6.519285678863525, 6.519285678863525, 6.519285678863525, 6.760714054107666, 6.760714054107666, 6.843999862670898, 7.229073524475098, 7.2215375900268555, 7.130000114440918, 6.760714054107666, 6.760714054107666, 6.519285678863525, 3.0568182468414307, 3.0568182468414307, 0.1599999964237213], "right": [5.397500038146973, 5.397500038146973, 5.403749942779541, 5.403749942779541, 5.486666679382324, 5.486666679382324, 5.486666679382324, 6.373636245727539, 6.519285678863525, 6.519285678863525, 6.373636245727539, 5.486666679382324, 6.373636245727539, 5.486666679382324, 4.726428508758545, 0.2186279296875, 0.5221510529518127, 0.013585655950009823, 0.16741812229156494, 0.012124832719564438, 0.012124832719564438, 0.011248338967561722, 0.5288688540458679, 3.9167568683624268, 4.726428508758545, 4.726428508758545, 4.852499961853027, 5.397500038146973, 4.792734146118164, 4.852499961853027, 4.852499961853027, 5.486666679382324, 5.397500038146973, 4.852499961853027, 5.486666679382324, 5.486666679382324, 6.373636245727539, 5.403749942779541, 4.726428508758545, 4.726428508758545, 4.726428508758545, 4.726428508758545, 4.726428508758545, 4.726428508758545, 4.726428508758545, 4.852499961853027, 4.726428508758545, 4.726428508758545, 0.016215138137340546, 0.0109561737626791, 0.011248338967561722, 0.010371844284236431, 0.011832667514681816, 0.3498876988887787, 3.934600591659546, 4.726428508758545, 4.852499961853027, 5.436635494232178, 6.373636245727539, 6.373636245727539, 6.519285678863525, 6.519285678863525, 6.373636245727539, 5.486666679382324, 5.486666679382324, 5.403749942779541, 5.403749942779541, 5.403749942779541, 6.373636245727539, 6.760714054107666, 6.532158374786377, 6.519285678863525, 6.519285678863525, 6.519285678863525, 6.519285678863525, 6.519285678863525, 6.519285678863525, 6.51945686340332, 6.760714054107666, 6.760714054107666, 6.760714054107666, 6.760714054107666, 6.760714054107666, 6.760714054107666, 6.519285678863525, 3.9167568683624268, 0.07143425196409225, 0.043138254433870316, 0.0109561737626791, 0.008911021053791046, 0.009495350532233715, 0.02702522836625576, 4.852499961853027, 6.519285678863525, 7.130000114440918, 7.488461494445801, 7.645045280456543, 7.488461494445801, 7.488461494445801, 7.230000019073486, 7.202531814575195, 7.130000114440918, 7.130000114440918, 7.130000114440918, 6.519285678863525, 0.1599999964237213, 0.6170876026153564, 0.05972214415669441, 0.3840615153312683, 0.04010388255119324, 0.1331479400396347, 2.3248276710510254, 2.6312499046325684, 3.0568182468414307, 4.726428508758545, 5.486666679382324, 6.519285678863525, 6.519285678863525, 6.519285678863525, 6.519285678863525, 6.519285678863525, 6.519285678863525, 6.519285678863525, 6.373636245727539, 6.519285678863525, 6.519285678863525, 6.519285678863525, 6.519285678863525]}, "long_curve": [{"video": {"psnr": 31.489261119553078, "ssim": 0.9368970830985701, "lpips": 0.025262102484703064}, "wrist_left": {"psnr": 23.222545397755447, "ssim": 0.7429448250360584, "lpips": 0.11351902782917023}, "wrist_right": {"psnr": 26.412295849722693, "ssim": 0.8514804484192129, "lpips": 0.05659464746713638}, "tactile_left": {"psnr": 34.67943938843971, "ssim": 0.9664306416966775, "lpips": 0.12768079340457916}, "tactile_right": {"psnr": 42.350565159640084, "ssim": 0.9828773483634157, "lpips": 0.02990819700062275}}, {"video": {"psnr": 25.75865113949191, "ssim": 0.837095648306262, "lpips": 0.0891822949051857}, "wrist_left": {"psnr": 20.33790761886488, "ssim": 0.6406478383415368, "lpips": 0.15445254743099213}, "wrist_right": {"psnr": 17.966964726663555, "ssim": 0.6484303435381064, "lpips": 0.2798376679420471}, "tactile_left": {"psnr": 33.690436618085734, "ssim": 0.9577531188807477, "lpips": 0.1288578361272812}, "tactile_right": {"psnr": 41.02363881147342, "ssim": 0.9818331168316502, "lpips": 0.045519739389419556}}, {"video": {"psnr": 23.43972384177674, "ssim": 0.7933591733032421, "lpips": 0.12317101657390594}, "wrist_left": {"psnr": 17.19656929714539, "ssim": 0.5502361053498322, "lpips": 0.24768701195716858}, "wrist_right": {"psnr": 16.8981159170856, "ssim": 0.5885098526739048, "lpips": 0.36409831047058105}, "tactile_left": {"psnr": 40.873226692789146, "ssim": 0.9771101250176668, "lpips": 0.03783932328224182}, "tactile_right": {"psnr": 37.5391317413426, "ssim": 0.9702403898789049, "lpips": 0.1083499938249588}}, {"video": {"psnr": 23.119329635579547, "ssim": 0.785012545894431, "lpips": 0.1398800015449524}, "wrist_left": {"psnr": 15.276087399888405, "ssim": 0.508873072951509, "lpips": 0.27719515562057495}, "wrist_right": {"psnr": 16.610618103775376, "ssim": 0.5574660739293316, "lpips": 0.3584982454776764}, "tactile_left": {"psnr": 35.21166124422841, "ssim": 0.965107292868326, "lpips": 0.10329502075910568}, "tactile_right": {"psnr": 36.222973302198, "ssim": 0.9654626746416803, "lpips": 0.14553749561309814}}, {"video": {"psnr": 23.98511573547686, "ssim": 0.7894312238157677, "lpips": 0.12886857986450195}, "wrist_left": {"psnr": 16.64788245710447, "ssim": 0.5061434891451713, "lpips": 0.261126846075058}, "wrist_right": {"psnr": 17.318315429827607, "ssim": 0.5529955835513998, "lpips": 0.3419789671897888}, "tactile_left": {"psnr": 29.04711033374191, "ssim": 0.9167679992586363, "lpips": 0.28625842928886414}, "tactile_right": {"psnr": 36.725133119202496, "ssim": 0.9656218417845874, "lpips": 0.1448765993118286}}, {"video": {"psnr": 23.37341066562488, "ssim": 0.7573557437167165, "lpips": 0.16935884952545166}, "wrist_left": {"psnr": 16.76052945695611, "ssim": 0.48744783227918764, "lpips": 0.26053646206855774}, "wrist_right": {"psnr": 19.010383452587934, "ssim": 0.692470818955151, "lpips": 0.28737229108810425}, "tactile_left": {"psnr": 28.919935259514723, "ssim": 0.9162518625329913, "lpips": 0.2762755751609802}, "tactile_right": {"psnr": 35.31653544712065, "ssim": 0.9675559646881984, "lpips": 0.1267538070678711}}, {"video": {"psnr": 23.186604180767304, "ssim": 0.7377977120255295, "lpips": 0.176264226436615}, "wrist_left": {"psnr": 17.236547750480252, "ssim": 0.5333350375942223, "lpips": 0.26984214782714844}, "wrist_right": {"psnr": 18.449734552134565, "ssim": 0.6214678208550504, "lpips": 0.30912572145462036}, "tactile_left": {"psnr": 29.07439075219145, "ssim": 0.9219362167096138, "lpips": 0.2809394896030426}, "tactile_right": {"psnr": 31.44733756484909, "ssim": 0.9408568214473603, "lpips": 0.2411891222000122}}, {"video": {"psnr": 22.721470546381546, "ssim": 0.7282762606295214, "lpips": 0.18473508954048157}, "wrist_left": {"psnr": 15.4259114508094, "ssim": 0.5965160075972951, "lpips": 0.34541958570480347}, "wrist_right": {"psnr": 18.015725156495662, "ssim": 0.5882246902623092, "lpips": 0.32300901412963867}, "tactile_left": {"psnr": 30.50058925589405, "ssim": 0.9357023711420934, "lpips": 0.2362932711839676}, "tactile_right": {"psnr": 31.336153125124582, "ssim": 0.9365293886149831, "lpips": 0.23821166157722473}}, {"video": {"psnr": 22.598929499931508, "ssim": 0.7159682310022684, "lpips": 0.19191592931747437}, "wrist_left": {"psnr": 16.104880464181964, "ssim": 0.6459074116314338, "lpips": 0.3019050657749176}, "wrist_right": {"psnr": 17.55203769490643, "ssim": 0.5601722273287746, "lpips": 0.33085137605667114}, "tactile_left": {"psnr": 29.76099050492902, "ssim": 0.9328712130658932, "lpips": 0.2151579111814499}, "tactile_right": {"psnr": 30.129330461104576, "ssim": 0.9318910569871692, "lpips": 0.23282891511917114}}, {"video": {"psnr": 22.83879164581426, "ssim": 0.7155319695002282, "lpips": 0.18684659898281097}, "wrist_left": {"psnr": 14.11009122154274, "ssim": 0.5469464427576826, "lpips": 0.3826276659965515}, "wrist_right": {"psnr": 17.288383703885167, "ssim": 0.5833550308341777, "lpips": 0.33599168062210083}, "tactile_left": {"psnr": 24.58567504602989, "ssim": 0.8644669736449646, "lpips": 0.3129235804080963}, "tactile_right": {"psnr": 31.08734954620992, "ssim": 0.9433400148107509, "lpips": 0.20270855724811554}}, {"video": {"psnr": 22.741317750223523, "ssim": 0.729542212160075, "lpips": 0.1993471086025238}, "wrist_left": {"psnr": 14.329707935381787, "ssim": 0.5651818381321192, "lpips": 0.37921977043151855}, "wrist_right": {"psnr": 17.80412763865144, "ssim": 0.632100481595528, "lpips": 0.3091530203819275}, "tactile_left": {"psnr": 27.606672260424546, "ssim": 0.9189995014741343, "lpips": 0.2561839818954468}, "tactile_right": {"psnr": 32.509266287072954, "ssim": 0.953779970300416, "lpips": 0.19485266506671906}}, {"video": {"psnr": 22.17546226469875, "ssim": 0.7228034951703596, "lpips": 0.2179468274116516}, "wrist_left": {"psnr": 14.35819115958907, "ssim": 0.5579746284461782, "lpips": 0.3708929121494293}, "wrist_right": {"psnr": 16.87668793930524, "ssim": 0.5709948625842702, "lpips": 0.3337300717830658}, "tactile_left": {"psnr": 33.48692070915128, "ssim": 0.9593161276252846, "lpips": 0.17948894202709198}, "tactile_right": {"psnr": 30.91811407789622, "ssim": 0.9318715610480253, "lpips": 0.2766989469528198}}, {"video": {"psnr": 22.676336892921146, "ssim": 0.7265689080378208, "lpips": 0.2187134325504303}, "wrist_left": {"psnr": 12.845611229758433, "ssim": 0.5042751898958945, "lpips": 0.42698195576667786}, "wrist_right": {"psnr": 16.08706725976819, "ssim": 0.6395204983383831, "lpips": 0.34163933992385864}, "tactile_left": {"psnr": 28.6700366674392, "ssim": 0.9217420902682641, "lpips": 0.29958203434944153}, "tactile_right": {"psnr": 33.25263248453346, "ssim": 0.961191538530068, "lpips": 0.15555092692375183}}, {"video": {"psnr": 22.665979146798996, "ssim": 0.7266297710533145, "lpips": 0.2256675362586975}, "wrist_left": {"psnr": 13.368331838044769, "ssim": 0.4938283662726544, "lpips": 0.42150190472602844}, "wrist_right": {"psnr": 13.656571253933741, "ssim": 0.5258264436998572, "lpips": 0.40869641304016113}, "tactile_left": {"psnr": 28.638835425743906, "ssim": 0.9104181114498717, "lpips": 0.31024977564811707}, "tactile_right": {"psnr": 31.54411496563664, "ssim": 0.9458724402969654, "lpips": 0.24122962355613708}}, {"video": {"psnr": 22.405594388581576, "ssim": 0.7187340305459399, "lpips": 0.23596283793449402}, "wrist_left": {"psnr": 12.855724570974552, "ssim": 0.4893846905913967, "lpips": 0.4341188371181488}, "wrist_right": {"psnr": 13.27286734530557, "ssim": 0.4856165921853052, "lpips": 0.448614239692688}, "tactile_left": {"psnr": 30.145346859280618, "ssim": 0.9270091063289467, "lpips": 0.2856249511241913}, "tactile_right": {"psnr": 30.972495077863897, "ssim": 0.934767660360579, "lpips": 0.2714576721191406}}], "long_metrics": {"video": {"psnr": 23.678398563574774, "ssim": 0.7614002672173364, "lpips": 0.16754149546225866}, "wrist_left": {"psnr": 16.005101283231845, "ssim": 0.5579761850681447, "lpips": 0.3098017930984497}, "wrist_right": {"psnr": 17.547993068269918, "ssim": 0.6065754512500507, "lpips": 0.32194606711467105}, "tactile_left": {"psnr": 30.992751134525573, "ssim": 0.9327921834642742, "lpips": 0.22244339436292648}, "tactile_right": {"psnr": 34.15831807808457, "ssim": 0.9542461192389836, "lpips": 0.1770449281980594}}}], "split": "mixed_rope_wrist_holdout.json", "unavailable": [{"episode": "rope_0911_episode_002_seg01.pt", "category": "none", "reason": "No qualifying initial window"}, {"episode": "rope_0915_episode_001_seg00.pt", "category": "none", "reason": "No qualifying initial window"}], "complete": true}, {"id": "pusht_e013", "label": "PushT", "checkpoint": "epoch_013.pt", "run": "nano_action_causal_pusht_v1", "planned_cases": 30, "cases": [{"id": "pusht_e013_00", "episode": "pushT_0911_episode_005_seg00.pt", "requested_episode": "pushT_0911_episode_005_seg00.pt", "category": "none", "t_start": 377, "start_seconds": 25.133333333333333, "short_contact": [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0], "future_transition_ticks": [], "long_contact_fraction": 0.0, "long_label": "none_throughout", "short_metrics": {"video": {"psnr": 32.96142172467705, "ssim": 0.9579599315833393, "lpips": 0.01962859556078911}, "wrist_left": {"psnr": 22.353450371530684, "ssim": 0.830806688282135, "lpips": 0.09928681701421738}, "wrist_right": {"psnr": 32.7883829782872, "ssim": 0.9649786038169847, "lpips": 0.015885451808571815}, "tactile_left": {"psnr": 50.097250661795925, "ssim": 0.9924258191593425, "lpips": 0.005483081564307213}, "tactile_right": {"psnr": 51.08402586492182, "ssim": 0.994812045527409, "lpips": 0.0036390156019479036}}, "media": {"short": {"video": "media/pusht_e013_00_short.mp4", "poster": "media/pusht_e013_00_short.jpg"}, "long": {"video": "media/pusht_e013_00_long.mp4", "poster": "media/pusht_e013_00_long.jpg"}}, "force": {"source": "recorded_normal_force", "units": "N", "fps": 15, "left": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "right": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]}, "long_curve": [{"video": {"psnr": 32.96142172467705, "ssim": 0.9579599315833393, "lpips": 0.01962859556078911}, "wrist_left": {"psnr": 22.353450371530684, "ssim": 0.830806688282135, "lpips": 0.09928681701421738}, "wrist_right": {"psnr": 32.7883829782872, "ssim": 0.9649786038169847, "lpips": 0.015885451808571815}, "tactile_left": {"psnr": 50.097250661795925, "ssim": 0.9924258191593425, "lpips": 0.005483081564307213}, "tactile_right": {"psnr": 51.08402586492182, "ssim": 0.994812045527409, "lpips": 0.0036390156019479036}}, {"video": {"psnr": 29.783558577030874, "ssim": 0.922003992091021, "lpips": 0.03519938141107559}, "wrist_left": {"psnr": 19.877246545141453, "ssim": 0.7528678075796531, "lpips": 0.1384943425655365}, "wrist_right": {"psnr": 29.216144357936727, "ssim": 0.9076622494020282, "lpips": 0.03578078746795654}, "tactile_left": {"psnr": 47.51425473838337, "ssim": 0.9898396118050392, "lpips": 0.011279694736003876}, "tactile_right": {"psnr": 48.543866023984705, "ssim": 0.9904728723510925, "lpips": 0.011701419949531555}}, {"video": {"psnr": 29.535308638372328, "ssim": 0.914240781673094, "lpips": 0.03638710826635361}, "wrist_left": {"psnr": 11.743071576158986, "ssim": 0.5986451968895994, "lpips": 0.38675451278686523}, "wrist_right": {"psnr": 28.36217086712866, "ssim": 0.8907613859618557, "lpips": 0.04390937462449074}, "tactile_left": {"psnr": 44.89580641894985, "ssim": 0.9874150919553574, "lpips": 0.0199979729950428}, "tactile_right": {"psnr": 44.607061984927306, "ssim": 0.9872100698075699, "lpips": 0.024329904466867447}}, {"video": {"psnr": 28.52465612640259, "ssim": 0.8981084982624948, "lpips": 0.04452359676361084}, "wrist_left": {"psnr": 8.470573341811857, "ssim": 0.4381388303230417, "lpips": 0.6067919731140137}, "wrist_right": {"psnr": 28.619410293358953, "ssim": 0.8977500479173304, "lpips": 0.04701975733041763}, "tactile_left": {"psnr": 43.287923087082305, "ssim": 0.9843529927508023, "lpips": 0.03256096690893173}, "tactile_right": {"psnr": 42.378745716436796, "ssim": 0.9846986662262245, "lpips": 0.03953087702393532}}, {"video": {"psnr": 26.380056648619025, "ssim": 0.8743174087169476, "lpips": 0.07134620100259781}, "wrist_left": {"psnr": 8.631611698943885, "ssim": 0.43273467696448564, "lpips": 0.5683099627494812}, "wrist_right": {"psnr": 27.875878077086867, "ssim": 0.8694506443230665, "lpips": 0.05211562290787697}, "tactile_left": {"psnr": 40.98900386838057, "ssim": 0.9778545898667905, "lpips": 0.04891963675618172}, "tactile_right": {"psnr": 41.44002229250113, "ssim": 0.9827781479323995, "lpips": 0.06035041809082031}}, {"video": {"psnr": 23.137471483481402, "ssim": 0.8114671923558054, "lpips": 0.13451732695102692}, "wrist_left": {"psnr": 8.785180032272024, "ssim": 0.41598577453003005, "lpips": 0.5250685811042786}, "wrist_right": {"psnr": 25.797186898330622, "ssim": 0.82336045901572, "lpips": 0.07122823596000671}, "tactile_left": {"psnr": 39.778518316751565, "ssim": 0.976466462032659, "lpips": 0.06395171582698822}, "tactile_right": {"psnr": 40.80674769081537, "ssim": 0.98304359116026, "lpips": 0.05922262743115425}}, {"video": {"psnr": 24.239588542172527, "ssim": 0.8076193258931861, "lpips": 0.09514494240283966}, "wrist_left": {"psnr": 8.753737416821462, "ssim": 0.44072397657204965, "lpips": 0.5744516849517822}, "wrist_right": {"psnr": 18.440915611196505, "ssim": 0.7461572108382143, "lpips": 0.20374704897403717}, "tactile_left": {"psnr": 38.978212144494954, "ssim": 0.9752657101770519, "lpips": 0.07763829827308655}, "tactile_right": {"psnr": 39.45283481355696, "ssim": 0.9814513591410758, "lpips": 0.07246989011764526}}, {"video": {"psnr": 23.690958033545915, "ssim": 0.7864254580153427, "lpips": 0.10284209251403809}, "wrist_left": {"psnr": 8.475331171424, "ssim": 0.4058590798297916, "lpips": 0.6112951040267944}, "wrist_right": {"psnr": 14.071726456904717, "ssim": 0.6599330511675161, "lpips": 0.3574036955833435}, "tactile_left": {"psnr": 38.15772045150551, "ssim": 0.9724999371949612, "lpips": 0.09074001759290695}, "tactile_right": {"psnr": 38.959168862509806, "ssim": 0.9792948620788443, "lpips": 0.08854037523269653}}, {"video": {"psnr": 24.131269492469713, "ssim": 0.7967230133985244, "lpips": 0.10087805986404419}, "wrist_left": {"psnr": 8.68059818165012, "ssim": 0.41585667792403014, "lpips": 0.5823978185653687}, "wrist_right": {"psnr": 11.912183985261347, "ssim": 0.6009453582040091, "lpips": 0.4562414288520813}, "tactile_left": {"psnr": 37.605691387272316, "ssim": 0.9703697865206894, "lpips": 0.10346776247024536}, "tactile_right": {"psnr": 38.426238723380685, "ssim": 0.9774673433741784, "lpips": 0.10458166897296906}}, {"video": {"psnr": 23.20967745735858, "ssim": 0.7991052304360425, "lpips": 0.13021539151668549}, "wrist_left": {"psnr": 8.849465296392987, "ssim": 0.4074681160501813, "lpips": 0.530648946762085}, "wrist_right": {"psnr": 12.04028878198373, "ssim": 0.5466007417792758, "lpips": 0.500993013381958}, "tactile_left": {"psnr": 36.97500745774349, "ssim": 0.9682079058913355, "lpips": 0.11703772842884064}, "tactile_right": {"psnr": 37.324944806373914, "ssim": 0.9743397181283832, "lpips": 0.13201174139976501}}, {"video": {"psnr": 22.63142790221625, "ssim": 0.789206074106416, "lpips": 0.1474633812904358}, "wrist_left": {"psnr": 8.841715896711714, "ssim": 0.42136033068914736, "lpips": 0.5377837419509888}, "wrist_right": {"psnr": 9.693690297878437, "ssim": 0.44437058869273455, "lpips": 0.5598589181900024}, "tactile_left": {"psnr": 36.553023567321155, "ssim": 0.96677571154834, "lpips": 0.12875649333000183}, "tactile_right": {"psnr": 36.41054955902003, "ssim": 0.9719279946393077, "lpips": 0.13369864225387573}}, {"video": {"psnr": 21.314368474788136, "ssim": 0.7751331610184081, "lpips": 0.18594859540462494}, "wrist_left": {"psnr": 9.005935453259873, "ssim": 0.43467010732943423, "lpips": 0.5518423318862915}, "wrist_right": {"psnr": 8.312392947085053, "ssim": 0.3888887477034122, "lpips": 0.6010353565216064}, "tactile_left": {"psnr": 36.117439274830296, "ssim": 0.9652358796049705, "lpips": 0.14241620898246765}, "tactile_right": {"psnr": 36.03761856541573, "ssim": 0.9694113143141803, "lpips": 0.15483294427394867}}, {"video": {"psnr": 21.203927796817815, "ssim": 0.7751477478615718, "lpips": 0.18155205249786377}, "wrist_left": {"psnr": 11.174515880326991, "ssim": 0.5776733792295645, "lpips": 0.41959506273269653}, "wrist_right": {"psnr": 8.735208315661493, "ssim": 0.36133608475908413, "lpips": 0.5690423250198364}, "tactile_left": {"psnr": 35.55549181208275, "ssim": 0.9636025965921126, "lpips": 0.15052765607833862}, "tactile_right": {"psnr": 35.5355014725927, "ssim": 0.9650477597716383, "lpips": 0.18096280097961426}}, {"video": {"psnr": 21.11551241978802, "ssim": 0.7723460301000112, "lpips": 0.1846189796924591}, "wrist_left": {"psnr": 15.103558029567077, "ssim": 0.6836254583523071, "lpips": 0.261576771736145}, "wrist_right": {"psnr": 8.942504966066144, "ssim": 0.3499506135960352, "lpips": 0.5862148404121399}, "tactile_left": {"psnr": 34.830138673274, "ssim": 0.9608735902853425, "lpips": 0.16162678599357605}, "tactile_right": {"psnr": 35.0215749058137, "ssim": 0.9631512600455363, "lpips": 0.18977679312229156}}, {"video": {"psnr": 20.758375218818294, "ssim": 0.7498255723161695, "lpips": 0.20148509740829468}, "wrist_left": {"psnr": 13.563148563971843, "ssim": 0.6471558112620337, "lpips": 0.29520267248153687}, "wrist_right": {"psnr": 8.549087804916, "ssim": 0.4019237897011299, "lpips": 0.5626057386398315}, "tactile_left": {"psnr": 34.19379913371501, "ssim": 0.9585211455911076, "lpips": 0.1712620109319687}, "tactile_right": {"psnr": 34.73046310654127, "ssim": 0.9619897131184658, "lpips": 0.205910325050354}}], "long_metrics": {"video": {"psnr": 24.841171902437235, "ssim": 0.8286419611885584, "lpips": 0.11145005350311597}, "wrist_left": {"psnr": 11.487275963732332, "ssim": 0.526904794120499, "lpips": 0.4459666882952054}, "wrist_right": {"psnr": 18.223811509272164, "ssim": 0.6569379717918931, "lpips": 0.31087210637827717}, "tactile_left": {"psnr": 39.70195206623887, "ssim": 0.9739804553983935, "lpips": 0.08837773539125919}, "tactile_right": {"psnr": 40.05062429258613, "ssim": 0.9778064478411044, "lpips": 0.09743729626449446}}}, {"id": "pusht_e013_01", "episode": "pushT_0911_episode_005_seg00.pt", "requested_episode": "pushT_0911_episode_005_seg00.pt", "category": "onset", "t_start": 1182, "start_seconds": 78.8, "short_contact": [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 1], "future_transition_ticks": [11], "long_contact_fraction": 0.1015625, "long_label": "onset", "short_metrics": {"video": {"psnr": 31.541389972600204, "ssim": 0.9443188644673316, "lpips": 0.022496826946735382}, "wrist_left": {"psnr": 23.504464070319543, "ssim": 0.8643226357510767, "lpips": 0.04467476159334183}, "wrist_right": {"psnr": 22.85210587138653, "ssim": 0.8018886036689452, "lpips": 0.10670549422502518}, "tactile_left": {"psnr": 42.10059166288684, "ssim": 0.9762289201053644, "lpips": 0.035781245678663254}, "tactile_right": {"psnr": 49.026721870190116, "ssim": 0.9931313036429976, "lpips": 0.006944783963263035}}, "media": {"short": {"video": "media/pusht_e013_01_short.mp4", "poster": "media/pusht_e013_01_short.jpg"}, "long": {"video": "media/pusht_e013_01_long.mp4", "poster": "media/pusht_e013_01_long.jpg"}}, "force": {"source": "recorded_normal_force", "units": "N", "fps": 15, "left": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.1599999964237213, 0.171951562166214, 0.41999998688697815, 0.4661288559436798, 1.9833333492279053, 1.369855284690857, 1.9833333492279053, 1.9833333492279053, 2.636666774749756, 2.4529788494110107, 2.4149999618530273, 1.5254545211791992, 2.2579867839813232, 1.1733332872390747, 0.5622534155845642, 0.4395720362663269, 0.30081647634506226, 0.16153956949710846, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.1599999964237213, 0.2090778648853302, 0.1599999964237213, 0.27586397528648376, 0.4815323054790497, 1.1662499904632568, 0.7360104918479919, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.1599999964237213, 0.1599999964237213, 0.1599999964237213, 0.1599999964237213, 0.1599999964237213, 0.1599999964237213, 0.1599999964237213, 0.1599999964237213, 0.0, 0.0, 0.0, 0.1599999964237213, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "right": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.1599999964237213, 0.1599999964237213, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]}, "long_curve": [{"video": {"psnr": 31.541389972600204, "ssim": 0.9443188644673316, "lpips": 0.022496826946735382}, "wrist_left": {"psnr": 23.504464070319543, "ssim": 0.8643226357510767, "lpips": 0.04467476159334183}, "wrist_right": {"psnr": 22.85210587138653, "ssim": 0.8018886036689452, "lpips": 0.10670549422502518}, "tactile_left": {"psnr": 42.10059166288684, "ssim": 0.9762289201053644, "lpips": 0.035781245678663254}, "tactile_right": {"psnr": 49.026721870190116, "ssim": 0.9931313036429976, "lpips": 0.006944783963263035}}, {"video": {"psnr": 26.978354761687676, "ssim": 0.8904771865443684, "lpips": 0.05465206503868103}, "wrist_left": {"psnr": 21.421128617372425, "ssim": 0.7956764353956547, "lpips": 0.0779513344168663}, "wrist_right": {"psnr": 16.177408575300806, "ssim": 0.6619353351996284, "lpips": 0.28984349966049194}, "tactile_left": {"psnr": 40.48766041789542, "ssim": 0.9698967678575814, "lpips": 0.059925489127635956}, "tactile_right": {"psnr": 46.48607512893906, "ssim": 0.9884032582249018, "lpips": 0.021516213193535805}}, {"video": {"psnr": 24.008379215803338, "ssim": 0.8409936692858582, "lpips": 0.10316409170627594}, "wrist_left": {"psnr": 16.45054288728305, "ssim": 0.6892686634852866, "lpips": 0.2490282505750656}, "wrist_right": {"psnr": 14.88034221447933, "ssim": 0.6293283977619655, "lpips": 0.32636141777038574}, "tactile_left": {"psnr": 40.584753569347725, "ssim": 0.9766296783237971, "lpips": 0.05425601452589035}, "tactile_right": {"psnr": 44.147680851872906, "ssim": 0.9858924090553207, "lpips": 0.0265338197350502}}, {"video": {"psnr": 21.667453614266627, "ssim": 0.8065551440416884, "lpips": 0.1476234793663025}, "wrist_left": {"psnr": 12.618900136644422, "ssim": 0.6408338423407872, "lpips": 0.3841579556465149}, "wrist_right": {"psnr": 17.213980711126563, "ssim": 0.6673130527699656, "lpips": 0.21250329911708832}, "tactile_left": {"psnr": 41.021351286057154, "ssim": 0.9796978104983485, "lpips": 0.04189453274011612}, "tactile_right": {"psnr": 42.03231651122972, "ssim": 0.9822935166762634, "lpips": 0.040490373969078064}}, {"video": {"psnr": 21.285046381344287, "ssim": 0.7886620414854378, "lpips": 0.1782553791999817}, "wrist_left": {"psnr": 13.611068778271196, "ssim": 0.626534774656099, "lpips": 0.3297930359840393}, "wrist_right": {"psnr": 14.428380564427727, "ssim": 0.6718128011236874, "lpips": 0.29082369804382324}, "tactile_left": {"psnr": 39.94628056632522, "ssim": 0.9791613125609806, "lpips": 0.048895351588726044}, "tactile_right": {"psnr": 40.80462983405623, "ssim": 0.9784263103427298, "lpips": 0.06801315397024155}}, {"video": {"psnr": 21.43244901162955, "ssim": 0.7729513996671061, "lpips": 0.20566968619823456}, "wrist_left": {"psnr": 15.591658419789196, "ssim": 0.6428220841336559, "lpips": 0.31092923879623413}, "wrist_right": {"psnr": 14.011844128087006, "ssim": 0.6584719427357408, "lpips": 0.3811952471733093}, "tactile_left": {"psnr": 38.720859082119475, "ssim": 0.9771002926960839, "lpips": 0.057787902653217316}, "tactile_right": {"psnr": 40.78468337539597, "ssim": 0.9818894052354068, "lpips": 0.05365549027919769}}, {"video": {"psnr": 20.82959486927511, "ssim": 0.7652573332776273, "lpips": 0.21353916823863983}, "wrist_left": {"psnr": 15.286986383322258, "ssim": 0.6097000624985158, "lpips": 0.2973976135253906}, "wrist_right": {"psnr": 13.088086814347244, "ssim": 0.6356048389169199, "lpips": 0.40375256538391113}, "tactile_left": {"psnr": 37.907782645667645, "ssim": 0.9719522854456362, "lpips": 0.07851853966712952}, "tactile_right": {"psnr": 40.008983526805565, "ssim": 0.9815781340629977, "lpips": 0.06066453084349632}}, {"video": {"psnr": 19.78104894006718, "ssim": 0.7427319454877591, "lpips": 0.2649703323841095}, "wrist_left": {"psnr": 16.0366421649649, "ssim": 0.6118925822078418, "lpips": 0.3020493984222412}, "wrist_right": {"psnr": 14.353552602890606, "ssim": 0.6758604644506593, "lpips": 0.3096034824848175}, "tactile_left": {"psnr": 36.751185549497045, "ssim": 0.9693199762382516, "lpips": 0.08867311477661133}, "tactile_right": {"psnr": 39.76268646820159, "ssim": 0.9797869276974076, "lpips": 0.07636456191539764}}, {"video": {"psnr": 19.720981448917165, "ssim": 0.7469310481186808, "lpips": 0.27337974309921265}, "wrist_left": {"psnr": 10.976261942043788, "ssim": 0.48435197665068674, "lpips": 0.4920448362827301}, "wrist_right": {"psnr": 17.111885966677846, "ssim": 0.7166947348880676, "lpips": 0.26248523592948914}, "tactile_left": {"psnr": 36.65631616649144, "ssim": 0.9686215988452469, "lpips": 0.09394372999668121}, "tactile_right": {"psnr": 39.28506194513892, "ssim": 0.9779731154369066, "lpips": 0.08923724293708801}}, {"video": {"psnr": 20.644835058620686, "ssim": 0.7461120358573914, "lpips": 0.26179617643356323}, "wrist_left": {"psnr": 10.817152884262827, "ssim": 0.4580881889959756, "lpips": 0.49932271242141724}, "wrist_right": {"psnr": 20.904877966676338, "ssim": 0.7483877481746262, "lpips": 0.2133205235004425}, "tactile_left": {"psnr": 35.95484126859395, "ssim": 0.9584555406036128, "lpips": 0.10913197696208954}, "tactile_right": {"psnr": 38.325286347653176, "ssim": 0.9757749461815808, "lpips": 0.10947969555854797}}, {"video": {"psnr": 20.562586212708858, "ssim": 0.7384191657569892, "lpips": 0.26353034377098083}, "wrist_left": {"psnr": 11.600856698445618, "ssim": 0.4290760319907539, "lpips": 0.4622091054916382}, "wrist_right": {"psnr": 21.847279447646393, "ssim": 0.7520370021811029, "lpips": 0.19497597217559814}, "tactile_left": {"psnr": 35.44935820862865, "ssim": 0.9653056351213538, "lpips": 0.09746332466602325}, "tactile_right": {"psnr": 37.212359510787216, "ssim": 0.9737465534854887, "lpips": 0.12640473246574402}}, {"video": {"psnr": 18.723650874361436, "ssim": 0.7158784068854168, "lpips": 0.3346668481826782}, "wrist_left": {"psnr": 9.212794626521445, "ssim": 0.4038130542546685, "lpips": 0.617797315120697}, "wrist_right": {"psnr": 19.92143308644662, "ssim": 0.7476835914693676, "lpips": 0.2672901749610901}, "tactile_left": {"psnr": 35.40305873193467, "ssim": 0.9678270576812726, "lpips": 0.10855455696582794}, "tactile_right": {"psnr": 36.29872752077717, "ssim": 0.9714005754710107, "lpips": 0.14464432001113892}}, {"video": {"psnr": 18.702986409863932, "ssim": 0.7157448857561308, "lpips": 0.3121609389781952}, "wrist_left": {"psnr": 10.028461231289693, "ssim": 0.4012399784748051, "lpips": 0.5688691139221191}, "wrist_right": {"psnr": 14.085885390133372, "ssim": 0.6944206430668638, "lpips": 0.35457077622413635}, "tactile_left": {"psnr": 35.00514035090661, "ssim": 0.9656014360111417, "lpips": 0.11599066853523254}, "tactile_right": {"psnr": 35.973319533785656, "ssim": 0.9689674728371118, "lpips": 0.1612454652786255}}, {"video": {"psnr": 19.3679519186934, "ssim": 0.7408410474858491, "lpips": 0.2751258909702301}, "wrist_left": {"psnr": 10.07033772003475, "ssim": 0.4019841993551297, "lpips": 0.5944601893424988}, "wrist_right": {"psnr": 9.629812751676823, "ssim": 0.4495181654468512, "lpips": 0.5870134234428406}, "tactile_left": {"psnr": 34.62335475753751, "ssim": 0.9632186825195141, "lpips": 0.13126713037490845}, "tactile_right": {"psnr": 35.57784555183224, "ssim": 0.9666857546664362, "lpips": 0.17735108733177185}}, {"video": {"psnr": 19.477497627295026, "ssim": 0.7390654731293578, "lpips": 0.2874818444252014}, "wrist_left": {"psnr": 9.516885972043664, "ssim": 0.39667303319798086, "lpips": 0.5925245881080627}, "wrist_right": {"psnr": 10.011210603226202, "ssim": 0.44867527842778787, "lpips": 0.579023003578186}, "tactile_left": {"psnr": 34.214499442001554, "ssim": 0.9614877855248197, "lpips": 0.14380498230457306}, "tactile_right": {"psnr": 35.11258962281551, "ssim": 0.9633445874259411, "lpips": 0.20236200094223022}}], "long_metrics": {"video": {"psnr": 21.6482804211423, "ssim": 0.7796626431497996, "lpips": 0.21323418766260147}, "wrist_left": {"psnr": 13.782942835507251, "ssim": 0.5637518362259278, "lpips": 0.3882139633099238}, "wrist_right": {"psnr": 16.034539112968627, "ssim": 0.6639755066854786, "lpips": 0.3186311875780424}, "tactile_left": {"psnr": 37.65513558039273, "ssim": 0.9700336520022004, "lpips": 0.08439257070422172}, "tactile_right": {"psnr": 40.05593117329874, "ssim": 0.9779529513628334, "lpips": 0.09099383149296045}}}, {"id": "pusht_e013_02", "episode": "pushT_0911_episode_005_seg00.pt", "requested_episode": "pushT_0911_episode_005_seg00.pt", "category": "release", "t_start": 165, "start_seconds": 11.0, "short_contact": [1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 0, 0], "future_transition_ticks": [11], "long_contact_fraction": 0.1796875, "long_label": "release", "short_metrics": {"video": {"psnr": 33.738833168883964, "ssim": 0.9657206000834713, "lpips": 0.013678166083991528}, "wrist_left": {"psnr": 25.202259759451096, "ssim": 0.890175971934541, "lpips": 0.03736285865306854}, "wrist_right": {"psnr": 30.506189423245715, "ssim": 0.9303336218526402, "lpips": 0.020722178742289543}, "tactile_left": {"psnr": 42.89509665688627, "ssim": 0.9860510247183645, "lpips": 0.030237173661589622}, "tactile_right": {"psnr": 50.78195188494669, "ssim": 0.994653505731146, "lpips": 0.003938806243240833}}, "media": {"short": {"video": "media/pusht_e013_02_short.mp4", "poster": "media/pusht_e013_02_short.jpg"}, "long": {"video": "media/pusht_e013_02_long.mp4", "poster": "media/pusht_e013_02_long.jpg"}}, "force": {"source": "recorded_normal_force", "units": "N", "fps": 15, "left": [2.8207693099975586, 2.9424359798431396, 2.9424359798431396, 5.145384788513184, 5.145384788513184, 5.259615421295166, 5.259615421295166, 5.259615421295166, 5.145384788513184, 2.9424359798431396, 1.1662499904632568, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.26624512672424316, 0.26624512672424316, 1.4500000476837158, 2.636666774749756, 2.8207693099975586, 2.9424359798431396, 2.636666774749756, 1.1662499904632568, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "right": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.2771686911582947, 0.38957640528678894, 0.4353572428226471, 0.7372764348983765, 1.1662499904632568, 1.1662499904632568, 1.1662499904632568, 1.1662499904632568, 1.1662499904632568, 0.4212776720523834, 0.35074925422668457, 0.2692723274230957, 0.16934654116630554, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]}, "long_curve": [{"video": {"psnr": 33.738833168883964, "ssim": 0.9657206000834713, "lpips": 0.013678166083991528}, "wrist_left": {"psnr": 25.202259759451096, "ssim": 0.890175971934541, "lpips": 0.03736285865306854}, "wrist_right": {"psnr": 30.506189423245715, "ssim": 0.9303336218526402, "lpips": 0.020722178742289543}, "tactile_left": {"psnr": 42.89509665688627, "ssim": 0.9860510247183645, "lpips": 0.030237173661589622}, "tactile_right": {"psnr": 50.78195188494669, "ssim": 0.994653505731146, "lpips": 0.003938806243240833}}, {"video": {"psnr": 30.943592181404917, "ssim": 0.9400326227962895, "lpips": 0.02491413615643978}, "wrist_left": {"psnr": 20.905867498721133, "ssim": 0.7862397124388336, "lpips": 0.08855581283569336}, "wrist_right": {"psnr": 21.162086442296392, "ssim": 0.8152629726607299, "lpips": 0.10417905449867249}, "tactile_left": {"psnr": 45.59220525769945, "ssim": 0.9853472082864396, "lpips": 0.03168666735291481}, "tactile_right": {"psnr": 48.36644729314316, "ssim": 0.9901938488676391, "lpips": 0.012177949771285057}}, {"video": {"psnr": 29.525366254133104, "ssim": 0.9233067864436142, "lpips": 0.033164139837026596}, "wrist_left": {"psnr": 19.98102253399412, "ssim": 0.7307163103354604, "lpips": 0.14711332321166992}, "wrist_right": {"psnr": 19.832139692965114, "ssim": 0.7817050061237344, "lpips": 0.13963228464126587}, "tactile_left": {"psnr": 38.22508109346504, "ssim": 0.9705221714541806, "lpips": 0.12297998368740082}, "tactile_right": {"psnr": 45.5769346635541, "ssim": 0.9876260600996564, "lpips": 0.031671542674303055}}, {"video": {"psnr": 27.633417654675014, "ssim": 0.8887094977967244, "lpips": 0.04787634313106537}, "wrist_left": {"psnr": 14.28848590395291, "ssim": 0.6126083718709519, "lpips": 0.32821589708328247}, "wrist_right": {"psnr": 20.651205315267667, "ssim": 0.7977877984658225, "lpips": 0.13107731938362122}, "tactile_left": {"psnr": 40.91917205266351, "ssim": 0.976294394776291, "lpips": 0.07512412220239639}, "tactile_right": {"psnr": 39.89015959255149, "ssim": 0.9755484374252523, "lpips": 0.12317214906215668}}, {"video": {"psnr": 25.749800847289947, "ssim": 0.8506445096111346, "lpips": 0.07142405956983566}, "wrist_left": {"psnr": 11.097794581295899, "ssim": 0.5356354104458185, "lpips": 0.4900732636451721}, "wrist_right": {"psnr": 19.202438714788144, "ssim": 0.7681579850956003, "lpips": 0.15657711029052734}, "tactile_left": {"psnr": 40.699859450666395, "ssim": 0.9761631481761276, "lpips": 0.06524326652288437}, "tactile_right": {"psnr": 41.34000402411087, "ssim": 0.9791823331957502, "lpips": 0.08034738898277283}}, {"video": {"psnr": 25.50090555615826, "ssim": 0.8370748996692727, "lpips": 0.09648708999156952}, "wrist_left": {"psnr": 10.156786693450858, "ssim": 0.475707635895922, "lpips": 0.5360196232795715}, "wrist_right": {"psnr": 13.972608956098105, "ssim": 0.5691220503115668, "lpips": 0.3816024363040924}, "tactile_left": {"psnr": 39.676128757167774, "ssim": 0.9744959138282177, "lpips": 0.07171978056430817}, "tactile_right": {"psnr": 42.05758657855149, "ssim": 0.9829052990155622, "lpips": 0.053103622049093246}}, {"video": {"psnr": 25.511991792131834, "ssim": 0.8320031318341874, "lpips": 0.08873634785413742}, "wrist_left": {"psnr": 10.399079073725936, "ssim": 0.44254232692334766, "lpips": 0.4932079315185547}, "wrist_right": {"psnr": 11.990507815320129, "ssim": 0.4812225423116871, "lpips": 0.441672146320343}, "tactile_left": {"psnr": 38.95227065830944, "ssim": 0.972846862812466, "lpips": 0.08258192241191864}, "tactile_right": {"psnr": 41.21580465743985, "ssim": 0.9819712925461721, "lpips": 0.06218094006180763}}, {"video": {"psnr": 24.576646909034462, "ssim": 0.81568624471431, "lpips": 0.09483975172042847}, "wrist_left": {"psnr": 12.522459063588604, "ssim": 0.5114061970569741, "lpips": 0.43036118149757385}, "wrist_right": {"psnr": 11.603137278739446, "ssim": 0.4814566899114765, "lpips": 0.4590422213077545}, "tactile_left": {"psnr": 38.028389309529985, "ssim": 0.969708905157441, "lpips": 0.09808824956417084}, "tactile_right": {"psnr": 40.671428083491406, "ssim": 0.9798152427589313, "lpips": 0.07689975202083588}}, {"video": {"psnr": 22.383129047827595, "ssim": 0.7945819834651453, "lpips": 0.14914344251155853}, "wrist_left": {"psnr": 11.701015018531795, "ssim": 0.4995204834338701, "lpips": 0.45249855518341064}, "wrist_right": {"psnr": 12.481979076117105, "ssim": 0.5469889574280169, "lpips": 0.47064709663391113}, "tactile_left": {"psnr": 37.192214864289525, "ssim": 0.9660442122340499, "lpips": 0.1083538830280304}, "tactile_right": {"psnr": 39.538682370043084, "ssim": 0.977695478927008, "lpips": 0.09011244028806686}}, {"video": {"psnr": 21.62188235210398, "ssim": 0.7777540959528864, "lpips": 0.18928682804107666}, "wrist_left": {"psnr": 13.130404151472355, "ssim": 0.541925979297368, "lpips": 0.42182457447052}, "wrist_right": {"psnr": 12.156231305302763, "ssim": 0.500896235483802, "lpips": 0.48343518376350403}, "tactile_left": {"psnr": 36.565510958064934, "ssim": 0.9648476714666486, "lpips": 0.11827804148197174}, "tactile_right": {"psnr": 38.58908236285982, "ssim": 0.9758335422181349, "lpips": 0.10932736098766327}}, {"video": {"psnr": 20.962928757480093, "ssim": 0.7431520059970885, "lpips": 0.244817852973938}, "wrist_left": {"psnr": 12.226040868089395, "ssim": 0.5270184781336192, "lpips": 0.44763416051864624}, "wrist_right": {"psnr": 16.329122371168424, "ssim": 0.731601558012046, "lpips": 0.29299724102020264}, "tactile_left": {"psnr": 36.139020263054746, "ssim": 0.9642315996747934, "lpips": 0.1299314796924591}, "tactile_right": {"psnr": 37.809974109122145, "ssim": 0.9738984545377649, "lpips": 0.12688887119293213}}, {"video": {"psnr": 20.979450225988963, "ssim": 0.7510118122763055, "lpips": 0.24261358380317688}, "wrist_left": {"psnr": 11.004799320099021, "ssim": 0.45175716708406344, "lpips": 0.5363762974739075}, "wrist_right": {"psnr": 16.063745610483508, "ssim": 0.7379543856495114, "lpips": 0.2902868390083313}, "tactile_left": {"psnr": 35.1971832045102, "ssim": 0.9612269435232149, "lpips": 0.1430950164794922}, "tactile_right": {"psnr": 36.7273529099743, "ssim": 0.97146506338959, "lpips": 0.1441268026828766}}, {"video": {"psnr": 21.595998202140425, "ssim": 0.7476120207868455, "lpips": 0.2139585018157959}, "wrist_left": {"psnr": 10.525570473887601, "ssim": 0.43547834126923946, "lpips": 0.565851092338562}, "wrist_right": {"psnr": 17.464636108221665, "ssim": 0.7363686877682776, "lpips": 0.2203073352575302}, "tactile_left": {"psnr": 34.626999325721144, "ssim": 0.9586012937867467, "lpips": 0.15694275498390198}, "tactile_right": {"psnr": 36.14169917863676, "ssim": 0.9691010027348701, "lpips": 0.15450218319892883}}, {"video": {"psnr": 21.117617761156744, "ssim": 0.7287677531967907, "lpips": 0.23407508432865143}, "wrist_left": {"psnr": 10.015427078614362, "ssim": 0.4203270771656796, "lpips": 0.5286992788314819}, "wrist_right": {"psnr": 21.813822606560645, "ssim": 0.7479311644145876, "lpips": 0.13713568449020386}, "tactile_left": {"psnr": 34.32220992690889, "ssim": 0.9562592189429512, "lpips": 0.1669374257326126}, "tactile_right": {"psnr": 35.7082893199741, "ssim": 0.9669030718100008, "lpips": 0.16895389556884766}}, {"video": {"psnr": 20.40857066955171, "ssim": 0.7151184446934434, "lpips": 0.2571249008178711}, "wrist_left": {"psnr": 11.294612244658895, "ssim": 0.5080628578455045, "lpips": 0.4676363170146942}, "wrist_right": {"psnr": 19.521581118007944, "ssim": 0.7346810359548088, "lpips": 0.17836762964725494}, "tactile_left": {"psnr": 33.94887641360519, "ssim": 0.9544501866011121, "lpips": 0.17445507645606995}, "tactile_right": {"psnr": 35.25698483258932, "ssim": 0.9647356253833745, "lpips": 0.18367503583431244}}], "long_metrics": {"video": {"psnr": 24.816675425330736, "ssim": 0.8207450939545006, "lpips": 0.13347601524243752}, "wrist_left": {"psnr": 13.630108284235599, "ssim": 0.5579414880754129, "lpips": 0.3980953445037206}, "wrist_right": {"psnr": 17.65009545563885, "ssim": 0.6907647127629539, "lpips": 0.2605121174206336}, "tactile_left": {"psnr": 38.19868121283616, "ssim": 0.9691393836959363, "lpips": 0.1050436562548081}, "tactile_right": {"psnr": 40.64482545739924, "ssim": 0.9781018839093902, "lpips": 0.09473858270794153}}}, {"id": "pusht_e013_03", "episode": "pushT_0911_episode_005_seg00.pt", "requested_episode": "pushT_0911_episode_005_seg00.pt", "category": "full", "t_start": 1100, "start_seconds": 73.33333333333333, "short_contact": [1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1], "future_transition_ticks": [], "long_contact_fraction": 0.46875, "long_label": "full", "short_metrics": {"video": {"psnr": 27.94123988775338, "ssim": 0.908526090339625, "lpips": 0.037551939487457275}, "wrist_left": {"psnr": 25.94145733865669, "ssim": 0.89752730278218, "lpips": 0.042216941714286804}, "wrist_right": {"psnr": 17.952560180226474, "ssim": 0.800839854812826, "lpips": 0.19620367884635925}, "tactile_left": {"psnr": 41.733791765823824, "ssim": 0.9764907675064314, "lpips": 0.034068308770656586}, "tactile_right": {"psnr": 50.7693059994125, "ssim": 0.9946740089664039, "lpips": 0.004021205008029938}}, "media": {"short": {"video": "media/pusht_e013_03_short.mp4", "poster": "media/pusht_e013_03_short.jpg"}, "long": {"video": "media/pusht_e013_03_long.mp4", "poster": "media/pusht_e013_03_long.jpg"}}, "force": {"source": "recorded_normal_force", "units": "N", "fps": 15, "left": [1.1662499904632568, 1.1662499904632568, 1.1662499904632568, 1.1662499904632568, 1.1662499904632568, 1.1662499904632568, 1.1662499904632568, 1.1662499904632568, 1.1662499904632568, 1.1662499904632568, 0.8659868240356445, 1.1662499904632568, 1.1662499904632568, 1.4500000476837158, 1.1733332872390747, 1.1680232286453247, 1.4500000476837158, 1.3184378147125244, 1.1662499904632568, 1.1662499904632568, 0.5591263175010681, 0.6659782528877258, 1.1662499904632568, 1.5254545211791992, 1.5254545211791992, 1.5254545211791992, 1.5254545211791992, 1.5254545211791992, 1.1733332872390747, 1.1662499904632568, 0.41999998688697815, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.28738003969192505, 0.49666666984558105, 1.1662499904632568, 1.1662499904632568, 1.1662499904632568, 1.2184041738510132, 1.2287522554397583, 1.1710622310638428, 0.7575148940086365, 0.28851041197776794, 0.2881849706172943, 0.2947826385498047, 0.2947826385498047, 0.3112177550792694, 0.26272594928741455, 0.2713329792022705, 0.25845661759376526, 0.16963505744934082, 0.41999998688697815, 0.3929578363895416, 0.2916976511478424, 0.41999998688697815, 0.41999998688697815, 0.4169316291809082, 0.7125925421714783, 1.1662499904632568, 1.1662499904632568, 1.1662499904632568, 0.44432735443115234, 0.7316910028457642, 1.1733332872390747, 1.5254545211791992, 1.9833333492279053, 2.8207693099975586, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.1599999964237213, 0.171951562166214, 0.41999998688697815, 0.4661288559436798, 1.9833333492279053, 1.369855284690857, 1.9833333492279053, 1.9833333492279053, 2.636666774749756, 2.4529788494110107, 2.4149999618530273, 1.5254545211791992, 2.2579867839813232, 1.1733332872390747, 0.5622534155845642, 0.4395720362663269, 0.30081647634506226, 0.16153956949710846, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "right": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]}, "long_curve": [{"video": {"psnr": 27.94123988775338, "ssim": 0.908526090339625, "lpips": 0.037551939487457275}, "wrist_left": {"psnr": 25.94145733865669, "ssim": 0.89752730278218, "lpips": 0.042216941714286804}, "wrist_right": {"psnr": 17.952560180226474, "ssim": 0.800839854812826, "lpips": 0.19620367884635925}, "tactile_left": {"psnr": 41.733791765823824, "ssim": 0.9764907675064314, "lpips": 0.034068308770656586}, "tactile_right": {"psnr": 50.7693059994125, "ssim": 0.9946740089664039, "lpips": 0.004021205008029938}}, {"video": {"psnr": 25.342943435364035, "ssim": 0.8448072756111507, "lpips": 0.06145936995744705}, "wrist_left": {"psnr": 22.529694390587387, "ssim": 0.794316973946245, "lpips": 0.08559402078390121}, "wrist_right": {"psnr": 20.267086744215025, "ssim": 0.8118263753121133, "lpips": 0.13714678585529327}, "tactile_left": {"psnr": 38.681364794472586, "ssim": 0.9675045526114869, "lpips": 0.08051690459251404}, "tactile_right": {"psnr": 48.6633014665305, "ssim": 0.9905165537762342, "lpips": 0.011568957008421421}}, {"video": {"psnr": 24.452581899534596, "ssim": 0.8525003615663971, "lpips": 0.09580123424530029}, "wrist_left": {"psnr": 18.91830874629946, "ssim": 0.7045259669733959, "lpips": 0.12632207572460175}, "wrist_right": {"psnr": 26.070366220958885, "ssim": 0.8494504408893624, "lpips": 0.06508476287126541}, "tactile_left": {"psnr": 37.766085435710025, "ssim": 0.9651186534417782, "lpips": 0.10961336642503738}, "tactile_right": {"psnr": 46.69340506887174, "ssim": 0.9884338682126479, "lpips": 0.021381206810474396}}, {"video": {"psnr": 23.644675338243108, "ssim": 0.8445934742117087, "lpips": 0.1282527893781662}, "wrist_left": {"psnr": 14.833358893218655, "ssim": 0.6012808519575309, "lpips": 0.28648048639297485}, "wrist_right": {"psnr": 25.803602210004545, "ssim": 0.8374175756452006, "lpips": 0.06869180500507355}, "tactile_left": {"psnr": 41.41519312254531, "ssim": 0.9800604702115145, "lpips": 0.04066638648509979}, "tactile_right": {"psnr": 44.4500477637318, "ssim": 0.986341084630977, "lpips": 0.036435261368751526}}, {"video": {"psnr": 23.79744878301016, "ssim": 0.8466585662833717, "lpips": 0.12439429014921188}, "wrist_left": {"psnr": 16.31828916578777, "ssim": 0.5956104175578816, "lpips": 0.2899506986141205}, "wrist_right": {"psnr": 26.263069639682403, "ssim": 0.8373323032696496, "lpips": 0.06925272941589355}, "tactile_left": {"psnr": 37.21077596005291, "ssim": 0.9644119842546767, "lpips": 0.15420441329479218}, "tactile_right": {"psnr": 43.14712886879402, "ssim": 0.9842164969033612, "lpips": 0.05761627107858658}}, {"video": {"psnr": 21.34626043379827, "ssim": 0.7896562643737444, "lpips": 0.16116562485694885}, "wrist_left": {"psnr": 11.042904104697836, "ssim": 0.5032290940304203, "lpips": 0.44476231932640076}, "wrist_right": {"psnr": 25.96574618543706, "ssim": 0.8224540228233326, "lpips": 0.0829164981842041}, "tactile_left": {"psnr": 37.16416780391472, "ssim": 0.9671650693159596, "lpips": 0.11017152667045593}, "tactile_right": {"psnr": 41.06001051587817, "ssim": 0.9813556414489234, "lpips": 0.0751161053776741}}, {"video": {"psnr": 20.9594658367801, "ssim": 0.7801440091158351, "lpips": 0.17776259779930115}, "wrist_left": {"psnr": 10.474851342436551, "ssim": 0.4679631245615557, "lpips": 0.4898688495159149}, "wrist_right": {"psnr": 25.521152497593196, "ssim": 0.7894842721712235, "lpips": 0.09451108425855637}, "tactile_left": {"psnr": 36.45975214690139, "ssim": 0.9631774991228088, "lpips": 0.12902101874351501}, "tactile_right": {"psnr": 39.931656831864345, "ssim": 0.9782597195732031, "lpips": 0.09594389796257019}}, {"video": {"psnr": 22.825181998570155, "ssim": 0.8006368170656766, "lpips": 0.13917848467826843}, "wrist_left": {"psnr": 12.689669532589793, "ssim": 0.5395594217952528, "lpips": 0.39708179235458374}, "wrist_right": {"psnr": 25.284297816674943, "ssim": 0.7843788447907745, "lpips": 0.10370530188083649}, "tactile_left": {"psnr": 35.79979345147511, "ssim": 0.959496524387504, "lpips": 0.13242927193641663}, "tactile_right": {"psnr": 39.47899024607978, "ssim": 0.9761721513939252, "lpips": 0.11326642334461212}}, {"video": {"psnr": 22.09706168928919, "ssim": 0.7865579758663561, "lpips": 0.15808653831481934}, "wrist_left": {"psnr": 10.550596738361346, "ssim": 0.43790954445034774, "lpips": 0.5591480731964111}, "wrist_right": {"psnr": 21.45832206214257, "ssim": 0.7664397078465861, "lpips": 0.1424543261528015}, "tactile_left": {"psnr": 36.32522961146661, "ssim": 0.9642608507447754, "lpips": 0.10310234874486923}, "tactile_right": {"psnr": 38.729087182768666, "ssim": 0.9742608516686753, "lpips": 0.12888631224632263}}, {"video": {"psnr": 22.012142394700458, "ssim": 0.7776203122565802, "lpips": 0.17243152856826782}, "wrist_left": {"psnr": 12.50251816045499, "ssim": 0.5211597242888407, "lpips": 0.4824563264846802}, "wrist_right": {"psnr": 11.88261521746428, "ssim": 0.6254054423310104, "lpips": 0.4092813730239868}, "tactile_left": {"psnr": 36.18333130440145, "ssim": 0.9671597181473722, "lpips": 0.10317862778902054}, "tactile_right": {"psnr": 37.49603966799674, "ssim": 0.9718730239031494, "lpips": 0.14770829677581787}}, {"video": {"psnr": 22.110841123745253, "ssim": 0.7844045385311167, "lpips": 0.1690479815006256}, "wrist_left": {"psnr": 14.605898585576568, "ssim": 0.5872574407389368, "lpips": 0.4010029137134552}, "wrist_right": {"psnr": 10.430145205127682, "ssim": 0.48855856218279087, "lpips": 0.511829137802124}, "tactile_left": {"psnr": 35.38603980620251, "ssim": 0.9573648132214856, "lpips": 0.15077894926071167}, "tactile_right": {"psnr": 36.59465974662155, "ssim": 0.9684379708589155, "lpips": 0.16709211468696594}}, {"video": {"psnr": 22.27753281072768, "ssim": 0.786639402396995, "lpips": 0.1719912886619568}, "wrist_left": {"psnr": 14.435004445586102, "ssim": 0.6116671617594419, "lpips": 0.39431869983673096}, "wrist_right": {"psnr": 11.030408677298777, "ssim": 0.494388828457969, "lpips": 0.5053212642669678}, "tactile_left": {"psnr": 34.64761768954932, "ssim": 0.9485653292318554, "lpips": 0.18821054697036743}, "tactile_right": {"psnr": 35.86320409398728, "ssim": 0.9658316033828762, "lpips": 0.1853312849998474}}, {"video": {"psnr": 22.539220151622924, "ssim": 0.7907664094934191, "lpips": 0.1696929931640625}, "wrist_left": {"psnr": 13.621291317384285, "ssim": 0.5913197293742825, "lpips": 0.382418692111969}, "wrist_right": {"psnr": 13.521078742425223, "ssim": 0.5481305972364932, "lpips": 0.47152674198150635}, "tactile_left": {"psnr": 34.647011036626864, "ssim": 0.9577686929276139, "lpips": 0.15597838163375854}, "tactile_right": {"psnr": 34.981602861556944, "ssim": 0.963999245308411, "lpips": 0.19499342143535614}}, {"video": {"psnr": 20.564322980329003, "ssim": 0.7770088909986499, "lpips": 0.19521299004554749}, "wrist_left": {"psnr": 13.137515736041836, "ssim": 0.6310976305090059, "lpips": 0.36427220702171326}, "wrist_right": {"psnr": 11.359523423479637, "ssim": 0.48652937530408435, "lpips": 0.48663270473480225}, "tactile_left": {"psnr": 34.760487010378036, "ssim": 0.9613147349081068, "lpips": 0.14416629076004028}, "tactile_right": {"psnr": 34.527715127538436, "ssim": 0.9604812952884623, "lpips": 0.20789431035518646}}, {"video": {"psnr": 19.78293003310132, "ssim": 0.7612927706307111, "lpips": 0.21551793813705444}, "wrist_left": {"psnr": 11.248370389474173, "ssim": 0.5416757616072297, "lpips": 0.4397169351577759}, "wrist_right": {"psnr": 8.801735707708753, "ssim": 0.4074877951686028, "lpips": 0.5798107981681824}, "tactile_left": {"psnr": 34.28721530631878, "ssim": 0.9592604837294174, "lpips": 0.15493300557136536}, "tactile_right": {"psnr": 34.11425284142057, "ssim": 0.9575761883550473, "lpips": 0.21731358766555786}}], "long_metrics": {"video": {"psnr": 22.779589919771308, "ssim": 0.8087875439160892, "lpips": 0.14516983926296234}, "wrist_left": {"psnr": 14.856648592476896, "ssim": 0.6017400097555031, "lpips": 0.34570740212996803}, "wrist_right": {"psnr": 18.77411403536263, "ssim": 0.6900082665494679, "lpips": 0.26162459949652356}, "tactile_left": {"psnr": 36.8311904163893, "ssim": 0.9639413429175191, "lpips": 0.11940262317657471}, "tactile_right": {"psnr": 40.43336055220354, "ssim": 0.9761619802447475, "lpips": 0.11097124374161164}}}, {"id": "pusht_e013_04", "episode": "pushT_0911_episode_005_seg01.pt", "requested_episode": "pushT_0911_episode_005_seg01.pt", "category": "none", "t_start": 77, "start_seconds": 5.133333333333334, "short_contact": [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0], "future_transition_ticks": [], "long_contact_fraction": 0.0, "long_label": "none_throughout", "short_metrics": {"video": {"psnr": 27.837754952988828, "ssim": 0.9139934288096883, "lpips": 0.04687143489718437}, "wrist_left": {"psnr": 20.477571526154637, "ssim": 0.7940944342667184, "lpips": 0.10761944949626923}, "wrist_right": {"psnr": 21.613604548266707, "ssim": 0.8187343421888946, "lpips": 0.11341200768947601}, "tactile_left": {"psnr": 51.134332934685446, "ssim": 0.9948050385042512, "lpips": 0.0037114680744707584}, "tactile_right": {"psnr": 48.572217733003676, "ssim": 0.9920896634246004, "lpips": 0.008360125124454498}}, "media": {"short": {"video": "media/pusht_e013_04_short.mp4", "poster": "media/pusht_e013_04_short.jpg"}, "long": {"video": "media/pusht_e013_04_long.mp4", "poster": "media/pusht_e013_04_long.jpg"}}, "force": {"source": "recorded_normal_force", "units": "N", "fps": 15, "left": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "right": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]}, "long_curve": [{"video": {"psnr": 27.837754952988828, "ssim": 0.9139934288096883, "lpips": 0.04687143489718437}, "wrist_left": {"psnr": 20.477571526154637, "ssim": 0.7940944342667184, "lpips": 0.10761944949626923}, "wrist_right": {"psnr": 21.613604548266707, "ssim": 0.8187343421888946, "lpips": 0.11341200768947601}, "tactile_left": {"psnr": 51.134332934685446, "ssim": 0.9948050385042512, "lpips": 0.0037114680744707584}, "tactile_right": {"psnr": 48.572217733003676, "ssim": 0.9920896634246004, "lpips": 0.008360125124454498}}, {"video": {"psnr": 25.080061030718586, "ssim": 0.8513523980524453, "lpips": 0.08688348531723022}, "wrist_left": {"psnr": 18.637058375268328, "ssim": 0.6775598321467533, "lpips": 0.1451737880706787}, "wrist_right": {"psnr": 19.104695343910006, "ssim": 0.7302070532539686, "lpips": 0.15241023898124695}, "tactile_left": {"psnr": 48.35590733288462, "ssim": 0.9920254237130849, "lpips": 0.010139978490769863}, "tactile_right": {"psnr": 46.13259223157879, "ssim": 0.9870419764451254, "lpips": 0.019737236201763153}}, {"video": {"psnr": 23.77850567363124, "ssim": 0.7974446532318555, "lpips": 0.10166529566049576}, "wrist_left": {"psnr": 14.533763005597786, "ssim": 0.5810045947560912, "lpips": 0.3055996894836426}, "wrist_right": {"psnr": 16.810830217967478, "ssim": 0.7203639982336507, "lpips": 0.23376727104187012}, "tactile_left": {"psnr": 46.14343962180085, "ssim": 0.9888763184855327, "lpips": 0.01887262798845768}, "tactile_right": {"psnr": 45.70029216544419, "ssim": 0.9855997975456426, "lpips": 0.020593000575900078}}, {"video": {"psnr": 21.66851133254199, "ssim": 0.7293566802134774, "lpips": 0.15768268704414368}, "wrist_left": {"psnr": 12.642236338902425, "ssim": 0.516689973991542, "lpips": 0.42849040031433105}, "wrist_right": {"psnr": 17.013631934250494, "ssim": 0.6995410742253643, "lpips": 0.26160311698913574}, "tactile_left": {"psnr": 43.76326408953887, "ssim": 0.9822457962368509, "lpips": 0.035640183836221695}, "tactile_right": {"psnr": 44.61176257911316, "ssim": 0.9843195527760189, "lpips": 0.03289764001965523}}, {"video": {"psnr": 20.231993610083627, "ssim": 0.6885200765726253, "lpips": 0.22241079807281494}, "wrist_left": {"psnr": 12.372513316317086, "ssim": 0.5509729894417656, "lpips": 0.40984612703323364}, "wrist_right": {"psnr": 18.47832465203264, "ssim": 0.6874022028112614, "lpips": 0.2474806159734726}, "tactile_left": {"psnr": 42.57128163710476, "ssim": 0.9803793798572, "lpips": 0.04030599445104599}, "tactile_right": {"psnr": 43.838325860010166, "ssim": 0.9829520726553822, "lpips": 0.049257270991802216}}, {"video": {"psnr": 20.034483203048403, "ssim": 0.6779742406423865, "lpips": 0.2571430504322052}, "wrist_left": {"psnr": 13.471056653726098, "ssim": 0.5211766512351481, "lpips": 0.3944717049598694}, "wrist_right": {"psnr": 14.939676812897831, "ssim": 0.6451725618790798, "lpips": 0.3424510955810547}, "tactile_left": {"psnr": 41.002585611527714, "ssim": 0.9755714040965968, "lpips": 0.05240318179130554}, "tactile_right": {"psnr": 43.5915117813149, "ssim": 0.983638401783937, "lpips": 0.050944048911333084}}, {"video": {"psnr": 19.129367284444324, "ssim": 0.6698618693901582, "lpips": 0.3127431571483612}, "wrist_left": {"psnr": 12.043084099421964, "ssim": 0.4628205388100637, "lpips": 0.4989304840564728}, "wrist_right": {"psnr": 15.331592167689404, "ssim": 0.6282048024947084, "lpips": 0.3280811905860901}, "tactile_left": {"psnr": 41.5494392245433, "ssim": 0.9787016725399598, "lpips": 0.06253024935722351}, "tactile_right": {"psnr": 42.5846532516183, "ssim": 0.9825324444537599, "lpips": 0.06110076606273651}}, {"video": {"psnr": 18.798179339005557, "ssim": 0.6573505266616333, "lpips": 0.34165987372398376}, "wrist_left": {"psnr": 12.055952942998875, "ssim": 0.4647644710657387, "lpips": 0.482169508934021}, "wrist_right": {"psnr": 15.179812291276853, "ssim": 0.5878725551760624, "lpips": 0.3438071608543396}, "tactile_left": {"psnr": 40.154219966610796, "ssim": 0.9728728797244455, "lpips": 0.08510002493858337}, "tactile_right": {"psnr": 42.00305420798294, "ssim": 0.9806385851874382, "lpips": 0.07571124285459518}}, {"video": {"psnr": 19.060496512970214, "ssim": 0.6624997239711703, "lpips": 0.3325039744377136}, "wrist_left": {"psnr": 11.962954266071792, "ssim": 0.48268521051584334, "lpips": 0.4865877628326416}, "wrist_right": {"psnr": 16.162720736355826, "ssim": 0.6095197078701126, "lpips": 0.3166519105434418}, "tactile_left": {"psnr": 39.258092059399516, "ssim": 0.9710416150271762, "lpips": 0.0917774885892868}, "tactile_right": {"psnr": 41.16958100220597, "ssim": 0.9788903233132864, "lpips": 0.08873060345649719}}, {"video": {"psnr": 19.214587927766125, "ssim": 0.6612863288499382, "lpips": 0.32652172446250916}, "wrist_left": {"psnr": 12.06865679314516, "ssim": 0.4355883124067875, "lpips": 0.5010678768157959}, "wrist_right": {"psnr": 17.11599865528874, "ssim": 0.6244955118983722, "lpips": 0.2683950662612915}, "tactile_left": {"psnr": 38.101339110276825, "ssim": 0.972188273181466, "lpips": 0.09277079999446869}, "tactile_right": {"psnr": 39.70076106125977, "ssim": 0.9773254784064074, "lpips": 0.11198828369379044}}, {"video": {"psnr": 19.342124613676997, "ssim": 0.6753943664287941, "lpips": 0.3297014832496643}, "wrist_left": {"psnr": 12.591991360839883, "ssim": 0.44930928273984927, "lpips": 0.4786750376224518}, "wrist_right": {"psnr": 17.11415184303043, "ssim": 0.6265253320083569, "lpips": 0.272726833820343}, "tactile_left": {"psnr": 37.9405229942291, "ssim": 0.9718108351407113, "lpips": 0.09769895672798157}, "tactile_right": {"psnr": 39.2120019825753, "ssim": 0.974683517109123, "lpips": 0.12376589328050613}}, {"video": {"psnr": 19.68119859149605, "ssim": 0.6705738861621632, "lpips": 0.31215161085128784}, "wrist_left": {"psnr": 12.765871505377444, "ssim": 0.5067895671310261, "lpips": 0.4342489242553711}, "wrist_right": {"psnr": 16.65981470460673, "ssim": 0.6676367583754339, "lpips": 0.2954322397708893}, "tactile_left": {"psnr": 37.66801785796876, "ssim": 0.9710824841218364, "lpips": 0.11027432978153229}, "tactile_right": {"psnr": 38.76553163007208, "ssim": 0.9725984607597167, "lpips": 0.14079241454601288}}, {"video": {"psnr": 20.07130875865729, "ssim": 0.6785378999061683, "lpips": 0.28651201725006104}, "wrist_left": {"psnr": 12.268950959655005, "ssim": 0.4862607251859119, "lpips": 0.4785907566547394}, "wrist_right": {"psnr": 15.943035660559264, "ssim": 0.6810661410616339, "lpips": 0.3164478540420532}, "tactile_left": {"psnr": 37.116658241111, "ssim": 0.969606205904376, "lpips": 0.11563331633806229}, "tactile_right": {"psnr": 38.218485149320486, "ssim": 0.9703967012563386, "lpips": 0.15459442138671875}}, {"video": {"psnr": 19.72995883877403, "ssim": 0.6728111056517678, "lpips": 0.32941797375679016}, "wrist_left": {"psnr": 10.808433047432073, "ssim": 0.4191588456100108, "lpips": 0.5705338716506958}, "wrist_right": {"psnr": 12.978033155723288, "ssim": 0.6454399123176107, "lpips": 0.35630595684051514}, "tactile_left": {"psnr": 37.11228029199665, "ssim": 0.9676550741917618, "lpips": 0.12591053545475006}, "tactile_right": {"psnr": 37.75773308818307, "ssim": 0.9686599877013673, "lpips": 0.1712997704744339}}, {"video": {"psnr": 19.808521394979145, "ssim": 0.6761322341010514, "lpips": 0.3103560209274292}, "wrist_left": {"psnr": 12.740672504456136, "ssim": 0.496493027123258, "lpips": 0.4505253732204437}, "wrist_right": {"psnr": 13.864042092306288, "ssim": 0.6399269779271202, "lpips": 0.39340806007385254}, "tactile_left": {"psnr": 36.55677295333228, "ssim": 0.9675485072598691, "lpips": 0.12722350656986237}, "tactile_right": {"psnr": 37.19477959108856, "ssim": 0.9667326968207077, "lpips": 0.18696722388267517}}], "long_metrics": {"video": {"psnr": 20.897803537652162, "ssim": 0.7122059612430216, "lpips": 0.25028163914879165}, "wrist_left": {"psnr": 13.429384446357647, "ssim": 0.5230245637617672, "lpips": 0.41150205036004384}, "wrist_right": {"psnr": 16.5539976544108, "ssim": 0.6674739287814421, "lpips": 0.2828253746032715}, "tactile_left": {"psnr": 41.228543595134035, "ssim": 0.9770940605323413, "lpips": 0.0713328428256015}, "tactile_right": {"psnr": 41.936885554318096, "ssim": 0.9792066439759234, "lpips": 0.0864493294308583}}}, {"id": "pusht_e013_05", "episode": "pushT_0911_episode_005_seg01.pt", "requested_episode": "pushT_0911_episode_005_seg01.pt", "category": "onset", "t_start": 525, "start_seconds": 35.0, "short_contact": [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 1], "future_transition_ticks": [11], "long_contact_fraction": null, "long_label": "short_only", "short_metrics": {"video": {"psnr": 33.25838645386275, "ssim": 0.9578472259449506, "lpips": 0.014756953343749046}, "wrist_left": {"psnr": 23.89467070239633, "ssim": 0.87224375126313, "lpips": 0.05518693849444389}, "wrist_right": {"psnr": 28.27958506950708, "ssim": 0.918056328873293, "lpips": 0.035128768533468246}, "tactile_left": {"psnr": 44.91861155444574, "ssim": 0.9835110053418512, "lpips": 0.021873798221349716}, "tactile_right": {"psnr": 46.23109581748431, "ssim": 0.9862206162373901, "lpips": 0.017039448022842407}}, "media": {"short": {"video": "media/pusht_e013_05_short.mp4", "poster": "media/pusht_e013_05_short.jpg"}}, "force": {"source": "recorded_normal_force", "units": "N", "fps": 15, "left": [0.457497775554657, 0.1599999964237213, 0.0, 0.0, 0.0, 0.0, 0.0, 0.16127851605415344, 0.16127851605415344, 0.17897555232048035, 0.19357609748840332, 0.5217283964157104, 1.1662499904632568, 1.3397656679153442, 1.5254545211791992, 1.8632125854492188], "right": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]}}, {"id": "pusht_e013_06", "episode": "pushT_0911_episode_005_seg01.pt", "requested_episode": "pushT_0911_episode_005_seg01.pt", "category": "release", "t_start": 0, "start_seconds": 0.0, "short_contact": [0, 0, 0, 0, 0, 1, 1, 1, 1, 1, 0, 0, 0, 0, 0, 0], "future_transition_ticks": [10], "long_contact_fraction": 0.0390625, "long_label": "release", "short_metrics": {"video": {"psnr": 22.526560794068565, "ssim": 0.802652295522112, "lpips": 0.1472228765487671}, "wrist_left": {"psnr": 15.631608656786009, "ssim": 0.7220502991524458, "lpips": 0.24665910005569458}, "wrist_right": {"psnr": 21.884357200010584, "ssim": 0.8245957466072189, "lpips": 0.13170596957206726}, "tactile_left": {"psnr": 46.36201043022817, "ssim": 0.9872057256482385, "lpips": 0.011101072654128075}, "tactile_right": {"psnr": 49.97943633956493, "ssim": 0.993878095112051, "lpips": 0.004511352628469467}}, "media": {"short": {"video": "media/pusht_e013_06_short.mp4", "poster": "media/pusht_e013_06_short.jpg"}, "long": {"video": "media/pusht_e013_06_long.mp4", "poster": "media/pusht_e013_06_long.jpg"}}, "force": {"source": "recorded_normal_force", "units": "N", "fps": 15, "left": [0.0, 0.0, 0.0, 0.0, 0.0, 2.9424359798431396, 2.636666774749756, 1.5254545211791992, 1.1662499904632568, 1.1662499904632568, 0.0, 0.0, 0.1599999964237213, 0.1599999964237213, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "right": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]}, "long_curve": [{"video": {"psnr": 22.526560794068565, "ssim": 0.802652295522112, "lpips": 0.1472228765487671}, "wrist_left": {"psnr": 15.631608656786009, "ssim": 0.7220502991524458, "lpips": 0.24665910005569458}, "wrist_right": {"psnr": 21.884357200010584, "ssim": 0.8245957466072189, "lpips": 0.13170596957206726}, "tactile_left": {"psnr": 46.36201043022817, "ssim": 0.9872057256482385, "lpips": 0.011101072654128075}, "tactile_right": {"psnr": 49.97943633956493, "ssim": 0.993878095112051, "lpips": 0.004511352628469467}}, {"video": {"psnr": 18.919616652211847, "ssim": 0.6684543884146141, "lpips": 0.3218015134334564}, "wrist_left": {"psnr": 13.663795555865102, "ssim": 0.6026481706889524, "lpips": 0.3929809331893921}, "wrist_right": {"psnr": 15.602079595558555, "ssim": 0.603056098195947, "lpips": 0.33265021443367004}, "tactile_left": {"psnr": 45.80197366602218, "ssim": 0.986775723627799, "lpips": 0.017714843153953552}, "tactile_right": {"psnr": 47.290941604413106, "ssim": 0.988675980787557, "lpips": 0.016698282212018967}}, {"video": {"psnr": 19.72478240259344, "ssim": 0.6765321384674435, "lpips": 0.2883731722831726}, "wrist_left": {"psnr": 10.252926661532118, "ssim": 0.4632550471095419, "lpips": 0.5399456024169922}, "wrist_right": {"psnr": 18.718821929284854, "ssim": 0.7042693342756381, "lpips": 0.2648041844367981}, "tactile_left": {"psnr": 44.51972934471553, "ssim": 0.9846451229114022, "lpips": 0.025183895602822304}, "tactile_right": {"psnr": 45.5776232952632, "ssim": 0.9861649754242059, "lpips": 0.030670445412397385}}, {"video": {"psnr": 20.273142864397222, "ssim": 0.693250857997155, "lpips": 0.2664458751678467}, "wrist_left": {"psnr": 10.9298771974507, "ssim": 0.4633597985265143, "lpips": 0.5295393466949463}, "wrist_right": {"psnr": 15.369968535513836, "ssim": 0.6586522253014333, "lpips": 0.2992556691169739}, "tactile_left": {"psnr": 43.912152431242376, "ssim": 0.982857691786142, "lpips": 0.03798270225524902}, "tactile_right": {"psnr": 43.947098013230566, "ssim": 0.984102276778454, "lpips": 0.044697802513837814}}, {"video": {"psnr": 20.90523773666473, "ssim": 0.6950364169055141, "lpips": 0.24773195385932922}, "wrist_left": {"psnr": 12.124783592261966, "ssim": 0.4546377775119513, "lpips": 0.4776000678539276}, "wrist_right": {"psnr": 14.78439110128307, "ssim": 0.5975332834978111, "lpips": 0.418047696352005}, "tactile_left": {"psnr": 42.70696024104302, "ssim": 0.9812901198101149, "lpips": 0.045211128890514374}, "tactile_right": {"psnr": 43.65351950689842, "ssim": 0.9823955521421365, "lpips": 0.051903728395700455}}, {"video": {"psnr": 20.02283713442133, "ssim": 0.675112539171204, "lpips": 0.2887725234031677}, "wrist_left": {"psnr": 12.302279853089669, "ssim": 0.4509156541952585, "lpips": 0.4423426687717438}, "wrist_right": {"psnr": 14.142679954511015, "ssim": 0.654622380712047, "lpips": 0.3791874647140503}, "tactile_left": {"psnr": 42.07805799661127, "ssim": 0.978083183225224, "lpips": 0.052901387214660645}, "tactile_right": {"psnr": 43.424207682836304, "ssim": 0.9826414058364905, "lpips": 0.052248984575271606}}, {"video": {"psnr": 18.742904419377634, "ssim": 0.657043669337773, "lpips": 0.3780441880226135}, "wrist_left": {"psnr": 13.619964560304656, "ssim": 0.45622539038372545, "lpips": 0.3752517104148865}, "wrist_right": {"psnr": 18.728054007455626, "ssim": 0.7410668212539804, "lpips": 0.23394924402236938}, "tactile_left": {"psnr": 40.950297593063105, "ssim": 0.9762476563833915, "lpips": 0.0667455866932869}, "tactile_right": {"psnr": 42.677562246007945, "ssim": 0.9815938051242581, "lpips": 0.06621581315994263}}, {"video": {"psnr": 19.15260793680032, "ssim": 0.6771142860571118, "lpips": 0.32414594292640686}, "wrist_left": {"psnr": 12.289129962507634, "ssim": 0.4903630336719301, "lpips": 0.42044419050216675}, "wrist_right": {"psnr": 11.056984725646391, "ssim": 0.5355526313342187, "lpips": 0.501180112361908}, "tactile_left": {"psnr": 40.108048188468615, "ssim": 0.9768889788727899, "lpips": 0.07329006493091583}, "tactile_right": {"psnr": 42.044997765274374, "ssim": 0.97979197659557, "lpips": 0.08040967583656311}}, {"video": {"psnr": 19.23880666533622, "ssim": 0.6893329036912955, "lpips": 0.3071463704109192}, "wrist_left": {"psnr": 10.928249314210529, "ssim": 0.4393485866202872, "lpips": 0.49113819003105164}, "wrist_right": {"psnr": 9.946444829198974, "ssim": 0.42593465383841644, "lpips": 0.5563266277313232}, "tactile_left": {"psnr": 39.3055988760583, "ssim": 0.9735944851808662, "lpips": 0.08865109086036682}, "tactile_right": {"psnr": 40.757236689019976, "ssim": 0.9780913662052035, "lpips": 0.0924682691693306}}, {"video": {"psnr": 19.143595971728146, "ssim": 0.6799380284834319, "lpips": 0.30964773893356323}, "wrist_left": {"psnr": 10.943785754652712, "ssim": 0.48818986383202423, "lpips": 0.46554791927337646}, "wrist_right": {"psnr": 9.383652239168551, "ssim": 0.36011110411674463, "lpips": 0.5796248912811279}, "tactile_left": {"psnr": 38.76136739365173, "ssim": 0.9731113988783312, "lpips": 0.09430015087127686}, "tactile_right": {"psnr": 39.560667739092416, "ssim": 0.9729067425362619, "lpips": 0.12027455121278763}}, {"video": {"psnr": 18.847422616043104, "ssim": 0.654054918890574, "lpips": 0.3319895267486572}, "wrist_left": {"psnr": 12.426316766985321, "ssim": 0.5329774297457351, "lpips": 0.38535529375076294}, "wrist_right": {"psnr": 9.273409866945938, "ssim": 0.37420923347562074, "lpips": 0.5855873823165894}, "tactile_left": {"psnr": 38.27043941981447, "ssim": 0.9709609276128697, "lpips": 0.10734979808330536}, "tactile_right": {"psnr": 39.091897173022815, "ssim": 0.9743778654052636, "lpips": 0.11406169831752777}}, {"video": {"psnr": 19.47593351885831, "ssim": 0.6735578004902715, "lpips": 0.3117993474006653}, "wrist_left": {"psnr": 12.041755058613887, "ssim": 0.5029886729935891, "lpips": 0.417232871055603}, "wrist_right": {"psnr": 8.713516963143956, "ssim": 0.36037094282889537, "lpips": 0.6167545318603516}, "tactile_left": {"psnr": 37.81860030825623, "ssim": 0.969075803962305, "lpips": 0.11839637160301208}, "tactile_right": {"psnr": 38.46567059023746, "ssim": 0.97317020836976, "lpips": 0.12454666197299957}}, {"video": {"psnr": 19.522385373701717, "ssim": 0.6827832142278583, "lpips": 0.3186832070350647}, "wrist_left": {"psnr": 10.908292005227482, "ssim": 0.44453539155488464, "lpips": 0.47668612003326416}, "wrist_right": {"psnr": 10.809747737365162, "ssim": 0.5128948127094763, "lpips": 0.5315409302711487}, "tactile_left": {"psnr": 37.25418099375, "ssim": 0.9660616853284583, "lpips": 0.12713423371315002}, "tactile_right": {"psnr": 38.082567829055655, "ssim": 0.9717434032621953, "lpips": 0.13384467363357544}}, {"video": {"psnr": 19.300224959801945, "ssim": 0.6649661881844319, "lpips": 0.36122965812683105}, "wrist_left": {"psnr": 9.85703702240323, "ssim": 0.43482864318225933, "lpips": 0.5588842630386353}, "wrist_right": {"psnr": 17.035971429298677, "ssim": 0.6817335298868188, "lpips": 0.3383170962333679}, "tactile_left": {"psnr": 36.62474642643232, "ssim": 0.9623020953228534, "lpips": 0.15083375573158264}, "tactile_right": {"psnr": 37.68528542205018, "ssim": 0.9699841485334353, "lpips": 0.14948531985282898}}, {"video": {"psnr": 19.665078488618562, "ssim": 0.6749916445312458, "lpips": 0.3566640615463257}, "wrist_left": {"psnr": 10.361593911524592, "ssim": 0.46180475629562934, "lpips": 0.5325342416763306}, "wrist_right": {"psnr": 16.45974062702308, "ssim": 0.6507505437285144, "lpips": 0.33381927013397217}, "tactile_left": {"psnr": 35.87832177611994, "ssim": 0.9590287441984172, "lpips": 0.15624064207077026}, "tactile_right": {"psnr": 37.12568523811429, "ssim": 0.9682140176306644, "lpips": 0.1672670543193817}}], "long_metrics": {"video": {"psnr": 19.697409168974875, "ssim": 0.6843214193581358, "lpips": 0.3039798637231191}, "wrist_left": {"psnr": 11.885426391561042, "ssim": 0.49387523436431524, "lpips": 0.45014283458391824}, "wrist_right": {"psnr": 14.127321382760552, "ssim": 0.5790235561175188, "lpips": 0.4068500856558482}, "tactile_left": {"psnr": 40.690165672365154, "ssim": 0.9752086228499468, "lpips": 0.07820244828859965}, "tactile_right": {"psnr": 41.957626475605444, "ssim": 0.9791821213162337, "lpips": 0.08328695421417555}}}, {"id": "pusht_e013_07", "episode": "pushT_0911_episode_007_seg00.pt", "requested_episode": "pushT_0911_episode_007_seg00.pt", "category": "none", "t_start": 169, "start_seconds": 11.266666666666667, "short_contact": [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0], "future_transition_ticks": [], "long_contact_fraction": 0.0, "long_label": "none_throughout", "short_metrics": {"video": {"psnr": 27.04625136765563, "ssim": 0.9176538099201281, "lpips": 0.06975044310092926}, "wrist_left": {"psnr": 21.3533923833512, "ssim": 0.769289798352103, "lpips": 0.16252005100250244}, "wrist_right": {"psnr": 20.456212118482217, "ssim": 0.810258030687071, "lpips": 0.12425163388252258}, "tactile_left": {"psnr": 47.23578324790006, "ssim": 0.99066600395361, "lpips": 0.024159427732229233}, "tactile_right": {"psnr": 48.48005659918926, "ssim": 0.9912043414964308, "lpips": 0.009584160521626472}}, "media": {"short": {"video": "media/pusht_e013_07_short.mp4", "poster": "media/pusht_e013_07_short.jpg"}, "long": {"video": "media/pusht_e013_07_long.mp4", "poster": "media/pusht_e013_07_long.jpg"}}, "force": {"source": "recorded_normal_force", "units": "N", "fps": 15, "left": [0.0, 0.1599999964237213, 0.1599999964237213, 0.16282100975513458, 0.41999998688697815, 0.41999998688697815, 0.175530806183815, 0.1599999964237213, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.1599999964237213, 0.1599999964237213, 0.0, 0.0, 0.0, 0.0, 0.0, 0.1599999964237213, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.1599999964237213, 0.1599999964237213, 0.1599999964237213, 0.1599999964237213, 0.1599999964237213, 0.1599999964237213, 0.1599999964237213, 0.1599999964237213, 0.0, 0.0, 0.0, 0.0, 0.1599999964237213, 0.0, 0.1599999964237213, 0.1599999964237213, 0.1599999964237213, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "right": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.1599999964237213, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]}, "long_curve": [{"video": {"psnr": 27.04625136765563, "ssim": 0.9176538099201281, "lpips": 0.06975044310092926}, "wrist_left": {"psnr": 21.3533923833512, "ssim": 0.769289798352103, "lpips": 0.16252005100250244}, "wrist_right": {"psnr": 20.456212118482217, "ssim": 0.810258030687071, "lpips": 0.12425163388252258}, "tactile_left": {"psnr": 47.23578324790006, "ssim": 0.99066600395361, "lpips": 0.024159427732229233}, "tactile_right": {"psnr": 48.48005659918926, "ssim": 0.9912043414964308, "lpips": 0.009584160521626472}}, {"video": {"psnr": 24.221778996528577, "ssim": 0.8554361022005613, "lpips": 0.11503113806247711}, "wrist_left": {"psnr": 16.720731628908833, "ssim": 0.49652000590119116, "lpips": 0.3024941384792328}, "wrist_right": {"psnr": 18.657899084296726, "ssim": 0.7794090505696603, "lpips": 0.14868614077568054}, "tactile_left": {"psnr": 44.991991793900326, "ssim": 0.9862194068752352, "lpips": 0.03683561831712723}, "tactile_right": {"psnr": 45.86741385114537, "ssim": 0.9861338992283917, "lpips": 0.029377972707152367}}, {"video": {"psnr": 26.23460605250181, "ssim": 0.8689957785535478, "lpips": 0.07460187375545502}, "wrist_left": {"psnr": 19.112234374471978, "ssim": 0.6605152189410423, "lpips": 0.21824461221694946}, "wrist_right": {"psnr": 21.037472243886775, "ssim": 0.7967286245276277, "lpips": 0.12185433506965637}, "tactile_left": {"psnr": 42.30324978777073, "ssim": 0.983393998912556, "lpips": 0.03769674524664879}, "tactile_right": {"psnr": 43.794782391218575, "ssim": 0.9832599274218404, "lpips": 0.04511011019349098}}, {"video": {"psnr": 24.001090539195534, "ssim": 0.846696457607078, "lpips": 0.1068553775548935}, "wrist_left": {"psnr": 14.320324122007593, "ssim": 0.5048795606233594, "lpips": 0.3244469165802002}, "wrist_right": {"psnr": 15.656965576792569, "ssim": 0.710082837113301, "lpips": 0.3385908603668213}, "tactile_left": {"psnr": 41.33147309246382, "ssim": 0.9803276889824704, "lpips": 0.04816223680973053}, "tactile_right": {"psnr": 42.93266618633425, "ssim": 0.9832922103203859, "lpips": 0.04885776713490486}}, {"video": {"psnr": 23.291407890317117, "ssim": 0.8301476708913458, "lpips": 0.1337573230266571}, "wrist_left": {"psnr": 13.152626472493445, "ssim": 0.4652714794631068, "lpips": 0.4289059340953827}, "wrist_right": {"psnr": 14.817924119893274, "ssim": 0.6790540636530622, "lpips": 0.3750341534614563}, "tactile_left": {"psnr": 41.17952070821572, "ssim": 0.9813489295285626, "lpips": 0.040110375732183456}, "tactile_right": {"psnr": 42.51690739993417, "ssim": 0.9822780276890992, "lpips": 0.060197614133358}}, {"video": {"psnr": 23.040836029838047, "ssim": 0.8209646764173164, "lpips": 0.14517220854759216}, "wrist_left": {"psnr": 10.552130585304445, "ssim": 0.42643191522334906, "lpips": 0.5156033039093018}, "wrist_right": {"psnr": 16.090083945054563, "ssim": 0.7122149002215695, "lpips": 0.3190503716468811}, "tactile_left": {"psnr": 39.94227451362895, "ssim": 0.9794515088089225, "lpips": 0.051359571516513824}, "tactile_right": {"psnr": 41.10175948530962, "ssim": 0.9806006111386698, "lpips": 0.07421676069498062}}, {"video": {"psnr": 22.825495853348315, "ssim": 0.8109457030219727, "lpips": 0.15019309520721436}, "wrist_left": {"psnr": 10.367587527616923, "ssim": 0.4222026610694234, "lpips": 0.504763662815094}, "wrist_right": {"psnr": 17.06637472179758, "ssim": 0.7294114960712346, "lpips": 0.26702433824539185}, "tactile_left": {"psnr": 39.07766776445884, "ssim": 0.9768473075432274, "lpips": 0.07342275977134705}, "tactile_right": {"psnr": 39.34017364243993, "ssim": 0.9786202021564295, "lpips": 0.09445582330226898}}, {"video": {"psnr": 22.65935302543836, "ssim": 0.8019221092924473, "lpips": 0.1529713273048401}, "wrist_left": {"psnr": 11.900896836201884, "ssim": 0.49057757937918667, "lpips": 0.44690072536468506}, "wrist_right": {"psnr": 17.198574757796933, "ssim": 0.7358814199553574, "lpips": 0.26138249039649963}, "tactile_left": {"psnr": 38.07569143583939, "ssim": 0.9730556862209284, "lpips": 0.09700560569763184}, "tactile_right": {"psnr": 39.00216169536792, "ssim": 0.975716401565186, "lpips": 0.10419267416000366}}, {"video": {"psnr": 22.419360101712247, "ssim": 0.7917632319578152, "lpips": 0.1539762020111084}, "wrist_left": {"psnr": 12.60257919112883, "ssim": 0.47966059201244327, "lpips": 0.3824009299278259}, "wrist_right": {"psnr": 16.882231317045417, "ssim": 0.7258877343454531, "lpips": 0.2697899639606476}, "tactile_left": {"psnr": 37.13837845553419, "ssim": 0.9687544620818056, "lpips": 0.13256075978279114}, "tactile_right": {"psnr": 38.30485167868095, "ssim": 0.9736182891689072, "lpips": 0.11670609563589096}}, {"video": {"psnr": 22.549307887727807, "ssim": 0.794288700901765, "lpips": 0.14837905764579773}, "wrist_left": {"psnr": 12.965256392926339, "ssim": 0.4748102881767982, "lpips": 0.3659266233444214}, "wrist_right": {"psnr": 14.858958148838084, "ssim": 0.6940773170144893, "lpips": 0.3245945870876312}, "tactile_left": {"psnr": 36.76426506282699, "ssim": 0.968445002484015, "lpips": 0.12885430455207825}, "tactile_right": {"psnr": 37.46263144658995, "ssim": 0.9714434768085664, "lpips": 0.1356661021709442}}, {"video": {"psnr": 22.918949822285583, "ssim": 0.7983405082842738, "lpips": 0.13751454651355743}, "wrist_left": {"psnr": 11.387096616495402, "ssim": 0.45699293198954855, "lpips": 0.4700469970703125}, "wrist_right": {"psnr": 15.132801544205247, "ssim": 0.6872336502430761, "lpips": 0.3373369574546814}, "tactile_left": {"psnr": 36.426116108137876, "ssim": 0.9676360002923918, "lpips": 0.11994113028049469}, "tactile_right": {"psnr": 36.90956830103759, "ssim": 0.9693604788054794, "lpips": 0.14815112948417664}}, {"video": {"psnr": 22.4296121565837, "ssim": 0.7861033813402654, "lpips": 0.15147711336612701}, "wrist_left": {"psnr": 11.734332513074035, "ssim": 0.48295011692539974, "lpips": 0.4579986333847046}, "wrist_right": {"psnr": 16.102210144898496, "ssim": 0.6466850089345407, "lpips": 0.32982802391052246}, "tactile_left": {"psnr": 36.00624027022462, "ssim": 0.9653597582580057, "lpips": 0.13085819780826569}, "tactile_right": {"psnr": 36.13135059417631, "ssim": 0.9671894559891345, "lpips": 0.167162224650383}}, {"video": {"psnr": 20.63116843256681, "ssim": 0.7749320497015775, "lpips": 0.21015626192092896}, "wrist_left": {"psnr": 13.864016189622422, "ssim": 0.5821941160954758, "lpips": 0.3742591142654419}, "wrist_right": {"psnr": 13.078898557275236, "ssim": 0.5702613050016883, "lpips": 0.4433775842189789}, "tactile_left": {"psnr": 35.53816345591573, "ssim": 0.9635818109028189, "lpips": 0.14051508903503418}, "tactile_right": {"psnr": 35.71548243025691, "ssim": 0.9654615087417886, "lpips": 0.17738772928714752}}, {"video": {"psnr": 19.84970316630138, "ssim": 0.7633066937750754, "lpips": 0.24402466416358948}, "wrist_left": {"psnr": 13.887907707558817, "ssim": 0.5698552453406436, "lpips": 0.3532477021217346}, "wrist_right": {"psnr": 10.644895214131413, "ssim": 0.44072341879869026, "lpips": 0.5690500736236572}, "tactile_left": {"psnr": 35.05514050744141, "ssim": 0.9609550976660315, "lpips": 0.1529357135295868}, "tactile_right": {"psnr": 35.207686949406565, "ssim": 0.9638566879109782, "lpips": 0.19017449021339417}}, {"video": {"psnr": 19.332417529823843, "ssim": 0.7463167989525694, "lpips": 0.2656729221343994}, "wrist_left": {"psnr": 13.575505262354632, "ssim": 0.550823405580984, "lpips": 0.3922502398490906}, "wrist_right": {"psnr": 9.863779046215761, "ssim": 0.45760630752086484, "lpips": 0.5345395803451538}, "tactile_left": {"psnr": 34.59006479259528, "ssim": 0.9587925239709065, "lpips": 0.16323219239711761}, "tactile_right": {"psnr": 34.57472648729404, "ssim": 0.9621339080469486, "lpips": 0.20588651299476624}}], "long_metrics": {"video": {"psnr": 22.896755923454982, "ssim": 0.813854244854516, "lpips": 0.15063557028770447}, "wrist_left": {"psnr": 13.833107853567785, "ssim": 0.5221983276716037, "lpips": 0.380000638961792}, "wrist_right": {"psnr": 15.836352036040687, "ssim": 0.6783676776438458, "lpips": 0.3176260729630788}, "tactile_left": {"psnr": 39.0437347331236, "ssim": 0.9736556790987658, "lpips": 0.09184331521391868}, "tactile_right": {"psnr": 39.82281460922543, "ssim": 0.9756112950992157, "lpips": 0.10714181115229925}}}, {"id": "pusht_e013_08", "episode": "pushT_0911_episode_007_seg00.pt", "requested_episode": "pushT_0911_episode_007_seg00.pt", "category": "onset", "t_start": 79, "start_seconds": 5.266666666666667, "short_contact": [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1], "future_transition_ticks": [12], "long_contact_fraction": 0.0390625, "long_label": "onset", "short_metrics": {"video": {"psnr": 31.82067523579358, "ssim": 0.9440099493829762, "lpips": 0.022954251617193222}, "wrist_left": {"psnr": 24.661446793610775, "ssim": 0.8673027716113915, "lpips": 0.06027238816022873}, "wrist_right": {"psnr": 22.513113822848354, "ssim": 0.8469732243721833, "lpips": 0.06888144463300705}, "tactile_left": {"psnr": 45.25157549166369, "ssim": 0.986104905837057, "lpips": 0.019403252750635147}, "tactile_right": {"psnr": 47.44968580313664, "ssim": 0.9910069545285853, "lpips": 0.011613670736551285}}, "media": {"short": {"video": "media/pusht_e013_08_short.mp4", "poster": "media/pusht_e013_08_short.jpg"}, "long": {"video": "media/pusht_e013_08_long.mp4", "poster": "media/pusht_e013_08_long.jpg"}}, "force": {"source": "recorded_normal_force", "units": "N", "fps": 15, "left": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 2.636666774749756, 1.1733332872390747, 2.9424359798431396, 2.9424359798431396, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 2.9424359798431396, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.1599999964237213, 0.1599999964237213, 0.16282100975513458, 0.41999998688697815, 0.41999998688697815, 0.175530806183815, 0.1599999964237213, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.1599999964237213, 0.1599999964237213, 0.0, 0.0, 0.0, 0.0, 0.0, 0.1599999964237213, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "right": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.1599999964237213, 0.0]}, "long_curve": [{"video": {"psnr": 31.82067523579358, "ssim": 0.9440099493829762, "lpips": 0.022954251617193222}, "wrist_left": {"psnr": 24.661446793610775, "ssim": 0.8673027716113915, "lpips": 0.06027238816022873}, "wrist_right": {"psnr": 22.513113822848354, "ssim": 0.8469732243721833, "lpips": 0.06888144463300705}, "tactile_left": {"psnr": 45.25157549166369, "ssim": 0.986104905837057, "lpips": 0.019403252750635147}, "tactile_right": {"psnr": 47.44968580313664, "ssim": 0.9910069545285853, "lpips": 0.011613670736551285}}, {"video": {"psnr": 26.110224774605722, "ssim": 0.8632652588605803, "lpips": 0.0659995824098587}, "wrist_left": {"psnr": 20.2023772149518, "ssim": 0.7361320590859561, "lpips": 0.14271444082260132}, "wrist_right": {"psnr": 17.66294999531896, "ssim": 0.735661936926578, "lpips": 0.17649808526039124}, "tactile_left": {"psnr": 42.06998355054239, "ssim": 0.9792233970364967, "lpips": 0.032560136169195175}, "tactile_right": {"psnr": 44.71323858594015, "ssim": 0.9826196120837734, "lpips": 0.022798169404268265}}, {"video": {"psnr": 23.783685075912114, "ssim": 0.8366613294255558, "lpips": 0.10946071147918701}, "wrist_left": {"psnr": 17.771197544162874, "ssim": 0.5578786284361574, "lpips": 0.22058504819869995}, "wrist_right": {"psnr": 17.7971485693458, "ssim": 0.7409902229110481, "lpips": 0.17848613858222961}, "tactile_left": {"psnr": 41.34398558264568, "ssim": 0.9783814824615656, "lpips": 0.03506384789943695}, "tactile_right": {"psnr": 44.560938138126936, "ssim": 0.984203474673549, "lpips": 0.02838735654950142}}, {"video": {"psnr": 21.925391419542954, "ssim": 0.8069506485837412, "lpips": 0.15185120701789856}, "wrist_left": {"psnr": 12.000458498715572, "ssim": 0.4251076891409983, "lpips": 0.4626607298851013}, "wrist_right": {"psnr": 16.902590289085435, "ssim": 0.7168791874838282, "lpips": 0.2239375114440918}, "tactile_left": {"psnr": 42.36567023100966, "ssim": 0.9817973369107049, "lpips": 0.03798048198223114}, "tactile_right": {"psnr": 43.198007242992375, "ssim": 0.9831728370727006, "lpips": 0.038406163454055786}}, {"video": {"psnr": 22.30614033908673, "ssim": 0.8090542690932546, "lpips": 0.15311895310878754}, "wrist_left": {"psnr": 13.318518702292568, "ssim": 0.38836496186106095, "lpips": 0.3903595805168152}, "wrist_right": {"psnr": 18.721698097324406, "ssim": 0.722168818197485, "lpips": 0.16443222761154175}, "tactile_left": {"psnr": 40.93169265516292, "ssim": 0.9805249321675009, "lpips": 0.04437742009758949}, "tactile_right": {"psnr": 42.38067300853794, "ssim": 0.9818175863839296, "lpips": 0.0539666973054409}}, {"video": {"psnr": 22.185593858984607, "ssim": 0.7949605735549929, "lpips": 0.16022321581840515}, "wrist_left": {"psnr": 11.646127739450183, "ssim": 0.3863191722927277, "lpips": 0.43009015917778015}, "wrist_right": {"psnr": 18.53825197076508, "ssim": 0.7100314350831041, "lpips": 0.20107579231262207}, "tactile_left": {"psnr": 39.81735670946097, "ssim": 0.9784532441327871, "lpips": 0.052930861711502075}, "tactile_right": {"psnr": 42.026242284810294, "ssim": 0.9824621608134101, "lpips": 0.05380469188094139}}, {"video": {"psnr": 22.01198398283957, "ssim": 0.7824363478025356, "lpips": 0.19136090576648712}, "wrist_left": {"psnr": 10.628709974673708, "ssim": 0.339280596549386, "lpips": 0.5128157138824463}, "wrist_right": {"psnr": 14.802490220596653, "ssim": 0.6051473578860935, "lpips": 0.3684685230255127}, "tactile_left": {"psnr": 39.028864898466665, "ssim": 0.9761671350951204, "lpips": 0.06930969655513763}, "tactile_right": {"psnr": 40.74284471106823, "ssim": 0.9814183230476832, "lpips": 0.06608673930168152}}, {"video": {"psnr": 22.103446924945295, "ssim": 0.7862327494342924, "lpips": 0.19873030483722687}, "wrist_left": {"psnr": 10.940240612660686, "ssim": 0.3682836327404678, "lpips": 0.4818153977394104}, "wrist_right": {"psnr": 13.997913629243122, "ssim": 0.5552292216978043, "lpips": 0.40778499841690063}, "tactile_left": {"psnr": 38.04821267941005, "ssim": 0.97385681676996, "lpips": 0.08588356524705887}, "tactile_right": {"psnr": 40.30162935043915, "ssim": 0.979526792782709, "lpips": 0.08086484670639038}}, {"video": {"psnr": 21.513739145625777, "ssim": 0.7696028621665665, "lpips": 0.20813335478305817}, "wrist_left": {"psnr": 10.201487568733242, "ssim": 0.46454295505328264, "lpips": 0.5111494660377502}, "wrist_right": {"psnr": 14.497594028581073, "ssim": 0.6170357037825611, "lpips": 0.3807476758956909}, "tactile_left": {"psnr": 37.58429098658961, "ssim": 0.9719045995629287, "lpips": 0.09953959286212921}, "tactile_right": {"psnr": 39.34561116169296, "ssim": 0.9783368055261322, "lpips": 0.09421249479055405}}, {"video": {"psnr": 20.39742833757607, "ssim": 0.7401402870816869, "lpips": 0.2531925141811371}, "wrist_left": {"psnr": 8.353321886043968, "ssim": 0.37025075812800445, "lpips": 0.5869076251983643}, "wrist_right": {"psnr": 14.35129728192354, "ssim": 0.578391802908519, "lpips": 0.3729372024536133}, "tactile_left": {"psnr": 36.78406014151379, "ssim": 0.96943577970386, "lpips": 0.11199494451284409}, "tactile_right": {"psnr": 37.86038962331185, "ssim": 0.9756772863926524, "lpips": 0.10356635600328445}}, {"video": {"psnr": 20.461486113971038, "ssim": 0.7400676383252036, "lpips": 0.24921756982803345}, "wrist_left": {"psnr": 8.618256939681388, "ssim": 0.3948950802937854, "lpips": 0.578559160232544}, "wrist_right": {"psnr": 15.950524289794998, "ssim": 0.6061890926558595, "lpips": 0.2945677638053894}, "tactile_left": {"psnr": 36.18803431565134, "ssim": 0.9665386972435044, "lpips": 0.13974550366401672}, "tactile_right": {"psnr": 37.308269760959426, "ssim": 0.9722577542868207, "lpips": 0.12036608159542084}}, {"video": {"psnr": 21.05090996283113, "ssim": 0.7648558704900111, "lpips": 0.2148459553718567}, "wrist_left": {"psnr": 11.192292610522685, "ssim": 0.49684898132878996, "lpips": 0.44521111249923706}, "wrist_right": {"psnr": 16.37065465735378, "ssim": 0.620323762724823, "lpips": 0.26812291145324707}, "tactile_left": {"psnr": 35.80591639652374, "ssim": 0.9642615044976831, "lpips": 0.1553429365158081}, "tactile_right": {"psnr": 36.86698386843599, "ssim": 0.970564599929061, "lpips": 0.13665561378002167}}, {"video": {"psnr": 20.99094681618995, "ssim": 0.7808119911120595, "lpips": 0.20887717604637146}, "wrist_left": {"psnr": 13.741151644149037, "ssim": 0.4553783733019576, "lpips": 0.3551192879676819}, "wrist_right": {"psnr": 15.871311796018354, "ssim": 0.6641327359509608, "lpips": 0.28621208667755127}, "tactile_left": {"psnr": 35.534119689842136, "ssim": 0.9636030089766059, "lpips": 0.16112500429153442}, "tactile_right": {"psnr": 36.50446580458558, "ssim": 0.9681080531879848, "lpips": 0.16019892692565918}}, {"video": {"psnr": 20.489044936640347, "ssim": 0.7497093041624574, "lpips": 0.2312416285276413}, "wrist_left": {"psnr": 13.391698313348686, "ssim": 0.509476711977767, "lpips": 0.3976958394050598}, "wrist_right": {"psnr": 11.740471385252443, "ssim": 0.5642615494271248, "lpips": 0.5144326686859131}, "tactile_left": {"psnr": 35.46182193832154, "ssim": 0.9633030615568559, "lpips": 0.14814093708992004}, "tactile_right": {"psnr": 36.085476241911266, "ssim": 0.9648999762602264, "lpips": 0.17793940007686615}}, {"video": {"psnr": 20.08002547944337, "ssim": 0.7327776244795032, "lpips": 0.254523366689682}, "wrist_left": {"psnr": 13.507199059343876, "ssim": 0.46096873074832184, "lpips": 0.40088629722595215}, "wrist_right": {"psnr": 10.389535476312176, "ssim": 0.5023995465375637, "lpips": 0.5681660175323486}, "tactile_left": {"psnr": 34.59035254870704, "ssim": 0.9624720421772239, "lpips": 0.15092086791992188}, "tactile_right": {"psnr": 35.64718190200886, "ssim": 0.964213377148527, "lpips": 0.19088494777679443}}], "long_metrics": {"video": {"psnr": 22.482048160265883, "ssim": 0.7934357802636944, "lpips": 0.17824871316552163}, "wrist_left": {"psnr": 13.344965673489403, "ssim": 0.48140207350333697, "lpips": 0.39845614979664484}, "wrist_right": {"psnr": 16.007169700650945, "ssim": 0.6523877065697025, "lpips": 0.2983167365193367}, "tactile_left": {"psnr": 38.72039585436742, "ssim": 0.973068529608657, "lpips": 0.08962126995126406}, "tactile_right": {"psnr": 40.33277583253051, "ssim": 0.977352372941183, "lpips": 0.08931681041916212}}}, {"id": "pusht_e013_09", "episode": "pushT_0911_episode_007_seg00.pt", "requested_episode": "pushT_0911_episode_007_seg00.pt", "category": "release", "t_start": 372, "start_seconds": 24.8, "short_contact": [1, 1, 0, 0, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 0, 0], "future_transition_ticks": [11], "long_contact_fraction": 0.5234375, "long_label": "release", "short_metrics": {"video": {"psnr": 32.52579237820292, "ssim": 0.951725773205656, "lpips": 0.0230121873319149}, "wrist_left": {"psnr": 29.541964911043536, "ssim": 0.925060746282811, "lpips": 0.019842479377985}, "wrist_right": {"psnr": 19.74045721136456, "ssim": 0.7969947887629567, "lpips": 0.179135262966156}, "tactile_left": {"psnr": 47.351989921546746, "ssim": 0.9906582309304506, "lpips": 0.012132850475609303}, "tactile_right": {"psnr": 51.45314445662049, "ssim": 0.9946615402206489, "lpips": 0.0032695988193154335}}, "media": {"short": {"video": "media/pusht_e013_09_short.mp4", "poster": "media/pusht_e013_09_short.jpg"}, "long": {"video": "media/pusht_e013_09_long.mp4", "poster": "media/pusht_e013_09_long.jpg"}}, "force": {"source": "recorded_normal_force", "units": "N", "fps": 15, "left": [0.7223303318023682, 0.5193629264831543, 0.49666666984558105, 0.49666666984558105, 0.7287783026695251, 1.1662499904632568, 0.759509265422821, 1.0717607736587524, 1.1662499904632568, 0.7603814005851746, 0.7217077016830444, 0.49666666984558105, 0.49666666984558105, 0.43017828464508057, 0.35626736283302307, 0.38013455271720886, 0.3559586703777313, 0.7235453128814697, 1.1662499904632568, 1.1662499904632568, 1.1662499904632568, 1.1662499904632568, 1.1662499904632568, 1.1662499904632568, 1.1662499904632568, 1.1662499904632568, 1.1662499904632568, 1.1662499904632568, 1.1672331094741821, 1.1733332872390747, 1.1733332872390747, 1.1733332872390747, 1.1733332872390747, 1.1733332872390747, 1.1733332872390747, 1.1733332872390747, 1.1733332872390747, 1.1733332872390747, 1.1733332872390747, 1.1733332872390747, 1.2811414003372192, 1.3160333633422852, 1.3294880390167236, 1.258453607559204, 1.2977064847946167, 1.3860361576080322, 1.2988581657409668, 1.245100975036621, 1.1733332872390747, 1.1662499904632568, 1.1662499904632568, 1.1662499904632568, 1.1662499904632568, 1.1662499904632568, 1.1662499904632568, 1.1662499904632568, 1.1662499904632568, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.1599999964237213, 0.41999998688697815, 0.26398810744285583, 0.1698000282049179, 1.5254545211791992, 1.1662499904632568, 1.1662499904632568, 0.0, 0.20448574423789978, 0.3832490146160126, 1.1662499904632568, 1.1689953804016113, 0.727850615978241, 0.5576397776603699, 1.1662499904632568, 1.1662499904632568, 0.4760452210903168, 0.7227554321289062, 1.1662499904632568, 0.7186065316200256, 1.1662499904632568, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "right": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.1662499904632568, 1.1662499904632568, 0.0, 1.1682941913604736, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.1599999964237213, 0.1599999964237213, 0.0, 0.0, 0.1599999964237213, 0.1599999964237213, 0.1599999964237213, 0.1599999964237213, 0.1698560118675232, 0.1784145087003708, 0.16725371778011322, 0.1775873303413391, 0.23787949979305267, 0.26522916555404663, 0.28738197684288025, 0.41999998688697815, 0.41999998688697815, 0.41999998688697815, 0.41298267245292664, 0.41999998688697815, 0.41999998688697815, 0.41999998688697815, 0.4116257131099701, 0.39864084124565125, 0.2943855822086334, 0.2898465096950531, 0.28639650344848633, 0.41999998688697815, 0.3053796887397766, 0.30259114503860474, 0.44334322214126587, 0.4140942096710205, 0.41999998688697815, 0.47298121452331543, 1.1681991815567017, 1.2176240682601929, 1.9833333492279053, 1.9833333492279053, 2.9424359798431396, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]}, "long_curve": [{"video": {"psnr": 32.52579237820292, "ssim": 0.951725773205656, "lpips": 0.0230121873319149}, "wrist_left": {"psnr": 29.541964911043536, "ssim": 0.925060746282811, "lpips": 0.019842479377985}, "wrist_right": {"psnr": 19.74045721136456, "ssim": 0.7969947887629567, "lpips": 0.179135262966156}, "tactile_left": {"psnr": 47.351989921546746, "ssim": 0.9906582309304506, "lpips": 0.012132850475609303}, "tactile_right": {"psnr": 51.45314445662049, "ssim": 0.9946615402206489, "lpips": 0.0032695988193154335}}, {"video": {"psnr": 26.861221002576585, "ssim": 0.8959639256626103, "lpips": 0.06198853254318237}, "wrist_left": {"psnr": 23.933957515000092, "ssim": 0.8086275876185915, "lpips": 0.06612925976514816}, "wrist_right": {"psnr": 18.031911253003422, "ssim": 0.7284800763267272, "lpips": 0.2275685966014862}, "tactile_left": {"psnr": 40.800819986187264, "ssim": 0.9807299022394578, "lpips": 0.049813076853752136}, "tactile_right": {"psnr": 48.24596403160388, "ssim": 0.9917658310087308, "lpips": 0.010075832717120647}}, {"video": {"psnr": 22.651144775502058, "ssim": 0.8278210513920712, "lpips": 0.1475900411605835}, "wrist_left": {"psnr": 16.867502689647093, "ssim": 0.6407454755369525, "lpips": 0.27710747718811035}, "wrist_right": {"psnr": 15.24846888468545, "ssim": 0.631192361670261, "lpips": 0.3861554265022278}, "tactile_left": {"psnr": 38.06851479448871, "ssim": 0.976771385188133, "lpips": 0.07609356939792633}, "tactile_right": {"psnr": 44.62193965968258, "ssim": 0.9889286612771371, "lpips": 0.022014005109667778}}, {"video": {"psnr": 22.1038135913405, "ssim": 0.8103525351589664, "lpips": 0.16281110048294067}, "wrist_left": {"psnr": 15.582425936898936, "ssim": 0.5711361244545738, "lpips": 0.31848785281181335}, "wrist_right": {"psnr": 14.620045579568773, "ssim": 0.5864624743714115, "lpips": 0.4180592894554138}, "tactile_left": {"psnr": 36.73743947169842, "ssim": 0.9736079005560146, "lpips": 0.09241528809070587}, "tactile_right": {"psnr": 41.71651851147061, "ssim": 0.9856516680066696, "lpips": 0.049293167889118195}}, {"video": {"psnr": 21.58469919898549, "ssim": 0.7915265794479898, "lpips": 0.19862404465675354}, "wrist_left": {"psnr": 15.463695129089324, "ssim": 0.5770318830179841, "lpips": 0.3340197801589966}, "wrist_right": {"psnr": 12.103397195985245, "ssim": 0.4442707952605338, "lpips": 0.5014806985855103}, "tactile_left": {"psnr": 35.83093238846854, "ssim": 0.9707582960137507, "lpips": 0.102752685546875}, "tactile_right": {"psnr": 40.825557161448096, "ssim": 0.982517244886423, "lpips": 0.05862253159284592}}, {"video": {"psnr": 21.75661199613648, "ssim": 0.789109478923363, "lpips": 0.1868245005607605}, "wrist_left": {"psnr": 14.505413217691558, "ssim": 0.54963569946063, "lpips": 0.34901952743530273}, "wrist_right": {"psnr": 12.427195319712286, "ssim": 0.47309994893357915, "lpips": 0.4533771872520447}, "tactile_left": {"psnr": 36.011860002183134, "ssim": 0.9689390230913733, "lpips": 0.10698677599430084}, "tactile_right": {"psnr": 40.45053707126395, "ssim": 0.9825417528031655, "lpips": 0.05558601766824722}}, {"video": {"psnr": 21.77464491716933, "ssim": 0.7741488367242346, "lpips": 0.18080443143844604}, "wrist_left": {"psnr": 12.052622951619508, "ssim": 0.41881650385389146, "lpips": 0.47276782989501953}, "wrist_right": {"psnr": 12.320747612233172, "ssim": 0.5223921994893657, "lpips": 0.49693989753723145}, "tactile_left": {"psnr": 38.197454897492456, "ssim": 0.9747245906371096, "lpips": 0.08050861209630966}, "tactile_right": {"psnr": 39.42512895631056, "ssim": 0.9812560922619646, "lpips": 0.06721164286136627}}, {"video": {"psnr": 21.817706337925188, "ssim": 0.7657361165530328, "lpips": 0.17419984936714172}, "wrist_left": {"psnr": 9.67559561954286, "ssim": 0.401590571569045, "lpips": 0.546598494052887}, "wrist_right": {"psnr": 14.958154417205696, "ssim": 0.6717523166314201, "lpips": 0.39348742365837097}, "tactile_left": {"psnr": 37.618634404400886, "ssim": 0.9722697562784639, "lpips": 0.09028001874685287}, "tactile_right": {"psnr": 39.00230647033623, "ssim": 0.9793170074941867, "lpips": 0.084986612200737}}, {"video": {"psnr": 21.442787730478127, "ssim": 0.7720048796210575, "lpips": 0.1756286323070526}, "wrist_left": {"psnr": 8.122681174298169, "ssim": 0.401915231788799, "lpips": 0.6035345792770386}, "wrist_right": {"psnr": 18.407098855977967, "ssim": 0.6692981164979974, "lpips": 0.29937469959259033}, "tactile_left": {"psnr": 37.0296170896562, "ssim": 0.9709384238111922, "lpips": 0.1124715507030487}, "tactile_right": {"psnr": 38.26177983136824, "ssim": 0.9767500546515054, "lpips": 0.10371715575456619}}, {"video": {"psnr": 21.17910210961737, "ssim": 0.7681838821653654, "lpips": 0.17042014002799988}, "wrist_left": {"psnr": 8.476973647465421, "ssim": 0.4367170631908419, "lpips": 0.6015763282775879}, "wrist_right": {"psnr": 17.120994757841515, "ssim": 0.616755952545609, "lpips": 0.3686436712741852}, "tactile_left": {"psnr": 36.04255604149791, "ssim": 0.9661110349016109, "lpips": 0.14937709271907806}, "tactile_right": {"psnr": 37.208965203747574, "ssim": 0.9725434786703897, "lpips": 0.1321200281381607}}, {"video": {"psnr": 21.163688842117526, "ssim": 0.7628224939982067, "lpips": 0.17287302017211914}, "wrist_left": {"psnr": 8.317409984060038, "ssim": 0.4171713717853359, "lpips": 0.6195119619369507}, "wrist_right": {"psnr": 15.168262059483077, "ssim": 0.5351172240408573, "lpips": 0.41571637988090515}, "tactile_left": {"psnr": 35.13234061326542, "ssim": 0.9581587653799242, "lpips": 0.19833140075206757}, "tactile_right": {"psnr": 36.17897177281715, "ssim": 0.9688037946609447, "lpips": 0.1491055190563202}}, {"video": {"psnr": 20.819440545789746, "ssim": 0.7357962689334694, "lpips": 0.21332336962223053}, "wrist_left": {"psnr": 8.448816033305725, "ssim": 0.40634695357330364, "lpips": 0.6197628974914551}, "wrist_right": {"psnr": 12.916887657368267, "ssim": 0.4771532707943717, "lpips": 0.4893888235092163}, "tactile_left": {"psnr": 35.36944491180533, "ssim": 0.9609929893541607, "lpips": 0.18069064617156982}, "tactile_right": {"psnr": 35.451888325891986, "ssim": 0.9647197427112304, "lpips": 0.16197000443935394}}, {"video": {"psnr": 21.213980810665205, "ssim": 0.7171325430971474, "lpips": 0.21722932159900665}, "wrist_left": {"psnr": 9.85926289020943, "ssim": 0.36018857561942685, "lpips": 0.5629441738128662}, "wrist_right": {"psnr": 11.798819916705307, "ssim": 0.4139742388721601, "lpips": 0.5422826409339905}, "tactile_left": {"psnr": 35.350096106250454, "ssim": 0.96016044149536, "lpips": 0.16584062576293945}, "tactile_right": {"psnr": 34.99340862047728, "ssim": 0.9630420525122511, "lpips": 0.17378050088882446}}, {"video": {"psnr": 21.186004400583087, "ssim": 0.7164478173173687, "lpips": 0.22473621368408203}, "wrist_left": {"psnr": 10.023371435845599, "ssim": 0.35549432340976167, "lpips": 0.5546138286590576}, "wrist_right": {"psnr": 10.918413698102235, "ssim": 0.4000114883110977, "lpips": 0.5507549047470093}, "tactile_left": {"psnr": 35.157547799566366, "ssim": 0.9595596695768845, "lpips": 0.17257645726203918}, "tactile_right": {"psnr": 34.76812880078264, "ssim": 0.9626160108984267, "lpips": 0.1922655999660492}}, {"video": {"psnr": 21.297767253589083, "ssim": 0.7368560531026056, "lpips": 0.20784249901771545}, "wrist_left": {"psnr": 11.458446454191654, "ssim": 0.5116877626386008, "lpips": 0.4511374235153198}, "wrist_right": {"psnr": 9.08433337140266, "ssim": 0.36577262915871467, "lpips": 0.6120395064353943}, "tactile_left": {"psnr": 34.69253587973776, "ssim": 0.9575069918290946, "lpips": 0.179586261510849}, "tactile_right": {"psnr": 34.85954778787253, "ssim": 0.9632248686880649, "lpips": 0.20466163754463196}}], "long_metrics": {"video": {"psnr": 22.62522705937858, "ssim": 0.7877085490202096, "lpips": 0.16786052559812864}, "wrist_left": {"psnr": 13.488675972660596, "ssim": 0.5188110582533699, "lpips": 0.4264702595770359}, "wrist_right": {"psnr": 14.324345852709309, "ssim": 0.5555151921111375, "lpips": 0.4222936272621155}, "tactile_left": {"psnr": 37.29278562054971, "ssim": 0.9694591600855321, "lpips": 0.11799046080559492}, "tactile_right": {"psnr": 39.83091911077959, "ssim": 0.9772226533834493, "lpips": 0.097911990309755}}}, {"id": "pusht_e013_10", "episode": "pushT_0911_episode_007_seg00.pt", "requested_episode": "pushT_0911_episode_007_seg00.pt", "category": "full", "t_start": 364, "start_seconds": 24.266666666666666, "short_contact": [1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 1, 1, 1, 1], "future_transition_ticks": [10, 12], "long_contact_fraction": 0.5859375, "long_label": "full", "short_metrics": {"video": {"psnr": 34.04149923118278, "ssim": 0.9599628910412894, "lpips": 0.01697368174791336}, "wrist_left": {"psnr": 31.696853966682177, "ssim": 0.9479398673304434, "lpips": 0.014293760992586613}, "wrist_right": {"psnr": 20.258318301495528, "ssim": 0.8105014716533336, "lpips": 0.13388670980930328}, "tactile_left": {"psnr": 48.61516638247927, "ssim": 0.9917171403044646, "lpips": 0.009732905775308609}, "tactile_right": {"psnr": 50.308276762853765, "ssim": 0.9940881403280648, "lpips": 0.004290526732802391}}, "media": {"short": {"video": "media/pusht_e013_10_short.mp4", "poster": "media/pusht_e013_10_short.jpg"}, "long": {"video": "media/pusht_e013_10_long.mp4", "poster": "media/pusht_e013_10_long.jpg"}}, "force": {"source": "recorded_normal_force", "units": "N", "fps": 15, "left": [0.7430106997489929, 1.1662499904632568, 1.1662499904632568, 0.6716711521148682, 0.704539954662323, 0.7390938401222229, 1.0104410648345947, 0.7223303318023682, 0.7223303318023682, 0.5193629264831543, 0.49666666984558105, 0.49666666984558105, 0.7287783026695251, 1.1662499904632568, 0.759509265422821, 1.0717607736587524, 1.1662499904632568, 0.7603814005851746, 0.7217077016830444, 0.49666666984558105, 0.49666666984558105, 0.43017828464508057, 0.35626736283302307, 0.38013455271720886, 0.3559586703777313, 0.7235453128814697, 1.1662499904632568, 1.1662499904632568, 1.1662499904632568, 1.1662499904632568, 1.1662499904632568, 1.1662499904632568, 1.1662499904632568, 1.1662499904632568, 1.1662499904632568, 1.1662499904632568, 1.1672331094741821, 1.1733332872390747, 1.1733332872390747, 1.1733332872390747, 1.1733332872390747, 1.1733332872390747, 1.1733332872390747, 1.1733332872390747, 1.1733332872390747, 1.1733332872390747, 1.1733332872390747, 1.1733332872390747, 1.2811414003372192, 1.3160333633422852, 1.3294880390167236, 1.258453607559204, 1.2977064847946167, 1.3860361576080322, 1.2988581657409668, 1.245100975036621, 1.1733332872390747, 1.1662499904632568, 1.1662499904632568, 1.1662499904632568, 1.1662499904632568, 1.1662499904632568, 1.1662499904632568, 1.1662499904632568, 1.1662499904632568, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.1599999964237213, 0.41999998688697815, 0.26398810744285583, 0.1698000282049179, 1.5254545211791992, 1.1662499904632568, 1.1662499904632568, 0.0, 0.20448574423789978, 0.3832490146160126, 1.1662499904632568, 1.1689953804016113, 0.727850615978241, 0.5576397776603699, 1.1662499904632568, 1.1662499904632568, 0.4760452210903168, 0.7227554321289062, 1.1662499904632568, 0.7186065316200256, 1.1662499904632568, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "right": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.1662499904632568, 1.1662499904632568, 0.0, 1.1682941913604736, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.1599999964237213, 0.1599999964237213, 0.0, 0.0, 0.1599999964237213, 0.1599999964237213, 0.1599999964237213, 0.1599999964237213, 0.1698560118675232, 0.1784145087003708, 0.16725371778011322, 0.1775873303413391, 0.23787949979305267, 0.26522916555404663, 0.28738197684288025, 0.41999998688697815, 0.41999998688697815, 0.41999998688697815, 0.41298267245292664, 0.41999998688697815, 0.41999998688697815, 0.41999998688697815, 0.4116257131099701, 0.39864084124565125, 0.2943855822086334, 0.2898465096950531, 0.28639650344848633, 0.41999998688697815, 0.3053796887397766, 0.30259114503860474, 0.44334322214126587, 0.4140942096710205, 0.41999998688697815, 0.47298121452331543, 1.1681991815567017, 1.2176240682601929, 1.9833333492279053, 1.9833333492279053, 2.9424359798431396, 0.0]}, "long_curve": [{"video": {"psnr": 34.04149923118278, "ssim": 0.9599628910412894, "lpips": 0.01697368174791336}, "wrist_left": {"psnr": 31.696853966682177, "ssim": 0.9479398673304434, "lpips": 0.014293760992586613}, "wrist_right": {"psnr": 20.258318301495528, "ssim": 0.8105014716533336, "lpips": 0.13388670980930328}, "tactile_left": {"psnr": 48.61516638247927, "ssim": 0.9917171403044646, "lpips": 0.009732905775308609}, "tactile_right": {"psnr": 50.308276762853765, "ssim": 0.9940881403280648, "lpips": 0.004290526732802391}}, {"video": {"psnr": 31.879660906533843, "ssim": 0.9419658231934691, "lpips": 0.028910834342241287}, "wrist_left": {"psnr": 27.075439057138965, "ssim": 0.8755532117427062, "lpips": 0.030432203784585}, "wrist_right": {"psnr": 19.682750897222316, "ssim": 0.7192965428119369, "lpips": 0.2069399356842041}, "tactile_left": {"psnr": 46.26332479481573, "ssim": 0.9875663614742398, "lpips": 0.017822416499257088}, "tactile_right": {"psnr": 48.511627091811356, "ssim": 0.9915742828618865, "lpips": 0.009625822305679321}}, {"video": {"psnr": 27.034933520362227, "ssim": 0.9003940968827975, "lpips": 0.06537781655788422}, "wrist_left": {"psnr": 21.79961734836434, "ssim": 0.7668600003862127, "lpips": 0.10463909804821014}, "wrist_right": {"psnr": 18.972177764141517, "ssim": 0.6930402401346586, "lpips": 0.18979090452194214}, "tactile_left": {"psnr": 40.01688607507014, "ssim": 0.9789883260413921, "lpips": 0.056951314210891724}, "tactile_right": {"psnr": 45.15166314131626, "ssim": 0.9887637175383791, "lpips": 0.02193906158208847}}, {"video": {"psnr": 23.3914070583999, "ssim": 0.8388159517590292, "lpips": 0.11738476902246475}, "wrist_left": {"psnr": 15.521714061113403, "ssim": 0.5991778785655251, "lpips": 0.3469776511192322}, "wrist_right": {"psnr": 16.25333337214159, "ssim": 0.6139621105912093, "lpips": 0.3497178554534912}, "tactile_left": {"psnr": 37.88225409851006, "ssim": 0.9749591647901668, "lpips": 0.08754537254571915}, "tactile_right": {"psnr": 42.76533971291549, "ssim": 0.9863174223954178, "lpips": 0.0364856943488121}}, {"video": {"psnr": 22.891362227460345, "ssim": 0.8189832469157028, "lpips": 0.13207067549228668}, "wrist_left": {"psnr": 16.425520855889143, "ssim": 0.6028006796520589, "lpips": 0.29450297355651855}, "wrist_right": {"psnr": 14.633618700716514, "ssim": 0.5600960345356919, "lpips": 0.4308266341686249}, "tactile_left": {"psnr": 36.513094528553644, "ssim": 0.9719506357938903, "lpips": 0.09569086134433746}, "tactile_right": {"psnr": 41.340302340970034, "ssim": 0.983233800010699, "lpips": 0.0660037100315094}}, {"video": {"psnr": 22.42763757089726, "ssim": 0.7981034990911955, "lpips": 0.1539899706840515}, "wrist_left": {"psnr": 15.72924361047209, "ssim": 0.6022465661393316, "lpips": 0.3355224132537842}, "wrist_right": {"psnr": 11.980243055487794, "ssim": 0.459949509031462, "lpips": 0.5142027139663696}, "tactile_left": {"psnr": 35.50043998902724, "ssim": 0.9687793413685523, "lpips": 0.11124129593372345}, "tactile_right": {"psnr": 40.74557137014548, "ssim": 0.9828279865476484, "lpips": 0.05683572590351105}}, {"video": {"psnr": 22.61704710657127, "ssim": 0.804177781429043, "lpips": 0.1430596113204956}, "wrist_left": {"psnr": 15.936544132114479, "ssim": 0.5996011043615843, "lpips": 0.32144880294799805}, "wrist_right": {"psnr": 11.64311658085759, "ssim": 0.45527228817119453, "lpips": 0.47086575627326965}, "tactile_left": {"psnr": 35.69402665376064, "ssim": 0.9666106852095822, "lpips": 0.11976858973503113}, "tactile_right": {"psnr": 39.552209847839556, "ssim": 0.9810811451802999, "lpips": 0.0664992406964302}}, {"video": {"psnr": 22.71214204760461, "ssim": 0.7933132734798026, "lpips": 0.14012683928012848}, "wrist_left": {"psnr": 13.33481048305368, "ssim": 0.4570537671479479, "lpips": 0.4381338357925415}, "wrist_right": {"psnr": 11.229474278645224, "ssim": 0.5029931371307281, "lpips": 0.5146340131759644}, "tactile_left": {"psnr": 37.30445657901184, "ssim": 0.9720745949825852, "lpips": 0.09393006563186646}, "tactile_right": {"psnr": 39.16987257462718, "ssim": 0.9790883203784833, "lpips": 0.08372508734464645}}, {"video": {"psnr": 22.619832441315552, "ssim": 0.7824722511599214, "lpips": 0.13906268775463104}, "wrist_left": {"psnr": 11.286586415203782, "ssim": 0.4671103906896399, "lpips": 0.4540243148803711}, "wrist_right": {"psnr": 13.182583218297875, "ssim": 0.6576608851692726, "lpips": 0.43356359004974365}, "tactile_left": {"psnr": 37.092758311290666, "ssim": 0.9701712854414082, "lpips": 0.09987732768058777}, "tactile_right": {"psnr": 38.493714981563116, "ssim": 0.9772553837185507, "lpips": 0.09834648668766022}}, {"video": {"psnr": 22.015554568422523, "ssim": 0.7774343615440136, "lpips": 0.14644399285316467}, "wrist_left": {"psnr": 8.454350462565273, "ssim": 0.4174518072881261, "lpips": 0.5843390226364136}, "wrist_right": {"psnr": 14.04395546057268, "ssim": 0.5797472082813282, "lpips": 0.4458140730857849}, "tactile_left": {"psnr": 36.3447736379211, "ssim": 0.9686113109760404, "lpips": 0.12545093894004822}, "tactile_right": {"psnr": 37.25589535186931, "ssim": 0.9741653924477325, "lpips": 0.12291911244392395}}, {"video": {"psnr": 22.034147084469584, "ssim": 0.78249592952874, "lpips": 0.14361387491226196}, "wrist_left": {"psnr": 9.835545080095514, "ssim": 0.5030816709764933, "lpips": 0.5574569702148438}, "wrist_right": {"psnr": 12.867968579261133, "ssim": 0.4883257263862425, "lpips": 0.48649972677230835}, "tactile_left": {"psnr": 35.60802567754823, "ssim": 0.9640818791301347, "lpips": 0.16269655525684357}, "tactile_right": {"psnr": 36.48626287849864, "ssim": 0.9699727702590739, "lpips": 0.1461411714553833}}, {"video": {"psnr": 21.631100030397526, "ssim": 0.7771472134331904, "lpips": 0.14773350954055786}, "wrist_left": {"psnr": 9.897042702876869, "ssim": 0.4885296767342899, "lpips": 0.5625448226928711}, "wrist_right": {"psnr": 12.856253258410115, "ssim": 0.46345043973649225, "lpips": 0.46792006492614746}, "tactile_left": {"psnr": 34.79958862577532, "ssim": 0.9563400992246862, "lpips": 0.2105056196451187}, "tactile_right": {"psnr": 35.60060497802665, "ssim": 0.9660756424463144, "lpips": 0.16684642434120178}}, {"video": {"psnr": 21.018224570471688, "ssim": 0.7608147549570253, "lpips": 0.17883704602718353}, "wrist_left": {"psnr": 8.953632208476378, "ssim": 0.4335578737905268, "lpips": 0.5908173322677612}, "wrist_right": {"psnr": 13.88932373459009, "ssim": 0.49126396409834056, "lpips": 0.4391632676124573}, "tactile_left": {"psnr": 35.05459383705539, "ssim": 0.9593353545433676, "lpips": 0.1931581050157547}, "tactile_right": {"psnr": 35.01498911850727, "ssim": 0.9618554719292935, "lpips": 0.17814508080482483}}, {"video": {"psnr": 21.68211186061289, "ssim": 0.7665174933541428, "lpips": 0.16283148527145386}, "wrist_left": {"psnr": 8.870136245389403, "ssim": 0.3648180873772905, "lpips": 0.5738077759742737}, "wrist_right": {"psnr": 12.723082508556944, "ssim": 0.44328258989933006, "lpips": 0.4735903739929199}, "tactile_left": {"psnr": 35.103626118054045, "ssim": 0.9584898501856967, "lpips": 0.178455650806427}, "tactile_right": {"psnr": 34.57095349016061, "ssim": 0.9603714832729422, "lpips": 0.1876232922077179}}, {"video": {"psnr": 21.68250960618813, "ssim": 0.7562229281090462, "lpips": 0.17076195776462555}, "wrist_left": {"psnr": 8.926194729873213, "ssim": 0.35509764590723175, "lpips": 0.5484271049499512}, "wrist_right": {"psnr": 11.332756942442098, "ssim": 0.3998907574052868, "lpips": 0.5104584693908691}, "tactile_left": {"psnr": 34.81055965547633, "ssim": 0.9583729767548472, "lpips": 0.18487371504306793}, "tactile_right": {"psnr": 34.30999041638435, "ssim": 0.9599051441580483, "lpips": 0.20529326796531677}}], "long_metrics": {"video": {"psnr": 23.978611322059344, "ssim": 0.8172547663918939, "lpips": 0.12581191683808962}, "wrist_left": {"psnr": 14.916215423953913, "ssim": 0.5653920152059605, "lpips": 0.38382453887412943}, "wrist_right": {"psnr": 14.3699304435226, "ssim": 0.5559155270024339, "lpips": 0.4045249392588933}, "tactile_left": {"psnr": 37.773571664289975, "ssim": 0.9698699337480703, "lpips": 0.11651338227093219}, "tactile_right": {"psnr": 39.951818270499274, "ssim": 0.9771050735648557, "lpips": 0.09671464699010054}}}, {"id": "pusht_e013_11", "episode": "pushT_0911_episode_007_seg01.pt", "requested_episode": "pushT_0911_episode_007_seg01.pt", "category": "none", "t_start": 112, "start_seconds": 7.466666666666667, "short_contact": [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0], "future_transition_ticks": [], "long_contact_fraction": 0.2578125, "long_label": "none_at_start", "short_metrics": {"video": {"psnr": 27.197188422036753, "ssim": 0.8906101466658807, "lpips": 0.043701209127902985}, "wrist_left": {"psnr": 23.09435389888517, "ssim": 0.8113397819677906, "lpips": 0.10237808525562286}, "wrist_right": {"psnr": 17.116135554800824, "ssim": 0.785075965857645, "lpips": 0.2542147934436798}, "tactile_left": {"psnr": 42.934834024864, "ssim": 0.986091176707764, "lpips": 0.03773266449570656}, "tactile_right": {"psnr": 50.28044866712567, "ssim": 0.9939551493176082, "lpips": 0.0043689957819879055}}, "media": {"short": {"video": "media/pusht_e013_11_short.mp4", "poster": "media/pusht_e013_11_short.jpg"}, "long": {"video": "media/pusht_e013_11_long.mp4", "poster": "media/pusht_e013_11_long.jpg"}}, "force": {"source": "recorded_normal_force", "units": "N", "fps": 15, "left": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.1599999964237213, 0.1599999964237213, 0.1599999964237213, 0.1599999964237213, 0.2542245090007782, 0.1599999964237213, 0.1599999964237213, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "right": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.41999998688697815, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.9833333492279053, 0.0, 0.0, 0.0, 0.0, 0.0, 0.43252578377723694, 0.7112929821014404, 1.1662499904632568, 1.1662499904632568, 1.1662499904632568, 1.1375232934951782, 0.7337615489959717, 1.2042529582977295, 2.9424359798431396, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.4294271171092987, 0.7712745666503906, 1.1662499904632568, 1.1662499904632568, 1.1662499904632568, 2.636666774749756, 1.16824209690094, 1.9833333492279053, 2.636666774749756, 2.8207693099975586, 2.9424359798431396, 2.8207693099975586, 2.9424359798431396, 2.9424359798431396, 2.636666774749756, 2.636666774749756, 2.636666774749756, 1.1667428016662598, 1.1662499904632568, 1.1662499904632568, 1.0983830690383911, 1.1662499904632568, 1.2014970779418945, 1.9833333492279053, 2.9424359798431396, 0.0, 0.0, 0.0]}, "long_curve": [{"video": {"psnr": 27.197188422036753, "ssim": 0.8906101466658807, "lpips": 0.043701209127902985}, "wrist_left": {"psnr": 23.09435389888517, "ssim": 0.8113397819677906, "lpips": 0.10237808525562286}, "wrist_right": {"psnr": 17.116135554800824, "ssim": 0.785075965857645, "lpips": 0.2542147934436798}, "tactile_left": {"psnr": 42.934834024864, "ssim": 0.986091176707764, "lpips": 0.03773266449570656}, "tactile_right": {"psnr": 50.28044866712567, "ssim": 0.9939551493176082, "lpips": 0.0043689957819879055}}, {"video": {"psnr": 23.409281791538913, "ssim": 0.799915265101149, "lpips": 0.1048683226108551}, "wrist_left": {"psnr": 17.416158607950084, "ssim": 0.6856492655227912, "lpips": 0.21795332431793213}, "wrist_right": {"psnr": 13.256913088015898, "ssim": 0.6126884416948404, "lpips": 0.42208534479141235}, "tactile_left": {"psnr": 44.021122787606394, "ssim": 0.9853507493719909, "lpips": 0.02800271101295948}, "tactile_right": {"psnr": 48.17789294148238, "ssim": 0.9897162830377553, "lpips": 0.013181407004594803}}, {"video": {"psnr": 22.509055150151795, "ssim": 0.7903009945387787, "lpips": 0.13333624601364136}, "wrist_left": {"psnr": 14.106819042959364, "ssim": 0.5622403608881975, "lpips": 0.269363135099411}, "wrist_right": {"psnr": 12.68967846444523, "ssim": 0.5364161236838807, "lpips": 0.46949145197868347}, "tactile_left": {"psnr": 43.92281261259661, "ssim": 0.9851139899027668, "lpips": 0.02827107347548008}, "tactile_right": {"psnr": 45.07028230852326, "ssim": 0.9864623701345456, "lpips": 0.02203597128391266}}, {"video": {"psnr": 21.42488435123751, "ssim": 0.7830708586742734, "lpips": 0.1845640391111374}, "wrist_left": {"psnr": 14.05116517584081, "ssim": 0.5455125659970183, "lpips": 0.2517733871936798}, "wrist_right": {"psnr": 13.016612621356071, "ssim": 0.5659087477948277, "lpips": 0.43146365880966187}, "tactile_left": {"psnr": 43.560452153261565, "ssim": 0.9837314162734737, "lpips": 0.036887042224407196}, "tactile_right": {"psnr": 43.39117282766284, "ssim": 0.9842237773502134, "lpips": 0.03724285960197449}}, {"video": {"psnr": 21.382443264871153, "ssim": 0.7733201192535668, "lpips": 0.18484994769096375}, "wrist_left": {"psnr": 14.613392552069966, "ssim": 0.5713222773151412, "lpips": 0.24069368839263916}, "wrist_right": {"psnr": 12.267341800533782, "ssim": 0.48226982500506066, "lpips": 0.5020294189453125}, "tactile_left": {"psnr": 42.61362692576924, "ssim": 0.9824557894356307, "lpips": 0.04291599988937378}, "tactile_right": {"psnr": 42.571842796678226, "ssim": 0.981239511050424, "lpips": 0.0651981458067894}}, {"video": {"psnr": 21.662061555989883, "ssim": 0.7838077058238065, "lpips": 0.1816238909959793}, "wrist_left": {"psnr": 14.78528421341936, "ssim": 0.5634078325582837, "lpips": 0.24960894882678986}, "wrist_right": {"psnr": 12.380886621895883, "ssim": 0.48633669585970263, "lpips": 0.4707675278186798}, "tactile_left": {"psnr": 41.40209875026727, "ssim": 0.9805025024673061, "lpips": 0.05171964317560196}, "tactile_right": {"psnr": 41.7902181411072, "ssim": 0.9799745186468003, "lpips": 0.07206855714321136}}, {"video": {"psnr": 21.30141994563347, "ssim": 0.7790934324893641, "lpips": 0.18768954277038574}, "wrist_left": {"psnr": 15.201776291626587, "ssim": 0.5732537802957833, "lpips": 0.22796157002449036}, "wrist_right": {"psnr": 11.919592485266367, "ssim": 0.38701993257548695, "lpips": 0.5565308332443237}, "tactile_left": {"psnr": 40.36183386656623, "ssim": 0.9783521122329106, "lpips": 0.06581401079893112}, "tactile_right": {"psnr": 40.63155357871257, "ssim": 0.9778262666869397, "lpips": 0.09255342185497284}}, {"video": {"psnr": 21.01905567598362, "ssim": 0.7733097251099328, "lpips": 0.19306762516498566}, "wrist_left": {"psnr": 16.724255884341733, "ssim": 0.596718918362142, "lpips": 0.2015722393989563}, "wrist_right": {"psnr": 11.608265664300612, "ssim": 0.446417885486011, "lpips": 0.5368970632553101}, "tactile_left": {"psnr": 39.173171947731966, "ssim": 0.9758989056153573, "lpips": 0.08207733929157257}, "tactile_right": {"psnr": 39.89547439658086, "ssim": 0.9760540952578298, "lpips": 0.11019597202539444}}, {"video": {"psnr": 20.50509671659122, "ssim": 0.7509621507978306, "lpips": 0.2293369472026825}, "wrist_left": {"psnr": 17.0364747927002, "ssim": 0.607306607139744, "lpips": 0.2019929587841034}, "wrist_right": {"psnr": 12.515409002855248, "ssim": 0.4863005690391615, "lpips": 0.4630206823348999}, "tactile_left": {"psnr": 38.48644436525435, "ssim": 0.9736528414772296, "lpips": 0.09348063915967941}, "tactile_right": {"psnr": 38.62984056945427, "ssim": 0.9725009674940805, "lpips": 0.14791233837604523}}, {"video": {"psnr": 21.00396149733161, "ssim": 0.7595446835062979, "lpips": 0.2032465934753418}, "wrist_left": {"psnr": 16.714006996832453, "ssim": 0.5947287172020181, "lpips": 0.2136249840259552}, "wrist_right": {"psnr": 12.700268235578262, "ssim": 0.5359068337297492, "lpips": 0.4273972511291504}, "tactile_left": {"psnr": 37.71070014696945, "ssim": 0.9711479866034873, "lpips": 0.1068001464009285}, "tactile_right": {"psnr": 36.832733543204895, "ssim": 0.9664836533772381, "lpips": 0.20187291502952576}}, {"video": {"psnr": 20.785790603950865, "ssim": 0.7546265454259313, "lpips": 0.21883156895637512}, "wrist_left": {"psnr": 17.065796249353507, "ssim": 0.6055373209877427, "lpips": 0.20253857970237732}, "wrist_right": {"psnr": 12.396325069725012, "ssim": 0.5203342011672478, "lpips": 0.46511951088905334}, "tactile_left": {"psnr": 37.00822699123633, "ssim": 0.9686436259531577, "lpips": 0.11989998817443848}, "tactile_right": {"psnr": 37.09156313055526, "ssim": 0.9692883141964397, "lpips": 0.1584559977054596}}, {"video": {"psnr": 20.475627158178717, "ssim": 0.7365192287876734, "lpips": 0.23359182476997375}, "wrist_left": {"psnr": 16.753050236329113, "ssim": 0.6000960727187398, "lpips": 0.20903679728507996}, "wrist_right": {"psnr": 10.668511957588734, "ssim": 0.4442646065074662, "lpips": 0.5526154041290283}, "tactile_left": {"psnr": 36.030470806964175, "ssim": 0.9659639072165568, "lpips": 0.13809587061405182}, "tactile_right": {"psnr": 35.95377887389046, "ssim": 0.9630863304186561, "lpips": 0.20940643548965454}}, {"video": {"psnr": 20.676047360974277, "ssim": 0.7380705162440613, "lpips": 0.2225094735622406}, "wrist_left": {"psnr": 16.759513041080826, "ssim": 0.5928721137911759, "lpips": 0.21089106798171997}, "wrist_right": {"psnr": 10.727550293507285, "ssim": 0.4135870089014875, "lpips": 0.5393270254135132}, "tactile_left": {"psnr": 35.604174232751966, "ssim": 0.9632326227813744, "lpips": 0.14945673942565918}, "tactile_right": {"psnr": 34.27799643251449, "ssim": 0.9508817048673768, "lpips": 0.27183467149734497}}, {"video": {"psnr": 20.724159783029656, "ssim": 0.7366863873735717, "lpips": 0.22517156600952148}, "wrist_left": {"psnr": 16.15537076699689, "ssim": 0.5829377303894169, "lpips": 0.22193500399589539}, "wrist_right": {"psnr": 11.064046280316994, "ssim": 0.4254069076620451, "lpips": 0.5414053201675415}, "tactile_left": {"psnr": 35.26623759201556, "ssim": 0.9608330535676437, "lpips": 0.16114693880081177}, "tactile_right": {"psnr": 33.650266821029, "ssim": 0.9471049944927656, "lpips": 0.3065188527107239}}, {"video": {"psnr": 20.54777204686333, "ssim": 0.7444716754521714, "lpips": 0.23683765530586243}, "wrist_left": {"psnr": 13.52337923634055, "ssim": 0.4787571430090297, "lpips": 0.33938926458358765}, "wrist_right": {"psnr": 14.650127813028872, "ssim": 0.5707077115232728, "lpips": 0.36668118834495544}, "tactile_left": {"psnr": 34.724039235761516, "ssim": 0.9585693465681472, "lpips": 0.16973371803760529}, "tactile_right": {"psnr": 34.93804617446682, "ssim": 0.9558290019436941, "lpips": 0.25713634490966797}}], "long_metrics": {"video": {"psnr": 21.641589688290853, "ssim": 0.7729539623496193, "lpips": 0.18554843018452327}, "wrist_left": {"psnr": 16.26671979911511, "ssim": 0.598112032543001, "lpips": 0.22404753565788268}, "wrist_right": {"psnr": 12.598510996881005, "ssim": 0.513242763765859, "lpips": 0.4666030983130137}, "tactile_left": {"psnr": 39.52134976264111, "ssim": 0.9746360017449864, "lpips": 0.0874689683318138}, "tactile_right": {"psnr": 40.212207413532546, "ssim": 0.9729751292181578, "lpips": 0.13133219241475066}}}, {"id": "pusht_e013_12", "episode": "pushT_0911_episode_007_seg01.pt", "requested_episode": "pushT_0911_episode_007_seg01.pt", "category": "onset", "t_start": 202, "start_seconds": 13.466666666666667, "short_contact": [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 1], "future_transition_ticks": [11], "long_contact_fraction": 0.4765625, "long_label": "onset", "short_metrics": {"video": {"psnr": 30.01089291796942, "ssim": 0.9363050673837641, "lpips": 0.027131393551826477}, "wrist_left": {"psnr": 30.129116019815612, "ssim": 0.9516944047290115, "lpips": 0.016467764973640442}, "wrist_right": {"psnr": 23.376605154200504, "ssim": 0.8150669175380045, "lpips": 0.07611334323883057}, "tactile_left": {"psnr": 48.9731567845221, "ssim": 0.9912825203490461, "lpips": 0.007755097001791}, "tactile_right": {"psnr": 41.229113073356274, "ssim": 0.9851981505734857, "lpips": 0.07821601629257202}}, "media": {"short": {"video": "media/pusht_e013_12_short.mp4", "poster": "media/pusht_e013_12_short.jpg"}, "long": {"video": "media/pusht_e013_12_long.mp4", "poster": "media/pusht_e013_12_long.jpg"}}, "force": {"source": "recorded_normal_force", "units": "N", "fps": 15, "left": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.1662499904632568, 1.1662499904632568, 1.1662499904632568, 1.1662499904632568, 2.9424359798431396, 2.636666774749756, 1.167639136314392, 1.5254545211791992, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 1.9833333492279053, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396], "right": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.4294271171092987, 0.7712745666503906, 1.1662499904632568, 1.1662499904632568, 1.1662499904632568, 2.636666774749756, 1.16824209690094, 1.9833333492279053, 2.636666774749756, 2.8207693099975586, 2.9424359798431396, 2.8207693099975586, 2.9424359798431396, 2.9424359798431396, 2.636666774749756, 2.636666774749756, 2.636666774749756, 1.1667428016662598, 1.1662499904632568, 1.1662499904632568, 1.0983830690383911, 1.1662499904632568, 1.2014970779418945, 1.9833333492279053, 2.9424359798431396, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.5254545211791992, 1.1733332872390747, 1.1733332872390747, 1.1662499904632568, 1.1662499904632568, 1.1662499904632568, 1.1662499904632568, 1.1662499904632568, 0.49666666984558105, 0.7431948184967041, 0.5188231468200684, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.1662499904632568, 1.1662499904632568, 1.1662499904632568, 1.43471360206604, 1.169874668121338, 1.1733332872390747, 1.5254545211791992, 1.4500000476837158, 1.4662624597549438, 1.369276523590088, 1.1733332872390747, 1.1662499904632568, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]}, "long_curve": [{"video": {"psnr": 30.01089291796942, "ssim": 0.9363050673837641, "lpips": 0.027131393551826477}, "wrist_left": {"psnr": 30.129116019815612, "ssim": 0.9516944047290115, "lpips": 0.016467764973640442}, "wrist_right": {"psnr": 23.376605154200504, "ssim": 0.8150669175380045, "lpips": 0.07611334323883057}, "tactile_left": {"psnr": 48.9731567845221, "ssim": 0.9912825203490461, "lpips": 0.007755097001791}, "tactile_right": {"psnr": 41.229113073356274, "ssim": 0.9851981505734857, "lpips": 0.07821601629257202}}, {"video": {"psnr": 26.131213068729686, "ssim": 0.8825595763260417, "lpips": 0.06336009502410889}, "wrist_left": {"psnr": 27.298491057357758, "ssim": 0.910433045775422, "lpips": 0.03941478952765465}, "wrist_right": {"psnr": 20.337140599005465, "ssim": 0.7742769934573268, "lpips": 0.1300327181816101}, "tactile_left": {"psnr": 47.0507597033164, "ssim": 0.9888837729018569, "lpips": 0.014989401213824749}, "tactile_right": {"psnr": 37.254370767597194, "ssim": 0.9713576458572586, "lpips": 0.13272501528263092}}, {"video": {"psnr": 26.840107330061652, "ssim": 0.895962742702181, "lpips": 0.06152832880616188}, "wrist_left": {"psnr": 21.400963928463135, "ssim": 0.8208612844808274, "lpips": 0.0736391693353653}, "wrist_right": {"psnr": 18.932526523668805, "ssim": 0.7519361047650179, "lpips": 0.1577485203742981}, "tactile_left": {"psnr": 45.14065718083984, "ssim": 0.986656862454318, "lpips": 0.023885414004325867}, "tactile_right": {"psnr": 37.56531109686466, "ssim": 0.9714895360519418, "lpips": 0.15461739897727966}}, {"video": {"psnr": 23.78817986835269, "ssim": 0.8565018382614724, "lpips": 0.12091752886772156}, "wrist_left": {"psnr": 14.45526407198759, "ssim": 0.6634204343506989, "lpips": 0.21347612142562866}, "wrist_right": {"psnr": 15.430745108402938, "ssim": 0.6738942459317521, "lpips": 0.30281537771224976}, "tactile_left": {"psnr": 44.13432012089714, "ssim": 0.984711595752485, "lpips": 0.03385256975889206}, "tactile_right": {"psnr": 41.50112034994264, "ssim": 0.9812792607194506, "lpips": 0.06676948815584183}}, {"video": {"psnr": 22.39546424461497, "ssim": 0.8078034560937312, "lpips": 0.1585310846567154}, "wrist_left": {"psnr": 13.738996424144771, "ssim": 0.6126584466263251, "lpips": 0.23121865093708038}, "wrist_right": {"psnr": 12.041063185509755, "ssim": 0.5492296725839347, "lpips": 0.47852298617362976}, "tactile_left": {"psnr": 42.620944904664725, "ssim": 0.982978729253468, "lpips": 0.042050257325172424}, "tactile_right": {"psnr": 41.62583370155467, "ssim": 0.9816530773905643, "lpips": 0.06836512684822083}}, {"video": {"psnr": 21.874604506043312, "ssim": 0.7977266071534528, "lpips": 0.16815447807312012}, "wrist_left": {"psnr": 13.170289897219131, "ssim": 0.5765568564976236, "lpips": 0.25363582372665405}, "wrist_right": {"psnr": 11.441821792954165, "ssim": 0.519190837089995, "lpips": 0.4738163650035858}, "tactile_left": {"psnr": 41.40496679608353, "ssim": 0.9808025246133842, "lpips": 0.05555728077888489}, "tactile_right": {"psnr": 38.475694088506536, "ssim": 0.9739978428321752, "lpips": 0.1425589919090271}}, {"video": {"psnr": 21.30141093234969, "ssim": 0.7964279055414796, "lpips": 0.18598279356956482}, "wrist_left": {"psnr": 13.65761252628322, "ssim": 0.5843183279522903, "lpips": 0.25890225172042847}, "wrist_right": {"psnr": 12.70627038768799, "ssim": 0.5654771169981851, "lpips": 0.4406837224960327}, "tactile_left": {"psnr": 40.23554572563941, "ssim": 0.9784295348356093, "lpips": 0.07039639353752136}, "tactile_right": {"psnr": 39.32453856344373, "ssim": 0.9775873006458162, "lpips": 0.09878399968147278}}, {"video": {"psnr": 21.051559396177705, "ssim": 0.7922580163748345, "lpips": 0.18751448392868042}, "wrist_left": {"psnr": 14.33584396665273, "ssim": 0.5897283420713962, "lpips": 0.25966233015060425}, "wrist_right": {"psnr": 12.709200923905426, "ssim": 0.49985184443125563, "lpips": 0.491812527179718}, "tactile_left": {"psnr": 39.15595251870984, "ssim": 0.9757211610385572, "lpips": 0.08877237141132355}, "tactile_right": {"psnr": 39.11541501152698, "ssim": 0.9756706970271256, "lpips": 0.10532665997743607}}, {"video": {"psnr": 20.62478811289165, "ssim": 0.7886999492207776, "lpips": 0.19189058244228363}, "wrist_left": {"psnr": 13.277292453684137, "ssim": 0.5532254153221176, "lpips": 0.29570484161376953}, "wrist_right": {"psnr": 14.093264322579808, "ssim": 0.5110060401003635, "lpips": 0.46000272035598755}, "tactile_left": {"psnr": 38.38046863524247, "ssim": 0.9733600025137239, "lpips": 0.10244690626859665}, "tactile_right": {"psnr": 36.006318653194626, "ssim": 0.9634619158573872, "lpips": 0.2011924684047699}}, {"video": {"psnr": 20.96126165204355, "ssim": 0.7694077655813242, "lpips": 0.2123904526233673}, "wrist_left": {"psnr": 14.064461680088836, "ssim": 0.5792437398076422, "lpips": 0.2804449498653412}, "wrist_right": {"psnr": 13.672843489204958, "ssim": 0.5830041568456938, "lpips": 0.4136579632759094}, "tactile_left": {"psnr": 37.423150948654616, "ssim": 0.9707335174030962, "lpips": 0.11764839291572571}, "tactile_right": {"psnr": 36.277402186126636, "ssim": 0.9669874147700992, "lpips": 0.16997990012168884}}, {"video": {"psnr": 20.457605754763485, "ssim": 0.7364064758348366, "lpips": 0.28650909662246704}, "wrist_left": {"psnr": 10.986476676843575, "ssim": 0.5189645656261457, "lpips": 0.47147637605667114}, "wrist_right": {"psnr": 18.295439862276822, "ssim": 0.7676134944806909, "lpips": 0.2652705907821655}, "tactile_left": {"psnr": 36.758493740733996, "ssim": 0.9680964073107274, "lpips": 0.13150185346603394}, "tactile_right": {"psnr": 37.02875428401554, "ssim": 0.9721025038923912, "lpips": 0.13186123967170715}}, {"video": {"psnr": 20.425914740988308, "ssim": 0.7239297742059622, "lpips": 0.2878652811050415}, "wrist_left": {"psnr": 8.884614237034482, "ssim": 0.39193531428167483, "lpips": 0.6218048334121704}, "wrist_right": {"psnr": 16.76256287568296, "ssim": 0.7158099653337594, "lpips": 0.31280308961868286}, "tactile_left": {"psnr": 36.32967324422034, "ssim": 0.9658007039086458, "lpips": 0.14582166075706482}, "tactile_right": {"psnr": 36.74452528657611, "ssim": 0.9704518996012714, "lpips": 0.14904360473155975}}, {"video": {"psnr": 20.597025409403592, "ssim": 0.7265815862057994, "lpips": 0.28884556889533997}, "wrist_left": {"psnr": 9.709673081046983, "ssim": 0.42414472055996155, "lpips": 0.5771782398223877}, "wrist_right": {"psnr": 14.533305740438776, "ssim": 0.6752844612809729, "lpips": 0.3828169107437134}, "tactile_left": {"psnr": 33.83737302439641, "ssim": 0.9539367923130229, "lpips": 0.21586854755878448}, "tactile_right": {"psnr": 36.66390337253314, "ssim": 0.9686997973357663, "lpips": 0.16140896081924438}}, {"video": {"psnr": 20.515691659036797, "ssim": 0.7216493177452639, "lpips": 0.27351030707359314}, "wrist_left": {"psnr": 13.369121599021234, "ssim": 0.5781849002499783, "lpips": 0.38114672899246216}, "wrist_right": {"psnr": 13.554781443707697, "ssim": 0.6599913551022845, "lpips": 0.4531658887863159}, "tactile_left": {"psnr": 33.25948801126914, "ssim": 0.9510522965366424, "lpips": 0.23433555662631989}, "tactile_right": {"psnr": 36.577867509481116, "ssim": 0.9670397294720292, "lpips": 0.1755148470401764}}, {"video": {"psnr": 19.827180043411015, "ssim": 0.7138976043543679, "lpips": 0.2652316689491272}, "wrist_left": {"psnr": 11.951345218511893, "ssim": 0.44752385591181654, "lpips": 0.4766770005226135}, "wrist_right": {"psnr": 11.651244638743687, "ssim": 0.5993397697242916, "lpips": 0.4968845248222351}, "tactile_left": {"psnr": 35.13783845025471, "ssim": 0.9596949442926008, "lpips": 0.1792789101600647}, "tactile_right": {"psnr": 36.2514531440294, "ssim": 0.9652149904158935, "lpips": 0.18939241766929626}}], "long_metrics": {"video": {"psnr": 22.453526642455834, "ssim": 0.7964078455323526, "lpips": 0.18529087627927462}, "wrist_left": {"psnr": 15.361970855877006, "ssim": 0.6135262436161955, "lpips": 0.2967233248054981}, "wrist_right": {"psnr": 15.302587736531317, "ssim": 0.6440648650442352, "lpips": 0.355743149916331}, "tactile_left": {"psnr": 39.989519319296306, "ssim": 0.9741427576984789, "lpips": 0.09761070751895508}, "tactile_right": {"psnr": 38.10944140591662, "ssim": 0.9728127841628438, "lpips": 0.1350504090388616}}}, {"id": "pusht_e013_13", "episode": "pushT_0911_episode_007_seg01.pt", "requested_episode": "pushT_0911_episode_007_seg01.pt", "category": "release", "t_start": 308, "start_seconds": 20.533333333333335, "short_contact": [1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 0, 0], "future_transition_ticks": [11], "long_contact_fraction": 0.4375, "long_label": "release", "short_metrics": {"video": {"psnr": 25.639192505343935, "ssim": 0.8875068103702112, "lpips": 0.07475095987319946}, "wrist_left": {"psnr": 16.710887528439777, "ssim": 0.731905534552229, "lpips": 0.18994766473770142}, "wrist_right": {"psnr": 14.425243784299377, "ssim": 0.7584064978860955, "lpips": 0.3446807861328125}, "tactile_left": {"psnr": 39.6746321570259, "ssim": 0.9813007000777387, "lpips": 0.04514099285006523}, "tactile_right": {"psnr": 50.421351159286594, "ssim": 0.9942788645460506, "lpips": 0.004279259126633406}}, "media": {"short": {"video": "media/pusht_e013_13_short.mp4", "poster": "media/pusht_e013_13_short.jpg"}, "long": {"video": "media/pusht_e013_13_long.mp4", "poster": "media/pusht_e013_13_long.jpg"}}, "force": {"source": "recorded_normal_force", "units": "N", "fps": 15, "left": [1.1662499904632568, 1.1662499904632568, 1.1662499904632568, 2.9424359798431396, 2.636666774749756, 1.167639136314392, 1.5254545211791992, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 1.9833333492279053, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.1662499904632568, 1.1662499904632568, 0.7740969061851501, 1.1662499904632568, 1.1662499904632568, 1.1662499904632568, 1.1662499904632568, 1.1678714752197266, 1.1662499904632568, 1.1662499904632568, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.1662499904632568, 2.6890487670898438, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.31956148147583, 1.9833333492279053, 2.8207693099975586, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "right": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.5254545211791992, 1.1662499904632568, 1.1662499904632568, 0.7687578201293945, 0.41999998688697815, 0.49666666984558105, 0.49666666984558105, 1.1662499904632568, 1.1733332872390747, 2.8207693099975586, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.5194862484931946, 0.19508875906467438, 0.4116966724395752, 0.46409013867378235, 0.563931941986084, 0.7764800190925598, 1.1662499904632568, 1.5254545211791992, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.7694309949874878, 1.9833333492279053, 2.4149999618530273, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]}, "long_curve": [{"video": {"psnr": 25.639192505343935, "ssim": 0.8875068103702112, "lpips": 0.07475095987319946}, "wrist_left": {"psnr": 16.710887528439777, "ssim": 0.731905534552229, "lpips": 0.18994766473770142}, "wrist_right": {"psnr": 14.425243784299377, "ssim": 0.7584064978860955, "lpips": 0.3446807861328125}, "tactile_left": {"psnr": 39.6746321570259, "ssim": 0.9813007000777387, "lpips": 0.04514099285006523}, "tactile_right": {"psnr": 50.421351159286594, "ssim": 0.9942788645460506, "lpips": 0.004279259126633406}}, {"video": {"psnr": 22.65253420101944, "ssim": 0.798002810435095, "lpips": 0.15586036443710327}, "wrist_left": {"psnr": 13.471855121873062, "ssim": 0.545742908701258, "lpips": 0.393059641122818}, "wrist_right": {"psnr": 13.097955069133437, "ssim": 0.6446651974175912, "lpips": 0.43701672554016113}, "tactile_left": {"psnr": 44.173593653753485, "ssim": 0.985323636555572, "lpips": 0.030249152332544327}, "tactile_right": {"psnr": 47.71193807607332, "ssim": 0.989917898310973, "lpips": 0.014683208428323269}}, {"video": {"psnr": 21.605724485875353, "ssim": 0.7742399521447754, "lpips": 0.19723260402679443}, "wrist_left": {"psnr": 12.395717171560023, "ssim": 0.506779469728632, "lpips": 0.42626291513442993}, "wrist_right": {"psnr": 14.27782485685917, "ssim": 0.6487023425379663, "lpips": 0.36818262934684753}, "tactile_left": {"psnr": 43.347471724875284, "ssim": 0.9839632938002201, "lpips": 0.03337942063808441}, "tactile_right": {"psnr": 41.80906716067547, "ssim": 0.9823506459170009, "lpips": 0.08153870701789856}}, {"video": {"psnr": 20.853824775740204, "ssim": 0.7799236587526439, "lpips": 0.20174041390419006}, "wrist_left": {"psnr": 10.800245392819958, "ssim": 0.5041561395252862, "lpips": 0.4795002341270447}, "wrist_right": {"psnr": 15.094299045861984, "ssim": 0.6816973343060978, "lpips": 0.36629393696784973}, "tactile_left": {"psnr": 43.116823020123086, "ssim": 0.9824665331466633, "lpips": 0.04456532001495361}, "tactile_right": {"psnr": 43.65552214389683, "ssim": 0.9836657976822466, "lpips": 0.04758057743310928}}, {"video": {"psnr": 21.27483097611858, "ssim": 0.7773524807373782, "lpips": 0.18093246221542358}, "wrist_left": {"psnr": 9.843058364222976, "ssim": 0.4254784638823823, "lpips": 0.525710940361023}, "wrist_right": {"psnr": 15.308276222757373, "ssim": 0.6910068994730327, "lpips": 0.36998656392097473}, "tactile_left": {"psnr": 38.40554348027828, "ssim": 0.9735169646153232, "lpips": 0.10287393629550934}, "tactile_right": {"psnr": 43.12035895985899, "ssim": 0.9826449075864245, "lpips": 0.06119779497385025}}, {"video": {"psnr": 21.852437794201833, "ssim": 0.770536869682339, "lpips": 0.16762752830982208}, "wrist_left": {"psnr": 12.162084270053386, "ssim": 0.5298528407730206, "lpips": 0.4288717210292816}, "wrist_right": {"psnr": 11.940144783326135, "ssim": 0.581932316927684, "lpips": 0.5261340141296387}, "tactile_left": {"psnr": 40.8622584171503, "ssim": 0.9788297405920301, "lpips": 0.06282317638397217}, "tactile_right": {"psnr": 41.94565617744082, "ssim": 0.9812149127250143, "lpips": 0.07521567493677139}}, {"video": {"psnr": 21.55637124476918, "ssim": 0.7787671562969434, "lpips": 0.1568017303943634}, "wrist_left": {"psnr": 11.040674870718918, "ssim": 0.5743828950550152, "lpips": 0.4638243317604065}, "wrist_right": {"psnr": 14.4597218032403, "ssim": 0.6581798286248429, "lpips": 0.3922279477119446}, "tactile_left": {"psnr": 40.11173089144983, "ssim": 0.9773153198503838, "lpips": 0.0717296376824379}, "tactile_right": {"psnr": 40.404918951312624, "ssim": 0.9788295229619346, "lpips": 0.09450660645961761}}, {"video": {"psnr": 21.315243830845137, "ssim": 0.7794970205123256, "lpips": 0.17019061744213104}, "wrist_left": {"psnr": 10.151881197934918, "ssim": 0.5543253957546466, "lpips": 0.5936079621315002}, "wrist_right": {"psnr": 12.975648022012988, "ssim": 0.6315621547260067, "lpips": 0.49107658863067627}, "tactile_left": {"psnr": 38.579981329459024, "ssim": 0.972774185286796, "lpips": 0.09103091061115265}, "tactile_right": {"psnr": 40.640903336990526, "ssim": 0.980142788325733, "lpips": 0.08498432487249374}}, {"video": {"psnr": 22.92743865533183, "ssim": 0.7941092269468012, "lpips": 0.14868175983428955}, "wrist_left": {"psnr": 11.596655146483366, "ssim": 0.6147364230953336, "lpips": 0.4828703701496124}, "wrist_right": {"psnr": 11.055811697471196, "ssim": 0.5506117789951994, "lpips": 0.5250476598739624}, "tactile_left": {"psnr": 37.80149247311873, "ssim": 0.9699334667915218, "lpips": 0.10311923921108246}, "tactile_right": {"psnr": 39.75928041977619, "ssim": 0.9783529071830912, "lpips": 0.09750001132488251}}, {"video": {"psnr": 20.946566617280332, "ssim": 0.760638239962332, "lpips": 0.191552996635437}, "wrist_left": {"psnr": 14.84130278408047, "ssim": 0.6937525859283138, "lpips": 0.3235113024711609}, "wrist_right": {"psnr": 9.002444321177165, "ssim": 0.44405289770732315, "lpips": 0.6770685315132141}, "tactile_left": {"psnr": 37.43323590063475, "ssim": 0.9698095027971796, "lpips": 0.11317364871501923}, "tactile_right": {"psnr": 36.78549891916066, "ssim": 0.9696524202848388, "lpips": 0.15247708559036255}}, {"video": {"psnr": 21.367887077727307, "ssim": 0.77651153734695, "lpips": 0.18172894418239594}, "wrist_left": {"psnr": 11.483969139813187, "ssim": 0.5244153648951815, "lpips": 0.48379194736480713}, "wrist_right": {"psnr": 15.430603765707973, "ssim": 0.6528252336995587, "lpips": 0.32795628905296326}, "tactile_left": {"psnr": 36.90241239023201, "ssim": 0.9674838071129161, "lpips": 0.12771081924438477}, "tactile_right": {"psnr": 37.19786300589608, "ssim": 0.9714272070085621, "lpips": 0.14045855402946472}}, {"video": {"psnr": 20.983756655384873, "ssim": 0.7673365549125535, "lpips": 0.19509679079055786}, "wrist_left": {"psnr": 11.538729805864092, "ssim": 0.5340306592754056, "lpips": 0.45222753286361694}, "wrist_right": {"psnr": 13.628153881544725, "ssim": 0.6191758240133053, "lpips": 0.4713280200958252}, "tactile_left": {"psnr": 36.39487845715349, "ssim": 0.9652032038123926, "lpips": 0.13983599841594696}, "tactile_right": {"psnr": 36.8450048591705, "ssim": 0.9709985764007323, "lpips": 0.14954455196857452}}, {"video": {"psnr": 20.427133690851402, "ssim": 0.7558509681699486, "lpips": 0.20402400195598602}, "wrist_left": {"psnr": 12.021315324748974, "ssim": 0.4926225739086846, "lpips": 0.41713130474090576}, "wrist_right": {"psnr": 13.819604860972563, "ssim": 0.6016136908685261, "lpips": 0.47455698251724243}, "tactile_left": {"psnr": 34.53766094925608, "ssim": 0.9578464216946795, "lpips": 0.1807582676410675}, "tactile_right": {"psnr": 36.39631704925955, "ssim": 0.9688404261862734, "lpips": 0.16123253107070923}}, {"video": {"psnr": 20.44043821231524, "ssim": 0.7541166864912892, "lpips": 0.20857155323028564}, "wrist_left": {"psnr": 12.205730201845274, "ssim": 0.44433503501859506, "lpips": 0.46639031171798706}, "wrist_right": {"psnr": 14.232121379117027, "ssim": 0.5845937247337869, "lpips": 0.44309133291244507}, "tactile_left": {"psnr": 31.983506756105168, "ssim": 0.9398859883841563, "lpips": 0.2455958127975464}, "tactile_right": {"psnr": 35.977694629715835, "ssim": 0.9667140125202333, "lpips": 0.17751938104629517}}, {"video": {"psnr": 19.356571923216872, "ssim": 0.7346408870339607, "lpips": 0.24536138772964478}, "wrist_left": {"psnr": 12.897407002828029, "ssim": 0.5803448179838708, "lpips": 0.3980170488357544}, "wrist_right": {"psnr": 10.960950091258713, "ssim": 0.47128039830778057, "lpips": 0.5510238409042358}, "tactile_left": {"psnr": 34.28702261227905, "ssim": 0.9559785774438005, "lpips": 0.18552905321121216}, "tactile_right": {"psnr": 35.479923813968625, "ssim": 0.9645715030805757, "lpips": 0.19261398911476135}}], "long_metrics": {"video": {"psnr": 21.546663509734767, "ssim": 0.7792687239863698, "lpips": 0.1786769409974416}, "wrist_left": {"psnr": 12.210767554885761, "ssim": 0.5504574072051903, "lpips": 0.43498168190320335}, "wrist_right": {"psnr": 13.313920238982673, "ssim": 0.6146870746816532, "lpips": 0.45104478995005287}, "tactile_left": {"psnr": 38.5074829475263, "ssim": 0.9707754227974249, "lpips": 0.1051676924029986}, "tactile_right": {"psnr": 40.54341991083218, "ssim": 0.9775734927146457, "lpips": 0.10235548382624984}}}, {"id": "pusht_e013_14", "episode": "pushT_0911_episode_007_seg01.pt", "requested_episode": "pushT_0911_episode_007_seg01.pt", "category": "full", "t_start": 214, "start_seconds": 14.266666666666667, "short_contact": [1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1], "future_transition_ticks": [], "long_contact_fraction": 0.5390625, "long_label": "full", "short_metrics": {"video": {"psnr": 30.718688442515287, "ssim": 0.9500140845010374, "lpips": 0.03447885066270828}, "wrist_left": {"psnr": 29.008530449638123, "ssim": 0.962411736283701, "lpips": 0.025163967162370682}, "wrist_right": {"psnr": 22.899576378487247, "ssim": 0.8787179940926875, "lpips": 0.06597764045000076}, "tactile_left": {"psnr": 51.9892833998026, "ssim": 0.9951569699540074, "lpips": 0.003307908773422241}, "tactile_right": {"psnr": 38.3577034319016, "ssim": 0.9769014870464205, "lpips": 0.09885773062705994}}, "media": {"short": {"video": "media/pusht_e013_14_short.mp4", "poster": "media/pusht_e013_14_short.jpg"}, "long": {"video": "media/pusht_e013_14_long.mp4", "poster": "media/pusht_e013_14_long.jpg"}}, "force": {"source": "recorded_normal_force", "units": "N", "fps": 15, "left": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.1662499904632568, 1.1662499904632568, 1.1662499904632568, 1.1662499904632568, 2.9424359798431396, 2.636666774749756, 1.167639136314392, 1.5254545211791992, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 1.9833333492279053, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "right": [1.1662499904632568, 1.1662499904632568, 1.1662499904632568, 2.636666774749756, 1.16824209690094, 1.9833333492279053, 2.636666774749756, 2.8207693099975586, 2.9424359798431396, 2.8207693099975586, 2.9424359798431396, 2.9424359798431396, 2.636666774749756, 2.636666774749756, 2.636666774749756, 1.1667428016662598, 1.1662499904632568, 1.1662499904632568, 1.0983830690383911, 1.1662499904632568, 1.2014970779418945, 1.9833333492279053, 2.9424359798431396, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.5254545211791992, 1.1733332872390747, 1.1733332872390747, 1.1662499904632568, 1.1662499904632568, 1.1662499904632568, 1.1662499904632568, 1.1662499904632568, 0.49666666984558105, 0.7431948184967041, 0.5188231468200684, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.1662499904632568, 1.1662499904632568, 1.1662499904632568, 1.43471360206604, 1.169874668121338, 1.1733332872390747, 1.5254545211791992, 1.4500000476837158, 1.4662624597549438, 1.369276523590088, 1.1733332872390747, 1.1662499904632568, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.5254545211791992, 1.1662499904632568, 1.1662499904632568, 0.7687578201293945, 0.41999998688697815, 0.49666666984558105, 0.49666666984558105, 1.1662499904632568, 1.1733332872390747, 2.8207693099975586]}, "long_curve": [{"video": {"psnr": 30.718688442515287, "ssim": 0.9500140845010374, "lpips": 0.03447885066270828}, "wrist_left": {"psnr": 29.008530449638123, "ssim": 0.962411736283701, "lpips": 0.025163967162370682}, "wrist_right": {"psnr": 22.899576378487247, "ssim": 0.8787179940926875, "lpips": 0.06597764045000076}, "tactile_left": {"psnr": 51.9892833998026, "ssim": 0.9951569699540074, "lpips": 0.003307908773422241}, "tactile_right": {"psnr": 38.3577034319016, "ssim": 0.9769014870464205, "lpips": 0.09885773062705994}}, {"video": {"psnr": 23.90135097928635, "ssim": 0.8765026624077781, "lpips": 0.12186039239168167}, "wrist_left": {"psnr": 16.77377234191693, "ssim": 0.7775162813117824, "lpips": 0.13954462110996246}, "wrist_right": {"psnr": 12.697182306199949, "ssim": 0.5701762731121511, "lpips": 0.4782637357711792}, "tactile_left": {"psnr": 48.95521276571039, "ssim": 0.9924374920574377, "lpips": 0.010735100135207176}, "tactile_right": {"psnr": 39.89858493020708, "ssim": 0.9780488955179123, "lpips": 0.09642063081264496}}, {"video": {"psnr": 22.801820637481278, "ssim": 0.8436582618169907, "lpips": 0.1451794058084488}, "wrist_left": {"psnr": 14.761114681124903, "ssim": 0.6306690604479119, "lpips": 0.20780274271965027}, "wrist_right": {"psnr": 13.097313362616262, "ssim": 0.6060660810009088, "lpips": 0.44583016633987427}, "tactile_left": {"psnr": 45.87175948753723, "ssim": 0.9893447402898934, "lpips": 0.0223996601998806}, "tactile_right": {"psnr": 43.84031584688789, "ssim": 0.9857005229702658, "lpips": 0.02812247723340988}}, {"video": {"psnr": 21.6145588616177, "ssim": 0.8038481567266847, "lpips": 0.16231009364128113}, "wrist_left": {"psnr": 14.118916691520461, "ssim": 0.6110573696123784, "lpips": 0.21720188856124878}, "wrist_right": {"psnr": 12.432480120649798, "ssim": 0.5663572191703976, "lpips": 0.44316840171813965}, "tactile_left": {"psnr": 44.546245853455, "ssim": 0.9864836230605629, "lpips": 0.03410619497299194}, "tactile_right": {"psnr": 40.10720155609647, "ssim": 0.9801725029853381, "lpips": 0.08382561802864075}}, {"video": {"psnr": 21.696078621439796, "ssim": 0.8154279359661694, "lpips": 0.16367265582084656}, "wrist_left": {"psnr": 13.964366726946489, "ssim": 0.6082575239762258, "lpips": 0.24571815133094788}, "wrist_right": {"psnr": 13.455163812099045, "ssim": 0.611378014126257, "lpips": 0.4035736322402954}, "tactile_left": {"psnr": 43.11006216655301, "ssim": 0.9844513261991406, "lpips": 0.04201845824718475}, "tactile_right": {"psnr": 39.39300622998002, "ssim": 0.9776522276352617, "lpips": 0.10745693743228912}}, {"video": {"psnr": 21.287926850307958, "ssim": 0.8127884343547995, "lpips": 0.19899465143680573}, "wrist_left": {"psnr": 14.786313515409349, "ssim": 0.6513466304194706, "lpips": 0.23796223104000092}, "wrist_right": {"psnr": 11.812603183461764, "ssim": 0.48092754305065183, "lpips": 0.5110493898391724}, "tactile_left": {"psnr": 41.580535038721635, "ssim": 0.9820933970107179, "lpips": 0.054665036499500275}, "tactile_right": {"psnr": 39.88011821860215, "ssim": 0.9798059070642942, "lpips": 0.06826352328062057}}, {"video": {"psnr": 20.738430216927842, "ssim": 0.7994789394623121, "lpips": 0.20697179436683655}, "wrist_left": {"psnr": 14.568968433392362, "ssim": 0.6482593428099257, "lpips": 0.2528921067714691}, "wrist_right": {"psnr": 12.292047746894658, "ssim": 0.4256209150886375, "lpips": 0.5003954768180847}, "tactile_left": {"psnr": 40.46099847954033, "ssim": 0.9794730274737744, "lpips": 0.07203900814056396}, "tactile_right": {"psnr": 37.58955917593585, "ssim": 0.9727413112759551, "lpips": 0.1311873346567154}}, {"video": {"psnr": 20.615299724779476, "ssim": 0.7778754003088061, "lpips": 0.2166409194469452}, "wrist_left": {"psnr": 13.961840651099402, "ssim": 0.5899660784513103, "lpips": 0.28213560581207275}, "wrist_right": {"psnr": 12.6026081639382, "ssim": 0.43064477361793513, "lpips": 0.4927944540977478}, "tactile_left": {"psnr": 39.17651984794281, "ssim": 0.9764148030800679, "lpips": 0.09153451025485992}, "tactile_right": {"psnr": 35.886120148965254, "ssim": 0.9639330582583454, "lpips": 0.18892765045166016}}, {"video": {"psnr": 20.578097166359438, "ssim": 0.7563609153398819, "lpips": 0.24959157407283783}, "wrist_left": {"psnr": 13.693361754335314, "ssim": 0.5943110866670024, "lpips": 0.31927254796028137}, "wrist_right": {"psnr": 14.799202554562834, "ssim": 0.669391307843696, "lpips": 0.3392632305622101}, "tactile_left": {"psnr": 38.181119174541735, "ssim": 0.9740884846905218, "lpips": 0.10220754146575928}, "tactile_right": {"psnr": 38.02713412194942, "ssim": 0.9746669258024339, "lpips": 0.10882116854190826}}, {"video": {"psnr": 20.55486572105498, "ssim": 0.7487524332522915, "lpips": 0.2589869201183319}, "wrist_left": {"psnr": 10.870376021398156, "ssim": 0.4744901980699942, "lpips": 0.5242664813995361}, "wrist_right": {"psnr": 16.872800839902606, "ssim": 0.7199807526048605, "lpips": 0.26737797260284424}, "tactile_left": {"psnr": 37.33094611229434, "ssim": 0.9709174340015558, "lpips": 0.11799424141645432}, "tactile_right": {"psnr": 37.15138146862942, "ssim": 0.9730346687619786, "lpips": 0.12638945877552032}}, {"video": {"psnr": 20.3720399248106, "ssim": 0.7313358756331558, "lpips": 0.26768481731414795}, "wrist_left": {"psnr": 12.330285662856921, "ssim": 0.538588383074736, "lpips": 0.40384501218795776}, "wrist_right": {"psnr": 15.88742626048947, "ssim": 0.6840412067459057, "lpips": 0.31052365899086}, "tactile_left": {"psnr": 35.95981645157366, "ssim": 0.9659304360564357, "lpips": 0.1482437252998352}, "tactile_right": {"psnr": 36.609081917198, "ssim": 0.9712533447500187, "lpips": 0.1404486894607544}}, {"video": {"psnr": 20.12642838329153, "ssim": 0.7207683657392123, "lpips": 0.26399165391921997}, "wrist_left": {"psnr": 14.607855665021157, "ssim": 0.5909783614595192, "lpips": 0.2970712184906006}, "wrist_right": {"psnr": 15.394095599238753, "ssim": 0.655641768647881, "lpips": 0.3560064435005188}, "tactile_left": {"psnr": 32.78401162657434, "ssim": 0.9488948198592354, "lpips": 0.24237334728240967}, "tactile_right": {"psnr": 36.12661315431242, "ssim": 0.9689551004807213, "lpips": 0.15656855702400208}}, {"video": {"psnr": 20.231172565538124, "ssim": 0.7320548795598469, "lpips": 0.2514740824699402}, "wrist_left": {"psnr": 12.175476219324871, "ssim": 0.5029673301913139, "lpips": 0.4575052261352539}, "wrist_right": {"psnr": 13.454153650801645, "ssim": 0.6326575372794582, "lpips": 0.45102113485336304}, "tactile_left": {"psnr": 35.19944584809648, "ssim": 0.9618903178145286, "lpips": 0.17701968550682068}, "tactile_right": {"psnr": 35.81339446462293, "ssim": 0.9667319830050938, "lpips": 0.16947831213474274}}, {"video": {"psnr": 20.246911230717366, "ssim": 0.7350414853138219, "lpips": 0.25215578079223633}, "wrist_left": {"psnr": 11.384386397030548, "ssim": 0.3604975909416818, "lpips": 0.5361840724945068}, "wrist_right": {"psnr": 12.799782467491736, "ssim": 0.5769406150724429, "lpips": 0.47801321744918823}, "tactile_left": {"psnr": 35.38101534515934, "ssim": 0.9612808827247619, "lpips": 0.1754899024963379}, "tactile_right": {"psnr": 35.26662394444459, "ssim": 0.9639266849943429, "lpips": 0.19262222945690155}}, {"video": {"psnr": 19.35640021990806, "ssim": 0.7198589133583492, "lpips": 0.30886080861091614}, "wrist_left": {"psnr": 10.433278287283368, "ssim": 0.3913326055102906, "lpips": 0.5297083258628845}, "wrist_right": {"psnr": 12.407134341099162, "ssim": 0.5593679744535593, "lpips": 0.458498477935791}, "tactile_left": {"psnr": 35.03952090469282, "ssim": 0.9596884588261196, "lpips": 0.18325281143188477}, "tactile_right": {"psnr": 34.6395505675075, "ssim": 0.9592976872072644, "lpips": 0.24103109538555145}}], "long_metrics": {"video": {"psnr": 21.656004636402386, "ssim": 0.7882511162494091, "lpips": 0.20685696005821227}, "wrist_left": {"psnr": 14.495922899886557, "ssim": 0.5955099719484829, "lpips": 0.3117516132692496}, "wrist_right": {"psnr": 14.193571385862208, "ssim": 0.604527331727162, "lpips": 0.400117135544618}, "tactile_left": {"psnr": 40.37109950014638, "ssim": 0.9752364142065841, "lpips": 0.09849247547487418}, "tactile_right": {"psnr": 37.905759278482705, "ssim": 0.9728548205170431, "lpips": 0.12922809422016143}}}, {"id": "pusht_e013_15", "episode": "pushT_0912_episode_010_seg00.pt", "requested_episode": "pushT_0912_episode_010_seg00.pt", "category": "none", "t_start": 797, "start_seconds": 53.13333333333333, "short_contact": [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0], "future_transition_ticks": [], "long_contact_fraction": 0.1015625, "long_label": "none_at_start", "short_metrics": {"video": {"psnr": 26.854497626557645, "ssim": 0.8932677905048914, "lpips": 0.048491545021533966}, "wrist_left": {"psnr": 19.025554183319056, "ssim": 0.7465841318978608, "lpips": 0.19625777006149292}, "wrist_right": {"psnr": 15.582239760670378, "ssim": 0.776166902052462, "lpips": 0.21615000069141388}, "tactile_left": {"psnr": 49.45652500790118, "ssim": 0.9928811683175672, "lpips": 0.007404145784676075}, "tactile_right": {"psnr": 50.35937370691333, "ssim": 0.9942626481602956, "lpips": 0.004233171232044697}}, "media": {"short": {"video": "media/pusht_e013_15_short.mp4", "poster": "media/pusht_e013_15_short.jpg"}, "long": {"video": "media/pusht_e013_15_long.mp4", "poster": "media/pusht_e013_15_long.jpg"}}, "force": {"source": "recorded_normal_force", "units": "N", "fps": 15, "left": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.1662499904632568, 1.1662499904632568, 0.6562970876693726, 1.1662499904632568, 0.7415509819984436, 0.7415509819984436, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 2.9424359798431396, 2.9424359798431396, 2.8207693099975586, 2.8207693099975586, 1.9833333492279053, 1.9833333492279053, 1.9833333492279053, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "right": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]}, "long_curve": [{"video": {"psnr": 26.854497626557645, "ssim": 0.8932677905048914, "lpips": 0.048491545021533966}, "wrist_left": {"psnr": 19.025554183319056, "ssim": 0.7465841318978608, "lpips": 0.19625777006149292}, "wrist_right": {"psnr": 15.582239760670378, "ssim": 0.776166902052462, "lpips": 0.21615000069141388}, "tactile_left": {"psnr": 49.45652500790118, "ssim": 0.9928811683175672, "lpips": 0.007404145784676075}, "tactile_right": {"psnr": 50.35937370691333, "ssim": 0.9942626481602956, "lpips": 0.004233171232044697}}, {"video": {"psnr": 24.83006475997702, "ssim": 0.8493305732900802, "lpips": 0.07794247567653656}, "wrist_left": {"psnr": 17.19259948789048, "ssim": 0.6986492794469997, "lpips": 0.24984128773212433}, "wrist_right": {"psnr": 11.806756567074828, "ssim": 0.5508361605727273, "lpips": 0.44540339708328247}, "tactile_left": {"psnr": 45.400759963048344, "ssim": 0.9882283685939105, "lpips": 0.017098646610975266}, "tactile_right": {"psnr": 48.400994498651514, "ssim": 0.9900852119501047, "lpips": 0.013203536160290241}}, {"video": {"psnr": 25.258829289993233, "ssim": 0.8521393830658073, "lpips": 0.07854354381561279}, "wrist_left": {"psnr": 14.005524511358395, "ssim": 0.6371972429472539, "lpips": 0.35931551456451416}, "wrist_right": {"psnr": 15.219184866895745, "ssim": 0.6865909613811461, "lpips": 0.3099302053451538}, "tactile_left": {"psnr": 45.47767424282967, "ssim": 0.9872989022082836, "lpips": 0.02338516339659691}, "tactile_right": {"psnr": 45.625114546478265, "ssim": 0.9873634952316495, "lpips": 0.024372432380914688}}, {"video": {"psnr": 23.897299928671423, "ssim": 0.8171313396419617, "lpips": 0.0990462526679039}, "wrist_left": {"psnr": 19.844579646059643, "ssim": 0.758832317885777, "lpips": 0.16801950335502625}, "wrist_right": {"psnr": 15.517525769044036, "ssim": 0.608682982368389, "lpips": 0.31351202726364136}, "tactile_left": {"psnr": 44.72952718257005, "ssim": 0.9858082940823427, "lpips": 0.02992156893014908}, "tactile_right": {"psnr": 43.57258700350468, "ssim": 0.9840967194843495, "lpips": 0.03769480437040329}}, {"video": {"psnr": 23.621960421366634, "ssim": 0.8084558029545141, "lpips": 0.12174619734287262}, "wrist_left": {"psnr": 20.044840549546233, "ssim": 0.7755349043542404, "lpips": 0.16706660389900208}, "wrist_right": {"psnr": 18.299649689313906, "ssim": 0.7012811739575998, "lpips": 0.22154393792152405}, "tactile_left": {"psnr": 43.47390379260297, "ssim": 0.9843762675319632, "lpips": 0.039608296006917953}, "tactile_right": {"psnr": 42.488660904088135, "ssim": 0.9822201770004416, "lpips": 0.0520138293504715}}, {"video": {"psnr": 24.10188204822566, "ssim": 0.8192505292845387, "lpips": 0.10306736826896667}, "wrist_left": {"psnr": 15.455211642640663, "ssim": 0.7112081259378509, "lpips": 0.2762809097766876}, "wrist_right": {"psnr": 17.146911222577973, "ssim": 0.7268455228962127, "lpips": 0.24819736182689667}, "tactile_left": {"psnr": 41.957819263899964, "ssim": 0.982308863529761, "lpips": 0.05246812477707863}, "tactile_right": {"psnr": 42.066345887261875, "ssim": 0.9832194549283627, "lpips": 0.05127933621406555}}, {"video": {"psnr": 24.08673867071528, "ssim": 0.8278627257748084, "lpips": 0.11124791204929352}, "wrist_left": {"psnr": 11.163378035289519, "ssim": 0.5673928891996586, "lpips": 0.4771147668361664}, "wrist_right": {"psnr": 15.771915930588754, "ssim": 0.6787828064848453, "lpips": 0.2814194858074188}, "tactile_left": {"psnr": 40.21570994836564, "ssim": 0.9776360315566435, "lpips": 0.0709373727440834}, "tactile_right": {"psnr": 40.83011716137829, "ssim": 0.982136625420443, "lpips": 0.059164658188819885}}, {"video": {"psnr": 22.484898667064606, "ssim": 0.8056153851542274, "lpips": 0.15224942564964294}, "wrist_left": {"psnr": 8.653643809948194, "ssim": 0.43376739438401213, "lpips": 0.6264249086380005}, "wrist_right": {"psnr": 11.506880757469114, "ssim": 0.6059872393151235, "lpips": 0.4169197678565979}, "tactile_left": {"psnr": 38.544099551144086, "ssim": 0.9703674661624536, "lpips": 0.09821178019046783}, "tactile_right": {"psnr": 40.39118945025404, "ssim": 0.9802812268437036, "lpips": 0.07325750589370728}}, {"video": {"psnr": 23.198402931210733, "ssim": 0.8096386455988349, "lpips": 0.1327490508556366}, "wrist_left": {"psnr": 11.160676367805467, "ssim": 0.5126787854279976, "lpips": 0.49226152896881104}, "wrist_right": {"psnr": 11.558269156593342, "ssim": 0.5860340442770944, "lpips": 0.435019850730896}, "tactile_left": {"psnr": 38.59132291934714, "ssim": 0.9722171881818527, "lpips": 0.10961635410785675}, "tactile_right": {"psnr": 39.85509063189011, "ssim": 0.9784087809345318, "lpips": 0.08757690340280533}}, {"video": {"psnr": 24.36321103927434, "ssim": 0.8179135173498093, "lpips": 0.11238306760787964}, "wrist_left": {"psnr": 15.407951128925944, "ssim": 0.6385124849996369, "lpips": 0.3071005046367645}, "wrist_right": {"psnr": 12.000537164866502, "ssim": 0.5231852024753696, "lpips": 0.45995599031448364}, "tactile_left": {"psnr": 37.99886721585735, "ssim": 0.9717351958863807, "lpips": 0.11535795032978058}, "tactile_right": {"psnr": 38.90261609763085, "ssim": 0.9762227793621303, "lpips": 0.11014063656330109}}, {"video": {"psnr": 23.969141492374433, "ssim": 0.8114710712831237, "lpips": 0.12016835063695908}, "wrist_left": {"psnr": 15.713411365472577, "ssim": 0.6446644878007151, "lpips": 0.286639004945755}, "wrist_right": {"psnr": 12.52573040111406, "ssim": 0.590869949659647, "lpips": 0.4459804892539978}, "tactile_left": {"psnr": 37.60027604355237, "ssim": 0.9712758272034708, "lpips": 0.1137286126613617}, "tactile_right": {"psnr": 38.24233146216854, "ssim": 0.97433114897899, "lpips": 0.12183929979801178}}, {"video": {"psnr": 23.44259396919619, "ssim": 0.8074117656224009, "lpips": 0.1381395161151886}, "wrist_left": {"psnr": 16.04322911876861, "ssim": 0.6707143789486814, "lpips": 0.2689859867095947}, "wrist_right": {"psnr": 12.093276344674829, "ssim": 0.594564028515485, "lpips": 0.4142562747001648}, "tactile_left": {"psnr": 36.869187135489085, "ssim": 0.967356657072161, "lpips": 0.12501612305641174}, "tactile_right": {"psnr": 36.893326229055795, "ssim": 0.9719757445394643, "lpips": 0.13720053434371948}}, {"video": {"psnr": 23.229656085777563, "ssim": 0.785706683993712, "lpips": 0.15889373421669006}, "wrist_left": {"psnr": 12.726463815255265, "ssim": 0.5628273383384139, "lpips": 0.4082065224647522}, "wrist_right": {"psnr": 12.611002812883314, "ssim": 0.6482028875015838, "lpips": 0.348541796207428}, "tactile_left": {"psnr": 36.5394484665022, "ssim": 0.9669671202023837, "lpips": 0.13063228130340576}, "tactile_right": {"psnr": 36.29135578271656, "ssim": 0.9694985729403287, "lpips": 0.14959502220153809}}, {"video": {"psnr": 24.127338511385123, "ssim": 0.8088079085583475, "lpips": 0.14531902968883514}, "wrist_left": {"psnr": 13.7247469178166, "ssim": 0.5239326325308737, "lpips": 0.40427398681640625}, "wrist_right": {"psnr": 11.825526207645751, "ssim": 0.4861608236809248, "lpips": 0.5071889162063599}, "tactile_left": {"psnr": 36.28938537540678, "ssim": 0.9653775400220204, "lpips": 0.1498037874698639}, "tactile_right": {"psnr": 35.976048597748296, "ssim": 0.9675931739588503, "lpips": 0.16301174461841583}}, {"video": {"psnr": 24.07851626607367, "ssim": 0.8089588347565448, "lpips": 0.1420590877532959}, "wrist_left": {"psnr": 13.783689878972316, "ssim": 0.5360835480331239, "lpips": 0.4038684368133545}, "wrist_right": {"psnr": 11.33941860099733, "ssim": 0.43884011781910104, "lpips": 0.5200176239013672}, "tactile_left": {"psnr": 35.67868253114379, "ssim": 0.963206201554139, "lpips": 0.15291771292686462}, "tactile_right": {"psnr": 35.43121010586718, "ssim": 0.964277782060237, "lpips": 0.18301256000995636}}], "long_metrics": {"video": {"psnr": 24.103002113857567, "ssim": 0.8215307971222401, "lpips": 0.11613643715778986}, "wrist_left": {"psnr": 14.929700030604598, "ssim": 0.6279053294755398, "lpips": 0.33944381574789684}, "wrist_right": {"psnr": 13.653655016827324, "ssim": 0.6135353868638475, "lpips": 0.37226914167404174}, "tactile_left": {"psnr": 40.58821257597738, "ssim": 0.9764694061403555, "lpips": 0.08240719468643268}, "tactile_right": {"psnr": 41.021757471040495, "ssim": 0.9790649027862589, "lpips": 0.084506398315231}}}, {"id": "pusht_e013_16", "episode": "pushT_0912_episode_010_seg00.pt", "requested_episode": "pushT_0912_episode_010_seg00.pt", "category": "onset", "t_start": 552, "start_seconds": 36.8, "short_contact": [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 1], "future_transition_ticks": [11], "long_contact_fraction": 0.28125, "long_label": "onset", "short_metrics": {"video": {"psnr": 29.57275919491412, "ssim": 0.9306449341897763, "lpips": 0.031122753396630287}, "wrist_left": {"psnr": 22.46390168148683, "ssim": 0.8062400820949969, "lpips": 0.0914149358868599}, "wrist_right": {"psnr": 18.718801411113997, "ssim": 0.7957169288436075, "lpips": 0.15376925468444824}, "tactile_left": {"psnr": 46.850221022886615, "ssim": 0.9882213006321415, "lpips": 0.011653763242065907}, "tactile_right": {"psnr": 50.44848472285189, "ssim": 0.9939526912292002, "lpips": 0.004264033865183592}}, "media": {"short": {"video": "media/pusht_e013_16_short.mp4", "poster": "media/pusht_e013_16_short.jpg"}, "long": {"video": "media/pusht_e013_16_long.mp4", "poster": "media/pusht_e013_16_long.jpg"}}, "force": {"source": "recorded_normal_force", "units": "N", "fps": 15, "left": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.1662499904632568, 1.1662499904632568, 1.1733332872390747, 1.1682485342025757, 1.1709145307540894, 1.1667059659957886, 1.1733332872390747, 2.9424359798431396, 0.0, 0.0, 1.5254545211791992, 1.3925538063049316, 1.4500000476837158, 1.5254545211791992, 1.7909095287322998, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 2.9424359798431396, 2.636666774749756, 2.5253679752349854, 1.9833333492279053, 1.5254545211791992, 2.8207693099975586, 0.17278152704238892, 0.41999998688697815, 2.9424359798431396, 2.893463373184204, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.1599999964237213, 0.1599999964237213, 0.550990641117096, 0.5845006108283997, 0.4724802076816559, 0.43665292859077454, 0.17858773469924927, 0.7199209928512573, 1.1662499904632568, 0.7057761549949646, 0.2631920874118805, 0.45850101113319397, 1.1662499904632568, 1.1662499904632568, 1.1662499904632568, 1.1662499904632568, 0.0, 1.1662499904632568, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.5254545211791992], "right": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.1614374965429306, 0.4479486644268036, 0.49666666984558105, 0.49666666984558105, 0.41999998688697815, 0.30966103076934814, 0.30966103076934814, 0.42079371213912964, 0.4644216001033783, 0.7160115242004395, 0.7160115242004395, 1.1662499904632568, 0.2619616687297821, 0.20584960281848907, 0.20584960281848907, 0.278746098279953, 0.27089932560920715, 0.243997722864151, 0.1791929304599762, 0.17727865278720856, 0.2831799387931824, 0.2831799387931824, 0.5423785448074341, 0.7465118169784546, 0.49666666984558105, 0.48483794927597046, 0.49666666984558105, 0.43758875131607056, 0.49666666984558105, 0.49666666984558105, 0.4951234757900238, 0.465086966753006, 0.39967721700668335, 0.39967721700668335, 0.41999998688697815, 0.41999998688697815, 0.21015091240406036, 0.21015091240406036, 0.0, 0.26546600461006165, 0.2057979553937912, 0.2057979553937912, 0.0, 0.0, 0.0, 0.0]}, "long_curve": [{"video": {"psnr": 29.57275919491412, "ssim": 0.9306449341897763, "lpips": 0.031122753396630287}, "wrist_left": {"psnr": 22.46390168148683, "ssim": 0.8062400820949969, "lpips": 0.0914149358868599}, "wrist_right": {"psnr": 18.718801411113997, "ssim": 0.7957169288436075, "lpips": 0.15376925468444824}, "tactile_left": {"psnr": 46.850221022886615, "ssim": 0.9882213006321415, "lpips": 0.011653763242065907}, "tactile_right": {"psnr": 50.44848472285189, "ssim": 0.9939526912292002, "lpips": 0.004264033865183592}}, {"video": {"psnr": 25.732269211719064, "ssim": 0.8658993407734259, "lpips": 0.06342561542987823}, "wrist_left": {"psnr": 20.60872901216328, "ssim": 0.7506897595659681, "lpips": 0.1294715404510498}, "wrist_right": {"psnr": 12.977506749730301, "ssim": 0.5834535393701373, "lpips": 0.4124854803085327}, "tactile_left": {"psnr": 44.27951989340637, "ssim": 0.9835407043925162, "lpips": 0.020109983161091805}, "tactile_right": {"psnr": 45.892758119634856, "ssim": 0.9864788610554418, "lpips": 0.03471662849187851}}, {"video": {"psnr": 24.537984538935437, "ssim": 0.8462587887890104, "lpips": 0.0855044275522232}, "wrist_left": {"psnr": 17.728991665023013, "ssim": 0.6578713966717658, "lpips": 0.2424229234457016}, "wrist_right": {"psnr": 12.039666189826328, "ssim": 0.5676509022285128, "lpips": 0.43994036316871643}, "tactile_left": {"psnr": 43.39434005414902, "ssim": 0.9845862184825758, "lpips": 0.02504696696996689}, "tactile_right": {"psnr": 44.551105065498916, "ssim": 0.9856442912375423, "lpips": 0.024647079408168793}}, {"video": {"psnr": 23.63058493611593, "ssim": 0.8345584441332534, "lpips": 0.09992381930351257}, "wrist_left": {"psnr": 15.864288989109562, "ssim": 0.6666055952111913, "lpips": 0.24044397473335266}, "wrist_right": {"psnr": 8.516581595284569, "ssim": 0.4184285573063852, "lpips": 0.5690652132034302}, "tactile_left": {"psnr": 43.19410718413359, "ssim": 0.9844628620090119, "lpips": 0.031022492796182632}, "tactile_right": {"psnr": 42.37068152558435, "ssim": 0.980580733823033, "lpips": 0.05966024100780487}}, {"video": {"psnr": 22.859327657140724, "ssim": 0.8221036199800669, "lpips": 0.11695730686187744}, "wrist_left": {"psnr": 13.04053708692965, "ssim": 0.5991209088361282, "lpips": 0.34547537565231323}, "wrist_right": {"psnr": 7.880063432645914, "ssim": 0.3917679871246559, "lpips": 0.6156644821166992}, "tactile_left": {"psnr": 42.000237323594256, "ssim": 0.9833267976475744, "lpips": 0.03940993547439575}, "tactile_right": {"psnr": 41.53023676827332, "ssim": 0.9789943951950276, "lpips": 0.07025016844272614}}, {"video": {"psnr": 22.756044571170037, "ssim": 0.8185442492734681, "lpips": 0.11937215924263}, "wrist_left": {"psnr": 17.840862896427335, "ssim": 0.7054594768477137, "lpips": 0.2137724608182907}, "wrist_right": {"psnr": 10.907889058447786, "ssim": 0.5739161057417195, "lpips": 0.46462857723236084}, "tactile_left": {"psnr": 40.79046478553642, "ssim": 0.9814696482402381, "lpips": 0.05241129919886589}, "tactile_right": {"psnr": 41.80165982324816, "ssim": 0.9823129539888393, "lpips": 0.053113825619220734}}, {"video": {"psnr": 22.129892906985773, "ssim": 0.794736913638997, "lpips": 0.15108197927474976}, "wrist_left": {"psnr": 15.763244215745031, "ssim": 0.6211023022033089, "lpips": 0.327722430229187}, "wrist_right": {"psnr": 13.058721467869566, "ssim": 0.6591738523076509, "lpips": 0.3598822355270386}, "tactile_left": {"psnr": 39.00294941049295, "ssim": 0.975326150974344, "lpips": 0.08376850187778473}, "tactile_right": {"psnr": 40.67376609302699, "ssim": 0.9814932282468853, "lpips": 0.06243636831641197}}, {"video": {"psnr": 21.61385014177652, "ssim": 0.7739247611280723, "lpips": 0.18640238046646118}, "wrist_left": {"psnr": 12.56617733023121, "ssim": 0.5890740073548142, "lpips": 0.40758609771728516}, "wrist_right": {"psnr": 13.014776460603395, "ssim": 0.6567893277945197, "lpips": 0.33266210556030273}, "tactile_left": {"psnr": 37.83282342094873, "ssim": 0.971210598650689, "lpips": 0.10993818193674088}, "tactile_right": {"psnr": 40.165486223365406, "ssim": 0.9795563509618117, "lpips": 0.07639127224683762}}, {"video": {"psnr": 22.63262906329937, "ssim": 0.7989404081461794, "lpips": 0.14633560180664062}, "wrist_left": {"psnr": 13.852989796265867, "ssim": 0.609757813951195, "lpips": 0.3986387252807617}, "wrist_right": {"psnr": 11.088215023038085, "ssim": 0.5888101399532494, "lpips": 0.42123842239379883}, "tactile_left": {"psnr": 37.465776997124486, "ssim": 0.9703112037962334, "lpips": 0.1098075807094574}, "tactile_right": {"psnr": 39.544315865931154, "ssim": 0.9776948971416164, "lpips": 0.09196534752845764}}, {"video": {"psnr": 24.619714475508978, "ssim": 0.8319629025962272, "lpips": 0.09980668127536774}, "wrist_left": {"psnr": 16.668304944134633, "ssim": 0.6748537028898896, "lpips": 0.28723832964897156}, "wrist_right": {"psnr": 9.275352612584225, "ssim": 0.4430029083102749, "lpips": 0.5403838157653809}, "tactile_left": {"psnr": 37.108446766467, "ssim": 0.9688532204894119, "lpips": 0.12094484269618988}, "tactile_right": {"psnr": 37.27543477180481, "ssim": 0.9721437547446197, "lpips": 0.1383587121963501}}, {"video": {"psnr": 24.06346103811601, "ssim": 0.8298365160039731, "lpips": 0.11395535618066788}, "wrist_left": {"psnr": 14.55716049833331, "ssim": 0.5827508274357445, "lpips": 0.3960849642753601}, "wrist_right": {"psnr": 10.232519756513131, "ssim": 0.5406547151345096, "lpips": 0.49113258719444275}, "tactile_left": {"psnr": 36.6658965892568, "ssim": 0.9666123249301424, "lpips": 0.13526755571365356}, "tactile_right": {"psnr": 36.6360313399846, "ssim": 0.9676085575140796, "lpips": 0.1691076159477234}}, {"video": {"psnr": 23.704523632087234, "ssim": 0.8138454800003903, "lpips": 0.11792312562465668}, "wrist_left": {"psnr": 14.130374265281185, "ssim": 0.5838032207374105, "lpips": 0.4089413285255432}, "wrist_right": {"psnr": 9.66139482466722, "ssim": 0.5026114830510408, "lpips": 0.5323517322540283}, "tactile_left": {"psnr": 36.20439137037336, "ssim": 0.96398815503058, "lpips": 0.14609143137931824}, "tactile_right": {"psnr": 36.26521297040624, "ssim": 0.9658690205166528, "lpips": 0.18193259835243225}}, {"video": {"psnr": 23.46546392533351, "ssim": 0.8144644023940992, "lpips": 0.12133735418319702}, "wrist_left": {"psnr": 12.720700927560149, "ssim": 0.5552716718894631, "lpips": 0.421603262424469}, "wrist_right": {"psnr": 9.761737086120016, "ssim": 0.4717097147474973, "lpips": 0.5558071732521057}, "tactile_left": {"psnr": 35.63997490180127, "ssim": 0.9584806554027143, "lpips": 0.15757879614830017}, "tactile_right": {"psnr": 35.78203473506651, "ssim": 0.9624678425289767, "lpips": 0.19942639768123627}}, {"video": {"psnr": 23.387537853845846, "ssim": 0.8131885980535554, "lpips": 0.12672215700149536}, "wrist_left": {"psnr": 12.32536589840996, "ssim": 0.5379762362652174, "lpips": 0.42869096994400024}, "wrist_right": {"psnr": 9.351054179849427, "ssim": 0.42771496115638863, "lpips": 0.5829222202301025}, "tactile_left": {"psnr": 35.40448241039824, "ssim": 0.9583821113123141, "lpips": 0.16867323219776154}, "tactile_right": {"psnr": 35.56293420530294, "ssim": 0.9614795501831315, "lpips": 0.20710480213165283}}, {"video": {"psnr": 22.951244352505018, "ssim": 0.7867963743120607, "lpips": 0.14171844720840454}, "wrist_left": {"psnr": 13.147531773521754, "ssim": 0.549888705544177, "lpips": 0.4095972180366516}, "wrist_right": {"psnr": 9.54464340770429, "ssim": 0.47967470431755854, "lpips": 0.5532504916191101}, "tactile_left": {"psnr": 35.01886556659926, "ssim": 0.9563656933241336, "lpips": 0.17927461862564087}, "tactile_right": {"psnr": 35.361532873654426, "ssim": 0.9625836324173449, "lpips": 0.19794884324073792}}], "long_metrics": {"video": {"psnr": 23.843819166630237, "ssim": 0.8250470488941704, "lpips": 0.11477261098722617}, "wrist_left": {"psnr": 15.551944065374851, "ssim": 0.6326977138332656, "lpips": 0.3166069691379865}, "wrist_right": {"psnr": 11.068594883733217, "ssim": 0.5400717218258472, "lpips": 0.4683456103006999}, "tactile_left": {"psnr": 39.39016651314456, "ssim": 0.9730091763543081, "lpips": 0.09273327880849441}, "tactile_right": {"psnr": 40.257445006908966, "ssim": 0.9759240507189468, "lpips": 0.10475492896512151}}}, {"id": "pusht_e013_17", "episode": "pushT_0912_episode_010_seg00.pt", "requested_episode": "pushT_0912_episode_010_seg00.pt", "category": "release", "t_start": 534, "start_seconds": 35.6, "short_contact": [1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 0, 0], "future_transition_ticks": [11], "long_contact_fraction": 0.296875, "long_label": "release", "short_metrics": {"video": {"psnr": 28.999426996441326, "ssim": 0.920507819846069, "lpips": 0.027299758046865463}, "wrist_left": {"psnr": 21.330247986673907, "ssim": 0.7995088368863354, "lpips": 0.09351611882448196}, "wrist_right": {"psnr": 20.640178205117486, "ssim": 0.8125362442785851, "lpips": 0.11640388518571854}, "tactile_left": {"psnr": 41.440990820348645, "ssim": 0.9803286914882747, "lpips": 0.04393819719552994}, "tactile_right": {"psnr": 48.45494536847028, "ssim": 0.9904487338616172, "lpips": 0.009418235160410404}}, "media": {"short": {"video": "media/pusht_e013_17_short.mp4", "poster": "media/pusht_e013_17_short.jpg"}, "long": {"video": "media/pusht_e013_17_long.mp4", "poster": "media/pusht_e013_17_long.jpg"}}, "force": {"source": "recorded_normal_force", "units": "N", "fps": 15, "left": [2.9424359798431396, 2.636666774749756, 1.1733332872390747, 1.1662499904632568, 1.1662499904632568, 1.1662499904632568, 1.172912836074829, 2.9424359798431396, 2.8207693099975586, 1.1662499904632568, 1.1662499904632568, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.1662499904632568, 1.1662499904632568, 1.1733332872390747, 1.1682485342025757, 1.1709145307540894, 1.1667059659957886, 1.1733332872390747, 2.9424359798431396, 0.0, 0.0, 1.5254545211791992, 1.3925538063049316, 1.4500000476837158, 1.5254545211791992, 1.7909095287322998, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 2.9424359798431396, 2.636666774749756, 2.5253679752349854, 1.9833333492279053, 1.5254545211791992, 2.8207693099975586, 0.17278152704238892, 0.41999998688697815, 2.9424359798431396, 2.893463373184204, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.1599999964237213, 0.1599999964237213, 0.550990641117096, 0.5845006108283997, 0.4724802076816559, 0.43665292859077454, 0.17858773469924927], "right": [0.38050878047943115, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.1614374965429306, 0.4479486644268036, 0.49666666984558105, 0.49666666984558105, 0.41999998688697815, 0.30966103076934814, 0.30966103076934814, 0.42079371213912964, 0.4644216001033783, 0.7160115242004395, 0.7160115242004395, 1.1662499904632568, 0.2619616687297821, 0.20584960281848907, 0.20584960281848907, 0.278746098279953, 0.27089932560920715, 0.243997722864151, 0.1791929304599762, 0.17727865278720856, 0.2831799387931824, 0.2831799387931824, 0.5423785448074341, 0.7465118169784546, 0.49666666984558105, 0.48483794927597046, 0.49666666984558105, 0.43758875131607056]}, "long_curve": [{"video": {"psnr": 28.999426996441326, "ssim": 0.920507819846069, "lpips": 0.027299758046865463}, "wrist_left": {"psnr": 21.330247986673907, "ssim": 0.7995088368863354, "lpips": 0.09351611882448196}, "wrist_right": {"psnr": 20.640178205117486, "ssim": 0.8125362442785851, "lpips": 0.11640388518571854}, "tactile_left": {"psnr": 41.440990820348645, "ssim": 0.9803286914882747, "lpips": 0.04393819719552994}, "tactile_right": {"psnr": 48.45494536847028, "ssim": 0.9904487338616172, "lpips": 0.009418235160410404}}, {"video": {"psnr": 25.42696803772827, "ssim": 0.852863779578826, "lpips": 0.0698336809873581}, "wrist_left": {"psnr": 17.213185451985787, "ssim": 0.6571210491306629, "lpips": 0.22830334305763245}, "wrist_right": {"psnr": 18.578961869294545, "ssim": 0.7497360131849597, "lpips": 0.19276081025600433}, "tactile_left": {"psnr": 43.54551819906885, "ssim": 0.9825448207465983, "lpips": 0.03087305836379528}, "tactile_right": {"psnr": 46.97564124286473, "ssim": 0.9884764643361916, "lpips": 0.013433609157800674}}, {"video": {"psnr": 25.433130730831074, "ssim": 0.8480737991805813, "lpips": 0.07287177443504333}, "wrist_left": {"psnr": 16.824515807952878, "ssim": 0.6029228449901827, "lpips": 0.25741681456565857}, "wrist_right": {"psnr": 14.40095302900649, "ssim": 0.6698242094845627, "lpips": 0.30134597420692444}, "tactile_left": {"psnr": 41.3179524611637, "ssim": 0.9792589083343861, "lpips": 0.03843855485320091}, "tactile_right": {"psnr": 44.436522473252474, "ssim": 0.9862069137103305, "lpips": 0.023726511746644974}}, {"video": {"psnr": 25.94484445654793, "ssim": 0.85692837070328, "lpips": 0.07101953029632568}, "wrist_left": {"psnr": 17.31464495571763, "ssim": 0.6268906921461599, "lpips": 0.2569664716720581}, "wrist_right": {"psnr": 14.019359396041967, "ssim": 0.6218514156587356, "lpips": 0.3718491494655609}, "tactile_left": {"psnr": 40.7650321938777, "ssim": 0.9769761602638791, "lpips": 0.0395376980304718}, "tactile_right": {"psnr": 42.31562525494255, "ssim": 0.983155976063649, "lpips": 0.05210819095373154}}, {"video": {"psnr": 25.16520100767092, "ssim": 0.8413010751326911, "lpips": 0.08375921845436096}, "wrist_left": {"psnr": 18.5984010908682, "ssim": 0.6615770241907529, "lpips": 0.1846408247947693}, "wrist_right": {"psnr": 15.088583686559753, "ssim": 0.6228985537436709, "lpips": 0.3679032027721405}, "tactile_left": {"psnr": 40.44557222293075, "ssim": 0.9782334222885563, "lpips": 0.04217512905597687}, "tactile_right": {"psnr": 40.79856211678762, "ssim": 0.9802573251514803, "lpips": 0.06678391993045807}}, {"video": {"psnr": 25.640987666254574, "ssim": 0.8471739617650638, "lpips": 0.0890149399638176}, "wrist_left": {"psnr": 17.52835492250016, "ssim": 0.6815347662335163, "lpips": 0.19306224584579468}, "wrist_right": {"psnr": 16.202633097807325, "ssim": 0.6894436556126291, "lpips": 0.22670048475265503}, "tactile_left": {"psnr": 39.444868505497155, "ssim": 0.9793915251303094, "lpips": 0.04961996525526047}, "tactile_right": {"psnr": 40.583151097810024, "ssim": 0.9801698163259631, "lpips": 0.06994713097810745}}, {"video": {"psnr": 24.779582372584944, "ssim": 0.8348025963303962, "lpips": 0.1054568737745285}, "wrist_left": {"psnr": 17.50031960298567, "ssim": 0.7154906430497914, "lpips": 0.18345226347446442}, "wrist_right": {"psnr": 18.199564878240125, "ssim": 0.7224063926589044, "lpips": 0.16790640354156494}, "tactile_left": {"psnr": 38.440699395816566, "ssim": 0.9775216507409168, "lpips": 0.06348613649606705}, "tactile_right": {"psnr": 39.353071672986154, "ssim": 0.9779392508020484, "lpips": 0.08408572524785995}}, {"video": {"psnr": 24.43234042221974, "ssim": 0.8288354383176788, "lpips": 0.09925317764282227}, "wrist_left": {"psnr": 14.327740265910009, "ssim": 0.6055141756487272, "lpips": 0.3121647834777832}, "wrist_right": {"psnr": 13.54191207364185, "ssim": 0.6384193552223214, "lpips": 0.3806646466255188}, "tactile_left": {"psnr": 37.5126216353288, "ssim": 0.9752222070773393, "lpips": 0.07919828593730927}, "tactile_right": {"psnr": 39.32133286535036, "ssim": 0.9787732245909936, "lpips": 0.07585163414478302}}, {"video": {"psnr": 25.097319616683592, "ssim": 0.8380194602591795, "lpips": 0.09698644280433655}, "wrist_left": {"psnr": 14.473455303038405, "ssim": 0.5861004732403763, "lpips": 0.34880948066711426}, "wrist_right": {"psnr": 16.685206711189736, "ssim": 0.6919807272704088, "lpips": 0.25608232617378235}, "tactile_left": {"psnr": 37.165649325747616, "ssim": 0.9730556205828813, "lpips": 0.08480194211006165}, "tactile_right": {"psnr": 38.95139235041381, "ssim": 0.9776402872207669, "lpips": 0.08881984651088715}}, {"video": {"psnr": 23.73777755795873, "ssim": 0.8096786231078246, "lpips": 0.1197732612490654}, "wrist_left": {"psnr": 15.805122275445925, "ssim": 0.6493194458417753, "lpips": 0.2748557925224304}, "wrist_right": {"psnr": 17.717208240669645, "ssim": 0.688514549051417, "lpips": 0.21696192026138306}, "tactile_left": {"psnr": 36.26885006614912, "ssim": 0.9691246343330647, "lpips": 0.10099853575229645}, "tactile_right": {"psnr": 37.93633379128914, "ssim": 0.9755316916020426, "lpips": 0.10838724672794342}}, {"video": {"psnr": 23.997801714174415, "ssim": 0.8057176169028664, "lpips": 0.11955935508012772}, "wrist_left": {"psnr": 15.641778613093402, "ssim": 0.6708477755982893, "lpips": 0.28512048721313477}, "wrist_right": {"psnr": 17.029372934907904, "ssim": 0.6808983848156549, "lpips": 0.2718208432197571}, "tactile_left": {"psnr": 35.75024333601189, "ssim": 0.9690906166558155, "lpips": 0.10616957396268845}, "tactile_right": {"psnr": 37.38956329045229, "ssim": 0.9734796272393271, "lpips": 0.12247605621814728}}, {"video": {"psnr": 24.893667491869138, "ssim": 0.8235740970645183, "lpips": 0.10691056400537491}, "wrist_left": {"psnr": 15.920765370257328, "ssim": 0.6656037218009696, "lpips": 0.29456984996795654}, "wrist_right": {"psnr": 16.90156213940009, "ssim": 0.6645255223149249, "lpips": 0.24932101368904114}, "tactile_left": {"psnr": 35.619781596965595, "ssim": 0.968271554250587, "lpips": 0.1177297830581665}, "tactile_right": {"psnr": 36.21171765666731, "ssim": 0.9689053311483079, "lpips": 0.15230050683021545}}, {"video": {"psnr": 25.213194282552763, "ssim": 0.828225487966651, "lpips": 0.104655921459198}, "wrist_left": {"psnr": 15.026261760352238, "ssim": 0.6271168763657777, "lpips": 0.3467010259628296}, "wrist_right": {"psnr": 16.7064580169431, "ssim": 0.6539019716874424, "lpips": 0.309276819229126}, "tactile_left": {"psnr": 35.18188895726788, "ssim": 0.9655625079526489, "lpips": 0.1296401023864746}, "tactile_right": {"psnr": 35.32192324864373, "ssim": 0.9635205943920047, "lpips": 0.19133886694908142}}, {"video": {"psnr": 24.83059659186146, "ssim": 0.8226286872373318, "lpips": 0.10811839252710342}, "wrist_left": {"psnr": 13.148557874641781, "ssim": 0.5481748664090343, "lpips": 0.47949934005737305}, "wrist_right": {"psnr": 15.072013566902873, "ssim": 0.6100788929658498, "lpips": 0.3815736174583435}, "tactile_left": {"psnr": 34.84568684698416, "ssim": 0.9627924916521767, "lpips": 0.14359107613563538}, "tactile_right": {"psnr": 35.208326632626765, "ssim": 0.962201954435586, "lpips": 0.1944749653339386}}, {"video": {"psnr": 24.957011558075553, "ssim": 0.8211149032005167, "lpips": 0.1187964603304863}, "wrist_left": {"psnr": 13.620581558833022, "ssim": 0.570423489144274, "lpips": 0.4332678020000458}, "wrist_right": {"psnr": 14.794439288744197, "ssim": 0.6100069728691784, "lpips": 0.3598072826862335}, "tactile_left": {"psnr": 34.32531191421033, "ssim": 0.9587965704658131, "lpips": 0.15690314769744873}, "tactile_right": {"psnr": 34.71453500187414, "ssim": 0.9592891976048925, "lpips": 0.21672531962394714}}], "long_metrics": {"video": {"psnr": 25.236656700230295, "ssim": 0.8386297144395649, "lpips": 0.09288729007045428}, "wrist_left": {"psnr": 16.28492885601709, "ssim": 0.6445431120451083, "lpips": 0.2781564429402351}, "wrist_right": {"psnr": 16.371893808964472, "ssim": 0.6751348573879496, "lpips": 0.27802522530158363}, "tactile_left": {"psnr": 38.13804449849125, "ssim": 0.9730780921308831, "lpips": 0.08180674575269223}, "tactile_right": {"psnr": 39.86484293762876, "ssim": 0.9763997592323468, "lpips": 0.09799185103426376}}}, {"id": "pusht_e013_18", "episode": "pushT_0912_episode_010_seg00.pt", "requested_episode": "pushT_0912_episode_010_seg00.pt", "category": "full", "t_start": 272, "start_seconds": 18.133333333333333, "short_contact": [1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1], "future_transition_ticks": [], "long_contact_fraction": 0.7421875, "long_label": "full", "short_metrics": {"video": {"psnr": 36.223863880146624, "ssim": 0.9688673134615312, "lpips": 0.011338314972817898}, "wrist_left": {"psnr": 25.3583768003261, "ssim": 0.877267175950202, "lpips": 0.03901152312755585}, "wrist_right": {"psnr": 29.574312101371085, "ssim": 0.9221882221240062, "lpips": 0.024527307599782944}, "tactile_left": {"psnr": 38.51546106771531, "ssim": 0.9559507883105807, "lpips": 0.05484655499458313}, "tactile_right": {"psnr": 44.315909235754376, "ssim": 0.9764425397806935, "lpips": 0.017096150666475296}}, "media": {"short": {"video": "media/pusht_e013_18_short.mp4", "poster": "media/pusht_e013_18_short.jpg"}, "long": {"video": "media/pusht_e013_18_long.mp4", "poster": "media/pusht_e013_18_long.jpg"}}, "force": {"source": "recorded_normal_force", "units": "N", "fps": 15, "left": [2.8207693099975586, 2.9424359798431396, 5.439090728759766, 5.439090728759766, 6.733333110809326, 6.733333110809326, 6.733333110809326, 6.733333110809326, 6.251071453094482, 5.259615421295166, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 4.285294055938721, 4.285294055938721, 4.285294055938721, 5.145384788513184, 4.285294055938721, 4.285294055938721, 4.285294055938721, 4.3677778244018555, 5.259615421295166, 5.439090728759766, 5.439090728759766, 6.251071453094482, 5.439090728759766, 5.259615421295166, 5.259615421295166, 5.259615421295166, 5.259615421295166, 5.259615421295166, 5.145384788513184, 5.145384788513184, 5.145384788513184, 5.145384788513184, 5.259615421295166, 5.259615421295166, 5.439090728759766, 5.439090728759766, 6.251071453094482, 5.683094024658203, 4.285294055938721, 1.1662499904632568, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.1599999964237213, 0.6959292888641357, 0.6959292888641357, 1.171769618988037, 0.2043987512588501, 0.41999998688697815, 0.5155726075172424, 1.1662499904632568, 1.1662499904632568, 1.1662499904632568, 0.49666666984558105, 1.1662499904632568, 1.1662499904632568, 1.1662499904632568, 1.4949458837509155, 1.1662499904632568, 0.7552593946456909, 1.1662499904632568, 0.7700590491294861, 0.42946359515190125, 0.3810739517211914, 0.3810739517211914, 0.5707865953445435, 1.5254545211791992, 1.9833333492279053, 1.9833333492279053, 1.5254545211791992, 1.1662499904632568, 0.6724112629890442, 0.44365185499191284, 0.6148881912231445, 1.1662499904632568, 1.1662499904632568, 0.6714982986450195, 0.49666666984558105, 1.1662499904632568, 1.1662499904632568, 1.4500000476837158, 1.5254545211791992, 1.4020771980285645, 1.4020771980285645, 0.830382764339447, 0.5363113284111023, 1.1662499904632568, 1.1662499904632568, 1.1662499904632568, 0.7487766146659851, 1.4500000476837158, 1.4500000476837158, 1.9833333492279053, 2.636666774749756, 1.1662499904632568, 1.1662499904632568, 1.1662499904632568, 1.1662499904632568, 1.1662499904632568, 1.1662499904632568, 1.1662499904632568, 1.1662499904632568, 1.1662499904632568, 1.1662499904632568], "right": [0.0, 0.0, 0.0, 0.0, 0.0, 0.1599999964237213, 0.1599999964237213, 0.1599999964237213, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.1599999964237213, 0.1599999964237213, 0.1599999964237213, 0.1599999964237213, 0.1599999964237213, 0.1599999964237213, 0.1599999964237213, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.1599999964237213, 0.1599999964237213, 0.1599999964237213, 0.16730009019374847, 0.1599999964237213, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.1599999964237213, 0.49666666984558105, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]}, "long_curve": [{"video": {"psnr": 36.223863880146624, "ssim": 0.9688673134615312, "lpips": 0.011338314972817898}, "wrist_left": {"psnr": 25.3583768003261, "ssim": 0.877267175950202, "lpips": 0.03901152312755585}, "wrist_right": {"psnr": 29.574312101371085, "ssim": 0.9221882221240062, "lpips": 0.024527307599782944}, "tactile_left": {"psnr": 38.51546106771531, "ssim": 0.9559507883105807, "lpips": 0.05484655499458313}, "tactile_right": {"psnr": 44.315909235754376, "ssim": 0.9764425397806935, "lpips": 0.017096150666475296}}, {"video": {"psnr": 32.02066852250622, "ssim": 0.9451169183222815, "lpips": 0.02001299522817135}, "wrist_left": {"psnr": 24.555955645715173, "ssim": 0.8187152601184404, "lpips": 0.05097600445151329}, "wrist_right": {"psnr": 23.8684577411247, "ssim": 0.822661353449925, "lpips": 0.06104297190904617}, "tactile_left": {"psnr": 37.73991041400935, "ssim": 0.9457568574546309, "lpips": 0.08018861711025238}, "tactile_right": {"psnr": 44.064353985544365, "ssim": 0.9767620874964974, "lpips": 0.04372314363718033}}, {"video": {"psnr": 30.478944131321235, "ssim": 0.9316200814539666, "lpips": 0.025290807709097862}, "wrist_left": {"psnr": 24.74229943422761, "ssim": 0.7961492515051349, "lpips": 0.06173495203256607}, "wrist_right": {"psnr": 22.874042950582986, "ssim": 0.7766689490082838, "lpips": 0.07529829442501068}, "tactile_left": {"psnr": 36.80930395682792, "ssim": 0.939280899999315, "lpips": 0.09794291853904724}, "tactile_right": {"psnr": 42.71022517689818, "ssim": 0.971715904466414, "lpips": 0.06983868777751923}}, {"video": {"psnr": 29.728015991359932, "ssim": 0.9219774771892344, "lpips": 0.03076259046792984}, "wrist_left": {"psnr": 22.51824721211557, "ssim": 0.7559162384634683, "lpips": 0.10733278840780258}, "wrist_right": {"psnr": 22.927002264675114, "ssim": 0.7718032534101454, "lpips": 0.07732947170734406}, "tactile_left": {"psnr": 35.92676236606165, "ssim": 0.9393129195401706, "lpips": 0.16630417108535767}, "tactile_right": {"psnr": 41.55436397683399, "ssim": 0.96863152004751, "lpips": 0.08569961786270142}}, {"video": {"psnr": 28.152542470083944, "ssim": 0.8953205404212881, "lpips": 0.041909728199243546}, "wrist_left": {"psnr": 19.060379540762487, "ssim": 0.7177305412177135, "lpips": 0.19475990533828735}, "wrist_right": {"psnr": 17.35718552151168, "ssim": 0.7137996070974331, "lpips": 0.22947165369987488}, "tactile_left": {"psnr": 39.39397412624945, "ssim": 0.9680516592791277, "lpips": 0.10036429762840271}, "tactile_right": {"psnr": 42.081307068816415, "ssim": 0.9778060400154851, "lpips": 0.05941564589738846}}, {"video": {"psnr": 26.471519455840195, "ssim": 0.8662640707648329, "lpips": 0.061400797218084335}, "wrist_left": {"psnr": 14.626142961635187, "ssim": 0.6506102625374198, "lpips": 0.35942745208740234}, "wrist_right": {"psnr": 18.243697367875843, "ssim": 0.7186077529576262, "lpips": 0.2089482992887497}, "tactile_left": {"psnr": 40.992105698196504, "ssim": 0.9772567357526352, "lpips": 0.06117265671491623}, "tactile_right": {"psnr": 41.85830655656275, "ssim": 0.9815217316083237, "lpips": 0.053298093378543854}}, {"video": {"psnr": 25.889569625478742, "ssim": 0.8434041347090571, "lpips": 0.0675814300775528}, "wrist_left": {"psnr": 12.986067385213676, "ssim": 0.5323034151636219, "lpips": 0.42748594284057617}, "wrist_right": {"psnr": 16.310509094853963, "ssim": 0.6807402321099176, "lpips": 0.2784792184829712}, "tactile_left": {"psnr": 40.168011072831966, "ssim": 0.975443606889133, "lpips": 0.07525987923145294}, "tactile_right": {"psnr": 40.27768242971313, "ssim": 0.979792349307469, "lpips": 0.06522417068481445}}, {"video": {"psnr": 25.06700508407139, "ssim": 0.8309054214981393, "lpips": 0.09790392965078354}, "wrist_left": {"psnr": 11.612856828727976, "ssim": 0.49796839216783867, "lpips": 0.4939095377922058}, "wrist_right": {"psnr": 16.13067941435956, "ssim": 0.6764526562215917, "lpips": 0.2873390018939972}, "tactile_left": {"psnr": 38.3169715875717, "ssim": 0.9689158560696634, "lpips": 0.10108163207769394}, "tactile_right": {"psnr": 38.70924239711366, "ssim": 0.9727945062338605, "lpips": 0.0745079517364502}}, {"video": {"psnr": 24.009240267806938, "ssim": 0.8180159781254653, "lpips": 0.11690635979175568}, "wrist_left": {"psnr": 11.468186533257985, "ssim": 0.4558358237368619, "lpips": 0.5176151990890503}, "wrist_right": {"psnr": 17.02065350392249, "ssim": 0.6764246737641348, "lpips": 0.2718946635723114}, "tactile_left": {"psnr": 36.86390752383405, "ssim": 0.9585872442874956, "lpips": 0.13089382648468018}, "tactile_right": {"psnr": 38.84956924837701, "ssim": 0.971258498154306, "lpips": 0.08593593537807465}}, {"video": {"psnr": 23.79353471106761, "ssim": 0.8161112883199282, "lpips": 0.11695308983325958}, "wrist_left": {"psnr": 11.65542913171921, "ssim": 0.44353064917367885, "lpips": 0.5235024094581604}, "wrist_right": {"psnr": 16.95512384853279, "ssim": 0.6722249909770857, "lpips": 0.29374217987060547}, "tactile_left": {"psnr": 35.88622768235866, "ssim": 0.953643519014814, "lpips": 0.15405936539173126}, "tactile_right": {"psnr": 37.71408761618332, "ssim": 0.9651751796423023, "lpips": 0.11263196170330048}}, {"video": {"psnr": 23.65266804048169, "ssim": 0.8125589390075088, "lpips": 0.11917176842689514}, "wrist_left": {"psnr": 11.79616710456973, "ssim": 0.446013762990921, "lpips": 0.5195471048355103}, "wrist_right": {"psnr": 16.825590111859974, "ssim": 0.6675600074097862, "lpips": 0.3062818944454193}, "tactile_left": {"psnr": 34.89425778166248, "ssim": 0.9422464637391645, "lpips": 0.2118678241968155}, "tactile_right": {"psnr": 37.27625933008476, "ssim": 0.9658590437776036, "lpips": 0.1269359290599823}}, {"video": {"psnr": 23.65853275196967, "ssim": 0.8107848525243877, "lpips": 0.12312813103199005}, "wrist_left": {"psnr": 11.898198796581097, "ssim": 0.41804136420511906, "lpips": 0.5158084630966187}, "wrist_right": {"psnr": 16.46185746570351, "ssim": 0.6581414867996446, "lpips": 0.3199579119682312}, "tactile_left": {"psnr": 34.68640367792073, "ssim": 0.9428874818639827, "lpips": 0.21644285321235657}, "tactile_right": {"psnr": 36.11413847293, "ssim": 0.9607580785143293, "lpips": 0.14907172322273254}}, {"video": {"psnr": 23.52407036323365, "ssim": 0.8053191664166627, "lpips": 0.12554293870925903}, "wrist_left": {"psnr": 11.094088652383224, "ssim": 0.398299639057527, "lpips": 0.557386577129364}, "wrist_right": {"psnr": 17.12148053236843, "ssim": 0.6633712326389172, "lpips": 0.3006192445755005}, "tactile_left": {"psnr": 34.18264527552892, "ssim": 0.9315391888821016, "lpips": 0.24364343285560608}, "tactile_right": {"psnr": 36.104362606975094, "ssim": 0.9625111837000542, "lpips": 0.1621113270521164}}, {"video": {"psnr": 23.322495435453384, "ssim": 0.7974288797823753, "lpips": 0.13042820990085602}, "wrist_left": {"psnr": 10.855044774080644, "ssim": 0.39118483996300624, "lpips": 0.5745066404342651}, "wrist_right": {"psnr": 17.14223572085703, "ssim": 0.6546920454725613, "lpips": 0.28962504863739014}, "tactile_left": {"psnr": 33.796100121938046, "ssim": 0.9314397952715218, "lpips": 0.2585868835449219}, "tactile_right": {"psnr": 35.71271650842617, "ssim": 0.9610028428289181, "lpips": 0.17413264513015747}}, {"video": {"psnr": 23.14908368033416, "ssim": 0.7918055498010749, "lpips": 0.13538730144500732}, "wrist_left": {"psnr": 10.721979526575057, "ssim": 0.3837445413515779, "lpips": 0.5800129771232605}, "wrist_right": {"psnr": 17.132735910193627, "ssim": 0.6417330576906365, "lpips": 0.2932847738265991}, "tactile_left": {"psnr": 33.5615872654298, "ssim": 0.9390586210164706, "lpips": 0.24863101541996002}, "tactile_right": {"psnr": 34.89755547667304, "ssim": 0.9552024466157182, "lpips": 0.19004978239536285}}], "long_metrics": {"video": {"psnr": 26.609450294077025, "ssim": 0.8570333741198489, "lpips": 0.0815812261775136}, "wrist_left": {"psnr": 15.663294688526047, "ssim": 0.5722207438401689, "lpips": 0.36820116514960927}, "wrist_right": {"psnr": 19.063037569986186, "ssim": 0.7144713014087797, "lpips": 0.22118946239352227}, "tactile_left": {"psnr": 36.78224197454244, "ssim": 0.9512914424913872, "lpips": 0.1467523952325185}, "tactile_right": {"psnr": 39.482672005792416, "ssim": 0.9698155968126323, "lpips": 0.09797818437218667}}}, {"id": "pusht_e013_19", "episode": "pushT_0912_episode_010_seg01.pt", "requested_episode": "pushT_0912_episode_010_seg01.pt", "category": "none", "t_start": 88, "start_seconds": 5.866666666666666, "short_contact": [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0], "future_transition_ticks": [], "long_contact_fraction": 0.0, "long_label": "none_throughout", "short_metrics": {"video": {"psnr": 30.585820592446, "ssim": 0.9495602053268597, "lpips": 0.022539615631103516}, "wrist_left": {"psnr": 17.20585367064539, "ssim": 0.7374300542854746, "lpips": 0.20731136202812195}, "wrist_right": {"psnr": 31.35954102565183, "ssim": 0.9471114771450443, "lpips": 0.015363051556050777}, "tactile_left": {"psnr": 44.70434935863048, "ssim": 0.983321790174208, "lpips": 0.04679125174880028}, "tactile_right": {"psnr": 49.003452016351936, "ssim": 0.9921588495258857, "lpips": 0.006661589257419109}}, "media": {"short": {"video": "media/pusht_e013_19_short.mp4", "poster": "media/pusht_e013_19_short.jpg"}, "long": {"video": "media/pusht_e013_19_long.mp4", "poster": "media/pusht_e013_19_long.jpg"}}, "force": {"source": "recorded_normal_force", "units": "N", "fps": 15, "left": [0.0, 0.0, 0.0, 0.22859151661396027, 0.22859151661396027, 0.0, 0.1599999964237213, 0.0, 0.1599999964237213, 0.0, 0.0, 0.0, 0.0, 0.1599999964237213, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "right": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]}, "long_curve": [{"video": {"psnr": 30.585820592446, "ssim": 0.9495602053268597, "lpips": 0.022539615631103516}, "wrist_left": {"psnr": 17.20585367064539, "ssim": 0.7374300542854746, "lpips": 0.20731136202812195}, "wrist_right": {"psnr": 31.35954102565183, "ssim": 0.9471114771450443, "lpips": 0.015363051556050777}, "tactile_left": {"psnr": 44.70434935863048, "ssim": 0.983321790174208, "lpips": 0.04679125174880028}, "tactile_right": {"psnr": 49.003452016351936, "ssim": 0.9921588495258857, "lpips": 0.006661589257419109}}, {"video": {"psnr": 29.319916397715318, "ssim": 0.9272478742737519, "lpips": 0.03258851170539856}, "wrist_left": {"psnr": 13.151820625949146, "ssim": 0.5341415103750882, "lpips": 0.4064282774925232}, "wrist_right": {"psnr": 30.484306225207895, "ssim": 0.9175380023594765, "lpips": 0.02736475318670273}, "tactile_left": {"psnr": 44.78506367186144, "ssim": 0.9850661809495797, "lpips": 0.029395654797554016}, "tactile_right": {"psnr": 47.49713269700245, "ssim": 0.9880959912573125, "lpips": 0.011904073879122734}}, {"video": {"psnr": 27.266542671695973, "ssim": 0.8952443667955244, "lpips": 0.0646635964512825}, "wrist_left": {"psnr": 10.945855731325334, "ssim": 0.4713766039332715, "lpips": 0.5194156169891357}, "wrist_right": {"psnr": 24.939206388538576, "ssim": 0.8844943488713086, "lpips": 0.055455178022384644}, "tactile_left": {"psnr": 42.80558779305941, "ssim": 0.983402945331225, "lpips": 0.028098318725824356}, "tactile_right": {"psnr": 45.41738958744132, "ssim": 0.9863610475192577, "lpips": 0.020670350641012192}}, {"video": {"psnr": 26.47958036326965, "ssim": 0.875541735390191, "lpips": 0.07587002962827682}, "wrist_left": {"psnr": 11.175054206797316, "ssim": 0.46250744854608333, "lpips": 0.5135132670402527}, "wrist_right": {"psnr": 23.652127868411426, "ssim": 0.8563628688566047, "lpips": 0.062843918800354}, "tactile_left": {"psnr": 42.26044278993176, "ssim": 0.9816006802015662, "lpips": 0.03818093240261078}, "tactile_right": {"psnr": 43.45592864128608, "ssim": 0.9846152448371697, "lpips": 0.03718753904104233}}, {"video": {"psnr": 23.641922279789828, "ssim": 0.8448564816431977, "lpips": 0.12572652101516724}, "wrist_left": {"psnr": 11.857204400496801, "ssim": 0.49459457856649425, "lpips": 0.5075751543045044}, "wrist_right": {"psnr": 19.232619352047013, "ssim": 0.8221741059031273, "lpips": 0.11983658373355865}, "tactile_left": {"psnr": 41.13101548357173, "ssim": 0.9811563842374842, "lpips": 0.043641068041324615}, "tactile_right": {"psnr": 42.57447146253109, "ssim": 0.9826340703545346, "lpips": 0.05536758527159691}}, {"video": {"psnr": 24.096468609235913, "ssim": 0.8322727965031693, "lpips": 0.11148318648338318}, "wrist_left": {"psnr": 10.911623753528623, "ssim": 0.45146174549388013, "lpips": 0.5458287000656128}, "wrist_right": {"psnr": 21.276395397337268, "ssim": 0.8217711908641819, "lpips": 0.09357468038797379}, "tactile_left": {"psnr": 39.87342460878106, "ssim": 0.9795050206376563, "lpips": 0.04868847504258156}, "tactile_right": {"psnr": 42.08123026944462, "ssim": 0.9829372079081784, "lpips": 0.05533768609166145}}, {"video": {"psnr": 23.3611788403385, "ssim": 0.8131560451363942, "lpips": 0.13752548396587372}, "wrist_left": {"psnr": 10.90336661607463, "ssim": 0.4528941848203223, "lpips": 0.5170380473136902}, "wrist_right": {"psnr": 18.505136755997597, "ssim": 0.7762941106433108, "lpips": 0.13777272403240204}, "tactile_left": {"psnr": 38.91413309905299, "ssim": 0.9772970520915556, "lpips": 0.06521961838006973}, "tactile_right": {"psnr": 40.859401115178144, "ssim": 0.9816984357983581, "lpips": 0.06387399882078171}}, {"video": {"psnr": 23.46713668988464, "ssim": 0.8124359203149955, "lpips": 0.14939972758293152}, "wrist_left": {"psnr": 10.367602807769371, "ssim": 0.43540600880203223, "lpips": 0.506287157535553}, "wrist_right": {"psnr": 19.959045464073228, "ssim": 0.7975962436778448, "lpips": 0.12297553569078445}, "tactile_left": {"psnr": 37.82390086085805, "ssim": 0.97480700266162, "lpips": 0.08488965779542923}, "tactile_right": {"psnr": 40.33851016350389, "ssim": 0.9799211180556018, "lpips": 0.0775003656744957}}, {"video": {"psnr": 23.397537065371054, "ssim": 0.8210474964194763, "lpips": 0.14984393119812012}, "wrist_left": {"psnr": 8.944445209414834, "ssim": 0.3366353273915562, "lpips": 0.5601887106895447}, "wrist_right": {"psnr": 24.176136241525747, "ssim": 0.808622549401987, "lpips": 0.08747365325689316}, "tactile_left": {"psnr": 37.05086198255162, "ssim": 0.9722769870015371, "lpips": 0.10121665149927139}, "tactile_right": {"psnr": 39.35759940695904, "ssim": 0.9778636347144654, "lpips": 0.09187726676464081}}, {"video": {"psnr": 22.23577307671887, "ssim": 0.811096670378926, "lpips": 0.18070662021636963}, "wrist_left": {"psnr": 8.000502163445676, "ssim": 0.33517075150879183, "lpips": 0.5911332368850708}, "wrist_right": {"psnr": 23.36125678053952, "ssim": 0.7753059021069388, "lpips": 0.09409097582101822}, "tactile_left": {"psnr": 36.206358150613966, "ssim": 0.9691658528675431, "lpips": 0.11896536499261856}, "tactile_right": {"psnr": 37.71881553109338, "ssim": 0.9751976724906539, "lpips": 0.1144794225692749}}, {"video": {"psnr": 22.45038147535693, "ssim": 0.8144262408219889, "lpips": 0.157861590385437}, "wrist_left": {"psnr": 12.407124894910966, "ssim": 0.41834588740006395, "lpips": 0.4923582077026367}, "wrist_right": {"psnr": 23.140950449123903, "ssim": 0.7720017802212771, "lpips": 0.1117604598402977}, "tactile_left": {"psnr": 36.285325021324965, "ssim": 0.9680675123580549, "lpips": 0.12128700315952301}, "tactile_right": {"psnr": 37.35299857885395, "ssim": 0.9730877178467221, "lpips": 0.12907373905181885}}, {"video": {"psnr": 21.392378541366842, "ssim": 0.7866690616783555, "lpips": 0.17925187945365906}, "wrist_left": {"psnr": 12.743932013318116, "ssim": 0.5042823327441555, "lpips": 0.4545014500617981}, "wrist_right": {"psnr": 18.424649924319617, "ssim": 0.7642402525635865, "lpips": 0.19130706787109375}, "tactile_left": {"psnr": 35.90339516052518, "ssim": 0.9686076659281169, "lpips": 0.13232359290122986}, "tactile_right": {"psnr": 36.916555014726484, "ssim": 0.9709916821923932, "lpips": 0.1499030888080597}}, {"video": {"psnr": 21.84428082071445, "ssim": 0.7885498972024764, "lpips": 0.16630885004997253}, "wrist_left": {"psnr": 14.634664161548681, "ssim": 0.560774845514421, "lpips": 0.410203754901886}, "wrist_right": {"psnr": 13.426710153957853, "ssim": 0.604446634814165, "lpips": 0.3735486567020416}, "tactile_left": {"psnr": 35.37827257002748, "ssim": 0.9658595429382305, "lpips": 0.13471263647079468}, "tactile_right": {"psnr": 36.488665579229725, "ssim": 0.9686119551581893, "lpips": 0.16379353404045105}}, {"video": {"psnr": 22.106615491509988, "ssim": 0.7845900760157272, "lpips": 0.15892572700977325}, "wrist_left": {"psnr": 14.98004162245053, "ssim": 0.5558146716243338, "lpips": 0.4102640151977539}, "wrist_right": {"psnr": 12.487410114867734, "ssim": 0.5009622316154678, "lpips": 0.4506034255027771}, "tactile_left": {"psnr": 34.97696977752376, "ssim": 0.964445650371031, "lpips": 0.14928963780403137}, "tactile_right": {"psnr": 35.9986306565541, "ssim": 0.9664665185698101, "lpips": 0.17820937931537628}}, {"video": {"psnr": 21.779627518383688, "ssim": 0.7750916044716958, "lpips": 0.1738012582063675}, "wrist_left": {"psnr": 14.00227772603769, "ssim": 0.4610481941074404, "lpips": 0.4441494941711426}, "wrist_right": {"psnr": 11.251003308996788, "ssim": 0.40847686255969395, "lpips": 0.5224654674530029}, "tactile_left": {"psnr": 34.26068703296356, "ssim": 0.9629958794419143, "lpips": 0.16108828783035278}, "tactile_right": {"psnr": 35.33109874857474, "ssim": 0.9630840965422993, "lpips": 0.1939348578453064}}], "long_metrics": {"video": {"psnr": 24.228344028919842, "ssim": 0.8354524314915153, "lpips": 0.12576643526554107}, "wrist_left": {"psnr": 12.148757973580873, "ssim": 0.48079227634089394, "lpips": 0.47241309682528176}, "wrist_right": {"psnr": 21.0450996967064, "ssim": 0.7638265707736009, "lpips": 0.1644290754571557}, "tactile_left": {"psnr": 38.82398582408516, "ssim": 0.9745050764794214, "lpips": 0.08691921010613442}, "tactile_right": {"psnr": 40.692791964582064, "ssim": 0.9782483495180555, "lpips": 0.08998496513813733}}}, {"id": "pusht_e013_20", "episode": "pushT_0912_episode_010_seg01.pt", "requested_episode": "pushT_0912_episode_010_seg01.pt", "category": "onset", "t_start": 291, "start_seconds": 19.4, "short_contact": [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 1], "future_transition_ticks": [11], "long_contact_fraction": 0.234375, "long_label": "onset", "short_metrics": {"video": {"psnr": 32.304841502825724, "ssim": 0.9553558825475872, "lpips": 0.019772376865148544}, "wrist_left": {"psnr": 22.963367807928993, "ssim": 0.8176767443154923, "lpips": 0.0989418774843216}, "wrist_right": {"psnr": 26.20798219097469, "ssim": 0.8930167678429921, "lpips": 0.042442720383405685}, "tactile_left": {"psnr": 45.633182508469645, "ssim": 0.9904564597601475, "lpips": 0.0336218923330307}, "tactile_right": {"psnr": 44.89437245233057, "ssim": 0.9870922761231322, "lpips": 0.03961501270532608}}, "media": {"short": {"video": "media/pusht_e013_20_short.mp4", "poster": "media/pusht_e013_20_short.jpg"}, "long": {"video": "media/pusht_e013_20_long.mp4", "poster": "media/pusht_e013_20_long.jpg"}}, "force": {"source": "recorded_normal_force", "units": "N", "fps": 15, "left": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.16663715243339539, 0.1599999964237213, 0.1599999964237213, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.26234930753707886, 0.26234930753707886, 0.1599999964237213, 0.1599999964237213, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "right": [0.2950051724910736, 0.2950051724910736, 0.41999998688697815, 0.41999998688697815, 0.41999998688697815, 0.41999998688697815, 0.41999998688697815, 0.42128610610961914, 0.4453880786895752, 0.4538324773311615, 0.49666666984558105, 0.527174174785614, 0.527174174785614, 0.7462874054908752, 0.7484490871429443, 0.7691144943237305, 0.7691144943237305, 0.7062782049179077, 0.5209856629371643, 0.49666666984558105, 0.49666666984558105, 0.46710240840911865, 0.42889127135276794, 0.41999998688697815, 0.41999998688697815, 0.28714117407798767, 0.28714117407798767, 0.2647441029548645, 0.2647441029548645, 0.17656415700912476, 0.1599999964237213, 0.1599999964237213, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 2.9424359798431396, 1.9833333492279053, 1.9833333492279053, 1.9833333492279053, 2.636666774749756, 1.9833333492279053, 1.9833333492279053, 1.5254545211791992, 2.0597586631774902, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.1733332872390747, 1.2030043601989746, 1.5254545211791992, 1.9833333492279053, 2.8207693099975586, 4.285294055938721, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396]}, "long_curve": [{"video": {"psnr": 32.304841502825724, "ssim": 0.9553558825475872, "lpips": 0.019772376865148544}, "wrist_left": {"psnr": 22.963367807928993, "ssim": 0.8176767443154923, "lpips": 0.0989418774843216}, "wrist_right": {"psnr": 26.20798219097469, "ssim": 0.8930167678429921, "lpips": 0.042442720383405685}, "tactile_left": {"psnr": 45.633182508469645, "ssim": 0.9904564597601475, "lpips": 0.0336218923330307}, "tactile_right": {"psnr": 44.89437245233057, "ssim": 0.9870922761231322, "lpips": 0.03961501270532608}}, {"video": {"psnr": 27.640372022959827, "ssim": 0.9099301660208022, "lpips": 0.04716026782989502}, "wrist_left": {"psnr": 17.696150646954752, "ssim": 0.6239330686878259, "lpips": 0.2678433954715729}, "wrist_right": {"psnr": 18.997926784450872, "ssim": 0.7343348524633346, "lpips": 0.19192294776439667}, "tactile_left": {"psnr": 44.100898327623916, "ssim": 0.9859824024578644, "lpips": 0.0273861326277256}, "tactile_right": {"psnr": 42.408695321324615, "ssim": 0.9808778989627467, "lpips": 0.08102615922689438}}, {"video": {"psnr": 26.41760536157316, "ssim": 0.8848355969595447, "lpips": 0.06110861897468567}, "wrist_left": {"psnr": 16.555778519524303, "ssim": 0.599030243863541, "lpips": 0.3324383497238159}, "wrist_right": {"psnr": 17.09218767036892, "ssim": 0.712700059261878, "lpips": 0.23951455950737}, "tactile_left": {"psnr": 42.27883521583435, "ssim": 0.983876548586391, "lpips": 0.041064679622650146}, "tactile_right": {"psnr": 42.7160584136322, "ssim": 0.9815907336473313, "lpips": 0.06344150751829147}}, {"video": {"psnr": 25.56854111152059, "ssim": 0.8552804040182309, "lpips": 0.07568531483411789}, "wrist_left": {"psnr": 13.29680417903803, "ssim": 0.5131847490875853, "lpips": 0.3984372019767761}, "wrist_right": {"psnr": 19.126405962459433, "ssim": 0.7671679141705172, "lpips": 0.18564029037952423}, "tactile_left": {"psnr": 42.006763917278, "ssim": 0.9821138077683251, "lpips": 0.03960728645324707}, "tactile_right": {"psnr": 42.551609414160716, "ssim": 0.9828654028268362, "lpips": 0.05223630741238594}}, {"video": {"psnr": 25.028881759599486, "ssim": 0.837849561144433, "lpips": 0.0865725502371788}, "wrist_left": {"psnr": 12.885185592305637, "ssim": 0.49474830311464024, "lpips": 0.4111228585243225}, "wrist_right": {"psnr": 17.87797995879158, "ssim": 0.745877372929231, "lpips": 0.20757123827934265}, "tactile_left": {"psnr": 41.40677577096994, "ssim": 0.9818174911616906, "lpips": 0.0433657243847847}, "tactile_right": {"psnr": 42.38935274222881, "ssim": 0.9820728952640962, "lpips": 0.05874815210700035}}, {"video": {"psnr": 24.3209561086057, "ssim": 0.8204780459131609, "lpips": 0.09349063038825989}, "wrist_left": {"psnr": 12.941796465922808, "ssim": 0.5026141939632685, "lpips": 0.4254460632801056}, "wrist_right": {"psnr": 16.98975652828381, "ssim": 0.7283056941232775, "lpips": 0.24978068470954895}, "tactile_left": {"psnr": 40.46082849609497, "ssim": 0.980574745124248, "lpips": 0.057570017874240875}, "tactile_right": {"psnr": 42.168501874520985, "ssim": 0.9829555027213408, "lpips": 0.05731695890426636}}, {"video": {"psnr": 24.166153740048884, "ssim": 0.8095267271896394, "lpips": 0.10282143950462341}, "wrist_left": {"psnr": 12.943999862162322, "ssim": 0.486198807706806, "lpips": 0.4348759651184082}, "wrist_right": {"psnr": 16.625436660057126, "ssim": 0.7194815726556635, "lpips": 0.261422336101532}, "tactile_left": {"psnr": 39.52370422150209, "ssim": 0.9786110201085201, "lpips": 0.07234038412570953}, "tactile_right": {"psnr": 40.96309548891453, "ssim": 0.9821076561539284, "lpips": 0.06655599176883698}}, {"video": {"psnr": 23.37163542219497, "ssim": 0.786628806172546, "lpips": 0.12982048094272614}, "wrist_left": {"psnr": 12.95595167784114, "ssim": 0.5152799887322704, "lpips": 0.42717498540878296}, "wrist_right": {"psnr": 15.026187479056734, "ssim": 0.648358243047581, "lpips": 0.3316536247730255}, "tactile_left": {"psnr": 38.48997392733329, "ssim": 0.9762253191240026, "lpips": 0.08806262910366058}, "tactile_right": {"psnr": 40.20494533264095, "ssim": 0.9798200313957808, "lpips": 0.07909975200891495}}, {"video": {"psnr": 22.97616175815304, "ssim": 0.7862100109727915, "lpips": 0.14717936515808105}, "wrist_left": {"psnr": 12.94564845201556, "ssim": 0.5899993419610445, "lpips": 0.38220155239105225}, "wrist_right": {"psnr": 17.153555739152505, "ssim": 0.6767780167450083, "lpips": 0.2863982021808624}, "tactile_left": {"psnr": 37.79054811354138, "ssim": 0.9743425579897237, "lpips": 0.0998307317495346}, "tactile_right": {"psnr": 39.25249411414087, "ssim": 0.977236119812348, "lpips": 0.09627893567085266}}, {"video": {"psnr": 21.770252067923295, "ssim": 0.7597149313966618, "lpips": 0.19614177942276}, "wrist_left": {"psnr": 10.269282824289608, "ssim": 0.4949596164908122, "lpips": 0.5466972589492798}, "wrist_right": {"psnr": 13.624931356931027, "ssim": 0.6013407716228953, "lpips": 0.38811978697776794}, "tactile_left": {"psnr": 36.83067906858065, "ssim": 0.9716761561066665, "lpips": 0.1162538230419159}, "tactile_right": {"psnr": 38.068900225613426, "ssim": 0.976320996755426, "lpips": 0.1098359078168869}}, {"video": {"psnr": 21.632640811292745, "ssim": 0.7549742155683772, "lpips": 0.19643095135688782}, "wrist_left": {"psnr": 11.85883027856545, "ssim": 0.5474479844004251, "lpips": 0.4803161323070526}, "wrist_right": {"psnr": 11.263267953349434, "ssim": 0.37831161762884946, "lpips": 0.5560435056686401}, "tactile_left": {"psnr": 36.34223905070189, "ssim": 0.9690476262963378, "lpips": 0.13156789541244507}, "tactile_right": {"psnr": 36.61124355135705, "ssim": 0.9711234957026781, "lpips": 0.1397368162870407}}, {"video": {"psnr": 21.424873674977803, "ssim": 0.7639664136797831, "lpips": 0.21040894091129303}, "wrist_left": {"psnr": 15.771574138049079, "ssim": 0.6473429070083538, "lpips": 0.29868581891059875}, "wrist_right": {"psnr": 11.936355521152834, "ssim": 0.41754440960831474, "lpips": 0.5259996652603149}, "tactile_left": {"psnr": 35.89272958756579, "ssim": 0.966768047134102, "lpips": 0.1478358507156372}, "tactile_right": {"psnr": 35.89278137423441, "ssim": 0.9665425749265482, "lpips": 0.16018643975257874}}, {"video": {"psnr": 21.33790749255359, "ssim": 0.761039357757776, "lpips": 0.21433497965335846}, "wrist_left": {"psnr": 14.190590900992376, "ssim": 0.6043436144921545, "lpips": 0.3840789794921875}, "wrist_right": {"psnr": 13.39353763612073, "ssim": 0.6089194856538487, "lpips": 0.4159191846847534}, "tactile_left": {"psnr": 35.37541044795346, "ssim": 0.9647953981737873, "lpips": 0.15239249169826508}, "tactile_right": {"psnr": 35.866165264550986, "ssim": 0.9697399609451786, "lpips": 0.14729246497154236}}, {"video": {"psnr": 21.52281210869362, "ssim": 0.758394063769229, "lpips": 0.20240578055381775}, "wrist_left": {"psnr": 14.086570410897693, "ssim": 0.628475576426246, "lpips": 0.3508714437484741}, "wrist_right": {"psnr": 11.008763569899076, "ssim": 0.3852823177564457, "lpips": 0.5585149526596069}, "tactile_left": {"psnr": 34.320460584926515, "ssim": 0.9597859923699221, "lpips": 0.18545758724212646}, "tactile_right": {"psnr": 34.688746798996924, "ssim": 0.9568725717787468, "lpips": 0.19628918170928955}}, {"video": {"psnr": 21.703408837075262, "ssim": 0.7578650566311694, "lpips": 0.1987863928079605}, "wrist_left": {"psnr": 13.488336374172619, "ssim": 0.5112821145392455, "lpips": 0.40962615609169006}, "wrist_right": {"psnr": 11.111385954127343, "ssim": 0.34768597545340013, "lpips": 0.5786867141723633}, "tactile_left": {"psnr": 34.084835672377956, "ssim": 0.9582169051928406, "lpips": 0.18008622527122498}, "tactile_right": {"psnr": 33.03034169660824, "ssim": 0.9400759116213698, "lpips": 0.2428552657365799}}], "long_metrics": {"video": {"psnr": 24.079136251999845, "ssim": 0.8134699493161155, "lpips": 0.13214132462938627}, "wrist_left": {"psnr": 14.323324542044023, "ssim": 0.5717678169859808, "lpips": 0.37658386925856274}, "wrist_right": {"psnr": 15.829044064345075, "ssim": 0.6243403380642157, "lpips": 0.3346420275668303}, "tactile_left": {"psnr": 38.96919099405025, "ssim": 0.9749526984903045, "lpips": 0.0944295567770799}, "tactile_right": {"psnr": 39.44715360435035, "ssim": 0.9744862685758325, "lpips": 0.10603432357311249}}}, {"id": "pusht_e013_21", "episode": "pushT_0912_episode_010_seg01.pt", "requested_episode": "pushT_0912_episode_010_seg01.pt", "category": "release", "t_start": 501, "start_seconds": 33.4, "short_contact": [1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 0, 0], "future_transition_ticks": [11], "long_contact_fraction": 0.1328125, "long_label": "release", "short_metrics": {"video": {"psnr": 29.62187024939745, "ssim": 0.9314270401396513, "lpips": 0.024838661774992943}, "wrist_left": {"psnr": 21.05984710590039, "ssim": 0.766003718088472, "lpips": 0.16918742656707764}, "wrist_right": {"psnr": 23.172076265114804, "ssim": 0.8460603715760973, "lpips": 0.08520288020372391}, "tactile_left": {"psnr": 49.34234425662818, "ssim": 0.992515794622695, "lpips": 0.005719729233533144}, "tactile_right": {"psnr": 45.72700364020348, "ssim": 0.9894932126998142, "lpips": 0.02995174750685692}}, "media": {"short": {"video": "media/pusht_e013_21_short.mp4", "poster": "media/pusht_e013_21_short.jpg"}, "long": {"video": "media/pusht_e013_21_long.mp4", "poster": "media/pusht_e013_21_long.jpg"}}, "force": {"source": "recorded_normal_force", "units": "N", "fps": 15, "left": [0.41999998688697815, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.17763079702854156], "right": [2.9424359798431396, 2.6502537727355957, 1.9833333492279053, 1.9833333492279053, 1.9833333492279053, 1.6061007976531982, 1.5254545211791992, 1.5254545211791992, 1.6631628274917603, 1.5254545211791992, 1.1662499904632568, 0.16158637404441833, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.17750994861125946, 0.17208869755268097, 0.2851240336894989, 0.2851240336894989, 0.7213010191917419, 1.1662499904632568, 1.1662499904632568, 1.1662499904632568, 1.1662499904632568, 1.1662499904632568, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.1662885695695877, 0.1599999964237213, 0.1599999964237213, 0.1599999964237213, 0.1599999964237213, 0.0, 0.1599999964237213, 0.1599999964237213, 0.1599999964237213, 0.1599999964237213, 0.1599999964237213, 0.1599999964237213, 0.1599999964237213, 0.17193365097045898, 0.26081886887550354, 0.27561891078948975, 0.28287553787231445, 0.2768435776233673, 0.28861624002456665, 0.28861624002456665, 0.28972312808036804, 0.27078941464424133, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]}, "long_curve": [{"video": {"psnr": 29.62187024939745, "ssim": 0.9314270401396513, "lpips": 0.024838661774992943}, "wrist_left": {"psnr": 21.05984710590039, "ssim": 0.766003718088472, "lpips": 0.16918742656707764}, "wrist_right": {"psnr": 23.172076265114804, "ssim": 0.8460603715760973, "lpips": 0.08520288020372391}, "tactile_left": {"psnr": 49.34234425662818, "ssim": 0.992515794622695, "lpips": 0.005719729233533144}, "tactile_right": {"psnr": 45.72700364020348, "ssim": 0.9894932126998142, "lpips": 0.02995174750685692}}, {"video": {"psnr": 26.74201635087516, "ssim": 0.8882644162066838, "lpips": 0.04582763463258743}, "wrist_left": {"psnr": 19.269107823675654, "ssim": 0.7177769851119435, "lpips": 0.18255476653575897}, "wrist_right": {"psnr": 16.41291786263458, "ssim": 0.6743334269796146, "lpips": 0.2389238476753235}, "tactile_left": {"psnr": 46.21098164994959, "ssim": 0.9883512892843032, "lpips": 0.013780738227069378}, "tactile_right": {"psnr": 44.21810724350515, "ssim": 0.9855401025466985, "lpips": 0.029244985431432724}}, {"video": {"psnr": 26.422819446060398, "ssim": 0.8800836958719254, "lpips": 0.05494195222854614}, "wrist_left": {"psnr": 18.174326669964252, "ssim": 0.6797157486343555, "lpips": 0.2282496690750122}, "wrist_right": {"psnr": 15.451531565322284, "ssim": 0.6351249287804104, "lpips": 0.2814705967903137}, "tactile_left": {"psnr": 44.12787922612931, "ssim": 0.9854534915300848, "lpips": 0.02380220778286457}, "tactile_right": {"psnr": 41.56318213329132, "ssim": 0.982294289924459, "lpips": 0.04334442317485809}}, {"video": {"psnr": 25.845694173542718, "ssim": 0.8558746237154503, "lpips": 0.07570585608482361}, "wrist_left": {"psnr": 16.021143591842446, "ssim": 0.6700082998592936, "lpips": 0.2584764361381531}, "wrist_right": {"psnr": 16.457694936919648, "ssim": 0.700298494528494, "lpips": 0.2368468940258026}, "tactile_left": {"psnr": 42.862557701343924, "ssim": 0.9836581463385976, "lpips": 0.03243555873632431}, "tactile_right": {"psnr": 41.612828871353635, "ssim": 0.9826701805048934, "lpips": 0.041775450110435486}}, {"video": {"psnr": 25.85414794031703, "ssim": 0.8570917326023404, "lpips": 0.09088027477264404}, "wrist_left": {"psnr": 15.625103311763244, "ssim": 0.660505537101955, "lpips": 0.24612538516521454}, "wrist_right": {"psnr": 17.620777499228165, "ssim": 0.6810078458706514, "lpips": 0.18257084488868713}, "tactile_left": {"psnr": 41.90882296307369, "ssim": 0.9825059751502174, "lpips": 0.03959240764379501}, "tactile_right": {"psnr": 40.0869850219939, "ssim": 0.9743640909173734, "lpips": 0.07560742646455765}}, {"video": {"psnr": 25.85109618620106, "ssim": 0.8565051404190174, "lpips": 0.09786079078912735}, "wrist_left": {"psnr": 15.253936753756223, "ssim": 0.622778497324106, "lpips": 0.28124019503593445}, "wrist_right": {"psnr": 18.52928272712161, "ssim": 0.7007016262820371, "lpips": 0.15140798687934875}, "tactile_left": {"psnr": 40.68638310103847, "ssim": 0.9801400209323694, "lpips": 0.05158233642578125}, "tactile_right": {"psnr": 39.54409258787228, "ssim": 0.9729021074626343, "lpips": 0.08458414673805237}}, {"video": {"psnr": 24.761695741851675, "ssim": 0.837737920718916, "lpips": 0.09257082641124725}, "wrist_left": {"psnr": 13.7961564411946, "ssim": 0.5350480732928177, "lpips": 0.36822187900543213}, "wrist_right": {"psnr": 17.75986343070141, "ssim": 0.703092536597536, "lpips": 0.22386303544044495}, "tactile_left": {"psnr": 39.65270461235593, "ssim": 0.9780809767791832, "lpips": 0.067633256316185}, "tactile_right": {"psnr": 38.44512038205408, "ssim": 0.9751460726205554, "lpips": 0.09909123182296753}}, {"video": {"psnr": 24.100355492765743, "ssim": 0.8317344177642576, "lpips": 0.0995689183473587}, "wrist_left": {"psnr": 13.155441775627885, "ssim": 0.5269548284199561, "lpips": 0.4253814220428467}, "wrist_right": {"psnr": 15.174597244907996, "ssim": 0.6424009628008851, "lpips": 0.323993980884552}, "tactile_left": {"psnr": 38.61836533052688, "ssim": 0.9757228664175216, "lpips": 0.08526484668254852}, "tactile_right": {"psnr": 39.03650359914498, "ssim": 0.9792727162277256, "lpips": 0.07672138512134552}}, {"video": {"psnr": 23.69042557321404, "ssim": 0.8158921543711821, "lpips": 0.10943539440631866}, "wrist_left": {"psnr": 13.197855451912945, "ssim": 0.5171273722014607, "lpips": 0.4229295253753662}, "wrist_right": {"psnr": 14.545011517622008, "ssim": 0.6287908453907597, "lpips": 0.36626136302948}, "tactile_left": {"psnr": 38.00864849557965, "ssim": 0.973765419956474, "lpips": 0.09915868937969208}, "tactile_right": {"psnr": 38.281810812681755, "ssim": 0.9764767210348939, "lpips": 0.09330059587955475}}, {"video": {"psnr": 23.341776968391947, "ssim": 0.8006778995597705, "lpips": 0.12993256747722626}, "wrist_left": {"psnr": 13.470657220698193, "ssim": 0.5367849333925712, "lpips": 0.398851215839386}, "wrist_right": {"psnr": 15.135662954834144, "ssim": 0.6501029812850412, "lpips": 0.3509611189365387}, "tactile_left": {"psnr": 36.99181189527541, "ssim": 0.9706185335371722, "lpips": 0.12050941586494446}, "tactile_right": {"psnr": 37.51613124153295, "ssim": 0.9717382469910061, "lpips": 0.1010284572839737}}, {"video": {"psnr": 22.918175492434905, "ssim": 0.798196062650705, "lpips": 0.13370300829410553}, "wrist_left": {"psnr": 12.275361819755034, "ssim": 0.5255910321941203, "lpips": 0.4276620149612427}, "wrist_right": {"psnr": 15.017655670854527, "ssim": 0.6485824474786638, "lpips": 0.35348084568977356}, "tactile_left": {"psnr": 36.74238474979415, "ssim": 0.9665445406903259, "lpips": 0.13989943265914917}, "tactile_right": {"psnr": 36.95294767866812, "ssim": 0.9683821167396989, "lpips": 0.1082492470741272}}, {"video": {"psnr": 22.67417663213104, "ssim": 0.7898284978058026, "lpips": 0.13596764206886292}, "wrist_left": {"psnr": 12.550381783652417, "ssim": 0.46964553533340614, "lpips": 0.465929239988327}, "wrist_right": {"psnr": 15.113229311441653, "ssim": 0.6427743420060346, "lpips": 0.34396103024482727}, "tactile_left": {"psnr": 35.95009754874178, "ssim": 0.963327046021459, "lpips": 0.1367955505847931}, "tactile_right": {"psnr": 36.44611564487847, "ssim": 0.9649703882361761, "lpips": 0.12229844927787781}}, {"video": {"psnr": 22.93902973729618, "ssim": 0.7917993908852701, "lpips": 0.13398504257202148}, "wrist_left": {"psnr": 10.3080499122029, "ssim": 0.378831921361271, "lpips": 0.5821856260299683}, "wrist_right": {"psnr": 14.83102439162127, "ssim": 0.6275328865733777, "lpips": 0.36152979731559753}, "tactile_left": {"psnr": 35.47247757876387, "ssim": 0.9621646620333271, "lpips": 0.1350477933883667}, "tactile_right": {"psnr": 36.21462900720856, "ssim": 0.9623914529788093, "lpips": 0.1371338665485382}}, {"video": {"psnr": 22.128645662606978, "ssim": 0.7796514624386526, "lpips": 0.15048667788505554}, "wrist_left": {"psnr": 13.214161859340825, "ssim": 0.4850369244912001, "lpips": 0.4412480592727661}, "wrist_right": {"psnr": 14.749793138239527, "ssim": 0.6233995043959415, "lpips": 0.34787648916244507}, "tactile_left": {"psnr": 35.20463239157177, "ssim": 0.9602731201219308, "lpips": 0.16040299832820892}, "tactile_right": {"psnr": 35.78982656633309, "ssim": 0.9587402820260909, "lpips": 0.16440394520759583}}, {"video": {"psnr": 21.216407155807456, "ssim": 0.7764171665789403, "lpips": 0.17347940802574158}, "wrist_left": {"psnr": 11.536479378925321, "ssim": 0.42798562727609524, "lpips": 0.506978452205658}, "wrist_right": {"psnr": 15.892223120111229, "ssim": 0.6543209373468789, "lpips": 0.29478752613067627}, "tactile_left": {"psnr": 34.67325464473147, "ssim": 0.9597199734160533, "lpips": 0.1557740420103073}, "tactile_right": {"psnr": 35.01943163199523, "ssim": 0.9606241783584872, "lpips": 0.1710282266139984}}], "long_metrics": {"video": {"psnr": 24.540555520192918, "ssim": 0.832745441448571, "lpips": 0.1032789770513773}, "wrist_left": {"psnr": 14.59386739334749, "ssim": 0.567986335605535, "lpips": 0.3603480875492096}, "wrist_right": {"psnr": 16.39088944244499, "ssim": 0.6705682758594949, "lpips": 0.27620921581983565}, "tactile_left": {"psnr": 39.76355640970027, "ssim": 0.974856123788781, "lpips": 0.08449326688423753}, "tactile_right": {"psnr": 39.096981070847804, "ssim": 0.973667077284621, "lpips": 