Add G2 DreamZero training and evaluation support

action_compare_outputs/summary_train_abs_vs_infer_exec.csv

@@ -0,0 +1,17 @@
+dim,name,train_abs_mean,train_abs_std,train_abs_p01,train_abs_p50,train_abs_p99,infer_exec_mean,infer_exec_std,infer_exec_p01,infer_exec_p50,infer_exec_p99,mean_abs_gap,p99_abs_gap
+0,l.joint1,0.641659140586853,0.6947126388549805,-0.5343006920814514,0.5285818874835968,2.0458452701568604,1.158917784690857,0.12374740093946457,0.921103458404541,1.1449467539787292,1.4069665122032167,0.5172586441040039,0.6388787579536437
+1,l.joint2,-0.9733566641807556,0.1690513789653778,-1.3291998982429505,-0.9793720841407776,-0.47714611887931824,-0.9559754729270935,0.04431776702404022,-1.0714688420295715,-0.9545189440250397,-0.8601453870534896,0.01738119125366211,0.3829992681741714
+2,l.joint3,-1.121475338935852,0.4874430000782013,-2.106227159500122,-1.1478887796401978,-0.17000000178813934,-1.5394654273986816,0.09301857650279999,-1.744075183868408,-1.53302800655365,-1.360790419578552,0.4179900884628296,1.1907904177904127
+3,l.joint4,-1.7108030319213867,0.3729032576084137,-2.3499999046325684,-1.72506982088089,-0.888725964426994,-2.1100974082946777,0.06685517728328705,-2.2411738228797913,-2.101929783821106,-1.9408546137809752,0.399294376373291,1.0521286493539812
+4,l.joint5,0.7199459075927734,0.48198315501213074,-0.3437192440032959,0.7494157552719116,1.926978840827947,1.0302972793579102,0.0974796712398529,0.8160326021909714,1.0262407660484314,1.21043949007988,0.3103513717651367,0.7165393507480669
+5,l.joint6,-0.4588630497455597,0.5065776705741882,-1.0123000144958496,-0.6111662983894348,0.7933871150016785,0.26826563477516174,0.11601881682872772,0.05434122681617737,0.2934122681617737,0.5095154047012329,0.7271286845207214,0.28387171030044556
+6,l.joint7,-0.6607242822647095,0.4922950863838196,-1.527162790298462,-0.6384796500205994,0.41203388571739197,-1.4656376838684082,0.08175593614578247,-1.5358970165252686,-1.4959229826927185,-1.2668145632743835,0.8049134016036987,1.6788484489917754
+7,l.gripper,-0.5254634618759155,0.36058521270751953,-0.7850000262260437,-0.7850000262260437,0.0,-0.08208815008401871,0.1205878034234047,-0.29894852489233015,-0.10449077934026718,0.21011711537837985,0.4433753192424774,0.21011711537837985
+8,r.joint1,-1.0014448165893555,0.3315313458442688,-1.7857042229175568,-1.0578718185424805,-0.2088660940527915,-1.0839542150497437,0.05274298042058945,-1.1928240847587586,-1.0835356712341309,-0.9733165013790128,0.08250939846038818,0.7644504073262213
+9,r.joint2,-1.2798432111740112,0.2365627884864807,-1.6668896675109863,-1.3232492208480835,-0.5575107121467586,-0.9333884119987488,0.026572203263640404,-0.9889832156896591,-0.9345415830612183,-0.8817121618986129,0.34645479917526245,0.3242014497518543
+10,r.joint3,1.2204468250274658,0.2114914208650589,0.5723267728090287,1.2206523418426514,1.7621741926670074,1.3478705883026123,0.042895879596471786,1.2373100411891937,1.352783203125,1.4232772827148439,0.12742376327514648,0.3388969099521635
+11,r.joint4,-1.7886172533035278,0.37906575202941895,-2.3499999046325684,-1.889396071434021,-0.6776027393341063,-2.0853042602539062,0.08005916327238083,-2.281415002346039,-2.072542428970337,-1.9328801131248474,0.2966870069503784,1.255277373790741
+12,r.joint5,-0.5560360550880432,0.5796496272087097,-1.6380070447921753,-0.4139392673969269,0.27875876545906064,-1.0406877994537354,0.09973990172147751,-1.292977237701416,-1.0474953651428223,-0.8478468978404997,0.48465174436569214,1.1266056632995602
+13,r.joint6,0.17376446723937988,0.3008327782154083,-1.0065568828582763,0.22868450731039047,0.629759162664414,0.28443607687950134,0.060583099722862244,0.14375218406319618,0.2794297933578491,0.43111039310693755,0.11067160964012146,0.19864876955747646
+14,r.joint7,0.4020680785179138,0.8754451274871826,-0.7782645225524902,0.43664151430130005,1.5358999967575073,1.2508035898208618,0.12017592042684555,0.9389399832487106,1.2523177862167358,1.4777059924602511,0.848735511302948,0.058194004297256186
+15,r.gripper,-0.1922135353088379,0.3254104256629944,-0.7850000262260437,0.0,0.0,-0.23681718111038208,0.1254427582025528,-0.49738632917404174,-0.25897935032844543,0.020387001633644153,0.04460364580154419,0.020387001633644153