0.09185090561707815}}}, {"id": "pusht_e013_22", "episode": "pushT_0912_episode_010_seg01.pt", "requested_episode": "pushT_0912_episode_010_seg01.pt", "category": "full", "t_start": 406, "start_seconds": 27.066666666666666, "short_contact": [1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1], "future_transition_ticks": [], "long_contact_fraction": 0.875, "long_label": "full", "short_metrics": {"video": {"psnr": 31.037454352850776, "ssim": 0.9451062286146835, "lpips": 0.02490144595503807}, "wrist_left": {"psnr": 21.35143291915991, "ssim": 0.786418820314553, "lpips": 0.15305379033088684}, "wrist_right": {"psnr": 23.31021193610421, "ssim": 0.8505894454102418, "lpips": 0.07634000480175018}, "tactile_left": {"psnr": 46.02910774446882, "ssim": 0.9887789874534048, "lpips": 0.018539048731327057}, "tactile_right": {"psnr": 40.084305066506715, "ssim": 0.9640090981819426, "lpips": 0.03481551632285118}}, "media": {"short": {"video": "media/pusht_e013_22_short.mp4", "poster": "media/pusht_e013_22_short.jpg"}, "long": {"video": "media/pusht_e013_22_long.mp4", "poster": "media/pusht_e013_22_long.jpg"}}, "force": {"source": "recorded_normal_force", "units": "N", "fps": 15, "left": [0.26234930753707886, 0.26234930753707886, 0.1599999964237213, 0.1599999964237213, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.4451183080673218, 0.41113850474357605, 0.501630961894989, 0.501630961894989, 1.1662499904632568, 0.7182967066764832, 1.1662499904632568, 0.7440087199211121, 0.9254783391952515, 0.716965913772583, 0.5676307082176208, 0.6111178398132324, 0.6150115728378296, 0.41999998688697815, 0.41999998688697815, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "right": [1.1733332872390747, 1.2030043601989746, 1.5254545211791992, 1.9833333492279053, 2.8207693099975586, 4.285294055938721, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 4.285294055938721, 4.285294055938721, 4.285294055938721, 4.285294055938721, 4.285294055938721, 4.285294055938721, 4.285294055938721, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 4.285294055938721, 4.285294055938721, 4.285294055938721, 4.285294055938721, 4.285294055938721, 4.285294055938721, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.8908772468566895, 2.8207693099975586, 2.8207693099975586, 2.636666774749756, 2.8207693099975586, 2.8207693099975586, 2.801772356033325, 2.8207693099975586, 2.636666774749756, 2.8207693099975586, 2.8207693099975586, 2.8207693099975586, 2.8207693099975586, 2.8207693099975586, 2.8207693099975586, 2.8207693099975586, 2.8207693099975586, 2.8207693099975586, 2.8207693099975586, 2.8207693099975586, 2.9424359798431396, 2.9424359798431396, 2.6502537727355957, 1.9833333492279053, 1.9833333492279053, 1.9833333492279053, 1.6061007976531982, 1.5254545211791992, 1.5254545211791992, 1.6631628274917603, 1.5254545211791992, 1.1662499904632568, 0.16158637404441833, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.17750994861125946, 0.17208869755268097, 0.2851240336894989, 0.2851240336894989, 0.7213010191917419, 1.1662499904632568, 1.1662499904632568, 1.1662499904632568, 1.1662499904632568, 1.1662499904632568, 0.0, 0.0, 0.0]}, "long_curve": [{"video": {"psnr": 31.037454352850776, "ssim": 0.9451062286146835, "lpips": 0.02490144595503807}, "wrist_left": {"psnr": 21.35143291915991, "ssim": 0.786418820314553, "lpips": 0.15305379033088684}, "wrist_right": {"psnr": 23.31021193610421, "ssim": 0.8505894454102418, "lpips": 0.07634000480175018}, "tactile_left": {"psnr": 46.02910774446882, "ssim": 0.9887789874534048, "lpips": 0.018539048731327057}, "tactile_right": {"psnr": 40.084305066506715, "ssim": 0.9640090981819426, "lpips": 0.03481551632285118}}, {"video": {"psnr": 25.590823164760724, "ssim": 0.8895906156840842, "lpips": 0.06694774329662323}, "wrist_left": {"psnr": 17.50477252888484, "ssim": 0.7308469968229458, "lpips": 0.21384446322917938}, "wrist_right": {"psnr": 17.164773000451476, "ssim": 0.7563169956148081, "lpips": 0.18312089145183563}, "tactile_left": {"psnr": 43.72543760249174, "ssim": 0.9841203581766034, "lpips": 0.025469932705163956}, "tactile_right": {"psnr": 37.24649051317188, "ssim": 0.9537211877602576, "lpips": 0.11219105124473572}}, {"video": {"psnr": 24.983025558335154, "ssim": 0.8673677546015799, "lpips": 0.08146736770868301}, "wrist_left": {"psnr": 18.502475688583175, "ssim": 0.7123537975041855, "lpips": 0.20226499438285828}, "wrist_right": {"psnr": 16.438050048268742, "ssim": 0.7113465680268989, "lpips": 0.20441092550754547}, "tactile_left": {"psnr": 43.119576817326845, "ssim": 0.9825023415955574, "lpips": 0.03273028880357742}, "tactile_right": {"psnr": 36.71287010579444, "ssim": 0.9534335330168988, "lpips": 0.12201352417469025}}, {"video": {"psnr": 24.320272013687003, "ssim": 0.8588658790732109, "lpips": 0.09374728798866272}, "wrist_left": {"psnr": 16.434290767910287, "ssim": 0.6744884971265963, "lpips": 0.2503943145275116}, "wrist_right": {"psnr": 15.783211774274289, "ssim": 0.6801746492590016, "lpips": 0.23596972227096558}, "tactile_left": {"psnr": 42.549200744450886, "ssim": 0.980772419468515, "lpips": 0.037544071674346924}, "tactile_right": {"psnr": 36.4104835971759, "ssim": 0.9545389900893418, "lpips": 0.15129487216472626}}, {"video": {"psnr": 24.41806370373032, "ssim": 0.8596254856979249, "lpips": 0.0951424241065979}, "wrist_left": {"psnr": 16.91897815225112, "ssim": 0.6629017446740416, "lpips": 0.24194182455539703}, "wrist_right": {"psnr": 15.787767859118741, "ssim": 0.6463894024208449, "lpips": 0.25500404834747314}, "tactile_left": {"psnr": 41.81784992673861, "ssim": 0.9792678698545927, "lpips": 0.042568303644657135}, "tactile_right": {"psnr": 36.18148014998886, "ssim": 0.9525304537310543, "lpips": 0.16507789492607117}}, {"video": {"psnr": 23.588530932339474, "ssim": 0.8518879981990276, "lpips": 0.1110256165266037}, "wrist_left": {"psnr": 15.960955230832656, "ssim": 0.6566226002889981, "lpips": 0.2694769501686096}, "wrist_right": {"psnr": 15.541020833518946, "ssim": 0.6303989992472097, "lpips": 0.28746914863586426}, "tactile_left": {"psnr": 41.22390740221463, "ssim": 0.9782988182734305, "lpips": 0.045897576957941055}, "tactile_right": {"psnr": 36.4771068326226, "ssim": 0.9566558653503359, "lpips": 0.16110160946846008}}, {"video": {"psnr": 23.72688774138972, "ssim": 0.8528692370867227, "lpips": 0.1101418063044548}, "wrist_left": {"psnr": 14.884785927863806, "ssim": 0.636079602994084, "lpips": 0.2783045470714569}, "wrist_right": {"psnr": 15.63464037222408, "ssim": 0.630467952499041, "lpips": 0.2931939363479614}, "tactile_left": {"psnr": 40.4070566716791, "ssim": 0.9772747224672835, "lpips": 0.05507523566484451}, "tactile_right": {"psnr": 35.95001733297125, "ssim": 0.957100936769557, "lpips": 0.16707547008991241}}, {"video": {"psnr": 22.36708682795929, "ssim": 0.8351567458759885, "lpips": 0.14267058670520782}, "wrist_left": {"psnr": 13.80351796603021, "ssim": 0.5848424982305849, "lpips": 0.36390015482902527}, "wrist_right": {"psnr": 13.638973118813652, "ssim": 0.5890675123820395, "lpips": 0.34152427315711975}, "tactile_left": {"psnr": 39.074114168260216, "ssim": 0.9756665036358811, "lpips": 0.07179319113492966}, "tactile_right": {"psnr": 35.891485243964034, "ssim": 0.9552691173119454, "lpips": 0.17352767288684845}}, {"video": {"psnr": 21.6445243400723, "ssim": 0.8239569765159226, "lpips": 0.16025841236114502}, "wrist_left": {"psnr": 13.480777733982531, "ssim": 0.600261621014547, "lpips": 0.3748340308666229}, "wrist_right": {"psnr": 13.038558461612572, "ssim": 0.5713733592711316, "lpips": 0.3655831515789032}, "tactile_left": {"psnr": 38.86066368870991, "ssim": 0.9764410310894703, "lpips": 0.08370725810527802}, "tactile_right": {"psnr": 35.78475395568545, "ssim": 0.9540815087328394, "lpips": 0.1838073432445526}}, {"video": {"psnr": 21.369748738981308, "ssim": 0.8193657494944655, "lpips": 0.16171778738498688}, "wrist_left": {"psnr": 15.356940703983263, "ssim": 0.6261721541802417, "lpips": 0.3089297115802765}, "wrist_right": {"psnr": 13.047678299766572, "ssim": 0.5658607634101647, "lpips": 0.3697611391544342}, "tactile_left": {"psnr": 36.664220114053315, "ssim": 0.9675512039867891, "lpips": 0.1471998542547226}, "tactile_right": {"psnr": 35.38323518933153, "ssim": 0.9520149784465273, "lpips": 0.19494804739952087}}, {"video": {"psnr": 21.66120870203708, "ssim": 0.8213390847112778, "lpips": 0.15687039494514465}, "wrist_left": {"psnr": 16.691486539400906, "ssim": 0.5716452989728887, "lpips": 0.3365461826324463}, "wrist_right": {"psnr": 13.125341885105762, "ssim": 0.5746483469860459, "lpips": 0.36765068769454956}, "tactile_left": {"psnr": 35.52220991831393, "ssim": 0.9620043750001215, "lpips": 0.17226247489452362}, "tactile_right": {"psnr": 35.03627805468187, "ssim": 0.9498722763045768, "lpips": 0.21050336956977844}}, {"video": {"psnr": 21.012498485501254, "ssim": 0.8082322774715772, "lpips": 0.17020753026008606}, "wrist_left": {"psnr": 16.015260260916303, "ssim": 0.5366868778948406, "lpips": 0.3222724199295044}, "wrist_right": {"psnr": 12.490744574861584, "ssim": 0.5465180206346872, "lpips": 0.3849373161792755}, "tactile_left": {"psnr": 36.46019811934983, "ssim": 0.9684639444984714, "lpips": 0.1268339902162552}, "tactile_right": {"psnr": 34.982397990797914, "ssim": 0.949247936173201, "lpips": 0.22453606128692627}}, {"video": {"psnr": 20.821779149778873, "ssim": 0.7906081565203971, "lpips": 0.1896689236164093}, "wrist_left": {"psnr": 16.44096880369898, "ssim": 0.5245772029483587, "lpips": 0.33921918272972107}, "wrist_right": {"psnr": 13.309649220886872, "ssim": 0.5930153287404994, "lpips": 0.38474372029304504}, "tactile_left": {"psnr": 36.15600676006991, "ssim": 0.9664078067381228, "lpips": 0.13538579642772675}, "tactile_right": {"psnr": 36.06203627406414, "ssim": 0.962814069699012, "lpips": 0.19522002339363098}}, {"video": {"psnr": 20.385804734273346, "ssim": 0.7741848113522245, "lpips": 0.20094743371009827}, "wrist_left": {"psnr": 16.386859809066657, "ssim": 0.5487738456123548, "lpips": 0.35904717445373535}, "wrist_right": {"psnr": 15.170189717416429, "ssim": 0.6233282091845551, "lpips": 0.2990463376045227}, "tactile_left": {"psnr": 35.711377627902415, "ssim": 0.9637948588775285, "lpips": 0.14854387938976288}, "tactile_right": {"psnr": 36.00652993874303, "ssim": 0.9638640985033138, "lpips": 0.19450321793556213}}, {"video": {"psnr": 20.410399722639823, "ssim": 0.7698042465591362, "lpips": 0.20208700001239777}, "wrist_left": {"psnr": 14.996685765828637, "ssim": 0.5455362885652701, "lpips": 0.3694748878479004}, "wrist_right": {"psnr": 15.461328659999856, "ssim": 0.6437384991854942, "lpips": 0.29038119316101074}, "tactile_left": {"psnr": 35.229659944170024, "ssim": 0.9621574373473321, "lpips": 0.1600343883037567}, "tactile_right": {"psnr": 35.134697282899175, "ssim": 0.9601941902960334, "lpips": 0.20425854623317719}}], "long_metrics": {"video": {"psnr": 23.1558738778891, "ssim": 0.8378640831638815, "lpips": 0.1311867840588093}, "wrist_left": {"psnr": 16.315345919892884, "ssim": 0.6265471898096328, "lpips": 0.29223364194234214}, "wrist_right": {"psnr": 15.262809317494918, "ssim": 0.6408822701515109, "lpips": 0.2892757664124171}, "tactile_left": {"psnr": 39.50337248334667, "ssim": 0.9742335118975401, "lpips": 0.08690568606058756}, "tactile_right": {"psnr": 36.22294450189325, "ssim": 0.9559565493577892, "lpips": 0.16632494802276293}}}, {"id": "pusht_e013_23", "episode": "pushT_0912_episode_010_seg02.pt", "requested_episode": "pushT_0912_episode_010_seg02.pt", "category": "none", "t_start": 277, "start_seconds": 18.466666666666665, "short_contact": [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0], "future_transition_ticks": [], "long_contact_fraction": 0.0, "long_label": "none_throughout", "short_metrics": {"video": {"psnr": 26.455307968151462, "ssim": 0.877635244302071, "lpips": 0.0623810850083828}, "wrist_left": {"psnr": 20.141193417928186, "ssim": 0.856086368307896, "lpips": 0.11356770247220993}, "wrist_right": {"psnr": 22.402625125229434, "ssim": 0.8372938876840926, "lpips": 0.0708349347114563}, "tactile_left": {"psnr": 52.12159187257866, "ssim": 0.9957194847570779, "lpips": 0.0023199301213026047}, "tactile_right": {"psnr": 47.99001560434788, "ssim": 0.9891096542754793, "lpips": 0.01290745846927166}}, "media": {"short": {"video": "media/pusht_e013_23_short.mp4", "poster": "media/pusht_e013_23_short.jpg"}, "long": {"video": "media/pusht_e013_23_long.mp4", "poster": "media/pusht_e013_23_long.jpg"}}, "force": {"source": "recorded_normal_force", "units": "N", "fps": 15, "left": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "right": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]}, "long_curve": [{"video": {"psnr": 26.455307968151462, "ssim": 0.877635244302071, "lpips": 0.0623810850083828}, "wrist_left": {"psnr": 20.141193417928186, "ssim": 0.856086368307896, "lpips": 0.11356770247220993}, "wrist_right": {"psnr": 22.402625125229434, "ssim": 0.8372938876840926, "lpips": 0.0708349347114563}, "tactile_left": {"psnr": 52.12159187257866, "ssim": 0.9957194847570779, "lpips": 0.0023199301213026047}, "tactile_right": {"psnr": 47.99001560434788, "ssim": 0.9891096542754793, "lpips": 0.01290745846927166}}, {"video": {"psnr": 24.417496548484678, "ssim": 0.8418140389093033, "lpips": 0.07916269451379776}, "wrist_left": {"psnr": 12.686378806214616, "ssim": 0.6080029803742987, "lpips": 0.4196038842201233}, "wrist_right": {"psnr": 18.555239276721373, "ssim": 0.7194678591323878, "lpips": 0.16779538989067078}, "tactile_left": {"psnr": 49.16585271429081, "ssim": 0.9930941304706506, "lpips": 0.009499101899564266}, "tactile_right": {"psnr": 46.32509916202061, "ssim": 0.9865609936974213, "lpips": 0.015559487976133823}}, {"video": {"psnr": 23.545659887456438, "ssim": 0.8215112197433094, "lpips": 0.12643013894557953}, "wrist_left": {"psnr": 14.175863664592207, "ssim": 0.6496321171490193, "lpips": 0.38821953535079956}, "wrist_right": {"psnr": 18.90943793701916, "ssim": 0.7011117226402973, "lpips": 0.1860797107219696}, "tactile_left": {"psnr": 46.33359383849452, "ssim": 0.9901320414631055, "lpips": 0.020585913211107254}, "tactile_right": {"psnr": 44.39285569022808, "ssim": 0.9828478858053906, "lpips": 0.025466270744800568}}, {"video": {"psnr": 22.121728108656956, "ssim": 0.8087597364727936, "lpips": 0.1693647801876068}, "wrist_left": {"psnr": 11.048957616310172, "ssim": 0.60119623219362, "lpips": 0.43985921144485474}, "wrist_right": {"psnr": 14.909693333998993, "ssim": 0.566175457556185, "lpips": 0.3925498425960541}, "tactile_left": {"psnr": 44.98439073258648, "ssim": 0.9870661805678294, "lpips": 0.029653193429112434}, "tactile_right": {"psnr": 43.61453684991608, "ssim": 0.9816541298658376, "lpips": 0.04449440538883209}}, {"video": {"psnr": 21.429088751814966, "ssim": 0.8012336724814968, "lpips": 0.1829741895198822}, "wrist_left": {"psnr": 11.091394891929331, "ssim": 0.6178086424434787, "lpips": 0.40310198068618774}, "wrist_right": {"psnr": 13.55808740973296, "ssim": 0.5765406811433926, "lpips": 0.4185945689678192}, "tactile_left": {"psnr": 43.632099995109485, "ssim": 0.9850103897334593, "lpips": 0.03757341206073761}, "tactile_right": {"psnr": 43.240412565447144, "ssim": 0.9807077961807064, "lpips": 0.06619866192340851}}, {"video": {"psnr": 22.10411820066739, "ssim": 0.7927504957374207, "lpips": 0.16558335721492767}, "wrist_left": {"psnr": 14.28875096400225, "ssim": 0.7555287958901015, "lpips": 0.25690191984176636}, "wrist_right": {"psnr": 13.448977233919969, "ssim": 0.5461355856086711, "lpips": 0.43875032663345337}, "tactile_left": {"psnr": 41.49842075354951, "ssim": 0.9827022979601604, "lpips": 0.05009434372186661}, "tactile_right": {"psnr": 42.56160211620818, "ssim": 0.980527887153839, "lpips": 0.06819340586662292}}, {"video": {"psnr": 20.243581016239705, "ssim": 0.758218613718949, "lpips": 0.21448346972465515}, "wrist_left": {"psnr": 10.218048568179192, "ssim": 0.5752759750971186, "lpips": 0.47650572657585144}, "wrist_right": {"psnr": 11.813081105644835, "ssim": 0.5109077340345813, "lpips": 0.4596219062805176}, "tactile_left": {"psnr": 40.41676353862346, "ssim": 0.9793960940476656, "lpips": 0.06816506385803223}, "tactile_right": {"psnr": 41.09904322017522, "ssim": 0.9776323706639807, "lpips": 0.08940298855304718}}, {"video": {"psnr": 20.230587223679976, "ssim": 0.7606071976088158, "lpips": 0.21888290345668793}, "wrist_left": {"psnr": 9.415910025102178, "ssim": 0.5107538662496727, "lpips": 0.5634897947311401}, "wrist_right": {"psnr": 11.55199289441811, "ssim": 0.49912994296575974, "lpips": 0.4624433219432831}, "tactile_left": {"psnr": 39.278260961311375, "ssim": 0.9765475215057302, "lpips": 0.08854632079601288}, "tactile_right": {"psnr": 39.72131685726647, "ssim": 0.9750734554367907, "lpips": 0.10005123913288116}}, {"video": {"psnr": 21.14570240854578, "ssim": 0.7746612497998986, "lpips": 0.20801739394664764}, "wrist_left": {"psnr": 11.151724369428964, "ssim": 0.6140956797210035, "lpips": 0.43928763270378113}, "wrist_right": {"psnr": 12.871112641877527, "ssim": 0.5712887852695037, "lpips": 0.3874489367008209}, "tactile_left": {"psnr": 38.48090143352706, "ssim": 0.9745794074012804, "lpips": 0.10280515253543854}, "tactile_right": {"psnr": 39.25562827481506, "ssim": 0.9736272249154035, "lpips": 0.11275416612625122}}, {"video": {"psnr": 20.799124759096497, "ssim": 0.7624966779619404, "lpips": 0.21593165397644043}, "wrist_left": {"psnr": 12.671719687724261, "ssim": 0.6689431229126945, "lpips": 0.34492260217666626}, "wrist_right": {"psnr": 15.465515291929854, "ssim": 0.6763419934111043, "lpips": 0.31783685088157654}, "tactile_left": {"psnr": 37.74389331808594, "ssim": 0.9721090919014548, "lpips": 0.11919714510440826}, "tactile_right": {"psnr": 38.293027753714675, "ssim": 0.9734411600921554, "lpips": 0.11901421844959259}}, {"video": {"psnr": 20.251478729780747, "ssim": 0.7500762803364192, "lpips": 0.2531660497188568}, "wrist_left": {"psnr": 11.364941846209506, "ssim": 0.6125290851929622, "lpips": 0.4088664650917053}, "wrist_right": {"psnr": 15.167898581200337, "ssim": 0.659425730954084, "lpips": 0.31487900018692017}, "tactile_left": {"psnr": 37.27135963521522, "ssim": 0.969754267141199, "lpips": 0.13312360644340515}, "tactile_right": {"psnr": 37.51994761297469, "ssim": 0.9713911429197739, "lpips": 0.12618474662303925}}, {"video": {"psnr": 20.555375302284496, "ssim": 0.7586887932814799, "lpips": 0.2473604679107666}, "wrist_left": {"psnr": 12.501298849649134, "ssim": 0.661794117945225, "lpips": 0.3580431342124939}, "wrist_right": {"psnr": 15.332466511185887, "ssim": 0.6714165049338301, "lpips": 0.2883543372154236}, "tactile_left": {"psnr": 36.83172553151968, "ssim": 0.9677299735328115, "lpips": 0.14700044691562653}, "tactile_right": {"psnr": 36.97863366134081, "ssim": 0.9697166901967292, "lpips": 0.14035017788410187}}, {"video": {"psnr": 20.876135072108042, "ssim": 0.758181559812191, "lpips": 0.2546307146549225}, "wrist_left": {"psnr": 15.283306886085748, "ssim": 0.7356755925207641, "lpips": 0.288465291261673}, "wrist_right": {"psnr": 15.46191861286325, "ssim": 0.6662717577024537, "lpips": 0.296787828207016}, "tactile_left": {"psnr": 36.34713317788381, "ssim": 0.9656894753327802, "lpips": 0.15848249197006226}, "tactile_right": {"psnr": 36.41412990973687, "ssim": 0.9677620567124122, "lpips": 0.16043204069137573}}, {"video": {"psnr": 20.575987391033195, "ssim": 0.7473451756222517, "lpips": 0.25077199935913086}, "wrist_left": {"psnr": 13.108296208982711, "ssim": 0.6650403425854828, "lpips": 0.34363433718681335}, "wrist_right": {"psnr": 15.64797561000185, "ssim": 0.6711601772587039, "lpips": 0.2969198226928711}, "tactile_left": {"psnr": 35.962759112681255, "ssim": 0.9632862700399896, "lpips": 0.1723635047674179}, "tactile_right": {"psnr": 35.88401135293884, "ssim": 0.9674760839751242, "lpips": 0.16563883423805237}}, {"video": {"psnr": 20.864055524762, "ssim": 0.7636751619742906, "lpips": 0.1897791028022766}, "wrist_left": {"psnr": 13.14396572299823, "ssim": 0.6309742397131164, "lpips": 0.3927966356277466}, "wrist_right": {"psnr": 15.471526173781891, "ssim": 0.6484836023554543, "lpips": 0.3134608566761017}, "tactile_left": {"psnr": 35.49167246475961, "ssim": 0.9613231960752759, "lpips": 0.18052831292152405}, "tactile_right": {"psnr": 35.68633845829644, "ssim": 0.9664624750725803, "lpips": 0.17425969243049622}}], "long_metrics": {"video": {"psnr": 21.707695126184156, "ssim": 0.7851770078508421, "lpips": 0.18926133339603743}, "wrist_left": {"psnr": 12.819450101689112, "ssim": 0.6508891438864303, "lpips": 0.3758177235722542}, "wrist_right": {"psnr": 15.371169849301696, "ssim": 0.6347434281767, "lpips": 0.3208238422870636}, "tactile_left": {"psnr": 41.03736127201446, "ssim": 0.9776093214620314, "lpips": 0.08799586265037457}, "tactile_right": {"psnr": 40.59843993929514, "ssim": 0.9762660671309082, "lpips": 0.09472718629986047}}}, {"id": "pusht_e013_24", "episode": "pushT_0912_episode_010_seg02.pt", "requested_episode": "pushT_0912_episode_010_seg02.pt", "category": "onset", "t_start": 203, "start_seconds": 13.533333333333333, "short_contact": [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 1], "future_transition_ticks": [11], "long_contact_fraction": 0.0390625, "long_label": "onset", "short_metrics": {"video": {"psnr": 25.287638009880638, "ssim": 0.8858715816965468, "lpips": 0.06251692771911621}, "wrist_left": {"psnr": 18.35905839727035, "ssim": 0.8001160076883893, "lpips": 0.17398273944854736}, "wrist_right": {"psnr": 17.14468903655731, "ssim": 0.8037125860851357, "lpips": 0.21636584401130676}, "tactile_left": {"psnr": 51.202272539257024, "ssim": 0.9952931273010691, "lpips": 0.00340318214148283}, "tactile_right": {"psnr": 47.373179331774786, "ssim": 0.9916569737027603, "lpips": 0.01739208772778511}}, "media": {"short": {"video": "media/pusht_e013_24_short.mp4", "poster": "media/pusht_e013_24_short.jpg"}, "long": {"video": "media/pusht_e013_24_long.mp4", "poster": "media/pusht_e013_24_long.jpg"}}, "force": {"source": "recorded_normal_force", "units": "N", "fps": 15, "left": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "right": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 2.8207693099975586, 2.8207693099975586, 2.636666774749756, 2.636666774749756, 2.636666774749756, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]}, "long_curve": [{"video": {"psnr": 25.287638009880638, "ssim": 0.8858715816965468, "lpips": 0.06251692771911621}, "wrist_left": {"psnr": 18.35905839727035, "ssim": 0.8001160076883893, "lpips": 0.17398273944854736}, "wrist_right": {"psnr": 17.14468903655731, "ssim": 0.8037125860851357, "lpips": 0.21636584401130676}, "tactile_left": {"psnr": 51.202272539257024, "ssim": 0.9952931273010691, "lpips": 0.00340318214148283}, "tactile_right": {"psnr": 47.373179331774786, "ssim": 0.9916569737027603, "lpips": 0.01739208772778511}}, {"video": {"psnr": 22.35290652641007, "ssim": 0.809523495347186, "lpips": 0.13182953000068665}, "wrist_left": {"psnr": 16.617366766604764, "ssim": 0.7765934279999693, "lpips": 0.21299085021018982}, "wrist_right": {"psnr": 13.00788644977158, "ssim": 0.5939211312678596, "lpips": 0.45285680890083313}, "tactile_left": {"psnr": 46.58649408067052, "ssim": 0.9900844849660427, "lpips": 0.011318344622850418}, "tactile_right": {"psnr": 46.78598813923116, "ssim": 0.9903610492448347, "lpips": 0.019139282405376434}}, {"video": {"psnr": 23.160434326094936, "ssim": 0.8203820575714114, "lpips": 0.12201230227947235}, "wrist_left": {"psnr": 13.112516412660986, "ssim": 0.6686756423260347, "lpips": 0.36715835332870483}, "wrist_right": {"psnr": 13.582892604840609, "ssim": 0.5327271684968289, "lpips": 0.4174354672431946}, "tactile_left": {"psnr": 44.432659263471095, "ssim": 0.9866688979568679, "lpips": 0.02255222015082836}, "tactile_right": {"psnr": 44.68295259206161, "ssim": 0.9871767552531419, "lpips": 0.024492532014846802}}, {"video": {"psnr": 24.104948833430697, "ssim": 0.812685752665885, "lpips": 0.14470411837100983}, "wrist_left": {"psnr": 18.716409678878343, "ssim": 0.7924398226698233, "lpips": 0.16801513731479645}, "wrist_right": {"psnr": 11.549244265751149, "ssim": 0.4579266053937342, "lpips": 0.4627031683921814}, "tactile_left": {"psnr": 43.684152336186024, "ssim": 0.9850896455687992, "lpips": 0.03119785711169243}, "tactile_right": {"psnr": 41.32758656981339, "ssim": 0.9803752674052951, "lpips": 0.043266117572784424}}, {"video": {"psnr": 23.86120010830136, "ssim": 0.8109249969637115, "lpips": 0.1586960256099701}, "wrist_left": {"psnr": 20.918480087545323, "ssim": 0.8352981955184712, "lpips": 0.11667893081903458}, "wrist_right": {"psnr": 10.779249923958911, "ssim": 0.48533119433832816, "lpips": 0.473624050617218}, "tactile_left": {"psnr": 42.566758161804486, "ssim": 0.9838367152009916, "lpips": 0.04067432880401611}, "tactile_right": {"psnr": 40.80878473149363, "ssim": 0.979145550410629, "lpips": 0.05628682300448418}}, {"video": {"psnr": 22.94696210349478, "ssim": 0.806050617081594, "lpips": 0.14981600642204285}, "wrist_left": {"psnr": 15.111265690885393, "ssim": 0.7617170335641745, "lpips": 0.25864899158477783}, "wrist_right": {"psnr": 14.129325182822438, "ssim": 0.6031225897149116, "lpips": 0.38359129428863525}, "tactile_left": {"psnr": 41.49320325308057, "ssim": 0.9819092146635326, "lpips": 0.053249772638082504}, "tactile_right": {"psnr": 41.57405312783621, "ssim": 0.9815698401771806, "lpips": 0.0575651153922081}}, {"video": {"psnr": 21.977414308861093, "ssim": 0.7936346907006758, "lpips": 0.15025755763053894}, "wrist_left": {"psnr": 13.25092433541056, "ssim": 0.675001547825214, "lpips": 0.3272984027862549}, "wrist_right": {"psnr": 14.99568986322041, "ssim": 0.6471790713413486, "lpips": 0.3353167772293091}, "tactile_left": {"psnr": 40.400451088102784, "ssim": 0.9794526321078247, "lpips": 0.07090549170970917}, "tactile_right": {"psnr": 40.88096552372388, "ssim": 0.9803256133549537, "lpips": 0.06599891185760498}}, {"video": {"psnr": 21.644247565038555, "ssim": 0.7921708528296987, "lpips": 0.17509932816028595}, "wrist_left": {"psnr": 12.212853882264989, "ssim": 0.6063911999926537, "lpips": 0.4300239086151123}, "wrist_right": {"psnr": 10.572214297357982, "ssim": 0.533289923422311, "lpips": 0.5134281516075134}, "tactile_left": {"psnr": 39.108691763997015, "ssim": 0.9765589337521983, "lpips": 0.09073305130004883}, "tactile_right": {"psnr": 40.2546993161493, "ssim": 0.9788881565140314, "lpips": 0.07721799612045288}}, {"video": {"psnr": 20.998807336781727, "ssim": 0.7619550439361669, "lpips": 0.21464046835899353}, "wrist_left": {"psnr": 10.484666507656824, "ssim": 0.551182495902598, "lpips": 0.5286756157875061}, "wrist_right": {"psnr": 9.03609063909687, "ssim": 0.4697422678275187, "lpips": 0.5899760723114014}, "tactile_left": {"psnr": 38.15976439880395, "ssim": 0.9742862345821501, "lpips": 0.10653696954250336}, "tactile_right": {"psnr": 39.20470652463626, "ssim": 0.9772022378265468, "lpips": 0.09358696639537811}}, {"video": {"psnr": 21.032481432745396, "ssim": 0.7504595068245659, "lpips": 0.21213510632514954}, "wrist_left": {"psnr": 15.174786630764727, "ssim": 0.7436775063878318, "lpips": 0.272770494222641}, "wrist_right": {"psnr": 9.764745742227737, "ssim": 0.4740722703055185, "lpips": 0.5174274444580078}, "tactile_left": {"psnr": 37.36293169955928, "ssim": 0.9716160981083427, "lpips": 0.12525971233844757}, "tactile_right": {"psnr": 37.708332819505976, "ssim": 0.972586517611131, "lpips": 0.12302626669406891}}, {"video": {"psnr": 22.835655139444896, "ssim": 0.7988006389116469, "lpips": 0.14616219699382782}, "wrist_left": {"psnr": 11.020170788764176, "ssim": 0.4803527574540924, "lpips": 0.5353812575340271}, "wrist_right": {"psnr": 9.473491891672918, "ssim": 0.45344943452345965, "lpips": 0.5516836643218994}, "tactile_left": {"psnr": 36.967280394004014, "ssim": 0.969540089286709, "lpips": 0.1387847363948822}, "tactile_right": {"psnr": 37.2782481211189, "ssim": 0.971879292654475, "lpips": 0.11362583190202713}}, {"video": {"psnr": 22.01913846135399, "ssim": 0.8033016521088432, "lpips": 0.1749647855758667}, "wrist_left": {"psnr": 10.325172887513016, "ssim": 0.4613367257135683, "lpips": 0.5584210157394409}, "wrist_right": {"psnr": 9.066087492631487, "ssim": 0.4425613247384027, "lpips": 0.5494705438613892}, "tactile_left": {"psnr": 36.41582547636846, "ssim": 0.9672890626322561, "lpips": 0.15481595695018768}, "tactile_right": {"psnr": 36.62393835945732, "ssim": 0.9686823359442516, "lpips": 0.13588769733905792}}, {"video": {"psnr": 20.95932386550676, "ssim": 0.7782713870507822, "lpips": 0.21752801537513733}, "wrist_left": {"psnr": 9.195712452794504, "ssim": 0.4307235968728792, "lpips": 0.608581006526947}, "wrist_right": {"psnr": 9.097431260006532, "ssim": 0.46491035086831844, "lpips": 0.5744273066520691}, "tactile_left": {"psnr": 35.826831414138724, "ssim": 0.9649693248760237, "lpips": 0.1643299013376236}, "tactile_right": {"psnr": 36.26916660445913, "ssim": 0.9670744072919221, "lpips": 0.1565963476896286}}, {"video": {"psnr": 19.952917721593288, "ssim": 0.7471543710089592, "lpips": 0.26435166597366333}, "wrist_left": {"psnr": 10.145864140960509, "ssim": 0.5148772342241379, "lpips": 0.5462179780006409}, "wrist_right": {"psnr": 8.97558113136655, "ssim": 0.45307665935851477, "lpips": 0.5831505060195923}, "tactile_left": {"psnr": 35.453151627233666, "ssim": 0.9625946992429408, "lpips": 0.17537681758403778}, "tactile_right": {"psnr": 35.98414974937929, "ssim": 0.9648985449016676, "lpips": 0.18356239795684814}}, {"video": {"psnr": 19.911819244067313, "ssim": 0.7320686706699736, "lpips": 0.28611069917678833}, "wrist_left": {"psnr": 12.277896396711911, "ssim": 0.6413255143747401, "lpips": 0.4103664457798004}, "wrist_right": {"psnr": 9.52053244607106, "ssim": 0.42677310869365925, "lpips": 0.5693772435188293}, "tactile_left": {"psnr": 34.67041661541523, "ssim": 0.9607801215663719, "lpips": 0.18557628989219666}, "tactile_right": {"psnr": 35.672114035771614, "ssim": 0.9637069979943873, "lpips": 0.19306015968322754}}], "long_metrics": {"video": {"psnr": 22.2030596655337, "ssim": 0.793550354357843, "lpips": 0.17405498226483662}, "wrist_left": {"psnr": 13.794876337112424, "ssim": 0.6493139139009718, "lpips": 0.3676807418465614}, "wrist_right": {"psnr": 11.379676815156902, "ssim": 0.5227863790917233, "lpips": 0.479388956228892}, "tactile_left": {"psnr": 40.288725607472855, "ssim": 0.9766646187874747, "lpips": 0.09164764216790597}, "tactile_right": {"psnr": 40.16192436976083, "ssim": 0.9770353026858138, "lpips": 0.09071363558371862}}}, {"id": "pusht_e013_25", "episode": "pushT_0912_episode_010_seg02.pt", "requested_episode": "pushT_0912_episode_010_seg02.pt", "category": "release", "t_start": 209, "start_seconds": 13.933333333333334, "short_contact": [0, 0, 0, 0, 0, 1, 1, 1, 1, 1, 0, 0, 0, 0, 0, 0], "future_transition_ticks": [10], "long_contact_fraction": 0.0390625, "long_label": "release", "short_metrics": {"video": {"psnr": 25.210730294421644, "ssim": 0.8639196839309453, "lpips": 0.07478579878807068}, "wrist_left": {"psnr": 22.173365859261253, "ssim": 0.8611728256356108, "lpips": 0.1160678118467331}, "wrist_right": {"psnr": 21.6633315755261, "ssim": 0.8252253069176246, "lpips": 0.10889947414398193}, "tactile_left": {"psnr": 48.77819417680709, "ssim": 0.9915618904389335, "lpips": 0.008047930896282196}, "tactile_right": {"psnr": 48.920519190751236, "ssim": 0.9928963270403226, "lpips": 0.009868506342172623}}, "media": {"short": {"video": "media/pusht_e013_25_short.mp4", "poster": "media/pusht_e013_25_short.jpg"}, "long": {"video": "media/pusht_e013_25_long.mp4", "poster": "media/pusht_e013_25_long.jpg"}}, "force": {"source": "recorded_normal_force", "units": "N", "fps": 15, "left": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "right": [0.0, 0.0, 0.0, 0.0, 0.0, 2.8207693099975586, 2.8207693099975586, 2.636666774749756, 2.636666774749756, 2.636666774749756, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]}, "long_curve": [{"video": {"psnr": 25.210730294421644, "ssim": 0.8639196839309453, "lpips": 0.07478579878807068}, "wrist_left": {"psnr": 22.173365859261253, "ssim": 0.8611728256356108, "lpips": 0.1160678118467331}, "wrist_right": {"psnr": 21.6633315755261, "ssim": 0.8252253069176246, "lpips": 0.10889947414398193}, "tactile_left": {"psnr": 48.77819417680709, "ssim": 0.9915618904389335, "lpips": 0.008047930896282196}, "tactile_right": {"psnr": 48.920519190751236, "ssim": 0.9928963270403226, "lpips": 0.009868506342172623}}, {"video": {"psnr": 23.066308934663333, "ssim": 0.8115227374466154, "lpips": 0.11048494279384613}, "wrist_left": {"psnr": 16.579373660940163, "ssim": 0.7668739098862822, "lpips": 0.2386302649974823}, "wrist_right": {"psnr": 12.256906167038329, "ssim": 0.539808457316219, "lpips": 0.45506685972213745}, "tactile_left": {"psnr": 46.51426966494004, "ssim": 0.9886384470489678, "lpips": 0.012542026117444038}, "tactile_right": {"psnr": 47.15841782507847, "ssim": 0.9903202463347851, "lpips": 0.011414686217904091}}, {"video": {"psnr": 24.077095908116757, "ssim": 0.8261330171577178, "lpips": 0.12476544082164764}, "wrist_left": {"psnr": 18.65123747398062, "ssim": 0.795576598912595, "lpips": 0.16979411244392395}, "wrist_right": {"psnr": 11.34868477128932, "ssim": 0.46719453484201096, "lpips": 0.5116785168647766}, "tactile_left": {"psnr": 44.16946816660821, "ssim": 0.9865709917877219, "lpips": 0.02222893200814724}, "tactile_right": {"psnr": 42.86553762065002, "ssim": 0.9838195403900591, "lpips": 0.025384344160556793}}, {"video": {"psnr": 23.369972933127222, "ssim": 0.8098211278477372, "lpips": 0.17067846655845642}, "wrist_left": {"psnr": 19.614288824763356, "ssim": 0.8023594918256158, "lpips": 0.1568201780319214}, "wrist_right": {"psnr": 11.994523673803075, "ssim": 0.4279612627447734, "lpips": 0.5142365097999573}, "tactile_left": {"psnr": 43.58166564276905, "ssim": 0.9851639855806075, "lpips": 0.0315699428319931}, "tactile_right": {"psnr": 41.09885399289925, "ssim": 0.9797893519018245, "lpips": 0.04104810208082199}}, {"video": {"psnr": 22.569841769320092, "ssim": 0.7941743827953904, "lpips": 0.16012316942214966}, "wrist_left": {"psnr": 19.48377817154588, "ssim": 0.8386477256628101, "lpips": 0.15857717394828796}, "wrist_right": {"psnr": 12.938090359665281, "ssim": 0.5565237056286491, "lpips": 0.4558074474334717}, "tactile_left": {"psnr": 42.6422294742267, "ssim": 0.9838850498080927, "lpips": 0.04185454174876213}, "tactile_right": {"psnr": 41.72948076093025, "ssim": 0.9814858637954801, "lpips": 0.05130293220281601}}, {"video": {"psnr": 22.00077018323394, "ssim": 0.7989626705470221, "lpips": 0.16667115688323975}, "wrist_left": {"psnr": 14.388711815816087, "ssim": 0.7295817233098998, "lpips": 0.30766522884368896}, "wrist_right": {"psnr": 15.31074950258869, "ssim": 0.662658938633982, "lpips": 0.30753225088119507}, "tactile_left": {"psnr": 41.33022180505782, "ssim": 0.981791918461976, "lpips": 0.05466923117637634}, "tactile_right": {"psnr": 41.64426077865344, "ssim": 0.9817218728473032, "lpips": 0.05438029766082764}}, {"video": {"psnr": 21.802415319343286, "ssim": 0.7858393450754249, "lpips": 0.1856885701417923}, "wrist_left": {"psnr": 14.239613314170736, "ssim": 0.7014182141611782, "lpips": 0.32891184091567993}, "wrist_right": {"psnr": 13.590678199828323, "ssim": 0.6020620492057135, "lpips": 0.4053013324737549}, "tactile_left": {"psnr": 40.286075780871336, "ssim": 0.979377152758059, "lpips": 0.07106476277112961}, "tactile_right": {"psnr": 40.72769333425998, "ssim": 0.9808247404118127, "lpips": 0.05938657373189926}}, {"video": {"psnr": 21.496891011553654, "ssim": 0.7757451523767775, "lpips": 0.2160826027393341}, "wrist_left": {"psnr": 18.07098469135963, "ssim": 0.8038983678481066, "lpips": 0.1922016143798828}, "wrist_right": {"psnr": 11.893458116970436, "ssim": 0.4384111690998932, "lpips": 0.5216666460037231}, "tactile_left": {"psnr": 39.12194192476203, "ssim": 0.9766914293271474, "lpips": 0.09202897548675537}, "tactile_right": {"psnr": 40.45894590220753, "ssim": 0.9792693549325251, "lpips": 0.07318219542503357}}, {"video": {"psnr": 20.519918233292124, "ssim": 0.7461238586756218, "lpips": 0.26803457736968994}, "wrist_left": {"psnr": 19.234202963045487, "ssim": 0.810915387041065, "lpips": 0.17171785235404968}, "wrist_right": {"psnr": 11.833859912725067, "ssim": 0.42103614060646266, "lpips": 0.5016839504241943}, "tactile_left": {"psnr": 38.38770386372508, "ssim": 0.9745310825557205, "lpips": 0.10671709477901459}, "tactile_right": {"psnr": 38.99821413518595, "ssim": 0.9746976253103883, "lpips": 0.10096174478530884}}, {"video": {"psnr": 21.602861614104796, "ssim": 0.7794204734937686, "lpips": 0.18325889110565186}, "wrist_left": {"psnr": 14.781165238662343, "ssim": 0.7150311550500843, "lpips": 0.31179022789001465}, "wrist_right": {"psnr": 11.805261814773559, "ssim": 0.47143675841879473, "lpips": 0.4859861731529236}, "tactile_left": {"psnr": 37.63544495952371, "ssim": 0.9719064338592627, "lpips": 0.12381729483604431}, "tactile_right": {"psnr": 38.092859629360746, "ssim": 0.9739760225234462, "lpips": 0.1026434376835823}}, {"video": {"psnr": 22.45910802642741, "ssim": 0.7955916655179771, "lpips": 0.17445862293243408}, "wrist_left": {"psnr": 15.408038944197752, "ssim": 0.6630718594003282, "lpips": 0.3664146065711975}, "wrist_right": {"psnr": 12.19720224806672, "ssim": 0.4714061894307813, "lpips": 0.47132408618927}, "tactile_left": {"psnr": 37.174498573142984, "ssim": 0.9697134227176338, "lpips": 0.13786962628364563}, "tactile_right": {"psnr": 37.45490206293037, "ssim": 0.9724930845351514, "lpips": 0.10968352854251862}}, {"video": {"psnr": 21.29842644413064, "ssim": 0.7679439974556639, "lpips": 0.23474305868148804}, "wrist_left": {"psnr": 12.833359469211969, "ssim": 0.6648093547343439, "lpips": 0.3865635395050049}, "wrist_right": {"psnr": 12.680583072743932, "ssim": 0.4514739071350541, "lpips": 0.48962122201919556}, "tactile_left": {"psnr": 36.498914668493825, "ssim": 0.9672751829486181, "lpips": 0.15098920464515686}, "tactile_right": {"psnr": 36.80045056928856, "ssim": 0.9703816823959255, "lpips": 0.12989318370819092}}, {"video": {"psnr": 20.22448329273491, "ssim": 0.7374420508783612, "lpips": 0.2966601252555847}, "wrist_left": {"psnr": 10.30046861667959, "ssim": 0.5440579743977805, "lpips": 0.5215322971343994}, "wrist_right": {"psnr": 14.18085801163539, "ssim": 0.5645994735029508, "lpips": 0.390901654958725}, "tactile_left": {"psnr": 35.91428455482021, "ssim": 0.9648047413764895, "lpips": 0.16025444865226746}, "tactile_right": {"psnr": 36.347305859626424, "ssim": 0.9677772536113904, "lpips": 0.15776327252388}}, {"video": {"psnr": 20.545156126383045, "ssim": 0.7372659529186885, "lpips": 0.27610504627227783}, "wrist_left": {"psnr": 13.077205948359989, "ssim": 0.7076895844918756, "lpips": 0.32206422090530396}, "wrist_right": {"psnr": 11.449450125112001, "ssim": 0.523202672095944, "lpips": 0.46162042021751404}, "tactile_left": {"psnr": 35.311862811098756, "ssim": 0.9624355620435575, "lpips": 0.1753893345594406}, "tactile_right": {"psnr": 36.052609561150355, "ssim": 0.9666001105210416, "lpips": 0.1664048582315445}}, {"video": {"psnr": 20.179157865889135, "ssim": 0.7295251806981253, "lpips": 0.26919084787368774}, "wrist_left": {"psnr": 12.50781859803234, "ssim": 0.6651552740916233, "lpips": 0.3779372572898865}, "wrist_right": {"psnr": 11.672273779341557, "ssim": 0.5098266401332819, "lpips": 0.4719288945198059}, "tactile_left": {"psnr": 34.68845594884252, "ssim": 0.9599504856437147, "lpips": 0.18542104959487915}, "tactile_right": {"psnr": 35.562141828830036, "ssim": 0.9639182019426656, "lpips": 0.18112973868846893}}], "long_metrics": {"video": {"psnr": 22.028209197116134, "ssim": 0.7839620864543891, "lpips": 0.19411542117595673}, "wrist_left": {"psnr": 16.089574239335146, "ssim": 0.7380172964299466, "lpips": 0.27511254847049715}, "wrist_right": {"psnr": 13.121060755407184, "ssim": 0.5288551470474757, "lpips": 0.43688369592030846}, "tactile_left": {"psnr": 40.135682134379294, "ssim": 0.9762865184237668, "lpips": 0.0916309597591559}, "tactile_right": {"psnr": 40.260812870120176, "ssim": 0.9773314185662747, "lpips": 0.0849631601323684}}}, {"id": "pusht_e013_26", "episode": "pushT_0912_episode_010_seg03.pt", "requested_episode": "pushT_0912_episode_010_seg03.pt", "category": "none", "t_start": 229, "start_seconds": 15.266666666666667, "short_contact": [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0], "future_transition_ticks": [], "long_contact_fraction": 0.0, "long_label": "none_throughout", "short_metrics": {"video": {"psnr": 27.686771583079988, "ssim": 0.9089779370391785, "lpips": 0.047493673861026764}, "wrist_left": {"psnr": 19.480470500507522, "ssim": 0.8455227916517289, "lpips": 0.15249761939048767}, "wrist_right": {"psnr": 23.505060894764217, "ssim": 0.859403211453502, "lpips": 0.08292710781097412}, "tactile_left": {"psnr": 52.017382318406476, "ssim": 0.9954511412744895, "lpips": 0.00265625212341547}, "tactile_right": {"psnr": 49.936315036510834, "ssim": 0.9927141574823213, "lpips": 0.009250978007912636}}, "media": {"short": {"video": "media/pusht_e013_26_short.mp4", "poster": "media/pusht_e013_26_short.jpg"}, "long": {"video": "media/pusht_e013_26_long.mp4", "poster": "media/pusht_e013_26_long.jpg"}}, "force": {"source": "recorded_normal_force", "units": "N", "fps": 15, "left": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "right": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]}, "long_curve": [{"video": {"psnr": 27.686771583079988, "ssim": 0.9089779370391785, "lpips": 0.047493673861026764}, "wrist_left": {"psnr": 19.480470500507522, "ssim": 0.8455227916517289, "lpips": 0.15249761939048767}, "wrist_right": {"psnr": 23.505060894764217, "ssim": 0.859403211453502, "lpips": 0.08292710781097412}, "tactile_left": {"psnr": 52.017382318406476, "ssim": 0.9954511412744895, "lpips": 0.00265625212341547}, "tactile_right": {"psnr": 49.936315036510834, "ssim": 0.9927141574823213, "lpips": 0.009250978007912636}}, {"video": {"psnr": 25.71775273599609, "ssim": 0.870836174407743, "lpips": 0.06600913405418396}, "wrist_left": {"psnr": 14.027419228144824, "ssim": 0.6356956647459633, "lpips": 0.35451650619506836}, "wrist_right": {"psnr": 19.322680637957458, "ssim": 0.7473271613550803, "lpips": 0.2000427395105362}, "tactile_left": {"psnr": 48.153462793896395, "ssim": 0.9920476342638056, "lpips": 0.011964386329054832}, "tactile_right": {"psnr": 48.52927500954685, "ssim": 0.9902929353276559, "lpips": 0.012112051248550415}}, {"video": {"psnr": 25.695800843698077, "ssim": 0.8619935300984133, "lpips": 0.06864248216152191}, "wrist_left": {"psnr": 13.509647612543755, "ssim": 0.5910862275007958, "lpips": 0.3912232518196106}, "wrist_right": {"psnr": 19.241971194300383, "ssim": 0.7778263567169303, "lpips": 0.18167540431022644}, "tactile_left": {"psnr": 43.84736110495557, "ssim": 0.9846557461411036, "lpips": 0.030502714216709137}, "tactile_right": {"psnr": 46.10492662761647, "ssim": 0.9876808106813821, "lpips": 0.02324041910469532}}, {"video": {"psnr": 24.198228853168256, "ssim": 0.8139155307766687, "lpips": 0.09783719480037689}, "wrist_left": {"psnr": 14.09077724694649, "ssim": 0.6324241339276171, "lpips": 0.33840760588645935}, "wrist_right": {"psnr": 16.69185837248834, "ssim": 0.7466049161661189, "lpips": 0.25238868594169617}, "tactile_left": {"psnr": 42.225579611513254, "ssim": 0.9844799476838559, "lpips": 0.028308622539043427}, "tactile_right": {"psnr": 43.89913744950334, "ssim": 0.9855299118124654, "lpips": 0.0398993194103241}}, {"video": {"psnr": 23.12386800994597, "ssim": 0.8154158144886, "lpips": 0.1269458830356598}, "wrist_left": {"psnr": 16.564695414315135, "ssim": 0.7429149205076577, "lpips": 0.23848573863506317}, "wrist_right": {"psnr": 13.602673310079048, "ssim": 0.6117229133435274, "lpips": 0.3683384656906128}, "tactile_left": {"psnr": 41.617702815021154, "ssim": 0.9831420347667617, "lpips": 0.038517750799655914}, "tactile_right": {"psnr": 42.88331256265942, "ssim": 0.9827527568954473, "lpips": 0.06291760504245758}}, {"video": {"psnr": 23.09800188286333, "ssim": 0.8015902780790223, "lpips": 0.14229731261730194}, "wrist_left": {"psnr": 14.683841214269721, "ssim": 0.6017525697701629, "lpips": 0.3558956980705261}, "wrist_right": {"psnr": 14.578677867609562, "ssim": 0.6950688713524382, "lpips": 0.3168182969093323}, "tactile_left": {"psnr": 40.33556128375277, "ssim": 0.9812091587665936, "lpips": 0.051455315202474594}, "tactile_right": {"psnr": 42.49308713537288, "ssim": 0.9834747142220677, "lpips": 0.05829232931137085}}, {"video": {"psnr": 22.97343517205102, "ssim": 0.8086989032952654, "lpips": 0.1489901840686798}, "wrist_left": {"psnr": 13.219520558094898, "ssim": 0.5373747776723414, "lpips": 0.4316236972808838}, "wrist_right": {"psnr": 22.027287083583683, "ssim": 0.7757282140734354, "lpips": 0.15121513605117798}, "tactile_left": {"psnr": 39.27468461574954, "ssim": 0.9784397640846402, "lpips": 0.06721708178520203}, "tactile_right": {"psnr": 41.055946198092215, "ssim": 0.9821385231325522, "lpips": 0.06709074229001999}}, {"video": {"psnr": 22.56787588731727, "ssim": 0.7992128713143871, "lpips": 0.1703459918498993}, "wrist_left": {"psnr": 15.501033405986215, "ssim": 0.6303858073955635, "lpips": 0.33760735392570496}, "wrist_right": {"psnr": 23.644620997673705, "ssim": 0.7781890474012566, "lpips": 0.139665886759758}, "tactile_left": {"psnr": 38.49778404964693, "ssim": 0.9755968324610289, "lpips": 0.0829579085111618}, "tactile_right": {"psnr": 40.47131428072214, "ssim": 0.9804302946032539, "lpips": 0.08195632696151733}}, {"video": {"psnr": 22.19292418699938, "ssim": 0.7952337461717791, "lpips": 0.1769755482673645}, "wrist_left": {"psnr": 16.861213468641342, "ssim": 0.700356378430388, "lpips": 0.2820320725440979}, "wrist_right": {"psnr": 19.04167713397086, "ssim": 0.7843309236437958, "lpips": 0.24315515160560608}, "tactile_left": {"psnr": 38.07222026890146, "ssim": 0.974126017956993, "lpips": 0.0932145044207573}, "tactile_right": {"psnr": 39.17150071936034, "ssim": 0.9782954975213944, "lpips": 0.08824442327022552}}, {"video": {"psnr": 22.35920220145731, "ssim": 0.7923819555234856, "lpips": 0.16169962286949158}, "wrist_left": {"psnr": 15.935255358991059, "ssim": 0.6630743175359206, "lpips": 0.30356597900390625}, "wrist_right": {"psnr": 13.534945151865152, "ssim": 0.6789560948579667, "lpips": 0.34091904759407043}, "tactile_left": {"psnr": 37.401561449297525, "ssim": 0.9725204775134794, "lpips": 0.10923208296298981}, "tactile_right": {"psnr": 38.20154430762005, "ssim": 0.9758115271795893, "lpips": 0.10943466424942017}}, {"video": {"psnr": 21.469902075310245, "ssim": 0.7809915489452014, "lpips": 0.1799020618200302}, "wrist_left": {"psnr": 12.779085164439083, "ssim": 0.6208064478601272, "lpips": 0.40488192439079285}, "wrist_right": {"psnr": 11.463829406865017, "ssim": 0.6039588386504766, "lpips": 0.42217475175857544}, "tactile_left": {"psnr": 36.86320693365124, "ssim": 0.9704415339876136, "lpips": 0.12426130473613739}, "tactile_right": {"psnr": 37.309194500003585, "ssim": 0.9727115266168064, "lpips": 0.12622767686843872}}, {"video": {"psnr": 20.661833563101407, "ssim": 0.7771318199893292, "lpips": 0.24563074111938477}, "wrist_left": {"psnr": 9.93756341748313, "ssim": 0.4919909817686673, "lpips": 0.546716570854187}, "wrist_right": {"psnr": 9.623679242232537, "ssim": 0.531976027757816, "lpips": 0.5166982412338257}, "tactile_left": {"psnr": 36.33495237524598, "ssim": 0.9681289919088243, "lpips": 0.1414945125579834}, "tactile_right": {"psnr": 36.5752385650581, "ssim": 0.9699317270886763, "lpips": 0.1521972119808197}}, {"video": {"psnr": 20.821635349371434, "ssim": 0.7668973836366088, "lpips": 0.2530040144920349}, "wrist_left": {"psnr": 9.764003599671634, "ssim": 0.49460511139970875, "lpips": 0.5572537183761597}, "wrist_right": {"psnr": 9.885978289354378, "ssim": 0.5372574222268327, "lpips": 0.5594857931137085}, "tactile_left": {"psnr": 35.84987819791764, "ssim": 0.9659480063607591, "lpips": 0.15264630317687988}, "tactile_right": {"psnr": 36.31788045089238, "ssim": 0.9680753953683403, "lpips": 0.1636020839214325}}, {"video": {"psnr": 20.075383243397336, "ssim": 0.7552327842954045, "lpips": 0.2795448899269104}, "wrist_left": {"psnr": 10.567152228527368, "ssim": 0.5185806439912255, "lpips": 0.5252659916877747}, "wrist_right": {"psnr": 11.679144095240792, "ssim": 0.497976458753562, "lpips": 0.48115891218185425}, "tactile_left": {"psnr": 35.60324592577875, "ssim": 0.9635518812612978, "lpips": 0.1670563966035843}, "tactile_right": {"psnr": 35.667088682074656, "ssim": 0.9654776727547614, "lpips": 0.18284665048122406}}, {"video": {"psnr": 20.358542264768225, "ssim": 0.7556691337845113, "lpips": 0.2605629861354828}, "wrist_left": {"psnr": 13.108416377277926, "ssim": 0.5788561121509201, "lpips": 0.41819047927856445}, "wrist_right": {"psnr": 14.293287725555636, "ssim": 0.6059631560386647, "lpips": 0.37608397006988525}, "tactile_left": {"psnr": 34.95086474882073, "ssim": 0.9616215363376004, "lpips": 0.17810310423374176}, "tactile_right": {"psnr": 34.97875557823204, "ssim": 0.9633055933208912, "lpips": 0.20048457384109497}}], "long_metrics": {"video": {"psnr": 22.866743856835022, "ssim": 0.8069452941230398, "lpips": 0.16172544807195663}, "wrist_left": {"psnr": 14.002006319722675, "ssim": 0.6190284590872525, "lpips": 0.37587761382261914}, "wrist_right": {"psnr": 16.14249142690272, "ssim": 0.6821526409194268, "lpips": 0.308849839369456}, "tactile_left": {"psnr": 40.069696566170364, "ssim": 0.9767573803179231, "lpips": 0.0853058826799194}, "tactile_right": {"psnr": 40.906301140217685, "ssim": 0.978574869600507, "lpips": 0.09185313706596693}}}, {"id": "pusht_e013_27", "episode": "pushT_0912_episode_010_seg03.pt", "requested_episode": "pushT_0912_episode_010_seg03.pt", "category": "onset", "t_start": 10, "start_seconds": 0.6666666666666666, "short_contact": [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 1], "future_transition_ticks": [11], "long_contact_fraction": 0.078125, "long_label": "onset", "short_metrics": {"video": {"psnr": 27.343411522065658, "ssim": 0.9080775174125311, "lpips": 0.058765653520822525}, "wrist_left": {"psnr": 17.049074877953288, "ssim": 0.6446142749427284, "lpips": 0.2794041037559509}, "wrist_right": {"psnr": 24.19123505183673, "ssim": 0.8569542727605168, "lpips": 0.09104561805725098}, "tactile_left": {"psnr": 47.25958274686285, "ssim": 0.9907739853343063, "lpips": 0.013937356881797314}, "tactile_right": {"psnr": 50.67140032842788, "ssim": 0.9945383442217848, "lpips": 0.003966895863413811}}, "media": {"short": {"video": "media/pusht_e013_27_short.mp4", "poster": "media/pusht_e013_27_short.jpg"}, "long": {"video": "media/pusht_e013_27_long.mp4", "poster": "media/pusht_e013_27_long.jpg"}}, "force": {"source": "recorded_normal_force", "units": "N", "fps": 15, "left": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 0.0, 0.0, 0.0, 0.0, 0.0, 1.361640214920044, 2.8207693099975586, 2.636666774749756, 1.9833333492279053, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.1599999964237213, 0.2659062445163727, 0.17678187787532806, 0.0, 0.0, 0.0], "right": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]}, "long_curve": [{"video": {"psnr": 27.343411522065658, "ssim": 0.9080775174125311, "lpips": 0.058765653520822525}, "wrist_left": {"psnr": 17.049074877953288, "ssim": 0.6446142749427284, "lpips": 0.2794041037559509}, "wrist_right": {"psnr": 24.19123505183673, "ssim": 0.8569542727605168, "lpips": 0.09104561805725098}, "tactile_left": {"psnr": 47.25958274686285, "ssim": 0.9907739853343063, "lpips": 0.013937356881797314}, "tactile_right": {"psnr": 50.67140032842788, "ssim": 0.9945383442217848, "lpips": 0.003966895863413811}}, {"video": {"psnr": 23.897181061881902, "ssim": 0.8479797395900834, "lpips": 0.1250634342432022}, "wrist_left": {"psnr": 11.542264453565426, "ssim": 0.4425379194756386, "lpips": 0.4710719585418701}, "wrist_right": {"psnr": 21.816997182067922, "ssim": 0.7724911971481783, "lpips": 0.14457467198371887}, "tactile_left": {"psnr": 45.10643070517026, "ssim": 0.9854069435808364, "lpips": 0.02000257931649685}, "tactile_right": {"psnr": 48.5720526812821, "ssim": 0.9902258938907577, "lpips": 0.011523877270519733}}, {"video": {"psnr": 22.287079847938635, "ssim": 0.80359628854581, "lpips": 0.17759191989898682}, "wrist_left": {"psnr": 10.949866755130087, "ssim": 0.4134432733453379, "lpips": 0.5238357782363892}, "wrist_right": {"psnr": 14.418238314757964, "ssim": 0.644037758565358, "lpips": 0.32738032937049866}, "tactile_left": {"psnr": 43.13074570964115, "ssim": 0.9798516897722345, "lpips": 0.033588506281375885}, "tactile_right": {"psnr": 46.02384368270542, "ssim": 0.9879348091483424, "lpips": 0.022656138986349106}}, {"video": {"psnr": 21.756274678154636, "ssim": 0.7888964955539908, "lpips": 0.18390151858329773}, "wrist_left": {"psnr": 9.646287756165874, "ssim": 0.43310260095227493, "lpips": 0.5609723329544067}, "wrist_right": {"psnr": 11.797112011184868, "ssim": 0.5966330852107331, "lpips": 0.44500377774238586}, "tactile_left": {"psnr": 43.34030758710347, "ssim": 0.9810849858998599, "lpips": 0.03535791486501694}, "tactile_right": {"psnr": 44.081562699058935, "ssim": 0.985084905295136, "lpips": 0.03928645700216293}}, {"video": {"psnr": 21.329558538186788, "ssim": 0.7691459148662401, "lpips": 0.20139116048812866}, "wrist_left": {"psnr": 7.631439078781343, "ssim": 0.3407226754185406, "lpips": 0.6516721844673157}, "wrist_right": {"psnr": 13.931616829293487, "ssim": 0.6674084223846318, "lpips": 0.41811805963516235}, "tactile_left": {"psnr": 42.740930467539926, "ssim": 0.9810475405437646, "lpips": 0.04099298268556595}, "tactile_right": {"psnr": 43.32603750094694, "ssim": 0.982813457536921, "lpips": 0.05582055449485779}}, {"video": {"psnr": 20.669937273144864, "ssim": 0.7625392245284099, "lpips": 0.2679663300514221}, "wrist_left": {"psnr": 8.463834029943321, "ssim": 0.41020023743892264, "lpips": 0.6096192598342896}, "wrist_right": {"psnr": 15.195592115946559, "ssim": 0.7235751577754276, "lpips": 0.3729153871536255}, "tactile_left": {"psnr": 41.77027398786383, "ssim": 0.9813732276644758, "lpips": 0.053979095071554184}, "tactile_right": {"psnr": 42.17740527906193, "ssim": 0.9811027607235752, "lpips": 0.07178546488285065}}, {"video": {"psnr": 20.80239140142929, "ssim": 0.7661208979557534, "lpips": 0.25330477952957153}, "wrist_left": {"psnr": 9.511577513313142, "ssim": 0.4744522448358532, "lpips": 0.5819254517555237}, "wrist_right": {"psnr": 13.247884942167722, "ssim": 0.6277879489258719, "lpips": 0.4069976210594177}, "tactile_left": {"psnr": 40.23157248030847, "ssim": 0.9781709622251485, "lpips": 0.07188015431165695}, "tactile_right": {"psnr": 41.211419098205056, "ssim": 0.9790382082898683, "lpips": 0.0899353101849556}}, {"video": {"psnr": 20.106429105617366, "ssim": 0.7411438213442757, "lpips": 0.2642875015735626}, "wrist_left": {"psnr": 13.325204066397065, "ssim": 0.651648453410839, "lpips": 0.3852514624595642}, "wrist_right": {"psnr": 12.476198561641977, "ssim": 0.5751766738722139, "lpips": 0.45287537574768066}, "tactile_left": {"psnr": 39.69742816732586, "ssim": 0.9768599612780365, "lpips": 0.08714547753334045}, "tactile_right": {"psnr": 40.647245463125394, "ssim": 0.9766485407194139, "lpips": 0.10803397744894028}}, {"video": {"psnr": 20.900296447325452, "ssim": 0.7518291213771703, "lpips": 0.22893179953098297}, "wrist_left": {"psnr": 16.799077467910454, "ssim": 0.7322854279398682, "lpips": 0.2526630163192749}, "wrist_right": {"psnr": 12.49984779405412, "ssim": 0.6219935057257662, "lpips": 0.4178276062011719}, "tactile_left": {"psnr": 38.98524011702215, "ssim": 0.9746882505600263, "lpips": 0.09971743077039719}, "tactile_right": {"psnr": 39.70869945858957, "ssim": 0.9743171362095, "lpips": 0.12021150439977646}}, {"video": {"psnr": 20.655434336974974, "ssim": 0.7322879872836592, "lpips": 0.22197699546813965}, "wrist_left": {"psnr": 15.807755472471358, "ssim": 0.717674352837085, "lpips": 0.2770909070968628}, "wrist_right": {"psnr": 11.584226268277833, "ssim": 0.4576781238814307, "lpips": 0.5179857015609741}, "tactile_left": {"psnr": 38.00349392546301, "ssim": 0.9718320853018179, "lpips": 0.1197967678308487}, "tactile_right": {"psnr": 38.662133301120825, "ssim": 0.9729187218834787, "lpips": 0.1375272572040558}}, {"video": {"psnr": 22.629580644658553, "ssim": 0.7696140218830794, "lpips": 0.17531198263168335}, "wrist_left": {"psnr": 12.37928480272711, "ssim": 0.5417267207467956, "lpips": 0.44909942150115967}, "wrist_right": {"psnr": 10.968538014125876, "ssim": 0.44547856651480966, "lpips": 0.5672503709793091}, "tactile_left": {"psnr": 37.52832488097092, "ssim": 0.9697140727960889, "lpips": 0.13516008853912354}, "tactile_right": {"psnr": 38.015426729180504, "ssim": 0.9706460108852544, "lpips": 0.14478589594364166}}, {"video": {"psnr": 21.836213454679957, "ssim": 0.764673619138792, "lpips": 0.18158605694770813}, "wrist_left": {"psnr": 12.758773887038366, "ssim": 0.525760314527512, "lpips": 0.44343453645706177}, "wrist_right": {"psnr": 15.270350032698751, "ssim": 0.6775774670701549, "lpips": 0.33864161372184753}, "tactile_left": {"psnr": 36.682686151030325, "ssim": 0.965400296890517, "lpips": 0.15231063961982727}, "tactile_right": {"psnr": 37.48466426864412, "ssim": 0.969066104956814, "lpips": 0.1589522659778595}}, {"video": {"psnr": 21.40336331387499, "ssim": 0.7603600276265923, "lpips": 0.22502194344997406}, "wrist_left": {"psnr": 15.274304207678483, "ssim": 0.5739642610139852, "lpips": 0.3457797169685364}, "wrist_right": {"psnr": 23.24975394090297, "ssim": 0.7784533653154145, "lpips": 0.17202548682689667}, "tactile_left": {"psnr": 36.04108115486027, "ssim": 0.9641043995769394, "lpips": 0.16096267104148865}, "tactile_right": {"psnr": 37.037617394923636, "ssim": 0.9670688855735912, "lpips": 0.17170363664627075}}, {"video": {"psnr": 20.84727295203141, "ssim": 0.7585737914907893, "lpips": 0.25770294666290283}, "wrist_left": {"psnr": 14.960273116008683, "ssim": 0.5973929507184178, "lpips": 0.3318820297718048}, "wrist_right": {"psnr": 22.880353007925788, "ssim": 0.7674732431498275, "lpips": 0.15553316473960876}, "tactile_left": {"psnr": 35.81135855535751, "ssim": 0.9624225867219816, "lpips": 0.17036938667297363}, "tactile_right": {"psnr": 36.65945705089814, "ssim": 0.964818591838899, "lpips": 0.18656966090202332}}, {"video": {"psnr": 21.456957425124298, "ssim": 0.7599427057270556, "lpips": 0.24093754589557648}, "wrist_left": {"psnr": 13.346144579966897, "ssim": 0.5293477558632353, "lpips": 0.4067913293838501}, "wrist_right": {"psnr": 23.33691130257286, "ssim": 0.797162211026784, "lpips": 0.16678640246391296}, "tactile_left": {"psnr": 35.05690392036323, "ssim": 0.9569598854800121, "lpips": 0.17731799185276031}, "tactile_right": {"psnr": 36.20472096592301, "ssim": 0.962776703354377, "lpips": 0.2017315924167633}}], "long_metrics": {"video": {"psnr": 21.861425466872582, "ssim": 0.7789854116216155, "lpips": 0.20424943789839745}, "wrist_left": {"psnr": 12.629677471003394, "ssim": 0.5352582308978023, "lpips": 0.43803289930025735}, "wrist_right": {"psnr": 16.45765702463036, "ssim": 0.6673253999551413, "lpips": 0.33299741248289744}, "tactile_left": {"psnr": 40.09242403712555, "ssim": 0.9746460582417363, "lpips": 0.09150126955161492}, "tactile_right": {"psnr": 41.36557906013957, "ssim": 0.9772666049685143, "lpips": 0.10163269930829605}}}, {"id": "pusht_e013_28", "episode": "pushT_0912_episode_010_seg03.pt", "requested_episode": "pushT_0912_episode_010_seg03.pt", "category": "release", "t_start": 16, "start_seconds": 1.0666666666666667, "short_contact": [0, 0, 0, 0, 0, 1, 1, 1, 1, 1, 1, 0, 0, 0, 0, 0], "future_transition_ticks": [11], "long_contact_fraction": 0.078125, "long_label": "release", "short_metrics": {"video": {"psnr": 26.86708494403475, "ssim": 0.8970850365322682, "lpips": 0.053884394466876984}, "wrist_left": {"psnr": 23.09038527257033, "ssim": 0.760748533680121, "lpips": 0.10058629512786865}, "wrist_right": {"psnr": 23.166751538942584, "ssim": 0.8310690621790642, "lpips": 0.1134571060538292}, "tactile_left": {"psnr": 47.7209737550367, "ssim": 0.9907131458372406, "lpips": 0.008861444890499115}, "tactile_right": {"psnr": 50.513701227490586, "ssim": 0.9943300758937736, "lpips": 0.004255248233675957}}, "media": {"short": {"video": "media/pusht_e013_28_short.mp4", "poster": "media/pusht_e013_28_short.jpg"}, "long": {"video": "media/pusht_e013_28_long.mp4", "poster": "media/pusht_e013_28_long.jpg"}}, "force": {"source": "recorded_normal_force", "units": "N", "fps": 15, "left": [0.0, 0.0, 0.0, 0.0, 0.0, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 0.0, 0.0, 0.0, 0.0, 0.0, 1.361640214920044, 2.8207693099975586, 2.636666774749756, 1.9833333492279053, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.1599999964237213, 0.2659062445163727, 0.17678187787532806, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "right": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]}, "long_curve": [{"video": {"psnr": 26.86708494403475, "ssim": 0.8970850365322682, "lpips": 0.053884394466876984}, "wrist_left": {"psnr": 23.09038527257033, "ssim": 0.760748533680121, "lpips": 0.10058629512786865}, "wrist_right": {"psnr": 23.166751538942584, "ssim": 0.8310690621790642, "lpips": 0.1134571060538292}, "tactile_left": {"psnr": 47.7209737550367, "ssim": 0.9907131458372406, "lpips": 0.008861444890499115}, "tactile_right": {"psnr": 50.513701227490586, "ssim": 0.9943300758937736, "lpips": 0.004255248233675957}}, {"video": {"psnr": 23.451001695014362, "ssim": 0.8119458599949756, "lpips": 0.1326209306716919}, "wrist_left": {"psnr": 19.002184994025317, "ssim": 0.6509539917700031, "lpips": 0.17292334139347076}, "wrist_right": {"psnr": 15.88288703529502, "ssim": 0.6772688162464927, "lpips": 0.23131214082241058}, "tactile_left": {"psnr": 43.89749222037867, "ssim": 0.9820411035476376, "lpips": 0.02781418338418007}, "tactile_right": {"psnr": 48.2732549399681, "ssim": 0.9901331278391451, "lpips": 0.012350311502814293}}, {"video": {"psnr": 23.265095192505516, "ssim": 0.805774534647566, "lpips": 0.12954747676849365}, "wrist_left": {"psnr": 18.383411034107702, "ssim": 0.6752235611977653, "lpips": 0.20600295066833496}, "wrist_right": {"psnr": 15.815847261260902, "ssim": 0.6868834505832242, "lpips": 0.2602851986885071}, "tactile_left": {"psnr": 43.451183714181354, "ssim": 0.9822822050783322, "lpips": 0.02920023910701275}, "tactile_right": {"psnr": 46.19960513167737, "ssim": 0.9870961225475456, "lpips": 0.023151438683271408}}, {"video": {"psnr": 22.59238770718121, "ssim": 0.7850346166905463, "lpips": 0.15560036897659302}, "wrist_left": {"psnr": 12.712689992425858, "ssim": 0.5429030332021947, "lpips": 0.4433581233024597}, "wrist_right": {"psnr": 13.020558671944439, "ssim": 0.6366358819335541, "lpips": 0.38616132736206055}, "tactile_left": {"psnr": 43.48775312415958, "ssim": 0.9819979384574555, "lpips": 0.033843230456113815}, "tactile_right": {"psnr": 44.80213116781527, "ssim": 0.9847528409079378, "lpips": 0.03861013054847717}}, {"video": {"psnr": 21.014602062591518, "ssim": 0.7662097826314228, "lpips": 0.20825287699699402}, "wrist_left": {"psnr": 8.788683603201314, "ssim": 0.45446171787383993, "lpips": 0.5764976739883423}, "wrist_right": {"psnr": 13.230549496755597, "ssim": 0.6756889440871466, "lpips": 0.44782838225364685}, "tactile_left": {"psnr": 43.07429501892977, "ssim": 0.9830464659911434, "lpips": 0.03937754034996033}, "tactile_right": {"psnr": 43.72595329349132, "ssim": 0.9827849458166833, "lpips": 0.05744219571352005}}, {"video": {"psnr": 20.90354633384628, "ssim": 0.7686985407777307, "lpips": 0.20641356706619263}, "wrist_left": {"psnr": 10.364525893874116, "ssim": 0.530014573046069, "lpips": 0.5150225162506104}, "wrist_right": {"psnr": 12.551615367590301, "ssim": 0.636592506427357, "lpips": 0.43358543515205383}, "tactile_left": {"psnr": 41.15700328730586, "ssim": 0.9807824878410423, "lpips": 0.053696855902671814}, "tactile_right": {"psnr": 43.50819167160349, "ssim": 0.9834639041646934, "lpips": 0.055606454610824585}}, {"video": {"psnr": 21.513204662132487, "ssim": 0.7660819205127909, "lpips": 0.19240900874137878}, "wrist_left": {"psnr": 12.994571525534615, "ssim": 0.6742439930470883, "lpips": 0.31446295976638794}, "wrist_right": {"psnr": 12.546937020775937, "ssim": 0.5794140218179624, "lpips": 0.49716752767562866}, "tactile_left": {"psnr": 40.64376863206568, "ssim": 0.9797144983399955, "lpips": 0.0664282888174057}, "tactile_right": {"psnr": 42.311058039479654, "ssim": 0.9822745483958604, "lpips": 0.06613977998495102}}, {"video": {"psnr": 19.993254211993353, "ssim": 0.7605708183532166, "lpips": 0.22777624428272247}, "wrist_left": {"psnr": 21.03464934846311, "ssim": 0.7977234945827062, "lpips": 0.12924695014953613}, "wrist_right": {"psnr": 13.030731607652879, "ssim": 0.6159854200537982, "lpips": 0.458683580160141}, "tactile_left": {"psnr": 39.57399604005645, "ssim": 0.9772100540951069, "lpips": 0.08321255445480347}, "tactile_right": {"psnr": 41.36536228920981, "ssim": 0.9798003273026388, "lpips": 0.0825636237859726}}, {"video": {"psnr": 19.93179594519049, "ssim": 0.7360924497468039, "lpips": 0.25761401653289795}, "wrist_left": {"psnr": 19.44984843828286, "ssim": 0.7847936806987309, "lpips": 0.12873995304107666}, "wrist_right": {"psnr": 12.579873556378214, "ssim": 0.6005451490379943, "lpips": 0.46291348338127136}, "tactile_left": {"psnr": 38.75653483487631, "ssim": 0.9751821602663753, "lpips": 0.09796610474586487}, "tactile_right": {"psnr": 40.63871920416677, "ssim": 0.9783474816358279, "lpips": 0.09285488724708557}}, {"video": {"psnr": 21.866895055302745, "ssim": 0.7820089984275491, "lpips": 0.1892603486776352}, "wrist_left": {"psnr": 15.155930597694434, "ssim": 0.6849410189518206, "lpips": 0.3011971712112427}, "wrist_right": {"psnr": 12.606395339485644, "ssim": 0.5934874663913642, "lpips": 0.4784184992313385}, "tactile_left": {"psnr": 37.99902766387084, "ssim": 0.9726171605020288, "lpips": 0.1163380891084671}, "tactile_right": {"psnr": 39.115084922813246, "ssim": 0.9763426960357229, "lpips": 0.1049945130944252}}, {"video": {"psnr": 21.55020914015912, "ssim": 0.793969573055644, "lpips": 0.1901535987854004}, "wrist_left": {"psnr": 14.067043503442925, "ssim": 0.6116117378667729, "lpips": 0.38877958059310913}, "wrist_right": {"psnr": 16.66011833834321, "ssim": 0.7013761510434966, "lpips": 0.2673395276069641}, "tactile_left": {"psnr": 37.086317834785184, "ssim": 0.9677599809872938, "lpips": 0.1392519474029541}, "tactile_right": {"psnr": 38.58252816264396, "ssim": 0.9750552139689989, "lpips": 0.1165153831243515}}, {"video": {"psnr": 21.927932054715527, "ssim": 0.7895169770375254, "lpips": 0.17770972847938538}, "wrist_left": {"psnr": 12.191425624338299, "ssim": 0.5388592218364525, "lpips": 0.45832735300064087}, "wrist_right": {"psnr": 23.018336840929997, "ssim": 0.7752002794657284, "lpips": 0.13149774074554443}, "tactile_left": {"psnr": 36.27435932650228, "ssim": 0.9633875183183752, "lpips": 0.167435884475708}, "tactile_right": {"psnr": 38.03855336705378, "ssim": 0.9731866741822874, "lpips": 0.13414546847343445}}, {"video": {"psnr": 22.49049260117427, "ssim": 0.7922317482486846, "lpips": 0.1685393750667572}, "wrist_left": {"psnr": 14.496026936939518, "ssim": 0.5767110168602109, "lpips": 0.38572412729263306}, "wrist_right": {"psnr": 23.00346772139902, "ssim": 0.7729914567979888, "lpips": 0.12502345442771912}, "tactile_left": {"psnr": 36.12336329012352, "ssim": 0.9650095932611273, "lpips": 0.1590062379837036}, "tactile_right": {"psnr": 37.60435666920022, "ssim": 0.9708376488010516, "lpips": 0.14723370969295502}}, {"video": {"psnr": 22.257972939666743, "ssim": 0.7889011376229179, "lpips": 0.1751980036497116}, "wrist_left": {"psnr": 15.815170255483666, "ssim": 0.46362455591741314, "lpips": 0.370698481798172}, "wrist_right": {"psnr": 23.804367380818775, "ssim": 0.793353697994647, "lpips": 0.12562847137451172}, "tactile_left": {"psnr": 35.92057798666011, "ssim": 0.9600438721494067, "lpips": 0.17033123970031738}, "tactile_right": {"psnr": 37.316724727329195, "ssim": 0.9688721417221731, "lpips": 0.16465507447719574}}, {"video": {"psnr": 21.53867982056731, "ssim": 0.7705568302733838, "lpips": 0.19937312602996826}, "wrist_left": {"psnr": 15.05617944016588, "ssim": 0.604536903068617, "lpips": 0.3433074653148651}, "wrist_right": {"psnr": 17.879861022577977, "ssim": 0.7797720701328281, "lpips": 0.2071591019630432}, "tactile_left": {"psnr": 35.637026500266316, "ssim": 0.9616673355686329, "lpips": 0.16183699667453766}, "tactile_right": {"psnr": 36.86527933320251, "ssim": 0.9667375269753142, "lpips": 0.1806262880563736}}], "long_metrics": {"video": {"psnr": 22.077610291071714, "ssim": 0.7876452549702017, "lpips": 0.1776235376795133}, "wrist_left": {"psnr": 15.50684843070333, "ssim": 0.623423402239987, "lpips": 0.32232499619325}, "wrist_right": {"psnr": 16.586553213343368, "ssim": 0.6904176249461764, "lpips": 0.3084307317932447}, "tactile_left": {"psnr": 40.05357821527991, "ssim": 0.9748970346827462, "lpips": 0.09030672249694666}, "tactile_right": {"psnr": 41.92403360980969, "ssim": 0.9796010184126437, "lpips": 0.08540963381528854}}}, {"id": "pusht_e013_29", "episode": "pushT_0912_episode_010_seg03.pt", "requested_episode": "pushT_0912_episode_010_seg03.pt", "category": "full", "t_start": 418, "start_seconds": 27.866666666666667, "short_contact": [0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1], "future_transition_ticks": [14, 15], "long_contact_fraction": null, "long_label": "short_only", "short_metrics": {"video": {"psnr": 27.798053735498772, "ssim": 0.9122995964155767, "lpips": 0.043492391705513}, "wrist_left": {"psnr": 18.637845020181526, "ssim": 0.7514478281762602, "lpips": 0.17610974609851837}, "wrist_right": {"psnr": 21.844162053624757, "ssim": 0.8813945354609964, "lpips": 0.06347068399190903}, "tactile_left": {"psnr": 41.83576181900698, "ssim": 0.9808908258518588, "lpips": 0.039594635367393494}, "tactile_right": {"psnr": 50.46716487567937, "ssim": 0.9944067116709256, "lpips": 0.0043557146564126015}}, "media": {"short": {"video": "media/pusht_e013_29_short.mp4", "poster": "media/pusht_e013_29_short.jpg"}}, "force": {"source": "recorded_normal_force", "units": "N", "fps": 15, "left": [0.41999998688697815, 1.1662499904632568, 1.9833333492279053, 1.9833333492279053, 1.9833333492279053, 1.9833333492279053, 2.8207693099975586, 2.636666774749756, 2.636666774749756, 1.2465577125549316, 1.5254545211791992, 1.1662499904632568, 1.1662499904632568, 1.1662499904632568, 0.41999998688697815, 1.1662499904632568], "right": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]}}], "split": "mixed_pusht_wrist_holdout.json", "unavailable": [{"episode": "pushT_0911_episode_005_seg01.pt", "category": "onset", "reason": "Short only: insufficient valid consecutive windows for 8-second rollout"}, {"episode": "pushT_0911_episode_005_seg01.pt", "category": "full", "reason": "No qualifying initial window"}, {"episode": "pushT_0912_episode_010_seg02.pt", "category": "full", "reason": "No qualifying initial window"}, {"episode": "pushT_0912_episode_010_seg03.pt", "category": "full", "reason": "Short only: insufficient valid consecutive windows for 8-second rollout"}], "complete": true}, {"id": "rope_e005", "label": "Rope", "checkpoint": "epoch_005.pt", "run": "nano_action_causal_rope_v1", "planned_cases": 34, "cases": [{"id": "rope_e005_00", "episode": "rope_0911_episode_002_seg00.pt", "requested_episode": "rope_0911_episode_002_seg00.pt", "category": "none", "t_start": 0, "start_seconds": 0.0, "short_contact": [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0], "future_transition_ticks": [], "long_contact_fraction": 0.3359375, "long_label": "none_at_start", "short_metrics": {"video": {"psnr": 41.24377176862123, "ssim": 0.9826100349829968, "lpips": 0.006518212147057056}, "wrist_left": {"psnr": 36.50611477022193, "ssim": 0.9813183757191809, "lpips": 0.009350590407848358}, "wrist_right": {"psnr": 35.158559086430216, "ssim": 0.9795852257147035, "lpips": 0.012814069166779518}, "tactile_left": {"psnr": 51.54473518187422, "ssim": 0.9950509367142907, "lpips": 0.003093646839261055}, "tactile_right": {"psnr": 49.12003854301283, "ssim": 0.9933134745193595, "lpips": 0.005120575428009033}}, "media": {"short": {"video": "media/rope_e005_00_short.mp4", "poster": "media/rope_e005_00_short.jpg"}, "long": {"video": "media/rope_e005_00_long.mp4", "poster": "media/rope_e005_00_long.jpg"}}, "force": {"source": "recorded_normal_force", "units": "N", "fps": 15, "left": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.20760399103164673, 0.20760399103164673, 0.0, 0.0, 0.0, 0.8399003744125366, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.35278084874153137, 0.0, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 4.726428508758545, 5.403749942779541, 5.403749942779541, 6.373636245727539, 6.519285678863525, 4.726428508758545, 4.726428508758545, 3.9167568683624268, 3.9167568683624268, 3.9167568683624268, 3.9167568683624268, 3.9167568683624268, 3.9167568683624268, 0.0, 0.0, 0.0, 0.0, 2.6312499046325684, 3.0568182468414307, 3.0568182468414307, 3.9167568683624268, 5.403749942779541, 5.486666679382324, 5.403749942779541, 4.726428508758545, 5.403749942779541], "right": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.07184048742055893, 0.05000825598835945, 0.0, 0.010760966688394547, 0.18313638865947723, 0.39290252327919006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.1599999964237213, 0.7983333468437195, 3.0568182468414307, 4.726428508758545, 5.397500038146973, 5.397500038146973, 5.397500038146973, 5.486666679382324, 6.373636245727539, 6.519285678863525, 6.519285678863525, 6.519285678863525, 6.519285678863525, 6.373636245727539, 4.726428508758545, 0.4866666793823242, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.2742818295955658, 0.5600000023841858, 3.0568182468414307, 3.9167568683624268, 3.9167568683624268, 4.726428508758545, 4.852499961853027, 6.373636245727539, 5.403749942779541, 4.852499961853027, 3.9167568683624268, 3.9167568683624268, 3.9167568683624268, 4.726428508758545, 4.726428508758545, 0.1599999964237213, 0.0, 0.0, 0.0, 3.0568182468414307, 3.0568182468414307, 3.1971428394317627, 3.9167568683624268, 3.9167568683624268, 3.9167568683624268, 3.9167568683624268, 3.9167568683624268, 3.9167568683624268]}, "long_curve": [{"video": {"psnr": 41.24377176862123, "ssim": 0.9826100349829968, "lpips": 0.006518212147057056}, "wrist_left": {"psnr": 36.50611477022193, "ssim": 0.9813183757191809, "lpips": 0.009350590407848358}, "wrist_right": {"psnr": 35.158559086430216, "ssim": 0.9795852257147035, "lpips": 0.012814069166779518}, "tactile_left": {"psnr": 51.54473518187422, "ssim": 0.9950509367142907, "lpips": 0.003093646839261055}, "tactile_right": {"psnr": 49.12003854301283, "ssim": 0.9933134745193595, "lpips": 0.005120575428009033}}, {"video": {"psnr": 38.23477790234262, "ssim": 0.9730646761206183, "lpips": 0.011698536574840546}, "wrist_left": {"psnr": 32.937171462628754, "ssim": 0.9697153642890632, "lpips": 0.015627257525920868}, "wrist_right": {"psnr": 32.2721229527505, "ssim": 0.968772908836905, "lpips": 0.019151031970977783}, "tactile_left": {"psnr": 48.882566636376616, "ssim": 0.9921128789760666, "lpips": 0.008326319046318531}, "tactile_right": {"psnr": 47.25288461567143, "ssim": 0.9892228790657303, "lpips": 0.011299090459942818}}, {"video": {"psnr": 35.56249504824536, "ssim": 0.9630424431760463, "lpips": 0.01816580444574356}, "wrist_left": {"psnr": 30.456320131194804, "ssim": 0.9563964757534593, "lpips": 0.025032445788383484}, "wrist_right": {"psnr": 29.66351550908319, "ssim": 0.9552037296337287, "lpips": 0.03016633167862892}, "tactile_left": {"psnr": 45.72215495448277, "ssim": 0.9890752937608716, "lpips": 0.018333276733756065}, "tactile_right": {"psnr": 45.734150082087524, "ssim": 0.9874266139058656, "lpips": 0.019531264901161194}}, {"video": {"psnr": 31.74444158364155, "ssim": 0.9476043092852622, "lpips": 0.02822509966790676}, "wrist_left": {"psnr": 28.868558348241052, "ssim": 0.9441399069552499, "lpips": 0.034557782113552094}, "wrist_right": {"psnr": 27.308295098973158, "ssim": 0.9373927633334058, "lpips": 0.046161897480487823}, "tactile_left": {"psnr": 43.56479888531766, "ssim": 0.9864791862999691, "lpips": 0.02935883402824402}, "tactile_right": {"psnr": 43.87519368625611, "ssim": 0.9853575205607874, "lpips": 0.03263748437166214}}, {"video": {"psnr": 28.297839945428617, "ssim": 0.9138021133157299, "lpips": 0.0581241175532341}, "wrist_left": {"psnr": 27.468487805909962, "ssim": 0.9301688329623097, "lpips": 0.04391457885503769}, "wrist_right": {"psnr": 25.553524508128213, "ssim": 0.9212698821958151, "lpips": 0.0645240843296051}, "tactile_left": {"psnr": 42.074436844086065, "ssim": 0.9841743288931026, "lpips": 0.03883865475654602}, "tactile_right": {"psnr": 42.50762654157215, "ssim": 0.9827372199340403, "lpips": 0.04979200288653374}}, {"video": {"psnr": 27.20292740004585, "ssim": 0.8952296423739143, "lpips": 0.07445593178272247}, "wrist_left": {"psnr": 26.46565652414397, "ssim": 0.916554825310786, "lpips": 0.054607197642326355}, "wrist_right": {"psnr": 19.979278276018068, "ssim": 0.8411849729381551, "lpips": 0.12389495223760605}, "tactile_left": {"psnr": 40.09055494484035, "ssim": 0.9815873125812878, "lpips": 0.05137968435883522}, "tactile_right": {"psnr": 41.20679239134426, "ssim": 0.982213371947229, "lpips": 0.05468697100877762}}, {"video": {"psnr": 24.067426571163786, "ssim": 0.8488502392963002, "lpips": 0.10979560017585754}, "wrist_left": {"psnr": 21.145595478068763, "ssim": 0.8628115877595699, "lpips": 0.1061587706208229}, "wrist_right": {"psnr": 17.95882870509321, "ssim": 0.7523757589647024, "lpips": 0.23072929680347443}, "tactile_left": {"psnr": 39.02139959748021, "ssim": 0.9791849757956761, "lpips": 0.06885676085948944}, "tactile_right": {"psnr": 39.921608409041795, "ssim": 0.9803966686735079, "lpips": 0.06556643545627594}}, {"video": {"psnr": 22.857452046834602, "ssim": 0.8023358234317721, "lpips": 0.14497393369674683}, "wrist_left": {"psnr": 14.296686781427093, "ssim": 0.6916744560207693, "lpips": 0.2956240177154541}, "wrist_right": {"psnr": 17.148938721711325, "ssim": 0.6880404237632769, "lpips": 0.32387280464172363}, "tactile_left": {"psnr": 37.96554087735382, "ssim": 0.976515797692652, "lpips": 0.08498283475637436}, "tactile_right": {"psnr": 39.197245401030784, "ssim": 0.9780588320924153, "lpips": 0.08031190931797028}}, {"video": {"psnr": 22.285163150852185, "ssim": 0.7696922148724805, "lpips": 0.1697216033935547}, "wrist_left": {"psnr": 14.517572660870773, "ssim": 0.7054904591269797, "lpips": 0.3380606472492218}, "wrist_right": {"psnr": 16.046545415850574, "ssim": 0.6749482451120714, "lpips": 0.3820301592350006}, "tactile_left": {"psnr": 37.42114276844158, "ssim": 0.9747184020559115, "lpips": 0.0907822996377945}, "tactile_right": {"psnr": 33.97676112525373, "ssim": 0.956580141634358, "lpips": 0.20309589803218842}}, {"video": {"psnr": 20.565574540652566, "ssim": 0.7089190653608219, "lpips": 0.3033273220062256}, "wrist_left": {"psnr": 14.116201820337775, "ssim": 0.6786717129162874, "lpips": 0.3335813283920288}, "wrist_right": {"psnr": 16.478729759738314, "ssim": 0.6863478286279494, "lpips": 0.380445271730423}, "tactile_left": {"psnr": 36.39166413273066, "ssim": 0.9728449141077561, "lpips": 0.09805794805288315}, "tactile_right": {"psnr": 33.21054952755611, "ssim": 0.9501546989977868, "lpips": 0.2198302149772644}}, {"video": {"psnr": 20.705376339011945, "ssim": 0.7128393856471384, "lpips": 0.3630623519420624}, "wrist_left": {"psnr": 14.340192589362397, "ssim": 0.681598634953353, "lpips": 0.34042733907699585}, "wrist_right": {"psnr": 18.995515854094876, "ssim": 0.7468894697868829, "lpips": 0.32787132263183594}, "tactile_left": {"psnr": 35.70029831872748, "ssim": 0.9706061928951014, "lpips": 0.11314627528190613}, "tactile_right": {"psnr": 35.57056287059127, "ssim": 0.9711796525253837, "lpips": 0.11520405113697052}}, {"video": {"psnr": 20.984521471320758, "ssim": 0.7198279306390976, "lpips": 0.3495458960533142}, "wrist_left": {"psnr": 13.832524493576752, "ssim": 0.6314855003686908, "lpips": 0.40876469016075134}, "wrist_right": {"psnr": 18.276204239506434, "ssim": 0.6997915378624981, "lpips": 0.3426254987716675}, "tactile_left": {"psnr": 33.45690836891862, "ssim": 0.9593049119685482, "lpips": 0.16906645894050598}, "tactile_right": {"psnr": 34.71969457771822, "ssim": 0.9665475249887223, "lpips": 0.15607604384422302}}, {"video": {"psnr": 20.860050886565375, "ssim": 0.7208962275065534, "lpips": 0.35318589210510254}, "wrist_left": {"psnr": 13.966782702385512, "ssim": 0.6506891262551421, "lpips": 0.40246260166168213}, "wrist_right": {"psnr": 17.337737366874727, "ssim": 0.6568403948273527, "lpips": 0.39742958545684814}, "tactile_left": {"psnr": 31.1408130447337, "ssim": 0.9364134539915785, "lpips": 0.24145478010177612}, "tactile_right": {"psnr": 33.12575871373775, "ssim": 0.9511167111150993, "lpips": 0.2430393397808075}}, {"video": {"psnr": 20.681552122361005, "ssim": 0.7186847711794146, "lpips": 0.37395262718200684}, "wrist_left": {"psnr": 14.318131001140886, "ssim": 0.6502568327431817, "lpips": 0.40584152936935425}, "wrist_right": {"psnr": 17.83894883031145, "ssim": 0.6926386064535105, "lpips": 0.33938068151474}, "tactile_left": {"psnr": 32.58429761351656, "ssim": 0.9519216498870123, "lpips": 0.19949975609779358}, "tactile_right": {"psnr": 33.354528187226535, "ssim": 0.9587741126219682, "lpips": 0.20574605464935303}}, {"video": {"psnr": 20.56559197783748, "ssim": 0.711068283201338, "lpips": 0.3775534927845001}, "wrist_left": {"psnr": 14.639275291802045, "ssim": 0.6647118712893759, "lpips": 0.38896483182907104}, "wrist_right": {"psnr": 16.966685755901324, "ssim": 0.6548679060240004, "lpips": 0.4140423536300659}, "tactile_left": {"psnr": 30.779768030479815, "ssim": 0.9384860986825069, "lpips": 0.2546413540840149}, "tactile_right": {"psnr": 32.341601969508766, "ssim": 0.947702336405026, "lpips": 0.24993640184402466}}], "long_metrics": {"video": {"psnr": 26.390597516994998, "ssim": 0.8258978106926324, "lpips": 0.18282042810072502}, "wrist_left": {"psnr": 21.191684790754163, "ssim": 0.7943789308282266, "lpips": 0.21353170722723008}, "wrist_right": {"psnr": 21.798895338697704, "ssim": 0.7904099769383305, "lpips": 0.2290092894186576}, "tactile_left": {"psnr": 39.08940534662401, "ssim": 0.9725650889534888, "lpips": 0.09798792557169994}, "tactile_right": {"psnr": 39.00766644277395, "ssim": 0.9720521172658186, "lpips": 0.11412491587301095}}}, {"id": "rope_e005_01", "episode": "rope_0911_episode_002_seg00.pt", "requested_episode": "rope_0911_episode_002_seg00.pt", "category": "onset", "t_start": 88, "start_seconds": 5.866666666666666, "short_contact": [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 1], "future_transition_ticks": [11], "long_contact_fraction": 0.6875, "long_label": "onset", "short_metrics": {"video": {"psnr": 32.59067325718815, "ssim": 0.9484044270229717, "lpips": 0.026441961526870728}, "wrist_left": {"psnr": 20.6759449458333, "ssim": 0.7408767832758925, "lpips": 0.19606730341911316}, "wrist_right": {"psnr": 25.44613914401797, "ssim": 0.8217689336876032, "lpips": 0.13041578233242035}, "tactile_left": {"psnr": 36.0614191572266, "ssim": 0.9757451599032976, "lpips": 0.08120523393154144}, "tactile_right": {"psnr": 41.14460393013351, "ssim": 0.9875223063324974, "lpips": 0.04329216107726097}}, "media": {"short": {"video": "media/rope_e005_01_short.mp4", "poster": "media/rope_e005_01_short.jpg"}, "long": {"video": "media/rope_e005_01_long.mp4", "poster": "media/rope_e005_01_long.jpg"}}, "force": {"source": "recorded_normal_force", "units": "N", "fps": 15, "left": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 4.726428508758545, 5.403749942779541, 5.403749942779541, 6.373636245727539, 6.519285678863525, 4.726428508758545, 4.726428508758545, 3.9167568683624268, 3.9167568683624268, 3.9167568683624268, 3.9167568683624268, 3.9167568683624268, 3.9167568683624268, 0.0, 0.0, 0.0, 0.0, 2.6312499046325684, 3.0568182468414307, 3.0568182468414307, 3.9167568683624268, 5.403749942779541, 5.486666679382324, 5.403749942779541, 4.726428508758545, 5.403749942779541, 6.519285678863525, 6.519285678863525, 6.373636245727539, 6.373636245727539, 6.519285678863525, 5.486666679382324, 5.397500038146973, 5.403749942779541, 5.403749942779541, 6.519285678863525, 6.373636245727539, 6.373636245727539, 6.373636245727539, 5.486666679382324, 4.726428508758545, 4.726428508758545, 3.9167568683624268, 3.9284892082214355, 4.726428508758545, 3.9167568683624268, 4.726428508758545, 3.9397337436676025, 3.1971428394317627, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 2.3248276710510254, 2.3248276710510254, 3.0568182468414307, 3.1971428394317627, 4.726428508758545, 5.397500038146973, 5.486666679382324, 0.7983333468437195, 0.0, 0.0, 0.0, 0.0, 0.7983333468437195, 0.5032042860984802, 3.0568182468414307, 5.486666679382324, 6.760714054107666, 7.230000019073486, 7.772306442260742, 7.130000114440918, 5.770726203918457, 3.9167568683624268, 1.5444424152374268, 0.0, 0.0, 0.0, 0.0, 0.0, 2.243333339691162, 3.0568182468414307, 4.726428508758545, 5.397500038146973, 5.403749942779541, 5.403749942779541, 4.852499961853027, 3.9167568683624268, 0.5090610980987549, 0.0, 0.0, 0.0, 0.0, 0.1599999964237213, 3.0568182468414307, 4.726428508758545, 4.726428508758545, 4.726428508758545, 4.726428508758545, 4.726428508758545, 4.726428508758545, 3.9167568683624268, 0.7983333468437195], "right": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.2742818295955658, 0.5600000023841858, 3.0568182468414307, 3.9167568683624268, 3.9167568683624268, 4.726428508758545, 4.852499961853027, 6.373636245727539, 5.403749942779541, 4.852499961853027, 3.9167568683624268, 3.9167568683624268, 3.9167568683624268, 4.726428508758545, 4.726428508758545, 0.1599999964237213, 0.0, 0.0, 0.0, 3.0568182468414307, 3.0568182468414307, 3.1971428394317627, 3.9167568683624268, 3.9167568683624268, 3.9167568683624268, 3.9167568683624268, 3.9167568683624268, 3.9167568683624268, 3.9167568683624268, 3.9167568683624268, 3.9167568683624268, 3.0568182468414307, 3.1971428394317627, 3.9167568683624268, 3.9167568683624268, 3.1971428394317627, 3.9167568683624268, 3.9167568683624268, 3.0568182468414307, 3.0568182468414307, 2.3248276710510254, 2.2478134632110596, 3.0568182468414307, 3.0568182468414307, 3.9167568683624268, 3.1971428394317627, 3.0568182468414307, 3.0568182468414307, 0.27666667103767395, 3.0568182468414307, 1.9444444179534912, 3.0568182468414307, 3.0568182468414307, 0.6064306497573853, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.7983333468437195, 0.6165210008621216, 1.9444444179534912, 2.3248276710510254, 2.6312499046325684, 0.7983333468437195, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.43685051798820496, 0.5600000023841858, 2.3248276710510254, 2.6312499046325684, 1.9444444179534912, 2.243333339691162, 0.7983333468437195, 0.4899098575115204, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.5508935451507568, 0.5600000023841858, 2.3248276710510254, 3.0568182468414307, 1.9444444179534912, 3.0568182468414307, 0.7983333468437195, 0.0, 0.0, 0.0, 0.0, 0.16555029153823853, 0.16117694973945618, 0.4321044385433197, 2.3248276710510254, 2.9167182445526123, 2.6312499046325684, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 2.3248276710510254]}, "long_curve": [{"video": {"psnr": 32.59067325718815, "ssim": 0.9484044270229717, "lpips": 0.026441961526870728}, "wrist_left": {"psnr": 20.6759449458333, "ssim": 0.7408767832758925, "lpips": 0.19606730341911316}, "wrist_right": {"psnr": 25.44613914401797, "ssim": 0.8217689336876032, "lpips": 0.13041578233242035}, "tactile_left": {"psnr": 36.0614191572266, "ssim": 0.9757451599032976, "lpips": 0.08120523393154144}, "tactile_right": {"psnr": 41.14460393013351, "ssim": 0.9875223063324974, "lpips": 0.04329216107726097}}, {"video": {"psnr": 27.65302605485484, "ssim": 0.8887600382079939, "lpips": 0.05493830889463425}, "wrist_left": {"psnr": 18.245790584366222, "ssim": 0.6912143868313794, "lpips": 0.24315676093101501}, "wrist_right": {"psnr": 21.01223837821899, "ssim": 0.7149381694300445, "lpips": 0.19005149602890015}, "tactile_left": {"psnr": 31.499394957781085, "ssim": 0.9361417431169654, "lpips": 0.23030656576156616}, "tactile_right": {"psnr": 34.556666242115625, "ssim": 0.9584437186977183, "lpips": 0.13787950575351715}}, {"video": {"psnr": 25.16972451797782, "ssim": 0.8474751544092383, "lpips": 0.09083569794893265}, "wrist_left": {"psnr": 17.322586824608507, "ssim": 0.6772379760528173, "lpips": 0.2635026276111603}, "wrist_right": {"psnr": 21.69438675740463, "ssim": 0.7541017555085627, "lpips": 0.2073165774345398}, "tactile_left": {"psnr": 35.69835857305289, "ssim": 0.9637434481883892, "lpips": 0.11805736273527145}, "tactile_right": {"psnr": 39.128173286371094, "ssim": 0.978290094397986, "lpips": 0.07195717841386795}}, {"video": {"psnr": 24.159837836498845, "ssim": 0.8161678382768149, "lpips": 0.12166191637516022}, "wrist_left": {"psnr": 18.124353820486686, "ssim": 0.6821303847801633, "lpips": 0.23525533080101013}, "wrist_right": {"psnr": 20.386655286705633, "ssim": 0.6966412968807572, "lpips": 0.263546347618103}, "tactile_left": {"psnr": 32.66287536855883, "ssim": 0.9476371038627291, "lpips": 0.14640352129936218}, "tactile_right": {"psnr": 37.6002701787777, "ssim": 0.9686388780544138, "lpips": 0.12076324224472046}}, {"video": {"psnr": 23.840636858788304, "ssim": 0.8073224224191404, "lpips": 0.18046367168426514}, "wrist_left": {"psnr": 18.076283342648306, "ssim": 0.7167631572059777, "lpips": 0.20893782377243042}, "wrist_right": {"psnr": 18.856488650637882, "ssim": 0.682897653208449, "lpips": 0.2984800934791565}, "tactile_left": {"psnr": 29.775778274576723, "ssim": 0.9252984698435129, "lpips": 0.2132682353258133}, "tactile_right": {"psnr": 37.31740078306244, "ssim": 0.9660868449031598, "lpips": 0.1258900910615921}}, {"video": {"psnr": 23.951054032753362, "ssim": 0.801189465557808, "lpips": 0.20971502363681793}, "wrist_left": {"psnr": 17.74934669619633, "ssim": 0.7156303907722321, "lpips": 0.25412264466285706}, "wrist_right": {"psnr": 19.665807587212797, "ssim": 0.7181965298835118, "lpips": 0.3099367916584015}, "tactile_left": {"psnr": 30.47998679693656, "ssim": 0.9370520731486619, "lpips": 0.1956585794687271}, "tactile_right": {"psnr": 36.71100495345452, "ssim": 0.9692905773567686, "lpips": 0.13586822152137756}}, {"video": {"psnr": 23.45089776402522, "ssim": 0.7914019234308878, "lpips": 0.23538196086883545}, "wrist_left": {"psnr": 17.040283117744856, "ssim": 0.7042721195956269, "lpips": 0.27937814593315125}, "wrist_right": {"psnr": 19.690619866089392, "ssim": 0.7357752508889766, "lpips": 0.3098048269748688}, "tactile_left": {"psnr": 33.42528119569193, "ssim": 0.9609107378929017, "lpips": 0.13410484790802002}, "tactile_right": {"psnr": 38.34963016892906, "ssim": 0.9742231257482326, "lpips": 0.10394610464572906}}, {"video": {"psnr": 22.636132088320558, "ssim": 0.7694896180848041, "lpips": 0.27076101303100586}, "wrist_left": {"psnr": 15.920511443517722, "ssim": 0.6704257777263978, "lpips": 0.3029234707355499}, "wrist_right": {"psnr": 19.418354796906378, "ssim": 0.7764606448152469, "lpips": 0.28716713190078735}, "tactile_left": {"psnr": 35.41212808968231, "ssim": 0.9736272128055227, "lpips": 0.0822046548128128}, "tactile_right": {"psnr": 39.70808838883293, "ssim": 0.9788475060924622, "lpips": 0.06914892047643661}}, {"video": {"psnr": 22.23102901721458, "ssim": 0.7456863378637416, "lpips": 0.2635341286659241}, "wrist_left": {"psnr": 15.292819368854683, "ssim": 0.6150871470051691, "lpips": 0.36483484506607056}, "wrist_right": {"psnr": 20.44049409976523, "ssim": 0.7625436216113776, "lpips": 0.30391204357147217}, "tactile_left": {"psnr": 34.83298045951891, "ssim": 0.9676570776285959, "lpips": 0.11364394426345825}, "tactile_right": {"psnr": 39.02499579227448, "ssim": 0.9774455246169229, "lpips": 0.07813215255737305}}, {"video": {"psnr": 22.44865239363189, "ssim": 0.7560501498006953, "lpips": 0.2554163336753845}, "wrist_left": {"psnr": 14.480816101224399, "ssim": 0.5840372109703171, "lpips": 0.3913859724998474}, "wrist_right": {"psnr": 19.70501227781197, "ssim": 0.7836336196082857, "lpips": 0.2749437093734741}, "tactile_left": {"psnr": 32.75137582994178, "ssim": 0.9570303171499394, "lpips": 0.14643973112106323}, "tactile_right": {"psnr": 38.09932164719787, "ssim": 0.9754305496113718, "lpips": 0.09090343862771988}}, {"video": {"psnr": 22.237340716987678, "ssim": 0.7497410543200036, "lpips": 0.23846466839313507}, "wrist_left": {"psnr": 15.014887562614728, "ssim": 0.6349103338198575, "lpips": 0.3936334252357483}, "wrist_right": {"psnr": 19.107533059947478, "ssim": 0.7006873828685272, "lpips": 0.31621962785720825}, "tactile_left": {"psnr": 32.399900951029935, "ssim": 0.9559822208410081, "lpips": 0.16412118077278137}, "tactile_right": {"psnr": 36.76246294226989, "ssim": 0.9701585226960986, "lpips": 0.1228179857134819}}, {"video": {"psnr": 22.887065928467983, "ssim": 0.7648352047177294, "lpips": 0.2359495759010315}, "wrist_left": {"psnr": 13.992933715645995, "ssim": 0.5964862158552485, "lpips": 0.3642231523990631}, "wrist_right": {"psnr": 16.525353843182092, "ssim": 0.699897532213002, "lpips": 0.3423251211643219}, "tactile_left": {"psnr": 33.25493951874275, "ssim": 0.9638323875813382, "lpips": 0.1482924520969391}, "tactile_right": {"psnr": 36.10771992958837, "ssim": 0.9693814204042546, "lpips": 0.1312251091003418}}, {"video": {"psnr": 23.04443205863074, "ssim": 0.7619106694448639, "lpips": 0.22188392281532288}, "wrist_left": {"psnr": 14.907678340623228, "ssim": 0.6322852169954156, "lpips": 0.3571951985359192}, "wrist_right": {"psnr": 16.50509586229733, "ssim": 0.6234625464414568, "lpips": 0.29920482635498047}, "tactile_left": {"psnr": 33.085776860211745, "ssim": 0.9613736297913837, "lpips": 0.1502576470375061}, "tactile_right": {"psnr": 35.80315239354973, "ssim": 0.9696392111398612, "lpips": 0.11978649348020554}}, {"video": {"psnr": 22.349448661119055, "ssim": 0.750351414710771, "lpips": 0.23643359541893005}, "wrist_left": {"psnr": 13.768446398978199, "ssim": 0.5944912851917123, "lpips": 0.3818334937095642}, "wrist_right": {"psnr": 15.14159324617988, "ssim": 0.590979135591138, "lpips": 0.36152541637420654}, "tactile_left": {"psnr": 33.258985895222224, "ssim": 0.9633339146549582, "lpips": 0.15960663557052612}, "tactile_right": {"psnr": 35.24726571487402, "ssim": 0.9697908010832326, "lpips": 0.11968488246202469}}, {"video": {"psnr": 22.455245029804143, "ssim": 0.7465150360514927, "lpips": 0.24269068241119385}, "wrist_left": {"psnr": 16.017658000853036, "ssim": 0.6153828136174437, "lpips": 0.3952692151069641}, "wrist_right": {"psnr": 16.281863372138233, "ssim": 0.6138359694035405, "lpips": 0.32313501834869385}, "tactile_left": {"psnr": 31.383695880680072, "ssim": 0.9520094857152345, "lpips": 0.2261655032634735}, "tactile_right": {"psnr": 34.16908267042046, "ssim": 0.9630743901685167, "lpips": 0.1472332775592804}}], "long_metrics": {"video": {"psnr": 24.073679747750877, "ssim": 0.7963533836212638, "lpips": 0.1923048307498296}, "wrist_left": {"psnr": 16.442022684279745, "ssim": 0.65808207997971, "lpips": 0.3087812940279643}, "wrist_right": {"psnr": 19.325175748567727, "ssim": 0.711721336136032, "lpips": 0.281198987364769}, "tactile_left": {"psnr": 33.06552518725696, "ssim": 0.9560916654749626, "lpips": 0.15398240635792415}, "tactile_right": {"psnr": 37.31532260145678, "ssim": 0.9717508980868997, "lpips": 0.1079019176463286}}}, {"id": "rope_e005_02", "episode": "rope_0911_episode_002_seg00.pt", "requested_episode": "rope_0911_episode_002_seg00.pt", "category": "release", "t_start": 75, "start_seconds": 5.0, "short_contact": [1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 0, 0], "future_transition_ticks": [11], "long_contact_fraction": 0.703125, "long_label": "release", "short_metrics": {"video": {"psnr": 25.604176609324327, "ssim": 0.8536972013242523, "lpips": 0.09234509617090225}, "wrist_left": {"psnr": 23.086076817953675, "ssim": 0.8453070637707636, "lpips": 0.09433192014694214}, "wrist_right": {"psnr": 25.690024345335335, "ssim": 0.8482985776550729, "lpips": 0.13875186443328857}, "tactile_left": {"psnr": 52.29809436240603, "ssim": 0.995497933746585, "lpips": 0.0025261156260967255}, "tactile_right": {"psnr": 42.04882992762575, "ssim": 0.9821132628367959, "lpips": 0.037750259041786194}}, "media": {"short": {"video": "media/rope_e005_02_short.mp4", "poster": "media/rope_e005_02_short.jpg"}, "long": {"video": "media/rope_e005_02_long.mp4", "poster": "media/rope_e005_02_long.jpg"}}, "force": {"source": "recorded_normal_force", "units": "N", "fps": 15, "left": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 4.726428508758545, 5.403749942779541, 5.403749942779541, 6.373636245727539, 6.519285678863525, 4.726428508758545, 4.726428508758545, 3.9167568683624268, 3.9167568683624268, 3.9167568683624268, 3.9167568683624268, 3.9167568683624268, 3.9167568683624268, 0.0, 0.0, 0.0, 0.0, 2.6312499046325684, 3.0568182468414307, 3.0568182468414307, 3.9167568683624268, 5.403749942779541, 5.486666679382324, 5.403749942779541, 4.726428508758545, 5.403749942779541, 6.519285678863525, 6.519285678863525, 6.373636245727539, 6.373636245727539, 6.519285678863525, 5.486666679382324, 5.397500038146973, 5.403749942779541, 5.403749942779541, 6.519285678863525, 6.373636245727539, 6.373636245727539, 6.373636245727539, 5.486666679382324, 4.726428508758545, 4.726428508758545, 3.9167568683624268, 3.9284892082214355, 4.726428508758545, 3.9167568683624268, 4.726428508758545, 3.9397337436676025, 3.1971428394317627, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 2.3248276710510254, 2.3248276710510254, 3.0568182468414307, 3.1971428394317627, 4.726428508758545, 5.397500038146973, 5.486666679382324, 0.7983333468437195, 0.0, 0.0, 0.0, 0.0, 0.7983333468437195, 0.5032042860984802, 3.0568182468414307, 5.486666679382324, 6.760714054107666, 7.230000019073486, 7.772306442260742, 7.130000114440918, 5.770726203918457, 3.9167568683624268, 1.5444424152374268, 0.0, 0.0, 0.0, 0.0, 0.0, 2.243333339691162, 3.0568182468414307, 4.726428508758545, 5.397500038146973, 5.403749942779541, 5.403749942779541, 4.852499961853027, 3.9167568683624268, 0.5090610980987549, 0.0], "right": [5.397500038146973, 5.397500038146973, 5.397500038146973, 5.486666679382324, 6.373636245727539, 6.519285678863525, 6.519285678863525, 6.519285678863525, 6.519285678863525, 6.373636245727539, 4.726428508758545, 0.4866666793823242, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.2742818295955658, 0.5600000023841858, 3.0568182468414307, 3.9167568683624268, 3.9167568683624268, 4.726428508758545, 4.852499961853027, 6.373636245727539, 5.403749942779541, 4.852499961853027, 3.9167568683624268, 3.9167568683624268, 3.9167568683624268, 4.726428508758545, 4.726428508758545, 0.1599999964237213, 0.0, 0.0, 0.0, 3.0568182468414307, 3.0568182468414307, 3.1971428394317627, 3.9167568683624268, 3.9167568683624268, 3.9167568683624268, 3.9167568683624268, 3.9167568683624268, 3.9167568683624268, 3.9167568683624268, 3.9167568683624268, 3.9167568683624268, 3.0568182468414307, 3.1971428394317627, 3.9167568683624268, 3.9167568683624268, 3.1971428394317627, 3.9167568683624268, 3.9167568683624268, 3.0568182468414307, 3.0568182468414307, 2.3248276710510254, 2.2478134632110596, 3.0568182468414307, 3.0568182468414307, 3.9167568683624268, 3.1971428394317627, 3.0568182468414307, 3.0568182468414307, 0.27666667103767395, 3.0568182468414307, 1.9444444179534912, 3.0568182468414307, 3.0568182468414307, 0.6064306497573853, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.7983333468437195, 0.6165210008621216, 1.9444444179534912, 2.3248276710510254, 2.6312499046325684, 0.7983333468437195, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.43685051798820496, 0.5600000023841858, 2.3248276710510254, 2.6312499046325684, 1.9444444179534912, 2.243333339691162, 0.7983333468437195, 0.4899098575115204, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.5508935451507568, 0.5600000023841858, 2.3248276710510254, 3.0568182468414307, 1.9444444179534912, 3.0568182468414307, 0.7983333468437195, 0.0, 0.0]}, "long_curve": [{"video": {"psnr": 25.604176609324327, "ssim": 0.8536972013242523, "lpips": 0.09234509617090225}, "wrist_left": {"psnr": 23.086076817953675, "ssim": 0.8453070637707636, "lpips": 0.09433192014694214}, "wrist_right": {"psnr": 25.690024345335335, "ssim": 0.8482985776550729, "lpips": 0.13875186443328857}, "tactile_left": {"psnr": 52.29809436240603, "ssim": 0.995497933746585, "lpips": 0.0025261156260967255}, "tactile_right": {"psnr": 42.04882992762575, "ssim": 0.9821132628367959, "lpips": 0.037750259041786194}}, {"video": {"psnr": 23.44338001281944, "ssim": 0.7873370808844057, "lpips": 0.15320757031440735}, "wrist_left": {"psnr": 17.680678388217498, "ssim": 0.7461635680308483, "lpips": 0.244617760181427}, "wrist_right": {"psnr": 23.70889708747161, "ssim": 0.8020934367353911, "lpips": 0.19574031233787537}, "tactile_left": {"psnr": 48.52962004393534, "ssim": 0.9923881411342116, "lpips": 0.007643444463610649}, "tactile_right": {"psnr": 43.36582841937731, "ssim": 0.9844114398935258, "lpips": 0.01956276409327984}}, {"video": {"psnr": 24.074678038765587, "ssim": 0.8076387362237107, "lpips": 0.144626647233963}, "wrist_left": {"psnr": 15.849536721746754, "ssim": 0.6810197363856104, "lpips": 0.3558216691017151}, "wrist_right": {"psnr": 21.16247490675784, "ssim": 0.7239667832729141, "lpips": 0.2408672571182251}, "tactile_left": {"psnr": 34.208146749522655, "ssim": 0.9636093855888703, "lpips": 0.11635110527276993}, "tactile_right": {"psnr": 37.92312541898197, "ssim": 0.9730658698854018, "lpips": 0.09388033300638199}}, {"video": {"psnr": 23.289090625922377, "ssim": 0.7966396165357849, "lpips": 0.17303451895713806}, "wrist_left": {"psnr": 15.563062876185159, "ssim": 0.6655910943361292, "lpips": 0.37496036291122437}, "wrist_right": {"psnr": 20.57418420329789, "ssim": 0.6713607170551807, "lpips": 0.29201430082321167}, "tactile_left": {"psnr": 34.364256478734795, "ssim": 0.9585662966693107, "lpips": 0.13150975108146667}, "tactile_right": {"psnr": 35.788064412887955, "ssim": 0.9632772554061049, "lpips": 0.14737123250961304}}, {"video": {"psnr": 22.500759315632163, "ssim": 0.7695298584794146, "lpips": 0.1938987523317337}, "wrist_left": {"psnr": 15.519702226712035, "ssim": 0.6742601324859865, "lpips": 0.3743324279785156}, "wrist_right": {"psnr": 20.322793926565843, "ssim": 0.7166496378786593, "lpips": 0.2987196445465088}, "tactile_left": {"psnr": 37.76424243456471, "ssim": 0.9754375929144292, "lpips": 0.07885615527629852}, "tactile_right": {"psnr": 38.065194317903426, "ssim": 0.9740638333011107, "lpips": 0.07859361916780472}}, {"video": {"psnr": 22.80675320458045, "ssim": 0.7723976759728097, "lpips": 0.1911720633506775}, "wrist_left": {"psnr": 16.11473618657642, "ssim": 0.6823970981664016, "lpips": 0.3502011001110077}, "wrist_right": {"psnr": 19.69519337186486, "ssim": 0.6947156732622106, "lpips": 0.294843852519989}, "tactile_left": {"psnr": 32.295229501818305, "ssim": 0.9490280568130245, "lpips": 0.18117588758468628}, "tactile_right": {"psnr": 35.67966840376735, "ssim": 0.9619367641434706, "lpips": 0.15124350786209106}}, {"video": {"psnr": 22.365663956781475, "ssim": 0.7555321660361005, "lpips": 0.24174299836158752}, "wrist_left": {"psnr": 15.717474342181925, "ssim": 0.7094974212874252, "lpips": 0.3073245882987976}, "wrist_right": {"psnr": 18.70654949184008, "ssim": 0.7246410483399497, "lpips": 0.3630274534225464}, "tactile_left": {"psnr": 32.38404319722887, "ssim": 0.9493220952167103, "lpips": 0.19605156779289246}, "tactile_right": {"psnr": 35.58176858770311, "ssim": 0.9629812688623371, "lpips": 0.14325949549674988}}, {"video": {"psnr": 22.19626133825305, "ssim": 0.7503253481404594, "lpips": 0.2539381980895996}, "wrist_left": {"psnr": 15.855289070184016, "ssim": 0.7137054200112651, "lpips": 0.3075324296951294}, "wrist_right": {"psnr": 18.904875460472564, "ssim": 0.7402240377834566, "lpips": 0.32219839096069336}, "tactile_left": {"psnr": 32.80515753764342, "ssim": 0.9529253537499386, "lpips": 0.18693307042121887}, "tactile_right": {"psnr": 36.0430514809219, "ssim": 0.9667371643551673, "lpips": 0.13586747646331787}}, {"video": {"psnr": 21.790175478245573, "ssim": 0.7431140070886184, "lpips": 0.2613406181335449}, "wrist_left": {"psnr": 14.96726935490749, "ssim": 0.6890023574203619, "lpips": 0.3268277645111084}, "wrist_right": {"psnr": 17.32386303696241, "ssim": 0.722405262189779, "lpips": 0.32976391911506653}, "tactile_left": {"psnr": 34.22768899630823, "ssim": 0.9610992170580849, "lpips": 0.16594739258289337}, "tactile_right": {"psnr": 35.724294785128336, "ssim": 0.967770344172107, "lpips": 0.1284024864435196}}, {"video": {"psnr": 21.226708452689977, "ssim": 0.7284716172532977, "lpips": 0.2701917588710785}, "wrist_left": {"psnr": 14.170657460505193, "ssim": 0.6119117892890575, "lpips": 0.3907721936702728}, "wrist_right": {"psnr": 21.386176937630495, "ssim": 0.7885621186186972, "lpips": 0.2848416268825531}, "tactile_left": {"psnr": 35.84661968117712, "ssim": 0.9698892096574094, "lpips": 0.1270219087600708}, "tactile_right": {"psnr": 35.5601392160189, "ssim": 0.9698054166721297, "lpips": 0.10629962384700775}}, {"video": {"psnr": 20.914691568069856, "ssim": 0.7204293465272029, "lpips": 0.26896587014198303}, "wrist_left": {"psnr": 12.564628047260522, "ssim": 0.5246917549129936, "lpips": 0.44013357162475586}, "wrist_right": {"psnr": 20.530417547596898, "ssim": 0.7691936031384095, "lpips": 0.3233214318752289}, "tactile_left": {"psnr": 33.646424722824506, "ssim": 0.9544516425862057, "lpips": 0.1840488314628601}, "tactile_right": {"psnr": 34.82163927546691, "ssim": 0.966988952836479, "lpips": 0.12951895594596863}}, {"video": {"psnr": 21.13637879799755, "ssim": 0.7216987119689204, "lpips": 0.28527218103408813}, "wrist_left": {"psnr": 13.026920823222369, "ssim": 0.5730636838005487, "lpips": 0.4203116297721863}, "wrist_right": {"psnr": 18.063251637130477, "ssim": 0.71938098559778, "lpips": 0.3434826135635376}, "tactile_left": {"psnr": 33.82450081394163, "ssim": 0.9605272200479155, "lpips": 0.18127283453941345}, "tactile_right": {"psnr": 34.58542227530599, "ssim": 0.9654116032883578, "lpips": 0.14528018236160278}}, {"video": {"psnr": 21.033433506084407, "ssim": 0.7230681121884512, "lpips": 0.2901124358177185}, "wrist_left": {"psnr": 13.046849765080148, "ssim": 0.5663785898815883, "lpips": 0.3903147876262665}, "wrist_right": {"psnr": 16.72759399811467, "ssim": 0.6908853875343919, "lpips": 0.35935866832733154}, "tactile_left": {"psnr": 31.572750830451163, "ssim": 0.9395118530559143, "lpips": 0.2647152245044708}, "tactile_right": {"psnr": 33.86125654567708, "ssim": 0.9599466713134139, "lpips": 0.17888842523097992}}, {"video": {"psnr": 21.50816101566901, "ssim": 0.720441667734198, "lpips": 0.28640246391296387}, "wrist_left": {"psnr": 13.095388766738287, "ssim": 0.5534540313819547, "lpips": 0.41051268577575684}, "wrist_right": {"psnr": 15.254103984416114, "ssim": 0.6736238769254889, "lpips": 0.3814481198787689}, "tactile_left": {"psnr": 33.4011131446143, "ssim": 0.9585334922002005, "lpips": 0.18689654767513275}, "tactile_right": {"psnr": 33.79314123089409, "ssim": 0.9611696113814826, "lpips": 0.17809361219406128}}, {"video": {"psnr": 21.329259072621557, "ssim": 0.715575993322174, "lpips": 0.2952999770641327}, "wrist_left": {"psnr": 14.05376667556177, "ssim": 0.5831848443681136, "lpips": 0.3533354103565216}, "wrist_right": {"psnr": 13.384306980598295, "ssim": 0.6259934455141808, "lpips": 0.39631015062332153}, "tactile_left": {"psnr": 32.77049844035071, "ssim": 0.9510553428134682, "lpips": 0.2160702347755432}, "tactile_right": {"psnr": 33.210764930998636, "ssim": 0.9576530789333129, "lpips": 0.20558762550354004}}], "long_metrics": {"video": {"psnr": 22.347971399563786, "ssim": 0.7577264759786534, "lpips": 0.2267700766523679}, "wrist_left": {"psnr": 15.354135834868885, "ssim": 0.6546419057019366, "lpips": 0.3427553534507751}, "wrist_right": {"psnr": 19.42898046107036, "ssim": 0.7274663061001042, "lpips": 0.3043126404285431}, "tactile_left": {"psnr": 35.99589246236812, "ssim": 0.962122855550152, "lpips": 0.14846800478796165}, "tactile_right": {"psnr": 36.40347928191058, "ssim": 0.9678221691520797, "lpips": 0.12530663994451363}}}, {"id": "rope_e005_03", "episode": "rope_0911_episode_002_seg00.pt", "requested_episode": "rope_0911_episode_002_seg00.pt", "category": "full", "t_start": 244, "start_seconds": 16.266666666666666, "short_contact": [1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1], "future_transition_ticks": [], "long_contact_fraction": 0.8984375, "long_label": "full", "short_metrics": {"video": {"psnr": 27.315676717023834, "ssim": 0.8876522475962875, "lpips": 0.07773694396018982}, "wrist_left": {"psnr": 23.24439518553856, "ssim": 0.8072736814516228, "lpips": 0.06770022213459015}, "wrist_right": {"psnr": 17.929676765217252, "ssim": 0.7856341529435372, "lpips": 0.26569414138793945}, "tactile_left": {"psnr": 42.175658596409676, "ssim": 0.9777333840167677, "lpips": 0.031010255217552185}, "tactile_right": {"psnr": 48.770886448402536, "ssim": 0.99387639837209, "lpips": 0.0056123253889381886}}, "media": {"short": {"video": "media/rope_e005_03_short.mp4", "poster": "media/rope_e005_03_short.jpg"}, "long": {"video": "media/rope_e005_03_long.mp4", "poster": "media/rope_e005_03_long.jpg"}}, "force": {"source": "recorded_normal_force", "units": "N", "fps": 15, "left": [4.726428508758545, 3.9167568683624268, 5.397500038146973, 4.819637775421143, 5.397500038146973, 5.397500038146973, 3.1971428394317627, 3.0568182468414307, 3.1971428394317627, 3.0568182468414307, 5.403749942779541, 5.397500038146973, 4.7560248374938965, 4.726428508758545, 4.726428508758545, 3.9167568683624268, 3.9167568683624268, 4.726428508758545, 5.397500038146973, 5.403749942779541, 5.403749942779541, 5.486666679382324, 5.486666679382324, 5.486666679382324, 5.486666679382324, 5.403749942779541, 5.486666679382324, 5.403749942779541, 5.398825168609619, 5.403749942779541, 5.403749942779541, 5.397500038146973, 5.397500038146973, 5.397500038146973, 5.403749942779541, 5.403749942779541, 4.726428508758545, 4.726428508758545, 3.9167568683624268, 3.1971428394317627, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 2.6312499046325684, 2.5918307304382324, 2.6312499046325684, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.9167568683624268, 3.9167568683624268, 3.9167568683624268, 3.9167568683624268, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 3.0568182468414307, 2.3248276710510254, 4.726428508758545, 4.852499961853027, 5.403749942779541, 5.403749942779541, 5.403749942779541, 5.403749942779541, 3.1971428394317627, 3.0568182468414307, 3.0568182468414307, 3.1971428394317627, 3.9167568683624268, 3.737365484237671, 3.9167568683624268, 3.0568182468414307, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "right": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.1052829772233963, 0.1599999964237213, 0.5600000023841858, 3.0568182468414307, 3.938593626022339, 4.726428508758545, 3.9201748371124268, 3.9167568683624268, 3.9167568683624268, 3.9167568683624268, 3.0568182468414307, 3.0568182468414307, 3.9167568683624268, 3.9167568683624268, 3.9297027587890625, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 2.3248276710510254, 2.3248276710510254, 3.0568182468414307, 2.3248276710510254, 2.3248276710510254, 3.9167568683624268, 3.1971428394317627, 3.0568182468414307, 1.0995910167694092, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 3.0568182468414307, 3.9167568683624268, 3.0568182468414307, 3.0568182468414307, 3.9167568683624268, 3.9167568683624268, 3.9167568683624268, 3.9167568683624268, 3.9167568683624268, 3.9167568683624268, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.9167568683624268, 3.9167568683624268, 3.9167568683624268, 3.9167568683624268, 3.9167568683624268, 4.726428508758545, 4.726428508758545, 4.726428508758545, 3.9167568683624268, 3.9167568683624268, 2.3248276710510254, 0.7983333468437195, 0.6965363025665283, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 3.9167568683624268, 4.726428508758545, 5.486666679382324, 5.486666679382324, 5.486666679382324, 5.43625020980835, 5.397500038146973, 5.397500038146973, 5.397500038146973, 4.726428508758545, 4.726428508758545, 3.9167568683624268, 0.8890356421470642, 0.0, 0.0, 0.4000000059604645, 3.0568182468414307, 4.726428508758545, 4.726428508758545, 5.403749942779541, 5.486666679382324, 5.486666679382324, 5.405907154083252, 5.403749942779541, 5.486666679382324, 6.373636245727539, 5.403749942779541, 4.726428508758545, 5.239090442657471, 5.486666679382324, 6.519285678863525, 5.424369812011719, 5.486666679382324, 6.519285678863525, 6.760714054107666, 5.486666679382324, 5.486666679382324, 5.397500038146973, 3.9167568683624268, 0.0, 0.0]}, "long_curve": [{"video": {"psnr": 27.315676717023834, "ssim": 0.8876522475962875, "lpips": 0.07773694396018982}, "wrist_left": {"psnr": 23.24439518553856, "ssim": 0.8072736814516228, "lpips": 0.06770022213459015}, "wrist_right": {"psnr": 17.929676765217252, "ssim": 0.7856341529435372, "lpips": 0.26569414138793945}, "tactile_left": {"psnr": 42.175658596409676, "ssim": 0.9777333840167677, "lpips": 0.031010255217552185}, "tactile_right": {"psnr": 48.770886448402536, "ssim": 0.99387639837209, "lpips": 0.0056123253889381886}}, {"video": {"psnr": 23.67804074790532, "ssim": 0.8078729699234024, "lpips": 0.1692284196615219}, "wrist_left": {"psnr": 19.39228936138122, "ssim": 0.6837090304635248, "lpips": 0.15037421882152557}, "wrist_right": {"psnr": 17.511526578686475, "ssim": 0.6737976937927128, "lpips": 0.34586966037750244}, "tactile_left": {"psnr": 36.109316958682285, "ssim": 0.9624281667139915, "lpips": 0.09631265699863434}, "tactile_right": {"psnr": 37.32775530815561, "ssim": 0.9730956301081721, "lpips": 0.11043917387723923}}, {"video": {"psnr": 22.837573452330883, "ssim": 0.7782199320770358, "lpips": 0.23986265063285828}, "wrist_left": {"psnr": 15.978463262343405, "ssim": 0.5654315386650244, "lpips": 0.27057158946990967}, "wrist_right": {"psnr": 15.578379692077265, "ssim": 0.6477153921910195, "lpips": 0.3458508551120758}, "tactile_left": {"psnr": 32.83992103288163, "ssim": 0.9491070797774597, "lpips": 0.18767395615577698}, "tactile_right": {"psnr": 37.965471236405705, "ssim": 0.972901451683287, "lpips": 0.1091746985912323}}, {"video": {"psnr": 22.59034516651652, "ssim": 0.7670203454784065, "lpips": 0.27049070596694946}, "wrist_left": {"psnr": 14.852942178258404, "ssim": 0.5433254600456469, "lpips": 0.30170124769210815}, "wrist_right": {"psnr": 14.744614136919205, "ssim": 0.6290625506291257, "lpips": 0.38800427317619324}, "tactile_left": {"psnr": 33.720675712382345, "ssim": 0.9541911740979083, "lpips": 0.1584644764661789}, "tactile_right": {"psnr": 39.114410968575946, "ssim": 0.9751706132678564, "lpips": 0.08271027356386185}}, {"video": {"psnr": 22.375253357267418, "ssim": 0.7645744986782623, "lpips": 0.26343122124671936}, "wrist_left": {"psnr": 14.653190849334518, "ssim": 0.5406734692394278, "lpips": 0.3139602243900299}, "wrist_right": {"psnr": 14.132412438029881, "ssim": 0.6422955780288866, "lpips": 0.37259578704833984}, "tactile_left": {"psnr": 36.26492187554765, "ssim": 0.9666725876637989, "lpips": 0.104921355843544}, "tactile_right": {"psnr": 42.92072410971198, "ssim": 0.9816496863378594, "lpips": 0.05045003443956375}}, {"video": {"psnr": 22.030902561725767, "ssim": 0.7551383797169102, "lpips": 0.24037055671215057}, "wrist_left": {"psnr": 14.242016295811483, "ssim": 0.5366382197219838, "lpips": 0.3274875283241272}, "wrist_right": {"psnr": 9.326686614420021, "ssim": 0.3195289496910626, "lpips": 0.5974268913269043}, "tactile_left": {"psnr": 37.2063367405528, "ssim": 0.9694731495159963, "lpips": 0.08285696804523468}, "tactile_right": {"psnr": 38.49906300901906, "ssim": 0.9716955946288724, "lpips": 0.12442301958799362}}, {"video": {"psnr": 21.750403144474923, "ssim": 0.732077703415666, "lpips": 0.23869414627552032}, "wrist_left": {"psnr": 15.227857983157808, "ssim": 0.5962677669674039, "lpips": 0.34371882677078247}, "wrist_right": {"psnr": 10.755405097015656, "ssim": 0.4499804640103417, "lpips": 0.4735320806503296}, "tactile_left": {"psnr": 39.102289354407, "ssim": 0.9749573820646624, "lpips": 0.07186481356620789}, "tactile_right": {"psnr": 38.3325611772774, "ssim": 0.9721628650925106, "lpips": 0.10961241275072098}}, {"video": {"psnr": 21.54680184709001, "ssim": 0.7227208558404734, "lpips": 0.24082326889038086}, "wrist_left": {"psnr": 14.763649140210024, "ssim": 0.6092327149472262, "lpips": 0.28823667764663696}, "wrist_right": {"psnr": 11.86655355171129, "ssim": 0.5134319578109454, "lpips": 0.4110822081565857}, "tactile_left": {"psnr": 32.49286126877659, "ssim": 0.9517568008641881, "lpips": 0.16537097096443176}, "tactile_right": {"psnr": 37.82471367851698, "ssim": 0.9686502421129475, "lpips": 0.13503727316856384}}, {"video": {"psnr": 21.237547605684, "ssim": 0.7175528305711261, "lpips": 0.24782589077949524}, "wrist_left": {"psnr": 14.250046498016998, "ssim": 0.6086395819594328, "lpips": 0.306857705116272}, "wrist_right": {"psnr": 11.513140517463459, "ssim": 0.5085261282623761, "lpips": 0.42844530940055847}, "tactile_left": {"psnr": 32.44153055559464, "ssim": 0.9552408086107129, "lpips": 0.1458616852760315}, "tactile_right": {"psnr": 37.88883958615725, "ssim": 0.9717801901768748, "lpips": 0.11522204428911209}}, {"video": {"psnr": 21.528413465697433, "ssim": 0.729889797602867, "lpips": 0.2530421316623688}, "wrist_left": {"psnr": 15.062548109425538, "ssim": 0.5680792747479906, "lpips": 0.38036394119262695}, "wrist_right": {"psnr": 14.442548022461255, "ssim": 0.5997075823705593, "lpips": 0.39300453662872314}, "tactile_left": {"psnr": 37.56589969922588, "ssim": 0.9707060447250779, "lpips": 0.0948784276843071}, "tactile_right": {"psnr": 38.55656301924724, "ssim": 0.9744505624307304, "lpips": 0.09122389554977417}}, {"video": {"psnr": 21.366910434165586, "ssim": 0.726448156222737, "lpips": 0.2505202293395996}, "wrist_left": {"psnr": 14.359164918325256, "ssim": 0.48926955381774373, "lpips": 0.39847370982170105}, "wrist_right": {"psnr": 16.911405335131963, "ssim": 0.5765514560011373, "lpips": 0.3445814251899719}, "tactile_left": {"psnr": 37.20031696229961, "ssim": 0.9691198992079537, "lpips": 0.10490989685058594}, "tactile_right": {"psnr": 33.94128014426042, "ssim": 0.956359599240435, "lpips": 0.22233738005161285}}, {"video": {"psnr": 21.33532372856439, "ssim": 0.7184384691858132, "lpips": 0.26195746660232544}, "wrist_left": {"psnr": 14.083051851050506, "ssim": 0.47888047821595414, "lpips": 0.39779388904571533}, "wrist_right": {"psnr": 16.58164477933463, "ssim": 0.5921751563755403, "lpips": 0.364825963973999}, "tactile_left": {"psnr": 36.881981007600984, "ssim": 0.9674258342542115, "lpips": 0.12401587516069412}, "tactile_right": {"psnr": 35.639773404162256, "ssim": 0.9670471636275175, "lpips": 0.14976619184017181}}, {"video": {"psnr": 21.342824243508748, "ssim": 0.708753976752909, "lpips": 0.2700622081756592}, "wrist_left": {"psnr": 13.74275969215269, "ssim": 0.5117763219380524, "lpips": 0.3929021656513214}, "wrist_right": {"psnr": 16.701516300419538, "ssim": 0.58592602024756, "lpips": 0.33300623297691345}, "tactile_left": {"psnr": 36.26535726725115, "ssim": 0.9655211504894308, "lpips": 0.1402888298034668}, "tactile_right": {"psnr": 32.813952333939326, "ssim": 0.9503880920975702, "lpips": 0.2328443080186844}}, {"video": {"psnr": 21.24793082798838, "ssim": 0.6993583116773416, "lpips": 0.2815842926502228}, "wrist_left": {"psnr": 13.738298901119034, "ssim": 0.5513572281450606, "lpips": 0.4009847044944763}, "wrist_right": {"psnr": 16.444224638926407, "ssim": 0.5638000219514686, "lpips": 0.3740919232368469}, "tactile_left": {"psnr": 35.68084502374206, "ssim": 0.9632382592414327, "lpips": 0.15799017250537872}, "tactile_right": {"psnr": 33.16969446353906, "ssim": 0.9530103748180276, "lpips": 0.21055945754051208}}, {"video": {"psnr": 21.50438689131843, "ssim": 0.7108120645027773, "lpips": 0.27076461911201477}, "wrist_left": {"psnr": 14.721535592608497, "ssim": 0.5992625017474106, "lpips": 0.3824229836463928}, "wrist_right": {"psnr": 14.78636267911111, "ssim": 0.5848705907861026, "lpips": 0.43908625841140747}, "tactile_left": {"psnr": 35.05313570601891, "ssim": 0.9612004774913884, "lpips": 0.1722210943698883}, "tactile_right": {"psnr": 33.8803421043167, "ssim": 0.9554172154817142, "lpips": 0.20319591462612152}}], "long_metrics": {"video": {"psnr": 22.245888946084108, "ssim": 0.748435369282801, "lpips": 0.2384263167778651}, "wrist_left": {"psnr": 15.487480654582264, "ssim": 0.579321121471567, "lpips": 0.31490330894788104}, "wrist_right": {"psnr": 14.615073143128361, "ssim": 0.5782002463394917, "lpips": 0.3918065031369527}, "tactile_left": {"psnr": 36.06673651742488, "ssim": 0.963918146582332, "lpips": 0.12257609566052755}, "tactile_right": {"psnr": 37.776402066112496, "ssim": 0.9691770452984311, "lpips": 0.13017389355227352}}}, {"id": "rope_e005_04", "episode": "rope_0911_episode_002_seg01.pt", "requested_episode": "rope_0911_episode_002_seg01.pt", "category": "onset", "t_start": 616, "start_seconds": 41.06666666666667, "short_contact": [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 1], "future_transition_ticks": [11], "long_contact_fraction": 0.5625, "long_label": "onset", "short_metrics": {"video": {"psnr": 25.375497983964685, "ssim": 0.8396489501030844, "lpips": 0.12210997939109802}, "wrist_left": {"psnr": 17.210036576834266, "ssim": 0.7167240781286695, "lpips": 0.20857185125350952}, "wrist_right": {"psnr": 17.844716302713618, "ssim": 0.7007286548748981, "lpips": 0.23980554938316345}, "tactile_left": {"psnr": 50.54384959661466, "ssim": 0.9949753297369011, "lpips": 0.003269883105531335}, "tactile_right": {"psnr": 39.491111570851324, "ssim": 0.9863381526019976, "lpips": 0.0586191788315773}}, "media": {"short": {"video": "media/rope_e005_04_short.mp4", "poster": "media/rope_e005_04_short.jpg"}, "long": {"video": "media/rope_e005_04_long.mp4", "poster": "media/rope_e005_04_long.jpg"}}, "force": {"source": "recorded_normal_force", "units": "N", "fps": 15, "left": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "right": [0.09743037819862366, 0.09045028686523438, 0.09423117339611053, 0.09452200680971146, 0.09713953733444214, 0.0994662344455719, 0.10004790872335434, 0.09306782484054565, 0.09743037819862366, 0.10906385630369186, 0.09830288589000702, 1.9444444179534912, 3.0814130306243896, 3.9167568683624268, 4.852499961853027, 5.403749942779541, 6.373636245727539, 4.852499961853027, 3.9167568683624268, 3.9167568683624268, 2.3248276710510254, 0.10702799260616302, 0.10731883347034454, 0.09830288589000702, 0.1038287878036499, 0.10208376497030258, 0.09277698397636414, 0.0907411277294159, 0.09335865825414658, 0.09335865825414658, 0.10411962866783142, 3.9167568683624268, 6.519285678863525, 6.760714054107666, 6.760714054107666, 6.760714054107666, 6.760714054107666, 6.760714054107666, 6.519285678863525, 0.7191400527954102, 0.10760966688394547, 0.11429891735315323, 0.10702799260616302, 0.09859372675418854, 0.0994662344455719, 0.09452200680971146, 2.3248276710510254, 3.0568182468414307, 3.9167568683624268, 4.726428508758545, 4.726428508758545, 2.3248276710510254, 0.10179293155670166, 0.0936494991183281, 0.10121125727891922, 0.10150209069252014, 0.09888456016778946, 0.0951036810874939, 0.10121125727891922, 0.10179293155670166, 0.1599999964237213, 0.1744210571050644, 0.0907411277294159, 0.09772121161222458, 0.09248615056276321, 0.09539452195167542, 3.9167568683624268, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 0.7983333468437195, 0.7983333468437195, 1.1659514904022217, 0.5310092568397522, 0.5160641670227051, 0.5600000023841858, 0.7983333468437195, 0.09306782484054565, 0.09277698397636414, 0.0907411277294159, 0.09888456016778946, 0.09713953733444214, 0.0980120524764061, 0.08928694576025009, 0.09132280200719833, 0.09394033253192902, 1.9444444179534912, 3.9167568683624268, 4.726428508758545, 5.397500038146973, 5.486666679382324, 5.486666679382324, 5.403749942779541, 5.397500038146973, 5.486666679382324, 6.519285678863525, 6.760714054107666, 2.3248276710510254, 6.519285678863525, 0.7983333468437195, 0.13349415361881256, 0.11284473538398743, 0.10760966688394547, 0.11197222769260406, 0.10324711352586746, 0.11546226590871811, 5.397500038146973, 5.486666679382324, 6.760714054107666, 6.760714054107666, 6.760714054107666, 7.216741561889648, 7.349999904632568, 7.130000114440918, 6.760714054107666, 6.760714054107666, 6.519285678863525, 5.403749942779541, 4.726428508758545, 4.726428508758545, 4.726428508758545, 4.726428508758545, 3.9167568683624268, 3.1971428394317627, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307]}, "long_curve": [{"video": {"psnr": 25.375497983964685, "ssim": 0.8396489501030844, "lpips": 0.12210997939109802}, "wrist_left": {"psnr": 17.210036576834266, "ssim": 0.7167240781286695, "lpips": 0.20857185125350952}, "wrist_right": {"psnr": 17.844716302713618, "ssim": 0.7007286548748981, "lpips": 0.23980554938316345}, "tactile_left": {"psnr": 50.54384959661466, "ssim": 0.9949753297369011, "lpips": 0.003269883105531335}, "tactile_right": {"psnr": 39.491111570851324, "ssim": 0.9863381526019976, "lpips": 0.0586191788315773}}, {"video": {"psnr": 21.742190030671797, "ssim": 0.7360977402992772, "lpips": 0.24483226239681244}, "wrist_left": {"psnr": 14.937649237196812, "ssim": 0.6182494443903777, "lpips": 0.30848199129104614}, "wrist_right": {"psnr": 16.264823240144658, "ssim": 0.6716347908714355, "lpips": 0.31078287959098816}, "tactile_left": {"psnr": 48.231403343360675, "ssim": 0.9918931128969073, "lpips": 0.009839864447712898}, "tactile_right": {"psnr": 37.77515852695195, "ssim": 0.9763572937580304, "lpips": 0.09527149796485901}}, {"video": {"psnr": 22.024011515370525, "ssim": 0.747574784319774, "lpips": 0.2538203001022339}, "wrist_left": {"psnr": 15.232397515673457, "ssim": 0.6282345572871997, "lpips": 0.2953721880912781}, "wrist_right": {"psnr": 18.436425590908538, "ssim": 0.7562513380121855, "lpips": 0.2956794500350952}, "tactile_left": {"psnr": 46.91557056656407, "ssim": 0.9889495819777103, "lpips": 0.018406763672828674}, "tactile_right": {"psnr": 43.01328196516326, "ssim": 0.9832661207759192, "lpips": 0.03814897686243057}}, {"video": {"psnr": 22.43893745844249, "ssim": 0.7721325613969188, "lpips": 0.21904924511909485}, "wrist_left": {"psnr": 15.246162153360949, "ssim": 0.6493297464751735, "lpips": 0.2473142296075821}, "wrist_right": {"psnr": 15.384364666068684, "ssim": 0.6696921500336886, "lpips": 0.39564111828804016}, "tactile_left": {"psnr": 45.32514220860471, "ssim": 0.9863902426602129, "lpips": 0.02856837585568428}, "tactile_right": {"psnr": 34.3620868745182, "ssim": 0.9575856071696838, "lpips": 0.16211789846420288}}, {"video": {"psnr": 21.86528434317288, "ssim": 0.7481753691326855, "lpips": 0.2842193841934204}, "wrist_left": {"psnr": 14.939347449980954, "ssim": 0.6535360988172856, "lpips": 0.266242653131485}, "wrist_right": {"psnr": 16.49326298399367, "ssim": 0.6876761496078656, "lpips": 0.3441702723503113}, "tactile_left": {"psnr": 44.34486098486441, "ssim": 0.9845154821266798, "lpips": 0.03826792910695076}, "tactile_right": {"psnr": 42.28644868832667, "ssim": 0.9808117729597898, "lpips": 0.054866671562194824}}, {"video": {"psnr": 22.142670489698602, "ssim": 0.7397837018602071, "lpips": 0.2823738157749176}, "wrist_left": {"psnr": 16.423198089944545, "ssim": 0.6908451620735638, "lpips": 0.23050588369369507}, "wrist_right": {"psnr": 15.665943484296584, "ssim": 0.6784521951965096, "lpips": 0.36981046199798584}, "tactile_left": {"psnr": 42.88320946497943, "ssim": 0.982510136171834, "lpips": 0.05066657066345215}, "tactile_right": {"psnr": 40.324386028919896, "ssim": 0.9797018335562389, "lpips": 0.06777191162109375}}, {"video": {"psnr": 22.097036679926806, "ssim": 0.7676432365229348, "lpips": 0.2895028591156006}, "wrist_left": {"psnr": 17.02202000697926, "ssim": 0.725963110740131, "lpips": 0.28572291135787964}, "wrist_right": {"psnr": 16.43987908084866, "ssim": 0.6378814474106416, "lpips": 0.4078577160835266}, "tactile_left": {"psnr": 42.09354029002967, "ssim": 0.9804071481038221, "lpips": 0.06765162944793701}, "tactile_right": {"psnr": 41.81238915198377, "ssim": 0.9810169851882573, "lpips": 0.05726567655801773}}, {"video": {"psnr": 21.539562727049155, "ssim": 0.7545647327417269, "lpips": 0.3120071291923523}, "wrist_left": {"psnr": 15.290061903371283, "ssim": 0.6688057353687225, "lpips": 0.2894080877304077}, "wrist_right": {"psnr": 15.804625779465265, "ssim": 0.6379573224839874, "lpips": 0.4342614710330963}, "tactile_left": {"psnr": 40.95781456573345, "ssim": 0.9785183499010428, "lpips": 0.08555860817432404}, "tactile_right": {"psnr": 39.533726629019185, "ssim": 0.9769553949310632, "lpips": 0.09237612038850784}}, {"video": {"psnr": 20.560675989920757, "ssim": 0.7313672587512905, "lpips": 0.35857024788856506}, "wrist_left": {"psnr": 16.384321364233408, "ssim": 0.676376297384548, "lpips": 0.28963029384613037}, "wrist_right": {"psnr": 15.802915107119226, "ssim": 0.6516282931351431, "lpips": 0.3895561993122101}, "tactile_left": {"psnr": 40.33963407315923, "ssim": 0.9759050775892948, "lpips": 0.09399822354316711}, "tactile_right": {"psnr": 40.33009697183607, "ssim": 0.976343194459766, "lpips": 0.08366856724023819}}, {"video": {"psnr": 20.719559867022646, "ssim": 0.6997138521978193, "lpips": 0.31784218549728394}, "wrist_left": {"psnr": 13.852066082902512, "ssim": 0.6099259046349514, "lpips": 0.31925463676452637}, "wrist_right": {"psnr": 14.364260890018318, "ssim": 0.6977213269738751, "lpips": 0.3557804822921753}, "tactile_left": {"psnr": 39.4895003094165, "ssim": 0.9728864567571406, "lpips": 0.11024035513401031}, "tactile_right": {"psnr": 39.31008496890159, "ssim": 0.9738032762409304, "lpips": 0.10922780632972717}}, {"video": {"psnr": 20.575825171411964, "ssim": 0.6906100308479657, "lpips": 0.33191585540771484}, "wrist_left": {"psnr": 14.203019023897525, "ssim": 0.5827011266570933, "lpips": 0.3212926387786865}, "wrist_right": {"psnr": 13.217171156151743, "ssim": 0.60386530749726, "lpips": 0.4719191789627075}, "tactile_left": {"psnr": 38.65907876843042, "ssim": 0.970877879967539, "lpips": 0.1261444240808487}, "tactile_right": {"psnr": 34.26123434597435, "ssim": 0.9543995571146034, "lpips": 0.20851007103919983}}, {"video": {"psnr": 20.336334425302365, "ssim": 0.7099281324766018, "lpips": 0.36414310336112976}, "wrist_left": {"psnr": 14.110301136796583, "ssim": 0.5931304009738338, "lpips": 0.33942174911499023}, "wrist_right": {"psnr": 14.538937336900407, "ssim": 0.6893224786857901, "lpips": 0.36497437953948975}, "tactile_left": {"psnr": 38.0391559381717, "ssim": 0.9686006170712594, "lpips": 0.1408749520778656}, "tactile_right": {"psnr": 37.08531780537752, "ssim": 0.9675324275032937, "lpips": 0.14515088498592377}}, {"video": {"psnr": 20.546578011147254, "ssim": 0.7172588695012179, "lpips": 0.3615853190422058}, "wrist_left": {"psnr": 12.336899554190703, "ssim": 0.49595727562243075, "lpips": 0.48238515853881836}, "wrist_right": {"psnr": 14.406777621021439, "ssim": 0.6532215055225182, "lpips": 0.4115244150161743}, "tactile_left": {"psnr": 37.448140503288684, "ssim": 0.9676928353479038, "lpips": 0.14450126886367798}, "tactile_right": {"psnr": 35.44275824473812, "ssim": 0.956296063304646, "lpips": 0.1935029774904251}}, {"video": {"psnr": 20.377724003116157, "ssim": 0.7014493768874636, "lpips": 0.36482560634613037}, "wrist_left": {"psnr": 11.890445172706885, "ssim": 0.4862664553824181, "lpips": 0.4972653388977051}, "wrist_right": {"psnr": 14.589384794977247, "ssim": 0.6301888786297836, "lpips": 0.39069437980651855}, "tactile_left": {"psnr": 37.18135660428391, "ssim": 0.9677078670774544, "lpips": 0.14323914051055908}, "tactile_right": {"psnr": 33.984093175187205, "ssim": 0.9455271521730555, "lpips": 0.2318013310432434}}, {"video": {"psnr": 20.21108845838842, "ssim": 0.6797296096753234, "lpips": 0.39578258991241455}, "wrist_left": {"psnr": 12.27096212488876, "ssim": 0.48675775285753975, "lpips": 0.49553143978118896}, "wrist_right": {"psnr": 14.21939050400741, "ssim": 0.6181137975252067, "lpips": 0.4335287809371948}, "tactile_left": {"psnr": 36.585584765205084, "ssim": 0.9657302169023656, "lpips": 0.1556922197341919}, "tactile_right": {"psnr": 34.152183567296014, "ssim": 0.9502413342911393, "lpips": 0.21269364655017853}}], "long_metrics": {"video": {"psnr": 21.5035318103071, "ssim": 0.7357118804476194, "lpips": 0.3001719921827316}, "wrist_left": {"psnr": 14.75659249286386, "ssim": 0.6188535431195958, "lpips": 0.3250934034585953}, "wrist_right": {"psnr": 15.564858569242364, "ssim": 0.6656223757640525, "lpips": 0.3743991156419118}, "tactile_left": {"psnr": 41.93585613218044, "ssim": 0.9785040222858712, "lpips": 0.08112801389458278}, "tactile_right": {"psnr": 38.21095723433634, "ssim": 0.9697450777352277, "lpips": 0.120732881128788}}}, {"id": "rope_e005_05", "episode": "rope_0911_episode_002_seg01.pt", "requested_episode": "rope_0911_episode_002_seg01.pt", "category": "release", "t_start": 372, "start_seconds": 24.8, "short_contact": [1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 0, 0], "future_transition_ticks": [11], "long_contact_fraction": 0.8046875, "long_label": "release", "short_metrics": {"video": {"psnr": 23.99703512615755, "ssim": 0.818989638309846, "lpips": 0.13122236728668213}, "wrist_left": {"psnr": 16.51474328951477, "ssim": 0.6942180669316699, "lpips": 0.27338093519210815}, "wrist_right": {"psnr": 21.147156975355053, "ssim": 0.7877988289916955, "lpips": 0.22895048558712006}, "tactile_left": {"psnr": 40.566747549323665, "ssim": 0.9820099946889955, "lpips": 0.03320099785923958}, "tactile_right": {"psnr": 44.109756661634535, "ssim": 0.9855374440224273, "lpips": 0.025305794551968575}}, "media": {"short": {"video": "media/rope_e005_05_short.mp4", "poster": "media/rope_e005_05_short.jpg"}, "long": {"video": "media/rope_e005_05_long.mp4", "poster": "media/rope_e005_05_long.jpg"}}, "force": {"source": "recorded_normal_force", "units": "N", "fps": 15, "left": [6.519285678863525, 6.519285678863525, 6.760714054107666, 6.519285678863525, 6.760714054107666, 6.760714054107666, 6.519285678863525, 6.373636245727539, 5.403749942779541, 0.07926411181688309, 3.1971428394317627, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 4.726428508758545, 4.852499961853027, 5.403749942779541, 6.519285678863525, 6.519285678863525, 6.519285678863525, 7.130000114440918, 7.130000114440918, 4.726428508758545, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 2.6312499046325684, 1.9444444179534912, 3.0568182468414307, 4.726428508758545, 3.0568182468414307, 0.0, 0.0, 0.0, 0.0, 0.0, 3.1971428394317627, 0.0, 0.0, 0.0, 0.0, 3.0568182468414307, 3.9167568683624268, 5.397500038146973, 4.852499961853027, 5.403749942779541, 5.403749942779541, 5.403749942779541, 5.403749942779541, 5.486666679382324, 6.373636245727539, 6.519285678863525, 6.760714054107666, 6.760714054107666, 6.760714054107666, 6.760714054107666, 1.9444444179534912, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.5376956462860107, 3.0568182468414307, 4.726428508758545, 5.486666679382324, 5.486666679382324, 6.760714054107666, 6.760714054107666, 6.760714054107666, 7.230000019073486, 7.130000114440918, 7.488461494445801, 6.760714054107666, 6.519285678863525, 5.486666679382324, 5.397500038146973, 4.726428508758545, 3.9167568683624268, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.04871440306305885, 1.9444444179534912, 2.3248276710510254, 3.0568182468414307, 3.0568182468414307, 4.726428508758545, 4.726428508758545, 4.852499961853027, 4.726428508758545, 5.486666679382324, 5.486666679382324, 5.486666679382324, 5.486666679382324, 5.486666679382324, 5.486666679382324, 5.486666679382324, 6.519285678863525, 6.373636245727539, 5.397500038146973, 4.726428508758545], "right": [0.12913160026073456, 0.1297132819890976, 0.13145829737186432, 2.3248276710510254, 3.0568182468414307, 3.9167568683624268, 4.852499961853027, 4.852499961853027, 5.397500038146973, 4.726428508758545, 0.13814754784107208, 0.13814754784107208, 0.12098816782236099, 0.1282590925693512, 0.13174913823604584, 0.13000410795211792, 4.726428508758545, 4.726428508758545, 5.397500038146973, 5.397500038146973, 5.402092456817627, 5.397500038146973, 6.519285678863525, 6.760714054107666, 6.760714054107666, 5.486666679382324, 0.5047527551651001, 0.5047527551651001, 0.1297132819890976, 0.12302403151988983, 0.11982481926679611, 0.11837063729763031, 3.0568182468414307, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 3.0568182468414307, 0.13436667621135712, 0.11604394018650055, 0.11604394018650055, 0.11226306110620499, 0.12854993343353271, 2.3248276710510254, 2.3248276710510254, 0.10935468971729279, 0.12505988776683807, 0.1326216459274292, 2.3248276710510254, 3.9167568683624268, 4.726428508758545, 4.852499961853027, 4.726428508758545, 4.726428508758545, 5.486666679382324, 5.486666679382324, 6.373636245727539, 6.373636245727539, 5.486666679382324, 6.373636245727539, 6.760714054107666, 6.760714054107666, 6.760714054107666, 5.397500038146973, 0.1599999964237213, 0.1599603146314621, 0.14221926033496857, 0.14367344975471497, 0.14338260889053345, 0.13000410795211792, 0.13145829737186432, 0.1599999964237213, 0.5408617854118347, 0.7983333468437195, 1.9444444179534912, 2.3248276710510254, 2.3248276710510254, 1.6513943672180176, 2.244580030441284, 2.3248276710510254, 3.0568182468414307, 3.9167568683624268, 3.9167568683624268, 5.486666679382324, 6.373636245727539, 5.486666679382324, 4.726428508758545, 3.9167568683624268, 3.0568182468414307, 0.5600000023841858, 0.12098816782236099, 0.11924314498901367, 0.12186068296432495, 0.12884077429771423, 0.11895231157541275, 3.0568182468414307, 3.0568182468414307, 4.726428508758545, 5.486666679382324, 6.373636245727539, 5.403749942779541, 5.397500038146973, 5.397500038146973, 5.397500038146973, 5.417957305908203, 5.397500038146973, 3.9167568683624268, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 0.27666667103767395, 0.11517143249511719, 0.11429891735315323, 0.11778896301984787, 0.10499213635921478, 0.11168138682842255, 0.10848218202590942, 0.11546226590871811, 0.11168138682842255, 0.10790050774812698, 0.10731883347034454, 0.40809154510498047, 3.0568182468414307, 3.9258837699890137, 5.397500038146973, 6.760714054107666, 6.760714054107666, 7.230000019073486]}, "long_curve": [{"video": {"psnr": 23.99703512615755, "ssim": 0.818989638309846, "lpips": 0.13122236728668213}, "wrist_left": {"psnr": 16.51474328951477, "ssim": 0.6942180669316699, "lpips": 0.27338093519210815}, "wrist_right": {"psnr": 21.147156975355053, "ssim": 0.7877988289916955, "lpips": 0.22895048558712006}, "tactile_left": {"psnr": 40.566747549323665, "ssim": 0.9820099946889955, "lpips": 0.03320099785923958}, "tactile_right": {"psnr": 44.109756661634535, "ssim": 0.9855374440224273, "lpips": 0.025305794551968575}}, {"video": {"psnr": 22.262304689319876, "ssim": 0.7777592082642887, "lpips": 0.15727490186691284}, "wrist_left": {"psnr": 16.2036806596616, "ssim": 0.6460615555614218, "lpips": 0.28025713562965393}, "wrist_right": {"psnr": 17.437490462708375, "ssim": 0.6850048144501459, "lpips": 0.3401202857494354}, "tactile_left": {"psnr": 32.04117896868267, "ssim": 0.9587106302132763, "lpips": 0.11455230414867401}, "tactile_right": {"psnr": 33.37799990166573, "ssim": 0.9546888008829255, "lpips": 0.1812456250190735}}, {"video": {"psnr": 22.143871075566942, "ssim": 0.7737546424697588, "lpips": 0.19718940556049347}, "wrist_left": {"psnr": 15.600687711168534, "ssim": 0.6364554964433422, "lpips": 0.31877559423446655}, "wrist_right": {"psnr": 16.56681185442249, "ssim": 0.685248826725212, "lpips": 0.3505229353904724}, "tactile_left": {"psnr": 33.71437661661939, "ssim": 0.9681749101356724, "lpips": 0.08503693342208862}, "tactile_right": {"psnr": 37.957006753602194, "ssim": 0.9753044327837146, "lpips": 0.08020254224538803}}, {"video": {"psnr": 22.983632194035177, "ssim": 0.7721169837310347, "lpips": 0.20465567708015442}, "wrist_left": {"psnr": 12.939588754271526, "ssim": 0.5656361340488437, "lpips": 0.4016377329826355}, "wrist_right": {"psnr": 12.901786727764792, "ssim": 0.5800706899060054, "lpips": 0.4190347492694855}, "tactile_left": {"psnr": 37.92269822760265, "ssim": 0.974058955385793, "lpips": 0.07396768033504486}, "tactile_right": {"psnr": 42.214676606900994, "ssim": 0.98209166437394, "lpips": 0.03523886948823929}}, {"video": {"psnr": 23.188687798636174, "ssim": 0.7793931554519176, "lpips": 0.21389299631118774}, "wrist_left": {"psnr": 13.391842940690392, "ssim": 0.6012929448403826, "lpips": 0.3957039415836334}, "wrist_right": {"psnr": 15.577181109075735, "ssim": 0.6589820060597482, "lpips": 0.366560161113739}, "tactile_left": {"psnr": 40.74241999021225, "ssim": 0.9796503515095649, "lpips": 0.052742891013622284}, "tactile_right": {"psnr": 42.76018149380852, "ssim": 0.9812774061124665, "lpips": 0.044891178607940674}}, {"video": {"psnr": 23.069458625976125, "ssim": 0.7805946061199825, "lpips": 0.21390703320503235}, "wrist_left": {"psnr": 13.348043873261425, "ssim": 0.56048541238416, "lpips": 0.41059640049934387}, "wrist_right": {"psnr": 14.888973105580579, "ssim": 0.6161400983231339, "lpips": 0.4153028726577759}, "tactile_left": {"psnr": 34.13202816074999, "ssim": 0.9581915341571616, "lpips": 0.1313869059085846}, "tactile_right": {"psnr": 32.198719291071505, "ssim": 0.9465222050346757, "lpips": 0.19990800321102142}}, {"video": {"psnr": 23.804873725865118, "ssim": 0.8059751261761069, "lpips": 0.1827160120010376}, "wrist_left": {"psnr": 13.642173217517348, "ssim": 0.5600687289250383, "lpips": 0.41094663739204407}, "wrist_right": {"psnr": 14.387907074488247, "ssim": 0.5918508666205401, "lpips": 0.42378753423690796}, "tactile_left": {"psnr": 32.444031103362306, "ssim": 0.9514291016630468, "lpips": 0.1510142982006073}, "tactile_right": {"psnr": 30.819389439404997, "ssim": 0.9294049125083623, "lpips": 0.2429077923297882}}, {"video": {"psnr": 22.996594059006835, "ssim": 0.770782180706631, "lpips": 0.20333975553512573}, "wrist_left": {"psnr": 17.221365237602235, "ssim": 0.7323319536565309, "lpips": 0.29730504751205444}, "wrist_right": {"psnr": 17.30208983603972, "ssim": 0.7122175422164807, "lpips": 0.31443923711776733}, "tactile_left": {"psnr": 38.62063990338522, "ssim": 0.9746128119085085, "lpips": 0.09297439455986023}, "tactile_right": {"psnr": 40.25920310033438, "ssim": 0.9745844214734518, "lpips": 0.09351185709238052}}, {"video": {"psnr": 21.660541105975266, "ssim": 0.7459030847433957, "lpips": 0.2275981903076172}, "wrist_left": {"psnr": 15.305816045348717, "ssim": 0.6725426072069474, "lpips": 0.35988539457321167}, "wrist_right": {"psnr": 17.2370326779904, "ssim": 0.6430978382111677, "lpips": 0.3764830231666565}, "tactile_left": {"psnr": 38.28188142725573, "ssim": 0.9728525373202128, "lpips": 0.10241204500198364}, "tactile_right": {"psnr": 37.23768457364471, "ssim": 0.9641822333608293, "lpips": 0.1635986566543579}}, {"video": {"psnr": 22.174823745218788, "ssim": 0.7247040130677463, "lpips": 0.21384063363075256}, "wrist_left": {"psnr": 15.883639463854918, "ssim": 0.6727368019921218, "lpips": 0.3282936215400696}, "wrist_right": {"psnr": 14.895033959374626, "ssim": 0.6169381689615366, "lpips": 0.4327467978000641}, "tactile_left": {"psnr": 35.88814495725921, "ssim": 0.9650182458021439, "lpips": 0.1422175168991089}, "tactile_right": {"psnr": 34.909153330881104, "ssim": 0.9553355215935468, "lpips": 0.2202807515859604}}, {"video": {"psnr": 22.24555966846664, "ssim": 0.721660136759338, "lpips": 0.19970950484275818}, "wrist_left": {"psnr": 14.793007805909792, "ssim": 0.5957713921035932, "lpips": 0.37035930156707764}, "wrist_right": {"psnr": 16.57351770397168, "ssim": 0.6949058224055495, "lpips": 0.34624290466308594}, "tactile_left": {"psnr": 32.51782550749897, "ssim": 0.9337109363918772, "lpips": 0.22138556838035583}, "tactile_right": {"psnr": 38.108454044567544, "ssim": 0.9679644207797711, "lpips": 0.15481998026371002}}, {"video": {"psnr": 22.12050394371781, "ssim": 0.7260366834467409, "lpips": 0.19439755380153656}, "wrist_left": {"psnr": 14.817816041791907, "ssim": 0.59942616222239, "lpips": 0.3488844335079193}, "wrist_right": {"psnr": 15.262325227664205, "ssim": 0.5864647534529065, "lpips": 0.4699346721172333}, "tactile_left": {"psnr": 32.32012693110265, "ssim": 0.9430694614068413, "lpips": 0.19863243401050568}, "tactile_right": {"psnr": 34.325078208317684, "ssim": 0.9488535314566755, "lpips": 0.22193413972854614}}, {"video": {"psnr": 22.0221107191658, "ssim": 0.7166182104951824, "lpips": 0.2131534367799759}, "wrist_left": {"psnr": 17.345027201774187, "ssim": 0.6980974750451493, "lpips": 0.3117990791797638}, "wrist_right": {"psnr": 12.9798280018808, "ssim": 0.5255124536985398, "lpips": 0.49512478709220886}, "tactile_left": {"psnr": 35.13443869160796, "ssim": 0.9633515907519421, "lpips": 0.14596444368362427}, "tactile_right": {"psnr": 34.63542168247572, "ssim": 0.9516565598358554, "lpips": 0.2534804940223694}}, {"video": {"psnr": 21.886208695354984, "ssim": 0.7088623607505322, "lpips": 0.2067684829235077}, "wrist_left": {"psnr": 15.315549027126245, "ssim": 0.5288714124702893, "lpips": 0.3653185963630676}, "wrist_right": {"psnr": 18.092072865545973, "ssim": 0.6874118999191254, "lpips": 0.35339272022247314}, "tactile_left": {"psnr": 31.792016800765445, "ssim": 0.9401673245740527, "lpips": 0.21127574145793915}, "tactile_right": {"psnr": 37.18316764888679, "ssim": 0.963270589312488, "lpips": 0.19027450680732727}}, {"video": {"psnr": 21.97269002257621, "ssim": 0.7136197153546079, "lpips": 0.19894611835479736}, "wrist_left": {"psnr": 14.739997136292203, "ssim": 0.49068222018033086, "lpips": 0.38395926356315613}, "wrist_right": {"psnr": 14.687075196322127, "ssim": 0.5930548189888849, "lpips": 0.4185013473033905}, "tactile_left": {"psnr": 31.18451026074942, "ssim": 0.9340393372877211, "lpips": 0.2262515425682068}, "tactile_right": {"psnr": 34.127101886106516, "ssim": 0.949340551414233, "lpips": 0.2631416916847229}}], "long_metrics": {"video": {"psnr": 22.56859301300262, "ssim": 0.7557846497231406, "lpips": 0.1972408046325048}, "wrist_left": {"psnr": 15.137531893719053, "ssim": 0.6169785576008141, "lpips": 0.35047354102134703}, "wrist_right": {"psnr": 15.99575218521232, "ssim": 0.6443132952620448, "lpips": 0.38340963423252106}, "tactile_left": {"psnr": 35.1535376730785, "ssim": 0.9599365148797874, "lpips": 0.13220104649662973}, "tactile_right": {"psnr": 36.94819964155353, "ssim": 0.9620009796630242, "lpips": 0.1580494588861863}}}, {"id": "rope_e005_06", "episode": "rope_0911_episode_002_seg01.pt", "requested_episode": "rope_0911_episode_002_seg01.pt", "category": "full", "t_start": 447, "start_seconds": 29.8, "short_contact": [1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1], "future_transition_ticks": [], "long_contact_fraction": 0.9921875, "long_label": "full", "short_metrics": {"video": {"psnr": 26.11982214375532, "ssim": 0.8617707687778954, "lpips": 0.06296367198228836}, "wrist_left": {"psnr": 19.57134920394875, "ssim": 0.6851954610111104, "lpips": 0.21404452621936798}, "wrist_right": {"psnr": 20.646859524173166, "ssim": 0.6902233786733901, "lpips": 0.17714931070804596}, "tactile_left": {"psnr": 35.45216280226125, "ssim": 0.972310471561612, "lpips": 0.08610443025827408}, "tactile_right": {"psnr": 39.87551780700498, "ssim": 0.9799997177674973, "lpips": 0.06777987629175186}}, "media": {"short": {"video": "media/rope_e005_06_short.mp4", "poster": "media/rope_e005_06_short.jpg"}, "long": {"video": "media/rope_e005_06_long.mp4", "poster": "media/rope_e005_06_long.jpg"}}, "force": {"source": "recorded_normal_force", "units": "N", "fps": 15, "left": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.5376956462860107, 3.0568182468414307, 4.726428508758545, 5.486666679382324, 5.486666679382324, 6.760714054107666, 6.760714054107666, 6.760714054107666, 7.230000019073486, 7.130000114440918, 7.488461494445801, 6.760714054107666, 6.519285678863525, 5.486666679382324, 5.397500038146973, 4.726428508758545, 3.9167568683624268, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.04871440306305885, 1.9444444179534912, 2.3248276710510254, 3.0568182468414307, 3.0568182468414307, 4.726428508758545, 4.726428508758545, 4.852499961853027, 4.726428508758545, 5.486666679382324, 5.486666679382324, 5.486666679382324, 5.486666679382324, 5.486666679382324, 5.486666679382324, 5.486666679382324, 6.519285678863525, 6.373636245727539, 5.397500038146973, 4.726428508758545, 3.0568182468414307, 1.9444444179534912, 2.3248276710510254, 3.0568182468414307, 3.1971428394317627, 3.9167568683624268, 3.9167568683624268, 3.9167568683624268, 0.5600000023841858, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.9444444179534912, 0.7983333468437195, 1.9444444179534912, 3.0568182468414307, 4.726428508758545, 5.403749942779541, 6.760714054107666, 6.519285678863525, 5.403749942779541, 5.403749942779541, 5.403749942779541, 4.852499961853027, 4.852499961853027, 4.852499961853027, 4.852499961853027, 4.726428508758545, 3.0568182468414307, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 3.0568182468414307, 3.9167568683624268, 4.726428508758545, 4.726428508758545, 4.726428508758545, 3.9167568683624268, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 2.3248276710510254, 0.7983333468437195, 0.0, 0.0, 0.0, 0.0, 0.0, 0.7983333468437195, 1.9444444179534912, 3.0568182468414307, 3.9167568683624268, 4.726428508758545, 4.852499961853027, 4.852499961853027, 3.9167568683624268, 3.9167568683624268, 3.1971428394317627, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 2.6312499046325684, 2.3248276710510254, 0.12701468169689178, 0.0], "right": [2.3248276710510254, 2.3248276710510254, 1.6513943672180176, 2.244580030441284, 2.3248276710510254, 3.0568182468414307, 3.9167568683624268, 3.9167568683624268, 5.486666679382324, 6.373636245727539, 5.486666679382324, 4.726428508758545, 3.9167568683624268, 3.0568182468414307, 0.5600000023841858, 0.12098816782236099, 0.11924314498901367, 0.12186068296432495, 0.12884077429771423, 0.11895231157541275, 3.0568182468414307, 3.0568182468414307, 4.726428508758545, 5.486666679382324, 6.373636245727539, 5.403749942779541, 5.397500038146973, 5.397500038146973, 5.397500038146973, 5.417957305908203, 5.397500038146973, 3.9167568683624268, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 0.27666667103767395, 0.11517143249511719, 0.11429891735315323, 0.11778896301984787, 0.10499213635921478, 0.11168138682842255, 0.10848218202590942, 0.11546226590871811, 0.11168138682842255, 0.10790050774812698, 0.10731883347034454, 0.40809154510498047, 3.0568182468414307, 3.9258837699890137, 5.397500038146973, 6.760714054107666, 6.760714054107666, 7.230000019073486, 7.130000114440918, 6.760714054107666, 6.760714054107666, 7.75, 7.75, 6.519285678863525, 0.7983333468437195, 0.14949019253253937, 0.144255131483078, 0.12127900868654251, 2.5907235145568848, 4.726428508758545, 4.726428508758545, 6.373636245727539, 6.519285678863525, 6.519285678863525, 6.373636245727539, 6.519285678863525, 6.760714054107666, 6.760714054107666, 6.519285678863525, 4.726428508758545, 3.0568182468414307, 2.6312499046325684, 0.7983333468437195, 0.11080887913703918, 0.09394033253192902, 0.11807980388402939, 0.11604394018650055, 0.11575310677289963, 0.12127900868654251, 0.27666667103767395, 4.726428508758545, 4.726428508758545, 5.403749942779541, 5.486666679382324, 4.852499961853027, 4.726428508758545, 3.9167568683624268, 3.9167568683624268, 1.9444444179534912, 0.10324711352586746, 0.1067371591925621, 0.11400808393955231, 0.11400808393955231, 0.11080887913703918, 0.11866147071123123, 0.12651407718658447, 0.11342640966176987, 0.10470130294561386, 0.7604053020477295, 3.0568182468414307, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.6312499046325684, 2.6312499046325684, 2.6312499046325684, 2.6312499046325684, 2.3248276710510254, 2.7645740509033203, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.1971428394317627, 3.0568182468414307, 3.0568182468414307, 0.1599999964237213, 0.11517143249511719, 0.10906385630369186, 0.11604394018650055, 0.10790050774812698, 3.0568182468414307, 3.9167568683624268]}, "long_curve": [{"video": {"psnr": 26.11982214375532, "ssim": 0.8617707687778954, "lpips": 0.06296367198228836}, "wrist_left": {"psnr": 19.57134920394875, "ssim": 0.6851954610111104, "lpips": 0.21404452621936798}, "wrist_right": {"psnr": 20.646859524173166, "ssim": 0.6902233786733901, "lpips": 0.17714931070804596}, "tactile_left": {"psnr": 35.45216280226125, "ssim": 0.972310471561612, "lpips": 0.08610443025827408}, "tactile_right": {"psnr": 39.87551780700498, "ssim": 0.9799997177674973, "lpips": 0.06777987629175186}}, {"video": {"psnr": 24.088983614542432, "ssim": 0.8146383437621962, "lpips": 0.10553725063800812}, "wrist_left": {"psnr": 16.607057064168032, "ssim": 0.5865423545911677, "lpips": 0.2727925777435303}, "wrist_right": {"psnr": 17.54017174829691, "ssim": 0.6888022077124354, "lpips": 0.29913151264190674}, "tactile_left": {"psnr": 33.91149615650006, "ssim": 0.9490320698874914, "lpips": 0.15351040661334991}, "tactile_right": {"psnr": 38.41666683183038, "ssim": 0.976211882653625, "lpips": 0.07204261422157288}}, {"video": {"psnr": 23.911139035873163, "ssim": 0.8052091236623647, "lpips": 0.12090925872325897}, "wrist_left": {"psnr": 18.13204058187375, "ssim": 0.6823553641435879, "lpips": 0.22349223494529724}, "wrist_right": {"psnr": 14.813631369914422, "ssim": 0.5790445039177619, "lpips": 0.3403414785861969}, "tactile_left": {"psnr": 35.14278106834163, "ssim": 0.9707738759261609, "lpips": 0.07284113019704819}, "tactile_right": {"psnr": 33.3303538308876, "ssim": 0.9522968628332215, "lpips": 0.19632858037948608}}, {"video": {"psnr": 23.523799914288745, "ssim": 0.8001968529777632, "lpips": 0.15536357462406158}, "wrist_left": {"psnr": 18.124481301111125, "ssim": 0.6611915489757179, "lpips": 0.23818066716194153}, "wrist_right": {"psnr": 16.79773699540049, "ssim": 0.6597048415187342, "lpips": 0.3104071319103241}, "tactile_left": {"psnr": 39.88768648510143, "ssim": 0.9759411998106536, "lpips": 0.05713324621319771}, "tactile_right": {"psnr": 39.75663338423077, "ssim": 0.9771681066255294, "lpips": 0.07291353493928909}}, {"video": {"psnr": 23.103322042459222, "ssim": 0.7852609382576333, "lpips": 0.16502462327480316}, "wrist_left": {"psnr": 16.58317005620607, "ssim": 0.5792674074122595, "lpips": 0.2697739601135254}, "wrist_right": {"psnr": 18.91163549495325, "ssim": 0.6896715478953255, "lpips": 0.2792307138442993}, "tactile_left": {"psnr": 34.76153080604748, "ssim": 0.9556719638257101, "lpips": 0.1410721242427826}, "tactile_right": {"psnr": 41.625670699933046, "ssim": 0.9805835172513726, "lpips": 0.04522502049803734}}, {"video": {"psnr": 22.63826097581469, "ssim": 0.773528863196106, "lpips": 0.18565350770950317}, "wrist_left": {"psnr": 16.455565740595887, "ssim": 0.5765555822071928, "lpips": 0.2870403528213501}, "wrist_right": {"psnr": 16.844027691345833, "ssim": 0.5861893309806075, "lpips": 0.33116310834884644}, "tactile_left": {"psnr": 34.32846880802672, "ssim": 0.9528958727674397, "lpips": 0.1405434012413025}, "tactile_right": {"psnr": 33.67507477714461, "ssim": 0.9534932200490576, "lpips": 0.21655604243278503}}, {"video": {"psnr": 22.4771676484845, "ssim": 0.767278950310422, "lpips": 0.19489511847496033}, "wrist_left": {"psnr": 16.109251036247002, "ssim": 0.5793440068498733, "lpips": 0.31582289934158325}, "wrist_right": {"psnr": 17.415673304936316, "ssim": 0.6283752475034672, "lpips": 0.3435667157173157}, "tactile_left": {"psnr": 33.98348544360617, "ssim": 0.9531710132821509, "lpips": 0.11928214877843857}, "tactile_right": {"psnr": 34.3271283054726, "ssim": 0.961590583752889, "lpips": 0.1378481388092041}}, {"video": {"psnr": 22.096600085359576, "ssim": 0.7501126038095102, "lpips": 0.19596734642982483}, "wrist_left": {"psnr": 14.19002028625351, "ssim": 0.5790389712727307, "lpips": 0.33137238025665283}, "wrist_right": {"psnr": 15.198077074916128, "ssim": 0.5959312512425234, "lpips": 0.37101441621780396}, "tactile_left": {"psnr": 36.11738908080345, "ssim": 0.966079978404464, "lpips": 0.09053362905979156}, "tactile_right": {"psnr": 33.655887998256226, "ssim": 0.9582644813674244, "lpips": 0.20519745349884033}}, {"video": {"psnr": 21.940789603799953, "ssim": 0.7387064589821649, "lpips": 0.20141172409057617}, "wrist_left": {"psnr": 13.51173140396799, "ssim": 0.537312638344422, "lpips": 0.36300408840179443}, "wrist_right": {"psnr": 15.074117492426655, "ssim": 0.6470861521275981, "lpips": 0.38491523265838623}, "tactile_left": {"psnr": 31.584982963904746, "ssim": 0.9509833351467386, "lpips": 0.20011034607887268}, "tactile_right": {"psnr": 35.93791938987895, "ssim": 0.968833477657653, "lpips": 0.1118113175034523}}, {"video": {"psnr": 21.55808940906081, "ssim": 0.7247817893365188, "lpips": 0.22183173894882202}, "wrist_left": {"psnr": 13.143618715980153, "ssim": 0.49459409333154314, "lpips": 0.4111323952674866}, "wrist_right": {"psnr": 16.5791007542948, "ssim": 0.6853979334115947, "lpips": 0.35543036460876465}, "tactile_left": {"psnr": 33.351411348206994, "ssim": 0.9584205552106477, "lpips": 0.17629849910736084}, "tactile_right": {"psnr": 37.24797335165066, "ssim": 0.9708679452657102, "lpips": 0.12836305797100067}}, {"video": {"psnr": 21.75245837056999, "ssim": 0.7236318726708939, "lpips": 0.2471160590648651}, "wrist_left": {"psnr": 14.981617389479677, "ssim": 0.5894867095515623, "lpips": 0.35184210538864136}, "wrist_right": {"psnr": 16.323464159361773, "ssim": 0.6573035808319861, "lpips": 0.39716291427612305}, "tactile_left": {"psnr": 34.72151919515146, "ssim": 0.9641480536120319, "lpips": 0.13804171979427338}, "tactile_right": {"psnr": 35.93424082137459, "ssim": 0.9668044541890624, "lpips": 0.14871284365653992}}, {"video": {"psnr": 22.01514409993154, "ssim": 0.7350725740488891, "lpips": 0.24927805364131927}, "wrist_left": {"psnr": 14.079130189432545, "ssim": 0.526395021466114, "lpips": 0.4126318097114563}, "wrist_right": {"psnr": 17.792703317919106, "ssim": 0.6846843329665423, "lpips": 0.3157907724380493}, "tactile_left": {"psnr": 33.95362170961619, "ssim": 0.9625523116058003, "lpips": 0.16146492958068848}, "tactile_right": {"psnr": 37.028232441573245, "ssim": 0.9720525447169288, "lpips": 0.11891824752092361}}, {"video": {"psnr": 22.323316894249835, "ssim": 0.7510291314001569, "lpips": 0.21451875567436218}, "wrist_left": {"psnr": 14.431570919831632, "ssim": 0.5972071221927705, "lpips": 0.40123534202575684}, "wrist_right": {"psnr": 15.419712741847833, "ssim": 0.5911258674340178, "lpips": 0.347789466381073}, "tactile_left": {"psnr": 34.15964746968872, "ssim": 0.9631161738336712, "lpips": 0.15272152423858643}, "tactile_right": {"psnr": 36.26277897579436, "ssim": 0.9704517878755196, "lpips": 0.1389596164226532}}, {"video": {"psnr": 22.567701403982362, "ssim": 0.7518339840750163, "lpips": 0.20238590240478516}, "wrist_left": {"psnr": 13.80116438209759, "ssim": 0.5232057275140026, "lpips": 0.44103237986564636}, "wrist_right": {"psnr": 15.823631558184903, "ssim": 0.5785808009372527, "lpips": 0.3547261357307434}, "tactile_left": {"psnr": 32.70434246011773, "ssim": 0.9534269772267421, "lpips": 0.21092286705970764}, "tactile_right": {"psnr": 35.42746765219767, "ssim": 0.9647187990623615, "lpips": 0.15231415629386902}}, {"video": {"psnr": 21.715138984183685, "ssim": 0.7278101005076227, "lpips": 0.23152226209640503}, "wrist_left": {"psnr": 13.743024368359318, "ssim": 0.5362651854687127, "lpips": 0.41766488552093506}, "wrist_right": {"psnr": 15.36392429735631, "ssim": 0.6248939453454536, "lpips": 0.3908906877040863}, "tactile_left": {"psnr": 32.657463380019344, "ssim": 0.9531992790966357, "lpips": 0.2023594081401825}, "tactile_right": {"psnr": 35.18295046693558, "ssim": 0.965492617989272, "lpips": 0.1728312075138092}}], "long_metrics": {"video": {"psnr": 22.788782281757054, "ssim": 0.7673908237183437, "lpips": 0.1836252565185229}, "wrist_left": {"psnr": 15.564319509303536, "ssim": 0.5822638129555178, "lpips": 0.3300708403189977}, "wrist_right": {"psnr": 16.702964501688527, "ssim": 0.6391343281665793, "lpips": 0.3332473307847977}, "tactile_left": {"psnr": 34.44786594515956, "ssim": 0.9601148754131967, "lpips": 0.14019598737359046}, "tactile_right": {"psnr": 36.51229978227768, "ssim": 0.9679219999371416, "lpips": 0.1323867805302143}}}, {"id": "rope_e005_07", "episode": "rope_0911_episode_005_seg00.pt", "requested_episode": "rope_0911_episode_005_seg00.pt", "category": "none", "t_start": 639, "start_seconds": 42.6, "short_contact": [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0], "future_transition_ticks": [], "long_contact_fraction": 0.0859375, "long_label": "none_at_start", "short_metrics": {"video": {"psnr": 25.283297159580272, "ssim": 0.8556352040940526, "lpips": 0.08145608752965927}, "wrist_left": {"psnr": 13.479879244183211, "ssim": 0.5576576292540325, "lpips": 0.32495808601379395}, "wrist_right": {"psnr": 25.817015365315108, "ssim": 0.826931952026801, "lpips": 0.05302058905363083}, "tactile_left": {"psnr": 50.028577353256495, "ssim": 0.9948831989740632, "lpips": 0.003427163464948535}, "tactile_right": {"psnr": 50.547715994891796, "ssim": 0.9948771516415006, "lpips": 0.003089425852522254}}, "media": {"short": {"video": "media/rope_e005_07_short.mp4", "poster": "media/rope_e005_07_short.jpg"}, "long": {"video": "media/rope_e005_07_long.mp4", "poster": "media/rope_e005_07_long.jpg"}}, "force": {"source": "recorded_normal_force", "units": "N", "fps": 15, "left": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.9444444179534912, 0.1599999964237213, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.1599999964237213, 0.1599999964237213, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.1599999964237213, 0.25579941272735596, 2.243333339691162, 0.7983333468437195, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.9444444179534912, 0.0, 0.0, 0.5458313226699829, 0.0, 2.3248276710510254, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 2.3248276710510254, 2.3248276710510254, 3.0568182468414307, 3.9167568683624268], "right": [0.1599999964237213, 0.1599999964237213, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.16291990876197815, 0.1599999964237213, 0.1599999964237213, 0.0, 3.0568182468414307, 0.3882673382759094, 0.1599999964237213, 0.0, 0.0, 0.12593239545822144, 0.1599999964237213, 0.1599999964237213, 0.1599999964237213, 0.072127565741539, 0.043916378170251846, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.4384613633155823, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.091448113322258, 0.0, 0.0, 0.0, 0.0, 0.0, 0.7702699899673462, 0.20891571044921875, 0.0, 0.0, 0.0, 0.0, 0.1599999964237213, 0.0, 0.22397328913211823, 0.16185791790485382, 0.1599999964237213, 0.1599999964237213, 0.1599999964237213, 0.1599999964237213, 0.1599999964237213, 0.13582085072994232, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]}, "long_curve": [{"video": {"psnr": 25.283297159580272, "ssim": 0.8556352040940526, "lpips": 0.08145608752965927}, "wrist_left": {"psnr": 13.479879244183211, "ssim": 0.5576576292540325, "lpips": 0.32495808601379395}, "wrist_right": {"psnr": 25.817015365315108, "ssim": 0.826931952026801, "lpips": 0.05302058905363083}, "tactile_left": {"psnr": 50.028577353256495, "ssim": 0.9948831989740632, "lpips": 0.003427163464948535}, "tactile_right": {"psnr": 50.547715994891796, "ssim": 0.9948771516415006, "lpips": 0.003089425852522254}}, {"video": {"psnr": 23.317645642207744, "ssim": 0.7960401910979624, "lpips": 0.13095325231552124}, "wrist_left": {"psnr": 13.186199840632213, "ssim": 0.4968253339291887, "lpips": 0.3514903783798218}, "wrist_right": {"psnr": 24.531633761979094, "ssim": 0.7918351869810043, "lpips": 0.08747036010026932}, "tactile_left": {"psnr": 47.97476567422705, "ssim": 0.9919376934920083, "lpips": 0.009888587519526482}, "tactile_right": {"psnr": 48.22516546506685, "ssim": 0.9922210974724621, "lpips": 0.009950545616447926}}, {"video": {"psnr": 21.799851864108135, "ssim": 0.7681477229542064, "lpips": 0.17793798446655273}, "wrist_left": {"psnr": 13.536801571453104, "ssim": 0.4994010466423865, "lpips": 0.3634265065193176}, "wrist_right": {"psnr": 23.195222642210354, "ssim": 0.7423450138793294, "lpips": 0.13407301902770996}, "tactile_left": {"psnr": 47.054059692396216, "ssim": 0.9890968212904889, "lpips": 0.01784076914191246}, "tactile_right": {"psnr": 46.95375049184345, "ssim": 0.9892180928730111, "lpips": 0.022013675421476364}}, {"video": {"psnr": 21.122710924029356, "ssim": 0.7488563316889837, "lpips": 0.20688709616661072}, "wrist_left": {"psnr": 14.331494475365558, "ssim": 0.5028078857713125, "lpips": 0.33542972803115845}, "wrist_right": {"psnr": 21.514944590699166, "ssim": 0.7193534957464451, "lpips": 0.17420417070388794}, "tactile_left": {"psnr": 45.54856277479032, "ssim": 0.986691937016579, "lpips": 0.029343055561184883}, "tactile_right": {"psnr": 45.66141545951937, "ssim": 0.9869748673773087, "lpips": 0.034916460514068604}}, {"video": {"psnr": 21.454690252755544, "ssim": 0.7477587617706393, "lpips": 0.19858506321907043}, "wrist_left": {"psnr": 12.718014098769316, "ssim": 0.45788706409627195, "lpips": 0.393399178981781}, "wrist_right": {"psnr": 20.41133930970917, "ssim": 0.7170908979534392, "lpips": 0.19057494401931763}, "tactile_left": {"psnr": 44.57704689772796, "ssim": 0.9849479273027906, "lpips": 0.03805428743362427}, "tactile_right": {"psnr": 44.17371021851267, "ssim": 0.984545580038066, "lpips": 0.04914436489343643}}, {"video": {"psnr": 21.30202243983241, "ssim": 0.7354877333559785, "lpips": 0.20482446253299713}, "wrist_left": {"psnr": 10.603781443446042, "ssim": 0.42336250497183814, "lpips": 0.4479990601539612}, "wrist_right": {"psnr": 20.06160500620352, "ssim": 0.7517542330344817, "lpips": 0.202942356467247}, "tactile_left": {"psnr": 42.95221831338135, "ssim": 0.9822222706524384, "lpips": 0.05224382504820824}, "tactile_right": {"psnr": 42.92406225125393, "ssim": 0.9822869167200705, "lpips": 0.06723012030124664}}, {"video": {"psnr": 20.903291217152354, "ssim": 0.7195270404985454, "lpips": 0.2302117645740509}, "wrist_left": {"psnr": 12.317378008540146, "ssim": 0.5223755546545017, "lpips": 0.3997010588645935}, "wrist_right": {"psnr": 18.24737788748799, "ssim": 0.6194457067547392, "lpips": 0.2529357671737671}, "tactile_left": {"psnr": 42.55934788696686, "ssim": 0.9806066374606507, "lpips": 0.06317608058452606}, "tactile_right": {"psnr": 41.69967730044303, "ssim": 0.9792750920181603, "lpips": 0.08778687566518784}}, {"video": {"psnr": 20.760931760540828, "ssim": 0.7222235100620189, "lpips": 0.23572038114070892}, "wrist_left": {"psnr": 13.325118410969015, "ssim": 0.5689797396954464, "lpips": 0.3534161150455475}, "wrist_right": {"psnr": 20.78128231410213, "ssim": 0.6304981551333119, "lpips": 0.1676643192768097}, "tactile_left": {"psnr": 41.51821872553014, "ssim": 0.9781944132574175, "lpips": 0.08162514865398407}, "tactile_right": {"psnr": 41.43105902302296, "ssim": 0.9774560664153205, "lpips": 0.09575171768665314}}, {"video": {"psnr": 20.679622811652138, "ssim": 0.7125440536234746, "lpips": 0.23350843787193298}, "wrist_left": {"psnr": 12.457116228020721, "ssim": 0.568875685338516, "lpips": 0.3443879187107086}, "wrist_right": {"psnr": 19.32600781665153, "ssim": 0.5819653902429784, "lpips": 0.23216627538204193}, "tactile_left": {"psnr": 40.68452892587472, "ssim": 0.9761430380582384, "lpips": 0.09150241315364838}, "tactile_right": {"psnr": 40.86758819831423, "ssim": 0.9758501446250634, "lpips": 0.09750207513570786}}, {"video": {"psnr": 20.85437082320414, "ssim": 0.7210834761898606, "lpips": 0.22694694995880127}, "wrist_left": {"psnr": 12.552527244175822, "ssim": 0.5611711996987647, "lpips": 0.3697088956832886}, "wrist_right": {"psnr": 19.562661771429898, "ssim": 0.6478884051916174, "lpips": 0.23403647541999817}, "tactile_left": {"psnr": 39.15497296741637, "ssim": 0.9726890242123978, "lpips": 0.11221955716609955}, "tactile_right": {"psnr": 40.07290862371974, "ssim": 0.9744344604985236, "lpips": 0.10796608030796051}}, {"video": {"psnr": 21.516299890511124, "ssim": 0.731442638449186, "lpips": 0.21794092655181885}, "wrist_left": {"psnr": 14.846899165371504, "ssim": 0.6454296606721601, "lpips": 0.3535183072090149}, "wrist_right": {"psnr": 19.714238706217362, "ssim": 0.6710962283607682, "lpips": 0.22906383872032166}, "tactile_left": {"psnr": 38.62013767064361, "ssim": 0.9704349046208655, "lpips": 0.1152961254119873}, "tactile_right": {"psnr": 39.321499577436384, "ssim": 0.9734600041875103, "lpips": 0.11059632897377014}}, {"video": {"psnr": 21.86607657008317, "ssim": 0.7380612929325756, "lpips": 0.22099092602729797}, "wrist_left": {"psnr": 17.003081677381154, "ssim": 0.7150638494735027, "lpips": 0.31259867548942566}, "wrist_right": {"psnr": 19.70486332555113, "ssim": 0.6618748855107511, "lpips": 0.20513886213302612}, "tactile_left": {"psnr": 37.93332599652235, "ssim": 0.9679085906728315, "lpips": 0.13197478652000427}, "tactile_right": {"psnr": 38.35263002180647, "ssim": 0.971465758859219, "lpips": 0.12752461433410645}}, {"video": {"psnr": 21.83489799596357, "ssim": 0.7371836535562704, "lpips": 0.24318358302116394}, "wrist_left": {"psnr": 15.44892431163314, "ssim": 0.6451899343085121, "lpips": 0.40051499009132385}, "wrist_right": {"psnr": 16.2136811951381, "ssim": 0.6179757109499568, "lpips": 0.26586294174194336}, "tactile_left": {"psnr": 37.37003916508163, "ssim": 0.9663256170018373, "lpips": 0.14107272028923035}, "tactile_right": {"psnr": 37.545743605982395, "ssim": 0.9695080873735502, "lpips": 0.13972146809101105}}, {"video": {"psnr": 21.76504188106566, "ssim": 0.7479823814966252, "lpips": 0.25013625621795654}, "wrist_left": {"psnr": 16.596075832227054, "ssim": 0.6893180469380029, "lpips": 0.34126952290534973}, "wrist_right": {"psnr": 16.245115456965472, "ssim": 0.599062600511715, "lpips": 0.28942394256591797}, "tactile_left": {"psnr": 36.91046758057658, "ssim": 0.9652600359048753, "lpips": 0.15220849215984344}, "tactile_right": {"psnr": 36.66756286929612, "ssim": 0.9671201898945341, "lpips": 0.16293218731880188}}, {"video": {"psnr": 21.376968064620208, "ssim": 0.7385128628827564, "lpips": 0.2527552545070648}, "wrist_left": {"psnr": 16.84982434972389, "ssim": 0.7130840032520138, "lpips": 0.30409491062164307}, "wrist_right": {"psnr": 15.393499756510087, "ssim": 0.6292502367980051, "lpips": 0.3456280529499054}, "tactile_left": {"psnr": 35.23186025431157, "ssim": 0.9589026817041958, "lpips": 0.18966878950595856}, "tactile_right": {"psnr": 35.89763738546772, "ssim": 0.9648112732133465, "lpips": 0.1766463965177536}}], "long_metrics": {"video": {"psnr": 21.722514619820444, "ssim": 0.7480324569768757, "lpips": 0.20746922840674717}, "wrist_left": {"psnr": 13.950207726792794, "ssim": 0.5711619425797634, "lpips": 0.359727555513382}, "wrist_right": {"psnr": 20.048032593744672, "ssim": 0.6805578732716896, "lpips": 0.2042803943157196}, "tactile_left": {"psnr": 41.87454199191355, "ssim": 0.9777496527747785, "lpips": 0.08196945344097913}, "tactile_right": {"psnr": 42.022808432438474, "ssim": 0.9789003188805098, "lpips": 0.08618482244201005}}}, {"id": "rope_e005_08", "episode": "rope_0911_episode_005_seg00.pt", "requested_episode": "rope_0911_episode_005_seg00.pt", "category": "onset", "t_start": 1183, "start_seconds": 78.86666666666666, "short_contact": [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 1], "future_transition_ticks": [11], "long_contact_fraction": 0.7421875, "long_label": "onset", "short_metrics": {"video": {"psnr": 30.17451634079673, "ssim": 0.9331597563584667, "lpips": 0.025182150304317474}, "wrist_left": {"psnr": 20.022502489111368, "ssim": 0.6628334930507287, "lpips": 0.1677650809288025}, "wrist_right": {"psnr": 23.55948147918767, "ssim": 0.772633488315726, "lpips": 0.11120912432670593}, "tactile_left": {"psnr": 47.36779294558649, "ssim": 0.9927493377984408, "lpips": 0.009000791236758232}, "tactile_right": {"psnr": 47.98824103209648, "ssim": 0.9929139595774037, "lpips": 0.013499870896339417}}, "media": {"short": {"video": "media/rope_e005_08_short.mp4", "poster": "media/rope_e005_08_short.jpg"}, "long": {"video": "media/rope_e005_08_long.mp4", "poster": "media/rope_e005_08_long.jpg"}}, "force": {"source": "recorded_normal_force", "units": "N", "fps": 15, "left": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 2.6312499046325684, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 0.25, 0.5600000023841858, 2.3248276710510254, 0.4981960654258728, 0.4981960654258728, 0.1599999964237213, 0.0, 0.0, 0.0, 0.0, 0.0, 0.7983333468437195, 0.4399999976158142, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.39555272459983826, 0.25, 1.9444444179534912, 2.3248276710510254, 2.243333339691162, 0.7983333468437195, 2.3248276710510254, 2.243333339691162, 0.5515480637550354, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 2.243333339691162, 2.3248276710510254, 2.3248276710510254, 2.6312499046325684, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.243333339691162, 1.9444444179534912, 1.9444444179534912, 2.211216688156128, 2.243333339691162, 2.243333339691162, 2.243333339691162, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.243333339691162, 2.6312499046325684, 2.3248276710510254, 0.0, 0.0, 0.0, 0.27666667103767395, 0.3516262471675873, 0.4897908866405487, 0.5571500658988953, 0.5600000023841858, 0.7983333468437195, 1.9444444179534912, 1.9444444179534912, 1.9444444179534912, 2.28149676322937, 2.28149676322937, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.6312499046325684, 2.6312499046325684, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254], "right": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.1599999964237213, 0.1599999964237213, 0.17395387589931488, 0.1599999964237213, 0.5600000023841858, 1.9444444179534912, 1.9444444179534912, 0.1599999964237213, 2.258756637573242, 0.7983333468437195, 1.6151785850524902, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.16247574985027313, 0.0, 0.1599999964237213, 0.1599999964237213, 0.0, 0.1599999964237213, 0.1599999964237213, 2.243333339691162, 0.09899391233921051, 0.38438764214515686, 0.1599999964237213, 0.16679850220680237, 0.17816706001758575, 0.25, 0.17090290784835815, 0.1620146781206131, 0.27666667103767395, 0.00465339096263051, 0.0, 0.0, 0.4178314208984375, 0.2888869345188141, 0.7994033694267273, 0.7994033694267273, 1.0252238512039185, 0.959689199924469, 0.8938532471656799, 0.0, 2.039057731628418, 0.46514278650283813, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.04478888958692551, 0.04478888958692551, 0.3607287108898163, 0.17817163467407227, 0.1599999964237213, 0.1599999964237213, 0.1599999964237213, 0.1599999964237213, 2.89768123626709, 0.0, 0.5600000023841858, 0.7345359921455383, 0.1599999964237213, 0.1599999964237213, 0.1599999964237213, 0.1599999964237213, 0.0, 0.0, 0.0, 0.0, 0.8377557992935181, 0.6723332405090332, 0.014832683838903904, 0.03664545342326164, 0.1599999964237213, 0.1599999964237213, 0.1599999964237213, 0.1599999964237213, 0.1599999964237213, 0.1410559117794037, 0.1599999964237213, 0.1599999964237213, 0.1599999964237213, 0.1599999964237213, 0.1500718593597412, 0.1599999964237213, 0.1599999964237213, 0.1599999964237213, 0.7983333468437195, 0.1599999964237213, 0.1599999964237213, 0.1599999964237213, 0.1599999964237213, 0.1599999964237213, 0.1599999964237213, 0.1599999964237213, 0.1599999964237213, 0.10033874958753586, 0.0, 0.04634222388267517, 0.05642236769199371, 0.059621572494506836]}, "long_curve": [{"video": {"psnr": 30.17451634079673, "ssim": 0.9331597563584667, "lpips": 0.025182150304317474}, "wrist_left": {"psnr": 20.022502489111368, "ssim": 0.6628334930507287, "lpips": 0.1677650809288025}, "wrist_right": {"psnr": 23.55948147918767, "ssim": 0.772633488315726, "lpips": 0.11120912432670593}, "tactile_left": {"psnr": 47.36779294558649, "ssim": 0.9927493377984408, "lpips": 0.009000791236758232}, "tactile_right": {"psnr": 47.98824103209648, "ssim": 0.9929139595774037, "lpips": 0.013499870896339417}}, {"video": {"psnr": 26.944093381927203, "ssim": 0.8741214219268828, "lpips": 0.05250066518783569}, "wrist_left": {"psnr": 18.481643814347258, "ssim": 0.6528260800646513, "lpips": 0.21019691228866577}, "wrist_right": {"psnr": 19.79191132307388, "ssim": 0.7135112977861113, "lpips": 0.1953938901424408}, "tactile_left": {"psnr": 44.251960868706036, "ssim": 0.9873662722406837, "lpips": 0.027955874800682068}, "tactile_right": {"psnr": 46.59417474654418, "ssim": 0.9884895695793358, "lpips": 0.018310146406292915}}, {"video": {"psnr": 25.651364465785868, "ssim": 0.8472234071100642, "lpips": 0.0644540786743164}, "wrist_left": {"psnr": 16.199036326295257, "ssim": 0.5635677543327948, "lpips": 0.2825661301612854}, "wrist_right": {"psnr": 18.720518959466357, "ssim": 0.6878137343624664, "lpips": 0.21139705181121826}, "tactile_left": {"psnr": 42.432803119329414, "ssim": 0.9835180541448088, "lpips": 0.04047541320323944}, "tactile_right": {"psnr": 45.67088304859796, "ssim": 0.9871761992775779, "lpips": 0.021818529814481735}}, {"video": {"psnr": 24.633964126279565, "ssim": 0.818675663231509, "lpips": 0.08966240286827087}, "wrist_left": {"psnr": 17.276630042266525, "ssim": 0.5806998975025482, "lpips": 0.22702407836914062}, "wrist_right": {"psnr": 17.85497526941851, "ssim": 0.6712532829295874, "lpips": 0.244183748960495}, "tactile_left": {"psnr": 42.28445065587629, "ssim": 0.9828022661637362, "lpips": 0.04483887180685997}, "tactile_right": {"psnr": 42.686490196563526, "ssim": 0.984746103364879, "lpips": 0.04237823188304901}}, {"video": {"psnr": 23.850858466231045, "ssim": 0.7940922156427797, "lpips": 0.11442312598228455}, "wrist_left": {"psnr": 16.909690547508937, "ssim": 0.6143426058787712, "lpips": 0.24074293673038483}, "wrist_right": {"psnr": 16.52136451301765, "ssim": 0.60727158542989, "lpips": 0.27348464727401733}, "tactile_left": {"psnr": 41.86762887654842, "ssim": 0.9821915556454723, "lpips": 0.04804690182209015}, "tactile_right": {"psnr": 41.78166381790581, "ssim": 0.9816140991666567, "lpips": 0.06597931683063507}}, {"video": {"psnr": 22.415744039870518, "ssim": 0.7698533016505377, "lpips": 0.16709452867507935}, "wrist_left": {"psnr": 16.041909951851046, "ssim": 0.5940816751335386, "lpips": 0.263499915599823}, "wrist_right": {"psnr": 20.95069497757756, "ssim": 0.7524207285422913, "lpips": 0.22271057963371277}, "tactile_left": {"psnr": 38.73135899527767, "ssim": 0.9734666082052337, "lpips": 0.08914192020893097}, "tactile_right": {"psnr": 40.367840163539825, "ssim": 0.9795100359961365, "lpips": 0.06597086787223816}}, {"video": {"psnr": 22.43678676706331, "ssim": 0.7725021238968295, "lpips": 0.1849488615989685}, "wrist_left": {"psnr": 17.360566267672183, "ssim": 0.6245080181611383, "lpips": 0.26196280121803284}, "wrist_right": {"psnr": 18.8035746691041, "ssim": 0.714703545975838, "lpips": 0.27232909202575684}, "tactile_left": {"psnr": 38.16887895923523, "ssim": 0.9735279032123144, "lpips": 0.09928671270608902}, "tactile_right": {"psnr": 39.09726244761239, "ssim": 0.9784999886988174, "lpips": 0.08191079646348953}}, {"video": {"psnr": 22.28001453803888, "ssim": 0.7702234635737493, "lpips": 0.15214915573596954}, "wrist_left": {"psnr": 15.959609069436237, "ssim": 0.5640045675101453, "lpips": 0.2593051791191101}, "wrist_right": {"psnr": 16.57953379022682, "ssim": 0.5856332090081846, "lpips": 0.3525993227958679}, "tactile_left": {"psnr": 37.22127185183579, "ssim": 0.9723396872828667, "lpips": 0.10724698007106781}, "tactile_right": {"psnr": 38.733479411247146, "ssim": 0.9776334150036023, "lpips": 0.09513413906097412}}, {"video": {"psnr": 22.22593721202875, "ssim": 0.7639191782866408, "lpips": 0.15509265661239624}, "wrist_left": {"psnr": 14.378687756253381, "ssim": 0.4532844683915739, "lpips": 0.3556728959083557}, "wrist_right": {"psnr": 20.234156070014848, "ssim": 0.6995812483560809, "lpips": 0.20717070996761322}, "tactile_left": {"psnr": 36.63055585514391, "ssim": 0.9710202344131821, "lpips": 0.1284586787223816}, "tactile_right": {"psnr": 37.34345641396847, "ssim": 0.9754113727387947, "lpips": 0.1122816652059555}}, {"video": {"psnr": 22.4050274482321, "ssim": 0.7563646468278524, "lpips": 0.16409873962402344}, "wrist_left": {"psnr": 14.310536861558576, "ssim": 0.4387224059180127, "lpips": 0.3390060365200043}, "wrist_right": {"psnr": 19.90809423051178, "ssim": 0.6676328546375068, "lpips": 0.19586727023124695}, "tactile_left": {"psnr": 34.952870965280226, "ssim": 0.961238150512902, "lpips": 0.17430639266967773}, "tactile_right": {"psnr": 36.446976920013576, "ssim": 0.973485215262432, "lpips": 0.11694441735744476}}, {"video": {"psnr": 22.34824752788019, "ssim": 0.7516014120697287, "lpips": 0.17325225472450256}, "wrist_left": {"psnr": 14.929889093728743, "ssim": 0.4419914339211971, "lpips": 0.30710434913635254}, "wrist_right": {"psnr": 17.844948190973934, "ssim": 0.5767226321165226, "lpips": 0.26517003774642944}, "tactile_left": {"psnr": 34.35114417669109, "ssim": 0.9583882525829494, "lpips": 0.18980342149734497}, "tactile_right": {"psnr": 35.34574871030888, "ssim": 0.970441007208861, "lpips": 0.12871316075325012}}, {"video": {"psnr": 22.300863019969597, "ssim": 0.7506897749731278, "lpips": 0.17959822714328766}, "wrist_left": {"psnr": 15.287889531908647, "ssim": 0.4506115729776084, "lpips": 0.29254186153411865}, "wrist_right": {"psnr": 18.08443045672004, "ssim": 0.5640637404615281, "lpips": 0.2687547206878662}, "tactile_left": {"psnr": 33.857543242920066, "ssim": 0.9555654739322998, "lpips": 0.2040880024433136}, "tactile_right": {"psnr": 34.40333139742228, "ssim": 0.9706992530554603, "lpips": 0.1217256560921669}}, {"video": {"psnr": 22.205826305302708, "ssim": 0.7467623449463758, "lpips": 0.1867910921573639}, "wrist_left": {"psnr": 15.298874177522405, "ssim": 0.45328858586300863, "lpips": 0.28907573223114014}, "wrist_right": {"psnr": 18.88065784672576, "ssim": 0.5765955744401434, "lpips": 0.24876849353313446}, "tactile_left": {"psnr": 33.31871749425006, "ssim": 0.9523575907828283, "lpips": 0.21688154339790344}, "tactile_right": {"psnr": 33.94146714252245, "ssim": 0.9690460795298921, "lpips": 0.12767213582992554}}, {"video": {"psnr": 22.095515921643603, "ssim": 0.7407443701053884, "lpips": 0.188723623752594}, "wrist_left": {"psnr": 15.358052677781595, "ssim": 0.45920319774495777, "lpips": 0.29013049602508545}, "wrist_right": {"psnr": 18.965564599459228, "ssim": 0.6071601071405518, "lpips": 0.27348071336746216}, "tactile_left": {"psnr": 32.94583498743601, "ssim": 0.950562236693807, "lpips": 0.22813934087753296}, "tactile_right": {"psnr": 33.4457236384396, "ssim": 0.9666691814296917, "lpips": 0.14267253875732422}}, {"video": {"psnr": 21.92629527436106, "ssim": 0.7309545096453564, "lpips": 0.19400812685489655}, "wrist_left": {"psnr": 15.806989344930303, "ssim": 0.48837831003166765, "lpips": 0.28234201669692993}, "wrist_right": {"psnr": 18.825632729378246, "ssim": 0.6233458379534773, "lpips": 0.27370044589042664}, "tactile_left": {"psnr": 32.460775034522364, "ssim": 0.9488036593367329, "lpips": 0.23575431108474731}, "tactile_right": {"psnr": 33.05145346846652, "ssim": 0.9649172030661772, "lpips": 0.1588105708360672}}], "long_metrics": {"video": {"psnr": 23.593003655694076, "ssim": 0.7880591726830193, "lpips": 0.13946531265974044}, "wrist_left": {"psnr": 16.24150053014483, "ssim": 0.5361562710988229, "lpips": 0.2712624281644821}, "wrist_right": {"psnr": 19.03503594032376, "ssim": 0.6546895244970604, "lpips": 0.24108132322629292}, "tactile_left": {"psnr": 38.05623920190927, "ssim": 0.9697264855298839, "lpips": 0.12289501043657462}, "tactile_right": {"psnr": 39.12654617034994, "ssim": 0.9774168455303812, "lpips": 0.08758813627064228}}}, {"id": "rope_e005_09", "episode": "rope_0911_episode_005_seg00.pt", "requested_episode": "rope_0911_episode_005_seg00.pt", "category": "release", "t_start": 1171, "start_seconds": 78.06666666666666, "short_contact": [1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 0, 0], "future_transition_ticks": [11], "long_contact_fraction": 0.734375, "long_label": "release", "short_metrics": {"video": {"psnr": 27.03086557953654, "ssim": 0.8799159278149383, "lpips": 0.048466287553310394}, "wrist_left": {"psnr": 20.753709597347857, "ssim": 0.7463949727288693, "lpips": 0.13538524508476257}, "wrist_right": {"psnr": 25.146399465150164, "ssim": 0.8343349413216787, "lpips": 0.12628762423992157}, "tactile_left": {"psnr": 45.14195700042492, "ssim": 0.9905919183787211, "lpips": 0.024071667343378067}, "tactile_right": {"psnr": 49.46457318163955, "ssim": 0.9927052836908463, "lpips": 0.005963488481938839}}, "media": {"short": {"video": "media/rope_e005_09_short.mp4", "poster": "media/rope_e005_09_short.jpg"}, "long": {"video": "media/rope_e005_09_long.mp4", "poster": "media/rope_e005_09_long.jpg"}}, "force": {"source": "recorded_normal_force", "units": "N", "fps": 15, "left": [1.9444444179534912, 1.5882809162139893, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 1.9099631309509277, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 2.6312499046325684, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 0.25, 0.5600000023841858, 2.3248276710510254, 0.4981960654258728, 0.4981960654258728, 0.1599999964237213, 0.0, 0.0, 0.0, 0.0, 0.0, 0.7983333468437195, 0.4399999976158142, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.39555272459983826, 0.25, 1.9444444179534912, 2.3248276710510254, 2.243333339691162, 0.7983333468437195, 2.3248276710510254, 2.243333339691162, 0.5515480637550354, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 2.243333339691162, 2.3248276710510254, 2.3248276710510254, 2.6312499046325684, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.243333339691162, 1.9444444179534912, 1.9444444179534912, 2.211216688156128, 2.243333339691162, 2.243333339691162, 2.243333339691162, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.243333339691162, 2.6312499046325684, 2.3248276710510254, 0.0, 0.0, 0.0, 0.27666667103767395, 0.3516262471675873, 0.4897908866405487, 0.5571500658988953, 0.5600000023841858, 0.7983333468437195, 1.9444444179534912, 1.9444444179534912, 1.9444444179534912, 2.28149676322937, 2.28149676322937, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.6312499046325684, 2.6312499046325684, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254], "right": [0.494703471660614, 0.494703471660614, 0.25, 1.9444444179534912, 0.5335196256637573, 0.1599999964237213, 0.1599999964237213, 0.1599999964237213, 0.1599999964237213, 2.6312499046325684, 1.2032140493392944, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.1599999964237213, 0.1599999964237213, 0.17395387589931488, 0.1599999964237213, 0.5600000023841858, 1.9444444179534912, 1.9444444179534912, 0.1599999964237213, 2.258756637573242, 0.7983333468437195, 1.6151785850524902, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.16247574985027313, 0.0, 0.1599999964237213, 0.1599999964237213, 0.0, 0.1599999964237213, 0.1599999964237213, 2.243333339691162, 0.09899391233921051, 0.38438764214515686, 0.1599999964237213, 0.16679850220680237, 0.17816706001758575, 0.25, 0.17090290784835815, 0.1620146781206131, 0.27666667103767395, 0.00465339096263051, 0.0, 0.0, 0.4178314208984375, 0.2888869345188141, 0.7994033694267273, 0.7994033694267273, 1.0252238512039185, 0.959689199924469, 0.8938532471656799, 0.0, 2.039057731628418, 0.46514278650283813, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.04478888958692551, 0.04478888958692551, 0.3607287108898163, 0.17817163467407227, 0.1599999964237213, 0.1599999964237213, 0.1599999964237213, 0.1599999964237213, 2.89768123626709, 0.0, 0.5600000023841858, 0.7345359921455383, 0.1599999964237213, 0.1599999964237213, 0.1599999964237213, 0.1599999964237213, 0.0, 0.0, 0.0, 0.0, 0.8377557992935181, 0.6723332405090332, 0.014832683838903904, 0.03664545342326164, 0.1599999964237213, 0.1599999964237213, 0.1599999964237213, 0.1599999964237213, 0.1599999964237213, 0.1410559117794037, 0.1599999964237213, 0.1599999964237213, 0.1599999964237213, 0.1599999964237213, 0.1500718593597412, 0.1599999964237213, 0.1599999964237213, 0.1599999964237213, 0.7983333468437195, 0.1599999964237213]}, "long_curve": [{"video": {"psnr": 27.03086557953654, "ssim": 0.8799159278149383, "lpips": 0.048466287553310394}, "wrist_left": {"psnr": 20.753709597347857, "ssim": 0.7463949727288693, "lpips": 0.13538524508476257}, "wrist_right": {"psnr": 25.146399465150164, "ssim": 0.8343349413216787, "lpips": 0.12628762423992157}, "tactile_left": {"psnr": 45.14195700042492, "ssim": 0.9905919183787211, "lpips": 0.024071667343378067}, "tactile_right": {"psnr": 49.46457318163955, "ssim": 0.9927052836908463, "lpips": 0.005963488481938839}}, {"video": {"psnr": 24.530114728853256, "ssim": 0.8203161038851856, "lpips": 0.08626633882522583}, "wrist_left": {"psnr": 18.77165525289509, "ssim": 0.6443722755331796, "lpips": 0.21640253067016602}, "wrist_right": {"psnr": 18.93976977244161, "ssim": 0.6725457530359256, "lpips": 0.19432832300662994}, "tactile_left": {"psnr": 43.90592396134444, "ssim": 0.987556638115646, "lpips": 0.026469271630048752}, "tactile_right": {"psnr": 47.07385184631591, "ssim": 0.9898672551839176, "lpips": 0.015226374380290508}}, {"video": {"psnr": 23.3497488493434, "ssim": 0.8005782538106643, "lpips": 0.1066141426563263}, "wrist_left": {"psnr": 20.09674537414348, "ssim": 0.6663993036721401, "lpips": 0.17558029294013977}, "wrist_right": {"psnr": 20.00483729028852, "ssim": 0.6988035699410371, "lpips": 0.17673924565315247}, "tactile_left": {"psnr": 41.55549989639164, "ssim": 0.9835041289087614, "lpips": 0.04888134449720383}, "tactile_right": {"psnr": 44.682990040280316, "ssim": 0.9868877167104351, "lpips": 0.026408875361084938}}, {"video": {"psnr": 22.99691930495415, "ssim": 0.7821172537686795, "lpips": 0.1260594129562378}, "wrist_left": {"psnr": 18.520781722775123, "ssim": 0.667180116555098, "lpips": 0.2021646946668625}, "wrist_right": {"psnr": 21.146089260921762, "ssim": 0.7662442619167231, "lpips": 0.16084924340248108}, "tactile_left": {"psnr": 40.33410456214539, "ssim": 0.9800959980249195, "lpips": 0.06276184320449829}, "tactile_right": {"psnr": 43.25256953523463, "ssim": 0.985630657319412, "lpips": 0.031338877975940704}}, {"video": {"psnr": 22.911648607298616, "ssim": 0.7765246076054148, "lpips": 0.1290055215358734}, "wrist_left": {"psnr": 19.130022669192044, "ssim": 0.6547685977567137, "lpips": 0.1820070445537567}, "wrist_right": {"psnr": 19.02222897422167, "ssim": 0.7014380089363916, "lpips": 0.20156411826610565}, "tactile_left": {"psnr": 39.746966604861, "ssim": 0.9781296192375717, "lpips": 0.0814933031797409}, "tactile_right": {"psnr": 42.329720267788986, "ssim": 0.9839172861967275, "lpips": 0.04503478482365608}}, {"video": {"psnr": 22.794342312195607, "ssim": 0.7769370826217374, "lpips": 0.13483864068984985}, "wrist_left": {"psnr": 18.309489040602053, "ssim": 0.5948845668873168, "lpips": 0.2241675853729248}, "wrist_right": {"psnr": 17.31231732268736, "ssim": 0.6626426437439219, "lpips": 0.2532305419445038}, "tactile_left": {"psnr": 39.12326347604035, "ssim": 0.9791158097280087, "lpips": 0.06153199449181557}, "tactile_right": {"psnr": 39.81980229993778, "ssim": 0.9805889197100586, "lpips": 0.07610882818698883}}, {"video": {"psnr": 22.690323985765563, "ssim": 0.7646717030929892, "lpips": 0.1674048751592636}, "wrist_left": {"psnr": 16.217312837382426, "ssim": 0.5776852379805003, "lpips": 0.26117584109306335}, "wrist_right": {"psnr": 19.182792146803703, "ssim": 0.7104312926665078, "lpips": 0.23824217915534973}, "tactile_left": {"psnr": 37.181270065912344, "ssim": 0.9744029307938846, "lpips": 0.08580844849348068}, "tactile_right": {"psnr": 39.00110488306781, "ssim": 0.9778392559648961, "lpips": 0.08408161997795105}}, {"video": {"psnr": 21.89528355198989, "ssim": 0.7433975176257279, "lpips": 0.19677527248859406}, "wrist_left": {"psnr": 17.02132637187744, "ssim": 0.5845206731697447, "lpips": 0.2362382411956787}, "wrist_right": {"psnr": 21.627098758886664, "ssim": 0.7353214141187772, "lpips": 0.2228887975215912}, "tactile_left": {"psnr": 35.32707058960452, "ssim": 0.9685296632503144, "lpips": 0.12001371383666992}, "tactile_right": {"psnr": 38.23946032034057, "ssim": 0.9756666219011668, "lpips": 0.09617982804775238}}, {"video": {"psnr": 21.763428378674277, "ssim": 0.7354429865821863, "lpips": 0.21524327993392944}, "wrist_left": {"psnr": 16.324470723888485, "ssim": 0.5595981219585524, "lpips": 0.25958240032196045}, "wrist_right": {"psnr": 19.215014606851742, "ssim": 0.7094956643932168, "lpips": 0.2781355082988739}, "tactile_left": {"psnr": 35.4387578846205, "ssim": 0.9698202243307934, "lpips": 0.11759252101182938}, "tactile_right": {"psnr": 37.853487803832394, "ssim": 0.9753026010400752, "lpips": 0.10615386813879013}}, {"video": {"psnr": 21.819205910258997, "ssim": 0.7387726487197979, "lpips": 0.20509980618953705}, "wrist_left": {"psnr": 14.926957208137708, "ssim": 0.466165398558556, "lpips": 0.3737224340438843}, "wrist_right": {"psnr": 19.004135208022184, "ssim": 0.6732157223663446, "lpips": 0.24272838234901428}, "tactile_left": {"psnr": 35.38409548419031, "ssim": 0.9699099637714951, "lpips": 0.12297423928976059}, "tactile_right": {"psnr": 36.695611277005845, "ssim": 0.9732167107373293, "lpips": 0.12644162774085999}}, {"video": {"psnr": 21.714490881723933, "ssim": 0.7373152787949507, "lpips": 0.20689868927001953}, "wrist_left": {"psnr": 14.883842647460465, "ssim": 0.4618617483943184, "lpips": 0.3884049654006958}, "wrist_right": {"psnr": 18.530934291852997, "ssim": 0.6422471010382351, "lpips": 0.24203115701675415}, "tactile_left": {"psnr": 34.5556030155158, "ssim": 0.9630489125166943, "lpips": 0.17333418130874634}, "tactile_right": {"psnr": 35.43624683527539, "ssim": 0.9697880898236844, "lpips": 0.14367727935314178}}, {"video": {"psnr": 21.443732362817563, "ssim": 0.7303856106717224, "lpips": 0.23061521351337433}, "wrist_left": {"psnr": 16.364241087071402, "ssim": 0.5287287752030132, "lpips": 0.2908145785331726}, "wrist_right": {"psnr": 16.077437456561388, "ssim": 0.5819368012124397, "lpips": 0.3109007477760315}, "tactile_left": {"psnr": 33.72480874261191, "ssim": 0.957362968384371, "lpips": 0.1962575912475586}, "tactile_right": {"psnr": 34.88644306996946, "ssim": 0.9689612727869148, "lpips": 0.14239811897277832}}, {"video": {"psnr": 21.408332139228282, "ssim": 0.7308092660035413, "lpips": 0.2328559011220932}, "wrist_left": {"psnr": 16.24577592883828, "ssim": 0.5282902129285123, "lpips": 0.29464924335479736}, "wrist_right": {"psnr": 15.404156660592141, "ssim": 0.5335198927520137, "lpips": 0.3445286154747009}, "tactile_left": {"psnr": 33.20568365263141, "ssim": 0.9540445798738817, "lpips": 0.20867392420768738}, "tactile_right": {"psnr": 34.15764217025168, "ssim": 0.9676125530338279, "lpips": 0.14579428732395172}}, {"video": {"psnr": 21.34577034227499, "ssim": 0.7260994064266333, "lpips": 0.2347669154405594}, "wrist_left": {"psnr": 15.966463959729175, "ssim": 0.5114212604865284, "lpips": 0.29190880060195923}, "wrist_right": {"psnr": 15.871314756624518, "ssim": 0.5249683250626607, "lpips": 0.362709105014801}, "tactile_left": {"psnr": 32.906137997720215, "ssim": 0.9508756792733492, "lpips": 0.22259092330932617}, "tactile_right": {"psnr": 33.44450080188757, "ssim": 0.9651013433235378, "lpips": 0.16154015064239502}}, {"video": {"psnr": 21.343518983530537, "ssim": 0.7237696907432178, "lpips": 0.2347870171070099}, "wrist_left": {"psnr": 15.271307638279035, "ssim": 0.4768805154631115, "lpips": 0.3396894633769989}, "wrist_right": {"psnr": 16.20432897508127, "ssim": 0.5551321814176213, "lpips": 0.353492796421051}, "tactile_left": {"psnr": 32.6511027587172, "ssim": 0.9486990760215234, "lpips": 0.23002907633781433}, "tactile_right": {"psnr": 33.05942650676585, "ssim": 0.9623860570771221, "lpips": 0.18300946056842804}}], "long_metrics": {"video": {"psnr": 22.602515061229706, "ssim": 0.7644702225444925, "lpips": 0.17037982096274693}, "wrist_left": {"psnr": 17.25360680397467, "ssim": 0.5779434518184102, "lpips": 0.25812622408072156}, "wrist_right": {"psnr": 18.845923663132513, "ssim": 0.666818504928233, "lpips": 0.24724375903606416}, "tactile_left": {"psnr": 37.34548304618213, "ssim": 0.9703792073739957, "lpips": 0.11883226955930391}, "tactile_right": {"psnr": 39.29316205597292, "ssim": 0.97703144163333, "lpips": 0.09262383133172988}}}, {"id": "rope_e005_10", "episode": "rope_0911_episode_005_seg00.pt", "requested_episode": "rope_0911_episode_005_seg00.pt", "category": "full", "t_start": 1264, "start_seconds": 84.26666666666667, "short_contact": [1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1], "future_transition_ticks": [], "long_contact_fraction": 1.0, "long_label": "full", "short_metrics": {"video": {"psnr": 37.5299088400927, "ssim": 0.9750755815058678, "lpips": 0.009279710240662098}, "wrist_left": {"psnr": 29.350561033607626, "ssim": 0.9330635040395914, "lpips": 0.01967504993081093}, "wrist_right": {"psnr": 26.961615609123506, "ssim": 0.8131170460237056, "lpips": 0.058658234775066376}, "tactile_left": {"psnr": 50.375964757435014, "ssim": 0.993599253089738, "lpips": 0.0054601263254880905}, "tactile_right": {"psnr": 47.93819794853658, "ssim": 0.9926093613513349, "lpips": 0.01428297720849514}}, "media": {"short": {"video": "media/rope_e005_10_short.mp4", "poster": "media/rope_e005_10_short.jpg"}, "long": {"video": "media/rope_e005_10_long.mp4", "poster": "media/rope_e005_10_long.jpg"}}, "force": {"source": "recorded_normal_force", "units": "N", "fps": 15, "left": [1.9444444179534912, 1.9444444179534912, 1.9444444179534912, 2.28149676322937, 2.28149676322937, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.6312499046325684, 2.6312499046325684, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.6312499046325684, 2.6312499046325684, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.6312499046325684, 2.6312499046325684, 2.6312499046325684, 2.6312499046325684, 2.6312499046325684, 2.6312499046325684, 2.6312499046325684, 2.6312499046325684, 2.6312499046325684, 2.6312499046325684, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307], "right": [0.1599999964237213, 0.1599999964237213, 0.1599999964237213, 2.89768123626709, 0.0, 0.5600000023841858, 0.7345359921455383, 0.1599999964237213, 0.1599999964237213, 0.1599999964237213, 0.1599999964237213, 0.0, 0.0, 0.0, 0.0, 0.8377557992935181, 0.6723332405090332, 0.014832683838903904, 0.03664545342326164, 0.1599999964237213, 0.1599999964237213, 0.1599999964237213, 0.1599999964237213, 0.1599999964237213, 0.1410559117794037, 0.1599999964237213, 0.1599999964237213, 0.1599999964237213, 0.1599999964237213, 0.1500718593597412, 0.1599999964237213, 0.1599999964237213, 0.1599999964237213, 0.7983333468437195, 0.1599999964237213, 0.1599999964237213, 0.1599999964237213, 0.1599999964237213, 0.1599999964237213, 0.1599999964237213, 0.1599999964237213, 0.1599999964237213, 0.10033874958753586, 0.0, 0.04634222388267517, 0.05642236769199371, 0.059621572494506836, 0.05322316288948059, 0.07474509626626968, 0.10150209069252014, 0.10150209069252014, 0.1326216459274292, 0.1599999964237213, 0.1599999964237213, 0.1599999964237213, 0.1599999964237213, 0.1599999964237213, 0.1599999964237213, 0.1723915934562683, 0.17885535955429077, 0.1601448506116867, 0.12888607382774353, 0.20722132921218872, 0.1903959959745407, 1.2668758630752563, 1.31000816822052, 0.8114896416664124, 0.22120486199855804, 0.2979055345058441, 0.764664888381958, 0.0, 0.0, 0.14629098773002625, 0.14629098773002625, 0.00930678192526102, 0.0, 1.9444444179534912, 2.3157992362976074, 1.8510985374450684, 0.0, 1.9444444179534912, 1.9444444179534912, 0.1599999964237213, 0.1599999964237213, 0.1599999964237213, 2.3248276710510254, 1.0465826988220215, 2.3248276710510254, 2.3248276710510254, 0.7983333468437195, 2.3248276710510254, 0.0, 0.1599999964237213, 0.1599999964237213, 0.1599999964237213, 0.1599999964237213, 0.7983333468437195, 0.20869915187358856, 0.7805265784263611, 1.9444444179534912, 1.9444444179534912, 2.9560434818267822, 0.1599999964237213, 0.1599999964237213, 0.1599999964237213, 2.786381483078003, 1.3555138111114502, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4024657011032104, 2.3248276710510254, 1.1913667917251587, 0.0, 0.041298847645521164, 0.0, 0.1599999964237213, 0.1599999964237213, 0.1009204238653183, 0.1599999964237213, 1.3316631317138672, 0.5258998274803162]}, "long_curve": [{"video": {"psnr": 37.5299088400927, "ssim": 0.9750755815058678, "lpips": 0.009279710240662098}, "wrist_left": {"psnr": 29.350561033607626, "ssim": 0.9330635040395914, "lpips": 0.01967504993081093}, "wrist_right": {"psnr": 26.961615609123506, "ssim": 0.8131170460237056, "lpips": 0.058658234775066376}, "tactile_left": {"psnr": 50.375964757435014, "ssim": 0.993599253089738, "lpips": 0.0054601263254880905}, "tactile_right": {"psnr": 47.93819794853658, "ssim": 0.9926093613513349, "lpips": 0.01428297720849514}}, {"video": {"psnr": 33.53747503133369, "ssim": 0.9541182851323307, "lpips": 0.018177518621087074}, "wrist_left": {"psnr": 27.60738934215112, "ssim": 0.866894010022532, "lpips": 0.035468459129333496}, "wrist_right": {"psnr": 21.742216902151924, "ssim": 0.6465497054277952, "lpips": 0.15238222479820251}, "tactile_left": {"psnr": 46.76533899209023, "ssim": 0.9883238146648846, "lpips": 0.016354389488697052}, "tactile_right": {"psnr": 45.55927617389272, "ssim": 0.988906557833829, "lpips": 0.019029593095183372}}, {"video": {"psnr": 31.9326500338722, "ssim": 0.9401261388652784, "lpips": 0.026093684136867523}, "wrist_left": {"psnr": 25.72926363442859, "ssim": 0.8278718254122925, "lpips": 0.04660133272409439}, "wrist_right": {"psnr": 21.605932971973132, "ssim": 0.6436898239020892, "lpips": 0.18081620335578918}, "tactile_left": {"psnr": 44.1382020207798, "ssim": 0.9833767829494016, "lpips": 0.02894693985581398}, "tactile_right": {"psnr": 43.2736631922523, "ssim": 0.9849303895132548, "lpips": 0.030189044773578644}}, {"video": {"psnr": 30.886741835962827, "ssim": 0.9290425533128529, "lpips": 0.033030807971954346}, "wrist_left": {"psnr": 25.768130821979472, "ssim": 0.8149420603342874, "lpips": 0.056489042937755585}, "wrist_right": {"psnr": 21.304980131093775, "ssim": 0.6932568433547297, "lpips": 0.21000605821609497}, "tactile_left": {"psnr": 42.05399198769435, "ssim": 0.9789381214728039, "lpips": 0.04063783586025238}, "tactile_right": {"psnr": 41.500948763777984, "ssim": 0.9833245946400365, "lpips": 0.041981592774391174}}, {"video": {"psnr": 30.034622803062206, "ssim": 0.9145014889990258, "lpips": 0.041232287883758545}, "wrist_left": {"psnr": 24.66385773787215, "ssim": 0.7833357211558629, "lpips": 0.06428554654121399}, "wrist_right": {"psnr": 22.376740588059356, "ssim": 0.7093761075742614, "lpips": 0.21059048175811768}, "tactile_left": {"psnr": 39.96788570233049, "ssim": 0.9738415497334479, "lpips": 0.05478041619062424}, "tactile_right": {"psnr": 40.76024505608589, "ssim": 0.9820450996210746, "lpips": 0.04952852800488472}}, {"video": {"psnr": 29.31865443630866, "ssim": 0.9025272666311668, "lpips": 0.05012068524956703}, "wrist_left": {"psnr": 23.342423317787954, "ssim": 0.7246162035231085, "lpips": 0.07713627815246582}, "wrist_right": {"psnr": 22.06369974610691, "ssim": 0.7028682605724508, "lpips": 0.2248719036579132}, "tactile_left": {"psnr": 38.339091207640934, "ssim": 0.9695460390374198, "lpips": 0.06774001568555832}, "tactile_right": {"psnr": 39.7215864738575, "ssim": 0.9820450140678013, "lpips": 0.05371959134936333}}, {"video": {"psnr": 27.07932291498514, "ssim": 0.873560807227363, "lpips": 0.06831193715333939}, "wrist_left": {"psnr": 21.941987527315497, "ssim": 0.6769497177294709, "lpips": 0.09250293672084808}, "wrist_right": {"psnr": 22.39771132982609, "ssim": 0.6934940731289662, "lpips": 0.25746768712997437}, "tactile_left": {"psnr": 37.30122996879259, "ssim": 0.9662463037972979, "lpips": 0.08300694823265076}, "tactile_right": {"psnr": 38.46760367765393, "ssim": 0.9798630251605066, "lpips": 0.07214515656232834}}, {"video": {"psnr": 25.90285254751279, "ssim": 0.8571191773772806, "lpips": 0.08263050019741058}, "wrist_left": {"psnr": 20.948079840765104, "ssim": 0.63432422996101, "lpips": 0.11060204356908798}, "wrist_right": {"psnr": 22.30666209419084, "ssim": 0.6993804856660883, "lpips": 0.24124112725257874}, "tactile_left": {"psnr": 36.1402654922326, "ssim": 0.962863563714533, "lpips": 0.10633762180805206}, "tactile_right": {"psnr": 37.947350229606855, "ssim": 0.97836902127286, "lpips": 0.07989402860403061}}, {"video": {"psnr": 24.892445679457293, "ssim": 0.8314567222219642, "lpips": 0.09978215396404266}, "wrist_left": {"psnr": 20.001281019323937, "ssim": 0.5974368970338779, "lpips": 0.1271882951259613}, "wrist_right": {"psnr": 18.70118554355466, "ssim": 0.6683752509370187, "lpips": 0.2551667392253876}, "tactile_left": {"psnr": 35.565629275433736, "ssim": 0.9600845082805429, "lpips": 0.11797016859054565}, "tactile_right": {"psnr": 37.03029361316814, "ssim": 0.9766581664421995, "lpips": 0.0885000079870224}}, {"video": {"psnr": 24.065226089204042, "ssim": 0.8069571180271478, "lpips": 0.12124744057655334}, "wrist_left": {"psnr": 20.010757573512883, "ssim": 0.6055998085772911, "lpips": 0.12722042202949524}, "wrist_right": {"psnr": 17.123196488507165, "ssim": 0.6095309985672377, "lpips": 0.2815122604370117}, "tactile_left": {"psnr": 34.795612532045055, "ssim": 0.9568856193476201, "lpips": 0.13525795936584473}, "tactile_right": {"psnr": 35.93570734433028, "ssim": 0.9740056115505293, "lpips": 0.11018431931734085}}, {"video": {"psnr": 23.333070446308195, "ssim": 0.7917134190011756, "lpips": 0.14082232117652893}, "wrist_left": {"psnr": 19.79275611522346, "ssim": 0.5984894460698603, "lpips": 0.14375832676887512}, "wrist_right": {"psnr": 16.6066586684145, "ssim": 0.6317456544211193, "lpips": 0.29004254937171936}, "tactile_left": {"psnr": 34.195096089617884, "ssim": 0.9541811125302448, "lpips": 0.1509862095117569}, "tactile_right": {"psnr": 35.25952061292943, "ssim": 0.9717895689444025, "lpips": 0.12742862105369568}}, {"video": {"psnr": 22.86023289590365, "ssim": 0.7744364198294368, "lpips": 0.14654770493507385}, "wrist_left": {"psnr": 20.053581039073368, "ssim": 0.61127632702037, "lpips": 0.14139199256896973}, "wrist_right": {"psnr": 15.381820333139114, "ssim": 0.6217105051450855, "lpips": 0.3237018883228302}, "tactile_left": {"psnr": 33.47173513526508, "ssim": 0.9503666391152332, "lpips": 0.17230981588363647}, "tactile_right": {"psnr": 34.63566121729537, "ssim": 0.9694157420770834, "lpips": 0.14496482908725739}}, {"video": {"psnr": 22.152825858893287, "ssim": 0.7493300398895764, "lpips": 0.16964173316955566}, "wrist_left": {"psnr": 19.1541021843097, "ssim": 0.6062280276425946, "lpips": 0.1648581326007843}, "wrist_right": {"psnr": 14.6366347017399, "ssim": 0.618975438683136, "lpips": 0.3435291051864624}, "tactile_left": {"psnr": 32.651243806622084, "ssim": 0.9454195774836647, "lpips": 0.18888768553733826}, "tactile_right": {"psnr": 34.23419959133737, "ssim": 0.9671585640650902, "lpips": 0.15935242176055908}}, {"video": {"psnr": 22.12041926595266, "ssim": 0.7321130876441311, "lpips": 0.19304323196411133}, "wrist_left": {"psnr": 18.521023799141705, "ssim": 0.5832522113904257, "lpips": 0.17095404863357544}, "wrist_right": {"psnr": 12.862000495337245, "ssim": 0.5843971823628286, "lpips": 0.3773517310619354}, "tactile_left": {"psnr": 32.00863627980712, "ssim": 0.9402028505943854, "lpips": 0.2193516194820404}, "tactile_right": {"psnr": 33.81226601940569, "ssim": 0.9647047219401108, "lpips": 0.17491263151168823}}, {"video": {"psnr": 21.92689846934958, "ssim": 0.7287939805413245, "lpips": 0.2063485085964203}, "wrist_left": {"psnr": 19.34968589528939, "ssim": 0.6128537263925347, "lpips": 0.16607220470905304}, "wrist_right": {"psnr": 14.797297976666563, "ssim": 0.6493801760049724, "lpips": 0.3260214328765869}, "tactile_left": {"psnr": 31.710576738667733, "ssim": 0.9402792793146306, "lpips": 0.24122990667819977}, "tactile_right": {"psnr": 33.37457293444002, "ssim": 0.9621171310185864, "lpips": 0.19490429759025574}}], "long_metrics": {"video": {"psnr": 27.171556476546595, "ssim": 0.8507248057470614, "lpips": 0.09375401505579552}, "wrist_left": {"psnr": 22.415658725452133, "ssim": 0.6984755810870074, "lpips": 0.1029469408094883}, "wrist_right": {"psnr": 19.391223571992313, "ssim": 0.665723170118099, "lpips": 0.24889064182837803}, "tactile_left": {"psnr": 37.965366665763646, "ssim": 0.96427700100839, "lpips": 0.10861717723309994}, "tactile_right": {"psnr": 38.63007285657134, "ssim": 0.9771961712999133, "lpips": 0.09073450937867164}}}, {"id": "rope_e005_11", "episode": "rope_0911_episode_005_seg01.pt", "requested_episode": "rope_0911_episode_005_seg01.pt", "category": "none", "t_start": 521, "start_seconds": 34.733333333333334, "short_contact": [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0], "future_transition_ticks": [], "long_contact_fraction": 0.125, "long_label": "none_at_start", "short_metrics": {"video": {"psnr": 31.757741708717813, "ssim": 0.9496688584179145, "lpips": 0.019676458090543747}, "wrist_left": {"psnr": 22.527756298569436, "ssim": 0.7673262669662233, "lpips": 0.07545579224824905}, "wrist_right": {"psnr": 23.159261822062398, "ssim": 0.8557832533724972, "lpips": 0.10730709135532379}, "tactile_left": {"psnr": 51.853170100366, "ssim": 0.9951182117255136, "lpips": 0.003194173565134406}, "tactile_right": {"psnr": 45.05177943789058, "ssim": 0.9888358988900097, "lpips": 0.028179069980978966}}, "media": {"short": {"video": "media/rope_e005_11_short.mp4", "poster": "media/rope_e005_11_short.jpg"}, "long": {"video": "media/rope_e005_11_long.mp4", "poster": "media/rope_e005_11_long.jpg"}}, "force": {"source": "recorded_normal_force", "units": "N", "fps": 15, "left": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.1599999964237213, 0.7983333468437195, 1.9444444179534912, 2.5848875045776367, 2.5848875045776367, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.1599999964237213, 0.7044057846069336, 3.0568182468414307, 0.7983333468437195, 0.1599999964237213, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.647652268409729, 0.7983333468437195, 0.7825595736503601, 0.4866666793823242, 0.07072307169437408, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.7897401452064514, 2.3248276710510254, 0.0], "right": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0020358585752546787, 0.10906385630369186, 0.07939848303794861, 0.04271765798330307, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.023557793349027634, 0.011342640966176987, 0.002326695481315255, 0.005816739052534103, 0.1599999964237213, 0.07445425540208817, 0.011051803827285767, 0.0, 0.0, 0.0040717171505093575, 0.014251010492444038, 0.2278153896331787, 0.00465339096263051, 0.008143434301018715, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0026175326202064753, 0.0026175326202064753, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.6223249435424805, 0.5385010242462158, 0.4133962094783783, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.2606673538684845, 0.2606673538684845, 1.5061222314834595, 1.1306027173995972, 0.0, 0.0, 0.0, 0.0]}, "long_curve": [{"video": {"psnr": 31.757741708717813, "ssim": 0.9496688584179145, "lpips": 0.019676458090543747}, "wrist_left": {"psnr": 22.527756298569436, "ssim": 0.7673262669662233, "lpips": 0.07545579224824905}, "wrist_right": {"psnr": 23.159261822062398, "ssim": 0.8557832533724972, "lpips": 0.10730709135532379}, "tactile_left": {"psnr": 51.853170100366, "ssim": 0.9951182117255136, "lpips": 0.003194173565134406}, "tactile_right": {"psnr": 45.05177943789058, "ssim": 0.9888358988900097, "lpips": 0.028179069980978966}}, {"video": {"psnr": 27.495765368295764, "ssim": 0.8958345130202321, "lpips": 0.053210701793432236}, "wrist_left": {"psnr": 21.301609269025718, "ssim": 0.7021278346629001, "lpips": 0.09689836204051971}, "wrist_right": {"psnr": 19.28858245129123, "ssim": 0.7796987667641635, "lpips": 0.15858662128448486}, "tactile_left": {"psnr": 47.94987007477589, "ssim": 0.9912512332835941, "lpips": 0.010535848326981068}, "tactile_right": {"psnr": 44.739842688787554, "ssim": 0.9852452479910727, "lpips": 0.03286147117614746}}, {"video": {"psnr": 26.229308437063704, "ssim": 0.8753617211860144, "lpips": 0.06754752993583679}, "wrist_left": {"psnr": 20.269027535300257, "ssim": 0.6657708176133025, "lpips": 0.1146540716290474}, "wrist_right": {"psnr": 19.05092106506491, "ssim": 0.7740237030125323, "lpips": 0.14973494410514832}, "tactile_left": {"psnr": 44.85103883425894, "ssim": 0.9872340827544717, "lpips": 0.019804392009973526}, "tactile_right": {"psnr": 43.446793280813694, "ssim": 0.9831412470440146, "lpips": 0.041327908635139465}}, {"video": {"psnr": 25.557055263035778, "ssim": 0.8585400216675265, "lpips": 0.07466897368431091}, "wrist_left": {"psnr": 19.42833736415419, "ssim": 0.639208940832267, "lpips": 0.12717634439468384}, "wrist_right": {"psnr": 18.946194077550416, "ssim": 0.7698237097091798, "lpips": 0.15455219149589539}, "tactile_left": {"psnr": 43.20375557482973, "ssim": 0.9849385870657229, "lpips": 0.03008893132209778}, "tactile_right": {"psnr": 42.3625283944546, "ssim": 0.9816874291244526, "lpips": 0.04826079308986664}}, {"video": {"psnr": 25.668993173463754, "ssim": 0.8484650196341011, "lpips": 0.07369276136159897}, "wrist_left": {"psnr": 18.10652927128384, "ssim": 0.6179519248415013, "lpips": 0.18182024359703064}, "wrist_right": {"psnr": 19.190349408751683, "ssim": 0.7663706308589229, "lpips": 0.15582144260406494}, "tactile_left": {"psnr": 42.23070142960648, "ssim": 0.9829967880049109, "lpips": 0.0420120432972908}, "tactile_right": {"psnr": 41.73719981646539, "ssim": 0.9797617531025213, "lpips": 0.05984145402908325}}, {"video": {"psnr": 25.173896270231676, "ssim": 0.8273431021490201, "lpips": 0.08180096000432968}, "wrist_left": {"psnr": 17.41586597317322, "ssim": 0.6104579902210814, "lpips": 0.2189125269651413}, "wrist_right": {"psnr": 19.247473487470767, "ssim": 0.7581615666099519, "lpips": 0.18531692028045654}, "tactile_left": {"psnr": 40.55908521625649, "ssim": 0.9805835865061361, "lpips": 0.05525466054677963}, "tactile_right": {"psnr": 41.79134818938424, "ssim": 0.9821049565045898, "lpips": 0.04787339270114899}}, {"video": {"psnr": 23.985940759316023, "ssim": 0.7987802536781228, "lpips": 0.11615180969238281}, "wrist_left": {"psnr": 16.930019355887534, "ssim": 0.6960481460237821, "lpips": 0.2305174618959427}, "wrist_right": {"psnr": 18.769173368286097, "ssim": 0.7447130143930208, "lpips": 0.1974697709083557}, "tactile_left": {"psnr": 39.48807457542073, "ssim": 0.9782137491054765, "lpips": 0.0724218413233757}, "tactile_right": {"psnr": 41.16201835000111, "ssim": 0.9813354589295558, "lpips": 0.05160648003220558}}, {"video": {"psnr": 23.345646902870882, "ssim": 0.7800950267528445, "lpips": 0.1375819444656372}, "wrist_left": {"psnr": 17.8972519053018, "ssim": 0.740903482690987, "lpips": 0.22839149832725525}, "wrist_right": {"psnr": 18.56801268614968, "ssim": 0.7421018935591965, "lpips": 0.18743744492530823}, "tactile_left": {"psnr": 38.09833382147056, "ssim": 0.9755378216658879, "lpips": 0.09336362779140472}, "tactile_right": {"psnr": 40.313892144085514, "ssim": 0.9796517889345663, "lpips": 0.06504055857658386}}, {"video": {"psnr": 23.05833908020761, "ssim": 0.7623179975169772, "lpips": 0.14769044518470764}, "wrist_left": {"psnr": 18.34196605318536, "ssim": 0.7581857756839971, "lpips": 0.2137424349784851}, "wrist_right": {"psnr": 18.929087386919782, "ssim": 0.7543185227607329, "lpips": 0.16087165474891663}, "tactile_left": {"psnr": 37.23119248431103, "ssim": 0.9707304935121888, "lpips": 0.10688343644142151}, "tactile_right": {"psnr": 39.32322700412681, "ssim": 0.9774606498781366, "lpips": 0.07612714171409607}}, {"video": {"psnr": 22.881786018695646, "ssim": 0.7578127422268901, "lpips": 0.1566362977027893}, "wrist_left": {"psnr": 18.492930410376943, "ssim": 0.7755164606816485, "lpips": 0.21248134970664978}, "wrist_right": {"psnr": 18.406472695823734, "ssim": 0.7448078814103735, "lpips": 0.18347734212875366}, "tactile_left": {"psnr": 36.005179784430894, "ssim": 0.9668804122777478, "lpips": 0.10461841523647308}, "tactile_right": {"psnr": 38.314739681932764, "ssim": 0.9749623764176075, "lpips": 0.09370572119951248}}, {"video": {"psnr": 22.777454257281313, "ssim": 0.7468443189680525, "lpips": 0.15802517533302307}, "wrist_left": {"psnr": 17.153180964308387, "ssim": 0.7523877268274316, "lpips": 0.20837581157684326}, "wrist_right": {"psnr": 18.650769720299607, "ssim": 0.7510430652514992, "lpips": 0.19312381744384766}, "tactile_left": {"psnr": 35.340981370997405, "ssim": 0.9699913759422305, "lpips": 0.10476301610469818}, "tactile_right": {"psnr": 37.39246438899256, "ssim": 0.9729864139487513, "lpips": 0.11110145598649979}}, {"video": {"psnr": 22.556893654573805, "ssim": 0.7409858554911684, "lpips": 0.17147251963615417}, "wrist_left": {"psnr": 17.292261556737984, "ssim": 0.7433861704647319, "lpips": 0.21350368857383728}, "wrist_right": {"psnr": 20.74480588812156, "ssim": 0.7777373631875033, "lpips": 0.21759061515331268}, "tactile_left": {"psnr": 34.98699336154503, "ssim": 0.9712492106390582, "lpips": 0.10795637965202332}, "tactile_right": {"psnr": 36.73047920555179, "ssim": 0.9720837076835303, "lpips": 0.12355408072471619}}, {"video": {"psnr": 23.040069360065075, "ssim": 0.7540620910556267, "lpips": 0.14128069579601288}, "wrist_left": {"psnr": 17.969805179258756, "ssim": 0.7462117086440033, "lpips": 0.2747466564178467}, "wrist_right": {"psnr": 20.11250112620777, "ssim": 0.7710725007500633, "lpips": 0.2166641354560852}, "tactile_left": {"psnr": 34.414211415446005, "ssim": 0.9664167788153024, "lpips": 0.13146448135375977}, "tactile_right": {"psnr": 36.22589345695829, "ssim": 0.9721869492803534, "lpips": 0.12455428391695023}}, {"video": {"psnr": 22.8343145957586, "ssim": 0.7480777734724446, "lpips": 0.14011047780513763}, "wrist_left": {"psnr": 17.70268537807633, "ssim": 0.7606057858099315, "lpips": 0.1864396631717682}, "wrist_right": {"psnr": 15.808364181196385, "ssim": 0.7035507095987358, "lpips": 0.2986380159854889}, "tactile_left": {"psnr": 34.03295515110786, "ssim": 0.9671552654895151, "lpips": 0.1397484838962555}, "tactile_right": {"psnr": 35.49023194627055, "ssim": 0.9703342569711418, "lpips": 0.1433805376291275}}, {"video": {"psnr": 22.217565120607045, "ssim": 0.7327390525241566, "lpips": 0.16642045974731445}, "wrist_left": {"psnr": 16.990710621742632, "ssim": 0.738761782385297, "lpips": 0.23341310024261475}, "wrist_right": {"psnr": 18.977220290631816, "ssim": 0.7411414057347679, "lpips": 0.25344038009643555}, "tactile_left": {"psnr": 33.33503521206975, "ssim": 0.9656485406355346, "lpips": 0.14610081911087036}, "tactile_right": {"psnr": 34.67954977228193, "ssim": 0.9677925817641061, "lpips": 0.16327881813049316}}], "long_metrics": {"video": {"psnr": 24.57205133134563, "ssim": 0.8051285565174061, "lpips": 0.11373114734888076}, "wrist_left": {"psnr": 18.521329142425493, "ssim": 0.7143233876232724, "lpips": 0.18776860038439433}, "wrist_right": {"psnr": 19.18994597705519, "ssim": 0.7622898657982093, "lpips": 0.1880021591981252}, "tactile_left": {"psnr": 39.57203856045952, "ssim": 0.9769297424948861, "lpips": 0.07788070333190263}, "tactile_right": {"psnr": 39.91746585053316, "ssim": 0.9779713810976273, "lpips": 0.08071287783483665}}}, {"id": "rope_e005_12", "episode": "rope_0911_episode_005_seg01.pt", "requested_episode": "rope_0911_episode_005_seg01.pt", "category": "onset", "t_start": 504, "start_seconds": 33.6, "short_contact": [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 1], "future_transition_ticks": [11], "long_contact_fraction": 0.140625, "long_label": "onset", "short_metrics": {"video": {"psnr": 27.34784889642463, "ssim": 0.8939544536087711, "lpips": 0.04866815358400345}, "wrist_left": {"psnr": 20.947582263399212, "ssim": 0.763311240108034, "lpips": 0.16056649386882782}, "wrist_right": {"psnr": 21.42264666578724, "ssim": 0.8168162925408038, "lpips": 0.1236509382724762}, "tactile_left": {"psnr": 46.375239935755836, "ssim": 0.9916394985664242, "lpips": 0.015269430354237556}, "tactile_right": {"psnr": 50.22266147879412, "ssim": 0.9943879311875974, "lpips": 0.004239147994667292}}, "media": {"short": {"video": "media/rope_e005_12_short.mp4", "poster": "media/rope_e005_12_short.jpg"}, "long": {"video": "media/rope_e005_12_long.mp4", "poster": "media/rope_e005_12_long.jpg"}}, "force": {"source": "recorded_normal_force", "units": "N", "fps": 15, "left": [0.0, 0.0, 0.0, 0.1599999964237213, 0.04181085526943207, 0.1599999964237213, 0.29114335775375366, 0.29114335775375366, 0.4000000059604645, 0.27666667103767395, 0.4000000059604645, 0.7037668228149414, 0.6153987050056458, 0.5686556696891785, 0.6720236539840698, 0.6720236539840698, 0.5600000023841858, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.1599999964237213, 0.7983333468437195, 1.9444444179534912, 2.5848875045776367, 2.5848875045776367, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.1599999964237213, 0.7044057846069336, 3.0568182468414307, 0.7983333468437195, 0.1599999964237213, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.647652268409729, 0.7983333468437195, 0.7825595736503601], "right": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0020358585752546787, 0.10906385630369186, 0.07939848303794861, 0.04271765798330307, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.023557793349027634, 0.011342640966176987, 0.002326695481315255, 0.005816739052534103, 0.1599999964237213, 0.07445425540208817, 0.011051803827285767, 0.0, 0.0, 0.0040717171505093575, 0.014251010492444038, 0.2278153896331787, 0.00465339096263051, 0.008143434301018715, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0026175326202064753, 0.0026175326202064753, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.6223249435424805, 0.5385010242462158, 0.4133962094783783, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]}, "long_curve": [{"video": {"psnr": 27.34784889642463, "ssim": 0.8939544536087711, "lpips": 0.04866815358400345}, "wrist_left": {"psnr": 20.947582263399212, "ssim": 0.763311240108034, "lpips": 0.16056649386882782}, "wrist_right": {"psnr": 21.42264666578724, "ssim": 0.8168162925408038, "lpips": 0.1236509382724762}, "tactile_left": {"psnr": 46.375239935755836, "ssim": 0.9916394985664242, "lpips": 0.015269430354237556}, "tactile_right": {"psnr": 50.22266147879412, "ssim": 0.9943879311875974, "lpips": 0.004239147994667292}}, {"video": {"psnr": 23.72372333504758, "ssim": 0.8057852912944978, "lpips": 0.11456771194934845}, "wrist_left": {"psnr": 17.31498529825171, "ssim": 0.6710613305950086, "lpips": 0.24630185961723328}, "wrist_right": {"psnr": 16.666520555372536, "ssim": 0.7289583692541166, "lpips": 0.24926972389221191}, "tactile_left": {"psnr": 47.72497553578575, "ssim": 0.9903765344524218, "lpips": 0.013343004509806633}, "tactile_right": {"psnr": 48.098664076712645, "ssim": 0.9900905073708012, "lpips": 0.011868703179061413}}, {"video": {"psnr": 23.224120423218263, "ssim": 0.7916165095093617, "lpips": 0.13148532807826996}, "wrist_left": {"psnr": 15.819287773849153, "ssim": 0.5893571033294649, "lpips": 0.275590181350708}, "wrist_right": {"psnr": 18.399684462673864, "ssim": 0.7615663170647109, "lpips": 0.19771960377693176}, "tactile_left": {"psnr": 45.672312493405975, "ssim": 0.9879769639125157, "lpips": 0.021242506802082062}, "tactile_right": {"psnr": 44.06225542717311, "ssim": 0.9856191910844556, "lpips": 0.023321043699979782}}, {"video": {"psnr": 22.754740152197435, "ssim": 0.7738804530689727, "lpips": 0.14454878866672516}, "wrist_left": {"psnr": 15.657952003016494, "ssim": 0.5657372253199828, "lpips": 0.26321524381637573}, "wrist_right": {"psnr": 17.571223469866666, "ssim": 0.749286212028553, "lpips": 0.22224387526512146}, "tactile_left": {"psnr": 43.67735286069147, "ssim": 0.985855147898383, "lpips": 0.030887063592672348}, "tactile_right": {"psnr": 42.4619006612531, "ssim": 0.9833186231894783, "lpips": 0.03257882595062256}}, {"video": {"psnr": 22.568668801389222, "ssim": 0.7679397955015498, "lpips": 0.15340590476989746}, "wrist_left": {"psnr": 15.564499662378292, "ssim": 0.5526194771374331, "lpips": 0.26189255714416504}, "wrist_right": {"psnr": 16.83482489284692, "ssim": 0.737630298494723, "lpips": 0.2308967262506485}, "tactile_left": {"psnr": 42.15201236309288, "ssim": 0.9837389743760376, "lpips": 0.037064243108034134}, "tactile_right": {"psnr": 41.520195420750056, "ssim": 0.9814083215567855, "lpips": 0.04710431396961212}}, {"video": {"psnr": 22.68591167038705, "ssim": 0.7685589388121024, "lpips": 0.15588778257369995}, "wrist_left": {"psnr": 15.80372069101873, "ssim": 0.566876905627047, "lpips": 0.2546423077583313}, "wrist_right": {"psnr": 16.887868438855232, "ssim": 0.7352465693328447, "lpips": 0.23247359693050385}, "tactile_left": {"psnr": 40.674811564691204, "ssim": 0.9810990970400018, "lpips": 0.04827359318733215}, "tactile_right": {"psnr": 40.3657368990944, "ssim": 0.9799717326603195, "lpips": 0.0581289604306221}}, {"video": {"psnr": 22.77715528431131, "ssim": 0.7630520562340064, "lpips": 0.1534937173128128}, "wrist_left": {"psnr": 16.038913013283477, "ssim": 0.5999004080660032, "lpips": 0.2647063136100769}, "wrist_right": {"psnr": 17.103636038618422, "ssim": 0.7326949723952141, "lpips": 0.23646683990955353}, "tactile_left": {"psnr": 39.54637675961815, "ssim": 0.9787527775435692, "lpips": 0.06436612457036972}, "tactile_right": {"psnr": 39.34634790572942, "ssim": 0.9781476602181884, "lpips": 0.07326935976743698}}, {"video": {"psnr": 22.89362160593543, "ssim": 0.7601369612976714, "lpips": 0.14988678693771362}, "wrist_left": {"psnr": 15.784200661861549, "ssim": 0.5867672087618174, "lpips": 0.268343448638916}, "wrist_right": {"psnr": 18.65580975781777, "ssim": 0.7513183356161728, "lpips": 0.21199636161327362}, "tactile_left": {"psnr": 38.20916478121151, "ssim": 0.9762583470356905, "lpips": 0.08393941819667816}, "tactile_right": {"psnr": 38.843823086476476, "ssim": 0.9774939887716638, "lpips": 0.08106331527233124}}, {"video": {"psnr": 22.4851891316716, "ssim": 0.7392926218615623, "lpips": 0.16778987646102905}, "wrist_left": {"psnr": 17.06340481696101, "ssim": 0.7147249160218254, "lpips": 0.22094950079917908}, "wrist_right": {"psnr": 18.9457825074551, "ssim": 0.7581273996695259, "lpips": 0.24689647555351257}, "tactile_left": {"psnr": 37.61649012964369, "ssim": 0.9742078655756095, "lpips": 0.09592201560735703}, "tactile_right": {"psnr": 38.278064455167076, "ssim": 0.9771606232631332, "lpips": 0.08354401588439941}}, {"video": {"psnr": 22.620824045871988, "ssim": 0.737920750289788, "lpips": 0.16507647931575775}, "wrist_left": {"psnr": 17.27305177599587, "ssim": 0.7374421674943331, "lpips": 0.23384688794612885}, "wrist_right": {"psnr": 19.31998278408955, "ssim": 0.7632106895374178, "lpips": 0.2423149049282074}, "tactile_left": {"psnr": 36.49595898260355, "ssim": 0.9714456797661304, "lpips": 0.11331002414226532}, "tactile_right": {"psnr": 36.740648019210425, "ssim": 0.9751551735852282, "lpips": 0.10298682004213333}}, {"video": {"psnr": 22.548777489818796, "ssim": 0.7365056479929144, "lpips": 0.1731221079826355}, "wrist_left": {"psnr": 17.297014433477717, "ssim": 0.7444253079712647, "lpips": 0.23918023705482483}, "wrist_right": {"psnr": 18.944593298497676, "ssim": 0.7542571338274164, "lpips": 0.24294939637184143}, "tactile_left": {"psnr": 35.69036093492372, "ssim": 0.9692710279734442, "lpips": 0.1271231770515442}, "tactile_right": {"psnr": 35.55566517210684, "ssim": 0.9723458241790089, "lpips": 0.12003230303525925}}, {"video": {"psnr": 22.38084104078026, "ssim": 0.7318105761057392, "lpips": 0.17782807350158691}, "wrist_left": {"psnr": 17.620367864982146, "ssim": 0.7597043565039738, "lpips": 0.24177666008472443}, "wrist_right": {"psnr": 18.522606185413338, "ssim": 0.7513696624098675, "lpips": 0.2556506395339966}, "tactile_left": {"psnr": 34.54381985631795, "ssim": 0.9657592003079765, "lpips": 0.14474649727344513}, "tactile_right": {"psnr": 34.57631043836621, "ssim": 0.9691753855032907, "lpips": 0.14169761538505554}}, {"video": {"psnr": 22.234734742927778, "ssim": 0.7270104757993905, "lpips": 0.1878608912229538}, "wrist_left": {"psnr": 17.044181298871962, "ssim": 0.7371223898701901, "lpips": 0.21453988552093506}, "wrist_right": {"psnr": 18.117213761333726, "ssim": 0.749016511715567, "lpips": 0.26479285955429077}, "tactile_left": {"psnr": 33.991419421146574, "ssim": 0.9650345096171111, "lpips": 0.15092922747135162}, "tactile_right": {"psnr": 33.798705826483115, "ssim": 0.9666446432071776, "lpips": 0.15791097283363342}}, {"video": {"psnr": 21.767748254626, "ssim": 0.7151648453867323, "lpips": 0.21793919801712036}, "wrist_left": {"psnr": 17.55860659694733, "ssim": 0.751819549241412, "lpips": 0.2114313542842865}, "wrist_right": {"psnr": 18.760772017275475, "ssim": 0.7443713829495946, "lpips": 0.27971041202545166}, "tactile_left": {"psnr": 33.814415792384196, "ssim": 0.9655944759493886, "lpips": 0.1452060341835022}, "tactile_right": {"psnr": 33.28299936566164, "ssim": 0.9639101719892484, "lpips": 0.1812068074941635}}, {"video": {"psnr": 21.659617686540823, "ssim": 0.7133965527764157, "lpips": 0.22289514541625977}, "wrist_left": {"psnr": 18.06498171595154, "ssim": 0.741101654032587, "lpips": 0.25078028440475464}, "wrist_right": {"psnr": 18.649585246242513, "ssim": 0.7497006701343161, "lpips": 0.26390528678894043}, "tactile_left": {"psnr": 33.56175079847697, "ssim": 0.9628068977641302, "lpips": 0.14962734282016754}, "tactile_right": {"psnr": 32.72345349005688, "ssim": 0.9612072968006637, "lpips": 0.20187073945999146}}], "long_metrics": {"video": {"psnr": 22.911568170743212, "ssim": 0.7617350619692984, "lpips": 0.1576303963859876}, "wrist_left": {"psnr": 16.99018332468308, "ssim": 0.6721314160053585, "lpips": 0.24051754772663117}, "wrist_right": {"psnr": 18.320183338809734, "ssim": 0.7522380544647229, "lpips": 0.23339584271113079}, "tactile_left": {"psnr": 39.316430813983295, "ssim": 0.976654466518589, "lpips": 0.08274998019138972}, "tactile_right": {"psnr": 39.32516211486904, "ssim": 0.9770691383044693, "lpips": 0.0880548629599313}}}, {"id": "rope_e005_13", "episode": "rope_0911_episode_005_seg01.pt", "requested_episode": "rope_0911_episode_005_seg01.pt", "category": "release", "t_start": 457, "start_seconds": 30.466666666666665, "short_contact": [1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 0, 0], "future_transition_ticks": [11], "long_contact_fraction": 0.171875, "long_label": "release", "short_metrics": {"video": {"psnr": 27.701773694999183, "ssim": 0.9194632767273185, "lpips": 0.04252583533525467}, "wrist_left": {"psnr": 24.792093517040385, "ssim": 0.8597741444601765, "lpips": 0.0962737500667572}, "wrist_right": {"psnr": 26.660680895464125, "ssim": 0.8771958878610471, "lpips": 0.09443210810422897}, "tactile_left": {"psnr": 46.199330790326826, "ssim": 0.9914126604572291, "lpips": 0.014367569237947464}, "tactile_right": {"psnr": 45.96235905638915, "ssim": 0.9903240882781688, "lpips": 0.030931862071156502}}, "media": {"short": {"video": "media/rope_e005_13_short.mp4", "poster": "media/rope_e005_13_short.jpg"}, "long": {"video": "media/rope_e005_13_long.mp4", "poster": "media/rope_e005_13_long.jpg"}}, "force": {"source": "recorded_normal_force", "units": "N", "fps": 15, "left": [0.5600000023841858, 0.5470684766769409, 0.4966500401496887, 0.4000000059604645, 0.43075984716415405, 0.49534422159194946, 0.513062059879303, 0.48727983236312866, 0.43913140892982483, 0.4000000059604645, 0.1611628532409668, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.16390106081962585, 0.1599999964237213, 0.1599999964237213, 0.0, 0.0, 0.0, 0.1599999964237213, 0.04181085526943207, 0.1599999964237213, 0.29114335775375366, 0.29114335775375366, 0.4000000059604645, 0.27666667103767395, 0.4000000059604645, 0.7037668228149414, 0.6153987050056458, 0.5686556696891785, 0.6720236539840698, 0.6720236539840698, 0.5600000023841858, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "right": [2.5504209995269775, 2.983825922012329, 2.3248276710510254, 2.3248276710510254, 1.9444444179534912, 1.9444444179534912, 0.7983333468437195, 1.9439622163772583, 1.9439622163772583, 0.7983333468437195, 2.3248276710510254, 0.1599999964237213, 0.1679387390613556, 0.25, 0.38590243458747864, 0.4000000059604645, 0.4000000059604645, 0.43653035163879395, 0.5055455565452576, 0.5292143225669861, 0.4927133321762085, 0.4927133321762085, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0546773672103882, 0.1599999964237213, 0.16222774982452393, 0.7983333468437195, 0.25, 0.27666667103767395, 0.1599999964237213, 0.1599999964237213, 2.3248276710510254, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0020358585752546787, 0.10906385630369186, 0.07939848303794861, 0.04271765798330307, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.023557793349027634]}, "long_curve": [{"video": {"psnr": 27.701773694999183, "ssim": 0.9194632767273185, "lpips": 0.04252583533525467}, "wrist_left": {"psnr": 24.792093517040385, "ssim": 0.8597741444601765, "lpips": 0.0962737500667572}, "wrist_right": {"psnr": 26.660680895464125, "ssim": 0.8771958878610471, "lpips": 0.09443210810422897}, "tactile_left": {"psnr": 46.199330790326826, "ssim": 0.9914126604572291, "lpips": 0.014367569237947464}, "tactile_right": {"psnr": 45.96235905638915, "ssim": 0.9903240882781688, "lpips": 0.030931862071156502}}, {"video": {"psnr": 23.2997968681558, "ssim": 0.818352087805789, "lpips": 0.11080227792263031}, "wrist_left": {"psnr": 17.68354326498837, "ssim": 0.7080227135459436, "lpips": 0.21116000413894653}, "wrist_right": {"psnr": 20.12044744690678, "ssim": 0.7427208706910458, "lpips": 0.18870331346988678}, "tactile_left": {"psnr": 45.49827781150334, "ssim": 0.9881603992535262, "lpips": 0.017166830599308014}, "tactile_right": {"psnr": 43.06194474696943, "ssim": 0.985955315006225, "lpips": 0.05129347741603851}}, {"video": {"psnr": 21.85579786590402, "ssim": 0.7835990286375427, "lpips": 0.14945396780967712}, "wrist_left": {"psnr": 16.753290438965536, "ssim": 0.6371257481152405, "lpips": 0.2699194550514221}, "wrist_right": {"psnr": 14.963669858904165, "ssim": 0.60923248743238, "lpips": 0.3473888337612152}, "tactile_left": {"psnr": 44.92668840361692, "ssim": 0.9867670778492831, "lpips": 0.02570837177336216}, "tactile_right": {"psnr": 45.71691887196994, "ssim": 0.9876574973605544, "lpips": 0.02233964577317238}}, {"video": {"psnr": 22.101926449287753, "ssim": 0.7865789015230817, "lpips": 0.15460488200187683}, "wrist_left": {"psnr": 16.88851612566205, "ssim": 0.6593681036038201, "lpips": 0.2920127809047699}, "wrist_right": {"psnr": 12.989170652106202, "ssim": 0.528895055447703, "lpips": 0.37855446338653564}, "tactile_left": {"psnr": 43.05735269721985, "ssim": 0.9839496208930708, "lpips": 0.03963354229927063}, "tactile_right": {"psnr": 43.033301149162114, "ssim": 0.9847089131243603, "lpips": 0.04433692246675491}}, {"video": {"psnr": 22.59753113686638, "ssim": 0.7838368104099984, "lpips": 0.1551554799079895}, "wrist_left": {"psnr": 17.96746272231561, "ssim": 0.6411715005752516, "lpips": 0.25187790393829346}, "wrist_right": {"psnr": 14.225363300807494, "ssim": 0.5729913733562941, "lpips": 0.38315796852111816}, "tactile_left": {"psnr": 42.49613401426242, "ssim": 0.9830527472511439, "lpips": 0.04525275528430939}, "tactile_right": {"psnr": 42.94786885238344, "ssim": 0.9834626487177168, "lpips": 0.05223703756928444}}, {"video": {"psnr": 22.267461253312458, "ssim": 0.776004457793932, "lpips": 0.1643434762954712}, "wrist_left": {"psnr": 16.651879668327283, "ssim": 0.6810809297323719, "lpips": 0.2924553155899048}, "wrist_right": {"psnr": 15.073735907304064, "ssim": 0.5858342520440762, "lpips": 0.3624420464038849}, "tactile_left": {"psnr": 40.466031586782165, "ssim": 0.9809749207722516, "lpips": 0.06446225196123123}, "tactile_right": {"psnr": 41.46383236378539, "ssim": 0.9815940349714931, "lpips": 0.06576617062091827}}, {"video": {"psnr": 22.08098347837197, "ssim": 0.7681529293101065, "lpips": 0.17946887016296387}, "wrist_left": {"psnr": 14.229752576064879, "ssim": 0.6173220560183486, "lpips": 0.329897940158844}, "wrist_right": {"psnr": 15.46375739802373, "ssim": 0.6754084679285199, "lpips": 0.36071741580963135}, "tactile_left": {"psnr": 39.11826042565075, "ssim": 0.9778526996713941, "lpips": 0.07477963715791702}, "tactile_right": {"psnr": 40.05978858388807, "ssim": 0.9793013316217745, "lpips": 0.08648532629013062}}, {"video": {"psnr": 21.41116760603246, "ssim": 0.7441242682907647, "lpips": 0.19146879017353058}, "wrist_left": {"psnr": 14.007873158739487, "ssim": 0.5590210448538502, "lpips": 0.34220588207244873}, "wrist_right": {"psnr": 11.091383642113824, "ssim": 0.5012595999744015, "lpips": 0.46329349279403687}, "tactile_left": {"psnr": 38.264711333508444, "ssim": 0.9767637292886545, "lpips": 0.08471918851137161}, "tactile_right": {"psnr": 39.21586132720735, "ssim": 0.976606343256516, "lpips": 0.10699572414159775}}, {"video": {"psnr": 21.232344724094535, "ssim": 0.7379771824283201, "lpips": 0.19756989181041718}, "wrist_left": {"psnr": 14.704525558708376, "ssim": 0.5656699879611938, "lpips": 0.30935826897621155}, "wrist_right": {"psnr": 10.196513057221189, "ssim": 0.3755146842743299, "lpips": 0.5877949595451355}, "tactile_left": {"psnr": 37.84056272547228, "ssim": 0.9746760407467662, "lpips": 0.09739916771650314}, "tactile_right": {"psnr": 37.886243968569964, "ssim": 0.9743201036652089, "lpips": 0.11543535441160202}}, {"video": {"psnr": 20.945368868976804, "ssim": 0.7268351922255682, "lpips": 0.21197381615638733}, "wrist_left": {"psnr": 14.397475779235979, "ssim": 0.5343944331093258, "lpips": 0.33375853300094604}, "wrist_right": {"psnr": 9.931572890330308, "ssim": 0.3676524588700555, "lpips": 0.6059315204620361}, "tactile_left": {"psnr": 36.87347217151827, "ssim": 0.9721718890679752, "lpips": 0.10971298813819885}, "tactile_right": {"psnr": 37.07058286278581, "ssim": 0.9716443638009294, "lpips": 0.12837913632392883}}, {"video": {"psnr": 20.78597683775003, "ssim": 0.7198724922602021, "lpips": 0.21505187451839447}, "wrist_left": {"psnr": 14.189239316352765, "ssim": 0.5259856993909748, "lpips": 0.34299802780151367}, "wrist_right": {"psnr": 9.66541704066088, "ssim": 0.3593145547921993, "lpips": 0.617479145526886}, "tactile_left": {"psnr": 36.26413637617346, "ssim": 0.9702003357277538, "lpips": 0.11761701107025146}, "tactile_right": {"psnr": 36.371018458106185, "ssim": 0.9695558410746502, "lpips": 0.1422429084777832}}, {"video": {"psnr": 20.792587394791514, "ssim": 0.7190836316057152, "lpips": 0.21291524171829224}, "wrist_left": {"psnr": 14.190708466738622, "ssim": 0.5293054199231074, "lpips": 0.3387730121612549}, "wrist_right": {"psnr": 9.695772771798767, "ssim": 0.361463978614786, "lpips": 0.6154713034629822}, "tactile_left": {"psnr": 35.984456813995706, "ssim": 0.9681538557654783, "lpips": 0.12765271961688995}, "tactile_right": {"psnr": 35.735442717684336, "ssim": 0.9670252624845436, "lpips": 0.15988576412200928}}, {"video": {"psnr": 20.8589950949419, "ssim": 0.7156607034251299, "lpips": 0.208626389503479}, "wrist_left": {"psnr": 14.386245233369321, "ssim": 0.5532708988541444, "lpips": 0.3416399359703064}, "wrist_right": {"psnr": 10.003771268548363, "ssim": 0.36540543269275727, "lpips": 0.6112146377563477}, "tactile_left": {"psnr": 35.63820842035719, "ssim": 0.9659220409901231, "lpips": 0.13699358701705933}, "tactile_right": {"psnr": 35.20948636032081, "ssim": 0.9645693883146143, "lpips": 0.17735320329666138}}, {"video": {"psnr": 21.194277463177336, "ssim": 0.7213558538040997, "lpips": 0.19957886636257172}, "wrist_left": {"psnr": 14.238330094642173, "ssim": 0.5535846702672157, "lpips": 0.3390792906284332}, "wrist_right": {"psnr": 10.135783310977057, "ssim": 0.3571091630231014, "lpips": 0.6142346858978271}, "tactile_left": {"psnr": 35.238975059905144, "ssim": 0.9633814062517976, "lpips": 0.15038782358169556}, "tactile_right": {"psnr": 34.58606103525562, "ssim": 0.9627199198843823, "lpips": 0.19141221046447754}}, {"video": {"psnr": 21.380530919389194, "ssim": 0.7038359000393443, "lpips": 0.20314791798591614}, "wrist_left": {"psnr": 15.575679955198027, "ssim": 0.6799977781224418, "lpips": 0.28317517042160034}, "wrist_right": {"psnr": 10.157981940095278, "ssim": 0.36733088368917066, "lpips": 0.5993748307228088}, "tactile_left": {"psnr": 34.809223208500235, "ssim": 0.9615776124914593, "lpips": 0.16009199619293213}, "tactile_right": {"psnr": 34.024516341227724, "ssim": 0.9607306957802775, "lpips": 0.20622463524341583}}], "long_metrics": {"video": {"psnr": 22.03376797707009, "ssim": 0.7616488477524609, "lpips": 0.1731125051776568}, "wrist_left": {"psnr": 16.043774391756592, "ssim": 0.6203396752355604, "lpips": 0.29163901805877684}, "wrist_right": {"psnr": 13.358334758750816, "ssim": 0.5098219433794579, "lpips": 0.4553460483749708}, "tactile_left": {"psnr": 39.511721455919535, "ssim": 0.9763344690985271, "lpips": 0.08439636267721654}, "tactile_right": {"psnr": 39.48968177971369, "ssim": 0.9760117164894276, "lpips": 0.10542129191259543}}}, {"id": "rope_e005_14", "episode": "rope_0911_episode_005_seg01.pt", "requested_episode": "rope_0911_episode_005_seg01.pt", "category": "full", "t_start": 744, "start_seconds": 49.6, "short_contact": [1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1], "future_transition_ticks": [], "long_contact_fraction": 0.921875, "long_label": "full", "short_metrics": {"video": {"psnr": 32.55863281183396, "ssim": 0.953493849629444, "lpips": 0.0158894844353199}, "wrist_left": {"psnr": 22.983979988147208, "ssim": 0.6968295365339829, "lpips": 0.08230128884315491}, "wrist_right": {"psnr": 27.195885877261624, "ssim": 0.8312746960601636, "lpips": 0.12752161920070648}, "tactile_left": {"psnr": 40.588686720636254, "ssim": 0.9746919448285709, "lpips": 0.029682300984859467}, "tactile_right": {"psnr": 52.41359146165787, "ssim": 0.995351446760202, "lpips": 0.002910149283707142}}, "media": {"short": {"video": "media/rope_e005_14_short.mp4", "poster": "media/rope_e005_14_short.jpg"}, "long": {"video": "media/rope_e005_14_long.mp4", "poster": "media/rope_e005_14_long.jpg"}}, "force": {"source": "recorded_normal_force", "units": "N", "fps": 15, "left": [5.403749942779541, 6.519285678863525, 6.519285678863525, 6.519285678863525, 6.519285678863525, 6.519285678863525, 6.373636245727539, 6.373636245727539, 6.373636245727539, 5.486666679382324, 5.403749942779541, 5.397500038146973, 4.852499961853027, 5.399640083312988, 5.397500038146973, 4.852499961853027, 4.852499961853027, 4.726428508758545, 4.852499961853027, 4.726428508758545, 4.726428508758545, 4.726428508758545, 4.726428508758545, 4.726428508758545, 3.921100378036499, 4.726428508758545, 3.9167568683624268, 0.7983333468437195, 1.050154685974121, 0.2732451856136322, 0.2937729060649872, 0.48928961157798767, 0.7983333468437195, 1.9444444179534912, 1.9444444179534912, 1.9444444179534912, 2.3248276710510254, 2.3248276710510254, 2.6312499046325684, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 2.3248276710510254, 2.0218048095703125, 2.0218048095703125, 0.50055330991745, 0.7983333468437195, 0.7983333468437195, 1.9444444179534912, 0.7983333468437195, 0.7983333468437195, 1.9444444179534912, 1.9444444179534912, 0.26646891236305237, 0.0, 0.0, 0.0, 0.0, 0.0, 0.5209580063819885, 0.1599999964237213, 2.6312499046325684, 3.1971428394317627, 3.9167568683624268, 4.726428508758545, 4.726428508758545, 3.9304966926574707, 3.929295301437378, 3.9167568683624268, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 2.3248276710510254, 3.1971428394317627, 2.3248276710510254, 0.0, 0.0, 0.0, 0.0, 0.0, 0.7983333468437195, 1.9444444179534912, 1.9444444179534912, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 2.3248276710510254, 2.3248276710510254, 2.243333339691162, 2.243333339691162, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 3.0568182468414307, 1.9444444179534912, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 0.7983333468437195, 0.20084209740161896, 0.1599999964237213, 0.0, 0.0, 0.0, 0.0, 0.4700913429260254, 3.9167568683624268, 4.738024711608887, 5.486666679382324, 6.519285678863525, 6.519285678863525, 7.040630340576172], "right": [0.0, 0.0, 0.0, 0.0, 0.0, 0.1474699079990387, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.16057513654232025, 0.17762120068073273, 0.16863760352134705, 0.1599999964237213, 0.1599999964237213, 0.17792601883411407, 0.27098122239112854, 0.4399999976158142, 0.4399999976158142, 0.4866666793823242, 0.5054285526275635, 0.5240516662597656, 0.5216363668441772, 0.526260256767273, 0.5324317812919617, 0.5553989410400391, 0.5600000023841858, 0.7983333468437195, 0.5600000023841858, 0.50578373670578, 0.5524390935897827, 0.5600000023841858, 0.7983333468437195, 0.7542596459388733, 0.7196613550186157, 0.5590823292732239, 0.5239078998565674, 0.5291818380355835, 0.5014634728431702, 0.4399999976158142, 0.4399999976158142, 0.4875168204307556, 0.4399999976158142, 0.4000000059604645, 0.4399999976158142, 0.4399999976158142, 0.4000000059604645, 0.14949019253253937, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.2080603539943695, 0.5375277400016785, 0.7033445239067078, 0.7983333468437195, 1.8083139657974243, 1.9444444179534912, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.3019747734069824, 0.3019747734069824, 0.7541472911834717, 0.7983333468437195, 1.9444444179534912, 1.9444444179534912, 0.7983333468437195, 0.5164522528648376, 0.4399999976158142, 0.25, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.1599999964237213, 0.1599999964237213, 0.25, 0.5600000023841858, 1.9444444179534912, 2.3248276710510254, 3.0568182468414307, 3.443699836730957, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 0.5600000023841858, 0.00988845620304346, 0.0, 0.0, 0.17458476126194, 0.5332755446434021]}, "long_curve": [{"video": {"psnr": 32.55863281183396, "ssim": 0.953493849629444, "lpips": 0.0158894844353199}, "wrist_left": {"psnr": 22.983979988147208, "ssim": 0.6968295365339829, "lpips": 0.08230128884315491}, "wrist_right": {"psnr": 27.195885877261624, "ssim": 0.8312746960601636, "lpips": 0.12752161920070648}, "tactile_left": {"psnr": 40.588686720636254, "ssim": 0.9746919448285709, "lpips": 0.029682300984859467}, "tactile_right": {"psnr": 52.41359146165787, "ssim": 0.995351446760202, "lpips": 0.002910149283707142}}, {"video": {"psnr": 27.834320198351744, "ssim": 0.8944684939655032, "lpips": 0.037485502660274506}, "wrist_left": {"psnr": 21.78697629104959, "ssim": 0.6720345460016216, "lpips": 0.1085306704044342}, "wrist_right": {"psnr": 23.202174486516732, "ssim": 0.7596061801232126, "lpips": 0.16934902966022491}, "tactile_left": {"psnr": 40.824966124997424, "ssim": 0.973154239897085, "lpips": 0.035487473011016846}, "tactile_right": {"psnr": 43.890542044077854, "ssim": 0.9877262447936672, "lpips": 0.02188853546977043}}, {"video": {"psnr": 26.12576108897418, "ssim": 0.8638935501980025, "lpips": 0.058690108358860016}, "wrist_left": {"psnr": 19.037516064684272, "ssim": 0.666526889647957, "lpips": 0.21185141801834106}, "wrist_right": {"psnr": 20.118794492011425, "ssim": 0.6928649568782496, "lpips": 0.22922642529010773}, "tactile_left": {"psnr": 39.47192481882756, "ssim": 0.975148613769405, "lpips": 0.06558530777692795}, "tactile_right": {"psnr": 39.94379668018398, "ssim": 0.9778425949132481, "lpips": 0.05970261991024017}}, {"video": {"psnr": 24.3766061213636, "ssim": 0.8335599972308189, "lpips": 0.090424083173275}, "wrist_left": {"psnr": 17.8663042361547, "ssim": 0.7096786555126166, "lpips": 0.2335394322872162}, "wrist_right": {"psnr": 20.894788755197613, "ssim": 0.7376061866693502, "lpips": 0.2555156946182251}, "tactile_left": {"psnr": 34.08420313074454, "ssim": 0.9626902141677522, "lpips": 0.13195207715034485}, "tactile_right": {"psnr": 38.03867690218806, "ssim": 0.9771728699541864, "lpips": 0.09020622074604034}}, {"video": {"psnr": 23.002831185262387, "ssim": 0.8146749622365422, "lpips": 0.14164063334465027}, "wrist_left": {"psnr": 17.056789628889643, "ssim": 0.6636344026579111, "lpips": 0.2885722517967224}, "wrist_right": {"psnr": 16.636371141373488, "ssim": 0.611214560123022, "lpips": 0.3519360423088074}, "tactile_left": {"psnr": 33.205829609993145, "ssim": 0.9577747189801487, "lpips": 0.14819100499153137}, "tactile_right": {"psnr": 38.06440674387137, "ssim": 0.9749260243989593, "lpips": 0.10549695789813995}}, {"video": {"psnr": 23.67825348417893, "ssim": 0.8284326473358105, "lpips": 0.12629197537899017}, "wrist_left": {"psnr": 17.49108910857963, "ssim": 0.6472676426949846, "lpips": 0.3077111840248108}, "wrist_right": {"psnr": 16.57990614474619, "ssim": 0.6369382139143189, "lpips": 0.3238474428653717}, "tactile_left": {"psnr": 37.02690305497394, "ssim": 0.9728391924111028, "lpips": 0.09139547497034073}, "tactile_right": {"psnr": 38.23483898914239, "ssim": 0.9748073556802119, "lpips": 0.11005795001983643}}, {"video": {"psnr": 23.238266567714735, "ssim": 0.8049459179802245, "lpips": 0.12986642122268677}, "wrist_left": {"psnr": 19.464992864496754, "ssim": 0.7166388109684526, "lpips": 0.24769139289855957}, "wrist_right": {"psnr": 19.998181949006558, "ssim": 0.6620737729810426, "lpips": 0.22318220138549805}, "tactile_left": {"psnr": 36.92356804211966, "ssim": 0.9737198468984034, "lpips": 0.08305224776268005}, "tactile_right": {"psnr": 38.5949572265702, "ssim": 0.9768056910121303, "lpips": 0.08943744748830795}}, {"video": {"psnr": 22.546500497879137, "ssim": 0.7845810840133378, "lpips": 0.1465982347726822}, "wrist_left": {"psnr": 17.80248598797588, "ssim": 0.5887655687453377, "lpips": 0.28262633085250854}, "wrist_right": {"psnr": 18.273755221607907, "ssim": 0.6655044860186524, "lpips": 0.26579686999320984}, "tactile_left": {"psnr": 34.13455599559936, "ssim": 0.963753602779208, "lpips": 0.1290821135044098}, "tactile_right": {"psnr": 38.65899644556744, "ssim": 0.975826478652188, "lpips": 0.09314099699258804}}, {"video": {"psnr": 21.90940205809023, "ssim": 0.7652887690899483, "lpips": 0.17100657522678375}, "wrist_left": {"psnr": 17.217840341454092, "ssim": 0.6307424732249507, "lpips": 0.26058316230773926}, "wrist_right": {"psnr": 17.364269079538605, "ssim": 0.7243388984622356, "lpips": 0.3092639744281769}, "tactile_left": {"psnr": 33.666803500024784, "ssim": 0.9603782598936121, "lpips": 0.13281361758708954}, "tactile_right": {"psnr": 37.86700567621007, "ssim": 0.9739688552929132, "lpips": 0.10608767718076706}}, {"video": {"psnr": 22.03145186710787, "ssim": 0.7588205508784778, "lpips": 0.16810671985149384}, "wrist_left": {"psnr": 18.843893789561147, "ssim": 0.6869732792285814, "lpips": 0.25768643617630005}, "wrist_right": {"psnr": 14.965042474932611, "ssim": 0.6113811517879562, "lpips": 0.37034934759140015}, "tactile_left": {"psnr": 34.55413432398283, "ssim": 0.9683427172488797, "lpips": 0.09975269436836243}, "tactile_right": {"psnr": 35.51925864495538, "ssim": 0.9671567771666334, "lpips": 0.16713115572929382}}, {"video": {"psnr": 22.002016077177235, "ssim": 0.7489371996897687, "lpips": 0.18746697902679443}, "wrist_left": {"psnr": 17.833692403377164, "ssim": 0.5736546844356561, "lpips": 0.29392874240875244}, "wrist_right": {"psnr": 13.83504006098298, "ssim": 0.6134329219915696, "lpips": 0.3929902911186218}, "tactile_left": {"psnr": 31.89640098671155, "ssim": 0.9498992348642763, "lpips": 0.19357140362262726}, "tactile_right": {"psnr": 34.9428854498358, "ssim": 0.9678400827820067, "lpips": 0.16335049271583557}}, {"video": {"psnr": 21.867841326785204, "ssim": 0.7499974361783192, "lpips": 0.19522280991077423}, "wrist_left": {"psnr": 17.673186560920392, "ssim": 0.6550698680938563, "lpips": 0.3326311707496643}, "wrist_right": {"psnr": 14.079212166567634, "ssim": 0.5762394912783074, "lpips": 0.41058170795440674}, "tactile_left": {"psnr": 32.149957763765556, "ssim": 0.9504759022140858, "lpips": 0.1908106654882431}, "tactile_right": {"psnr": 34.66733378943678, "ssim": 0.9669490618794769, "lpips": 0.15826337039470673}}, {"video": {"psnr": 21.42551818254514, "ssim": 0.7406365313425562, "lpips": 0.20890942215919495}, "wrist_left": {"psnr": 16.375024225183548, "ssim": 0.5877295347609515, "lpips": 0.3763013184070587}, "wrist_right": {"psnr": 13.29558924382904, "ssim": 0.49641231720340456, "lpips": 0.4339449405670166}, "tactile_left": {"psnr": 32.615833666023825, "ssim": 0.9527224809074532, "lpips": 0.17956602573394775}, "tactile_right": {"psnr": 34.35729217164411, "ssim": 0.965611752149172, "lpips": 0.16076144576072693}}, {"video": {"psnr": 21.279140570989416, "ssim": 0.7359519147622183, "lpips": 0.21400097012519836}, "wrist_left": {"psnr": 17.038314817930704, "ssim": 0.6333194776502022, "lpips": 0.3386043906211853}, "wrist_right": {"psnr": 12.051435656482358, "ssim": 0.3410280675537563, "lpips": 0.5141154527664185}, "tactile_left": {"psnr": 33.59702879420824, "ssim": 0.9615079824320785, "lpips": 0.15254467725753784}, "tactile_right": {"psnr": 33.37092783863702, "ssim": 0.9595622051324989, "lpips": 0.2081974744796753}}, {"video": {"psnr": 21.603422658861543, "ssim": 0.7373176682962399, "lpips": 0.20679545402526855}, "wrist_left": {"psnr": 17.26261435564195, "ssim": 0.5856867026659779, "lpips": 0.3453400433063507}, "wrist_right": {"psnr": 13.709974086195711, "ssim": 0.45374500888444297, "lpips": 0.44011154770851135}, "tactile_left": {"psnr": 31.816672703106246, "ssim": 0.9453989928162383, "lpips": 0.22026099264621735}, "tactile_right": {"psnr": 33.114584615786555, "ssim": 0.9602515182785837, "lpips": 0.2107161581516266}}], "long_metrics": {"video": {"psnr": 23.69866431314102, "ssim": 0.8010000381884808, "lpips": 0.13989302491148312}, "wrist_left": {"psnr": 18.38231337760311, "ssim": 0.6476368048548693, "lpips": 0.2645266155401866}, "wrist_right": {"psnr": 17.480028055750033, "ssim": 0.6275773939953122, "lpips": 0.32118217249711356}, "tactile_left": {"psnr": 35.103831282380995, "ssim": 0.9628331962738866, "lpips": 0.1255832051237424}, "tactile_right": {"psnr": 38.111939645317655, "ssim": 0.9734532639230719, "lpips": 0.11648991014808416}}}, {"id": "rope_e005_15", "episode": "rope_0911_episode_005_seg02.pt", "requested_episode": "rope_0911_episode_005_seg02.pt", "category": "none", "t_start": 396, "start_seconds": 26.4, "short_contact": [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0], "future_transition_ticks": [], "long_contact_fraction": 0.734375, "long_label": "none_at_start", "short_metrics": {"video": {"psnr": 27.889951121606007, "ssim": 0.9040620309412143, "lpips": 0.046014342457056046}, "wrist_left": {"psnr": 19.39570340859926, "ssim": 0.746470784368225, "lpips": 0.15204958617687225}, "wrist_right": {"psnr": 23.666738766380142, "ssim": 0.7578733201210863, "lpips": 0.12136413156986237}, "tactile_left": {"psnr": 51.50302985344851, "ssim": 0.9947045130766008, "lpips": 0.0037882747128605843}, "tactile_right": {"psnr": 44.1704731017611, "ssim": 0.9904566487411619, "lpips": 0.03397500514984131}}, "media": {"short": {"video": "media/rope_e005_15_short.mp4", "poster": "media/rope_e005_15_short.jpg"}, "long": {"video": "media/rope_e005_15_long.mp4", "poster": "media/rope_e005_15_long.jpg"}}, "force": {"source": "recorded_normal_force", "units": "N", "fps": 15, "left": [0.27666667103767395, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.5550326704978943, 0.0, 0.0, 0.0, 1.9444444179534912, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.5600000023841858, 0.5600000023841858, 0.5600000023841858, 0.5600000023841858, 0.4966135025024414, 0.4966135025024414, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.5600000023841858, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.008817629888653755, 3.0568182468414307, 2.6312499046325684, 2.6312499046325684, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.5446779727935791, 0.5600000023841858, 0.7983333468437195, 0.7983333468437195, 2.3248276710510254, 2.3248276710510254, 3.0568182468414307, 1.4158068895339966, 0.5584190487861633, 0.5600000023841858, 0.5600000023841858, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 2.3248276710510254], "right": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.1599999964237213, 0.25, 0.48980194330215454, 0.48980194330215454, 0.49847182631492615, 0.5055552124977112, 0.521548330783844, 0.5219962000846863, 0.5494146347045898, 0.7983333468437195, 0.5600000023841858, 0.695509672164917, 0.7983333468437195, 0.5461853742599487, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 1.782486081123352, 0.7983333468437195, 0.6117923855781555, 0.4399999976158142, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.25, 0.4300834834575653, 0.5265971422195435, 0.5584585666656494, 0.5600000023841858, 0.6223912239074707, 0.5540995597839355, 0.507728636264801, 0.4399999976158142, 0.17821159958839417, 0.1599999964237213, 0.1599999964237213, 0.060494083911180496, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 2.3248276710510254, 0.1599999964237213, 1.9444444179534912, 1.9444444179534912, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 0.08521522581577301, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.9444444179534912, 2.277765989303589, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 2.3248276710510254, 0.7983333468437195, 2.3248276710510254, 2.3248276710510254, 0.7983333468437195, 1.104476809501648, 1.9444444179534912, 1.9444444179534912, 2.3248276710510254, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.9444444179534912, 0.4399999976158142, 2.243333339691162, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 0.1599999964237213, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.1599999964237213, 0.1599999964237213, 0.5487539172172546, 0.7983333468437195, 1.9444444179534912, 2.3248276710510254]}, "long_curve": [{"video": {"psnr": 27.889951121606007, "ssim": 0.9040620309412143, "lpips": 0.046014342457056046}, "wrist_left": {"psnr": 19.39570340859926, "ssim": 0.746470784368225, "lpips": 0.15204958617687225}, "wrist_right": {"psnr": 23.666738766380142, "ssim": 0.7578733201210863, "lpips": 0.12136413156986237}, "tactile_left": {"psnr": 51.50302985344851, "ssim": 0.9947045130766008, "lpips": 0.0037882747128605843}, "tactile_right": {"psnr": 44.1704731017611, "ssim": 0.9904566487411619, "lpips": 0.03397500514984131}}, {"video": {"psnr": 24.260717658922783, "ssim": 0.8105852277705985, "lpips": 0.09061343967914581}, "wrist_left": {"psnr": 15.596547449989927, "ssim": 0.5441626743333234, "lpips": 0.28333377838134766}, "wrist_right": {"psnr": 22.49299219608977, "ssim": 0.7064451512910981, "lpips": 0.11824903637170792}, "tactile_left": {"psnr": 44.51716575581678, "ssim": 0.9896222670236734, "lpips": 0.017644669860601425}, "tactile_right": {"psnr": 40.831327971226834, "ssim": 0.983502441751268, "lpips": 0.05509204417467117}}, {"video": {"psnr": 23.59907163025314, "ssim": 0.7965135589911114, "lpips": 0.10959120094776154}, "wrist_left": {"psnr": 13.198956306028444, "ssim": 0.49817958349677893, "lpips": 0.3917730152606964}, "wrist_right": {"psnr": 22.17092446379613, "ssim": 0.6873408499507159, "lpips": 0.1352265477180481}, "tactile_left": {"psnr": 42.004082718318855, "ssim": 0.9824044584816576, "lpips": 0.05426139384508133}, "tactile_right": {"psnr": 39.56496932845691, "ssim": 0.9786310563127045, "lpips": 0.06795132160186768}}, {"video": {"psnr": 22.917267315255604, "ssim": 0.7837432753510427, "lpips": 0.16334284842014313}, "wrist_left": {"psnr": 14.69144053436736, "ssim": 0.5966862044125745, "lpips": 0.3934856653213501}, "wrist_right": {"psnr": 20.0109876113652, "ssim": 0.6501846798918358, "lpips": 0.22843611240386963}, "tactile_left": {"psnr": 41.34195039054693, "ssim": 0.9797927112839934, "lpips": 0.062168851494789124}, "tactile_right": {"psnr": 42.07619807169637, "ssim": 0.9833377221863809, "lpips": 0.0415397547185421}}, {"video": {"psnr": 22.98147948355126, "ssim": 0.7828696317128891, "lpips": 0.16817690432071686}, "wrist_left": {"psnr": 15.09346225123014, "ssim": 0.6249667595971206, "lpips": 0.3584166169166565}, "wrist_right": {"psnr": 16.904249959148252, "ssim": 0.5506376419470882, "lpips": 0.3018629550933838}, "tactile_left": {"psnr": 42.41156072087702, "ssim": 0.9834915133489678, "lpips": 0.04361250624060631}, "tactile_right": {"psnr": 40.63045562246009, "ssim": 0.9789599750302798, "lpips": 0.06591802835464478}}, {"video": {"psnr": 22.73439699400361, "ssim": 0.780059844227613, "lpips": 0.18051713705062866}, "wrist_left": {"psnr": 14.293657298276596, "ssim": 0.5856739411199219, "lpips": 0.3874130845069885}, "wrist_right": {"psnr": 16.07741658549361, "ssim": 0.5370357345494834, "lpips": 0.34646522998809814}, "tactile_left": {"psnr": 38.64389480235377, "ssim": 0.9749240993619025, "lpips": 0.07576324045658112}, "tactile_right": {"psnr": 40.89498839475634, "ssim": 0.9803219099644931, "lpips": 0.0609465055167675}}, {"video": {"psnr": 21.745276759022794, "ssim": 0.7605177843420502, "lpips": 0.201460599899292}, "wrist_left": {"psnr": 15.533413167001417, "ssim": 0.5884834965133007, "lpips": 0.32835501432418823}, "wrist_right": {"psnr": 16.566129284070254, "ssim": 0.5873348019643936, "lpips": 0.3236215114593506}, "tactile_left": {"psnr": 36.45666129256364, "ssim": 0.9658190533418518, "lpips": 0.11315418034791946}, "tactile_right": {"psnr": 38.79760935673389, "ssim": 0.9753555026943772, "lpips": 0.091043621301651}}, {"video": {"psnr": 21.71084917243241, "ssim": 0.7502185463960569, "lpips": 0.20626439154148102}, "wrist_left": {"psnr": 15.640191717478576, "ssim": 0.5813053811197055, "lpips": 0.33764567971229553}, "wrist_right": {"psnr": 15.774988428611739, "ssim": 0.5624420524682503, "lpips": 0.3346640467643738}, "tactile_left": {"psnr": 36.112899149947154, "ssim": 0.9682844397782437, "lpips": 0.10897267609834671}, "tactile_right": {"psnr": 38.41948171004448, "ssim": 0.9739486392534076, "lpips": 0.0965668261051178}}, {"video": {"psnr": 21.682347409718695, "ssim": 0.7454141534484537, "lpips": 0.20716795325279236}, "wrist_left": {"psnr": 13.434847168540145, "ssim": 0.5049965448560321, "lpips": 0.39687323570251465}, "wrist_right": {"psnr": 18.412980202150127, "ssim": 0.6350456130039518, "lpips": 0.24114948511123657}, "tactile_left": {"psnr": 37.01248886480826, "ssim": 0.9744282693195404, "lpips": 0.09123990684747696}, "tactile_right": {"psnr": 38.03139406511942, "ssim": 0.9737608719285835, "lpips": 0.10600646585226059}}, {"video": {"psnr": 21.212703602817037, "ssim": 0.7302424457803502, "lpips": 0.21501575410366058}, "wrist_left": {"psnr": 12.963687747676591, "ssim": 0.5071863984870724, "lpips": 0.43649548292160034}, "wrist_right": {"psnr": 19.878804777422925, "ssim": 0.6836650515416044, "lpips": 0.20014667510986328}, "tactile_left": {"psnr": 36.22227043696727, "ssim": 0.9725351959888097, "lpips": 0.10391727834939957}, "tactile_right": {"psnr": 37.159809066564684, "ssim": 0.9708762554082015, "lpips": 0.12783873081207275}}, {"video": {"psnr": 21.601938027779177, "ssim": 0.7300627544681573, "lpips": 0.20813016593456268}, "wrist_left": {"psnr": 14.96957985861808, "ssim": 0.5909767670150176, "lpips": 0.4210149645805359}, "wrist_right": {"psnr": 16.72424888788498, "ssim": 0.5978083254065567, "lpips": 0.3685845136642456}, "tactile_left": {"psnr": 35.36960822399732, "ssim": 0.9691805796214056, "lpips": 0.11113594472408295}, "tactile_right": {"psnr": 36.598538787892, "ssim": 0.9709142825248691, "lpips": 0.13081836700439453}}, {"video": {"psnr": 21.419219930474572, "ssim": 0.7229425159202483, "lpips": 0.19143831729888916}, "wrist_left": {"psnr": 13.976928928140875, "ssim": 0.5307304201492677, "lpips": 0.44024524092674255}, "wrist_right": {"psnr": 15.113113034873244, "ssim": 0.5901365944175142, "lpips": 0.38424497842788696}, "tactile_left": {"psnr": 35.03334437345159, "ssim": 0.9674897004821739, "lpips": 0.12324907630681992}, "tactile_right": {"psnr": 35.795099098453875, "ssim": 0.9684076918892583, "lpips": 0.14491048455238342}}, {"video": {"psnr": 21.680803090336834, "ssim": 0.730351931687033, "lpips": 0.17957201600074768}, "wrist_left": {"psnr": 12.714026096293301, "ssim": 0.4961451083294772, "lpips": 0.4253571033477783}, "wrist_right": {"psnr": 14.678495140017102, "ssim": 0.5763220170491128, "lpips": 0.3808039426803589}, "tactile_left": {"psnr": 34.513071840045335, "ssim": 0.9651646382787828, "lpips": 0.13799560070037842}, "tactile_right": {"psnr": 35.0466965566081, "ssim": 0.9640381922589084, "lpips": 0.15422557294368744}}, {"video": {"psnr": 21.850895114389495, "ssim": 0.7343957475693815, "lpips": 0.186560720205307}, "wrist_left": {"psnr": 13.05518895097273, "ssim": 0.5060619745773669, "lpips": 0.4269494414329529}, "wrist_right": {"psnr": 16.200410520997757, "ssim": 0.5739223004012897, "lpips": 0.3330422639846802}, "tactile_left": {"psnr": 33.54449013845921, "ssim": 0.9572128472153055, "lpips": 0.18160787224769592}, "tactile_right": {"psnr": 34.89940875937784, "ssim": 0.9654513820810736, "lpips": 0.1555444598197937}}, {"video": {"psnr": 21.94187067975716, "ssim": 0.732990956976626, "lpips": 0.18608537316322327}, "wrist_left": {"psnr": 15.1271267588037, "ssim": 0.5543805870191622, "lpips": 0.3586359918117523}, "wrist_right": {"psnr": 16.713597744333583, "ssim": 0.5692459186663393, "lpips": 0.31819117069244385}, "tactile_left": {"psnr": 32.97705491187076, "ssim": 0.9515430208731832, "lpips": 0.1872270405292511}, "tactile_right": {"psnr": 34.61790162664438, "ssim": 0.9632858703338648, "lpips": 0.18398630619049072}}], "long_metrics": {"video": {"psnr": 22.61525253268804, "ssim": 0.7663313603721884, "lpips": 0.16933007761836052}, "wrist_left": {"psnr": 14.645650509467808, "ssim": 0.5637604416929565, "lpips": 0.3692029267549515}, "wrist_right": {"psnr": 18.09240517350899, "ssim": 0.6176960035113548, "lpips": 0.275736840069294}, "tactile_left": {"psnr": 38.510904898231495, "ssim": 0.9731064871650728, "lpips": 0.0943825675174594}, "tactile_right": {"psnr": 38.50229010118642, "ssim": 0.9747498961572555, "lpips": 0.10109089960654577}}}, {"id": "rope_e005_16", "episode": "rope_0911_episode_005_seg02.pt", "requested_episode": "rope_0911_episode_005_seg02.pt", "category": "onset", "t_start": 401, "start_seconds": 26.733333333333334, "short_contact": [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 1], "future_transition_ticks": [11], "long_contact_fraction": 0.7734375, "long_label": "onset", "short_metrics": {"video": {"psnr": 25.56235980965511, "ssim": 0.8618097365425332, "lpips": 0.07623885571956635}, "wrist_left": {"psnr": 17.81045108924507, "ssim": 0.7076161008474176, "lpips": 0.18520864844322205}, "wrist_right": {"psnr": 24.65201584421678, "ssim": 0.7864958239130453, "lpips": 0.0753159373998642}, "tactile_left": {"psnr": 51.19490271276203, "ssim": 0.9951700945595578, "lpips": 0.0032787329982966185}, "tactile_right": {"psnr": 45.79726162984022, "ssim": 0.9909083277898265, "lpips": 0.017349451780319214}}, "media": {"short": {"video": "media/rope_e005_16_short.mp4", "poster": "media/rope_e005_16_short.jpg"}, "long": {"video": "media/rope_e005_16_long.mp4", "poster": "media/rope_e005_16_long.jpg"}}, "force": {"source": "recorded_normal_force", "units": "N", "fps": 15, "left": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.5550326704978943, 0.0, 0.0, 0.0, 1.9444444179534912, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.5600000023841858, 0.5600000023841858, 0.5600000023841858, 0.5600000023841858, 0.4966135025024414, 0.4966135025024414, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.5600000023841858, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.008817629888653755, 3.0568182468414307, 2.6312499046325684, 2.6312499046325684, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.5446779727935791, 0.5600000023841858, 0.7983333468437195, 0.7983333468437195, 2.3248276710510254, 2.3248276710510254, 3.0568182468414307, 1.4158068895339966, 0.5584190487861633, 0.5600000023841858, 0.5600000023841858, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 2.3248276710510254, 3.0568182468414307, 3.0568182468414307, 3.1971428394317627, 1.9444444179534912, 0.0], "right": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.1599999964237213, 0.25, 0.48980194330215454, 0.48980194330215454, 0.49847182631492615, 0.5055552124977112, 0.521548330783844, 0.5219962000846863, 0.5494146347045898, 0.7983333468437195, 0.5600000023841858, 0.695509672164917, 0.7983333468437195, 0.5461853742599487, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 1.782486081123352, 0.7983333468437195, 0.6117923855781555, 0.4399999976158142, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.25, 0.4300834834575653, 0.5265971422195435, 0.5584585666656494, 0.5600000023841858, 0.6223912239074707, 0.5540995597839355, 0.507728636264801, 0.4399999976158142, 0.17821159958839417, 0.1599999964237213, 0.1599999964237213, 0.060494083911180496, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 2.3248276710510254, 0.1599999964237213, 1.9444444179534912, 1.9444444179534912, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 0.08521522581577301, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.9444444179534912, 2.277765989303589, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 2.3248276710510254, 0.7983333468437195, 2.3248276710510254, 2.3248276710510254, 0.7983333468437195, 1.104476809501648, 1.9444444179534912, 1.9444444179534912, 2.3248276710510254, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.9444444179534912, 0.4399999976158142, 2.243333339691162, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 0.1599999964237213, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.1599999964237213, 0.1599999964237213, 0.5487539172172546, 0.7983333468437195, 1.9444444179534912, 2.3248276710510254, 2.6312499046325684, 3.0568182468414307, 2.6312499046325684, 2.6312499046325684, 2.3248276710510254]}, "long_curve": [{"video": {"psnr": 25.56235980965511, "ssim": 0.8618097365425332, "lpips": 0.07623885571956635}, "wrist_left": {"psnr": 17.81045108924507, "ssim": 0.7076161008474176, "lpips": 0.18520864844322205}, "wrist_right": {"psnr": 24.65201584421678, "ssim": 0.7864958239130453, "lpips": 0.0753159373998642}, "tactile_left": {"psnr": 51.19490271276203, "ssim": 0.9951700945595578, "lpips": 0.0032787329982966185}, "tactile_right": {"psnr": 45.79726162984022, "ssim": 0.9909083277898265, "lpips": 0.017349451780319214}}, {"video": {"psnr": 22.43400945594816, "ssim": 0.759858656370251, "lpips": 0.14513063430786133}, "wrist_left": {"psnr": 14.050323458602685, "ssim": 0.5093144124585114, "lpips": 0.3479807674884796}, "wrist_right": {"psnr": 21.312217897981995, "ssim": 0.6880422298464546, "lpips": 0.15677469968795776}, "tactile_left": {"psnr": 45.27015253517182, "ssim": 0.9895727237232784, "lpips": 0.02510460838675499}, "tactile_right": {"psnr": 41.89234725519265, "ssim": 0.9857403577784057, "lpips": 0.043702758848667145}}, {"video": {"psnr": 22.15197637171707, "ssim": 0.7491263403079461, "lpips": 0.18732689321041107}, "wrist_left": {"psnr": 14.37762017225013, "ssim": 0.6153820023310937, "lpips": 0.36381399631500244}, "wrist_right": {"psnr": 19.390287931411603, "ssim": 0.6387086258988064, "lpips": 0.22147443890571594}, "tactile_left": {"psnr": 41.48782333750822, "ssim": 0.9801243812093567, "lpips": 0.06876541674137115}, "tactile_right": {"psnr": 43.424538397418004, "ssim": 0.9860507308056612, "lpips": 0.03443611040711403}}, {"video": {"psnr": 22.685570946735268, "ssim": 0.7642254213230266, "lpips": 0.17711424827575684}, "wrist_left": {"psnr": 15.519872956121066, "ssim": 0.6645346504894191, "lpips": 0.29125627875328064}, "wrist_right": {"psnr": 17.561097577310246, "ssim": 0.5898488050722206, "lpips": 0.27952030301094055}, "tactile_left": {"psnr": 43.70489589015675, "ssim": 0.98435472710239, "lpips": 0.04271145164966583}, "tactile_right": {"psnr": 41.830170408170815, "ssim": 0.9816702560138622, "lpips": 0.05929521471261978}}, {"video": {"psnr": 23.41269977239326, "ssim": 0.7658212594087429, "lpips": 0.14673270285129547}, "wrist_left": {"psnr": 14.742373136806899, "ssim": 0.6264678166497533, "lpips": 0.30076920986175537}, "wrist_right": {"psnr": 15.18159575325302, "ssim": 0.5162343785273051, "lpips": 0.4191206991672516}, "tactile_left": {"psnr": 40.99056010726373, "ssim": 0.9796457129274523, "lpips": 0.06276632845401764}, "tactile_right": {"psnr": 42.36052650396401, "ssim": 0.9812730922583304, "lpips": 0.058680299669504166}}, {"video": {"psnr": 22.765655943350616, "ssim": 0.7561681633807602, "lpips": 0.1608753204345703}, "wrist_left": {"psnr": 16.927328707341395, "ssim": 0.6238257173847647, "lpips": 0.22693997621536255}, "wrist_right": {"psnr": 16.199522004418178, "ssim": 0.5936655055205664, "lpips": 0.37141549587249756}, "tactile_left": {"psnr": 37.84224256112217, "ssim": 0.96959915195946, "lpips": 0.09727488458156586}, "tactile_right": {"psnr": 41.8328959207027, "ssim": 0.9802577517531906, "lpips": 0.07066646963357925}}, {"video": {"psnr": 22.413404066812145, "ssim": 0.7621716111703786, "lpips": 0.16609546542167664}, "wrist_left": {"psnr": 16.148559292865304, "ssim": 0.5431838186068747, "lpips": 0.25010958313941956}, "wrist_right": {"psnr": 14.720378293228922, "ssim": 0.6091585480551991, "lpips": 0.39238810539245605}, "tactile_left": {"psnr": 37.22108127943958, "ssim": 0.9672822728787551, "lpips": 0.1114746630191803}, "tactile_right": {"psnr": 40.09929427946496, "ssim": 0.9767200524007869, "lpips": 0.10169652849435806}}, {"video": {"psnr": 22.734482296603513, "ssim": 0.763901080668814, "lpips": 0.17156150937080383}, "wrist_left": {"psnr": 16.432169365223647, "ssim": 0.6211983455035501, "lpips": 0.25444382429122925}, "wrist_right": {"psnr": 16.029567549819067, "ssim": 0.6482577991988845, "lpips": 0.32980048656463623}, "tactile_left": {"psnr": 38.28627264957498, "ssim": 0.9751553304437514, "lpips": 0.102817602455616}, "tactile_right": {"psnr": 39.81998765893558, "ssim": 0.9762892783019212, "lpips": 0.10553812980651855}}, {"video": {"psnr": 22.83059741496997, "ssim": 0.7759623519268486, "lpips": 0.16629843413829803}, "wrist_left": {"psnr": 16.267961905509463, "ssim": 0.6253387967309569, "lpips": 0.2825912833213806}, "wrist_right": {"psnr": 16.022942015123586, "ssim": 0.6076453874313327, "lpips": 0.33548420667648315}, "tactile_left": {"psnr": 37.47113645136795, "ssim": 0.9729794427582459, "lpips": 0.11119280755519867}, "tactile_right": {"psnr": 38.34543060384311, "ssim": 0.972500638715287, "lpips": 0.1279343217611313}}, {"video": {"psnr": 22.363410887034746, "ssim": 0.7478610162935468, "lpips": 0.1747908592224121}, "wrist_left": {"psnr": 17.89138494107563, "ssim": 0.7094095380318066, "lpips": 0.3002971410751343}, "wrist_right": {"psnr": 15.76768078318667, "ssim": 0.6003833952029092, "lpips": 0.33736342191696167}, "tactile_left": {"psnr": 35.949921410224206, "ssim": 0.9695103534145151, "lpips": 0.12273124605417252}, "tactile_right": {"psnr": 37.2454011230169, "ssim": 0.9719128737306408, "lpips": 0.13828426599502563}}, {"video": {"psnr": 22.62849003203623, "ssim": 0.7613451726065261, "lpips": 0.16405244171619415}, "wrist_left": {"psnr": 15.308426219434017, "ssim": 0.5574817693883536, "lpips": 0.3189442753791809}, "wrist_right": {"psnr": 15.655795281280048, "ssim": 0.6080965926708275, "lpips": 0.36603695154190063}, "tactile_left": {"psnr": 35.574227053316974, "ssim": 0.9668718483373855, "lpips": 0.13436941802501678}, "tactile_right": {"psnr": 36.87129007640958, "ssim": 0.9701094882552932, "lpips": 0.14681360125541687}}, {"video": {"psnr": 22.422118370842796, "ssim": 0.7724830053808537, "lpips": 0.17622527480125427}, "wrist_left": {"psnr": 15.328344472411608, "ssim": 0.5527390053425181, "lpips": 0.27415207028388977}, "wrist_right": {"psnr": 13.722963026638766, "ssim": 0.595946418862729, "lpips": 0.40723368525505066}, "tactile_left": {"psnr": 35.25939203543809, "ssim": 0.9655926300707371, "lpips": 0.14048215746879578}, "tactile_right": {"psnr": 35.25341368111635, "ssim": 0.9616735839742339, "lpips": 0.18299734592437744}}, {"video": {"psnr": 21.8292593161529, "ssim": 0.7642060290259471, "lpips": 0.19859376549720764}, "wrist_left": {"psnr": 13.02641042187721, "ssim": 0.5020137000176335, "lpips": 0.4098241329193115}, "wrist_right": {"psnr": 14.26485299432123, "ssim": 0.568718575007972, "lpips": 0.42481404542922974}, "tactile_left": {"psnr": 34.27518225052885, "ssim": 0.9603075754698525, "lpips": 0.16737937927246094}, "tactile_right": {"psnr": 34.35274291734623, "ssim": 0.9585880856335687, "lpips": 0.1993684470653534}}, {"video": {"psnr": 22.19594493799304, "ssim": 0.7739751943732396, "lpips": 0.20608095824718475}, "wrist_left": {"psnr": 12.953470673444023, "ssim": 0.49813074258645573, "lpips": 0.43477216362953186}, "wrist_right": {"psnr": 15.568453068189655, "ssim": 0.5959059170180838, "lpips": 0.3785276710987091}, "tactile_left": {"psnr": 33.56178204016061, "ssim": 0.9548302374333257, "lpips": 0.17556773126125336}, "tactile_right": {"psnr": 34.40468450970223, "ssim": 0.9618414396383934, "lpips": 0.19599974155426025}}, {"video": {"psnr": 22.58609178493613, "ssim": 0.7683991611757324, "lpips": 0.20725128054618835}, "wrist_left": {"psnr": 13.409795609099199, "ssim": 0.4951578196205929, "lpips": 0.4348047971725464}, "wrist_right": {"psnr": 14.291787694857724, "ssim": 0.5720461912582286, "lpips": 0.4207480549812317}, "tactile_left": {"psnr": 33.132182186623986, "ssim": 0.9526702409791578, "lpips": 0.17778687179088593}, "tactile_right": {"psnr": 33.55373105240523, "ssim": 0.9531813643258458, "lpips": 0.26117560267448425}}], "long_metrics": {"video": {"psnr": 22.734404760478732, "ssim": 0.7698209466636765, "lpips": 0.16829124291737874}, "wrist_left": {"psnr": 15.346299494753824, "ssim": 0.5901196157326468, "lpips": 0.3117272098859151}, "wrist_right": {"psnr": 16.689410514349166, "ssim": 0.6146102795656376, "lpips": 0.3277345468600591}, "tactile_left": {"psnr": 38.74811696671066, "ssim": 0.9722444482178147, "lpips": 0.10291355331428349}, "tactile_right": {"psnr": 39.13891440116857, "ssim": 0.9739144880916831, "lpips": 0.11626255263884862}}}, {"id": "rope_e005_17", "episode": "rope_0911_episode_005_seg02.pt", "requested_episode": "rope_0911_episode_005_seg02.pt", "category": "release", "t_start": 519, "start_seconds": 34.6, "short_contact": [1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 0, 0], "future_transition_ticks": [11], "long_contact_fraction": 0.8359375, "long_label": "release", "short_metrics": {"video": {"psnr": 28.818838893174053, "ssim": 0.9216496540406842, "lpips": 0.03782859072089195}, "wrist_left": {"psnr": 20.316945144419577, "ssim": 0.7594637049274238, "lpips": 0.14674779772758484}, "wrist_right": {"psnr": 22.980419275337688, "ssim": 0.7758921873872919, "lpips": 0.12577980756759644}, "tactile_left": {"psnr": 42.371129387912944, "ssim": 0.9839999088181506, "lpips": 0.02831602841615677}, "tactile_right": {"psnr": 46.741170910384476, "ssim": 0.9902026647756633, "lpips": 0.02156003937125206}}, "media": {"short": {"video": "media/rope_e005_17_short.mp4", "poster": "media/rope_e005_17_short.jpg"}, "long": {"video": "media/rope_e005_17_long.mp4", "poster": "media/rope_e005_17_long.jpg"}}, "force": {"source": "recorded_normal_force", "units": "N", "fps": 15, "left": [0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 2.3248276710510254, 3.0568182468414307, 3.0568182468414307, 3.1971428394317627, 1.9444444179534912, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.7983333468437195, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.1971428394317627, 3.0568182468414307, 0.7983333468437195, 1.9444444179534912, 1.9444444179534912, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 2.243333339691162, 0.7983333468437195, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.5354411005973816, 2.243333339691162, 2.3248276710510254, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.1971428394317627, 3.9167568683624268, 4.852499961853027, 5.397500038146973, 5.403749942779541, 5.403749942779541, 3.9167568683624268, 3.9167568683624268, 0.0986250787973404, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.5754589438438416, 1.9444444179534912, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.9167568683624268, 3.9167568683624268, 4.726428508758545, 4.852499961853027, 4.852499961853027, 4.852499961853027, 4.852499961853027, 4.852499961853027, 4.852499961853027, 4.726428508758545, 0.31403878331184387, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 2.6312499046325684, 3.9167568683624268, 4.726428508758545, 4.726428508758545, 4.852499961853027, 4.852499961853027, 4.852499961853027, 4.852499961853027, 4.726428508758545, 4.726428508758545, 4.726428508758545, 4.726428508758545, 2.3248276710510254, 2.3248276710510254, 0.0, 0.0, 0.0, 0.0], "right": [0.1599999964237213, 0.5487539172172546, 0.7983333468437195, 1.9444444179534912, 2.3248276710510254, 2.6312499046325684, 3.0568182468414307, 2.6312499046325684, 2.6312499046325684, 2.3248276710510254, 0.7328687906265259, 0.19735710322856903, 0.0, 0.0, 0.0, 0.020067749544978142, 0.020067749544978142, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.13494834303855896, 0.7983333468437195, 2.3248276710510254, 1.9888478517532349, 2.243333339691162, 2.243333339691162, 1.9444444179534912, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.5600000023841858, 0.6814633011817932, 0.5201488733291626, 0.5201488733291626, 0.5462404489517212, 0.5600000023841858, 0.7983333468437195, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 2.3248276710510254, 2.3248276710510254, 0.7983333468437195, 1.9444444179534912, 1.9444444179534912, 0.7983333468437195, 2.243333339691162, 2.3248276710510254, 2.243333339691162, 2.243333339691162, 0.6339244842529297, 0.5224862694740295, 0.5224862694740295, 0.7983333468437195, 0.7890191674232483, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.5600000023841858, 1.9444444179534912, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.2932584285736084, 2.2932584285736084, 2.243333339691162, 0.7983333468437195, 0.7983333468437195, 0.49112668633461, 0.006689249537885189, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 2.3248276710510254, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 2.243333339691162, 2.3248276710510254]}, "long_curve": [{"video": {"psnr": 28.818838893174053, "ssim": 0.9216496540406842, "lpips": 0.03782859072089195}, "wrist_left": {"psnr": 20.316945144419577, "ssim": 0.7594637049274238, "lpips": 0.14674779772758484}, "wrist_right": {"psnr": 22.980419275337688, "ssim": 0.7758921873872919, "lpips": 0.12577980756759644}, "tactile_left": {"psnr": 42.371129387912944, "ssim": 0.9839999088181506, "lpips": 0.02831602841615677}, "tactile_right": {"psnr": 46.741170910384476, "ssim": 0.9902026647756633, "lpips": 0.02156003937125206}}, {"video": {"psnr": 24.2352232108773, "ssim": 0.8253284805419698, "lpips": 0.09534534811973572}, "wrist_left": {"psnr": 17.07878590672989, "ssim": 0.569044489037271, "lpips": 0.2635382413864136}, "wrist_right": {"psnr": 19.660288631255266, "ssim": 0.6458855744046119, "lpips": 0.1995062381029129}, "tactile_left": {"psnr": 40.35344681248132, "ssim": 0.9810240307480704, "lpips": 0.04820047318935394}, "tactile_right": {"psnr": 43.90692714100882, "ssim": 0.9861586769042617, "lpips": 0.03621724247932434}}, {"video": {"psnr": 23.987279317995835, "ssim": 0.8159425942747931, "lpips": 0.10825730115175247}, "wrist_left": {"psnr": 14.752708662694427, "ssim": 0.47065994612223716, "lpips": 0.36803674697875977}, "wrist_right": {"psnr": 19.49169156736325, "ssim": 0.6568578638630365, "lpips": 0.19024087488651276}, "tactile_left": {"psnr": 37.94310525343879, "ssim": 0.970941850056403, "lpips": 0.09024925529956818}, "tactile_right": {"psnr": 40.412557102682456, "ssim": 0.975453672240921, "lpips": 0.052592821419239044}}, {"video": {"psnr": 23.699506384629316, "ssim": 0.8011033359698334, "lpips": 0.13454563915729523}, "wrist_left": {"psnr": 14.287988751811051, "ssim": 0.4692841887922254, "lpips": 0.3733968734741211}, "wrist_right": {"psnr": 18.59017174892189, "ssim": 0.6352842928028322, "lpips": 0.20686160027980804}, "tactile_left": {"psnr": 37.67045866977244, "ssim": 0.9642027255327494, "lpips": 0.11431777477264404}, "tactile_right": {"psnr": 40.29010830660042, "ssim": 0.9749697250306824, "lpips": 0.051354311406612396}}, {"video": {"psnr": 22.67030389057222, "ssim": 0.7838646644588184, "lpips": 0.1527831256389618}, "wrist_left": {"psnr": 13.57721711963362, "ssim": 0.49504003216371617, "lpips": 0.38532063364982605}, "wrist_right": {"psnr": 16.535062842680624, "ssim": 0.5719009642956248, "lpips": 0.24592316150665283}, "tactile_left": {"psnr": 41.282453115170235, "ssim": 0.9795264742806628, "lpips": 0.05492399260401726}, "tactile_right": {"psnr": 41.84776028310219, "ssim": 0.9792304416800706, "lpips": 0.049149781465530396}}, {"video": {"psnr": 23.333716864371375, "ssim": 0.792338183345257, "lpips": 0.14127671718597412}, "wrist_left": {"psnr": 11.627348666378058, "ssim": 0.4287015704584116, "lpips": 0.5132018327713013}, "wrist_right": {"psnr": 15.86281911972474, "ssim": 0.5342748866951397, "lpips": 0.32512593269348145}, "tactile_left": {"psnr": 37.63543485907598, "ssim": 0.9664112676306917, "lpips": 0.1357327401638031}, "tactile_right": {"psnr": 41.404046750144076, "ssim": 0.9790351788001123, "lpips": 0.058369241654872894}}, {"video": {"psnr": 23.2382040590042, "ssim": 0.766196648774246, "lpips": 0.17254453897476196}, "wrist_left": {"psnr": 11.824305158022186, "ssim": 0.5619955544555768, "lpips": 0.38891535997390747}, "wrist_right": {"psnr": 15.081292785206719, "ssim": 0.6024567929793603, "lpips": 0.35077744722366333}, "tactile_left": {"psnr": 36.60125099593265, "ssim": 0.9651604697477809, "lpips": 0.14112024009227753}, "tactile_right": {"psnr": 40.2111119332831, "ssim": 0.9774020123746429, "lpips": 0.07352997362613678}}, {"video": {"psnr": 22.6075234659905, "ssim": 0.7430976584873681, "lpips": 0.2060726284980774}, "wrist_left": {"psnr": 14.78123071059848, "ssim": 0.6363955074266597, "lpips": 0.37130147218704224}, "wrist_right": {"psnr": 16.756306553140835, "ssim": 0.6196191898411627, "lpips": 0.3301658630371094}, "tactile_left": {"psnr": 38.13499349561064, "ssim": 0.9756610946780474, "lpips": 0.0841871052980423}, "tactile_right": {"psnr": 39.30332392820377, "ssim": 0.9751885090811319, "lpips": 0.08982446789741516}}, {"video": {"psnr": 22.518588806569873, "ssim": 0.7523609302031602, "lpips": 0.19868674874305725}, "wrist_left": {"psnr": 13.490778870769, "ssim": 0.6054272838732339, "lpips": 0.38059350848197937}, "wrist_right": {"psnr": 16.253341043843626, "ssim": 0.5879904851148225, "lpips": 0.34696608781814575}, "tactile_left": {"psnr": 35.47215555728127, "ssim": 0.9645389480264959, "lpips": 0.11967059969902039}, "tactile_right": {"psnr": 38.33696864513621, "ssim": 0.9732674208789829, "lpips": 0.0933973640203476}}, {"video": {"psnr": 22.110132305937068, "ssim": 0.7465973010219438, "lpips": 0.20800229907035828}, "wrist_left": {"psnr": 12.96388949478281, "ssim": 0.6040401285658958, "lpips": 0.380219966173172}, "wrist_right": {"psnr": 17.107674376154208, "ssim": 0.6412270676666756, "lpips": 0.309752881526947}, "tactile_left": {"psnr": 33.78026754306112, "ssim": 0.9551856707418496, "lpips": 0.14838287234306335}, "tactile_right": {"psnr": 37.547198747317594, "ssim": 0.9727490539593686, "lpips": 0.099082812666893}}, {"video": {"psnr": 21.40143036123241, "ssim": 0.7369351280099051, "lpips": 0.2634456753730774}, "wrist_left": {"psnr": 12.910060351918421, "ssim": 0.5730602665422793, "lpips": 0.39633509516716003}, "wrist_right": {"psnr": 16.825098240151352, "ssim": 0.5803325066006574, "lpips": 0.3289949297904968}, "tactile_left": {"psnr": 33.72328627963243, "ssim": 0.9549155718561384, "lpips": 0.16505755484104156}, "tactile_right": {"psnr": 35.86943815687134, "ssim": 0.9694994723037729, "lpips": 0.12580007314682007}}, {"video": {"psnr": 21.21013858676534, "ssim": 0.7191603882145092, "lpips": 0.2761538624763489}, "wrist_left": {"psnr": 16.220016211833325, "ssim": 0.6722746128618198, "lpips": 0.29552793502807617}, "wrist_right": {"psnr": 15.617683877292066, "ssim": 0.5912201539075482, "lpips": 0.2883855402469635}, "tactile_left": {"psnr": 35.43740980467499, "ssim": 0.9689626558321975, "lpips": 0.11477839946746826}, "tactile_right": {"psnr": 34.699286781765096, "ssim": 0.9640781076067699, "lpips": 0.15332439541816711}}, {"video": {"psnr": 20.66362761823129, "ssim": 0.6875417007112934, "lpips": 0.29338353872299194}, "wrist_left": {"psnr": 15.54047348580715, "ssim": 0.6423391602341953, "lpips": 0.3346604108810425}, "wrist_right": {"psnr": 16.157879102393316, "ssim": 0.5857541791065632, "lpips": 0.33473342657089233}, "tactile_left": {"psnr": 34.1160147128667, "ssim": 0.9613148823278912, "lpips": 0.14613643288612366}, "tactile_right": {"psnr": 34.96839289062847, "ssim": 0.9676331478119368, "lpips": 0.13396117091178894}}, {"video": {"psnr": 20.368233261671516, "ssim": 0.6753041368180465, "lpips": 0.29601746797561646}, "wrist_left": {"psnr": 15.600950825803533, "ssim": 0.62561171114885, "lpips": 0.39195558428764343}, "wrist_right": {"psnr": 15.600613947620701, "ssim": 0.5385122894521714, "lpips": 0.3914530873298645}, "tactile_left": {"psnr": 29.854847259492985, "ssim": 0.9251075378181832, "lpips": 0.2170003056526184}, "tactile_right": {"psnr": 34.61307744669147, "ssim": 0.9664877783672254, "lpips": 0.14296002686023712}}, {"video": {"psnr": 19.925873328438847, "ssim": 0.6517893296986106, "lpips": 0.32537904381752014}, "wrist_left": {"psnr": 16.529706558293277, "ssim": 0.655822332741685, "lpips": 0.3526279628276825}, "wrist_right": {"psnr": 14.88619863358233, "ssim": 0.5722698424151251, "lpips": 0.368547648191452}, "tactile_left": {"psnr": 32.26655290207165, "ssim": 0.9501720139773688, "lpips": 0.16446161270141602}, "tactile_right": {"psnr": 33.51536460910886, "ssim": 0.9614976173051597, "lpips": 0.16568714380264282}}], "long_metrics": {"video": {"psnr": 22.719241357030743, "ssim": 0.7612806756380291, "lpips": 0.19398150170842807}, "wrist_left": {"psnr": 14.766827061299654, "ssim": 0.5846106992900988, "lpips": 0.3561586280663808}, "wrist_right": {"psnr": 17.160436116311242, "ssim": 0.6092985517688415, "lpips": 0.2895476351181666}, "tactile_left": {"psnr": 36.44285377656508, "ssim": 0.9644750068048453, "lpips": 0.11816902582844098}, "tactile_right": {"psnr": 38.911115575528555, "ssim": 0.9741902319413801, "lpips": 0.08978739107648531}}}, {"id": "rope_e005_18", "episode": "rope_0911_episode_005_seg02.pt", "requested_episode": "rope_0911_episode_005_seg02.pt", "category": "full", "t_start": 56, "start_seconds": 3.7333333333333334, "short_contact": [1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1], "future_transition_ticks": [], "long_contact_fraction": 0.921875, "long_label": "full", "short_metrics": {"video": {"psnr": 26.78606560919426, "ssim": 0.8946972301256674, "lpips": 0.06508474051952362}, "wrist_left": {"psnr": 23.29859216952075, "ssim": 0.8349527627964419, "lpips": 0.12582595646381378}, "wrist_right": {"psnr": 22.867154201477366, "ssim": 0.7891117173167378, "lpips": 0.2106623500585556}, "tactile_left": {"psnr": 44.10253509168048, "ssim": 0.9873258470702649, "lpips": 0.027898766100406647}, "tactile_right": {"psnr": 44.18612505231172, "ssim": 0.9900318288164831, "lpips": 0.04033876210451126}}, "media": {"short": {"video": "media/rope_e005_18_short.mp4", "poster": "media/rope_e005_18_short.jpg"}, "long": {"video": "media/rope_e005_18_long.mp4", "poster": "media/rope_e005_18_long.jpg"}}, "force": {"source": "recorded_normal_force", "units": "N", "fps": 15, "left": [0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 2.6312499046325684, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 2.6312499046325684, 3.0568182468414307, 2.6312499046325684, 2.6312499046325684, 2.6312499046325684, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.1971428394317627, 3.9167568683624268, 3.9167568683624268, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 2.3248276710510254, 2.243333339691162, 1.9444444179534912, 0.7983333468437195, 0.7182157635688782, 0.524313747882843, 0.5439978837966919, 0.5600000023841858, 0.7983333468437195, 0.7983333468437195, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.7983333468437195, 0.7983333468437195, 2.3248276710510254, 2.3248276710510254, 3.0568182468414307, 3.0568182468414307, 3.9167568683624268, 4.726428508758545, 4.726428508758545, 4.726428508758545, 4.726428508758545, 4.726428508758545, 3.9167568683624268, 3.0568182468414307, 3.0568182468414307, 4.726428508758545, 4.726428508758545, 5.397500038146973, 5.403749942779541, 6.373636245727539, 6.519285678863525, 6.519285678863525, 6.519285678863525, 6.519285678863525, 6.373636245727539, 6.519285678863525, 6.519285678863525, 5.403749942779541, 5.403749942779541, 5.400780200958252, 5.403749942779541, 5.486666679382324, 5.486666679382324, 6.519285678863525, 6.760714054107666, 6.519285678863525, 6.519285678863525, 6.519285678863525, 6.519285678863525, 6.519285678863525, 4.852499961853027, 4.726428508758545, 4.726428508758545, 4.726428508758545, 4.726428508758545, 4.726428508758545, 4.726428508758545, 4.726428508758545, 4.726428508758545, 4.852499961853027, 5.398533344268799, 5.398533344268799, 3.9167568683624268, 3.9167568683624268, 4.852499961853027, 4.852499961853027, 4.726428508758545, 4.726428508758545, 4.990553855895996, 5.397500038146973, 4.7404046058654785, 4.726428508758545, 3.9167568683624268, 3.9167568683624268, 3.0568182468414307, 2.6312499046325684, 3.0568182468414307, 4.726428508758545, 3.9167568683624268, 3.9167568683624268, 3.9167568683624268, 4.726428508758545, 3.9167568683624268, 3.9167568683624268, 3.9167568683624268, 0.7983333468437195, 0.7983333468437195], "right": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0389721505343914, 0.0389721505343914, 0.1599999964237213, 0.1599999964237213, 0.6565051078796387, 1.4043495655059814, 0.7983333468437195, 0.7983333468437195, 1.0825270414352417, 0.7983333468437195, 0.7983333468437195, 1.9444444179534912, 1.9143996238708496, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 1.9444444179534912, 1.9444444179534912, 1.5773899555206299, 0.4991283714771271, 0.49339616298675537, 0.5009083151817322, 0.4983399510383606, 0.5471553206443787, 0.5471553206443787, 0.5600000023841858, 0.5600000023841858, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.1599999964237213, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.1599999964237213, 0.16690528392791748, 0.16690528392791748, 0.17248958349227905, 0.1599999964237213, 0.1599999964237213, 0.1599999964237213, 0.1599999964237213, 0.1599999964237213, 0.0, 0.0, 0.005525901913642883, 0.0, 0.6669883728027344, 0.0, 0.0, 0.4962950646877289, 0.0, 2.63932466506958, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]}, "long_curve": [{"video": {"psnr": 26.78606560919426, "ssim": 0.8946972301256674, "lpips": 0.06508474051952362}, "wrist_left": {"psnr": 23.29859216952075, "ssim": 0.8349527627964419, "lpips": 0.12582595646381378}, "wrist_right": {"psnr": 22.867154201477366, "ssim": 0.7891117173167378, "lpips": 0.2106623500585556}, "tactile_left": {"psnr": 44.10253509168048, "ssim": 0.9873258470702649, "lpips": 0.027898766100406647}, "tactile_right": {"psnr": 44.18612505231172, "ssim": 0.9900318288164831, "lpips": 0.04033876210451126}}, {"video": {"psnr": 22.21332007897101, "ssim": 0.7823490656866565, "lpips": 0.20095756649971008}, "wrist_left": {"psnr": 19.109505462182085, "ssim": 0.6734334231441588, "lpips": 0.1942252665758133}, "wrist_right": {"psnr": 19.94857920408649, "ssim": 0.6954464024556175, "lpips": 0.33146214485168457}, "tactile_left": {"psnr": 39.57756914188456, "ssim": 0.9780399420843047, "lpips": 0.07566182315349579}, "tactile_right": {"psnr": 41.557406114513114, "ssim": 0.9836433243528759, "lpips": 0.070721335709095}}, {"video": {"psnr": 21.627659422783662, "ssim": 0.7608821049124719, "lpips": 0.23396754264831543}, "wrist_left": {"psnr": 17.053899996617716, "ssim": 0.6120900428859805, "lpips": 0.27628329396247864}, "wrist_right": {"psnr": 19.567335797672033, "ssim": 0.6688005255215153, "lpips": 0.3001251816749573}, "tactile_left": {"psnr": 37.41906684267209, "ssim": 0.9706598828633113, "lpips": 0.10151339322328568}, "tactile_right": {"psnr": 41.08385854587798, "ssim": 0.9824493864260757, "lpips": 0.06991299986839294}}, {"video": {"psnr": 22.173083163909837, "ssim": 0.777464922827761, "lpips": 0.15774516761302948}, "wrist_left": {"psnr": 16.846784805513742, "ssim": 0.693597580456569, "lpips": 0.2799925208091736}, "wrist_right": {"psnr": 18.369398302195293, "ssim": 0.6693141957252742, "lpips": 0.2758067548274994}, "tactile_left": {"psnr": 39.330637481663715, "ssim": 0.9775356206969256, "lpips": 0.07200976461172104}, "tactile_right": {"psnr": 40.232308423659916, "ssim": 0.9816067806279967, "lpips": 0.07926906645298004}}, {"video": {"psnr": 22.01004956753777, "ssim": 0.7714383017231727, "lpips": 0.1711885929107666}, "wrist_left": {"psnr": 17.057292834156627, "ssim": 0.6922101436252661, "lpips": 0.2813568711280823}, "wrist_right": {"psnr": 17.33665864819712, "ssim": 0.6597618904292639, "lpips": 0.2539620101451874}, "tactile_left": {"psnr": 40.414932649621285, "ssim": 0.9815935543563039, "lpips": 0.041528522968292236}, "tactile_right": {"psnr": 41.24997120080081, "ssim": 0.9830257610212759, "lpips": 0.054257821291685104}}, {"video": {"psnr": 22.07642883721457, "ssim": 0.7630683175857744, "lpips": 0.17595215141773224}, "wrist_left": {"psnr": 16.28333518709113, "ssim": 0.591459751880067, "lpips": 0.31383782625198364}, "wrist_right": {"psnr": 18.03121100098652, "ssim": 0.6414215624160804, "lpips": 0.2536986470222473}, "tactile_left": {"psnr": 38.22525915050507, "ssim": 0.9758097320035883, "lpips": 0.08072806149721146}, "tactile_right": {"psnr": 40.15886601946971, "ssim": 0.9816922755713702, "lpips": 0.06959038227796555}}, {"video": {"psnr": 22.068091264078788, "ssim": 0.7670039783648821, "lpips": 0.2171066403388977}, "wrist_left": {"psnr": 16.579331570318658, "ssim": 0.6585394106504849, "lpips": 0.32196569442749023}, "wrist_right": {"psnr": 13.865895855924414, "ssim": 0.5353619360686868, "lpips": 0.4217211604118347}, "tactile_left": {"psnr": 34.82213896182243, "ssim": 0.9625249065887136, "lpips": 0.1643044650554657}, "tactile_right": {"psnr": 38.696323571274476, "ssim": 0.9783127146998027, "lpips": 0.08383812010288239}}, {"video": {"psnr": 21.584151092327133, "ssim": 0.7543534302848145, "lpips": 0.22167949378490448}, "wrist_left": {"psnr": 14.446554044159347, "ssim": 0.6209784663242603, "lpips": 0.4031856656074524}, "wrist_right": {"psnr": 14.724876297373303, "ssim": 0.5813353924575229, "lpips": 0.36346882581710815}, "tactile_left": {"psnr": 32.960279130200774, "ssim": 0.9510372854888909, "lpips": 0.2022414207458496}, "tactile_right": {"psnr": 38.238013291117724, "ssim": 0.9764474174731299, "lpips": 0.09332767128944397}}, {"video": {"psnr": 21.00321369191015, "ssim": 0.7284423772333044, "lpips": 0.2558506727218628}, "wrist_left": {"psnr": 14.648303836886127, "ssim": 0.6411055414449152, "lpips": 0.4042723774909973}, "wrist_right": {"psnr": 14.67399110721155, "ssim": 0.5764449733583625, "lpips": 0.3778156638145447}, "tactile_left": {"psnr": 31.651216432535122, "ssim": 0.9425223215321594, "lpips": 0.23167753219604492}, "tactile_right": {"psnr": 37.51207780317186, "ssim": 0.9745176308833997, "lpips": 0.10676185041666031}}, {"video": {"psnr": 21.11506753052389, "ssim": 0.7240148197680014, "lpips": 0.25504443049430847}, "wrist_left": {"psnr": 14.261841346021015, "ssim": 0.618951128900249, "lpips": 0.4142240285873413}, "wrist_right": {"psnr": 15.038261905050001, "ssim": 0.5935101692818159, "lpips": 0.3808131217956543}, "tactile_left": {"psnr": 31.60483988034963, "ssim": 0.939535964886024, "lpips": 0.2297978699207306}, "tactile_right": {"psnr": 36.311163481140966, "ssim": 0.971945667268223, "lpips": 0.12799081206321716}}, {"video": {"psnr": 21.730785327845776, "ssim": 0.7371712443973322, "lpips": 0.22161564230918884}, "wrist_left": {"psnr": 14.26601236392479, "ssim": 0.529885154861254, "lpips": 0.4378831386566162}, "wrist_right": {"psnr": 14.256825776797694, "ssim": 0.5892621017580768, "lpips": 0.360298752784729}, "tactile_left": {"psnr": 31.926288512085513, "ssim": 0.9404455245549574, "lpips": 0.2310732901096344}, "tactile_right": {"psnr": 35.54250568940458, "ssim": 0.9697041754006698, "lpips": 0.1439325213432312}}, {"video": {"psnr": 21.997842470287225, "ssim": 0.7446049904878447, "lpips": 0.21211260557174683}, "wrist_left": {"psnr": 14.804490485729803, "ssim": 0.5208178873198674, "lpips": 0.3624211847782135}, "wrist_right": {"psnr": 14.778263322326348, "ssim": 0.544903770964184, "lpips": 0.32789188623428345}, "tactile_left": {"psnr": 32.25427604070699, "ssim": 0.9451764195411758, "lpips": 0.23511016368865967}, "tactile_right": {"psnr": 34.71079301927916, "ssim": 0.9659813624063884, "lpips": 0.17919352650642395}}, {"video": {"psnr": 21.954356088251053, "ssim": 0.7277439309084869, "lpips": 0.22723287343978882}, "wrist_left": {"psnr": 16.459914210209533, "ssim": 0.665724948532689, "lpips": 0.3422015905380249}, "wrist_right": {"psnr": 14.321739085800981, "ssim": 0.5068252136980225, "lpips": 0.40871310234069824}, "tactile_left": {"psnr": 32.30366945828714, "ssim": 0.9479863684223553, "lpips": 0.2488514482975006}, "tactile_right": {"psnr": 34.0066065503799, "ssim": 0.9637657941911366, "lpips": 0.19672943651676178}}, {"video": {"psnr": 21.7346446420597, "ssim": 0.7204483929061151, "lpips": 0.23380139470100403}, "wrist_left": {"psnr": 14.490719702053429, "ssim": 0.5917494597480757, "lpips": 0.38019174337387085}, "wrist_right": {"psnr": 12.729660498648059, "ssim": 0.4896145934320992, "lpips": 0.44009512662887573}, "tactile_left": {"psnr": 32.276630735487416, "ssim": 0.9504601249265072, "lpips": 0.24234828352928162}, "tactile_right": {"psnr": 33.6893409089783, "ssim": 0.9630057283169297, "lpips": 0.19608664512634277}}, {"video": {"psnr": 21.312972266084415, "ssim": 0.7032250898411032, "lpips": 0.2504357397556305}, "wrist_left": {"psnr": 15.772161397649704, "ssim": 0.6512949942519345, "lpips": 0.31882697343826294}, "wrist_right": {"psnr": 15.172983521832696, "ssim": 0.6261127005166616, "lpips": 0.3293501138687134}, "tactile_left": {"psnr": 31.95906531545511, "ssim": 0.9486716492055842, "lpips": 0.23940925300121307}, "tactile_right": {"psnr": 33.26883311793294, "ssim": 0.9604699750272072, "lpips": 0.20867550373077393}}], "long_metrics": {"video": {"psnr": 22.092515403531948, "ssim": 0.7571272131368925, "lpips": 0.20665168364842731}, "wrist_left": {"psnr": 16.358582627468966, "ssim": 0.6397860464548142, "lpips": 0.32377960880597434}, "wrist_right": {"psnr": 16.378855635038658, "ssim": 0.6111484763599948, "lpips": 0.3357256561517715}, "tactile_left": {"psnr": 35.388560321663824, "ssim": 0.9599550096147378, "lpips": 0.16161027053991953}, "tactile_right": {"psnr": 38.02961285262088, "ssim": 0.9751066548321976, "lpips": 0.1147084303200245}}}, {"id": "rope_e005_19", "episode": "rope_0914_episode_000.pt", "requested_episode": "rope_0914_episode_000.pt", "category": "none", "t_start": 134, "start_seconds": 8.933333333333334, "short_contact": [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0], "future_transition_ticks": [], "long_contact_fraction": 0.609375, "long_label": "none_at_start", "short_metrics": {"video": {"psnr": 27.37917929157069, "ssim": 0.8999597263555341, "lpips": 0.04296474903821945}, "wrist_left": {"psnr": 20.24641132831382, "ssim": 0.7516310506393764, "lpips": 0.19966110587120056}, "wrist_right": {"psnr": 22.568599697167443, "ssim": 0.7421749921658699, "lpips": 0.10090860724449158}, "tactile_left": {"psnr": 51.68934907451317, "ssim": 0.9954210898977727, "lpips": 0.0026201617438346148}, "tactile_right": {"psnr": 52.119730509162636, "ssim": 0.9951629326577014, "lpips": 0.0031698360107839108}}, "media": {"short": {"video": "media/rope_e005_19_short.mp4", "poster": "media/rope_e005_19_short.jpg"}, "long": {"video": "media/rope_e005_19_long.mp4", "poster": "media/rope_e005_19_long.jpg"}}, "force": {"source": "recorded_normal_force", "units": "N", "fps": 15, "left": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 1.9444444179534912, 1.3725632429122925, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.25447556376457214, 0.023848630487918854, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.005816739052534103, 0.0, 0.0, 2.243333339691162, 2.3248276710510254, 2.3248276710510254, 2.942737102508545, 3.0568182468414307, 3.1971428394317627, 3.1971428394317627, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 1.9444444179534912, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.6333838701248169, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "right": [0.1599999964237213, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.1599999964237213, 0.3558772802352905, 0.17097528278827667, 0.2848706841468811, 0.25, 2.867140054702759, 2.3248276710510254, 2.3248276710510254, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 2.891035795211792, 0.0, 0.19954140484333038, 1.486019253730774, 0.014541847631335258, 1.804188847541809, 1.804188847541809, 2.6312499046325684, 2.3248276710510254, 2.3248276710510254, 2.8327066898345947, 2.3248276710510254, 2.3248276710510254, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.1599999964237213, 0.4897080659866333, 0.4897080659866333, 1.6780595779418945, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.5246880650520325, 0.0, 0.0, 0.0, 0.0, 0.43808650970458984, 0.43808650970458984, 0.4866666793823242, 0.7983333468437195, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.6312499046325684, 2.6312499046325684, 2.6312499046325684, 2.3248276710510254, 2.3248276710510254, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.27666667103767395, 0.27666667103767395]}, "long_curve": [{"video": {"psnr": 27.37917929157069, "ssim": 0.8999597263555341, "lpips": 0.04296474903821945}, "wrist_left": {"psnr": 20.24641132831382, "ssim": 0.7516310506393764, "lpips": 0.19966110587120056}, "wrist_right": {"psnr": 22.568599697167443, "ssim": 0.7421749921658699, "lpips": 0.10090860724449158}, "tactile_left": {"psnr": 51.68934907451317, "ssim": 0.9954210898977727, "lpips": 0.0026201617438346148}, "tactile_right": {"psnr": 52.119730509162636, "ssim": 0.9951629326577014, "lpips": 0.0031698360107839108}}, {"video": {"psnr": 24.46073529179189, "ssim": 0.8327555168984242, "lpips": 0.08104856312274933}, "wrist_left": {"psnr": 16.898930210563858, "ssim": 0.6910553446005372, "lpips": 0.31683096289634705}, "wrist_right": {"psnr": 18.608190883710098, "ssim": 0.6370028369885599, "lpips": 0.22240294516086578}, "tactile_left": {"psnr": 44.41613475533344, "ssim": 0.990919251559103, "lpips": 0.016169562935829163}, "tactile_right": {"psnr": 49.12600327193825, "ssim": 0.9925087821500813, "lpips": 0.00943882018327713}}, {"video": {"psnr": 23.99833280759391, "ssim": 0.8164013768481169, "lpips": 0.10649091005325317}, "wrist_left": {"psnr": 17.586847502774024, "ssim": 0.6734452402561923, "lpips": 0.4007130265235901}, "wrist_right": {"psnr": 17.424292422604314, "ssim": 0.6119647353131461, "lpips": 0.26336994767189026}, "tactile_left": {"psnr": 37.04066121605804, "ssim": 0.9780864354897396, "lpips": 0.056143078953027725}, "tactile_right": {"psnr": 46.28740069001874, "ssim": 0.989525318157886, "lpips": 0.02202608436346054}}, {"video": {"psnr": 24.061615130468876, "ssim": 0.8090740727151431, "lpips": 0.13476034998893738}, "wrist_left": {"psnr": 17.70129244204365, "ssim": 0.593179678766104, "lpips": 0.35623493790626526}, "wrist_right": {"psnr": 16.23414144331069, "ssim": 0.5767917703107395, "lpips": 0.2863572835922241}, "tactile_left": {"psnr": 35.16407210700488, "ssim": 0.9704350264316337, "lpips": 0.07935192435979843}, "tactile_right": {"psnr": 40.52412300555449, "ssim": 0.9799389768830487, "lpips": 0.06352005153894424}}, {"video": {"psnr": 24.033248858539324, "ssim": 0.8035988659573822, "lpips": 0.15811660885810852}, "wrist_left": {"psnr": 17.937116513119758, "ssim": 0.5940577681380893, "lpips": 0.3354913890361786}, "wrist_right": {"psnr": 15.977257575898903, "ssim": 0.5657795459375422, "lpips": 0.3479141592979431}, "tactile_left": {"psnr": 34.45613168283054, "ssim": 0.9668492048687998, "lpips": 0.09353002905845642}, "tactile_right": {"psnr": 40.34771062266283, "ssim": 0.9792522007026698, "lpips": 0.058358676731586456}}, {"video": {"psnr": 23.86872133467397, "ssim": 0.7952840529092114, "lpips": 0.1701297014951706}, "wrist_left": {"psnr": 18.172658644632666, "ssim": 0.5922156320519363, "lpips": 0.3256770670413971}, "wrist_right": {"psnr": 15.821635802143044, "ssim": 0.6591382139273125, "lpips": 0.3280413746833801}, "tactile_left": {"psnr": 34.45380415854776, "ssim": 0.9633031262862762, "lpips": 0.10974682867527008}, "tactile_right": {"psnr": 40.72128837068759, "ssim": 0.981470188978928, "lpips": 0.05377974361181259}}, {"video": {"psnr": 23.06116722732903, "ssim": 0.7700852319240726, "lpips": 0.20622259378433228}, "wrist_left": {"psnr": 18.380770363183924, "ssim": 0.6346592947261341, "lpips": 0.33961308002471924}, "wrist_right": {"psnr": 17.652205153920885, "ssim": 0.6837925794942147, "lpips": 0.3032597601413727}, "tactile_left": {"psnr": 34.66309007078338, "ssim": 0.9635304799749274, "lpips": 0.11924128234386444}, "tactile_right": {"psnr": 39.2074132891558, "ssim": 0.9780646576904217, "lpips": 0.07490240037441254}}, {"video": {"psnr": 22.8167050861385, "ssim": 0.7580713338800531, "lpips": 0.20870307087898254}, "wrist_left": {"psnr": 18.63141911311886, "ssim": 0.7262397499230093, "lpips": 0.32377904653549194}, "wrist_right": {"psnr": 18.55681490765968, "ssim": 0.7021533361497906, "lpips": 0.29970070719718933}, "tactile_left": {"psnr": 37.731093670364785, "ssim": 0.9757923989475351, "lpips": 0.09040983021259308}, "tactile_right": {"psnr": 38.77171843507532, "ssim": 0.9771486926269932, "lpips": 0.08694478869438171}}, {"video": {"psnr": 22.98198469714928, "ssim": 0.7645924738884404, "lpips": 0.20153303444385529}, "wrist_left": {"psnr": 17.905573802268272, "ssim": 0.7014117272462173, "lpips": 0.3704085946083069}, "wrist_right": {"psnr": 19.359971764071105, "ssim": 0.7264232807572055, "lpips": 0.2581300139427185}, "tactile_left": {"psnr": 36.86539714335284, "ssim": 0.9718866819254844, "lpips": 0.11143945157527924}, "tactile_right": {"psnr": 38.0525597990517, "ssim": 0.9754790752315692, "lpips": 0.09758855402469635}}, {"video": {"psnr": 21.26289886622445, "ssim": 0.7277222554670961, "lpips": 0.2247598022222519}, "wrist_left": {"psnr": 15.99608816324842, "ssim": 0.6028137701130432, "lpips": 0.404507040977478}, "wrist_right": {"psnr": 18.181331348301516, "ssim": 0.7087363921542118, "lpips": 0.27723467350006104}, "tactile_left": {"psnr": 35.164177253933666, "ssim": 0.9602462054331368, "lpips": 0.1518477499485016}, "tactile_right": {"psnr": 36.43758893173636, "ssim": 0.9708572585865042, "lpips": 0.1345989853143692}}, {"video": {"psnr": 21.301561748307662, "ssim": 0.7302006697966887, "lpips": 0.22550155222415924}, "wrist_left": {"psnr": 17.996042421510744, "ssim": 0.6768184170090651, "lpips": 0.33397457003593445}, "wrist_right": {"psnr": 15.813002756009721, "ssim": 0.633864376116849, "lpips": 0.3233978748321533}, "tactile_left": {"psnr": 35.07918593955162, "ssim": 0.9629634440030144, "lpips": 0.14110609889030457}, "tactile_right": {"psnr": 34.53512090042692, "ssim": 0.9598725527801898, "lpips": 0.18258002400398254}}, {"video": {"psnr": 21.634702134865513, "ssim": 0.7329058436067715, "lpips": 0.21616876125335693}, "wrist_left": {"psnr": 14.701477405625376, "ssim": 0.564410935713591, "lpips": 0.4133727252483368}, "wrist_right": {"psnr": 15.37689411214616, "ssim": 0.6354016491144865, "lpips": 0.35987144708633423}, "tactile_left": {"psnr": 34.818111787950755, "ssim": 0.9652822334267899, "lpips": 0.14197435975074768}, "tactile_right": {"psnr": 33.91099254673874, "ssim": 0.9590255648531706, "lpips": 0.19103941321372986}}, {"video": {"psnr": 21.127597368569006, "ssim": 0.725738966446182, "lpips": 0.24274766445159912}, "wrist_left": {"psnr": 12.970304783347045, "ssim": 0.48943418443088216, "lpips": 0.47451990842819214}, "wrist_right": {"psnr": 15.035937361432175, "ssim": 0.6419259091528451, "lpips": 0.37583857774734497}, "tactile_left": {"psnr": 34.34343691395395, "ssim": 0.9648266943189007, "lpips": 0.15310533344745636}, "tactile_right": {"psnr": 33.99914439269459, "ssim": 0.9626698422929507, "lpips": 0.18644121289253235}}, {"video": {"psnr": 21.31966986207429, "ssim": 0.7317854832011415, "lpips": 0.23444178700447083}, "wrist_left": {"psnr": 13.885250611898892, "ssim": 0.5183886151745805, "lpips": 0.39593130350112915}, "wrist_right": {"psnr": 14.509514745125209, "ssim": 0.6427812245552655, "lpips": 0.3688621520996094}, "tactile_left": {"psnr": 33.90851714911305, "ssim": 0.9622297694382997, "lpips": 0.16679301857948303}, "tactile_right": {"psnr": 33.407274231361455, "ssim": 0.9582076042211054, "lpips": 0.21590711176395416}}, {"video": {"psnr": 21.40195495786831, "ssim": 0.7428394580171512, "lpips": 0.2495153695344925}, "wrist_left": {"psnr": 13.435634840285665, "ssim": 0.5121975708133821, "lpips": 0.4199860095977783}, "wrist_right": {"psnr": 15.668191607619871, "ssim": 0.6315434328256686, "lpips": 0.40569955110549927}, "tactile_left": {"psnr": 33.499481794422856, "ssim": 0.959866274483232, "lpips": 0.17892473936080933}, "tactile_right": {"psnr": 33.254084971959834, "ssim": 0.9582101340155456, "lpips": 0.22385713458061218}}], "long_metrics": {"video": {"psnr": 22.980671644210982, "ssim": 0.7760676885274272, "lpips": 0.1802069678902626}, "wrist_left": {"psnr": 16.829721209728998, "ssim": 0.621463931973476, "lpips": 0.360713384548823}, "wrist_right": {"psnr": 17.119198772074718, "ssim": 0.6532982849975805, "lpips": 0.30139927168687186}, "tactile_left": {"psnr": 36.886176314514316, "ssim": 0.9701092210989763, "lpips": 0.10749356332235038}, "tactile_right": {"psnr": 39.380143597881684, "ssim": 0.9744929187885844, "lpips": 0.10694352248683572}}}, {"id": "rope_e005_20", "episode": "rope_0914_episode_000.pt", "requested_episode": "rope_0914_episode_000.pt", "category": "onset", "t_start": 48, "start_seconds": 3.2, "short_contact": [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 1], "future_transition_ticks": [11], "long_contact_fraction": 0.5546875, "long_label": "onset", "short_metrics": {"video": {"psnr": 27.865216600386002, "ssim": 0.8950859804195019, "lpips": 0.049002718180418015}, "wrist_left": {"psnr": 27.95972508232632, "ssim": 0.8457076438486706, "lpips": 0.06598645448684692}, "wrist_right": {"psnr": 20.703173897020697, "ssim": 0.7029008028027324, "lpips": 0.16994649171829224}, "tactile_left": {"psnr": 52.565309896465536, "ssim": 0.9957325967460557, "lpips": 0.0025176703929901123}, "tactile_right": {"psnr": 42.486058060329846, "ssim": 0.9864008164154967, "lpips": 0.03391115367412567}}, "media": {"short": {"video": "media/rope_e005_20_short.mp4", "poster": "media/rope_e005_20_short.jpg"}, "long": {"video": "media/rope_e005_20_long.mp4", "poster": "media/rope_e005_20_long.jpg"}}, "force": {"source": "recorded_normal_force", "units": "N", "fps": 15, "left": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 1.9444444179534912, 1.3725632429122925, 0.7983333468437195, 0.7983333468437195], "right": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 3.0568182468414307, 3.0568182468414307, 2.2891783714294434, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 1.4226243495941162, 0.12007912248373032, 2.0219690799713135, 2.63932466506958, 2.3248276710510254, 2.3248276710510254, 0.0026175326202064753, 0.0, 0.0, 0.0, 0.7983333468437195, 0.7983333468437195, 0.0, 0.1599999964237213, 0.4399999976158142, 0.4399999976158142, 0.5153115391731262, 0.5600000023841858, 0.5600000023841858, 0.5600000023841858, 0.5600000023841858, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.19029824435710907, 0.881781280040741, 2.917395830154419, 2.917395830154419, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 2.714874505996704, 0.0, 0.0, 0.0, 0.0, 0.0, 2.178600549697876, 2.3248276710510254, 0.7983333468437195, 1.9444444179534912, 1.9444444179534912, 2.243333339691162, 1.5895891189575195, 0.7983333468437195, 0.7983333468437195, 2.6063549518585205, 0.5580923557281494, 0.0, 0.0, 0.0, 2.3248276710510254, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 2.3248276710510254, 2.3248276710510254, 2.6312499046325684, 2.6312499046325684, 2.3248276710510254, 2.3248276710510254, 2.243333339691162, 2.3248276710510254, 1.9444444179534912, 0.7983333468437195, 0.1599999964237213, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.1599999964237213, 0.3558772802352905, 0.17097528278827667, 0.2848706841468811, 0.25, 2.867140054702759, 2.3248276710510254]}, "long_curve": [{"video": {"psnr": 27.865216600386002, "ssim": 0.8950859804195019, "lpips": 0.049002718180418015}, "wrist_left": {"psnr": 27.95972508232632, "ssim": 0.8457076438486706, "lpips": 0.06598645448684692}, "wrist_right": {"psnr": 20.703173897020697, "ssim": 0.7029008028027324, "lpips": 0.16994649171829224}, "tactile_left": {"psnr": 52.565309896465536, "ssim": 0.9957325967460557, "lpips": 0.0025176703929901123}, "tactile_right": {"psnr": 42.486058060329846, "ssim": 0.9864008164154967, "lpips": 0.03391115367412567}}, {"video": {"psnr": 23.92222224854575, "ssim": 0.8167116569826938, "lpips": 0.10050079971551895}, "wrist_left": {"psnr": 22.678538953594384, "ssim": 0.8021002795444617, "lpips": 0.13370771706104279}, "wrist_right": {"psnr": 15.155262458350034, "ssim": 0.5667294000823173, "lpips": 0.36960911750793457}, "tactile_left": {"psnr": 48.79447415803931, "ssim": 0.9926824451891272, "lpips": 0.01043921709060669}, "tactile_right": {"psnr": 43.60209556976098, "ssim": 0.9842499088790527, "lpips": 0.028438691049814224}}, {"video": {"psnr": 23.025837215530526, "ssim": 0.7905202255680607, "lpips": 0.1296146810054779}, "wrist_left": {"psnr": 18.131437658238873, "ssim": 0.7051585455950731, "lpips": 0.2471218705177307}, "wrist_right": {"psnr": 17.218004950109385, "ssim": 0.6514697066401971, "lpips": 0.2605237066745758}, "tactile_left": {"psnr": 45.73240448968163, "ssim": 0.989764465383958, "lpips": 0.021764907985925674}, "tactile_right": {"psnr": 43.810215224771696, "ssim": 0.9834018031894294, "lpips": 0.04146014526486397}}, {"video": {"psnr": 23.837566328416223, "ssim": 0.7972798430774881, "lpips": 0.1653689444065094}, "wrist_left": {"psnr": 16.986479662504347, "ssim": 0.7032340237785889, "lpips": 0.29074621200561523}, "wrist_right": {"psnr": 18.571075941904716, "ssim": 0.6797893960014991, "lpips": 0.23684290051460266}, "tactile_left": {"psnr": 43.95860715762615, "ssim": 0.9872704659523024, "lpips": 0.03379029035568237}, "tactile_right": {"psnr": 41.60961603424961, "ssim": 0.9815718140463384, "lpips": 0.052921369671821594}}, {"video": {"psnr": 22.59061461185029, "ssim": 0.7546524529457358, "lpips": 0.19845734536647797}, "wrist_left": {"psnr": 16.81597413931221, "ssim": 0.661249349069116, "lpips": 0.265789270401001}, "wrist_right": {"psnr": 17.254219462337286, "ssim": 0.6092951338183851, "lpips": 0.3472256660461426}, "tactile_left": {"psnr": 42.97804024264272, "ssim": 0.9854609966256287, "lpips": 0.044909629970788956}, "tactile_right": {"psnr": 42.65540138187341, "ssim": 0.9812569104929985, "lpips": 0.05201638489961624}}, {"video": {"psnr": 21.97434566323484, "ssim": 0.748073415152012, "lpips": 0.2141878604888916}, "wrist_left": {"psnr": 16.466495709431854, "ssim": 0.6038495942932467, "lpips": 0.2621775269508362}, "wrist_right": {"psnr": 16.249401481397634, "ssim": 0.5592551989713039, "lpips": 0.40440353751182556}, "tactile_left": {"psnr": 41.732118481514604, "ssim": 0.9833523736104551, "lpips": 0.05846525728702545}, "tactile_right": {"psnr": 41.37788371504211, "ssim": 0.9793196091598344, "lpips": 0.07315058261156082}}, {"video": {"psnr": 21.867329137280393, "ssim": 0.7477840333814953, "lpips": 0.22850437462329865}, "wrist_left": {"psnr": 15.087826015606485, "ssim": 0.5538588183797796, "lpips": 0.28621917963027954}, "wrist_right": {"psnr": 13.610664111741894, "ssim": 0.5638062358588679, "lpips": 0.39609038829803467}, "tactile_left": {"psnr": 40.29751836091868, "ssim": 0.9809553122519514, "lpips": 0.07383298873901367}, "tactile_right": {"psnr": 40.68046831865494, "ssim": 0.9778790318492196, "lpips": 0.07723134756088257}}, {"video": {"psnr": 21.4263315544911, "ssim": 0.732996314969839, "lpips": 0.21479682624340057}, "wrist_left": {"psnr": 13.744089645162736, "ssim": 0.5273872559580921, "lpips": 0.32773327827453613}, "wrist_right": {"psnr": 15.538059554939148, "ssim": 0.6662361791357333, "lpips": 0.36732017993927}, "tactile_left": {"psnr": 38.65849942325186, "ssim": 0.977347747689461, "lpips": 0.08727094531059265}, "tactile_right": {"psnr": 39.657200797709876, "ssim": 0.9752928827651082, "lpips": 0.09089991450309753}}, {"video": {"psnr": 21.658129362097327, "ssim": 0.7374904723220463, "lpips": 0.21824735403060913}, "wrist_left": {"psnr": 14.272441463313573, "ssim": 0.5311980491308075, "lpips": 0.3181530833244324}, "wrist_right": {"psnr": 14.448570415672833, "ssim": 0.6332155480462907, "lpips": 0.4170786142349243}, "tactile_left": {"psnr": 37.97082834341015, "ssim": 0.9753035878937483, "lpips": 0.09915721416473389}, "tactile_right": {"psnr": 37.72538346196502, "ssim": 0.9695486061235082, "lpips": 0.13876676559448242}}, {"video": {"psnr": 21.935238501240242, "ssim": 0.7394072108694202, "lpips": 0.25219810009002686}, "wrist_left": {"psnr": 16.86535611163358, "ssim": 0.6265819154098089, "lpips": 0.30350595712661743}, "wrist_right": {"psnr": 14.36043159683395, "ssim": 0.609157639813412, "lpips": 0.39386987686157227}, "tactile_left": {"psnr": 37.12107956072422, "ssim": 0.9729979899402381, "lpips": 0.11456654965877533}, "tactile_right": {"psnr": 37.43928098953151, "ssim": 0.9699292359415456, "lpips": 0.136648029088974}}, {"video": {"psnr": 21.501835313269822, "ssim": 0.7282182147017208, "lpips": 0.2581902742385864}, "wrist_left": {"psnr": 15.97407598059803, "ssim": 0.6367099547238988, "lpips": 0.33089932799339294}, "wrist_right": {"psnr": 17.14000307838887, "ssim": 0.6722751668015072, "lpips": 0.329825758934021}, "tactile_left": {"psnr": 36.44992532138442, "ssim": 0.970818611425669, "lpips": 0.12909457087516785}, "tactile_right": {"psnr": 37.136343315552715, "ssim": 0.970238109341011, "lpips": 0.13696905970573425}}, {"video": {"psnr": 21.688025513381213, "ssim": 0.7358354809890493, "lpips": 0.23659148812294006}, "wrist_left": {"psnr": 15.304775251865049, "ssim": 0.621403888551743, "lpips": 0.3813881278038025}, "wrist_right": {"psnr": 16.795574732636823, "ssim": 0.6474944511651077, "lpips": 0.35563480854034424}, "tactile_left": {"psnr": 35.901869430452415, "ssim": 0.9685434118054732, "lpips": 0.14285394549369812}, "tactile_right": {"psnr": 36.26580204796439, "ssim": 0.9676185596459655, "lpips": 0.15513671934604645}}, {"video": {"psnr": 20.87450697133115, "ssim": 0.7217699416416705, "lpips": 0.2645499110221863}, "wrist_left": {"psnr": 16.74089362987501, "ssim": 0.6645335890841462, "lpips": 0.39839792251586914}, "wrist_right": {"psnr": 15.70453881383343, "ssim": 0.6062625927639254, "lpips": 0.39478418231010437}, "tactile_left": {"psnr": 34.6023364527083, "ssim": 0.9626210793509877, "lpips": 0.16726216673851013}, "tactile_right": {"psnr": 35.643408021731865, "ssim": 0.9653495671780956, "lpips": 0.17756947875022888}}, {"video": {"psnr": 21.247316397190495, "ssim": 0.7318493632840761, "lpips": 0.2663571834564209}, "wrist_left": {"psnr": 17.349838836572623, "ssim": 0.6501622779436891, "lpips": 0.39767181873321533}, "wrist_right": {"psnr": 13.60081302179471, "ssim": 0.5672790675990491, "lpips": 0.4516650438308716}, "tactile_left": {"psnr": 33.05202141420564, "ssim": 0.9530280981882051, "lpips": 0.19574224948883057}, "tactile_right": {"psnr": 35.066703597958906, "ssim": 0.9626162605233244, "lpips": 0.19029203057289124}}, {"video": {"psnr": 21.113100215187643, "ssim": 0.7278488231409083, "lpips": 0.2909168601036072}, "wrist_left": {"psnr": 16.903836753085468, "ssim": 0.5850898403035485, "lpips": 0.3765561580657959}, "wrist_right": {"psnr": 11.814445437296285, "ssim": 0.5223767505838679, "lpips": 0.44967150688171387}, "tactile_left": {"psnr": 31.904004417742307, "ssim": 0.946891757271489, "lpips": 0.21521681547164917}, "tactile_right": {"psnr": 34.030074051805926, "ssim": 0.9583421954743042, "lpips": 0.22151032090187073}}], "long_metrics": {"video": {"psnr": 22.4351743755622, "ssim": 0.7603682286297145, "lpips": 0.20583231473962466}, "wrist_left": {"psnr": 17.418785659541367, "ssim": 0.6478816683743113, "lpips": 0.29240359365940094}, "wrist_right": {"psnr": 15.877615930283845, "ssim": 0.6171695513389465, "lpips": 0.3562994519869486}, "tactile_left": {"psnr": 40.11460247671786, "ssim": 0.9761847292883167, "lpips": 0.0931256279349327}, "tactile_right": {"psnr": 39.27906230592685, "ssim": 0.9742010207350156, "lpips": 0.10712813287973404}}}, {"id": "rope_e005_21", "episode": "rope_0914_episode_000.pt", "requested_episode": "rope_0914_episode_000.pt", "category": "release", "t_start": 189, "start_seconds": 12.6, "short_contact": [1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 0, 0], "future_transition_ticks": [11], "long_contact_fraction": 0.5078125, "long_label": "release", "short_metrics": {"video": {"psnr": 27.641351288311917, "ssim": 0.8912105036319661, "lpips": 0.04734605923295021}, "wrist_left": {"psnr": 22.13329373278121, "ssim": 0.792867056560084, "lpips": 0.18662716448307037}, "wrist_right": {"psnr": 22.014057723526342, "ssim": 0.7452963626448489, "lpips": 0.16771671175956726}, "tactile_left": {"psnr": 45.00420730673455, "ssim": 0.9882733835132813, "lpips": 0.013906130567193031}, "tactile_right": {"psnr": 48.806522688594114, "ssim": 0.9940470928041842, "lpips": 0.006085095927119255}}, "media": {"short": {"video": "media/rope_e005_21_short.mp4", "poster": "media/rope_e005_21_short.jpg"}, "long": {"video": "media/rope_e005_21_long.mp4", "poster": "media/rope_e005_21_long.jpg"}}, "force": {"source": "recorded_normal_force", "units": "N", "fps": 15, "left": [0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.25447556376457214, 0.023848630487918854, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.005816739052534103, 0.0, 0.0, 2.243333339691162, 2.3248276710510254, 2.3248276710510254, 2.942737102508545, 3.0568182468414307, 3.1971428394317627, 3.1971428394317627, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 1.9444444179534912, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.6333838701248169, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "right": [0.19954140484333038, 1.486019253730774, 0.014541847631335258, 1.804188847541809, 1.804188847541809, 2.6312499046325684, 2.3248276710510254, 2.3248276710510254, 2.8327066898345947, 2.3248276710510254, 2.3248276710510254, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.1599999964237213, 0.4897080659866333, 0.4897080659866333, 1.6780595779418945, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.5246880650520325, 0.0, 0.0, 0.0, 0.0, 0.43808650970458984, 0.43808650970458984, 0.4866666793823242, 0.7983333468437195, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.6312499046325684, 2.6312499046325684, 2.6312499046325684, 2.3248276710510254, 2.3248276710510254, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.27666667103767395, 0.27666667103767395, 2.243333339691162, 3.0568182468414307, 3.0568182468414307, 2.3248276710510254, 2.0718064308166504, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.4399999976158142, 0.7596486806869507, 1.9444444179534912, 1.9444444179534912, 2.243333339691162, 2.243333339691162, 0.7983333468437195, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.16300326585769653, 0.17795205116271973, 0.17861714959144592, 0.17861714959144592, 0.505513608455658, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.5600000023841858, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.5102386474609375, 0.25, 0.5591446757316589, 0.7983333468437195, 1.423740267753601]}, "long_curve": [{"video": {"psnr": 27.641351288311917, "ssim": 0.8912105036319661, "lpips": 0.04734605923295021}, "wrist_left": {"psnr": 22.13329373278121, "ssim": 0.792867056560084, "lpips": 0.18662716448307037}, "wrist_right": {"psnr": 22.014057723526342, "ssim": 0.7452963626448489, "lpips": 0.16771671175956726}, "tactile_left": {"psnr": 45.00420730673455, "ssim": 0.9882733835132813, "lpips": 0.013906130567193031}, "tactile_right": {"psnr": 48.806522688594114, "ssim": 0.9940470928041842, "lpips": 0.006085095927119255}}, {"video": {"psnr": 24.365725673445347, "ssim": 0.8460945331073263, "lpips": 0.09565933048725128}, "wrist_left": {"psnr": 17.754486802278404, "ssim": 0.7165606459033048, "lpips": 0.3291735351085663}, "wrist_right": {"psnr": 21.174146913809558, "ssim": 0.7359693426979146, "lpips": 0.18419933319091797}, "tactile_left": {"psnr": 44.780434792420294, "ssim": 0.9848921801566511, "lpips": 0.028338821604847908}, "tactile_right": {"psnr": 48.26638691878834, "ssim": 0.9918362539873187, "lpips": 0.010636158287525177}}, {"video": {"psnr": 21.68267082030566, "ssim": 0.778250657844082, "lpips": 0.17214727401733398}, "wrist_left": {"psnr": 19.25161299057231, "ssim": 0.7114054580841497, "lpips": 0.3202754855155945}, "wrist_right": {"psnr": 18.775130402255776, "ssim": 0.6858673655781395, "lpips": 0.280962198972702}, "tactile_left": {"psnr": 39.906637624922254, "ssim": 0.9742841746327608, "lpips": 0.079231396317482}, "tactile_right": {"psnr": 44.111258883539435, "ssim": 0.9878196386565983, "lpips": 0.03472523391246796}}, {"video": {"psnr": 20.529825522536246, "ssim": 0.7507663051725727, "lpips": 0.21839693188667297}, "wrist_left": {"psnr": 19.334772126901694, "ssim": 0.7113258586869708, "lpips": 0.3059254586696625}, "wrist_right": {"psnr": 15.66314839617519, "ssim": 0.5516008511266194, "lpips": 0.3765087127685547}, "tactile_left": {"psnr": 40.394511618348616, "ssim": 0.976118815414889, "lpips": 0.06474057585000992}, "tactile_right": {"psnr": 38.05610267390313, "ssim": 0.9748210548963054, "lpips": 0.0968647301197052}}, {"video": {"psnr": 20.079183846406224, "ssim": 0.7420674360487352, "lpips": 0.24023672938346863}, "wrist_left": {"psnr": 15.315666414492474, "ssim": 0.6460044495656035, "lpips": 0.3817977011203766}, "wrist_right": {"psnr": 15.05818784262016, "ssim": 0.5391951399249411, "lpips": 0.3925369679927826}, "tactile_left": {"psnr": 41.95007021807946, "ssim": 0.9799907443380278, "lpips": 0.05039346218109131}, "tactile_right": {"psnr": 37.891010057293094, "ssim": 0.9735347139861189, "lpips": 0.10655075311660767}}, {"video": {"psnr": 20.11651712487626, "ssim": 0.7500824560188184, "lpips": 0.24485689401626587}, "wrist_left": {"psnr": 14.343091966261952, "ssim": 0.6033549002045787, "lpips": 0.41036489605903625}, "wrist_right": {"psnr": 14.047604426699776, "ssim": 0.5005233232811523, "lpips": 0.4675357937812805}, "tactile_left": {"psnr": 41.51567522765546, "ssim": 0.9806589637198906, "lpips": 0.061181001365184784}, "tactile_right": {"psnr": 40.45883310466722, "ssim": 0.9815898056240269, "lpips": 0.0668155699968338}}, {"video": {"psnr": 20.716579841936827, "ssim": 0.7500370094269087, "lpips": 0.2495126724243164}, "wrist_left": {"psnr": 15.25833421953417, "ssim": 0.5959458256776458, "lpips": 0.39562955498695374}, "wrist_right": {"psnr": 15.241429736357034, "ssim": 0.5850803809414047, "lpips": 0.397749125957489}, "tactile_left": {"psnr": 40.66400150806493, "ssim": 0.9788361715354792, "lpips": 0.07839490473270416}, "tactile_right": {"psnr": 38.79515912575615, "ssim": 0.977190124237842, "lpips": 0.09484771639108658}}, {"video": {"psnr": 20.225950988408023, "ssim": 0.7233549878626604, "lpips": 0.3000107705593109}, "wrist_left": {"psnr": 16.22493482304402, "ssim": 0.6353049599033367, "lpips": 0.3930908441543579}, "wrist_right": {"psnr": 15.659346227179284, "ssim": 0.6112606553947559, "lpips": 0.4469822347164154}, "tactile_left": {"psnr": 39.25487170650147, "ssim": 0.9764427086428631, "lpips": 0.09477280080318451}, "tactile_right": {"psnr": 39.51232280462393, "ssim": 0.9790477508296835, "lpips": 0.08977271616458893}}, {"video": {"psnr": 20.030355104694348, "ssim": 0.7109921498474464, "lpips": 0.3263322114944458}, "wrist_left": {"psnr": 16.38346456908741, "ssim": 0.6267138745465156, "lpips": 0.36164620518684387}, "wrist_right": {"psnr": 14.619263146967288, "ssim": 0.6392627462749878, "lpips": 0.3859327435493469}, "tactile_left": {"psnr": 38.537005809747384, "ssim": 0.9745231485996522, "lpips": 0.10549861192703247}, "tactile_right": {"psnr": 37.940923661909764, "ssim": 0.9745022877974199, "lpips": 0.1334865242242813}}, {"video": {"psnr": 19.29453678504001, "ssim": 0.6917572282755627, "lpips": 0.3650929033756256}, "wrist_left": {"psnr": 13.096196563096605, "ssim": 0.5205773550385662, "lpips": 0.40501439571380615}, "wrist_right": {"psnr": 13.33839754085201, "ssim": 0.5691686757793786, "lpips": 0.43584030866622925}, "tactile_left": {"psnr": 37.63039126613468, "ssim": 0.9719945177162255, "lpips": 0.1216139942407608}, "tactile_right": {"psnr": 37.41065608375793, "ssim": 0.9734463602484494, "lpips": 0.12898048758506775}}, {"video": {"psnr": 19.721225334801595, "ssim": 0.7031944414983313, "lpips": 0.34476590156555176}, "wrist_left": {"psnr": 13.915886935157529, "ssim": 0.533322362487959, "lpips": 0.39901673793792725}, "wrist_right": {"psnr": 13.080304688020124, "ssim": 0.580490845810551, "lpips": 0.45835569500923157}, "tactile_left": {"psnr": 36.94306312004827, "ssim": 0.9696042968420656, "lpips": 0.13625352084636688}, "tactile_right": {"psnr": 35.70285521005593, "ssim": 0.9659144261463604, "lpips": 0.16274797916412354}}, {"video": {"psnr": 19.635630798964097, "ssim": 0.6920645079131009, "lpips": 0.3630582094192505}, "wrist_left": {"psnr": 14.036610393487237, "ssim": 0.5480226201984437, "lpips": 0.3620394170284271}, "wrist_right": {"psnr": 16.551369545839197, "ssim": 0.6532393955862341, "lpips": 0.4096842408180237}, "tactile_left": {"psnr": 36.40157513816887, "ssim": 0.9673185798738303, "lpips": 0.15329009294509888}, "tactile_right": {"psnr": 35.78818484071179, "ssim": 0.9693169039517995, "lpips": 0.15603630244731903}}, {"video": {"psnr": 19.487416472277165, "ssim": 0.6866637290946449, "lpips": 0.36688488721847534}, "wrist_left": {"psnr": 13.550853880690802, "ssim": 0.5071521914074617, "lpips": 0.4280652701854706}, "wrist_right": {"psnr": 14.860992934014082, "ssim": 0.6199536372044816, "lpips": 0.4329177141189575}, "tactile_left": {"psnr": 36.10600829059497, "ssim": 0.9660985380437646, "lpips": 0.15941272675991058}, "tactile_right": {"psnr": 34.738132860552966, "ssim": 0.9624522288902864, "lpips": 0.20767539739608765}}, {"video": {"psnr": 19.58980675366079, "ssim": 0.7033170283347454, "lpips": 0.3188324272632599}, "wrist_left": {"psnr": 13.439457627986705, "ssim": 0.5194648546153356, "lpips": 0.46581947803497314}, "wrist_right": {"psnr": 16.604398064456408, "ssim": 0.703737795622605, "lpips": 0.33154577016830444}, "tactile_left": {"psnr": 35.51329183348979, "ssim": 0.9647081282136758, "lpips": 0.17080508172512054}, "tactile_right": {"psnr": 34.8095083803546, "ssim": 0.9636653144361116, "lpips": 0.19668732583522797}}, {"video": {"psnr": 19.691266845429464, "ssim": 0.6966284412493827, "lpips": 0.3246140480041504}, "wrist_left": {"psnr": 16.164125757302813, "ssim": 0.6775354157558319, "lpips": 0.3800978362560272}, "wrist_right": {"psnr": 14.322515683289671, "ssim": 0.5921641677079875, "lpips": 0.4300796687602997}, "tactile_left": {"psnr": 35.16073494518599, "ssim": 0.9619407143736456, "lpips": 0.179171621799469}, "tactile_right": {"psnr": 34.149906563183826, "ssim": 0.9588838046019161, "lpips": 0.22309568524360657}}], "long_metrics": {"video": {"psnr": 20.8538695467396, "ssim": 0.7410987610217522, "lpips": 0.26518315002322196}, "wrist_left": {"psnr": 16.01351925351169, "ssim": 0.6230371885757191, "lpips": 0.3683055986960729}, "wrist_right": {"psnr": 16.067352884804126, "ssim": 0.6208540457050667, "lpips": 0.3732364813486735}, "tactile_left": {"psnr": 39.3174986937398, "ssim": 0.9743790043744468, "lpips": 0.09980031624436378}, "tactile_right": {"psnr": 39.09585092384614, "ssim": 0.9752045174062948, "lpips": 0.11433384505410989}}}, {"id": "rope_e005_22", "episode": "rope_0914_episode_000.pt", "requested_episode": "rope_0914_episode_000.pt", "category": "full", "t_start": 480, "start_seconds": 32.0, "short_contact": [1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1], "future_transition_ticks": [], "long_contact_fraction": 0.859375, "long_label": "full", "short_metrics": {"video": {"psnr": 25.015516783855496, "ssim": 0.8870651751066567, "lpips": 0.07384026050567627}, "wrist_left": {"psnr": 23.312445166143014, "ssim": 0.7706615130995352, "lpips": 0.1442083716392517}, "wrist_right": {"psnr": 20.68505059551851, "ssim": 0.6950026124572016, "lpips": 0.2390376329421997}, "tactile_left": {"psnr": 41.847106619800066, "ssim": 0.9829080918060016, "lpips": 0.021926328539848328}, "tactile_right": {"psnr": 40.802389904782, "ssim": 0.9752603226430479, "lpips": 0.04384265094995499}}, "media": {"short": {"video": "media/rope_e005_22_short.mp4", "poster": "media/rope_e005_22_short.jpg"}, "long": {"video": "media/rope_e005_22_long.mp4", "poster": "media/rope_e005_22_long.jpg"}}, "force": {"source": "recorded_normal_force", "units": "N", "fps": 15, "left": [0.05176897719502449, 0.11429891735315323, 0.1599999964237213, 0.39609667658805847, 0.22467154264450073, 0.1599999964237213, 0.4917893409729004, 0.7983333468437195, 0.7983333468437195, 0.710655689239502, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.6496384739875793, 0.7983333468437195, 1.9444444179534912, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.23700614273548126, 0.8354141712188721, 1.7087063789367676, 2.3248276710510254, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 2.3248276710510254, 2.3248276710510254, 0.7983333468437195, 0.6617380976676941, 0.7983333468437195, 0.7983333468437195, 0.5529603362083435, 0.29868239164352417, 0.6524747014045715, 0.5419173240661621, 0.4925265312194824, 0.3871173858642578, 0.08376104384660721, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.7983333468437195, 0.7983333468437195, 0.0, 0.0, 0.0, 0.2826506793498993, 2.3248276710510254, 2.2288334369659424, 2.28926682472229, 0.005525901913642883, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.9444444179534912, 0.5357110500335693, 0.5051443576812744, 2.243333339691162, 2.3248276710510254, 1.9444444179534912, 1.9444444179534912, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 1.9444444179534912, 0.7983333468437195, 0.7983333468437195, 1.5113606452941895, 0.1599999964237213, 0.6043656468391418, 0.5451141595840454, 0.5653013586997986, 0.46698805689811707, 0.3932530879974365, 0.5038555264472961, 0.3808133900165558, 0.0, 1.9444444179534912, 0.7304573655128479, 0.5527566075325012, 0.5600000023841858, 0.5600000023841858, 0.5600000023841858, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 2.3077635765075684, 2.243333339691162, 1.9444444179534912, 1.9444444179534912, 1.9444444179534912, 1.9444444179534912, 1.9444444179534912, 0.7983333468437195, 0.7983333468437195, 0.5799493193626404, 0.5456119179725647, 0.5405585765838623, 0.5448272824287415, 0.5557147860527039, 0.5549456477165222, 0.5537068843841553, 0.5563408136367798, 0.5600000023841858], "right": [3.0568182468414307, 3.9167568683624268, 3.1971428394317627, 3.1971428394317627, 3.0568182468414307, 3.0568182468414307, 3.597318172454834, 3.1971428394317627, 3.1971428394317627, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.9167568683624268, 3.9167568683624268, 3.1971428394317627, 3.1971428394317627, 2.3248276710510254, 2.6312499046325684, 3.0568182468414307, 0.7983333468437195, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 1.9444444179534912, 1.9444444179534912, 2.243333339691162, 2.3248276710510254, 2.6312499046325684, 2.6312499046325684, 0.7983333468437195, 1.703617811203003, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 3.0568182468414307, 3.0568182468414307, 0.0, 2.3248276710510254, 2.243333339691162, 2.243333339691162, 2.2964112758636475, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.5090298652648926, 2.6312499046325684, 2.6312499046325684, 2.6312499046325684, 2.6312499046325684, 2.6312499046325684, 2.6312499046325684, 2.6204729080200195, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.6312499046325684, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.878110647201538, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.5036442875862122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.7983333468437195, 0.7983333468437195, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 3.0568182468414307, 3.0568182468414307, 2.6312499046325684, 3.0568182468414307, 2.3248276710510254, 2.3248276710510254, 2.6312499046325684, 2.6312499046325684, 2.3248276710510254, 1.8374724388122559, 1.9444444179534912, 1.9444444179534912, 0.5147903561592102]}, "long_curve": [{"video": {"psnr": 25.015516783855496, "ssim": 0.8870651751066567, "lpips": 0.07384026050567627}, "wrist_left": {"psnr": 23.312445166143014, "ssim": 0.7706615130995352, "lpips": 0.1442083716392517}, "wrist_right": {"psnr": 20.68505059551851, "ssim": 0.6950026124572016, "lpips": 0.2390376329421997}, "tactile_left": {"psnr": 41.847106619800066, "ssim": 0.9829080918060016, "lpips": 0.021926328539848328}, "tactile_right": {"psnr": 40.802389904782, "ssim": 0.9752603226430479, "lpips": 0.04384265094995499}}, {"video": {"psnr": 23.502509731039236, "ssim": 0.8330956351333272, "lpips": 0.12616683542728424}, "wrist_left": {"psnr": 19.79008559341657, "ssim": 0.6894320954707378, "lpips": 0.25236091017723083}, "wrist_right": {"psnr": 20.569889938323872, "ssim": 0.7482115057094578, "lpips": 0.23628516495227814}, "tactile_left": {"psnr": 41.89970387263234, "ssim": 0.9793498579421365, "lpips": 0.029751135036349297}, "tactile_right": {"psnr": 41.54882955811827, "ssim": 0.9809719581254115, "lpips": 0.04452510178089142}}, {"video": {"psnr": 23.466232395997395, "ssim": 0.8092885793093656, "lpips": 0.1320197880268097}, "wrist_left": {"psnr": 19.35604579527747, "ssim": 0.7172532036976711, "lpips": 0.2923503518104553}, "wrist_right": {"psnr": 20.30378204719462, "ssim": 0.7534312308450257, "lpips": 0.2775503396987915}, "tactile_left": {"psnr": 44.506149826972134, "ssim": 0.9857437449643767, "lpips": 0.024456631392240524}, "tactile_right": {"psnr": 44.12757934554137, "ssim": 0.9842752422066008, "lpips": 0.02897307276725769}}, {"video": {"psnr": 22.201690568033815, "ssim": 0.7818965933447064, "lpips": 0.15334241092205048}, "wrist_left": {"psnr": 18.577674511082243, "ssim": 0.6469762540666651, "lpips": 0.32120558619499207}, "wrist_right": {"psnr": 18.829919399228388, "ssim": 0.6644994674050186, "lpips": 0.345084547996521}, "tactile_left": {"psnr": 40.68154719922993, "ssim": 0.9783329714089857, "lpips": 0.05107719078660011}, "tactile_right": {"psnr": 41.7647700301785, "ssim": 0.9807385262928114, "lpips": 0.05025767907500267}}, {"video": {"psnr": 22.622870053371336, "ssim": 0.7926925278903684, "lpips": 0.16295301914215088}, "wrist_left": {"psnr": 18.019527994237762, "ssim": 0.5924458523592715, "lpips": 0.30817875266075134}, "wrist_right": {"psnr": 20.11630626810824, "ssim": 0.7449056864974584, "lpips": 0.26337212324142456}, "tactile_left": {"psnr": 40.652022575503544, "ssim": 0.9776173728574412, "lpips": 0.06376808881759644}, "tactile_right": {"psnr": 41.60090270259986, "ssim": 0.979459642173179, "lpips": 0.06586451083421707}}, {"video": {"psnr": 22.097775734992204, "ssim": 0.7638104661433776, "lpips": 0.21029718220233917}, "wrist_left": {"psnr": 17.462517605796425, "ssim": 0.6524926066114421, "lpips": 0.3307194709777832}, "wrist_right": {"psnr": 17.720188353386767, "ssim": 0.6290885527036283, "lpips": 0.2663770318031311}, "tactile_left": {"psnr": 40.19341699255233, "ssim": 0.980588795152372, "lpips": 0.059368330985307693}, "tactile_right": {"psnr": 38.25581988206268, "ssim": 0.9752347932839375, "lpips": 0.09757685661315918}}, {"video": {"psnr": 22.035250466842268, "ssim": 0.7650595128592315, "lpips": 0.22809961438179016}, "wrist_left": {"psnr": 14.412060258148387, "ssim": 0.5547535280662629, "lpips": 0.39978545904159546}, "wrist_right": {"psnr": 15.330085631229935, "ssim": 0.5396284724126821, "lpips": 0.3566132187843323}, "tactile_left": {"psnr": 38.482385902931746, "ssim": 0.9766019010205123, "lpips": 0.07828908413648605}, "tactile_right": {"psnr": 36.02611435555651, "ssim": 0.9700767577327387, "lpips": 0.13116367161273956}}, {"video": {"psnr": 21.833967800507985, "ssim": 0.7574875500929397, "lpips": 0.23942236602306366}, "wrist_left": {"psnr": 14.207500508528154, "ssim": 0.5930101434601611, "lpips": 0.3820854425430298}, "wrist_right": {"psnr": 14.532750578378593, "ssim": 0.5094599917207946, "lpips": 0.4175857603549957}, "tactile_left": {"psnr": 37.68599045516989, "ssim": 0.9762389464703605, "lpips": 0.09106145799160004}, "tactile_right": {"psnr": 36.484006072783416, "ssim": 0.9725605830338244, "lpips": 0.12198112905025482}}, {"video": {"psnr": 21.73057643493935, "ssim": 0.7537237006100194, "lpips": 0.23855704069137573}, "wrist_left": {"psnr": 14.143804709909292, "ssim": 0.5605827157544223, "lpips": 0.4058091640472412}, "wrist_right": {"psnr": 14.63588663656586, "ssim": 0.5228261419383843, "lpips": 0.42418479919433594}, "tactile_left": {"psnr": 36.71749052830241, "ssim": 0.9695142574694295, "lpips": 0.1204717606306076}, "tactile_right": {"psnr": 37.64334651453089, "ssim": 0.9733847682052158, "lpips": 0.12160474061965942}}, {"video": {"psnr": 21.416923167930754, "ssim": 0.741632039801662, "lpips": 0.252138614654541}, "wrist_left": {"psnr": 12.205208088250538, "ssim": 0.49004196744699346, "lpips": 0.44604557752609253}, "wrist_right": {"psnr": 13.805289365302635, "ssim": 0.5742146272449229, "lpips": 0.39218443632125854}, "tactile_left": {"psnr": 35.82120550092438, "ssim": 0.9667481782232885, "lpips": 0.10584563761949539}, "tactile_right": {"psnr": 37.05579685569103, "ssim": 0.9711572810233766, "lpips": 0.1329624056816101}}, {"video": {"psnr": 21.57876163266257, "ssim": 0.7461966385756583, "lpips": 0.24776968359947205}, "wrist_left": {"psnr": 12.999137847972387, "ssim": 0.5186440070931773, "lpips": 0.4534108638763428}, "wrist_right": {"psnr": 16.972229007094555, "ssim": 0.7163700455623642, "lpips": 0.31830352544784546}, "tactile_left": {"psnr": 35.115187788935685, "ssim": 0.9690690786884766, "lpips": 0.10781602561473846}, "tactile_right": {"psnr": 36.89547725173542, "ssim": 0.9723427296140105, "lpips": 0.12617293000221252}}, {"video": {"psnr": 21.450332248871426, "ssim": 0.7354540057887676, "lpips": 0.24977374076843262}, "wrist_left": {"psnr": 13.395107362017223, "ssim": 0.571361940930686, "lpips": 0.370867520570755}, "wrist_right": {"psnr": 15.56273307258451, "ssim": 0.6520372268851865, "lpips": 0.4036651849746704}, "tactile_left": {"psnr": 34.66309963860322, "ssim": 0.9670190953376578, "lpips": 0.12558913230895996}, "tactile_right": {"psnr": 36.1098524952845, "ssim": 0.9698586967719864, "lpips": 0.13903123140335083}}, {"video": {"psnr": 21.161660077039613, "ssim": 0.7222835162215613, "lpips": 0.27040910720825195}, "wrist_left": {"psnr": 13.750767154473875, "ssim": 0.5408919238574106, "lpips": 0.36250990629196167}, "wrist_right": {"psnr": 18.829528962776003, "ssim": 0.6999252600803975, "lpips": 0.37500903010368347}, "tactile_left": {"psnr": 33.82228747896593, "ssim": 0.9620094291930785, "lpips": 0.14570890367031097}, "tactile_right": {"psnr": 35.378877367493985, "ssim": 0.9659916625473178, "lpips": 0.1696491539478302}}, {"video": {"psnr": 21.80037415395767, "ssim": 0.7373220500547588, "lpips": 0.25120148062705994}, "wrist_left": {"psnr": 14.38650504409972, "ssim": 0.5909785314965665, "lpips": 0.3606671690940857}, "wrist_right": {"psnr": 18.278782639543184, "ssim": 0.6308341751045694, "lpips": 0.378279447555542}, "tactile_left": {"psnr": 33.20112866009004, "ssim": 0.9552088240842885, "lpips": 0.16674953699111938}, "tactile_right": {"psnr": 34.35684934092812, "ssim": 0.9583099176803449, "lpips": 0.2216426432132721}}, {"video": {"psnr": 21.948386674614234, "ssim": 0.7399207785930249, "lpips": 0.24194663763046265}, "wrist_left": {"psnr": 13.312537826614196, "ssim": 0.5498844095825308, "lpips": 0.422179639339447}, "wrist_right": {"psnr": 20.834538122219854, "ssim": 0.6880046801469137, "lpips": 0.3466092646121979}, "tactile_left": {"psnr": 33.028378432939704, "ssim": 0.9547637579710591, "lpips": 0.17951330542564392}, "tactile_right": {"psnr": 34.151913816144784, "ssim": 0.9574458863421189, "lpips": 0.22900882363319397}}], "long_metrics": {"video": {"psnr": 22.25752186164369, "ssim": 0.7711285846350283, "lpips": 0.20519585212071736}, "wrist_left": {"psnr": 15.955395031064484, "ssim": 0.6026273795329024, "lpips": 0.35015894571940104}, "wrist_right": {"psnr": 17.800464041163703, "ssim": 0.6512293117809338, "lpips": 0.33600943386554716}, "tactile_left": {"psnr": 37.88780676490356, "ssim": 0.9721142868392977, "lpips": 0.09142616999646028}, "tactile_right": {"psnr": 38.146835032895424, "ssim": 0.9724712511783947, "lpips": 0.11495044007897377}}}, {"id": "rope_e005_23", "episode": "rope_0915_episode_001_seg00.pt", "requested_episode": "rope_0915_episode_001_seg00.pt", "category": "onset", "t_start": 533, "start_seconds": 35.53333333333333, "short_contact": [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 1, 1], "future_transition_ticks": [10], "long_contact_fraction": 0.8671875, "long_label": "onset", "short_metrics": {"video": {"psnr": 31.446552053408517, "ssim": 0.9411499262399867, "lpips": 0.02779560349881649}, "wrist_left": {"psnr": 21.36923368103251, "ssim": 0.8032534338581468, "lpips": 0.10815189778804779}, "wrist_right": {"psnr": 26.067558029332297, "ssim": 0.8146865915483339, "lpips": 0.0677923932671547}, "tactile_left": {"psnr": 50.758916343896445, "ssim": 0.9943215518987703, "lpips": 0.0039751725271344185}, "tactile_right": {"psnr": 45.65395362699932, "ssim": 0.9891547416556867, "lpips": 0.021277984604239464}}, "media": {"short": {"video": "media/rope_e005_23_short.mp4", "poster": "media/rope_e005_23_short.jpg"}, "long": {"video": "media/rope_e005_23_long.mp4", "poster": "media/rope_e005_23_long.jpg"}}, "force": {"source": "recorded_normal_force", "units": "N", "fps": 15, "left": [0.4000000059604645, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.9444444179534912, 0.7983333468437195, 0.7983333468437195, 3.0568182468414307, 3.0568182468414307, 3.9167568683624268, 2.6312499046325684, 2.243333339691162, 3.6966233253479004, 3.0568182468414307, 2.3248276710510254, 0.7983333468437195, 0.4000000059604645, 0.04020630940794945, 2.3248276710510254, 0.7983333468437195, 3.0568182468414307, 3.9167568683624268, 3.9167568683624268, 3.0568182468414307, 2.3248276710510254, 3.1971428394317627, 3.9167568683624268, 3.9167568683624268, 3.9167568683624268, 3.0568182468414307, 5.486666679382324, 5.397500038146973, 2.6312499046325684, 3.9167568683624268, 4.726428508758545, 3.9167568683624268, 3.9167568683624268, 4.726428508758545, 3.9167568683624268, 3.0568182468414307, 3.1971428394317627, 4.726428508758545, 2.6312499046325684, 3.0568182468414307, 4.726428508758545, 4.726428508758545, 3.0568182468414307, 3.9167568683624268, 3.0568182468414307, 3.9167568683624268, 3.0568182468414307, 1.9444444179534912, 3.9167568683624268, 3.1971428394317627, 3.934419631958008, 6.519285678863525, 6.519285678863525, 6.373636245727539, 6.519285678863525, 6.373636245727539, 5.403749942779541, 3.0568182468414307, 0.49913129210472107, 0.24875909090042114, 0.1506984978914261, 0.17374983429908752, 0.1653762012720108, 0.13853104412555695, 0.11685073375701904, 3.0568182468414307, 3.1971428394317627, 3.9167568683624268, 3.9167568683624268, 1.8228847980499268, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.1599999964237213, 0.02700808085501194, 0.11623667925596237, 0.038613080978393555, 0.007092198356986046, 0.7983333468437195, 5.397500038146973, 5.397500038146973, 5.486666679382324, 6.373636245727539, 6.519285678863525, 6.519285678863525, 6.519285678863525, 6.519285678863525, 6.519285678863525, 4.852499961853027, 4.726428508758545, 3.1971428394317627, 3.0568182468414307, 3.0568182468414307, 2.7906301021575928, 3.0568182468414307, 3.0568182468414307, 2.3248276710510254, 1.9444444179534912, 0.06338368356227875, 0.0498635470867157, 0.0460006520152092, 0.05565789341926575, 0.05179499462246895, 0.05630170926451683, 0.03924058377742767, 0.03859676793217659, 0.02539854124188423, 0.03151479363441467, 0.012200312688946724, 0.17355261743068695, 0.1599999964237213], "right": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.1599999964237213, 0.1599999964237213, 0.1599999964237213, 0.4000000059604645, 0.5459921360015869, 0.7983333468437195, 0.7983333468437195, 1.9444444179534912, 0.7983333468437195, 0.5352978706359863, 0.5600000023841858, 0.7983333468437195, 1.9444444179534912, 2.3248276710510254, 2.6312499046325684, 2.669569969177246, 2.6312499046325684, 2.6312499046325684, 2.6312499046325684, 2.6312499046325684, 2.6312499046325684, 2.499479055404663, 2.6312499046325684, 2.3248276710510254, 2.6312499046325684, 2.6312499046325684, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 1.961720585823059, 1.9444444179534912, 1.9444444179534912, 1.9444444179534912, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 2.3248276710510254, 2.3248276710510254, 2.6312499046325684, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 2.6312499046325684, 2.6312499046325684, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 1.9444444179534912, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.1599999964237213, 0.4000000059604645, 0.7983333468437195, 2.3248276710510254, 3.0568182468414307, 3.9167568683624268, 3.9167568683624268, 3.9167568683624268, 4.726428508758545, 4.852499961853027, 4.726428508758545, 3.9167568683624268, 3.2768874168395996, 3.9167568683624268, 3.9167568683624268, 3.0568182468414307, 3.0568182468414307, 1.9444444179534912, 0.7983333468437195, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.1599999964237213, 0.491225004196167, 3.0568182468414307, 3.9167568683624268, 4.726428508758545, 5.403749942779541, 4.852499961853027, 4.726428508758545, 4.726428508758545, 4.852499961853027, 4.726428508758545, 5.403749942779541, 6.519285678863525, 6.760714054107666, 6.519285678863525]}, "long_curve": [{"video": {"psnr": 31.446552053408517, "ssim": 0.9411499262399867, "lpips": 0.02779560349881649}, "wrist_left": {"psnr": 21.36923368103251, "ssim": 0.8032534338581468, "lpips": 0.10815189778804779}, "wrist_right": {"psnr": 26.067558029332297, "ssim": 0.8146865915483339, "lpips": 0.0677923932671547}, "tactile_left": {"psnr": 50.758916343896445, "ssim": 0.9943215518987703, "lpips": 0.0039751725271344185}, "tactile_right": {"psnr": 45.65395362699932, "ssim": 0.9891547416556867, "lpips": 0.021277984604239464}}, {"video": {"psnr": 27.552774767936622, "ssim": 0.8885653735288367, "lpips": 0.0489543080329895}, "wrist_left": {"psnr": 17.239168788438125, "ssim": 0.6445126911395098, "lpips": 0.27641093730926514}, "wrist_right": {"psnr": 22.01837078417046, "ssim": 0.6705433932595473, "lpips": 0.12920156121253967}, "tactile_left": {"psnr": 38.071218433354595, "ssim": 0.9717868708678632, "lpips": 0.07128788530826569}, "tactile_right": {"psnr": 41.48798363913176, "ssim": 0.9796980209418815, "lpips": 0.049257177859544754}}, {"video": {"psnr": 27.49046499191738, "ssim": 0.8784715859783883, "lpips": 0.06314725428819656}, "wrist_left": {"psnr": 16.41090717884247, "ssim": 0.6051717868014177, "lpips": 0.27322399616241455}, "wrist_right": {"psnr": 21.80909273597095, "ssim": 0.6567184568802622, "lpips": 0.14016172289848328}, "tactile_left": {"psnr": 35.896857470223324, "ssim": 0.9648555037708515, "lpips": 0.0951358824968338}, "tactile_right": {"psnr": 41.203086392949764, "ssim": 0.9757851286284089, "lpips": 0.056282903999090195}}, {"video": {"psnr": 27.330148122564374, "ssim": 0.8645920431477876, "lpips": 0.06676295399665833}, "wrist_left": {"psnr": 15.80309564511631, "ssim": 0.5674423066187233, "lpips": 0.2789745330810547}, "wrist_right": {"psnr": 21.806012534139455, "ssim": 0.6333011314949729, "lpips": 0.14037999510765076}, "tactile_left": {"psnr": 36.660992126741206, "ssim": 0.9691820056996376, "lpips": 0.10148308426141739}, "tactile_right": {"psnr": 40.62241061675202, "ssim": 0.9740787238645268, "lpips": 0.07174745947122574}}, {"video": {"psnr": 27.018045668682987, "ssim": 0.855532103587973, "lpips": 0.07214908301830292}, "wrist_left": {"psnr": 13.820792576941054, "ssim": 0.5248380339570637, "lpips": 0.35368844866752625}, "wrist_right": {"psnr": 21.85065611601314, "ssim": 0.632238964888989, "lpips": 0.14603757858276367}, "tactile_left": {"psnr": 34.92947003566127, "ssim": 0.9634556361816657, "lpips": 0.12980973720550537}, "tactile_right": {"psnr": 40.561332096773405, "ssim": 0.9737792884253906, "lpips": 0.09371940791606903}}, {"video": {"psnr": 26.726752321535564, "ssim": 0.8517901083302226, "lpips": 0.07166972011327744}, "wrist_left": {"psnr": 14.676040560462418, "ssim": 0.5431435616874066, "lpips": 0.32313501834869385}, "wrist_right": {"psnr": 21.70844153151354, "ssim": 0.6241844565880456, "lpips": 0.1604420244693756}, "tactile_left": {"psnr": 35.17676053643498, "ssim": 0.9652409158528801, "lpips": 0.11540047824382782}, "tactile_right": {"psnr": 40.006263659214085, "ssim": 0.9719706323612731, "lpips": 0.10298015922307968}}, {"video": {"psnr": 27.495757066574576, "ssim": 0.8605485658136722, "lpips": 0.07126476615667343}, "wrist_left": {"psnr": 13.78651016907451, "ssim": 0.5133753831552561, "lpips": 0.37726354598999023}, "wrist_right": {"psnr": 21.518452472084274, "ssim": 0.6160413129505876, "lpips": 0.17397132515907288}, "tactile_left": {"psnr": 35.03411262690611, "ssim": 0.9641529719096216, "lpips": 0.13236841559410095}, "tactile_right": {"psnr": 39.32561928939151, "ssim": 0.9702235778985879, "lpips": 0.11414574831724167}}, {"video": {"psnr": 27.951570293546325, "ssim": 0.8644067463588436, "lpips": 0.07727488875389099}, "wrist_left": {"psnr": 13.022436060501018, "ssim": 0.4843316499410969, "lpips": 0.41644081473350525}, "wrist_right": {"psnr": 21.598716397294577, "ssim": 0.6601883042933024, "lpips": 0.18158525228500366}, "tactile_left": {"psnr": 33.79064690705255, "ssim": 0.954207815836656, "lpips": 0.1833019256591797}, "tactile_right": {"psnr": 38.931213247282116, "ssim": 0.9711037751488629, "lpips": 0.11540107429027557}}, {"video": {"psnr": 26.236978564809622, "ssim": 0.8405762102868595, "lpips": 0.10244390368461609}, "wrist_left": {"psnr": 12.531681031576836, "ssim": 0.4532813219117272, "lpips": 0.42602550983428955}, "wrist_right": {"psnr": 19.181917998410633, "ssim": 0.7232023613362395, "lpips": 0.2294359803199768}, "tactile_left": {"psnr": 34.288430125136166, "ssim": 0.9603203540861327, "lpips": 0.15348881483078003}, "tactile_right": {"psnr": 38.720871101522114, "ssim": 0.9745432563760694, "lpips": 0.09743183851242065}}, {"video": {"psnr": 25.685056596003037, "ssim": 0.84049536951157, "lpips": 0.11391974240541458}, "wrist_left": {"psnr": 12.509374379346825, "ssim": 0.47948296937559143, "lpips": 0.45170146226882935}, "wrist_right": {"psnr": 17.894592180708294, "ssim": 0.6235080048463606, "lpips": 0.2991383671760559}, "tactile_left": {"psnr": 34.26348412809524, "ssim": 0.9638526837818919, "lpips": 0.1409311592578888}, "tactile_right": {"psnr": 36.33043584702761, "ssim": 0.9665923395563657, "lpips": 0.14286819100379944}}, {"video": {"psnr": 25.47179902606247, "ssim": 0.8416381007348477, "lpips": 0.1154860332608223}, "wrist_left": {"psnr": 12.641302124919342, "ssim": 0.5352472203807646, "lpips": 0.4149826467037201}, "wrist_right": {"psnr": 17.555863375625755, "ssim": 0.6267335167308841, "lpips": 0.3054428994655609}, "tactile_left": {"psnr": 34.21417839302038, "ssim": 0.964737680600156, "lpips": 0.13748306035995483}, "tactile_right": {"psnr": 34.486394636765255, "ssim": 0.9603846913275291, "lpips": 0.1608729213476181}}, {"video": {"psnr": 24.734583355105272, "ssim": 0.8305907848455139, "lpips": 0.13206425309181213}, "wrist_left": {"psnr": 13.672517631375648, "ssim": 0.4771967734015058, "lpips": 0.41909724473953247}, "wrist_right": {"psnr": 17.62159091634289, "ssim": 0.6503451214350968, "lpips": 0.27875930070877075}, "tactile_left": {"psnr": 31.88296156263922, "ssim": 0.9465257437173276, "lpips": 0.23351183533668518}, "tactile_right": {"psnr": 35.0087382312538, "ssim": 0.9639395545682041, "lpips": 0.14441263675689697}}, {"video": {"psnr": 24.737494964343085, "ssim": 0.819411983179571, "lpips": 0.14275580644607544}, "wrist_left": {"psnr": 13.581547785341517, "ssim": 0.49441636937735856, "lpips": 0.4328821301460266}, "wrist_right": {"psnr": 16.30567663861449, "ssim": 0.6050347016043172, "lpips": 0.32889020442962646}, "tactile_left": {"psnr": 32.65318086398195, "ssim": 0.9530253181070464, "lpips": 0.19318461418151855}, "tactile_right": {"psnr": 35.4599877536181, "ssim": 0.9664353022710067, "lpips": 0.13124865293502808}}, {"video": {"psnr": 24.454758504638903, "ssim": 0.8093174467753513, "lpips": 0.16020816564559937}, "wrist_left": {"psnr": 13.685108817063528, "ssim": 0.517180811528204, "lpips": 0.40397074818611145}, "wrist_right": {"psnr": 16.51011047780446, "ssim": 0.6117579279337755, "lpips": 0.3656577467918396}, "tactile_left": {"psnr": 33.018322019371524, "ssim": 0.9569723709565812, "lpips": 0.18027260899543762}, "tactile_right": {"psnr": 34.006106317102784, "ssim": 0.9630638482679892, "lpips": 0.17338839173316956}}, {"video": {"psnr": 24.319349037585315, "ssim": 0.8012218346231603, "lpips": 0.17047104239463806}, "wrist_left": {"psnr": 16.535770983956336, "ssim": 0.6492909237312019, "lpips": 0.2786606550216675}, "wrist_right": {"psnr": 18.406495326652298, "ssim": 0.6416987677033716, "lpips": 0.32432395219802856}, "tactile_left": {"psnr": 32.579989076727514, "ssim": 0.9570552228256728, "lpips": 0.17932268977165222}, "tactile_right": {"psnr": 33.34575206106768, "ssim": 0.9568586654656839, "lpips": 0.19150257110595703}}], "long_metrics": {"video": {"psnr": 26.576805688980937, "ssim": 0.852553878862839, "lpips": 0.09575783498585225}, "wrist_left": {"psnr": 14.75236582759923, "ssim": 0.5528110157909983, "lpips": 0.34897397259871166}, "wrist_right": {"psnr": 20.123569834311834, "ssim": 0.6526788675662725, "lpips": 0.21808135360479355}, "tactile_left": {"psnr": 35.54796804328283, "ssim": 0.9633128430728504, "lpips": 0.13673049093534548}, "tactile_right": {"psnr": 38.34334323445675, "ssim": 0.9705074364504979, "lpips": 0.11110247460504373}}}, {"id": "rope_e005_24", "episode": "rope_0915_episode_001_seg00.pt", "requested_episode": "rope_0915_episode_001_seg00.pt", "category": "release", "t_start": 597, "start_seconds": 39.8, "short_contact": [1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 0, 0], "future_transition_ticks": [11], "long_contact_fraction": 0.9296875, "long_label": "release", "short_metrics": {"video": {"psnr": 30.670414643061825, "ssim": 0.9291419177410238, "lpips": 0.035611242055892944}, "wrist_left": {"psnr": 22.51900940975191, "ssim": 0.7861770535059384, "lpips": 0.11230239272117615}, "wrist_right": {"psnr": 20.532176366763682, "ssim": 0.7649156153692546, "lpips": 0.18921861052513123}, "tactile_left": {"psnr": 44.03052108998031, "ssim": 0.9838115095709217, "lpips": 0.031238533556461334}, "tactile_right": {"psnr": 49.70727217506541, "ssim": 0.9920943048040096, "lpips": 0.005660137161612511}}, "media": {"short": {"video": "media/rope_e005_24_short.mp4", "poster": "media/rope_e005_24_short.jpg"}, "long": {"video": "media/rope_e005_24_long.mp4", "poster": "media/rope_e005_24_long.jpg"}}, "force": {"source": "recorded_normal_force", "units": "N", "fps": 15, "left": [1.9444444179534912, 3.9167568683624268, 3.1971428394317627, 3.934419631958008, 6.519285678863525, 6.519285678863525, 6.373636245727539, 6.519285678863525, 6.373636245727539, 5.403749942779541, 3.0568182468414307, 0.49913129210472107, 0.24875909090042114, 0.1506984978914261, 0.17374983429908752, 0.1653762012720108, 0.13853104412555695, 0.11685073375701904, 3.0568182468414307, 3.1971428394317627, 3.9167568683624268, 3.9167568683624268, 1.8228847980499268, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.1599999964237213, 0.02700808085501194, 0.11623667925596237, 0.038613080978393555, 0.007092198356986046, 0.7983333468437195, 5.397500038146973, 5.397500038146973, 5.486666679382324, 6.373636245727539, 6.519285678863525, 6.519285678863525, 6.519285678863525, 6.519285678863525, 6.519285678863525, 4.852499961853027, 4.726428508758545, 3.1971428394317627, 3.0568182468414307, 3.0568182468414307, 2.7906301021575928, 3.0568182468414307, 3.0568182468414307, 2.3248276710510254, 1.9444444179534912, 0.06338368356227875, 0.0498635470867157, 0.0460006520152092, 0.05565789341926575, 0.05179499462246895, 0.05630170926451683, 0.03924058377742767, 0.03859676793217659, 0.02539854124188423, 0.03151479363441467, 0.012200312688946724, 0.17355261743068695, 0.1599999964237213, 0.0208918284624815, 0.01735084131360054, 0.013809853233397007, 0.019926104694604874, 0.006405969150364399, 0.4877494275569916, 2.3248276710510254, 3.0568182468414307, 7.470653533935547, 7.75, 7.759777545928955, 7.787709712982178, 9.842000007629395, 7.772180080413818, 9.842000007629395, 10.243043899536133, 10.243043899536133, 10.243043899536133, 9.842000007629395, 9.842000007629395, 7.75, 7.488461494445801, 7.488461494445801, 6.760714054107666, 6.760714054107666, 6.760714054107666, 7.488461494445801, 7.230000019073486, 6.760714054107666, 5.397500038146973, 0.7983333468437195, 0.057267431169748306, 0.04696637764573097, 0.06370559334754944, 3.0568182468414307, 5.486666679382324, 6.519285678863525, 6.373636245727539, 6.373636245727539, 6.519285678863525, 6.519285678863525, 6.519285678863525, 6.519285678863525, 3.1971428394317627, 0.1599999964237213, 0.017672749236226082, 0.016063209623098373, 0.014131761156022549, 0.013166036456823349, 0.018316565081477165, 0.010590773075819016, 0.007371692918241024, 0.013809853233397007, 0.011234588921070099, 0.008015508763492107, 0.007049784995615482, 0.006084061227738857, 0.006084061227738857, 0.006727877072989941, 0.0038307050708681345, 0.007049784995615482, 0.008337416686117649, 0.011234588921070099, 0.008337416686117649], "right": [3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 1.9444444179534912, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.1599999964237213, 0.4000000059604645, 0.7983333468437195, 2.3248276710510254, 3.0568182468414307, 3.9167568683624268, 3.9167568683624268, 3.9167568683624268, 4.726428508758545, 4.852499961853027, 4.726428508758545, 3.9167568683624268, 3.2768874168395996, 3.9167568683624268, 3.9167568683624268, 3.0568182468414307, 3.0568182468414307, 1.9444444179534912, 0.7983333468437195, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.1599999964237213, 0.491225004196167, 3.0568182468414307, 3.9167568683624268, 4.726428508758545, 5.403749942779541, 4.852499961853027, 4.726428508758545, 4.726428508758545, 4.852499961853027, 4.726428508758545, 5.403749942779541, 6.519285678863525, 6.760714054107666, 6.519285678863525, 6.519285678863525, 6.519285678863525, 6.373636245727539, 5.403749942779541, 4.852499961853027, 5.397500038146973, 5.397500038146973, 4.730289936065674, 3.9167568683624268, 3.0568182468414307, 3.0568182468414307, 2.6312499046325684, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.4359737038612366, 2.3248276710510254, 3.9167568683624268, 4.726428508758545, 5.486666679382324, 5.486666679382324, 5.486666679382324, 6.519285678863525, 6.373636245727539, 5.486666679382324, 5.397500038146973, 4.726428508758545, 3.9167568683624268, 4.726428508758545, 3.1971428394317627, 3.9167568683624268, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 3.0568182468414307, 3.9167568683624268, 4.852499961853027, 4.726428508758545, 3.93084716796875, 3.9379398822784424, 4.852499961853027, 4.852499961853027, 4.726428508758545, 4.852499961853027, 4.852499961853027, 4.852499961853027, 4.829751491546631, 4.726428508758545, 4.726428508758545, 4.726428508758545, 4.726428508758545, 4.726428508758545]}, "long_curve": [{"video": {"psnr": 30.670414643061825, "ssim": 0.9291419177410238, "lpips": 0.035611242055892944}, "wrist_left": {"psnr": 22.51900940975191, "ssim": 0.7861770535059384, "lpips": 0.11230239272117615}, "wrist_right": {"psnr": 20.532176366763682, "ssim": 0.7649156153692546, "lpips": 0.18921861052513123}, "tactile_left": {"psnr": 44.03052108998031, "ssim": 0.9838115095709217, "lpips": 0.031238533556461334}, "tactile_right": {"psnr": 49.70727217506541, "ssim": 0.9920943048040096, "lpips": 0.005660137161612511}}, {"video": {"psnr": 29.45085311073249, "ssim": 0.9094034963714999, "lpips": 0.04859115183353424}, "wrist_left": {"psnr": 19.769185727170925, "ssim": 0.6732650600076782, "lpips": 0.17668533325195312}, "wrist_right": {"psnr": 21.072734780493498, "ssim": 0.7090168676169558, "lpips": 0.20024661719799042}, "tactile_left": {"psnr": 38.073779048415034, "ssim": 0.9745869782558487, "lpips": 0.08250023424625397}, "tactile_right": {"psnr": 37.282780803328855, "ssim": 0.9743463260863519, "lpips": 0.09609527140855789}}, {"video": {"psnr": 28.27360690135784, "ssim": 0.8880173222475164, "lpips": 0.06938566267490387}, "wrist_left": {"psnr": 17.506739113542057, "ssim": 0.6581822753353173, "lpips": 0.23537516593933105}, "wrist_right": {"psnr": 20.22787483527909, "ssim": 0.6942295625855451, "lpips": 0.2463962435722351}, "tactile_left": {"psnr": 39.67288835040393, "ssim": 0.9776035657871548, "lpips": 0.0532543919980526}, "tactile_right": {"psnr": 36.292732995898234, "ssim": 0.9672312017982578, "lpips": 0.10508715361356735}}, {"video": {"psnr": 27.230891857790922, "ssim": 0.8663778691633925, "lpips": 0.08331233263015747}, "wrist_left": {"psnr": 17.48154687127965, "ssim": 0.5660857684137222, "lpips": 0.24179232120513916}, "wrist_right": {"psnr": 19.346788715209776, "ssim": 0.7107338591207705, "lpips": 0.25045517086982727}, "tactile_left": {"psnr": 32.69005437314404, "ssim": 0.9512701697431378, "lpips": 0.17464230954647064}, "tactile_right": {"psnr": 38.18401712007743, "ssim": 0.9762163533072454, "lpips": 0.06278707087039948}}, {"video": {"psnr": 26.659023077071694, "ssim": 0.8560106111540505, "lpips": 0.09627225995063782}, "wrist_left": {"psnr": 16.129276884229245, "ssim": 0.5176129528452439, "lpips": 0.3239140510559082}, "wrist_right": {"psnr": 15.364453491540548, "ssim": 0.6282684458425033, "lpips": 0.34603017568588257}, "tactile_left": {"psnr": 33.54365340397362, "ssim": 0.9540988003239195, "lpips": 0.16730070114135742}, "tactile_right": {"psnr": 39.248863905160995, "ssim": 0.9791590766912772, "lpips": 0.046101588755846024}}, {"video": {"psnr": 26.252054761714533, "ssim": 0.8433224457416737, "lpips": 0.11978071928024292}, "wrist_left": {"psnr": 16.109948498370752, "ssim": 0.5662266156664171, "lpips": 0.2843918800354004}, "wrist_right": {"psnr": 16.91896016506274, "ssim": 0.6441616163057227, "lpips": 0.3413351774215698}, "tactile_left": {"psnr": 35.75133211466912, "ssim": 0.9685213688323075, "lpips": 0.09885610640048981}, "tactile_right": {"psnr": 36.716557756499924, "ssim": 0.9758958264099755, "lpips": 0.08685244619846344}}, {"video": {"psnr": 26.16948431323702, "ssim": 0.8406514428082825, "lpips": 0.12975209951400757}, "wrist_left": {"psnr": 15.009815105625112, "ssim": 0.594791106774694, "lpips": 0.30359208583831787}, "wrist_right": {"psnr": 18.773638017123965, "ssim": 0.6620115290137416, "lpips": 0.3038201630115509}, "tactile_left": {"psnr": 34.70126642787064, "ssim": 0.964039732374582, "lpips": 0.11991226673126221}, "tactile_right": {"psnr": 36.020807546333806, "ssim": 0.9697902207895384, "lpips": 0.11512619256973267}}, {"video": {"psnr": 26.06251605339797, "ssim": 0.8355129836668098, "lpips": 0.14625325798988342}, "wrist_left": {"psnr": 13.929634528458267, "ssim": 0.5949598764549653, "lpips": 0.3533424735069275}, "wrist_right": {"psnr": 19.31408882432013, "ssim": 0.6741985720850672, "lpips": 0.2852206230163574}, "tactile_left": {"psnr": 34.6583097919862, "ssim": 0.9694576283644094, "lpips": 0.09227348864078522}, "tactile_right": {"psnr": 35.66153555358534, "ssim": 0.9697195589964412, "lpips": 0.10285858809947968}}, {"video": {"psnr": 25.79494029396014, "ssim": 0.8293576890535939, "lpips": 0.14842642843723297}, "wrist_left": {"psnr": 15.516429706715552, "ssim": 0.6081200519587768, "lpips": 0.3790592849254608}, "wrist_right": {"psnr": 18.99307727636328, "ssim": 0.7326214426069777, "lpips": 0.26491987705230713}, "tactile_left": {"psnr": 30.428824385472204, "ssim": 0.928204097928508, "lpips": 0.26301831007003784}, "tactile_right": {"psnr": 36.29695450487473, "ssim": 0.973425199979491, "lpips": 0.08843377232551575}}, {"video": {"psnr": 25.677004550207833, "ssim": 0.8215364221202937, "lpips": 0.15031978487968445}, "wrist_left": {"psnr": 15.806987913879961, "ssim": 0.6152017409312422, "lpips": 0.3912461996078491}, "wrist_right": {"psnr": 17.86728698246378, "ssim": 0.6747573941752494, "lpips": 0.3218769431114197}, "tactile_left": {"psnr": 28.82218366095856, "ssim": 0.9188617576257402, "lpips": 0.27913856506347656}, "tactile_right": {"psnr": 34.68338825964577, "ssim": 0.9689000377873597, "lpips": 0.13233709335327148}}, {"video": {"psnr": 25.602684686410598, "ssim": 0.8234601338328528, "lpips": 0.13606137037277222}, "wrist_left": {"psnr": 15.796958475052822, "ssim": 0.6365228582298013, "lpips": 0.37231501936912537}, "wrist_right": {"psnr": 19.440438907810442, "ssim": 0.700714581295516, "lpips": 0.30835795402526855}, "tactile_left": {"psnr": 31.090771954473485, "ssim": 0.9492417996940918, "lpips": 0.1960339993238449}, "tactile_right": {"psnr": 33.96040253868332, "ssim": 0.9642864416494793, "lpips": 0.13645902276039124}}, {"video": {"psnr": 24.81547762616598, "ssim": 0.8006329098282234, "lpips": 0.14936700463294983}, "wrist_left": {"psnr": 15.786876737117783, "ssim": 0.6079918530750071, "lpips": 0.32511913776397705}, "wrist_right": {"psnr": 19.333042408155812, "ssim": 0.71360626167317, "lpips": 0.2899221181869507}, "tactile_left": {"psnr": 33.081251663620435, "ssim": 0.9568735718295854, "lpips": 0.15204641222953796}, "tactile_right": {"psnr": 34.1618961522841, "ssim": 0.9649830826279405, "lpips": 0.13457974791526794}}, {"video": {"psnr": 24.4085363799968, "ssim": 0.783752179129103, "lpips": 0.16345399618148804}, "wrist_left": {"psnr": 15.930240450225506, "ssim": 0.5941113967207197, "lpips": 0.323051393032074}, "wrist_right": {"psnr": 17.30791544865707, "ssim": 0.6625489404377436, "lpips": 0.31385502219200134}, "tactile_left": {"psnr": 32.87022069161999, "ssim": 0.9581728080535623, "lpips": 0.14925602078437805}, "tactile_right": {"psnr": 33.66550308506628, "ssim": 0.9621406005303156, "lpips": 0.16768023371696472}}, {"video": {"psnr": 22.720219524894198, "ssim": 0.7502391961141823, "lpips": 0.20395800471305847}, "wrist_left": {"psnr": 14.288898484721015, "ssim": 0.5798792984978276, "lpips": 0.34416162967681885}, "wrist_right": {"psnr": 14.377018178332055, "ssim": 0.5195155759749834, "lpips": 0.42333000898361206}, "tactile_left": {"psnr": 33.35061375061626, "ssim": 0.9651476376255999, "lpips": 0.13098832964897156}, "tactile_right": {"psnr": 31.611421354930236, "ssim": 0.9431336677004296, "lpips": 0.261027455329895}}, {"video": {"psnr": 22.62488721387468, "ssim": 0.7477457936487822, "lpips": 0.21793285012245178}, "wrist_left": {"psnr": 12.782003555264769, "ssim": 0.4476494968652831, "lpips": 0.39999067783355713}, "wrist_right": {"psnr": 14.5896837069942, "ssim": 0.5243965776044042, "lpips": 0.44334280490875244}, "tactile_left": {"psnr": 33.365752470906436, "ssim": 0.9638706521649592, "lpips": 0.14265969395637512}, "tactile_right": {"psnr": 32.1876263691549, "ssim": 0.9432806192108505, "lpips": 0.245841383934021}}], "long_metrics": {"video": {"psnr": 26.1608396662583, "ssim": 0.8350108275080854, "lpips": 0.12656521101792653}, "wrist_left": {"psnr": 16.290903430760356, "ssim": 0.603118493685509, "lpips": 0.3044226030508677}, "wrist_right": {"psnr": 18.230611873638004, "ssim": 0.667713122780507, "lpips": 0.30188850065072376}, "tactile_left": {"psnr": 34.40876154520735, "ssim": 0.9589174718782886, "lpips": 0.14220795755585033}, "tactile_right": {"psnr": 36.37878400803928, "ssim": 0.9683068345579309, "lpips": 0.11912847720086575}}}, {"id": "rope_e005_25", "episode": "rope_0915_episode_001_seg00.pt", "requested_episode": "rope_0915_episode_001_seg00.pt", "category": "full", "t_start": 168, "start_seconds": 11.2, "short_contact": [1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1], "future_transition_ticks": [], "long_contact_fraction": 1.0, "long_label": "full", "short_metrics": {"video": {"psnr": 27.24880021677916, "ssim": 0.9106326249181886, "lpips": 0.04535973444581032}, "wrist_left": {"psnr": 20.599314735522775, "ssim": 0.7075415014727588, "lpips": 0.1733279526233673}, "wrist_right": {"psnr": 20.175069659029887, "ssim": 0.6876082722266204, "lpips": 0.21438613533973694}, "tactile_left": {"psnr": 39.06138212215993, "ssim": 0.9681840225032166, "lpips": 0.05582481995224953}, "tactile_right": {"psnr": 43.06998693939291, "ssim": 0.9843329667476526, "lpips": 0.020706210285425186}}, "media": {"short": {"video": "media/rope_e005_25_short.mp4", "poster": "media/rope_e005_25_short.jpg"}, "long": {"video": "media/rope_e005_25_long.mp4", "poster": "media/rope_e005_25_long.jpg"}}, "force": {"source": "recorded_normal_force", "units": "N", "fps": 15, "left": [0.024110909551382065, 0.02121373638510704, 0.021857552230358124, 0.017028933390975, 0.018638473004102707, 0.013166036456823349, 0.008981232531368732, 0.7470940351486206, 0.5600000023841858, 2.6312499046325684, 3.0568182468414307, 3.1971428394317627, 3.9167568683624268, 4.726428508758545, 4.852499961853027, 4.726428508758545, 4.726428508758545, 4.726428508758545, 4.726428508758545, 3.9167568683624268, 3.540006399154663, 3.9167568683624268, 4.726428508758545, 4.726428508758545, 6.373636245727539, 6.760714054107666, 7.349999904632568, 7.349999904632568, 6.760714054107666, 6.760714054107666, 6.760714054107666, 6.519285678863525, 0.7983333468437195, 0.1599999964237213, 0.014131761156022549, 0.006727877072989941, 0.7983333468437195, 2.3248276710510254, 3.936640977859497, 5.403749942779541, 5.486666679382324, 5.486666679382324, 6.373636245727539, 5.403749942779541, 5.397500038146973, 4.852499961853027, 4.852499961853027, 3.0568182468414307, 0.7983333468437195, 0.06724657863378525, 0.016063209623098373, 0.4000000059604645, 0.1728866845369339, 0.5359075665473938, 2.3248276710510254, 4.726428508758545, 4.852499961853027, 5.397916316986084, 5.4377923011779785, 5.486666679382324, 5.485312461853027, 5.403749942779541, 5.397500038146973, 5.397500038146973, 5.397500038146973, 5.403749942779541, 5.403749942779541, 6.373636245727539, 6.373636245727539, 5.486666679382324, 5.486666679382324, 4.852499961853027, 4.726428508758545, 3.9167568683624268, 1.6410199403762817, 0.25, 0.020248012617230415, 0.008981232531368732, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.13259389996528625, 0.1599999964237213, 0.1599999964237213, 0.5600000023841858, 3.0568182468414307, 3.0568182468414307, 3.9167568683624268, 3.1971428394317627, 3.1971428394317627, 3.8119306564331055, 3.9167568683624268, 3.9167568683624268, 3.940000057220459, 3.9167568683624268, 2.3248276710510254, 0.4921526610851288, 0.4340232014656067, 0.4000000059604645, 0.7983333468437195, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 2.3248276710510254, 2.3248276710510254, 0.5600000023841858, 0.4399999976158142, 1.6896257400512695, 0.0, 0.0, 0.0, 3.0568182468414307, 3.0568182468414307, 3.9167568683624268, 4.726428508758545, 4.726428508758545, 3.9167568683624268, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307], "right": [3.9167568683624268, 3.9167568683624268, 3.9167568683624268, 3.9167568683624268, 3.9167568683624268, 3.9167568683624268, 3.9167568683624268, 3.9167568683624268, 3.9167568683624268, 3.1971428394317627, 3.0568182468414307, 3.0568182468414307, 2.3248276710510254, 2.243333339691162, 1.9444444179534912, 1.9444444179534912, 0.7983333468437195, 0.7983333468437195, 1.9444444179534912, 0.17020907998085022, 0.0, 0.0, 0.0, 0.0, 0.7983333468437195, 0.1599999964237213, 0.5600000023841858, 3.9167568683624268, 5.397500038146973, 5.486666679382324, 5.486666679382324, 5.486666679382324, 6.393378734588623, 5.486666679382324, 6.519285678863525, 5.486666679382324, 6.519285678863525, 6.373636245727539, 6.519285678863525, 6.519285678863525, 6.373636245727539, 5.403749942779541, 5.397500038146973, 4.726428508758545, 4.726428508758545, 4.726428508758545, 4.726428508758545, 4.726428508758545, 4.726428508758545, 4.726428508758545, 4.726428508758545, 4.852499961853027, 5.397500038146973, 5.398561954498291, 5.397500038146973, 4.726428508758545, 3.9167568683624268, 2.243333339691162, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 2.3248276710510254, 2.6312499046325684, 3.0568182468414307, 3.1971428394317627, 3.9167568683624268, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 2.3248276710510254, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.9167568683624268, 4.726428508758545, 4.8379011154174805, 5.397500038146973, 5.397500038146973, 4.852499961853027, 5.403749942779541, 5.403749942779541, 5.397500038146973, 2.6312499046325684, 0.0, 0.0, 0.0, 0.0, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.6312499046325684, 0.7983333468437195, 1.7334685325622559, 1.9444444179534912, 2.3248276710510254, 3.0568182468414307, 3.9167568683624268, 4.852499961853027, 6.373636245727539, 6.760714054107666, 6.760714054107666, 6.760714054107666, 6.760714054107666, 6.760714054107666, 6.519285678863525, 6.373636245727539, 6.519285678863525, 5.486666679382324, 3.9167568683624268, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.1599999964237213]}, "long_curve": [{"video": {"psnr": 27.24880021677916, "ssim": 0.9106326249181886, "lpips": 0.04535973444581032}, "wrist_left": {"psnr": 20.599314735522775, "ssim": 0.7075415014727588, "lpips": 0.1733279526233673}, "wrist_right": {"psnr": 20.175069659029887, "ssim": 0.6876082722266204, "lpips": 0.21438613533973694}, "tactile_left": {"psnr": 39.06138212215993, "ssim": 0.9681840225032166, "lpips": 0.05582481995224953}, "tactile_right": {"psnr": 43.06998693939291, "ssim": 0.9843329667476526, "lpips": 0.020706210285425186}}, {"video": {"psnr": 23.980132621810164, "ssim": 0.8445333831073132, "lpips": 0.09127837419509888}, "wrist_left": {"psnr": 17.82355544269144, "ssim": 0.6049075424488024, "lpips": 0.21791011095046997}, "wrist_right": {"psnr": 18.448196881435823, "ssim": 0.6587717381207865, "lpips": 0.2665095925331116}, "tactile_left": {"psnr": 36.951263369258825, "ssim": 0.9611848853268372, "lpips": 0.08247774839401245}, "tactile_right": {"psnr": 42.544026585659, "ssim": 0.9812644689542518, "lpips": 0.031006108969449997}}, {"video": {"psnr": 23.45040241293421, "ssim": 0.8176588796812143, "lpips": 0.10973913222551346}, "wrist_left": {"psnr": 17.63387015479317, "ssim": 0.6558328152166476, "lpips": 0.20794102549552917}, "wrist_right": {"psnr": 18.36608987244667, "ssim": 0.628523564642592, "lpips": 0.30929088592529297}, "tactile_left": {"psnr": 31.7060162995306, "ssim": 0.9363537735267724, "lpips": 0.1803629994392395}, "tactile_right": {"psnr": 37.92555565541414, "ssim": 0.9708441577981477, "lpips": 0.1005844697356224}}, {"video": {"psnr": 23.271088876974186, "ssim": 0.8075039151805361, "lpips": 0.13465359807014465}, "wrist_left": {"psnr": 16.050137929602887, "ssim": 0.5815297519519874, "lpips": 0.2575886845588684}, "wrist_right": {"psnr": 17.168708921234696, "ssim": 0.5529377930948312, "lpips": 0.34060347080230713}, "tactile_left": {"psnr": 35.97675660593459, "ssim": 0.9635593555740706, "lpips": 0.13487884402275085}, "tactile_right": {"psnr": 33.25468004647639, "ssim": 0.9485696038245164, "lpips": 0.1945030838251114}}, {"video": {"psnr": 23.123678553325433, "ssim": 0.8007200476334595, "lpips": 0.14746221899986267}, "wrist_left": {"psnr": 16.212510665567073, "ssim": 0.569099355847853, "lpips": 0.31479382514953613}, "wrist_right": {"psnr": 17.37599627821819, "ssim": 0.6107068955208412, "lpips": 0.3446996212005615}, "tactile_left": {"psnr": 30.918165016374015, "ssim": 0.9330332131267745, "lpips": 0.2191256582736969}, "tactile_right": {"psnr": 33.437330574786046, "ssim": 0.9487099206600127, "lpips": 0.19120211899280548}}, {"video": {"psnr": 22.79256511580966, "ssim": 0.7867088184455568, "lpips": 0.15788578987121582}, "wrist_left": {"psnr": 14.834399167839, "ssim": 0.5576024712352863, "lpips": 0.32782989740371704}, "wrist_right": {"psnr": 17.527122244015793, "ssim": 0.6423435488375997, "lpips": 0.34582164883613586}, "tactile_left": {"psnr": 35.83140231217613, "ssim": 0.9652263881227694, "lpips": 0.12226507067680359}, "tactile_right": {"psnr": 34.484129301226346, "ssim": 0.9530115625000265, "lpips": 0.18058115243911743}}, {"video": {"psnr": 22.51669303346851, "ssim": 0.7730879176226039, "lpips": 0.16683700680732727}, "wrist_left": {"psnr": 15.10830510371443, "ssim": 0.5690754028141931, "lpips": 0.34016838669776917}, "wrist_right": {"psnr": 17.62322982750248, "ssim": 0.6886605739632152, "lpips": 0.3324706554412842}, "tactile_left": {"psnr": 32.19216317757543, "ssim": 0.9470457026715946, "lpips": 0.1983780860900879}, "tactile_right": {"psnr": 38.55403805931234, "ssim": 0.9740447773441254, "lpips": 0.09472737461328506}}, {"video": {"psnr": 22.404058830105065, "ssim": 0.7670339309994422, "lpips": 0.16105832159519196}, "wrist_left": {"psnr": 16.0664307755686, "ssim": 0.5625594262412722, "lpips": 0.31609809398651123}, "wrist_right": {"psnr": 15.208896428686865, "ssim": 0.5697291896804023, "lpips": 0.3790530562400818}, "tactile_left": {"psnr": 34.69163048143896, "ssim": 0.9499942437756981, "lpips": 0.17911000549793243}, "tactile_right": {"psnr": 38.65972680363487, "ssim": 0.975471803106657, "lpips": 0.0886763334274292}}, {"video": {"psnr": 22.4692646559061, "ssim": 0.767708844898932, "lpips": 0.1615089774131775}, "wrist_left": {"psnr": 16.474082256775148, "ssim": 0.6294309242229327, "lpips": 0.30411747097969055}, "wrist_right": {"psnr": 14.656671478667063, "ssim": 0.530724755835822, "lpips": 0.4205726385116577}, "tactile_left": {"psnr": 36.788296015777505, "ssim": 0.966476115071685, "lpips": 0.11164328455924988}, "tactile_right": {"psnr": 37.001869690921325, "ssim": 0.9718332994134464, "lpips": 0.11662391573190689}}, {"video": {"psnr": 22.653616709501968, "ssim": 0.7616059821408543, "lpips": 0.15062007308006287}, "wrist_left": {"psnr": 15.868068202386569, "ssim": 0.6521028768358965, "lpips": 0.31090039014816284}, "wrist_right": {"psnr": 16.530186915638037, "ssim": 0.6265010228323611, "lpips": 0.41250327229499817}, "tactile_left": {"psnr": 36.792494432718065, "ssim": 0.9686195496038881, "lpips": 0.10276612639427185}, "tactile_right": {"psnr": 35.99121756550679, "ssim": 0.9657631092842255, "lpips": 0.15377658605575562}}, {"video": {"psnr": 22.365153043930977, "ssim": 0.7521586863212243, "lpips": 0.15787827968597412}, "wrist_left": {"psnr": 15.460759117258148, "ssim": 0.5610220410439666, "lpips": 0.3229268193244934}, "wrist_right": {"psnr": 16.300919920582906, "ssim": 0.6377819322415492, "lpips": 0.39110100269317627}, "tactile_left": {"psnr": 34.35329385696934, "ssim": 0.9528280505123904, "lpips": 0.16690851747989655}, "tactile_right": {"psnr": 35.30889459162397, "ssim": 0.9626976008770913, "lpips": 0.17443305253982544}}, {"video": {"psnr": 21.850595910056224, "ssim": 0.7382368077350815, "lpips": 0.16357560455799103}, "wrist_left": {"psnr": 14.813531586325869, "ssim": 0.5281717996046963, "lpips": 0.3342210352420807}, "wrist_right": {"psnr": 13.91664155259152, "ssim": 0.5774418765454026, "lpips": 0.4100349545478821}, "tactile_left": {"psnr": 34.49201650212187, "ssim": 0.9553770555546033, "lpips": 0.17240729928016663}, "tactile_right": {"psnr": 35.538413190778556, "ssim": 0.969026826410827, "lpips": 0.13341796398162842}}, {"video": {"psnr": 22.056535079545455, "ssim": 0.735751558321856, "lpips": 0.16553333401679993}, "wrist_left": {"psnr": 14.335562023193136, "ssim": 0.5475769940202639, "lpips": 0.4095849096775055}, "wrist_right": {"psnr": 16.188363805518808, "ssim": 0.6219539823999027, "lpips": 0.3939724564552307}, "tactile_left": {"psnr": 34.22349430781888, "ssim": 0.9597784440132888, "lpips": 0.17290493845939636}, "tactile_right": {"psnr": 34.39034068294991, "ssim": 0.9581203588276703, "lpips": 0.19563338160514832}}, {"video": {"psnr": 21.666408487388406, "ssim": 0.7176861373367005, "lpips": 0.18676427006721497}, "wrist_left": {"psnr": 13.45559939607335, "ssim": 0.5238201383643335, "lpips": 0.41749587655067444}, "wrist_right": {"psnr": 14.270283794976354, "ssim": 0.5726938203994414, "lpips": 0.41965728998184204}, "tactile_left": {"psnr": 33.55276253353982, "ssim": 0.9578719394364092, "lpips": 0.18402278423309326}, "tactile_right": {"psnr": 32.78251188887243, "ssim": 0.9485588164902274, "lpips": 0.25864744186401367}}, {"video": {"psnr": 21.98068992162648, "ssim": 0.7158384852584927, "lpips": 0.20134827494621277}, "wrist_left": {"psnr": 14.182209744136172, "ssim": 0.4924187867750332, "lpips": 0.40622735023498535}, "wrist_right": {"psnr": 16.443216518367553, "ssim": 0.665422407806829, "lpips": 0.34360119700431824}, "tactile_left": {"psnr": 31.36177830347519, "ssim": 0.944516649916895, "lpips": 0.2194698601961136}, "tactile_right": {"psnr": 34.0386915580308, "ssim": 0.9638645812981412, "lpips": 0.1745157539844513}}], "long_metrics": {"video": {"psnr": 22.921978897944133, "ssim": 0.7797910679734305, "lpips": 0.14676686599850655}, "wrist_left": {"psnr": 15.927889086763184, "ssim": 0.5828461218730615, "lpips": 0.31074212193489076}, "wrist_right": {"psnr": 16.67997293992751, "ssim": 0.6181200916098798, "lpips": 0.3549518585205078}, "tactile_left": {"psnr": 34.59286102245794, "ssim": 0.9553366259157928, "lpips": 0.15350306952993076}, "tactile_right": {"psnr": 36.465427542305726, "ssim": 0.965074256902468, "lpips": 0.14060232987006505}}}, {"id": "rope_e005_26", "episode": "rope_0915_episode_001_seg01.pt", "requested_episode": "rope_0915_episode_001_seg01.pt", "category": "none", "t_start": 181, "start_seconds": 12.066666666666666, "short_contact": [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0], "future_transition_ticks": [], "long_contact_fraction": 0.2265625, "long_label": "none_at_start", "short_metrics": {"video": {"psnr": 28.750162487817114, "ssim": 0.9107521422353142, "lpips": 0.03690256178379059}, "wrist_left": {"psnr": 20.579966461027816, "ssim": 0.7810438513475684, "lpips": 0.11941547691822052}, "wrist_right": {"psnr": 19.812624899243, "ssim": 0.7598437498212277, "lpips": 0.1778111606836319}, "tactile_left": {"psnr": 51.0927058598557, "ssim": 0.9949109240797076, "lpips": 0.0035452465526759624}, "tactile_right": {"psnr": 49.17685604469248, "ssim": 0.9938613640739548, "lpips": 0.005215201526880264}}, "media": {"short": {"video": "media/rope_e005_26_short.mp4", "poster": "media/rope_e005_26_short.jpg"}, "long": {"video": "media/rope_e005_26_long.mp4", "poster": "media/rope_e005_26_long.jpg"}}, "force": {"source": "recorded_normal_force", "units": "N", "fps": 15, "left": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.9444444179534912, 3.0568182468414307, 0.7983333468437195, 3.0568182468414307, 4.726428508758545, 6.519285678863525, 5.486666679382324, 6.519285678863525, 6.760714054107666, 5.486666679382324, 6.519285678863525, 6.760714054107666, 6.760714054107666], "right": [0.009203186258673668, 0.007158033549785614, 0.004820716567337513, 0.004820716567337513, 0.007158033549785614, 0.0074501982890069485, 0.008326692506670952, 0.00803452730178833, 0.00803452730178833, 0.009495350532233715, 0.0068658688105642796, 0.00803452730178833, 0.008326692506670952, 0.04592006281018257, 0.005697210319340229, 0.004820716567337513, 0.007742363028228283, 0.006573704537004232, 0.009203186258673668, 0.004820716567337513, 0.03118857555091381, 0.008911021053791046, 0.009203186258673668, 0.004820716567337513, 0.009495350532233715, 0.009495350532233715, 0.0045285518281161785, 0.0059893750585615635, 0.007158033549785614, 0.007158033549785614, 0.0109561737626791, 0.00803452730178833, 0.0068658688105642796, 0.0059893750585615635, 0.0045285518281161785, 0.006281539797782898, 0.004820716567337513, 0.009495350532233715, 0.005112881306558847, 0.005112881306558847, 0.14645949006080627, 0.00803452730178833, 0.16466423869132996, 0.0074501982890069485, 0.004820716567337513, 0.0045285518281161785, 0.007158033549785614, 0.00803452730178833, 0.0068658688105642796, 0.008326692506670952, 0.0059893750585615635, 0.014789572916924953, 0.009495350532233715, 0.004820716567337513, 0.004236387088894844, 0.008326692506670952, 0.005112881306558847, 0.005112881306558847, 0.0068658688105642796, 0.0068658688105642796, 0.0074501982890069485, 0.007158033549785614, 0.010079680010676384, 0.006281539797782898, 0.0068658688105642796, 0.00803452730178833, 0.009203186258673668, 0.008326692506670952, 0.02935807779431343, 0.008618856780230999, 0.09305443614721298, 0.8816501498222351, 0.09539175778627396, 0.22606445848941803, 0.007158033549785614, 0.0074501982890069485, 0.006281539797782898, 0.007742363028228283, 0.4000000059604645, 0.25, 0.1599999964237213, 0.09976226091384888, 0.010371844284236431, 0.016814246773719788, 0.008326692506670952, 0.005112881306558847, 0.0045285518281161785, 0.008326692506670952, 0.007158033549785614, 0.15350055694580078, 0.00803452730178833, 0.011832667514681816, 1.9444444179534912, 2.243333339691162, 0.005112881306558847, 0.007158033549785614, 0.010664009489119053, 3.0568182468414307, 3.0568182468414307, 3.1971428394317627, 3.1971428394317627, 3.1971428394317627, 3.9167568683624268, 3.9167568683624268, 3.9167568683624268, 3.9167568683624268, 3.9167568683624268, 4.726428508758545, 3.9167568683624268, 3.0568182468414307, 0.4399999976158142, 0.0074501982890069485, 0.00803452730178833, 0.008326692506670952, 0.00803452730178833, 0.00803452730178833, 0.008618856780230999, 0.007742363028228283, 0.008326692506670952, 0.009495350532233715, 0.009495350532233715, 0.008155220188200474, 0.006573704537004232, 0.008326692506670952, 0.009495350532233715, 0.00803452730178833, 0.0045285518281161785, 0.009495350532233715]}, "long_curve": [{"video": {"psnr": 28.750162487817114, "ssim": 0.9107521422353142, "lpips": 0.03690256178379059}, "wrist_left": {"psnr": 20.579966461027816, "ssim": 0.7810438513475684, "lpips": 0.11941547691822052}, "wrist_right": {"psnr": 19.812624899243, "ssim": 0.7598437498212277, "lpips": 0.1778111606836319}, "tactile_left": {"psnr": 51.0927058598557, "ssim": 0.9949109240797076, "lpips": 0.0035452465526759624}, "tactile_right": {"psnr": 49.17685604469248, "ssim": 0.9938613640739548, "lpips": 0.005215201526880264}}, {"video": {"psnr": 25.51564045252516, "ssim": 0.8537278658774903, "lpips": 0.06429709494113922}, "wrist_left": {"psnr": 17.223842157846295, "ssim": 0.660118944319542, "lpips": 0.18343505263328552}, "wrist_right": {"psnr": 18.727010036027075, "ssim": 0.7514115164707367, "lpips": 0.26584291458129883}, "tactile_left": {"psnr": 47.92422636086638, "ssim": 0.9915715604126802, "lpips": 0.010629765689373016}, "tactile_right": {"psnr": 47.20068225558761, "ssim": 0.9895733926002119, "lpips": 0.013900292105972767}}, {"video": {"psnr": 24.785118663067024, "ssim": 0.827654938443857, "lpips": 0.09008312970399857}, "wrist_left": {"psnr": 15.029518303364412, "ssim": 0.5912389104638338, "lpips": 0.24591295421123505}, "wrist_right": {"psnr": 15.18314767023221, "ssim": 0.6596664200728812, "lpips": 0.3348446786403656}, "tactile_left": {"psnr": 45.899013309867804, "ssim": 0.9885246144039527, "lpips": 0.018730606883764267}, "tactile_right": {"psnr": 46.64631188337306, "ssim": 0.9879569717211374, "lpips": 0.02175850048661232}}, {"video": {"psnr": 24.427670553314446, "ssim": 0.805742902515998, "lpips": 0.10390853881835938}, "wrist_left": {"psnr": 13.507857466209705, "ssim": 0.5018064466443499, "lpips": 0.33456578850746155}, "wrist_right": {"psnr": 14.07415650919952, "ssim": 0.6059071250712262, "lpips": 0.3680517077445984}, "tactile_left": {"psnr": 44.75662639715982, "ssim": 0.9860708692904079, "lpips": 0.031178344041109085}, "tactile_right": {"psnr": 44.99295291733907, "ssim": 0.9851700916811903, "lpips": 0.03304813802242279}}, {"video": {"psnr": 23.1137853434155, "ssim": 0.7817267572352006, "lpips": 0.1287064552307129}, "wrist_left": {"psnr": 13.715626910669027, "ssim": 0.4987672806408142, "lpips": 0.3172694444656372}, "wrist_right": {"psnr": 14.411679145195217, "ssim": 0.6273495507898691, "lpips": 0.3487809896469116}, "tactile_left": {"psnr": 43.78042218137583, "ssim": 0.9840688662836823, "lpips": 0.04224738851189613}, "tactile_right": {"psnr": 44.15313125350389, "ssim": 0.9826590829353986, "lpips": 0.04988060146570206}}, {"video": {"psnr": 23.02741557590251, "ssim": 0.7741105503732919, "lpips": 0.1449844241142273}, "wrist_left": {"psnr": 14.279686986861615, "ssim": 0.5360224168723268, "lpips": 0.28611046075820923}, "wrist_right": {"psnr": 16.82846694273952, "ssim": 0.7197175227528311, "lpips": 0.31161797046661377}, "tactile_left": {"psnr": 42.331005620557434, "ssim": 0.9816756689963055, "lpips": 0.05741221457719803}, "tactile_right": {"psnr": 42.944844470807766, "ssim": 0.9810124026899887, "lpips": 0.06610281765460968}}, {"video": {"psnr": 23.212684939339603, "ssim": 0.7812722246098179, "lpips": 0.1440315544605255}, "wrist_left": {"psnr": 13.921703875649488, "ssim": 0.5364084696156222, "lpips": 0.29741019010543823}, "wrist_right": {"psnr": 17.118237603518825, "ssim": 0.7282575000963546, "lpips": 0.24816474318504333}, "tactile_left": {"psnr": 40.81973964763268, "ssim": 0.9793382232908734, "lpips": 0.07588659971952438}, "tactile_right": {"psnr": 41.917334564570055, "ssim": 0.9787424885588567, "lpips": 0.0842529833316803}}, {"video": {"psnr": 22.93183539332319, "ssim": 0.7726643038371505, "lpips": 0.17290964722633362}, "wrist_left": {"psnr": 13.885271616770961, "ssim": 0.5383021743819406, "lpips": 0.30781179666519165}, "wrist_right": {"psnr": 19.157985663354026, "ssim": 0.6736549762150918, "lpips": 0.25191810727119446}, "tactile_left": {"psnr": 39.51562862219282, "ssim": 0.9760388452509163, "lpips": 0.09453718364238739}, "tactile_right": {"psnr": 41.14240924272526, "ssim": 0.9762674085985439, "lpips": 0.10363820195198059}}, {"video": {"psnr": 22.416595716503167, "ssim": 0.7521723749330956, "lpips": 0.19608578085899353}, "wrist_left": {"psnr": 13.980070746108982, "ssim": 0.5585548386518009, "lpips": 0.3212461769580841}, "wrist_right": {"psnr": 19.697106843879546, "ssim": 0.7215233181295067, "lpips": 0.2797042727470398}, "tactile_left": {"psnr": 38.83541064826246, "ssim": 0.9739060801926795, "lpips": 0.10678131878376007}, "tactile_right": {"psnr": 40.18481913354904, "ssim": 0.9740044450307836, "lpips": 0.12247224897146225}}, {"video": {"psnr": 21.585076989513, "ssim": 0.7289627267334217, "lpips": 0.19721464812755585}, "wrist_left": {"psnr": 14.467265632139469, "ssim": 0.5853588118201969, "lpips": 0.3476673364639282}, "wrist_right": {"psnr": 17.549262065370822, "ssim": 0.6710514590354613, "lpips": 0.32606425881385803}, "tactile_left": {"psnr": 38.30391023408691, "ssim": 0.9718396965842875, "lpips": 0.123524010181427}, "tactile_right": {"psnr": 39.31024762702175, "ssim": 0.972028571416343, "lpips": 0.14109568297863007}}, {"video": {"psnr": 22.041309743109025, "ssim": 0.734515505720462, "lpips": 0.19289371371269226}, "wrist_left": {"psnr": 14.813154080123104, "ssim": 0.5802033622420105, "lpips": 0.3627767264842987}, "wrist_right": {"psnr": 18.47091334537267, "ssim": 0.7063790224969526, "lpips": 0.31546175479888916}, "tactile_left": {"psnr": 37.769245307798165, "ssim": 0.9696904643892956, "lpips": 0.14175426959991455}, "tactile_right": {"psnr": 38.31259501003014, "ssim": 0.9694156382458237, "lpips": 0.15465056896209717}}, {"video": {"psnr": 22.2246506215525, "ssim": 0.7473246624989247, "lpips": 0.19577732682228088}, "wrist_left": {"psnr": 14.880318510201928, "ssim": 0.5715930385440152, "lpips": 0.36240729689598083}, "wrist_right": {"psnr": 18.828282592197496, "ssim": 0.7043175974344391, "lpips": 0.33317068219184875}, "tactile_left": {"psnr": 37.18047998375582, "ssim": 0.9673792941130557, "lpips": 0.1559823453426361}, "tactile_right": {"psnr": 36.344091955123886, "ssim": 0.9605191123756917, "lpips": 0.21026228368282318}}, {"video": {"psnr": 22.29354177764268, "ssim": 0.740932296433521, "lpips": 0.21013832092285156}, "wrist_left": {"psnr": 14.169298884541622, "ssim": 0.5571263721323247, "lpips": 0.3722399175167084}, "wrist_right": {"psnr": 17.218413700464023, "ssim": 0.6638502812370841, "lpips": 0.38917237520217896}, "tactile_left": {"psnr": 36.369663687745934, "ssim": 0.965157371327194, "lpips": 0.16674843430519104}, "tactile_right": {"psnr": 35.53303225137752, "ssim": 0.9558368095305534, "lpips": 0.23738867044448853}}, {"video": {"psnr": 22.184983343997615, "ssim": 0.7179234106001832, "lpips": 0.21573087573051453}, "wrist_left": {"psnr": 14.71704568521867, "ssim": 0.59247938509976, "lpips": 0.395029753446579}, "wrist_right": {"psnr": 16.980800406776318, "ssim": 0.649363028670233, "lpips": 0.35958945751190186}, "tactile_left": {"psnr": 34.97665923778309, "ssim": 0.958386166882266, "lpips": 0.2053939402103424}, "tactile_right": {"psnr": 36.19260016765135, "ssim": 0.9618482149740595, "lpips": 0.2021743506193161}}, {"video": {"psnr": 22.050248263050555, "ssim": 0.7063173104313948, "lpips": 0.2301974594593048}, "wrist_left": {"psnr": 12.578168056370595, "ssim": 0.4948131323534604, "lpips": 0.47983911633491516}, "wrist_right": {"psnr": 17.63580242949611, "ssim": 0.6405795030734822, "lpips": 0.3397713303565979}, "tactile_left": {"psnr": 32.398932922168356, "ssim": 0.9372042593245895, "lpips": 0.28561222553253174}, "tactile_right": {"psnr": 35.721730159139526, "ssim": 0.9598002338131353, "lpips": 0.2202029824256897}}], "long_metrics": {"video": {"psnr": 23.37071465760487, "ssim": 0.7757199981652749, "lpips": 0.15492410212755203}, "wrist_left": {"psnr": 14.783253024873579, "ssim": 0.5722558290086378, "lpips": 0.3155424992243449}, "wrist_right": {"psnr": 17.446259323537756, "ssim": 0.6855248380911585, "lpips": 0.3099977602561315}, "tactile_left": {"psnr": 40.796911334740614, "ssim": 0.9750508603214596, "lpips": 0.10133092623824874}, "tactile_right": {"psnr": 41.31824259576616, "ssim": 0.9752464152163782, "lpips": 0.11106956830869118}}}, {"id": "rope_e005_27", "episode": "rope_0915_episode_001_seg01.pt", "requested_episode": "rope_0915_episode_001_seg01.pt", "category": "onset", "t_start": 103, "start_seconds": 6.866666666666666, "short_contact": [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 1], "future_transition_ticks": [11], "long_contact_fraction": 0.390625, "long_label": "onset", "short_metrics": {"video": {"psnr": 25.741734014265475, "ssim": 0.8597271608112604, "lpips": 0.05869641900062561}, "wrist_left": {"psnr": 15.254067410745726, "ssim": 0.564869279383392, "lpips": 0.29472053050994873}, "wrist_right": {"psnr": 20.75312260118975, "ssim": 0.7112555092290465, "lpips": 0.20562085509300232}, "tactile_left": {"psnr": 48.146141347945516, "ssim": 0.9945640040572473, "lpips": 0.0034934261348098516}, "tactile_right": {"psnr": 40.584465479188374, "ssim": 0.9858553618952609, "lpips": 0.04786587506532669}}, "media": {"short": {"video": "media/rope_e005_27_short.mp4", "poster": "media/rope_e005_27_short.jpg"}, "long": {"video": "media/rope_e005_27_long.mp4", "poster": "media/rope_e005_27_long.jpg"}}, "force": {"source": "recorded_normal_force", "units": "N", "fps": 15, "left": [0.0, 0.0, 0.0002897171943914145, 0.0, 0.0, 0.0, 0.0, 0.00415261322632432, 0.0, 0.0, 0.0, 0.00635768286883831, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.008981232531368732, 0.623110294342041, 2.3248276710510254, 3.9167568683624268, 5.397500038146973, 6.519285678863525, 6.519285678863525, 4.852499961853027, 5.403749942779541, 5.403749942779541, 4.726428508758545, 3.9167568683624268, 3.0568182468414307, 1.9444444179534912, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 2.6312499046325684, 1.9444444179534912, 0.7983333468437195, 2.3248276710510254, 2.3248276710510254, 3.0568182468414307, 3.9167568683624268, 3.9167568683624268, 3.1971428394317627, 3.0568182468414307, 1.2847535610198975, 1.2847535610198975, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 2.871476411819458, 0.7983333468437195, 2.243333339691162, 2.6312499046325684, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "right": [0.009495350532233715, 0.04300450533628464, 0.0074501982890069485, 0.008326692506670952, 0.008911021053791046, 0.008911021053791046, 0.010079680010676384, 0.007158033549785614, 0.007158033549785614, 0.0074501982890069485, 0.009495350532233715, 3.9167568683624268, 3.9167568683624268, 4.726428508758545, 4.726428508758545, 4.726428508758545, 4.726428508758545, 3.9167568683624268, 3.9167568683624268, 2.6312499046325684, 2.3248276710510254, 2.3248276710510254, 3.7150228023529053, 4.726428508758545, 4.726428508758545, 3.92207932472229, 3.0568182468414307, 1.9444444179534912, 0.04154672473669052, 0.010079680010676384, 0.012570462189614773, 0.05029340460896492, 0.03221115097403526, 0.008618856780230999, 0.00803452730178833, 0.00803452730178833, 0.00803452730178833, 0.00803452730178833, 1.6152995824813843, 0.7983333468437195, 0.1599999964237213, 0.1599999964237213, 0.1599999964237213, 0.1599999964237213, 1.9444444179534912, 0.5432145595550537, 2.3248276710510254, 0.1599999964237213, 0.27666667103767395, 0.1599999964237213, 0.7983333468437195, 0.5108346939086914, 0.43162980675697327, 0.5410337448120117, 0.5556613206863403, 0.5572430491447449, 0.1599999964237213, 0.016215138137340546, 0.2806245982646942, 0.4399999976158142, 0.7983333468437195, 3.0568182468414307, 0.5600000023841858, 0.5175102353096008, 0.5103024244308472, 0.1599999964237213, 0.07961486279964447, 0.008326692506670952, 0.0074501982890069485, 0.009495350532233715, 0.007158033549785614, 0.1599999964237213, 0.1599999964237213, 0.17079851031303406, 0.1599999964237213, 0.1599999964237213, 0.1599999964237213, 0.30777719616889954, 0.009203186258673668, 0.007158033549785614, 0.004820716567337513, 0.004820716567337513, 0.007158033549785614, 0.0074501982890069485, 0.008326692506670952, 0.00803452730178833, 0.00803452730178833, 0.009495350532233715, 0.0068658688105642796, 0.00803452730178833, 0.008326692506670952, 0.04592006281018257, 0.005697210319340229, 0.004820716567337513, 0.007742363028228283, 0.006573704537004232, 0.009203186258673668, 0.004820716567337513, 0.03118857555091381, 0.008911021053791046, 0.009203186258673668, 0.004820716567337513, 0.009495350532233715, 0.009495350532233715, 0.0045285518281161785, 0.0059893750585615635, 0.007158033549785614, 0.007158033549785614, 0.0109561737626791, 0.00803452730178833, 0.0068658688105642796, 0.0059893750585615635, 0.0045285518281161785, 0.006281539797782898, 0.004820716567337513, 0.009495350532233715, 0.005112881306558847, 0.005112881306558847, 0.14645949006080627, 0.00803452730178833, 0.16466423869132996, 0.0074501982890069485, 0.004820716567337513, 0.0045285518281161785, 0.007158033549785614, 0.00803452730178833, 0.0068658688105642796, 0.008326692506670952]}, "long_curve": [{"video": {"psnr": 25.741734014265475, "ssim": 0.8597271608112604, "lpips": 0.05869641900062561}, "wrist_left": {"psnr": 15.254067410745726, "ssim": 0.564869279383392, "lpips": 0.29472053050994873}, "wrist_right": {"psnr": 20.75312260118975, "ssim": 0.7112555092290465, "lpips": 0.20562085509300232}, "tactile_left": {"psnr": 48.146141347945516, "ssim": 0.9945640040572473, "lpips": 0.0034934261348098516}, "tactile_right": {"psnr": 40.584465479188374, "ssim": 0.9858553618952609, "lpips": 0.04786587506532669}}, {"video": {"psnr": 23.707007510861292, "ssim": 0.8126653007930731, "lpips": 0.12115910649299622}, "wrist_left": {"psnr": 15.986513620159286, "ssim": 0.6697950694027568, "lpips": 0.25071439146995544}, "wrist_right": {"psnr": 16.14683212383219, "ssim": 0.6540926611066191, "lpips": 0.3208293914794922}, "tactile_left": {"psnr": 44.68710007177454, "ssim": 0.987779926443601, "lpips": 0.02142035961151123}, "tactile_right": {"psnr": 38.49623243480255, "ssim": 0.9753042454022558, "lpips": 0.07846681028604507}}, {"video": {"psnr": 22.672698870167224, "ssim": 0.7736459684966943, "lpips": 0.1613442301750183}, "wrist_left": {"psnr": 18.20350092784098, "ssim": 0.7478171587391728, "lpips": 0.21186310052871704}, "wrist_right": {"psnr": 16.24033495169004, "ssim": 0.7112964151505777, "lpips": 0.3098616600036621}, "tactile_left": {"psnr": 38.536617442076704, "ssim": 0.9697430324580637, "lpips": 0.11082303524017334}, "tactile_right": {"psnr": 40.54126637316657, "ssim": 0.9782779495276264, "lpips": 0.04783174768090248}}, {"video": {"psnr": 21.900251931974147, "ssim": 0.7250944473188993, "lpips": 0.21997258067131042}, "wrist_left": {"psnr": 17.904605663720673, "ssim": 0.7307105575401354, "lpips": 0.2596999406814575}, "wrist_right": {"psnr": 17.540977155644374, "ssim": 0.7204166315306126, "lpips": 0.37467968463897705}, "tactile_left": {"psnr": 40.00380941382651, "ssim": 0.9763535768030365, "lpips": 0.05775494873523712}, "tactile_right": {"psnr": 40.81008938943744, "ssim": 0.9804552477207447, "lpips": 0.06325498223304749}}, {"video": {"psnr": 21.313465306681415, "ssim": 0.6997890687028561, "lpips": 0.2596719264984131}, "wrist_left": {"psnr": 16.92218614724427, "ssim": 0.7020308582135026, "lpips": 0.24532447755336761}, "wrist_right": {"psnr": 17.308736758128713, "ssim": 0.6837604846958786, "lpips": 0.40064892172813416}, "tactile_left": {"psnr": 40.797150715226174, "ssim": 0.9818181792164076, "lpips": 0.04633504897356033}, "tactile_right": {"psnr": 37.28813571480512, "ssim": 0.9713217589466556, "lpips": 0.13193967938423157}}, {"video": {"psnr": 21.223079119797067, "ssim": 0.6958538806827864, "lpips": 0.27171579003334045}, "wrist_left": {"psnr": 17.24098666833246, "ssim": 0.7174370939744261, "lpips": 0.23897600173950195}, "wrist_right": {"psnr": 16.061737363542143, "ssim": 0.6191053112747189, "lpips": 0.4382097125053406}, "tactile_left": {"psnr": 39.58570372497553, "ssim": 0.9799790338631854, "lpips": 0.05971913784742355}, "tactile_right": {"psnr": 35.18812911542552, "ssim": 0.962341143582349, "lpips": 0.1814778596162796}}, {"video": {"psnr": 21.254516727695382, "ssim": 0.6908167216864848, "lpips": 0.27773112058639526}, "wrist_left": {"psnr": 18.004631069846113, "ssim": 0.7126852637668307, "lpips": 0.23811203241348267}, "wrist_right": {"psnr": 16.002342373745833, "ssim": 0.6231277514741171, "lpips": 0.42008599638938904}, "tactile_left": {"psnr": 37.044559192741424, "ssim": 0.9736709648391095, "lpips": 0.09815794974565506}, "tactile_right": {"psnr": 36.36895839505668, "ssim": 0.9672829056994917, "lpips": 0.1624477207660675}}, {"video": {"psnr": 21.31088272790247, "ssim": 0.6950720545308202, "lpips": 0.2746618986129761}, "wrist_left": {"psnr": 15.501218598851935, "ssim": 0.6757629753777123, "lpips": 0.26804232597351074}, "wrist_right": {"psnr": 17.958444793773154, "ssim": 0.7297026221300404, "lpips": 0.3251202404499054}, "tactile_left": {"psnr": 36.572424512959216, "ssim": 0.9752005782754065, "lpips": 0.0894787386059761}, "tactile_right": {"psnr": 39.03510311094487, "ssim": 0.9763533020799814, "lpips": 0.09076260030269623}}, {"video": {"psnr": 21.741549749669176, "ssim": 0.716597556193141, "lpips": 0.25407418608665466}, "wrist_left": {"psnr": 13.700709339607979, "ssim": 0.6248021171760936, "lpips": 0.35507047176361084}, "wrist_right": {"psnr": 19.40930026343437, "ssim": 0.7579832268970113, "lpips": 0.26282161474227905}, "tactile_left": {"psnr": 33.991111572239355, "ssim": 0.961846382638069, "lpips": 0.1417824625968933}, "tactile_right": {"psnr": 39.34006457480966, "ssim": 0.977919784421151, "lpips": 0.07960884273052216}}, {"video": {"psnr": 21.263860251291433, "ssim": 0.7117545429635372, "lpips": 0.2398962527513504}, "wrist_left": {"psnr": 14.985066137988753, "ssim": 0.6026498467954065, "lpips": 0.34066343307495117}, "wrist_right": {"psnr": 18.164495819968725, "ssim": 0.713503793458502, "lpips": 0.3008018136024475}, "tactile_left": {"psnr": 35.25733374586335, "ssim": 0.9728030960895608, "lpips": 0.08868258446455002}, "tactile_right": {"psnr": 38.6679988334303, "ssim": 0.9778482265544536, "lpips": 0.0748392790555954}}, {"video": {"psnr": 20.98593973486297, "ssim": 0.6907777783242091, "lpips": 0.243912011384964}, "wrist_left": {"psnr": 15.636846965199094, "ssim": 0.6150952850652696, "lpips": 0.35458099842071533}, "wrist_right": {"psnr": 15.922570867675748, "ssim": 0.6554473821901516, "lpips": 0.3482173681259155}, "tactile_left": {"psnr": 34.90264445445224, "ssim": 0.9721245923158595, "lpips": 0.09990597516298294}, "tactile_right": {"psnr": 38.208977824287665, "ssim": 0.9765462188105711, "lpips": 0.08653417229652405}}, {"video": {"psnr": 21.021570448333307, "ssim": 0.6827323053220207, "lpips": 0.2834070324897766}, "wrist_left": {"psnr": 13.835653151613789, "ssim": 0.5478037108384497, "lpips": 0.37322989106178284}, "wrist_right": {"psnr": 16.132288777474614, "ssim": 0.6896421978223695, "lpips": 0.33965206146240234}, "tactile_left": {"psnr": 34.517447640485315, "ssim": 0.9704229069687367, "lpips": 0.11312376707792282}, "tactile_right": {"psnr": 37.57383810432223, "ssim": 0.9746290069165829, "lpips": 0.09685885161161423}}, {"video": {"psnr": 21.49944698425093, "ssim": 0.6981910292004665, "lpips": 0.3126147985458374}, "wrist_left": {"psnr": 13.904651587517682, "ssim": 0.5619951996516432, "lpips": 0.3577219247817993}, "wrist_right": {"psnr": 14.459810844001769, "ssim": 0.6177726377672714, "lpips": 0.3572503328323364}, "tactile_left": {"psnr": 34.134185136800724, "ssim": 0.9684124110209089, "lpips": 0.12742199003696442}, "tactile_right": {"psnr": 37.08695157365224, "ssim": 0.9729833529454148, "lpips": 0.1072075366973877}}, {"video": {"psnr": 20.960060702760085, "ssim": 0.6875287128762689, "lpips": 0.3289593458175659}, "wrist_left": {"psnr": 12.697193444719119, "ssim": 0.46584728278003384, "lpips": 0.39438557624816895}, "wrist_right": {"psnr": 12.79779675350108, "ssim": 0.5687301588261433, "lpips": 0.39208534359931946}, "tactile_left": {"psnr": 33.724166260203944, "ssim": 0.9660294177828137, "lpips": 0.14261287450790405}, "tactile_right": {"psnr": 36.51730468476905, "ssim": 0.9710214128281771, "lpips": 0.11808504164218903}}, {"video": {"psnr": 20.72463277978367, "ssim": 0.6838817575643228, "lpips": 0.3268236517906189}, "wrist_left": {"psnr": 13.561117554854354, "ssim": 0.5083454818239425, "lpips": 0.33002233505249023}, "wrist_right": {"psnr": 13.482385576082045, "ssim": 0.5993631269516626, "lpips": 0.38139525055885315}, "tactile_left": {"psnr": 33.176030040599464, "ssim": 0.9636925912655296, "lpips": 0.15895183384418488}, "tactile_right": {"psnr": 36.00374189835379, "ssim": 0.9689103919404694, "lpips": 0.13942641019821167}}], "long_metrics": {"video": {"psnr": 21.821379790686404, "ssim": 0.7216085523644561, "lpips": 0.24230935672918955}, "wrist_left": {"psnr": 15.555929885882815, "ssim": 0.6298431453685844, "lpips": 0.30087516208489734}, "wrist_right": {"psnr": 16.558745134912304, "ssim": 0.6703466607003148, "lpips": 0.34515201648076377}, "tactile_left": {"psnr": 37.67176168481134, "ssim": 0.974296046269169, "lpips": 0.0906442755057166}, "tactile_right": {"psnr": 38.11408383376347, "ssim": 0.9744700206180791, "lpips": 0.10044049397110939}}}, {"id": "rope_e005_28", "episode": "rope_0915_episode_001_seg01.pt", "requested_episode": "rope_0915_episode_001_seg01.pt", "category": "release", "t_start": 32, "start_seconds": 2.1333333333333333, "short_contact": [1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 0, 0], "future_transition_ticks": [11], "long_contact_fraction": 0.6796875, "long_label": "release", "short_metrics": {"video": {"psnr": 27.42360417244202, "ssim": 0.8956227817865592, "lpips": 0.053885482251644135}, "wrist_left": {"psnr": 18.89148123539979, "ssim": 0.7331660216091382, "lpips": 0.20337480306625366}, "wrist_right": {"psnr": 18.79997290070289, "ssim": 0.754186627229501, "lpips": 0.18458713591098785}, "tactile_left": {"psnr": 43.13143118410268, "ssim": 0.9830995710959995, "lpips": 0.02717960998415947}, "tactile_right": {"psnr": 45.71646117332894, "ssim": 0.9881165744072535, "lpips": 0.013446271419525146}}, "media": {"short": {"video": "media/rope_e005_28_short.mp4", "poster": "media/rope_e005_28_short.jpg"}, "long": {"video": "media/rope_e005_28_long.mp4", "poster": "media/rope_e005_28_long.jpg"}}, "force": {"source": "recorded_normal_force", "units": "N", "fps": 15, "left": [6.760714054107666, 7.130000114440918, 6.760714054107666, 6.760714054107666, 6.519285678863525, 6.760714054107666, 6.760714054107666, 6.519285678863525, 5.403749942779541, 3.9167568683624268, 0.5201015472412109, 0.1599999964237213, 0.15190838277339935, 0.13903206586837769, 0.11424514651298523, 0.12164902687072754, 0.12164902687072754, 0.09299921989440918, 0.08784869313240051, 3.0568182468414307, 3.0568182468414307, 3.9293034076690674, 4.726428508758545, 4.726428508758545, 4.726428508758545, 4.726428508758545, 4.726428508758545, 4.726428508758545, 4.726428508758545, 4.726428508758545, 5.403749942779541, 6.373636245727539, 5.486666679382324, 5.397500038146973, 3.0568182468414307, 0.1599999964237213, 0.1351691633462906, 0.14321686327457428, 0.043425388634204865, 0.043425388634204865, 0.04471302032470703, 0.04020630940794945, 0.03698723018169403, 0.037631046026945114, 0.029583344236016273, 0.045034926384687424, 0.02861762046813965, 0.02507663331925869, 2.3248276710510254, 0.17642980813980103, 2.3248276710510254, 3.0568182468414307, 3.1971428394317627, 4.726428508758545, 4.852499961853027, 4.726428508758545, 3.9167568683624268, 3.0568182468414307, 3.0568182468414307, 2.6312499046325684, 0.7983333468437195, 0.0, 0.0, 0.0006116252043284476, 0.0044745211489498615, 0.006727877072989941, 0.0, 0.0012554412242025137, 0.006067295093089342, 0.002543073147535324, 0.006084061227738857, 0.0, 0.0, 0.0002897171943914145, 0.0, 0.0, 0.0, 0.0, 0.00415261322632432, 0.0, 0.0, 0.0, 0.00635768286883831, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.008981232531368732, 0.623110294342041, 2.3248276710510254, 3.9167568683624268, 5.397500038146973, 6.519285678863525, 6.519285678863525, 4.852499961853027, 5.403749942779541, 5.403749942779541, 4.726428508758545, 3.9167568683624268, 3.0568182468414307, 1.9444444179534912, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 2.6312499046325684, 1.9444444179534912], "right": [4.852499961853027, 5.397500038146973, 5.397500038146973, 5.486666679382324, 5.397500038146973, 5.486666679382324, 5.486666679382324, 5.397500038146973, 3.9167568683624268, 2.3248276710510254, 0.012124832719564438, 0.009203186258673668, 0.00803452730178833, 0.004820716567337513, 0.009203186258673668, 0.007158033549785614, 0.005697210319340229, 0.00803452730178833, 0.004820716567337513, 0.005405045580118895, 3.0568182468414307, 3.0568182468414307, 3.1971428394317627, 3.1971428394317627, 3.0568182468414307, 2.243333339691162, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 3.0568182468414307, 2.6312499046325684, 2.6312499046325684, 3.0568182468414307, 2.6312499046325684, 3.0568182468414307, 0.0059893750585615635, 0.005112881306558847, 0.005697210319340229, 0.007158033549785614, 0.00803452730178833, 0.0045285518281161785, 0.2181393951177597, 0.7983333468437195, 2.3248276710510254, 3.9167568683624268, 3.0568182468414307, 3.0568182468414307, 4.726428508758545, 4.852499961853027, 4.852499961853027, 4.852499961853027, 4.852499961853027, 5.397500038146973, 4.852499961853027, 3.9285738468170166, 3.9167568683624268, 3.9167568683624268, 3.1971428394317627, 3.0568182468414307, 2.3248276710510254, 2.243333339691162, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 1.9444444179534912, 0.531596839427948, 0.020305441692471504, 0.009787515737116337, 0.009203186258673668, 0.008326692506670952, 0.011832667514681816, 0.009495350532233715, 0.04300450533628464, 0.0074501982890069485, 0.008326692506670952, 0.008911021053791046, 0.008911021053791046, 0.010079680010676384, 0.007158033549785614, 0.007158033549785614, 0.0074501982890069485, 0.009495350532233715, 3.9167568683624268, 3.9167568683624268, 4.726428508758545, 4.726428508758545, 4.726428508758545, 4.726428508758545, 3.9167568683624268, 3.9167568683624268, 2.6312499046325684, 2.3248276710510254, 2.3248276710510254, 3.7150228023529053, 4.726428508758545, 4.726428508758545, 3.92207932472229, 3.0568182468414307, 1.9444444179534912, 0.04154672473669052, 0.010079680010676384, 0.012570462189614773, 0.05029340460896492, 0.03221115097403526, 0.008618856780230999, 0.00803452730178833, 0.00803452730178833, 0.00803452730178833, 0.00803452730178833, 1.6152995824813843, 0.7983333468437195, 0.1599999964237213, 0.1599999964237213, 0.1599999964237213, 0.1599999964237213, 1.9444444179534912, 0.5432145595550537, 2.3248276710510254, 0.1599999964237213, 0.27666667103767395, 0.1599999964237213, 0.7983333468437195, 0.5108346939086914, 0.43162980675697327, 0.5410337448120117, 0.5556613206863403, 0.5572430491447449, 0.1599999964237213]}, "long_curve": [{"video": {"psnr": 27.42360417244202, "ssim": 0.8956227817865592, "lpips": 0.053885482251644135}, "wrist_left": {"psnr": 18.89148123539979, "ssim": 0.7331660216091382, "lpips": 0.20337480306625366}, "wrist_right": {"psnr": 18.79997290070289, "ssim": 0.754186627229501, "lpips": 0.18458713591098785}, "tactile_left": {"psnr": 43.13143118410268, "ssim": 0.9830995710959995, "lpips": 0.02717960998415947}, "tactile_right": {"psnr": 45.71646117332894, "ssim": 0.9881165744072535, "lpips": 0.013446271419525146}}, {"video": {"psnr": 24.21905238616898, "ssim": 0.8350455658542735, "lpips": 0.09272600710391998}, "wrist_left": {"psnr": 16.30650767350273, "ssim": 0.650765826106066, "lpips": 0.3183833360671997}, "wrist_right": {"psnr": 17.76705186310918, "ssim": 0.6467307612638653, "lpips": 0.2718248963356018}, "tactile_left": {"psnr": 37.97440129196828, "ssim": 0.9739532244364985, "lpips": 0.07510315626859665}, "tactile_right": {"psnr": 41.040710462483744, "ssim": 0.9811455248709922, "lpips": 0.041020605713129044}}, {"video": {"psnr": 23.325570479402487, "ssim": 0.8081921181203364, "lpips": 0.14514288306236267}, "wrist_left": {"psnr": 15.106313058260707, "ssim": 0.5823400378893979, "lpips": 0.36900538206100464}, "wrist_right": {"psnr": 19.014564945398487, "ssim": 0.6699886939201372, "lpips": 0.2658306956291199}, "tactile_left": {"psnr": 34.882671484281495, "ssim": 0.9628501034108817, "lpips": 0.13050416111946106}, "tactile_right": {"psnr": 37.62163374853419, "ssim": 0.9707380313971722, "lpips": 0.07925758510828018}}, {"video": {"psnr": 23.158681576564042, "ssim": 0.7979305254221777, "lpips": 0.13933126628398895}, "wrist_left": {"psnr": 18.174828143626627, "ssim": 0.6843386908658657, "lpips": 0.2732686400413513}, "wrist_right": {"psnr": 18.92528669848183, "ssim": 0.6981034344315669, "lpips": 0.33541059494018555}, "tactile_left": {"psnr": 36.49474313282018, "ssim": 0.9708872709606221, "lpips": 0.09194783121347427}, "tactile_right": {"psnr": 39.88595800877565, "ssim": 0.978582210059833, "lpips": 0.056187037378549576}}, {"video": {"psnr": 23.003073655739946, "ssim": 0.78715112711941, "lpips": 0.1475020945072174}, "wrist_left": {"psnr": 15.974654401208912, "ssim": 0.5992543575345249, "lpips": 0.294483482837677}, "wrist_right": {"psnr": 15.097842051268412, "ssim": 0.5672425358230718, "lpips": 0.3961225748062134}, "tactile_left": {"psnr": 39.62553147249411, "ssim": 0.9789436270802181, "lpips": 0.05459882318973541}, "tactile_right": {"psnr": 35.83401822855052, "ssim": 0.9646547649416828, "lpips": 0.11676083505153656}}, {"video": {"psnr": 22.73364097202581, "ssim": 0.7739501134342366, "lpips": 0.15901067852973938}, "wrist_left": {"psnr": 13.174742758654478, "ssim": 0.4589397652989761, "lpips": 0.34670913219451904}, "wrist_right": {"psnr": 15.368077424195501, "ssim": 0.5258786158949417, "lpips": 0.4151580035686493}, "tactile_left": {"psnr": 36.43120169133864, "ssim": 0.9683191116786709, "lpips": 0.13155747950077057}, "tactile_right": {"psnr": 33.9093847096664, "ssim": 0.9505846384429252, "lpips": 0.1417839527130127}}, {"video": {"psnr": 22.740281763806056, "ssim": 0.774804641333561, "lpips": 0.17323511838912964}, "wrist_left": {"psnr": 13.593523065060218, "ssim": 0.5001897413265133, "lpips": 0.3835597038269043}, "wrist_right": {"psnr": 14.341724059237904, "ssim": 0.5450460510859753, "lpips": 0.4504406750202179}, "tactile_left": {"psnr": 36.216990308455934, "ssim": 0.9697422739541344, "lpips": 0.11591728031635284}, "tactile_right": {"psnr": 34.68006069268846, "ssim": 0.9601459498131645, "lpips": 0.14653804898262024}}, {"video": {"psnr": 22.654661294359713, "ssim": 0.7809798863109142, "lpips": 0.17287904024124146}, "wrist_left": {"psnr": 14.77301449168932, "ssim": 0.5797647492079052, "lpips": 0.28389811515808105}, "wrist_right": {"psnr": 15.952576441570894, "ssim": 0.5763779531136425, "lpips": 0.3799169063568115}, "tactile_left": {"psnr": 36.95987680076963, "ssim": 0.9756125654624367, "lpips": 0.0840553492307663}, "tactile_right": {"psnr": 38.399540229769165, "ssim": 0.9742703411931037, "lpips": 0.08644337207078934}}, {"video": {"psnr": 22.002671404351375, "ssim": 0.7603655117421042, "lpips": 0.21295349299907684}, "wrist_left": {"psnr": 13.37622187719062, "ssim": 0.46709815155700257, "lpips": 0.37996798753738403}, "wrist_right": {"psnr": 14.906771024458102, "ssim": 0.5294992093303224, "lpips": 0.38046467304229736}, "tactile_left": {"psnr": 37.019936162806545, "ssim": 0.9742269454685777, "lpips": 0.09439486265182495}, "tactile_right": {"psnr": 39.146484043266014, "ssim": 0.9748724843569483, "lpips": 0.07957583665847778}}, {"video": {"psnr": 21.805251360716028, "ssim": 0.744914287425147, "lpips": 0.20808696746826172}, "wrist_left": {"psnr": 13.19692912300515, "ssim": 0.5387681968330934, "lpips": 0.4363524317741394}, "wrist_right": {"psnr": 12.799425142663814, "ssim": 0.5127765546296843, "lpips": 0.4553142189979553}, "tactile_left": {"psnr": 37.05326526874892, "ssim": 0.972414980157831, "lpips": 0.1084643006324768}, "tactile_right": {"psnr": 36.78027367952315, "ssim": 0.9669642660717124, "lpips": 0.13215449452400208}}, {"video": {"psnr": 21.90965945184964, "ssim": 0.7381735865013944, "lpips": 0.21855413913726807}, "wrist_left": {"psnr": 15.236644446895111, "ssim": 0.6813997860850788, "lpips": 0.3110674321651459}, "wrist_right": {"psnr": 11.901437198743244, "ssim": 0.4660859476917192, "lpips": 0.4995501637458801}, "tactile_left": {"psnr": 36.458303287474195, "ssim": 0.9686051715969878, "lpips": 0.12768927216529846}, "tactile_right": {"psnr": 36.016778106416794, "ssim": 0.9607554827798669, "lpips": 0.1720130294561386}}, {"video": {"psnr": 21.685902213504175, "ssim": 0.7149333898209833, "lpips": 0.2468017339706421}, "wrist_left": {"psnr": 17.03439484863787, "ssim": 0.7435545339874142, "lpips": 0.2523980140686035}, "wrist_right": {"psnr": 13.59269850880164, "ssim": 0.5856199699000635, "lpips": 0.41088831424713135}, "tactile_left": {"psnr": 34.226551729382564, "ssim": 0.9529567386776411, "lpips": 0.1909213364124298}, "tactile_right": {"psnr": 36.697625653583444, "ssim": 0.9657404515738723, "lpips": 0.1449972242116928}}, {"video": {"psnr": 21.83644154883573, "ssim": 0.7101853243747995, "lpips": 0.2551537752151489}, "wrist_left": {"psnr": 17.26600374136607, "ssim": 0.748701722114121, "lpips": 0.2499837428331375}, "wrist_right": {"psnr": 13.104519986606997, "ssim": 0.5826178973784469, "lpips": 0.4262474775314331}, "tactile_left": {"psnr": 34.34514853435402, "ssim": 0.9606995113297312, "lpips": 0.15214237570762634}, "tactile_right": {"psnr": 37.080242631215675, "ssim": 0.9684530580183041, "lpips": 0.13925251364707947}}, {"video": {"psnr": 21.820480823538304, "ssim": 0.7111867299915894, "lpips": 0.2680152356624603}, "wrist_left": {"psnr": 16.130202187375595, "ssim": 0.7103390322087855, "lpips": 0.2631654739379883}, "wrist_right": {"psnr": 14.283100159658858, "ssim": 0.592015907451346, "lpips": 0.454176127910614}, "tactile_left": {"psnr": 34.49308996290193, "ssim": 0.9655643183792064, "lpips": 0.14399808645248413}, "tactile_right": {"psnr": 36.035825579590494, "ssim": 0.9663473702785312, "lpips": 0.15275384485721588}}, {"video": {"psnr": 21.859037475081383, "ssim": 0.7148787812019914, "lpips": 0.2812696695327759}, "wrist_left": {"psnr": 15.57057938908983, "ssim": 0.6860368576814894, "lpips": 0.3206954002380371}, "wrist_right": {"psnr": 15.2059663831906, "ssim": 0.6096987361295435, "lpips": 0.4338042438030243}, "tactile_left": {"psnr": 33.86893475037374, "ssim": 0.9624389584119215, "lpips": 0.15880316495895386}, "tactile_right": {"psnr": 34.761490386545546, "ssim": 0.9611209628617545, "lpips": 0.18814212083816528}}], "long_metrics": {"video": {"psnr": 22.81186737189238, "ssim": 0.7698876246959652, "lpips": 0.18496983895699184}, "wrist_left": {"psnr": 15.587069362730867, "ssim": 0.6243104980203582, "lpips": 0.31242087185382844}, "wrist_right": {"psnr": 15.404067652539224, "ssim": 0.5907912596849219, "lpips": 0.3839824467897415}, "tactile_left": {"psnr": 36.61213847081819, "ssim": 0.9693542914734239, "lpips": 0.11248513932029407}, "tactile_right": {"psnr": 37.573765822262544, "ssim": 0.9688328074044745, "lpips": 0.11268845150868098}}}, {"id": "rope_e005_29", "episode": "rope_0915_episode_001_seg01.pt", "requested_episode": "rope_0915_episode_001_seg01.pt", "category": "full", "t_start": 297, "start_seconds": 19.8, "short_contact": [1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1], "future_transition_ticks": [], "long_contact_fraction": 0.8984375, "long_label": "full", "short_metrics": {"video": {"psnr": 24.994166649600388, "ssim": 0.8427101539385508, "lpips": 0.07528990507125854}, "wrist_left": {"psnr": 19.42899622520128, "ssim": 0.6112791712681644, "lpips": 0.14590036869049072}, "wrist_right": {"psnr": 23.43486800522158, "ssim": 0.8345846181098573, "lpips": 0.1483384221792221}, "tactile_left": {"psnr": 39.413259148488635, "ssim": 0.9694392639052293, "lpips": 0.04734692722558975}, "tactile_right": {"psnr": 49.146126468248205, "ssim": 0.9939027776433706, "lpips": 0.0049636755138635635}}, "media": {"short": {"video": "media/rope_e005_29_short.mp4", "poster": "media/rope_e005_29_short.jpg"}, "long": {"video": "media/rope_e005_29_long.mp4", "poster": "media/rope_e005_29_long.jpg"}}, "force": {"source": "recorded_normal_force", "units": "N", "fps": 15, "left": [3.0568182468414307, 0.7983333468437195, 3.0568182468414307, 4.726428508758545, 6.519285678863525, 5.486666679382324, 6.519285678863525, 6.760714054107666, 5.486666679382324, 6.519285678863525, 6.760714054107666, 6.760714054107666, 6.760714054107666, 6.760714054107666, 6.760714054107666, 6.519285678863525, 6.519285678863525, 6.519285678863525, 6.760714054107666, 6.760714054107666, 6.760714054107666, 6.760714054107666, 6.760714054107666, 6.760714054107666, 6.519285678863525, 6.519285678863525, 6.373636245727539, 6.519285678863525, 6.519285678863525, 6.519285678863525, 6.373636245727539, 4.852499961853027, 4.726428508758545, 3.9167568683624268, 3.9167568683624268, 3.9167568683624268, 3.9167568683624268, 3.9167568683624268, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 1.9444444179534912, 0.7983333468437195, 0.7983333468437195, 2.6312499046325684, 2.6312499046325684, 1.9444444179534912, 1.9444444179534912, 0.7983333468437195, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 3.0568182468414307, 3.9167568683624268, 4.726428508758545, 4.726428508758545, 5.397500038146973, 5.397500038146973, 4.852499961853027, 4.726428508758545, 4.726428508758545, 3.9167568683624268, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.1971428394317627, 3.1971428394317627, 3.0568182468414307, 3.0568182468414307, 0.0009335331851616502, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 3.0568182468414307, 3.9167568683624268, 3.9167568683624268, 3.9167568683624268, 3.1971428394317627, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 2.6312499046325684, 2.6136832237243652, 2.3248276710510254, 1.9444444179534912, 2.297516107559204, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.6312499046325684, 2.6312499046325684, 2.6312499046325684, 2.6312499046325684, 2.757412910461426, 2.6312499046325684, 2.6312499046325684, 2.6312499046325684, 2.6312499046325684, 2.6312499046325684, 2.6312499046325684, 3.0568182468414307, 2.3248276710510254, 2.243333339691162, 0.7983333468437195, 0.12905290722846985, 0.12132712453603745, 0.10555362701416016, 0.10555362701416016, 0.5023051500320435, 3.0568182468414307, 3.9167568683624268, 4.852499961853027, 5.397500038146973], "right": [0.008618856780230999, 0.007742363028228283, 0.008326692506670952, 0.009495350532233715, 0.009495350532233715, 0.008155220188200474, 0.006573704537004232, 0.008326692506670952, 0.009495350532233715, 0.00803452730178833, 0.0045285518281161785, 0.009495350532233715, 0.009203186258673668, 0.009203186258673668, 0.008326692506670952, 0.008618856780230999, 0.007742363028228283, 0.020086318254470825, 0.008618856780230999, 0.007158033549785614, 0.005697210319340229, 0.004820716567337513, 0.008326692506670952, 0.0074501982890069485, 0.013329880312085152, 0.009495350532233715, 0.0074501982890069485, 0.25, 0.4399999976158142, 0.4000000059604645, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.243333339691162, 3.9167568683624268, 4.726428508758545, 2.3248276710510254, 2.3248276710510254, 2.6312499046325684, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 2.3248276710510254, 2.3248276710510254, 2.6312499046325684, 1.9444444179534912, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 1.9444444179534912, 1.9444444179534912, 2.3248276710510254, 1.9444444179534912, 0.7983333468437195, 0.008911021053791046, 0.009495350532233715, 0.008326692506670952, 0.009495350532233715, 2.3248276710510254, 2.3248276710510254, 2.4899072647094727, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 0.7983333468437195, 0.7395936250686646, 0.011540503241121769, 0.009495350532233715, 0.010079680010676384, 0.00803452730178833, 0.006281539797782898, 0.0074501982890069485, 0.008618856780230999, 0.009787515737116337, 0.004820716567337513, 0.004820716567337513, 0.009495350532233715, 0.7983333468437195, 0.7983333468437195, 1.9444444179534912, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 1.9444444179534912, 2.243333339691162, 1.9444444179534912, 1.9444444179534912, 0.7983333468437195, 0.7983333468437195, 1.9444444179534912, 1.9444444179534912, 0.7983333468437195, 2.0569074153900146, 0.009203186258673668, 0.006281539797782898, 0.007158033549785614, 0.0068658688105642796, 0.4399999976158142, 0.7983333468437195, 2.3248276710510254, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.9167568683624268, 3.9167568683624268, 3.9167568683624268, 4.726428508758545, 4.852499961853027, 5.403749942779541, 5.486666679382324, 6.373636245727539, 6.519285678863525, 6.519285678863525, 6.519285678863525, 4.726428508758545, 1.9444444179534912, 0.009787515737116337, 0.24597197771072388, 0.007742363028228283, 0.009495350532233715, 0.27666667103767395, 0.7983333468437195, 0.27666667103767395, 0.5600000023841858, 1.9444444179534912]}, "long_curve": [{"video": {"psnr": 24.994166649600388, "ssim": 0.8427101539385508, "lpips": 0.07528990507125854}, "wrist_left": {"psnr": 19.42899622520128, "ssim": 0.6112791712681644, "lpips": 0.14590036869049072}, "wrist_right": {"psnr": 23.43486800522158, "ssim": 0.8345846181098573, "lpips": 0.1483384221792221}, "tactile_left": {"psnr": 39.413259148488635, "ssim": 0.9694392639052293, "lpips": 0.04734692722558975}, "tactile_right": {"psnr": 49.146126468248205, "ssim": 0.9939027776433706, "lpips": 0.0049636755138635635}}, {"video": {"psnr": 23.490694963606067, "ssim": 0.7927086651188053, "lpips": 0.10110463947057724}, "wrist_left": {"psnr": 19.512933665480357, "ssim": 0.6396403344085992, "lpips": 0.1622661054134369}, "wrist_right": {"psnr": 18.699951554292717, "ssim": 0.7337077039110739, "lpips": 0.26666343212127686}, "tactile_left": {"psnr": 37.38874975663626, "ssim": 0.960704416611586, "lpips": 0.07871531695127487}, "tactile_right": {"psnr": 47.51297081578217, "ssim": 0.989581637928335, "lpips": 0.011890852823853493}}, {"video": {"psnr": 23.597937132081377, "ssim": 0.7954087857969918, "lpips": 0.12108033895492554}, "wrist_left": {"psnr": 19.72148432025491, "ssim": 0.6201482219860043, "lpips": 0.1785690039396286}, "wrist_right": {"psnr": 16.684949092072376, "ssim": 0.6807600887794935, "lpips": 0.332066148519516}, "tactile_left": {"psnr": 37.55438022045465, "ssim": 0.9639614920519844, "lpips": 0.08490005135536194}, "tactile_right": {"psnr": 42.763117638512, "ssim": 0.9843998784259604, "lpips": 0.04611416161060333}}, {"video": {"psnr": 22.842178662292536, "ssim": 0.7776237861859963, "lpips": 0.12786710262298584}, "wrist_left": {"psnr": 17.19357068309369, "ssim": 0.5721808247052719, "lpips": 0.22053518891334534}, "wrist_right": {"psnr": 14.186110837292649, "ssim": 0.5937636798205262, "lpips": 0.4058372378349304}, "tactile_left": {"psnr": 38.0810443812299, "ssim": 0.9708570869804003, "lpips": 0.07461272180080414}, "tactile_right": {"psnr": 39.49938156655728, "ssim": 0.9757337264299126, "lpips": 0.1004575863480568}}, {"video": {"psnr": 23.24329524485945, "ssim": 0.7761932677401364, "lpips": 0.12980763614177704}, "wrist_left": {"psnr": 16.962687576095966, "ssim": 0.5582233858753849, "lpips": 0.23062844574451447}, "wrist_right": {"psnr": 15.502394446200423, "ssim": 0.6147129755119112, "lpips": 0.3409704566001892}, "tactile_left": {"psnr": 37.48307888299858, "ssim": 0.9732754444272742, "lpips": 0.06893598288297653}, "tactile_right": {"psnr": 40.28672984196951, "ssim": 0.9767543560255525, "lpips": 0.09842979907989502}}, {"video": {"psnr": 22.54299407948892, "ssim": 0.7534536212240739, "lpips": 0.15143591165542603}, "wrist_left": {"psnr": 17.15707988535528, "ssim": 0.6437081887799682, "lpips": 0.234169140458107}, "wrist_right": {"psnr": 16.140267044409324, "ssim": 0.637369178957988, "lpips": 0.3285805583000183}, "tactile_left": {"psnr": 37.86096615691004, "ssim": 0.97727512487833, "lpips": 0.0664861798286438}, "tactile_right": {"psnr": 40.037446712736866, "ssim": 0.9772840317368752, "lpips": 0.09346799552440643}}, {"video": {"psnr": 22.904240143521633, "ssim": 0.7655526110709329, "lpips": 0.14251816272735596}, "wrist_left": {"psnr": 16.633634626023916, "ssim": 0.6237505859476216, "lpips": 0.24555526673793793}, "wrist_right": {"psnr": 18.01693585196745, "ssim": 0.6792054245137324, "lpips": 0.34420284628868103}, "tactile_left": {"psnr": 33.164726367647596, "ssim": 0.9552904362121526, "lpips": 0.16520896553993225}, "tactile_right": {"psnr": 39.08508224791308, "ssim": 0.9763981231048946, "lpips": 0.09586220979690552}}, {"video": {"psnr": 22.89768613890088, "ssim": 0.764408765466916, "lpips": 0.16163760423660278}, "wrist_left": {"psnr": 16.311963441922515, "ssim": 0.5544717753247781, "lpips": 0.2465154230594635}, "wrist_right": {"psnr": 18.427880341777705, "ssim": 0.7101126950455777, "lpips": 0.3217131495475769}, "tactile_left": {"psnr": 32.06786812573616, "ssim": 0.9450374190344252, "lpips": 0.2024712860584259}, "tactile_right": {"psnr": 38.87338234352664, "ssim": 0.9743109876950128, "lpips": 0.10993683338165283}}, {"video": {"psnr": 22.92560395538827, "ssim": 0.7652134006199101, "lpips": 0.16754615306854248}, "wrist_left": {"psnr": 16.741056863413668, "ssim": 0.6165547016292727, "lpips": 0.2466573417186737}, "wrist_right": {"psnr": 17.899279034784993, "ssim": 0.6725186199166289, "lpips": 0.30082279443740845}, "tactile_left": {"psnr": 34.07977237638434, "ssim": 0.9646654200945782, "lpips": 0.1305391788482666}, "tactile_right": {"psnr": 38.17627402669697, "ssim": 0.974197464749795, "lpips": 0.11242091655731201}}, {"video": {"psnr": 23.2937562985449, "ssim": 0.7619707205508672, "lpips": 0.16972750425338745}, "wrist_left": {"psnr": 16.98080472704006, "ssim": 0.6573793900010174, "lpips": 0.29221412539482117}, "wrist_right": {"psnr": 16.874681696766388, "ssim": 0.6044378047480985, "lpips": 0.3992891311645508}, "tactile_left": {"psnr": 33.03765193993042, "ssim": 0.9593686002393361, "lpips": 0.15935184061527252}, "tactile_right": {"psnr": 34.69415663621872, "ssim": 0.9657362119116684, "lpips": 0.15801824629306793}}, {"video": {"psnr": 22.89437656998721, "ssim": 0.7484109773954695, "lpips": 0.18677476048469543}, "wrist_left": {"psnr": 15.59481452364318, "ssim": 0.5650934983325014, "lpips": 0.3160305619239807}, "wrist_right": {"psnr": 19.538704203688738, "ssim": 0.673188859651952, "lpips": 0.34894850850105286}, "tactile_left": {"psnr": 31.803862750703015, "ssim": 0.9503185751888485, "lpips": 0.17775022983551025}, "tactile_right": {"psnr": 35.1800490150633, "ssim": 0.9692590168436417, "lpips": 0.12973177433013916}}, {"video": {"psnr": 22.97575895652166, "ssim": 0.7503326034770836, "lpips": 0.19593513011932373}, "wrist_left": {"psnr": 14.967604406259111, "ssim": 0.4641352989762196, "lpips": 0.3207969069480896}, "wrist_right": {"psnr": 14.518954462092985, "ssim": 0.6248484493386969, "lpips": 0.3725118041038513}, "tactile_left": {"psnr": 32.3145608540491, "ssim": 0.9498888463859633, "lpips": 0.17868086695671082}, "tactile_right": {"psnr": 34.735427871828136, "ssim": 0.9687087007759495, "lpips": 0.1389475166797638}}, {"video": {"psnr": 22.496866239856285, "ssim": 0.7359501950071391, "lpips": 0.19824066758155823}, "wrist_left": {"psnr": 15.199412491615988, "ssim": 0.46675210487241015, "lpips": 0.28730571269989014}, "wrist_right": {"psnr": 13.3220245909128, "ssim": 0.5108285282001293, "lpips": 0.4449634850025177}, "tactile_left": {"psnr": 31.529442883722535, "ssim": 0.943555210400808, "lpips": 0.20136381685733795}, "tactile_right": {"psnr": 33.60834177375318, "ssim": 0.9588440811155685, "lpips": 0.19316978752613068}}, {"video": {"psnr": 22.241166906095494, "ssim": 0.7260698861363994, "lpips": 0.18681660294532776}, "wrist_left": {"psnr": 15.304268384768761, "ssim": 0.45919864470759386, "lpips": 0.29189592599868774}, "wrist_right": {"psnr": 16.086928989154224, "ssim": 0.5929481695410906, "lpips": 0.3894309997558594}, "tactile_left": {"psnr": 31.732915616025448, "ssim": 0.9475301430082523, "lpips": 0.20320911705493927}, "tactile_right": {"psnr": 32.95000643706906, "ssim": 0.9563752442654354, "lpips": 0.20798711478710175}}, {"video": {"psnr": 22.560360208154297, "ssim": 0.7329049482681157, "lpips": 0.19289588928222656}, "wrist_left": {"psnr": 15.144427282920642, "ssim": 0.5314702293551874, "lpips": 0.33052772283554077}, "wrist_right": {"psnr": 16.777759982654512, "ssim": 0.6527072189712761, "lpips": 0.36274874210357666}, "tactile_left": {"psnr": 32.42017673179336, "ssim": 0.9564478543708506, "lpips": 0.19798928499221802}, "tactile_right": {"psnr": 33.68311274732607, "ssim": 0.9629462138881225, "lpips": 0.17869001626968384}}], "long_metrics": {"video": {"psnr": 23.06007214325996, "ssim": 0.7659274925331592, "lpips": 0.1539118672410647}, "wrist_left": {"psnr": 16.85698260687262, "ssim": 0.5722657570779996, "lpips": 0.24997114936510723}, "wrist_right": {"psnr": 17.07411267555259, "ssim": 0.6543796010012021, "lpips": 0.3404725144306819}, "tactile_left": {"psnr": 34.66216374618067, "ssim": 0.9591743555860013, "lpips": 0.13583745112021764}, "tactile_right": {"psnr": 38.682107076213406, "ssim": 0.9736288301693397, "lpips": 0.11200589910149575}}}, {"id": "rope_e005_30", "episode": "rope_0915_episode_001_seg02.pt", "requested_episode": "rope_0915_episode_001_seg02.pt", "category": "none", "t_start": 15, "start_seconds": 1.0, "short_contact": [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0], "future_transition_ticks": [], "long_contact_fraction": 0.765625, "long_label": "none_at_start", "short_metrics": {"video": {"psnr": 26.501447140528636, "ssim": 0.9072623980090782, "lpips": 0.042886823415756226}, "wrist_left": {"psnr": 19.90046267896047, "ssim": 0.713036855585909, "lpips": 0.14684130251407623}, "wrist_right": {"psnr": 26.636235902257837, "ssim": 0.8458954545649979, "lpips": 0.057833798229694366}, "tactile_left": {"psnr": 50.00494474973262, "ssim": 0.9942938778658901, "lpips": 0.0042027924209833145}, "tactile_right": {"psnr": 51.535327841478946, "ssim": 0.9951156282948542, "lpips": 0.003132008481770754}}, "media": {"short": {"video": "media/rope_e005_30_short.mp4", "poster": "media/rope_e005_30_short.jpg"}, "long": {"video": "media/rope_e005_30_long.mp4", "poster": "media/rope_e005_30_long.jpg"}}, "force": {"source": "recorded_normal_force", "units": "N", "fps": 15, "left": [0.4000000059604645, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 2.259152412414551, 2.6312499046325684, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 2.3248276710510254, 0.7983333468437195, 0.1599999964237213, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.7983333468437195, 3.0568182468414307, 3.0568182468414307, 4.852499961853027, 5.397500038146973, 5.403749942779541, 5.403749942779541, 4.726428508758545, 4.726428508758545, 3.939981460571289, 3.9167568683624268, 3.0568182468414307, 3.0568182468414307, 3.9167568683624268, 3.0568182468414307, 3.0568182468414307, 0.7983333468437195, 0.4399999976158142, 0.03438200056552887, 0.013487945310771465, 0.01928228884935379, 0.028750743716955185, 0.011878404766321182, 0.017994657158851624, 0.012280790135264397, 0.00865932460874319, 0.07002616673707962, 0.07002616673707962, 0.0, 0.014775577001273632, 3.0568182468414307, 3.9167568683624268, 4.726428508758545, 4.852499961853027, 5.486666679382324, 5.486666679382324, 5.403749942779541, 4.726428508758545, 4.726428508758545, 4.852499961853027, 5.398543834686279, 5.397500038146973, 4.852499961853027, 4.726428508758545, 2.243333339691162, 0.09750593453645706, 0.09493066370487213, 0.07465046644210815, 0.07465046644210815, 0.0688561201095581, 0.09299921989440918, 0.05662361532449722, 0.0727190151810646, 0.049541641026735306, 0.05082927271723747, 0.03248051553964615, 0.049219731241464615, 0.04439111053943634, 0.024110909551382065, 0.03087097592651844, 2.3248276710510254, 2.3248276710510254, 3.0568182468414307, 3.0568182468414307, 4.726428508758545, 3.9167568683624268, 4.726428508758545, 4.726428508758545, 5.397500038146973, 4.726428508758545, 3.0568182468414307, 3.0568182468414307, 3.9167568683624268, 3.9167568683624268, 3.9167568683624268, 3.9167568683624268, 5.397500038146973, 4.852499961853027, 5.397500038146973, 5.4262471199035645, 6.373636245727539, 6.373636245727539, 6.373636245727539, 5.486666679382324], "right": [0.16768550872802734, 0.10829365998506546, 0.02289840392768383, 0.009495350532233715, 0.009495350532233715, 0.008326692506670952, 0.009787515737116337, 0.008618856780230999, 0.009495350532233715, 0.00803452730178833, 0.0068658688105642796, 0.0068658688105642796, 0.004820716567337513, 0.008326692506670952, 0.01301045622676611, 0.007742363028228283, 0.005405045580118895, 0.03221115097403526, 0.008326692506670952, 0.005405045580118895, 0.010664009489119053, 0.20931895077228546, 0.0074501982890069485, 0.009495350532233715, 2.3750722408294678, 1.7273036241531372, 1.9444444179534912, 1.9444444179534912, 1.9444444179534912, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.010371844284236431, 0.004820716567337513, 0.010079680010676384, 0.04300450533628464, 0.009495350532233715, 0.008326692506670952, 1.4468743801116943, 0.5838407874107361, 0.7983333468437195, 0.5600000023841858, 1.9444444179534912, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 1.9444444179534912, 0.12959733605384827, 0.012232792563736439, 0.009203186258673668, 0.0109561737626791, 0.006281539797782898, 0.009495350532233715, 0.00803452730178833, 0.00803452730178833, 1.9444444179534912, 1.9444444179534912, 2.3248276710510254, 4.726428508758545, 6.373636245727539, 6.373636245727539, 5.486666679382324, 5.403749942779541, 5.397500038146973, 5.397500038146973, 5.403749942779541, 5.403749942779541, 5.486666679382324, 5.486666679382324, 5.486666679382324, 6.373636245727539, 6.519285678863525, 6.519285678863525, 6.373636245727539, 5.486666679382324, 6.373636245727539, 5.486666679382324, 4.726428508758545, 0.2186279296875, 0.5221510529518127, 0.013585655950009823, 0.16741812229156494, 0.012124832719564438, 0.012124832719564438, 0.011248338967561722, 0.5288688540458679, 3.9167568683624268, 4.726428508758545, 4.726428508758545, 4.852499961853027, 5.397500038146973, 4.792734146118164, 4.852499961853027, 4.852499961853027, 5.486666679382324, 5.397500038146973, 4.852499961853027, 5.486666679382324, 5.486666679382324, 6.373636245727539, 5.403749942779541, 4.726428508758545, 4.726428508758545, 4.726428508758545, 4.726428508758545, 4.726428508758545, 4.726428508758545, 4.726428508758545, 4.852499961853027, 4.726428508758545, 4.726428508758545, 0.016215138137340546, 0.0109561737626791, 0.011248338967561722, 0.010371844284236431, 0.011832667514681816, 0.3498876988887787, 3.934600591659546, 4.726428508758545, 4.852499961853027, 5.436635494232178, 6.373636245727539, 6.373636245727539, 6.519285678863525, 6.519285678863525]}, "long_curve": [{"video": {"psnr": 26.501447140528636, "ssim": 0.9072623980090782, "lpips": 0.042886823415756226}, "wrist_left": {"psnr": 19.90046267896047, "ssim": 0.713036855585909, "lpips": 0.14684130251407623}, "wrist_right": {"psnr": 26.636235902257837, "ssim": 0.8458954545649979, "lpips": 0.057833798229694366}, "tactile_left": {"psnr": 50.00494474973262, "ssim": 0.9942938778658901, "lpips": 0.0042027924209833145}, "tactile_right": {"psnr": 51.535327841478946, "ssim": 0.9951156282948542, "lpips": 0.003132008481770754}}, {"video": {"psnr": 25.04276592027169, "ssim": 0.853481591610753, "lpips": 0.07903313636779785}, "wrist_left": {"psnr": 15.287135399728303, "ssim": 0.6512751146505328, "lpips": 0.3262847661972046}, "wrist_right": {"psnr": 23.876421478635407, "ssim": 0.7599086926546279, "lpips": 0.12354538589715958}, "tactile_left": {"psnr": 48.262081771779364, "ssim": 0.9915072936571042, "lpips": 0.010173953138291836}, "tactile_right": {"psnr": 48.00455481825117, "ssim": 0.9922108784852467, "lpips": 0.010071483440697193}}, {"video": {"psnr": 25.27263260565671, "ssim": 0.8520634954069553, "lpips": 0.082342229783535}, "wrist_left": {"psnr": 12.528622223199946, "ssim": 0.5553900229027029, "lpips": 0.35538774728775024}, "wrist_right": {"psnr": 21.316808504359326, "ssim": 0.6756673167475762, "lpips": 0.15789715945720673}, "tactile_left": {"psnr": 36.77571616957635, "ssim": 0.9732610140626481, "lpips": 0.06962886452674866}, "tactile_right": {"psnr": 41.98108068947505, "ssim": 0.9859848237567537, "lpips": 0.02915889397263527}}, {"video": {"psnr": 24.324589627749553, "ssim": 0.8094025819327355, "lpips": 0.11997799575328827}, "wrist_left": {"psnr": 13.52113582519332, "ssim": 0.5732929252164242, "lpips": 0.3522970378398895}, "wrist_right": {"psnr": 19.777024498069817, "ssim": 0.6717853640948621, "lpips": 0.22595371305942535}, "tactile_left": {"psnr": 43.07243549941238, "ssim": 0.9823107954827243, "lpips": 0.040469229221343994}, "tactile_right": {"psnr": 43.123941369615686, "ssim": 0.9840118593914174, "lpips": 0.0380612313747406}}, {"video": {"psnr": 23.4426291311918, "ssim": 0.786448691982276, "lpips": 0.14528468251228333}, "wrist_left": {"psnr": 14.029662821618235, "ssim": 0.5902779813537061, "lpips": 0.36789199709892273}, "wrist_right": {"psnr": 19.194314874988002, "ssim": 0.6133900801849763, "lpips": 0.22078093886375427}, "tactile_left": {"psnr": 38.454395894990135, "ssim": 0.975971283747836, "lpips": 0.08479724824428558}, "tactile_right": {"psnr": 40.76227456712207, "ssim": 0.9785903257061157, "lpips": 0.07583846151828766}}, {"video": {"psnr": 23.749627357454763, "ssim": 0.7875750336170853, "lpips": 0.1525917798280716}, "wrist_left": {"psnr": 12.049389221668363, "ssim": 0.5045389001273966, "lpips": 0.40303725004196167}, "wrist_right": {"psnr": 18.978876554069476, "ssim": 0.6798299056652557, "lpips": 0.25536948442459106}, "tactile_left": {"psnr": 32.10812289307633, "ssim": 0.9483100912016493, "lpips": 0.19365528225898743}, "tactile_right": {"psnr": 41.181099931918006, "ssim": 0.9809517043377451, "lpips": 0.06368103623390198}}, {"video": {"psnr": 23.385726160079532, "ssim": 0.7808057877620415, "lpips": 0.15845119953155518}, "wrist_left": {"psnr": 11.687656233358936, "ssim": 0.48556882254273026, "lpips": 0.4164332151412964}, "wrist_right": {"psnr": 15.99427061544131, "ssim": 0.5540793588977728, "lpips": 0.33470067381858826}, "tactile_left": {"psnr": 34.26736824266768, "ssim": 0.963858664692044, "lpips": 0.15282756090164185}, "tactile_right": {"psnr": 38.56390143385299, "ssim": 0.974366092711893, "lpips": 0.09550381451845169}}, {"video": {"psnr": 23.213470701480013, "ssim": 0.7783456049126525, "lpips": 0.15392917394638062}, "wrist_left": {"psnr": 12.029349799081464, "ssim": 0.45937299684961885, "lpips": 0.4268941879272461}, "wrist_right": {"psnr": 16.74810410608682, "ssim": 0.5404868494465759, "lpips": 0.3325590491294861}, "tactile_left": {"psnr": 39.226737089171, "ssim": 0.9757631906096447, "lpips": 0.10222538560628891}, "tactile_right": {"psnr": 35.01784907301423, "ssim": 0.9607309556066574, "lpips": 0.13235287368297577}}, {"video": {"psnr": 23.303248533066668, "ssim": 0.7786976847294038, "lpips": 0.15567848086357117}, "wrist_left": {"psnr": 11.916794908305675, "ssim": 0.4909070652834663, "lpips": 0.43528446555137634}, "wrist_right": {"psnr": 16.719891570414372, "ssim": 0.5263624016543158, "lpips": 0.3286727964878082}, "tactile_left": {"psnr": 35.43921441948938, "ssim": 0.9628323807952026, "lpips": 0.1788448989391327}, "tactile_right": {"psnr": 34.365839399879164, "ssim": 0.9581863572351426, "lpips": 0.1391814798116684}}, {"video": {"psnr": 23.44187696299429, "ssim": 0.7678162587818688, "lpips": 0.16797879338264465}, "wrist_left": {"psnr": 11.871566431906928, "ssim": 0.4520106941332759, "lpips": 0.4395766854286194}, "wrist_right": {"psnr": 16.816821399065415, "ssim": 0.6183300809977361, "lpips": 0.3276553153991699}, "tactile_left": {"psnr": 33.878360455268435, "ssim": 0.9512448192594551, "lpips": 0.22513645887374878}, "tactile_right": {"psnr": 37.911951736680855, "ssim": 0.9743200195507533, "lpips": 0.10999229550361633}}, {"video": {"psnr": 22.374806932968237, "ssim": 0.7502713310466335, "lpips": 0.18627235293388367}, "wrist_left": {"psnr": 12.237099779135438, "ssim": 0.4712529341519853, "lpips": 0.43115752935409546}, "wrist_right": {"psnr": 15.236002920132277, "ssim": 0.5658611317681895, "lpips": 0.3542232811450958}, "tactile_left": {"psnr": 36.10086945844777, "ssim": 0.9664586599158439, "lpips": 0.15262138843536377}, "tactile_right": {"psnr": 35.85703196479879, "ssim": 0.9649715356782285, "lpips": 0.1553749144077301}}, {"video": {"psnr": 22.189382062554465, "ssim": 0.7455455778836173, "lpips": 0.20329830050468445}, "wrist_left": {"psnr": 12.150726485125618, "ssim": 0.45231874461898003, "lpips": 0.417000949382782}, "wrist_right": {"psnr": 14.667356982402575, "ssim": 0.5292438693341128, "lpips": 0.3559390604496002}, "tactile_left": {"psnr": 35.74288109536508, "ssim": 0.9656251910854099, "lpips": 0.15675419569015503}, "tactile_right": {"psnr": 34.861750148910275, "ssim": 0.9579789968408938, "lpips": 0.2046542465686798}}, {"video": {"psnr": 22.386146971564035, "ssim": 0.7434916090122763, "lpips": 0.19678524136543274}, "wrist_left": {"psnr": 12.155587070936635, "ssim": 0.4941281333174926, "lpips": 0.4169130325317383}, "wrist_right": {"psnr": 14.664984252717757, "ssim": 0.542385373347352, "lpips": 0.3591591715812683}, "tactile_left": {"psnr": 32.577673856802846, "ssim": 0.9487380650937719, "lpips": 0.21106389164924622}, "tactile_right": {"psnr": 34.92033119344907, "ssim": 0.9597484899447601, "lpips": 0.21040493249893188}}, {"video": {"psnr": 22.51372730554766, "ssim": 0.7427313554924979, "lpips": 0.19144310057163239}, "wrist_left": {"psnr": 12.243159709111895, "ssim": 0.465591475338316, "lpips": 0.43339118361473083}, "wrist_right": {"psnr": 16.500571268517213, "ssim": 0.6492852796711013, "lpips": 0.3322647213935852}, "tactile_left": {"psnr": 32.16237178421575, "ssim": 0.9450849483981372, "lpips": 0.21953438222408295}, "tactile_right": {"psnr": 35.12106351533289, "ssim": 0.9651912355609792, "lpips": 0.17544230818748474}}, {"video": {"psnr": 22.233846683180303, "ssim": 0.7394752044833547, "lpips": 0.19002339243888855}, "wrist_left": {"psnr": 12.91882851870158, "ssim": 0.5023773272439028, "lpips": 0.4374709725379944}, "wrist_right": {"psnr": 14.818925820023257, "ssim": 0.6065631625012959, "lpips": 0.3709191679954529}, "tactile_left": {"psnr": 31.99742213056581, "ssim": 0.9457472990931448, "lpips": 0.21742235124111176}, "tactile_right": {"psnr": 31.281665264657917, "ssim": 0.9419950143849642, "lpips": 0.2834028899669647}}], "long_metrics": {"video": {"psnr": 23.558394939752556, "ssim": 0.7882276137775487, "lpips": 0.14839844554662704}, "wrist_left": {"psnr": 13.101811807068854, "ssim": 0.5240893328877626, "lpips": 0.38705748816331226}, "wrist_right": {"psnr": 18.129774049812056, "ssim": 0.6252716214353832, "lpips": 0.2758315811554591}, "tactile_left": {"psnr": 37.33803970070406, "ssim": 0.9660671716640337, "lpips": 0.13462385889142753}, "tactile_right": {"psnr": 38.96597752989581, "ssim": 0.9716235944990937, "lpips": 0.11508352467790246}}}, {"id": "rope_e005_31", "episode": "rope_0915_episode_001_seg02.pt", "requested_episode": "rope_0915_episode_001_seg02.pt", "category": "onset", "t_start": 28, "start_seconds": 1.8666666666666667, "short_contact": [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 1], "future_transition_ticks": [11], "long_contact_fraction": 0.8671875, "long_label": "onset", "short_metrics": {"video": {"psnr": 28.867707668642076, "ssim": 0.913961091612892, "lpips": 0.03613712638616562}, "wrist_left": {"psnr": 20.85941130576313, "ssim": 0.7474781874795893, "lpips": 0.13474003970623016}, "wrist_right": {"psnr": 23.240132487441056, "ssim": 0.7735804070385888, "lpips": 0.11435651779174805}, "tactile_left": {"psnr": 37.337514863512816, "ssim": 0.9797759361463726, "lpips": 0.05130482837557793}, "tactile_right": {"psnr": 44.11958906241522, "ssim": 0.9919582075191142, "lpips": 0.015172163024544716}}, "media": {"short": {"video": "media/rope_e005_31_short.mp4", "poster": "media/rope_e005_31_short.jpg"}, "long": {"video": "media/rope_e005_31_long.mp4", "poster": "media/rope_e005_31_long.jpg"}}, "force": {"source": "recorded_normal_force", "units": "N", "fps": 15, "left": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 2.259152412414551, 2.6312499046325684, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 2.3248276710510254, 0.7983333468437195, 0.1599999964237213, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.7983333468437195, 3.0568182468414307, 3.0568182468414307, 4.852499961853027, 5.397500038146973, 5.403749942779541, 5.403749942779541, 4.726428508758545, 4.726428508758545, 3.939981460571289, 3.9167568683624268, 3.0568182468414307, 3.0568182468414307, 3.9167568683624268, 3.0568182468414307, 3.0568182468414307, 0.7983333468437195, 0.4399999976158142, 0.03438200056552887, 0.013487945310771465, 0.01928228884935379, 0.028750743716955185, 0.011878404766321182, 0.017994657158851624, 0.012280790135264397, 0.00865932460874319, 0.07002616673707962, 0.07002616673707962, 0.0, 0.014775577001273632, 3.0568182468414307, 3.9167568683624268, 4.726428508758545, 4.852499961853027, 5.486666679382324, 5.486666679382324, 5.403749942779541, 4.726428508758545, 4.726428508758545, 4.852499961853027, 5.398543834686279, 5.397500038146973, 4.852499961853027, 4.726428508758545, 2.243333339691162, 0.09750593453645706, 0.09493066370487213, 0.07465046644210815, 0.07465046644210815, 0.0688561201095581, 0.09299921989440918, 0.05662361532449722, 0.0727190151810646, 0.049541641026735306, 0.05082927271723747, 0.03248051553964615, 0.049219731241464615, 0.04439111053943634, 0.024110909551382065, 0.03087097592651844, 2.3248276710510254, 2.3248276710510254, 3.0568182468414307, 3.0568182468414307, 4.726428508758545, 3.9167568683624268, 4.726428508758545, 4.726428508758545, 5.397500038146973, 4.726428508758545, 3.0568182468414307, 3.0568182468414307, 3.9167568683624268, 3.9167568683624268, 3.9167568683624268, 3.9167568683624268, 5.397500038146973, 4.852499961853027, 5.397500038146973, 5.4262471199035645, 6.373636245727539, 6.373636245727539, 6.373636245727539, 5.486666679382324, 5.403749942779541, 5.397500038146973, 4.726428508758545, 4.852499961853027, 4.852499961853027, 3.9167568683624268, 0.7983333468437195, 3.1971428394317627, 0.28429606556892395, 0.024754725396633148, 0.017672749236226082, 0.015097484923899174, 0.02861762046813965], "right": [0.008326692506670952, 0.01301045622676611, 0.007742363028228283, 0.005405045580118895, 0.03221115097403526, 0.008326692506670952, 0.005405045580118895, 0.010664009489119053, 0.20931895077228546, 0.0074501982890069485, 0.009495350532233715, 2.3750722408294678, 1.7273036241531372, 1.9444444179534912, 1.9444444179534912, 1.9444444179534912, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.010371844284236431, 0.004820716567337513, 0.010079680010676384, 0.04300450533628464, 0.009495350532233715, 0.008326692506670952, 1.4468743801116943, 0.5838407874107361, 0.7983333468437195, 0.5600000023841858, 1.9444444179534912, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 1.9444444179534912, 0.12959733605384827, 0.012232792563736439, 0.009203186258673668, 0.0109561737626791, 0.006281539797782898, 0.009495350532233715, 0.00803452730178833, 0.00803452730178833, 1.9444444179534912, 1.9444444179534912, 2.3248276710510254, 4.726428508758545, 6.373636245727539, 6.373636245727539, 5.486666679382324, 5.403749942779541, 5.397500038146973, 5.397500038146973, 5.403749942779541, 5.403749942779541, 5.486666679382324, 5.486666679382324, 5.486666679382324, 6.373636245727539, 6.519285678863525, 6.519285678863525, 6.373636245727539, 5.486666679382324, 6.373636245727539, 5.486666679382324, 4.726428508758545, 0.2186279296875, 0.5221510529518127, 0.013585655950009823, 0.16741812229156494, 0.012124832719564438, 0.012124832719564438, 0.011248338967561722, 0.5288688540458679, 3.9167568683624268, 4.726428508758545, 4.726428508758545, 4.852499961853027, 5.397500038146973, 4.792734146118164, 4.852499961853027, 4.852499961853027, 5.486666679382324, 5.397500038146973, 4.852499961853027, 5.486666679382324, 5.486666679382324, 6.373636245727539, 5.403749942779541, 4.726428508758545, 4.726428508758545, 4.726428508758545, 4.726428508758545, 4.726428508758545, 4.726428508758545, 4.726428508758545, 4.852499961853027, 4.726428508758545, 4.726428508758545, 0.016215138137340546, 0.0109561737626791, 0.011248338967561722, 0.010371844284236431, 0.011832667514681816, 0.3498876988887787, 3.934600591659546, 4.726428508758545, 4.852499961853027, 5.436635494232178, 6.373636245727539, 6.373636245727539, 6.519285678863525, 6.519285678863525, 6.373636245727539, 5.486666679382324, 5.486666679382324, 5.403749942779541, 5.403749942779541, 5.403749942779541, 6.373636245727539, 6.760714054107666, 6.532158374786377, 6.519285678863525, 6.519285678863525, 6.519285678863525, 6.519285678863525]}, "long_curve": [{"video": {"psnr": 28.867707668642076, "ssim": 0.913961091612892, "lpips": 0.03613712638616562}, "wrist_left": {"psnr": 20.85941130576313, "ssim": 0.7474781874795893, "lpips": 0.13474003970623016}, "wrist_right": {"psnr": 23.240132487441056, "ssim": 0.7735804070385888, "lpips": 0.11435651779174805}, "tactile_left": {"psnr": 37.337514863512816, "ssim": 0.9797759361463726, "lpips": 0.05130482837557793}, "tactile_right": {"psnr": 44.11958906241522, "ssim": 0.9919582075191142, "lpips": 0.015172163024544716}}, {"video": {"psnr": 25.49620737536005, "ssim": 0.840769029259456, "lpips": 0.08487568795681}, "wrist_left": {"psnr": 18.60229628728223, "ssim": 0.6726857703152138, "lpips": 0.19151560962200165}, "wrist_right": {"psnr": 19.894950415688967, "ssim": 0.6625377032274501, "lpips": 0.21585938334465027}, "tactile_left": {"psnr": 36.97416918358048, "ssim": 0.9709034819976732, "lpips": 0.06746228784322739}, "tactile_right": {"psnr": 42.2646358850226, "ssim": 0.985740329926071, "lpips": 0.027044296264648438}}, {"video": {"psnr": 24.482418171902985, "ssim": 0.8249898024361894, "lpips": 0.09286052733659744}, "wrist_left": {"psnr": 17.495666044490772, "ssim": 0.6783325227346255, "lpips": 0.2252143919467926}, "wrist_right": {"psnr": 18.969639587626247, "ssim": 0.6680412037393562, "lpips": 0.23049329221248627}, "tactile_left": {"psnr": 43.38209481510147, "ssim": 0.9840787276420321, "lpips": 0.026712674647569656}, "tactile_right": {"psnr": 43.622715932112285, "ssim": 0.9846065869876671, "lpips": 0.0313141755759716}}, {"video": {"psnr": 24.093287588375546, "ssim": 0.7983793143616456, "lpips": 0.10935674607753754}, "wrist_left": {"psnr": 14.576166133275487, "ssim": 0.5176893524988901, "lpips": 0.3161182701587677}, "wrist_right": {"psnr": 18.413217439615394, "ssim": 0.6540931377625382, "lpips": 0.25402408838272095}, "tactile_left": {"psnr": 33.074135834269036, "ssim": 0.9549141870782611, "lpips": 0.17230293154716492}, "tactile_right": {"psnr": 39.75711961738816, "ssim": 0.9790075898609323, "lpips": 0.06942667067050934}}, {"video": {"psnr": 24.42583654833799, "ssim": 0.8004147811192457, "lpips": 0.11530657112598419}, "wrist_left": {"psnr": 15.022004825267228, "ssim": 0.5160222059606443, "lpips": 0.2809298634529114}, "wrist_right": {"psnr": 16.97030336413557, "ssim": 0.6274577830304766, "lpips": 0.2599438428878784}, "tactile_left": {"psnr": 32.26375281801232, "ssim": 0.957919994672338, "lpips": 0.15318889915943146}, "tactile_right": {"psnr": 41.84678047470623, "ssim": 0.9816319696070678, "lpips": 0.049539580941200256}}, {"video": {"psnr": 24.212971147524858, "ssim": 0.7964499231619476, "lpips": 0.11336246132850647}, "wrist_left": {"psnr": 15.116481921326939, "ssim": 0.5161512081367577, "lpips": 0.303515762090683}, "wrist_right": {"psnr": 17.08856455118734, "ssim": 0.5786052960033423, "lpips": 0.25231674313545227}, "tactile_left": {"psnr": 39.649858859446766, "ssim": 0.9789589768877228, "lpips": 0.06267877668142319}, "tactile_right": {"psnr": 35.84463990755094, "ssim": 0.9659042807383134, "lpips": 0.11899926513433456}}, {"video": {"psnr": 24.064683807912356, "ssim": 0.7942962603514606, "lpips": 0.1160275787115097}, "wrist_left": {"psnr": 14.858534147374902, "ssim": 0.5175958133708423, "lpips": 0.2999441623687744}, "wrist_right": {"psnr": 17.05598906183356, "ssim": 0.5558274599418929, "lpips": 0.2574833631515503}, "tactile_left": {"psnr": 37.40106379101064, "ssim": 0.9736478959755577, "lpips": 0.10259707272052765}, "tactile_right": {"psnr": 35.19588178387093, "ssim": 0.9599617646942935, "lpips": 0.11974813044071198}}, {"video": {"psnr": 24.07955842591095, "ssim": 0.7876057502373626, "lpips": 0.12785345315933228}, "wrist_left": {"psnr": 15.383563256204958, "ssim": 0.5018045187027158, "lpips": 0.32735908031463623}, "wrist_right": {"psnr": 16.3092675571297, "ssim": 0.5799580466965889, "lpips": 0.30167824029922485}, "tactile_left": {"psnr": 34.42932495463565, "ssim": 0.9575150805011048, "lpips": 0.1825527548789978}, "tactile_right": {"psnr": 37.19713626464046, "ssim": 0.9704409071282659, "lpips": 0.10386554151773453}}, {"video": {"psnr": 22.80226101358376, "ssim": 0.757598151178336, "lpips": 0.16280066967010498}, "wrist_left": {"psnr": 14.800510443666612, "ssim": 0.5034867355697208, "lpips": 0.3395097255706787}, "wrist_right": {"psnr": 15.333002784068427, "ssim": 0.611119347934747, "lpips": 0.3563805818557739}, "tactile_left": {"psnr": 35.60750826818671, "ssim": 0.9644730490178588, "lpips": 0.1500777304172516}, "tactile_right": {"psnr": 37.36752449640379, "ssim": 0.9712463577192023, "lpips": 0.1059100478887558}}, {"video": {"psnr": 22.258686196587163, "ssim": 0.7450072284200762, "lpips": 0.16589201986789703}, "wrist_left": {"psnr": 13.267926195768842, "ssim": 0.4431542103577333, "lpips": 0.36391976475715637}, "wrist_right": {"psnr": 14.622852833144396, "ssim": 0.5475439797639277, "lpips": 0.37702977657318115}, "tactile_left": {"psnr": 36.82462775501409, "ssim": 0.9708031438263751, "lpips": 0.12092941999435425}, "tactile_right": {"psnr": 35.856347131776914, "ssim": 0.9625789866620333, "lpips": 0.15505185723304749}}, {"video": {"psnr": 22.18218687546561, "ssim": 0.7360664323585542, "lpips": 0.1655295491218567}, "wrist_left": {"psnr": 13.213687575934571, "ssim": 0.44923150490111197, "lpips": 0.3911481499671936}, "wrist_right": {"psnr": 14.261069069884417, "ssim": 0.5467822103985713, "lpips": 0.36970266699790955}, "tactile_left": {"psnr": 32.91487270199586, "ssim": 0.9519219818931153, "lpips": 0.19009871780872345}, "tactile_right": {"psnr": 35.513812648239366, "ssim": 0.9625356006780346, "lpips": 0.1754797399044037}}, {"video": {"psnr": 22.529453414123914, "ssim": 0.7330597378611872, "lpips": 0.16806793212890625}, "wrist_left": {"psnr": 13.937289348416346, "ssim": 0.44123739337642864, "lpips": 0.369448721408844}, "wrist_right": {"psnr": 15.241496060431407, "ssim": 0.6066224884974194, "lpips": 0.34795546531677246}, "tactile_left": {"psnr": 30.644338420922345, "ssim": 0.9312440064751716, "lpips": 0.24060006439685822}, "tactile_right": {"psnr": 35.48873224594705, "ssim": 0.9641182478006415, "lpips": 0.16385458409786224}}, {"video": {"psnr": 21.931733752148602, "ssim": 0.7061020302379476, "lpips": 0.1764110028743744}, "wrist_left": {"psnr": 13.617491650537456, "ssim": 0.44302393667807166, "lpips": 0.38951149582862854}, "wrist_right": {"psnr": 15.75590925773363, "ssim": 0.6559339887550508, "lpips": 0.37283721566200256}, "tactile_left": {"psnr": 30.936262486999695, "ssim": 0.9392335976604217, "lpips": 0.20417273044586182}, "tactile_right": {"psnr": 32.5429512353145, "ssim": 0.9533186238501614, "lpips": 0.2155439555644989}}, {"video": {"psnr": 21.472816170416323, "ssim": 0.694139823598763, "lpips": 0.19800904393196106}, "wrist_left": {"psnr": 15.341583938859786, "ssim": 0.5569323583667621, "lpips": 0.3547036349773407}, "wrist_right": {"psnr": 15.605414060374596, "ssim": 0.6273179629405699, "lpips": 0.35356056690216064}, "tactile_left": {"psnr": 30.228069791796734, "ssim": 0.9381697657723105, "lpips": 0.19963519275188446}, "tactile_right": {"psnr": 32.32349844074511, "ssim": 0.9463662843625145, "lpips": 0.25812822580337524}}, {"video": {"psnr": 20.751540677458745, "ssim": 0.6742329864213237, "lpips": 0.2185611128807068}, "wrist_left": {"psnr": 15.475920676567332, "ssim": 0.6555138034605859, "lpips": 0.3583083748817444}, "wrist_right": {"psnr": 15.600625361251609, "ssim": 0.6161787820906077, "lpips": 0.35940319299697876}, "tactile_left": {"psnr": 32.81054662345621, "ssim": 0.9565891389776917, "lpips": 0.16458222270011902}, "tactile_right": {"psnr": 30.858426469587158, "ssim": 0.9352789732526086, "lpips": 0.2994314432144165}}], "long_metrics": {"video": {"psnr": 23.57675658891673, "ssim": 0.7735381561744259, "lpips": 0.13673676550388336}, "wrist_left": {"psnr": 15.437902250049104, "ssim": 0.5440226347939795, "lpips": 0.3097258031368256}, "wrist_right": {"psnr": 16.957495592769753, "ssim": 0.6207733198547418, "lpips": 0.29486832916736605}, "tactile_left": {"psnr": 34.96520941119606, "ssim": 0.9606765976349337, "lpips": 0.1392597536245982}, "tactile_right": {"psnr": 37.319986106381386, "ssim": 0.9676463140524614, "lpips": 0.12723397848506768}}}, {"id": "rope_e005_32", "episode": "rope_0915_episode_001_seg02.pt", "requested_episode": "rope_0915_episode_001_seg02.pt", "category": "release", "t_start": 39, "start_seconds": 2.6, "short_contact": [1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 0, 0], "future_transition_ticks": [11], "long_contact_fraction": 0.953125, "long_label": "release", "short_metrics": {"video": {"psnr": 27.40137946594799, "ssim": 0.8932178423712717, "lpips": 0.04467639699578285}, "wrist_left": {"psnr": 