action_compare_outputs/summary_train_rel_vs_infer_raw.csv

@@ -0,0 +1,17 @@
+dim,name,train_rel_mean,train_rel_std,train_rel_p01,train_rel_p50,train_rel_p99,infer_raw_mean,infer_raw_std,infer_raw_p01,infer_raw_p50,infer_raw_p99,mean_abs_gap,p99_abs_gap
+0,l.joint1,-0.00039793882751837373,0.016543889418244362,-0.06913042306900025,0.0,0.06047791957855231,1.158917784690857,0.12374740093946457,0.921103458404541,1.1449467539787292,1.4069665122032167,1.1593157052993774,1.3464885926246644
+1,l.joint2,4.492358857532963e-05,0.004986106418073177,-0.011790799498558043,0.0,0.023119817972183238,-0.9559754729270935,0.04431776702404022,-1.0714688420295715,-0.9545189440250397,-0.8601453870534896,0.9560204148292542,0.8832652050256729
+2,l.joint3,0.00027034772210754454,0.013472087681293488,-0.04609204351902008,0.0,0.055739291906356986,-1.5394654273986816,0.09301857650279999,-1.744075183868408,-1.53302800655365,-1.360790419578552,1.5397357940673828,1.4165297114849091
+3,l.joint4,0.00021798511443194002,0.01103353314101696,-0.04429484367370606,0.0,0.03298486232757569,-2.1100974082946777,0.06685517728328705,-2.2411738228797913,-2.101929783821106,-1.9408546137809752,2.1103153228759766,1.973839476108551
+4,l.joint5,-0.00025620264932513237,0.012623071670532227,-0.051544408500194545,0.0,0.03821436434984209,1.0302972793579102,0.0974796712398529,0.8160326021909714,1.0262407660484314,1.21043949007988,1.0305534601211548,1.172225125730038
+5,l.joint6,-0.000564700982067734,0.016357799991965294,-0.0728665655851364,0.0,0.04714033782482148,0.26826563477516174,0.11601881682872772,0.05434122681617737,0.2934122681617737,0.5095154047012329,0.2688303291797638,0.46237506687641144
+6,l.joint7,0.0006646300898864865,0.014079635962843895,-0.04217458128929138,0.0,0.05698370039463045,-1.4940553903579712,0.11484292894601822,-1.7141154992580414,-1.4959229826927185,-1.2668145632743835,1.4947199821472168,1.323798263669014
+7,l.gripper,0.0001746299967635423,0.04241808503866196,-0.070911705493927,0.0,0.05233335494995117,-0.08208815008401871,0.1205878034234047,-0.29894852489233015,-0.10449077934026718,0.21011711537837985,0.08226277679204941,0.15778376042842868
+8,r.joint1,-0.000191343468031846,0.007814115844666958,-0.028782657384872436,0.0,0.027080488801002597,-1.0839542150497437,0.05274298042058945,-1.1928240847587586,-1.0835356712341309,-0.9733165013790128,1.0837628841400146,1.0003969901800154
+9,r.joint2,-0.00012973939010407776,0.003468823852017522,-0.010385245084762573,0.0,0.011857336759567266,-0.9333884119987488,0.026572203263640404,-0.9889832156896591,-0.9345415830612183,-0.8817121618986129,0.9332586526870728,0.8935694986581801
+10,r.joint3,0.00014158380508888513,0.007840425707399845,-0.0273062926530838,0.0,0.030971422195434584,1.3478705883026123,0.042895879596471786,1.2373100411891937,1.352783203125,1.4232772827148439,1.347728967666626,1.3923058605194094
+11,r.joint4,-0.00010751305671874434,0.010465368628501892,-0.04199434399604797,0.0,0.03338115334510813,-2.0853042602539062,0.08005916327238083,-2.281415002346039,-2.072542428970337,-1.9328801131248474,2.0851967334747314,1.9662612664699555
+12,r.joint5,-4.5862423576181754e-05,0.012884396128356457,-0.03616616725921631,0.0,0.04705580264329914,-1.0406877994537354,0.09973990172147751,-1.292977237701416,-1.0474953651428223,-0.8478468978404997,1.0406419038772583,0.8949027004837988
+13,r.joint6,4.1415307350689545e-05,0.010167960077524185,-0.029894600063562392,0.0,0.027249340713024185,0.28443607687950134,0.060583099722862244,0.14375218406319618,0.2794297933578491,0.43111039310693755,0.28439465165138245,0.40386105239391334
+14,r.joint7,-0.00019715055532287806,0.019032930955290794,-0.056884298324584956,0.0,0.052225705683231476,1.2508035898208618,0.12017592042684555,0.9389399832487106,1.2523177862167358,1.4777059924602511,1.2510007619857788,1.4254802867770198
+15,r.gripper,0.10448496043682098,0.08611126989126205,-0.08642586052417753,0.1355040818452835,0.21151389181613922,-0.23681718111038208,0.1254427582025528,-0.49738632917404174,-0.25897935032844543,0.020387001633644153,0.34130215644836426,0.19112689018249507