21.51236105898487, "ssim": 0.7532310412724729, "lpips": 0.1401817798614502}, "wrist_right": {"psnr": 23.207831461962826, "ssim": 0.7730328044840096, "lpips": 0.13318562507629395}, "tactile_left": {"psnr": 44.34062039782228, "ssim": 0.9869241475450057, "lpips": 0.012992359697818756}, "tactile_right": {"psnr": 47.61273994938355, "ssim": 0.9913024211944186, "lpips": 0.0073677413165569305}}, "media": {"short": {"video": "media/rope_e005_32_short.mp4", "poster": "media/rope_e005_32_short.jpg"}, "long": {"video": "media/rope_e005_32_long.mp4", "poster": "media/rope_e005_32_long.jpg"}}, "force": {"source": "recorded_normal_force", "units": "N", "fps": 15, "left": [0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 2.259152412414551, 2.6312499046325684, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 2.3248276710510254, 0.7983333468437195, 0.1599999964237213, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.7983333468437195, 3.0568182468414307, 3.0568182468414307, 4.852499961853027, 5.397500038146973, 5.403749942779541, 5.403749942779541, 4.726428508758545, 4.726428508758545, 3.939981460571289, 3.9167568683624268, 3.0568182468414307, 3.0568182468414307, 3.9167568683624268, 3.0568182468414307, 3.0568182468414307, 0.7983333468437195, 0.4399999976158142, 0.03438200056552887, 0.013487945310771465, 0.01928228884935379, 0.028750743716955185, 0.011878404766321182, 0.017994657158851624, 0.012280790135264397, 0.00865932460874319, 0.07002616673707962, 0.07002616673707962, 0.0, 0.014775577001273632, 3.0568182468414307, 3.9167568683624268, 4.726428508758545, 4.852499961853027, 5.486666679382324, 5.486666679382324, 5.403749942779541, 4.726428508758545, 4.726428508758545, 4.852499961853027, 5.398543834686279, 5.397500038146973, 4.852499961853027, 4.726428508758545, 2.243333339691162, 0.09750593453645706, 0.09493066370487213, 0.07465046644210815, 0.07465046644210815, 0.0688561201095581, 0.09299921989440918, 0.05662361532449722, 0.0727190151810646, 0.049541641026735306, 0.05082927271723747, 0.03248051553964615, 0.049219731241464615, 0.04439111053943634, 0.024110909551382065, 0.03087097592651844, 2.3248276710510254, 2.3248276710510254, 3.0568182468414307, 3.0568182468414307, 4.726428508758545, 3.9167568683624268, 4.726428508758545, 4.726428508758545, 5.397500038146973, 4.726428508758545, 3.0568182468414307, 3.0568182468414307, 3.9167568683624268, 3.9167568683624268, 3.9167568683624268, 3.9167568683624268, 5.397500038146973, 4.852499961853027, 5.397500038146973, 5.4262471199035645, 6.373636245727539, 6.373636245727539, 6.373636245727539, 5.486666679382324, 5.403749942779541, 5.397500038146973, 4.726428508758545, 4.852499961853027, 4.852499961853027, 3.9167568683624268, 0.7983333468437195, 3.1971428394317627, 0.28429606556892395, 0.024754725396633148, 0.017672749236226082, 0.015097484923899174, 0.02861762046813965, 0.017994657158851624, 1.9444444179534912, 6.519285678863525, 7.421786308288574, 7.75, 10.977499961853027, 12.227499961853027, 12.86941146850586, 12.86941146850586, 12.978333473205566, 12.86941146850586], "right": [2.3750722408294678, 1.7273036241531372, 1.9444444179534912, 1.9444444179534912, 1.9444444179534912, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.010371844284236431, 0.004820716567337513, 0.010079680010676384, 0.04300450533628464, 0.009495350532233715, 0.008326692506670952, 1.4468743801116943, 0.5838407874107361, 0.7983333468437195, 0.5600000023841858, 1.9444444179534912, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 1.9444444179534912, 0.12959733605384827, 0.012232792563736439, 0.009203186258673668, 0.0109561737626791, 0.006281539797782898, 0.009495350532233715, 0.00803452730178833, 0.00803452730178833, 1.9444444179534912, 1.9444444179534912, 2.3248276710510254, 4.726428508758545, 6.373636245727539, 6.373636245727539, 5.486666679382324, 5.403749942779541, 5.397500038146973, 5.397500038146973, 5.403749942779541, 5.403749942779541, 5.486666679382324, 5.486666679382324, 5.486666679382324, 6.373636245727539, 6.519285678863525, 6.519285678863525, 6.373636245727539, 5.486666679382324, 6.373636245727539, 5.486666679382324, 4.726428508758545, 0.2186279296875, 0.5221510529518127, 0.013585655950009823, 0.16741812229156494, 0.012124832719564438, 0.012124832719564438, 0.011248338967561722, 0.5288688540458679, 3.9167568683624268, 4.726428508758545, 4.726428508758545, 4.852499961853027, 5.397500038146973, 4.792734146118164, 4.852499961853027, 4.852499961853027, 5.486666679382324, 5.397500038146973, 4.852499961853027, 5.486666679382324, 5.486666679382324, 6.373636245727539, 5.403749942779541, 4.726428508758545, 4.726428508758545, 4.726428508758545, 4.726428508758545, 4.726428508758545, 4.726428508758545, 4.726428508758545, 4.852499961853027, 4.726428508758545, 4.726428508758545, 0.016215138137340546, 0.0109561737626791, 0.011248338967561722, 0.010371844284236431, 0.011832667514681816, 0.3498876988887787, 3.934600591659546, 4.726428508758545, 4.852499961853027, 5.436635494232178, 6.373636245727539, 6.373636245727539, 6.519285678863525, 6.519285678863525, 6.373636245727539, 5.486666679382324, 5.486666679382324, 5.403749942779541, 5.403749942779541, 5.403749942779541, 6.373636245727539, 6.760714054107666, 6.532158374786377, 6.519285678863525, 6.519285678863525, 6.519285678863525, 6.519285678863525, 6.519285678863525, 6.519285678863525, 6.51945686340332, 6.760714054107666, 6.760714054107666, 6.760714054107666, 6.760714054107666, 6.760714054107666, 6.760714054107666, 6.519285678863525, 3.9167568683624268]}, "long_curve": [{"video": {"psnr": 27.40137946594799, "ssim": 0.8932178423712717, "lpips": 0.04467639699578285}, "wrist_left": {"psnr": 21.51236105898487, "ssim": 0.7532310412724729, "lpips": 0.1401817798614502}, "wrist_right": {"psnr": 23.207831461962826, "ssim": 0.7730328044840096, "lpips": 0.13318562507629395}, "tactile_left": {"psnr": 44.34062039782228, "ssim": 0.9869241475450057, "lpips": 0.012992359697818756}, "tactile_right": {"psnr": 47.61273994938355, "ssim": 0.9913024211944186, "lpips": 0.0073677413165569305}}, {"video": {"psnr": 24.08518799320547, "ssim": 0.8144640962729206, "lpips": 0.08097793161869049}, "wrist_left": {"psnr": 18.563184472218033, "ssim": 0.6663300639121217, "lpips": 0.20146462321281433}, "wrist_right": {"psnr": 20.52603218348024, "ssim": 0.6399338700072399, "lpips": 0.21072471141815186}, "tactile_left": {"psnr": 38.17300259704854, "ssim": 0.9776363850333722, "lpips": 0.06361778825521469}, "tactile_right": {"psnr": 40.7819152800966, "ssim": 0.982691848458019, "lpips": 0.05023645609617233}}, {"video": {"psnr": 23.611015173529456, "ssim": 0.79202840595408, "lpips": 0.0987105667591095}, "wrist_left": {"psnr": 17.361029549284538, "ssim": 0.549951207897228, "lpips": 0.22600790858268738}, "wrist_right": {"psnr": 18.62102873013644, "ssim": 0.6860881928193715, "lpips": 0.2513139843940735}, "tactile_left": {"psnr": 31.63052725225363, "ssim": 0.9450017961194094, "lpips": 0.18676084280014038}, "tactile_right": {"psnr": 40.87295412086365, "ssim": 0.9808289088385254, "lpips": 0.047808293253183365}}, {"video": {"psnr": 23.45609515115948, "ssim": 0.7811245051531006, "lpips": 0.10406506061553955}, "wrist_left": {"psnr": 17.59124153578687, "ssim": 0.5711288633092629, "lpips": 0.22231964766979218}, "wrist_right": {"psnr": 17.0393821218171, "ssim": 0.611485477461227, "lpips": 0.2767743170261383}, "tactile_left": {"psnr": 33.93954545362546, "ssim": 0.962247742265641, "lpips": 0.12374220043420792}, "tactile_right": {"psnr": 38.71749021651229, "ssim": 0.9771543572166381, "lpips": 0.08194936811923981}}, {"video": {"psnr": 23.45927434821928, "ssim": 0.7893239567324715, "lpips": 0.10762880742549896}, "wrist_left": {"psnr": 17.447718652683676, "ssim": 0.5818900216001408, "lpips": 0.2273734211921692}, "wrist_right": {"psnr": 18.11545592461351, "ssim": 0.6149728263721559, "lpips": 0.26940038800239563}, "tactile_left": {"psnr": 40.09869173577937, "ssim": 0.9791641594713043, "lpips": 0.05062732845544815}, "tactile_right": {"psnr": 34.93181191813329, "ssim": 0.9594130381570016, "lpips": 0.15988470613956451}}, {"video": {"psnr": 23.490423530727163, "ssim": 0.7877721951289824, "lpips": 0.10368028283119202}, "wrist_left": {"psnr": 17.91929927924532, "ssim": 0.5828653860386381, "lpips": 0.21714453399181366}, "wrist_right": {"psnr": 18.08663469584421, "ssim": 0.6025320615791225, "lpips": 0.2660958766937256}, "tactile_left": {"psnr": 35.47896216113446, "ssim": 0.9649214637301307, "lpips": 0.11469392478466034}, "tactile_right": {"psnr": 34.42099795588851, "ssim": 0.9552949553946279, "lpips": 0.17499220371246338}}, {"video": {"psnr": 23.571579904493415, "ssim": 0.7804020105879603, "lpips": 0.12558075785636902}, "wrist_left": {"psnr": 16.567458148911133, "ssim": 0.4786279663263706, "lpips": 0.2700968384742737}, "wrist_right": {"psnr": 18.046264387921017, "ssim": 0.6581090903607423, "lpips": 0.26640784740448}, "tactile_left": {"psnr": 34.427775932220754, "ssim": 0.9561930645536448, "lpips": 0.1476227045059204}, "tactile_right": {"psnr": 38.480379789515474, "ssim": 0.9731728726185069, "lpips": 0.08601357042789459}}, {"video": {"psnr": 23.52259754615961, "ssim": 0.7793718656799555, "lpips": 0.13218964636325836}, "wrist_left": {"psnr": 16.4158112837597, "ssim": 0.5583614765638869, "lpips": 0.27714499831199646}, "wrist_right": {"psnr": 14.625419814286822, "ssim": 0.5495041777437656, "lpips": 0.367634117603302}, "tactile_left": {"psnr": 36.208316244747884, "ssim": 0.9727473613337322, "lpips": 0.09122423082590103}, "tactile_right": {"psnr": 37.14813752339443, "ssim": 0.9703897949464861, "lpips": 0.12704624235630035}}, {"video": {"psnr": 23.447823182578055, "ssim": 0.7752963410208323, "lpips": 0.1415652632713318}, "wrist_left": {"psnr": 15.45373584617266, "ssim": 0.5273854606489679, "lpips": 0.2566944360733032}, "wrist_right": {"psnr": 14.557630873229039, "ssim": 0.520084983555674, "lpips": 0.3545744717121124}, "tactile_left": {"psnr": 36.28481812745551, "ssim": 0.9725698929564999, "lpips": 0.09463291615247726}, "tactile_right": {"psnr": 36.406463488708845, "ssim": 0.9642939028616465, "lpips": 0.1708824634552002}}, {"video": {"psnr": 23.19317590727897, "ssim": 0.7585630815665882, "lpips": 0.14021815359592438}, "wrist_left": {"psnr": 15.245489238265215, "ssim": 0.5063197933306288, "lpips": 0.2872893214225769}, "wrist_right": {"psnr": 14.428955415873727, "ssim": 0.5313901898526759, "lpips": 0.34986430406570435}, "tactile_left": {"psnr": 32.87339086137669, "ssim": 0.9571951498148236, "lpips": 0.1524149477481842}, "tactile_right": {"psnr": 36.426213822986064, "ssim": 0.9651360216568622, "lpips": 0.17456036806106567}}, {"video": {"psnr": 22.800830215478584, "ssim": 0.7396654872863038, "lpips": 0.17238175868988037}, "wrist_left": {"psnr": 14.623606892779737, "ssim": 0.45519474479906624, "lpips": 0.3294565677642822}, "wrist_right": {"psnr": 16.56102227064405, "ssim": 0.6628183584562612, "lpips": 0.30751585960388184}, "tactile_left": {"psnr": 33.0244575482554, "ssim": 0.956048353829002, "lpips": 0.1584208756685257}, "tactile_right": {"psnr": 36.76138468780977, "ssim": 0.9687325238225584, "lpips": 0.13818678259849548}}, {"video": {"psnr": 22.26254149098487, "ssim": 0.7335571566144683, "lpips": 0.19028231501579285}, "wrist_left": {"psnr": 14.628141947535973, "ssim": 0.4664844656627276, "lpips": 0.34419935941696167}, "wrist_right": {"psnr": 15.6113874434197, "ssim": 0.6287410752237219, "lpips": 0.30226022005081177}, "tactile_left": {"psnr": 33.564683964506685, "ssim": 0.9592424147962038, "lpips": 0.14713110029697418}, "tactile_right": {"psnr": 31.943274672150306, "ssim": 0.9451991372050842, "lpips": 0.25107163190841675}}, {"video": {"psnr": 21.913237124197657, "ssim": 0.7256129993935957, "lpips": 0.20266875624656677}, "wrist_left": {"psnr": 14.966518806493294, "ssim": 0.5218894525101985, "lpips": 0.38377588987350464}, "wrist_right": {"psnr": 16.010079796158713, "ssim": 0.6282579332449908, "lpips": 0.2802630364894867}, "tactile_left": {"psnr": 33.57342150022521, "ssim": 0.9599533427036594, "lpips": 0.14618349075317383}, "tactile_right": {"psnr": 32.463698452044355, "ssim": 0.9467743311047827, "lpips": 0.25820213556289673}}, {"video": {"psnr": 21.665476716300756, "ssim": 0.7265908257324384, "lpips": 0.22350268065929413}, "wrist_left": {"psnr": 14.73074957088323, "ssim": 0.619029135874462, "lpips": 0.367347776889801}, "wrist_right": {"psnr": 15.554386737448251, "ssim": 0.5900213065088425, "lpips": 0.3020513355731964}, "tactile_left": {"psnr": 33.45634356330937, "ssim": 0.9611641228003202, "lpips": 0.16643401980400085}, "tactile_right": {"psnr": 30.905706261103596, "ssim": 0.9362242579018281, "lpips": 0.2962431311607361}}, {"video": {"psnr": 21.89707043936192, "ssim": 0.721950684480021, "lpips": 0.2189803123474121}, "wrist_left": {"psnr": 13.597661563731396, "ssim": 0.5198861128615484, "lpips": 0.3811640441417694}, "wrist_right": {"psnr": 15.524009236635699, "ssim": 0.5867121695012161, "lpips": 0.3032097816467285}, "tactile_left": {"psnr": 26.172340251745993, "ssim": 0.8912912899632124, "lpips": 0.33743661642074585}, "tactile_right": {"psnr": 30.807914205461998, "ssim": 0.9343152088493334, "lpips": 0.3012199401855469}}], "long_metrics": {"video": {"psnr": 23.318513879308178, "ssim": 0.7732627635983327, "lpips": 0.1391405793527762}, "wrist_left": {"psnr": 16.44160052311571, "ssim": 0.5572383461738482, "lpips": 0.2754440764586131}, "wrist_right": {"psnr": 17.101034739564756, "ssim": 0.6189123011447344, "lpips": 0.2827517251173655}, "tactile_left": {"psnr": 34.88312650610048, "ssim": 0.9601533791277307, "lpips": 0.1329290231068929}, "tactile_right": {"psnr": 36.57873882293685, "ssim": 0.9633949053484213, "lpips": 0.1550443356235822}}}, {"id": "rope_e005_33", "episode": "rope_0915_episode_001_seg02.pt", "requested_episode": "rope_0915_episode_001_seg02.pt", "category": "full", "t_start": 81, "start_seconds": 5.4, "short_contact": [1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1], "future_transition_ticks": [], "long_contact_fraction": 1.0, "long_label": "full", "short_metrics": {"video": {"psnr": 32.566698350922536, "ssim": 0.9451471911563069, "lpips": 0.020947890356183052}, "wrist_left": {"psnr": 23.9137217469554, "ssim": 0.758633310858953, "lpips": 0.101461261510849}, "wrist_right": {"psnr": 25.906627478080363, "ssim": 0.8377155460819012, "lpips": 0.05974813178181648}, "tactile_left": {"psnr": 37.91061924980824, "ssim": 0.9779692646433409, "lpips": 0.07494191080331802}, "tactile_right": {"psnr": 43.397551373071494, "ssim": 0.9844563217519109, "lpips": 0.025471258908510208}}, "media": {"short": {"video": "media/rope_e005_33_short.mp4", "poster": "media/rope_e005_33_short.jpg"}, "long": {"video": "media/rope_e005_33_long.mp4", "poster": "media/rope_e005_33_long.jpg"}}, "force": {"source": "recorded_normal_force", "units": "N", "fps": 15, "left": [0.011878404766321182, 0.017994657158851624, 0.012280790135264397, 0.00865932460874319, 0.07002616673707962, 0.07002616673707962, 0.0, 0.014775577001273632, 3.0568182468414307, 3.9167568683624268, 4.726428508758545, 4.852499961853027, 5.486666679382324, 5.486666679382324, 5.403749942779541, 4.726428508758545, 4.726428508758545, 4.852499961853027, 5.398543834686279, 5.397500038146973, 4.852499961853027, 4.726428508758545, 2.243333339691162, 0.09750593453645706, 0.09493066370487213, 0.07465046644210815, 0.07465046644210815, 0.0688561201095581, 0.09299921989440918, 0.05662361532449722, 0.0727190151810646, 0.049541641026735306, 0.05082927271723747, 0.03248051553964615, 0.049219731241464615, 0.04439111053943634, 0.024110909551382065, 0.03087097592651844, 2.3248276710510254, 2.3248276710510254, 3.0568182468414307, 3.0568182468414307, 4.726428508758545, 3.9167568683624268, 4.726428508758545, 4.726428508758545, 5.397500038146973, 4.726428508758545, 3.0568182468414307, 3.0568182468414307, 3.9167568683624268, 3.9167568683624268, 3.9167568683624268, 3.9167568683624268, 5.397500038146973, 4.852499961853027, 5.397500038146973, 5.4262471199035645, 6.373636245727539, 6.373636245727539, 6.373636245727539, 5.486666679382324, 5.403749942779541, 5.397500038146973, 4.726428508758545, 4.852499961853027, 4.852499961853027, 3.9167568683624268, 0.7983333468437195, 3.1971428394317627, 0.28429606556892395, 0.024754725396633148, 0.017672749236226082, 0.015097484923899174, 0.02861762046813965, 0.017994657158851624, 1.9444444179534912, 6.519285678863525, 7.421786308288574, 7.75, 10.977499961853027, 12.227499961853027, 12.86941146850586, 12.86941146850586, 12.978333473205566, 12.86941146850586, 12.86941146850586, 10.977499961853027, 10.78499984741211, 10.243043899536133, 7.75, 7.488461494445801, 7.130000114440918, 6.760714054107666, 3.92262601852417, 0.1599999964237213, 0.1274433732032776, 0.10297836363315582, 0.09267731010913849, 0.0765819102525711, 0.06338368356227875, 0.49152109026908875, 6.373636245727539, 6.760714054107666, 7.629856586456299, 7.783597469329834, 10.243043899536133, 10.243043899536133, 6.760714054107666, 5.486666679382324, 5.486666679382324, 5.486666679382324, 6.373636245727539, 6.519285678863525, 6.519285678863525, 6.519285678863525, 6.760714054107666, 6.760714054107666, 6.843999862670898, 7.229073524475098, 7.2215375900268555, 7.130000114440918, 6.760714054107666, 6.760714054107666, 6.519285678863525, 3.0568182468414307, 3.0568182468414307, 0.1599999964237213], "right": [5.397500038146973, 5.397500038146973, 5.403749942779541, 5.403749942779541, 5.486666679382324, 5.486666679382324, 5.486666679382324, 6.373636245727539, 6.519285678863525, 6.519285678863525, 6.373636245727539, 5.486666679382324, 6.373636245727539, 5.486666679382324, 4.726428508758545, 0.2186279296875, 0.5221510529518127, 0.013585655950009823, 0.16741812229156494, 0.012124832719564438, 0.012124832719564438, 0.011248338967561722, 0.5288688540458679, 3.9167568683624268, 4.726428508758545, 4.726428508758545, 4.852499961853027, 5.397500038146973, 4.792734146118164, 4.852499961853027, 4.852499961853027, 5.486666679382324, 5.397500038146973, 4.852499961853027, 5.486666679382324, 5.486666679382324, 6.373636245727539, 5.403749942779541, 4.726428508758545, 4.726428508758545, 4.726428508758545, 4.726428508758545, 4.726428508758545, 4.726428508758545, 4.726428508758545, 4.852499961853027, 4.726428508758545, 4.726428508758545, 0.016215138137340546, 0.0109561737626791, 0.011248338967561722, 0.010371844284236431, 0.011832667514681816, 0.3498876988887787, 3.934600591659546, 4.726428508758545, 4.852499961853027, 5.436635494232178, 6.373636245727539, 6.373636245727539, 6.519285678863525, 6.519285678863525, 6.373636245727539, 5.486666679382324, 5.486666679382324, 5.403749942779541, 5.403749942779541, 5.403749942779541, 6.373636245727539, 6.760714054107666, 6.532158374786377, 6.519285678863525, 6.519285678863525, 6.519285678863525, 6.519285678863525, 6.519285678863525, 6.519285678863525, 6.51945686340332, 6.760714054107666, 6.760714054107666, 6.760714054107666, 6.760714054107666, 6.760714054107666, 6.760714054107666, 6.519285678863525, 3.9167568683624268, 0.07143425196409225, 0.043138254433870316, 0.0109561737626791, 0.008911021053791046, 0.009495350532233715, 0.02702522836625576, 4.852499961853027, 6.519285678863525, 7.130000114440918, 7.488461494445801, 7.645045280456543, 7.488461494445801, 7.488461494445801, 7.230000019073486, 7.202531814575195, 7.130000114440918, 7.130000114440918, 7.130000114440918, 6.519285678863525, 0.1599999964237213, 0.6170876026153564, 0.05972214415669441, 0.3840615153312683, 0.04010388255119324, 0.1331479400396347, 2.3248276710510254, 2.6312499046325684, 3.0568182468414307, 4.726428508758545, 5.486666679382324, 6.519285678863525, 6.519285678863525, 6.519285678863525, 6.519285678863525, 6.519285678863525, 6.519285678863525, 6.519285678863525, 6.373636245727539, 6.519285678863525, 6.519285678863525, 6.519285678863525, 6.519285678863525]}, "long_curve": [{"video": {"psnr": 32.566698350922536, "ssim": 0.9451471911563069, "lpips": 0.020947890356183052}, "wrist_left": {"psnr": 23.9137217469554, "ssim": 0.758633310858953, "lpips": 0.101461261510849}, "wrist_right": {"psnr": 25.906627478080363, "ssim": 0.8377155460819012, "lpips": 0.05974813178181648}, "tactile_left": {"psnr": 37.91061924980824, "ssim": 0.9779692646433409, "lpips": 0.07494191080331802}, "tactile_right": {"psnr": 43.397551373071494, "ssim": 0.9844563217519109, "lpips": 0.025471258908510208}}, {"video": {"psnr": 26.496809218622147, "ssim": 0.8581245801496982, "lpips": 0.07542585581541061}, "wrist_left": {"psnr": 22.711386876978267, "ssim": 0.706931394827682, "lpips": 0.12566691637039185}, "wrist_right": {"psnr": 19.040254458458083, "ssim": 0.6837172383345616, "lpips": 0.23434385657310486}, "tactile_left": {"psnr": 36.990386795633796, "ssim": 0.9720567136526947, "lpips": 0.0852697566151619}, "tactile_right": {"psnr": 43.326654940000786, "ssim": 0.9852808449875947, "lpips": 0.02592068538069725}}, {"video": {"psnr": 24.501511367294675, "ssim": 0.832488660454632, "lpips": 0.10280214995145798}, "wrist_left": {"psnr": 17.583173395622396, "ssim": 0.5618901517875619, "lpips": 0.20594507455825806}, "wrist_right": {"psnr": 17.31927874629019, "ssim": 0.573976670913094, "lpips": 0.30866608023643494}, "tactile_left": {"psnr": 43.62168928228867, "ssim": 0.9838320500075901, "lpips": 0.02746136114001274}, "tactile_right": {"psnr": 38.87440557562962, "ssim": 0.973899555804224, "lpips": 0.08461014181375504}}, {"video": {"psnr": 23.718180557569607, "ssim": 0.8124733586145511, "lpips": 0.11695198714733124}, "wrist_left": {"psnr": 15.589837718931648, "ssim": 0.5285693400248255, "lpips": 0.2769950032234192}, "wrist_right": {"psnr": 17.386912789966185, "ssim": 0.5494492599945192, "lpips": 0.3199702203273773}, "tactile_left": {"psnr": 36.98024896325513, "ssim": 0.9739590679764365, "lpips": 0.08652271330356598}, "tactile_right": {"psnr": 37.429901644301154, "ssim": 0.9691702447917698, "lpips": 0.11700735986232758}}, {"video": {"psnr": 24.48526982445933, "ssim": 0.8106636567116592, "lpips": 0.10593155771493912}, "wrist_left": {"psnr": 14.470405551937395, "ssim": 0.4907685138724315, "lpips": 0.32783275842666626}, "wrist_right": {"psnr": 18.302008133004417, "ssim": 0.5721623380733214, "lpips": 0.3009449243545532}, "tactile_left": {"psnr": 29.688603565894937, "ssim": 0.9231292053510464, "lpips": 0.26899510622024536}, "tactile_right": {"psnr": 37.857508880630604, "ssim": 0.969786626623238, "lpips": 0.11368630826473236}}, {"video": {"psnr": 23.66770979333239, "ssim": 0.7768272140772948, "lpips": 0.13295002281665802}, "wrist_left": {"psnr": 14.543214400336657, "ssim": 0.47821050459883596, "lpips": 0.3312895596027374}, "wrist_right": {"psnr": 19.928369302853064, "ssim": 0.7076089595701565, "lpips": 0.2402903139591217}, "tactile_left": {"psnr": 28.87732620913554, "ssim": 0.9178945286891653, "lpips": 0.274135559797287}, "tactile_right": {"psnr": 37.44678775535917, "ssim": 0.9730807163338862, "lpips": 0.08561612665653229}}, {"video": {"psnr": 23.203372255007476, "ssim": 0.7634528620525283, "lpips": 0.1403818130493164}, "wrist_left": {"psnr": 13.65517427582759, "ssim": 0.4631156435376421, "lpips": 0.3862783908843994}, "wrist_right": {"psnr": 19.477095930159624, "ssim": 0.6349100696337928, "lpips": 0.25978660583496094}, "tactile_left": {"psnr": 29.00880427379117, "ssim": 0.9182279143537195, "lpips": 0.2647261619567871}, "tactile_right": {"psnr": 32.5018508670357, "ssim": 0.9504575478894108, "lpips": 0.1811406910419464}}, {"video": {"psnr": 22.727932621566037, "ssim": 0.7550148681964399, "lpips": 0.15741023421287537}, "wrist_left": {"psnr": 14.339935018808443, "ssim": 0.5279148313166542, "lpips": 0.41521960496902466}, "wrist_right": {"psnr": 19.602539003023704, "ssim": 0.6131333048039411, "lpips": 0.2508664131164551}, "tactile_left": {"psnr": 31.037747046087276, "ssim": 0.9418656305632943, "lpips": 0.19461822509765625}, "tactile_right": {"psnr": 32.09723357233388, "ssim": 0.9462958668567727, "lpips": 0.19738386571407318}}, {"video": {"psnr": 22.517998354806753, "ssim": 0.7474291947858113, "lpips": 0.1643974781036377}, "wrist_left": {"psnr": 15.060475811480195, "ssim": 0.6298463053895919, "lpips": 0.33014237880706787}, "wrist_right": {"psnr": 18.501540176586648, "ssim": 0.5753917555701435, "lpips": 0.26539117097854614}, "tactile_left": {"psnr": 32.77209524905479, "ssim": 0.9529867627428988, "lpips": 0.14939403533935547}, "tactile_right": {"psnr": 30.899749223564015, "ssim": 0.9376379991161075, "lpips": 0.21222853660583496}}, {"video": {"psnr": 22.625178365091333, "ssim": 0.7407420764749759, "lpips": 0.15825054049491882}, "wrist_left": {"psnr": 13.545425555096672, "ssim": 0.536015013856495, "lpips": 0.3810051679611206}, "wrist_right": {"psnr": 18.939736916556875, "ssim": 0.6071406191486053, "lpips": 0.2656274139881134}, "tactile_left": {"psnr": 25.923862374882923, "ssim": 0.8915376998290405, "lpips": 0.29896217584609985}, "tactile_right": {"psnr": 32.05034903361741, "ssim": 0.9496100771970373, "lpips": 0.184382826089859}}, {"video": {"psnr": 23.054010427049807, "ssim": 0.7594243825053131, "lpips": 0.16341005265712738}, "wrist_left": {"psnr": 14.139696157122314, "ssim": 0.569606241915855, "lpips": 0.359052836894989}, "wrist_right": {"psnr": 20.577288901832, "ssim": 0.671137040545553, "lpips": 0.22264894843101501}, "tactile_left": {"psnr": 28.43415572517671, "ssim": 0.92907482824244, "lpips": 0.21727138757705688}, "tactile_right": {"psnr": 33.115916294724464, "ssim": 0.9546436426992004, "lpips": 0.18087056279182434}}, {"video": {"psnr": 23.032765507351943, "ssim": 0.7586577792904206, "lpips": 0.16470220685005188}, "wrist_left": {"psnr": 14.591339785049565, "ssim": 0.5571188791859882, "lpips": 0.35653790831565857}, "wrist_right": {"psnr": 19.63568387443165, "ssim": 0.6046320371345955, "lpips": 0.2363874316215515}, "tactile_left": {"psnr": 35.25817187913021, "ssim": 0.9654961636226153, "lpips": 0.13306362926959991}, "tactile_right": {"psnr": 31.40841071814446, "ssim": 0.930126413784291, "lpips": 0.21879033744335175}}, {"video": {"psnr": 23.497557162645858, "ssim": 0.7584545527679778, "lpips": 0.16803720593452454}, "wrist_left": {"psnr": 14.136805134357777, "ssim": 0.5425311086584153, "lpips": 0.40028637647628784}, "wrist_right": {"psnr": 18.553491347513035, "ssim": 0.6861746566661167, "lpips": 0.24708586931228638}, "tactile_left": {"psnr": 29.263830202455946, "ssim": 0.9314917282541327, "lpips": 0.2731715440750122}, "tactile_right": {"psnr": 34.80436441459669, "ssim": 0.9694071846469453, "lpips": 0.12632913887500763}}, {"video": {"psnr": 23.457269785163007, "ssim": 0.7450189104502417, "lpips": 0.16968071460723877}, "wrist_left": {"psnr": 14.166453005608663, "ssim": 0.5335931059292055, "lpips": 0.420444130897522}, "wrist_right": {"psnr": 15.091767813453373, "ssim": 0.541986085913444, "lpips": 0.322892427444458}, "tactile_left": {"psnr": 29.0418820577715, "ssim": 0.9289976360154573, "lpips": 0.2773098647594452}, "tactile_right": {"psnr": 32.43308157677501, "ssim": 0.9540125263791552, "lpips": 0.21464112401008606}}, {"video": {"psnr": 23.254588623930758, "ssim": 0.7375567467199179, "lpips": 0.178065687417984}, "wrist_left": {"psnr": 13.877132940028678, "ssim": 0.5267905590328836, "lpips": 0.45338714122772217}, "wrist_right": {"psnr": 14.08130541375188, "ssim": 0.49398296184419355, "lpips": 0.3672720193862915}, "tactile_left": {"psnr": 30.915248426365828, "ssim": 0.942980189552895, "lpips": 0.2492549568414688}, "tactile_right": {"psnr": 31.6840266356604, "ssim": 0.9425992774989509, "lpips": 0.2462964951992035}}], "long_metrics": {"video": {"psnr": 24.187123480987577, "ssim": 0.7867650689605179, "lpips": 0.13462302647531033}, "wrist_left": {"psnr": 15.754945158276112, "ssim": 0.560768993652868, "lpips": 0.3247696340084076}, "wrist_right": {"psnr": 18.82292668573074, "ssim": 0.6235412362818626, "lpips": 0.26012812182307243}, "tactile_left": {"psnr": 32.381644753382176, "ssim": 0.9434332922331179, "lpips": 0.1916732259094715}, "tactile_right": {"psnr": 35.288519500362995, "ssim": 0.9593643230906996, "lpips": 0.14762503057718276}}}], "split": "mixed_rope_wrist_holdout.json", "unavailable": [{"episode": "rope_0911_episode_002_seg01.pt", "category": "none", "reason": "No qualifying initial window"}, {"episode": "rope_0915_episode_001_seg00.pt", "category": "none", "reason": "No qualifying initial window"}], "complete": true}, {"id": "motherboard_e010", "label": "Motherboard", "checkpoint": "epoch_010.pt", "run": "nano_action_causal_umi_all_v1", "planned_cases": 20, "cases": [{"id": "motherboard_e010_00", "episode": "motherboard_0909_episode_000.pt", "requested_episode": "motherboard_0909_episode_000.pt", "category": "none", "t_start": 1134, "start_seconds": 75.6, "short_contact": [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0], "future_transition_ticks": [], "long_contact_fraction": 0.015625, "long_label": "none_at_start", "short_metrics": {"video": {"psnr": 28.236488431274758, "ssim": 0.8957969795079807, "lpips": 0.0274997279047966}, "wrist_left": {"psnr": 33.14591191734686, "ssim": 0.9683718076884453, "lpips": 0.029940664768218994}, "wrist_right": {"psnr": 16.435270849019325, "ssim": 0.643758711041487, "lpips": 0.1354692280292511}, "tactile_left": {"psnr": 48.04975392090684, "ssim": 0.9935889773820816, "lpips": 0.004479576833546162}, "tactile_right": {"psnr": 44.17956912866395, "ssim": 0.9827769926245471, "lpips": 0.027443595230579376}}, "media": {"short": {"video": "media/motherboard_e010_00_short.mp4", "poster": "media/motherboard_e010_00_short.jpg"}, "long": {"video": "media/motherboard_e010_00_long.mp4", "poster": "media/motherboard_e010_00_long.jpg"}}, "force": {"source": "recorded_normal_force", "units": "N", "fps": 15, "left": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "right": [0.49666666984558105, 0.41999998688697815, 0.3276471495628357, 0.2779442071914673, 0.19263210892677307, 0.16038045287132263, 0.1599999964237213, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.1599999964237213, 0.1599999964237213, 0.1599999964237213, 0.0, 0.0, 0.0, 0.1599999964237213, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.1599999964237213, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.27239662408828735, 0.1599999964237213, 0.2841034233570099, 0.17168553173542023, 0.1641339212656021, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.1885688155889511, 0.49666666984558105, 1.1662499904632568, 0.7758844494819641, 0.46323081851005554]}, "long_curve": [{"video": {"psnr": 28.236488431274758, "ssim": 0.8957969795079807, "lpips": 0.0274997279047966}, "wrist_left": {"psnr": 33.14591191734686, "ssim": 0.9683718076884453, "lpips": 0.029940664768218994}, "wrist_right": {"psnr": 16.435270849019325, "ssim": 0.643758711041487, "lpips": 0.1354692280292511}, "tactile_left": {"psnr": 48.04975392090684, "ssim": 0.9935889773820816, "lpips": 0.004479576833546162}, "tactile_right": {"psnr": 44.17956912866395, "ssim": 0.9827769926245471, "lpips": 0.027443595230579376}}, {"video": {"psnr": 22.87010506834291, "ssim": 0.7742425486662099, "lpips": 0.07458004355430603}, "wrist_left": {"psnr": 26.90233947563684, "ssim": 0.8968641000340702, "lpips": 0.07396901398897171}, "wrist_right": {"psnr": 11.06582241203431, "ssim": 0.3445848556963882, "lpips": 0.402968168258667}, "tactile_left": {"psnr": 44.585482570815486, "ssim": 0.9892717639904909, "lpips": 0.01983829028904438}, "tactile_right": {"psnr": 40.84969495538367, "ssim": 0.9727044310213084, "lpips": 0.07253645360469818}}, {"video": {"psnr": 21.511944762069216, "ssim": 0.7288735533343951, "lpips": 0.11969809979200363}, "wrist_left": {"psnr": 24.79048674211214, "ssim": 0.8304629177075473, "lpips": 0.10246890783309937}, "wrist_right": {"psnr": 10.575757522219067, "ssim": 0.3021669436457305, "lpips": 0.46257200837135315}, "tactile_left": {"psnr": 42.59899772880485, "ssim": 0.9841651112345453, "lpips": 0.04491448402404785}, "tactile_right": {"psnr": 40.129079274512954, "ssim": 0.9700415744964879, "lpips": 0.10089810192584991}}, {"video": {"psnr": 21.914617146799703, "ssim": 0.7374462873094363, "lpips": 0.11670836061239243}, "wrist_left": {"psnr": 23.2687317346551, "ssim": 0.805501220168615, "lpips": 0.13254299759864807}, "wrist_right": {"psnr": 11.434802926358179, "ssim": 0.25299167040546056, "lpips": 0.48027318716049194}, "tactile_left": {"psnr": 39.89660995381055, "ssim": 0.9779388261095141, "lpips": 0.09416866302490234}, "tactile_right": {"psnr": 38.934028497760245, "ssim": 0.9676975160160385, "lpips": 0.11838911473751068}}, {"video": {"psnr": 21.33466025951751, "ssim": 0.7278056707881714, "lpips": 0.1298605054616928}, "wrist_left": {"psnr": 21.56313886822813, "ssim": 0.743870628408337, "lpips": 0.173360675573349}, "wrist_right": {"psnr": 10.973690653760286, "ssim": 0.2351529992710283, "lpips": 0.5163424015045166}, "tactile_left": {"psnr": 37.985956803462685, "ssim": 0.9727561668646472, "lpips": 0.13240548968315125}, "tactile_right": {"psnr": 37.35715269906684, "ssim": 0.9645061069531482, "lpips": 0.13574707508087158}}, {"video": {"psnr": 21.004337158023812, "ssim": 0.724605124557344, "lpips": 0.15780684351921082}, "wrist_left": {"psnr": 21.996793788728958, "ssim": 0.729183561744482, "lpips": 0.19345274567604065}, "wrist_right": {"psnr": 10.79307886834259, "ssim": 0.2225514775592842, "lpips": 0.5537847280502319}, "tactile_left": {"psnr": 37.0784555744613, "ssim": 0.9687292773978152, "lpips": 0.15576495230197906}, "tactile_right": {"psnr": 36.512570614593315, "ssim": 0.9608550546548758, "lpips": 0.1450634002685547}}, {"video": {"psnr": 21.01377793850693, "ssim": 0.7146695716370954, "lpips": 0.15439513325691223}, "wrist_left": {"psnr": 21.382417502267987, "ssim": 0.7072380443923612, "lpips": 0.21713265776634216}, "wrist_right": {"psnr": 10.52354226118269, "ssim": 0.22214670553903562, "lpips": 0.5411155223846436}, "tactile_left": {"psnr": 36.38069897325891, "ssim": 0.9652014600099363, "lpips": 0.1761299967765808}, "tactile_right": {"psnr": 36.19542569512499, "ssim": 0.9582406351995658, "lpips": 0.14878445863723755}}, {"video": {"psnr": 21.02460375939546, "ssim": 0.7056853626043695, "lpips": 0.14902284741401672}, "wrist_left": {"psnr": 20.062371161366595, "ssim": 0.6586037316611555, "lpips": 0.261515736579895}, "wrist_right": {"psnr": 10.398762996966218, "ssim": 0.22153114614553807, "lpips": 0.5287035703659058}, "tactile_left": {"psnr": 36.00744664428706, "ssim": 0.9618429837481165, "lpips": 0.1984383761882782}, "tactile_right": {"psnr": 35.56514518643253, "ssim": 0.9555843028293792, "lpips": 0.1643494963645935}}, {"video": {"psnr": 21.00475345403122, "ssim": 0.693419560311563, "lpips": 0.14850807189941406}, "wrist_left": {"psnr": 19.006195422971473, "ssim": 0.6264452908736612, "lpips": 0.30604755878448486}, "wrist_right": {"psnr": 10.622145127649102, "ssim": 0.2156670058087314, "lpips": 0.5040474534034729}, "tactile_left": {"psnr": 35.396320977373676, "ssim": 0.9588201850240923, "lpips": 0.21560873091220856}, "tactile_right": {"psnr": 35.01746643250631, "ssim": 0.9523155434711736, "lpips": 0.18028411269187927}}, {"video": {"psnr": 20.58662038540879, "ssim": 0.6658478202638032, "lpips": 0.16147258877754211}, "wrist_left": {"psnr": 18.465340786447662, "ssim": 0.5962838884038312, "lpips": 0.32937175035476685}, "wrist_right": {"psnr": 10.775990060207867, "ssim": 0.20695537884010895, "lpips": 0.502120316028595}, "tactile_left": {"psnr": 35.04516414059976, "ssim": 0.9556362257953899, "lpips": 0.23135729134082794}, "tactile_right": {"psnr": 34.73610677267505, "ssim": 0.9506218769832653, "lpips": 0.1709885150194168}}, {"video": {"psnr": 20.348266481919623, "ssim": 0.6485872649846929, "lpips": 0.18685361742973328}, "wrist_left": {"psnr": 18.10906981111078, "ssim": 0.573868956404797, "lpips": 0.34371358156204224}, "wrist_right": {"psnr": 11.034848034731057, "ssim": 0.20570441411127927, "lpips": 0.4819912314414978}, "tactile_left": {"psnr": 34.594103185952164, "ssim": 0.9521666293071703, "lpips": 0.24546289443969727}, "tactile_right": {"psnr": 34.30077113255824, "ssim": 0.9485224490809914, "lpips": 0.1762717366218567}}, {"video": {"psnr": 20.06928537061144, "ssim": 0.6371701703105503, "lpips": 0.2042711228132248}, "wrist_left": {"psnr": 17.553243157206246, "ssim": 0.5506681996963592, "lpips": 0.3655664622783661}, "wrist_right": {"psnr": 11.250726718288872, "ssim": 0.2175223221152267, "lpips": 0.4919617772102356}, "tactile_left": {"psnr": 34.324681063597474, "ssim": 0.949187064160848, "lpips": 0.26214995980262756}, "tactile_right": {"psnr": 33.80161817352552, "ssim": 0.9448390814019091, "lpips": 0.20869064331054688}}, {"video": {"psnr": 20.050592824320557, "ssim": 0.6374224920492138, "lpips": 0.2038293480873108}, "wrist_left": {"psnr": 16.806105488833843, "ssim": 0.5184691688454648, "lpips": 0.38611602783203125}, "wrist_right": {"psnr": 11.063962628017876, "ssim": 0.20639885524133184, "lpips": 0.4742152988910675}, "tactile_left": {"psnr": 34.171424898790654, "ssim": 0.9472325617959669, "lpips": 0.269603967666626}, "tactile_right": {"psnr": 33.485630032596426, "ssim": 0.943793069201273, "lpips": 0.19573044776916504}}, {"video": {"psnr": 20.142857155322865, "ssim": 0.645885739211118, "lpips": 0.19964775443077087}, "wrist_left": {"psnr": 16.372026847993972, "ssim": 0.48963482805883174, "lpips": 0.4112856686115265}, "wrist_right": {"psnr": 11.018760116354807, "ssim": 0.20151540614914798, "lpips": 0.49012815952301025}, "tactile_left": {"psnr": 33.68184203600249, "ssim": 0.9441286787318883, "lpips": 0.28597766160964966}, "tactile_right": {"psnr": 33.05201935629715, "ssim": 0.9405087077364955, "lpips": 0.19832131266593933}}, {"video": {"psnr": 20.11647910770394, "ssim": 0.6574755607647242, "lpips": 0.1971331387758255}, "wrist_left": {"psnr": 15.900020200587264, "ssim": 0.46341005806040925, "lpips": 0.43136709928512573}, "wrist_right": {"psnr": 11.225134858523848, "ssim": 0.17079101793736934, "lpips": 0.5245044231414795}, "tactile_left": {"psnr": 33.3253082869646, "ssim": 0.9414765247192798, "lpips": 0.2954065799713135}, "tactile_right": {"psnr": 32.2697376857713, "ssim": 0.9346906161421544, "lpips": 0.2304956316947937}}], "long_metrics": {"video": {"psnr": 21.415292620216583, "ssim": 0.7063289137533778, "lpips": 0.14875248024861018}, "wrist_left": {"psnr": 21.021612860366258, "ssim": 0.6772584268098911, "lpips": 0.2505234365661939}, "wrist_right": {"psnr": 11.27948640224374, "ssim": 0.2579625939671432, "lpips": 0.47267983158429466}, "tactile_left": {"psnr": 37.54148311727257, "ssim": 0.9641428290847855, "lpips": 0.17544712765763204}, "tactile_right": {"psnr": 36.42573437583123, "ssim": 0.9565131971875076, "lpips": 0.15159960637489955}}}, {"id": "motherboard_e010_01", "episode": "motherboard_0909_episode_000.pt", "requested_episode": "motherboard_0909_episode_000.pt", "category": "onset", "t_start": 1825, "start_seconds": 121.66666666666667, "short_contact": [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 1], "future_transition_ticks": [11], "long_contact_fraction": 0.7265625, "long_label": "onset", "short_metrics": {"video": {"psnr": 23.793022353762897, "ssim": 0.8452931402799699, "lpips": 0.05662420764565468}, "wrist_left": {"psnr": 16.63558778296418, "ssim": 0.4170430423903736, "lpips": 0.16433000564575195}, "wrist_right": {"psnr": 11.343110474321414, "ssim": 0.430607935026234, "lpips": 0.3674144446849823}, "tactile_left": {"psnr": 37.66596814937604, "ssim": 0.9811982793533325, "lpips": 0.0518302321434021}, "tactile_right": {"psnr": 29.548229224229196, "ssim": 0.9560326663713812, "lpips": 0.17712606489658356}}, "media": {"short": {"video": "media/motherboard_e010_01_short.mp4", "poster": "media/motherboard_e010_01_short.jpg"}, "long": {"video": "media/motherboard_e010_01_long.mp4", "poster": "media/motherboard_e010_01_long.jpg"}}, "force": {"source": "recorded_normal_force", "units": "N", "fps": 15, "left": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.5254545211791992, 2.8207693099975586, 2.9424359798431396, 4.285294055938721, 4.3677778244018555, 5.145384788513184, 5.145384788513184, 5.259615421295166, 5.439090728759766, 5.439090728759766, 5.29610538482666, 5.439090728759766, 5.439090728759766, 6.251071453094482, 6.251071453094482, 6.733333110809326, 6.251071453094482, 7.192828178405762, 7.293181896209717, 7.293181896209717, 7.293181896209717, 6.733333110809326, 6.733333110809326, 6.251071453094482, 6.251071453094482, 4.285294055938721, 4.285294055938721, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "right": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.1662499904632568, 2.636666774749756, 2.9424359798431396, 4.285294055938721, 5.439090728759766, 5.439090728759766, 5.615621566772461, 6.251071453094482, 6.251071453094482, 6.251071453094482, 6.251071453094482, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 6.733333110809326, 6.733333110809326, 6.733333110809326, 6.733333110809326, 6.251071453094482, 2.9424359798431396, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.5445876717567444, 1.9833333492279053, 5.259615421295166, 5.259615421295166, 6.251071453094482, 6.733333110809326, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 6.251071453094482, 5.259615421295166, 4.285294055938721, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 2.8207693099975586, 1.1662769317626953, 1.5254545211791992, 2.9424359798431396, 4.285294055938721, 5.145384788513184, 6.251071453094482, 6.251071453094482, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 6.733333110809326, 6.251071453094482, 6.251071453094482, 6.251071453094482, 5.259615421295166, 5.145384788513184, 4.3677778244018555, 4.285294055938721, 4.285294055938721, 4.285294055938721, 4.285294055938721, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 1.9833333492279053, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.9833333492279053, 2.9424359798431396, 5.259615421295166, 7.293181896209717, 7.293181896209717, 7.310615539550781]}, "long_curve": [{"video": {"psnr": 23.793022353762897, "ssim": 0.8452931402799699, "lpips": 0.05662420764565468}, "wrist_left": {"psnr": 16.63558778296418, "ssim": 0.4170430423903736, "lpips": 0.16433000564575195}, "wrist_right": {"psnr": 11.343110474321414, "ssim": 0.430607935026234, "lpips": 0.3674144446849823}, "tactile_left": {"psnr": 37.66596814937604, "ssim": 0.9811982793533325, "lpips": 0.0518302321434021}, "tactile_right": {"psnr": 29.548229224229196, "ssim": 0.9560326663713812, "lpips": 0.17712606489658356}}, {"video": {"psnr": 22.01006911620228, "ssim": 0.7560639357424886, "lpips": 0.09262785315513611}, "wrist_left": {"psnr": 15.390989093698801, "ssim": 0.3589662504903114, "lpips": 0.24953636527061462}, "wrist_right": {"psnr": 10.772986366592757, "ssim": 0.3982187027517894, "lpips": 0.4087335169315338}, "tactile_left": {"psnr": 27.45442507445235, "ssim": 0.9250764812190556, "lpips": 0.2564772069454193}, "tactile_right": {"psnr": 25.792642874375275, "ssim": 0.9312388987841802, "lpips": 0.27287453413009644}}, {"video": {"psnr": 21.18891201150863, "ssim": 0.7278982130380638, "lpips": 0.12145239859819412}, "wrist_left": {"psnr": 14.63836703466052, "ssim": 0.31312789426032145, "lpips": 0.3514330983161926}, "wrist_right": {"psnr": 9.723840544699137, "ssim": 0.37918366270684156, "lpips": 0.4489215612411499}, "tactile_left": {"psnr": 27.416283541694018, "ssim": 0.9287194618680263, "lpips": 0.25784778594970703}, "tactile_right": {"psnr": 26.03780407779137, "ssim": 0.9329718430177443, "lpips": 0.2652319669723511}}, {"video": {"psnr": 21.27421056420247, "ssim": 0.7018007674596611, "lpips": 0.13391102850437164}, "wrist_left": {"psnr": 12.901025206625167, "ssim": 0.27057047340749174, "lpips": 0.45005303621292114}, "wrist_right": {"psnr": 14.149774117780701, "ssim": 0.4472124911979454, "lpips": 0.40652692317962646}, "tactile_left": {"psnr": 27.891662115787845, "ssim": 0.9269875045483076, "lpips": 0.2734984755516052}, "tactile_right": {"psnr": 39.391256735276095, "ssim": 0.9693127402746764, "lpips": 0.09853650629520416}}, {"video": {"psnr": 20.57101106766863, "ssim": 0.6741577823541882, "lpips": 0.20072051882743835}, "wrist_left": {"psnr": 12.449643665293767, "ssim": 0.4291676263178841, "lpips": 0.45162612199783325}, "wrist_right": {"psnr": 14.193269728521686, "ssim": 0.3415701670745089, "lpips": 0.5259226560592651}, "tactile_left": {"psnr": 37.23474506191685, "ssim": 0.9617261426958457, "lpips": 0.19119755923748016}, "tactile_right": {"psnr": 38.04938644447923, "ssim": 0.9657623559902486, "lpips": 0.12263564765453339}}, {"video": {"psnr": 19.94986284024928, "ssim": 0.6632864644330285, "lpips": 0.2224436104297638}, "wrist_left": {"psnr": 11.77225849765086, "ssim": 0.34961662716100644, "lpips": 0.4701601266860962}, "wrist_right": {"psnr": 12.383359900358553, "ssim": 0.29548431224468946, "lpips": 0.6139719486236572}, "tactile_left": {"psnr": 37.53490393215281, "ssim": 0.9615355668844967, "lpips": 0.1997029334306717}, "tactile_right": {"psnr": 29.249873369686586, "ssim": 0.9100605495765761, "lpips": 0.3413769006729126}}, {"video": {"psnr": 20.005700514099463, "ssim": 0.6607197457431447, "lpips": 0.22306591272354126}, "wrist_left": {"psnr": 11.150943833281792, "ssim": 0.317591801118013, "lpips": 0.5041006207466125}, "wrist_right": {"psnr": 11.043153809256957, "ssim": 0.2923443910502511, "lpips": 0.6332982182502747}, "tactile_left": {"psnr": 36.72678411660514, "ssim": 0.9594361841055018, "lpips": 0.21128028631210327}, "tactile_right": {"psnr": 29.233912876078577, "ssim": 0.8996246093415259, "lpips": 0.3599287271499634}}, {"video": {"psnr": 19.13230097247803, "ssim": 0.6454906531373574, "lpips": 0.27769434452056885}, "wrist_left": {"psnr": 10.576013714353873, "ssim": 0.2796646585598471, "lpips": 0.5592479109764099}, "wrist_right": {"psnr": 10.397230544408455, "ssim": 0.27250099523709403, "lpips": 0.6499166488647461}, "tactile_left": {"psnr": 36.206123089730475, "ssim": 0.9571594965940406, "lpips": 0.22439783811569214}, "tactile_right": {"psnr": 30.521397597112653, "ssim": 0.9079570649516138, "lpips": 0.3353668749332428}}, {"video": {"psnr": 19.058811281969906, "ssim": 0.6532533456891749, "lpips": 0.27317550778388977}, "wrist_left": {"psnr": 10.893283138742122, "ssim": 0.3273656284198365, "lpips": 0.5226716995239258}, "wrist_right": {"psnr": 9.495419185020523, "ssim": 0.20352935827621632, "lpips": 0.6442002058029175}, "tactile_left": {"psnr": 35.267730221846804, "ssim": 0.9546482261269462, "lpips": 0.2348930835723877}, "tactile_right": {"psnr": 34.92175199759118, "ssim": 0.959058369484172, "lpips": 0.16205920279026031}}, {"video": {"psnr": 18.764272930569234, "ssim": 0.6449746277214655, "lpips": 0.26822513341903687}, "wrist_left": {"psnr": 11.143620662551042, "ssim": 0.33492785329989017, "lpips": 0.5286253094673157}, "wrist_right": {"psnr": 10.233049999060153, "ssim": 0.162063594991802, "lpips": 0.6404910087585449}, "tactile_left": {"psnr": 34.956290055842004, "ssim": 0.952069342237611, "lpips": 0.24684031307697296}, "tactile_right": {"psnr": 33.0676648821753, "ssim": 0.941158912264245, "lpips": 0.20539303123950958}}, {"video": {"psnr": 18.757714698717873, "ssim": 0.6457233220215236, "lpips": 0.26411914825439453}, "wrist_left": {"psnr": 11.062708420291326, "ssim": 0.32179981347317044, "lpips": 0.5353453159332275}, "wrist_right": {"psnr": 10.14769684120081, "ssim": 0.14166643044576122, "lpips": 0.6414186954498291}, "tactile_left": {"psnr": 34.43652200148826, "ssim": 0.9494122695746481, "lpips": 0.25827744603157043}, "tactile_right": {"psnr": 30.21349895728786, "ssim": 0.8782043242555418, "lpips": 0.2914644479751587}}, {"video": {"psnr": 18.744832378968688, "ssim": 0.6442581674219583, "lpips": 0.26370447874069214}, "wrist_left": {"psnr": 11.144236575341921, "ssim": 0.3250295196610431, "lpips": 0.5409753322601318}, "wrist_right": {"psnr": 10.224021187020451, "ssim": 0.14929954078557034, "lpips": 0.6392873525619507}, "tactile_left": {"psnr": 34.06481701708833, "ssim": 0.9471304967436305, "lpips": 0.2723970413208008}, "tactile_right": {"psnr": 31.752128500789873, "ssim": 0.9027606237400583, "lpips": 0.28032124042510986}}, {"video": {"psnr": 18.79348115956926, "ssim": 0.6503187839915961, "lpips": 0.26218366622924805}, "wrist_left": {"psnr": 11.050547054867327, "ssim": 0.3224173114156607, "lpips": 0.5396965742111206}, "wrist_right": {"psnr": 10.397233713588198, "ssim": 0.13600068277581334, "lpips": 0.6159478425979614}, "tactile_left": {"psnr": 33.74885835435756, "ssim": 0.9443129331140189, "lpips": 0.2801104784011841}, "tactile_right": {"psnr": 32.88171581297171, "ssim": 0.9310921570675006, "lpips": 0.23247018456459045}}, {"video": {"psnr": 18.667350215797136, "ssim": 0.6493308289440013, "lpips": 0.2567858397960663}, "wrist_left": {"psnr": 11.056745025941837, "ssim": 0.36588600887542033, "lpips": 0.5312931537628174}, "wrist_right": {"psnr": 10.376676024402025, "ssim": 0.15551563230501536, "lpips": 0.6274406909942627}, "tactile_left": {"psnr": 33.45707742017386, "ssim": 0.940948391023938, "lpips": 0.2975453734397888}, "tactile_right": {"psnr": 34.157344540863676, "ssim": 0.9552948527620174, "lpips": 0.16248181462287903}}, {"video": {"psnr": 18.39858012101427, "ssim": 0.6472372482706301, "lpips": 0.26482468843460083}, "wrist_left": {"psnr": 11.171494238011215, "ssim": 0.3745502229415544, "lpips": 0.5263309478759766}, "wrist_right": {"psnr": 9.763474575850532, "ssim": 0.1382884292174556, "lpips": 0.6675634384155273}, "tactile_left": {"psnr": 33.366646977482354, "ssim": 0.9392022639765301, "lpips": 0.30803728103637695}, "tactile_right": {"psnr": 30.551742391409213, "ssim": 0.9247364127950939, "lpips": 0.2834276556968689}}], "long_metrics": {"video": {"psnr": 19.940675481785203, "ssim": 0.6806538017498835, "lpips": 0.2121038891375065}, "wrist_left": {"psnr": 12.202497596285049, "ssim": 0.34051498211945497, "lpips": 0.46169504125912986}, "wrist_right": {"psnr": 10.976286467472157, "ssim": 0.26289908840579923, "lpips": 0.5687370101610819}, "tactile_left": {"psnr": 33.82858914199964, "ssim": 0.9486375360043954, "lpips": 0.23762222230434418}, "tactile_right": {"psnr": 31.69135668547452, "ssim": 0.9310177587117717, "lpips": 0.2393796533346176}}}, {"id": "motherboard_e010_02", "episode": "motherboard_0909_episode_000.pt", "requested_episode": "motherboard_0909_episode_000.pt", "category": "release", "t_start": 3072, "start_seconds": 204.8, "short_contact": [1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 0, 0], "future_transition_ticks": [11], "long_contact_fraction": 0.7734375, "long_label": "release", "short_metrics": {"video": {"psnr": 28.539772683670467, "ssim": 0.898914636774574, "lpips": 0.03439675644040108}, "wrist_left": {"psnr": 16.166883151312966, "ssim": 0.5488121402493139, "lpips": 0.16371959447860718}, "wrist_right": {"psnr": 16.251717579346224, "ssim": 0.6406137717529119, "lpips": 0.1868172436952591}, "tactile_left": {"psnr": 41.05901385886955, "ssim": 0.9791139536263136, "lpips": 0.02328173816204071}, "tactile_right": {"psnr": 42.33249841429301, "ssim": 0.9812620528855762, "lpips": 0.06639757007360458}}, "media": {"short": {"video": "media/motherboard_e010_02_short.mp4", "poster": "media/motherboard_e010_02_short.jpg"}, "long": {"video": "media/motherboard_e010_02_long.mp4", "poster": "media/motherboard_e010_02_long.jpg"}}, "force": {"source": "recorded_normal_force", "units": "N", "fps": 15, "left": [2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.5254545211791992, 1.5254545211791992, 1.9833333492279053, 1.9833333492279053, 2.636666774749756, 2.8207693099975586, 2.8207693099975586, 2.874819755554199, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 4.285294055938721, 4.285294055938721, 4.3677778244018555, 5.145384788513184, 5.259615421295166, 5.259615421295166, 5.259615421295166, 5.259615421295166, 5.259615421295166, 5.145384788513184, 5.145384788513184, 5.145384788513184, 5.145384788513184, 5.145384788513184, 4.3677778244018555, 4.285294055938721, 2.9424359798431396, 2.9424359798431396, 2.636666774749756, 2.636666774749756, 2.636666774749756, 2.636666774749756, 2.636666774749756, 2.406248092651367, 2.435481309890747, 2.161963701248169, 2.636666774749756, 2.8207693099975586, 1.5254545211791992, 1.6252036094665527, 1.9833333492279053, 1.9833333492279053, 1.9833333492279053, 1.9833333492279053, 1.984134554862976, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.8207693099975586, 2.636666774749756, 2.8207693099975586, 2.8207693099975586, 2.636666774749756, 2.304839849472046, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 4.285294055938721, 4.285294055938721, 4.285294055938721, 4.285294055938721, 4.285294055938721, 4.285294055938721, 4.285294055938721, 2.9424359798431396, 2.8207693099975586, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "right": [4.285294055938721, 4.285294055938721, 4.285294055938721, 4.285294055938721, 4.3677778244018555, 4.3677778244018555, 4.285294055938721, 2.9424359798431396, 2.8207693099975586, 0.41999998688697815, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 2.9424359798431396, 2.9424359798431396, 3.053588390350342, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 4.285294055938721, 4.285294055938721, 4.285294055938721, 4.285294055938721, 4.285294055938721, 4.285294055938721, 4.285294055938721, 4.5, 4.3677778244018555, 4.285294055938721, 5.145384788513184, 5.145384788513184, 4.3677778244018555, 4.807384967803955, 4.3677778244018555, 4.3677778244018555, 4.285294055938721, 4.285294055938721, 4.285294055938721, 4.285294055938721, 4.285294055938721, 4.285294055938721, 4.285294055938721, 4.285294055938721, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 1.5254545211791992, 1.1662499904632568, 0.17491444945335388, 0.17491444945335388, 0.41999998688697815, 0.7223659157752991, 1.1662499904632568, 0.49666666984558105, 0.4887502193450928, 0.49666666984558105, 0.38555848598480225, 0.41999998688697815, 0.49666666984558105, 0.2736985683441162, 0.716099202632904, 1.1662499904632568, 2.636666774749756, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.9833333492279053, 2.8207693099975586, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 4.285294055938721, 4.285294055938721, 4.285294055938721, 4.285294055938721, 4.285294055938721, 4.285294055938721, 2.9424359798431396, 2.9424359798431396, 2.8207693099975586, 2.8207693099975586, 2.8207693099975586, 2.9424359798431396, 2.9424359798431396, 2.3705554008483887, 2.9424359798431396, 0.0, 0.0, 0.0, 0.0, 0.0]}, "long_curve": [{"video": {"psnr": 28.539772683670467, "ssim": 0.898914636774574, "lpips": 0.03439675644040108}, "wrist_left": {"psnr": 16.166883151312966, "ssim": 0.5488121402493139, "lpips": 0.16371959447860718}, "wrist_right": {"psnr": 16.251717579346224, "ssim": 0.6406137717529119, "lpips": 0.1868172436952591}, "tactile_left": {"psnr": 41.05901385886955, "ssim": 0.9791139536263136, "lpips": 0.02328173816204071}, "tactile_right": {"psnr": 42.33249841429301, "ssim": 0.9812620528855762, "lpips": 0.06639757007360458}}, {"video": {"psnr": 25.391756965531236, "ssim": 0.8123698015958984, "lpips": 0.0628233477473259}, "wrist_left": {"psnr": 15.964049442236561, "ssim": 0.476548587649587, "lpips": 0.24800121784210205}, "wrist_right": {"psnr": 14.374936592177832, "ssim": 0.49246711104169943, "lpips": 0.3158397078514099}, "tactile_left": {"psnr": 37.18011194906196, "ssim": 0.9645083408253758, "lpips": 0.07981446385383606}, "tactile_right": {"psnr": 41.689480649567805, "ssim": 0.976443009356396, "lpips": 0.07941770553588867}}, {"video": {"psnr": 24.68757894169692, "ssim": 0.7914822807330286, "lpips": 0.067648746073246}, "wrist_left": {"psnr": 15.075562806875869, "ssim": 0.4475568396946002, "lpips": 0.2730533182621002}, "wrist_right": {"psnr": 14.252202729640098, "ssim": 0.4683388939319718, "lpips": 0.34222251176834106}, "tactile_left": {"psnr": 34.23667160125766, "ssim": 0.9524112361422483, "lpips": 0.15132752060890198}, "tactile_right": {"psnr": 34.605953852342196, "ssim": 0.9612923393063608, "lpips": 0.17819668352603912}}, {"video": {"psnr": 22.915905035679106, "ssim": 0.7374210695445975, "lpips": 0.09335149824619293}, "wrist_left": {"psnr": 14.432510086590728, "ssim": 0.4311587333021369, "lpips": 0.30255934596061707}, "wrist_right": {"psnr": 13.3701147121256, "ssim": 0.4196381329268256, "lpips": 0.35241758823394775}, "tactile_left": {"psnr": 32.618145114690606, "ssim": 0.9486742377422688, "lpips": 0.21091268956661224}, "tactile_right": {"psnr": 30.742775684804723, "ssim": 0.937753956402807, "lpips": 0.29662835597991943}}, {"video": {"psnr": 21.479959205320842, "ssim": 0.6936556467350568, "lpips": 0.13754497468471527}, "wrist_left": {"psnr": 14.286204591937873, "ssim": 0.4210215426158863, "lpips": 0.31725573539733887}, "wrist_right": {"psnr": 13.284637783169979, "ssim": 0.40511438009501477, "lpips": 0.34793931245803833}, "tactile_left": {"psnr": 33.876040931504136, "ssim": 0.9546591377814788, "lpips": 0.21909430623054504}, "tactile_right": {"psnr": 29.986458834612982, "ssim": 0.9311142509029466, "lpips": 0.31976306438446045}}, {"video": {"psnr": 22.442163731587147, "ssim": 0.7111297040168929, "lpips": 0.12302619218826294}, "wrist_left": {"psnr": 14.98983171812376, "ssim": 0.4085687842554564, "lpips": 0.3078668713569641}, "wrist_right": {"psnr": 13.100042444301977, "ssim": 0.3801992762883343, "lpips": 0.36050277948379517}, "tactile_left": {"psnr": 34.887648957947654, "ssim": 0.9556542135582864, "lpips": 0.22544841468334198}, "tactile_right": {"psnr": 31.954870106883494, "ssim": 0.945815629479883, "lpips": 0.289696604013443}}, {"video": {"psnr": 22.15374094843402, "ssim": 0.7043867375861598, "lpips": 0.1385948657989502}, "wrist_left": {"psnr": 13.845007791891664, "ssim": 0.34526098361872304, "lpips": 0.3791823387145996}, "wrist_right": {"psnr": 12.76291542840629, "ssim": 0.35064346322570544, "lpips": 0.40444427728652954}, "tactile_left": {"psnr": 34.62955757245968, "ssim": 0.9533118254857396, "lpips": 0.23598381876945496}, "tactile_right": {"psnr": 33.237225302828044, "ssim": 0.9507996361197666, "lpips": 0.25090622901916504}}, {"video": {"psnr": 21.13240944682946, "ssim": 0.6695185420955748, "lpips": 0.17813661694526672}, "wrist_left": {"psnr": 13.621638542748485, "ssim": 0.33471137929036576, "lpips": 0.38849788904190063}, "wrist_right": {"psnr": 12.359552861147742, "ssim": 0.32922010721795714, "lpips": 0.44179338216781616}, "tactile_left": {"psnr": 33.8922336484922, "ssim": 0.9482135007958516, "lpips": 0.2578301429748535}, "tactile_right": {"psnr": 35.33866658560761, "ssim": 0.9577134295588883, "lpips": 0.188946932554245}}, {"video": {"psnr": 20.28332805436747, "ssim": 0.6450269923574209, "lpips": 0.21089041233062744}, "wrist_left": {"psnr": 13.263626429213254, "ssim": 0.3495332098986306, "lpips": 0.36570799350738525}, "wrist_right": {"psnr": 10.948257772988963, "ssim": 0.2736206270413233, "lpips": 0.4836733937263489}, "tactile_left": {"psnr": 31.982133632721993, "ssim": 0.9402895909871316, "lpips": 0.2873935103416443}, "tactile_right": {"psnr": 35.366454913548985, "ssim": 0.9576665537826502, "lpips": 0.18574711680412292}}, {"video": {"psnr": 19.127350998387413, "ssim": 0.6153164783333336, "lpips": 0.24985429644584656}, "wrist_left": {"psnr": 12.863165855948168, "ssim": 0.33409147848051246, "lpips": 0.3779723644256592}, "wrist_right": {"psnr": 10.2496752310312, "ssim": 0.2502552486942716, "lpips": 0.5215834975242615}, "tactile_left": {"psnr": 28.263385678250682, "ssim": 0.919899048788754, "lpips": 0.31408485770225525}, "tactile_right": {"psnr": 35.15597827864137, "ssim": 0.9568028774457915, "lpips": 0.1718662828207016}}, {"video": {"psnr": 19.118194113078076, "ssim": 0.6132176913982863, "lpips": 0.256221741437912}, "wrist_left": {"psnr": 11.720450177132237, "ssim": 0.32183176465262375, "lpips": 0.4683453440666199}, "wrist_right": {"psnr": 10.325673175117881, "ssim": 0.2539754186396896, "lpips": 0.5999988317489624}, "tactile_left": {"psnr": 33.343806560445366, "ssim": 0.9538425037247276, "lpips": 0.23005196452140808}, "tactile_right": {"psnr": 35.269821023028875, "ssim": 0.9574412063337904, "lpips": 0.149180069565773}}, {"video": {"psnr": 18.670201449321972, "ssim": 0.612337259844784, "lpips": 0.27242064476013184}, "wrist_left": {"psnr": 11.843237015138023, "ssim": 0.34695965464565803, "lpips": 0.4755224585533142}, "wrist_right": {"psnr": 10.107912754505238, "ssim": 0.2323306953732136, "lpips": 0.6658486127853394}, "tactile_left": {"psnr": 33.504387057171755, "ssim": 0.9529520675862992, "lpips": 0.23508644104003906}, "tactile_right": {"psnr": 34.415974640112786, "ssim": 0.9549649330259915, "lpips": 0.1654871255159378}}, {"video": {"psnr": 18.709060165904845, "ssim": 0.6160320282944612, "lpips": 0.2716497778892517}, "wrist_left": {"psnr": 11.95003734090147, "ssim": 0.3429001925668206, "lpips": 0.4870530068874359}, "wrist_right": {"psnr": 10.110696646798324, "ssim": 0.24893746103324244, "lpips": 0.6686822175979614}, "tactile_left": {"psnr": 33.13410880190875, "ssim": 0.9515143803801281, "lpips": 0.25076764822006226}, "tactile_right": {"psnr": 30.868307299604577, "ssim": 0.9426035813106014, "lpips": 0.27754807472229004}}, {"video": {"psnr": 18.26594625097754, "ssim": 0.5987596416905872, "lpips": 0.2820102572441101}, "wrist_left": {"psnr": 12.13252911615334, "ssim": 0.361189710200733, "lpips": 0.4873936176300049}, "wrist_right": {"psnr": 9.063175996947258, "ssim": 0.2654598650666656, "lpips": 0.7221273183822632}, "tactile_left": {"psnr": 32.80251925676327, "ssim": 0.9489188678049139, "lpips": 0.26528629660606384}, "tactile_right": {"psnr": 31.343897861125022, "ssim": 0.9425935774400147, "lpips": 0.265247106552124}}, {"video": {"psnr": 17.921837473808807, "ssim": 0.5951400228960455, "lpips": 0.3104327917098999}, "wrist_left": {"psnr": 12.1567617065977, "ssim": 0.3548696171754595, "lpips": 0.5169461965560913}, "wrist_right": {"psnr": 8.1725584249099, "ssim": 0.23070379224267845, "lpips": 0.7359768748283386}, "tactile_left": {"psnr": 32.59855501728427, "ssim": 0.9467732460252168, "lpips": 0.275298535823822}, "tactile_right": {"psnr": 32.79061196545401, "ssim": 0.9507712860521919, "lpips": 0.20087206363677979}}], "long_metrics": {"video": {"psnr": 21.38928036430635, "ssim": 0.6876472355931135, "lpips": 0.17926686132947603}, "wrist_left": {"psnr": 13.620766384853473, "ssim": 0.38833430788643386, "lpips": 0.3706051528453827}, "wrist_right": {"psnr": 11.915604675507634, "ssim": 0.34943454963810033, "lpips": 0.4766578366359075}, "tactile_left": {"psnr": 33.86722130925531, "ssim": 0.951382410083649, "lpips": 0.2174441566069921}, "tactile_right": {"psnr": 34.3399316941637, "ssim": 0.9536692212935771, "lpips": 0.20572673231363298}}}, {"id": "motherboard_e010_03", "episode": "motherboard_0909_episode_000.pt", "requested_episode": "motherboard_0909_episode_000.pt", "category": "full", "t_start": 2531, "start_seconds": 168.73333333333332, "short_contact": [1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1], "future_transition_ticks": [], "long_contact_fraction": 0.9296875, "long_label": "full", "short_metrics": {"video": {"psnr": 26.013815721968513, "ssim": 0.8556093714437008, "lpips": 0.050083208829164505}, "wrist_left": {"psnr": 17.125678587178786, "ssim": 0.5926415438643933, "lpips": 0.1694549024105072}, "wrist_right": {"psnr": 18.130418566792375, "ssim": 0.5975836813007753, "lpips": 0.2183457612991333}, "tactile_left": {"psnr": 35.35333514945455, "ssim": 0.9653129971050619, "lpips": 0.0476483590900898}, "tactile_right": {"psnr": 37.3464400361205, "ssim": 0.971161092487824, "lpips": 0.0838528424501419}}, "media": {"short": {"video": "media/motherboard_e010_03_short.mp4", "poster": "media/motherboard_e010_03_short.jpg"}, "long": {"video": "media/motherboard_e010_03_long.mp4", "poster": "media/motherboard_e010_03_long.jpg"}}, "force": {"source": "recorded_normal_force", "units": "N", "fps": 15, "left": [1.1936427354812622, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 4.285294055938721, 2.9424359798431396, 4.285294055938721, 5.145384788513184, 5.259615421295166, 5.259615421295166, 5.439090728759766, 5.319377899169922, 5.319377899169922, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.318239688873291, 7.4301862716674805, 7.316900253295898, 7.304895877838135, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 6.251071453094482, 6.251071453094482, 6.251071453094482, 5.439090728759766, 5.439090728759766, 5.259615421295166, 5.259615421295166, 5.4359307289123535, 5.259615421295166, 5.145384788513184, 5.145384788513184, 5.145384788513184, 5.145384788513184, 4.285294055938721, 2.9424359798431396, 2.9424359798431396, 2.0387191772460938, 2.8207693099975586, 2.9424359798431396, 2.9424359798431396, 4.285294055938721, 4.3677778244018555, 4.285294055938721, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 1.1733332872390747, 2.9424359798431396, 4.285294055938721, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.8207693099975586, 1.9833333492279053, 2.636666774749756, 2.8207693099975586, 2.8207693099975586, 2.8207693099975586, 2.9424359798431396, 2.9424359798431396, 2.4149999618530273, 1.9833333492279053, 1.9833333492279053, 1.9833333492279053, 1.9833333492279053, 1.7736024856567383, 1.9833333492279053, 1.9833333492279053, 1.1733332872390747, 0.2758376896381378, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "right": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.9833333492279053, 2.110971689224243, 2.8207693099975586, 2.9424359798431396, 2.9424359798431396, 4.285294055938721, 4.285294055938721, 4.285294055938721, 4.285294055938721, 4.285294055938721, 4.285294055938721, 4.285294055938721, 2.8207693099975586, 2.312258720397949, 1.22345769405365, 1.170535922050476, 1.1733332872390747, 1.9833333492279053, 2.9424359798431396, 2.9424359798431396, 4.285294055938721, 5.259615421295166, 5.259615421295166, 5.259615421295166, 5.411874771118164, 5.259615421295166, 4.3677778244018555, 4.285294055938721, 5.145384788513184, 5.259615421295166, 6.251071453094482, 6.251071453094482, 6.733333110809326, 6.733333110809326, 6.733333110809326, 6.251071453094482, 5.734507083892822, 6.251071453094482, 6.251071453094482, 6.733333110809326, 6.251071453094482, 5.439090728759766, 6.251071453094482, 6.251071453094482, 5.439090728759766, 5.259615421295166, 6.251071453094482, 6.251071453094482, 6.251071453094482, 7.166194438934326, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.00433874130249, 7.027249813079834, 7.293181896209717, 6.983473300933838, 7.044147491455078, 6.733333110809326, 6.733333110809326, 6.251071453094482, 6.251071453094482, 5.439090728759766, 5.439090728759766, 5.259615421295166, 5.145384788513184, 4.285294055938721, 4.285294055938721, 4.285294055938721, 4.285294055938721, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.8207693099975586, 0.7958375811576843, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.9833333492279053, 6.251071453094482, 7.293181896209717, 7.293181896209717, 7.295978546142578, 7.294878959655762, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.300464630126953, 7.300464630126953, 7.29489803314209, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 6.733333110809326, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717]}, "long_curve": [{"video": {"psnr": 26.013815721968513, "ssim": 0.8556093714437008, "lpips": 0.050083208829164505}, "wrist_left": {"psnr": 17.125678587178786, "ssim": 0.5926415438643933, "lpips": 0.1694549024105072}, "wrist_right": {"psnr": 18.130418566792375, "ssim": 0.5975836813007753, "lpips": 0.2183457612991333}, "tactile_left": {"psnr": 35.35333514945455, "ssim": 0.9653129971050619, "lpips": 0.0476483590900898}, "tactile_right": {"psnr": 37.3464400361205, "ssim": 0.971161092487824, "lpips": 0.0838528424501419}}, {"video": {"psnr": 23.749904558960647, "ssim": 0.790832063691442, "lpips": 0.0937613993883133}, "wrist_left": {"psnr": 15.707229367036035, "ssim": 0.4427903670709833, "lpips": 0.3052542805671692}, "wrist_right": {"psnr": 14.784836789062894, "ssim": 0.41952073253224303, "lpips": 0.3858705163002014}, "tactile_left": {"psnr": 28.943336454572474, "ssim": 0.918801418982429, "lpips": 0.13204684853553772}, "tactile_right": {"psnr": 37.56185309373262, "ssim": 0.9665275702513484, "lpips": 0.1212434321641922}}, {"video": {"psnr": 21.08138800493848, "ssim": 0.7240431170217998, "lpips": 0.15192848443984985}, "wrist_left": {"psnr": 13.46434435824115, "ssim": 0.3277118861836114, "lpips": 0.41317248344421387}, "wrist_right": {"psnr": 14.72919884307229, "ssim": 0.40318982431546185, "lpips": 0.40693461894989014}, "tactile_left": {"psnr": 29.555848671171432, "ssim": 0.9177647440697572, "lpips": 0.18892185389995575}, "tactile_right": {"psnr": 34.63992850868591, "ssim": 0.9604802346487946, "lpips": 0.16754567623138428}}, {"video": {"psnr": 19.10377714701081, "ssim": 0.6738386968697606, "lpips": 0.24936357140541077}, "wrist_left": {"psnr": 12.074749222251505, "ssim": 0.26330013507765815, "lpips": 0.4460994303226471}, "wrist_right": {"psnr": 14.957740188241548, "ssim": 0.36788841179608855, "lpips": 0.41782546043395996}, "tactile_left": {"psnr": 31.92575331997235, "ssim": 0.934362045032552, "lpips": 0.2202160358428955}, "tactile_right": {"psnr": 33.546761552512116, "ssim": 0.9555243968521249, "lpips": 0.20285889506340027}}, {"video": {"psnr": 18.879052987941225, "ssim": 0.6479154664570291, "lpips": 0.309950053691864}, "wrist_left": {"psnr": 11.284385624918293, "ssim": 0.22948402697158882, "lpips": 0.48637914657592773}, "wrist_right": {"psnr": 13.289886392051727, "ssim": 0.3146907573328612, "lpips": 0.47072291374206543}, "tactile_left": {"psnr": 33.36336344512724, "ssim": 0.9435028428137031, "lpips": 0.24449539184570312}, "tactile_right": {"psnr": 33.23677344262484, "ssim": 0.951660634033839, "lpips": 0.21787579357624054}}, {"video": {"psnr": 18.74802736883858, "ssim": 0.6414446437996308, "lpips": 0.32540690898895264}, "wrist_left": {"psnr": 11.188237079707823, "ssim": 0.23689000272318278, "lpips": 0.5125541090965271}, "wrist_right": {"psnr": 12.726312849248043, "ssim": 0.28260346345245024, "lpips": 0.5212459564208984}, "tactile_left": {"psnr": 33.983496494444225, "ssim": 0.9467072328965911, "lpips": 0.2474333643913269}, "tactile_right": {"psnr": 32.2357010425133, "ssim": 0.9486763832431465, "lpips": 0.23098531365394592}}, {"video": {"psnr": 18.48869366861074, "ssim": 0.638618103526612, "lpips": 0.3303282856941223}, "wrist_left": {"psnr": 10.502234286700848, "ssim": 0.22515450044015387, "lpips": 0.6196632981300354}, "wrist_right": {"psnr": 12.106362907340486, "ssim": 0.2708933121433005, "lpips": 0.5398264527320862}, "tactile_left": {"psnr": 34.87500960912826, "ssim": 0.9480502271353622, "lpips": 0.2519356608390808}, "tactile_right": {"psnr": 31.02574868010563, "ssim": 0.9429909857549499, "lpips": 0.2493041753768921}}, {"video": {"psnr": 17.69922757001009, "ssim": 0.6239727345581323, "lpips": 0.3499382734298706}, "wrist_left": {"psnr": 9.238820310879628, "ssim": 0.20077262415699124, "lpips": 0.7396643757820129}, "wrist_right": {"psnr": 11.047751918675232, "ssim": 0.2253130294694372, "lpips": 0.5893465280532837}, "tactile_left": {"psnr": 34.26875703061195, "ssim": 0.9414789383830412, "lpips": 0.2777434289455414}, "tactile_right": {"psnr": 31.257552626585063, "ssim": 0.9422981253138593, "lpips": 0.25603803992271423}}, {"video": {"psnr": 18.177627033566544, "ssim": 0.6294082263689915, "lpips": 0.34329819679260254}, "wrist_left": {"psnr": 9.501370118571721, "ssim": 0.20743172550927652, "lpips": 0.7436677813529968}, "wrist_right": {"psnr": 10.13503631960716, "ssim": 0.21211079955451487, "lpips": 0.623245120048523}, "tactile_left": {"psnr": 34.71731935461325, "ssim": 0.9439921633469044, "lpips": 0.2667580544948578}, "tactile_right": {"psnr": 32.723406506784855, "ssim": 0.9479076737007583, "lpips": 0.2333139032125473}}, {"video": {"psnr": 16.07000225248308, "ssim": 0.5932836087043379, "lpips": 0.4126151204109192}, "wrist_left": {"psnr": 9.002691145012982, "ssim": 0.20620648083644105, "lpips": 0.7536874413490295}, "wrist_right": {"psnr": 9.199829294701043, "ssim": 0.22024856156478684, "lpips": 0.770575225353241}, "tactile_left": {"psnr": 34.84240303643777, "ssim": 0.9453824518950716, "lpips": 0.26977914571762085}, "tactile_right": {"psnr": 32.37025078570289, "ssim": 0.9477292895338647, "lpips": 0.2312924861907959}}, {"video": {"psnr": 15.454635822227205, "ssim": 0.5883785050325435, "lpips": 0.42265039682388306}, "wrist_left": {"psnr": 9.722740764649387, "ssim": 0.3284932783149346, "lpips": 0.6981396675109863}, "wrist_right": {"psnr": 10.064846164025159, "ssim": 0.30485733943184684, "lpips": 0.7441712021827698}, "tactile_left": {"psnr": 35.12334209570986, "ssim": 0.9492172017518794, "lpips": 0.2562028765678406}, "tactile_right": {"psnr": 34.73983206508747, "ssim": 0.956230662237748, "lpips": 0.17665302753448486}}, {"video": {"psnr": 14.978658376347811, "ssim": 0.5658361015520939, "lpips": 0.44477975368499756}, "wrist_left": {"psnr": 10.861129050838363, "ssim": 0.4216668828600555, "lpips": 0.6059810519218445}, "wrist_right": {"psnr": 10.278868121530998, "ssim": 0.20727383292684592, "lpips": 0.6813110113143921}, "tactile_left": {"psnr": 34.71207538458784, "ssim": 0.9466185256637981, "lpips": 0.26222991943359375}, "tactile_right": {"psnr": 33.6138635339051, "ssim": 0.9519257833087424, "lpips": 0.2027050256729126}}, {"video": {"psnr": 14.240950315601417, "ssim": 0.5330836567834264, "lpips": 0.47306138277053833}, "wrist_left": {"psnr": 12.959626003977792, "ssim": 0.5363688857054831, "lpips": 0.5388607382774353}, "wrist_right": {"psnr": 10.123948607702308, "ssim": 0.1837178959714854, "lpips": 0.7891973257064819}, "tactile_left": {"psnr": 34.624776844423316, "ssim": 0.9446618113630725, "lpips": 0.27482205629348755}, "tactile_right": {"psnr": 30.477070968557214, "ssim": 0.9398548478862729, "lpips": 0.2779299020767212}}, {"video": {"psnr": 13.222533469950953, "ssim": 0.46759600436591353, "lpips": 0.5273552536964417}, "wrist_left": {"psnr": 14.286348583144019, "ssim": 0.5768522796617181, "lpips": 0.530170202255249}, "wrist_right": {"psnr": 9.728864931398812, "ssim": 0.1827515555485647, "lpips": 0.8151200413703918}, "tactile_left": {"psnr": 34.34390978210126, "ssim": 0.9421548323845421, "lpips": 0.29107773303985596}, "tactile_right": {"psnr": 29.7552315627995, "ssim": 0.9351740457079554, "lpips": 0.29471394419670105}}, {"video": {"psnr": 13.003169414069252, "ssim": 0.4630731968326861, "lpips": 0.531802773475647}, "wrist_left": {"psnr": 14.337478035162235, "ssim": 0.5753094285486203, "lpips": 0.532499372959137}, "wrist_right": {"psnr": 8.643545433341, "ssim": 0.16843891104504805, "lpips": 0.8259020447731018}, "tactile_left": {"psnr": 33.97764263973967, "ssim": 0.9398667380083587, "lpips": 0.30471622943878174}, "tactile_right": {"psnr": 30.80063616816609, "ssim": 0.9354634904326766, "lpips": 0.28603869676589966}}], "long_metrics": {"video": {"psnr": 17.927430914168358, "ssim": 0.62912889980054, "lpips": 0.33442153756817183}, "wrist_left": {"psnr": 12.083804169218038, "ssim": 0.35807160319500614, "lpips": 0.539683218797048}, "wrist_right": {"psnr": 11.996496488452738, "ssim": 0.29073880722571405, "lpips": 0.5866426785786947}, "tactile_left": {"psnr": 33.64069128747303, "ssim": 0.941858278055475, "lpips": 0.23573513055841128}, "tactile_right": {"psnr": 33.022070038258875, "ssim": 0.9502403476929271, "lpips": 0.21549007693926495}}}, {"id": "motherboard_e010_04", "episode": "motherboard_0909_episode_001.pt", "requested_episode": "motherboard_0909_episode_001.pt", "category": "none", "t_start": 3, "start_seconds": 0.2, "short_contact": [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0], "future_transition_ticks": [], "long_contact_fraction": 0.0, "long_label": "none_throughout", "short_metrics": {"video": {"psnr": 34.85454642987936, "ssim": 0.9595800524007744, "lpips": 0.01166700292378664}, "wrist_left": {"psnr": 39.674712136037115, "ssim": 0.9772777599820694, "lpips": 0.015215843915939331}, "wrist_right": {"psnr": 40.19601899720683, "ssim": 0.9802355738051994, "lpips": 0.012154814787209034}, "tactile_left": {"psnr": 48.55075868655658, "ssim": 0.9936859759912854, "lpips": 0.004927806556224823}, "tactile_right": {"psnr": 49.907450200809045, "ssim": 0.9944366632177575, "lpips": 0.005040036514401436}}, "media": {"short": {"video": "media/motherboard_e010_04_short.mp4", "poster": "media/motherboard_e010_04_short.jpg"}, "long": {"video": "media/motherboard_e010_04_long.mp4", "poster": "media/motherboard_e010_04_long.jpg"}}, "force": {"source": "recorded_normal_force", "units": "N", "fps": 15, "left": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "right": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]}, "long_curve": [{"video": {"psnr": 34.85454642987936, "ssim": 0.9595800524007744, "lpips": 0.01166700292378664}, "wrist_left": {"psnr": 39.674712136037115, "ssim": 0.9772777599820694, "lpips": 0.015215843915939331}, "wrist_right": {"psnr": 40.19601899720683, "ssim": 0.9802355738051994, "lpips": 0.012154814787209034}, "tactile_left": {"psnr": 48.55075868655658, "ssim": 0.9936859759912854, "lpips": 0.004927806556224823}, "tactile_right": {"psnr": 49.907450200809045, "ssim": 0.9944366632177575, "lpips": 0.005040036514401436}}, {"video": {"psnr": 32.559306243739094, "ssim": 0.9414836064257728, "lpips": 0.02007509581744671}, "wrist_left": {"psnr": 35.495302566849574, "ssim": 0.9565863590404033, "lpips": 0.02822846546769142}, "wrist_right": {"psnr": 36.76730428271132, "ssim": 0.9681049753580862, "lpips": 0.021918121725320816}, "tactile_left": {"psnr": 43.82904992478964, "ssim": 0.9887555770979337, "lpips": 0.01738622784614563}, "tactile_right": {"psnr": 43.60178608876851, "ssim": 0.9878671369868985, "lpips": 0.03332121670246124}}, {"video": {"psnr": 30.453326061089104, "ssim": 0.9225952352667846, "lpips": 0.027938514947891235}, "wrist_left": {"psnr": 32.89290020124618, "ssim": 0.9444754205400471, "lpips": 0.046895433217287064}, "wrist_right": {"psnr": 34.344546549926406, "ssim": 0.9535683542777742, "lpips": 0.03189387544989586}, "tactile_left": {"psnr": 41.05354471874591, "ssim": 0.9836397036757585, "lpips": 0.03576941788196564}, "tactile_right": {"psnr": 40.90412234642315, "ssim": 0.9815591661623425, "lpips": 0.06205546110868454}}, {"video": {"psnr": 28.93432128627549, "ssim": 0.9016828667472501, "lpips": 0.03653987497091293}, "wrist_left": {"psnr": 31.16576915011659, "ssim": 0.934384562247726, "lpips": 0.062423765659332275}, "wrist_right": {"psnr": 32.504455863795826, "ssim": 0.9393367582733192, "lpips": 0.043978504836559296}, "tactile_left": {"psnr": 38.73443530064453, "ssim": 0.9777895662698666, "lpips": 0.08215337246656418}, "tactile_right": {"psnr": 39.346791035089616, "ssim": 0.9780788909176854, "lpips": 0.08142470568418503}}, {"video": {"psnr": 27.736582356335084, "ssim": 0.8819565058329786, "lpips": 0.04869965463876724}, "wrist_left": {"psnr": 29.50484212902858, "ssim": 0.9246901154609752, "lpips": 0.07632332295179367}, "wrist_right": {"psnr": 30.859515288360505, "ssim": 0.9265628976529946, "lpips": 0.05822735279798508}, "tactile_left": {"psnr": 37.36247083613883, "ssim": 0.9728853903980352, "lpips": 0.1244976818561554}, "tactile_right": {"psnr": 37.76162484434681, "ssim": 0.974328999000261, "lpips": 0.09863686561584473}}, {"video": {"psnr": 26.664536996875967, "ssim": 0.861877381820716, "lpips": 0.061173632740974426}, "wrist_left": {"psnr": 28.11455363755803, "ssim": 0.9088245401503171, "lpips": 0.09069511294364929}, "wrist_right": {"psnr": 29.526257381362537, "ssim": 0.9132839042817622, "lpips": 0.07115481793880463}, "tactile_left": {"psnr": 36.16137287444946, "ssim": 0.9684022958953218, "lpips": 0.15623804926872253}, "tactile_right": {"psnr": 36.54275513103358, "ssim": 0.9712198571653314, "lpips": 0.11848463118076324}}, {"video": {"psnr": 25.82029293495785, "ssim": 0.841889435162738, "lpips": 0.07206938415765762}, "wrist_left": {"psnr": 27.085853173423832, "ssim": 0.8945724116199829, "lpips": 0.10745228826999664}, "wrist_right": {"psnr": 28.323930846215987, "ssim": 0.8994100297707431, "lpips": 0.0857076495885849}, "tactile_left": {"psnr": 35.48708629804539, "ssim": 0.9651277231071127, "lpips": 0.17745395004749298}, "tactile_right": {"psnr": 35.5470974776117, "ssim": 0.9678798459325937, "lpips": 0.13030597567558289}}, {"video": {"psnr": 25.058753212406188, "ssim": 0.8233283486768588, "lpips": 0.0839836597442627}, "wrist_left": {"psnr": 25.98267545101706, "ssim": 0.8790374256895943, "lpips": 0.13165876269340515}, "wrist_right": {"psnr": 27.373190115882156, "ssim": 0.8853693839467109, "lpips": 0.09998266398906708}, "tactile_left": {"psnr": 35.180411818019245, "ssim": 0.9620702192669477, "lpips": 0.19329872727394104}, "tactile_right": {"psnr": 34.830887820141164, "ssim": 0.9647439671503371, "lpips": 0.14266128838062286}}, {"video": {"psnr": 24.33005574600621, "ssim": 0.8040061407701526, "lpips": 0.09165216237306595}, "wrist_left": {"psnr": 25.182040297563102, "ssim": 0.8666768530112199, "lpips": 0.14898650348186493}, "wrist_right": {"psnr": 26.585086734501587, "ssim": 0.8731030101938837, "lpips": 0.11240135133266449}, "tactile_left": {"psnr": 34.540216254694265, "ssim": 0.9588470813932366, "lpips": 0.21203099191188812}, "tactile_right": {"psnr": 34.185615509454095, "ssim": 0.9618051463603907, "lpips": 0.15047526359558105}}, {"video": {"psnr": 23.711762414702108, "ssim": 0.7872825110453532, "lpips": 0.10280364751815796}, "wrist_left": {"psnr": 24.777541809441487, "ssim": 0.8529628926941217, "lpips": 0.16736185550689697}, "wrist_right": {"psnr": 25.966888364557292, "ssim": 0.8613684760010591, "lpips": 0.1271178424358368}, "tactile_left": {"psnr": 34.22815178813896, "ssim": 0.9557423656905276, "lpips": 0.22518940269947052}, "tactile_right": {"psnr": 33.92072948690961, "ssim": 0.959258946061003, "lpips": 0.16043397784233093}}, {"video": {"psnr": 23.229110810949916, "ssim": 0.7705008399890863, "lpips": 0.11275823414325714}, "wrist_left": {"psnr": 23.95725091659593, "ssim": 0.8357871718720065, "lpips": 0.18578937649726868}, "wrist_right": {"psnr": 25.18282725968779, "ssim": 0.8475396803638411, "lpips": 0.14847439527511597}, "tactile_left": {"psnr": 33.69629733994797, "ssim": 0.952116680887533, "lpips": 0.24095800518989563}, "tactile_right": {"psnr": 33.446476454427994, "ssim": 0.956258989017487, "lpips": 0.17148840427398682}}, {"video": {"psnr": 22.671843142549353, "ssim": 0.7586672502862251, "lpips": 0.12077024579048157}, "wrist_left": {"psnr": 23.182636759616734, "ssim": 0.819550482820725, "lpips": 0.2089145928621292}, "wrist_right": {"psnr": 24.56656635961248, "ssim": 0.8382534525971261, "lpips": 0.15964192152023315}, "tactile_left": {"psnr": 33.25252373817261, "ssim": 0.9488266658905384, "lpips": 0.2561972141265869}, "tactile_right": {"psnr": 33.1525854609297, "ssim": 0.9539197376905516, "lpips": 0.17784512042999268}}, {"video": {"psnr": 22.119773719730077, "ssim": 0.7452121282063304, "lpips": 0.13047461211681366}, "wrist_left": {"psnr": 22.552110146666887, "ssim": 0.8043776391824082, "lpips": 0.22817297279834747}, "wrist_right": {"psnr": 23.84621983511422, "ssim": 0.8260114016146443, "lpips": 0.17809464037418365}, "tactile_left": {"psnr": 32.88314859725818, "ssim": 0.9461800361621091, "lpips": 0.26064690947532654}, "tactile_right": {"psnr": 32.578016882677915, "ssim": 0.9501307927220555, "lpips": 0.1873152256011963}}, {"video": {"psnr": 21.732894871082173, "ssim": 0.7305738742544812, "lpips": 0.13886407017707825}, "wrist_left": {"psnr": 21.802487053743494, "ssim": 0.7891326257053042, "lpips": 0.24697861075401306}, "wrist_right": {"psnr": 23.012189802076826, "ssim": 0.8137624827480783, "lpips": 0.19230274856090546}, "tactile_left": {"psnr": 32.329295531435676, "ssim": 0.9426155905474225, "lpips": 0.27501028776168823}, "tactile_right": {"psnr": 31.93096486923554, "ssim": 0.9469425598776341, "lpips": 0.19854436814785004}}, {"video": {"psnr": 20.960693342748158, "ssim": 0.6984917762689312, "lpips": 0.16434220969676971}, "wrist_left": {"psnr": 21.369209637950437, "ssim": 0.773157511463514, "lpips": 0.27489423751831055}, "wrist_right": {"psnr": 21.8364346917077, "ssim": 0.7827514488899222, "lpips": 0.2292228490114212}, "tactile_left": {"psnr": 31.92030716353202, "ssim": 0.9390582982385065, "lpips": 0.2913649082183838}, "tactile_right": {"psnr": 31.38023222464511, "ssim": 0.9440811493875659, "lpips": 0.2072780728340149}}], "long_metrics": {"video": {"psnr": 26.055853304621742, "ssim": 0.8286085302102956, "lpips": 0.08158746678382159}, "wrist_left": {"psnr": 27.515992337790337, "ssim": 0.8774329180986944, "lpips": 0.1346660763025284}, "wrist_right": {"psnr": 28.72609549151463, "ssim": 0.8872441219850097, "lpips": 0.10481823664158582}, "tactile_left": {"psnr": 36.61393805803795, "ssim": 0.9637162113674758, "lpips": 0.17020819683869678}, "tactile_right": {"psnr": 36.6024757221669, "ssim": 0.966167456509993, "lpips": 0.12835404090583324}}}, {"id": "motherboard_e010_05", "episode": "motherboard_0909_episode_001.pt", "requested_episode": "motherboard_0909_episode_001.pt", "category": "onset", "t_start": 760, "start_seconds": 50.666666666666664, "short_contact": [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 1], "future_transition_ticks": [11], "long_contact_fraction": 0.6953125, "long_label": "onset", "short_metrics": {"video": {"psnr": 23.823328953638914, "ssim": 0.8073574733803083, "lpips": 0.0810004323720932}, "wrist_left": {"psnr": 14.128244061529799, "ssim": 0.3461507357057285, "lpips": 0.46864742040634155}, "wrist_right": {"psnr": 15.298970525737268, "ssim": 0.5413978608657126, "lpips": 0.339438259601593}, "tactile_left": {"psnr": 38.20497859302515, "ssim": 0.9799883474556672, "lpips": 0.043573785573244095}, "tactile_right": {"psnr": 47.07830692100252, "ssim": 0.9917497200049117, "lpips": 0.013796110637485981}}, "media": {"short": {"video": "media/motherboard_e010_05_short.mp4", "poster": "media/motherboard_e010_05_short.jpg"}, "long": {"video": "media/motherboard_e010_05_long.mp4", "poster": "media/motherboard_e010_05_long.jpg"}}, "force": {"source": "recorded_normal_force", "units": "N", "fps": 15, "left": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 2.93143892288208, 2.8207693099975586, 2.9424359798431396, 2.636666774749756, 1.9833333492279053, 2.8207693099975586, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 2.8207693099975586, 2.9424359798431396, 4.285294055938721, 5.145384788513184, 5.145384788513184, 5.145384788513184, 5.145384788513184, 5.145384788513184, 5.259615421295166, 5.259615421295166, 5.439090728759766, 5.259615421295166, 5.259615421295166, 1.886374831199646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.9833333492279053, 1.5254545211791992, 2.024200916290283, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 4.285294055938721, 4.285294055938721, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 1.9833333492279053, 1.4500000476837158, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "right": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.1662499904632568, 1.1733332872390747, 1.1662499904632568, 1.5254545211791992, 2.8207693099975586, 4.285294055938721, 5.76570463180542, 6.251071453094482, 6.251071453094482, 6.251071453094482, 6.251071453094482, 6.733333110809326, 6.733333110809326, 6.251071453094482, 6.251071453094482, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 6.8976850509643555, 6.733333110809326, 6.251071453094482, 6.251071453094482, 5.145384788513184, 6.251071453094482, 6.251071453094482, 5.259615421295166, 5.439090728759766, 6.251071453094482, 5.439090728759766, 5.439090728759766, 5.439090728759766, 6.182772636413574, 6.251071453094482, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.013420581817627, 2.8207693099975586, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.455624520778656, 4.285294055938721, 5.259615421295166, 5.259615421295166, 5.439090728759766, 5.972020626068115, 5.972020626068115, 5.145384788513184, 2.9424359798431396, 2.9424359798431396, 4.285294055938721, 4.285294055938721, 4.285294055938721, 4.285294055938721, 4.285294055938721, 4.285294055938721, 4.5, 5.145384788513184, 5.259615421295166, 5.145384788513184, 2.9424359798431396, 0.2600841820240021, 0.0, 0.0, 0.0, 0.0, 0.0]}, "long_curve": [{"video": {"psnr": 23.823328953638914, "ssim": 0.8073574733803083, "lpips": 0.0810004323720932}, "wrist_left": {"psnr": 14.128244061529799, "ssim": 0.3461507357057285, "lpips": 0.46864742040634155}, "wrist_right": {"psnr": 15.298970525737268, "ssim": 0.5413978608657126, "lpips": 0.339438259601593}, "tactile_left": {"psnr": 38.20497859302515, "ssim": 0.9799883474556672, "lpips": 0.043573785573244095}, "tactile_right": {"psnr": 47.07830692100252, "ssim": 0.9917497200049117, "lpips": 0.013796110637485981}}, {"video": {"psnr": 20.70983610443378, "ssim": 0.7055012515803025, "lpips": 0.15842202305793762}, "wrist_left": {"psnr": 13.339594156350534, "ssim": 0.332909240403454, "lpips": 0.48818475008010864}, "wrist_right": {"psnr": 14.535605751945496, "ssim": 0.5027379664531828, "lpips": 0.35301855206489563}, "tactile_left": {"psnr": 40.01617977609091, "ssim": 0.9723108338840769, "lpips": 0.060844529420137405}, "tactile_right": {"psnr": 44.062234868698226, "ssim": 0.9841437998117983, "lpips": 0.04564718157052994}}, {"video": {"psnr": 20.396773266389424, "ssim": 0.7131985276072881, "lpips": 0.19301801919937134}, "wrist_left": {"psnr": 12.882436940395404, "ssim": 0.2509843128574537, "lpips": 0.5630053281784058}, "wrist_right": {"psnr": 12.550476674156123, "ssim": 0.44427552227043154, "lpips": 0.4373370409011841}, "tactile_left": {"psnr": 28.946423533310757, "ssim": 0.9395153541834029, "lpips": 0.2186284214258194}, "tactile_right": {"psnr": 43.557933098446995, "ssim": 0.9808460701873409, "lpips": 0.0669620931148529}}, {"video": {"psnr": 18.92008869074589, "ssim": 0.677166248398657, "lpips": 0.2571466565132141}, "wrist_left": {"psnr": 11.4608817913034, "ssim": 0.20243839618228976, "lpips": 0.5783405303955078}, "wrist_right": {"psnr": 12.861371333101086, "ssim": 0.48045165765876685, "lpips": 0.4694423973560333}, "tactile_left": {"psnr": 29.739176144727395, "ssim": 0.9494538975234958, "lpips": 0.2229282110929489}, "tactile_right": {"psnr": 42.72605855773208, "ssim": 0.9774837131057328, "lpips": 0.08812056481838226}}, {"video": {"psnr": 18.425753808619053, "ssim": 0.6561733282950739, "lpips": 0.2854137122631073}, "wrist_left": {"psnr": 10.914480407615066, "ssim": 0.36471096339460457, "lpips": 0.5634031295776367}, "wrist_right": {"psnr": 10.845873461286331, "ssim": 0.2635119577615671, "lpips": 0.5820103883743286}, "tactile_left": {"psnr": 38.78104887417201, "ssim": 0.9644356207537319, "lpips": 0.17529833316802979}, "tactile_right": {"psnr": 41.65455927658855, "ssim": 0.9746630533143061, "lpips": 0.10390633344650269}}, {"video": {"psnr": 18.417935321930848, "ssim": 0.6566382959171254, "lpips": 0.2616323232650757}, "wrist_left": {"psnr": 12.215389783635882, "ssim": 0.37788155037933857, "lpips": 0.5871932506561279}, "wrist_right": {"psnr": 9.230416977599024, "ssim": 0.20117349606362345, "lpips": 0.6615950465202332}, "tactile_left": {"psnr": 38.296380278332585, "ssim": 0.9621459435279767, "lpips": 0.18547236919403076}, "tactile_right": {"psnr": 33.45627900264036, "ssim": 0.9520292287988197, "lpips": 0.21819718182086945}}, {"video": {"psnr": 18.5085602075884, "ssim": 0.6600821872571955, "lpips": 0.27490752935409546}, "wrist_left": {"psnr": 11.910563068814014, "ssim": 0.3792006624028601, "lpips": 0.5735392570495605}, "wrist_right": {"psnr": 8.953899235572013, "ssim": 0.18101114605207191, "lpips": 0.6517691612243652}, "tactile_left": {"psnr": 37.476639567150166, "ssim": 0.9599176893530326, "lpips": 0.20051881670951843}, "tactile_right": {"psnr": 30.606122421176842, "ssim": 0.9361712615422688, "lpips": 0.2785961329936981}}, {"video": {"psnr": 18.089718100587387, "ssim": 0.6460746925670234, "lpips": 0.32003432512283325}, "wrist_left": {"psnr": 12.154873217241683, "ssim": 0.27916885941186437, "lpips": 0.56344074010849}, "wrist_right": {"psnr": 9.205194985552918, "ssim": 0.17992240117878175, "lpips": 0.6463841795921326}, "tactile_left": {"psnr": 36.95298199468448, "ssim": 0.9573894997542147, "lpips": 0.212654247879982}, "tactile_right": {"psnr": 29.517766422617875, "ssim": 0.9276653614876992, "lpips": 0.3035529851913452}}, {"video": {"psnr": 18.06168191249569, "ssim": 0.6487833554561852, "lpips": 0.3274078369140625}, "wrist_left": {"psnr": 13.304869720603547, "ssim": 0.21970991663288145, "lpips": 0.5631888508796692}, "wrist_right": {"psnr": 9.047387987439684, "ssim": 0.16898410165780497, "lpips": 0.6560933589935303}, "tactile_left": {"psnr": 28.723462090740107, "ssim": 0.9198510679199204, "lpips": 0.3548172116279602}, "tactile_right": {"psnr": 29.566075690309216, "ssim": 0.9283612954571702, "lpips": 0.2994808256626129}}, {"video": {"psnr": 18.411887127172005, "ssim": 0.6658484385170069, "lpips": 0.29393887519836426}, "wrist_left": {"psnr": 11.936054314788239, "ssim": 0.19045786900486616, "lpips": 0.5866433382034302}, "wrist_right": {"psnr": 9.286532013998647, "ssim": 0.18021125811435498, "lpips": 0.653144121170044}, "tactile_left": {"psnr": 28.10004519941341, "ssim": 0.9096493422049354, "lpips": 0.3701280951499939}, "tactile_right": {"psnr": 30.348015953679965, "ssim": 0.9328902089381842, "lpips": 0.28228890895843506}}, {"video": {"psnr": 19.53919617331149, "ssim": 0.6702489868500223, "lpips": 0.260603129863739}, "wrist_left": {"psnr": 10.488232357552656, "ssim": 0.1962765421516567, "lpips": 0.6151921153068542}, "wrist_right": {"psnr": 9.207381372540985, "ssim": 0.21135333883825946, "lpips": 0.6414600610733032}, "tactile_left": {"psnr": 28.780072057686695, "ssim": 0.9105664850376263, "lpips": 0.3654121160507202}, "tactile_right": {"psnr": 37.639934839859336, "ssim": 0.9624830409079499, "lpips": 0.1585877537727356}}, {"video": {"psnr": 18.83543089669051, "ssim": 0.6486680897814182, "lpips": 0.2899109125137329}, "wrist_left": {"psnr": 10.031507660025511, "ssim": 0.23745087528683817, "lpips": 0.6019744873046875}, "wrist_right": {"psnr": 10.516607336503473, "ssim": 0.24743143630844466, "lpips": 0.6313347220420837}, "tactile_left": {"psnr": 33.48068570556214, "ssim": 0.950133259705645, "lpips": 0.2488720715045929}, "tactile_right": {"psnr": 34.14300399773369, "ssim": 0.9504120164788039, "lpips": 0.2256198674440384}}, {"video": {"psnr": 18.674421503124357, "ssim": 0.6384813739560599, "lpips": 0.3037281334400177}, "wrist_left": {"psnr": 11.023264782351053, "ssim": 0.22051475755339334, "lpips": 0.6003133058547974}, "wrist_right": {"psnr": 10.232167473462253, "ssim": 0.2961305960082331, "lpips": 0.6332589387893677}, "tactile_left": {"psnr": 33.55742946277306, "ssim": 0.9518086731300135, "lpips": 0.24916675686836243}, "tactile_right": {"psnr": 31.761101411552218, "ssim": 0.9409511923623051, "lpips": 0.2909356653690338}}, {"video": {"psnr": 18.621832622073125, "ssim": 0.6388529537446204, "lpips": 0.2976893186569214}, "wrist_left": {"psnr": 10.707905484806465, "ssim": 0.22709547792504253, "lpips": 0.6054942607879639}, "wrist_right": {"psnr": 10.686608227128502, "ssim": 0.3211929035621337, "lpips": 0.6181990504264832}, "tactile_left": {"psnr": 33.18294456077923, "ssim": 0.9501058259497981, "lpips": 0.26456916332244873}, "tactile_right": {"psnr": 31.772451149501602, "ssim": 0.9383878809443695, "lpips": 0.30623626708984375}}, {"video": {"psnr": 18.944499940289216, "ssim": 0.6417077101869152, "lpips": 0.28895705938339233}, "wrist_left": {"psnr": 10.255164056596938, "ssim": 0.2683099052470129, "lpips": 0.5976909399032593}, "wrist_right": {"psnr": 10.248037083421904, "ssim": 0.2783029836787179, "lpips": 0.6215280294418335}, "tactile_left": {"psnr": 32.76293905524127, "ssim": 0.9480843035717316, "lpips": 0.27888303995132446}, "tactile_right": {"psnr": 34.770972704648095, "ssim": 0.9560207572305812, "lpips": 0.2100098878145218}}], "long_metrics": {"video": {"psnr": 19.225396308606005, "ssim": 0.6716521942330135, "lpips": 0.2595873524745305}, "wrist_left": {"psnr": 11.783564120240678, "ssim": 0.272884004302619, "lpips": 0.570416780312856}, "wrist_right": {"psnr": 10.847102029296382, "ssim": 0.29987257509813914, "lpips": 0.573067553838094}, "tactile_left": {"psnr": 33.80009245957929, "ssim": 0.9483570762636846, "lpips": 0.23011781126260758}, "tactile_right": {"psnr": 36.17738775441251, "ssim": 0.9556172400381494, "lpips": 0.19279585064699253}}}, {"id": "motherboard_e010_06", "episode": "motherboard_0909_episode_001.pt", "requested_episode": "motherboard_0909_episode_001.pt", "category": "release", "t_start": 2829, "start_seconds": 188.6, "short_contact": [1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 0, 0], "future_transition_ticks": [11], "long_contact_fraction": 0.6953125, "long_label": "release", "short_metrics": {"video": {"psnr": 25.993284809351053, "ssim": 0.8394034405219929, "lpips": 0.05162876099348068}, "wrist_left": {"psnr": 10.070159412120734, "ssim": 0.32566086794676796, "lpips": 0.4881040155887604}, "wrist_right": {"psnr": 21.606902217716115, "ssim": 0.8514248994682911, "lpips": 0.10512425750494003}, "tactile_left": {"psnr": 37.43524827028411, "ssim": 0.9590802844422798, "lpips": 0.10095493495464325}, "tactile_right": {"psnr": 49.29093828523901, "ssim": 0.9938235807554949, "lpips": 0.007413802668452263}}, "media": {"short": {"video": "media/motherboard_e010_06_short.mp4", "poster": "media/motherboard_e010_06_short.jpg"}, "long": {"video": "media/motherboard_e010_06_long.mp4", "poster": "media/motherboard_e010_06_long.jpg"}}, "force": {"source": "recorded_normal_force", "units": "N", "fps": 15, "left": [4.3677778244018555, 4.285294055938721, 4.285294055938721, 4.285294055938721, 6.251071453094482, 7.293181896209717, 7.293181896209717, 7.5217695236206055, 7.3053178787231445, 5.259615421295166, 2.8207693099975586, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.1599999964237213, 0.22058026492595673, 0.22058026492595673, 0.43111228942871094, 2.9424359798431396, 4.285294055938721, 4.285294055938721, 7.293181896209717, 7.295934677124023, 7.317659854888916, 7.31187629699707, 7.314847946166992, 7.391359329223633, 7.860250473022461, 7.869999885559082, 7.869999885559082, 7.869999885559082, 7.869999885559082, 7.869999885559082, 7.869999885559082, 7.869999885559082, 7.869999885559082, 7.869999885559082, 7.869999885559082, 7.869999885559082, 7.7177629470825195, 7.514229774475098, 7.401813983917236, 7.470968723297119, 7.470968723297119, 7.314309120178223, 7.483780384063721, 7.869999885559082, 7.869999885559082, 7.869999885559082, 7.869999885559082, 7.869999885559082, 7.448915004730225, 7.499743938446045, 7.714519023895264, 7.869999885559082, 7.318450450897217, 4.285294055938721, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.9833333492279053, 1.9833333492279053, 5.259615421295166, 6.733333110809326, 6.733333110809326, 6.733333110809326, 7.293181896209717, 7.129386901855469, 6.733333110809326, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 6.733333110809326, 6.251071453094482, 5.259615421295166, 5.439090728759766, 6.251071453094482, 6.251071453094482, 6.733333110809326, 7.179339408874512, 6.962648868560791, 6.962648868560791, 7.012815952301025, 7.293181896209717, 6.733333110809326, 6.733333110809326, 6.251071453094482, 1.5254545211791992, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 2.8207693099975586, 6.251071453094482, 7.293181896209717, 7.293181896209717, 7.300662040710449, 7.869999885559082, 7.869999885559082, 7.869999885559082, 7.869999885559082], "right": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]}, "long_curve": [{"video": {"psnr": 25.993284809351053, "ssim": 0.8394034405219929, "lpips": 0.05162876099348068}, "wrist_left": {"psnr": 10.070159412120734, "ssim": 0.32566086794676796, "lpips": 0.4881040155887604}, "wrist_right": {"psnr": 21.606902217716115, "ssim": 0.8514248994682911, "lpips": 0.10512425750494003}, "tactile_left": {"psnr": 37.43524827028411, "ssim": 0.9590802844422798, "lpips": 0.10095493495464325}, "tactile_right": {"psnr": 49.29093828523901, "ssim": 0.9938235807554949, "lpips": 0.007413802668452263}}, {"video": {"psnr": 24.0470913686232, "ssim": 0.7812721077022768, "lpips": 0.07243137061595917}, "wrist_left": {"psnr": 9.066074820261932, "ssim": 0.19766447381853156, "lpips": 0.6214582920074463}, "wrist_right": {"psnr": 20.667330279034964, "ssim": 0.7822543147507091, "lpips": 0.1468048095703125}, "tactile_left": {"psnr": 36.63465707694779, "ssim": 0.9623053436791813, "lpips": 0.13723835349082947}, "tactile_right": {"psnr": 46.01298366875247, "ssim": 0.9894425072675778, "lpips": 0.02696831151843071}}, {"video": {"psnr": 23.77894855500373, "ssim": 0.7810605265089148, "lpips": 0.07416129857301712}, "wrist_left": {"psnr": 9.274976180198086, "ssim": 0.14487171029476661, "lpips": 0.6354835033416748}, "wrist_right": {"psnr": 17.70956303724631, "ssim": 0.662155816883184, "lpips": 0.24904589354991913}, "tactile_left": {"psnr": 35.071490383119716, "ssim": 0.9490076989729317, "lpips": 0.1998167783021927}, "tactile_right": {"psnr": 43.708239630935566, "ssim": 0.9847195241815561, "lpips": 0.05025819316506386}}, {"video": {"psnr": 23.574530318002807, "ssim": 0.7739328207954665, "lpips": 0.08671620488166809}, "wrist_left": {"psnr": 9.520645559297883, "ssim": 0.1289464218577584, "lpips": 0.6218488216400146}, "wrist_right": {"psnr": 15.796564409979624, "ssim": 0.5995953137749426, "lpips": 0.33362430334091187}, "tactile_left": {"psnr": 30.693534679614967, "ssim": 0.8542970558969388, "lpips": 0.3087424337863922}, "tactile_right": {"psnr": 42.375488011453356, "ssim": 0.9807278163319276, "lpips": 0.07502405345439911}}, {"video": {"psnr": 23.369213770172266, "ssim": 0.7596997309293709, "lpips": 0.09277781844139099}, "wrist_left": {"psnr": 9.75973944034153, "ssim": 0.1326926141983459, "lpips": 0.6187314391136169}, "wrist_right": {"psnr": 14.871094540637088, "ssim": 0.5543388994896999, "lpips": 0.3940300941467285}, "tactile_left": {"psnr": 28.672680672306576, "ssim": 0.784977575116384, "lpips": 0.34715741872787476}, "tactile_right": {"psnr": 40.73695220829238, "ssim": 0.9769311286988296, "lpips": 0.09783779084682465}}, {"video": {"psnr": 22.86702987577828, "ssim": 0.7432434584838362, "lpips": 0.11539681255817413}, "wrist_left": {"psnr": 10.086898150865702, "ssim": 0.1576604474923839, "lpips": 0.6181397438049316}, "wrist_right": {"psnr": 13.9528938643189, "ssim": 0.5180714206934001, "lpips": 0.4446104168891907}, "tactile_left": {"psnr": 28.76150352981925, "ssim": 0.7942948638137232, "lpips": 0.3411811590194702}, "tactile_right": {"psnr": 39.921076303615436, "ssim": 0.9736509086141004, "lpips": 0.12026347219944}}, {"video": {"psnr": 19.657159050103562, "ssim": 0.7041881902852805, "lpips": 0.2041829526424408}, "wrist_left": {"psnr": 11.314416803667358, "ssim": 0.18306396214406245, "lpips": 0.6097005605697632}, "wrist_right": {"psnr": 12.47468218487365, "ssim": 0.4542028737813992, "lpips": 0.5089238882064819}, "tactile_left": {"psnr": 29.03612353858678, "ssim": 0.8057513541528851, "lpips": 0.3428927958011627}, "tactile_right": {"psnr": 39.27043163291441, "ssim": 0.9704946439014053, "lpips": 0.13585802912712097}}, {"video": {"psnr": 17.62526561119607, "ssim": 0.6590265013807269, "lpips": 0.2973410487174988}, "wrist_left": {"psnr": 10.080089103641631, "ssim": 0.18218908371426368, "lpips": 0.6357868313789368}, "wrist_right": {"psnr": 11.912021656800885, "ssim": 0.41653128703087283, "lpips": 0.5268795490264893}, "tactile_left": {"psnr": 30.86816457961622, "ssim": 0.8730788221581374, "lpips": 0.30742865800857544}, "tactile_right": {"psnr": 38.22188238988061, "ssim": 0.967087078147562, "lpips": 0.15144717693328857}}, {"video": {"psnr": 17.543126276578278, "ssim": 0.6434252367928822, "lpips": 0.314126193523407}, "wrist_left": {"psnr": 9.991940718008937, "ssim": 0.17124800461720938, "lpips": 0.6363303661346436}, "wrist_right": {"psnr": 12.369108842851503, "ssim": 0.4342270884045684, "lpips": 0.5121718645095825}, "tactile_left": {"psnr": 33.70245520950873, "ssim": 0.9516004283927806, "lpips": 0.24119265377521515}, "tactile_right": {"psnr": 37.25886073934018, "ssim": 0.9639974639448787, "lpips": 0.16164132952690125}}, {"video": {"psnr": 17.65232132710449, "ssim": 0.6446558565035914, "lpips": 0.31733807921409607}, "wrist_left": {"psnr": 10.446287793963494, "ssim": 0.17869818595076126, "lpips": 0.6065220832824707}, "wrist_right": {"psnr": 12.181263675106035, "ssim": 0.4085443338546499, "lpips": 0.5277310609817505}, "tactile_left": {"psnr": 28.148861321636453, "ssim": 0.9135952781111645, "lpips": 0.36005905270576477}, "tactile_right": {"psnr": 37.08033238274757, "ssim": 0.9615308787935315, "lpips": 0.1673673391342163}}, {"video": {"psnr": 18.92129439772159, "ssim": 0.6607485228710885, "lpips": 0.2587052583694458}, "wrist_left": {"psnr": 10.525941896896633, "ssim": 0.19742369943055543, "lpips": 0.6449492573738098}, "wrist_right": {"psnr": 12.522990965623702, "ssim": 0.4264443019456321, "lpips": 0.5448451042175293}, "tactile_left": {"psnr": 29.463035300534543, "ssim": 0.9255934642846578, "lpips": 0.34456583857536316}, "tactile_right": {"psnr": 36.79852508146877, "ssim": 0.9581813026778714, "lpips": 0.1782219409942627}}, {"video": {"psnr": 20.524221897462702, "ssim": 0.6782321746874946, "lpips": 0.2068263292312622}, "wrist_left": {"psnr": 9.474810431083982, "ssim": 0.21139272286911404, "lpips": 0.671891987323761}, "wrist_right": {"psnr": 13.453337716244002, "ssim": 0.44357408826977196, "lpips": 0.5290951132774353}, "tactile_left": {"psnr": 30.4251481912963, "ssim": 0.9315320492296848, "lpips": 0.326661616563797}, "tactile_right": {"psnr": 36.487597968427295, "ssim": 0.9555770946011163, "lpips": 0.1890583038330078}}, {"video": {"psnr": 18.242513738107714, "ssim": 0.6381006043354855, "lpips": 0.29082417488098145}, "wrist_left": {"psnr": 10.678421576927466, "ssim": 0.23410113276326866, "lpips": 0.6375595331192017}, "wrist_right": {"psnr": 12.148582538527391, "ssim": 0.38561804522924065, "lpips": 0.5774246454238892}, "tactile_left": {"psnr": 31.38342563285718, "ssim": 0.9410004456496398, "lpips": 0.29769617319107056}, "tactile_right": {"psnr": 35.95125532758255, "ssim": 0.9522750783598752, "lpips": 0.20000705122947693}}, {"video": {"psnr": 17.452487952696277, "ssim": 0.6093388116379598, "lpips": 0.32981640100479126}, "wrist_left": {"psnr": 10.150948650834756, "ssim": 0.22979655996197132, "lpips": 0.6868802905082703}, "wrist_right": {"psnr": 12.20948130926576, "ssim": 0.37002944863364784, "lpips": 0.5888031721115112}, "tactile_left": {"psnr": 31.924504618426553, "ssim": 0.9448530585344019, "lpips": 0.28298676013946533}, "tactile_right": {"psnr": 35.41303695407021, "ssim": 0.9495531842041822, "lpips": 0.21329113841056824}}, {"video": {"psnr": 17.327638173714718, "ssim": 0.6026037926545771, "lpips": 0.3370034098625183}, "wrist_left": {"psnr": 10.510609587109755, "ssim": 0.26460169890953156, "lpips": 0.677925705909729}, "wrist_right": {"psnr": 12.026719917998873, "ssim": 0.3561389757942873, "lpips": 0.5984748601913452}, "tactile_left": {"psnr": 27.974128984136193, "ssim": 0.8972912697091142, "lpips": 0.39449307322502136}, "tactile_right": {"psnr": 34.9016901121509, "ssim": 0.9470473487171144, "lpips": 0.22610825300216675}}], "long_metrics": {"video": {"psnr": 20.571741808107785, "ssim": 0.701262118406063, "lpips": 0.2032850742340088}, "wrist_left": {"psnr": 10.06346400834799, "ssim": 0.1960007723979528, "lpips": 0.6274208287398021}, "wrist_right": {"psnr": 14.393502477081654, "ssim": 0.5108767405336198, "lpips": 0.4391726021965345}, "tactile_left": {"psnr": 31.346330799246093, "ssim": 0.899217266142927, "lpips": 0.2888711800177892}, "tactile_right": {"psnr": 39.56195271312471, "ssim": 0.9683359692798015, "lpips": 0.13338441240290802}}}, {"id": "motherboard_e010_07", "episode": "motherboard_0909_episode_001.pt", "requested_episode": "motherboard_0909_episode_001.pt", "category": "full", "t_start": 467, "start_seconds": 31.133333333333333, "short_contact": [1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1], "future_transition_ticks": [], "long_contact_fraction": 1.0, "long_label": "full", "short_metrics": {"video": {"psnr": 32.22320942007735, "ssim": 0.9418158005020272, "lpips": 0.021532822400331497}, "wrist_left": {"psnr": 13.235304693857977, "ssim": 0.3679380589507404, "lpips": 0.2639704942703247}, "wrist_right": {"psnr": 22.117202242778653, "ssim": 0.7509738127184543, "lpips": 0.04119010642170906}, "tactile_left": {"psnr": 31.949499624763416, "ssim": 0.9367964090229196, "lpips": 0.054093945771455765}, "tactile_right": {"psnr": 47.76569753079673, "ssim": 0.9920099206656328, "lpips": 0.014696124941110611}}, "media": {"short": {"video": "media/motherboard_e010_07_short.mp4", "poster": "media/motherboard_e010_07_short.jpg"}, "long": {"video": "media/motherboard_e010_07_long.mp4", "poster": "media/motherboard_e010_07_long.jpg"}}, "force": {"source": "recorded_normal_force", "units": "N", "fps": 15, "left": [1.9833333492279053, 1.9833333492279053, 2.9424359798431396, 6.251071453094482, 6.251071453094482, 5.439090728759766, 5.439090728759766, 5.439090728759766, 6.251071453094482, 6.733333110809326, 6.733333110809326, 6.733333110809326, 6.733333110809326, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 6.733333110809326, 6.733333110809326, 6.733333110809326, 6.733333110809326, 6.733333110809326, 6.733333110809326, 6.733333110809326, 6.733333110809326, 6.733333110809326, 6.76942777633667, 7.228470325469971, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.284359455108643, 6.733333110809326, 6.251071453094482, 6.251071453094482, 5.145384788513184, 4.285294055938721, 2.9424359798431396, 2.8207693099975586, 2.8207693099975586, 1.9833333492279053, 1.9833333492279053, 1.5254545211791992, 1.5254545211791992, 1.5254545211791992, 1.5254545211791992, 1.5254545211791992, 1.5254545211791992, 2.8207693099975586, 1.9833333492279053, 1.9833333492279053, 2.9424359798431396, 4.285294055938721, 4.285294055938721, 4.285294055938721, 4.285294055938721, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 4.285294055938721, 4.285294055938721, 4.285294055938721, 4.285294055938721, 4.285294055938721, 4.285294055938721, 4.3677778244018555, 4.3677778244018555, 5.145384788513184, 5.145384788513184, 5.259615421295166, 5.259615421295166, 6.115070343017578, 6.201137542724609, 6.2079668045043945, 5.661813259124756, 6.073955059051514, 6.251071453094482, 6.251071453094482, 6.251071453094482, 6.251071453094482, 6.251071453094482, 6.251071453094482, 6.251071453094482, 6.251071453094482, 6.251071453094482, 6.251071453094482, 5.259615421295166, 5.145384788513184, 5.145384788513184, 5.145384788513184, 5.259615421295166, 5.145384788513184, 5.145384788513184, 5.145384788513184, 4.3677778244018555, 4.306504249572754, 4.285294055938721, 4.285294055938721, 4.285294055938721, 4.285294055938721, 4.285294055938721, 4.285294055938721, 2.9424359798431396, 2.3617031574249268, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "right": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.5254545211791992, 1.5254545211791992, 1.9833333492279053, 5.259615421295166, 7.293181896209717, 7.756637096405029, 7.756637096405029, 7.869999885559082, 7.869999885559082, 7.869999885559082, 7.869999885559082, 7.869999885559082, 7.869999885559082, 7.869999885559082, 7.869999885559082, 7.869999885559082, 7.869999885559082, 7.869999885559082, 7.869999885559082, 7.652376174926758, 7.380303382873535, 7.293181896209717, 7.293181896209717, 6.733333110809326, 6.251071453094482, 4.285294055938721, 4.285294055938721, 2.9424359798431396, 2.9424359798431396, 2.8207693099975586, 1.9833333492279053, 1.9833333492279053, 1.9833333492279053, 1.9833333492279053, 2.636666774749756, 2.9424359798431396, 4.3677778244018555, 6.251071453094482, 7.293181896209717, 7.293181896209717, 7.293181896209717, 6.251071453094482, 6.251071453094482, 6.251071453094482, 6.251071453094482, 6.733333110809326, 6.733333110809326, 6.733333110809326, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.319431304931641, 7.319431304931641, 7.724584579467773, 7.869999885559082, 7.869999885559082, 7.869999885559082, 7.869999885559082, 7.869999885559082, 7.869999885559082, 7.869999885559082, 7.869999885559082, 7.869999885559082, 7.869999885559082, 7.869999885559082, 7.869999885559082, 7.869999885559082, 7.869999885559082, 7.869999885559082, 7.312495708465576, 7.295211315155029, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 6.733333110809326, 6.733333110809326, 6.733333110809326, 5.439090728759766, 5.259615421295166, 5.259615421295166, 5.145384788513184, 5.145384788513184, 5.259615421295166, 5.259615421295166, 5.259615421295166, 2.9424359798431396, 4.285294055938721, 5.145384788513184, 5.259615421295166, 6.733333110809326, 6.733333110809326, 6.733333110809326, 6.7497968673706055, 7.293181896209717, 7.293181896209717, 7.293181896209717]}, "long_curve": [{"video": {"psnr": 32.22320942007735, "ssim": 0.9418158005020272, "lpips": 0.021532822400331497}, "wrist_left": {"psnr": 13.235304693857977, "ssim": 0.3679380589507404, "lpips": 0.2639704942703247}, "wrist_right": {"psnr": 22.117202242778653, "ssim": 0.7509738127184543, "lpips": 0.04119010642170906}, "tactile_left": {"psnr": 31.949499624763416, "ssim": 0.9367964090229196, "lpips": 0.054093945771455765}, "tactile_right": {"psnr": 47.76569753079673, "ssim": 0.9920099206656328, "lpips": 0.014696124941110611}}, {"video": {"psnr": 26.28711130089135, "ssim": 0.8560491838835353, "lpips": 0.0615992546081543}, "wrist_left": {"psnr": 12.968222360581551, "ssim": 0.31090628965154204, "lpips": 0.3055609464645386}, "wrist_right": {"psnr": 14.608753677828316, "ssim": 0.4929667154317028, "lpips": 0.35169655084609985}, "tactile_left": {"psnr": 29.150731494768607, "ssim": 0.8992892488413342, "lpips": 0.10194234549999237}, "tactile_right": {"psnr": 44.48950383750268, "ssim": 0.9839164277398098, "lpips": 0.053056247532367706}}, {"video": {"psnr": 24.421694636337712, "ssim": 0.7990234884673877, "lpips": 0.08684119582176208}, "wrist_left": {"psnr": 13.379693226037407, "ssim": 0.3031551088039821, "lpips": 0.2904839515686035}, "wrist_right": {"psnr": 11.769141036555597, "ssim": 0.3492756925973324, "lpips": 0.5462605357170105}, "tactile_left": {"psnr": 29.731543974813643, "ssim": 0.9005539304280219, "lpips": 0.10913360863924026}, "tactile_right": {"psnr": 31.86185666879244, "ssim": 0.9547120781408097, "lpips": 0.1610693484544754}}, {"video": {"psnr": 23.871437884424964, "ssim": 0.7755576295760074, "lpips": 0.10008737444877625}, "wrist_left": {"psnr": 13.264273335225226, "ssim": 0.27989951368247146, "lpips": 0.3175264000892639}, "wrist_right": {"psnr": 9.586219995228369, "ssim": 0.2530959213282187, "lpips": 0.6747070550918579}, "tactile_left": {"psnr": 28.830908327017042, "ssim": 0.8928620877341376, "lpips": 0.1678297519683838}, "tactile_right": {"psnr": 25.160127854674265, "ssim": 0.8940526316621343, "lpips": 0.3387809693813324}}, {"video": {"psnr": 23.23515690181786, "ssim": 0.7522127758001722, "lpips": 0.11267226934432983}, "wrist_left": {"psnr": 13.031434480824222, "ssim": 0.2624411087816503, "lpips": 0.358442485332489}, "wrist_right": {"psnr": 9.054315177570624, "ssim": 0.22603077593082554, "lpips": 0.7009465098381042}, "tactile_left": {"psnr": 29.5102009584744, "ssim": 0.9011341251731124, "lpips": 0.20305755734443665}, "tactile_right": {"psnr": 25.50034566411845, "ssim": 0.8943785947277243, "lpips": 0.3508288264274597}}, {"video": {"psnr": 22.671010895352023, "ssim": 0.7301972691563472, "lpips": 0.11724385619163513}, "wrist_left": {"psnr": 13.153502121504522, "ssim": 0.2612945881135941, "lpips": 0.3946045935153961}, "wrist_right": {"psnr": 9.294838240124436, "ssim": 0.2291456299324006, "lpips": 0.6847181916236877}, "tactile_left": {"psnr": 33.03278908574385, "ssim": 0.9459745207314663, "lpips": 0.23490136861801147}, "tactile_right": {"psnr": 31.211401138311096, "ssim": 0.9289807879363903, "lpips": 0.2539731562137604}}, {"video": {"psnr": 22.49585606388504, "ssim": 0.715297236737213, "lpips": 0.12696367502212524}, "wrist_left": {"psnr": 13.009751595094352, "ssim": 0.23057381778565783, "lpips": 0.39616450667381287}, "wrist_right": {"psnr": 9.4865009002381, "ssim": 0.23676941448029853, "lpips": 0.6701593399047852}, "tactile_left": {"psnr": 35.079926237274485, "ssim": 0.9520614720363016, "lpips": 0.2307690680027008}, "tactile_right": {"psnr": 32.95052566855437, "ssim": 0.9397023913968527, "lpips": 0.23926818370819092}}, {"video": {"psnr": 22.142554514289078, "ssim": 0.699237471004682, "lpips": 0.1377762407064438}, "wrist_left": {"psnr": 13.029227996818324, "ssim": 0.24260885059775406, "lpips": 0.3969869315624237}, "wrist_right": {"psnr": 9.499071948904575, "ssim": 0.23879818660184732, "lpips": 0.67801833152771}, "tactile_left": {"psnr": 30.40798584736941, "ssim": 0.9352898765350461, "lpips": 0.2892119884490967}, "tactile_right": {"psnr": 27.549301997173327, "ssim": 0.907042619588394, "lpips": 0.33329445123672485}}, {"video": {"psnr": 22.442910440859862, "ssim": 0.7056289171350112, "lpips": 0.1335463523864746}, "wrist_left": {"psnr": 12.73135430626555, "ssim": 0.220500018868173, "lpips": 0.37985050678253174}, "wrist_right": {"psnr": 9.618622280011126, "ssim": 0.24638010715021064, "lpips": 0.7131870985031128}, "tactile_left": {"psnr": 30.715407299546108, "ssim": 0.9345801778096041, "lpips": 0.30927544832229614}, "tactile_right": {"psnr": 27.00206729886561, "ssim": 0.9001454795060198, "lpips": 0.3613712191581726}}, {"video": {"psnr": 21.965973561601384, "ssim": 0.6977651840043697, "lpips": 0.14482739567756653}, "wrist_left": {"psnr": 11.940542427832012, "ssim": 0.19301853177785427, "lpips": 0.42420217394828796}, "wrist_right": {"psnr": 9.836723479333486, "ssim": 0.2355192869477844, "lpips": 0.7189065217971802}, "tactile_left": {"psnr": 28.84978627848577, "ssim": 0.9231632810150493, "lpips": 0.33425942063331604}, "tactile_right": {"psnr": 25.586289797237235, "ssim": 0.8876907093112602, "lpips": 0.3907391428947449}}, {"video": {"psnr": 21.440831604858438, "ssim": 0.6826051858472956, "lpips": 0.1758418083190918}, "wrist_left": {"psnr": 12.021925281447105, "ssim": 0.19375449106042236, "lpips": 0.438109815120697}, "wrist_right": {"psnr": 9.677562746628013, "ssim": 0.2286678963721683, "lpips": 0.7341499328613281}, "tactile_left": {"psnr": 28.541392591432455, "ssim": 0.9183316141486781, "lpips": 0.3421061038970947}, "tactile_right": {"psnr": 25.288128980777532, "ssim": 0.8787862203415555, "lpips": 0.3961241841316223}}, {"video": {"psnr": 20.09802052148755, "ssim": 0.641445109018392, "lpips": 0.22541940212249756}, "wrist_left": {"psnr": 11.461829684766474, "ssim": 0.16211026188967415, "lpips": 0.4870189428329468}, "wrist_right": {"psnr": 9.630331953331767, "ssim": 0.22684804519264393, "lpips": 0.716088056564331}, "tactile_left": {"psnr": 28.854954968070203, "ssim": 0.9220831521614913, "lpips": 0.34858405590057373}, "tactile_right": {"psnr": 26.46980916730348, "ssim": 0.8934688735660701, "lpips": 0.3779544532299042}}, {"video": {"psnr": 19.950946895830853, "ssim": 0.636875025093121, "lpips": 0.23116636276245117}, "wrist_left": {"psnr": 11.739536125906145, "ssim": 0.17092090355532785, "lpips": 0.509992241859436}, "wrist_right": {"psnr": 9.834127176014523, "ssim": 0.2367328933954705, "lpips": 0.7181035280227661}, "tactile_left": {"psnr": 28.77898419257791, "ssim": 0.9252533430259763, "lpips": 0.3484845757484436}, "tactile_right": {"psnr": 28.92357033492113, "ssim": 0.9050211494745544, "lpips": 0.34531575441360474}}, {"video": {"psnr": 20.40808312800984, "ssim": 0.6529011182959659, "lpips": 0.21155327558517456}, "wrist_left": {"psnr": 12.137825357247324, "ssim": 0.1977096097336486, "lpips": 0.5209148526191711}, "wrist_right": {"psnr": 9.792204891078853, "ssim": 0.22392576524184982, "lpips": 0.7142465114593506}, "tactile_left": {"psnr": 30.21056316391171, "ssim": 0.9363394076443067, "lpips": 0.3328236937522888}, "tactile_right": {"psnr": 30.3211422917057, "ssim": 0.9125673634372712, "lpips": 0.3249415457248688}}, {"video": {"psnr": 20.00356152841725, "ssim": 0.6499746894312487, "lpips": 0.22641095519065857}, "wrist_left": {"psnr": 11.74127550122723, "ssim": 0.34196291359198705, "lpips": 0.4980998635292053}, "wrist_right": {"psnr": 10.048984931102849, "ssim": 0.21499830940523434, "lpips": 0.7115259766578674}, "tactile_left": {"psnr": 32.92096063298212, "ssim": 0.9466889693269408, "lpips": 0.296296089887619}, "tactile_right": {"psnr": 28.455132062478448, "ssim": 0.8994539437558751, "lpips": 0.35599321126937866}}], "long_metrics": {"video": {"psnr": 22.910557286542705, "ssim": 0.729105738930185, "lpips": 0.14089881603916485}, "wrist_left": {"psnr": 12.589713232975695, "ssim": 0.24925293778963198, "lpips": 0.3987952470779419}, "wrist_right": {"psnr": 10.923640045115286, "ssim": 0.2926752301817628, "lpips": 0.6249269497891267}, "tactile_left": {"psnr": 30.437708978482075, "ssim": 0.9246934410422923, "lpips": 0.24685126816233}, "tactile_right": {"psnr": 30.568993352880835, "ssim": 0.9181286127500237, "lpips": 0.2864937879145145}}}, {"id": "motherboard_e010_08", "episode": "motherboard_0909_episode_002.pt", "requested_episode": "motherboard_0909_episode_002.pt", "category": "none", "t_start": 2600, "start_seconds": 173.33333333333334, "short_contact": [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0], "future_transition_ticks": [], "long_contact_fraction": 0.296875, "long_label": "none_at_start", "short_metrics": {"video": {"psnr": 27.819775050986205, "ssim": 0.8872527730710669, "lpips": 0.03627952188253403}, "wrist_left": {"psnr": 13.417230073014274, "ssim": 0.395425480114024, "lpips": 0.3461379408836365}, "wrist_right": {"psnr": 28.083690444230495, "ssim": 0.9054367863090478, "lpips": 0.02466108649969101}, "tactile_left": {"psnr": 42.467657592450436, "ssim": 0.9842258287128424, "lpips": 0.020190121605992317}, "tactile_right": {"psnr": 47.6068549521808, "ssim": 0.992438501851871, "lpips": 0.014001760631799698}}, "media": {"short": {"video": "media/motherboard_e010_08_short.mp4", "poster": "media/motherboard_e010_08_short.jpg"}, "long": {"video": "media/motherboard_e010_08_long.mp4", "poster": "media/motherboard_e010_08_long.jpg"}}, "force": {"source": "recorded_normal_force", "units": "N", "fps": 15, "left": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.49666666984558105, 1.5254545211791992, 4.285294055938721, 5.439090728759766, 5.439090728759766, 6.733333110809326, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 5.145384788513184, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "right": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.49666666984558105, 0.49264535307884216, 1.2104182243347168, 4.285294055938721, 4.285294055938721, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.636666774749756, 1.5254545211791992, 1.1662499904632568, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]}, "long_curve": [{"video": {"psnr": 27.819775050986205, "ssim": 0.8872527730710669, "lpips": 0.03627952188253403}, "wrist_left": {"psnr": 13.417230073014274, "ssim": 0.395425480114024, "lpips": 0.3461379408836365}, "wrist_right": {"psnr": 28.083690444230495, "ssim": 0.9054367863090478, "lpips": 0.02466108649969101}, "tactile_left": {"psnr": 42.467657592450436, "ssim": 0.9842258287128424, "lpips": 0.020190121605992317}, "tactile_right": {"psnr": 47.6068549521808, "ssim": 0.992438501851871, "lpips": 0.014001760631799698}}, {"video": {"psnr": 24.374793038283343, "ssim": 0.8040005842017803, "lpips": 0.06838049739599228}, "wrist_left": {"psnr": 11.353472905329742, "ssim": 0.29896775480249216, "lpips": 0.49550649523735046}, "wrist_right": {"psnr": 23.88453301892572, "ssim": 0.804700291580641, "lpips": 0.07009624689817429}, "tactile_left": {"psnr": 39.61484829220693, "ssim": 0.9720188934499765, "lpips": 0.06711606681346893}, "tactile_right": {"psnr": 44.55002625032381, "ssim": 0.9844268061816914, "lpips": 0.048225417733192444}}, {"video": {"psnr": 21.50705554663928, "ssim": 0.7404506175776876, "lpips": 0.12804993987083435}, "wrist_left": {"psnr": 8.554445617520747, "ssim": 0.26877547721992867, "lpips": 0.6467247009277344}, "wrist_right": {"psnr": 21.027587495093194, "ssim": 0.6987702689431274, "lpips": 0.1730605959892273}, "tactile_left": {"psnr": 39.88629305933729, "ssim": 0.9705717365523596, "lpips": 0.0987570509314537}, "tactile_right": {"psnr": 43.43762274541461, "ssim": 0.9800750548149071, "lpips": 0.0680580884218216}}, {"video": {"psnr": 20.870906764820695, "ssim": 0.7125744463927907, "lpips": 0.14983047544956207}, "wrist_left": {"psnr": 9.760106344321041, "ssim": 0.29058129360671187, "lpips": 0.6695704460144043}, "wrist_right": {"psnr": 20.327100132340917, "ssim": 0.673715044878348, "lpips": 0.19491398334503174}, "tactile_left": {"psnr": 38.23549798934426, "ssim": 0.9680754550260247, "lpips": 0.1497570276260376}, "tactile_right": {"psnr": 42.097215953578754, "ssim": 0.9769631143498037, "lpips": 0.0890221893787384}}, {"video": {"psnr": 20.64229239978046, "ssim": 0.700291366225497, "lpips": 0.1688326895236969}, "wrist_left": {"psnr": 9.609379970164722, "ssim": 0.2546839496970035, "lpips": 0.6480302810668945}, "wrist_right": {"psnr": 20.02890552920357, "ssim": 0.6557746479634106, "lpips": 0.2029198855161667}, "tactile_left": {"psnr": 37.4197676936647, "ssim": 0.9657503194922816, "lpips": 0.19478122889995575}, "tactile_right": {"psnr": 40.461026810761396, "ssim": 0.9738145499131645, "lpips": 0.10756340622901917}}, {"video": {"psnr": 20.269567138014292, "ssim": 0.6768951498262186, "lpips": 0.18172475695610046}, "wrist_left": {"psnr": 8.708200137426974, "ssim": 0.24517615292067885, "lpips": 0.6945861577987671}, "wrist_right": {"psnr": 18.751487194365616, "ssim": 0.6001831155113428, "lpips": 0.24544163048267365}, "tactile_left": {"psnr": 29.692647286056623, "ssim": 0.9236013955584019, "lpips": 0.3325735032558441}, "tactile_right": {"psnr": 39.77392304667515, "ssim": 0.9711064266248539, "lpips": 0.12289765477180481}}, {"video": {"psnr": 19.24736054951015, "ssim": 0.644563680794057, "lpips": 0.24585309624671936}, "wrist_left": {"psnr": 9.118755991334641, "ssim": 0.27149381589781924, "lpips": 0.6955190300941467}, "wrist_right": {"psnr": 15.652393898266869, "ssim": 0.5081996387912415, "lpips": 0.3650490343570709}, "tactile_left": {"psnr": 28.99388522192333, "ssim": 0.9343907672095635, "lpips": 0.298038125038147}, "tactile_right": {"psnr": 39.10317246805483, "ssim": 0.9682936309325818, "lpips": 0.13286060094833374}}, {"video": {"psnr": 18.247316757369266, "ssim": 0.6263058073050549, "lpips": 0.3085232675075531}, "wrist_left": {"psnr": 9.262509145329533, "ssim": 0.2407068438800624, "lpips": 0.6958028078079224}, "wrist_right": {"psnr": 13.425532280894213, "ssim": 0.3506094270851568, "lpips": 0.5152750015258789}, "tactile_left": {"psnr": 36.21573461360326, "ssim": 0.958947908196552, "lpips": 0.22153714299201965}, "tactile_right": {"psnr": 38.5444958775976, "ssim": 0.9653885878599422, "lpips": 0.14523112773895264}}, {"video": {"psnr": 17.90785226997578, "ssim": 0.6365345685417667, "lpips": 0.32491451501846313}, "wrist_left": {"psnr": 9.383723762442568, "ssim": 0.20195200322553955, "lpips": 0.7235827445983887}, "wrist_right": {"psnr": 11.295341023914043, "ssim": 0.28478958210591127, "lpips": 0.592229425907135}, "tactile_left": {"psnr": 35.52631687911327, "ssim": 0.9565401308836589, "lpips": 0.23405003547668457}, "tactile_right": {"psnr": 36.085661068491895, "ssim": 0.9620387759543033, "lpips": 0.15810546278953552}}, {"video": {"psnr": 17.55276410139459, "ssim": 0.6441034726858632, "lpips": 0.341469943523407}, "wrist_left": {"psnr": 9.24896224065339, "ssim": 0.20143429445901773, "lpips": 0.702741265296936}, "wrist_right": {"psnr": 12.378695272385878, "ssim": 0.28775475973036846, "lpips": 0.6042656898498535}, "tactile_left": {"psnr": 35.057933543716146, "ssim": 0.9536696790632547, "lpips": 0.24769450724124908}, "tactile_right": {"psnr": 36.163230922312884, "ssim": 0.959594847277685, "lpips": 0.1631656438112259}}, {"video": {"psnr": 17.812215073008034, "ssim": 0.6507065430315502, "lpips": 0.3466731011867523}, "wrist_left": {"psnr": 8.504532336529746, "ssim": 0.1828966243937346, "lpips": 0.7272225618362427}, "wrist_right": {"psnr": 10.329028115071829, "ssim": 0.21144767298451134, "lpips": 0.6940748691558838}, "tactile_left": {"psnr": 34.5031110868547, "ssim": 0.9503781026308459, "lpips": 0.26041239500045776}, "tactile_right": {"psnr": 36.81716385313875, "ssim": 0.9597772261495813, "lpips": 0.17713725566864014}}, {"video": {"psnr": 18.139318125883573, "ssim": 0.6394462207096137, "lpips": 0.32552817463874817}, "wrist_left": {"psnr": 9.020819641786813, "ssim": 0.20573946103022783, "lpips": 0.7369099855422974}, "wrist_right": {"psnr": 10.59737556456301, "ssim": 0.1745382117941841, "lpips": 0.7009122967720032}, "tactile_left": {"psnr": 34.09683638107599, "ssim": 0.9472662555647553, "lpips": 0.2779984176158905}, "tactile_right": {"psnr": 33.85969190183734, "ssim": 0.948998086875381, "lpips": 0.2611912488937378}}, {"video": {"psnr": 17.419223809401604, "ssim": 0.634371236246882, "lpips": 0.35033994913101196}, "wrist_left": {"psnr": 10.774831189915169, "ssim": 0.2754395301146977, "lpips": 0.6800979375839233}, "wrist_right": {"psnr": 9.087351191820952, "ssim": 0.17083490674825894, "lpips": 0.6718934774398804}, "tactile_left": {"psnr": 33.98172627499544, "ssim": 0.9469352850199138, "lpips": 0.28501084446907043}, "tactile_right": {"psnr": 36.5709659209905, "ssim": 0.9571078758147668, "lpips": 0.1877162754535675}}, {"video": {"psnr": 16.392237839580496, "ssim": 0.5863967872997786, "lpips": 0.36267244815826416}, "wrist_left": {"psnr": 10.457122836123439, "ssim": 0.2052057074426153, "lpips": 0.6515029668807983}, "wrist_right": {"psnr": 8.408166672111152, "ssim": 0.15362816259598605, "lpips": 0.7090743780136108}, "tactile_left": {"psnr": 33.5708499819854, "ssim": 0.9455309050380678, "lpips": 0.2922497093677521}, "tactile_right": {"psnr": 36.39764977846835, "ssim": 0.9548294165487714, "lpips": 0.1772252321243286}}, {"video": {"psnr": 16.478168011568016, "ssim": 0.5669781084090602, "lpips": 0.3742694854736328}, "wrist_left": {"psnr": 10.505234346009956, "ssim": 0.18926997975951826, "lpips": 0.6428556442260742}, "wrist_right": {"psnr": 8.559849279333031, "ssim": 0.12707436471355882, "lpips": 0.7118427753448486}, "tactile_left": {"psnr": 33.392521793029594, "ssim": 0.9437220892513711, "lpips": 0.30133554339408875}, "tactile_right": {"psnr": 35.27529592877804, "ssim": 0.950818569917838, "lpips": 0.1991790533065796}}], "long_metrics": {"video": {"psnr": 19.645389765081053, "ssim": 0.6767247574879112, "lpips": 0.24755612413088482}, "wrist_left": {"psnr": 9.845288435860185, "ssim": 0.24851655790427146, "lpips": 0.6504527310530345}, "wrist_right": {"psnr": 15.455802474168031, "ssim": 0.4404971254490063, "lpips": 0.43171402513980867}, "tactile_left": {"psnr": 35.51037517929049, "ssim": 0.9547749834433247, "lpips": 0.2187667813152075}, "tactile_right": {"psnr": 39.116266498573644, "ssim": 0.9670447647378094, "lpips": 0.13677202786008516}}}, {"id": "motherboard_e010_09", "episode": "motherboard_0909_episode_002.pt", "requested_episode": "motherboard_0909_episode_002.pt", "category": "onset", "t_start": 1924, "start_seconds": 128.26666666666668, "short_contact": [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 1], "future_transition_ticks": [11], "long_contact_fraction": 0.6796875, "long_label": "onset", "short_metrics": {"video": {"psnr": 29.088133545398016, "ssim": 0.9063854475340358, "lpips": 0.03227889910340309}, "wrist_left": {"psnr": 13.89947453061681, "ssim": 0.40372382457071593, "lpips": 0.3920637369155884}, "wrist_right": {"psnr": 19.205836249575615, "ssim": 0.6986287998015234, "lpips": 0.1423051357269287}, "tactile_left": {"psnr": 35.1971385201047, "ssim": 0.9631192957641581, "lpips": 0.10883928835391998}, "tactile_right": {"psnr": 47.33899068800789, "ssim": 0.9915272975475222, "lpips": 0.014924688264727592}}, "media": {"short": {"video": "media/motherboard_e010_09_short.mp4", "poster": "media/motherboard_e010_09_short.jpg"}, "long": {"video": "media/motherboard_e010_09_long.mp4", "poster": "media/motherboard_e010_09_long.jpg"}}, "force": {"source": "recorded_normal_force", "units": "N", "fps": 15, "left": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.9833333492279053, 2.9424359798431396, 2.9424359798431396, 5.439090728759766, 5.439090728759766, 5.671554088592529, 5.439090728759766, 5.259615421295166, 5.145384788513184, 4.321074485778809, 4.285294055938721, 4.285294055938721, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 1.9833333492279053, 2.0277299880981445, 2.9424359798431396, 5.439090728759766, 6.251071453094482, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 6.251071453094482, 5.439090728759766, 6.251071453094482, 5.605889320373535, 5.259615421295166, 4.3677778244018555, 4.285294055938721, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 4.285294055938721, 4.285294055938721, 2.9424359798431396, 4.3677778244018555, 4.285294055938721, 5.145384788513184, 5.145384788513184, 5.259615421295166, 5.259615421295166, 5.145384788513184, 4.285294055938721, 2.8207693099975586, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 2.9424359798431396, 2.636666774749756, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 4.285294055938721, 4.285294055938721, 2.9424359798431396, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.9833333492279053, 1.9833333492279053, 2.636666774749756, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 4.285294055938721, 3.8638908863067627, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 1.1662499904632568, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "right": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 2.9424359798431396, 5.145384788513184, 6.251071453094482]}, "long_curve": [{"video": {"psnr": 29.088133545398016, "ssim": 0.9063854475340358, "lpips": 0.03227889910340309}, "wrist_left": {"psnr": 13.89947453061681, "ssim": 0.40372382457071593, "lpips": 0.3920637369155884}, "wrist_right": {"psnr": 19.205836249575615, "ssim": 0.6986287998015234, "lpips": 0.1423051357269287}, "tactile_left": {"psnr": 35.1971385201047, "ssim": 0.9631192957641581, "lpips": 0.10883928835391998}, "tactile_right": {"psnr": 47.33899068800789, "ssim": 0.9915272975475222, "lpips": 0.014924688264727592}}, {"video": {"psnr": 24.751278983600113, "ssim": 0.8128239730288367, "lpips": 0.06978451460599899}, "wrist_left": {"psnr": 13.354817599903425, "ssim": 0.32626489254382307, "lpips": 0.4089624583721161}, "wrist_right": {"psnr": 16.531569830322464, "ssim": 0.5965394911827357, "lpips": 0.23719146847724915}, "tactile_left": {"psnr": 31.354292919969925, "ssim": 0.922923313237187, "lpips": 0.2178758680820465}, "tactile_right": {"psnr": 44.413121259540304, "ssim": 0.9828779867527546, "lpips": 0.045180544257164}}, {"video": {"psnr": 22.256259886046323, "ssim": 0.7392661310252778, "lpips": 0.11466386914253235}, "wrist_left": {"psnr": 12.848944990052617, "ssim": 0.32351072333380126, "lpips": 0.4944210648536682}, "wrist_right": {"psnr": 14.987965883703474, "ssim": 0.4958588047785973, "lpips": 0.32618415355682373}, "tactile_left": {"psnr": 32.315586752789976, "ssim": 0.9310099731752601, "lpips": 0.23665182292461395}, "tactile_right": {"psnr": 43.50097255963086, "ssim": 0.9785112784006427, "lpips": 0.06382477283477783}}, {"video": {"psnr": 21.665823231956285, "ssim": 0.719518625730265, "lpips": 0.1399332880973816}, "wrist_left": {"psnr": 10.888558677483992, "ssim": 0.2637645498340734, "lpips": 0.5874602794647217}, "wrist_right": {"psnr": 14.221898756653278, "ssim": 0.4331766701521184, "lpips": 0.37077903747558594}, "tactile_left": {"psnr": 29.70928638885424, "ssim": 0.8977371807759662, "lpips": 0.3427765369415283}, "tactile_right": {"psnr": 42.5884123688305, "ssim": 0.9758613544349388, "lpips": 0.0806332528591156}}, {"video": {"psnr": 20.900748633261102, "ssim": 0.7076943047687714, "lpips": 0.1702781617641449}, "wrist_left": {"psnr": 11.294754835589933, "ssim": 0.26852710790287826, "lpips": 0.5876265168190002}, "wrist_right": {"psnr": 13.777279129416204, "ssim": 0.3892941299898022, "lpips": 0.39492809772491455}, "tactile_left": {"psnr": 31.22369351913894, "ssim": 0.913060838007703, "lpips": 0.36331605911254883}, "tactile_right": {"psnr": 41.492972095122155, "ssim": 0.9726025390972073, "lpips": 0.09914641082286835}}, {"video": {"psnr": 20.837890795903384, "ssim": 0.7123557063564023, "lpips": 0.17735928297042847}, "wrist_left": {"psnr": 10.882126978349946, "ssim": 0.22486697055578364, "lpips": 0.6300674080848694}, "wrist_right": {"psnr": 13.239023484095199, "ssim": 0.3710206267007058, "lpips": 0.4163796603679657}, "tactile_left": {"psnr": 32.82859710858752, "ssim": 0.9258242078897821, "lpips": 0.31971275806427}, "tactile_right": {"psnr": 40.809203714204116, "ssim": 0.9690208857181728, "lpips": 0.11794744431972504}}, {"video": {"psnr": 20.43403692852881, "ssim": 0.7073481007270368, "lpips": 0.18716859817504883}, "wrist_left": {"psnr": 11.535690575475995, "ssim": 0.2358132886681112, "lpips": 0.5999398231506348}, "wrist_right": {"psnr": 13.236566076004987, "ssim": 0.37125442736772285, "lpips": 0.42146751284599304}, "tactile_left": {"psnr": 33.61919103958015, "ssim": 0.9346494543352672, "lpips": 0.3018447458744049}, "tactile_right": {"psnr": 39.972045827784946, "ssim": 0.9650814903079734, "lpips": 0.13208229839801788}}, {"video": {"psnr": 20.295982306540292, "ssim": 0.7022116812221288, "lpips": 0.205035001039505}, "wrist_left": {"psnr": 11.303870116822365, "ssim": 0.2920783378756908, "lpips": 0.5770328640937805}, "wrist_right": {"psnr": 13.009949718105657, "ssim": 0.36088860840044756, "lpips": 0.4298226535320282}, "tactile_left": {"psnr": 36.53283637400553, "ssim": 0.954425436059031, "lpips": 0.24292078614234924}, "tactile_right": {"psnr": 39.109550237024635, "ssim": 0.9628643379535649, "lpips": 0.14386318624019623}}, {"video": {"psnr": 20.27534854640594, "ssim": 0.6927155253152575, "lpips": 0.20226460695266724}, "wrist_left": {"psnr": 10.732403074058146, "ssim": 0.25294133172609573, "lpips": 0.6497654914855957}, "wrist_right": {"psnr": 12.998454378531424, "ssim": 0.3506871935570005, "lpips": 0.4415842294692993}, "tactile_left": {"psnr": 33.30553511494565, "ssim": 0.9441428414115511, "lpips": 0.27816927433013916}, "tactile_right": {"psnr": 38.3946275222697, "ssim": 0.9612674641305483, "lpips": 0.1515638828277588}}, {"video": {"psnr": 19.63458034039471, "ssim": 0.669228730150877, "lpips": 0.22122861444950104}, "wrist_left": {"psnr": 11.702173540804058, "ssim": 0.310267112284763, "lpips": 0.5728708505630493}, "wrist_right": {"psnr": 12.833557590410296, "ssim": 0.3279396240126953, "lpips": 0.4555767774581909}, "tactile_left": {"psnr": 35.53413609004887, "ssim": 0.9561875856092557, "lpips": 0.22996290028095245}, "tactile_right": {"psnr": 38.29183727257277, "ssim": 0.9604759718239162, "lpips": 0.15878483653068542}}, {"video": {"psnr": 19.45066091341735, "ssim": 0.6570464353909058, "lpips": 0.21972481906414032}, "wrist_left": {"psnr": 12.288102987800013, "ssim": 0.21767638245979282, "lpips": 0.6173015832901001}, "wrist_right": {"psnr": 12.586525620920831, "ssim": 0.3110207835388531, "lpips": 0.46382439136505127}, "tactile_left": {"psnr": 34.17041630452408, "ssim": 0.9422548018613632, "lpips": 0.2890145480632782}, "tactile_right": {"psnr": 37.914345254397254, "ssim": 0.9581332340476494, "lpips": 0.16477924585342407}}, {"video": {"psnr": 19.031536501180277, "ssim": 0.6417619938137946, "lpips": 0.23078404366970062}, "wrist_left": {"psnr": 10.926462244785595, "ssim": 0.24477779661286686, "lpips": 0.6114424467086792}, "wrist_right": {"psnr": 12.773331117063012, "ssim": 0.3098706931989028, "lpips": 0.46459177136421204}, "tactile_left": {"psnr": 33.91824843009633, "ssim": 0.9416568274421449, "lpips": 0.3106754720211029}, "tactile_right": {"psnr": 37.50978612288853, "ssim": 0.9556737559063196, "lpips": 0.1739731729030609}}, {"video": {"psnr": 17.731771418163934, "ssim": 0.6154368863749204, "lpips": 0.2876754403114319}, "wrist_left": {"psnr": 8.473576899366806, "ssim": 0.21581316492774996, "lpips": 0.743714451789856}, "wrist_right": {"psnr": 12.86025808532203, "ssim": 0.3210923087064005, "lpips": 0.47772467136383057}, "tactile_left": {"psnr": 32.92542521017233, "ssim": 0.9358866601909286, "lpips": 0.3284449577331543}, "tactile_right": {"psnr": 37.19050633220845, "ssim": 0.9531305789778508, "lpips": 0.18550418317317963}}, {"video": {"psnr": 18.793224751489326, "ssim": 0.6410286204067508, "lpips": 0.27379241585731506}, "wrist_left": {"psnr": 9.994288065158349, "ssim": 0.26641653852785374, "lpips": 0.6544103622436523}, "wrist_right": {"psnr": 13.39887455814467, "ssim": 0.315463000380421, "lpips": 0.4859231412410736}, "tactile_left": {"psnr": 33.698492748002195, "ssim": 0.9458919415370599, "lpips": 0.2889965772628784}, "tactile_right": {"psnr": 36.67455583493518, "ssim": 0.9510895374265622, "lpips": 0.1955586075782776}}, {"video": {"psnr": 18.476131239645653, "ssim": 0.6368520268602746, "lpips": 0.28520891070365906}, "wrist_left": {"psnr": 10.822520345102939, "ssim": 0.3743598824333207, "lpips": 0.648084282875061}, "wrist_right": {"psnr": 12.290544312225045, "ssim": 0.2409738409700587, "lpips": 0.5504051446914673}, "tactile_left": {"psnr": 33.51317334265006, "ssim": 0.9453715473105189, "lpips": 0.2876497507095337}, "tactile_right": {"psnr": 33.3398664967418, "ssim": 0.9394151966043941, "lpips": 0.24643580615520477}}], "long_metrics": {"video": {"psnr": 20.908227201462104, "ssim": 0.704111612580369, "lpips": 0.18781203106045724}, "wrist_left": {"psnr": 11.396517697424732, "ssim": 0.2813867936171547, "lpips": 0.5850109080473582}, "wrist_right": {"psnr": 13.863442319366278, "ssim": 0.3929139335158657, "lpips": 0.40524585644404093}, "tactile_left": {"psnr": 33.323069990898034, "ssim": 0.9369427936404784, "lpips": 0.27645675639311473}, "tactile_right": {"psnr": 39.90271957241061, "ssim": 0.9651688606086678, "lpips": 0.1316134888678789}}}, {"id": "motherboard_e010_10", "episode": "motherboard_0909_episode_002.pt", "requested_episode": "motherboard_0909_episode_002.pt", "category": "release", "t_start": 1051, "start_seconds": 70.06666666666666, "short_contact": [1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 0, 0], "future_transition_ticks": [11], "long_contact_fraction": 0.703125, "long_label": "release", "short_metrics": {"video": {"psnr": 21.92336387559603, "ssim": 0.7592062469982344, "lpips": 0.1016298234462738}, "wrist_left": {"psnr": 13.842238918057257, "ssim": 0.5249635594882935, "lpips": 0.3789975643157959}, "wrist_right": {"psnr": 13.256363700043266, "ssim": 0.370029732435378, "lpips": 0.4155312478542328}, "tactile_left": {"psnr": 49.199737728536846, "ssim": 0.9936618053450951, "lpips": 0.005333125591278076}, "tactile_right": {"psnr": 35.992767252156675, "ssim": 0.9791940364511129, "lpips": 0.058740243315696716}}, "media": {"short": {"video": "media/motherboard_e010_10_short.mp4", "poster": "media/motherboard_e010_10_short.jpg"}, "long": {"video": "media/motherboard_e010_10_long.mp4", "poster": "media/motherboard_e010_10_long.jpg"}}, "force": {"source": "recorded_normal_force", "units": "N", "fps": 15, "left": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "right": [5.259615421295166, 5.145384788513184, 4.285294055938721, 4.229005336761475, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.636666774749756, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 2.9424359798431396, 2.9424359798431396, 5.439090728759766, 6.251071453094482, 6.251071453094482, 6.251071453094482, 5.439090728759766, 5.439090728759766, 5.439090728759766, 6.251071453094482, 6.251071453094482, 4.3677778244018555, 1.5254545211791992, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 4.285294055938721, 6.251071453094482, 6.251071453094482, 6.733333110809326, 6.251071453094482, 6.251071453094482, 6.251071453094482, 5.439090728759766, 5.881275653839111, 6.0783467292785645, 5.259615421295166, 5.259615421295166, 5.145384788513184, 5.145384788513184, 5.259615421295166, 4.285294055938721, 1.1662499904632568, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.5254545211791992, 6.251071453094482, 7.293181896209717, 7.3070878982543945, 7.312847137451172, 7.293181896209717, 7.293181896209717, 0.7404214143753052, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4500000476837158, 5.145384788513184, 7.293181896209717, 7.869999885559082, 7.869999885559082, 7.869999885559082, 7.869999885559082, 7.869999885559082, 7.869999885559082, 0.0, 0.0, 1.5254545211791992, 1.1733332872390747, 2.9424359798431396, 4.285294055938721, 7.293181896209717, 7.469607353210449, 7.569608211517334, 7.293181896209717, 7.293181896209717, 7.293181896209717, 6.733333110809326, 5.3493146896362305, 5.439090728759766, 5.439090728759766, 5.439090728759766, 6.251071453094482, 5.439090728759766, 5.145384788513184, 1.1662499904632568, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.5254545211791992, 1.5254545211791992, 1.9833333492279053, 2.9424359798431396, 4.3677778244018555, 5.145384788513184, 5.145384788513184, 4.4391984939575195, 6.251071453094482, 6.251071453094482, 6.733333110809326, 6.251071453094482, 2.9424359798431396]}, "long_curve": [{"video": {"psnr": 21.92336387559603, "ssim": 0.7592062469982344, "lpips": 0.1016298234462738}, "wrist_left": {"psnr": 13.842238918057257, "ssim": 0.5249635594882935, "lpips": 0.3789975643157959}, "wrist_right": {"psnr": 13.256363700043266, "ssim": 0.370029732435378, "lpips": 0.4155312478542328}, "tactile_left": {"psnr": 49.199737728536846, "ssim": 0.9936618053450951, "lpips": 0.005333125591278076}, "tactile_right": {"psnr": 35.992767252156675, "ssim": 0.9791940364511129, "lpips": 0.058740243315696716}}, {"video": {"psnr": 20.614074679214628, "ssim": 0.7182038754694963, "lpips": 0.13580049574375153}, "wrist_left": {"psnr": 13.744975701177342, "ssim": 0.5190154423701396, "lpips": 0.37367671728134155}, "wrist_right": {"psnr": 13.016575041349693, "ssim": 0.3164080362603868, "lpips": 0.5295219421386719}, "tactile_left": {"psnr": 44.55139327921983, "ssim": 0.9870112017083379, "lpips": 0.027614355087280273}, "tactile_right": {"psnr": 29.853078393903928, "ssim": 0.9348462559036592, "lpips": 0.2593475878238678}}, {"video": {"psnr": 19.67835313831504, "ssim": 0.6907609858042415, "lpips": 0.14714458584785461}, "wrist_left": {"psnr": 15.637506947750612, "ssim": 0.6093923604695426, "lpips": 0.34156352281570435}, "wrist_right": {"psnr": 12.515643309828786, "ssim": 0.3013900343842469, "lpips": 0.5419393181800842}, "tactile_left": {"psnr": 42.41039628559717, "ssim": 0.9806003517956635, "lpips": 0.05870317667722702}, "tactile_right": {"psnr": 29.56549396610288, "ssim": 0.9327854060274874, "lpips": 0.25420594215393066}}, {"video": {"psnr": 19.051051946122875, "ssim": 0.677014601348831, "lpips": 0.18373829126358032}, "wrist_left": {"psnr": 15.180408734346354, "ssim": 0.6041787465913904, "lpips": 0.3825531005859375}, "wrist_right": {"psnr": 11.696463677380613, "ssim": 0.26029652649773616, "lpips": 0.5947278738021851}, "tactile_left": {"psnr": 40.755379308364525, "ssim": 0.9748568190335276, "lpips": 0.11041887104511261}, "tactile_right": {"psnr": 32.61112250003382, "ssim": 0.9566669464739306, "lpips": 0.17034277319908142}}, {"video": {"psnr": 19.066969063932973, "ssim": 0.6672631037019312, "lpips": 0.1893247663974762}, "wrist_left": {"psnr": 15.256792507734367, "ssim": 0.5843767011134166, "lpips": 0.3814539909362793}, "wrist_right": {"psnr": 10.848110282789925, "ssim": 0.2002173873728018, "lpips": 0.633043110370636}, "tactile_left": {"psnr": 39.23683613260215, "ssim": 0.9702961075501959, "lpips": 0.1522875279188156}, "tactile_right": {"psnr": 27.118614208442512, "ssim": 0.9233478997335014, "lpips": 0.2805878818035126}}, {"video": {"psnr": 19.091322770714196, "ssim": 0.672095552192242, "lpips": 0.20390324294567108}, "wrist_left": {"psnr": 16.67425220106708, "ssim": 0.6457359846253873, "lpips": 0.3376501202583313}, "wrist_right": {"psnr": 10.694410253907895, "ssim": 0.20642544640601485, "lpips": 0.6764348745346069}, "tactile_left": {"psnr": 38.58451183701054, "ssim": 0.9671426237988402, "lpips": 0.17454874515533447}, "tactile_right": {"psnr": 29.31992692709878, "ssim": 0.9415857197535437, "lpips": 0.23341813683509827}}, {"video": {"psnr": 18.962960480483822, "ssim": 0.6612685351236974, "lpips": 0.20706838369369507}, "wrist_left": {"psnr": 17.05080260647074, "ssim": 0.6579743223776566, "lpips": 0.33049315214157104}, "wrist_right": {"psnr": 10.723089817522546, "ssim": 0.21970759207391816, "lpips": 0.6087988018989563}, "tactile_left": {"psnr": 37.68437146676472, "ssim": 0.9643847994357999, "lpips": 0.19489970803260803}, "tactile_right": {"psnr": 36.15927957465956, "ssim": 0.963432003751402, "lpips": 0.1466837227344513}}, {"video": {"psnr": 18.916075460090028, "ssim": 0.6579733076020646, "lpips": 0.2097114622592926}, "wrist_left": {"psnr": 16.25200406597512, "ssim": 0.6234767962125094, "lpips": 0.3690410852432251}, "wrist_right": {"psnr": 12.519468062290933, "ssim": 0.22008163784074042, "lpips": 0.6069377660751343}, "tactile_left": {"psnr": 37.29688376892001, "ssim": 0.9617035983802196, "lpips": 0.21005356311798096}, "tactile_right": {"psnr": 27.623882331797937, "ssim": 0.9220290669016956, "lpips": 0.31358563899993896}}, {"video": {"psnr": 18.050619719105484, "ssim": 0.6608683309308832, "lpips": 0.25610584020614624}, "wrist_left": {"psnr": 12.688707605215582, "ssim": 0.5143578363976888, "lpips": 0.46277952194213867}, "wrist_right": {"psnr": 12.075805570400345, "ssim": 0.21637655468006883, "lpips": 0.6126222014427185}, "tactile_left": {"psnr": 36.48708846783754, "ssim": 0.9591148615230121, "lpips": 0.22612784802913666}, "tactile_right": {"psnr": 33.535343600192945, "ssim": 0.9589138894821054, "lpips": 0.17679059505462646}}, {"video": {"psnr": 18.017610641065986, "ssim": 0.6614059209397924, "lpips": 0.272466242313385}, "wrist_left": {"psnr": 12.754271141169916, "ssim": 0.5012161831065052, "lpips": 0.4617858827114105}, "wrist_right": {"psnr": 11.532971567485959, "ssim": 0.162452605405482, "lpips": 0.6424100399017334}, "tactile_left": {"psnr": 35.93562289674233, "ssim": 0.9561100826216788, "lpips": 0.2404111921787262}, "tactile_right": {"psnr": 27.378687883455953, "ssim": 0.9243935795935307, "lpips": 0.30678877234458923}}, {"video": {"psnr": 17.6946349115647, "ssim": 0.654919565093346, "lpips": 0.29532909393310547}, "wrist_left": {"psnr": 12.904637822200415, "ssim": 0.49990957250733786, "lpips": 0.45518115162849426}, "wrist_right": {"psnr": 11.947734877056575, "ssim": 0.21210058441928026, "lpips": 0.6492658853530884}, "tactile_left": {"psnr": 35.49582198122434, "ssim": 0.953289531851949, "lpips": 0.2536381483078003}, "tactile_right": {"psnr": 29.852092796226604, "ssim": 0.9469474741798175, "lpips": 0.2140032947063446}}, {"video": {"psnr": 17.57867000378511, "ssim": 0.6494878275797891, "lpips": 0.3002791106700897}, "wrist_left": {"psnr": 12.473075343163648, "ssim": 0.4785863350730782, "lpips": 0.4850924015045166}, "wrist_right": {"psnr": 10.620051397345032, "ssim": 0.19628937670724475, "lpips": 0.7078280448913574}, "tactile_left": {"psnr": 35.16136774947543, "ssim": 0.9505566901716945, "lpips": 0.26803088188171387}, "tactile_right": {"psnr": 28.14950859531028, "ssim": 0.9367415375480359, "lpips": 0.2526012659072876}}, {"video": {"psnr": 16.89462069677221, "ssim": 0.6351947532416357, "lpips": 0.3301888704299927}, "wrist_left": {"psnr": 12.067401742031596, "ssim": 0.45774604836864763, "lpips": 0.5114102363586426}, "wrist_right": {"psnr": 9.874095430424399, "ssim": 0.2408609516314873, "lpips": 0.6579536199569702}, "tactile_left": {"psnr": 34.96569893084644, "ssim": 0.948383340408037, "lpips": 0.2790369987487793}, "tactile_right": {"psnr": 31.719102379809442, "ssim": 0.9524727698345159, "lpips": 0.17701879143714905}}, {"video": {"psnr": 16.718535173416814, "ssim": 0.6311052938452183, "lpips": 0.3329393267631531}, "wrist_left": {"psnr": 12.211923849363517, "ssim": 0.4732356800351414, "lpips": 0.5043863654136658}, "wrist_right": {"psnr": 10.659735456705233, "ssim": 0.20328517708257535, "lpips": 0.6255315542221069}, "tactile_left": {"psnr": 34.75131093889392, "ssim": 0.9455319565101037, "lpips": 0.2949785888195038}, "tactile_right": {"psnr": 32.680555292653125, "ssim": 0.9533336876276919, "lpips": 0.16938966512680054}}, {"video": {"psnr": 16.66380823246198, "ssim": 0.631896367713271, "lpips": 0.35728245973587036}, "wrist_left": {"psnr": 12.52318445887725, "ssim": 0.4535991426701198, "lpips": 0.4708939790725708}, "wrist_right": {"psnr": 11.351205599028848, "ssim": 0.1999882720838438, "lpips": 0.6443232893943787}, "tactile_left": {"psnr": 34.55563392664039, "ssim": 0.9433916113104885, "lpips": 0.3027023375034332}, "tactile_right": {"psnr": 29.280565343879992, "ssim": 0.9325308923341143, "lpips": 0.2477131187915802}}], "long_metrics": {"video": {"psnr": 18.59484471950946, "ssim": 0.6685776178389783, "lpips": 0.23486079970995585}, "wrist_left": {"psnr": 14.084145576306721, "ssim": 0.5431843140937904, "lpips": 0.4164639194806417}, "wrist_right": {"psnr": 11.55544826957067, "ssim": 0.23506066101874704, "lpips": 0.6097913046677907}, "tactile_left": {"psnr": 38.47147031324508, "ssim": 0.9637356920963095, "lpips": 0.18658567120631536}, "tactile_right": {"psnr": 30.722668069714963, "ssim": 0.9439480777064096, "lpips": 0.21741449534893037}}}, {"id": "motherboard_e010_11", "episode": "motherboard_0909_episode_002.pt", "requested_episode": "motherboard_0909_episode_002.pt", "category": "full", "t_start": 1788, "start_seconds": 119.2, "short_contact": [1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1], "future_transition_ticks": [], "long_contact_fraction": 0.9609375, "long_label": "full", "short_metrics": {"video": {"psnr": 26.656537515778886, "ssim": 0.8781309713933142, "lpips": 0.05769677460193634}, "wrist_left": {"psnr": 10.365091801193877, "ssim": 0.3224585461823778, "lpips": 0.4381601810455322}, "wrist_right": {"psnr": 22.927125086501885, "ssim": 0.8615573723592838, "lpips": 0.04394683614373207}, "tactile_left": {"psnr": 46.75152339328559, "ssim": 0.9909191772853272, "lpips": 0.008773252367973328}, "tactile_right": {"psnr": 46.052561308582526, "ssim": 0.9886203903456856, "lpips": 0.008297175168991089}}, "media": {"short": {"video": "media/motherboard_e010_11_short.mp4", "poster": "media/motherboard_e010_11_short.jpg"}, "long": {"video": "media/motherboard_e010_11_long.mp4", "poster": "media/motherboard_e010_11_long.jpg"}}, "force": {"source": "recorded_normal_force", "units": "N", "fps": 15, "left": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 2.9424359798431396, 5.439090728759766, 6.733333110809326, 7.293181896209717, 7.293181896209717, 7.299813270568848, 7.3037261962890625, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 6.733333110809326, 6.733333110809326, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 6.733333110809326, 5.439090728759766, 4.285294055938721, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 4.285294055938721, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.8207693099975586, 2.861105442047119, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "right": [1.1733332872390747, 1.5254545211791992, 1.5254545211791992, 1.5254545211791992, 1.5254545211791992, 1.5254545211791992, 1.5254545211791992, 1.5254545211791992, 1.5254545211791992, 1.5254545211791992, 1.5254545211791992, 1.5254545211791992, 1.5254545211791992, 1.9331133365631104, 1.9833333492279053, 2.636666774749756, 2.8207693099975586, 2.8207693099975586, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 4.285294055938721, 4.285294055938721, 4.285294055938721, 4.285294055938721, 4.285294055938721, 4.285294055938721, 4.285294055938721, 4.285294055938721, 5.145384788513184, 5.259615421295166, 5.145384788513184, 5.145384788513184, 5.145384788513184, 4.3677778244018555, 5.971224308013916, 5.484982967376709, 5.702359199523926, 5.145384788513184, 5.145384788513184, 5.145384788513184, 6.251071453094482, 6.251071453094482, 6.251071453094482, 6.251071453094482, 6.251071453094482, 6.251071453094482, 6.251071453094482, 6.251071453094482, 6.251071453094482, 6.251071453094482, 5.439090728759766, 4.3677778244018555, 4.285294055938721, 2.9424359798431396, 2.8207693099975586, 1.1733332872390747, 1.1662499904632568, 1.1662499904632568, 1.1662499904632568, 1.1662499904632568, 1.1662499904632568, 1.1662499904632568, 1.1662499904632568, 1.2584279775619507, 1.5254545211791992, 1.9178065061569214, 1.9830996990203857, 1.8448008298873901, 1.5254545211791992, 1.445785403251648, 1.1733332872390747, 1.1662499904632568, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 2.8207693099975586, 4.285294055938721, 5.259615421295166, 6.251071453094482, 7.293181896209717, 7.293181896209717, 7.30930757522583, 7.30930757522583, 7.869999885559082, 7.869999885559082, 7.869999885559082, 7.823916435241699, 7.602156639099121, 7.494094371795654, 7.307358264923096, 7.307871341705322, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 6.251071453094482, 5.439090728759766, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.8207693099975586, 2.636666774749756, 1.9833333492279053, 2.9424359798431396, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 6.733333110809326, 6.251071453094482, 2.9424359798431396, 1.5254545211791992, 1.1662499904632568, 1.1662499904632568]}, "long_curve": [{"video": {"psnr": 26.656537515778886, "ssim": 0.8781309713933142, "lpips": 0.05769677460193634}, "wrist_left": {"psnr": 10.365091801193877, "ssim": 0.3224585461823778, "lpips": 0.4381601810455322}, "wrist_right": {"psnr": 22.927125086501885, "ssim": 0.8615573723592838, "lpips": 0.04394683614373207}, "tactile_left": {"psnr": 46.75152339328559, "ssim": 0.9909191772853272, "lpips": 0.008773252367973328}, "tactile_right": {"psnr": 46.052561308582526, "ssim": 0.9886203903456856, "lpips": 0.008297175168991089}}, {"video": {"psnr": 25.24407093023512, "ssim": 0.8299538384611871, "lpips": 0.0866575539112091}, "wrist_left": {"psnr": 9.197746815191325, "ssim": 0.15742103685792722, "lpips": 0.6196833252906799}, "wrist_right": {"psnr": 17.662978694382826, "ssim": 0.6016235939547538, "lpips": 0.1329011768102646}, "tactile_left": {"psnr": 31.157650710598823, "ssim": 0.934781080471799, "lpips": 0.20457720756530762}, "tactile_right": {"psnr": 34.41289709114516, "ssim": 0.9567776943201911, "lpips": 0.08589258790016174}}, {"video": {"psnr": 23.188580482412885, "ssim": 0.7571637109410996, "lpips": 0.11418367922306061}, "wrist_left": {"psnr": 8.830023948281799, "ssim": 0.13482861354746606, "lpips": 0.65554279088974}, "wrist_right": {"psnr": 14.211564006148908, "ssim": 0.42849979562887774, "lpips": 0.3054466247558594}, "tactile_left": {"psnr": 29.370595142065095, "ssim": 0.9057765669692391, "lpips": 0.28779035806655884}, "tactile_right": {"psnr": 30.110816718354968, "ssim": 0.9263297993382371, "lpips": 0.24200788140296936}}, {"video": {"psnr": 21.85331610274785, "ssim": 0.7084678976545138, "lpips": 0.1458352655172348}, "wrist_left": {"psnr": 8.554919376355967, "ssim": 0.12653036477001522, "lpips": 0.6610170006752014}, "wrist_right": {"psnr": 12.418777361771127, "ssim": 0.33669818994154543, "lpips": 0.4415024220943451}, "tactile_left": {"psnr": 29.5057050288546, "ssim": 0.9120692491008325, "lpips": 0.30970895290374756}, "tactile_right": {"psnr": 30.416049082316732, "ssim": 0.9365830755665788, "lpips": 0.231173574924469}}, {"video": {"psnr": 21.525780211791812, "ssim": 0.6986291468760908, "lpips": 0.1590089052915573}, "wrist_left": {"psnr": 8.678976255829246, "ssim": 0.13926727790508114, "lpips": 0.6620875597000122}, "wrist_right": {"psnr": 12.626088012172064, "ssim": 0.31867310413404615, "lpips": 0.44028106331825256}, "tactile_left": {"psnr": 27.69067139716372, "ssim": 0.8933936984459098, "lpips": 0.3732178509235382}, "tactile_right": {"psnr": 30.47178567413337, "ssim": 0.9328227178737329, "lpips": 0.24598991870880127}}, {"video": {"psnr": 21.383716319293637, "ssim": 0.6956076008086043, "lpips": 0.16850262880325317}, "wrist_left": {"psnr": 9.22301436735576, "ssim": 0.15352531878219033, "lpips": 0.6505930423736572}, "wrist_right": {"psnr": 12.497879226797384, "ssim": 0.3113766389620506, "lpips": 0.4322494566440582}, "tactile_left": {"psnr": 29.38243093477888, "ssim": 0.911585023136535, "lpips": 0.34813106060028076}, "tactile_right": {"psnr": 31.49417724590836, "ssim": 0.9417795033932138, "lpips": 0.2220444679260254}}, {"video": {"psnr": 21.224127785971334, "ssim": 0.6885616631409298, "lpips": 0.1722351312637329}, "wrist_left": {"psnr": 9.245008018280021, "ssim": 0.16032944662381782, "lpips": 0.6520904302597046}, "wrist_right": {"psnr": 12.025803478868482, "ssim": 0.29246956976991245, "lpips": 0.44033992290496826}, "tactile_left": {"psnr": 33.1724000154464, "ssim": 0.9376190590555535, "lpips": 0.2911316752433777}, "tactile_right": {"psnr": 34.47238492981997, "ssim": 0.9544948655256335, "lpips": 0.17546236515045166}}, {"video": {"psnr": 20.855868798780804, "ssim": 0.6800025914428078, "lpips": 0.19024798274040222}, "wrist_left": {"psnr": 9.092411227963245, "ssim": 0.1533380349739582, "lpips": 0.6553425192832947}, "wrist_right": {"psnr": 12.916797864585646, "ssim": 0.3129590384233062, "lpips": 0.401136577129364}, "tactile_left": {"psnr": 32.51366305444812, "ssim": 0.9327999255491579, "lpips": 0.30870360136032104}, "tactile_right": {"psnr": 34.524028945425215, "ssim": 0.9550682708807753, "lpips": 0.1766567975282669}}, {"video": {"psnr": 20.59633783651372, "ssim": 0.6619339791076494, "lpips": 0.20618936419487}, "wrist_left": {"psnr": 8.855541237848438, "ssim": 0.15280455177769903, "lpips": 0.6673316955566406}, "wrist_right": {"psnr": 11.356373000027133, "ssim": 0.290175525898006, "lpips": 0.5166330337524414}, "tactile_left": {"psnr": 32.26698943773517, "ssim": 0.9380476990013957, "lpips": 0.29549479484558105}, "tactile_right": {"psnr": 34.7571152302412, "ssim": 0.9588677905284346, "lpips": 0.14329664409160614}}, {"video": {"psnr": 20.55426233599837, "ssim": 0.6588870199637775, "lpips": 0.2063784897327423}, "wrist_left": {"psnr": 9.41261520618056, "ssim": 0.2048044887165445, "lpips": 0.6219989061355591}, "wrist_right": {"psnr": 10.93662763914822, "ssim": 0.26550630767624706, "lpips": 0.5560622215270996}, "tactile_left": {"psnr": 33.94577748940335, "ssim": 0.9511561928069685, "lpips": 0.2566366493701935}, "tactile_right": {"psnr": 34.40390272250533, "ssim": 0.9569397241406096, "lpips": 0.15328925848007202}}, {"video": {"psnr": 20.11702748834695, "ssim": 0.649723304127442, "lpips": 0.21618041396141052}, "wrist_left": {"psnr": 10.45419003961393, "ssim": 0.3015315569577604, "lpips": 0.598548412322998}, "wrist_right": {"psnr": 11.162965977069781, "ssim": 0.2558389503046248, "lpips": 0.5718094110488892}, "tactile_left": {"psnr": 34.36646221543863, "ssim": 0.9532624792433794, "lpips": 0.2518920302391052}, "tactile_right": {"psnr": 28.60921475052081, "ssim": 0.929009007467269, "lpips": 0.3059753179550171}}, {"video": {"psnr": 19.979379391058497, "ssim": 0.6498650086703548, "lpips": 0.23025089502334595}, "wrist_left": {"psnr": 10.451293409339177, "ssim": 0.2229176998449363, "lpips": 0.6247514486312866}, "wrist_right": {"psnr": 11.071394718818933, "ssim": 0.2641383274640962, "lpips": 0.5731527209281921}, "tactile_left": {"psnr": 34.04839191860202, "ssim": 0.9511332540060538, "lpips": 0.26142704486846924}, "tactile_right": {"psnr": 27.10344607119935, "ssim": 0.9176737037352214, "lpips": 0.3360166847705841}}, {"video": {"psnr": 20.027837692225162, "ssim": 0.6510307148945762, "lpips": 0.22377485036849976}, "wrist_left": {"psnr": 9.630243045856552, "ssim": 0.1899487064504644, "lpips": 0.615059494972229}, "wrist_right": {"psnr": 10.915706846555963, "ssim": 0.25854475391362547, "lpips": 0.567023515701294}, "tactile_left": {"psnr": 33.87329643161082, "ssim": 0.9492323548120678, "lpips": 0.27227115631103516}, "tactile_right": {"psnr": 28.858346711223675, "ssim": 0.9312160035459895, "lpips": 0.3010552227497101}}, {"video": {"psnr": 19.734886728536033, "ssim": 0.6412734153600286, "lpips": 0.22740018367767334}, "wrist_left": {"psnr": 9.635365692166411, "ssim": 0.18437222227816968, "lpips": 0.6107453107833862}, "wrist_right": {"psnr": 11.160252330251145, "ssim": 0.25788771747481154, "lpips": 0.574211061000824}, "tactile_left": {"psnr": 33.61048028389407, "ssim": 0.9463075482207077, "lpips": 0.2848338782787323}, "tactile_right": {"psnr": 29.606515519449633, "ssim": 0.9381452138135031, "lpips": 0.2820930778980255}}, {"video": {"psnr": 19.979367718291734, "ssim": 0.6477344493623653, "lpips": 0.2281162142753601}, "wrist_left": {"psnr": 10.02445403794399, "ssim": 0.20621474590323563, "lpips": 0.5960146188735962}, "wrist_right": {"psnr": 11.042822314687097, "ssim": 0.24233619232230988, "lpips": 0.5886158347129822}, "tactile_left": {"psnr": 33.33265332362346, "ssim": 0.9445713827562962, "lpips": 0.2923133373260498}, "tactile_right": {"psnr": 30.364522533730117, "ssim": 0.9416121373247848, "lpips": 0.25568506121635437}}], "long_metrics": {"video": {"psnr": 21.52807315586552, "ssim": 0.6997976874803161, "lpips": 0.17551055550575256}, "wrist_left": {"psnr": 9.443392965293354, "ssim": 0.1873528407714429, "lpips": 0.6219311157862345}, "wrist_right": {"psnr": 12.995543770519106, "ssim": 0.35321900521516647, "lpips": 0.4390207918981711}, "tactile_left": {"psnr": 32.99924605179658, "ssim": 0.9368436460574149, "lpips": 0.2697935233513514}, "tactile_right": {"psnr": 32.37718430230376, "ssim": 0.9443959931866573, "lpips": 0.21099573572476704}}}, {"id": "motherboard_e010_12", "episode": "motherboard_0911_episode_008_seg00.pt", "requested_episode": "motherboard_0911_episode_008_seg00.pt", "category": "none", "t_start": 913, "start_seconds": 60.86666666666667, "short_contact": [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0], "future_transition_ticks": [], "long_contact_fraction": 0.2734375, "long_label": "none_at_start", "short_metrics": {"video": {"psnr": 26.917711671532636, "ssim": 0.8932576050055723, "lpips": 0.04361987113952637}, "wrist_left": {"psnr": 18.217838838656114, "ssim": 0.6837802584961292, "lpips": 0.18814262747764587}, "wrist_right": {"psnr": 16.056828952508177, "ssim": 0.41425602340592127, "lpips": 0.3127450942993164}, "tactile_left": {"psnr": 51.42436062644887, "ssim": 0.9951143462717693, "lpips": 0.0032057026401162148}, "tactile_right": {"psnr": 50.6320874350131, "ssim": 0.9943642418947287, "lpips": 0.004098422825336456}}, "media": {"short": {"video": "media/motherboard_e010_12_short.mp4", "poster": "media/motherboard_e010_12_short.jpg"}, "long": {"video": "media/motherboard_e010_12_long.mp4", "poster": "media/motherboard_e010_12_long.jpg"}}, "force": {"source": "recorded_normal_force", "units": "N", "fps": 15, "left": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "right": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.6395905017852783, 0.529942512512207, 0.529942512512207, 0.2907944917678833, 0.5600000023841858, 0.1599999964237213, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0812060683965683, 0.0024630518164485693, 0.0, 1.3589457273483276, 0.0, 0.0, 0.0, 0.5390956997871399, 0.3198980987071991, 0.5392528176307678, 0.0, 0.0, 0.0, 0.0, 1.187829852104187, 0.0, 1.294777274131775, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.8550904393196106, 0.0, 0.7983333468437195, 0.7983333468437195, 2.243333339691162, 1.284462809562683, 0.0, 2.3248276710510254, 0.27564528584480286, 0.4399999976158142, 0.49203309416770935, 0.7983333468437195, 1.9444444179534912, 0.5351153016090393, 0.4000000059604645, 0.4866666793823242, 0.4399999976158142, 0.1599999964237213, 0.0, 0.0, 0.0, 0.0, 0.0, 2.3248276710510254, 1.277543306350708, 0.0, 0.0, 3.0568182468414307, 2.0719287395477295, 0.0, 0.0, 2.563887119293213, 0.0, 0.0, 0.0, 0.7983333468437195, 1.9444444179534912, 0.7983333468437195, 0.1599999964237213, 0.5624003410339355, 0.7983333468437195, 0.0, 0.0, 0.0, 0.0, 0.0, 0.1599999964237213, 0.1599999964237213, 0.1599999964237213, 1.9444444179534912, 0.5600000023841858, 1.9444444179534912, 0.4000000059604645, 0.1599999964237213, 3.0568182468414307, 0.0, 2.898989200592041, 0.7983333468437195, 0.3728911876678467, 0.27666667103767395, 0.2400962859392166, 0.16988153755664825, 0.1599999964237213, 0.1599999964237213, 0.0, 0.0, 0.0, 0.0, 0.11106123775243759, 0.49718019366264343, 0.7983333468437195]}, "long_curve": [{"video": {"psnr": 26.917711671532636, "ssim": 0.8932576050055723, "lpips": 0.04361987113952637}, "wrist_left": {"psnr": 18.217838838656114, "ssim": 0.6837802584961292, "lpips": 0.18814262747764587}, "wrist_right": {"psnr": 16.056828952508177, "ssim": 0.41425602340592127, "lpips": 0.3127450942993164}, "tactile_left": {"psnr": 51.42436062644887, "ssim": 0.9951143462717693, "lpips": 0.0032057026401162148}, "tactile_right": {"psnr": 50.6320874350131, "ssim": 0.9943642418947287, "lpips": 0.004098422825336456}}, {"video": {"psnr": 24.81269204856752, "ssim": 0.851365010000164, "lpips": 0.06139363348484039}, "wrist_left": {"psnr": 16.646897582160328, "ssim": 0.6457516356546, "lpips": 0.23696669936180115}, "wrist_right": {"psnr": 15.168243941378146, "ssim": 0.35817817630231674, "lpips": 0.41470110416412354}, "tactile_left": {"psnr": 48.35179437476687, "ssim": 0.9921884251588398, "lpips": 0.00980345718562603}, "tactile_right": {"psnr": 42.36142091387965, "ssim": 0.9849174585051582, "lpips": 0.03959445282816887}}, {"video": {"psnr": 24.218096319499573, "ssim": 0.8359743917252985, "lpips": 0.07269545644521713}, "wrist_left": {"psnr": 16.396264241226945, "ssim": 0.646050349835724, "lpips": 0.24665161967277527}, "wrist_right": {"psnr": 14.85731821598755, "ssim": 0.3334607599670834, "lpips": 0.41668036580085754}, "tactile_left": {"psnr": 45.81782770935319, "ssim": 0.989065489482114, "lpips": 0.022893279790878296}, "tactile_right": {"psnr": 38.41263737518443, "ssim": 0.9797293139853468, "lpips": 0.05818473547697067}}, {"video": {"psnr": 23.95347166999571, "ssim": 0.8275290510614829, "lpips": 0.07751721143722534}, "wrist_left": {"psnr": 16.028790895426276, "ssim": 0.632415675846118, "lpips": 0.2568802833557129}, "wrist_right": {"psnr": 14.941157714544545, "ssim": 0.32165336114858295, "lpips": 0.42962825298309326}, "tactile_left": {"psnr": 44.517503394777975, "ssim": 0.9858923052273512, "lpips": 0.03611435368657112}, "tactile_right": {"psnr": 37.065265825941225, "ssim": 0.9787223682531161, "lpips": 0.06055770069360733}}, {"video": {"psnr": 24.041162582810244, "ssim": 0.8260593053688634, "lpips": 0.0766124576330185}, "wrist_left": {"psnr": 15.547261808796367, "ssim": 0.6144935031205276, "lpips": 0.2772623300552368}, "wrist_right": {"psnr": 14.654464116235177, "ssim": 0.310424255772183, "lpips": 0.4606534242630005}, "tactile_left": {"psnr": 43.10506829782439, "ssim": 0.9836653946747345, "lpips": 0.0515899732708931}, "tactile_right": {"psnr": 38.13694547817731, "ssim": 0.9797317156437777, "lpips": 0.06030210852622986}}, {"video": {"psnr": 23.005633660404175, "ssim": 0.7909105262756237, "lpips": 0.08645182847976685}, "wrist_left": {"psnr": 15.118337046910167, "ssim": 0.5986673236015645, "lpips": 0.3006822466850281}, "wrist_right": {"psnr": 15.027244768048059, "ssim": 0.35190346385614635, "lpips": 0.43946826457977295}, "tactile_left": {"psnr": 41.959519816963116, "ssim": 0.9810217304996833, "lpips": 0.07041924446821213}, "tactile_right": {"psnr": 38.3342871679385, "ssim": 0.9799868080902739, "lpips": 0.05518027022480965}}, {"video": {"psnr": 22.026643998655636, "ssim": 0.7575412585077939, "lpips": 0.1053156852722168}, "wrist_left": {"psnr": 14.5560310377883, "ssim": 0.5808216101518409, "lpips": 0.3261197805404663}, "wrist_right": {"psnr": 14.756983855705405, "ssim": 0.32005360275777284, "lpips": 0.44719594717025757}, "tactile_left": {"psnr": 40.61781036191519, "ssim": 0.9784837340517383, "lpips": 0.08688786625862122}, "tactile_right": {"psnr": 38.783488587866024, "ssim": 0.9795732458972586, "lpips": 0.06431262195110321}}, {"video": {"psnr": 22.404919550655777, "ssim": 0.7640968164101758, "lpips": 0.11171001940965652}, "wrist_left": {"psnr": 14.707650459722924, "ssim": 0.5893480201234531, "lpips": 0.3206333518028259}, "wrist_right": {"psnr": 13.783394823844318, "ssim": 0.32894085064170636, "lpips": 0.4640289545059204}, "tactile_left": {"psnr": 39.48842483153438, "ssim": 0.9754033579683408, "lpips": 0.10809694975614548}, "tactile_right": {"psnr": 38.04426371282812, "ssim": 0.9767812148719495, "lpips": 0.09534397721290588}}, {"video": {"psnr": 22.319951958592373, "ssim": 0.7507977571723681, "lpips": 0.1189604103565216}, "wrist_left": {"psnr": 15.188831608731858, "ssim": 0.5870935704408095, "lpips": 0.3099583685398102}, "wrist_right": {"psnr": 13.821241432755018, "ssim": 0.3180608434860285, "lpips": 0.5061971545219421}, "tactile_left": {"psnr": 38.534147981690865, "ssim": 0.9731259955251906, "lpips": 0.12631919980049133}, "tactile_right": {"psnr": 37.68043180075288, "ssim": 0.9770555320181289, "lpips": 0.08569319546222687}}, {"video": {"psnr": 21.66235409483893, "ssim": 0.7301222999858911, "lpips": 0.13451364636421204}, "wrist_left": {"psnr": 14.60307857318563, "ssim": 0.5634268480602201, "lpips": 0.3270891606807709}, "wrist_right": {"psnr": 13.5589169989966, "ssim": 0.2573817219922396, "lpips": 0.5244002938270569}, "tactile_left": {"psnr": 37.25404222264238, "ssim": 0.9693426683192581, "lpips": 0.14182251691818237}, "tactile_right": {"psnr": 36.18341506575876, "ssim": 0.9725225672966734, "lpips": 0.09759354591369629}}, {"video": {"psnr": 21.145838066937014, "ssim": 0.7155582915216295, "lpips": 0.14088210463523865}, "wrist_left": {"psnr": 14.359609964297109, "ssim": 0.5546903066942462, "lpips": 0.3279101550579071}, "wrist_right": {"psnr": 13.706734157420069, "ssim": 0.27556024903411414, "lpips": 0.5352076292037964}, "tactile_left": {"psnr": 36.854565379124736, "ssim": 0.9664229790484391, "lpips": 0.15476807951927185}, "tactile_right": {"psnr": 34.425645663429485, "ssim": 0.966992101853114, "lpips": 0.14890454709529877}}, {"video": {"psnr": 21.38898650625314, "ssim": 0.7235201301023898, "lpips": 0.14052057266235352}, "wrist_left": {"psnr": 13.870863491982554, "ssim": 0.5405578546529745, "lpips": 0.35456979274749756}, "wrist_right": {"psnr": 13.395989256153857, "ssim": 0.2979812709492279, "lpips": 0.5066970586776733}, "tactile_left": {"psnr": 36.42469259246666, "ssim": 0.9638187642827305, "lpips": 0.17393089830875397}, "tactile_right": {"psnr": 34.65359043830782, "ssim": 0.9679024898356912, "lpips": 0.13057300448417664}}, {"video": {"psnr": 21.23108158970394, "ssim": 0.7234934029206509, "lpips": 0.1495475172996521}, "wrist_left": {"psnr": 12.712954139709128, "ssim": 0.5101155239903297, "lpips": 0.40159741044044495}, "wrist_right": {"psnr": 13.442000903904177, "ssim": 0.3121532979864612, "lpips": 0.5073316097259521}, "tactile_left": {"psnr": 36.027107159620414, "ssim": 0.9615679488128492, "lpips": 0.1862976849079132}, "tactile_right": {"psnr": 36.65965480906734, "ssim": 0.9725677308406362, "lpips": 0.09672483801841736}}, {"video": {"psnr": 21.001942935802838, "ssim": 0.7133737565150399, "lpips": 0.16122634708881378}, "wrist_left": {"psnr": 12.428966023998939, "ssim": 0.48650486135816906, "lpips": 0.4291241765022278}, "wrist_right": {"psnr": 13.715181261400556, "ssim": 0.29323035592888214, "lpips": 0.4738005995750427}, "tactile_left": {"psnr": 35.75387738735871, "ssim": 0.9586443693312116, "lpips": 0.19981452822685242}, "tactile_right": {"psnr": 36.54156862411428, "ssim": 0.971086947181705, "lpips": 0.11429699510335922}}, {"video": {"psnr": 20.882099392371487, "ssim": 0.7020225891961643, "lpips": 0.17292770743370056}, "wrist_left": {"psnr": 12.436571082277247, "ssim": 0.4797303069952284, "lpips": 0.42837053537368774}, "wrist_right": {"psnr": 12.53088322380676, "ssim": 0.2595366338201123, "lpips": 0.5037593841552734}, "tactile_left": {"psnr": 35.101947149083166, "ssim": 0.9556510089368877, "lpips": 0.21354204416275024}, "tactile_right": {"psnr": 35.425347120030864, "ssim": 0.9679310257236502, "lpips": 0.12246659398078918}}], "long_metrics": {"video": {"psnr": 22.734172403108065, "ssim": 0.7737081461179405, "lpips": 0.11025963127613067}, "wrist_left": {"psnr": 14.854663119657992, "ssim": 0.5808965099347957, "lpips": 0.31546390255292256}, "wrist_right": {"psnr": 14.227772241512561, "ssim": 0.31685165780325186, "lpips": 0.4628330091635386}, "tactile_left": {"psnr": 40.7488459523714, "ssim": 0.9752939011727425, "lpips": 0.10570038526008527}, "tactile_right": {"psnr": 38.22267000121931, "ssim": 0.9766576507927472, "lpips": 0.08225513398647308}}}, {"id": "motherboard_e010_13", "episode": "motherboard_0911_episode_008_seg00.pt", "requested_episode": "motherboard_0911_episode_008_seg00.pt", "category": "onset", "t_start": 726, "start_seconds": 48.4, "short_contact": [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 1], "future_transition_ticks": [11], "long_contact_fraction": 0.515625, "long_label": "onset", "short_metrics": {"video": {"psnr": 31.15441317402441, "ssim": 0.9378611713650069, "lpips": 0.019867926836013794}, "wrist_left": {"psnr": 15.124467114919113, "ssim": 0.29656273119764176, "lpips": 0.25139641761779785}, "wrist_right": {"psnr": 20.49559934124248, "ssim": 0.8486492764176552, "lpips": 0.040146343410015106}, "tactile_left": {"psnr": 34.23854132243499, "ssim": 0.9679200997782815, "lpips": 0.09802523255348206}, "tactile_right": {"psnr": 50.438857574888075, "ssim": 0.9947728414769548, "lpips": 0.003776310943067074}}, "media": {"short": {"video": "media/motherboard_e010_13_short.mp4", "poster": "media/motherboard_e010_13_short.jpg"}, "long": {"video": "media/motherboard_e010_13_long.mp4", "poster": "media/motherboard_e010_13_long.jpg"}}, "force": {"source": "recorded_normal_force", "units": "N", "fps": 15, "left": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 2.243333339691162, 3.9167568683624268, 6.519285678863525, 6.519285678863525, 6.519285678863525, 6.519285678863525, 6.519285678863525, 6.519285678863525, 6.519285678863525, 6.373636245727539, 3.9167568683624268, 0.27666667103767395, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.347143292427063, 0.7983333468437195, 1.9444444179534912, 2.6312499046325684, 2.6312499046325684, 4.726428508758545, 3.0568182468414307, 2.3248276710510254, 3.0568182468414307, 3.0568182468414307, 3.9167568683624268, 4.726428508758545, 4.726428508758545, 3.9167568683624268, 1.9444444179534912, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.5218365788459778, 0.7983333468437195, 2.6312499046325684, 0.5259732007980347, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.7983333468437195, 3.0568182468414307, 6.373636245727539, 5.397500038146973, 5.486666679382324, 2.3248276710510254, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 5.403749942779541, 6.519285678863525, 6.760714054107666, 7.488461494445801, 7.488461494445801, 7.488461494445801, 7.488461494445801, 6.760714054107666, 6.519285678863525, 6.519285678863525, 5.486666679382324, 0.7983333468437195, 0.0, 0.0, 0.0, 0.0, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.9167568683624268, 3.1971428394317627, 3.9167568683624268, 4.726428508758545, 4.726428508758545, 4.726428508758545, 4.726428508758545, 3.9167568683624268, 3.9167568683624268, 3.9167568683624268, 3.9167568683624268, 3.1971428394317627, 2.3248276710510254, 0.019140325486660004, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.5600000023841858], "right": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]}, "long_curve": [{"video": {"psnr": 31.15441317402441, "ssim": 0.9378611713650069, "lpips": 0.019867926836013794}, "wrist_left": {"psnr": 15.124467114919113, "ssim": 0.29656273119764176, "lpips": 0.25139641761779785}, "wrist_right": {"psnr": 20.49559934124248, "ssim": 0.8486492764176552, "lpips": 0.040146343410015106}, "tactile_left": {"psnr": 34.23854132243499, "ssim": 0.9679200997782815, "lpips": 0.09802523255348206}, "tactile_right": {"psnr": 50.438857574888075, "ssim": 0.9947728414769548, "lpips": 0.003776310943067074}}, {"video": {"psnr": 23.930407082137947, "ssim": 0.8107047855433455, "lpips": 0.06362983584403992}, "wrist_left": {"psnr": 14.975670580392874, "ssim": 0.28571806481503037, "lpips": 0.3155016601085663}, "wrist_right": {"psnr": 17.735201880070257, "ssim": 0.7238966410000545, "lpips": 0.12049175798892975}, "tactile_left": {"psnr": 32.04356053905953, "ssim": 0.949201491799261, "lpips": 0.1534268856048584}, "tactile_right": {"psnr": 47.57234997410097, "ssim": 0.9886515162189643, "lpips": 0.012794116511940956}}, {"video": {"psnr": 22.509204016429184, "ssim": 0.7657307701028115, "lpips": 0.09317493438720703}, "wrist_left": {"psnr": 14.167654153128966, "ssim": 0.28204983361941977, "lpips": 0.3826846778392792}, "wrist_right": {"psnr": 17.15706420759336, "ssim": 0.714986174557255, "lpips": 0.15942056477069855}, "tactile_left": {"psnr": 40.79705735233949, "ssim": 0.9742380965124551, "lpips": 0.05305694788694382}, "tactile_right": {"psnr": 46.030006418946726, "ssim": 0.9861054334056701, "lpips": 0.02483087219297886}}, {"video": {"psnr": 22.042819688871333, "ssim": 0.748854626968784, "lpips": 0.10526704788208008}, "wrist_left": {"psnr": 13.152521521432721, "ssim": 0.24313983172423867, "lpips": 0.42475682497024536}, "wrist_right": {"psnr": 16.85777635023366, "ssim": 0.6934071218252414, "lpips": 0.16858312487602234}, "tactile_left": {"psnr": 38.87216611510289, "ssim": 0.9746611626761233, "lpips": 0.0674017071723938}, "tactile_right": {"psnr": 44.59359591910355, "ssim": 0.9842159426336086, "lpips": 0.03930291533470154}}, {"video": {"psnr": 21.736937335714348, "ssim": 0.7382723140451168, "lpips": 0.11236509680747986}, "wrist_left": {"psnr": 13.296506872041425, "ssim": 0.2522523553200998, "lpips": 0.47668492794036865}, "wrist_right": {"psnr": 16.680113060512582, "ssim": 0.6879673411556655, "lpips": 0.17023620009422302}, "tactile_left": {"psnr": 32.184514694827485, "ssim": 0.9493521301331056, "lpips": 0.18776299059391022}, "tactile_right": {"psnr": 43.685366480010686, "ssim": 0.9823105585486045, "lpips": 0.05447959899902344}}, {"video": {"psnr": 21.700748858380035, "ssim": 0.7283719956473598, "lpips": 0.12149010598659515}, "wrist_left": {"psnr": 12.81680871756831, "ssim": 0.24893627792969844, "lpips": 0.5062530040740967}, "wrist_right": {"psnr": 16.591891040919354, "ssim": 0.6792990413708899, "lpips": 0.17328302562236786}, "tactile_left": {"psnr": 32.423958732308904, "ssim": 0.9573349060533898, "lpips": 0.13240641355514526}, "tactile_right": {"psnr": 42.52026386970641, "ssim": 0.980351345483398, "lpips": 0.06939178705215454}}, {"video": {"psnr": 21.568621242856793, "ssim": 0.7183669414227729, "lpips": 0.12161365151405334}, "wrist_left": {"psnr": 13.203691999876717, "ssim": 0.26359632884116024, "lpips": 0.5121724605560303}, "wrist_right": {"psnr": 16.818663211003766, "ssim": 0.676433468678492, "lpips": 0.17743787169456482}, "tactile_left": {"psnr": 37.90195074778036, "ssim": 0.9706462276458367, "lpips": 0.08564858883619308}, "tactile_right": {"psnr": 41.46212968695665, "ssim": 0.9778874654934087, "lpips": 0.087312713265419}}, {"video": {"psnr": 21.56314917779895, "ssim": 0.7222985870332999, "lpips": 0.12351648509502411}, "wrist_left": {"psnr": 12.4913463747034, "ssim": 0.2637418617537472, "lpips": 0.4718388319015503}, "wrist_right": {"psnr": 16.801160034620615, "ssim": 0.6697342339213035, "lpips": 0.17882487177848816}, "tactile_left": {"psnr": 37.418272603470996, "ssim": 0.9714874569618254, "lpips": 0.07838524878025055}, "tactile_right": {"psnr": 40.757385819329585, "ssim": 0.9757449381557163, "lpips": 0.10400570183992386}}, {"video": {"psnr": 21.210253481125726, "ssim": 0.7152067542770407, "lpips": 0.14044803380966187}, "wrist_left": {"psnr": 12.28690233738348, "ssim": 0.2957602486532937, "lpips": 0.49546873569488525}, "wrist_right": {"psnr": 16.870172205858044, "ssim": 0.6689840588984981, "lpips": 0.18321973085403442}, "tactile_left": {"psnr": 35.37703129953983, "ssim": 0.9617118345718094, "lpips": 0.13131771981716156}, "tactile_right": {"psnr": 40.00258472301358, "ssim": 0.9736060689569024, "lpips": 0.11631577461957932}}, {"video": {"psnr": 20.309207360403594, "ssim": 0.6864690726174072, "lpips": 0.17813903093338013}, "wrist_left": {"psnr": 10.526823057612765, "ssim": 0.24137783946816554, "lpips": 0.5434679985046387}, "wrist_right": {"psnr": 16.706432542499, "ssim": 0.6601462518407063, "lpips": 0.19359531998634338}, "tactile_left": {"psnr": 29.685836266829405, "ssim": 0.9432576759611522, "lpips": 0.2037999927997589}, "tactile_right": {"psnr": 38.72408495463293, "ssim": 0.9714923016286566, "lpips": 0.13435129821300507}}, {"video": {"psnr": 20.141171107528002, "ssim": 0.6774387398340175, "lpips": 0.20259377360343933}, "wrist_left": {"psnr": 11.328312350674635, "ssim": 0.24739464685664841, "lpips": 0.5122785568237305}, "wrist_right": {"psnr": 16.84855056041339, "ssim": 0.6579557607879137, "lpips": 0.21705086529254913}, "tactile_left": {"psnr": 30.874260856447542, "ssim": 0.9494304825066843, "lpips": 0.19356955587863922}, "tactile_right": {"psnr": 37.85255977394214, "ssim": 0.9690280059997064, "lpips": 0.1447978913784027}}, {"video": {"psnr": 20.06784695899253, "ssim": 0.6827395950493987, "lpips": 0.2180708944797516}, "wrist_left": {"psnr": 11.870687537810365, "ssim": 0.2726037330875347, "lpips": 0.5327236652374268}, "wrist_right": {"psnr": 16.55033927938842, "ssim": 0.6490666617669056, "lpips": 0.2407955527305603}, "tactile_left": {"psnr": 34.98484527051137, "ssim": 0.9593461719546986, "lpips": 0.16609659790992737}, "tactile_right": {"psnr": 37.331901881189694, "ssim": 0.9665082975121988, "lpips": 0.15638557076454163}}, {"video": {"psnr": 19.92825552255541, "ssim": 0.6758692453397678, "lpips": 0.22417819499969482}, "wrist_left": {"psnr": 11.8008317153351, "ssim": 0.3179463209239894, "lpips": 0.6024743318557739}, "wrist_right": {"psnr": 16.43183080048072, "ssim": 0.6316432186119179, "lpips": 0.27430659532546997}, "tactile_left": {"psnr": 30.978974822231457, "ssim": 0.9364112319824007, "lpips": 0.23870956897735596}, "tactile_right": {"psnr": 36.93805195023049, "ssim": 0.9643995916997854, "lpips": 0.17197838425636292}}, {"video": {"psnr": 19.63052492172936, "ssim": 0.6664651414153755, "lpips": 0.231345072388649}, "wrist_left": {"psnr": 12.374038441716229, "ssim": 0.322911841905543, "lpips": 0.53143310546875}, "wrist_right": {"psnr": 16.39244447409058, "ssim": 0.6160425806683094, "lpips": 0.30811381340026855}, "tactile_left": {"psnr": 33.50056419061488, "ssim": 0.9511343000647812, "lpips": 0.1959407925605774}, "tactile_right": {"psnr": 36.291912256610914, "ssim": 0.9622855568781459, "lpips": 0.1833394467830658}}, {"video": {"psnr": 19.613204607887226, "ssim": 0.6690721680929025, "lpips": 0.23389679193496704}, "wrist_left": {"psnr": 12.768537883975666, "ssim": 0.26432618003877584, "lpips": 0.5406790971755981}, "wrist_right": {"psnr": 16.36887563374463, "ssim": 0.6098559446039732, "lpips": 0.3243938386440277}, "tactile_left": {"psnr": 31.22563506303297, "ssim": 0.9489426755807608, "lpips": 0.19329339265823364}, "tactile_right": {"psnr": 35.43785149390227, "ssim": 0.959623974439332, "lpips": 0.19887834787368774}}], "long_metrics": {"video": {"psnr": 21.807117635762324, "ssim": 0.7295814605836272, "lpips": 0.1459731251001358}, "wrist_left": {"psnr": 12.812320043904784, "ssim": 0.2732212064089991, "lpips": 0.47332095305124916}, "wrist_right": {"psnr": 17.02040764151139, "ssim": 0.6792045184069854, "lpips": 0.19532663176457088}, "tactile_left": {"psnr": 34.167144658435475, "ssim": 0.9576717296121711, "lpips": 0.14525610903898875}, "tactile_right": {"psnr": 41.309260185104314, "ssim": 0.9757989225687369, "lpips": 0.10012938200185696}}}, {"id": "motherboard_e010_14", "episode": "motherboard_0911_episode_008_seg00.pt", "requested_episode": "motherboard_0911_episode_008_seg00.pt", "category": "release", "t_start": 246, "start_seconds": 16.4, "short_contact": [1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 0, 0], "future_transition_ticks": [11], "long_contact_fraction": 0.6796875, "long_label": "release", "short_metrics": {"video": {"psnr": 30.908051682961837, "ssim": 0.938482611968526, "lpips": 0.023966707289218903}, "wrist_left": {"psnr": 15.329433356019415, "ssim": 0.4247502352528386, "lpips": 0.31877732276916504}, "wrist_right": {"psnr": 25.073807329549126, "ssim": 0.876369082624205, "lpips": 0.02754881978034973}, "tactile_left": {"psnr": 38.20690272123319, "ssim": 0.9831530311090564, "lpips": 0.028362587094306946}, "tactile_right": {"psnr": 50.29126062591458, "ssim": 0.9946204630532853, "lpips": 0.004346949979662895}}, "media": {"short": {"video": "media/motherboard_e010_14_short.mp4", "poster": "media/motherboard_e010_14_short.jpg"}, "long": {"video": "media/motherboard_e010_14_long.mp4", "poster": "media/motherboard_e010_14_long.jpg"}}, "force": {"source": "recorded_normal_force", "units": "N", "fps": 15, "left": [3.9167568683624268, 4.726428508758545, 4.726428508758545, 3.1971428394317627, 4.726428508758545, 6.760714054107666, 6.760714054107666, 7.488461494445801, 7.349999904632568, 7.349999904632568, 3.0568182468414307, 0.49357831478118896, 0.0, 0.0, 0.0, 0.0, 0.4993111193180084, 5.397500038146973, 7.200040817260742, 10.243043899536133, 10.243043899536133, 10.243043899536133, 9.842000007629395, 7.75, 7.75, 7.75, 6.760714054107666, 6.519285678863525, 5.486666679382324, 4.726428508758545, 3.0568182468414307, 1.9444444179534912, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 3.0568182468414307, 5.486666679382324, 6.373636245727539, 6.519285678863525, 6.519285678863525, 6.519285678863525, 6.519285678863525, 6.760714054107666, 6.519285678863525, 5.403749942779541, 5.465914249420166, 6.502091884613037, 5.486666679382324, 3.0568182468414307, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.6003610491752625, 0.6849588751792908, 1.9444444179534912, 3.9167568683624268, 5.486666679382324, 5.486666679382324, 5.403749942779541, 5.486666679382324, 5.486666679382324, 3.9167568683624268, 3.9182748794555664, 5.399834156036377, 5.397500038146973, 3.0568182468414307, 0.1599999964237213, 0.2557404935359955, 2.3248276710510254, 5.403749942779541, 6.519285678863525, 7.488461494445801, 7.75, 10.243043899536133, 7.75, 7.75, 7.488461494445801, 7.488461494445801, 7.724563121795654, 7.488461494445801, 4.726428508758545, 0.7983333468437195, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.9444444179534912, 3.9167568683624268, 3.1971428394317627, 3.9167568683624268, 7.121631622314453, 6.373636245727539, 6.519285678863525, 7.283836364746094, 7.130000114440918, 6.760714054107666, 6.760714054107666, 7.130000114440918, 7.349999904632568, 7.488461494445801, 7.488461494445801, 7.349999904632568, 7.488461494445801, 0.0, 0.0, 0.0, 0.0, 3.0568182468414307, 3.9167568683624268], "right": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]}, "long_curve": [{"video": {"psnr": 30.908051682961837, "ssim": 0.938482611968526, "lpips": 0.023966707289218903}, "wrist_left": {"psnr": 15.329433356019415, "ssim": 0.4247502352528386, "lpips": 0.31877732276916504}, "wrist_right": {"psnr": 25.073807329549126, "ssim": 0.876369082624205, "lpips": 0.02754881978034973}, "tactile_left": {"psnr": 38.20690272123319, "ssim": 0.9831530311090564, "lpips": 0.028362587094306946}, "tactile_right": {"psnr": 50.29126062591458, "ssim": 0.9946204630532853, "lpips": 0.004346949979662895}}, {"video": {"psnr": 27.11618363349945, "ssim": 0.8913417312988495, "lpips": 0.04004932567477226}, "wrist_left": {"psnr": 14.861621529241182, "ssim": 0.4231656686229718, "lpips": 0.32199668884277344}, "wrist_right": {"psnr": 21.898625857665408, "ssim": 0.782640242182626, "lpips": 0.04974645376205444}, "tactile_left": {"psnr": 30.066065037126037, "ssim": 0.9147065715141571, "lpips": 0.25959762930870056}, "tactile_right": {"psnr": 47.84077760899798, "ssim": 0.9901503900027525, "lpips": 0.011452620849013329}}, {"video": {"psnr": 25.150314443266353, "ssim": 0.844724339542299, "lpips": 0.05608870089054108}, "wrist_left": {"psnr": 14.522045435293492, "ssim": 0.4473383266962424, "lpips": 0.3256304860115051}, "wrist_right": {"psnr": 19.363645509212915, "ssim": 0.6764206954976271, "lpips": 0.07966578006744385}, "tactile_left": {"psnr": 30.845545842791132, "ssim": 0.9347919899135718, "lpips": 0.20826251804828644}, "tactile_right": {"psnr": 45.787292659293605, "ssim": 0.9879078203224274, "lpips": 0.0211059357970953}}, {"video": {"psnr": 23.78837366690768, "ssim": 0.7917040802698424, "lpips": 0.07437364012002945}, "wrist_left": {"psnr": 12.963469871361548, "ssim": 0.4581960094863002, "lpips": 0.3743428587913513}, "wrist_right": {"psnr": 18.393565427216835, "ssim": 0.6488333990492109, "lpips": 0.10396845638751984}, "tactile_left": {"psnr": 39.78138425116457, "ssim": 0.9756638004812075, "lpips": 0.0447029247879982}, "tactile_right": {"psnr": 43.52986864238023, "ssim": 0.9856828731028096, "lpips": 0.03638806939125061}}, {"video": {"psnr": 23.412050695555546, "ssim": 0.7791634079620882, "lpips": 0.08615924417972565}, "wrist_left": {"psnr": 14.482070767309969, "ssim": 0.5265921214117038, "lpips": 0.31298375129699707}, "wrist_right": {"psnr": 18.11069860787428, "ssim": 0.6448174299245525, "lpips": 0.11098968982696533}, "tactile_left": {"psnr": 29.850511964435604, "ssim": 0.9327758216142323, "lpips": 0.2235403060913086}, "tactile_right": {"psnr": 42.672770397294705, "ssim": 0.9823626875047762, "lpips": 0.052456602454185486}}, {"video": {"psnr": 21.261288798470176, "ssim": 0.7274436226881051, "lpips": 0.1502363681793213}, "wrist_left": {"psnr": 13.771848668556348, "ssim": 0.438220855270127, "lpips": 0.400613397359848}, "wrist_right": {"psnr": 15.716271324900967, "ssim": 0.5653316612382873, "lpips": 0.23824289441108704}, "tactile_left": {"psnr": 30.10417309541435, "ssim": 0.9275031262856066, "lpips": 0.2465360462665558}, "tactile_right": {"psnr": 41.24984889204906, "ssim": 0.9800209884346784, "lpips": 0.06881660223007202}}, {"video": {"psnr": 20.371063525689173, "ssim": 0.6951823892518734, "lpips": 0.1865445375442505}, "wrist_left": {"psnr": 13.385147982682433, "ssim": 0.4421637316172091, "lpips": 0.41744592785835266}, "wrist_right": {"psnr": 14.823271112956853, "ssim": 0.5421590031563291, "lpips": 0.30721402168273926}, "tactile_left": {"psnr": 36.586762461855585, "ssim": 0.9668029819118, "lpips": 0.09110870212316513}, "tactile_right": {"psnr": 40.371632956461845, "ssim": 0.9779585329235485, "lpips": 0.08518236875534058}}, {"video": {"psnr": 20.220187665036615, "ssim": 0.6913520082107432, "lpips": 0.1911034733057022}, "wrist_left": {"psnr": 12.588118054302164, "ssim": 0.461587803346357, "lpips": 0.46542125940322876}, "wrist_right": {"psnr": 14.6961890671189, "ssim": 0.5253336795899272, "lpips": 0.32011473178863525}, "tactile_left": {"psnr": 30.85727564066267, "ssim": 0.9306716824825589, "lpips": 0.2161208987236023}, "tactile_right": {"psnr": 39.778216494596, "ssim": 0.9756344598367386, "lpips": 0.10514576733112335}}, {"video": {"psnr": 20.152396114431586, "ssim": 0.6840104272668641, "lpips": 0.20552049577236176}, "wrist_left": {"psnr": 11.841773474969115, "ssim": 0.4775992157781066, "lpips": 0.4964783191680908}, "wrist_right": {"psnr": 14.555362756300191, "ssim": 0.5057483334316879, "lpips": 0.34517037868499756}, "tactile_left": {"psnr": 33.304116662451065, "ssim": 0.948039131017149, "lpips": 0.18490919470787048}, "tactile_right": {"psnr": 39.08330428521644, "ssim": 0.9735828211487302, "lpips": 0.11995469033718109}}, {"video": {"psnr": 20.14206792587922, "ssim": 0.6786881639169347, "lpips": 0.2088029384613037}, "wrist_left": {"psnr": 11.741376438827004, "ssim": 0.4393452047795334, "lpips": 0.5386548042297363}, "wrist_right": {"psnr": 14.370597020268738, "ssim": 0.48585620710364363, "lpips": 0.3524486720561981}, "tactile_left": {"psnr": 26.764574533656894, "ssim": 0.8973885264318294, "lpips": 0.31137150526046753}, "tactile_right": {"psnr": 37.838459133120736, "ssim": 0.9709730153277993, "lpips": 0.1386738419532776}}, {"video": {"psnr": 20.212318239334603, "ssim": 0.6792884185932944, "lpips": 0.20575597882270813}, "wrist_left": {"psnr": 12.067380046391262, "ssim": 0.43367529038160235, "lpips": 0.4956200420856476}, "wrist_right": {"psnr": 14.598235781293917, "ssim": 0.49149375062348033, "lpips": 0.3386329710483551}, "tactile_left": {"psnr": 32.571080681309, "ssim": 0.9610710946521381, "lpips": 0.12164441496133804}, "tactile_right": {"psnr": 37.21264200524232, "ssim": 0.9684348721842775, "lpips": 0.15361234545707703}}, {"video": {"psnr": 20.590500192940024, "ssim": 0.6816491235573461, "lpips": 0.20815934240818024}, "wrist_left": {"psnr": 11.87294743316393, "ssim": 0.33067066356757524, "lpips": 0.48956847190856934}, "wrist_right": {"psnr": 15.037021871553975, "ssim": 0.5366543998397266, "lpips": 0.34836965799331665}, "tactile_left": {"psnr": 35.638934060917066, "ssim": 0.9703849819291346, "lpips": 0.08244367688894272}, "tactile_right": {"psnr": 36.38173933105768, "ssim": 0.9657689000030724, "lpips": 0.17265772819519043}}, {"video": {"psnr": 20.761771093142272, "ssim": 0.6854646390099319, "lpips": 0.20099031925201416}, "wrist_left": {"psnr": 13.5431288873668, "ssim": 0.2669510146363302, "lpips": 0.6089892387390137}, "wrist_right": {"psnr": 14.81851726847353, "ssim": 0.5125765160132618, "lpips": 0.3621254563331604}, "tactile_left": {"psnr": 29.73281003429459, "ssim": 0.9375281728288358, "lpips": 0.19945527613162994}, "tactile_right": {"psnr": 35.79534308945864, "ssim": 0.9627789490504443, "lpips": 0.1855558305978775}}, {"video": {"psnr": 20.65739360288069, "ssim": 0.6851324970505561, "lpips": 0.21209262311458588}, "wrist_left": {"psnr": 12.946512225389352, "ssim": 0.2482092377247987, "lpips": 0.6111388206481934}, "wrist_right": {"psnr": 14.658960157989085, "ssim": 0.4987526321147667, "lpips": 0.3717834949493408}, "tactile_left": {"psnr": 26.604674844628175, "ssim": 0.9024364282484375, "lpips": 0.3278656005859375}, "tactile_right": {"psnr": 35.45693165414835, "ssim": 0.9601573330146755, "lpips": 0.1940385401248932}}, {"video": {"psnr": 20.61047392980688, "ssim": 0.6867148516614288, "lpips": 0.2044476568698883}, "wrist_left": {"psnr": 12.815795142742303, "ssim": 0.29486906754813713, "lpips": 0.5506986379623413}, "wrist_right": {"psnr": 14.658791725522109, "ssim": 0.4869423319989382, "lpips": 0.38681721687316895}, "tactile_left": {"psnr": 30.267555901707524, "ssim": 0.9421521155218842, "lpips": 0.2136814296245575}, "tactile_right": {"psnr": 34.761458737575495, "ssim": 0.9577836644047556, "lpips": 0.20927099883556366}}], "long_metrics": {"video": {"psnr": 22.356962347320138, "ssim": 0.7426894874832455, "lpips": 0.15028609012564023}, "wrist_left": {"psnr": 13.248844620907755, "ssim": 0.40755562974132226, "lpips": 0.4485573351383209}, "wrist_right": {"psnr": 16.718237387859787, "ssim": 0.5853286242925513, "lpips": 0.24952257970968883}, "tactile_left": {"psnr": 32.07882451557649, "ssim": 0.9416712970627733, "lpips": 0.18397351404031118}, "tactile_right": {"psnr": 40.53676976752051, "ssim": 0.975587851354318, "lpips": 0.1039105928192536}}}, {"id": "motherboard_e010_15", "episode": "motherboard_0911_episode_008_seg00.pt", "requested_episode": "motherboard_0911_episode_008_seg00.pt", "category": "full", "t_start": 432, "start_seconds": 28.8, "short_contact": [1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1], "future_transition_ticks": [], "long_contact_fraction": 0.8359375, "long_label": "full", "short_metrics": {"video": {"psnr": 30.088158651090986, "ssim": 0.9249491315913122, "lpips": 0.024093912914395332}, "wrist_left": {"psnr": 18.104156588294178, "ssim": 0.512117654946591, "lpips": 0.12129982560873032}, "wrist_right": {"psnr": 17.863012259765785, "ssim": 0.5902954155914408, "lpips": 0.14392253756523132}, "tactile_left": {"psnr": 32.59306593115794, "ssim": 0.9584882924819722, "lpips": 0.05744118243455887}, "tactile_right": {"psnr": 39.741371044361884, "ssim": 0.987436642199201, "lpips": 0.04408090561628342}}, "media": {"short": {"video": "media/motherboard_e010_15_short.mp4", "poster": "media/motherboard_e010_15_short.jpg"}, "long": {"video": "media/motherboard_e010_15_long.mp4", "poster": "media/motherboard_e010_15_long.jpg"}}, "force": {"source": "recorded_normal_force", "units": "N", "fps": 15, "left": [0.0, 0.0, 0.0, 0.0, 0.0, 0.7983333468437195, 1.9444444179534912, 5.481388092041016, 6.760714054107666, 6.760714054107666, 7.130000114440918, 7.488461494445801, 7.488461494445801, 7.66710901260376, 7.75, 7.488461494445801, 7.488461494445801, 7.488461494445801, 7.340664386749268, 6.760714054107666, 6.760714054107666, 6.519285678863525, 6.519285678863525, 6.760714054107666, 6.760714054107666, 6.760714054107666, 6.760714054107666, 6.760714054107666, 6.760714054107666, 6.760714054107666, 6.760714054107666, 6.519285678863525, 6.519285678863525, 6.519285678863525, 6.373636245727539, 5.486666679382324, 5.397500038146973, 4.726428508758545, 3.1149818897247314, 3.1149818897247314, 0.0, 0.0, 0.5564713478088379, 0.5564713478088379, 5.403749942779541, 6.519285678863525, 6.870246887207031, 7.130000114440918, 7.130000114440918, 7.488461494445801, 7.488461494445801, 7.488461494445801, 7.488461494445801, 7.488461494445801, 7.230000019073486, 7.349999904632568, 7.130000114440918, 7.130000114440918, 2.243333339691162, 0.0, 0.0, 0.0, 0.0, 5.486666679382324, 6.519285678863525, 6.760714054107666, 7.230000019073486, 7.296485424041748, 7.488461494445801, 7.488461494445801, 5.486666679382324, 3.0568182468414307, 0.0, 0.0, 1.9736661911010742, 3.9167568683624268, 6.519285678863525, 6.760714054107666, 6.760714054107666, 6.760714054107666, 7.130000114440918, 6.856966972351074, 3.9167568683624268, 0.3697943389415741, 0.1599999964237213, 3.1971428394317627, 6.519285678863525, 6.760714054107666, 7.488461494445801, 10.243043899536133, 10.78499984741211, 7.784317970275879, 0.1599999964237213, 0.1599999964237213, 0.0, 0.0, 0.0, 0.0, 2.3248276710510254, 5.403749942779541, 7.130000114440918, 7.488461494445801, 7.488461494445801, 10.243043899536133, 10.977499961853027, 10.243043899536133, 10.977499961853027, 10.243043899536133, 0.1599999964237213, 0.0, 0.0, 0.7983333468437195, 0.7983333468437195, 0.0, 0.0, 2.3248276710510254, 3.9167568683624268, 5.486666679382324, 6.519285678863525, 7.488461494445801, 10.243043899536133, 10.243043899536133, 7.488461494445801, 7.488461494445801, 10.243043899536133, 10.977499961853027, 10.243043899536133, 10.243043899536133], "right": [0.5458959341049194, 0.5600000023841858, 0.5600000023841858, 0.6782253384590149, 0.7983333468437195, 0.5419337749481201, 0.25, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.9444444179534912, 0.7983333468437195, 1.0138323307037354, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 1.9444444179534912, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.2831295132637024, 0.533720850944519, 2.243333339691162, 3.0568182468414307, 3.9167568683624268, 3.9167568683624268, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 2.3248276710510254, 1.9444444179534912, 0.5600000023841858, 0.1599999964237213, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.7983333468437195, 3.0568182468414307, 3.0568182468414307, 3.9167568683624268, 3.9177205562591553, 4.726428508758545, 4.726428508758545, 4.726428508758545, 4.726428508758545, 3.0568182468414307, 0.5567049980163574, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]}, "long_curve": [{"video": {"psnr": 30.088158651090986, "ssim": 0.9249491315913122, "lpips": 0.024093912914395332}, "wrist_left": {"psnr": 18.104156588294178, "ssim": 0.512117654946591, "lpips": 0.12129982560873032}, "wrist_right": {"psnr": 17.863012259765785, "ssim": 0.5902954155914408, "lpips": 0.14392253756523132}, "tactile_left": {"psnr": 32.59306593115794, "ssim": 0.9584882924819722, "lpips": 0.05744118243455887}, "tactile_right": {"psnr": 39.741371044361884, "ssim": 0.987436642199201, "lpips": 0.04408090561628342}}, {"video": {"psnr": 24.778731740678438, "ssim": 0.8146471208235861, "lpips": 0.0571274571120739}, "wrist_left": {"psnr": 17.659523739287156, "ssim": 0.4537545295208552, "lpips": 0.1814425140619278}, "wrist_right": {"psnr": 16.005607718952216, "ssim": 0.49775222868361074, "lpips": 0.22385016083717346}, "tactile_left": {"psnr": 30.837831654437544, "ssim": 0.9490031843514284, "lpips": 0.07181957364082336}, "tactile_right": {"psnr": 33.70351577765823, "ssim": 0.9700501980800629, "lpips": 0.1202806830406189}}, {"video": {"psnr": 23.784895517661315, "ssim": 0.7943857159279382, "lpips": 0.07609447836875916}, "wrist_left": {"psnr": 17.034196761743004, "ssim": 0.4174366720538345, "lpips": 0.20917612314224243}, "wrist_right": {"psnr": 14.078417879700606, "ssim": 0.38020902020740416, "lpips": 0.32282909750938416}, "tactile_left": {"psnr": 30.831487072567647, "ssim": 0.94841053284061, "lpips": 0.08512254059314728}, "tactile_right": {"psnr": 33.06949808174136, "ssim": 0.9612765015539816, "lpips": 0.12205134332180023}}, {"video": {"psnr": 22.72386000800666, "ssim": 0.7597062438120349, "lpips": 0.11078357696533203}, "wrist_left": {"psnr": 15.376559112272393, "ssim": 0.3441057492525843, "lpips": 0.32756978273391724}, "wrist_right": {"psnr": 14.093620202949008, "ssim": 0.3976271033731337, "lpips": 0.3401139974594116}, "tactile_left": {"psnr": 32.296651391678935, "ssim": 0.9553845940946621, "lpips": 0.09362092614173889}, "tactile_right": {"psnr": 31.107513125625218, "ssim": 0.9457302494246896, "lpips": 0.17436924576759338}}, {"video": {"psnr": 22.05360078426144, "ssim": 0.736418327727721, "lpips": 0.13805803656578064}, "wrist_left": {"psnr": 14.828679464475545, "ssim": 0.3267982509522923, "lpips": 0.3810081481933594}, "wrist_right": {"psnr": 14.099583523735271, "ssim": 0.41436994482878775, "lpips": 0.36987990140914917}, "tactile_left": {"psnr": 31.024980774444284, "ssim": 0.9482904952117006, "lpips": 0.16075247526168823}, "tactile_right": {"psnr": 37.271708750478055, "ssim": 0.9754156736767684, "lpips": 0.06305243074893951}}, {"video": {"psnr": 21.5943530133123, "ssim": 0.7164680541310825, "lpips": 0.1584998071193695}, "wrist_left": {"psnr": 14.367397814658583, "ssim": 0.31260211829492246, "lpips": 0.403334379196167}, "wrist_right": {"psnr": 13.024040490130322, "ssim": 0.32047421471297277, "lpips": 0.4054381251335144}, "tactile_left": {"psnr": 26.626992432038588, "ssim": 0.9116226700392197, "lpips": 0.270652711391449}, "tactile_right": {"psnr": 31.667857438573993, "ssim": 0.9529432341150827, "lpips": 0.16475291550159454}}, {"video": {"psnr": 21.253560202455883, "ssim": 0.7047773842104739, "lpips": 0.17192450165748596}, "wrist_left": {"psnr": 13.595688669545975, "ssim": 0.30470006022780455, "lpips": 0.43873023986816406}, "wrist_right": {"psnr": 13.470341110094957, "ssim": 0.40905022455459056, "lpips": 0.3938312530517578}, "tactile_left": {"psnr": 31.691983339427612, "ssim": 0.9548403324841399, "lpips": 0.15229465067386627}, "tactile_right": {"psnr": 31.903437869762698, "ssim": 0.9586081539248525, "lpips": 0.13811518251895905}}, {"video": {"psnr": 21.429697488875206, "ssim": 0.7159480169136264, "lpips": 0.17158649861812592}, "wrist_left": {"psnr": 13.518879054948105, "ssim": 0.30831268299567127, "lpips": 0.43382567167282104}, "wrist_right": {"psnr": 13.56525486722302, "ssim": 0.45119288153461035, "lpips": 0.38338086009025574}, "tactile_left": {"psnr": 28.52213317627986, "ssim": 0.9286384821629207, "lpips": 0.23802754282951355}, "tactile_right": {"psnr": 39.502735483795696, "ssim": 0.9790314189026837, "lpips": 0.05361507087945938}}, {"video": {"psnr": 21.166868129324033, "ssim": 0.7080874036032495, "lpips": 0.18381045758724213}, "wrist_left": {"psnr": 12.801672365746006, "ssim": 0.28897005152488636, "lpips": 0.4470933973789215}, "wrist_right": {"psnr": 13.487530450309777, "ssim": 0.46505244785245486, "lpips": 0.37439948320388794}, "tactile_left": {"psnr": 30.0796281158423, "ssim": 0.9352935721527496, "lpips": 0.20415160059928894}, "tactile_right": {"psnr": 39.34813019616336, "ssim": 0.9780097315812741, "lpips": 0.05902879685163498}}, {"video": {"psnr": 20.99715766748256, "ssim": 0.6950656927253274, "lpips": 0.19014576077461243}, "wrist_left": {"psnr": 12.866050205331163, "ssim": 0.27250619312608604, "lpips": 0.47885990142822266}, "wrist_right": {"psnr": 13.612123478488282, "ssim": 0.4742241825778615, "lpips": 0.37441444396972656}, "tactile_left": {"psnr": 30.292516084804898, "ssim": 0.9359200867894242, "lpips": 0.22147507965564728}, "tactile_right": {"psnr": 38.427969240466375, "ssim": 0.9764495846260599, "lpips": 0.07453708350658417}}, {"video": {"psnr": 20.90060663009237, "ssim": 0.6796647865521881, "lpips": 0.19225183129310608}, "wrist_left": {"psnr": 13.254903775697095, "ssim": 0.3185381185693552, "lpips": 0.4425426125526428}, "wrist_right": {"psnr": 13.757417005875572, "ssim": 0.4770557712915038, "lpips": 0.3734487295150757}, "tactile_left": {"psnr": 29.97087245028826, "ssim": 0.9418826667295833, "lpips": 0.20326051115989685}, "tactile_right": {"psnr": 37.95462567355877, "ssim": 0.9748880072157649, "lpips": 0.08929213881492615}}, {"video": {"psnr": 20.53260262185935, "ssim": 0.6615406304567436, "lpips": 0.20457859337329865}, "wrist_left": {"psnr": 13.457792836794058, "ssim": 0.4773238594117788, "lpips": 0.39093852043151855}, "wrist_right": {"psnr": 13.924731187139933, "ssim": 0.46758765684222, "lpips": 0.37750720977783203}, "tactile_left": {"psnr": 31.385667364949, "ssim": 0.937827717105421, "lpips": 0.2145780324935913}, "tactile_right": {"psnr": 37.05535538655934, "ssim": 0.9725974644673253, "lpips": 0.10329578816890717}}, {"video": {"psnr": 20.308806643079734, "ssim": 0.6589198910618654, "lpips": 0.21141597628593445}, "wrist_left": {"psnr": 12.143848976446758, "ssim": 0.48669888567659225, "lpips": 0.42381536960601807}, "wrist_right": {"psnr": 13.670670765473272, "ssim": 0.4432512967774557, "lpips": 0.3801659345626831}, "tactile_left": {"psnr": 30.11186944571996, "ssim": 0.9389429735113354, "lpips": 0.20476722717285156}, "tactile_right": {"psnr": 36.35572247793684, "ssim": 0.9698577732180274, "lpips": 0.11877256631851196}}, {"video": {"psnr": 20.034549862939794, "ssim": 0.6523362390427596, "lpips": 0.22662746906280518}, "wrist_left": {"psnr": 14.176728854177059, "ssim": 0.5993725878105716, "lpips": 0.34592148661613464}, "wrist_right": {"psnr": 13.498817986290625, "ssim": 0.43677886747379707, "lpips": 0.3825418949127197}, "tactile_left": {"psnr": 31.800136679174244, "ssim": 0.9407733857413154, "lpips": 0.19831432402133942}, "tactile_right": {"psnr": 36.087916862370186, "ssim": 0.9677084608636066, "lpips": 0.13402947783470154}}, {"video": {"psnr": 19.930175125096984, "ssim": 0.6417884366024127, "lpips": 0.23295925557613373}, "wrist_left": {"psnr": 13.883116072294603, "ssim": 0.5914928452974986, "lpips": 0.3679114878177643}, "wrist_right": {"psnr": 13.317094418596094, "ssim": 0.41581030825025256, "lpips": 0.39135316014289856}, "tactile_left": {"psnr": 28.38640482640689, "ssim": 0.8998003579134983, "lpips": 0.32466864585876465}, "tactile_right": {"psnr": 35.642628385185006, "ssim": 0.965631623356799, "lpips": 0.15267638862133026}}], "long_metrics": {"video": {"psnr": 22.105174939081135, "ssim": 0.7243135383454881, "lpips": 0.15666384088496368}, "wrist_left": {"psnr": 14.471279619447445, "ssim": 0.40098201731075495, "lpips": 0.35956463068723676}, "wrist_right": {"psnr": 14.09788422298165, "ssim": 0.44271543763680643, "lpips": 0.3491384526093801}, "tactile_left": {"psnr": 30.430148049281197, "ssim": 0.9390079562406654, "lpips": 0.18006313492854437}, "tactile_right": {"psnr": 35.9226657196158, "ssim": 0.9690423144804119, "lpips": 0.10746333450078964}}}, {"id": "motherboard_e010_16", "episode": "motherboard_0912_episode_002.pt", "requested_episode": "motherboard_0912_episode_002.pt", "category": "none", "t_start": 750, "start_seconds": 50.0, "short_contact": [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0], "future_transition_ticks": [], "long_contact_fraction": 0.3671875, "long_label": "none_at_start", "short_metrics": {"video": {"psnr": 29.10616219240751, "ssim": 0.9260411257212251, "lpips": 0.03097607009112835}, "wrist_left": {"psnr": 22.278811943385477, "ssim": 0.833522511131928, "lpips": 0.073099285364151}, "wrist_right": {"psnr": 31.23176127476553, "ssim": 0.9289408375405912, "lpips": 0.03697817027568817}, "tactile_left": {"psnr": 51.16871449203, "ssim": 0.9948514061103227, "lpips": 0.003200066974386573}, "tactile_right": {"psnr": 50.54445123817996, "ssim": 0.9945467505184489, "lpips": 0.004432767629623413}}, "media": {"short": {"video": "media/motherboard_e010_16_short.mp4", "poster": "media/motherboard_e010_16_short.jpg"}, "long": {"video": "media/motherboard_e010_16_long.mp4", "poster": "media/motherboard_e010_16_long.jpg"}}, "force": {"source": "recorded_normal_force", "units": "N", "fps": 15, "left": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.1599999964237213, 0.19649721682071686, 0.1599999964237213, 0.27666667103767395, 0.44613584876060486, 0.1599999964237213, 0.1599999964237213, 0.1599999964237213, 1.6094872951507568, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 4.726428508758545, 5.397500038146973, 6.373636245727539, 6.760714054107666, 6.760714054107666, 6.760714054107666, 6.435560703277588, 6.373636245727539, 6.760714054107666, 6.760714054107666, 6.760714054107666, 7.230000019073486, 7.230000019073486, 7.130000114440918, 6.760714054107666, 7.349999904632568, 7.130000114440918, 6.760714054107666, 7.130000114440918, 6.997551918029785, 6.760714054107666, 6.519285678863525, 6.760714054107666, 6.760714054107666, 6.760714054107666, 6.519285678863525, 5.486666679382324, 5.486666679382324, 5.3991498947143555, 6.373636245727539, 6.519285678863525, 6.519285678863525, 5.397500038146973, 4.726428508758545, 2.3248276710510254, 0.1599999964237213, 5.403749942779541, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 3.9167568683624268, 6.519285678863525, 7.130000114440918, 7.488461494445801, 7.488461494445801, 7.488461494445801, 10.243043899536133], "right": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.033978212624788284, 0.14319390058517456, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.15257100760936737, 3.0568182468414307, 3.0568182468414307, 2.6312499046325684, 2.3248276710510254, 2.6312499046325684, 2.3248276710510254, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.04887126386165619, 0.1599999964237213, 0.1599999964237213, 0.1599999964237213, 0.27666667103767395, 0.7983333468437195, 2.6312499046325684, 3.0568182468414307]}, "long_curve": [{"video": {"psnr": 29.10616219240751, "ssim": 0.9260411257212251, "lpips": 0.03097607009112835}, "wrist_left": {"psnr": 22.278811943385477, "ssim": 0.833522511131928, "lpips": 0.073099285364151}, "wrist_right": {"psnr": 31.23176127476553, "ssim": 0.9289408375405912, "lpips": 0.03697817027568817}, "tactile_left": {"psnr": 51.16871449203, "ssim": 0.9948514061103227, "lpips": 0.003200066974386573}, "tactile_right": {"psnr": 50.54445123817996, "ssim": 0.9945467505184489, "lpips": 0.004432767629623413}}, {"video": {"psnr": 26.639858790645054, "ssim": 0.9066238630131822, "lpips": 0.03822331503033638}, "wrist_left": {"psnr": 21.560617787143514, "ssim": 0.8086406720132892, "lpips": 0.08181963115930557}, "wrist_right": {"psnr": 24.651412108481992, "ssim": 0.8297696330473437, "lpips": 0.07968615740537643}, "tactile_left": {"psnr": 48.14926254618999, "ssim": 0.9919313193413783, "lpips": 0.011288000270724297}, "tactile_right": {"psnr": 47.9123287713126, "ssim": 0.9904480333698406, "lpips": 0.011791214346885681}}, {"video": {"psnr": 25.69418417403221, "ssim": 0.8896716592715098, "lpips": 0.047703444957733154}, "wrist_left": {"psnr": 21.557235420109325, "ssim": 0.8025130188951717, "lpips": 0.08592234551906586}, "wrist_right": {"psnr": 20.882539281180676, "ssim": 0.757326514598564, "lpips": 0.1233096569776535}, "tactile_left": {"psnr": 45.4072516748672, "ssim": 0.9886381826795689, "lpips": 0.022575024515390396}, "tactile_right": {"psnr": 45.25821833599409, "ssim": 0.9881177498100047, "lpips": 0.02317480370402336}}, {"video": {"psnr": 25.044085178411283, "ssim": 0.867596376681806, "lpips": 0.05560340732336044}, "wrist_left": {"psnr": 21.38599382999656, "ssim": 0.7941816868881946, "lpips": 0.0881926417350769}, "wrist_right": {"psnr": 20.41995361033072, "ssim": 0.734403222653814, "lpips": 0.1389518529176712}, "tactile_left": {"psnr": 42.889050299863136, "ssim": 0.9853786323718235, "lpips": 0.03552437946200371}, "tactile_right": {"psnr": 43.192314332467994, "ssim": 0.9858377629684021, "lpips": 0.03855569288134575}}, {"video": {"psnr": 25.096676413761184, "ssim": 0.8431293353307323, "lpips": 0.082499660551548}, "wrist_left": {"psnr": 21.34701731665931, "ssim": 0.7865498803731222, "lpips": 0.10402858257293701}, "wrist_right": {"psnr": 20.49217235029385, "ssim": 0.7172872124252682, "lpips": 0.15387478470802307}, "tactile_left": {"psnr": 41.871676775073716, "ssim": 0.982225508043411, "lpips": 0.05059640482068062}, "tactile_right": {"psnr": 41.98178231052354, "ssim": 0.9831388503108027, "lpips": 0.05338747799396515}}, {"video": {"psnr": 24.661172782009004, "ssim": 0.8181135005891129, "lpips": 0.10088659822940826}, "wrist_left": {"psnr": 21.119109032114835, "ssim": 0.7845028872551647, "lpips": 0.12430521845817566}, "wrist_right": {"psnr": 19.729137327768314, "ssim": 0.660733850283652, "lpips": 0.18601202964782715}, "tactile_left": {"psnr": 40.644021774771176, "ssim": 0.9790596984933729, "lpips": 0.0687239021062851}, "tactile_right": {"psnr": 40.66477244513419, "ssim": 0.980330349749059, "lpips": 0.06912556290626526}}, {"video": {"psnr": 23.704311418610047, "ssim": 0.7869694946392124, "lpips": 0.11246740818023682}, "wrist_left": {"psnr": 20.284987568028892, "ssim": 0.7962141992416674, "lpips": 0.15875789523124695}, "wrist_right": {"psnr": 19.254718230432026, "ssim": 0.6003918593338489, "lpips": 0.22419390082359314}, "tactile_left": {"psnr": 39.546500314285026, "ssim": 0.9726406050022753, "lpips": 0.0999060869216919}, "tactile_right": {"psnr": 39.72638821271447, "ssim": 0.9779952278424202, "lpips": 0.08887660503387451}}, {"video": {"psnr": 22.634162136034263, "ssim": 0.7525342765792892, "lpips": 0.13062234222888947}, "wrist_left": {"psnr": 19.93366980702372, "ssim": 0.798439469916411, "lpips": 0.1708119511604309}, "wrist_right": {"psnr": 17.256561522831994, "ssim": 0.5587439644071069, "lpips": 0.29044604301452637}, "tactile_left": {"psnr": 38.92193389286291, "ssim": 0.9735643803326381, "lpips": 0.08736254274845123}, "tactile_right": {"psnr": 39.17248330408819, "ssim": 0.9756940961920404, "lpips": 0.10620640218257904}}, {"video": {"psnr": 21.472843363035196, "ssim": 0.7167823092889651, "lpips": 0.1608549952507019}, "wrist_left": {"psnr": 9.727964641154983, "ssim": 0.44401760221859354, "lpips": 0.5119374990463257}, "wrist_right": {"psnr": 15.224731740119639, "ssim": 0.605513127548683, "lpips": 0.3584097623825073}, "tactile_left": {"psnr": 38.4895162685293, "ssim": 0.9733322165083385, "lpips": 0.09511461853981018}, "tactile_right": {"psnr": 38.46757383952035, "ssim": 0.9734931142645948, "lpips": 0.11941975355148315}}, {"video": {"psnr": 20.62194332554526, "ssim": 0.6813487769195525, "lpips": 0.1921212524175644}, "wrist_left": {"psnr": 8.622038582097284, "ssim": 0.30431418154452966, "lpips": 0.6563926935195923}, "wrist_right": {"psnr": 16.017664225142756, "ssim": 0.7223315828520196, "lpips": 0.3045687675476074}, "tactile_left": {"psnr": 34.685335691181685, "ssim": 0.9440479298672462, "lpips": 0.23446407914161682}, "tactile_right": {"psnr": 37.47064261569755, "ssim": 0.9710170276433897, "lpips": 0.14014969766139984}}, {"video": {"psnr": 18.97684985152538, "ssim": 0.6378329358543373, "lpips": 0.29429763555526733}, "wrist_left": {"psnr": 7.425437517987081, "ssim": 0.26386931491742116, "lpips": 0.6911067962646484}, "wrist_right": {"psnr": 19.40272964079425, "ssim": 0.7937275335612787, "lpips": 0.21454721689224243}, "tactile_left": {"psnr": 32.597120280866406, "ssim": 0.9357776938954664, "lpips": 0.2688411772251129}, "tactile_right": {"psnr": 36.680180034589526, "ssim": 0.9691912078071054, "lpips": 0.157932847738266}}, {"video": {"psnr": 18.691679342088733, "ssim": 0.6279909103306192, "lpips": 0.317504346370697}, "wrist_left": {"psnr": 7.075122885088274, "ssim": 0.24938757464640582, "lpips": 0.7038999795913696}, "wrist_right": {"psnr": 19.942669454536063, "ssim": 0.8029480075139555, "lpips": 0.2368624210357666}, "tactile_left": {"psnr": 32.34966196810777, "ssim": 0.9240329778432051, "lpips": 0.3116339445114136}, "tactile_right": {"psnr": 36.323917279145405, "ssim": 0.965807171583514, "lpips": 0.1704302281141281}}, {"video": {"psnr": 18.488763608656676, "ssim": 0.634453612537837, "lpips": 0.3043104112148285}, "wrist_left": {"psnr": 8.299191991784234, "ssim": 0.35152058014737086, "lpips": 0.646964967250824}, "wrist_right": {"psnr": 20.12222489237277, "ssim": 0.808124037210316, "lpips": 0.2167280912399292}, "tactile_left": {"psnr": 33.43938724405857, "ssim": 0.9343024854776947, "lpips": 0.2926734685897827}, "tactile_right": {"psnr": 36.064284630962796, "ssim": 0.9662175316356943, "lpips": 0.1618097573518753}}, {"video": {"psnr": 18.860520688118328, "ssim": 0.6376949840823882, "lpips": 0.2820200026035309}, "wrist_left": {"psnr": 12.053540777822768, "ssim": 0.34629202572047846, "lpips": 0.5107631683349609}, "wrist_right": {"psnr": 18.97256084984003, "ssim": 0.7764742242455542, "lpips": 0.22759248316287994}, "tactile_left": {"psnr": 34.837077323965175, "ssim": 0.9485857610194448, "lpips": 0.2425125241279602}, "tactile_right": {"psnr": 36.095016458181604, "ssim": 0.9666700026210688, "lpips": 0.15879440307617188}}, {"video": {"psnr": 18.933769472958073, "ssim": 0.6318958744933434, "lpips": 0.28056302666664124}, "wrist_left": {"psnr": 12.433098675164455, "ssim": 0.2801897460481632, "lpips": 0.5614715218544006}, "wrist_right": {"psnr": 18.619110073295822, "ssim": 0.741928732911738, "lpips": 0.26426175236701965}, "tactile_left": {"psnr": 32.7797839152509, "ssim": 0.9252191330105697, "lpips": 0.2939261794090271}, "tactile_right": {"psnr": 35.74982887055764, "ssim": 0.9627967199021655, "lpips": 0.19084756076335907}}], "long_metrics": {"video": {"psnr": 22.575132182522548, "ssim": 0.7572452690222076, "lpips": 0.16204359444479147}, "wrist_left": {"psnr": 15.67358918503738, "ssim": 0.5762770233971941, "lpips": 0.3446316118041674}, "wrist_right": {"psnr": 20.147996438812427, "ssim": 0.7359096226755822, "lpips": 0.20376153935988744}, "tactile_left": {"psnr": 39.185086297460195, "ssim": 0.9635725286664504, "lpips": 0.14122282662428914}, "tactile_right": {"psnr": 40.353612178604656, "ssim": 0.9767534397479035, "lpips": 0.09966231832901637}}}, {"id": "motherboard_e010_17", "episode": "motherboard_0912_episode_002.pt", "requested_episode": "motherboard_0912_episode_002.pt", "category": "onset", "t_start": 2106, "start_seconds": 140.4, "short_contact": [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 1], "future_transition_ticks": [11], "long_contact_fraction": 0.75, "long_label": "onset", "short_metrics": {"video": {"psnr": 27.363286634745002, "ssim": 0.859599746673222, "lpips": 0.043212469667196274}, "wrist_left": {"psnr": 16.87850567623014, "ssim": 0.5509683081762182, "lpips": 0.21187008917331696}, "wrist_right": {"psnr": 16.416403915334673, "ssim": 0.35951134085482905, "lpips": 0.18214626610279083}, "tactile_left": {"psnr": 47.7939184899346, "ssim": 0.9909191701319423, "lpips": 0.005918791051954031}, "tactile_right": {"psnr": 41.72412296276755, "ssim": 0.9833275093554836, "lpips": 0.06262084096670151}}, "media": {"short": {"video": "media/motherboard_e010_17_short.mp4", "poster": "media/motherboard_e010_17_short.jpg"}, "long": {"video": "media/motherboard_e010_17_long.mp4", "poster": "media/motherboard_e010_17_long.jpg"}}, "force": {"source": "recorded_normal_force", "units": "N", "fps": 15, "left": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.12416389584541321, 0.06000244617462158, 0.1599999964237213, 0.0, 0.0, 0.0, 0.1599999964237213, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 2.3248276710510254, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 2.6312499046325684, 2.6312499046325684, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.9444444179534912, 0.7983333468437195, 2.243333339691162, 3.9167568683624268, 4.726428508758545, 5.397500038146973, 5.397500038146973, 4.726428508758545, 4.726428508758545, 3.928694009780884, 3.9167568683624268, 3.9167568683624268, 3.9167568683624268, 3.9167568683624268, 3.9167568683624268, 3.9167568683624268, 3.3742141723632812, 3.0568182468414307, 2.6312499046325684, 2.3248276710510254, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 1.380898118019104, 1.9444444179534912, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7040123343467712, 0.7040123343467712, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 2.243333339691162, 1.9444444179534912, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.243333339691162, 1.9444444179534912, 1.9444444179534912, 1.9444444179534912, 2.243333339691162, 1.9444444179534912, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 2.3248276710510254, 0.7983333468437195, 2.243333339691162], "right": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.7983333468437195, 2.243333339691162, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.5789201259613037, 2.3248276710510254, 3.9167568683624268, 3.9167568683624268, 3.9167568683624268, 3.1971428394317627, 3.0568182468414307, 3.1971428394317627, 3.9167568683624268, 3.9167568683624268, 2.3248276710510254, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.5337831377983093, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.1599999964237213, 0.1599999964237213, 0.0, 0.0, 0.0, 0.0, 0.0, 0.4000000059604645, 0.1599999964237213, 0.0, 0.0, 0.1599999964237213, 0.1599999964237213, 0.25, 0.49805352091789246, 1.9444444179534912, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 1.846291184425354, 2.3172874450683594, 2.3248276710510254, 0.7983333468437195, 0.1599999964237213, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]}, "long_curve": [{"video": {"psnr": 27.363286634745002, "ssim": 0.859599746673222, "lpips": 0.043212469667196274}, "wrist_left": {"psnr": 16.87850567623014, "ssim": 0.5509683081762182, "lpips": 0.21187008917331696}, "wrist_right": {"psnr": 16.416403915334673, "ssim": 0.35951134085482905, "lpips": 0.18214626610279083}, "tactile_left": {"psnr": 47.7939184899346, "ssim": 0.9909191701319423, "lpips": 0.005918791051954031}, "tactile_right": {"psnr": 41.72412296276755, "ssim": 0.9833275093554836, "lpips": 0.06262084096670151}}, {"video": {"psnr": 22.273281890685837, "ssim": 0.7153700243558818, "lpips": 0.11446938663721085}, "wrist_left": {"psnr": 10.207587784123822, "ssim": 0.40297014786152613, "lpips": 0.4911207854747772}, "wrist_right": {"psnr": 16.65502424620477, "ssim": 0.37572812659335453, "lpips": 0.19297704100608826}, "tactile_left": {"psnr": 46.83688538040496, "ssim": 0.988099149054134, "lpips": 0.0136505626142025}, "tactile_right": {"psnr": 40.161889899550395, "ssim": 0.9761105866723386, "lpips": 0.1051035225391388}}, {"video": {"psnr": 21.58833889266853, "ssim": 0.6978698707085886, "lpips": 0.1464804708957672}, "wrist_left": {"psnr": 10.14753091703142, "ssim": 0.2664562765160084, "lpips": 0.5335321426391602}, "wrist_right": {"psnr": 16.596558164649323, "ssim": 0.4227935340622432, "lpips": 0.27269721031188965}, "tactile_left": {"psnr": 42.64847052266907, "ssim": 0.982068703114904, "lpips": 0.03817490488290787}, "tactile_right": {"psnr": 42.53377586914017, "ssim": 0.9824609257395663, "lpips": 0.06434272229671478}}, {"video": {"psnr": 20.2357356738961, "ssim": 0.6873576422395956, "lpips": 0.190073162317276}, "wrist_left": {"psnr": 11.236535470882828, "ssim": 0.24422257878989376, "lpips": 0.5009863972663879}, "wrist_right": {"psnr": 12.972774613631447, "ssim": 0.3892921007477688, "lpips": 0.41076982021331787}, "tactile_left": {"psnr": 37.36059919686162, "ssim": 0.9714008161805807, "lpips": 0.0869150385260582}, "tactile_right": {"psnr": 42.27484347932468, "ssim": 0.9836594974079824, "lpips": 0.03689272701740265}}, {"video": {"psnr": 19.51137572096709, "ssim": 0.6862347226154322, "lpips": 0.20945236086845398}, "wrist_left": {"psnr": 10.924972364558132, "ssim": 0.36836155076578714, "lpips": 0.5125969052314758}, "wrist_right": {"psnr": 12.741333396952646, "ssim": 0.2715009614423013, "lpips": 0.5023844242095947}, "tactile_left": {"psnr": 41.11696360297419, "ssim": 0.9790496602902311, "lpips": 0.06063491106033325}, "tactile_right": {"psnr": 40.664699205177975, "ssim": 0.9793523013680949, "lpips": 0.07917547225952148}}, {"video": {"psnr": 19.09620709117203, "ssim": 0.6717887566469702, "lpips": 0.23583140969276428}, "wrist_left": {"psnr": 9.16420932069051, "ssim": 0.29674757312863237, "lpips": 0.6264047622680664}, "wrist_right": {"psnr": 12.010389771379938, "ssim": 0.33596740103392464, "lpips": 0.4935848116874695}, "tactile_left": {"psnr": 37.75167753727682, "ssim": 0.9670868190280125, "lpips": 0.0998791828751564}, "tactile_right": {"psnr": 40.77612695446514, "ssim": 0.9820643847166621, "lpips": 0.056665197014808655}}, {"video": {"psnr": 19.051432827322646, "ssim": 0.6613255370501006, "lpips": 0.25500208139419556}, "wrist_left": {"psnr": 10.447766432265809, "ssim": 0.28079954028972864, "lpips": 0.5217157602310181}, "wrist_right": {"psnr": 10.904810869604782, "ssim": 0.292990699307735, "lpips": 0.4857463538646698}, "tactile_left": {"psnr": 36.64983956381728, "ssim": 0.9523543804893948, "lpips": 0.13048529624938965}, "tactile_right": {"psnr": 39.44336993437314, "ssim": 0.978995445120066, "lpips": 0.08705927431583405}}, {"video": {"psnr": 19.12110668556131, "ssim": 0.6582160098021891, "lpips": 0.2608071565628052}, "wrist_left": {"psnr": 11.434330162684764, "ssim": 0.2858851705838113, "lpips": 0.48856860399246216}, "wrist_right": {"psnr": 11.386761037074574, "ssim": 0.32259155541329143, "lpips": 0.48766839504241943}, "tactile_left": {"psnr": 37.10032418430764, "ssim": 0.9606067844807431, "lpips": 0.12915802001953125}, "tactile_right": {"psnr": 39.693064249287495, "ssim": 0.9791555067316635, "lpips": 0.08027680218219757}}, {"video": {"psnr": 19.254103185931154, "ssim": 0.6561045262167303, "lpips": 0.2502501606941223}, "wrist_left": {"psnr": 10.69304737639136, "ssim": 0.2531966801035381, "lpips": 0.5357064008712769}, "wrist_right": {"psnr": 13.271342826241465, "ssim": 0.3176925318102466, "lpips": 0.45365214347839355}, "tactile_left": {"psnr": 36.9355922515535, "ssim": 0.9632384972253621, "lpips": 0.13338030874729156}, "tactile_right": {"psnr": 37.84540043687943, "ssim": 0.9759260965316552, "lpips": 0.09085845947265625}}, {"video": {"psnr": 18.943380008040883, "ssim": 0.6462552884921078, "lpips": 0.2606934905052185}, "wrist_left": {"psnr": 10.241513600508846, "ssim": 0.2594683722312891, "lpips": 0.5456379652023315}, "wrist_right": {"psnr": 12.725404459231767, "ssim": 0.2992158945571578, "lpips": 0.4886975884437561}, "tactile_left": {"psnr": 36.160974448810016, "ssim": 0.9633945313301123, "lpips": 0.14134027063846588}, "tactile_right": {"psnr": 37.63286321201821, "ssim": 0.975152241864499, "lpips": 0.09109582751989365}}, {"video": {"psnr": 18.01967494825943, "ssim": 0.6341823927501362, "lpips": 0.2858751714229584}, "wrist_left": {"psnr": 10.25309238880207, "ssim": 0.381737649830357, "lpips": 0.4971758723258972}, "wrist_right": {"psnr": 12.595613726281165, "ssim": 0.2795680689522795, "lpips": 0.5092469453811646}, "tactile_left": {"psnr": 35.66459563219398, "ssim": 0.9631737143134821, "lpips": 0.1566588580608368}, "tactile_right": {"psnr": 36.552264441361835, "ssim": 0.970996874814741, "lpips": 0.1338844895362854}}, {"video": {"psnr": 18.083849443391436, "ssim": 0.631712638315555, "lpips": 0.27408409118652344}, "wrist_left": {"psnr": 10.111193181973292, "ssim": 0.2589862128655219, "lpips": 0.5639668703079224}, "wrist_right": {"psnr": 12.515005303768588, "ssim": 0.31860825528259634, "lpips": 0.5130960941314697}, "tactile_left": {"psnr": 33.43603675192256, "ssim": 0.9521591489040587, "lpips": 0.20501253008842468}, "tactile_right": {"psnr": 36.18097395257906, "ssim": 0.9730109088071419, "lpips": 0.10183797031641006}}, {"video": {"psnr": 18.073223262039146, "ssim": 0.6233905463189982, "lpips": 0.2857109606266022}, "wrist_left": {"psnr": 11.942973652413986, "ssim": 0.27156394473851225, "lpips": 0.5138483047485352}, "wrist_right": {"psnr": 12.344703554431366, "ssim": 0.45287721503874456, "lpips": 0.5291200280189514}, "tactile_left": {"psnr": 33.60957497362167, "ssim": 0.9534718688700854, "lpips": 0.20069578289985657}, "tactile_right": {"psnr": 35.82634038245604, "ssim": 0.9699761332253118, "lpips": 0.11670875549316406}}, {"video": {"psnr": 18.213262175971423, "ssim": 0.6205986616862156, "lpips": 0.28967517614364624}, "wrist_left": {"psnr": 9.96888351526421, "ssim": 0.41036669478940224, "lpips": 0.5651171803474426}, "wrist_right": {"psnr": 11.191658769428052, "ssim": 0.3492305369524673, "lpips": 0.5474270582199097}, "tactile_left": {"psnr": 34.306769081217496, "ssim": 0.9541906505981135, "lpips": 0.2017861008644104}, "tactile_right": {"psnr": 35.644154156121594, "ssim": 0.968396697246968, "lpips": 0.12911257147789001}}, {"video": {"psnr": 18.419313875403887, "ssim": 0.623486840970559, "lpips": 0.2975232005119324}, "wrist_left": {"psnr": 9.003645376791301, "ssim": 0.2945037320419948, "lpips": 0.6377143859863281}, "wrist_right": {"psnr": 10.843924967585838, "ssim": 0.30223675184372223, "lpips": 0.5363231301307678}, "tactile_left": {"psnr": 33.5670281400587, "ssim": 0.9475458175911612, "lpips": 0.22591307759284973}, "tactile_right": {"psnr": 35.2057239736378, "ssim": 0.9679036056967069, "lpips": 0.13836461305618286}}], "long_metrics": {"video": {"psnr": 19.816504821070392, "ssim": 0.6715662136561522, "lpips": 0.22660938327511151}, "wrist_left": {"psnr": 10.843719148040833, "ssim": 0.3217489621808147, "lpips": 0.5163974950710932}, "wrist_right": {"psnr": 13.011447308120028, "ssim": 0.3393203315928442, "lpips": 0.4403691540161769}, "tactile_left": {"psnr": 38.062616650508275, "ssim": 0.9659173141068212, "lpips": 0.12197357574477792}, "tactile_right": {"psnr": 38.8106408739427, "ssim": 0.9764325810199254, "lpips": 0.09159994969765345}}}, {"id": "motherboard_e010_18", "episode": "motherboard_0912_episode_002.pt", "requested_episode": "motherboard_0912_episode_002.pt", "category": "release", "t_start": 217, "start_seconds": 14.466666666666667, "short_contact": [1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 0, 0], "future_transition_ticks": [11], "long_contact_fraction": 0.9296875, "long_label": "release", "short_metrics": {"video": {"psnr": 21.76121492211959, "ssim": 0.7458564167523344, "lpips": 0.1605532169342041}, "wrist_left": {"psnr": 13.206843579614944, "ssim": 0.47377098823161157, "lpips": 0.470940500497818}, "wrist_right": {"psnr": 14.033723605564653, "ssim": 0.49163906772015475, "lpips": 0.39005741477012634}, "tactile_left": {"psnr": 40.727702873992314, "ssim": 0.9818922229062446, "lpips": 0.055971160531044006}, "tactile_right": {"psnr": 48.218085648616736, "ssim": 0.9934929412416661, "lpips": 0.010272514075040817}}, "media": {"short": {"video": "media/motherboard_e010_18_short.mp4", "poster": "media/motherboard_e010_18_short.jpg"}, "long": {"video": "media/motherboard_e010_18_long.mp4", "poster": "media/motherboard_e010_18_long.jpg"}}, "force": {"source": "recorded_normal_force", "units": "N", "fps": 15, "left": [4.852499961853027, 4.726428508758545, 3.0568182468414307, 3.0568182468414307, 0.502597451210022, 0.7983333468437195, 0.7983333468437195, 0.5090468525886536, 3.0568182468414307, 0.7983333468437195, 3.9167568683624268, 0.27666667103767395, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 3.0568182468414307, 3.9167568683624268, 5.403749942779541, 6.519285678863525, 5.486666679382324, 4.852499961853027, 4.852499961853027, 3.9167568683624268, 3.9167568683624268, 3.0568182468414307, 2.3248276710510254, 1.9444444179534912, 2.3248276710510254, 4.726428508758545, 4.726428508758545, 4.726428508758545, 4.821667671203613, 4.726428508758545, 3.9167568683624268, 3.9383208751678467, 3.9167568683624268, 3.9167568683624268, 3.0568182468414307, 3.0568182468414307, 3.9167568683624268, 3.9167568683624268, 3.1971428394317627, 3.9167568683624268, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 2.6312499046325684, 2.6312499046325684, 2.3248276710510254, 2.3248276710510254, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.920292377471924, 3.9167568683624268, 3.9167568683624268, 3.9167568683624268, 4.726428508758545, 4.726428508758545, 3.9167568683624268, 3.1971428394317627, 3.1971428394317627, 3.9167568683624268, 3.9167568683624268, 3.9167568683624268, 3.0568182468414307, 2.3248276710510254, 3.0568182468414307, 3.0568182468414307, 2.3248276710510254, 3.0568182468414307, 3.0568182468414307, 2.3248276710510254, 3.0568182468414307, 3.0568182468414307, 1.6830923557281494, 2.3248276710510254, 0.5600000023841858, 3.0568182468414307, 3.0568182468414307, 2.3248276710510254, 3.0568182468414307, 3.9167568683624268, 3.9167568683624268, 4.726428508758545, 5.403749942779541, 4.726428508758545, 4.726428508758545, 4.726428508758545, 4.726428508758545, 3.9167568683624268, 3.9167568683624268, 4.726428508758545, 3.9167568683624268, 3.9167568683624268, 3.932142496109009, 3.9167568683624268, 3.9167568683624268, 3.0568182468414307, 3.0568182468414307, 3.9167568683624268, 3.1971428394317627, 3.0568182468414307, 2.3248276710510254, 1.5576918125152588, 1.9444444179534912, 3.938002347946167, 4.852499961853027, 5.403749942779541, 5.403749942779541, 5.403749942779541, 4.726428508758545, 4.726428508758545, 3.9167568683624268, 3.9167568683624268, 3.9167568683624268, 3.9167568683624268, 3.0568182468414307, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 3.0568182468414307], "right": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.1599999964237213, 0.07424460351467133, 0.7660918831825256, 0.7983333468437195, 0.4399999976158142, 0.43391281366348267, 0.4399999976158142, 2.3248276710510254, 3.0568182468414307, 3.1971428394317627, 3.1885313987731934, 3.0568182468414307, 0.5600000023841858, 0.6110549569129944, 0.6894059777259827, 0.5600000023841858, 0.5600000023841858, 0.2640872597694397, 0.25, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7471941709518433, 0.43728530406951904]}, "long_curve": [{"video": {"psnr": 21.76121492211959, "ssim": 0.7458564167523344, "lpips": 0.1605532169342041}, "wrist_left": {"psnr": 13.206843579614944, "ssim": 0.47377098823161157, "lpips": 0.470940500497818}, "wrist_right": {"psnr": 14.033723605564653, "ssim": 0.49163906772015475, "lpips": 0.39005741477012634}, "tactile_left": {"psnr": 40.727702873992314, "ssim": 0.9818922229062446, "lpips": 0.055971160531044006}, "tactile_right": {"psnr": 48.218085648616736, "ssim": 0.9934929412416661, "lpips": 0.010272514075040817}}, {"video": {"psnr": 20.129218317751118, "ssim": 0.6838081310829571, "lpips": 0.20658832788467407}, "wrist_left": {"psnr": 13.47317662473673, "ssim": 0.33798694913689753, "lpips": 0.42124539613723755}, "wrist_right": {"psnr": 14.17372812424702, "ssim": 0.4448111699821218, "lpips": 0.40149810910224915}, "tactile_left": {"psnr": 40.31475174187837, "ssim": 0.972212234042817, "lpips": 0.07475043833255768}, "tactile_right": {"psnr": 46.392697313369084, "ssim": 0.9885835195361583, "lpips": 0.014127773232758045}}, {"video": {"psnr": 20.495234612236423, "ssim": 0.6952029272576907, "lpips": 0.21460218727588654}, "wrist_left": {"psnr": 13.579751480763544, "ssim": 0.31358095518925233, "lpips": 0.45329052209854126}, "wrist_right": {"psnr": 14.180518503911458, "ssim": 0.5236281735742625, "lpips": 0.3611890971660614}, "tactile_left": {"psnr": 38.09088084641069, "ssim": 0.961074253435801, "lpips": 0.10655339807271957}, "tactile_right": {"psnr": 43.16810373386171, "ssim": 0.9848342707639068, "lpips": 0.04240073263645172}}, {"video": {"psnr": 20.9180979151529, "ssim": 0.6898250074019183, "lpips": 0.21049338579177856}, "wrist_left": {"psnr": 13.046328673896475, "ssim": 0.32380837228081893, "lpips": 0.47764697670936584}, "wrist_right": {"psnr": 12.989779950329103, "ssim": 0.4879957607969596, "lpips": 0.4377095699310303}, "tactile_left": {"psnr": 37.611747537000404, "ssim": 0.9662061273712623, "lpips": 0.07795734703540802}, "tactile_right": {"psnr": 41.84035547508728, "ssim": 0.9841041100373243, "lpips": 0.04302024468779564}}, {"video": {"psnr": 20.07596381607081, "ssim": 0.6727172850287322, "lpips": 0.26717978715896606}, "wrist_left": {"psnr": 14.249431384821492, "ssim": 0.38149769030772734, "lpips": 0.45363813638687134}, "wrist_right": {"psnr": 11.568675676228297, "ssim": 0.4932290783767067, "lpips": 0.5233314037322998}, "tactile_left": {"psnr": 34.23616746862634, "ssim": 0.9579982444187555, "lpips": 0.12613561749458313}, "tactile_right": {"psnr": 41.1904281651739, "ssim": 0.982393679928494, "lpips": 0.056045424193143845}}, {"video": {"psnr": 20.29672548231247, "ssim": 0.681464441974743, "lpips": 0.2596539258956909}, "wrist_left": {"psnr": 14.744458778153488, "ssim": 0.33756637635064946, "lpips": 0.4280332624912262}, "wrist_right": {"psnr": 11.395646323467158, "ssim": 0.3795816460175865, "lpips": 0.4679773449897766}, "tactile_left": {"psnr": 34.92972727571707, "ssim": 0.9605810866054747, "lpips": 0.10716526210308075}, "tactile_right": {"psnr": 40.351306305991045, "ssim": 0.9802119963250977, "lpips": 0.06808500736951828}}, {"video": {"psnr": 20.118800531895722, "ssim": 0.6930900958651818, "lpips": 0.272456556558609}, "wrist_left": {"psnr": 13.959767235547213, "ssim": 0.3753660128260769, "lpips": 0.4435855746269226}, "wrist_right": {"psnr": 13.543332118872442, "ssim": 0.4586589320033764, "lpips": 0.4092269539833069}, "tactile_left": {"psnr": 35.75634663632904, "ssim": 0.9581132737748115, "lpips": 0.13032183051109314}, "tactile_right": {"psnr": 39.815044337926025, "ssim": 0.9781345993357374, "lpips": 0.08151067793369293}}, {"video": {"psnr": 20.027236644000336, "ssim": 0.6685680268454006, "lpips": 0.2707706689834595}, "wrist_left": {"psnr": 12.386402148859407, "ssim": 0.3062829176332136, "lpips": 0.48222237825393677}, "wrist_right": {"psnr": 14.485286887594626, "ssim": 0.4815231203123704, "lpips": 0.4414318799972534}, "tactile_left": {"psnr": 35.45759465356049, "ssim": 0.9569685746133403, "lpips": 0.14592862129211426}, "tactile_right": {"psnr": 39.585509573172516, "ssim": 0.9750672954405399, "lpips": 0.09590598195791245}}, {"video": {"psnr": 20.486753046659647, "ssim": 0.6809667409211986, "lpips": 0.28859665989875793}, "wrist_left": {"psnr": 12.184650620773114, "ssim": 0.348970194842698, "lpips": 0.49199408292770386}, "wrist_right": {"psnr": 15.294460887882273, "ssim": 0.43476007981238685, "lpips": 0.3855222463607788}, "tactile_left": {"psnr": 35.391363522315174, "ssim": 0.956948023080636, "lpips": 0.14846764504909515}, "tactile_right": {"psnr": 39.00892368437272, "ssim": 0.9728192479137217, "lpips": 0.10873834043741226}}, {"video": {"psnr": 19.147261938639794, "ssim": 0.6509082069975256, "lpips": 0.3633494973182678}, "wrist_left": {"psnr": 14.057902596599135, "ssim": 0.3731488842765274, "lpips": 0.47237083315849304}, "wrist_right": {"psnr": 13.186066841759692, "ssim": 0.34249637258614507, "lpips": 0.41974273324012756}, "tactile_left": {"psnr": 35.018584516982884, "ssim": 0.9573955143664425, "lpips": 0.15930402278900146}, "tactile_right": {"psnr": 38.062762708274455, "ssim": 0.9703840199360059, "lpips": 0.12752941250801086}}, {"video": {"psnr": 20.202860163064983, "ssim": 0.6676695143212819, "lpips": 0.29126861691474915}, "wrist_left": {"psnr": 14.046164975899384, "ssim": 0.38717064045581107, "lpips": 0.4881598949432373}, "wrist_right": {"psnr": 12.090138893816027, "ssim": 0.37427293028766545, "lpips": 0.4790313243865967}, "tactile_left": {"psnr": 34.483243430750754, "ssim": 0.9502188856721884, "lpips": 0.19725027680397034}, "tactile_right": {"psnr": 37.413682736298995, "ssim": 0.9681767670345295, "lpips": 0.14396104216575623}}, {"video": {"psnr": 19.833694670821213, "ssim": 0.648497114468793, "lpips": 0.319458931684494}, "wrist_left": {"psnr": 13.099819214211726, "ssim": 0.32873227420399576, "lpips": 0.49099111557006836}, "wrist_right": {"psnr": 11.225740832521481, "ssim": 0.35401067483699467, "lpips": 0.5107441544532776}, "tactile_left": {"psnr": 33.856598565945504, "ssim": 0.9416719846173061, "lpips": 0.2093033492565155}, "tactile_right": {"psnr": 36.788495877344275, "ssim": 0.965290654982027, "lpips": 0.16568979620933533}}, {"video": {"psnr": 19.699368213037044, "ssim": 0.6537357454473782, "lpips": 0.328622967004776}, "wrist_left": {"psnr": 13.962090988090825, "ssim": 0.3571558096161482, "lpips": 0.5145719647407532}, "wrist_right": {"psnr": 11.412058156723074, "ssim": 0.30541307188506484, "lpips": 0.557839035987854}, "tactile_left": {"psnr": 34.1682341670327, "ssim": 0.9519095662654204, "lpips": 0.1794189214706421}, "tactile_right": {"psnr": 36.070635988815965, "ssim": 0.9615982139713777, "lpips": 0.20497101545333862}}, {"video": {"psnr": 19.69975749677221, "ssim": 0.6613935624030185, "lpips": 0.3303333818912506}, "wrist_left": {"psnr": 14.09544810053115, "ssim": 0.34965382740336837, "lpips": 0.5175766348838806}, "wrist_right": {"psnr": 11.482661844275022, "ssim": 0.300227033095828, "lpips": 0.5551332235336304}, "tactile_left": {"psnr": 34.29495200545712, "ssim": 0.9481288570239713, "lpips": 0.21799513697624207}, "tactile_right": {"psnr": 35.333645561411664, "ssim": 0.9593053424437222, "lpips": 0.21696940064430237}}, {"video": {"psnr": 19.75189560204307, "ssim": 0.6406002471280148, "lpips": 0.30662769079208374}, "wrist_left": {"psnr": 13.75003471283296, "ssim": 0.33541227593280143, "lpips": 0.4888882637023926}, "wrist_right": {"psnr": 10.943596883578692, "ssim": 0.31663009392609276, "lpips": 0.5492837429046631}, "tactile_left": {"psnr": 33.70697042105078, "ssim": 0.9426420228543839, "lpips": 0.24414898455142975}, "tactile_right": {"psnr": 34.85545163178277, "ssim": 0.9577270804564931, "lpips": 0.2279089391231537}}], "long_metrics": {"video": {"psnr": 20.17627222483849, "ssim": 0.6756202309264112, "lpips": 0.2727037201325099}, "wrist_left": {"psnr": 13.589484741022106, "ssim": 0.3553402779125065, "lpips": 0.4730103691418966}, "wrist_right": {"psnr": 12.800361035384734, "ssim": 0.4125918136809144, "lpips": 0.4593145489692688}, "tactile_left": {"psnr": 35.86965771086998, "ssim": 0.957597391403257, "lpips": 0.1453781341512998}, "tactile_right": {"psnr": 39.87300858276661, "ssim": 0.9748082492897867, "lpips": 0.10714242017517488}}}, {"id": "motherboard_e010_19", "episode": "motherboard_0912_episode_002.pt", "requested_episode": "motherboard_0912_episode_002.pt", "category": "full", "t_start": 944, "start_seconds": 62.93333333333333, "short_contact": [1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1], "future_transition_ticks": [], "long_contact_fraction": 1.0, "long_label": "full", "short_metrics": {"video": {"psnr": 24.955711611164638, "ssim": 0.8256489528725481, "lpips": 0.07514925301074982}, "wrist_left": {"psnr": 17.961747479113466, "ssim": 0.4774630121968321, "lpips": 0.29680824279785156}, "wrist_right": {"psnr": 28.980587028176373, "ssim": 0.9314186064391267, "lpips": 0.04879292845726013}, "tactile_left": {"psnr": 38.82356940593202, "ssim": 0.9575849626421663, "lpips": 0.07697150856256485}, "tactile_right": {"psnr": 48.301533965601095, "ssim": 0.9920739675098555, "lpips": 0.019119802862405777}}, "media": {"short": {"video": "media/motherboard_e010_19_short.mp4", "poster": "media/motherboard_e010_19_short.jpg"}, "long": {"video": "media/motherboard_e010_19_long.mp4", "poster": "media/motherboard_e010_19_long.jpg"}}, "force": {"source": "recorded_normal_force", "units": "N", "fps": 15, "left": [1.9444444179534912, 5.486666679382324, 5.403749942779541, 5.486666679382324, 5.486666679382324, 4.726428508758545, 4.726428508758545, 4.726428508758545, 5.397500038146973, 4.726428508758545, 4.726428508758545, 4.726428508758545, 4.726428508758545, 4.726428508758545, 4.726428508758545, 4.726428508758545, 3.9385359287261963, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 2.6312499046325684, 2.6312499046325684, 2.6312499046325684, 3.0568182468414307, 3.0568182468414307, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.6312499046325684, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 4.81326961517334, 4.852499961853027, 5.397634029388428, 4.852499961853027, 4.852499961853027, 5.397500038146973, 5.399270057678223, 5.397500038146973, 4.852499961853027, 4.852499961853027, 3.9167568683624268, 3.9167568683624268, 3.9167568683624268, 4.726428508758545, 4.726428508758545, 4.726428508758545, 4.726428508758545, 4.726428508758545, 3.1971428394317627, 3.1971428394317627, 3.1971428394317627, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.4042980670928955, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 2.6312499046325684, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 3.9167568683624268, 5.397500038146973, 4.726428508758545, 4.726428508758545, 4.726428508758545, 3.9167568683624268, 3.9167568683624268, 3.9388134479522705, 3.1971428394317627, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0808489322662354, 3.0568182468414307, 3.0568182468414307, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 1.9444444179534912, 1.5979106426239014, 0.7983333468437195, 0.7983333468437195, 2.3248276710510254, 2.3248276710510254, 0.7983333468437195, 2.243333339691162, 2.243333339691162, 2.3248276710510254, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.9167568683624268, 3.92547869682312, 3.9167568683624268, 4.852499961853027, 3.939357280731201, 4.726428508758545, 4.726428508758545, 3.940000057220459, 3.1971428394317627, 3.9167568683624268, 3.9167568683624268, 3.9167568683624268, 3.9167568683624268, 3.9167568683624268, 3.9247372150421143], "right": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0689406767487526, 0.4319555163383484, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]}, "long_curve": [{"video": {"psnr": 24.955711611164638, "ssim": 0.8256489528725481, "lpips": 0.07514925301074982}, "wrist_left": {"psnr": 17.961747479113466, "ssim": 0.4774630121968321, "lpips": 0.29680824279785156}, "wrist_right": {"psnr": 28.980587028176373, "ssim": 0.9314186064391267, "lpips": 0.04879292845726013}, "tactile_left": {"psnr": 38.82356940593202, "ssim": 0.9575849626421663, "lpips": 0.07697150856256485}, "tactile_right": {"psnr": 48.301533965601095, "ssim": 0.9920739675098555, "lpips": 0.019119802862405777}}, {"video": {"psnr": 21.372842828254605, "ssim": 0.7255644460826852, "lpips": 0.18360765278339386}, "wrist_left": {"psnr": 14.017122643654549, "ssim": 0.29767612301814844, "lpips": 0.4406663179397583}, "wrist_right": {"psnr": 24.8338105602911, "ssim": 0.8819808323965, "lpips": 0.08847664296627045}, "tactile_left": {"psnr": 39.48495182666456, "ssim": 0.9692638520435541, "lpips": 0.08117523789405823}, "tactile_right": {"psnr": 45.91820636724001, "ssim": 0.986403724340823, "lpips": 0.02649873122572899}}, {"video": {"psnr": 22.498293871475422, "ssim": 0.7522090935118263, "lpips": 0.1228821650147438}, "wrist_left": {"psnr": 15.974473435557561, "ssim": 0.37152023569000603, "lpips": 0.4232128858566284}, "wrist_right": {"psnr": 24.42501926692648, "ssim": 0.8797213058796726, "lpips": 0.0871637612581253}, "tactile_left": {"psnr": 39.75117252262937, "ssim": 0.9707652541937033, "lpips": 0.07503750920295715}, "tactile_right": {"psnr": 44.69855398011762, "ssim": 0.9855538784599406, "lpips": 0.024263452738523483}}, {"video": {"psnr": 21.227877779654726, "ssim": 0.7225142156233171, "lpips": 0.20466050505638123}, "wrist_left": {"psnr": 14.605235575341457, "ssim": 0.373487332207751, "lpips": 0.45600032806396484}, "wrist_right": {"psnr": 25.445294189426914, "ssim": 0.8759486850148543, "lpips": 0.11743879318237305}, "tactile_left": {"psnr": 36.99346121942262, "ssim": 0.9570289534803528, "lpips": 0.09752576053142548}, "tactile_right": {"psnr": 43.44356318604767, "ssim": 0.9838332075476587, "lpips": 0.04017487168312073}}, {"video": {"psnr": 20.389794711316966, "ssim": 0.7123150906685978, "lpips": 0.23973247408866882}, "wrist_left": {"psnr": 14.078275047536646, "ssim": 0.36458918053261846, "lpips": 0.49062103033065796}, "wrist_right": {"psnr": 25.353232764835877, "ssim": 0.8747827818095044, "lpips": 0.11667145788669586}, "tactile_left": {"psnr": 35.87038757505705, "ssim": 0.9378965792363894, "lpips": 0.13801154494285583}, "tactile_right": {"psnr": 42.747199977428664, "ssim": 0.982033452795916, "lpips": 0.05710095912218094}}, {"video": {"psnr": 20.121762557824624, "ssim": 0.6961614158173373, "lpips": 0.24678045511245728}, "wrist_left": {"psnr": 14.817556863091415, "ssim": 0.34601912323705564, "lpips": 0.4932846426963806}, "wrist_right": {"psnr": 19.65121731906112, "ssim": 0.8220063408524793, "lpips": 0.19464021921157837}, "tactile_left": {"psnr": 36.30906045327686, "ssim": 0.9472466716853692, "lpips": 0.1345616579055786}, "tactile_right": {"psnr": 41.324765699761706, "ssim": 0.9794390319436028, "lpips": 0.07635534554719925}}, {"video": {"psnr": 20.073102269475136, "ssim": 0.6815063931355624, "lpips": 0.259824275970459}, "wrist_left": {"psnr": 14.392020465982727, "ssim": 0.3001887781329881, "lpips": 0.493830144405365}, "wrist_right": {"psnr": 21.01825802035899, "ssim": 0.8190179744914815, "lpips": 0.20904996991157532}, "tactile_left": {"psnr": 36.936296438392375, "ssim": 0.9601399745275293, "lpips": 0.11279062926769257}, "tactile_right": {"psnr": 40.7156984001393, "ssim": 0.9778600165236642, "lpips": 0.09026983380317688}}, {"video": {"psnr": 20.604719546192563, "ssim": 0.6750880946650455, "lpips": 0.22552210092544556}, "wrist_left": {"psnr": 14.471053933037775, "ssim": 0.3612315813627459, "lpips": 0.4880130887031555}, "wrist_right": {"psnr": 22.32509468001107, "ssim": 0.8377011680663607, "lpips": 0.18136346340179443}, "tactile_left": {"psnr": 37.20826875389583, "ssim": 0.964803959442061, "lpips": 0.10515746474266052}, "tactile_right": {"psnr": 40.209114391176385, "ssim": 0.976604713229966, "lpips": 0.0995587706565857}}, {"video": {"psnr": 19.1222039513167, "ssim": 0.6535624793944025, "lpips": 0.2969496250152588}, "wrist_left": {"psnr": 14.184834829205235, "ssim": 0.3588388014461913, "lpips": 0.481653094291687}, "wrist_right": {"psnr": 22.665795711387986, "ssim": 0.8263647624829009, "lpips": 0.22512522339820862}, "tactile_left": {"psnr": 36.61618738794283, "ssim": 0.9608302181013948, "lpips": 0.11769837141036987}, "tactile_right": {"psnr": 39.00426528764474, "ssim": 0.9747681821345353, "lpips": 0.10918896645307541}}, {"video": {"psnr": 18.94463806346144, "ssim": 0.6494252742574482, "lpips": 0.30075934529304504}, "wrist_left": {"psnr": 14.264529339617894, "ssim": 0.3182172122144765, "lpips": 0.5138775706291199}, "wrist_right": {"psnr": 22.613401352814485, "ssim": 0.8397940516958488, "lpips": 0.1681656837463379}, "tactile_left": {"psnr": 34.232967321236835, "ssim": 0.9384108702162637, "lpips": 0.15808641910552979}, "tactile_right": {"psnr": 37.06250934941263, "ssim": 0.9723573939437871, "lpips": 0.12189778685569763}}, {"video": {"psnr": 17.517283985602734, "ssim": 0.6109608711997312, "lpips": 0.3749362826347351}, "wrist_left": {"psnr": 12.30545405207592, "ssim": 0.29268224247374464, "lpips": 0.5266059637069702}, "wrist_right": {"psnr": 21.121695322145627, "ssim": 0.8380990115382124, "lpips": 0.14234095811843872}, "tactile_left": {"psnr": 34.165623386775025, "ssim": 0.9420974713837195, "lpips": 0.16384384036064148}, "tactile_right": {"psnr": 36.156950837538076, "ssim": 0.9698601468370001, "lpips": 0.12971284985542297}}, {"video": {"psnr": 16.913494323535843, "ssim": 0.5873697698183181, "lpips": 0.4199161231517792}, "wrist_left": {"psnr": 10.091564131002839, "ssim": 0.2634716438218346, "lpips": 0.550661563873291}, "wrist_right": {"psnr": 20.553419545546454, "ssim": 0.8155183466268505, "lpips": 0.1934794783592224}, "tactile_left": {"psnr": 34.8210668398631, "ssim": 0.9514586251682602, "lpips": 0.1617959439754486}, "tactile_right": {"psnr": 35.50403686322986, "ssim": 0.968515579357647, "lpips": 0.14382030069828033}}, {"video": {"psnr": 17.523189798375473, "ssim": 0.5963448726182901, "lpips": 0.3847629725933075}, "wrist_left": {"psnr": 12.947425118929576, "ssim": 0.31701163547110706, "lpips": 0.5361914038658142}, "wrist_right": {"psnr": 21.221054916726946, "ssim": 0.82456275670058, "lpips": 0.1733393371105194}, "tactile_left": {"psnr": 34.59336199463915, "ssim": 0.9510929479039386, "lpips": 0.1678278148174286}, "tactile_right": {"psnr": 35.667026992072756, "ssim": 0.9686571806739386, "lpips": 0.14129939675331116}}, {"video": {"psnr": 19.150421708188972, "ssim": 0.6330550884117585, "lpips": 0.3065444231033325}, "wrist_left": {"psnr": 13.3249239669537, "ssim": 0.34876907270965213, "lpips": 0.5012475848197937}, "wrist_right": {"psnr": 21.022557403877524, "ssim": 0.8072701798186648, "lpips": 0.22218164801597595}, "tactile_left": {"psnr": 33.4216722937808, "ssim": 0.9347962376448845, "lpips": 0.21185407042503357}, "tactile_right": {"psnr": 35.834426324738224, "ssim": 0.9688002831366853, "lpips": 0.1459871530532837}}, {"video": {"psnr": 18.997293317917883, "ssim": 0.61931124118275, "lpips": 0.32534003257751465}, "wrist_left": {"psnr": 13.583565747884272, "ssim": 0.3621902408114288, "lpips": 0.491549015045166}, "wrist_right": {"psnr": 20.77812412450331, "ssim": 0.8165454523590276, "lpips": 0.20652389526367188}, "tactile_left": {"psnr": 33.665720847302886, "ssim": 0.9329541026334736, "lpips": 0.22315597534179688}, "tactile_right": {"psnr": 35.56158691510848, "ssim": 0.9677205341185202, "lpips": 0.15908944606781006}}], "long_metrics": {"video": {"psnr": 19.96084202158385, "ssim": 0.6760691532839745, "lpips": 0.26449117908875147}, "wrist_left": {"psnr": 14.067985508599003, "ssim": 0.34355708102177207, "lpips": 0.47894819180170695}, "wrist_right": {"psnr": 22.80057081373935, "ssim": 0.8460488170781377, "lpips": 0.1583168973525365}, "tactile_left": {"psnr": 36.19291788445409, "ssim": 0.9517580453535374, "lpips": 0.13503291656573613}, "tactile_right": {"psnr": 40.143295902483814, "ssim": 0.9769654195035694, "lpips": 0.09228917782505354}}}], "split": "mixed_mb_wrist_holdout.json", "unavailable": [], "complete": true}, {"id": "motherboard_custom_e002", "label": "Motherboard · custom attn", "checkpoint": "epoch_002.pt", "run": "nano_action_causal_custom_v1", "planned_cases": 20, "cases": [{"id": "motherboard_custom_e002_00", "episode": "motherboard_0909_episode_000.pt", "requested_episode": "motherboard_0909_episode_000.pt", "category": "none", "t_start": 1134, "start_seconds": 75.6, "short_contact": [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0], "future_transition_ticks": [], "long_contact_fraction": 0.015625, "long_label": "none_at_start", "short_metrics": {"video": {"psnr": 27.902856145553496, "ssim": 0.8965396496875324, "lpips": 0.0264943428337574}, "wrist_left": {"psnr": 32.11315300486414, "ssim": 0.9659465883213625, "lpips": 0.02755328081548214}, "wrist_right": {"psnr": 16.25720504742788, "ssim": 0.6334405670167376, "lpips": 0.1351584792137146}, "tactile_left": {"psnr": 46.860243514075464, "ssim": 0.9919189777498798, "lpips": 0.007760937325656414}, "tactile_right": {"psnr": 44.48719905370983, "ssim": 0.982962209215755, "lpips": 0.024122443050146103}}, "media": {"short": {"video": "media/motherboard_custom_e002_00_short.mp4", "poster": "media/motherboard_custom_e002_00_short.jpg"}, "long": {"video": "media/motherboard_custom_e002_00_long.mp4", "poster": "media/motherboard_custom_e002_00_long.jpg"}}, "force": {"source": "recorded_normal_force", "units": "N", "fps": 15, "left": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "right": [0.49666666984558105, 0.41999998688697815, 0.3276471495628357, 0.2779442071914673, 0.19263210892677307, 0.16038045287132263, 0.1599999964237213, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.1599999964237213, 0.1599999964237213, 0.1599999964237213, 0.0, 0.0, 0.0, 0.1599999964237213, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.1599999964237213, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.27239662408828735, 0.1599999964237213, 0.2841034233570099, 0.17168553173542023, 0.1641339212656021, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.1885688155889511, 0.49666666984558105, 1.1662499904632568, 0.7758844494819641, 0.46323081851005554]}, "long_curve": [{"video": {"psnr": 27.902856145553496, "ssim": 0.8965396496875324, "lpips": 0.0264943428337574}, "wrist_left": {"psnr": 32.11315300486414, "ssim": 0.9659465883213625, "lpips": 0.02755328081548214}, "wrist_right": {"psnr": 16.25720504742788, "ssim": 0.6334405670167376, "lpips": 0.1351584792137146}, "tactile_left": {"psnr": 46.860243514075464, "ssim": 0.9919189777498798, "lpips": 0.007760937325656414}, "tactile_right": {"psnr": 44.48719905370983, "ssim": 0.982962209215755, "lpips": 0.024122443050146103}}, {"video": {"psnr": 23.780636067914912, "ssim": 0.7938521867998055, "lpips": 0.05874885991215706}, "wrist_left": {"psnr": 25.57108185435098, "ssim": 0.8954199981867585, "lpips": 0.07212706655263901}, "wrist_right": {"psnr": 10.767000478097724, "ssim": 0.3410677483470552, "lpips": 0.4025532901287079}, "tactile_left": {"psnr": 43.29452793490266, "ssim": 0.9855017225477616, "lpips": 0.03099646419286728}, "tactile_right": {"psnr": 40.529966670487525, "ssim": 0.9723993120755716, "lpips": 0.060036350041627884}}, {"video": {"psnr": 22.568049787042057, "ssim": 0.7631235414688011, "lpips": 0.11230580508708954}, "wrist_left": {"psnr": 22.760724647218375, "ssim": 0.8274573488214771, "lpips": 0.135613813996315}, "wrist_right": {"psnr": 9.778147528353037, "ssim": 0.3033199687435967, "lpips": 0.5052587389945984}, "tactile_left": {"psnr": 40.28359106534968, "ssim": 0.9814540316319753, "lpips": 0.053195443004369736}, "tactile_right": {"psnr": 37.56715280550686, "ssim": 0.9693414217558716, "lpips": 0.08566655218601227}}, {"video": {"psnr": 21.974986597020482, "ssim": 0.7504755503418828, "lpips": 0.13441169261932373}, "wrist_left": {"psnr": 20.442939320421086, "ssim": 0.7319550402046401, "lpips": 0.20374062657356262}, "wrist_right": {"psnr": 9.666286073107816, "ssim": 0.2140194514109227, "lpips": 0.5181128978729248}, "tactile_left": {"psnr": 37.62802524635432, "ssim": 0.9762133176718605, "lpips": 0.09581096470355988}, "tactile_right": {"psnr": 35.7811608546542, "ssim": 0.9667395981208297, "lpips": 0.11064402014017105}}, {"video": {"psnr": 20.513819760826856, "ssim": 0.7124988704554118, "lpips": 0.16638052463531494}, "wrist_left": {"psnr": 19.57767538248717, "ssim": 0.7206109109987817, "lpips": 0.21700870990753174}, "wrist_right": {"psnr": 9.257393690929728, "ssim": 0.2043625027066524, "lpips": 0.5389965772628784}, "tactile_left": {"psnr": 35.50395135749416, "ssim": 0.9723531194429775, "lpips": 0.12797501683235168}, "tactile_right": {"psnr": 35.08287117166439, "ssim": 0.9635491593250045, "lpips": 0.13593190908432007}}, {"video": {"psnr": 19.549589868375673, "ssim": 0.6930930146437387, "lpips": 0.21309423446655273}, "wrist_left": {"psnr": 19.251389950800217, "ssim": 0.7294945375459065, "lpips": 0.22369202971458435}, "wrist_right": {"psnr": 9.076762917938835, "ssim": 0.20448636785562696, "lpips": 0.5662823915481567}, "tactile_left": {"psnr": 32.346460255718355, "ssim": 0.9677357521579375, "lpips": 0.15972119569778442}, "tactile_right": {"psnr": 33.6280650847081, "ssim": 0.9600487277415395, "lpips": 0.14690181612968445}}, {"video": {"psnr": 19.382743122855565, "ssim": 0.6930494270993822, "lpips": 0.212254136800766}, "wrist_left": {"psnr": 17.75281623000544, "ssim": 0.7215513714091049, "lpips": 0.245010644197464}, "wrist_right": {"psnr": 8.794366424283783, "ssim": 0.22458344284495318, "lpips": 0.5641692876815796}, "tactile_left": {"psnr": 30.163830733167213, "ssim": 0.9631653181337001, "lpips": 0.18120890855789185}, "tactile_right": {"psnr": 32.55738894433626, "ssim": 0.9571895207127493, "lpips": 0.15197211503982544}}, {"video": {"psnr": 19.19797019283472, "ssim": 0.687924297905923, "lpips": 0.20199653506278992}, "wrist_left": {"psnr": 15.88997781989663, "ssim": 0.7123633157041156, "lpips": 0.2996896803379059}, "wrist_right": {"psnr": 8.337658641303914, "ssim": 0.2323736152167168, "lpips": 0.5923448801040649}, "tactile_left": {"psnr": 28.15650209965448, "ssim": 0.9583131639691985, "lpips": 0.2012178748846054}, "tactile_right": {"psnr": 31.620929413363182, "ssim": 0.9534843505357281, "lpips": 0.17571887373924255}}, {"video": {"psnr": 19.880187743121674, "ssim": 0.691071591125904, "lpips": 0.1525198519229889}, "wrist_left": {"psnr": 13.784046703458774, "ssim": 0.6663962406065869, "lpips": 0.3830481767654419}, "wrist_right": {"psnr": 6.751919377448292, "ssim": 0.2555953051106975, "lpips": 0.6573303937911987}, "tactile_left": {"psnr": 26.494099099615735, "ssim": 0.95195999072641, "lpips": 0.22198495268821716}, "tactile_right": {"psnr": 30.62260556905332, "ssim": 0.950063057547806, "lpips": 0.19213122129440308}}, {"video": {"psnr": 18.561412866007064, "ssim": 0.6593002874347242, "lpips": 0.1844272017478943}, "wrist_left": {"psnr": 11.035812179053702, "ssim": 0.6084665724610725, "lpips": 0.5079034566879272}, "wrist_right": {"psnr": 5.704728467835368, "ssim": 0.2437721516948156, "lpips": 0.696714460849762}, "tactile_left": {"psnr": 24.540554736210417, "ssim": 0.9260720110565321, "lpips": 0.27828890085220337}, "tactile_right": {"psnr": 28.70843859826188, "ssim": 0.9471024692950593, "lpips": 0.18689481914043427}}, {"video": {"psnr": 16.295265369028762, "ssim": 0.6394599209033596, "lpips": 0.23640409111976624}, "wrist_left": {"psnr": 8.627310086947361, "ssim": 0.521132062679077, "lpips": 0.6674989461898804}, "wrist_right": {"psnr": 5.302945012701813, "ssim": 0.2260603710511603, "lpips": 0.710527777671814}, "tactile_left": {"psnr": 19.825872204074255, "ssim": 0.903268734782442, "lpips": 0.3840324282646179}, "tactile_right": {"psnr": 26.108306536415835, "ssim": 0.9463697973081392, "lpips": 0.19517302513122559}}, {"video": {"psnr": 9.63366163247675, "ssim": 0.5072302503421419, "lpips": 0.6168780326843262}, "wrist_left": {"psnr": 6.644254117297476, "ssim": 0.4509680897577538, "lpips": 0.7774658203125}, "wrist_right": {"psnr": 4.272077146886601, "ssim": 0.19238989362647702, "lpips": 0.8066447973251343}, "tactile_left": {"psnr": 8.332746913703636, "ssim": 0.6518208690357725, "lpips": 0.6978007555007935}, "tactile_right": {"psnr": 20.168797711949416, "ssim": 0.9162549575597883, "lpips": 0.3145507574081421}}, {"video": {"psnr": 6.349044749859626, "ssim": 0.4914063429610871, "lpips": 0.834065318107605}, "wrist_left": {"psnr": 4.979566149175693, "ssim": 0.4671599880442855, "lpips": 0.8078340291976929}, "wrist_right": {"psnr": 3.6335186311655625, "ssim": 0.17874522786645908, "lpips": 0.9664919972419739}, "tactile_left": {"psnr": 5.019382789255788, "ssim": 0.562421334789583, "lpips": 0.8440489768981934}, "tactile_right": {"psnr": 5.168949294389175, "ssim": 0.5781612502636285, "lpips": 0.7480623722076416}}, {"video": {"psnr": 5.9105523660721735, "ssim": 0.46068286541079995, "lpips": 0.8319042325019836}, "wrist_left": {"psnr": 4.622282534774812, "ssim": 0.43659926657170534, "lpips": 0.7913801670074463}, "wrist_right": {"psnr": 3.438985257998577, "ssim": 0.17731724792457237, "lpips": 0.9635258913040161}, "tactile_left": {"psnr": 4.686961909923669, "ssim": 0.5053887397664518, "lpips": 0.929551362991333}, "tactile_right": {"psnr": 4.316112253210117, "ssim": 0.49698575676593437, "lpips": 0.8999714851379395}}, {"video": {"psnr": 5.49771935166353, "ssim": 0.47307423726890596, "lpips": 0.8444542288780212}, "wrist_left": {"psnr": 4.157373825319262, "ssim": 0.44186204402765694, "lpips": 0.8104304075241089}, "wrist_right": {"psnr": 3.069737899061872, "ssim": 0.15894296197304453, "lpips": 0.9935212135314941}, "tactile_left": {"psnr": 4.211250568186663, "ssim": 0.5121583852590399, "lpips": 0.9796386957168579}, "tactile_right": {"psnr": 3.8616708856218858, "ssim": 0.4890509482887525, "lpips": 0.9459621906280518}}], "long_metrics": {"video": {"psnr": 17.13323304137689, "ssim": 0.66085213558996, "lpips": 0.3217559392253558}, "wrist_left": {"psnr": 15.147360253738073, "ssim": 0.659825558356019, "lpips": 0.41133312371869885}, "wrist_right": {"psnr": 7.607248839636054, "ssim": 0.25269845489263254, "lpips": 0.6411755383014679}, "tactile_left": {"psnr": 25.82320002851243, "ssim": 0.8539830312481015, "lpips": 0.3462155252074202}, "tactile_right": {"psnr": 27.3473076564888, "ssim": 0.8699801691008104, "lpips": 0.29158266335725785}}}, {"id": "motherboard_custom_e002_01", "episode": "motherboard_0909_episode_000.pt", "requested_episode": "motherboard_0909_episode_000.pt", "category": "onset", "t_start": 1825, "start_seconds": 121.66666666666667, "short_contact": [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 1], "future_transition_ticks": [11], "long_contact_fraction": 0.7265625, "long_label": "onset", "short_metrics": {"video": {"psnr": 23.145950785817316, "ssim": 0.8318653762259782, "lpips": 0.06004909425973892}, "wrist_left": {"psnr": 15.333055973814337, "ssim": 0.40228499678631413, "lpips": 0.20284385979175568}, "wrist_right": {"psnr": 12.170638630473862, "ssim": 0.42349590867484366, "lpips": 0.3328506350517273}, "tactile_left": {"psnr": 37.104446360115105, "ssim": 0.9780557579052054, "lpips": 0.05711693316698074}, "tactile_right": {"psnr": 30.137895898339355, "ssim": 0.9597842406830537, "lpips": 0.14628607034683228}}, "media": {"short": {"video": "media/motherboard_custom_e002_01_short.mp4", "poster": "media/motherboard_custom_e002_01_short.jpg"}, "long": {"video": "media/motherboard_custom_e002_01_long.mp4", "poster": "media/motherboard_custom_e002_01_long.jpg"}}, "force": {"source": "recorded_normal_force", "units": "N", "fps": 15, "left": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.5254545211791992, 2.8207693099975586, 2.9424359798431396, 4.285294055938721, 4.3677778244018555, 5.145384788513184, 5.145384788513184, 5.259615421295166, 5.439090728759766, 5.439090728759766, 5.29610538482666, 5.439090728759766, 5.439090728759766, 6.251071453094482, 6.251071453094482, 6.733333110809326, 6.251071453094482, 7.192828178405762, 7.293181896209717, 7.293181896209717, 7.293181896209717, 6.733333110809326, 6.733333110809326, 6.251071453094482, 6.251071453094482, 4.285294055938721, 4.285294055938721, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "right": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.1662499904632568, 2.636666774749756, 2.9424359798431396, 4.285294055938721, 5.439090728759766, 5.439090728759766, 5.615621566772461, 6.251071453094482, 6.251071453094482, 6.251071453094482, 6.251071453094482, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 6.733333110809326, 6.733333110809326, 6.733333110809326, 6.733333110809326, 6.251071453094482, 2.9424359798431396, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.5445876717567444, 1.9833333492279053, 5.259615421295166, 5.259615421295166, 6.251071453094482, 6.733333110809326, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 6.251071453094482, 5.259615421295166, 4.285294055938721, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 2.8207693099975586, 1.1662769317626953, 1.5254545211791992, 2.9424359798431396, 4.285294055938721, 5.145384788513184, 6.251071453094482, 6.251071453094482, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 6.733333110809326, 6.251071453094482, 6.251071453094482, 6.251071453094482, 5.259615421295166, 5.145384788513184, 4.3677778244018555, 4.285294055938721, 4.285294055938721, 4.285294055938721, 4.285294055938721, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 1.9833333492279053, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.9833333492279053, 2.9424359798431396, 5.259615421295166, 7.293181896209717, 7.293181896209717, 7.310615539550781]}, "long_curve": [{"video": {"psnr": 23.145950785817316, "ssim": 0.8318653762259782, "lpips": 0.06004909425973892}, "wrist_left": {"psnr": 15.333055973814337, "ssim": 0.40228499678631413, "lpips": 0.20284385979175568}, "wrist_right": {"psnr": 12.170638630473862, "ssim": 0.42349590867484366, "lpips": 0.3328506350517273}, "tactile_left": {"psnr": 37.104446360115105, "ssim": 0.9780557579052054, "lpips": 0.05711693316698074}, "tactile_right": {"psnr": 30.137895898339355, "ssim": 0.9597842406830537, "lpips": 0.14628607034683228}}, {"video": {"psnr": 21.06626101745489, "ssim": 0.7310670135782993, "lpips": 0.10458987951278687}, "wrist_left": {"psnr": 13.93811435895336, "ssim": 0.33247180488220635, "lpips": 0.3167724013328552}, "wrist_right": {"psnr": 12.218301633735106, "ssim": 0.39980781735195825, "lpips": 0.34632807970046997}, "tactile_left": {"psnr": 27.222043856361573, "ssim": 0.9173653342159692, "lpips": 0.24706605076789856}, "tactile_right": {"psnr": 25.987808851488904, "ssim": 0.9327364991607716, "lpips": 0.24195849895477295}}, {"video": {"psnr": 21.19275266127888, "ssim": 0.738401132315434, "lpips": 0.12138080596923828}, "wrist_left": {"psnr": 13.387093866266678, "ssim": 0.2768029623792666, "lpips": 0.40878093242645264}, "wrist_right": {"psnr": 10.8095688678346, "ssim": 0.35441113575961974, "lpips": 0.413290798664093}, "tactile_left": {"psnr": 25.462267581192588, "ssim": 0.9100745519607203, "lpips": 0.2911373972892761}, "tactile_right": {"psnr": 25.797557164256144, "ssim": 0.9274629529199718, "lpips": 0.26511284708976746}}, {"video": {"psnr": 20.54302721523625, "ssim": 0.7090080740546034, "lpips": 0.14153200387954712}, "wrist_left": {"psnr": 11.40175127106512, "ssim": 0.23989819190261547, "lpips": 0.4751935601234436}, "wrist_right": {"psnr": 11.26001513196047, "ssim": 0.3777278595071434, "lpips": 0.4741496443748474}, "tactile_left": {"psnr": 26.875198309697723, "ssim": 0.9216107662025319, "lpips": 0.299747496843338}, "tactile_right": {"psnr": 34.601854319491785, "ssim": 0.9650479096259981, "lpips": 0.11891026794910431}}, {"video": {"psnr": 20.02761118738868, "ssim": 0.6821839463216683, "lpips": 0.1955948770046234}, "wrist_left": {"psnr": 11.417490832764654, "ssim": 0.42824653673435825, "lpips": 0.4752674996852875}, "wrist_right": {"psnr": 11.635804156352055, "ssim": 0.23622259827559655, "lpips": 0.5763074159622192}, "tactile_left": {"psnr": 36.479653801818685, "ssim": 0.9613087923816926, "lpips": 0.19650529325008392}, "tactile_right": {"psnr": 34.31487673332037, "ssim": 0.9617709775424131, "lpips": 0.1274973303079605}}, {"video": {"psnr": 19.196686114337528, "ssim": 0.6586518071109377, "lpips": 0.22265136241912842}, "wrist_left": {"psnr": 8.666433043891093, "ssim": 0.37864854056169506, "lpips": 0.54939866065979}, "wrist_right": {"psnr": 11.414432043692877, "ssim": 0.19573537439580457, "lpips": 0.6574581265449524}, "tactile_left": {"psnr": 35.27667746960721, "ssim": 0.9600416290335634, "lpips": 0.20706574618816376}, "tactile_right": {"psnr": 29.135220456242692, "ssim": 0.9185169781876622, "lpips": 0.320206880569458}}, {"video": {"psnr": 18.66744729715425, "ssim": 0.6457394804863827, "lpips": 0.24101462960243225}, "wrist_left": {"psnr": 7.697472018219211, "ssim": 0.34978068299135945, "lpips": 0.5830600261688232}, "wrist_right": {"psnr": 9.975394921096177, "ssim": 0.18489490043535067, "lpips": 0.7084987163543701}, "tactile_left": {"psnr": 33.61630032187487, "ssim": 0.9571062581758036, "lpips": 0.21857312321662903}, "tactile_right": {"psnr": 28.837286179905185, "ssim": 0.904914254445037, "lpips": 0.3602454364299774}}, {"video": {"psnr": 17.618787650174376, "ssim": 0.6346737180370448, "lpips": 0.3046213984489441}, "wrist_left": {"psnr": 7.256889437016597, "ssim": 0.3412560768889202, "lpips": 0.587358295917511}, "wrist_right": {"psnr": 9.616233913962715, "ssim": 0.178852884541078, "lpips": 0.7135290503501892}, "tactile_left": {"psnr": 31.60355184663901, "ssim": 0.95398585492755, "lpips": 0.22623887658119202}, "tactile_right": {"psnr": 29.20360806592479, "ssim": 0.9009480682242882, "lpips": 0.3660975694656372}}, {"video": {"psnr": 17.32781212428235, "ssim": 0.6389211831843692, "lpips": 0.3144311308860779}, "wrist_left": {"psnr": 7.437385377390262, "ssim": 0.36254431379789953, "lpips": 0.5746160745620728}, "wrist_right": {"psnr": 8.458406812606807, "ssim": 0.2247683099539488, "lpips": 0.6799736022949219}, "tactile_left": {"psnr": 29.884624639595813, "ssim": 0.9503210837026564, "lpips": 0.2378171980381012}, "tactile_right": {"psnr": 31.953749041204173, "ssim": 0.9530372536870065, "lpips": 0.18775802850723267}}, {"video": {"psnr": 16.683611570589104, "ssim": 0.6283423056845147, "lpips": 0.32865282893180847}, "wrist_left": {"psnr": 6.77517691636589, "ssim": 0.34217417053229815, "lpips": 0.6022077798843384}, "wrist_right": {"psnr": 6.8515755172810255, "ssim": 0.16430379283260843, "lpips": 0.7039033770561218}, "tactile_left": {"psnr": 27.749725760581878, "ssim": 0.9457675347542227, "lpips": 0.251528263092041}, "tactile_right": {"psnr": 29.86634092447732, "ssim": 0.9344753991598758, "lpips": 0.22323401272296906}}, {"video": {"psnr": 16.132109770149057, "ssim": 0.6241274305629788, "lpips": 0.3343733847141266}, "wrist_left": {"psnr": 5.915243547168171, "ssim": 0.31384965699511025, "lpips": 0.6612561941146851}, "wrist_right": {"psnr": 6.346131017521546, "ssim": 0.15533224207046759, "lpips": 0.7545892000198364}, "tactile_left": {"psnr": 25.158408715367322, "ssim": 0.9389771601420289, "lpips": 0.2543914318084717}, "tactile_right": {"psnr": 26.278040877276432, "ssim": 0.8747833189106939, "lpips": 0.3340071439743042}}, {"video": {"psnr": 15.26077955629782, "ssim": 0.6133034781999067, "lpips": 0.36029696464538574}, "wrist_left": {"psnr": 5.017721849528717, "ssim": 0.31186200530726005, "lpips": 0.7641561031341553}, "wrist_right": {"psnr": 5.541421319874163, "ssim": 0.14149756268093125, "lpips": 0.7690758109092712}, "tactile_left": {"psnr": 22.940667986685135, "ssim": 0.9358075202053051, "lpips": 0.2781074643135071}, "tactile_right": {"psnr": 23.81006630133028, "ssim": 0.8905599397438649, "lpips": 0.3365580439567566}}, {"video": {"psnr": 9.786502606183644, "ssim": 0.5469409911770251, "lpips": 0.6413146257400513}, "wrist_left": {"psnr": 4.630647383303021, "ssim": 0.37095640133441077, "lpips": 0.8685709834098816}, "wrist_right": {"psnr": 4.544471432713191, "ssim": 0.15439372154007733, "lpips": 0.8855262994766235}, "tactile_left": {"psnr": 13.346152631429199, "ssim": 0.8256692470715192, "lpips": 0.4309181571006775}, "tactile_right": {"psnr": 12.561357597510213, "ssim": 0.7977518955290628, "lpips": 0.478961318731308}}, {"video": {"psnr": 6.4345768895854585, "ssim": 0.5129007025711227, "lpips": 0.8338254690170288}, "wrist_left": {"psnr": 4.1681960251990615, "ssim": 0.41356366263738653, "lpips": 0.8443958163261414}, "wrist_right": {"psnr": 3.822058426955768, "ssim": 0.1773752717265693, "lpips": 0.9854707717895508}, "tactile_left": {"psnr": 4.855515959207416, "ssim": 0.5873565279552869, "lpips": 0.792663037776947}, "tactile_right": {"psnr": 4.677546213212369, "ssim": 0.5661369777753396, "lpips": 0.7686299085617065}}, {"video": {"psnr": 5.970453620778063, "ssim": 0.4861403142938072, "lpips": 0.8433232307434082}, "wrist_left": {"psnr": 3.844511471363696, "ssim": 0.38989474825933956, "lpips": 0.8145167827606201}, "wrist_right": {"psnr": 3.4648049866579314, "ssim": 0.14104437973914125, "lpips": 0.9877117276191711}, "tactile_left": {"psnr": 4.386143280146986, "ssim": 0.5193649636548827, "lpips": 0.9611794948577881}, "tactile_right": {"psnr": 4.0240358036912705, "ssim": 0.49016080145294955, "lpips": 0.8908767104148865}}], "long_metrics": {"video": {"psnr": 16.603624671113845, "ssim": 0.6454844635869381, "lpips": 0.3365101123849551}, "wrist_left": {"psnr": 8.45914555815399, "ssim": 0.35028231679936267, "lpips": 0.5818929980198543}, "wrist_right": {"psnr": 8.541950587514552, "ssim": 0.23399091729900925, "lpips": 0.6659108837445576}, "tactile_left": {"psnr": 25.464091901354703, "ssim": 0.8841875321525959, "lpips": 0.3300037309527397}, "tactile_right": {"psnr": 24.745816295178084, "ssim": 0.8652058311365326, "lpips": 0.3444226711988449}}}, {"id": "motherboard_custom_e002_02", "episode": "motherboard_0909_episode_000.pt", "requested_episode": "motherboard_0909_episode_000.pt", "category": "release", "t_start": 3072, "start_seconds": 204.8, "short_contact": [1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 0, 0], "future_transition_ticks": [11], "long_contact_fraction": 0.7734375, "long_label": "release", "short_metrics": {"video": {"psnr": 28.46467010797908, "ssim": 0.9118901766983288, "lpips": 0.029413340613245964}, "wrist_left": {"psnr": 15.798748265145884, "ssim": 0.5821864003857589, "lpips": 0.16023007035255432}, "wrist_right": {"psnr": 14.943760700442176, "ssim": 0.556495348690943, "lpips": 0.2709580063819885}, "tactile_left": {"psnr": 40.935559592872195, "ssim": 0.9827088702424964, "lpips": 0.019062066450715065}, "tactile_right": {"psnr": 43.53660005361058, "ssim": 0.9828746065329731, "lpips": 0.02684180811047554}}, "media": {"short": {"video": "media/motherboard_custom_e002_02_short.mp4", "poster": "media/motherboard_custom_e002_02_short.jpg"}, "long": {"video": "media/motherboard_custom_e002_02_long.mp4", "poster": "media/motherboard_custom_e002_02_long.jpg"}}, "force": {"source": "recorded_normal_force", "units": "N", "fps": 15, "left": [2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.5254545211791992, 1.5254545211791992, 1.9833333492279053, 1.9833333492279053, 2.636666774749756, 2.8207693099975586, 2.8207693099975586, 2.874819755554199, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 4.285294055938721, 4.285294055938721, 4.3677778244018555, 5.145384788513184, 5.259615421295166, 5.259615421295166, 5.259615421295166, 5.259615421295166, 5.259615421295166, 5.145384788513184, 5.145384788513184, 5.145384788513184, 5.145384788513184, 5.145384788513184, 4.3677778244018555, 4.285294055938721, 2.9424359798431396, 2.9424359798431396, 2.636666774749756, 2.636666774749756, 2.636666774749756, 2.636666774749756, 2.636666774749756, 2.406248092651367, 2.435481309890747, 2.161963701248169, 2.636666774749756, 2.8207693099975586, 1.5254545211791992, 1.6252036094665527, 1.9833333492279053, 1.9833333492279053, 1.9833333492279053, 1.9833333492279053, 1.984134554862976, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.8207693099975586, 2.636666774749756, 2.8207693099975586, 2.8207693099975586, 2.636666774749756, 2.304839849472046, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 4.285294055938721, 4.285294055938721, 4.285294055938721, 4.285294055938721, 4.285294055938721, 4.285294055938721, 4.285294055938721, 2.9424359798431396, 2.8207693099975586, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "right": [4.285294055938721, 4.285294055938721, 4.285294055938721, 4.285294055938721, 4.3677778244018555, 4.3677778244018555, 4.285294055938721, 2.9424359798431396, 2.8207693099975586, 0.41999998688697815, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 2.9424359798431396, 2.9424359798431396, 3.053588390350342, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 4.285294055938721, 4.285294055938721, 4.285294055938721, 4.285294055938721, 4.285294055938721, 4.285294055938721, 4.285294055938721, 4.5, 4.3677778244018555, 4.285294055938721, 5.145384788513184, 5.145384788513184, 4.3677778244018555, 4.807384967803955, 4.3677778244018555, 4.3677778244018555, 4.285294055938721, 4.285294055938721, 4.285294055938721, 4.285294055938721, 4.285294055938721, 4.285294055938721, 4.285294055938721, 4.285294055938721, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 1.5254545211791992, 1.1662499904632568, 0.17491444945335388, 0.17491444945335388, 0.41999998688697815, 0.7223659157752991, 1.1662499904632568, 0.49666666984558105, 0.4887502193450928, 0.49666666984558105, 0.38555848598480225, 0.41999998688697815, 0.49666666984558105, 0.2736985683441162, 0.716099202632904, 1.1662499904632568, 2.636666774749756, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.9833333492279053, 2.8207693099975586, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 4.285294055938721, 4.285294055938721, 4.285294055938721, 4.285294055938721, 4.285294055938721, 4.285294055938721, 2.9424359798431396, 2.9424359798431396, 2.8207693099975586, 2.8207693099975586, 2.8207693099975586, 2.9424359798431396, 2.9424359798431396, 2.3705554008483887, 2.9424359798431396, 0.0, 0.0, 0.0, 0.0, 0.0]}, "long_curve": [{"video": {"psnr": 28.46467010797908, "ssim": 0.9118901766983288, "lpips": 0.029413340613245964}, "wrist_left": {"psnr": 15.798748265145884, "ssim": 0.5821864003857589, "lpips": 0.16023007035255432}, "wrist_right": {"psnr": 14.943760700442176, "ssim": 0.556495348690943, "lpips": 0.2709580063819885}, "tactile_left": {"psnr": 40.935559592872195, "ssim": 0.9827088702424964, "lpips": 0.019062066450715065}, "tactile_right": {"psnr": 43.53660005361058, "ssim": 0.9828746065329731, "lpips": 0.02684180811047554}}, {"video": {"psnr": 24.89117672522727, "ssim": 0.8264860514981507, "lpips": 0.06897813081741333}, "wrist_left": {"psnr": 12.060330807540716, "ssim": 0.40212923088136016, "lpips": 0.3795410990715027}, "wrist_right": {"psnr": 12.481876634053062, "ssim": 0.44786354365532877, "lpips": 0.40923959016799927}, "tactile_left": {"psnr": 36.82695380803057, "ssim": 0.9655328602137558, "lpips": 0.08724722266197205}, "tactile_right": {"psnr": 41.856181579462, "ssim": 0.9777072690144861, "lpips": 0.0395619235932827}}, {"video": {"psnr": 23.072966656536757, "ssim": 0.7530772304329691, "lpips": 0.10047692060470581}, "wrist_left": {"psnr": 12.02801381900848, "ssim": 0.41001033576098167, "lpips": 0.40751612186431885}, "wrist_right": {"psnr": 10.844551402494982, "ssim": 0.39722765595788934, "lpips": 0.4968876242637634}, "tactile_left": {"psnr": 34.0259448305732, "ssim": 0.953754417513161, "lpips": 0.15654614567756653}, "tactile_right": {"psnr": 35.01185500998599, "ssim": 0.966399076428127, "lpips": 0.09927207976579666}}, {"video": {"psnr": 21.72033908877736, "ssim": 0.7049288613236198, "lpips": 0.12870106101036072}, "wrist_left": {"psnr": 11.788680571521262, "ssim": 0.3957916155873402, "lpips": 0.42993050813674927}, "wrist_right": {"psnr": 10.361450997326415, "ssim": 0.3697188819848522, "lpips": 0.5072591304779053}, "tactile_left": {"psnr": 32.55461589903802, "ssim": 0.9500500417625759, "lpips": 0.21587136387825012}, "tactile_right": {"psnr": 31.09933123335068, "ssim": 0.9458411249456875, "lpips": 0.19292642176151276}}, {"video": {"psnr": 21.064315611811914, "ssim": 0.6780214993042626, "lpips": 0.14982590079307556}, "wrist_left": {"psnr": 11.453376841053915, "ssim": 0.3712455594276999, "lpips": 0.4386923909187317}, "wrist_right": {"psnr": 9.90516742815176, "ssim": 0.35959345929872577, "lpips": 0.5062894821166992}, "tactile_left": {"psnr": 33.3563782483323, "ssim": 0.9537294336598217, "lpips": 0.22970834374427795}, "tactile_right": {"psnr": 30.795061448283022, "ssim": 0.9414462376154411, "lpips": 0.21040457487106323}}, {"video": {"psnr": 20.44996336623928, "ssim": 0.6814961916718574, "lpips": 0.18285956978797913}, "wrist_left": {"psnr": 10.5500165332567, "ssim": 0.32369762480671777, "lpips": 0.4782869219779968}, "wrist_right": {"psnr": 9.25127829439842, "ssim": 0.3579527312429913, "lpips": 0.5161182880401611}, "tactile_left": {"psnr": 33.407006799225286, "ssim": 0.9541831925559441, "lpips": 0.24148905277252197}, "tactile_right": {"psnr": 32.258328903523676, "ssim": 0.9506124106928338, "lpips": 0.20654740929603577}}, {"video": {"psnr": 19.139148383999757, "ssim": 0.6543319097271649, "lpips": 0.2650488018989563}, "wrist_left": {"psnr": 9.28710635947521, "ssim": 0.2656229827521788, "lpips": 0.5724865198135376}, "wrist_right": {"psnr": 9.18124757547621, "ssim": 0.32505031413853885, "lpips": 0.5333957672119141}, "tactile_left": {"psnr": 33.601109102997675, "ssim": 0.9525344471219774, "lpips": 0.2354097068309784}, "tactile_right": {"psnr": 32.69593947873874, "ssim": 0.9520236438047737, "lpips": 0.2002463936805725}}, {"video": {"psnr": 19.130764146636285, "ssim": 0.6323786447671347, "lpips": 0.267100989818573}, "wrist_left": {"psnr": 8.462221532289666, "ssim": 0.2565230267119783, "lpips": 0.6044886708259583}, "wrist_right": {"psnr": 8.400564737654733, "ssim": 0.31870630753326795, "lpips": 0.5434269905090332}, "tactile_left": {"psnr": 32.904759858160844, "ssim": 0.9492096817503098, "lpips": 0.25842177867889404}, "tactile_right": {"psnr": 33.96990377591706, "ssim": 0.9542625202102257, "lpips": 0.20123714208602905}}, {"video": {"psnr": 19.191791870427345, "ssim": 0.609565586701113, "lpips": 0.2501731216907501}, "wrist_left": {"psnr": 8.471530369385532, "ssim": 0.28053601457219146, "lpips": 0.6179306507110596}, "wrist_right": {"psnr": 6.688384003292256, "ssim": 0.287800769928737, "lpips": 0.6311439871788025}, "tactile_left": {"psnr": 30.79968773975824, "ssim": 0.9362378848957928, "lpips": 0.3080470860004425}, "tactile_right": {"psnr": 34.34241377396575, "ssim": 0.9540734504427996, "lpips": 0.2033042460680008}}, {"video": {"psnr": 18.45832102955886, "ssim": 0.5804469675625282, "lpips": 0.29140105843544006}, "wrist_left": {"psnr": 8.627054750171787, "ssim": 0.30150274300761115, "lpips": 0.6094988584518433}, "wrist_right": {"psnr": 5.889874411915983, "ssim": 0.28053418955637044, "lpips": 0.6575548648834229}, "tactile_left": {"psnr": 30.036962793081944, "ssim": 0.9344702811170837, "lpips": 0.31976133584976196}, "tactile_right": {"psnr": 33.58868560601641, "ssim": 0.9519903248114701, "lpips": 0.19649916887283325}}, {"video": {"psnr": 18.370452223904156, "ssim": 0.6050947185441218, "lpips": 0.30084875226020813}, "wrist_left": {"psnr": 8.882318595904795, "ssim": 0.24914415697636103, "lpips": 0.5917324423789978}, "wrist_right": {"psnr": 7.025531209236762, "ssim": 0.2990225657836353, "lpips": 0.6700100302696228}, "tactile_left": {"psnr": 33.79707193736849, "ssim": 0.9533157542877827, "lpips": 0.21875590085983276}, "tactile_right": {"psnr": 33.310172060768615, "ssim": 0.9515390523568785, "lpips": 0.18335115909576416}}, {"video": {"psnr": 17.9140673690096, "ssim": 0.5952711619379543, "lpips": 0.336512953042984}, "wrist_left": {"psnr": 8.594499029449395, "ssim": 0.23157242931306274, "lpips": 0.6013541221618652}, "wrist_right": {"psnr": 6.586300956710502, "ssim": 0.21082889157973722, "lpips": 0.7194699048995972}, "tactile_left": {"psnr": 33.49934245052315, "ssim": 0.9501547274837099, "lpips": 0.2341616004705429}, "tactile_right": {"psnr": 32.06511772752282, "ssim": 0.9458989939663005, "lpips": 0.21140846610069275}}, {"video": {"psnr": 17.585103977963904, "ssim": 0.5907376692921111, "lpips": 0.3443903625011444}, "wrist_left": {"psnr": 8.251788837651734, "ssim": 0.22672387776661201, "lpips": 0.6062394380569458}, "wrist_right": {"psnr": 6.262079306867876, "ssim": 0.20593639016857918, "lpips": 0.7330470681190491}, "tactile_left": {"psnr": 33.04577012940538, "ssim": 0.9485318431163577, "lpips": 0.2506840229034424}, "tactile_right": {"psnr": 29.649940929893013, "ssim": 0.9303688419406806, "lpips": 0.33358949422836304}}, {"video": {"psnr": 16.784187475577315, "ssim": 0.573881063831921, "lpips": 0.3818986415863037}, "wrist_left": {"psnr": 8.525212563198398, "ssim": 0.18767177524780387, "lpips": 0.6356722116470337}, "wrist_right": {"psnr": 4.997311896168097, "ssim": 0.2416968180123565, "lpips": 0.7976206541061401}, "tactile_left": {"psnr": 32.31263273055224, "ssim": 0.9450189370905285, "lpips": 0.2663000226020813}, "tactile_right": {"psnr": 29.757683651805404, "ssim": 0.928001658977802, "lpips": 0.3270905911922455}}, {"video": {"psnr": 16.187663265652287, "ssim": 0.5591982711353835, "lpips": 0.41377419233322144}, "wrist_left": {"psnr": 8.624882136297746, "ssim": 0.1703135512672954, "lpips": 0.6454356908798218}, "wrist_right": {"psnr": 4.4875697289990635, "ssim": 0.23333792426249444, "lpips": 0.829941987991333}, "tactile_left": {"psnr": 31.162030169384153, "ssim": 0.9375630903369775, "lpips": 0.28900882601737976}, "tactile_right": {"psnr": 30.094486988174335, "ssim": 0.9358211276466455, "lpips": 0.2721228301525116}}], "long_metrics": {"video": {"psnr": 20.16166208662008, "ssim": 0.663787066961908, "lpips": 0.2340935864796241}, "wrist_left": {"psnr": 10.093718734090082, "ssim": 0.3103114216309969, "lpips": 0.5186023811499277}, "wrist_right": {"psnr": 8.487129952212554, "ssim": 0.32611771945296314, "lpips": 0.5881575584411621}, "tactile_left": {"psnr": 33.48438840595358, "ssim": 0.9511330308765517, "lpips": 0.22203163169324397}, "tactile_right": {"psnr": 33.60211348140121, "ssim": 0.9512573559591416, "lpips": 0.19362691392501194}}}, {"id": "motherboard_custom_e002_03", "episode": "motherboard_0909_episode_000.pt", "requested_episode": "motherboard_0909_episode_000.pt", "category": "full", "t_start": 2531, "start_seconds": 168.73333333333332, "short_contact": [1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1], "future_transition_ticks": [], "long_contact_fraction": 0.9296875, "long_label": "full", "short_metrics": {"video": {"psnr": 26.119831788449428, "ssim": 0.8684720286072654, "lpips": 0.044562146067619324}, "wrist_left": {"psnr": 16.50950967342451, "ssim": 0.5521126418206519, "lpips": 0.19560325145721436}, "wrist_right": {"psnr": 17.63870251980147, "ssim": 0.6013519842648138, "lpips": 0.21054428815841675}, "tactile_left": {"psnr": 33.5871668562937, "ssim": 0.9632653953981426, "lpips": 0.05463465303182602}, "tactile_right": {"psnr": 36.80120026708054, "ssim": 0.9664456949525807, "lpips": 0.06945179402828217}}, "media": {"short": {"video": "media/motherboard_custom_e002_03_short.mp4", "poster": "media/motherboard_custom_e002_03_short.jpg"}, "long": {"video": "media/motherboard_custom_e002_03_long.mp4", "poster": "media/motherboard_custom_e002_03_long.jpg"}}, "force": {"source": "recorded_normal_force", "units": "N", "fps": 15, "left": [1.1936427354812622, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 4.285294055938721, 2.9424359798431396, 4.285294055938721, 5.145384788513184, 5.259615421295166, 5.259615421295166, 5.439090728759766, 5.319377899169922, 5.319377899169922, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.318239688873291, 7.4301862716674805, 7.316900253295898, 7.304895877838135, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 6.251071453094482, 6.251071453094482, 6.251071453094482, 5.439090728759766, 5.439090728759766, 5.259615421295166, 5.259615421295166, 5.4359307289123535, 5.259615421295166, 5.145384788513184, 5.145384788513184, 5.145384788513184, 5.145384788513184, 4.285294055938721, 2.9424359798431396, 2.9424359798431396, 2.0387191772460938, 2.8207693099975586, 2.9424359798431396, 2.9424359798431396, 4.285294055938721, 4.3677778244018555, 4.285294055938721, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 1.1733332872390747, 2.9424359798431396, 4.285294055938721, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.8207693099975586, 1.9833333492279053, 2.636666774749756, 2.8207693099975586, 2.8207693099975586, 2.8207693099975586, 2.9424359798431396, 2.9424359798431396, 2.4149999618530273, 1.9833333492279053, 1.9833333492279053, 1.9833333492279053, 1.9833333492279053, 1.7736024856567383, 1.9833333492279053, 1.9833333492279053, 1.1733332872390747, 0.2758376896381378, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "right": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.9833333492279053, 2.110971689224243, 2.8207693099975586, 2.9424359798431396, 2.9424359798431396, 4.285294055938721, 4.285294055938721, 4.285294055938721, 4.285294055938721, 4.285294055938721, 4.285294055938721, 4.285294055938721, 2.8207693099975586, 2.312258720397949, 1.22345769405365, 1.170535922050476, 1.1733332872390747, 1.9833333492279053, 2.9424359798431396, 2.9424359798431396, 4.285294055938721, 5.259615421295166, 5.259615421295166, 5.259615421295166, 5.411874771118164, 5.259615421295166, 4.3677778244018555, 4.285294055938721, 5.145384788513184, 5.259615421295166, 6.251071453094482, 6.251071453094482, 6.733333110809326, 6.733333110809326, 6.733333110809326, 6.251071453094482, 5.734507083892822, 6.251071453094482, 6.251071453094482, 6.733333110809326, 6.251071453094482, 5.439090728759766, 6.251071453094482, 6.251071453094482, 5.439090728759766, 5.259615421295166, 6.251071453094482, 6.251071453094482, 6.251071453094482, 7.166194438934326, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.00433874130249, 7.027249813079834, 7.293181896209717, 6.983473300933838, 7.044147491455078, 6.733333110809326, 6.733333110809326, 6.251071453094482, 6.251071453094482, 5.439090728759766, 5.439090728759766, 5.259615421295166, 5.145384788513184, 4.285294055938721, 4.285294055938721, 4.285294055938721, 4.285294055938721, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.8207693099975586, 0.7958375811576843, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.9833333492279053, 6.251071453094482, 7.293181896209717, 7.293181896209717, 7.295978546142578, 7.294878959655762, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.300464630126953, 7.300464630126953, 7.29489803314209, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 6.733333110809326, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717]}, "long_curve": [{"video": {"psnr": 26.119831788449428, "ssim": 0.8684720286072654, "lpips": 0.044562146067619324}, "wrist_left": {"psnr": 16.50950967342451, "ssim": 0.5521126418206519, "lpips": 0.19560325145721436}, "wrist_right": {"psnr": 17.63870251980147, "ssim": 0.6013519842648138, "lpips": 0.21054428815841675}, "tactile_left": {"psnr": 33.5871668562937, "ssim": 0.9632653953981426, "lpips": 0.05463465303182602}, "tactile_right": {"psnr": 36.80120026708054, "ssim": 0.9664456949525807, "lpips": 0.06945179402828217}}, {"video": {"psnr": 20.97502503644887, "ssim": 0.7561843360522291, "lpips": 0.13752762973308563}, "wrist_left": {"psnr": 14.057653981280788, "ssim": 0.41166546111849744, "lpips": 0.3942999839782715}, "wrist_right": {"psnr": 13.153693150497334, "ssim": 0.3936035731500348, "lpips": 0.45744606852531433}, "tactile_left": {"psnr": 28.131985771192628, "ssim": 0.9297028940194112, "lpips": 0.21327102184295654}, "tactile_right": {"psnr": 35.93847303570129, "ssim": 0.96279968504591, "lpips": 0.1264430284500122}}, {"video": {"psnr": 18.079351562138125, "ssim": 0.6926441865853386, "lpips": 0.230351984500885}, "wrist_left": {"psnr": 11.054480067534438, "ssim": 0.2746525678236059, "lpips": 0.5420740842819214}, "wrist_right": {"psnr": 12.503545820462413, "ssim": 0.3584481680037556, "lpips": 0.5010110139846802}, "tactile_left": {"psnr": 28.636174282300928, "ssim": 0.9218590628920089, "lpips": 0.27600306272506714}, "tactile_right": {"psnr": 33.65933946317507, "ssim": 0.9597178492549272, "lpips": 0.17514154314994812}}, {"video": {"psnr": 17.838315533674727, "ssim": 0.6791361655395057, "lpips": 0.27836155891418457}, "wrist_left": {"psnr": 10.008388081963457, "ssim": 0.22724512535097433, "lpips": 0.5996997952461243}, "wrist_right": {"psnr": 10.777006074707007, "ssim": 0.3231100761845357, "lpips": 0.57427978515625}, "tactile_left": {"psnr": 30.03063329129216, "ssim": 0.9264378595108994, "lpips": 0.28363555669784546}, "tactile_right": {"psnr": 32.38939609985681, "ssim": 0.9546924431612265, "lpips": 0.20887891948223114}}, {"video": {"psnr": 15.576611820300618, "ssim": 0.6000975365941887, "lpips": 0.39589837193489075}, "wrist_left": {"psnr": 9.938242995529558, "ssim": 0.20231014837804667, "lpips": 0.5716893076896667}, "wrist_right": {"psnr": 7.443858986755413, "ssim": 0.25675213832101307, "lpips": 0.7608141899108887}, "tactile_left": {"psnr": 30.98455662289757, "ssim": 0.9350579048954482, "lpips": 0.2781841456890106}, "tactile_right": {"psnr": 31.855773439801638, "ssim": 0.9505581719543268, "lpips": 0.2252926528453827}}, {"video": {"psnr": 15.21327691816489, "ssim": 0.591060059964645, "lpips": 0.3939753770828247}, "wrist_left": {"psnr": 9.154704393959172, "ssim": 0.19439686646513016, "lpips": 0.6318339705467224}, "wrist_right": {"psnr": 7.157350799400142, "ssim": 0.24096305021105552, "lpips": 0.7899288535118103}, "tactile_left": {"psnr": 31.668664376752655, "ssim": 0.9459189679120696, "lpips": 0.2593916654586792}, "tactile_right": {"psnr": 30.765854910199778, "ssim": 0.9461582895127887, "lpips": 0.2331049144268036}}, {"video": {"psnr": 14.868829900024547, "ssim": 0.5801836165682824, "lpips": 0.4026590585708618}, "wrist_left": {"psnr": 8.14857066411696, "ssim": 0.18405710189423002, "lpips": 0.6920241117477417}, "wrist_right": {"psnr": 6.679642085070974, "ssim": 0.23339091186157904, "lpips": 0.8021671772003174}, "tactile_left": {"psnr": 31.660108879590982, "ssim": 0.948651524600656, "lpips": 0.25831180810928345}, "tactile_right": {"psnr": 30.061419951956005, "ssim": 0.9416382105760797, "lpips": 0.25226861238479614}}, {"video": {"psnr": 14.590780857973606, "ssim": 0.5848084671599977, "lpips": 0.40798652172088623}, "wrist_left": {"psnr": 9.967360610908147, "ssim": 0.19957296493537582, "lpips": 0.6378482580184937}, "wrist_right": {"psnr": 6.350444218720767, "ssim": 0.24383736051213106, "lpips": 0.7954198122024536}, "tactile_left": {"psnr": 30.922487414898182, "ssim": 0.9427457789124476, "lpips": 0.28002941608428955}, "tactile_right": {"psnr": 30.059084571293187, "ssim": 0.9400852291937191, "lpips": 0.25806355476379395}}, {"video": {"psnr": 14.619678124999812, "ssim": 0.5789060845870024, "lpips": 0.41993531584739685}, "wrist_left": {"psnr": 9.592479845371853, "ssim": 0.18280564562535936, "lpips": 0.6458576917648315}, "wrist_right": {"psnr": 5.989557453118033, "ssim": 0.24836559582988355, "lpips": 0.8081856966018677}, "tactile_left": {"psnr": 29.854469660908517, "ssim": 0.9386901675987523, "lpips": 0.3049408793449402}, "tactile_right": {"psnr": 30.332246437767335, "ssim": 0.9430919522285266, "lpips": 0.2364438772201538}}, {"video": {"psnr": 14.913001059923722, "ssim": 0.5722938099104358, "lpips": 0.426000714302063}, "wrist_left": {"psnr": 8.149797332720848, "ssim": 0.15461329933560414, "lpips": 0.685017466545105}, "wrist_right": {"psnr": 6.079480595873711, "ssim": 0.25385103219523664, "lpips": 0.8017473220825195}, "tactile_left": {"psnr": 30.208301954796344, "ssim": 0.9405713882979504, "lpips": 0.2891911268234253}, "tactile_right": {"psnr": 29.143970165046547, "ssim": 0.9415604122745078, "lpips": 0.23886051774024963}}, {"video": {"psnr": 15.356259162221825, "ssim": 0.5781643609386378, "lpips": 0.40336835384368896}, "wrist_left": {"psnr": 8.46173471750556, "ssim": 0.27442550774555513, "lpips": 0.6027505397796631}, "wrist_right": {"psnr": 7.244382461207354, "ssim": 0.3402597795083372, "lpips": 0.7431586980819702}, "tactile_left": {"psnr": 31.278740156424995, "ssim": 0.9545541561946129, "lpips": 0.23529016971588135}, "tactile_right": {"psnr": 29.106373593410794, "ssim": 0.9496729260140335, "lpips": 0.18432047963142395}}, {"video": {"psnr": 15.672963110846885, "ssim": 0.5789966843928434, "lpips": 0.3814724087715149}, "wrist_left": {"psnr": 6.933105764164286, "ssim": 0.34197154817520947, "lpips": 0.6240568161010742}, "wrist_right": {"psnr": 5.363117683576544, "ssim": 0.20762867299847054, "lpips": 0.8285025954246521}, "tactile_left": {"psnr": 30.85947279653988, "ssim": 0.9533244757647219, "lpips": 0.2380547672510147}, "tactile_right": {"psnr": 27.939447611562954, "ssim": 0.9439437951828118, "lpips": 0.21230806410312653}}, {"video": {"psnr": 14.309284857472097, "ssim": 0.5394940153764192, "lpips": 0.43427857756614685}, "wrist_left": {"psnr": 8.258941849576539, "ssim": 0.44928817928744763, "lpips": 0.6178802251815796}, "wrist_right": {"psnr": 5.590501931159293, "ssim": 0.19664065888854598, "lpips": 0.8425197601318359}, "tactile_left": {"psnr": 29.318101368301082, "ssim": 0.9512961224197181, "lpips": 0.2527017891407013}, "tactile_right": {"psnr": 26.19580025438268, "ssim": 0.9297010324213796, "lpips": 0.28549137711524963}}, {"video": {"psnr": 12.256626284716766, "ssim": 0.4603329937431924, "lpips": 0.5519295930862427}, "wrist_left": {"psnr": 7.709951551588637, "ssim": 0.47510392098081033, "lpips": 0.6425776481628418}, "wrist_right": {"psnr": 5.061092622065892, "ssim": 0.19087910173947598, "lpips": 0.8494799733161926}, "tactile_left": {"psnr": 27.55164454538702, "ssim": 0.9481133715389112, "lpips": 0.2621593177318573}, "tactile_right": {"psnr": 25.667774971983853, "ssim": 0.9243908640264635, "lpips": 0.30234450101852417}}, {"video": {"psnr": 11.715346358698685, "ssim": 0.4448134983916189, "lpips": 0.5953511595726013}, "wrist_left": {"psnr": 6.784427134805579, "ssim": 0.49186032199084867, "lpips": 0.659908652305603}, "wrist_right": {"psnr": 4.5675502684975395, "ssim": 0.19612961403459855, "lpips": 0.8661975264549255}, "tactile_left": {"psnr": 25.637631867546624, "ssim": 0.9368429262485569, "lpips": 0.3068755865097046}, "tactile_right": {"psnr": 24.64753064821901, "ssim": 0.923705864141481, "lpips": 0.2844456434249878}}], "long_metrics": {"video": {"psnr": 16.140345491736973, "ssim": 0.6070391896274401, "lpips": 0.36691058476765953}, "wrist_left": {"psnr": 9.648623244296688, "ssim": 0.3077387533951565, "lpips": 0.5828747868537902}, "wrist_right": {"psnr": 8.106661778060927, "ssim": 0.2856807811802311, "lpips": 0.7087601840496063}, "tactile_left": {"psnr": 30.022009323008216, "ssim": 0.9424687997469537, "lpips": 0.2528449977437655}, "tactile_right": {"psnr": 30.304245694762496, "ssim": 0.9452108279960508, "lpips": 0.2195239653189977}}}, {"id": "motherboard_custom_e002_04", "episode": "motherboard_0909_episode_001.pt", "requested_episode": "motherboard_0909_episode_001.pt", "category": "none", "t_start": 3, "start_seconds": 0.2, "short_contact": [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0], "future_transition_ticks": [], "long_contact_fraction": 0.0, "long_label": "none_throughout", "short_metrics": {"video": {"psnr": 34.396022589546234, "ssim": 0.9601762787096075, "lpips": 0.01138949766755104}, "wrist_left": {"psnr": 39.09804379883524, "ssim": 0.9776397899481926, "lpips": 0.015529364347457886}, "wrist_right": {"psnr": 39.22481316146858, "ssim": 0.9798846292256802, "lpips": 0.01307726465165615}, "tactile_left": {"psnr": 47.84366355367405, "ssim": 0.9928666949834096, "lpips": 0.006203504279255867}, "tactile_right": {"psnr": 47.46758360414118, "ssim": 0.9925332589233761, "lpips": 0.010191256180405617}}, "media": {"short": {"video": "media/motherboard_custom_e002_04_short.mp4", "poster": "media/motherboard_custom_e002_04_short.jpg"}, "long": {"video": "media/motherboard_custom_e002_04_long.mp4", "poster": "media/motherboard_custom_e002_04_long.jpg"}}, "force": {"source": "recorded_normal_force", "units": "N", "fps": 15, "left": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "right": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]}, "long_curve": [{"video": {"psnr": 34.396022589546234, "ssim": 0.9601762787096075, "lpips": 0.01138949766755104}, "wrist_left": {"psnr": 39.09804379883524, "ssim": 0.9776397899481926, "lpips": 0.015529364347457886}, "wrist_right": {"psnr": 39.22481316146858, "ssim": 0.9798846292256802, "lpips": 0.01307726465165615}, "tactile_left": {"psnr": 47.84366355367405, "ssim": 0.9928666949834096, "lpips": 0.006203504279255867}, "tactile_right": {"psnr": 47.46758360414118, "ssim": 0.9925332589233761, "lpips": 0.010191256180405617}}, {"video": {"psnr": 32.06797873299726, "ssim": 0.9418500922068834, "lpips": 0.021360065788030624}, "wrist_left": {"psnr": 34.40944898368622, "ssim": 0.9564468460376983, "lpips": 0.029924340546131134}, "wrist_right": {"psnr": 32.92369435564026, "ssim": 0.963006076840418, "lpips": 0.03532612323760986}, "tactile_left": {"psnr": 45.02271875078321, "ssim": 0.9873318369988389, "lpips": 0.024005061015486717}, "tactile_right": {"psnr": 43.285241433660474, "ssim": 0.9858962499213773, "lpips": 0.03332575038075447}}, {"video": {"psnr": 30.084333252002764, "ssim": 0.9202934976037046, "lpips": 0.0319465734064579}, "wrist_left": {"psnr": 27.55872317823951, "ssim": 0.8986060742029834, "lpips": 0.08665075898170471}, "wrist_right": {"psnr": 30.23467449993742, "ssim": 0.9461439361134845, "lpips": 0.05543535202741623}, "tactile_left": {"psnr": 41.89887204738284, "ssim": 0.9807493578526363, "lpips": 0.054967790842056274}, "tactile_right": {"psnr": 39.856978606965896, "ssim": 0.98182122086759, "lpips": 0.052696406841278076}}, {"video": {"psnr": 28.62614063298315, "ssim": 0.8988891667383904, "lpips": 0.04333195090293884}, "wrist_left": {"psnr": 24.08900828472018, "ssim": 0.8328800043949792, "lpips": 0.1267102062702179}, "wrist_right": {"psnr": 28.754353186905032, "ssim": 0.9308114329881108, "lpips": 0.07478249818086624}, "tactile_left": {"psnr": 39.17599961983928, "ssim": 0.9745607263938796, "lpips": 0.10834945738315582}, "tactile_right": {"psnr": 37.33806602471143, "ssim": 0.9782244562700048, "lpips": 0.07291754335165024}}, {"video": {"psnr": 27.6772728637156, "ssim": 0.8791941171648354, "lpips": 0.05501549690961838}, "wrist_left": {"psnr": 23.030991894904652, "ssim": 0.8087155386620574, "lpips": 0.1490272879600525}, "wrist_right": {"psnr": 27.591867449651982, "ssim": 0.9133577677793536, "lpips": 0.09836620092391968}, "tactile_left": {"psnr": 38.08149398846941, "ssim": 0.971706082868745, "lpips": 0.14976409077644348}, "tactile_right": {"psnr": 35.21472159798567, "ssim": 0.9730733972160086, "lpips": 0.09736470878124237}}, {"video": {"psnr": 26.567935798935224, "ssim": 0.8566705490423788, "lpips": 0.0651053637266159}, "wrist_left": {"psnr": 18.11379728629848, "ssim": 0.7050842689893264, "lpips": 0.2868277132511139}, "wrist_right": {"psnr": 26.151602172057693, "ssim": 0.8935631385920274, "lpips": 0.13110162317752838}, "tactile_left": {"psnr": 36.51580794532563, "ssim": 0.9675844658256494, "lpips": 0.17708295583724976}, "tactile_right": {"psnr": 33.57713691758488, "ssim": 0.9696343603668527, "lpips": 0.12234435975551605}}, {"video": {"psnr": 25.71668129026357, "ssim": 0.8357549030240903, "lpips": 0.07690413296222687}, "wrist_left": {"psnr": 14.711945361681376, "ssim": 0.6414934600804991, "lpips": 0.38160616159439087}, "wrist_right": {"psnr": 23.579002643893112, "ssim": 0.8661146478942692, "lpips": 0.19777484238147736}, "tactile_left": {"psnr": 35.59458948606089, "ssim": 0.9647999569241307, "lpips": 0.1965838521718979}, "tactile_right": {"psnr": 32.05805696541107, "ssim": 0.9657253979473694, "lpips": 0.14340797066688538}}, {"video": {"psnr": 23.485241625414616, "ssim": 0.7861896413340999, "lpips": 0.10243035852909088}, "wrist_left": {"psnr": 14.427073542343201, "ssim": 0.6515488446454192, "lpips": 0.38322338461875916}, "wrist_right": {"psnr": 20.177813857577, "ssim": 0.7429312510851973, "lpips": 0.28389278054237366}, "tactile_left": {"psnr": 34.84050363035243, "ssim": 0.9623569883787388, "lpips": 0.2077781856060028}, "tactile_right": {"psnr": 30.58502418746049, "ssim": 0.9601323313648372, "lpips": 0.1725827306509018}}, {"video": {"psnr": 21.39908036707617, "ssim": 0.7292546136919205, "lpips": 0.1464260369539261}, "wrist_left": {"psnr": 13.822859414331045, "ssim": 0.6528671080567516, "lpips": 0.3888157606124878}, "wrist_right": {"psnr": 17.656073446384685, "ssim": 0.6605807897037426, "lpips": 0.3885045647621155}, "tactile_left": {"psnr": 33.69736933799399, "ssim": 0.958529270643576, "lpips": 0.22905904054641724}, "tactile_right": {"psnr": 29.113237893512945, "ssim": 0.9549871148861632, "lpips": 0.18854616582393646}}, {"video": {"psnr": 19.516608222736057, "ssim": 0.6969357974687012, "lpips": 0.1979084461927414}, "wrist_left": {"psnr": 13.254820176645417, "ssim": 0.6416908898957727, "lpips": 0.4134235382080078}, "wrist_right": {"psnr": 15.783633536060847, "ssim": 0.5692658057630203, "lpips": 0.45245274901390076}, "tactile_left": {"psnr": 31.404412632825846, "ssim": 0.9556577540486795, "lpips": 0.25614508986473083}, "tactile_right": {"psnr": 27.56681847106566, "ssim": 0.9490286706064098, "lpips": 0.20510956645011902}}, {"video": {"psnr": 17.573789377467584, "ssim": 0.6262181639830345, "lpips": 0.26586228609085083}, "wrist_left": {"psnr": 11.879893099584764, "ssim": 0.5709829091597038, "lpips": 0.5021764039993286}, "wrist_right": {"psnr": 13.992928961964301, "ssim": 0.5055020529543494, "lpips": 0.5549328923225403}, "tactile_left": {"psnr": 26.60716695578155, "ssim": 0.9271809708898917, "lpips": 0.3189895749092102}, "tactile_right": {"psnr": 25.796989572668938, "ssim": 0.9393802356766805, "lpips": 0.23315946757793427}}, {"video": {"psnr": 11.742114877028571, "ssim": 0.3711679640573902, "lpips": 0.6500453948974609}, "wrist_left": {"psnr": 11.747960256670327, "ssim": 0.5050919082816085, "lpips": 0.6340591907501221}, "wrist_right": {"psnr": 12.720300270006453, "ssim": 0.44538767091513376, "lpips": 0.6566752195358276}, "tactile_left": {"psnr": 23.930931424801358, "ssim": 0.9086072277884368, "lpips": 0.3794887065887451}, "tactile_right": {"psnr": 23.48899194728257, "ssim": 0.9199667544945296, "lpips": 0.2744772732257843}}, {"video": {"psnr": 10.85649946019032, "ssim": 0.38187465734653536, "lpips": 0.8176950216293335}, "wrist_left": {"psnr": 10.850869723511442, "ssim": 0.4834933640438804, "lpips": 0.8165174722671509}, "wrist_right": {"psnr": 11.811448525094226, "ssim": 0.41872550742163417, "lpips": 0.8339319229125977}, "tactile_left": {"psnr": 10.762701030228746, "ssim": 0.639669826946103, "lpips": 0.8627709150314331}, "tactile_right": {"psnr": 12.858012986017052, "ssim": 0.5782721648671485, "lpips": 0.8808533549308777}}, {"video": {"psnr": 10.336911160064401, "ssim": 0.3211056621082192, "lpips": 0.8460491299629211}, "wrist_left": {"psnr": 9.554653270314308, "ssim": 0.3548494303211233, "lpips": 0.8240222930908203}, "wrist_right": {"psnr": 10.432189367432297, "ssim": 0.3604935708806614, "lpips": 0.8231465816497803}, "tactile_left": {"psnr": 9.966906508830382, "ssim": 0.4505117629694568, "lpips": 0.9771270751953125}, "tactile_right": {"psnr": 11.475344234524165, "ssim": 0.46449734573618034, "lpips": 0.9482414126396179}}, {"video": {"psnr": 10.62191575557253, "ssim": 0.3084215260929195, "lpips": 0.8548216223716736}, "wrist_left": {"psnr": 10.2385565263675, "ssim": 0.3357657328300967, "lpips": 0.8362300395965576}, "wrist_right": {"psnr": 10.481533929402518, "ssim": 0.35031264837156917, "lpips": 0.8258758783340454}, "tactile_left": {"psnr": 10.598937085777438, "ssim": 0.4235201155093885, "lpips": 1.0011619329452515}, "tactile_right": {"psnr": 11.241370468071427, "ssim": 0.4266176180868746, "lpips": 0.976222574710846}}], "long_metrics": {"video": {"psnr": 22.044568400399605, "ssim": 0.7009331087048474, "lpips": 0.27908609186609584}, "wrist_left": {"psnr": 18.452576319875575, "ssim": 0.6678104113033395, "lpips": 0.3916495944062869}, "wrist_right": {"psnr": 21.434395290898426, "ssim": 0.7030720617685767, "lpips": 0.36168509957691036}, "tactile_left": {"psnr": 31.062804933208472, "ssim": 0.8710422026014374, "lpips": 0.3299651488661766}, "tactile_right": {"psnr": 29.394904994070924, "ssim": 0.8693193718154268, "lpips": 0.2940960361311833}}}, {"id": "motherboard_custom_e002_05", "episode": "motherboard_0909_episode_001.pt", "requested_episode": "motherboard_0909_episode_001.pt", "category": "onset", "t_start": 760, "start_seconds": 50.666666666666664, "short_contact": [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 1], "future_transition_ticks": [11], "long_contact_fraction": 0.6953125, "long_label": "onset", "short_metrics": {"video": {"psnr": 23.651585952223574, "ssim": 0.8081925955657968, "lpips": 0.07931729406118393}, "wrist_left": {"psnr": 14.534034210454276, "ssim": 0.35571435916231015, "lpips": 0.4660272002220154}, "wrist_right": {"psnr": 15.238717165987651, "ssim": 0.5526273745076753, "lpips": 0.3330344557762146}, "tactile_left": {"psnr": 38.67876436551123, "ssim": 0.9831270599223307, "lpips": 0.04381841421127319}, "tactile_right": {"psnr": 48.240200722237745, "ssim": 0.9921576237098427, "lpips": 0.011039248667657375}}, "media": {"short": {"video": "media/motherboard_custom_e002_05_short.mp4", "poster": "media/motherboard_custom_e002_05_short.jpg"}, "long": {"video": "media/motherboard_custom_e002_05_long.mp4", "poster": "media/motherboard_custom_e002_05_long.jpg"}}, "force": {"source": "recorded_normal_force", "units": "N", "fps": 15, "left": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 2.93143892288208, 2.8207693099975586, 2.9424359798431396, 2.636666774749756, 1.9833333492279053, 2.8207693099975586, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 2.8207693099975586, 2.9424359798431396, 4.285294055938721, 5.145384788513184, 5.145384788513184, 5.145384788513184, 5.145384788513184, 5.145384788513184, 5.259615421295166, 5.259615421295166, 5.439090728759766, 5.259615421295166, 5.259615421295166, 1.886374831199646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.9833333492279053, 1.5254545211791992, 2.024200916290283, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 4.285294055938721, 4.285294055938721, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 1.9833333492279053, 1.4500000476837158, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "right": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.1662499904632568, 1.1733332872390747, 1.1662499904632568, 1.5254545211791992, 2.8207693099975586, 4.285294055938721, 5.76570463180542, 6.251071453094482, 6.251071453094482, 6.251071453094482, 6.251071453094482, 6.733333110809326, 6.733333110809326, 6.251071453094482, 6.251071453094482, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 6.8976850509643555, 6.733333110809326, 6.251071453094482, 6.251071453094482, 5.145384788513184, 6.251071453094482, 6.251071453094482, 5.259615421295166, 5.439090728759766, 6.251071453094482, 5.439090728759766, 5.439090728759766, 5.439090728759766, 6.182772636413574, 6.251071453094482, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.013420581817627, 2.8207693099975586, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.455624520778656, 4.285294055938721, 5.259615421295166, 5.259615421295166, 5.439090728759766, 5.972020626068115, 5.972020626068115, 5.145384788513184, 2.9424359798431396, 2.9424359798431396, 4.285294055938721, 4.285294055938721, 4.285294055938721, 4.285294055938721, 4.285294055938721, 4.285294055938721, 4.5, 5.145384788513184, 5.259615421295166, 5.145384788513184, 2.9424359798431396, 0.2600841820240021, 0.0, 0.0, 0.0, 0.0, 0.0]}, "long_curve": [{"video": {"psnr": 23.651585952223574, "ssim": 0.8081925955657968, "lpips": 0.07931729406118393}, "wrist_left": {"psnr": 14.534034210454276, "ssim": 0.35571435916231015, "lpips": 0.4660272002220154}, "wrist_right": {"psnr": 15.238717165987651, "ssim": 0.5526273745076753, "lpips": 0.3330344557762146}, "tactile_left": {"psnr": 38.67876436551123, "ssim": 0.9831270599223307, "lpips": 0.04381841421127319}, "tactile_right": {"psnr": 48.240200722237745, "ssim": 0.9921576237098427, "lpips": 0.011039248667657375}}, {"video": {"psnr": 20.367649654175498, "ssim": 0.6846283960804246, "lpips": 0.17161425948143005}, "wrist_left": {"psnr": 12.783859785097523, "ssim": 0.30597181508753823, "lpips": 0.4963774085044861}, "wrist_right": {"psnr": 12.673038806214231, "ssim": 0.4945309102994953, "lpips": 0.3728291094303131}, "tactile_left": {"psnr": 41.277404815025676, "ssim": 0.9799718095387582, "lpips": 0.053197748959064484}, "tactile_right": {"psnr": 43.90083542924164, "ssim": 0.9854145088345572, "lpips": 0.03532394766807556}}, {"video": {"psnr": 20.267474607250364, "ssim": 0.6925076124352538, "lpips": 0.19503319263458252}, "wrist_left": {"psnr": 12.189323739134029, "ssim": 0.22662041863094262, "lpips": 0.5572129487991333}, "wrist_right": {"psnr": 10.434638144597708, "ssim": 0.4395214266413069, "lpips": 0.47379961609840393}, "tactile_left": {"psnr": 29.001936173254578, "ssim": 0.944808260893497, "lpips": 0.20692764222621918}, "tactile_right": {"psnr": 40.673919823076744, "ssim": 0.9818576781895845, "lpips": 0.055032022297382355}}, {"video": {"psnr": 18.77218682089129, "ssim": 0.669446952138732, "lpips": 0.2840162515640259}, "wrist_left": {"psnr": 10.755125353711264, "ssim": 0.19827421099453943, "lpips": 0.5659635663032532}, "wrist_right": {"psnr": 9.94059540504041, "ssim": 0.4644113883243721, "lpips": 0.5316033363342285}, "tactile_left": {"psnr": 29.666969831193427, "ssim": 0.9520092198769604, "lpips": 0.20155605673789978}, "tactile_right": {"psnr": 38.17942813295444, "ssim": 0.9780351716424313, "lpips": 0.07493308186531067}}, {"video": {"psnr": 18.160638882313727, "ssim": 0.640069981929217, "lpips": 0.3153833746910095}, "wrist_left": {"psnr": 11.668073901142426, "ssim": 0.41706920377515844, "lpips": 0.5321008563041687}, "wrist_right": {"psnr": 7.332068116638482, "ssim": 0.20760372671877214, "lpips": 0.6681790351867676}, "tactile_left": {"psnr": 37.124532429985265, "ssim": 0.9699287159789474, "lpips": 0.1507946252822876}, "tactile_right": {"psnr": 37.16385264229353, "ssim": 0.9742577616341315, "lpips": 0.0939083993434906}}, {"video": {"psnr": 17.914755901242422, "ssim": 0.6348194569696554, "lpips": 0.3132384717464447}, "wrist_left": {"psnr": 11.518867006510709, "ssim": 0.42380362850042574, "lpips": 0.5655414462089539}, "wrist_right": {"psnr": 7.428827997417659, "ssim": 0.17045878968428174, "lpips": 0.6997278332710266}, "tactile_left": {"psnr": 34.91362073455498, "ssim": 0.9661860228929223, "lpips": 0.17660808563232422}, "tactile_right": {"psnr": 32.467675580773495, "ssim": 0.9511006406019658, "lpips": 0.21204781532287598}}, {"video": {"psnr": 17.789997914794228, "ssim": 0.632817570944949, "lpips": 0.33596140146255493}, "wrist_left": {"psnr": 10.594319554041165, "ssim": 0.3601659514862541, "lpips": 0.6166999340057373}, "wrist_right": {"psnr": 7.3956791309569, "ssim": 0.17574957945504835, "lpips": 0.7103277444839478}, "tactile_left": {"psnr": 33.7643794194831, "ssim": 0.9630070741927012, "lpips": 0.18956050276756287}, "tactile_right": {"psnr": 30.072428033669706, "ssim": 0.9321768251956214, "lpips": 0.2876381576061249}}, {"video": {"psnr": 17.097855104236068, "ssim": 0.6225874423854247, "lpips": 0.3812004327774048}, "wrist_left": {"psnr": 7.210457283006883, "ssim": 0.1830595342414893, "lpips": 0.668699324131012}, "wrist_right": {"psnr": 7.900549577474251, "ssim": 0.1633154902734314, "lpips": 0.6585659980773926}, "tactile_left": {"psnr": 32.233908175107246, "ssim": 0.9598228943597079, "lpips": 0.20400699973106384}, "tactile_right": {"psnr": 29.17747872732642, "ssim": 0.9221919339724183, "lpips": 0.31665346026420593}}, {"video": {"psnr": 17.212866487455166, "ssim": 0.6297035132181394, "lpips": 0.3791305124759674}, "wrist_left": {"psnr": 7.1489570012287516, "ssim": 0.14031407958661518, "lpips": 0.6859533786773682}, "wrist_right": {"psnr": 7.721559440417294, "ssim": 0.15724025546997442, "lpips": 0.6664263606071472}, "tactile_left": {"psnr": 29.988544772832014, "ssim": 0.9357530055210641, "lpips": 0.30964627861976624}, "tactile_right": {"psnr": 29.133012939634256, "ssim": 0.9228131097151699, "lpips": 0.3097795844078064}}, {"video": {"psnr": 18.31806137936931, "ssim": 0.6442791210305494, "lpips": 0.3159942328929901}, "wrist_left": {"psnr": 8.055981592499668, "ssim": 0.15787660029217115, "lpips": 0.6632763147354126}, "wrist_right": {"psnr": 8.234014976839054, "ssim": 0.1680895744479795, "lpips": 0.6520362496376038}, "tactile_left": {"psnr": 29.891283614478127, "ssim": 0.932158455552736, "lpips": 0.3100905418395996}, "tactile_right": {"psnr": 29.18177184461259, "ssim": 0.925603630474741, "lpips": 0.2976777255535126}}, {"video": {"psnr": 18.814925755498596, "ssim": 0.6426135452654105, "lpips": 0.3097953200340271}, "wrist_left": {"psnr": 8.629384200388694, "ssim": 0.19963101156380944, "lpips": 0.6126757860183716}, "wrist_right": {"psnr": 9.135679513062518, "ssim": 0.249749084799455, "lpips": 0.632066011428833}, "tactile_left": {"psnr": 28.692366602681414, "ssim": 0.9282050950023466, "lpips": 0.3079838156700134}, "tactile_right": {"psnr": 31.868559271884696, "ssim": 0.9560602509267198, "lpips": 0.1764269769191742}}, {"video": {"psnr": 18.813288310695807, "ssim": 0.6357385491315914, "lpips": 0.3040074110031128}, "wrist_left": {"psnr": 8.311679948901002, "ssim": 0.22493939316957406, "lpips": 0.6091408729553223}, "wrist_right": {"psnr": 9.316916758556951, "ssim": 0.2541989448112139, "lpips": 0.6259078979492188}, "tactile_left": {"psnr": 29.097323812230975, "ssim": 0.9492192909061911, "lpips": 0.24203625321388245}, "tactile_right": {"psnr": 30.46381167997461, "ssim": 0.9475323907384317, "lpips": 0.22354698181152344}}, {"video": {"psnr": 18.33060115827695, "ssim": 0.6345422013229003, "lpips": 0.3082710802555084}, "wrist_left": {"psnr": 7.46279420052367, "ssim": 0.1835085930641632, "lpips": 0.6505867838859558}, "wrist_right": {"psnr": 8.74322335578128, "ssim": 0.27371477457396204, "lpips": 0.6481186151504517}, "tactile_left": {"psnr": 28.152105425511888, "ssim": 0.948298853823335, "lpips": 0.24798312783241272}, "tactile_right": {"psnr": 28.890250765959998, "ssim": 0.933115532997483, "lpips": 0.31443387269973755}}, {"video": {"psnr": 18.176759358715927, "ssim": 0.6308647023453576, "lpips": 0.3293626308441162}, "wrist_left": {"psnr": 7.003749146866055, "ssim": 0.18989654531294958, "lpips": 0.663856565952301}, "wrist_right": {"psnr": 7.949875149567469, "ssim": 0.24536670451703718, "lpips": 0.7023786306381226}, "tactile_left": {"psnr": 27.219767900976336, "ssim": 0.9443219651709107, "lpips": 0.25676828622817993}, "tactile_right": {"psnr": 27.70203928103962, "ssim": 0.9214320666630055, "lpips": 0.36077797412872314}}, {"video": {"psnr": 18.00451899682445, "ssim": 0.6223066665971274, "lpips": 0.3555527925491333}, "wrist_left": {"psnr": 6.613928292328105, "ssim": 0.23495404817074106, "lpips": 0.6487314105033875}, "wrist_right": {"psnr": 6.565265894147857, "ssim": 0.2606122780699056, "lpips": 0.6938949823379517}, "tactile_left": {"psnr": 26.137795074225224, "ssim": 0.9383786698050993, "lpips": 0.2750009596347809}, "tactile_right": {"psnr": 28.00396815756177, "ssim": 0.937943969446322, "lpips": 0.2780088186264038}}], "long_metrics": {"video": {"psnr": 18.77954441893089, "ssim": 0.6550078871573687, "lpips": 0.2918585772315661}, "wrist_left": {"psnr": 9.632035681055614, "ssim": 0.25345329286924545, "lpips": 0.6001895864804586}, "wrist_right": {"psnr": 9.067376628846649, "ssim": 0.2851460201729274, "lpips": 0.6045930584271749}, "tactile_left": {"psnr": 31.722713543136766, "ssim": 0.9530130928958338, "lpips": 0.21173195590575536}, "tactile_right": {"psnr": 33.67461553548275, "ssim": 0.950779539649495, "lpips": 0.20314853781213363}}}, {"id": "motherboard_custom_e002_06", "episode": "motherboard_0909_episode_001.pt", "requested_episode": "motherboard_0909_episode_001.pt", "category": "release", "t_start": 2829, "start_seconds": 188.6, "short_contact": [1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 0, 0], "future_transition_ticks": [11], "long_contact_fraction": 0.6953125, "long_label": "release", "short_metrics": {"video": {"psnr": 25.112740152170424, "ssim": 0.8252569246826332, "lpips": 0.05574924871325493}, "wrist_left": {"psnr": 9.616948031863318, "ssim": 0.309320025126985, "lpips": 0.5123167037963867}, "wrist_right": {"psnr": 20.415155759016557, "ssim": 0.8253183580032918, "lpips": 0.087513267993927}, "tactile_left": {"psnr": 37.85024587273191, "ssim": 0.959998175776005, "lpips": 0.0781584158539772}, "tactile_right": {"psnr": 47.771006304693735, "ssim": 0.9923160978537086, "lpips": 0.012587979435920715}}, "media": {"short": {"video": "media/motherboard_custom_e002_06_short.mp4", "poster": "media/motherboard_custom_e002_06_short.jpg"}, "long": {"video": "media/motherboard_custom_e002_06_long.mp4", "poster": "media/motherboard_custom_e002_06_long.jpg"}}, "force": {"source": "recorded_normal_force", "units": "N", "fps": 15, "left": [4.3677778244018555, 4.285294055938721, 4.285294055938721, 4.285294055938721, 6.251071453094482, 7.293181896209717, 7.293181896209717, 7.5217695236206055, 7.3053178787231445, 5.259615421295166, 2.8207693099975586, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.1599999964237213, 0.22058026492595673, 0.22058026492595673, 0.43111228942871094, 2.9424359798431396, 4.285294055938721, 4.285294055938721, 7.293181896209717, 7.295934677124023, 7.317659854888916, 7.31187629699707, 7.314847946166992, 7.391359329223633, 7.860250473022461, 7.869999885559082, 7.869999885559082, 7.869999885559082, 7.869999885559082, 7.869999885559082, 7.869999885559082, 7.869999885559082, 7.869999885559082, 7.869999885559082, 7.869999885559082, 7.869999885559082, 7.7177629470825195, 7.514229774475098, 7.401813983917236, 7.470968723297119, 7.470968723297119, 7.314309120178223, 7.483780384063721, 7.869999885559082, 7.869999885559082, 7.869999885559082, 7.869999885559082, 7.869999885559082, 7.448915004730225, 7.499743938446045, 7.714519023895264, 7.869999885559082, 7.318450450897217, 4.285294055938721, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.9833333492279053, 1.9833333492279053, 5.259615421295166, 6.733333110809326, 6.733333110809326, 6.733333110809326, 7.293181896209717, 7.129386901855469, 6.733333110809326, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 6.733333110809326, 6.251071453094482, 5.259615421295166, 5.439090728759766, 6.251071453094482, 6.251071453094482, 6.733333110809326, 7.179339408874512, 6.962648868560791, 6.962648868560791, 7.012815952301025, 7.293181896209717, 6.733333110809326, 6.733333110809326, 6.251071453094482, 1.5254545211791992, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 2.8207693099975586, 6.251071453094482, 7.293181896209717, 7.293181896209717, 7.300662040710449, 7.869999885559082, 7.869999885559082, 7.869999885559082, 7.869999885559082], "right": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]}, "long_curve": [{"video": {"psnr": 25.112740152170424, "ssim": 0.8252569246826332, "lpips": 0.05574924871325493}, "wrist_left": {"psnr": 9.616948031863318, "ssim": 0.309320025126985, "lpips": 0.5123167037963867}, "wrist_right": {"psnr": 20.415155759016557, "ssim": 0.8253183580032918, "lpips": 0.087513267993927}, "tactile_left": {"psnr": 37.85024587273191, "ssim": 0.959998175776005, "lpips": 0.0781584158539772}, "tactile_right": {"psnr": 47.771006304693735, "ssim": 0.9923160978537086, "lpips": 0.012587979435920715}}, {"video": {"psnr": 22.75248093212877, "ssim": 0.7522497348490265, "lpips": 0.08685022592544556}, "wrist_left": {"psnr": 8.722147785326174, "ssim": 0.19221218516560656, "lpips": 0.6470596790313721}, "wrist_right": {"psnr": 18.050290695619637, "ssim": 0.7305273235865897, "lpips": 0.1464408040046692}, "tactile_left": {"psnr": 36.61781267808054, "ssim": 0.9608402268789152, "lpips": 0.1321793794631958}, "tactile_right": {"psnr": 42.895580497702, "ssim": 0.984889718456883, "lpips": 0.04034524783492088}}, {"video": {"psnr": 22.353226555883978, "ssim": 0.7517567003522603, "lpips": 0.10144093632698059}, "wrist_left": {"psnr": 8.840117661807149, "ssim": 0.14361459489525596, "lpips": 0.6472294330596924}, "wrist_right": {"psnr": 15.227234342967986, "ssim": 0.6467647970542143, "lpips": 0.26679527759552}, "tactile_left": {"psnr": 33.848824786881636, "ssim": 0.9430452114028496, "lpips": 0.20355214178562164}, "tactile_right": {"psnr": 39.381400167366344, "ssim": 0.9809942145843316, "lpips": 0.0612434446811676}}, {"video": {"psnr": 21.897917130905636, "ssim": 0.736757908020786, "lpips": 0.11551600694656372}, "wrist_left": {"psnr": 8.929345924539415, "ssim": 0.1397180540616803, "lpips": 0.6362221240997314}, "wrist_right": {"psnr": 13.489789090885441, "ssim": 0.5860216719890562, "lpips": 0.36015990376472473}, "tactile_left": {"psnr": 31.377814084144312, "ssim": 0.8581366250732113, "lpips": 0.3025391697883606}, "tactile_right": {"psnr": 36.93172650110504, "ssim": 0.9772228488027104, "lpips": 0.08130115270614624}}, {"video": {"psnr": 21.74726376603882, "ssim": 0.726352464577058, "lpips": 0.11982151865959167}, "wrist_left": {"psnr": 9.007058363156823, "ssim": 0.14812988271488192, "lpips": 0.64350426197052}, "wrist_right": {"psnr": 12.34715815980313, "ssim": 0.5347393767009069, "lpips": 0.42355671525001526}, "tactile_left": {"psnr": 29.799892195709567, "ssim": 0.794834237515351, "lpips": 0.3346124291419983}, "tactile_right": {"psnr": 35.75270317322604, "ssim": 0.9730624304757219, "lpips": 0.10504414141178131}}, {"video": {"psnr": 21.339467544709265, "ssim": 0.7157430478915232, "lpips": 0.13558511435985565}, "wrist_left": {"psnr": 8.832345913605193, "ssim": 0.14097799251884632, "lpips": 0.6765628457069397}, "wrist_right": {"psnr": 11.343806110129258, "ssim": 0.49949846087656974, "lpips": 0.47622114419937134}, "tactile_left": {"psnr": 29.882877417151793, "ssim": 0.8028228032915798, "lpips": 0.35294410586357117}, "tactile_right": {"psnr": 34.42477634614193, "ssim": 0.9693126042061819, "lpips": 0.12896288931369781}}, {"video": {"psnr": 18.427730033896232, "ssim": 0.6693779114685077, "lpips": 0.2457391619682312}, "wrist_left": {"psnr": 9.313994523844597, "ssim": 0.17020837109883163, "lpips": 0.6867773532867432}, "wrist_right": {"psnr": 10.258313604316523, "ssim": 0.4368908738796847, "lpips": 0.5303420424461365}, "tactile_left": {"psnr": 29.840819253010178, "ssim": 0.814309335468864, "lpips": 0.36202022433280945}, "tactile_right": {"psnr": 33.05880348699512, "ssim": 0.9649573337929137, "lpips": 0.1515449732542038}}, {"video": {"psnr": 16.588536001816017, "ssim": 0.6176215651779324, "lpips": 0.34849458932876587}, "wrist_left": {"psnr": 9.7352606810113, "ssim": 0.16172620373907193, "lpips": 0.6784124374389648}, "wrist_right": {"psnr": 9.678432979648463, "ssim": 0.3939626397009308, "lpips": 0.5466421842575073}, "tactile_left": {"psnr": 30.58295941400135, "ssim": 0.8760213288127365, "lpips": 0.3101281523704529}, "tactile_right": {"psnr": 32.02705999798677, "ssim": 0.9597111556755038, "lpips": 0.18275204300880432}}, {"video": {"psnr": 16.549104148496376, "ssim": 0.606689583244435, "lpips": 0.3854033946990967}, "wrist_left": {"psnr": 8.98514161560751, "ssim": 0.15415814241827275, "lpips": 0.7011591196060181}, "wrist_right": {"psnr": 9.536541878065655, "ssim": 0.4095625491049434, "lpips": 0.5599563717842102}, "tactile_left": {"psnr": 29.52632854389185, "ssim": 0.9406718354956034, "lpips": 0.2740393280982971}, "tactile_right": {"psnr": 30.84733917943599, "ssim": 0.9561610213521965, "lpips": 0.20064836740493774}}, {"video": {"psnr": 15.927446248043786, "ssim": 0.5848391456636748, "lpips": 0.4257768392562866}, "wrist_left": {"psnr": 9.368707936207002, "ssim": 0.1641988940615619, "lpips": 0.6799386143684387}, "wrist_right": {"psnr": 8.802780918221977, "ssim": 0.3470135540423377, "lpips": 0.6153469085693359}, "tactile_left": {"psnr": 27.835988307046446, "ssim": 0.9193136569607189, "lpips": 0.347326397895813}, "tactile_right": {"psnr": 29.231022249319377, "ssim": 0.9514368887315703, "lpips": 0.21333560347557068}}, {"video": {"psnr": 15.380719927065531, "ssim": 0.5812559268991007, "lpips": 0.43339747190475464}, "wrist_left": {"psnr": 7.795081217521819, "ssim": 0.1253714577516971, "lpips": 0.7304983139038086}, "wrist_right": {"psnr": 8.397502063708254, "ssim": 0.3217693435266084, "lpips": 0.6497155427932739}, "tactile_left": {"psnr": 26.580648880064555, "ssim": 0.9217665046774692, "lpips": 0.3592076897621155}, "tactile_right": {"psnr": 27.763686971725505, "ssim": 0.9449977015981474, "lpips": 0.2319817841053009}}, {"video": {"psnr": 13.836137838765861, "ssim": 0.5024630831064039, "lpips": 0.47528085112571716}, "wrist_left": {"psnr": 7.65776493945838, "ssim": 0.12955195315705906, "lpips": 0.733892560005188}, "wrist_right": {"psnr": 8.064155351539666, "ssim": 0.31149515796002397, "lpips": 0.6676208972930908}, "tactile_left": {"psnr": 25.1305927902346, "ssim": 0.915865985519416, "lpips": 0.3743358552455902}, "tactile_right": {"psnr": 25.58585426548056, "ssim": 0.9321588108304737, "lpips": 0.2758958041667938}}, {"video": {"psnr": 10.890668112876508, "ssim": 0.29357508661828485, "lpips": 0.7728378772735596}, "wrist_left": {"psnr": 7.666754040699722, "ssim": 0.1796122582167256, "lpips": 0.8277909755706787}, "wrist_right": {"psnr": 8.509221797076226, "ssim": 0.19644527566576092, "lpips": 0.7344776391983032}, "tactile_left": {"psnr": 16.135004143230617, "ssim": 0.7573943067087626, "lpips": 0.588157057762146}, "tactile_right": {"psnr": 15.374877063973809, "ssim": 0.617085299096827, "lpips": 0.6727705597877502}}, {"video": {"psnr": 8.152319186702952, "ssim": 0.26997257872634045, "lpips": 0.801498293876648}, "wrist_left": {"psnr": 6.0660141310851765, "ssim": 0.20550901739573058, "lpips": 0.876549243927002}, "wrist_right": {"psnr": 7.026296842007832, "ssim": 0.17767854074781664, "lpips": 0.7764356732368469}, "tactile_left": {"psnr": 7.411690934466959, "ssim": 0.4331705994479008, "lpips": 0.8930637836456299}, "tactile_right": {"psnr": 7.631365022698339, "ssim": 0.33066672671887815, "lpips": 0.9142894744873047}}, {"video": {"psnr": 9.222005797524028, "ssim": 0.22462114587853912, "lpips": 0.7970507144927979}, "wrist_left": {"psnr": 6.300378387714652, "ssim": 0.15632038830198824, "lpips": 0.8617849946022034}, "wrist_right": {"psnr": 8.057939333087006, "ssim": 0.16883428123679695, "lpips": 0.7511833906173706}, "tactile_left": {"psnr": 8.278777382327373, "ssim": 0.2968707606291097, "lpips": 0.8911322951316833}, "tactile_right": {"psnr": 8.690234883391643, "ssim": 0.2611218486057372, "lpips": 0.9320988655090332}}], "long_metrics": {"video": {"psnr": 17.345184225134947, "ssim": 0.5905688538104337, "lpips": 0.35336281632383665}, "wrist_left": {"psnr": 8.455804076896548, "ssim": 0.16804196137494634, "lpips": 0.7026465773582459}, "wrist_right": {"psnr": 11.280307928406241, "ssim": 0.43910148027170215, "lpips": 0.5061605175336202}, "tactile_left": {"psnr": 26.713351778864915, "ssim": 0.8130041062438996, "lpips": 0.38689309507608416}, "tactile_right": {"psnr": 29.824495740749477, "ssim": 0.853072980052119, "lpips": 0.28032015537222227}}}, {"id": "motherboard_custom_e002_07", "episode": "motherboard_0909_episode_001.pt", "requested_episode": "motherboard_0909_episode_001.pt", "category": "full", "t_start": 467, "start_seconds": 31.133333333333333, "short_contact": [1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1], "future_transition_ticks": [], "long_contact_fraction": 1.0, "long_label": "full", "short_metrics": {"video": {"psnr": 29.38798095886266, "ssim": 0.9142323675607478, "lpips": 0.026005232706665993}, "wrist_left": {"psnr": 11.933623460030205, "ssim": 0.2927748306024072, "lpips": 0.35330599546432495}, "wrist_right": {"psnr": 23.377735144113704, "ssim": 0.8029733617193886, "lpips": 0.032483987510204315}, "tactile_left": {"psnr": 31.6349492956239, "ssim": 0.9419376165774753, "lpips": 0.08450253307819366}, "tactile_right": {"psnr": 48.52714185297308, "ssim": 0.9923527582679323, "lpips": 0.010995482094585896}}, "media": {"short": {"video": "media/motherboard_custom_e002_07_short.mp4", "poster": "media/motherboard_custom_e002_07_short.jpg"}, "long": {"video": "media/motherboard_custom_e002_07_long.mp4", "poster": "media/motherboard_custom_e002_07_long.jpg"}}, "force": {"source": "recorded_normal_force", "units": "N", "fps": 15, "left": [1.9833333492279053, 1.9833333492279053, 2.9424359798431396, 6.251071453094482, 6.251071453094482, 5.439090728759766, 5.439090728759766, 5.439090728759766, 6.251071453094482, 6.733333110809326, 6.733333110809326, 6.733333110809326, 6.733333110809326, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 6.733333110809326, 6.733333110809326, 6.733333110809326, 6.733333110809326, 6.733333110809326, 6.733333110809326, 6.733333110809326, 6.733333110809326, 6.733333110809326, 6.76942777633667, 7.228470325469971, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.284359455108643, 6.733333110809326, 6.251071453094482, 6.251071453094482, 5.145384788513184, 4.285294055938721, 2.9424359798431396, 2.8207693099975586, 2.8207693099975586, 1.9833333492279053, 1.9833333492279053, 1.5254545211791992, 1.5254545211791992, 1.5254545211791992, 1.5254545211791992, 1.5254545211791992, 1.5254545211791992, 2.8207693099975586, 1.9833333492279053, 1.9833333492279053, 2.9424359798431396, 4.285294055938721, 4.285294055938721, 4.285294055938721, 4.285294055938721, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 4.285294055938721, 4.285294055938721, 4.285294055938721, 4.285294055938721, 4.285294055938721, 4.285294055938721, 4.3677778244018555, 4.3677778244018555, 5.145384788513184, 5.145384788513184, 5.259615421295166, 5.259615421295166, 6.115070343017578, 6.201137542724609, 6.2079668045043945, 5.661813259124756, 6.073955059051514, 6.251071453094482, 6.251071453094482, 6.251071453094482, 6.251071453094482, 6.251071453094482, 6.251071453094482, 6.251071453094482, 6.251071453094482, 6.251071453094482, 6.251071453094482, 5.259615421295166, 5.145384788513184, 5.145384788513184, 5.145384788513184, 5.259615421295166, 5.145384788513184, 5.145384788513184, 5.145384788513184, 4.3677778244018555, 4.306504249572754, 4.285294055938721, 4.285294055938721, 4.285294055938721, 4.285294055938721, 4.285294055938721, 4.285294055938721, 2.9424359798431396, 2.3617031574249268, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "right": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.5254545211791992, 1.5254545211791992, 1.9833333492279053, 5.259615421295166, 7.293181896209717, 7.756637096405029, 7.756637096405029, 7.869999885559082, 7.869999885559082, 7.869999885559082, 7.869999885559082, 7.869999885559082, 7.869999885559082, 7.869999885559082, 7.869999885559082, 7.869999885559082, 7.869999885559082, 7.869999885559082, 7.869999885559082, 7.652376174926758, 7.380303382873535, 7.293181896209717, 7.293181896209717, 6.733333110809326, 6.251071453094482, 4.285294055938721, 4.285294055938721, 2.9424359798431396, 2.9424359798431396, 2.8207693099975586, 1.9833333492279053, 1.9833333492279053, 1.9833333492279053, 1.9833333492279053, 2.636666774749756, 2.9424359798431396, 4.3677778244018555, 6.251071453094482, 7.293181896209717, 7.293181896209717, 7.293181896209717, 6.251071453094482, 6.251071453094482, 6.251071453094482, 6.251071453094482, 6.733333110809326, 6.733333110809326, 6.733333110809326, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.319431304931641, 7.319431304931641, 7.724584579467773, 7.869999885559082, 7.869999885559082, 7.869999885559082, 7.869999885559082, 7.869999885559082, 7.869999885559082, 7.869999885559082, 7.869999885559082, 7.869999885559082, 7.869999885559082, 7.869999885559082, 7.869999885559082, 7.869999885559082, 7.869999885559082, 7.869999885559082, 7.312495708465576, 7.295211315155029, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 6.733333110809326, 6.733333110809326, 6.733333110809326, 5.439090728759766, 5.259615421295166, 5.259615421295166, 5.145384788513184, 5.145384788513184, 5.259615421295166, 5.259615421295166, 5.259615421295166, 2.9424359798431396, 4.285294055938721, 5.145384788513184, 5.259615421295166, 6.733333110809326, 6.733333110809326, 6.733333110809326, 6.7497968673706055, 7.293181896209717, 7.293181896209717, 7.293181896209717]}, "long_curve": [{"video": {"psnr": 29.38798095886266, "ssim": 0.9142323675607478, "lpips": 0.026005232706665993}, "wrist_left": {"psnr": 11.933623460030205, "ssim": 0.2927748306024072, "lpips": 0.35330599546432495}, "wrist_right": {"psnr": 23.377735144113704, "ssim": 0.8029733617193886, "lpips": 0.032483987510204315}, "tactile_left": {"psnr": 31.6349492956239, "ssim": 0.9419376165774753, "lpips": 0.08450253307819366}, "tactile_right": {"psnr": 48.52714185297308, "ssim": 0.9923527582679323, "lpips": 0.010995482094585896}}, {"video": {"psnr": 25.458043100844343, "ssim": 0.8286363145083538, "lpips": 0.06586163491010666}, "wrist_left": {"psnr": 11.412988318726994, "ssim": 0.24110919649705578, "lpips": 0.43837928771972656}, "wrist_right": {"psnr": 14.490742334991113, "ssim": 0.48494297691080646, "lpips": 0.29225170612335205}, "tactile_left": {"psnr": 29.23094523543067, "ssim": 0.9111290969594931, "lpips": 0.13602279126644135}, "tactile_right": {"psnr": 44.28215636209552, "ssim": 0.9855224696585432, "lpips": 0.03860512003302574}}, {"video": {"psnr": 23.132048998438655, "ssim": 0.7620026008711565, "lpips": 0.11298328638076782}, "wrist_left": {"psnr": 11.428941977110513, "ssim": 0.2389378789878412, "lpips": 0.417248010635376}, "wrist_right": {"psnr": 11.525983527803245, "ssim": 0.28361762707525373, "lpips": 0.5004573464393616}, "tactile_left": {"psnr": 29.460980638232485, "ssim": 0.909530323078825, "lpips": 0.1413508951663971}, "tactile_right": {"psnr": 31.580956184651534, "ssim": 0.9432112595225166, "lpips": 0.1704394519329071}}, {"video": {"psnr": 21.99752224779829, "ssim": 0.730732011626981, "lpips": 0.13657063245773315}, "wrist_left": {"psnr": 10.954032228037745, "ssim": 0.21690933877809376, "lpips": 0.4577257037162781}, "wrist_right": {"psnr": 10.665670267439362, "ssim": 0.24799318726100045, "lpips": 0.5232948064804077}, "tactile_left": {"psnr": 27.596608489328275, "ssim": 0.9031048848966277, "lpips": 0.24472934007644653}, "tactile_right": {"psnr": 25.58792336893733, "ssim": 0.8985135703175988, "lpips": 0.2647424042224884}}, {"video": {"psnr": 21.472623174474496, "ssim": 0.7142786894101099, "lpips": 0.15460409224033356}, "wrist_left": {"psnr": 10.71113677768847, "ssim": 0.19867245134170117, "lpips": 0.4847789406776428}, "wrist_right": {"psnr": 10.206827125830992, "ssim": 0.22031054237560757, "lpips": 0.5464949607849121}, "tactile_left": {"psnr": 27.328452984367985, "ssim": 0.9098201409627894, "lpips": 0.2960991859436035}, "tactile_right": {"psnr": 25.874123935445816, "ssim": 0.9019134424434758, "lpips": 0.28566306829452515}}, {"video": {"psnr": 21.28112950413579, "ssim": 0.7035956722146192, "lpips": 0.16061320900917053}, "wrist_left": {"psnr": 11.043446599618076, "ssim": 0.21487423529041683, "lpips": 0.5237103700637817}, "wrist_right": {"psnr": 10.178995850682321, "ssim": 0.21689502871715932, "lpips": 0.5458340644836426}, "tactile_left": {"psnr": 30.833971948907394, "ssim": 0.9444188374668663, "lpips": 0.24051865935325623}, "tactile_right": {"psnr": 30.721620026831044, "ssim": 0.9311618289265073, "lpips": 0.2218410074710846}}, {"video": {"psnr": 21.030267393241306, "ssim": 0.6982951946203285, "lpips": 0.1695798635482788}, "wrist_left": {"psnr": 11.82162993362133, "ssim": 0.22206351444420908, "lpips": 0.5051329135894775}, "wrist_right": {"psnr": 10.228832034319291, "ssim": 0.21710898432128575, "lpips": 0.5495337247848511}, "tactile_left": {"psnr": 29.95768457447094, "ssim": 0.9431773493961049, "lpips": 0.22305934131145477}, "tactile_right": {"psnr": 31.527681032867505, "ssim": 0.9401725606385006, "lpips": 0.21169231832027435}}, {"video": {"psnr": 20.833239418959092, "ssim": 0.6837732076199101, "lpips": 0.17794904112815857}, "wrist_left": {"psnr": 11.18490703192538, "ssim": 0.22400801356447259, "lpips": 0.5296361446380615}, "wrist_right": {"psnr": 10.258443824817059, "ssim": 0.21648961452515122, "lpips": 0.5583251714706421}, "tactile_left": {"psnr": 28.003925304266218, "ssim": 0.9320112379645868, "lpips": 0.2873026430606842}, "tactile_right": {"psnr": 27.684870804376104, "ssim": 0.9123431328862623, "lpips": 0.2790064215660095}}, {"video": {"psnr": 21.450128467350336, "ssim": 0.7006827616719475, "lpips": 0.16568149626255035}, "wrist_left": {"psnr": 10.902382720656416, "ssim": 0.2067597262957092, "lpips": 0.5434727072715759}, "wrist_right": {"psnr": 10.17714110174179, "ssim": 0.22612815147931709, "lpips": 0.5736024379730225}, "tactile_left": {"psnr": 27.90325526582889, "ssim": 0.9305676641964535, "lpips": 0.3117116689682007}, "tactile_right": {"psnr": 27.26940875388783, "ssim": 0.9098079359505488, "lpips": 0.2967814803123474}}, {"video": {"psnr": 20.53587368485364, "ssim": 0.6774813677433049, "lpips": 0.199743390083313}, "wrist_left": {"psnr": 10.085574543406807, "ssim": 0.19212497050561445, "lpips": 0.5851051211357117}, "wrist_right": {"psnr": 9.767469786368014, "ssim": 0.20473852536366988, "lpips": 0.5823348760604858}, "tactile_left": {"psnr": 26.934908095980784, "ssim": 0.9142759470943342, "lpips": 0.34261763095855713}, "tactile_right": {"psnr": 25.691012985199585, "ssim": 0.8960711754546209, "lpips": 0.31434062123298645}}, {"video": {"psnr": 20.063749423066945, "ssim": 0.6585750180210184, "lpips": 0.22623905539512634}, "wrist_left": {"psnr": 9.35582525548167, "ssim": 0.17555413204623596, "lpips": 0.607205867767334}, "wrist_right": {"psnr": 9.494778080978515, "ssim": 0.1891434973184234, "lpips": 0.6137920618057251}, "tactile_left": {"psnr": 26.581371393662884, "ssim": 0.9063283609789592, "lpips": 0.3474680781364441}, "tactile_right": {"psnr": 24.947995652122778, "ssim": 0.8864665148425336, "lpips": 0.3454474210739136}}, {"video": {"psnr": 19.317862269314908, "ssim": 0.6296973900396606, "lpips": 0.2625499367713928}, "wrist_left": {"psnr": 9.162481971686617, "ssim": 0.16125781805319508, "lpips": 0.6123261451721191}, "wrist_right": {"psnr": 9.65988307858605, "ssim": 0.19864296408485377, "lpips": 0.616722583770752}, "tactile_left": {"psnr": 26.89598841128074, "ssim": 0.9190133800519039, "lpips": 0.330290824174881}, "tactile_right": {"psnr": 25.541198319812068, "ssim": 0.8983845327232267, "lpips": 0.33797693252563477}}, {"video": {"psnr": 19.19489428926277, "ssim": 0.6316164768690915, "lpips": 0.2692383825778961}, "wrist_left": {"psnr": 9.468666481408711, "ssim": 0.17516215642586896, "lpips": 0.6576384902000427}, "wrist_right": {"psnr": 10.04635506662937, "ssim": 0.21650818758506296, "lpips": 0.6122210025787354}, "tactile_left": {"psnr": 26.77406739919139, "ssim": 0.9254999634115886, "lpips": 0.33077311515808105}, "tactile_right": {"psnr": 27.077812262332905, "ssim": 0.9092867178600186, "lpips": 0.30740976333618164}}, {"video": {"psnr": 19.120275979719686, "ssim": 0.6353502284447113, "lpips": 0.26565003395080566}, "wrist_left": {"psnr": 9.352539649354721, "ssim": 0.1609617455216943, "lpips": 0.617270290851593}, "wrist_right": {"psnr": 10.440104317644032, "ssim": 0.23448841968687462, "lpips": 0.613654375076294}, "tactile_left": {"psnr": 27.540774194717716, "ssim": 0.9376254754540858, "lpips": 0.2768574059009552}, "tactile_right": {"psnr": 27.489016728431444, "ssim": 0.9169326270221204, "lpips": 0.2886248230934143}}, {"video": {"psnr": 18.322151179373204, "ssim": 0.6265026721810272, "lpips": 0.31384748220443726}, "wrist_left": {"psnr": 7.9533958436260495, "ssim": 0.16055137791317536, "lpips": 0.6350153684616089}, "wrist_right": {"psnr": 9.97167547577662, "ssim": 0.23994867419922522, "lpips": 0.6105160713195801}, "tactile_left": {"psnr": 28.121016109586524, "ssim": 0.9478679676034117, "lpips": 0.2491256594657898}, "tactile_right": {"psnr": 26.437792752395588, "ssim": 0.9062871098348805, "lpips": 0.3165957033634186}}], "long_metrics": {"video": {"psnr": 21.506519339313073, "ssim": 0.7063634648935312, "lpips": 0.1804744513084491}, "wrist_left": {"psnr": 10.451438186158647, "ssim": 0.20544809241784606, "lpips": 0.5311967571576436}, "wrist_right": {"psnr": 11.366042467848098, "ssim": 0.279995316174872, "lpips": 0.5181012784441312}, "tactile_left": {"psnr": 28.31992662272512, "ssim": 0.9250872164062336, "lpips": 0.25616198480129243}, "tactile_right": {"psnr": 30.016047401490674, "ssim": 0.9218951757566191, "lpips": 0.2460108012581865}}}, {"id": "motherboard_custom_e002_08", "episode": "motherboard_0909_episode_002.pt", "requested_episode": "motherboard_0909_episode_002.pt", "category": "none", "t_start": 2600, "start_seconds": 173.33333333333334, "short_contact": [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0], "future_transition_ticks": [], "long_contact_fraction": 0.296875, "long_label": "none_at_start", "short_metrics": {"video": {"psnr": 26.562311247680178, "ssim": 0.8662414963323524, "lpips": 0.04014026001095772}, "wrist_left": {"psnr": 13.428496975114808, "ssim": 0.4016016310155969, "lpips": 0.34848296642303467}, "wrist_right": {"psnr": 22.696245418468255, "ssim": 0.7940156119315609, "lpips": 0.05511835217475891}, "tactile_left": {"psnr": 39.730134464667856, "ssim": 0.981464817771103, "lpips": 0.04668637365102768}, "tactile_right": {"psnr": 48.28162870671058, "ssim": 0.9929508434359885, "lpips": 0.009723402559757233}}, "media": {"short": {"video": "media/motherboard_custom_e002_08_short.mp4", "poster": "media/motherboard_custom_e002_08_short.jpg"}, "long": {"video": "media/motherboard_custom_e002_08_long.mp4", "poster": "media/motherboard_custom_e002_08_long.jpg"}}, "force": {"source": "recorded_normal_force", "units": "N", "fps": 15, "left": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.49666666984558105, 1.5254545211791992, 4.285294055938721, 5.439090728759766, 5.439090728759766, 6.733333110809326, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 5.145384788513184, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "right": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.49666666984558105, 0.49264535307884216, 1.2104182243347168, 4.285294055938721, 4.285294055938721, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.636666774749756, 1.5254545211791992, 1.1662499904632568, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]}, "long_curve": [{"video": {"psnr": 26.562311247680178, "ssim": 0.8662414963323524, "lpips": 0.04014026001095772}, "wrist_left": {"psnr": 13.428496975114808, "ssim": 0.4016016310155969, "lpips": 0.34848296642303467}, "wrist_right": {"psnr": 22.696245418468255, "ssim": 0.7940156119315609, "lpips": 0.05511835217475891}, "tactile_left": {"psnr": 39.730134464667856, "ssim": 0.981464817771103, "lpips": 0.04668637365102768}, "tactile_right": {"psnr": 48.28162870671058, "ssim": 0.9929508434359885, "lpips": 0.009723402559757233}}, {"video": {"psnr": 23.482128564716568, "ssim": 0.7742406926163793, "lpips": 0.07133805751800537}, "wrist_left": {"psnr": 11.13602199953679, "ssim": 0.3039699237238509, "lpips": 0.5087913274765015}, "wrist_right": {"psnr": 20.368563174133737, "ssim": 0.746112110254519, "lpips": 0.0985286608338356}, "tactile_left": {"psnr": 37.668856383199326, "ssim": 0.9671529057279353, "lpips": 0.09518339484930038}, "tactile_right": {"psnr": 44.32591204302372, "ssim": 0.9857940542824041, "lpips": 0.03287576511502266}}, {"video": {"psnr": 21.325685032975134, "ssim": 0.7272802084032588, "lpips": 0.13866768777370453}, "wrist_left": {"psnr": 9.836977387174425, "ssim": 0.2656520824726457, "lpips": 0.5631253719329834}, "wrist_right": {"psnr": 19.611745044997303, "ssim": 0.7084917635877189, "lpips": 0.12169969081878662}, "tactile_left": {"psnr": 40.77484971524249, "ssim": 0.9692751414698684, "lpips": 0.08769060671329498}, "tactile_right": {"psnr": 41.86442940998507, "ssim": 0.9809021278842915, "lpips": 0.051873449236154556}}, {"video": {"psnr": 21.099613287095586, "ssim": 0.713947144706865, "lpips": 0.15115702152252197}, "wrist_left": {"psnr": 10.551639927367333, "ssim": 0.21765134118566792, "lpips": 0.6151427626609802}, "wrist_right": {"psnr": 18.62758549754372, "ssim": 0.6856093304282158, "lpips": 0.15537816286087036}, "tactile_left": {"psnr": 35.88508052235255, "ssim": 0.9592234431468367, "lpips": 0.16395863890647888}, "tactile_right": {"psnr": 39.49244007442495, "ssim": 0.9774972903767163, "lpips": 0.07329576462507248}}, {"video": {"psnr": 20.766258687745275, "ssim": 0.6952194430646799, "lpips": 0.16906863451004028}, "wrist_left": {"psnr": 9.748665939282418, "ssim": 0.24751834309185924, "lpips": 0.6150801181793213}, "wrist_right": {"psnr": 17.68921614138297, "ssim": 0.651820632709012, "lpips": 0.19413456320762634}, "tactile_left": {"psnr": 33.500884512214164, "ssim": 0.9554722557027694, "lpips": 0.2069799304008484}, "tactile_right": {"psnr": 38.04817448047559, "ssim": 0.9732116472362904, "lpips": 0.09936045855283737}}, {"video": {"psnr": 19.913751054979066, "ssim": 0.6725174147557449, "lpips": 0.20161977410316467}, "wrist_left": {"psnr": 10.229158659390077, "ssim": 0.28590093146111395, "lpips": 0.6070616245269775}, "wrist_right": {"psnr": 15.51453310479042, "ssim": 0.6061383166008277, "lpips": 0.2565240263938904}, "tactile_left": {"psnr": 28.951508525043362, "ssim": 0.9197743616754783, "lpips": 0.33436793088912964}, "tactile_right": {"psnr": 36.181192322289476, "ssim": 0.9694745094914166, "lpips": 0.12702113389968872}}, {"video": {"psnr": 18.501541614043326, "ssim": 0.6481601454247403, "lpips": 0.2533782124519348}, "wrist_left": {"psnr": 10.802605221950145, "ssim": 0.28106780511526896, "lpips": 0.6241141557693481}, "wrist_right": {"psnr": 12.568613524828084, "ssim": 0.5422959968219129, "lpips": 0.3619643747806549}, "tactile_left": {"psnr": 28.611996780006066, "ssim": 0.9337443297840327, "lpips": 0.28882768750190735}, "tactile_right": {"psnr": 34.29436093334257, "ssim": 0.9645870022730993, "lpips": 0.14816872775554657}}, {"video": {"psnr": 17.471302579683446, "ssim": 0.6364949456495229, "lpips": 0.3208518624305725}, "wrist_left": {"psnr": 10.463713932990233, "ssim": 0.2721927776889993, "lpips": 0.6335360407829285}, "wrist_right": {"psnr": 8.636217544645943, "ssim": 0.2874259622043036, "lpips": 0.5874090194702148}, "tactile_left": {"psnr": 33.38545485728242, "ssim": 0.957051895973853, "lpips": 0.2100144922733307}, "tactile_right": {"psnr": 33.89112816902799, "ssim": 0.9610321584683005, "lpips": 0.1705591380596161}}, {"video": {"psnr": 16.963070517077647, "ssim": 0.629119008136501, "lpips": 0.3542296290397644}, "wrist_left": {"psnr": 10.672258492453926, "ssim": 0.2280645614789087, "lpips": 0.6770732402801514}, "wrist_right": {"psnr": 8.204068029461693, "ssim": 0.24315041130676066, "lpips": 0.646436333656311}, "tactile_left": {"psnr": 32.56881002045198, "ssim": 0.9538279233096638, "lpips": 0.22460198402404785}, "tactile_right": {"psnr": 32.90612033712656, "ssim": 0.9583284232250839, "lpips": 0.1829381287097931}}, {"video": {"psnr": 17.448164367713478, "ssim": 0.6468595200082737, "lpips": 0.31060323119163513}, "wrist_left": {"psnr": 10.528040682697618, "ssim": 0.2525407906481241, "lpips": 0.6765887141227722}, "wrist_right": {"psnr": 7.803368775161223, "ssim": 0.1803415168327169, "lpips": 0.6750267744064331}, "tactile_left": {"psnr": 31.496024191530534, "ssim": 0.9508880159063725, "lpips": 0.23243674635887146}, "tactile_right": {"psnr": 31.71262262900369, "ssim": 0.9552327317255485, "lpips": 0.19600823521614075}}, {"video": {"psnr": 17.174107286299293, "ssim": 0.647524314327554, "lpips": 0.3320736587047577}, "wrist_left": {"psnr": 9.610359587775594, "ssim": 0.2653512784639959, "lpips": 0.6901919841766357}, "wrist_right": {"psnr": 8.813499501098859, "ssim": 0.18504577349750667, "lpips": 0.6756383180618286}, "tactile_left": {"psnr": 30.370434560527755, "ssim": 0.9477433569438202, "lpips": 0.24229499697685242}, "tactile_right": {"psnr": 30.96966542007859, "ssim": 0.9535875379436528, "lpips": 0.21779292821884155}}, {"video": {"psnr": 16.39803168493842, "ssim": 0.6242145386663783, "lpips": 0.3775478005409241}, "wrist_left": {"psnr": 9.26791354228471, "ssim": 0.2746573008797564, "lpips": 0.7254871129989624}, "wrist_right": {"psnr": 7.7936109010456125, "ssim": 0.16680191187989057, "lpips": 0.7009557485580444}, "tactile_left": {"psnr": 29.350162673172694, "ssim": 0.9443638581945148, "lpips": 0.26000845432281494}, "tactile_right": {"psnr": 29.39778902107549, "ssim": 0.941150844249165, "lpips": 0.29805588722229004}}, {"video": {"psnr": 16.406721961142136, "ssim": 0.6262582610119412, "lpips": 0.3624385595321655}, "wrist_left": {"psnr": 6.860028434924224, "ssim": 0.29690365561398224, "lpips": 0.714896559715271}, "wrist_right": {"psnr": 7.563792407035303, "ssim": 0.21022572957334268, "lpips": 0.6778818368911743}, "tactile_left": {"psnr": 27.658000429932073, "ssim": 0.9397364475732588, "lpips": 0.2806931138038635}, "tactile_right": {"psnr": 29.194513640218673, "ssim": 0.9495273373500974, "lpips": 0.22270752489566803}}, {"video": {"psnr": 15.043260203495803, "ssim": 0.5806640675503012, "lpips": 0.3522460460662842}, "wrist_left": {"psnr": 5.304830630177243, "ssim": 0.2098316836467288, "lpips": 0.7254643440246582}, "wrist_right": {"psnr": 6.676995717218705, "ssim": 0.26223055631347897, "lpips": 0.6990247964859009}, "tactile_left": {"psnr": 24.42251159793996, "ssim": 0.9366146302033247, "lpips": 0.294411301612854}, "tactile_right": {"psnr": 26.558641189925062, "ssim": 0.9403178596621147, "lpips": 0.23500700294971466}}, {"video": {"psnr": 9.77202951653611, "ssim": 0.4727212622317045, "lpips": 0.5833999514579773}, "wrist_left": {"psnr": 4.269176241495637, "ssim": 0.2204129881217519, "lpips": 0.8103484511375427}, "wrist_right": {"psnr": 4.01311568276284, "ssim": 0.19463942412447663, "lpips": 0.8231565952301025}, "tactile_left": {"psnr": 16.16966091612303, "ssim": 0.8540312596818584, "lpips": 0.4129300117492676}, "tactile_right": {"psnr": 18.428697996243603, "ssim": 0.8774035505890274, "lpips": 0.38137874007225037}}], "long_metrics": {"video": {"psnr": 18.555198507074763, "ssim": 0.6640974975257465, "lpips": 0.26791735912362735}, "wrist_left": {"psnr": 9.513992510307679, "ssim": 0.26822113964055005, "lpips": 0.635692318280538}, "wrist_right": {"psnr": 12.43874469763831, "ssim": 0.4309563365377496, "lpips": 0.4485918169220289}, "tactile_left": {"psnr": 31.36962467664575, "ssim": 0.9446909762043127, "lpips": 0.22540571093559264}, "tactile_right": {"psnr": 34.369821091530106, "ssim": 0.9587331945462131, "lpips": 0.1631177524725596}}}, {"id": "motherboard_custom_e002_09", "episode": "motherboard_0909_episode_002.pt", "requested_episode": "motherboard_0909_episode_002.pt", "category": "onset", "t_start": 1924, "start_seconds": 128.26666666666668, "short_contact": [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 1], "future_transition_ticks": [11], "long_contact_fraction": 0.6796875, "long_label": "onset", "short_metrics": {"video": {"psnr": 28.34955815377816, "ssim": 0.9022854324461227, "lpips": 0.035927072167396545}, "wrist_left": {"psnr": 13.242171479183714, "ssim": 0.3815515664257109, "lpips": 0.42543983459472656}, "wrist_right": {"psnr": 18.44371209684858, "ssim": 0.6891649566962794, "lpips": 0.13330155611038208}, "tactile_left": {"psnr": 34.79271571022738, "ssim": 0.9630794716730378, "lpips": 0.1181851327419281}, "tactile_right": {"psnr": 48.564586070284406, "ssim": 0.9924241619837697, "lpips": 0.010820366442203522}}, "media": {"short": {"video": "media/motherboard_custom_e002_09_short.mp4", "poster": "media/motherboard_custom_e002_09_short.jpg"}, "long": {"video": "media/motherboard_custom_e002_09_long.mp4", "poster": "media/motherboard_custom_e002_09_long.jpg"}}, "force": {"source": "recorded_normal_force", "units": "N", "fps": 15, "left": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.9833333492279053, 2.9424359798431396, 2.9424359798431396, 5.439090728759766, 5.439090728759766, 5.671554088592529, 5.439090728759766, 5.259615421295166, 5.145384788513184, 4.321074485778809, 4.285294055938721, 4.285294055938721, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 1.9833333492279053, 2.0277299880981445, 2.9424359798431396, 5.439090728759766, 6.251071453094482, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 6.251071453094482, 5.439090728759766, 6.251071453094482, 5.605889320373535, 5.259615421295166, 4.3677778244018555, 4.285294055938721, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 4.285294055938721, 4.285294055938721, 2.9424359798431396, 4.3677778244018555, 4.285294055938721, 5.145384788513184, 5.145384788513184, 5.259615421295166, 5.259615421295166, 5.145384788513184, 4.285294055938721, 2.8207693099975586, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 2.9424359798431396, 2.636666774749756, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 4.285294055938721, 4.285294055938721, 2.9424359798431396, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.9833333492279053, 1.9833333492279053, 2.636666774749756, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 4.285294055938721, 3.8638908863067627, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 1.1662499904632568, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "right": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 2.9424359798431396, 5.145384788513184, 6.251071453094482]}, "long_curve": [{"video": {"psnr": 28.34955815377816, "ssim": 0.9022854324461227, "lpips": 0.035927072167396545}, "wrist_left": {"psnr": 13.242171479183714, "ssim": 0.3815515664257109, "lpips": 0.42543983459472656}, "wrist_right": {"psnr": 18.44371209684858, "ssim": 0.6891649566962794, "lpips": 0.13330155611038208}, "tactile_left": {"psnr": 34.79271571022738, "ssim": 0.9630794716730378, "lpips": 0.1181851327419281}, "tactile_right": {"psnr": 48.564586070284406, "ssim": 0.9924241619837697, "lpips": 0.010820366442203522}}, {"video": {"psnr": 22.957838672716186, "ssim": 0.7652164564591, "lpips": 0.08281213790178299}, "wrist_left": {"psnr": 11.83254239705298, "ssim": 0.28668715629924124, "lpips": 0.5031452178955078}, "wrist_right": {"psnr": 15.951922416527056, "ssim": 0.6339374800356985, "lpips": 0.2200453281402588}, "tactile_left": {"psnr": 32.24468005843506, "ssim": 0.9350955280702655, "lpips": 0.2048467993736267}, "tactile_right": {"psnr": 44.83542135876054, "ssim": 0.9856416637600262, "lpips": 0.030954014509916306}}, {"video": {"psnr": 20.945517258240525, "ssim": 0.7010468738864131, "lpips": 0.13574358820915222}, "wrist_left": {"psnr": 11.499912216755755, "ssim": 0.26922331864727805, "lpips": 0.5494869947433472}, "wrist_right": {"psnr": 13.335959260292036, "ssim": 0.5201065153794753, "lpips": 0.35712552070617676}, "tactile_left": {"psnr": 32.96147857677059, "ssim": 0.9387504426316859, "lpips": 0.2205694019794464}, "tactile_right": {"psnr": 42.00333640104459, "ssim": 0.9812710010454158, "lpips": 0.04921245574951172}}, {"video": {"psnr": 20.312471332215416, "ssim": 0.6846552917109121, "lpips": 0.17046304047107697}, "wrist_left": {"psnr": 10.016507994753734, "ssim": 0.20802901923570546, "lpips": 0.610262393951416}, "wrist_right": {"psnr": 12.101119670233814, "ssim": 0.45180967996360316, "lpips": 0.4192969501018524}, "tactile_left": {"psnr": 30.16852451785786, "ssim": 0.9081895333260498, "lpips": 0.3348064720630646}, "tactile_right": {"psnr": 38.564315741936326, "ssim": 0.9778668663980196, "lpips": 0.06953712552785873}}, {"video": {"psnr": 19.64717481206008, "ssim": 0.679590911466762, "lpips": 0.20090016722679138}, "wrist_left": {"psnr": 10.372311891740875, "ssim": 0.20944812686130726, "lpips": 0.6359775066375732}, "wrist_right": {"psnr": 10.904131834070295, "ssim": 0.41116071297379886, "lpips": 0.4612599015235901}, "tactile_left": {"psnr": 32.21101353904957, "ssim": 0.9265841373005037, "lpips": 0.32921624183654785}, "tactile_right": {"psnr": 36.76160487011682, "ssim": 0.9734931691160877, "lpips": 0.09551331400871277}}, {"video": {"psnr": 18.41288487117993, "ssim": 0.6616368650675466, "lpips": 0.25914299488067627}, "wrist_left": {"psnr": 9.591415325024865, "ssim": 0.1876354481720977, "lpips": 0.69426429271698}, "wrist_right": {"psnr": 10.019634163944026, "ssim": 0.3746372419806161, "lpips": 0.4974628686904907}, "tactile_left": {"psnr": 32.99002918603414, "ssim": 0.9344337086202186, "lpips": 0.3039308190345764}, "tactile_right": {"psnr": 33.96119024669563, "ssim": 0.9666968126955382, "lpips": 0.1225026398897171}}, {"video": {"psnr": 17.566509052159834, "ssim": 0.646612022336122, "lpips": 0.2988753914833069}, "wrist_left": {"psnr": 8.874004684999493, "ssim": 0.19212191279186155, "lpips": 0.6988552808761597}, "wrist_right": {"psnr": 9.693387668060693, "ssim": 0.34677992072812946, "lpips": 0.5048598647117615}, "tactile_left": {"psnr": 32.508950213578245, "ssim": 0.9393583829369213, "lpips": 0.27681964635849}, "tactile_right": {"psnr": 31.73124121418106, "ssim": 0.9605771818562836, "lpips": 0.14485371112823486}}, {"video": {"psnr": 17.716577037420517, "ssim": 0.6432219651069035, "lpips": 0.29383882880210876}, "wrist_left": {"psnr": 7.83501461903704, "ssim": 0.22016798129876652, "lpips": 0.6848064661026001}, "wrist_right": {"psnr": 9.08264941011784, "ssim": 0.32549597265861163, "lpips": 0.530540943145752}, "tactile_left": {"psnr": 33.10368093502072, "ssim": 0.9564542870260069, "lpips": 0.21009919047355652}, "tactile_right": {"psnr": 30.450995567878458, "ssim": 0.9566771544860632, "lpips": 0.16686910390853882}}, {"video": {"psnr": 17.370118495591868, "ssim": 0.6321818054680144, "lpips": 0.31347939372062683}, "wrist_left": {"psnr": 7.067030568352336, "ssim": 0.15457260767125824, "lpips": 0.800377368927002}, "wrist_right": {"psnr": 8.302388635373564, "ssim": 0.3232376700071268, "lpips": 0.5685369372367859}, "tactile_left": {"psnr": 30.799258495551783, "ssim": 0.9477778678210915, "lpips": 0.260250449180603}, "tactile_right": {"psnr": 29.058253665025347, "ssim": 0.953118254674558, "lpips": 0.18080323934555054}}, {"video": {"psnr": 17.012513825874848, "ssim": 0.6311557351423585, "lpips": 0.32872962951660156}, "wrist_left": {"psnr": 7.089247658542538, "ssim": 0.2058351467001777, "lpips": 0.7451115846633911}, "wrist_right": {"psnr": 7.790645508452125, "ssim": 0.3073312262930172, "lpips": 0.6010692119598389}, "tactile_left": {"psnr": 30.756620304365345, "ssim": 0.9544381497302836, "lpips": 0.22446677088737488}, "tactile_right": {"psnr": 26.943004579992508, "ssim": 0.9484737974910677, "lpips": 0.19158953428268433}}, {"video": {"psnr": 16.505669998690497, "ssim": 0.6267502492482323, "lpips": 0.3205156922340393}, "wrist_left": {"psnr": 6.799811023251348, "ssim": 0.15133099354291385, "lpips": 0.7931945323944092}, "wrist_right": {"psnr": 7.008715564750053, "ssim": 0.28763878260807874, "lpips": 0.621396541595459}, "tactile_left": {"psnr": 27.039758670468327, "ssim": 0.9332504403901754, "lpips": 0.27240484952926636}, "tactile_right": {"psnr": 24.526651835701372, "ssim": 0.9407864746621857, "lpips": 0.20290139317512512}}, {"video": {"psnr": 15.47348239136194, "ssim": 0.6152565538808412, "lpips": 0.32977294921875}, "wrist_left": {"psnr": 6.598688618704156, "ssim": 0.12884253026307513, "lpips": 0.8205387592315674}, "wrist_right": {"psnr": 6.304969002559362, "ssim": 0.28890180097366724, "lpips": 0.6417813301086426}, "tactile_left": {"psnr": 24.864963703105566, "ssim": 0.9312196200619302, "lpips": 0.3004189729690552}, "tactile_right": {"psnr": 22.29306639314142, "ssim": 0.9322962080548727, "lpips": 0.2162642776966095}}, {"video": {"psnr": 13.409105912251329, "ssim": 0.581807587142614, "lpips": 0.4233821630477905}, "wrist_left": {"psnr": 6.352312265231151, "ssim": 0.1302696940844889, "lpips": 0.8606659173965454}, "wrist_right": {"psnr": 6.344963176278363, "ssim": 0.3072504883087812, "lpips": 0.6610398292541504}, "tactile_left": {"psnr": 20.281541207147136, "ssim": 0.8967427368254479, "lpips": 0.3674240708351135}, "tactile_right": {"psnr": 18.656324098393636, "ssim": 0.9069634529672621, "lpips": 0.29622119665145874}}, {"video": {"psnr": 8.069012116469148, "ssim": 0.5197087815292898, "lpips": 0.7415163516998291}, "wrist_left": {"psnr": 6.0137033610563115, "ssim": 0.2869616280550178, "lpips": 0.9082802534103394}, "wrist_right": {"psnr": 3.9220172148022154, "ssim": 0.22803282601777214, "lpips": 0.9285933971405029}, "tactile_left": {"psnr": 8.050332766387472, "ssim": 0.6734508762986777, "lpips": 0.6371679306030273}, "tactile_right": {"psnr": 6.349045727946033, "ssim": 0.616570167517436, "lpips": 0.6582626104354858}}, {"video": {"psnr": 6.050581335034505, "ssim": 0.4960006803056626, "lpips": 0.8081469535827637}, "wrist_left": {"psnr": 4.7346136317711, "ssim": 0.4437438922298339, "lpips": 0.8476687669754028}, "wrist_right": {"psnr": 2.309547735581778, "ssim": 0.13740366283371294, "lpips": 0.957053005695343}, "tactile_left": {"psnr": 4.622329584836909, "ssim": 0.5623610238504017, "lpips": 0.8443105220794678}, "tactile_right": {"psnr": 4.0941631436540415, "ssim": 0.515375622287911, "lpips": 0.8383858799934387}}], "long_metrics": {"video": {"psnr": 17.319934351002985, "ssim": 0.6524751474131263, "lpips": 0.3162164236108462}, "wrist_left": {"psnr": 8.52795251569716, "ssim": 0.2304280681519156, "lpips": 0.7052050113677979}, "wrist_right": {"psnr": 9.434384223859455, "ssim": 0.37552592916389127, "lpips": 0.5402242124080658}, "tactile_left": {"psnr": 27.159725164589073, "ssim": 0.8934124137708465, "lpips": 0.3269944846630096}, "tactile_right": {"psnr": 29.252880060983482, "ssim": 0.9072154659330998, "lpips": 0.2183127241830031}}}, {"id": "motherboard_custom_e002_10", "episode": "motherboard_0909_episode_002.pt", "requested_episode": "motherboard_0909_episode_002.pt", "category": "release", "t_start": 1051, "start_seconds": 70.06666666666666, "short_contact": [1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 0, 0], "future_transition_ticks": [11], "long_contact_fraction": 0.703125, "long_label": "release", "short_metrics": {"video": {"psnr": 21.405869158498906, "ssim": 0.7480052256042099, "lpips": 0.1147780790925026}, "wrist_left": {"psnr": 13.631422132282093, "ssim": 0.5303845336474243, "lpips": 0.38548702001571655}, "wrist_right": {"psnr": 12.21939221095693, "ssim": 0.3409679953690085, "lpips": 0.4378933012485504}, "tactile_left": {"psnr": 47.73405352943699, "ssim": 0.9930885233846388, "lpips": 0.006207401864230633}, "tactile_right": {"psnr": 34.813259766821275, "ssim": 0.9775911107320195, "lpips": 0.0667586401104927}}, "media": {"short": {"video": "media/motherboard_custom_e002_10_short.mp4", "poster": "media/motherboard_custom_e002_10_short.jpg"}, "long": {"video": "media/motherboard_custom_e002_10_long.mp4", "poster": "media/motherboard_custom_e002_10_long.jpg"}}, "force": {"source": "recorded_normal_force", "units": "N", "fps": 15, "left": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "right": [5.259615421295166, 5.145384788513184, 4.285294055938721, 4.229005336761475, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.636666774749756, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 2.9424359798431396, 2.9424359798431396, 5.439090728759766, 6.251071453094482, 6.251071453094482, 6.251071453094482, 5.439090728759766, 5.439090728759766, 5.439090728759766, 6.251071453094482, 6.251071453094482, 4.3677778244018555, 1.5254545211791992, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 4.285294055938721, 6.251071453094482, 6.251071453094482, 6.733333110809326, 6.251071453094482, 6.251071453094482, 6.251071453094482, 5.439090728759766, 5.881275653839111, 6.0783467292785645, 5.259615421295166, 5.259615421295166, 5.145384788513184, 5.145384788513184, 5.259615421295166, 4.285294055938721, 1.1662499904632568, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.5254545211791992, 6.251071453094482, 7.293181896209717, 7.3070878982543945, 7.312847137451172, 7.293181896209717, 7.293181896209717, 0.7404214143753052, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4500000476837158, 5.145384788513184, 7.293181896209717, 7.869999885559082, 7.869999885559082, 7.869999885559082, 7.869999885559082, 7.869999885559082, 7.869999885559082, 0.0, 0.0, 1.5254545211791992, 1.1733332872390747, 2.9424359798431396, 4.285294055938721, 7.293181896209717, 7.469607353210449, 7.569608211517334, 7.293181896209717, 7.293181896209717, 7.293181896209717, 6.733333110809326, 5.3493146896362305, 5.439090728759766, 5.439090728759766, 5.439090728759766, 6.251071453094482, 5.439090728759766, 5.145384788513184, 1.1662499904632568, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.5254545211791992, 1.5254545211791992, 1.9833333492279053, 2.9424359798431396, 4.3677778244018555, 5.145384788513184, 5.145384788513184, 4.4391984939575195, 6.251071453094482, 6.251071453094482, 6.733333110809326, 6.251071453094482, 2.9424359798431396]}, "long_curve": [{"video": {"psnr": 21.405869158498906, "ssim": 0.7480052256042099, "lpips": 0.1147780790925026}, "wrist_left": {"psnr": 13.631422132282093, "ssim": 0.5303845336474243, "lpips": 0.38548702001571655}, "wrist_right": {"psnr": 12.21939221095693, "ssim": 0.3409679953690085, "lpips": 0.4378933012485504}, "tactile_left": {"psnr": 47.73405352943699, "ssim": 0.9930885233846388, "lpips": 0.006207401864230633}, "tactile_right": {"psnr": 34.813259766821275, "ssim": 0.9775911107320195, "lpips": 0.0667586401104927}}, {"video": {"psnr": 19.750791148840296, "ssim": 0.7000117380501663, "lpips": 0.15177878737449646}, "wrist_left": {"psnr": 14.088913928035225, "ssim": 0.5190758034679764, "lpips": 0.3640809655189514}, "wrist_right": {"psnr": 9.945720460126125, "ssim": 0.24322848297643163, "lpips": 0.5897430777549744}, "tactile_left": {"psnr": 44.87770036155489, "ssim": 0.98863570978813, "lpips": 0.02317238226532936}, "tactile_right": {"psnr": 31.036853660152882, "ssim": 0.9434877090175029, "lpips": 0.18436561524868011}}, {"video": {"psnr": 19.38999871978587, "ssim": 0.7029490829720753, "lpips": 0.16085870563983917}, "wrist_left": {"psnr": 12.914002660253917, "ssim": 0.4836774903681781, "lpips": 0.45182377099990845}, "wrist_right": {"psnr": 11.037536535755013, "ssim": 0.2629809493762897, "lpips": 0.5675486326217651}, "tactile_left": {"psnr": 41.99266826117362, "ssim": 0.9839971274631936, "lpips": 0.04463173449039459}, "tactile_right": {"psnr": 30.59105849099369, "ssim": 0.9409038021815646, "lpips": 0.1915634572505951}}, {"video": {"psnr": 18.122208890302986, "ssim": 0.6772176145139805, "lpips": 0.212794229388237}, "wrist_left": {"psnr": 11.692795121830407, "ssim": 0.41225850194557623, "lpips": 0.5503294467926025}, "wrist_right": {"psnr": 11.364256129319578, "ssim": 0.26133351760738643, "lpips": 0.5992255210876465}, "tactile_left": {"psnr": 37.99239638027849, "ssim": 0.9748992163992223, "lpips": 0.10443741083145142}, "tactile_right": {"psnr": 32.965705939009844, "ssim": 0.9582117764151, "lpips": 0.13407248258590698}}, {"video": {"psnr": 17.99805251802944, "ssim": 0.6751708074327819, "lpips": 0.2200658619403839}, "wrist_left": {"psnr": 11.246676605354002, "ssim": 0.38173668044179787, "lpips": 0.5745695233345032}, "wrist_right": {"psnr": 10.44350868208345, "ssim": 0.19923033506289975, "lpips": 0.6307367086410522}, "tactile_left": {"psnr": 32.21837588730767, "ssim": 0.9545309107287074, "lpips": 0.21429237723350525}, "tactile_right": {"psnr": 27.682529091082593, "ssim": 0.9314091621047347, "lpips": 0.24119532108306885}}, {"video": {"psnr": 17.294722277270445, "ssim": 0.6583911212941016, "lpips": 0.2614946663379669}, "wrist_left": {"psnr": 12.162254276200613, "ssim": 0.4529642607009333, "lpips": 0.5165036916732788}, "wrist_right": {"psnr": 10.155931096140126, "ssim": 0.19687551052996485, "lpips": 0.6610265970230103}, "tactile_left": {"psnr": 33.868899873752085, "ssim": 0.966165757315507, "lpips": 0.17173166573047638}, "tactile_right": {"psnr": 28.89694053927174, "ssim": 0.9414831143124734, "lpips": 0.2239713966846466}}, {"video": {"psnr": 16.964083066469517, "ssim": 0.6479836888252226, "lpips": 0.28096839785575867}, "wrist_left": {"psnr": 12.306279550702076, "ssim": 0.45377586225114636, "lpips": 0.5362343788146973}, "wrist_right": {"psnr": 11.254789614399973, "ssim": 0.2562867804493085, "lpips": 0.5579055547714233}, "tactile_left": {"psnr": 32.35805748474383, "ssim": 0.963055154159196, "lpips": 0.18600307404994965}, "tactile_right": {"psnr": 33.10753498553525, "ssim": 0.960921571878371, "lpips": 0.12756720185279846}}, {"video": {"psnr": 16.800112377602552, "ssim": 0.6431361110185535, "lpips": 0.29103776812553406}, "wrist_left": {"psnr": 11.461855649877355, "ssim": 0.36620982490635884, "lpips": 0.6002404689788818}, "wrist_right": {"psnr": 10.784491911145771, "ssim": 0.2103936694038402, "lpips": 0.6244091987609863}, "tactile_left": {"psnr": 30.7089098319424, "ssim": 0.9594342245721093, "lpips": 0.2032524049282074}, "tactile_right": {"psnr": 28.39283521318571, "ssim": 0.9303140733461681, "lpips": 0.246614471077919}}, {"video": {"psnr": 17.373180085501843, "ssim": 0.6610925672949419, "lpips": 0.263147234916687}, "wrist_left": {"psnr": 10.844861037673656, "ssim": 0.3930042680508587, "lpips": 0.5897344350814819}, "wrist_right": {"psnr": 9.464201199878971, "ssim": 0.21656474095695083, "lpips": 0.625921905040741}, "tactile_left": {"psnr": 29.20214328563446, "ssim": 0.955617090928206, "lpips": 0.21644745767116547}, "tactile_right": {"psnr": 31.154820552510394, "ssim": 0.9534134264815661, "lpips": 0.18833866715431213}}, {"video": {"psnr": 17.015798378266428, "ssim": 0.6319397222737408, "lpips": 0.30508244037628174}, "wrist_left": {"psnr": 9.984001110873587, "ssim": 0.3359219380053601, "lpips": 0.6266888380050659}, "wrist_right": {"psnr": 8.521607318152922, "ssim": 0.14544578511281325, "lpips": 0.6731693744659424}, "tactile_left": {"psnr": 27.586160127342296, "ssim": 0.9511221325457186, "lpips": 0.22826215624809265}, "tactile_right": {"psnr": 26.238186468782065, "ssim": 0.9177909544077614, "lpips": 0.3372606039047241}}, {"video": {"psnr": 16.46004014063481, "ssim": 0.6323919860284665, "lpips": 0.32700133323669434}, "wrist_left": {"psnr": 9.066350347071662, "ssim": 0.31370731163229243, "lpips": 0.635237455368042}, "wrist_right": {"psnr": 7.83654072252123, "ssim": 0.1502332676644772, "lpips": 0.7278873920440674}, "tactile_left": {"psnr": 25.44068293609365, "ssim": 0.9432417927551859, "lpips": 0.24090099334716797}, "tactile_right": {"psnr": 27.27669829660286, "ssim": 0.937776064558197, "lpips": 0.2424079179763794}}, {"video": {"psnr": 15.919567809179735, "ssim": 0.6205226138105338, "lpips": 0.34199994802474976}, "wrist_left": {"psnr": 8.185698312455902, "ssim": 0.3285722834404945, "lpips": 0.6606678366661072}, "wrist_right": {"psnr": 7.224353720694441, "ssim": 0.13345532890941184, "lpips": 0.7615306377410889}, "tactile_left": {"psnr": 23.856362733224074, "ssim": 0.9413853480134448, "lpips": 0.25110140442848206}, "tactile_right": {"psnr": 25.584311982901365, "ssim": 0.9258754676912575, "lpips": 0.2833070755004883}}, {"video": {"psnr": 15.242040383116123, "ssim": 0.6193837444918817, "lpips": 0.3953853249549866}, "wrist_left": {"psnr": 6.822117461191581, "ssim": 0.4721211296363079, "lpips": 0.6968310475349426}, "wrist_right": {"psnr": 6.8791422529106345, "ssim": 0.15951578035395148, "lpips": 0.7132412195205688}, "tactile_left": {"psnr": 20.6052958375084, "ssim": 0.9269514116713422, "lpips": 0.3008020222187042}, "tactile_right": {"psnr": 25.920560442011002, "ssim": 0.9397199236614581, "lpips": 0.22160786390304565}}, {"video": {"psnr": 12.236995145916147, "ssim": 0.5401087868686041, "lpips": 0.5392711162567139}, "wrist_left": {"psnr": 6.544585307167744, "ssim": 0.49571135709056624, "lpips": 0.7668720483779907}, "wrist_right": {"psnr": 5.666106253477637, "ssim": 0.12471092124031188, "lpips": 0.7027501463890076}, "tactile_left": {"psnr": 14.70696006148204, "ssim": 0.8473426447512311, "lpips": 0.4077819585800171}, "tactile_right": {"psnr": 24.108988037909555, "ssim": 0.9379640771366502, "lpips": 0.24272838234901428}}, {"video": {"psnr": 7.741990672006594, "ssim": 0.5521380006852616, "lpips": 0.8071709871292114}, "wrist_left": {"psnr": 4.9624633718997515, "ssim": 0.5058249039194225, "lpips": 0.8484364748001099}, "wrist_right": {"psnr": 3.8630980405703994, "ssim": 0.12309266100802342, "lpips": 0.9523957967758179}, "tactile_left": {"psnr": 5.070943881078275, "ssim": 0.6011105148726779, "lpips": 0.7619785070419312}, "tactile_right": {"psnr": 9.212583294686885, "ssim": 0.6999499559029984, "lpips": 0.5629017353057861}}], "long_metrics": {"video": {"psnr": 16.64769671809478, "ssim": 0.6473628540776348, "lpips": 0.3115223253766696}, "wrist_left": {"psnr": 10.394285124857971, "ssim": 0.4296630766336463, "lpips": 0.5869158267974853}, "wrist_right": {"psnr": 9.11071174320888, "ssim": 0.20162104840140463, "lpips": 0.6550256709257761}, "tactile_left": {"psnr": 29.88130736483688, "ssim": 0.9300385039565674, "lpips": 0.22406686339527368}, "tactile_right": {"psnr": 27.79885778409714, "ssim": 0.9264541459885216, "lpips": 0.23297738879919053}}}, {"id": "motherboard_custom_e002_11", "episode": "motherboard_0909_episode_002.pt", "requested_episode": "motherboard_0909_episode_002.pt", "category": "full", "t_start": 1788, "start_seconds": 119.2, "short_contact": [1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1], "future_transition_ticks": [], "long_contact_fraction": 0.9609375, "long_label": "full", "short_metrics": {"video": {"psnr": 26.499017922590532, "ssim": 0.8743898424926247, "lpips": 0.045552074909210205}, "wrist_left": {"psnr": 11.54679503523024, "ssim": 0.3782589898288599, "lpips": 0.36485251784324646}, "wrist_right": {"psnr": 22.3278977379, "ssim": 0.8538972531814106, "lpips": 0.04220809042453766}, "tactile_left": {"psnr": 47.041022991493975, "ssim": 0.9909019760410901, "lpips": 0.009731600992381573}, "tactile_right": {"psnr": 44.801499978791746, "ssim": 0.9862693316714892, "lpips": 0.011238787323236465}}, "media": {"short": {"video": "media/motherboard_custom_e002_11_short.mp4", "poster": "media/motherboard_custom_e002_11_short.jpg"}, "long": {"video": "media/motherboard_custom_e002_11_long.mp4", "poster": "media/motherboard_custom_e002_11_long.jpg"}}, "force": {"source": "recorded_normal_force", "units": "N", "fps": 15, "left": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 2.9424359798431396, 5.439090728759766, 6.733333110809326, 7.293181896209717, 7.293181896209717, 7.299813270568848, 7.3037261962890625, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 6.733333110809326, 6.733333110809326, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 6.733333110809326, 5.439090728759766, 4.285294055938721, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 4.285294055938721, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.8207693099975586, 2.861105442047119, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "right": [1.1733332872390747, 1.5254545211791992, 1.5254545211791992, 1.5254545211791992, 1.5254545211791992, 1.5254545211791992, 1.5254545211791992, 1.5254545211791992, 1.5254545211791992, 1.5254545211791992, 1.5254545211791992, 1.5254545211791992, 1.5254545211791992, 1.9331133365631104, 1.9833333492279053, 2.636666774749756, 2.8207693099975586, 2.8207693099975586, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 4.285294055938721, 4.285294055938721, 4.285294055938721, 4.285294055938721, 4.285294055938721, 4.285294055938721, 4.285294055938721, 4.285294055938721, 5.145384788513184, 5.259615421295166, 5.145384788513184, 5.145384788513184, 5.145384788513184, 4.3677778244018555, 5.971224308013916, 5.484982967376709, 5.702359199523926, 5.145384788513184, 5.145384788513184, 5.145384788513184, 6.251071453094482, 6.251071453094482, 6.251071453094482, 6.251071453094482, 6.251071453094482, 6.251071453094482, 6.251071453094482, 6.251071453094482, 6.251071453094482, 6.251071453094482, 5.439090728759766, 4.3677778244018555, 4.285294055938721, 2.9424359798431396, 2.8207693099975586, 1.1733332872390747, 1.1662499904632568, 1.1662499904632568, 1.1662499904632568, 1.1662499904632568, 1.1662499904632568, 1.1662499904632568, 1.1662499904632568, 1.2584279775619507, 1.5254545211791992, 1.9178065061569214, 1.9830996990203857, 1.8448008298873901, 1.5254545211791992, 1.445785403251648, 1.1733332872390747, 1.1662499904632568, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 2.8207693099975586, 4.285294055938721, 5.259615421295166, 6.251071453094482, 7.293181896209717, 7.293181896209717, 7.30930757522583, 7.30930757522583, 7.869999885559082, 7.869999885559082, 7.869999885559082, 7.823916435241699, 7.602156639099121, 7.494094371795654, 7.307358264923096, 7.307871341705322, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 6.251071453094482, 5.439090728759766, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.8207693099975586, 2.636666774749756, 1.9833333492279053, 2.9424359798431396, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 6.733333110809326, 6.251071453094482, 2.9424359798431396, 1.5254545211791992, 1.1662499904632568, 1.1662499904632568]}, "long_curve": [{"video": {"psnr": 26.499017922590532, "ssim": 0.8743898424926247, "lpips": 0.045552074909210205}, "wrist_left": {"psnr": 11.54679503523024, "ssim": 0.3782589898288599, "lpips": 0.36485251784324646}, "wrist_right": {"psnr": 22.3278977379, "ssim": 0.8538972531814106, "lpips": 0.04220809042453766}, "tactile_left": {"psnr": 47.041022991493975, "ssim": 0.9909019760410901, "lpips": 0.009731600992381573}, "tactile_right": {"psnr": 44.801499978791746, "ssim": 0.9862693316714892, "lpips": 0.011238787323236465}}, {"video": {"psnr": 24.566525697183515, "ssim": 0.8141976092002008, "lpips": 0.07096585631370544}, "wrist_left": {"psnr": 10.237210647246735, "ssim": 0.24982471802428485, "lpips": 0.5068578720092773}, "wrist_right": {"psnr": 16.973481921599312, "ssim": 0.6049338121120152, "lpips": 0.146310955286026}, "tactile_left": {"psnr": 31.686485172223236, "ssim": 0.9354416971236239, "lpips": 0.20873937010765076}, "tactile_right": {"psnr": 33.403346570042814, "ssim": 0.9553758468063784, "lpips": 0.10557487607002258}}, {"video": {"psnr": 22.44656897590337, "ssim": 0.7435657228611432, "lpips": 0.10361307114362717}, "wrist_left": {"psnr": 11.085788427406593, "ssim": 0.2736244896555862, "lpips": 0.4833163619041443}, "wrist_right": {"psnr": 11.564150366488725, "ssim": 0.38674130752179703, "lpips": 0.42213401198387146}, "tactile_left": {"psnr": 30.37373273870967, "ssim": 0.9121759277980506, "lpips": 0.2818666696548462}, "tactile_right": {"psnr": 30.539318064153754, "ssim": 0.9413983110819126, "lpips": 0.1735810935497284}}, {"video": {"psnr": 20.145330775668956, "ssim": 0.6785730447141376, "lpips": 0.16740712523460388}, "wrist_left": {"psnr": 11.169509346540298, "ssim": 0.27601644109116363, "lpips": 0.4666147530078888}, "wrist_right": {"psnr": 10.286962834433925, "ssim": 0.3085041590782352, "lpips": 0.5375804305076599}, "tactile_left": {"psnr": 30.75214087566344, "ssim": 0.920661665762655, "lpips": 0.284151166677475}, "tactile_right": {"psnr": 30.25527211014971, "ssim": 0.9410068047626905, "lpips": 0.18218639492988586}}, {"video": {"psnr": 19.48079605223666, "ssim": 0.6587831281030265, "lpips": 0.20453497767448425}, "wrist_left": {"psnr": 10.96964166047991, "ssim": 0.27031176655920464, "lpips": 0.4704866409301758}, "wrist_right": {"psnr": 10.026602580451922, "ssim": 0.29666052566022755, "lpips": 0.5474828481674194}, "tactile_left": {"psnr": 29.678703382943347, "ssim": 0.9143148663860436, "lpips": 0.3108660578727722}, "tactile_right": {"psnr": 29.919041351676125, "ssim": 0.9375817436282284, "lpips": 0.18944042921066284}}, {"video": {"psnr": 19.12718400318784, "ssim": 0.6531840239503359, "lpips": 0.2283065915107727}, "wrist_left": {"psnr": 10.23313645750044, "ssim": 0.26290036148142015, "lpips": 0.5067356824874878}, "wrist_right": {"psnr": 9.61218316061958, "ssim": 0.29284530952519366, "lpips": 0.5689753293991089}, "tactile_left": {"psnr": 29.509861079820485, "ssim": 0.9245350684565239, "lpips": 0.30466902256011963}, "tactile_right": {"psnr": 30.53006290817656, "ssim": 0.9445414412573969, "lpips": 0.19210901856422424}}, {"video": {"psnr": 18.821648324327462, "ssim": 0.6445077114373512, "lpips": 0.2393365204334259}, "wrist_left": {"psnr": 7.680142660738035, "ssim": 0.22429643062778643, "lpips": 0.6170284152030945}, "wrist_right": {"psnr": 9.435370508453468, "ssim": 0.28979761062010545, "lpips": 0.5762794613838196}, "tactile_left": {"psnr": 29.05067154878141, "ssim": 0.9407482537160946, "lpips": 0.2649526596069336}, "tactile_right": {"psnr": 31.81236414379906, "ssim": 0.9548242810363204, "lpips": 0.17040419578552246}}, {"video": {"psnr": 18.447264977836944, "ssim": 0.633314613088034, "lpips": 0.2645096778869629}, "wrist_left": {"psnr": 9.451908895801902, "ssim": 0.22478639633441644, "lpips": 0.5686925649642944}, "wrist_right": {"psnr": 9.03515202825547, "ssim": 0.29001734895497944, "lpips": 0.5960097908973694}, "tactile_left": {"psnr": 27.797256708008963, "ssim": 0.9346266848615961, "lpips": 0.27682554721832275}, "tactile_right": {"psnr": 31.703115116238546, "ssim": 0.9524615039695971, "lpips": 0.18825273215770721}}, {"video": {"psnr": 17.770755500721748, "ssim": 0.6209000248949148, "lpips": 0.30792075395584106}, "wrist_left": {"psnr": 8.330383715434243, "ssim": 0.20245189884147302, "lpips": 0.6221011877059937}, "wrist_right": {"psnr": 7.91014118697364, "ssim": 0.28196837660461654, "lpips": 0.6627833247184753}, "tactile_left": {"psnr": 26.74302926735163, "ssim": 0.933531211594171, "lpips": 0.29698389768600464}, "tactile_right": {"psnr": 31.34546658473175, "ssim": 0.9561535068780049, "lpips": 0.15742790699005127}}, {"video": {"psnr": 17.22360112058445, "ssim": 0.6207264163122341, "lpips": 0.3101189136505127}, "wrist_left": {"psnr": 7.22203777027024, "ssim": 0.2340136803247437, "lpips": 0.6208891868591309}, "wrist_right": {"psnr": 6.241861078310601, "ssim": 0.2202026772787156, "lpips": 0.6710214614868164}, "tactile_left": {"psnr": 25.929443343459702, "ssim": 0.9408975269711117, "lpips": 0.24946697056293488}, "tactile_right": {"psnr": 29.157369518383543, "ssim": 0.9435463545774796, "lpips": 0.21553832292556763}}, {"video": {"psnr": 16.443902664540666, "ssim": 0.6113482664567613, "lpips": 0.32026463747024536}, "wrist_left": {"psnr": 6.970185349899259, "ssim": 0.33234883407299565, "lpips": 0.614416241645813}, "wrist_right": {"psnr": 5.625692956159812, "ssim": 0.2033002451981201, "lpips": 0.7103643417358398}, "tactile_left": {"psnr": 24.748933435099218, "ssim": 0.9425438668383, "lpips": 0.23369954526424408}, "tactile_right": {"psnr": 24.018336511037106, "ssim": 0.9062805170366027, "lpips": 0.3585958778858185}}, {"video": {"psnr": 15.721481775389151, "ssim": 0.6039740161012858, "lpips": 0.3437943160533905}, "wrist_left": {"psnr": 6.085899338111949, "ssim": 0.29668018964258003, "lpips": 0.6641662120819092}, "wrist_right": {"psnr": 4.938786644732943, "ssim": 0.2147714709854451, "lpips": 0.7421431541442871}, "tactile_left": {"psnr": 23.097071587001615, "ssim": 0.9378561521144338, "lpips": 0.2533453702926636}, "tactile_right": {"psnr": 22.374443266743587, "ssim": 0.9041255953580238, "lpips": 0.3713987171649933}}, {"video": {"psnr": 13.24847717604569, "ssim": 0.5799968085405234, "lpips": 0.44120973348617554}, "wrist_left": {"psnr": 5.054490998503605, "ssim": 0.3033951988652494, "lpips": 0.7348642349243164}, "wrist_right": {"psnr": 4.76212248816565, "ssim": 0.22956842990973952, "lpips": 0.7951070666313171}, "tactile_left": {"psnr": 19.208425906901198, "ssim": 0.9111285005076433, "lpips": 0.3351998031139374}, "tactile_right": {"psnr": 17.632308744127172, "ssim": 0.8701953699826319, "lpips": 0.4363013505935669}}, {"video": {"psnr": 7.212456794081749, "ssim": 0.5046781289221921, "lpips": 0.8055641651153564}, "wrist_left": {"psnr": 5.332289594644739, "ssim": 0.37457932952271733, "lpips": 0.8932574987411499}, "wrist_right": {"psnr": 4.023163115428224, "ssim": 0.2449028372840557, "lpips": 0.9493187665939331}, "tactile_left": {"psnr": 6.765827529281818, "ssim": 0.6436438221268028, "lpips": 0.6745940446853638}, "tactile_right": {"psnr": 5.324419551506948, "ssim": 0.5730483768127173, "lpips": 0.7673556208610535}}, {"video": {"psnr": 6.008930158784882, "ssim": 0.47690608637154197, "lpips": 0.8115488886833191}, "wrist_left": {"psnr": 3.9543412975114176, "ssim": 0.342018070618205, "lpips": 0.8897898197174072}, "wrist_right": {"psnr": 3.3660180154151003, "ssim": 0.23845165856031553, "lpips": 0.911128044128418}, "tactile_left": {"psnr": 4.569691288828307, "ssim": 0.5528312080797722, "lpips": 0.8670517206192017}, "tactile_right": {"psnr": 4.2046140147545765, "ssim": 0.5067880906063897, "lpips": 0.8572059869766235}}], "long_metrics": {"video": {"psnr": 17.544262794605576, "ssim": 0.6479363628964204, "lpips": 0.3109764869014422}, "wrist_left": {"psnr": 8.354917413021306, "ssim": 0.28303378636604576, "lpips": 0.6016046126683553}, "wrist_right": {"psnr": 9.07530577489256, "ssim": 0.3304375348316648, "lpips": 0.5919231384992599}, "tactile_left": {"psnr": 25.796819790371202, "ssim": 0.8890558952251941, "lpips": 0.32347622979432344}, "tactile_right": {"psnr": 26.4680652289542, "ssim": 0.8849064716977242, "lpips": 0.2917740873992443}}}, {"id": "motherboard_custom_e002_12", "episode": "motherboard_0911_episode_008_seg00.pt", "requested_episode": "motherboard_0911_episode_008_seg00.pt", "category": "none", "t_start": 913, "start_seconds": 60.86666666666667, "short_contact": [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0], "future_transition_ticks": [], "long_contact_fraction": 0.2734375, "long_label": "none_at_start", "short_metrics": {"video": {"psnr": 26.49822794424751, "ssim": 0.8893261294770468, "lpips": 0.04433509707450867}, "wrist_left": {"psnr": 16.70186259184122, "ssim": 0.7034495532512786, "lpips": 0.20167504251003265}, "wrist_right": {"psnr": 15.064927504780204, "ssim": 0.38905029418101683, "lpips": 0.3428824543952942}, "tactile_left": {"psnr": 50.188615439026236, "ssim": 0.9937052901728419, "lpips": 0.004969817586243153}, "tactile_right": {"psnr": 49.25521724333721, "ssim": 0.9933630774213278, "lpips": 0.007623023819178343}}, "media": {"short": {"video": "media/motherboard_custom_e002_12_short.mp4", "poster": "media/motherboard_custom_e002_12_short.jpg"}, "long": {"video": "media/motherboard_custom_e002_12_long.mp4", "poster": "media/motherboard_custom_e002_12_long.jpg"}}, "force": {"source": "recorded_normal_force", "units": "N", "fps": 15, "left": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "right": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.6395905017852783, 0.529942512512207, 0.529942512512207, 0.2907944917678833, 0.5600000023841858, 0.1599999964237213, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0812060683965683, 0.0024630518164485693, 0.0, 1.3589457273483276, 0.0, 0.0, 0.0, 0.5390956997871399, 0.3198980987071991, 0.5392528176307678, 0.0, 0.0, 0.0, 0.0, 1.187829852104187, 0.0, 1.294777274131775, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.8550904393196106, 0.0, 0.7983333468437195, 0.7983333468437195, 2.243333339691162, 1.284462809562683, 0.0, 2.3248276710510254, 0.27564528584480286, 0.4399999976158142, 0.49203309416770935, 0.7983333468437195, 1.9444444179534912, 0.5351153016090393, 0.4000000059604645, 0.4866666793823242, 0.4399999976158142, 0.1599999964237213, 0.0, 0.0, 0.0, 0.0, 0.0, 2.3248276710510254, 1.277543306350708, 0.0, 0.0, 3.0568182468414307, 2.0719287395477295, 0.0, 0.0, 2.563887119293213, 0.0, 0.0, 0.0, 0.7983333468437195, 1.9444444179534912, 0.7983333468437195, 0.1599999964237213, 0.5624003410339355, 0.7983333468437195, 0.0, 0.0, 0.0, 0.0, 0.0, 0.1599999964237213, 0.1599999964237213, 0.1599999964237213, 1.9444444179534912, 0.5600000023841858, 1.9444444179534912, 0.4000000059604645, 0.1599999964237213, 3.0568182468414307, 0.0, 2.898989200592041, 0.7983333468437195, 0.3728911876678467, 0.27666667103767395, 0.2400962859392166, 0.16988153755664825, 0.1599999964237213, 0.1599999964237213, 0.0, 0.0, 0.0, 0.0, 0.11106123775243759, 0.49718019366264343, 0.7983333468437195]}, "long_curve": [{"video": {"psnr": 26.49822794424751, "ssim": 0.8893261294770468, "lpips": 0.04433509707450867}, "wrist_left": {"psnr": 16.70186259184122, "ssim": 0.7034495532512786, "lpips": 0.20167504251003265}, "wrist_right": {"psnr": 15.064927504780204, "ssim": 0.38905029418101683, "lpips": 0.3428824543952942}, "tactile_left": {"psnr": 50.188615439026236, "ssim": 0.9937052901728419, "lpips": 0.004969817586243153}, "tactile_right": {"psnr": 49.25521724333721, "ssim": 0.9933630774213278, "lpips": 0.007623023819178343}}, {"video": {"psnr": 24.62108875481038, "ssim": 0.8448062290804619, "lpips": 0.06060241162776947}, "wrist_left": {"psnr": 15.045009763248325, "ssim": 0.6651755070882919, "lpips": 0.25826725363731384}, "wrist_right": {"psnr": 14.087583093230535, "ssim": 0.2981371244368521, "lpips": 0.4540829360485077}, "tactile_left": {"psnr": 45.13534265098439, "ssim": 0.9894945103667883, "lpips": 0.013010762631893158}, "tactile_right": {"psnr": 40.92594888576164, "ssim": 0.9796699299173126, "lpips": 0.06233261898159981}}, {"video": {"psnr": 23.957819601048207, "ssim": 0.8275953650952398, "lpips": 0.07123556733131409}, "wrist_left": {"psnr": 14.75994507397295, "ssim": 0.6593058953259593, "lpips": 0.27996015548706055}, "wrist_right": {"psnr": 14.107363323772113, "ssim": 0.3000586043868458, "lpips": 0.459227979183197}, "tactile_left": {"psnr": 41.05917751387378, "ssim": 0.9864092088390768, "lpips": 0.02651136741042137}, "tactile_right": {"psnr": 38.3581026012554, "ssim": 0.9739375566590277, "lpips": 0.06656400859355927}}, {"video": {"psnr": 23.77731177522408, "ssim": 0.8213006183391178, "lpips": 0.0784183144569397}, "wrist_left": {"psnr": 14.72495369150163, "ssim": 0.642855323212544, "lpips": 0.28150394558906555}, "wrist_right": {"psnr": 14.325544141578398, "ssim": 0.293898644832674, "lpips": 0.4616309404373169}, "tactile_left": {"psnr": 38.60449033806844, "ssim": 0.9826506141122869, "lpips": 0.04281967133283615}, "tactile_right": {"psnr": 37.93362414921014, "ssim": 0.9763375868114205, "lpips": 0.04335735738277435}}, {"video": {"psnr": 23.9078508348908, "ssim": 0.8307381917639012, "lpips": 0.07056628167629242}, "wrist_left": {"psnr": 14.241378449984733, "ssim": 0.6242994706656901, "lpips": 0.3151947259902954}, "wrist_right": {"psnr": 14.353086864620625, "ssim": 0.29396735255086076, "lpips": 0.45601528882980347}, "tactile_left": {"psnr": 36.65042153841956, "ssim": 0.9795331990508884, "lpips": 0.0614955835044384}, "tactile_right": {"psnr": 37.34753086356984, "ssim": 0.9750625392803092, "lpips": 0.058845404535532}}, {"video": {"psnr": 23.484231455686484, "ssim": 0.8112606323491298, "lpips": 0.082936130464077}, "wrist_left": {"psnr": 13.575899836132873, "ssim": 0.6065951460520047, "lpips": 0.3548799157142639}, "wrist_right": {"psnr": 14.738353225211245, "ssim": 0.34273754014510205, "lpips": 0.4705383777618408}, "tactile_left": {"psnr": 34.50251231145131, "ssim": 0.9755205449634503, "lpips": 0.08973097056150436}, "tactile_right": {"psnr": 36.646538667753525, "ssim": 0.9743295038580742, "lpips": 0.06763090193271637}}, {"video": {"psnr": 22.12904464865931, "ssim": 0.7722039741406801, "lpips": 0.11044211685657501}, "wrist_left": {"psnr": 12.92663283202563, "ssim": 0.5797378251610229, "lpips": 0.38856494426727295}, "wrist_right": {"psnr": 13.474863834416823, "ssim": 0.2931521738903123, "lpips": 0.47890859842300415}, "tactile_left": {"psnr": 33.17401357331211, "ssim": 0.9715156587270823, "lpips": 0.11142423748970032}, "tactile_right": {"psnr": 36.05229558684809, "ssim": 0.973271273558552, "lpips": 0.07719248533248901}}, {"video": {"psnr": 21.80583635302604, "ssim": 0.7641717652165408, "lpips": 0.11935000121593475}, "wrist_left": {"psnr": 12.89477478372836, "ssim": 0.5872197948557045, "lpips": 0.39049798250198364}, "wrist_right": {"psnr": 12.737759066509929, "ssim": 0.3070201939613528, "lpips": 0.5045130848884583}, "tactile_left": {"psnr": 31.79516469193257, "ssim": 0.967037152794683, "lpips": 0.13612321019172668}, "tactile_right": {"psnr": 35.16088683210229, "ssim": 0.9696097447840244, "lpips": 0.11813947558403015}}, {"video": {"psnr": 21.23318716261158, "ssim": 0.7408449145312215, "lpips": 0.1596614122390747}, "wrist_left": {"psnr": 13.058318193846539, "ssim": 0.6114519473425755, "lpips": 0.4042467474937439}, "wrist_right": {"psnr": 11.8610826783902, "ssim": 0.30409735335668436, "lpips": 0.5344803333282471}, "tactile_left": {"psnr": 30.847913189143267, "ssim": 0.9636509280183679, "lpips": 0.15370570123195648}, "tactile_right": {"psnr": 34.135931343000905, "ssim": 0.9692758958991745, "lpips": 0.10963539034128189}}, {"video": {"psnr": 20.904349351804786, "ssim": 0.7219672688689507, "lpips": 0.1744726598262787}, "wrist_left": {"psnr": 12.737391126277789, "ssim": 0.5946831548020024, "lpips": 0.43308746814727783}, "wrist_right": {"psnr": 10.448983597292646, "ssim": 0.2566515648979027, "lpips": 0.5361894369125366}, "tactile_left": {"psnr": 29.68973421037811, "ssim": 0.9584235411884632, "lpips": 0.1733061522245407}, "tactile_right": {"psnr": 32.586278593492274, "ssim": 0.9651795131188571, "lpips": 0.11473946273326874}}, {"video": {"psnr": 20.35587990761463, "ssim": 0.7049024468083875, "lpips": 0.17689108848571777}, "wrist_left": {"psnr": 12.459218801027063, "ssim": 0.5851824874718081, "lpips": 0.4281363785266876}, "wrist_right": {"psnr": 10.604946680780658, "ssim": 0.25823000142652774, "lpips": 0.5398219227790833}, "tactile_left": {"psnr": 29.026768738682858, "ssim": 0.9542810468798197, "lpips": 0.18843913078308105}, "tactile_right": {"psnr": 31.891586744165362, "ssim": 0.9628190600054423, "lpips": 0.1328035295009613}}, {"video": {"psnr": 20.33017349990994, "ssim": 0.700817007634273, "lpips": 0.18519672751426697}, "wrist_left": {"psnr": 12.145077192869493, "ssim": 0.5710644051186642, "lpips": 0.44379109144210815}, "wrist_right": {"psnr": 10.333849057404478, "ssim": 0.2827398219790104, "lpips": 0.5374235510826111}, "tactile_left": {"psnr": 28.298527861470344, "ssim": 0.9500766743130538, "lpips": 0.20675380527973175}, "tactile_right": {"psnr": 31.18921239010462, "ssim": 0.9611552102878622, "lpips": 0.14580732583999634}}, {"video": {"psnr": 20.142263381338566, "ssim": 0.6967044115346621, "lpips": 0.1878414750099182}, "wrist_left": {"psnr": 11.433075512525175, "ssim": 0.529340863914612, "lpips": 0.4900732636451721}, "wrist_right": {"psnr": 10.724412620696633, "ssim": 0.2838569031534034, "lpips": 0.5433441996574402}, "tactile_left": {"psnr": 27.406985582812847, "ssim": 0.945705385633073, "lpips": 0.21987879276275635}, "tactile_right": {"psnr": 30.441634794176352, "ssim": 0.9578699364554499, "lpips": 0.1673607975244522}}, {"video": {"psnr": 20.167370296316562, "ssim": 0.6939891675400018, "lpips": 0.18979772925376892}, "wrist_left": {"psnr": 11.287652748031219, "ssim": 0.5077806472104018, "lpips": 0.49350541830062866}, "wrist_right": {"psnr": 10.996727669144178, "ssim": 0.28004318727942634, "lpips": 0.5148578882217407}, "tactile_left": {"psnr": 26.646127306108227, "ssim": 0.9407807252724867, "lpips": 0.23547789454460144}, "tactile_right": {"psnr": 29.932800259911843, "ssim": 0.9551414759628454, "lpips": 0.19035792350769043}}, {"video": {"psnr": 20.24745730768934, "ssim": 0.6944422316163978, "lpips": 0.19600534439086914}, "wrist_left": {"psnr": 11.224090925104374, "ssim": 0.5025016020027865, "lpips": 0.5144718289375305}, "wrist_right": {"psnr": 10.712086181371683, "ssim": 0.2953784416381183, "lpips": 0.5423070192337036}, "tactile_left": {"psnr": 25.80371953088185, "ssim": 0.9361759437237194, "lpips": 0.24655801057815552}, "tactile_right": {"psnr": 29.29247128302327, "ssim": 0.9525594955474932, "lpips": 0.198429137468338}}], "long_metrics": {"video": {"psnr": 22.237472818325216, "ssim": 0.7676713569330675, "lpips": 0.12718349049488703}, "wrist_left": {"psnr": 13.28101876814116, "ssim": 0.5980429082316898, "lpips": 0.37852374414602913}, "wrist_right": {"psnr": 12.571437969280023, "ssim": 0.2986012801410727, "lpips": 0.4917482674121857}, "tactile_left": {"psnr": 33.921967631769725, "ssim": 0.9663306949370721, "lpips": 0.12734700720757247}, "tactile_right": {"psnr": 35.41000401584752, "ssim": 0.9693054533044783, "lpips": 0.10405458953852455}}}, {"id": "motherboard_custom_e002_13", "episode": "motherboard_0911_episode_008_seg00.pt", "requested_episode": "motherboard_0911_episode_008_seg00.pt", "category": "onset", "t_start": 726, "start_seconds": 48.4, "short_contact": [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 1], "future_transition_ticks": [11], "long_contact_fraction": 0.515625, "long_label": "onset", "short_metrics": {"video": {"psnr": 28.7596362121614, "ssim": 0.9067873583466572, "lpips": 0.026515956968069077}, "wrist_left": {"psnr": 14.798751328777442, "ssim": 0.27341578271886235, "lpips": 0.3164336383342743}, "wrist_right": {"psnr": 19.658283511096833, "ssim": 0.8099566456735994, "lpips": 0.053710583597421646}, "tactile_left": {"psnr": 35.45929722345318, "ssim": 0.968517421581256, "lpips": 0.08290959894657135}, "tactile_right": {"psnr": 49.83855626048608, "ssim": 0.9943151295419985, "lpips": 0.004200272262096405}}, "media": {"short": {"video": "media/motherboard_custom_e002_13_short.mp4", "poster": "media/motherboard_custom_e002_13_short.jpg"}, "long": {"video": "media/motherboard_custom_e002_13_long.mp4", "poster": "media/motherboard_custom_e002_13_long.jpg"}}, "force": {"source": "recorded_normal_force", "units": "N", "fps": 15, "left": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 2.243333339691162, 3.9167568683624268, 6.519285678863525, 6.519285678863525, 6.519285678863525, 6.519285678863525, 6.519285678863525, 6.519285678863525, 6.519285678863525, 6.373636245727539, 3.9167568683624268, 0.27666667103767395, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.347143292427063, 0.7983333468437195, 1.9444444179534912, 2.6312499046325684, 2.6312499046325684, 4.726428508758545, 3.0568182468414307, 2.3248276710510254, 3.0568182468414307, 3.0568182468414307, 3.9167568683624268, 4.726428508758545, 4.726428508758545, 3.9167568683624268, 1.9444444179534912, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.5218365788459778, 0.7983333468437195, 2.6312499046325684, 0.5259732007980347, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.7983333468437195, 3.0568182468414307, 6.373636245727539, 5.397500038146973, 5.486666679382324, 2.3248276710510254, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 5.403749942779541, 6.519285678863525, 6.760714054107666, 7.488461494445801, 7.488461494445801, 7.488461494445801, 7.488461494445801, 6.760714054107666, 6.519285678863525, 6.519285678863525, 5.486666679382324, 0.7983333468437195, 0.0, 0.0, 0.0, 0.0, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.9167568683624268, 3.1971428394317627, 3.9167568683624268, 4.726428508758545, 4.726428508758545, 4.726428508758545, 4.726428508758545, 3.9167568683624268, 3.9167568683624268, 3.9167568683624268, 3.9167568683624268, 3.1971428394317627, 2.3248276710510254, 0.019140325486660004, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.5600000023841858], "right": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]}, "long_curve": [{"video": {"psnr": 28.7596362121614, "ssim": 0.9067873583466572, "lpips": 0.026515956968069077}, "wrist_left": {"psnr": 14.798751328777442, "ssim": 0.27341578271886235, "lpips": 0.3164336383342743}, "wrist_right": {"psnr": 19.658283511096833, "ssim": 0.8099566456735994, "lpips": 0.053710583597421646}, "tactile_left": {"psnr": 35.45929722345318, "ssim": 0.968517421581256, "lpips": 0.08290959894657135}, "tactile_right": {"psnr": 49.83855626048608, "ssim": 0.9943151295419985, "lpips": 0.004200272262096405}}, {"video": {"psnr": 21.880051362833655, "ssim": 0.763511265006755, "lpips": 0.10702040046453476}, "wrist_left": {"psnr": 13.801893923940797, "ssim": 0.25212423334631084, "lpips": 0.4279954731464386}, "wrist_right": {"psnr": 16.40157748380658, "ssim": 0.6841499076795032, "lpips": 0.19047650694847107}, "tactile_left": {"psnr": 33.31531865793248, "ssim": 0.9503003359860962, "lpips": 0.13068991899490356}, "tactile_right": {"psnr": 45.0666346009594, "ssim": 0.9873374359940734, "lpips": 0.014803800731897354}}, {"video": {"psnr": 20.821930466791287, "ssim": 0.7337103599070043, "lpips": 0.1491682529449463}, "wrist_left": {"psnr": 13.588129243112457, "ssim": 0.2748106512486911, "lpips": 0.45937293767929077}, "wrist_right": {"psnr": 16.075791493687106, "ssim": 0.6804438113670228, "lpips": 0.22445444762706757}, "tactile_left": {"psnr": 42.34142374169613, "ssim": 0.9803314373843433, "lpips": 0.0473281629383564}, "tactile_right": {"psnr": 41.297244037575325, "ssim": 0.9839783606230372, "lpips": 0.02884678728878498}}, {"video": {"psnr": 20.511963164286925, "ssim": 0.7261075765078517, "lpips": 0.1734461784362793}, "wrist_left": {"psnr": 13.511733995730813, "ssim": 0.2610763920566483, "lpips": 0.4712209701538086}, "wrist_right": {"psnr": 15.692088153895778, "ssim": 0.6643246622051189, "lpips": 0.2377973198890686}, "tactile_left": {"psnr": 36.78653495599097, "ssim": 0.9699097546014437, "lpips": 0.10162894427776337}, "tactile_right": {"psnr": 38.5098120041986, "ssim": 0.9810536416315754, "lpips": 0.046080734580755234}}, {"video": {"psnr": 20.27102680709087, "ssim": 0.7201503869589252, "lpips": 0.19151952862739563}, "wrist_left": {"psnr": 13.012035571649463, "ssim": 0.22325198069150298, "lpips": 0.5294718742370605}, "wrist_right": {"psnr": 15.66294505716159, "ssim": 0.6568018853002829, "lpips": 0.24498528242111206}, "tactile_left": {"psnr": 34.31779617679858, "ssim": 0.9527939165877017, "lpips": 0.16945992410182953}, "tactile_right": {"psnr": 37.28252164597021, "ssim": 0.9779687102612432, "lpips": 0.06856022775173187}}, {"video": {"psnr": 20.116288254838356, "ssim": 0.7059005152779456, "lpips": 0.19476288557052612}, "wrist_left": {"psnr": 12.864224570107496, "ssim": 0.2525495392469783, "lpips": 0.5370738506317139}, "wrist_right": {"psnr": 15.42870711638085, "ssim": 0.6509407020748285, "lpips": 0.24812860786914825}, "tactile_left": {"psnr": 33.74551790991103, "ssim": 0.9601459571329072, "lpips": 0.11974148452281952}, "tactile_right": {"psnr": 35.55723091437147, "ssim": 0.9748069322600653, "lpips": 0.09019644558429718}}, {"video": {"psnr": 20.002039880605302, "ssim": 0.6933640785243589, "lpips": 0.19401893019676208}, "wrist_left": {"psnr": 12.510789827430331, "ssim": 0.2570074999244853, "lpips": 0.5426660776138306}, "wrist_right": {"psnr": 15.463519458290559, "ssim": 0.6512423033557997, "lpips": 0.2382509410381317}, "tactile_left": {"psnr": 34.84176868664355, "ssim": 0.9648328556081238, "lpips": 0.10953339189291}, "tactile_right": {"psnr": 34.115635684777004, "ssim": 0.9710209449671986, "lpips": 0.11468279361724854}}, {"video": {"psnr": 20.13460808568346, "ssim": 0.6923039368397703, "lpips": 0.19958949089050293}, "wrist_left": {"psnr": 11.498640293219777, "ssim": 0.22684430444171044, "lpips": 0.5306507349014282}, "wrist_right": {"psnr": 15.598579624076967, "ssim": 0.6509741696684379, "lpips": 0.23586460947990417}, "tactile_left": {"psnr": 34.12138995484981, "ssim": 0.9647769713877264, "lpips": 0.10818279534578323}, "tactile_right": {"psnr": 33.25310907894291, "ssim": 0.9673047021653995, "lpips": 0.13968932628631592}}, {"video": {"psnr": 19.93831351876753, "ssim": 0.6846371332212136, "lpips": 0.21970345079898834}, "wrist_left": {"psnr": 12.082147763080274, "ssim": 0.26867378127990976, "lpips": 0.5211538076400757}, "wrist_right": {"psnr": 16.436013218508727, "ssim": 0.6774342971013279, "lpips": 0.2014039009809494}, "tactile_left": {"psnr": 31.715029406813603, "ssim": 0.9513550974965722, "lpips": 0.1787177324295044}, "tactile_right": {"psnr": 32.53382563947951, "ssim": 0.9640009560555713, "lpips": 0.15934410691261292}}, {"video": {"psnr": 19.524435671180644, "ssim": 0.665715585770123, "lpips": 0.2538914084434509}, "wrist_left": {"psnr": 10.881211391036745, "ssim": 0.23482646581025685, "lpips": 0.5865630507469177}, "wrist_right": {"psnr": 16.599993459326722, "ssim": 0.6846969525174582, "lpips": 0.19066859781742096}, "tactile_left": {"psnr": 28.837834147832304, "ssim": 0.9367384843786393, "lpips": 0.22624614834785461}, "tactile_right": {"psnr": 31.13052367593219, "ssim": 0.959772450744464, "lpips": 0.17967548966407776}}, {"video": {"psnr": 19.231212804980405, "ssim": 0.6610649140613258, "lpips": 0.2861303389072418}, "wrist_left": {"psnr": 10.927682627903536, "ssim": 0.22517908631412484, "lpips": 0.5829243063926697}, "wrist_right": {"psnr": 16.60171441256701, "ssim": 0.6768553047944669, "lpips": 0.2155081182718277}, "tactile_left": {"psnr": 29.628953753168453, "ssim": 0.9417990442935706, "lpips": 0.21600046753883362}, "tactile_right": {"psnr": 30.335098712526232, "ssim": 0.9556173450177218, "lpips": 0.19606913626194}}, {"video": {"psnr": 19.3666714426212, "ssim": 0.6675198496138666, "lpips": 0.28511616587638855}, "wrist_left": {"psnr": 9.97688232929287, "ssim": 0.24200043236564572, "lpips": 0.6170107126235962}, "wrist_right": {"psnr": 16.084975079048107, "ssim": 0.6644164739914197, "lpips": 0.24643710255622864}, "tactile_left": {"psnr": 32.70049600464675, "ssim": 0.9520313259978985, "lpips": 0.19180020689964294}, "tactile_right": {"psnr": 29.741240659334146, "ssim": 0.9520685242456511, "lpips": 0.2109258770942688}}, {"video": {"psnr": 19.12528772097884, "ssim": 0.6608547988489287, "lpips": 0.2854565978050232}, "wrist_left": {"psnr": 9.798750406223323, "ssim": 0.21634896036672435, "lpips": 0.6608904004096985}, "wrist_right": {"psnr": 15.90948962703363, "ssim": 0.639541569270156, "lpips": 0.27327173948287964}, "tactile_left": {"psnr": 30.13888225550273, "ssim": 0.9352379066285237, "lpips": 0.23971423506736755}, "tactile_right": {"psnr": 29.114431642801012, "ssim": 0.9483577405470955, "lpips": 0.2303593009710312}}, {"video": {"psnr": 18.837316154708706, "ssim": 0.6509941215215154, "lpips": 0.2928231954574585}, "wrist_left": {"psnr": 10.287125435262926, "ssim": 0.2734051815918622, "lpips": 0.6184229254722595}, "wrist_right": {"psnr": 15.890502767847131, "ssim": 0.6144791109585604, "lpips": 0.30965834856033325}, "tactile_left": {"psnr": 31.8569632651926, "ssim": 0.9482828639772771, "lpips": 0.19493773579597473}, "tactile_right": {"psnr": 28.571642035365205, "ssim": 0.9446023504947965, "lpips": 0.24440596997737885}}, {"video": {"psnr": 18.840562881081176, "ssim": 0.6495553857020355, "lpips": 0.2891198396682739}, "wrist_left": {"psnr": 10.317954681633845, "ssim": 0.2270828046627238, "lpips": 0.6107958555221558}, "wrist_right": {"psnr": 15.624391925836804, "ssim": 0.5951197250119953, "lpips": 0.3290601968765259}, "tactile_left": {"psnr": 30.527891410564973, "ssim": 0.9391498352340075, "lpips": 0.21394850313663483}, "tactile_right": {"psnr": 27.9686599164646, "ssim": 0.9406391667222365, "lpips": 0.26083311438560486}}], "long_metrics": {"video": {"psnr": 20.49075629524065, "ssim": 0.7054784844072184, "lpips": 0.20988550807038944}, "wrist_left": {"psnr": 11.990530225893474, "ssim": 0.24723980640442914, "lpips": 0.5341764410336812}, "wrist_right": {"psnr": 16.208571492570957, "ssim": 0.6667585013979985, "lpips": 0.22931175356109937}, "tactile_left": {"psnr": 33.355673170066474, "ssim": 0.9544135472184059, "lpips": 0.15538928334911664}, "tactile_right": {"psnr": 34.954411100612255, "ssim": 0.9668562927514751, "lpips": 0.13257822555800278}}}, {"id": "motherboard_custom_e002_14", "episode": "motherboard_0911_episode_008_seg00.pt", "requested_episode": "motherboard_0911_episode_008_seg00.pt", "category": "release", "t_start": 246, "start_seconds": 16.4, "short_contact": [1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 0, 0], "future_transition_ticks": [11], "long_contact_fraction": 0.6796875, "long_label": "release", "short_metrics": {"video": {"psnr": 28.835584687151314, "ssim": 0.919819047823987, "lpips": 0.031315453350543976}, "wrist_left": {"psnr": 14.53456094272212, "ssim": 0.3804505311141521, "lpips": 0.34147900342941284}, "wrist_right": {"psnr": 20.90423126945688, "ssim": 0.7395785316512682, "lpips": 0.04534671828150749}, "tactile_left": {"psnr": 35.84196542452818, "ssim": 0.9797433784703993, "lpips": 0.03296586126089096}, "tactile_right": {"psnr": 49.612124316006415, "ssim": 0.9942865364410467, "lpips": 0.004436259623616934}}, "media": {"short": {"video": "media/motherboard_custom_e002_14_short.mp4", "poster": "media/motherboard_custom_e002_14_short.jpg"}, "long": {"video": "media/motherboard_custom_e002_14_long.mp4", "poster": "media/motherboard_custom_e002_14_long.jpg"}}, "force": {"source": "recorded_normal_force", "units": "N", "fps": 15, "left": [3.9167568683624268, 4.726428508758545, 4.726428508758545, 3.1971428394317627, 4.726428508758545, 6.760714054107666, 6.760714054107666, 7.488461494445801, 7.349999904632568, 7.349999904632568, 3.0568182468414307, 0.49357831478118896, 0.0, 0.0, 0.0, 0.0, 0.4993111193180084, 5.397500038146973, 7.200040817260742, 10.243043899536133, 10.243043899536133, 10.243043899536133, 9.842000007629395, 7.75, 7.75, 7.75, 6.760714054107666, 6.519285678863525, 5.486666679382324, 4.726428508758545, 3.0568182468414307, 1.9444444179534912, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 3.0568182468414307, 5.486666679382324, 6.373636245727539, 6.519285678863525, 6.519285678863525, 6.519285678863525, 6.519285678863525, 6.760714054107666, 6.519285678863525, 5.403749942779541, 5.465914249420166, 6.502091884613037, 5.486666679382324, 3.0568182468414307, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.6003610491752625, 0.6849588751792908, 1.9444444179534912, 3.9167568683624268, 5.486666679382324, 5.486666679382324, 5.403749942779541, 5.486666679382324, 5.486666679382324, 3.9167568683624268, 3.9182748794555664, 5.399834156036377, 5.397500038146973, 3.0568182468414307, 0.1599999964237213, 0.2557404935359955, 2.3248276710510254, 5.403749942779541, 6.519285678863525, 7.488461494445801, 7.75, 10.243043899536133, 7.75, 7.75, 7.488461494445801, 7.488461494445801, 7.724563121795654, 7.488461494445801, 4.726428508758545, 0.7983333468437195, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.9444444179534912, 3.9167568683624268, 3.1971428394317627, 3.9167568683624268, 7.121631622314453, 6.373636245727539, 6.519285678863525, 7.283836364746094, 7.130000114440918, 6.760714054107666, 6.760714054107666, 7.130000114440918, 7.349999904632568, 7.488461494445801, 7.488461494445801, 7.349999904632568, 7.488461494445801, 0.0, 0.0, 0.0, 0.0, 3.0568182468414307, 3.9167568683624268], "right": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]}, "long_curve": [{"video": {"psnr": 28.835584687151314, "ssim": 0.919819047823987, "lpips": 0.031315453350543976}, "wrist_left": {"psnr": 14.53456094272212, "ssim": 0.3804505311141521, "lpips": 0.34147900342941284}, "wrist_right": {"psnr": 20.90423126945688, "ssim": 0.7395785316512682, "lpips": 0.04534671828150749}, "tactile_left": {"psnr": 35.84196542452818, "ssim": 0.9797433784703993, "lpips": 0.03296586126089096}, "tactile_right": {"psnr": 49.612124316006415, "ssim": 0.9942865364410467, "lpips": 0.004436259623616934}}, {"video": {"psnr": 24.346408514284093, "ssim": 0.8344281818107033, "lpips": 0.06296994537115097}, "wrist_left": {"psnr": 12.713883207982107, "ssim": 0.30544620506733844, "lpips": 0.45132380723953247}, "wrist_right": {"psnr": 19.32058871376297, "ssim": 0.6489350809138391, "lpips": 0.0829889327287674}, "tactile_left": {"psnr": 29.634489542457395, "ssim": 0.9124490258316194, "lpips": 0.26847994327545166}, "tactile_right": {"psnr": 44.34108072936014, "ssim": 0.989698340856162, "lpips": 0.012292036786675453}}, {"video": {"psnr": 22.462483085534025, "ssim": 0.7667571683593378, "lpips": 0.10406395047903061}, "wrist_left": {"psnr": 11.870369826029947, "ssim": 0.3055978001579203, "lpips": 0.47953832149505615}, "wrist_right": {"psnr": 18.202653190583682, "ssim": 0.6068247094428627, "lpips": 0.15185852348804474}, "tactile_left": {"psnr": 31.236245386383516, "ssim": 0.9349647311265065, "lpips": 0.20291107892990112}, "tactile_right": {"psnr": 39.89832400930553, "ssim": 0.986556451310755, "lpips": 0.02427467703819275}}, {"video": {"psnr": 21.998602900758094, "ssim": 0.7368125574456781, "lpips": 0.1263400912284851}, "wrist_left": {"psnr": 12.103456311433952, "ssim": 0.4030633982599953, "lpips": 0.4447771906852722}, "wrist_right": {"psnr": 17.78445962541242, "ssim": 0.5958503343130401, "lpips": 0.16844920814037323}, "tactile_left": {"psnr": 39.23148678052491, "ssim": 0.9728621613247788, "lpips": 0.061042968183755875}, "tactile_right": {"psnr": 36.875972626643815, "ssim": 0.9826182296212961, "lpips": 0.04461268335580826}}, {"video": {"psnr": 22.395196643241526, "ssim": 0.7459705533247639, "lpips": 0.12399876117706299}, "wrist_left": {"psnr": 14.795279837202333, "ssim": 0.5427834257566775, "lpips": 0.31512969732284546}, "wrist_right": {"psnr": 16.739170478216575, "ssim": 0.5640772538221512, "lpips": 0.20494015514850616}, "tactile_left": {"psnr": 30.15751606527205, "ssim": 0.9267472561993354, "lpips": 0.24759073555469513}, "tactile_right": {"psnr": 35.982742212634975, "ssim": 0.9778693947727343, "lpips": 0.06716299057006836}}, {"video": {"psnr": 20.836126610998257, "ssim": 0.7253322821243827, "lpips": 0.17598141729831696}, "wrist_left": {"psnr": 13.7933463572777, "ssim": 0.4129517126206873, "lpips": 0.42291176319122314}, "wrist_right": {"psnr": 15.24666261194487, "ssim": 0.5406173974458295, "lpips": 0.27414003014564514}, "tactile_left": {"psnr": 32.519132496595155, "ssim": 0.942744462678297, "lpips": 0.20000490546226501}, "tactile_right": {"psnr": 34.78402225481504, "ssim": 0.9744895536339602, "lpips": 0.0883236676454544}}, {"video": {"psnr": 19.55113114476213, "ssim": 0.6837064190018745, "lpips": 0.23354744911193848}, "wrist_left": {"psnr": 11.830648538098195, "ssim": 0.43465738664852854, "lpips": 0.48005446791648865}, "wrist_right": {"psnr": 14.63892427348378, "ssim": 0.51440634770397, "lpips": 0.31758442521095276}, "tactile_left": {"psnr": 36.865456771774866, "ssim": 0.9642824709553804, "lpips": 0.10420238971710205}, "tactile_right": {"psnr": 33.67848507043814, "ssim": 0.9709218644785029, "lpips": 0.11303866654634476}}, {"video": {"psnr": 19.06574580434039, "ssim": 0.6632893850185755, "lpips": 0.2432483434677124}, "wrist_left": {"psnr": 11.427259326356129, "ssim": 0.45308325918714587, "lpips": 0.5299845933914185}, "wrist_right": {"psnr": 14.738795405492834, "ssim": 0.5129393171887734, "lpips": 0.3279802203178406}, "tactile_left": {"psnr": 30.585520283481216, "ssim": 0.9264875597988929, "lpips": 0.2397223711013794}, "tactile_right": {"psnr": 33.027419387105226, "ssim": 0.9671258251889397, "lpips": 0.13993434607982635}}, {"video": {"psnr": 18.8326713040287, "ssim": 0.6558109418537061, "lpips": 0.25528833270072937}, "wrist_left": {"psnr": 11.345275127384172, "ssim": 0.4758948291981833, "lpips": 0.5156543254852295}, "wrist_right": {"psnr": 14.58877842967939, "ssim": 0.5017638863434849, "lpips": 0.33413606882095337}, "tactile_left": {"psnr": 30.389789945477915, "ssim": 0.9311527608966388, "lpips": 0.23391158878803253}, "tactile_right": {"psnr": 32.322519455601565, "ssim": 0.9638064477189145, "lpips": 0.1588824838399887}}, {"video": {"psnr": 18.99428655119162, "ssim": 0.6528042702904888, "lpips": 0.2531811594963074}, "wrist_left": {"psnr": 10.986634991568247, "ssim": 0.4389312602333775, "lpips": 0.5708005428314209}, "wrist_right": {"psnr": 14.501684630814841, "ssim": 0.4916974907125321, "lpips": 0.34102314710617065}, "tactile_left": {"psnr": 26.727884277446535, "ssim": 0.8938108688347399, "lpips": 0.32306283712387085}, "tactile_right": {"psnr": 31.286610021756246, "ssim": 0.9597024381218708, "lpips": 0.18003976345062256}}, {"video": {"psnr": 19.146744299642705, "ssim": 0.6572002655679314, "lpips": 0.254252552986145}, "wrist_left": {"psnr": 10.4377503173854, "ssim": 0.38199065478447236, "lpips": 0.5174615383148193}, "wrist_right": {"psnr": 14.559946757855888, "ssim": 0.4891916478899092, "lpips": 0.3344740569591522}, "tactile_left": {"psnr": 31.761449086849147, "ssim": 0.9497301759204095, "lpips": 0.16372495889663696}, "tactile_right": {"psnr": 30.64706162441524, "ssim": 0.9562255791353764, "lpips": 0.19570554792881012}}, {"video": {"psnr": 19.311684459841555, "ssim": 0.6551549762916742, "lpips": 0.2689266800880432}, "wrist_left": {"psnr": 10.502523257322004, "ssim": 0.29576752914068893, "lpips": 0.5242235064506531}, "wrist_right": {"psnr": 14.208178007591597, "ssim": 0.5157101467678031, "lpips": 0.394042044878006}, "tactile_left": {"psnr": 33.64473045594134, "ssim": 0.9556270109731444, "lpips": 0.13168247044086456}, "tactile_right": {"psnr": 29.672641508857357, "ssim": 0.9515957052563753, "lpips": 0.2164023369550705}}, {"video": {"psnr": 19.129480399261354, "ssim": 0.6512641923809787, "lpips": 0.28007563948631287}, "wrist_left": {"psnr": 12.609581799812702, "ssim": 0.22718507314375602, "lpips": 0.6453657150268555}, "wrist_right": {"psnr": 13.330884406722955, "ssim": 0.46103932061075187, "lpips": 0.4104118347167969}, "tactile_left": {"psnr": 29.01969023670209, "ssim": 0.9288844246789884, "lpips": 0.23107248544692993}, "tactile_right": {"psnr": 28.74333592637764, "ssim": 0.9460071505154761, "lpips": 0.23356842994689941}}, {"video": {"psnr": 18.985049283883896, "ssim": 0.6484810445700182, "lpips": 0.28247883915901184}, "wrist_left": {"psnr": 12.231434069494673, "ssim": 0.21627633685153363, "lpips": 0.6088157296180725}, "wrist_right": {"psnr": 13.298974592888243, "ssim": 0.43865024614886317, "lpips": 0.4297710061073303}, "tactile_left": {"psnr": 26.746992706235233, "ssim": 0.9097815304234764, "lpips": 0.31390058994293213}, "tactile_right": {"psnr": 25.143695399195924, "ssim": 0.9327868712935032, "lpips": 0.2646086812019348}}, {"video": {"psnr": 18.780026764078276, "ssim": 0.6405112579726513, "lpips": 0.30258193612098694}, "wrist_left": {"psnr": 11.328597814009736, "ssim": 0.23181856119095234, "lpips": 0.6062995195388794}, "wrist_right": {"psnr": 13.255039600296508, "ssim": 0.4310400242366894, "lpips": 0.4392791986465454}, "tactile_left": {"psnr": 30.082231617998495, "ssim": 0.9413957311159034, "lpips": 0.21686258912086487}, "tactile_right": {"psnr": 26.38132140468144, "ssim": 0.9293673517999448, "lpips": 0.28025150299072266}}], "long_metrics": {"video": {"psnr": 20.844748163533197, "ssim": 0.7091561695891168, "lpips": 0.19988337010145188}, "wrist_left": {"psnr": 12.167373448271961, "ssim": 0.36705986422369397, "lpips": 0.496921314795812}, "wrist_right": {"psnr": 15.687931466280228, "ssim": 0.5368214490127845, "lpips": 0.28376170471310613}, "tactile_left": {"psnr": 31.6296387385112, "ssim": 0.938044236615234, "lpips": 0.19807585154970486}, "tactile_right": {"psnr": 34.15982372981298, "ssim": 0.9655371826763238, "lpips": 0.13490227159733573}}}, {"id": "motherboard_custom_e002_15", "episode": "motherboard_0911_episode_008_seg00.pt", "requested_episode": "motherboard_0911_episode_008_seg00.pt", "category": "full", "t_start": 432, "start_seconds": 28.8, "short_contact": [1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1], "future_transition_ticks": [], "long_contact_fraction": 0.8359375, "long_label": "full", "short_metrics": {"video": {"psnr": 27.235673778456885, "ssim": 0.8840233149877981, "lpips": 0.035140011459589005}, "wrist_left": {"psnr": 18.327524877463897, "ssim": 0.5232702770632776, "lpips": 0.12591132521629333}, "wrist_right": {"psnr": 15.691076970713349, "ssim": 0.5186255592598902, "lpips": 0.24343451857566833}, "tactile_left": {"psnr": 31.29411403871451, "ssim": 0.9513042996497585, "lpips": 0.060144610702991486}, "tactile_right": {"psnr": 38.81555165529153, "ssim": 0.9868994931495905, "lpips": 0.046900659799575806}}, "media": {"short": {"video": "media/motherboard_custom_e002_15_short.mp4", "poster": "media/motherboard_custom_e002_15_short.jpg"}, "long": {"video": "media/motherboard_custom_e002_15_long.mp4", "poster": "media/motherboard_custom_e002_15_long.jpg"}}, "force": {"source": "recorded_normal_force", "units": "N", "fps": 15, "left": [0.0, 0.0, 0.0, 0.0, 0.0, 0.7983333468437195, 1.9444444179534912, 5.481388092041016, 6.760714054107666, 6.760714054107666, 7.130000114440918, 7.488461494445801, 7.488461494445801, 7.66710901260376, 7.75, 7.488461494445801, 7.488461494445801, 7.488461494445801, 7.340664386749268, 6.760714054107666, 6.760714054107666, 6.519285678863525, 6.519285678863525, 6.760714054107666, 6.760714054107666, 6.760714054107666, 6.760714054107666, 6.760714054107666, 6.760714054107666, 6.760714054107666, 6.760714054107666, 6.519285678863525, 6.519285678863525, 6.519285678863525, 6.373636245727539, 5.486666679382324, 5.397500038146973, 4.726428508758545, 3.1149818897247314, 3.1149818897247314, 0.0, 0.0, 0.5564713478088379, 0.5564713478088379, 5.403749942779541, 6.519285678863525, 6.870246887207031, 7.130000114440918, 7.130000114440918, 7.488461494445801, 7.488461494445801, 7.488461494445801, 7.488461494445801, 7.488461494445801, 7.230000019073486, 7.349999904632568, 7.130000114440918, 7.130000114440918, 2.243333339691162, 0.0, 0.0, 0.0, 0.0, 5.486666679382324, 6.519285678863525, 6.760714054107666, 7.230000019073486, 7.296485424041748, 7.488461494445801, 7.488461494445801, 5.486666679382324, 3.0568182468414307, 0.0, 0.0, 1.9736661911010742, 3.9167568683624268, 6.519285678863525, 6.760714054107666, 6.760714054107666, 6.760714054107666, 7.130000114440918, 6.856966972351074, 3.9167568683624268, 0.3697943389415741, 0.1599999964237213, 3.1971428394317627, 6.519285678863525, 6.760714054107666, 7.488461494445801, 10.243043899536133, 10.78499984741211, 7.784317970275879, 0.1599999964237213, 0.1599999964237213, 0.0, 0.0, 0.0, 0.0, 2.3248276710510254, 5.403749942779541, 7.130000114440918, 7.488461494445801, 7.488461494445801, 10.243043899536133, 10.977499961853027, 10.243043899536133, 10.977499961853027, 10.243043899536133, 0.1599999964237213, 0.0, 0.0, 0.7983333468437195, 0.7983333468437195, 0.0, 0.0, 2.3248276710510254, 3.9167568683624268, 5.486666679382324, 6.519285678863525, 7.488461494445801, 10.243043899536133, 10.243043899536133, 7.488461494445801, 7.488461494445801, 10.243043899536133, 10.977499961853027, 10.243043899536133, 10.243043899536133], "right": [0.5458959341049194, 0.5600000023841858, 0.5600000023841858, 0.6782253384590149, 0.7983333468437195, 0.5419337749481201, 0.25, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.9444444179534912, 0.7983333468437195, 1.0138323307037354, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 1.9444444179534912, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.2831295132637024, 0.533720850944519, 2.243333339691162, 3.0568182468414307, 3.9167568683624268, 3.9167568683624268, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 2.3248276710510254, 1.9444444179534912, 0.5600000023841858, 0.1599999964237213, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.7983333468437195, 3.0568182468414307, 3.0568182468414307, 3.9167568683624268, 3.9177205562591553, 4.726428508758545, 4.726428508758545, 4.726428508758545, 4.726428508758545, 3.0568182468414307, 0.5567049980163574, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]}, "long_curve": [{"video": {"psnr": 27.235673778456885, "ssim": 0.8840233149877981, "lpips": 0.035140011459589005}, "wrist_left": {"psnr": 18.327524877463897, "ssim": 0.5232702770632776, "lpips": 0.12591132521629333}, "wrist_right": {"psnr": 15.691076970713349, "ssim": 0.5186255592598902, "lpips": 0.24343451857566833}, "tactile_left": {"psnr": 31.29411403871451, "ssim": 0.9513042996497585, "lpips": 0.060144610702991486}, "tactile_right": {"psnr": 38.81555165529153, "ssim": 0.9868994931495905, "lpips": 0.046900659799575806}}, {"video": {"psnr": 23.838391116296094, "ssim": 0.7815995105522726, "lpips": 0.07046248018741608}, "wrist_left": {"psnr": 16.069897889395666, "ssim": 0.36069137138673035, "lpips": 0.2647356390953064}, "wrist_right": {"psnr": 13.1875699056768, "ssim": 0.4290341609740477, "lpips": 0.40096211433410645}, "tactile_left": {"psnr": 29.529714966297448, "ssim": 0.9408435364726218, "lpips": 0.14450514316558838}, "tactile_right": {"psnr": 31.09075721598316, "ssim": 0.9663145540913299, "lpips": 0.14011503756046295}}, {"video": {"psnr": 23.04879292359274, "ssim": 0.7571071188435239, "lpips": 0.09121936559677124}, "wrist_left": {"psnr": 15.183664335244716, "ssim": 0.32228416195729337, "lpips": 0.3255087733268738}, "wrist_right": {"psnr": 13.476124809902633, "ssim": 0.39691112646146376, "lpips": 0.4296489953994751}, "tactile_left": {"psnr": 30.04002482869884, "ssim": 0.9405694611319723, "lpips": 0.1750769168138504}, "tactile_right": {"psnr": 34.58693907153627, "ssim": 0.9707423320663464, "lpips": 0.11309364438056946}}, {"video": {"psnr": 21.800867951797784, "ssim": 0.7130811750635337, "lpips": 0.1374320387840271}, "wrist_left": {"psnr": 14.062657240462862, "ssim": 0.3054113950845171, "lpips": 0.42422187328338623}, "wrist_right": {"psnr": 12.998789242781976, "ssim": 0.33813140710917383, "lpips": 0.41524842381477356}, "tactile_left": {"psnr": 31.19572385436602, "ssim": 0.9466468640455632, "lpips": 0.17137065529823303}, "tactile_right": {"psnr": 33.505871892049576, "ssim": 0.9651398608005529, "lpips": 0.13355690240859985}}, {"video": {"psnr": 21.623811969481494, "ssim": 0.7042239023292476, "lpips": 0.15910106897354126}, "wrist_left": {"psnr": 13.232838699944443, "ssim": 0.300495789844355, "lpips": 0.4702826738357544}, "wrist_right": {"psnr": 14.36150754082179, "ssim": 0.4105228856689622, "lpips": 0.375956267118454}, "tactile_left": {"psnr": 33.263621094184046, "ssim": 0.9440451032387591, "lpips": 0.1795501559972763}, "tactile_right": {"psnr": 36.09039095946528, "ssim": 0.976875323971421, "lpips": 0.06597185879945755}}, {"video": {"psnr": 21.328220667752436, "ssim": 0.6899994623070279, "lpips": 0.17159533500671387}, "wrist_left": {"psnr": 12.789298406716746, "ssim": 0.2903127555889202, "lpips": 0.509145975112915}, "wrist_right": {"psnr": 13.614153754561718, "ssim": 0.3254928115067348, "lpips": 0.4225821793079376}, "tactile_left": {"psnr": 29.80674992195778, "ssim": 0.924288156758083, "lpips": 0.2564912736415863}, "tactile_right": {"psnr": 32.027304407372974, "ssim": 0.9569430893170368, "lpips": 0.19805511832237244}}, {"video": {"psnr": 20.641787581002177, "ssim": 0.6684927794222537, "lpips": 0.2086852788925171}, "wrist_left": {"psnr": 11.991872895956654, "ssim": 0.28749383175812343, "lpips": 0.5242339968681335}, "wrist_right": {"psnr": 13.57717130187519, "ssim": 0.3793580374929689, "lpips": 0.4190596640110016}, "tactile_left": {"psnr": 33.197540469651294, "ssim": 0.9509491323556056, "lpips": 0.17330288887023926}, "tactile_right": {"psnr": 33.062115002112925, "ssim": 0.9662113625439259, "lpips": 0.13585218787193298}}, {"video": {"psnr": 20.763159084998954, "ssim": 0.6639724701553895, "lpips": 0.19914260506629944}, "wrist_left": {"psnr": 10.234445790915283, "ssim": 0.278869340492915, "lpips": 0.5577516555786133}, "wrist_right": {"psnr": 13.790761796669939, "ssim": 0.4247627182011238, "lpips": 0.41769522428512573}, "tactile_left": {"psnr": 28.09410351410382, "ssim": 0.920861390085381, "lpips": 0.2831323444843292}, "tactile_right": {"psnr": 34.23701786029256, "ssim": 0.9706546074306592, "lpips": 0.10639166086912155}}, {"video": {"psnr": 20.5131557625269, "ssim": 0.6569247542085199, "lpips": 0.2146015167236328}, "wrist_left": {"psnr": 9.822776763930607, "ssim": 0.2701337553497423, "lpips": 0.5726426839828491}, "wrist_right": {"psnr": 13.33572085760791, "ssim": 0.40348492197972774, "lpips": 0.42684420943260193}, "tactile_left": {"psnr": 29.66766116704658, "ssim": 0.9286732129188535, "lpips": 0.23092985153198242}, "tactile_right": {"psnr": 33.64892176393242, "ssim": 0.968101525308536, "lpips": 0.12359610199928284}}, {"video": {"psnr": 20.224024054341218, "ssim": 0.6438615599353106, "lpips": 0.23468682169914246}, "wrist_left": {"psnr": 10.365273953148119, "ssim": 0.2477786873355827, "lpips": 0.576240062713623}, "wrist_right": {"psnr": 13.448748082101314, "ssim": 0.41747130822217837, "lpips": 0.41984835267066956}, "tactile_left": {"psnr": 30.419159907419605, "ssim": 0.9369824564065008, "lpips": 0.2290145456790924}, "tactile_right": {"psnr": 32.48122484088957, "ssim": 0.9645820212002942, "lpips": 0.1431889832019806}}, {"video": {"psnr": 20.179659357921427, "ssim": 0.6370988460498653, "lpips": 0.22974976897239685}, "wrist_left": {"psnr": 11.252021271213245, "ssim": 0.30123272921625666, "lpips": 0.5404242873191833}, "wrist_right": {"psnr": 13.62013333604062, "ssim": 0.4232865238032427, "lpips": 0.4269631505012512}, "tactile_left": {"psnr": 29.388053173822186, "ssim": 0.9339978745035327, "lpips": 0.22557227313518524}, "tactile_right": {"psnr": 31.694332035100604, "ssim": 0.961099905216101, "lpips": 0.16300998628139496}}, {"video": {"psnr": 20.238199970950284, "ssim": 0.633959585059289, "lpips": 0.21413815021514893}, "wrist_left": {"psnr": 11.43124256702552, "ssim": 0.46047167850149096, "lpips": 0.44515469670295715}, "wrist_right": {"psnr": 13.577466828526221, "ssim": 0.40775927230629083, "lpips": 0.43139904737472534}, "tactile_left": {"psnr": 31.772318441594262, "ssim": 0.9393605077521919, "lpips": 0.24041423201560974}, "tactile_right": {"psnr": 30.73648761317728, "ssim": 0.9568509782065124, "lpips": 0.1816525161266327}}, {"video": {"psnr": 20.10789214759267, "ssim": 0.6297013538437255, "lpips": 0.21345362067222595}, "wrist_left": {"psnr": 9.79499357550755, "ssim": 0.4434773405822222, "lpips": 0.48662084341049194}, "wrist_right": {"psnr": 12.978844660809717, "ssim": 0.3737308114938466, "lpips": 0.44154253602027893}, "tactile_left": {"psnr": 29.802360752344722, "ssim": 0.9346891235348145, "lpips": 0.22858062386512756}, "tactile_right": {"psnr": 30.22449287981527, "ssim": 0.9527363393179478, "lpips": 0.1981375366449356}}, {"video": {"psnr": 20.079634187999424, "ssim": 0.6313008613784236, "lpips": 0.2162788212299347}, "wrist_left": {"psnr": 11.002218211742221, "ssim": 0.5410031415060603, "lpips": 0.4524858593940735}, "wrist_right": {"psnr": 12.936317284564744, "ssim": 0.37803434340162995, "lpips": 0.43560290336608887}, "tactile_left": {"psnr": 31.461836974673737, "ssim": 0.9351378784210289, "lpips": 0.23109686374664307}, "tactile_right": {"psnr": 29.851005663808962, "ssim": 0.9494672936847974, "lpips": 0.21302087604999542}}, {"video": {"psnr": 20.031455276136818, "ssim": 0.6241985101268707, "lpips": 0.21792133152484894}, "wrist_left": {"psnr": 10.893115949031733, "ssim": 0.5310900860995026, "lpips": 0.4645230174064636}, "wrist_right": {"psnr": 12.461510227326826, "ssim": 0.3464290716456718, "lpips": 0.4605598449707031}, "tactile_left": {"psnr": 28.26406402949795, "ssim": 0.8972357322962394, "lpips": 0.3407951593399048}, "tactile_right": {"psnr": 29.481872476485268, "ssim": 0.9461468053913301, "lpips": 0.2309659868478775}}], "long_metrics": {"video": {"psnr": 21.443648388723155, "ssim": 0.6879696802842034, "lpips": 0.17424054766694705}, "wrist_left": {"psnr": 12.430256161846618, "ssim": 0.3642677561177993, "lpips": 0.44932555754979453}, "wrist_right": {"psnr": 13.53705977333205, "ssim": 0.3982023306351302, "lpips": 0.41115649541219074}, "tactile_left": {"psnr": 30.47980314229152, "ssim": 0.9350389819713937, "lpips": 0.21133183588584264}, "tactile_right": {"psnr": 32.76895235582091, "ssim": 0.9639176994464254, "lpips": 0.14623393714427949}}}, {"id": "motherboard_custom_e002_16", "episode": "motherboard_0912_episode_002.pt", "requested_episode": "motherboard_0912_episode_002.pt", "category": "none", "t_start": 750, "start_seconds": 50.0, "short_contact": [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0], "future_transition_ticks": [], "long_contact_fraction": 0.3671875, "long_label": "none_at_start", "short_metrics": {"video": {"psnr": 28.413885517519915, "ssim": 0.927824557244471, "lpips": 0.03519045189023018}, "wrist_left": {"psnr": 22.8287862152157, "ssim": 0.8499509236003093, "lpips": 0.06924864649772644}, "wrist_right": {"psnr": 31.269362301605, "ssim": 0.9305676187549425, "lpips": 0.03541434556245804}, "tactile_left": {"psnr": 48.33006193452885, "ssim": 0.9930055348439081, "lpips": 0.0058425478637218475}, "tactile_right": {"psnr": 50.08632137541057, "ssim": 0.9942958937706786, "lpips": 0.0048714675940573215}}, "media": {"short": {"video": "media/motherboard_custom_e002_16_short.mp4", "poster": "media/motherboard_custom_e002_16_short.jpg"}, "long": {"video": "media/motherboard_custom_e002_16_long.mp4", "poster": "media/motherboard_custom_e002_16_long.jpg"}}, "force": {"source": "recorded_normal_force", "units": "N", "fps": 15, "left": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.1599999964237213, 0.19649721682071686, 0.1599999964237213, 0.27666667103767395, 0.44613584876060486, 0.1599999964237213, 0.1599999964237213, 0.1599999964237213, 1.6094872951507568, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 4.726428508758545, 5.397500038146973, 6.373636245727539, 6.760714054107666, 6.760714054107666, 6.760714054107666, 6.435560703277588, 6.373636245727539, 6.760714054107666, 6.760714054107666, 6.760714054107666, 7.230000019073486, 7.230000019073486, 7.130000114440918, 6.760714054107666, 7.349999904632568, 7.130000114440918, 6.760714054107666, 7.130000114440918, 6.997551918029785, 6.760714054107666, 6.519285678863525, 6.760714054107666, 6.760714054107666, 6.760714054107666, 6.519285678863525, 5.486666679382324, 5.486666679382324, 5.3991498947143555, 6.373636245727539, 6.519285678863525, 6.519285678863525, 5.397500038146973, 4.726428508758545, 2.3248276710510254, 0.1599999964237213, 5.403749942779541, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 3.9167568683624268, 6.519285678863525, 7.130000114440918, 7.488461494445801, 7.488461494445801, 7.488461494445801, 10.243043899536133], "right": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.033978212624788284, 0.14319390058517456, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.15257100760936737, 3.0568182468414307, 3.0568182468414307, 2.6312499046325684, 2.3248276710510254, 2.6312499046325684, 2.3248276710510254, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.04887126386165619, 0.1599999964237213, 0.1599999964237213, 0.1599999964237213, 0.27666667103767395, 0.7983333468437195, 2.6312499046325684, 3.0568182468414307]}, "long_curve": [{"video": {"psnr": 28.413885517519915, "ssim": 0.927824557244471, "lpips": 0.03519045189023018}, "wrist_left": {"psnr": 22.8287862152157, "ssim": 0.8499509236003093, "lpips": 0.06924864649772644}, "wrist_right": {"psnr": 31.269362301605, "ssim": 0.9305676187549425, "lpips": 0.03541434556245804}, "tactile_left": {"psnr": 48.33006193452885, "ssim": 0.9930055348439081, "lpips": 0.0058425478637218475}, "tactile_right": {"psnr": 50.08632137541057, "ssim": 0.9942958937706786, "lpips": 0.0048714675940573215}}, {"video": {"psnr": 24.388174539123675, "ssim": 0.8986269596159631, "lpips": 0.058415863662958145}, "wrist_left": {"psnr": 21.468659044166717, "ssim": 0.8204423705024503, "lpips": 0.08335505425930023}, "wrist_right": {"psnr": 27.101270775067498, "ssim": 0.8790430222371599, "lpips": 0.05972808599472046}, "tactile_left": {"psnr": 46.2949895172806, "ssim": 0.9885801515074075, "lpips": 0.01620551571249962}, "tactile_right": {"psnr": 46.96289023534523, "ssim": 0.9897758425686729, "lpips": 0.013777337037026882}}, {"video": {"psnr": 23.469597447283213, "ssim": 0.8788022948268158, "lpips": 0.07368521392345428}, "wrist_left": {"psnr": 20.477515993745186, "ssim": 0.7785738349633757, "lpips": 0.11456970125436783}, "wrist_right": {"psnr": 24.625134520590425, "ssim": 0.8298581253953773, "lpips": 0.07986630499362946}, "tactile_left": {"psnr": 44.33407259304847, "ssim": 0.9855297407512744, "lpips": 0.029274990782141685}, "tactile_right": {"psnr": 43.28127583988341, "ssim": 0.9870148226087718, "lpips": 0.026503562927246094}}, {"video": {"psnr": 23.502837292521974, "ssim": 0.8628879968751716, "lpips": 0.08095114678144455}, "wrist_left": {"psnr": 19.836391292999377, "ssim": 0.7567667640502422, "lpips": 0.12663426995277405}, "wrist_right": {"psnr": 24.25254741881996, "ssim": 0.8179275936191774, "lpips": 0.09135653078556061}, "tactile_left": {"psnr": 42.16441591050457, "ssim": 0.9822255497738683, "lpips": 0.04449516907334328}, "tactile_right": {"psnr": 40.602615997658006, "ssim": 0.9841020442920199, "lpips": 0.04431619122624397}}, {"video": {"psnr": 25.412678465199313, "ssim": 0.8489637944473055, "lpips": 0.08247070014476776}, "wrist_left": {"psnr": 20.167987564929938, "ssim": 0.7554337022140498, "lpips": 0.13505735993385315}, "wrist_right": {"psnr": 23.361808653750465, "ssim": 0.773692449304302, "lpips": 0.10248710215091705}, "tactile_left": {"psnr": 40.47441129492344, "ssim": 0.9788163169307964, "lpips": 0.06163777783513069}, "tactile_right": {"psnr": 39.302460642746496, "ssim": 0.980356694852689, "lpips": 0.06386999785900116}}, {"video": {"psnr": 23.893603445499135, "ssim": 0.814437512979981, "lpips": 0.1048094853758812}, "wrist_left": {"psnr": 18.82738711824825, "ssim": 0.7473883327434023, "lpips": 0.16667583584785461}, "wrist_right": {"psnr": 20.51515422012072, "ssim": 0.6470850405629587, "lpips": 0.15296947956085205}, "tactile_left": {"psnr": 38.479361821419765, "ssim": 0.9752707885064691, "lpips": 0.08448879420757294}, "tactile_right": {"psnr": 38.137344220673484, "ssim": 0.9775789379466846, "lpips": 0.08098435401916504}}, {"video": {"psnr": 22.355885712572405, "ssim": 0.7770648365740662, "lpips": 0.1305241584777832}, "wrist_left": {"psnr": 17.280451036737595, "ssim": 0.7426504338286036, "lpips": 0.2525552213191986}, "wrist_right": {"psnr": 18.28563567565992, "ssim": 0.574304955629789, "lpips": 0.22618457674980164}, "tactile_left": {"psnr": 36.48556505077505, "ssim": 0.9685211320739149, "lpips": 0.13544973731040955}, "tactile_right": {"psnr": 36.91978526273561, "ssim": 0.9744850933938007, "lpips": 0.10447532683610916}}, {"video": {"psnr": 21.955807511685173, "ssim": 0.7523901667202522, "lpips": 0.13730625808238983}, "wrist_left": {"psnr": 16.25680312750041, "ssim": 0.7293735427395133, "lpips": 0.2768717110157013}, "wrist_right": {"psnr": 15.705877470477724, "ssim": 0.5280956312251446, "lpips": 0.32319608330726624}, "tactile_left": {"psnr": 35.21647283237985, "ssim": 0.9668031769596362, "lpips": 0.13342908024787903}, "tactile_right": {"psnr": 36.15484775495902, "ssim": 0.9713495322737662, "lpips": 0.12412361055612564}}, {"video": {"psnr": 20.88866158300886, "ssim": 0.7085785229113846, "lpips": 0.18034014105796814}, "wrist_left": {"psnr": 9.999452474874158, "ssim": 0.43458157384807544, "lpips": 0.536450207233429}, "wrist_right": {"psnr": 14.760333367502662, "ssim": 0.6103264324885871, "lpips": 0.3944028615951538}, "tactile_left": {"psnr": 34.73900223205518, "ssim": 0.9641196524655657, "lpips": 0.14501714706420898}, "tactile_right": {"psnr": 35.25710564544619, "ssim": 0.9688993646308635, "lpips": 0.14087876677513123}}, {"video": {"psnr": 20.36488951875064, "ssim": 0.6744195868047506, "lpips": 0.20652708411216736}, "wrist_left": {"psnr": 7.79002740838248, "ssim": 0.23106076293777497, "lpips": 0.725926399230957}, "wrist_right": {"psnr": 15.546692765551517, "ssim": 0.6820233930259745, "lpips": 0.36407458782196045}, "tactile_left": {"psnr": 32.113658257161546, "ssim": 0.9321709784813951, "lpips": 0.2859014570713043}, "tactile_right": {"psnr": 33.6266483876122, "ssim": 0.965123997309093, "lpips": 0.16443979740142822}}, {"video": {"psnr": 18.64366761118637, "ssim": 0.624829968545161, "lpips": 0.2985107898712158}, "wrist_left": {"psnr": 9.707960141011831, "ssim": 0.24647324163986242, "lpips": 0.6004141569137573}, "wrist_right": {"psnr": 17.56742390277712, "ssim": 0.7584174090923514, "lpips": 0.2986082434654236}, "tactile_left": {"psnr": 30.6961358878648, "ssim": 0.9269405209044239, "lpips": 0.2917290925979614}, "tactile_right": {"psnr": 32.20475214865074, "ssim": 0.9623881573599968, "lpips": 0.1760835498571396}}, {"video": {"psnr": 18.38749965208351, "ssim": 0.6101453309339075, "lpips": 0.3199493885040283}, "wrist_left": {"psnr": 10.461503687890081, "ssim": 0.21583233855067158, "lpips": 0.5921248197555542}, "wrist_right": {"psnr": 17.603290402902935, "ssim": 0.7677459719866864, "lpips": 0.3232298195362091}, "tactile_left": {"psnr": 30.665791251930198, "ssim": 0.91594361174982, "lpips": 0.33148956298828125}, "tactile_right": {"psnr": 31.269772984618214, "ssim": 0.956619418301622, "lpips": 0.21113872528076172}}, {"video": {"psnr": 18.302860493905218, "ssim": 0.6187170470366514, "lpips": 0.2896156907081604}, "wrist_left": {"psnr": 10.055503415558302, "ssim": 0.21439511852986032, "lpips": 0.6123121380805969}, "wrist_right": {"psnr": 17.097500275510246, "ssim": 0.7588245744022681, "lpips": 0.3339468836784363}, "tactile_left": {"psnr": 31.324027620046465, "ssim": 0.9279944187847888, "lpips": 0.31416887044906616}, "tactile_right": {"psnr": 30.680647368451325, "ssim": 0.9531195903374006, "lpips": 0.2244330197572708}}, {"video": {"psnr": 18.71296372254381, "ssim": 0.6181489504461284, "lpips": 0.2729261517524719}, "wrist_left": {"psnr": 10.793223441006441, "ssim": 0.21352724408413365, "lpips": 0.6030504107475281}, "wrist_right": {"psnr": 12.37489914077866, "ssim": 0.49279531323565684, "lpips": 0.626591145992279}, "tactile_left": {"psnr": 32.378171513522545, "ssim": 0.9444577178087854, "lpips": 0.24917703866958618}, "tactile_right": {"psnr": 30.21904198952842, "ssim": 0.9508338477877756, "lpips": 0.2354079931974411}}, {"video": {"psnr": 18.678169365392066, "ssim": 0.6166620096666808, "lpips": 0.27193522453308105}, "wrist_left": {"psnr": 11.890517136998675, "ssim": 0.19797873944979166, "lpips": 0.5987483263015747}, "wrist_right": {"psnr": 10.621510524018552, "ssim": 0.392770216625685, "lpips": 0.6634083390235901}, "tactile_left": {"psnr": 30.83730696626909, "ssim": 0.9193775517209462, "lpips": 0.2890011966228485}, "tactile_right": {"psnr": 29.983378187414456, "ssim": 0.9460697125715806, "lpips": 0.2681838572025299}}], "long_metrics": {"video": {"psnr": 21.824745458551682, "ssim": 0.748833302375246, "lpips": 0.16954384992520014}, "wrist_left": {"psnr": 15.18947793995101, "ssim": 0.5289619282454745, "lpips": 0.3662662838896116}, "wrist_right": {"psnr": 19.37922942767556, "ssim": 0.6962318498390707, "lpips": 0.27169762601455055}, "tactile_left": {"psnr": 36.96889631224736, "ssim": 0.9579837895508666, "lpips": 0.1611538652330637}, "tactile_right": {"psnr": 36.97925920274223, "ssim": 0.9708008633336944, "lpips": 0.1255658371684452}}}, {"id": "motherboard_custom_e002_17", "episode": "motherboard_0912_episode_002.pt", "requested_episode": "motherboard_0912_episode_002.pt", "category": "onset", "t_start": 2106, "start_seconds": 140.4, "short_contact": [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 1], "future_transition_ticks": [11], "long_contact_fraction": 0.75, "long_label": "onset", "short_metrics": {"video": {"psnr": 25.541982411379962, "ssim": 0.8268627488077668, "lpips": 0.05277422070503235}, "wrist_left": {"psnr": 15.76075245237812, "ssim": 0.5075672182030273, "lpips": 0.23578061163425446}, "wrist_right": {"psnr": 17.590685892205933, "ssim": 0.4328466223896145, "lpips": 0.18093246221542358}, "tactile_left": {"psnr": 45.705489272351805, "ssim": 0.988476287955149, "lpips": 0.009643400087952614}, "tactile_right": {"psnr": 41.49299006032564, "ssim": 0.982742572480279, "lpips": 0.0831141471862793}}, "media": {"short": {"video": "media/motherboard_custom_e002_17_short.mp4", "poster": "media/motherboard_custom_e002_17_short.jpg"}, "long": {"video": "media/motherboard_custom_e002_17_long.mp4", "poster": "media/motherboard_custom_e002_17_long.jpg"}}, "force": {"source": "recorded_normal_force", "units": "N", "fps": 15, "left": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.12416389584541321, 0.06000244617462158, 0.1599999964237213, 0.0, 0.0, 0.0, 0.1599999964237213, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 2.3248276710510254, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 2.6312499046325684, 2.6312499046325684, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.9444444179534912, 0.7983333468437195, 2.243333339691162, 3.9167568683624268, 4.726428508758545, 5.397500038146973, 5.397500038146973, 4.726428508758545, 4.726428508758545, 3.928694009780884, 3.9167568683624268, 3.9167568683624268, 3.9167568683624268, 3.9167568683624268, 3.9167568683624268, 3.9167568683624268, 3.3742141723632812, 3.0568182468414307, 2.6312499046325684, 2.3248276710510254, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 1.380898118019104, 1.9444444179534912, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7040123343467712, 0.7040123343467712, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 2.243333339691162, 1.9444444179534912, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.243333339691162, 1.9444444179534912, 1.9444444179534912, 1.9444444179534912, 2.243333339691162, 1.9444444179534912, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 2.3248276710510254, 0.7983333468437195, 2.243333339691162], "right": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.7983333468437195, 2.243333339691162, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.5789201259613037, 2.3248276710510254, 3.9167568683624268, 3.9167568683624268, 3.9167568683624268, 3.1971428394317627, 3.0568182468414307, 3.1971428394317627, 3.9167568683624268, 3.9167568683624268, 2.3248276710510254, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.5337831377983093, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.1599999964237213, 0.1599999964237213, 0.0, 0.0, 0.0, 0.0, 0.0, 0.4000000059604645, 0.1599999964237213, 0.0, 0.0, 0.1599999964237213, 0.1599999964237213, 0.25, 0.49805352091789246, 1.9444444179534912, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 1.846291184425354, 2.3172874450683594, 2.3248276710510254, 0.7983333468437195, 0.1599999964237213, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]}, "long_curve": [{"video": {"psnr": 25.541982411379962, "ssim": 0.8268627488077668, "lpips": 0.05277422070503235}, "wrist_left": {"psnr": 15.76075245237812, "ssim": 0.5075672182030273, "lpips": 0.23578061163425446}, "wrist_right": {"psnr": 17.590685892205933, "ssim": 0.4328466223896145, "lpips": 0.18093246221542358}, "tactile_left": {"psnr": 45.705489272351805, "ssim": 0.988476287955149, "lpips": 0.009643400087952614}, "tactile_right": {"psnr": 41.49299006032564, "ssim": 0.982742572480279, "lpips": 0.0831141471862793}}, {"video": {"psnr": 20.701464399434116, "ssim": 0.6936866675515636, "lpips": 0.16825632750988007}, "wrist_left": {"psnr": 11.414885502773146, "ssim": 0.30407021530317246, "lpips": 0.4769873321056366}, "wrist_right": {"psnr": 15.593327934116738, "ssim": 0.3595322153305923, "lpips": 0.34363818168640137}, "tactile_left": {"psnr": 43.79904229173733, "ssim": 0.9839232002591372, "lpips": 0.022011658176779747}, "tactile_right": {"psnr": 39.47209628508785, "ssim": 0.9724188973505411, "lpips": 0.13117900490760803}}, {"video": {"psnr": 20.160122429849963, "ssim": 0.6832678470241216, "lpips": 0.21782435476779938}, "wrist_left": {"psnr": 11.755962830744448, "ssim": 0.2640966842973864, "lpips": 0.5017409324645996}, "wrist_right": {"psnr": 15.105420263189016, "ssim": 0.4015470632341501, "lpips": 0.3907816410064697}, "tactile_left": {"psnr": 41.431466982593186, "ssim": 0.9781223396131207, "lpips": 0.04955793917179108}, "tactile_right": {"psnr": 39.128766339061094, "ssim": 0.9754321545761608, "lpips": 0.09141723066568375}}, {"video": {"psnr": 19.105644725070253, "ssim": 0.6574532633372021, "lpips": 0.25142908096313477}, "wrist_left": {"psnr": 12.922406017595925, "ssim": 0.2822185030928429, "lpips": 0.4961533844470978}, "wrist_right": {"psnr": 13.239931210997401, "ssim": 0.39251390268292713, "lpips": 0.44601044058799744}, "tactile_left": {"psnr": 36.04577365001105, "ssim": 0.9653620137137541, "lpips": 0.11921291053295135}, "tactile_right": {"psnr": 38.62912327161151, "ssim": 0.979120909897156, "lpips": 0.046907052397727966}}, {"video": {"psnr": 18.888789960952632, "ssim": 0.655075341802288, "lpips": 0.25439709424972534}, "wrist_left": {"psnr": 11.89761091297401, "ssim": 0.2871978944901462, "lpips": 0.4927895665168762}, "wrist_right": {"psnr": 13.565664228607528, "ssim": 0.3205813037498394, "lpips": 0.47532713413238525}, "tactile_left": {"psnr": 40.143670585048746, "ssim": 0.9738669771294333, "lpips": 0.0798787847161293}, "tactile_right": {"psnr": 37.84527452245423, "ssim": 0.9753915358842802, "lpips": 0.07581767439842224}}, {"video": {"psnr": 18.889525770399196, "ssim": 0.6455458832963907, "lpips": 0.2601616382598877}, "wrist_left": {"psnr": 12.113399548069397, "ssim": 0.26026118479521765, "lpips": 0.496558278799057}, "wrist_right": {"psnr": 13.963164905530567, "ssim": 0.41398619170641826, "lpips": 0.41843512654304504}, "tactile_left": {"psnr": 38.51013078751564, "ssim": 0.964313123372037, "lpips": 0.1064053550362587}, "tactile_right": {"psnr": 38.04527505142698, "ssim": 0.9768698872987351, "lpips": 0.06807955354452133}}, {"video": {"psnr": 18.574004473941883, "ssim": 0.6214930237427407, "lpips": 0.2944030165672302}, "wrist_left": {"psnr": 11.79550192323465, "ssim": 0.3021750572593179, "lpips": 0.5427350401878357}, "wrist_right": {"psnr": 12.056903099104716, "ssim": 0.3604597968621136, "lpips": 0.47708985209465027}, "tactile_left": {"psnr": 37.73614294457674, "ssim": 0.9526780183423703, "lpips": 0.13645797967910767}, "tactile_right": {"psnr": 36.90778613489368, "ssim": 0.9733952705882064, "lpips": 0.0955037921667099}}, {"video": {"psnr": 18.47661923201568, "ssim": 0.6126057050526088, "lpips": 0.30307891964912415}, "wrist_left": {"psnr": 11.754149260702755, "ssim": 0.3746614883200394, "lpips": 0.525585412979126}, "wrist_right": {"psnr": 13.868365472675064, "ssim": 0.4310025038052415, "lpips": 0.40525007247924805}, "tactile_left": {"psnr": 38.06683111203209, "ssim": 0.9599373271877795, "lpips": 0.13569393754005432}, "tactile_right": {"psnr": 36.53090939951368, "ssim": 0.9721678011828059, "lpips": 0.10434558987617493}}, {"video": {"psnr": 18.657910781070793, "ssim": 0.6068931312485558, "lpips": 0.28322404623031616}, "wrist_left": {"psnr": 11.911179600846982, "ssim": 0.4027659499418894, "lpips": 0.5009651184082031}, "wrist_right": {"psnr": 14.06196773639543, "ssim": 0.3732935862932808, "lpips": 0.4601175785064697}, "tactile_left": {"psnr": 37.6380181362544, "ssim": 0.9612271720589092, "lpips": 0.1419210433959961}, "tactile_right": {"psnr": 34.840273365540554, "ssim": 0.9689058846241196, "lpips": 0.11724084615707397}}, {"video": {"psnr": 18.56376447680837, "ssim": 0.6091109243830557, "lpips": 0.29062238335609436}, "wrist_left": {"psnr": 11.939193506771018, "ssim": 0.4157868164505666, "lpips": 0.4885292649269104}, "wrist_right": {"psnr": 12.900446730104079, "ssim": 0.35982427638902925, "lpips": 0.5000230073928833}, "tactile_left": {"psnr": 36.58691591291253, "ssim": 0.9594383389690556, "lpips": 0.15458376705646515}, "tactile_right": {"psnr": 34.13250429266917, "ssim": 0.9676776053135905, "lpips": 0.12824343144893646}}, {"video": {"psnr": 18.059225240768857, "ssim": 0.6122382351377392, "lpips": 0.30889517068862915}, "wrist_left": {"psnr": 11.676755344670651, "ssim": 0.3114713353250531, "lpips": 0.4767459034919739}, "wrist_right": {"psnr": 12.628947066216789, "ssim": 0.3420179052193649, "lpips": 0.4843633472919464}, "tactile_left": {"psnr": 35.57051907474643, "ssim": 0.957445417442335, "lpips": 0.17095503211021423}, "tactile_right": {"psnr": 33.25580969057035, "ssim": 0.9627388696400756, "lpips": 0.16548144817352295}}, {"video": {"psnr": 18.09330156759594, "ssim": 0.6033698357489397, "lpips": 0.3067755699157715}, "wrist_left": {"psnr": 10.924560299741191, "ssim": 0.22852566752663933, "lpips": 0.5384848117828369}, "wrist_right": {"psnr": 12.173092996969945, "ssim": 0.3353354006058014, "lpips": 0.48668020963668823}, "tactile_left": {"psnr": 33.30085571546935, "ssim": 0.9485004694536716, "lpips": 0.21474894881248474}, "tactile_right": {"psnr": 32.16125103983152, "ssim": 0.9617696934578039, "lpips": 0.15937161445617676}}, {"video": {"psnr": 18.225576112921658, "ssim": 0.5967677076621858, "lpips": 0.3128697872161865}, "wrist_left": {"psnr": 11.838432311999478, "ssim": 0.25275553392835687, "lpips": 0.503309428691864}, "wrist_right": {"psnr": 10.813544188598312, "ssim": 0.36817668470967335, "lpips": 0.4723277688026428}, "tactile_left": {"psnr": 33.30604127844521, "ssim": 0.949246768856018, "lpips": 0.21080049872398376}, "tactile_right": {"psnr": 31.371498704324907, "ssim": 0.9567744029497482, "lpips": 0.1875755488872528}}, {"video": {"psnr": 18.740357285638723, "ssim": 0.6128008648514559, "lpips": 0.2943555414676666}, "wrist_left": {"psnr": 12.895512566507056, "ssim": 0.3928913198545837, "lpips": 0.43212494254112244}, "wrist_right": {"psnr": 11.1790691898027, "ssim": 0.34797625156052525, "lpips": 0.4704741835594177}, "tactile_left": {"psnr": 33.206795024253545, "ssim": 0.9472332281136471, "lpips": 0.21662366390228271}, "tactile_right": {"psnr": 30.647517440401124, "ssim": 0.9532805677756467, "lpips": 0.20451408624649048}}, {"video": {"psnr": 19.101646158693132, "ssim": 0.611810632183778, "lpips": 0.2917892336845398}, "wrist_left": {"psnr": 12.997246250910413, "ssim": 0.3269369218477788, "lpips": 0.49825960397720337}, "wrist_right": {"psnr": 11.811004025041589, "ssim": 0.34016041092976823, "lpips": 0.45432916283607483}, "tactile_left": {"psnr": 31.42462376603276, "ssim": 0.9366275726092002, "lpips": 0.2565978467464447}, "tactile_right": {"psnr": 29.978091244182863, "ssim": 0.9508770807218083, "lpips": 0.22056616842746735}}], "long_metrics": {"video": {"psnr": 19.318662335102747, "ssim": 0.6432654541220262, "lpips": 0.2593904256820679}, "wrist_left": {"psnr": 12.23983655532795, "ssim": 0.32755878604240124, "lpips": 0.4804499755303065}, "wrist_right": {"psnr": 13.370102329303721, "ssim": 0.371950274364556, "lpips": 0.4310520112514496}, "tactile_left": {"psnr": 37.49815443559872, "ssim": 0.9617598836717078, "lpips": 0.13500618437925974}, "tactile_right": {"psnr": 35.62927778945968, "ssim": 0.9686375422493971, "lpips": 0.12529047926266987}}}, {"id": "motherboard_custom_e002_18", "episode": "motherboard_0912_episode_002.pt", "requested_episode": "motherboard_0912_episode_002.pt", "category": "release", "t_start": 217, "start_seconds": 14.466666666666667, "short_contact": [1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 0, 0], "future_transition_ticks": [11], "long_contact_fraction": 0.9296875, "long_label": "release", "short_metrics": {"video": {"psnr": 22.305091537098743, "ssim": 0.7414677015876445, "lpips": 0.1623348593711853}, "wrist_left": {"psnr": 15.784145119205292, "ssim": 0.5204427603278677, "lpips": 0.45136258006095886}, "wrist_right": {"psnr": 13.370404923641868, "ssim": 0.4426961923744585, "lpips": 0.43388831615448}, "tactile_left": {"psnr": 40.794745857997725, "ssim": 0.9812184694746007, "lpips": 0.05385863408446312}, "tactile_right": {"psnr": 48.12478291106524, "ssim": 0.9932444689860565, "lpips": 0.009097214788198471}}, "media": {"short": {"video": "media/motherboard_custom_e002_18_short.mp4", "poster": "media/motherboard_custom_e002_18_short.jpg"}, "long": {"video": "media/motherboard_custom_e002_18_long.mp4", "poster": "media/motherboard_custom_e002_18_long.jpg"}}, "force": {"source": "recorded_normal_force", "units": "N", "fps": 15, "left": [4.852499961853027, 4.726428508758545, 3.0568182468414307, 3.0568182468414307, 0.502597451210022, 0.7983333468437195, 0.7983333468437195, 0.5090468525886536, 3.0568182468414307, 0.7983333468437195, 3.9167568683624268, 0.27666667103767395, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 3.0568182468414307, 3.9167568683624268, 5.403749942779541, 6.519285678863525, 5.486666679382324, 4.852499961853027, 4.852499961853027, 3.9167568683624268, 3.9167568683624268, 3.0568182468414307, 2.3248276710510254, 1.9444444179534912, 2.3248276710510254, 4.726428508758545, 4.726428508758545, 4.726428508758545, 4.821667671203613, 4.726428508758545, 3.9167568683624268, 3.9383208751678467, 3.9167568683624268, 3.9167568683624268, 3.0568182468414307, 3.0568182468414307, 3.9167568683624268, 3.9167568683624268, 3.1971428394317627, 3.9167568683624268, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 2.6312499046325684, 2.6312499046325684, 2.3248276710510254, 2.3248276710510254, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.920292377471924, 3.9167568683624268, 3.9167568683624268, 3.9167568683624268, 4.726428508758545, 4.726428508758545, 3.9167568683624268, 3.1971428394317627, 3.1971428394317627, 3.9167568683624268, 3.9167568683624268, 3.9167568683624268, 3.0568182468414307, 2.3248276710510254, 3.0568182468414307, 3.0568182468414307, 2.3248276710510254, 3.0568182468414307, 3.0568182468414307, 2.3248276710510254, 3.0568182468414307, 3.0568182468414307, 1.6830923557281494, 2.3248276710510254, 0.5600000023841858, 3.0568182468414307, 3.0568182468414307, 2.3248276710510254, 3.0568182468414307, 3.9167568683624268, 3.9167568683624268, 4.726428508758545, 5.403749942779541, 4.726428508758545, 4.726428508758545, 4.726428508758545, 4.726428508758545, 3.9167568683624268, 3.9167568683624268, 4.726428508758545, 3.9167568683624268, 3.9167568683624268, 3.932142496109009, 3.9167568683624268, 3.9167568683624268, 3.0568182468414307, 3.0568182468414307, 3.9167568683624268, 3.1971428394317627, 3.0568182468414307, 2.3248276710510254, 1.5576918125152588, 1.9444444179534912, 3.938002347946167, 4.852499961853027, 5.403749942779541, 5.403749942779541, 5.403749942779541, 4.726428508758545, 4.726428508758545, 3.9167568683624268, 3.9167568683624268, 3.9167568683624268, 3.9167568683624268, 3.0568182468414307, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 3.0568182468414307], "right": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.1599999964237213, 0.07424460351467133, 0.7660918831825256, 0.7983333468437195, 0.4399999976158142, 0.43391281366348267, 0.4399999976158142, 2.3248276710510254, 3.0568182468414307, 3.1971428394317627, 3.1885313987731934, 3.0568182468414307, 0.5600000023841858, 0.6110549569129944, 0.6894059777259827, 0.5600000023841858, 0.5600000023841858, 0.2640872597694397, 0.25, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7471941709518433, 0.43728530406951904]}, "long_curve": [{"video": {"psnr": 22.305091537098743, "ssim": 0.7414677015876445, "lpips": 0.1623348593711853}, "wrist_left": {"psnr": 15.784145119205292, "ssim": 0.5204427603278677, "lpips": 0.45136258006095886}, "wrist_right": {"psnr": 13.370404923641868, "ssim": 0.4426961923744585, "lpips": 0.43388831615448}, "tactile_left": {"psnr": 40.794745857997725, "ssim": 0.9812184694746007, "lpips": 0.05385863408446312}, "tactile_right": {"psnr": 48.12478291106524, "ssim": 0.9932444689860565, "lpips": 0.009097214788198471}}, {"video": {"psnr": 20.760500481453516, "ssim": 0.6725953921939537, "lpips": 0.22861738502979279}, "wrist_left": {"psnr": 12.471271764263424, "ssim": 0.3361290355559448, "lpips": 0.4645567238330841}, "wrist_right": {"psnr": 12.96431726446829, "ssim": 0.39938224288300694, "lpips": 0.48424357175827026}, "tactile_left": {"psnr": 39.58437610062235, "ssim": 0.9705247713362091, "lpips": 0.0799829363822937}, "tactile_right": {"psnr": 43.45602745105457, "ssim": 0.9864689629877872, "lpips": 0.02894243784248829}}, {"video": {"psnr": 18.51995413436876, "ssim": 0.6328825241037817, "lpips": 0.33390113711357117}, "wrist_left": {"psnr": 12.923262062757768, "ssim": 0.3425869821617785, "lpips": 0.4942503571510315}, "wrist_right": {"psnr": 12.288196789042466, "ssim": 0.4075511871052492, "lpips": 0.4879888594150543}, "tactile_left": {"psnr": 38.17575228481554, "ssim": 0.960301123097413, "lpips": 0.11631752550601959}, "tactile_right": {"psnr": 40.74486711325002, "ssim": 0.9831992489911459, "lpips": 0.044460229575634}}, {"video": {"psnr": 19.067406113963358, "ssim": 0.6400980821852036, "lpips": 0.310901015996933}, "wrist_left": {"psnr": 13.100859122807682, "ssim": 0.332409614298501, "lpips": 0.4890388250350952}, "wrist_right": {"psnr": 12.321931470288439, "ssim": 0.4366587243066846, "lpips": 0.4706835150718689}, "tactile_left": {"psnr": 37.95720413047226, "ssim": 0.9665316866491181, "lpips": 0.08060738444328308}, "tactile_right": {"psnr": 38.99637262844252, "ssim": 0.9819931529437873, "lpips": 0.04301027953624725}}, {"video": {"psnr": 19.297698533468278, "ssim": 0.6513736871275666, "lpips": 0.2733451724052429}, "wrist_left": {"psnr": 13.512238658294924, "ssim": 0.3727261376237221, "lpips": 0.48218047618865967}, "wrist_right": {"psnr": 11.245502841815277, "ssim": 0.5064134132056812, "lpips": 0.5738203525543213}, "tactile_left": {"psnr": 37.32896794162225, "ssim": 0.9650848015598632, "lpips": 0.10023367404937744}, "tactile_right": {"psnr": 38.02315012562458, "ssim": 0.97969056371416, "lpips": 0.06143685802817345}}, {"video": {"psnr": 18.28894523574952, "ssim": 0.6365763899496526, "lpips": 0.343282014131546}, "wrist_left": {"psnr": 9.613031780960739, "ssim": 0.2987481343628269, "lpips": 0.6087051630020142}, "wrist_right": {"psnr": 9.112768534106936, "ssim": 0.38444609586317285, "lpips": 0.6392934918403625}, "tactile_left": {"psnr": 37.084137906208284, "ssim": 0.9650456093737463, "lpips": 0.10716594010591507}, "tactile_right": {"psnr": 37.169619341748955, "ssim": 0.9769069019276361, "lpips": 0.07950378954410553}}, {"video": {"psnr": 17.964023699153728, "ssim": 0.6179964421897809, "lpips": 0.34503138065338135}, "wrist_left": {"psnr": 8.890444734023703, "ssim": 0.3032347782978392, "lpips": 0.6282269954681396}, "wrist_right": {"psnr": 9.628187978288208, "ssim": 0.46893304899172283, "lpips": 0.6266723871231079}, "tactile_left": {"psnr": 36.390104096143475, "ssim": 0.9594395119950114, "lpips": 0.14855515956878662}, "tactile_right": {"psnr": 36.22678873054553, "ssim": 0.9738629927835782, "lpips": 0.10007598251104355}}, {"video": {"psnr": 18.3543292026577, "ssim": 0.594364211492863, "lpips": 0.3543704152107239}, "wrist_left": {"psnr": 9.153586448408996, "ssim": 0.2695474145774528, "lpips": 0.6074281930923462}, "wrist_right": {"psnr": 10.132362446083892, "ssim": 0.4993991936067291, "lpips": 0.5834276676177979}, "tactile_left": {"psnr": 35.81592890609429, "ssim": 0.9556281415332879, "lpips": 0.17800267040729523}, "tactile_right": {"psnr": 36.053646265301154, "ssim": 0.9699678910111544, "lpips": 0.11958102881908417}}, {"video": {"psnr": 18.282811722793323, "ssim": 0.6122630294539093, "lpips": 0.33378225564956665}, "wrist_left": {"psnr": 8.286482964712667, "ssim": 0.29788877969202476, "lpips": 0.6488962769508362}, "wrist_right": {"psnr": 9.72393452393032, "ssim": 0.4310428367440188, "lpips": 0.6534485816955566}, "tactile_left": {"psnr": 35.7515152274099, "ssim": 0.9577636502869034, "lpips": 0.1790134459733963}, "tactile_right": {"psnr": 35.60338787476505, "ssim": 0.9673980815585501, "lpips": 0.13683706521987915}}, {"video": {"psnr": 17.91543375116315, "ssim": 0.6131768336499848, "lpips": 0.3345337510108948}, "wrist_left": {"psnr": 7.664626882490798, "ssim": 0.27579780697445816, "lpips": 0.7072441577911377}, "wrist_right": {"psnr": 8.878051599032696, "ssim": 0.3678036353953951, "lpips": 0.6216988563537598}, "tactile_left": {"psnr": 35.01538407317965, "ssim": 0.9549775945195838, "lpips": 0.21560758352279663}, "tactile_right": {"psnr": 34.30849173052272, "ssim": 0.9640503869138533, "lpips": 0.16007272899150848}}, {"video": {"psnr": 18.002816001592407, "ssim": 0.6106757504492608, "lpips": 0.3409251570701599}, "wrist_left": {"psnr": 8.293543483805845, "ssim": 0.29868006584214135, "lpips": 0.6482769250869751}, "wrist_right": {"psnr": 9.048253796223873, "ssim": 0.4650272004119314, "lpips": 0.6164339780807495}, "tactile_left": {"psnr": 34.02813466247182, "ssim": 0.9430286062421066, "lpips": 0.25800687074661255}, "tactile_right": {"psnr": 33.49430673474679, "ssim": 0.961218713575908, "lpips": 0.17993101477622986}}, {"video": {"psnr": 18.327635110267416, "ssim": 0.6002038066023513, "lpips": 0.34642258286476135}, "wrist_left": {"psnr": 8.702691991277202, "ssim": 0.26038417725061697, "lpips": 0.5966440439224243}, "wrist_right": {"psnr": 10.065343181767023, "ssim": 0.4849757698929597, "lpips": 0.5896973609924316}, "tactile_left": {"psnr": 33.13372678313123, "ssim": 0.9326799703745481, "lpips": 0.273389607667923}, "tactile_right": {"psnr": 32.87319106364346, "ssim": 0.9576868929710873, "lpips": 0.20217376947402954}}, {"video": {"psnr": 17.761385263220888, "ssim": 0.5993022372759214, "lpips": 0.3462502956390381}, "wrist_left": {"psnr": 8.090272236039391, "ssim": 0.29071458595820965, "lpips": 0.6644119620323181}, "wrist_right": {"psnr": 8.72102237424158, "ssim": 0.3453432343478833, "lpips": 0.7247105836868286}, "tactile_left": {"psnr": 33.056836416796735, "ssim": 0.9433766269006593, "lpips": 0.24771858751773834}, "tactile_right": {"psnr": 32.212298363848134, "ssim": 0.9527669377367226, "lpips": 0.2421552538871765}}, {"video": {"psnr": 17.822487005541053, "ssim": 0.5994326904101817, "lpips": 0.3342708349227905}, "wrist_left": {"psnr": 8.130093622474936, "ssim": 0.2948465084169203, "lpips": 0.685847818851471}, "wrist_right": {"psnr": 8.750620030482953, "ssim": 0.3477967346642678, "lpips": 0.7101078033447266}, "tactile_left": {"psnr": 32.61165667804551, "ssim": 0.9379065628881835, "lpips": 0.28685685992240906}, "tactile_right": {"psnr": 31.492398505241223, "ssim": 0.9495404214056944, "lpips": 0.2608445882797241}}, {"video": {"psnr": 18.93598978342825, "ssim": 0.5922764796277955, "lpips": 0.295443058013916}, "wrist_left": {"psnr": 9.633443438496387, "ssim": 0.26309710533341146, "lpips": 0.6030964851379395}, "wrist_right": {"psnr": 10.08481306734587, "ssim": 0.45237703720542877, "lpips": 0.6288106441497803}, "tactile_left": {"psnr": 31.785898577935686, "ssim": 0.9313850168798105, "lpips": 0.30231261253356934}, "tactile_right": {"psnr": 27.368308465501357, "ssim": 0.9381494345986355, "lpips": 0.30416929721832275}}], "long_metrics": {"video": {"psnr": 18.773767171728007, "ssim": 0.6276456838866568, "lpips": 0.31222742100556694}, "wrist_left": {"psnr": 10.283332954001317, "ssim": 0.3171489257782477, "lpips": 0.5853444655736287}, "wrist_right": {"psnr": 10.422380721383979, "ssim": 0.4293231031332393, "lpips": 0.5896617313226064}, "tactile_left": {"psnr": 35.900957976196445, "ssim": 0.9549928095407363, "lpips": 0.1751752994954586}, "tactile_right": {"psnr": 36.409842487020086, "ssim": 0.9690763368070505, "lpips": 0.131486102566123}}}, {"id": "motherboard_custom_e002_19", "episode": "motherboard_0912_episode_002.pt", "requested_episode": "motherboard_0912_episode_002.pt", "category": "full", "t_start": 944, "start_seconds": 62.93333333333333, "short_contact": [1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1], "future_transition_ticks": [], "long_contact_fraction": 1.0, "long_label": "full", "short_metrics": {"video": {"psnr": 23.70104652964538, "ssim": 0.7906634639667102, "lpips": 0.09018518030643463}, "wrist_left": {"psnr": 16.457947636408864, "ssim": 0.4443000962900597, "lpips": 0.3673292100429535}, "wrist_right": {"psnr": 28.58351299136874, "ssim": 0.926897230280372, "lpips": 0.05260971188545227}, "tactile_left": {"psnr": 37.55342740324375, "ssim": 0.9548787682625743, "lpips": 0.08535058796405792}, "tactile_right": {"psnr": 48.05076491251476, "ssim": 0.9920898805892524, "lpips": 0.019619887694716454}}, "media": {"short": {"video": "media/motherboard_custom_e002_19_short.mp4", "poster": "media/motherboard_custom_e002_19_short.jpg"}, "long": {"video": "media/motherboard_custom_e002_19_long.mp4", "poster": "media/motherboard_custom_e002_19_long.jpg"}}, "force": {"source": "recorded_normal_force", "units": "N", "fps": 15, "left": [1.9444444179534912, 5.486666679382324, 5.403749942779541, 5.486666679382324, 5.486666679382324, 4.726428508758545, 4.726428508758545, 4.726428508758545, 5.397500038146973, 4.726428508758545, 4.726428508758545, 4.726428508758545, 4.726428508758545, 4.726428508758545, 4.726428508758545, 4.726428508758545, 3.9385359287261963, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 2.6312499046325684, 2.6312499046325684, 2.6312499046325684, 3.0568182468414307, 3.0568182468414307, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.6312499046325684, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 4.81326961517334, 4.852499961853027, 5.397634029388428, 4.852499961853027, 4.852499961853027, 5.397500038146973, 5.399270057678223, 5.397500038146973, 4.852499961853027, 4.852499961853027, 3.9167568683624268, 3.9167568683624268, 3.9167568683624268, 4.726428508758545, 4.726428508758545, 4.726428508758545, 4.726428508758545, 4.726428508758545, 3.1971428394317627, 3.1971428394317627, 3.1971428394317627, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.4042980670928955, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 2.6312499046325684, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 3.9167568683624268, 5.397500038146973, 4.726428508758545, 4.726428508758545, 4.726428508758545, 3.9167568683624268, 3.9167568683624268, 3.9388134479522705, 3.1971428394317627, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0808489322662354, 3.0568182468414307, 3.0568182468414307, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 1.9444444179534912, 1.5979106426239014, 0.7983333468437195, 0.7983333468437195, 2.3248276710510254, 2.3248276710510254, 0.7983333468437195, 2.243333339691162, 2.243333339691162, 2.3248276710510254, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.9167568683624268, 3.92547869682312, 3.9167568683624268, 4.852499961853027, 3.939357280731201, 4.726428508758545, 4.726428508758545, 3.940000057220459, 3.1971428394317627, 3.9167568683624268, 3.9167568683624268, 3.9167568683624268, 3.9167568683624268, 3.9167568683624268, 3.9247372150421143], "right": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0689406767487526, 0.4319555163383484, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]}, "long_curve": [{"video": {"psnr": 23.70104652964538, "ssim": 0.7906634639667102, "lpips": 0.09018518030643463}, "wrist_left": {"psnr": 16.457947636408864, "ssim": 0.4443000962900597, "lpips": 0.3673292100429535}, "wrist_right": {"psnr": 28.58351299136874, "ssim": 0.926897230280372, "lpips": 0.05260971188545227}, "tactile_left": {"psnr": 37.55342740324375, "ssim": 0.9548787682625743, "lpips": 0.08535058796405792}, "tactile_right": {"psnr": 48.05076491251476, "ssim": 0.9920898805892524, "lpips": 0.019619887694716454}}, {"video": {"psnr": 20.776069998651355, "ssim": 0.6898956819245652, "lpips": 0.1930883675813675}, "wrist_left": {"psnr": 13.099653409473888, "ssim": 0.302207991385367, "lpips": 0.4779581129550934}, "wrist_right": {"psnr": 24.092050224586718, "ssim": 0.8658399434376649, "lpips": 0.10812801122665405}, "tactile_left": {"psnr": 38.26922347194317, "ssim": 0.967186734954033, "lpips": 0.09300336241722107}, "tactile_right": {"psnr": 45.05486933944992, "ssim": 0.9859081810504835, "lpips": 0.0277591273188591}}, {"video": {"psnr": 21.17876206591092, "ssim": 0.7124890124866223, "lpips": 0.1863613724708557}, "wrist_left": {"psnr": 14.349037783245272, "ssim": 0.33902363311419403, "lpips": 0.49304744601249695}, "wrist_right": {"psnr": 23.774142819986107, "ssim": 0.8692569100041697, "lpips": 0.09409304708242416}, "tactile_left": {"psnr": 39.444069651548496, "ssim": 0.9683101945181632, "lpips": 0.09098616242408752}, "tactile_right": {"psnr": 42.14387172253503, "ssim": 0.9837016588393633, "lpips": 0.0280949417501688}}, {"video": {"psnr": 19.62057728738835, "ssim": 0.6892570417173856, "lpips": 0.2627636790275574}, "wrist_left": {"psnr": 13.201678303282334, "ssim": 0.3158365836938285, "lpips": 0.506598711013794}, "wrist_right": {"psnr": 22.498179502979816, "ssim": 0.8488039362655011, "lpips": 0.1261136531829834}, "tactile_left": {"psnr": 37.09150640134182, "ssim": 0.955448370062206, "lpips": 0.1435738354921341}, "tactile_right": {"psnr": 39.57737727967489, "ssim": 0.9816244825413688, "lpips": 0.04716462269425392}}, {"video": {"psnr": 20.71289352606273, "ssim": 0.7001461477550777, "lpips": 0.21472376585006714}, "wrist_left": {"psnr": 13.3201955298948, "ssim": 0.3300973727833299, "lpips": 0.5145140290260315}, "wrist_right": {"psnr": 21.77052138957542, "ssim": 0.8448228169991594, "lpips": 0.15594170987606049}, "tactile_left": {"psnr": 36.236899583959534, "ssim": 0.94001152806457, "lpips": 0.16577672958374023}, "tactile_right": {"psnr": 38.783061819775966, "ssim": 0.9798201930177537, "lpips": 0.06806295365095139}}, {"video": {"psnr": 19.788792184120304, "ssim": 0.652825361297233, "lpips": 0.25680458545684814}, "wrist_left": {"psnr": 13.166108998123391, "ssim": 0.3142666411872099, "lpips": 0.5521686673164368}, "wrist_right": {"psnr": 18.575252048677143, "ssim": 0.7899211961111439, "lpips": 0.23741191625595093}, "tactile_left": {"psnr": 36.966665356731205, "ssim": 0.9484225662834092, "lpips": 0.15303975343704224}, "tactile_right": {"psnr": 37.28010184908697, "ssim": 0.9765698383731776, "lpips": 0.09660625457763672}}, {"video": {"psnr": 19.528789123811045, "ssim": 0.6358430989065709, "lpips": 0.2811167240142822}, "wrist_left": {"psnr": 12.085505037000111, "ssim": 0.2717020735019189, "lpips": 0.5491675138473511}, "wrist_right": {"psnr": 19.8871733189525, "ssim": 0.8008313521669903, "lpips": 0.238935187458992}, "tactile_left": {"psnr": 37.338865056605414, "ssim": 0.9577173214526632, "lpips": 0.12475903332233429}, "tactile_right": {"psnr": 35.94365676328927, "ssim": 0.9737340890158032, "lpips": 0.1212206557393074}}, {"video": {"psnr": 20.342935044335597, "ssim": 0.6622207092558771, "lpips": 0.26578429341316223}, "wrist_left": {"psnr": 13.885591726140255, "ssim": 0.3322399842002668, "lpips": 0.5265161395072937}, "wrist_right": {"psnr": 20.265452801839487, "ssim": 0.817660928949878, "lpips": 0.1885240375995636}, "tactile_left": {"psnr": 37.84732916775928, "ssim": 0.960405441787432, "lpips": 0.11989093571901321}, "tactile_right": {"psnr": 34.9823600095685, "ssim": 0.9709766976967271, "lpips": 0.13657861948013306}}, {"video": {"psnr": 20.213364107104894, "ssim": 0.6755770722320598, "lpips": 0.25243720412254333}, "wrist_left": {"psnr": 10.44817210646694, "ssim": 0.3155913799103692, "lpips": 0.5938489437103271}, "wrist_right": {"psnr": 20.009088718735953, "ssim": 0.7967497072284498, "lpips": 0.26330864429473877}, "tactile_left": {"psnr": 36.75142832809901, "ssim": 0.9554911358923748, "lpips": 0.15160930156707764}, "tactile_right": {"psnr": 33.75730832472399, "ssim": 0.968216149953316, "lpips": 0.15089786052703857}}, {"video": {"psnr": 19.51041551298303, "ssim": 0.6619771080831232, "lpips": 0.30142974853515625}, "wrist_left": {"psnr": 10.000771453411254, "ssim": 0.2715028621879751, "lpips": 0.6319396495819092}, "wrist_right": {"psnr": 20.500894428163242, "ssim": 0.807579018884682, "lpips": 0.21118035912513733}, "tactile_left": {"psnr": 34.15653382267778, "ssim": 0.9312062962860397, "lpips": 0.20806366205215454}, "tactile_right": {"psnr": 32.05403689320473, "ssim": 0.9640824543613866, "lpips": 0.17318004369735718}}, {"video": {"psnr": 17.72680565090281, "ssim": 0.6151967820597568, "lpips": 0.38137274980545044}, "wrist_left": {"psnr": 13.386438041750697, "ssim": 0.31217105194583683, "lpips": 0.5302163362503052}, "wrist_right": {"psnr": 21.075268642829773, "ssim": 0.8358866929789915, "lpips": 0.1382080763578415}, "tactile_left": {"psnr": 33.93880110001224, "ssim": 0.9343008496821307, "lpips": 0.21524102985858917}, "tactile_right": {"psnr": 31.296836071977534, "ssim": 0.9605491116370406, "lpips": 0.18335580825805664}}, {"video": {"psnr": 16.568744042953025, "ssim": 0.5704465540943107, "lpips": 0.4383421242237091}, "wrist_left": {"psnr": 12.947322976515661, "ssim": 0.3108932149783653, "lpips": 0.49053192138671875}, "wrist_right": {"psnr": 21.010999879107565, "ssim": 0.8234664734095968, "lpips": 0.18491479754447937}, "tactile_left": {"psnr": 34.73321160078575, "ssim": 0.9449508477476503, "lpips": 0.2138717919588089}, "tactile_right": {"psnr": 30.34753038760914, "ssim": 0.9562913484627239, "lpips": 0.20444448292255402}}, {"video": {"psnr": 17.30361748448986, "ssim": 0.6044971179896701, "lpips": 0.4160457253456116}, "wrist_left": {"psnr": 12.886970014175636, "ssim": 0.3161516221922266, "lpips": 0.5591506958007812}, "wrist_right": {"psnr": 20.98954609406379, "ssim": 0.8305710090917608, "lpips": 0.16906392574310303}, "tactile_left": {"psnr": 34.326113139215664, "ssim": 0.9437326667178325, "lpips": 0.22031688690185547}, "tactile_right": {"psnr": 29.673291092975248, "ssim": 0.9531100576738347, "lpips": 0.21867366135120392}}, {"video": {"psnr": 18.943118950121292, "ssim": 0.6342017245235728, "lpips": 0.37226998805999756}, "wrist_left": {"psnr": 11.824219294816736, "ssim": 0.30718446666622234, "lpips": 0.5660544633865356}, "wrist_right": {"psnr": 20.602709614510037, "ssim": 0.8027954693627073, "lpips": 0.2338595986366272}, "tactile_left": {"psnr": 33.13018343939474, "ssim": 0.9266335756144743, "lpips": 0.26569607853889465}, "tactile_right": {"psnr": 29.103658585288933, "ssim": 0.9501510797338619, "lpips": 0.23239663243293762}}, {"video": {"psnr": 17.805991421461833, "ssim": 0.6096295566300425, "lpips": 0.4166891872882843}, "wrist_left": {"psnr": 13.139003265831185, "ssim": 0.36842763022422165, "lpips": 0.5367581844329834}, "wrist_right": {"psnr": 20.718166819998363, "ssim": 0.8206151977147818, "lpips": 0.19453513622283936}, "tactile_left": {"psnr": 32.99146535054198, "ssim": 0.9242937137587843, "lpips": 0.2745499610900879}, "tactile_right": {"psnr": 28.554411245630696, "ssim": 0.9467814599438209, "lpips": 0.2499297559261322}}], "long_metrics": {"video": {"psnr": 19.581461528662828, "ssim": 0.6603244288615052, "lpips": 0.28862764636675514}, "wrist_left": {"psnr": 12.946574371769136, "ssim": 0.3234397736174261, "lpips": 0.5263866682847341}, "wrist_right": {"psnr": 21.623530619691643, "ssim": 0.8321131921923899, "lpips": 0.17312185416618983}, "tactile_left": {"psnr": 36.05171485825733, "ssim": 0.9475326674056225, "lpips": 0.1683819408218066}, "tactile_right": {"psnr": 35.77354241982037, "ssim": 0.9695737788593276, "lpips": 0.13053235386808712}}}], "split": "mixed_mb_wrist_holdout.json", "unavailable": [], "complete": true}, {"id": "motherboard_e004", "label": "Motherboard", "checkpoint": "epoch_004.pt", "run": "nano_action_causal_umi_all_v1", "planned_cases": 20, "cases": [{"id": "motherboard_e004_00", "episode": "motherboard_0909_episode_000.pt", "requested_episode": "motherboard_0909_episode_000.pt", "category": "none", "t_start": 1134, "start_seconds": 75.6, "short_contact": [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0], "future_transition_ticks": [], "long_contact_fraction": 0.015625, "long_label": "none_at_start", "short_metrics": {"video": {"psnr": 28.96048327104849, "ssim": 0.9073751514755144, "lpips": 0.025387674570083618}, "wrist_left": {"psnr": 33.12380528688545, "ssim": 0.9680861316347815, "lpips": 0.02808689884841442}, "wrist_right": {"psnr": 16.680240022491258, "ssim": 0.6701789833353087, "lpips": 0.1314239203929901}, "tactile_left": {"psnr": 47.8739795194864, "ssim": 0.9938152633689056, "lpips": 0.004569674842059612}, "tactile_right": {"psnr": 45.144287106404455, "ssim": 0.9839141257927151, "lpips": 0.021453920751810074}}, "media": {"short": {"video": "media/motherboard_e004_00_short.mp4", "poster": "media/motherboard_e004_00_short.jpg"}, "long": {"video": "media/motherboard_e004_00_long.mp4", "poster": "media/motherboard_e004_00_long.jpg"}}, "force": {"source": "recorded_normal_force", "units": "N", "fps": 15, "left": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "right": [0.49666666984558105, 0.41999998688697815, 0.3276471495628357, 0.2779442071914673, 0.19263210892677307, 0.16038045287132263, 0.1599999964237213, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.1599999964237213, 0.1599999964237213, 0.1599999964237213, 0.0, 0.0, 0.0, 0.1599999964237213, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.1599999964237213, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.27239662408828735, 0.1599999964237213, 0.2841034233570099, 0.17168553173542023, 0.1641339212656021, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.1885688155889511, 0.49666666984558105, 1.1662499904632568, 0.7758844494819641, 0.46323081851005554]}, "long_curve": [{"video": {"psnr": 28.96048327104849, "ssim": 0.9073751514755144, "lpips": 0.025387674570083618}, "wrist_left": {"psnr": 33.12380528688545, "ssim": 0.9680861316347815, "lpips": 0.02808689884841442}, "wrist_right": {"psnr": 16.680240022491258, "ssim": 0.6701789833353087, "lpips": 0.1314239203929901}, "tactile_left": {"psnr": 47.8739795194864, "ssim": 0.9938152633689056, "lpips": 0.004569674842059612}, "tactile_right": {"psnr": 45.144287106404455, "ssim": 0.9839141257927151, "lpips": 0.021453920751810074}}, {"video": {"psnr": 24.34406834761085, "ssim": 0.8056661275837365, "lpips": 0.05751870572566986}, "wrist_left": {"psnr": 26.317689037600644, "ssim": 0.8761342363667892, "lpips": 0.07339901477098465}, "wrist_right": {"psnr": 11.010837283518, "ssim": 0.358181725572041, "lpips": 0.40155118703842163}, "tactile_left": {"psnr": 44.6519665284448, "ssim": 0.9898841940941702, "lpips": 0.019777942448854446}, "tactile_right": {"psnr": 42.286426403039926, "ssim": 0.9755912108992639, "lpips": 0.05475609749555588}}, {"video": {"psnr": 22.724160049385592, "ssim": 0.7554690589914246, "lpips": 0.09959423542022705}, "wrist_left": {"psnr": 24.312130292945188, "ssim": 0.8210098181545749, "lpips": 0.10299395769834518}, "wrist_right": {"psnr": 10.434196388489504, "ssim": 0.3365904872812361, "lpips": 0.45565640926361084}, "tactile_left": {"psnr": 42.53597726790733, "ssim": 0.9853131037870404, "lpips": 0.046278923749923706}, "tactile_right": {"psnr": 41.57762259931519, "ssim": 0.9734261649193245, "lpips": 0.08018550276756287}}, {"video": {"psnr": 23.298994678851116, "ssim": 0.7656406555497977, "lpips": 0.09536619484424591}, "wrist_left": {"psnr": 22.343824716244637, "ssim": 0.7916185342912694, "lpips": 0.13701483607292175}, "wrist_right": {"psnr": 11.361420508476687, "ssim": 0.29154989090887906, "lpips": 0.4359442889690399}, "tactile_left": {"psnr": 39.90343161597137, "ssim": 0.9804575231191712, "lpips": 0.07959789037704468}, "tactile_right": {"psnr": 39.88730581372692, "ssim": 0.9701216539326398, "lpips": 0.10491140186786652}}, {"video": {"psnr": 22.253916170575433, "ssim": 0.7408339204396424, "lpips": 0.11926355957984924}, "wrist_left": {"psnr": 21.527116771050117, "ssim": 0.7559266751055176, "lpips": 0.1882222443819046}, "wrist_right": {"psnr": 11.148825966451831, "ssim": 0.27439103938637316, "lpips": 0.45532095432281494}, "tactile_left": {"psnr": 38.06426969447203, "ssim": 0.975871872576329, "lpips": 0.11327417194843292}, "tactile_right": {"psnr": 38.34890774844885, "ssim": 0.9667715637651322, "lpips": 0.12405022233724594}}, {"video": {"psnr": 21.34608382381196, "ssim": 0.7260743597915142, "lpips": 0.15433654189109802}, "wrist_left": {"psnr": 21.85644540952554, "ssim": 0.725438863479765, "lpips": 0.2208898365497589}, "wrist_right": {"psnr": 11.3046578901195, "ssim": 0.27379475824494853, "lpips": 0.474013090133667}, "tactile_left": {"psnr": 37.29238688751833, "ssim": 0.9713769321357837, "lpips": 0.14406836032867432}, "tactile_right": {"psnr": 37.70542623276004, "ssim": 0.9642539957805433, "lpips": 0.13411320745944977}}, {"video": {"psnr": 21.48753440877547, "ssim": 0.7198909466980384, "lpips": 0.1500375121831894}, "wrist_left": {"psnr": 21.517803438701936, "ssim": 0.7053549498836444, "lpips": 0.2412189543247223}, "wrist_right": {"psnr": 11.145502420346991, "ssim": 0.27143014726110504, "lpips": 0.46465054154396057}, "tactile_left": {"psnr": 36.16252800661149, "ssim": 0.9668290067261218, "lpips": 0.17140819132328033}, "tactile_right": {"psnr": 36.97875289270161, "ssim": 0.9599219809643709, "lpips": 0.14365704357624054}}, {"video": {"psnr": 21.68253883835313, "ssim": 0.7128065564776502, "lpips": 0.14330530166625977}, "wrist_left": {"psnr": 20.879164380473092, "ssim": 0.6777114619644445, "lpips": 0.27643153071403503}, "wrist_right": {"psnr": 11.21514131090274, "ssim": 0.2877393846553986, "lpips": 0.45626384019851685}, "tactile_left": {"psnr": 35.3810022983695, "ssim": 0.9626385015278744, "lpips": 0.19922155141830444}, "tactile_right": {"psnr": 35.896047160517085, "ssim": 0.9562234194376069, "lpips": 0.161971777677536}}, {"video": {"psnr": 21.824549499873804, "ssim": 0.7056092815992956, "lpips": 0.1332862675189972}, "wrist_left": {"psnr": 19.967712973566258, "ssim": 0.6556534435918919, "lpips": 0.2978956699371338}, "wrist_right": {"psnr": 11.61025697744977, "ssim": 0.3220592283016763, "lpips": 0.43933701515197754}, "tactile_left": {"psnr": 34.53705835731427, "ssim": 0.958985253825512, "lpips": 0.21975693106651306}, "tactile_right": {"psnr": 35.333664556861365, "ssim": 0.9526447687318651, "lpips": 0.18041729927062988}}, {"video": {"psnr": 21.453043537042696, "ssim": 0.6900509713458374, "lpips": 0.1509391814470291}, "wrist_left": {"psnr": 18.656389601291437, "ssim": 0.605406844304155, "lpips": 0.3319697976112366}, "wrist_right": {"psnr": 11.232241909448899, "ssim": 0.3016231149385762, "lpips": 0.45042651891708374}, "tactile_left": {"psnr": 33.84470135279671, "ssim": 0.9551046419535585, "lpips": 0.24222320318222046}, "tactile_right": {"psnr": 34.88397346442941, "ssim": 0.9506946405830463, "lpips": 0.1810724139213562}}, {"video": {"psnr": 21.154025263797884, "ssim": 0.6750559252786876, "lpips": 0.16874246299266815}, "wrist_left": {"psnr": 18.081288132461115, "ssim": 0.5713897703776412, "lpips": 0.3504794239997864}, "wrist_right": {"psnr": 11.268297820256565, "ssim": 0.31030153794605553, "lpips": 0.4334273338317871}, "tactile_left": {"psnr": 33.03458934355514, "ssim": 0.9504129181560939, "lpips": 0.2570715546607971}, "tactile_right": {"psnr": 34.07396825007245, "ssim": 0.948203557929737, "lpips": 0.18942785263061523}}, {"video": {"psnr": 20.792138595237333, "ssim": 0.6677310728979143, "lpips": 0.18357250094413757}, "wrist_left": {"psnr": 16.88422015888461, "ssim": 0.5450540329207224, "lpips": 0.3697141110897064}, "wrist_right": {"psnr": 11.008265030920894, "ssim": 0.3043767193545901, "lpips": 0.47445815801620483}, "tactile_left": {"psnr": 32.52871171385469, "ssim": 0.9464893273158841, "lpips": 0.2721470594406128}, "tactile_right": {"psnr": 33.042574062058236, "ssim": 0.9416807995976433, "lpips": 0.23221322894096375}}, {"video": {"psnr": 20.69774227822846, "ssim": 0.6644870530828956, "lpips": 0.1877184510231018}, "wrist_left": {"psnr": 15.924252547841014, "ssim": 0.5159950383868412, "lpips": 0.3840672969818115}, "wrist_right": {"psnr": 10.644623798528672, "ssim": 0.27984809769466423, "lpips": 0.4675169587135315}, "tactile_left": {"psnr": 32.19312242844109, "ssim": 0.9427684547419752, "lpips": 0.2860102355480194}, "tactile_right": {"psnr": 32.79384839357974, "ssim": 0.9429429088948084, "lpips": 0.20951777696609497}}, {"video": {"psnr": 20.613513615216746, "ssim": 0.6633857152225375, "lpips": 0.18689896166324615}, "wrist_left": {"psnr": 14.30537972991572, "ssim": 0.473052996539218, "lpips": 0.42494839429855347}, "wrist_right": {"psnr": 11.228214154092997, "ssim": 0.2780951795410256, "lpips": 0.4701855778694153}, "tactile_left": {"psnr": 31.614293559220172, "ssim": 0.9380425985452778, "lpips": 0.30560237169265747}, "tactile_right": {"psnr": 32.20159293531835, "ssim": 0.9399061517494965, "lpips": 0.21566374599933624}}, {"video": {"psnr": 20.40122752336107, "ssim": 0.6666039391599387, "lpips": 0.18279846012592316}, "wrist_left": {"psnr": 13.415503060147467, "ssim": 0.4449157313905109, "lpips": 0.4475763440132141}, "wrist_right": {"psnr": 11.17547681438031, "ssim": 0.22902255637228935, "lpips": 0.4980625808238983}, "tactile_left": {"psnr": 31.15759527674434, "ssim": 0.9354207734066111, "lpips": 0.3107563257217407}, "tactile_right": {"psnr": 31.354513622730952, "ssim": 0.9339870671387169, "lpips": 0.2463696300983429}}], "long_metrics": {"video": {"psnr": 22.202267993411336, "ssim": 0.7244453823729616, "lpips": 0.13591773410638172}, "wrist_left": {"psnr": 20.607515035835615, "ssim": 0.6755165685594512, "lpips": 0.25832722075283526}, "wrist_right": {"psnr": 11.497879886391642, "ssim": 0.3192788567196112, "lpips": 0.4338825583457947}, "tactile_left": {"psnr": 36.71837425671385, "ssim": 0.9635606910186872, "lpips": 0.17811762584994237}, "tactile_right": {"psnr": 36.767260749464306, "ssim": 0.9573522673411273, "lpips": 0.1519854081173738}}}, {"id": "motherboard_e004_01", "episode": "motherboard_0909_episode_000.pt", "requested_episode": "motherboard_0909_episode_000.pt", "category": "onset", "t_start": 1825, "start_seconds": 121.66666666666667, "short_contact": [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 1], "future_transition_ticks": [11], "long_contact_fraction": 0.7265625, "long_label": "onset", "short_metrics": {"video": {"psnr": 23.431784486608382, "ssim": 0.8415466176005492, "lpips": 0.05799355357885361}, "wrist_left": {"psnr": 15.806345773981773, "ssim": 0.4048092762211267, "lpips": 0.18146896362304688}, "wrist_right": {"psnr": 11.266190462757919, "ssim": 0.4317520038143078, "lpips": 0.36917927861213684}, "tactile_left": {"psnr": 34.16698932273881, "ssim": 0.9668718252238386, "lpips": 0.09181918203830719}, "tactile_right": {"psnr": 29.863481228062074, "ssim": 0.9622881677489838, "lpips": 0.14835283160209656}}, "media": {"short": {"video": "media/motherboard_e004_01_short.mp4", "poster": "media/motherboard_e004_01_short.jpg"}, "long": {"video": "media/motherboard_e004_01_long.mp4", "poster": "media/motherboard_e004_01_long.jpg"}}, "force": {"source": "recorded_normal_force", "units": "N", "fps": 15, "left": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.5254545211791992, 2.8207693099975586, 2.9424359798431396, 4.285294055938721, 4.3677778244018555, 5.145384788513184, 5.145384788513184, 5.259615421295166, 5.439090728759766, 5.439090728759766, 5.29610538482666, 5.439090728759766, 5.439090728759766, 6.251071453094482, 6.251071453094482, 6.733333110809326, 6.251071453094482, 7.192828178405762, 7.293181896209717, 7.293181896209717, 7.293181896209717, 6.733333110809326, 6.733333110809326, 6.251071453094482, 6.251071453094482, 4.285294055938721, 4.285294055938721, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "right": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.1662499904632568, 2.636666774749756, 2.9424359798431396, 4.285294055938721, 5.439090728759766, 5.439090728759766, 5.615621566772461, 6.251071453094482, 6.251071453094482, 6.251071453094482, 6.251071453094482, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 6.733333110809326, 6.733333110809326, 6.733333110809326, 6.733333110809326, 6.251071453094482, 2.9424359798431396, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.5445876717567444, 1.9833333492279053, 5.259615421295166, 5.259615421295166, 6.251071453094482, 6.733333110809326, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 6.251071453094482, 5.259615421295166, 4.285294055938721, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 2.8207693099975586, 1.1662769317626953, 1.5254545211791992, 2.9424359798431396, 4.285294055938721, 5.145384788513184, 6.251071453094482, 6.251071453094482, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 6.733333110809326, 6.251071453094482, 6.251071453094482, 6.251071453094482, 5.259615421295166, 5.145384788513184, 4.3677778244018555, 4.285294055938721, 4.285294055938721, 4.285294055938721, 4.285294055938721, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 1.9833333492279053, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.9833333492279053, 2.9424359798431396, 5.259615421295166, 7.293181896209717, 7.293181896209717, 7.310615539550781]}, "long_curve": [{"video": {"psnr": 23.431784486608382, "ssim": 0.8415466176005492, "lpips": 0.05799355357885361}, "wrist_left": {"psnr": 15.806345773981773, "ssim": 0.4048092762211267, "lpips": 0.18146896362304688}, "wrist_right": {"psnr": 11.266190462757919, "ssim": 0.4317520038143078, "lpips": 0.36917927861213684}, "tactile_left": {"psnr": 34.16698932273881, "ssim": 0.9668718252238386, "lpips": 0.09181918203830719}, "tactile_right": {"psnr": 29.863481228062074, "ssim": 0.9622881677489838, "lpips": 0.14835283160209656}}, {"video": {"psnr": 21.46151791519143, "ssim": 0.7506712817802585, "lpips": 0.10149845480918884}, "wrist_left": {"psnr": 13.913679744577998, "ssim": 0.32074821783779206, "lpips": 0.28626447916030884}, "wrist_right": {"psnr": 10.355801096429335, "ssim": 0.3894257068131499, "lpips": 0.42823025584220886}, "tactile_left": {"psnr": 26.172643782088375, "ssim": 0.9005007831424057, "lpips": 0.29934757947921753}, "tactile_right": {"psnr": 25.912974800900415, "ssim": 0.9356301760702816, "lpips": 0.2325821965932846}}, {"video": {"psnr": 20.573833890615887, "ssim": 0.7208936259416436, "lpips": 0.1417406052350998}, "wrist_left": {"psnr": 14.012348084115887, "ssim": 0.30892742557477576, "lpips": 0.3588523864746094}, "wrist_right": {"psnr": 9.218045482271858, "ssim": 0.3770500952764111, "lpips": 0.4686129689216614}, "tactile_left": {"psnr": 26.495349442535638, "ssim": 0.9069477921060094, "lpips": 0.28020942211151123}, "tactile_right": {"psnr": 26.3068206314005, "ssim": 0.9396785769349513, "lpips": 0.22049611806869507}}, {"video": {"psnr": 21.258653322453288, "ssim": 0.7206702342530327, "lpips": 0.14137107133865356}, "wrist_left": {"psnr": 12.418368821901446, "ssim": 0.2832503653329906, "lpips": 0.4390280544757843}, "wrist_right": {"psnr": 12.589851750258997, "ssim": 0.41391969020187197, "lpips": 0.45619726181030273}, "tactile_left": {"psnr": 27.228946009789006, "ssim": 0.9124404874471714, "lpips": 0.29441386461257935}, "tactile_right": {"psnr": 41.06116083072119, "ssim": 0.971027302558381, "lpips": 0.09491603076457977}}, {"video": {"psnr": 20.53413550057582, "ssim": 0.6900642212141743, "lpips": 0.19326919317245483}, "wrist_left": {"psnr": 11.991630540236226, "ssim": 0.41238951900556076, "lpips": 0.44331949949264526}, "wrist_right": {"psnr": 11.260782763866331, "ssim": 0.27746312221220903, "lpips": 0.6052595973014832}, "tactile_left": {"psnr": 35.63017987305368, "ssim": 0.9586633786498586, "lpips": 0.1905590444803238}, "tactile_right": {"psnr": 40.057566386427716, "ssim": 0.9674446349451203, "lpips": 0.11247202754020691}}, {"video": {"psnr": 19.718528625574482, "ssim": 0.6685547638923728, "lpips": 0.21957826614379883}, "wrist_left": {"psnr": 11.025098884673152, "ssim": 0.3443615294092664, "lpips": 0.4615374505519867}, "wrist_right": {"psnr": 10.466096678351956, "ssim": 0.23450856102595694, "lpips": 0.679931104183197}, "tactile_left": {"psnr": 36.04727166461833, "ssim": 0.9591320226610981, "lpips": 0.20291991531848907}, "tactile_right": {"psnr": 30.11869575156804, "ssim": 0.9184479773846321, "lpips": 0.3232567608356476}}, {"video": {"psnr": 19.72769039479507, "ssim": 0.657757782632758, "lpips": 0.23474997282028198}, "wrist_left": {"psnr": 10.623261634100604, "ssim": 0.29701814929663883, "lpips": 0.48264962434768677}, "wrist_right": {"psnr": 9.606404309791255, "ssim": 0.22183816450005658, "lpips": 0.6960879564285278}, "tactile_left": {"psnr": 35.70442218986798, "ssim": 0.9574648092886591, "lpips": 0.21921303868293762}, "tactile_right": {"psnr": 30.055886053265645, "ssim": 0.9081584731696837, "lpips": 0.34471574425697327}}, {"video": {"psnr": 18.62442042694137, "ssim": 0.6399097248901431, "lpips": 0.27872538566589355}, "wrist_left": {"psnr": 10.014265670891238, "ssim": 0.2583293422885375, "lpips": 0.5197707414627075}, "wrist_right": {"psnr": 9.478948577364527, "ssim": 0.22337606862225678, "lpips": 0.6919317841529846}, "tactile_left": {"psnr": 35.52401452097192, "ssim": 0.9554234005158078, "lpips": 0.23342365026474}, "tactile_right": {"psnr": 30.971007108416053, "ssim": 0.905116041525415, "lpips": 0.3458263874053955}}, {"video": {"psnr": 18.65212015269151, "ssim": 0.6468765138313924, "lpips": 0.2897069454193115}, "wrist_left": {"psnr": 10.434349077183478, "ssim": 0.3367783748533725, "lpips": 0.4866022765636444}, "wrist_right": {"psnr": 9.12077517800263, "ssim": 0.18780942543335832, "lpips": 0.6692646741867065}, "tactile_left": {"psnr": 35.093794594901425, "ssim": 0.9532837906943104, "lpips": 0.2451150268316269}, "tactile_right": {"psnr": 36.893251473381355, "ssim": 0.9584119600963656, "lpips": 0.1595919132232666}}, {"video": {"psnr": 18.472685971405006, "ssim": 0.6408264901610208, "lpips": 0.2943563759326935}, "wrist_left": {"psnr": 10.454018329243306, "ssim": 0.3223333131573558, "lpips": 0.5026042461395264}, "wrist_right": {"psnr": 10.195756279867684, "ssim": 0.1656190081140126, "lpips": 0.6588782072067261}, "tactile_left": {"psnr": 34.98999006931834, "ssim": 0.9509751528329324, "lpips": 0.255276620388031}, "tactile_right": {"psnr": 34.626719851479024, "ssim": 0.9409049502827291, "lpips": 0.20536918938159943}}, {"video": {"psnr": 18.49066181685163, "ssim": 0.6386081748633914, "lpips": 0.2943265438079834}, "wrist_left": {"psnr": 10.27390913441469, "ssim": 0.3052289512874336, "lpips": 0.5026679039001465}, "wrist_right": {"psnr": 10.250455487598886, "ssim": 0.14978475954171397, "lpips": 0.6617656946182251}, "tactile_left": {"psnr": 34.857095633581096, "ssim": 0.948560925248181, "lpips": 0.2642612159252167}, "tactile_right": {"psnr": 31.161668277790696, "ssim": 0.8803092631189611, "lpips": 0.3033241331577301}}, {"video": {"psnr": 18.452966262902052, "ssim": 0.6361088492570178, "lpips": 0.293670117855072}, "wrist_left": {"psnr": 10.579698735628254, "ssim": 0.3145613087827057, "lpips": 0.4981008768081665}, "wrist_right": {"psnr": 9.971569308436877, "ssim": 0.14986669290881424, "lpips": 0.6577650904655457}, "tactile_left": {"psnr": 34.73895860761014, "ssim": 0.9462327220969706, "lpips": 0.27657487988471985}, "tactile_right": {"psnr": 32.40055109761919, "ssim": 0.9028099677084784, "lpips": 0.2763402760028839}}, {"video": {"psnr": 18.49751764016801, "ssim": 0.645423667637226, "lpips": 0.29126542806625366}, "wrist_left": {"psnr": 10.510644134714799, "ssim": 0.3135251031729913, "lpips": 0.5124478936195374}, "wrist_right": {"psnr": 9.802049215322109, "ssim": 0.14775136423097904, "lpips": 0.6397092342376709}, "tactile_left": {"psnr": 34.481653847688875, "ssim": 0.9434614887426666, "lpips": 0.2837548851966858}, "tactile_right": {"psnr": 34.029880514231856, "ssim": 0.9333674832614387, "lpips": 0.22804133594036102}}, {"video": {"psnr": 18.398561589998618, "ssim": 0.6442949075662081, "lpips": 0.2917432188987732}, "wrist_left": {"psnr": 10.856332848377956, "ssim": 0.37603192028543553, "lpips": 0.497805118560791}, "wrist_right": {"psnr": 9.955320175117315, "ssim": 0.15656272445666353, "lpips": 0.6491401195526123}, "tactile_left": {"psnr": 34.10345201460957, "ssim": 0.9403926683555184, "lpips": 0.2992580235004425}, "tactile_right": {"psnr": 36.092075387254596, "ssim": 0.9589254733907439, "lpips": 0.15941506624221802}}, {"video": {"psnr": 18.152699403403304, "ssim": 0.6357974113672404, "lpips": 0.2980053722858429}, "wrist_left": {"psnr": 10.801213025430643, "ssim": 0.3715453153297358, "lpips": 0.5097755193710327}, "wrist_right": {"psnr": 9.482098667572194, "ssim": 0.14362687627077594, "lpips": 0.6890209913253784}, "tactile_left": {"psnr": 33.94220858516745, "ssim": 0.9384803854101682, "lpips": 0.30635160207748413}, "tactile_right": {"psnr": 29.992677477421616, "ssim": 0.9193826256751481, "lpips": 0.32050731778144836}}], "long_metrics": {"video": {"psnr": 19.629851826678394, "ssim": 0.6785336177925619, "lpips": 0.22813336700201034}, "wrist_left": {"psnr": 11.58101096263143, "ssim": 0.33132254078904794, "lpips": 0.4455263356367747}, "wrist_right": {"psnr": 10.201343028867324, "ssim": 0.24469028422816919, "lpips": 0.6013982812563579}, "tactile_left": {"psnr": 33.27846467723604, "ssim": 0.9425887754943731, "lpips": 0.24949986338615418}, "tactile_right": {"psnr": 32.636294457996, "ssim": 0.9334602049247542, "lpips": 0.2316804885864258}}}, {"id": "motherboard_e004_02", "episode": "motherboard_0909_episode_000.pt", "requested_episode": "motherboard_0909_episode_000.pt", "category": "release", "t_start": 3072, "start_seconds": 204.8, "short_contact": [1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 0, 0], "future_transition_ticks": [11], "long_contact_fraction": 0.7734375, "long_label": "release", "short_metrics": {"video": {"psnr": 29.76537589793321, "ssim": 0.9235948545874725, "lpips": 0.02922266349196434}, "wrist_left": {"psnr": 15.363023581904285, "ssim": 0.5316685914203106, "lpips": 0.18545033037662506}, "wrist_right": {"psnr": 14.047154452453217, "ssim": 0.561591249079113, "lpips": 0.2858309745788574}, "tactile_left": {"psnr": 42.23322022253746, "ssim": 0.9839458231127718, "lpips": 0.01529959961771965}, "tactile_right": {"psnr": 43.73521912224539, "ssim": 0.9843751235461426, "lpips": 0.030959635972976685}}, "media": {"short": {"video": "media/motherboard_e004_02_short.mp4", "poster": "media/motherboard_e004_02_short.jpg"}, "long": {"video": "media/motherboard_e004_02_long.mp4", "poster": "media/motherboard_e004_02_long.jpg"}}, "force": {"source": "recorded_normal_force", "units": "N", "fps": 15, "left": [2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.5254545211791992, 1.5254545211791992, 1.9833333492279053, 1.9833333492279053, 2.636666774749756, 2.8207693099975586, 2.8207693099975586, 2.874819755554199, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 4.285294055938721, 4.285294055938721, 4.3677778244018555, 5.145384788513184, 5.259615421295166, 5.259615421295166, 5.259615421295166, 5.259615421295166, 5.259615421295166, 5.145384788513184, 5.145384788513184, 5.145384788513184, 5.145384788513184, 5.145384788513184, 4.3677778244018555, 4.285294055938721, 2.9424359798431396, 2.9424359798431396, 2.636666774749756, 2.636666774749756, 2.636666774749756, 2.636666774749756, 2.636666774749756, 2.406248092651367, 2.435481309890747, 2.161963701248169, 2.636666774749756, 2.8207693099975586, 1.5254545211791992, 1.6252036094665527, 1.9833333492279053, 1.9833333492279053, 1.9833333492279053, 1.9833333492279053, 1.984134554862976, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.8207693099975586, 2.636666774749756, 2.8207693099975586, 2.8207693099975586, 2.636666774749756, 2.304839849472046, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 4.285294055938721, 4.285294055938721, 4.285294055938721, 4.285294055938721, 4.285294055938721, 4.285294055938721, 4.285294055938721, 2.9424359798431396, 2.8207693099975586, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "right": [4.285294055938721, 4.285294055938721, 4.285294055938721, 4.285294055938721, 4.3677778244018555, 4.3677778244018555, 4.285294055938721, 2.9424359798431396, 2.8207693099975586, 0.41999998688697815, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 2.9424359798431396, 2.9424359798431396, 3.053588390350342, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 4.285294055938721, 4.285294055938721, 4.285294055938721, 4.285294055938721, 4.285294055938721, 4.285294055938721, 4.285294055938721, 4.5, 4.3677778244018555, 4.285294055938721, 5.145384788513184, 5.145384788513184, 4.3677778244018555, 4.807384967803955, 4.3677778244018555, 4.3677778244018555, 4.285294055938721, 4.285294055938721, 4.285294055938721, 4.285294055938721, 4.285294055938721, 4.285294055938721, 4.285294055938721, 4.285294055938721, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 1.5254545211791992, 1.1662499904632568, 0.17491444945335388, 0.17491444945335388, 0.41999998688697815, 0.7223659157752991, 1.1662499904632568, 0.49666666984558105, 0.4887502193450928, 0.49666666984558105, 0.38555848598480225, 0.41999998688697815, 0.49666666984558105, 0.2736985683441162, 0.716099202632904, 1.1662499904632568, 2.636666774749756, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.9833333492279053, 2.8207693099975586, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 4.285294055938721, 4.285294055938721, 4.285294055938721, 4.285294055938721, 4.285294055938721, 4.285294055938721, 2.9424359798431396, 2.9424359798431396, 2.8207693099975586, 2.8207693099975586, 2.8207693099975586, 2.9424359798431396, 2.9424359798431396, 2.3705554008483887, 2.9424359798431396, 0.0, 0.0, 0.0, 0.0, 0.0]}, "long_curve": [{"video": {"psnr": 29.76537589793321, "ssim": 0.9235948545874725, "lpips": 0.02922266349196434}, "wrist_left": {"psnr": 15.363023581904285, "ssim": 0.5316685914203106, "lpips": 0.18545033037662506}, "wrist_right": {"psnr": 14.047154452453217, "ssim": 0.561591249079113, "lpips": 0.2858309745788574}, "tactile_left": {"psnr": 42.23322022253746, "ssim": 0.9839458231127718, "lpips": 0.01529959961771965}, "tactile_right": {"psnr": 43.73521912224539, "ssim": 0.9843751235461426, "lpips": 0.030959635972976685}}, {"video": {"psnr": 26.540660011564896, "ssim": 0.8578326937127956, "lpips": 0.05355359613895416}, "wrist_left": {"psnr": 14.782180300618599, "ssim": 0.46181595006716, "lpips": 0.28621262311935425}, "wrist_right": {"psnr": 11.931936438279568, "ssim": 0.44026685149930556, "lpips": 0.4110402464866638}, "tactile_left": {"psnr": 38.06653945255582, "ssim": 0.9720520385321041, "lpips": 0.06583885103464127}, "tactile_right": {"psnr": 42.893144472576125, "ssim": 0.979694165918491, "lpips": 0.04829024896025658}}, {"video": {"psnr": 23.828681298628823, "ssim": 0.7684783548371514, "lpips": 0.08948656171560287}, "wrist_left": {"psnr": 13.231290895862063, "ssim": 0.42317334964184883, "lpips": 0.3555792570114136}, "wrist_right": {"psnr": 11.093255509295494, "ssim": 0.3967859223444037, "lpips": 0.49608972668647766}, "tactile_left": {"psnr": 34.68206478937462, "ssim": 0.9598751726162239, "lpips": 0.14614854753017426}, "tactile_right": {"psnr": 35.85831327037762, "ssim": 0.968894332778585, "lpips": 0.10633531212806702}}, {"video": {"psnr": 21.82660714465962, "ssim": 0.6984681518959219, "lpips": 0.14480847120285034}, "wrist_left": {"psnr": 12.970789698357697, "ssim": 0.4425399457711021, "lpips": 0.37863731384277344}, "wrist_right": {"psnr": 10.83364825834182, "ssim": 0.3552326355968441, "lpips": 0.5385689735412598}, "tactile_left": {"psnr": 33.39873830571431, "ssim": 0.9527183541793135, "lpips": 0.20003193616867065}, "tactile_right": {"psnr": 31.787957836721347, "ssim": 0.9481225834593383, "lpips": 0.19776684045791626}}, {"video": {"psnr": 21.128095341785187, "ssim": 0.6756933573477588, "lpips": 0.1831643134355545}, "wrist_left": {"psnr": 12.35391648357533, "ssim": 0.3961231616251244, "lpips": 0.40693527460098267}, "wrist_right": {"psnr": 10.422101874719559, "ssim": 0.3644860382823547, "lpips": 0.5362036228179932}, "tactile_left": {"psnr": 34.42046385935881, "ssim": 0.9571624826886985, "lpips": 0.21115601062774658}, "tactile_right": {"psnr": 31.545249843769056, "ssim": 0.9439183352916346, "lpips": 0.21234706044197083}}, {"video": {"psnr": 21.176900313704152, "ssim": 0.684521986758244, "lpips": 0.1654491126537323}, "wrist_left": {"psnr": 12.693222659429658, "ssim": 0.359520470253913, "lpips": 0.39743977785110474}, "wrist_right": {"psnr": 9.036681592456848, "ssim": 0.34490252896201323, "lpips": 0.5296694040298462}, "tactile_left": {"psnr": 34.65652505673419, "ssim": 0.9562321822914879, "lpips": 0.22658564150333405}, "tactile_right": {"psnr": 33.63665611557223, "ssim": 0.9526992671342622, "lpips": 0.20507973432540894}}, {"video": {"psnr": 20.46054863284685, "ssim": 0.6780964229153502, "lpips": 0.17160189151763916}, "wrist_left": {"psnr": 10.952246259900157, "ssim": 0.31450748764185815, "lpips": 0.47976043820381165}, "wrist_right": {"psnr": 9.09281172633737, "ssim": 0.3263512095282971, "lpips": 0.5312209129333496}, "tactile_left": {"psnr": 35.148944262894915, "ssim": 0.9534409538770757, "lpips": 0.23623035848140717}, "tactile_right": {"psnr": 34.45929219977873, "ssim": 0.9532607717712943, "lpips": 0.20334167778491974}}, {"video": {"psnr": 20.05141182833767, "ssim": 0.6590824018735495, "lpips": 0.1984267234802246}, "wrist_left": {"psnr": 11.167602848153578, "ssim": 0.3261860903099363, "lpips": 0.4699273705482483}, "wrist_right": {"psnr": 8.59373617535044, "ssim": 0.32711215049497877, "lpips": 0.5538958311080933}, "tactile_left": {"psnr": 34.93180200400037, "ssim": 0.9473199766447621, "lpips": 0.2656617760658264}, "tactile_right": {"psnr": 36.22754612614278, "ssim": 0.9553051033989579, "lpips": 0.19921085238456726}}, {"video": {"psnr": 19.191423407567918, "ssim": 0.6343331712757279, "lpips": 0.2658122777938843}, "wrist_left": {"psnr": 11.362905139744669, "ssim": 0.32792501193119417, "lpips": 0.4482724368572235}, "wrist_right": {"psnr": 7.9227840433719745, "ssim": 0.3028758658545975, "lpips": 0.5720561742782593}, "tactile_left": {"psnr": 32.956160544112464, "ssim": 0.9388163690464755, "lpips": 0.3140520751476288}, "tactile_right": {"psnr": 37.282832818369414, "ssim": 0.9556037872596028, "lpips": 0.20223499834537506}}, {"video": {"psnr": 18.376248992723497, "ssim": 0.6096282132645108, "lpips": 0.29358476400375366}, "wrist_left": {"psnr": 11.772973269944384, "ssim": 0.3442759168911961, "lpips": 0.445184588432312}, "wrist_right": {"psnr": 7.482217676438051, "ssim": 0.28513770728834353, "lpips": 0.5829257965087891}, "tactile_left": {"psnr": 30.389399173761177, "ssim": 0.929653690382307, "lpips": 0.33646899461746216}, "tactile_right": {"psnr": 37.234818295206985, "ssim": 0.9543620559645509, "lpips": 0.1940203309059143}}, {"video": {"psnr": 18.390832801884297, "ssim": 0.6088476432500234, "lpips": 0.29820114374160767}, "wrist_left": {"psnr": 10.903865563469857, "ssim": 0.27473030986193064, "lpips": 0.524747371673584}, "wrist_right": {"psnr": 8.987308766459167, "ssim": 0.31222888815153077, "lpips": 0.5913479328155518}, "tactile_left": {"psnr": 37.15989849037667, "ssim": 0.953501036566923, "lpips": 0.23458734154701233}, "tactile_right": {"psnr": 37.7839084970985, "ssim": 0.9546757569548981, "lpips": 0.17734339833259583}}, {"video": {"psnr": 18.30516342343187, "ssim": 0.6167801223072715, "lpips": 0.3020031452178955}, "wrist_left": {"psnr": 10.68638509486443, "ssim": 0.2748342796223595, "lpips": 0.5536776781082153}, "wrist_right": {"psnr": 8.121127904864377, "ssim": 0.23262452766236646, "lpips": 0.6788032054901123}, "tactile_left": {"psnr": 36.82225534828279, "ssim": 0.951195249689432, "lpips": 0.24622076749801636}, "tactile_right": {"psnr": 36.48056291908222, "ssim": 0.9502498893855733, "lpips": 0.20102035999298096}}, {"video": {"psnr": 18.276265403562146, "ssim": 0.6151464172467089, "lpips": 0.3057742416858673}, "wrist_left": {"psnr": 10.99857310312025, "ssim": 0.2928255876501399, "lpips": 0.5564979314804077}, "wrist_right": {"psnr": 7.964453640544546, "ssim": 0.23199428867265331, "lpips": 0.6826226711273193}, "tactile_left": {"psnr": 36.35756866333877, "ssim": 0.9492047403602791, "lpips": 0.2574999928474426}, "tactile_right": {"psnr": 31.88626931837066, "ssim": 0.9349257476026989, "lpips": 0.32535320520401}}, {"video": {"psnr": 17.98737025495816, "ssim": 0.600843160369505, "lpips": 0.3098364770412445}, "wrist_left": {"psnr": 11.227622076836315, "ssim": 0.2967433848940707, "lpips": 0.5577820539474487}, "wrist_right": {"psnr": 7.592435529455399, "ssim": 0.28309807078890425, "lpips": 0.7174615859985352}, "tactile_left": {"psnr": 35.84178791227987, "ssim": 0.9466340698085897, "lpips": 0.27108272910118103}, "tactile_right": {"psnr": 32.57995777238911, "ssim": 0.9331818658053745, "lpips": 0.3132253885269165}}, {"video": {"psnr": 17.387395368885635, "ssim": 0.5876525732917193, "lpips": 0.3288428783416748}, "wrist_left": {"psnr": 11.725185205113934, "ssim": 0.32996068665774125, "lpips": 0.5226241946220398}, "wrist_right": {"psnr": 7.1493202055283955, "ssim": 0.2769025641586499, "lpips": 0.7241553664207458}, "tactile_left": {"psnr": 35.43339774808097, "ssim": 0.9445596613546177, "lpips": 0.27879905700683594}, "tactile_right": {"psnr": 34.60619090884335, "ssim": 0.9429834871774659, "lpips": 0.25143080949783325}}], "long_metrics": {"video": {"psnr": 20.846198674831598, "ssim": 0.6812666349955807, "lpips": 0.20931788409749666}, "wrist_left": {"psnr": 12.146118812059681, "ssim": 0.35978868161599237, "lpips": 0.43791524271170296}, "wrist_right": {"psnr": 9.351398252926414, "ssim": 0.3361060332242904, "lpips": 0.5621261616547902}, "tactile_left": {"psnr": 35.49991772222688, "ssim": 0.9530874534100707, "lpips": 0.22037757858633994}, "tactile_right": {"psnr": 35.86652796776957, "ssim": 0.954150151563258, "lpips": 0.19119732355078062}}}, {"id": "motherboard_e004_03", "episode": "motherboard_0909_episode_000.pt", "requested_episode": "motherboard_0909_episode_000.pt", "category": "full", "t_start": 2531, "start_seconds": 168.73333333333332, "short_contact": [1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1], "future_transition_ticks": [], "long_contact_fraction": 0.9296875, "long_label": "full", "short_metrics": {"video": {"psnr": 25.93774452779623, "ssim": 0.8576862372995622, "lpips": 0.047735150903463364}, "wrist_left": {"psnr": 17.241148518859458, "ssim": 0.591344041867407, "lpips": 0.17067624628543854}, "wrist_right": {"psnr": 17.543075100355704, "ssim": 0.5876613812728124, "lpips": 0.2319185882806778}, "tactile_left": {"psnr": 35.0506095738849, "ssim": 0.9660524911493865, "lpips": 0.0452546700835228}, "tactile_right": {"psnr": 37.99859963711455, "ssim": 0.9716074714769225, "lpips": 0.06161842495203018}}, "media": {"short": {"video": "media/motherboard_e004_03_short.mp4", "poster": "media/motherboard_e004_03_short.jpg"}, "long": {"video": "media/motherboard_e004_03_long.mp4", "poster": "media/motherboard_e004_03_long.jpg"}}, "force": {"source": "recorded_normal_force", "units": "N", "fps": 15, "left": [1.1936427354812622, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 4.285294055938721, 2.9424359798431396, 4.285294055938721, 5.145384788513184, 5.259615421295166, 5.259615421295166, 5.439090728759766, 5.319377899169922, 5.319377899169922, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.318239688873291, 7.4301862716674805, 7.316900253295898, 7.304895877838135, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 6.251071453094482, 6.251071453094482, 6.251071453094482, 5.439090728759766, 5.439090728759766, 5.259615421295166, 5.259615421295166, 5.4359307289123535, 5.259615421295166, 5.145384788513184, 5.145384788513184, 5.145384788513184, 5.145384788513184, 4.285294055938721, 2.9424359798431396, 2.9424359798431396, 2.0387191772460938, 2.8207693099975586, 2.9424359798431396, 2.9424359798431396, 4.285294055938721, 4.3677778244018555, 4.285294055938721, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 1.1733332872390747, 2.9424359798431396, 4.285294055938721, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.8207693099975586, 1.9833333492279053, 2.636666774749756, 2.8207693099975586, 2.8207693099975586, 2.8207693099975586, 2.9424359798431396, 2.9424359798431396, 2.4149999618530273, 1.9833333492279053, 1.9833333492279053, 1.9833333492279053, 1.9833333492279053, 1.7736024856567383, 1.9833333492279053, 1.9833333492279053, 1.1733332872390747, 0.2758376896381378, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "right": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.9833333492279053, 2.110971689224243, 2.8207693099975586, 2.9424359798431396, 2.9424359798431396, 4.285294055938721, 4.285294055938721, 4.285294055938721, 4.285294055938721, 4.285294055938721, 4.285294055938721, 4.285294055938721, 2.8207693099975586, 2.312258720397949, 1.22345769405365, 1.170535922050476, 1.1733332872390747, 1.9833333492279053, 2.9424359798431396, 2.9424359798431396, 4.285294055938721, 5.259615421295166, 5.259615421295166, 5.259615421295166, 5.411874771118164, 5.259615421295166, 4.3677778244018555, 4.285294055938721, 5.145384788513184, 5.259615421295166, 6.251071453094482, 6.251071453094482, 6.733333110809326, 6.733333110809326, 6.733333110809326, 6.251071453094482, 5.734507083892822, 6.251071453094482, 6.251071453094482, 6.733333110809326, 6.251071453094482, 5.439090728759766, 6.251071453094482, 6.251071453094482, 5.439090728759766, 5.259615421295166, 6.251071453094482, 6.251071453094482, 6.251071453094482, 7.166194438934326, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.00433874130249, 7.027249813079834, 7.293181896209717, 6.983473300933838, 7.044147491455078, 6.733333110809326, 6.733333110809326, 6.251071453094482, 6.251071453094482, 5.439090728759766, 5.439090728759766, 5.259615421295166, 5.145384788513184, 4.285294055938721, 4.285294055938721, 4.285294055938721, 4.285294055938721, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.8207693099975586, 0.7958375811576843, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.9833333492279053, 6.251071453094482, 7.293181896209717, 7.293181896209717, 7.295978546142578, 7.294878959655762, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.300464630126953, 7.300464630126953, 7.29489803314209, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 6.733333110809326, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717]}, "long_curve": [{"video": {"psnr": 25.93774452779623, "ssim": 0.8576862372995622, "lpips": 0.047735150903463364}, "wrist_left": {"psnr": 17.241148518859458, "ssim": 0.591344041867407, "lpips": 0.17067624628543854}, "wrist_right": {"psnr": 17.543075100355704, "ssim": 0.5876613812728124, "lpips": 0.2319185882806778}, "tactile_left": {"psnr": 35.0506095738849, "ssim": 0.9660524911493865, "lpips": 0.0452546700835228}, "tactile_right": {"psnr": 37.99859963711455, "ssim": 0.9716074714769225, "lpips": 0.06161842495203018}}, {"video": {"psnr": 22.65776861011559, "ssim": 0.7696567749984952, "lpips": 0.10076181590557098}, "wrist_left": {"psnr": 15.65293338688978, "ssim": 0.4601278517521494, "lpips": 0.3132941424846649}, "wrist_right": {"psnr": 14.400836627055803, "ssim": 0.43096803231541075, "lpips": 0.3872458338737488}, "tactile_left": {"psnr": 27.050868808430543, "ssim": 0.9050877821657821, "lpips": 0.15805497765541077}, "tactile_right": {"psnr": 37.976704232945636, "ssim": 0.9679642397227435, "lpips": 0.11514537036418915}}, {"video": {"psnr": 20.305618526728107, "ssim": 0.7099184795697814, "lpips": 0.16072456538677216}, "wrist_left": {"psnr": 13.501557873107954, "ssim": 0.35416555077770095, "lpips": 0.42461007833480835}, "wrist_right": {"psnr": 14.538652733025687, "ssim": 0.42081810009707976, "lpips": 0.39190202951431274}, "tactile_left": {"psnr": 27.76261976388549, "ssim": 0.898736318036147, "lpips": 0.1873362511396408}, "tactile_right": {"psnr": 34.84711571497967, "ssim": 0.9583406985495212, "lpips": 0.1502220332622528}}, {"video": {"psnr": 19.965637145219667, "ssim": 0.6892404888600973, "lpips": 0.2169402837753296}, "wrist_left": {"psnr": 12.29560608872342, "ssim": 0.30061396098363824, "lpips": 0.46462613344192505}, "wrist_right": {"psnr": 14.21351457485931, "ssim": 0.3655023486995388, "lpips": 0.44791993498802185}, "tactile_left": {"psnr": 29.72230544033179, "ssim": 0.915326676299177, "lpips": 0.21212485432624817}, "tactile_right": {"psnr": 33.72767013459185, "ssim": 0.9512158264005462, "lpips": 0.17722447216510773}}, {"video": {"psnr": 19.59336264660931, "ssim": 0.6565717874585498, "lpips": 0.28362104296684265}, "wrist_left": {"psnr": 11.778383135811708, "ssim": 0.26492717746440947, "lpips": 0.4851338863372803}, "wrist_right": {"psnr": 12.734664098030205, "ssim": 0.2962364900999456, "lpips": 0.5300795435905457}, "tactile_left": {"psnr": 31.61968555493158, "ssim": 0.9328904117758523, "lpips": 0.2187349796295166}, "tactile_right": {"psnr": 33.53538969951296, "ssim": 0.9517040011280846, "lpips": 0.20846086740493774}}, {"video": {"psnr": 19.35303547818919, "ssim": 0.6497947851430463, "lpips": 0.2918947637081146}, "wrist_left": {"psnr": 11.327871576129468, "ssim": 0.24658244131358975, "lpips": 0.5234081149101257}, "wrist_right": {"psnr": 12.042941003247435, "ssim": 0.2645524527991454, "lpips": 0.5809763669967651}, "tactile_left": {"psnr": 33.824769825556636, "ssim": 0.9452197850821648, "lpips": 0.2286829650402069}, "tactile_right": {"psnr": 32.72332629455597, "ssim": 0.9492713715015031, "lpips": 0.22758427262306213}}, {"video": {"psnr": 19.18567399208214, "ssim": 0.6424267541113375, "lpips": 0.30043497681617737}, "wrist_left": {"psnr": 10.682257107268248, "ssim": 0.24717411127427993, "lpips": 0.6020539402961731}, "wrist_right": {"psnr": 11.584067121386374, "ssim": 0.24845145939397617, "lpips": 0.6044293642044067}, "tactile_left": {"psnr": 34.89219540610794, "ssim": 0.9474981540371867, "lpips": 0.23902982473373413}, "tactile_right": {"psnr": 31.713379336784087, "ssim": 0.9434008493299844, "lpips": 0.25953370332717896}}, {"video": {"psnr": 18.745370391449995, "ssim": 0.6423987827798145, "lpips": 0.3192599415779114}, "wrist_left": {"psnr": 10.168501212883324, "ssim": 0.22276244776447607, "lpips": 0.6327286958694458}, "wrist_right": {"psnr": 10.302957779247377, "ssim": 0.23443440405822283, "lpips": 0.6756945848464966}, "tactile_left": {"psnr": 34.33687022581986, "ssim": 0.9410458811785339, "lpips": 0.2690679430961609}, "tactile_right": {"psnr": 32.108547585349086, "ssim": 0.9424054089067655, "lpips": 0.2579953968524933}}, {"video": {"psnr": 17.9397925130792, "ssim": 0.615140890736223, "lpips": 0.3474746644496918}, "wrist_left": {"psnr": 11.9848011198975, "ssim": 0.2351858901461845, "lpips": 0.5521600246429443}, "wrist_right": {"psnr": 8.459460306256894, "ssim": 0.2266277406493312, "lpips": 0.8200383186340332}, "tactile_left": {"psnr": 34.76002448055965, "ssim": 0.9431841784494382, "lpips": 0.269248366355896}, "tactile_right": {"psnr": 33.76327307891688, "ssim": 0.9462939781813924, "lpips": 0.2354857623577118}}, {"video": {"psnr": 16.45050604185774, "ssim": 0.5588259838045148, "lpips": 0.37279021739959717}, "wrist_left": {"psnr": 10.717030347593878, "ssim": 0.1908212328318184, "lpips": 0.5670779943466187}, "wrist_right": {"psnr": 8.94821874357994, "ssim": 0.23712204146965898, "lpips": 0.8238487243652344}, "tactile_left": {"psnr": 35.36038347829363, "ssim": 0.942414368534662, "lpips": 0.28711652755737305}, "tactile_right": {"psnr": 33.281953487354464, "ssim": 0.9454590641598846, "lpips": 0.2395915389060974}}, {"video": {"psnr": 15.615715272327739, "ssim": 0.5476884574711248, "lpips": 0.38679927587509155}, "wrist_left": {"psnr": 9.735193737507014, "ssim": 0.26945220292369676, "lpips": 0.5722383260726929}, "wrist_right": {"psnr": 10.276660576615308, "ssim": 0.32307055940071694, "lpips": 0.7541717290878296}, "tactile_left": {"psnr": 36.01031890895362, "ssim": 0.9526773889976101, "lpips": 0.23184296488761902}, "tactile_right": {"psnr": 36.307061133771214, "ssim": 0.953742937103929, "lpips": 0.18660879135131836}}, {"video": {"psnr": 15.896082717545061, "ssim": 0.548041973774333, "lpips": 0.3933083415031433}, "wrist_left": {"psnr": 10.066941668790392, "ssim": 0.3521448683974272, "lpips": 0.5498073697090149}, "wrist_right": {"psnr": 9.670169921868347, "ssim": 0.22075976094978572, "lpips": 0.7791744470596313}, "tactile_left": {"psnr": 35.92622533535233, "ssim": 0.9517356480843817, "lpips": 0.23279111087322235}, "tactile_right": {"psnr": 34.75632690298214, "ssim": 0.9485123374901873, "lpips": 0.21963946521282196}}, {"video": {"psnr": 15.502936689777824, "ssim": 0.5213773931100601, "lpips": 0.42432814836502075}, "wrist_left": {"psnr": 9.983346588685132, "ssim": 0.4285577684548176, "lpips": 0.5588271617889404}, "wrist_right": {"psnr": 9.980045589505208, "ssim": 0.18379907777451032, "lpips": 0.8159773349761963}, "tactile_left": {"psnr": 35.68325469710083, "ssim": 0.9499887854298619, "lpips": 0.2428589165210724}, "tactile_right": {"psnr": 30.908466429863594, "ssim": 0.9351708482384264, "lpips": 0.30526983737945557}}, {"video": {"psnr": 14.415673400030446, "ssim": 0.47422434650522904, "lpips": 0.4811363220214844}, "wrist_left": {"psnr": 12.090259141215213, "ssim": 0.5905168875465547, "lpips": 0.4920434355735779}, "wrist_right": {"psnr": 9.937520399481796, "ssim": 0.16869916946695207, "lpips": 0.7755877375602722}, "tactile_left": {"psnr": 35.28075267670279, "ssim": 0.947411270934428, "lpips": 0.25327417254447937}, "tactile_right": {"psnr": 30.31679414007078, "ssim": 0.9308930691962005, "lpips": 0.3201780915260315}}, {"video": {"psnr": 13.005226122689272, "ssim": 0.43706177788563405, "lpips": 0.5281334519386292}, "wrist_left": {"psnr": 12.042194532013255, "ssim": 0.6043788743446942, "lpips": 0.4862009286880493}, "wrist_right": {"psnr": 9.947130834131908, "ssim": 0.18259660534328892, "lpips": 0.7044706344604492}, "tactile_left": {"psnr": 34.82797306007802, "ssim": 0.9453544354206954, "lpips": 0.26375919580459595}, "tactile_right": {"psnr": 31.463870611800285, "ssim": 0.9307227103339673, "lpips": 0.3063529431819916}}], "long_metrics": {"video": {"psnr": 18.304676271699837, "ssim": 0.6213369942338536, "lpips": 0.31035619750618937}, "wrist_left": {"psnr": 11.951201735691717, "ssim": 0.3572503538561896, "lpips": 0.49299243191878}, "wrist_right": {"psnr": 11.638661027243154, "ssim": 0.29275330825269175, "lpips": 0.6215623448292414}, "tactile_left": {"psnr": 33.47392381573264, "ssim": 0.9389749050383538, "lpips": 0.22261184801657993}, "tactile_right": {"psnr": 33.69523189470621, "ssim": 0.9484469874480038, "lpips": 0.218060731391112}}}, {"id": "motherboard_e004_04", "episode": "motherboard_0909_episode_001.pt", "requested_episode": "motherboard_0909_episode_001.pt", "category": "none", "t_start": 3, "start_seconds": 0.2, "short_contact": [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0], "future_transition_ticks": [], "long_contact_fraction": 0.0, "long_label": "none_throughout", "short_metrics": {"video": {"psnr": 34.81608048668286, "ssim": 0.9618341646261367, "lpips": 0.010740724392235279}, "wrist_left": {"psnr": 39.566523909315954, "ssim": 0.977923457534542, "lpips": 0.015027301385998726}, "wrist_right": {"psnr": 41.13833554638831, "ssim": 0.9819313575853773, "lpips": 0.011109201237559319}, "tactile_left": {"psnr": 47.52256869444697, "ssim": 0.9937426858444871, "lpips": 0.004707947839051485}, "tactile_right": {"psnr": 49.19142495150396, "ssim": 0.994489268152309, "lpips": 0.004811282269656658}}, "media": {"short": {"video": "media/motherboard_e004_04_short.mp4", "poster": "media/motherboard_e004_04_short.jpg"}, "long": {"video": "media/motherboard_e004_04_long.mp4", "poster": "media/motherboard_e004_04_long.jpg"}}, "force": {"source": "recorded_normal_force", "units": "N", "fps": 15, "left": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "right": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]}, "long_curve": [{"video": {"psnr": 34.81608048668286, "ssim": 0.9618341646261367, "lpips": 0.010740724392235279}, "wrist_left": {"psnr": 39.566523909315954, "ssim": 0.977923457534542, "lpips": 0.015027301385998726}, "wrist_right": {"psnr": 41.13833554638831, "ssim": 0.9819313575853773, "lpips": 0.011109201237559319}, "tactile_left": {"psnr": 47.52256869444697, "ssim": 0.9937426858444871, "lpips": 0.004707947839051485}, "tactile_right": {"psnr": 49.19142495150396, "ssim": 0.994489268152309, "lpips": 0.004811282269656658}}, {"video": {"psnr": 32.43521286931369, "ssim": 0.9437280216802706, "lpips": 0.018968060612678528}, "wrist_left": {"psnr": 35.137907478910655, "ssim": 0.9573350531599474, "lpips": 0.029661215841770172}, "wrist_right": {"psnr": 37.56509051274122, "ssim": 0.972414026911578, "lpips": 0.019104227423667908}, "tactile_left": {"psnr": 42.75070650847389, "ssim": 0.989001532718841, "lpips": 0.018321264535188675}, "tactile_right": {"psnr": 43.160967203294504, "ssim": 0.9883088596344356, "lpips": 0.030998721718788147}}, {"video": {"psnr": 30.30707357104719, "ssim": 0.9235217365741495, "lpips": 0.02751138061285019}, "wrist_left": {"psnr": 32.605969488787096, "ssim": 0.9464294524961159, "lpips": 0.047891952097415924}, "wrist_right": {"psnr": 35.24554365458635, "ssim": 0.9627736443286796, "lpips": 0.02672867849469185}, "tactile_left": {"psnr": 39.90386188214884, "ssim": 0.9840237232356175, "lpips": 0.0381588451564312}, "tactile_right": {"psnr": 40.44462518707395, "ssim": 0.9826808148009101, "lpips": 0.056760068982839584}}, {"video": {"psnr": 28.88782302543165, "ssim": 0.9038348956760951, "lpips": 0.03667896240949631}, "wrist_left": {"psnr": 31.025657154496994, "ssim": 0.9392406583780322, "lpips": 0.061142418533563614}, "wrist_right": {"psnr": 33.54879649697891, "ssim": 0.9529917912202447, "lpips": 0.035310182720422745}, "tactile_left": {"psnr": 37.458534895999556, "ssim": 0.9785526124502097, "lpips": 0.07416081428527832}, "tactile_right": {"psnr": 38.54931238725751, "ssim": 0.9789097756325682, "lpips": 0.07391013205051422}}, {"video": {"psnr": 27.67818370906326, "ssim": 0.8842828795388951, "lpips": 0.04892298951745033}, "wrist_left": {"psnr": 29.46616800980096, "ssim": 0.9358055916448736, "lpips": 0.07166185230016708}, "wrist_right": {"psnr": 32.0106417462823, "ssim": 0.9431390398044717, "lpips": 0.045575764030218124}, "tactile_left": {"psnr": 35.82486209993179, "ssim": 0.9738213277348131, "lpips": 0.11328897625207901}, "tactile_right": {"psnr": 36.95287336331673, "ssim": 0.974981351153314, "lpips": 0.08669541031122208}}, {"video": {"psnr": 26.642712227804623, "ssim": 0.8647495690420309, "lpips": 0.0599014051258564}, "wrist_left": {"psnr": 28.06319169615005, "ssim": 0.922292614251463, "lpips": 0.08496382087469101}, "wrist_right": {"psnr": 30.760240250341717, "ssim": 0.9320637133682267, "lpips": 0.058905623853206635}, "tactile_left": {"psnr": 35.11433268173643, "ssim": 0.9697044183197718, "lpips": 0.14065644145011902}, "tactile_right": {"psnr": 35.959231775882174, "ssim": 0.971012895869025, "lpips": 0.1074574887752533}}, {"video": {"psnr": 25.805109897751727, "ssim": 0.8451411570879233, "lpips": 0.07079465687274933}, "wrist_left": {"psnr": 26.937456288810935, "ssim": 0.9100895733339456, "lpips": 0.10073351860046387}, "wrist_right": {"psnr": 29.7420823298018, "ssim": 0.9219427040609287, "lpips": 0.07095111906528473}, "tactile_left": {"psnr": 34.154058369809476, "ssim": 0.9655062566090865, "lpips": 0.16288623213768005}, "tactile_right": {"psnr": 35.156328775279306, "ssim": 0.9669098254916489, "lpips": 0.1249224990606308}}, {"video": {"psnr": 25.049533305607923, "ssim": 0.8275339753061397, "lpips": 0.0833406075835228}, "wrist_left": {"psnr": 25.939062941154294, "ssim": 0.8974202161326048, "lpips": 0.11877709627151489}, "wrist_right": {"psnr": 28.93013648224788, "ssim": 0.9106282900342915, "lpips": 0.0819694995880127}, "tactile_left": {"psnr": 33.710632972887936, "ssim": 0.9617243489120714, "lpips": 0.1848190426826477}, "tactile_right": {"psnr": 34.534323843534736, "ssim": 0.9629593023675472, "lpips": 0.14430448412895203}}, {"video": {"psnr": 24.336593954436413, "ssim": 0.8089456316065101, "lpips": 0.0936988890171051}, "wrist_left": {"psnr": 25.209343036656783, "ssim": 0.8853322273381478, "lpips": 0.1341417133808136}, "wrist_right": {"psnr": 28.117669276081195, "ssim": 0.8992440976128662, "lpips": 0.09634380042552948}, "tactile_left": {"psnr": 33.02773606113586, "ssim": 0.9580888930174176, "lpips": 0.2069987654685974}, "tactile_right": {"psnr": 34.00885184716053, "ssim": 0.959299153437517, "lpips": 0.15841138362884521}}, {"video": {"psnr": 23.727027539281025, "ssim": 0.7934833100725327, "lpips": 0.10606304556131363}, "wrist_left": {"psnr": 24.444215950718004, "ssim": 0.870352733163014, "lpips": 0.14842188358306885}, "wrist_right": {"psnr": 27.325965462066275, "ssim": 0.8872945470398208, "lpips": 0.11292652785778046}, "tactile_left": {"psnr": 32.48620273056952, "ssim": 0.9542116560554386, "lpips": 0.22425802052021027}, "tactile_right": {"psnr": 33.60608011166009, "ssim": 0.9557382357638926, "lpips": 0.1731274425983429}}, {"video": {"psnr": 23.207017377141256, "ssim": 0.7785082244008115, "lpips": 0.11616553366184235}, "wrist_left": {"psnr": 23.658817964561813, "ssim": 0.8561427221318493, "lpips": 0.16924819350242615}, "wrist_right": {"psnr": 26.51518784733554, "ssim": 0.8732935219074177, "lpips": 0.13139334321022034}, "tactile_left": {"psnr": 31.400676458733784, "ssim": 0.9486847023683391, "lpips": 0.2416909635066986}, "tactile_right": {"psnr": 32.5146473019176, "ssim": 0.9502649375592254, "lpips": 0.19074255228042603}}, {"video": {"psnr": 22.63722710811148, "ssim": 0.765331928917603, "lpips": 0.1253480613231659}, "wrist_left": {"psnr": 22.78874081446412, "ssim": 0.8431095156769206, "lpips": 0.19052772223949432}, "wrist_right": {"psnr": 25.806903010587945, "ssim": 0.86256438115101, "lpips": 0.1523798406124115}, "tactile_left": {"psnr": 30.791670448852784, "ssim": 0.9441389019460328, "lpips": 0.2569357752799988}, "tactile_right": {"psnr": 31.913939006397804, "ssim": 0.946466615180146, "lpips": 0.20432016253471375}}, {"video": {"psnr": 22.11735346968258, "ssim": 0.751218959095209, "lpips": 0.1339673101902008}, "wrist_left": {"psnr": 22.10303541845166, "ssim": 0.8292410967929549, "lpips": 0.2109002321958542}, "wrist_right": {"psnr": 25.213732215821732, "ssim": 0.8545742318609194, "lpips": 0.17265689373016357}, "tactile_left": {"psnr": 30.237232911171358, "ssim": 0.9391034101031603, "lpips": 0.2657351493835449}, "tactile_right": {"psnr": 31.233244201546476, "ssim": 0.9415412460272925, "lpips": 0.2188987135887146}}, {"video": {"psnr": 21.726097665217186, "ssim": 0.7369880856005555, "lpips": 0.14327579736709595}, "wrist_left": {"psnr": 21.2195498691745, "ssim": 0.8128888549858446, "lpips": 0.2326323390007019}, "wrist_right": {"psnr": 24.390978086545942, "ssim": 0.8458602334961693, "lpips": 0.1898406445980072}, "tactile_left": {"psnr": 29.74727523699677, "ssim": 0.9339373157640227, "lpips": 0.2871282696723938}, "tactile_right": {"psnr": 30.560145612537347, "ssim": 0.9371301522829723, "lpips": 0.23032812774181366}}, {"video": {"psnr": 20.87849507750822, "ssim": 0.7021866427224681, "lpips": 0.1675187200307846}, "wrist_left": {"psnr": 20.69424322129155, "ssim": 0.7943499262960252, "lpips": 0.2527300715446472}, "wrist_right": {"psnr": 22.848109091462728, "ssim": 0.8158033930552802, "lpips": 0.22778767347335815}, "tactile_left": {"psnr": 29.455816388184303, "ssim": 0.9303720500655497, "lpips": 0.3039778470993042}, "tactile_right": {"psnr": 30.128150159123805, "ssim": 0.9334254224630059, "lpips": 0.2456827461719513}}], "long_metrics": {"video": {"psnr": 26.01676941893874, "ssim": 0.832752612129822, "lpips": 0.08285974295188983}, "wrist_left": {"psnr": 27.257325549516356, "ssim": 0.8918635795544188, "lpips": 0.12456408875683943}, "wrist_right": {"psnr": 29.94396080061799, "ssim": 0.9077679315624855, "lpips": 0.09553220135470232}, "tactile_left": {"psnr": 34.90574455607195, "ssim": 0.9616409223429906, "lpips": 0.16824829035128155}, "tactile_right": {"psnr": 35.8609430484991, "ssim": 0.9629411903877206, "lpips": 0.13675808105617762}}}, {"id": "motherboard_e004_05", "episode": "motherboard_0909_episode_001.pt", "requested_episode": "motherboard_0909_episode_001.pt", "category": "onset", "t_start": 760, "start_seconds": 50.666666666666664, "short_contact": [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 1], "future_transition_ticks": [11], "long_contact_fraction": 0.6953125, "long_label": "onset", "short_metrics": {"video": {"psnr": 23.813163634790847, "ssim": 0.8116307045893191, "lpips": 0.07769708335399628}, "wrist_left": {"psnr": 14.670238765582098, "ssim": 0.35538344948597206, "lpips": 0.42037057876586914}, "wrist_right": {"psnr": 15.472862523824533, "ssim": 0.5520950150971318, "lpips": 0.3329927623271942}, "tactile_left": {"psnr": 34.52032124035811, "ssim": 0.9696753786488166, "lpips": 0.08892445266246796}, "tactile_right": {"psnr": 48.30140760475271, "ssim": 0.9939686740601389, "lpips": 0.005479944404214621}}, "media": {"short": {"video": "media/motherboard_e004_05_short.mp4", "poster": "media/motherboard_e004_05_short.jpg"}, "long": {"video": "media/motherboard_e004_05_long.mp4", "poster": "media/motherboard_e004_05_long.jpg"}}, "force": {"source": "recorded_normal_force", "units": "N", "fps": 15, "left": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 2.93143892288208, 2.8207693099975586, 2.9424359798431396, 2.636666774749756, 1.9833333492279053, 2.8207693099975586, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 2.8207693099975586, 2.9424359798431396, 4.285294055938721, 5.145384788513184, 5.145384788513184, 5.145384788513184, 5.145384788513184, 5.145384788513184, 5.259615421295166, 5.259615421295166, 5.439090728759766, 5.259615421295166, 5.259615421295166, 1.886374831199646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.9833333492279053, 1.5254545211791992, 2.024200916290283, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 4.285294055938721, 4.285294055938721, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 1.9833333492279053, 1.4500000476837158, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "right": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.1662499904632568, 1.1733332872390747, 1.1662499904632568, 1.5254545211791992, 2.8207693099975586, 4.285294055938721, 5.76570463180542, 6.251071453094482, 6.251071453094482, 6.251071453094482, 6.251071453094482, 6.733333110809326, 6.733333110809326, 6.251071453094482, 6.251071453094482, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 6.8976850509643555, 6.733333110809326, 6.251071453094482, 6.251071453094482, 5.145384788513184, 6.251071453094482, 6.251071453094482, 5.259615421295166, 5.439090728759766, 6.251071453094482, 5.439090728759766, 5.439090728759766, 5.439090728759766, 6.182772636413574, 6.251071453094482, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.013420581817627, 2.8207693099975586, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.455624520778656, 4.285294055938721, 5.259615421295166, 5.259615421295166, 5.439090728759766, 5.972020626068115, 5.972020626068115, 5.145384788513184, 2.9424359798431396, 2.9424359798431396, 4.285294055938721, 4.285294055938721, 4.285294055938721, 4.285294055938721, 4.285294055938721, 4.285294055938721, 4.5, 5.145384788513184, 5.259615421295166, 5.145384788513184, 2.9424359798431396, 0.2600841820240021, 0.0, 0.0, 0.0, 0.0, 0.0]}, "long_curve": [{"video": {"psnr": 23.813163634790847, "ssim": 0.8116307045893191, "lpips": 0.07769708335399628}, "wrist_left": {"psnr": 14.670238765582098, "ssim": 0.35538344948597206, "lpips": 0.42037057876586914}, "wrist_right": {"psnr": 15.472862523824533, "ssim": 0.5520950150971318, "lpips": 0.3329927623271942}, "tactile_left": {"psnr": 34.52032124035811, "ssim": 0.9696753786488166, "lpips": 0.08892445266246796}, "tactile_right": {"psnr": 48.30140760475271, "ssim": 0.9939686740601389, "lpips": 0.005479944404214621}}, {"video": {"psnr": 21.39820735023124, "ssim": 0.7193570747556877, "lpips": 0.1357409954071045}, "wrist_left": {"psnr": 13.575676878176635, "ssim": 0.35687905221149185, "lpips": 0.46755343675613403}, "wrist_right": {"psnr": 13.579175595543484, "ssim": 0.5014280025502933, "lpips": 0.36370348930358887}, "tactile_left": {"psnr": 36.93996748208095, "ssim": 0.9653435995710569, "lpips": 0.09818761050701141}, "tactile_right": {"psnr": 46.26393373607709, "ssim": 0.9904463430171953, "lpips": 0.016791202127933502}}, {"video": {"psnr": 21.200801760992384, "ssim": 0.7171290547824198, "lpips": 0.16441501677036285}, "wrist_left": {"psnr": 13.17624620570246, "ssim": 0.2863516807782054, "lpips": 0.5309336185455322}, "wrist_right": {"psnr": 11.479046766407059, "ssim": 0.43804409208981815, "lpips": 0.4531961679458618}, "tactile_left": {"psnr": 28.58317032898485, "ssim": 0.934712736743675, "lpips": 0.2287869155406952}, "tactile_right": {"psnr": 45.4043472580496, "ssim": 0.9858940995141978, "lpips": 0.036559175699949265}}, {"video": {"psnr": 19.355194738503254, "ssim": 0.6831602248506203, "lpips": 0.2629888355731964}, "wrist_left": {"psnr": 10.584531617752067, "ssim": 0.21734679008684255, "lpips": 0.5882362127304077}, "wrist_right": {"psnr": 11.573270334892872, "ssim": 0.47599765806342587, "lpips": 0.4828656017780304}, "tactile_left": {"psnr": 29.531698337651008, "ssim": 0.9479052252817388, "lpips": 0.22611919045448303}, "tactile_right": {"psnr": 44.3296503438352, "ssim": 0.9823668799697395, "lpips": 0.059060871601104736}}, {"video": {"psnr": 18.562141287919495, "ssim": 0.6514593210509929, "lpips": 0.32316750288009644}, "wrist_left": {"psnr": 9.975667756002355, "ssim": 0.4032780173032376, "lpips": 0.5144106149673462}, "wrist_right": {"psnr": 8.462193035206294, "ssim": 0.2590289215970188, "lpips": 0.5956655740737915}, "tactile_left": {"psnr": 38.48055216752413, "ssim": 0.9635508523705224, "lpips": 0.17435681819915771}, "tactile_right": {"psnr": 43.264751625820196, "ssim": 0.9788023773282626, "lpips": 0.07888583838939667}}, {"video": {"psnr": 18.59850497669359, "ssim": 0.6538865111560561, "lpips": 0.3084932267665863}, "wrist_left": {"psnr": 10.796639980495906, "ssim": 0.46246868957090836, "lpips": 0.5212647914886475}, "wrist_right": {"psnr": 7.337920827665391, "ssim": 0.17686972457160674, "lpips": 0.6823287010192871}, "tactile_left": {"psnr": 38.071654494866515, "ssim": 0.9608337821704873, "lpips": 0.18864399194717407}, "tactile_right": {"psnr": 33.91234330153437, "ssim": 0.954082128689006, "lpips": 0.20054654777050018}}, {"video": {"psnr": 18.76703086364801, "ssim": 0.6539756390719897, "lpips": 0.296263724565506}, "wrist_left": {"psnr": 11.220454371637791, "ssim": 0.43656956254409296, "lpips": 0.5386102199554443}, "wrist_right": {"psnr": 7.274769970264716, "ssim": 0.1806278528177263, "lpips": 0.7247961163520813}, "tactile_left": {"psnr": 37.647225741631075, "ssim": 0.9584386811451159, "lpips": 0.2026216834783554}, "tactile_right": {"psnr": 30.542254302348553, "ssim": 0.9326303147255994, "lpips": 0.28657159209251404}}, {"video": {"psnr": 18.380881306489968, "ssim": 0.644402796498033, "lpips": 0.31827783584594727}, "wrist_left": {"psnr": 10.522979230673979, "ssim": 0.275670161263608, "lpips": 0.6202260255813599}, "wrist_right": {"psnr": 6.8133079882023235, "ssim": 0.15981063454836555, "lpips": 0.7363804578781128}, "tactile_left": {"psnr": 37.283430013840416, "ssim": 0.9559827994075631, "lpips": 0.2186654955148697}, "tactile_right": {"psnr": 29.482783107602344, "ssim": 0.9223987588439522, "lpips": 0.31688350439071655}}, {"video": {"psnr": 18.36636368518517, "ssim": 0.6431430908181671, "lpips": 0.3149566650390625}, "wrist_left": {"psnr": 9.39463354039333, "ssim": 0.14721069412221477, "lpips": 0.6615985631942749}, "wrist_right": {"psnr": 7.015415839992114, "ssim": 0.15719634245218567, "lpips": 0.721080482006073}, "tactile_left": {"psnr": 33.358184933243486, "ssim": 0.9339901871450069, "lpips": 0.31884682178497314}, "tactile_right": {"psnr": 29.554817116997654, "ssim": 0.9216621577094685, "lpips": 0.3152933120727539}}, {"video": {"psnr": 19.26163816076025, "ssim": 0.6642528219028171, "lpips": 0.2671615183353424}, "wrist_left": {"psnr": 7.075083692271189, "ssim": 0.12730788276629862, "lpips": 0.742193877696991}, "wrist_right": {"psnr": 7.777892453568072, "ssim": 0.15753737318718225, "lpips": 0.6422386169433594}, "tactile_left": {"psnr": 33.6844122970853, "ssim": 0.9298460026404144, "lpips": 0.32938605546951294}, "tactile_right": {"psnr": 30.26487323403736, "ssim": 0.9249065300680319, "lpips": 0.30698540806770325}}, {"video": {"psnr": 19.17384091058405, "ssim": 0.6528745990593663, "lpips": 0.28697469830513}, "wrist_left": {"psnr": 7.480044913386738, "ssim": 0.17861576308300392, "lpips": 0.7087423801422119}, "wrist_right": {"psnr": 8.981011306412238, "ssim": 0.2119872700967807, "lpips": 0.6321945190429688}, "tactile_left": {"psnr": 32.90523938851542, "ssim": 0.9278418635038788, "lpips": 0.3298009932041168}, "tactile_right": {"psnr": 38.610242713081206, "ssim": 0.95743051306089, "lpips": 0.19497287273406982}}, {"video": {"psnr": 19.27597103845962, "ssim": 0.649228176994042, "lpips": 0.27978086471557617}, "wrist_left": {"psnr": 8.325350908589872, "ssim": 0.2563396251747634, "lpips": 0.6495934724807739}, "wrist_right": {"psnr": 9.734534674687188, "ssim": 0.23948203505923765, "lpips": 0.6396267414093018}, "tactile_left": {"psnr": 35.82005430147773, "ssim": 0.9474147612550643, "lpips": 0.2689129114151001}, "tactile_right": {"psnr": 35.460687352033574, "ssim": 0.9488571210675509, "lpips": 0.2380986213684082}}, {"video": {"psnr": 18.743479714341078, "ssim": 0.6366137040125706, "lpips": 0.2947084307670593}, "wrist_left": {"psnr": 7.570607232745804, "ssim": 0.26262459936744464, "lpips": 0.6710453629493713}, "wrist_right": {"psnr": 10.003732114661968, "ssim": 0.3109731013964474, "lpips": 0.6309306621551514}, "tactile_left": {"psnr": 35.787650507956684, "ssim": 0.9466769926509944, "lpips": 0.2709561586380005}, "tactile_right": {"psnr": 31.675214588397914, "ssim": 0.9272312370203204, "lpips": 0.3441685140132904}}, {"video": {"psnr": 18.848084344435385, "ssim": 0.6400959139068243, "lpips": 0.29878151416778564}, "wrist_left": {"psnr": 7.314534292820777, "ssim": 0.2581951857979373, "lpips": 0.6719485521316528}, "wrist_right": {"psnr": 9.503889558366286, "ssim": 0.32321261921409483, "lpips": 0.6488028764724731}, "tactile_left": {"psnr": 35.35826860950429, "ssim": 0.9441707970656006, "lpips": 0.28690290451049805}, "tactile_right": {"psnr": 29.871746406165624, "ssim": 0.9062530776045599, "lpips": 0.40419507026672363}}, {"video": {"psnr": 18.440940263831884, "ssim": 0.6214949932809604, "lpips": 0.3344717025756836}, "wrist_left": {"psnr": 7.386029078651096, "ssim": 0.24943045133319539, "lpips": 0.6628351211547852}, "wrist_right": {"psnr": 8.422071456642799, "ssim": 0.3024035286314575, "lpips": 0.6698063611984253}, "tactile_left": {"psnr": 35.17542201726942, "ssim": 0.9428786485173459, "lpips": 0.29583683609962463}, "tactile_right": {"psnr": 34.45007024248812, "ssim": 0.9448352577855386, "lpips": 0.25435370206832886}}], "long_metrics": {"video": {"psnr": 19.479082935791084, "ssim": 0.6695136417819911, "lpips": 0.26425864100456237}, "wrist_left": {"psnr": 9.937914564325473, "ssim": 0.2849114403259478, "lpips": 0.5979708552360534}, "wrist_right": {"psnr": 9.562072963089156, "ssim": 0.2964462780915182, "lpips": 0.5971072753270467}, "tactile_left": {"psnr": 34.87648345746596, "ssim": 0.9486174872078188, "lpips": 0.2351299226284027}, "tactile_right": {"psnr": 36.75927486221477, "ssim": 0.9514510313642968, "lpips": 0.20392307847117383}}}, {"id": "motherboard_e004_06", "episode": "motherboard_0909_episode_001.pt", "requested_episode": "motherboard_0909_episode_001.pt", "category": "release", "t_start": 2829, "start_seconds": 188.6, "short_contact": [1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 0, 0], "future_transition_ticks": [11], "long_contact_fraction": 0.6953125, "long_label": "release", "short_metrics": {"video": {"psnr": 26.21491744315421, "ssim": 0.8460316751734004, "lpips": 0.04918130487203598}, "wrist_left": {"psnr": 9.797617020363354, "ssim": 0.3206790413182753, "lpips": 0.4981214106082916}, "wrist_right": {"psnr": 21.51004904095116, "ssim": 0.8544583480504174, "lpips": 0.10105385631322861}, "tactile_left": {"psnr": 36.94860163187294, "ssim": 0.964307383402504, "lpips": 0.0831298679113388}, "tactile_right": {"psnr": 50.160589412740975, "ssim": 0.9944170486999424, "lpips": 0.004748007282614708}}, "media": {"short": {"video": "media/motherboard_e004_06_short.mp4", "poster": "media/motherboard_e004_06_short.jpg"}, "long": {"video": "media/motherboard_e004_06_long.mp4", "poster": "media/motherboard_e004_06_long.jpg"}}, "force": {"source": "recorded_normal_force", "units": "N", "fps": 15, "left": [4.3677778244018555, 4.285294055938721, 4.285294055938721, 4.285294055938721, 6.251071453094482, 7.293181896209717, 7.293181896209717, 7.5217695236206055, 7.3053178787231445, 5.259615421295166, 2.8207693099975586, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.1599999964237213, 0.22058026492595673, 0.22058026492595673, 0.43111228942871094, 2.9424359798431396, 4.285294055938721, 4.285294055938721, 7.293181896209717, 7.295934677124023, 7.317659854888916, 7.31187629699707, 7.314847946166992, 7.391359329223633, 7.860250473022461, 7.869999885559082, 7.869999885559082, 7.869999885559082, 7.869999885559082, 7.869999885559082, 7.869999885559082, 7.869999885559082, 7.869999885559082, 7.869999885559082, 7.869999885559082, 7.869999885559082, 7.7177629470825195, 7.514229774475098, 7.401813983917236, 7.470968723297119, 7.470968723297119, 7.314309120178223, 7.483780384063721, 7.869999885559082, 7.869999885559082, 7.869999885559082, 7.869999885559082, 7.869999885559082, 7.448915004730225, 7.499743938446045, 7.714519023895264, 7.869999885559082, 7.318450450897217, 4.285294055938721, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.9833333492279053, 1.9833333492279053, 5.259615421295166, 6.733333110809326, 6.733333110809326, 6.733333110809326, 7.293181896209717, 7.129386901855469, 6.733333110809326, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 6.733333110809326, 6.251071453094482, 5.259615421295166, 5.439090728759766, 6.251071453094482, 6.251071453094482, 6.733333110809326, 7.179339408874512, 6.962648868560791, 6.962648868560791, 7.012815952301025, 7.293181896209717, 6.733333110809326, 6.733333110809326, 6.251071453094482, 1.5254545211791992, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 2.8207693099975586, 6.251071453094482, 7.293181896209717, 7.293181896209717, 7.300662040710449, 7.869999885559082, 7.869999885559082, 7.869999885559082, 7.869999885559082], "right": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]}, "long_curve": [{"video": {"psnr": 26.21491744315421, "ssim": 0.8460316751734004, "lpips": 0.04918130487203598}, "wrist_left": {"psnr": 9.797617020363354, "ssim": 0.3206790413182753, "lpips": 0.4981214106082916}, "wrist_right": {"psnr": 21.51004904095116, "ssim": 0.8544583480504174, "lpips": 0.10105385631322861}, "tactile_left": {"psnr": 36.94860163187294, "ssim": 0.964307383402504, "lpips": 0.0831298679113388}, "tactile_right": {"psnr": 50.160589412740975, "ssim": 0.9944170486999424, "lpips": 0.004748007282614708}}, {"video": {"psnr": 24.659390246982117, "ssim": 0.8010871515762712, "lpips": 0.06462697684764862}, "wrist_left": {"psnr": 8.434896999881655, "ssim": 0.22080135398564008, "lpips": 0.6140369176864624}, "wrist_right": {"psnr": 20.359806754507012, "ssim": 0.7776485068182167, "lpips": 0.1489662528038025}, "tactile_left": {"psnr": 34.822121819192176, "ssim": 0.9615892248107522, "lpips": 0.1528046578168869}, "tactile_right": {"psnr": 45.95374676019471, "ssim": 0.9879229993467982, "lpips": 0.03803548961877823}}, {"video": {"psnr": 24.227444794293444, "ssim": 0.7968676213042789, "lpips": 0.07041488587856293}, "wrist_left": {"psnr": 8.01221779372162, "ssim": 0.18771078694175503, "lpips": 0.6501066088676453}, "wrist_right": {"psnr": 17.43097580861797, "ssim": 0.6579302422265871, "lpips": 0.25500112771987915}, "tactile_left": {"psnr": 32.52521883279282, "ssim": 0.920081523448179, "lpips": 0.29807472229003906}, "tactile_right": {"psnr": 43.96613497064223, "ssim": 0.9815034952436867, "lpips": 0.07111786305904388}}, {"video": {"psnr": 23.827287479567858, "ssim": 0.7849540024792383, "lpips": 0.08022011816501617}, "wrist_left": {"psnr": 8.420487841709072, "ssim": 0.17988951626686228, "lpips": 0.6461375951766968}, "wrist_right": {"psnr": 15.713881934649693, "ssim": 0.6024058001145003, "lpips": 0.3411155939102173}, "tactile_left": {"psnr": 29.84230520176919, "ssim": 0.8332571491659528, "lpips": 0.36421775817871094}, "tactile_right": {"psnr": 42.75556194839005, "ssim": 0.9784033140448445, "lpips": 0.09074518084526062}}, {"video": {"psnr": 23.554182675064524, "ssim": 0.7672055705066008, "lpips": 0.09068231284618378}, "wrist_left": {"psnr": 8.751158992350554, "ssim": 0.18188344242976606, "lpips": 0.646409273147583}, "wrist_right": {"psnr": 14.86899734344951, "ssim": 0.5563591628714838, "lpips": 0.3931402862071991}, "tactile_left": {"psnr": 28.14932027899311, "ssim": 0.7752082138693837, "lpips": 0.3955026865005493}, "tactile_right": {"psnr": 42.03864775656108, "ssim": 0.975194280166491, "lpips": 0.10780511796474457}}, {"video": {"psnr": 23.072322006611913, "ssim": 0.7488064610933681, "lpips": 0.10708343982696533}, "wrist_left": {"psnr": 9.182088869248883, "ssim": 0.1857423619470508, "lpips": 0.6432795524597168}, "wrist_right": {"psnr": 14.406659777906563, "ssim": 0.5276829778198264, "lpips": 0.42286187410354614}, "tactile_left": {"psnr": 28.63746729183006, "ssim": 0.79138717828986, "lpips": 0.36702847480773926}, "tactile_right": {"psnr": 41.09376053417303, "ssim": 0.9721708848973658, "lpips": 0.12434779107570648}}, {"video": {"psnr": 19.931924779474638, "ssim": 0.7075789186929977, "lpips": 0.19184303283691406}, "wrist_left": {"psnr": 10.188624220388316, "ssim": 0.1837340271127123, "lpips": 0.6555635929107666}, "wrist_right": {"psnr": 12.923113428758953, "ssim": 0.4708134433654186, "lpips": 0.4951525032520294}, "tactile_left": {"psnr": 29.409190031491484, "ssim": 0.810291358014472, "lpips": 0.3404373526573181}, "tactile_right": {"psnr": 40.4490059594874, "ssim": 0.9689923007116248, "lpips": 0.1391821801662445}}, {"video": {"psnr": 17.951758467662152, "ssim": 0.6686514632019337, "lpips": 0.2838778495788574}, "wrist_left": {"psnr": 9.434844953035405, "ssim": 0.1915279128872379, "lpips": 0.6655195951461792}, "wrist_right": {"psnr": 12.12641717628866, "ssim": 0.436822805829314, "lpips": 0.5293651223182678}, "tactile_left": {"psnr": 30.929703668674474, "ssim": 0.874111861828213, "lpips": 0.30283600091934204}, "tactile_right": {"psnr": 39.930932494636544, "ssim": 0.9656692001439751, "lpips": 0.15609011054039001}}, {"video": {"psnr": 17.77661397996485, "ssim": 0.6455445532768349, "lpips": 0.3030222952365875}, "wrist_left": {"psnr": 9.701057766826459, "ssim": 0.16634367174622772, "lpips": 0.624695360660553}, "wrist_right": {"psnr": 12.260239665271227, "ssim": 0.45971770220866714, "lpips": 0.5344845652580261}, "tactile_left": {"psnr": 34.09950030555617, "ssim": 0.9520782676080304, "lpips": 0.2292255014181137}, "tactile_right": {"psnr": 39.32952930649817, "ssim": 0.9624086385626369, "lpips": 0.16934336721897125}}, {"video": {"psnr": 17.77955402949008, "ssim": 0.6368336348908794, "lpips": 0.31671249866485596}, "wrist_left": {"psnr": 9.346621477058129, "ssim": 0.1868605767558208, "lpips": 0.6192724704742432}, "wrist_right": {"psnr": 12.062424190003693, "ssim": 0.4391488993378355, "lpips": 0.5449941158294678}, "tactile_left": {"psnr": 28.144961033061104, "ssim": 0.9098844407517912, "lpips": 0.3404577970504761}, "tactile_right": {"psnr": 38.9990395777823, "ssim": 0.9597678233396016, "lpips": 0.1747608631849289}}, {"video": {"psnr": 18.816253460915984, "ssim": 0.6504996266613698, "lpips": 0.2698635160923004}, "wrist_left": {"psnr": 10.288396376710159, "ssim": 0.20199669745958165, "lpips": 0.6218652129173279}, "wrist_right": {"psnr": 12.479225142860104, "ssim": 0.4607839119111262, "lpips": 0.5403763055801392}, "tactile_left": {"psnr": 28.77009022642849, "ssim": 0.9168980973933976, "lpips": 0.34804481267929077}, "tactile_right": {"psnr": 38.46797905888642, "ssim": 0.9563141334306802, "lpips": 0.18613308668136597}}, {"video": {"psnr": 20.621820397862784, "ssim": 0.6698242077342333, "lpips": 0.2167106419801712}, "wrist_left": {"psnr": 9.521393992195907, "ssim": 0.2078391979993785, "lpips": 0.6308910250663757}, "wrist_right": {"psnr": 13.306352103704615, "ssim": 0.47834415890057724, "lpips": 0.522648274898529}, "tactile_left": {"psnr": 29.334769809789883, "ssim": 0.9238805131172614, "lpips": 0.3380417227745056}, "tactile_right": {"psnr": 38.04397627144498, "ssim": 0.9536740355317157, "lpips": 0.20044326782226562}}, {"video": {"psnr": 18.625242815496957, "ssim": 0.6484449258022034, "lpips": 0.28109103441238403}, "wrist_left": {"psnr": 9.903417966516026, "ssim": 0.23186878601081073, "lpips": 0.6090878248214722}, "wrist_right": {"psnr": 12.287292441645473, "ssim": 0.42263274695119174, "lpips": 0.5660935640335083}, "tactile_left": {"psnr": 30.635564852628, "ssim": 0.93901993779737, "lpips": 0.3016100227832794}, "tactile_right": {"psnr": 37.59379468151402, "ssim": 0.9510099507796088, "lpips": 0.21283061802387238}}, {"video": {"psnr": 18.053337727757345, "ssim": 0.6367879098029416, "lpips": 0.30334070324897766}, "wrist_left": {"psnr": 8.842186342748722, "ssim": 0.22638831505596305, "lpips": 0.6903823018074036}, "wrist_right": {"psnr": 12.42712981887416, "ssim": 0.415042537586444, "lpips": 0.5793085694313049}, "tactile_left": {"psnr": 30.526586463545122, "ssim": 0.9388488765787883, "lpips": 0.2869040071964264}, "tactile_right": {"psnr": 37.11710467449297, "ssim": 0.9483317653153194, "lpips": 0.22384685277938843}}, {"video": {"psnr": 17.997820383173437, "ssim": 0.6340637409360609, "lpips": 0.3100954294204712}, "wrist_left": {"psnr": 9.54490007299, "ssim": 0.26493608847216593, "lpips": 0.6860185861587524}, "wrist_right": {"psnr": 12.29981729641208, "ssim": 0.4000106439511087, "lpips": 0.5868207216262817}, "tactile_left": {"psnr": 26.200456903848853, "ssim": 0.8773074257288018, "lpips": 0.41724884510040283}, "tactile_right": {"psnr": 36.78898604332958, "ssim": 0.9459664924328188, "lpips": 0.23682308197021484}}], "long_metrics": {"video": {"psnr": 20.873991379164817, "ssim": 0.7095454308755076, "lpips": 0.19591773599386214}, "wrist_left": {"psnr": 9.291327379049617, "ssim": 0.20921345175928321, "lpips": 0.6334258218606313}, "wrist_right": {"psnr": 14.430825461593392, "ssim": 0.530653459196181, "lpips": 0.4374255155523618}, "tactile_left": {"psnr": 30.598390556764922, "ssim": 0.8925434301203172, "lpips": 0.30437094867229464}, "tactile_right": {"psnr": 40.8459192967183, "ssim": 0.9667830908431406, "lpips": 0.14241685854891936}}}, {"id": "motherboard_e004_07", "episode": "motherboard_0909_episode_001.pt", "requested_episode": "motherboard_0909_episode_001.pt", "category": "full", "t_start": 467, "start_seconds": 31.133333333333333, "short_contact": [1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1], "future_transition_ticks": [], "long_contact_fraction": 1.0, "long_label": "full", "short_metrics": {"video": {"psnr": 31.757109281405906, "ssim": 0.9416832929313497, "lpips": 0.020533457398414612}, "wrist_left": {"psnr": 12.833598930365094, "ssim": 0.35289969150862677, "lpips": 0.2744329273700714}, "wrist_right": {"psnr": 23.72019740023309, "ssim": 0.817944505244979, "lpips": 0.03296602517366409}, "tactile_left": {"psnr": 33.17873380501545, "ssim": 0.944073745392598, "lpips": 0.0429241918027401}, "tactile_right": {"psnr": 49.78444683582922, "ssim": 0.9941692044862132, "lpips": 0.005480179097503424}}, "media": {"short": {"video": "media/motherboard_e004_07_short.mp4", "poster": "media/motherboard_e004_07_short.jpg"}, "long": {"video": "media/motherboard_e004_07_long.mp4", "poster": "media/motherboard_e004_07_long.jpg"}}, "force": {"source": "recorded_normal_force", "units": "N", "fps": 15, "left": [1.9833333492279053, 1.9833333492279053, 2.9424359798431396, 6.251071453094482, 6.251071453094482, 5.439090728759766, 5.439090728759766, 5.439090728759766, 6.251071453094482, 6.733333110809326, 6.733333110809326, 6.733333110809326, 6.733333110809326, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 6.733333110809326, 6.733333110809326, 6.733333110809326, 6.733333110809326, 6.733333110809326, 6.733333110809326, 6.733333110809326, 6.733333110809326, 6.733333110809326, 6.76942777633667, 7.228470325469971, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.284359455108643, 6.733333110809326, 6.251071453094482, 6.251071453094482, 5.145384788513184, 4.285294055938721, 2.9424359798431396, 2.8207693099975586, 2.8207693099975586, 1.9833333492279053, 1.9833333492279053, 1.5254545211791992, 1.5254545211791992, 1.5254545211791992, 1.5254545211791992, 1.5254545211791992, 1.5254545211791992, 2.8207693099975586, 1.9833333492279053, 1.9833333492279053, 2.9424359798431396, 4.285294055938721, 4.285294055938721, 4.285294055938721, 4.285294055938721, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 4.285294055938721, 4.285294055938721, 4.285294055938721, 4.285294055938721, 4.285294055938721, 4.285294055938721, 4.3677778244018555, 4.3677778244018555, 5.145384788513184, 5.145384788513184, 5.259615421295166, 5.259615421295166, 6.115070343017578, 6.201137542724609, 6.2079668045043945, 5.661813259124756, 6.073955059051514, 6.251071453094482, 6.251071453094482, 6.251071453094482, 6.251071453094482, 6.251071453094482, 6.251071453094482, 6.251071453094482, 6.251071453094482, 6.251071453094482, 6.251071453094482, 5.259615421295166, 5.145384788513184, 5.145384788513184, 5.145384788513184, 5.259615421295166, 5.145384788513184, 5.145384788513184, 5.145384788513184, 4.3677778244018555, 4.306504249572754, 4.285294055938721, 4.285294055938721, 4.285294055938721, 4.285294055938721, 4.285294055938721, 4.285294055938721, 2.9424359798431396, 2.3617031574249268, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "right": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.5254545211791992, 1.5254545211791992, 1.9833333492279053, 5.259615421295166, 7.293181896209717, 7.756637096405029, 7.756637096405029, 7.869999885559082, 7.869999885559082, 7.869999885559082, 7.869999885559082, 7.869999885559082, 7.869999885559082, 7.869999885559082, 7.869999885559082, 7.869999885559082, 7.869999885559082, 7.869999885559082, 7.869999885559082, 7.652376174926758, 7.380303382873535, 7.293181896209717, 7.293181896209717, 6.733333110809326, 6.251071453094482, 4.285294055938721, 4.285294055938721, 2.9424359798431396, 2.9424359798431396, 2.8207693099975586, 1.9833333492279053, 1.9833333492279053, 1.9833333492279053, 1.9833333492279053, 2.636666774749756, 2.9424359798431396, 4.3677778244018555, 6.251071453094482, 7.293181896209717, 7.293181896209717, 7.293181896209717, 6.251071453094482, 6.251071453094482, 6.251071453094482, 6.251071453094482, 6.733333110809326, 6.733333110809326, 6.733333110809326, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.319431304931641, 7.319431304931641, 7.724584579467773, 7.869999885559082, 7.869999885559082, 7.869999885559082, 7.869999885559082, 7.869999885559082, 7.869999885559082, 7.869999885559082, 7.869999885559082, 7.869999885559082, 7.869999885559082, 7.869999885559082, 7.869999885559082, 7.869999885559082, 7.869999885559082, 7.869999885559082, 7.312495708465576, 7.295211315155029, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 6.733333110809326, 6.733333110809326, 6.733333110809326, 5.439090728759766, 5.259615421295166, 5.259615421295166, 5.145384788513184, 5.145384788513184, 5.259615421295166, 5.259615421295166, 5.259615421295166, 2.9424359798431396, 4.285294055938721, 5.145384788513184, 5.259615421295166, 6.733333110809326, 6.733333110809326, 6.733333110809326, 6.7497968673706055, 7.293181896209717, 7.293181896209717, 7.293181896209717]}, "long_curve": [{"video": {"psnr": 31.757109281405906, "ssim": 0.9416832929313497, "lpips": 0.020533457398414612}, "wrist_left": {"psnr": 12.833598930365094, "ssim": 0.35289969150862677, "lpips": 0.2744329273700714}, "wrist_right": {"psnr": 23.72019740023309, "ssim": 0.817944505244979, "lpips": 0.03296602517366409}, "tactile_left": {"psnr": 33.17873380501545, "ssim": 0.944073745392598, "lpips": 0.0429241918027401}, "tactile_right": {"psnr": 49.78444683582922, "ssim": 0.9941692044862132, "lpips": 0.005480179097503424}}, {"video": {"psnr": 26.71075775392645, "ssim": 0.869595933104959, "lpips": 0.05385683849453926}, "wrist_left": {"psnr": 12.654080514193849, "ssim": 0.31291879839216347, "lpips": 0.32182538509368896}, "wrist_right": {"psnr": 14.435863054702523, "ssim": 0.49473859576922374, "lpips": 0.33964255452156067}, "tactile_left": {"psnr": 30.301283797465366, "ssim": 0.9121169966795761, "lpips": 0.08404925465583801}, "tactile_right": {"psnr": 45.60217389789937, "ssim": 0.9876027345650897, "lpips": 0.04128599166870117}}, {"video": {"psnr": 24.66122160625457, "ssim": 0.8201178687025763, "lpips": 0.08676429092884064}, "wrist_left": {"psnr": 12.915568132172462, "ssim": 0.3074440639458352, "lpips": 0.31827089190483093}, "wrist_right": {"psnr": 11.808801484707141, "ssim": 0.3378265903387773, "lpips": 0.5120694637298584}, "tactile_left": {"psnr": 31.157676931058482, "ssim": 0.9176998024050663, "lpips": 0.09646312147378922}, "tactile_right": {"psnr": 31.932646985728333, "ssim": 0.9453936433753691, "lpips": 0.17113324999809265}}, {"video": {"psnr": 23.81523462073701, "ssim": 0.7937189767106267, "lpips": 0.09933241456747055}, "wrist_left": {"psnr": 12.75734760015101, "ssim": 0.28953392419166996, "lpips": 0.34100019931793213}, "wrist_right": {"psnr": 11.015419273871139, "ssim": 0.2864230912444906, "lpips": 0.5721134543418884}, "tactile_left": {"psnr": 31.269057954803596, "ssim": 0.9106637494039134, "lpips": 0.12340691685676575}, "tactile_right": {"psnr": 25.780393942809127, "ssim": 0.8973719064816496, "lpips": 0.2570230960845947}}, {"video": {"psnr": 22.87817642577734, "ssim": 0.7609587548058003, "lpips": 0.12074251472949982}, "wrist_left": {"psnr": 12.640793842232673, "ssim": 0.2772101590249231, "lpips": 0.35302963852882385}, "wrist_right": {"psnr": 10.52123813964056, "ssim": 0.25831252320364045, "lpips": 0.5940444469451904}, "tactile_left": {"psnr": 27.748189232203085, "ssim": 0.8734083260904957, "lpips": 0.17920158803462982}, "tactile_right": {"psnr": 26.13552472376083, "ssim": 0.9010771147470555, "lpips": 0.26482218503952026}}, {"video": {"psnr": 22.361633910054245, "ssim": 0.7374531621422751, "lpips": 0.13260787725448608}, "wrist_left": {"psnr": 12.469760330914717, "ssim": 0.2712043614704174, "lpips": 0.3789019286632538}, "wrist_right": {"psnr": 10.381233602644556, "ssim": 0.2560448146869103, "lpips": 0.5905784368515015}, "tactile_left": {"psnr": 27.647774732963526, "ssim": 0.8983817918587838, "lpips": 0.27103424072265625}, "tactile_right": {"psnr": 31.961260857079417, "ssim": 0.9328295840183599, "lpips": 0.21385015547275543}}, {"video": {"psnr": 22.180227894300188, "ssim": 0.7233541245693389, "lpips": 0.14082929491996765}, "wrist_left": {"psnr": 12.700630173315135, "ssim": 0.26909426922899593, "lpips": 0.3560904264450073}, "wrist_right": {"psnr": 10.62635562329488, "ssim": 0.25966000077492474, "lpips": 0.5797401666641235}, "tactile_left": {"psnr": 27.190411984419764, "ssim": 0.902715573067774, "lpips": 0.31577765941619873}, "tactile_right": {"psnr": 33.98343103989038, "ssim": 0.9432589809219556, "lpips": 0.19726616144180298}}, {"video": {"psnr": 21.921773240100777, "ssim": 0.7075732473696281, "lpips": 0.15327048301696777}, "wrist_left": {"psnr": 13.295588725067578, "ssim": 0.27604230650520023, "lpips": 0.3428546190261841}, "wrist_right": {"psnr": 10.794589998817417, "ssim": 0.26890534697782215, "lpips": 0.5792616605758667}, "tactile_left": {"psnr": 26.272008011070064, "ssim": 0.8906470476750191, "lpips": 0.30128929018974304}, "tactile_right": {"psnr": 28.45202958036246, "ssim": 0.9145796982991075, "lpips": 0.24387907981872559}}, {"video": {"psnr": 22.444117486444163, "ssim": 0.717062539755035, "lpips": 0.14309170842170715}, "wrist_left": {"psnr": 11.945886362700806, "ssim": 0.2140953006219593, "lpips": 0.37992337346076965}, "wrist_right": {"psnr": 10.713988170207077, "ssim": 0.2680900837079412, "lpips": 0.6153224110603333}, "tactile_left": {"psnr": 27.10914316830165, "ssim": 0.8908564254350848, "lpips": 0.29881468415260315}, "tactile_right": {"psnr": 27.99059519667473, "ssim": 0.9062029273637049, "lpips": 0.2688443660736084}}, {"video": {"psnr": 22.401595424943757, "ssim": 0.7157695567899418, "lpips": 0.1526111364364624}, "wrist_left": {"psnr": 11.154093646301357, "ssim": 0.19379627558465265, "lpips": 0.436190128326416}, "wrist_right": {"psnr": 10.713118750072235, "ssim": 0.2560889756803417, "lpips": 0.6331490278244019}, "tactile_left": {"psnr": 26.385709172359448, "ssim": 0.8788132185594417, "lpips": 0.2965015769004822}, "tactile_right": {"psnr": 26.174382947082275, "ssim": 0.8892058345558205, "lpips": 0.31220895051956177}}, {"video": {"psnr": 21.503969280799687, "ssim": 0.6889705600590332, "lpips": 0.16955402493476868}, "wrist_left": {"psnr": 11.14362573113321, "ssim": 0.18923720658325177, "lpips": 0.4498387575149536}, "wrist_right": {"psnr": 10.638992615751082, "ssim": 0.25061804319444064, "lpips": 0.6427102088928223}, "tactile_left": {"psnr": 26.43136062779561, "ssim": 0.8783006077048553, "lpips": 0.28878360986709595}, "tactile_right": {"psnr": 25.966551975011157, "ssim": 0.8810665680046996, "lpips": 0.3092190623283386}}, {"video": {"psnr": 20.057561721998944, "ssim": 0.6396182567805047, "lpips": 0.21746940910816193}, "wrist_left": {"psnr": 10.967253210982637, "ssim": 0.17620623860711285, "lpips": 0.4841032028198242}, "wrist_right": {"psnr": 10.899970427419802, "ssim": 0.2581721202181517, "lpips": 0.638889729976654}, "tactile_left": {"psnr": 26.689885014993703, "ssim": 0.884581691998857, "lpips": 0.3101324439048767}, "tactile_right": {"psnr": 26.99573971058402, "ssim": 0.9050815402117318, "lpips": 0.29729437828063965}}, {"video": {"psnr": 19.991087682333294, "ssim": 0.6415407743491153, "lpips": 0.2299765646457672}, "wrist_left": {"psnr": 11.64292657018159, "ssim": 0.19070961791527236, "lpips": 0.4562027156352997}, "wrist_right": {"psnr": 11.145310513990793, "ssim": 0.2578540683719851, "lpips": 0.6436160206794739}, "tactile_left": {"psnr": 26.108370057892696, "ssim": 0.8802028767120773, "lpips": 0.3381962180137634}, "tactile_right": {"psnr": 30.189453475883287, "ssim": 0.9192167946461398, "lpips": 0.26742443442344666}}, {"video": {"psnr": 20.436244659521847, "ssim": 0.6636714360736133, "lpips": 0.23272940516471863}, "wrist_left": {"psnr": 12.262022343641801, "ssim": 0.20952934296502695, "lpips": 0.47039180994033813}, "wrist_right": {"psnr": 10.874388281868807, "ssim": 0.2591015802243926, "lpips": 0.6444048881530762}, "tactile_left": {"psnr": 27.800702363616423, "ssim": 0.9131191207441729, "lpips": 0.2960987091064453}, "tactile_right": {"psnr": 32.03972439588556, "ssim": 0.9263159767013472, "lpips": 0.24681606888771057}}, {"video": {"psnr": 21.045249288419342, "ssim": 0.6739534330051633, "lpips": 0.2037084400653839}, "wrist_left": {"psnr": 11.020046110051055, "ssim": 0.3245883597189869, "lpips": 0.5272218585014343}, "wrist_right": {"psnr": 11.052810685437525, "ssim": 0.2559459393652403, "lpips": 0.6482771635055542}, "tactile_left": {"psnr": 31.707144148868313, "ssim": 0.9511729739161754, "lpips": 0.23491007089614868}, "tactile_right": {"psnr": 29.569504220090725, "ssim": 0.9137794792803907, "lpips": 0.2821388244628906}}], "long_metrics": {"video": {"psnr": 22.944397351801168, "ssim": 0.739669461143264, "lpips": 0.14380519067247707}, "wrist_left": {"psnr": 12.160214814893665, "ssim": 0.25696732775093967, "lpips": 0.39268519083658854}, "wrist_right": {"psnr": 11.956151868177242, "ssim": 0.31904841860021743, "lpips": 0.551119043926398}, "tactile_left": {"psnr": 28.46649673352181, "ssim": 0.9017835965095926, "lpips": 0.23183890506625177}, "tactile_right": {"psnr": 31.50385731897139, "ssim": 0.9238101325105756, "lpips": 0.22524574557319282}}}, {"id": "motherboard_e004_08", "episode": "motherboard_0909_episode_002.pt", "requested_episode": "motherboard_0909_episode_002.pt", "category": "none", "t_start": 2600, "start_seconds": 173.33333333333334, "short_contact": [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0], "future_transition_ticks": [], "long_contact_fraction": 0.296875, "long_label": "none_at_start", "short_metrics": {"video": {"psnr": 28.066545329083258, "ssim": 0.8906094090917168, "lpips": 0.03333413228392601}, "wrist_left": {"psnr": 13.144748832433619, "ssim": 0.4024030043242769, "lpips": 0.35811203718185425}, "wrist_right": {"psnr": 25.594578368529394, "ssim": 0.8739605558842489, "lpips": 0.03527472913265228}, "tactile_left": {"psnr": 42.01009295516897, "ssim": 0.9863729737784519, "lpips": 0.01764042302966118}, "tactile_right": {"psnr": 49.04773265952773, "ssim": 0.994616511914439, "lpips": 0.004224921576678753}}, "media": {"short": {"video": "media/motherboard_e004_08_short.mp4", "poster": "media/motherboard_e004_08_short.jpg"}, "long": {"video": "media/motherboard_e004_08_long.mp4", "poster": "media/motherboard_e004_08_long.jpg"}}, "force": {"source": "recorded_normal_force", "units": "N", "fps": 15, "left": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.49666666984558105, 1.5254545211791992, 4.285294055938721, 5.439090728759766, 5.439090728759766, 6.733333110809326, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 5.145384788513184, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "right": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.49666666984558105, 0.49264535307884216, 1.2104182243347168, 4.285294055938721, 4.285294055938721, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.636666774749756, 1.5254545211791992, 1.1662499904632568, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]}, "long_curve": [{"video": {"psnr": 28.066545329083258, "ssim": 0.8906094090917168, "lpips": 0.03333413228392601}, "wrist_left": {"psnr": 13.144748832433619, "ssim": 0.4024030043242769, "lpips": 0.35811203718185425}, "wrist_right": {"psnr": 25.594578368529394, "ssim": 0.8739605558842489, "lpips": 0.03527472913265228}, "tactile_left": {"psnr": 42.01009295516897, "ssim": 0.9863729737784519, "lpips": 0.01764042302966118}, "tactile_right": {"psnr": 49.04773265952773, "ssim": 0.994616511914439, "lpips": 0.004224921576678753}}, {"video": {"psnr": 24.911014648895346, "ssim": 0.8094811108044961, "lpips": 0.05933898687362671}, "wrist_left": {"psnr": 11.176777457621931, "ssim": 0.3013298328328733, "lpips": 0.48647066950798035}, "wrist_right": {"psnr": 20.348091887229014, "ssim": 0.7594761467805294, "lpips": 0.10292888432741165}, "tactile_left": {"psnr": 37.67105399795889, "ssim": 0.9726169527326218, "lpips": 0.07215112447738647}, "tactile_right": {"psnr": 44.75649943652954, "ssim": 0.9873011702026612, "lpips": 0.037773504853248596}}, {"video": {"psnr": 22.471138881220718, "ssim": 0.7581180386461632, "lpips": 0.11974379420280457}, "wrist_left": {"psnr": 10.252546730708634, "ssim": 0.2898466524940925, "lpips": 0.5404975414276123}, "wrist_right": {"psnr": 18.385906508791994, "ssim": 0.6892508482259911, "lpips": 0.16512787342071533}, "tactile_left": {"psnr": 38.06425066017528, "ssim": 0.9692594186114084, "lpips": 0.10360848903656006}, "tactile_right": {"psnr": 43.512600791229936, "ssim": 0.9805825180812611, "lpips": 0.06839466094970703}}, {"video": {"psnr": 22.461066247494415, "ssim": 0.7452944156148453, "lpips": 0.12707939743995667}, "wrist_left": {"psnr": 11.069068428405691, "ssim": 0.2952565186762235, "lpips": 0.5876827239990234}, "wrist_right": {"psnr": 18.094468216879264, "ssim": 0.6616367385277753, "lpips": 0.19006970524787903}, "tactile_left": {"psnr": 34.90367872615699, "ssim": 0.9597171337258068, "lpips": 0.16624775528907776}, "tactile_right": {"psnr": 41.3496263926455, "ssim": 0.9773320925836415, "lpips": 0.0881740003824234}}, {"video": {"psnr": 21.95628572415182, "ssim": 0.730474059774409, "lpips": 0.14310282468795776}, "wrist_left": {"psnr": 8.753147598950315, "ssim": 0.2247542769020735, "lpips": 0.6356679201126099}, "wrist_right": {"psnr": 18.561072089185576, "ssim": 0.6378959155051397, "lpips": 0.19044919312000275}, "tactile_left": {"psnr": 35.12059780895541, "ssim": 0.9615578962390454, "lpips": 0.19311827421188354}, "tactile_right": {"psnr": 39.85805770105625, "ssim": 0.9741692837438019, "lpips": 0.10551747679710388}}, {"video": {"psnr": 21.39721547091812, "ssim": 0.6924401322198448, "lpips": 0.16373051702976227}, "wrist_left": {"psnr": 8.138833846879537, "ssim": 0.23631248158285553, "lpips": 0.6841962933540344}, "wrist_right": {"psnr": 17.240968030172883, "ssim": 0.6018469443217895, "lpips": 0.22809529304504395}, "tactile_left": {"psnr": 28.43426871579006, "ssim": 0.9166498600091533, "lpips": 0.33166640996932983}, "tactile_right": {"psnr": 39.303406034248866, "ssim": 0.970688263134031, "lpips": 0.12584500014781952}}, {"video": {"psnr": 20.01151476744382, "ssim": 0.661416591228065, "lpips": 0.22940781712532043}, "wrist_left": {"psnr": 8.037480038709797, "ssim": 0.230724201643981, "lpips": 0.7047678232192993}, "wrist_right": {"psnr": 15.428783535181843, "ssim": 0.5754822545469793, "lpips": 0.29759567975997925}, "tactile_left": {"psnr": 28.080668461228086, "ssim": 0.9284662885698478, "lpips": 0.3020150065422058}, "tactile_right": {"psnr": 39.42090154260983, "ssim": 0.9686409406190988, "lpips": 0.13858307898044586}}, {"video": {"psnr": 18.31972963265948, "ssim": 0.6375522859213345, "lpips": 0.29643696546554565}, "wrist_left": {"psnr": 8.618895280821487, "ssim": 0.27090833434181816, "lpips": 0.671599268913269}, "wrist_right": {"psnr": 13.458825238591952, "ssim": 0.39141988250892756, "lpips": 0.4931638836860657}, "tactile_left": {"psnr": 34.65361498755845, "ssim": 0.9577828888574917, "lpips": 0.217912495136261}, "tactile_right": {"psnr": 39.00036371574348, "ssim": 0.9658183269719295, "lpips": 0.15396574139595032}}, {"video": {"psnr": 17.185650237693352, "ssim": 0.6136751868443402, "lpips": 0.3521614372730255}, "wrist_left": {"psnr": 8.949465568297617, "ssim": 0.24654381811961323, "lpips": 0.6965324282646179}, "wrist_right": {"psnr": 10.685791938446116, "ssim": 0.29012971344985344, "lpips": 0.6031562089920044}, "tactile_left": {"psnr": 34.325681408998186, "ssim": 0.955930079736101, "lpips": 0.23051293194293976}, "tactile_right": {"psnr": 36.45750080745785, "ssim": 0.9617808479062924, "lpips": 0.16545431315898895}}, {"video": {"psnr": 17.106918953648698, "ssim": 0.6263359971837907, "lpips": 0.34273791313171387}, "wrist_left": {"psnr": 8.79686147066662, "ssim": 0.23747397577939255, "lpips": 0.6883655786514282}, "wrist_right": {"psnr": 11.963890707873748, "ssim": 0.2820061468680557, "lpips": 0.6176109910011292}, "tactile_left": {"psnr": 34.25946568176807, "ssim": 0.9539136592009149, "lpips": 0.2388899326324463}, "tactile_right": {"psnr": 36.33863594475868, "ssim": 0.9598093439149528, "lpips": 0.17078301310539246}}, {"video": {"psnr": 16.955145074010957, "ssim": 0.6198681767313214, "lpips": 0.33990371227264404}, "wrist_left": {"psnr": 8.236003399661321, "ssim": 0.18368000726536132, "lpips": 0.7217038869857788}, "wrist_right": {"psnr": 10.263086365217603, "ssim": 0.18983791632620123, "lpips": 0.6659029126167297}, "tactile_left": {"psnr": 33.96695589874166, "ssim": 0.9515210530523731, "lpips": 0.24743905663490295}, "tactile_right": {"psnr": 37.30083946971692, "ssim": 0.9598764331530003, "lpips": 0.18045219779014587}}, {"video": {"psnr": 17.36287244394272, "ssim": 0.6188188455914733, "lpips": 0.3282981514930725}, "wrist_left": {"psnr": 8.766075887971878, "ssim": 0.2383800380736138, "lpips": 0.7282182574272156}, "wrist_right": {"psnr": 10.097238072529908, "ssim": 0.16406531435899818, "lpips": 0.703199028968811}, "tactile_left": {"psnr": 33.71191113927288, "ssim": 0.9492894136379487, "lpips": 0.2604958415031433}, "tactile_right": {"psnr": 34.160559708270306, "ssim": 0.9488140391516664, "lpips": 0.2648712694644928}}, {"video": {"psnr": 17.314608874629805, "ssim": 0.6129569900320575, "lpips": 0.35243678092956543}, "wrist_left": {"psnr": 10.230191860514983, "ssim": 0.29578637154766796, "lpips": 0.6598528623580933}, "wrist_right": {"psnr": 9.451923644569657, "ssim": 0.17730823437699741, "lpips": 0.6458103656768799}, "tactile_left": {"psnr": 33.31490177912717, "ssim": 0.9485428754022198, "lpips": 0.267518013715744}, "tactile_right": {"psnr": 37.479984718643124, "ssim": 0.9575841260014244, "lpips": 0.19380438327789307}}, {"video": {"psnr": 17.181660170116626, "ssim": 0.5731533894725029, "lpips": 0.33910685777664185}, "wrist_left": {"psnr": 11.538943449928025, "ssim": 0.22189000344037463, "lpips": 0.6230884790420532}, "wrist_right": {"psnr": 9.327978779948424, "ssim": 0.17540263371576253, "lpips": 0.6963592767715454}, "tactile_left": {"psnr": 32.047026015823924, "ssim": 0.9450097173954703, "lpips": 0.28188490867614746}, "tactile_right": {"psnr": 37.14942833478998, "ssim": 0.9551135738747685, "lpips": 0.1814626157283783}}, {"video": {"psnr": 17.092499006521503, "ssim": 0.5551447001299105, "lpips": 0.3502758741378784}, "wrist_left": {"psnr": 11.199155583818225, "ssim": 0.1957834507678685, "lpips": 0.6245721578598022}, "wrist_right": {"psnr": 8.615048374663077, "ssim": 0.1279058637731676, "lpips": 0.7296034097671509}, "tactile_left": {"psnr": 32.49271615040952, "ssim": 0.9451536748549243, "lpips": 0.2822011709213257}, "tactile_right": {"psnr": 36.3021423391897, "ssim": 0.9519904674113788, "lpips": 0.19999536871910095}}], "long_metrics": {"video": {"psnr": 19.986257697495375, "ssim": 0.6763559552857514, "lpips": 0.23847301080822944}, "wrist_left": {"psnr": 9.793879695692645, "ssim": 0.25807153118613907, "lpips": 0.6274218618869781}, "wrist_right": {"psnr": 14.50117678385403, "ssim": 0.4398416739446944, "lpips": 0.42428982903560003}, "tactile_left": {"psnr": 34.20379229247557, "ssim": 0.9534522590535853, "lpips": 0.21422012224793435}, "tactile_right": {"psnr": 39.42921863976118, "ssim": 0.9676078625776231, "lpips": 0.138620103088518}}}, {"id": "motherboard_e004_09", "episode": "motherboard_0909_episode_002.pt", "requested_episode": "motherboard_0909_episode_002.pt", "category": "onset", "t_start": 1924, "start_seconds": 128.26666666666668, "short_contact": [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 1], "future_transition_ticks": [11], "long_contact_fraction": 0.6796875, "long_label": "onset", "short_metrics": {"video": {"psnr": 29.248575305312134, "ssim": 0.9121821145617031, "lpips": 0.030217915773391724}, "wrist_left": {"psnr": 13.545025814791078, "ssim": 0.39541066366178057, "lpips": 0.3941047191619873}, "wrist_right": {"psnr": 19.675944479644542, "ssim": 0.7255346349739782, "lpips": 0.13326284289360046}, "tactile_left": {"psnr": 34.44800599487929, "ssim": 0.9592126140314526, "lpips": 0.1325763463973999}, "tactile_right": {"psnr": 47.97198031153344, "ssim": 0.9938842748828913, "lpips": 0.006493588909506798}}, "media": {"short": {"video": "media/motherboard_e004_09_short.mp4", "poster": "media/motherboard_e004_09_short.jpg"}, "long": {"video": "media/motherboard_e004_09_long.mp4", "poster": "media/motherboard_e004_09_long.jpg"}}, "force": {"source": "recorded_normal_force", "units": "N", "fps": 15, "left": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.9833333492279053, 2.9424359798431396, 2.9424359798431396, 5.439090728759766, 5.439090728759766, 5.671554088592529, 5.439090728759766, 5.259615421295166, 5.145384788513184, 4.321074485778809, 4.285294055938721, 4.285294055938721, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 1.9833333492279053, 2.0277299880981445, 2.9424359798431396, 5.439090728759766, 6.251071453094482, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 6.251071453094482, 5.439090728759766, 6.251071453094482, 5.605889320373535, 5.259615421295166, 4.3677778244018555, 4.285294055938721, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 4.285294055938721, 4.285294055938721, 2.9424359798431396, 4.3677778244018555, 4.285294055938721, 5.145384788513184, 5.145384788513184, 5.259615421295166, 5.259615421295166, 5.145384788513184, 4.285294055938721, 2.8207693099975586, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 2.9424359798431396, 2.636666774749756, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 4.285294055938721, 4.285294055938721, 2.9424359798431396, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.9833333492279053, 1.9833333492279053, 2.636666774749756, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 4.285294055938721, 3.8638908863067627, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 1.1662499904632568, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "right": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 2.9424359798431396, 5.145384788513184, 6.251071453094482]}, "long_curve": [{"video": {"psnr": 29.248575305312134, "ssim": 0.9121821145617031, "lpips": 0.030217915773391724}, "wrist_left": {"psnr": 13.545025814791078, "ssim": 0.39541066366178057, "lpips": 0.3941047191619873}, "wrist_right": {"psnr": 19.675944479644542, "ssim": 0.7255346349739782, "lpips": 0.13326284289360046}, "tactile_left": {"psnr": 34.44800599487929, "ssim": 0.9592126140314526, "lpips": 0.1325763463973999}, "tactile_right": {"psnr": 47.97198031153344, "ssim": 0.9938842748828913, "lpips": 0.006493588909506798}}, {"video": {"psnr": 24.572879399983666, "ssim": 0.8132319441238864, "lpips": 0.07342551648616791}, "wrist_left": {"psnr": 13.18580013553973, "ssim": 0.33765812456837596, "lpips": 0.41094011068344116}, "wrist_right": {"psnr": 16.621395001622286, "ssim": 0.6106730283236932, "lpips": 0.22659185528755188}, "tactile_left": {"psnr": 29.171572826502196, "ssim": 0.9107966615255043, "lpips": 0.29282400012016296}, "tactile_right": {"psnr": 45.42412830121704, "ssim": 0.9896265812882086, "lpips": 0.022370606660842896}}, {"video": {"psnr": 22.155742509496655, "ssim": 0.7400928356644132, "lpips": 0.13403162360191345}, "wrist_left": {"psnr": 12.5989656420969, "ssim": 0.3116792837524018, "lpips": 0.49609705805778503}, "wrist_right": {"psnr": 15.245952960434293, "ssim": 0.530260749259443, "lpips": 0.31426504254341125}, "tactile_left": {"psnr": 30.21767244412711, "ssim": 0.925047198012404, "lpips": 0.2851780354976654}, "tactile_right": {"psnr": 44.3526662170991, "ssim": 0.984256793311705, "lpips": 0.04374244064092636}}, {"video": {"psnr": 21.82075079196465, "ssim": 0.730414949849366, "lpips": 0.1593041718006134}, "wrist_left": {"psnr": 10.58889380992406, "ssim": 0.2513580333559854, "lpips": 0.5438941717147827}, "wrist_right": {"psnr": 14.552113709473897, "ssim": 0.49078821666591704, "lpips": 0.35881054401397705}, "tactile_left": {"psnr": 28.717484369510373, "ssim": 0.8941300668132299, "lpips": 0.3607844412326813}, "tactile_right": {"psnr": 43.68478416442891, "ssim": 0.9812231466264187, "lpips": 0.06463468074798584}}, {"video": {"psnr": 21.397433972246706, "ssim": 0.7229405921701918, "lpips": 0.18732115626335144}, "wrist_left": {"psnr": 11.003248919140347, "ssim": 0.24767650016964932, "lpips": 0.5463567972183228}, "wrist_right": {"psnr": 13.595943774413113, "ssim": 0.4183610511260458, "lpips": 0.3879186511039734}, "tactile_left": {"psnr": 29.6242234744906, "ssim": 0.9042020134070343, "lpips": 0.3669058680534363}, "tactile_right": {"psnr": 42.260926594445394, "ssim": 0.9770682171342575, "lpips": 0.08913026750087738}}, {"video": {"psnr": 21.01760503451954, "ssim": 0.7203396526807175, "lpips": 0.19452571868896484}, "wrist_left": {"psnr": 9.442628942485605, "ssim": 0.19680282824301282, "lpips": 0.6954058408737183}, "wrist_right": {"psnr": 12.299290624405428, "ssim": 0.35994511041119637, "lpips": 0.41394948959350586}, "tactile_left": {"psnr": 30.255858221452755, "ssim": 0.9072756903855184, "lpips": 0.36901068687438965}, "tactile_right": {"psnr": 41.438822138312226, "ssim": 0.9723050096239053, "lpips": 0.11404024064540863}}, {"video": {"psnr": 20.78466465444102, "ssim": 0.7181172507262639, "lpips": 0.1903860718011856}, "wrist_left": {"psnr": 10.141566043995937, "ssim": 0.21201452792124156, "lpips": 0.6704509258270264}, "wrist_right": {"psnr": 12.368041092070108, "ssim": 0.3516550017389125, "lpips": 0.4242134690284729}, "tactile_left": {"psnr": 31.271563834376384, "ssim": 0.9236496815490032, "lpips": 0.3200375437736511}, "tactile_right": {"psnr": 40.78380947772982, "ssim": 0.9676304584723099, "lpips": 0.13607710599899292}}, {"video": {"psnr": 20.81538132340683, "ssim": 0.7061932159210158, "lpips": 0.19614537060260773}, "wrist_left": {"psnr": 11.522355263555975, "ssim": 0.30025395874983674, "lpips": 0.5643985867500305}, "wrist_right": {"psnr": 12.17345606468383, "ssim": 0.34686648519793345, "lpips": 0.4391940236091614}, "tactile_left": {"psnr": 35.35265641753667, "ssim": 0.9558376479731042, "lpips": 0.21968436241149902}, "tactile_right": {"psnr": 40.21275540211872, "ssim": 0.9643028724112196, "lpips": 0.15382206439971924}}, {"video": {"psnr": 20.70825979975631, "ssim": 0.6944013813229579, "lpips": 0.20040276646614075}, "wrist_left": {"psnr": 11.219433565247417, "ssim": 0.2654728569205093, "lpips": 0.6378305554389954}, "wrist_right": {"psnr": 11.79974790467451, "ssim": 0.34745045590403484, "lpips": 0.46224913001060486}, "tactile_left": {"psnr": 31.07628253547705, "ssim": 0.9233172873325924, "lpips": 0.3579869866371155}, "tactile_right": {"psnr": 39.79163756829018, "ssim": 0.962419810384352, "lpips": 0.16470301151275635}}, {"video": {"psnr": 20.22337242579081, "ssim": 0.6753247902644522, "lpips": 0.23182469606399536}, "wrist_left": {"psnr": 10.103161033613027, "ssim": 0.2744783361290117, "lpips": 0.6156070828437805}, "wrist_right": {"psnr": 11.41005470716198, "ssim": 0.33042978935336415, "lpips": 0.5130312442779541}, "tactile_left": {"psnr": 34.08947836221158, "ssim": 0.9581569431688433, "lpips": 0.2215849608182907}, "tactile_right": {"psnr": 39.71418864581111, "ssim": 0.9613552070769444, "lpips": 0.17528867721557617}}, {"video": {"psnr": 20.129870797739194, "ssim": 0.6642946648173789, "lpips": 0.2358466386795044}, "wrist_left": {"psnr": 10.68682791052546, "ssim": 0.20452242761069567, "lpips": 0.6594199538230896}, "wrist_right": {"psnr": 11.193879024505053, "ssim": 0.3125010284580234, "lpips": 0.5216646790504456}, "tactile_left": {"psnr": 30.106682732547352, "ssim": 0.9210288472457344, "lpips": 0.31453442573547363}, "tactile_right": {"psnr": 39.25109441438848, "ssim": 0.9585992357474682, "lpips": 0.18832525610923767}}, {"video": {"psnr": 19.95758636015607, "ssim": 0.6556745990538695, "lpips": 0.24276068806648254}, "wrist_left": {"psnr": 10.302921597619735, "ssim": 0.1956795005871229, "lpips": 0.6465398073196411}, "wrist_right": {"psnr": 10.895517652017334, "ssim": 0.3122205179183456, "lpips": 0.5337520241737366}, "tactile_left": {"psnr": 28.60207201274843, "ssim": 0.9092402146793858, "lpips": 0.34448397159576416}, "tactile_right": {"psnr": 38.882406757749976, "ssim": 0.9559337070194509, "lpips": 0.19916760921478271}}, {"video": {"psnr": 19.482343806017752, "ssim": 0.6443188560015316, "lpips": 0.2602355480194092}, "wrist_left": {"psnr": 10.043962885241207, "ssim": 0.21943709561902894, "lpips": 0.6726713180541992}, "wrist_right": {"psnr": 11.779004442724531, "ssim": 0.38767333038048923, "lpips": 0.4875676929950714}, "tactile_left": {"psnr": 30.409733265900343, "ssim": 0.9341969333634059, "lpips": 0.30688974261283875}, "tactile_right": {"psnr": 38.44543088950512, "ssim": 0.9532541663682217, "lpips": 0.21273843944072723}}, {"video": {"psnr": 19.342691520550538, "ssim": 0.6426372306057025, "lpips": 0.2596808671951294}, "wrist_left": {"psnr": 9.385518038318345, "ssim": 0.23111164747732096, "lpips": 0.6484692096710205}, "wrist_right": {"psnr": 10.437755485577524, "ssim": 0.3488531138443952, "lpips": 0.5256422758102417}, "tactile_left": {"psnr": 31.737713028760485, "ssim": 0.950802137143582, "lpips": 0.24209120869636536}, "tactile_right": {"psnr": 38.0659415030468, "ssim": 0.9511067517084633, "lpips": 0.2220917046070099}}, {"video": {"psnr": 18.973617128117798, "ssim": 0.6275026916211317, "lpips": 0.29135972261428833}, "wrist_left": {"psnr": 10.287395535095452, "ssim": 0.314512763935207, "lpips": 0.6405543088912964}, "wrist_right": {"psnr": 9.472981116473457, "ssim": 0.2740684215383906, "lpips": 0.6371319890022278}, "tactile_left": {"psnr": 31.752273751777864, "ssim": 0.9512876990317966, "lpips": 0.24653923511505127}, "tactile_right": {"psnr": 32.960726123576805, "ssim": 0.9317706370646992, "lpips": 0.28538161516189575}}], "long_metrics": {"video": {"psnr": 21.37538498863331, "ssim": 0.7111777846256387, "lpips": 0.19249789814154308}, "wrist_left": {"psnr": 10.937180342479353, "ssim": 0.2638712365800787, "lpips": 0.5895160297552745}, "wrist_right": {"psnr": 12.901405202658793, "ssim": 0.40981872900627747, "lpips": 0.4252829968929291}, "tactile_left": {"psnr": 31.122218218153233, "ssim": 0.9285454423775061, "lpips": 0.292074121038119}, "tactile_right": {"psnr": 40.88275323395021, "ssim": 0.9669824579413677, "lpips": 0.13853382058441638}}}, {"id": "motherboard_e004_10", "episode": "motherboard_0909_episode_002.pt", "requested_episode": "motherboard_0909_episode_002.pt", "category": "release", "t_start": 1051, "start_seconds": 70.06666666666666, "short_contact": [1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 0, 0], "future_transition_ticks": [11], "long_contact_fraction": 0.703125, "long_label": "release", "short_metrics": {"video": {"psnr": 21.74632274591324, "ssim": 0.7558426602863111, "lpips": 0.10530418157577515}, "wrist_left": {"psnr": 13.769554961646147, "ssim": 0.5492286496125065, "lpips": 0.37007439136505127}, "wrist_right": {"psnr": 13.29018656137685, "ssim": 0.3728889110708531, "lpips": 0.4234175980091095}, "tactile_left": {"psnr": 48.90688273985907, "ssim": 0.9938561770535423, "lpips": 0.005532305222004652}, "tactile_right": {"psnr": 35.67773141308659, "ssim": 0.9794353749842737, "lpips": 0.05886451154947281}}, "media": {"short": {"video": "media/motherboard_e004_10_short.mp4", "poster": "media/motherboard_e004_10_short.jpg"}, "long": {"video": "media/motherboard_e004_10_long.mp4", "poster": "media/motherboard_e004_10_long.jpg"}}, "force": {"source": "recorded_normal_force", "units": "N", "fps": 15, "left": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "right": [5.259615421295166, 5.145384788513184, 4.285294055938721, 4.229005336761475, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.636666774749756, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 2.9424359798431396, 2.9424359798431396, 5.439090728759766, 6.251071453094482, 6.251071453094482, 6.251071453094482, 5.439090728759766, 5.439090728759766, 5.439090728759766, 6.251071453094482, 6.251071453094482, 4.3677778244018555, 1.5254545211791992, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 4.285294055938721, 6.251071453094482, 6.251071453094482, 6.733333110809326, 6.251071453094482, 6.251071453094482, 6.251071453094482, 5.439090728759766, 5.881275653839111, 6.0783467292785645, 5.259615421295166, 5.259615421295166, 5.145384788513184, 5.145384788513184, 5.259615421295166, 4.285294055938721, 1.1662499904632568, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.5254545211791992, 6.251071453094482, 7.293181896209717, 7.3070878982543945, 7.312847137451172, 7.293181896209717, 7.293181896209717, 0.7404214143753052, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4500000476837158, 5.145384788513184, 7.293181896209717, 7.869999885559082, 7.869999885559082, 7.869999885559082, 7.869999885559082, 7.869999885559082, 7.869999885559082, 0.0, 0.0, 1.5254545211791992, 1.1733332872390747, 2.9424359798431396, 4.285294055938721, 7.293181896209717, 7.469607353210449, 7.569608211517334, 7.293181896209717, 7.293181896209717, 7.293181896209717, 6.733333110809326, 5.3493146896362305, 5.439090728759766, 5.439090728759766, 5.439090728759766, 6.251071453094482, 5.439090728759766, 5.145384788513184, 1.1662499904632568, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.5254545211791992, 1.5254545211791992, 1.9833333492279053, 2.9424359798431396, 4.3677778244018555, 5.145384788513184, 5.145384788513184, 4.4391984939575195, 6.251071453094482, 6.251071453094482, 6.733333110809326, 6.251071453094482, 2.9424359798431396]}, "long_curve": [{"video": {"psnr": 21.74632274591324, "ssim": 0.7558426602863111, "lpips": 0.10530418157577515}, "wrist_left": {"psnr": 13.769554961646147, "ssim": 0.5492286496125065, "lpips": 0.37007439136505127}, "wrist_right": {"psnr": 13.29018656137685, "ssim": 0.3728889110708531, "lpips": 0.4234175980091095}, "tactile_left": {"psnr": 48.90688273985907, "ssim": 0.9938561770535423, "lpips": 0.005532305222004652}, "tactile_right": {"psnr": 35.67773141308659, "ssim": 0.9794353749842737, "lpips": 0.05886451154947281}}, {"video": {"psnr": 20.400234692826757, "ssim": 0.7152430375191895, "lpips": 0.14378151297569275}, "wrist_left": {"psnr": 13.34799616603046, "ssim": 0.5477017592950472, "lpips": 0.37151241302490234}, "wrist_right": {"psnr": 11.410731020791571, "ssim": 0.2691830943883855, "lpips": 0.5880314111709595}, "tactile_left": {"psnr": 45.56547708366064, "ssim": 0.9900753580610446, "lpips": 0.022578636184334755}, "tactile_right": {"psnr": 30.711963839796816, "ssim": 0.9441501642988324, "lpips": 0.2282445728778839}}, {"video": {"psnr": 19.444458534575652, "ssim": 0.6878097359749904, "lpips": 0.1515258252620697}, "wrist_left": {"psnr": 16.787279878194873, "ssim": 0.7018988166508215, "lpips": 0.2773265242576599}, "wrist_right": {"psnr": 11.089761032369097, "ssim": 0.27608353368854743, "lpips": 0.5989061594009399}, "tactile_left": {"psnr": 43.70867149416747, "ssim": 0.9855791522424404, "lpips": 0.05029507726430893}, "tactile_right": {"psnr": 30.33030429671718, "ssim": 0.9363031427084239, "lpips": 0.24710538983345032}}, {"video": {"psnr": 18.85278574413882, "ssim": 0.6724950380737782, "lpips": 0.18992996215820312}, "wrist_left": {"psnr": 17.77803738095225, "ssim": 0.7105581011751146, "lpips": 0.28544044494628906}, "wrist_right": {"psnr": 11.49450672737122, "ssim": 0.26148974803338954, "lpips": 0.6317696571350098}, "tactile_left": {"psnr": 42.20289535548115, "ssim": 0.9800415533996998, "lpips": 0.08200998604297638}, "tactile_right": {"psnr": 33.82903146658941, "ssim": 0.9563829901418189, "lpips": 0.17872987687587738}}, {"video": {"psnr": 18.76048931255007, "ssim": 0.663795041659027, "lpips": 0.2007676362991333}, "wrist_left": {"psnr": 17.775665607016194, "ssim": 0.6916092532644738, "lpips": 0.29265066981315613}, "wrist_right": {"psnr": 10.631478947195836, "ssim": 0.19094531601666068, "lpips": 0.6673179268836975}, "tactile_left": {"psnr": 40.774477173293484, "ssim": 0.9750337295851959, "lpips": 0.11563581973314285}, "tactile_right": {"psnr": 27.917184914102535, "ssim": 0.9228560034741713, "lpips": 0.33522269129753113}}, {"video": {"psnr": 18.324701621907774, "ssim": 0.6558388677458032, "lpips": 0.2252342402935028}, "wrist_left": {"psnr": 18.115115366037788, "ssim": 0.6943111846394046, "lpips": 0.28541022539138794}, "wrist_right": {"psnr": 10.850799013545416, "ssim": 0.20189515175409478, "lpips": 0.6935186386108398}, "tactile_left": {"psnr": 40.16216626460494, "ssim": 0.9710547886654808, "lpips": 0.14813947677612305}, "tactile_right": {"psnr": 29.879808013435756, "ssim": 0.9448135998227283, "lpips": 0.24707020819187164}}, {"video": {"psnr": 18.142644174761887, "ssim": 0.6490589267898663, "lpips": 0.234010249376297}, "wrist_left": {"psnr": 18.27784752261841, "ssim": 0.6849227332091118, "lpips": 0.29918766021728516}, "wrist_right": {"psnr": 9.874965737964398, "ssim": 0.1971319753813851, "lpips": 0.6127903461456299}, "tactile_left": {"psnr": 39.12016996330046, "ssim": 0.9675319843269872, "lpips": 0.17305561900138855}, "tactile_right": {"psnr": 37.88628311844602, "ssim": 0.9661849393802231, "lpips": 0.1303362399339676}}, {"video": {"psnr": 18.398475693459726, "ssim": 0.6479747941707813, "lpips": 0.22489428520202637}, "wrist_left": {"psnr": 18.235139890936377, "ssim": 0.6722786357634022, "lpips": 0.3074549436569214}, "wrist_right": {"psnr": 11.59019580150974, "ssim": 0.1871639653339445, "lpips": 0.6239373087882996}, "tactile_left": {"psnr": 38.54742039655524, "ssim": 0.9641285535501616, "lpips": 0.19503065943717957}, "tactile_right": {"psnr": 28.90575327216156, "ssim": 0.9325063007040156, "lpips": 0.24466317892074585}}, {"video": {"psnr": 18.270932795447138, "ssim": 0.6564517226062876, "lpips": 0.2582322955131531}, "wrist_left": {"psnr": 17.24511211225807, "ssim": 0.6769969249909661, "lpips": 0.30673927068710327}, "wrist_right": {"psnr": 11.130947245859474, "ssim": 0.22861038000216727, "lpips": 0.6092900037765503}, "tactile_left": {"psnr": 37.75786079762551, "ssim": 0.9611353564255873, "lpips": 0.22200584411621094}, "tactile_right": {"psnr": 33.73998855521775, "ssim": 0.9560603434405295, "lpips": 0.1925567090511322}}, {"video": {"psnr": 17.24682870086112, "ssim": 0.6327110177806728, "lpips": 0.31054094433784485}, "wrist_left": {"psnr": 15.830559817384813, "ssim": 0.6392021378582379, "lpips": 0.3512265682220459}, "wrist_right": {"psnr": 11.395400589738934, "ssim": 0.1858254851309692, "lpips": 0.630862832069397}, "tactile_left": {"psnr": 37.15880654191553, "ssim": 0.9576299830097045, "lpips": 0.23884156346321106}, "tactile_right": {"psnr": 27.45501098481286, "ssim": 0.9216310239455505, "lpips": 0.32892075181007385}}, {"video": {"psnr": 16.98725674610693, "ssim": 0.6213285448289184, "lpips": 0.3388161063194275}, "wrist_left": {"psnr": 15.178090271144239, "ssim": 0.6141184595043157, "lpips": 0.3862224817276001}, "wrist_right": {"psnr": 12.479402668396604, "ssim": 0.21352976806585944, "lpips": 0.6514413356781006}, "tactile_left": {"psnr": 36.344249144430016, "ssim": 0.9538462625820181, "lpips": 0.2563978135585785}, "tactile_right": {"psnr": 29.915778364686876, "ssim": 0.942809430279669, "lpips": 0.2355831116437912}}, {"video": {"psnr": 17.34080934268608, "ssim": 0.6278572172650847, "lpips": 0.3120032548904419}, "wrist_left": {"psnr": 15.159450134492921, "ssim": 0.5908038192751808, "lpips": 0.3997073173522949}, "wrist_right": {"psnr": 10.911551847879611, "ssim": 0.20206370358004572, "lpips": 0.696296215057373}, "tactile_left": {"psnr": 35.68416191149059, "ssim": 0.9504578407027615, "lpips": 0.27101343870162964}, "tactile_right": {"psnr": 28.045593417361644, "ssim": 0.9303955387098628, "lpips": 0.27639567852020264}}, {"video": {"psnr": 17.177516668245122, "ssim": 0.6257496020942875, "lpips": 0.32938751578330994}, "wrist_left": {"psnr": 15.249834400954859, "ssim": 0.5702959931412668, "lpips": 0.39248618483543396}, "wrist_right": {"psnr": 10.168533441002594, "ssim": 0.2448595185803694, "lpips": 0.6545279622077942}, "tactile_left": {"psnr": 35.183697180159335, "ssim": 0.9476165186412548, "lpips": 0.2831450402736664}, "tactile_right": {"psnr": 32.15808868322557, "ssim": 0.9481423434014138, "lpips": 0.20462188124656677}}, {"video": {"psnr": 16.996192224580533, "ssim": 0.6210424920611826, "lpips": 0.34126245975494385}, "wrist_left": {"psnr": 16.508967834891244, "ssim": 0.5814961128426113, "lpips": 0.3995811939239502}, "wrist_right": {"psnr": 10.677019392061652, "ssim": 0.19779629321767905, "lpips": 0.6325255036354065}, "tactile_left": {"psnr": 34.6283475363349, "ssim": 0.9442476007656609, "lpips": 0.30051305890083313}, "tactile_right": {"psnr": 33.04734005161467, "ssim": 0.9472547609130856, "lpips": 0.2133866846561432}}, {"video": {"psnr": 16.92168584279433, "ssim": 0.62716124451402, "lpips": 0.3576785922050476}, "wrist_left": {"psnr": 13.621708665145025, "ssim": 0.5146375095277875, "lpips": 0.455337256193161}, "wrist_right": {"psnr": 11.232316306311905, "ssim": 0.21014510022533, "lpips": 0.6662678718566895}, "tactile_left": {"psnr": 34.33815147692827, "ssim": 0.9421223117384037, "lpips": 0.30785083770751953}, "tactile_right": {"psnr": 28.36217377938776, "ssim": 0.9171829547652364, "lpips": 0.33399319648742676}}], "long_metrics": {"video": {"psnr": 18.334088989390345, "ssim": 0.6573573295580134, "lpips": 0.24822460412979125}, "wrist_left": {"psnr": 16.192024000646914, "ssim": 0.6293373393833498, "lpips": 0.34535716970761615}, "wrist_right": {"psnr": 11.215186422224994, "ssim": 0.22930746296464538, "lpips": 0.6253933846950531}, "tactile_left": {"psnr": 39.33889567065377, "ssim": 0.9656238113833295, "lpips": 0.1781363450922072}, "tactile_right": {"psnr": 31.19080227804287, "ssim": 0.943073927397989, "lpips": 0.23037964552640916}}}, {"id": "motherboard_e004_11", "episode": "motherboard_0909_episode_002.pt", "requested_episode": "motherboard_0909_episode_002.pt", "category": "full", "t_start": 1788, "start_seconds": 119.2, "short_contact": [1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1], "future_transition_ticks": [], "long_contact_fraction": 0.9609375, "long_label": "full", "short_metrics": {"video": {"psnr": 26.963317951358327, "ssim": 0.8802102865922363, "lpips": 0.052219096571207047}, "wrist_left": {"psnr": 10.647562147741311, "ssim": 0.3373199167604203, "lpips": 0.42047184705734253}, "wrist_right": {"psnr": 22.737263873628166, "ssim": 0.8630870001279514, "lpips": 0.04088018834590912}, "tactile_left": {"psnr": 48.06900312191031, "ssim": 0.9939307891563077, "lpips": 0.004357506521046162}, "tactile_right": {"psnr": 45.36324125883329, "ssim": 0.9874021821363405, "lpips": 0.009192541241645813}}, "media": {"short": {"video": "media/motherboard_e004_11_short.mp4", "poster": "media/motherboard_e004_11_short.jpg"}, "long": {"video": "media/motherboard_e004_11_long.mp4", "poster": "media/motherboard_e004_11_long.jpg"}}, "force": {"source": "recorded_normal_force", "units": "N", "fps": 15, "left": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 2.9424359798431396, 5.439090728759766, 6.733333110809326, 7.293181896209717, 7.293181896209717, 7.299813270568848, 7.3037261962890625, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 6.733333110809326, 6.733333110809326, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 6.733333110809326, 5.439090728759766, 4.285294055938721, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 4.285294055938721, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.8207693099975586, 2.861105442047119, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "right": [1.1733332872390747, 1.5254545211791992, 1.5254545211791992, 1.5254545211791992, 1.5254545211791992, 1.5254545211791992, 1.5254545211791992, 1.5254545211791992, 1.5254545211791992, 1.5254545211791992, 1.5254545211791992, 1.5254545211791992, 1.5254545211791992, 1.9331133365631104, 1.9833333492279053, 2.636666774749756, 2.8207693099975586, 2.8207693099975586, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 4.285294055938721, 4.285294055938721, 4.285294055938721, 4.285294055938721, 4.285294055938721, 4.285294055938721, 4.285294055938721, 4.285294055938721, 5.145384788513184, 5.259615421295166, 5.145384788513184, 5.145384788513184, 5.145384788513184, 4.3677778244018555, 5.971224308013916, 5.484982967376709, 5.702359199523926, 5.145384788513184, 5.145384788513184, 5.145384788513184, 6.251071453094482, 6.251071453094482, 6.251071453094482, 6.251071453094482, 6.251071453094482, 6.251071453094482, 6.251071453094482, 6.251071453094482, 6.251071453094482, 6.251071453094482, 5.439090728759766, 4.3677778244018555, 4.285294055938721, 2.9424359798431396, 2.8207693099975586, 1.1733332872390747, 1.1662499904632568, 1.1662499904632568, 1.1662499904632568, 1.1662499904632568, 1.1662499904632568, 1.1662499904632568, 1.1662499904632568, 1.2584279775619507, 1.5254545211791992, 1.9178065061569214, 1.9830996990203857, 1.8448008298873901, 1.5254545211791992, 1.445785403251648, 1.1733332872390747, 1.1662499904632568, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 2.8207693099975586, 4.285294055938721, 5.259615421295166, 6.251071453094482, 7.293181896209717, 7.293181896209717, 7.30930757522583, 7.30930757522583, 7.869999885559082, 7.869999885559082, 7.869999885559082, 7.823916435241699, 7.602156639099121, 7.494094371795654, 7.307358264923096, 7.307871341705322, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 6.251071453094482, 5.439090728759766, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.8207693099975586, 2.636666774749756, 1.9833333492279053, 2.9424359798431396, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 6.733333110809326, 6.251071453094482, 2.9424359798431396, 1.5254545211791992, 1.1662499904632568, 1.1662499904632568]}, "long_curve": [{"video": {"psnr": 26.963317951358327, "ssim": 0.8802102865922363, "lpips": 0.052219096571207047}, "wrist_left": {"psnr": 10.647562147741311, "ssim": 0.3373199167604203, "lpips": 0.42047184705734253}, "wrist_right": {"psnr": 22.737263873628166, "ssim": 0.8630870001279514, "lpips": 0.04088018834590912}, "tactile_left": {"psnr": 48.06900312191031, "ssim": 0.9939307891563077, "lpips": 0.004357506521046162}, "tactile_right": {"psnr": 45.36324125883329, "ssim": 0.9874021821363405, "lpips": 0.009192541241645813}}, {"video": {"psnr": 25.74383148262202, "ssim": 0.8379979416887073, "lpips": 0.07697920501232147}, "wrist_left": {"psnr": 9.914179097888656, "ssim": 0.2049361545634138, "lpips": 0.5863250494003296}, "wrist_right": {"psnr": 17.71421384037279, "ssim": 0.6169439756291893, "lpips": 0.12109676003456116}, "tactile_left": {"psnr": 30.476047387014592, "ssim": 0.9282439509430606, "lpips": 0.2558842897415161}, "tactile_right": {"psnr": 34.413067767757546, "ssim": 0.9556480759488328, "lpips": 0.08310965448617935}}, {"video": {"psnr": 23.868323497936423, "ssim": 0.7662106584329768, "lpips": 0.10383464395999908}, "wrist_left": {"psnr": 9.475216651476332, "ssim": 0.18881382352862888, "lpips": 0.6167386174201965}, "wrist_right": {"psnr": 13.766953272823164, "ssim": 0.43328106438200625, "lpips": 0.3195423483848572}, "tactile_left": {"psnr": 29.274033864349395, "ssim": 0.8978882908121523, "lpips": 0.33542096614837646}, "tactile_right": {"psnr": 30.31055730121801, "ssim": 0.9223366111596865, "lpips": 0.20179849863052368}}, {"video": {"psnr": 22.35455464547481, "ssim": 0.7150091027660307, "lpips": 0.1283300518989563}, "wrist_left": {"psnr": 9.073295276024394, "ssim": 0.16934759085415907, "lpips": 0.6222215890884399}, "wrist_right": {"psnr": 11.95860512197174, "ssim": 0.34426726456444534, "lpips": 0.46513205766677856}, "tactile_left": {"psnr": 29.978946289878063, "ssim": 0.9060060952429322, "lpips": 0.3134164810180664}, "tactile_right": {"psnr": 31.16826351938157, "ssim": 0.9315588860852758, "lpips": 0.1843852996826172}}, {"video": {"psnr": 21.693123803825316, "ssim": 0.6908681785645203, "lpips": 0.1473187804222107}, "wrist_left": {"psnr": 9.157508660143321, "ssim": 0.1671839070098814, "lpips": 0.6240154504776001}, "wrist_right": {"psnr": 12.277598991378731, "ssim": 0.3418814663544744, "lpips": 0.45498842000961304}, "tactile_left": {"psnr": 29.03585730512625, "ssim": 0.897870800576657, "lpips": 0.3181481659412384}, "tactile_right": {"psnr": 31.148525467259542, "ssim": 0.9272685379524905, "lpips": 0.1931580901145935}}, {"video": {"psnr": 21.498261115472385, "ssim": 0.6842991827849528, "lpips": 0.15615341067314148}, "wrist_left": {"psnr": 9.620574308765253, "ssim": 0.1734053693846661, "lpips": 0.6073477268218994}, "wrist_right": {"psnr": 12.17188062526047, "ssim": 0.3426832325756979, "lpips": 0.44566214084625244}, "tactile_left": {"psnr": 30.467689730704404, "ssim": 0.9131482250574673, "lpips": 0.30634796619415283}, "tactile_right": {"psnr": 32.19995474763448, "ssim": 0.9381523520665742, "lpips": 0.17576545476913452}}, {"video": {"psnr": 21.42795708009239, "ssim": 0.6853599807485669, "lpips": 0.16556167602539062}, "wrist_left": {"psnr": 9.644839758625732, "ssim": 0.17657121844356, "lpips": 0.5992441773414612}, "wrist_right": {"psnr": 11.728278706905053, "ssim": 0.32844159392718686, "lpips": 0.4699193835258484}, "tactile_left": {"psnr": 33.18035254443068, "ssim": 0.9339871706192033, "lpips": 0.28102797269821167}, "tactile_right": {"psnr": 33.98316264403292, "ssim": 0.9509088907479566, "lpips": 0.1582932472229004}}, {"video": {"psnr": 21.06432143886416, "ssim": 0.6714150672441812, "lpips": 0.1789417266845703}, "wrist_left": {"psnr": 9.85289948507101, "ssim": 0.18940044842422177, "lpips": 0.5908776521682739}, "wrist_right": {"psnr": 12.559912757849768, "ssim": 0.3352358942699546, "lpips": 0.4567829370498657}, "tactile_left": {"psnr": 32.779390433171315, "ssim": 0.9278032229824468, "lpips": 0.29529300332069397}, "tactile_right": {"psnr": 35.47318428328442, "ssim": 0.9572004826065514, "lpips": 0.17717990279197693}}, {"video": {"psnr": 21.03236942294774, "ssim": 0.6566385796857932, "lpips": 0.1913042664527893}, "wrist_left": {"psnr": 9.97614250859623, "ssim": 0.19172948782632315, "lpips": 0.5957838296890259}, "wrist_right": {"psnr": 10.997697164645832, "ssim": 0.29700528369033796, "lpips": 0.5519368052482605}, "tactile_left": {"psnr": 32.89130455060953, "ssim": 0.930330266740922, "lpips": 0.30870404839515686}, "tactile_right": {"psnr": 36.21031195140739, "ssim": 0.9600791985511237, "lpips": 0.1516396403312683}}, {"video": {"psnr": 20.955375082665903, "ssim": 0.6546928579996276, "lpips": 0.19632479548454285}, "wrist_left": {"psnr": 9.885364524776382, "ssim": 0.23109861331106382, "lpips": 0.5769681334495544}, "wrist_right": {"psnr": 11.220461821415919, "ssim": 0.23133934840056164, "lpips": 0.5827341079711914}, "tactile_left": {"psnr": 35.29862001054673, "ssim": 0.9481256212191045, "lpips": 0.2522739768028259}, "tactile_right": {"psnr": 35.716817508943, "ssim": 0.9582031563532161, "lpips": 0.15945282578468323}}, {"video": {"psnr": 20.182134462246303, "ssim": 0.6389138136504149, "lpips": 0.224442720413208}, "wrist_left": {"psnr": 9.837145910658604, "ssim": 0.2810235795366954, "lpips": 0.5987902879714966}, "wrist_right": {"psnr": 11.462255752555121, "ssim": 0.2082841683004134, "lpips": 0.6112207174301147}, "tactile_left": {"psnr": 36.40375239796365, "ssim": 0.9519150147279655, "lpips": 0.23573264479637146}, "tactile_right": {"psnr": 28.524977543207513, "ssim": 0.9288726938369247, "lpips": 0.3165470063686371}}, {"video": {"psnr": 19.891159015696505, "ssim": 0.6345759422144714, "lpips": 0.23956702649593353}, "wrist_left": {"psnr": 10.483062576874946, "ssim": 0.21821409674250578, "lpips": 0.6231670379638672}, "wrist_right": {"psnr": 11.252685213764789, "ssim": 0.2088075700886341, "lpips": 0.6121352910995483}, "tactile_left": {"psnr": 36.101999607991296, "ssim": 0.9501384261194149, "lpips": 0.24728497862815857}, "tactile_right": {"psnr": 27.008293624154042, "ssim": 0.9169162108177185, "lpips": 0.3521520495414734}}, {"video": {"psnr": 19.96830889154601, "ssim": 0.635552044546039, "lpips": 0.23301605880260468}, "wrist_left": {"psnr": 9.859928783333338, "ssim": 0.18081893695396384, "lpips": 0.6159718632698059}, "wrist_right": {"psnr": 11.1181840488209, "ssim": 0.22138305354668303, "lpips": 0.6075655221939087}, "tactile_left": {"psnr": 35.831685754414146, "ssim": 0.9481302457833012, "lpips": 0.26071056723594666}, "tactile_right": {"psnr": 28.98053514848657, "ssim": 0.9312079456947248, "lpips": 0.31938600540161133}}, {"video": {"psnr": 19.910662560759867, "ssim": 0.6341723053811734, "lpips": 0.23595711588859558}, "wrist_left": {"psnr": 9.757506507954616, "ssim": 0.19195609748932374, "lpips": 0.6317999362945557}, "wrist_right": {"psnr": 10.872926514694727, "ssim": 0.21753077579055424, "lpips": 0.6281055212020874}, "tactile_left": {"psnr": 35.51701674549086, "ssim": 0.9455319576406079, "lpips": 0.27251169085502625}, "tactile_right": {"psnr": 29.96611667461473, "ssim": 0.9365702805676133, "lpips": 0.3020801246166229}}, {"video": {"psnr": 19.78594726438313, "ssim": 0.6301265145359507, "lpips": 0.23947691917419434}, "wrist_left": {"psnr": 10.029724936455235, "ssim": 0.19914463965648507, "lpips": 0.6222067475318909}, "wrist_right": {"psnr": 10.782065316185301, "ssim": 0.20958944232939497, "lpips": 0.6366463899612427}, "tactile_left": {"psnr": 35.13971827893765, "ssim": 0.9438622449975107, "lpips": 0.2796977162361145}, "tactile_right": {"psnr": 31.004900412969036, "ssim": 0.939159342598948, "lpips": 0.2735756039619446}}], "long_metrics": {"video": {"psnr": 21.75597651439275, "ssim": 0.6944028304557095, "lpips": 0.1712951662639777}, "wrist_left": {"psnr": 9.81433007562569, "ssim": 0.20673092536568746, "lpips": 0.5954619963963826}, "wrist_right": {"psnr": 12.841398868151497, "ssim": 0.34665074226516573, "lpips": 0.46695657273133595}, "tactile_left": {"psnr": 34.029694534835926, "ssim": 0.934460821507937, "lpips": 0.26445413163552683}, "tactile_right": {"psnr": 32.76479399021227, "ssim": 0.9427656564749317, "lpips": 0.20384772966305414}}}, {"id": "motherboard_e004_12", "episode": "motherboard_0911_episode_008_seg00.pt", "requested_episode": "motherboard_0911_episode_008_seg00.pt", "category": "none", "t_start": 913, "start_seconds": 60.86666666666667, "short_contact": [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0], "future_transition_ticks": [], "long_contact_fraction": 0.2734375, "long_label": "none_at_start", "short_metrics": {"video": {"psnr": 26.778701164218077, "ssim": 0.8957178003630535, "lpips": 0.04398196190595627}, "wrist_left": {"psnr": 19.582807047806245, "ssim": 0.7224792569325251, "lpips": 0.14157283306121826}, "wrist_right": {"psnr": 15.958524364917565, "ssim": 0.4066123682326204, "lpips": 0.3257012963294983}, "tactile_left": {"psnr": 50.606958938446226, "ssim": 0.9949592422045572, "lpips": 0.0032783453352749348}, "tactile_right": {"psnr": 51.465355406661885, "ssim": 0.9948796174208738, "lpips": 0.007050091400742531}}, "media": {"short": {"video": "media/motherboard_e004_12_short.mp4", "poster": "media/motherboard_e004_12_short.jpg"}, "long": {"video": "media/motherboard_e004_12_long.mp4", "poster": "media/motherboard_e004_12_long.jpg"}}, "force": {"source": "recorded_normal_force", "units": "N", "fps": 15, "left": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "right": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.6395905017852783, 0.529942512512207, 0.529942512512207, 0.2907944917678833, 0.5600000023841858, 0.1599999964237213, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0812060683965683, 0.0024630518164485693, 0.0, 1.3589457273483276, 0.0, 0.0, 0.0, 0.5390956997871399, 0.3198980987071991, 0.5392528176307678, 0.0, 0.0, 0.0, 0.0, 1.187829852104187, 0.0, 1.294777274131775, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.8550904393196106, 0.0, 0.7983333468437195, 0.7983333468437195, 2.243333339691162, 1.284462809562683, 0.0, 2.3248276710510254, 0.27564528584480286, 0.4399999976158142, 0.49203309416770935, 0.7983333468437195, 1.9444444179534912, 0.5351153016090393, 0.4000000059604645, 0.4866666793823242, 0.4399999976158142, 0.1599999964237213, 0.0, 0.0, 0.0, 0.0, 0.0, 2.3248276710510254, 1.277543306350708, 0.0, 0.0, 3.0568182468414307, 2.0719287395477295, 0.0, 0.0, 2.563887119293213, 0.0, 0.0, 0.0, 0.7983333468437195, 1.9444444179534912, 0.7983333468437195, 0.1599999964237213, 0.5624003410339355, 0.7983333468437195, 0.0, 0.0, 0.0, 0.0, 0.0, 0.1599999964237213, 0.1599999964237213, 0.1599999964237213, 1.9444444179534912, 0.5600000023841858, 1.9444444179534912, 0.4000000059604645, 0.1599999964237213, 3.0568182468414307, 0.0, 2.898989200592041, 0.7983333468437195, 0.3728911876678467, 0.27666667103767395, 0.2400962859392166, 0.16988153755664825, 0.1599999964237213, 0.1599999964237213, 0.0, 0.0, 0.0, 0.0, 0.11106123775243759, 0.49718019366264343, 0.7983333468437195]}, "long_curve": [{"video": {"psnr": 26.778701164218077, "ssim": 0.8957178003630535, "lpips": 0.04398196190595627}, "wrist_left": {"psnr": 19.582807047806245, "ssim": 0.7224792569325251, "lpips": 0.14157283306121826}, "wrist_right": {"psnr": 15.958524364917565, "ssim": 0.4066123682326204, "lpips": 0.3257012963294983}, "tactile_left": {"psnr": 50.606958938446226, "ssim": 0.9949592422045572, "lpips": 0.0032783453352749348}, "tactile_right": {"psnr": 51.465355406661885, "ssim": 0.9948796174208738, "lpips": 0.007050091400742531}}, {"video": {"psnr": 24.33928628886919, "ssim": 0.844736883451331, "lpips": 0.061540428549051285}, "wrist_left": {"psnr": 17.642278684798594, "ssim": 0.6824338163515473, "lpips": 0.1779685765504837}, "wrist_right": {"psnr": 15.243202338859609, "ssim": 0.355919329426135, "lpips": 0.4190627336502075}, "tactile_left": {"psnr": 48.399293493070125, "ssim": 0.9920520681980237, "lpips": 0.009735211730003357}, "tactile_right": {"psnr": 42.455255904091814, "ssim": 0.9851555119350599, "lpips": 0.03457857668399811}}, {"video": {"psnr": 23.51917542888767, "ssim": 0.8218036890318672, "lpips": 0.074544258415699}, "wrist_left": {"psnr": 17.033571750585914, "ssim": 0.663047074528177, "lpips": 0.19392070174217224}, "wrist_right": {"psnr": 14.868155700632379, "ssim": 0.3527697607667448, "lpips": 0.4354396164417267}, "tactile_left": {"psnr": 46.3406568044367, "ssim": 0.9888245155038258, "lpips": 0.024089837446808815}, "tactile_right": {"psnr": 38.220718860623386, "ssim": 0.979862761991785, "lpips": 0.043249160051345825}}, {"video": {"psnr": 23.38889349258948, "ssim": 0.8191990737698644, "lpips": 0.07770265638828278}, "wrist_left": {"psnr": 16.656743541795215, "ssim": 0.6594177852717269, "lpips": 0.21071898937225342}, "wrist_right": {"psnr": 15.113086244774161, "ssim": 0.3403411948546151, "lpips": 0.443719744682312}, "tactile_left": {"psnr": 44.38001345623724, "ssim": 0.9854393386711863, "lpips": 0.04095672816038132}, "tactile_right": {"psnr": 38.13781739466828, "ssim": 0.9808268162542079, "lpips": 0.03905300423502922}}, {"video": {"psnr": 23.81291524290257, "ssim": 0.8288878920702827, "lpips": 0.0777720957994461}, "wrist_left": {"psnr": 16.293086062761105, "ssim": 0.6544879263555234, "lpips": 0.22849304974079132}, "wrist_right": {"psnr": 15.053307566005788, "ssim": 0.3320381991860718, "lpips": 0.45422741770744324}, "tactile_left": {"psnr": 43.10172344712798, "ssim": 0.9823507021836129, "lpips": 0.0633222758769989}, "tactile_right": {"psnr": 37.50167501787156, "ssim": 0.9788078993671431, "lpips": 0.05760636925697327}}, {"video": {"psnr": 23.089854878572286, "ssim": 0.8017996132991236, "lpips": 0.08631966263055801}, "wrist_left": {"psnr": 15.719692919388109, "ssim": 0.6339573375579352, "lpips": 0.26232802867889404}, "wrist_right": {"psnr": 15.079246673950855, "ssim": 0.3656546749431825, "lpips": 0.4452754557132721}, "tactile_left": {"psnr": 41.46954474387786, "ssim": 0.9787801937743091, "lpips": 0.0896003246307373}, "tactile_right": {"psnr": 37.0535268285929, "ssim": 0.9779738215178344, "lpips": 0.06510961055755615}}, {"video": {"psnr": 21.99484559035568, "ssim": 0.7659677740035974, "lpips": 0.10383354127407074}, "wrist_left": {"psnr": 14.563816755223991, "ssim": 0.6056236306571194, "lpips": 0.29521965980529785}, "wrist_right": {"psnr": 14.61188066020545, "ssim": 0.32710692198760705, "lpips": 0.4532504975795746}, "tactile_left": {"psnr": 40.30385890081702, "ssim": 0.9753516119639491, "lpips": 0.1132088452577591}, "tactile_right": {"psnr": 36.89700101807043, "ssim": 0.9768865138592346, "lpips": 0.07543718814849854}}, {"video": {"psnr": 22.232732195251064, "ssim": 0.7653653296685914, "lpips": 0.10818381607532501}, "wrist_left": {"psnr": 14.395479156125859, "ssim": 0.6098350542109993, "lpips": 0.2831689119338989}, "wrist_right": {"psnr": 12.932373339915546, "ssim": 0.34584328243762386, "lpips": 0.4790226221084595}, "tactile_left": {"psnr": 39.09890845104662, "ssim": 0.971591129502807, "lpips": 0.14040079712867737}, "tactile_right": {"psnr": 36.35298932599433, "ssim": 0.9729039371117989, "lpips": 0.11568357050418854}}, {"video": {"psnr": 21.919524762471315, "ssim": 0.7428238436829253, "lpips": 0.12570028007030487}, "wrist_left": {"psnr": 14.964678417221208, "ssim": 0.6254948885850459, "lpips": 0.26808321475982666}, "wrist_right": {"psnr": 11.751294033596274, "ssim": 0.32237017114464017, "lpips": 0.5002699494361877}, "tactile_left": {"psnr": 38.1939831286165, "ssim": 0.9687100355874015, "lpips": 0.16114509105682373}, "tactile_right": {"psnr": 35.915336667698256, "ssim": 0.9729533140920601, "lpips": 0.1073078066110611}}, {"video": {"psnr": 21.567349557869953, "ssim": 0.7221134637182438, "lpips": 0.12928761541843414}, "wrist_left": {"psnr": 14.41299463875281, "ssim": 0.6080589763907357, "lpips": 0.27854135632514954}, "wrist_right": {"psnr": 8.38247034331977, "ssim": 0.26593773570500456, "lpips": 0.5836385488510132}, "tactile_left": {"psnr": 36.84721569829506, "ssim": 0.9643959389868281, "lpips": 0.1789138913154602}, "tactile_right": {"psnr": 34.763946745043114, "ssim": 0.9707230842038532, "lpips": 0.11052288115024567}}, {"video": {"psnr": 21.5506641969394, "ssim": 0.7141284477630061, "lpips": 0.1280665099620819}, "wrist_left": {"psnr": 14.120595081646382, "ssim": 0.5965253224011218, "lpips": 0.28224295377731323}, "wrist_right": {"psnr": 8.02236183777074, "ssim": 0.27149629002901854, "lpips": 0.619614839553833}, "tactile_left": {"psnr": 36.54287868428634, "ssim": 0.9610387122939961, "lpips": 0.19031798839569092}, "tactile_right": {"psnr": 34.346307124392574, "ssim": 0.9688307087878141, "lpips": 0.13093937933444977}}, {"video": {"psnr": 21.541623370902265, "ssim": 0.7149944599418097, "lpips": 0.1432565152645111}, "wrist_left": {"psnr": 13.839944844596312, "ssim": 0.5665560759683871, "lpips": 0.322213739156723}, "wrist_right": {"psnr": 7.9701759776314764, "ssim": 0.2944989715282761, "lpips": 0.6394041776657104}, "tactile_left": {"psnr": 36.07070677966688, "ssim": 0.9581145528194952, "lpips": 0.21086548268795013}, "tactile_right": {"psnr": 33.809378783540325, "ssim": 0.9660053260195249, "lpips": 0.15301021933555603}}, {"video": {"psnr": 21.341303181838768, "ssim": 0.7095338754227565, "lpips": 0.16357021033763885}, "wrist_left": {"psnr": 12.594068219496302, "ssim": 0.5042345145911624, "lpips": 0.41400599479675293}, "wrist_right": {"psnr": 7.665967550982544, "ssim": 0.2884305825571618, "lpips": 0.6448858976364136}, "tactile_left": {"psnr": 35.548555156830474, "ssim": 0.9550881825013227, "lpips": 0.22464600205421448}, "tactile_right": {"psnr": 33.487547612203585, "ssim": 0.9640484082346019, "lpips": 0.15998199582099915}}, {"video": {"psnr": 21.17930294967944, "ssim": 0.6943213655122479, "lpips": 0.17307063937187195}, "wrist_left": {"psnr": 12.247669790328093, "ssim": 0.47838073304555, "lpips": 0.44564783573150635}, "wrist_right": {"psnr": 8.045270390770673, "ssim": 0.2799274184899862, "lpips": 0.6279406547546387}, "tactile_left": {"psnr": 35.063368315771434, "ssim": 0.951440277367553, "lpips": 0.24076786637306213}, "tactile_right": {"psnr": 33.21576035948028, "ssim": 0.9615984059105056, "lpips": 0.18445956707000732}}, {"video": {"psnr": 20.995131083524882, "ssim": 0.6827111248382731, "lpips": 0.1881178468465805}, "wrist_left": {"psnr": 12.206007919836281, "ssim": 0.47560393276760404, "lpips": 0.46836093068122864}, "wrist_right": {"psnr": 8.605166931340323, "ssim": 0.37589438412787424, "lpips": 0.6267443299293518}, "tactile_left": {"psnr": 34.437108561923004, "ssim": 0.9485613603216454, "lpips": 0.2525351643562317}, "tactile_right": {"psnr": 32.58293346217117, "ssim": 0.9591100363677365, "lpips": 0.19561943411827087}}], "long_metrics": {"video": {"psnr": 22.61675355899147, "ssim": 0.7682736424357982, "lpips": 0.11232986922065417}, "wrist_left": {"psnr": 15.084895655357494, "ssim": 0.6057424217076774, "lpips": 0.28483245174090066}, "wrist_right": {"psnr": 11.953498930311545, "ssim": 0.32832275236110414, "lpips": 0.5132131854693095}, "tactile_left": {"psnr": 40.42698497069663, "ssim": 0.9717798574587009, "lpips": 0.12958559012040496}, "tactile_right": {"psnr": 37.08037003407359, "ssim": 0.9740377442049356, "lpips": 0.09864059028526147}}}, {"id": "motherboard_e004_13", "episode": "motherboard_0911_episode_008_seg00.pt", "requested_episode": "motherboard_0911_episode_008_seg00.pt", "category": "onset", "t_start": 726, "start_seconds": 48.4, "short_contact": [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 1], "future_transition_ticks": [11], "long_contact_fraction": 0.515625, "long_label": "onset", "short_metrics": {"video": {"psnr": 31.385768962719208, "ssim": 0.9383896251975419, "lpips": 0.019475165754556656}, "wrist_left": {"psnr": 15.123371449657355, "ssim": 0.2960986687882362, "lpips": 0.2558705806732178}, "wrist_right": {"psnr": 20.324943335848577, "ssim": 0.8390833745813651, "lpips": 0.04065830260515213}, "tactile_left": {"psnr": 33.48714950785239, "ssim": 0.9678135179296746, "lpips": 0.10417182743549347}, "tactile_right": {"psnr": 51.92136761395218, "ssim": 0.9956575991822787, "lpips": 0.0027582505717873573}}, "media": {"short": {"video": "media/motherboard_e004_13_short.mp4", "poster": "media/motherboard_e004_13_short.jpg"}, "long": {"video": "media/motherboard_e004_13_long.mp4", "poster": "media/motherboard_e004_13_long.jpg"}}, "force": {"source": "recorded_normal_force", "units": "N", "fps": 15, "left": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 2.243333339691162, 3.9167568683624268, 6.519285678863525, 6.519285678863525, 6.519285678863525, 6.519285678863525, 6.519285678863525, 6.519285678863525, 6.519285678863525, 6.373636245727539, 3.9167568683624268, 0.27666667103767395, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.347143292427063, 0.7983333468437195, 1.9444444179534912, 2.6312499046325684, 2.6312499046325684, 4.726428508758545, 3.0568182468414307, 2.3248276710510254, 3.0568182468414307, 3.0568182468414307, 3.9167568683624268, 4.726428508758545, 4.726428508758545, 3.9167568683624268, 1.9444444179534912, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.5218365788459778, 0.7983333468437195, 2.6312499046325684, 0.5259732007980347, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.7983333468437195, 3.0568182468414307, 6.373636245727539, 5.397500038146973, 5.486666679382324, 2.3248276710510254, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 5.403749942779541, 6.519285678863525, 6.760714054107666, 7.488461494445801, 7.488461494445801, 7.488461494445801, 7.488461494445801, 6.760714054107666, 6.519285678863525, 6.519285678863525, 5.486666679382324, 0.7983333468437195, 0.0, 0.0, 0.0, 0.0, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.9167568683624268, 3.1971428394317627, 3.9167568683624268, 4.726428508758545, 4.726428508758545, 4.726428508758545, 4.726428508758545, 3.9167568683624268, 3.9167568683624268, 3.9167568683624268, 3.9167568683624268, 3.1971428394317627, 2.3248276710510254, 0.019140325486660004, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.5600000023841858], "right": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]}, "long_curve": [{"video": {"psnr": 31.385768962719208, "ssim": 0.9383896251975419, "lpips": 0.019475165754556656}, "wrist_left": {"psnr": 15.123371449657355, "ssim": 0.2960986687882362, "lpips": 0.2558705806732178}, "wrist_right": {"psnr": 20.324943335848577, "ssim": 0.8390833745813651, "lpips": 0.04065830260515213}, "tactile_left": {"psnr": 33.48714950785239, "ssim": 0.9678135179296746, "lpips": 0.10417182743549347}, "tactile_right": {"psnr": 51.92136761395218, "ssim": 0.9956575991822787, "lpips": 0.0027582505717873573}}, {"video": {"psnr": 25.73739420018803, "ssim": 0.8534971333059733, "lpips": 0.051582470536231995}, "wrist_left": {"psnr": 14.80168198402389, "ssim": 0.29165392394971196, "lpips": 0.31799831986427307}, "wrist_right": {"psnr": 19.335749858017234, "ssim": 0.7487477846937969, "lpips": 0.08360119163990021}, "tactile_left": {"psnr": 30.477009831218748, "ssim": 0.9466215743202919, "lpips": 0.1805201768875122}, "tactile_right": {"psnr": 47.2115771596435, "ssim": 0.9897030153226832, "lpips": 0.012250401079654694}}, {"video": {"psnr": 23.527402119810045, "ssim": 0.7984427562136482, "lpips": 0.08449047058820724}, "wrist_left": {"psnr": 13.914568090076857, "ssim": 0.2763163379843823, "lpips": 0.3899882435798645}, "wrist_right": {"psnr": 18.728764435832513, "ssim": 0.7454126552512532, "lpips": 0.10439877957105637}, "tactile_left": {"psnr": 36.221504176570825, "ssim": 0.9584935828756806, "lpips": 0.1039273589849472}, "tactile_right": {"psnr": 44.54549113630879, "ssim": 0.9864326638486658, "lpips": 0.024726856499910355}}, {"video": {"psnr": 23.27955972048936, "ssim": 0.7873290463681946, "lpips": 0.08543267101049423}, "wrist_left": {"psnr": 13.003104607542104, "ssim": 0.24421566724501023, "lpips": 0.44110578298568726}, "wrist_right": {"psnr": 18.538557698849687, "ssim": 0.7223325642484539, "lpips": 0.11160199344158173}, "tactile_left": {"psnr": 31.963759632441263, "ssim": 0.9382919304005195, "lpips": 0.1963484287261963}, "tactile_right": {"psnr": 42.106174257125915, "ssim": 0.9841399003899067, "lpips": 0.03973718732595444}}, {"video": {"psnr": 22.83846013502903, "ssim": 0.7729142202049255, "lpips": 0.09254401922225952}, "wrist_left": {"psnr": 12.274625943667969, "ssim": 0.20627581942593531, "lpips": 0.5321429967880249}, "wrist_right": {"psnr": 18.293939437534465, "ssim": 0.7090956829312223, "lpips": 0.11729417741298676}, "tactile_left": {"psnr": 28.72337869661881, "ssim": 0.8933829677987848, "lpips": 0.3404957056045532}, "tactile_right": {"psnr": 41.27375651987312, "ssim": 0.981612861288867, "lpips": 0.060288190841674805}}, {"video": {"psnr": 22.26795468797562, "ssim": 0.7429364166515335, "lpips": 0.1074969619512558}, "wrist_left": {"psnr": 11.879125134816938, "ssim": 0.2267276565692865, "lpips": 0.5265470743179321}, "wrist_right": {"psnr": 17.9063959107877, "ssim": 0.6993084630599689, "lpips": 0.14596612751483917}, "tactile_left": {"psnr": 30.654004347789495, "ssim": 0.9339624031399627, "lpips": 0.2192188799381256}, "tactile_right": {"psnr": 39.59364281518595, "ssim": 0.9789459210615616, "lpips": 0.08342138677835464}}, {"video": {"psnr": 21.726346284931548, "ssim": 0.7195799271211292, "lpips": 0.12208915501832962}, "wrist_left": {"psnr": 11.457593454946593, "ssim": 0.2321298249097161, "lpips": 0.5539186000823975}, "wrist_right": {"psnr": 17.404526917072044, "ssim": 0.6896913463079617, "lpips": 0.17497099936008453}, "tactile_left": {"psnr": 33.50949145346696, "ssim": 0.9542862453983576, "lpips": 0.17566238343715668}, "tactile_right": {"psnr": 38.342547333095915, "ssim": 0.9758528585805339, "lpips": 0.10554347187280655}}, {"video": {"psnr": 21.437250455707954, "ssim": 0.71706562112574, "lpips": 0.14247584342956543}, "wrist_left": {"psnr": 10.527531868068849, "ssim": 0.20834495455227453, "lpips": 0.5563409328460693}, "wrist_right": {"psnr": 17.469159546361823, "ssim": 0.6915582536252898, "lpips": 0.18616510927677155}, "tactile_left": {"psnr": 34.299073138710895, "ssim": 0.9597577377448978, "lpips": 0.1481267511844635}, "tactile_right": {"psnr": 37.840283805983795, "ssim": 0.973128854084929, "lpips": 0.12669417262077332}}, {"video": {"psnr": 21.069896967843853, "ssim": 0.7120564509856413, "lpips": 0.1584639996290207}, "wrist_left": {"psnr": 10.657251577893527, "ssim": 0.2213895515636281, "lpips": 0.5390655994415283}, "wrist_right": {"psnr": 17.45225176672029, "ssim": 0.6903980931074897, "lpips": 0.1908320188522339}, "tactile_left": {"psnr": 33.60771219799914, "ssim": 0.9549059719523108, "lpips": 0.184864342212677}, "tactile_right": {"psnr": 37.501139242477464, "ssim": 0.9704292210931225, "lpips": 0.1421392560005188}}, {"video": {"psnr": 20.582549548878518, "ssim": 0.6948061444281249, "lpips": 0.1818690150976181}, "wrist_left": {"psnr": 10.700273289358837, "ssim": 0.2001824879829956, "lpips": 0.5670316219329834}, "wrist_right": {"psnr": 17.39701709225661, "ssim": 0.6850242791063081, "lpips": 0.20188871026039124}, "tactile_left": {"psnr": 27.91414887009185, "ssim": 0.9189779444948835, "lpips": 0.28638043999671936}, "tactile_right": {"psnr": 36.32971792784767, "ssim": 0.9676315195658085, "lpips": 0.15990754961967468}}, {"video": {"psnr": 20.57676171951552, "ssim": 0.679136947607734, "lpips": 0.2181665450334549}, "wrist_left": {"psnr": 10.533740957416796, "ssim": 0.2043246422399469, "lpips": 0.5693515539169312}, "wrist_right": {"psnr": 18.258026450151522, "ssim": 0.7025146863386825, "lpips": 0.22994959354400635}, "tactile_left": {"psnr": 28.47419403389171, "ssim": 0.9274274550053233, "lpips": 0.2683451771736145}, "tactile_right": {"psnr": 35.50080299329176, "ssim": 0.9646831556647356, "lpips": 0.1717471182346344}}, {"video": {"psnr": 20.228921658962783, "ssim": 0.6713831599586478, "lpips": 0.25840550661087036}, "wrist_left": {"psnr": 11.437347883775926, "ssim": 0.2193183579080139, "lpips": 0.5621424913406372}, "wrist_right": {"psnr": 17.955195897336175, "ssim": 0.6912700627532622, "lpips": 0.2518642246723175}, "tactile_left": {"psnr": 31.18170981975986, "ssim": 0.9490260988303738, "lpips": 0.22037264704704285}, "tactile_right": {"psnr": 34.7534770921725, "ssim": 0.961547753344111, "lpips": 0.18917478621006012}}, {"video": {"psnr": 20.145101558842757, "ssim": 0.6668054719344696, "lpips": 0.2568214535713196}, "wrist_left": {"psnr": 10.099658361062247, "ssim": 0.19156226036845048, "lpips": 0.6186734437942505}, "wrist_right": {"psnr": 18.005127966393786, "ssim": 0.6810963782074746, "lpips": 0.26409488916397095}, "tactile_left": {"psnr": 29.765099727551082, "ssim": 0.936614378413356, "lpips": 0.23411256074905396}, "tactile_right": {"psnr": 34.384389889982394, "ssim": 0.9587249370930595, "lpips": 0.20765528082847595}}, {"video": {"psnr": 19.823315497912446, "ssim": 0.6585551817910283, "lpips": 0.23889364302158356}, "wrist_left": {"psnr": 10.40699006802418, "ssim": 0.2506219811164478, "lpips": 0.5792917609214783}, "wrist_right": {"psnr": 17.94900010621429, "ssim": 0.6721836643564415, "lpips": 0.2759029269218445}, "tactile_left": {"psnr": 32.97170347336057, "ssim": 0.953546191200448, "lpips": 0.18571829795837402}, "tactile_right": {"psnr": 34.05274249617959, "ssim": 0.9560903228155035, "lpips": 0.2197272777557373}}, {"video": {"psnr": 19.724121756056526, "ssim": 0.6509711594013299, "lpips": 0.23917128145694733}, "wrist_left": {"psnr": 11.035029774349741, "ssim": 0.2081816131306783, "lpips": 0.5715639591217041}, "wrist_right": {"psnr": 17.928380975273733, "ssim": 0.6666347169977161, "lpips": 0.28350961208343506}, "tactile_left": {"psnr": 31.963032690213858, "ssim": 0.9489475832701151, "lpips": 0.20422214269638062}, "tactile_right": {"psnr": 33.68539654032779, "ssim": 0.9532811451726071, "lpips": 0.23128944635391235}}], "long_metrics": {"video": {"psnr": 22.29005368499088, "ssim": 0.7375912841530442, "lpips": 0.150491880128781}, "wrist_left": {"psnr": 11.856792962978789, "ssim": 0.23182291651564763, "lpips": 0.5054021974404653}, "wrist_right": {"psnr": 18.196469159643364, "ssim": 0.7089568003711124, "lpips": 0.17751324375470479}, "tactile_left": {"psnr": 31.680864773169162, "ssim": 0.9428037055183319, "lpips": 0.20349914133548735}, "tactile_right": {"psnr": 39.26950045489655, "ssim": 0.9731907819005582, "lpips": 0.11847070883959532}}}, {"id": "motherboard_e004_14", "episode": "motherboard_0911_episode_008_seg00.pt", "requested_episode": "motherboard_0911_episode_008_seg00.pt", "category": "release", "t_start": 246, "start_seconds": 16.4, "short_contact": [1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 0, 0], "future_transition_ticks": [11], "long_contact_fraction": 0.6796875, "long_label": "release", "short_metrics": {"video": {"psnr": 31.10057982123241, "ssim": 0.9414194508496558, "lpips": 0.021757014095783234}, "wrist_left": {"psnr": 15.42631161381928, "ssim": 0.41727260416300493, "lpips": 0.3133925497531891}, "wrist_right": {"psnr": 24.192515688225363, "ssim": 0.8526535732428937, "lpips": 0.03209388256072998}, "tactile_left": {"psnr": 37.425247839740216, "ssim": 0.981314509583076, "lpips": 0.0315898098051548}, "tactile_right": {"psnr": 52.40860511486658, "ssim": 0.9955961185531395, "lpips": 0.002692794194445014}}, "media": {"short": {"video": "media/motherboard_e004_14_short.mp4", "poster": "media/motherboard_e004_14_short.jpg"}, "long": {"video": "media/motherboard_e004_14_long.mp4", "poster": "media/motherboard_e004_14_long.jpg"}}, "force": {"source": "recorded_normal_force", "units": "N", "fps": 15, "left": [3.9167568683624268, 4.726428508758545, 4.726428508758545, 3.1971428394317627, 4.726428508758545, 6.760714054107666, 6.760714054107666, 7.488461494445801, 7.349999904632568, 7.349999904632568, 3.0568182468414307, 0.49357831478118896, 0.0, 0.0, 0.0, 0.0, 0.4993111193180084, 5.397500038146973, 7.200040817260742, 10.243043899536133, 10.243043899536133, 10.243043899536133, 9.842000007629395, 7.75, 7.75, 7.75, 6.760714054107666, 6.519285678863525, 5.486666679382324, 4.726428508758545, 3.0568182468414307, 1.9444444179534912, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 3.0568182468414307, 5.486666679382324, 6.373636245727539, 6.519285678863525, 6.519285678863525, 6.519285678863525, 6.519285678863525, 6.760714054107666, 6.519285678863525, 5.403749942779541, 5.465914249420166, 6.502091884613037, 5.486666679382324, 3.0568182468414307, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.6003610491752625, 0.6849588751792908, 1.9444444179534912, 3.9167568683624268, 5.486666679382324, 5.486666679382324, 5.403749942779541, 5.486666679382324, 5.486666679382324, 3.9167568683624268, 3.9182748794555664, 5.399834156036377, 5.397500038146973, 3.0568182468414307, 0.1599999964237213, 0.2557404935359955, 2.3248276710510254, 5.403749942779541, 6.519285678863525, 7.488461494445801, 7.75, 10.243043899536133, 7.75, 7.75, 7.488461494445801, 7.488461494445801, 7.724563121795654, 7.488461494445801, 4.726428508758545, 0.7983333468437195, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.9444444179534912, 3.9167568683624268, 3.1971428394317627, 3.9167568683624268, 7.121631622314453, 6.373636245727539, 6.519285678863525, 7.283836364746094, 7.130000114440918, 6.760714054107666, 6.760714054107666, 7.130000114440918, 7.349999904632568, 7.488461494445801, 7.488461494445801, 7.349999904632568, 7.488461494445801, 0.0, 0.0, 0.0, 0.0, 3.0568182468414307, 3.9167568683624268], "right": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]}, "long_curve": [{"video": {"psnr": 31.10057982123241, "ssim": 0.9414194508496558, "lpips": 0.021757014095783234}, "wrist_left": {"psnr": 15.42631161381928, "ssim": 0.41727260416300493, "lpips": 0.3133925497531891}, "wrist_right": {"psnr": 24.192515688225363, "ssim": 0.8526535732428937, "lpips": 0.03209388256072998}, "tactile_left": {"psnr": 37.425247839740216, "ssim": 0.981314509583076, "lpips": 0.0315898098051548}, "tactile_right": {"psnr": 52.40860511486658, "ssim": 0.9955961185531395, "lpips": 0.002692794194445014}}, {"video": {"psnr": 26.36693105882801, "ssim": 0.8805432678203509, "lpips": 0.04545435309410095}, "wrist_left": {"psnr": 14.444636571535023, "ssim": 0.38482390182432485, "lpips": 0.3531426787376404}, "wrist_right": {"psnr": 19.136923672320684, "ssim": 0.661659475611195, "lpips": 0.07590727508068085}, "tactile_left": {"psnr": 28.63969647931689, "ssim": 0.8946444945905274, "lpips": 0.23726335167884827}, "tactile_right": {"psnr": 47.576897560714436, "ssim": 0.9917493355351594, "lpips": 0.009466524235904217}}, {"video": {"psnr": 23.85405564737264, "ssim": 0.8070335467204675, "lpips": 0.06749483197927475}, "wrist_left": {"psnr": 14.443769086027263, "ssim": 0.41706200660248727, "lpips": 0.3315243422985077}, "wrist_right": {"psnr": 17.352393197100568, "ssim": 0.5844688501828907, "lpips": 0.12289407104253769}, "tactile_left": {"psnr": 28.559999389352996, "ssim": 0.9034533872158401, "lpips": 0.19733799993991852}, "tactile_right": {"psnr": 43.788637584933, "ssim": 0.9882609072462334, "lpips": 0.021290341392159462}}, {"video": {"psnr": 23.27863336511666, "ssim": 0.7786598517523204, "lpips": 0.08221465349197388}, "wrist_left": {"psnr": 13.52858015656179, "ssim": 0.47689322382430455, "lpips": 0.35190823674201965}, "wrist_right": {"psnr": 17.649654927167195, "ssim": 0.5992808331101099, "lpips": 0.12706893682479858}, "tactile_left": {"psnr": 37.77652032536484, "ssim": 0.9690301578225531, "lpips": 0.053751539438962936}, "tactile_right": {"psnr": 40.333582719696, "ssim": 0.9853958424537443, "lpips": 0.03916691243648529}}, {"video": {"psnr": 22.562029694177674, "ssim": 0.7538456093619685, "lpips": 0.10016237199306488}, "wrist_left": {"psnr": 13.563965142564768, "ssim": 0.48213092493032483, "lpips": 0.3887113332748413}, "wrist_right": {"psnr": 17.860355202370094, "ssim": 0.6050916609351762, "lpips": 0.14778821170330048}, "tactile_left": {"psnr": 30.88952093066101, "ssim": 0.9274485220410713, "lpips": 0.21058008074760437}, "tactile_right": {"psnr": 39.679950224211794, "ssim": 0.9813764648403578, "lpips": 0.060569580644369125}}, {"video": {"psnr": 21.051714336566704, "ssim": 0.7153495206751918, "lpips": 0.16175749897956848}, "wrist_left": {"psnr": 14.007229383414712, "ssim": 0.4077204124013494, "lpips": 0.42496368288993835}, "wrist_right": {"psnr": 16.213246281619348, "ssim": 0.5788183375931708, "lpips": 0.2553268074989319}, "tactile_left": {"psnr": 31.84101590863358, "ssim": 0.9375766650249839, "lpips": 0.2025049775838852}, "tactile_right": {"psnr": 38.29832238205916, "ssim": 0.9784512287751905, "lpips": 0.08491435647010803}}, {"video": {"psnr": 20.17406247929133, "ssim": 0.6835248473486045, "lpips": 0.20821888744831085}, "wrist_left": {"psnr": 13.097975691168777, "ssim": 0.41376552573005243, "lpips": 0.4241451919078827}, "wrist_right": {"psnr": 14.929991345113693, "ssim": 0.5480401399593413, "lpips": 0.33683550357818604}, "tactile_left": {"psnr": 36.554937906455415, "ssim": 0.9628201424273053, "lpips": 0.1122988760471344}, "tactile_right": {"psnr": 37.353973760016885, "ssim": 0.9757492082187433, "lpips": 0.10785172879695892}}, {"video": {"psnr": 20.02279054598744, "ssim": 0.669231077210197, "lpips": 0.20872148871421814}, "wrist_left": {"psnr": 13.561085468579721, "ssim": 0.42818521995318304, "lpips": 0.43390655517578125}, "wrist_right": {"psnr": 14.711502164723651, "ssim": 0.5314017435117172, "lpips": 0.35614392161369324}, "tactile_left": {"psnr": 29.660590249441768, "ssim": 0.9188799374896113, "lpips": 0.26991039514541626}, "tactile_right": {"psnr": 37.09061817500998, "ssim": 0.972843302258843, "lpips": 0.13166064023971558}}, {"video": {"psnr": 19.944141672586316, "ssim": 0.66402513119891, "lpips": 0.21370857954025269}, "wrist_left": {"psnr": 12.664810138776929, "ssim": 0.43494966709690847, "lpips": 0.4453021287918091}, "wrist_right": {"psnr": 14.332506226505181, "ssim": 0.5164501320216919, "lpips": 0.38670387864112854}, "tactile_left": {"psnr": 30.22375709714442, "ssim": 0.9334720374689399, "lpips": 0.262061208486557}, "tactile_right": {"psnr": 36.6415178520369, "ssim": 0.9706790474813707, "lpips": 0.14439108967781067}}, {"video": {"psnr": 19.619801653673164, "ssim": 0.6522061513640968, "lpips": 0.22616004943847656}, "wrist_left": {"psnr": 12.18683215241455, "ssim": 0.37768067513112, "lpips": 0.5192747712135315}, "wrist_right": {"psnr": 14.337724839662924, "ssim": 0.5088958119062647, "lpips": 0.3808750510215759}, "tactile_left": {"psnr": 26.153312142296468, "ssim": 0.8848750998889481, "lpips": 0.33684831857681274}, "tactile_right": {"psnr": 35.79444717916223, "ssim": 0.9680910050847079, "lpips": 0.16168956458568573}}, {"video": {"psnr": 19.82448419423332, "ssim": 0.6569869378222717, "lpips": 0.21773919463157654}, "wrist_left": {"psnr": 9.873300771242025, "ssim": 0.3477856122256192, "lpips": 0.5811662673950195}, "wrist_right": {"psnr": 14.38278382384954, "ssim": 0.5154569811655513, "lpips": 0.3718050420284271}, "tactile_left": {"psnr": 32.34179360168939, "ssim": 0.9516354180769525, "lpips": 0.17262212932109833}, "tactile_right": {"psnr": 34.99681403116845, "ssim": 0.9650910761142641, "lpips": 0.1763399839401245}}, {"video": {"psnr": 20.381692566966848, "ssim": 0.6596616644409665, "lpips": 0.2479199469089508}, "wrist_left": {"psnr": 8.323829397387215, "ssim": 0.28647480707746115, "lpips": 0.6088006496429443}, "wrist_right": {"psnr": 14.190809786829652, "ssim": 0.5440199977402596, "lpips": 0.4018361270427704}, "tactile_left": {"psnr": 34.89330724564031, "ssim": 0.958507571093264, "lpips": 0.13867223262786865}, "tactile_right": {"psnr": 34.411065701666466, "ssim": 0.962092846732316, "lpips": 0.19653713703155518}}, {"video": {"psnr": 20.40839897509165, "ssim": 0.6616135345036307, "lpips": 0.2469179630279541}, "wrist_left": {"psnr": 9.127499990408744, "ssim": 0.18609676047345977, "lpips": 0.6484305262565613}, "wrist_right": {"psnr": 14.001528400192546, "ssim": 0.521533199448438, "lpips": 0.39804011583328247}, "tactile_left": {"psnr": 29.12978017072957, "ssim": 0.9260474995280845, "lpips": 0.2463284134864807}, "tactile_right": {"psnr": 34.33057402726172, "ssim": 0.9591699515333143, "lpips": 0.20836099982261658}}, {"video": {"psnr": 20.20988165599219, "ssim": 0.6599435017093749, "lpips": 0.2507806420326233}, "wrist_left": {"psnr": 10.276533851381352, "ssim": 0.16983173797768622, "lpips": 0.6378167271614075}, "wrist_right": {"psnr": 13.835062169617451, "ssim": 0.5052917641706974, "lpips": 0.40792039036750793}, "tactile_left": {"psnr": 25.731832825564066, "ssim": 0.8851881076171082, "lpips": 0.3751571774482727}, "tactile_right": {"psnr": 34.453676513029045, "ssim": 0.956019285332633, "lpips": 0.21750591695308685}}, {"video": {"psnr": 20.09080496237889, "ssim": 0.6555778123551428, "lpips": 0.24643778800964355}, "wrist_left": {"psnr": 9.663910369303462, "ssim": 0.2162458690333443, "lpips": 0.6238231658935547}, "wrist_right": {"psnr": 13.771251043428489, "ssim": 0.4971875686452912, "lpips": 0.4212217926979065}, "tactile_left": {"psnr": 30.38449575603462, "ssim": 0.9404327217734687, "lpips": 0.21781525015830994}, "tactile_right": {"psnr": 34.01511377776108, "ssim": 0.9533116568041478, "lpips": 0.22872164845466614}}], "long_metrics": {"video": {"psnr": 21.926000175299684, "ssim": 0.72264146034221, "lpips": 0.16969635089238486}, "wrist_left": {"psnr": 12.279351318972374, "ssim": 0.3631279298963087, "lpips": 0.47242058714230856}, "wrist_right": {"psnr": 16.059883251248426, "ssim": 0.5713500046163127, "lpips": 0.2814974005023638}, "tactile_left": {"psnr": 31.34705385787104, "ssim": 0.9316884181094489, "lpips": 0.204316117366155}, "tactile_right": {"psnr": 38.74491977357291, "ssim": 0.9735918184642777, "lpips": 0.11941061459171275}}}, {"id": "motherboard_e004_15", "episode": "motherboard_0911_episode_008_seg00.pt", "requested_episode": "motherboard_0911_episode_008_seg00.pt", "category": "full", "t_start": 432, "start_seconds": 28.8, "short_contact": [1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1], "future_transition_ticks": [], "long_contact_fraction": 0.8359375, "long_label": "full", "short_metrics": {"video": {"psnr": 29.83482804858243, "ssim": 0.9213086518599047, "lpips": 0.02495904453098774}, "wrist_left": {"psnr": 17.767404856062676, "ssim": 0.4904033897069375, "lpips": 0.13163167238235474}, "wrist_right": {"psnr": 17.615050122185494, "ssim": 0.5755113291326482, "lpips": 0.16122516989707947}, "tactile_left": {"psnr": 32.66989743122842, "ssim": 0.9567351959761775, "lpips": 0.057487912476062775}, "tactile_right": {"psnr": 41.42579559096149, "ssim": 0.9883541664275396, "lpips": 0.0410919189453125}}, "media": {"short": {"video": "media/motherboard_e004_15_short.mp4", "poster": "media/motherboard_e004_15_short.jpg"}, "long": {"video": "media/motherboard_e004_15_long.mp4", "poster": "media/motherboard_e004_15_long.jpg"}}, "force": {"source": "recorded_normal_force", "units": "N", "fps": 15, "left": [0.0, 0.0, 0.0, 0.0, 0.0, 0.7983333468437195, 1.9444444179534912, 5.481388092041016, 6.760714054107666, 6.760714054107666, 7.130000114440918, 7.488461494445801, 7.488461494445801, 7.66710901260376, 7.75, 7.488461494445801, 7.488461494445801, 7.488461494445801, 7.340664386749268, 6.760714054107666, 6.760714054107666, 6.519285678863525, 6.519285678863525, 6.760714054107666, 6.760714054107666, 6.760714054107666, 6.760714054107666, 6.760714054107666, 6.760714054107666, 6.760714054107666, 6.760714054107666, 6.519285678863525, 6.519285678863525, 6.519285678863525, 6.373636245727539, 5.486666679382324, 5.397500038146973, 4.726428508758545, 3.1149818897247314, 3.1149818897247314, 0.0, 0.0, 0.5564713478088379, 0.5564713478088379, 5.403749942779541, 6.519285678863525, 6.870246887207031, 7.130000114440918, 7.130000114440918, 7.488461494445801, 7.488461494445801, 7.488461494445801, 7.488461494445801, 7.488461494445801, 7.230000019073486, 7.349999904632568, 7.130000114440918, 7.130000114440918, 2.243333339691162, 0.0, 0.0, 0.0, 0.0, 5.486666679382324, 6.519285678863525, 6.760714054107666, 7.230000019073486, 7.296485424041748, 7.488461494445801, 7.488461494445801, 5.486666679382324, 3.0568182468414307, 0.0, 0.0, 1.9736661911010742, 3.9167568683624268, 6.519285678863525, 6.760714054107666, 6.760714054107666, 6.760714054107666, 7.130000114440918, 6.856966972351074, 3.9167568683624268, 0.3697943389415741, 0.1599999964237213, 3.1971428394317627, 6.519285678863525, 6.760714054107666, 7.488461494445801, 10.243043899536133, 10.78499984741211, 7.784317970275879, 0.1599999964237213, 0.1599999964237213, 0.0, 0.0, 0.0, 0.0, 2.3248276710510254, 5.403749942779541, 7.130000114440918, 7.488461494445801, 7.488461494445801, 10.243043899536133, 10.977499961853027, 10.243043899536133, 10.977499961853027, 10.243043899536133, 0.1599999964237213, 0.0, 0.0, 0.7983333468437195, 0.7983333468437195, 0.0, 0.0, 2.3248276710510254, 3.9167568683624268, 5.486666679382324, 6.519285678863525, 7.488461494445801, 10.243043899536133, 10.243043899536133, 7.488461494445801, 7.488461494445801, 10.243043899536133, 10.977499961853027, 10.243043899536133, 10.243043899536133], "right": [0.5458959341049194, 0.5600000023841858, 0.5600000023841858, 0.6782253384590149, 0.7983333468437195, 0.5419337749481201, 0.25, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.9444444179534912, 0.7983333468437195, 1.0138323307037354, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 1.9444444179534912, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.2831295132637024, 0.533720850944519, 2.243333339691162, 3.0568182468414307, 3.9167568683624268, 3.9167568683624268, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 2.3248276710510254, 1.9444444179534912, 0.5600000023841858, 0.1599999964237213, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.7983333468437195, 3.0568182468414307, 3.0568182468414307, 3.9167568683624268, 3.9177205562591553, 4.726428508758545, 4.726428508758545, 4.726428508758545, 4.726428508758545, 3.0568182468414307, 0.5567049980163574, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]}, "long_curve": [{"video": {"psnr": 29.83482804858243, "ssim": 0.9213086518599047, "lpips": 0.02495904453098774}, "wrist_left": {"psnr": 17.767404856062676, "ssim": 0.4904033897069375, "lpips": 0.13163167238235474}, "wrist_right": {"psnr": 17.615050122185494, "ssim": 0.5755113291326482, "lpips": 0.16122516989707947}, "tactile_left": {"psnr": 32.66989743122842, "ssim": 0.9567351959761775, "lpips": 0.057487912476062775}, "tactile_right": {"psnr": 41.42579559096149, "ssim": 0.9883541664275396, "lpips": 0.0410919189453125}}, {"video": {"psnr": 24.387566899748215, "ssim": 0.804114284770493, "lpips": 0.06514108180999756}, "wrist_left": {"psnr": 16.514744423829114, "ssim": 0.3960817839871057, "lpips": 0.205877423286438}, "wrist_right": {"psnr": 14.690873117782159, "ssim": 0.49735535937711367, "lpips": 0.28826403617858887}, "tactile_left": {"psnr": 30.068621506777315, "ssim": 0.9425720741337695, "lpips": 0.07600505650043488}, "tactile_right": {"psnr": 37.94336308780957, "ssim": 0.979783121892341, "lpips": 0.06905800104141235}}, {"video": {"psnr": 23.03107174933228, "ssim": 0.769786256449625, "lpips": 0.09911738336086273}, "wrist_left": {"psnr": 15.731005050454138, "ssim": 0.36078091605439233, "lpips": 0.25616565346717834}, "wrist_right": {"psnr": 12.679755122683229, "ssim": 0.4193918062590454, "lpips": 0.45228683948516846}, "tactile_left": {"psnr": 31.12153105899239, "ssim": 0.944732945458834, "lpips": 0.07531940937042236}, "tactile_right": {"psnr": 35.29407206557927, "ssim": 0.9729673292756784, "lpips": 0.10668694972991943}}, {"video": {"psnr": 22.096693782646174, "ssim": 0.7423171800281354, "lpips": 0.13794615864753723}, "wrist_left": {"psnr": 14.4298170467504, "ssim": 0.3282390788661689, "lpips": 0.37161821126937866}, "wrist_right": {"psnr": 12.410942264036969, "ssim": 0.36525680155064155, "lpips": 0.4579254984855652}, "tactile_left": {"psnr": 31.343881543728898, "ssim": 0.9490374509119772, "lpips": 0.10439908504486084}, "tactile_right": {"psnr": 34.70078734995708, "ssim": 0.9683315631032212, "lpips": 0.11824488639831543}}, {"video": {"psnr": 22.191686198869398, "ssim": 0.7371184338106558, "lpips": 0.1438223123550415}, "wrist_left": {"psnr": 14.603805638631053, "ssim": 0.31130393250177146, "lpips": 0.3954566717147827}, "wrist_right": {"psnr": 13.502705709448596, "ssim": 0.4197841572636678, "lpips": 0.3906153738498688}, "tactile_left": {"psnr": 31.876949465580175, "ssim": 0.9281405041782116, "lpips": 0.2093895673751831}, "tactile_right": {"psnr": 39.1686447657913, "ssim": 0.9795374389481883, "lpips": 0.05972573533654213}}, {"video": {"psnr": 22.02624199366791, "ssim": 0.7206096647438531, "lpips": 0.14397823810577393}, "wrist_left": {"psnr": 14.153971971666856, "ssim": 0.2718469107619507, "lpips": 0.4344273507595062}, "wrist_right": {"psnr": 12.631330743869091, "ssim": 0.334397759925384, "lpips": 0.43608832359313965}, "tactile_left": {"psnr": 28.470521374940642, "ssim": 0.894746849137664, "lpips": 0.2959703505039215}, "tactile_right": {"psnr": 31.659824108798897, "ssim": 0.9457171675019281, "lpips": 0.18347716331481934}}, {"video": {"psnr": 21.397179849799997, "ssim": 0.6903926576815755, "lpips": 0.16769348084926605}, "wrist_left": {"psnr": 13.83317122238417, "ssim": 0.29981860512332315, "lpips": 0.42767900228500366}, "wrist_right": {"psnr": 13.138801606981975, "ssim": 0.4252205661469509, "lpips": 0.419242799282074}, "tactile_left": {"psnr": 31.955436210491595, "ssim": 0.9387843369174871, "lpips": 0.1989884227514267}, "tactile_right": {"psnr": 32.00685572323618, "ssim": 0.9529353902710747, "lpips": 0.15733888745307922}}, {"video": {"psnr": 21.43030769248099, "ssim": 0.6961318865991174, "lpips": 0.17544008791446686}, "wrist_left": {"psnr": 14.000428280248281, "ssim": 0.3309231699922909, "lpips": 0.39698082208633423}, "wrist_right": {"psnr": 13.653801859238197, "ssim": 0.508625614570472, "lpips": 0.3818911015987396}, "tactile_left": {"psnr": 27.594463199089173, "ssim": 0.9146661138969632, "lpips": 0.27914169430732727}, "tactile_right": {"psnr": 35.95565208187688, "ssim": 0.9740796995529011, "lpips": 0.07371032983064651}}, {"video": {"psnr": 21.219881784812333, "ssim": 0.689766162903927, "lpips": 0.18425732851028442}, "wrist_left": {"psnr": 13.858446804583304, "ssim": 0.32168253918900475, "lpips": 0.4048655033111572}, "wrist_right": {"psnr": 13.516477692259432, "ssim": 0.515605031876188, "lpips": 0.3720083236694336}, "tactile_left": {"psnr": 29.3824611392499, "ssim": 0.9313569060816547, "lpips": 0.2584173083305359}, "tactile_right": {"psnr": 35.93688911656977, "ssim": 0.9730304669812306, "lpips": 0.08537690341472626}}, {"video": {"psnr": 21.02396715439221, "ssim": 0.6724590904978717, "lpips": 0.19479168951511383}, "wrist_left": {"psnr": 12.952854900261286, "ssim": 0.2607670808580972, "lpips": 0.45015060901641846}, "wrist_right": {"psnr": 13.62984666157736, "ssim": 0.5231711355252961, "lpips": 0.35739850997924805}, "tactile_left": {"psnr": 30.16459647771852, "ssim": 0.9374932163908092, "lpips": 0.23455214500427246}, "tactile_right": {"psnr": 35.097995451749235, "ssim": 0.9709403508692342, "lpips": 0.10151968896389008}}, {"video": {"psnr": 21.007759892981316, "ssim": 0.6707815740809748, "lpips": 0.19712552428245544}, "wrist_left": {"psnr": 12.458458381693802, "ssim": 0.2516340251881302, "lpips": 0.4628714621067047}, "wrist_right": {"psnr": 13.846517002827163, "ssim": 0.5253185900294944, "lpips": 0.3566201627254486}, "tactile_left": {"psnr": 29.593486474150538, "ssim": 0.9394499824435051, "lpips": 0.24357721209526062}, "tactile_right": {"psnr": 34.52600937675517, "ssim": 0.9684574654057558, "lpips": 0.11747081577777863}}, {"video": {"psnr": 20.818713882441617, "ssim": 0.6620618484280807, "lpips": 0.19975560903549194}, "wrist_left": {"psnr": 10.747942846822355, "ssim": 0.2894491947423094, "lpips": 0.5175795555114746}, "wrist_right": {"psnr": 14.310929075857795, "ssim": 0.5231944801559196, "lpips": 0.3550722599029541}, "tactile_left": {"psnr": 31.690862365688147, "ssim": 0.9426042813032656, "lpips": 0.24804942309856415}, "tactile_right": {"psnr": 34.08093845809172, "ssim": 0.9656896775066017, "lpips": 0.13362185657024384}}, {"video": {"psnr": 20.738444813622642, "ssim": 0.655899433080331, "lpips": 0.20287197828292847}, "wrist_left": {"psnr": 9.884589148644542, "ssim": 0.2980519969265266, "lpips": 0.5507009029388428}, "wrist_right": {"psnr": 14.180128686919964, "ssim": 0.500641494852072, "lpips": 0.36855655908584595}, "tactile_left": {"psnr": 29.635429115760125, "ssim": 0.936244433362634, "lpips": 0.24554085731506348}, "tactile_right": {"psnr": 33.70051265186731, "ssim": 0.9625940936855615, "lpips": 0.1463169902563095}}, {"video": {"psnr": 20.595522298424743, "ssim": 0.6494004998068665, "lpips": 0.20485806465148926}, "wrist_left": {"psnr": 8.245881294700608, "ssim": 0.24579915560121374, "lpips": 0.6251775026321411}, "wrist_right": {"psnr": 14.108114824209235, "ssim": 0.48936592810014434, "lpips": 0.36564192175865173}, "tactile_left": {"psnr": 30.730033606585224, "ssim": 0.9335669268654857, "lpips": 0.2535797655582428}, "tactile_right": {"psnr": 33.6009255944909, "ssim": 0.9599870222839364, "lpips": 0.16168910264968872}}, {"video": {"psnr": 20.55803708740481, "ssim": 0.643920962045988, "lpips": 0.2106887698173523}, "wrist_left": {"psnr": 8.033743833591627, "ssim": 0.22490901886967227, "lpips": 0.6436359286308289}, "wrist_right": {"psnr": 13.880210804287845, "ssim": 0.4667325024987127, "lpips": 0.3789646625518799}, "tactile_left": {"psnr": 27.764420761067004, "ssim": 0.8969816967912656, "lpips": 0.3605530560016632}, "tactile_right": {"psnr": 33.33883889515422, "ssim": 0.9574791479051953, "lpips": 0.1797044724225998}}], "long_metrics": {"video": {"psnr": 22.157193541947137, "ssim": 0.7150712391191599, "lpips": 0.15682978344460327}, "wrist_left": {"psnr": 13.147751046688281, "ssim": 0.31211271989125966, "lpips": 0.4183212180932363}, "wrist_right": {"psnr": 13.8530323529443, "ssim": 0.47263817048425005, "lpips": 0.3694534361362457}, "tactile_left": {"psnr": 30.270839448736538, "ssim": 0.9324741942566469, "lpips": 0.20939808438221613}, "tactile_right": {"psnr": 35.2291402879126, "ssim": 0.9679922734406926, "lpips": 0.11566891347368559}}}, {"id": "motherboard_e004_16", "episode": "motherboard_0912_episode_002.pt", "requested_episode": "motherboard_0912_episode_002.pt", "category": "none", "t_start": 750, "start_seconds": 50.0, "short_contact": [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0], "future_transition_ticks": [], "long_contact_fraction": 0.3671875, "long_label": "none_at_start", "short_metrics": {"video": {"psnr": 28.68667024719663, "ssim": 0.927558146521704, "lpips": 0.04158250242471695}, "wrist_left": {"psnr": 21.5399766251527, "ssim": 0.8320292510242078, "lpips": 0.08115339279174805}, "wrist_right": {"psnr": 31.42834921969477, "ssim": 0.9344698458229865, "lpips": 0.035066355019807816}, "tactile_left": {"psnr": 49.79207025730999, "ssim": 0.9937368598841845, "lpips": 0.003914819564670324}, "tactile_right": {"psnr": 52.45029169036513, "ssim": 0.9957316652865662, "lpips": 0.0025151229929178953}}, "media": {"short": {"video": "media/motherboard_e004_16_short.mp4", "poster": "media/motherboard_e004_16_short.jpg"}, "long": {"video": "media/motherboard_e004_16_long.mp4", "poster": "media/motherboard_e004_16_long.jpg"}}, "force": {"source": "recorded_normal_force", "units": "N", "fps": 15, "left": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.1599999964237213, 0.19649721682071686, 0.1599999964237213, 0.27666667103767395, 0.44613584876060486, 0.1599999964237213, 0.1599999964237213, 0.1599999964237213, 1.6094872951507568, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 4.726428508758545, 5.397500038146973, 6.373636245727539, 6.760714054107666, 6.760714054107666, 6.760714054107666, 6.435560703277588, 6.373636245727539, 6.760714054107666, 6.760714054107666, 6.760714054107666, 7.230000019073486, 7.230000019073486, 7.130000114440918, 6.760714054107666, 7.349999904632568, 7.130000114440918, 6.760714054107666, 7.130000114440918, 6.997551918029785, 6.760714054107666, 6.519285678863525, 6.760714054107666, 6.760714054107666, 6.760714054107666, 6.519285678863525, 5.486666679382324, 5.486666679382324, 5.3991498947143555, 6.373636245727539, 6.519285678863525, 6.519285678863525, 5.397500038146973, 4.726428508758545, 2.3248276710510254, 0.1599999964237213, 5.403749942779541, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 3.9167568683624268, 6.519285678863525, 7.130000114440918, 7.488461494445801, 7.488461494445801, 7.488461494445801, 10.243043899536133], "right": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.033978212624788284, 0.14319390058517456, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.15257100760936737, 3.0568182468414307, 3.0568182468414307, 2.6312499046325684, 2.3248276710510254, 2.6312499046325684, 2.3248276710510254, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.04887126386165619, 0.1599999964237213, 0.1599999964237213, 0.1599999964237213, 0.27666667103767395, 0.7983333468437195, 2.6312499046325684, 3.0568182468414307]}, "long_curve": [{"video": {"psnr": 28.68667024719663, "ssim": 0.927558146521704, "lpips": 0.04158250242471695}, "wrist_left": {"psnr": 21.5399766251527, "ssim": 0.8320292510242078, "lpips": 0.08115339279174805}, "wrist_right": {"psnr": 31.42834921969477, "ssim": 0.9344698458229865, "lpips": 0.035066355019807816}, "tactile_left": {"psnr": 49.79207025730999, "ssim": 0.9937368598841845, "lpips": 0.003914819564670324}, "tactile_right": {"psnr": 52.45029169036513, "ssim": 0.9957316652865662, "lpips": 0.0025151229929178953}}, {"video": {"psnr": 25.651278100147422, "ssim": 0.9055345164172133, "lpips": 0.04390477389097214}, "wrist_left": {"psnr": 20.461296004357273, "ssim": 0.8132494036999908, "lpips": 0.09256763011217117}, "wrist_right": {"psnr": 27.49405943564302, "ssim": 0.8889700346218641, "lpips": 0.05804278329014778}, "tactile_left": {"psnr": 46.95943738443027, "ssim": 0.9907116363257507, "lpips": 0.011659377254545689}, "tactile_right": {"psnr": 47.11800161522732, "ssim": 0.9924066897749444, "lpips": 0.010001976042985916}}, {"video": {"psnr": 24.800110800905593, "ssim": 0.8890838132797904, "lpips": 0.05321561545133591}, "wrist_left": {"psnr": 20.507311745996684, "ssim": 0.8099067489123143, "lpips": 0.09868055582046509}, "wrist_right": {"psnr": 25.84464294137132, "ssim": 0.8594246854507186, "lpips": 0.07737129181623459}, "tactile_left": {"psnr": 44.225615862629866, "ssim": 0.9873508766579702, "lpips": 0.023075968027114868}, "tactile_right": {"psnr": 43.117620336012294, "ssim": 0.9890569742247541, "lpips": 0.02351125329732895}}, {"video": {"psnr": 24.71142809836418, "ssim": 0.8735644051513014, "lpips": 0.060368478298187256}, "wrist_left": {"psnr": 20.42204868684037, "ssim": 0.8038648096035568, "lpips": 0.10393564403057098}, "wrist_right": {"psnr": 25.05956042973516, "ssim": 0.8420578288091375, "lpips": 0.0906912237405777}, "tactile_left": {"psnr": 41.4939614896394, "ssim": 0.9836349087287295, "lpips": 0.03983477130532265}, "tactile_right": {"psnr": 40.7549306236854, "ssim": 0.9861906977450791, "lpips": 0.04229344427585602}}, {"video": {"psnr": 24.49487170486337, "ssim": 0.8479174526385509, "lpips": 0.08055965602397919}, "wrist_left": {"psnr": 21.022879522515186, "ssim": 0.798920959447621, "lpips": 0.11346299946308136}, "wrist_right": {"psnr": 24.555467627382235, "ssim": 0.8194438289646728, "lpips": 0.10242728888988495}, "tactile_left": {"psnr": 40.148931086489384, "ssim": 0.9795462419569501, "lpips": 0.05846661701798439}, "tactile_right": {"psnr": 39.459678369876244, "ssim": 0.9824887876574313, "lpips": 0.06237328052520752}}, {"video": {"psnr": 24.444113681129753, "ssim": 0.8258280251906236, "lpips": 0.09567759931087494}, "wrist_left": {"psnr": 20.314381559859083, "ssim": 0.786700923148747, "lpips": 0.15508638322353363}, "wrist_right": {"psnr": 22.926190729818146, "ssim": 0.7675952992142738, "lpips": 0.12979839742183685}, "tactile_left": {"psnr": 38.66131954736329, "ssim": 0.9754361799000345, "lpips": 0.0838409811258316}, "tactile_right": {"psnr": 38.21597437095509, "ssim": 0.9790707669040573, "lpips": 0.0836334377527237}}, {"video": {"psnr": 23.581049665500466, "ssim": 0.783826800287215, "lpips": 0.1115955039858818}, "wrist_left": {"psnr": 17.167378322843266, "ssim": 0.735038695854982, "lpips": 0.2752014398574829}, "wrist_right": {"psnr": 20.042875596228228, "ssim": 0.703370458336777, "lpips": 0.19422881305217743}, "tactile_left": {"psnr": 37.16138672873263, "ssim": 0.9698514796859745, "lpips": 0.1353493332862854}, "tactile_right": {"psnr": 37.19914640319877, "ssim": 0.976018821546607, "lpips": 0.10967093706130981}}, {"video": {"psnr": 22.879922064503575, "ssim": 0.7537913457165953, "lpips": 0.12876194715499878}, "wrist_left": {"psnr": 17.635649754863554, "ssim": 0.7481131219180833, "lpips": 0.24236847460269928}, "wrist_right": {"psnr": 17.434663834370006, "ssim": 0.5880368927932372, "lpips": 0.268810898065567}, "tactile_left": {"psnr": 36.08451137488491, "ssim": 0.9669484430468479, "lpips": 0.1368134468793869}, "tactile_right": {"psnr": 36.80107788349386, "ssim": 0.9728347204420091, "lpips": 0.13106203079223633}}, {"video": {"psnr": 21.780788976465697, "ssim": 0.711750403164732, "lpips": 0.16939783096313477}, "wrist_left": {"psnr": 9.686951003308062, "ssim": 0.41493272139359094, "lpips": 0.4953058958053589}, "wrist_right": {"psnr": 15.683959032345726, "ssim": 0.6257645544450695, "lpips": 0.3247378170490265}, "tactile_left": {"psnr": 35.465113736388666, "ssim": 0.9652883909341694, "lpips": 0.14599230885505676}, "tactile_right": {"psnr": 36.42587015244078, "ssim": 0.9699630337706615, "lpips": 0.14746089279651642}}, {"video": {"psnr": 21.192998407261733, "ssim": 0.6824437405949737, "lpips": 0.19232404232025146}, "wrist_left": {"psnr": 10.893208458700771, "ssim": 0.304552792011515, "lpips": 0.5919413566589355}, "wrist_right": {"psnr": 15.263333329418089, "ssim": 0.697425809994386, "lpips": 0.2713165283203125}, "tactile_left": {"psnr": 32.08742740627156, "ssim": 0.931270875167051, "lpips": 0.29494738578796387}, "tactile_right": {"psnr": 36.033559535490355, "ssim": 0.9673416996952644, "lpips": 0.1677333116531372}}, {"video": {"psnr": 18.95787402559041, "ssim": 0.6279731892088216, "lpips": 0.3022540211677551}, "wrist_left": {"psnr": 7.577325600395507, "ssim": 0.24760988309195833, "lpips": 0.6207234859466553}, "wrist_right": {"psnr": 16.650589567660447, "ssim": 0.7799679523625633, "lpips": 0.2583499550819397}, "tactile_left": {"psnr": 30.47629326150972, "ssim": 0.922547257475222, "lpips": 0.31081509590148926}, "tactile_right": {"psnr": 34.95346303399292, "ssim": 0.9645448435292172, "lpips": 0.19020521640777588}}, {"video": {"psnr": 18.16514853133329, "ssim": 0.6079071618727031, "lpips": 0.3441565930843353}, "wrist_left": {"psnr": 8.57039891778285, "ssim": 0.23144018307952052, "lpips": 0.6284700632095337}, "wrist_right": {"psnr": 17.08028525862623, "ssim": 0.7865410412768046, "lpips": 0.2798936069011688}, "tactile_left": {"psnr": 31.074255541502854, "ssim": 0.9157637640531515, "lpips": 0.33173781633377075}, "tactile_right": {"psnr": 34.48706791714015, "ssim": 0.9590909322854371, "lpips": 0.22561028599739075}}, {"video": {"psnr": 18.60359711098154, "ssim": 0.623227769013245, "lpips": 0.3229636251926422}, "wrist_left": {"psnr": 9.995181263928304, "ssim": 0.27520868147686206, "lpips": 0.5657772421836853}, "wrist_right": {"psnr": 17.769825110234084, "ssim": 0.7892640802250372, "lpips": 0.26661455631256104}, "tactile_left": {"psnr": 31.89294367828477, "ssim": 0.9279589420920893, "lpips": 0.3130057752132416}, "tactile_right": {"psnr": 34.479219228345286, "ssim": 0.9572980211307494, "lpips": 0.23411110043525696}}, {"video": {"psnr": 18.497908437153626, "ssim": 0.6142199256958581, "lpips": 0.3248591423034668}, "wrist_left": {"psnr": 8.791454622095644, "ssim": 0.25034630221918297, "lpips": 0.5709733963012695}, "wrist_right": {"psnr": 16.901537510438796, "ssim": 0.7491152797591402, "lpips": 0.259904682636261}, "tactile_left": {"psnr": 32.57496819261219, "ssim": 0.9443121880455105, "lpips": 0.2623848617076874}, "tactile_right": {"psnr": 34.26564515655172, "ssim": 0.9561883399111893, "lpips": 0.23749804496765137}}, {"video": {"psnr": 18.56637438962617, "ssim": 0.609352654898973, "lpips": 0.32809048891067505}, "wrist_left": {"psnr": 8.960811558296918, "ssim": 0.22392019623449405, "lpips": 0.5878786444664001}, "wrist_right": {"psnr": 16.744151691927904, "ssim": 0.7336895290586347, "lpips": 0.3220289349555969}, "tactile_left": {"psnr": 31.337487704464365, "ssim": 0.9219010054313517, "lpips": 0.3065006136894226}, "tactile_right": {"psnr": 33.851084466495436, "ssim": 0.9503108432890904, "lpips": 0.26997148990631104}}], "long_metrics": {"video": {"psnr": 22.33427561606823, "ssim": 0.7522652899768201, "lpips": 0.1733141213655472}, "wrist_left": {"psnr": 14.903083576462413, "ssim": 0.5517223115411085, "lpips": 0.34823510696490606}, "wrist_right": {"psnr": 20.725299420992943, "ssim": 0.7710091414090202, "lpips": 0.19595220883687336}, "tactile_left": {"psnr": 37.29571488350093, "ssim": 0.9584172699589992, "lpips": 0.16388927812998494}, "tactile_right": {"psnr": 38.640842052218055, "ssim": 0.9732357891462038, "lpips": 0.1291767883269737}}}, {"id": "motherboard_e004_17", "episode": "motherboard_0912_episode_002.pt", "requested_episode": "motherboard_0912_episode_002.pt", "category": "onset", "t_start": 2106, "start_seconds": 140.4, "short_contact": [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 1], "future_transition_ticks": [11], "long_contact_fraction": 0.75, "long_label": "onset", "short_metrics": {"video": {"psnr": 26.488502658925974, "ssim": 0.8449492255767573, "lpips": 0.04811187833547592}, "wrist_left": {"psnr": 16.533800828086996, "ssim": 0.5433486080262896, "lpips": 0.2246485948562622}, "wrist_right": {"psnr": 16.60443944668422, "ssim": 0.38397199320774755, "lpips": 0.1732911914587021}, "tactile_left": {"psnr": 45.84347041350434, "ssim": 0.98658365603684, "lpips": 0.009658819995820522}, "tactile_right": {"psnr": 39.30542300266567, "ssim": 0.9753112733089427, "lpips": 0.1266283392906189}}, "media": {"short": {"video": "media/motherboard_e004_17_short.mp4", "poster": "media/motherboard_e004_17_short.jpg"}, "long": {"video": "media/motherboard_e004_17_long.mp4", "poster": "media/motherboard_e004_17_long.jpg"}}, "force": {"source": "recorded_normal_force", "units": "N", "fps": 15, "left": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.12416389584541321, 0.06000244617462158, 0.1599999964237213, 0.0, 0.0, 0.0, 0.1599999964237213, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 2.3248276710510254, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 2.6312499046325684, 2.6312499046325684, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.9444444179534912, 0.7983333468437195, 2.243333339691162, 3.9167568683624268, 4.726428508758545, 5.397500038146973, 5.397500038146973, 4.726428508758545, 4.726428508758545, 3.928694009780884, 3.9167568683624268, 3.9167568683624268, 3.9167568683624268, 3.9167568683624268, 3.9167568683624268, 3.9167568683624268, 3.3742141723632812, 3.0568182468414307, 2.6312499046325684, 2.3248276710510254, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 1.380898118019104, 1.9444444179534912, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7040123343467712, 0.7040123343467712, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 2.243333339691162, 1.9444444179534912, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.243333339691162, 1.9444444179534912, 1.9444444179534912, 1.9444444179534912, 2.243333339691162, 1.9444444179534912, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 2.3248276710510254, 0.7983333468437195, 2.243333339691162], "right": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.7983333468437195, 2.243333339691162, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.5789201259613037, 2.3248276710510254, 3.9167568683624268, 3.9167568683624268, 3.9167568683624268, 3.1971428394317627, 3.0568182468414307, 3.1971428394317627, 3.9167568683624268, 3.9167568683624268, 2.3248276710510254, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.5337831377983093, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.1599999964237213, 0.1599999964237213, 0.0, 0.0, 0.0, 0.0, 0.0, 0.4000000059604645, 0.1599999964237213, 0.0, 0.0, 0.1599999964237213, 0.1599999964237213, 0.25, 0.49805352091789246, 1.9444444179534912, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 1.846291184425354, 2.3172874450683594, 2.3248276710510254, 0.7983333468437195, 0.1599999964237213, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]}, "long_curve": [{"video": {"psnr": 26.488502658925974, "ssim": 0.8449492255767573, "lpips": 0.04811187833547592}, "wrist_left": {"psnr": 16.533800828086996, "ssim": 0.5433486080262896, "lpips": 0.2246485948562622}, "wrist_right": {"psnr": 16.60443944668422, "ssim": 0.38397199320774755, "lpips": 0.1732911914587021}, "tactile_left": {"psnr": 45.84347041350434, "ssim": 0.98658365603684, "lpips": 0.009658819995820522}, "tactile_right": {"psnr": 39.30542300266567, "ssim": 0.9753112733089427, "lpips": 0.1266283392906189}}, {"video": {"psnr": 21.246326157342796, "ssim": 0.6943039798668256, "lpips": 0.1308307647705078}, "wrist_left": {"psnr": 12.020552670190867, "ssim": 0.3838338504916894, "lpips": 0.39624643325805664}, "wrist_right": {"psnr": 15.529119637916214, "ssim": 0.37518725982902995, "lpips": 0.23977363109588623}, "tactile_left": {"psnr": 45.97717413434734, "ssim": 0.9874465790698894, "lpips": 0.016616106033325195}, "tactile_right": {"psnr": 38.05987118356533, "ssim": 0.9670849842714486, "lpips": 0.17262253165245056}}, {"video": {"psnr": 21.03811022773639, "ssim": 0.6831555945017391, "lpips": 0.16246536374092102}, "wrist_left": {"psnr": 11.138413135638338, "ssim": 0.2622447953770212, "lpips": 0.4914867579936981}, "wrist_right": {"psnr": 15.855656740657881, "ssim": 0.41908441683310277, "lpips": 0.29039138555526733}, "tactile_left": {"psnr": 42.67238146359939, "ssim": 0.9816527535855419, "lpips": 0.04081600159406662}, "tactile_right": {"psnr": 40.18358618132393, "ssim": 0.9774739895853657, "lpips": 0.09126569330692291}}, {"video": {"psnr": 20.105861232751252, "ssim": 0.6674601265793491, "lpips": 0.2110777199268341}, "wrist_left": {"psnr": 12.055952737800197, "ssim": 0.23914933042727424, "lpips": 0.5061444044113159}, "wrist_right": {"psnr": 13.620974896774518, "ssim": 0.4018466030032995, "lpips": 0.39704546332359314}, "tactile_left": {"psnr": 36.21544468444323, "ssim": 0.9668365680079825, "lpips": 0.11470469832420349}, "tactile_right": {"psnr": 40.887450624525954, "ssim": 0.9806622034500505, "lpips": 0.04551761597394943}}, {"video": {"psnr": 19.4246652866184, "ssim": 0.6614375064273771, "lpips": 0.2418004274368286}, "wrist_left": {"psnr": 12.19008643216274, "ssim": 0.29896027262861447, "lpips": 0.4527028203010559}, "wrist_right": {"psnr": 12.255124257420775, "ssim": 0.2783774889549133, "lpips": 0.49579834938049316}, "tactile_left": {"psnr": 40.92555264495384, "ssim": 0.9768437025272563, "lpips": 0.06816820800304413}, "tactile_right": {"psnr": 39.43320705562626, "ssim": 0.9757894679491286, "lpips": 0.08717401325702667}}, {"video": {"psnr": 19.026006643726717, "ssim": 0.6524956369718893, "lpips": 0.26450875401496887}, "wrist_left": {"psnr": 12.723691603689115, "ssim": 0.2600593909440556, "lpips": 0.46300870180130005}, "wrist_right": {"psnr": 11.841103757755667, "ssim": 0.3455216712142649, "lpips": 0.4827549159526825}, "tactile_left": {"psnr": 37.190310879130635, "ssim": 0.9613862349206609, "lpips": 0.1318228840827942}, "tactile_right": {"psnr": 39.61850223666312, "ssim": 0.9774865334437156, "lpips": 0.07379941642284393}}, {"video": {"psnr": 18.962976322593036, "ssim": 0.6470297524938098, "lpips": 0.2593650817871094}, "wrist_left": {"psnr": 11.879551856059674, "ssim": 0.23029393416511357, "lpips": 0.4864197373390198}, "wrist_right": {"psnr": 10.370789410548317, "ssim": 0.264113131467414, "lpips": 0.5348936915397644}, "tactile_left": {"psnr": 37.09126232202982, "ssim": 0.9529370861809003, "lpips": 0.1341918259859085}, "tactile_right": {"psnr": 36.317718938550875, "ssim": 0.9678009701400281, "lpips": 0.15119236707687378}}, {"video": {"psnr": 19.073401437652926, "ssim": 0.6386807984525615, "lpips": 0.2691901922225952}, "wrist_left": {"psnr": 11.176296326843737, "ssim": 0.2443325835396653, "lpips": 0.532434344291687}, "wrist_right": {"psnr": 10.927692744963558, "ssim": 0.31128600714335963, "lpips": 0.5240066051483154}, "tactile_left": {"psnr": 37.90276520691257, "ssim": 0.9617421249951212, "lpips": 0.13379627466201782}, "tactile_right": {"psnr": 38.85162822904724, "ssim": 0.9739916452847819, "lpips": 0.10328295826911926}}, {"video": {"psnr": 18.931736134125742, "ssim": 0.6283363449630174, "lpips": 0.27146774530410767}, "wrist_left": {"psnr": 10.386591859085714, "ssim": 0.21995256695860552, "lpips": 0.5531089305877686}, "wrist_right": {"psnr": 13.21851505233473, "ssim": 0.30811006479125463, "lpips": 0.49350011348724365}, "tactile_left": {"psnr": 37.86324735454758, "ssim": 0.9639649145171845, "lpips": 0.13763383030891418}, "tactile_right": {"psnr": 36.49337535346102, "ssim": 0.9666045416570777, "lpips": 0.1466914564371109}}, {"video": {"psnr": 18.701172599266812, "ssim": 0.6258000344347945, "lpips": 0.2845506966114044}, "wrist_left": {"psnr": 9.818296381056545, "ssim": 0.23153938995448206, "lpips": 0.552487850189209}, "wrist_right": {"psnr": 12.595473771122528, "ssim": 0.29258903030112515, "lpips": 0.5237793922424316}, "tactile_left": {"psnr": 37.083810707522815, "ssim": 0.9633901086084442, "lpips": 0.14679302275180817}, "tactile_right": {"psnr": 37.28661273080316, "ssim": 0.9703425439046971, "lpips": 0.12111283838748932}}, {"video": {"psnr": 17.593453610286772, "ssim": 0.6120656601524146, "lpips": 0.2957119941711426}, "wrist_left": {"psnr": 10.891828830496689, "ssim": 0.35522209074193, "lpips": 0.45982974767684937}, "wrist_right": {"psnr": 12.140331744811132, "ssim": 0.2832207542628302, "lpips": 0.4909650683403015}, "tactile_left": {"psnr": 36.35197196386698, "ssim": 0.9627434419659106, "lpips": 0.16335824131965637}, "tactile_right": {"psnr": 35.63250908777363, "ssim": 0.9635963119989684, "lpips": 0.1626369059085846}}, {"video": {"psnr": 17.602560364568284, "ssim": 0.6111130795213563, "lpips": 0.2947586178779602}, "wrist_left": {"psnr": 11.3886510801027, "ssim": 0.2551689944726221, "lpips": 0.5384970307350159}, "wrist_right": {"psnr": 11.669240615634148, "ssim": 0.2998153059097604, "lpips": 0.49637848138809204}, "tactile_left": {"psnr": 33.99592383354189, "ssim": 0.9534355513574433, "lpips": 0.20716305077075958}, "tactile_right": {"psnr": 35.58169474101532, "ssim": 0.9670219174035292, "lpips": 0.13456377387046814}}, {"video": {"psnr": 17.656864481526686, "ssim": 0.6036763217161029, "lpips": 0.31218624114990234}, "wrist_left": {"psnr": 12.20162045047557, "ssim": 0.24755045642647439, "lpips": 0.5344384908676147}, "wrist_right": {"psnr": 9.222713234599684, "ssim": 0.2512839048442873, "lpips": 0.5435220003128052}, "tactile_left": {"psnr": 34.0985469004507, "ssim": 0.9511517904650583, "lpips": 0.19543562829494476}, "tactile_right": {"psnr": 34.74100652071752, "ssim": 0.9618828782321764, "lpips": 0.16504289209842682}}, {"video": {"psnr": 17.40863629889375, "ssim": 0.5976707071567595, "lpips": 0.31635522842407227}, "wrist_left": {"psnr": 10.172443519107038, "ssim": 0.3683196278197127, "lpips": 0.5214145183563232}, "wrist_right": {"psnr": 9.238923781208623, "ssim": 0.21654793527338284, "lpips": 0.5370544195175171}, "tactile_left": {"psnr": 34.60237566284552, "ssim": 0.9553782968306299, "lpips": 0.18364965915679932}, "tactile_right": {"psnr": 34.15252889973426, "ssim": 0.9602113778861978, "lpips": 0.16007715463638306}}, {"video": {"psnr": 17.547968779255015, "ssim": 0.5945860803080398, "lpips": 0.32115262746810913}, "wrist_left": {"psnr": 9.974219035729, "ssim": 0.27279445368946864, "lpips": 0.5759023427963257}, "wrist_right": {"psnr": 9.859942333381165, "ssim": 0.23811452061058508, "lpips": 0.5186285972595215}, "tactile_left": {"psnr": 33.989231634021884, "ssim": 0.9511115209723982, "lpips": 0.19888004660606384}, "tactile_right": {"psnr": 34.40148566844117, "ssim": 0.9622133001219746, "lpips": 0.1567063182592392}}], "long_metrics": {"video": {"psnr": 19.387216149018037, "ssim": 0.6508507232748529, "lpips": 0.24556888888279596}, "wrist_left": {"psnr": 11.63679978310166, "ssim": 0.2941846897108679, "lpips": 0.4859180470307668}, "wrist_right": {"psnr": 12.330002761720879, "ssim": 0.3112713391764238, "lpips": 0.44945222040017446}, "tactile_left": {"psnr": 38.12023132038124, "ssim": 0.9651069553360841, "lpips": 0.12551255319267512}, "tactile_right": {"psnr": 37.39644003026096, "ssim": 0.9698315959092055, "lpips": 0.12655428498983384}}}, {"id": "motherboard_e004_18", "episode": "motherboard_0912_episode_002.pt", "requested_episode": "motherboard_0912_episode_002.pt", "category": "release", "t_start": 217, "start_seconds": 14.466666666666667, "short_contact": [1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 0, 0], "future_transition_ticks": [11], "long_contact_fraction": 0.9296875, "long_label": "release", "short_metrics": {"video": {"psnr": 21.951437159480225, "ssim": 0.742267261854469, "lpips": 0.16484877467155457}, "wrist_left": {"psnr": 13.71647776995701, "ssim": 0.4943288636824884, "lpips": 0.4548743963241577}, "wrist_right": {"psnr": 13.67843413050468, "ssim": 0.4799225738298798, "lpips": 0.4028312563896179}, "tactile_left": {"psnr": 40.8005228175978, "ssim": 0.9810461765180795, "lpips": 0.053001999855041504}, "tactile_right": {"psnr": 48.10936916567066, "ssim": 0.9933872153255533, "lpips": 0.01062576100230217}}, "media": {"short": {"video": "media/motherboard_e004_18_short.mp4", "poster": "media/motherboard_e004_18_short.jpg"}, "long": {"video": "media/motherboard_e004_18_long.mp4", "poster": "media/motherboard_e004_18_long.jpg"}}, "force": {"source": "recorded_normal_force", "units": "N", "fps": 15, "left": [4.852499961853027, 4.726428508758545, 3.0568182468414307, 3.0568182468414307, 0.502597451210022, 0.7983333468437195, 0.7983333468437195, 0.5090468525886536, 3.0568182468414307, 0.7983333468437195, 3.9167568683624268, 0.27666667103767395, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 3.0568182468414307, 3.9167568683624268, 5.403749942779541, 6.519285678863525, 5.486666679382324, 4.852499961853027, 4.852499961853027, 3.9167568683624268, 3.9167568683624268, 3.0568182468414307, 2.3248276710510254, 1.9444444179534912, 2.3248276710510254, 4.726428508758545, 4.726428508758545, 4.726428508758545, 4.821667671203613, 4.726428508758545, 3.9167568683624268, 3.9383208751678467, 3.9167568683624268, 3.9167568683624268, 3.0568182468414307, 3.0568182468414307, 3.9167568683624268, 3.9167568683624268, 3.1971428394317627, 3.9167568683624268, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 2.6312499046325684, 2.6312499046325684, 2.3248276710510254, 2.3248276710510254, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.920292377471924, 3.9167568683624268, 3.9167568683624268, 3.9167568683624268, 4.726428508758545, 4.726428508758545, 3.9167568683624268, 3.1971428394317627, 3.1971428394317627, 3.9167568683624268, 3.9167568683624268, 3.9167568683624268, 3.0568182468414307, 2.3248276710510254, 3.0568182468414307, 3.0568182468414307, 2.3248276710510254, 3.0568182468414307, 3.0568182468414307, 2.3248276710510254, 3.0568182468414307, 3.0568182468414307, 1.6830923557281494, 2.3248276710510254, 0.5600000023841858, 3.0568182468414307, 3.0568182468414307, 2.3248276710510254, 3.0568182468414307, 3.9167568683624268, 3.9167568683624268, 4.726428508758545, 5.403749942779541, 4.726428508758545, 4.726428508758545, 4.726428508758545, 4.726428508758545, 3.9167568683624268, 3.9167568683624268, 4.726428508758545, 3.9167568683624268, 3.9167568683624268, 3.932142496109009, 3.9167568683624268, 3.9167568683624268, 3.0568182468414307, 3.0568182468414307, 3.9167568683624268, 3.1971428394317627, 3.0568182468414307, 2.3248276710510254, 1.5576918125152588, 1.9444444179534912, 3.938002347946167, 4.852499961853027, 5.403749942779541, 5.403749942779541, 5.403749942779541, 4.726428508758545, 4.726428508758545, 3.9167568683624268, 3.9167568683624268, 3.9167568683624268, 3.9167568683624268, 3.0568182468414307, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 3.0568182468414307], "right": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.1599999964237213, 0.07424460351467133, 0.7660918831825256, 0.7983333468437195, 0.4399999976158142, 0.43391281366348267, 0.4399999976158142, 2.3248276710510254, 3.0568182468414307, 3.1971428394317627, 3.1885313987731934, 3.0568182468414307, 0.5600000023841858, 0.6110549569129944, 0.6894059777259827, 0.5600000023841858, 0.5600000023841858, 0.2640872597694397, 0.25, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7471941709518433, 0.43728530406951904]}, "long_curve": [{"video": {"psnr": 21.951437159480225, "ssim": 0.742267261854469, "lpips": 0.16484877467155457}, "wrist_left": {"psnr": 13.71647776995701, "ssim": 0.4943288636824884, "lpips": 0.4548743963241577}, "wrist_right": {"psnr": 13.67843413050468, "ssim": 0.4799225738298798, "lpips": 0.4028312563896179}, "tactile_left": {"psnr": 40.8005228175978, "ssim": 0.9810461765180795, "lpips": 0.053001999855041504}, "tactile_right": {"psnr": 48.10936916567066, "ssim": 0.9933872153255533, "lpips": 0.01062576100230217}}, {"video": {"psnr": 20.429328295632608, "ssim": 0.6672157087395201, "lpips": 0.22077956795692444}, "wrist_left": {"psnr": 14.108471856918378, "ssim": 0.3763261019322834, "lpips": 0.4009036719799042}, "wrist_right": {"psnr": 13.15503683429698, "ssim": 0.4192942328625914, "lpips": 0.46282365918159485}, "tactile_left": {"psnr": 37.63702412085632, "ssim": 0.969890140681849, "lpips": 0.0844373032450676}, "tactile_right": {"psnr": 46.90315471549735, "ssim": 0.989202991434242, "lpips": 0.012688413262367249}}, {"video": {"psnr": 20.630542486418065, "ssim": 0.6789567772889601, "lpips": 0.25094664096832275}, "wrist_left": {"psnr": 13.482805567460566, "ssim": 0.3294358157177821, "lpips": 0.45705804228782654}, "wrist_right": {"psnr": 12.611057055930706, "ssim": 0.45875415705467937, "lpips": 0.47309717535972595}, "tactile_left": {"psnr": 37.398032155363346, "ssim": 0.9589998306224834, "lpips": 0.11624830216169357}, "tactile_right": {"psnr": 44.821662473457636, "ssim": 0.9871241638567688, "lpips": 0.023875970393419266}}, {"video": {"psnr": 20.703360231299346, "ssim": 0.6657063703934467, "lpips": 0.23920533061027527}, "wrist_left": {"psnr": 13.980328016445773, "ssim": 0.3566097262254637, "lpips": 0.4587475061416626}, "wrist_right": {"psnr": 11.590031135016599, "ssim": 0.4839130669355925, "lpips": 0.4903850257396698}, "tactile_left": {"psnr": 36.206910930640916, "ssim": 0.9634286709144113, "lpips": 0.10447385907173157}, "tactile_right": {"psnr": 42.49334950517878, "ssim": 0.9846394940636657, "lpips": 0.03903605043888092}}, {"video": {"psnr": 20.43439598600849, "ssim": 0.6668217863733372, "lpips": 0.20978400111198425}, "wrist_left": {"psnr": 13.876204158700656, "ssim": 0.3921629016458711, "lpips": 0.4489287734031677}, "wrist_right": {"psnr": 11.034541511622463, "ssim": 0.5082536322499008, "lpips": 0.5838161706924438}, "tactile_left": {"psnr": 35.88744712935227, "ssim": 0.964271983104963, "lpips": 0.10340169072151184}, "tactile_right": {"psnr": 41.82519380345354, "ssim": 0.9821285215732547, "lpips": 0.05780966579914093}}, {"video": {"psnr": 20.106619160143605, "ssim": 0.6693127502956571, "lpips": 0.24546921253204346}, "wrist_left": {"psnr": 12.595812362127536, "ssim": 0.3389673233939733, "lpips": 0.4727482497692108}, "wrist_right": {"psnr": 8.88970762024181, "ssim": 0.38647249198645184, "lpips": 0.6191577911376953}, "tactile_left": {"psnr": 35.44380159552861, "ssim": 0.9628427829572198, "lpips": 0.10278292000293732}, "tactile_right": {"psnr": 40.89541682112798, "ssim": 0.9793904844472494, "lpips": 0.07614678144454956}}, {"video": {"psnr": 20.212123845929924, "ssim": 0.663812774672919, "lpips": 0.2611527740955353}, "wrist_left": {"psnr": 13.54901427002086, "ssim": 0.37189416169550266, "lpips": 0.47060489654541016}, "wrist_right": {"psnr": 9.605575047422407, "ssim": 0.4904844063554312, "lpips": 0.5896543264389038}, "tactile_left": {"psnr": 34.94951774272429, "ssim": 0.9589134020262627, "lpips": 0.13851380348205566}, "tactile_right": {"psnr": 40.00653752558358, "ssim": 0.9766357578545857, "lpips": 0.09546433389186859}}, {"video": {"psnr": 20.58792696381916, "ssim": 0.6463634151168367, "lpips": 0.25480952858924866}, "wrist_left": {"psnr": 14.275738108146914, "ssim": 0.3487214178328112, "lpips": 0.4323858618736267}, "wrist_right": {"psnr": 10.245352172638727, "ssim": 0.5263421565631925, "lpips": 0.5340056419372559}, "tactile_left": {"psnr": 34.63818812652392, "ssim": 0.9540862362256868, "lpips": 0.16433505713939667}, "tactile_right": {"psnr": 39.745113030102004, "ssim": 0.9725456521766966, "lpips": 0.11334459483623505}}, {"video": {"psnr": 20.593836925011367, "ssim": 0.666854850168752, "lpips": 0.23834370076656342}, "wrist_left": {"psnr": 13.834467436243296, "ssim": 0.3657795277003202, "lpips": 0.4663237929344177}, "wrist_right": {"psnr": 9.705221048097565, "ssim": 0.4305197521536428, "lpips": 0.6416798830032349}, "tactile_left": {"psnr": 34.37133990537053, "ssim": 0.9553151328397156, "lpips": 0.17058677971363068}, "tactile_right": {"psnr": 39.34595815000707, "ssim": 0.9696315446063766, "lpips": 0.12992388010025024}}, {"video": {"psnr": 20.181673264201862, "ssim": 0.6548175046656268, "lpips": 0.2352844923734665}, "wrist_left": {"psnr": 13.730974689363919, "ssim": 0.33337715912721144, "lpips": 0.48035478591918945}, "wrist_right": {"psnr": 8.872236263523012, "ssim": 0.36745825276631755, "lpips": 0.6183834075927734}, "tactile_left": {"psnr": 33.83581048952708, "ssim": 0.9545983695958429, "lpips": 0.1962071657180786}, "tactile_right": {"psnr": 38.1034883910297, "ssim": 0.9668564986579953, "lpips": 0.15274259448051453}}, {"video": {"psnr": 19.242308808578386, "ssim": 0.6432480961085094, "lpips": 0.2909431755542755}, "wrist_left": {"psnr": 13.938890657606569, "ssim": 0.3608634499937093, "lpips": 0.471031129360199}, "wrist_right": {"psnr": 9.3723393604972, "ssim": 0.48757664049603394, "lpips": 0.6064306497573853}, "tactile_left": {"psnr": 33.136476809663236, "ssim": 0.9420256133896878, "lpips": 0.22286108136177063}, "tactile_right": {"psnr": 37.26808620448008, "ssim": 0.9642547547456077, "lpips": 0.16918089985847473}}, {"video": {"psnr": 19.60010669681392, "ssim": 0.6532014423661454, "lpips": 0.2735157012939453}, "wrist_left": {"psnr": 13.68083995219138, "ssim": 0.307458951041625, "lpips": 0.47250956296920776}, "wrist_right": {"psnr": 10.4861246290503, "ssim": 0.5054555904443453, "lpips": 0.5874131917953491}, "tactile_left": {"psnr": 32.79090844277044, "ssim": 0.9341906080815349, "lpips": 0.22919853031635284}, "tactile_right": {"psnr": 36.8002922304789, "ssim": 0.961449405556154, "lpips": 0.1905636191368103}}, {"video": {"psnr": 19.078555508668998, "ssim": 0.6399355248382593, "lpips": 0.31238168478012085}, "wrist_left": {"psnr": 14.33160782237876, "ssim": 0.37705951856071995, "lpips": 0.4579193592071533}, "wrist_right": {"psnr": 9.601595877808029, "ssim": 0.38179312737804394, "lpips": 0.7039613723754883}, "tactile_left": {"psnr": 32.69556410456513, "ssim": 0.9452018456524189, "lpips": 0.20576605200767517}, "tactile_right": {"psnr": 36.210693812431664, "ssim": 0.9577549827678156, "lpips": 0.22848756611347198}}, {"video": {"psnr": 18.857687915554703, "ssim": 0.6275897753719935, "lpips": 0.32783180475234985}, "wrist_left": {"psnr": 14.144386373612852, "ssim": 0.37692217074873635, "lpips": 0.4857410192489624}, "wrist_right": {"psnr": 9.633267063990086, "ssim": 0.38481311514394123, "lpips": 0.6870409250259399}, "tactile_left": {"psnr": 32.62772197890027, "ssim": 0.9433225418278873, "lpips": 0.24229440093040466}, "tactile_right": {"psnr": 35.563425233335394, "ssim": 0.9545129253019502, "lpips": 0.24393337965011597}}, {"video": {"psnr": 18.90338366519528, "ssim": 0.6130059968992763, "lpips": 0.3503049612045288}, "wrist_left": {"psnr": 12.612754495762843, "ssim": 0.3386324857920783, "lpips": 0.49859121441841125}, "wrist_right": {"psnr": 10.818229131450428, "ssim": 0.48287089947139267, "lpips": 0.6082556843757629}, "tactile_left": {"psnr": 32.334198354064014, "ssim": 0.935217603444009, "lpips": 0.26504284143447876}, "tactile_right": {"psnr": 35.26409714273102, "ssim": 0.9517416232696359, "lpips": 0.25976547598838806}}], "long_metrics": {"video": {"psnr": 20.10088579418373, "ssim": 0.6599406690102472, "lpips": 0.25837342341740926}, "wrist_left": {"psnr": 13.723918235795821, "ssim": 0.3645693050060384, "lpips": 0.4619148174921672}, "wrist_right": {"psnr": 10.619916592139399, "ssim": 0.4529282730460958, "lpips": 0.5739290773868561}, "tactile_left": {"psnr": 34.98356431356321, "ssim": 0.9548900625254702, "lpips": 0.15994345247745514}, "tactile_right": {"psnr": 40.22372254697102, "ssim": 0.9727504010425034, "lpips": 0.12023926575978597}}}, {"id": "motherboard_e004_19", "episode": "motherboard_0912_episode_002.pt", "requested_episode": "motherboard_0912_episode_002.pt", "category": "full", "t_start": 944, "start_seconds": 62.93333333333333, "short_contact": [1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1], "future_transition_ticks": [], "long_contact_fraction": 1.0, "long_label": "full", "short_metrics": {"video": {"psnr": 24.707057471440464, "ssim": 0.8198905217132211, "lpips": 0.0713621973991394}, "wrist_left": {"psnr": 17.843286566767222, "ssim": 0.47117287551006126, "lpips": 0.3037768304347992}, "wrist_right": {"psnr": 28.68061706258017, "ssim": 0.9291106987963202, "lpips": 0.05154794082045555}, "tactile_left": {"psnr": 38.52909433142133, "ssim": 0.9589684619037038, "lpips": 0.08139127492904663}, "tactile_right": {"psnr": 48.74028753013803, "ssim": 0.9926519713568175, "lpips": 0.018830005079507828}}, "media": {"short": {"video": "media/motherboard_e004_19_short.mp4", "poster": "media/motherboard_e004_19_short.jpg"}, "long": {"video": "media/motherboard_e004_19_long.mp4", "poster": "media/motherboard_e004_19_long.jpg"}}, "force": {"source": "recorded_normal_force", "units": "N", "fps": 15, "left": [1.9444444179534912, 5.486666679382324, 5.403749942779541, 5.486666679382324, 5.486666679382324, 4.726428508758545, 4.726428508758545, 4.726428508758545, 5.397500038146973, 4.726428508758545, 4.726428508758545, 4.726428508758545, 4.726428508758545, 4.726428508758545, 4.726428508758545, 4.726428508758545, 3.9385359287261963, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 2.6312499046325684, 2.6312499046325684, 2.6312499046325684, 3.0568182468414307, 3.0568182468414307, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.6312499046325684, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 4.81326961517334, 4.852499961853027, 5.397634029388428, 4.852499961853027, 4.852499961853027, 5.397500038146973, 5.399270057678223, 5.397500038146973, 4.852499961853027, 4.852499961853027, 3.9167568683624268, 3.9167568683624268, 3.9167568683624268, 4.726428508758545, 4.726428508758545, 4.726428508758545, 4.726428508758545, 4.726428508758545, 3.1971428394317627, 3.1971428394317627, 3.1971428394317627, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.4042980670928955, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 2.6312499046325684, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 3.9167568683624268, 5.397500038146973, 4.726428508758545, 4.726428508758545, 4.726428508758545, 3.9167568683624268, 3.9167568683624268, 3.9388134479522705, 3.1971428394317627, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0808489322662354, 3.0568182468414307, 3.0568182468414307, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 1.9444444179534912, 1.5979106426239014, 0.7983333468437195, 0.7983333468437195, 2.3248276710510254, 2.3248276710510254, 0.7983333468437195, 2.243333339691162, 2.243333339691162, 2.3248276710510254, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.9167568683624268, 3.92547869682312, 3.9167568683624268, 4.852499961853027, 3.939357280731201, 4.726428508758545, 4.726428508758545, 3.940000057220459, 3.1971428394317627, 3.9167568683624268, 3.9167568683624268, 3.9167568683624268, 3.9167568683624268, 3.9167568683624268, 3.9247372150421143], "right": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0689406767487526, 0.4319555163383484, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]}, "long_curve": [{"video": {"psnr": 24.707057471440464, "ssim": 0.8198905217132211, "lpips": 0.0713621973991394}, "wrist_left": {"psnr": 17.843286566767222, "ssim": 0.47117287551006126, "lpips": 0.3037768304347992}, "wrist_right": {"psnr": 28.68061706258017, "ssim": 0.9291106987963202, "lpips": 0.05154794082045555}, "tactile_left": {"psnr": 38.52909433142133, "ssim": 0.9589684619037038, "lpips": 0.08139127492904663}, "tactile_right": {"psnr": 48.74028753013803, "ssim": 0.9926519713568175, "lpips": 0.018830005079507828}}, {"video": {"psnr": 21.59310657580484, "ssim": 0.7445073878471203, "lpips": 0.16377460956573486}, "wrist_left": {"psnr": 14.017185115904379, "ssim": 0.2916555900724628, "lpips": 0.4597545862197876}, "wrist_right": {"psnr": 24.735400114079773, "ssim": 0.8780344512492786, "lpips": 0.08739243447780609}, "tactile_left": {"psnr": 38.03109182292409, "ssim": 0.9642276013336619, "lpips": 0.09090344607830048}, "tactile_right": {"psnr": 45.24195179629115, "ssim": 0.9869596366133022, "lpips": 0.02694375067949295}}, {"video": {"psnr": 21.87477583580548, "ssim": 0.7443470786231128, "lpips": 0.1383117139339447}, "wrist_left": {"psnr": 14.628752945330403, "ssim": 0.3356531806794939, "lpips": 0.46777307987213135}, "wrist_right": {"psnr": 24.692577251367535, "ssim": 0.8807573694073786, "lpips": 0.08520747721195221}, "tactile_left": {"psnr": 37.05479930279139, "ssim": 0.9620030690202714, "lpips": 0.10418616235256195}, "tactile_right": {"psnr": 42.9160005025047, "ssim": 0.9851553376248098, "lpips": 0.025246649980545044}}, {"video": {"psnr": 19.87189862915549, "ssim": 0.71124751132678, "lpips": 0.21810460090637207}, "wrist_left": {"psnr": 12.40416718345697, "ssim": 0.34762566570958275, "lpips": 0.5200210213661194}, "wrist_right": {"psnr": 24.611605278541585, "ssim": 0.8621107364379392, "lpips": 0.12213428318500519}, "tactile_left": {"psnr": 37.374162534983185, "ssim": 0.9588035741428291, "lpips": 0.10938916355371475}, "tactile_right": {"psnr": 41.138131354800066, "ssim": 0.9833345573539685, "lpips": 0.04148042947053909}}, {"video": {"psnr": 18.0966661996127, "ssim": 0.6694675336140827, "lpips": 0.29591429233551025}, "wrist_left": {"psnr": 11.59447051200125, "ssim": 0.327439533313882, "lpips": 0.5340149402618408}, "wrist_right": {"psnr": 24.6469177062631, "ssim": 0.8674399774802168, "lpips": 0.12891754508018494}, "tactile_left": {"psnr": 36.18722835875022, "ssim": 0.9409630362102819, "lpips": 0.15581730008125305}, "tactile_right": {"psnr": 40.531518919314344, "ssim": 0.9812265544737282, "lpips": 0.06316669285297394}}, {"video": {"psnr": 16.822492459141934, "ssim": 0.6085761152954918, "lpips": 0.34298694133758545}, "wrist_left": {"psnr": 8.75203771547611, "ssim": 0.28516087519313144, "lpips": 0.7012394666671753}, "wrist_right": {"psnr": 19.36990013613033, "ssim": 0.814809237188008, "lpips": 0.20235730707645416}, "tactile_left": {"psnr": 35.46385337604813, "ssim": 0.9461547154758555, "lpips": 0.14811837673187256}, "tactile_right": {"psnr": 38.59076727632797, "ssim": 0.9773782791090955, "lpips": 0.09214514493942261}}, {"video": {"psnr": 16.730901039857308, "ssim": 0.5918773481907222, "lpips": 0.3566399812698364}, "wrist_left": {"psnr": 8.116434319011777, "ssim": 0.2551141470975664, "lpips": 0.7383401393890381}, "wrist_right": {"psnr": 20.795631725922576, "ssim": 0.8169130743244097, "lpips": 0.21250486373901367}, "tactile_left": {"psnr": 35.418654869300795, "ssim": 0.9581233759335304, "lpips": 0.12857261300086975}, "tactile_right": {"psnr": 37.00905096577709, "ssim": 0.9742892519961956, "lpips": 0.11780020594596863}}, {"video": {"psnr": 17.11232952703095, "ssim": 0.6133169396212151, "lpips": 0.3573395907878876}, "wrist_left": {"psnr": 11.063669890478884, "ssim": 0.3477056296630896, "lpips": 0.5729900002479553}, "wrist_right": {"psnr": 21.851370145966715, "ssim": 0.8402626050594233, "lpips": 0.16695767641067505}, "tactile_left": {"psnr": 35.2694452446056, "ssim": 0.9593872646145583, "lpips": 0.1328781247138977}, "tactile_right": {"psnr": 36.69645204158593, "ssim": 0.9720788837739334, "lpips": 0.13363081216812134}}, {"video": {"psnr": 17.56059932891326, "ssim": 0.6291543676861047, "lpips": 0.35907331109046936}, "wrist_left": {"psnr": 13.265447906376405, "ssim": 0.3511980056019457, "lpips": 0.5200481414794922}, "wrist_right": {"psnr": 21.382939795491538, "ssim": 0.8163828238029005, "lpips": 0.25439631938934326}, "tactile_left": {"psnr": 34.530054052329426, "ssim": 0.9538684067917043, "lpips": 0.1601664423942566}, "tactile_right": {"psnr": 36.16448574728774, "ssim": 0.9697426737324737, "lpips": 0.14725303649902344}}, {"video": {"psnr": 17.495453427713652, "ssim": 0.623069102527283, "lpips": 0.3464410901069641}, "wrist_left": {"psnr": 12.728299954695544, "ssim": 0.29912055423938566, "lpips": 0.5341101288795471}, "wrist_right": {"psnr": 21.44166171018458, "ssim": 0.8302960860545571, "lpips": 0.19017788767814636}, "tactile_left": {"psnr": 32.48372134769648, "ssim": 0.9274891551628424, "lpips": 0.20305350422859192}, "tactile_right": {"psnr": 34.247361128569594, "ssim": 0.9664964754736346, "lpips": 0.15537039935588837}}, {"video": {"psnr": 16.39020342864956, "ssim": 0.5925299612272861, "lpips": 0.38766226172447205}, "wrist_left": {"psnr": 10.293308892113735, "ssim": 0.26593030597818235, "lpips": 0.5612558126449585}, "wrist_right": {"psnr": 20.797390855831694, "ssim": 0.8429951488246268, "lpips": 0.15101122856140137}, "tactile_left": {"psnr": 32.20522082784989, "ssim": 0.9301261971659058, "lpips": 0.20929184556007385}, "tactile_right": {"psnr": 33.19726410034477, "ssim": 0.9632954630740325, "lpips": 0.16374579071998596}}, {"video": {"psnr": 15.860333733806293, "ssim": 0.5687672978546567, "lpips": 0.40613114833831787}, "wrist_left": {"psnr": 7.753918529930295, "ssim": 0.23506641832189706, "lpips": 0.6786292791366577}, "wrist_right": {"psnr": 20.2969210398879, "ssim": 0.8275704939914141, "lpips": 0.19493380188941956}, "tactile_left": {"psnr": 32.437074366418585, "ssim": 0.9425203511561383, "lpips": 0.2124505639076233}, "tactile_right": {"psnr": 32.192002795465086, "ssim": 0.9588641161535313, "lpips": 0.1877301037311554}}, {"video": {"psnr": 15.877199963933638, "ssim": 0.5526692243572786, "lpips": 0.44271352887153625}, "wrist_left": {"psnr": 7.678137576864286, "ssim": 0.25311831649511796, "lpips": 0.7454124689102173}, "wrist_right": {"psnr": 21.155237393323315, "ssim": 0.8356263495488426, "lpips": 0.16602101922035217}, "tactile_left": {"psnr": 32.35370134378084, "ssim": 0.9417813966096085, "lpips": 0.2240966558456421}, "tactile_right": {"psnr": 31.636471723010583, "ssim": 0.9592919121610701, "lpips": 0.17452247440814972}}, {"video": {"psnr": 16.703698823894896, "ssim": 0.5782571966103394, "lpips": 0.42522287368774414}, "wrist_left": {"psnr": 9.159160987213637, "ssim": 0.2753488251805866, "lpips": 0.6694478988647461}, "wrist_right": {"psnr": 21.081782325906335, "ssim": 0.8193156266482742, "lpips": 0.20360955595970154}, "tactile_left": {"psnr": 31.657118970879807, "ssim": 0.9224502324346067, "lpips": 0.2714289128780365}, "tactile_right": {"psnr": 31.643489607369663, "ssim": 0.9590158616129543, "lpips": 0.1747688502073288}}, {"video": {"psnr": 16.319337709273498, "ssim": 0.5743427958165719, "lpips": 0.42307743430137634}, "wrist_left": {"psnr": 8.317382579181846, "ssim": 0.29296517557091717, "lpips": 0.7092111110687256}, "wrist_right": {"psnr": 21.425626813589016, "ssim": 0.8380892211120564, "lpips": 0.17287912964820862}, "tactile_left": {"psnr": 31.440548595805215, "ssim": 0.9178260466340742, "lpips": 0.2793580889701843}, "tactile_right": {"psnr": 31.127778575762733, "ssim": 0.9568021952516155, "lpips": 0.1897934228181839}}], "long_metrics": {"video": {"psnr": 18.201070276935596, "ssim": 0.6414680254874178, "lpips": 0.3156503717104594}, "wrist_left": {"psnr": 11.174377378320182, "ssim": 0.30895167324182016, "lpips": 0.5810683270295461}, "wrist_right": {"psnr": 22.46437195700441, "ssim": 0.8466475933283764, "lpips": 0.15933656468987464}, "tactile_left": {"psnr": 34.69571795637233, "ssim": 0.9456461923059716, "lpips": 0.16740683168172837}, "tactile_right": {"psnr": 37.40486760430329, "ssim": 0.9724388779840775, "lpips": 0.1141618512570858}}}], "split": "mixed_mb_wrist_holdout.json", "unavailable": [], "complete": true}, {"id": "motherboard_custom_e004", "label": "Motherboard · custom attn", "checkpoint": "epoch_004.pt", "run": "nano_action_causal_custom_v1", "planned_cases": 20, "cases": [{"id": "motherboard_custom_e004_00", "episode": "motherboard_0909_episode_000.pt", "requested_episode": "motherboard_0909_episode_000.pt", "category": "none", "t_start": 1134, "start_seconds": 75.6, "short_contact": [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0], "future_transition_ticks": [], "long_contact_fraction": 0.015625, "long_label": "none_at_start", "short_metrics": {"video": {"psnr": 29.045947181698303, "ssim": 0.9078485170386242, "lpips": 0.0251186341047287}, "wrist_left": {"psnr": 32.31375214457175, "ssim": 0.9602393506050328, "lpips": 0.03159278631210327}, "wrist_right": {"psnr": 16.27478001912155, "ssim": 0.6289881158693365, "lpips": 0.1409875452518463}, "tactile_left": {"psnr": 48.26029490879307, "ssim": 0.993812441498686, "lpips": 0.00424744701012969}, "tactile_right": {"psnr": 44.83343208723384, "ssim": 0.9826142297696789, "lpips": 0.027776945382356644}}, "media": {"short": {"video": "media/motherboard_custom_e004_00_short.mp4", "poster": "media/motherboard_custom_e004_00_short.jpg"}, "long": {"video": "media/motherboard_custom_e004_00_long.mp4", "poster": "media/motherboard_custom_e004_00_long.jpg"}}, "force": {"source": "recorded_normal_force", "units": "N", "fps": 15, "left": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "right": [0.49666666984558105, 0.41999998688697815, 0.3276471495628357, 0.2779442071914673, 0.19263210892677307, 0.16038045287132263, 0.1599999964237213, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.1599999964237213, 0.1599999964237213, 0.1599999964237213, 0.0, 0.0, 0.0, 0.1599999964237213, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.1599999964237213, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.27239662408828735, 0.1599999964237213, 0.2841034233570099, 0.17168553173542023, 0.1641339212656021, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.1885688155889511, 0.49666666984558105, 1.1662499904632568, 0.7758844494819641, 0.46323081851005554]}, "long_curve": [{"video": {"psnr": 29.045947181698303, "ssim": 0.9078485170386242, "lpips": 0.0251186341047287}, "wrist_left": {"psnr": 32.31375214457175, "ssim": 0.9602393506050328, "lpips": 0.03159278631210327}, "wrist_right": {"psnr": 16.27478001912155, "ssim": 0.6289881158693365, "lpips": 0.1409875452518463}, "tactile_left": {"psnr": 48.26029490879307, "ssim": 0.993812441498686, "lpips": 0.00424744701012969}, "tactile_right": {"psnr": 44.83343208723384, "ssim": 0.9826142297696789, "lpips": 0.027776945382356644}}, {"video": {"psnr": 25.23555318520173, "ssim": 0.8298339576848999, "lpips": 0.047739919275045395}, "wrist_left": {"psnr": 25.093964164857216, "ssim": 0.8457700593543691, "lpips": 0.08211670815944672}, "wrist_right": {"psnr": 10.888094581192956, "ssim": 0.33453654024501156, "lpips": 0.39602237939834595}, "tactile_left": {"psnr": 45.39540736762768, "ssim": 0.9898480528138733, "lpips": 0.018500007688999176}, "tactile_right": {"psnr": 41.00664578338019, "ssim": 0.9716751433228853, "lpips": 0.07823614776134491}}, {"video": {"psnr": 23.22461518722673, "ssim": 0.7773031186707122, "lpips": 0.08656056225299835}, "wrist_left": {"psnr": 23.19275300782797, "ssim": 0.8156569746123277, "lpips": 0.10649394989013672}, "wrist_right": {"psnr": 9.77991044673687, "ssim": 0.28708867899517126, "lpips": 0.5052108764648438}, "tactile_left": {"psnr": 42.953641439697854, "ssim": 0.9851007577290346, "lpips": 0.04106966406106949}, "tactile_right": {"psnr": 40.75989096285957, "ssim": 0.9710974157797263, "lpips": 0.08602447807788849}}, {"video": {"psnr": 23.597751531048317, "ssim": 0.7799693194660877, "lpips": 0.08402736485004425}, "wrist_left": {"psnr": 21.54631918642302, "ssim": 0.7726454804703518, "lpips": 0.13125845789909363}, "wrist_right": {"psnr": 9.56758512155967, "ssim": 0.19828592024413058, "lpips": 0.5305718183517456}, "tactile_left": {"psnr": 40.50388042058448, "ssim": 0.979630114841413, "lpips": 0.09059827029705048}, "tactile_right": {"psnr": 39.177218618317276, "ssim": 0.9685876156121502, "lpips": 0.10724325478076935}}, {"video": {"psnr": 21.432897210094183, "ssim": 0.7333338392954856, "lpips": 0.12532594799995422}, "wrist_left": {"psnr": 20.240097206081096, "ssim": 0.7472378779774136, "lpips": 0.16619108617305756}, "wrist_right": {"psnr": 9.263332476137617, "ssim": 0.20059622991101073, "lpips": 0.538510799407959}, "tactile_left": {"psnr": 38.74615465553798, "ssim": 0.9752835298517472, "lpips": 0.1285758912563324}, "tactile_right": {"psnr": 38.65697534750637, "ssim": 0.9653380441400716, "lpips": 0.1244533509016037}}, {"video": {"psnr": 20.275747803628622, "ssim": 0.7040007458442633, "lpips": 0.17367646098136902}, "wrist_left": {"psnr": 20.044847568630935, "ssim": 0.7285312448307558, "lpips": 0.20553864538669586}, "wrist_right": {"psnr": 9.188378432061663, "ssim": 0.20992714485462782, "lpips": 0.5606946349143982}, "tactile_left": {"psnr": 36.98789664879965, "ssim": 0.9717117578203618, "lpips": 0.15239009261131287}, "tactile_right": {"psnr": 37.72768083696516, "ssim": 0.9636179140039636, "lpips": 0.13023847341537476}}, {"video": {"psnr": 20.27550142839384, "ssim": 0.6923629351706702, "lpips": 0.16961532831192017}, "wrist_left": {"psnr": 18.96744976069438, "ssim": 0.7011860759487096, "lpips": 0.23811176419258118}, "wrist_right": {"psnr": 8.964888123542718, "ssim": 0.2174977726000228, "lpips": 0.5590957403182983}, "tactile_left": {"psnr": 35.79957035689916, "ssim": 0.9679594660019782, "lpips": 0.1705564707517624}, "tactile_right": {"psnr": 36.78665733567605, "ssim": 0.9611467325797214, "lpips": 0.1371959000825882}}, {"video": {"psnr": 20.218416185286664, "ssim": 0.6811124509110376, "lpips": 0.16442695260047913}, "wrist_left": {"psnr": 18.046573421032445, "ssim": 0.6892720782897399, "lpips": 0.256061315536499}, "wrist_right": {"psnr": 8.924890452266768, "ssim": 0.22867784310981842, "lpips": 0.5616601705551147}, "tactile_left": {"psnr": 34.37109499615363, "ssim": 0.96434266973941, "lpips": 0.18936483561992645}, "tactile_right": {"psnr": 36.154710587069296, "ssim": 0.958122391763341, "lpips": 0.1563400775194168}}, {"video": {"psnr": 20.58243291226431, "ssim": 0.6887975298874923, "lpips": 0.14249438047409058}, "wrist_left": {"psnr": 17.27013375837799, "ssim": 0.674519057085081, "lpips": 0.28070151805877686}, "wrist_right": {"psnr": 8.810796994969843, "ssim": 0.23862053711570488, "lpips": 0.5762864947319031}, "tactile_left": {"psnr": 33.377184376267884, "ssim": 0.9609598239708931, "lpips": 0.20839861035346985}, "tactile_right": {"psnr": 35.53770703910197, "ssim": 0.9546576538400189, "lpips": 0.17386338114738464}}, {"video": {"psnr": 20.681859354665395, "ssim": 0.7046523506897839, "lpips": 0.13964109122753143}, "wrist_left": {"psnr": 16.501301453481673, "ssim": 0.6752566103530468, "lpips": 0.2948266267776489}, "wrist_right": {"psnr": 8.52258543590629, "ssim": 0.21951202618901594, "lpips": 0.5876061320304871}, "tactile_left": {"psnr": 32.16074238548603, "ssim": 0.9571170374679844, "lpips": 0.22408407926559448}, "tactile_right": {"psnr": 34.23214416422457, "ssim": 0.9524527248138612, "lpips": 0.1704948991537094}}, {"video": {"psnr": 19.984664264656526, "ssim": 0.6952283321675379, "lpips": 0.1570999026298523}, "wrist_left": {"psnr": 15.627575633945163, "ssim": 0.6483289298655388, "lpips": 0.31987395882606506}, "wrist_right": {"psnr": 7.24797025770896, "ssim": 0.22863027600789035, "lpips": 0.6227121353149414}, "tactile_left": {"psnr": 30.888550600895456, "ssim": 0.9531550240390942, "lpips": 0.23855695128440857}, "tactile_right": {"psnr": 32.994428543953155, "ssim": 0.950454539757055, "lpips": 0.17510215938091278}}, {"video": {"psnr": 19.10231301688651, "ssim": 0.6798743449841671, "lpips": 0.1729152649641037}, "wrist_left": {"psnr": 14.902718401430668, "ssim": 0.6231425105081422, "lpips": 0.3376433253288269}, "wrist_right": {"psnr": 6.257942033784608, "ssim": 0.20781252084715704, "lpips": 0.6398251056671143}, "tactile_left": {"psnr": 29.767230576493894, "ssim": 0.9490339431931527, "lpips": 0.25329911708831787}, "tactile_right": {"psnr": 31.300703467988566, "ssim": 0.9459120520823989, "lpips": 0.2095489352941513}}, {"video": {"psnr": 18.44957440222342, "ssim": 0.672951854153783, "lpips": 0.17864513397216797}, "wrist_left": {"psnr": 13.976246945826173, "ssim": 0.5793503429367387, "lpips": 0.37122470140457153}, "wrist_right": {"psnr": 5.975254287918715, "ssim": 0.19448709632679123, "lpips": 0.6460108757019043}, "tactile_left": {"psnr": 28.43798527565243, "ssim": 0.9449074049521078, "lpips": 0.2645942270755768}, "tactile_right": {"psnr": 30.17986990527185, "ssim": 0.9415419358139056, "lpips": 0.20113369822502136}}, {"video": {"psnr": 17.608379050164142, "ssim": 0.664692084423686, "lpips": 0.1829829216003418}, "wrist_left": {"psnr": 13.032288267924585, "ssim": 0.5370754028142514, "lpips": 0.4014684557914734}, "wrist_right": {"psnr": 6.362216720968643, "ssim": 0.19222956986357764, "lpips": 0.6581434011459351}, "tactile_left": {"psnr": 27.15709521232544, "ssim": 0.9396772998643015, "lpips": 0.2816721200942993}, "tactile_right": {"psnr": 29.063322047796394, "ssim": 0.9380998727757555, "lpips": 0.2036043405532837}}, {"video": {"psnr": 16.92139089236847, "ssim": 0.6609946592059752, "lpips": 0.19185125827789307}, "wrist_left": {"psnr": 12.180581450772344, "ssim": 0.5307264201208243, "lpips": 0.4225717782974243}, "wrist_right": {"psnr": 6.049639304525735, "ssim": 0.15146160707767015, "lpips": 0.6776332259178162}, "tactile_left": {"psnr": 26.10190760687199, "ssim": 0.9339534185792662, "lpips": 0.2924555242061615}, "tactile_right": {"psnr": 25.857760750967465, "ssim": 0.9069473046229979, "lpips": 0.27505722641944885}}], "long_metrics": {"video": {"psnr": 21.109136240387144, "ssim": 0.7248637359729471, "lpips": 0.13614140823483467}, "wrist_left": {"psnr": 18.86244015812516, "ssim": 0.7019292277181549, "lpips": 0.24304500520229338}, "wrist_right": {"psnr": 8.805217645893508, "ssim": 0.2492234586171291, "lpips": 0.5467314223448435}, "tactile_left": {"psnr": 35.39390912187244, "ssim": 0.9644328494908869, "lpips": 0.17055755391096075}, "tactile_right": {"psnr": 35.61794316522079, "ssim": 0.9554843713785021, "lpips": 0.15042088453968366}}}, {"id": "motherboard_custom_e004_01", "episode": "motherboard_0909_episode_000.pt", "requested_episode": "motherboard_0909_episode_000.pt", "category": "onset", "t_start": 1825, "start_seconds": 121.66666666666667, "short_contact": [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 1], "future_transition_ticks": [11], "long_contact_fraction": 0.7265625, "long_label": "onset", "short_metrics": {"video": {"psnr": 23.237504683325696, "ssim": 0.8349169749988415, "lpips": 0.0600258931517601}, "wrist_left": {"psnr": 15.298601248309144, "ssim": 0.40314218342357244, "lpips": 0.20503631234169006}, "wrist_right": {"psnr": 12.20560664106344, "ssim": 0.43333956275902724, "lpips": 0.32597529888153076}, "tactile_left": {"psnr": 37.90130667613877, "ssim": 0.9862903419900062, "lpips": 0.045379675924777985}, "tactile_right": {"psnr": 29.798718077417355, "ssim": 0.9568658655701657, "lpips": 0.15299156308174133}}, "media": {"short": {"video": "media/motherboard_custom_e004_01_short.mp4", "poster": "media/motherboard_custom_e004_01_short.jpg"}, "long": {"video": "media/motherboard_custom_e004_01_long.mp4", "poster": "media/motherboard_custom_e004_01_long.jpg"}}, "force": {"source": "recorded_normal_force", "units": "N", "fps": 15, "left": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.5254545211791992, 2.8207693099975586, 2.9424359798431396, 4.285294055938721, 4.3677778244018555, 5.145384788513184, 5.145384788513184, 5.259615421295166, 5.439090728759766, 5.439090728759766, 5.29610538482666, 5.439090728759766, 5.439090728759766, 6.251071453094482, 6.251071453094482, 6.733333110809326, 6.251071453094482, 7.192828178405762, 7.293181896209717, 7.293181896209717, 7.293181896209717, 6.733333110809326, 6.733333110809326, 6.251071453094482, 6.251071453094482, 4.285294055938721, 4.285294055938721, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "right": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.1662499904632568, 2.636666774749756, 2.9424359798431396, 4.285294055938721, 5.439090728759766, 5.439090728759766, 5.615621566772461, 6.251071453094482, 6.251071453094482, 6.251071453094482, 6.251071453094482, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 6.733333110809326, 6.733333110809326, 6.733333110809326, 6.733333110809326, 6.251071453094482, 2.9424359798431396, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.5445876717567444, 1.9833333492279053, 5.259615421295166, 5.259615421295166, 6.251071453094482, 6.733333110809326, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 6.251071453094482, 5.259615421295166, 4.285294055938721, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 2.8207693099975586, 1.1662769317626953, 1.5254545211791992, 2.9424359798431396, 4.285294055938721, 5.145384788513184, 6.251071453094482, 6.251071453094482, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 6.733333110809326, 6.251071453094482, 6.251071453094482, 6.251071453094482, 5.259615421295166, 5.145384788513184, 4.3677778244018555, 4.285294055938721, 4.285294055938721, 4.285294055938721, 4.285294055938721, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 1.9833333492279053, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.9833333492279053, 2.9424359798431396, 5.259615421295166, 7.293181896209717, 7.293181896209717, 7.310615539550781]}, "long_curve": [{"video": {"psnr": 23.237504683325696, "ssim": 0.8349169749988415, "lpips": 0.0600258931517601}, "wrist_left": {"psnr": 15.298601248309144, "ssim": 0.40314218342357244, "lpips": 0.20503631234169006}, "wrist_right": {"psnr": 12.20560664106344, "ssim": 0.43333956275902724, "lpips": 0.32597529888153076}, "tactile_left": {"psnr": 37.90130667613877, "ssim": 0.9862903419900062, "lpips": 0.045379675924777985}, "tactile_right": {"psnr": 29.798718077417355, "ssim": 0.9568658655701657, "lpips": 0.15299156308174133}}, {"video": {"psnr": 21.420907554252892, "ssim": 0.7421824158436727, "lpips": 0.1014307290315628}, "wrist_left": {"psnr": 13.642053310742405, "ssim": 0.33480058089280673, "lpips": 0.31802278757095337}, "wrist_right": {"psnr": 12.29781861430739, "ssim": 0.4037355508738508, "lpips": 0.33889836072921753}, "tactile_left": {"psnr": 27.519417733910014, "ssim": 0.9367188066367172, "lpips": 0.23939985036849976}, "tactile_right": {"psnr": 25.953673434812856, "ssim": 0.9331752702062102, "lpips": 0.24070101976394653}}, {"video": {"psnr": 21.307142605841847, "ssim": 0.7290912344795596, "lpips": 0.12339255213737488}, "wrist_left": {"psnr": 13.314779037991087, "ssim": 0.3062620319545936, "lpips": 0.41098088026046753}, "wrist_right": {"psnr": 11.1774053364358, "ssim": 0.3661512912167335, "lpips": 0.3883547782897949}, "tactile_left": {"psnr": 27.45895180462345, "ssim": 0.9376955681684107, "lpips": 0.23320244252681732}, "tactile_right": {"psnr": 25.82846149156439, "ssim": 0.9260372937545731, "lpips": 0.2535848021507263}}, {"video": {"psnr": 21.05631881706424, "ssim": 0.702242315686948, "lpips": 0.14255771040916443}, "wrist_left": {"psnr": 11.716054200593655, "ssim": 0.27974436504021494, "lpips": 0.45638883113861084}, "wrist_right": {"psnr": 11.151218350864205, "ssim": 0.34894244413886416, "lpips": 0.46008777618408203}, "tactile_left": {"psnr": 27.79688912271041, "ssim": 0.9259257199126856, "lpips": 0.27366578578948975}, "tactile_right": {"psnr": 35.91986845591512, "ssim": 0.9653252680287956, "lpips": 0.11425020545721054}}, {"video": {"psnr": 20.53221976749899, "ssim": 0.6900450619524943, "lpips": 0.18531274795532227}, "wrist_left": {"psnr": 10.456282123620442, "ssim": 0.3758088765400839, "lpips": 0.503704845905304}, "wrist_right": {"psnr": 11.677595836817673, "ssim": 0.22764850173853615, "lpips": 0.572942316532135}, "tactile_left": {"psnr": 37.853459050836676, "ssim": 0.9635931703303797, "lpips": 0.16212055087089539}, "tactile_right": {"psnr": 35.91548504822183, "ssim": 0.9608336045074198, "lpips": 0.12837287783622742}}, {"video": {"psnr": 19.74759757347581, "ssim": 0.668962704213849, "lpips": 0.2139303982257843}, "wrist_left": {"psnr": 11.193060689560074, "ssim": 0.3747479233297136, "lpips": 0.4422110915184021}, "wrist_right": {"psnr": 11.48483321972054, "ssim": 0.21794546829517653, "lpips": 0.630499005317688}, "tactile_left": {"psnr": 38.022001740479226, "ssim": 0.9630177574151619, "lpips": 0.1722976565361023}, "tactile_right": {"psnr": 29.97629246267795, "ssim": 0.9188127301715292, "lpips": 0.3051437735557556}}, {"video": {"psnr": 19.62278772432097, "ssim": 0.6577936360911638, "lpips": 0.22094225883483887}, "wrist_left": {"psnr": 9.829628050755838, "ssim": 0.28361442449350327, "lpips": 0.5303878784179688}, "wrist_right": {"psnr": 10.83232488201624, "ssim": 0.22476544929327547, "lpips": 0.6496584415435791}, "tactile_left": {"psnr": 37.348760101655024, "ssim": 0.9605489151864384, "lpips": 0.18446530401706696}, "tactile_right": {"psnr": 29.720651370205363, "ssim": 0.9062298162351698, "lpips": 0.34056931734085083}}, {"video": {"psnr": 18.74667384888185, "ssim": 0.6606012375639714, "lpips": 0.2782406806945801}, "wrist_left": {"psnr": 9.394526096894515, "ssim": 0.271508253212695, "lpips": 0.5655252933502197}, "wrist_right": {"psnr": 10.801462758894473, "ssim": 0.22545482097972872, "lpips": 0.6240788102149963}, "tactile_left": {"psnr": 36.441558246152205, "ssim": 0.9577479257265858, "lpips": 0.20106320083141327}, "tactile_right": {"psnr": 30.136870718877926, "ssim": 0.9023546283744112, "lpips": 0.35012686252593994}}, {"video": {"psnr": 18.17896823327151, "ssim": 0.6579874207157039, "lpips": 0.3042355179786682}, "wrist_left": {"psnr": 9.198168658708925, "ssim": 0.3011353606105531, "lpips": 0.5691105127334595}, "wrist_right": {"psnr": 9.804713849831648, "ssim": 0.20680100869764279, "lpips": 0.6369911432266235}, "tactile_left": {"psnr": 35.73781238226507, "ssim": 0.9548724770799564, "lpips": 0.2158997654914856}, "tactile_right": {"psnr": 33.91623570708134, "ssim": 0.9534636267961538, "lpips": 0.17124250531196594}}, {"video": {"psnr": 17.64354145490672, "ssim": 0.6434595317067551, "lpips": 0.3200231194496155}, "wrist_left": {"psnr": 8.704947342695048, "ssim": 0.26761308867825256, "lpips": 0.5999952554702759}, "wrist_right": {"psnr": 8.956863450413229, "ssim": 0.16069651085879774, "lpips": 0.6505956649780273}, "tactile_left": {"psnr": 34.75243675221037, "ssim": 0.9512460519983892, "lpips": 0.22866207361221313}, "tactile_right": {"psnr": 31.855046839105327, "ssim": 0.9320846996844456, "lpips": 0.2332366704940796}}, {"video": {"psnr": 17.58495519371843, "ssim": 0.6346518075274312, "lpips": 0.3296368718147278}, "wrist_left": {"psnr": 8.156912425320504, "ssim": 0.2313308387189395, "lpips": 0.6164708137512207}, "wrist_right": {"psnr": 8.94792970854566, "ssim": 0.15067534532705323, "lpips": 0.6847445964813232}, "tactile_left": {"psnr": 33.866070625957406, "ssim": 0.9480130027152942, "lpips": 0.2450331747531891}, "tactile_right": {"psnr": 29.45378696779364, "ssim": 0.872775670633626, "lpips": 0.31827056407928467}}, {"video": {"psnr": 17.558372303839946, "ssim": 0.6328764454090212, "lpips": 0.3301461338996887}, "wrist_left": {"psnr": 7.841154834589704, "ssim": 0.20817924655247969, "lpips": 0.64243084192276}, "wrist_right": {"psnr": 9.11670256887421, "ssim": 0.1502895449892021, "lpips": 0.6793787479400635}, "tactile_left": {"psnr": 32.92234234267738, "ssim": 0.9448853494234724, "lpips": 0.2602449059486389}, "tactile_right": {"psnr": 29.296114923286794, "ssim": 0.8956652500730206, "lpips": 0.2823343276977539}}, {"video": {"psnr": 17.3716549881795, "ssim": 0.6362455561763609, "lpips": 0.3359864354133606}, "wrist_left": {"psnr": 7.488334045680811, "ssim": 0.197433895964222, "lpips": 0.6518673896789551}, "wrist_right": {"psnr": 9.423738383913436, "ssim": 0.15204265716745002, "lpips": 0.66316157579422}, "tactile_left": {"psnr": 31.85333464618239, "ssim": 0.9412145918195012, "lpips": 0.27015602588653564}, "tactile_right": {"psnr": 29.34968563938402, "ssim": 0.9217596247959772, "lpips": 0.249749094247818}}, {"video": {"psnr": 17.11478804201891, "ssim": 0.6324255102804209, "lpips": 0.33714184165000916}, "wrist_left": {"psnr": 7.299179810020235, "ssim": 0.27163740837726846, "lpips": 0.6275072693824768}, "wrist_right": {"psnr": 9.74610644979853, "ssim": 0.1525222479292866, "lpips": 0.6357874274253845}, "tactile_left": {"psnr": 30.6600223738541, "ssim": 0.9374836406259079, "lpips": 0.28354108333587646}, "tactile_right": {"psnr": 30.032301698568496, "ssim": 0.9484010870040285, "lpips": 0.1738867461681366}}, {"video": {"psnr": 16.817471776354257, "ssim": 0.6271486221810949, "lpips": 0.35150447487831116}, "wrist_left": {"psnr": 7.032130933595519, "ssim": 0.26032517931705235, "lpips": 0.6381169557571411}, "wrist_right": {"psnr": 8.60901688933292, "ssim": 0.12550413474991448, "lpips": 0.6519461870193481}, "tactile_left": {"psnr": 29.570106904621653, "ssim": 0.9345870267359638, "lpips": 0.29161739349365234}, "tactile_right": {"psnr": 27.77594298468832, "ssim": 0.9111129359591006, "lpips": 0.2905119061470032}}], "long_metrics": {"video": {"psnr": 19.19606030446344, "ssim": 0.6767086983218192, "lpips": 0.24230049103498458}, "wrist_left": {"psnr": 10.037720853938527, "ssim": 0.29115224380706345, "lpips": 0.518517130613327}, "wrist_right": {"psnr": 10.415555796055292, "ssim": 0.2364343026009693, "lpips": 0.572873342037201}, "tactile_left": {"psnr": 33.31363136695161, "ssim": 0.9495893563843247, "lpips": 0.22044992595911025}, "tactile_right": {"psnr": 30.328609054640047, "ssim": 0.9269931581196418, "lpips": 0.2403314823905627}}}, {"id": "motherboard_custom_e004_02", "episode": "motherboard_0909_episode_000.pt", "requested_episode": "motherboard_0909_episode_000.pt", "category": "release", "t_start": 3072, "start_seconds": 204.8, "short_contact": [1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 0, 0], "future_transition_ticks": [11], "long_contact_fraction": 0.7734375, "long_label": "release", "short_metrics": {"video": {"psnr": 28.821564470385535, "ssim": 0.915468291410348, "lpips": 0.02924739569425583}, "wrist_left": {"psnr": 16.390209522458655, "ssim": 0.561853023789777, "lpips": 0.15761128067970276}, "wrist_right": {"psnr": 14.98788940098301, "ssim": 0.5495946661205353, "lpips": 0.2663235068321228}, "tactile_left": {"psnr": 42.58585073189565, "ssim": 0.9854077624794321, "lpips": 0.015114364214241505}, "tactile_right": {"psnr": 43.79956679773823, "ssim": 0.9833576076303396, "lpips": 0.02849171683192253}}, "media": {"short": {"video": "media/motherboard_custom_e004_02_short.mp4", "poster": "media/motherboard_custom_e004_02_short.jpg"}, "long": {"video": "media/motherboard_custom_e004_02_long.mp4", "poster": "media/motherboard_custom_e004_02_long.jpg"}}, "force": {"source": "recorded_normal_force", "units": "N", "fps": 15, "left": [2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.5254545211791992, 1.5254545211791992, 1.9833333492279053, 1.9833333492279053, 2.636666774749756, 2.8207693099975586, 2.8207693099975586, 2.874819755554199, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 4.285294055938721, 4.285294055938721, 4.3677778244018555, 5.145384788513184, 5.259615421295166, 5.259615421295166, 5.259615421295166, 5.259615421295166, 5.259615421295166, 5.145384788513184, 5.145384788513184, 5.145384788513184, 5.145384788513184, 5.145384788513184, 4.3677778244018555, 4.285294055938721, 2.9424359798431396, 2.9424359798431396, 2.636666774749756, 2.636666774749756, 2.636666774749756, 2.636666774749756, 2.636666774749756, 2.406248092651367, 2.435481309890747, 2.161963701248169, 2.636666774749756, 2.8207693099975586, 1.5254545211791992, 1.6252036094665527, 1.9833333492279053, 1.9833333492279053, 1.9833333492279053, 1.9833333492279053, 1.984134554862976, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.8207693099975586, 2.636666774749756, 2.8207693099975586, 2.8207693099975586, 2.636666774749756, 2.304839849472046, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 4.285294055938721, 4.285294055938721, 4.285294055938721, 4.285294055938721, 4.285294055938721, 4.285294055938721, 4.285294055938721, 2.9424359798431396, 2.8207693099975586, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "right": [4.285294055938721, 4.285294055938721, 4.285294055938721, 4.285294055938721, 4.3677778244018555, 4.3677778244018555, 4.285294055938721, 2.9424359798431396, 2.8207693099975586, 0.41999998688697815, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 2.9424359798431396, 2.9424359798431396, 3.053588390350342, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 4.285294055938721, 4.285294055938721, 4.285294055938721, 4.285294055938721, 4.285294055938721, 4.285294055938721, 4.285294055938721, 4.5, 4.3677778244018555, 4.285294055938721, 5.145384788513184, 5.145384788513184, 4.3677778244018555, 4.807384967803955, 4.3677778244018555, 4.3677778244018555, 4.285294055938721, 4.285294055938721, 4.285294055938721, 4.285294055938721, 4.285294055938721, 4.285294055938721, 4.285294055938721, 4.285294055938721, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 1.5254545211791992, 1.1662499904632568, 0.17491444945335388, 0.17491444945335388, 0.41999998688697815, 0.7223659157752991, 1.1662499904632568, 0.49666666984558105, 0.4887502193450928, 0.49666666984558105, 0.38555848598480225, 0.41999998688697815, 0.49666666984558105, 0.2736985683441162, 0.716099202632904, 1.1662499904632568, 2.636666774749756, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.9833333492279053, 2.8207693099975586, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 4.285294055938721, 4.285294055938721, 4.285294055938721, 4.285294055938721, 4.285294055938721, 4.285294055938721, 2.9424359798431396, 2.9424359798431396, 2.8207693099975586, 2.8207693099975586, 2.8207693099975586, 2.9424359798431396, 2.9424359798431396, 2.3705554008483887, 2.9424359798431396, 0.0, 0.0, 0.0, 0.0, 0.0]}, "long_curve": [{"video": {"psnr": 28.821564470385535, "ssim": 0.915468291410348, "lpips": 0.02924739569425583}, "wrist_left": {"psnr": 16.390209522458655, "ssim": 0.561853023789777, "lpips": 0.15761128067970276}, "wrist_right": {"psnr": 14.98788940098301, "ssim": 0.5495946661205353, "lpips": 0.2663235068321228}, "tactile_left": {"psnr": 42.58585073189565, "ssim": 0.9854077624794321, "lpips": 0.015114364214241505}, "tactile_right": {"psnr": 43.79956679773823, "ssim": 0.9833576076303396, "lpips": 0.02849171683192253}}, {"video": {"psnr": 25.644956857028856, "ssim": 0.8425093171061234, "lpips": 0.06452633440494537}, "wrist_left": {"psnr": 13.734830238801905, "ssim": 0.4442567732823306, "lpips": 0.30734750628471375}, "wrist_right": {"psnr": 13.471098148218328, "ssim": 0.4562266547277264, "lpips": 0.37656182050704956}, "tactile_left": {"psnr": 37.5348302739845, "ssim": 0.9677967681653392, "lpips": 0.08372758328914642}, "tactile_right": {"psnr": 42.51279005484137, "ssim": 0.9786778968326282, "lpips": 0.041185714304447174}}, {"video": {"psnr": 23.364919816211874, "ssim": 0.7611532222946609, "lpips": 0.09946482628583908}, "wrist_left": {"psnr": 13.187304236762813, "ssim": 0.4334395774540997, "lpips": 0.3391580581665039}, "wrist_right": {"psnr": 12.384158354001602, "ssim": 0.4202717143233876, "lpips": 0.46668848395347595}, "tactile_left": {"psnr": 34.413001725083774, "ssim": 0.9548146314895906, "lpips": 0.172084242105484}, "tactile_right": {"psnr": 35.34204805989968, "ssim": 0.9672171560434576, "lpips": 0.10346783697605133}}, {"video": {"psnr": 21.443061709536057, "ssim": 0.6982585664645946, "lpips": 0.15221163630485535}, "wrist_left": {"psnr": 11.836113293801485, "ssim": 0.4107394201561726, "lpips": 0.402323842048645}, "wrist_right": {"psnr": 11.398808475229536, "ssim": 0.37089760306148145, "lpips": 0.5076054930686951}, "tactile_left": {"psnr": 32.99825269795793, "ssim": 0.9517164805360618, "lpips": 0.23185884952545166}, "tactile_right": {"psnr": 31.350544890206482, "ssim": 0.9465209692278116, "lpips": 0.1978488564491272}}, {"video": {"psnr": 20.72014061479021, "ssim": 0.6737357774376427, "lpips": 0.17642620205879211}, "wrist_left": {"psnr": 11.098045160022789, "ssim": 0.3656538262918238, "lpips": 0.42100900411605835}, "wrist_right": {"psnr": 11.100446765669933, "ssim": 0.3779839283786517, "lpips": 0.4866797924041748}, "tactile_left": {"psnr": 34.03478712993434, "ssim": 0.9562142160424358, "lpips": 0.23994459211826324}, "tactile_right": {"psnr": 31.12176470937499, "ssim": 0.9424773882854209, "lpips": 0.2128913700580597}}, {"video": {"psnr": 19.866833902257007, "ssim": 0.6740307412307904, "lpips": 0.2015557587146759}, "wrist_left": {"psnr": 10.594584564859606, "ssim": 0.32196055486476477, "lpips": 0.4477189779281616}, "wrist_right": {"psnr": 10.458306976825755, "ssim": 0.37645501611703147, "lpips": 0.4630860686302185}, "tactile_left": {"psnr": 34.53669903889336, "ssim": 0.9556104029677596, "lpips": 0.2391796112060547}, "tactile_right": {"psnr": 32.90346510059584, "ssim": 0.9522573586611893, "lpips": 0.20515374839305878}}, {"video": {"psnr": 18.768137849779652, "ssim": 0.6553977514524811, "lpips": 0.27744317054748535}, "wrist_left": {"psnr": 10.883145744914444, "ssim": 0.30690517733617206, "lpips": 0.4833081364631653}, "wrist_right": {"psnr": 10.470937309787733, "ssim": 0.3645144429608768, "lpips": 0.48965319991111755}, "tactile_left": {"psnr": 34.82214940210409, "ssim": 0.9527281949618106, "lpips": 0.23649924993515015}, "tactile_right": {"psnr": 33.52807044852345, "ssim": 0.9538309244044898, "lpips": 0.19657164812088013}}, {"video": {"psnr": 18.583398655206842, "ssim": 0.6266621351758435, "lpips": 0.2898399531841278}, "wrist_left": {"psnr": 9.059623093948751, "ssim": 0.31659745078773005, "lpips": 0.5513641238212585}, "wrist_right": {"psnr": 9.269726576151305, "ssim": 0.3235499199705728, "lpips": 0.52532958984375}, "tactile_left": {"psnr": 34.246570800486936, "ssim": 0.947613769274067, "lpips": 0.25310248136520386}, "tactile_right": {"psnr": 35.129166759728825, "ssim": 0.9566432349439723, "lpips": 0.18981286883354187}}, {"video": {"psnr": 18.191283936754033, "ssim": 0.5889197122008101, "lpips": 0.3136090040206909}, "wrist_left": {"psnr": 8.580533738911454, "ssim": 0.3004565556866081, "lpips": 0.5616558194160461}, "wrist_right": {"psnr": 7.542667753099156, "ssim": 0.2793309544472064, "lpips": 0.600438117980957}, "tactile_left": {"psnr": 32.39324074894299, "ssim": 0.9398710228046132, "lpips": 0.2971442639827728}, "tactile_right": {"psnr": 35.88427487587539, "ssim": 0.9564499884494833, "lpips": 0.18962809443473816}}, {"video": {"psnr": 18.20697382832996, "ssim": 0.5813474661423553, "lpips": 0.29010483622550964}, "wrist_left": {"psnr": 8.667389501414425, "ssim": 0.30642653290665034, "lpips": 0.5873949527740479}, "wrist_right": {"psnr": 6.909826170727183, "ssim": 0.27664924635629906, "lpips": 0.6302281618118286}, "tactile_left": {"psnr": 30.45478268884924, "ssim": 0.9330768205151827, "lpips": 0.3194640874862671}, "tactile_right": {"psnr": 35.57935609343034, "ssim": 0.95489970062794, "lpips": 0.18015912175178528}}, {"video": {"psnr": 18.26122302406698, "ssim": 0.6061469543159503, "lpips": 0.2749518156051636}, "wrist_left": {"psnr": 8.69413680959775, "ssim": 0.26874241627884665, "lpips": 0.5850779414176941}, "wrist_right": {"psnr": 8.308750122410395, "ssim": 0.2976767891588319, "lpips": 0.6241899132728577}, "tactile_left": {"psnr": 35.18911977835587, "ssim": 0.9518603272533441, "lpips": 0.22311212122440338}, "tactile_right": {"psnr": 35.6857432311277, "ssim": 0.9548456863075411, "lpips": 0.16712485253810883}}, {"video": {"psnr": 17.660566190763284, "ssim": 0.5775475160900267, "lpips": 0.3256595730781555}, "wrist_left": {"psnr": 8.55219564247056, "ssim": 0.27989755580399134, "lpips": 0.604056715965271}, "wrist_right": {"psnr": 7.6715584975401665, "ssim": 0.22657777858633765, "lpips": 0.6854344606399536}, "tactile_left": {"psnr": 34.85453396356625, "ssim": 0.9493198750927858, "lpips": 0.23531681299209595}, "tactile_right": {"psnr": 34.462787125235714, "ssim": 0.9499020559683465, "lpips": 0.19296562671661377}}, {"video": {"psnr": 17.394933872845012, "ssim": 0.5745131342348644, "lpips": 0.34135866165161133}, "wrist_left": {"psnr": 8.58509776672253, "ssim": 0.2941826576372205, "lpips": 0.5931292772293091}, "wrist_right": {"psnr": 7.517002566613563, "ssim": 0.22244985567476805, "lpips": 0.6861045360565186}, "tactile_left": {"psnr": 34.48581247596969, "ssim": 0.946901353693457, "lpips": 0.24791833758354187}, "tactile_right": {"psnr": 31.060713190848475, "ssim": 0.9316864633515383, "lpips": 0.32330411672592163}}, {"video": {"psnr": 16.62873367171833, "ssim": 0.5718390810641822, "lpips": 0.3758150339126587}, "wrist_left": {"psnr": 8.719003884808417, "ssim": 0.3015500518194518, "lpips": 0.5937185287475586}, "wrist_right": {"psnr": 6.922998834266888, "ssim": 0.24471034285551338, "lpips": 0.7165563106536865}, "tactile_left": {"psnr": 33.9316348257159, "ssim": 0.9437550684746305, "lpips": 0.26068633794784546}, "tactile_right": {"psnr": 31.444702452853015, "ssim": 0.9297425359652218, "lpips": 0.31659549474716187}}, {"video": {"psnr": 16.217522633993728, "ssim": 0.5694697875375743, "lpips": 0.39807379245758057}, "wrist_left": {"psnr": 7.814654767690644, "ssim": 0.2918288078134512, "lpips": 0.6346530318260193}, "wrist_right": {"psnr": 6.215326156779252, "ssim": 0.24856955800796204, "lpips": 0.7234508991241455}, "tactile_left": {"psnr": 33.22599410758252, "ssim": 0.9408860894598623, "lpips": 0.2714473009109497}, "tactile_right": {"psnr": 32.67981903663178, "ssim": 0.9379745690471132, "lpips": 0.2657982409000397}}], "long_metrics": {"video": {"psnr": 19.984950068911157, "ssim": 0.6611332969438831, "lpips": 0.24068586627642313}, "wrist_left": {"psnr": 10.426457864479083, "ssim": 0.34696602546060606, "lpips": 0.4846351464589437}, "wrist_right": {"psnr": 9.641966807220253, "ssim": 0.33569723138314544, "lpips": 0.5498886903127035}, "tactile_left": {"psnr": 34.64715069262153, "ssim": 0.9518381855473581, "lpips": 0.2217733490591248}, "tactile_right": {"psnr": 34.83232085512741, "ssim": 0.9530989023830995, "lpips": 0.1873999538520972}}}, {"id": "motherboard_custom_e004_03", "episode": "motherboard_0909_episode_000.pt", "requested_episode": "motherboard_0909_episode_000.pt", "category": "full", "t_start": 2531, "start_seconds": 168.73333333333332, "short_contact": [1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1], "future_transition_ticks": [], "long_contact_fraction": 0.9296875, "long_label": "full", "short_metrics": {"video": {"psnr": 25.865548808932985, "ssim": 0.860647942789567, "lpips": 0.04781295359134674}, "wrist_left": {"psnr": 16.180801902957988, "ssim": 0.5343980556420048, "lpips": 0.19808387756347656}, "wrist_right": {"psnr": 18.06855106601911, "ssim": 0.6086333074512362, "lpips": 0.20203685760498047}, "tactile_left": {"psnr": 33.14820238611871, "ssim": 0.9588619162276819, "lpips": 0.05544927343726158}, "tactile_right": {"psnr": 37.78766738675978, "ssim": 0.9718669039230754, "lpips": 0.0650857612490654}}, "media": {"short": {"video": "media/motherboard_custom_e004_03_short.mp4", "poster": "media/motherboard_custom_e004_03_short.jpg"}, "long": {"video": "media/motherboard_custom_e004_03_long.mp4", "poster": "media/motherboard_custom_e004_03_long.jpg"}}, "force": {"source": "recorded_normal_force", "units": "N", "fps": 15, "left": [1.1936427354812622, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 4.285294055938721, 2.9424359798431396, 4.285294055938721, 5.145384788513184, 5.259615421295166, 5.259615421295166, 5.439090728759766, 5.319377899169922, 5.319377899169922, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.318239688873291, 7.4301862716674805, 7.316900253295898, 7.304895877838135, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 6.251071453094482, 6.251071453094482, 6.251071453094482, 5.439090728759766, 5.439090728759766, 5.259615421295166, 5.259615421295166, 5.4359307289123535, 5.259615421295166, 5.145384788513184, 5.145384788513184, 5.145384788513184, 5.145384788513184, 4.285294055938721, 2.9424359798431396, 2.9424359798431396, 2.0387191772460938, 2.8207693099975586, 2.9424359798431396, 2.9424359798431396, 4.285294055938721, 4.3677778244018555, 4.285294055938721, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 1.1733332872390747, 2.9424359798431396, 4.285294055938721, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.8207693099975586, 1.9833333492279053, 2.636666774749756, 2.8207693099975586, 2.8207693099975586, 2.8207693099975586, 2.9424359798431396, 2.9424359798431396, 2.4149999618530273, 1.9833333492279053, 1.9833333492279053, 1.9833333492279053, 1.9833333492279053, 1.7736024856567383, 1.9833333492279053, 1.9833333492279053, 1.1733332872390747, 0.2758376896381378, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "right": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.9833333492279053, 2.110971689224243, 2.8207693099975586, 2.9424359798431396, 2.9424359798431396, 4.285294055938721, 4.285294055938721, 4.285294055938721, 4.285294055938721, 4.285294055938721, 4.285294055938721, 4.285294055938721, 2.8207693099975586, 2.312258720397949, 1.22345769405365, 1.170535922050476, 1.1733332872390747, 1.9833333492279053, 2.9424359798431396, 2.9424359798431396, 4.285294055938721, 5.259615421295166, 5.259615421295166, 5.259615421295166, 5.411874771118164, 5.259615421295166, 4.3677778244018555, 4.285294055938721, 5.145384788513184, 5.259615421295166, 6.251071453094482, 6.251071453094482, 6.733333110809326, 6.733333110809326, 6.733333110809326, 6.251071453094482, 5.734507083892822, 6.251071453094482, 6.251071453094482, 6.733333110809326, 6.251071453094482, 5.439090728759766, 6.251071453094482, 6.251071453094482, 5.439090728759766, 5.259615421295166, 6.251071453094482, 6.251071453094482, 6.251071453094482, 7.166194438934326, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.00433874130249, 7.027249813079834, 7.293181896209717, 6.983473300933838, 7.044147491455078, 6.733333110809326, 6.733333110809326, 6.251071453094482, 6.251071453094482, 5.439090728759766, 5.439090728759766, 5.259615421295166, 5.145384788513184, 4.285294055938721, 4.285294055938721, 4.285294055938721, 4.285294055938721, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.8207693099975586, 0.7958375811576843, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.9833333492279053, 6.251071453094482, 7.293181896209717, 7.293181896209717, 7.295978546142578, 7.294878959655762, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.300464630126953, 7.300464630126953, 7.29489803314209, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 6.733333110809326, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717]}, "long_curve": [{"video": {"psnr": 25.865548808932985, "ssim": 0.860647942789567, "lpips": 0.04781295359134674}, "wrist_left": {"psnr": 16.180801902957988, "ssim": 0.5343980556420048, "lpips": 0.19808387756347656}, "wrist_right": {"psnr": 18.06855106601911, "ssim": 0.6086333074512362, "lpips": 0.20203685760498047}, "tactile_left": {"psnr": 33.14820238611871, "ssim": 0.9588619162276819, "lpips": 0.05544927343726158}, "tactile_right": {"psnr": 37.78766738675978, "ssim": 0.9718669039230754, "lpips": 0.0650857612490654}}, {"video": {"psnr": 20.819142792632462, "ssim": 0.7530384292725207, "lpips": 0.1388387382030487}, "wrist_left": {"psnr": 13.66950604169462, "ssim": 0.40463095365443075, "lpips": 0.4284247159957886}, "wrist_right": {"psnr": 13.578288368939553, "ssim": 0.4160243605451663, "lpips": 0.4285855293273926}, "tactile_left": {"psnr": 28.19189299781694, "ssim": 0.9291187697250067, "lpips": 0.21621030569076538}, "tactile_right": {"psnr": 37.26452910449217, "ssim": 0.9676675616417001, "lpips": 0.11606951802968979}}, {"video": {"psnr": 18.217413770185882, "ssim": 0.6929171433730013, "lpips": 0.23617389798164368}, "wrist_left": {"psnr": 11.631714113803728, "ssim": 0.30030652413188713, "lpips": 0.5275099277496338}, "wrist_right": {"psnr": 12.1047728442215, "ssim": 0.3623644245095021, "lpips": 0.5175570845603943}, "tactile_left": {"psnr": 28.83083747492107, "ssim": 0.9181772221545514, "lpips": 0.27092212438583374}, "tactile_right": {"psnr": 34.381234137191754, "ssim": 0.9613844811482836, "lpips": 0.1719217300415039}}, {"video": {"psnr": 17.33081624640188, "ssim": 0.6645533211086331, "lpips": 0.3083708882331848}, "wrist_left": {"psnr": 11.04695442861918, "ssim": 0.2646441581070237, "lpips": 0.5438739061355591}, "wrist_right": {"psnr": 9.746817643219995, "ssim": 0.2964450040140854, "lpips": 0.6078519821166992}, "tactile_left": {"psnr": 31.392301562653447, "ssim": 0.9324053035288136, "lpips": 0.26373809576034546}, "tactile_right": {"psnr": 33.20755641888012, "ssim": 0.9563048434144632, "lpips": 0.20617511868476868}}, {"video": {"psnr": 14.537149264638142, "ssim": 0.5758945088900584, "lpips": 0.4123958945274353}, "wrist_left": {"psnr": 9.359995204950424, "ssim": 0.2379035562827033, "lpips": 0.5766853094100952}, "wrist_right": {"psnr": 8.805552349187117, "ssim": 0.26275810360217383, "lpips": 0.6466965675354004}, "tactile_left": {"psnr": 32.81270424520785, "ssim": 0.9425251160783208, "lpips": 0.25915342569351196}, "tactile_right": {"psnr": 32.899200095871315, "ssim": 0.9519657731474076, "lpips": 0.21692831814289093}}, {"video": {"psnr": 14.113202423390964, "ssim": 0.5671769284340776, "lpips": 0.4176066219806671}, "wrist_left": {"psnr": 10.026305117179628, "ssim": 0.2243362330492975, "lpips": 0.5855451822280884}, "wrist_right": {"psnr": 10.011401313409838, "ssim": 0.27355621428171345, "lpips": 0.5983964204788208}, "tactile_left": {"psnr": 33.041024506801634, "ssim": 0.9455821870060476, "lpips": 0.25120195746421814}, "tactile_right": {"psnr": 31.878662029756796, "ssim": 0.9476196903104057, "lpips": 0.2251247763633728}}, {"video": {"psnr": 13.915876658660482, "ssim": 0.5611235960929322, "lpips": 0.4234079122543335}, "wrist_left": {"psnr": 9.154377569725895, "ssim": 0.23160319371032662, "lpips": 0.6590566039085388}, "wrist_right": {"psnr": 11.048446193525269, "ssim": 0.2968719841393534, "lpips": 0.5864872932434082}, "tactile_left": {"psnr": 33.40580355836317, "ssim": 0.9468078014101626, "lpips": 0.24987754225730896}, "tactile_right": {"psnr": 30.845343201142835, "ssim": 0.9423407239923447, "lpips": 0.24763089418411255}}, {"video": {"psnr": 13.921716252709892, "ssim": 0.5615224513313708, "lpips": 0.4209062457084656}, "wrist_left": {"psnr": 7.164990319038717, "ssim": 0.20739282390441152, "lpips": 0.7961671352386475}, "wrist_right": {"psnr": 10.44889016703767, "ssim": 0.2682553554928071, "lpips": 0.6152195334434509}, "tactile_left": {"psnr": 32.22754392785598, "ssim": 0.9395431066900739, "lpips": 0.2738794684410095}, "tactile_right": {"psnr": 30.957755483694424, "ssim": 0.9400624430828937, "lpips": 0.25752267241477966}}, {"video": {"psnr": 13.848233222215583, "ssim": 0.5568707972282032, "lpips": 0.4414851665496826}, "wrist_left": {"psnr": 7.147671915004018, "ssim": 0.21362734032465625, "lpips": 0.7847954034805298}, "wrist_right": {"psnr": 8.369171290855444, "ssim": 0.23918460368392605, "lpips": 0.7235671281814575}, "tactile_left": {"psnr": 32.2845488111076, "ssim": 0.9410711365823168, "lpips": 0.2637138366699219}, "tactile_right": {"psnr": 31.95671789283682, "ssim": 0.9431454587701458, "lpips": 0.24173542857170105}}, {"video": {"psnr": 14.043329692554023, "ssim": 0.561466819161045, "lpips": 0.459820032119751}, "wrist_left": {"psnr": 7.7207065169251194, "ssim": 0.20122335936692054, "lpips": 0.6868350505828857}, "wrist_right": {"psnr": 7.458692528688214, "ssim": 0.24712440656010157, "lpips": 0.8181701898574829}, "tactile_left": {"psnr": 32.14920169626951, "ssim": 0.9413233249858748, "lpips": 0.26738086342811584}, "tactile_right": {"psnr": 31.261428956176882, "ssim": 0.9415700221554555, "lpips": 0.24941357970237732}}, {"video": {"psnr": 14.343455596810246, "ssim": 0.5714402280746858, "lpips": 0.4463931620121002}, "wrist_left": {"psnr": 8.515242922174885, "ssim": 0.28362389272001604, "lpips": 0.628351628780365}, "wrist_right": {"psnr": 8.779581661030079, "ssim": 0.33644772043331017, "lpips": 0.7380152940750122}, "tactile_left": {"psnr": 32.433697592539595, "ssim": 0.9449265167519266, "lpips": 0.2465192675590515}, "tactile_right": {"psnr": 32.46007720265107, "ssim": 0.9488309558190737, "lpips": 0.20431004464626312}}, {"video": {"psnr": 15.011757853479569, "ssim": 0.5858933824034018, "lpips": 0.43286627531051636}, "wrist_left": {"psnr": 8.258773286090857, "ssim": 0.39157213767932875, "lpips": 0.5817391872406006}, "wrist_right": {"psnr": 7.288977797006849, "ssim": 0.22546997451897086, "lpips": 0.809153139591217}, "tactile_left": {"psnr": 32.098884133476, "ssim": 0.9427033668119082, "lpips": 0.24764296412467957}, "tactile_right": {"psnr": 31.29834516928382, "ssim": 0.9422786567656738, "lpips": 0.23820331692695618}}, {"video": {"psnr": 14.068969961755343, "ssim": 0.5536485788913222, "lpips": 0.47522976994514465}, "wrist_left": {"psnr": 10.014148148072062, "ssim": 0.47087455901651365, "lpips": 0.5558391809463501}, "wrist_right": {"psnr": 7.953805437910403, "ssim": 0.20386450050472457, "lpips": 0.8367987871170044}, "tactile_left": {"psnr": 31.513524112095247, "ssim": 0.940295883988798, "lpips": 0.25996100902557373}, "tactile_right": {"psnr": 28.845358418016247, "ssim": 0.9252672696035363, "lpips": 0.32480722665786743}}, {"video": {"psnr": 12.877719755646682, "ssim": 0.48680175656515023, "lpips": 0.5559802055358887}, "wrist_left": {"psnr": 10.151884225580211, "ssim": 0.4722758010417616, "lpips": 0.5880553722381592}, "wrist_right": {"psnr": 7.7381238219667745, "ssim": 0.20191752485290146, "lpips": 0.7970351576805115}, "tactile_left": {"psnr": 31.046153296453028, "ssim": 0.9376449400815585, "lpips": 0.2712828814983368}, "tactile_right": {"psnr": 28.379368762040396, "ssim": 0.9214103614500238, "lpips": 0.33964991569519043}}, {"video": {"psnr": 12.844601612029376, "ssim": 0.48098083580632955, "lpips": 0.5601288676261902}, "wrist_left": {"psnr": 9.950342433196777, "ssim": 0.4575779599681643, "lpips": 0.5945003032684326}, "wrist_right": {"psnr": 7.6457810472107255, "ssim": 0.22147978052309575, "lpips": 0.7881023287773132}, "tactile_left": {"psnr": 30.627399060619393, "ssim": 0.9356211549909734, "lpips": 0.2848356366157532}, "tactile_right": {"psnr": 28.745922700535033, "ssim": 0.9202928903419053, "lpips": 0.33435994386672974}}], "long_metrics": {"video": {"psnr": 15.717262260802901, "ssim": 0.6022651146281532, "lpips": 0.3851611087719599}, "wrist_left": {"psnr": 9.99956094300094, "ssim": 0.32639936990662977, "lpips": 0.5823641856511433}, "wrist_right": {"psnr": 9.936456902015236, "ssim": 0.29735981767420455, "lpips": 0.647578219572703}, "tactile_left": {"psnr": 31.68024795748661, "ssim": 0.9397738498009344, "lpips": 0.2454512434701125}, "tactile_right": {"psnr": 32.14461113062196, "ssim": 0.9454672023710926, "lpips": 0.2292625496784846}}}, {"id": "motherboard_custom_e004_04", "episode": "motherboard_0909_episode_001.pt", "requested_episode": "motherboard_0909_episode_001.pt", "category": "none", "t_start": 3, "start_seconds": 0.2, "short_contact": [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0], "future_transition_ticks": [], "long_contact_fraction": 0.0, "long_label": "none_throughout", "short_metrics": {"video": {"psnr": 34.816469344644034, "ssim": 0.9613942173216414, "lpips": 0.01124580204486847}, "wrist_left": {"psnr": 39.48400869029017, "ssim": 0.9773766205285715, "lpips": 0.01574988290667534}, "wrist_right": {"psnr": 39.07743942036521, "ssim": 0.9790999579557855, "lpips": 0.013850532472133636}, "tactile_left": {"psnr": 48.09992503309371, "ssim": 0.9936115904024951, "lpips": 0.0050105322152376175}, "tactile_right": {"psnr": 47.88987152833285, "ssim": 0.9930908247245779, "lpips": 0.00916217640042305}}, "media": {"short": {"video": "media/motherboard_custom_e004_04_short.mp4", "poster": "media/motherboard_custom_e004_04_short.jpg"}, "long": {"video": "media/motherboard_custom_e004_04_long.mp4", "poster": "media/motherboard_custom_e004_04_long.jpg"}}, "force": {"source": "recorded_normal_force", "units": "N", "fps": 15, "left": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "right": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]}, "long_curve": [{"video": {"psnr": 34.816469344644034, "ssim": 0.9613942173216414, "lpips": 0.01124580204486847}, "wrist_left": {"psnr": 39.48400869029017, "ssim": 0.9773766205285715, "lpips": 0.01574988290667534}, "wrist_right": {"psnr": 39.07743942036521, "ssim": 0.9790999579557855, "lpips": 0.013850532472133636}, "tactile_left": {"psnr": 48.09992503309371, "ssim": 0.9936115904024951, "lpips": 0.0050105322152376175}, "tactile_right": {"psnr": 47.88987152833285, "ssim": 0.9930908247245779, "lpips": 0.00916217640042305}}, {"video": {"psnr": 32.364244083912055, "ssim": 0.9424814357232589, "lpips": 0.021496638655662537}, "wrist_left": {"psnr": 34.58190778600407, "ssim": 0.9552569665624409, "lpips": 0.031973034143447876}, "wrist_right": {"psnr": 33.26591631990559, "ssim": 0.9499925618756426, "lpips": 0.03475005924701691}, "tactile_left": {"psnr": 44.81335135160573, "ssim": 0.9887219736948691, "lpips": 0.021814748644828796}, "tactile_right": {"psnr": 43.70521280700838, "ssim": 0.987200307946597, "lpips": 0.03151861950755119}}, {"video": {"psnr": 30.264410323239485, "ssim": 0.9213142514126391, "lpips": 0.03213737532496452}, "wrist_left": {"psnr": 26.92056897094586, "ssim": 0.8846061997798998, "lpips": 0.0847134217619896}, "wrist_right": {"psnr": 30.800604919876218, "ssim": 0.9184117422160913, "lpips": 0.0566391721367836}, "tactile_left": {"psnr": 42.39079651162729, "ssim": 0.9824925817060726, "lpips": 0.047820720821619034}, "tactile_right": {"psnr": 40.97475807013482, "ssim": 0.9830372705914271, "lpips": 0.052736151963472366}}, {"video": {"psnr": 28.709025905941388, "ssim": 0.89967547463215, "lpips": 0.0434236079454422}, "wrist_left": {"psnr": 23.630392732893547, "ssim": 0.8136140703540065, "lpips": 0.11830202490091324}, "wrist_right": {"psnr": 29.663298199642114, "ssim": 0.9042809668530783, "lpips": 0.07083280384540558}, "tactile_left": {"psnr": 40.31503115921276, "ssim": 0.9763786330213253, "lpips": 0.09928999841213226}, "tactile_right": {"psnr": 38.82389652619628, "ssim": 0.9795114410749851, "lpips": 0.07371148467063904}}, {"video": {"psnr": 27.548978524871714, "ssim": 0.8810802197295472, "lpips": 0.05631658434867859}, "wrist_left": {"psnr": 22.673649130677724, "ssim": 0.7937860506260506, "lpips": 0.13155582547187805}, "wrist_right": {"psnr": 28.64127888024521, "ssim": 0.8896128726339432, "lpips": 0.08954884111881256}, "tactile_left": {"psnr": 38.98366014993452, "ssim": 0.9724061497163735, "lpips": 0.14306974411010742}, "tactile_right": {"psnr": 36.83370307679881, "ssim": 0.9759701091314064, "lpips": 0.09155107289552689}}, {"video": {"psnr": 26.463070316656456, "ssim": 0.8613517496356983, "lpips": 0.06532111763954163}, "wrist_left": {"psnr": 18.958278825695793, "ssim": 0.6984771259756799, "lpips": 0.24170979857444763}, "wrist_right": {"psnr": 27.42353195564875, "ssim": 0.8768689576141604, "lpips": 0.1154431700706482}, "tactile_left": {"psnr": 38.270561461048715, "ssim": 0.9687356812845028, "lpips": 0.17258480191230774}, "tactile_right": {"psnr": 35.14196754484252, "ssim": 0.9721783790271339, "lpips": 0.11800962686538696}}, {"video": {"psnr": 25.52232334657107, "ssim": 0.8409337093889069, "lpips": 0.07605301588773727}, "wrist_left": {"psnr": 15.91687051042194, "ssim": 0.6491894141590645, "lpips": 0.2831927537918091}, "wrist_right": {"psnr": 24.22966068359781, "ssim": 0.8090075712282918, "lpips": 0.19379550218582153}, "tactile_left": {"psnr": 37.935299197921466, "ssim": 0.9661508047284817, "lpips": 0.1883966028690338}, "tactile_right": {"psnr": 33.8473346394199, "ssim": 0.9685002141728327, "lpips": 0.13363145291805267}}, {"video": {"psnr": 24.2024440438963, "ssim": 0.8121919935730937, "lpips": 0.0919683426618576}, "wrist_left": {"psnr": 15.036841024769853, "ssim": 0.5990763777057773, "lpips": 0.35562658309936523}, "wrist_right": {"psnr": 21.59366171601656, "ssim": 0.7199649209999435, "lpips": 0.26397937536239624}, "tactile_left": {"psnr": 37.550194315377055, "ssim": 0.9637115964193527, "lpips": 0.199903205037117}, "tactile_right": {"psnr": 33.031361978526675, "ssim": 0.9649888716798158, "lpips": 0.1489844024181366}}, {"video": {"psnr": 23.444334454386073, "ssim": 0.7929649116271986, "lpips": 0.10373189300298691}, "wrist_left": {"psnr": 14.957979068372511, "ssim": 0.6060346605537701, "lpips": 0.36435598134994507}, "wrist_right": {"psnr": 20.703153117706755, "ssim": 0.6973808882002632, "lpips": 0.2995344400405884}, "tactile_left": {"psnr": 36.72838816117206, "ssim": 0.9601113081156248, "lpips": 0.21714764833450317}, "tactile_right": {"psnr": 32.35182020809066, "ssim": 0.9627549038711616, "lpips": 0.1565820574760437}}, {"video": {"psnr": 22.1709907553987, "ssim": 0.7681949006639297, "lpips": 0.11951588839292526}, "wrist_left": {"psnr": 14.612321210414358, "ssim": 0.610568070419446, "lpips": 0.36242619156837463}, "wrist_right": {"psnr": 19.343835826234688, "ssim": 0.6514056968672575, "lpips": 0.3338432013988495}, "tactile_left": {"psnr": 35.92956361461633, "ssim": 0.9536190187802827, "lpips": 0.21997560560703278}, "tactile_right": {"psnr": 31.493821032198564, "ssim": 0.9601650550073545, "lpips": 0.16418826580047607}}, {"video": {"psnr": 21.46507710208766, "ssim": 0.7521798845596986, "lpips": 0.1310877501964569}, "wrist_left": {"psnr": 14.210556686528868, "ssim": 0.5990941909628642, "lpips": 0.3764118552207947}, "wrist_right": {"psnr": 18.436093207516024, "ssim": 0.6246746244788223, "lpips": 0.3753298223018646}, "tactile_left": {"psnr": 35.126391141847215, "ssim": 0.9508511192273108, "lpips": 0.2294134646654129}, "tactile_right": {"psnr": 30.68745783084936, "ssim": 0.9576756962156601, "lpips": 0.1780698001384735}}, {"video": {"psnr": 21.125620876214867, "ssim": 0.7474245353983588, "lpips": 0.1378655731678009}, "wrist_left": {"psnr": 13.93805160793449, "ssim": 0.5853500281593811, "lpips": 0.39324313402175903}, "wrist_right": {"psnr": 17.75945052434461, "ssim": 0.6010325955398435, "lpips": 0.4103531837463379}, "tactile_left": {"psnr": 34.886751934839786, "ssim": 0.9496932777887506, "lpips": 0.24088308215141296}, "tactile_right": {"psnr": 30.004929445590548, "ssim": 0.9554656512472187, "lpips": 0.1860397905111313}}, {"video": {"psnr": 20.631424156682883, "ssim": 0.7384270639921819, "lpips": 0.1500183641910553}, "wrist_left": {"psnr": 13.42822414023642, "ssim": 0.5644434923284926, "lpips": 0.4186554253101349}, "wrist_right": {"psnr": 16.995873577099047, "ssim": 0.5706007659425443, "lpips": 0.4486049711704254}, "tactile_left": {"psnr": 33.84700429719884, "ssim": 0.9472338019443327, "lpips": 0.24601730704307556}, "tactile_right": {"psnr": 29.197753530512728, "ssim": 0.952046489953692, "lpips": 0.19301918148994446}}, {"video": {"psnr": 20.3055093595118, "ssim": 0.7308409577514439, "lpips": 0.15768322348594666}, "wrist_left": {"psnr": 13.616492181686944, "ssim": 0.557910230080451, "lpips": 0.4291505813598633}, "wrist_right": {"psnr": 16.294783098604174, "ssim": 0.5284359205209186, "lpips": 0.4828720688819885}, "tactile_left": {"psnr": 33.43566188700832, "ssim": 0.9455576634031665, "lpips": 0.25167524814605713}, "tactile_right": {"psnr": 28.319287487090463, "ssim": 0.948617988108492, "lpips": 0.20150098204612732}}, {"video": {"psnr": 19.47610815071932, "ssim": 0.7049920595639163, "lpips": 0.18538548052310944}, "wrist_left": {"psnr": 13.818850209490135, "ssim": 0.5707922277618969, "lpips": 0.42864978313446045}, "wrist_right": {"psnr": 15.727866643729726, "ssim": 0.49262547749849595, "lpips": 0.5277231931686401}, "tactile_left": {"psnr": 33.19637614913007, "ssim": 0.9454177355383989, "lpips": 0.25365716218948364}, "tactile_right": {"psnr": 27.308488851701988, "ssim": 0.9443007848460488, "lpips": 0.20869286358356476}}], "long_metrics": {"video": {"psnr": 25.234002049648918, "ssim": 0.8236964909982443, "lpips": 0.09221671049793562}, "wrist_left": {"psnr": 19.71899951842418, "ssim": 0.6977050483971862, "lpips": 0.26904775177439055}, "wrist_right": {"psnr": 23.997096539368833, "ssim": 0.747559701361672, "lpips": 0.24780668914318085}, "tactile_left": {"psnr": 38.10059709104225, "ssim": 0.9643128623847559, "lpips": 0.16911065814395745}, "tactile_right": {"psnr": 34.640777637152965, "ssim": 0.967033599173227, "lpips": 0.12982652857899665}}}, {"id": "motherboard_custom_e004_05", "episode": "motherboard_0909_episode_001.pt", "requested_episode": "motherboard_0909_episode_001.pt", "category": "onset", "t_start": 760, "start_seconds": 50.666666666666664, "short_contact": [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 1], "future_transition_ticks": [11], "long_contact_fraction": 0.6953125, "long_label": "onset", "short_metrics": {"video": {"psnr": 24.017023994606966, "ssim": 0.8159875658124812, "lpips": 0.07392393052577972}, "wrist_left": {"psnr": 13.969918996471106, "ssim": 0.3374202662768161, "lpips": 0.4780891537666321}, "wrist_right": {"psnr": 15.226784287071393, "ssim": 0.5455967987225843, "lpips": 0.339693546295166}, "tactile_left": {"psnr": 38.924647992375554, "ssim": 0.9849219267687013, "lpips": 0.041195884346961975}, "tactile_right": {"psnr": 50.52313665315205, "ssim": 0.9938396561844401, "lpips": 0.005909963510930538}}, "media": {"short": {"video": "media/motherboard_custom_e004_05_short.mp4", "poster": "media/motherboard_custom_e004_05_short.jpg"}, "long": {"video": "media/motherboard_custom_e004_05_long.mp4", "poster": "media/motherboard_custom_e004_05_long.jpg"}}, "force": {"source": "recorded_normal_force", "units": "N", "fps": 15, "left": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 2.93143892288208, 2.8207693099975586, 2.9424359798431396, 2.636666774749756, 1.9833333492279053, 2.8207693099975586, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 2.8207693099975586, 2.9424359798431396, 4.285294055938721, 5.145384788513184, 5.145384788513184, 5.145384788513184, 5.145384788513184, 5.145384788513184, 5.259615421295166, 5.259615421295166, 5.439090728759766, 5.259615421295166, 5.259615421295166, 1.886374831199646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.9833333492279053, 1.5254545211791992, 2.024200916290283, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 4.285294055938721, 4.285294055938721, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 1.9833333492279053, 1.4500000476837158, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "right": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.1662499904632568, 1.1733332872390747, 1.1662499904632568, 1.5254545211791992, 2.8207693099975586, 4.285294055938721, 5.76570463180542, 6.251071453094482, 6.251071453094482, 6.251071453094482, 6.251071453094482, 6.733333110809326, 6.733333110809326, 6.251071453094482, 6.251071453094482, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 6.8976850509643555, 6.733333110809326, 6.251071453094482, 6.251071453094482, 5.145384788513184, 6.251071453094482, 6.251071453094482, 5.259615421295166, 5.439090728759766, 6.251071453094482, 5.439090728759766, 5.439090728759766, 5.439090728759766, 6.182772636413574, 6.251071453094482, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.013420581817627, 2.8207693099975586, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.455624520778656, 4.285294055938721, 5.259615421295166, 5.259615421295166, 5.439090728759766, 5.972020626068115, 5.972020626068115, 5.145384788513184, 2.9424359798431396, 2.9424359798431396, 4.285294055938721, 4.285294055938721, 4.285294055938721, 4.285294055938721, 4.285294055938721, 4.285294055938721, 4.5, 5.145384788513184, 5.259615421295166, 5.145384788513184, 2.9424359798431396, 0.2600841820240021, 0.0, 0.0, 0.0, 0.0, 0.0]}, "long_curve": [{"video": {"psnr": 24.017023994606966, "ssim": 0.8159875658124812, "lpips": 0.07392393052577972}, "wrist_left": {"psnr": 13.969918996471106, "ssim": 0.3374202662768161, "lpips": 0.4780891537666321}, "wrist_right": {"psnr": 15.226784287071393, "ssim": 0.5455967987225843, "lpips": 0.339693546295166}, "tactile_left": {"psnr": 38.924647992375554, "ssim": 0.9849219267687013, "lpips": 0.041195884346961975}, "tactile_right": {"psnr": 50.52313665315205, "ssim": 0.9938396561844401, "lpips": 0.005909963510930538}}, {"video": {"psnr": 20.789076606144672, "ssim": 0.7047397315524729, "lpips": 0.14950914680957794}, "wrist_left": {"psnr": 12.759703454264919, "ssim": 0.31932830053930994, "lpips": 0.4940703213214874}, "wrist_right": {"psnr": 13.742914089421525, "ssim": 0.49081361347261443, "lpips": 0.3645532727241516}, "tactile_left": {"psnr": 42.454347191581576, "ssim": 0.9851465460022968, "lpips": 0.03677381947636604}, "tactile_right": {"psnr": 47.667796462693516, "ssim": 0.9901271738986022, "lpips": 0.019151173532009125}}, {"video": {"psnr": 20.551764633293853, "ssim": 0.7189778923341597, "lpips": 0.18232235312461853}, "wrist_left": {"psnr": 12.413707154401735, "ssim": 0.25051646668200633, "lpips": 0.5613915920257568}, "wrist_right": {"psnr": 11.642559430767625, "ssim": 0.43513011253234724, "lpips": 0.44967585802078247}, "tactile_left": {"psnr": 29.004556873545035, "ssim": 0.9473779644000274, "lpips": 0.19818083941936493}, "tactile_right": {"psnr": 45.140199492812926, "ssim": 0.9852731559848784, "lpips": 0.0427260622382164}}, {"video": {"psnr": 18.93393364555766, "ssim": 0.6768541093319738, "lpips": 0.25649964809417725}, "wrist_left": {"psnr": 10.850712673885734, "ssim": 0.2100945257422586, "lpips": 0.605027437210083}, "wrist_right": {"psnr": 11.703123735873344, "ssim": 0.47129543378621214, "lpips": 0.49721771478652954}, "tactile_left": {"psnr": 29.804989369591652, "ssim": 0.9543684862786682, "lpips": 0.20003783702850342}, "tactile_right": {"psnr": 43.136813078446366, "ssim": 0.981536783291701, "lpips": 0.06676700711250305}}, {"video": {"psnr": 18.84321043318128, "ssim": 0.6681938320786416, "lpips": 0.2713169455528259}, "wrist_left": {"psnr": 11.22207877230785, "ssim": 0.39553902946311514, "lpips": 0.534395694732666}, "wrist_right": {"psnr": 7.2498628674157795, "ssim": 0.22374703213351627, "lpips": 0.6746601462364197}, "tactile_left": {"psnr": 39.76186595909876, "ssim": 0.97333257119676, "lpips": 0.14900143444538116}, "tactile_right": {"psnr": 41.943466781339644, "ssim": 0.9779113949982868, "lpips": 0.08685583621263504}}, {"video": {"psnr": 18.772992246657182, "ssim": 0.6698803730226295, "lpips": 0.26420843601226807}, "wrist_left": {"psnr": 11.991650406502997, "ssim": 0.41834143384252087, "lpips": 0.5623093843460083}, "wrist_right": {"psnr": 7.479524131575829, "ssim": 0.1716589030905648, "lpips": 0.7110927104949951}, "tactile_left": {"psnr": 38.309737765362286, "ssim": 0.969986642414107, "lpips": 0.16989284753799438}, "tactile_right": {"psnr": 33.68919772152332, "ssim": 0.9547436450310003, "lpips": 0.2071215808391571}}, {"video": {"psnr": 18.503185873768217, "ssim": 0.663551758508651, "lpips": 0.2912742495536804}, "wrist_left": {"psnr": 11.424082129665274, "ssim": 0.3631262710578965, "lpips": 0.5771390795707703}, "wrist_right": {"psnr": 7.478360219222388, "ssim": 0.17145458107253111, "lpips": 0.7169525623321533}, "tactile_left": {"psnr": 37.751785584549566, "ssim": 0.9668334670483458, "lpips": 0.18840017914772034}, "tactile_right": {"psnr": 30.578513481014674, "ssim": 0.9351744402776048, "lpips": 0.2834104895591736}}, {"video": {"psnr": 17.906304410292943, "ssim": 0.6459254622208668, "lpips": 0.34618306159973145}, "wrist_left": {"psnr": 10.624330479793532, "ssim": 0.2376233958815397, "lpips": 0.595093846321106}, "wrist_right": {"psnr": 7.258982234233776, "ssim": 0.16551879452477264, "lpips": 0.7257577776908875}, "tactile_left": {"psnr": 36.42423049300887, "ssim": 0.9637042655853748, "lpips": 0.20190992951393127}, "tactile_right": {"psnr": 29.54215441263105, "ssim": 0.9263797585700504, "lpips": 0.30873793363571167}}, {"video": {"psnr": 18.030775980717248, "ssim": 0.6480550842810885, "lpips": 0.34118524193763733}, "wrist_left": {"psnr": 11.652316721634739, "ssim": 0.2041604092598508, "lpips": 0.5794850587844849}, "wrist_right": {"psnr": 7.293873791133815, "ssim": 0.16422376621220489, "lpips": 0.7267341613769531}, "tactile_left": {"psnr": 32.81970996825782, "ssim": 0.9384596241535019, "lpips": 0.3088025450706482}, "tactile_right": {"psnr": 29.59393946485951, "ssim": 0.9259713685116938, "lpips": 0.3046191930770874}}, {"video": {"psnr": 18.36231622036379, "ssim": 0.6510802739278374, "lpips": 0.30549532175064087}, "wrist_left": {"psnr": 10.150667570656182, "ssim": 0.21469259745665475, "lpips": 0.6379178762435913}, "wrist_right": {"psnr": 8.097162379280313, "ssim": 0.1812937076526237, "lpips": 0.6651431322097778}, "tactile_left": {"psnr": 32.83454449386924, "ssim": 0.9343284633346951, "lpips": 0.3135260343551636}, "tactile_right": {"psnr": 30.14606934403212, "ssim": 0.9290877943680175, "lpips": 0.29529231786727905}}, {"video": {"psnr": 18.459474907073336, "ssim": 0.6459696506320577, "lpips": 0.3022533059120178}, "wrist_left": {"psnr": 10.895684191037859, "ssim": 0.22812156340968204, "lpips": 0.6095887422561646}, "wrist_right": {"psnr": 9.203489510793384, "ssim": 0.27866360435969645, "lpips": 0.6377246379852295}, "tactile_left": {"psnr": 31.699216476353026, "ssim": 0.9308826907402754, "lpips": 0.31481626629829407}, "tactile_right": {"psnr": 36.41453290953651, "ssim": 0.9609889754664425, "lpips": 0.17298591136932373}}, {"video": {"psnr": 18.58855393188772, "ssim": 0.6457157452064596, "lpips": 0.2808149456977844}, "wrist_left": {"psnr": 10.07040394985028, "ssim": 0.2555054179290431, "lpips": 0.5882936716079712}, "wrist_right": {"psnr": 8.922721542047803, "ssim": 0.2887924526264139, "lpips": 0.6067328453063965}, "tactile_left": {"psnr": 33.30606336989835, "ssim": 0.9523781703279648, "lpips": 0.24832767248153687}, "tactile_right": {"psnr": 33.91509293163583, "ssim": 0.9526255477519141, "lpips": 0.21856486797332764}}, {"video": {"psnr": 18.384203032833643, "ssim": 0.6417093525754272, "lpips": 0.2898218333721161}, "wrist_left": {"psnr": 9.538085416627153, "ssim": 0.26051016975765473, "lpips": 0.5984215140342712}, "wrist_right": {"psnr": 9.218278116638324, "ssim": 0.34785310199296804, "lpips": 0.6104530096054077}, "tactile_left": {"psnr": 32.54420211140665, "ssim": 0.9513273023388013, "lpips": 0.25565415620803833}, "tactile_right": {"psnr": 31.15900235147382, "ssim": 0.9369661643377103, "lpips": 0.30646783113479614}}, {"video": {"psnr": 17.920249991919302, "ssim": 0.6378593365466416, "lpips": 0.3140668272972107}, "wrist_left": {"psnr": 8.748886049763527, "ssim": 0.26923019975828444, "lpips": 0.6152532696723938}, "wrist_right": {"psnr": 8.905982215188683, "ssim": 0.39296682023509655, "lpips": 0.6165891885757446}, "tactile_left": {"psnr": 31.66511470803945, "ssim": 0.9478193654734687, "lpips": 0.2689248323440552}, "tactile_right": {"psnr": 30.297262985586542, "ssim": 0.9273257174518048, "lpips": 0.34940898418426514}}, {"video": {"psnr": 17.244007505211112, "ssim": 0.6078290995653034, "lpips": 0.3652757406234741}, "wrist_left": {"psnr": 8.205904864585706, "ssim": 0.28718172741817893, "lpips": 0.6024928689002991}, "wrist_right": {"psnr": 7.489088301953539, "ssim": 0.33196012585689527, "lpips": 0.663512110710144}, "tactile_left": {"psnr": 30.89491341144135, "ssim": 0.9452869410998236, "lpips": 0.2810361385345459}, "tactile_right": {"psnr": 32.48729822584978, "ssim": 0.9458587999499999, "lpips": 0.26620230078697205}}], "long_metrics": {"video": {"psnr": 19.020471560900596, "ssim": 0.6694886178397794, "lpips": 0.2689433991909027}, "wrist_left": {"psnr": 10.967875522096572, "ssim": 0.2834261182983208, "lpips": 0.5759313007195791}, "wrist_right": {"psnr": 9.394180456841168, "ssim": 0.31073125655140277, "lpips": 0.6004328449567159}, "tactile_left": {"psnr": 34.54666171789195, "ssim": 0.9564102951441875, "lpips": 0.21176536108056704}, "tactile_right": {"psnr": 36.41563175310584, "ssim": 0.9549206917382764, "lpips": 0.19561476353555918}}}, {"id": "motherboard_custom_e004_06", "episode": "motherboard_0909_episode_001.pt", "requested_episode": "motherboard_0909_episode_001.pt", "category": "release", "t_start": 2829, "start_seconds": 188.6, "short_contact": [1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 0, 0], "future_transition_ticks": [11], "long_contact_fraction": 0.6953125, "long_label": "release", "short_metrics": {"video": {"psnr": 25.388258843434613, "ssim": 0.8322659327618527, "lpips": 0.05398084968328476}, "wrist_left": {"psnr": 9.653386102033569, "ssim": 0.30314855495384935, "lpips": 0.5159096717834473}, "wrist_right": {"psnr": 20.735249131954376, "ssim": 0.8217110550638265, "lpips": 0.09314626455307007}, "tactile_left": {"psnr": 38.03626090078899, "ssim": 0.959589823830838, "lpips": 0.08360075205564499}, "tactile_right": {"psnr": 47.69460713133321, "ssim": 0.9923469765333086, "lpips": 0.01422412320971489}}, "media": {"short": {"video": "media/motherboard_custom_e004_06_short.mp4", "poster": "media/motherboard_custom_e004_06_short.jpg"}, "long": {"video": "media/motherboard_custom_e004_06_long.mp4", "poster": "media/motherboard_custom_e004_06_long.jpg"}}, "force": {"source": "recorded_normal_force", "units": "N", "fps": 15, "left": [4.3677778244018555, 4.285294055938721, 4.285294055938721, 4.285294055938721, 6.251071453094482, 7.293181896209717, 7.293181896209717, 7.5217695236206055, 7.3053178787231445, 5.259615421295166, 2.8207693099975586, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.1599999964237213, 0.22058026492595673, 0.22058026492595673, 0.43111228942871094, 2.9424359798431396, 4.285294055938721, 4.285294055938721, 7.293181896209717, 7.295934677124023, 7.317659854888916, 7.31187629699707, 7.314847946166992, 7.391359329223633, 7.860250473022461, 7.869999885559082, 7.869999885559082, 7.869999885559082, 7.869999885559082, 7.869999885559082, 7.869999885559082, 7.869999885559082, 7.869999885559082, 7.869999885559082, 7.869999885559082, 7.869999885559082, 7.7177629470825195, 7.514229774475098, 7.401813983917236, 7.470968723297119, 7.470968723297119, 7.314309120178223, 7.483780384063721, 7.869999885559082, 7.869999885559082, 7.869999885559082, 7.869999885559082, 7.869999885559082, 7.448915004730225, 7.499743938446045, 7.714519023895264, 7.869999885559082, 7.318450450897217, 4.285294055938721, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.9833333492279053, 1.9833333492279053, 5.259615421295166, 6.733333110809326, 6.733333110809326, 6.733333110809326, 7.293181896209717, 7.129386901855469, 6.733333110809326, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 6.733333110809326, 6.251071453094482, 5.259615421295166, 5.439090728759766, 6.251071453094482, 6.251071453094482, 6.733333110809326, 7.179339408874512, 6.962648868560791, 6.962648868560791, 7.012815952301025, 7.293181896209717, 6.733333110809326, 6.733333110809326, 6.251071453094482, 1.5254545211791992, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 2.8207693099975586, 6.251071453094482, 7.293181896209717, 7.293181896209717, 7.300662040710449, 7.869999885559082, 7.869999885559082, 7.869999885559082, 7.869999885559082], "right": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]}, "long_curve": [{"video": {"psnr": 25.388258843434613, "ssim": 0.8322659327618527, "lpips": 0.05398084968328476}, "wrist_left": {"psnr": 9.653386102033569, "ssim": 0.30314855495384935, "lpips": 0.5159096717834473}, "wrist_right": {"psnr": 20.735249131954376, "ssim": 0.8217110550638265, "lpips": 0.09314626455307007}, "tactile_left": {"psnr": 38.03626090078899, "ssim": 0.959589823830838, "lpips": 0.08360075205564499}, "tactile_right": {"psnr": 47.69460713133321, "ssim": 0.9923469765333086, "lpips": 0.01422412320971489}}, {"video": {"psnr": 23.179367083063617, "ssim": 0.7692677622239849, "lpips": 0.08248762786388397}, "wrist_left": {"psnr": 8.611629176537297, "ssim": 0.2023929649184546, "lpips": 0.6487938165664673}, "wrist_right": {"psnr": 18.51714237177184, "ssim": 0.7225780100000669, "lpips": 0.1568470448255539}, "tactile_left": {"psnr": 35.890200873568126, "ssim": 0.9598771254807511, "lpips": 0.15819746255874634}, "tactile_right": {"psnr": 44.1015162727895, "ssim": 0.9847520802106431, "lpips": 0.04579436033964157}}, {"video": {"psnr": 22.77155174894009, "ssim": 0.7612519737256126, "lpips": 0.09017867594957352}, "wrist_left": {"psnr": 8.653362616214508, "ssim": 0.16628374962765619, "lpips": 0.6559178829193115}, "wrist_right": {"psnr": 15.608777535331129, "ssim": 0.6380512451204223, "lpips": 0.2855980694293976}, "tactile_left": {"psnr": 33.10754801294842, "ssim": 0.9332556629552802, "lpips": 0.25319576263427734}, "tactile_right": {"psnr": 42.322837398587126, "ssim": 0.9811715244579506, "lpips": 0.06690181791782379}}, {"video": {"psnr": 22.403965750724932, "ssim": 0.7510882673284879, "lpips": 0.10214786231517792}, "wrist_left": {"psnr": 9.084900704159116, "ssim": 0.1690151725788332, "lpips": 0.6371675729751587}, "wrist_right": {"psnr": 14.487058211520845, "ssim": 0.5831247306350927, "lpips": 0.35630425810813904}, "tactile_left": {"psnr": 31.37336760062513, "ssim": 0.8531239847921313, "lpips": 0.3125673532485962}, "tactile_right": {"psnr": 40.6718825978919, "ssim": 0.9779541542114922, "lpips": 0.08693751692771912}}, {"video": {"psnr": 22.085105257442827, "ssim": 0.7344708329128542, "lpips": 0.1101730614900589}, "wrist_left": {"psnr": 9.427760490484697, "ssim": 0.16408980836950354, "lpips": 0.6411917805671692}, "wrist_right": {"psnr": 13.756961319141576, "ssim": 0.530403876214514, "lpips": 0.39997076988220215}, "tactile_left": {"psnr": 29.404296939890628, "ssim": 0.7906293692303983, "lpips": 0.3494286835193634}, "tactile_right": {"psnr": 39.24883854475223, "ssim": 0.9742502249988039, "lpips": 0.10779748857021332}}, {"video": {"psnr": 21.598249234521198, "ssim": 0.7165447894066025, "lpips": 0.12772083282470703}, "wrist_left": {"psnr": 9.15625098211966, "ssim": 0.16045940103680642, "lpips": 0.644338846206665}, "wrist_right": {"psnr": 12.810269594172075, "ssim": 0.49328292715881883, "lpips": 0.44597914814949036}, "tactile_left": {"psnr": 29.47933027852194, "ssim": 0.801214716875593, "lpips": 0.35380563139915466}, "tactile_right": {"psnr": 38.01858154615295, "ssim": 0.9715701355092199, "lpips": 0.13069133460521698}}, {"video": {"psnr": 18.85015589324486, "ssim": 0.673668416983431, "lpips": 0.23052886128425598}, "wrist_left": {"psnr": 8.775228990735739, "ssim": 0.1555555173640782, "lpips": 0.6858164072036743}, "wrist_right": {"psnr": 11.497831150130668, "ssim": 0.4298602216689962, "lpips": 0.512759804725647}, "tactile_left": {"psnr": 29.579262134582148, "ssim": 0.8129619960382877, "lpips": 0.35444968938827515}, "tactile_right": {"psnr": 37.087813858860194, "ssim": 0.9688689705398872, "lpips": 0.14051192998886108}}, {"video": {"psnr": 17.190369932160518, "ssim": 0.6400351775859008, "lpips": 0.3199292719364166}, "wrist_left": {"psnr": 8.745919647757656, "ssim": 0.1561545394272208, "lpips": 0.7034079432487488}, "wrist_right": {"psnr": 10.906975533537334, "ssim": 0.38802732455076683, "lpips": 0.5295301079750061}, "tactile_left": {"psnr": 29.79448111210216, "ssim": 0.875271245347327, "lpips": 0.30259186029434204}, "tactile_right": {"psnr": 36.3219273129896, "ssim": 0.9654551531170963, "lpips": 0.15433411300182343}}, {"video": {"psnr": 16.796166574422124, "ssim": 0.6187973530065747, "lpips": 0.37978172302246094}, "wrist_left": {"psnr": 8.015978252298183, "ssim": 0.1450849843061921, "lpips": 0.6968671083450317}, "wrist_right": {"psnr": 11.018371387384352, "ssim": 0.3942795889769629, "lpips": 0.535904049873352}, "tactile_left": {"psnr": 29.840181328023284, "ssim": 0.9482835519870862, "lpips": 0.22643119096755981}, "tactile_right": {"psnr": 35.880688320225815, "ssim": 0.9627086720715696, "lpips": 0.16288331151008606}}, {"video": {"psnr": 16.554744623229286, "ssim": 0.6197226715109634, "lpips": 0.39881977438926697}, "wrist_left": {"psnr": 8.583877872257869, "ssim": 0.17003870896500095, "lpips": 0.7067482471466064}, "wrist_right": {"psnr": 10.580871190020444, "ssim": 0.3517087810782663, "lpips": 0.5774334669113159}, "tactile_left": {"psnr": 28.44552244297613, "ssim": 0.9262413190806688, "lpips": 0.29395467042922974}, "tactile_right": {"psnr": 35.51734044676656, "ssim": 0.9603847594535843, "lpips": 0.16446244716644287}}, {"video": {"psnr": 17.46097935146595, "ssim": 0.6505308998794004, "lpips": 0.3479921221733093}, "wrist_left": {"psnr": 9.172818327164086, "ssim": 0.1758117235626704, "lpips": 0.6879439353942871}, "wrist_right": {"psnr": 10.685196915987952, "ssim": 0.34931306615591645, "lpips": 0.6050882935523987}, "tactile_left": {"psnr": 27.636939468763593, "ssim": 0.9236676054083424, "lpips": 0.3114233613014221}, "tactile_right": {"psnr": 34.772245825380196, "ssim": 0.9572305552924354, "lpips": 0.17529374361038208}}, {"video": {"psnr": 19.04604825518499, "ssim": 0.6762780630189, "lpips": 0.2953576445579529}, "wrist_left": {"psnr": 9.094708417671997, "ssim": 0.1807494694634329, "lpips": 0.6798925399780273}, "wrist_right": {"psnr": 11.278721673136259, "ssim": 0.3614987573605997, "lpips": 0.6077276468276978}, "tactile_left": {"psnr": 27.85910842041599, "ssim": 0.9275403802174444, "lpips": 0.3041461110115051}, "tactile_right": {"psnr": 34.23740875841432, "ssim": 0.9548232303056442, "lpips": 0.18411268293857574}}, {"video": {"psnr": 17.442521617390053, "ssim": 0.6592937783069567, "lpips": 0.36439117789268494}, "wrist_left": {"psnr": 9.508651734176071, "ssim": 0.18557159279953386, "lpips": 0.68671053647995}, "wrist_right": {"psnr": 10.576436746488728, "ssim": 0.3051799986728557, "lpips": 0.6392242908477783}, "tactile_left": {"psnr": 28.69842074710482, "ssim": 0.9392342107106268, "lpips": 0.26832038164138794}, "tactile_right": {"psnr": 33.61867614685903, "ssim": 0.9518090430358375, "lpips": 0.19506105780601501}}, {"video": {"psnr": 17.190634006285855, "ssim": 0.6553386208434762, "lpips": 0.38384532928466797}, "wrist_left": {"psnr": 9.552408566496583, "ssim": 0.1857435257849843, "lpips": 0.7445037364959717}, "wrist_right": {"psnr": 10.722031768423978, "ssim": 0.29307060557945164, "lpips": 0.6540988683700562}, "tactile_left": {"psnr": 29.155888432101122, "ssim": 0.944799362930492, "lpips": 0.24021348357200623}, "tactile_right": {"psnr": 33.062406883602456, "ssim": 0.9493516956784982, "lpips": 0.20961332321166992}}, {"video": {"psnr": 17.23947969000243, "ssim": 0.6583902865419312, "lpips": 0.3854445815086365}, "wrist_left": {"psnr": 9.324611656822956, "ssim": 0.17965318498897354, "lpips": 0.7557042837142944}, "wrist_right": {"psnr": 10.543958172314273, "ssim": 0.27398336653589195, "lpips": 0.6633281111717224}, "tactile_left": {"psnr": 27.183921985298003, "ssim": 0.8996192080019186, "lpips": 0.3406834602355957}, "tactile_right": {"psnr": 32.57346596161365, "ssim": 0.9465984350489802, "lpips": 0.2217637002468109}}], "long_metrics": {"video": {"psnr": 19.679839857434224, "ssim": 0.6944629884024619, "lpips": 0.24485195974508922}, "wrist_left": {"psnr": 9.024099569128667, "ssim": 0.17998352654314603, "lpips": 0.672727620601654}, "wrist_right": {"psnr": 12.91505684675439, "ssim": 0.4624049036514966, "lpips": 0.4708626796801885}, "tactile_left": {"psnr": 30.365648711847367, "ssim": 0.8996873041924791, "lpips": 0.27686732361714045}, "tactile_right": {"psnr": 37.675349133747915, "ssim": 0.9666183740309967, "lpips": 0.13735886340339978}}}, {"id": "motherboard_custom_e004_07", "episode": "motherboard_0909_episode_001.pt", "requested_episode": "motherboard_0909_episode_001.pt", "category": "full", "t_start": 467, "start_seconds": 31.133333333333333, "short_contact": [1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1], "future_transition_ticks": [], "long_contact_fraction": 1.0, "long_label": "full", "short_metrics": {"video": {"psnr": 29.92985941864092, "ssim": 0.9204243191879995, "lpips": 0.02561955526471138}, "wrist_left": {"psnr": 12.061631810347215, "ssim": 0.2992325238632616, "lpips": 0.34088581800460815}, "wrist_right": {"psnr": 21.68401823156383, "ssim": 0.7305966340505843, "lpips": 0.04492994397878647}, "tactile_left": {"psnr": 31.884268360194223, "ssim": 0.9412948809748459, "lpips": 0.0753319039940834}, "tactile_right": {"psnr": 48.29794846891151, "ssim": 0.9926841243576577, "lpips": 0.011306089349091053}}, "media": {"short": {"video": "media/motherboard_custom_e004_07_short.mp4", "poster": "media/motherboard_custom_e004_07_short.jpg"}, "long": {"video": "media/motherboard_custom_e004_07_long.mp4", "poster": "media/motherboard_custom_e004_07_long.jpg"}}, "force": {"source": "recorded_normal_force", "units": "N", "fps": 15, "left": [1.9833333492279053, 1.9833333492279053, 2.9424359798431396, 6.251071453094482, 6.251071453094482, 5.439090728759766, 5.439090728759766, 5.439090728759766, 6.251071453094482, 6.733333110809326, 6.733333110809326, 6.733333110809326, 6.733333110809326, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 6.733333110809326, 6.733333110809326, 6.733333110809326, 6.733333110809326, 6.733333110809326, 6.733333110809326, 6.733333110809326, 6.733333110809326, 6.733333110809326, 6.76942777633667, 7.228470325469971, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.284359455108643, 6.733333110809326, 6.251071453094482, 6.251071453094482, 5.145384788513184, 4.285294055938721, 2.9424359798431396, 2.8207693099975586, 2.8207693099975586, 1.9833333492279053, 1.9833333492279053, 1.5254545211791992, 1.5254545211791992, 1.5254545211791992, 1.5254545211791992, 1.5254545211791992, 1.5254545211791992, 2.8207693099975586, 1.9833333492279053, 1.9833333492279053, 2.9424359798431396, 4.285294055938721, 4.285294055938721, 4.285294055938721, 4.285294055938721, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 4.285294055938721, 4.285294055938721, 4.285294055938721, 4.285294055938721, 4.285294055938721, 4.285294055938721, 4.3677778244018555, 4.3677778244018555, 5.145384788513184, 5.145384788513184, 5.259615421295166, 5.259615421295166, 6.115070343017578, 6.201137542724609, 6.2079668045043945, 5.661813259124756, 6.073955059051514, 6.251071453094482, 6.251071453094482, 6.251071453094482, 6.251071453094482, 6.251071453094482, 6.251071453094482, 6.251071453094482, 6.251071453094482, 6.251071453094482, 6.251071453094482, 5.259615421295166, 5.145384788513184, 5.145384788513184, 5.145384788513184, 5.259615421295166, 5.145384788513184, 5.145384788513184, 5.145384788513184, 4.3677778244018555, 4.306504249572754, 4.285294055938721, 4.285294055938721, 4.285294055938721, 4.285294055938721, 4.285294055938721, 4.285294055938721, 2.9424359798431396, 2.3617031574249268, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "right": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.5254545211791992, 1.5254545211791992, 1.9833333492279053, 5.259615421295166, 7.293181896209717, 7.756637096405029, 7.756637096405029, 7.869999885559082, 7.869999885559082, 7.869999885559082, 7.869999885559082, 7.869999885559082, 7.869999885559082, 7.869999885559082, 7.869999885559082, 7.869999885559082, 7.869999885559082, 7.869999885559082, 7.869999885559082, 7.652376174926758, 7.380303382873535, 7.293181896209717, 7.293181896209717, 6.733333110809326, 6.251071453094482, 4.285294055938721, 4.285294055938721, 2.9424359798431396, 2.9424359798431396, 2.8207693099975586, 1.9833333492279053, 1.9833333492279053, 1.9833333492279053, 1.9833333492279053, 2.636666774749756, 2.9424359798431396, 4.3677778244018555, 6.251071453094482, 7.293181896209717, 7.293181896209717, 7.293181896209717, 6.251071453094482, 6.251071453094482, 6.251071453094482, 6.251071453094482, 6.733333110809326, 6.733333110809326, 6.733333110809326, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.319431304931641, 7.319431304931641, 7.724584579467773, 7.869999885559082, 7.869999885559082, 7.869999885559082, 7.869999885559082, 7.869999885559082, 7.869999885559082, 7.869999885559082, 7.869999885559082, 7.869999885559082, 7.869999885559082, 7.869999885559082, 7.869999885559082, 7.869999885559082, 7.869999885559082, 7.869999885559082, 7.312495708465576, 7.295211315155029, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 6.733333110809326, 6.733333110809326, 6.733333110809326, 5.439090728759766, 5.259615421295166, 5.259615421295166, 5.145384788513184, 5.145384788513184, 5.259615421295166, 5.259615421295166, 5.259615421295166, 2.9424359798431396, 4.285294055938721, 5.145384788513184, 5.259615421295166, 6.733333110809326, 6.733333110809326, 6.733333110809326, 6.7497968673706055, 7.293181896209717, 7.293181896209717, 7.293181896209717]}, "long_curve": [{"video": {"psnr": 29.92985941864092, "ssim": 0.9204243191879995, "lpips": 0.02561955526471138}, "wrist_left": {"psnr": 12.061631810347215, "ssim": 0.2992325238632616, "lpips": 0.34088581800460815}, "wrist_right": {"psnr": 21.68401823156383, "ssim": 0.7305966340505843, "lpips": 0.04492994397878647}, "tactile_left": {"psnr": 31.884268360194223, "ssim": 0.9412948809748459, "lpips": 0.0753319039940834}, "tactile_right": {"psnr": 48.29794846891151, "ssim": 0.9926841243576577, "lpips": 0.011306089349091053}}, {"video": {"psnr": 25.727322945381154, "ssim": 0.8360098338376103, "lpips": 0.060547709465026855}, "wrist_left": {"psnr": 11.618635375971436, "ssim": 0.2532955535615665, "lpips": 0.42301011085510254}, "wrist_right": {"psnr": 14.81727334583856, "ssim": 0.48636178872515506, "lpips": 0.31815433502197266}, "tactile_left": {"psnr": 29.310161877538565, "ssim": 0.9082330786513342, "lpips": 0.12886792421340942}, "tactile_right": {"psnr": 45.108312266756016, "ssim": 0.9860988808593196, "lpips": 0.0388626754283905}}, {"video": {"psnr": 23.558233515842005, "ssim": 0.7723958129299214, "lpips": 0.09432391077280045}, "wrist_left": {"psnr": 11.410668997119517, "ssim": 0.2331411742592513, "lpips": 0.41114550828933716}, "wrist_right": {"psnr": 11.895628002985985, "ssim": 0.32035092486278127, "lpips": 0.4817850589752197}, "tactile_left": {"psnr": 30.904494411168045, "ssim": 0.9224745424124505, "lpips": 0.13493868708610535}, "tactile_right": {"psnr": 31.475252063430283, "ssim": 0.9504505481837046, "lpips": 0.17305824160575867}}, {"video": {"psnr": 22.61245795203864, "ssim": 0.7425056086961439, "lpips": 0.11223940551280975}, "wrist_left": {"psnr": 10.934253268424111, "ssim": 0.2083473131848493, "lpips": 0.4358278810977936}, "wrist_right": {"psnr": 11.220062169495595, "ssim": 0.28661716718103125, "lpips": 0.5165368914604187}, "tactile_left": {"psnr": 28.82367404934813, "ssim": 0.8986095762792714, "lpips": 0.20711511373519897}, "tactile_right": {"psnr": 25.340374624284777, "ssim": 0.8981785916442846, "lpips": 0.3033652901649475}}, {"video": {"psnr": 22.33995762228939, "ssim": 0.7296216792977616, "lpips": 0.1299062967300415}, "wrist_left": {"psnr": 11.008836113853757, "ssim": 0.21322504047069818, "lpips": 0.4639871418476105}, "wrist_right": {"psnr": 10.685879325519117, "ssim": 0.2509374322928354, "lpips": 0.549959123134613}, "tactile_left": {"psnr": 28.926056479737152, "ssim": 0.9031430747356612, "lpips": 0.2434692680835724}, "tactile_right": {"psnr": 25.894682141298695, "ssim": 0.903603787759917, "lpips": 0.2862475514411926}}, {"video": {"psnr": 22.327691745807414, "ssim": 0.7265955039183137, "lpips": 0.1329696774482727}, "wrist_left": {"psnr": 11.258604022053538, "ssim": 0.20162242669431651, "lpips": 0.4980008900165558}, "wrist_right": {"psnr": 10.835355666648141, "ssim": 0.25241991883863135, "lpips": 0.5383455753326416}, "tactile_left": {"psnr": 31.971726862121276, "ssim": 0.9436502074653104, "lpips": 0.22759181261062622}, "tactile_right": {"psnr": 31.434180859404464, "ssim": 0.9330502816258828, "lpips": 0.22004297375679016}}, {"video": {"psnr": 22.27341716386023, "ssim": 0.7237462472356557, "lpips": 0.14006935060024261}, "wrist_left": {"psnr": 11.310592546070781, "ssim": 0.19839881014022948, "lpips": 0.49719664454460144}, "wrist_right": {"psnr": 10.897235040254605, "ssim": 0.2652776600353629, "lpips": 0.5291119813919067}, "tactile_left": {"psnr": 33.15720136312446, "ssim": 0.9477731338765838, "lpips": 0.22025048732757568}, "tactile_right": {"psnr": 33.206314333784825, "ssim": 0.9436814537702702, "lpips": 0.2101188749074936}}, {"video": {"psnr": 21.68179686015671, "ssim": 0.7115335213332286, "lpips": 0.17040348052978516}, "wrist_left": {"psnr": 11.552417804081394, "ssim": 0.20405345120675394, "lpips": 0.49454331398010254}, "wrist_right": {"psnr": 10.802303564430504, "ssim": 0.26432418477970454, "lpips": 0.5323306322097778}, "tactile_left": {"psnr": 29.743631460206032, "ssim": 0.930964118069127, "lpips": 0.2862626910209656}, "tactile_right": {"psnr": 28.084776330081095, "ssim": 0.9146810883351861, "lpips": 0.28812673687934875}}, {"video": {"psnr": 21.895787774341425, "ssim": 0.7186831101058477, "lpips": 0.15904134511947632}, "wrist_left": {"psnr": 11.366969060092927, "ssim": 0.1760609615318695, "lpips": 0.47960180044174194}, "wrist_right": {"psnr": 9.566031847336513, "ssim": 0.23439548741721067, "lpips": 0.6152727603912354}, "tactile_left": {"psnr": 27.322898070505882, "ssim": 0.9113600954656327, "lpips": 0.3537701368331909}, "tactile_right": {"psnr": 27.7002486095091, "ssim": 0.9113014642288688, "lpips": 0.2789243757724762}}, {"video": {"psnr": 21.38258380889646, "ssim": 0.7055172356902727, "lpips": 0.16683700680732727}, "wrist_left": {"psnr": 10.607172225834667, "ssim": 0.16685813451805775, "lpips": 0.49999210238456726}, "wrist_right": {"psnr": 8.794830267605438, "ssim": 0.19093567861216365, "lpips": 0.6474339962005615}, "tactile_left": {"psnr": 24.007214727066245, "ssim": 0.8806256464261172, "lpips": 0.4021686911582947}, "tactile_right": {"psnr": 26.377476590238057, "ssim": 0.8999225537911022, "lpips": 0.28789597749710083}}, {"video": {"psnr": 21.273762019912912, "ssim": 0.6914368936979343, "lpips": 0.17502790689468384}, "wrist_left": {"psnr": 10.45482328936359, "ssim": 0.1616507316049194, "lpips": 0.5109270215034485}, "wrist_right": {"psnr": 8.728576598708038, "ssim": 0.17473338613044043, "lpips": 0.6585522294044495}, "tactile_left": {"psnr": 23.68718024353678, "ssim": 0.8709383048961036, "lpips": 0.41341152787208557}, "tactile_right": {"psnr": 26.00421734479868, "ssim": 0.8920254689705058, "lpips": 0.29864996671676636}}, {"video": {"psnr": 20.426134194916706, "ssim": 0.6681710516474493, "lpips": 0.22413575649261475}, "wrist_left": {"psnr": 10.122228133513296, "ssim": 0.15036688614106997, "lpips": 0.539851188659668}, "wrist_right": {"psnr": 9.03558025906109, "ssim": 0.19924148940357952, "lpips": 0.6555989980697632}, "tactile_left": {"psnr": 26.456175856560886, "ssim": 0.9015421685541769, "lpips": 0.36953210830688477}, "tactile_right": {"psnr": 26.8292518065336, "ssim": 0.9055745555689046, "lpips": 0.2991219758987427}}, {"video": {"psnr": 20.164113982059405, "ssim": 0.6663359945934956, "lpips": 0.25766101479530334}, "wrist_left": {"psnr": 10.747396067338322, "ssim": 0.17456376275003488, "lpips": 0.5802353620529175}, "wrist_right": {"psnr": 9.365938027610945, "ssim": 0.22418152689564705, "lpips": 0.6477184295654297}, "tactile_left": {"psnr": 28.10335484951856, "ssim": 0.9179427817856778, "lpips": 0.3430158197879791}, "tactile_right": {"psnr": 29.184528893097816, "ssim": 0.9161643961267124, "lpips": 0.2692168056964874}}, {"video": {"psnr": 19.491167059944733, "ssim": 0.6546206398566721, "lpips": 0.28641360998153687}, "wrist_left": {"psnr": 10.463305166085942, "ssim": 0.18290898596468336, "lpips": 0.5830984115600586}, "wrist_right": {"psnr": 9.799647242705836, "ssim": 0.20966181864310882, "lpips": 0.6395829916000366}, "tactile_left": {"psnr": 29.004409423712087, "ssim": 0.9295960025155428, "lpips": 0.31968772411346436}, "tactile_right": {"psnr": 30.145609000250634, "ssim": 0.9226322744414935, "lpips": 0.252426415681839}}, {"video": {"psnr": 19.089214881190518, "ssim": 0.6565314122410288, "lpips": 0.28774023056030273}, "wrist_left": {"psnr": 9.419078675917596, "ssim": 0.27560839326119546, "lpips": 0.5225681066513062}, "wrist_right": {"psnr": 9.792823722374852, "ssim": 0.20966711362701504, "lpips": 0.6206263899803162}, "tactile_left": {"psnr": 29.910817131542238, "ssim": 0.937435590245713, "lpips": 0.29664236307144165}, "tactile_right": {"psnr": 28.604789139575274, "ssim": 0.909298534165, "lpips": 0.28494077920913696}}], "long_metrics": {"video": {"psnr": 22.27823339635191, "ssim": 0.7282752576179556, "lpips": 0.16152908379832903}, "wrist_left": {"psnr": 10.955774170404538, "ssim": 0.2066222766101838, "lpips": 0.4853914201259613}, "wrist_right": {"psnr": 11.194745554142603, "ssim": 0.28664681409968346, "lpips": 0.5330626224478086}, "tactile_left": {"psnr": 28.880884344392037, "ssim": 0.9163722134902366, "lpips": 0.26813708394765856}, "tactile_right": {"psnr": 30.912530831463656, "ssim": 0.9252898669219206, "lpips": 0.23348698200037082}}}, {"id": "motherboard_custom_e004_08", "episode": "motherboard_0909_episode_002.pt", "requested_episode": "motherboard_0909_episode_002.pt", "category": "none", "t_start": 2600, "start_seconds": 173.33333333333334, "short_contact": [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0], "future_transition_ticks": [], "long_contact_fraction": 0.296875, "long_label": "none_at_start", "short_metrics": {"video": {"psnr": 27.38179378545867, "ssim": 0.8808652051315784, "lpips": 0.03680217266082764}, "wrist_left": {"psnr": 13.329747233343898, "ssim": 0.39989026620547186, "lpips": 0.3502667546272278}, "wrist_right": {"psnr": 23.521797970776618, "ssim": 0.8150695635391789, "lpips": 0.04889083281159401}, "tactile_left": {"psnr": 43.831740533753134, "ssim": 0.9878514202235754, "lpips": 0.015370612032711506}, "tactile_right": {"psnr": 48.82435064883247, "ssim": 0.9933592750066318, "lpips": 0.00966675765812397}}, "media": {"short": {"video": "media/motherboard_custom_e004_08_short.mp4", "poster": "media/motherboard_custom_e004_08_short.jpg"}, "long": {"video": "media/motherboard_custom_e004_08_long.mp4", "poster": "media/motherboard_custom_e004_08_long.jpg"}}, "force": {"source": "recorded_normal_force", "units": "N", "fps": 15, "left": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.49666666984558105, 1.5254545211791992, 4.285294055938721, 5.439090728759766, 5.439090728759766, 6.733333110809326, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 5.145384788513184, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "right": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.49666666984558105, 0.49264535307884216, 1.2104182243347168, 4.285294055938721, 4.285294055938721, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.636666774749756, 1.5254545211791992, 1.1662499904632568, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]}, "long_curve": [{"video": {"psnr": 27.38179378545867, "ssim": 0.8808652051315784, "lpips": 0.03680217266082764}, "wrist_left": {"psnr": 13.329747233343898, "ssim": 0.39989026620547186, "lpips": 0.3502667546272278}, "wrist_right": {"psnr": 23.521797970776618, "ssim": 0.8150695635391789, "lpips": 0.04889083281159401}, "tactile_left": {"psnr": 43.831740533753134, "ssim": 0.9878514202235754, "lpips": 0.015370612032711506}, "tactile_right": {"psnr": 48.82435064883247, "ssim": 0.9933592750066318, "lpips": 0.00966675765812397}}, {"video": {"psnr": 23.470827031784346, "ssim": 0.7760112178697061, "lpips": 0.06800735741853714}, "wrist_left": {"psnr": 11.093746215977955, "ssim": 0.29630028790817553, "lpips": 0.5065791606903076}, "wrist_right": {"psnr": 20.23609218665819, "ssim": 0.7442004879212063, "lpips": 0.11513188481330872}, "tactile_left": {"psnr": 40.914564282869506, "ssim": 0.973525233559894, "lpips": 0.06554114818572998}, "tactile_right": {"psnr": 45.393961812185985, "ssim": 0.9865504032608281, "lpips": 0.03409643471240997}}, {"video": {"psnr": 21.307845456110815, "ssim": 0.722983001401582, "lpips": 0.1359790861606598}, "wrist_left": {"psnr": 10.923227043020685, "ssim": 0.2836501029491041, "lpips": 0.5368530750274658}, "wrist_right": {"psnr": 19.2425841912477, "ssim": 0.6956762547514737, "lpips": 0.15580978989601135}, "tactile_left": {"psnr": 41.116443567325966, "ssim": 0.9697972474092066, "lpips": 0.10153712332248688}, "tactile_right": {"psnr": 43.494641691528955, "ssim": 0.9812259249798462, "lpips": 0.05645249783992767}}, {"video": {"psnr": 21.249405563020225, "ssim": 0.7089922511113643, "lpips": 0.14126980304718018}, "wrist_left": {"psnr": 11.468425478545232, "ssim": 0.29661397583570803, "lpips": 0.5649915933609009}, "wrist_right": {"psnr": 17.693788715646296, "ssim": 0.6586438639891226, "lpips": 0.20311440527439117}, "tactile_left": {"psnr": 37.620009849041914, "ssim": 0.9644907625351687, "lpips": 0.15839408338069916}, "tactile_right": {"psnr": 42.13863305005874, "ssim": 0.9781348200367244, "lpips": 0.07681512832641602}}, {"video": {"psnr": 20.924293291199746, "ssim": 0.6921989467310838, "lpips": 0.1596493422985077}, "wrist_left": {"psnr": 9.225322783958315, "ssim": 0.2522270553439936, "lpips": 0.6442121267318726}, "wrist_right": {"psnr": 16.514519949553975, "ssim": 0.6211300209938818, "lpips": 0.24910522997379303}, "tactile_left": {"psnr": 36.126889728610834, "ssim": 0.9594665343394877, "lpips": 0.21220889687538147}, "tactile_right": {"psnr": 40.8227608467447, "ssim": 0.9745934975102777, "lpips": 0.09810584038496017}}, {"video": {"psnr": 20.251581080263684, "ssim": 0.6756857742370697, "lpips": 0.19444239139556885}, "wrist_left": {"psnr": 9.246857399077214, "ssim": 0.2760233903098869, "lpips": 0.6329606771469116}, "wrist_right": {"psnr": 14.989464432564233, "ssim": 0.5907487193867669, "lpips": 0.29911741614341736}, "tactile_left": {"psnr": 29.900485438193893, "ssim": 0.9255549263016998, "lpips": 0.3187670409679413}, "tactile_right": {"psnr": 39.578577520977916, "ssim": 0.971912368902023, "lpips": 0.11977459490299225}}, {"video": {"psnr": 18.647805453465157, "ssim": 0.6468030252186736, "lpips": 0.2567550241947174}, "wrist_left": {"psnr": 10.808263876728878, "ssim": 0.38604556051514155, "lpips": 0.5733102560043335}, "wrist_right": {"psnr": 12.412441125783245, "ssim": 0.5366642470547278, "lpips": 0.38504087924957275}, "tactile_left": {"psnr": 29.06158027004938, "ssim": 0.93612152662271, "lpips": 0.27691924571990967}, "tactile_right": {"psnr": 38.93171890808391, "ssim": 0.9693254556694213, "lpips": 0.13463157415390015}}, {"video": {"psnr": 17.976196220785535, "ssim": 0.647264330192957, "lpips": 0.2936580181121826}, "wrist_left": {"psnr": 9.596475801287713, "ssim": 0.35282089367041325, "lpips": 0.5995254516601562}, "wrist_right": {"psnr": 9.654678664594954, "ssim": 0.3304269720889339, "lpips": 0.5712031126022339}, "tactile_left": {"psnr": 36.75087546378557, "ssim": 0.9604477588522549, "lpips": 0.19297441840171814}, "tactile_right": {"psnr": 38.42715060279575, "ssim": 0.966022936578596, "lpips": 0.1522112935781479}}, {"video": {"psnr": 17.374671413237245, "ssim": 0.6397059841179604, "lpips": 0.3183724284172058}, "wrist_left": {"psnr": 9.446890474001401, "ssim": 0.3071037628738632, "lpips": 0.6390648484230042}, "wrist_right": {"psnr": 10.113993518715281, "ssim": 0.30209339724133355, "lpips": 0.603035569190979}, "tactile_left": {"psnr": 36.14400646889921, "ssim": 0.9577615680170429, "lpips": 0.2031777799129486}, "tactile_right": {"psnr": 36.60691202704805, "ssim": 0.9610210114940626, "lpips": 0.17086279392242432}}, {"video": {"psnr": 17.89402545788114, "ssim": 0.6551895478800371, "lpips": 0.27518853545188904}, "wrist_left": {"psnr": 9.165262828758094, "ssim": 0.2996598589813697, "lpips": 0.6387317180633545}, "wrist_right": {"psnr": 10.943719659027032, "ssim": 0.25559492069203515, "lpips": 0.6128261089324951}, "tactile_left": {"psnr": 35.49413347212668, "ssim": 0.9545506108353399, "lpips": 0.21182183921337128}, "tactile_right": {"psnr": 35.45737772047005, "ssim": 0.9560711763330498, "lpips": 0.19638997316360474}}, {"video": {"psnr": 17.784924655051707, "ssim": 0.651669567550236, "lpips": 0.2934207320213318}, "wrist_left": {"psnr": 8.866147508128817, "ssim": 0.28948910937604383, "lpips": 0.6525934934616089}, "wrist_right": {"psnr": 10.666761339996167, "ssim": 0.22431889233074268, "lpips": 0.628800094127655}, "tactile_left": {"psnr": 35.03990508680575, "ssim": 0.951530306696269, "lpips": 0.22443841397762299}, "tactile_right": {"psnr": 36.29937332243968, "ssim": 0.9550404113869605, "lpips": 0.21450486779212952}}, {"video": {"psnr": 17.465355685205264, "ssim": 0.6390883683581424, "lpips": 0.3359363079071045}, "wrist_left": {"psnr": 9.294652335084963, "ssim": 0.3186931591319398, "lpips": 0.651036262512207}, "wrist_right": {"psnr": 10.494836669307432, "ssim": 0.18826715374614286, "lpips": 0.6425437331199646}, "tactile_left": {"psnr": 34.698254580592625, "ssim": 0.9488658073044646, "lpips": 0.23710918426513672}, "tactile_right": {"psnr": 33.292439119090304, "ssim": 0.9423422481027433, "lpips": 0.3015255033969879}}, {"video": {"psnr": 17.75070519229042, "ssim": 0.6382334515611909, "lpips": 0.3151182532310486}, "wrist_left": {"psnr": 10.082157908942165, "ssim": 0.37981059042418147, "lpips": 0.5758401155471802}, "wrist_right": {"psnr": 9.838022092182152, "ssim": 0.2278550562328835, "lpips": 0.6202801465988159}, "tactile_left": {"psnr": 34.21505418989063, "ssim": 0.9481179819148626, "lpips": 0.2463517189025879}, "tactile_right": {"psnr": 36.22260050254838, "ssim": 0.9519546878669978, "lpips": 0.22779014706611633}}, {"video": {"psnr": 17.730586358721265, "ssim": 0.6157908281521214, "lpips": 0.279043972492218}, "wrist_left": {"psnr": 8.94649033208853, "ssim": 0.24209677308074762, "lpips": 0.5767718553543091}, "wrist_right": {"psnr": 10.401050554619015, "ssim": 0.3682846515892494, "lpips": 0.5759640336036682}, "tactile_left": {"psnr": 33.23008595319048, "ssim": 0.9458354055663832, "lpips": 0.25960052013397217}, "tactile_right": {"psnr": 36.268264531089834, "ssim": 0.9498192344987455, "lpips": 0.2193973809480667}}, {"video": {"psnr": 17.640902107615936, "ssim": 0.6060566346398658, "lpips": 0.27391481399536133}, "wrist_left": {"psnr": 8.437543378085122, "ssim": 0.20066624157336982, "lpips": 0.6106075048446655}, "wrist_right": {"psnr": 8.150448351161664, "ssim": 0.24615259309001578, "lpips": 0.681434690952301}, "tactile_left": {"psnr": 32.49896394478357, "ssim": 0.9445573590374596, "lpips": 0.26382893323898315}, "tactile_right": {"psnr": 36.018432011403526, "ssim": 0.9476680164982465, "lpips": 0.2320941835641861}}], "long_metrics": {"video": {"psnr": 19.656727916806076, "ssim": 0.6797692089435713, "lpips": 0.2251705492536227}, "wrist_left": {"psnr": 9.995414039801933, "ssim": 0.30540606854529406, "lpips": 0.583556326230367}, "wrist_right": {"psnr": 13.658279961455598, "ssim": 0.45367511964317964, "lpips": 0.4261531951526801}, "tactile_left": {"psnr": 35.77619952199461, "ssim": 0.9552316299477213, "lpips": 0.19920273056874674}, "tactile_right": {"psnr": 39.18514628768655, "ssim": 0.9656694312083436, "lpips": 0.1496212647606929}}}, {"id": "motherboard_custom_e004_09", "episode": "motherboard_0909_episode_002.pt", "requested_episode": "motherboard_0909_episode_002.pt", "category": "onset", "t_start": 1924, "start_seconds": 128.26666666666668, "short_contact": [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 1], "future_transition_ticks": [11], "long_contact_fraction": 0.6796875, "long_label": "onset", "short_metrics": {"video": {"psnr": 29.322892545387592, "ssim": 0.9124765877080767, "lpips": 0.0324450358748436}, "wrist_left": {"psnr": 12.578676059655965, "ssim": 0.37054882125408817, "lpips": 0.45640531182289124}, "wrist_right": {"psnr": 18.869258125864295, "ssim": 0.6919709939430267, "lpips": 0.13594217598438263}, "tactile_left": {"psnr": 35.2381184944337, "ssim": 0.9642271596685721, "lpips": 0.10755036771297455}, "tactile_right": {"psnr": 50.03624375868452, "ssim": 0.9936680345783437, "lpips": 0.006420901045203209}}, "media": {"short": {"video": "media/motherboard_custom_e004_09_short.mp4", "poster": "media/motherboard_custom_e004_09_short.jpg"}, "long": {"video": "media/motherboard_custom_e004_09_long.mp4", "poster": "media/motherboard_custom_e004_09_long.jpg"}}, "force": {"source": "recorded_normal_force", "units": "N", "fps": 15, "left": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.9833333492279053, 2.9424359798431396, 2.9424359798431396, 5.439090728759766, 5.439090728759766, 5.671554088592529, 5.439090728759766, 5.259615421295166, 5.145384788513184, 4.321074485778809, 4.285294055938721, 4.285294055938721, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 1.9833333492279053, 2.0277299880981445, 2.9424359798431396, 5.439090728759766, 6.251071453094482, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 6.251071453094482, 5.439090728759766, 6.251071453094482, 5.605889320373535, 5.259615421295166, 4.3677778244018555, 4.285294055938721, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 4.285294055938721, 4.285294055938721, 2.9424359798431396, 4.3677778244018555, 4.285294055938721, 5.145384788513184, 5.145384788513184, 5.259615421295166, 5.259615421295166, 5.145384788513184, 4.285294055938721, 2.8207693099975586, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 2.9424359798431396, 2.636666774749756, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 4.285294055938721, 4.285294055938721, 2.9424359798431396, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.9833333492279053, 1.9833333492279053, 2.636666774749756, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 4.285294055938721, 3.8638908863067627, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 1.1662499904632568, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "right": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 2.9424359798431396, 5.145384788513184, 6.251071453094482]}, "long_curve": [{"video": {"psnr": 29.322892545387592, "ssim": 0.9124765877080767, "lpips": 0.0324450358748436}, "wrist_left": {"psnr": 12.578676059655965, "ssim": 0.37054882125408817, "lpips": 0.45640531182289124}, "wrist_right": {"psnr": 18.869258125864295, "ssim": 0.6919709939430267, "lpips": 0.13594217598438263}, "tactile_left": {"psnr": 35.2381184944337, "ssim": 0.9642271596685721, "lpips": 0.10755036771297455}, "tactile_right": {"psnr": 50.03624375868452, "ssim": 0.9936680345783437, "lpips": 0.006420901045203209}}, {"video": {"psnr": 23.829789537637783, "ssim": 0.7897360833771581, "lpips": 0.07071699947118759}, "wrist_left": {"psnr": 11.86737107851387, "ssim": 0.2874020826822672, "lpips": 0.5246974229812622}, "wrist_right": {"psnr": 16.196677083847817, "ssim": 0.6231135673986417, "lpips": 0.21909493207931519}, "tactile_left": {"psnr": 32.12282170958806, "ssim": 0.9325643439888779, "lpips": 0.20037755370140076}, "tactile_right": {"psnr": 47.2297140171196, "ssim": 0.9893337377676134, "lpips": 0.02060110867023468}}, {"video": {"psnr": 21.62395420743291, "ssim": 0.7392134873382665, "lpips": 0.12592926621437073}, "wrist_left": {"psnr": 11.786747394958732, "ssim": 0.2725607992465466, "lpips": 0.5648026466369629}, "wrist_right": {"psnr": 14.104634995714143, "ssim": 0.5449437841595837, "lpips": 0.3272905647754669}, "tactile_left": {"psnr": 32.7545294128454, "ssim": 0.9348438232540206, "lpips": 0.2220330685377121}, "tactile_right": {"psnr": 44.22458236254726, "ssim": 0.9839770175994853, "lpips": 0.04029252007603645}}, {"video": {"psnr": 20.934426368264948, "ssim": 0.7230915862547134, "lpips": 0.15375500917434692}, "wrist_left": {"psnr": 10.338668622661121, "ssim": 0.2211378867063965, "lpips": 0.6071418523788452}, "wrist_right": {"psnr": 13.280658176235914, "ssim": 0.5059303929201897, "lpips": 0.3686630129814148}, "tactile_left": {"psnr": 30.13978165777578, "ssim": 0.9057397415288149, "lpips": 0.33802127838134766}, "tactile_right": {"psnr": 41.28107442777882, "ssim": 0.9804457642204967, "lpips": 0.06222222000360489}}, {"video": {"psnr": 20.02704123823626, "ssim": 0.7180571542308727, "lpips": 0.1954498291015625}, "wrist_left": {"psnr": 11.052553747463122, "ssim": 0.22965252510905182, "lpips": 0.5869014263153076}, "wrist_right": {"psnr": 11.784452173210456, "ssim": 0.4459090077614346, "lpips": 0.40776118636131287}, "tactile_left": {"psnr": 32.23775773438975, "ssim": 0.9253462669002839, "lpips": 0.33064788579940796}, "tactile_right": {"psnr": 39.83915527787728, "ssim": 0.9762676336100646, "lpips": 0.08580850809812546}}, {"video": {"psnr": 18.921901377032817, "ssim": 0.6889138437864817, "lpips": 0.2374613881111145}, "wrist_left": {"psnr": 10.560749309730348, "ssim": 0.2101874683269963, "lpips": 0.6496023535728455}, "wrist_right": {"psnr": 10.53339513571263, "ssim": 0.38480540760097315, "lpips": 0.44943687319755554}, "tactile_left": {"psnr": 33.3049716592765, "ssim": 0.9336892544291835, "lpips": 0.3027840852737427}, "tactile_right": {"psnr": 37.77945147226739, "ssim": 0.9711196176668941, "lpips": 0.11106087267398834}}, {"video": {"psnr": 18.195380967289665, "ssim": 0.660261703818538, "lpips": 0.27351415157318115}, "wrist_left": {"psnr": 10.329229952047232, "ssim": 0.21624481775828747, "lpips": 0.6556302905082703}, "wrist_right": {"psnr": 10.422909858285346, "ssim": 0.37263185880819893, "lpips": 0.4509405791759491}, "tactile_left": {"psnr": 33.411646857917056, "ssim": 0.938965684359154, "lpips": 0.2762409448623657}, "tactile_right": {"psnr": 35.99724680166976, "ssim": 0.9661702202017433, "lpips": 0.1296570897102356}}, {"video": {"psnr": 18.244573935044155, "ssim": 0.6633311025877557, "lpips": 0.26946133375167847}, "wrist_left": {"psnr": 10.053511782617404, "ssim": 0.2603830518477973, "lpips": 0.5947834849357605}, "wrist_right": {"psnr": 10.200357126336122, "ssim": 0.3598758093374893, "lpips": 0.46995824575424194}, "tactile_left": {"psnr": 34.66946790662813, "ssim": 0.9553290307383699, "lpips": 0.20887263119220734}, "tactile_right": {"psnr": 35.29731127851151, "ssim": 0.9629182831305881, "lpips": 0.14960908889770508}}, {"video": {"psnr": 18.13027232028803, "ssim": 0.6641854933091305, "lpips": 0.27658361196517944}, "wrist_left": {"psnr": 10.273679052704221, "ssim": 0.20591815355604148, "lpips": 0.620211660861969}, "wrist_right": {"psnr": 9.743139589953914, "ssim": 0.31875328224193183, "lpips": 0.49520668387413025}, "tactile_left": {"psnr": 31.426757471234644, "ssim": 0.9445329049934361, "lpips": 0.2693232297897339}, "tactile_right": {"psnr": 34.63401178159792, "ssim": 0.9604667315066926, "lpips": 0.1626756638288498}}, {"video": {"psnr": 17.566349267707512, "ssim": 0.6428065946682326, "lpips": 0.29041242599487305}, "wrist_left": {"psnr": 9.371617142704606, "ssim": 0.2232037625270421, "lpips": 0.5948498249053955}, "wrist_right": {"psnr": 9.216697893010402, "ssim": 0.2829185629556595, "lpips": 0.5316673517227173}, "tactile_left": {"psnr": 32.65758740823472, "ssim": 0.9533425340651944, "lpips": 0.22564218938350677}, "tactile_right": {"psnr": 33.04496654747739, "ssim": 0.9576109827227935, "lpips": 0.1775599718093872}}, {"video": {"psnr": 17.39841257682528, "ssim": 0.6340520375437758, "lpips": 0.2857084274291992}, "wrist_left": {"psnr": 10.93858396090419, "ssim": 0.18233408933941408, "lpips": 0.592618465423584}, "wrist_right": {"psnr": 8.647044001367012, "ssim": 0.26411241704880084, "lpips": 0.5501959919929504}, "tactile_left": {"psnr": 30.72259408414164, "ssim": 0.9340997808177016, "lpips": 0.27458977699279785}, "tactile_right": {"psnr": 31.46597483104665, "ssim": 0.9531491548074895, "lpips": 0.19145838916301727}}, {"video": {"psnr": 16.764260428592305, "ssim": 0.6237045812183355, "lpips": 0.3109027147293091}, "wrist_left": {"psnr": 10.242886521968831, "ssim": 0.172755197905231, "lpips": 0.6156859397888184}, "wrist_right": {"psnr": 7.96167733117639, "ssim": 0.2533728221240612, "lpips": 0.5568951964378357}, "tactile_left": {"psnr": 29.96790606100491, "ssim": 0.9361529524334032, "lpips": 0.2868471145629883}, "tactile_right": {"psnr": 30.283250797209792, "ssim": 0.9490527733083519, "lpips": 0.20619791746139526}}, {"video": {"psnr": 15.99800489845811, "ssim": 0.6035752433962374, "lpips": 0.36591237783432007}, "wrist_left": {"psnr": 10.217541588989079, "ssim": 0.19813581426122062, "lpips": 0.6466540694236755}, "wrist_right": {"psnr": 8.26242324785314, "ssim": 0.32391360387376844, "lpips": 0.5060096979141235}, "tactile_left": {"psnr": 28.694245578056716, "ssim": 0.9323783254868145, "lpips": 0.30504870414733887}, "tactile_right": {"psnr": 28.899197922834453, "ssim": 0.9427646201393262, "lpips": 0.22918441891670227}}, {"video": {"psnr": 15.767402065910307, "ssim": 0.6080947184808625, "lpips": 0.3461911678314209}, "wrist_left": {"psnr": 10.008715179140847, "ssim": 0.22139975603686848, "lpips": 0.5964705944061279}, "wrist_right": {"psnr": 7.173916025490498, "ssim": 0.2736208284448979, "lpips": 0.5695586204528809}, "tactile_left": {"psnr": 28.113920656290382, "ssim": 0.9439197131330046, "lpips": 0.2500983476638794}, "tactile_right": {"psnr": 27.543656429714822, "ssim": 0.9381810427875084, "lpips": 0.2404300421476364}}, {"video": {"psnr": 15.457709954775094, "ssim": 0.5971641416058089, "lpips": 0.3847728371620178}, "wrist_left": {"psnr": 10.196496300506581, "ssim": 0.2601874431428961, "lpips": 0.6003391146659851}, "wrist_right": {"psnr": 5.478415840890448, "ssim": 0.15078342318270826, "lpips": 0.7923080921173096}, "tactile_left": {"psnr": 27.212490989108833, "ssim": 0.9432845929490103, "lpips": 0.24565450847148895}, "tactile_right": {"psnr": 25.29263795299961, "ssim": 0.9149398155708452, "lpips": 0.2937374711036682}}], "long_metrics": {"video": {"psnr": 19.212158112592185, "ssim": 0.6845776239549497, "lpips": 0.24128110508124034}, "wrist_left": {"psnr": 10.654468512971077, "ssim": 0.235470111313343, "lpips": 0.5937862972418467}, "wrist_right": {"psnr": 10.7917104403299, "ssim": 0.3864437174534244, "lpips": 0.4553952803214391}, "tactile_left": {"psnr": 31.511639845395084, "ssim": 0.9385610739163894, "lpips": 0.2562487790981928}, "tactile_right": {"psnr": 36.18989837728912, "ssim": 0.9626710286412158, "lpips": 0.14046107890705267}}}, {"id": "motherboard_custom_e004_10", "episode": "motherboard_0909_episode_002.pt", "requested_episode": "motherboard_0909_episode_002.pt", "category": "release", "t_start": 1051, "start_seconds": 70.06666666666666, "short_contact": [1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 0, 0], "future_transition_ticks": [11], "long_contact_fraction": 0.703125, "long_label": "release", "short_metrics": {"video": {"psnr": 21.94672481081671, "ssim": 0.7565603232699148, "lpips": 0.09594926238059998}, "wrist_left": {"psnr": 13.739308620052078, "ssim": 0.5237530649125932, "lpips": 0.38254281878471375}, "wrist_right": {"psnr": 12.460144686012192, "ssim": 0.3443238690857179, "lpips": 0.4360327124595642}, "tactile_left": {"psnr": 47.531834215911466, "ssim": 0.9937284900541665, "lpips": 0.005463843699544668}, "tactile_right": {"psnr": 34.68876517308152, "ssim": 0.9779445218617135, "lpips": 0.06658224761486053}}, "media": {"short": {"video": "media/motherboard_custom_e004_10_short.mp4", "poster": "media/motherboard_custom_e004_10_short.jpg"}, "long": {"video": "media/motherboard_custom_e004_10_long.mp4", "poster": "media/motherboard_custom_e004_10_long.jpg"}}, "force": {"source": "recorded_normal_force", "units": "N", "fps": 15, "left": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "right": [5.259615421295166, 5.145384788513184, 4.285294055938721, 4.229005336761475, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.636666774749756, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 2.9424359798431396, 2.9424359798431396, 5.439090728759766, 6.251071453094482, 6.251071453094482, 6.251071453094482, 5.439090728759766, 5.439090728759766, 5.439090728759766, 6.251071453094482, 6.251071453094482, 4.3677778244018555, 1.5254545211791992, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 4.285294055938721, 6.251071453094482, 6.251071453094482, 6.733333110809326, 6.251071453094482, 6.251071453094482, 6.251071453094482, 5.439090728759766, 5.881275653839111, 6.0783467292785645, 5.259615421295166, 5.259615421295166, 5.145384788513184, 5.145384788513184, 5.259615421295166, 4.285294055938721, 1.1662499904632568, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.5254545211791992, 6.251071453094482, 7.293181896209717, 7.3070878982543945, 7.312847137451172, 7.293181896209717, 7.293181896209717, 0.7404214143753052, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4500000476837158, 5.145384788513184, 7.293181896209717, 7.869999885559082, 7.869999885559082, 7.869999885559082, 7.869999885559082, 7.869999885559082, 7.869999885559082, 0.0, 0.0, 1.5254545211791992, 1.1733332872390747, 2.9424359798431396, 4.285294055938721, 7.293181896209717, 7.469607353210449, 7.569608211517334, 7.293181896209717, 7.293181896209717, 7.293181896209717, 6.733333110809326, 5.3493146896362305, 5.439090728759766, 5.439090728759766, 5.439090728759766, 6.251071453094482, 5.439090728759766, 5.145384788513184, 1.1662499904632568, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.5254545211791992, 1.5254545211791992, 1.9833333492279053, 2.9424359798431396, 4.3677778244018555, 5.145384788513184, 5.145384788513184, 4.4391984939575195, 6.251071453094482, 6.251071453094482, 6.733333110809326, 6.251071453094482, 2.9424359798431396]}, "long_curve": [{"video": {"psnr": 21.94672481081671, "ssim": 0.7565603232699148, "lpips": 0.09594926238059998}, "wrist_left": {"psnr": 13.739308620052078, "ssim": 0.5237530649125932, "lpips": 0.38254281878471375}, "wrist_right": {"psnr": 12.460144686012192, "ssim": 0.3443238690857179, "lpips": 0.4360327124595642}, "tactile_left": {"psnr": 47.531834215911466, "ssim": 0.9937284900541665, "lpips": 0.005463843699544668}, "tactile_right": {"psnr": 34.68876517308152, "ssim": 0.9779445218617135, "lpips": 0.06658224761486053}}, {"video": {"psnr": 20.499907214473787, "ssim": 0.7129155429359151, "lpips": 0.1271776258945465}, "wrist_left": {"psnr": 13.786927176493178, "ssim": 0.510926384035697, "lpips": 0.38213279843330383}, "wrist_right": {"psnr": 10.544134624746068, "ssim": 0.25923598137612125, "lpips": 0.5719012022018433}, "tactile_left": {"psnr": 44.78530010192291, "ssim": 0.9896419032428148, "lpips": 0.022293459624052048}, "tactile_right": {"psnr": 29.780842888705635, "ssim": 0.9378025147829185, "lpips": 0.21154534816741943}}, {"video": {"psnr": 19.49491471273594, "ssim": 0.7052568519762462, "lpips": 0.16416257619857788}, "wrist_left": {"psnr": 13.795649649126677, "ssim": 0.5115641624247185, "lpips": 0.42599552869796753}, "wrist_right": {"psnr": 11.32476480912869, "ssim": 0.25795378205588737, "lpips": 0.563793957233429}, "tactile_left": {"psnr": 43.148855812717045, "ssim": 0.9847554132690597, "lpips": 0.046460751444101334}, "tactile_right": {"psnr": 30.599840557835876, "ssim": 0.9397508068899894, "lpips": 0.19726276397705078}}, {"video": {"psnr": 18.651170601362644, "ssim": 0.6813827938735906, "lpips": 0.20137158036231995}, "wrist_left": {"psnr": 13.021198664963423, "ssim": 0.47267636160331883, "lpips": 0.4944711923599243}, "wrist_right": {"psnr": 11.661717056740228, "ssim": 0.25797632574413093, "lpips": 0.6003909111022949}, "tactile_left": {"psnr": 41.72727124288059, "ssim": 0.9792641820707951, "lpips": 0.07641297578811646}, "tactile_right": {"psnr": 33.79549615479215, "ssim": 0.9595350024834968, "lpips": 0.13419708609580994}}, {"video": {"psnr": 18.58618844944801, "ssim": 0.6728649858540705, "lpips": 0.20147952437400818}, "wrist_left": {"psnr": 12.829190411205198, "ssim": 0.45992085254398263, "lpips": 0.49706608057022095}, "wrist_right": {"psnr": 10.222728581662857, "ssim": 0.18652195018247794, "lpips": 0.6438018679618835}, "tactile_left": {"psnr": 40.43846391345332, "ssim": 0.9743618598939539, "lpips": 0.11168625950813293}, "tactile_right": {"psnr": 28.040316954553003, "ssim": 0.9334524197679485, "lpips": 0.23841312527656555}}, {"video": {"psnr": 18.07472438923814, "ssim": 0.6636518936222632, "lpips": 0.2290279120206833}, "wrist_left": {"psnr": 12.577922741595213, "ssim": 0.46072255329541756, "lpips": 0.4956227242946625}, "wrist_right": {"psnr": 9.800920607494241, "ssim": 0.19984435903686232, "lpips": 0.6716187000274658}, "tactile_left": {"psnr": 39.08608778963342, "ssim": 0.9703895227003538, "lpips": 0.14234969019889832}, "tactile_right": {"psnr": 29.626864180020583, "ssim": 0.9431055861351749, "lpips": 0.22593387961387634}}, {"video": {"psnr": 17.915125809559054, "ssim": 0.6544082831497584, "lpips": 0.2409994900226593}, "wrist_left": {"psnr": 12.137708875519328, "ssim": 0.42630985501403307, "lpips": 0.5384876132011414}, "wrist_right": {"psnr": 10.519365446296103, "ssim": 0.24504161704588762, "lpips": 0.5808149576187134}, "tactile_left": {"psnr": 37.92301907782817, "ssim": 0.9669959038228919, "lpips": 0.16769981384277344}, "tactile_right": {"psnr": 35.408559148878155, "ssim": 0.9632522850243463, "lpips": 0.13581159710884094}}, {"video": {"psnr": 17.948899746725715, "ssim": 0.6515297168389109, "lpips": 0.23795464634895325}, "wrist_left": {"psnr": 11.31454987868102, "ssim": 0.38478883977500195, "lpips": 0.564003050327301}, "wrist_right": {"psnr": 9.827777689129869, "ssim": 0.19621057345821058, "lpips": 0.6263208389282227}, "tactile_left": {"psnr": 36.52789597694128, "ssim": 0.9637092502645307, "lpips": 0.18875975906848907}, "tactile_right": {"psnr": 28.795127239704087, "ssim": 0.930173324504078, "lpips": 0.24390920996665955}}, {"video": {"psnr": 17.97799099074141, "ssim": 0.6489238180223129, "lpips": 0.25484442710876465}, "wrist_left": {"psnr": 10.637503914500533, "ssim": 0.3908969656476815, "lpips": 0.5594997406005859}, "wrist_right": {"psnr": 11.150585324878842, "ssim": 0.22936033095574473, "lpips": 0.5761858224868774}, "tactile_left": {"psnr": 35.33947352018443, "ssim": 0.9606251028318767, "lpips": 0.21168223023414612}, "tactile_right": {"psnr": 32.11066752769063, "ssim": 0.9539969470026701, "lpips": 0.18765829503536224}}, {"video": {"psnr": 17.17822321064029, "ssim": 0.6374006291856527, "lpips": 0.30172228813171387}, "wrist_left": {"psnr": 9.710032742751062, "ssim": 0.2854274633870538, "lpips": 0.612737774848938}, "wrist_right": {"psnr": 10.683770022383198, "ssim": 0.16701858165508993, "lpips": 0.6037111878395081}, "tactile_left": {"psnr": 34.39154804552035, "ssim": 0.9571533965322421, "lpips": 0.23139777779579163}, "tactile_right": {"psnr": 26.478370844791577, "ssim": 0.9163831605876462, "lpips": 0.33230024576187134}}, {"video": {"psnr": 16.88977026673378, "ssim": 0.629167416756094, "lpips": 0.31552961468696594}, "wrist_left": {"psnr": 9.737933558617458, "ssim": 0.26515573959996563, "lpips": 0.6189677715301514}, "wrist_right": {"psnr": 10.10382262430526, "ssim": 0.17334227247016126, "lpips": 0.6555583477020264}, "tactile_left": {"psnr": 33.46935073015093, "ssim": 0.9537636606616015, "lpips": 0.243251770734787}, "tactile_right": {"psnr": 27.063829963468716, "ssim": 0.9239346500903736, "lpips": 0.26353782415390015}}, {"video": {"psnr": 16.408911367093072, "ssim": 0.6153369859283437, "lpips": 0.3323211967945099}, "wrist_left": {"psnr": 9.98561592561796, "ssim": 0.2808711091059919, "lpips": 0.6277966499328613}, "wrist_right": {"psnr": 9.345669553868314, "ssim": 0.14570717375400713, "lpips": 0.6709314584732056}, "tactile_left": {"psnr": 32.70221679302899, "ssim": 0.9507154297422988, "lpips": 0.2579590678215027}, "tactile_right": {"psnr": 25.92919876967029, "ssim": 0.9171276880909682, "lpips": 0.2911914587020874}}, {"video": {"psnr": 15.362168721961726, "ssim": 0.589549095226397, "lpips": 0.42867326736450195}, "wrist_left": {"psnr": 9.590429875651767, "ssim": 0.2864577624915234, "lpips": 0.6444312930107117}, "wrist_right": {"psnr": 8.929152336705512, "ssim": 0.17333646368439393, "lpips": 0.6370469331741333}, "tactile_left": {"psnr": 31.654565367679524, "ssim": 0.9469510266580072, "lpips": 0.27072641253471375}, "tactile_right": {"psnr": 28.616018278658473, "ssim": 0.9435608386398762, "lpips": 0.18548919260501862}}, {"video": {"psnr": 14.800071246708342, "ssim": 0.5782387489723471, "lpips": 0.4370536506175995}, "wrist_left": {"psnr": 9.008379010192863, "ssim": 0.301091376029217, "lpips": 0.6478585004806519}, "wrist_right": {"psnr": 9.939040765971916, "ssim": 0.13211508432737976, "lpips": 0.5870703458786011}, "tactile_left": {"psnr": 30.469134532712836, "ssim": 0.9426989330504332, "lpips": 0.28941941261291504}, "tactile_right": {"psnr": 28.371681204170798, "ssim": 0.9419943773949003, "lpips": 0.19650758802890778}}, {"video": {"psnr": 14.712885416134291, "ssim": 0.5801236358784266, "lpips": 0.45189645886421204}, "wrist_left": {"psnr": 7.752607111344405, "ssim": 0.27943153706599216, "lpips": 0.6551489233970642}, "wrist_right": {"psnr": 8.012452981449762, "ssim": 0.1386056340717458, "lpips": 0.6295746564865112}, "tactile_left": {"psnr": 29.515516577302957, "ssim": 0.9399738661932443, "lpips": 0.30002036690711975}, "tactile_right": {"psnr": 26.351225970320513, "ssim": 0.9248178616994365, "lpips": 0.25279700756073}}], "long_metrics": {"video": {"psnr": 17.76317846362486, "ssim": 0.6518207147660162, "lpips": 0.2680109014113744}, "wrist_left": {"psnr": 11.308330543754145, "ssim": 0.3893329351288125, "lpips": 0.54311749736468}, "wrist_right": {"psnr": 10.301736474051536, "ssim": 0.2071062665935879, "lpips": 0.6036502599716187}, "tactile_left": {"psnr": 37.24736891319121, "ssim": 0.9649818627325514, "lpips": 0.1710389061210056}, "tactile_right": {"psnr": 29.710453657089467, "ssim": 0.9404554656637025, "lpips": 0.21087579131126405}}}, {"id": "motherboard_custom_e004_11", "episode": "motherboard_0909_episode_002.pt", "requested_episode": "motherboard_0909_episode_002.pt", "category": "full", "t_start": 1788, "start_seconds": 119.2, "short_contact": [1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1], "future_transition_ticks": [], "long_contact_fraction": 0.9609375, "long_label": "full", "short_metrics": {"video": {"psnr": 26.76938957218949, "ssim": 0.8756295220088485, "lpips": 0.048951636999845505}, "wrist_left": {"psnr": 12.080813159432886, "ssim": 0.39156480303748387, "lpips": 0.35433459281921387}, "wrist_right": {"psnr": 22.80659019993361, "ssim": 0.856058149827787, "lpips": 0.042720384895801544}, "tactile_left": {"psnr": 46.72128209997265, "ssim": 0.9916745617801952, "lpips": 0.006928557530045509}, "tactile_right": {"psnr": 45.47844026158462, "ssim": 0.9879342260951784, "lpips": 0.009344825521111488}}, "media": {"short": {"video": "media/motherboard_custom_e004_11_short.mp4", "poster": "media/motherboard_custom_e004_11_short.jpg"}, "long": {"video": "media/motherboard_custom_e004_11_long.mp4", "poster": "media/motherboard_custom_e004_11_long.jpg"}}, "force": {"source": "recorded_normal_force", "units": "N", "fps": 15, "left": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 2.9424359798431396, 5.439090728759766, 6.733333110809326, 7.293181896209717, 7.293181896209717, 7.299813270568848, 7.3037261962890625, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 6.733333110809326, 6.733333110809326, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 6.733333110809326, 5.439090728759766, 4.285294055938721, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 4.285294055938721, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.8207693099975586, 2.861105442047119, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "right": [1.1733332872390747, 1.5254545211791992, 1.5254545211791992, 1.5254545211791992, 1.5254545211791992, 1.5254545211791992, 1.5254545211791992, 1.5254545211791992, 1.5254545211791992, 1.5254545211791992, 1.5254545211791992, 1.5254545211791992, 1.5254545211791992, 1.9331133365631104, 1.9833333492279053, 2.636666774749756, 2.8207693099975586, 2.8207693099975586, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 4.285294055938721, 4.285294055938721, 4.285294055938721, 4.285294055938721, 4.285294055938721, 4.285294055938721, 4.285294055938721, 4.285294055938721, 5.145384788513184, 5.259615421295166, 5.145384788513184, 5.145384788513184, 5.145384788513184, 4.3677778244018555, 5.971224308013916, 5.484982967376709, 5.702359199523926, 5.145384788513184, 5.145384788513184, 5.145384788513184, 6.251071453094482, 6.251071453094482, 6.251071453094482, 6.251071453094482, 6.251071453094482, 6.251071453094482, 6.251071453094482, 6.251071453094482, 6.251071453094482, 6.251071453094482, 5.439090728759766, 4.3677778244018555, 4.285294055938721, 2.9424359798431396, 2.8207693099975586, 1.1733332872390747, 1.1662499904632568, 1.1662499904632568, 1.1662499904632568, 1.1662499904632568, 1.1662499904632568, 1.1662499904632568, 1.1662499904632568, 1.2584279775619507, 1.5254545211791992, 1.9178065061569214, 1.9830996990203857, 1.8448008298873901, 1.5254545211791992, 1.445785403251648, 1.1733332872390747, 1.1662499904632568, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 2.8207693099975586, 4.285294055938721, 5.259615421295166, 6.251071453094482, 7.293181896209717, 7.293181896209717, 7.30930757522583, 7.30930757522583, 7.869999885559082, 7.869999885559082, 7.869999885559082, 7.823916435241699, 7.602156639099121, 7.494094371795654, 7.307358264923096, 7.307871341705322, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 6.251071453094482, 5.439090728759766, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.8207693099975586, 2.636666774749756, 1.9833333492279053, 2.9424359798431396, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 6.733333110809326, 6.251071453094482, 2.9424359798431396, 1.5254545211791992, 1.1662499904632568, 1.1662499904632568]}, "long_curve": [{"video": {"psnr": 26.76938957218949, "ssim": 0.8756295220088485, "lpips": 0.048951636999845505}, "wrist_left": {"psnr": 12.080813159432886, "ssim": 0.39156480303748387, "lpips": 0.35433459281921387}, "wrist_right": {"psnr": 22.80659019993361, "ssim": 0.856058149827787, "lpips": 0.042720384895801544}, "tactile_left": {"psnr": 46.72128209997265, "ssim": 0.9916745617801952, "lpips": 0.006928557530045509}, "tactile_right": {"psnr": 45.47844026158462, "ssim": 0.9879342260951784, "lpips": 0.009344825521111488}}, {"video": {"psnr": 24.414201195430287, "ssim": 0.7999903450639088, "lpips": 0.07649418711662292}, "wrist_left": {"psnr": 10.989401666888316, "ssim": 0.2679582273647547, "lpips": 0.4904550611972809}, "wrist_right": {"psnr": 16.53862596551726, "ssim": 0.5603116714996994, "lpips": 0.16405732929706573}, "tactile_left": {"psnr": 31.38082252675568, "ssim": 0.9344129765918936, "lpips": 0.22752225399017334}, "tactile_right": {"psnr": 33.74442430796122, "ssim": 0.9564099167812757, "lpips": 0.09805518388748169}}, {"video": {"psnr": 22.85367824485343, "ssim": 0.7468102538572245, "lpips": 0.1050577163696289}, "wrist_left": {"psnr": 11.191626443726273, "ssim": 0.27561409265548087, "lpips": 0.4896591603755951}, "wrist_right": {"psnr": 12.396458274920105, "ssim": 0.40147010858616416, "lpips": 0.3772242069244385}, "tactile_left": {"psnr": 30.351151151071008, "ssim": 0.912324785149941, "lpips": 0.29543405771255493}, "tactile_right": {"psnr": 29.596352782713, "ssim": 0.927519043348681, "lpips": 0.22884462773799896}}, {"video": {"psnr": 21.697147791595512, "ssim": 0.7100020359680582, "lpips": 0.1313086599111557}, "wrist_left": {"psnr": 10.86751569999262, "ssim": 0.25176803417566807, "lpips": 0.5053437352180481}, "wrist_right": {"psnr": 10.417260223944709, "ssim": 0.3007824019556829, "lpips": 0.5169706344604492}, "tactile_left": {"psnr": 30.801174470572942, "ssim": 0.9164001495697356, "lpips": 0.2841283679008484}, "tactile_right": {"psnr": 29.885949901699643, "ssim": 0.9327105560974052, "lpips": 0.19974789023399353}}, {"video": {"psnr": 21.003993949323263, "ssim": 0.6877641051818529, "lpips": 0.14697064459323883}, "wrist_left": {"psnr": 10.938001056216018, "ssim": 0.24269285219143602, "lpips": 0.5102254152297974}, "wrist_right": {"psnr": 9.777825560366942, "ssim": 0.27729469280354696, "lpips": 0.5516097545623779}, "tactile_left": {"psnr": 29.94747483837478, "ssim": 0.908019088136347, "lpips": 0.29695504903793335}, "tactile_right": {"psnr": 30.3212924002438, "ssim": 0.9355130150830839, "lpips": 0.19028863310813904}}, {"video": {"psnr": 20.83790104428872, "ssim": 0.6860323370789168, "lpips": 0.15135207772254944}, "wrist_left": {"psnr": 11.336998246575012, "ssim": 0.262715157130116, "lpips": 0.4889458417892456}, "wrist_right": {"psnr": 9.27218061340589, "ssim": 0.2698831085390266, "lpips": 0.5692553520202637}, "tactile_left": {"psnr": 31.092722079473802, "ssim": 0.9242434672031457, "lpips": 0.29201728105545044}, "tactile_right": {"psnr": 30.882975343012657, "ssim": 0.9429865340219493, "lpips": 0.19532446563243866}}, {"video": {"psnr": 20.64507440088581, "ssim": 0.6828560009841792, "lpips": 0.15222322940826416}, "wrist_left": {"psnr": 10.99454583214965, "ssim": 0.26320678454798385, "lpips": 0.5234707593917847}, "wrist_right": {"psnr": 8.908263642812948, "ssim": 0.2685415405674886, "lpips": 0.5787579417228699}, "tactile_left": {"psnr": 32.54467624183556, "ssim": 0.9423813661258498, "lpips": 0.25332111120224}, "tactile_right": {"psnr": 32.57076606369468, "ssim": 0.9547814257958029, "lpips": 0.1642686128616333}}, {"video": {"psnr": 19.93379100188325, "ssim": 0.6675692367401431, "lpips": 0.18637211620807648}, "wrist_left": {"psnr": 10.39099164829704, "ssim": 0.2714417250526002, "lpips": 0.594779372215271}, "wrist_right": {"psnr": 9.450653699635382, "ssim": 0.28849580795646024, "lpips": 0.5503756999969482}, "tactile_left": {"psnr": 30.704762146173863, "ssim": 0.9361660942816248, "lpips": 0.28252512216567993}, "tactile_right": {"psnr": 32.36355507782284, "ssim": 0.952768535882074, "lpips": 0.17495301365852356}}, {"video": {"psnr": 18.81159655388367, "ssim": 0.6371536358983374, "lpips": 0.2426934540271759}, "wrist_left": {"psnr": 9.972515201739839, "ssim": 0.2869379999290314, "lpips": 0.6049067974090576}, "wrist_right": {"psnr": 9.070265432391736, "ssim": 0.2760427748474913, "lpips": 0.5819090604782104}, "tactile_left": {"psnr": 26.921888021168407, "ssim": 0.9112590828611867, "lpips": 0.37064889073371887}, "tactile_right": {"psnr": 32.52026705602073, "ssim": 0.9556803667747586, "lpips": 0.147050678730011}}, {"video": {"psnr": 18.606260871435435, "ssim": 0.6369988704070866, "lpips": 0.2423696219921112}, "wrist_left": {"psnr": 9.192780143291102, "ssim": 0.29882252766415185, "lpips": 0.5956454277038574}, "wrist_right": {"psnr": 8.358392053696425, "ssim": 0.26018618028521734, "lpips": 0.6193464994430542}, "tactile_left": {"psnr": 30.362970292231594, "ssim": 0.9468708099399652, "lpips": 0.24313588440418243}, "tactile_right": {"psnr": 31.461587979632156, "ssim": 0.9514623019227751, "lpips": 0.1658032238483429}}, {"video": {"psnr": 18.03783230555665, "ssim": 0.6303581264892211, "lpips": 0.252311110496521}, "wrist_left": {"psnr": 9.181491813128913, "ssim": 0.3621327806924075, "lpips": 0.577944278717041}, "wrist_right": {"psnr": 8.385395649396708, "ssim": 0.2551448612998213, "lpips": 0.6109248995780945}, "tactile_left": {"psnr": 29.682996557446963, "ssim": 0.9482324325576543, "lpips": 0.23349374532699585}, "tactile_right": {"psnr": 27.413046786392755, "ssim": 0.918505708992247, "lpips": 0.2801995873451233}}, {"video": {"psnr": 17.741791883510036, "ssim": 0.6312603571834632, "lpips": 0.26370182633399963}, "wrist_left": {"psnr": 8.720903679015034, "ssim": 0.29191120333246234, "lpips": 0.5776454210281372}, "wrist_right": {"psnr": 8.075559227502657, "ssim": 0.25200191129993843, "lpips": 0.6157869100570679}, "tactile_left": {"psnr": 28.780314886424286, "ssim": 0.9460892452449947, "lpips": 0.2430914342403412}, "tactile_right": {"psnr": 25.735886084242846, "ssim": 0.904251994278558, "lpips": 0.3176514208316803}}, {"video": {"psnr": 17.28577688553517, "ssim": 0.6244219525022057, "lpips": 0.27362728118896484}, "wrist_left": {"psnr": 9.308489455258893, "ssim": 0.27607333757368596, "lpips": 0.5805250406265259}, "wrist_right": {"psnr": 7.756699680916394, "ssim": 0.2549546291926573, "lpips": 0.6424551010131836}, "tactile_left": {"psnr": 27.93622010332268, "ssim": 0.9443028913241499, "lpips": 0.2526546120643616}, "tactile_right": {"psnr": 26.332302664008918, "ssim": 0.9221127775730845, "lpips": 0.30376535654067993}}, {"video": {"psnr": 16.789110322780154, "ssim": 0.6131111145883599, "lpips": 0.2921378016471863}, "wrist_left": {"psnr": 8.117831894416744, "ssim": 0.25452677979647204, "lpips": 0.6293460130691528}, "wrist_right": {"psnr": 7.210241945432021, "ssim": 0.2507880522975812, "lpips": 0.6625864505767822}, "tactile_left": {"psnr": 27.11196625270341, "ssim": 0.9409651760880574, "lpips": 0.2645859122276306}, "tactile_right": {"psnr": 26.372107790824888, "ssim": 0.9283027541517177, "lpips": 0.299251526594162}}, {"video": {"psnr": 16.55007643983183, "ssim": 0.6102588023725148, "lpips": 0.2928558588027954}, "wrist_left": {"psnr": 7.683116995373735, "ssim": 0.25054773184453505, "lpips": 0.617141604423523}, "wrist_right": {"psnr": 6.896209272550071, "ssim": 0.24151655561381458, "lpips": 0.656614363193512}, "tactile_left": {"psnr": 26.3242809361886, "ssim": 0.9378025912373438, "lpips": 0.2710702121257782}, "tactile_right": {"psnr": 26.13396771799502, "ssim": 0.9284595766015665, "lpips": 0.28182655572891235}}], "long_metrics": {"video": {"psnr": 20.131841497532182, "ssim": 0.682681113088288, "lpips": 0.1905618148545424}, "wrist_left": {"psnr": 10.064468195700139, "ssim": 0.28319426913255136, "lpips": 0.5426912347475688}, "wrist_right": {"psnr": 10.354708096161524, "ssim": 0.33423149643815847, "lpips": 0.5160396392146747}, "tactile_left": {"psnr": 30.710980173581085, "ssim": 0.9360763145394723, "lpips": 0.2545008327811956}, "tactile_right": {"psnr": 30.72086148118998, "ssim": 0.9399599155600105, "lpips": 0.20375837348401546}}}, {"id": "motherboard_custom_e004_12", "episode": "motherboard_0911_episode_008_seg00.pt", "requested_episode": "motherboard_0911_episode_008_seg00.pt", "category": "none", "t_start": 913, "start_seconds": 60.86666666666667, "short_contact": [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0], "future_transition_ticks": [], "long_contact_fraction": 0.2734375, "long_label": "none_at_start", "short_metrics": {"video": {"psnr": 26.840313631509666, "ssim": 0.895904457282624, "lpips": 0.04445566236972809}, "wrist_left": {"psnr": 19.9960152639421, "ssim": 0.737466907863409, "lpips": 0.12209498882293701}, "wrist_right": {"psnr": 15.670123477592082, "ssim": 0.3886817994049956, "lpips": 0.33026328682899475}, "tactile_left": {"psnr": 51.55426011880095, "ssim": 0.9950169181284888, "lpips": 0.0033389003947377205}, "tactile_right": {"psnr": 51.73120237202503, "ssim": 0.9949509109452446, "lpips": 0.004937530495226383}}, "media": {"short": {"video": "media/motherboard_custom_e004_12_short.mp4", "poster": "media/motherboard_custom_e004_12_short.jpg"}, "long": {"video": "media/motherboard_custom_e004_12_long.mp4", "poster": "media/motherboard_custom_e004_12_long.jpg"}}, "force": {"source": "recorded_normal_force", "units": "N", "fps": 15, "left": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "right": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.6395905017852783, 0.529942512512207, 0.529942512512207, 0.2907944917678833, 0.5600000023841858, 0.1599999964237213, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0812060683965683, 0.0024630518164485693, 0.0, 1.3589457273483276, 0.0, 0.0, 0.0, 0.5390956997871399, 0.3198980987071991, 0.5392528176307678, 0.0, 0.0, 0.0, 0.0, 1.187829852104187, 0.0, 1.294777274131775, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.8550904393196106, 0.0, 0.7983333468437195, 0.7983333468437195, 2.243333339691162, 1.284462809562683, 0.0, 2.3248276710510254, 0.27564528584480286, 0.4399999976158142, 0.49203309416770935, 0.7983333468437195, 1.9444444179534912, 0.5351153016090393, 0.4000000059604645, 0.4866666793823242, 0.4399999976158142, 0.1599999964237213, 0.0, 0.0, 0.0, 0.0, 0.0, 2.3248276710510254, 1.277543306350708, 0.0, 0.0, 3.0568182468414307, 2.0719287395477295, 0.0, 0.0, 2.563887119293213, 0.0, 0.0, 0.0, 0.7983333468437195, 1.9444444179534912, 0.7983333468437195, 0.1599999964237213, 0.5624003410339355, 0.7983333468437195, 0.0, 0.0, 0.0, 0.0, 0.0, 0.1599999964237213, 0.1599999964237213, 0.1599999964237213, 1.9444444179534912, 0.5600000023841858, 1.9444444179534912, 0.4000000059604645, 0.1599999964237213, 3.0568182468414307, 0.0, 2.898989200592041, 0.7983333468437195, 0.3728911876678467, 0.27666667103767395, 0.2400962859392166, 0.16988153755664825, 0.1599999964237213, 0.1599999964237213, 0.0, 0.0, 0.0, 0.0, 0.11106123775243759, 0.49718019366264343, 0.7983333468437195]}, "long_curve": [{"video": {"psnr": 26.840313631509666, "ssim": 0.895904457282624, "lpips": 0.04445566236972809}, "wrist_left": {"psnr": 19.9960152639421, "ssim": 0.737466907863409, "lpips": 0.12209498882293701}, "wrist_right": {"psnr": 15.670123477592082, "ssim": 0.3886817994049956, "lpips": 0.33026328682899475}, "tactile_left": {"psnr": 51.55426011880095, "ssim": 0.9950169181284888, "lpips": 0.0033389003947377205}, "tactile_right": {"psnr": 51.73120237202503, "ssim": 0.9949509109452446, "lpips": 0.004937530495226383}}, {"video": {"psnr": 24.5781165819106, "ssim": 0.8486740706224274, "lpips": 0.06242717057466507}, "wrist_left": {"psnr": 18.11737783527947, "ssim": 0.7143728960875126, "lpips": 0.15871940553188324}, "wrist_right": {"psnr": 15.602285818258748, "ssim": 0.37198927829093087, "lpips": 0.4364015460014343}, "tactile_left": {"psnr": 47.41405846543582, "ssim": 0.9920842976997535, "lpips": 0.010098633356392384}, "tactile_right": {"psnr": 42.33540847590031, "ssim": 0.9847483930138827, "lpips": 0.043585192412137985}}, {"video": {"psnr": 23.80914985969726, "ssim": 0.826249662236901, "lpips": 0.07160338759422302}, "wrist_left": {"psnr": 17.32081894549825, "ssim": 0.7019491520886472, "lpips": 0.19556814432144165}, "wrist_right": {"psnr": 15.278157749883693, "ssim": 0.367076801804405, "lpips": 0.44757431745529175}, "tactile_left": {"psnr": 43.899708580377364, "ssim": 0.9887725256550468, "lpips": 0.02299932762980461}, "tactile_right": {"psnr": 38.50573316141987, "ssim": 0.9799522721987799, "lpips": 0.03828155994415283}}, {"video": {"psnr": 23.39026258700343, "ssim": 0.8159583614143306, "lpips": 0.07936502993106842}, "wrist_left": {"psnr": 16.797222578349732, "ssim": 0.6777778446406176, "lpips": 0.20920267701148987}, "wrist_right": {"psnr": 15.54269146332353, "ssim": 0.3610070222696792, "lpips": 0.4417520761489868}, "tactile_left": {"psnr": 41.3121056105153, "ssim": 0.9851876831725035, "lpips": 0.03802648186683655}, "tactile_right": {"psnr": 37.51374807060048, "ssim": 0.9797574559226768, "lpips": 0.03946340084075928}}, {"video": {"psnr": 23.42015147185354, "ssim": 0.8174882451527599, "lpips": 0.07978864759206772}, "wrist_left": {"psnr": 16.086277930688684, "ssim": 0.6549224989610026, "lpips": 0.22823834419250488}, "wrist_right": {"psnr": 15.02797894792563, "ssim": 0.32220826698272753, "lpips": 0.4714674949645996}, "tactile_left": {"psnr": 39.58915010911679, "ssim": 0.9819744414142559, "lpips": 0.05724673345685005}, "tactile_right": {"psnr": 36.625031823208545, "ssim": 0.9780313634108482, "lpips": 0.05710315704345703}}, {"video": {"psnr": 23.252070418207875, "ssim": 0.8045121938740276, "lpips": 0.0865999162197113}, "wrist_left": {"psnr": 15.501441428504455, "ssim": 0.6316830398517834, "lpips": 0.2606608271598816}, "wrist_right": {"psnr": 15.29149100237113, "ssim": 0.37030218013723826, "lpips": 0.4747774004936218}, "tactile_left": {"psnr": 37.615225160654504, "ssim": 0.9783854344478691, "lpips": 0.08216095715761185}, "tactile_right": {"psnr": 36.086788991430495, "ssim": 0.9777876109521074, "lpips": 0.05928568169474602}}, {"video": {"psnr": 22.214612289620263, "ssim": 0.7737565668384274, "lpips": 0.10999250411987305}, "wrist_left": {"psnr": 14.683136815445126, "ssim": 0.5899294604620858, "lpips": 0.3004452884197235}, "wrist_right": {"psnr": 13.235380666862655, "ssim": 0.3148080510463503, "lpips": 0.493512898683548}, "tactile_left": {"psnr": 36.53376300187334, "ssim": 0.9748649508119176, "lpips": 0.10422347486019135}, "tactile_right": {"psnr": 35.49219475381118, "ssim": 0.9766849731368933, "lpips": 0.0692819133400917}}, {"video": {"psnr": 22.425101181784555, "ssim": 0.7802202720867036, "lpips": 0.10957816243171692}, "wrist_left": {"psnr": 14.726106785987838, "ssim": 0.5894945437694881, "lpips": 0.30607813596725464}, "wrist_right": {"psnr": 13.839104199145961, "ssim": 0.36058317112980437, "lpips": 0.48944950103759766}, "tactile_left": {"psnr": 35.3213916865207, "ssim": 0.9711174627809003, "lpips": 0.12760505080223083}, "tactile_right": {"psnr": 35.06876092115968, "ssim": 0.9733127571801665, "lpips": 0.10777756571769714}}, {"video": {"psnr": 22.390574820236886, "ssim": 0.7636444819024284, "lpips": 0.12268786132335663}, "wrist_left": {"psnr": 15.264500911222239, "ssim": 0.6088557661338304, "lpips": 0.29746395349502563}, "wrist_right": {"psnr": 13.593908420841814, "ssim": 0.3430870473857337, "lpips": 0.4945824444293976}, "tactile_left": {"psnr": 34.51740618571011, "ssim": 0.9683174710486886, "lpips": 0.1476460099220276}, "tactile_right": {"psnr": 34.113701623012844, "ssim": 0.973525247234501, "lpips": 0.09445862472057343}}, {"video": {"psnr": 21.854684352342304, "ssim": 0.736229817357559, "lpips": 0.1327400505542755}, "wrist_left": {"psnr": 14.713039533872942, "ssim": 0.5893615046814034, "lpips": 0.3208208680152893}, "wrist_right": {"psnr": 12.731695359416623, "ssim": 0.28834012598297903, "lpips": 0.521381139755249}, "tactile_left": {"psnr": 33.423686251284586, "ssim": 0.9636548102133876, "lpips": 0.16598327457904816}, "tactile_right": {"psnr": 32.46443019444894, "ssim": 0.9681634220195909, "lpips": 0.11304394900798798}}, {"video": {"psnr": 21.33218010520068, "ssim": 0.713212320763275, "lpips": 0.14648190140724182}, "wrist_left": {"psnr": 14.415244013269593, "ssim": 0.5671269440301236, "lpips": 0.33495157957077026}, "wrist_right": {"psnr": 12.65990975529252, "ssim": 0.2873793790745069, "lpips": 0.5287389159202576}, "tactile_left": {"psnr": 32.861206285249544, "ssim": 0.9599640405067005, "lpips": 0.17634479701519012}, "tactile_right": {"psnr": 30.802283659466312, "ssim": 0.9582590006682272, "lpips": 0.16658315062522888}}, {"video": {"psnr": 21.50539217426463, "ssim": 0.7220683213270161, "lpips": 0.14838120341300964}, "wrist_left": {"psnr": 13.83014995058703, "ssim": 0.5440067344219777, "lpips": 0.3646673858165741}, "wrist_right": {"psnr": 12.173725478290915, "ssim": 0.3376487818716596, "lpips": 0.5283492207527161}, "tactile_left": {"psnr": 32.43775124225084, "ssim": 0.9570349843006225, "lpips": 0.19515295326709747}, "tactile_right": {"psnr": 30.534439514350986, "ssim": 0.9614784765517036, "lpips": 0.13780394196510315}}, {"video": {"psnr": 21.153259991587912, "ssim": 0.7127780643793578, "lpips": 0.16161225736141205}, "wrist_left": {"psnr": 12.705050765509888, "ssim": 0.502685134429899, "lpips": 0.4277062714099884}, "wrist_right": {"psnr": 10.340590617596284, "ssim": 0.31502777711784535, "lpips": 0.5592970848083496}, "tactile_left": {"psnr": 31.81909744543241, "ssim": 0.9535274926036561, "lpips": 0.20863372087478638}, "tactile_right": {"psnr": 30.428870646436614, "ssim": 0.963375114855995, "lpips": 0.12307848781347275}}, {"video": {"psnr": 21.235577596148456, "ssim": 0.7099380077957962, "lpips": 0.16425496339797974}, "wrist_left": {"psnr": 12.24037172747844, "ssim": 0.4669741313743022, "lpips": 0.4709986448287964}, "wrist_right": {"psnr": 11.481861533208752, "ssim": 0.30651373343826516, "lpips": 0.5277782678604126}, "tactile_left": {"psnr": 31.456741069198223, "ssim": 0.9501139415178943, "lpips": 0.2227061688899994}, "tactile_right": {"psnr": 30.18020340823759, "ssim": 0.9613731674380841, "lpips": 0.1472661793231964}}, {"video": {"psnr": 21.165381607067527, "ssim": 0.7017355040580493, "lpips": 0.17759138345718384}, "wrist_left": {"psnr": 12.47164490989565, "ssim": 0.4826238099412278, "lpips": 0.4650188088417053}, "wrist_right": {"psnr": 11.223755326325715, "ssim": 0.371679112069759, "lpips": 0.526474118232727}, "tactile_left": {"psnr": 30.975615913700537, "ssim": 0.9475626235780119, "lpips": 0.23516449332237244}, "tactile_right": {"psnr": 29.884999741409416, "ssim": 0.9596984778519984, "lpips": 0.15821826457977295}}], "long_metrics": {"video": {"psnr": 22.70445524456237, "ssim": 0.7748246898061122, "lpips": 0.11317067344983418}, "wrist_left": {"psnr": 15.25789329303543, "ssim": 0.6039486912491541, "lpips": 0.29750902156035103}, "wrist_right": {"psnr": 13.579510654422403, "ssim": 0.340422168533792, "lpips": 0.48478664755821227}, "tactile_left": {"psnr": 37.38207780840807, "ssim": 0.9711719385253131, "lpips": 0.11982206515967846}, "tactile_right": {"psnr": 35.45118649046122, "ssim": 0.9727399095587134, "lpips": 0.09067790663490692}}}, {"id": "motherboard_custom_e004_13", "episode": "motherboard_0911_episode_008_seg00.pt", "requested_episode": "motherboard_0911_episode_008_seg00.pt", "category": "onset", "t_start": 726, "start_seconds": 48.4, "short_contact": [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 1], "future_transition_ticks": [11], "long_contact_fraction": 0.515625, "long_label": "onset", "short_metrics": {"video": {"psnr": 31.27421567761024, "ssim": 0.9368343475530754, "lpips": 0.01953890174627304}, "wrist_left": {"psnr": 15.069539171789845, "ssim": 0.28412183542016783, "lpips": 0.26956257224082947}, "wrist_right": {"psnr": 20.013204845939093, "ssim": 0.8194250764137354, "lpips": 0.04347934573888779}, "tactile_left": {"psnr": 34.53315042027296, "ssim": 0.9670066130078796, "lpips": 0.09769611805677414}, "tactile_right": {"psnr": 52.05332220795629, "ssim": 0.9957358725089218, "lpips": 0.0026777018792927265}}, "media": {"short": {"video": "media/motherboard_custom_e004_13_short.mp4", "poster": "media/motherboard_custom_e004_13_short.jpg"}, "long": {"video": "media/motherboard_custom_e004_13_long.mp4", "poster": "media/motherboard_custom_e004_13_long.jpg"}}, "force": {"source": "recorded_normal_force", "units": "N", "fps": 15, "left": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 2.243333339691162, 3.9167568683624268, 6.519285678863525, 6.519285678863525, 6.519285678863525, 6.519285678863525, 6.519285678863525, 6.519285678863525, 6.519285678863525, 6.373636245727539, 3.9167568683624268, 0.27666667103767395, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.347143292427063, 0.7983333468437195, 1.9444444179534912, 2.6312499046325684, 2.6312499046325684, 4.726428508758545, 3.0568182468414307, 2.3248276710510254, 3.0568182468414307, 3.0568182468414307, 3.9167568683624268, 4.726428508758545, 4.726428508758545, 3.9167568683624268, 1.9444444179534912, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.5218365788459778, 0.7983333468437195, 2.6312499046325684, 0.5259732007980347, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.7983333468437195, 3.0568182468414307, 6.373636245727539, 5.397500038146973, 5.486666679382324, 2.3248276710510254, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 5.403749942779541, 6.519285678863525, 6.760714054107666, 7.488461494445801, 7.488461494445801, 7.488461494445801, 7.488461494445801, 6.760714054107666, 6.519285678863525, 6.519285678863525, 5.486666679382324, 0.7983333468437195, 0.0, 0.0, 0.0, 0.0, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.9167568683624268, 3.1971428394317627, 3.9167568683624268, 4.726428508758545, 4.726428508758545, 4.726428508758545, 4.726428508758545, 3.9167568683624268, 3.9167568683624268, 3.9167568683624268, 3.9167568683624268, 3.1971428394317627, 2.3248276710510254, 0.019140325486660004, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.5600000023841858], "right": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]}, "long_curve": [{"video": {"psnr": 31.27421567761024, "ssim": 0.9368343475530754, "lpips": 0.01953890174627304}, "wrist_left": {"psnr": 15.069539171789845, "ssim": 0.28412183542016783, "lpips": 0.26956257224082947}, "wrist_right": {"psnr": 20.013204845939093, "ssim": 0.8194250764137354, "lpips": 0.04347934573888779}, "tactile_left": {"psnr": 34.53315042027296, "ssim": 0.9670066130078796, "lpips": 0.09769611805677414}, "tactile_right": {"psnr": 52.05332220795629, "ssim": 0.9957358725089218, "lpips": 0.0026777018792927265}}, {"video": {"psnr": 23.94133994704945, "ssim": 0.8155988950644695, "lpips": 0.06436928361654282}, "wrist_left": {"psnr": 14.596518753926944, "ssim": 0.27323706147320104, "lpips": 0.3526178002357483}, "wrist_right": {"psnr": 18.00170036721498, "ssim": 0.7183632391131989, "lpips": 0.10993669927120209}, "tactile_left": {"psnr": 32.28322462097563, "ssim": 0.946131859862287, "lpips": 0.16669443249702454}, "tactile_right": {"psnr": 47.484170557852465, "ssim": 0.9898663937681018, "lpips": 0.012183006852865219}}, {"video": {"psnr": 22.114323125836293, "ssim": 0.755543223210528, "lpips": 0.09836854040622711}, "wrist_left": {"psnr": 14.502580467089341, "ssim": 0.279581998995842, "lpips": 0.3921647071838379}, "wrist_right": {"psnr": 17.54483382923006, "ssim": 0.7104692422572518, "lpips": 0.13867920637130737}, "tactile_left": {"psnr": 37.90994686141409, "ssim": 0.9707482002637053, "lpips": 0.08520710468292236}, "tactile_right": {"psnr": 44.5947981447761, "ssim": 0.9859593556361177, "lpips": 0.026349492371082306}}, {"video": {"psnr": 21.870743738851502, "ssim": 0.7464475970340327, "lpips": 0.1064935177564621}, "wrist_left": {"psnr": 13.908433166001819, "ssim": 0.26138898621942624, "lpips": 0.4461345970630646}, "wrist_right": {"psnr": 17.09929023189868, "ssim": 0.6983633881472865, "lpips": 0.15789321064949036}, "tactile_left": {"psnr": 32.10828462314138, "ssim": 0.9521015439913857, "lpips": 0.16069985926151276}, "tactile_right": {"psnr": 42.13855245098657, "ssim": 0.9835080619584122, "lpips": 0.0414898544549942}}, {"video": {"psnr": 21.77182278340373, "ssim": 0.7404319812819257, "lpips": 0.10590849816799164}, "wrist_left": {"psnr": 13.687014673763475, "ssim": 0.25020114378546476, "lpips": 0.48793935775756836}, "wrist_right": {"psnr": 17.384765091194502, "ssim": 0.7047322159894442, "lpips": 0.1373734176158905}, "tactile_left": {"psnr": 28.16815774588623, "ssim": 0.9128080599831874, "lpips": 0.28606274724006653}, "tactile_right": {"psnr": 41.196914324049615, "ssim": 0.9809152057135337, "lpips": 0.06299690902233124}}, {"video": {"psnr": 21.65000587965508, "ssim": 0.7284439236043267, "lpips": 0.11595767736434937}, "wrist_left": {"psnr": 13.010132513009987, "ssim": 0.2610088034488016, "lpips": 0.4988124966621399}, "wrist_right": {"psnr": 17.529172735682398, "ssim": 0.7023099321542299, "lpips": 0.13524198532104492}, "tactile_left": {"psnr": 31.33930907155571, "ssim": 0.9507904615637779, "lpips": 0.13593384623527527}, "tactile_right": {"psnr": 39.53529677239709, "ssim": 0.9782749304946349, "lpips": 0.0839964747428894}}, {"video": {"psnr": 21.403756776571537, "ssim": 0.7137343085091905, "lpips": 0.12310634553432465}, "wrist_left": {"psnr": 12.809807194868148, "ssim": 0.27066797248728636, "lpips": 0.5250938534736633}, "wrist_right": {"psnr": 17.7955347744634, "ssim": 0.7011629268135453, "lpips": 0.15246173739433289}, "tactile_left": {"psnr": 32.26951053805864, "ssim": 0.9573940544494307, "lpips": 0.13420818746089935}, "tactile_right": {"psnr": 38.049855009477625, "ssim": 0.9750538702772773, "lpips": 0.1059378832578659}}, {"video": {"psnr": 20.98609123803898, "ssim": 0.7005477953584168, "lpips": 0.15130653977394104}, "wrist_left": {"psnr": 11.868606414565473, "ssim": 0.23782882967867294, "lpips": 0.512069582939148}, "wrist_right": {"psnr": 17.429278696064824, "ssim": 0.6901925165030067, "lpips": 0.17871960997581482}, "tactile_left": {"psnr": 32.435794515403856, "ssim": 0.960643019591512, "lpips": 0.11256507784128189}, "tactile_right": {"psnr": 37.163605126059196, "ssim": 0.9721250805493715, "lpips": 0.12790805101394653}}, {"video": {"psnr": 20.498259777134447, "ssim": 0.6903652923817918, "lpips": 0.18216204643249512}, "wrist_left": {"psnr": 11.585387731348227, "ssim": 0.24800833434084385, "lpips": 0.5097146034240723}, "wrist_right": {"psnr": 17.024989795357577, "ssim": 0.681792961655335, "lpips": 0.20595403015613556}, "tactile_left": {"psnr": 29.321466052901542, "ssim": 0.9437977464682511, "lpips": 0.21376273036003113}, "tactile_right": {"psnr": 36.37238378130623, "ssim": 0.9692492665877415, "lpips": 0.14555376768112183}}, {"video": {"psnr": 20.22187102964783, "ssim": 0.6834513052137461, "lpips": 0.20713356137275696}, "wrist_left": {"psnr": 11.215674395308001, "ssim": 0.2245562896978388, "lpips": 0.5145522356033325}, "wrist_right": {"psnr": 16.817821516255723, "ssim": 0.6679266196790998, "lpips": 0.22967875003814697}, "tactile_left": {"psnr": 28.032657179361145, "ssim": 0.9326455189166243, "lpips": 0.2437407374382019}, "tactile_right": {"psnr": 34.88248550030572, "ssim": 0.9659028479475841, "lpips": 0.16736938059329987}}, {"video": {"psnr": 20.267307809571683, "ssim": 0.6789550128063766, "lpips": 0.23899708688259125}, "wrist_left": {"psnr": 11.51400546609634, "ssim": 0.24420086950446118, "lpips": 0.5086550712585449}, "wrist_right": {"psnr": 16.894322629102827, "ssim": 0.6625574500301943, "lpips": 0.252518892288208}, "tactile_left": {"psnr": 28.778458952465495, "ssim": 0.9406439790688832, "lpips": 0.22175680100917816}, "tactile_right": {"psnr": 33.81893900007627, "ssim": 0.9619188874865106, "lpips": 0.18384958803653717}}, {"video": {"psnr": 19.9526289486516, "ssim": 0.6736207090188651, "lpips": 0.26729533076286316}, "wrist_left": {"psnr": 11.673222966836436, "ssim": 0.2780798823075686, "lpips": 0.5570136308670044}, "wrist_right": {"psnr": 16.443184982566404, "ssim": 0.6451536991245828, "lpips": 0.2622378468513489}, "tactile_left": {"psnr": 31.825906956431716, "ssim": 0.9525463217621158, "lpips": 0.18491221964359283}, "tactile_right": {"psnr": 33.08363437662207, "ssim": 0.9583115111723738, "lpips": 0.2034425437450409}}, {"video": {"psnr": 19.96499920998042, "ssim": 0.6688128037286716, "lpips": 0.27354690432548523}, "wrist_left": {"psnr": 11.344342385045188, "ssim": 0.28709833643726634, "lpips": 0.604109525680542}, "wrist_right": {"psnr": 16.35078697056963, "ssim": 0.6233174373330225, "lpips": 0.28448182344436646}, "tactile_left": {"psnr": 29.65154559137364, "ssim": 0.9375753091113912, "lpips": 0.2197466790676117}, "tactile_right": {"psnr": 32.566640457840556, "ssim": 0.9546948796448025, "lpips": 0.22519314289093018}}, {"video": {"psnr": 19.52084493533466, "ssim": 0.6583057490085308, "lpips": 0.27672484517097473}, "wrist_left": {"psnr": 11.870451448076643, "ssim": 0.30903839310215564, "lpips": 0.5522384643554688}, "wrist_right": {"psnr": 16.1434978739861, "ssim": 0.6013327801770281, "lpips": 0.3205692172050476}, "tactile_left": {"psnr": 30.642656161072424, "ssim": 0.9496088487988317, "lpips": 0.18804049491882324}, "tactile_right": {"psnr": 32.16786085891783, "ssim": 0.9514236556707176, "lpips": 0.2399461269378662}}, {"video": {"psnr": 19.409388441366584, "ssim": 0.6501420390706156, "lpips": 0.27846571803092957}, "wrist_left": {"psnr": 12.336678414509654, "ssim": 0.2765469955086415, "lpips": 0.5273497104644775}, "wrist_right": {"psnr": 16.1190868935972, "ssim": 0.5902330139453016, "lpips": 0.3388242721557617}, "tactile_left": {"psnr": 29.16782035422291, "ssim": 0.936377539965862, "lpips": 0.21666957437992096}, "tactile_right": {"psnr": 31.591250407512796, "ssim": 0.9479321449603961, "lpips": 0.25538185238838196}}], "long_metrics": {"video": {"psnr": 21.656506621246937, "ssim": 0.7227489988563042, "lpips": 0.16729165315628053}, "wrist_left": {"psnr": 12.732826344149034, "ssim": 0.26570438216050923, "lpips": 0.4838685472806295}, "wrist_right": {"psnr": 17.23943141554156, "ssim": 0.6811554999557508, "lpips": 0.19653666963179905}, "tactile_left": {"psnr": 31.23119264296916, "ssim": 0.947387938453675, "lpips": 0.17784644067287445}, "tactile_right": {"psnr": 38.44664726507576, "ssim": 0.9713914642917665, "lpips": 0.12561838505789638}}}, {"id": "motherboard_custom_e004_14", "episode": "motherboard_0911_episode_008_seg00.pt", "requested_episode": "motherboard_0911_episode_008_seg00.pt", "category": "release", "t_start": 246, "start_seconds": 16.4, "short_contact": [1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 0, 0], "future_transition_ticks": [11], "long_contact_fraction": 0.6796875, "long_label": "release", "short_metrics": {"video": {"psnr": 29.55785245383594, "ssim": 0.9277582018047115, "lpips": 0.02823275327682495}, "wrist_left": {"psnr": 13.960599591815853, "ssim": 0.38145280748421095, "lpips": 0.35740137100219727}, "wrist_right": {"psnr": 21.300072561338258, "ssim": 0.7578321992628362, "lpips": 0.047727733850479126}, "tactile_left": {"psnr": 33.54563040428613, "ssim": 0.9746498446934804, "lpips": 0.048966795206069946}, "tactile_right": {"psnr": 52.56057516356053, "ssim": 0.9957117171209962, "lpips": 0.0025969091802835464}}, "media": {"short": {"video": "media/motherboard_custom_e004_14_short.mp4", "poster": "media/motherboard_custom_e004_14_short.jpg"}, "long": {"video": "media/motherboard_custom_e004_14_long.mp4", "poster": "media/motherboard_custom_e004_14_long.jpg"}}, "force": {"source": "recorded_normal_force", "units": "N", "fps": 15, "left": [3.9167568683624268, 4.726428508758545, 4.726428508758545, 3.1971428394317627, 4.726428508758545, 6.760714054107666, 6.760714054107666, 7.488461494445801, 7.349999904632568, 7.349999904632568, 3.0568182468414307, 0.49357831478118896, 0.0, 0.0, 0.0, 0.0, 0.4993111193180084, 5.397500038146973, 7.200040817260742, 10.243043899536133, 10.243043899536133, 10.243043899536133, 9.842000007629395, 7.75, 7.75, 7.75, 6.760714054107666, 6.519285678863525, 5.486666679382324, 4.726428508758545, 3.0568182468414307, 1.9444444179534912, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 3.0568182468414307, 5.486666679382324, 6.373636245727539, 6.519285678863525, 6.519285678863525, 6.519285678863525, 6.519285678863525, 6.760714054107666, 6.519285678863525, 5.403749942779541, 5.465914249420166, 6.502091884613037, 5.486666679382324, 3.0568182468414307, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.6003610491752625, 0.6849588751792908, 1.9444444179534912, 3.9167568683624268, 5.486666679382324, 5.486666679382324, 5.403749942779541, 5.486666679382324, 5.486666679382324, 3.9167568683624268, 3.9182748794555664, 5.399834156036377, 5.397500038146973, 3.0568182468414307, 0.1599999964237213, 0.2557404935359955, 2.3248276710510254, 5.403749942779541, 6.519285678863525, 7.488461494445801, 7.75, 10.243043899536133, 7.75, 7.75, 7.488461494445801, 7.488461494445801, 7.724563121795654, 7.488461494445801, 4.726428508758545, 0.7983333468437195, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.9444444179534912, 3.9167568683624268, 3.1971428394317627, 3.9167568683624268, 7.121631622314453, 6.373636245727539, 6.519285678863525, 7.283836364746094, 7.130000114440918, 6.760714054107666, 6.760714054107666, 7.130000114440918, 7.349999904632568, 7.488461494445801, 7.488461494445801, 7.349999904632568, 7.488461494445801, 0.0, 0.0, 0.0, 0.0, 3.0568182468414307, 3.9167568683624268], "right": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]}, "long_curve": [{"video": {"psnr": 29.55785245383594, "ssim": 0.9277582018047115, "lpips": 0.02823275327682495}, "wrist_left": {"psnr": 13.960599591815853, "ssim": 0.38145280748421095, "lpips": 0.35740137100219727}, "wrist_right": {"psnr": 21.300072561338258, "ssim": 0.7578321992628362, "lpips": 0.047727733850479126}, "tactile_left": {"psnr": 33.54563040428613, "ssim": 0.9746498446934804, "lpips": 0.048966795206069946}, "tactile_right": {"psnr": 52.56057516356053, "ssim": 0.9957117171209962, "lpips": 0.0025969091802835464}}, {"video": {"psnr": 25.604880178217822, "ssim": 0.8729040543559413, "lpips": 0.05072885751724243}, "wrist_left": {"psnr": 12.033608485694849, "ssim": 0.2908060715799299, "lpips": 0.44998836517333984}, "wrist_right": {"psnr": 18.397226724969645, "ssim": 0.6282333643485025, "lpips": 0.09202437102794647}, "tactile_left": {"psnr": 27.771093661612753, "ssim": 0.9062066495718354, "lpips": 0.28585556149482727}, "tactile_right": {"psnr": 48.767333099913365, "ssim": 0.9929824643176272, "lpips": 0.008233258500695229}}, {"video": {"psnr": 23.648289426043046, "ssim": 0.8157183249198937, "lpips": 0.07358867675065994}, "wrist_left": {"psnr": 11.893081627560424, "ssim": 0.3119437610590451, "lpips": 0.4656616747379303}, "wrist_right": {"psnr": 17.916618457891744, "ssim": 0.6090206862278296, "lpips": 0.12101965397596359}, "tactile_left": {"psnr": 28.787403301397205, "ssim": 0.9236050150777467, "lpips": 0.2335416078567505}, "tactile_right": {"psnr": 44.321647409783616, "ssim": 0.9890582518260448, "lpips": 0.020841624587774277}}, {"video": {"psnr": 22.44511392336189, "ssim": 0.7616844437385808, "lpips": 0.10323597490787506}, "wrist_left": {"psnr": 10.254846231507532, "ssim": 0.3134516298603248, "lpips": 0.5161817073822021}, "wrist_right": {"psnr": 17.729393405758273, "ssim": 0.614305917240559, "lpips": 0.14499156177043915}, "tactile_left": {"psnr": 39.71654100699424, "ssim": 0.9752940400186304, "lpips": 0.05658607557415962}, "tactile_right": {"psnr": 40.80932087288947, "ssim": 0.9853119859867113, "lpips": 0.04132473096251488}}, {"video": {"psnr": 23.21214354366149, "ssim": 0.7753780944115929, "lpips": 0.09859953820705414}, "wrist_left": {"psnr": 9.634457606315177, "ssim": 0.27243029076190994, "lpips": 0.569396436214447}, "wrist_right": {"psnr": 18.012651261507685, "ssim": 0.5984961592135123, "lpips": 0.15080823004245758}, "tactile_left": {"psnr": 32.22980103876111, "ssim": 0.9389073427569103, "lpips": 0.18080025911331177}, "tactile_right": {"psnr": 39.82545380475857, "ssim": 0.9806897957673824, "lpips": 0.06285391002893448}}, {"video": {"psnr": 22.22129284624178, "ssim": 0.756946900653928, "lpips": 0.12573978304862976}, "wrist_left": {"psnr": 11.509121016920279, "ssim": 0.29782927290053185, "lpips": 0.5299640893936157}, "wrist_right": {"psnr": 15.897151373191814, "ssim": 0.5646560315536633, "lpips": 0.27203983068466187}, "tactile_left": {"psnr": 32.90230774521147, "ssim": 0.9451274049098018, "lpips": 0.19560319185256958}, "tactile_right": {"psnr": 38.60432036019533, "ssim": 0.9776708750504041, "lpips": 0.0854848325252533}}, {"video": {"psnr": 20.49630464162554, "ssim": 0.7032919665875463, "lpips": 0.19160205125808716}, "wrist_left": {"psnr": 10.940609487480552, "ssim": 0.31162015492621153, "lpips": 0.509850800037384}, "wrist_right": {"psnr": 14.918811513501657, "ssim": 0.5385239843031471, "lpips": 0.32527801394462585}, "tactile_left": {"psnr": 37.967529039180484, "ssim": 0.967721408914418, "lpips": 0.10305829346179962}, "tactile_right": {"psnr": 37.45862288200614, "ssim": 0.9748954382353112, "lpips": 0.10536715388298035}}, {"video": {"psnr": 20.116476006501376, "ssim": 0.6871105140467448, "lpips": 0.20514562726020813}, "wrist_left": {"psnr": 9.734874039684055, "ssim": 0.25649439922612327, "lpips": 0.572857677936554}, "wrist_right": {"psnr": 14.618336255195619, "ssim": 0.5069616569792301, "lpips": 0.3514494299888611}, "tactile_left": {"psnr": 30.765933016586636, "ssim": 0.9299223641735841, "lpips": 0.23919111490249634}, "tactile_right": {"psnr": 36.76896554087938, "ssim": 0.9717112577918777, "lpips": 0.13134877383708954}}, {"video": {"psnr": 19.94963262163854, "ssim": 0.6787233545828599, "lpips": 0.21493679285049438}, "wrist_left": {"psnr": 9.824213730796313, "ssim": 0.29540398890047304, "lpips": 0.5427175164222717}, "wrist_right": {"psnr": 14.504645433986088, "ssim": 0.4900692452738147, "lpips": 0.36571839451789856}, "tactile_left": {"psnr": 32.78142958170719, "ssim": 0.9447139111940858, "lpips": 0.21291685104370117}, "tactile_right": {"psnr": 35.98655631615867, "ssim": 0.968917519559459, "lpips": 0.14845651388168335}}, {"video": {"psnr": 19.81122215367932, "ssim": 0.6748362834756924, "lpips": 0.22440311312675476}, "wrist_left": {"psnr": 9.589461935770906, "ssim": 0.253282246290625, "lpips": 0.536757230758667}, "wrist_right": {"psnr": 14.32362916078112, "ssim": 0.4801446128900001, "lpips": 0.3736785650253296}, "tactile_left": {"psnr": 27.13824537898107, "ssim": 0.9024231594344339, "lpips": 0.33252519369125366}, "tactile_right": {"psnr": 34.94568092660433, "ssim": 0.9658277974378557, "lpips": 0.17020903527736664}}, {"video": {"psnr": 19.919017761446682, "ssim": 0.6738756886566832, "lpips": 0.22657565772533417}, "wrist_left": {"psnr": 9.579940021481223, "ssim": 0.2953427536007702, "lpips": 0.5451323390007019}, "wrist_right": {"psnr": 14.444118772103938, "ssim": 0.49091823209942737, "lpips": 0.35863053798675537}, "tactile_left": {"psnr": 32.594462131585956, "ssim": 0.9567720617134954, "lpips": 0.16271278262138367}, "tactile_right": {"psnr": 34.244217378004635, "ssim": 0.9626934135625761, "lpips": 0.18530644476413727}}, {"video": {"psnr": 20.14426412127747, "ssim": 0.6701629381317687, "lpips": 0.2380971610546112}, "wrist_left": {"psnr": 10.794709584686569, "ssim": 0.2809009110231373, "lpips": 0.510523796081543}, "wrist_right": {"psnr": 14.07949251229913, "ssim": 0.5234100290544923, "lpips": 0.3875187337398529}, "tactile_left": {"psnr": 35.128220518794684, "ssim": 0.9637526123083207, "lpips": 0.12945756316184998}, "tactile_right": {"psnr": 33.18758251013857, "ssim": 0.959085142709649, "lpips": 0.20751091837882996}}, {"video": {"psnr": 20.10143361114214, "ssim": 0.6635293106649314, "lpips": 0.23545604944229126}, "wrist_left": {"psnr": 12.453885603329507, "ssim": 0.23888001615382798, "lpips": 0.6183072328567505}, "wrist_right": {"psnr": 13.828529444906756, "ssim": 0.49443224485100734, "lpips": 0.384407103061676}, "tactile_left": {"psnr": 29.296561912556854, "ssim": 0.9310270239125529, "lpips": 0.23966988921165466}, "tactile_right": {"psnr": 32.25087924801519, "ssim": 0.9545997470886796, "lpips": 0.22440454363822937}}, {"video": {"psnr": 20.22291488721075, "ssim": 0.6682879726825521, "lpips": 0.23739056289196014}, "wrist_left": {"psnr": 11.58803848900166, "ssim": 0.2142200156043431, "lpips": 0.6089527606964111}, "wrist_right": {"psnr": 13.679119588533853, "ssim": 0.47330686650388953, "lpips": 0.3886733055114746}, "tactile_left": {"psnr": 26.36619589938139, "ssim": 0.9033980153387522, "lpips": 0.3293873071670532}, "tactile_right": {"psnr": 31.855186981165925, "ssim": 0.9511497868053347, "lpips": 0.23391498625278473}}, {"video": {"psnr": 20.078467045344723, "ssim": 0.6638239122716598, "lpips": 0.2392740398645401}, "wrist_left": {"psnr": 12.017767515693485, "ssim": 0.2722139120662825, "lpips": 0.5751540064811707}, "wrist_right": {"psnr": 13.706707449420492, "ssim": 0.4676901313531973, "lpips": 0.4066387414932251}, "tactile_left": {"psnr": 30.522017828748844, "ssim": 0.947806628766257, "lpips": 0.18995800614356995}, "tactile_right": {"psnr": 31.346861931928363, "ssim": 0.947762104583764, "lpips": 0.25282901525497437}}], "long_metrics": {"video": {"psnr": 21.83528701474857, "ssim": 0.7329354640656724, "lpips": 0.16620044261217118}, "wrist_left": {"psnr": 11.053947664515892, "ssim": 0.2857514820958498, "lpips": 0.5272564669450124}, "wrist_right": {"psnr": 15.823766927692406, "ssim": 0.5492000907436739, "lpips": 0.27804028044144313}, "tactile_left": {"psnr": 31.8342248310524, "ssim": 0.9407551655189537, "lpips": 0.19601536616683007}, "tactile_right": {"psnr": 38.19554696173347, "ssim": 0.9718711531895782, "lpips": 0.12537884339690208}}}, {"id": "motherboard_custom_e004_15", "episode": "motherboard_0911_episode_008_seg00.pt", "requested_episode": "motherboard_0911_episode_008_seg00.pt", "category": "full", "t_start": 432, "start_seconds": 28.8, "short_contact": [1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1], "future_transition_ticks": [], "long_contact_fraction": 0.8359375, "long_label": "full", "short_metrics": {"video": {"psnr": 28.459445217060843, "ssim": 0.904447460696292, "lpips": 0.029073908925056458}, "wrist_left": {"psnr": 18.41967093458967, "ssim": 0.5309700533896073, "lpips": 0.12671607732772827}, "wrist_right": {"psnr": 16.51458922345111, "ssim": 0.5489500423318406, "lpips": 0.18781313300132751}, "tactile_left": {"psnr": 31.67016486227712, "ssim": 0.9514526248845501, "lpips": 0.054732635617256165}, "tactile_right": {"psnr": 42.50495183127482, "ssim": 0.9892746252143916, "lpips": 0.036464206874370575}}, "media": {"short": {"video": "media/motherboard_custom_e004_15_short.mp4", "poster": "media/motherboard_custom_e004_15_short.jpg"}, "long": {"video": "media/motherboard_custom_e004_15_long.mp4", "poster": "media/motherboard_custom_e004_15_long.jpg"}}, "force": {"source": "recorded_normal_force", "units": "N", "fps": 15, "left": [0.0, 0.0, 0.0, 0.0, 0.0, 0.7983333468437195, 1.9444444179534912, 5.481388092041016, 6.760714054107666, 6.760714054107666, 7.130000114440918, 7.488461494445801, 7.488461494445801, 7.66710901260376, 7.75, 7.488461494445801, 7.488461494445801, 7.488461494445801, 7.340664386749268, 6.760714054107666, 6.760714054107666, 6.519285678863525, 6.519285678863525, 6.760714054107666, 6.760714054107666, 6.760714054107666, 6.760714054107666, 6.760714054107666, 6.760714054107666, 6.760714054107666, 6.760714054107666, 6.519285678863525, 6.519285678863525, 6.519285678863525, 6.373636245727539, 5.486666679382324, 5.397500038146973, 4.726428508758545, 3.1149818897247314, 3.1149818897247314, 0.0, 0.0, 0.5564713478088379, 0.5564713478088379, 5.403749942779541, 6.519285678863525, 6.870246887207031, 7.130000114440918, 7.130000114440918, 7.488461494445801, 7.488461494445801, 7.488461494445801, 7.488461494445801, 7.488461494445801, 7.230000019073486, 7.349999904632568, 7.130000114440918, 7.130000114440918, 2.243333339691162, 0.0, 0.0, 0.0, 0.0, 5.486666679382324, 6.519285678863525, 6.760714054107666, 7.230000019073486, 7.296485424041748, 7.488461494445801, 7.488461494445801, 5.486666679382324, 3.0568182468414307, 0.0, 0.0, 1.9736661911010742, 3.9167568683624268, 6.519285678863525, 6.760714054107666, 6.760714054107666, 6.760714054107666, 7.130000114440918, 6.856966972351074, 3.9167568683624268, 0.3697943389415741, 0.1599999964237213, 3.1971428394317627, 6.519285678863525, 6.760714054107666, 7.488461494445801, 10.243043899536133, 10.78499984741211, 7.784317970275879, 0.1599999964237213, 0.1599999964237213, 0.0, 0.0, 0.0, 0.0, 2.3248276710510254, 5.403749942779541, 7.130000114440918, 7.488461494445801, 7.488461494445801, 10.243043899536133, 10.977499961853027, 10.243043899536133, 10.977499961853027, 10.243043899536133, 0.1599999964237213, 0.0, 0.0, 0.7983333468437195, 0.7983333468437195, 0.0, 0.0, 2.3248276710510254, 3.9167568683624268, 5.486666679382324, 6.519285678863525, 7.488461494445801, 10.243043899536133, 10.243043899536133, 7.488461494445801, 7.488461494445801, 10.243043899536133, 10.977499961853027, 10.243043899536133, 10.243043899536133], "right": [0.5458959341049194, 0.5600000023841858, 0.5600000023841858, 0.6782253384590149, 0.7983333468437195, 0.5419337749481201, 0.25, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.9444444179534912, 0.7983333468437195, 1.0138323307037354, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 1.9444444179534912, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.2831295132637024, 0.533720850944519, 2.243333339691162, 3.0568182468414307, 3.9167568683624268, 3.9167568683624268, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 2.3248276710510254, 1.9444444179534912, 0.5600000023841858, 0.1599999964237213, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.7983333468437195, 3.0568182468414307, 3.0568182468414307, 3.9167568683624268, 3.9177205562591553, 4.726428508758545, 4.726428508758545, 4.726428508758545, 4.726428508758545, 3.0568182468414307, 0.5567049980163574, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]}, "long_curve": [{"video": {"psnr": 28.459445217060843, "ssim": 0.904447460696292, "lpips": 0.029073908925056458}, "wrist_left": {"psnr": 18.41967093458967, "ssim": 0.5309700533896073, "lpips": 0.12671607732772827}, "wrist_right": {"psnr": 16.51458922345111, "ssim": 0.5489500423318406, "lpips": 0.18781313300132751}, "tactile_left": {"psnr": 31.67016486227712, "ssim": 0.9514526248845501, "lpips": 0.054732635617256165}, "tactile_right": {"psnr": 42.50495183127482, "ssim": 0.9892746252143916, "lpips": 0.036464206874370575}}, {"video": {"psnr": 24.069139849415414, "ssim": 0.7938946876490351, "lpips": 0.06748759746551514}, "wrist_left": {"psnr": 15.10869321633907, "ssim": 0.34157461446179116, "lpips": 0.2944391965866089}, "wrist_right": {"psnr": 13.72928392988043, "ssim": 0.4724484853989881, "lpips": 0.3310219645500183}, "tactile_left": {"psnr": 29.292587460405628, "ssim": 0.9407479560556457, "lpips": 0.15781660377979279}, "tactile_right": {"psnr": 37.38258767928757, "ssim": 0.9784406157063749, "lpips": 0.07945917546749115}}, {"video": {"psnr": 23.235443609008204, "ssim": 0.7729253373822326, "lpips": 0.08960256725549698}, "wrist_left": {"psnr": 14.304737284990715, "ssim": 0.3015686701675546, "lpips": 0.3554360568523407}, "wrist_right": {"psnr": 12.63934965997651, "ssim": 0.417603529368579, "lpips": 0.4705680012702942}, "tactile_left": {"psnr": 29.50936276566107, "ssim": 0.9361917894176282, "lpips": 0.20059888064861298}, "tactile_right": {"psnr": 35.20175454324722, "ssim": 0.9724516780987834, "lpips": 0.10566140711307526}}, {"video": {"psnr": 22.668682504800653, "ssim": 0.7462540443089427, "lpips": 0.11554157733917236}, "wrist_left": {"psnr": 14.338327938530874, "ssim": 0.30288165711699344, "lpips": 0.4190528392791748}, "wrist_right": {"psnr": 12.371918987858466, "ssim": 0.34582620193388114, "lpips": 0.41793614625930786}, "tactile_left": {"psnr": 30.79419948056941, "ssim": 0.9462374529599402, "lpips": 0.18409276008605957}, "tactile_right": {"psnr": 34.47038850081258, "ssim": 0.9679212875660468, "lpips": 0.118087038397789}}, {"video": {"psnr": 22.429689768408714, "ssim": 0.7293063404392711, "lpips": 0.1310560703277588}, "wrist_left": {"psnr": 14.183691960211092, "ssim": 0.3078881073091192, "lpips": 0.45504307746887207}, "wrist_right": {"psnr": 12.747867576248026, "ssim": 0.41934406408852426, "lpips": 0.43889087438583374}, "tactile_left": {"psnr": 33.145670092478184, "ssim": 0.9480511333409045, "lpips": 0.1760486215353012}, "tactile_right": {"psnr": 38.2039625118744, "ssim": 0.9788351929869062, "lpips": 0.058443062007427216}}, {"video": {"psnr": 22.023856818182026, "ssim": 0.7165959484956994, "lpips": 0.15234676003456116}, "wrist_left": {"psnr": 13.01357264226439, "ssim": 0.2714032535972939, "lpips": 0.47553691267967224}, "wrist_right": {"psnr": 11.982547705971204, "ssim": 0.3423132872391993, "lpips": 0.4936080276966095}, "tactile_left": {"psnr": 29.76370068050445, "ssim": 0.9275162066434184, "lpips": 0.2582551836967468}, "tactile_right": {"psnr": 32.79745013995766, "ssim": 0.9586893929647057, "lpips": 0.18706688284873962}}, {"video": {"psnr": 21.211265380752707, "ssim": 0.6946383493268529, "lpips": 0.18918071687221527}, "wrist_left": {"psnr": 13.43857678565293, "ssim": 0.30060208132739913, "lpips": 0.471286416053772}, "wrist_right": {"psnr": 12.824943536514713, "ssim": 0.4328964340642839, "lpips": 0.43066489696502686}, "tactile_left": {"psnr": 33.692214195312296, "ssim": 0.9565980483451605, "lpips": 0.1638282835483551}, "tactile_right": {"psnr": 33.82985088114486, "ssim": 0.9669190188478274, "lpips": 0.13290295004844666}}, {"video": {"psnr": 21.19049894415359, "ssim": 0.6928844019931442, "lpips": 0.19511090219020844}, "wrist_left": {"psnr": 12.862507988767518, "ssim": 0.3007821565629528, "lpips": 0.474445104598999}, "wrist_right": {"psnr": 13.902320750984503, "ssim": 0.5057785559714307, "lpips": 0.38380804657936096}, "tactile_left": {"psnr": 28.27483629360017, "ssim": 0.9248860744281127, "lpips": 0.2781580984592438}, "tactile_right": {"psnr": 34.921023670265654, "ssim": 0.9712441149555499, "lpips": 0.10796605050563812}}, {"video": {"psnr": 20.908307581935684, "ssim": 0.6687093130861181, "lpips": 0.19766920804977417}, "wrist_left": {"psnr": 12.932875453215907, "ssim": 0.30511962138961224, "lpips": 0.4676378071308136}, "wrist_right": {"psnr": 14.033237995299022, "ssim": 0.48974721360484524, "lpips": 0.358295202255249}, "tactile_left": {"psnr": 30.320211030584048, "ssim": 0.9277629858596929, "lpips": 0.23777484893798828}, "tactile_right": {"psnr": 34.45337931953966, "ssim": 0.9687585208822393, "lpips": 0.12204515933990479}}, {"video": {"psnr": 20.755350031286106, "ssim": 0.6611282879146134, "lpips": 0.1940685659646988}, "wrist_left": {"psnr": 12.799760772087755, "ssim": 0.28669303237751637, "lpips": 0.4886113107204437}, "wrist_right": {"psnr": 13.921576946557156, "ssim": 0.4879436633363919, "lpips": 0.3602055311203003}, "tactile_left": {"psnr": 30.498088967186856, "ssim": 0.9341465511927397, "lpips": 0.23406220972537994}, "tactile_right": {"psnr": 33.40409095954497, "ssim": 0.9655633153968002, "lpips": 0.14192511141300201}}, {"video": {"psnr": 20.825283883103218, "ssim": 0.6587208487534274, "lpips": 0.19154253602027893}, "wrist_left": {"psnr": 13.137097976884853, "ssim": 0.33161169930785706, "lpips": 0.4528356194496155}, "wrist_right": {"psnr": 14.053735611927037, "ssim": 0.4919736549130934, "lpips": 0.36733096837997437}, "tactile_left": {"psnr": 29.757699755529497, "ssim": 0.9381520656001033, "lpips": 0.23796474933624268}, "tactile_right": {"psnr": 32.638690126457305, "ssim": 0.9623064679899628, "lpips": 0.16279658675193787}}, {"video": {"psnr": 20.711478604754248, "ssim": 0.6523313360077226, "lpips": 0.19507965445518494}, "wrist_left": {"psnr": 14.343484395856462, "ssim": 0.4741865957213754, "lpips": 0.3577779531478882}, "wrist_right": {"psnr": 14.317767954990456, "ssim": 0.4834746317050619, "lpips": 0.36702337861061096}, "tactile_left": {"psnr": 31.91341391013378, "ssim": 0.9391368313132411, "lpips": 0.2425718754529953}, "tactile_right": {"psnr": 31.995475734484224, "ssim": 0.9589808301845627, "lpips": 0.1788390576839447}}, {"video": {"psnr": 20.471249187106615, "ssim": 0.6505148392692408, "lpips": 0.20897969603538513}, "wrist_left": {"psnr": 13.704813311203628, "ssim": 0.49250947811543533, "lpips": 0.368705153465271}, "wrist_right": {"psnr": 13.886786452216642, "ssim": 0.4401674021599412, "lpips": 0.39206787943840027}, "tactile_left": {"psnr": 29.611532042382613, "ssim": 0.930798229438146, "lpips": 0.23520514369010925}, "tactile_right": {"psnr": 31.588572391427128, "ssim": 0.9554843973477372, "lpips": 0.1941961944103241}}, {"video": {"psnr": 20.250316606585773, "ssim": 0.646674901725873, "lpips": 0.23493662476539612}, "wrist_left": {"psnr": 8.884886100128963, "ssim": 0.3187746904619658, "lpips": 0.6158323884010315}, "wrist_right": {"psnr": 13.47294247690873, "ssim": 0.4110598514223054, "lpips": 0.4056779146194458}, "tactile_left": {"psnr": 31.844898147640478, "ssim": 0.9352828216312112, "lpips": 0.20745088160037994}, "tactile_right": {"psnr": 31.347462019280638, "ssim": 0.9523842129083541, "lpips": 0.20932593941688538}}, {"video": {"psnr": 20.347712412170363, "ssim": 0.642976834133447, "lpips": 0.22828274965286255}, "wrist_left": {"psnr": 8.59420981307638, "ssim": 0.2803472248299148, "lpips": 0.6352101564407349}, "wrist_right": {"psnr": 12.985963938909572, "ssim": 0.36931417079409934, "lpips": 0.43058452010154724}, "tactile_left": {"psnr": 28.6269294658575, "ssim": 0.8980212842513795, "lpips": 0.2844844460487366}, "tactile_right": {"psnr": 31.171371318440897, "ssim": 0.9494388705243721, "lpips": 0.22896450757980347}}], "long_metrics": {"video": {"psnr": 21.970514693248276, "ssim": 0.7088001954121275, "lpips": 0.16133060902357102}, "wrist_left": {"psnr": 13.33779377158668, "ssim": 0.3431275290757592, "lpips": 0.4305710713068644}, "wrist_right": {"psnr": 13.558988849846237, "ssim": 0.443922745888831, "lpips": 0.3890330990155538}, "tactile_left": {"psnr": 30.58103394334154, "ssim": 0.9356654703574583, "lpips": 0.21020301481088002}, "tactile_right": {"psnr": 34.39406744180264, "ssim": 0.9664461694383076, "lpips": 0.13760955532391866}}}, {"id": "motherboard_custom_e004_16", "episode": "motherboard_0912_episode_002.pt", "requested_episode": "motherboard_0912_episode_002.pt", "category": "none", "t_start": 750, "start_seconds": 50.0, "short_contact": [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0], "future_transition_ticks": [], "long_contact_fraction": 0.3671875, "long_label": "none_at_start", "short_metrics": {"video": {"psnr": 29.099628424327353, "ssim": 0.9303667183398938, "lpips": 0.0322384387254715}, "wrist_left": {"psnr": 22.98950352838682, "ssim": 0.8563792763738095, "lpips": 0.06463360786437988}, "wrist_right": {"psnr": 32.283136480498754, "ssim": 0.9359340720359217, "lpips": 0.03310912847518921}, "tactile_left": {"psnr": 49.884151662998015, "ssim": 0.994590776064632, "lpips": 0.003593877423554659}, "tactile_right": {"psnr": 52.44870935443814, "ssim": 0.9957216088221637, "lpips": 0.002715603681281209}}, "media": {"short": {"video": "media/motherboard_custom_e004_16_short.mp4", "poster": "media/motherboard_custom_e004_16_short.jpg"}, "long": {"video": "media/motherboard_custom_e004_16_long.mp4", "poster": "media/motherboard_custom_e004_16_long.jpg"}}, "force": {"source": "recorded_normal_force", "units": "N", "fps": 15, "left": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.1599999964237213, 0.19649721682071686, 0.1599999964237213, 0.27666667103767395, 0.44613584876060486, 0.1599999964237213, 0.1599999964237213, 0.1599999964237213, 1.6094872951507568, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 4.726428508758545, 5.397500038146973, 6.373636245727539, 6.760714054107666, 6.760714054107666, 6.760714054107666, 6.435560703277588, 6.373636245727539, 6.760714054107666, 6.760714054107666, 6.760714054107666, 7.230000019073486, 7.230000019073486, 7.130000114440918, 6.760714054107666, 7.349999904632568, 7.130000114440918, 6.760714054107666, 7.130000114440918, 6.997551918029785, 6.760714054107666, 6.519285678863525, 6.760714054107666, 6.760714054107666, 6.760714054107666, 6.519285678863525, 5.486666679382324, 5.486666679382324, 5.3991498947143555, 6.373636245727539, 6.519285678863525, 6.519285678863525, 5.397500038146973, 4.726428508758545, 2.3248276710510254, 0.1599999964237213, 5.403749942779541, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 3.9167568683624268, 6.519285678863525, 7.130000114440918, 7.488461494445801, 7.488461494445801, 7.488461494445801, 10.243043899536133], "right": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.033978212624788284, 0.14319390058517456, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.15257100760936737, 3.0568182468414307, 3.0568182468414307, 2.6312499046325684, 2.3248276710510254, 2.6312499046325684, 2.3248276710510254, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.04887126386165619, 0.1599999964237213, 0.1599999964237213, 0.1599999964237213, 0.27666667103767395, 0.7983333468437195, 2.6312499046325684, 3.0568182468414307]}, "long_curve": [{"video": {"psnr": 29.099628424327353, "ssim": 0.9303667183398938, "lpips": 0.0322384387254715}, "wrist_left": {"psnr": 22.98950352838682, "ssim": 0.8563792763738095, "lpips": 0.06463360786437988}, "wrist_right": {"psnr": 32.283136480498754, "ssim": 0.9359340720359217, "lpips": 0.03310912847518921}, "tactile_left": {"psnr": 49.884151662998015, "ssim": 0.994590776064632, "lpips": 0.003593877423554659}, "tactile_right": {"psnr": 52.44870935443814, "ssim": 0.9957216088221637, "lpips": 0.002715603681281209}}, {"video": {"psnr": 26.434687231185322, "ssim": 0.9129389740048592, "lpips": 0.03905223309993744}, "wrist_left": {"psnr": 22.234923159161536, "ssim": 0.8293100025557447, "lpips": 0.07316945493221283}, "wrist_right": {"psnr": 27.768762543284883, "ssim": 0.8810846570706534, "lpips": 0.05840197578072548}, "tactile_left": {"psnr": 47.750361448839456, "ssim": 0.9916795362446711, "lpips": 0.011971473693847656}, "tactile_right": {"psnr": 48.54881255896168, "ssim": 0.992246250333262, "lpips": 0.010706175118684769}}, {"video": {"psnr": 25.528544598140194, "ssim": 0.8959562659479119, "lpips": 0.0486484169960022}, "wrist_left": {"psnr": 21.62917180723126, "ssim": 0.7948894910555467, "lpips": 0.09845152497291565}, "wrist_right": {"psnr": 24.989783611048995, "ssim": 0.8270732581901734, "lpips": 0.08131476491689682}, "tactile_left": {"psnr": 45.662660345667625, "ssim": 0.9883103354723437, "lpips": 0.024019211530685425}, "tactile_right": {"psnr": 45.48042264371737, "ssim": 0.9887554093335478, "lpips": 0.024806378409266472}}, {"video": {"psnr": 25.389305264145904, "ssim": 0.8794537923305428, "lpips": 0.05549154430627823}, "wrist_left": {"psnr": 21.232498185589947, "ssim": 0.7744386764415832, "lpips": 0.11679789423942566}, "wrist_right": {"psnr": 24.45866550763057, "ssim": 0.8106917506432614, "lpips": 0.0933494120836258}, "tactile_left": {"psnr": 43.277258774027075, "ssim": 0.9848521287594126, "lpips": 0.03916469216346741}, "tactile_right": {"psnr": 43.175146155192444, "ssim": 0.9861037374507549, "lpips": 0.04313821345567703}}, {"video": {"psnr": 25.508627417639715, "ssim": 0.8558978763533487, "lpips": 0.08112424612045288}, "wrist_left": {"psnr": 21.253715769974836, "ssim": 0.7689640424081035, "lpips": 0.13265536725521088}, "wrist_right": {"psnr": 23.599707249901385, "ssim": 0.7701033300601077, "lpips": 0.10431429743766785}, "tactile_left": {"psnr": 41.886984179140626, "ssim": 0.9810741963441674, "lpips": 0.0560210719704628}, "tactile_right": {"psnr": 41.94512118514705, "ssim": 0.9830013810827414, "lpips": 0.06071998551487923}}, {"video": {"psnr": 24.849907368767713, "ssim": 0.828598640930013, "lpips": 0.09585826098918915}, "wrist_left": {"psnr": 20.416699290231982, "ssim": 0.7688705850176583, "lpips": 0.1710941195487976}, "wrist_right": {"psnr": 21.29239862096469, "ssim": 0.677566348651637, "lpips": 0.14450928568840027}, "tactile_left": {"psnr": 40.657587454169956, "ssim": 0.9773983971079365, "lpips": 0.0789453387260437}, "tactile_right": {"psnr": 40.77980847918943, "ssim": 0.9803353921136956, "lpips": 0.07670199871063232}}, {"video": {"psnr": 23.93332032065059, "ssim": 0.7942441486341202, "lpips": 0.10979264974594116}, "wrist_left": {"psnr": 19.007915489730596, "ssim": 0.7707438312223954, "lpips": 0.20052462816238403}, "wrist_right": {"psnr": 18.644192293650654, "ssim": 0.5961996707079152, "lpips": 0.2156619429588318}, "tactile_left": {"psnr": 38.944578409137584, "ssim": 0.9725668085022747, "lpips": 0.12662044167518616}, "tactile_right": {"psnr": 39.61389556090158, "ssim": 0.9777928907549851, "lpips": 0.09715412557125092}}, {"video": {"psnr": 23.355134041426865, "ssim": 0.7713885016216191, "lpips": 0.11656517535448074}, "wrist_left": {"psnr": 18.705323565226433, "ssim": 0.773581498511345, "lpips": 0.2136063575744629}, "wrist_right": {"psnr": 15.710560291043965, "ssim": 0.536754383796976, "lpips": 0.317431777715683}, "tactile_left": {"psnr": 37.98811812171477, "ssim": 0.9705593752607349, "lpips": 0.1287137120962143}, "tactile_right": {"psnr": 38.805544996512545, "ssim": 0.9752923747394797, "lpips": 0.11268573999404907}}, {"video": {"psnr": 22.089900240054238, "ssim": 0.7360623115144744, "lpips": 0.14532238245010376}, "wrist_left": {"psnr": 9.434809165231536, "ssim": 0.4390632606801495, "lpips": 0.5641542673110962}, "wrist_right": {"psnr": 14.828996320065285, "ssim": 0.6148610793654818, "lpips": 0.3735589385032654}, "tactile_left": {"psnr": 37.3946262196542, "ssim": 0.9682984838348916, "lpips": 0.13836327195167542}, "tactile_right": {"psnr": 37.882083305163505, "ssim": 0.9732119295234276, "lpips": 0.12936028838157654}}, {"video": {"psnr": 21.39264367080458, "ssim": 0.7014447941450318, "lpips": 0.18482477962970734}, "wrist_left": {"psnr": 7.397816794221136, "ssim": 0.27106740202222457, "lpips": 0.7307744026184082}, "wrist_right": {"psnr": 14.010205017050648, "ssim": 0.6282974946089055, "lpips": 0.4103659987449646}, "tactile_left": {"psnr": 34.04719831137773, "ssim": 0.9384288692626582, "lpips": 0.2728549838066101}, "tactile_right": {"psnr": 36.24813879086653, "ssim": 0.970504795620887, "lpips": 0.1503090262413025}}, {"video": {"psnr": 19.14596514003832, "ssim": 0.6463258030204666, "lpips": 0.2977319359779358}, "wrist_left": {"psnr": 7.106270824440962, "ssim": 0.22683896800176861, "lpips": 0.7664966583251953}, "wrist_right": {"psnr": 14.613249064682318, "ssim": 0.6729692540409073, "lpips": 0.3932439684867859}, "tactile_left": {"psnr": 31.947516868734557, "ssim": 0.9288237114031639, "lpips": 0.3103112578392029}, "tactile_right": {"psnr": 34.664040494324304, "ssim": 0.9679181245253962, "lpips": 0.1702103465795517}}, {"video": {"psnr": 18.758518650784385, "ssim": 0.6329180812275086, "lpips": 0.3262268304824829}, "wrist_left": {"psnr": 6.915323208736883, "ssim": 0.21792715922903233, "lpips": 0.7513813972473145}, "wrist_right": {"psnr": 14.232504620276218, "ssim": 0.6691346026277822, "lpips": 0.43000584840774536}, "tactile_left": {"psnr": 31.496420260439848, "ssim": 0.9154574234354633, "lpips": 0.3495011031627655}, "tactile_right": {"psnr": 33.29766281671428, "ssim": 0.962295032895047, "lpips": 0.2032395303249359}}, {"video": {"psnr": 18.934426110890634, "ssim": 0.6471412754652899, "lpips": 0.28157752752304077}, "wrist_left": {"psnr": 7.481684150395233, "ssim": 0.3037098481513605, "lpips": 0.725743293762207}, "wrist_right": {"psnr": 13.712956226725137, "ssim": 0.6683823845455776, "lpips": 0.42337566614151}, "tactile_left": {"psnr": 32.172418440441426, "ssim": 0.9256530726445917, "lpips": 0.33409446477890015}, "tactile_right": {"psnr": 32.50751012676278, "ssim": 0.9598841545468253, "lpips": 0.21282607316970825}}, {"video": {"psnr": 19.660760838100067, "ssim": 0.6620642087847834, "lpips": 0.23853358626365662}, "wrist_left": {"psnr": 7.703399089599717, "ssim": 0.2982280112834779, "lpips": 0.700258731842041}, "wrist_right": {"psnr": 15.033182678621982, "ssim": 0.6722022157055436, "lpips": 0.42665615677833557}, "tactile_left": {"psnr": 33.06584200424969, "ssim": 0.9406404623538365, "lpips": 0.29170042276382446}, "tactile_right": {"psnr": 31.929581768562393, "ssim": 0.9588453338010072, "lpips": 0.21718165278434753}}, {"video": {"psnr": 19.50979285693813, "ssim": 0.6536548749436166, "lpips": 0.24715971946716309}, "wrist_left": {"psnr": 7.22392329974528, "ssim": 0.2290285631277627, "lpips": 0.7554649114608765}, "wrist_right": {"psnr": 16.00785867451431, "ssim": 0.6930254450912704, "lpips": 0.3912102282047272}, "tactile_left": {"psnr": 31.36094549206929, "ssim": 0.9162208077864904, "lpips": 0.33642807602882385}, "tactile_right": {"psnr": 31.313791664015646, "ssim": 0.9537068187062239, "lpips": 0.2473478615283966}}], "long_metrics": {"video": {"psnr": 22.9060774782596, "ssim": 0.769897084484232, "lpips": 0.15334318180878956}, "wrist_left": {"psnr": 14.715531821860278, "ssim": 0.5548693744054642, "lpips": 0.4043471078077952}, "wrist_right": {"psnr": 19.412410613330653, "ssim": 0.7102853298094743, "lpips": 0.2597672926882903}, "tactile_left": {"psnr": 38.50244453284412, "ssim": 0.9596369589651512, "lpips": 0.16682022664075097}, "tactile_right": {"psnr": 39.24268466003131, "ssim": 0.9750410156166296, "lpips": 0.11727353329770267}}}, {"id": "motherboard_custom_e004_17", "episode": "motherboard_0912_episode_002.pt", "requested_episode": "motherboard_0912_episode_002.pt", "category": "onset", "t_start": 2106, "start_seconds": 140.4, "short_contact": [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 1], "future_transition_ticks": [11], "long_contact_fraction": 0.75, "long_label": "onset", "short_metrics": {"video": {"psnr": 25.93468085948654, "ssim": 0.8359349055729024, "lpips": 0.05040132999420166}, "wrist_left": {"psnr": 16.11906692297197, "ssim": 0.5228414571219255, "lpips": 0.22470754384994507}, "wrist_right": {"psnr": 16.421338228250313, "ssim": 0.3728322330452909, "lpips": 0.17566868662834167}, "tactile_left": {"psnr": 45.017991459484115, "ssim": 0.9869783030625621, "lpips": 0.009300095029175282}, "tactile_right": {"psnr": 39.258158280596035, "ssim": 0.9779639455828167, "lpips": 0.11577244102954865}}, "media": {"short": {"video": "media/motherboard_custom_e004_17_short.mp4", "poster": "media/motherboard_custom_e004_17_short.jpg"}, "long": {"video": "media/motherboard_custom_e004_17_long.mp4", "poster": "media/motherboard_custom_e004_17_long.jpg"}}, "force": {"source": "recorded_normal_force", "units": "N", "fps": 15, "left": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.12416389584541321, 0.06000244617462158, 0.1599999964237213, 0.0, 0.0, 0.0, 0.1599999964237213, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 2.3248276710510254, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 2.6312499046325684, 2.6312499046325684, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.9444444179534912, 0.7983333468437195, 2.243333339691162, 3.9167568683624268, 4.726428508758545, 5.397500038146973, 5.397500038146973, 4.726428508758545, 4.726428508758545, 3.928694009780884, 3.9167568683624268, 3.9167568683624268, 3.9167568683624268, 3.9167568683624268, 3.9167568683624268, 3.9167568683624268, 3.3742141723632812, 3.0568182468414307, 2.6312499046325684, 2.3248276710510254, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 1.380898118019104, 1.9444444179534912, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7040123343467712, 0.7040123343467712, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 2.243333339691162, 1.9444444179534912, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.243333339691162, 1.9444444179534912, 1.9444444179534912, 1.9444444179534912, 2.243333339691162, 1.9444444179534912, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 2.3248276710510254, 0.7983333468437195, 2.243333339691162], "right": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.7983333468437195, 2.243333339691162, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.5789201259613037, 2.3248276710510254, 3.9167568683624268, 3.9167568683624268, 3.9167568683624268, 3.1971428394317627, 3.0568182468414307, 3.1971428394317627, 3.9167568683624268, 3.9167568683624268, 2.3248276710510254, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.5337831377983093, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.1599999964237213, 0.1599999964237213, 0.0, 0.0, 0.0, 0.0, 0.0, 0.4000000059604645, 0.1599999964237213, 0.0, 0.0, 0.1599999964237213, 0.1599999964237213, 0.25, 0.49805352091789246, 1.9444444179534912, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 1.846291184425354, 2.3172874450683594, 2.3248276710510254, 0.7983333468437195, 0.1599999964237213, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]}, "long_curve": [{"video": {"psnr": 25.93468085948654, "ssim": 0.8359349055729024, "lpips": 0.05040132999420166}, "wrist_left": {"psnr": 16.11906692297197, "ssim": 0.5228414571219255, "lpips": 0.22470754384994507}, "wrist_right": {"psnr": 16.421338228250313, "ssim": 0.3728322330452909, "lpips": 0.17566868662834167}, "tactile_left": {"psnr": 45.017991459484115, "ssim": 0.9869783030625621, "lpips": 0.009300095029175282}, "tactile_right": {"psnr": 39.258158280596035, "ssim": 0.9779639455828167, "lpips": 0.11577244102954865}}, {"video": {"psnr": 21.1001186142423, "ssim": 0.6879006967578685, "lpips": 0.14604109525680542}, "wrist_left": {"psnr": 11.51913115709772, "ssim": 0.30695625417796973, "lpips": 0.4676378667354584}, "wrist_right": {"psnr": 16.347342909269877, "ssim": 0.38052976034216546, "lpips": 0.2187989503145218}, "tactile_left": {"psnr": 41.5975324298232, "ssim": 0.9834667525007953, "lpips": 0.026602841913700104}, "tactile_right": {"psnr": 38.176255053166685, "ssim": 0.968308301515828, "lpips": 0.1663963943719864}}, {"video": {"psnr": 21.091028308490717, "ssim": 0.6730412383141494, "lpips": 0.18077005445957184}, "wrist_left": {"psnr": 12.456774792374079, "ssim": 0.2640707756874968, "lpips": 0.507398784160614}, "wrist_right": {"psnr": 17.245876376127107, "ssim": 0.43008807870206645, "lpips": 0.2588789761066437}, "tactile_left": {"psnr": 41.45342691099101, "ssim": 0.978524550059982, "lpips": 0.046378422528505325}, "tactile_right": {"psnr": 41.13203982545927, "ssim": 0.9787912086981355, "lpips": 0.08168262243270874}}, {"video": {"psnr": 20.470497266365154, "ssim": 0.6699527975354411, "lpips": 0.21006330847740173}, "wrist_left": {"psnr": 13.029162371233124, "ssim": 0.2635422153040446, "lpips": 0.4966675639152527}, "wrist_right": {"psnr": 12.98297750875678, "ssim": 0.38144965419055293, "lpips": 0.40923911333084106}, "tactile_left": {"psnr": 36.61136361964018, "ssim": 0.966570771686986, "lpips": 0.11035426706075668}, "tactile_right": {"psnr": 41.062699215994975, "ssim": 0.9813472251919194, "lpips": 0.0408451110124588}}, {"video": {"psnr": 19.59111521211344, "ssim": 0.6616794225236124, "lpips": 0.2354665994644165}, "wrist_left": {"psnr": 11.622174014959088, "ssim": 0.27730836572394757, "lpips": 0.5002135038375854}, "wrist_right": {"psnr": 12.849455253339976, "ssim": 0.2989802080740115, "lpips": 0.4880589246749878}, "tactile_left": {"psnr": 40.65844274015376, "ssim": 0.9756901573122887, "lpips": 0.06916268169879913}, "tactile_right": {"psnr": 39.45710468290828, "ssim": 0.977085332210027, "lpips": 0.08343294262886047}}, {"video": {"psnr": 19.171413346758282, "ssim": 0.6496990972704335, "lpips": 0.26425474882125854}, "wrist_left": {"psnr": 11.985054022241222, "ssim": 0.24608732060934, "lpips": 0.4981568157672882}, "wrist_right": {"psnr": 12.9040811740707, "ssim": 0.39838127525334777, "lpips": 0.4412287175655365}, "tactile_left": {"psnr": 37.89099176741085, "ssim": 0.9648445565187147, "lpips": 0.10392981767654419}, "tactile_right": {"psnr": 39.43771096497657, "ssim": 0.9777463611961403, "lpips": 0.07262445241212845}}, {"video": {"psnr": 19.00970692410088, "ssim": 0.6348435930164521, "lpips": 0.2784806489944458}, "wrist_left": {"psnr": 11.580715614397745, "ssim": 0.24983155845889946, "lpips": 0.5073299407958984}, "wrist_right": {"psnr": 11.095041746502329, "ssim": 0.31870733296494735, "lpips": 0.4903451204299927}, "tactile_left": {"psnr": 37.068897075043054, "ssim": 0.9515920795215552, "lpips": 0.1338661015033722}, "tactile_right": {"psnr": 37.42608749011093, "ssim": 0.9724944954600513, "lpips": 0.12014696002006531}}, {"video": {"psnr": 18.809857005712434, "ssim": 0.6257199831265849, "lpips": 0.28123828768730164}, "wrist_left": {"psnr": 11.790669699933522, "ssim": 0.3602688978473219, "lpips": 0.5010831356048584}, "wrist_right": {"psnr": 11.28716685358799, "ssim": 0.3573289762064431, "lpips": 0.4944072961807251}, "tactile_left": {"psnr": 37.50459224775566, "ssim": 0.9595599541415007, "lpips": 0.13176634907722473}, "tactile_right": {"psnr": 37.496523038732974, "ssim": 0.9731323366170251, "lpips": 0.11090400815010071}}, {"video": {"psnr": 18.955889455304323, "ssim": 0.6206900944317644, "lpips": 0.26374006271362305}, "wrist_left": {"psnr": 11.93269803181791, "ssim": 0.39431692923330264, "lpips": 0.490947425365448}, "wrist_right": {"psnr": 12.597412210583151, "ssim": 0.3314731478930452, "lpips": 0.514812707901001}, "tactile_left": {"psnr": 37.2938941358663, "ssim": 0.961395648427112, "lpips": 0.13779592514038086}, "tactile_right": {"psnr": 35.55939072713518, "ssim": 0.9694373234796763, "lpips": 0.12640368938446045}}, {"video": {"psnr": 19.055673606094416, "ssim": 0.6227962451396859, "lpips": 0.25723719596862793}, "wrist_left": {"psnr": 12.051852364033826, "ssim": 0.38160702225533577, "lpips": 0.4753234088420868}, "wrist_right": {"psnr": 12.384786709819846, "ssim": 0.3078173297592842, "lpips": 0.52519690990448}, "tactile_left": {"psnr": 36.34344569054268, "ssim": 0.9603992806652579, "lpips": 0.14788320660591125}, "tactile_right": {"psnr": 34.61134607043556, "ssim": 0.9692363005314062, "lpips": 0.12686416506767273}}, {"video": {"psnr": 18.684275840769125, "ssim": 0.6381307858600671, "lpips": 0.24565228819847107}, "wrist_left": {"psnr": 11.372196691661946, "ssim": 0.3108676794539691, "lpips": 0.5018146634101868}, "wrist_right": {"psnr": 12.07572423124069, "ssim": 0.29398220195918234, "lpips": 0.4988790452480316}, "tactile_left": {"psnr": 35.54847730204701, "ssim": 0.9595913209706497, "lpips": 0.16361141204833984}, "tactile_right": {"psnr": 33.743071390620244, "ssim": 0.9646329444676696, "lpips": 0.16585327684879303}}, {"video": {"psnr": 18.797174940974227, "ssim": 0.6267323159985871, "lpips": 0.27153488993644714}, "wrist_left": {"psnr": 11.860200546354388, "ssim": 0.27824995594454327, "lpips": 0.5444116592407227}, "wrist_right": {"psnr": 11.73290493597455, "ssim": 0.3176532065365074, "lpips": 0.49456584453582764}, "tactile_left": {"psnr": 32.16607102144626, "ssim": 0.9437407707983826, "lpips": 0.23074179887771606}, "tactile_right": {"psnr": 32.97450184668427, "ssim": 0.9641106892399112, "lpips": 0.15656398236751556}}, {"video": {"psnr": 18.670071312100742, "ssim": 0.608661935670112, "lpips": 0.3023166060447693}, "wrist_left": {"psnr": 12.012295779573591, "ssim": 0.29609571958600556, "lpips": 0.525946855545044}, "wrist_right": {"psnr": 9.402677279311028, "ssim": 0.29822124365029445, "lpips": 0.538596510887146}, "tactile_left": {"psnr": 33.50068750545351, "ssim": 0.9527763891959873, "lpips": 0.1946502923965454}, "tactile_right": {"psnr": 32.25750038987184, "ssim": 0.960231937587066, "lpips": 0.17636477947235107}}, {"video": {"psnr": 18.702756459193594, "ssim": 0.613495547392223, "lpips": 0.30477601289749146}, "wrist_left": {"psnr": 11.210298686720586, "ssim": 0.3292925989467002, "lpips": 0.5003088116645813}, "wrist_right": {"psnr": 9.43913717833065, "ssim": 0.2702369638714849, "lpips": 0.5380430817604065}, "tactile_left": {"psnr": 34.155544378732394, "ssim": 0.9533584687020502, "lpips": 0.1929541826248169}, "tactile_right": {"psnr": 31.751684387094908, "ssim": 0.9577846648200052, "lpips": 0.19013747572898865}}, {"video": {"psnr": 18.808411192808393, "ssim": 0.6083766712879355, "lpips": 0.31064027547836304}, "wrist_left": {"psnr": 13.001790330272652, "ssim": 0.29829898204427874, "lpips": 0.519459068775177}, "wrist_right": {"psnr": 10.059529998605221, "ssim": 0.2894429274202641, "lpips": 0.48854508996009827}, "tactile_left": {"psnr": 32.939860930184246, "ssim": 0.9452015731765995, "lpips": 0.22632673382759094}, "tactile_right": {"psnr": 31.263134919975137, "ssim": 0.9563592512783748, "lpips": 0.20362433791160583}}], "long_metrics": {"video": {"psnr": 19.79017802296764, "ssim": 0.6518436886598545, "lpips": 0.2401742269595464}, "wrist_left": {"psnr": 12.236272068376225, "ssim": 0.31864238215967206, "lpips": 0.48409380316734313}, "wrist_right": {"psnr": 12.588363506251348, "ssim": 0.3364749693245926, "lpips": 0.43835099836190544}, "tactile_left": {"psnr": 37.316747947638284, "ssim": 0.9629127051160283, "lpips": 0.12835494186729193}, "tactile_right": {"psnr": 36.37381388558419, "ssim": 0.9699108211917369, "lpips": 0.12917444258928298}}}, {"id": "motherboard_custom_e004_18", "episode": "motherboard_0912_episode_002.pt", "requested_episode": "motherboard_0912_episode_002.pt", "category": "release", "t_start": 217, "start_seconds": 14.466666666666667, "short_contact": [1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 0, 0], "future_transition_ticks": [11], "long_contact_fraction": 0.9296875, "long_label": "release", "short_metrics": {"video": {"psnr": 23.059400713313703, "ssim": 0.7602785313492972, "lpips": 0.13115400075912476}, "wrist_left": {"psnr": 15.632769567253453, "ssim": 0.5319267212375259, "lpips": 0.44397109746932983}, "wrist_right": {"psnr": 13.354484754281481, "ssim": 0.45751677925004175, "lpips": 0.4131265878677368}, "tactile_left": {"psnr": 41.29355845463647, "ssim": 0.982335854884723, "lpips": 0.051430314779281616}, "tactile_right": {"psnr": 48.773469327604396, "ssim": 0.9946752052561776, "lpips": 0.008949240669608116}}, "media": {"short": {"video": "media/motherboard_custom_e004_18_short.mp4", "poster": "media/motherboard_custom_e004_18_short.jpg"}, "long": {"video": "media/motherboard_custom_e004_18_long.mp4", "poster": "media/motherboard_custom_e004_18_long.jpg"}}, "force": {"source": "recorded_normal_force", "units": "N", "fps": 15, "left": [4.852499961853027, 4.726428508758545, 3.0568182468414307, 3.0568182468414307, 0.502597451210022, 0.7983333468437195, 0.7983333468437195, 0.5090468525886536, 3.0568182468414307, 0.7983333468437195, 3.9167568683624268, 0.27666667103767395, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 3.0568182468414307, 3.9167568683624268, 5.403749942779541, 6.519285678863525, 5.486666679382324, 4.852499961853027, 4.852499961853027, 3.9167568683624268, 3.9167568683624268, 3.0568182468414307, 2.3248276710510254, 1.9444444179534912, 2.3248276710510254, 4.726428508758545, 4.726428508758545, 4.726428508758545, 4.821667671203613, 4.726428508758545, 3.9167568683624268, 3.9383208751678467, 3.9167568683624268, 3.9167568683624268, 3.0568182468414307, 3.0568182468414307, 3.9167568683624268, 3.9167568683624268, 3.1971428394317627, 3.9167568683624268, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 2.6312499046325684, 2.6312499046325684, 2.3248276710510254, 2.3248276710510254, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.920292377471924, 3.9167568683624268, 3.9167568683624268, 3.9167568683624268, 4.726428508758545, 4.726428508758545, 3.9167568683624268, 3.1971428394317627, 3.1971428394317627, 3.9167568683624268, 3.9167568683624268, 3.9167568683624268, 3.0568182468414307, 2.3248276710510254, 3.0568182468414307, 3.0568182468414307, 2.3248276710510254, 3.0568182468414307, 3.0568182468414307, 2.3248276710510254, 3.0568182468414307, 3.0568182468414307, 1.6830923557281494, 2.3248276710510254, 0.5600000023841858, 3.0568182468414307, 3.0568182468414307, 2.3248276710510254, 3.0568182468414307, 3.9167568683624268, 3.9167568683624268, 4.726428508758545, 5.403749942779541, 4.726428508758545, 4.726428508758545, 4.726428508758545, 4.726428508758545, 3.9167568683624268, 3.9167568683624268, 4.726428508758545, 3.9167568683624268, 3.9167568683624268, 3.932142496109009, 3.9167568683624268, 3.9167568683624268, 3.0568182468414307, 3.0568182468414307, 3.9167568683624268, 3.1971428394317627, 3.0568182468414307, 2.3248276710510254, 1.5576918125152588, 1.9444444179534912, 3.938002347946167, 4.852499961853027, 5.403749942779541, 5.403749942779541, 5.403749942779541, 4.726428508758545, 4.726428508758545, 3.9167568683624268, 3.9167568683624268, 3.9167568683624268, 3.9167568683624268, 3.0568182468414307, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 3.0568182468414307], "right": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.1599999964237213, 0.07424460351467133, 0.7660918831825256, 0.7983333468437195, 0.4399999976158142, 0.43391281366348267, 0.4399999976158142, 2.3248276710510254, 3.0568182468414307, 3.1971428394317627, 3.1885313987731934, 3.0568182468414307, 0.5600000023841858, 0.6110549569129944, 0.6894059777259827, 0.5600000023841858, 0.5600000023841858, 0.2640872597694397, 0.25, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7471941709518433, 0.43728530406951904]}, "long_curve": [{"video": {"psnr": 23.059400713313703, "ssim": 0.7602785313492972, "lpips": 0.13115400075912476}, "wrist_left": {"psnr": 15.632769567253453, "ssim": 0.5319267212375259, "lpips": 0.44397109746932983}, "wrist_right": {"psnr": 13.354484754281481, "ssim": 0.45751677925004175, "lpips": 0.4131265878677368}, "tactile_left": {"psnr": 41.29355845463647, "ssim": 0.982335854884723, "lpips": 0.051430314779281616}, "tactile_right": {"psnr": 48.773469327604396, "ssim": 0.9946752052561776, "lpips": 0.008949240669608116}}, {"video": {"psnr": 22.00925723264219, "ssim": 0.7092439366908332, "lpips": 0.16686417162418365}, "wrist_left": {"psnr": 13.29453228345762, "ssim": 0.3509184292239636, "lpips": 0.46186330914497375}, "wrist_right": {"psnr": 12.656295741895061, "ssim": 0.39716330279538664, "lpips": 0.4828750491142273}, "tactile_left": {"psnr": 40.901627747607456, "ssim": 0.972396021297744, "lpips": 0.07916650176048279}, "tactile_right": {"psnr": 47.99011450997657, "ssim": 0.9922512154586044, "lpips": 0.009476841427385807}}, {"video": {"psnr": 19.436907115314746, "ssim": 0.6691305934056135, "lpips": 0.2968457341194153}, "wrist_left": {"psnr": 13.418840797967173, "ssim": 0.3459294064314572, "lpips": 0.48419782519340515}, "wrist_right": {"psnr": 11.752702271769772, "ssim": 0.4083869237720632, "lpips": 0.5001485347747803}, "tactile_left": {"psnr": 38.58696349183296, "ssim": 0.9604477079219272, "lpips": 0.11593872308731079}, "tactile_right": {"psnr": 43.983290677200756, "ssim": 0.9884542914301531, "lpips": 0.02346072904765606}}, {"video": {"psnr": 20.175657814598456, "ssim": 0.6747937605122654, "lpips": 0.2753082513809204}, "wrist_left": {"psnr": 13.75316202017634, "ssim": 0.37697278340612406, "lpips": 0.485843688249588}, "wrist_right": {"psnr": 12.304089959019393, "ssim": 0.44849635151363476, "lpips": 0.4623636305332184}, "tactile_left": {"psnr": 38.33174152856938, "ssim": 0.9662604548050868, "lpips": 0.07961593568325043}, "tactile_right": {"psnr": 40.99170924462112, "ssim": 0.9857218345511959, "lpips": 0.03915107250213623}}, {"video": {"psnr": 20.847679529493604, "ssim": 0.6902146838185195, "lpips": 0.23686479032039642}, "wrist_left": {"psnr": 15.67349729857874, "ssim": 0.45641820197784355, "lpips": 0.4422837197780609}, "wrist_right": {"psnr": 11.876836822381577, "ssim": 0.5268720164726326, "lpips": 0.513454258441925}, "tactile_left": {"psnr": 37.85997893521025, "ssim": 0.9660300939296662, "lpips": 0.09830980002880096}, "tactile_right": {"psnr": 39.96306174405486, "ssim": 0.9830549598421767, "lpips": 0.05776672065258026}}, {"video": {"psnr": 21.80060205763215, "ssim": 0.7003745016271739, "lpips": 0.20266461372375488}, "wrist_left": {"psnr": 10.611719242926952, "ssim": 0.3417971712618267, "lpips": 0.5786219835281372}, "wrist_right": {"psnr": 10.200343989147713, "ssim": 0.4131996607458194, "lpips": 0.5285409092903137}, "tactile_left": {"psnr": 37.2464546988145, "ssim": 0.966648247236225, "lpips": 0.09913269430398941}, "tactile_right": {"psnr": 38.897318165273674, "ssim": 0.9804995255263301, "lpips": 0.07408227026462555}}, {"video": {"psnr": 21.68365095150943, "ssim": 0.7220343471136998, "lpips": 0.19936463236808777}, "wrist_left": {"psnr": 12.758735590310836, "ssim": 0.3909286029440584, "lpips": 0.4996596872806549}, "wrist_right": {"psnr": 11.437842120981717, "ssim": 0.5041233241315612, "lpips": 0.4744201898574829}, "tactile_left": {"psnr": 36.36022443565443, "ssim": 0.9610553222508609, "lpips": 0.1400265395641327}, "tactile_right": {"psnr": 37.62815903550349, "ssim": 0.9775033127288738, "lpips": 0.0929475948214531}}, {"video": {"psnr": 21.456976970201044, "ssim": 0.6941079121445146, "lpips": 0.22208936512470245}, "wrist_left": {"psnr": 13.530501860411182, "ssim": 0.3650396241251672, "lpips": 0.4655713438987732}, "wrist_right": {"psnr": 14.614381187123922, "ssim": 0.5055083430350099, "lpips": 0.3974539339542389}, "tactile_left": {"psnr": 35.58206367993337, "ssim": 0.956411291187977, "lpips": 0.1659732460975647}, "tactile_right": {"psnr": 37.10700774872383, "ssim": 0.9736248824663329, "lpips": 0.11094330251216888}}, {"video": {"psnr": 20.831073333792794, "ssim": 0.6910665592044718, "lpips": 0.2549522817134857}, "wrist_left": {"psnr": 14.284775431759156, "ssim": 0.43335213642290316, "lpips": 0.45063549280166626}, "wrist_right": {"psnr": 14.32870361339414, "ssim": 0.4528467417038182, "lpips": 0.40228354930877686}, "tactile_left": {"psnr": 35.40790433014292, "ssim": 0.9571754728100099, "lpips": 0.17192639410495758}, "tactile_right": {"psnr": 36.32717096544632, "ssim": 0.9709062506317505, "lpips": 0.12542742490768433}}, {"video": {"psnr": 21.363304427215503, "ssim": 0.6924013861851662, "lpips": 0.23402002453804016}, "wrist_left": {"psnr": 13.7501094648386, "ssim": 0.3999178299258155, "lpips": 0.4664074778556824}, "wrist_right": {"psnr": 12.739493288811396, "ssim": 0.35202607052235585, "lpips": 0.45375770330429077}, "tactile_left": {"psnr": 34.83344087473386, "ssim": 0.9545222022700837, "lpips": 0.2115313708782196}, "tactile_right": {"psnr": 35.28820006696667, "ssim": 0.9682591837192004, "lpips": 0.14626075327396393}}, {"video": {"psnr": 21.1147159914359, "ssim": 0.6915196534191625, "lpips": 0.24597688019275665}, "wrist_left": {"psnr": 13.034450703843362, "ssim": 0.39908302028664, "lpips": 0.4966055154800415}, "wrist_right": {"psnr": 12.0266075552421, "ssim": 0.4150955483819055, "lpips": 0.48105719685554504}, "tactile_left": {"psnr": 33.9495705182433, "ssim": 0.9428448167932, "lpips": 0.2448159158229828}, "tactile_right": {"psnr": 34.50457388304356, "ssim": 0.9658334029883308, "lpips": 0.16393336653709412}}, {"video": {"psnr": 20.610373376817293, "ssim": 0.6692951138917809, "lpips": 0.28615713119506836}, "wrist_left": {"psnr": 12.729935417324684, "ssim": 0.3474122497508556, "lpips": 0.48123228549957275}, "wrist_right": {"psnr": 11.33922415646345, "ssim": 0.39069080854389093, "lpips": 0.5320949554443359}, "tactile_left": {"psnr": 33.32843970451655, "ssim": 0.9329798030953718, "lpips": 0.2547668218612671}, "tactile_right": {"psnr": 33.60409536802619, "ssim": 0.9622832775252949, "lpips": 0.186219722032547}}, {"video": {"psnr": 20.5589978669505, "ssim": 0.672843539662749, "lpips": 0.2819681167602539}, "wrist_left": {"psnr": 14.29364346528008, "ssim": 0.40857478710489475, "lpips": 0.4598765969276428}, "wrist_right": {"psnr": 11.636207478821287, "ssim": 0.3074396249803948, "lpips": 0.5391641855239868}, "tactile_left": {"psnr": 33.1669050157735, "ssim": 0.9434265776572237, "lpips": 0.23201122879981995}, "tactile_right": {"psnr": 32.84076473555919, "ssim": 0.957851370674679, "lpips": 0.2247929871082306}}, {"video": {"psnr": 21.045814784625193, "ssim": 0.676387118106556, "lpips": 0.2631722092628479}, "wrist_left": {"psnr": 14.067097996307638, "ssim": 0.40873364156950126, "lpips": 0.4537668228149414}, "wrist_right": {"psnr": 10.829509231289965, "ssim": 0.27068408676137823, "lpips": 0.5313115119934082}, "tactile_left": {"psnr": 32.73500691693373, "ssim": 0.9388302080117819, "lpips": 0.26837173104286194}, "tactile_right": {"psnr": 32.096481122445944, "ssim": 0.9550171050912408, "lpips": 0.2391434609889984}}, {"video": {"psnr": 20.348650809121413, "ssim": 0.660157160541765, "lpips": 0.2756311893463135}, "wrist_left": {"psnr": 14.065081752139935, "ssim": 0.3722143502275194, "lpips": 0.4558824896812439}, "wrist_right": {"psnr": 10.230897209038117, "ssim": 0.2802032892410693, "lpips": 0.5570343732833862}, "tactile_left": {"psnr": 32.18258356747568, "ssim": 0.9324228485325303, "lpips": 0.2803266942501068}, "tactile_right": {"psnr": 31.65562186612199, "ssim": 0.9522388422188024, "lpips": 0.25636744499206543}}], "long_metrics": {"video": {"psnr": 21.08953753164426, "ssim": 0.6915899198449046, "lpips": 0.2382022261619568}, "wrist_left": {"psnr": 13.659923526171717, "ssim": 0.39528126372640643, "lpips": 0.4750946223735809}, "wrist_right": {"psnr": 12.088507958644072, "ssim": 0.40868352479006415, "lpips": 0.4846057713031769}, "tactile_left": {"psnr": 36.117764260005224, "ssim": 0.9555857948456273, "lpips": 0.16622292747100195}, "tactile_right": {"psnr": 38.11006923070457, "ssim": 0.9738783106739428, "lpips": 0.11726152878254652}}}, {"id": "motherboard_custom_e004_19", "episode": "motherboard_0912_episode_002.pt", "requested_episode": "motherboard_0912_episode_002.pt", "category": "full", "t_start": 944, "start_seconds": 62.93333333333333, "short_contact": [1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1], "future_transition_ticks": [], "long_contact_fraction": 1.0, "long_label": "full", "short_metrics": {"video": {"psnr": 24.070654309922055, "ssim": 0.8021725909323765, "lpips": 0.08055020868778229}, "wrist_left": {"psnr": 17.756923616757504, "ssim": 0.4715666950259796, "lpips": 0.2977566123008728}, "wrist_right": {"psnr": 28.52277529766786, "ssim": 0.9268049786033432, "lpips": 0.0517849363386631}, "tactile_left": {"psnr": 38.94101688642542, "ssim": 0.9572978710028613, "lpips": 0.0702076405286789}, "tactile_right": {"psnr": 48.53845499146559, "ssim": 0.9925150726352898, "lpips": 0.01940859481692314}}, "media": {"short": {"video": "media/motherboard_custom_e004_19_short.mp4", "poster": "media/motherboard_custom_e004_19_short.jpg"}, "long": {"video": "media/motherboard_custom_e004_19_long.mp4", "poster": "media/motherboard_custom_e004_19_long.jpg"}}, "force": {"source": "recorded_normal_force", "units": "N", "fps": 15, "left": [1.9444444179534912, 5.486666679382324, 5.403749942779541, 5.486666679382324, 5.486666679382324, 4.726428508758545, 4.726428508758545, 4.726428508758545, 5.397500038146973, 4.726428508758545, 4.726428508758545, 4.726428508758545, 4.726428508758545, 4.726428508758545, 4.726428508758545, 4.726428508758545, 3.9385359287261963, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 2.6312499046325684, 2.6312499046325684, 2.6312499046325684, 3.0568182468414307, 3.0568182468414307, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.6312499046325684, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 4.81326961517334, 4.852499961853027, 5.397634029388428, 4.852499961853027, 4.852499961853027, 5.397500038146973, 5.399270057678223, 5.397500038146973, 4.852499961853027, 4.852499961853027, 3.9167568683624268, 3.9167568683624268, 3.9167568683624268, 4.726428508758545, 4.726428508758545, 4.726428508758545, 4.726428508758545, 4.726428508758545, 3.1971428394317627, 3.1971428394317627, 3.1971428394317627, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.4042980670928955, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 2.6312499046325684, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 3.9167568683624268, 5.397500038146973, 4.726428508758545, 4.726428508758545, 4.726428508758545, 3.9167568683624268, 3.9167568683624268, 3.9388134479522705, 3.1971428394317627, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0808489322662354, 3.0568182468414307, 3.0568182468414307, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 1.9444444179534912, 1.5979106426239014, 0.7983333468437195, 0.7983333468437195, 2.3248276710510254, 2.3248276710510254, 0.7983333468437195, 2.243333339691162, 2.243333339691162, 2.3248276710510254, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.9167568683624268, 3.92547869682312, 3.9167568683624268, 4.852499961853027, 3.939357280731201, 4.726428508758545, 4.726428508758545, 3.940000057220459, 3.1971428394317627, 3.9167568683624268, 3.9167568683624268, 3.9167568683624268, 3.9167568683624268, 3.9167568683624268, 3.9247372150421143], "right": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0689406767487526, 0.4319555163383484, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]}, "long_curve": [{"video": {"psnr": 24.070654309922055, "ssim": 0.8021725909323765, "lpips": 0.08055020868778229}, "wrist_left": {"psnr": 17.756923616757504, "ssim": 0.4715666950259796, "lpips": 0.2977566123008728}, "wrist_right": {"psnr": 28.52277529766786, "ssim": 0.9268049786033432, "lpips": 0.0517849363386631}, "tactile_left": {"psnr": 38.94101688642542, "ssim": 0.9572978710028613, "lpips": 0.0702076405286789}, "tactile_right": {"psnr": 48.53845499146559, "ssim": 0.9925150726352898, "lpips": 0.01940859481692314}}, {"video": {"psnr": 21.031249957657913, "ssim": 0.7202292288602943, "lpips": 0.1864999234676361}, "wrist_left": {"psnr": 13.884320472175746, "ssim": 0.3152566780137592, "lpips": 0.44470492005348206}, "wrist_right": {"psnr": 24.082847772442864, "ssim": 0.8673352376781402, "lpips": 0.10867185145616531}, "tactile_left": {"psnr": 38.23654354418308, "ssim": 0.9647025475646389, "lpips": 0.08294451236724854}, "tactile_right": {"psnr": 45.26355135138911, "ssim": 0.9872040110717362, "lpips": 0.02609540894627571}}, {"video": {"psnr": 21.447805561851183, "ssim": 0.7347293657596766, "lpips": 0.16460540890693665}, "wrist_left": {"psnr": 14.447787261291348, "ssim": 0.35871237186148275, "lpips": 0.46648162603378296}, "wrist_right": {"psnr": 24.568502433858495, "ssim": 0.8772786995719654, "lpips": 0.0870434120297432}, "tactile_left": {"psnr": 39.194407746661994, "ssim": 0.9676836969701914, "lpips": 0.0825849249958992}, "tactile_right": {"psnr": 42.893201512530325, "ssim": 0.9854330632206392, "lpips": 0.024787690490484238}}, {"video": {"psnr": 20.219193688191442, "ssim": 0.7057671991116541, "lpips": 0.23710736632347107}, "wrist_left": {"psnr": 13.289541383910372, "ssim": 0.3439554431662979, "lpips": 0.5057076215744019}, "wrist_right": {"psnr": 23.093667844836368, "ssim": 0.8548280009547355, "lpips": 0.12083806097507477}, "tactile_left": {"psnr": 38.10437172871733, "ssim": 0.958641579985472, "lpips": 0.10940629243850708}, "tactile_right": {"psnr": 40.63959735036512, "ssim": 0.9835327733884169, "lpips": 0.041004396975040436}}, {"video": {"psnr": 20.475823643370852, "ssim": 0.7099735473448117, "lpips": 0.22475233674049377}, "wrist_left": {"psnr": 14.547700629927453, "ssim": 0.3706692056625206, "lpips": 0.498557448387146}, "wrist_right": {"psnr": 22.609090636355308, "ssim": 0.853484028263402, "lpips": 0.15072067081928253}, "tactile_left": {"psnr": 36.72707649827012, "ssim": 0.9403203365382127, "lpips": 0.14612555503845215}, "tactile_right": {"psnr": 39.77428342662494, "ssim": 0.9816445042013676, "lpips": 0.060369543731212616}}, {"video": {"psnr": 18.897136216197236, "ssim": 0.6645586967313497, "lpips": 0.2494710385799408}, "wrist_left": {"psnr": 13.85963067755103, "ssim": 0.3203279954764206, "lpips": 0.5169638395309448}, "wrist_right": {"psnr": 18.6691013128956, "ssim": 0.8010812893381516, "lpips": 0.22613468766212463}, "tactile_left": {"psnr": 36.17378463796612, "ssim": 0.948240439423643, "lpips": 0.14029787480831146}, "tactile_right": {"psnr": 38.25643858778144, "ssim": 0.9783753489590723, "lpips": 0.08788548409938812}}, {"video": {"psnr": 18.546681157357504, "ssim": 0.6422821530622175, "lpips": 0.276528537273407}, "wrist_left": {"psnr": 13.537683772065922, "ssim": 0.2819672209907297, "lpips": 0.5330760478973389}, "wrist_right": {"psnr": 19.87704383310148, "ssim": 0.8029343566852204, "lpips": 0.23717805743217468}, "tactile_left": {"psnr": 36.38581919218757, "ssim": 0.9583705260708562, "lpips": 0.12719738483428955}, "tactile_right": {"psnr": 36.96785157804369, "ssim": 0.9758294659337625, "lpips": 0.10971647500991821}}, {"video": {"psnr": 19.583487232109963, "ssim": 0.6703997404786374, "lpips": 0.2508333623409271}, "wrist_left": {"psnr": 14.754349646351187, "ssim": 0.3827635019774426, "lpips": 0.5014638304710388}, "wrist_right": {"psnr": 21.04170267375175, "ssim": 0.8273759653378037, "lpips": 0.17404481768608093}, "tactile_left": {"psnr": 36.4036147451666, "ssim": 0.9594513023604581, "lpips": 0.13416355848312378}, "tactile_right": {"psnr": 36.257086719566104, "ssim": 0.9735575448854933, "lpips": 0.12336236238479614}}, {"video": {"psnr": 21.21372569843432, "ssim": 0.7115499633156069, "lpips": 0.2152564823627472}, "wrist_left": {"psnr": 15.096685409871203, "ssim": 0.4037621921434735, "lpips": 0.4818592965602875}, "wrist_right": {"psnr": 20.446382161213258, "ssim": 0.8040344904514408, "lpips": 0.24995262920856476}, "tactile_left": {"psnr": 35.47020657194352, "ssim": 0.9549856136223227, "lpips": 0.15852662920951843}, "tactile_right": {"psnr": 35.34077367096341, "ssim": 0.9709489693431896, "lpips": 0.1416681408882141}}, {"video": {"psnr": 20.35741276947269, "ssim": 0.7007620299709846, "lpips": 0.2448004186153412}, "wrist_left": {"psnr": 15.428669810088085, "ssim": 0.3305552192767192, "lpips": 0.49878090620040894}, "wrist_right": {"psnr": 20.771378639511248, "ssim": 0.8156600695308696, "lpips": 0.20789988338947296}, "tactile_left": {"psnr": 33.39308494405281, "ssim": 0.9300862959330901, "lpips": 0.20701612532138824}, "tactile_right": {"psnr": 33.86163601645221, "ssim": 0.9674236954397535, "lpips": 0.16825056076049805}}, {"video": {"psnr": 17.790240008870928, "ssim": 0.6437157553489627, "lpips": 0.3580940365791321}, "wrist_left": {"psnr": 14.180608118189184, "ssim": 0.3188992998312689, "lpips": 0.5289456844329834}, "wrist_right": {"psnr": 20.843285809503588, "ssim": 0.8356369544861257, "lpips": 0.15112429857254028}, "tactile_left": {"psnr": 33.4189725759047, "ssim": 0.9339249057084105, "lpips": 0.20986098051071167}, "tactile_right": {"psnr": 33.091585948220626, "ssim": 0.9634726088648606, "lpips": 0.18053098022937775}}, {"video": {"psnr": 16.45240180410436, "ssim": 0.5957178040994981, "lpips": 0.4308280944824219}, "wrist_left": {"psnr": 13.27834766784285, "ssim": 0.3214660741509575, "lpips": 0.5319786071777344}, "wrist_right": {"psnr": 20.716028077347705, "ssim": 0.8199005964993074, "lpips": 0.1974516659975052}, "tactile_left": {"psnr": 34.061270569167036, "ssim": 0.9462790687880724, "lpips": 0.20841625332832336}, "tactile_right": {"psnr": 32.212130098923005, "ssim": 0.9596395707994341, "lpips": 0.20405346155166626}}, {"video": {"psnr": 17.08583927450873, "ssim": 0.6073339663061614, "lpips": 0.43035393953323364}, "wrist_left": {"psnr": 13.910851171330878, "ssim": 0.3550534469259452, "lpips": 0.5336808562278748}, "wrist_right": {"psnr": 21.812177102612686, "ssim": 0.8393921781254184, "lpips": 0.15387174487113953}, "tactile_left": {"psnr": 33.68352912817504, "ssim": 0.9440429284264847, "lpips": 0.21940359473228455}, "tactile_right": {"psnr": 31.62543948274818, "ssim": 0.9568998537550715, "lpips": 0.21784789860248566}}, {"video": {"psnr": 18.515127808133936, "ssim": 0.6280464249860669, "lpips": 0.3730809986591339}, "wrist_left": {"psnr": 13.352248206023507, "ssim": 0.36037295163068306, "lpips": 0.49101942777633667}, "wrist_right": {"psnr": 22.176469651084933, "ssim": 0.8277064633331004, "lpips": 0.2057490348815918}, "tactile_left": {"psnr": 32.395151709233964, "ssim": 0.9265396365485186, "lpips": 0.2685704827308655}, "tactile_right": {"psnr": 31.0487878001383, "ssim": 0.9543762847016202, "lpips": 0.23004589974880219}}, {"video": {"psnr": 17.589608438383078, "ssim": 0.6090600595152739, "lpips": 0.4183495044708252}, "wrist_left": {"psnr": 14.090931567992559, "ssim": 0.4124273714971784, "lpips": 0.4985031485557556}, "wrist_right": {"psnr": 21.92883521369285, "ssim": 0.835599211896849, "lpips": 0.18072573840618134}, "tactile_left": {"psnr": 32.266737959209806, "ssim": 0.9249755400476407, "lpips": 0.27580684423446655}, "tactile_right": {"psnr": 30.577017092132, "ssim": 0.9514167167120428, "lpips": 0.2498917132616043}}], "long_metrics": {"video": {"psnr": 19.551759171237745, "ssim": 0.6764199017215715, "lpips": 0.27607411046822866}, "wrist_left": {"psnr": 14.361085294091255, "ssim": 0.3565170445087239, "lpips": 0.4886319915453593}, "wrist_right": {"psnr": 22.077285897325066, "ssim": 0.8392701680503916, "lpips": 0.16687943264842034}, "tactile_left": {"psnr": 35.65703922915101, "ssim": 0.9477028192660583, "lpips": 0.16270191023747127}, "tactile_right": {"psnr": 37.0898557084896, "ssim": 0.97215129892745, "lpips": 0.1256612407664458}}}], "split": "mixed_mb_wrist_holdout.json", "unavailable": [], "complete": true}, {"id": "motherboard_custom_e010", "label": "Motherboard · custom attn", "checkpoint": "epoch_010.pt", "run": "nano_action_causal_custom_v1", "planned_cases": 20, "cases": [{"id": "motherboard_custom_e010_00", "episode": "motherboard_0909_episode_000.pt", "requested_episode": "motherboard_0909_episode_000.pt", "category": "none", "t_start": 1134, "start_seconds": 75.6, "short_contact": [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0], "future_transition_ticks": [], "long_contact_fraction": 0.015625, "long_label": "none_at_start", "short_metrics": {"video": {"psnr": 29.015308327232905, "ssim": 0.9044546377526814, "lpips": 0.02495727874338627}, "wrist_left": {"psnr": 32.80691139341314, "ssim": 0.9697987237238191, "lpips": 0.03350527957081795}, "wrist_right": {"psnr": 16.280591961475928, "ssim": 0.6239016454147446, "lpips": 0.13996870815753937}, "tactile_left": {"psnr": 47.021005291176685, "ssim": 0.9935954094340727, "lpips": 0.004185602068901062}, "tactile_right": {"psnr": 44.68932468243149, "ssim": 0.9819781759863775, "lpips": 0.028287848457694054}}, "media": {"short": {"video": "media/motherboard_custom_e010_00_short.mp4", "poster": "media/motherboard_custom_e010_00_short.jpg"}, "long": {"video": "media/motherboard_custom_e010_00_long.mp4", "poster": "media/motherboard_custom_e010_00_long.jpg"}}, "force": {"source": "recorded_normal_force", "units": "N", "fps": 15, "left": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "right": [0.49666666984558105, 0.41999998688697815, 0.3276471495628357, 0.2779442071914673, 0.19263210892677307, 0.16038045287132263, 0.1599999964237213, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.1599999964237213, 0.1599999964237213, 0.1599999964237213, 0.0, 0.0, 0.0, 0.1599999964237213, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.1599999964237213, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.27239662408828735, 0.1599999964237213, 0.2841034233570099, 0.17168553173542023, 0.1641339212656021, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.1885688155889511, 0.49666666984558105, 1.1662499904632568, 0.7758844494819641, 0.46323081851005554]}, "long_curve": [{"video": {"psnr": 29.015308327232905, "ssim": 0.9044546377526814, "lpips": 0.02495727874338627}, "wrist_left": {"psnr": 32.80691139341314, "ssim": 0.9697987237238191, "lpips": 0.03350527957081795}, "wrist_right": {"psnr": 16.280591961475928, "ssim": 0.6239016454147446, "lpips": 0.13996870815753937}, "tactile_left": {"psnr": 47.021005291176685, "ssim": 0.9935954094340727, "lpips": 0.004185602068901062}, "tactile_right": {"psnr": 44.68932468243149, "ssim": 0.9819781759863775, "lpips": 0.028287848457694054}}, {"video": {"psnr": 23.90490146808144, "ssim": 0.7961523585235852, "lpips": 0.05840145796537399}, "wrist_left": {"psnr": 26.72602985081355, "ssim": 0.918633350704878, "lpips": 0.08108152449131012}, "wrist_right": {"psnr": 11.070587969463277, "ssim": 0.33875869485664056, "lpips": 0.40338703989982605}, "tactile_left": {"psnr": 43.787871618772215, "ssim": 0.9875708946049642, "lpips": 0.02947142720222473}, "tactile_right": {"psnr": 40.61310347763882, "ssim": 0.9699304403864495, "lpips": 0.08998402953147888}}, {"video": {"psnr": 22.31040138911696, "ssim": 0.7452800588402617, "lpips": 0.10300453007221222}, "wrist_left": {"psnr": 24.15915786373533, "ssim": 0.8501187514810205, "lpips": 0.10586588829755783}, "wrist_right": {"psnr": 10.27443348348209, "ssim": 0.2816894397385357, "lpips": 0.5117146372795105}, "tactile_left": {"psnr": 42.021997066625374, "ssim": 0.9814495451110128, "lpips": 0.0640425831079483}, "tactile_right": {"psnr": 40.436184385301466, "ssim": 0.968597456165305, "lpips": 0.09765075147151947}}, {"video": {"psnr": 22.408081791709208, "ssim": 0.7398145530338541, "lpips": 0.1061195582151413}, "wrist_left": {"psnr": 22.062385155215903, "ssim": 0.7911010024451521, "lpips": 0.14223429560661316}, "wrist_right": {"psnr": 10.610814273134961, "ssim": 0.20305876878366974, "lpips": 0.531623899936676}, "tactile_left": {"psnr": 40.37758010691077, "ssim": 0.9762204390769291, "lpips": 0.1157168596982956}, "tactile_right": {"psnr": 38.77926639192792, "ssim": 0.9672848458508099, "lpips": 0.11931777745485306}}, {"video": {"psnr": 21.620452017208144, "ssim": 0.7273082566785161, "lpips": 0.12161268293857574}, "wrist_left": {"psnr": 20.433351844258965, "ssim": 0.7359775763973648, "lpips": 0.17811180651187897}, "wrist_right": {"psnr": 9.98673217922236, "ssim": 0.1896226904956418, "lpips": 0.5406928062438965}, "tactile_left": {"psnr": 39.443327349780844, "ssim": 0.9722154185636063, "lpips": 0.15142838656902313}, "tactile_right": {"psnr": 38.29833127831277, "ssim": 0.9647440931098384, "lpips": 0.13482774794101715}}, {"video": {"psnr": 21.178950111101585, "ssim": 0.7184575629247851, "lpips": 0.1449642777442932}, "wrist_left": {"psnr": 20.72797102937848, "ssim": 0.7377901599769657, "lpips": 0.19454379379749298}, "wrist_right": {"psnr": 10.103962852759981, "ssim": 0.20394253797824882, "lpips": 0.5498641729354858}, "tactile_left": {"psnr": 38.002319361439845, "ssim": 0.9681013333556722, "lpips": 0.17766880989074707}, "tactile_right": {"psnr": 36.66164017033098, "ssim": 0.9596988254334539, "lpips": 0.14829005300998688}}, {"video": {"psnr": 20.8196331206244, "ssim": 0.6920119477125222, "lpips": 0.15085357427597046}, "wrist_left": {"psnr": 19.742056628350475, "ssim": 0.7053890665357955, "lpips": 0.21476632356643677}, "wrist_right": {"psnr": 10.521683662622216, "ssim": 0.22194009854425154, "lpips": 0.5264260768890381}, "tactile_left": {"psnr": 37.43896099369045, "ssim": 0.9654967945395263, "lpips": 0.18769356608390808}, "tactile_right": {"psnr": 36.82977508012576, "ssim": 0.9602765507694251, "lpips": 0.1414785385131836}}, {"video": {"psnr": 20.415655375381387, "ssim": 0.6744395013033748, "lpips": 0.1773364245891571}, "wrist_left": {"psnr": 18.551839273326987, "ssim": 0.6482215362626442, "lpips": 0.245172381401062}, "wrist_right": {"psnr": 10.272045128707543, "ssim": 0.21221961944010653, "lpips": 0.5368232131004333}, "tactile_left": {"psnr": 36.885789237462944, "ssim": 0.9627649892192742, "lpips": 0.2025606483221054}, "tactile_right": {"psnr": 36.36166500472492, "ssim": 0.9578671065320331, "lpips": 0.15883153676986694}}, {"video": {"psnr": 20.469480176795003, "ssim": 0.6654678877329284, "lpips": 0.18105220794677734}, "wrist_left": {"psnr": 17.901063341974947, "ssim": 0.6330126506605139, "lpips": 0.270511269569397}, "wrist_right": {"psnr": 10.473233005441715, "ssim": 0.22404170060253353, "lpips": 0.5252630710601807}, "tactile_left": {"psnr": 36.36736988148214, "ssim": 0.9598309942581588, "lpips": 0.216093510389328}, "tactile_right": {"psnr": 35.86273268223388, "ssim": 0.9551663667729748, "lpips": 0.18056577444076538}}, {"video": {"psnr": 20.14777513163451, "ssim": 0.6516842692653009, "lpips": 0.19276739656925201}, "wrist_left": {"psnr": 17.47800728468343, "ssim": 0.6429041049219224, "lpips": 0.28444939851760864}, "wrist_right": {"psnr": 10.741634368629251, "ssim": 0.232920853017888, "lpips": 0.5163218379020691}, "tactile_left": {"psnr": 36.01766761311549, "ssim": 0.9569717990226596, "lpips": 0.23121677339076996}, "tactile_right": {"psnr": 35.00577669956775, "ssim": 0.953766448096282, "lpips": 0.17269928753376007}}, {"video": {"psnr": 19.70445826344769, "ssim": 0.6348915496051639, "lpips": 0.21062877774238586}, "wrist_left": {"psnr": 16.80520969340383, "ssim": 0.6104394456247485, "lpips": 0.3047003448009491}, "wrist_right": {"psnr": 9.932724558019165, "ssim": 0.23299576038474204, "lpips": 0.5486614108085632}, "tactile_left": {"psnr": 35.5324350504158, "ssim": 0.953939070627389, "lpips": 0.24328941106796265}, "tactile_right": {"psnr": 34.252496569584366, "ssim": 0.952610220695353, "lpips": 0.17484131455421448}}, {"video": {"psnr": 19.33776572368224, "ssim": 0.6236429340296334, "lpips": 0.23285293579101562}, "wrist_left": {"psnr": 16.658787845020637, "ssim": 0.5865656691165584, "lpips": 0.33127644658088684}, "wrist_right": {"psnr": 8.52499307799831, "ssim": 0.2209061154191055, "lpips": 0.6066150069236755}, "tactile_left": {"psnr": 35.13554865150205, "ssim": 0.9511334652092602, "lpips": 0.25648432970046997}, "tactile_right": {"psnr": 33.35358966532476, "ssim": 0.9495756423976713, "lpips": 0.21134690940380096}}, {"video": {"psnr": 19.12507951801196, "ssim": 0.6204857070717511, "lpips": 0.2401464283466339}, "wrist_left": {"psnr": 16.062796104944283, "ssim": 0.5703525776311232, "lpips": 0.3544260859489441}, "wrist_right": {"psnr": 7.9559072320257265, "ssim": 0.21199406598889264, "lpips": 0.6323134899139404}, "tactile_left": {"psnr": 34.611740844034536, "ssim": 0.9482618839715421, "lpips": 0.26727962493896484}, "tactile_right": {"psnr": 33.15504355660987, "ssim": 0.9491615812641463, "lpips": 0.19483070075511932}}, {"video": {"psnr": 18.92877559647509, "ssim": 0.6145187156432131, "lpips": 0.23625075817108154}, "wrist_left": {"psnr": 15.338370769416219, "ssim": 0.5360024087265146, "lpips": 0.37993568181991577}, "wrist_right": {"psnr": 8.641628279092103, "ssim": 0.20431002828305772, "lpips": 0.5998402833938599}, "tactile_left": {"psnr": 34.08086651965162, "ssim": 0.9449816544520275, "lpips": 0.2834143340587616}, "tactile_right": {"psnr": 33.034329983233384, "ssim": 0.9462978200795948, "lpips": 0.20358695089817047}}, {"video": {"psnr": 19.136812518163964, "ssim": 0.6203130617700148, "lpips": 0.22375796735286713}, "wrist_left": {"psnr": 15.072706428217318, "ssim": 0.5261951330807246, "lpips": 0.3981746435165405}, "wrist_right": {"psnr": 9.330404923765862, "ssim": 0.15703041144917818, "lpips": 0.5623569488525391}, "tactile_left": {"psnr": 33.596437596811384, "ssim": 0.9431020463858338, "lpips": 0.29189804196357727}, "tactile_right": {"psnr": 31.8554952054629, "ssim": 0.9336356260301288, "lpips": 0.26006704568862915}}], "long_metrics": {"video": {"psnr": 21.23490203524443, "ssim": 0.6952615334591724, "lpips": 0.1603137504309416}, "wrist_left": {"psnr": 20.035109633743566, "ssim": 0.6975001438193165, "lpips": 0.23458367759982746}, "wrist_right": {"psnr": 10.3147584637227, "ssim": 0.25062216202648246, "lpips": 0.5154581735531489}, "tactile_left": {"psnr": 38.02139447885814, "ssim": 0.964375715855462, "lpips": 0.18149626056353252}, "tactile_right": {"psnr": 36.61258365552074, "ssim": 0.9580394133046563, "lpips": 0.154440417761604}}}, {"id": "motherboard_custom_e010_01", "episode": "motherboard_0909_episode_000.pt", "requested_episode": "motherboard_0909_episode_000.pt", "category": "onset", "t_start": 1825, "start_seconds": 121.66666666666667, "short_contact": [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 1], "future_transition_ticks": [11], "long_contact_fraction": 0.7265625, "long_label": "onset", "short_metrics": {"video": {"psnr": 23.500052580772564, "ssim": 0.8384115663497296, "lpips": 0.05976484715938568}, "wrist_left": {"psnr": 15.808518357687442, "ssim": 0.40906972731278124, "lpips": 0.18902719020843506}, "wrist_right": {"psnr": 11.373488293724174, "ssim": 0.42160857164420307, "lpips": 0.3790404200553894}, "tactile_left": {"psnr": 37.75012822755498, "ssim": 0.9831012080559209, "lpips": 0.04838859289884567}, "tactile_right": {"psnr": 28.498687546105693, "ssim": 0.9517471975037943, "lpips": 0.188992440700531}}, "media": {"short": {"video": "media/motherboard_custom_e010_01_short.mp4", "poster": "media/motherboard_custom_e010_01_short.jpg"}, "long": {"video": "media/motherboard_custom_e010_01_long.mp4", "poster": "media/motherboard_custom_e010_01_long.jpg"}}, "force": {"source": "recorded_normal_force", "units": "N", "fps": 15, "left": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.5254545211791992, 2.8207693099975586, 2.9424359798431396, 4.285294055938721, 4.3677778244018555, 5.145384788513184, 5.145384788513184, 5.259615421295166, 5.439090728759766, 5.439090728759766, 5.29610538482666, 5.439090728759766, 5.439090728759766, 6.251071453094482, 6.251071453094482, 6.733333110809326, 6.251071453094482, 7.192828178405762, 7.293181896209717, 7.293181896209717, 7.293181896209717, 6.733333110809326, 6.733333110809326, 6.251071453094482, 6.251071453094482, 4.285294055938721, 4.285294055938721, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "right": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.1662499904632568, 2.636666774749756, 2.9424359798431396, 4.285294055938721, 5.439090728759766, 5.439090728759766, 5.615621566772461, 6.251071453094482, 6.251071453094482, 6.251071453094482, 6.251071453094482, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 6.733333110809326, 6.733333110809326, 6.733333110809326, 6.733333110809326, 6.251071453094482, 2.9424359798431396, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.5445876717567444, 1.9833333492279053, 5.259615421295166, 5.259615421295166, 6.251071453094482, 6.733333110809326, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 6.251071453094482, 5.259615421295166, 4.285294055938721, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 2.8207693099975586, 1.1662769317626953, 1.5254545211791992, 2.9424359798431396, 4.285294055938721, 5.145384788513184, 6.251071453094482, 6.251071453094482, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 6.733333110809326, 6.251071453094482, 6.251071453094482, 6.251071453094482, 5.259615421295166, 5.145384788513184, 4.3677778244018555, 4.285294055938721, 4.285294055938721, 4.285294055938721, 4.285294055938721, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 1.9833333492279053, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.9833333492279053, 2.9424359798431396, 5.259615421295166, 7.293181896209717, 7.293181896209717, 7.310615539550781]}, "long_curve": [{"video": {"psnr": 23.500052580772564, "ssim": 0.8384115663497296, "lpips": 0.05976484715938568}, "wrist_left": {"psnr": 15.808518357687442, "ssim": 0.40906972731278124, "lpips": 0.18902719020843506}, "wrist_right": {"psnr": 11.373488293724174, "ssim": 0.42160857164420307, "lpips": 0.3790404200553894}, "tactile_left": {"psnr": 37.75012822755498, "ssim": 0.9831012080559209, "lpips": 0.04838859289884567}, "tactile_right": {"psnr": 28.498687546105693, "ssim": 0.9517471975037943, "lpips": 0.188992440700531}}, {"video": {"psnr": 21.984853943596384, "ssim": 0.7555596211491837, "lpips": 0.09414106607437134}, "wrist_left": {"psnr": 14.649046538461599, "ssim": 0.35622196696387054, "lpips": 0.2754323184490204}, "wrist_right": {"psnr": 11.535835999905206, "ssim": 0.3807952495097064, "lpips": 0.3891487717628479}, "tactile_left": {"psnr": 27.468144340664914, "ssim": 0.9300345232169933, "lpips": 0.24980083107948303}, "tactile_right": {"psnr": 24.84632901469492, "ssim": 0.9209414597685515, "lpips": 0.27198526263237}}, {"video": {"psnr": 22.262923211880338, "ssim": 0.7512354001356372, "lpips": 0.10925966501235962}, "wrist_left": {"psnr": 14.436990295149815, "ssim": 0.3109825395698744, "lpips": 0.34620827436447144}, "wrist_right": {"psnr": 12.163223555450758, "ssim": 0.3809917875740544, "lpips": 0.3896482288837433}, "tactile_left": {"psnr": 26.660310643539276, "ssim": 0.9251645089834302, "lpips": 0.258468359708786}, "tactile_right": {"psnr": 24.246165101916468, "ssim": 0.9134382380797674, "lpips": 0.28013771772384644}}, {"video": {"psnr": 21.787100777582552, "ssim": 0.7167400984850282, "lpips": 0.12290783226490021}, "wrist_left": {"psnr": 12.333215777777706, "ssim": 0.28061226514817583, "lpips": 0.43741872906684875}, "wrist_right": {"psnr": 13.21848445733897, "ssim": 0.41576215922689147, "lpips": 0.40617191791534424}, "tactile_left": {"psnr": 27.00307566307769, "ssim": 0.9190727281210316, "lpips": 0.2882266342639923}, "tactile_right": {"psnr": 38.99275795542923, "ssim": 0.9653766909135464, "lpips": 0.11360855400562286}}, {"video": {"psnr": 20.887932357380965, "ssim": 0.6950748902396218, "lpips": 0.1782016009092331}, "wrist_left": {"psnr": 11.335677001050495, "ssim": 0.3845533611936348, "lpips": 0.49237024784088135}, "wrist_right": {"psnr": 13.135805372970191, "ssim": 0.30302283976053357, "lpips": 0.5370360612869263}, "tactile_left": {"psnr": 37.27910271668447, "ssim": 0.9622734281869219, "lpips": 0.18612566590309143}, "tactile_right": {"psnr": 38.25428500851932, "ssim": 0.961733593391604, "lpips": 0.1425481140613556}}, {"video": {"psnr": 20.004197664461852, "ssim": 0.6768939150898885, "lpips": 0.20540663599967957}, "wrist_left": {"psnr": 11.999516362935545, "ssim": 0.3934016412405712, "lpips": 0.41739314794540405}, "wrist_right": {"psnr": 12.190564591634189, "ssim": 0.29312342252285417, "lpips": 0.6124328374862671}, "tactile_left": {"psnr": 37.64894609539621, "ssim": 0.9617689979085068, "lpips": 0.19426782429218292}, "tactile_right": {"psnr": 29.70654454026476, "ssim": 0.9140700408423503, "lpips": 0.33066368103027344}}, {"video": {"psnr": 19.843386537388024, "ssim": 0.6614992047765653, "lpips": 0.21551604568958282}, "wrist_left": {"psnr": 10.958663635343909, "ssim": 0.33725368288967705, "lpips": 0.45731139183044434}, "wrist_right": {"psnr": 10.97843871433203, "ssim": 0.277022364597971, "lpips": 0.6351428031921387}, "tactile_left": {"psnr": 37.19418333388679, "ssim": 0.9592793022137436, "lpips": 0.20446157455444336}, "tactile_right": {"psnr": 28.861335882991895, "ssim": 0.8956256850383382, "lpips": 0.3658820688724518}}, {"video": {"psnr": 18.88169321273335, "ssim": 0.6456602484211613, "lpips": 0.270648717880249}, "wrist_left": {"psnr": 8.793965719643666, "ssim": 0.2536028180911447, "lpips": 0.5905182361602783}, "wrist_right": {"psnr": 10.723107259762594, "ssim": 0.2783701054282069, "lpips": 0.6380931735038757}, "tactile_left": {"psnr": 36.51164165024762, "ssim": 0.9566323209696741, "lpips": 0.215623140335083}, "tactile_right": {"psnr": 29.47519328103931, "ssim": 0.8939233174866609, "lpips": 0.3532331585884094}}, {"video": {"psnr": 18.444490992784143, "ssim": 0.6467976805685342, "lpips": 0.3012545108795166}, "wrist_left": {"psnr": 9.064360446052673, "ssim": 0.27385540987850454, "lpips": 0.5791120529174805}, "wrist_right": {"psnr": 10.125545858004877, "ssim": 0.20848868525664682, "lpips": 0.6214848756790161}, "tactile_left": {"psnr": 36.133324833445336, "ssim": 0.9538118249972871, "lpips": 0.2278802990913391}, "tactile_right": {"psnr": 35.00911337535998, "ssim": 0.9574988623439564, "lpips": 0.1628856360912323}}, {"video": {"psnr": 18.210882974469015, "ssim": 0.6477380046619017, "lpips": 0.30081644654273987}, "wrist_left": {"psnr": 9.239059244375568, "ssim": 0.28324980317711423, "lpips": 0.5906944274902344}, "wrist_right": {"psnr": 10.888710856850057, "ssim": 0.16417901980833027, "lpips": 0.6089305281639099}, "tactile_left": {"psnr": 35.735364302521546, "ssim": 0.951033113236148, "lpips": 0.23673419654369354}, "tactile_right": {"psnr": 33.78661913868317, "ssim": 0.9345680239449083, "lpips": 0.23770716786384583}}, {"video": {"psnr": 18.135665690213777, "ssim": 0.6487452178872084, "lpips": 0.3056030571460724}, "wrist_left": {"psnr": 9.112395734536124, "ssim": 0.28065040909426386, "lpips": 0.5904480218887329}, "wrist_right": {"psnr": 10.808694639632296, "ssim": 0.15176026774821466, "lpips": 0.6156492233276367}, "tactile_left": {"psnr": 35.29429220091315, "ssim": 0.9483253530799424, "lpips": 0.24852252006530762}, "tactile_right": {"psnr": 31.047857602045458, "ssim": 0.8719704081512064, "lpips": 0.33145496249198914}}, {"video": {"psnr": 18.126733125251807, "ssim": 0.6484754266466399, "lpips": 0.30482637882232666}, "wrist_left": {"psnr": 9.120336968508019, "ssim": 0.2809057649781309, "lpips": 0.5895991921424866}, "wrist_right": {"psnr": 10.615366155028973, "ssim": 0.1602212782586226, "lpips": 0.6220771074295044}, "tactile_left": {"psnr": 34.913135419545384, "ssim": 0.9456483188341669, "lpips": 0.2605815529823303}, "tactile_right": {"psnr": 31.993694314524262, "ssim": 0.8978964072099983, "lpips": 0.30125337839126587}}, {"video": {"psnr": 18.00198397863196, "ssim": 0.6520959941624791, "lpips": 0.30392366647720337}, "wrist_left": {"psnr": 9.108955758897162, "ssim": 0.2852626027562429, "lpips": 0.5770213603973389}, "wrist_right": {"psnr": 10.49064525770646, "ssim": 0.16903323015170613, "lpips": 0.6040064096450806}, "tactile_left": {"psnr": 34.516043325005505, "ssim": 0.9430195262779073, "lpips": 0.2668822407722473}, "tactile_right": {"psnr": 33.206613137517834, "ssim": 0.930003801480657, "lpips": 0.25850576162338257}}, {"video": {"psnr": 17.854920547621028, "ssim": 0.651261910682952, "lpips": 0.2982400059700012}, "wrist_left": {"psnr": 9.369495761689477, "ssim": 0.3043952578901221, "lpips": 0.5707302093505859}, "wrist_right": {"psnr": 10.72500721960721, "ssim": 0.16996548629330083, "lpips": 0.6033360958099365}, "tactile_left": {"psnr": 34.1210242766376, "ssim": 0.9401509100367029, "lpips": 0.2852976620197296}, "tactile_right": {"psnr": 34.608318496729396, "ssim": 0.9558730656692638, "lpips": 0.18915453553199768}}, {"video": {"psnr": 17.590251173289456, "ssim": 0.6442409765052921, "lpips": 0.2990279793739319}, "wrist_left": {"psnr": 9.202950543068479, "ssim": 0.29818675219988133, "lpips": 0.5719524621963501}, "wrist_right": {"psnr": 10.627507324031667, "ssim": 0.1750062564693277, "lpips": 0.6626521348953247}, "tactile_left": {"psnr": 33.70536120778597, "ssim": 0.938237113507279, "lpips": 0.2914304733276367}, "tactile_right": {"psnr": 30.059972720476917, "ssim": 0.9200809624009697, "lpips": 0.2954186797142029}}], "long_metrics": {"video": {"psnr": 19.701137917870483, "ssim": 0.6853620103841216, "lpips": 0.22463589708010356}, "wrist_left": {"psnr": 10.968876543011845, "ssim": 0.31548026682559926, "lpips": 0.4850158174832662}, "wrist_right": {"psnr": 11.30669503706531, "ssim": 0.2632900482833713, "lpips": 0.5549900392691295}, "tactile_left": {"psnr": 34.12893854912709, "ssim": 0.9478368785083771, "lpips": 0.23084610452254614}, "tactile_right": {"psnr": 31.506232474419907, "ssim": 0.9256498502817049, "lpips": 0.25489540795485177}}}, {"id": "motherboard_custom_e010_02", "episode": "motherboard_0909_episode_000.pt", "requested_episode": "motherboard_0909_episode_000.pt", "category": "release", "t_start": 3072, "start_seconds": 204.8, "short_contact": [1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 0, 0], "future_transition_ticks": [11], "long_contact_fraction": 0.7734375, "long_label": "release", "short_metrics": {"video": {"psnr": 28.20421881263487, "ssim": 0.9046065014846462, "lpips": 0.03306089714169502}, "wrist_left": {"psnr": 15.691261535967394, "ssim": 0.521718686156128, "lpips": 0.18713530898094177}, "wrist_right": {"psnr": 14.466082985651763, "ssim": 0.5374624193646464, "lpips": 0.2829437255859375}, "tactile_left": {"psnr": 43.35649229378944, "ssim": 0.9858113064748597, "lpips": 0.014774477109313011}, "tactile_right": {"psnr": 43.1176986828079, "ssim": 0.980555880523512, "lpips": 0.03537087142467499}}, "media": {"short": {"video": "media/motherboard_custom_e010_02_short.mp4", "poster": "media/motherboard_custom_e010_02_short.jpg"}, "long": {"video": "media/motherboard_custom_e010_02_long.mp4", "poster": "media/motherboard_custom_e010_02_long.jpg"}}, "force": {"source": "recorded_normal_force", "units": "N", "fps": 15, "left": [2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.5254545211791992, 1.5254545211791992, 1.9833333492279053, 1.9833333492279053, 2.636666774749756, 2.8207693099975586, 2.8207693099975586, 2.874819755554199, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 4.285294055938721, 4.285294055938721, 4.3677778244018555, 5.145384788513184, 5.259615421295166, 5.259615421295166, 5.259615421295166, 5.259615421295166, 5.259615421295166, 5.145384788513184, 5.145384788513184, 5.145384788513184, 5.145384788513184, 5.145384788513184, 4.3677778244018555, 4.285294055938721, 2.9424359798431396, 2.9424359798431396, 2.636666774749756, 2.636666774749756, 2.636666774749756, 2.636666774749756, 2.636666774749756, 2.406248092651367, 2.435481309890747, 2.161963701248169, 2.636666774749756, 2.8207693099975586, 1.5254545211791992, 1.6252036094665527, 1.9833333492279053, 1.9833333492279053, 1.9833333492279053, 1.9833333492279053, 1.984134554862976, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.8207693099975586, 2.636666774749756, 2.8207693099975586, 2.8207693099975586, 2.636666774749756, 2.304839849472046, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 4.285294055938721, 4.285294055938721, 4.285294055938721, 4.285294055938721, 4.285294055938721, 4.285294055938721, 4.285294055938721, 2.9424359798431396, 2.8207693099975586, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "right": [4.285294055938721, 4.285294055938721, 4.285294055938721, 4.285294055938721, 4.3677778244018555, 4.3677778244018555, 4.285294055938721, 2.9424359798431396, 2.8207693099975586, 0.41999998688697815, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 2.9424359798431396, 2.9424359798431396, 3.053588390350342, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 4.285294055938721, 4.285294055938721, 4.285294055938721, 4.285294055938721, 4.285294055938721, 4.285294055938721, 4.285294055938721, 4.5, 4.3677778244018555, 4.285294055938721, 5.145384788513184, 5.145384788513184, 4.3677778244018555, 4.807384967803955, 4.3677778244018555, 4.3677778244018555, 4.285294055938721, 4.285294055938721, 4.285294055938721, 4.285294055938721, 4.285294055938721, 4.285294055938721, 4.285294055938721, 4.285294055938721, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 1.5254545211791992, 1.1662499904632568, 0.17491444945335388, 0.17491444945335388, 0.41999998688697815, 0.7223659157752991, 1.1662499904632568, 0.49666666984558105, 0.4887502193450928, 0.49666666984558105, 0.38555848598480225, 0.41999998688697815, 0.49666666984558105, 0.2736985683441162, 0.716099202632904, 1.1662499904632568, 2.636666774749756, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.9833333492279053, 2.8207693099975586, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 4.285294055938721, 4.285294055938721, 4.285294055938721, 4.285294055938721, 4.285294055938721, 4.285294055938721, 2.9424359798431396, 2.9424359798431396, 2.8207693099975586, 2.8207693099975586, 2.8207693099975586, 2.9424359798431396, 2.9424359798431396, 2.3705554008483887, 2.9424359798431396, 0.0, 0.0, 0.0, 0.0, 0.0]}, "long_curve": [{"video": {"psnr": 28.20421881263487, "ssim": 0.9046065014846462, "lpips": 0.03306089714169502}, "wrist_left": {"psnr": 15.691261535967394, "ssim": 0.521718686156128, "lpips": 0.18713530898094177}, "wrist_right": {"psnr": 14.466082985651763, "ssim": 0.5374624193646464, "lpips": 0.2829437255859375}, "tactile_left": {"psnr": 43.35649229378944, "ssim": 0.9858113064748597, "lpips": 0.014774477109313011}, "tactile_right": {"psnr": 43.1176986828079, "ssim": 0.980555880523512, "lpips": 0.03537087142467499}}, {"video": {"psnr": 25.3330823478305, "ssim": 0.8342576494277724, "lpips": 0.06527920067310333}, "wrist_left": {"psnr": 13.667981399044839, "ssim": 0.41460528919882095, "lpips": 0.3167165517807007}, "wrist_right": {"psnr": 12.170294327587989, "ssim": 0.4230806269482754, "lpips": 0.40877804160118103}, "tactile_left": {"psnr": 38.06947952542729, "ssim": 0.9726463495639148, "lpips": 0.06599058210849762}, "tactile_right": {"psnr": 42.2276847767553, "ssim": 0.9748533481266543, "lpips": 0.052209995687007904}}, {"video": {"psnr": 23.63988814444173, "ssim": 0.7613692561338293, "lpips": 0.08766066282987595}, "wrist_left": {"psnr": 13.74526721910229, "ssim": 0.4115363755916999, "lpips": 0.333310604095459}, "wrist_right": {"psnr": 11.07942448733833, "ssim": 0.36748214919690486, "lpips": 0.5234267711639404}, "tactile_left": {"psnr": 34.763066135882084, "ssim": 0.9570140808424177, "lpips": 0.13872525095939636}, "tactile_right": {"psnr": 35.37333024835802, "ssim": 0.9649744118715524, "lpips": 0.10806334018707275}}, {"video": {"psnr": 22.353065757105405, "ssim": 0.7134033927839771, "lpips": 0.11380104720592499}, "wrist_left": {"psnr": 14.373320403814365, "ssim": 0.4295551213705169, "lpips": 0.31457024812698364}, "wrist_right": {"psnr": 10.606645123047176, "ssim": 0.328346206918698, "lpips": 0.5645803213119507}, "tactile_left": {"psnr": 32.40076490715641, "ssim": 0.9485323257658538, "lpips": 0.21852268278598785}, "tactile_right": {"psnr": 31.4455206817693, "ssim": 0.9472298648714366, "lpips": 0.1970714032649994}}, {"video": {"psnr": 21.68390874200179, "ssim": 0.6913743017318121, "lpips": 0.13565152883529663}, "wrist_left": {"psnr": 14.258223110993743, "ssim": 0.43984404555875245, "lpips": 0.31190627813339233}, "wrist_right": {"psnr": 10.309317387572163, "ssim": 0.3251804216062396, "lpips": 0.549343466758728}, "tactile_left": {"psnr": 32.52935923500844, "ssim": 0.9464083381054339, "lpips": 0.2814270257949829}, "tactile_right": {"psnr": 31.315067598210064, "ssim": 0.943583303811357, "lpips": 0.21128351986408234}}, {"video": {"psnr": 21.468410711664877, "ssim": 0.6991478799061899, "lpips": 0.16730794310569763}, "wrist_left": {"psnr": 12.203318189449075, "ssim": 0.37173698075623807, "lpips": 0.3827258348464966}, "wrist_right": {"psnr": 9.838815758669938, "ssim": 0.32897256401688413, "lpips": 0.5191512703895569}, "tactile_left": {"psnr": 34.84162497053812, "ssim": 0.9558925968980019, "lpips": 0.24054062366485596}, "tactile_right": {"psnr": 33.136172301662405, "ssim": 0.9530274250510808, "lpips": 0.2055363953113556}}, {"video": {"psnr": 19.759794696490296, "ssim": 0.6613069073550097, "lpips": 0.2500341236591339}, "wrist_left": {"psnr": 11.002857112001381, "ssim": 0.3116908714557384, "lpips": 0.45589277148246765}, "wrist_right": {"psnr": 9.988346819511785, "ssim": 0.30689246437551376, "lpips": 0.5304292440414429}, "tactile_left": {"psnr": 35.32582924632566, "ssim": 0.9549691227168622, "lpips": 0.23555079102516174}, "tactile_right": {"psnr": 33.83734590046414, "ssim": 0.9547290769646277, "lpips": 0.1971876621246338}}, {"video": {"psnr": 19.652050954845755, "ssim": 0.6434507473090942, "lpips": 0.2668313980102539}, "wrist_left": {"psnr": 10.66246725274713, "ssim": 0.3162939040363485, "lpips": 0.46054238080978394}, "wrist_right": {"psnr": 8.769609045050583, "ssim": 0.2943392572596265, "lpips": 0.57902991771698}, "tactile_left": {"psnr": 34.897813062930084, "ssim": 0.9504724381430347, "lpips": 0.25387001037597656}, "tactile_right": {"psnr": 35.4062284203528, "ssim": 0.9577042896471316, "lpips": 0.1864815056324005}}, {"video": {"psnr": 19.738506092416678, "ssim": 0.641193580924278, "lpips": 0.26613402366638184}, "wrist_left": {"psnr": 11.239148565479898, "ssim": 0.3023411631483033, "lpips": 0.44300538301467896}, "wrist_right": {"psnr": 7.279486228559577, "ssim": 0.2770480342917212, "lpips": 0.6273244619369507}, "tactile_left": {"psnr": 32.75415878813718, "ssim": 0.9417917465624048, "lpips": 0.2995768189430237}, "tactile_right": {"psnr": 36.1327917979986, "ssim": 0.9572564766008316, "lpips": 0.1859569251537323}}, {"video": {"psnr": 19.00937756241486, "ssim": 0.6190508769576606, "lpips": 0.2710283696651459}, "wrist_left": {"psnr": 11.068075705869022, "ssim": 0.2952657253521548, "lpips": 0.4543168544769287}, "wrist_right": {"psnr": 7.045548437259134, "ssim": 0.2970689099039946, "lpips": 0.6497656106948853}, "tactile_left": {"psnr": 30.53259166267068, "ssim": 0.9365595134131028, "lpips": 0.3174965977668762}, "tactile_right": {"psnr": 35.699507298866365, "ssim": 0.9555459230359501, "lpips": 0.1766199767589569}}, {"video": {"psnr": 19.172206554156798, "ssim": 0.6265820538080591, "lpips": 0.2403784990310669}, "wrist_left": {"psnr": 10.280815630454239, "ssim": 0.2003277928221003, "lpips": 0.5439709424972534}, "wrist_right": {"psnr": 8.070948214853509, "ssim": 0.3212819728718207, "lpips": 0.6860276460647583}, "tactile_left": {"psnr": 36.35008912516257, "ssim": 0.9567861534122101, "lpips": 0.22656655311584473}, "tactile_right": {"psnr": 35.77803908495776, "ssim": 0.955374465354472, "lpips": 0.1604258120059967}}, {"video": {"psnr": 18.796297405226458, "ssim": 0.6235199137676679, "lpips": 0.27661651372909546}, "wrist_left": {"psnr": 9.758670037176385, "ssim": 0.1743364400268601, "lpips": 0.619813084602356}, "wrist_right": {"psnr": 7.41255160299148, "ssim": 0.26430338535623554, "lpips": 0.7521989345550537}, "tactile_left": {"psnr": 36.20803301741852, "ssim": 0.9540714893135805, "lpips": 0.24168042838573456}, "tactile_right": {"psnr": 34.65402788211271, "ssim": 0.951187404011964, "lpips": 0.18316516280174255}}, {"video": {"psnr": 18.66378781308681, "ssim": 0.6166165214868626, "lpips": 0.2832798361778259}, "wrist_left": {"psnr": 9.724839478399524, "ssim": 0.17314456726518443, "lpips": 0.6214520335197449}, "wrist_right": {"psnr": 7.636312386149565, "ssim": 0.27644458797513505, "lpips": 0.7638595700263977}, "tactile_left": {"psnr": 35.9533956993936, "ssim": 0.9521833704995463, "lpips": 0.2551287114620209}, "tactile_right": {"psnr": 30.991992254352002, "ssim": 0.9367906806771071, "lpips": 0.3042104244232178}}, {"video": {"psnr": 17.78946774851353, "ssim": 0.5989757973937102, "lpips": 0.3208954632282257}, "wrist_left": {"psnr": 9.94151919195952, "ssim": 0.19162624467450615, "lpips": 0.6021265983581543}, "wrist_right": {"psnr": 7.488481981431976, "ssim": 0.2929172499729347, "lpips": 0.7470583915710449}, "tactile_left": {"psnr": 35.654590881635166, "ssim": 0.9497233944119989, "lpips": 0.26882243156433105}, "tactile_right": {"psnr": 31.317022773115287, "ssim": 0.9350369415684014, "lpips": 0.29846787452697754}}, {"video": {"psnr": 17.082792472370507, "ssim": 0.5865135719329605, "lpips": 0.36428743600845337}, "wrist_left": {"psnr": 10.25562760599506, "ssim": 0.19801391193222018, "lpips": 0.6076890230178833}, "wrist_right": {"psnr": 7.036433458030327, "ssim": 0.27252951919372553, "lpips": 0.7645910382270813}, "tactile_left": {"psnr": 34.33323246827856, "ssim": 0.9456315772383447, "lpips": 0.2820321321487427}, "tactile_right": {"psnr": 32.821439870181884, "ssim": 0.9436833731088022, "lpips": 0.24331016838550568}}], "long_metrics": {"video": {"psnr": 20.823123721013392, "ssim": 0.681424596826902, "lpips": 0.2094831295311451}, "wrist_left": {"psnr": 11.858226162563591, "ssim": 0.3168024746230381, "lpips": 0.44367825984954834}, "wrist_right": {"psnr": 9.279886549580352, "ssim": 0.32755665128349043, "lpips": 0.5965672274430592}, "tactile_left": {"psnr": 35.19803473465026, "ssim": 0.953899586890771, "lpips": 0.22271367448071638}, "tactile_right": {"psnr": 34.88359130479763, "ssim": 0.9541021910149922, "lpips": 0.18302406917015712}}}, {"id": "motherboard_custom_e010_03", "episode": "motherboard_0909_episode_000.pt", "requested_episode": "motherboard_0909_episode_000.pt", "category": "full", "t_start": 2531, "start_seconds": 168.73333333333332, "short_contact": [1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1], "future_transition_ticks": [], "long_contact_fraction": 0.9296875, "long_label": "full", "short_metrics": {"video": {"psnr": 26.19708900904254, "ssim": 0.864412601996136, "lpips": 0.04897520691156387}, "wrist_left": {"psnr": 17.121438606097712, "ssim": 0.6003346174798768, "lpips": 0.17122787237167358}, "wrist_right": {"psnr": 18.463801883109404, "ssim": 0.6053656943921987, "lpips": 0.20366597175598145}, "tactile_left": {"psnr": 35.92954282348541, "ssim": 0.9674265224899017, "lpips": 0.04262245073914528}, "tactile_right": {"psnr": 37.34328412740714, "ssim": 0.9717972234028431, "lpips": 0.08314438164234161}}, "media": {"short": {"video": "media/motherboard_custom_e010_03_short.mp4", "poster": "media/motherboard_custom_e010_03_short.jpg"}, "long": {"video": "media/motherboard_custom_e010_03_long.mp4", "poster": "media/motherboard_custom_e010_03_long.jpg"}}, "force": {"source": "recorded_normal_force", "units": "N", "fps": 15, "left": [1.1936427354812622, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 4.285294055938721, 2.9424359798431396, 4.285294055938721, 5.145384788513184, 5.259615421295166, 5.259615421295166, 5.439090728759766, 5.319377899169922, 5.319377899169922, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.318239688873291, 7.4301862716674805, 7.316900253295898, 7.304895877838135, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 6.251071453094482, 6.251071453094482, 6.251071453094482, 5.439090728759766, 5.439090728759766, 5.259615421295166, 5.259615421295166, 5.4359307289123535, 5.259615421295166, 5.145384788513184, 5.145384788513184, 5.145384788513184, 5.145384788513184, 4.285294055938721, 2.9424359798431396, 2.9424359798431396, 2.0387191772460938, 2.8207693099975586, 2.9424359798431396, 2.9424359798431396, 4.285294055938721, 4.3677778244018555, 4.285294055938721, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 1.1733332872390747, 2.9424359798431396, 4.285294055938721, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.8207693099975586, 1.9833333492279053, 2.636666774749756, 2.8207693099975586, 2.8207693099975586, 2.8207693099975586, 2.9424359798431396, 2.9424359798431396, 2.4149999618530273, 1.9833333492279053, 1.9833333492279053, 1.9833333492279053, 1.9833333492279053, 1.7736024856567383, 1.9833333492279053, 1.9833333492279053, 1.1733332872390747, 0.2758376896381378, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "right": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.9833333492279053, 2.110971689224243, 2.8207693099975586, 2.9424359798431396, 2.9424359798431396, 4.285294055938721, 4.285294055938721, 4.285294055938721, 4.285294055938721, 4.285294055938721, 4.285294055938721, 4.285294055938721, 2.8207693099975586, 2.312258720397949, 1.22345769405365, 1.170535922050476, 1.1733332872390747, 1.9833333492279053, 2.9424359798431396, 2.9424359798431396, 4.285294055938721, 5.259615421295166, 5.259615421295166, 5.259615421295166, 5.411874771118164, 5.259615421295166, 4.3677778244018555, 4.285294055938721, 5.145384788513184, 5.259615421295166, 6.251071453094482, 6.251071453094482, 6.733333110809326, 6.733333110809326, 6.733333110809326, 6.251071453094482, 5.734507083892822, 6.251071453094482, 6.251071453094482, 6.733333110809326, 6.251071453094482, 5.439090728759766, 6.251071453094482, 6.251071453094482, 5.439090728759766, 5.259615421295166, 6.251071453094482, 6.251071453094482, 6.251071453094482, 7.166194438934326, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.00433874130249, 7.027249813079834, 7.293181896209717, 6.983473300933838, 7.044147491455078, 6.733333110809326, 6.733333110809326, 6.251071453094482, 6.251071453094482, 5.439090728759766, 5.439090728759766, 5.259615421295166, 5.145384788513184, 4.285294055938721, 4.285294055938721, 4.285294055938721, 4.285294055938721, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.8207693099975586, 0.7958375811576843, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.9833333492279053, 6.251071453094482, 7.293181896209717, 7.293181896209717, 7.295978546142578, 7.294878959655762, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.300464630126953, 7.300464630126953, 7.29489803314209, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 6.733333110809326, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717]}, "long_curve": [{"video": {"psnr": 26.19708900904254, "ssim": 0.864412601996136, "lpips": 0.04897520691156387}, "wrist_left": {"psnr": 17.121438606097712, "ssim": 0.6003346174798768, "lpips": 0.17122787237167358}, "wrist_right": {"psnr": 18.463801883109404, "ssim": 0.6053656943921987, "lpips": 0.20366597175598145}, "tactile_left": {"psnr": 35.92954282348541, "ssim": 0.9674265224899017, "lpips": 0.04262245073914528}, "tactile_right": {"psnr": 37.34328412740714, "ssim": 0.9717972234028431, "lpips": 0.08314438164234161}}, {"video": {"psnr": 22.943168536616877, "ssim": 0.7768247861008566, "lpips": 0.099538654088974}, "wrist_left": {"psnr": 15.445487838789907, "ssim": 0.45519915663683935, "lpips": 0.31332141160964966}, "wrist_right": {"psnr": 15.676390450362563, "ssim": 0.45429343504606756, "lpips": 0.33397775888442993}, "tactile_left": {"psnr": 29.180289164948817, "ssim": 0.919545375468089, "lpips": 0.14218319952487946}, "tactile_right": {"psnr": 37.00127506895127, "ssim": 0.9634164393006439, "lpips": 0.1339070349931717}}, {"video": {"psnr": 20.63030035967275, "ssim": 0.7189702342415754, "lpips": 0.15932753682136536}, "wrist_left": {"psnr": 13.180860198956989, "ssim": 0.3229661878913763, "lpips": 0.43892616033554077}, "wrist_right": {"psnr": 15.283442299765868, "ssim": 0.4221963142885636, "lpips": 0.3590107262134552}, "tactile_left": {"psnr": 29.814623961305568, "ssim": 0.92482111462334, "lpips": 0.23925864696502686}, "tactile_right": {"psnr": 32.97954066738977, "ssim": 0.9481977332512226, "lpips": 0.2336701601743698}}, {"video": {"psnr": 20.926664265540197, "ssim": 0.7021368381495866, "lpips": 0.18481215834617615}, "wrist_left": {"psnr": 12.204260688810049, "ssim": 0.2787282024024683, "lpips": 0.4604679048061371}, "wrist_right": {"psnr": 14.854816620036985, "ssim": 0.3792198658972363, "lpips": 0.3768707811832428}, "tactile_left": {"psnr": 32.30675201347377, "ssim": 0.9386488330757291, "lpips": 0.2500871419906616}, "tactile_right": {"psnr": 31.724351093724653, "ssim": 0.9412293432446877, "lpips": 0.2659915089607239}}, {"video": {"psnr": 19.21430152218931, "ssim": 0.6515997810029643, "lpips": 0.2839706242084503}, "wrist_left": {"psnr": 11.09037713250784, "ssim": 0.2279670840096394, "lpips": 0.5552375316619873}, "wrist_right": {"psnr": 14.411293275695702, "ssim": 0.360142063353716, "lpips": 0.41949203610420227}, "tactile_left": {"psnr": 33.64947656180706, "ssim": 0.9456306863262225, "lpips": 0.2559705078601837}, "tactile_right": {"psnr": 32.23146628396514, "ssim": 0.9450212445652592, "lpips": 0.2406376749277115}}, {"video": {"psnr": 18.58774275542066, "ssim": 0.6401360507603273, "lpips": 0.31550905108451843}, "wrist_left": {"psnr": 10.741528045372316, "ssim": 0.21966689025573238, "lpips": 0.5715682506561279}, "wrist_right": {"psnr": 12.82777091394632, "ssim": 0.30326241299386003, "lpips": 0.5180643796920776}, "tactile_left": {"psnr": 34.31898479908054, "ssim": 0.9481227599079757, "lpips": 0.25213706493377686}, "tactile_right": {"psnr": 31.69625513103505, "ssim": 0.944234564459155, "lpips": 0.23296551406383514}}, {"video": {"psnr": 17.553147168255457, "ssim": 0.623984155727237, "lpips": 0.3546278178691864}, "wrist_left": {"psnr": 8.982252150344285, "ssim": 0.24111054663175363, "lpips": 0.6950669884681702}, "wrist_right": {"psnr": 12.823014671039306, "ssim": 0.30216995881425035, "lpips": 0.5369706153869629}, "tactile_left": {"psnr": 35.21270960869514, "ssim": 0.9499120443617699, "lpips": 0.2535650134086609}, "tactile_right": {"psnr": 31.182891825781983, "ssim": 0.941891835519954, "lpips": 0.24553877115249634}}, {"video": {"psnr": 16.403577711372495, "ssim": 0.6152329506621292, "lpips": 0.39133766293525696}, "wrist_left": {"psnr": 8.377131228081621, "ssim": 0.2225669390894246, "lpips": 0.7317225337028503}, "wrist_right": {"psnr": 12.12002692527742, "ssim": 0.28273368006350963, "lpips": 0.564071536064148}, "tactile_left": {"psnr": 34.346471276240464, "ssim": 0.942597442559056, "lpips": 0.2828941345214844}, "tactile_right": {"psnr": 31.326720693422672, "ssim": 0.9421005949612755, "lpips": 0.24863165616989136}}, {"video": {"psnr": 17.316740458794914, "ssim": 0.6249837653426602, "lpips": 0.3457145094871521}, "wrist_left": {"psnr": 11.498060884556908, "ssim": 0.2133793569295136, "lpips": 0.5826660394668579}, "wrist_right": {"psnr": 11.211337304397846, "ssim": 0.24908377281909835, "lpips": 0.5967163443565369}, "tactile_left": {"psnr": 34.803926067625554, "ssim": 0.9450515355612792, "lpips": 0.257098913192749}, "tactile_right": {"psnr": 32.509697491699356, "ssim": 0.9467149830333239, "lpips": 0.22709006071090698}}, {"video": {"psnr": 17.436376353023647, "ssim": 0.6175041783232691, "lpips": 0.3310893774032593}, "wrist_left": {"psnr": 10.571602881597181, "ssim": 0.18129203999328705, "lpips": 0.5747599601745605}, "wrist_right": {"psnr": 11.09341420025854, "ssim": 0.24168588185729478, "lpips": 0.6137487292289734}, "tactile_left": {"psnr": 35.02306581039982, "ssim": 0.9483208566522068, "lpips": 0.2504538595676422}, "tactile_right": {"psnr": 31.855742581862305, "ssim": 0.9460435109918552, "lpips": 0.24343979358673096}}, {"video": {"psnr": 18.02637297279064, "ssim": 0.6273996557340625, "lpips": 0.29172295331954956}, "wrist_left": {"psnr": 9.049354943239416, "ssim": 0.22994905879339195, "lpips": 0.587042510509491}, "wrist_right": {"psnr": 11.224598478646964, "ssim": 0.31005601554695, "lpips": 0.6069051623344421}, "tactile_left": {"psnr": 35.56171024012166, "ssim": 0.9525804885371485, "lpips": 0.24192823469638824}, "tactile_right": {"psnr": 33.740167887642514, "ssim": 0.9576017680709724, "lpips": 0.17740803956985474}}, {"video": {"psnr": 17.792235416497164, "ssim": 0.6140286791770424, "lpips": 0.3033749461174011}, "wrist_left": {"psnr": 9.456282330282848, "ssim": 0.3389625526142615, "lpips": 0.5836116671562195}, "wrist_right": {"psnr": 10.653506337683345, "ssim": 0.19409705851408499, "lpips": 0.5987646579742432}, "tactile_left": {"psnr": 35.339187344687545, "ssim": 0.9504898257614331, "lpips": 0.24397625029087067}, "tactile_right": {"psnr": 32.89006617048749, "ssim": 0.953811552630046, "lpips": 0.19742661714553833}}, {"video": {"psnr": 16.514921311976323, "ssim": 0.5745079001588649, "lpips": 0.3591408431529999}, "wrist_left": {"psnr": 10.192472220088053, "ssim": 0.3749156586281426, "lpips": 0.5933653116226196}, "wrist_right": {"psnr": 10.292689986120447, "ssim": 0.19142717536629034, "lpips": 0.6515299081802368}, "tactile_left": {"psnr": 34.940663821007824, "ssim": 0.948316243818031, "lpips": 0.25297409296035767}, "tactile_right": {"psnr": 29.983033405679453, "ssim": 0.9411353333884509, "lpips": 0.2702535390853882}}, {"video": {"psnr": 13.824514309199685, "ssim": 0.49538889287864646, "lpips": 0.49020540714263916}, "wrist_left": {"psnr": 10.277182077916592, "ssim": 0.3436898190077022, "lpips": 0.6368846893310547}, "wrist_right": {"psnr": 10.0484355257801, "ssim": 0.21391415606938494, "lpips": 0.7540644407272339}, "tactile_left": {"psnr": 34.59561726753557, "ssim": 0.9459049278487666, "lpips": 0.2631629705429077}, "tactile_right": {"psnr": 29.516694484542167, "ssim": 0.9365113709994255, "lpips": 0.2882830500602722}}, {"video": {"psnr": 13.079835424647733, "ssim": 0.48030753269952137, "lpips": 0.5350317358970642}, "wrist_left": {"psnr": 10.062144784115164, "ssim": 0.32932598743217467, "lpips": 0.6439405083656311}, "wrist_right": {"psnr": 9.374476324154761, "ssim": 0.2192078117427705, "lpips": 0.79343581199646}, "tactile_left": {"psnr": 34.22691572579122, "ssim": 0.9442279259688632, "lpips": 0.27308258414268494}, "tactile_right": {"psnr": 30.487247391502756, "ssim": 0.9373483305660693, "lpips": 0.2814164459705353}}], "long_metrics": {"video": {"psnr": 18.42979917166936, "ssim": 0.6418278668636587, "lpips": 0.2996252323190371}, "wrist_left": {"psnr": 11.21669573405046, "ssim": 0.30533693985303895, "lpips": 0.5426539560159047}, "wrist_right": {"psnr": 12.690601013085038, "ssim": 0.3152570197843517, "lpips": 0.5284859240055084}, "tactile_left": {"psnr": 33.94999576574706, "ssim": 0.9447731055306542, "lpips": 0.2334263376891613}, "tactile_right": {"psnr": 32.431228953672914, "ssim": 0.9478037218923456, "lpips": 0.22465361654758453}}}, {"id": "motherboard_custom_e010_04", "episode": "motherboard_0909_episode_001.pt", "requested_episode": "motherboard_0909_episode_001.pt", "category": "none", "t_start": 3, "start_seconds": 0.2, "short_contact": [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0], "future_transition_ticks": [], "long_contact_fraction": 0.0, "long_label": "none_throughout", "short_metrics": {"video": {"psnr": 34.77603669324954, "ssim": 0.9604659582316872, "lpips": 0.012058333493769169}, "wrist_left": {"psnr": 39.341997556921726, "ssim": 0.9767788279687715, "lpips": 0.01574939303100109}, "wrist_right": {"psnr": 37.53829235455567, "ssim": 0.9774627624812613, "lpips": 0.015054890885949135}, "tactile_left": {"psnr": 47.78755589176309, "ssim": 0.9936729787707979, "lpips": 0.004668977111577988}, "tactile_right": {"psnr": 47.09967542550827, "ssim": 0.9921720882059579, "lpips": 0.013254357501864433}}, "media": {"short": {"video": "media/motherboard_custom_e010_04_short.mp4", "poster": "media/motherboard_custom_e010_04_short.jpg"}, "long": {"video": "media/motherboard_custom_e010_04_long.mp4", "poster": "media/motherboard_custom_e010_04_long.jpg"}}, "force": {"source": "recorded_normal_force", "units": "N", "fps": 15, "left": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "right": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]}, "long_curve": [{"video": {"psnr": 34.77603669324954, "ssim": 0.9604659582316872, "lpips": 0.012058333493769169}, "wrist_left": {"psnr": 39.341997556921726, "ssim": 0.9767788279687715, "lpips": 0.01574939303100109}, "wrist_right": {"psnr": 37.53829235455567, "ssim": 0.9774627624812613, "lpips": 0.015054890885949135}, "tactile_left": {"psnr": 47.78755589176309, "ssim": 0.9936729787707979, "lpips": 0.004668977111577988}, "tactile_right": {"psnr": 47.09967542550827, "ssim": 0.9921720882059579, "lpips": 0.013254357501864433}}, {"video": {"psnr": 32.16166566198722, "ssim": 0.9400276352690053, "lpips": 0.02074555866420269}, "wrist_left": {"psnr": 34.33822688354304, "ssim": 0.9529435987449648, "lpips": 0.03294610232114792}, "wrist_right": {"psnr": 30.39088097596784, "ssim": 0.9358855207347778, "lpips": 0.04388970881700516}, "tactile_left": {"psnr": 43.76229657762937, "ssim": 0.9868041164251727, "lpips": 0.03644460067152977}, "tactile_right": {"psnr": 42.69573669998216, "ssim": 0.9815537022118891, "lpips": 0.05587171018123627}}, {"video": {"psnr": 30.063210313439978, "ssim": 0.9205705084991845, "lpips": 0.030204059556126595}, "wrist_left": {"psnr": 26.432203799610402, "ssim": 0.8790545790221063, "lpips": 0.09137365221977234}, "wrist_right": {"psnr": 28.209830132006278, "ssim": 0.901140053909476, "lpips": 0.062220796942710876}, "tactile_left": {"psnr": 41.49908874890616, "ssim": 0.9800734186406181, "lpips": 0.07756417989730835}, "tactile_right": {"psnr": 41.19316029324202, "ssim": 0.9729344084180187, "lpips": 0.07911752164363861}}, {"video": {"psnr": 28.55229394502568, "ssim": 0.8995702149980082, "lpips": 0.04071638733148575}, "wrist_left": {"psnr": 22.94108613561236, "ssim": 0.8151010945078259, "lpips": 0.13271471858024597}, "wrist_right": {"psnr": 26.88783687542749, "ssim": 0.8828732575339777, "lpips": 0.07609407603740692}, "tactile_left": {"psnr": 39.11259742210503, "ssim": 0.9740262933232242, "lpips": 0.13472135365009308}, "tactile_right": {"psnr": 40.08625943446141, "ssim": 0.9710164887979722, "lpips": 0.095442034304142}}, {"video": {"psnr": 27.543127147206317, "ssim": 0.8818690749519298, "lpips": 0.0516638457775116}, "wrist_left": {"psnr": 21.03833273983211, "ssim": 0.7703719529759986, "lpips": 0.1547534167766571}, "wrist_right": {"psnr": 26.1172507810242, "ssim": 0.8713688082602674, "lpips": 0.09300196170806885}, "tactile_left": {"psnr": 38.1655301490358, "ssim": 0.9683717268352541, "lpips": 0.177418053150177}, "tactile_right": {"psnr": 38.495644678277664, "ssim": 0.9681532947845228, "lpips": 0.10895264893770218}}, {"video": {"psnr": 26.40323507238996, "ssim": 0.8617103386565513, "lpips": 0.06164143234491348}, "wrist_left": {"psnr": 18.73280418459172, "ssim": 0.6693076978052581, "lpips": 0.2510823607444763}, "wrist_right": {"psnr": 24.920210733271418, "ssim": 0.8603093978310763, "lpips": 0.11222085356712341}, "tactile_left": {"psnr": 37.84498935399819, "ssim": 0.9649767622559824, "lpips": 0.19137389957904816}, "tactile_right": {"psnr": 37.31534363885653, "ssim": 0.9666349483259984, "lpips": 0.12318827211856842}}, {"video": {"psnr": 25.55291899235657, "ssim": 0.841433154677637, "lpips": 0.07101243734359741}, "wrist_left": {"psnr": 17.277395696833366, "ssim": 0.6493026536938673, "lpips": 0.27243539690971375}, "wrist_right": {"psnr": 23.149329492296424, "ssim": 0.8306177864695203, "lpips": 0.15003979206085205}, "tactile_left": {"psnr": 37.71863949426016, "ssim": 0.9629911726963725, "lpips": 0.2078113555908203}, "tactile_right": {"psnr": 36.674751912278474, "ssim": 0.9645456111365635, "lpips": 0.13228288292884827}}, {"video": {"psnr": 24.80114537291407, "ssim": 0.8226437374706853, "lpips": 0.08480648696422577}, "wrist_left": {"psnr": 15.527360764831098, "ssim": 0.5835178775219823, "lpips": 0.37732404470443726}, "wrist_right": {"psnr": 21.54563124321387, "ssim": 0.7811909870331817, "lpips": 0.1899133175611496}, "tactile_left": {"psnr": 37.74595967639979, "ssim": 0.961106637304409, "lpips": 0.2154758870601654}, "tactile_right": {"psnr": 36.09545017856323, "ssim": 0.9616346741187138, "lpips": 0.14156851172447205}}, {"video": {"psnr": 23.730433549368605, "ssim": 0.7963202038747834, "lpips": 0.0946747362613678}, "wrist_left": {"psnr": 14.962455677956148, "ssim": 0.5876973202740359, "lpips": 0.3946600556373596}, "wrist_right": {"psnr": 19.982281376488466, "ssim": 0.7339948516160029, "lpips": 0.24596960842609406}, "tactile_left": {"psnr": 35.596912165080354, "ssim": 0.9552496588243963, "lpips": 0.25063127279281616}, "tactile_right": {"psnr": 35.57860106379122, "ssim": 0.9595824651393736, "lpips": 0.1496295928955078}}, {"video": {"psnr": 23.177812703315183, "ssim": 0.7818262835707028, "lpips": 0.1046331524848938}, "wrist_left": {"psnr": 14.609287801293348, "ssim": 0.5885348092356868, "lpips": 0.3919193148612976}, "wrist_right": {"psnr": 19.065637583660354, "ssim": 0.6918225458141154, "lpips": 0.2631305158138275}, "tactile_left": {"psnr": 35.16990672771071, "ssim": 0.9512028703845563, "lpips": 0.26628243923187256}, "tactile_right": {"psnr": 35.176012218134446, "ssim": 0.9574438756465511, "lpips": 0.15450409054756165}}, {"video": {"psnr": 22.81515072461296, "ssim": 0.7718902418596478, "lpips": 0.11060526221990585}, "wrist_left": {"psnr": 14.500348462656019, "ssim": 0.5945783953108096, "lpips": 0.3985351622104645}, "wrist_right": {"psnr": 18.686718688631053, "ssim": 0.6829983563452222, "lpips": 0.275288462638855}, "tactile_left": {"psnr": 34.62186888612123, "ssim": 0.9485834763189483, "lpips": 0.27893906831741333}, "tactile_right": {"psnr": 34.6871439280852, "ssim": 0.9555037336477632, "lpips": 0.16123715043067932}}, {"video": {"psnr": 22.459635036115614, "ssim": 0.7625632502648136, "lpips": 0.11600311845541}, "wrist_left": {"psnr": 14.200010784527525, "ssim": 0.5848758952898955, "lpips": 0.406647264957428}, "wrist_right": {"psnr": 18.477334654225427, "ssim": 0.6708032867505442, "lpips": 0.28487682342529297}, "tactile_left": {"psnr": 35.63775474272757, "ssim": 0.9495760363522302, "lpips": 0.2730274796485901}, "tactile_right": {"psnr": 34.410439505195086, "ssim": 0.953202283538323, "lpips": 0.16960960626602173}}, {"video": {"psnr": 22.012225932238675, "ssim": 0.7516972310487325, "lpips": 0.12713085114955902}, "wrist_left": {"psnr": 13.943291285105932, "ssim": 0.579871657418027, "lpips": 0.41865670680999756}, "wrist_right": {"psnr": 18.16322645769789, "ssim": 0.6573632226873377, "lpips": 0.29728931188583374}, "tactile_left": {"psnr": 35.54458953791305, "ssim": 0.946917834734606, "lpips": 0.2763775885105133}, "tactile_right": {"psnr": 34.006931738252256, "ssim": 0.9495785348255488, "lpips": 0.1798819899559021}}, {"video": {"psnr": 21.648400578268493, "ssim": 0.7419569165360508, "lpips": 0.13532981276512146}, "wrist_left": {"psnr": 13.87529704256818, "ssim": 0.576072655180593, "lpips": 0.4206869304180145}, "wrist_right": {"psnr": 17.851791138231956, "ssim": 0.6446035319584674, "lpips": 0.31288760900497437}, "tactile_left": {"psnr": 35.264180194641966, "ssim": 0.9432748800798149, "lpips": 0.2936808466911316}, "tactile_right": {"psnr": 33.66667715522971, "ssim": 0.9472300058907834, "lpips": 0.18899157643318176}}, {"video": {"psnr": 20.555032848577834, "ssim": 0.7124108241263727, "lpips": 0.16140002012252808}, "wrist_left": {"psnr": 13.51082072148233, "ssim": 0.5590146806324359, "lpips": 0.439363956451416}, "wrist_right": {"psnr": 17.60215545924855, "ssim": 0.6528059263793464, "lpips": 0.33622434735298157}, "tactile_left": {"psnr": 35.076823246887514, "ssim": 0.9422801006400531, "lpips": 0.2945040464401245}, "tactile_right": {"psnr": 33.2671340347722, "ssim": 0.9441687316455515, "lpips": 0.20148955285549164}}], "long_metrics": {"video": {"psnr": 25.75015497140445, "ssim": 0.8297970382690528, "lpips": 0.08150836632897457}, "wrist_left": {"psnr": 19.68206130249102, "ssim": 0.6911349130388172, "lpips": 0.27992323177556194}, "wrist_right": {"psnr": 23.23922719639646, "ssim": 0.785016019720305, "lpips": 0.18387347174187502}, "tactile_left": {"psnr": 38.036579521011994, "ssim": 0.9619405309057624, "lpips": 0.1985947365562121}, "tactile_right": {"psnr": 37.363264126975324, "ssim": 0.9630236564222354, "lpips": 0.13033476658165455}}}, {"id": "motherboard_custom_e010_05", "episode": "motherboard_0909_episode_001.pt", "requested_episode": "motherboard_0909_episode_001.pt", "category": "onset", "t_start": 760, "start_seconds": 50.666666666666664, "short_contact": [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 1], "future_transition_ticks": [11], "long_contact_fraction": 0.6953125, "long_label": "onset", "short_metrics": {"video": {"psnr": 23.886192432245473, "ssim": 0.8132874089682458, "lpips": 0.07726803421974182}, "wrist_left": {"psnr": 13.829961179586057, "ssim": 0.33679851182462706, "lpips": 0.4838239550590515}, "wrist_right": {"psnr": 15.077982674557402, "ssim": 0.5364854397428215, "lpips": 0.34811803698539734}, "tactile_left": {"psnr": 38.775510472443536, "ssim": 0.9831599296819815, "lpips": 0.04278712719678879}, "tactile_right": {"psnr": 47.851020142837086, "ssim": 0.9915421023676819, "lpips": 0.015260902233421803}}, "media": {"short": {"video": "media/motherboard_custom_e010_05_short.mp4", "poster": "media/motherboard_custom_e010_05_short.jpg"}, "long": {"video": "media/motherboard_custom_e010_05_long.mp4", "poster": "media/motherboard_custom_e010_05_long.jpg"}}, "force": {"source": "recorded_normal_force", "units": "N", "fps": 15, "left": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 2.93143892288208, 2.8207693099975586, 2.9424359798431396, 2.636666774749756, 1.9833333492279053, 2.8207693099975586, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 2.8207693099975586, 2.9424359798431396, 4.285294055938721, 5.145384788513184, 5.145384788513184, 5.145384788513184, 5.145384788513184, 5.145384788513184, 5.259615421295166, 5.259615421295166, 5.439090728759766, 5.259615421295166, 5.259615421295166, 1.886374831199646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.9833333492279053, 1.5254545211791992, 2.024200916290283, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 4.285294055938721, 4.285294055938721, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 1.9833333492279053, 1.4500000476837158, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "right": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.1662499904632568, 1.1733332872390747, 1.1662499904632568, 1.5254545211791992, 2.8207693099975586, 4.285294055938721, 5.76570463180542, 6.251071453094482, 6.251071453094482, 6.251071453094482, 6.251071453094482, 6.733333110809326, 6.733333110809326, 6.251071453094482, 6.251071453094482, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 6.8976850509643555, 6.733333110809326, 6.251071453094482, 6.251071453094482, 5.145384788513184, 6.251071453094482, 6.251071453094482, 5.259615421295166, 5.439090728759766, 6.251071453094482, 5.439090728759766, 5.439090728759766, 5.439090728759766, 6.182772636413574, 6.251071453094482, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.013420581817627, 2.8207693099975586, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.455624520778656, 4.285294055938721, 5.259615421295166, 5.259615421295166, 5.439090728759766, 5.972020626068115, 5.972020626068115, 5.145384788513184, 2.9424359798431396, 2.9424359798431396, 4.285294055938721, 4.285294055938721, 4.285294055938721, 4.285294055938721, 4.285294055938721, 4.285294055938721, 4.5, 5.145384788513184, 5.259615421295166, 5.145384788513184, 2.9424359798431396, 0.2600841820240021, 0.0, 0.0, 0.0, 0.0, 0.0]}, "long_curve": [{"video": {"psnr": 23.886192432245473, "ssim": 0.8132874089682458, "lpips": 0.07726803421974182}, "wrist_left": {"psnr": 13.829961179586057, "ssim": 0.33679851182462706, "lpips": 0.4838239550590515}, "wrist_right": {"psnr": 15.077982674557402, "ssim": 0.5364854397428215, "lpips": 0.34811803698539734}, "tactile_left": {"psnr": 38.775510472443536, "ssim": 0.9831599296819815, "lpips": 0.04278712719678879}, "tactile_right": {"psnr": 47.851020142837086, "ssim": 0.9915421023676819, "lpips": 0.015260902233421803}}, {"video": {"psnr": 20.361063675674608, "ssim": 0.6841103575038563, "lpips": 0.1759503036737442}, "wrist_left": {"psnr": 12.412207321445976, "ssim": 0.31676880549238207, "lpips": 0.5132584571838379}, "wrist_right": {"psnr": 13.780600646919153, "ssim": 0.4847171573072393, "lpips": 0.36544251441955566}, "tactile_left": {"psnr": 41.95805987404608, "ssim": 0.9796071625394144, "lpips": 0.047574181109666824}, "tactile_right": {"psnr": 44.82969513489011, "ssim": 0.9837486485924313, "lpips": 0.05051086097955704}}, {"video": {"psnr": 20.10842532164707, "ssim": 0.6858227908008176, "lpips": 0.200565367937088}, "wrist_left": {"psnr": 11.965927071494733, "ssim": 0.23833217202330598, "lpips": 0.5713633298873901}, "wrist_right": {"psnr": 11.552746201095943, "ssim": 0.4215414845116834, "lpips": 0.4634515047073364}, "tactile_left": {"psnr": 28.96658620467988, "ssim": 0.944520737960239, "lpips": 0.21016377210617065}, "tactile_right": {"psnr": 43.305278419509605, "ssim": 0.9807011227129685, "lpips": 0.07093547284603119}}, {"video": {"psnr": 18.81638129869391, "ssim": 0.6678581358858164, "lpips": 0.28970465064048767}, "wrist_left": {"psnr": 11.044808773169152, "ssim": 0.19332977455333245, "lpips": 0.5720893144607544}, "wrist_right": {"psnr": 11.242252691839607, "ssim": 0.45282149084076406, "lpips": 0.5108656883239746}, "tactile_left": {"psnr": 29.81490146797435, "ssim": 0.9530053402637592, "lpips": 0.21926459670066833}, "tactile_right": {"psnr": 41.55892767883118, "ssim": 0.9774816044606074, "lpips": 0.08933296799659729}}, {"video": {"psnr": 18.32831390367408, "ssim": 0.6414346934420811, "lpips": 0.32229673862457275}, "wrist_left": {"psnr": 11.113503460600953, "ssim": 0.38211359124916566, "lpips": 0.5555940270423889}, "wrist_right": {"psnr": 9.828008088559589, "ssim": 0.2674888936304602, "lpips": 0.5913481712341309}, "tactile_left": {"psnr": 40.22722476302354, "ssim": 0.9692324522778766, "lpips": 0.17530468106269836}, "tactile_right": {"psnr": 41.16756867414697, "ssim": 0.9744934824916482, "lpips": 0.1041673943400383}}, {"video": {"psnr": 18.14896258366752, "ssim": 0.6407929936568375, "lpips": 0.311450332403183}, "wrist_left": {"psnr": 12.003440892560214, "ssim": 0.38814931675428854, "lpips": 0.5831184387207031}, "wrist_right": {"psnr": 8.601304964438249, "ssim": 0.19645511414009065, "lpips": 0.6596566438674927}, "tactile_left": {"psnr": 39.16523180133608, "ssim": 0.9660388294656783, "lpips": 0.1890147626399994}, "tactile_right": {"psnr": 31.300521516957453, "ssim": 0.9401850400329366, "lpips": 0.24661105871200562}}, {"video": {"psnr": 18.04095368638038, "ssim": 0.6377947176364409, "lpips": 0.331533282995224}, "wrist_left": {"psnr": 11.019828880646612, "ssim": 0.33927494715179857, "lpips": 0.592705249786377}, "wrist_right": {"psnr": 8.346989646740557, "ssim": 0.18596443975349808, "lpips": 0.6464829444885254}, "tactile_left": {"psnr": 38.679197610009936, "ssim": 0.9632586175632922, "lpips": 0.202469140291214}, "tactile_right": {"psnr": 28.353957828367605, "ssim": 0.9130826590942647, "lpips": 0.34104448556900024}}, {"video": {"psnr": 17.934087083693257, "ssim": 0.6374839311684298, "lpips": 0.36505040526390076}, "wrist_left": {"psnr": 10.525942127439693, "ssim": 0.2448577236499524, "lpips": 0.5949347019195557}, "wrist_right": {"psnr": 8.499584412629156, "ssim": 0.1810894933742898, "lpips": 0.6550936102867126}, "tactile_left": {"psnr": 37.81349793980204, "ssim": 0.9601887025005309, "lpips": 0.2139265239238739}, "tactile_right": {"psnr": 28.42884419147635, "ssim": 0.9158084201907546, "lpips": 0.3338615894317627}}, {"video": {"psnr": 18.007258565925984, "ssim": 0.637041774830206, "lpips": 0.3640958368778229}, "wrist_left": {"psnr": 11.868320034634333, "ssim": 0.19772316296912862, "lpips": 0.5447019934654236}, "wrist_right": {"psnr": 8.389440771116927, "ssim": 0.17131524824730937, "lpips": 0.6509844064712524}, "tactile_left": {"psnr": 28.246127947226014, "ssim": 0.8984605547442683, "lpips": 0.3792768120765686}, "tactile_right": {"psnr": 29.297838421658714, "ssim": 0.928025922934038, "lpips": 0.296542227268219}}, {"video": {"psnr": 18.057275090514114, "ssim": 0.6369174017429586, "lpips": 0.33486539125442505}, "wrist_left": {"psnr": 12.031071250336502, "ssim": 0.20546331738451568, "lpips": 0.5874630212783813}, "wrist_right": {"psnr": 8.448772811641692, "ssim": 0.17274140204845448, "lpips": 0.6552774906158447}, "tactile_left": {"psnr": 31.368801472961035, "ssim": 0.9237510708751364, "lpips": 0.3297487497329712}, "tactile_right": {"psnr": 29.71832408252149, "ssim": 0.9327107375961315, "lpips": 0.27480876445770264}}, {"video": {"psnr": 18.22963180977801, "ssim": 0.6320333691187088, "lpips": 0.3236848711967468}, "wrist_left": {"psnr": 11.062624215618165, "ssim": 0.22211433949886022, "lpips": 0.5892375707626343}, "wrist_right": {"psnr": 9.397689848587888, "ssim": 0.2617389613371973, "lpips": 0.6496514678001404}, "tactile_left": {"psnr": 33.21717028148757, "ssim": 0.9337452388384138, "lpips": 0.29547053575515747}, "tactile_right": {"psnr": 35.02269985296165, "ssim": 0.9625654551739389, "lpips": 0.14085569977760315}}, {"video": {"psnr": 17.541502798631726, "ssim": 0.6128802871137138, "lpips": 0.34640729427337646}, "wrist_left": {"psnr": 10.2783960666873, "ssim": 0.24287884302102744, "lpips": 0.6000953912734985}, "wrist_right": {"psnr": 9.653018736758746, "ssim": 0.28482912843944574, "lpips": 0.619945764541626}, "tactile_left": {"psnr": 35.63719816974368, "ssim": 0.9537055032563789, "lpips": 0.23297378420829773}, "tactile_right": {"psnr": 33.37340274351729, "ssim": 0.9557492171916623, "lpips": 0.18350479006767273}}, {"video": {"psnr": 17.438579984507903, "ssim": 0.6105147477704158, "lpips": 0.3547704517841339}, "wrist_left": {"psnr": 11.124623942155127, "ssim": 0.23902353149856617, "lpips": 0.5895366668701172}, "wrist_right": {"psnr": 9.911533143452, "ssim": 0.3251360855490495, "lpips": 0.6385248303413391}, "tactile_left": {"psnr": 35.51767067718125, "ssim": 0.9525786552292016, "lpips": 0.2427424192428589}, "tactile_right": {"psnr": 31.22781864781086, "ssim": 0.9429824938362139, "lpips": 0.27524080872535706}}, {"video": {"psnr": 17.520278509545314, "ssim": 0.6177869421096196, "lpips": 0.35318470001220703}, "wrist_left": {"psnr": 10.937201116525353, "ssim": 0.24002969378871924, "lpips": 0.5879743695259094}, "wrist_right": {"psnr": 9.10004263162594, "ssim": 0.24881596152108051, "lpips": 0.6836364269256592}, "tactile_left": {"psnr": 35.19146200159265, "ssim": 0.949948835767638, "lpips": 0.25661998987197876}, "tactile_right": {"psnr": 30.503130415112857, "ssim": 0.9326599824329681, "lpips": 0.32718807458877563}}, {"video": {"psnr": 17.77830107311465, "ssim": 0.6100527004579559, "lpips": 0.3495919406414032}, "wrist_left": {"psnr": 10.485107152080499, "ssim": 0.30770216952121104, "lpips": 0.5745530724525452}, "wrist_right": {"psnr": 8.677094523686833, "ssim": 0.24361736762486874, "lpips": 0.6832455396652222}, "tactile_left": {"psnr": 34.810009757617436, "ssim": 0.9482424096215352, "lpips": 0.2672821581363678}, "tactile_right": {"psnr": 33.007227370136285, "ssim": 0.9509649290605144, "lpips": 0.2304384559392929}}], "long_metrics": {"video": {"psnr": 18.679813854512933, "ssim": 0.6510541501470736, "lpips": 0.3000279734532038}, "wrist_left": {"psnr": 11.446864232332045, "ssim": 0.2729706600253921, "lpips": 0.5693633039792378}, "wrist_right": {"psnr": 10.033804119576645, "ssim": 0.29565051120455016, "lpips": 0.588115002711614}, "tactile_left": {"psnr": 35.292576696075, "ssim": 0.9519629360390229, "lpips": 0.22030794893701872}, "tactile_right": {"psnr": 35.2630836747157, "ssim": 0.9521801212112507, "lpips": 0.19868690352886914}}}, {"id": "motherboard_custom_e010_06", "episode": "motherboard_0909_episode_001.pt", "requested_episode": "motherboard_0909_episode_001.pt", "category": "release", "t_start": 2829, "start_seconds": 188.6, "short_contact": [1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 0, 0], "future_transition_ticks": [11], "long_contact_fraction": 0.6953125, "long_label": "release", "short_metrics": {"video": {"psnr": 25.69961676149387, "ssim": 0.8344190097711254, "lpips": 0.051700834184885025}, "wrist_left": {"psnr": 10.079166902368259, "ssim": 0.31172266831123074, "lpips": 0.5077670812606812}, "wrist_right": {"psnr": 20.75455550733456, "ssim": 0.8275474831199492, "lpips": 0.09665046632289886}, "tactile_left": {"psnr": 38.45327812292027, "ssim": 0.9614048706324724, "lpips": 0.08811847120523453}, "tactile_right": {"psnr": 47.701627763422145, "ssim": 0.9921925652567009, "lpips": 0.015850329771637917}}, "media": {"short": {"video": "media/motherboard_custom_e010_06_short.mp4", "poster": "media/motherboard_custom_e010_06_short.jpg"}, "long": {"video": "media/motherboard_custom_e010_06_long.mp4", "poster": "media/motherboard_custom_e010_06_long.jpg"}}, "force": {"source": "recorded_normal_force", "units": "N", "fps": 15, "left": [4.3677778244018555, 4.285294055938721, 4.285294055938721, 4.285294055938721, 6.251071453094482, 7.293181896209717, 7.293181896209717, 7.5217695236206055, 7.3053178787231445, 5.259615421295166, 2.8207693099975586, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.1599999964237213, 0.22058026492595673, 0.22058026492595673, 0.43111228942871094, 2.9424359798431396, 4.285294055938721, 4.285294055938721, 7.293181896209717, 7.295934677124023, 7.317659854888916, 7.31187629699707, 7.314847946166992, 7.391359329223633, 7.860250473022461, 7.869999885559082, 7.869999885559082, 7.869999885559082, 7.869999885559082, 7.869999885559082, 7.869999885559082, 7.869999885559082, 7.869999885559082, 7.869999885559082, 7.869999885559082, 7.869999885559082, 7.7177629470825195, 7.514229774475098, 7.401813983917236, 7.470968723297119, 7.470968723297119, 7.314309120178223, 7.483780384063721, 7.869999885559082, 7.869999885559082, 7.869999885559082, 7.869999885559082, 7.869999885559082, 7.448915004730225, 7.499743938446045, 7.714519023895264, 7.869999885559082, 7.318450450897217, 4.285294055938721, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.9833333492279053, 1.9833333492279053, 5.259615421295166, 6.733333110809326, 6.733333110809326, 6.733333110809326, 7.293181896209717, 7.129386901855469, 6.733333110809326, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 6.733333110809326, 6.251071453094482, 5.259615421295166, 5.439090728759766, 6.251071453094482, 6.251071453094482, 6.733333110809326, 7.179339408874512, 6.962648868560791, 6.962648868560791, 7.012815952301025, 7.293181896209717, 6.733333110809326, 6.733333110809326, 6.251071453094482, 1.5254545211791992, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 2.8207693099975586, 6.251071453094482, 7.293181896209717, 7.293181896209717, 7.300662040710449, 7.869999885559082, 7.869999885559082, 7.869999885559082, 7.869999885559082], "right": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]}, "long_curve": [{"video": {"psnr": 25.69961676149387, "ssim": 0.8344190097711254, "lpips": 0.051700834184885025}, "wrist_left": {"psnr": 10.079166902368259, "ssim": 0.31172266831123074, "lpips": 0.5077670812606812}, "wrist_right": {"psnr": 20.75455550733456, "ssim": 0.8275474831199492, "lpips": 0.09665046632289886}, "tactile_left": {"psnr": 38.45327812292027, "ssim": 0.9614048706324724, "lpips": 0.08811847120523453}, "tactile_right": {"psnr": 47.701627763422145, "ssim": 0.9921925652567009, "lpips": 0.015850329771637917}}, {"video": {"psnr": 23.183345533849597, "ssim": 0.7603168422110098, "lpips": 0.07760321348905563}, "wrist_left": {"psnr": 9.260458011277743, "ssim": 0.1761510765559683, "lpips": 0.6226181983947754}, "wrist_right": {"psnr": 18.339828653541737, "ssim": 0.7256874056626884, "lpips": 0.16525372862815857}, "tactile_left": {"psnr": 36.003739191238104, "ssim": 0.9608422667316261, "lpips": 0.15547743439674377}, "tactile_right": {"psnr": 44.673568268991374, "ssim": 0.9844469428509932, "lpips": 0.052213724702596664}}, {"video": {"psnr": 22.860922562624104, "ssim": 0.7592415893398194, "lpips": 0.08794540911912918}, "wrist_left": {"psnr": 9.734055725577198, "ssim": 0.17954766401919428, "lpips": 0.6271827220916748}, "wrist_right": {"psnr": 15.48209744496518, "ssim": 0.6409632458152024, "lpips": 0.2820042371749878}, "tactile_left": {"psnr": 32.95617077678732, "ssim": 0.9401801880126216, "lpips": 0.2510600686073303}, "tactile_right": {"psnr": 43.43577709691868, "ssim": 0.9809847495734625, "lpips": 0.07243219763040543}}, {"video": {"psnr": 22.714451505018193, "ssim": 0.7559134610894416, "lpips": 0.09618748724460602}, "wrist_left": {"psnr": 9.80709126364488, "ssim": 0.18232443824502498, "lpips": 0.6219578385353088}, "wrist_right": {"psnr": 14.300040096654541, "ssim": 0.5924687757812193, "lpips": 0.3551054894924164}, "tactile_left": {"psnr": 30.527463752467078, "ssim": 0.8518079845278332, "lpips": 0.33840447664260864}, "tactile_right": {"psnr": 41.98240227062337, "ssim": 0.9780453414107979, "lpips": 0.09103798121213913}}, {"video": {"psnr": 22.428216844045075, "ssim": 0.7466251359121676, "lpips": 0.09726542979478836}, "wrist_left": {"psnr": 9.724348320607584, "ssim": 0.16638618057295515, "lpips": 0.6361163854598999}, "wrist_right": {"psnr": 13.405292375404516, "ssim": 0.5496906657431422, "lpips": 0.4067923426628113}, "tactile_left": {"psnr": 29.04843191909686, "ssim": 0.7902918893270938, "lpips": 0.371515691280365}, "tactile_right": {"psnr": 40.837247544399425, "ssim": 0.9746791585493075, "lpips": 0.11184100061655045}}, {"video": {"psnr": 21.94521688079194, "ssim": 0.732059863091292, "lpips": 0.1108834370970726}, "wrist_left": {"psnr": 10.342391467078047, "ssim": 0.2101725596494416, "lpips": 0.6450766921043396}, "wrist_right": {"psnr": 12.782653519277638, "ssim": 0.5088356351577561, "lpips": 0.4427657723426819}, "tactile_left": {"psnr": 29.81818956243833, "ssim": 0.8018985367567477, "lpips": 0.3486076593399048}, "tactile_right": {"psnr": 39.63296503742497, "ssim": 0.9722997401023874, "lpips": 0.13121533393859863}}, {"video": {"psnr": 19.19866737421873, "ssim": 0.6951216443005429, "lpips": 0.2071889340877533}, "wrist_left": {"psnr": 10.325653665735894, "ssim": 0.25367813124179583, "lpips": 0.6970162987709045}, "wrist_right": {"psnr": 11.51177673765012, "ssim": 0.44779294193523267, "lpips": 0.4951223134994507}, "tactile_left": {"psnr": 30.205180734846692, "ssim": 0.814199861914971, "lpips": 0.3427202105522156}, "tactile_right": {"psnr": 39.04931325633718, "ssim": 0.9699430566421134, "lpips": 0.13812576234340668}}, {"video": {"psnr": 17.287632015938634, "ssim": 0.6516186421019656, "lpips": 0.3077951967716217}, "wrist_left": {"psnr": 10.105647234471997, "ssim": 0.22461251238192748, "lpips": 0.6430221199989319}, "wrist_right": {"psnr": 10.991736961045323, "ssim": 0.408820293506716, "lpips": 0.5125499367713928}, "tactile_left": {"psnr": 31.791227474400465, "ssim": 0.8781769158737595, "lpips": 0.2985585331916809}, "tactile_right": {"psnr": 38.430405962752886, "ssim": 0.967135416259642, "lpips": 0.14494149386882782}}, {"video": {"psnr": 17.178025639993713, "ssim": 0.6330984254216678, "lpips": 0.32978183031082153}, "wrist_left": {"psnr": 9.926976335708632, "ssim": 0.20416457258045403, "lpips": 0.6306079030036926}, "wrist_right": {"psnr": 11.44340255409064, "ssim": 0.416170719617916, "lpips": 0.513359010219574}, "tactile_left": {"psnr": 32.80742700582429, "ssim": 0.9473640060992767, "lpips": 0.24827677011489868}, "tactile_right": {"psnr": 38.00531846746496, "ssim": 0.9646552769825929, "lpips": 0.15516872704029083}}, {"video": {"psnr": 17.209125494573286, "ssim": 0.6365508299502418, "lpips": 0.33110159635543823}, "wrist_left": {"psnr": 10.732063358581051, "ssim": 0.2403495219480835, "lpips": 0.6205363273620605}, "wrist_right": {"psnr": 11.014339978357441, "ssim": 0.38812979353719806, "lpips": 0.5313127040863037}, "tactile_left": {"psnr": 27.925605985949183, "ssim": 0.909299232206171, "lpips": 0.35566139221191406}, "tactile_right": {"psnr": 37.57548661918478, "ssim": 0.962522075623024, "lpips": 0.1557309627532959}}, {"video": {"psnr": 18.185742487671767, "ssim": 0.6503907249852943, "lpips": 0.27137672901153564}, "wrist_left": {"psnr": 10.393368345372526, "ssim": 0.24705863477974246, "lpips": 0.655799150466919}, "wrist_right": {"psnr": 11.277251432076019, "ssim": 0.41078670476942686, "lpips": 0.5313384532928467}, "tactile_left": {"psnr": 30.585446181307972, "ssim": 0.9321264059061838, "lpips": 0.291490375995636}, "tactile_right": {"psnr": 36.51544207375711, "ssim": 0.9580611808556742, "lpips": 0.1721457540988922}}, {"video": {"psnr": 20.1688385208154, "ssim": 0.6772591807150773, "lpips": 0.19550985097885132}, "wrist_left": {"psnr": 9.485426771667257, "ssim": 0.26550730693983415, "lpips": 0.6765925884246826}, "wrist_right": {"psnr": 11.927732741718483, "ssim": 0.43076735293202634, "lpips": 0.5154986381530762}, "tactile_left": {"psnr": 31.243620741031464, "ssim": 0.9358347122926154, "lpips": 0.28729596734046936}, "tactile_right": {"psnr": 35.810031478332654, "ssim": 0.9562643566163423, "lpips": 0.18105797469615936}}, {"video": {"psnr": 18.366630702242745, "ssim": 0.647131311923971, "lpips": 0.2912502586841583}, "wrist_left": {"psnr": 9.99624306190452, "ssim": 0.276821969631169, "lpips": 0.6760624647140503}, "wrist_right": {"psnr": 10.909681734958196, "ssim": 0.35801279598149116, "lpips": 0.5726461410522461}, "tactile_left": {"psnr": 32.85647267028614, "ssim": 0.9484434668973012, "lpips": 0.24608772993087769}, "tactile_right": {"psnr": 35.75753430592181, "ssim": 0.9552434973215125, "lpips": 0.18164771795272827}}, {"video": {"psnr": 17.827259721282008, "ssim": 0.6353350949386567, "lpips": 0.3338981866836548}, "wrist_left": {"psnr": 9.574667519968635, "ssim": 0.2506295110483368, "lpips": 0.7067090272903442}, "wrist_right": {"psnr": 11.039447057355646, "ssim": 0.3487274927906836, "lpips": 0.5982913970947266}, "tactile_left": {"psnr": 33.464403582510464, "ssim": 0.952967635579254, "lpips": 0.23385684192180634}, "tactile_right": {"psnr": 35.489271615502545, "ssim": 0.9527981242369044, "lpips": 0.19381727278232574}}, {"video": {"psnr": 17.709447926332544, "ssim": 0.6313432017302547, "lpips": 0.34498143196105957}, "wrist_left": {"psnr": 9.81956172186708, "ssim": 0.2934253228148267, "lpips": 0.7053664922714233}, "wrist_right": {"psnr": 10.862156751616025, "ssim": 0.3358968534734988, "lpips": 0.5992180109024048}, "tactile_left": {"psnr": 28.365083810703627, "ssim": 0.9034795284342294, "lpips": 0.358126699924469}, "tactile_right": {"psnr": 35.10587740314953, "ssim": 0.9505996725421217, "lpips": 0.2078385204076767}}], "long_metrics": {"video": {"psnr": 20.130875998059437, "ssim": 0.6964283304988351, "lpips": 0.20896465505162876}, "wrist_left": {"psnr": 9.953807980388753, "ssim": 0.232170138047999, "lpips": 0.644828752676646}, "wrist_right": {"psnr": 13.06946623640307, "ssim": 0.4926865439882765, "lpips": 0.4411939094463984}, "tactile_left": {"psnr": 31.73678276745388, "ssim": 0.9018878334128105, "lpips": 0.2810172215104103}, "tactile_right": {"psnr": 39.33348461094556, "ssim": 0.9679914103215718, "lpips": 0.1336709835877021}}}, {"id": "motherboard_custom_e010_07", "episode": "motherboard_0909_episode_001.pt", "requested_episode": "motherboard_0909_episode_001.pt", "category": "full", "t_start": 467, "start_seconds": 31.133333333333333, "short_contact": [1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1], "future_transition_ticks": [], "long_contact_fraction": 1.0, "long_label": "full", "short_metrics": {"video": {"psnr": 30.4838353221318, "ssim": 0.9281575535367794, "lpips": 0.025475427508354187}, "wrist_left": {"psnr": 12.758106859115209, "ssim": 0.3338076967347626, "lpips": 0.2777470350265503}, "wrist_right": {"psnr": 21.237757129723803, "ssim": 0.7138702213920115, "lpips": 0.055416688323020935}, "tactile_left": {"psnr": 29.753155493896536, "ssim": 0.9182271907992067, "lpips": 0.0747637152671814}, "tactile_right": {"psnr": 48.1681316781632, "ssim": 0.9922186834651221, "lpips": 0.014695676974952221}}, "media": {"short": {"video": "media/motherboard_custom_e010_07_short.mp4", "poster": "media/motherboard_custom_e010_07_short.jpg"}, "long": {"video": "media/motherboard_custom_e010_07_long.mp4", "poster": "media/motherboard_custom_e010_07_long.jpg"}}, "force": {"source": "recorded_normal_force", "units": "N", "fps": 15, "left": [1.9833333492279053, 1.9833333492279053, 2.9424359798431396, 6.251071453094482, 6.251071453094482, 5.439090728759766, 5.439090728759766, 5.439090728759766, 6.251071453094482, 6.733333110809326, 6.733333110809326, 6.733333110809326, 6.733333110809326, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 6.733333110809326, 6.733333110809326, 6.733333110809326, 6.733333110809326, 6.733333110809326, 6.733333110809326, 6.733333110809326, 6.733333110809326, 6.733333110809326, 6.76942777633667, 7.228470325469971, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.284359455108643, 6.733333110809326, 6.251071453094482, 6.251071453094482, 5.145384788513184, 4.285294055938721, 2.9424359798431396, 2.8207693099975586, 2.8207693099975586, 1.9833333492279053, 1.9833333492279053, 1.5254545211791992, 1.5254545211791992, 1.5254545211791992, 1.5254545211791992, 1.5254545211791992, 1.5254545211791992, 2.8207693099975586, 1.9833333492279053, 1.9833333492279053, 2.9424359798431396, 4.285294055938721, 4.285294055938721, 4.285294055938721, 4.285294055938721, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 4.285294055938721, 4.285294055938721, 4.285294055938721, 4.285294055938721, 4.285294055938721, 4.285294055938721, 4.3677778244018555, 4.3677778244018555, 5.145384788513184, 5.145384788513184, 5.259615421295166, 5.259615421295166, 6.115070343017578, 6.201137542724609, 6.2079668045043945, 5.661813259124756, 6.073955059051514, 6.251071453094482, 6.251071453094482, 6.251071453094482, 6.251071453094482, 6.251071453094482, 6.251071453094482, 6.251071453094482, 6.251071453094482, 6.251071453094482, 6.251071453094482, 5.259615421295166, 5.145384788513184, 5.145384788513184, 5.145384788513184, 5.259615421295166, 5.145384788513184, 5.145384788513184, 5.145384788513184, 4.3677778244018555, 4.306504249572754, 4.285294055938721, 4.285294055938721, 4.285294055938721, 4.285294055938721, 4.285294055938721, 4.285294055938721, 2.9424359798431396, 2.3617031574249268, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "right": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.5254545211791992, 1.5254545211791992, 1.9833333492279053, 5.259615421295166, 7.293181896209717, 7.756637096405029, 7.756637096405029, 7.869999885559082, 7.869999885559082, 7.869999885559082, 7.869999885559082, 7.869999885559082, 7.869999885559082, 7.869999885559082, 7.869999885559082, 7.869999885559082, 7.869999885559082, 7.869999885559082, 7.869999885559082, 7.652376174926758, 7.380303382873535, 7.293181896209717, 7.293181896209717, 6.733333110809326, 6.251071453094482, 4.285294055938721, 4.285294055938721, 2.9424359798431396, 2.9424359798431396, 2.8207693099975586, 1.9833333492279053, 1.9833333492279053, 1.9833333492279053, 1.9833333492279053, 2.636666774749756, 2.9424359798431396, 4.3677778244018555, 6.251071453094482, 7.293181896209717, 7.293181896209717, 7.293181896209717, 6.251071453094482, 6.251071453094482, 6.251071453094482, 6.251071453094482, 6.733333110809326, 6.733333110809326, 6.733333110809326, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.319431304931641, 7.319431304931641, 7.724584579467773, 7.869999885559082, 7.869999885559082, 7.869999885559082, 7.869999885559082, 7.869999885559082, 7.869999885559082, 7.869999885559082, 7.869999885559082, 7.869999885559082, 7.869999885559082, 7.869999885559082, 7.869999885559082, 7.869999885559082, 7.869999885559082, 7.869999885559082, 7.312495708465576, 7.295211315155029, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 6.733333110809326, 6.733333110809326, 6.733333110809326, 5.439090728759766, 5.259615421295166, 5.259615421295166, 5.145384788513184, 5.145384788513184, 5.259615421295166, 5.259615421295166, 5.259615421295166, 2.9424359798431396, 4.285294055938721, 5.145384788513184, 5.259615421295166, 6.733333110809326, 6.733333110809326, 6.733333110809326, 6.7497968673706055, 7.293181896209717, 7.293181896209717, 7.293181896209717]}, "long_curve": [{"video": {"psnr": 30.4838353221318, "ssim": 0.9281575535367794, "lpips": 0.025475427508354187}, "wrist_left": {"psnr": 12.758106859115209, "ssim": 0.3338076967347626, "lpips": 0.2777470350265503}, "wrist_right": {"psnr": 21.237757129723803, "ssim": 0.7138702213920115, "lpips": 0.055416688323020935}, "tactile_left": {"psnr": 29.753155493896536, "ssim": 0.9182271907992067, "lpips": 0.0747637152671814}, "tactile_right": {"psnr": 48.1681316781632, "ssim": 0.9922186834651221, "lpips": 0.014695676974952221}}, {"video": {"psnr": 26.044308139397746, "ssim": 0.8532056924843767, "lpips": 0.0611378513276577}, "wrist_left": {"psnr": 12.54207421765467, "ssim": 0.2866708224034217, "lpips": 0.31323879957199097}, "wrist_right": {"psnr": 15.059634150020614, "ssim": 0.4919689444751028, "lpips": 0.3315139412879944}, "tactile_left": {"psnr": 28.09188205646178, "ssim": 0.8907446404493193, "lpips": 0.12263858318328857}, "tactile_right": {"psnr": 45.27373362160959, "ssim": 0.9846341892601806, "lpips": 0.05229221284389496}}, {"video": {"psnr": 24.42691080152658, "ssim": 0.8085864126761004, "lpips": 0.09101296216249466}, "wrist_left": {"psnr": 12.512654167930485, "ssim": 0.27835709623993377, "lpips": 0.30848103761672974}, "wrist_right": {"psnr": 12.850952884140565, "ssim": 0.3399543559888757, "lpips": 0.4780515134334564}, "tactile_left": {"psnr": 30.263216740186323, "ssim": 0.906597075382025, "lpips": 0.11902026832103729}, "tactile_right": {"psnr": 32.003028346815256, "ssim": 0.9575195120870149, "lpips": 0.1411372423171997}}, {"video": {"psnr": 24.099401878097012, "ssim": 0.7973110654046567, "lpips": 0.10078146308660507}, "wrist_left": {"psnr": 12.456249366824618, "ssim": 0.26288060279289305, "lpips": 0.34218981862068176}, "wrist_right": {"psnr": 11.74393767058862, "ssim": 0.2976843187260806, "lpips": 0.52601158618927}, "tactile_left": {"psnr": 30.127305720974626, "ssim": 0.9051136284490173, "lpips": 0.17190629243850708}, "tactile_right": {"psnr": 25.411158479818248, "ssim": 0.9030903585591821, "lpips": 0.28042346239089966}}, {"video": {"psnr": 23.606493692188447, "ssim": 0.780479751015268, "lpips": 0.1138894259929657}, "wrist_left": {"psnr": 12.348673857144094, "ssim": 0.24696270160839057, "lpips": 0.3728952705860138}, "wrist_right": {"psnr": 10.94942941315966, "ssim": 0.2782605781044948, "lpips": 0.5691989660263062}, "tactile_left": {"psnr": 30.281796470692015, "ssim": 0.9117488754195867, "lpips": 0.21350371837615967}, "tactile_right": {"psnr": 25.88071905941787, "ssim": 0.9050333571369982, "lpips": 0.2843613922595978}}, {"video": {"psnr": 23.26306471524882, "ssim": 0.7690032013075452, "lpips": 0.11926823854446411}, "wrist_left": {"psnr": 12.740837093981325, "ssim": 0.23661418601583917, "lpips": 0.4108285903930664}, "wrist_right": {"psnr": 11.022849815472311, "ssim": 0.2697353939444691, "lpips": 0.5692363977432251}, "tactile_left": {"psnr": 32.71905794585066, "ssim": 0.9476075982955317, "lpips": 0.2456880658864975}, "tactile_right": {"psnr": 31.530578766157888, "ssim": 0.9347109017270189, "lpips": 0.21850654482841492}}, {"video": {"psnr": 22.886112740644315, "ssim": 0.7484881107310699, "lpips": 0.13040927052497864}, "wrist_left": {"psnr": 12.755070831572128, "ssim": 0.22678443023324105, "lpips": 0.39458703994750977}, "wrist_right": {"psnr": 11.039284929574285, "ssim": 0.2594498630817823, "lpips": 0.5853174328804016}, "tactile_left": {"psnr": 33.13235801281297, "ssim": 0.9461340287169078, "lpips": 0.24719339609146118}, "tactile_right": {"psnr": 33.439546708475525, "ssim": 0.9457635233178692, "lpips": 0.20396319031715393}}, {"video": {"psnr": 22.529835055070123, "ssim": 0.7370344175094818, "lpips": 0.14183765649795532}, "wrist_left": {"psnr": 12.908098070056905, "ssim": 0.24610700758880644, "lpips": 0.38279178738594055}, "wrist_right": {"psnr": 10.70496911525118, "ssim": 0.2583861230115229, "lpips": 0.6075940728187561}, "tactile_left": {"psnr": 29.11950468465161, "ssim": 0.9255979601456528, "lpips": 0.296987384557724}, "tactile_right": {"psnr": 28.153453356819305, "ssim": 0.91821930584508, "lpips": 0.26352810859680176}}, {"video": {"psnr": 22.550305648457623, "ssim": 0.7364747174867191, "lpips": 0.14333108067512512}, "wrist_left": {"psnr": 12.320108525042174, "ssim": 0.1915469621874677, "lpips": 0.4038328528404236}, "wrist_right": {"psnr": 10.611950845655734, "ssim": 0.2603406888115668, "lpips": 0.6280544996261597}, "tactile_left": {"psnr": 29.683089046290018, "ssim": 0.9297711267896838, "lpips": 0.2957053780555725}, "tactile_right": {"psnr": 27.43755206805561, "ssim": 0.9088207153464485, "lpips": 0.29242178797721863}}, {"video": {"psnr": 23.017578258208488, "ssim": 0.7467264516011692, "lpips": 0.13193649053573608}, "wrist_left": {"psnr": 12.024846238322768, "ssim": 0.1782243764863471, "lpips": 0.4202655255794525}, "wrist_right": {"psnr": 10.38765354383612, "ssim": 0.2508003539673139, "lpips": 0.648491382598877}, "tactile_left": {"psnr": 28.04011403347873, "ssim": 0.9164819674384116, "lpips": 0.3273528218269348}, "tactile_right": {"psnr": 25.71820355239565, "ssim": 0.8958896347851302, "lpips": 0.31684038043022156}}, {"video": {"psnr": 22.86888236853423, "ssim": 0.7350501815188456, "lpips": 0.1391715705394745}, "wrist_left": {"psnr": 11.622897881972236, "ssim": 0.15923431571498461, "lpips": 0.43907713890075684}, "wrist_right": {"psnr": 10.294566522040721, "ssim": 0.25003531000100254, "lpips": 0.65754234790802}, "tactile_left": {"psnr": 28.067853843407462, "ssim": 0.9138203821410305, "lpips": 0.33260828256607056}, "tactile_right": {"psnr": 25.284257717723047, "ssim": 0.8874794981188656, "lpips": 0.3244262933731079}}, {"video": {"psnr": 21.37105867226248, "ssim": 0.6929151438626444, "lpips": 0.17300260066986084}, "wrist_left": {"psnr": 11.067731964140856, "ssim": 0.13131828420590436, "lpips": 0.4721010625362396}, "wrist_right": {"psnr": 10.672451888019873, "ssim": 0.2568446990717501, "lpips": 0.6440222263336182}, "tactile_left": {"psnr": 28.23328253357246, "ssim": 0.9168029408339025, "lpips": 0.3398028016090393}, "tactile_right": {"psnr": 26.41972250552232, "ssim": 0.9054422652645113, "lpips": 0.29866012930870056}}, {"video": {"psnr": 19.94024514556119, "ssim": 0.6734722209455964, "lpips": 0.2253529280424118}, "wrist_left": {"psnr": 11.778801848728072, "ssim": 0.1613601486767858, "lpips": 0.4643780589103699}, "wrist_right": {"psnr": 10.862267841228604, "ssim": 0.26133138731604333, "lpips": 0.6523553133010864}, "tactile_left": {"psnr": 27.64881660659801, "ssim": 0.9135746773111827, "lpips": 0.34992215037345886}, "tactile_right": {"psnr": 29.064764739313787, "ssim": 0.9171524873431086, "lpips": 0.26156651973724365}}, {"video": {"psnr": 19.623857015917274, "ssim": 0.6768229194632209, "lpips": 0.24830755591392517}, "wrist_left": {"psnr": 11.858861361060939, "ssim": 0.17765184913237458, "lpips": 0.4790257215499878}, "wrist_right": {"psnr": 10.838868980929169, "ssim": 0.2577261083898292, "lpips": 0.6503008604049683}, "tactile_left": {"psnr": 29.682122767333183, "ssim": 0.9335717525155176, "lpips": 0.2996794581413269}, "tactile_right": {"psnr": 30.358902550657668, "ssim": 0.9243854352751408, "lpips": 0.2443993240594864}}, {"video": {"psnr": 19.76839948876804, "ssim": 0.684665414866851, "lpips": 0.2114384025335312}, "wrist_left": {"psnr": 10.45625300168547, "ssim": 0.3041491071808721, "lpips": 0.4852914810180664}, "wrist_right": {"psnr": 10.927354314417403, "ssim": 0.26165741098478157, "lpips": 0.6325652003288269}, "tactile_left": {"psnr": 32.79209915806926, "ssim": 0.9498934396206382, "lpips": 0.2557939291000366}, "tactile_right": {"psnr": 28.41439425381043, "ssim": 0.9104431406464759, "lpips": 0.2823702096939087}}], "long_metrics": {"video": {"psnr": 23.09868592946761, "ssim": 0.757892883627355, "lpips": 0.13709019497036934}, "wrist_left": {"psnr": 12.14341768568213, "ssim": 0.2281113058134683, "lpips": 0.39778208136558535}, "wrist_right": {"psnr": 11.946928602937245, "ssim": 0.3138697171511085, "lpips": 0.5490448286135992}, "tactile_left": {"psnr": 29.842377007618378, "ssim": 0.9217124856205076, "lpips": 0.24617108305295307}, "tactile_right": {"psnr": 30.837209826983692, "ssim": 0.9260535338785431, "lpips": 0.23197283167392016}}}, {"id": "motherboard_custom_e010_08", "episode": "motherboard_0909_episode_002.pt", "requested_episode": "motherboard_0909_episode_002.pt", "category": "none", "t_start": 2600, "start_seconds": 173.33333333333334, "short_contact": [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0], "future_transition_ticks": [], "long_contact_fraction": 0.296875, "long_label": "none_at_start", "short_metrics": {"video": {"psnr": 26.70169667211563, "ssim": 0.8684938686493422, "lpips": 0.04084232449531555}, "wrist_left": {"psnr": 13.185069353146922, "ssim": 0.3832202368798393, "lpips": 0.3619319796562195}, "wrist_right": {"psnr": 22.046207439471374, "ssim": 0.7818614135694684, "lpips": 0.07371586561203003}, "tactile_left": {"psnr": 37.654498469181036, "ssim": 0.9798853245714592, "lpips": 0.05930528789758682}, "tactile_right": {"psnr": 48.1765031107151, "ssim": 0.9925531306215696, "lpips": 0.014562240801751614}}, "media": {"short": {"video": "media/motherboard_custom_e010_08_short.mp4", "poster": "media/motherboard_custom_e010_08_short.jpg"}, "long": {"video": "media/motherboard_custom_e010_08_long.mp4", "poster": "media/motherboard_custom_e010_08_long.jpg"}}, "force": {"source": "recorded_normal_force", "units": "N", "fps": 15, "left": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.49666666984558105, 1.5254545211791992, 4.285294055938721, 5.439090728759766, 5.439090728759766, 6.733333110809326, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 5.145384788513184, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "right": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.49666666984558105, 0.49264535307884216, 1.2104182243347168, 4.285294055938721, 4.285294055938721, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.636666774749756, 1.5254545211791992, 1.1662499904632568, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]}, "long_curve": [{"video": {"psnr": 26.70169667211563, "ssim": 0.8684938686493422, "lpips": 0.04084232449531555}, "wrist_left": {"psnr": 13.185069353146922, "ssim": 0.3832202368798393, "lpips": 0.3619319796562195}, "wrist_right": {"psnr": 22.046207439471374, "ssim": 0.7818614135694684, "lpips": 0.07371586561203003}, "tactile_left": {"psnr": 37.654498469181036, "ssim": 0.9798853245714592, "lpips": 0.05930528789758682}, "tactile_right": {"psnr": 48.1765031107151, "ssim": 0.9925531306215696, "lpips": 0.014562240801751614}}, {"video": {"psnr": 22.78651439235572, "ssim": 0.7546225946918019, "lpips": 0.07827683538198471}, "wrist_left": {"psnr": 11.00318189841397, "ssim": 0.2925507838655754, "lpips": 0.5314091444015503}, "wrist_right": {"psnr": 17.884092445220375, "ssim": 0.6922130233623732, "lpips": 0.18177013099193573}, "tactile_left": {"psnr": 35.55925952573962, "ssim": 0.9645503804847174, "lpips": 0.12439771741628647}, "tactile_right": {"psnr": 45.26608754348355, "ssim": 0.9847201913503028, "lpips": 0.047836460173130035}}, {"video": {"psnr": 21.094917185323773, "ssim": 0.720311707862545, "lpips": 0.1313701719045639}, "wrist_left": {"psnr": 10.34139977619012, "ssim": 0.3430639506130804, "lpips": 0.5535681247711182}, "wrist_right": {"psnr": 17.700234033757262, "ssim": 0.6386005619584287, "lpips": 0.21115057170391083}, "tactile_left": {"psnr": 41.14224463063266, "ssim": 0.972146696816294, "lpips": 0.10092051327228546}, "tactile_right": {"psnr": 43.70904354935304, "ssim": 0.9805597375810632, "lpips": 0.06493400037288666}}, {"video": {"psnr": 20.959786339151876, "ssim": 0.7101870641204964, "lpips": 0.13541312515735626}, "wrist_left": {"psnr": 10.568206450576355, "ssim": 0.36833115066055044, "lpips": 0.5400645732879639}, "wrist_right": {"psnr": 17.35453325824092, "ssim": 0.6105600711054486, "lpips": 0.24720503389835358}, "tactile_left": {"psnr": 40.694770832881986, "ssim": 0.9708374493094678, "lpips": 0.14265131950378418}, "tactile_right": {"psnr": 42.17614846580392, "ssim": 0.9776975388393121, "lpips": 0.08279642462730408}}, {"video": {"psnr": 21.073773077282347, "ssim": 0.7044385018988587, "lpips": 0.14162486791610718}, "wrist_left": {"psnr": 11.985869341096183, "ssim": 0.43394789407655465, "lpips": 0.5103614330291748}, "wrist_right": {"psnr": 16.614757875136135, "ssim": 0.5794807847599142, "lpips": 0.3035391569137573}, "tactile_left": {"psnr": 39.627723647679176, "ssim": 0.9682124896735862, "lpips": 0.18169167637825012}, "tactile_right": {"psnr": 41.24301753120669, "ssim": 0.9741847456559832, "lpips": 0.10447808355093002}}, {"video": {"psnr": 20.638631310770226, "ssim": 0.688565554306704, "lpips": 0.16639362275600433}, "wrist_left": {"psnr": 10.949230874638934, "ssim": 0.40828215083934827, "lpips": 0.5602790713310242}, "wrist_right": {"psnr": 15.280423509966072, "ssim": 0.5506386665570784, "lpips": 0.3464582860469818}, "tactile_left": {"psnr": 29.56658555073315, "ssim": 0.9219976889589288, "lpips": 0.3391115069389343}, "tactile_right": {"psnr": 40.04283304214865, "ssim": 0.972416373538715, "lpips": 0.12419477105140686}}, {"video": {"psnr": 19.95593757356145, "ssim": 0.6687368000569055, "lpips": 0.19058841466903687}, "wrist_left": {"psnr": 10.683839777783428, "ssim": 0.4586190719046921, "lpips": 0.5293011665344238}, "wrist_right": {"psnr": 13.434726612741489, "ssim": 0.5153392391536531, "lpips": 0.3924105167388916}, "tactile_left": {"psnr": 28.725731500189532, "ssim": 0.9360541758922534, "lpips": 0.29394495487213135}, "tactile_right": {"psnr": 39.37421329193937, "ssim": 0.9703291437784997, "lpips": 0.13267329335212708}}, {"video": {"psnr": 18.733945778406593, "ssim": 0.6521951031064359, "lpips": 0.2512340545654297}, "wrist_left": {"psnr": 10.576463036650004, "ssim": 0.3273586563835726, "lpips": 0.6298340559005737}, "wrist_right": {"psnr": 11.296790593085333, "ssim": 0.32829319024988746, "lpips": 0.5404238700866699}, "tactile_left": {"psnr": 36.694785950164636, "ssim": 0.9619122393093842, "lpips": 0.2080925703048706}, "tactile_right": {"psnr": 38.77333934679249, "ssim": 0.9675352644752326, "lpips": 0.1416962593793869}}, {"video": {"psnr": 17.809600022348324, "ssim": 0.6498856483792561, "lpips": 0.2845022976398468}, "wrist_left": {"psnr": 10.316472269710403, "ssim": 0.30408979416653664, "lpips": 0.6450185775756836}, "wrist_right": {"psnr": 10.283356848590879, "ssim": 0.2385723013846749, "lpips": 0.620821475982666}, "tactile_left": {"psnr": 36.52011181918393, "ssim": 0.9594871022608593, "lpips": 0.21887747943401337}, "tactile_right": {"psnr": 36.876369962055385, "ssim": 0.9645050219946442, "lpips": 0.15160337090492249}}, {"video": {"psnr": 16.614324444245195, "ssim": 0.6166202728084009, "lpips": 0.3429495096206665}, "wrist_left": {"psnr": 9.969088682302683, "ssim": 0.31345010404664264, "lpips": 0.645628035068512}, "wrist_right": {"psnr": 11.24114172848059, "ssim": 0.2362502464271041, "lpips": 0.6051144003868103}, "tactile_left": {"psnr": 36.1692647034299, "ssim": 0.9567011484328343, "lpips": 0.2315739095211029}, "tactile_right": {"psnr": 35.30953493810519, "ssim": 0.9612789714241534, "lpips": 0.16926714777946472}}, {"video": {"psnr": 16.267149898450278, "ssim": 0.6178038025488428, "lpips": 0.3608610928058624}, "wrist_left": {"psnr": 9.623377079216628, "ssim": 0.3019837383458733, "lpips": 0.656105637550354}, "wrist_right": {"psnr": 10.089088822847081, "ssim": 0.2122746206602228, "lpips": 0.6361667513847351}, "tactile_left": {"psnr": 35.91029921492754, "ssim": 0.9541224757981285, "lpips": 0.24042636156082153}, "tactile_right": {"psnr": 35.111035574087246, "ssim": 0.9592092519797195, "lpips": 0.18839049339294434}}, {"video": {"psnr": 16.60843248542745, "ssim": 0.6120093601617821, "lpips": 0.38498467206954956}, "wrist_left": {"psnr": 10.374676492172712, "ssim": 0.3482679065409716, "lpips": 0.6544454097747803}, "wrist_right": {"psnr": 9.842053518491856, "ssim": 0.18099479484171696, "lpips": 0.6466339826583862}, "tactile_left": {"psnr": 35.638393668833274, "ssim": 0.9513840091452307, "lpips": 0.2546440362930298}, "tactile_right": {"psnr": 32.39441525875095, "ssim": 0.9466269575360455, "lpips": 0.277391254901886}}, {"video": {"psnr": 16.82905403200057, "ssim": 0.6178036022515019, "lpips": 0.3756754696369171}, "wrist_left": {"psnr": 9.781215541769422, "ssim": 0.3510323011017231, "lpips": 0.6039599180221558}, "wrist_right": {"psnr": 9.780897073997455, "ssim": 0.20283338671385268, "lpips": 0.6222982406616211}, "tactile_left": {"psnr": 35.227878620154, "ssim": 0.9509364987718175, "lpips": 0.26144492626190186}, "tactile_right": {"psnr": 34.81697191243271, "ssim": 0.9557810106313844, "lpips": 0.2034505009651184}}, {"video": {"psnr": 17.081923504003015, "ssim": 0.606333574775882, "lpips": 0.3296820819377899}, "wrist_left": {"psnr": 8.835798243598976, "ssim": 0.21825653959074376, "lpips": 0.6170268058776855}, "wrist_right": {"psnr": 10.674827103349575, "ssim": 0.2366823709938804, "lpips": 0.6527694463729858}, "tactile_left": {"psnr": 34.712773268012754, "ssim": 0.9500741168603885, "lpips": 0.27021652460098267}, "tactile_right": {"psnr": 34.84706399067525, "ssim": 0.9532491793215063, "lpips": 0.19424504041671753}}, {"video": {"psnr": 17.314726683270074, "ssim": 0.6031070895792834, "lpips": 0.31447094678878784}, "wrist_left": {"psnr": 8.337388353234909, "ssim": 0.17315202270486207, "lpips": 0.6387621164321899}, "wrist_right": {"psnr": 11.86316291072362, "ssim": 0.23733843557844608, "lpips": 0.6404688954353333}, "tactile_left": {"psnr": 33.53877957975953, "ssim": 0.9463903302114258, "lpips": 0.28117257356643677}, "tactile_right": {"psnr": 34.52820487946437, "ssim": 0.9511473703120652, "lpips": 0.20803692936897278}}], "long_metrics": {"video": {"psnr": 19.364694226580834, "ssim": 0.6727409696798693, "lpips": 0.2352579658230146}, "wrist_left": {"psnr": 10.435418478033444, "ssim": 0.3350404201147044, "lpips": 0.5785130699475606}, "wrist_right": {"psnr": 13.692419584940001, "ssim": 0.41612887382107666, "lpips": 0.44806310832500457}, "tactile_left": {"psnr": 35.825540065433515, "ssim": 0.9563128084331184, "lpips": 0.21389809052149455}, "tactile_right": {"psnr": 38.842985493134265, "ssim": 0.9674529259360132, "lpips": 0.1403704180692633}}}, {"id": "motherboard_custom_e010_09", "episode": "motherboard_0909_episode_002.pt", "requested_episode": "motherboard_0909_episode_002.pt", "category": "onset", "t_start": 1924, "start_seconds": 128.26666666666668, "short_contact": [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 1], "future_transition_ticks": [11], "long_contact_fraction": 0.6796875, "long_label": "onset", "short_metrics": {"video": {"psnr": 28.989146793122863, "ssim": 0.9083622090841741, "lpips": 0.035810887813568115}, "wrist_left": {"psnr": 13.348017934936866, "ssim": 0.3794782652179348, "lpips": 0.41794607043266296}, "wrist_right": {"psnr": 19.221334313799385, "ssim": 0.7030397802369838, "lpips": 0.13507169485092163}, "tactile_left": {"psnr": 34.655286646783544, "ssim": 0.9628387212322633, "lpips": 0.11877758800983429}, "tactile_right": {"psnr": 47.93505847053556, "ssim": 0.9914312813548172, "lpips": 0.016148075461387634}}, "media": {"short": {"video": "media/motherboard_custom_e010_09_short.mp4", "poster": "media/motherboard_custom_e010_09_short.jpg"}, "long": {"video": "media/motherboard_custom_e010_09_long.mp4", "poster": "media/motherboard_custom_e010_09_long.jpg"}}, "force": {"source": "recorded_normal_force", "units": "N", "fps": 15, "left": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.9833333492279053, 2.9424359798431396, 2.9424359798431396, 5.439090728759766, 5.439090728759766, 5.671554088592529, 5.439090728759766, 5.259615421295166, 5.145384788513184, 4.321074485778809, 4.285294055938721, 4.285294055938721, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 1.9833333492279053, 2.0277299880981445, 2.9424359798431396, 5.439090728759766, 6.251071453094482, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 6.251071453094482, 5.439090728759766, 6.251071453094482, 5.605889320373535, 5.259615421295166, 4.3677778244018555, 4.285294055938721, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 4.285294055938721, 4.285294055938721, 2.9424359798431396, 4.3677778244018555, 4.285294055938721, 5.145384788513184, 5.145384788513184, 5.259615421295166, 5.259615421295166, 5.145384788513184, 4.285294055938721, 2.8207693099975586, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 2.9424359798431396, 2.636666774749756, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 4.285294055938721, 4.285294055938721, 2.9424359798431396, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.9833333492279053, 1.9833333492279053, 2.636666774749756, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 4.285294055938721, 3.8638908863067627, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 1.1662499904632568, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "right": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 2.9424359798431396, 5.145384788513184, 6.251071453094482]}, "long_curve": [{"video": {"psnr": 28.989146793122863, "ssim": 0.9083622090841741, "lpips": 0.035810887813568115}, "wrist_left": {"psnr": 13.348017934936866, "ssim": 0.3794782652179348, "lpips": 0.41794607043266296}, "wrist_right": {"psnr": 19.221334313799385, "ssim": 0.7030397802369838, "lpips": 0.13507169485092163}, "tactile_left": {"psnr": 34.655286646783544, "ssim": 0.9628387212322633, "lpips": 0.11877758800983429}, "tactile_right": {"psnr": 47.93505847053556, "ssim": 0.9914312813548172, "lpips": 0.016148075461387634}}, {"video": {"psnr": 24.284449820938285, "ssim": 0.8055849056976192, "lpips": 0.0744706392288208}, "wrist_left": {"psnr": 12.94752573608026, "ssim": 0.31222810966827697, "lpips": 0.44565749168395996}, "wrist_right": {"psnr": 16.463294688228906, "ssim": 0.6123964980001522, "lpips": 0.2273956835269928}, "tactile_left": {"psnr": 30.987778735961975, "ssim": 0.9234988280874779, "lpips": 0.23533941805362701}, "tactile_right": {"psnr": 44.864964145681796, "ssim": 0.9831201539500716, "lpips": 0.04788713529706001}}, {"video": {"psnr": 22.15722765013951, "ssim": 0.7549275249612667, "lpips": 0.1227450966835022}, "wrist_left": {"psnr": 12.767904545246848, "ssim": 0.31266450085933106, "lpips": 0.5368307828903198}, "wrist_right": {"psnr": 14.6254866249453, "ssim": 0.5135648473211978, "lpips": 0.31798213720321655}, "tactile_left": {"psnr": 30.135561316558256, "ssim": 0.9241008460305177, "lpips": 0.27054688334465027}, "tactile_right": {"psnr": 43.35043547548095, "ssim": 0.9790121100000675, "lpips": 0.0662771537899971}}, {"video": {"psnr": 21.65264226915507, "ssim": 0.7478573727595668, "lpips": 0.15052150189876556}, "wrist_left": {"psnr": 10.809725543346731, "ssim": 0.2631791974099298, "lpips": 0.6164096593856812}, "wrist_right": {"psnr": 13.681185619381036, "ssim": 0.44614031989960456, "lpips": 0.3689223825931549}, "tactile_left": {"psnr": 28.794691476396395, "ssim": 0.8918109485272436, "lpips": 0.3531893789768219}, "tactile_right": {"psnr": 41.63076554004945, "ssim": 0.976580011635116, "lpips": 0.0821755975484848}}, {"video": {"psnr": 20.839148803680576, "ssim": 0.7305510187847414, "lpips": 0.18577827513217926}, "wrist_left": {"psnr": 11.025456942768681, "ssim": 0.2517130964181942, "lpips": 0.6261953711509705}, "wrist_right": {"psnr": 12.85943112208179, "ssim": 0.4017049757743577, "lpips": 0.4088188409805298}, "tactile_left": {"psnr": 28.760819699416178, "ssim": 0.8909879257095807, "lpips": 0.41295140981674194}, "tactile_right": {"psnr": 40.79683492207358, "ssim": 0.9730511992626086, "lpips": 0.10415570437908173}}, {"video": {"psnr": 19.894804105284965, "ssim": 0.7060750285294026, "lpips": 0.21237212419509888}, "wrist_left": {"psnr": 10.482117788958119, "ssim": 0.20695832407427364, "lpips": 0.6456100940704346}, "wrist_right": {"psnr": 11.656721686956772, "ssim": 0.3665811215672117, "lpips": 0.4398176074028015}, "tactile_left": {"psnr": 32.236820628020375, "ssim": 0.9260124072247273, "lpips": 0.33234402537345886}, "tactile_right": {"psnr": 39.27021769315449, "ssim": 0.9694202537343902, "lpips": 0.12452790141105652}}, {"video": {"psnr": 19.02027655375411, "ssim": 0.6746314638330675, "lpips": 0.24269899725914001}, "wrist_left": {"psnr": 10.14494078893162, "ssim": 0.20300670161905543, "lpips": 0.6680379509925842}, "wrist_right": {"psnr": 11.412856213011889, "ssim": 0.3554960478298578, "lpips": 0.4581640064716339}, "tactile_left": {"psnr": 33.662210823732735, "ssim": 0.9380135306480339, "lpips": 0.2972297668457031}, "tactile_right": {"psnr": 37.70847962794348, "ssim": 0.9650053288053003, "lpips": 0.13581696152687073}}, {"video": {"psnr": 19.121765792244528, "ssim": 0.6793584569409342, "lpips": 0.25432538986206055}, "wrist_left": {"psnr": 11.791853798409587, "ssim": 0.2717902966899056, "lpips": 0.5711085200309753}, "wrist_right": {"psnr": 11.346743276398712, "ssim": 0.3559086785462025, "lpips": 0.4634854793548584}, "tactile_left": {"psnr": 36.61182485282622, "ssim": 0.9573178300313814, "lpips": 0.23224222660064697}, "tactile_right": {"psnr": 37.825137000882386, "ssim": 0.9633182415051162, "lpips": 0.14813874661922455}}, {"video": {"psnr": 18.918371006780554, "ssim": 0.6672699906737871, "lpips": 0.26140522956848145}, "wrist_left": {"psnr": 11.564047495252996, "ssim": 0.20809589269315668, "lpips": 0.5943822264671326}, "wrist_right": {"psnr": 11.32965997026988, "ssim": 0.3597121951192169, "lpips": 0.4732592701911926}, "tactile_left": {"psnr": 30.40766899487189, "ssim": 0.9223834268191695, "lpips": 0.3272913992404938}, "tactile_right": {"psnr": 37.26341053268051, "ssim": 0.96214120081734, "lpips": 0.1561342477798462}}, {"video": {"psnr": 18.91087665534873, "ssim": 0.6675927805983168, "lpips": 0.25501957535743713}, "wrist_left": {"psnr": 10.315782898429307, "ssim": 0.2655357264724812, "lpips": 0.5901188850402832}, "wrist_right": {"psnr": 11.410658539078103, "ssim": 0.3446105018379628, "lpips": 0.5007369518280029}, "tactile_left": {"psnr": 36.090735318904514, "ssim": 0.9580833836859824, "lpips": 0.2254798710346222}, "tactile_right": {"psnr": 36.31441380209638, "ssim": 0.9613104141695176, "lpips": 0.16611972451210022}}, {"video": {"psnr": 19.13836022292902, "ssim": 0.6675556081305337, "lpips": 0.24556243419647217}, "wrist_left": {"psnr": 11.785600615747109, "ssim": 0.22007218583429994, "lpips": 0.6152334213256836}, "wrist_right": {"psnr": 11.214772117798262, "ssim": 0.32837850564473126, "lpips": 0.5136137008666992}, "tactile_left": {"psnr": 31.26874185712164, "ssim": 0.9191285419928972, "lpips": 0.3138766288757324}, "tactile_right": {"psnr": 35.38746540299757, "ssim": 0.9586663014681573, "lpips": 0.17571766674518585}}, {"video": {"psnr": 19.202557894323846, "ssim": 0.6631324311172133, "lpips": 0.22892947494983673}, "wrist_left": {"psnr": 11.344990972329484, "ssim": 0.23256669667384985, "lpips": 0.6314267516136169}, "wrist_right": {"psnr": 10.72011707413843, "ssim": 0.33546714406620226, "lpips": 0.513969361782074}, "tactile_left": {"psnr": 33.37996670193679, "ssim": 0.9382852812927682, "lpips": 0.29918697476387024}, "tactile_right": {"psnr": 34.75741668357304, "ssim": 0.9560236132558761, "lpips": 0.18894261121749878}}, {"video": {"psnr": 18.832515490980516, "ssim": 0.6476385871585522, "lpips": 0.231681227684021}, "wrist_left": {"psnr": 10.163865699843821, "ssim": 0.23915239904742563, "lpips": 0.6592512130737305}, "wrist_right": {"psnr": 11.485162947653107, "ssim": 0.38911042931880324, "lpips": 0.4705231189727783}, "tactile_left": {"psnr": 33.34879313517819, "ssim": 0.9397823917023629, "lpips": 0.30485400557518005}, "tactile_right": {"psnr": 34.3997479622539, "ssim": 0.9531784614651956, "lpips": 0.20293863117694855}}, {"video": {"psnr": 18.39194494541761, "ssim": 0.6527853933485914, "lpips": 0.25120535492897034}, "wrist_left": {"psnr": 10.077078135257928, "ssim": 0.2321670279322062, "lpips": 0.6281896233558655}, "wrist_right": {"psnr": 11.113015557265518, "ssim": 0.33942306077128126, "lpips": 0.5090466737747192}, "tactile_left": {"psnr": 34.669887538161646, "ssim": 0.9509640875189199, "lpips": 0.25734177231788635}, "tactile_right": {"psnr": 34.08892592432517, "ssim": 0.9513605045512274, "lpips": 0.21475079655647278}}, {"video": {"psnr": 17.969789898977492, "ssim": 0.6467108465336538, "lpips": 0.28050947189331055}, "wrist_left": {"psnr": 11.257316593009607, "ssim": 0.3264219069764198, "lpips": 0.613664984703064}, "wrist_right": {"psnr": 11.687067942438844, "ssim": 0.2374601625133042, "lpips": 0.542090117931366}, "tactile_left": {"psnr": 34.7140080662118, "ssim": 0.9510115568704754, "lpips": 0.25783824920654297}, "tactile_right": {"psnr": 31.148679087657406, "ssim": 0.9335529753360297, "lpips": 0.2764233648777008}}], "long_metrics": {"video": {"psnr": 20.488258526871846, "ssim": 0.7080022412100947, "lpips": 0.20220237871011099}, "wrist_left": {"psnr": 11.321748365903264, "ssim": 0.26166868850578273, "lpips": 0.5906708697477977}, "wrist_right": {"psnr": 12.681833846229729, "ssim": 0.4059329512298047, "lpips": 0.42285980184872946}, "tactile_left": {"psnr": 32.64831971947214, "ssim": 0.9329479804915868, "lpips": 0.28256597320238747}, "tactile_right": {"psnr": 38.44946348475904, "ssim": 0.9651448034207221, "lpips": 0.1404102879265944}}}, {"id": "motherboard_custom_e010_10", "episode": "motherboard_0909_episode_002.pt", "requested_episode": "motherboard_0909_episode_002.pt", "category": "release", "t_start": 1051, "start_seconds": 70.06666666666666, "short_contact": [1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 0, 0], "future_transition_ticks": [11], "long_contact_fraction": 0.703125, "long_label": "release", "short_metrics": {"video": {"psnr": 21.89551218124883, "ssim": 0.7524597199674605, "lpips": 0.10269168019294739}, "wrist_left": {"psnr": 13.868776486238586, "ssim": 0.5318855354066019, "lpips": 0.37590885162353516}, "wrist_right": {"psnr": 13.44588996686807, "ssim": 0.37678518914158565, "lpips": 0.40811991691589355}, "tactile_left": {"psnr": 46.306132834749725, "ssim": 0.9913144227384993, "lpips": 0.010913393460214138}, "tactile_right": {"psnr": 34.87425424816983, "ssim": 0.9762313628181332, "lpips": 0.06375754624605179}}, "media": {"short": {"video": "media/motherboard_custom_e010_10_short.mp4", "poster": "media/motherboard_custom_e010_10_short.jpg"}, "long": {"video": "media/motherboard_custom_e010_10_long.mp4", "poster": "media/motherboard_custom_e010_10_long.jpg"}}, "force": {"source": "recorded_normal_force", "units": "N", "fps": 15, "left": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "right": [5.259615421295166, 5.145384788513184, 4.285294055938721, 4.229005336761475, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.636666774749756, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 2.9424359798431396, 2.9424359798431396, 5.439090728759766, 6.251071453094482, 6.251071453094482, 6.251071453094482, 5.439090728759766, 5.439090728759766, 5.439090728759766, 6.251071453094482, 6.251071453094482, 4.3677778244018555, 1.5254545211791992, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 4.285294055938721, 6.251071453094482, 6.251071453094482, 6.733333110809326, 6.251071453094482, 6.251071453094482, 6.251071453094482, 5.439090728759766, 5.881275653839111, 6.0783467292785645, 5.259615421295166, 5.259615421295166, 5.145384788513184, 5.145384788513184, 5.259615421295166, 4.285294055938721, 1.1662499904632568, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.5254545211791992, 6.251071453094482, 7.293181896209717, 7.3070878982543945, 7.312847137451172, 7.293181896209717, 7.293181896209717, 0.7404214143753052, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4500000476837158, 5.145384788513184, 7.293181896209717, 7.869999885559082, 7.869999885559082, 7.869999885559082, 7.869999885559082, 7.869999885559082, 7.869999885559082, 0.0, 0.0, 1.5254545211791992, 1.1733332872390747, 2.9424359798431396, 4.285294055938721, 7.293181896209717, 7.469607353210449, 7.569608211517334, 7.293181896209717, 7.293181896209717, 7.293181896209717, 6.733333110809326, 5.3493146896362305, 5.439090728759766, 5.439090728759766, 5.439090728759766, 6.251071453094482, 5.439090728759766, 5.145384788513184, 1.1662499904632568, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.5254545211791992, 1.5254545211791992, 1.9833333492279053, 2.9424359798431396, 4.3677778244018555, 5.145384788513184, 5.145384788513184, 4.4391984939575195, 6.251071453094482, 6.251071453094482, 6.733333110809326, 6.251071453094482, 2.9424359798431396]}, "long_curve": [{"video": {"psnr": 21.89551218124883, "ssim": 0.7524597199674605, "lpips": 0.10269168019294739}, "wrist_left": {"psnr": 13.868776486238586, "ssim": 0.5318855354066019, "lpips": 0.37590885162353516}, "wrist_right": {"psnr": 13.44588996686807, "ssim": 0.37678518914158565, "lpips": 0.40811991691589355}, "tactile_left": {"psnr": 46.306132834749725, "ssim": 0.9913144227384993, "lpips": 0.010913393460214138}, "tactile_right": {"psnr": 34.87425424816983, "ssim": 0.9762313628181332, "lpips": 0.06375754624605179}}, {"video": {"psnr": 20.21198198472392, "ssim": 0.7025557632796886, "lpips": 0.14624705910682678}, "wrist_left": {"psnr": 14.097554526257305, "ssim": 0.5333488402242497, "lpips": 0.3703300356864929}, "wrist_right": {"psnr": 12.72526149193056, "ssim": 0.3002101725413434, "lpips": 0.5511599779129028}, "tactile_left": {"psnr": 43.770455474997064, "ssim": 0.9830668457172203, "lpips": 0.042711153626441956}, "tactile_right": {"psnr": 29.760005774636515, "ssim": 0.928299162167528, "lpips": 0.2508052587509155}}, {"video": {"psnr": 19.80108369192522, "ssim": 0.6953386941025468, "lpips": 0.14550688862800598}, "wrist_left": {"psnr": 15.711834889160553, "ssim": 0.6326671342863348, "lpips": 0.31495583057403564}, "wrist_right": {"psnr": 12.615236435265496, "ssim": 0.3022438523381058, "lpips": 0.5579445362091064}, "tactile_left": {"psnr": 42.64327357890846, "ssim": 0.9788188601767717, "lpips": 0.07227374613285065}, "tactile_right": {"psnr": 29.620010973275768, "ssim": 0.9255893375149735, "lpips": 0.25361505150794983}}, {"video": {"psnr": 19.61279526480967, "ssim": 0.6840723298596898, "lpips": 0.15353018045425415}, "wrist_left": {"psnr": 15.223673991983562, "ssim": 0.640440693187251, "lpips": 0.3458840847015381}, "wrist_right": {"psnr": 12.60420631685082, "ssim": 0.2759900667132309, "lpips": 0.5770987272262573}, "tactile_left": {"psnr": 41.29454177190294, "ssim": 0.9744618270109983, "lpips": 0.12181390821933746}, "tactile_right": {"psnr": 33.4611499102074, "ssim": 0.9524202126221888, "lpips": 0.16584289073944092}}, {"video": {"psnr": 19.932351765788358, "ssim": 0.6882394752599412, "lpips": 0.14852070808410645}, "wrist_left": {"psnr": 14.901598845528829, "ssim": 0.6182011463320618, "lpips": 0.3594028651714325}, "wrist_right": {"psnr": 11.518956416820176, "ssim": 0.20640431495303752, "lpips": 0.6132778525352478}, "tactile_left": {"psnr": 40.481438305659466, "ssim": 0.9705569180427818, "lpips": 0.16424359381198883}, "tactile_right": {"psnr": 27.819158958900168, "ssim": 0.9211954708230485, "lpips": 0.2947583794593811}}, {"video": {"psnr": 19.666608879377907, "ssim": 0.6865860768488545, "lpips": 0.17051169276237488}, "wrist_left": {"psnr": 15.062391765653667, "ssim": 0.6619627407060082, "lpips": 0.3219846487045288}, "wrist_right": {"psnr": 11.252001754658432, "ssim": 0.19659492556208144, "lpips": 0.655075192451477}, "tactile_left": {"psnr": 39.08830851193277, "ssim": 0.9671332226502463, "lpips": 0.18980363011360168}, "tactile_right": {"psnr": 29.642510501195403, "ssim": 0.9417640446476573, "lpips": 0.2316352128982544}}, {"video": {"psnr": 19.458717879388512, "ssim": 0.6746058388012575, "lpips": 0.18162694573402405}, "wrist_left": {"psnr": 14.52492522398164, "ssim": 0.6544210850039247, "lpips": 0.3473176658153534}, "wrist_right": {"psnr": 10.963326769941421, "ssim": 0.2099475816015507, "lpips": 0.5757640600204468}, "tactile_left": {"psnr": 38.56881923864916, "ssim": 0.9649431246724276, "lpips": 0.19966356456279755}, "tactile_right": {"psnr": 36.54745147687538, "ssim": 0.9624271210834123, "lpips": 0.12252046167850494}}, {"video": {"psnr": 19.6072813511938, "ssim": 0.6732618455730026, "lpips": 0.1777544915676117}, "wrist_left": {"psnr": 14.23203876863321, "ssim": 0.6458183996162523, "lpips": 0.359602153301239}, "wrist_right": {"psnr": 11.963319849553216, "ssim": 0.20038585530460562, "lpips": 0.5934245586395264}, "tactile_left": {"psnr": 37.85653255393444, "ssim": 0.9622315660148953, "lpips": 0.21125051379203796}, "tactile_right": {"psnr": 28.727456977679672, "ssim": 0.9268542815168219, "lpips": 0.2519800066947937}}, {"video": {"psnr": 19.235409549828468, "ssim": 0.6788738263465715, "lpips": 0.20761290192604065}, "wrist_left": {"psnr": 13.661698899462259, "ssim": 0.6105731502494935, "lpips": 0.38747191429138184}, "wrist_right": {"psnr": 11.86533150251334, "ssim": 0.22976072176320758, "lpips": 0.5923452377319336}, "tactile_left": {"psnr": 37.136487380442816, "ssim": 0.9595275729983556, "lpips": 0.22114822268486023}, "tactile_right": {"psnr": 34.302373961095185, "ssim": 0.9566633668066715, "lpips": 0.17035049200057983}}, {"video": {"psnr": 17.74613278074615, "ssim": 0.6515465376332179, "lpips": 0.28240710496902466}, "wrist_left": {"psnr": 12.508748472798894, "ssim": 0.5872776723104582, "lpips": 0.41839104890823364}, "wrist_right": {"psnr": 11.851952545124306, "ssim": 0.17906849769943123, "lpips": 0.5984495878219604}, "tactile_left": {"psnr": 36.733128600752224, "ssim": 0.9567789623576279, "lpips": 0.2326338291168213}, "tactile_right": {"psnr": 27.453866555277667, "ssim": 0.9223631848341916, "lpips": 0.31503531336784363}}, {"video": {"psnr": 16.921374414627973, "ssim": 0.6363657286327271, "lpips": 0.34528249502182007}, "wrist_left": {"psnr": 11.902398238153244, "ssim": 0.5475173244409554, "lpips": 0.4587421417236328}, "wrist_right": {"psnr": 12.348802510792176, "ssim": 0.20366458074411214, "lpips": 0.6497365236282349}, "tactile_left": {"psnr": 36.21234159414025, "ssim": 0.9541297393047661, "lpips": 0.2440551072359085}, "tactile_right": {"psnr": 29.43407141864384, "ssim": 0.9412041458288349, "lpips": 0.22445185482501984}}, {"video": {"psnr": 17.04223337086678, "ssim": 0.6334612166141735, "lpips": 0.3290407061576843}, "wrist_left": {"psnr": 11.867677483154221, "ssim": 0.5138179550630336, "lpips": 0.4786868095397949}, "wrist_right": {"psnr": 10.98002398685936, "ssim": 0.183175833223808, "lpips": 0.6829060316085815}, "tactile_left": {"psnr": 35.741335061070444, "ssim": 0.9515061341436568, "lpips": 0.2555662989616394}, "tactile_right": {"psnr": 27.749070996773625, "ssim": 0.9305010365131268, "lpips": 0.2637687623500824}}, {"video": {"psnr": 16.54379032093771, "ssim": 0.6239236684438665, "lpips": 0.37890905141830444}, "wrist_left": {"psnr": 11.972195031567374, "ssim": 0.456010508279842, "lpips": 0.513995885848999}, "wrist_right": {"psnr": 10.314449975369735, "ssim": 0.22120822170312243, "lpips": 0.6321722865104675}, "tactile_left": {"psnr": 35.17938493461823, "ssim": 0.9492784361122719, "lpips": 0.2667224407196045}, "tactile_right": {"psnr": 31.111731490161322, "ssim": 0.9475469831032128, "lpips": 0.19215412437915802}}, {"video": {"psnr": 16.025432359070983, "ssim": 0.613326384377074, "lpips": 0.39091187715530396}, "wrist_left": {"psnr": 12.1029290150572, "ssim": 0.43703097201216995, "lpips": 0.5319259166717529}, "wrist_right": {"psnr": 11.203315363139453, "ssim": 0.16795594665013908, "lpips": 0.572319507598877}, "tactile_left": {"psnr": 34.64218101813875, "ssim": 0.9466975657452543, "lpips": 0.2801761031150818}, "tactile_right": {"psnr": 31.736640553175533, "ssim": 0.9485944137659692, "lpips": 0.19121041893959045}}, {"video": {"psnr": 15.996306628396148, "ssim": 0.6203800333035336, "lpips": 0.408902108669281}, "wrist_left": {"psnr": 10.291499537066963, "ssim": 0.3786157741148884, "lpips": 0.5793810486793518}, "wrist_right": {"psnr": 11.373279742679365, "ssim": 0.18646553130656288, "lpips": 0.6037036180496216}, "tactile_left": {"psnr": 34.1324560173322, "ssim": 0.9448676103917892, "lpips": 0.28987938165664673}, "tactile_right": {"psnr": 28.66621885140946, "ssim": 0.927835891022653, "lpips": 0.2718096375465393}}], "long_metrics": {"video": {"psnr": 18.646467494862026, "ssim": 0.6676664759362404, "lpips": 0.23796372612317404}, "wrist_left": {"psnr": 13.461996078313168, "ssim": 0.5633059287489017, "lpips": 0.4109320600827535}, "wrist_right": {"psnr": 11.80169030855773, "ssim": 0.22932408608306162, "lpips": 0.5908998409907024}, "tactile_left": {"psnr": 38.65245445848193, "ssim": 0.9636875205385041, "lpips": 0.18685699248065551}, "tactile_right": {"psnr": 30.727064843165117, "ssim": 0.9406326676712282, "lpips": 0.2175796940922737}}}, {"id": "motherboard_custom_e010_11", "episode": "motherboard_0909_episode_002.pt", "requested_episode": "motherboard_0909_episode_002.pt", "category": "full", "t_start": 1788, "start_seconds": 119.2, "short_contact": [1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1], "future_transition_ticks": [], "long_contact_fraction": 0.9609375, "long_label": "full", "short_metrics": {"video": {"psnr": 26.62402044751633, "ssim": 0.8755269486250428, "lpips": 0.04924406856298447}, "wrist_left": {"psnr": 11.802741385693903, "ssim": 0.3619329369063373, "lpips": 0.37491220235824585}, "wrist_right": {"psnr": 21.980811536980344, "ssim": 0.8432290372370199, "lpips": 0.048647813498973846}, "tactile_left": {"psnr": 45.859198724187635, "ssim": 0.9887853947527191, "lpips": 0.01550733670592308}, "tactile_right": {"psnr": 44.014659118616194, "ssim": 0.9840536936692357, "lpips": 0.01665268838405609}}, "media": {"short": {"video": "media/motherboard_custom_e010_11_short.mp4", "poster": "media/motherboard_custom_e010_11_short.jpg"}, "long": {"video": "media/motherboard_custom_e010_11_long.mp4", "poster": "media/motherboard_custom_e010_11_long.jpg"}}, "force": {"source": "recorded_normal_force", "units": "N", "fps": 15, "left": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 2.9424359798431396, 5.439090728759766, 6.733333110809326, 7.293181896209717, 7.293181896209717, 7.299813270568848, 7.3037261962890625, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 6.733333110809326, 6.733333110809326, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 6.733333110809326, 5.439090728759766, 4.285294055938721, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 4.285294055938721, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.8207693099975586, 2.861105442047119, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "right": [1.1733332872390747, 1.5254545211791992, 1.5254545211791992, 1.5254545211791992, 1.5254545211791992, 1.5254545211791992, 1.5254545211791992, 1.5254545211791992, 1.5254545211791992, 1.5254545211791992, 1.5254545211791992, 1.5254545211791992, 1.5254545211791992, 1.9331133365631104, 1.9833333492279053, 2.636666774749756, 2.8207693099975586, 2.8207693099975586, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 4.285294055938721, 4.285294055938721, 4.285294055938721, 4.285294055938721, 4.285294055938721, 4.285294055938721, 4.285294055938721, 4.285294055938721, 5.145384788513184, 5.259615421295166, 5.145384788513184, 5.145384788513184, 5.145384788513184, 4.3677778244018555, 5.971224308013916, 5.484982967376709, 5.702359199523926, 5.145384788513184, 5.145384788513184, 5.145384788513184, 6.251071453094482, 6.251071453094482, 6.251071453094482, 6.251071453094482, 6.251071453094482, 6.251071453094482, 6.251071453094482, 6.251071453094482, 6.251071453094482, 6.251071453094482, 5.439090728759766, 4.3677778244018555, 4.285294055938721, 2.9424359798431396, 2.8207693099975586, 1.1733332872390747, 1.1662499904632568, 1.1662499904632568, 1.1662499904632568, 1.1662499904632568, 1.1662499904632568, 1.1662499904632568, 1.1662499904632568, 1.2584279775619507, 1.5254545211791992, 1.9178065061569214, 1.9830996990203857, 1.8448008298873901, 1.5254545211791992, 1.445785403251648, 1.1733332872390747, 1.1662499904632568, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 2.8207693099975586, 4.285294055938721, 5.259615421295166, 6.251071453094482, 7.293181896209717, 7.293181896209717, 7.30930757522583, 7.30930757522583, 7.869999885559082, 7.869999885559082, 7.869999885559082, 7.823916435241699, 7.602156639099121, 7.494094371795654, 7.307358264923096, 7.307871341705322, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 6.251071453094482, 5.439090728759766, 2.9424359798431396, 2.9424359798431396, 2.9424359798431396, 2.8207693099975586, 2.636666774749756, 1.9833333492279053, 2.9424359798431396, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 7.293181896209717, 6.733333110809326, 6.251071453094482, 2.9424359798431396, 1.5254545211791992, 1.1662499904632568, 1.1662499904632568]}, "long_curve": [{"video": {"psnr": 26.62402044751633, "ssim": 0.8755269486250428, "lpips": 0.04924406856298447}, "wrist_left": {"psnr": 11.802741385693903, "ssim": 0.3619329369063373, "lpips": 0.37491220235824585}, "wrist_right": {"psnr": 21.980811536980344, "ssim": 0.8432290372370199, "lpips": 0.048647813498973846}, "tactile_left": {"psnr": 45.859198724187635, "ssim": 0.9887853947527191, "lpips": 0.01550733670592308}, "tactile_right": {"psnr": 44.014659118616194, "ssim": 0.9840536936692357, "lpips": 0.01665268838405609}}, {"video": {"psnr": 24.66409626111927, "ssim": 0.8033053550209033, "lpips": 0.0723666325211525}, "wrist_left": {"psnr": 11.950538628969468, "ssim": 0.2569976054187074, "lpips": 0.488888680934906}, "wrist_right": {"psnr": 17.079549124702694, "ssim": 0.6026384808617783, "lpips": 0.14045871794223785}, "tactile_left": {"psnr": 31.18739963540428, "ssim": 0.9315002150391114, "lpips": 0.2742577791213989}, "tactile_right": {"psnr": 32.80674907165027, "ssim": 0.9437449335132724, "lpips": 0.14651212096214294}}, {"video": {"psnr": 23.906338807015995, "ssim": 0.7768722642591825, "lpips": 0.09087054431438446}, "wrist_left": {"psnr": 11.71945083941323, "ssim": 0.2509487663478658, "lpips": 0.4985484480857849}, "wrist_right": {"psnr": 13.366739766354208, "ssim": 0.41939523037055526, "lpips": 0.3180466294288635}, "tactile_left": {"psnr": 29.957045607261357, "ssim": 0.9083724070139331, "lpips": 0.3289572596549988}, "tactile_right": {"psnr": 30.29130271996138, "ssim": 0.9338495394274072, "lpips": 0.23017366230487823}}, {"video": {"psnr": 22.134873862078837, "ssim": 0.7218282944120022, "lpips": 0.12617284059524536}, "wrist_left": {"psnr": 11.207501789577472, "ssim": 0.2287222411182347, "lpips": 0.5135626792907715}, "wrist_right": {"psnr": 11.382971899007018, "ssim": 0.2967085985059277, "lpips": 0.48554709553718567}, "tactile_left": {"psnr": 30.60379257497555, "ssim": 0.9161985045059043, "lpips": 0.32859745621681213}, "tactile_right": {"psnr": 30.45829157568333, "ssim": 0.9367024235211434, "lpips": 0.21081671118736267}}, {"video": {"psnr": 21.453483890672835, "ssim": 0.700212042974201, "lpips": 0.14396034181118011}, "wrist_left": {"psnr": 11.242346457672689, "ssim": 0.2295048007209049, "lpips": 0.5140302181243896}, "wrist_right": {"psnr": 11.283243338563548, "ssim": 0.2691223682354054, "lpips": 0.5100817680358887}, "tactile_left": {"psnr": 29.755499359586317, "ssim": 0.9064345524313553, "lpips": 0.3684602975845337}, "tactile_right": {"psnr": 30.64176484372995, "ssim": 0.9347031655823875, "lpips": 0.2073848396539688}}, {"video": {"psnr": 21.267373933530926, "ssim": 0.6961340027793755, "lpips": 0.1513022780418396}, "wrist_left": {"psnr": 11.646394646955269, "ssim": 0.24865438082975302, "lpips": 0.4978595972061157}, "wrist_right": {"psnr": 10.726529427267428, "ssim": 0.2635133410241741, "lpips": 0.545546293258667}, "tactile_left": {"psnr": 31.856357438346137, "ssim": 0.9279859049605778, "lpips": 0.31690847873687744}, "tactile_right": {"psnr": 31.79124678087544, "ssim": 0.9439193707511018, "lpips": 0.2060554027557373}}, {"video": {"psnr": 20.945663736175845, "ssim": 0.6913895362906821, "lpips": 0.16039444506168365}, "wrist_left": {"psnr": 11.554713324288635, "ssim": 0.24214721548500356, "lpips": 0.5207566618919373}, "wrist_right": {"psnr": 9.707207150545456, "ssim": 0.23728066494152042, "lpips": 0.5876379609107971}, "tactile_left": {"psnr": 35.55036799855431, "ssim": 0.9472986494734671, "lpips": 0.2701473832130432}, "tactile_right": {"psnr": 34.85654695754958, "ssim": 0.9548301812773395, "lpips": 0.16987213492393494}}, {"video": {"psnr": 20.48991697937778, "ssim": 0.6732389481786596, "lpips": 0.18908880650997162}, "wrist_left": {"psnr": 11.049120393766852, "ssim": 0.23095379657231552, "lpips": 0.554976224899292}, "wrist_right": {"psnr": 10.138762641404497, "ssim": 0.245031346974053, "lpips": 0.5692347288131714}, "tactile_left": {"psnr": 34.430493856330116, "ssim": 0.9416908662044383, "lpips": 0.2827689051628113}, "tactile_right": {"psnr": 34.914838538770546, "ssim": 0.9522485949013315, "lpips": 0.19208943843841553}}, {"video": {"psnr": 19.849557687311908, "ssim": 0.6496918196655364, "lpips": 0.2125815600156784}, "wrist_left": {"psnr": 10.897552246719961, "ssim": 0.22788161714496746, "lpips": 0.547499418258667}, "wrist_right": {"psnr": 9.641244363754621, "ssim": 0.2451794162076157, "lpips": 0.6031345129013062}, "tactile_left": {"psnr": 33.12940179515942, "ssim": 0.9374709587382177, "lpips": 0.3165695071220398}, "tactile_right": {"psnr": 35.61595267711749, "ssim": 0.9576531403507813, "lpips": 0.1572507917881012}}, {"video": {"psnr": 19.829301367920426, "ssim": 0.6517409413669324, "lpips": 0.20821645855903625}, "wrist_left": {"psnr": 10.556454430751991, "ssim": 0.27619712214584663, "lpips": 0.5510334968566895}, "wrist_right": {"psnr": 9.917531794011976, "ssim": 0.23307552548558286, "lpips": 0.6069393157958984}, "tactile_left": {"psnr": 35.87964012721745, "ssim": 0.9526997048727395, "lpips": 0.25245630741119385}, "tactile_right": {"psnr": 35.23896441918514, "ssim": 0.9559132999733002, "lpips": 0.17004257440567017}}, {"video": {"psnr": 19.342149637902224, "ssim": 0.6521642642416063, "lpips": 0.22609224915504456}, "wrist_left": {"psnr": 11.729221896481315, "ssim": 0.40992593779904873, "lpips": 0.5117790102958679}, "wrist_right": {"psnr": 10.134144121859002, "ssim": 0.19982390961696828, "lpips": 0.6381016969680786}, "tactile_left": {"psnr": 36.43668147470597, "ssim": 0.9549265564129183, "lpips": 0.23589608073234558}, "tactile_right": {"psnr": 28.53055277276819, "ssim": 0.9269916822660298, "lpips": 0.32580798864364624}}, {"video": {"psnr": 19.060011447729536, "ssim": 0.6454554869936812, "lpips": 0.23466196656227112}, "wrist_left": {"psnr": 11.713899294504667, "ssim": 0.323790148502641, "lpips": 0.552066445350647}, "wrist_right": {"psnr": 10.14351476752358, "ssim": 0.19697793325715018, "lpips": 0.646273136138916}, "tactile_left": {"psnr": 36.13874780221905, "ssim": 0.9523662774836289, "lpips": 0.2471947968006134}, "tactile_right": {"psnr": 26.843891320769174, "ssim": 0.9138940913100672, "lpips": 0.3612685203552246}}, {"video": {"psnr": 19.06681884959572, "ssim": 0.6507899155224185, "lpips": 0.23599517345428467}, "wrist_left": {"psnr": 11.648856600144278, "ssim": 0.31252678167711534, "lpips": 0.5338893532752991}, "wrist_right": {"psnr": 10.217691799884218, "ssim": 0.21985971042603483, "lpips": 0.6254012584686279}, "tactile_left": {"psnr": 35.77904102683035, "ssim": 0.9503862963425869, "lpips": 0.2582159638404846}, "tactile_right": {"psnr": 28.701438312831, "ssim": 0.9301261615358437, "lpips": 0.32870498299598694}}, {"video": {"psnr": 18.8821936326069, "ssim": 0.6466872288165789, "lpips": 0.23304027318954468}, "wrist_left": {"psnr": 11.68563815229441, "ssim": 0.3331366069704183, "lpips": 0.5378060340881348}, "wrist_right": {"psnr": 10.362499882562819, "ssim": 0.21250711676692696, "lpips": 0.6384727954864502}, "tactile_left": {"psnr": 35.36824065573902, "ssim": 0.9477839360615744, "lpips": 0.2724981904029846}, "tactile_right": {"psnr": 29.606172285341067, "ssim": 0.9356184792390505, "lpips": 0.3139888644218445}}, {"video": {"psnr": 18.93840980583491, "ssim": 0.641496703680627, "lpips": 0.22635959088802338}, "wrist_left": {"psnr": 10.635269905530127, "ssim": 0.3186887625698346, "lpips": 0.5425551533699036}, "wrist_right": {"psnr": 10.279142460649043, "ssim": 0.1936976853677274, "lpips": 0.6581547260284424}, "tactile_left": {"psnr": 34.824854409429236, "ssim": 0.9466527614436139, "lpips": 0.27532756328582764}, "tactile_right": {"psnr": 30.49836709756635, "ssim": 0.9383972004862156, "lpips": 0.285398006439209}}], "long_metrics": {"video": {"psnr": 21.096947356425964, "ssim": 0.6984355835218287, "lpips": 0.17068981528282165}, "wrist_left": {"psnr": 11.402646666184285, "ssim": 0.28346724801393297, "lpips": 0.5160109082857768}, "wrist_right": {"psnr": 11.75743893833803, "ssim": 0.3118693576852294, "lpips": 0.5081118966142336}, "tactile_left": {"psnr": 34.45045083239641, "ssim": 0.9407035323824524, "lpips": 0.26958422039945923}, "tactile_right": {"psnr": 32.32071589949434, "ssim": 0.9428430638536338, "lpips": 0.22146791517734526}}}, {"id": "motherboard_custom_e010_12", "episode": "motherboard_0911_episode_008_seg00.pt", "requested_episode": "motherboard_0911_episode_008_seg00.pt", "category": "none", "t_start": 913, "start_seconds": 60.86666666666667, "short_contact": [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0], "future_transition_ticks": [], "long_contact_fraction": 0.2734375, "long_label": "none_at_start", "short_metrics": {"video": {"psnr": 27.1901120107611, "ssim": 0.8978377838905895, "lpips": 0.03918498009443283}, "wrist_left": {"psnr": 19.685118450346177, "ssim": 0.7139401254946638, "lpips": 0.1406179964542389}, "wrist_right": {"psnr": 15.34088864695553, "ssim": 0.38666222244397214, "lpips": 0.339255690574646}, "tactile_left": {"psnr": 51.551230500985874, "ssim": 0.9950029198990604, "lpips": 0.0031380155123770237}, "tactile_right": {"psnr": 51.184364961200245, "ssim": 0.9949611031801766, "lpips": 0.0032248436473309994}}, "media": {"short": {"video": "media/motherboard_custom_e010_12_short.mp4", "poster": "media/motherboard_custom_e010_12_short.jpg"}, "long": {"video": "media/motherboard_custom_e010_12_long.mp4", "poster": "media/motherboard_custom_e010_12_long.jpg"}}, "force": {"source": "recorded_normal_force", "units": "N", "fps": 15, "left": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "right": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.6395905017852783, 0.529942512512207, 0.529942512512207, 0.2907944917678833, 0.5600000023841858, 0.1599999964237213, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0812060683965683, 0.0024630518164485693, 0.0, 1.3589457273483276, 0.0, 0.0, 0.0, 0.5390956997871399, 0.3198980987071991, 0.5392528176307678, 0.0, 0.0, 0.0, 0.0, 1.187829852104187, 0.0, 1.294777274131775, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.8550904393196106, 0.0, 0.7983333468437195, 0.7983333468437195, 2.243333339691162, 1.284462809562683, 0.0, 2.3248276710510254, 0.27564528584480286, 0.4399999976158142, 0.49203309416770935, 0.7983333468437195, 1.9444444179534912, 0.5351153016090393, 0.4000000059604645, 0.4866666793823242, 0.4399999976158142, 0.1599999964237213, 0.0, 0.0, 0.0, 0.0, 0.0, 2.3248276710510254, 1.277543306350708, 0.0, 0.0, 3.0568182468414307, 2.0719287395477295, 0.0, 0.0, 2.563887119293213, 0.0, 0.0, 0.0, 0.7983333468437195, 1.9444444179534912, 0.7983333468437195, 0.1599999964237213, 0.5624003410339355, 0.7983333468437195, 0.0, 0.0, 0.0, 0.0, 0.0, 0.1599999964237213, 0.1599999964237213, 0.1599999964237213, 1.9444444179534912, 0.5600000023841858, 1.9444444179534912, 0.4000000059604645, 0.1599999964237213, 3.0568182468414307, 0.0, 2.898989200592041, 0.7983333468437195, 0.3728911876678467, 0.27666667103767395, 0.2400962859392166, 0.16988153755664825, 0.1599999964237213, 0.1599999964237213, 0.0, 0.0, 0.0, 0.0, 0.11106123775243759, 0.49718019366264343, 0.7983333468437195]}, "long_curve": [{"video": {"psnr": 27.1901120107611, "ssim": 0.8978377838905895, "lpips": 0.03918498009443283}, "wrist_left": {"psnr": 19.685118450346177, "ssim": 0.7139401254946638, "lpips": 0.1406179964542389}, "wrist_right": {"psnr": 15.34088864695553, "ssim": 0.38666222244397214, "lpips": 0.339255690574646}, "tactile_left": {"psnr": 51.551230500985874, "ssim": 0.9950029198990604, "lpips": 0.0031380155123770237}, "tactile_right": {"psnr": 51.184364961200245, "ssim": 0.9949611031801766, "lpips": 0.0032248436473309994}}, {"video": {"psnr": 25.21310304685545, "ssim": 0.8562747889713378, "lpips": 0.055063068866729736}, "wrist_left": {"psnr": 17.32750411753497, "ssim": 0.6629904897677696, "lpips": 0.18578428030014038}, "wrist_right": {"psnr": 14.638228802035758, "ssim": 0.3105821776558743, "lpips": 0.43124672770500183}, "tactile_left": {"psnr": 46.992215935572794, "ssim": 0.992069723839138, "lpips": 0.010087513364851475}, "tactile_right": {"psnr": 42.66340560090001, "ssim": 0.9836254931713668, "lpips": 0.04775442183017731}}, {"video": {"psnr": 24.472404111498026, "ssim": 0.839667221878346, "lpips": 0.06517457962036133}, "wrist_left": {"psnr": 16.765247160452937, "ssim": 0.6532001941148278, "lpips": 0.1992945373058319}, "wrist_right": {"psnr": 14.424079013610715, "ssim": 0.29987761074584757, "lpips": 0.44259950518608093}, "tactile_left": {"psnr": 43.600808157007584, "ssim": 0.9888698423592525, "lpips": 0.023800935596227646}, "tactile_right": {"psnr": 39.39015106667646, "ssim": 0.9772146718915726, "lpips": 0.057065725326538086}}, {"video": {"psnr": 23.84626703885989, "ssim": 0.8245527105682764, "lpips": 0.07178616523742676}, "wrist_left": {"psnr": 16.516104049744122, "ssim": 0.6421039799595099, "lpips": 0.2077067792415619}, "wrist_right": {"psnr": 14.042534861776765, "ssim": 0.2896849921403648, "lpips": 0.46649909019470215}, "tactile_left": {"psnr": 41.73356326502035, "ssim": 0.9856621773831344, "lpips": 0.038642026484012604}, "tactile_right": {"psnr": 38.55007987551803, "ssim": 0.9807870121972847, "lpips": 0.034580543637275696}}, {"video": {"psnr": 23.860781236347087, "ssim": 0.8216678488657481, "lpips": 0.07437845319509506}, "wrist_left": {"psnr": 16.078057786769875, "ssim": 0.6351568024710986, "lpips": 0.2294234335422516}, "wrist_right": {"psnr": 15.275507628730098, "ssim": 0.34347682999789053, "lpips": 0.46698981523513794}, "tactile_left": {"psnr": 39.94320023913711, "ssim": 0.9831469332240801, "lpips": 0.05615851655602455}, "tactile_right": {"psnr": 37.595194010722814, "ssim": 0.9795230513339555, "lpips": 0.047421880066394806}}, {"video": {"psnr": 23.228878500207518, "ssim": 0.8010160295097835, "lpips": 0.08215345442295074}, "wrist_left": {"psnr": 15.547586794412718, "ssim": 0.6223989631684509, "lpips": 0.2612673044204712}, "wrist_right": {"psnr": 14.69465364005465, "ssim": 0.33251229408036975, "lpips": 0.4658975303173065}, "tactile_left": {"psnr": 38.03239458286433, "ssim": 0.9801593741119382, "lpips": 0.07550518214702606}, "tactile_right": {"psnr": 37.116039388071165, "ssim": 0.9792859117386131, "lpips": 0.05139825865626335}}, {"video": {"psnr": 22.122404687497614, "ssim": 0.7678606217643156, "lpips": 0.1048811823129654}, "wrist_left": {"psnr": 14.959463666924893, "ssim": 0.5983142945056386, "lpips": 0.28597161173820496}, "wrist_right": {"psnr": 13.999394893898259, "ssim": 0.30167473780709164, "lpips": 0.46610474586486816}, "tactile_left": {"psnr": 36.96572396082091, "ssim": 0.9771320163817852, "lpips": 0.09488417208194733}, "tactile_right": {"psnr": 36.331217558118986, "ssim": 0.9787852283947356, "lpips": 0.05876985937356949}}, {"video": {"psnr": 22.409360799726535, "ssim": 0.7644097339724851, "lpips": 0.10852056741714478}, "wrist_left": {"psnr": 15.065901056097372, "ssim": 0.6071898374263227, "lpips": 0.27544888854026794}, "wrist_right": {"psnr": 14.195731039822206, "ssim": 0.34341920721060587, "lpips": 0.45883673429489136}, "tactile_left": {"psnr": 35.860238393253766, "ssim": 0.9739108463667093, "lpips": 0.117664635181427}, "tactile_right": {"psnr": 35.3526219011727, "ssim": 0.9756110024253839, "lpips": 0.09731714427471161}}, {"video": {"psnr": 22.147529557767843, "ssim": 0.7461171335278074, "lpips": 0.12146204710006714}, "wrist_left": {"psnr": 15.695849678877558, "ssim": 0.6282962798258724, "lpips": 0.2568783164024353}, "wrist_right": {"psnr": 15.401945946981982, "ssim": 0.3641465094417592, "lpips": 0.4517955780029297}, "tactile_left": {"psnr": 34.93354657881635, "ssim": 0.9712316772584941, "lpips": 0.1362810879945755}, "tactile_right": {"psnr": 34.494325995997045, "ssim": 0.9750710853894702, "lpips": 0.09538502991199493}}, {"video": {"psnr": 21.47622879096927, "ssim": 0.7282070120308948, "lpips": 0.13151268661022186}, "wrist_left": {"psnr": 15.17471304752737, "ssim": 0.6112925703738661, "lpips": 0.28256863355636597}, "wrist_right": {"psnr": 14.868081678073956, "ssim": 0.303902923133684, "lpips": 0.4893280267715454}, "tactile_left": {"psnr": 33.97439811052819, "ssim": 0.967427727283273, "lpips": 0.1536712944507599}, "tactile_right": {"psnr": 32.90911056080935, "ssim": 0.9677361402593503, "lpips": 0.12032648175954819}}, {"video": {"psnr": 20.818714748946302, "ssim": 0.7083765609393888, "lpips": 0.15278244018554688}, "wrist_left": {"psnr": 14.948337505090898, "ssim": 0.5990157168661819, "lpips": 0.28906121850013733}, "wrist_right": {"psnr": 14.591434149442946, "ssim": 0.29712446027369366, "lpips": 0.5060775876045227}, "tactile_left": {"psnr": 33.60628283465126, "ssim": 0.964419072739743, "lpips": 0.16657792031764984}, "tactile_right": {"psnr": 31.193722911554925, "ssim": 0.9619098056519946, "lpips": 0.15728983283042908}}, {"video": {"psnr": 21.337797653367513, "ssim": 0.7226257317187657, "lpips": 0.13228613138198853}, "wrist_left": {"psnr": 14.479952053511546, "ssim": 0.5760188125676822, "lpips": 0.3089889883995056}, "wrist_right": {"psnr": 14.536934865260436, "ssim": 0.34917819662185984, "lpips": 0.47385114431381226}, "tactile_left": {"psnr": 33.31434812827983, "ssim": 0.9619636113278224, "lpips": 0.1832827925682068}, "tactile_right": {"psnr": 31.079706030848833, "ssim": 0.9643925794022974, "lpips": 0.13051900267601013}}, {"video": {"psnr": 21.245857153421337, "ssim": 0.7206827026652722, "lpips": 0.13854552805423737}, "wrist_left": {"psnr": 13.180595311118601, "ssim": 0.5312803768442285, "lpips": 0.3653474450111389}, "wrist_right": {"psnr": 15.020736183152987, "ssim": 0.4214610883533193, "lpips": 0.46262186765670776}, "tactile_left": {"psnr": 32.8599094328797, "ssim": 0.9590030359924526, "lpips": 0.1980636566877365}, "tactile_right": {"psnr": 31.350436000054817, "ssim": 0.9682102190044093, "lpips": 0.09981560707092285}}, {"video": {"psnr": 21.19540239122727, "ssim": 0.7204211074056381, "lpips": 0.13780605792999268}, "wrist_left": {"psnr": 12.907597476075459, "ssim": 0.5130044055921696, "lpips": 0.38976311683654785}, "wrist_right": {"psnr": 14.83889583448494, "ssim": 0.3615026115222002, "lpips": 0.43822938203811646}, "tactile_left": {"psnr": 32.50354957115805, "ssim": 0.955958447200216, "lpips": 0.21085183322429657}, "tactile_right": {"psnr": 31.042039791037126, "ssim": 0.9663630902622015, "lpips": 0.11845476180315018}}, {"video": {"psnr": 21.04016770330487, "ssim": 0.7098095515163317, "lpips": 0.14868146181106567}, "wrist_left": {"psnr": 12.984371400620681, "ssim": 0.5053236534932628, "lpips": 0.38632601499557495}, "wrist_right": {"psnr": 12.828833208081091, "ssim": 0.32759213464081605, "lpips": 0.47579285502433777}, "tactile_left": {"psnr": 32.056252149345944, "ssim": 0.9534603517889547, "lpips": 0.22151371836662292}, "tactile_right": {"psnr": 30.4419906159775, "ssim": 0.963191093402674, "lpips": 0.1358029842376709}}], "long_metrics": {"video": {"psnr": 22.77366729538384, "ssim": 0.7753017692816654, "lpips": 0.10428125361601512}, "wrist_left": {"psnr": 15.421093303673679, "ssim": 0.6066351001647697, "lpips": 0.2709632376829783}, "wrist_right": {"psnr": 14.579858692824155, "ssim": 0.3355198664046233, "lpips": 0.45567508538564044}, "tactile_left": {"psnr": 37.86184412268813, "ssim": 0.9739611838104036, "lpips": 0.11267488670224944}, "tactile_right": {"psnr": 36.046293751244, "ssim": 0.9744444991803658, "lpips": 0.08367509180679918}}}, {"id": "motherboard_custom_e010_13", "episode": "motherboard_0911_episode_008_seg00.pt", "requested_episode": "motherboard_0911_episode_008_seg00.pt", "category": "onset", "t_start": 726, "start_seconds": 48.4, "short_contact": [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 1], "future_transition_ticks": [11], "long_contact_fraction": 0.515625, "long_label": "onset", "short_metrics": {"video": {"psnr": 32.10031471875317, "ssim": 0.9437582793186834, "lpips": 0.017457539215683937}, "wrist_left": {"psnr": 15.18732303346069, "ssim": 0.2915161863016248, "lpips": 0.2627047300338745}, "wrist_right": {"psnr": 20.950364601716377, "ssim": 0.8571839538143786, "lpips": 0.03698249161243439}, "tactile_left": {"psnr": 34.679847510826555, "ssim": 0.9685519515427516, "lpips": 0.09227414429187775}, "tactile_right": {"psnr": 50.339745194406504, "ssim": 0.9947146415400427, "lpips": 0.003892067354172468}}, "media": {"short": {"video": "media/motherboard_custom_e010_13_short.mp4", "poster": "media/motherboard_custom_e010_13_short.jpg"}, "long": {"video": "media/motherboard_custom_e010_13_long.mp4", "poster": "media/motherboard_custom_e010_13_long.jpg"}}, "force": {"source": "recorded_normal_force", "units": "N", "fps": 15, "left": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 2.243333339691162, 3.9167568683624268, 6.519285678863525, 6.519285678863525, 6.519285678863525, 6.519285678863525, 6.519285678863525, 6.519285678863525, 6.519285678863525, 6.373636245727539, 3.9167568683624268, 0.27666667103767395, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.347143292427063, 0.7983333468437195, 1.9444444179534912, 2.6312499046325684, 2.6312499046325684, 4.726428508758545, 3.0568182468414307, 2.3248276710510254, 3.0568182468414307, 3.0568182468414307, 3.9167568683624268, 4.726428508758545, 4.726428508758545, 3.9167568683624268, 1.9444444179534912, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.5218365788459778, 0.7983333468437195, 2.6312499046325684, 0.5259732007980347, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.7983333468437195, 3.0568182468414307, 6.373636245727539, 5.397500038146973, 5.486666679382324, 2.3248276710510254, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 5.403749942779541, 6.519285678863525, 6.760714054107666, 7.488461494445801, 7.488461494445801, 7.488461494445801, 7.488461494445801, 6.760714054107666, 6.519285678863525, 6.519285678863525, 5.486666679382324, 0.7983333468437195, 0.0, 0.0, 0.0, 0.0, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.9167568683624268, 3.1971428394317627, 3.9167568683624268, 4.726428508758545, 4.726428508758545, 4.726428508758545, 4.726428508758545, 3.9167568683624268, 3.9167568683624268, 3.9167568683624268, 3.9167568683624268, 3.1971428394317627, 2.3248276710510254, 0.019140325486660004, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.5600000023841858], "right": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]}, "long_curve": [{"video": {"psnr": 32.10031471875317, "ssim": 0.9437582793186834, "lpips": 0.017457539215683937}, "wrist_left": {"psnr": 15.18732303346069, "ssim": 0.2915161863016248, "lpips": 0.2627047300338745}, "wrist_right": {"psnr": 20.950364601716377, "ssim": 0.8571839538143786, "lpips": 0.03698249161243439}, "tactile_left": {"psnr": 34.679847510826555, "ssim": 0.9685519515427516, "lpips": 0.09227414429187775}, "tactile_right": {"psnr": 50.339745194406504, "ssim": 0.9947146415400427, "lpips": 0.003892067354172468}}, {"video": {"psnr": 24.986110934921587, "ssim": 0.8341611103852208, "lpips": 0.051904674619436264}, "wrist_left": {"psnr": 14.290958518591854, "ssim": 0.24304132927331362, "lpips": 0.31261199712753296}, "wrist_right": {"psnr": 18.60435239989973, "ssim": 0.7443556662727934, "lpips": 0.095323845744133}, "tactile_left": {"psnr": 32.239770595082895, "ssim": 0.9489735476577039, "lpips": 0.16393692791461945}, "tactile_right": {"psnr": 46.34040448835655, "ssim": 0.9885228282938626, "lpips": 0.013330316171050072}}, {"video": {"psnr": 23.218585971649187, "ssim": 0.7860364800152337, "lpips": 0.07783128321170807}, "wrist_left": {"psnr": 14.584510470027304, "ssim": 0.2794965121960488, "lpips": 0.37031102180480957}, "wrist_right": {"psnr": 18.040272072592064, "ssim": 0.7368637801711975, "lpips": 0.12158561497926712}, "tactile_left": {"psnr": 40.00430032198399, "ssim": 0.976060246309918, "lpips": 0.04779608175158501}, "tactile_right": {"psnr": 43.08814666755304, "ssim": 0.9856425729254095, "lpips": 0.02570893056690693}}, {"video": {"psnr": 22.923131241829378, "ssim": 0.7709132906980866, "lpips": 0.09249541163444519}, "wrist_left": {"psnr": 14.012699780513955, "ssim": 0.2630528837191183, "lpips": 0.4153554141521454}, "wrist_right": {"psnr": 17.638221379168783, "ssim": 0.7129886797527274, "lpips": 0.13374575972557068}, "tactile_left": {"psnr": 35.14818710552519, "ssim": 0.968433053380108, "lpips": 0.09368772804737091}, "tactile_right": {"psnr": 40.84274983095383, "ssim": 0.9835968046099791, "lpips": 0.03849980980157852}}, {"video": {"psnr": 22.784673990874666, "ssim": 0.7643425825037754, "lpips": 0.09264817833900452}, "wrist_left": {"psnr": 13.247178816587157, "ssim": 0.24633775397304666, "lpips": 0.4762130379676819}, "wrist_right": {"psnr": 17.590366520153154, "ssim": 0.7117343513561016, "lpips": 0.12909799814224243}, "tactile_left": {"psnr": 30.01719535680044, "ssim": 0.9351255454419647, "lpips": 0.2268030196428299}, "tactile_right": {"psnr": 40.34718116322918, "ssim": 0.9816345653809058, "lpips": 0.051295749843120575}}, {"video": {"psnr": 22.645551885968366, "ssim": 0.7526158686230959, "lpips": 0.10139815509319305}, "wrist_left": {"psnr": 12.959839011775768, "ssim": 0.26056051504774524, "lpips": 0.4846784472465515}, "wrist_right": {"psnr": 17.54803371992218, "ssim": 0.7141498640283674, "lpips": 0.1349124312400818}, "tactile_left": {"psnr": 31.817363744513084, "ssim": 0.9524518851457564, "lpips": 0.14928114414215088}, "tactile_right": {"psnr": 38.71382616400494, "ssim": 0.9799345175781278, "lpips": 0.06726675480604172}}, {"video": {"psnr": 22.409807195844124, "ssim": 0.7476134498316758, "lpips": 0.0981520563364029}, "wrist_left": {"psnr": 12.716105524617085, "ssim": 0.2762875331283646, "lpips": 0.5133383274078369}, "wrist_right": {"psnr": 17.604005326882824, "ssim": 0.703692188284529, "lpips": 0.1431175321340561}, "tactile_left": {"psnr": 35.46459708488411, "ssim": 0.9646250297198312, "lpips": 0.10107447952032089}, "tactile_right": {"psnr": 37.25765374578705, "ssim": 0.9772991454532405, "lpips": 0.08590023219585419}}, {"video": {"psnr": 22.114844781119256, "ssim": 0.7467591714116384, "lpips": 0.10701973736286163}, "wrist_left": {"psnr": 11.966335496050313, "ssim": 0.2402684567620283, "lpips": 0.48200419545173645}, "wrist_right": {"psnr": 17.36987992210636, "ssim": 0.6946853301643874, "lpips": 0.15347665548324585}, "tactile_left": {"psnr": 35.27956975400681, "ssim": 0.9677369714981958, "lpips": 0.08583754301071167}, "tactile_right": {"psnr": 36.337766469285164, "ssim": 0.9746341673439605, "lpips": 0.10408855974674225}}, {"video": {"psnr": 21.551920527620876, "ssim": 0.7363150536821661, "lpips": 0.12342273443937302}, "wrist_left": {"psnr": 12.954391456489546, "ssim": 0.2797606880986146, "lpips": 0.44435665011405945}, "wrist_right": {"psnr": 17.12551963591768, "ssim": 0.6908298706440792, "lpips": 0.17031340301036835}, "tactile_left": {"psnr": 33.79452652307795, "ssim": 0.9583184366537816, "lpips": 0.13089028000831604}, "tactile_right": {"psnr": 35.438954725042215, "ssim": 0.9719465314768507, "lpips": 0.11989573389291763}}, {"video": {"psnr": 20.490106273447637, "ssim": 0.6966278317826516, "lpips": 0.16298232972621918}, "wrist_left": {"psnr": 12.475696122329103, "ssim": 0.24311870392577067, "lpips": 0.458065927028656}, "wrist_right": {"psnr": 16.823368642587468, "ssim": 0.6835940451989374, "lpips": 0.1880350112915039}, "tactile_left": {"psnr": 29.3153583384765, "ssim": 0.9415327131809357, "lpips": 0.21350443363189697}, "tactile_right": {"psnr": 34.099566659952984, "ssim": 0.9693317617807831, "lpips": 0.13740810751914978}}, {"video": {"psnr": 20.347864849637034, "ssim": 0.691850422612867, "lpips": 0.19908016920089722}, "wrist_left": {"psnr": 12.376913173977401, "ssim": 0.2589731554872218, "lpips": 0.443236768245697}, "wrist_right": {"psnr": 17.11957541320629, "ssim": 0.6902142425989963, "lpips": 0.19872869551181793}, "tactile_left": {"psnr": 30.422137995078163, "ssim": 0.9426497524109377, "lpips": 0.21502567827701569}, "tactile_right": {"psnr": 33.357901002122865, "ssim": 0.9674480700284471, "lpips": 0.14062996208667755}}, {"video": {"psnr": 20.334697479689616, "ssim": 0.6970431229962228, "lpips": 0.21421557664871216}, "wrist_left": {"psnr": 11.910699237724742, "ssim": 0.2852067372308068, "lpips": 0.5323222875595093}, "wrist_right": {"psnr": 16.8924029973765, "ssim": 0.6796736636089709, "lpips": 0.21282821893692017}, "tactile_left": {"psnr": 33.73234282537807, "ssim": 0.9562847206095351, "lpips": 0.16038957238197327}, "tactile_right": {"psnr": 32.59893824478609, "ssim": 0.9646076841370403, "lpips": 0.1574578434228897}}, {"video": {"psnr": 20.497878881021524, "ssim": 0.6980083073834938, "lpips": 0.21313603222370148}, "wrist_left": {"psnr": 10.990419086271794, "ssim": 0.2772957267260233, "lpips": 0.6313810348510742}, "wrist_right": {"psnr": 16.777370936185754, "ssim": 0.6648656254348899, "lpips": 0.2398010492324829}, "tactile_left": {"psnr": 29.795781981979953, "ssim": 0.9308388549304163, "lpips": 0.23859982192516327}, "tactile_right": {"psnr": 32.09138044037079, "ssim": 0.9615319572000613, "lpips": 0.1760159134864807}}, {"video": {"psnr": 20.436292192142275, "ssim": 0.6951632189950164, "lpips": 0.20740270614624023}, "wrist_left": {"psnr": 11.58008795133844, "ssim": 0.3311140835273134, "lpips": 0.5754234790802002}, "wrist_right": {"psnr": 17.371242877659817, "ssim": 0.6810454458914891, "lpips": 0.23390866816043854}, "tactile_left": {"psnr": 33.01413385080529, "ssim": 0.9562165749611511, "lpips": 0.13780081272125244}, "tactile_right": {"psnr": 31.793722505016653, "ssim": 0.9590622653405482, "lpips": 0.18832528591156006}}, {"video": {"psnr": 20.422320613772374, "ssim": 0.6961047401249916, "lpips": 0.20653262734413147}, "wrist_left": {"psnr": 11.43113839206758, "ssim": 0.28273624931997077, "lpips": 0.6151565313339233}, "wrist_right": {"psnr": 17.29640040416097, "ssim": 0.6808020133785944, "lpips": 0.2451101392507553}, "tactile_left": {"psnr": 30.5904801793, "ssim": 0.9510025207418865, "lpips": 0.1700543910264969}, "tactile_right": {"psnr": 31.484242916205872, "ssim": 0.9562864647145319, "lpips": 0.20372015237808228}}], "long_metrics": {"video": {"psnr": 22.48427343588607, "ssim": 0.7504875286909879, "lpips": 0.13104528076946736}, "wrist_left": {"psnr": 12.845619738121515, "ssim": 0.27058443431446744, "lpips": 0.46781065662701926}, "wrist_right": {"psnr": 17.650091789969064, "ssim": 0.7097785813733626, "lpips": 0.1624645009636879}, "tactile_left": {"psnr": 33.0210395445146, "ssim": 0.9545867869456582, "lpips": 0.14846373721957207}, "tactile_right": {"psnr": 37.60881201447158, "ssim": 0.974412931853586, "lpips": 0.10089569461221497}}}, {"id": "motherboard_custom_e010_14", "episode": "motherboard_0911_episode_008_seg00.pt", "requested_episode": "motherboard_0911_episode_008_seg00.pt", "category": "release", "t_start": 246, "start_seconds": 16.4, "short_contact": [1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 0, 0], "future_transition_ticks": [11], "long_contact_fraction": 0.6796875, "long_label": "release", "short_metrics": {"video": {"psnr": 29.712024445856727, "ssim": 0.9313834270501528, "lpips": 0.027693545445799828}, "wrist_left": {"psnr": 15.782564542357754, "ssim": 0.4355635745242792, "lpips": 0.3098395764827728}, "wrist_right": {"psnr": 21.037990970389544, "ssim": 0.7468635375080108, "lpips": 0.04326941817998886}, "tactile_left": {"psnr": 40.40470034304359, "ssim": 0.9843613459309697, "lpips": 0.020458392798900604}, "tactile_right": {"psnr": 50.39440931696544, "ssim": 0.9944571178172286, "lpips": 0.0042851646430790424}}, "media": {"short": {"video": "media/motherboard_custom_e010_14_short.mp4", "poster": "media/motherboard_custom_e010_14_short.jpg"}, "long": {"video": "media/motherboard_custom_e010_14_long.mp4", "poster": "media/motherboard_custom_e010_14_long.jpg"}}, "force": {"source": "recorded_normal_force", "units": "N", "fps": 15, "left": [3.9167568683624268, 4.726428508758545, 4.726428508758545, 3.1971428394317627, 4.726428508758545, 6.760714054107666, 6.760714054107666, 7.488461494445801, 7.349999904632568, 7.349999904632568, 3.0568182468414307, 0.49357831478118896, 0.0, 0.0, 0.0, 0.0, 0.4993111193180084, 5.397500038146973, 7.200040817260742, 10.243043899536133, 10.243043899536133, 10.243043899536133, 9.842000007629395, 7.75, 7.75, 7.75, 6.760714054107666, 6.519285678863525, 5.486666679382324, 4.726428508758545, 3.0568182468414307, 1.9444444179534912, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 3.0568182468414307, 5.486666679382324, 6.373636245727539, 6.519285678863525, 6.519285678863525, 6.519285678863525, 6.519285678863525, 6.760714054107666, 6.519285678863525, 5.403749942779541, 5.465914249420166, 6.502091884613037, 5.486666679382324, 3.0568182468414307, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.6003610491752625, 0.6849588751792908, 1.9444444179534912, 3.9167568683624268, 5.486666679382324, 5.486666679382324, 5.403749942779541, 5.486666679382324, 5.486666679382324, 3.9167568683624268, 3.9182748794555664, 5.399834156036377, 5.397500038146973, 3.0568182468414307, 0.1599999964237213, 0.2557404935359955, 2.3248276710510254, 5.403749942779541, 6.519285678863525, 7.488461494445801, 7.75, 10.243043899536133, 7.75, 7.75, 7.488461494445801, 7.488461494445801, 7.724563121795654, 7.488461494445801, 4.726428508758545, 0.7983333468437195, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.9444444179534912, 3.9167568683624268, 3.1971428394317627, 3.9167568683624268, 7.121631622314453, 6.373636245727539, 6.519285678863525, 7.283836364746094, 7.130000114440918, 6.760714054107666, 6.760714054107666, 7.130000114440918, 7.349999904632568, 7.488461494445801, 7.488461494445801, 7.349999904632568, 7.488461494445801, 0.0, 0.0, 0.0, 0.0, 3.0568182468414307, 3.9167568683624268], "right": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]}, "long_curve": [{"video": {"psnr": 29.712024445856727, "ssim": 0.9313834270501528, "lpips": 0.027693545445799828}, "wrist_left": {"psnr": 15.782564542357754, "ssim": 0.4355635745242792, "lpips": 0.3098395764827728}, "wrist_right": {"psnr": 21.037990970389544, "ssim": 0.7468635375080108, "lpips": 0.04326941817998886}, "tactile_left": {"psnr": 40.40470034304359, "ssim": 0.9843613459309697, "lpips": 0.020458392798900604}, "tactile_right": {"psnr": 50.39440931696544, "ssim": 0.9944571178172286, "lpips": 0.0042851646430790424}}, {"video": {"psnr": 26.71497796492773, "ssim": 0.8870215904071497, "lpips": 0.04821131378412247}, "wrist_left": {"psnr": 14.90678032435577, "ssim": 0.42908379238220196, "lpips": 0.32570287585258484}, "wrist_right": {"psnr": 19.677087565497636, "ssim": 0.6630589455128791, "lpips": 0.06446901708841324}, "tactile_left": {"psnr": 28.324890385123098, "ssim": 0.9075816964759782, "lpips": 0.21657812595367432}, "tactile_right": {"psnr": 46.661762624423034, "ssim": 0.990016295576078, "lpips": 0.012353101745247841}}, {"video": {"psnr": 24.754527706583865, "ssim": 0.8316322037654876, "lpips": 0.06266327947378159}, "wrist_left": {"psnr": 14.944420685822966, "ssim": 0.453061727989137, "lpips": 0.3016768991947174}, "wrist_right": {"psnr": 19.095996839639717, "ssim": 0.6495353934803809, "lpips": 0.08203732967376709}, "tactile_left": {"psnr": 29.07824454985988, "ssim": 0.9220541418696031, "lpips": 0.1644054651260376}, "tactile_right": {"psnr": 43.00267438658598, "ssim": 0.9875460970561958, "lpips": 0.022340156137943268}}, {"video": {"psnr": 23.411143995058623, "ssim": 0.7804951093124897, "lpips": 0.0777711570262909}, "wrist_left": {"psnr": 13.424249294501031, "ssim": 0.4688229483007367, "lpips": 0.3673417568206787}, "wrist_right": {"psnr": 18.208635598700933, "ssim": 0.625980863899803, "lpips": 0.10754549503326416}, "tactile_left": {"psnr": 38.41965434369206, "ssim": 0.9745465457957561, "lpips": 0.06034911796450615}, "tactile_right": {"psnr": 40.02581998797521, "ssim": 0.9850662554595198, "lpips": 0.03808771073818207}}, {"video": {"psnr": 23.709410518754623, "ssim": 0.7837632889459717, "lpips": 0.08258651196956635}, "wrist_left": {"psnr": 12.805903701068788, "ssim": 0.46193863484560005, "lpips": 0.3854984641075134}, "wrist_right": {"psnr": 17.539269735289025, "ssim": 0.5955460139207653, "lpips": 0.12543395161628723}, "tactile_left": {"psnr": 28.72504757990807, "ssim": 0.9183030637424234, "lpips": 0.2510451674461365}, "tactile_right": {"psnr": 39.46518246466638, "ssim": 0.9818421799917717, "lpips": 0.049980416893959045}}, {"video": {"psnr": 22.96982700357594, "ssim": 0.7707489124177593, "lpips": 0.10293355584144592}, "wrist_left": {"psnr": 13.537266822234866, "ssim": 0.3793996520524624, "lpips": 0.4652720093727112}, "wrist_right": {"psnr": 15.727142964423384, "ssim": 0.5428510435742606, "lpips": 0.2365550994873047}, "tactile_left": {"psnr": 31.13020301451192, "ssim": 0.9399147087712988, "lpips": 0.19394920766353607}, "tactile_right": {"psnr": 38.256885406665255, "ssim": 0.9798642130339456, "lpips": 0.06516189873218536}}, {"video": {"psnr": 21.573525244049186, "ssim": 0.7363909385136402, "lpips": 0.14681196212768555}, "wrist_left": {"psnr": 12.279015885467548, "ssim": 0.35392492111733864, "lpips": 0.48957037925720215}, "wrist_right": {"psnr": 15.031361425904596, "ssim": 0.537794614942558, "lpips": 0.29950785636901855}, "tactile_left": {"psnr": 35.81403498173647, "ssim": 0.9690233360636537, "lpips": 0.07616772502660751}, "tactile_right": {"psnr": 37.13477691837327, "ssim": 0.9775916493381516, "lpips": 0.08319955319166183}}, {"video": {"psnr": 21.232904974179178, "ssim": 0.7222604487714885, "lpips": 0.14802366495132446}, "wrist_left": {"psnr": 11.871908569736176, "ssim": 0.3437850749239665, "lpips": 0.5200783014297485}, "wrist_right": {"psnr": 15.057509810610108, "ssim": 0.5387533131760832, "lpips": 0.3084934949874878}, "tactile_left": {"psnr": 29.471899738694283, "ssim": 0.9259826632563852, "lpips": 0.23415188491344452}, "tactile_right": {"psnr": 36.57002206967401, "ssim": 0.9749649888019785, "lpips": 0.1018064022064209}}, {"video": {"psnr": 20.883535404021394, "ssim": 0.7007810692549437, "lpips": 0.1518789827823639}, "wrist_left": {"psnr": 11.371848886270097, "ssim": 0.3579578313390064, "lpips": 0.5048730373382568}, "wrist_right": {"psnr": 15.061725241284083, "ssim": 0.5502826014557586, "lpips": 0.3224925398826599}, "tactile_left": {"psnr": 30.665776699400105, "ssim": 0.9400094447285025, "lpips": 0.21111249923706055}, "tactile_right": {"psnr": 35.78823942073166, "ssim": 0.9725466964210734, "lpips": 0.1178152784705162}}, {"video": {"psnr": 20.918236803395533, "ssim": 0.7037770412163903, "lpips": 0.1570391058921814}, "wrist_left": {"psnr": 11.083807206384591, "ssim": 0.32079648127848465, "lpips": 0.527811586856842}, "wrist_right": {"psnr": 15.053062930576655, "ssim": 0.5421741109801408, "lpips": 0.32399439811706543}, "tactile_left": {"psnr": 26.143938125303585, "ssim": 0.8928569162548501, "lpips": 0.29912036657333374}, "tactile_right": {"psnr": 34.6120210752523, "ssim": 0.969913335519176, "lpips": 0.13643617928028107}}, {"video": {"psnr": 21.20492597850971, "ssim": 0.713215961296537, "lpips": 0.1542172133922577}, "wrist_left": {"psnr": 10.88007108595803, "ssim": 0.3455189977072113, "lpips": 0.5183124542236328}, "wrist_right": {"psnr": 15.025326965078829, "ssim": 0.5405010814158939, "lpips": 0.3328600227832794}, "tactile_left": {"psnr": 31.143372403752355, "ssim": 0.9582404972320078, "lpips": 0.12827014923095703}, "tactile_right": {"psnr": 33.870530991882106, "ssim": 0.9682737057587084, "lpips": 0.14279930293560028}}, {"video": {"psnr": 21.1335884950843, "ssim": 0.6907266409732383, "lpips": 0.17083823680877686}, "wrist_left": {"psnr": 12.69058741208174, "ssim": 0.3569739406456448, "lpips": 0.4483046233654022}, "wrist_right": {"psnr": 14.884688820278098, "ssim": 0.5514688931951885, "lpips": 0.3749496340751648}, "tactile_left": {"psnr": 33.61576116859113, "ssim": 0.968463728851395, "lpips": 0.0896930992603302}, "tactile_right": {"psnr": 32.85776792268481, "ssim": 0.9657260279174872, "lpips": 0.1611699014902115}}, {"video": {"psnr": 20.968119201748646, "ssim": 0.6823600767345851, "lpips": 0.16739344596862793}, "wrist_left": {"psnr": 13.97149184402307, "ssim": 0.27921763473425837, "lpips": 0.5849090218544006}, "wrist_right": {"psnr": 14.395861642565857, "ssim": 0.525402684408545, "lpips": 0.39119938015937805}, "tactile_left": {"psnr": 29.10622938611704, "ssim": 0.9324124686859787, "lpips": 0.2062455713748932}, "tactile_right": {"psnr": 32.14165534400149, "ssim": 0.9623378551877027, "lpips": 0.1751156747341156}}, {"video": {"psnr": 20.851194800447672, "ssim": 0.68191651760857, "lpips": 0.16898107528686523}, "wrist_left": {"psnr": 13.53262304197851, "ssim": 0.2691538658845482, "lpips": 0.5324695110321045}, "wrist_right": {"psnr": 14.261282440777352, "ssim": 0.5102695962237602, "lpips": 0.3967055082321167}, "tactile_left": {"psnr": 26.108383143605664, "ssim": 0.8966312452127733, "lpips": 0.3309427797794342}, "tactile_right": {"psnr": 31.827920850946843, "ssim": 0.9592290241875865, "lpips": 0.18592765927314758}}, {"video": {"psnr": 20.626898746596147, "ssim": 0.6747219874216837, "lpips": 0.1931249350309372}, "wrist_left": {"psnr": 13.463248276612115, "ssim": 0.32003241309129504, "lpips": 0.5367802381515503}, "wrist_right": {"psnr": 14.200555790545728, "ssim": 0.49841311977136427, "lpips": 0.4002622961997986}, "tactile_left": {"psnr": 30.077628441989788, "ssim": 0.9480894753629195, "lpips": 0.17421388626098633}, "tactile_right": {"psnr": 31.434792603253804, "ssim": 0.9564774453022986, "lpips": 0.20293793082237244}}], "long_metrics": {"video": {"psnr": 22.710989418852616, "ssim": 0.7527463475793392, "lpips": 0.12401119905213515}, "wrist_left": {"psnr": 13.10305250525687, "ssim": 0.37168209938774477, "lpips": 0.4545627156893412}, "wrist_right": {"psnr": 16.283833249437436, "ssim": 0.5745930542310262, "lpips": 0.25398502945899964}, "tactile_left": {"psnr": 31.21531762035527, "ssim": 0.9385647518822997, "lpips": 0.17711356257398922}, "tactile_right": {"psnr": 37.60296409227211, "ssim": 0.9750568591579268, "lpips": 0.09996108875299493}}}, {"id": "motherboard_custom_e010_15", "episode": "motherboard_0911_episode_008_seg00.pt", "requested_episode": "motherboard_0911_episode_008_seg00.pt", "category": "full", "t_start": 432, "start_seconds": 28.8, "short_contact": [1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1], "future_transition_ticks": [], "long_contact_fraction": 0.8359375, "long_label": "full", "short_metrics": {"video": {"psnr": 28.815157216842714, "ssim": 0.9147923461685551, "lpips": 0.027233336120843887}, "wrist_left": {"psnr": 17.84786176269318, "ssim": 0.4900283031717132, "lpips": 0.12424468249082565}, "wrist_right": {"psnr": 17.063026486836076, "ssim": 0.5563772402250997, "lpips": 0.16200998425483704}, "tactile_left": {"psnr": 32.77586759513367, "ssim": 0.957270684947251, "lpips": 0.04935804009437561}, "tactile_right": {"psnr": 39.817025306576824, "ssim": 0.9873394384296811, "lpips": 0.04447833076119423}}, "media": {"short": {"video": "media/motherboard_custom_e010_15_short.mp4", "poster": "media/motherboard_custom_e010_15_short.jpg"}, "long": {"video": "media/motherboard_custom_e010_15_long.mp4", "poster": "media/motherboard_custom_e010_15_long.jpg"}}, "force": {"source": "recorded_normal_force", "units": "N", "fps": 15, "left": [0.0, 0.0, 0.0, 0.0, 0.0, 0.7983333468437195, 1.9444444179534912, 5.481388092041016, 6.760714054107666, 6.760714054107666, 7.130000114440918, 7.488461494445801, 7.488461494445801, 7.66710901260376, 7.75, 7.488461494445801, 7.488461494445801, 7.488461494445801, 7.340664386749268, 6.760714054107666, 6.760714054107666, 6.519285678863525, 6.519285678863525, 6.760714054107666, 6.760714054107666, 6.760714054107666, 6.760714054107666, 6.760714054107666, 6.760714054107666, 6.760714054107666, 6.760714054107666, 6.519285678863525, 6.519285678863525, 6.519285678863525, 6.373636245727539, 5.486666679382324, 5.397500038146973, 4.726428508758545, 3.1149818897247314, 3.1149818897247314, 0.0, 0.0, 0.5564713478088379, 0.5564713478088379, 5.403749942779541, 6.519285678863525, 6.870246887207031, 7.130000114440918, 7.130000114440918, 7.488461494445801, 7.488461494445801, 7.488461494445801, 7.488461494445801, 7.488461494445801, 7.230000019073486, 7.349999904632568, 7.130000114440918, 7.130000114440918, 2.243333339691162, 0.0, 0.0, 0.0, 0.0, 5.486666679382324, 6.519285678863525, 6.760714054107666, 7.230000019073486, 7.296485424041748, 7.488461494445801, 7.488461494445801, 5.486666679382324, 3.0568182468414307, 0.0, 0.0, 1.9736661911010742, 3.9167568683624268, 6.519285678863525, 6.760714054107666, 6.760714054107666, 6.760714054107666, 7.130000114440918, 6.856966972351074, 3.9167568683624268, 0.3697943389415741, 0.1599999964237213, 3.1971428394317627, 6.519285678863525, 6.760714054107666, 7.488461494445801, 10.243043899536133, 10.78499984741211, 7.784317970275879, 0.1599999964237213, 0.1599999964237213, 0.0, 0.0, 0.0, 0.0, 2.3248276710510254, 5.403749942779541, 7.130000114440918, 7.488461494445801, 7.488461494445801, 10.243043899536133, 10.977499961853027, 10.243043899536133, 10.977499961853027, 10.243043899536133, 0.1599999964237213, 0.0, 0.0, 0.7983333468437195, 0.7983333468437195, 0.0, 0.0, 2.3248276710510254, 3.9167568683624268, 5.486666679382324, 6.519285678863525, 7.488461494445801, 10.243043899536133, 10.243043899536133, 7.488461494445801, 7.488461494445801, 10.243043899536133, 10.977499961853027, 10.243043899536133, 10.243043899536133], "right": [0.5458959341049194, 0.5600000023841858, 0.5600000023841858, 0.6782253384590149, 0.7983333468437195, 0.5419337749481201, 0.25, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.9444444179534912, 0.7983333468437195, 1.0138323307037354, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 1.9444444179534912, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.2831295132637024, 0.533720850944519, 2.243333339691162, 3.0568182468414307, 3.9167568683624268, 3.9167568683624268, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 2.3248276710510254, 1.9444444179534912, 0.5600000023841858, 0.1599999964237213, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.7983333468437195, 3.0568182468414307, 3.0568182468414307, 3.9167568683624268, 3.9177205562591553, 4.726428508758545, 4.726428508758545, 4.726428508758545, 4.726428508758545, 3.0568182468414307, 0.5567049980163574, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]}, "long_curve": [{"video": {"psnr": 28.815157216842714, "ssim": 0.9147923461685551, "lpips": 0.027233336120843887}, "wrist_left": {"psnr": 17.84786176269318, "ssim": 0.4900283031717132, "lpips": 0.12424468249082565}, "wrist_right": {"psnr": 17.063026486836076, "ssim": 0.5563772402250997, "lpips": 0.16200998425483704}, "tactile_left": {"psnr": 32.77586759513367, "ssim": 0.957270684947251, "lpips": 0.04935804009437561}, "tactile_right": {"psnr": 39.817025306576824, "ssim": 0.9873394384296811, "lpips": 0.04447833076119423}}, {"video": {"psnr": 24.397994327958624, "ssim": 0.799594633594259, "lpips": 0.06146911159157753}, "wrist_left": {"psnr": 17.274895129199997, "ssim": 0.4258105591680186, "lpips": 0.19259414076805115}, "wrist_right": {"psnr": 15.19938429640922, "ssim": 0.47206610190736253, "lpips": 0.25879865884780884}, "tactile_left": {"psnr": 31.71899274024383, "ssim": 0.9495622241590006, "lpips": 0.06800015270709991}, "tactile_right": {"psnr": 33.876159521710605, "ssim": 0.9693183435934557, "lpips": 0.12647980451583862}}, {"video": {"psnr": 23.135773658387, "ssim": 0.7564307384741232, "lpips": 0.08777901530265808}, "wrist_left": {"psnr": 17.12452045228763, "ssim": 0.4040162309041363, "lpips": 0.21558591723442078}, "wrist_right": {"psnr": 13.078911893364925, "ssim": 0.34533248401637573, "lpips": 0.40664976835250854}, "tactile_left": {"psnr": 30.7704770010467, "ssim": 0.9477240000560165, "lpips": 0.09827347844839096}, "tactile_right": {"psnr": 33.4574265563171, "ssim": 0.9637797095011762, "lpips": 0.17918771505355835}}, {"video": {"psnr": 22.67404596708126, "ssim": 0.7454959626496457, "lpips": 0.11267848312854767}, "wrist_left": {"psnr": 15.674860901068593, "ssim": 0.3476227542435823, "lpips": 0.3023092448711395}, "wrist_right": {"psnr": 12.931496758075628, "ssim": 0.3551311884355659, "lpips": 0.41254350543022156}, "tactile_left": {"psnr": 31.67965288467296, "ssim": 0.9524766856739499, "lpips": 0.10883649438619614}, "tactile_right": {"psnr": 32.48561309030002, "ssim": 0.9595326320790483, "lpips": 0.16964131593704224}}, {"video": {"psnr": 22.382200142757597, "ssim": 0.7275321590843493, "lpips": 0.1294347196817398}, "wrist_left": {"psnr": 15.49163013547983, "ssim": 0.3601404512745906, "lpips": 0.34735625982284546}, "wrist_right": {"psnr": 13.405109827034439, "ssim": 0.4062728528474375, "lpips": 0.3975713849067688}, "tactile_left": {"psnr": 31.607929154302383, "ssim": 0.9406695765273885, "lpips": 0.21056851744651794}, "tactile_right": {"psnr": 35.859696922449814, "ssim": 0.9794939167454241, "lpips": 0.05425497516989708}}, {"video": {"psnr": 22.5136851278736, "ssim": 0.7407884325965823, "lpips": 0.13016968965530396}, "wrist_left": {"psnr": 15.203348821646717, "ssim": 0.34226180732223765, "lpips": 0.3703336715698242}, "wrist_right": {"psnr": 12.560767868300077, "ssim": 0.3294920000375173, "lpips": 0.43207210302352905}, "tactile_left": {"psnr": 29.39365758824593, "ssim": 0.9245649390575039, "lpips": 0.27021104097366333}, "tactile_right": {"psnr": 32.080716365741935, "ssim": 0.9597206609482202, "lpips": 0.18571139872074127}}, {"video": {"psnr": 22.13066632266281, "ssim": 0.7337176966404021, "lpips": 0.14331606030464172}, "wrist_left": {"psnr": 14.51021490726933, "ssim": 0.33903443257309773, "lpips": 0.40744662284851074}, "wrist_right": {"psnr": 13.73252836433405, "ssim": 0.4293648497044852, "lpips": 0.4018367528915405}, "tactile_left": {"psnr": 33.045750521811954, "ssim": 0.9542259597094889, "lpips": 0.1670222133398056}, "tactile_right": {"psnr": 32.80041216444765, "ssim": 0.9681530993496306, "lpips": 0.13614323735237122}}, {"video": {"psnr": 22.189203955906823, "ssim": 0.7240440865814196, "lpips": 0.14860105514526367}, "wrist_left": {"psnr": 14.464758868771202, "ssim": 0.3448628001567873, "lpips": 0.4044164717197418}, "wrist_right": {"psnr": 14.464911775170147, "ssim": 0.4898140277090521, "lpips": 0.3663431406021118}, "tactile_left": {"psnr": 27.913769628692513, "ssim": 0.9223411987857179, "lpips": 0.27667203545570374}, "tactile_right": {"psnr": 33.984090093277295, "ssim": 0.9762268852839677, "lpips": 0.07871298491954803}}, {"video": {"psnr": 21.971612695153038, "ssim": 0.7150348921215326, "lpips": 0.1543492078781128}, "wrist_left": {"psnr": 14.379653188068712, "ssim": 0.32013490239758663, "lpips": 0.4230119585990906}, "wrist_right": {"psnr": 13.92150554055599, "ssim": 0.4778690505328297, "lpips": 0.38809406757354736}, "tactile_left": {"psnr": 29.538127019791588, "ssim": 0.9269113601947975, "lpips": 0.2520015239715576}, "tactile_right": {"psnr": 33.535494838462256, "ssim": 0.9740958783787472, "lpips": 0.08984867483377457}}, {"video": {"psnr": 21.85988207468774, "ssim": 0.7084005180521677, "lpips": 0.15488000214099884}, "wrist_left": {"psnr": 13.620777047489227, "ssim": 0.2721298385172711, "lpips": 0.4730192720890045}, "wrist_right": {"psnr": 13.989667540134024, "ssim": 0.48652196965756633, "lpips": 0.389310359954834}, "tactile_left": {"psnr": 30.246273479423916, "ssim": 0.9392325250950582, "lpips": 0.20928573608398438}, "tactile_right": {"psnr": 32.50763577017007, "ssim": 0.9714109194889107, "lpips": 0.10628218948841095}}, {"video": {"psnr": 21.59396036060029, "ssim": 0.6958341826223113, "lpips": 0.16428440809249878}, "wrist_left": {"psnr": 13.449485332163448, "ssim": 0.31034023186927157, "lpips": 0.45497000217437744}, "wrist_right": {"psnr": 14.013173271758372, "ssim": 0.4859318484287067, "lpips": 0.3901904821395874}, "tactile_left": {"psnr": 29.94375924827007, "ssim": 0.9446427264864405, "lpips": 0.20925867557525635}, "tactile_right": {"psnr": 31.718430959752517, "ssim": 0.9684445161831814, "lpips": 0.1224229708313942}}, {"video": {"psnr": 21.190016600889887, "ssim": 0.67306649849119, "lpips": 0.18508580327033997}, "wrist_left": {"psnr": 12.161706179875384, "ssim": 0.3911549432959984, "lpips": 0.4492337107658386}, "wrist_right": {"psnr": 14.07424126020598, "ssim": 0.47792725271729963, "lpips": 0.39726904034614563}, "tactile_left": {"psnr": 31.965341333979755, "ssim": 0.9472174015352038, "lpips": 0.2037389874458313}, "tactile_right": {"psnr": 31.026410550476196, "ssim": 0.9652162677907254, "lpips": 0.13729268312454224}}, {"video": {"psnr": 20.81779417238493, "ssim": 0.6606265425862898, "lpips": 0.19426709413528442}, "wrist_left": {"psnr": 11.853650388609973, "ssim": 0.4443327357868661, "lpips": 0.42586907744407654}, "wrist_right": {"psnr": 13.79090021184127, "ssim": 0.4530685164783658, "lpips": 0.4160155653953552}, "tactile_left": {"psnr": 30.07582244875371, "ssim": 0.9414719725207833, "lpips": 0.20706158876419067}, "tactile_right": {"psnr": 30.544202966704013, "ssim": 0.9616264948696549, "lpips": 0.1516481339931488}}, {"video": {"psnr": 20.687138990301527, "ssim": 0.657764376022901, "lpips": 0.21008920669555664}, "wrist_left": {"psnr": 9.425522572442903, "ssim": 0.39322962768527275, "lpips": 0.5347139239311218}, "wrist_right": {"psnr": 13.535355200690935, "ssim": 0.44706887231840925, "lpips": 0.4144960641860962}, "tactile_left": {"psnr": 31.871166890090244, "ssim": 0.9452985089818825, "lpips": 0.2049175500869751}, "tactile_right": {"psnr": 30.16573312789224, "ssim": 0.9585854783338505, "lpips": 0.16618682444095612}}, {"video": {"psnr": 20.887396190380517, "ssim": 0.661752249245233, "lpips": 0.20461656153202057}, "wrist_left": {"psnr": 9.181738750538193, "ssim": 0.37055239593017497, "lpips": 0.5490564107894897}, "wrist_right": {"psnr": 13.422212701188323, "ssim": 0.43258326590278495, "lpips": 0.4262038469314575}, "tactile_left": {"psnr": 28.221336476251494, "ssim": 0.8994771947142817, "lpips": 0.34421974420547485}, "tactile_right": {"psnr": 29.846893626139114, "ssim": 0.9559238825719945, "lpips": 0.183477520942688}}], "long_metrics": {"video": {"psnr": 22.483101853591222, "ssim": 0.7276583543287308, "lpips": 0.14055025031169255}, "wrist_left": {"psnr": 14.110974962506955, "ssim": 0.370376800953107, "lpips": 0.37827742447455726}, "wrist_right": {"psnr": 13.94554619972663, "ssim": 0.44298810139459055, "lpips": 0.3772936483224233}, "tactile_left": {"psnr": 30.71786160071405, "ssim": 0.9395391305629843, "lpips": 0.19196171859900157}, "tactile_right": {"psnr": 32.91372945736118, "ssim": 0.9679245415698446, "lpips": 0.12878458400567372}}}, {"id": "motherboard_custom_e010_16", "episode": "motherboard_0912_episode_002.pt", "requested_episode": "motherboard_0912_episode_002.pt", "category": "none", "t_start": 750, "start_seconds": 50.0, "short_contact": [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0], "future_transition_ticks": [], "long_contact_fraction": 0.3671875, "long_label": "none_at_start", "short_metrics": {"video": {"psnr": 29.241533842624413, "ssim": 0.9292902795477715, "lpips": 0.03252779692411423}, "wrist_left": {"psnr": 22.17512861855413, "ssim": 0.8420803192410221, "lpips": 0.07384900748729706}, "wrist_right": {"psnr": 32.30315640486917, "ssim": 0.93397960640712, "lpips": 0.03328327089548111}, "tactile_left": {"psnr": 51.1239849601766, "ssim": 0.994893026000272, "lpips": 0.003194156801328063}, "tactile_right": {"psnr": 50.33321132345911, "ssim": 0.9943460709506267, "lpips": 0.004525696858763695}}, "media": {"short": {"video": "media/motherboard_custom_e010_16_short.mp4", "poster": "media/motherboard_custom_e010_16_short.jpg"}, "long": {"video": "media/motherboard_custom_e010_16_long.mp4", "poster": "media/motherboard_custom_e010_16_long.jpg"}}, "force": {"source": "recorded_normal_force", "units": "N", "fps": 15, "left": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.1599999964237213, 0.19649721682071686, 0.1599999964237213, 0.27666667103767395, 0.44613584876060486, 0.1599999964237213, 0.1599999964237213, 0.1599999964237213, 1.6094872951507568, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 4.726428508758545, 5.397500038146973, 6.373636245727539, 6.760714054107666, 6.760714054107666, 6.760714054107666, 6.435560703277588, 6.373636245727539, 6.760714054107666, 6.760714054107666, 6.760714054107666, 7.230000019073486, 7.230000019073486, 7.130000114440918, 6.760714054107666, 7.349999904632568, 7.130000114440918, 6.760714054107666, 7.130000114440918, 6.997551918029785, 6.760714054107666, 6.519285678863525, 6.760714054107666, 6.760714054107666, 6.760714054107666, 6.519285678863525, 5.486666679382324, 5.486666679382324, 5.3991498947143555, 6.373636245727539, 6.519285678863525, 6.519285678863525, 5.397500038146973, 4.726428508758545, 2.3248276710510254, 0.1599999964237213, 5.403749942779541, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 3.9167568683624268, 6.519285678863525, 7.130000114440918, 7.488461494445801, 7.488461494445801, 7.488461494445801, 10.243043899536133], "right": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.033978212624788284, 0.14319390058517456, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.15257100760936737, 3.0568182468414307, 3.0568182468414307, 2.6312499046325684, 2.3248276710510254, 2.6312499046325684, 2.3248276710510254, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.04887126386165619, 0.1599999964237213, 0.1599999964237213, 0.1599999964237213, 0.27666667103767395, 0.7983333468437195, 2.6312499046325684, 3.0568182468414307]}, "long_curve": [{"video": {"psnr": 29.241533842624413, "ssim": 0.9292902795477715, "lpips": 0.03252779692411423}, "wrist_left": {"psnr": 22.17512861855413, "ssim": 0.8420803192410221, "lpips": 0.07384900748729706}, "wrist_right": {"psnr": 32.30315640486917, "ssim": 0.93397960640712, "lpips": 0.03328327089548111}, "tactile_left": {"psnr": 51.1239849601766, "ssim": 0.994893026000272, "lpips": 0.003194156801328063}, "tactile_right": {"psnr": 50.33321132345911, "ssim": 0.9943460709506267, "lpips": 0.004525696858763695}}, {"video": {"psnr": 27.06822692101906, "ssim": 0.9128372284765683, "lpips": 0.03663910925388336}, "wrist_left": {"psnr": 21.64479248794036, "ssim": 0.8237358763301039, "lpips": 0.08214110136032104}, "wrist_right": {"psnr": 26.023899827374606, "ssim": 0.8352009589883603, "lpips": 0.06672506034374237}, "tactile_left": {"psnr": 47.35548082706706, "ssim": 0.9918908674459108, "lpips": 0.011195898056030273}, "tactile_right": {"psnr": 47.75653042176626, "ssim": 0.9901709793600071, "lpips": 0.013054342940449715}}, {"video": {"psnr": 25.862849449335247, "ssim": 0.8947956509533443, "lpips": 0.04621908441185951}, "wrist_left": {"psnr": 21.490604751886675, "ssim": 0.8115745712822455, "lpips": 0.09126731753349304}, "wrist_right": {"psnr": 22.93794856068275, "ssim": 0.7494847525351422, "lpips": 0.096722811460495}, "tactile_left": {"psnr": 44.306700857947014, "ssim": 0.9885230397058382, "lpips": 0.023552585393190384}, "tactile_right": {"psnr": 44.54898643413387, "ssim": 0.9878275523167556, "lpips": 0.02467316761612892}}, {"video": {"psnr": 25.430397215130217, "ssim": 0.8747697156176119, "lpips": 0.05426313355565071}, "wrist_left": {"psnr": 21.11471941101454, "ssim": 0.7903865782565014, "lpips": 0.10127462446689606}, "wrist_right": {"psnr": 22.409451916717977, "ssim": 0.7290983707910135, "lpips": 0.10927438735961914}, "tactile_left": {"psnr": 42.433782446560066, "ssim": 0.9855162482221815, "lpips": 0.036759063601493835}, "tactile_right": {"psnr": 42.12278730236544, "ssim": 0.9857715734035, "lpips": 0.039325907826423645}}, {"video": {"psnr": 25.345396387004534, "ssim": 0.8541834797347907, "lpips": 0.078527070581913}, "wrist_left": {"psnr": 20.92639978240639, "ssim": 0.7816310958229082, "lpips": 0.1069813147187233}, "wrist_right": {"psnr": 21.95353377164409, "ssim": 0.7009435303742056, "lpips": 0.12387584149837494}, "tactile_left": {"psnr": 41.01022639969818, "ssim": 0.9826369663842204, "lpips": 0.04975767433643341}, "tactile_right": {"psnr": 41.01374937103296, "ssim": 0.9832287307148612, "lpips": 0.05190856754779816}}, {"video": {"psnr": 25.157789974502283, "ssim": 0.8334829111747102, "lpips": 0.09090674668550491}, "wrist_left": {"psnr": 20.282407081688007, "ssim": 0.7786272672765984, "lpips": 0.15543639659881592}, "wrist_right": {"psnr": 20.145787875537188, "ssim": 0.6141289803229453, "lpips": 0.16565899550914764}, "tactile_left": {"psnr": 39.51386890174402, "ssim": 0.9795208497154259, "lpips": 0.06988383084535599}, "tactile_right": {"psnr": 40.07626819381737, "ssim": 0.9820413240077489, "lpips": 0.06087468937039375}}, {"video": {"psnr": 24.416200258716056, "ssim": 0.8054000072849699, "lpips": 0.09610429406166077}, "wrist_left": {"psnr": 17.52105233205183, "ssim": 0.7424665892889838, "lpips": 0.2866950035095215}, "wrist_right": {"psnr": 17.772256845252613, "ssim": 0.532717439729935, "lpips": 0.24110649526119232}, "tactile_left": {"psnr": 37.60226539216128, "ssim": 0.9719675500007753, "lpips": 0.11804715543985367}, "tactile_right": {"psnr": 38.57152058501488, "ssim": 0.9800520131535897, "lpips": 0.07868653535842896}}, {"video": {"psnr": 23.722248638117964, "ssim": 0.7844370629011508, "lpips": 0.10820688307285309}, "wrist_left": {"psnr": 16.905542806220165, "ssim": 0.7410877612466026, "lpips": 0.29836130142211914}, "wrist_right": {"psnr": 15.882406244474673, "ssim": 0.5270746048197154, "lpips": 0.3115083575248718}, "tactile_left": {"psnr": 37.08165697548475, "ssim": 0.9750039828666759, "lpips": 0.10351487249135971}, "tactile_right": {"psnr": 37.709206728544316, "ssim": 0.9775846683083265, "lpips": 0.09437722712755203}}, {"video": {"psnr": 22.452257859162472, "ssim": 0.7405554522678083, "lpips": 0.13995423913002014}, "wrist_left": {"psnr": 10.67919872416583, "ssim": 0.42658615893043567, "lpips": 0.5270999670028687}, "wrist_right": {"psnr": 15.244192510811693, "ssim": 0.6214092863207563, "lpips": 0.3547520637512207}, "tactile_left": {"psnr": 36.633074757365435, "ssim": 0.9737074425445446, "lpips": 0.10977094620466232}, "tactile_right": {"psnr": 36.59998357413024, "ssim": 0.9752094090504504, "lpips": 0.10846729576587677}}, {"video": {"psnr": 21.007836898402637, "ssim": 0.6934811074600067, "lpips": 0.2002888023853302}, "wrist_left": {"psnr": 11.167311547914862, "ssim": 0.24854114919497355, "lpips": 0.6095947027206421}, "wrist_right": {"psnr": 15.575079261803555, "ssim": 0.7023231202012326, "lpips": 0.28034666180610657}, "tactile_left": {"psnr": 33.67603720605905, "ssim": 0.943744598228069, "lpips": 0.2519380450248718}, "tactile_right": {"psnr": 34.96675712525535, "ssim": 0.9722494601312326, "lpips": 0.12852127850055695}}, {"video": {"psnr": 19.08561059786332, "ssim": 0.6443746612562434, "lpips": 0.30812036991119385}, "wrist_left": {"psnr": 7.926242390158757, "ssim": 0.27236422522737747, "lpips": 0.7209013104438782}, "wrist_right": {"psnr": 16.79381773349808, "ssim": 0.7718589348466723, "lpips": 0.2648347318172455}, "tactile_left": {"psnr": 31.787426989338595, "ssim": 0.9375404743820673, "lpips": 0.27878624200820923}, "tactile_right": {"psnr": 33.39570522421344, "ssim": 0.9693780641404515, "lpips": 0.14767874777317047}}, {"video": {"psnr": 18.628643816634654, "ssim": 0.6261904973298578, "lpips": 0.34921103715896606}, "wrist_left": {"psnr": 7.099751733808898, "ssim": 0.25038313094944714, "lpips": 0.7349417209625244}, "wrist_right": {"psnr": 17.30847418285569, "ssim": 0.7767348406997676, "lpips": 0.2904033660888672}, "tactile_left": {"psnr": 31.574532467682673, "ssim": 0.9245266105817525, "lpips": 0.31896159052848816}, "tactile_right": {"psnr": 32.46613717391188, "ssim": 0.9653710099089234, "lpips": 0.16444788873195648}}, {"video": {"psnr": 18.463172460561708, "ssim": 0.626507066997112, "lpips": 0.3381061553955078}, "wrist_left": {"psnr": 10.642462999712482, "ssim": 0.356177478122938, "lpips": 0.5638346076011658}, "wrist_right": {"psnr": 16.71396576080247, "ssim": 0.7666518608450721, "lpips": 0.30227136611938477}, "tactile_left": {"psnr": 32.29736849295955, "ssim": 0.9354742197128335, "lpips": 0.30170899629592896}, "tactile_right": {"psnr": 31.663277841004668, "ssim": 0.9640321984980733, "lpips": 0.16205790638923645}}, {"video": {"psnr": 18.344251160573556, "ssim": 0.6193064349359276, "lpips": 0.3171048164367676}, "wrist_left": {"psnr": 13.838471956320689, "ssim": 0.39033097646881476, "lpips": 0.48835980892181396}, "wrist_right": {"psnr": 10.030804298470466, "ssim": 0.44631189934574533, "lpips": 0.6274763941764832}, "tactile_left": {"psnr": 33.23940464488829, "ssim": 0.9517165393045361, "lpips": 0.2297246903181076}, "tactile_right": {"psnr": 31.28794802558534, "ssim": 0.9634788435757838, "lpips": 0.1600486934185028}}, {"video": {"psnr": 18.19992599153202, "ssim": 0.6119505792491692, "lpips": 0.32286855578422546}, "wrist_left": {"psnr": 14.248832655498711, "ssim": 0.3393197596897879, "lpips": 0.512810468673706}, "wrist_right": {"psnr": 8.17454400390231, "ssim": 0.30818022991559124, "lpips": 0.7499644756317139}, "tactile_left": {"psnr": 30.35882861858888, "ssim": 0.9186656525780467, "lpips": 0.2658156454563141}, "tactile_right": {"psnr": 30.950165682211882, "ssim": 0.9593119155396844, "lpips": 0.1862940788269043}}], "long_metrics": {"video": {"psnr": 22.828422764745344, "ssim": 0.7634374756791362, "lpips": 0.16793653964996338}, "wrist_left": {"psnr": 15.844194618622822, "ssim": 0.5730195291552493, "lpips": 0.35690324356158576}, "wrist_right": {"psnr": 18.617954613246486, "ssim": 0.6677398944095516, "lpips": 0.26788028528292973}, "tactile_left": {"psnr": 37.999642662514766, "ssim": 0.9636885378448767, "lpips": 0.1448407595201085}, "tactile_right": {"psnr": 38.23081566709647, "ssim": 0.976670254204001, "lpips": 0.09499613493680954}}}, {"id": "motherboard_custom_e010_17", "episode": "motherboard_0912_episode_002.pt", "requested_episode": "motherboard_0912_episode_002.pt", "category": "onset", "t_start": 2106, "start_seconds": 140.4, "short_contact": [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 1], "future_transition_ticks": [11], "long_contact_fraction": 0.75, "long_label": "onset", "short_metrics": {"video": {"psnr": 26.947084717065195, "ssim": 0.8551746341056836, "lpips": 0.04137638956308365}, "wrist_left": {"psnr": 17.013944532161634, "ssim": 0.5443076818553286, "lpips": 0.20913004875183105}, "wrist_right": {"psnr": 16.56029994927244, "ssim": 0.3749695868941107, "lpips": 0.18004047870635986}, "tactile_left": {"psnr": 47.07173961165772, "ssim": 0.9884776239100725, "lpips": 0.008045469410717487}, "tactile_right": {"psnr": 41.86512026389754, "ssim": 0.9840729681422884, "lpips": 0.0679587721824646}}, "media": {"short": {"video": "media/motherboard_custom_e010_17_short.mp4", "poster": "media/motherboard_custom_e010_17_short.jpg"}, "long": {"video": "media/motherboard_custom_e010_17_long.mp4", "poster": "media/motherboard_custom_e010_17_long.jpg"}}, "force": {"source": "recorded_normal_force", "units": "N", "fps": 15, "left": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.12416389584541321, 0.06000244617462158, 0.1599999964237213, 0.0, 0.0, 0.0, 0.1599999964237213, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 2.3248276710510254, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 2.6312499046325684, 2.6312499046325684, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.9444444179534912, 0.7983333468437195, 2.243333339691162, 3.9167568683624268, 4.726428508758545, 5.397500038146973, 5.397500038146973, 4.726428508758545, 4.726428508758545, 3.928694009780884, 3.9167568683624268, 3.9167568683624268, 3.9167568683624268, 3.9167568683624268, 3.9167568683624268, 3.9167568683624268, 3.3742141723632812, 3.0568182468414307, 2.6312499046325684, 2.3248276710510254, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 1.380898118019104, 1.9444444179534912, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7040123343467712, 0.7040123343467712, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 2.243333339691162, 1.9444444179534912, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.243333339691162, 1.9444444179534912, 1.9444444179534912, 1.9444444179534912, 2.243333339691162, 1.9444444179534912, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 2.3248276710510254, 0.7983333468437195, 2.243333339691162], "right": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.7983333468437195, 2.243333339691162, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.5789201259613037, 2.3248276710510254, 3.9167568683624268, 3.9167568683624268, 3.9167568683624268, 3.1971428394317627, 3.0568182468414307, 3.1971428394317627, 3.9167568683624268, 3.9167568683624268, 2.3248276710510254, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.5337831377983093, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.1599999964237213, 0.1599999964237213, 0.0, 0.0, 0.0, 0.0, 0.0, 0.4000000059604645, 0.1599999964237213, 0.0, 0.0, 0.1599999964237213, 0.1599999964237213, 0.25, 0.49805352091789246, 1.9444444179534912, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 1.846291184425354, 2.3172874450683594, 2.3248276710510254, 0.7983333468437195, 0.1599999964237213, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]}, "long_curve": [{"video": {"psnr": 26.947084717065195, "ssim": 0.8551746341056836, "lpips": 0.04137638956308365}, "wrist_left": {"psnr": 17.013944532161634, "ssim": 0.5443076818553286, "lpips": 0.20913004875183105}, "wrist_right": {"psnr": 16.56029994927244, "ssim": 0.3749695868941107, "lpips": 0.18004047870635986}, "tactile_left": {"psnr": 47.07173961165772, "ssim": 0.9884776239100725, "lpips": 0.008045469410717487}, "tactile_right": {"psnr": 41.86512026389754, "ssim": 0.9840729681422884, "lpips": 0.0679587721824646}}, {"video": {"psnr": 21.766728704669504, "ssim": 0.71893244110502, "lpips": 0.13634678721427917}, "wrist_left": {"psnr": 12.598121566787519, "ssim": 0.3821411814441886, "lpips": 0.3866598606109619}, "wrist_right": {"psnr": 15.463384628473873, "ssim": 0.3604529158321915, "lpips": 0.34033405780792236}, "tactile_left": {"psnr": 46.210035868346246, "ssim": 0.9868934483643194, "lpips": 0.016840294003486633}, "tactile_right": {"psnr": 40.6305287781763, "ssim": 0.9765085446517492, "lpips": 0.11081001162528992}}, {"video": {"psnr": 21.222870555909395, "ssim": 0.7149003181462914, "lpips": 0.1867312490940094}, "wrist_left": {"psnr": 11.634441316848873, "ssim": 0.2761747847081947, "lpips": 0.47949257493019104}, "wrist_right": {"psnr": 15.5132014892184, "ssim": 0.40083184663343585, "lpips": 0.38875052332878113}, "tactile_left": {"psnr": 42.151425554094175, "ssim": 0.981402197584535, "lpips": 0.04242457449436188}, "tactile_right": {"psnr": 42.02175694635056, "ssim": 0.9822272743595406, "lpips": 0.06587623059749603}}, {"video": {"psnr": 20.141401590978667, "ssim": 0.6900107132419353, "lpips": 0.2316167801618576}, "wrist_left": {"psnr": 12.417564137368382, "ssim": 0.2700245770447202, "lpips": 0.482260137796402}, "wrist_right": {"psnr": 13.537052636503798, "ssim": 0.40527154312519503, "lpips": 0.42739689350128174}, "tactile_left": {"psnr": 36.37834639897483, "ssim": 0.9679439490696455, "lpips": 0.08926241099834442}, "tactile_right": {"psnr": 40.2646650828021, "ssim": 0.9832010397952156, "lpips": 0.040637388825416565}}, {"video": {"psnr": 19.646653911292965, "ssim": 0.6706898308057729, "lpips": 0.23519006371498108}, "wrist_left": {"psnr": 12.180627308426786, "ssim": 0.3534365113897427, "lpips": 0.4435264468193054}, "wrist_right": {"psnr": 13.801918743356056, "ssim": 0.3350696189664439, "lpips": 0.47698545455932617}, "tactile_left": {"psnr": 40.56896838603464, "ssim": 0.9798732258538994, "lpips": 0.060217905789613724}, "tactile_right": {"psnr": 38.69803582878406, "ssim": 0.9773071955248707, "lpips": 0.08286618441343307}}, {"video": {"psnr": 19.812981985222574, "ssim": 0.6579405378135446, "lpips": 0.23142218589782715}, "wrist_left": {"psnr": 11.302220233051276, "ssim": 0.2745773757607325, "lpips": 0.4965074062347412}, "wrist_right": {"psnr": 14.448737130430871, "ssim": 0.43425818529068727, "lpips": 0.4076344966888428}, "tactile_left": {"psnr": 37.309945724070325, "ssim": 0.9681838123030548, "lpips": 0.10761411488056183}, "tactile_right": {"psnr": 38.306647196413806, "ssim": 0.9793588348750343, "lpips": 0.0713721215724945}}, {"video": {"psnr": 19.914701094143478, "ssim": 0.6635366338245258, "lpips": 0.21265903115272522}, "wrist_left": {"psnr": 12.619697497191831, "ssim": 0.2608424491994432, "lpips": 0.4927400052547455}, "wrist_right": {"psnr": 12.282146867636179, "ssim": 0.3604814443013934, "lpips": 0.4387238025665283}, "tactile_left": {"psnr": 31.997618936936792, "ssim": 0.9386003359597113, "lpips": 0.2380352020263672}, "tactile_right": {"psnr": 35.691933018181395, "ssim": 0.971494040520842, "lpips": 0.14337626099586487}}, {"video": {"psnr": 19.62964555162079, "ssim": 0.6605256283462164, "lpips": 0.22970157861709595}, "wrist_left": {"psnr": 11.879955823649667, "ssim": 0.28841396290090643, "lpips": 0.4860236644744873}, "wrist_right": {"psnr": 12.514001769647368, "ssim": 0.38914256812031134, "lpips": 0.4311625361442566}, "tactile_left": {"psnr": 29.476103716995247, "ssim": 0.9379945497613762, "lpips": 0.2521834969520569}, "tactile_right": {"psnr": 36.8541698277287, "ssim": 0.975088243337448, "lpips": 0.10257141292095184}}, {"video": {"psnr": 19.096080483839028, "ssim": 0.644963338712798, "lpips": 0.25802016258239746}, "wrist_left": {"psnr": 11.217612017227632, "ssim": 0.29034056965475147, "lpips": 0.49650338292121887}, "wrist_right": {"psnr": 13.426103811293926, "ssim": 0.3339478152327427, "lpips": 0.45581841468811035}, "tactile_left": {"psnr": 26.467516557245936, "ssim": 0.9273079436409599, "lpips": 0.2865614891052246}, "tactile_right": {"psnr": 35.4092390020931, "ssim": 0.9723497411249183, "lpips": 0.10694490373134613}}, {"video": {"psnr": 18.445850590746716, "ssim": 0.6295362285957478, "lpips": 0.2919316291809082}, "wrist_left": {"psnr": 11.268637695520212, "ssim": 0.3235562328420931, "lpips": 0.49306488037109375}, "wrist_right": {"psnr": 13.39404335253162, "ssim": 0.3462669149337577, "lpips": 0.4343658983707428}, "tactile_left": {"psnr": 28.46098076275469, "ssim": 0.9440848965010968, "lpips": 0.1957176923751831}, "tactile_right": {"psnr": 34.387809287528256, "ssim": 0.9687303594174056, "lpips": 0.12854647636413574}}, {"video": {"psnr": 18.12405718341989, "ssim": 0.6234118495972607, "lpips": 0.29383495450019836}, "wrist_left": {"psnr": 9.596473063195655, "ssim": 0.3659504584521511, "lpips": 0.5370133519172668}, "wrist_right": {"psnr": 13.213893416887688, "ssim": 0.3238564384803731, "lpips": 0.42099547386169434}, "tactile_left": {"psnr": 35.11978069986353, "ssim": 0.9688847694646505, "lpips": 0.09244589507579803}, "tactile_right": {"psnr": 32.73272597322132, "ssim": 0.9600292041709608, "lpips": 0.17534837126731873}}, {"video": {"psnr": 18.16243943204872, "ssim": 0.6333688216076097, "lpips": 0.2778533697128296}, "wrist_left": {"psnr": 8.824975394786506, "ssim": 0.2229887364787697, "lpips": 0.6709170341491699}, "wrist_right": {"psnr": 12.20657818815219, "ssim": 0.3237991502599161, "lpips": 0.4633065462112427}, "tactile_left": {"psnr": 33.421741103682244, "ssim": 0.9615089955343017, "lpips": 0.13581883907318115}, "tactile_right": {"psnr": 32.44306205780786, "ssim": 0.967216956977089, "lpips": 0.12563659250736237}}, {"video": {"psnr": 17.651036200529248, "ssim": 0.627914733404304, "lpips": 0.2925918400287628}, "wrist_left": {"psnr": 10.442245050436757, "ssim": 0.2287217234660192, "lpips": 0.6357954740524292}, "wrist_right": {"psnr": 11.263288776427228, "ssim": 0.390177173941062, "lpips": 0.4500867426395416}, "tactile_left": {"psnr": 33.73150279774226, "ssim": 0.964090867508077, "lpips": 0.1314091682434082}, "tactile_right": {"psnr": 32.100551507992144, "ssim": 0.9645185913909364, "lpips": 0.14378038048744202}}, {"video": {"psnr": 17.688819980374767, "ssim": 0.6147925225824905, "lpips": 0.3133721351623535}, "wrist_left": {"psnr": 10.867235418098822, "ssim": 0.4159877929988117, "lpips": 0.5156156420707703}, "wrist_right": {"psnr": 10.652135118711897, "ssim": 0.31745655355728797, "lpips": 0.4969903528690338}, "tactile_left": {"psnr": 34.28198096504615, "ssim": 0.9646752208340543, "lpips": 0.13707531988620758}, "tactile_right": {"psnr": 31.89650547201909, "ssim": 0.9628768175327278, "lpips": 0.15671466290950775}}, {"video": {"psnr": 17.910734631833023, "ssim": 0.6149872627271601, "lpips": 0.30202043056488037}, "wrist_left": {"psnr": 10.847990128520289, "ssim": 0.2884138505384583, "lpips": 0.5593764781951904}, "wrist_right": {"psnr": 10.703887057700001, "ssim": 0.2858607138803966, "lpips": 0.4916725158691406}, "tactile_left": {"psnr": 33.81807530532191, "ssim": 0.9595940143983348, "lpips": 0.16456912457942963}, "tactile_right": {"psnr": 31.535292345276822, "ssim": 0.9619090817347606, "lpips": 0.16605013608932495}}], "long_metrics": {"video": {"psnr": 19.74407244091293, "ssim": 0.6680456996410907, "lpips": 0.23564457247654597}, "wrist_left": {"psnr": 11.647449412218123, "ssim": 0.3190585259156207, "lpips": 0.4923084259033203}, "wrist_right": {"psnr": 13.26537819574957, "ssim": 0.358789497963287, "lpips": 0.42028427918752037}, "tactile_left": {"psnr": 35.764384159251115, "ssim": 0.9626343900458726, "lpips": 0.13054806645959616}, "tactile_right": {"psnr": 36.32253617255154, "ssim": 0.9724592595703858, "lpips": 0.11256599376598994}}}, {"id": "motherboard_custom_e010_18", "episode": "motherboard_0912_episode_002.pt", "requested_episode": "motherboard_0912_episode_002.pt", "category": "release", "t_start": 217, "start_seconds": 14.466666666666667, "short_contact": [1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 0, 0], "future_transition_ticks": [11], "long_contact_fraction": 0.9296875, "long_label": "release", "short_metrics": {"video": {"psnr": 22.570028240857795, "ssim": 0.7495921011502662, "lpips": 0.1474127173423767}, "wrist_left": {"psnr": 14.712638267269966, "ssim": 0.516246511318119, "lpips": 0.44561201333999634}, "wrist_right": {"psnr": 13.520122113032016, "ssim": 0.4731558045509816, "lpips": 0.4027325510978699}, "tactile_left": {"psnr": 40.52439657958291, "ssim": 0.9819927129177799, "lpips": 0.056341756135225296}, "tactile_right": {"psnr": 49.02022084294561, "ssim": 0.9936282694030465, "lpips": 0.010838044807314873}}, "media": {"short": {"video": "media/motherboard_custom_e010_18_short.mp4", "poster": "media/motherboard_custom_e010_18_short.jpg"}, "long": {"video": "media/motherboard_custom_e010_18_long.mp4", "poster": "media/motherboard_custom_e010_18_long.jpg"}}, "force": {"source": "recorded_normal_force", "units": "N", "fps": 15, "left": [4.852499961853027, 4.726428508758545, 3.0568182468414307, 3.0568182468414307, 0.502597451210022, 0.7983333468437195, 0.7983333468437195, 0.5090468525886536, 3.0568182468414307, 0.7983333468437195, 3.9167568683624268, 0.27666667103767395, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 3.0568182468414307, 3.9167568683624268, 5.403749942779541, 6.519285678863525, 5.486666679382324, 4.852499961853027, 4.852499961853027, 3.9167568683624268, 3.9167568683624268, 3.0568182468414307, 2.3248276710510254, 1.9444444179534912, 2.3248276710510254, 4.726428508758545, 4.726428508758545, 4.726428508758545, 4.821667671203613, 4.726428508758545, 3.9167568683624268, 3.9383208751678467, 3.9167568683624268, 3.9167568683624268, 3.0568182468414307, 3.0568182468414307, 3.9167568683624268, 3.9167568683624268, 3.1971428394317627, 3.9167568683624268, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 2.6312499046325684, 2.6312499046325684, 2.3248276710510254, 2.3248276710510254, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.920292377471924, 3.9167568683624268, 3.9167568683624268, 3.9167568683624268, 4.726428508758545, 4.726428508758545, 3.9167568683624268, 3.1971428394317627, 3.1971428394317627, 3.9167568683624268, 3.9167568683624268, 3.9167568683624268, 3.0568182468414307, 2.3248276710510254, 3.0568182468414307, 3.0568182468414307, 2.3248276710510254, 3.0568182468414307, 3.0568182468414307, 2.3248276710510254, 3.0568182468414307, 3.0568182468414307, 1.6830923557281494, 2.3248276710510254, 0.5600000023841858, 3.0568182468414307, 3.0568182468414307, 2.3248276710510254, 3.0568182468414307, 3.9167568683624268, 3.9167568683624268, 4.726428508758545, 5.403749942779541, 4.726428508758545, 4.726428508758545, 4.726428508758545, 4.726428508758545, 3.9167568683624268, 3.9167568683624268, 4.726428508758545, 3.9167568683624268, 3.9167568683624268, 3.932142496109009, 3.9167568683624268, 3.9167568683624268, 3.0568182468414307, 3.0568182468414307, 3.9167568683624268, 3.1971428394317627, 3.0568182468414307, 2.3248276710510254, 1.5576918125152588, 1.9444444179534912, 3.938002347946167, 4.852499961853027, 5.403749942779541, 5.403749942779541, 5.403749942779541, 4.726428508758545, 4.726428508758545, 3.9167568683624268, 3.9167568683624268, 3.9167568683624268, 3.9167568683624268, 3.0568182468414307, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 3.0568182468414307], "right": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.1599999964237213, 0.07424460351467133, 0.7660918831825256, 0.7983333468437195, 0.4399999976158142, 0.43391281366348267, 0.4399999976158142, 2.3248276710510254, 3.0568182468414307, 3.1971428394317627, 3.1885313987731934, 3.0568182468414307, 0.5600000023841858, 0.6110549569129944, 0.6894059777259827, 0.5600000023841858, 0.5600000023841858, 0.2640872597694397, 0.25, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7983333468437195, 0.7471941709518433, 0.43728530406951904]}, "long_curve": [{"video": {"psnr": 22.570028240857795, "ssim": 0.7495921011502662, "lpips": 0.1474127173423767}, "wrist_left": {"psnr": 14.712638267269966, "ssim": 0.516246511318119, "lpips": 0.44561201333999634}, "wrist_right": {"psnr": 13.520122113032016, "ssim": 0.4731558045509816, "lpips": 0.4027325510978699}, "tactile_left": {"psnr": 40.52439657958291, "ssim": 0.9819927129177799, "lpips": 0.056341756135225296}, "tactile_right": {"psnr": 49.02022084294561, "ssim": 0.9936282694030465, "lpips": 0.010838044807314873}}, {"video": {"psnr": 21.762950952389573, "ssim": 0.6900736942668857, "lpips": 0.16879841685295105}, "wrist_left": {"psnr": 14.107195682083821, "ssim": 0.3634271115934256, "lpips": 0.4149242043495178}, "wrist_right": {"psnr": 12.553188073278665, "ssim": 0.38045442581072286, "lpips": 0.45411670207977295}, "tactile_left": {"psnr": 39.3149144152857, "ssim": 0.9710012345553116, "lpips": 0.08167396485805511}, "tactile_right": {"psnr": 44.78896065873309, "ssim": 0.9882320360825669, "lpips": 0.022237565368413925}}, {"video": {"psnr": 20.992762145878228, "ssim": 0.6967321860113953, "lpips": 0.21298375725746155}, "wrist_left": {"psnr": 13.860156052032426, "ssim": 0.33090741805193535, "lpips": 0.4615829288959503}, "wrist_right": {"psnr": 10.977174207282246, "ssim": 0.3488323793838205, "lpips": 0.5207822322845459}, "tactile_left": {"psnr": 36.59674148111408, "ssim": 0.9584174757089814, "lpips": 0.1281767338514328}, "tactile_right": {"psnr": 41.6563036665913, "ssim": 0.9850596271304479, "lpips": 0.04247143864631653}}, {"video": {"psnr": 21.713385781839676, "ssim": 0.700857052879966, "lpips": 0.19472533464431763}, "wrist_left": {"psnr": 13.769318255565812, "ssim": 0.35241752436397794, "lpips": 0.46088486909866333}, "wrist_right": {"psnr": 12.097324979032244, "ssim": 0.4117859975383016, "lpips": 0.4593770503997803}, "tactile_left": {"psnr": 36.626978565448525, "ssim": 0.9650339072100621, "lpips": 0.09461954981088638}, "tactile_right": {"psnr": 39.532727083713816, "ssim": 0.9843207776765455, "lpips": 0.0373866967856884}}, {"video": {"psnr": 20.528669727855238, "ssim": 0.6914761948330341, "lpips": 0.23589083552360535}, "wrist_left": {"psnr": 13.987100475813008, "ssim": 0.368046850600205, "lpips": 0.46360698342323303}, "wrist_right": {"psnr": 12.011683103947062, "ssim": 0.5087294465322227, "lpips": 0.5004299283027649}, "tactile_left": {"psnr": 34.353916148765926, "ssim": 0.9555522907527987, "lpips": 0.13758057355880737}, "tactile_right": {"psnr": 38.227809750997395, "ssim": 0.9819921110782175, "lpips": 0.05211862921714783}}, {"video": {"psnr": 20.504634094595513, "ssim": 0.6969922280959652, "lpips": 0.2409660816192627}, "wrist_left": {"psnr": 14.49767596787342, "ssim": 0.34231350151352297, "lpips": 0.4607192277908325}, "wrist_right": {"psnr": 11.08872582120662, "ssim": 0.37847759791225466, "lpips": 0.48945552110671997}, "tactile_left": {"psnr": 35.559991035529464, "ssim": 0.961364989449081, "lpips": 0.10389995574951172}, "tactile_right": {"psnr": 37.15160581028472, "ssim": 0.9797987778179579, "lpips": 0.06574006378650665}}, {"video": {"psnr": 19.995480751124923, "ssim": 0.680184218170599, "lpips": 0.27000516653060913}, "wrist_left": {"psnr": 14.164819776598698, "ssim": 0.364571557626176, "lpips": 0.48084527254104614}, "wrist_right": {"psnr": 12.051827158023805, "ssim": 0.4052261573965386, "lpips": 0.45477813482284546}, "tactile_left": {"psnr": 36.41238630189268, "ssim": 0.9607741700580306, "lpips": 0.13278023898601532}, "tactile_right": {"psnr": 35.98678400153768, "ssim": 0.9772118168020494, "lpips": 0.08268773555755615}}, {"video": {"psnr": 20.05989012282074, "ssim": 0.6538436098126603, "lpips": 0.2658938467502594}, "wrist_left": {"psnr": 12.491865822575026, "ssim": 0.3118198677245495, "lpips": 0.4982467591762543}, "wrist_right": {"psnr": 12.297537992186376, "ssim": 0.3479970583767521, "lpips": 0.512823224067688}, "tactile_left": {"psnr": 36.0663314280784, "ssim": 0.9580655152323498, "lpips": 0.15957383811473846}, "tactile_right": {"psnr": 35.75876067979557, "ssim": 0.9738394835799628, "lpips": 0.10044308006763458}}, {"video": {"psnr": 20.036419735750755, "ssim": 0.6679489961653738, "lpips": 0.2688142657279968}, "wrist_left": {"psnr": 13.696776631716736, "ssim": 0.4020260318477289, "lpips": 0.45897388458251953}, "wrist_right": {"psnr": 13.975410603390062, "ssim": 0.4098261280476856, "lpips": 0.43106159567832947}, "tactile_left": {"psnr": 35.92747701407661, "ssim": 0.9595026226986739, "lpips": 0.16755738854408264}, "tactile_right": {"psnr": 35.06687609525356, "ssim": 0.9713689506141037, "lpips": 0.11172397434711456}}, {"video": {"psnr": 19.939498838716315, "ssim": 0.67024762601293, "lpips": 0.2672167420387268}, "wrist_left": {"psnr": 13.715090219746065, "ssim": 0.3872002787764655, "lpips": 0.4703059792518616}, "wrist_right": {"psnr": 13.460556850144211, "ssim": 0.3792430582856676, "lpips": 0.42739376425743103}, "tactile_left": {"psnr": 35.34678806408413, "ssim": 0.9574295811895703, "lpips": 0.19514919817447662}, "tactile_right": {"psnr": 33.9492117501269, "ssim": 0.9686370627416743, "lpips": 0.13447748124599457}}, {"video": {"psnr": 19.538432119551324, "ssim": 0.6495935409522351, "lpips": 0.29605633020401}, "wrist_left": {"psnr": 12.840993028958664, "ssim": 0.40491309140029413, "lpips": 0.48860540986061096}, "wrist_right": {"psnr": 11.880410166464339, "ssim": 0.36845318680196193, "lpips": 0.4831863045692444}, "tactile_left": {"psnr": 34.94569564649504, "ssim": 0.9491023348477359, "lpips": 0.22320105135440826}, "tactile_right": {"psnr": 33.159057641051234, "ssim": 0.9660350166318832, "lpips": 0.15248271822929382}}, {"video": {"psnr": 19.484215416100128, "ssim": 0.644032892293934, "lpips": 0.30112510919570923}, "wrist_left": {"psnr": 11.55985259510187, "ssim": 0.30484370996908394, "lpips": 0.5248807668685913}, "wrist_right": {"psnr": 12.378560024712954, "ssim": 0.39966248599115206, "lpips": 0.4880964457988739}, "tactile_left": {"psnr": 34.16337886531324, "ssim": 0.9399646411418323, "lpips": 0.23500630259513855}, "tactile_right": {"psnr": 32.4531202083161, "ssim": 0.9628442547382708, "lpips": 0.17132951319217682}}, {"video": {"psnr": 19.166793959134523, "ssim": 0.6471876483875427, "lpips": 0.31057652831077576}, "wrist_left": {"psnr": 13.849170898076705, "ssim": 0.3633745557341198, "lpips": 0.4875173568725586}, "wrist_right": {"psnr": 13.271915435603251, "ssim": 0.3590470602350976, "lpips": 0.5073763132095337}, "tactile_left": {"psnr": 34.22832052776648, "ssim": 0.9513586240551066, "lpips": 0.20529994368553162}, "tactile_right": {"psnr": 31.87409882744529, "ssim": 0.9587508808229205, "lpips": 0.20889849960803986}}, {"video": {"psnr": 19.542819705481573, "ssim": 0.6562678571681263, "lpips": 0.29550105333328247}, "wrist_left": {"psnr": 13.940453180218672, "ssim": 0.3816710914785941, "lpips": 0.48241713643074036}, "wrist_right": {"psnr": 13.040140444714272, "ssim": 0.35106185534432516, "lpips": 0.5019385814666748}, "tactile_left": {"psnr": 34.13440505191659, "ssim": 0.9500316620299393, "lpips": 0.23275908827781677}, "tactile_right": {"psnr": 31.25614467766646, "ssim": 0.9559750957590032, "lpips": 0.2243283987045288}}, {"video": {"psnr": 19.995359947616166, "ssim": 0.6633221289500286, "lpips": 0.26326286792755127}, "wrist_left": {"psnr": 13.117011129087182, "ssim": 0.3542386512126269, "lpips": 0.5052998065948486}, "wrist_right": {"psnr": 11.077082286716312, "ssim": 0.3030138859816546, "lpips": 0.5714472532272339}, "tactile_left": {"psnr": 33.799973919167044, "ssim": 0.9452145654635407, "lpips": 0.25336432456970215}, "tactile_right": {"psnr": 31.03688843454905, "ssim": 0.9534584515996756, "lpips": 0.24214938282966614}}], "long_metrics": {"video": {"psnr": 20.3887561026475, "ssim": 0.6772234650100628, "lpips": 0.24928193688392639}, "wrist_left": {"psnr": 13.620674532181205, "ssim": 0.369867850214055, "lpips": 0.473628173271815}, "wrist_right": {"psnr": 12.378777283982295, "ssim": 0.38833110187927594, "lpips": 0.4803330401579539}, "tactile_left": {"psnr": 35.866779669634454, "ssim": 0.9576537551540529, "lpips": 0.1604655938843886}, "tactile_right": {"psnr": 36.72790467526718, "ssim": 0.9734101741652217, "lpips": 0.1106208814928929}}}, {"id": "motherboard_custom_e010_19", "episode": "motherboard_0912_episode_002.pt", "requested_episode": "motherboard_0912_episode_002.pt", "category": "full", "t_start": 944, "start_seconds": 62.93333333333333, "short_contact": [1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1], "future_transition_ticks": [], "long_contact_fraction": 1.0, "long_label": "full", "short_metrics": {"video": {"psnr": 24.321541921525835, "ssim": 0.8133666193017344, "lpips": 0.07490292191505432}, "wrist_left": {"psnr": 17.686018257601965, "ssim": 0.46403387364867577, "lpips": 0.29719793796539307}, "wrist_right": {"psnr": 28.55894939428198, "ssim": 0.9302194172977489, "lpips": 0.05332280695438385}, "tactile_left": {"psnr": 38.32015344496928, "ssim": 0.9576226454841634, "lpips": 0.06392709910869598}, "tactile_right": {"psnr": 47.688084048709, "ssim": 0.991837284594997, "lpips": 0.019849732518196106}}, "media": {"short": {"video": "media/motherboard_custom_e010_19_short.mp4", "poster": "media/motherboard_custom_e010_19_short.jpg"}, "long": {"video": "media/motherboard_custom_e010_19_long.mp4", "poster": "media/motherboard_custom_e010_19_long.jpg"}}, "force": {"source": "recorded_normal_force", "units": "N", "fps": 15, "left": [1.9444444179534912, 5.486666679382324, 5.403749942779541, 5.486666679382324, 5.486666679382324, 4.726428508758545, 4.726428508758545, 4.726428508758545, 5.397500038146973, 4.726428508758545, 4.726428508758545, 4.726428508758545, 4.726428508758545, 4.726428508758545, 4.726428508758545, 4.726428508758545, 3.9385359287261963, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 2.6312499046325684, 2.6312499046325684, 2.6312499046325684, 3.0568182468414307, 3.0568182468414307, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.6312499046325684, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 4.81326961517334, 4.852499961853027, 5.397634029388428, 4.852499961853027, 4.852499961853027, 5.397500038146973, 5.399270057678223, 5.397500038146973, 4.852499961853027, 4.852499961853027, 3.9167568683624268, 3.9167568683624268, 3.9167568683624268, 4.726428508758545, 4.726428508758545, 4.726428508758545, 4.726428508758545, 4.726428508758545, 3.1971428394317627, 3.1971428394317627, 3.1971428394317627, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.4042980670928955, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 2.6312499046325684, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 3.9167568683624268, 5.397500038146973, 4.726428508758545, 4.726428508758545, 4.726428508758545, 3.9167568683624268, 3.9167568683624268, 3.9388134479522705, 3.1971428394317627, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0808489322662354, 3.0568182468414307, 3.0568182468414307, 2.3248276710510254, 2.3248276710510254, 2.3248276710510254, 1.9444444179534912, 1.5979106426239014, 0.7983333468437195, 0.7983333468437195, 2.3248276710510254, 2.3248276710510254, 0.7983333468437195, 2.243333339691162, 2.243333339691162, 2.3248276710510254, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.0568182468414307, 3.9167568683624268, 3.92547869682312, 3.9167568683624268, 4.852499961853027, 3.939357280731201, 4.726428508758545, 4.726428508758545, 3.940000057220459, 3.1971428394317627, 3.9167568683624268, 3.9167568683624268, 3.9167568683624268, 3.9167568683624268, 3.9167568683624268, 3.9247372150421143], "right": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0689406767487526, 0.4319555163383484, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]}, "long_curve": [{"video": {"psnr": 24.321541921525835, "ssim": 0.8133666193017344, "lpips": 0.07490292191505432}, "wrist_left": {"psnr": 17.686018257601965, "ssim": 0.46403387364867577, "lpips": 0.29719793796539307}, "wrist_right": {"psnr": 28.55894939428198, "ssim": 0.9302194172977489, "lpips": 0.05332280695438385}, "tactile_left": {"psnr": 38.32015344496928, "ssim": 0.9576226454841634, "lpips": 0.06392709910869598}, "tactile_right": {"psnr": 47.688084048709, "ssim": 0.991837284594997, "lpips": 0.019849732518196106}}, {"video": {"psnr": 21.09270098305981, "ssim": 0.7329313811413029, "lpips": 0.18103957176208496}, "wrist_left": {"psnr": 14.200673625242956, "ssim": 0.2954218830358003, "lpips": 0.42847734689712524}, "wrist_right": {"psnr": 24.50577143802168, "ssim": 0.8741985994271303, "lpips": 0.10111252963542938}, "tactile_left": {"psnr": 38.45161181446165, "ssim": 0.9653683969192874, "lpips": 0.08099354803562164}, "tactile_right": {"psnr": 43.97975282590988, "ssim": 0.9863267584676843, "lpips": 0.026858415454626083}}, {"video": {"psnr": 21.661919041966623, "ssim": 0.7443748352426705, "lpips": 0.1400410234928131}, "wrist_left": {"psnr": 16.12978792869725, "ssim": 0.3499321362992338, "lpips": 0.40863049030303955}, "wrist_right": {"psnr": 23.742048601449092, "ssim": 0.8673578269765063, "lpips": 0.10684137791395187}, "tactile_left": {"psnr": 39.15648433769225, "ssim": 0.9678712865594641, "lpips": 0.08270058780908585}, "tactile_right": {"psnr": 41.12665357833482, "ssim": 0.9851841353217128, "lpips": 0.024135038256645203}}, {"video": {"psnr": 20.509541838930584, "ssim": 0.7132045091123083, "lpips": 0.2142397165298462}, "wrist_left": {"psnr": 15.000765453198252, "ssim": 0.37643048737563367, "lpips": 0.49774670600891113}, "wrist_right": {"psnr": 25.043424095478667, "ssim": 0.867821272257975, "lpips": 0.12352267652750015}, "tactile_left": {"psnr": 37.78014496232759, "ssim": 0.9589354455710675, "lpips": 0.09792627394199371}, "tactile_right": {"psnr": 38.81206010641657, "ssim": 0.9831687231848183, "lpips": 0.03863852471113205}}, {"video": {"psnr": 19.653101437741213, "ssim": 0.6964948121916053, "lpips": 0.2643449306488037}, "wrist_left": {"psnr": 13.849685842733269, "ssim": 0.33491035166262023, "lpips": 0.528667151927948}, "wrist_right": {"psnr": 24.99047692153084, "ssim": 0.8751839712834285, "lpips": 0.11684389412403107}, "tactile_left": {"psnr": 36.24823168721854, "ssim": 0.9392531048183037, "lpips": 0.11952075362205505}, "tactile_right": {"psnr": 37.6026893372491, "ssim": 0.9807796132634807, "lpips": 0.0537586510181427}}, {"video": {"psnr": 18.530909422776265, "ssim": 0.6702598861657217, "lpips": 0.30008697509765625}, "wrist_left": {"psnr": 14.48492926040053, "ssim": 0.32286001823160254, "lpips": 0.48590394854545593}, "wrist_right": {"psnr": 19.676739437781126, "ssim": 0.8212751834813646, "lpips": 0.18495982885360718}, "tactile_left": {"psnr": 36.030173919749735, "ssim": 0.9454555213818081, "lpips": 0.13455413281917572}, "tactile_right": {"psnr": 36.882884121493504, "ssim": 0.9795270986764812, "lpips": 0.0663919597864151}}, {"video": {"psnr": 18.272052739716997, "ssim": 0.6487322542043896, "lpips": 0.3187572658061981}, "wrist_left": {"psnr": 14.42991844911878, "ssim": 0.31365342260214, "lpips": 0.4949764013290405}, "wrist_right": {"psnr": 21.06838633416895, "ssim": 0.8218325490494521, "lpips": 0.19075775146484375}, "tactile_left": {"psnr": 36.24200755246414, "ssim": 0.9595665863627618, "lpips": 0.12061487138271332}, "tactile_right": {"psnr": 35.84044221750088, "ssim": 0.978193856199019, "lpips": 0.08101719617843628}}, {"video": {"psnr": 19.125917813345158, "ssim": 0.6730183257305661, "lpips": 0.28659647703170776}, "wrist_left": {"psnr": 14.814605260486076, "ssim": 0.3696451259475527, "lpips": 0.4828874170780182}, "wrist_right": {"psnr": 22.598773795027, "ssim": 0.8441390222316748, "lpips": 0.14621196687221527}, "tactile_left": {"psnr": 36.990280834473516, "ssim": 0.9675007693540729, "lpips": 0.09882082045078278}, "tactile_right": {"psnr": 35.24313303628504, "ssim": 0.9767693569597612, "lpips": 0.08718615025281906}}, {"video": {"psnr": 19.566651528002435, "ssim": 0.6818837630910766, "lpips": 0.285748153924942}, "wrist_left": {"psnr": 14.114017617872713, "ssim": 0.3510779355398483, "lpips": 0.47882843017578125}, "wrist_right": {"psnr": 21.972993765275866, "ssim": 0.8206982515315928, "lpips": 0.2181374430656433}, "tactile_left": {"psnr": 36.29546991426758, "ssim": 0.9613294499963596, "lpips": 0.11787215620279312}, "tactile_right": {"psnr": 34.321638795119455, "ssim": 0.9746207055481837, "lpips": 0.0971050038933754}}, {"video": {"psnr": 19.102033212519007, "ssim": 0.6596578396509388, "lpips": 0.3217243552207947}, "wrist_left": {"psnr": 14.447446910204826, "ssim": 0.31133263934242184, "lpips": 0.5027728080749512}, "wrist_right": {"psnr": 22.33506816547703, "ssim": 0.8303570389063304, "lpips": 0.18487021327018738}, "tactile_left": {"psnr": 34.15095347457556, "ssim": 0.9395166689770573, "lpips": 0.16086286306381226}, "tactile_right": {"psnr": 32.782685637511236, "ssim": 0.9709772863260221, "lpips": 0.11651358008384705}}, {"video": {"psnr": 17.094817336821407, "ssim": 0.6181204331741027, "lpips": 0.39626652002334595}, "wrist_left": {"psnr": 13.615392370449516, "ssim": 0.30566874083095297, "lpips": 0.49740901589393616}, "wrist_right": {"psnr": 21.608223991228165, "ssim": 0.8458476018775536, "lpips": 0.1355709433555603}, "tactile_left": {"psnr": 34.35435324114281, "ssim": 0.9427912376858834, "lpips": 0.15774694085121155}, "tactile_right": {"psnr": 31.72746445973253, "ssim": 0.9674452571261567, "lpips": 0.12904074788093567}}, {"video": {"psnr": 15.886100111490315, "ssim": 0.5782542565754341, "lpips": 0.4497751295566559}, "wrist_left": {"psnr": 13.521216980955838, "ssim": 0.30420083390565306, "lpips": 0.4927824139595032}, "wrist_right": {"psnr": 21.03472469282827, "ssim": 0.8282254150293549, "lpips": 0.18789702653884888}, "tactile_left": {"psnr": 35.30720326790662, "ssim": 0.9553490052725809, "lpips": 0.154225692152977}, "tactile_right": {"psnr": 31.100814645088093, "ssim": 0.9659396706076101, "lpips": 0.13707098364830017}}, {"video": {"psnr": 16.234576377533546, "ssim": 0.5838646428784267, "lpips": 0.4582836925983429}, "wrist_left": {"psnr": 13.86566650031908, "ssim": 0.3224011023517162, "lpips": 0.5224931836128235}, "wrist_right": {"psnr": 21.34749360969442, "ssim": 0.8309740230220845, "lpips": 0.1578727662563324}, "tactile_left": {"psnr": 34.74188545149992, "ssim": 0.9549675819838488, "lpips": 0.15745019912719727}, "tactile_right": {"psnr": 30.680756689307298, "ssim": 0.9648175933211695, "lpips": 0.14394450187683105}}, {"video": {"psnr": 17.410553711954627, "ssim": 0.6152186547217094, "lpips": 0.4046172499656677}, "wrist_left": {"psnr": 12.179913374732116, "ssim": 0.3089382336465307, "lpips": 0.5778864622116089}, "wrist_right": {"psnr": 21.380545554436615, "ssim": 0.8132294819485963, "lpips": 0.19194062054157257}, "tactile_left": {"psnr": 33.08055861333074, "ssim": 0.9371985299707792, "lpips": 0.2002778947353363}, "tactile_right": {"psnr": 30.32436122904857, "ssim": 0.9628946431363903, "lpips": 0.15388229489326477}}, {"video": {"psnr": 16.728143120767427, "ssim": 0.5926881905288246, "lpips": 0.44507142901420593}, "wrist_left": {"psnr": 13.260003104330057, "ssim": 0.35231873543012937, "lpips": 0.5358501076698303}, "wrist_right": {"psnr": 21.993211407628174, "ssim": 0.8433537745200509, "lpips": 0.16339555382728577}, "tactile_left": {"psnr": 33.10948918678366, "ssim": 0.9365377355828098, "lpips": 0.21460838615894318}, "tactile_right": {"psnr": 29.867276673378104, "ssim": 0.9606479234924301, "lpips": 0.17000015079975128}}], "long_metrics": {"video": {"psnr": 19.01270403987675, "ssim": 0.6681380269140541, "lpips": 0.302766360839208}, "wrist_left": {"psnr": 14.373336062422881, "ssim": 0.3388550346567008, "lpips": 0.48216732144355773}, "wrist_right": {"psnr": 22.790455413620524, "ssim": 0.847647561922723, "lpips": 0.1508838266134262}, "tactile_left": {"psnr": 36.0172667801909, "ssim": 0.9526175977280166, "lpips": 0.1308068146308263}, "tactile_right": {"psnr": 35.86537982673894, "ssim": 0.9752753270817277, "lpips": 0.08969286208351453}}}], "split": "mixed_mb_wrist_holdout.json", "unavailable": [], "complete": true}], "complete": true}